OKMC Apr12 * SG169 * Dive index * Mission links * Dive 221 * Raw log
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• Previous call tries 1 • 44.61 of 147.52 AH used of 24V (69.76% remains)
• Previous NAKs 0, Timeouts 0 • 27.35 of 108.53 AH used of 10V (74.80% remains)
• Surface angle -75.9 deg, depth 0.67 m • Intended pitch -13.8 deg, speed -8.684 cm/s
VBD pumped to 588.47 (beyond SM_CC=450)
• GPS1 time: 30 s
• GPS2 time: 10 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 - - - 106 VBD -0.58 - - 116 - - - 2530 - -194.6 -85.93 - 3189 - - - - - - - - - - -
109 3.7 -9.9 15 136 roll -0.58 7.90 0.224 2068 247.1 1.98 0.046 3843 663.1 -194.6 -10.40 - 3775 -56.3 - - - - - - - 25.12 26.00 26.41
189 38.4 -22.2 29 196 done -0.53 - - 2076 - 2.00 0.021 2464 -689.5 -194.6 - - 3777 - - - - - - - - - 26.12 -
381 83.1 -22.3 66 390 roll -0.45 0.15 0.160 2132 373.3 2.38 0.024 1035 -600.4 -194.6 - - 3778 - - - - - - - - 25.90 26.14 -
485 97.2 -8.2 85 491 done -0.47 - - 2122 - 2.53 0.031 2504 580.6 -194.6 - - 3778 - - - - - - - - - 26.13 -
675 121.9 -13.4 122 683 roll -0.44 - - 2125 - 2.42 0.024 1043 -603.7 -194.6 - - 3778 - - - - - - - - - 26.24 -
708 125.8 -12.3 127 715 done -0.43 - - 2115 - 2.47 0.031 2492 586.6 -194.6 - - 3779 - - - - - - - - - 26.20 -
898 150.9 -14.6 164 906 roll -0.39 0.12 0.151 2146 258.3 2.00 0.038 3824 666.0 -194.6 - - 3778 - - - - - - - - 26.18 26.19 -
929 154.9 -12.5 169 936 done -0.38 - - 2146 - 2.03 0.018 2411 -696.1 -194.6 - - 3779 - - - - - - - - - 26.41 -
1121 171.2 -8.8 206 1129 roll -0.39 - - 2146 - 2.22 0.025 1034 -620.3 -194.6 - - 3779 - - - - - - - - - 26.31 -
1158 174.2 -7.9 212 1165 done -0.43 - - 2141 - 2.45 0.031 2487 593.1 -194.6 - - 3779 - - - - - - - - - 26.26 -
1351 187.8 -6.5 249 1358 roll -0.49 - - 2141 - 2.03 0.041 3833 663.1 -194.6 - - 3779 - - - - - - - - - 26.24 -
1450 195.3 -8.1 267 1458 done -0.60 0.17 0.059 2029 -658.8 1.95 0.018 2416 -726.7 -194.6 - - 3779 - - - - - - - - 26.41 26.52 -
1643 229.5 -22.4 290 1650 done -0.52 0.22 0.138 2102 331.8 - - 2416 - -194.6 - - 3779 - - - - - - - - 25.99 - -
1951 267.8 -11.5 321 1952 done -0.50 - - 2102 - - - 2416 - -194.6 - - 3779 - - - - - - - - - - -
2253 299.6 -10.9 351 2259 done -0.49 - - 2102 - - - 2416 - -194.6 - - 3779 - - - - - - - - - - -
2564 329.4 -9.2 382 2573 roll -0.49 - - 2102 - 2.25 0.024 1031 -615.6 -194.6 - - 3777 - - - - - - - - - 26.39 -
2599 332.5 -8.9 385 2607 done -0.50 - - 2099 - 2.50 0.031 2504 589.2 -194.6 - - 3777 - - - - - - - - - 26.31 -
