OKMC Apr12 * SG169 * Dive index * Mission links * Dive 249 * Raw log
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• Previous call tries 1 • 50.54 of 147.52 AH used of 24V (65.74% remains)
• Previous NAKs 0, Timeouts 0 • 30.90 of 108.53 AH used of 10V (71.53% remains)
• Surface angle -67.6 deg, depth 0.80 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 512.92, SM_CC=450)
• GPS1 time: 56 s, HDOP was 2.4 m
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 96 VBD -0.58 - - 110 - - - 2483 - -194.6 -76.57 - 2823 - - - - - - - - - - -
100 3.0 -6.8 13 133 roll -0.58 8.07 0.228 2089 245.2 2.58 0.037 987 -579.8 -194.6 -17.65 - 3776 -54.0 - - - - - - - 25.09 26.10 26.49
282 59.2 -21.8 47 290 done -0.54 - - 2076 - 2.53 0.034 2473 587.4 -194.6 - - 3777 - - - - - - - - - 26.12 -
477 116.9 -22.2 84 484 roll -0.47 0.12 0.168 2126 416.7 2.47 0.022 972 -607.7 -194.6 - - 3777 - - - - - - - - 26.08 26.27 -
572 129.7 -9.3 102 579 done -0.50 - - 2116 - 2.33 0.030 2393 609.9 -194.6 - - 3778 - - - - - - - - - 26.26 -
763 155.4 -13.0 139 771 roll -0.46 - - 2104 - 2.22 0.038 3836 650.0 -194.6 - - 3778 - - - - - - - - - 26.26 -
799 160.4 -14.1 145 806 done -0.43 - - 2104 - 2.25 0.018 2307 -679.6 -194.6 - - 3778 - - - - - - - - - 26.43 -
991 191.0 -17.9 182 997 done -0.40 0.12 0.144 2146 350.0 - - 2307 - -194.6 - - 3777 - - - - - - - - 26.28 - -
1184 205.8 -4.6 208 1194 roll -0.41 - - 2134 - 2.42 0.037 3833 630.6 -194.6 - - 3777 - - - - - - - - - 26.30 -
1210 207.2 -4.9 210 1217 done -0.42 - - 2134 - 2.20 0.017 2318 -688.6 -194.6 - - 3777 - - - - - - - - - 26.49 -
1518 230.0 -6.1 241 1526 roll -0.43 - - 2124 - 2.40 0.039 3824 627.5 -194.6 - - 3777 - - - - - - - - - 26.31 -
1560 232.2 -5.5 245 1569 done -0.45 - - 2124 - 2.15 0.018 2338 -691.2 -194.6 - - 3777 - - - - - - - - - 26.51 -
1870 255.8 -7.8 276 1871 done -0.45 - - 2124 - - - 2339 - -194.6 - - 3777 - - - - - - - - - - -
2172 282.1 -8.3 306 2180 roll -0.46 - - 2113 - 2.33 0.040 3820 635.6 -194.6 - - 3775 - - - - - - - - - 26.31 -
2225 286.3 -7.9 311 2235 done -0.48 - - 2113 - 2.12 0.020 2359 -689.2 -194.6 - - 3775 - - - - - - - - - 26.51 -
2533 313.0 -9.0 342 2534 done -0.48 - - 2113 - - - 2359 - -194.6 - - 3774 - - - - - - - - - - -
2838 338.2 -8.3 372 2846 roll -0.48 - - 2104 - 2.30 0.039 3820 635.2 -194.6 - - 3771 - - - - - - - - - 26.31 -
2883 341.8 -7.9 376 2890 done -0.49 - - 2104 - 2.12 0.020 2362 -687.7 -194.6 - - 3770 - - - - - - - - - 26.50 -
3191 370.4 -8.5 407 3200 roll -0.49 - - 2095 - 2.33 0.040 3829 629.6 -194.6 - - 3768 - - - - - - - - - 26.30 -
