OKMC Apr12 * SG169 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 1 • 3.40 of 147.52 AH used of 24V (97.70% remains)
• Previous NAKs 0, Timeouts 0 • 2.23 of 108.53 AH used of 10V (97.95% remains)
• Surface angle -71.9 deg, depth 0.61 m • Intended pitch -15.6 deg, speed -9.167 cm/s
• No surface pump (final VBD was 480.30, SM_CC=425)
• GPS1 time: 39 s
• GPS2 time: 12 s, HDOP was 3.6 m • 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
20 - - - 109 VBD -0.60 - - 126 - - - 2388 - -170.3 -86.97 - 3066 - - - - - - - - - - -
112 3.8 -9.5 15 135 roll -0.60 6.70 0.230 1840 255.8 2.20 0.041 986 -637.3 -170.3 -10.93 - 3676 -55.8 - - - - - - - 25.66 26.03 26.29
180 37.1 -41.1 26 190 done -0.40 0.25 0.160 1899 236.0 2.35 0.036 2471 631.9 -170.3 - - 3678 - - - - - - - - 25.84 26.04 -
384 91.0 -17.9 63 391 roll -0.30 0.12 0.179 1947 400.0 2.28 0.028 1001 -644.7 -170.3 - - 3679 - - - - - - - - 26.04 26.20 -
420 97.9 -17.0 69 427 done -0.27 - - 1936 - 2.33 0.038 2471 630.9 -170.3 - - 3679 - - - - - - - - - 26.19 -
616 120.8 -10.3 106 625 roll -0.27 - - 1936 - 2.25 0.028 999 -654.2 -170.3 - - 3680 - - - - - - - - - 26.30 -
638 122.8 -9.8 109 645 done -0.29 - - 1935 - 2.30 0.037 2469 639.1 -170.3 - - 3680 - - - - - - - - - 26.29 -
834 138.8 -7.4 146 843 roll -0.33 - - 1925 - 2.10 0.047 3820 643.3 -170.3 - - 3680 - - - - - - - - - 26.33 -
882 142.2 -6.4 154 891 done -0.38 - - 1925 - 2.10 0.023 2385 -683.3 -170.3 - - 3680 - - - - - - - - - 26.42 -
1081 157.0 -7.6 191 1087 done -0.43 - - 1925 - - - 2385 - -170.3 - - 3680 - - - - - - - - - - -
1278 170.0 -6.0 228 1285 roll -0.48 0.12 0.075 1818 -891.7 2.30 0.042 3823 625.2 -170.3 - - 3680 - - - - - - - - 26.55 26.43 -
1362 182.6 -18.6 243 1369 done -0.38 0.30 0.137 1910 306.7 2.10 0.025 2404 -675.7 -170.3 - - 3680 - - - - - - - - 26.28 26.50 -
1560 204.1 -7.7 275 1569 roll -0.42 - - 1899 - 2.22 0.044 3819 637.4 -170.3 - - 3680 - - - - - - - - - 26.47 -
1595 206.8 -7.7 278 1604 done -0.45 - - 1899 - 2.08 0.023 2398 -683.2 -170.3 - - 3680 - - - - - - - - - 26.54 -
1902 234.5 -8.7 309 1911 roll -0.48 - - 1899 - 2.08 0.028 1000 -672.1 -170.3 - - 3680 - - - - - - - - - 26.54 -
1935 237.2 -8.4 312 1944 done -0.52 - - 1892 - 2.25 0.035 2471 653.8 -170.3 - - 3680 - - - - - - - - - 26.53 -
2245 260.8 -7.8 343 2256 roll -0.54 - - 1881 - 2.05 0.047 3820 658.0 -170.3 - - 3678 - - - - - - - - - 26.53 -
2292 264.6 -8.5 347 2301 done -0.58 - - 1881 - 2.08 0.024 2402 -681.7 -170.3 - - 3678 - - - - - - - - - 26.60 -
