OKMC Apr12 * SG169 * Dive index * Mission links * Dive 347 * Raw log
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• Previous call tries 1 • 73.97 of 147.52 AH used of 24V (49.86% remains)
• Previous NAKs 0, Timeouts 0 • 45.67 of 108.53 AH used of 10V (57.92% remains)
• Surface angle -74.4 deg, depth 0.83 m • Intended pitch -15.7 deg, speed -10.000 cm/s
• No surface pump (final VBD was 585.04, SM_CC=450)
• GPS1 time: 42 s
• GPS2 time: 15 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 - - - 105 VBD -0.63 - - 121 - - - 2492 - -194.6 -85.20 - 2977 - - - - - - - - - - -
108 3.1 -6.5 15 140 roll -0.63 7.90 0.226 2028 241.4 2.00 0.055 3839 673.5 -194.6 -15.52 - 3776 -51.5 - - - - - - - 24.84 26.00 26.54
179 29.8 -35.3 27 186 done -0.54 0.12 0.161 2070 350.0 1.98 0.021 2441 -706.1 -194.6 - - 3776 - - - - - - - - 25.82 26.19 -
371 74.0 -17.8 64 378 roll -0.49 - - 2081 - 2.45 0.024 1002 -587.3 -194.6 - - 3776 - - - - - - - - - 26.22 -
436 84.2 -13.0 76 443 done -0.49 - - 2068 - 2.62 0.031 2493 569.1 -194.6 - - 3776 - - - - - - - - - 26.18 -
627 114.4 -15.0 113 635 done -0.45 0.12 0.166 2106 316.7 - - 2492 - -194.6 - - 3776 - - - - - - - - 26.15 - -
820 137.4 -11.9 150 827 roll -0.44 - - 2107 - 2.58 0.024 1004 -576.7 -194.6 - - 3776 - - - - - - - - - 26.30 -
857 141.3 -10.3 156 864 done -0.46 - - 2098 - 2.60 0.032 2478 566.9 -194.6 - - 3776 - - - - - - - - - 26.25 -
1048 164.9 -12.3 193 1056 roll -0.44 - - 2088 - 2.00 0.041 3825 673.5 -194.6 - - 3776 - - - - - - - - - 26.22 -
1080 168.5 -11.8 198 1086 done -0.43 - - 2088 - 1.98 0.018 2416 -711.6 -194.6 - - 3776 - - - - - - - - - 26.46 -
1272 190.5 -11.5 235 1279 roll -0.42 - - 2088 - 2.38 0.023 997 -596.2 -194.6 - - 3776 - - - - - - - - - 26.36 -
1306 194.3 -11.0 241 1314 done -0.43 - - 2085 - 2.60 0.030 2474 568.1 -194.6 - - 3776 - - - - - - - - - 26.30 -
1499 216.7 -12.4 278 1507 roll -0.41 0.10 0.166 2103 180.0 2.00 0.037 3844 685.0 -194.6 - - 3776 - - - - - - - - 26.39 26.27 -
1535 220.7 -10.4 284 1542 done -0.43 - - 2103 - 2.00 0.017 2401 -721.5 -194.6 - - 3776 - - - - - - - - - 26.49 -
1847 255.5 -11.3 345 1854 roll -0.43 - - 2103 - 2.35 0.023 995 -598.3 -194.6 - - 3776 - - - - - - - - - 26.36 -
1919 263.0 -10.5 358 1926 done -0.45 - - 2099 - 2.53 0.028 2453 576.3 -194.6 - - 3775 - - - - - - - - - 26.32 -
2230 292.5 -8.4 419 2236 done -0.45 - - 2098 - - - 2452 - -194.6 - - 3774 - - - - - - - - - - -
2541 320.3 -9.7 480 2550 roll -0.45 - - 2099 - 2.47 0.025 1002 -587.0 -194.6 - - 3773 - - - - - - - - - 26.35 -
