OKMC Mar13 * SG169 * Dive index * Mission links * Dive 40 * Raw log
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• Previous call tries 1 • 5.56 of 150.00 AH used of 24V (96.30% remains)
• Previous NAKs 0, Timeouts 0 • 3.62 of 100.00 AH used of 10V (96.38% remains)
• Surface angle -71.8 deg, depth 0.45 m • Intended pitch -3.5 deg, speed -8.462 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 39 s
• GPS2 time: 11 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
22 - - - 99 VBD -0.55 - - 121 - - - 2630 - -165.5 -74.38 - 3161 - - - - - - - - - - -
103 4.1 -9.4 10 128 roll -0.55 8.12 0.228 2219 258.4 2.80 0.041 1139 -532.5 -165.5 -6.22 - 3530 -59.3 - - - - - - - 25.95 26.19 26.46
201 44.6 -27.0 21 207 done -0.55 - - 2206 - 2.78 0.035 2620 532.7 -165.5 - - 3531 - - - - - - - - - 26.27 -
528 146.7 -26.7 38 535 roll -0.55 - - 2207 - 2.72 0.034 1153 -539.3 -165.5 - - 3531 - - - - - - - - - 26.46 -
749 186.7 -16.6 48 755 done -0.55 - - 2195 - 2.75 0.039 2623 534.5 -165.5 - - 3530 - - - - - - - - - 26.53 -
1065 252.4 -20.1 64 1070 roll -0.55 - - 2195 - 2.70 0.032 1143 -548.1 -165.5 - - 3532 - - - - - - - - - 26.60 -
1222 280.0 -18.5 71 1229 done -0.55 0.10 0.175 2218 230.0 2.72 0.037 2621 543.4 -165.5 - - 3532 - - - - - - - - 26.53 26.63 -
1540 329.3 -14.4 87 1546 roll -0.55 - - 2218 - 2.70 0.031 1138 -549.3 -165.5 - - 3532 - - - - - - - - - 26.67 -
1697 348.1 -11.5 94 1704 done -0.55 - - 2210 - 2.70 0.033 2619 548.5 -165.5 - - 3532 - - - - - - - - - 26.67 -
2014 389.2 -12.5 110 2020 roll -0.55 - - 2212 - 2.67 0.031 1147 -551.3 -165.5 - - 3531 - - - - - - - - - 26.71 -
2120 399.5 -11.5 114 2129 done -0.55 - - 2207 - 2.70 0.035 2619 545.2 -165.5 - - 3530 - - - - - - - - - 26.70 -
2424 436.3 -11.2 130 2431 roll -0.55 - - 2207 - 2.67 0.031 1149 -550.6 -165.5 - - 3529 - - - - - - - - - 26.72 -
2537 447.7 -10.3 135 2543 done -0.55 - - 2206 - 2.70 0.036 2619 544.4 -165.5 - - 3528 - - - - - - - - - 26.72 -
2859 482.5 -11.2 151 2865 roll -0.55 - - 2208 - 2.67 0.031 1140 -553.9 -165.5 - - 3527 - - - - - - - - - 26.73 -
3009 499.0 -10.7 158 3015 done -0.55 - - 2205 - 2.70 0.034 2621 548.5 -165.5 - - 3525 - - - - - - - - - 26.73 -
3337 533.3 -10.2 174 3342 roll -0.55 - - 2206 - 2.67 0.030 1140 -554.7 -165.5 - - 3522 - - - - - - - - - 26.74 -
3454 544.2 -9.9 179 3461 done -0.55 - - 2197 - 2.70 0.033 2623 549.3 -165.5 - - 3521 - - - - - - - - - 26.74 -
3771 578.0 -10.4 195 3777 roll -0.55 - - 2200 - 2.67 0.031 1144 -553.9 -165.5 - - 3518 - - - - - - - - - 26.74 -
3871 586.8 -9.7 199 3877 done -0.55 - - 2197 - 2.70 0.034 2621 547.0 -165.5 - - 3518 - - - - - - - - - 26.74 -
4187 618.5 -9.7 212 4193 roll -0.55 - - 2198 - 2.67 0.031 1141 -554.3 -165.5 - - 3515 - - - - - - - - - 26.74 -
