OKMC Apr12 * SG169 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 1 • 3.21 of 147.52 AH used of 24V (97.83% remains)
• Previous NAKs 0, Timeouts 0 • 2.10 of 108.53 AH used of 10V (98.07% remains)
• Surface angle -69.8 deg, depth 0.72 m • Intended pitch -15.6 deg, speed -9.167 cm/s
• No surface pump (final VBD was 576.46, SM_CC=425)
• GPS1 time: 37 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 - - - 108 VBD -0.60 - - 120 - - - 2209 - -170.3 -87.90 - 3140 - - - - - - - - - - -
110 4.1 -11.8 14 138 roll -0.60 6.68 0.227 1840 257.5 1.90 0.050 994 -639.5 -170.3 -9.40 - 3676 -57.0 - - - - - - - 25.72 26.07 26.35
189 43.3 -36.8 27 196 done -0.41 0.25 0.148 1902 248.0 2.35 0.038 2469 627.7 -170.3 - - 3678 - - - - - - - - 25.93 26.10 -
387 96.7 -24.9 64 393 done -0.30 0.12 0.177 1939 308.3 - - 2469 - -170.3 - - 3679 - - - - - - - - 26.09 - -
584 120.9 -8.7 101 590 done -0.31 - - 1939 - - - 2469 - -170.3 - - 3680 - - - - - - - - - - -
782 136.2 -8.2 138 791 roll -0.35 - - 1939 - 2.25 0.027 984 -660.0 -170.3 - - 3680 - - - - - - - - - 26.40 -
816 138.8 -7.7 143 823 done -0.43 0.12 0.077 1848 -758.3 2.30 0.033 2474 647.8 -170.3 - - 3680 - - - - - - - - 26.40 26.39 -
1013 170.7 -15.0 180 1020 roll -0.35 0.20 0.135 1905 285.0 2.08 0.042 3825 649.5 -170.3 - - 3681 - - - - - - - - 26.31 26.42 -
1091 178.0 -6.3 194 1100 done -0.41 - - 1905 - 2.08 0.021 2398 -686.1 -170.3 - - 3681 - - - - - - - - - 26.51 -
1289 191.4 -7.5 231 1298 roll -0.44 - - 1906 - 2.10 0.028 992 -669.5 -170.3 - - 3681 - - - - - - - - - 26.51 -
1326 194.6 -8.3 237 1333 done -0.50 - - 1896 - 2.30 0.034 2475 644.8 -170.3 - - 3681 - - - - - - - - - 26.48 -
1523 213.1 -10.0 262 1529 done -0.51 - - 1896 - - - 2475 - -170.3 - - 3681 - - - - - - - - - - -
1835 236.5 -7.1 293 1845 roll -0.54 0.10 0.090 1814 -820.0 2.05 0.043 3821 656.6 -170.3 - - 3680 - - - - - - - - 26.64 26.53 -
1932 250.2 -15.6 302 1939 done -0.48 0.20 0.134 1874 300.0 2.10 0.026 2403 -675.2 -170.3 - - 3680 - - - - - - - - 26.39 26.58 -
2240 284.6 -10.0 333 2249 roll -0.48 - - 1863 - 2.25 0.047 3825 632.0 -170.3 - - 3679 - - - - - - - - - 26.54 -
2284 289.0 -10.3 337 2292 done -0.49 - - 1863 - 2.08 0.024 2403 -683.7 -170.3 - - 3679 - - - - - - - - - 26.62 -
2592 319.6 -8.5 368 2603 roll -0.49 - - 1852 - 2.22 0.047 3815 636.0 -170.3 - - 3678 - - - - - - - - - 26.56 -
