OKMC Apr12 * SG169 * Dive index * Mission links * Dive 177 * Raw log
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• Previous call tries 2 • 34.80 of 147.52 AH used of 24V (76.41% remains)
• Previous NAKs 0, Timeouts 0 • 21.65 of 108.53 AH used of 10V (80.05% remains)
• Surface angle -75.7 deg, depth 1.12 m • Intended pitch -12.5 deg, speed -7.857 cm/s
• No surface pump (final VBD was 452.33, SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 16 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 89 VBD -0.55 - - 119 - - - 2488 - -194.6 -67.62 - 2995 - - - - - - - - - - -
92 3.0 -5.7 12 124 roll -0.55 7.75 0.222 2077 252.6 2.05 0.047 3838 658.5 -194.6 -14.98 - 3775 -52.1 - - - 1 - - - 25.34 25.63 26.44
229 48.5 -26.0 37 236 done -0.47 0.12 0.169 2117 333.3 1.98 0.020 2459 -696.5 -194.6 - - 3776 - - - - - - - - 25.82 26.20 -
420 105.8 -29.5 74 428 roll -0.39 0.12 0.177 2162 375.0 2.30 0.022 1033 -620.0 -194.6 - - 3776 - - - - - - - - 25.99 26.24 -
481 114.9 -8.0 85 488 done -0.40 - - 2151 - 2.42 0.031 2490 602.1 -194.6 - - 3776 - - - - - - - - - 26.21 -
672 141.1 -15.3 122 679 roll -0.36 - - 2141 - 2.03 0.039 3834 662.1 -194.6 - - 3776 - - - - - - - - - 26.22 -
708 146.5 -15.2 128 715 done -0.33 - - 2141 - 2.03 0.018 2423 -695.1 -194.6 - - 3777 - - - - - - - - - 26.40 -
899 172.9 -13.5 165 906 roll -0.30 0.12 0.140 2191 416.7 2.20 0.021 1039 -629.1 -194.6 - - 3777 - - - - - - - - 26.27 26.36 -
956 178.0 -6.4 175 963 done -0.35 - - 2190 - 2.35 0.027 2479 612.8 -194.6 - - 3777 - - - - - - - - - 26.34 -
1149 197.3 -10.0 212 1156 roll -0.43 0.12 0.099 2125 -541.7 2.03 0.036 3840 670.4 -194.6 - - 3777 - - - - - - - - 26.47 26.32 -
1215 203.4 -8.2 220 1224 done -0.50 - - 2129 - 2.03 0.018 2393 -712.8 -194.6 - - 3776 - - - - - - - - - 26.51 -
1525 227.8 -8.3 251 1535 roll -0.57 0.12 0.104 2070 -491.7 2.17 0.035 3826 660.4 -194.6 - - 3776 - - - - - - - - 26.50 26.34 -
1598 234.7 -9.7 258 1608 done -0.57 - - 2070 - 2.00 0.020 2430 -698.0 -194.6 - - 3776 - - - - - - - - - 26.51 -
1909 292.7 -19.3 289 1919 roll -0.51 0.12 0.146 2120 416.7 2.20 0.023 1042 -630.9 -194.6 - - 3776 - - - - - - - - 26.32 26.44 -
2017 304.7 -8.7 299 2024 done -0.52 - - 2110 - 2.35 0.031 2487 614.9 -194.6 - - 3776 - - - - - - - - - 26.39 -
2324 340.7 -11.8 330 2333 roll -0.49 - - 2111 - 2.30 0.023 1035 -631.3 -194.6 - - 3775 - - - - - - - - - 26.45 -
