OKMC Apr12 * SG169 * Dive index * Mission links * Dive 446 * Raw log
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• Previous call tries 1 • 95.85 of 147.52 AH used of 24V (35.03% remains)
• Previous NAKs 0, Timeouts 0 • 62.42 of 108.53 AH used of 10V (42.49% remains)
• Surface angle -75.4 deg, depth 0.94 m • Intended pitch -13.7 deg, speed -11.000 cm/s
VBD pumped to 632.38 (beyond SM_CC=450)
• GPS1 time: 29 s
• GPS2 time: 16 s, HDOP was 3.1 m • 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 - - - 111 VBD -0.70 - - 118 - - - 2378 - -292.0 -92.03 - 3079 - - - - - - - - - - -
115 4.1 -10.2 16 149 roll -0.70 7.97 0.228 2003 236.5 2.42 0.047 3833 601.2 -292.0 -15.95 - 3963 -55.4 - - - - - - - 24.68 26.01 26.58
270 56.3 -23.1 43 277 done -0.64 - - 2014 - 2.08 0.018 2417 -680.8 -292.0 - - 3963 - - - - - - - - - 26.29 -
409 95.8 -28.9 68 417 roll -0.54 0.17 0.165 2079 382.4 2.42 0.021 956 -603.7 -292.0 - - 3963 - - - - - - - - 25.87 26.22 -
436 103.1 -25.4 72 444 done -0.47 0.10 0.143 2096 170.0 2.65 0.029 2481 575.5 -292.0 - - 3963 - - - - - - - - 25.98 26.13 -
573 123.2 -13.6 97 580 roll -0.44 - - 2086 - 2.05 0.038 3847 666.3 -292.0 - - 3964 - - - - - - - - - 26.12 -
604 127.7 -14.5 102 613 done -0.42 - - 2089 - 2.03 0.018 2431 -697.5 -292.0 - - 3964 - - - - - - - - - 26.39 -
743 148.3 -14.3 127 751 roll -0.40 0.12 0.140 2137 400.0 2.45 0.021 973 -595.1 -292.0 - - 3964 - - - - - - - - 26.23 26.25 -
791 154.2 -10.4 135 797 done -0.43 - - 2130 - 2.60 0.027 2484 581.2 -292.0 - - 3964 - - - - - - - - - 26.22 -
928 166.8 -9.2 160 935 roll -0.49 0.12 0.080 2069 -508.3 2.05 0.036 3847 664.9 -292.0 - - 3964 - - - - - - - - 26.46 26.15 -
1001 174.1 -10.0 173 1010 done -0.52 - - 2069 - 1.90 0.017 2466 -726.8 -292.0 - - 3964 - - - - - - - - - 26.48 -
1139 189.0 -9.3 198 1145 done -0.49 - - 2069 - - - 2466 - -292.0 - - 3964 - - - - - - - - - - -
1271 206.0 -12.5 223 1278 roll -0.47 - - 2069 - 2.55 0.021 961 -590.2 -292.0 - - 3964 - - - - - - - - - 26.29 -
1297 209.1 -12.0 227 1305 done -0.46 0.15 0.115 2107 253.3 2.88 0.029 2555 553.5 -292.0 - - 3964 - - - - - - - - 26.03 26.22 -
1432 222.3 -9.9 252 1439 roll -0.51 - - 2107 - 2.80 0.022 955 -571.4 -292.0 - - 3964 - - - - - - - - - 26.29 -
1671 247.6 -8.5 298 1679 done -0.62 0.17 0.056 1993 -670.6 2.58 0.025 2469 586.8 -292.0 - - 3964 - - - - - - - - 26.29 26.27 -
