OKMC Apr12 * SG169 * Dive index * Mission links * Dive 227 * Raw log
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• Previous call tries 3 • 45.94 of 147.52 AH used of 24V (68.86% remains)
• Previous NAKs 0, Timeouts 0 • 28.14 of 108.53 AH used of 10V (74.07% remains)
• Surface angle -75.3 deg, depth 0.97 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 616.19, SM_CC=450)
• GPS1 time: 37 s
• GPS2 time: 11 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 - - - 94 VBD -0.58 - - 116 - - - 2547 - -194.6 -73.97 - 3044 - - - - - - - - - - -
97 4.1 -10.2 13 124 roll -0.58 8.02 0.226 2092 246.4 2.55 0.028 984 -612.9 -194.6 -12.62 - 3776 -58.0 - - - 1 - - - 25.18 25.50 26.47
203 41.7 -19.1 32 211 done -0.55 - - 2080 - 2.58 0.031 2515 593.4 -194.6 - - 3777 - - - - - - - - - 26.08 -
398 93.4 -25.5 69 405 roll -0.47 0.12 0.168 2128 400.0 2.45 0.024 1041 -601.6 -194.6 - - 3777 - - - - - - - - 26.06 26.22 -
454 101.5 -8.9 79 461 done -0.48 - - 2125 - 2.47 0.031 2508 593.9 -194.6 - - 3778 - - - - - - - - - 26.19 -
647 127.9 -14.0 116 654 done -0.44 - - 2124 - - - 2506 - -194.6 - - 3778 - - - - - - - - - - -
840 155.4 -13.3 153 847 roll -0.42 - - 2127 - 2.42 0.024 1032 -609.1 -194.6 - - 3778 - - - - - - - - - 26.34 -
879 160.3 -10.1 160 887 done -0.42 - - 2125 - 2.42 0.031 2483 599.6 -194.6 - - 3778 - - - - - - - - - 26.29 -
1072 180.2 -11.5 197 1078 done -0.40 - - 2125 - - - 2482 - -194.6 - - 3778 - - - - - - - - - - -
1268 205.9 -14.7 231 1276 roll -0.38 - - 2125 - 2.33 0.022 1035 -621.0 -194.6 - - 3777 - - - - - - - - - 26.41 -
1299 210.2 -13.8 234 1308 done -0.38 - - 2125 - 2.35 0.031 2448 601.3 -194.6 - - 3778 - - - - - - - - - 26.34 -
1610 250.6 -12.5 265 1614 roll -0.38 - - 2114 - 2.10 0.041 3827 656.7 -194.6 - - 3778 - - - - - - - - - 26.29 -
1642 254.6 -12.6 268 1653 done -0.39 0.12 0.103 2160 383.3 2.10 0.018 2373 -692.4 -194.6 - - 3778 - - - - - - - - 26.32 26.51 -
1953 275.5 -7.3 299 1963 roll -0.46 0.12 0.112 2110 -416.7 2.28 0.035 3829 638.6 -194.6 - - 3775 - - - - - - - - 26.45 26.33 -
2041 282.2 -7.4 307 2048 done -0.54 - - 2110 - 2.03 0.018 2392 -707.9 -194.6 - - 3774 - - - - - - - - - 26.57 -
2347 300.8 -6.1 338 2357 roll -0.57 - - 2110 - 2.12 0.024 1036 -639.6 -194.6 - - 3772 - - - - - - - - - 26.44 -
2414 305.5 -7.6 344 2421 done -0.60 - - 2105 - 2.67 0.031 2602 586.5 -194.6 - - 3772 - - - - - - - - - 26.37 -
2722 328.4 -6.9 375 2731 roll -0.64 0.10 0.093 2021 -840.0 2.60 0.021 1033 -603.5 -194.6 - - 3770 - - - - - - - - 26.63 26.44 -
