OKMC Apr12 * SG169 * Dive index * Mission links * Dive 223 * Raw log
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• Previous call tries 1 • 45.03 of 147.52 AH used of 24V (69.48% remains)
• Previous NAKs 0, Timeouts 0 • 27.61 of 108.53 AH used of 10V (74.56% remains)
• Surface angle -72.3 deg, depth 0.65 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 489.86, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 15 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 - - - 112 VBD -0.58 - - 123 - - - 2435 - -194.6 -92.07 - 3037 - - - - - - - - - - -
116 3.2 -7.4 16 148 roll -0.58 8.12 0.233 2069 239.7 2.22 0.048 3829 627.9 -194.6 -13.68 - 3775 -53.9 - - - 1 - - - 25.13 25.39 26.42
228 41.2 -21.9 36 235 done -0.53 - - 2077 - 1.98 0.021 2469 -686.9 -194.6 - - 3776 - - - - - - - - - 26.13 -
421 89.3 -24.3 73 428 roll -0.45 0.15 0.160 2134 380.0 2.38 0.024 1032 -603.8 -194.6 - - 3776 - - - - - - - - 25.93 26.16 -
492 99.4 -8.7 86 498 done -0.48 - - 2123 - 2.45 0.032 2479 590.6 -194.6 - - 3777 - - - - - - - - - 26.14 -
684 123.3 -12.9 123 691 roll -0.45 - - 2113 - 2.05 0.041 3824 656.1 -194.6 - - 3777 - - - - - - - - - 26.15 -
715 127.4 -13.4 128 721 done -0.43 - - 2115 - 2.10 0.021 2406 -675.2 -194.6 - - 3777 - - - - - - - - - 26.32 -
907 152.1 -13.7 165 914 done -0.40 0.10 0.152 2142 270.0 - - 2405 - -194.6 - - 3777 - - - - - - - - 26.33 - -
1098 174.6 -11.6 202 1105 roll -0.40 - - 2144 - 2.20 0.025 1037 -621.8 -194.6 - - 3777 - - - - - - - - - 26.32 -
1130 178.1 -11.3 207 1138 done -0.41 - - 2141 - 2.40 0.032 2464 594.6 -194.6 - - 3777 - - - - - - - - - 26.27 -
1328 201.2 -11.7 244 1337 roll -0.41 - - 2131 - 2.08 0.041 3828 655.8 -194.6 - - 3777 - - - - - - - - - 26.24 -
1364 204.6 -10.9 247 1372 done -0.42 - - 2131 - 2.08 0.018 2389 -691.8 -194.6 - - 3777 - - - - - - - - - 26.45 -
1671 230.7 -7.6 278 1672 done -0.42 - - 2131 - - - 2389 - -194.6 - - 3777 - - - - - - - - - - -
1973 254.5 -8.6 308 1979 done -0.43 - - 2131 - - - 2389 - -194.6 - - 3777 - - - - - - - - - - -
2283 282.8 -8.6 339 2293 roll -0.44 - - 2122 - 2.30 0.041 3818 621.3 -194.6 - - 3777 - - - - - - - - - 26.27 -
2316 285.7 -8.4 342 2325 done -0.46 - - 2122 - 2.03 0.019 2403 -697.0 -194.6 - - 3776 - - - - - - - - - 26.51 -
2627 307.9 -6.7 373 2635 roll -0.47 - - 2122 - 2.17 0.024 1041 -627.6 -194.6 - - 3775 - - - - - - - - - 26.39 -
2669 310.9 -6.8 377 2678 done -0.49 - - 2117 - 2.35 0.030 2462 604.7 -194.6 - - 3775 - - - - - - - - - 26.34 -
