OKMC Apr12 * SG169 * Dive index * Mission links * Dive 378 * Raw log
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• Previous call tries 2 • 80.53 of 147.52 AH used of 24V (45.41% remains)
• Previous NAKs 0, Timeouts 0 • 50.75 of 108.53 AH used of 10V (53.24% remains)
• Surface angle -73.5 deg, depth 0.92 m • Intended pitch -15.7 deg, speed -10.000 cm/s
• No surface pump (final VBD was 486.68, SM_CC=450)
• GPS1 time: 38 s
• GPS2 time: 16 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 - - - 101 VBD -0.63 - - 112 - - - 2454 - -194.6 -81.10 - 3181 - - - - - - - - - - -
104 4.0 -10.7 14 130 roll -0.63 7.85 0.220 2027 243.9 2.15 0.046 3857 652.6 -194.6 -10.98 - 3776 -54.2 - - - - - - - 24.77 26.03 26.52
144 22.4 -46.6 20 151 done -0.42 0.28 0.171 2111 300.0 2.08 0.021 2415 -693.3 -194.6 - - 3777 - - - - - - - - 25.36 26.15 -
336 59.4 -12.9 57 344 roll -0.40 - - 2113 - 2.40 0.024 982 -597.1 -194.6 - - 3778 - - - - - - - - - 26.17 -
389 64.7 -8.8 66 396 done -0.43 - - 2101 - 2.60 0.030 2472 573.1 -194.6 - - 3778 - - - - - - - - - 26.15 -
582 86.2 -11.4 103 588 roll -0.42 - - 2091 - 2.05 0.040 3841 667.8 -194.6 - - 3778 - - - - - - - - - 26.13 -
623 90.6 -10.3 110 630 done -0.43 - - 2092 - 2.00 0.018 2414 -713.5 -194.6 - - 3778 - - - - - - - - - 26.41 -
815 110.7 -9.5 147 821 roll -0.42 - - 2092 - 2.38 0.022 963 -609.7 -194.6 - - 3779 - - - - - - - - - 26.30 -
846 113.7 -9.8 152 853 done -0.43 - - 2085 - 2.65 0.028 2486 574.7 -194.6 - - 3779 - - - - - - - - - 26.24 -
1037 134.5 -11.2 189 1045 roll -0.41 - - 2075 - 1.98 0.037 3837 682.3 -194.6 - - 3779 - - - - - - - - - 26.21 -
1073 138.9 -12.2 195 1080 done -0.41 0.12 0.123 2114 325.0 1.92 0.018 2432 -731.8 -194.6 - - 3779 - - - - - - - - 26.17 26.45 -
1266 157.8 -9.2 232 1273 roll -0.42 - - 2114 - 2.42 0.022 966 -605.8 -194.6 - - 3779 - - - - - - - - - 26.32 -
1327 163.5 -9.2 243 1333 done -0.45 - - 2112 - 2.60 0.027 2478 581.5 -194.6 - - 3779 - - - - - - - - - 26.29 -
1519 178.4 -7.3 280 1526 roll -0.49 - - 2112 - 2.55 0.021 953 -598.0 -194.6 - - 3779 - - - - - - - - - 26.35 -
1757 196.7 -8.4 326 1764 done -0.58 0.15 0.094 2058 -360.0 2.83 0.028 2564 569.3 -194.6 - - 3779 - - - - - - - - 26.14 26.29 -
1949 213.7 -8.5 363 1956 roll -0.60 - - 2051 - 1.80 0.037 3832 704.4 -194.6 - - 3777 - - - - - - - - - 26.24 -
2005 219.3 -11.3 373 2013 done -0.59 - - 2051 - 2.05 0.018 2396 -700.5 -194.6 - - 3777 - - - - - - - - - 26.47 -
2320 259.2 -13.3 434 2327 roll -0.56 - - 2052 - 2.35 0.023 962 -610.2 -194.6 - - 3776 - - - - - - - - - 26.33 -
2340 261.9 -12.5 437 2348 done -0.54 0.12 0.134 2080 233.3 2.60 0.029 2468 579.2 -194.6 - - 3776 - - - - - - - - 26.06 26.27 -
