OKMC Apr12 * SG169 * Dive index * Mission links * Dive 246 * Raw log
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• Previous call tries 1 • 49.85 of 147.52 AH used of 24V (66.21% remains)
• Previous NAKs 0, Timeouts 0 • 30.50 of 108.53 AH used of 10V (71.89% remains)
• Surface angle -66.6 deg, depth 0.76 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 582.34, SM_CC=450)
• GPS1 time: 32 s
• GPS2 time: 37 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 - - - 113 VBD -0.58 - - 116 - - - 2485 - -194.6 -93.80 - 2975 - - - - - - - - - - -
117 3.2 -7.2 16 149 roll -0.58 7.97 0.226 2089 247.6 2.53 0.037 979 -595.3 -194.6 -15.00 - 3776 -53.4 - - - - - - - 25.13 26.11 26.53
219 39.5 -22.2 34 226 done -0.55 - - 2076 - 2.53 0.032 2474 590.9 -194.6 - - 3776 - - - - - - - - - 26.12 -
414 102.9 -33.3 71 421 roll -0.44 0.15 0.177 2109 220.0 2.03 0.035 3837 671.4 -194.6 - - 3776 - - - - - - - - 25.93 26.18 -
434 109.5 -31.8 74 442 done -0.34 0.15 0.163 2158 326.7 2.10 0.018 2377 -695.2 -194.6 - - 3776 - - - - - - - - 25.88 26.35 -
628 140.6 -15.7 111 634 done -0.31 - - 2158 - - - 2376 - -194.6 - - 3776 - - - - - - - - - - -
819 163.9 -9.2 148 826 roll -0.30 - - 2157 - 2.22 0.024 972 -632.4 -194.6 - - 3776 - - - - - - - - - 26.34 -
843 166.2 -9.7 152 850 done -0.31 - - 2155 - 2.45 0.030 2452 604.1 -194.6 - - 3776 - - - - - - - - - 26.30 -
1036 185.3 -10.2 189 1042 done -0.31 - - 2155 - - - 2451 - -194.6 - - 3776 - - - - - - - - - - -
1232 201.7 -6.9 225 1240 roll -0.32 - - 2145 - 2.08 0.040 3830 663.0 -194.6 - - 3776 - - - - - - - - - 26.29 -
1255 203.4 -7.3 227 1264 done -0.33 - - 2146 - 2.08 0.018 2381 -696.6 -194.6 - - 3776 - - - - - - - - - 26.49 -
1564 228.6 -8.5 258 1567 roll -0.34 - - 2145 - 2.22 0.024 992 -625.7 -194.6 - - 3776 - - - - - - - - - 26.39 -
1588 230.6 -8.6 260 1595 done -0.35 - - 2144 - 2.42 0.030 2446 600.8 -194.6 - - 3775 - - - - - - - - - 26.36 -
1897 255.6 -7.6 291 1906 roll -0.36 - - 2134 - 2.10 0.041 3828 658.1 -194.6 - - 3774 - - - - - - - - - 26.29 -
1941 258.8 -7.4 295 1948 done -0.37 - - 2134 - 2.08 0.018 2385 -693.8 -194.6 - - 3773 - - - - - - - - - 26.51 -
2249 286.3 -9.7 326 2259 roll -0.37 - - 2125 - 2.28 0.038 3833 635.1 -194.6 - - 3772 - - - - - - - - - 26.32 -
2274 288.4 -9.5 328 2281 done -0.37 - - 2125 - 2.08 0.018 2386 -695.7 -194.6 - - 3772 - - - - - - - - - 26.53 -
2582 320.2 -10.3 359 2583 done -0.37 - - 2125 - - - 2384 - -194.6 - - 3771 - - - - - - - - - - -
2883 344.3 -7.2 389 2892 roll -0.37 - - 2115 - 2.30 0.039 3838 632.2 -194.6 - - 3769 - - - - - - - - - 26.31 -
2907 346.1 -7.3 391 2917 done -0.38 0.08 0.078 2151 450.0 2.08 0.018 2383 -699.5 -194.6 - - 3768 - - - - - - - - 26.33 26.53 -
