OKMC Apr12 * SG169 * Dive index * Mission links * Dive 200 * Raw log
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• Previous call tries 1 • 39.96 of 147.52 AH used of 24V (72.91% remains)
• Previous NAKs 0, Timeouts 0 • 24.64 of 108.53 AH used of 10V (77.29% remains)
• Surface angle -70.6 deg, depth 1.01 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 466.81, SM_CC=450)
• GPS1 time: 37 s
• GPS2 time: 12 s • 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 - - - 106 VBD -0.58 - - 116 - - - 2513 - -194.6 -87.15 - 2953 - - - - - - - - - - -
110 3.2 -6.0 15 142 roll -0.58 7.97 0.229 2068 244.9 1.98 0.048 3851 675.8 -194.6 -15.50 - 3775 -53.0 - - - 1 - - - 25.26 25.53 26.45
261 55.6 -26.7 43 267 done -0.52 - - 2077 - 2.00 0.023 2470 -690.5 -194.6 - - 3776 - - - - - - - - - 26.17 -
452 123.6 -35.5 80 460 roll -0.42 0.20 0.177 2145 340.0 2.33 0.024 1032 -617.2 -194.6 - - 3776 - - - - - - - - 25.77 26.24 -
529 138.9 -9.9 94 536 done -0.45 - - 2132 - 2.47 0.031 2514 600.0 -194.6 - - 3777 - - - - - - - - - 26.22 -
720 174.5 -17.3 131 727 roll -0.40 - - 2137 - 2.40 0.023 1033 -617.1 -194.6 - - 3776 - - - - - - - - - 26.32 -
769 181.5 -11.4 140 776 done -0.40 - - 2134 - 2.42 0.032 2496 604.5 -194.6 - - 3777 - - - - - - - - - 26.26 -
966 205.9 -14.0 174 974 roll -0.37 - - 2124 - 1.98 0.040 3830 673.7 -194.6 - - 3777 - - - - - - - - - 26.27 -
998 210.2 -13.4 177 1008 done -0.35 0.12 0.120 2164 333.3 2.00 0.018 2417 -706.5 -194.6 - - 3776 - - - - - - - - 26.21 26.46 -
1308 237.9 -7.2 208 1317 roll -0.37 - - 2164 - 2.17 0.024 1033 -637.8 -194.6 - - 3776 - - - - - - - - - 26.39 -
1343 240.0 -6.7 211 1350 done -0.41 - - 2164 - 2.40 0.030 2498 610.4 -194.6 - - 3777 - - - - - - - - - 26.36 -
1651 263.3 -7.8 242 1660 roll -0.48 0.12 0.103 2104 -500.0 1.92 0.036 3820 688.5 -194.6 - - 3776 - - - - - - - - 26.49 26.34 -
1776 273.3 -7.8 254 1785 done -0.56 - - 2104 - 1.98 0.018 2414 -710.1 -194.6 - - 3776 - - - - - - - - - 26.53 -
2087 291.8 -6.4 285 2096 roll -0.62 - - 2107 - 2.17 0.025 1031 -637.3 -194.6 - - 3776 - - - - - - - - - 26.44 -
2324 310.1 -8.7 308 2332 done -0.70 0.17 0.106 2047 -352.9 2.50 0.029 2541 604.0 -194.6 - - 3774 - - - - - - - - 26.21 26.41 -
2630 351.5 -18.4 339 2639 roll -0.64 - - 2047 - 2.47 0.028 1039 -608.1 -194.6 - - 3773 - - - - - - - - - 26.40 -
2713 363.8 -13.3 347 2722 done -0.63 0.08 0.112 2069 275.0 2.45 0.034 2516 602.9 -194.6 - - 3772 - - - - - - - - 26.16 26.36 -
3023 407.7 -13.3 378 3032 roll -0.59 - - 2069 - 2.40 0.024 1040 -615.0 -194.6 - - 3770 - - - - - - - - - 26.42 -
3085 414.5 -10.0 384 3095 done -0.59 - - 2058 - 2.45 0.032 2520 604.1 -194.6 - - 3769 - - - - - - - - - 26.36 -
3395 454.5 -12.4 415 3404 roll -0.56 0.12 0.145 2105 391.7 2.38 0.022 1041 -621.4 -194.6 - - 3766 - - - - - - - - 26.34 26.44 -
3469 460.5 -6.2 422 3478 done -0.59 - - 2099 - 2.40 0.031 2502 608.8 -194.6 - - 3766 - - - - - - - - - 26.36 -
