OKMC Apr12 * SG169 * Dive index * Mission links * Dive 252 * Raw log
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• Previous call tries 2 • 51.21 of 147.52 AH used of 24V (65.29% remains)
• Previous NAKs 0, Timeouts 0 • 31.30 of 108.53 AH used of 10V (71.16% remains)
• Surface angle -75.6 deg, depth 1.04 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 598.53, SM_CC=450)
• GPS1 time: 37 s
• GPS2 time: 10 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 - - - 2439 - -194.6 -73.88 - 2945 - - - - - - - - - - -
97 3.3 -7.4 13 129 roll -0.58 8.05 0.225 2089 245.1 2.45 0.037 991 -591.0 -194.6 -15.07 - 3775 -55.1 - - - - - - - 25.06 26.10 26.49
173 38.1 -35.2 26 180 done -0.50 0.12 0.151 2110 175.0 2.53 0.035 2468 583.8 -194.6 - - 3777 - - - - - - - - 25.82 26.06 -
365 95.3 -19.1 63 371 done -0.44 - - 2110 - - - 2468 - -194.6 - - 3777 - - - - - - - - - - -
556 131.2 -15.4 100 566 roll -0.40 0.12 0.159 2153 358.3 2.45 0.022 976 -609.0 -194.6 - - 3777 - - - - - - - - 26.17 26.29 -
634 138.8 -8.3 114 641 done -0.43 - - 2149 - 2.53 0.029 2484 596.0 -194.6 - - 3777 - - - - - - - - - 26.27 -
826 155.4 -9.2 151 833 roll -0.43 - - 2139 - 2.03 0.041 3835 665.5 -194.6 - - 3777 - - - - - - - - - 26.25 -
851 157.7 -9.5 155 858 done -0.44 - - 2139 - 2.08 0.017 2378 -700.5 -194.6 - - 3777 - - - - - - - - - 26.48 -
1042 175.2 -8.2 192 1050 roll -0.44 - - 2139 - 2.22 0.024 974 -632.4 -194.6 - - 3777 - - - - - - - - - 26.38 -
1076 177.7 -7.5 197 1082 done -0.47 - - 2138 - 2.47 0.028 2471 606.1 -194.6 - - 3777 - - - - - - - - - 26.34 -
1267 193.5 -8.9 234 1274 roll -0.47 - - 2128 - 2.03 0.039 3826 667.5 -194.6 - - 3777 - - - - - - - - - 26.30 -
1317 197.9 -7.5 243 1324 done -0.51 - - 2128 - 2.03 0.018 2397 -703.9 -194.6 - - 3777 - - - - - - - - - 26.53 -
1515 213.5 -7.3 264 1526 roll -0.54 - - 2128 - 2.22 0.023 987 -635.1 -194.6 - - 3777 - - - - - - - - - 26.42 -
1572 217.9 -7.7 269 1579 done -0.58 0.12 0.077 2039 -741.7 2.78 0.029 2609 583.5 -194.6 - - 3776 - - - - - - - - 26.36 26.36 -
1879 274.5 -19.7 300 1890 roll -0.52 0.20 0.137 2118 395.0 2.72 0.022 988 -596.0 -194.6 - - 3776 - - - - - - - - 26.14 26.40 -
1963 283.5 -7.9 308 1973 done -0.55 - - 2112 - 2.70 0.030 2564 583.7 -194.6 - - 3776 - - - - - - - - - 26.37 -
2274 309.5 -8.6 339 2282 roll -0.55 - - 2112 - 2.62 0.023 978 -605.3 -194.6 - - 3775 - - - - - - - - - 26.41 -
2328 314.0 -8.1 344 2336 done -0.57 - - 2112 - 2.65 0.030 2542 590.2 -194.6 - - 3774 - - - - - - - - - 26.36 -
