OKMC Oct12 * SG167 * Dive index * Mission links * Dive 172 * Raw log
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• Previous call tries 1 • 39.98 of 150.00 AH used of 24V (73.35% remains)
• Previous NAKs 0, Timeouts 0 • 26.63 of 110.00 AH used of 10V (75.79% remains)
• Surface angle -60.5 deg, depth 1.64 m • Intended pitch -14.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 612.27, SM_CC=400)
• GPS1 time: 31 s
• GPS2 time: 4 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 - - - 93 VBD -0.56 - - 112 - - - 2472 - -171.1 -71.95 - 2694 - - - - - - - - - - -
97 3.4 -3.9 7 134 roll -0.56 9.43 0.224 2464 249.4 2.00 0.057 3752 640.0 -171.1 -22.58 - 3667 -43.1 - - - - - - - 25.27 26.07 26.60
347 51.5 -21.0 31 355 done -0.53 - - 2464 - 1.85 0.018 2404 -728.6 -171.1 - - 3668 - - - - - - - - - 26.47 -
655 108.1 -15.2 47 662 roll -0.50 0.12 0.155 2503 325.0 1.88 0.025 1094 -696.8 -171.1 - - 3668 - - - - - - - - 26.30 26.41 -
694 111.0 -13.9 48 701 done -0.48 - - 2503 - 2.00 0.033 2446 676.0 -171.1 - - 3669 - - - - - - - - - 26.39 -
1000 141.3 -10.5 64 1005 roll -0.48 - - 2504 - 1.98 0.044 3757 662.1 -171.1 - - 3669 - - - - - - - - - 26.32 -
1044 146.1 -10.7 66 1049 done -0.49 - - 2503 - 1.77 0.018 2435 -746.9 -171.1 - - 3669 - - - - - - - - - 26.66 -
1367 184.2 -11.9 82 1372 roll -0.50 - - 2503 - 1.88 0.027 1119 -700.0 -171.1 - - 3669 - - - - - - - - - 26.48 -
1455 193.6 -11.3 86 1460 done -0.51 - - 2503 - 1.98 0.034 2457 675.8 -171.1 - - 3668 - - - - - - - - - 26.47 -
1774 229.4 -12.2 102 1775 done -0.52 - - 2503 - - - 2457 - -171.1 - - 3669 - - - - - - - - - - -
2074 264.4 -9.8 117 2081 roll -0.53 - - 2503 - 1.95 0.027 1107 -692.3 -171.1 - - 3668 - - - - - - - - - 26.49 -
2119 268.7 -9.2 119 2125 done -0.54 - - 2503 - 2.00 0.034 2449 671.0 -171.1 - - 3668 - - - - - - - - - 26.48 -
2443 294.9 -8.1 135 2448 roll -0.55 - - 2503 - 1.98 0.044 3763 663.6 -171.1 - - 3667 - - - - - - - - - 26.36 -
2511 300.5 -8.8 138 2517 done -0.57 - - 2503 - 1.83 0.020 2457 -713.7 -171.1 - - 3667 - - - - - - - - - 26.66 -
2830 330.5 -8.8 154 2835 roll -0.59 - - 2503 - 1.95 0.028 1092 -700.0 -171.1 - - 3666 - - - - - - - - - 26.33 -
2874 334.3 -8.7 156 2880 done -0.60 0.12 0.078 2425 -650.0 2.00 0.031 2454 681.0 -171.1 - - 3665 - - - - - - - - 26.47 26.49 -
3199 373.1 -10.7 172 3205 roll -0.58 0.12 0.152 2465 333.3 1.98 0.026 1087 -690.4 -171.1 - - 3664 - - - - - - - - 26.41 26.57 -
3265 378.3 -8.4 175 3271 done -0.58 - - 2465 - 2.03 0.031 2451 671.9 -171.1 - - 3664 - - - - - - - - - 26.47 -
3588 409.7 -10.6 191 3589 done -0.58 - - 2465 - - - 2452 - -171.1 - - 3663 - - - - - - - - - - -
3892 444.1 -10.6 206 3897 roll -0.58 - - 2465 - 1.98 0.044 3761 661.1 -171.1 - - 3662 - - - - - - - - - 26.36 -
