OKMC Mar12 * SG176 * Dive index * Mission links * Dive 212 * Raw log
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• Previous call tries 1 • 43.70 of 150.00 AH used of 24V (70.87% remains)
• Previous NAKs 0, Timeouts 0 • 27.58 of 110.00 AH used of 10V (74.93% remains)
• Surface angle -76.7 deg, depth 1.65 m • Intended pitch -13.1 deg, speed -7.500 cm/s
• No surface pump (final VBD was 455.77, SM_CC=375)
• GPS1 time: 36 s
• GPS2 time: 10 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
17 - - - 65 VBD -0.51 - - 191 - - - 2685 - -146.0 -45.83 - 2390 - - - - - - - - - - -
68 3.1 -5.7 8 110 roll -0.51 8.70 0.234 2348 247.9 2.28 0.041 1138 -678.5 -146.0 -24.12 - 3526 -47.1 - - - - - - - 25.39 26.15 26.54
323 65.4 -21.3 51 330 done -0.51 - - 2346 - 2.28 0.046 2632 655.3 -146.0 - - 3527 - - - - - - - - - 26.20 -
650 167.5 -26.5 112 656 roll -0.51 - - 2346 - 2.10 0.024 1151 -705.2 -146.0 - - 3527 - - - - - - - - - 26.44 -
719 183.3 -18.5 125 726 done -0.51 0.10 0.174 2361 150.0 2.22 0.042 2634 668.0 -146.0 - - 3527 - - - - - - - - 26.13 26.33 -
1029 240.2 -17.1 164 1039 roll -0.51 0.05 0.177 2312 -980.0 2.12 0.023 1144 -702.8 -146.0 - - 3528 - - - - - - - - 26.65 26.47 -
1104 254.0 -18.9 171 1112 done -0.51 0.17 0.148 2356 258.8 2.25 0.042 2639 664.4 -146.0 - - 3528 - - - - - - - - 26.08 26.36 -
1411 306.8 -15.8 202 1421 roll -0.51 - - 2357 - 2.12 0.025 1148 -703.3 -146.0 - - 3528 - - - - - - - - - 26.50 -
1476 315.4 -12.8 208 1484 done -0.51 - - 2348 - 2.25 0.042 2629 658.2 -146.0 - - 3528 - - - - - - - - - 26.37 -
1784 359.9 -14.2 239 1793 roll -0.51 - - 2348 - 2.12 0.026 1145 -700.0 -146.0 - - 3526 - - - - - - - - - 26.50 -
1826 365.4 -13.2 243 1835 done -0.51 - - 2348 - 2.25 0.044 2637 663.1 -146.0 - - 3526 - - - - - - - - - 26.36 -
2135 405.2 -13.2 274 2145 roll -0.51 - - 2348 - 2.12 0.024 1152 -700.5 -146.0 - - 3525 - - - - - - - - - 26.51 -
2222 414.6 -10.5 282 2230 done -0.51 - - 2348 - 2.22 0.044 2634 667.6 -146.0 - - 3524 - - - - - - - - - 26.36 -
2528 452.1 -12.9 313 2537 roll -0.51 - - 2348 - 2.12 0.025 1148 -700.9 -146.0 - - 3522 - - - - - - - - - 26.50 -
2573 457.0 -12.1 317 2580 done -0.51 - - 2348 - 2.22 0.044 2629 667.1 -146.0 - - 3521 - - - - - - - - - 26.35 -
2879 494.6 -11.8 348 2880 done -0.51 - - 2347 - - - 2631 - -146.0 - - 3519 - - - - - - - - - - -
3181 526.7 -10.2 378 3191 roll -0.51 - - 2347 - 2.10 0.026 1158 -701.4 -146.0 - - 3517 - - - - - - - - - 26.49 -
3223 531.1 -10.1 382 3233 done -0.51 - - 2347 - 2.25 0.044 2635 656.4 -146.0 - - 3516 - - - - - - - - - 26.33 -
