OKMC Apr12 * SG169 * Dive index * Mission links * Dive 231 * Raw log
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• Previous call tries 1 • 46.87 of 147.52 AH used of 24V (68.23% remains)
• Previous NAKs 0, Timeouts 0 • 28.67 of 108.53 AH used of 10V (73.59% remains)
• Surface angle -70.0 deg, depth 0.95 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 540.89, SM_CC=450)
• GPS1 time: 36 s
• GPS2 time: 12 s, HDOP was 2.2 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
17 - - - 101 VBD -0.58 - - 109 - - - 2537 - -194.6 -81.53 - 3153 - - - - - - - - - - -
104 4.2 -11.7 14 131 roll -0.58 8.07 0.230 2090 245.5 2.60 0.033 1028 -580.4 -194.6 -10.68 - 3776 -58.3 - - - - - - - 25.16 26.13 26.48
206 45.3 -19.2 32 213 done -0.56 - - 2077 - 2.55 0.034 2510 581.2 -194.6 - - 3778 - - - - - - - - - 26.07 -
397 98.0 -24.6 69 406 roll -0.47 0.12 0.175 2125 400.0 2.45 0.023 1041 -599.6 -194.6 - - 3778 - - - - - - - - 26.02 26.22 -
469 112.5 -13.1 82 476 done -0.47 - - 2115 - 2.47 0.031 2492 587.4 -194.6 - - 3779 - - - - - - - - - 26.20 -
661 143.4 -16.3 119 667 done -0.43 - - 2115 - - - 2491 - -194.6 - - 3779 - - - - - - - - - - -
853 171.0 -11.8 156 861 roll -0.40 0.12 0.149 2165 416.7 2.40 0.021 1034 -607.1 -194.6 - - 3779 - - - - - - - - 26.25 26.36 -
878 173.5 -9.5 160 885 done -0.40 - - 2164 - 2.45 0.031 2482 591.0 -194.6 - - 3779 - - - - - - - - - 26.29 -
1069 185.8 -7.2 197 1077 roll -0.42 - - 2154 - 2.03 0.041 3824 661.1 -194.6 - - 3779 - - - - - - - - - 26.26 -
1101 188.2 -7.7 202 1108 done -0.45 - - 2154 - 2.03 0.018 2398 -702.5 -194.6 - - 3779 - - - - - - - - - 26.50 -
1299 207.0 -11.6 234 1309 roll -0.53 0.12 0.083 2097 -475.0 2.25 0.037 3825 634.2 -194.6 - - 3778 - - - - - - - - 26.55 26.29 -
1323 210.0 -11.6 236 1332 done -0.61 - - 2097 - 2.00 0.018 2412 -706.5 -194.6 - - 3779 - - - - - - - - - 26.51 -
1634 241.3 -7.2 267 1642 roll -0.63 - - 2092 - 2.22 0.040 3824 636.0 -194.6 - - 3778 - - - - - - - - - 26.30 -
1698 245.7 -7.3 273 1705 done -0.63 - - 2092 - 1.70 0.018 2541 -754.7 -194.6 - - 3778 - - - - - - - - - 26.53 -
2006 279.1 -13.1 304 2015 roll -0.60 - - 2092 - 2.50 0.025 1033 -603.2 -194.6 - - 3777 - - - - - - - - - 26.41 -
2101 289.6 -10.5 313 2107 done -0.61 - - 2085 - 2.70 0.031 2597 579.3 -194.6 - - 3776 - - - - - - - - - 26.36 -
2408 329.2 -12.1 344 2417 roll -0.58 - - 2085 - 2.62 0.024 1035 -596.2 -194.6 - - 3775 - - - - - - - - - 26.41 -
