OKMC Oct12 * SG167 * Dive index * Mission links * Dive 216 * Raw log
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• Previous call tries 1 • 49.40 of 150.00 AH used of 24V (67.07% remains)
• Previous NAKs 0, Timeouts 0 • 32.22 of 110.00 AH used of 10V (70.71% remains)
• Surface angle -63.9 deg, depth 1.74 m • Intended pitch -13.8 deg, speed -8.049 cm/s
• No surface pump (final VBD was 501.88, SM_CC=400)
• GPS1 time: 40 s
• GPS2 time: 6 s • Transponder ping count: 17
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 72 VBD -0.53 - - 110 - - - 2464 - -171.1 -51.17 - 2528 - - - - - - - - - - -
75 3.3 -5.0 5 118 roll -0.53 9.90 0.228 2519 243.3 2.03 0.062 3736 626.6 -171.1 -26.00 - 3668 -43.8 - - - - - - - 25.12 25.96 26.60
274 35.7 -18.3 24 279 done -0.47 - - 2519 - 1.83 0.018 2421 -718.6 -171.1 - - 3667 - - - - - - - - - 26.41 -
598 92.1 -13.0 44 603 roll -0.45 0.12 0.148 2560 341.7 2.05 0.044 3738 642.4 -171.1 - - 3668 - - - - - - - - 26.31 26.17 -
631 94.9 -12.6 45 637 done -0.43 - - 2560 - 1.83 0.019 2454 -701.6 -171.1 - - 3668 - - - - - - - - - 26.54 -
946 119.2 -7.4 61 951 roll -0.54 - - 2560 - 1.98 0.048 3732 645.5 -171.1 - - 3670 - - - - - - - - - 26.25 -
1010 123.4 -6.6 64 1016 done -0.64 0.20 0.058 2454 -530.0 1.77 0.018 2438 -731.1 -171.1 - - 3669 - - - - - - - - 26.50 26.63 -
1334 157.3 -11.6 80 1341 roll -0.62 0.12 0.146 2493 325.0 2.00 0.042 3734 648.0 -171.1 - - 3670 - - - - - - - - 26.41 26.27 -
1368 159.7 -11.1 81 1374 done -0.60 - - 2493 - 1.75 0.018 2446 -736.0 -171.1 - - 3670 - - - - - - - - - 26.67 -
1682 187.9 -8.5 97 1687 roll -0.61 - - 2493 - 1.92 0.028 1098 -702.1 -171.1 - - 3670 - - - - - - - - - 26.46 -
1759 193.2 -8.4 100 1766 done -0.62 - - 2493 - 2.00 0.034 2441 671.5 -171.1 - - 3670 - - - - - - - - - 26.42 -
2065 219.3 -7.6 116 2066 done -0.64 - - 2493 - - - 2441 - -171.1 - - 3670 - - - - - - - - - - -
2367 244.1 -7.6 131 2373 roll -0.66 - - 2493 - 1.95 0.029 1097 -689.2 -171.1 - - 3669 - - - - - - - - - 26.47 -
2421 247.8 -7.7 133 2426 done -0.68 - - 2493 - 2.03 0.033 2455 669.0 -171.1 - - 3668 - - - - - - - - - 26.43 -
2735 273.7 -7.9 149 2741 roll -0.70 - - 2493 - 1.98 0.027 1089 -689.9 -171.1 - - 3667 - - - - - - - - - 26.47 -
2774 275.6 -7.9 150 2780 done -0.72 - - 2493 - 2.03 0.032 2458 674.4 -171.1 - - 3666 - - - - - - - - - 26.43 -
3080 299.9 -7.4 166 3086 roll -0.75 0.10 0.093 2427 -660.0 2.00 0.045 3758 650.0 -171.1 - - 3664 - - - - - - - - 26.73 26.26 -
3134 304.4 -8.5 168 3140 done -0.76 - - 2426 - 1.80 0.018 2454 -724.4 -171.1 - - 3664 - - - - - - - - - 26.66 -
3448 341.1 -11.6 184 3454 roll -0.72 0.12 0.149 2467 341.7 1.98 0.026 1083 -692.4 -171.1 - - 3664 - - - - - - - - 26.41 26.45 -
3527 347.1 -9.7 187 3534 done -0.72 - - 2467 - 2.03 0.034 2450 673.4 -171.1 - - 3663 - - - - - - - - - 26.42 -
