OKMC Apr12 * SG169 * Dive index * Mission links * Dive 222 * Raw log
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• Previous call tries 1 • 44.83 of 147.52 AH used of 24V (69.61% remains)
• Previous NAKs 0, Timeouts 0 • 27.48 of 108.53 AH used of 10V (74.68% remains)
• Surface angle -73.6 deg, depth 0.62 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 606.87, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 15 s, HDOP was 2.1 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 115 VBD -0.58 - - 120 - - - 2523 - -194.6 -95.12 - 3225 - - - - - - - - - - -
118 3.5 -9.3 17 145 roll -0.58 8.00 0.229 2067 243.4 2.00 0.054 3836 656.5 -194.6 -10.05 - 3775 -54.7 - - - - - - - 25.14 25.99 26.46
198 33.2 -18.3 31 204 done -0.55 - - 2074 - 2.00 0.021 2471 -682.5 -194.6 - - 3776 - - - - - - - - - 26.13 -
390 79.3 -24.6 68 399 roll -0.46 0.15 0.161 2130 373.3 2.38 0.024 1030 -605.5 -194.6 - - 3776 - - - - - - - - 25.92 26.17 -
472 90.6 -8.7 83 479 done -0.48 - - 2124 - 2.50 0.034 2495 586.0 -194.6 - - 3777 - - - - - - - - - 26.13 -
663 115.5 -13.8 120 671 roll -0.45 - - 2114 - 2.00 0.042 3824 664.5 -194.6 - - 3777 - - - - - - - - - 26.16 -
678 117.5 -13.6 122 685 done -0.42 - - 2118 - 2.03 0.021 2429 -687.2 -194.6 - - 3777 - - - - - - - - - 26.35 -
871 147.1 -15.1 159 878 done -0.39 0.12 0.147 2158 333.3 - - 2427 - -194.6 - - 3777 - - - - - - - - 26.20 - -
1062 165.5 -7.5 196 1070 roll -0.40 - - 2158 - 2.25 0.024 1039 -616.9 -194.6 - - 3777 - - - - - - - - - 26.32 -
1088 167.4 -7.2 200 1097 done -0.43 - - 2158 - 2.47 0.031 2502 592.3 -194.6 - - 3777 - - - - - - - - - 26.27 -
1283 181.3 -9.5 237 1290 done -0.49 0.12 0.116 2108 -416.7 - - 2501 - -194.6 - - 3777 - - - - - - - - 26.37 - -
1475 195.2 -6.5 274 1482 roll -0.53 - - 2108 - 2.40 0.024 1036 -610.4 -194.6 - - 3777 - - - - - - - - - 26.36 -
1537 199.8 -7.7 285 1544 done -0.56 - - 2099 - 2.42 0.031 2478 595.9 -194.6 - - 3777 - - - - - - - - - 26.31 -
1723 220.4 -12.9 304 1727 roll -0.53 - - 2089 - 2.03 0.041 3825 663.5 -194.6 - - 3777 - - - - - - - - - 26.27 -
1757 224.7 -13.2 307 1764 done -0.51 - - 2089 - 2.05 0.021 2412 -689.3 -194.6 - - 3777 - - - - - - - - - 26.45 -
2065 271.8 -15.4 338 2075 roll -0.48 0.10 0.144 2121 320.0 2.20 0.022 1035 -625.9 -194.6 - - 3776 - - - - - - - - 26.44 26.39 -
2120 278.0 -11.2 343 2127 done -0.50 - - 2117 - 2.40 0.031 2473 599.2 -194.6 - - 3777 - - - - - - - - - 26.33 -
2428 312.5 -11.4 374 2436 roll -0.50 - - 2106 - 2.10 0.043 3828 645.2 -194.6 - - 3775 - - - - - - - - - 26.26 -
2460 315.8 -10.7 377 2469 done -0.50 - - 2106 - 2.05 0.018 2400 -696.6 -194.6 - - 3774 - - - - - - - - - 26.50 -