2656 292.0 -8.5 498 2662 done -0.54 - - 2080 - - - 2467 - -194.6 - - 3774 - - - - - - - - - - -
2967 320.5 -8.8 559 2973 done -0.54 - - 2080 - - - 2466 - -194.6 - - 3773 - - - - - - - - - - -
3279 349.8 -9.8 620 3286 roll -0.54 - - 2070 - 2.05 0.038 3830 665.4 -194.6 - - 3771 - - - - - - - - - 26.22 -
3314 353.2 -10.8 626 3321 done -0.54 - - 2070 - 2.05 0.018 2387 -703.9 -194.6 - - 3771 - - - - - - - - - 26.48 -
3626 383.6 -9.4 687 3632 roll -0.54 - - 2070 - 2.30 0.024 978 -612.6 -194.6 - - 3769 - - - - - - - - - 26.32 -
3657 386.3 -9.0 692 3664 done -0.55 - - 2061 - 2.55 0.028 2461 581.6 -194.6 - - 3769 - - - - - - - - - 26.28 -
3973 415.0 -9.5 753 3980 roll -0.55 - - 2051 - 2.08 0.038 3831 658.7 -194.6 - - 3767 - - - - - - - - - 26.21 -
4008 418.4 -9.7 759 4015 done -0.56 - - 2051 - 2.08 0.018 2394 -690.9 -194.6 - - 3767 - - - - - - - - - 26.46 -
4320 449.9 -10.5 820 4327 roll -0.54 - - 2051 - 2.33 0.024 971 -610.7 -194.6 - - 3765 - - - - - - - - - 26.31 -
4356 453.6 -10.5 826 4363 done -0.55 0.10 0.146 2072 210.0 2.55 0.030 2456 582.4 -194.6 - - 3765 - - - - - - - - 26.08 26.25 -
4671 479.3 -8.1 887 4678 roll -0.55 - - 2061 - 2.12 0.052 3826 646.2 -194.6 -0.08 - 3790 -312.5 - - - - - - - - 26.15 25.45
4708 482.2 -7.6 893 4716 done -0.57 - - 2061 - 2.05 0.018 2385 -702.9 -194.6 - - 3790 - - - - - - - - - 26.46 -
5025 509.9 -9.1 944 5033 roll -0.57 - - 2050 - 2.30 0.040 3835 630.4 -194.6 - - 3789 - - - - - - - - - 26.17 -
5068 513.8 -9.4 948 5071 done -0.57 - - 2050 - 2.00 0.019 2423 -706.0 -194.6 - - 3789 - - - - - - - - - 26.45 -
5380 544.1 -9.3 979 5388 roll -0.57 - - 2050 - 2.38 0.024 977 -607.6 -194.6 - - 3786 - - - - - - - - - 26.29 -
5423 548.1 -9.7 983 5432 done -0.57 - - 2039 - 2.58 0.031 2474 580.2 -194.6 - - 3786 - - - - - - - - - 26.20 -
5733 577.7 -9.0 1014 5734 done -0.56 - - 2039 - - - 2472 - -194.6 - - 3784 - - - - - - - - - - -
6036 605.8 -9.4 1044 6043 done -0.55 0.12 0.148 2083 366.7 - - 2472 - -194.6 - - 3782 - - - - - - - - 26.25 - -
6345 629.8 -7.4 1075 6355 roll -0.61 - - 2083 - 2.03 0.045 3821 664.5 -194.6 - - 3780 - - - - - - - - - 26.09 -
6444 637.3 -8.2 1084 6452 done -0.69 0.17 0.083 2018 -382.4 2.00 0.019 2409 -706.0 -194.6 - - 3780 - - - - - - - - 26.19 26.42 -
6750 668.5 -10.8 1115 6754 roll -0.67 - - 2007 - 2.28 0.042 3837 626.3 -194.6 - - 3776 - - - - - - - - - 26.08 -
6845 678.1 -10.2 1124 6852 done -0.66 - - 2008 - 2.03 0.021 2435 -690.6 -194.6 - - 3776 - - - - - - - - - 26.37 -
7153 713.1 -11.4 1155 7162 roll -0.63 0.12 0.140 2052 366.7 2.40 0.024 991 -601.7 -194.6 - - 3774 - - - - - - - - 26.26 26.21 -