2980 337.7 -9.7 408 2989 roll -0.50 - - 2107 - 2.08 0.041 3823 654.3 -194.6 - - 3773 - - - - - - - - - 26.27 -
3014 341.0 -10.4 411 3022 done -0.51 - - 2107 - 2.05 0.021 2411 -688.8 -194.6 - - 3773 - - - - - - - - - 26.48 -
3323 369.5 -7.5 442 3326 roll -0.51 - - 2107 - 2.20 0.026 1039 -623.6 -194.6 - - 3772 - - - - - - - - - 26.37 -
3347 371.1 -7.2 444 3354 done -0.52 - - 2099 - 2.38 0.031 2467 600.0 -194.6 - - 3772 - - - - - - - - - 26.32 -
3657 393.4 -7.6 475 3667 roll -0.52 - - 2088 - 2.03 0.042 3825 669.0 -194.6 - - 3770 - - - - - - - - - 26.26 -
3700 396.8 -7.7 479 3710 done -0.53 - - 2089 - 2.05 0.021 2415 -687.8 -194.6 - - 3769 - - - - - - - - - 26.48 -
4011 426.9 -10.9 510 4020 roll -0.52 - - 2089 - 2.20 0.025 1032 -628.6 -194.6 - - 3767 - - - - - - - - - 26.37 -
4077 433.5 -10.0 516 4084 done -0.54 - - 2085 - 2.38 0.031 2464 601.7 -194.6 - - 3767 - - - - - - - - - 26.31 -
4384 468.4 -11.4 547 4395 roll -0.52 - - 2075 - 2.05 0.054 3820 661.5 -194.6 -0.10 - 3786 -190.0 - - - - - - - - 26.23 25.99
4428 473.2 -11.0 551 4438 done -0.52 0.10 0.122 2108 330.0 2.08 0.020 2402 -681.7 -194.6 - - 3786 - - - - - - - - 26.28 26.48 -
4739 498.0 -7.7 582 4748 roll -0.54 - - 2099 - 2.22 0.043 3820 638.7 -194.6 - - 3784 - - - - - - - - - 26.22 -
4764 499.8 -7.6 584 4771 done -0.55 - - 2099 - 2.03 0.019 2414 -692.6 -194.6 - - 3784 - - - - - - - - - 26.49 -
5073 526.7 -8.8 615 5082 roll -0.56 - - 2099 - 2.20 0.025 1042 -623.6 -194.6 - - 3782 - - - - - - - - - 26.35 -
5096 528.9 -8.9 617 5105 done -0.57 - - 2099 - 2.40 0.032 2484 600.8 -194.6 - - 3782 - - - - - - - - - 26.28 -
5406 556.0 -8.4 648 5408 done -0.58 - - 2098 - - - 2483 - -194.6 - - 3780 - - - - - - - - - - -
5709 581.2 -8.6 678 5717 roll -0.59 - - 2099 - 2.38 0.027 1038 -607.1 -194.6 - - 3778 - - - - - - - - - 26.32 -
5732 583.3 -8.5 680 5740 done -0.60 - - 2099 - 2.42 0.034 2480 595.9 -194.6 - - 3777 - - - - - - - - - 26.25 -
6054 611.3 -8.8 706 6055 done -0.61 - - 2099 - - - 2478 - -194.6 - - 3775 - - - - - - - - - - -
6351 636.7 -8.2 721 6356 roll -0.62 - - 2099 - 2.35 0.028 1049 -608.1 -194.6 - - 3773 - - - - - - - - - 26.30 -
6374 638.4 -8.2 722 6378 done -0.64 - - 2099 - 2.40 0.035 2468 591.2 -194.6 - - 3773 - - - - - - - - - 26.21 -
6687 662.0 -7.1 738 6692 roll -0.65 - - 2098 - 2.05 0.046 3812 655.6 -194.6 - - 3771 - - - - - - - - - 26.13 -
6728 664.7 -6.9 740 6734 done -0.67 0.08 0.046 2000 -1225.0 2.05 0.020 2401 -688.3 -194.6 - - 3771 - - - - - - - - 26.33 26.46 -
7050 717.0 -17.4 756 7056 roll -0.61 0.20 0.130 2079 395.0 2.17 0.024 1048 -623.5 -194.6 - - 3769 - - - - - - - - 26.08 26.30 -