2635 343.1 -9.3 375 2636 done -0.57 - - 2112 - - - 2541 - -194.6 - - 3772 - - - - - - - - - - -
2937 370.5 -9.0 405 2946 roll -0.57 - - 2111 - 2.60 0.024 978 -601.2 -194.6 - - 3770 - - - - - - - - - 26.39 -
3003 375.7 -8.0 411 3010 done -0.60 - - 2111 - 2.62 0.031 2530 592.4 -194.6 - - 3770 - - - - - - - - - 26.35 -
3310 397.3 -6.5 442 3320 roll -0.65 0.12 0.078 2033 -650.0 2.55 0.023 989 -604.3 -194.6 - - 3767 - - - - - - - - 26.58 26.41 -
3404 406.6 -11.3 451 3414 done -0.64 0.10 0.102 2069 360.0 2.50 0.034 2479 596.0 -194.6 - - 3766 - - - - - - - - 26.13 26.33 -
3714 443.1 -12.2 482 3715 done -0.62 - - 2069 - - - 2478 - -194.6 - - 3764 - - - - - - - - - - -
4016 478.4 -11.4 512 4026 roll -0.60 - - 2070 - 2.45 0.035 985 -609.4 -194.6 -0.10 - 3785 -210.0 - - - - - - - - 26.37 26.02
4062 482.9 -10.3 516 4070 done -0.60 - - 2059 - 2.50 0.033 2479 597.6 -194.6 - - 3784 - - - - - - - - - 26.32 -
4369 520.7 -12.4 547 4378 roll -0.57 0.10 0.154 2079 200.0 2.08 0.042 3826 647.6 -194.6 - - 3782 - - - - - - - - 26.44 26.24 -
4412 525.2 -10.4 551 4416 done -0.57 - - 2079 - 2.03 0.019 2415 -695.1 -194.6 - - 3782 - - - - - - - - - 26.51 -
4724 555.0 -9.3 582 4733 roll -0.57 - - 2079 - 2.28 0.024 976 -631.1 -194.6 - - 3779 - - - - - - - - - 26.37 -
4758 558.1 -9.7 585 4766 done -0.57 - - 2070 - 2.50 0.032 2481 602.0 -194.6 - - 3779 - - - - - - - - - 26.29 -
5067 590.6 -10.9 616 5077 roll -0.56 - - 2059 - 2.05 0.045 3819 652.7 -194.6 - - 3776 - - - - - - - - - 26.21 -
5120 596.4 -10.8 621 5130 done -0.56 0.10 0.125 2098 390.0 2.08 0.021 2405 -679.8 -194.6 - - 3776 - - - - - - - - 26.25 26.48 -
5435 619.1 -6.9 639 5436 done -0.57 - - 2098 - - - 2405 - -194.6 - - 3774 - - - - - - - - - - -
5731 638.8 -6.5 654 5736 roll -0.59 - - 2087 - 2.25 0.043 3822 629.8 -194.6 - - 3771 - - - - - - - - - 26.20 -
5754 640.2 -6.6 655 5760 done -0.60 - - 2087 - 2.05 0.019 2414 -686.8 -194.6 - - 3771 - - - - - - - - - 26.49 -
6071 664.1 -7.5 671 6076 roll -0.61 - - 2087 - 2.28 0.025 988 -625.4 -194.6 - - 3769 - - - - - - - - - 26.33 -
6095 665.7 -7.6 672 6101 done -0.62 - - 2086 - 2.53 0.033 2491 594.1 -194.6 - - 3769 - - - - - - - - - 26.25 -
6411 688.9 -7.0 688 6416 roll -0.62 - - 2078 - 2.03 0.045 3829 659.1 -194.6 - - 3767 - - - - - - - - - 26.17 -
6439 690.3 -7.1 689 6443 done -0.63 - - 2078 - 2.08 0.020 2413 -680.8 -194.6 - - 3766 - - - - - - - - - 26.46 -
6746 714.9 -8.1 704 6747 done -0.63 - - 2078 - - - 2412 - -194.6 - - 3764 - - - - - - - - - - -
7046 738.1 -7.5 719 7051 roll -0.63 - - 2078 - 2.28 0.026 988 -624.6 -194.6 - - 3762 - - - - - - - - - 26.30 -
