OKMC Apr12 * SG169 * Dive index * Mission links * Dive 197 * Raw log
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• Previous call tries 1 • 39.31 of 147.52 AH used of 24V (73.35% remains)
• Previous NAKs 0, Timeouts 0 • 24.27 of 108.53 AH used of 10V (77.64% remains)
• Surface angle -76.0 deg, depth 1.11 m • Intended pitch -12.5 deg, speed -7.857 cm/s
• No surface pump (final VBD was 617.42, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 14 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 - - - 84 VBD -0.55 - - 116 - - - 2509 - -194.6 -64.55 - 2921 - - - - - - - - - - -
88 3.2 -6.8 11 120 roll -0.55 7.78 0.220 2076 251.9 2.05 0.049 3838 648.3 -194.6 -15.85 - 3776 -53.9 - - - 1 - - - 25.27 25.56 26.46
201 41.9 -21.5 31 208 done -0.50 0.12 0.164 2110 283.3 2.00 0.020 2461 -688.5 -194.6 - - 3777 - - - - - - - - 25.83 26.18 -
394 101.4 -28.4 68 401 roll -0.41 0.12 0.181 2156 383.3 2.30 0.022 1043 -616.5 -194.6 - - 3777 - - - - - - - - 25.99 26.22 -
499 117.8 -10.6 88 506 done -0.42 - - 2146 - 2.38 0.030 2483 605.0 -194.6 - - 3778 - - - - - - - - - 26.22 -
692 152.3 -18.4 125 698 done -0.37 - - 2145 - - - 2482 - -194.6 - - 3778 - - - - - - - - - - -
884 184.2 -15.6 162 891 roll -0.33 - - 2150 - 2.33 0.024 1043 -617.6 -194.6 - - 3778 - - - - - - - - - 26.35 -
929 189.9 -8.3 170 937 done -0.35 - - 2147 - 2.30 0.031 2442 608.3 -194.6 - - 3779 - - - - - - - - - 26.32 -
1123 211.3 -11.8 198 1127 roll -0.33 - - 2137 - 2.10 0.041 3828 660.0 -194.6 - - 3778 - - - - - - - - - 26.27 -
1176 216.4 -8.6 203 1185 done -0.34 0.05 0.097 2162 500.0 2.08 0.019 2387 -692.8 -194.6 - - 3778 - - - - - - - - 26.29 26.48 -
1487 238.3 -6.6 234 1490 roll -0.35 - - 2162 - 2.12 0.025 1028 -641.0 -194.6 - - 3778 - - - - - - - - - 26.40 -
1509 239.8 -6.4 236 1517 done -0.37 - - 2162 - 2.30 0.029 2448 617.4 -194.6 - - 3778 - - - - - - - - - 26.38 -
1820 263.9 -9.5 267 1828 roll -0.45 - - 2162 - 2.08 0.037 3829 663.9 -194.6 - - 3778 - - - - - - - - - 26.34 -
1965 278.9 -11.0 281 1973 done -0.51 0.15 0.084 2093 -460.0 2.08 0.019 2387 -693.3 -194.6 - - 3778 - - - - - - - - 26.39 26.53 -
2274 306.2 -8.2 312 2283 roll -0.52 - - 2091 - 2.28 0.040 3822 629.4 -194.6 - - 3777 - - - - - - - - - 26.34 -
2367 314.2 -8.7 321 2371 done -0.52 - - 2091 - 1.83 0.020 2517 -713.1 -194.6 - - 3777 - - - - - - - - - 26.55 -
2680 348.0 -11.8 352 2688 roll -0.49 - - 2091 - 2.40 0.026 1048 -612.1 -194.6 - - 3775 - - - - - - - - - 26.41 -
2793 358.8 -8.4 363 2803 done -0.49 0.08 0.099 2117 325.0 2.53 0.031 2552 594.5 -194.6 - - 3774 - - - - - - - - 26.21 26.39 -