3832 375.2 -9.3 203 3834 done -0.72 - - 2467 - - - 2450 - -171.1 - - 3661 - - - - - - - - - - -
4134 402.4 -8.4 218 4135 done -0.73 - - 2467 - - - 2450 - -171.1 - - 3660 - - - - - - - - - - -
4435 427.2 -8.0 233 4440 roll -0.74 - - 2467 - 1.98 0.028 1086 -688.9 -171.1 - - 3658 - - - - - - - - - 26.45 -
4482 431.1 -8.3 235 4488 done -0.75 - - 2467 - 2.03 0.034 2448 670.9 -171.1 - - 3657 - - - - - - - - - 26.40 -
4801 457.3 -8.2 251 4807 roll -0.76 - - 2467 - 2.05 0.061 3762 641.0 -171.1 -0.08 - 3684 -337.5 - - - - - - - - 26.18 25.57
4834 459.2 -8.3 252 4840 done -0.78 - - 2467 - 1.83 0.019 2434 -725.7 -171.1 - - 3683 - - - - - - - - - 26.65 -
5149 483.9 -7.6 268 5155 roll -0.79 - - 2467 - 1.95 0.036 1106 -681.0 -171.1 - - 3682 - - - - - - - - - 26.03 -
5177 485.7 -7.6 269 5182 done -0.81 - - 2467 - 2.00 0.034 2450 672.0 -171.1 - - 3682 - - - - - - - - - 26.38 -
5495 509.7 -7.8 285 5502 roll -0.83 0.10 0.097 2408 -590.0 2.00 0.047 3750 650.0 -171.1 - - 3680 - - - - - - - - 26.71 26.17 -
5529 512.1 -8.2 286 5534 done -0.84 - - 2403 - 1.83 0.020 2438 -716.9 -171.1 - - 3679 - - - - - - - - - 26.64 -
5844 548.8 -11.1 302 5849 roll -0.81 0.12 0.151 2448 375.0 1.95 0.026 1090 -691.3 -171.1 - - 3678 - - - - - - - - 26.39 26.41 -
5871 551.5 -10.9 303 5877 done -0.78 - - 2448 - 2.03 0.034 2449 669.5 -171.1 - - 3678 - - - - - - - - - 26.36 -
6190 580.1 -8.9 319 6195 roll -0.79 - - 2449 - 2.03 0.050 3759 645.3 -171.1 - - 3676 - - - - - - - - - 26.15 -
6254 585.8 -8.8 322 6259 done -0.80 - - 2448 - 1.85 0.021 2432 -717.3 -171.1 - - 3676 - - - - - - - - - 26.63 -
6569 613.7 -8.9 335 6574 roll -0.81 - - 2448 - 2.10 0.050 3756 630.5 -171.1 - - 3675 - - - - - - - - - 26.13 -
6606 616.8 -8.9 336 6612 done -0.82 - - 2448 - 1.83 0.021 2438 -720.2 -171.1 - - 3674 - - - - - - - - - 26.62 -
6937 645.4 -8.4 347 6939 done -0.83 - - 2448 - - - 2437 - -171.1 - - 3672 - - - - - - - - - - -
7236 669.0 -7.6 357 7237 done -0.84 - - 2448 - - - 2437 - -171.1 - - 3670 - - - - - - - - - - -
7536 692.3 -7.8 367 7542 roll -0.85 - - 2448 - 2.08 0.051 3754 633.2 -171.1 - - 3669 - - - - - - - - - 26.08 -
7585 695.2 -8.0 368 7590 done -0.86 - - 2448 - 1.83 0.022 2448 -713.7 -171.1 - - 3668 - - - - - - - - - 26.59 -
7905 722.2 -8.1 379 7910 roll -0.88 - - 2449 - 2.05 0.051 3750 635.1 -171.1 - - 3666 - - - - - - - - - 26.07 -
7948 725.2 -8.3 380 7954 done -0.89 0.12 0.082 2385 -533.3 1.83 0.023 2450 -710.4 -171.1 - - 3666 - - - - - - - - 26.44 26.58 -
8274 765.2 -12.2 391 8281 roll -0.85 0.12 0.158 2423 316.7 2.00 0.028 1091 -679.5 -171.1 - - 3664 - - - - - - - - 26.33 26.34 -
8309 769.3 -12.1 392 8315 done -0.81 - - 2423 - 2.05 0.035 2448 662.0 -171.1 - - 3663 - - - - - - - - - 26.28 -
8645 803.7 -10.3 403 8650 roll -0.80 - - 2423 - 2.05 0.052 3761 640.5 -171.1 - - 3662 - - - - - - - - - 26.03 -