2463 334.4 -9.7 349 2470 done -0.58 - - 2085 - 2.67 0.032 2583 579.8 -194.6 - - 3775 - - - - - - - - - 26.36 -
2771 364.4 -9.9 380 2779 roll -0.56 - - 2085 - 2.58 0.024 1040 -598.1 -194.6 - - 3773 - - - - - - - - - 26.41 -
2814 368.4 -9.5 384 2822 done -0.56 - - 2085 - 2.65 0.032 2567 576.2 -194.6 - - 3773 - - - - - - - - - 26.35 -
3124 401.2 -11.3 415 3132 roll -0.55 - - 2085 - 2.60 0.025 1039 -587.7 -194.6 - - 3771 - - - - - - - - - 26.39 -
3189 407.8 -9.4 421 3196 done -0.56 - - 2085 - 2.60 0.034 2543 578.5 -194.6 - - 3770 - - - - - - - - - 26.32 -
3496 440.6 -10.4 452 3505 roll -0.55 - - 2085 - 2.53 0.026 1034 -596.4 -194.6 - - 3767 - - - - - - - - - 26.38 -
3529 443.7 -10.1 455 3537 done -0.55 - - 2085 - 2.55 0.034 2528 585.9 -194.6 - - 3767 - - - - - - - - - 26.32 -
3838 472.1 -9.1 486 3840 done -0.54 - - 2085 - - - 2527 - -194.6 - - 3764 - - - - - - - - - - -
4140 497.6 -8.5 516 4150 roll -0.53 - - 2085 - 2.53 0.034 1032 -590.9 -194.6 -0.10 - 3784 -200.0 - - - - - - - - 26.37 26.01
4197 501.7 -7.2 521 4204 done -0.54 - - 2085 - 2.55 0.034 2522 584.3 -194.6 - - 3784 - - - - - - - - - 26.30 -
4503 528.1 -9.6 552 4504 done -0.53 - - 2085 - - - 2521 - -194.6 - - 3782 - - - - - - - - - - -
4807 556.4 -8.9 582 4816 roll -0.53 - - 2085 - 2.50 0.027 1034 -594.8 -194.6 - - 3779 - - - - - - - - - 26.34 -
4849 560.4 -8.9 586 4859 done -0.54 - - 2085 - 2.53 0.035 2508 582.6 -194.6 - - 3779 - - - - - - - - - 26.27 -
5160 585.6 -7.8 617 5161 done -0.54 - - 2085 - - - 2507 - -194.6 - - 3776 - - - - - - - - - - -
5469 610.3 -8.3 642 5475 roll -0.54 - - 2085 - 2.45 0.028 1045 -596.7 -194.6 - - 3774 - - - - - - - - - 26.32 -
5511 613.4 -8.0 644 5516 done -0.55 - - 2085 - 2.47 0.037 2495 587.0 -194.6 - - 3773 - - - - - - - - - 26.25 -
5829 638.4 -8.1 660 5835 roll -0.55 - - 2085 - 2.40 0.025 1041 -605.8 -194.6 - - 3771 - - - - - - - - - 26.34 -
5857 640.1 -8.0 661 5861 done -0.55 - - 2085 - 2.45 0.037 2482 588.2 -194.6 - - 3771 - - - - - - - - - 26.23 -
6165 666.5 -8.8 676 6166 done -0.55 - - 2085 - - - 2480 - -194.6 - - 3768 - - - - - - - - - - -
6464 692.8 -9.5 691 6466 done -0.55 - - 2085 - - - 2479 - -194.6 - - 3766 - - - - - - - - - - -
6765 718.9 -8.3 706 6771 roll -0.55 - - 2085 - 2.38 0.028 1045 -602.5 -194.6 - - 3764 - - - - - - - - - 26.29 -
6798 720.5 -7.9 707 6804 done -0.56 - - 2085 - 2.42 0.036 2474 590.5 -194.6 - - 3764 - - - - - - - - - 26.21 -
7105 743.8 -6.8 723 7111 roll -0.57 - - 2078 - 2.08 0.046 3819 646.6 -194.6 - - 3761 - - - - - - - - - 26.13 -
