OKMC Oct12 * SG167 * Dive index * Mission links * Dive 196 * Raw log
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• Previous call tries 1 • 45.41 of 150.00 AH used of 24V (69.73% remains)
• Previous NAKs 0, Timeouts 0 • 29.61 of 110.00 AH used of 10V (73.08% remains)
• Surface angle -55.5 deg, depth 1.58 m • Intended pitch -13.8 deg, speed -8.049 cm/s
• No surface pump (final VBD was 454.54, SM_CC=400)
• GPS1 time: 38 s
• GPS2 time: 6 s • Transponder ping count: 22
• 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 - - - 105 VBD -0.53 - - 104 - - - 2473 - -171.1 -82.78 - 2764 - - - - - - - - - - -
109 3.7 -4.6 8 145 roll -0.53 9.55 0.220 2520 253.0 2.05 0.065 3733 614.6 -171.1 -18.75 - 3668 -48.2 - - - - - - - 25.26 26.02 26.62
224 23.3 -15.5 19 229 done -0.51 - - 2520 - 1.83 0.022 2466 -692.3 -171.1 - - 3669 - - - - - - - - - 26.32 -
538 70.9 -13.7 43 544 roll -0.48 - - 2520 - 2.10 0.034 1042 -678.1 -171.1 - - 3670 - - - - - - - - - 26.37 -
587 78.0 -15.1 45 592 done -0.46 - - 2519 - 2.12 0.042 2435 657.1 -171.1 - - 3670 - - - - - - - - - 26.27 -
905 120.2 -10.4 61 911 roll -0.46 0.10 0.155 2547 280.0 2.05 0.031 1043 -679.0 -171.1 - - 3670 - - - - - - - - 26.51 26.48 -
943 122.2 -9.8 62 950 done -0.47 - - 2547 - 2.12 0.033 2463 669.8 -171.1 - - 3670 - - - - - - - - - 26.41 -
1249 146.9 -8.6 78 1254 roll -0.50 - - 2547 - 1.98 0.047 3767 658.6 -171.1 - - 3668 - - - - - - - - - 26.36 -
1282 149.1 -8.8 79 1288 done -0.53 - - 2547 - 1.90 0.019 2422 -707.9 -171.1 - - 3670 - - - - - - - - - 26.63 -
1597 176.8 -7.3 95 1602 roll -0.57 - - 2547 - 1.95 0.029 1065 -695.9 -171.1 - - 3670 - - - - - - - - - 26.53 -
1645 179.7 -6.8 97 1651 done -0.61 0.12 0.080 2465 -683.3 2.08 0.032 2460 670.7 -171.1 - - 3670 - - - - - - - - 26.46 26.46 -
1964 214.0 -11.5 113 1971 roll -0.59 0.12 0.143 2506 341.7 1.98 0.044 3765 659.1 -171.1 - - 3670 - - - - - - - - 26.46 26.38 -
1998 216.5 -11.2 114 2004 done -0.58 - - 2506 - 1.85 0.018 2438 -717.3 -171.1 - - 3670 - - - - - - - - - 26.65 -
2312 244.5 -9.3 130 2317 roll -0.59 - - 2506 - 1.98 0.029 1070 -690.9 -171.1 - - 3670 - - - - - - - - - 25.28 -
2356 248.8 -9.7 132 2361 done -0.60 - - 2506 - 2.08 0.039 2453 664.9 -171.1 - - 3670 - - - - - - - - - 25.97 -
2679 285.8 -11.7 148 2684 roll -0.62 - - 2506 - 1.98 0.047 3760 660.1 -171.1 - - 3669 - - - - - - - - - 26.37 -
2743 293.0 -11.5 151 2749 done -0.64 - - 2506 - 1.85 0.019 2437 -715.1 -171.1 - - 3669 - - - - - - - - - 26.65 -
3067 323.5 -8.4 167 3068 done -0.66 - - 2506 - - - 2438 - -171.1 - - 3668 - - - - - - - - - - -
