OKMC Apr12 * SG169 * Dive index * Mission links * Dive 99 * Raw log
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• Previous call tries 1 • 20.26 of 147.52 AH used of 24V (86.27% remains)
• Previous NAKs 0, Timeouts 0 • 11.14 of 108.53 AH used of 10V (89.74% remains)
• Surface angle -74.9 deg, depth 0.93 m • Intended pitch -14.5 deg, speed -9.167 cm/s
• No surface pump (final VBD was 451.84, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 11 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
16 - - - 97 VBD -0.60 - - 127 - - - 2391 - -194.6 -78.12 - 3304 - - - - - - - - - - -
101 4.2 -11.4 14 129 roll -0.60 8.02 0.243 2062 241.3 2.28 0.041 3838 634.6 -194.6 -8.15 - 3775 -57.8 - - - - - - - 25.55 26.13 26.43
163 35.1 -34.2 24 170 done -0.51 0.12 0.175 2102 333.3 2.05 0.023 2458 -673.2 -194.6 - - 3777 - - - - - - - - 25.86 26.16 -
360 87.2 -25.3 61 369 roll -0.44 - - 2113 - 2.20 0.021 1030 -649.1 -194.6 - - 3777 - - - - - - - - - 26.28 -
403 95.9 -16.8 68 410 done -0.41 0.15 0.142 2143 200.0 2.40 0.034 2523 622.1 -194.6 - - 3778 - - - - - - - - 26.03 26.25 -
598 126.3 -16.7 105 606 done -0.38 - - 2143 - - - 2523 - -194.6 - - 3778 - - - - - - - - - - -
795 158.3 -16.1 142 801 roll -0.35 - - 2153 - 2.35 0.025 1035 -633.2 -194.6 - - 3778 - - - - - - - - - 26.39 -
830 163.8 -13.6 148 836 done -0.35 - - 2143 - 2.40 0.032 2520 618.8 -194.6 - - 3778 - - - - - - - - - 26.38 -
1023 190.7 -14.2 185 1032 roll -0.34 - - 2133 - 2.00 0.041 3830 655.0 -194.6 - - 3778 - - - - - - - - - 26.39 -
1051 194.6 -13.9 189 1060 done -0.32 0.12 0.129 2174 341.7 2.03 0.018 2428 -690.6 -194.6 - - 3778 - - - - - - - - 26.29 26.51 -
1251 210.5 -6.6 213 1263 roll -0.34 - - 2174 - 2.10 0.024 1041 -660.5 -194.6 - - 3778 - - - - - - - - - 26.48 -
1270 211.1 -6.4 214 1276 done -0.36 - - 2167 - 2.35 0.030 2527 632.3 -194.6 - - 3778 - - - - - - - - - 26.46 -
1576 236.1 -8.5 245 1585 roll -0.37 - - 2157 - 1.98 0.040 3821 653.5 -194.6 - - 3778 - - - - - - - - - 26.46 -
1622 239.0 -7.1 249 1629 done -0.40 - - 2157 - 2.00 0.018 2422 -699.5 -194.6 - - 3778 - - - - - - - - - 26.59 -
1930 258.4 -6.3 280 1940 roll -0.42 - - 2149 - 2.17 0.038 3819 643.8 -194.6 - - 3778 - - - - - - - - - 26.48 -
1965 260.7 -6.5 283 1973 done -0.45 - - 2148 - 1.98 0.018 2439 -697.0 -194.6 - - 3778 - - - - - - - - - 26.61 -
2277 285.5 -8.3 314 2285 roll -0.46 - - 2149 - 2.12 0.025 1039 -660.4 -194.6 - - 3778 - - - - - - - - - 26.54 -
2323 289.2 -8.4 318 2329 done -0.49 - - 2147 - 2.35 0.030 2531 634.9 -194.6 - - 3778 - - - - - - - - - 26.53 -
