OKMC Apr12 * SG169 * Dive index * Mission links * Dive 201 * Raw log
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• Previous call tries 1 • 40.17 of 147.52 AH used of 24V (72.77% remains)
• Previous NAKs 0, Timeouts 0 • 24.77 of 108.53 AH used of 10V (77.18% remains)
• Surface angle -74.0 deg, depth 0.90 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 491.58, SM_CC=450)
• GPS1 time: 61 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 - - - 90 VBD -0.58 - - 116 - - - 2425 - -194.6 -70.50 - 3024 - - - - - - - - - - -
94 3.3 -7.6 12 121 roll -0.58 7.75 0.220 2066 251.6 2.25 0.046 3839 628.4 -194.6 -13.73 - 3776 -54.8 - - - 1 - - - 25.26 25.53 26.45
250 58.0 -24.6 41 256 done -0.53 - - 2075 - 2.00 0.021 2467 -686.0 -194.6 - - 3777 - - - - - - - - - 26.18 -
441 122.8 -36.9 78 449 roll -0.42 0.20 0.173 2144 345.0 2.30 0.022 1043 -619.1 -194.6 - - 3777 - - - - - - - - 25.77 26.23 -
537 141.6 -11.1 96 545 done -0.44 - - 2132 - 2.40 0.031 2490 602.9 -194.6 - - 3778 - - - - - - - - - 26.21 -
729 178.1 -18.2 133 736 roll -0.39 - - 2134 - 2.35 0.024 1032 -620.4 -194.6 - - 3778 - - - - - - - - - 26.31 -
769 184.0 -12.9 140 776 done -0.39 - - 2124 - 2.33 0.031 2447 607.3 -194.6 - - 3778 - - - - - - - - - 26.27 -
962 212.2 -17.8 170 971 roll -0.35 0.12 0.168 2153 241.7 2.05 0.037 3826 672.7 -194.6 - - 3778 - - - - - - - - 26.17 26.25 -
997 217.9 -16.9 173 1004 done -0.33 - - 2153 - 2.08 0.019 2395 -688.0 -194.6 - - 3778 - - - - - - - - - 26.44 -
1306 244.7 -6.3 204 1312 done -0.34 - - 2153 - - - 2394 - -194.6 - - 3778 - - - - - - - - - - -
1617 264.2 -6.4 235 1627 roll -0.36 - - 2145 - 2.22 0.040 3814 639.6 -194.6 - - 3778 - - - - - - - - - 26.30 -
1641 265.7 -6.4 237 1649 done -0.39 - - 2145 - 2.03 0.018 2388 -702.5 -194.6 - - 3778 - - - - - - - - - 26.52 -
1952 288.0 -8.7 268 1961 roll -0.47 - - 2145 - 2.25 0.038 3831 641.3 -194.6 - - 3778 - - - - - - - - - 26.32 -
2058 297.6 -9.7 278 2066 done -0.54 0.15 0.104 2093 -346.7 2.05 0.018 2397 -699.5 -194.6 - - 3778 - - - - - - - - 26.30 26.52 -
2367 323.5 -8.7 309 2368 done -0.56 - - 2093 - - - 2397 - -194.6 - - 3777 - - - - - - - - - - -
2668 350.7 -9.1 339 2678 roll -0.58 - - 2093 - 2.12 0.024 1037 -641.5 -194.6 - - 3775 - - - - - - - - - 26.44 -
2753 358.8 -9.7 347 2761 done -0.59 - - 2083 - 2.62 0.034 2579 588.5 -194.6 - - 3775 - - - - - - - - - 26.35 -
3061 395.1 -10.6 378 3070 roll -0.57 - - 2084 - 2.55 0.026 1046 -601.2 -194.6 - - 3773 - - - - - - - - - 26.39 -