3102 382.2 -7.5 394 3110 roll -0.49 - - 2118 - 2.47 0.024 1046 -609.7 -194.6 - - 3773 - - - - - - - - - 26.42 -
3167 386.8 -7.0 400 3174 done -0.52 - - 2112 - 2.47 0.031 2537 603.6 -194.6 - - 3773 - - - - - - - - - 26.37 -
3476 407.3 -6.6 431 3485 roll -0.56 - - 2112 - 1.90 0.041 3832 681.6 -194.6 - - 3769 - - - - - - - - - 26.32 -
3530 410.9 -6.6 436 3535 done -0.63 0.12 0.098 2067 -375.0 2.12 0.018 2370 -689.6 -194.6 - - 3769 - - - - - - - - 26.34 26.53 -
3844 439.6 -12.4 467 3855 roll -0.60 - - 2056 - 2.30 0.042 3815 628.3 -194.6 - - 3766 - - - - - - - - - 26.29 -
3970 454.0 -10.7 479 3980 done -0.59 - - 2056 - 2.08 0.020 2394 -683.2 -194.6 - - 3765 - - - - - - - - - 26.50 -
4278 495.8 -14.2 510 4289 roll -0.54 0.12 0.133 2104 400.0 2.17 0.037 1028 -629.5 -194.6 -0.05 - 3783 -360.0 - - - - - - - 26.37 26.39 24.65
4334 500.6 -7.9 515 4342 done -0.55 - - 2099 - 2.33 0.032 2448 609.4 -194.6 - - 3783 - - - - - - - - - 26.34 -
4642 523.2 -7.5 546 4643 done -0.55 - - 2099 - - - 2447 - -194.6 - - 3781 - - - - - - - - - - -
4944 545.7 -7.2 576 4954 roll -0.55 - - 2099 - 2.25 0.025 1045 -623.1 -194.6 - - 3778 - - - - - - - - - 26.39 -
4968 547.6 -7.2 578 4977 done -0.55 - - 2099 - 2.28 0.033 2435 609.6 -194.6 - - 3778 - - - - - - - - - 26.33 -
5277 569.4 -7.2 609 5281 roll -0.55 - - 2089 - 2.15 0.043 3834 650.7 -194.6 - - 3776 - - - - - - - - - 26.24 -
5331 573.0 -6.7 614 5339 done -0.57 - - 2089 - 2.10 0.020 2392 -686.7 -194.6 - - 3775 - - - - - - - - - 26.50 -
5641 596.9 -8.0 645 5649 roll -0.57 - - 2082 - 2.28 0.045 3822 627.2 -194.6 - - 3772 - - - - - - - - - 26.21 -
5674 599.5 -8.0 648 5681 done -0.57 - - 2081 - 2.08 0.021 2400 -683.7 -194.6 - - 3771 - - - - - - - - - 26.49 -
5984 627.8 -9.4 664 5985 done -0.56 - - 2081 - - - 2400 - -194.6 - - 3770 - - - - - - - - - - -
6282 655.3 -9.0 679 6283 done -0.55 - - 2081 - - - 2401 - -194.6 - - 3768 - - - - - - - - - - -
6584 681.3 -8.5 694 6589 roll -0.54 - - 2071 - 2.30 0.044 3823 618.3 -194.6 - - 3766 - - - - - - - - - 26.18 -
6631 684.8 -8.5 696 6634 done -0.54 - - 2071 - 2.10 0.021 2399 -678.1 -194.6 - - 3765 - - - - - - - - - 26.46 -
6939 712.7 -8.6 711 6941 done -0.53 0.10 0.132 2104 330.0 - - 2398 - -194.6 - - 3763 - - - - - - - - 26.48 - -
7239 728.9 -5.1 726 7245 roll -0.54 - - 2098 - 2.25 0.044 3820 632.0 -194.6 - - 3761 - - - - - - - - - 26.14 -
7281 730.9 -5.1 728 7285 done -0.56 - - 2099 - 2.08 0.021 2395 -685.1 -194.6 - - 3760 - - - - - - - - - 26.47 -
7597 749.5 -6.3 744 7602 roll -0.60 - - 2099 - 2.12 0.025 1043 -637.7 -194.6 - - 3759 - - - - - - - - - 26.32 -
