OKMC Apr12 * SG169 * Dive index * Mission links * Dive 187 * Raw log
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• Previous call tries 1 • 37.12 of 147.52 AH used of 24V (74.83% remains)
• Previous NAKs 0, Timeouts 0 • 22.94 of 108.53 AH used of 10V (78.86% remains)
• Surface angle -74.3 deg, depth 1.00 m • Intended pitch -12.5 deg, speed -7.857 cm/s
• No surface pump (final VBD was 624.53, SM_CC=450)
• GPS1 time: 38 s
• GPS2 time: 14 s, HDOP was 5.3 m • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 100 VBD -0.55 - - 116 - - - 2539 - -194.6 -80.40 - 3155 - - - - - - - - - - -
103 4.3 -11.4 14 130 roll -0.55 7.85 0.224 2101 252.9 2.50 0.031 1016 -609.2 -194.6 -10.68 - 3774 -58.0 - - - - - - - 25.28 26.12 26.47
278 61.4 -16.5 47 285 done -0.54 - - 2089 - 2.50 0.031 2516 600.0 -194.6 - - 3775 - - - - - - - - - 26.13 -
471 119.7 -35.4 84 478 roll -0.43 0.15 0.184 2143 360.0 2.42 0.021 1030 -614.0 -194.6 - - 3775 - - - - - - - - 25.89 26.27 -
536 133.5 -13.1 96 543 done -0.42 - - 2130 - 2.40 0.031 2488 607.5 -194.6 - - 3775 - - - - - - - - - 26.24 -
728 164.5 -16.1 133 735 roll -0.37 - - 2120 - 2.03 0.038 3842 667.0 -194.6 - - 3775 - - - - - - - - - 26.25 -
753 168.6 -15.6 137 761 done -0.33 0.15 0.130 2168 320.0 2.08 0.018 2401 -692.8 -194.6 - - 3776 - - - - - - - - 26.08 26.41 -
947 190.1 -9.8 174 953 roll -0.33 - - 2158 - 2.28 0.039 3832 627.6 -194.6 - - 3776 - - - - - - - - - 26.27 -
981 193.4 -9.7 180 988 done -0.33 - - 2158 - 2.00 0.018 2423 -704.5 -194.6 - - 3776 - - - - - - - - - 26.46 -
1179 211.5 -9.2 206 1188 roll -0.33 - - 2158 - 2.17 0.023 1038 -638.2 -194.6 - - 3775 - - - - - - - - - 26.39 -
1222 215.0 -8.1 210 1231 done -0.34 - - 2149 - 2.38 0.029 2494 611.8 -194.6 - - 3776 - - - - - - - - - 26.36 -
1532 245.7 -9.5 241 1533 done -0.33 - - 2149 - - - 2493 - -194.6 - - 3775 - - - - - - - - - - -
1833 272.4 -8.5 271 1841 roll -0.33 - - 2149 - 2.35 0.025 1036 -620.0 -194.6 - - 3775 - - - - - - - - - 26.42 -
1857 274.2 -8.2 273 1865 done -0.33 - - 2147 - 2.40 0.031 2492 606.7 -194.6 - - 3775 - - - - - - - - - 26.36 -
2165 295.4 -7.3 304 2168 roll -0.33 - - 2137 - 2.03 0.041 3833 660.6 -194.6 - - 3774 - - - - - - - - - 26.33 -
2198 297.6 -7.0 307 2202 done -0.34 - - 2137 - 2.00 0.018 2410 -711.5 -194.6 - - 3774 - - - - - - - - - 26.55 -
2510 324.1 -7.7 338 2519 roll -0.34 - - 2138 - 2.15 0.024 1032 -640.9 -194.6 - - 3773 - - - - - - - - - 26.44 -
2543 326.6 -7.6 341 2553 done -0.35 - - 2131 - 2.40 0.031 2496 610.0 -194.6 - - 3772 - - - - - - - - - 26.39 -
2854 355.2 -9.5 372 2862 done -0.34 0.12 0.142 2170 325.0 - - 2495 - -194.6 - - 3771 - - - - - - - - 26.39 - -