2573 323.3 -9.8 485 2581 done -0.47 - - 2098 - 2.50 0.030 2441 575.6 -194.6 - - 3772 - - - - - - - - - 26.31 -
2886 353.5 -9.0 546 2892 done -0.47 - - 2099 - - - 2440 - -194.6 - - 3771 - - - - - - - - - - -
3196 379.3 -8.4 607 3202 done -0.47 - - 2099 - - - 2440 - -194.6 - - 3770 - - - - - - - - - - -
3509 406.3 -8.9 668 3515 roll -0.48 - - 2088 - 2.12 0.042 3836 658.5 -194.6 - - 3767 - - - - - - - - - 26.23 -
3539 409.0 -8.8 673 3547 done -0.50 - - 2088 - 2.15 0.019 2351 -690.7 -194.6 - - 3768 - - - - - - - - - 26.47 -
3853 434.6 -7.5 734 3860 roll -0.53 - - 2082 - 2.38 0.040 3838 624.8 -194.6 - - 3766 - - - - - - - - - 26.24 -
3950 442.9 -8.6 752 3957 done -0.54 - - 2082 - 1.80 0.018 2476 -756.7 -194.6 - - 3765 - - - - - - - - - 26.53 -
4263 471.0 -8.8 813 4271 roll -0.54 - - 2082 - 2.53 0.034 1011 -579.1 -194.6 -0.10 - 3785 -200.0 - - - - - - - - 26.32 25.99
4346 478.0 -8.7 828 4353 done -0.57 - - 2072 - 2.70 0.031 2522 559.6 -194.6 - - 3786 - - - - - - - - - 26.29 -
4665 509.0 -9.6 881 4675 roll -0.57 - - 2072 - 2.60 0.025 1020 -577.7 -194.6 - - 3784 - - - - - - - - - 26.32 -
4698 512.1 -9.6 884 4707 done -0.58 - - 2062 - 2.62 0.032 2503 566.0 -194.6 - - 3784 - - - - - - - - - 26.27 -
5009 540.9 -9.2 915 5017 roll -0.57 - - 2062 - 2.55 0.024 1002 -588.6 -194.6 - - 3782 - - - - - - - - - 26.32 -
5041 543.8 -8.9 918 5049 done -0.57 - - 2054 - 2.60 0.031 2487 571.2 -194.6 - - 3782 - - - - - - - - - 26.27 -
5352 577.0 -11.1 949 5361 roll -0.56 - - 2054 - 2.55 0.027 1006 -580.8 -194.6 - - 3780 - - - - - - - - - 26.29 -
5397 581.6 -10.5 953 5405 done -0.56 - - 2044 - 2.58 0.034 2469 567.1 -194.6 - - 3780 - - - - - - - - - 26.24 -
5706 614.7 -10.2 984 5713 done -0.55 0.10 0.164 2071 270.0 - - 2467 - -194.6 - - 3778 - - - - - - - - 26.37 - -
6018 639.9 -8.2 1015 6023 done -0.55 - - 2072 - - - 2467 - -194.6 - - 3776 - - - - - - - - - - -
6328 663.1 -7.3 1046 6334 done -0.55 - - 2072 - - - 2467 - -194.6 - - 3773 - - - - - - - - - - -
6638 689.3 -9.4 1077 6645 done -0.56 - - 2071 - - - 2467 - -194.6 - - 3771 - - - - - - - - - - -
6947 719.7 -10.3 1108 6956 roll -0.57 - - 2072 - 2.50 0.026 1006 -584.4 -194.6 - - 3768 - - - - - - - - - 26.27 -
6989 724.1 -9.8 1112 6998 done -0.59 - - 2069 - 2.58 0.034 2463 564.7 -194.6 - - 3768 - - - - - - - - - 26.18 -
7300 752.2 -8.5 1143 7308 roll -0.60 - - 2058 - 2.08 0.044 3829 656.7 -194.6 - - 3765 - - - - - - - - - 26.10 -
7345 755.9 -8.8 1147 7351 done -0.61 - - 2058 - 2.05 0.021 2401 -696.6 -194.6 - - 3766 - - - - - - - - - 26.41 -