7710 756.2 -6.7 749 7719 done -0.66 0.12 0.127 2060 -325.0 2.50 0.035 2538 598.0 -194.6 - - 3758 - - - - - - - - 26.03 26.22 -
8018 777.1 -6.0 765 8024 roll -0.70 - - 2060 - 2.45 0.026 1041 -611.0 -194.6 - - 3757 - - - - - - - - - 26.29 -
8065 779.8 -6.2 767 8070 done -0.73 - - 2050 - 2.75 0.035 2635 579.6 -194.6 - - 3757 - - - - - - - - - 26.19 -
8373 808.6 -9.6 782 8378 roll -0.70 - - 2055 - 2.67 0.028 1051 -593.3 -194.6 - - 3754 - - - - - - - - - 26.23 -
8461 815.4 -8.4 786 8465 done -0.70 - - 2042 - 2.67 0.037 2601 580.5 -194.6 - - 3754 - - - - - - - - - 26.17 -
8769 847.5 -10.5 801 8774 roll -0.67 - - 2043 - 2.62 0.028 1051 -591.6 -194.6 - - 3753 - - - - - - - - - 26.20 -
8856 855.3 -9.8 805 8861 done -0.65 0.10 0.147 2064 210.0 2.62 0.036 2571 580.2 -194.6 - - 3753 - - - - - - - - 26.00 26.15 -
9164 882.7 -8.9 820 9170 roll -0.64 - - 2064 - 2.58 0.028 1041 -593.0 -194.6 - - 3751 - - - - - - - - - 26.21 -
9232 887.7 -8.5 823 9241 done -0.64 - - 2056 - 2.60 0.037 2556 582.7 -194.6 - - 3750 - - - - - - - - - 26.13 -
9545 916.9 -9.3 839 9551 roll -0.63 - - 2055 - 2.53 0.029 1053 -594.1 -194.6 - - 3749 - - - - - - - - - 26.18 -
9585 920.7 -9.2 841 9590 done -0.61 0.08 0.096 2082 337.5 2.55 0.037 2542 583.9 -194.6 - - 3749 - - - - - - - - 25.94 26.10 -
9905 943.5 -7.2 857 9911 roll -0.61 - - 2082 - 2.47 0.028 1051 -603.6 -194.6 - - 3748 - - - - - - - - - 26.19 -
9932 944.9 -7.2 858 9936 done -0.61 - - 2072 - 2.55 0.037 2539 583.5 -194.6 - - 3748 - - - - - - - - - 26.09 -
10240 968.5 -7.5 873 10244 roll -0.61 - - 2062 - 1.95 0.047 3828 661.0 -194.6 - - 3746 - - - - - - - - - 26.01 -
10265 970.3 -7.6 874 10269 done -0.61 - - 2063 - 1.95 0.022 2474 -694.4 -194.6 - - 3745 - - - - - - - - - 26.39 -
10515 end dive: TARGET_DEPTH_EXCEEDED
10515 begin apogee
10522 990.9 -8.1 887 10720 roll -0.20 0.40 0.093 2206 357.5 0.08 0.091 2485 137.5 - 190.45 1.174 2973 -4.1 0.362 - - - - - - 25.89 24.62 23.66
10721 end apogee: CONTROL_FINISHED_OK
10721 begin climb
10724 998.9 - 897 10940 roll 0.55 0.65 0.040 2467 401.5 2.22 0.044 3818 600.5 194.6 206.27 1.149 2182 -3.8 0.352 - - - - - - 24.87 24.82 23.21
11166 911.9 24.7 919 11171 done 0.46 0.20 0.183 2427 -200.0 1.98 0.023 2502 -664.6 194.6 - - 2148 - - - - - - - - 25.26 25.70 -
11475 855.6 16.5 934 11481 roll 0.41 - - 2439 - 2.40 0.029 1070 -596.7 194.6 - - 2143 - - - - - - - - - 25.96 -
11557 843.3 15.2 938 11562 done 0.37 0.15 0.147 2397 -280.0 2.58 0.034 2557 576.4 194.6 - - 2140 - - - - - - - - 25.71 25.98 -