2770 346.3 -9.0 408 2771 done -0.50 - - 2107 - - - 2400 - -194.6 - - 3773 - - - - - - - - - - -
3073 371.9 -8.5 438 3081 roll -0.50 - - 2097 - 2.28 0.042 3824 624.6 -194.6 - - 3772 - - - - - - - - - 26.27 -
3094 374.1 -8.7 440 3098 done -0.50 - - 2097 - 2.05 0.020 2405 -692.2 -194.6 - - 3771 - - - - - - - - - 26.50 -
3406 401.2 -8.0 471 3415 roll -0.50 - - 2097 - 2.20 0.027 1038 -621.4 -194.6 - - 3769 - - - - - - - - - 26.37 -
3448 404.3 -7.6 475 3457 done -0.51 - - 2092 - 2.38 0.033 2461 597.9 -194.6 - - 3769 - - - - - - - - - 26.32 -
3758 432.4 -10.1 506 3767 roll -0.51 - - 2082 - 2.10 0.041 3832 652.9 -194.6 - - 3766 - - - - - - - - - 26.26 -
3792 435.7 -10.3 509 3799 done -0.51 0.10 0.119 2114 320.0 2.08 0.020 2403 -687.0 -194.6 - - 3766 - - - - - - - - 26.30 26.48 -
4100 460.9 -8.1 540 4104 roll -0.52 - - 2114 - 2.17 0.025 1041 -627.6 -194.6 - - 3764 - - - - - - - - - 26.37 -
4123 462.6 -8.1 542 4131 done -0.54 - - 2112 - 2.40 0.032 2475 597.5 -194.6 - - 3764 - - - - - - - - - 26.32 -
4434 482.6 -5.4 573 4443 roll -0.55 - - 2102 - 2.10 0.055 3827 643.8 -194.6 -0.10 - 3784 -200.0 - - - - - - - - 26.22 25.99
4479 485.0 -5.5 577 4486 done -0.57 - - 2102 - 2.05 0.019 2406 -693.2 -194.6 - - 3784 - - - - - - - - - 26.50 -
4787 501.8 -5.9 608 4797 roll -0.58 - - 2102 - 2.20 0.027 1038 -621.8 -194.6 - - 3782 - - - - - - - - - 26.35 -
4810 503.3 -6.1 610 4819 done -0.60 - - 2099 - 2.40 0.034 2480 600.8 -194.6 - - 3782 - - - - - - - - - 26.27 -
5121 526.1 -8.5 641 5131 roll -0.60 - - 2099 - 2.38 0.027 1034 -607.6 -194.6 - - 3780 - - - - - - - - - 26.34 -
5145 528.1 -8.5 643 5153 done -0.61 - - 2099 - 2.42 0.034 2472 594.2 -194.6 - - 3780 - - - - - - - - - 26.28 -
5455 553.6 -7.9 674 5458 roll -0.62 - - 2089 - 2.08 0.044 3820 648.1 -194.6 - - 3778 - - - - - - - - - 26.19 -
5488 556.0 -7.4 677 5491 done -0.64 - - 2089 - 2.08 0.020 2400 -682.7 -194.6 - - 3777 - - - - - - - - - 26.48 -
5801 580.6 -8.0 708 5810 roll -0.64 - - 2080 - 2.28 0.044 3813 619.7 -194.6 - - 3775 - - - - - - - - - 26.18 -
5826 582.5 -8.2 710 5833 done -0.64 - - 2081 - 2.03 0.020 2418 -687.2 -194.6 - - 3774 - - - - - - - - - 26.46 -
6145 612.6 -9.8 736 6149 roll -0.64 - - 2080 - 2.22 0.026 1035 -623.0 -194.6 - - 3773 - - - - - - - - - 26.32 -
6188 617.0 -9.9 738 6194 done -0.64 - - 2071 - 2.42 0.034 2474 594.6 -194.6 - - 3772 - - - - - - - - - 26.25 -
6508 649.3 -10.1 754 6513 roll -0.62 - - 2061 - 2.08 0.044 3827 650.5 -194.6 - - 3771 - - - - - - - - - 26.16 -
6541 651.3 -10.0 755 6548 done -0.61 - - 2061 - 2.08 0.021 2413 -679.8 -194.6 - - 3770 - - - - - - - - - 26.44 -
