OKMC Apr12 * SG169 * Dive index * Mission links * Dive 381 * Raw log
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• Previous call tries 1 • 81.18 of 147.52 AH used of 24V (44.97% remains)
• Previous NAKs 0, Timeouts 0 • 51.24 of 108.53 AH used of 10V (52.78% remains)
• Surface angle -73.9 deg, depth 0.92 m • Intended pitch -15.7 deg, speed -10.000 cm/s
• No surface pump (final VBD was 563.94, SM_CC=450)
• GPS1 time: 42 s
• GPS2 time: 12 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 89 VBD -0.63 - - 118 - - - 2414 - -194.6 -67.88 - 2833 - - - - - - - - - - -
92 3.1 -6.9 12 125 roll -0.63 8.05 0.230 2025 236.9 2.35 0.057 3833 603.8 -194.6 -18.25 - 3775 -51.6 - - - - - - - 24.80 25.90 26.53
224 42.4 -28.7 36 232 done -0.54 0.15 0.164 2075 333.3 2.05 0.020 2408 -695.1 -194.6 - - 3776 - - - - - - - - 25.72 26.22 -
417 75.0 -12.7 73 423 roll -0.51 - - 2076 - 2.38 0.022 973 -602.9 -194.6 - - 3776 - - - - - - - - - 26.22 -
437 77.6 -13.0 76 444 done -0.49 - - 2064 - 2.65 0.029 2480 568.7 -194.6 - - 3776 - - - - - - - - - 26.15 -
629 104.7 -14.0 113 636 roll -0.46 0.12 0.158 2111 391.7 2.60 0.021 968 -581.5 -194.6 - - 3777 - - - - - - - - 26.17 26.25 -
687 110.5 -8.7 123 693 done -0.48 - - 2099 - 2.55 0.028 2446 579.6 -194.6 - - 3777 - - - - - - - - - 26.22 -
878 126.6 -8.5 160 885 roll -0.50 - - 2099 - 2.50 0.022 960 -594.4 -194.6 - - 3777 - - - - - - - - - 26.30 -
934 131.6 -9.0 170 942 done -0.53 - - 2093 - 2.83 0.030 2554 563.3 -194.6 - - 3777 - - - - - - - - - 26.24 -
1132 148.8 -8.7 207 1138 roll -0.55 - - 2085 - 1.83 0.038 3839 702.2 -194.6 - - 3777 - - - - - - - - - 26.21 -
1188 154.7 -9.8 217 1194 done -0.56 - - 2086 - 1.73 0.018 2499 -774.6 -194.6 - - 3777 - - - - - - - - - 26.51 -
1379 175.8 -11.2 254 1387 roll -0.55 - - 2086 - 2.62 0.022 964 -585.9 -194.6 - - 3777 - - - - - - - - - 26.30 -
1455 184.2 -10.8 268 1462 done -0.57 - - 2074 - 2.88 0.029 2592 565.3 -194.6 - - 3777 - - - - - - - - - 26.25 -
1647 206.0 -11.2 305 1654 roll -0.55 - - 2074 - 2.80 0.024 978 -576.4 -194.6 - - 3776 - - - - - - - - - 26.29 -
1703 211.9 -10.3 315 1710 done -0.56 - - 2061 - 2.78 0.028 2547 564.4 -194.6 - - 3777 - - - - - - - - - 26.27 -
2016 248.3 -11.1 376 2023 roll -0.54 - - 2061 - 2.75 0.023 966 -574.9 -194.6 - - 3776 - - - - - - - - - 26.31 -
2076 254.9 -10.2 387 2083 done -0.55 - - 2048 - 2.72 0.029 2514 569.1 -194.6 - - 3776 - - - - - - - - - 26.26 -
2388 293.9 -12.4 448 2396 roll -0.52 0.12 0.151 2091 358.3 2.67 0.022 969 -578.7 -194.6 - - 3775 - - - - - - - - 26.27 26.29 -
2461 301.0 -9.0 461 2467 done -0.55 - - 2085 - 2.62 0.029 2485 578.6 -194.6 - - 3775 - - - - - - - - - 26.25 -