2398 347.7 -8.0 337 2406 done -0.49 - - 2101 - 2.33 0.031 2463 612.9 -194.6 - - 3775 - - - - - - - - - 26.39 -
2708 378.3 -10.7 368 2717 roll -0.47 - - 2091 - 2.05 0.039 3829 666.3 -194.6 - - 3773 - - - - - - - - - 26.35 -
2730 380.7 -10.6 370 2735 done -0.44 0.12 0.122 2130 325.0 2.10 0.020 2383 -688.6 -194.6 - - 3773 - - - - - - - - 26.28 26.53 -
3043 404.7 -7.3 401 3044 done -0.45 - - 2130 - - - 2383 - -194.6 - - 3772 - - - - - - - - - - -
3346 424.8 -5.9 431 3355 roll -0.46 - - 2120 - 2.28 0.041 3822 631.1 -194.6 - - 3769 - - - - - - - - - 26.32 -
3381 426.9 -6.1 434 3390 done -0.47 - - 2120 - 2.08 0.019 2378 -694.2 -194.6 - - 3769 - - - - - - - - - 26.55 -
3688 449.3 -8.2 465 3689 done -0.47 - - 2120 - - - 2378 - -194.6 - - 3766 - - - - - - - - - - -
3991 472.2 -6.8 495 4000 roll -0.48 - - 2112 - 2.30 0.053 3819 626.5 -194.6 -0.08 - 3792 -325.0 - - - - - - - - 26.30 25.58
4027 474.3 -6.4 498 4035 done -0.50 - - 2112 - 2.05 0.019 2389 -697.6 -194.6 - - 3792 - - - - - - - - - 26.55 -
4336 494.5 -6.0 529 4342 done -0.50 - - 2112 - - - 2390 - -194.6 - - 3790 - - - - - - - - - - -
4646 512.8 -5.8 560 4655 roll -0.50 - - 2104 - 2.25 0.041 3821 636.0 -194.6 - - 3787 - - - - - - - - - 26.29 -
4679 514.7 -5.8 563 4687 done -0.51 - - 2103 - 2.03 0.019 2402 -699.0 -194.6 - - 3787 - - - - - - - - - 26.54 -
4988 533.6 -6.1 594 4989 done -0.51 - - 2103 - - - 2402 - -194.6 - - 3785 - - - - - - - - - - -
5289 555.1 -8.1 624 5290 done -0.51 - - 2103 - - - 2402 - -194.6 - - 3783 - - - - - - - - - - -
5590 579.8 -7.5 654 5597 done -0.51 - - 2103 - - - 2402 - -194.6 - - 3781 - - - - - - - - - - -
5910 603.0 -6.7 684 5915 roll -0.51 - - 2095 - 2.28 0.042 3818 621.1 -194.6 - - 3777 - - - - - - - - - 26.24 -
5950 605.6 -6.8 686 5954 done -0.51 - - 2095 - 2.03 0.019 2410 -693.6 -194.6 - - 3777 - - - - - - - - - 26.52 -
6272 629.8 -7.7 702 6276 roll -0.51 - - 2095 - 2.17 0.024 1044 -629.5 -194.6 - - 3776 - - - - - - - - - 26.37 -
6307 631.6 -7.7 703 6314 done -0.51 - - 2088 - 2.38 0.031 2489 607.1 -194.6 - - 3775 - - - - - - - - - 26.30 -
6616 657.1 -7.3 719 6617 done -0.51 - - 2089 - - - 2487 - -194.6 - - 3772 - - - - - - - - - - -
6914 678.8 -7.5 734 6918 roll -0.51 - - 2079 - 2.05 0.044 3821 650.7 -194.6 - - 3771 - - - - - - - - - 26.20 -
6937 680.5 -7.7 735 6943 done -0.51 0.08 0.089 2114 437.5 2.05 0.020 2408 -689.3 -194.6 - - 3770 - - - - - - - - 26.25 26.48 -
7259 701.2 -6.7 751 7260 done -0.52 - - 2114 - - - 2407 - -194.6 - - 3768 - - - - - - - - - - -
