OKMC Apr12 * SG169 * Dive index * Mission links * Dive 240 * Raw log
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• Previous call tries 1 • 48.50 of 147.52 AH used of 24V (67.12% remains)
• Previous NAKs 0, Timeouts 0 • 29.70 of 108.53 AH used of 10V (72.64% remains)
• Surface angle -72.4 deg, depth 0.92 m • Intended pitch -13.8 deg, speed -8.684 cm/s
VBD pumped to 474.90 (beyond SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 13 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
13 end surface: CONTROL_FINISHED_OK
14 begin dive
16 - - - 89 VBD -0.58 - - 117 - - - 2383 - -194.6 -70.30 - 3026 - - - - - - - - - - -
93 3.3 -7.0 12 126 roll -0.58 8.10 0.230 2090 243.6 2.30 0.036 981 -609.6 -194.6 -13.80 - 3775 -54.3 - - - - - - - 25.01 26.11 26.48
255 52.7 -16.8 42 263 done -0.56 - - 2077 - 2.53 0.034 2468 587.7 -194.6 - - 3777 - - - - - - - - - 26.08 -
448 106.2 -30.7 79 456 roll -0.46 0.12 0.183 2125 400.0 2.42 0.023 984 -613.2 -194.6 - - 3777 - - - - - - - - 26.00 26.24 -
518 120.6 -14.6 92 525 done -0.46 - - 2124 - 2.45 0.033 2440 594.3 -194.6 - - 3777 - - - - - - - - - 26.20 -
711 151.0 -16.7 129 716 done -0.43 - - 2124 - - - 2439 - -194.6 - - 3778 - - - - - - - - - - -
901 178.7 -12.9 166 909 roll -0.41 - - 2114 - 2.10 0.039 3836 665.2 -194.6 - - 3778 - - - - - - - - - 26.25 -
927 182.0 -12.8 170 935 done -0.40 0.10 0.129 2146 320.0 2.15 0.018 2342 -694.9 -194.6 - - 3779 - - - - - - - - 26.24 26.45 -
1120 199.7 -9.3 207 1126 done -0.40 - - 2146 - - - 2342 - -194.6 - - 3778 - - - - - - - - - - -
1304 216.9 -9.4 226 1314 roll -0.41 - - 2134 - 2.33 0.038 3822 635.2 -194.6 - - 3778 - - - - - - - - - 26.27 -
1339 220.1 -9.6 229 1346 done -0.42 - - 2135 - 2.10 0.018 2357 -697.6 -194.6 - - 3778 - - - - - - - - - 26.51 -
1648 242.6 -6.1 260 1649 done -0.43 - - 2134 - - - 2356 - -194.6 - - 3778 - - - - - - - - - - -
1950 261.8 -7.1 290 1959 roll -0.44 - - 2126 - 2.35 0.040 3832 628.1 -194.6 - - 3778 - - - - - - - - - 26.30 -
1996 265.1 -7.3 294 2004 done -0.47 - - 2126 - 2.10 0.018 2363 -699.5 -194.6 - - 3778 - - - - - - - - - 26.53 -
2304 289.3 -7.7 325 2312 roll -0.48 - - 2117 - 2.28 0.039 3824 640.8 -194.6 - - 3777 - - - - - - - - - 26.32 -
2338 291.9 -8.0 328 2345 done -0.49 - - 2118 - 2.10 0.018 2361 -696.7 -194.6 - - 3777 - - - - - - - - - 26.52 -
2649 320.1 -8.6 359 2655 done -0.50 - - 2118 - - - 2361 - -194.6 - - 3775 - - - - - - - - - - -
2958 345.5 -8.0 390 2967 roll -0.51 - - 2108 - 2.33 0.040 3832 631.3 -194.6 - - 3774 - - - - - - - - - 26.29 -
3005 349.0 -7.9 394 3013 done -0.53 - - 2108 - 2.10 0.019 2375 -693.8 -194.6 - - 3774 - - - - - - - - - 26.51 -