2775 325.9 -7.4 522 2783 roll -0.58 - - 2083 - 1.98 0.041 3828 678.3 -194.6 - - 3773 - - - - - - - - - 26.18 -
2828 330.1 -8.1 531 2835 done -0.63 0.08 0.053 2024 -737.5 1.80 0.018 2488 -744.4 -194.6 - - 3773 - - - - - - - - 26.34 26.51 -
3145 368.8 -12.8 592 3152 roll -0.59 0.12 0.138 2069 375.0 2.60 0.022 967 -585.0 -194.6 - - 3770 - - - - - - - - 26.29 26.29 -
3243 378.4 -9.2 610 3251 done -0.61 - - 2056 - 2.80 0.030 2539 561.4 -194.6 - - 3770 - - - - - - - - - 26.26 -
3557 412.3 -11.2 671 3563 roll -0.59 - - 2056 - 2.72 0.024 970 -576.8 -194.6 - - 3769 - - - - - - - - - 26.28 -
3623 419.0 -9.6 683 3630 done -0.60 - - 2043 - 2.72 0.030 2511 566.5 -194.6 - - 3769 - - - - - - - - - 26.25 -
3937 451.1 -9.1 744 3944 roll -0.59 - - 2044 - 2.67 0.024 967 -578.3 -194.6 - - 3766 - - - - - - - - - 26.27 -
3989 455.4 -8.0 753 3995 done -0.59 - - 2032 - 2.70 0.031 2496 566.3 -194.6 - - 3766 - - - - - - - - - 26.22 -
4303 486.0 -10.6 814 4312 roll -0.57 0.12 0.149 2064 266.7 2.03 0.051 3837 660.6 -194.6 -0.05 - 3783 -340.0 - - - - - - - 26.25 26.15 24.53
4345 489.8 -7.4 821 4352 done -0.59 - - 2064 - 1.98 0.018 2425 -713.1 -194.6 - - 3782 - - - - - - - - - 26.48 -
4662 518.6 -9.5 863 4668 done -0.59 - - 2064 - - - 2424 - -194.6 - - 3782 - - - - - - - - - - -
4972 546.2 -8.2 894 4979 done -0.59 - - 2064 - - - 2424 - -194.6 - - 3780 - - - - - - - - - - -
5283 572.9 -8.9 925 5289 done -0.59 - - 2064 - - - 2424 - -194.6 - - 3778 - - - - - - - - - - -
5592 601.0 -9.1 956 5602 roll -0.59 - - 2064 - 2.42 0.025 989 -593.0 -194.6 - - 3775 - - - - - - - - - 26.25 -
5620 603.2 -9.1 958 5628 done -0.60 - - 2059 - 2.65 0.031 2490 566.4 -194.6 - - 3775 - - - - - - - - - 26.17 -
5927 627.8 -7.7 989 5936 roll -0.63 - - 2060 - 2.58 0.023 981 -584.9 -194.6 - - 3773 - - - - - - - - - 26.27 -
5964 630.5 -8.0 992 5971 done -0.65 - - 2051 - 2.35 0.031 2379 594.9 -194.6 - - 3772 - - - - - - - - - 26.20 -
6272 656.4 -8.1 1023 6281 roll -0.68 - - 2040 - 2.33 0.041 3841 627.5 -194.6 - - 3769 - - - - - - - - - 26.08 -
6299 658.4 -8.3 1025 6306 done -0.69 - - 2040 - 1.98 0.019 2435 -710.1 -194.6 - - 3769 - - - - - - - - - 26.44 -
6604 690.2 -10.8 1056 6613 roll -0.68 - - 2029 - 2.20 0.042 3830 634.1 -194.6 - - 3767 - - - - - - - - - 26.08 -
6688 699.2 -10.4 1064 6692 done -0.68 - - 2029 - 2.03 0.019 2423 -693.1 -194.6 - - 3766 - - - - - - - - - 26.39 -
7000 734.0 -10.5 1095 7009 roll -0.67 - - 2029 - 2.40 0.024 984 -599.6 -194.6 - - 3764 - - - - - - - - - 26.21 -
7063 740.6 -10.3 1101 7072 done -0.68 - - 2018 - 2.55 0.032 2463 580.0 -194.6 - - 3763 - - - - - - - - - 26.13 -