3163 376.6 -7.6 403 3172 roll -0.41 - - 2170 - 2.00 0.040 3826 665.5 -194.6 - - 3769 - - - - - - - - - 26.35 -
3218 380.6 -7.4 408 3226 done -0.47 0.15 0.093 2109 -406.7 2.03 0.020 2405 -700.0 -194.6 - - 3769 - - - - - - - - 26.36 26.55 -
3527 397.3 -5.3 439 3536 roll -0.49 - - 2104 - 2.22 0.042 3818 636.5 -194.6 - - 3766 - - - - - - - - - 26.32 -
3612 402.4 -6.7 447 3619 done -0.50 - - 2104 - 1.75 0.018 2533 -734.3 -194.6 - - 3766 - - - - - - - - - 26.59 -
3920 430.2 -9.7 478 3929 roll -0.48 - - 2104 - 2.40 0.024 1035 -624.2 -194.6 - - 3765 - - - - - - - - - 26.42 -
4004 437.9 -8.5 486 4014 done -0.50 - - 2093 - 2.62 0.033 2584 591.2 -194.6 - - 3764 - - - - - - - - - 26.37 -
4313 470.5 -10.6 517 4322 roll -0.48 - - 2093 - 2.58 0.034 1039 -598.8 -194.6 -0.10 - 3784 -200.0 - - - - - - - - 26.40 26.04
4377 476.2 -8.3 523 4386 done -0.49 0.08 0.097 2119 325.0 2.58 0.032 2565 591.5 -194.6 - - 3784 - - - - - - - - 26.17 26.36 -
4686 498.9 -7.0 554 4696 roll -0.49 - - 2119 - 2.50 0.024 1032 -613.2 -194.6 - - 3782 - - - - - - - - - 26.39 -
4741 502.4 -6.2 559 4749 done -0.52 - - 2111 - 2.53 0.032 2542 596.8 -194.6 - - 3782 - - - - - - - - - 26.35 -
5050 520.4 -5.7 590 5054 roll -0.56 - - 2110 - 1.92 0.042 3837 674.5 -194.6 - - 3780 - - - - - - - - - 26.29 -
5285 538.8 -9.1 613 5295 done -0.63 0.12 0.092 2070 -333.3 2.03 0.020 2424 -696.1 -194.6 - - 3777 - - - - - - - - 26.21 26.51 -
5594 565.0 -8.9 644 5602 roll -0.64 - - 2059 - 2.22 0.041 3829 632.9 -194.6 - - 3774 - - - - - - - - - 26.28 -
5679 573.4 -10.5 652 5686 done -0.62 - - 2060 - 1.77 0.022 2545 -725.4 -194.6 - - 3774 - - - - - - - - - 26.50 -
5998 613.5 -12.5 679 6004 roll -0.59 - - 2060 - 2.45 0.028 1047 -611.4 -194.6 - - 3772 - - - - - - - - - 26.35 -
6111 623.8 -9.6 684 6118 done -0.58 0.12 0.125 2090 250.0 2.62 0.034 2578 584.4 -194.6 - - 3771 - - - - - - - - 26.14 26.29 -
6417 650.8 -8.4 700 6423 roll -0.57 - - 2090 - 2.55 0.026 1047 -600.4 -194.6 - - 3769 - - - - - - - - - 26.34 -
6480 655.4 -7.9 703 6485 done -0.57 - - 2085 - 2.55 0.035 2553 590.6 -194.6 - - 3769 - - - - - - - - - 26.28 -
6800 683.5 -9.2 719 6806 roll -0.56 - - 2086 - 2.50 0.028 1040 -605.2 -194.6 - - 3766 - - - - - - - - - 26.32 -
6841 687.3 -9.2 721 6845 done -0.56 - - 2085 - 2.55 0.035 2547 591.0 -194.6 - - 3765 - - - - - - - - - 26.25 -
7156 717.1 -9.4 737 7162 roll -0.55 - - 2085 - 2.47 0.026 1044 -608.5 -194.6 - - 3764 - - - - - - - - - 26.32 -
7203 720.7 -8.9 739 7207 done -0.55 - - 2085 - 2.53 0.037 2534 588.9 -194.6 - - 3764 - - - - - - - - - 26.23 -
7512 747.3 -8.3 754 7517 roll -0.54 - - 2086 - 2.45 0.026 1038 -610.6 -194.6 - - 3761 - - - - - - - - - 26.32 -