2629 322.6 -8.8 371 2636 done -0.49 - - 1852 - 2.08 0.024 2404 -678.4 -170.3 - - 3678 - - - - - - - - - 26.63 -
2937 352.9 -9.4 402 2946 roll -0.48 - - 1841 - 2.22 0.046 3828 641.4 -170.3 - - 3675 - - - - - - - - - 26.58 -
2991 358.2 -10.3 407 2999 done -0.48 0.12 0.127 1881 333.3 2.10 0.024 2397 -681.4 -170.3 - - 3675 - - - - - - - - 26.51 26.64 -
3300 380.8 -7.0 438 3301 done -0.52 - - 1881 - - - 2397 - -170.3 - - 3673 - - - - - - - - - - -
3600 400.9 -6.4 468 3611 roll -0.55 - - 1870 - 2.22 0.045 3821 641.4 -170.3 - - 3670 - - - - - - - - - 26.60 -
3666 405.2 -6.4 474 3675 done -0.61 0.05 0.060 1783 -1740.0 2.10 0.025 2399 -677.1 -170.3 - - 3670 - - - - - - - - 26.59 26.66 -
3977 451.8 -16.9 505 3986 roll -0.52 0.22 0.130 1869 390.9 2.08 0.028 999 -673.1 -170.3 - - 3667 - - - - - - - - 26.48 26.64 -
4002 455.4 -16.0 507 4009 done -0.46 - - 1861 - 2.30 0.039 2475 641.7 -170.3 - - 3668 - - - - - - - - - 26.61 -
4311 482.1 -8.6 538 4315 roll -0.48 - - 1850 - 2.08 0.063 3814 643.8 -170.3 -0.10 - 3688 -200.0 - - - - - - - - 26.58 26.41
4347 484.9 -8.3 541 4354 done -0.49 - - 1850 - 2.08 0.025 2404 -677.9 -170.3 - - 3688 - - - - - - - - - 26.67 -
4655 511.7 -8.9 572 4665 roll -0.49 - - 1839 - 2.22 0.049 3813 634.7 -170.3 - - 3686 - - - - - - - - - 26.59 -
4701 515.9 -9.4 576 4710 done -0.51 0.10 0.135 1870 310.0 2.10 0.025 2389 -678.1 -170.3 - - 3686 - - - - - - - - 26.53 26.67 -
5009 540.0 -7.9 607 5018 roll -0.54 - - 1860 - 2.28 0.048 3825 629.8 -170.3 - - 3683 - - - - - - - - - 26.59 -
5063 543.8 -7.2 612 5072 done -0.60 - - 1859 - 2.08 0.026 2407 -681.7 -170.3 - - 3683 - - - - - - - - - 26.67 -
5373 568.0 -8.3 643 5382 roll -0.62 - - 1859 - 2.10 0.032 1006 -667.1 -170.3 - - 3681 - - - - - - - - - 26.63 -
5398 570.0 -8.4 645 5407 done -0.65 - - 1854 - 2.28 0.038 2474 643.9 -170.3 - - 3680 - - - - - - - - - 26.61 -
5706 595.3 -8.4 676 5715 roll -0.66 - - 1844 - 2.08 0.052 3810 642.3 -170.3 - - 3679 - - - - - - - - - 26.58 -
5774 600.7 -8.7 682 5777 done -0.69 - - 1844 - 2.08 0.025 2405 -675.5 -170.3 - - 3678 - - - - - - - - - 26.67 -
6087 631.5 -9.8 698 6089 done -0.69 - - 1843 - - - 2403 - -170.3 - - 3676 - - - - - - - - - - -
6386 659.0 -8.8 713 6391 roll -0.69 - - 1833 - 2.20 0.050 3816 642.3 -170.3 - - 3675 - - - - - - - - - 26.58 -
6449 664.4 -8.8 716 6453 done -0.70 - - 1833 - 2.08 0.027 2406 -677.9 -170.3 - - 3674 - - - - - - - - - 26.67 -
6767 695.8 -10.4 732 6773 roll -0.70 - - 1823 - 2.22 0.051 3809 632.0 -170.3 - - 3672 - - - - - - - - - 26.58 -