7372 777.9 -11.7 1132 7381 roll -0.65 - - 2022 - 2.47 0.025 987 -597.6 -194.6 - - 3762 - - - - - - - - - 26.19 -
7395 780.5 -11.6 1134 7406 done -0.64 0.08 0.106 2043 262.5 2.55 0.033 2463 578.8 -194.6 - - 3762 - - - - - - - - 25.90 26.10 -
7705 810.0 -8.9 1165 7713 roll -0.63 - - 2033 - 2.08 0.044 3830 657.2 -194.6 - - 3760 - - - - - - - - - 26.01 -
7759 815.0 -9.1 1170 7769 done -0.63 - - 2033 - 2.05 0.020 2414 -690.7 -194.6 - - 3759 - - - - - - - - - 26.35 -
8068 844.3 -9.5 1201 8070 done -0.62 - - 2033 - - - 2414 - -194.6 - - 3756 - - - - - - - - - - -
8373 873.6 -10.2 1231 8381 roll -0.61 - - 2022 - 2.22 0.043 3834 639.6 -194.6 - - 3755 - - - - - - - - - 25.98 -
8407 877.2 -10.0 1234 8416 done -0.61 0.10 0.130 2054 320.0 2.05 0.021 2417 -691.2 -194.6 - - 3754 - - - - - - - - 26.10 26.32 -
8717 903.5 -8.5 1265 8723 done -0.61 - - 2054 - - - 2417 - -194.6 - - 3753 - - - - - - - - - - -
9027 929.0 -8.0 1296 9035 roll -0.62 - - 2042 - 2.22 0.044 3828 635.6 -194.6 - - 3751 - - - - - - - - - 25.96 -
9061 931.7 -8.2 1299 9065 done -0.63 - - 2043 - 2.05 0.021 2422 -685.9 -194.6 - - 3751 - - - - - - - - - 26.33 -
9373 959.8 -9.1 1330 9383 roll -0.63 - - 2043 - 2.42 0.026 975 -597.9 -194.6 - - 3750 - - - - - - - - - 26.11 -
9417 963.6 -8.9 1334 9429 done -0.64 - - 2032 - 2.58 0.033 2470 579.5 -194.6 - - 3749 - - - - - - - - - 26.03 -
9676 end dive: TARGET_DEPTH_EXCEEDED
9676 begin apogee
9682 990.3 -11.0 1360 9878 roll -0.20 0.43 0.103 2179 341.9 - - 2469 - - 187.93 1.126 2968 -4.2 0.383 - - - - - - 25.69 - 23.39
9879 end apogee: CONTROL_FINISHED_OK
9879 begin climb
9882 1002.5 - 1380 10097 roll 0.63 0.73 0.046 2460 384.9 2.60 0.026 1017 -558.5 194.6 201.23 1.134 2171 -4.0 0.367 - - - - - - 25.17 25.22 23.37
10172 979.7 11.0 1409 10180 done 0.62 - - 2460 - 2.65 0.036 2485 554.0 194.6 - - 2152 - - - - - - - - - 25.64 -
10480 936.6 13.7 1440 10489 roll 0.57 - - 2460 - 2.05 0.042 3825 653.7 194.6 - - 2149 - - - - - - - - - 25.98 -
10634 910.6 17.4 1455 10638 done 0.52 0.17 0.172 2423 -217.6 1.98 0.022 2470 -684.3 194.6 - - 2147 - - - - - - - - 25.66 26.18 -
10946 871.1 12.7 1486 10956 roll 0.49 - - 2423 - 2.12 0.041 3838 645.3 194.6 - - 2145 - - - - - - - - - 26.06 -
10990 865.1 14.0 1490 11001 done 0.46 0.08 0.153 2406 -212.5 1.98 0.021 2476 -687.9 194.6 - - 2145 - - - - - - - - 25.89 26.25 -
11299 830.7 10.7 1521 11308 roll 0.45 - - 2407 - 2.08 0.041 3831 651.4 194.6 - - 2143 - - - - - - - - - 26.06 -
11352 824.3 12.4 1526 11356 done 0.42 - - 2417 - 1.95 0.020 2487 -689.2 194.6 - - 2143 - - - - - - - - - 26.29 -
11664 789.9 10.6 1557 11674 roll 0.41 0.12 0.173 2378 -325.0 2.00 0.037 3823 668.0 194.6 - - 2143 - - - - - - - - 26.03 26.06 -