4268 624.9 -9.6 214 4274 done -0.55 - - 2195 - 2.70 0.034 2620 547.8 -165.5 - - 3513 - - - - - - - - - 26.74 -
4589 658.6 -10.3 225 4595 roll -0.55 - - 2195 - 2.67 0.031 1143 -553.2 -165.5 - - 3510 - - - - - - - - - 26.74 -
4720 671.8 -10.3 229 4726 done -0.55 - - 2194 - 2.70 0.034 2618 546.3 -165.5 - - 3510 - - - - - - - - - 26.74 -
5051 707.4 -10.6 240 5057 roll -0.55 - - 2194 - 2.67 0.030 1133 -556.2 -165.5 - - 3507 - - - - - - - - - 26.74 -
5163 717.4 -10.2 243 5169 done -0.55 - - 2194 - 2.72 0.037 2619 546.3 -165.5 - - 3506 - - - - - - - - - 26.74 -
5483 747.9 -8.9 254 5489 roll -0.55 - - 2194 - 2.67 0.030 1133 -556.6 -165.5 - - 3504 - - - - - - - - - 26.74 -
5589 756.5 -9.0 257 5595 done -0.55 0.12 0.139 2228 283.3 2.72 0.037 2620 546.7 -165.5 - - 3503 - - - - - - - - 26.66 26.73 -
5915 777.1 -6.0 268 5921 roll -0.55 - - 2228 - 2.67 0.030 1137 -555.4 -165.5 - - 3501 - - - - - - - - - 26.74 -
5966 779.5 -6.2 269 5972 done -0.55 - - 2224 - 2.70 0.034 2620 549.3 -165.5 - - 3500 - - - - - - - - - 26.74 -
6287 802.1 -7.1 280 6292 roll -0.55 - - 2224 - 2.67 0.031 1142 -553.6 -165.5 - - 3498 - - - - - - - - - 26.74 -
6347 804.5 -7.1 281 6355 done -0.55 - - 2222 - 2.70 0.033 2622 548.1 -165.5 - - 3496 - - - - - - - - - 26.74 -
6656 829.7 -7.3 292 6663 roll -0.55 - - 2223 - 2.70 0.031 1132 -551.9 -165.5 - - 3496 - - - - - - - - - 26.73 -
6707 832.1 -7.0 293 6713 done -0.55 - - 2220 - 2.72 0.034 2623 548.2 -165.5 - - 3496 - - - - - - - - - 26.73 -
7027 856.0 -7.1 304 7033 roll -0.55 - - 2219 - 2.70 0.031 1137 -550.4 -165.5 - - 3494 - - - - - - - - - 26.73 -
7077 858.6 -7.2 305 7084 done -0.55 - - 2220 - 2.72 0.034 2623 546.3 -165.5 - - 3493 - - - - - - - - - 26.73 -
7400 882.8 -7.3 316 7406 roll -0.55 - - 2220 - 2.70 0.031 1137 -550.4 -165.5 - - 3492 - - - - - - - - - 26.73 -
7447 885.9 -7.5 317 7453 done -0.55 - - 2220 - 2.72 0.034 2624 546.7 -165.5 - - 3491 - - - - - - - - - 26.73 -
7773 911.9 -7.8 328 7779 roll -0.55 - - 2220 - 2.70 0.031 1136 -551.1 -165.5 - - 3489 - - - - - - - - - 26.72 -
7823 914.8 -7.8 329 7830 done -0.55 - - 2219 - 2.72 0.035 2622 546.3 -165.5 - - 3489 - - - - - - - - - 26.73 -
8146 938.7 -6.7 340 8151 roll -0.55 - - 2219 - 2.70 0.031 1131 -552.2 -165.5 - - 3488 - - - - - - - - - 26.73 -
8202 941.9 -7.1 341 8208 done -0.55 - - 2207 - 2.72 0.034 2618 546.7 -165.5 - - 3488 - - - - - - - - - 26.72 -
8521 962.7 -6.2 352 8526 roll -0.55 - - 2207 - 2.70 0.032 1138 -548.1 -165.5 - - 3485 - - - - - - - - - 26.72 -
8588 967.2 -6.3 354 8594 done -0.55 - - 2207 - 2.72 0.035 2618 544.1 -165.5 - - 3485 - - - - - - - - - 26.72 -
8923 988.1 -6.3 365 8929 roll -0.55 - - 2207 - 2.70 0.031 1135 -549.3 -165.5 - - 3484 - - - - - - - - - 26.72 -
8956 end dive: TARGET_DEPTH_EXCEEDED
8956 begin apogee