7092 722.8 -15.8 758 7096 done -0.58 - - 2068 - 2.42 0.034 2484 593.4 -194.6 - - 3769 - - - - - - - - - 26.20 -
7405 756.7 -11.0 774 7411 roll -0.58 - - 2058 - 2.05 0.046 3812 647.8 -194.6 - - 3767 - - - - - - - - - 26.11 -
7445 761.3 -11.4 776 7451 done -0.58 0.10 0.128 2090 320.0 2.08 0.021 2416 -671.2 -194.6 - - 3767 - - - - - - - - 26.19 26.40 -
7768 789.6 -8.9 792 7773 roll -0.59 - - 2090 - 2.22 0.028 1038 -620.7 -194.6 - - 3766 - - - - - - - - - 26.26 -
7799 791.4 -8.7 793 7806 done -0.60 - - 2089 - 2.42 0.035 2479 595.5 -194.6 - - 3766 - - - - - - - - - 26.17 -
8107 815.1 -6.9 809 8112 roll -0.61 - - 2085 - 2.08 0.047 3820 644.7 -194.6 - - 3764 - - - - - - - - - 26.06 -
8148 817.4 -6.3 811 8153 done -0.63 - - 2085 - 2.05 0.021 2423 -681.5 -194.6 - - 3763 - - - - - - - - - 26.41 -
8467 834.1 -4.6 827 8472 roll -0.63 - - 2085 - 2.25 0.028 1034 -617.3 -194.6 - - 3762 - - - - - - - - - 26.23 -
8496 835.2 -4.7 828 8505 done -0.65 - - 2085 - 2.45 0.036 2481 590.6 -194.6 - - 3761 - - - - - - - - - 26.13 -
8808 850.1 -5.0 844 8813 roll -0.65 - - 2076 - 2.08 0.048 3818 642.8 -194.6 - - 3760 - - - - - - - - - 26.03 -
8840 851.2 -5.2 845 8847 done -0.66 - - 2076 - 2.05 0.021 2424 -680.0 -194.6 - - 3760 - - - - - - - - - 26.39 -
9148 872.2 -7.4 861 9153 roll -0.66 - - 2076 - 2.25 0.029 1048 -611.6 -194.6 - - 3759 - - - - - - - - - 26.20 -
9169 873.7 -7.3 862 9174 done -0.67 - - 2067 - 2.45 0.037 2493 589.8 -194.6 - - 3759 - - - - - - - - - 26.10 -
9482 899.9 -8.7 878 9488 roll -0.67 - - 2057 - 2.05 0.047 3822 648.3 -194.6 - - 3758 - - - - - - - - - 26.01 -
9522 903.6 -9.0 880 9526 done -0.67 - - 2057 - 2.08 0.021 2424 -672.1 -194.6 - - 3757 - - - - - - - - - 26.36 -
9844 935.9 -10.2 896 9850 roll -0.66 - - 2057 - 2.25 0.029 1044 -613.3 -194.6 - - 3757 - - - - - - - - - 26.17 -
9873 938.1 -10.3 897 9882 done -0.65 - - 2047 - 2.47 0.037 2490 585.4 -194.6 - - 3756 - - - - - - - - - 26.08 -
10184 972.0 -10.3 913 10185 done -0.63 - - 2047 - - - 2489 - -194.6 - - 3755 - - - - - - - - - - -
10381 end dive: TARGET_DEPTH_EXCEEDED
10381 begin apogee
10387 991.5 -9.6 923 10584 roll -0.20 0.47 0.104 2209 344.7 0.10 0.072 2478 -110.0 - 188.65 1.187 2971 -4.2 0.370 - - - - - - 25.72 24.56 23.49
10585 end apogee: CONTROL_FINISHED_OK
10585 begin climb
10588 998.1 - 933 10805 roll 0.58 0.68 0.041 2475 391.2 2.25 0.044 3818 595.6 194.6 205.65 1.157 2173 -3.9 0.357 - - - - - - 24.80 24.75 23.01