7559 720.9 -6.3 766 7560 done -0.54 - - 2114 - - - 2407 - -194.6 - - 3766 - - - - - - - - - - -
7856 737.4 -5.0 781 7862 roll -0.56 - - 2110 - 2.28 0.047 3811 615.8 -194.6 - - 3764 - - - - - - - - - 26.13 -
7884 738.4 -5.0 782 7888 done -0.58 - - 2110 - 2.05 0.021 2406 -685.4 -194.6 - - 3764 - - - - - - - - - 26.49 -
8194 758.7 -7.4 797 8200 roll -0.65 0.12 0.099 2053 -475.0 2.25 0.043 3829 632.4 -194.6 - - 3762 - - - - - - - - 26.49 26.15 -
8258 762.9 -7.1 800 8263 done -0.72 - - 2052 - 2.00 0.021 2430 -699.5 -194.6 - - 3762 - - - - - - - - - 26.47 -
8575 785.8 -7.2 816 8581 roll -0.72 - - 2052 - 2.22 0.028 1038 -627.0 -194.6 - - 3760 - - - - - - - - - 26.28 -
8634 790.7 -7.9 819 8640 done -0.72 - - 2040 - 2.65 0.036 2576 580.4 -194.6 - - 3760 - - - - - - - - - 26.17 -
8955 826.8 -11.8 835 8961 roll -0.69 - - 2042 - 2.55 0.028 1048 -599.2 -194.6 - - 3758 - - - - - - - - - 26.24 -
9076 840.0 -10.7 841 9082 done -0.68 - - 2030 - 2.55 0.037 2554 590.6 -194.6 - - 3758 - - - - - - - - - 26.15 -
9397 880.6 -12.4 857 9403 roll -0.64 0.12 0.148 2082 433.3 2.50 0.026 1042 -604.8 -194.6 - - 3756 - - - - - - - - 26.27 26.22 -
9476 887.3 -8.1 861 9482 done -0.64 - - 2073 - 2.47 0.036 2526 600.8 -194.6 - - 3756 - - - - - - - - - 26.15 -
9797 911.6 -7.9 877 9798 done -0.64 - - 2073 - - - 2524 - -194.6 - - 3754 - - - - - - - - - - -
10097 934.7 -7.6 892 10103 roll -0.63 - - 2075 - 2.42 0.028 1052 -608.3 -194.6 - - 3753 - - - - - - - - - 26.21 -
10144 937.7 -7.5 894 10149 done -0.63 - - 2066 - 2.47 0.037 2516 592.7 -194.6 - - 3753 - - - - - - - - - 26.10 -
10453 963.2 -8.1 909 10458 roll -0.62 - - 2066 - 2.40 0.027 1052 -610.0 -194.6 - - 3752 - - - - - - - - - 26.20 -
10480 964.9 -8.1 910 10484 done -0.61 - - 2059 - 2.47 0.037 2510 590.3 -194.6 - - 3752 - - - - - - - - - 26.08 -
10764 end dive: TARGET_DEPTH_EXCEEDED
10764 begin apogee
10770 991.7 -9.4 924 10966 roll -0.20 0.43 0.096 2209 348.8 - - 2508 - - 187.95 1.172 2970 -4.2 0.371 - - - - - - 25.84 - 23.75
10967 end apogee: CONTROL_FINISHED_OK
10967 begin climb
10970 1000.4 - 934 11180 roll 0.55 0.60 0.032 2470 435.0 2.53 0.028 1060 -572.3 194.6 202.12 1.155 2184 -3.9 0.355 - - - - - - 24.89 24.87 23.30
11277 965.1 15.9 948 11286 done 0.50 0.12 0.169 2439 -258.3 2.62 0.038 2535 563.0 194.6 - - 2153 - - - - - - - - 24.91 25.13 -
11585 904.4 19.0 964 11591 roll 0.43 - - 2452 - 2.47 0.030 1080 -589.1 194.6 - - 2150 - - - - - - - - - 25.84 -