7068 739.8 -7.6 720 7073 done -0.64 - - 2069 - 2.53 0.034 2487 592.5 -194.6 - - 3762 - - - - - - - - - 26.21 -
7382 767.4 -9.0 736 7387 roll -0.64 - - 2059 - 2.05 0.046 3816 648.3 -194.6 - - 3760 - - - - - - - - - 26.12 -
7408 769.2 -9.0 737 7412 done -0.64 - - 2059 - 2.05 0.021 2420 -681.0 -194.6 - - 3760 - - - - - - - - - 26.44 -
7717 799.6 -9.7 752 7718 done -0.63 - - 2059 - - - 2420 - -194.6 - - 3759 - - - - - - - - - - -
8016 828.9 -9.9 767 8022 roll -0.62 - - 2049 - 2.28 0.043 3823 615.4 -194.6 - - 3757 - - - - - - - - - 26.11 -
8039 830.9 -10.0 768 8043 done -0.62 - - 2049 - 2.08 0.021 2419 -675.0 -194.6 - - 3757 - - - - - - - - - 26.42 -
8352 866.9 -11.7 784 8358 roll -0.60 0.10 0.137 2080 310.0 2.30 0.024 989 -621.7 -194.6 - - 3755 - - - - - - - - 26.44 26.25 -
8373 869.0 -11.4 785 8378 done -0.60 - - 2076 - 2.53 0.033 2488 592.5 -194.6 - - 3755 - - - - - - - - - 26.17 -
8689 894.7 -8.0 801 8690 done -0.60 - - 2075 - - - 2486 - -194.6 - - 3753 - - - - - - - - - - -
8987 917.7 -7.6 816 8988 done -0.61 - - 2076 - - - 2486 - -194.6 - - 3753 - - - - - - - - - - -
9287 940.8 -7.6 831 9292 roll -0.62 - - 2076 - 2.47 0.028 987 -606.9 -194.6 - - 3751 - - - - - - - - - 26.20 -
9320 942.4 -7.6 832 9329 done -0.63 - - 2070 - 2.55 0.037 2482 586.3 -194.6 - - 3751 - - - - - - - - - 26.09 -
9626 966.2 -7.4 848 9632 roll -0.63 - - 2059 - 2.12 0.047 3825 633.5 -194.6 - - 3750 - - - - - - - - - 25.99 -
9669 969.1 -7.2 850 9675 done -0.64 - - 2059 - 2.08 0.021 2421 -675.0 -194.6 - - 3748 - - - - - - - - - 26.39 -
9945 end dive: TARGET_DEPTH_EXCEEDED
9945 begin apogee
9952 990.4 -7.7 864 10150 roll -0.20 0.43 0.090 2209 348.8 - - 2561 - - 192.40 1.162 2978 -4.0 0.361 - - - - - - 25.91 - 23.63
10151 end apogee: CONTROL_FINISHED_OK
10151 begin climb
10154 997.2 - 874 10374 roll 0.58 0.65 0.040 2473 406.2 2.00 0.045 3819 629.0 194.6 209.85 1.081 2180 -3.8 0.371 - - - - - - 24.92 24.86 23.22
10601 911.0 23.7 896 10609 done 0.50 0.17 0.181 2438 -205.9 1.90 0.021 2520 -683.7 194.6 - - 2144 - - - - - - - - 25.42 25.86 -
10909 856.7 15.6 912 10914 roll 0.45 - - 2452 - 2.45 0.029 1088 -584.5 194.6 - - 2140 - - - - - - - - - 26.05 -
11032 840.2 13.0 918 11038 done 0.42 0.15 0.161 2411 -273.3 2.60 0.034 2557 565.0 194.6 - - 2136 - - - - - - - - 25.74 26.06 -
11350 797.4 13.5 934 11354 roll 0.38 - - 2411 - 1.90 0.044 3829 669.5 194.6 - - 2136 - - - - - - - - - 26.08 -
11400 790.7 14.4 936 11405 done 0.35 0.12 0.176 2389 -183.3 1.88 0.022 2527 -692.6 194.6 - - 2135 - - - - - - - - 25.85 26.25 -