2631 316.2 -8.7 349 2642 roll -0.50 0.10 0.092 2061 -860.0 1.90 0.037 3821 678.9 -194.6 - - 3776 - - - - - - - - 26.68 26.51 -
2666 320.8 -12.1 352 2675 done -0.50 0.17 0.137 2115 317.6 1.98 0.020 2444 -695.5 -194.6 - - 3776 - - - - - - - - 26.28 26.62 -
2976 360.5 -12.0 383 2980 roll -0.48 - - 2118 - 2.15 0.025 1037 -654.4 -194.6 - - 3776 - - - - - - - - - 26.55 -
3039 366.8 -8.9 389 3050 done -0.50 - - 2108 - 2.35 0.031 2526 633.6 -194.6 - - 3776 - - - - - - - - - 26.53 -
3349 406.3 -13.6 420 3357 roll -0.48 - - 2111 - 2.30 0.025 1044 -644.3 -194.6 - - 3775 - - - - - - - - - 26.56 -
3413 413.1 -10.2 426 3422 done -0.50 - - 2101 - 2.28 0.031 2488 633.3 -194.6 - - 3775 - - - - - - - - - 26.55 -
3723 447.6 -10.8 457 3733 roll -0.49 - - 2090 - 1.98 0.041 3817 671.2 -194.6 - - 3773 - - - - - - - - - 26.50 -
3749 450.3 -10.6 459 3757 done -0.47 0.10 0.141 2119 290.0 2.03 0.021 2424 -686.2 -194.6 - - 3772 - - - - - - - - 26.41 26.61 -
4058 476.9 -9.0 490 4064 done -0.48 - - 2120 - - - 2424 - -194.6 - - 3772 - - - - - - - - - - -
4371 505.5 -9.0 521 4380 roll -0.49 - - 2109 - 2.17 0.042 3815 641.0 -194.6 - - 3769 - - - - - - - - - 26.48 -
4405 508.8 -8.9 524 4414 done -0.50 - - 2109 - 2.03 0.022 2423 -685.7 -194.6 - - 3769 - - - - - - - - - 26.62 -
4713 535.4 -8.0 555 4717 roll -0.50 - - 2109 - 2.10 0.027 1042 -657.6 -194.6 - - 3767 - - - - - - - - - 26.54 -
4738 537.2 -8.0 557 4745 done -0.51 - - 2099 - 2.33 0.033 2511 630.5 -194.6 - - 3767 - - - - - - - - - 26.51 -
5048 562.3 -7.7 588 5056 done -0.51 - - 2099 - - - 2510 - -194.6 - - 3765 - - - - - - - - - - -
5357 587.6 -8.7 619 5366 roll -0.51 - - 2100 - 2.28 0.025 1037 -646.1 -194.6 - - 3763 - - - - - - - - - 26.54 -
5400 591.5 -8.8 623 5409 done -0.52 - - 2099 - 2.30 0.033 2494 633.5 -194.6 - - 3763 - - - - - - - - - 26.50 -
5720 622.0 -9.7 644 5725 roll -0.52 - - 2088 - 2.03 0.044 3827 656.7 -194.6 - - 3760 - - - - - - - - - 26.46 -
5760 626.0 -9.6 646 5766 done -0.52 - - 2089 - 2.08 0.021 2412 -680.3 -194.6 - - 3760 - - - - - - - - - 26.60 -
6081 656.3 -9.0 662 6082 done -0.52 - - 2088 - - - 2412 - -194.6 - - 3758 - - - - - - - - - - -
6382 680.5 -7.9 677 6387 roll -0.52 - - 2078 - 2.22 0.043 3820 634.2 -194.6 - - 3756 - - - - - - - - - 26.44 -
6413 682.1 -7.9 678 6420 done -0.52 - - 2078 - 2.03 0.021 2429 -685.2 -194.6 - - 3755 - - - - - - - - - 26.60 -
6721 711.9 -10.2 694 6723 done -0.51 0.10 0.145 2107 290.0 - - 2429 - -194.6 - - 3753 - - - - - - - - 26.53 - -
7022 735.4 -7.6 709 7027 roll -0.52 - - 2097 - 2.22 0.044 3822 627.5 -194.6 - - 3751 - - - - - - - - - 26.42 -
7042 736.9 -7.6 710 7047 done -0.54 - - 2097 - 2.03 0.021 2433 -684.2 -194.6 - - 3751 - - - - - - - - - 26.59 -