2600 290.1 -6.9 378 2609 roll -0.59 0.12 0.078 1783 -816.7 2.20 0.044 3814 641.8 -170.3 - - 3677 - - - - - - - - 26.66 26.55 -
2645 295.5 -12.3 382 2652 done -0.55 0.25 0.132 1860 308.0 2.08 0.024 2399 -680.3 -170.3 - - 3677 - - - - - - - - 26.41 26.62 -
2953 326.1 -9.1 413 2961 roll -0.55 - - 1849 - 2.25 0.045 3818 630.7 -170.3 - - 3675 - - - - - - - - - 26.56 -
2987 329.4 -10.0 416 2994 done -0.55 - - 1849 - 2.12 0.024 2384 -676.4 -170.3 - - 3675 - - - - - - - - - 26.63 -
3297 363.5 -11.1 447 3308 roll -0.53 - - 1839 - 2.25 0.048 3810 633.8 -170.3 - - 3673 - - - - - - - - - 26.56 -
3362 370.9 -10.9 453 3371 done -0.53 - - 1838 - 2.08 0.024 2394 -680.8 -170.3 - - 3672 - - - - - - - - - 26.65 -
3674 405.6 -10.6 484 3683 roll -0.51 0.12 0.135 1884 383.3 2.08 0.026 996 -672.1 -170.3 - - 3670 - - - - - - - - 26.53 26.63 -
3737 410.5 -6.1 490 3746 done -0.58 - - 1877 - 2.25 0.036 2467 653.8 -170.3 - - 3670 - - - - - - - - - 26.60 -
4047 431.9 -7.3 521 4052 roll -0.62 0.12 0.076 1775 -850.0 2.08 0.045 3824 652.4 -170.3 - - 3668 - - - - - - - - 26.71 26.58 -
4156 447.7 -17.1 531 4166 done -0.54 0.28 0.129 1860 303.6 2.10 0.027 2404 -676.2 -170.3 - - 3666 - - - - - - - - 26.44 26.65 -
4464 476.9 -8.6 562 4474 roll -0.55 - - 1849 - 2.22 0.061 3818 636.9 -170.3 -0.08 - 3693 -337.5 - - - - - - - - 26.58 26.28
4490 479.1 -8.8 564 4497 done -0.56 - - 1849 - 2.10 0.025 2395 -677.6 -170.3 - - 3693 - - - - - - - - - 26.66 -
4797 507.0 -8.4 595 4799 done -0.56 - - 1849 - - - 2394 - -170.3 - - 3691 - - - - - - - - - - -
5100 529.1 -6.8 625 5109 roll -0.56 - - 1838 - 2.25 0.048 3814 631.1 -170.3 - - 3689 - - - - - - - - - 26.59 -
5175 534.3 -6.6 632 5184 done -0.59 - - 1839 - 2.08 0.025 2403 -678.4 -170.3 - - 3688 - - - - - - - - - 26.67 -
5483 560.2 -9.2 663 5494 roll -0.59 - - 1828 - 2.20 0.050 3814 641.4 -170.3 - - 3687 - - - - - - - - - 26.58 -
5527 564.4 -9.7 667 5538 done -0.59 - - 1828 - 2.10 0.026 2398 -674.3 -170.3 - - 3686 - - - - - - - - - 26.66 -
5837 596.3 -10.1 698 5846 roll -0.57 - - 1817 - 2.28 0.049 3828 627.2 -170.3 - - 3684 - - - - - - - - - 26.58 -
5886 600.6 -10.0 702 5891 done -0.55 0.12 0.134 1855 316.7 2.12 0.026 2394 -676.4 -170.3 - - 3683 - - - - - - - - 26.50 26.66 -
6202 624.7 -7.6 718 6207 roll -0.57 - - 1844 - 2.25 0.049 3820 633.8 -170.3 - - 3681 - - - - - - - - - 26.58 -
6242 627.7 -7.3 720 6248 done -0.59 - - 1844 - 2.08 0.027 2412 -676.9 -170.3 - - 3681 - - - - - - - - - 26.66 -
6562 652.8 -7.8 736 6567 roll -0.59 - - 1833 - 2.20 0.050 3811 635.9 -170.3 - - 3679 - - - - - - - - - 26.58 -