3533 562.7 -10.4 413 3542 roll -0.51 - - 2347 - 2.12 0.025 1154 -698.6 -146.0 - - 3513 - - - - - - - - - 26.48 -
3556 564.9 -10.3 415 3564 done -0.51 - - 2345 - 2.25 0.044 2621 652.0 -146.0 - - 3513 - - - - - - - - - 26.32 -
3865 597.4 -10.5 446 3869 roll -0.51 - - 2345 - 2.12 0.025 1146 -695.8 -146.0 - - 3511 - - - - - - - - - 26.48 -
3901 600.8 -10.4 449 3908 done -0.51 - - 2344 - 2.25 0.045 2629 659.1 -146.0 - - 3511 - - - - - - - - - 26.30 -
4207 633.4 -10.5 465 4213 roll -0.51 - - 2344 - 2.15 0.026 1146 -689.8 -146.0 - - 3508 - - - - - - - - - 26.47 -
4251 637.3 -10.0 467 4257 done -0.51 - - 2344 - 2.28 0.046 2636 653.5 -146.0 - - 3508 - - - - - - - - - 26.28 -
4568 667.6 -9.1 483 4569 done -0.51 - - 2344 - - - 2636 - -146.0 - - 3504 - - - - - - - - - - -
4867 695.8 -9.4 498 4872 roll -0.51 - - 2344 - 2.15 0.026 1155 -688.8 -146.0 - - 3503 - - - - - - - - - 26.45 -
4910 699.7 -9.4 500 4914 done -0.51 - - 2344 - 2.25 0.046 2629 655.1 -146.0 - - 3503 - - - - - - - - - 26.26 -
5222 729.0 -9.3 516 5223 done -0.51 - - 2343 - - - 2629 - -146.0 - - 3499 - - - - - - - - - - -
5522 756.6 -9.1 531 5526 roll -0.51 - - 2344 - 2.15 0.027 1150 -687.9 -146.0 - - 3497 - - - - - - - - - 26.43 -
5572 760.4 -9.3 533 5576 done -0.51 - - 2344 - 2.28 0.047 2630 649.1 -146.0 - - 3497 - - - - - - - - - 26.21 -
5878 788.8 -8.9 548 5884 roll -0.51 - - 2344 - 2.15 0.027 1157 -685.1 -146.0 - - 3495 - - - - - - - - - 26.42 -
5906 790.7 -8.9 549 5910 done -0.51 - - 2344 - 2.25 0.046 2627 653.3 -146.0 - - 3495 - - - - - - - - - 26.20 -
6214 817.2 -8.5 564 6215 done -0.51 - - 2344 - - - 2627 - -146.0 - - 3492 - - - - - - - - - - -
6514 842.7 -8.4 579 6519 roll -0.51 - - 2344 - 2.15 0.027 1156 -684.2 -146.0 - - 3491 - - - - - - - - - 26.39 -
6553 845.9 -8.3 581 6559 done -0.51 - - 2344 - 2.28 0.047 2628 645.6 -146.0 - - 3491 - - - - - - - - - 26.17 -
6875 870.2 -7.3 597 6876 done -0.51 - - 2344 - - - 2628 - -146.0 - - 3488 - - - - - - - - - - -
7174 890.6 -6.8 612 7180 roll -0.51 - - 2344 - 2.15 0.026 1156 -684.7 -146.0 - - 3487 - - - - - - - - - 26.38 -
7217 893.4 -7.1 614 7222 done -0.51 - - 2344 - 2.28 0.047 2632 647.4 -146.0 - - 3487 - - - - - - - - - 26.14 -
7529 916.0 -7.4 630 7530 done -0.51 - - 2344 - - - 2632 - -146.0 - - 3485 - - - - - - - - - - -
7829 938.0 -7.4 645 7835 roll -0.51 - - 2344 - 2.17 0.028 1145 -685.3 -146.0 - - 3484 - - - - - - - - - 26.35 -
7871 941.0 -7.4 647 7876 done -0.51 - - 2344 - 2.30 0.047 2632 646.5 -146.0 - - 3484 - - - - - - - - - 26.12 -
8190 964.2 -7.5 663 8191 done -0.51 - - 2344 - - - 2633 - -146.0 - - 3483 - - - - - - - - - - -