3216 366.0 -6.8 422 3225 roll -0.41 - - 2149 - 2.28 0.040 3822 631.1 -194.6 - - 3766 - - - - - - - - - 26.30 -
3240 367.5 -6.7 424 3248 done -0.44 - - 2149 - 2.03 0.018 2390 -705.4 -194.6 - - 3766 - - - - - - - - - 26.55 -
3550 392.3 -8.7 455 3559 roll -0.52 0.12 0.107 2104 -375.0 2.25 0.022 970 -631.1 -194.6 - - 3764 - - - - - - - - 26.49 26.41 -
3645 400.1 -8.6 464 3654 done -0.58 - - 2103 - 2.47 0.028 2476 609.7 -194.6 - - 3763 - - - - - - - - - 26.39 -
3953 421.6 -7.4 495 3962 roll -0.62 - - 2101 - 2.03 0.054 3822 663.1 -194.6 -0.12 - 3792 -241.7 - - - - - - - - 26.27 26.17
4006 425.8 -8.3 500 4017 done -0.65 0.10 0.089 2008 -930.0 1.80 0.019 2515 -726.1 -194.6 - - 3792 - - - - - - - - 26.43 26.55 -
4316 485.4 -19.5 531 4325 roll -0.58 0.22 0.140 2093 386.4 2.50 0.024 997 -607.2 -194.6 - - 3790 - - - - - - - - 26.03 26.37 -
4452 498.2 -7.4 544 4462 done -0.59 - - 2089 - 2.62 0.032 2539 588.5 -194.6 - - 3790 - - - - - - - - - 26.32 -
4760 526.6 -9.9 575 4769 roll -0.58 - - 2089 - 2.58 0.024 995 -598.4 -194.6 - - 3788 - - - - - - - - - 26.37 -
4795 529.7 -9.8 578 4802 done -0.58 - - 2085 - 2.62 0.033 2533 587.0 -194.6 - - 3788 - - - - - - - - - 26.30 -
5103 562.0 -9.8 609 5112 roll -0.58 - - 2086 - 2.58 0.027 986 -599.6 -194.6 - - 3785 - - - - - - - - - 26.34 -
5138 565.1 -9.6 612 5146 done -0.58 - - 2085 - 2.60 0.034 2514 587.7 -194.6 - - 3785 - - - - - - - - - 26.28 -
5445 592.0 -8.8 643 5449 roll -0.57 - - 2076 - 1.98 0.044 3837 668.2 -194.6 - - 3782 - - - - - - - - - 26.23 -
5487 595.7 -8.9 647 5495 done -0.57 - - 2076 - 1.95 0.019 2448 -712.3 -194.6 - - 3782 - - - - - - - - - 26.51 -
5799 626.6 -9.9 665 5804 roll -0.56 - - 2076 - 2.38 0.024 978 -617.6 -194.6 - - 3780 - - - - - - - - - 26.35 -
5825 628.5 -9.7 666 5830 done -0.55 - - 2068 - 2.60 0.033 2516 591.5 -194.6 - - 3780 - - - - - - - - - 26.28 -
6133 660.3 -10.6 681 6139 roll -0.53 0.12 0.137 2112 366.7 2.50 0.024 993 -609.2 -194.6 - - 3777 - - - - - - - - 26.31 26.33 -
6175 663.6 -9.5 683 6180 done -0.53 - - 2112 - 2.58 0.032 2512 588.8 -194.6 - - 3777 - - - - - - - - - 26.27 -
6489 683.4 -6.9 699 6494 roll -0.55 - - 2112 - 2.53 0.026 987 -602.8 -194.6 - - 3774 - - - - - - - - - 26.32 -
6512 684.9 -7.0 700 6518 done -0.57 - - 2112 - 2.58 0.033 2504 588.0 -194.6 - - 3774 - - - - - - - - - 26.25 -
6831 709.6 -8.1 716 6836 roll -0.63 0.12 0.081 2046 -550.0 2.50 0.024 982 -608.8 -194.6 - - 3772 - - - - - - - - 26.53 26.31 -
6911 717.7 -9.8 720 6917 done -0.64 0.08 0.104 2069 287.5 2.70 0.037 2546 579.3 -194.6 - - 3771 - - - - - - - - 26.03 26.21 -