6794 698.1 -10.6 733 6798 done -0.70 - - 1823 - 2.10 0.027 2401 -670.5 -170.3 - - 3672 - - - - - - - - - 26.67 -
7102 735.4 -12.5 748 7108 roll -0.69 - - 1812 - 2.22 0.050 3820 639.2 -170.3 - - 3670 - - - - - - - - - 26.59 -
7145 740.4 -12.5 750 7149 done -0.67 - - 1812 - 2.12 0.026 2398 -670.8 -170.3 - - 3670 - - - - - - - - - 26.66 -
7459 779.7 -12.2 766 7464 roll -0.64 - - 1801 - 2.25 0.050 3823 633.3 -170.3 - - 3669 - - - - - - - - - 26.57 -
7506 784.9 -12.4 768 7511 done -0.62 0.12 0.135 1838 308.3 2.12 0.028 2401 -670.8 -170.3 - - 3669 - - - - - - - - 26.48 26.65 -
7814 816.2 -9.4 783 7819 roll -0.62 - - 1827 - 2.25 0.050 3817 629.3 -170.3 - - 3667 - - - - - - - - - 26.56 -
7866 820.0 -9.5 785 7875 done -0.62 - - 1827 - 2.10 0.026 2406 -671.9 -170.3 - - 3667 - - - - - - - - - 26.65 -
8172 853.0 -10.3 801 8178 roll -0.62 - - 1817 - 2.25 0.053 3824 630.2 -170.3 - - 3666 - - - - - - - - - 26.55 -
8201 855.1 -10.2 802 8205 done -0.62 - - 1817 - 2.12 0.029 2409 -667.5 -170.3 - - 3665 - - - - - - - - - 26.64 -
8510 886.3 -9.6 817 8515 roll -0.60 - - 1806 - 2.20 0.054 3809 636.4 -170.3 - - 3664 - - - - - - - - - 26.55 -
8533 888.1 -9.6 818 8537 done -0.58 0.12 0.136 1843 308.3 2.10 0.029 2408 -667.1 -170.3 - - 3664 - - - - - - - - 26.46 26.64 -
8850 912.8 -7.6 834 8855 roll -0.60 - - 1832 - 2.25 0.054 3817 626.2 -170.3 - - 3663 - - - - - - - - - 26.54 -
8897 916.3 -7.8 836 8901 done -0.62 - - 1832 - 2.12 0.028 2404 -666.5 -170.3 - - 3662 - - - - - - - - - 26.64 -
9205 941.7 -8.2 851 9211 roll -0.62 - - 1823 - 2.20 0.052 3805 636.8 -170.3 - - 3662 - - - - - - - - - 26.54 -
9232 943.2 -8.1 852 9236 done -0.62 - - 1823 - 2.10 0.028 2404 -667.1 -170.3 - - 3661 - - - - - - - - - 26.64 -
9540 969.0 -8.1 867 9546 roll -0.62 - - 1812 - 2.25 0.052 3816 627.6 -170.3 - - 3660 - - - - - - - - - 26.53 -
9600 974.3 -8.7 870 9605 done -0.62 - - 1812 - 2.10 0.028 2409 -670.0 -170.3 - - 3659 - - - - - - - - - 26.64 -
9778 end dive: TARGET_DEPTH_EXCEEDED
9778 begin apogee
9785 990.3 -8.9 879 9961 done -0.20 0.45 0.104 1970 351.1 0.08 0.095 2520 1387.5 - 167.65 1.139 2972 -4.1 0.367 - - - - - - 26.43 24.64 23.91
9962 end apogee: CONTROL_FINISHED_OK
9962 begin climb
9965 995.0 - 888 10153 roll 0.60 0.68 0.029 2279 454.4 2.42 0.034 1105 -584.7 170.3 176.70 1.128 2274 -4.0 0.359 - - - - - - 24.96 24.60 23.82
