OKMC Oct12 * SG167 * Dive index * Mission links * Dive 134 * Raw log
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• Previous call tries 1 • 32.29 of 150.00 AH used of 24V (78.47% remains)
• Previous NAKs 0, Timeouts 0 • 21.07 of 110.00 AH used of 10V (80.85% remains)
• Surface angle -62.0 deg, depth 1.76 m • Intended pitch -12.3 deg, speed -6.600 cm/s
VBD pumped to 425.10 (SM_CC=425)
• GPS1 time: 26 s
• GPS2 time: 5 s • Transponder ping count: 18
• 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 - - - 73 VBD -0.41 - - 108 - - - 2474 - -146.6 -52.20 - 2636 - - - - - - - - - - -
77 3.3 -4.8 9 115 roll -0.41 9.70 0.227 2528 249.5 2.08 0.043 1075 -672.6 -146.6 -21.52 - 3567 -43.3 - - - - - - - 25.38 26.13 26.51
254 31.5 -15.3 38 260 done -0.41 - - 2521 - 2.08 0.043 2441 656.7 -146.6 - - 3568 - - - - - - - - - 26.18 -
567 86.7 -18.2 59 573 roll -0.41 - - 2521 - 2.00 0.032 1084 -678.5 -146.6 - - 3568 - - - - - - - - - 26.34 -
650 101.7 -18.1 63 655 done -0.41 - - 2520 - 2.05 0.034 2445 663.9 -146.6 - - 3568 - - - - - - - - - 26.31 -
973 145.4 -11.6 79 978 roll -0.41 - - 2520 - 2.00 0.034 1100 -672.5 -146.6 - - 3568 - - - - - - - - - 24.73 -
1045 152.8 -11.8 82 1051 done -0.41 - - 2520 - 2.05 0.041 2444 655.6 -146.6 - - 3568 - - - - - - - - - 26.32 -
1359 188.8 -11.7 98 1365 roll -0.41 - - 2520 - 2.03 0.051 3765 650.7 -146.6 - - 3568 - - - - - - - - - 26.33 -
1406 193.6 -11.5 100 1411 done -0.41 - - 2520 - 1.83 0.022 2459 -713.7 -146.6 - - 3567 - - - - - - - - - 26.60 -
1724 224.7 -9.2 116 1729 roll -0.41 - - 2519 - 2.00 0.029 1063 -698.0 -146.6 - - 3568 - - - - - - - - - 26.53 -
1827 233.5 -8.5 121 1833 done -0.41 - - 2524 - 2.10 0.034 2470 670.0 -146.6 - - 3568 - - - - - - - - - 26.47 -
2151 260.4 -8.4 137 2156 roll -0.41 - - 2519 - 2.03 0.031 1073 -688.2 -146.6 - - 3568 - - - - - - - - - 26.54 -
2183 262.5 -8.7 138 2188 done -0.41 - - 2519 - 2.05 0.033 2457 675.1 -146.6 - - 3568 - - - - - - - - - 26.46 -
2496 293.5 -10.2 154 2497 done -0.41 - - 2520 - - - 2458 - -146.6 - - 3567 - - - - - - - - - - -
2798 325.1 -10.8 169 2803 roll -0.41 - - 2520 - 2.03 0.031 1070 -683.7 -146.6 - - 3566 - - - - - - - - - 26.53 -
2862 332.0 -10.6 172 2867 done -0.41 - - 2517 - 2.10 0.037 2461 662.4 -146.6 - - 3566 - - - - - - - - - 26.48 -
3185 361.6 -7.8 188 3191 roll -0.41 - - 2520 - 1.98 0.047 3767 659.6 -146.6 - - 3565 - - - - - - - - - 26.39 -
3229 364.6 -7.3 190 3235 done -0.41 - - 2520 - 1.85 0.019 2444 -715.1 -146.6 - - 3565 - - - - - - - - - 26.68 -
3553 383.0 -5.5 206 3558 roll -0.41 - - 2519 - 1.98 0.030 1064 -697.0 -146.6 - - 3563 - - - - - - - - - 26.55 -
3596 385.7 -5.9 208 3601 done -0.41 - - 2520 - 2.08 0.033 2457 669.7 -146.6 - - 3563 - - - - - - - - - 26.47 -
3919 409.6 -8.4 224 3921 done -0.41 - - 2519 - - - 2458 - -146.6 - - 3562 - - - - - - - - - - -