3143 402.6 -8.0 386 3152 done -0.58 - - 2074 - 2.53 0.034 2546 592.9 -194.6 - - 3773 - - - - - - - - - 26.35 -
3453 439.4 -12.9 417 3454 done -0.55 - - 2074 - - - 2545 - -194.6 - - 3770 - - - - - - - - - - -
3755 474.3 -11.7 447 3765 roll -0.53 0.10 0.159 2104 300.0 2.47 0.024 1039 -609.7 -194.6 - - 3767 - - - - - - - - 26.44 26.39 -
3819 479.8 -7.1 453 3828 done -0.55 - - 2099 - 2.50 0.034 2534 598.0 -194.6 - - 3767 - - - - - - - - - 26.33 -
4130 505.7 -8.9 484 4139 roll -0.55 - - 2099 - 2.42 0.025 1043 -616.1 -194.6 - - 3764 - - - - - - - - - 26.39 -
4173 509.5 -8.7 488 4182 done -0.56 - - 2099 - 2.47 0.034 2522 598.8 -194.6 - - 3764 - - - - - - - - - 26.32 -
4483 538.2 -9.0 519 4492 roll -0.56 - - 2099 - 2.42 0.026 1032 -615.7 -194.6 - - 3761 - - - - - - - - - 26.37 -
4549 543.4 -7.7 525 4558 done -0.58 - - 2099 - 2.45 0.034 2506 601.6 -194.6 - - 3761 - - - - - - - - - 26.31 -
4857 567.8 -7.9 556 4866 roll -0.58 - - 2099 - 2.38 0.025 1031 -619.7 -194.6 - - 3758 - - - - - - - - - 26.36 -
4890 570.5 -8.1 559 4900 done -0.60 - - 2099 - 2.40 0.034 2493 609.2 -194.6 - - 3758 - - - - - - - - - 26.29 -
5199 596.1 -8.2 590 5208 roll -0.60 - - 2089 - 2.03 0.044 3812 649.8 -194.6 - - 3754 - - - - - - - - - 26.22 -
5242 599.6 -8.5 594 5246 done -0.62 - - 2089 - 2.00 0.020 2422 -695.0 -194.6 - - 3755 - - - - - - - - - 26.50 -
5554 626.9 -8.6 610 5560 roll -0.62 - - 2089 - 2.20 0.028 1045 -625.9 -194.6 - - 3753 - - - - - - - - - 26.33 -
5582 628.4 -8.3 611 5586 done -0.62 - - 2085 - 2.42 0.034 2498 600.4 -194.6 - - 3753 - - - - - - - - - 26.26 -
5891 654.5 -8.2 626 5896 roll -0.62 - - 2086 - 2.38 0.029 1052 -607.6 -194.6 - - 3749 - - - - - - - - - 26.31 -
5919 656.2 -8.1 627 5929 done -0.62 - - 2085 - 2.42 0.036 2489 593.8 -194.6 - - 3749 - - - - - - - - - 26.24 -
6231 680.1 -7.3 643 6232 done -0.62 - - 2085 - - - 2488 - -194.6 - - 3748 - - - - - - - - - - -
6529 701.9 -7.7 658 6535 roll -0.62 - - 2085 - 2.35 0.027 1049 -612.3 -194.6 - - 3745 - - - - - - - - - 26.31 -
6562 703.5 -7.7 659 6570 done -0.62 - - 2085 - 2.42 0.037 2487 594.2 -194.6 - - 3745 - - - - - - - - - 26.22 -
6870 728.1 -8.0 675 6876 roll -0.62 - - 2076 - 2.03 0.047 3824 658.6 -194.6 - - 3743 - - - - - - - - - 26.15 -
6890 729.7 -8.0 676 6895 done -0.62 - - 2076 - 2.05 0.021 2410 -689.8 -194.6 - - 3742 - - - - - - - - - 26.46 -
7211 759.6 -9.4 692 7216 roll -0.62 - - 2076 - 2.17 0.028 1042 -630.4 -194.6 - - 3740 - - - - - - - - - 26.29 -
