OKMC Oct12 * SG167 * Dive index * Mission links * Dive 218 * Raw log
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• Previous call tries 1 • 49.80 of 150.00 AH used of 24V (66.80% remains)
• Previous NAKs 0, Timeouts 0 • 32.48 of 110.00 AH used of 10V (70.48% remains)
• Surface angle -61.0 deg, depth 1.72 m • Intended pitch -13.8 deg, speed -8.049 cm/s
• No surface pump (final VBD was 495.02, SM_CC=400)
• GPS1 time: 24 s
• GPS2 time: 7 s • Transponder ping count: 10
• 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 - - - 83 VBD -0.53 - - 109 - - - 2461 - -171.1 -61.62 - 2706 - - - - - - - - - - -
86 3.4 -4.1 6 122 roll -0.53 9.77 0.224 2518 246.6 2.05 0.063 3745 626.3 -171.1 -20.65 - 3667 -46.5 - - - - - - - 25.13 25.96 26.60
286 38.3 -17.8 25 294 done -0.48 - - 2518 - 1.88 0.026 2463 -681.9 -171.1 - - 3669 - - - - - - - - - 26.30 -
592 89.1 -12.7 44 598 roll -0.44 0.12 0.145 2560 350.0 2.10 0.031 1030 -682.4 -171.1 - - 3669 - - - - - - - - 26.33 26.36 -
646 92.8 -10.1 46 651 done -0.44 - - 2560 - 2.12 0.035 2453 671.2 -171.1 - - 3669 - - - - - - - - - 26.33 -
959 116.0 -7.3 62 964 roll -0.50 - - 2560 - 2.00 0.047 3769 658.0 -171.1 - - 3669 - - - - - - - - - 26.29 -
1003 119.1 -7.3 64 1009 done -0.55 0.12 0.076 2476 -700.0 1.90 0.019 2405 -717.9 -171.1 - - 3671 - - - - - - - - 26.48 26.59 -
1328 157.5 -10.8 80 1333 roll -0.54 0.12 0.142 2518 350.0 1.90 0.028 1076 -699.5 -171.1 - - 3671 - - - - - - - - 26.43 26.48 -
1401 163.2 -9.1 83 1406 done -0.56 - - 2518 - 2.05 0.033 2459 674.6 -171.1 - - 3672 - - - - - - - - - 26.40 -
1715 185.3 -6.5 99 1716 done -0.60 - - 2518 - - - 2459 - -171.1 - - 3671 - - - - - - - - - - -
2016 204.0 -6.2 114 2021 roll -0.64 - - 2518 - 2.03 0.030 1064 -687.2 -171.1 - - 3672 - - - - - - - - - 26.49 -
2090 208.6 -7.0 117 2096 done -0.68 0.12 0.077 2439 -658.3 2.08 0.034 2463 672.6 -171.1 - - 3670 - - - - - - - - 26.41 26.41 -
2405 244.6 -11.0 133 2411 roll -0.66 0.12 0.147 2480 341.7 2.05 0.028 1067 -681.0 -171.1 - - 3669 - - - - - - - - 26.41 26.48 -
2490 252.4 -9.2 137 2496 done -0.67 - - 2479 - 2.08 0.042 2449 664.4 -171.1 - - 3669 - - - - - - - - - 26.10 -
2815 278.2 -7.8 153 2820 roll -0.68 - - 2479 - 2.03 0.047 3771 651.2 -171.1 - - 3667 - - - - - - - - - 26.32 -
2902 285.2 -8.2 157 2907 done -0.70 - - 2480 - 1.88 0.021 2449 -703.2 -171.1 - - 3667 - - - - - - - - - 26.61 -
3221 310.6 -7.8 173 3227 roll -0.71 - - 2480 - 2.00 0.029 1059 -695.0 -171.1 - - 3664 - - - - - - - - - 26.48 -
3259 312.5 -7.7 174 3266 done -0.73 - - 2479 - 2.08 0.034 2450 668.8 -171.1 - - 3664 - - - - - - - - - 26.39 -
3565 339.1 -8.8 190 3566 done -0.75 - - 2479 - - - 2450 - -171.1 - - 3663 - - - - - - - - - - -
3868 365.9 -9.0 205 3873 roll -0.77 - - 2479 - 2.00 0.028 1066 -692.0 -171.1 - - 3661 - - - - - - - - - 26.48 -