4222 434.1 -7.4 239 4227 roll -0.41 - - 2520 - 2.03 0.032 1073 -682.3 -146.6 - - 3561 - - - - - - - - - 26.52 -
4258 435.9 -7.3 240 4266 done -0.41 - - 2520 - 2.08 0.037 2452 663.0 -146.6 - - 3561 - - - - - - - - - 26.48 -
4565 455.4 -5.6 256 4571 roll -0.41 - - 2519 - 1.98 0.044 3764 662.6 -146.6 - - 3559 - - - - - - - - - 26.39 -
4649 460.7 -6.3 260 4655 done -0.41 - - 2519 - 1.85 0.020 2448 -711.4 -146.6 - - 3559 - - - - - - - - - 26.68 -
4973 485.5 -8.0 276 4979 roll -0.41 - - 2520 - 2.00 0.044 1077 -685.5 -146.6 -0.08 - 3587 -350.0 - - - - - - - - 26.51 25.67
5072 492.1 -8.0 280 5079 done -0.41 - - 2520 - 2.08 0.036 2455 662.5 -146.6 - - 3587 - - - - - - - - - 26.46 -
5377 510.5 -4.6 296 5378 done -0.41 - - 2519 - - - 2455 - -146.6 - - 3586 - - - - - - - - - - -
5679 525.1 -5.6 311 5684 roll -0.41 - - 2519 - 1.98 0.047 3756 657.1 -146.6 - - 3584 - - - - - - - - - 26.34 -
5711 526.5 -5.7 312 5717 done -0.41 - - 2519 - 1.83 0.020 2443 -717.5 -146.6 - - 3584 - - - - - - - - - 26.67 -
6025 547.2 -6.4 328 6031 roll -0.41 - - 2520 - 1.98 0.028 1079 -688.9 -146.6 - - 3583 - - - - - - - - - 26.52 -
6059 548.9 -6.5 329 6064 done -0.41 - - 2519 - 2.05 0.032 2448 667.8 -146.6 - - 3581 - - - - - - - - - 26.44 -
6372 569.0 -5.4 345 6377 roll -0.41 - - 2519 - 2.00 0.048 3757 654.5 -146.6 - - 3581 - - - - - - - - - 26.31 -
6396 570.2 -5.4 346 6401 done -0.41 - - 2520 - 1.85 0.020 2444 -709.7 -146.6 - - 3581 - - - - - - - - - 26.67 -
6719 583.1 -3.5 362 6724 roll -0.41 - - 2519 - 1.95 0.028 1085 -696.9 -146.6 - - 3579 - - - - - - - - - 26.51 -
6757 583.9 -3.5 363 6763 done -0.41 - - 2520 - 2.03 0.032 2450 672.4 -146.6 - - 3579 - - - - - - - - - 26.42 -
7063 597.4 -5.1 379 7064 done -0.41 - - 2520 - - - 2451 - -146.6 - - 3577 - - - - - - - - - - -
7362 617.1 -7.1 390 7368 roll -0.41 - - 2520 - 2.00 0.029 1085 -683.0 -146.6 - - 3576 - - - - - - - - - 26.51 -
7391 617.1 -7.1 390 7397 done -0.41 - - 2520 - 2.08 0.034 2459 660.6 -146.6 - - 3576 - - - - - - - - - 26.39 -
7697 639.5 -6.3 401 7703 roll -0.41 - - 2519 - 2.00 0.055 3758 649.5 -146.6 - - 3574 - - - - - - - - - 26.27 -
7746 641.6 -6.2 402 7751 done -0.41 - - 2519 - 1.85 0.021 2462 -700.5 -146.6 - - 3573 - - - - - - - - - 26.65 -
8065 661.0 -5.7 413 8067 done -0.41 - - 2519 - - - 2461 - -146.6 - - 3572 - - - - - - - - - - -
8364 680.4 -6.2 423 8370 roll -0.41 - - 2520 - 2.03 0.049 3766 642.9 -146.6 - - 3570 - - - - - - - - - 26.24 -
8432 684.2 -6.1 425 8438 done -0.41 - - 2519 - 1.88 0.022 2437 -706.9 -146.6 - - 3570 - - - - - - - - - 26.62 -
8762 705.1 -6.7 436 8768 roll -0.41 - - 2519 - 2.08 0.055 3759 635.6 -146.6 - - 3568 - - - - - - - - - 25.90 -
8880 711.4 -6.7 439 8887 done -0.41 - - 2519 - 1.85 0.022 2450 -707.6 -146.6 - - 3567 - - - - - - - - - 26.63 -