3311 375.4 -8.2 425 3320 roll -0.53 - - 2099 - 2.30 0.041 3820 628.3 -194.6 - - 3772 - - - - - - - - - 26.27 -
3354 378.7 -7.9 429 3358 done -0.54 - - 2099 - 2.05 0.021 2396 -694.6 -194.6 - - 3772 - - - - - - - - - 26.51 -
3666 404.5 -7.2 460 3675 roll -0.54 - - 2099 - 2.25 0.026 991 -624.4 -194.6 - - 3769 - - - - - - - - - 26.38 -
3691 406.1 -7.3 462 3699 done -0.54 - - 2098 - 2.47 0.032 2473 600.0 -194.6 - - 3768 - - - - - - - - - 26.31 -
3998 428.8 -8.5 493 4002 roll -0.54 - - 2089 - 2.05 0.042 3830 662.0 -194.6 - - 3766 - - - - - - - - - 26.25 -
4033 431.7 -8.9 496 4039 done -0.54 - - 2089 - 2.03 0.019 2418 -695.6 -194.6 - - 3766 - - - - - - - - - 26.49 -
4341 462.9 -10.3 527 4350 roll -0.53 - - 2089 - 2.33 0.036 982 -616.3 -194.6 -0.10 - 3786 -200.0 - - - - - - - - 26.36 26.00
4365 465.2 -10.4 529 4373 done -0.53 - - 2086 - 2.50 0.033 2474 596.8 -194.6 - - 3785 - - - - - - - - - 26.29 -
4674 495.5 -8.3 560 4675 done -0.53 - - 2085 - - - 2473 - -194.6 - - 3784 - - - - - - - - - - -
4977 516.6 -6.3 590 4987 roll -0.52 - - 2076 - 2.05 0.044 3819 656.6 -194.6 - - 3781 - - - - - - - - - 26.21 -
5005 518.3 -6.2 592 5013 done -0.52 0.10 0.123 2109 330.0 2.05 0.021 2405 -689.8 -194.6 - - 3781 - - - - - - - - 26.27 26.47 -
5312 532.6 -5.2 623 5321 roll -0.53 - - 2098 - 2.22 0.044 3820 637.4 -194.6 - - 3779 - - - - - - - - - 26.20 -
5346 534.4 -5.5 626 5355 done -0.55 - - 2098 - 2.00 0.021 2429 -695.5 -194.6 - - 3779 - - - - - - - - - 26.48 -
5656 556.9 -7.7 657 5662 done -0.56 - - 2098 - - - 2429 - -194.6 - - 3777 - - - - - - - - - - -
5967 581.5 -8.3 688 5976 roll -0.56 - - 2098 - 2.35 0.028 980 -616.6 -194.6 - - 3774 - - - - - - - - - 26.31 -
5992 583.6 -8.3 690 6000 done -0.57 - - 2098 - 2.55 0.035 2491 592.5 -194.6 - - 3774 - - - - - - - - - 26.22 -
6312 607.4 -7.2 717 6317 roll -0.58 - - 2089 - 2.00 0.047 3823 666.0 -194.6 - - 3772 - - - - - - - - - 26.14 -
6345 609.0 -7.3 718 6353 done -0.59 - - 2090 - 2.03 0.021 2421 -690.6 -194.6 - - 3772 - - - - - - - - - 26.46 -
6653 631.1 -6.3 734 6658 roll -0.59 - - 2089 - 2.30 0.026 994 -620.4 -194.6 - - 3770 - - - - - - - - - 26.29 -
6692 633.6 -6.3 736 6697 done -0.60 - - 2086 - 2.50 0.033 2484 596.0 -194.6 - - 3770 - - - - - - - - - 26.22 -
7013 657.1 -7.4 752 7014 done -0.60 - - 2086 - - - 2482 - -194.6 - - 3767 - - - - - - - - - - -
7312 679.5 -7.4 767 7318 roll -0.60 - - 2086 - 2.45 0.027 984 -611.4 -194.6 - - 3766 - - - - - - - - - 26.27 -
7360 682.4 -7.4 769 7364 done -0.61 - - 2086 - 2.53 0.035 2477 590.1 -194.6 - - 3766 - - - - - - - - - 26.18 -
7668 704.6 -6.8 784 7672 roll -0.61 - - 2076 - 2.10 0.047 3831 644.8 -194.6 - - 3764 - - - - - - - - - 26.08 -
