OKMC Oct12 * SG167 * Dive index * Mission links * Dive 162 * Raw log
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• Previous call tries 1 • 38.01 of 150.00 AH used of 24V (74.66% remains)
• Previous NAKs 0, Timeouts 0 • 25.35 of 110.00 AH used of 10V (76.95% remains)
• Surface angle -69.4 deg, depth 1.81 m • Intended pitch -14.1 deg, speed -8.250 cm/s
• No surface pump (final VBD was 521.26, SM_CC=400)
• GPS1 time: 28 s
• GPS2 time: 5 s • Transponder ping count: 13
• 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 - - - 68 VBD -0.42 - - 108 - - - 2488 - -171.1 -46.92 - 2587 - - - - - - - - - - -
71 3.2 -4.5 8 115 roll -0.42 9.62 0.223 2518 250.5 1.98 0.069 3733 628.8 -171.1 -25.65 - 3666 -42.1 - - - - - - - 25.34 25.19 26.55
228 26.4 -17.1 36 235 done -0.37 0.12 0.148 2551 275.0 1.85 0.019 2430 -704.3 -171.1 - - 3664 - - - - - - - - 26.00 26.33 -
534 69.5 -13.5 60 539 roll -0.34 - - 2551 - 1.98 0.031 1063 -690.4 -171.1 - - 3668 - - - - - - - - - 26.37 -
611 77.3 -12.6 63 618 done -0.33 - - 2552 - 2.03 0.034 2429 672.9 -171.1 - - 3668 - - - - - - - - - 26.34 -
919 110.5 -9.6 79 925 roll -0.35 - - 2550 - 2.03 0.047 3763 657.1 -171.1 - - 3669 - - - - - - - - - 26.31 -
959 112.9 -9.5 80 965 done -0.38 - - 2550 - 1.85 0.019 2429 -721.1 -171.1 - - 3669 - - - - - - - - - 26.60 -
1263 139.3 -8.3 96 1268 roll -0.42 - - 2550 - 1.92 0.029 1080 -702.6 -171.1 - - 3670 - - - - - - - - - 26.50 -
1341 144.6 -8.2 99 1348 done -0.47 - - 2551 - 2.03 0.032 2453 676.4 -171.1 - - 3670 - - - - - - - - - 26.44 -
1647 170.0 -8.0 115 1649 done -0.52 0.15 0.070 2459 -613.3 - - 2454 - -171.1 - - 3670 - - - - - - - - 26.72 - -
1948 214.1 -15.6 130 1954 roll -0.48 0.15 0.143 2508 326.7 2.03 0.030 1069 -682.3 -171.1 - - 3670 - - - - - - - - 26.38 26.51 -
2002 220.3 -14.6 132 2008 done -0.46 - - 2508 - 2.05 0.033 2457 677.1 -171.1 - - 3670 - - - - - - - - - 26.47 -
2316 256.8 -10.8 148 2317 done -0.47 - - 2508 - - - 2457 - -171.1 - - 3670 - - - - - - - - - - -
2618 284.9 -8.6 163 2624 roll -0.49 - - 2508 - 2.00 0.031 1082 -687.5 -171.1 - - 3670 - - - - - - - - - 26.52 -
2656 287.0 -8.4 164 2663 done -0.51 - - 2507 - 2.05 0.036 2463 673.7 -171.1 - - 3669 - - - - - - - - - 26.48 -
2962 312.6 -8.5 180 2963 done -0.53 - - 2508 - - - 2463 - -171.1 - - 3668 - - - - - - - - - - -
3265 343.2 -10.9 195 3266 done -0.56 - - 2508 - - - 2464 - -171.1 - - 3668 - - - - - - - - - - -
3564 373.0 -8.9 210 3565 done -0.59 - - 2507 - - - 2464 - -171.1 - - 3666 - - - - - - - - - - -