3226 373.0 -8.1 410 3233 done -0.50 - - 2095 - 2.10 0.018 2375 -692.4 -194.6 - - 3768 - - - - - - - - - 26.51 -
3534 400.3 -9.1 441 3535 done -0.49 - - 2096 - - - 2375 - -194.6 - - 3767 - - - - - - - - - - -
3836 428.1 -9.2 471 3844 done -0.49 - - 2095 - - - 2374 - -194.6 -0.10 - 3785 -180.0 - - - - - - - - - 26.03
4143 455.8 -8.5 502 4153 roll -0.49 - - 2085 - 2.35 0.040 3845 626.0 -194.6 - - 3783 - - - - - - - - - 26.28 -
4178 458.5 -8.7 505 4186 done -0.49 0.10 0.119 2119 340.0 2.12 0.020 2376 -692.9 -194.6 - - 3783 - - - - - - - - 26.32 26.49 -
4487 474.3 -3.8 536 4496 roll -0.51 - - 2112 - 2.30 0.042 3820 627.8 -194.6 - - 3780 - - - - - - - - - 26.25 -
4522 475.6 -4.0 539 4530 done -0.54 - - 2112 - 2.05 0.020 2386 -699.5 -194.6 - - 3781 - - - - - - - - - 26.51 -
4830 490.4 -6.2 570 4839 roll -0.55 - - 2109 - 2.28 0.042 3827 632.0 -194.6 - - 3778 - - - - - - - - - 26.26 -
4872 493.1 -6.4 574 4881 done -0.59 - - 2109 - 2.03 0.018 2393 -706.4 -194.6 - - 3778 - - - - - - - - - 26.52 -
5183 514.7 -6.6 605 5192 roll -0.63 0.12 0.079 2031 -650.0 2.25 0.023 988 -624.4 -194.6 - - 3775 - - - - - - - - 26.57 26.37 -
5228 518.4 -8.5 609 5236 done -0.64 0.15 0.132 2067 240.0 2.67 0.033 2549 584.6 -194.6 - - 3775 - - - - - - - - 26.07 26.30 -
5536 551.1 -11.1 640 5545 roll -0.62 - - 2067 - 2.58 0.025 995 -602.3 -194.6 - - 3773 - - - - - - - - - 26.34 -
5591 556.1 -9.4 645 5599 done -0.63 - - 2056 - 2.62 0.032 2535 587.8 -194.6 - - 3773 - - - - - - - - - 26.29 -
5900 591.0 -10.8 676 5908 roll -0.61 - - 2056 - 2.58 0.025 993 -597.7 -194.6 - - 3771 - - - - - - - - - 26.33 -
5924 593.5 -10.3 678 5932 done -0.59 0.12 0.125 2087 258.3 2.60 0.034 2521 587.7 -194.6 - - 3771 - - - - - - - - 26.11 26.26 -
6234 617.5 -8.0 698 6235 done -0.59 - - 2087 - - - 2520 - -194.6 - - 3769 - - - - - - - - - - -
6532 642.1 -8.0 713 6537 roll -0.59 - - 2087 - 2.55 0.026 981 -603.5 -194.6 - - 3766 - - - - - - - - - 26.31 -
6573 644.9 -7.5 715 6578 done -0.60 - - 2085 - 2.60 0.034 2512 588.8 -194.6 - - 3766 - - - - - - - - - 26.24 -
6891 666.0 -6.2 731 6897 roll -0.60 - - 2077 - 2.00 0.044 3833 660.5 -194.6 - - 3765 - - - - - - - - - 26.19 -
6932 668.5 -6.2 733 6937 done -0.60 - - 2077 - 1.98 0.019 2449 -699.0 -194.6 - - 3764 - - - - - - - - - 26.48 -
7253 692.3 -8.1 749 7258 roll -0.60 - - 2076 - 2.38 0.026 978 -618.1 -194.6 - - 3762 - - - - - - - - - 26.30 -
7299 695.6 -8.3 751 7304 done -0.60 - - 2069 - 2.60 0.034 2508 588.5 -194.6 - - 3762 - - - - - - - - - 26.22 -