3779 483.6 -8.3 453 3788 roll -0.59 - - 2089 - 2.00 0.054 3825 661.5 -194.6 -0.10 - 3784 -180.0 - - - - - - - - 26.29 26.03
3814 486.3 -8.1 456 3822 done -0.59 - - 2089 - 1.98 0.020 2432 -703.5 -194.6 - - 3784 - - - - - - - - - 26.52 -
4123 515.3 -9.6 487 4131 roll -0.59 - - 2089 - 2.20 0.026 1041 -632.3 -194.6 - - 3782 - - - - - - - - - 26.39 -
4157 518.3 -9.4 490 4164 done -0.59 - - 2085 - 2.42 0.033 2506 605.4 -194.6 - - 3782 - - - - - - - - - 26.32 -
4465 548.6 -9.9 521 4469 roll -0.59 - - 2076 - 1.98 0.043 3834 670.7 -194.6 - - 3779 - - - - - - - - - 26.27 -
4489 550.9 -10.1 523 4496 done -0.59 - - 2076 - 2.03 0.020 2432 -690.6 -194.6 - - 3778 - - - - - - - - - 26.52 -
4797 582.4 -9.8 554 4806 roll -0.58 - - 2076 - 2.20 0.025 1037 -634.1 -194.6 - - 3776 - - - - - - - - - 26.39 -
4840 586.3 -9.4 558 4848 done -0.58 - - 2066 - 2.40 0.034 2490 605.4 -194.6 - - 3776 - - - - - - - - - 26.30 -
5161 619.6 -10.4 581 5163 done -0.56 - - 2066 - - - 2489 - -194.6 - - 3772 - - - - - - - - - - -
5460 650.6 -10.1 596 5466 roll -0.55 0.10 0.154 2098 320.0 2.35 0.025 1041 -616.2 -194.6 - - 3770 - - - - - - - - 26.44 26.34 -
5503 653.9 -9.6 598 5507 done -0.55 - - 2092 - 2.42 0.036 2491 599.2 -194.6 - - 3770 - - - - - - - - - 26.27 -
5815 676.9 -7.3 614 5821 roll -0.56 - - 2082 - 2.05 0.047 3825 650.7 -194.6 - - 3766 - - - - - - - - - 26.19 -
5849 678.4 -7.3 615 5856 done -0.56 - - 2082 - 2.03 0.020 2422 -691.1 -194.6 - - 3766 - - - - - - - - - 26.48 -
6155 704.2 -8.4 631 6159 roll -0.56 - - 2082 - 2.20 0.027 1036 -630.0 -194.6 - - 3763 - - - - - - - - - 26.33 -
6185 706.1 -8.5 632 6189 done -0.56 - - 2072 - 2.45 0.035 2498 596.7 -194.6 - - 3764 - - - - - - - - - 26.23 -
6493 736.3 -10.0 647 6494 done -0.56 - - 2072 - - - 2497 - -194.6 - - 3761 - - - - - - - - - - -
6792 766.2 -9.7 662 6797 roll -0.56 - - 2072 - 2.40 0.028 1036 -608.8 -194.6 - - 3759 - - - - - - - - - 26.29 -
6835 769.9 -9.4 664 6840 done -0.56 0.10 0.132 2098 260.0 2.45 0.037 2490 593.5 -194.6 - - 3759 - - - - - - - - 26.10 26.20 -
7151 790.6 -6.1 680 7156 roll -0.57 - - 2088 - 2.05 0.047 3811 644.4 -194.6 - - 3757 - - - - - - - - - 26.13 -
7177 791.9 -6.0 681 7181 done -0.59 - - 2088 - 2.05 0.021 2415 -681.0 -194.6 - - 3756 - - - - - - - - - 26.44 -
7486 812.8 -6.7 696 7487 done -0.60 - - 2088 - - - 2413 - -194.6 - - 3754 - - - - - - - - - - -
7785 832.5 -6.5 711 7786 done -0.61 - - 2088 - - - 2413 - -194.6 - - 3753 - - - - - - - - - - -
8085 851.5 -6.3 726 8089 roll -0.62 - - 2079 - 2.25 0.047 3816 623.6 -194.6 - - 3752 - - - - - - - - - 26.07 -
8111 853.0 -6.4 727 8115 done -0.63 - - 2079 - 2.05 0.021 2414 -683.9 -194.6 - - 3751 - - - - - - - - - 26.44 -
8423 875.5 -7.1 743 8424 done -0.63 - - 2079 - - - 2414 - -194.6 - - 3749 - - - - - - - - - - -
8726 897.3 -7.4 758 8731 roll -0.64 - - 2068 - 2.25 0.047 3821 625.3 -194.6 - - 3748 - - - - - - - - - 26.03 -
8753 898.9 -7.4 759 8757 done -0.65 - - 2068 - 2.05 0.023 2426 -680.5 -194.6 - - 3748 - - - - - - - - - 26.40 -