3916 370.1 -9.2 207 3922 done -0.79 0.10 0.095 2420 -590.0 2.08 0.034 2456 668.3 -171.1 - - 3660 - - - - - - - - 26.36 26.38 -
4236 408.0 -12.1 223 4242 roll -0.76 0.12 0.151 2460 333.3 2.03 0.027 1067 -684.2 -171.1 - - 3658 - - - - - - - - 26.39 26.47 -
4274 410.8 -11.6 224 4282 done -0.74 - - 2460 - 2.10 0.035 2454 660.5 -171.1 - - 3658 - - - - - - - - - 26.36 -
4581 439.5 -8.8 240 4583 done -0.74 - - 2459 - - - 2455 - -171.1 -0.08 - 3679 -262.5 - - - - - - - - - 25.46
4880 466.7 -9.3 255 4885 roll -0.75 - - 2460 - 2.03 0.047 3770 647.8 -171.1 - - 3678 - - - - - - - - - 26.27 -
4917 468.9 -9.3 256 4924 done -0.76 - - 2460 - 1.88 0.021 2443 -705.9 -171.1 - - 3677 - - - - - - - - - 26.60 -
5223 497.8 -8.9 272 5229 roll -0.77 - - 2460 - 2.03 0.030 1064 -679.3 -171.1 - - 3675 - - - - - - - - - 26.44 -
5267 501.6 -8.8 274 5272 done -0.78 - - 2460 - 2.12 0.034 2459 658.0 -171.1 - - 3675 - - - - - - - - - 26.34 -
5591 529.4 -8.6 290 5592 done -0.80 - - 2460 - - - 2459 - -171.1 - - 3673 - - - - - - - - - - -
5893 554.8 -9.1 305 5894 done -0.81 - - 2460 - - - 2458 - -171.1 - - 3671 - - - - - - - - - - -
6192 582.9 -9.5 320 6193 done -0.82 - - 2460 - - - 2459 - -171.1 - - 3670 - - - - - - - - - - -
6513 611.8 -8.7 334 6518 roll -0.84 - - 2460 - 2.00 0.048 3761 651.0 -171.1 - - 3668 - - - - - - - - - 26.21 -
6556 614.9 -8.6 335 6562 done -0.86 0.12 0.081 2395 -541.7 1.90 0.023 2435 -697.9 -171.1 - - 3667 - - - - - - - - 26.44 26.57 -
6882 653.2 -11.3 346 6888 roll -0.82 0.12 0.151 2434 325.0 2.00 0.028 1075 -680.0 -171.1 - - 3663 - - - - - - - - 26.36 26.40 -
6926 657.0 -11.1 347 6931 done -0.79 - - 2433 - 2.10 0.036 2452 655.7 -171.1 - - 3663 - - - - - - - - - 26.29 -
7252 686.2 -8.7 358 7257 roll -0.78 - - 2433 - 2.03 0.048 3766 647.3 -171.1 - - 3664 - - - - - - - - - 26.17 -
7295 689.4 -8.7 359 7300 done -0.78 - - 2433 - 1.88 0.031 2460 -694.7 -171.1 - - 3663 - - - - - - - - - 25.28 -
7620 717.5 -8.3 370 7621 done -0.78 - - 2433 - - - 2460 - -171.1 - - 3662 - - - - - - - - - - -
7919 743.0 -8.7 380 7924 roll -0.78 - - 2433 - 2.05 0.031 1057 -684.4 -171.1 - - 3660 - - - - - - - - - 26.36 -
7961 746.3 -9.1 381 7966 done -0.78 - - 2433 - 2.12 0.037 2459 661.3 -171.1 - - 3659 - - - - - - - - - 26.25 -
8285 777.7 -9.5 392 8290 roll -0.78 - - 2433 - 2.03 0.049 3767 644.3 -171.1 - - 3658 - - - - - - - - - 26.13 -
8378 787.0 -9.9 395 8383 done -0.78 - - 2433 - 1.90 0.024 2446 -695.3 -171.1 - - 3657 - - - - - - - - - 26.55 -
8714 817.6 -9.0 406 8715 done -0.78 - - 2433 - - - 2446 - -171.1 - - 3656 - - - - - - - - - - -
9011 845.4 -9.7 416 9016 roll -0.78 - - 2433 - 2.03 0.031 1063 -681.3 -171.1 - - 3655 - - - - - - - - - 26.34 -
9058 848.7 -9.5 417 9064 done -0.78 - - 2433 - 2.15 0.042 2456 647.9 -171.1 - - 3655 - - - - - - - - - 25.61 -