3915 446.9 -10.6 207 3921 done -0.59 - - 2465 - 1.80 0.020 2445 -731.1 -171.1 - - 3662 - - - - - - - - - 26.70 -
4239 481.8 -11.3 223 4244 roll -0.60 - - 2465 - 2.03 0.045 3769 652.2 -171.1 - - 3661 - - - - - - - - - 25.79 -
4277 484.5 -11.3 224 4283 done -0.61 - - 2465 - 1.80 0.021 2455 -730.0 -171.1 - - 3663 - - - - - - - - - 26.69 -
4583 519.3 -10.1 240 4588 roll -0.62 - - 2465 - 1.98 0.025 1079 -694.9 -171.1 - - 3659 - - - - - - - - - 26.53 -
4655 525.6 -9.7 243 4660 done -0.63 - - 2465 - 2.03 0.032 2450 675.4 -171.1 - - 3658 - - - - - - - - - 26.45 -
4969 553.6 -8.3 259 4970 done -0.64 - - 2465 - - - 2449 - -171.1 - - 3659 - - - - - - - - - - -
5270 580.7 -9.4 274 5275 roll -0.65 - - 2465 - 2.00 0.047 3756 653.5 -171.1 - - 3654 - - - - - - - - - 25.82 -
5308 583.2 -9.6 275 5314 done -0.66 - - 2465 - 1.83 0.021 2437 -720.8 -171.1 - - 3654 - - - - - - - - - 26.67 -
5625 614.8 -9.3 289 5631 roll -0.67 - - 2465 - 1.92 0.026 1088 -702.6 -171.1 - - 3648 - - - - - - - - - 26.51 -
5663 617.8 -8.9 290 5668 done -0.69 - - 2465 - 2.05 0.035 2459 668.8 -171.1 - - 3651 - - - - - - - - - 26.03 -
5993 643.6 -7.8 301 5994 done -0.70 - - 2465 - - - 2459 - -171.1 - - 3648 - - - - - - - - - - -
6292 673.7 -11.0 311 6298 roll -0.71 0.10 0.096 2408 -570.0 2.00 0.045 3765 653.0 -171.1 - - 3647 - - - - - - - - 26.73 26.27 -
6330 678.6 -11.8 312 6336 done -0.72 - - 2406 - 1.83 0.022 2451 -718.0 -171.1 - - 3646 - - - - - - - - - 26.65 -
6662 725.7 -13.7 323 6663 done -0.71 - - 2408 - - - 2451 - -171.1 - - 3643 - - - - - - - - - - -
6959 760.0 -10.6 333 6960 done -0.70 - - 2408 - - - 2451 - -171.1 - - 3642 - - - - - - - - - - -
7259 791.1 -10.5 343 7264 roll -0.69 - - 2401 - 2.03 0.052 3752 640.9 -171.1 - - 3640 - - - - - - - - - 24.74 -
7302 795.2 -11.0 344 7308 done -0.68 0.15 0.147 2442 273.3 1.83 0.023 2448 -712.6 -171.1 - - 3640 - - - - - - - - 26.15 26.63 -
7628 831.2 -11.0 355 7629 done -0.69 - - 2441 - - - 2446 - -171.1 - - 3638 - - - - - - - - - - -
7927 862.7 -9.9 365 7932 roll -0.69 - - 2442 - 2.05 0.050 3758 640.0 -171.1 - - 3636 - - - - - - - - - 25.10 -
7984 865.8 -9.6 366 7991 done -0.70 - - 2442 - 1.85 0.025 2455 -704.3 -171.1 - - 3635 - - - - - - - - - 26.59 -
8292 892.0 -7.5 377 8299 roll -0.71 - - 2441 - 2.00 0.028 1084 -685.5 -171.1 - - 3634 - - - - - - - - - 26.41 -
8331 894.7 -7.4 378 8336 done -0.72 - - 2441 - 2.05 0.034 2450 666.3 -171.1 - - 3634 - - - - - - - - - 26.32 -
8662 918.3 -7.2 389 8667 roll -0.72 - - 2441 - 2.05 0.053 3764 641.0 -171.1 - - 3636 - - - - - - - - - 26.13 -
8690 918.3 -7.2 389 8697 done -0.73 - - 2448 - 1.88 0.025 2453 -697.3 -171.1 - - 3632 - - - - - - - - - 26.58 -
8998 943.3 -7.7 400 8999 done -0.74 - - 2441 - - - 2452 - -171.1 - - 3630 - - - - - - - - - - -