9186 733.0 -6.1 450 9191 roll -0.41 - - 2519 - 2.00 0.032 1073 -688.5 -146.6 - - 3566 - - - - - - - - - 26.44 -
9214 733.0 -6.1 450 9220 done -0.41 - - 2519 - 2.10 0.033 2455 658.1 -146.6 - - 3565 - - - - - - - - - 26.34 -
9519 749.8 -4.6 461 9525 roll -0.41 - - 2519 - 2.05 0.028 1063 -679.0 -146.6 - - 3564 - - - - - - - - - 26.44 -
9617 754.4 -4.8 464 9622 done -0.41 - - 2519 - 2.10 0.032 2456 663.3 -146.6 - - 3564 - - - - - - - - - 26.33 -
9946 775.0 -7.0 475 9952 roll -0.41 - - 2519 - 2.05 0.031 1066 -678.0 -146.6 - - 3562 - - - - - - - - - 26.21 -
10049 781.9 -7.2 478 10055 done -0.41 - - 2519 - 2.08 0.034 2449 664.9 -146.6 - - 3561 - - - - - - - - - 26.31 -
10374 807.6 -7.8 489 10379 roll -0.41 - - 2519 - 2.03 0.027 1066 -681.3 -146.6 - - 3559 - - - - - - - - - 26.41 -
10472 814.4 -7.3 492 10477 done -0.41 - - 2520 - 2.08 0.033 2448 664.4 -146.6 - - 3559 - - - - - - - - - 26.29 -
10802 835.6 -6.0 503 10808 roll -0.41 - - 2519 - 2.05 0.034 1069 -672.7 -146.6 - - 3558 - - - - - - - - - 25.39 -
10912 840.7 -5.4 506 10917 done -0.41 - - 2519 - 2.10 0.039 2454 659.5 -146.6 - - 3557 - - - - - - - - - 26.09 -
11232 858.3 -5.3 517 11237 roll -0.41 - - 2519 - 2.05 0.031 1069 -675.6 -146.6 - - 3556 - - - - - - - - - 25.96 -
11374 864.6 -5.1 521 11379 done -0.41 - - 2519 - 2.08 0.033 2450 663.9 -146.6 - - 3556 - - - - - - - - - 26.25 -
11689 883.1 -6.0 532 11694 roll -0.41 - - 2519 - 2.03 0.028 1072 -678.8 -146.6 - - 3555 - - - - - - - - - 26.36 -
11798 888.8 -6.1 535 11804 done -0.41 - - 2519 - 2.10 0.038 2448 655.2 -146.6 - - 3554 - - - - - - - - - 25.62 -
12119 910.0 -6.4 546 12124 roll -0.41 - - 2519 - 2.03 0.028 1069 -679.3 -146.6 - - 3552 - - - - - - - - - 26.35 -
12258 917.7 -6.2 550 12263 done -0.41 - - 2519 - 2.12 0.041 2451 651.9 -146.6 - - 3552 - - - - - - - - - 26.01 -
12578 938.0 -6.0 561 12584 roll -0.41 - - 2519 - 2.03 0.028 1073 -678.8 -146.6 - - 3551 - - - - - - - - - 26.33 -
12716 945.2 -5.7 565 12721 done -0.41 - - 2519 - 2.10 0.034 2450 655.7 -146.6 - - 3550 - - - - - - - - - 26.19 -
13036 963.8 -5.6 576 13042 roll -0.41 - - 2519 - 2.03 0.028 1073 -678.3 -146.6 - - 3550 - - - - - - - - - 26.32 -
13190 972.1 -5.3 581 13195 done -0.41 - - 2519 - 2.10 0.034 2453 657.1 -146.6 - - 3549 - - - - - - - - - 26.17 -
13523 end dive: TARGET_DEPTH_EXCEEDED
13523 begin apogee
13529 990.6 -5.9 592 13669 done -0.23 0.20 0.090 2596 385.0 - - 2290 - - 131.90 1.285 2964 -4.4 0.369 - - - - - - 26.39 - 23.45
13670 end apogee: CONTROL_FINISHED_OK
13670 begin climb
13673 996.4 - 596 13826 roll 0.41 0.57 0.059 2805 366.7 2.33 0.034 941 -579.0 146.6 137.23 1.251 2360 -4.4 0.379 - - - - - - 24.75 23.88 22.74
13970 985.8 5.8 606 13999 done 0.42 - - 2804 - 2.15 0.032 2310 636.7 171.9 23.73 1.271 2265 -4.0 0.336 - - - - - - - 25.35 23.62
14312 963.5 6.0 618 14342 roll 0.43 - - 2805 - 2.33 0.050 3702 597.4 191.6 19.38 1.282 2179 -4.4 0.360 - - - - - - - 25.46 24.21