7196 717.0 -9.0 1159 7205 done -0.63 - - 2045 - 2.55 0.034 2472 580.8 -194.6 - - 3774 - - - - - - - - - 26.13 -
7506 744.2 -9.6 1190 7515 roll -0.63 - - 2035 - 2.10 0.044 3835 649.0 -194.6 - - 3771 - - - - - - - - - 26.04 -
7569 750.2 -9.7 1196 7573 done -0.64 - - 2035 - 2.03 0.021 2437 -688.7 -194.6 - - 3771 - - - - - - - - - 26.36 -
7881 783.1 -11.0 1227 7890 roll -0.63 - - 2035 - 2.42 0.028 992 -597.1 -194.6 - - 3769 - - - - - - - - - 26.17 -
7937 788.6 -10.5 1232 7943 done -0.64 - - 2030 - 2.60 0.034 2479 571.9 -194.6 - - 3768 - - - - - - - - - 26.09 -
8244 823.3 -10.9 1263 8252 roll -0.62 - - 2019 - 2.03 0.044 3820 660.6 -194.6 - - 3766 - - - - - - - - - 26.01 -
8275 827.0 -11.0 1266 8280 done -0.62 0.10 0.132 2050 310.0 2.03 0.021 2424 -687.7 -194.6 - - 3766 - - - - - - - - 26.11 26.34 -
8588 854.0 -8.4 1297 8597 roll -0.62 - - 2050 - 2.38 0.026 979 -607.1 -194.6 - - 3764 - - - - - - - - - 26.16 -
8611 855.7 -8.4 1299 8620 done -0.62 - - 2046 - 2.62 0.034 2484 574.4 -194.6 - - 3764 - - - - - - - - - 26.06 -
8920 883.7 -10.0 1330 8930 roll -0.62 - - 2036 - 2.08 0.045 3828 646.2 -194.6 - - 3762 - - - - - - - - - 25.96 -
8963 887.8 -9.8 1334 8973 done -0.63 - - 2035 - 2.03 0.021 2425 -691.1 -194.6 - - 3761 - - - - - - - - - 26.33 -
9272 920.9 -10.6 1365 9281 roll -0.63 - - 2036 - 2.42 0.028 989 -593.4 -194.6 - - 3761 - - - - - - - - - 26.11 -
9317 925.4 -10.7 1369 9324 done -0.64 - - 2030 - 2.62 0.036 2485 571.0 -194.6 - - 3760 - - - - - - - - - 26.01 -
9625 959.2 -10.8 1400 9635 roll -0.63 - - 2020 - 2.08 0.046 3837 650.0 -194.6 - - 3757 - - - - - - - - - 25.93 -
9660 962.7 -10.6 1403 9667 done -0.63 - - 2020 - 2.03 0.022 2439 -688.7 -194.6 - - 3757 - - - - - - - - - 26.29 -
9928 end dive: TARGET_DEPTH_EXCEEDED
9928 begin apogee
9935 991.0 -10.2 1430 10129 roll -0.20 0.47 0.104 2181 342.6 0.08 0.090 2460 262.5 - 188.65 1.125 2978 -4.1 0.381 - - - - - - 25.65 24.80 23.42
10130 end apogee: CONTROL_FINISHED_OK
10130 begin climb
10134 999.4 - 1450 10341 roll 0.63 0.73 0.050 2458 379.5 2.28 0.044 3823 597.8 194.6 198.52 1.120 2182 -4.0 0.375 - - - - - - 25.17 25.15 23.47
10489 940.8 20.4 1486 10499 done 0.57 0.12 0.184 2438 -166.7 2.03 0.023 2457 -672.9 194.6 - - 2149 - - - - - - - - 25.56 25.93 -
10801 892.4 14.8 1517 10809 roll 0.53 - - 2451 - 2.42 0.029 1027 -590.9 194.6 - - 2143 - - - - - - - - - 26.07 -
10873 882.5 12.7 1524 10882 done 0.52 0.08 0.143 2424 -337.5 2.62 0.034 2509 565.6 194.6 - - 2140 - - - - - - - - 25.79 26.06 -
11185 842.3 13.0 1555 11195 roll 0.49 - - 2424 - 1.98 0.044 3833 668.7 194.6 - - 2140 - - - - - - - - - 26.05 -