9378 882.4 -10.1 428 9379 done -0.78 - - 2433 - - - 2457 - -171.1 - - 3654 - - - - - - - - - - -
9677 911.4 -9.7 438 9682 roll -0.78 - - 2433 - 2.05 0.050 3763 637.1 -171.1 - - 3653 - - - - - - - - - 26.06 -
9735 914.3 -9.3 439 9742 done -0.78 - - 2433 - 1.90 0.024 2448 -692.1 -171.1 - - 3652 - - - - - - - - - 26.53 -
10041 943.6 -9.3 450 10046 roll -0.78 - - 2433 - 2.05 0.032 1055 -679.5 -171.1 - - 3651 - - - - - - - - - 26.29 -
10074 946.7 -9.3 451 10079 done -0.78 - - 2433 - 2.15 0.038 2451 649.3 -171.1 - - 3651 - - - - - - - - - 25.96 -
10409 975.3 -8.2 462 10410 done -0.78 - - 2433 - - - 2451 - -171.1 - - 3649 - - - - - - - - - - -
10614 end dive: TARGET_DEPTH_EXCEEDED
10614 begin apogee
10621 992.2 -8.0 469 10783 done -0.27 0.52 0.111 2606 332.7 - - 2281 - - 154.70 1.338 2967 -4.4 0.361 - - - - - - 25.70 - 22.53
10784 end apogee: CONTROL_FINISHED_OK
10784 begin climb
10787 996.0 - 474 10961 roll 0.53 0.75 0.063 2872 354.7 2.55 0.047 3700 556.5 171.1 163.77 1.303 2261 -4.3 0.364 - - - - - - 24.30 23.81 22.24
10981 985.5 8.0 481 10987 done 0.46 - - 2869 - 2.22 0.028 2336 -614.4 173.9 - - 2257 - - - - - - - - - 24.45 -
11316 948.9 11.1 492 11322 roll 0.41 0.12 0.152 2839 -250.0 2.20 0.037 886 -659.1 173.9 - - 2250 - - - - - - - - 25.98 26.06 -
11400 942.3 10.5 494 11405 done 0.37 - - 2839 - 2.17 0.034 2315 658.5 173.9 - - 2248 - - - - - - - - - 26.13 -
11715 912.9 8.2 505 11720 roll 0.35 - - 2844 - 2.17 0.048 3706 641.0 173.9 - - 2247 - - - - - - - - - 26.17 -
11768 909.5 8.5 506 11775 done 0.32 0.15 0.158 2807 -246.7 2.12 0.029 2289 -668.4 173.9 - - 2246 - - - - - - - - 25.98 26.35 -
12085 885.0 7.0 517 12120 done 0.33 - - 2807 - - - 2289 - 207.2 33.42 1.261 2123 -3.7 0.285 - - - - - - - - 23.94
12415 864.1 6.1 528 12481 done 0.36 - - 2806 - - - 2289 - 269.9 63.58 1.231 1867 -4.0 0.312 - - - - - - - - 23.61
12775 838.3 7.6 540 12798 roll 0.40 - - 2807 - 2.20 0.039 897 -632.7 285.6 14.93 1.245 1797 -4.7 0.349 - - - - - - - 25.73 24.15
12863 833.4 7.6 542 12884 done 0.44 0.10 0.090 2862 550.0 2.17 0.038 2309 650.7 299.0 15.05 1.244 1747 -3.3 0.246 - - - - - - 25.85 25.61 24.03
13203 798.6 9.4 554 13204 done 0.43 - - 2862 - - - 2309 - 299.0 - - 1735 - - - - - - - - - - -
13503 769.6 9.6 564 13504 done 0.42 - - 2862 - - - 2309 - 299.0 - - 1734 - - - - - - - - - - -
13803 740.1 10.2 574 13804 done 0.41 - - 2861 - - - 2309 - 299.0 - - 1733 - - - - - - - - - - -
14103 709.5 10.3 584 14109 roll 0.41 - - 2867 - 2.15 0.037 895 -657.7 299.0 - - 1732 - - - - - - - - - 26.32 -
14146 706.0 10.3 585 14153 done 0.41 0.12 0.125 2832 -291.7 2.12 0.034 2305 665.1 299.0 - - 1732 - - - - - - - - 26.17 26.34 -
14473 678.3 8.4 596 14474 done 0.44 - - 2831 - - - 2305 - 299.0 - - 1731 - - - - - - - - - - -