7238 761.5 -9.5 693 7242 done -0.62 - - 2066 - 2.38 0.034 2479 603.8 -194.6 - - 3740 - - - - - - - - - 26.22 -
7545 791.6 -9.6 708 7550 roll -0.61 - - 2066 - 2.35 0.028 1042 -611.5 -194.6 - - 3738 - - - - - - - - - 26.27 -
7592 795.2 -9.5 710 7596 done -0.61 - - 2056 - 2.40 0.037 2462 591.7 -194.6 - - 3738 - - - - - - - - - 26.18 -
7900 825.8 -9.8 725 7906 roll -0.59 - - 2056 - 2.30 0.026 1049 -614.3 -194.6 - - 3736 - - - - - - - - - 26.27 -
7939 829.6 -9.6 727 7946 done -0.58 0.10 0.090 2090 340.0 2.35 0.034 2445 594.0 -194.6 - - 3736 - - - - - - - - 26.03 26.19 -
8262 851.4 -7.0 743 8268 roll -0.59 - - 2080 - 2.12 0.046 3823 650.0 -194.6 - - 3734 - - - - - - - - - 26.08 -
8284 852.9 -7.1 744 8287 done -0.60 - - 2080 - 2.10 0.021 2388 -683.3 -194.6 - - 3732 - - - - - - - - - 26.41 -
8597 877.1 -7.6 760 8599 done -0.60 - - 2080 - - - 2388 - -194.6 - - 3732 - - - - - - - - - - -
8896 899.0 -7.3 775 8901 roll -0.60 - - 2070 - 2.30 0.046 3818 621.7 -194.6 - - 3730 - - - - - - - - - 26.05 -
8936 902.0 -7.4 777 8941 done -0.61 - - 2070 - 2.08 0.021 2395 -684.1 -194.6 - - 3730 - - - - - - - - - 26.41 -
9256 927.9 -8.2 793 9257 done -0.61 - - 2070 - - - 2394 - -194.6 - - 3729 - - - - - - - - - - -
9557 950.8 -7.5 808 9558 done -0.61 - - 2070 - - - 2394 - -194.6 - - 3728 - - - - - - - - - - -
9856 974.0 -8.0 823 9861 roll -0.61 - - 2060 - 2.28 0.046 3818 624.6 -194.6 - - 3726 - - - - - - - - - 26.01 -
9877 975.6 -8.1 824 9882 done -0.61 - - 2060 - 2.08 0.022 2402 -680.8 -194.6 - - 3726 - - - - - - - - - 26.39 -
10053 end dive: TARGET_DEPTH_EXCEEDED
10053 begin apogee
10059 990.8 -8.2 833 10249 roll -0.20 0.43 0.094 2209 346.5 0.08 0.090 2487 1062.5 - 183.60 1.171 2978 -4.1 0.364 - - - - - - 25.86 24.60 23.67
10250 end apogee: CONTROL_FINISHED_OK
10250 begin climb
10252 996.5 - 842 10472 roll 0.58 0.62 0.037 2472 424.2 2.47 0.028 1066 -575.3 194.6 207.20 1.138 2173 -3.9 0.360 - - - - - - 24.84 24.84 23.22
10598 950.5 17.4 859 10603 done 0.54 - - 2471 - 2.60 0.036 2536 565.4 194.6 - - 2151 - - - - - - - - - 25.33 -
10912 881.1 22.2 875 10918 roll 0.47 0.12 0.187 2434 -308.3 1.92 0.041 3820 668.8 194.6 - - 2148 - - - - - - - - 25.66 25.87 -
11026 860.0 20.8 880 11034 done 0.41 0.12 0.187 2414 -166.7 1.90 0.022 2512 -688.4 194.6 - - 2146 - - - - - - - - 25.66 26.05 -
11332 808.8 14.8 896 11333 done 0.38 - - 2414 - - - 2511 - 194.6 - - 2145 - - - - - - - - - - -
11631 764.5 15.0 911 11637 roll 0.34 - - 2413 - 2.05 0.044 3832 644.4 194.6 - - 2144 - - - - - - - - - 26.05 -