7232 750.0 -9.2 736 7237 roll -0.63 - - 2069 - 2.62 0.028 990 -593.9 -194.6 - - 3769 - - - - - - - - - 26.27 -
7280 753.3 -8.5 738 7289 done -0.62 - - 2058 - 2.65 0.036 2528 580.4 -194.6 - - 3769 - - - - - - - - - 26.19 -
7591 782.9 -9.8 754 7596 roll -0.61 - - 2059 - 2.58 0.024 989 -596.5 -194.6 - - 3766 - - - - - - - - - 26.29 -
7638 786.5 -9.5 756 7644 done -0.60 0.12 0.125 2091 266.7 2.58 0.035 2507 588.4 -194.6 - - 3766 - - - - - - - - 26.04 26.20 -
7949 811.1 -8.0 771 7950 done -0.60 - - 2091 - - - 2505 - -194.6 - - 3764 - - - - - - - - - - -
8248 836.7 -8.7 786 8253 roll -0.61 - - 2092 - 2.53 0.027 988 -599.6 -194.6 - - 3762 - - - - - - - - - 26.25 -
8275 838.4 -8.7 787 8285 done -0.62 - - 2091 - 2.58 0.035 2505 588.0 -194.6 - - 3762 - - - - - - - - - 26.16 -
8587 863.8 -7.4 803 8588 done -0.63 - - 2091 - - - 2503 - -194.6 - - 3760 - - - - - - - - - - -
8887 887.3 -8.2 818 8893 roll -0.64 - - 2092 - 2.53 0.028 999 -594.5 -194.6 - - 3759 - - - - - - - - - 26.22 -
8928 890.8 -8.4 820 8933 done -0.66 - - 2089 - 2.58 0.038 2495 579.8 -194.6 - - 3759 - - - - - - - - - 26.11 -
9247 918.2 -8.4 836 9252 roll -0.67 - - 2081 - 2.05 0.049 3826 649.3 -194.6 - - 3758 - - - - - - - - - 26.03 -
9271 919.8 -8.4 837 9276 done -0.68 - - 2081 - 2.05 0.021 2424 -683.9 -194.6 - - 3757 - - - - - - - - - 26.40 -
9587 948.3 -9.0 853 9592 roll -0.69 - - 2081 - 2.33 0.028 998 -612.0 -194.6 - - 3756 - - - - - - - - - 26.20 -
9626 951.9 -8.8 855 9632 done -0.70 - - 2074 - 2.53 0.035 2481 586.2 -194.6 - - 3757 - - - - - - - - - 26.10 -
9947 980.6 -8.9 871 9948 done -0.70 - - 2074 - - - 2480 - -194.6 - - 3754 - - - - - - - - - - -
10065 end dive: TARGET_DEPTH_EXCEEDED
10065 begin apogee
10071 990.8 -8.4 877 10267 roll -0.20 0.38 0.096 2206 347.4 - - 2560 - - 185.18 1.389 2978 -4.2 0.326 - - - - 1 - 25.92 - 22.92
10268 end apogee: CONTROL_FINISHED_OK
10268 begin climb
10270 1000.3 - 887 10488 roll 0.58 0.68 0.041 2466 382.4 2.75 0.027 1083 -537.1 194.6 198.93 1.444 2185 -4.0 0.301 - - - - 1 - 24.50 24.51 22.54
10515 980.3 15.2 899 10521 done 0.53 - - 2466 - 2.80 0.038 2550 523.9 194.6 - - 2189 - - - - - - - - - 24.56 -
10831 918.8 18.9 915 10837 roll 0.46 0.12 0.184 2443 -191.7 2.55 0.028 1088 -573.3 194.6 - - 2192 - - - - - - - - 25.67 25.91 -
10935 904.1 13.9 920 10941 done 0.43 - - 2443 - 2.65 0.037 2558 554.7 194.6 - - 2192 - - - - - - - - - 25.98 -
11254 852.2 16.1 936 11260 roll 0.38 0.12 0.177 2405 -316.7 1.83 0.042 3824 691.8 194.6 - - 2192 - - - - - - - - 25.89 26.07 -
11382 834.2 14.7 942 11386 done 0.34 - - 2415 - 1.85 0.022 2529 -700.0 194.6 - - 2190 - - - - - - - - - 26.22 -
11689 796.9 11.1 957 11694 roll 0.30 0.12 0.178 2377 -316.7 2.00 0.043 3836 653.5 194.6 - - 2190 - - - - - - - - 25.98 26.10 -