3369 348.2 -8.3 182 3370 done -0.68 - - 2506 - - - 2438 - -171.1 - - 3667 - - - - - - - - - - -
3668 373.4 -8.5 197 3673 roll -0.70 - - 2506 - 1.95 0.028 1071 -701.0 -171.1 - - 3666 - - - - - - - - - 26.53 -
3715 377.4 -8.8 199 3722 done -0.72 0.12 0.080 2429 -641.7 2.08 0.032 2457 666.3 -171.1 - - 3666 - - - - - - - - 26.45 26.45 -
4036 417.8 -12.6 215 4042 roll -0.70 0.12 0.149 2469 333.3 2.03 0.027 1063 -686.7 -171.1 - - 3664 - - - - - - - - 26.41 26.53 -
4100 424.7 -11.1 218 4105 done -0.69 - - 2469 - 2.10 0.034 2459 664.8 -171.1 - - 3664 - - - - - - - - - 26.44 -
4424 454.5 -8.6 234 4429 roll -0.69 - - 2469 - 2.00 0.028 1072 -693.5 -171.1 - - 3662 - - - - - - - - - 26.53 -
4481 458.4 -8.6 236 4488 done -0.69 - - 2469 - 2.08 0.034 2457 665.9 -171.1 - - 3662 - - - - - - - - - 26.43 -
4787 487.4 -9.4 252 4793 roll -0.69 - - 2469 - 1.98 0.047 3759 657.6 -171.1 - - 3661 - - - - - - - - - 26.35 -
4820 489.8 -9.7 253 4826 done -0.70 - - 2470 - 1.85 0.020 2438 -714.1 -171.1 - - 3661 - - - - - - - - - 26.65 -
5134 519.9 -8.8 269 5135 done -0.71 - - 2469 - - - 2438 - -171.1 - - 3659 - - - - - - - - - - -
5436 544.9 -8.3 284 5437 done -0.72 - - 2469 - - - 2437 - -171.1 - - 3658 - - - - - - - - - - -
5737 568.8 -7.7 299 5738 done -0.73 - - 2469 - - - 2438 - -171.1 - - 3656 - - - - - - - - - - -
6036 590.9 -7.7 314 6037 done -0.74 - - 2469 - - - 2438 - -171.1 - - 3654 - - - - - - - - - - -
6357 613.9 -6.9 327 6362 roll -0.75 - - 2469 - 1.98 0.031 1074 -688.9 -171.1 - - 3651 - - - - - - - - - 26.29 -
6444 618.7 -6.9 329 6451 done -0.77 - - 2469 - 2.08 0.036 2451 662.0 -171.1 - - 3651 - - - - - - - - - 25.77 -
6753 642.5 -7.4 340 6758 roll -0.78 - - 2469 - 2.00 0.047 3762 655.5 -171.1 - - 3649 - - - - - - - - - 26.27 -
6787 645.1 -7.4 341 6792 done -0.80 - - 2469 - 1.88 0.022 2440 -703.2 -171.1 - - 3649 - - - - - - - - - 26.60 -
7124 670.4 -7.9 352 7129 roll -0.81 - - 2469 - 1.98 0.030 1078 -687.9 -171.1 - - 3647 - - - - - - - - - 26.45 -
7189 676.4 -8.4 354 7195 done -0.83 0.12 0.084 2408 -508.3 2.10 0.037 2459 657.6 -171.1 - - 3646 - - - - - - - - 26.14 25.91 -
7525 718.2 -12.7 365 7527 done -0.81 0.12 0.155 2441 275.0 - - 2460 - -171.1 - - 3644 - - - - - - - - 26.43 - -
7823 746.4 -8.6 375 7824 done -0.81 - - 2440 - - - 2460 - -171.1 - - 3642 - - - - - - - - - - -
8123 771.2 -8.5 385 8128 roll -0.81 - - 2440 - 2.00 0.048 3761 650.5 -171.1 - - 3640 - - - - - - - - - 26.22 -
8170 774.0 -8.6 386 8176 done -0.81 - - 2440 - 1.85 0.023 2460 -703.2 -171.1 - - 3640 - - - - - - - - - 26.60 -