8489 986.2 -7.3 678 8495 roll -0.51 - - 2344 - 2.17 0.028 1147 -684.8 -146.0 - - 3481 - - - - - - - - - 26.34 -
8530 989.2 -7.4 680 8535 done -0.51 - - 2344 - 2.28 0.046 2628 649.6 -146.0 - - 3481 - - - - - - - - - 26.10 -
8547 end dive: TARGET_DEPTH_EXCEEDED
8547 begin apogee
8552 990.8 -7.5 681 8680 done -0.17 0.35 0.106 2468 354.3 0.15 0.083 2542 -573.3 - 120.95 1.735 2928 -4.6 0.285 - - - - - - 25.96 24.55 23.28
8681 end apogee: CONTROL_FINISHED_OK
8681 begin climb
8683 995.1 - 687 8833 roll 0.51 0.57 0.049 2708 421.1 2.42 0.029 1056 -614.0 146.0 140.25 1.696 2332 -4.2 0.272 - - - - - - 24.79 23.88 22.53
8866 986.0 11.5 697 8873 done 0.51 0.10 0.161 2678 -300.0 2.42 0.044 2526 607.4 146.0 - - 2327 - - - - - - - - 24.34 24.56 -
9185 943.3 13.4 713 9191 roll 0.51 - - 2677 - 1.92 0.051 3768 646.9 146.0 - - 2322 - - - - - - - - - 25.84 -
9228 937.1 14.3 715 9233 done 0.51 0.08 0.228 2673 -50.0 1.95 0.024 2455 -673.3 146.0 - - 2320 - - - - - - - - 25.79 26.06 -
9547 893.2 13.5 731 9551 roll 0.51 - - 2683 - 2.05 0.029 1050 -685.4 146.0 - - 2318 - - - - - - - - - 26.17 -
9568 890.2 13.6 732 9574 done 0.51 - - 2683 - 2.28 0.044 2517 643.4 146.0 - - 2318 - - - - - - - - - 26.08 -
9888 844.5 13.6 748 9892 roll 0.51 - - 2683 - 1.90 0.053 3765 656.8 146.0 - - 2317 - - - - - - - - - 26.07 -
9908 842.1 13.8 749 9913 done 0.51 0.10 0.213 2670 -130.0 1.90 0.024 2449 -692.6 146.0 - - 2316 - - - - - - - - 25.94 26.32 -
10220 803.9 11.6 765 10221 done 0.51 - - 2670 - - - 2444 - 146.0 - - 2315 - - - - - - - - - - -
10521 772.3 10.1 780 10526 roll 0.51 - - 2670 - 2.05 0.052 3764 643.9 146.0 - - 2314 - - - - - - - - - 26.09 -
10560 767.7 10.7 782 10564 done 0.51 - - 2680 - 1.92 0.025 2443 -688.0 146.0 - - 2314 - - - - - - - - - 26.37 -
10876 732.1 11.5 798 10877 done 0.51 - - 2680 - - - 2438 - 146.0 - - 2313 - - - - - - - - - - -
11177 699.3 10.6 813 11183 roll 0.51 - - 2680 - 2.05 0.052 3767 648.3 146.0 - - 2313 - - - - - - - - - 26.08 -
11204 696.9 10.8 814 11209 done 0.51 0.10 0.207 2667 -130.0 1.90 0.024 2449 -693.7 146.0 - - 2313 - - - - - - - - 26.01 26.41 -
11511 665.8 9.8 829 11513 done 0.51 0.05 0.181 2703 720.0 - - 2444 - 146.0 - - 2313 - - - - - - - - 26.58 - -
11812 630.2 11.5 844 11818 roll 0.51 0.12 0.178 2665 -316.7 2.05 0.050 3767 645.4 146.0 - - 2313 - - - - - - - - 26.15 26.07 -
11840 627.8 11.5 845 11844 done 0.51 - - 2675 - 1.90 0.023 2441 -697.9 146.0 - - 2312 - - - - - - - - - 26.44 -
12148 599.5 8.7 860 12156 roll 0.51 - - 2675 - 2.08 0.052 3764 636.1 146.0 - - 2312 - - - - - - - - - 26.06 -