3865 394.4 -6.4 225 3871 roll -0.62 0.12 0.082 2426 -675.0 2.03 0.026 1073 -685.2 -171.1 - - 3665 - - - - - - - - 26.74 26.52 -
3943 401.1 -9.3 228 3951 done -0.62 0.15 0.142 2467 273.3 2.05 0.035 2450 671.7 -171.1 - - 3664 - - - - - - - - 26.17 26.46 -
4249 432.0 -9.7 244 4255 roll -0.62 - - 2467 - 1.98 0.045 3754 658.6 -171.1 - - 3663 - - - - - - - - - 26.34 -
4313 438.7 -10.3 247 4319 done -0.62 - - 2467 - 1.80 0.018 2443 -728.3 -171.1 - - 3663 - - - - - - - - - 26.72 -
4636 475.5 -12.1 263 4641 roll -0.62 - - 2466 - 1.95 0.028 1085 -696.4 -171.1 - - 3662 - - - - - - - - - 26.51 -
4750 487.3 -11.4 268 4755 done -0.62 - - 2466 - 2.05 0.036 2458 669.8 -171.1 - - 3662 - - - - - - - - - 26.45 -
5063 514.2 -6.4 284 5064 done -0.62 - - 2466 - - - 2458 - -171.1 - - 3659 - - - - - - - - - - -
5366 532.3 -6.4 299 5371 roll -0.63 - - 2467 - 1.98 0.046 3754 654.5 -171.1 - - 3658 - - - - - - - - - 26.31 -
5410 535.4 -6.7 301 5416 done -0.65 - - 2467 - 1.83 0.019 2440 -718.0 -171.1 - - 3658 - - - - - - - - - 26.70 -
5734 562.9 -9.5 317 5739 roll -0.66 - - 2467 - 1.95 0.028 1083 -695.9 -171.1 - - 3656 - - - - - - - - - 26.52 -
5767 565.4 -9.6 318 5772 done -0.68 - - 2467 - 2.05 0.034 2458 670.7 -171.1 - - 3655 - - - - - - - - - 26.42 -
6080 598.1 -9.8 334 6085 roll -0.69 - - 2467 - 2.00 0.047 3765 653.5 -171.1 - - 3653 - - - - - - - - - 26.26 -
6133 601.4 -9.9 336 6139 done -0.71 - - 2467 - 1.85 0.020 2439 -716.8 -171.1 - - 3653 - - - - - - - - - 26.67 -
6447 630.7 -8.5 347 6453 roll -0.73 - - 2467 - 2.08 0.047 3763 636.5 -171.1 - - 3651 - - - - - - - - - 26.23 -
6485 633.6 -8.4 348 6492 done -0.75 0.12 0.083 2401 -550.0 1.83 0.022 2445 -720.2 -171.1 - - 3651 - - - - - - - - 26.51 26.65 -
6817 671.6 -11.1 359 6823 roll -0.72 0.12 0.155 2440 325.0 1.98 0.028 1100 -679.3 -171.1 - - 3648 - - - - - - - - 26.39 25.97 -
6896 677.6 -10.0 361 6901 done -0.70 - - 2440 - 2.03 0.035 2450 665.0 -171.1 - - 3648 - - - - - - - - - 26.38 -
7214 706.0 -8.7 372 7215 done -0.70 - - 2440 - - - 2450 - -171.1 - - 3645 - - - - - - - - - - -
7514 733.3 -9.3 382 7520 roll -0.70 - - 2440 - 1.98 0.028 1098 -682.8 -171.1 - - 3643 - - - - - - - - - 26.44 -
7557 736.4 -9.2 383 7562 done -0.70 - - 2440 - 2.03 0.035 2450 666.0 -171.1 - - 3643 - - - - - - - - - 26.34 -
7880 766.1 -8.6 394 7885 roll -0.70 - - 2440 - 2.03 0.048 3763 646.8 -171.1 - - 3640 - - - - - - - - - 26.17 -
7932 768.9 -8.5 395 7938 done -0.70 - - 2441 - 1.85 0.023 2451 -709.2 -171.1 - - 3638 - - - - - - - - - 26.63 -