2788 335.2 -11.9 381 2795 done -0.61 0.20 0.116 2078 285.0 2.40 0.033 2484 604.6 -194.6 - - 3770 - - - - - - - - 26.13 26.35 -
3094 367.9 -9.3 412 3103 roll -0.59 - - 2078 - 2.35 0.024 1033 -617.4 -194.6 - - 3767 - - - - - - - - - 26.41 -
3147 372.2 -7.9 417 3156 done -0.59 - - 2068 - 2.35 0.032 2459 606.8 -194.6 - - 3766 - - - - - - - - - 26.38 -
3458 402.4 -10.8 448 3465 done -0.55 - - 2068 - - - 2458 - -194.6 -0.10 - 3785 -190.0 - - - - - - - - - 26.03
3767 442.6 -14.0 479 3776 roll -0.53 0.12 0.146 2111 358.3 2.28 0.021 1033 -625.0 -194.6 - - 3783 - - - - - - - - 26.33 26.42 -
3812 447.4 -11.1 483 3819 done -0.54 - - 2111 - 2.33 0.031 2446 606.4 -194.6 - - 3783 - - - - - - - - - 26.34 -
4121 472.2 -6.9 514 4124 roll -0.55 - - 2101 - 2.10 0.042 3825 656.7 -194.6 - - 3780 - - - - - - - - - 26.27 -
4175 475.8 -6.8 519 4182 done -0.57 - - 2101 - 2.08 0.020 2393 -688.5 -194.6 - - 3779 - - - - - - - - - 26.51 -
4484 496.6 -6.8 550 4485 done -0.58 - - 2101 - - - 2393 - -194.6 - - 3777 - - - - - - - - - - -
4786 516.5 -7.0 580 4794 roll -0.59 - - 2092 - 2.28 0.043 3824 627.6 -194.6 - - 3774 - - - - - - - - - 26.22 -
4830 519.4 -6.4 584 4837 done -0.60 - - 2092 - 2.08 0.020 2400 -684.6 -194.6 - - 3774 - - - - - - - - - 26.50 -
5139 543.3 -8.2 615 5145 done -0.60 - - 2092 - - - 2400 - -194.6 - - 3771 - - - - - - - - - - -
5450 571.0 -8.9 646 5460 roll -0.60 - - 2082 - 2.25 0.041 3823 632.4 -194.6 - - 3769 - - - - - - - - - 26.22 -
5496 575.1 -9.3 650 5504 done -0.61 - - 2083 - 2.08 0.021 2403 -682.7 -194.6 - - 3768 - - - - - - - - - 26.48 -
5816 606.5 -9.5 679 5817 done -0.61 - - 2083 - - - 2403 - -194.6 - - 3765 - - - - - - - - - - -
6113 635.0 -9.9 694 6119 roll -0.61 - - 2074 - 2.28 0.042 3826 624.1 -194.6 - - 3764 - - - - - - - - - 26.20 -
6153 639.0 -9.9 696 6159 done -0.61 - - 2073 - 2.05 0.020 2419 -686.3 -194.6 - - 3763 - - - - - - - - - 26.48 -
6473 673.6 -10.6 712 6479 roll -0.61 - - 2073 - 2.20 0.025 1034 -629.5 -194.6 - - 3761 - - - - - - - - - 26.34 -
6501 675.8 -10.6 713 6505 done -0.61 - - 2063 - 2.42 0.032 2490 601.7 -194.6 - - 3761 - - - - - - - - - 26.27 -
6809 711.2 -11.2 728 6815 roll -0.59 - - 2063 - 2.35 0.024 1036 -618.7 -194.6 - - 3759 - - - - - - - - - 26.32 -
6850 715.4 -10.7 730 6856 done -0.59 0.08 0.096 2088 312.5 2.38 0.033 2462 599.2 -194.6 - - 3759 - - - - - - - - 26.08 26.26 -