8965 990.5 -6.5 366 9114 done -0.19 0.35 0.099 2334 362.9 - - 2507 - - 144.25 1.026 2851 -4.4 0.431 - - - - - - 26.66 - 24.22
9116 end apogee: CONTROL_FINISHED_OK
9116 begin climb
9119 994.5 - 370 9291 roll 0.55 0.65 0.053 2570 363.1 2.28 0.044 3825 578.1 165.5 159.02 0.975 2164 -4.3 0.449 - - - - - - 24.97 24.70 24.06
9353 975.7 12.2 377 9359 done 0.55 - - 2580 - 2.10 0.017 2478 -641.4 165.5 - - 2152 - - - - - - - - - 25.40 -
9678 932.4 12.5 388 9684 roll 0.55 - - 2570 - 2.22 0.042 3841 614.0 165.5 - - 2147 - - - - - - - - - 26.02 -
9727 928.5 12.1 389 9734 done 0.55 - - 2580 - 2.08 0.018 2467 -660.6 165.5 - - 2146 - - - - - - - - - 26.10 -
10049 887.1 12.1 400 10055 roll 0.55 - - 2570 - 2.22 0.044 3828 613.1 165.5 - - 2144 - - - - - - - - - 26.24 -
10180 870.2 13.3 404 10186 done 0.55 - - 2580 - 2.03 0.017 2474 -667.0 165.5 - - 2147 - - - - - - - - - 26.37 -
10511 830.4 12.0 415 10517 roll 0.55 - - 2571 - 2.20 0.041 3842 621.8 165.5 - - 2143 - - - - - - - - - 26.39 -
10671 809.4 13.6 420 10677 done 0.55 - - 2580 - 2.05 0.017 2470 -669.3 165.5 - - 2142 - - - - - - - - - 26.51 -
11008 768.6 12.0 431 11013 roll 0.55 - - 2571 - 2.20 0.041 3842 623.6 165.5 - - 2142 - - - - - - - - - 26.48 -
11106 755.6 13.1 434 11112 done 0.55 - - 2581 - 2.05 0.017 2468 -670.2 165.5 - - 2142 - - - - - - - - - 26.58 -
11442 719.8 10.2 445 11448 roll 0.55 - - 2572 - 2.17 0.042 3831 628.1 165.5 - - 2141 - - - - - - - - - 26.53 -
11570 705.0 11.5 449 11576 done 0.55 - - 2582 - 2.03 0.016 2469 -670.9 165.5 - - 2141 - - - - - - - - - 26.63 -
11906 673.1 9.3 460 11911 roll 0.55 - - 2572 - 2.17 0.041 3840 631.8 165.5 - - 2140 - - - - - - - - - 26.57 -
11997 665.9 10.1 462 12004 done 0.55 - - 2582 - 2.03 0.016 2467 -676.4 165.5 - - 2140 - - - - - - - - - 26.66 -
12306 631.1 10.6 473 12307 done 0.55 - - 2582 - - - 2466 - 165.5 - - 2140 - - - - - - - - - - -
12603 597.0 11.8 483 12609 roll 0.55 - - 2572 - 2.17 0.042 3828 627.6 165.5 - - 2140 - - - - - - - - - 26.60 -
12673 587.9 13.0 486 12680 done 0.55 - - 2582 - 2.00 0.017 2470 -679.0 165.5 - - 2139 - - - - - - - - - 26.70 -
12996 550.3 10.6 502 13002 roll 0.55 - - 2573 - 2.17 0.041 3845 633.6 165.5 - - 2138 - - - - - - - - - 26.63 -
13138 536.3 11.0 508 13146 done 0.55 - - 2584 - 2.03 0.016 2466 -679.3 165.5 - - 2138 - - - - - - - - - 26.72 -
13445 506.6 8.9 524 13451 roll 0.55 - - 2573 - 2.17 0.042 3836 631.3 165.5 - - 2139 - - - - - - - - - 26.64 -
13486 504.2 9.0 525 13495 done 0.55 - - 2584 - 2.03 0.016 2464 -675.9 165.5 - - 2139 - - - - - - - - - 26.72 -
13791 473.4 10.0 541 13798 roll 0.55 - - 2574 - 2.20 0.041 3849 629.5 165.5 - - 2141 - - - - - - - - - 26.65 -
13956 456.3 11.6 548 13964 done 0.55 - - 2585 - 2.03 0.017 2467 -680.8 165.5 - - 2138 - - - - - - - - - 26.74 -