6616 656.0 -7.9 738 6622 done -0.59 - - 1833 - 2.10 0.026 2399 -672.4 -170.3 - - 3679 - - - - - - - - - 26.66 -
6921 684.4 -9.1 754 6926 roll -0.59 - - 1823 - 2.25 0.050 3824 633.3 -170.3 - - 3677 - - - - - - - - - 26.58 -
6953 686.3 -9.3 755 6962 done -0.59 - - 1823 - 2.10 0.027 2405 -675.7 -170.3 - - 3677 - - - - - - - - - 26.66 -
7262 718.1 -10.1 771 7267 roll -0.57 - - 1812 - 2.22 0.053 3813 634.2 -170.3 - - 3675 - - - - - - - - - 26.56 -
7324 724.4 -10.4 774 7329 done -0.55 0.15 0.128 1859 313.3 2.10 0.026 2396 -674.8 -170.3 - - 3674 - - - - - - - - 26.48 26.66 -
7639 747.2 -7.0 790 7645 roll -0.58 - - 1849 - 2.25 0.050 3821 633.3 -170.3 - - 3673 - - - - - - - - - 26.57 -
7687 750.1 -7.0 792 7691 done -0.62 - - 1848 - 2.12 0.027 2399 -670.8 -170.3 - - 3673 - - - - - - - - - 26.65 -
7994 774.8 -8.2 807 8000 roll -0.63 - - 1839 - 2.20 0.047 3812 642.3 -170.3 - - 3671 - - - - - - - - - 26.55 -
8043 778.2 -8.3 809 8047 done -0.65 - - 1839 - 2.10 0.024 2397 -673.8 -170.3 - - 3670 - - - - - - - - - 26.67 -
8351 806.6 -8.8 824 8356 roll -0.65 - - 1828 - 2.25 0.049 3822 633.3 -170.3 - - 3669 - - - - - - - - - 26.56 -
8413 812.1 -9.1 827 8417 done -0.65 - - 1828 - 2.12 0.028 2405 -668.4 -170.3 - - 3669 - - - - - - - - - 26.65 -
8725 840.8 -8.9 843 8731 roll -0.65 - - 1817 - 2.25 0.051 3814 626.2 -170.3 - - 3669 - - - - - - - - - 26.55 -
8748 842.6 -8.9 844 8752 done -0.65 - - 1818 - 2.10 0.026 2406 -670.5 -170.3 - - 3668 - - - - - - - - - 26.65 -
9061 873.6 -10.3 860 9066 roll -0.63 - - 1808 - 2.22 0.051 3810 632.4 -170.3 - - 3667 - - - - - - - - - 26.55 -
9083 875.8 -10.5 861 9087 done -0.61 - - 1808 - 2.10 0.025 2404 -669.5 -170.3 - - 3667 - - - - - - - - - 26.65 -
9398 910.7 -11.3 877 9400 done -0.58 0.12 0.139 1846 316.7 - - 2402 - -170.3 - - 3666 - - - - - - - - 26.53 - -
9697 935.5 -8.4 892 9702 roll -0.60 - - 1835 - 2.22 0.051 3805 632.0 -170.3 - - 3664 - - - - - - - - - 26.57 -
9758 940.8 -8.6 895 9763 done -0.63 - - 1835 - 2.08 0.026 2403 -674.0 -170.3 - - 3664 - - - - - - - - - 26.65 -
10078 972.1 -10.1 911 10084 roll -0.65 - - 1825 - 2.22 0.050 3810 633.8 -170.3 - - 3663 - - - - - - - - - 26.54 -
10110 974.1 -10.2 912 10119 done -0.66 - - 1825 - 2.10 0.026 2398 -672.4 -170.3 - - 3663 - - - - - - - - - 26.65 -
10254 end dive: TARGET_DEPTH_EXCEEDED
10254 begin apogee
10261 990.2 -9.9 920 10441 done -0.20 0.40 0.102 1968 357.5 0.08 0.093 2516 1475.0 - 168.45 1.137 2968 -4.1 0.370 - - - - - - 26.45 24.64 23.91