7652 784.4 -9.2 1178 7660 roll -0.61 - - 2048 - 2.25 0.044 3829 634.7 -194.6 - - 3763 - - - - - - - - - 26.09 -
7676 786.6 -9.7 1180 7683 done -0.61 - - 2048 - 2.00 0.021 2419 -705.0 -194.6 - - 3763 - - - - - - - - - 26.40 -
7983 818.7 -10.8 1211 7992 roll -0.61 - - 2047 - 2.38 0.027 1002 -595.4 -194.6 - - 3761 - - - - - - - - - 26.22 -
8019 822.1 -10.7 1214 8026 done -0.61 - - 2039 - 2.60 0.034 2475 566.5 -194.6 - - 3760 - - - - - - - - - 26.14 -
8326 854.9 -10.6 1245 8335 roll -0.60 - - 2029 - 2.05 0.044 3829 660.5 -194.6 - - 3759 - - - - - - - - - 26.06 -
8348 857.2 -10.2 1247 8357 done -0.59 - - 2029 - 2.05 0.021 2417 -688.8 -194.6 - - 3758 - - - - - - - - - 26.36 -
8660 891.5 -11.6 1278 8670 roll -0.58 0.12 0.135 2074 375.0 2.38 0.026 1014 -589.5 -194.6 - - 3757 - - - - - - - - 26.25 26.19 -
8713 896.3 -8.1 1283 8722 done -0.60 - - 2065 - 2.53 0.033 2459 571.1 -194.6 - - 3757 - - - - - - - - - 26.13 -
9025 919.0 -7.1 1314 9034 roll -0.64 - - 2056 - 2.08 0.045 3822 655.3 -194.6 - - 3754 - - - - - - - - - 26.03 -
9068 922.2 -7.3 1318 9071 done -0.67 - - 2056 - 1.80 0.021 2516 -725.6 -194.6 - - 3754 - - - - - - - - - 26.41 -
9381 943.6 -6.2 1349 9391 roll -0.71 0.10 0.093 1979 -770.0 2.58 0.025 1005 -585.7 -194.6 - - 3753 - - - - - - - - 26.53 26.17 -
9447 950.1 -11.4 1355 9455 done -0.69 0.20 0.127 2030 255.0 2.60 0.037 2469 563.1 -194.6 - - 3753 - - - - - - - - 25.76 26.05 -
9756 981.9 -10.5 1386 9762 done -0.68 - - 2030 - - - 2468 - -194.6 - - 3751 - - - - - - - - - - -
9832 end dive: TARGET_DEPTH_EXCEEDED
9832 begin apogee
9838 990.2 -10.5 1394 10044 roll -0.20 0.45 0.103 2184 342.2 - - 2468 - - 194.82 1.324 2982 -3.9 0.315 - - - - 1 - 25.75 - 22.95
10045 end apogee: CONTROL_FINISHED_OK
10045 begin climb
10048 1002.1 - 1415 10276 roll 0.63 0.73 0.047 2458 375.3 2.22 0.045 3833 614.9 194.6 219.15 1.087 2182 -3.7 0.359 - - - - - - 24.79 24.76 23.43
10504 938.7 17.8 1460 10511 done 0.57 0.12 0.188 2438 -166.7 2.03 0.022 2450 -681.3 194.6 - - 2146 - - - - - - - - 25.63 26.01 -
10812 899.2 12.1 1491 10820 roll 0.53 - - 2451 - 2.45 0.031 1025 -581.6 194.6 - - 2141 - - - - - - - - - 26.09 -
10875 892.0 10.7 1497 10885 done 0.52 0.08 0.142 2424 -337.5 2.67 0.035 2508 555.4 194.6 - - 2139 - - - - - - - - 25.82 26.08 -
11184 855.7 12.1 1528 11193 roll 0.49 - - 2423 - 2.00 0.044 3841 666.5 194.6 - - 2139 - - - - - - - - - 26.08 -
11270 843.9 15.2 1536 11278 done 0.45 0.15 0.171 2394 -193.3 1.92 0.021 2478 -709.9 194.6 - - 2138 - - - - - - - - 25.79 26.27 -