6848 684.4 -10.8 771 6851 roll -0.60 - - 2061 - 2.20 0.028 1048 -620.5 -194.6 - - 3769 - - - - - - - - - 26.29 -
6883 686.9 -10.8 772 6891 done -0.59 0.12 0.125 2093 266.7 2.40 0.034 2483 597.9 -194.6 - - 3768 - - - - - - - - 26.06 26.21 -
7193 713.6 -8.2 788 7198 roll -0.60 - - 2083 - 2.08 0.047 3827 646.2 -194.6 - - 3766 - - - - - - - - - 26.10 -
7225 715.3 -8.1 789 7232 done -0.61 - - 2083 - 2.08 0.022 2421 -676.0 -194.6 - - 3766 - - - - - - - - - 26.41 -
7533 740.9 -7.7 805 7539 roll -0.61 - - 2073 - 2.25 0.046 3823 623.1 -194.6 - - 3764 - - - - - - - - - 26.10 -
7560 742.4 -7.7 806 7564 done -0.61 - - 2073 - 2.05 0.021 2425 -682.0 -194.6 - - 3764 - - - - - - - - - 26.44 -
7867 768.0 -8.1 821 7873 roll -0.61 - - 2073 - 2.22 0.027 1052 -618.5 -194.6 - - 3762 - - - - - - - - - 26.26 -
7911 771.1 -8.0 823 7917 done -0.61 - - 2063 - 2.45 0.037 2490 586.9 -194.6 - - 3762 - - - - - - - - - 26.15 -
8229 797.2 -8.1 839 8234 roll -0.60 - - 2053 - 2.05 0.046 3817 647.3 -194.6 - - 3761 - - - - - - - - - 26.08 -
8262 799.0 -8.1 840 8270 done -0.59 0.10 0.125 2085 320.0 2.03 0.021 2426 -685.2 -194.6 - - 3760 - - - - - - - - 26.20 26.40 -
8569 819.5 -6.6 856 8571 done -0.60 - - 2085 - - - 2426 - -194.6 - - 3760 - - - - - - - - - - -
8869 841.6 -7.6 871 8870 done -0.61 - - 2085 - - - 2425 - -194.6 - - 3758 - - - - - - - - - - -
9168 864.8 -7.6 886 9173 roll -0.62 - - 2074 - 2.28 0.047 3829 615.8 -194.6 - - 3757 - - - - - - - - - 26.01 -
9209 867.7 -7.5 888 9214 done -0.63 - - 2074 - 2.03 0.021 2432 -688.2 -194.6 - - 3756 - - - - - - - - - 26.42 -
9529 893.5 -8.0 904 9534 roll -0.63 - - 2074 - 2.25 0.026 1046 -616.0 -194.6 - - 3755 - - - - - - - - - 26.22 -
9550 895.3 -8.1 905 9555 done -0.63 - - 2064 - 2.47 0.034 2506 591.1 -194.6 - - 3755 - - - - - - - - - 26.11 -
9863 923.9 -9.3 921 9868 roll -0.63 - - 2064 - 2.42 0.027 1040 -605.8 -194.6 - - 3754 - - - - - - - - - 26.20 -
9896 925.8 -9.4 922 9903 done -0.63 - - 2058 - 2.47 0.036 2497 589.9 -194.6 - - 3754 - - - - - - - - - 26.09 -
10203 958.5 -10.3 938 10204 done -0.63 - - 2058 - - - 2495 - -194.6 - - 3752 - - - - - - - - - - -
10504 987.1 -8.8 953 10509 roll -0.62 - - 2058 - 2.40 0.028 1047 -603.3 -194.6 - - 3752 - - - - - - - - - 26.18 -
10540 end dive: TARGET_DEPTH_EXCEEDED
10540 begin apogee
10548 990.4 -8.5 955 10749 roll -0.20 0.45 0.090 2208 333.3 - - 2534 - - 193.93 1.165 2972 -4.0 0.365 - - - - - - 25.86 - 23.49
10750 end apogee: CONTROL_FINISHED_OK
10750 begin climb
10753 996.9 - 965 10970 roll 0.58 0.68 0.040 2477 395.6 2.10 0.044 3826 615.2 194.6 208.48 1.142 2183 -3.8 0.352 - - - - - - 24.76 24.70 22.96