7148 746.3 -6.6 725 7152 done -0.58 - - 2078 - 2.05 0.021 2411 -686.8 -194.6 - - 3761 - - - - - - - - - 26.45 -
7465 770.5 -8.5 741 7471 roll -0.58 - - 2078 - 2.22 0.028 1045 -615.3 -194.6 - - 3760 - - - - - - - - - 26.27 -
7508 773.8 -8.4 743 7514 done -0.59 - - 2069 - 2.42 0.034 2483 594.2 -194.6 - - 3760 - - - - - - - - - 26.21 -
7827 806.8 -11.1 759 7829 done -0.58 - - 2069 - - - 2482 - -194.6 - - 3758 - - - - - - - - - - -
8126 842.1 -11.5 774 8132 roll -0.58 - - 2069 - 2.40 0.025 1033 -603.8 -194.6 - - 3756 - - - - - - - - - 26.26 -
8167 846.6 -11.3 776 8172 done -0.58 - - 2058 - 2.40 0.034 2461 595.0 -194.6 - - 3756 - - - - - - - - - 26.19 -
8487 883.8 -11.7 792 8493 roll -0.57 0.10 0.154 2078 200.0 2.12 0.045 3819 640.6 -194.6 - - 3754 - - - - - - - - 26.40 26.06 -
8515 885.9 -11.5 793 8519 done -0.57 - - 2078 - 2.10 0.022 2410 -671.0 -194.6 - - 3753 - - - - - - - - - 26.40 -
8825 913.4 -7.9 808 8826 done -0.58 - - 2078 - - - 2409 - -194.6 - - 3753 - - - - - - - - - - -
9123 935.3 -7.0 823 9128 roll -0.58 - - 2069 - 2.33 0.045 3813 602.6 -194.6 - - 3752 - - - - - - - - - 26.03 -
9145 936.5 -6.7 824 9149 done -0.60 - - 2069 - 2.08 0.022 2418 -670.7 -194.6 - - 3751 - - - - - - - - - 26.39 -
9457 957.5 -6.5 840 9463 roll -0.60 - - 2069 - 2.22 0.027 1043 -619.4 -194.6 - - 3750 - - - - - - - - - 26.22 -
9498 960.2 -6.5 842 9503 done -0.60 - - 2059 - 2.40 0.034 2463 591.7 -194.6 - - 3750 - - - - - - - - - 26.13 -
9819 983.6 -7.3 858 9824 roll -0.60 - - 2049 - 2.10 0.047 3818 645.2 -194.6 - - 3748 - - - - - - - - - 25.99 -
9846 985.0 -7.2 859 9850 done -0.59 0.12 0.119 2089 333.3 2.10 0.022 2409 -671.0 -194.6 - - 3748 - - - - - - - - 26.08 26.36 -
9930 end dive: TARGET_DEPTH_EXCEEDED
9931 begin apogee
9938 990.3 -5.5 863 10136 roll -0.20 0.32 0.086 2209 375.0 0.08 0.091 2489 1000.0 - 193.07 1.171 2978 -4.0 0.360 - - - - - - 26.06 24.57 23.52
10137 end apogee: CONTROL_FINISHED_OK
10137 begin climb
10141 996.2 - 873 10359 roll 0.58 0.62 0.033 2477 432.3 2.50 0.028 1061 -571.2 194.6 209.23 1.142 2182 -3.8 0.354 - - - - - - 24.84 24.82 23.04
10433 959.0 17.5 888 10439 done 0.54 - - 2477 - 2.67 0.037 2535 552.1 194.6 - - 2151 - - - - - - - - - 25.06 -
10748 889.3 22.5 904 10754 roll 0.47 0.15 0.176 2445 -213.3 2.50 0.028 1076 -583.6 194.6 - - 2146 - - - - - - - - 25.63 25.92 -
10829 875.8 16.7 908 10835 done 0.43 0.08 0.136 2418 -337.5 2.58 0.035 2543 568.6 194.6 - - 2144 - - - - - - - - 25.72 25.98 -