11718 784.6 9.9 1562 11722 done 0.41 - - 2388 - 1.90 0.021 2504 -694.2 198.9 - - 2142 - - - - - - - - - 26.29 -
12031 757.9 8.3 1593 12110 roll 0.47 - - 2402 - 2.70 0.026 1013 -552.2 247.7 71.50 0.911 1961 -2.5 0.221 - - - - - - - 25.41 23.89
12149 747.5 9.2 1604 12185 done 0.52 - - 2402 - 2.78 0.029 2534 547.1 271.4 28.62 0.955 1866 -3.3 0.272 - - - - - - - 25.64 23.83
12495 712.7 9.9 1639 12504 roll 0.53 - - 2401 - 1.90 0.041 3834 684.2 275.7 - - 1845 - - - - - - - - - 25.90 -
12517 710.0 10.4 1641 12526 done 0.54 - - 2412 - 1.92 0.019 2494 -697.9 275.7 - - 1845 - - - - - - - - - 26.10 -
12828 677.8 9.8 1672 12837 roll 0.54 - - 2412 - 2.03 0.041 3826 656.2 280.3 - - 1844 - - - - - - - - - 25.98 -
12853 675.2 10.5 1674 12860 done 0.54 - - 2422 - 1.88 0.019 2500 -705.3 280.3 - - 1843 - - - - - - - - - 26.22 -
13160 643.0 9.4 1705 13190 done 0.56 - - 2423 - - - 2499 - 296.7 27.65 0.949 1768 -2.7 0.193 - - - - - - - - 24.18
13490 610.0 10.4 1738 13500 roll 0.57 - - 2422 - 2.08 0.042 3834 641.8 296.7 - - 1743 - - - - - - - - - 25.91 -
13512 607.5 10.8 1740 13516 done 0.57 - - 2433 - 1.92 0.021 2497 -696.4 296.7 - - 1742 - - - - - - - - - 26.13 -
13824 570.3 11.7 1771 13833 roll 0.57 - - 2446 - 2.55 0.030 1028 -576.1 296.7 - - 1740 - - - - - - - - - 26.04 -
13849 567.8 11.7 1773 13856 done 0.57 - - 2446 - 2.75 0.031 2544 551.3 296.7 - - 1740 - - - - - - - - - 26.06 -
14156 532.0 10.5 1804 14160 roll 0.57 - - 2446 - 1.90 0.042 3845 684.7 296.7 - - 1739 - - - - - - - - - 26.01 -
14189 528.0 11.7 1807 14193 done 0.56 - - 2456 - 1.92 0.020 2499 -701.0 296.7 - - 1739 - - - - - - - - - 26.25 -
14498 495.9 9.8 1841 14505 roll 0.56 - - 2470 - 2.60 0.031 1022 -568.1 301.9 - - 1739 - - - - - - - - - 26.06 -
14528 493.0 10.0 1846 14536 done 0.56 0.15 0.136 2426 -293.3 2.78 0.032 2545 547.8 302.6 - - 1738 - - - - - - - - 25.77 26.07 -
14847 467.0 8.1 1907 14919 roll 0.63 - - 2440 - 2.83 0.030 1030 -535.3 356.3 63.15 0.838 1511 -3.6 0.210 - - - - - - - 25.50 24.01
14967 457.4 8.9 1927 15010 done 0.71 0.10 0.090 2510 700.0 2.78 0.029 2536 541.7 388.2 33.28 0.841 1386 -3.8 0.214 - - - - - - 25.68 25.70 23.96
15316 404.2 15.2 1994 15324 roll 0.69 0.12 0.157 2469 -341.7 1.92 0.039 3835 676.6 388.2 - - 1366 - - - - - - - - 25.88 25.88 -
15332 401.9 14.9 1996 15338 done 0.68 - - 2479 - 1.90 0.019 2497 -704.2 388.2 - - 1366 - - - - - - - - - 26.09 -
15647 366.0 10.1 2057 15654 roll 0.69 - - 2492 - 2.62 0.031 1011 -567.2 388.2 - - 1365 - - - - - - - - - 26.00 -
15694 361.2 10.1 2065 15701 done 0.71 - - 2492 - 2.75 0.031 2530 552.4 388.2 - - 1363 - - - - - - - - - 26.03 -