7713 707.5 -6.8 786 7717 done -0.62 - - 2076 - 2.08 0.021 2413 -681.7 -194.6 - - 3763 - - - - - - - - - 26.43 -
8026 731.7 -8.1 802 8032 roll -0.62 - - 2076 - 2.30 0.026 981 -622.6 -194.6 - - 3762 - - - - - - - - - 26.26 -
8058 733.3 -8.1 803 8065 done -0.62 - - 2066 - 2.53 0.034 2485 594.5 -194.6 - - 3762 - - - - - - - - - 26.16 -
8366 765.3 -10.8 819 8367 done -0.61 - - 2066 - - - 2484 - -194.6 - - 3760 - - - - - - - - - - -
8666 799.3 -11.2 834 8668 done -0.60 - - 2066 - - - 2484 - -194.6 - - 3759 - - - - - - - - - - -
8965 832.4 -10.8 849 8971 roll -0.59 - - 2066 - 2.47 0.028 986 -606.5 -194.6 - - 3757 - - - - - - - - - 26.21 -
8992 834.5 -10.8 850 8997 done -0.59 - - 2059 - 2.53 0.035 2470 586.6 -194.6 - - 3757 - - - - - - - - - 26.10 -
9304 866.0 -9.8 865 9309 roll -0.58 - - 2049 - 2.08 0.047 3817 647.6 -194.6 - - 3756 - - - - - - - - - 26.01 -
9332 868.1 -9.7 866 9342 done -0.57 0.12 0.121 2089 333.3 2.08 0.021 2408 -677.4 -194.6 - - 3756 - - - - - - - - 26.10 26.37 -
9645 889.6 -6.4 882 9651 roll -0.58 - - 2089 - 2.28 0.028 993 -620.6 -194.6 - - 3755 - - - - - - - - - 26.20 -
9667 890.9 -6.2 883 9671 done -0.60 - - 2089 - 2.50 0.034 2469 590.4 -194.6 - - 3755 - - - - - - - - - 26.10 -
9980 910.4 -6.2 899 9986 roll -0.61 - - 2085 - 2.10 0.048 3819 642.9 -194.6 - - 3754 - - - - - - - - - 25.96 -
10003 911.7 -6.3 900 10009 done -0.63 - - 2085 - 2.10 0.021 2393 -679.0 -194.6 - - 3754 - - - - - - - - - 26.39 -
10320 931.9 -6.1 916 10325 roll -0.64 - - 2085 - 2.25 0.028 997 -620.4 -194.6 - - 3753 - - - - - - - - - 26.17 -
10353 933.3 -6.1 917 10359 done -0.66 - - 2085 - 2.50 0.035 2469 588.8 -194.6 - - 3752 - - - - - - - - - 26.06 -
10661 952.9 -6.1 933 10665 roll -0.67 - - 2076 - 2.12 0.048 3829 641.5 -194.6 - - 3750 - - - - - - - - - 25.94 -
10683 954.4 -6.2 934 10688 done -0.69 - - 2076 - 2.10 0.021 2402 -679.5 -194.6 - - 3750 - - - - - - - - - 26.36 -
11004 977.7 -7.8 950 11010 roll -0.69 - - 2076 - 2.28 0.028 989 -619.7 -194.6 - - 3750 - - - - - - - - - 26.15 -
11046 980.8 -7.7 952 11050 done -0.71 - - 2069 - 2.50 0.034 2461 588.8 -194.6 - - 3750 - - - - - - - - - 26.03 -
11155 end dive: TARGET_DEPTH_EXCEEDED
11155 begin apogee
11163 990.3 -8.4 958 11439 roll -0.20 0.40 0.091 2211 355.0 0.08 0.089 2508 587.5 - 267.85 0.978 2974 -2.9 0.312 - - - - - - 25.89 24.60 23.61
11440 end apogee: CONTROL_FINISHED_OK
11440 begin climb
11445 1003.0 - 972 11665 roll 0.58 0.62 0.034 2478 430.6 2.53 0.026 1089 -560.9 194.6 210.32 1.078 2181 -3.8 0.373 - - - - - - 24.92 24.92 23.11
11729 968.6 17.7 986 11739 done 0.53 0.08 0.158 2455 -287.5 2.72 0.037 2550 537.1 194.6 - - 2154 - - - - - - - - 24.77 25.01 -