11150 828.1 14.7 924 11156 roll 0.39 - - 2418 - 1.95 0.044 3822 655.9 194.6 - - 2143 - - - - - - - - - 26.03 -
11243 814.8 16.5 928 11250 done 0.34 0.15 0.168 2388 -200.0 1.90 0.024 2520 -685.3 194.6 - - 2142 - - - - - - - - 25.77 26.17 -
11549 776.9 10.9 944 11554 roll 0.33 - - 2388 - 2.05 0.044 3834 641.0 194.6 - - 2142 - - - - - - - - - 26.07 -
11597 771.9 11.6 946 11600 done 0.31 - - 2398 - 1.88 0.024 2530 -693.6 194.6 - - 2141 - - - - - - - - - 26.23 -
11910 732.7 12.0 962 11915 roll 0.29 - - 2411 - 2.45 0.029 1079 -592.2 194.6 - - 2141 - - - - - - - - - 26.16 -
11931 730.2 12.3 963 11936 done 0.27 0.15 0.129 2365 -306.7 2.62 0.034 2566 567.6 194.6 - - 2140 - - - - - - - - 25.91 26.14 -
12246 700.2 8.9 979 12251 roll 0.27 - - 2365 - 1.88 0.044 3831 672.9 194.6 - - 2139 - - - - - - - - - 26.10 -
12325 691.8 10.6 983 12330 done 0.26 - - 2374 - 1.85 0.022 2541 -697.3 194.6 - - 2139 - - - - - - - - - 26.29 -
12646 663.6 8.3 999 12658 roll 0.28 - - 2388 - 2.50 0.029 1073 -587.2 208.3 6.70 0.904 2128 -1.6 0.129 - - - - - - - 26.21 24.48
12690 660.4 8.3 1000 12722 done 0.29 - - 2388 - 2.65 0.034 2573 566.0 222.0 26.42 0.834 2074 -2.0 0.173 - - - - - - - 26.17 24.80
13024 628.4 9.4 1017 13025 done 0.29 - - 2388 - - - 2572 - 222.0 - - 2058 - - - - - - - - - - -
13323 599.8 9.8 1032 13324 done 0.28 - - 2388 - - - 2572 - 222.0 - - 2057 - - - - - - - - - - -
13625 568.7 10.8 1062 13628 roll 0.28 - - 2388 - 1.85 0.044 3820 674.6 222.0 - - 2056 - - - - - - - - - 26.06 -
13657 564.5 12.0 1065 13666 done 0.28 0.12 0.143 2361 -225.0 1.85 0.022 2537 -693.5 222.0 - - 2055 - - - - - - - - 25.96 26.26 -
13966 536.3 8.9 1096 13975 roll 0.29 - - 2374 - 2.50 0.031 1068 -587.6 222.0 - - 2054 - - - - - - - - - 26.14 -
14000 533.5 8.8 1099 14009 done 0.31 - - 2374 - 2.65 0.033 2579 570.2 222.0 - - 2054 - - - - - - - - - 26.15 -
14309 506.2 8.4 1130 14320 roll 0.34 - - 2387 - 2.70 0.030 1069 -559.3 232.1 4.50 0.739 2031 -5.1 0.373 - - - - - - - 26.24 24.51
14344 503.5 7.5 1133 14423 done 0.40 - - 2388 - 2.62 0.034 2562 569.8 271.9 70.85 0.783 1865 -2.3 0.161 - - - - - - - 26.20 24.47
14725 481.7 4.5 1171 14886 roll 0.58 0.17 0.062 2504 682.4 2.78 0.030 1072 -536.0 410.3 148.62 0.825 1289 -3.9 0.241 - - - - - - 26.10 25.00 24.07
14909 447.4 20.9 1189 14919 done 0.54 0.15 0.121 2453 -340.0 2.70 0.034 2547 546.3 410.3 - - 1274 - - - - - - - - 25.06 25.27 -