8693 807.3 -10.3 404 8698 done -0.80 - - 2423 - 1.85 0.024 2450 -708.6 -171.1 - - 3662 - - - - - - - - - 26.55 -
9011 838.9 -9.1 415 9016 roll -0.80 - - 2423 - 2.05 0.051 3758 638.0 -171.1 - - 3661 - - - - - - - - - 26.01 -
9059 842.0 -9.3 416 9064 done -0.80 - - 2423 - 1.88 0.024 2456 -692.6 -171.1 - - 3660 - - - - - - - - - 26.53 -
9377 872.8 -9.1 427 9382 roll -0.80 - - 2423 - 2.05 0.051 3751 631.7 -171.1 - - 3659 - - - - - - - - - 25.99 -
9410 875.8 -9.0 428 9416 done -0.80 - - 2422 - 1.88 0.024 2434 -700.5 -171.1 - - 3659 - - - - - - - - - 26.53 -
9747 907.3 -9.6 439 9753 roll -0.80 - - 2423 - 1.98 0.031 1082 -682.8 -171.1 - - 3657 - - - - - - - - - 26.29 -
9780 910.9 -9.7 440 9786 done -0.80 - - 2423 - 2.10 0.042 2446 649.5 -171.1 - - 3657 - - - - - - - - - 25.45 -
10116 943.7 -10.0 451 10121 roll -0.80 - - 2423 - 2.05 0.052 3755 638.5 -171.1 - - 3656 - - - - - - - - - 25.96 -
10179 950.3 -10.1 453 10184 done -0.80 - - 2423 - 1.88 0.024 2454 -692.0 -171.1 - - 3655 - - - - - - - - - 26.52 -
10514 980.7 -8.7 464 10515 done -0.80 - - 2422 - - - 2454 - -171.1 - - 3655 - - - - - - - - - - -
10630 end dive: TARGET_DEPTH_EXCEEDED
10630 begin apogee
10636 990.7 -8.3 468 10802 done -0.27 0.57 0.112 2612 333.3 - - 2290 - - 157.77 1.240 2961 -4.4 0.388 - - - - - - 25.60 - 22.77
10804 end apogee: CONTROL_FINISHED_OK
10804 begin climb
10807 995.1 - 473 10978 roll 0.53 0.73 0.057 2871 354.8 2.53 0.049 3703 558.5 171.1 161.07 1.238 2260 -4.4 0.387 - - - - - - 24.50 23.77 22.23
10996 984.7 8.1 480 11002 done 0.46 0.12 0.150 2850 -175.0 2.22 0.026 2330 -618.5 171.1 - - 2253 - - - - - - - - 24.19 24.41 -
11331 952.2 9.5 491 11336 roll 0.42 - - 2858 - 2.17 0.037 900 -659.0 171.1 - - 2244 - - - - - - - - - 26.04 -
11409 946.3 9.4 493 11415 done 0.39 0.12 0.132 2825 -275.0 2.15 0.034 2314 657.7 171.1 - - 2243 - - - - - - - - 25.95 26.14 -
11729 918.3 8.5 504 11735 roll 0.37 - - 2825 - 2.17 0.050 3698 637.8 171.1 - - 2242 - - - - - - - - - 26.13 -
11834 909.1 9.5 507 11839 done 0.35 - - 2825 - 2.10 0.028 2288 -671.4 171.1 - - 2241 - - - - - - - - - 26.37 -
12160 880.7 8.2 518 12165 roll 0.33 - - 2825 - 2.08 0.037 907 -663.9 171.1 - - 2240 - - - - - - - - - 26.28 -
12243 875.7 7.8 520 12249 done 0.33 - - 2825 - 2.12 0.034 2309 661.3 177.6 - - 2238 - - - - - - - - - 26.32 -
12560 849.4 7.7 531 12578 roll 0.32 - - 2825 - 2.28 0.050 3700 610.1 187.9 13.35 1.217 2195 -3.2 0.248 - - - - - - - 26.01 24.27
12648 843.6 8.2 533 12655 done 0.29 - - 2825 - 2.10 0.027 2288 -672.4 187.9 - - 2188 - - - - - - - - - 26.21 -
12954 815.7 8.6 544 12960 roll 0.28 0.12 0.152 2787 -316.7 2.08 0.040 911 -662.0 187.9 - - 2186 - - - - - - - - 26.19 26.10 -
13012 813.1 8.4 545 13020 done 0.28 - - 2788 - 2.12 0.033 2311 660.4 187.9 - - 2184 - - - - - - - - - 26.26 -