7361 760.5 -7.3 726 7366 roll -0.55 - - 2087 - 2.20 0.044 3821 630.9 -194.6 - - 3748 - - - - - - - - - 26.41 -
7389 761.9 -7.2 727 7393 done -0.56 - - 2087 - 2.03 0.021 2434 -683.3 -194.6 - - 3748 - - - - - - - - - 26.58 -
7696 785.8 -7.7 742 7702 roll -0.56 - - 2077 - 2.20 0.044 3809 625.0 -194.6 - - 3746 - - - - - - - - - 26.40 -
7736 788.9 -7.8 744 7741 done -0.56 - - 2078 - 1.98 0.021 2447 -687.9 -194.6 - - 3745 - - - - - - - - - 26.58 -
8056 815.2 -8.1 760 8061 roll -0.56 - - 2077 - 2.17 0.027 1035 -650.7 -194.6 - - 3744 - - - - - - - - - 26.48 -
8117 820.0 -8.0 763 8122 done -0.57 - - 2067 - 2.38 0.035 2520 623.9 -194.6 - - 3743 - - - - - - - - - 26.43 -
8436 850.9 -10.0 779 8442 roll -0.56 - - 2056 - 2.03 0.046 3826 643.3 -194.6 - - 3741 - - - - - - - - - 26.37 -
8457 853.0 -10.0 780 8461 done -0.55 0.15 0.125 2103 313.3 2.05 0.023 2430 -681.0 -194.6 - - 3741 - - - - - - - - 26.25 26.55 -
8782 875.6 -6.7 796 8783 done -0.56 - - 2103 - - - 2429 - -194.6 - - 3740 - - - - - - - - - - -
9081 896.9 -6.9 811 9086 roll -0.58 - - 2093 - 2.22 0.047 3819 626.1 -194.6 - - 3738 - - - - - - - - - 26.34 -
9108 898.2 -6.8 812 9112 done -0.59 - - 2093 - 2.03 0.023 2442 -678.3 -194.6 - - 3737 - - - - - - - - - 26.55 -
9415 919.6 -6.7 827 9416 done -0.60 - - 2093 - - - 2441 - -194.6 - - 3736 - - - - - - - - - - -
9716 938.6 -6.1 842 9721 roll -0.61 - - 2084 - 2.20 0.047 3819 626.4 -194.6 - - 3735 - - - - - - - - - 26.33 -
9757 940.9 -6.1 844 9761 done -0.63 - - 2084 - 2.00 0.022 2452 -683.5 -194.6 - - 3734 - - - - - - - - - 26.55 -
10070 961.0 -6.4 860 10076 roll -0.63 - - 2084 - 2.17 0.028 1039 -651.2 -194.6 - - 3733 - - - - - - - - - 26.43 -
10098 962.4 -6.4 861 10102 done -0.63 - - 2074 - 2.40 0.035 2530 621.2 -194.6 - - 3733 - - - - - - - - - 26.38 -
10405 985.7 -7.7 876 10410 roll -0.63 - - 2064 - 1.98 0.048 3816 649.5 -194.6 - - 3732 - - - - - - - - - 26.30 -
10439 987.2 -7.8 877 10447 done -0.63 - - 2064 - 2.03 0.024 2451 -672.4 -194.6 - - 3731 - - - - - - - - - 26.51 -
10462 end dive: TARGET_DEPTH_EXCEEDED
10462 begin apogee
10468 990.5 -8.0 879 10659 roll -0.20 0.43 0.108 2210 339.5 0.08 0.038 2473 275.0 - 182.75 1.154 2977 -4.1 0.367 - - - - - - 26.06 24.74 24.00
10660 end apogee: CONTROL_FINISHED_OK
10660 begin climb
10662 995.9 - 888 10872 roll 0.60 0.68 0.036 2492 414.7 2.35 0.028 1060 -601.3 194.6 199.45 1.147 2180 -4.0 0.359 - - - - - - 24.98 24.96 23.72
10970 950.1 19.9 904 10977 done 0.55 0.15 0.176 2456 -240.0 2.53 0.038 2539 584.6 194.6 - - 2149 - - - - - - - - 25.06 25.27 -