2906 361.7 -9.0 416 2915 roll -0.50 - - 2099 - 2.45 0.024 1031 -601.2 -194.6 - - 3775 - - - - - - - - - 26.36 -
2941 364.5 -8.9 419 2948 done -0.50 - - 2098 - 2.47 0.032 2492 591.5 -194.6 - - 3775 - - - - - - - - - 26.29 -
3248 393.4 -10.4 450 3257 roll -0.50 - - 2089 - 2.03 0.042 3830 659.1 -194.6 - - 3772 - - - - - - - - - 26.25 -
3270 395.8 -10.4 452 3279 done -0.50 - - 2089 - 2.03 0.019 2414 -697.5 -194.6 - - 3772 - - - - - - - - - 26.49 -
3581 429.2 -10.2 483 3582 done -0.50 - - 2089 - - - 2414 - -194.6 - - 3770 - - - - - - - - - - -
3882 456.0 -8.2 513 3891 roll -0.50 - - 2081 - 2.22 0.043 3817 632.0 -194.6 - - 3768 - - - - - - - - - 26.22 -
3928 459.5 -8.2 517 3937 done -0.50 0.10 0.120 2114 330.0 2.00 0.019 2408 -704.5 -194.6 - - 3767 - - - - - - - - 26.29 26.50 -
4235 477.6 -5.7 548 4244 roll -0.51 - - 2114 - 2.20 0.025 1039 -622.3 -194.6 - - 3766 - - - - - - - - - 26.34 -
4271 479.5 -6.0 551 4278 done -0.54 - - 2112 - 2.45 0.031 2495 594.3 -194.6 - - 3766 - - - - - - - - - 26.28 -
4578 498.3 -6.4 582 4588 roll -0.59 - - 2112 - 2.40 0.034 1028 -611.2 -194.6 -0.10 - 3785 -190.0 - - - - - - - - 26.34 25.97
4816 517.3 -8.7 605 4824 done -0.66 0.15 0.122 2064 -320.0 2.58 0.034 2540 586.0 -194.6 - - 3785 - - - - - - - - 26.04 26.25 -
5124 539.4 -6.8 636 5132 roll -0.68 - - 2064 - 2.50 0.024 1032 -603.2 -194.6 - - 3783 - - - - - - - - - 26.32 -
5149 541.0 -6.9 638 5156 done -0.69 - - 2055 - 2.28 0.032 2417 607.5 -194.6 - - 3782 - - - - - - - - - 26.26 -
5457 574.9 -11.3 669 5466 roll -0.67 - - 2055 - 2.20 0.024 1037 -627.3 -194.6 - - 3781 - - - - - - - - - 26.33 -
5573 585.6 -8.7 680 5580 done -0.67 - - 2045 - 2.30 0.034 2422 602.2 -194.6 - - 3780 - - - - - - - - - 26.23 -
5892 621.1 -11.6 703 5897 roll -0.64 - - 2034 - 2.15 0.044 3829 654.4 -194.6 - - 3778 - - - - - - - - - 26.15 -
5959 627.8 -11.4 706 5969 done -0.61 0.15 0.122 2082 320.0 2.15 0.021 2370 -678.6 -194.6 - - 3777 - - - - - - - - 26.08 26.41 -
6271 650.8 -6.9 722 6276 roll -0.61 - - 2082 - 2.12 0.028 1042 -626.4 -194.6 - - 3776 - - - - - - - - - 26.29 -
6303 652.0 -6.7 723 6310 done -0.61 - - 2076 - 2.33 0.034 2429 595.3 -194.6 - - 3776 - - - - - - - - - 26.20 -
6612 673.7 -7.0 739 6617 roll -0.61 - - 2065 - 2.12 0.044 3817 654.7 -194.6 - - 3774 - - - - - - - - - 26.12 -
6643 675.2 -7.2 740 6650 done -0.61 - - 2065 - 2.15 0.021 2366 -674.9 -194.6 - - 3773 - - - - - - - - - 26.41 -
6951 703.3 -9.3 756 6957 roll -0.60 - - 2053 - 2.33 0.044 3821 624.5 -194.6 - - 3772 - - - - - - - - - 26.10 -