1810 268.5 -16.8 323 1817 roll -0.56 0.20 0.135 2067 370.0 2.55 0.021 973 -586.7 -292.0 - - 3964 - - - - - - - - 26.03 26.28 -
1862 275.3 -9.8 332 1871 done -0.57 - - 2055 - 2.53 0.028 2448 583.0 -292.0 - - 3964 - - - - - - - - - 26.25 -
2003 290.1 -10.9 357 2009 roll -0.56 - - 2044 - 2.17 0.036 3846 644.2 -292.0 - - 3963 - - - - - - - - - 26.17 -
2034 294.5 -11.7 362 2041 done -0.55 - - 2045 - 2.17 0.017 2372 -679.3 -292.0 - - 3963 - - - - - - - - - 26.43 -
2172 310.9 -12.2 387 2179 roll -0.53 0.12 0.131 2091 383.3 2.30 0.021 967 -610.9 -292.0 - - 3962 - - - - - - - - 26.29 26.28 -
2188 312.9 -11.1 389 2195 done -0.51 - - 2084 - 2.55 0.028 2453 582.7 -292.0 - - 3962 - - - - - - - - - 26.23 -
2325 325.4 -8.8 414 2332 roll -0.55 - - 2076 - 2.15 0.039 3840 645.1 -292.0 - - 3962 - - - - - - - - - 26.15 -
2422 334.4 -8.1 432 2429 done -0.61 - - 2076 - 1.85 0.018 2480 -735.1 -292.0 - - 3960 - - - - - - - - - 26.46 -
2558 345.1 -8.4 457 2566 done -0.64 - - 2076 - - - 2480 - -292.0 - - 3960 - - - - - - - - - - -
2696 355.5 -7.4 482 2703 roll -0.68 0.12 0.076 1999 -641.7 2.10 0.037 3831 643.3 -292.0 - - 3959 - - - - - - - - 26.52 26.15 -
2788 366.3 -13.0 499 2798 done -0.65 0.15 0.129 2044 300.0 1.73 0.018 2521 -757.2 -292.0 -0.05 - 3970 -220.0 - - - - - - - 26.06 26.44 25.43
2927 381.9 -11.3 524 2934 roll -0.63 - - 2044 - 2.70 0.023 970 -574.4 -292.0 - - 3970 - - - - - - - - - 26.25 -
2999 389.4 -9.7 537 3006 done -0.62 - - 2031 - 2.92 0.029 2609 561.3 -292.0 - - 3970 - - - - - - - - - 26.20 -
3134 404.5 -10.8 562 3141 roll -0.59 - - 2031 - 2.90 0.025 974 -563.8 -292.0 - - 3969 - - - - - - - - - 26.22 -
3165 408.1 -11.0 567 3175 done -0.58 0.12 0.130 2070 325.0 2.83 0.031 2543 554.4 -292.0 - - 3969 - - - - - - - - 26.01 26.18 -
3306 419.7 -8.2 592 3313 roll -0.63 - - 2070 - 2.75 0.023 972 -571.3 -292.0 - - 3968 - - - - - - - - - 26.27 -
3540 439.8 -7.3 637 3547 done -0.72 0.15 0.070 1991 -526.7 2.55 0.027 2458 582.7 -292.0 - - 3966 - - - - - - - - 26.20 26.22 -
3677 456.4 -13.9 662 3685 roll -0.67 0.12 0.144 2022 258.3 2.15 0.039 3828 637.2 -292.0 - - 3964 - - - - - - - - 26.23 26.10 -
3743 464.4 -11.4 673 3749 done -0.66 - - 2023 - 2.10 0.019 2416 -672.4 -292.0 - - 3963 - - - - - - - - - 26.38 -
3878 480.4 -11.5 698 3885 roll -0.64 - - 2023 - 2.40 0.024 961 -606.2 -292.0 - - 3963 - - - - - - - - - 26.25 -
3912 483.9 -10.0 703 3919 done -0.64 - - 2015 - 2.67 0.031 2488 571.9 -292.0 - - 3962 - - - - - - - - - 26.17 -