11872 800.3 13.4 954 11878 roll 0.34 - - 2397 - 1.92 0.044 3829 662.5 194.6 - - 2140 - - - - - - - - - 26.02 -
11972 785.0 15.5 959 11978 done 0.30 0.12 0.162 2373 -200.0 1.88 0.023 2536 -687.8 194.6 - - 2139 - - - - - - - - 25.85 26.18 -
12294 750.6 10.4 975 12295 done 0.28 - - 2373 - - - 2534 - 194.6 - - 2139 - - - - - - - - - - -
12592 719.9 10.0 990 12594 done 0.27 - - 2373 - - - 2534 - 194.6 - - 2139 - - - - - - - - - - -
12892 692.2 8.8 1005 12897 roll 0.25 - - 2373 - 2.00 0.047 3820 643.0 194.6 - - 2138 - - - - - - - - - 26.06 -
12940 688.1 9.4 1007 12945 done 0.23 0.12 0.150 2347 -216.7 1.85 0.022 2532 -696.2 194.6 - - 2138 - - - - - - - - 25.96 26.29 -
13246 665.6 7.1 1022 13286 roll 0.27 - - 2360 - 2.50 0.032 1079 -581.2 221.4 31.85 0.849 2069 -2.2 0.180 - - - - - - - 25.86 24.89
13297 662.7 7.3 1024 13329 done 0.29 - - 2360 - 2.62 0.034 2568 568.3 241.2 26.20 0.883 1992 -2.9 0.233 - - - - - - - 25.85 24.60
13632 634.8 8.2 1041 13637 roll 0.30 - - 2373 - 2.58 0.031 1076 -578.3 241.2 - - 1970 - - - - 1 - - - - 25.91 -
13659 633.1 8.2 1042 13664 done 0.31 - - 2373 - 2.60 0.036 2557 569.6 241.2 - - 1969 - - - - - - - - - 25.91 -
13968 604.7 9.1 1057 13974 roll 0.31 - - 2373 - 1.92 0.046 3829 662.5 241.2 - - 1969 - - - - - - - - - 25.98 -
14007 600.6 9.6 1059 14012 done 0.31 - - 2382 - 1.88 0.022 2529 -691.5 241.2 - - 1967 - - - - - - - - - 26.16 -
14317 569.1 9.9 1089 14318 done 0.30 - - 2383 - - - 2528 - 241.2 - - 1967 - - - - - - - - - - -
14621 540.1 9.6 1119 14629 roll 0.29 - - 2395 - 2.42 0.033 1069 -602.9 241.2 - - 1967 - - - - - - - - - 26.11 -
14676 535.3 8.3 1124 14683 done 0.30 - - 2395 - 2.58 0.037 2550 574.0 241.2 - - 1966 - - - - - - - - - 26.10 -
14983 504.4 10.2 1155 14992 roll 0.29 - - 2408 - 2.50 0.032 1079 -588.4 241.2 - - 1966 - - - - - - - - - 26.13 -
15026 500.4 9.5 1159 15036 done 0.29 0.10 0.093 2367 -410.0 2.47 0.036 2532 588.3 241.2 - - 1966 - - - - - - - - 25.94 26.12 -
15335 480.2 6.3 1190 15405 roll 0.37 - - 2379 - 2.53 0.031 1078 -574.7 297.5 62.33 0.835 1755 -3.4 0.206 - - - - - - - 25.51 24.59
15419 475.3 5.7 1198 15510 done 0.49 0.10 0.041 2471 920.0 2.55 0.034 2531 569.8 376.0 83.95 0.825 1444 -3.7 0.226 - - - - - - 25.58 25.57 24.22
15810 398.8 22.6 1237 15814 roll 0.43 0.17 0.164 2418 -311.8 2.00 0.041 3831 650.0 376.0 - - 1411 - - - - - - - - 25.53 25.79 -
15905 384.4 10.6 1246 15913 done 0.45 - - 2428 - 1.95 0.022 2506 -679.5 376.0 - - 1409 - - - - - - - - - 25.98 -
16212 349.5 11.8 1277 16221 roll 0.45 - - 2440 - 2.40 0.033 1080 -594.2 376.0 - - 1408 - - - - - - - - - 26.00 -