11022 912.9 24.7 954 11029 done 0.50 0.17 0.190 2441 -200.0 1.98 0.023 2502 -664.6 194.6 - - 2145 - - - - - - - - 25.27 25.69 -
11328 850.7 18.8 970 11334 roll 0.45 - - 2454 - 2.40 0.030 1079 -592.9 194.6 - - 2141 - - - - - - - - - 25.98 -
11438 833.5 16.6 975 11449 done 0.41 0.15 0.154 2413 -273.3 2.60 0.037 2546 564.2 194.6 - - 2138 - - - - - - - - 25.70 25.98 -
11749 779.2 17.2 991 11754 roll 0.38 - - 2413 - 1.95 0.045 3822 654.4 194.6 - - 2138 - - - - - - - - - 26.03 -
11830 765.0 17.9 995 11836 done 0.33 0.12 0.171 2386 -225.0 1.90 0.022 2519 -685.8 194.6 - - 2137 - - - - - - - - 25.80 26.18 -
12150 722.0 12.4 1011 12152 done 0.32 - - 2386 - - - 2517 - 194.6 - - 2136 - - - - - - - - - - -
12449 688.8 10.7 1026 12453 roll 0.31 - - 2386 - 2.05 0.044 3830 640.5 194.6 - - 2136 - - - - - - - - - 26.07 -
12540 678.9 12.2 1030 12544 done 0.29 - - 2395 - 1.88 0.022 2528 -692.6 194.6 - - 2135 - - - - - - - - - 26.27 -
12846 645.2 10.6 1045 12852 roll 0.27 0.12 0.161 2368 -225.0 2.45 0.028 1070 -595.1 194.6 - - 2135 - - - - - - - - 26.08 26.17 -
12880 643.3 10.4 1046 12887 done 0.26 - - 2368 - 2.62 0.034 2568 571.8 194.6 - - 2134 - - - - - - - - - 26.15 -
13186 618.2 8.3 1062 13191 roll 0.27 - - 2367 - 1.88 0.045 3825 668.6 206.9 - - 2135 - - - - - - - - - 26.08 -
13220 616.4 8.7 1063 13227 done 0.27 - - 2378 - 1.85 0.021 2532 -698.9 207.3 - - 2134 - - - - - - - - - 26.30 -
13527 585.1 9.9 1086 13536 roll 0.27 - - 2390 - 2.42 0.030 1078 -600.8 207.3 - - 2134 - - - - - - - - - 26.17 -
13569 581.2 9.3 1090 13578 done 0.28 - - 2390 - 2.60 0.034 2564 571.5 207.3 - - 2134 - - - - - - - - - 26.15 -
13879 549.8 9.5 1121 13888 roll 0.27 - - 2390 - 1.88 0.044 3821 668.6 207.3 - - 2134 - - - - - - - - - 26.08 -
13941 542.7 11.6 1127 13951 done 0.26 0.15 0.148 2356 -226.7 1.83 0.021 2537 -701.6 207.3 - - 2134 - - - - - - - - 25.91 26.33 -
14252 519.6 7.8 1158 14301 roll 0.31 - - 2370 - 2.55 0.031 1075 -573.3 237.2 37.33 0.843 2008 -3.4 0.222 - - - - 1 - - 25.83 24.49
14336 513.1 7.8 1166 14404 done 0.37 - - 2369 - 2.65 0.033 2565 562.3 267.5 53.20 0.756 1886 -2.3 0.166 - - - - 1 - - 25.83 24.15
14706 481.8 8.8 1203 14716 roll 0.46 0.12 0.109 2423 450.0 2.60 0.029 1067 -576.2 267.5 - - 1894 - - - - 1 - - - 25.98 25.91 -
14883 468.5 6.2 1220 15023 done 0.66 0.17 0.060 2531 635.3 2.62 0.031 2564 571.4 351.4 128.02 0.763 1540 -2.8 0.181 - - - - - - 26.03 25.98 24.25
15325 354.3 27.7 1264 15334 roll 0.58 0.22 0.182 2467 -290.9 1.85 0.041 3814 675.7 351.4 - - 1517 - - - - - - - - 25.41 25.84 -
