OKMC Apr12 * SG169 * Dive index * Mission links * Dive 279 * Raw log
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• Previous call tries 4 • 56.80 of 147.52 AH used of 24V (61.50% remains)
• Previous NAKs 0, Timeouts 0 • 35.74 of 108.53 AH used of 10V (67.07% remains)
• Surface angle -73.0 deg, depth 0.86 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 466.07, SM_CC=450)
• GPS1 time: 27 s
• GPS2 time: 14 s, HDOP was 3.5 m • Transponder ping count: 2
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
20 - - - 100 VBD -0.58 - - 116 - - - 2487 - -194.6 -78.07 - 2889 - - - - - - - - - - -
104 3.2 -7.6 14 136 roll -0.58 8.12 0.229 2070 240.6 2.05 0.048 3833 656.6 -194.6 -16.70 - 3773 -52.9 - - - - - - - 24.99 26.01 26.50
246 50.6 -25.2 40 253 done -0.51 0.12 0.140 2106 300.0 2.05 0.020 2413 -692.7 -194.6 - - 3774 - - - - - - - - 25.92 26.22 -
438 77.9 -15.4 77 446 roll -0.47 - - 2109 - 2.35 0.024 982 -608.9 -194.6 - - 3774 - - - - - - - - - 26.22 -
525 88.8 -9.4 93 533 done -0.50 - - 2098 - 2.47 0.031 2436 588.7 -194.6 - - 3775 - - - - - - - - - 26.22 -
718 113.8 -12.5 130 725 roll -0.47 - - 2087 - 2.10 0.040 3829 663.3 -194.6 - - 3775 - - - - - - - - - 26.20 -
743 117.0 -13.3 134 751 done -0.44 0.15 0.130 2132 300.0 2.10 0.018 2372 -693.8 -194.6 - - 3775 - - - - - - - - 26.06 26.41 -
935 133.8 -7.3 171 942 roll -0.44 - - 2121 - 2.33 0.039 3831 626.2 -194.6 - - 3775 - - - - - - - - - 26.23 -
971 136.4 -7.9 177 979 done -0.46 - - 2121 - 2.08 0.018 2384 -695.7 -194.6 - - 3775 - - - - - - - - - 26.46 -
1162 152.8 -9.2 214 1169 roll -0.46 - - 2121 - 2.28 0.024 973 -618.9 -194.6 - - 3775 - - - - - - - - - 26.36 -
1203 156.3 -7.9 221 1211 done -0.49 - - 2112 - 2.50 0.031 2441 587.2 -194.6 - - 3775 - - - - - - - - - 26.30 -
1395 174.9 -10.2 258 1402 roll -0.48 - - 2102 - 2.08 0.039 3832 668.8 -194.6 - - 3775 - - - - - - - - - 26.27 -
1431 178.3 -10.0 264 1439 done -0.49 - - 2102 - 2.10 0.018 2369 -696.7 -194.6 - - 3775 - - - - - - - - - 26.48 -
1623 198.7 -10.7 301 1631 roll -0.48 - - 2102 - 2.22 0.024 981 -625.2 -194.6 - - 3775 - - - - - - - - - 26.36 -
1676 203.6 -9.0 310 1682 done -0.50 - - 2099 - 2.42 0.031 2418 593.8 -194.6 - - 3775 - - - - - - - - - 26.32 -
1987 233.4 -9.1 371 1994 roll -0.49 - - 2088 - 2.15 0.040 3831 657.2 -194.6 - - 3772 - - - - - - - - - 26.27 -
2032 237.4 -8.9 379 2039 done -0.50 - - 2088 - 2.15 0.018 2355 -686.5 -194.6 - - 3772 - - - - - - - - - 26.48 -
2344 265.9 -9.5 440 2351 roll -0.48 0.10 0.139 2109 210.0 2.35 0.037 3836 630.2 -194.6 - - 3771 - - - - - - - - 26.47 26.27 -
2380 268.7 -6.8 446 2386 done -0.50 - - 2109 - 2.12 0.019 2372 -690.6 -194.6 - - 3770 - - - - - - - - - 26.48 -
2691 292.5 -7.5 507 2698 roll -0.50 - - 2109 - 2.25 0.024 982 -617.8 -194.6 - - 3768 - - - - - - - - - 26.39 -