11715 794.4 11.0 958 11719 done 0.27 - - 2386 - 1.85 0.023 2536 -702.7 194.6 - - 2190 - - - - - - - - - 26.27 -
12028 765.8 9.3 974 12033 roll 0.26 - - 2399 - 2.45 0.029 1089 -590.6 194.6 - - 2190 - - - - - - - - - 26.20 -
12076 762.2 9.3 976 12086 done 0.25 0.15 0.131 2355 -293.3 2.62 0.034 2565 563.4 194.6 - - 2189 - - - - - - - - 25.93 26.17 -
12387 736.3 8.5 992 12406 done 0.25 - - 2354 - - - 2563 - 201.0 14.35 1.007 2155 -2.4 0.189 - - - - - - - - 24.70
12708 706.3 9.8 1008 12713 roll 0.26 - - 2367 - 2.58 0.030 1095 -569.0 201.0 - - 2145 - - - - - - - - - 26.11 -
12735 704.3 9.9 1009 12740 done 0.27 - - 2367 - 2.62 0.034 2562 559.9 201.0 - - 2144 - - - - - - - - - 26.10 -
13042 671.9 9.9 1024 13047 roll 0.27 - - 2367 - 1.88 0.045 3832 675.5 201.0 - - 2144 - - - - - - - - - 26.09 -
13090 667.6 10.2 1026 13094 done 0.27 - - 2377 - 1.85 0.021 2530 -703.8 201.0 - - 2144 - - - - - - - - - 26.29 -
13397 639.4 8.0 1041 13437 roll 0.30 - - 2390 - 2.53 0.031 1090 -569.2 224.4 33.50 0.894 2058 -2.6 0.200 - - - - - - - 25.81 24.68
13468 634.7 7.7 1044 13514 done 0.34 - - 2390 - 2.67 0.034 2569 553.9 257.9 40.15 0.916 1927 -3.3 0.246 - - - - - - - 25.83 24.27
13815 604.8 8.8 1061 13816 done 0.34 - - 2390 - - - 2568 - 257.9 - - 1900 - - - - - - - - - - -
14119 574.9 10.1 1088 14128 roll 0.34 - - 2402 - 2.60 0.031 1091 -568.1 257.9 - - 1898 - - - - - - - - - 26.06 -
14153 571.2 10.1 1091 14160 done 0.35 - - 2403 - 2.62 0.033 2564 562.2 257.9 - - 1896 - - - - - - - - - 26.07 -
14462 538.5 9.9 1122 14471 roll 0.35 - - 2416 - 2.58 0.030 1086 -572.9 257.9 - - 1896 - - - - - - - - - 26.11 -
14497 535.1 10.4 1125 14505 done 0.35 - - 2416 - 2.60 0.033 2554 564.6 257.9 - - 1895 - - - - - - - - - 26.11 -
14804 504.9 9.0 1156 14813 roll 0.34 - - 2416 - 1.90 0.044 3834 673.7 257.9 - - 1896 - - - - - - - - - 26.09 -
14850 500.5 10.5 1160 14857 done 0.33 0.15 0.154 2383 -220.0 1.88 0.021 2523 -697.3 257.9 - - 1894 - - - - - - - - 25.86 26.28 -
15157 480.1 7.2 1191 15216 roll 0.41 - - 2396 - 2.53 0.029 1090 -566.4 308.0 52.58 0.851 1713 -3.4 0.212 - - - - - - - 25.61 24.51
15263 472.6 7.2 1201 15322 done 0.51 0.08 0.047 2476 1000.0 2.60 0.029 2547 560.4 357.8 52.53 0.846 1517 -3.7 0.227 - - - - - - 25.69 25.74 24.22
15631 410.0 16.9 1238 15640 roll 0.48 0.12 0.161 2449 -225.0 2.58 0.030 1098 -561.6 357.8 - - 1487 - - - - - - - - 25.79 25.91 -
15656 406.4 16.2 1240 15663 done 0.46 - - 2448 - 2.55 0.032 2538 564.7 357.8 - - 1485 - - - - - - - - - 25.93 -
15963 370.4 12.2 1271 15974 roll 0.46 - - 2461 - 2.50 0.031 1093 -578.0 357.8 - - 1485 - - - - - - - - - 26.06 -