10243 941.7 25.1 902 10249 done 0.45 0.32 0.171 2184 -296.9 2.42 0.039 2558 600.4 170.3 - - 2248 - - - - - - - - 25.20 25.34 -
10563 878.0 19.5 918 10569 roll 0.35 0.12 0.193 2149 -291.7 1.95 0.046 3811 642.6 170.3 - - 2243 - - - - - - - - 25.75 25.89 -
10657 862.7 18.6 922 10667 done 0.27 0.12 0.181 2127 -183.3 1.98 0.028 2523 -650.5 170.3 - - 2242 - - - - - - - - 25.81 26.01 -
10963 819.1 12.4 938 10969 roll 0.24 - - 2139 - 2.22 0.035 1088 -646.4 170.3 - - 2240 - - - - - - - - - 26.14 -
10986 816.7 12.3 939 10991 done 0.21 0.12 0.151 2105 -283.3 2.38 0.038 2565 620.6 170.3 - - 2239 - - - - - - - - 26.01 26.13 -
11301 784.2 10.7 955 11306 roll 0.21 - - 2106 - 1.95 0.049 3817 642.1 170.3 - - 2239 - - - - - - - - - 26.21 -
11327 781.9 10.9 956 11331 done 0.21 - - 2116 - 1.95 0.027 2521 -664.6 170.3 - - 2238 - - - - - - - - - 26.29 -
11637 746.0 10.8 971 11638 done 0.20 - - 2116 - - - 2520 - 170.3 - - 2238 - - - - - - - - - - -
11934 717.0 10.0 986 11935 done 0.20 - - 2116 - - - 2520 - 170.3 - - 2237 - - - - - - - - - - -
12235 687.5 10.4 1001 12240 roll 0.20 - - 2115 - 2.05 0.049 3813 630.7 170.3 - - 2236 - - - - - - - - - 26.36 -
12284 682.8 11.0 1003 12288 done 0.19 - - 2125 - 1.92 0.028 2519 -674.0 170.3 - - 2236 - - - - - - - - - 26.44 -
12591 644.6 12.5 1018 12597 roll 0.18 0.12 0.175 2099 -216.7 2.17 0.034 1102 -653.0 170.3 - - 2236 - - - - - - - - 26.26 26.42 -
12624 642.3 12.4 1019 12631 done 0.18 - - 2099 - 2.33 0.039 2563 627.0 170.3 - - 2235 - - - - - - - - - 26.41 -
12934 612.0 8.5 1035 12950 done 0.22 - - 2099 - - - 2562 - 188.0 14.40 0.858 2212 -1.6 0.117 - - - - - - - - 25.49
13255 585.5 7.9 1059 13313 roll 0.30 - - 2110 - 2.40 0.035 1114 -603.3 222.1 51.72 0.795 2067 -2.8 0.213 - - 1 - - - - 25.52 24.87
13344 578.1 7.6 1068 13402 done 0.40 0.12 0.034 2205 791.7 2.38 0.038 2555 605.5 264.8 48.15 0.861 1886 -3.8 0.260 - - - - - - 25.70 25.65 24.40
13702 505.7 21.1 1104 13712 roll 0.32 0.20 0.164 2143 -310.0 1.98 0.045 3816 636.9 264.8 - - 1865 - - - - - - - - 25.72 25.86 -
13756 496.3 16.2 1109 13759 done 0.30 - - 2153 - 1.98 0.028 2521 -654.0 264.8 - - 1864 - - - - - - - - - 25.96 -
14067 455.7 13.2 1140 14076 roll 0.28 - - 2164 - 2.25 0.035 1098 -632.4 264.8 - - 1862 - - - - - - - - - 26.11 -
14113 450.2 13.1 1144 14121 done 0.30 0.12 0.139 2129 -291.7 2.38 0.039 2566 616.8 264.8 - - 1860 - - - - - - - - 26.01 26.13 -