2713 294.2 -8.5 510 2720 done -0.51 - - 2105 - 2.47 0.030 2435 588.3 -194.6 - - 3768 - - - - - - - - - 26.33 -
3025 319.3 -8.5 571 3031 roll -0.51 - - 2095 - 2.10 0.042 3823 661.0 -194.6 - - 3766 - - - - - - - - - 26.25 -
3075 323.3 -7.3 580 3082 done -0.52 - - 2095 - 2.10 0.018 2366 -693.8 -194.6 - - 3765 - - - - - - - - - 26.51 -
3387 349.3 -8.6 641 3396 roll -0.52 - - 2085 - 2.35 0.050 3826 621.3 -194.6 -0.10 - 3781 -160.0 - - - - - - - - 26.25 26.01
3421 352.1 -8.5 646 3428 done -0.53 - - 2085 - 2.08 0.018 2384 -693.3 -194.6 - - 3781 - - - - - - - - - 26.50 -
3734 381.7 -9.3 707 3740 done -0.52 - - 2085 - - - 2384 - -194.6 - - 3780 - - - - - - - - - - -
4044 408.3 -7.6 768 4050 done -0.52 - - 2085 - - - 2384 - -194.6 - - 3778 - - - - - - - - - - -
4356 433.0 -7.9 829 4363 roll -0.52 - - 2076 - 2.33 0.041 3833 621.9 -194.6 - - 3775 - - - - - - - - - 26.23 -
4387 435.5 -8.0 834 4394 done -0.52 - - 2076 - 2.10 0.019 2385 -689.5 -194.6 - - 3775 - - - - - - - - - 26.48 -
4699 462.9 -8.7 895 4706 roll -0.52 0.10 0.135 2110 340.0 2.30 0.023 984 -609.1 -194.6 - - 3772 - - - - - - - - 26.47 26.35 -
4731 465.3 -7.0 900 4737 done -0.54 - - 2105 - 2.50 0.030 2448 585.6 -194.6 - - 3772 - - - - - - - - - 26.29 -
5043 484.7 -6.6 961 5050 roll -0.55 - - 2099 - 2.10 0.041 3829 657.6 -194.6 - - 3769 - - - - - - - - - 26.21 -
5078 487.0 -6.6 967 5085 done -0.58 - - 2099 - 2.10 0.018 2376 -691.9 -194.6 - - 3769 - - - - - - - - - 26.48 -
5396 508.1 -6.3 1017 5406 roll -0.61 - - 2099 - 2.30 0.042 3827 630.9 -194.6 - - 3766 - - - - - - - - - 26.17 -
5452 511.6 -6.4 1022 5459 done -0.65 - - 2099 - 1.80 0.018 2485 -745.6 -194.6 - - 3766 - - - - - - - - - 26.53 -
5760 530.4 -5.7 1053 5771 roll -0.70 0.12 0.078 2009 -750.0 2.00 0.040 3819 667.0 -194.6 - - 3763 - - - - - - - - 26.55 26.21 -
5796 533.2 -7.5 1056 5804 done -0.71 - - 2016 - 1.95 0.019 2444 -705.1 -194.6 - - 3763 - - - - - - - - - 26.46 -
6106 576.7 -14.8 1087 6115 roll -0.66 0.12 0.142 2066 416.7 2.42 0.025 987 -602.1 -194.6 - - 3762 - - - - - - - - 26.29 26.29 -
6171 583.4 -9.0 1093 6179 done -0.67 - - 2053 - 2.65 0.031 2509 574.3 -194.6 - - 3761 - - - - - - - - - 26.25 -
6479 617.4 -11.6 1124 6480 done -0.65 - - 2054 - - - 2507 - -194.6 - - 3760 - - - - - - - - - - -
6782 650.2 -10.0 1154 6791 roll -0.63 - - 2054 - 2.58 0.026 991 -587.6 -194.6 - - 3758 - - - - - - - - - 26.27 -
6836 655.3 -9.3 1159 6843 done -0.63 - - 2042 - 2.62 0.034 2489 571.8 -194.6 - - 3758 - - - - - - - - - 26.20 -
7144 688.1 -10.6 1190 7146 done -0.61 0.12 0.142 2080 316.7 - - 2487 - -194.6 - - 3756 - - - - - - - - 26.32 - -
7444 711.3 -7.5 1220 7453 roll -0.61 - - 2080 - 2.53 0.024 994 -590.1 -194.6 - - 3753 - - - - - - - - - 26.27 -
7467 713.0 -7.7 1222 7476 done -0.62 - - 2076 - 2.58 0.034 2478 575.2 -194.6 - - 3753 - - - - - - - - - 26.17 -