10442 end apogee: CONTROL_FINISHED_OK
10442 begin climb
10445 997.8 - 929 10632 roll 0.60 0.68 0.030 2287 469.1 2.38 0.030 1102 -594.1 170.3 177.05 1.126 2271 -3.9 0.360 - - - - - - 24.98 24.58 23.80
10655 960.2 26.1 939 10661 done 0.39 0.43 0.174 2167 -279.1 2.42 0.037 2555 600.4 170.3 - - 2255 - - - - - - - - 24.82 24.96 -
10977 900.8 17.8 955 10983 roll 0.31 0.12 0.187 2130 -308.3 1.95 0.044 3812 644.6 170.3 - - 2244 - - - - - - - - 25.67 25.81 -
11079 884.1 15.8 960 11084 done 0.26 - - 2141 - 1.98 0.026 2515 -655.1 170.3 - - 2242 - - - - - - - - - 25.94 -
11398 839.5 13.5 976 11400 done 0.21 0.15 0.174 2103 -253.3 - - 2512 - 170.3 - - 2241 - - - - - - - - 25.94 - -
11697 808.0 10.8 991 11702 roll 0.21 - - 2103 - 2.08 0.047 3817 627.4 170.3 - - 2239 - - - - - - - - - 26.18 -
11730 805.8 10.9 992 11739 done 0.21 - - 2112 - 1.95 0.026 2523 -663.6 170.3 - - 2239 - - - - - - - - - 26.26 -
12037 768.7 11.3 1008 12038 done 0.21 - - 2113 - - - 2521 - 170.3 - - 2239 - - - - - - - - - - -
12337 736.0 11.3 1023 12340 roll 0.21 - - 2112 - 2.05 0.047 3828 637.6 170.3 - - 2237 - - - - - - - - - 26.32 -
12367 733.3 11.5 1024 12371 done 0.21 - - 2122 - 1.95 0.025 2525 -668.2 170.3 - - 2237 - - - - - - - - - 26.38 -
12674 694.0 12.1 1039 12679 roll 0.19 - - 2134 - 2.22 0.034 1099 -642.3 170.3 - - 2236 - - - - - - - - - 26.38 -
12722 689.4 11.8 1041 12727 done 0.19 0.12 0.150 2100 -283.3 2.35 0.038 2564 623.4 170.3 - - 2236 - - - - - - - - 26.23 26.37 -
13032 660.5 8.8 1056 13033 done 0.22 - - 2100 - - - 2563 - 179.9 - - 2236 - - - - - - - - - - -
13330 635.5 8.1 1071 13388 done 0.27 - - 2099 - - - 2563 - 209.7 52.70 0.813 2115 -2.3 0.185 - - - - - - - - 24.96
13692 605.8 8.7 1089 13713 roll 0.32 0.12 0.076 2193 783.3 2.40 0.033 1099 -610.0 222.9 13.73 0.877 2063 -3.8 0.270 - - 1 - - - 26.10 25.77 25.07
13743 600.4 10.6 1091 13751 done 0.32 0.17 0.148 2145 -282.4 2.40 0.039 2561 609.2 222.9 - - 2050 - - - - - - - - 25.70 25.83 -
14051 556.9 12.7 1122 14059 roll 0.30 - - 2145 - 1.98 0.047 3826 638.9 222.9 - - 2045 - - - - - - - - - 26.06 -
14086 552.5 13.4 1125 14092 done 0.28 - - 2154 - 1.98 0.025 2517 -661.1 222.9 - - 2043 - - - - - - - - - 26.13 -
14393 511.0 13.5 1156 14395 done 0.24 0.15 0.168 2114 -266.7 - - 2515 - 222.9 - - 2043 - - - - - - - - 26.06 - -
14696 484.9 8.1 1186 14735 done 0.30 - - 2115 - - - 2515 - 252.0 37.62 0.780 1951 -2.4 0.157 - - - - - - - - 25.04
15034 458.0 7.8 1220 15083 done 0.38 0.12 0.076 2200 708.3 - - 2515 - 291.1 43.15 0.812 1781 -3.9 0.229 - - - - - - 26.12 - 24.73