13320 790.6 6.5 556 13377 roll 0.32 - - 2788 - 2.30 0.050 3689 599.1 235.6 48.08 1.115 1999 -3.8 0.301 - - - - - - - 25.35 23.91
13422 784.1 6.9 559 13471 done 0.36 - - 2788 - 2.10 0.027 2294 -664.3 272.0 37.97 1.142 1849 -4.0 0.300 - - - - - - - 25.80 23.69
13771 761.1 6.0 571 13841 roll 0.43 0.12 0.082 2867 658.3 2.25 0.037 915 -612.9 335.2 62.80 1.074 1594 -4.1 0.318 - - - - - - 26.29 25.15 23.80
13867 753.1 8.1 574 13872 done 0.44 - - 2867 - 2.17 0.031 2304 640.1 335.2 - - 1588 - - - - - - - - - 25.48 -
14204 720.4 9.7 585 14209 roll 0.44 - - 2867 - 2.12 0.036 913 -656.1 335.2 - - 1583 - - - - - - - - - 26.13 -
14236 716.8 9.8 586 14243 done 0.44 0.10 0.129 2840 -270.0 2.12 0.032 2302 655.2 335.2 - - 1583 - - - - - - - - 26.05 26.16 -
14572 690.2 7.9 597 14573 done 0.47 - - 2840 - - - 2302 - 339.2 - - 1581 - - - - - - - - - - -
14871 666.2 8.1 607 14876 roll 0.49 - - 2840 - 2.10 0.035 906 -664.8 339.2 - - 1580 - - - - - - - - - 26.29 -
14900 666.2 8.1 607 14907 done 0.52 - - 2842 - 2.10 0.031 2309 668.1 339.2 - - 1580 - - - - - - - - - 26.33 -
15208 639.2 7.9 618 15216 done 0.54 0.12 0.082 2906 533.3 - - 2309 - 345.4 5.85 1.137 1562 -3.1 0.191 - - - - - - 26.58 - 24.31
15506 606.2 11.0 628 15512 roll 0.52 0.12 0.135 2867 -325.0 2.12 0.035 908 -660.8 345.4 - - 1561 - - - - - - - - 26.29 26.25 -
15581 600.0 10.2 630 15586 done 0.52 - - 2867 - 2.10 0.032 2306 665.7 345.4 - - 1560 - - - - - - - - - 26.33 -
15894 570.2 9.3 646 15900 roll 0.52 - - 2867 - 2.17 0.049 3693 639.2 345.4 - - 1561 - - - - - - - - - 26.15 -
15917 567.7 9.5 647 15923 done 0.52 - - 2867 - 2.05 0.027 2297 -681.0 345.4 - - 1561 - - - - - - - - - 26.43 -
16241 538.9 8.8 663 16246 roll 0.53 - - 2862 - 2.08 0.037 904 -669.7 345.4 - - 1560 - - - - - - - - - 26.28 -
16294 535.3 8.4 665 16299 done 0.54 - - 2867 - 2.12 0.031 2311 663.7 345.4 - - 1560 - - - - - - - - - 26.34 -
16608 507.9 8.7 681 16614 roll 0.56 - - 2868 - 2.12 0.035 906 -662.7 345.4 - - 1560 - - - - - - - - - 26.28 -
16632 505.7 8.7 682 16638 done 0.57 - - 2867 - 2.10 0.031 2300 663.8 345.4 - - 1560 - - - - - - - - - 26.34 -
16956 476.4 9.2 698 16962 roll 0.58 - - 2867 - 2.10 0.035 903 -665.2 345.4 - - 1560 - - - - - - - - - 26.27 -
16984 474.2 9.1 699 16990 done 0.60 - - 2867 - 2.10 0.031 2311 670.5 345.4 - - 1560 - - - - - - - - - 26.34 -
17303 445.8 8.5 715 17308 roll 0.61 - - 2867 - 2.10 0.034 911 -666.7 345.4 - - 1560 - - - - - - - - - 26.28 -
17356 442.4 8.3 717 17363 done 0.63 0.10 0.098 2924 570.0 2.08 0.031 2302 668.8 345.4 - - 1557 - - - - - - - - 26.28 26.33 -
17672 406.3 11.4 733 17678 roll 0.60 0.12 0.142 2885 -325.0 2.12 0.034 902 -660.4 345.4 - - 1560 - - - - - - - - 26.36 26.26 -
17705 403.8 11.0 734 17711 done 0.58 - - 2881 - 2.10 0.030 2312 671.4 345.4 - - 1560 - - - - - - - - - 26.32 -