8248 793.7 -7.3 406 8253 roll -0.70 - - 2440 - 2.05 0.048 3753 635.1 -171.1 - - 3639 - - - - - - - - - 26.15 -
8285 796.4 -7.3 407 8291 done -0.70 - - 2440 - 1.85 0.024 2446 -706.5 -171.1 - - 3638 - - - - - - - - - 26.59 -
8616 822.5 -8.0 418 8617 done -0.70 - - 2440 - - - 2444 - -171.1 - - 3640 - - - - - - - - - - -
8914 849.3 -9.4 428 8919 roll -0.70 - - 2440 - 2.05 0.049 3755 639.5 -171.1 - - 3634 - - - - - - - - - 26.12 -
8951 852.6 -9.5 429 8958 done -0.70 - - 2440 - 1.85 0.024 2446 -707.6 -171.1 - - 3634 - - - - - - - - - 26.59 -
9282 886.6 -10.5 440 9283 done -0.70 - - 2440 - - - 2445 - -171.1 - - 3632 - - - - - - - - - - -
9581 919.5 -10.8 450 9586 roll -0.70 - - 2440 - 2.08 0.051 3757 630.8 -171.1 - - 3631 - - - - - - - - - 25.84 -
9633 923.1 -10.6 451 9638 done -0.70 - - 2440 - 1.85 0.024 2454 -704.3 -171.1 - - 3631 - - - - - - - - - 26.57 -
9948 956.3 -9.8 462 9949 done -0.71 - - 2440 - - - 2453 - -171.1 - - 3630 - - - - - - - - - - -
10247 984.3 -9.3 472 10249 done -0.72 - - 2440 - - - 2452 - -171.1 - - 3628 - - - - - - - - - - -
10334 end dive: TARGET_DEPTH_EXCEEDED
10334 begin apogee
10340 992.4 -9.1 475 10497 done -0.20 0.47 0.107 2598 336.2 - - 2290 - - 147.12 1.358 2964 -4.5 0.360 - - - - - - 25.79 - 23.06
10498 end apogee: CONTROL_FINISHED_OK
10498 begin climb
10501 999.1 - 480 10670 done 0.42 0.60 0.070 2807 348.3 - - 2290 - 171.1 160.60 1.340 2266 -4.3 0.353 - - - - - - 24.53 - 22.53
10968 973.2 7.2 496 11005 roll 0.46 - - 2803 - 2.38 0.047 3713 597.9 202.9 29.52 1.307 2133 -4.5 0.366 - - - - - - - 25.25 23.91
11203 955.4 8.8 503 11210 done 0.44 - - 2813 - 2.10 0.028 2319 -663.8 202.9 - - 2127 - - - - - - - - - 26.10 -
11510 929.8 7.4 514 11539 roll 0.45 - - 2813 - 2.25 0.037 912 -625.3 227.6 24.25 1.300 2033 -3.9 0.302 - - - - - - - 25.62 24.26
11566 927.8 7.3 515 11602 done 0.47 - - 2813 - 2.15 0.032 2306 648.4 257.4 29.80 1.284 1915 -4.0 0.312 - - - - - - - 25.46 23.96
11904 904.7 5.9 527 11981 roll 0.51 - - 2813 - 2.30 0.047 3697 604.8 329.5 71.03 1.218 1618 -4.2 0.339 - - - - - - - 24.97 23.84
11998 899.5 5.9 530 12078 done 0.56 0.12 0.081 2875 516.7 2.15 0.027 2299 -650.2 402.6 72.47 1.190 1323 -4.1 0.335 - - - - - - 25.30 25.34 23.37
12386 865.7 8.5 543 12391 roll 0.57 - - 2876 - 2.10 0.037 912 -660.5 402.6 - - 1309 - - - - - - - - - 26.01 -
12502 858.1 8.1 546 12507 done 0.59 - - 2875 - 2.10 0.031 2301 661.4 408.0 - - 1309 - - - - - - - - - 26.15 -