8489 802.0 -8.4 397 8490 done -0.81 - - 2441 - - - 2460 - -171.1 - - 3638 - - - - - - - - - - -
8789 827.8 -8.8 407 8790 done -0.81 - - 2440 - - - 2460 - -171.1 - - 3636 - - - - - - - - - - -
9089 854.7 -8.9 417 9094 roll -0.81 - - 2440 - 2.03 0.031 1070 -684.7 -171.1 - - 3634 - - - - - - - - - 26.39 -
9183 863.3 -9.0 420 9188 done -0.81 - - 2440 - 2.10 0.037 2450 657.1 -171.1 - - 3634 - - - - - - - - - 26.27 -
9517 892.6 -8.7 431 9522 roll -0.81 - - 2440 - 2.03 0.049 3761 645.8 -171.1 - - 3633 - - - - - - - - - 26.15 -
9580 898.0 -8.6 433 9586 done -0.81 - - 2440 - 1.90 0.032 2456 -686.8 -171.1 - - 3633 - - - - - - - - - 25.56 -
9915 925.7 -8.4 444 9920 roll -0.81 - - 2440 - 2.05 0.031 1053 -684.4 -171.1 - - 3631 - - - - - - - - - 26.36 -
9981 931.7 -9.1 446 9987 done -0.81 - - 2440 - 2.12 0.037 2453 660.4 -171.1 - - 3630 - - - - - - - - - 26.25 -
10312 963.2 -9.6 457 10317 roll -0.81 - - 2440 - 2.03 0.049 3762 644.8 -171.1 - - 3629 - - - - - - - - - 26.10 -
10365 966.5 -9.6 458 10370 done -0.81 - - 2440 - 1.90 0.025 2445 -693.2 -171.1 - - 3629 - - - - - - - - - 26.54 -
10615 end dive: TARGET_DEPTH_EXCEEDED
10615 begin apogee
10622 992.3 -9.4 467 10793 done -0.27 0.50 0.109 2607 334.0 - - 2281 - - 156.23 1.729 2970 -4.2 0.272 - - - - 1 - 25.79 - 21.87
10794 end apogee: CONTROL_FINISHED_OK
10794 begin climb
10797 1000.2 - 472 10986 roll 0.53 0.75 0.053 2870 350.7 2.60 0.047 3703 546.9 171.1 171.52 1.815 2269 -4.1 0.253 - - - - 1 - 24.03 23.61 21.84
11083 987.6 9.8 482 11089 done 0.48 - - 2880 - 2.12 0.028 2337 -644.3 171.1 - - 2269 - - - - - - - - - 25.28 -
11405 951.6 11.1 493 11407 done 0.44 0.15 0.145 2838 -280.0 - - 2338 - 171.1 - - 2266 - - - - - - - - 26.03 - -
11703 924.2 8.8 503 11704 done 0.42 - - 2838 - - - 2337 - 171.1 - - 2264 - - - - - - - - - - -
12003 900.7 7.3 513 12036 roll 0.41 - - 2844 - 2.28 0.039 900 -630.3 193.7 25.70 1.183 2171 -3.6 0.310 - - - - - - - 25.76 24.35
12059 898.7 7.2 514 12094 done 0.40 - - 2845 - 2.17 0.033 2312 650.7 221.5 29.10 1.189 2063 -3.7 0.316 - - - - - - - 25.87 23.96
12395 872.9 7.5 526 12423 roll 0.39 - - 2845 - 2.30 0.048 3709 607.4 239.8 18.42 1.205 1982 -4.4 0.358 - - - - - - - 25.71 24.31
12446 870.5 7.7 527 12467 done 0.39 - - 2845 - 2.15 0.028 2296 -657.2 251.0 12.05 1.211 1939 -3.6 0.289 - - - - - - - 25.91 24.16
12791 835.1 10.3 539 12796 roll 0.38 - - 2845 - 2.12 0.043 893 -661.8 251.0 - - 1933 - - - - - - - - - 25.89 -
12868 828.3 10.6 541 12874 done 0.38 - - 2845 - 2.15 0.034 2313 660.5 251.0 - - 1933 - - - - - - - - - 26.25 -