15998 366.8 11.1 1274 16007 done 0.46 0.10 0.090 2419 -420.0 2.53 0.033 2530 568.0 357.8 - - 1484 - - - - - - - - 25.87 26.09 -
16308 344.5 6.4 1305 16390 roll 0.58 0.12 0.079 2517 816.7 2.65 0.031 1093 -542.3 434.8 76.03 0.767 1195 -3.8 0.186 - - - - - - 26.40 25.43 24.43
16410 329.5 16.8 1315 16419 done 0.55 0.17 0.111 2456 -358.8 2.58 0.032 2525 555.0 434.8 - - 1178 - - - - - - - - 25.34 25.53 -
16720 299.0 9.8 1346 16728 roll 0.57 - - 2468 - 2.47 0.030 1090 -581.0 434.8 - - 1174 - - - - - - - - - 25.96 -
16762 294.8 9.7 1350 16771 done 0.60 - - 2468 - 2.45 0.031 2499 575.1 434.8 - - 1173 - - - - - - - - - 26.00 -
17071 260.4 11.0 1381 17073 done 0.61 - - 2468 - - - 2497 - 434.8 - - 1173 - - - - - - - - - - -
17374 228.6 10.1 1411 17383 roll 0.63 - - 2480 - 2.42 0.031 1092 -580.6 434.8 - - 1173 - - - - - - - - - 26.15 -
17406 225.1 10.2 1414 17415 done 0.66 - - 2480 - 2.42 0.031 2495 579.8 434.8 - - 1172 - - - - - - - - - 26.17 -
17718 195.3 8.1 1450 17743 done 0.69 - - 2480 - - - 2494 - 454.4 17.15 0.660 1112 -3.5 0.113 - - - - - - - - 24.92
17928 176.6 8.5 1490 17935 roll 0.72 - - 2492 - 2.42 0.029 1090 -580.2 460.8 - - 1102 - - - - - - - - - 26.12 -
17963 173.7 7.7 1496 18008 done 0.81 0.12 0.076 2581 741.7 2.42 0.028 2494 580.2 494.7 37.47 0.664 957 -3.9 0.110 - - - - - - 26.15 26.15 24.82
18193 120.1 23.6 1539 18201 roll 0.76 0.17 0.164 2529 -305.9 2.05 0.035 3840 656.6 494.7 - - 931 - - - - - - - - 25.68 25.96 -
18228 112.9 18.0 1545 18236 done 0.75 - - 2539 - 2.15 0.020 2408 -666.0 494.7 - - 931 - - - - - - - - - 26.10 -
18422 91.4 11.5 1582 18428 done 0.76 - - 2540 - - - 2407 - 494.7 - - 930 - - - - - - - - - - -
18612 72.4 10.0 1619 18619 roll 0.80 - - 2540 - 2.28 0.039 3826 622.4 494.7 - - 930 - - - - - - - - - 26.13 -
18655 67.9 11.4 1626 18662 done 0.85 - - 2542 - 2.08 0.020 2411 -680.3 494.7 - - 930 - - - - - - - - - 26.32 -
18848 52.0 6.0 1663 18929 roll 1.03 0.15 0.102 2605 420.0 2.25 0.027 1084 -589.8 584.8 71.20 0.216 595 -4.7 0.123 - - - - - - 26.29 26.06 25.38
18954 41.6 10.6 1680 18962 done 1.14 0.10 0.101 2662 570.0 2.30 0.024 2446 592.2 584.8 - - 603 - - - - - - - - 26.01 26.08 -
19147 22.2 13.0 1717 19155 roll 1.12 - - 2674 - 2.38 0.028 1087 -571.0 584.8 2.03 0.154 595 -3.9 0.062 - - - - - - - 26.13 25.60
19204 13.8 14.6 1727 19214 done 1.10 0.15 0.131 2629 -300.0 2.17 0.032 2384 597.7 584.8 1.90 0.167 591 -2.1 0.019 - - - - - - 25.89 26.15 25.64
19284 end climb: SURFACE_DEPTH_REACHED
19284 begin surface coast
19301 end surface coast: CONTROL_FINISHED_OK
19301 begin surface
SM 0.49 - - - - -6.61 6.62 0.055 127 -377.9 0.17 0.064 2486 600.0 582.34 - - 605 - - - - - - - -