18019 378.6 7.7 750 18038 done 0.58 - - 2885 - - - 2312 - 356.2 15.80 0.971 1510 -3.2 0.136 - - - - - - - - 24.58
18339 351.9 8.3 766 18344 roll 0.59 - - 2885 - 2.12 0.034 901 -665.6 356.2 - - 1501 - - - - - - - - - 26.17 -
18382 348.4 8.3 768 18387 done 0.60 - - 2885 - 2.10 0.029 2305 668.6 356.2 - - 1501 - - - - - - - - - 26.23 -
18705 320.3 8.8 784 18711 roll 0.61 - - 2885 - 2.12 0.034 904 -660.8 356.2 - - 1501 - - - - - - - - - 26.24 -
18749 316.8 8.2 786 18754 done 0.62 - - 2892 - 2.10 0.029 2309 669.0 356.2 - - 1500 - - - - - - - - - 26.29 -
19073 289.7 8.0 802 19078 roll 0.63 - - 2885 - 2.10 0.033 904 -669.0 358.2 - - 1501 - - - - - - - - - 26.27 -
19112 287.9 7.9 803 19121 done 0.65 - - 2885 - 2.08 0.029 2301 671.6 362.7 2.58 0.629 1489 -4.7 0.235 - - - - - - - 26.32 24.00
19417 265.5 7.2 819 19456 roll 0.67 - - 2885 - 2.25 0.051 3691 617.8 388.1 29.55 0.842 1377 -3.8 0.132 - - - - - - - 25.88 24.56
19484 260.8 7.4 822 19510 done 0.70 0.12 0.079 2954 575.0 2.08 0.023 2281 -677.9 407.9 18.65 0.895 1303 -4.0 0.128 - - - - - - 25.97 26.05 24.25
19823 219.5 12.5 839 19829 roll 0.67 0.12 0.137 2915 -325.0 2.03 0.033 926 -667.5 407.9 - - 1295 - - - - - - - - 26.10 26.10 -
19898 213.1 10.4 842 19903 done 0.67 - - 2915 - 2.05 0.028 2303 671.7 407.9 - - 1295 - - - - - - - - - 26.19 -
20211 182.3 9.5 858 20217 roll 0.69 - - 2916 - 2.08 0.032 912 -668.8 407.9 - - 1294 - - - - - - - - - 26.25 -
20289 176.0 9.7 861 20296 done 0.71 - - 2915 - 2.08 0.028 2313 673.6 407.9 - - 1294 - - - - - - - - - 26.30 -
20595 149.1 7.6 877 20616 roll 0.74 - - 2915 - 2.17 0.031 916 -643.8 423.0 14.20 0.786 1236 -4.1 0.086 - - - - - - - 26.19 24.84
20648 145.3 8.1 879 20653 done 0.77 - - 2915 - 2.08 0.028 2308 669.2 423.0 - - 1234 - - - - - - - - - 26.20 -
20962 123.9 6.3 895 21015 roll 0.84 0.12 0.079 3003 733.3 2.25 0.044 3700 618.7 477.7 44.03 0.682 1012 -5.0 0.101 - - - - - - 26.53 25.70 24.59
21052 114.1 12.0 899 21058 done 0.83 0.15 0.143 2964 -260.0 2.05 0.021 2304 -681.0 477.7 - - 1008 - - - - - - - - 25.65 25.97 -
21366 82.5 8.6 915 21371 roll 0.85 - - 2964 - 2.08 0.032 905 -672.6 477.7 - - 1007 - - - - - - - - - 26.19 -
21454 76.5 7.3 919 21470 done 0.91 - - 2964 - 2.08 0.027 2314 677.4 502.8 9.60 0.283 915 -9.6 0.286 - - - - - - - 26.28 25.01
21770 49.2 8.7 935 21776 roll 1.02 0.15 0.072 3041 513.3 2.12 0.044 3697 652.4 502.8 - - 922 - - - - - - - - 26.49 26.17 -
21838 42.0 11.5 941 21845 done 1.00 - - 3041 - 2.03 0.021 2290 -693.1 502.8 - - 922 - - - - - - - - - 26.44 -
22144 6.0 11.3 972 22150 roll 0.98 - - 3044 - 2.03 0.034 915 -677.3 502.8 - - 922 - - - - - - - - - 26.33 -
22165 end climb: SURFACE_DEPTH_REACHED
22165 begin surface coast
22186 end surface coast: CONTROL_FINISHED_OK
22186 begin surface
SM 1.83 - - - - -8.00 7.47 0.032 117 -391.8 2.35 0.033 2437 647.7 501.88 - - 922 - - - - - - - -