11576 809.9 11.2 1567 11577 done 0.45 - - 2395 - - - 2477 - 194.6 - - 2137 - - - - - - - - - - -
11879 777.2 10.2 1597 11888 roll 0.45 - - 2394 - 2.05 0.044 3820 655.1 194.6 - - 2137 - - - - - - - - - 26.08 -
11935 770.8 11.6 1602 11941 done 0.44 - - 2404 - 1.88 0.022 2488 -708.5 194.6 - - 2137 - - - - - - - - - 26.29 -
12242 741.2 9.2 1633 12281 done 0.46 - - 2405 - - - 2486 - 219.0 26.27 0.788 2083 -2.1 0.206 - - - - 1 - - - 23.87
12583 708.5 10.2 1667 12589 done 0.45 - - 2404 - - - 2486 - 219.0 - - 2083 - - - - - - - - - - -
12894 675.4 10.2 1698 12902 roll 0.45 - - 2404 - 2.08 0.044 3815 638.9 219.0 - - 2083 - - - - - - - - - 26.01 -
12938 670.5 11.3 1702 12945 done 0.44 - - 2415 - 1.90 0.022 2478 -703.7 219.0 - - 2082 - - - - - - - - - 26.25 -
13246 638.3 10.1 1733 13249 roll 0.43 - - 2415 - 2.08 0.043 3827 648.6 219.0 - - 2082 - - - - - - - - - 26.03 -
13280 634.7 10.6 1736 13287 done 0.42 0.15 0.160 2383 -213.3 1.88 0.021 2493 -709.6 219.0 - - 2082 - - - - - - - - 25.82 26.29 -
13588 611.4 6.8 1767 13690 roll 0.54 0.12 0.076 2468 708.3 2.17 0.043 3824 613.4 310.5 89.45 1.053 1718 -4.1 0.252 - - - - 1 - 26.47 25.13 23.50
13772 584.2 17.5 1785 13783 done 0.51 0.20 0.155 2419 -245.0 1.92 0.021 2501 -689.1 310.5 2.95 0.522 1710 -2.7 0.324 - - - - - - 25.30 25.75 23.56
14083 553.4 9.4 1816 14121 done 0.54 - - 2419 - - - 2500 - 328.5 30.00 0.777 1636 -2.5 0.187 - - - - 1 - - - 23.96
14423 526.5 7.3 1850 14532 roll 0.65 0.12 0.073 2516 808.3 2.70 0.031 1031 -544.1 407.7 92.95 0.927 1317 -3.4 0.208 - - - - 1 - 26.26 25.14 23.56
14549 508.7 15.3 1862 14557 done 0.63 0.20 0.119 2455 -305.0 2.83 0.034 2540 533.2 407.7 - - 1321 - - - - - - - - 25.20 25.39 -
14860 474.2 10.4 1916 14868 roll 0.65 - - 2455 - 1.98 0.043 3837 655.1 407.7 1.80 0.179 1313 -4.4 1.256 - - - - - - - 25.89 25.33
14897 470.1 12.3 1922 14904 done 0.67 - - 2464 - 1.90 0.021 2512 -697.4 407.7 - - 1319 - - - - - - - - - 26.11 -
15212 439.1 9.8 1983 15237 roll 0.69 - - 2477 - 2.67 0.030 1030 -555.1 413.7 15.10 0.803 1284 -2.3 0.135 - - - - - - - 25.96 24.49
15271 433.2 10.1 1993 15279 done 0.72 - - 2477 - 2.78 0.029 2557 549.3 413.7 - - 1278 - - - - - - - - - 25.98 -
15586 398.2 11.0 2054 15593 roll 0.73 - - 2491 - 2.75 0.030 1023 -557.8 413.7 - - 1277 - - - - - - - - - 26.04 -
15612 395.3 10.2 2058 15619 done 0.75 - - 2491 - 2.75 0.031 2543 552.7 413.7 - - 1276 - - - - - - - - - 26.07 -
15928 361.0 10.8 2119 15934 roll 0.76 - - 2491 - 1.88 0.043 3838 688.8 413.7 - - 1276 - - - - - - - - - 26.04 -