7776 736.5 -7.5 1253 7786 roll -0.62 - - 2066 - 2.05 0.044 3835 662.0 -194.6 - - 3751 - - - - - - - - - 26.10 -
7802 738.2 -7.4 1255 7811 done -0.62 - - 2066 - 2.00 0.020 2425 -705.0 -194.6 - - 3750 - - - - - - - - - 26.44 -
8110 762.2 -7.9 1286 8118 roll -0.62 - - 2066 - 2.38 0.025 991 -602.5 -194.6 - - 3749 - - - - - - - - - 26.25 -
8144 764.7 -7.7 1289 8152 done -0.62 - - 2056 - 2.60 0.033 2482 573.5 -194.6 - - 3749 - - - - - - - - - 26.16 -
8452 794.2 -9.7 1320 8453 done -0.61 - - 2056 - - - 2480 - -194.6 - - 3747 - - - - - - - - - - -
8755 822.8 -9.3 1350 8764 roll -0.61 - - 2056 - 2.50 0.026 997 -593.2 -194.6 - - 3745 - - - - - - - - - 26.21 -
8811 827.8 -9.0 1355 8819 done -0.61 0.10 0.135 2079 230.0 2.58 0.036 2474 572.5 -194.6 - - 3745 - - - - - - - - 25.98 26.10 -
9118 848.5 -6.1 1386 9119 done -0.62 - - 2079 - - - 2472 - -194.6 - - 3744 - - - - - - - - - - -
9420 868.6 -7.1 1416 9429 roll -0.63 - - 2079 - 2.50 0.028 990 -592.8 -194.6 - - 3742 - - - - - - - - - 26.18 -
9443 870.4 -7.2 1418 9452 done -0.64 - - 2076 - 2.58 0.035 2463 570.9 -194.6 - - 3742 - - - - - - - - - 26.08 -
9753 894.9 -7.8 1449 9762 roll -0.65 - - 2066 - 2.08 0.044 3828 656.2 -194.6 - - 3740 - - - - - - - - - 26.02 -
9776 896.8 -8.1 1451 9784 done -0.66 - - 2066 - 2.05 0.019 2403 -695.1 -194.6 - - 3741 - - - - - - - - - 26.41 -
10085 923.6 -9.0 1482 10094 roll -0.66 - - 2066 - 2.35 0.027 981 -605.1 -194.6 - - 3740 - - - - - - - - - 26.17 -
10128 927.4 -9.2 1486 10137 done -0.67 - - 2059 - 2.55 0.035 2457 578.8 -194.6 - - 3739 - - - - - - - - - 26.06 -
10437 956.7 -9.2 1517 10439 done -0.67 - - 2059 - - - 2456 - -194.6 - - 3739 - - - - - - - - - - -
10741 983.8 -8.8 1547 10749 roll -0.67 - - 2059 - 2.47 0.027 989 -593.9 -194.6 - - 3737 - - - - - - - - - 26.15 -
10784 987.6 -8.5 1551 10792 done -0.68 - - 2050 - 2.53 0.036 2448 576.7 -194.6 - - 3737 - - - - - - - - - 26.05 -
10810 end dive: TARGET_DEPTH_EXCEEDED
10810 begin apogee
10816 990.2 -8.5 1554 11012 roll -0.20 0.45 0.098 2206 346.7 - - 2559 - - 187.07 1.117 2968 -4.1 0.387 - - - - - - 25.76 - 23.48
11013 end apogee: CONTROL_FINISHED_OK
11013 begin climb
11016 999.1 - 1574 11226 roll 0.58 0.68 0.040 2481 404.4 1.95 0.044 3830 651.8 194.6 202.12 1.099 2185 -3.9 0.374 - - - - - - 24.98 24.92 23.08
11362 938.6 22.6 1608 11369 done 0.50 0.20 0.181 2439 -210.0 1.90 0.021 2519 -690.0 194.6 - - 2150 - - - - - - - - 25.18 25.63 -
11670 886.9 16.1 1639 11679 roll 0.45 - - 2453 - 2.53 0.028 1085 -566.8 194.6 - - 2144 - - - - - - - - - 26.00 -
11793 869.3 14.0 1651 11802 done 0.41 0.12 0.138 2411 -350.0 2.70 0.034 2559 545.9 194.6 - - 2142 - - - - - - - - 25.70 26.03 -
12102 826.8 13.2 1682 12111 roll 0.38 - - 2411 - 1.85 0.043 3827 685.4 194.6 - - 2141 - - - - - - - - - 26.06 -
12127 823.6 14.0 1684 12135 done 0.34 0.12 0.174 2388 -191.7 1.83 0.021 2520 -714.2 194.6 - - 2141 - - - - - - - - 25.84 26.23 -