11632 897.1 18.7 966 11637 done 0.38 0.20 0.148 2395 -285.0 2.62 0.038 2560 564.9 194.6 - - 2148 - - - - - - - - 25.56 25.85 -
11940 851.1 14.4 981 11944 roll 0.34 - - 2395 - 1.90 0.046 3823 664.7 194.6 - - 2147 - - - - - - - - - 25.96 -
11984 844.2 15.3 983 11990 done 0.30 0.12 0.168 2371 -200.0 1.88 0.022 2523 -691.5 194.6 - - 2146 - - - - - - - - 25.77 26.11 -
12306 806.3 11.3 999 12311 roll 0.28 - - 2372 - 2.00 0.046 3813 645.0 194.6 - - 2146 - - - - - - - - - 26.02 -
12332 803.7 11.4 1000 12336 done 0.26 - - 2381 - 1.85 0.022 2529 -694.1 194.6 - - 2145 - - - - - - - - - 26.19 -
12639 764.8 12.3 1015 12640 done 0.24 - - 2381 - - - 2528 - 194.6 - - 2145 - - - - - - - - - - -
12940 729.1 11.3 1030 12942 done 0.21 0.12 0.164 2347 -283.3 - - 2527 - 194.6 - - 2145 - - - - - - - - 26.08 - -
13240 705.5 7.5 1045 13258 roll 0.23 - - 2360 - 2.53 0.032 1066 -577.5 207.8 8.57 0.951 2122 -2.7 0.210 - - - - - - - 26.17 24.95
13275 704.3 7.4 1046 13303 done 0.25 - - 2359 - 2.60 0.034 2569 578.1 223.7 21.48 0.929 2063 -2.7 0.219 - - - - - - - 26.13 24.92
13623 675.0 8.3 1064 13628 roll 0.25 - - 2372 - 2.55 0.031 1081 -583.5 223.7 - - 2043 - - - - - - - - - 26.00 -
13644 673.2 8.4 1065 13649 done 0.25 - - 2372 - 2.60 0.035 2565 570.8 223.7 - - 2041 - - - - - - - - - 25.99 -
13959 643.1 9.7 1081 13960 done 0.24 - - 2372 - - - 2563 - 223.7 - - 2041 - - - - - - - - - - -
14257 611.8 10.7 1096 14263 roll 0.24 - - 2384 - 2.55 0.031 1078 -582.4 223.7 - - 2041 - - - - - - - - - 26.12 -
14290 609.7 10.8 1097 14297 done 0.24 - - 2383 - 2.55 0.036 2554 578.8 223.7 - - 2039 - - - - - - - - - 26.10 -
14600 574.8 10.1 1124 14610 roll 0.23 0.12 0.141 2341 -350.0 1.90 0.044 3816 664.2 223.7 - - 2039 - - - - - - - - 26.13 26.08 -
14633 571.3 10.0 1127 14641 done 0.23 - - 2351 - 1.85 0.021 2522 -699.5 223.7 - - 2039 - - - - - - - - - 26.29 -
14944 551.2 6.1 1158 15043 roll 0.33 - - 2362 - 2.60 0.031 1080 -554.6 287.9 92.32 0.801 1799 -2.6 0.188 - - - - - - - 25.27 24.49
15091 543.3 5.3 1172 15201 done 0.49 0.20 0.060 2457 475.0 2.60 0.031 2552 566.2 381.4 102.30 0.858 1419 -3.7 0.248 - - - - - - 25.51 25.49 24.14
15514 463.9 21.3 1214 15523 roll 0.44 0.12 0.168 2419 -316.7 1.90 0.043 3816 665.3 381.4 - - 1389 - - - - - - - - 25.63 25.75 -
15596 449.3 13.7 1222 15605 done 0.44 - - 2429 - 1.90 0.021 2518 -683.2 381.4 - - 1387 - - - - - - - - - 25.95 -