11708 754.0 11.4 951 11709 done 0.33 - - 2389 - - - 2526 - 194.6 - - 2135 - - - - - - - - - - -
12008 718.7 11.6 966 12013 roll 0.32 - - 2402 - 2.42 0.031 1088 -594.2 194.6 - - 2135 - - - - - - - - - 26.17 -
12050 714.2 11.4 968 12055 done 0.31 - - 2402 - 2.55 0.033 2550 573.3 194.6 - - 2134 - - - - - - - - - 26.16 -
12364 676.2 12.0 984 12370 roll 0.29 0.12 0.160 2361 -341.7 1.92 0.041 3834 668.8 194.6 - - 2134 - - - - - - - - 26.10 26.13 -
12416 671.6 11.8 986 12423 done 0.27 - - 2371 - 1.90 0.021 2509 -697.4 194.6 - - 2133 - - - - - - - - - 26.32 -
12724 641.8 9.6 1002 12729 roll 0.27 - - 2384 - 2.40 0.031 1094 -589.6 194.6 - - 2132 - - - - - - - - - 26.18 -
12766 638.0 9.5 1004 12771 done 0.27 - - 2384 - 2.53 0.031 2555 577.5 194.6 - - 2132 - - - - - - - - - 26.17 -
13080 606.4 10.2 1020 13086 roll 0.27 - - 2396 - 2.53 0.028 1092 -578.3 194.6 - - 2132 - - - - - - - - - 26.20 -
13109 604.5 10.0 1021 13119 done 0.27 0.12 0.130 2358 -316.7 2.55 0.032 2550 571.8 194.6 - - 2132 - - - - - - - - 25.97 26.17 -
13420 580.3 7.0 1050 13481 roll 0.35 - - 2359 - 2.00 0.044 3821 635.5 251.1 49.05 0.931 1958 -3.5 0.234 - - - - 1 - - 25.60 24.22
13497 575.2 6.7 1057 13577 done 0.44 0.10 0.040 2451 920.0 1.95 0.019 2499 -677.9 316.6 68.05 1.055 1687 -4.0 0.230 - - - - 1 - 25.70 25.76 23.70
13876 520.1 14.8 1095 13886 roll 0.41 0.12 0.175 2414 -308.3 2.12 0.041 3836 630.7 316.6 1.95 0.173 1685 - - - - - - - - 25.72 25.86 25.37
13913 514.9 14.8 1098 13920 done 0.39 - - 2424 - 1.90 0.021 2521 -692.1 316.6 - - 1688 - - - - - - - - - 26.02 -
14221 476.7 13.1 1129 14230 roll 0.38 - - 2437 - 2.45 0.031 1096 -581.6 316.6 - - 1694 - - - - - - - - - 26.05 -
14255 472.6 12.8 1132 14264 done 0.38 0.12 0.124 2398 -325.0 2.60 0.031 2562 563.8 316.6 - - 1693 - - - - - - - - 25.89 26.06 -
14563 443.9 8.5 1163 14586 roll 0.40 - - 2411 - 2.65 0.031 1083 -558.1 324.3 17.70 0.809 1653 -2.3 0.131 - - - - - - - 25.98 24.80
14628 438.7 8.0 1169 14666 done 0.46 - - 2411 - 2.58 0.031 2548 567.8 347.8 32.72 0.773 1560 -2.8 0.171 - - - - - - - 25.97 24.59
14966 407.6 8.4 1203 14975 roll 0.49 - - 2423 - 2.58 0.028 1094 -563.6 357.6 3.00 0.510 1517 -14.3 1.211 - - - - - - - 25.99 24.17
15019 403.4 7.6 1208 15072 done 0.56 - - 2423 - 2.47 0.029 2521 577.7 392.1 47.40 0.790 1380 -2.9 0.156 - - - - - - - 26.01 24.46
15381 374.6 7.1 1244 15441 roll 0.65 0.17 0.060 2519 564.7 2.12 0.041 3838 621.2 444.1 53.67 0.783 1158 -4.1 0.209 - - - - - - 26.16 25.44 24.44