4048 499.8 -12.5 728 4057 roll -0.61 0.12 0.143 2049 283.3 2.05 0.037 3834 656.6 -292.0 - - 3961 - - - - - - - - 26.25 26.11 -
4070 501.8 -10.7 730 4077 done -0.58 - - 2049 - 2.12 0.018 2399 -676.9 -292.0 - - 3961 - - - - - - - - - 26.39 -
4379 528.8 -8.7 761 4387 roll -0.58 - - 2038 - 2.33 0.041 3822 610.7 -292.0 - - 3957 - - - - - - - - - 26.08 -
4414 531.9 -8.7 764 4423 done -0.58 - - 2038 - 2.05 0.020 2424 -682.0 -292.0 - - 3957 - - - - - - - - - 26.38 -
4722 562.8 -10.5 795 4730 roll -0.57 - - 2038 - 2.42 0.026 973 -599.6 -292.0 - - 3954 - - - - - - - - - 26.21 -
4747 565.1 -10.6 797 4756 done -0.56 0.10 0.091 2074 360.0 2.55 0.030 2466 585.5 -292.0 - - 3954 - - - - - - - - 25.95 26.15 -
5055 592.3 -9.8 828 5056 done -0.64 - - 2074 - - - 2465 - -292.0 - - 3951 - - - - - - - - - - -
5358 617.7 -7.7 858 5367 roll -0.72 0.15 0.093 2004 -466.7 2.10 0.037 3825 647.6 -292.0 - - 3949 - - - - - - - - 26.36 26.08 -
5383 620.0 -8.0 860 5391 done -0.79 - - 2005 - 2.17 0.018 2365 -672.8 -292.0 - - 3948 - - - - - - - - - 26.39 -
5692 649.4 -9.8 891 5701 roll -0.78 - - 2005 - 2.28 0.026 984 -605.7 -292.0 - - 3946 - - - - - - - - - 26.18 -
5735 654.0 -10.6 895 5743 done -0.77 - - 1993 - 2.60 0.031 2485 577.3 -292.0 - - 3946 - - - - - - - - - 26.11 -
6046 694.5 -13.2 926 6054 roll -0.73 - - 1982 - 2.05 0.042 3831 656.6 -292.0 - - 3944 - - - - - - - - - 26.02 -
6101 701.5 -13.3 931 6109 done -0.71 0.12 0.132 2022 333.3 2.05 0.019 2442 -677.6 -292.0 - - 3943 - - - - - - - - 26.01 26.34 -
6410 734.6 -10.3 962 6419 roll -0.69 - - 2022 - 2.45 0.025 977 -598.0 -292.0 - - 3941 - - - - - - - - - 26.15 -
6446 737.8 -9.6 965 6455 done -0.68 - - 2017 - 2.65 0.032 2487 569.8 -292.0 - - 3941 - - - - - - - - - 26.06 -
6754 770.3 -10.6 996 6755 done -0.66 - - 2017 - - - 2486 - -292.0 - - 3938 - - - - - - - - - - -
7058 803.8 -11.5 1026 7064 done -0.64 - - 2016 - - - 2485 - -292.0 - - 3935 - - - - - - - - - - -
7366 841.7 -12.6 1057 7375 done -0.62 0.12 0.143 2061 375.0 - - 2485 - -292.0 - - 3933 - - - - - - - - 26.20 - -
7675 869.6 -7.9 1088 7681 done -0.63 - - 2061 - - - 2485 - -292.0 - - 3931 - - - - - - - - - - -
7987 893.1 -7.2 1119 7995 roll -0.66 - - 2056 - 2.12 0.046 3819 629.2 -292.0 - - 3929 - - - - - - - - - 25.88 -
8029 896.5 -7.5 1123 8038 done -0.72 0.08 0.057 2011 -562.5 2.05 0.020 2421 -682.0 -292.0 - - 3929 - - - - - - - - 26.17 26.36 -