13187 791.6 11.1 552 13192 roll 0.38 - - 2845 - 2.17 0.048 3711 644.2 251.0 - - 1933 - - - - - - - - - 26.27 -
13225 787.7 11.2 553 13231 done 0.37 - - 2845 - 2.10 0.028 2297 -673.3 251.0 - - 1929 - - - - - - - - - 26.42 -
13555 754.9 9.1 564 13560 roll 0.37 - - 2845 - 2.10 0.037 905 -662.9 251.0 - - 1931 - - - - - - - - - 26.36 -
13592 751.9 8.7 565 13598 done 0.37 - - 2845 - 2.10 0.033 2302 665.2 251.0 - - 1931 - - - - - - - - - 26.38 -
13923 727.4 6.9 576 13968 roll 0.39 - - 2845 - 2.30 0.047 3699 607.4 286.7 36.40 1.106 1793 -3.8 0.281 - - - - - - - 25.60 24.27
13996 722.9 7.1 578 14034 done 0.40 - - 2848 - 2.12 0.028 2300 -659.9 316.4 31.92 1.087 1675 -3.7 0.277 - - - - - - - 25.85 23.99
14343 695.2 7.9 590 14349 roll 0.41 - - 2844 - 2.12 0.035 894 -663.2 322.4 1.30 0.241 1654 -16.2 5.243 - - - - - - - 26.13 25.01
14418 690.1 7.9 592 14428 done 0.43 - - 2845 - 2.15 0.033 2299 653.5 326.5 4.65 1.131 1639 -3.2 0.221 - - - - - - - 26.18 24.30
14743 659.7 9.5 603 14748 roll 0.44 - - 2845 - 2.12 0.035 892 -663.7 326.5 - - 1643 - - - - - - - - - 26.27 -
14781 656.4 9.6 604 14786 done 0.45 - - 2845 - 2.12 0.037 2300 664.2 326.5 - - 1643 - - - - - - - - - 25.07 -
15112 624.6 9.4 615 15117 roll 0.47 - - 2844 - 2.17 0.050 3699 644.7 326.5 - - 1643 - - - - - - - - - 26.26 -
15140 624.6 9.4 615 15147 done 0.48 - - 2845 - 2.10 0.028 2289 -671.4 326.5 - - 1642 - - - - - - - - - 26.44 -
15458 596.1 7.6 627 15485 roll 0.50 - - 2845 - 2.15 0.037 906 -643.3 340.1 20.20 1.057 1572 -3.5 0.220 - - - - - - - 25.98 24.65
15541 590.3 7.0 631 15583 done 0.53 - - 2845 - 2.12 0.032 2301 658.0 372.3 34.15 1.013 1442 -3.8 0.250 - - - - - - - 26.06 24.18
15902 567.5 6.4 649 15963 roll 0.58 0.12 0.085 2918 608.3 2.28 0.036 905 -612.3 424.4 52.45 0.967 1228 -4.1 0.269 - - - - - - 24.99 25.35 24.15
15991 558.9 10.3 653 15997 done 0.58 0.12 0.123 2882 -300.0 2.17 0.033 2306 645.6 424.4 - - 1224 - - - - - - - - 25.38 24.53 -
16310 526.3 10.6 669 16312 done 0.59 - - 2882 - - - 2306 - 424.4 - - 1221 - - - - - - - - - - -
16612 498.1 8.7 684 16613 done 0.61 - - 2883 - - - 2305 - 424.4 - - 1220 - - - - - - - - - - -
16914 473.0 8.9 699 16915 done 0.63 - - 2879 - - - 2311 - 424.4 - - 1219 - - - - - - - - - - -
17213 445.2 8.3 714 17218 roll 0.65 - - 2883 - 2.12 0.035 895 -667.9 424.4 - - 1219 - - - - - - - - - 26.38 -
17271 441.5 8.1 716 17279 done 0.67 0.10 0.093 2943 600.0 2.10 0.031 2305 671.4 424.4 - - 1219 - - - - - - - - 26.35 26.37 -
17577 403.3 12.5 732 17584 roll 0.65 0.12 0.145 2910 -275.0 2.10 0.032 902 -668.1 424.4 - - 1218 - - - - - - - - 26.35 26.39 -