12436 785.9 12.0 1715 12444 roll 0.32 - - 2401 - 2.50 0.028 1093 -570.8 194.6 - - 2140 - - - - - - - - - 26.15 -
12457 783.0 12.3 1717 12467 done 0.31 - - 2401 - 2.65 0.031 2559 553.2 194.6 - - 2140 - - - - - - - - - 26.13 -
12767 742.3 12.8 1748 12769 done 0.28 0.12 0.157 2366 -291.7 - - 2557 - 194.6 - - 2140 - - - - - - - - 26.13 - -
13067 715.0 8.8 1778 13076 roll 0.28 - - 2380 - 2.62 0.028 1088 -560.7 194.6 - - 2139 - - - - - - - - - 26.15 -
13110 711.6 8.0 1782 13140 done 0.32 - - 2380 - 2.65 0.034 2539 547.5 219.0 23.50 0.939 2085 -2.3 0.185 - - - - - - - 26.14 24.48
13442 682.5 9.2 1815 13450 roll 0.32 - - 2380 - 1.90 0.043 3830 679.5 219.0 - - 2062 - - - - - - - - - 25.97 -
13463 680.1 9.4 1817 13467 done 0.31 - - 2390 - 1.90 0.021 2493 -703.7 219.0 - - 2062 - - - - - - - - - 26.17 -
13776 646.6 10.9 1848 13785 roll 0.30 - - 2403 - 2.42 0.029 1089 -580.2 219.0 - - 2060 - - - - - - - - - 26.14 -
13800 644.2 11.1 1850 13807 done 0.30 - - 2402 - 2.65 0.034 2539 547.2 219.0 - - 2060 - - - - - - - - - 26.08 -
14109 607.0 12.2 1881 14117 done 0.28 0.12 0.155 2368 -283.3 - - 2538 - 219.0 - - 2060 - - - - - - - - 26.14 - -
14418 579.7 8.2 1912 14442 roll 0.31 - - 2381 - 2.67 0.030 1087 -543.4 235.2 16.48 0.904 2012 -2.9 0.198 - - - - - - - 26.04 24.58
14463 576.1 8.5 1916 14470 done 0.33 - - 2381 - 2.62 0.031 2532 551.5 240.4 - - 2003 - - - - - - - - - 26.01 -
14772 549.6 8.3 1947 14802 roll 0.36 - - 2380 - 1.95 0.044 3821 661.0 254.7 22.77 0.881 1930 -3.2 0.212 - - - - - - - 25.84 24.51
14817 545.7 8.6 1951 14825 done 0.37 - - 2390 - 1.90 0.020 2499 -695.8 256.1 - - 1922 - - - - - - - - - 25.94 -
15126 518.0 8.4 1982 15136 roll 0.38 - - 2403 - 2.58 0.029 1081 -549.6 265.3 3.47 0.640 1895 -7.8 0.669 - - - - - - - 26.04 24.06
15191 512.6 8.4 1988 15213 done 0.41 - - 2403 - 2.60 0.031 2524 555.0 273.5 17.02 0.886 1862 -1.9 0.119 - - - - - - - 26.01 24.54
15516 481.6 9.4 2039 15522 done 0.41 - - 2403 - - - 2523 - 273.5 - - 1843 - - - - - - - - - - -
15827 452.7 9.7 2100 15834 roll 0.41 - - 2416 - 2.58 0.031 1091 -555.0 273.5 - - 1841 - - - - - - - - - 26.06 -
15872 448.7 8.3 2108 15893 done 0.45 - - 2416 - 2.60 0.033 2524 551.2 286.6 11.95 0.851 1805 -3.0 0.169 - - - - - - - 26.06 24.60
16199 414.8 9.8 2171 16205 done 0.45 - - 2416 - - - 2523 - 286.6 - - 1795 - - - - - - - - - - -
16509 385.9 9.4 2232 16516 roll 0.45 - - 2429 - 2.58 0.029 1079 -559.7 286.6 - - 1794 - - - - - - - - - 26.10 -
16555 381.9 8.6 2240 16562 done 0.48 - - 2429 - 2.60 0.033 2517 553.1 290.9 - - 1794 - - - - - - - - - 26.09 -
16868 349.2 10.7 2301 16875 roll 0.47 - - 2429 - 1.95 0.041 3839 677.9 290.9 - - 1793 - - - - - - - - - 26.06 -
16909 344.1 12.6 2308 16916 done 0.46 - - 2440 - 1.92 0.021 2485 -705.2 290.9 - - 1793 - - - - - - - - - 26.29 -