8339 924.1 -9.2 1154 8348 roll -0.72 - - 2000 - 2.35 0.044 3833 600.9 -292.0 - - 3927 - - - - - - - - - 25.86 -
8393 929.5 -10.9 1159 8397 done -0.70 - - 2000 - 1.77 0.020 2550 -724.9 -292.0 - - 3926 - - - - - - - - - 26.33 -
8705 968.9 -12.6 1190 8714 roll -0.68 0.10 0.148 2030 300.0 2.80 0.026 980 -560.7 -292.0 - - 3924 - - - - - - - - 26.31 26.01 -
8782 976.1 -9.2 1197 8790 done -0.69 - - 2029 - 2.95 0.034 2599 548.8 -292.0 - - 3924 - - - - - - - - - 25.94 -
8926 end dive: TARGET_DEPTH_EXCEEDED
8926 begin apogee
8932 990.5 -9.7 1212 9169 roll -0.20 0.43 0.093 2180 351.2 0.15 0.070 2499 -666.7 - 229.12 1.114 2972 -4.2 0.387 - - - - - - 25.75 24.96 23.41
9170 end apogee: CONTROL_FINISHED_OK
9170 begin climb
9172 1003.7 - 1236 9479 roll 0.70 0.80 0.056 2482 377.5 2.20 0.044 3836 607.7 292.0 297.20 1.125 1786 -4.0 0.373 - - - - - - 25.22 25.24 23.53
9595 935.9 17.4 1278 9599 done 0.66 - - 2492 - 2.10 0.023 2462 -654.3 292.0 - - 1751 - - - - - - - - - 25.89 -
9908 882.0 17.2 1309 9910 done 0.62 0.15 0.173 2453 -260.0 - - 2461 - 292.0 - - 1746 - - - - - - - - 25.84 - -
10209 843.5 12.5 1339 10218 roll 0.59 - - 2453 - 2.17 0.041 3835 633.2 292.0 - - 1744 - - - - - - - - - 26.03 -
10262 835.8 14.8 1344 10272 done 0.57 0.12 0.150 2428 -208.3 2.05 0.021 2470 -665.9 292.0 - - 1744 - - - - - - - - 25.89 26.21 -
10572 803.6 10.0 1375 10622 roll 0.60 - - 2441 - 2.60 0.028 1008 -562.3 330.2 37.60 0.971 1628 -3.1 0.268 - - - - 1 - - 25.65 23.72
10639 796.7 10.7 1381 10676 done 0.61 - - 2441 - 2.70 0.030 2508 555.6 343.4 25.48 0.809 1574 -2.1 0.219 - - - - 1 - - 25.75 24.15
10976 758.9 11.5 1415 10985 roll 0.61 - - 2440 - 2.08 0.044 3829 635.1 343.4 - - 1574 - - - - - - - - - 25.90 -
11009 754.9 12.6 1418 11018 done 0.61 - - 2452 - 2.03 0.021 2483 -663.1 343.4 - - 1573 - - - - - - - - - 26.13 -
11318 718.2 11.1 1449 11320 done 0.60 - - 2452 - - - 2482 - 343.4 - - 1573 - - - - - - - - - - -
11620 686.2 10.5 1479 11659 roll 0.61 - - 2452 - 2.28 0.044 3834 593.0 362.3 27.85 0.819 1499 -2.7 0.233 - - - - 1 - - 25.79 23.80
11716 675.5 11.4 1488 11724 done 0.62 - - 2462 - 2.00 0.021 2495 -669.5 362.3 - - 1504 - - - - - - - - - 25.99 -
12023 644.4 9.9 1519 12082 roll 0.69 - - 2463 - 2.17 0.041 3820 610.6 403.8 46.60 0.973 1336 -3.6 0.250 - - - - 1 - - 25.46 23.61
12149 630.9 11.8 1531 12158 done 0.70 - - 2474 - 2.33 0.021 2370 -622.3 403.8 3.05 0.571 1329 -2.3 0.266 - - - - - - - 25.84 23.72