12189 595.0 10.6 864 12193 done 0.51 0.05 0.255 2673 - 1.90 0.024 2437 -698.4 146.0 - - 2311 - - - - - - - - 26.20 26.43 -
12494 568.2 8.7 894 12504 roll 0.51 - - 2683 - 2.05 0.031 1045 -679.0 146.0 - - 2311 - - - - - - - - - 26.29 -
12540 564.4 8.9 898 12548 done 0.51 - - 2683 - 2.25 0.043 2519 655.1 146.0 - - 2311 - - - - - - - - - 26.14 -
12848 531.5 11.1 929 12856 roll 0.51 - - 2683 - 1.90 0.053 3766 656.3 146.0 - - 2311 - - - - - - - - - 26.03 -
12911 523.4 13.1 935 12920 done 0.51 0.10 0.205 2664 -190.0 1.90 0.023 2427 -704.7 146.0 - - 2310 - - - - - - - - 25.97 26.46 -
13219 496.4 7.6 966 13230 roll 0.51 0.08 0.132 2722 725.0 2.03 0.030 1052 -677.3 146.0 - - 2311 - - - - - - - - 26.59 26.27 -
13264 492.5 8.9 970 13274 done 0.51 0.15 0.166 2676 -306.7 2.25 0.044 2522 653.3 146.0 - - 2310 - - - - - - - - 25.71 26.12 -
13573 468.1 7.0 1001 13587 roll 0.52 - - 2676 - 1.90 0.050 3777 660.5 159.5 9.35 1.285 2279 -3.3 0.132 - - - - - - - 26.22 24.60
13610 465.1 8.0 1004 13619 done 0.52 - - 2685 - 1.92 0.023 2430 -701.6 159.5 - - 2279 - - - - - - - - - 26.33 -
13922 437.8 8.9 1035 13930 roll 0.52 - - 2685 - 2.05 0.050 3775 656.1 159.5 - - 2278 - - - - - - - - - 26.09 -
13953 434.3 10.0 1038 13964 done 0.52 0.10 0.196 2671 -140.0 1.90 0.023 2431 -707.4 159.5 - - 2277 - - - - - - - - 26.02 26.39 -
14263 408.0 8.6 1069 14267 roll 0.52 0.05 0.176 2719 960.0 2.05 0.048 3767 651.7 159.5 - - 2277 - - - - - - - - 26.55 26.10 -
14308 403.0 12.3 1073 14316 done 0.52 0.20 0.169 2672 -235.0 1.88 0.023 2442 -704.8 159.5 - - 2277 - - - - - - - - 25.79 26.44 -
14615 378.6 7.3 1104 14625 done 0.53 0.08 0.132 2726 675.0 - - 2440 - 165.7 7.47 1.178 2253 -3.2 0.113 - - - - - - 26.56 - 24.74
14925 344.8 10.9 1135 14935 roll 0.53 0.15 0.162 2678 -320.0 2.03 0.048 3763 651.7 165.7 - - 2252 - - - - - - - - 26.06 26.12 -
14990 338.3 10.2 1141 14997 done 0.53 - - 2688 - 1.90 0.023 2438 -697.4 165.7 - - 2252 - - - - - - - - - 26.41 -
15298 315.8 7.3 1172 15311 roll 0.54 - - 2688 - 2.08 0.050 3760 635.6 172.0 7.70 1.132 2226 -3.4 0.103 - - - - - - - 26.25 24.80
15321 314.2 7.2 1174 15339 done 0.55 0.05 0.244 2686 - 1.88 0.024 2441 -701.6 179.5 8.57 1.151 2196 -3.5 0.104 - - - - - - 26.15 26.34 24.72
15638 288.3 7.6 1206 15648 roll 0.55 - - 2685 - 2.05 0.047 3775 650.7 179.5 - - 2195 - - - - - - - - - 26.09 -
15661 286.6 7.4 1208 15671 done 0.55 - - 2693 - 1.92 0.023 2435 -697.9 182.3 3.80 0.903 2185 -2.6 0.091 - - - - - - - 26.32 24.58
15972 264.5 7.3 1239 15984 roll 0.56 - - 2693 - 2.08 0.048 3767 640.4 188.6 7.40 1.086 2159 -3.5 0.093 - - - - - - - 26.17 24.77