15384 389.8 21.2 1255 15393 roll 0.31 0.20 0.156 2140 -300.0 2.10 0.044 3813 618.1 291.1 - - 1760 - - - - - - - - 25.77 25.91 -
15438 381.0 15.3 1260 15446 done 0.31 - - 2149 - 1.95 0.025 2524 -661.0 291.1 - - 1759 - - - - - - - - - 26.01 -
15747 345.8 10.4 1291 15757 roll 0.33 - - 2161 - 2.22 0.034 1107 -638.3 291.1 - - 1757 - - - - - - - - - 26.13 -
15782 342.5 9.8 1294 15791 done 0.35 - - 2161 - 2.35 0.037 2568 621.7 291.1 - - 1757 - - - - - - - - - 26.14 -
16090 304.8 13.2 1325 16091 done 0.35 - - 2161 - - - 2567 - 291.1 - - 1757 - - - - - - - - - - -
16392 266.1 12.1 1355 16400 roll 0.35 - - 2172 - 2.33 0.033 1103 -628.3 291.1 - - 1757 - - - - - - - - - 26.32 -
16438 261.3 11.2 1359 16444 done 0.38 - - 2173 - 2.35 0.037 2564 621.7 291.1 - - 1756 - - - - - - - - - 26.31 -
16745 224.2 12.7 1390 16754 roll 0.38 - - 2173 - 1.92 0.048 3827 657.8 291.1 - - 1756 - - - - - - - - - 26.34 -
16810 216.0 12.6 1396 16817 done 0.38 - - 2182 - 1.92 0.024 2522 -679.7 291.1 - - 1756 - - - - - - - - - 26.42 -
17123 177.1 13.5 1444 17131 roll 0.36 - - 2182 - 2.03 0.047 3816 637.4 291.1 - - 1756 - - - - - - - - - 26.39 -
17184 168.8 12.2 1455 17191 done 0.36 0.15 0.133 2146 -240.0 1.92 0.024 2511 -679.7 291.1 - - 1756 - - - - - - - - 26.32 26.46 -
17380 157.1 6.6 1492 17469 roll 0.53 0.15 0.067 2271 833.3 2.30 0.030 1100 -613.5 363.2 79.32 0.604 1486 -3.4 0.091 - - - - - - 26.55 25.58 25.00
17493 135.2 23.0 1510 17503 done 0.46 0.28 0.132 2188 -296.4 2.40 0.036 2563 609.6 363.2 - - 1476 - - - - - - - - 25.55 25.67 -
17698 112.2 7.8 1547 17745 roll 0.56 - - 2200 - 2.42 0.031 1102 -603.7 400.9 36.85 0.585 1328 -4.0 0.079 - - 1 - - - - 25.56 25.01
17774 106.4 6.2 1559 17871 done 0.76 0.22 0.051 2322 554.5 2.40 0.034 2564 609.2 482.7 89.43 0.332 1013 -3.5 0.116 - - - - - - 25.73 25.68 25.02
18062 41.1 22.2 1610 18071 roll 0.69 0.20 0.164 2260 -310.0 2.00 0.044 3825 630.5 482.7 2.55 0.153 1010 -1.2 0.033 - - 1 - - - 25.67 25.82 25.63
18105 34.3 12.1 1617 18112 done 0.73 - - 2269 - 1.98 0.024 2517 -660.6 482.7 2.03 0.171 1009 - - - - - - - - - 25.91 25.70
18300 20.1 9.7 1654 18308 roll 0.92 0.15 0.090 2340 473.3 2.28 0.029 1098 -622.4 482.7 2.10 0.146 1012 1.4 -0.020 - - - - - - 26.06 26.06 25.87
18470 end climb: SURFACE_DEPTH_REACHED
18470 begin surface coast
18496 end surface coast: CONTROL_FINISHED_OK
18496 begin surface
SM 0.56 - - - - -5.88 5.53 0.026 123 -400.9 2.20 0.028 2480 628.2 480.30 - - 1021 - - - - - - - -