12457 599.0 9.7 1562 12538 done 0.80 - - 2475 - - - 2369 - 456.2 72.57 0.863 1118 -2.9 0.212 - - - - 1 - - - 23.46
12839 559.5 8.4 1600 12979 roll 1.00 0.22 0.057 2595 545.5 2.40 0.028 1009 -566.7 558.1 128.80 0.818 690 -3.3 0.238 - - - - - - 26.13 25.27 23.84
13027 522.4 19.6 1618 13037 done 0.98 - - 2596 - 2.28 0.028 2337 582.5 558.1 - - 671 - - - - - - - - - 25.65 -
13343 449.9 22.2 1670 13352 roll 0.94 0.12 0.180 2569 -225.0 2.25 0.028 1005 -592.0 558.1 - - 668 - - - - - - - - 25.84 25.96 -
13387 442.4 13.9 1677 13393 done 0.95 - - 2569 - 2.38 0.029 2394 583.6 558.1 - - 667 - - - - - - - - - 26.00 -
13523 421.2 15.6 1702 13532 roll 0.93 - - 2569 - 2.35 0.040 3834 612.8 558.1 - - 667 - - - - - - - - - 25.94 -
13583 410.2 18.4 1712 13590 done 0.92 0.12 0.141 2544 -208.3 2.33 0.021 2359 -633.0 558.1 - - 665 - - - - - - - - 25.85 26.13 -
13719 391.9 12.7 1737 13726 roll 0.92 - - 2556 - 2.25 0.032 1023 -593.8 558.1 - - 665 - - - - - - - - - 26.01 -
13746 388.4 13.3 1741 13753 done 0.93 - - 2555 - 2.40 0.027 2425 584.2 558.1 - - 664 - - - - - - - - - 26.06 -
13881 369.6 13.4 1766 13890 roll 0.93 - - 2555 - 2.28 0.040 3832 617.1 558.1 - - 664 - - - - - - - - - 25.96 -
13926 363.1 14.4 1773 13933 done 0.94 - - 2567 - 2.22 0.020 2391 -649.1 558.1 - - 664 - - - - - - - - - 26.18 -
14062 343.9 13.3 1798 14071 roll 0.94 - - 2578 - 2.35 0.032 1008 -588.5 558.1 - - 664 - - - - - - - - - 26.03 -
14084 340.5 14.3 1801 14090 done 0.94 - - 2578 - 2.47 0.029 2440 579.8 558.1 - - 664 - - - - - - - - - 26.06 -
14220 320.4 14.4 1826 14229 roll 0.93 - - 2578 - 2.20 0.040 3828 630.9 558.1 - - 664 - - - - - - - - - 25.97 -
14274 311.9 15.1 1835 14282 done 0.93 0.15 0.144 2546 -213.3 2.12 0.023 2435 -657.1 558.1 - - 664 - - - - - - - - 25.79 26.17 -
14414 295.2 10.7 1860 14427 roll 0.95 - - 2559 - 2.47 0.032 1020 -572.9 570.8 5.38 0.651 651 -2.4 0.115 - - - - - - - 25.98 24.34
14468 288.7 11.1 1869 14474 done 0.97 - - 2559 - 2.47 0.026 2449 578.5 570.8 - - 649 - - - - - - - - - 26.08 -
14604 272.6 11.1 1894 14611 roll 0.98 - - 2558 - 2.20 0.041 3835 630.0 570.8 - - 648 - - - - - - - - - 25.95 -
14629 269.0 12.7 1898 14637 done 0.99 - - 2570 - 2.15 0.021 2416 -660.0 570.8 - - 649 - - - - - - - - - 26.21 -
14769 251.1 13.2 1923 14776 roll 0.99 - - 2581 - 2.38 0.031 1015 -588.7 570.8 - - 648 - - - - - - - - - 26.03 -