7608 725.6 -10.0 766 7613 roll -0.60 - - 2059 - 1.98 0.045 3823 664.1 -194.6 - - 3760 - - - - - - - - - 26.15 -
7634 727.5 -9.9 767 7638 done -0.59 - - 2058 - 2.00 0.021 2441 -691.0 -194.6 - - 3760 - - - - - - - - - 26.44 -
7942 760.8 -10.6 782 7948 roll -0.58 0.10 0.141 2091 330.0 2.35 0.024 983 -620.4 -194.6 - - 3759 - - - - - - - - 26.44 26.27 -
7990 764.1 -9.6 784 7994 done -0.58 - - 2089 - 2.58 0.033 2502 588.8 -194.6 - - 3759 - - - - - - - - - 26.20 -
8297 783.4 -5.7 799 8301 roll -0.63 - - 2089 - 2.00 0.045 3826 662.0 -194.6 - - 3757 - - - - - - - - - 26.10 -
8531 799.2 -8.1 810 8535 done -0.71 0.15 0.102 2038 -340.0 2.15 0.019 2354 -684.7 -194.6 - - 3755 - - - - - - - - 26.20 26.45 -
8839 824.2 -9.5 825 8845 roll -0.69 - - 2028 - 2.35 0.043 3821 624.3 -194.6 - - 3754 - - - - - - - - - 26.10 -
8994 838.5 -9.8 832 9002 done -0.68 - - 2027 - 2.08 0.023 2416 -675.5 -194.6 - - 3753 - - - - - - - - - 26.37 -
9299 876.4 -12.0 848 9306 roll -0.66 0.12 0.135 2074 391.7 2.30 0.025 990 -620.0 -194.6 - - 3752 - - - - - - - - 26.30 26.23 -
9352 880.2 -10.9 850 9359 done -0.65 - - 2070 - 2.50 0.035 2466 590.4 -194.6 - - 3752 - - - - - - - - - 26.13 -
9660 905.9 -8.1 866 9666 roll -0.65 - - 2059 - 2.10 0.045 3827 648.1 -194.6 - - 3750 - - - - - - - - - 26.06 -
9683 907.4 -8.1 867 9687 done -0.65 - - 2059 - 2.10 0.021 2391 -683.8 -194.6 - - 3749 - - - - - - - - - 26.39 -
9999 935.6 -8.9 883 10005 roll -0.65 - - 2059 - 2.28 0.027 981 -618.4 -194.6 - - 3749 - - - - - - - - - 26.21 -
10027 937.4 -8.9 884 10032 done -0.65 - - 2056 - 2.50 0.035 2455 589.6 -194.6 - - 3749 - - - - - - - - - 26.10 -
10336 964.5 -8.2 899 10337 done -0.64 - - 2056 - - - 2454 - -194.6 - - 3748 - - - - - - - - - - -
10635 987.2 -7.6 914 10641 roll -0.64 - - 2056 - 2.40 0.027 995 -607.9 -194.6 - - 3747 - - - - - - - - - 26.18 -
10674 end dive: TARGET_DEPTH_EXCEEDED
10674 begin apogee
10683 990.1 -7.5 916 10883 roll -0.20 0.45 0.091 2205 331.1 - - 2551 - - 194.80 1.085 2978 -3.9 0.381 - - - - - - 25.85 - 23.65
10884 end apogee: CONTROL_FINISHED_OK
10884 begin climb
10886 996.1 - 926 11110 roll 0.58 0.70 0.047 2469 377.1 2.70 0.025 1076 -546.3 194.6 212.45 1.056 2176 -3.8 0.377 - - - - - - 24.91 24.93 23.25
11205 955.3 17.9 942 11214 done 0.54 - - 2470 - 2.70 0.036 2550 545.9 194.6 - - 2149 - - - - - - - - - 25.33 -
11514 889.0 20.6 958 11520 roll 0.47 0.12 0.184 2446 -200.0 2.55 0.028 1095 -570.6 194.6 - - 2144 - - - - - - - - 25.71 25.96 -
11576 878.8 17.9 961 11581 done 0.43 0.12 0.161 2414 -266.7 2.67 0.034 2576 554.7 194.6 - - 2143 - - - - - - - - 25.72 25.98 -