14445 954.8 7.1 622 14451 done 0.43 - - 2805 - 2.10 0.027 2321 -657.6 191.6 - - 2176 - - - - - - - - - 25.91 -
14771 933.1 6.7 633 14776 roll 0.43 - - 2805 - 2.15 0.036 900 -660.9 191.6 - - 2174 - - - - - - - - - 26.14 -
14804 930.7 6.7 634 14810 done 0.43 - - 2804 - 2.15 0.031 2314 657.7 191.6 - - 2174 - - - - - - - - - 26.17 -
15140 906.3 7.5 645 15145 roll 0.43 - - 2805 - 2.17 0.050 3700 638.7 191.6 - - 2173 - - - - - - - - - 26.18 -
15243 898.0 8.6 648 15248 done 0.43 - - 2805 - 2.10 0.028 2298 -667.6 191.6 - - 2172 - - - - - - - - - 26.36 -
15567 870.2 8.5 659 15569 done 0.43 - - 2805 - - - 2298 - 191.6 - - 2172 - - - - - - - - - - -
15867 844.9 8.4 669 15872 roll 0.43 - - 2805 - 2.10 0.036 913 -659.5 191.6 - - 2171 - - - - - - - - - 26.32 -
15884 844.9 8.4 669 15890 done 0.43 - - 2805 - 2.12 0.031 2308 658.0 191.6 - - 2171 - - - - - - - - - 26.34 -
16203 818.5 7.7 680 16208 roll 0.43 - - 2805 - 2.17 0.050 3701 641.9 191.6 - - 2171 - - - - - - - - - 26.22 -
16255 815.7 7.9 681 16260 done 0.43 - - 2804 - 2.08 0.028 2300 -673.6 191.6 - - 2171 - - - - - - - - - 26.44 -
16570 793.0 6.2 692 16584 done 0.43 - - 2805 - - - 2295 - 204.6 12.65 1.254 2135 -2.8 0.194 - - - - - - - - 24.78
16869 777.4 4.8 702 16932 done 0.46 - - 2805 - - - 2295 - 262.5 60.47 1.181 1896 -4.0 0.281 - - - - - - - - 24.06
17228 759.0 5.6 714 17267 roll 0.47 - - 2805 - 2.28 0.037 892 -615.4 295.9 33.88 1.184 1754 -4.2 0.290 - - - - - - - 25.27 24.13
17300 755.4 5.7 716 17338 done 0.48 - - 2804 - 2.22 0.031 2308 637.8 324.4 29.48 1.152 1636 -4.0 0.284 - - - - - - - 25.53 23.99
17651 731.8 6.6 728 17657 roll 0.48 - - 2805 - 2.22 0.050 3707 630.2 324.4 - - 1630 - - - - - - - - - 25.92 -
17679 731.8 6.6 728 17686 done 0.48 - - 2805 - 2.12 0.028 2290 -668.4 324.4 - - 1630 - - - - - - - - - 26.08 -
17985 709.9 6.2 739 18003 roll 0.49 - - 2805 - 2.12 0.035 908 -651.9 337.1 12.50 1.183 1586 -3.5 0.228 - - - - - - - 25.91 24.67
18051 706.1 6.1 741 18076 done 0.49 - - 2805 - 2.15 0.031 2304 649.3 354.2 18.17 1.161 1519 -3.7 0.242 - - - - - - - 25.96 24.35
18378 680.4 8.1 752 18383 roll 0.49 - - 2805 - 2.22 0.050 3707 632.0 354.2 - - 1512 - - - - - - - - - 25.99 -
18415 677.5 8.2 753 18421 done 0.49 - - 2805 - 2.10 0.026 2285 -677.1 354.2 - - 1512 - - - - - - - - - 26.21 -
18745 645.5 9.8 764 18751 roll 0.49 - - 2805 - 2.08 0.039 911 -660.6 354.2 - - 1509 - - - - - - - - - 26.01 -
18803 642.0 9.8 765 18810 done 0.49 - - 2805 - 2.10 0.031 2303 662.9 354.2 - - 1511 - - - - - - - - - 26.23 -
19109 612.1 8.8 776 19115 roll 0.49 - - 2805 - 2.20 0.049 3708 638.6 354.2 - - 1511 - - - - - - - - - 26.20 -
19343 592.4 8.6 785 19348 done 0.49 - - 2805 - 2.08 0.025 2293 -680.3 354.2 - - 1509 - - - - - - - - - 26.42 -