9059 922.9 -7.4 774 9065 roll -0.65 - - 2068 - 2.20 0.028 1051 -625.0 -194.6 - - 3746 - - - - - - - - - 26.21 -
9088 924.4 -7.3 775 9097 done -0.65 - - 2059 - 2.42 0.036 2497 597.5 -194.6 - - 3746 - - - - - - - - - 26.13 -
9400 950.2 -8.3 791 9405 roll -0.64 - - 2049 - 2.03 0.047 3823 653.2 -194.6 - - 3745 - - - - - - - - - 26.02 -
9424 951.9 -8.3 792 9428 done -0.63 - - 2049 - 2.05 0.022 2431 -679.0 -194.6 - - 3744 - - - - - - - - - 26.37 -
9736 980.5 -9.0 808 9740 roll -0.62 - - 2049 - 2.22 0.031 1042 -625.7 -194.6 - - 3744 - - - - - - - - - 26.17 -
9779 984.4 -9.1 810 9785 done -0.61 0.10 0.093 2082 330.0 2.42 0.037 2490 598.3 -194.6 - - 3743 - - - - - - - - 25.89 26.08 -
9875 end dive: TARGET_DEPTH_EXCEEDED
9876 begin apogee
9883 991.2 -6.4 815 10080 roll -0.20 0.35 0.090 2208 360.0 0.10 0.074 2483 -70.0 - 188.95 1.174 2971 -4.1 0.365 - - - - - - 25.99 24.64 23.65
10081 end apogee: CONTROL_FINISHED_OK
10081 begin climb
10084 998.2 - 825 10299 roll 0.58 0.68 0.041 2479 398.5 2.22 0.046 3821 602.7 194.6 204.73 1.149 2179 -3.9 0.355 - - - - - - 24.88 24.83 23.21
10475 922.1 25.7 844 10484 done 0.50 0.20 0.184 2438 -205.0 1.98 0.022 2503 -665.7 194.6 - - 2144 - - - - - - - - 25.16 25.58 -
10783 862.6 17.4 860 10788 roll 0.45 - - 2450 - 2.38 0.032 1079 -598.3 194.6 - - 2140 - - - - - - - - - 25.94 -
10905 844.4 14.1 866 10911 done 0.42 0.10 0.141 2416 -340.0 2.50 0.037 2535 582.4 194.6 - - 2137 - - - - - - - - 25.70 25.96 -
11226 797.1 15.0 882 11232 roll 0.38 - - 2416 - 1.95 0.045 3841 669.7 194.6 - - 2137 - - - - - - - - - 26.03 -
11326 780.0 17.3 887 11332 done 0.33 0.12 0.146 2384 -266.7 1.95 0.024 2513 -681.0 194.6 - - 2136 - - - - - - - - 25.77 26.17 -
11647 742.5 11.4 903 11652 roll 0.32 - - 2384 - 2.03 0.044 3828 647.8 194.6 - - 2135 - - - - - - - - - 26.07 -
11694 737.4 11.9 905 11698 done 0.30 - - 2394 - 1.88 0.022 2524 -693.6 194.6 - - 2135 - - - - - - - - - 26.24 -
12000 699.8 11.6 920 12001 done 0.28 - - 2394 - - - 2523 - 194.6 - - 2135 - - - - - - - - - - -
12301 665.8 11.4 935 12307 roll 0.26 0.12 0.164 2353 -341.7 2.00 0.043 3823 650.0 194.6 - - 2135 - - - - - - - - 26.07 26.09 -
12353 661.5 11.3 937 12360 done 0.25 - - 2363 - 1.85 0.021 2528 -700.0 194.6 - - 2134 - - - - - - - - - 26.29 -
12663 632.1 8.9 953 12669 roll 0.25 - - 2376 - 2.40 0.032 1078 -604.2 194.6 - - 2133 - - - - - - - - - 26.16 -
12704 628.8 8.5 955 12709 done 0.27 - - 2376 - 2.55 0.034 2566 583.5 201.2 - - 2133 - - - - - - - - - 26.15 -
13017 602.5 8.4 971 13035 done 0.28 - - 2376 - - - 2565 - 211.3 11.25 0.880 2111 -2.0 0.142 - - - - - - - - 25.01
13337 574.6 9.3 1001 13346 roll 0.28 - - 2388 - 2.50 0.030 1077 -595.2 211.3 - - 2098 - - - - - - - - - 26.13 -
13359 572.6 9.2 1003 13368 done 0.28 - - 2388 - 2.58 0.035 2562 575.6 211.3 - - 2098 - - - - - - - - - 26.10 -
13669 539.8 10.0 1034 13678 roll 0.27 - - 2388 - 1.90 0.046 3830 667.4 211.3 - - 2098 - - - - - - - - - 26.07 -