11692 754.1 16.9 914 11698 done 0.30 0.15 0.168 2378 -233.3 1.90 0.022 2511 -695.3 194.6 - - 2142 - - - - - - - - 25.76 26.22 -
12013 716.2 11.5 930 12018 roll 0.29 - - 2378 - 2.00 0.046 3817 653.0 194.6 - - 2142 - - - - - - - - - 26.06 -
12051 710.9 12.2 932 12057 done 0.28 - - 2388 - 1.85 0.021 2526 -697.8 194.6 - - 2142 - - - - - - - - - 26.27 -
12372 673.2 11.4 948 12378 roll 0.26 - - 2388 - 1.98 0.045 3830 658.6 194.6 - - 2142 - - - - - - - - - 26.08 -
12411 668.0 12.1 950 12418 done 0.24 0.15 0.155 2356 -213.3 1.85 0.021 2530 -702.7 194.6 - - 2141 - - - - - - - - 25.86 26.29 -
12734 641.0 8.0 966 12764 roll 0.28 - - 2368 - 2.47 0.029 1075 -589.1 217.1 24.10 0.869 2089 -2.2 0.168 - - - - - - - 25.96 24.94
12790 636.7 7.9 968 12833 done 0.32 - - 2368 - 2.58 0.034 2558 574.8 244.1 37.65 0.860 1983 -2.8 0.220 - - - - - - - 25.94 24.57
13147 606.8 8.3 986 13167 roll 0.35 - - 2381 - 2.60 0.031 1069 -572.7 256.7 11.73 0.919 1925 -4.9 0.345 - - - - - - - 25.82 24.77
13191 603.3 8.0 988 13223 done 0.39 - - 2380 - 2.60 0.034 2551 570.0 278.4 26.33 0.891 1843 -3.1 0.223 - - - - - - - 25.83 24.52
13526 573.7 8.9 1018 13530 roll 0.41 - - 2381 - 1.90 0.044 3822 668.9 278.4 - - 1818 - - - - - - - - - 25.89 -
13551 571.5 9.4 1020 13559 done 0.42 - - 2390 - 1.90 0.021 2508 -691.6 278.4 - - 1817 - - - - - - - - - 26.04 -
13858 540.8 9.2 1051 13867 roll 0.42 - - 2403 - 2.38 0.031 1076 -601.7 278.4 - - 1816 - - - - - - - - - 26.05 -
13903 537.0 9.1 1055 13910 done 0.44 - - 2402 - 2.53 0.035 2539 578.3 278.4 - - 1815 - - - - - - - - - 26.04 -
14211 504.3 10.9 1086 14219 roll 0.43 - - 2415 - 2.50 0.034 1068 -588.4 278.4 - - 1815 - - - - - - - - - 26.10 -
14255 499.9 10.1 1090 14262 done 0.44 - - 2415 - 2.47 0.036 2518 587.0 278.4 - - 1814 - - - - - - - - - 26.10 -
14564 460.0 13.7 1121 14572 roll 0.43 - - 2415 - 1.95 0.044 3836 675.9 278.4 - - 1814 - - - - - - - - - 26.10 -
14689 441.8 14.2 1133 14696 done 0.41 - - 2425 - 1.92 0.022 2499 -696.4 278.4 - - 1813 - - - - - - - - - 26.27 -
14995 401.0 13.7 1164 15005 roll 0.39 - - 2437 - 2.35 0.031 1081 -603.4 278.4 - - 1813 - - - - - - - - - 26.20 -
15031 397.0 12.7 1167 15039 done 0.38 0.12 0.133 2400 -308.3 2.47 0.035 2526 585.0 278.4 - - 1813 - - - - - - - - 25.96 26.15 -
15339 371.2 8.2 1198 15357 done 0.41 - - 2400 - - - 2524 - 294.3 12.52 0.794 1774 -3.1 0.154 - - - - - - - - 25.01
15659 345.8 7.7 1230 15699 roll 0.46 - - 2412 - 2.55 0.031 1078 -567.1 325.7 34.45 0.764 1642 -3.8 0.183 - - 1 - - - - 25.81 24.87