14420 417.2 11.2 1175 14421 done 0.33 - - 2129 - - - 2565 - 264.8 - - 1861 - - - - - - - - - - -
14723 385.9 10.4 1205 14732 roll 0.36 - - 2140 - 2.30 0.035 1113 -631.3 264.8 - - 1861 - - - - - - - - - 26.30 -
14768 381.5 9.5 1209 14775 done 0.41 - - 2141 - 2.33 0.037 2562 621.9 264.8 - - 1859 - - - - - - - - - 26.31 -
15076 348.7 10.6 1240 15078 done 0.44 0.12 0.076 2220 658.3 - - 2562 - 264.8 - - 1860 - - - - - - - - 26.46 - -
15378 287.7 21.5 1270 15387 roll 0.35 0.20 0.160 2157 -315.0 1.90 0.043 3820 662.1 264.8 - - 1860 - - - - - - - - 26.20 26.39 -
15462 274.6 12.6 1278 15470 done 0.35 - - 2167 - 1.95 0.027 2512 -670.8 264.8 - - 1859 - - - - - - - - - 26.45 -
15772 238.1 11.2 1309 15781 roll 0.35 - - 2178 - 2.15 0.035 1109 -652.6 264.8 - - 1859 - - - - - - - - - 26.44 -
15804 234.6 11.1 1312 15815 done 0.35 - - 2178 - 2.33 0.037 2569 626.6 264.8 - - 1858 - - - - - - - - - 26.44 -
16117 192.3 14.8 1347 16124 done 0.34 0.12 0.152 2137 -341.7 - - 2568 - 264.8 - - 1858 - - - - - - - - 26.36 - -
16314 176.9 5.9 1384 16406 roll 0.52 0.15 0.065 2241 693.3 2.00 0.046 3819 625.5 353.7 81.32 0.641 1519 -4.2 0.119 - - 1 - - - 26.59 25.51 24.95
16461 149.9 18.1 1408 16471 done 0.49 0.20 0.145 2194 -235.0 2.00 0.028 2523 -648.0 353.7 - - 1505 - - - - - - - - 25.60 25.74 -
16662 129.4 8.9 1445 16669 roll 0.53 - - 2205 - 2.25 0.034 1106 -629.8 360.4 - - 1502 - - - - - - - - - 25.97 -
16731 124.2 7.3 1457 16789 done 0.67 0.12 0.074 2300 791.7 2.35 0.034 2565 620.9 412.0 52.45 0.597 1299 -3.9 0.083 - - - - - - 26.06 26.03 24.92
16980 65.1 23.8 1502 16987 roll 0.59 0.22 0.155 2242 -263.6 2.38 0.034 1107 -612.6 412.0 - - 1268 - - - - - - - - 25.73 25.87 -
17022 58.6 10.5 1509 17029 done 0.65 - - 2242 - 2.38 0.035 2570 614.7 412.0 - - 1266 - - - - - - - - - 25.92 -
17218 44.0 7.4 1546 17264 roll 0.78 0.12 0.074 2347 875.0 1.95 0.041 3821 641.5 459.9 35.28 0.188 1114 -4.3 0.104 - - 1 - - - 26.17 25.96 25.69
17278 32.4 26.0 1555 17286 done 0.69 0.35 0.158 2255 -262.9 1.95 0.025 2527 -663.6 459.9 2.55 0.173 1102 -4.7 0.091 - - - - - - 25.81 26.03 25.77
17475 13.1 4.5 1592 17545 VBD 0.96 0.20 0.055 2374 595.0 - - 2525 - 588.3 66.57 0.146 621 -7.2 0.067 - - - - - - 26.20 - -
17546 end climb: SURFACE_DEPTH_REACHED
17546 begin surface coast
17562 end surface coast: CONTROL_FINISHED_OK
17562 begin surface
SM 0.41 - - - - -5.85 5.70 0.030 127 -394.2 0.15 0.067 2391 -893.3 576.46 - - 629 - - - - - - - -