11289 827.2 14.1 1565 11293 done 0.46 0.12 0.166 2401 -191.7 1.90 0.021 2498 -702.6 194.6 - - 2140 - - - - - - - - 25.87 26.25 -
11602 794.0 9.9 1596 11604 done 0.45 - - 2401 - - - 2496 - 196.9 - - 2139 - - - - - - - - - - -
11903 764.7 9.8 1626 11912 roll 0.45 - - 2414 - 2.55 0.030 1029 -575.3 204.0 - - 2138 - - - - - - - - - 26.12 -
11929 762.6 9.6 1628 11955 done 0.45 - - 2414 - 2.72 0.034 2538 554.8 215.1 17.67 0.994 2096 -2.4 0.191 - - - - - - - 26.10 24.24
12255 725.1 11.7 1661 12266 roll 0.44 - - 2414 - 1.92 0.044 3833 674.5 215.1 - - 2078 - - - - - - - - - 25.98 -
12291 720.9 12.6 1664 12300 done 0.42 0.12 0.158 2385 -241.7 1.90 0.021 2506 -698.4 215.1 - - 2078 - - - - - - - - 25.81 26.19 -
12601 693.9 7.7 1695 12709 roll 0.51 - - 2399 - 2.75 0.030 1019 -540.7 281.5 98.45 0.827 1822 -2.6 0.229 - - - - - - - 25.34 23.95
12722 684.5 7.3 1707 12821 done 0.62 0.10 0.040 2487 880.0 2.78 0.031 2536 545.7 359.1 87.30 0.893 1501 -3.7 0.295 - - - - - - 25.50 25.50 23.72
13122 617.0 17.5 1747 13132 roll 0.60 0.12 0.166 2448 -325.0 1.90 0.041 3836 684.2 359.1 - - 1480 - - - - - - - - 25.83 25.89 -
13148 612.9 17.3 1749 13155 done 0.58 - - 2458 - 1.90 0.021 2507 -699.5 359.1 - - 1479 - - - - - - - - - 26.08 -
13456 571.2 12.6 1780 13464 roll 0.58 - - 2471 - 2.60 0.030 1027 -569.2 359.1 - - 1477 - - - - - - - - - 26.02 -
13480 568.5 12.7 1782 13487 done 0.58 0.12 0.132 2434 -308.3 2.72 0.032 2536 554.8 359.1 - - 1475 - - - - - - - - 25.83 26.03 -
13788 538.2 9.1 1813 13821 roll 0.62 - - 2448 - 2.80 0.031 1024 -540.0 385.6 26.90 0.855 1397 -2.9 0.191 - - - - - - - 25.82 24.25
13832 534.5 9.0 1817 13870 done 0.68 - - 2448 - 2.75 0.032 2531 548.0 413.4 31.30 0.869 1291 -3.4 0.218 - - - - - - - 25.84 24.04
14171 502.3 9.9 1851 14180 roll 0.70 - - 2461 - 2.70 0.031 1032 -555.2 417.4 - - 1265 - - - - - - - - - 25.94 -
14195 499.9 9.8 1853 14202 done 0.73 - - 2461 - 2.70 0.030 2523 552.2 422.1 - - 1264 - - - - - - - - - 25.96 -
14509 462.1 12.3 1914 14515 roll 0.75 - - 2462 - 1.95 0.043 3824 667.2 422.1 - - 1264 - - - - - - - - - 25.97 -
14586 451.5 13.8 1928 14592 done 0.76 - - 2472 - 2.08 0.021 2423 -673.6 422.1 - - 1263 - - - - - - - - - 26.20 -
14900 414.8 10.7 1989 14907 roll 0.78 - - 2485 - 2.42 0.031 1017 -581.0 422.1 - - 1264 - - - - - - - - - 26.07 -
14950 409.6 10.3 1998 14957 done 0.80 - - 2484 - 2.53 0.029 2463 571.5 422.1 - - 1262 - - - - - - - - - 26.10 -
15262 375.9 11.0 2059 15269 done 0.81 - - 2485 - - - 2461 - 422.1 - - 1262 - - - - - - - - - - -
15575 340.9 10.4 2120 15582 roll 0.82 - - 2497 - 2.53 0.031 1017 -570.8 422.1 - - 1262 - - - - - - - - - 26.06 -