7172 739.6 -7.4 746 7177 roll -0.59 - - 2078 - 2.08 0.044 3821 653.4 -194.6 - - 3757 - - - - - - - - - 26.16 -
7214 742.8 -7.5 748 7218 done -0.60 - - 2078 - 2.08 0.021 2412 -677.4 -194.6 - - 3756 - - - - - - - - - 26.45 -
7526 767.0 -7.8 764 7531 roll -0.60 - - 2078 - 2.17 0.026 1041 -631.8 -194.6 - - 3754 - - - - - - - - - 26.29 -
7555 768.6 -7.8 765 7564 done -0.60 - - 2068 - 2.38 0.033 2465 598.3 -194.6 - - 3754 - - - - - - - - - 26.22 -
7867 794.9 -8.0 781 7872 roll -0.60 - - 2058 - 2.08 0.044 3818 650.5 -194.6 - - 3752 - - - - - - - - - 26.12 -
7907 798.0 -7.8 783 7912 done -0.60 - - 2058 - 2.08 0.021 2412 -676.0 -194.6 - - 3751 - - - - - - - - - 26.44 -
8228 826.0 -8.9 799 8229 done -0.59 - - 2058 - - - 2411 - -194.6 - - 3750 - - - - - - - - - - -
8526 852.9 -9.0 814 8528 done -0.57 0.10 0.138 2090 320.0 - - 2411 - -194.6 - - 3748 - - - - - - - - 26.45 - -
8827 874.0 -7.0 829 8832 roll -0.59 - - 2083 - 2.30 0.045 3816 610.9 -194.6 - - 3747 - - - - - - - - - 26.06 -
8859 875.3 -7.0 830 8867 done -0.60 - - 2084 - 2.08 0.021 2408 -676.9 -194.6 - - 3746 - - - - - - - - - 26.43 -
9167 897.4 -6.5 846 9172 roll -0.61 - - 2084 - 2.17 0.027 1047 -627.2 -194.6 - - 3745 - - - - - - - - - 26.25 -
9194 898.6 -6.5 847 9199 done -0.63 - - 2082 - 2.40 0.034 2473 594.2 -194.6 - - 3745 - - - - - - - - - 26.15 -
9501 917.8 -5.7 862 9507 roll -0.64 - - 2073 - 2.10 0.045 3820 641.4 -194.6 - - 3743 - - - - - - - - - 26.04 -
9542 920.2 -5.8 864 9546 done -0.65 - - 2073 - 2.08 0.021 2414 -676.0 -194.6 - - 3743 - - - - - - - - - 26.40 -
9864 940.5 -6.3 880 9865 done -0.65 - - 2073 - - - 2412 - -194.6 - - 3742 - - - - - - - - - - -
10165 960.3 -6.9 895 10171 roll -0.65 - - 2062 - 2.28 0.046 3821 618.0 -194.6 - - 3741 - - - - - - - - - 25.99 -
10207 963.1 -7.1 897 10211 done -0.66 - - 2062 - 2.08 0.021 2423 -672.1 -194.6 - - 3741 - - - - - - - - - 26.39 -
10517 end dive: TARGET_DEPTH_EXCEEDED
10517 begin apogee
10524 990.5 -8.9 913 10722 roll -0.20 0.43 0.093 2212 348.8 0.03 0.018 2481 1933.3 - 190.02 1.169 2971 -4.1 0.366 - - - - - - 25.87 24.55 23.53
10723 end apogee: CONTROL_FINISHED_OK
10724 begin climb
10726 1000.8 - 923 10942 roll 0.58 0.62 0.035 2476 425.8 2.45 0.026 1061 -579.6 194.6 207.75 1.151 2184 -3.8 0.351 - - - - - - 24.85 24.85 23.03
10978 975.7 14.8 936 10983 done 0.53 - - 2476 - 2.72 0.034 2538 543.0 194.6 - - 2154 - - - - - - - - - 24.68 -
11292 908.2 23.0 952 11298 roll 0.45 0.17 0.181 2438 -223.5 2.50 0.028 1067 -588.4 194.6 - - 2148 - - - - - - - - 25.52 25.87 -