9296 967.4 -8.1 410 9297 done -0.75 - - 2442 - - - 2452 - -171.1 - - 3629 - - - - - - - - - - -
9593 end dive: TARGET_DEPTH_EXCEEDED
9593 begin apogee
9600 990.8 -7.8 420 9760 done -0.27 0.38 0.112 2567 328.9 - - 2290 - - 150.23 1.315 2961 -4.4 0.365 - - - - - - 25.91 - 23.00
9761 end apogee: CONTROL_FINISHED_OK
9762 begin climb
9764 996.0 - 425 9937 roll 0.56 0.80 0.083 2833 332.5 2.20 0.033 937 -615.0 171.1 163.25 1.323 2260 -4.3 0.352 - - - - - - 24.46 23.84 22.49
9965 987.3 6.5 432 10033 done 0.58 - - 2833 - 2.22 0.031 2304 615.8 234.6 61.12 1.294 2006 -4.2 0.346 - - - - - - - 24.49 22.49
10351 954.0 8.8 445 10352 done 0.58 - - 2833 - - - 2304 - 234.6 - - 1988 - - - - - - - - - - -
10652 926.6 9.5 455 10657 roll 0.58 - - 2834 - 2.20 0.047 3710 639.1 234.6 - - 1986 - - - - - - - - - 26.13 -
10699 923.0 9.9 456 10704 done 0.58 - - 2840 - 2.05 0.028 2323 -676.6 234.6 - - 1985 - - - - - - - - - 26.32 -
11019 889.7 9.7 467 11024 roll 0.58 - - 2840 - 2.12 0.035 904 -669.3 234.6 - - 1985 - - - - - - - - - 26.30 -
11066 886.6 9.5 468 11072 done 0.58 - - 2840 - 2.10 0.031 2304 666.7 234.6 - - 1984 - - - - - - - - - 26.33 -
11387 857.1 8.7 479 11392 roll 0.58 - - 2840 - 2.17 0.047 3702 644.2 234.6 - - 1981 - - - - - - - - - 26.26 -
11424 853.6 9.1 480 11430 done 0.58 - - 2840 - 2.08 0.028 2296 -676.0 234.6 - - 1983 - - - - - - - - - 26.45 -
11755 817.8 11.6 491 11760 roll 0.58 - - 2840 - 2.08 0.036 911 -665.9 234.6 - - 1983 - - - - - - - - - 26.35 -
11802 813.6 11.7 492 11808 done 0.58 - - 2840 - 2.10 0.031 2305 663.8 234.6 - - 1982 - - - - - - - - - 26.37 -
12122 772.9 12.2 503 12127 roll 0.58 - - 2840 - 2.17 0.047 3705 645.2 234.6 - - 1982 - - - - - - - - - 26.25 -
12179 768.7 12.2 504 12187 done 0.58 - - 2840 - 2.08 0.028 2292 -679.3 234.6 - - 1981 - - - - - - - - - 26.48 -
12486 737.9 7.4 515 12525 done 0.59 - - 2840 - - - 2292 - 272.9 36.83 1.174 1857 -3.4 0.231 - - - - - - - - 24.18
12817 724.1 3.5 526 12986 roll 0.66 - - 2840 - 2.30 0.034 922 -595.7 423.4 155.43 1.073 1228 -4.0 0.298 - - - - - - - 24.45 23.34
13018 714.0 5.9 532 13113 done 0.71 0.15 0.070 2912 480.0 2.20 0.029 2304 628.2 504.8 86.47 1.039 905 -3.7 0.280 - - - - - - 24.95 24.94 22.94
13424 649.6 16.6 546 13425 done 0.72 - - 2912 - - - 2311 - 504.8 - - 884 - - - - - - - - - - -
13723 611.2 11.3 556 13728 roll 0.73 - - 2912 - 2.12 0.034 907 -662.3 504.8 - - 883 - - - - - - - - - 26.15 -
13776 607.9 10.8 557 13781 done 0.74 - - 2911 - 2.10 0.028 2309 667.6 504.8 - - 882 - - - - - - - - - 26.22 -
14090 576.8 10.2 572 14096 roll 0.75 - - 2912 - 2.10 0.034 917 -662.9 504.8 - - 882 - - - - - - - - - 26.28 -
14135 572.1 10.4 574 14140 done 0.77 - - 2912 - 2.08 0.030 2305 667.3 504.8 - - 881 - - - - - - - - - 26.31 -