12818 829.2 9.0 557 12824 roll 0.60 - - 2875 - 2.10 0.037 911 -661.9 408.0 - - 1307 - - - - - - - - - 26.27 -
12866 825.8 9.1 558 12871 done 0.62 - - 2875 - 2.10 0.031 2308 665.2 408.0 - - 1307 - - - - - - - - - 26.31 -
13187 792.4 10.3 569 13192 roll 0.63 - - 2875 - 2.12 0.036 901 -663.7 408.0 - - 1306 - - - - - - - - - 26.34 -
13220 788.7 10.3 570 13226 done 0.64 - - 2875 - 2.10 0.030 2302 667.1 408.0 - - 1306 - - - - - - - - - 26.37 -
13556 755.0 10.1 581 13563 roll 0.66 - - 2880 - 2.12 0.037 902 -660.4 408.0 - - 1305 - - - - - - - - - 26.36 -
13607 751.3 10.1 582 13612 done 0.67 - - 2875 - 2.10 0.031 2308 669.5 408.0 - - 1305 - - - - - - - - - 26.40 -
13927 716.3 10.6 593 13932 roll 0.69 - - 2875 - 2.10 0.036 909 -666.2 408.0 - - 1305 - - - - - - - - - 26.38 -
13985 712.6 10.5 594 13991 done 0.71 - - 2875 - 2.08 0.031 2303 670.2 408.0 - - 1305 - - - - - - - - - 26.41 -
14290 679.4 10.0 605 14296 roll 0.72 - - 2875 - 2.10 0.036 905 -665.7 408.0 - - 1304 - - - - - - - - - 26.39 -
14344 676.0 9.9 606 14351 done 0.74 0.10 0.096 2931 560.0 2.10 0.030 2304 666.2 408.0 - - 1304 - - - - - - - - 26.38 26.41 -
14660 631.6 13.8 617 14666 roll 0.72 - - 2935 - 2.12 0.037 904 -660.4 408.0 - - 1304 - - - - - - - - - 26.36 -
14714 627.1 13.5 618 14720 done 0.70 0.15 0.125 2891 -293.3 2.10 0.030 2309 669.0 408.0 - - 1304 - - - - - - - - 25.96 25.60 -
15030 592.2 10.2 630 15035 roll 0.70 - - 2894 - 2.10 0.036 911 -665.7 408.0 - - 1304 - - - - - - - - - 26.37 -
15077 587.7 10.2 632 15083 done 0.71 - - 2893 - 2.08 0.031 2302 668.8 408.0 - - 1304 - - - - - - - - - 26.41 -
15395 553.4 11.1 648 15401 roll 0.71 - - 2893 - 2.10 0.035 910 -662.9 408.0 - - 1303 - - - - - - - - - 26.36 -
15434 550.8 11.1 649 15440 done 0.72 - - 2894 - 2.08 0.029 2302 669.2 408.0 - - 1304 - - - - - - - - - 26.41 -
15739 514.9 11.4 665 15744 roll 0.74 - - 2893 - 2.10 0.035 904 -665.7 408.0 - - 1303 - - - - - - - - - 26.36 -
15797 510.0 11.6 667 15804 done 0.75 - - 2894 - 2.10 0.029 2304 666.7 408.0 - - 1303 - - - - - - - - - 26.40 -
16102 472.7 11.0 683 16104 done 0.77 - - 2894 - - - 2304 - 408.0 - - 1303 - - - - - - - - - - -
16405 441.9 10.1 698 16410 roll 0.78 - - 2893 - 2.10 0.034 897 -670.0 408.0 - - 1303 - - - - - - - - - 26.36 -
16457 437.4 10.0 700 16463 done 0.80 0.10 0.095 2952 590.0 2.08 0.029 2301 675.0 408.0 - - 1303 - - - - - - - - 26.35 26.39 -
16771 394.9 13.2 716 16778 roll 0.77 0.12 0.139 2912 -333.3 2.10 0.033 903 -665.7 408.0 - - 1304 - - - - - - - - 26.39 26.34 -