6972 705.2 -9.3 757 6977 done -0.59 - - 2053 - 2.12 0.021 2378 -680.7 -194.6 - - 3772 - - - - - - - - - 26.41 -
7291 740.9 -11.4 773 7297 roll -0.58 0.12 0.129 2087 283.3 2.30 0.042 3828 630.4 -194.6 - - 3770 - - - - - - - - 26.32 26.08 -
7324 742.9 -11.3 774 7331 done -0.57 - - 2088 - 2.12 0.020 2378 -684.0 -194.6 - - 3770 - - - - - - - - - 26.43 -
7632 767.5 -7.3 790 7637 roll -0.58 - - 2079 - 2.30 0.044 3826 629.6 -194.6 - - 3768 - - - - - - - - - 26.07 -
7671 770.5 -7.5 792 7676 done -0.60 - - 2079 - 2.10 0.021 2392 -682.9 -194.6 - - 3767 - - - - - - - - - 26.41 -
7992 794.8 -7.4 808 7993 done -0.60 - - 2079 - - - 2391 - -194.6 - - 3766 - - - - - - - - - - -
8291 815.9 -6.9 823 8297 roll -0.61 - - 2069 - 2.30 0.047 3814 618.7 -194.6 - - 3765 - - - - - - - - - 26.01 -
8332 818.8 -7.1 825 8337 done -0.62 - - 2069 - 2.08 0.021 2398 -680.8 -194.6 - - 3764 - - - - - - - - - 26.41 -
8651 841.6 -7.4 841 8656 roll -0.62 - - 2069 - 2.17 0.027 1045 -623.5 -194.6 - - 3763 - - - - - - - - - 26.22 -
8699 844.7 -7.4 843 8704 done -0.63 - - 2059 - 2.38 0.034 2450 590.3 -194.6 - - 3763 - - - - - - - - - 26.13 -
9008 869.6 -7.9 858 9013 roll -0.62 - - 2049 - 2.10 0.046 3820 652.4 -194.6 - - 3762 - - - - - - - - - 26.01 -
9035 871.1 -7.7 859 9039 done -0.61 - - 2049 - 2.12 0.021 2395 -672.2 -194.6 - - 3761 - - - - - - - - - 26.36 -
9343 896.3 -8.0 874 9345 done -0.60 0.10 0.137 2081 320.0 - - 2394 - -194.6 - - 3761 - - - - - - - - 26.43 - -
9642 911.5 -4.9 889 9647 roll -0.61 - - 2069 - 2.30 0.046 3824 621.7 -194.6 - - 3760 - - - - - - - - - 25.96 -
9676 912.3 -4.8 890 9682 done -0.62 - - 2069 - 2.10 0.023 2407 -674.8 -194.6 - - 3759 - - - - - - - - - 26.34 -
9982 930.9 -6.3 906 9988 roll -0.62 - - 2069 - 2.20 0.028 1053 -615.5 -194.6 - - 3759 - - - - - - - - - 26.15 -
10015 932.1 -6.4 907 10022 done -0.63 - - 2060 - 2.38 0.037 2454 588.7 -194.6 - - 3759 - - - - - - - - - 26.05 -
10323 954.7 -7.5 923 10326 roll -0.63 - - 2050 - 2.15 0.047 3825 637.7 -194.6 - - 3758 - - - - - - - - - 25.94 -
10367 958.2 -7.9 925 10371 done -0.63 - - 2050 - 2.12 0.021 2399 -672.6 -194.6 - - 3757 - - - - - - - - - 26.33 -
10681 988.5 -10.2 941 10682 done -0.62 - - 2050 - - - 2399 - -194.6 - - 3757 - - - - - - - - - - -
10697 end dive: TARGET_DEPTH_EXCEEDED
10697 begin apogee
10704 990.6 -10.4 942 10904 roll -0.20 0.45 0.097 2206 346.7 0.08 0.088 2489 1125.0 - 194.57 1.173 2977 -4.0 0.363 - - - - - - 25.74 24.46 23.42
10905 end apogee: CONTROL_FINISHED_OK