16027 259.8 8.5 1244 16036 done 0.56 0.05 0.245 2690 -60.0 1.90 0.023 2445 -695.8 188.6 - - 2159 - - - - - - - - 26.08 26.29 -
16337 236.2 6.9 1275 16361 roll 0.58 0.05 0.175 2741 1020.0 2.08 0.033 1055 -668.3 206.9 18.20 1.157 2083 -4.2 0.093 - - - - - - 26.48 26.00 24.77
16430 228.3 8.9 1282 16440 done 0.58 0.17 0.142 2689 -305.9 2.25 0.043 2524 652.9 206.9 - - 2081 - - - - - - - - 25.76 26.00 -
16740 203.5 7.2 1313 16754 roll 0.59 0.08 0.125 2744 687.5 1.88 0.047 3774 664.9 215.5 8.43 1.052 2050 -3.7 0.078 - - - - - - 26.40 26.10 24.79
16785 200.9 8.8 1315 16793 done 0.59 0.20 0.153 2694 -250.0 1.90 0.024 2449 -697.4 215.5 - - 2050 - - - - - - - - 25.83 26.21 -
17099 177.9 5.3 1376 17161 roll 0.67 0.12 0.091 2766 600.0 2.15 0.049 3766 612.6 280.0 56.40 1.138 1786 -4.7 0.080 - - - - - - 26.40 25.41 24.39
17183 169.2 13.8 1390 17192 done 0.67 0.20 0.151 2718 -240.0 1.95 0.024 2449 -675.4 280.0 - - 1785 - - - - - - - - 25.43 25.67 -
17499 141.4 7.3 1451 17507 roll 0.68 0.08 0.131 2766 600.0 2.12 0.035 1052 -659.0 285.2 2.33 0.601 1765 -8.6 0.220 - - - - - - 26.27 26.14 24.49
17586 133.5 9.6 1464 17593 done 0.68 0.15 0.135 2721 -300.0 2.25 0.044 2531 657.3 285.2 - - 1763 - - - - - - - - 25.94 26.11 -
17899 109.9 5.8 1525 17926 roll 0.74 0.12 0.092 2806 708.3 1.95 0.048 3778 639.5 332.6 21.10 0.934 1570 -9.1 0.117 - - - - - - 26.42 25.98 24.94
17980 99.3 16.4 1539 17988 done 0.74 0.25 0.149 2743 -252.0 1.95 0.025 2439 -686.7 332.6 - - 1569 - - - - - - - - 25.75 26.12 -
18306 72.0 7.9 1600 18313 roll 0.74 - - 2747 - 2.03 0.035 1052 -683.3 332.6 - - 1566 - - - - - - - - - 26.27 -
18346 69.2 7.2 1607 18359 done 0.75 - - 2748 - 2.20 0.037 2525 669.5 342.2 3.65 0.294 1530 -9.9 0.253 - - - - - - - 26.25 25.37
18668 47.5 6.7 1669 18698 roll 0.78 0.08 0.133 2816 850.0 2.17 0.031 1062 -674.2 364.3 9.55 0.234 1439 -9.5 0.211 - - - - - - 26.53 26.32 25.55
18742 40.5 10.4 1676 18750 done 0.78 0.20 0.123 2753 -315.0 2.17 0.039 2525 674.2 364.3 - - 1437 - - - - - - - - 26.06 26.29 -
19056 19.3 4.4 1737 19098 roll 0.88 0.12 0.090 2843 750.0 2.22 0.031 1051 -664.0 452.8 35.10 0.167 1077 -10.3 0.129 - - - - - - 26.57 26.31 25.77
19132 10.4 13.7 1744 19139 done 0.88 0.17 0.121 2788 -323.5 2.20 0.039 2526 670.5 452.8 - - 1073 - - - - - - - - 26.10 26.28 -
19201 end climb: SURFACE_DEPTH_REACHED
19201 begin surface coast
19248 end surface coast: CONTROL_FINISHED_OK
19248 begin surface
SM 1.64 - - - - -7.16 6.43 0.032 193 -403.6 0.15 0.070 2721 1300.0 455.77 - - 1071 - - - - - - - -