11892 834.2 13.6 977 11896 roll 0.40 - - 2414 - 1.85 0.044 3835 680.5 194.6 - - 2142 - - - - - - - - - 26.04 -
11975 821.0 15.9 981 11980 done 0.35 0.12 0.177 2392 -183.3 1.85 0.022 2540 -700.0 194.6 - - 2141 - - - - - - - - 25.80 26.20 -
12297 783.7 11.8 997 12298 done 0.34 - - 2392 - - - 2539 - 194.6 - - 2141 - - - - - - - - - - -
12594 747.9 11.5 1012 12599 roll 0.32 - - 2405 - 2.50 0.031 1089 -580.0 194.6 - - 2140 - - - - - - - - - 26.16 -
12623 745.7 11.5 1013 12635 done 0.30 0.12 0.137 2368 -308.3 2.70 0.034 2598 558.9 194.6 - - 2139 - - - - - - - - 25.93 26.14 -
12934 716.8 9.1 1029 12938 roll 0.30 - - 2368 - 1.80 0.045 3826 682.2 194.6 - - 2139 - - - - - - - - - 26.09 -
12969 714.5 9.4 1030 12976 done 0.30 - - 2378 - 1.80 0.022 2545 -711.7 194.6 - - 2138 - - - - - - - - - 26.30 -
13277 682.5 9.5 1046 13283 roll 0.30 - - 2391 - 2.50 0.030 1094 -580.4 194.6 - - 2138 - - - - - - - - - 26.17 -
13316 679.1 9.0 1048 13322 done 0.30 - - 2390 - 2.70 0.034 2600 557.8 194.6 - - 2137 - - - - - - - - - 26.15 -
13637 648.3 9.2 1064 13641 roll 0.28 - - 2390 - 1.83 0.044 3833 673.8 194.6 - - 2137 - - - - - - - - - 26.10 -
13660 646.0 9.4 1065 13666 done 0.27 0.12 0.164 2366 -200.0 1.83 0.021 2539 -707.1 194.6 - - 2137 - - - - - - - - 25.94 26.34 -
13981 620.1 8.0 1081 14005 done 0.29 - - 2367 - - - 2537 - 216.0 22.23 0.877 2098 -1.8 0.131 - - - - - - - - 24.68
14301 597.6 7.0 1098 14392 roll 0.37 - - 2379 - 2.62 0.028 1086 -553.8 271.7 85.78 0.770 1866 -2.7 0.222 - - - - - - - 25.35 24.34
14429 589.0 6.3 1110 14528 done 0.50 0.12 0.035 2477 816.7 2.72 0.031 2590 552.9 352.0 92.38 0.818 1542 -3.5 0.267 - - - - - - 25.56 25.55 24.03
14829 510.4 21.2 1150 14835 done 0.46 0.17 0.161 2429 -282.4 - - 2590 - 352.0 - - 1504 - - - - - - - - 25.63 - -
15138 467.4 13.2 1181 15147 roll 0.45 - - 2442 - 2.67 0.031 1092 -561.0 352.0 - - 1503 - - - - - - - - - 26.02 -
15201 460.6 10.0 1187 15209 done 0.47 - - 2443 - 2.67 0.033 2589 560.7 352.0 - - 1501 - - - - - - - - - 26.04 -
15512 421.3 13.0 1218 15522 roll 0.46 - - 2456 - 2.62 0.031 1099 -568.7 352.0 - - 1501 - - - - - - - - - 26.09 -
15545 417.0 12.3 1221 15554 done 0.46 0.08 0.103 2424 -400.0 2.62 0.034 2565 559.5 352.0 - - 1500 - - - - - - - - 25.91 26.09 -
15855 387.1 8.9 1252 15865 roll 0.48 - - 2438 - 2.60 0.031 1088 -568.1 352.0 - - 1499 - - - - - - - - - 26.13 -
15890 384.1 9.3 1255 15898 done 0.49 - - 2437 - 2.60 0.032 2556 564.6 352.0 - - 1499 - - - - - - - - - 26.14 -