16007 327.5 10.8 2126 16015 roll 0.71 - - 2506 - 2.70 0.029 1023 -558.1 388.2 - - 1363 - - - - - - - - - 26.05 -
16053 322.7 10.2 2134 16061 done 0.73 - - 2506 - 2.65 0.031 2504 558.9 388.2 - - 1363 - - - - - - - - - 26.06 -
16367 285.3 12.8 2195 16372 done 0.73 - - 2506 - - - 2502 - 388.2 - - 1363 - - - - - - - - - - -
16678 247.0 11.4 2256 16685 roll 0.73 - - 2520 - 2.62 0.030 1024 -564.1 388.2 - - 1362 - - - - - - - - - 26.08 -
16713 243.2 11.1 2262 16722 done 0.74 - - 2519 - 2.62 0.031 2494 561.1 388.2 - - 1363 - - - - - - - - - 26.10 -
17029 204.1 13.0 2323 17036 roll 0.74 - - 2519 - 2.00 0.039 3839 672.5 388.2 - - 1363 - - - - - - - - - 26.06 -
17056 200.5 14.6 2327 17063 done 0.74 0.15 0.143 2486 -220.0 2.00 0.020 2447 -696.0 388.2 - - 1363 - - - - - - - - 25.87 26.29 -
17375 167.3 8.8 2388 17418 roll 0.80 - - 2498 - 2.53 0.030 1031 -559.7 423.3 32.35 0.643 1236 -3.9 0.107 - - - - - - - 25.93 24.39
17462 158.6 10.2 2403 17469 done 0.83 - - 2498 - 2.58 0.028 2478 560.9 423.3 - - 1229 - - - - - - - - - 25.96 -
17654 139.5 9.3 2440 17679 roll 0.87 - - 2511 - 2.60 0.028 1024 -559.2 442.2 17.08 0.636 1163 -3.9 0.089 - - - - - - - 25.96 24.46
17712 133.4 9.6 2450 17732 done 0.91 - - 2511 - 2.47 0.028 2440 573.3 455.0 10.77 0.618 1117 -4.3 0.097 - - - - - - - 25.96 24.40
17918 113.3 8.8 2489 17958 roll 0.98 0.12 0.079 2591 666.7 2.22 0.038 3841 631.1 489.0 32.88 0.623 975 -4.3 0.082 - - - - - - 26.27 25.77 24.46
17972 106.1 15.1 2497 17980 done 0.96 0.15 0.145 2561 -200.0 2.20 0.022 2392 -658.6 489.0 - - 965 - - - - - - - - 25.56 25.87 -
18164 82.3 12.0 2534 18171 roll 0.96 - - 2572 - 2.35 0.031 1012 -587.2 489.0 - - 961 - - - - - - - - - 25.97 -
18190 79.3 12.1 2538 18198 done 0.97 - - 2572 - 2.50 0.028 2447 574.0 489.0 - - 960 - - - - - - - - - 26.01 -
18383 57.6 9.4 2575 18397 roll 1.00 - - 2572 - 2.20 0.037 3840 633.2 505.0 7.45 0.196 921 -5.2 0.161 - - - - - - - 25.97 24.71
18417 53.8 11.2 2580 18424 done 1.02 - - 2583 - 2.15 0.018 2382 -678.1 505.0 2.25 0.171 919 - - - - - - - - - 26.22 25.07
18610 34.5 9.2 2617 18641 roll 1.06 - - 2595 - 2.38 0.030 1013 -575.2 529.6 22.33 0.187 825 -4.2 0.081 - - - - - - - 26.03 25.08
18660 29.9 8.8 2625 18698 done 1.13 - - 2595 - 2.45 0.026 2435 580.4 565.3 27.92 0.179 678 -5.3 0.092 - - - - - - - 26.10 25.21
18886 7.9 10.5 2667 18895 roll 1.23 0.12 0.082 2653 483.3 2.53 0.027 1018 -560.1 565.3 1.65 0.145 672 -3.6 0.021 - - - - - - 26.35 26.08 25.37
18936 end climb: SURFACE_DEPTH_REACHED
18936 begin surface coast
18968 end surface coast: CONTROL_FINISHED_OK
18968 begin surface
SM 0.64 - - - - -6.55 6.28 0.022 125 -402.5 2.58 0.025 2471 563.2 563.94 - - 681 - - - - - - - -