13694 537.4 10.4 1036 13702 done 0.27 0.12 0.155 2363 -208.3 1.90 0.024 2516 -691.6 211.3 - - 2098 - - - - - - - - 25.94 26.27 -
14001 515.4 6.8 1067 14084 roll 0.35 - - 2375 - 2.50 0.031 1068 -579.2 273.6 72.15 0.845 1862 -3.3 0.211 - - - - 1 - - 25.41 24.25
14112 508.1 6.8 1077 14189 done 0.45 0.12 0.075 2461 716.7 2.60 0.033 2552 570.8 336.0 63.97 1.023 1608 -4.0 0.209 - - - - 1 - 25.54 25.52 23.88
14488 435.8 18.6 1115 14498 roll 0.41 0.15 0.162 2414 -313.3 1.90 0.043 3816 665.3 336.0 1.55 0.176 1607 - - - - - - - - 25.60 25.79 25.34
14565 424.7 12.8 1122 14572 done 0.41 - - 2424 - 1.85 0.022 2537 -691.4 336.0 - - 1612 - - - - - - - - - 25.96 -
14874 388.0 11.5 1153 14883 roll 0.40 - - 2437 - 2.45 0.031 1075 -596.7 336.0 - - 1612 - - - - - - - - - 26.00 -
14917 383.3 10.8 1157 14926 done 0.41 - - 2437 - 2.55 0.033 2557 581.2 336.0 - - 1612 - - - - - - - - - 26.01 -
15227 342.9 14.1 1188 15238 roll 0.39 0.12 0.152 2395 -350.0 1.88 0.041 3822 672.9 336.0 - - 1612 - - - - - - - - 26.01 26.03 -
15264 338.3 13.4 1191 15271 done 0.39 - - 2405 - 1.83 0.021 2532 -704.9 336.0 - - 1612 - - - - - - - - - 26.22 -
15571 311.2 7.8 1222 15621 roll 0.45 - - 2417 - 2.53 0.031 1081 -573.5 366.8 40.15 0.742 1469 -3.6 0.158 - - - - - - - 25.77 24.84
15677 304.4 6.3 1232 15766 done 0.59 0.10 0.040 2514 970.0 2.53 0.030 2550 580.6 445.7 77.68 0.737 1147 -4.1 0.181 - - - - - - 25.80 25.82 24.41
16065 216.8 21.8 1271 16074 roll 0.55 0.17 0.157 2459 -323.5 1.88 0.039 3825 678.2 445.7 - - 1127 - - - - - - - - 25.64 25.88 -
16128 206.5 13.4 1277 16137 done 0.58 - - 2469 - 1.90 0.021 2509 -692.6 445.7 - - 1125 - - - - - - - - - 26.04 -
16444 173.8 11.1 1331 16451 roll 0.66 - - 2469 - 2.40 0.031 1073 -598.3 445.7 - - 1124 - - - - - - - - - 26.07 -
16638 150.5 11.8 1368 16646 done 0.74 0.12 0.095 2523 450.0 2.53 0.030 2554 585.4 445.7 - - 1123 - - - - - - - - 26.08 26.14 -
16834 131.3 8.6 1405 16842 roll 0.82 - - 2515 - 1.90 0.042 3833 673.2 448.4 - - 1124 - - - - - - - - - 26.12 -
17023 112.4 11.2 1441 17031 done 0.91 0.15 0.079 2574 393.3 1.83 0.021 2525 -714.8 448.4 - - 1124 - - - - - - - - 26.20 26.34 -
17220 95.7 8.0 1478 17247 roll 1.01 - - 2572 - 1.95 0.039 3823 665.6 470.7 20.08 0.273 1059 -3.2 0.120 - - - - - - - 26.18 25.38
17373 81.1 12.0 1506 17383 done 1.06 0.12 0.080 2629 475.0 1.80 0.020 2534 -716.1 470.7 2.75 0.162 1063 1.5 -0.077 - - - - - - 26.22 26.32 25.52
17569 41.9 23.6 1543 17577 roll 1.00 0.12 0.193 2607 -183.3 2.50 0.028 1067 -586.8 470.7 2.85 0.145 1061 - - - - - - - - 25.98 26.22 25.45
17626 31.4 13.7 1553 17634 done 1.00 - - 2607 - 2.62 0.029 2597 584.0 470.7 2.70 0.151 1059 - - - - - - - - - 26.25 25.60
17801 end climb: SURFACE_DEPTH_REACHED
17801 begin surface coast
17823 end surface coast: CONTROL_FINISHED_OK
17824 begin surface
SM 0.61 - - - - -6.62 6.15 0.024 122 -404.1 0.25 0.042 2428 -676.0 466.81 - - 1076 - - - - - - - -