14458 529.7 13.3 590 14465 roll 0.78 - - 2912 - 2.12 0.034 907 -659.4 504.8 - - 881 - - - - - - - - - 26.33 -
14483 526.6 13.1 591 14489 done 0.80 - - 2912 - 2.10 0.029 2301 663.8 504.8 - - 881 - - - - - - - - - 26.36 -
14807 493.5 8.9 607 14813 roll 0.81 - - 2914 - 2.10 0.034 905 -664.8 504.8 - - 880 - - - - - - - - - 26.35 -
14865 489.9 8.3 609 14873 done 0.84 - - 2912 - 2.08 0.028 2305 673.1 516.1 2.30 0.365 860 -8.7 1.272 - - - - - - - 26.39 24.03
15171 461.5 8.2 625 15197 done 0.86 - - 2912 - - - 2305 - 529.2 23.65 0.871 810 -2.1 0.122 - - - - - - - - 24.80
15491 439.0 7.9 641 15520 roll 0.89 0.10 0.096 2973 610.0 2.15 0.032 905 -651.2 551.8 21.92 0.913 710 -4.6 0.239 - - - - - - 26.40 25.84 24.62
15564 431.5 11.1 644 15570 done 0.90 - - 2974 - 2.12 0.028 2308 661.8 551.8 - - 701 - - - - - - - - - 25.97 -
15879 380.8 16.2 660 15880 done 0.89 - - 2973 - - - 2308 - 551.8 - - 699 - - - - - - - - - - -
16180 329.2 18.2 675 16186 roll 0.89 - - 2973 - 2.10 0.032 910 -665.7 551.8 - - 698 - - - - - - - - - 26.29 -
16208 324.5 17.8 676 16213 done 0.89 - - 2973 - 2.08 0.028 2307 671.6 551.8 - - 700 - - - - - - - - - 26.32 -
16526 274.4 13.2 692 16532 roll 0.89 - - 2973 - 2.15 0.044 3707 651.2 551.8 - - 699 - - - - - - - - - 26.27 -
16549 271.3 13.0 693 16555 done 0.89 - - 2973 - 2.05 0.024 2298 -687.3 551.8 - - 699 - - - - - - - - - 26.47 -
16872 226.8 13.8 709 16877 roll 0.89 - - 2973 - 2.05 0.032 906 -679.0 551.8 - - 699 - - - - - - - - - 26.38 -
16930 221.3 13.4 711 16937 done 0.89 - - 2973 - 2.08 0.027 2304 672.1 551.8 - - 699 - - - - - - - - - 26.41 -
17236 176.5 13.5 727 17237 done 0.90 - - 2973 - - - 2304 - 551.8 - - 699 - - - - - - - - - - -
17537 135.7 13.2 742 17543 roll 0.91 - - 2973 - 2.08 0.030 903 -673.6 551.8 - - 700 - - - - - - - - - 26.43 -
17571 132.7 12.5 743 17576 done 0.92 - - 2973 - 2.05 0.025 2308 685.4 551.8 - - 699 - - - - - - - - - 26.46 -
17884 102.0 12.7 759 17889 roll 0.94 - - 2973 - 2.12 0.041 3696 654.7 551.8 - - 700 - - - - - - - - - 26.34 -
17908 98.7 13.2 760 17913 done 0.96 - - 2973 - 2.00 0.021 2290 -703.0 551.8 - - 700 - - - - - - - - - 26.58 -
18232 69.8 6.0 776 18265 roll 1.02 - - 2973 - 2.00 0.028 924 -683.0 631.3 27.38 0.274 458 -8.8 0.245 - - - - - - - 26.34 25.45
18320 64.1 6.7 780 18336 done 1.08 0.10 0.092 3047 740.0 2.03 0.024 2299 677.3 688.1 7.43 0.122 462 0.5 -0.031 - - - - - - 26.30 26.36 25.80
18634 17.2 13.5 806 18643 done 1.08 0.15 0.136 3003 -293.3 - - 2300 - 688.1 5.78 0.119 461 - - - - - - - - 26.29 - 25.84
18771 end climb: SURFACE_DEPTH_REACHED
18772 begin surface coast
18802 end surface coast: CONTROL_FINISHED_OK
18802 begin surface
SM 1.48 - - - - -7.85 7.30 0.030 127 -394.0 0.20 0.067 2456 780.0 612.27 - - 472 - - - - - - - -