14794 247.5 12.9 1927 14801 done 1.00 - - 2581 - 2.53 0.028 2458 570.4 570.8 - - 648 - - - - - - - - - 26.07 -
14931 229.7 12.1 1952 14940 roll 1.00 - - 2581 - 2.15 0.040 3833 639.5 570.8 - - 647 - - - - - - - - - 25.97 -
14954 226.4 13.0 1955 14961 done 1.00 - - 2593 - 2.15 0.020 2418 -658.1 570.8 - - 647 - - - - - - - - - 26.23 -
15089 209.2 13.1 1980 15098 roll 1.00 - - 2605 - 2.40 0.030 1007 -587.9 570.8 - - 647 - - - - - - - - - 26.06 -
15117 205.8 11.9 1984 15127 done 1.00 0.12 0.127 2568 -308.3 2.58 0.028 2477 569.8 570.8 - - 647 - - - - - - - - 25.87 26.08 -
15255 190.8 10.9 2009 15262 done 1.02 - - 2568 - - - 2475 - 576.6 4.25 0.549 626 -4.9 0.180 - - - - - - - - 24.48
15393 176.6 10.2 2034 15447 roll 1.13 0.12 0.083 2622 450.0 2.65 0.030 1004 -555.1 609.7 40.25 0.667 498 -3.2 0.088 - - - - 1 - 26.37 25.79 23.94
15517 159.9 14.6 2056 15525 done 1.22 - - 2622 - 2.55 0.027 2460 571.0 609.7 2.28 0.282 491 -3.1 0.182 - - - - - - - 25.89 23.92
15652 143.4 13.5 2081 15660 roll 1.30 0.12 0.120 2662 333.3 2.22 0.039 3830 617.1 609.7 1.75 0.144 490 - - - - - - - - 26.09 25.86 25.27
15893 116.8 10.6 2127 15930 done 1.41 - - 2672 - 1.95 0.019 2472 -696.4 623.9 28.52 0.605 427 -2.2 0.045 - - - - - - - 26.25 24.46
16059 97.1 12.1 2156 16067 roll 1.42 0.10 0.092 2734 620.0 2.12 0.037 3830 640.6 623.9 - - 405 - - - - - - - - 26.27 25.90 -
16121 85.2 20.2 2167 16131 done 1.39 0.17 0.168 2700 -200.0 2.35 0.021 2331 -637.9 623.9 - - 404 - - - - - - - - 25.55 26.08 -
16263 63.9 14.0 2192 16270 roll 1.37 - - 2711 - 2.22 0.030 1003 -598.2 623.9 - - 403 - - - - - - - - - 26.05 -
16291 59.4 14.4 2196 16298 done 1.36 - - 2712 - 2.38 0.025 2409 590.8 623.9 - - 403 - - - - - - - - - 26.10 -
16428 38.4 15.0 2221 16434 roll 1.34 - - 2712 - 2.25 0.035 3830 631.6 623.9 - - 402 - - - - - - - - - 26.05 -
16475 30.4 16.7 2229 16482 done 1.32 0.17 0.145 2671 -241.2 2.25 0.020 2361 -652.9 623.9 - - 401 - - - - - - - - 25.77 26.22 -
16609 12.8 11.9 2254 16616 roll 1.32 - - 2684 - 2.28 0.029 1009 -593.0 623.9 - - 401 - - - - - - - - - 26.12 -
16635 9.7 12.1 2258 16642 done 1.32 - - 2684 - 2.42 0.026 2429 586.8 623.9 - - 401 - - - - - - - - - 26.16 -
16689 end climb: SURFACE_DEPTH_REACHED
16689 begin surface coast
16712 end surface coast: CONTROL_FINISHED_OK
16712 begin surface
SM 0.81 - - - - -6.53 6.43 0.029 130 -397.2 0.08 0.106 2477 600.0 632.38 - - 400 - - - - - - - -