15622 336.3 10.6 2128 15628 done 0.84 - - 2497 - 2.53 0.031 2463 571.5 422.1 - - 1262 - - - - - - - - - 26.10 -
15937 301.8 11.2 2189 15944 roll 0.85 - - 2497 - 2.12 0.041 3833 646.2 422.1 - - 1262 - - - - - - - - - 26.01 -
15961 298.7 11.3 2193 15968 done 0.85 - - 2508 - 2.10 0.021 2409 -678.1 422.1 - - 1262 - - - - - - - - - 26.25 -
16274 262.9 11.2 2254 16280 done 0.85 - - 2509 - - - 2408 - 422.1 - - 1262 - - - - - - - - - - -
16586 226.0 11.4 2315 16593 roll 0.85 - - 2509 - 2.28 0.040 3830 623.7 422.1 - - 1263 - - - - - - - - - 26.03 -
16617 222.1 13.1 2320 16624 done 0.86 - - 2520 - 2.08 0.020 2416 -679.8 422.1 - - 1262 - - - - - - - - - 26.27 -
16929 186.1 11.4 2381 16936 roll 0.86 - - 2532 - 2.38 0.030 1021 -586.1 422.1 - - 1262 - - - - - - - - - 26.11 -
16949 183.9 11.3 2384 16956 done 0.86 - - 2532 - 2.53 0.030 2470 572.7 422.1 - - 1261 - - - - - - - - - 26.12 -
17141 158.8 14.0 2421 17148 roll 0.86 - - 2532 - 2.08 0.039 3827 652.4 422.1 - - 1262 - - - - - - - - - 26.04 -
17167 155.3 14.4 2425 17174 done 0.85 - - 2543 - 2.10 0.021 2409 -675.2 422.1 - - 1262 - - - - - - - - - 26.27 -
17359 127.8 13.0 2462 17366 roll 0.84 - - 2554 - 2.38 0.030 1007 -589.1 422.1 - - 1262 - - - - - - - - - 26.11 -
17379 125.1 13.4 2465 17386 done 0.84 0.12 0.140 2520 -283.3 2.58 0.031 2476 569.4 422.1 - - 1262 - - - - - - - - 25.86 26.11 -
17572 104.0 10.5 2502 17578 done 0.85 - - 2520 - - - 2474 - 422.1 - - 1262 - - - - - - - - - - -
17763 84.1 10.5 2539 17771 roll 0.87 - - 2533 - 2.55 0.029 1010 -574.1 422.1 - - 1262 - - - - - - - - - 26.12 -
17789 81.4 10.2 2543 17797 done 0.88 - - 2533 - 2.53 0.027 2459 572.7 422.1 - - 1262 - - - - - - - - - 26.16 -
17984 61.9 9.4 2580 18009 roll 0.92 - - 2545 - 2.60 0.028 1013 -556.2 439.4 19.02 0.229 1194 -3.6 0.101 - - - - - - - 26.05 24.70
18034 57.2 9.2 2588 18070 done 0.99 - - 2545 - 2.45 0.028 2429 578.0 463.8 26.90 0.226 1088 -3.9 0.105 - - - - - - - 26.11 24.95
18259 34.4 9.1 2630 18292 roll 1.11 0.15 0.076 2612 446.7 2.50 0.028 1018 -564.4 488.5 21.67 0.181 994 -4.3 0.086 - - - - - - 26.34 26.04 25.06
18318 28.8 10.4 2639 18328 done 1.17 - - 2612 - 2.38 0.023 2420 589.1 488.5 2.17 0.153 987 -3.2 0.064 - - - - - - - 26.13 25.25
18514 8.5 10.2 2676 18522 roll 1.18 - - 2624 - 2.50 0.029 1007 -565.2 488.5 2.03 0.155 989 - - - - - - - - - 26.05 25.24
18545 5.0 10.7 2681 18552 done 1.19 - - 2623 - 2.30 0.027 2377 595.7 488.5 - - 995 - - - - - - - - - 26.15 -
18563 end climb: SURFACE_DEPTH_REACHED
18563 begin surface coast
18589 end surface coast: CONTROL_FINISHED_OK
18589 begin surface
SM 0.65 - - - - -6.55 6.28 0.027 113 -399.7 0.20 0.057 2488 555.0 486.68 - - 995 - - - - - - - -