10905 begin climb
10908 1001.7 - 952 11126 roll 0.58 0.68 0.042 2472 391.2 2.22 0.044 3818 598.6 194.6 207.25 1.156 2179 -3.9 0.357 - - - - - - 24.70 24.65 22.89
11135 972.1 20.8 964 11141 done 0.49 0.12 0.174 2446 -216.7 2.08 0.021 2509 -629.3 194.6 - - 2159 - - - - - - - - 24.02 24.28 -
11456 915.9 16.5 980 11462 roll 0.43 0.12 0.187 2411 -291.7 2.05 0.042 3817 638.0 194.6 - - 2144 - - - - - - - - 25.54 25.75 -
11558 900.0 15.5 985 11562 done 0.39 - - 2422 - 1.90 0.021 2518 -683.7 194.6 - - 2142 - - - - - - - - - 25.96 -
11880 853.8 14.0 1001 11885 roll 0.35 0.12 0.181 2384 -316.7 2.03 0.040 3826 644.3 194.6 - - 2141 - - - - - - - - 25.81 25.98 -
11917 850.6 14.0 1002 11923 done 0.31 - - 2393 - 1.88 0.021 2523 -693.1 194.6 - - 2140 - - - - - - - - - 26.13 -
12223 812.6 11.9 1018 12229 roll 0.29 - - 2406 - 2.45 0.032 1082 -588.2 194.6 - - 2140 - - - - - - - - - 26.07 -
12243 810.2 11.7 1019 12249 done 0.27 0.10 0.116 2369 -370.0 2.55 0.034 2552 576.5 194.6 - - 2137 - - - - - - - - 25.82 26.07 -
12566 779.1 10.1 1035 12571 roll 0.26 - - 2368 - 1.92 0.044 3832 666.7 194.6 - - 2137 - - - - - - - - - 26.05 -
12625 772.0 11.3 1038 12629 done 0.25 - - 2378 - 1.90 0.021 2529 -685.8 194.6 - - 2137 - - - - - - - - - 26.25 -
12948 735.6 11.3 1054 12952 roll 0.24 - - 2378 - 1.98 0.044 3822 653.0 194.6 - - 2137 - - - - - - - - - 26.06 -
12978 732.7 11.5 1055 12983 done 0.23 0.12 0.159 2354 -200.0 1.83 0.021 2537 -702.2 194.6 - - 2136 - - - - - - - - 25.91 26.27 -
13288 706.0 7.7 1070 13337 roll 0.28 - - 2366 - 2.58 0.031 1082 -564.0 228.2 43.00 0.858 2042 -2.2 0.193 - - 1 - - - - 25.67 24.63
13381 700.2 7.1 1074 13465 done 0.36 - - 2366 - 2.62 0.032 2562 564.9 280.6 77.35 0.855 1832 -2.7 0.238 - - - - - - - 25.74 24.17
13766 673.6 6.5 1094 13855 roll 0.47 0.15 0.064 2479 753.3 2.70 0.029 1072 -551.9 352.0 81.18 0.921 1535 -3.7 0.287 - - 1 - - - 26.04 25.06 24.08
13891 653.5 19.2 1100 13897 done 0.43 0.22 0.133 2414 -295.5 2.67 0.035 2546 552.1 352.0 - - 1514 - - - - - - - - 25.15 25.35 -
14200 612.3 12.8 1115 14201 done 0.42 - - 2414 - - - 2545 - 352.0 - - 1510 - - - - - - - - - - -
14498 570.6 14.7 1140 14507 roll 0.42 - - 2426 - 2.58 0.031 1074 -570.2 352.0 - - 1507 - - - - - - - - - 26.00 -
14532 566.2 13.9 1143 14541 done 0.42 - - 2426 - 2.55 0.034 2536 573.3 352.0 - - 1506 - - - - - - - - - 26.01 -
14841 521.4 13.4 1174 14849 roll 0.41 - - 2426 - 1.95 0.044 3821 659.0 352.0 - - 1505 - - - - - - - - - 26.02 -