17221 307.9 11.7 2369 17229 roll 0.45 - - 2452 - 2.42 0.029 1095 -574.4 290.9 - - 1793 - - - - - - - - - 26.15 -
17242 305.5 11.7 2372 17249 done 0.45 0.12 0.125 2414 -316.7 2.60 0.032 2525 550.0 290.9 - - 1792 - - - - - - - - 25.94 26.13 -
17559 279.2 8.6 2433 17566 done 0.46 - - 2414 - - - 2524 - 295.2 2.60 0.403 1774 -6.9 0.509 - - - - - - - - 24.13
17874 252.7 8.2 2494 17906 roll 0.50 - - 2427 - 2.65 0.028 1093 -540.0 311.5 25.48 0.724 1700 -2.9 0.108 - - - - - - - 26.01 24.72
17926 248.7 7.4 2502 17976 done 0.58 0.10 0.090 2506 790.0 2.60 0.030 2520 548.8 355.5 43.45 0.723 1527 -4.0 0.145 - - - - - - 25.96 25.98 24.44
18284 189.8 17.2 2570 18292 roll 0.54 0.17 0.154 2451 -323.5 1.92 0.039 3826 680.2 355.5 - - 1502 - - - - - - - - 25.71 25.90 -
18334 182.7 11.2 2579 18341 done 0.55 - - 2461 - 1.88 0.021 2500 -705.3 355.5 - - 1501 - - - - - - - - - 26.11 -
18526 164.9 8.8 2616 18533 roll 0.57 - - 2474 - 2.50 0.028 1085 -566.0 355.5 - - 1501 - - - - - - - - - 26.04 -
18576 160.5 9.0 2625 18584 done 0.60 - - 2474 - 2.62 0.029 2528 550.8 355.5 - - 1499 - - - - - - - - - 26.06 -
18771 141.8 9.9 2662 18777 done 0.60 - - 2474 - - - 2526 - 355.5 - - 1500 - - - - - - - - - - -
18962 123.5 9.8 2699 18968 roll 0.61 - - 2487 - 2.60 0.028 1086 -553.8 355.5 - - 1500 - - - - - - - - - 26.13 -
18996 120.2 9.4 2705 19004 done 0.63 - - 2487 - 2.58 0.030 2511 552.3 355.5 - - 1500 - - - - - - - - - 26.13 -
19191 101.7 9.5 2742 19198 roll 0.63 - - 2487 - 1.92 0.040 3828 685.9 355.5 - - 1499 - - - - - - - - - 26.10 -
19226 97.6 11.6 2748 19232 done 0.64 - - 2497 - 1.92 0.020 2465 -709.9 355.5 - - 1500 - - - - - - - - - 26.32 -
19418 79.6 8.5 2785 19426 roll 0.66 - - 2510 - 2.40 0.028 1086 -574.6 362.6 - - 1500 - - - - - - - - - 26.20 -
19452 76.8 8.9 2790 19459 done 0.68 - - 2510 - 2.50 0.028 2498 564.8 362.6 - - 1500 - - - - - - - - - 26.20 -
19644 60.1 8.0 2827 19675 roll 0.73 - - 2522 - 2.55 0.026 1076 -557.6 386.9 22.15 0.232 1407 -4.2 0.115 - - - - - - - 26.20 25.25
19693 56.6 6.6 2835 19762 done 0.84 - - 2523 - 2.55 0.028 2503 559.6 456.3 63.25 0.232 1117 -4.6 0.119 - - - - - - - 26.16 25.23
19950 37.6 8.3 2882 19969 roll 0.94 0.12 0.104 2585 516.7 2.55 0.026 1079 -558.4 467.9 10.77 0.185 1077 -3.7 0.080 - - - - - - 26.20 26.05 25.10
20045 28.7 9.4 2899 20053 done 1.03 - - 2584 - 2.60 0.028 2524 555.8 467.9 2.17 0.156 1069 -3.7 0.072 - - - - - - - 26.09 25.36
20238 12.3 9.5 2936 20248 roll 1.10 0.12 0.113 2627 358.3 1.92 0.037 3833 681.8 467.9 1.90 0.142 1072 1.6 -0.015 - - - - - - 26.26 26.08 25.44
20288 7.6 10.0 2944 20295 done 1.17 - - 2627 - 1.85 0.018 2470 -736.8 467.9 - - 1079 - - - - - - - - - 26.32 -
20337 end climb: SURFACE_DEPTH_REACHED
20337 begin surface coast
20365 end surface coast: CONTROL_FINISHED_OK
20365 begin surface
SM 0.65 - - - - -6.61 6.20 0.022 126 -403.4 0.05 0.135 2391 -1580.0 466.07 - - 1079 - - - - - - - -