15420 332.7 18.8 1273 15424 done 0.55 - - 2476 - 1.83 0.021 2549 -691.3 351.4 - - 1516 - - - - - - - - - 26.02 -
15732 275.1 17.9 1304 15742 roll 0.52 0.12 0.171 2451 -208.3 2.53 0.030 1083 -579.4 351.4 - - 1514 - - - - - - - - 25.90 26.05 -
15766 270.0 15.5 1307 15775 done 0.50 - - 2451 - 2.62 0.031 2585 573.3 351.4 - - 1513 - - - - - - - - - 26.08 -
16075 229.4 12.5 1338 16085 roll 0.50 - - 2464 - 2.62 0.030 1074 -576.7 351.4 - - 1513 - - - - - - - - - 26.11 -
16111 225.6 11.7 1341 16118 done 0.51 - - 2464 - 2.62 0.031 2575 572.9 351.4 - - 1512 - - - - - - - - - 26.13 -
16421 191.1 9.1 1380 16427 done 0.50 - - 2464 - - - 2574 - 351.4 - - 1512 - - - - - - - - - - -
16611 172.5 9.9 1417 16617 roll 0.50 - - 2477 - 2.60 0.030 1067 -579.6 351.4 - - 1512 - - - - - - - - - 26.17 -
16651 168.8 9.0 1424 16658 done 0.51 0.12 0.117 2437 -333.3 2.60 0.031 2558 573.5 351.4 - - 1512 - - - - - - - - 26.03 26.18 -
16843 154.4 8.3 1461 16863 roll 0.56 - - 2450 - 2.55 0.028 1074 -582.0 365.4 11.57 0.611 1480 -2.8 0.075 - - 1 - - - - 26.15 25.01
16877 151.6 8.6 1466 16886 done 0.59 - - 2450 - 2.55 0.031 2545 576.9 368.9 - - 1473 - - - - - - - - - 26.16 -
17072 134.6 8.2 1503 17102 roll 0.64 - - 2450 - 1.92 0.041 3815 661.5 386.0 21.88 0.623 1392 -3.7 0.085 - - - - - - - 26.02 25.05
17116 130.7 8.8 1510 17124 done 0.66 - - 2458 - 1.90 0.019 2497 -693.7 386.0 - - 1387 - - - - - - - - - 26.11 -
17311 113.3 9.2 1547 17318 roll 0.69 0.12 0.074 2565 891.7 2.38 0.026 1073 -598.3 386.0 - - 1383 - - - - - - - - 26.30 26.08 -
17357 106.4 17.5 1555 17365 done 0.68 0.22 0.121 2495 -318.2 2.53 0.033 2527 574.7 386.0 - - 1382 - - - - - - - - 25.78 26.07 -
17548 81.3 9.4 1592 17555 roll 0.68 - - 2495 - 1.95 0.041 3831 668.7 386.0 - - 1382 - - - - - - - - - 26.10 -
17598 76.2 10.1 1601 17605 done 0.69 - - 2505 - 1.98 0.020 2469 -687.9 386.0 - - 1381 - - - - - - - - - 26.28 -
17790 57.9 9.7 1638 17797 done 0.69 - - 2506 - - - 2469 - 386.0 - - 1382 - - - - - - - - - - -
17981 39.2 9.2 1675 17987 done 0.71 - - 2506 - - - 2469 - 386.0 - - 1382 - - - - - - - - - - -
18172 23.1 7.4 1712 18204 roll 0.79 - - 2506 - 2.17 0.040 3820 622.6 427.2 23.33 0.168 1243 -6.0 0.087 - - 1 - - - - 26.03 25.55
18223 19.8 6.7 1720 18273 done 0.90 0.15 0.063 2623 780.0 1.90 0.018 2480 -705.3 491.9 40.42 0.159 977 -6.6 0.087 - - - - - - 26.29 26.35 25.60
18331 end climb: SURFACE_DEPTH_REACHED
18331 begin surface coast
18343 end surface coast: CONTROL_FINISHED_OK
18343 begin surface
SM 0.61 - - - - -6.63 6.25 0.025 125 -399.7 0.08 0.107 2517 462.5 489.86 - - 982 - - - - - - - -