16254 344.8 11.2 1281 16263 done 0.46 - - 2440 - 2.50 0.033 2541 584.4 376.0 - - 1406 - - - - - - - - - 26.01 -
16565 308.1 12.5 1312 16566 done 0.45 - - 2440 - - - 2540 - 376.0 - - 1406 - - - - - - - - - - -
16866 275.7 11.1 1342 16875 roll 0.45 - - 2453 - 2.50 0.032 1070 -588.0 376.0 - - 1406 - - - - - - - - - 26.12 -
16892 273.0 11.4 1344 16899 done 0.45 0.12 0.115 2411 -350.0 2.50 0.034 2530 584.0 376.0 - - 1405 - - - - - - - - 25.98 26.10 -
17199 251.6 6.5 1375 17268 roll 0.54 0.10 0.092 2466 550.0 2.53 0.031 1077 -574.3 424.2 57.08 0.653 1238 -2.9 0.119 - - - - - - 26.46 25.70 24.86
17414 231.2 10.9 1396 17424 done 0.61 - - 2467 - 2.47 0.031 2517 583.0 424.2 - - 1231 - - - - - - - - - 25.86 -
17724 199.1 11.7 1427 17731 roll 0.69 - - 2467 - 2.45 0.028 1066 -592.2 424.2 - - 1229 - - - - - - - - - 26.06 -
17785 192.2 11.1 1438 17793 done 0.77 0.17 0.080 2537 411.8 2.45 0.031 2510 589.4 424.2 - - 1230 - - - - - - - - 26.01 26.06 -
17979 173.5 9.6 1475 17986 roll 0.78 - - 2537 - 2.03 0.044 3828 649.3 424.2 - - 1230 - - - - - - - - - 26.05 -
18026 168.6 11.6 1483 18032 done 0.78 - - 2549 - 2.28 0.022 2347 -649.6 424.2 - - 1230 - - - - - - - - - 26.20 -
18217 137.8 18.1 1520 18224 roll 0.73 0.12 0.181 2513 -300.0 2.40 0.037 3828 617.1 424.2 - - 1230 - - - - - - - - 25.98 26.11 -
18249 132.9 16.3 1525 18255 done 0.70 - - 2524 - 2.17 0.021 2388 -663.6 424.2 - - 1230 - - - - - - - - - 26.25 -
18440 111.2 9.4 1562 18447 roll 0.70 - - 2535 - 2.12 0.030 1072 -620.8 424.2 - - 1230 - - - - - - - - - 26.20 -
18466 108.9 9.4 1566 18475 done 0.71 0.12 0.108 2492 -358.3 2.28 0.030 2448 603.5 424.2 - - 1230 - - - - - - - - 26.09 26.21 -
18661 99.0 4.7 1603 18800 roll 0.89 0.17 0.060 2623 770.6 2.22 0.037 3829 622.1 538.4 127.47 0.309 791 -3.4 0.117 - - - - - - 26.47 25.75 25.23
18840 58.8 25.7 1633 18848 done 0.83 0.32 0.150 2543 -250.0 2.20 0.021 2393 -652.7 538.4 2.25 0.166 783 -3.6 0.133 - - - - - - 25.44 25.87 25.41
19034 40.2 6.4 1670 19089 roll 0.94 - - 2552 - 2.20 0.030 1080 -596.8 591.6 45.17 0.200 569 -4.7 0.101 - - - - - - - 25.92 25.37
19097 35.5 7.1 1680 19130 done 1.02 0.15 0.073 2622 466.7 2.25 0.023 2452 609.8 617.8 23.95 0.192 460 -4.6 0.089 - - - - - - 25.92 25.98 25.34
19319 11.7 12.0 1721 19326 roll 1.09 - - 2613 - 2.12 0.037 3830 650.0 617.8 - - 462 - - - - - - - - - 26.01 -
19388 end climb: SURFACE_DEPTH_REACHED
19388 begin surface coast
19415 end surface coast: CONTROL_FINISHED_OK
19415 begin surface
SM 0.76 - - - - -6.62 6.15 0.019 122 -405.0 2.00 0.016 2426 -702.0 617.42 - - 462 - - - - - - - -