16825 390.2 12.1 718 16830 done 0.76 - - 2912 - 2.08 0.028 2302 672.6 408.0 - - 1303 - - - - - - - - - 26.39 -
17138 360.5 9.5 734 17143 roll 0.76 - - 2912 - 2.15 0.044 3703 651.6 408.0 - - 1303 - - - - - - - - - 26.23 -
17205 353.6 10.8 737 17211 done 0.76 - - 2912 - 2.05 0.024 2293 -687.8 408.0 - - 1303 - - - - - - - - - 26.52 -
17524 321.3 9.8 753 17529 roll 0.76 - - 2912 - 2.05 0.034 904 -677.6 408.0 - - 1303 - - - - - - - - - 26.34 -
17607 313.1 10.0 757 17613 done 0.78 - - 2912 - 2.08 0.028 2304 673.1 408.0 - - 1303 - - - - - - - - - 26.40 -
17931 279.0 10.2 773 17936 roll 0.79 - - 2912 - 2.15 0.044 3699 648.8 408.0 - - 1303 - - - - - - - - - 26.23 -
17964 276.4 10.4 774 17969 done 0.81 - - 2912 - 2.03 0.023 2294 -692.1 408.0 - - 1303 - - - - - - - - - 26.53 -
18277 241.1 11.3 790 18283 roll 0.82 - - 2912 - 2.03 0.034 919 -677.3 408.0 - - 1303 - - - - - - - - - 26.35 -
18341 233.8 11.4 793 18348 done 0.85 - - 2912 - 2.05 0.028 2301 674.1 408.0 - - 1303 - - - - - - - - - 26.40 -
18666 198.4 10.5 809 18668 done 0.87 0.12 0.080 2987 625.0 - - 2301 - 408.0 - - 1303 - - - - - - - - 26.70 - -
18966 151.9 15.8 824 18972 roll 0.83 0.15 0.126 2945 -280.0 2.08 0.031 915 -666.3 408.0 - - 1303 - - - - - - - - 26.39 26.37 -
19019 146.4 14.2 826 19025 done 0.81 - - 2944 - 2.05 0.028 2308 679.5 408.0 - - 1304 - - - - - - - - - 26.41 -
19334 111.1 10.6 842 19339 roll 0.81 - - 2945 - 2.12 0.043 3705 659.0 408.0 - - 1304 - - - - - - - - - 26.25 -
19377 106.3 10.9 844 19382 done 0.81 - - 2948 - 2.03 0.022 2293 -695.6 408.0 - - 1304 - - - - - - - - - 26.55 -
19700 75.9 8.8 860 19706 roll 0.82 - - 2953 - 2.03 0.032 905 -683.7 408.0 - - 1305 - - - - - - - - - 26.38 -
19765 70.2 8.8 863 19771 done 0.84 - - 2954 - 2.05 0.027 2304 682.4 408.0 - - 1305 - - - - - - - - - 26.44 -
20079 42.7 8.4 882 20084 roll 0.87 - - 2954 - 2.12 0.042 3694 655.7 408.0 - - 1305 - - - - - - - - - 26.27 -
20113 39.6 9.1 885 20119 done 0.90 - - 2954 - 2.00 0.021 2293 -700.5 408.0 - - 1305 - - - - - - - - - 26.57 -
20423 15.9 6.7 927 20449 roll 0.95 - - 2954 - 2.10 0.032 914 -656.7 455.9 20.92 0.157 1107 -9.5 0.104 - - - - - - - 26.32 25.44
20499 10.7 6.1 940 20537 done 1.04 0.15 0.067 3048 626.7 2.03 0.027 2301 683.3 521.1 27.30 0.146 841 -9.7 0.078 - - - - - - 26.37 26.39 25.64
20565 end climb: SURFACE_DEPTH_REACHED
20565 begin surface coast
20587 end surface coast: CONTROL_FINISHED_OK
20587 begin surface
SM 1.80 - - - - -7.90 7.43 0.027 116 -394.6 0.20 0.063 2463 810.0 521.26 - - 843 - - - - - - - -