14264 425.0 9.2 564 14270 roll 0.55 - - 2576 - 2.17 0.041 3837 631.3 165.5 - - 2138 - - - - - - - - - 26.66 -
14467 405.5 10.1 573 14473 done 0.55 - - 2586 - 2.00 0.016 2468 -684.5 165.5 - - 2138 - - - - - - - - - 26.76 -
14784 379.8 7.7 589 14808 roll 0.60 - - 2576 - 2.28 0.041 3843 603.1 186.9 17.42 0.713 2080 -3.3 0.181 - - - - - - - 26.40 25.84
14882 372.1 8.4 593 14889 done 0.61 - - 2587 - 2.05 0.018 2466 -671.7 188.9 - - 2069 - - - - - - - - - 26.53 -
15199 346.0 8.1 609 15216 roll 0.64 - - 2576 - 2.28 0.041 3837 601.3 199.9 11.20 0.681 2032 -3.3 0.171 - - - - - - - 26.34 25.79
15280 339.9 8.8 612 15289 done 0.64 - - 2588 - 2.03 0.017 2470 -673.4 199.9 - - 2021 - - - - - - - - - 26.46 -
15587 313.7 7.8 628 15617 roll 0.69 0.10 0.099 2642 540.0 2.25 0.039 3837 607.6 219.7 19.55 0.651 1942 -4.0 0.198 - - - - - - 26.51 26.20 25.67
15701 298.7 14.1 633 15708 done 0.69 - - 2652 - 2.03 0.015 2468 -674.4 219.7 - - 1935 - - - - - - - - - 26.34 -
16030 254.0 13.1 649 16036 roll 0.69 0.12 0.173 2604 -400.0 2.17 0.037 3834 629.5 219.7 - - 1933 - - - - - - - - 26.32 26.40 -
16076 248.1 12.6 651 16081 done 0.69 - - 2614 - 2.03 0.015 2466 -673.9 219.7 - - 1933 - - - - - - - - - 26.51 -
16403 218.7 8.4 667 16409 roll 0.69 - - 2605 - 2.17 0.038 3839 632.7 220.1 - - 1933 - - - - - - - - - 26.50 -
16520 207.8 10.1 672 16526 done 0.69 - - 2615 - 2.03 0.015 2463 -677.8 220.1 - - 1933 - - - - - - - - - 26.60 -
16837 181.5 7.6 688 16863 done 0.75 - - 2615 - - - 2462 - 246.1 23.62 0.550 1846 -3.7 0.124 - - - - - - - - 25.83
17158 159.6 7.4 704 17194 roll 0.83 0.12 0.080 2696 675.0 2.28 0.036 3841 604.8 277.0 26.50 0.529 1708 -5.2 0.160 - - - - - - 26.49 26.14 25.69
17204 157.1 8.1 705 17214 done 0.85 0.12 0.180 2674 -183.3 2.05 0.015 2464 -671.7 287.3 3.58 0.438 1677 -8.7 0.316 - - - - - - 26.04 26.22 25.56
17512 116.2 10.3 721 17518 roll 0.85 - - 2664 - 2.20 0.037 3844 627.3 287.3 - - 1684 - - - - - - - - - 26.34 -
17625 103.3 11.7 726 17631 done 0.85 - - 2674 - 2.03 0.015 2459 -682.3 287.3 - - 1684 - - - - - - - - - 26.46 -
17948 72.6 9.1 742 17953 roll 0.85 - - 2664 - 2.20 0.036 3847 630.9 287.3 - - 1684 - - - - - - - - - 26.50 -
17994 68.1 9.2 744 18000 done 0.85 - - 2674 - 2.00 0.015 2462 -692.5 287.3 - - 1685 - - - - - - - - - 26.58 -
18310 39.9 9.5 764 18316 roll 0.85 - - 2674 - 2.17 0.037 3832 631.3 287.3 - - 1686 - - - - - - - - - 26.57 -
18403 29.5 11.9 772 18411 done 0.85 - - 2685 - 2.00 0.015 2460 -686.0 287.3 - - 1686 - - - - - - - - - 26.66 -
18665 end climb: SURFACE_DEPTH_REACHED
18665 begin surface coast
18699 end surface coast: CONTROL_FINISHED_OK
18699 begin surface
SM 0.50 - - - - -7.01 6.35 0.031 135 21.3 0.43 0.046 2628 3716.3 400.08 54.92 0.120 1219 22.2 -0.009 - - - - - -