7558 750.6 -8.4 756 7562 done -0.54 - - 2085 - 2.50 0.036 2520 592.8 -194.6 - - 3761 - - - - - - - - - 26.22 -
7866 776.5 -8.5 771 7867 done -0.54 - - 2086 - - - 2519 - -194.6 - - 3760 - - - - - - - - - - -
8167 802.7 -9.0 786 8172 roll -0.53 - - 2085 - 2.40 0.027 1049 -612.5 -194.6 - - 3758 - - - - - - - - - 26.27 -
8220 806.4 -9.2 788 8226 done -0.53 - - 2085 - 2.47 0.037 2515 593.5 -194.6 - - 3758 - - - - - - - - - 26.19 -
8525 833.2 -8.0 804 8527 done -0.53 - - 2085 - - - 2514 - -194.6 - - 3756 - - - - - - - - - - -
8827 855.2 -7.0 819 8832 roll -0.53 - - 2086 - 2.40 0.029 1055 -607.9 -194.6 - - 3754 - - - - - - - - - 26.25 -
8865 857.9 -6.8 821 8871 done -0.53 - - 2085 - 2.45 0.038 2505 591.8 -194.6 - - 3754 - - - - - - - - - 26.15 -
9186 878.7 -6.5 837 9192 roll -0.53 - - 2078 - 2.03 0.051 3809 642.4 -194.6 - - 3752 - - - - - - - - - 26.05 -
9213 880.1 -6.6 838 9217 done -0.53 - - 2078 - 1.98 0.023 2452 -685.4 -194.6 - - 3753 - - - - - - - - - 26.41 -
9522 902.5 -7.3 853 9527 roll -0.53 - - 2078 - 2.25 0.029 1050 -623.1 -194.6 - - 3751 - - - - - - - - - 26.23 -
9551 904.0 -7.2 854 9561 done -0.53 0.08 0.087 2107 362.5 2.45 0.037 2508 595.1 -194.6 - - 3751 - - - - - - - - 25.99 26.13 -
9863 919.9 -4.6 870 9868 roll -0.54 - - 2098 - 2.03 0.048 3826 649.3 -194.6 - - 3749 - - - - - - - - - 26.06 -
9903 922.0 -4.7 872 9908 done -0.56 - - 2098 - 2.00 0.021 2438 -694.0 -194.6 - - 3748 - - - - - - - - - 26.42 -
10224 940.3 -5.8 888 10229 roll -0.60 - - 2098 - 2.20 0.027 1044 -633.6 -194.6 - - 3748 - - - - - - - - - 26.24 -
10385 951.7 -7.8 896 10391 done -0.67 0.08 0.107 2065 -412.5 2.62 0.036 2575 584.4 -194.6 - - 3747 - - - - - - - - 25.93 26.14 -
10707 973.9 -7.1 912 10710 roll -0.70 - - 2066 - 1.85 0.047 3821 673.5 -194.6 - - 3746 - - - - - - - - - 26.03 -
10732 975.6 -7.1 913 10736 done -0.74 - - 2066 - 2.03 0.021 2423 -688.7 -194.6 - - 3745 - - - - - - - - - 26.44 -
10921 end dive: TARGET_DEPTH_EXCEEDED
10921 begin apogee
10928 990.1 -7.5 923 11131 roll -0.20 0.38 0.071 2213 386.8 0.05 0.045 2485 1240.0 - 197.57 1.141 2975 -3.9 0.356 - - - - - - 26.14 24.55 23.69
11132 end apogee: CONTROL_FINISHED_OK
11132 begin climb
11135 1000.8 - 933 11351 roll 0.55 0.62 0.038 2470 414.5 2.22 0.045 3818 600.5 194.6 207.70 1.143 2183 -3.8 0.352 - - - - - - 24.85 24.79 23.27
11467 941.3 24.9 950 11472 done 0.46 0.20 0.183 2430 -200.0 2.03 0.023 2498 -650.2 194.6 - - 2147 - - - - - - - - 24.91 25.30 -
11783 885.5 16.9 966 11788 roll 0.41 - - 2430 - 2.08 0.046 3816 633.7 194.6 - - 2142 - - - - - - - - - 25.84 -
11884 865.6 20.1 971 11888 done 0.35 0.17 0.171 2393 -217.6 1.90 0.022 2513 -685.8 194.6 - - 2141 - - - - - - - - 25.58 26.02 -