16198 352.4 10.3 1286 16207 roll 0.50 - - 2450 - 2.58 0.031 1095 -566.3 352.0 - - 1499 - - - - - - - - - 26.14 -
16233 349.2 10.1 1289 16240 done 0.51 - - 2450 - 2.55 0.031 2542 567.5 352.0 - - 1499 - - - - - - - - - 26.15 -
16540 313.9 12.2 1320 16550 roll 0.51 - - 2463 - 2.55 0.029 1070 -577.3 352.0 - - 1499 - - - - - - - - - 26.17 -
16577 310.1 11.5 1323 16584 done 0.52 - - 2463 - 2.53 0.031 2524 574.7 352.0 - - 1499 - - - - - - - - - 26.17 -
16884 270.4 13.3 1354 16893 roll 0.51 - - 2463 - 1.98 0.042 3852 670.7 352.0 - - 1499 - - - - - - - - - 26.11 -
16910 267.5 13.1 1356 16918 done 0.50 0.12 0.149 2437 -216.7 2.00 0.021 2470 -691.0 352.0 - - 1499 - - - - - - - - 25.98 26.32 -
17216 240.9 7.5 1387 17268 roll 0.57 - - 2450 - 2.42 0.030 1096 -567.8 391.0 45.47 0.669 1376 -2.7 0.103 - - - - - - - 25.86 24.76
17302 235.1 6.8 1395 17377 done 0.69 0.12 0.073 2543 775.0 2.50 0.028 2520 569.6 455.2 64.88 0.689 1109 -4.1 0.148 - - - - - - 25.88 25.88 24.43
17679 155.6 20.1 1453 17687 roll 0.65 0.17 0.162 2490 -311.8 1.95 0.037 3826 669.7 455.2 - - 1091 - - - - - - - - 25.65 25.91 -
17725 147.4 15.2 1461 17732 done 0.65 - - 2500 - 1.98 0.021 2478 -680.8 455.2 - - 1090 - - - - - - - - - 26.07 -
17918 130.3 7.6 1498 17961 roll 0.71 - - 2512 - 2.42 0.029 1085 -575.6 491.7 34.28 0.620 960 -3.8 0.084 - - - - - - - 25.82 24.82
18022 123.1 8.2 1516 18042 done 0.77 - - 2512 - 2.45 0.027 2497 576.3 507.3 14.18 0.608 907 -3.7 0.080 - - - - - - - 25.89 24.71
18229 102.5 12.0 1555 18237 roll 0.85 0.12 0.102 2558 383.3 2.05 0.039 3835 652.7 507.3 - - 889 - - - - - - - - 26.06 25.94 -
18332 89.3 13.3 1574 18340 done 0.92 - - 2567 - 2.05 0.020 2431 -684.9 507.3 - - 888 - - - - - - - - - 26.14 -
18526 75.6 8.6 1611 18533 roll 0.98 - - 2567 - 2.20 0.037 3832 636.8 511.7 - - 888 - - - - - - - - - 26.08 -
18675 60.1 11.8 1639 18683 done 1.04 0.12 0.085 2622 458.3 2.17 0.021 2382 -668.2 511.7 - - 888 - - - - - - - - 26.15 26.25 -
18867 43.1 9.4 1676 18874 roll 1.11 - - 2613 - 2.30 0.037 3833 630.9 511.7 - - 888 - - - - - - - - - 26.16 -
18917 38.1 11.2 1685 18925 done 1.18 0.12 0.078 2669 466.7 2.15 0.019 2374 -678.6 511.7 - - 888 - - - - - - - - 26.23 26.33 -
19111 5.5 24.1 1722 19118 roll 1.12 0.12 0.176 2643 -216.7 2.12 0.025 1078 -611.3 511.7 - - 888 - - - - - - - - 26.08 26.27 -
19124 end climb: SURFACE_DEPTH_REACHED
19125 begin surface coast
19136 end surface coast: CONTROL_FINISHED_OK
19136 begin surface
SM 0.46 - - - - -6.62 6.22 0.022 129 -404.2 2.38 0.018 2490 593.3 512.92 - - 888 - - - - - - - -