15907 406.7 13.8 1253 15916 roll 0.43 - - 2441 - 2.40 0.030 1076 -600.8 381.4 - - 1385 - - - - - - - - - 26.01 -
15949 401.6 12.0 1257 15958 done 0.43 0.08 0.086 2406 -437.5 2.53 0.032 2549 582.2 381.4 - - 1384 - - - - - - - - 25.88 26.03 -
16259 379.6 7.5 1288 16278 roll 0.47 - - 2419 - 2.50 0.030 1071 -591.2 395.9 9.85 0.756 1356 -2.8 0.150 - - - - - - - 26.08 25.08
16302 376.6 7.1 1292 16344 done 0.54 - - 2418 - 2.50 0.031 2537 586.4 423.1 35.70 0.728 1251 -2.9 0.160 - - - - - - - 26.04 24.84
16652 338.9 12.6 1327 16661 roll 0.62 0.12 0.093 2482 533.3 1.95 0.042 3840 668.2 423.1 - - 1232 - - - - - - - - 26.06 25.91 -
16779 324.0 11.2 1339 16785 done 0.70 - - 2486 - 1.92 0.021 2504 -695.8 423.1 - - 1231 - - - - - - - - - 26.11 -
17088 297.6 7.5 1370 17107 roll 0.79 0.12 0.073 2579 775.0 2.05 0.041 3834 648.8 436.2 11.10 0.718 1195 -3.2 0.142 - - - - - - 26.32 26.05 25.10
17140 290.0 15.0 1375 17150 done 0.76 0.25 0.151 2519 -240.0 1.88 0.024 2526 -695.7 436.2 - - 1188 - - - - - - - - 25.69 26.08 -
17451 211.5 26.6 1406 17452 done 0.70 - - 2519 - - - 2525 - 436.2 - - 1187 - - - - - - - - - - -
17752 141.0 19.4 1461 17760 roll 0.66 0.12 0.170 2480 -325.0 2.00 0.037 3829 652.0 436.2 - - 1186 - - - - - - - - 26.04 26.14 -
17813 131.7 11.1 1472 17820 done 0.69 - - 2488 - 1.83 0.021 2534 -707.7 436.2 - - 1186 - - - - - - - - - 26.31 -
18005 111.9 10.5 1509 18012 roll 0.79 0.12 0.093 2556 566.7 2.42 0.028 1070 -605.0 436.2 - - 1185 - - - - - - - - 26.38 26.22 -
18245 91.6 7.4 1555 18265 done 0.92 - - 2555 - 2.62 0.029 2603 585.1 454.5 14.95 0.285 1126 -3.9 0.134 - - - - - - - 26.26 25.47
18452 72.1 9.5 1594 18461 roll 1.01 0.12 0.084 2642 725.0 2.67 0.028 1069 -574.5 454.5 3.22 0.155 1132 1.9 -0.091 - - - - - - 26.41 26.23 25.41
18507 66.1 11.3 1603 18520 done 1.00 0.15 0.161 2602 -266.7 2.67 0.030 2624 582.4 454.5 3.00 0.166 1134 - - - - - - - - 25.87 26.24 25.56
18707 26.2 21.0 1641 18715 roll 0.95 - - 2602 - 1.77 0.037 3833 683.1 454.5 2.97 0.159 1128 -2.0 0.035 - - - - - - - 26.22 25.55
18787 9.3 21.4 1656 18796 done 0.90 0.17 0.158 2562 -235.3 1.73 0.021 2574 -727.7 454.5 2.67 0.163 1123 -1.9 0.011 - - - - - - 25.90 26.36 25.74
18828 end climb: SURFACE_DEPTH_REACHED
18829 begin surface coast
18853 end surface coast: CONTROL_FINISHED_OK
18853 begin surface
SM 0.72 - - - - -6.62 6.05 0.025 122 -403.3 0.20 0.049 2434 -700.0 452.33 - - 1135 - - - - - - - -