12200 820.3 13.4 987 12201 done 0.32 - - 2393 - - - 2511 - 194.6 - - 2139 - - - - - - - - - - -
12497 781.5 12.5 1002 12502 roll 0.29 - - 2406 - 2.40 0.033 1070 -600.4 194.6 - - 2139 - - - - - - - - - 26.09 -
12524 779.0 12.3 1003 12530 done 0.26 0.15 0.134 2361 -300.0 2.55 0.035 2552 581.2 194.6 - - 2136 - - - - - - - - 25.84 26.08 -
12834 749.8 8.6 1018 12840 roll 0.26 - - 2361 - 1.92 0.045 3825 663.0 194.6 - - 2136 - - - - - - - - - 26.06 -
12857 747.9 8.7 1019 12860 done 0.25 - - 2371 - 1.92 0.021 2506 -687.0 194.6 - - 2136 - - - - - - - - - 26.25 -
13171 718.3 9.1 1035 13177 roll 0.23 - - 2383 - 2.35 0.030 1065 -613.2 194.6 - - 2136 - - - - - - - - - 26.15 -
13218 714.7 9.0 1037 13223 done 0.23 0.12 0.131 2344 -325.0 2.50 0.034 2541 590.4 194.6 - - 2134 - - - - - - - - 25.95 26.13 -
13527 692.6 6.9 1052 13571 roll 0.28 - - 2345 - 1.98 0.046 3819 645.5 229.2 34.35 0.881 2041 -2.7 0.224 - - 1 - 1 - - 25.77 24.63
13593 688.6 6.8 1055 13647 done 0.33 - - 2355 - 1.98 0.021 2491 -670.7 269.4 44.30 0.972 1879 -3.7 0.273 - - - - 1 - - 25.87 24.10
13961 663.1 6.3 1074 14053 roll 0.42 0.12 0.075 2459 866.7 2.50 0.031 1078 -565.2 326.4 83.35 0.898 1637 -2.9 0.226 - - - - - - 26.08 25.10 24.23
14101 642.5 15.7 1081 14107 done 0.39 0.15 0.110 2406 -353.3 2.53 0.035 2520 570.0 326.4 - - 1620 - - - - - - - - 25.25 25.42 -
14423 604.4 11.9 1097 14429 roll 0.38 - - 2406 - 2.00 0.045 3816 648.0 326.4 - - 1616 - - - - - - - - - 25.85 -
14450 601.8 12.1 1098 14454 done 0.37 - - 2416 - 1.98 0.022 2488 -670.7 326.4 - - 1615 - - - - - - - - - 25.99 -
14757 559.2 14.1 1127 14766 roll 0.36 - - 2427 - 2.33 0.032 1078 -605.2 326.4 - - 1613 - - - - - - - - - 26.03 -
14789 554.8 13.7 1130 14800 done 0.35 0.10 0.097 2387 -400.0 2.45 0.034 2520 588.6 326.4 - - 1612 - - - - - - - - 25.86 26.03 -
15100 526.0 8.5 1161 15101 done 0.37 - - 2387 - - - 2519 - 326.4 - - 1612 - - - - - - - - - - -
15402 502.4 7.3 1191 15428 done 0.41 - - 2388 - - - 2519 - 345.9 19.15 0.832 1558 -2.8 0.179 - - - - - - - - 25.00
15729 481.3 6.9 1224 15779 roll 0.47 0.12 0.076 2489 841.7 2.53 0.031 1077 -570.0 381.3 38.60 0.848 1407 -3.9 0.234 - - - - - - 26.27 25.60 24.72
15807 470.2 18.1 1231 15815 done 0.43 0.25 0.123 2411 -312.0 2.55 0.037 2516 564.3 381.3 - - 1396 - - - - - - - - 25.46 25.65 -
16114 434.1 11.4 1262 16124 roll 0.43 - - 2411 - 2.00 0.045 3815 649.5 381.3 - - 1394 - - - - - - - - - 25.89 -
16148 430.2 11.5 1265 16156 done 0.44 - - 2421 - 2.00 0.022 2472 -671.5 381.3 - - 1394 - - - - - - - - - 26.06 -
16457 397.0 10.3 1296 16466 roll 0.44 - - 2434 - 2.30 0.031 1077 -606.5 381.3 - - 1393 - - - - - - - - - 26.06 -