15458 360.6 23.0 1251 15466 done 0.60 0.22 0.164 2468 -231.8 2.05 0.021 2479 -662.9 444.1 - - 1142 - - - - - - - - 25.26 25.60 -
15764 314.3 12.7 1282 15773 roll 0.60 - - 2481 - 2.35 0.031 1097 -588.1 444.1 - - 1136 - - - - - - - - - 25.97 -
15800 310.4 12.4 1285 15807 done 0.61 - - 2480 - 2.47 0.028 2520 576.1 444.1 - - 1134 - - - - - - - - - 26.01 -
16106 271.1 11.8 1316 16107 done 0.61 - - 2481 - - - 2519 - 444.1 - - 1134 - - - - - - - - - - -
16409 235.3 11.6 1346 16418 roll 0.61 - - 2492 - 2.47 0.030 1092 -577.7 444.1 - - 1134 - - - - - - - - - 26.19 -
16444 231.4 11.6 1349 16451 done 0.63 - - 2492 - 2.45 0.031 2507 577.6 444.1 - - 1133 - - - - - - - - - 26.17 -
16754 193.4 11.5 1385 16761 roll 0.63 - - 2492 - 2.00 0.042 3826 659.5 444.1 - - 1133 - - - - - - - - - 26.15 -
16783 189.6 13.3 1390 16790 done 0.63 - - 2503 - 2.03 0.021 2447 -679.3 444.1 - - 1133 - - - - - - - - - 26.30 -
16974 165.3 11.6 1427 16981 roll 0.63 - - 2515 - 2.30 0.029 1075 -596.5 444.1 - - 1133 - - - - - - - - - 26.22 -
17003 161.8 12.5 1432 17012 done 0.64 0.12 0.116 2474 -341.7 2.42 0.029 2500 588.8 444.1 - - 1133 - - - - - - - - 26.08 26.23 -
17200 146.0 7.5 1469 17243 roll 0.72 - - 2474 - 2.05 0.038 3834 650.7 483.2 36.50 0.639 996 -3.8 0.091 - - - - - - - 25.94 24.89
17256 141.7 7.7 1478 17294 done 0.79 0.15 0.067 2570 640.0 2.05 0.018 2428 -685.9 515.6 30.60 0.635 869 -4.2 0.098 - - - - - - 25.98 26.05 24.69
17481 102.4 18.2 1520 17489 roll 0.76 0.15 0.161 2536 -226.7 2.28 0.026 1076 -593.0 515.6 - - 848 - - - - - - - - 25.75 25.97 -
17517 97.4 12.5 1526 17524 done 0.78 - - 2536 - 2.45 0.028 2503 582.4 515.6 - - 847 - - - - - - - - - 26.01 -
17709 82.6 7.0 1563 17772 roll 0.89 - - 2536 - 2.10 0.038 3832 632.9 572.4 57.53 0.277 653 -3.4 0.106 - - - - - - - 25.89 25.14
17801 75.6 7.8 1578 17845 done 0.97 0.15 0.073 2598 413.3 2.00 0.018 2438 -697.0 600.7 35.72 0.270 531 -3.4 0.101 - - - - - - 25.96 26.06 25.09
18033 54.4 10.0 1621 18041 done 1.05 - - 2598 - - - 2438 - 600.7 2.15 0.155 527 -1.9 0.069 - - - - - - - - 25.50
18226 32.9 10.8 1658 18235 roll 1.14 0.12 0.111 2650 433.3 2.35 0.027 1070 -582.1 600.7 1.92 0.139 530 1.6 -0.039 - - - - - - 26.21 26.14 25.63
18365 16.3 12.3 1684 18374 done 1.23 - - 2651 - 2.30 0.024 2457 603.0 600.7 1.75 0.159 529 - - - - - - - - - 26.22 25.67
18485 end climb: SURFACE_DEPTH_REACHED
18485 begin surface coast
18512 end surface coast: CONTROL_FINISHED_OK
18512 begin surface
SM 0.71 - - - - -6.62 6.32 0.028 128 -399.2 - - 2456 - 598.53 - - 539 - - - - - - - -