15951 358.5 11.0 2122 15957 done 0.76 - - 2501 - 1.90 0.021 2495 -706.8 413.7 - - 1276 - - - - - - - - - 26.27 -
16262 324.0 10.3 2183 16269 roll 0.76 - - 2514 - 2.55 0.031 1030 -574.5 413.7 - - 1276 - - - - - - - - - 26.12 -
16304 320.2 9.5 2190 16330 done 0.79 - - 2514 - 2.67 0.031 2522 558.8 427.1 14.07 0.744 1229 -3.3 0.153 - - - - - - - 26.14 24.50
16639 281.9 12.5 2254 16646 roll 0.79 - - 2514 - 1.92 0.041 3836 684.4 427.1 - - 1221 - - - - - - - - - 26.04 -
16666 277.8 13.7 2258 16673 done 0.79 - - 2523 - 1.92 0.020 2476 -708.3 427.1 - - 1221 - - - - - - - - - 26.25 -
16979 232.8 13.9 2319 16986 roll 0.79 - - 2536 - 2.50 0.031 1030 -578.4 427.1 - - 1220 - - - - - - - - - 26.12 -
17024 226.6 13.4 2327 17031 done 0.81 - - 2537 - 2.62 0.031 2502 561.8 427.1 - - 1220 - - - - - - - - - 26.13 -
17337 185.6 11.9 2388 17344 roll 0.81 - - 2536 - 2.00 0.041 3837 667.5 427.1 - - 1220 - - - - - - - - - 26.09 -
17363 182.4 12.9 2392 17371 done 0.80 0.15 0.145 2503 -220.0 2.00 0.020 2441 -698.0 427.1 - - 1220 - - - - - - - - 25.92 26.32 -
17556 164.8 8.9 2429 17594 done 0.86 - - 2503 - - - 2439 - 459.6 34.20 0.624 1096 -3.6 0.102 - - - - - - - - 24.62
17780 146.0 7.7 2471 17847 done 0.97 0.12 0.076 2591 733.3 - - 2438 - 525.0 59.40 0.615 824 -4.6 0.116 - - - - - - 26.29 - 24.44
18032 109.9 14.2 2518 18040 roll 0.97 0.12 0.151 2552 -325.0 2.22 0.038 3839 631.1 525.0 - - 808 - - - - - - - - 25.89 25.89 -
18062 105.5 13.9 2523 18069 done 0.97 - - 2562 - 1.95 0.019 2471 -701.5 525.0 - - 808 - - - - - - - - - 26.10 -
18254 82.7 10.4 2560 18262 roll 0.98 - - 2574 - 2.53 0.030 1014 -575.9 525.0 - - 808 - - - - - - - - - 26.06 -
18300 77.7 10.3 2568 18307 done 1.02 - - 2574 - 2.65 0.029 2514 566.0 525.0 - - 807 - - - - - - - - - 26.09 -
18492 53.8 10.7 2605 18500 roll 1.03 - - 2574 - 1.98 0.041 3838 668.7 525.0 - - 807 - - - - - - - - - 26.08 -
18518 50.9 11.1 2609 18526 done 1.06 - - 2584 - 1.98 0.020 2453 -699.5 525.0 - - 807 - - - - - - - - - 26.28 -
18714 33.5 7.9 2646 18769 roll 1.16 0.12 0.074 2692 900.0 2.53 0.028 1021 -566.0 587.2 45.30 0.168 587 -4.9 0.103 - - - - - - 26.48 26.07 25.25
18798 21.2 14.7 2660 18807 done 1.16 0.22 0.132 2624 -309.1 2.62 0.029 2505 566.4 587.2 1.75 0.174 582 -2.9 0.037 - - - - - - 25.70 26.09 25.46
18958 end climb: SURFACE_DEPTH_REACHED
18959 begin surface coast
18986 end surface coast: CONTROL_FINISHED_OK
18986 begin surface
SM 0.70 - - - - -6.55 6.22 0.024 107 -404.7 0.10 0.072 2411 -940.0 585.04 - - 594 - - - - - - - -