11396 891.7 15.1 957 11402 done 0.42 - - 2438 - 2.58 0.036 2546 573.3 194.6 - - 2145 - - - - - - - - - 25.93 -
11713 835.3 17.7 973 11719 roll 0.37 0.12 0.176 2401 -308.3 1.95 0.042 3829 657.9 194.6 - - 2145 - - - - - - - - 25.88 26.02 -
11800 822.8 15.5 977 11804 done 0.33 - - 2411 - 1.90 0.024 2523 -687.4 194.6 - - 2144 - - - - - - - - - 26.17 -
12109 782.1 12.3 992 12111 done 0.30 0.12 0.171 2378 -275.0 - - 2521 - 194.6 - - 2143 - - - - - - - - 26.02 - -
12408 753.9 8.9 1007 12413 roll 0.29 - - 2378 - 2.00 0.043 3819 649.0 194.6 - - 2142 - - - - - - - - - 26.09 -
12468 747.5 10.3 1010 12473 done 0.28 - - 2387 - 1.85 0.021 2536 -693.5 194.6 - - 2141 - - - - - - - - - 26.28 -
12787 714.5 10.6 1026 12792 roll 0.27 - - 2400 - 2.45 0.029 1068 -599.2 194.6 - - 2141 - - - - - - - - - 26.18 -
12809 712.5 10.6 1027 12815 done 0.26 0.10 0.103 2361 -390.0 2.58 0.032 2561 578.7 194.6 - - 2140 - - - - - - - - 25.94 26.17 -
13132 687.4 7.2 1043 13208 roll 0.32 - - 2361 - 2.03 0.044 3816 618.2 243.3 66.65 0.861 1976 -2.5 0.210 - - - - - - - 25.44 24.43
13222 681.8 7.2 1047 13304 done 0.39 - - 2371 - 1.90 0.021 2526 -678.9 294.2 75.68 0.845 1777 -2.6 0.226 - - - - - - - 25.62 24.14
13613 655.5 6.6 1067 13700 roll 0.50 0.15 0.064 2482 740.0 2.58 0.031 1086 -558.1 364.5 78.65 0.915 1482 -3.8 0.287 - - - - - - 26.08 25.13 24.14
13753 630.5 20.1 1074 13760 done 0.47 0.15 0.106 2428 -360.0 2.62 0.034 2552 559.5 364.5 - - 1462 - - - - - - - - 25.30 25.49 -
14067 583.0 16.0 1094 14076 roll 0.46 - - 2428 - 1.95 0.042 3824 652.3 364.5 - - 1458 - - - - - - - - - 25.90 -
14090 578.6 16.4 1096 14094 done 0.45 - - 2437 - 1.95 0.021 2517 -670.3 364.5 - - 1457 - - - - - - - - - 26.05 -
14403 525.8 16.9 1127 14411 roll 0.42 - - 2451 - 2.42 0.032 1075 -595.9 364.5 - - 1456 - - - - - - - - - 26.06 -
14455 517.9 14.5 1132 14465 done 0.42 0.08 0.092 2417 -425.0 2.55 0.033 2548 577.6 364.5 - - 1454 - - - - - - - - 25.94 26.07 -
14766 482.2 11.3 1163 14767 done 0.43 - - 2417 - - - 2547 - 364.5 - - 1454 - - - - - - - - - - -
15069 451.4 9.2 1193 15077 roll 0.44 - - 2430 - 2.53 0.030 1074 -582.2 364.5 - - 1454 - - - - - - - - - 26.15 -
15111 447.8 7.9 1197 15143 done 0.50 - - 2430 - 2.50 0.031 2534 584.0 390.9 26.77 0.802 1384 -2.6 0.156 - - - - - - - 26.17 24.81
15446 415.8 10.2 1230 15456 roll 0.51 - - 2442 - 2.47 0.030 1069 -593.1 390.9 - - 1358 - - - - - - - - - 26.03 -
15472 413.5 10.2 1232 15479 done 0.52 - - 2442 - 2.53 0.031 2533 578.7 390.9 - - 1357 - - - - - - - - - 26.04 -