16503 393.3 8.7 1300 16510 done 0.46 - - 2433 - 2.42 0.032 2512 593.0 381.3 - - 1392 - - - - - - - - - 26.08 -
16809 360.3 11.4 1331 16818 roll 0.46 - - 2445 - 2.40 0.031 1078 -597.5 381.3 - - 1392 - - - - - - - - - 26.13 -
16832 357.8 11.4 1333 16840 done 0.46 - - 2445 - 2.38 0.034 2492 594.1 381.3 - - 1392 - - - - - - - - - 26.13 -
17142 320.5 12.2 1364 17151 roll 0.45 - - 2445 - 2.03 0.044 3819 653.7 381.3 - - 1392 - - - - - - - - - 26.10 -
17184 315.1 12.7 1368 17193 done 0.45 0.12 0.136 2416 -241.7 2.05 0.021 2440 -672.7 381.3 - - 1392 - - - - - - - - 26.02 26.27 -
17495 291.3 7.2 1399 17524 roll 0.51 - - 2428 - 2.33 0.031 1070 -588.0 404.8 23.08 0.712 1319 -3.2 0.136 - - - - - - - 26.06 25.14
17569 285.9 7.3 1406 17599 done 0.58 0.08 0.057 2475 587.5 2.35 0.028 2497 607.2 424.8 19.65 0.715 1236 -4.2 0.178 - - - - - - 25.96 26.04 24.93
17899 254.9 10.8 1439 17909 roll 0.67 - - 2476 - 2.38 0.030 1064 -602.1 424.8 - - 1223 - - - - - - - - - 26.03 -
18102 231.2 11.7 1459 18112 done 0.74 0.10 0.098 2534 580.0 2.28 0.028 2448 607.0 424.8 - - 1222 - - - - - - - - 26.07 26.12 -
18412 173.1 21.9 1501 18420 roll 0.68 0.12 0.177 2509 -208.3 2.28 0.027 1060 -608.8 424.8 - - 1222 - - - - - - - - 25.99 26.17 -
18458 165.4 13.2 1509 18465 done 0.68 - - 2509 - 2.33 0.031 2458 600.0 424.8 - - 1222 - - - - - - - - - 26.17 -
18650 136.7 14.8 1546 18657 roll 0.66 - - 2509 - 2.10 0.041 3837 656.7 424.8 - - 1222 - - - - - - - - - 26.15 -
18720 125.8 13.5 1559 18729 done 0.66 0.12 0.135 2480 -241.7 2.08 0.021 2432 -675.5 424.8 - - 1222 - - - - - - - - 26.06 26.30 -
18915 111.3 6.1 1596 18977 roll 0.77 0.12 0.076 2596 966.7 2.33 0.028 1063 -587.6 489.0 55.70 0.617 976 -4.4 0.084 - - - - - - 26.48 25.78 25.00
19026 94.2 14.3 1615 19035 done 0.77 0.25 0.108 2516 -320.0 2.40 0.031 2483 591.7 489.0 - - 959 - - - - - - - - 25.63 25.82 -
19221 80.4 5.6 1652 19311 roll 0.91 0.12 0.073 2627 925.0 2.05 0.037 3825 654.6 572.7 81.60 0.267 647 -3.8 0.121 - - - - - - 26.16 25.74 25.19
19383 45.7 23.7 1680 19391 done 0.86 0.30 0.145 2552 -250.0 2.10 0.021 2422 -668.1 572.7 2.67 0.161 642 -1.9 0.056 - - - - - - 25.48 25.91 25.41
19575 29.2 4.8 1717 19626 roll 1.05 0.15 0.066 2681 860.0 2.22 0.031 1073 -607.7 684.8 41.90 0.175 435 -4.9 0.087 - - - - - - 26.19 25.95 25.44
19662 13.7 21.5 1731 19671 done 1.01 0.28 0.128 2598 -296.4 2.33 0.029 2461 595.7 684.8 1.00 0.213 431 -4.0 0.027 - - - - - - 25.64 25.98 25.65
19732 end climb: SURFACE_DEPTH_REACHED
19732 begin surface coast
19760 end surface coast: CONTROL_FINISHED_OK
19760 begin surface
SM 0.71 - - - - -6.60 6.12 0.020 134 -402.6 0.10 0.080 2550 890.0 624.53 - - 433 - - - - - - - -