15722 341.2 7.0 1236 15785 done 0.56 0.08 0.045 2494 1025.0 2.50 0.033 2515 574.8 382.3 55.85 0.760 1418 -4.0 0.190 - - - - - - 25.79 25.82 24.49
16094 265.5 19.5 1273 16103 roll 0.52 0.17 0.158 2440 -317.6 1.95 0.040 3819 668.7 382.3 - - 1390 - - - - - - - - 25.64 25.86 -
16178 254.0 10.4 1281 16182 done 0.55 - - 2450 - 1.95 0.021 2479 -687.2 382.3 - - 1389 - - - - - - - - - 26.06 -
16490 225.9 8.8 1312 16499 roll 0.57 - - 2462 - 2.33 0.030 1076 -602.1 382.3 - - 1387 - - - - - - - - - 26.08 -
16533 222.1 8.7 1316 16544 done 0.60 - - 2462 - 2.47 0.031 2530 588.7 382.3 - - 1386 - - - - - - - - - 26.09 -
16844 194.1 8.7 1353 16851 roll 0.62 - - 2474 - 2.47 0.030 1072 -590.3 382.3 - - 1386 - - - - - - - - - 26.15 -
16874 191.9 7.8 1358 16906 done 0.69 - - 2474 - 2.45 0.031 2511 587.3 410.9 25.65 0.657 1300 -3.4 0.104 - - - - - - - 26.15 25.06
17091 173.5 8.4 1399 17099 roll 0.73 0.10 0.090 2549 750.0 2.03 0.041 3833 651.2 420.0 2.33 0.281 1264 -15.5 1.009 - - 1 - - - 26.25 25.95 24.58
17128 168.2 17.8 1405 17135 done 0.70 0.22 0.155 2497 -236.4 2.00 0.021 2469 -682.0 420.0 - - 1268 - - - - - - - - 25.65 26.13 -
17321 144.2 10.4 1442 17327 roll 0.70 - - 2509 - 2.33 0.030 1070 -600.4 420.0 - - 1267 - - - - - - - - - 26.12 -
17371 139.3 8.4 1451 17391 done 0.75 - - 2509 - 2.42 0.030 2497 589.7 428.2 13.35 0.616 1228 -2.9 0.070 - - - - - - - 26.13 25.10
17576 121.0 9.1 1490 17582 done 0.77 - - 2509 - - - 2497 - 428.2 - - 1214 - - - - - - - - - - -
17769 104.8 7.8 1527 17808 roll 0.82 - - 2509 - 2.05 0.039 3824 647.3 457.4 32.40 0.332 1123 -2.8 0.094 - - 1 - - - - 26.00 25.31
17826 100.2 7.9 1536 17876 done 0.88 0.12 0.074 2620 925.0 2.03 0.020 2429 -687.2 482.5 41.12 0.323 1021 -2.5 0.081 - - - - - - 26.08 26.13 25.20
18061 44.6 23.2 1580 18071 roll 0.82 0.25 0.168 2558 -248.0 2.33 0.029 1070 -583.3 482.5 2.95 0.145 1011 -3.4 0.110 - - - - - - 25.60 26.03 25.41
18095 38.2 18.9 1585 18102 done 0.80 - - 2558 - 2.42 0.028 2497 589.7 482.5 - - 1020 - - - - - - - - - 26.06 -
18288 20.7 8.3 1622 18308 roll 0.83 - - 2558 - 2.00 0.038 3823 663.0 494.1 10.70 0.158 966 -5.0 0.070 - - 1 - - - - 25.96 25.51
18321 17.9 8.9 1627 18328 done 0.85 - - 2567 - 2.00 0.021 2445 -689.0 494.1 - - 974 - - - - - - - - - 26.22 -
18496 end climb: SURFACE_DEPTH_REACHED
18496 begin surface coast
18522 end surface coast: CONTROL_FINISHED_OK
18522 begin surface
SM 0.83 - - - - -6.63 6.07 0.024 130 -401.5 0.15 0.070 2537 613.3 491.58 - - 976 - - - - - - - -