12039 904.8 20.2 1002 12044 roll 0.47 - - 2467 - 2.55 0.030 1090 -572.5 194.6 - - 2149 - - - - - - - - - 25.90 -
12119 890.4 17.8 1006 12125 done 0.42 0.15 0.147 2419 -320.0 2.65 0.037 2558 554.0 194.6 - - 2147 - - - - - - - - 25.57 25.94 -
12440 838.2 15.8 1022 12445 roll 0.38 - - 2419 - 1.88 0.045 3826 674.5 194.6 - - 2147 - - - - - - - - - 26.01 -
12521 823.6 17.9 1026 12527 done 0.33 0.17 0.174 2377 -247.1 1.85 0.022 2534 -698.4 194.6 - - 2145 - - - - - - - - 25.67 26.17 -
12843 786.4 10.9 1042 12848 roll 0.32 - - 2377 - 1.98 0.045 3833 656.1 194.6 - - 2145 - - - - - - - - - 26.04 -
12874 784.0 11.2 1043 12881 done 0.31 - - 2387 - 1.83 0.021 2536 -708.7 194.6 - - 2145 - - - - - - - - - 26.25 -
13183 746.8 11.7 1059 13188 roll 0.30 - - 2400 - 2.47 0.030 1096 -583.0 194.6 - - 2144 - - - - - - - - - 26.15 -
13204 744.5 11.6 1060 13209 done 0.28 0.12 0.135 2364 -300.0 2.65 0.033 2589 563.4 194.6 - - 2143 - - - - - - - - 25.93 26.13 -
13520 717.1 8.2 1076 13540 roll 0.30 - - 2377 - 2.70 0.030 1091 -554.8 210.6 13.80 0.959 2113 -2.2 0.173 - - - - - - - 26.07 24.68
13551 715.5 8.2 1077 13579 done 0.32 - - 2377 - 2.67 0.034 2585 559.6 226.9 21.62 0.916 2051 -2.9 0.238 - - - - - - - 26.03 24.60
13881 689.0 7.5 1094 13940 done 0.37 - - 2376 - - - 2584 - 267.4 57.80 0.878 1889 -2.8 0.234 - - - - - - - - 24.34
14238 661.6 8.5 1112 14244 roll 0.39 - - 2389 - 2.65 0.031 1097 -561.1 273.2 - - 1866 - - - - - - - - - 25.91 -
14286 658.3 8.6 1114 14291 done 0.41 - - 2389 - 2.65 0.034 2568 555.1 274.9 - - 1864 - - - - - - - - - 25.94 -
14594 625.8 10.6 1129 14599 roll 0.41 - - 2402 - 2.60 0.031 1092 -567.7 274.9 - - 1864 - - - - - - - - - 26.04 -
14617 623.5 10.8 1130 14624 done 0.41 - - 2402 - 2.62 0.035 2556 558.8 274.9 - - 1863 - - - - - - - - - 26.03 -
14934 586.5 11.2 1151 14943 roll 0.41 - - 2415 - 2.58 0.031 1091 -567.8 274.9 - - 1862 - - - - - - - - - 26.10 -
14956 583.9 11.3 1153 14965 done 0.41 - - 2415 - 2.62 0.034 2554 558.4 274.9 - - 1862 - - - - - - - - - 26.08 -
15268 544.4 12.9 1184 15276 roll 0.40 - - 2429 - 2.55 0.029 1087 -575.3 274.9 - - 1862 - - - - - - - - - 26.14 -
15292 541.4 13.0 1186 15300 done 0.39 - - 2428 - 2.60 0.035 2545 560.8 274.9 - - 1861 - - - - - - - - - 26.09 -
15599 497.5 13.4 1217 15604 roll 0.36 0.12 0.157 2388 -333.3 1.90 0.042 3832 677.4 274.9 - - 1861 - - - - - - - - 26.09 26.07 -
15653 491.1 11.5 1222 15662 done 0.36 - - 2398 - 1.90 0.022 2504 -698.9 274.9 - - 1861 - - - - - - - - - 26.30 -
15963 462.2 9.4 1253 15972 roll 0.36 - - 2411 - 2.40 0.031 1086 -590.8 274.9 - - 1860 - - - - - - - - - 26.15 -
16016 457.7 8.5 1258 16035 done 0.39 - - 2411 - 2.53 0.034 2527 569.6 281.3 12.68 0.850 1830 -2.4 0.135 - - - - - - - 26.13 24.84