15219 393.3 18.2 1220 15221 done 0.52 - - 2453 - - - 2546 - 410.3 - - 1268 - - - - - - - - - - -
15522 336.1 18.2 1250 15531 roll 0.50 - - 2466 - 2.55 0.030 1071 -578.4 410.3 - - 1266 - - - - - - - - - 26.03 -
15547 332.0 17.0 1252 15554 done 0.49 0.12 0.121 2427 -325.0 2.58 0.032 2538 568.6 410.3 - - 1265 - - - - - - - - 25.88 26.02 -
15855 305.5 7.1 1283 15935 roll 0.59 0.12 0.076 2536 908.3 2.60 0.029 1071 -564.2 462.7 67.35 0.681 1078 -2.8 0.133 - - - - - - 26.36 25.52 24.59
15968 282.7 24.3 1294 15979 done 0.55 0.22 0.106 2457 -359.1 2.55 0.034 2513 565.5 462.7 - - 1068 - - - - - - - - 25.41 25.63 -
16279 250.1 11.4 1325 16280 done 0.58 - - 2457 - - - 2512 - 462.7 - - 1066 - - - - - - - - - - -
16582 220.2 7.8 1355 16628 roll 0.65 - - 2469 - 2.55 0.030 1063 -568.2 492.8 37.67 0.642 958 -2.9 0.105 - - - - - - - 25.79 24.84
16674 213.7 7.2 1364 16752 done 0.76 0.10 0.063 2520 510.0 2.50 0.025 2514 580.4 542.9 60.75 0.646 765 -3.2 0.112 - - - - 1 - 25.77 25.87 24.32
17055 173.8 13.8 1426 17063 roll 0.84 - - 2520 - 2.55 0.027 1061 -569.8 542.9 1.88 0.170 763 - - - - - - - - - 25.98 25.48
17295 139.5 14.1 1472 17304 done 0.93 0.15 0.077 2593 486.7 2.53 0.030 2533 581.8 542.9 1.73 0.182 763 - - - - - - - - 26.06 26.08 25.58
17490 110.3 24.6 1509 17499 roll 0.87 0.12 0.181 2569 -200.0 2.58 0.028 1066 -568.6 542.9 1.75 0.151 762 - - - - - - - - 25.94 26.13 25.59
17553 100.8 9.4 1520 17559 done 0.89 - - 2570 - 2.45 0.029 2503 586.5 542.9 - - 773 - - - - - - - - - 26.15 -
17745 68.5 19.3 1557 17752 roll 0.88 - - 2569 - 2.05 0.037 3828 646.3 542.9 1.60 0.170 764 -5.6 0.242 - - - - - - - 26.14 25.63
17817 56.8 12.2 1570 17825 done 0.90 - - 2579 - 2.00 0.020 2447 -690.5 542.9 - - 773 - - - - - - - - - 26.31 -
18010 30.6 13.4 1607 18017 roll 0.90 - - 2591 - 2.30 0.028 1059 -603.5 542.9 - - 774 - - - - - - - - - 26.23 -
18040 27.2 12.1 1612 18047 done 0.92 - - 2591 - 2.47 0.028 2523 592.7 542.9 - - 774 - - - - - - - - - 26.22 -
18231 6.6 12.2 1649 18239 roll 0.92 - - 2603 - 2.53 0.024 1054 -580.6 542.9 1.67 0.164 764 -6.0 0.026 - - - - - - - 26.28 25.69
18251 3.9 12.9 1652 18258 done 0.92 0.12 0.118 2563 -333.3 2.45 0.025 2517 597.1 542.9 - - 771 - - - - - - - - 26.11 26.29 -
18263 end climb: SURFACE_DEPTH_REACHED
18263 begin surface coast
18291 end surface coast: CONTROL_FINISHED_OK
18291 begin surface
SM 0.55 - - - - -6.63 6.10 0.027 108 -402.5 0.03 0.206 2436 -2700.0 540.89 - - 774 - - - - - - - -