11288 883.4 19.9 920 11293 roll 0.48 - - 2468 - 2.35 0.029 1079 -621.3 194.6 - - 2145 - - - - - - - - - 25.89 -
11350 872.1 19.0 923 11355 done 0.43 0.20 0.163 2413 -275.0 2.47 0.037 2557 598.4 194.6 - - 2144 - - - - - - - - 25.64 25.91 -
11665 823.7 15.1 939 11670 roll 0.39 - - 2413 - 1.95 0.044 3839 657.4 194.6 - - 2143 - - - - - - - - - 26.07 -
11745 809.5 17.5 943 11751 done 0.34 0.10 0.166 2391 -220.0 1.98 0.022 2512 -670.2 194.6 - - 2142 - - - - - - - - 25.84 26.18 -
12066 766.2 12.8 959 12071 roll 0.32 - - 2391 - 2.05 0.044 3813 634.6 194.6 - - 2141 - - - - - - - - - 26.15 -
12129 757.3 14.3 962 12133 done 0.29 0.12 0.173 2368 -191.7 1.88 0.023 2543 -675.5 194.6 - - 2141 - - - - - - - - 25.96 26.27 -
12446 720.0 11.6 978 12447 done 0.28 - - 2368 - - - 2540 - 194.6 - - 2141 - - - - - - - - - - -
12743 684.7 11.8 993 12748 roll 0.27 - - 2367 - 1.98 0.045 3814 643.4 194.6 - - 2139 - - - - - - - - - 26.23 -
12805 676.8 12.9 996 12809 done 0.27 - - 2378 - 1.85 0.024 2541 -688.1 194.6 - - 2140 - - - - - - - - - 26.35 -
13119 640.5 11.2 1012 13124 roll 0.26 - - 2378 - 2.00 0.044 3821 640.0 194.6 - - 2139 - - - - - - - - - 26.27 -
13151 638.1 11.2 1013 13160 done 0.25 0.12 0.163 2354 -200.0 1.85 0.021 2542 -691.4 194.6 - - 2139 - - - - - - - - 26.08 26.39 -
13460 609.4 8.7 1029 13477 roll 0.27 - - 2354 - 2.05 0.046 3840 633.2 209.6 9.23 0.908 2118 -2.3 0.158 - - 1 - - - - 26.25 25.44
13503 605.2 9.3 1031 13508 done 0.28 - - 2363 - 1.90 0.024 2552 -677.9 209.6 - - 2110 - - - - - - - - - 26.29 -
13813 575.1 9.9 1059 13821 roll 0.29 - - 2376 - 2.35 0.031 1069 -631.1 209.6 - - 2106 - - - - - - - - - 26.27 -
13856 571.1 9.3 1063 13865 done 0.31 - - 2376 - 2.42 0.034 2574 621.9 209.6 - - 2106 - - - - - - - - - 26.27 -
14164 539.2 9.2 1094 14175 roll 0.31 - - 2375 - 1.88 0.044 3818 661.7 209.6 - - 2105 - - - - - - - - - 26.27 -
14242 531.4 10.6 1101 14249 done 0.31 - - 2385 - 1.88 0.022 2549 -675.0 209.6 - - 2105 - - - - - - - - - 26.39 -
14549 500.8 9.6 1132 14550 done 0.31 - - 2386 - - - 2548 - 209.6 - - 2105 - - - - - - - - - - -
14851 471.7 9.8 1162 14862 roll 0.31 - - 2386 - 1.98 0.044 3814 639.4 209.6 - - 2105 - - - - - - - - - 26.30 -
14885 467.8 10.7 1165 14888 done 0.30 - - 2395 - 1.83 0.021 2554 -688.5 209.6 - - 2105 - - - - - - - - - 26.44 -
15197 437.2 9.7 1196 15198 done 0.29 - - 2396 - - - 2553 - 209.6 - - 2105 - - - - - - - - - - -
15498 411.7 8.5 1226 15535 roll 0.31 - - 2396 - 2.00 0.041 3818 632.5 230.4 27.35 0.741 2029 -2.8 0.160 - - - - - - - 26.08 25.42
15614 400.1 10.7 1237 15623 done 0.31 0.12 0.151 2370 -216.7 1.85 0.024 2570 -674.6 230.4 - - 2019 - - - - - - - - 25.93 26.15 -