19657 562.8 9.6 801 19662 roll 0.49 - - 2804 - 2.05 0.033 913 -673.2 354.2 - - 1509 - - - - - - - - - 26.35 -
19870 541.3 10.8 811 19876 done 0.49 - - 2805 - 2.08 0.030 2301 667.3 354.2 - - 1509 - - - - - - - - - 26.36 -
20184 505.5 11.3 827 20189 roll 0.49 - - 2805 - 2.20 0.050 3710 640.5 354.2 - - 1509 - - - - - - - - - 26.25 -
20417 481.9 10.0 838 20423 done 0.49 - - 2805 - 2.05 0.024 2291 -692.2 354.2 - - 1508 - - - - - - - - - 26.51 -
20731 451.3 9.9 854 20736 roll 0.49 - - 2805 - 2.03 0.032 921 -674.9 354.2 - - 1509 - - - - - - - - - 26.39 -
20879 435.9 10.8 861 20884 done 0.49 - - 2805 - 2.10 0.030 2313 662.9 354.2 - - 1509 - - - - - - - - - 26.38 -
21197 401.7 10.4 877 21203 roll 0.49 - - 2805 - 2.15 0.049 3702 646.0 354.2 - - 1508 - - - - - - - - - 26.25 -
21431 379.6 9.7 888 21437 done 0.49 - - 2805 - 2.03 0.023 2291 -695.1 354.2 - - 1508 - - - - - - - - - 26.54 -
21745 348.1 9.7 904 21751 roll 0.49 - - 2805 - 2.25 0.046 3725 637.3 354.2 - - 1508 - - - - - - - - - 26.25 -
21784 345.8 9.7 905 21791 done 0.49 - - 2804 - 2.05 0.024 2306 -692.2 354.2 - - 1509 - - - - - - - - - 26.53 -
22089 315.1 9.7 921 22095 roll 0.49 - - 2805 - 2.17 0.047 3702 643.3 354.2 - - 1509 - - - - - - - - - 26.25 -
22193 304.8 10.0 926 22199 done 0.49 - - 2805 - 2.03 0.022 2282 -699.5 354.2 - - 1507 - - - - - - - - - 26.55 -
22516 273.3 9.9 942 22522 roll 0.49 - - 2805 - 2.20 0.045 3702 645.5 354.2 - - 1510 - - - - - - - - - 26.26 -
22742 250.1 10.3 953 22747 done 0.49 - - 2804 - 2.00 0.021 2296 -703.0 354.2 - - 1511 - - - - - - - - - 26.58 -
23065 217.3 10.2 969 23071 roll 0.49 - - 2804 - 2.20 0.046 3703 639.5 354.2 - - 1512 - - - - - - - - - 26.26 -
23113 212.8 10.2 971 23119 done 0.49 - - 2805 - 2.00 0.021 2294 -704.5 354.2 - - 1512 - - - - - - - - - 26.58 -
23432 184.0 9.0 987 23437 roll 0.49 - - 2804 - 2.22 0.044 3714 639.6 354.2 - - 1513 - - - - - - - - - 26.26 -
23570 172.0 9.9 993 23578 done 0.49 - - 2805 - 2.03 0.021 2302 -695.6 354.2 - - 1512 - - - - - - - - - 26.58 -
23876 137.3 10.1 1009 23882 roll 0.49 - - 2803 - 2.17 0.046 3706 647.0 354.2 - - 1514 - - - - - - - - - 26.26 -
23924 133.3 9.6 1011 23929 done 0.49 - - 2805 - 2.00 0.021 2287 -709.5 354.2 - - 1513 - - - - - - - - - 26.59 -
24242 108.0 7.1 1027 24243 done 0.49 - - 2805 - - - 2282 - 354.2 - - 1514 - - - - - - - - - - -
24544 83.5 9.3 1042 24545 done 0.49 - - 2805 - - - 2286 - 354.2 - - 1516 - - - - - - - - - - -
24844 57.2 8.1 1057 24846 done 0.49 - - 2806 - - - 2286 - 354.2 - - 1516 - - - - - - - - - - -
25143 29.9 9.0 1082 25144 done 0.49 - - 2805 - - - 2286 - 354.2 - - 1517 - - - - - - - - - - -
25393 end climb: SURFACE_DEPTH_REACHED
25393 begin surface coast
25419 end surface coast: CONTROL_FINISHED_OK
25419 begin surface
SM 1.86 - - - - -7.89 6.75 0.027 114 -398.7 0.25 0.052 2460 696.0 425.10 28.30 0.125 1232 -10.1 0.015 - - - - - -