15779 374.8 13.6 1263 15780 done 0.52 - - 2443 - - - 2531 - 390.9 - - 1357 - - - - - - - - - - -
16081 336.7 12.2 1293 16090 roll 0.52 - - 2455 - 2.45 0.029 1078 -593.1 390.9 - - 1357 - - - - - - - - - 26.16 -
16115 332.9 11.5 1296 16123 done 0.53 - - 2455 - 2.45 0.033 2513 585.7 390.9 - - 1356 - - - - - - - - - 26.15 -
16424 298.0 11.2 1327 16433 roll 0.53 - - 2454 - 1.98 0.042 3820 660.1 390.9 - - 1356 - - - - - - - - - 26.11 -
16466 292.3 13.3 1331 16475 done 0.53 - - 2465 - 1.95 0.021 2483 -685.6 390.9 - - 1356 - - - - - - - - - 26.31 -
16776 248.5 13.9 1362 16786 roll 0.53 - - 2477 - 2.35 0.030 1061 -605.1 390.9 - - 1356 - - - - - - - - - 26.20 -
16823 243.1 12.7 1366 16831 done 0.55 - - 2478 - 2.45 0.030 2513 592.7 390.9 - - 1356 - - - - - - - - - 26.22 -
17130 196.4 13.0 1399 17136 roll 0.54 - - 2477 - 2.03 0.041 3835 651.2 390.9 - - 1356 - - - - - - - - - 26.15 -
17185 189.0 12.4 1409 17193 done 0.55 0.12 0.131 2448 -241.7 1.98 0.022 2474 -687.4 390.9 - - 1356 - - - - - - - - 26.08 26.34 -
17379 173.9 7.7 1446 17418 roll 0.62 - - 2461 - 2.42 0.030 1071 -579.8 424.0 31.83 0.649 1238 -3.7 0.106 - - - - - - - 26.03 24.98
17450 168.4 8.3 1458 17471 done 0.69 0.10 0.090 2541 800.0 2.47 0.028 2517 585.4 436.9 9.95 0.633 1193 -4.5 0.128 - - - - - - 25.98 26.01 24.79
17657 126.3 23.8 1497 17665 roll 0.64 0.17 0.163 2488 -311.8 1.98 0.037 3839 667.7 436.9 - - 1185 - - - - - - - - 25.72 25.99 -
17714 116.0 14.6 1507 17721 done 0.65 - - 2497 - 2.00 0.021 2469 -685.0 436.9 - - 1184 - - - - - - - - - 26.15 -
17907 96.6 8.6 1544 17914 roll 0.67 - - 2510 - 2.35 0.029 1060 -599.6 440.6 - - 1183 - - - - - - - - - 26.11 -
17972 91.8 7.0 1556 18046 done 0.77 - - 2509 - 2.45 0.028 2507 590.6 496.9 67.35 0.308 953 -3.4 0.109 - - - - - - - 26.14 25.18
18232 73.7 5.8 1604 18334 done 0.93 0.15 0.067 2616 713.3 - - 2506 - 592.8 95.82 0.255 563 -4.1 0.125 - - - - - - 26.23 - 25.17
18519 16.7 16.3 1657 18528 roll 0.91 0.12 0.154 2575 -341.7 2.08 0.040 3825 634.1 592.8 1.73 0.144 560 -1.7 0.021 - - 1 - - - 25.88 25.85 25.52
18578 9.9 8.0 1667 18605 done 1.00 - - 2576 - 2.03 0.021 2426 -689.2 616.3 17.65 0.140 466 -5.3 0.040 - - - - - - - 26.15 25.48
18650 end climb: SURFACE_DEPTH_REACHED
18652 begin surface coast
18678 end surface coast: CONTROL_FINISHED_OK
18678 begin surface
SM 0.66 - - - - -6.61 6.18 0.027 130 -395.8 0.20 0.051 2557 655.0 616.19 - - 467 - - - - - - - -