15924 379.4 6.3 1268 16022 roll 0.44 0.12 0.076 2470 833.3 2.50 0.028 1071 -599.6 319.4 89.15 0.763 1664 -4.0 0.205 - - - - - - 26.35 25.25 24.63
16089 355.5 13.2 1284 16098 done 0.44 0.15 0.109 2417 -353.3 2.53 0.034 2579 596.0 319.4 - - 1646 - - - - - - - - 25.46 25.59 -
16398 317.6 13.3 1315 16399 done 0.44 - - 2417 - - - 2578 - 319.4 - - 1644 - - - - - - - - - - -
16700 279.5 12.0 1345 16709 roll 0.44 - - 2429 - 2.42 0.031 1074 -621.5 319.4 - - 1643 - - - - - - - - - 26.13 -
16722 276.7 11.8 1347 16734 done 0.44 - - 2429 - 2.45 0.032 2573 611.8 319.4 - - 1642 - - - - - - - - - 26.13 -
17034 239.8 11.9 1378 17040 done 0.44 - - 2429 - - - 2573 - 319.4 - - 1642 - - - - - - - - - - -
17344 204.2 10.5 1409 17353 roll 0.45 - - 2429 - 1.88 0.043 3820 663.3 319.4 - - 1642 - - - - - - - - - 26.26 -
17379 200.7 10.6 1412 17388 done 0.46 - - 2439 - 1.90 0.021 2516 -686.3 319.4 - - 1642 - - - - - - - - - 26.37 -
17705 162.2 9.9 1473 17712 roll 0.46 - - 2439 - 2.08 0.039 3831 632.2 319.4 - - 1642 - - - - - - - - - 26.32 -
17753 157.3 10.1 1481 17759 done 0.48 - - 2449 - 1.88 0.021 2539 -687.2 319.4 - - 1642 - - - - - - - - - 26.43 -
17950 138.9 9.7 1518 17956 roll 0.49 - - 2462 - 2.33 0.031 1073 -629.2 319.4 - - 1642 - - - - - - - - - 26.36 -
18001 134.5 8.0 1527 18040 done 0.57 - - 2461 - 2.45 0.031 2581 615.5 356.7 32.47 0.609 1520 -3.8 0.086 - - - - - - - 26.38 25.46
18227 112.0 10.3 1569 18236 roll 0.57 - - 2461 - 1.90 0.039 3830 657.4 356.7 - - 1497 - - - - - - - - - 26.14 -
18254 108.7 11.7 1573 18263 done 0.58 - - 2471 - 1.92 0.021 2527 -678.6 356.7 - - 1497 - - - - - - - - - 26.23 -
18453 86.2 11.1 1610 18462 roll 0.59 - - 2484 - 2.33 0.029 1062 -628.8 356.7 - - 1498 - - - - - - - - - 26.25 -
18480 83.3 10.4 1614 18489 done 0.61 - - 2483 - 2.45 0.028 2578 618.8 356.7 - - 1496 - - - - - - - - - 26.26 -
18683 64.5 8.6 1651 18696 done 0.64 - - 2484 - - - 2577 - 374.8 9.95 0.210 1450 -4.6 0.147 - - - - - - - - 25.72
18885 47.7 9.2 1689 18892 done 0.66 - - 2484 - - - 2577 - 374.8 2.75 0.154 1450 - - - - - - - - - - 25.91
19077 30.9 6.7 1726 19140 roll 0.78 0.12 0.076 2587 858.3 2.45 0.028 1075 -613.1 453.6 55.20 0.174 1133 -5.7 0.106 - - - - - - 26.50 26.21 25.87
19182 15.5 15.1 1743 19190 done 0.76 0.22 0.129 2520 -304.5 2.45 0.029 2575 612.2 453.6 1.73 0.177 1126 -4.0 0.037 - - - - - - 26.00 26.22 25.96
19281 end climb: SURFACE_DEPTH_REACHED
19281 begin surface coast
19307 end surface coast: CONTROL_FINISHED_OK
19307 begin surface
SM 0.82 - - - - -6.61 5.88 0.020 125 -407.3 0.17 0.049 2421 -905.9 451.84 - - 1137 - - - - 1 - - -