11012 951.4 26.1 978 11017 done 0.49 0.20 0.184 2439 -190.0 2.08 0.024 2504 -635.6 194.6 - - 2151 - - - - - - - - 24.38 24.72 -
11320 887.1 19.0 993 11326 roll 0.43 - - 2439 - 2.08 0.044 3816 630.8 194.6 - - 2142 - - - - - - - - - 25.78 -
11422 866.0 21.2 998 11427 done 0.37 0.20 0.171 2396 -215.0 1.90 0.021 2515 -684.7 194.6 - - 2141 - - - - - - - - 25.52 26.00 -
11737 824.1 12.1 1014 11742 roll 0.34 - - 2396 - 2.03 0.044 3816 640.9 194.6 - - 2139 - - - - - - - - - 25.98 -
11784 818.5 13.0 1016 11788 done 0.31 - - 2405 - 1.85 0.021 2528 -696.2 194.6 - - 2139 - - - - - - - - - 26.15 -
12091 774.5 13.9 1031 12093 done 0.28 0.15 0.168 2365 -266.7 - - 2527 - 194.6 - - 2138 - - - - - - - - 25.91 - -
12391 742.2 10.5 1046 12393 done 0.28 - - 2364 - - - 2527 - 194.6 - - 2137 - - - - - - - - - - -
12691 712.4 9.9 1061 12697 roll 0.28 - - 2365 - 2.00 0.044 3825 649.0 194.6 - - 2137 - - - - - - - - - 26.08 -
12738 708.0 10.5 1063 12742 done 0.28 - - 2374 - 1.85 0.022 2530 -700.0 194.6 - - 2136 - - - - - - - - - 26.27 -
13048 675.7 10.2 1078 13053 roll 0.28 - - 2374 - 1.98 0.044 3822 652.5 194.6 - - 2136 - - - - - - - - - 26.08 -
13094 671.0 10.6 1080 13098 done 0.28 - - 2384 - 1.83 0.021 2539 -701.1 194.6 - - 2136 - - - - - - - - - 26.29 -
13403 636.1 10.6 1095 13409 roll 0.26 - - 2397 - 2.45 0.031 1078 -596.3 194.6 - - 2136 - - - - - - - - - 26.16 -
13451 632.2 10.2 1097 13461 done 0.26 0.12 0.135 2360 -308.3 2.60 0.034 2565 571.9 194.6 - - 2133 - - - - - - - - 25.93 26.13 -
13764 605.4 8.6 1113 13770 roll 0.27 - - 2360 - 1.88 0.045 3821 668.1 196.2 - - 2133 - - - - - - - - - 26.07 -
13804 601.3 9.3 1115 13809 done 0.27 - - 2369 - 1.85 0.021 2531 -697.3 196.2 - - 2133 - - - - - - - - - 26.32 -
14113 569.9 10.5 1145 14122 roll 0.27 - - 2382 - 2.45 0.030 1068 -597.1 196.2 - - 2133 - - - - - - - - - 26.17 -
14146 566.5 10.6 1148 14156 done 0.29 - - 2382 - 2.62 0.034 2572 574.0 196.2 - - 2133 - - - - - - - - - 26.13 -
14456 534.3 8.8 1179 14465 roll 0.29 - - 2395 - 2.58 0.030 1082 -577.5 196.2 - - 2132 - - - - - - - - - 26.15 -
14479 532.3 8.6 1181 14488 done 0.29 - - 2395 - 2.58 0.034 2563 574.0 198.1 - - 2133 - - - - - - - - - 26.12 -
14788 503.4 10.0 1212 14790 done 0.27 0.10 0.156 2367 -280.0 - - 2562 - 198.1 - - 2132 - - - - - - - - 26.32 - -
15088 480.9 7.1 1242 15171 roll 0.35 - - 2380 - 2.65 0.028 1070 -563.0 251.0 76.82 0.760 1948 -2.4 0.162 - - - - - - - 25.48 24.49
15210 472.9 6.5 1253 15300 done 0.46 0.12 0.073 2467 725.0 2.65 0.032 2560 562.3 325.0 82.53 0.815 1653 -3.6 0.221 - - - - - - 25.61 25.59 24.10