17635 398.6 11.3 734 17642 done 0.65 - - 2910 - 2.10 0.030 2313 671.9 424.4 - - 1218 - - - - - - - - - 26.40 -
17942 366.2 10.8 750 17943 done 0.65 - - 2909 - - - 2313 - 424.4 - - 1218 - - - - - - - - - - -
18244 336.3 9.0 765 18245 done 0.66 - - 2910 - - - 2313 - 424.4 - - 1218 - - - - - - - - - - -
18545 309.8 9.5 780 18550 roll 0.67 - - 2909 - 2.15 0.046 3709 649.3 424.4 - - 1218 - - - - - - - - - 25.91 -
18588 304.9 10.3 782 18594 done 0.68 - - 2910 - 2.08 0.024 2290 -682.2 424.4 - - 1218 - - - - - - - - - 26.53 -
18912 273.6 9.1 798 18918 roll 0.69 - - 2910 - 2.05 0.034 899 -678.5 424.4 - - 1218 - - - - - - - - - 26.41 -
18980 268.5 8.3 801 18986 done 0.71 - - 2910 - 2.10 0.030 2309 671.4 424.4 - - 1218 - - - - - - - - - 26.41 -
19299 241.8 8.9 817 19300 done 0.73 - - 2910 - - - 2310 - 424.4 - - 1218 - - - - - - - - - - -
19601 219.0 7.5 832 19620 done 0.75 - - 2910 - - - 2310 - 440.6 14.57 0.793 1164 -3.7 0.115 - - - - - - - - 24.79
19920 193.2 8.0 848 19926 roll 0.78 0.12 0.080 2996 716.7 2.10 0.031 902 -670.5 443.5 - - 1159 - - - - - - - - 26.55 26.32 -
19959 190.6 8.6 849 19968 done 0.80 0.15 0.124 2953 -286.7 2.08 0.031 2303 673.6 443.5 - - 1161 - - - - - - - - 26.10 26.34 -
20264 155.6 10.2 865 20270 roll 0.80 - - 2952 - 2.12 0.042 3705 661.3 443.5 - - 1162 - - - - - - - - - 26.29 -
20301 152.9 10.4 866 20308 done 0.80 - - 2954 - 2.05 0.022 2290 -690.2 443.5 - - 1160 - - - - - - - - - 26.49 -
20607 118.6 11.1 882 20613 roll 0.80 - - 2957 - 2.05 0.034 899 -678.5 443.5 - - 1159 - - - - - - - - - 26.41 -
20716 108.2 10.1 887 20722 done 0.81 - - 2957 - 2.08 0.029 2308 677.4 443.5 - - 1159 - - - - - - - - - 26.43 -
21035 80.0 8.5 903 21040 roll 0.83 - - 2957 - 2.08 0.034 902 -676.0 443.5 - - 1159 - - - - - - - - - 26.43 -
21099 75.1 7.7 906 21110 done 0.86 - - 2957 - 2.08 0.029 2308 676.0 454.4 5.07 0.265 1114 -8.9 0.283 - - - - - - - 26.46 25.01
21423 49.5 8.6 922 21429 roll 0.88 - - 2957 - 2.08 0.032 895 -679.3 454.4 - - 1123 - - - - - - - - - 26.42 -
21458 46.7 8.1 925 21464 done 0.91 0.10 0.090 3025 680.0 2.08 0.030 2298 674.5 454.4 - - 1123 - - - - - - - - 26.41 26.46 -
21775 3.7 14.3 956 21781 roll 0.88 0.12 0.142 2986 -325.0 2.15 0.041 3703 653.5 454.4 1.33 0.161 1111 -9.0 0.023 - - - - - - 26.43 26.34 25.69
21787 end climb: SURFACE_DEPTH_REACHED
21787 begin surface coast
21809 end surface coast: CONTROL_FINISHED_OK
21809 begin surface
SM 1.65 - - - - -7.97 7.15 0.024 116 -401.4 1.85 0.020 2423 -691.9 454.54 - - 1115 - - - - - - - -