14884 515.5 14.3 1178 14893 done 0.40 0.10 0.154 2400 -260.0 1.90 0.021 2504 -693.2 352.0 - - 1504 - - - - - - - - 25.92 26.19 -
15193 490.2 7.5 1209 15253 roll 0.47 - - 2413 - 2.55 0.031 1074 -560.8 392.3 53.78 0.777 1373 -2.4 0.165 - - - - - - - 25.58 24.62
15312 482.3 6.3 1220 15409 done 0.60 0.17 0.057 2522 641.2 2.55 0.029 2534 572.5 470.6 88.53 0.821 1055 -3.6 0.226 - - - - - - 25.75 25.70 24.12
15708 370.8 30.7 1260 15713 roll 0.54 0.22 0.165 2453 -313.6 1.98 0.041 3828 653.5 470.6 - - 1024 - - - - - - - - 25.47 25.81 -
15794 352.7 15.4 1268 15801 done 0.55 - - 2462 - 1.92 0.021 2505 -689.1 470.6 - - 1023 - - - - - - - - - 26.01 -
16102 303.1 17.0 1299 16111 roll 0.54 - - 2475 - 2.42 0.033 1084 -587.2 470.6 - - 1021 - - - - - - - - - 26.01 -
16154 295.7 13.7 1304 16163 done 0.56 - - 2475 - 2.53 0.031 2538 574.7 470.6 - - 1021 - - - - - - - - - 26.05 -
16464 250.2 14.5 1335 16473 roll 0.55 - - 2475 - 1.95 0.042 3826 660.5 470.6 - - 1021 - - - - - - - - - 26.05 -
16489 246.8 14.8 1337 16497 done 0.53 0.12 0.154 2449 -216.7 1.95 0.021 2490 -685.1 470.6 - - 1021 - - - - - - - - 25.90 26.22 -
16797 219.9 7.2 1368 16860 roll 0.63 - - 2462 - 2.47 0.030 1082 -570.0 519.3 57.10 0.653 854 -2.9 0.106 - - - - - - - 25.67 24.75
16903 213.1 6.8 1378 17003 done 0.76 0.15 0.077 2519 380.0 2.50 0.028 2522 576.0 582.4 91.57 0.635 604 -2.7 0.098 - - - - - - 25.62 25.75 24.39
17307 161.6 12.4 1446 17314 roll 0.86 - - 2519 - 2.00 0.044 3829 653.5 582.4 - - 582 - - - - - - - - - 25.85 -
17492 138.2 14.0 1482 17501 done 0.93 0.17 0.069 2590 417.6 1.98 0.020 2459 -691.9 582.4 - - 582 - - - - - - - - 26.02 26.14 -
17688 117.0 9.7 1519 17694 roll 0.98 - - 2601 - 2.35 0.032 1070 -591.1 582.4 - - 582 - - - - - - - - - 26.07 -
17753 108.1 15.0 1531 17760 done 0.98 - - 2601 - 2.35 0.030 2453 588.5 582.4 - - 581 - - - - - - - - - 26.11 -
17945 56.9 27.2 1568 17953 roll 0.93 - - 2601 - 2.10 0.041 3822 651.9 582.4 - - 581 - - - - - - - - - 26.09 -
18027 37.3 21.1 1583 18034 done 0.91 0.15 0.142 2567 -226.7 2.05 0.022 2434 -677.1 582.4 - - 581 - - - - - - - - 25.91 26.23 -
18219 15.2 9.7 1620 18227 roll 0.93 - - 2579 - 2.28 0.031 1069 -598.7 582.4 - - 581 - - - - - - - - - 26.18 -
18280 9.5 9.7 1631 18287 done 0.97 - - 2578 - 2.35 0.026 2476 598.7 582.4 - - 581 - - - - - - - - - 26.24 -
18343 end climb: SURFACE_DEPTH_REACHED
18343 begin surface coast
18376 end surface coast: CONTROL_FINISHED_OK
18377 begin surface
SM 0.39 - - - - -6.63 6.05 0.019 125 -405.5 0.05 0.147 2517 820.0 588.47 - - 580 - - - - - - - -