15601 396.5 21.2 1292 15612 roll 0.42 0.17 0.158 2413 -317.6 1.90 0.041 3838 672.6 325.0 - - 1618 - - - - - - - - 25.57 25.81 -
15656 386.7 17.5 1297 15660 done 0.40 - - 2423 - 1.90 0.021 2519 -694.2 325.0 - - 1616 - - - - - - - - - 25.97 -
15969 349.6 11.7 1328 15979 roll 0.40 - - 2435 - 2.42 0.030 1072 -597.9 325.0 - - 1614 - - - - - - - - - 26.01 -
16025 344.0 10.0 1333 16032 done 0.42 - - 2436 - 2.55 0.032 2543 576.9 325.0 - - 1612 - - - - - - - - - 26.01 -
16332 304.7 13.2 1364 16336 roll 0.42 - - 2435 - 1.92 0.044 3825 667.7 325.0 - - 1612 - - - - - - - - - 26.01 -
16365 300.2 14.0 1367 16370 done 0.41 0.12 0.149 2410 -208.3 1.92 0.023 2504 -688.0 325.0 - - 1612 - - - - - - - - 25.89 26.19 -
16678 272.8 7.6 1398 16728 roll 0.48 - - 2422 - 2.50 0.029 1077 -570.8 362.7 43.90 0.677 1494 -2.7 0.116 - - - - - - - 25.78 24.81
16784 265.4 7.3 1408 16842 done 0.58 0.08 0.051 2482 750.0 2.50 0.028 2527 580.0 409.5 49.25 0.698 1301 -3.9 0.159 - - - - - - 25.77 25.82 24.48
17142 228.5 11.3 1444 17151 roll 0.68 - - 2482 - 2.47 0.032 1076 -587.4 409.5 - - 1281 - - - - - - - - - 25.90 -
17185 223.2 12.7 1448 17194 done 0.76 0.08 0.079 2524 525.0 2.53 0.032 2533 575.9 409.5 - - 1281 - - - - - - - - 25.82 25.94 -
17494 174.3 20.5 1491 17501 roll 0.71 - - 2537 - 2.47 0.028 1077 -589.5 409.5 - - 1280 - - - - - - - - - 26.06 -
17544 165.3 14.8 1500 17552 done 0.70 0.12 0.145 2502 -291.7 2.55 0.033 2542 574.5 409.5 - - 1280 - - - - - - - - 25.83 26.06 -
17736 132.6 17.8 1537 17744 roll 0.68 - - 2502 - 1.92 0.041 3837 674.5 409.5 - - 1281 - - - - - - - - - 26.08 -
17777 124.7 19.2 1544 17784 done 0.65 - - 2512 - 1.92 0.021 2509 -691.7 409.5 - - 1280 - - - - - - - - - 26.23 -
17969 91.8 16.6 1581 17977 roll 0.63 0.12 0.166 2484 -233.3 2.42 0.028 1077 -591.7 409.5 - - 1280 - - - - - - - - 26.05 26.15 -
17995 88.1 13.7 1585 18003 done 0.63 - - 2485 - 2.55 0.031 2547 576.5 409.5 - - 1279 - - - - - - - - - 26.15 -
18189 72.4 6.8 1622 18256 roll 0.73 - - 2496 - 2.55 0.028 1078 -576.1 472.8 56.90 0.266 1060 -3.8 0.112 - - - - - - - 26.03 25.33
18287 67.0 4.6 1638 18413 done 0.96 0.25 0.051 2615 476.0 2.47 0.028 2521 584.2 607.7 117.68 0.242 501 -4.8 0.140 - - - - - - 26.07 26.03 25.18
18603 4.7 20.1 1695 18610 roll 0.93 0.12 0.166 2577 -316.7 1.98 0.037 3828 660.1 607.7 - - 505 - - - - - - - - 25.80 25.91 -
18615 end climb: SURFACE_DEPTH_REACHED
18616 begin surface coast
18632 end surface coast: CONTROL_FINISHED_OK
18632 begin surface
SM 0.48 - - - - -6.63 6.20 0.027 126 -395.3 2.05 0.021 2439 -677.6 606.87 - - 505 - - - - - - - -