16336 428.1 8.8 1290 16339 roll 0.39 - - 2411 - 1.98 0.045 3834 660.1 281.3 - - 1814 - - - - - - - - - 26.01 -
16388 422.6 10.8 1295 16396 done 0.39 - - 2421 - 1.92 0.021 2502 -693.8 281.3 - - 1813 - - - - - - - - - 26.22 -
16699 392.4 8.5 1326 16708 roll 0.39 - - 2434 - 2.38 0.030 1096 -590.8 286.2 - - 1813 - - - - - - - - - 26.13 -
16754 388.1 7.8 1331 16801 done 0.44 - - 2434 - 2.47 0.032 2521 576.9 314.3 38.08 0.795 1687 -3.3 0.172 - - - - - - - 26.11 24.70
17103 349.3 13.2 1366 17107 roll 0.43 - - 2433 - 1.98 0.044 3827 659.6 314.3 - - 1671 - - - - - - - - - 25.90 -
17147 343.0 14.4 1370 17155 done 0.42 0.12 0.145 2408 -208.3 1.95 0.021 2493 -684.1 314.3 - - 1670 - - - - - - - - 25.79 26.10 -
17455 315.6 7.5 1401 17505 roll 0.50 - - 2420 - 2.42 0.028 1093 -578.5 355.0 41.75 0.754 1518 -3.6 0.162 - - - - - - - 25.71 24.67
17551 309.9 5.8 1410 17653 done 0.66 0.15 0.031 2534 760.0 2.50 0.028 2518 570.0 450.4 95.43 0.744 1141 -4.0 0.175 - - - - - - 25.81 25.77 24.23
17955 216.7 24.7 1450 17966 roll 0.60 0.20 0.168 2472 -310.0 2.00 0.039 3837 659.5 450.4 - - 1106 - - - - - - - - 25.54 25.86 -
18023 205.5 12.6 1456 18030 done 0.61 - - 2482 - 1.95 0.020 2487 -692.3 450.4 - - 1104 - - - - - - - - - 26.06 -
18331 180.9 8.1 1510 18351 roll 0.65 - - 2495 - 2.47 0.029 1082 -568.8 468.6 15.05 0.646 1060 -2.9 0.087 - - - - - - - 26.00 24.88
18405 174.2 9.6 1523 18412 done 0.69 - - 2494 - 2.50 0.026 2527 578.0 468.6 - - 1046 - - - - - - - - - 26.01 -
18598 153.5 12.2 1560 18606 roll 0.76 - - 2495 - 1.95 0.042 3823 664.6 468.6 - - 1045 - - - - - - - - - 26.01 -
18746 136.6 11.9 1588 18754 done 0.84 0.15 0.073 2560 433.3 1.85 0.019 2500 -715.1 468.6 - - 1044 - - - - - - - - 26.14 26.25 -
18940 119.2 9.2 1625 18948 roll 0.90 - - 2570 - 2.40 0.027 1087 -588.8 468.6 - - 1043 - - - - - - - - - 26.17 -
19068 108.0 9.8 1649 19075 done 1.00 - - 2570 - 2.47 0.028 2527 583.0 468.6 - - 1042 - - - - - - - - - 26.19 -
19259 88.3 8.8 1686 19268 roll 1.11 0.15 0.079 2657 580.0 1.95 0.037 3838 672.3 468.6 - - 1043 - - - - - - - - 26.40 26.16 -
19353 72.0 21.9 1703 19360 done 1.07 0.17 0.165 2621 -211.8 1.90 0.023 2509 -699.5 468.6 - - 1043 - - - - - - - - 25.78 26.29 -
19544 32.5 20.1 1740 19551 roll 1.02 - - 2620 - 2.00 0.039 3826 658.5 468.6 - - 1043 - - - - - - - - - 26.18 -
19645 13.3 17.3 1759 19651 done 1.01 - - 2630 - 1.88 0.023 2518 -695.7 468.6 - - 1042 - - - - - - - - - 26.32 -
19701 end climb: SURFACE_DEPTH_REACHED
19702 begin surface coast
19713 end surface coast: CONTROL_FINISHED_OK
19713 begin surface
SM 0.47 - - - - -6.62 6.22 0.024 139 -400.5 0.17 0.054 2386 -776.5 474.90 - - 1043 - - - - - - - -