14771 651.1 9.1 606 14772 done 0.46 - - 2832 - - - 2305 - 299.0 - - 1731 - - - - - - - - - - -
15072 627.8 7.6 616 15090 roll 0.49 - - 2831 - 2.22 0.037 896 -634.7 312.5 13.73 1.160 1687 -3.2 0.192 - - - - - - - 26.12 24.40
15123 625.4 7.5 617 15148 done 0.52 0.12 0.077 2897 550.0 2.12 0.032 2301 662.7 329.0 17.58 1.134 1620 -3.8 0.232 - - - - - - 26.13 26.13 24.17
15467 583.4 12.4 631 15469 done 0.51 0.12 0.132 2861 -300.0 - - 2302 - 329.0 - - 1614 - - - - - - - - 26.19 - -
15767 551.2 10.3 646 15768 done 0.52 - - 2861 - - - 2301 - 329.0 - - 1613 - - - - - - - - - - -
16068 521.3 9.0 661 16074 roll 0.53 - - 2860 - 2.12 0.036 889 -666.0 329.0 - - 1612 - - - - - - - - - 26.29 -
16101 519.2 8.8 662 16107 done 0.54 - - 2861 - 2.12 0.032 2305 667.9 329.0 - - 1612 - - - - - - - - - 26.29 -
16416 492.4 7.6 678 16434 done 0.57 - - 2861 - - - 2306 - 344.6 15.82 1.073 1561 -3.2 0.163 - - - - - - - - 24.48
16736 468.8 7.6 694 16756 roll 0.59 - - 2861 - 2.22 0.035 902 -632.4 358.6 15.00 1.056 1501 -4.0 0.196 - - - - - - - 25.96 24.39
16780 465.8 7.3 696 16813 done 0.62 0.12 0.079 2925 533.3 2.12 0.031 2308 663.2 383.0 26.02 1.050 1402 -3.8 0.187 - - - - - - 25.97 25.98 24.03
17121 425.2 12.6 713 17123 done 0.60 0.12 0.139 2891 -283.3 - - 2302 - 383.0 - - 1395 - - - - - - - - 26.13 - -
17422 393.2 10.3 728 17427 roll 0.61 - - 2891 - 2.17 0.047 3699 643.8 383.0 - - 1393 - - - - - - - - - 26.15 -
17445 390.5 10.6 729 17450 done 0.61 - - 2894 - 2.10 0.026 2288 -671.9 383.0 - - 1393 - - - - - - - - - 26.34 -
17769 356.1 11.2 745 17774 roll 0.62 - - 2893 - 2.08 0.037 901 -666.8 383.0 - - 1392 - - - - - - - - - 26.28 -
17836 348.8 11.3 748 17841 done 0.63 - - 2894 - 2.10 0.031 2304 668.1 383.0 - - 1393 - - - - - - - - - 26.31 -
18156 313.1 10.5 764 18161 roll 0.64 - - 2894 - 2.17 0.046 3712 648.8 383.0 - - 1392 - - - - - - - - - 26.22 -
18199 308.0 10.9 766 18205 done 0.65 - - 2894 - 2.10 0.025 2290 -677.1 383.0 - - 1391 - - - - - - - - - 26.44 -
18523 276.4 9.6 782 18529 roll 0.66 - - 2894 - 2.08 0.036 895 -670.7 383.0 - - 1391 - - - - - - - - - 26.31 -
18571 272.2 9.4 784 18577 done 0.67 - - 2894 - 2.10 0.031 2305 671.4 383.0 - - 1392 - - - - - - - - - 26.34 -
18890 243.1 9.0 800 18895 roll 0.69 - - 2894 - 2.10 0.034 903 -667.6 383.0 - - 1391 - - - - - - - - - 26.34 -
18927 241.0 8.9 801 18934 done 0.70 - - 2894 - 2.08 0.030 2302 672.6 383.0 - - 1391 - - - - - - - - - 26.35 -
19234 211.6 9.5 817 19236 done 0.72 0.10 0.096 2956 620.0 - - 2303 - 383.0 - - 1391 - - - - - - - - 26.66 - -
19533 173.1 12.7 832 19539 roll 0.68 0.12 0.134 2922 -283.3 2.10 0.032 897 -669.5 383.0 - - 1391 - - - - - - - - 26.39 26.34 -
19587 167.6 12.8 834 19592 done 0.66 - - 2922 - 2.10 0.030 2312 673.8 383.0 - - 1391 - - - - - - - - - 26.34 -
19900 134.7 9.8 850 19901 done 0.66 - - 2922 - - - 2312 - 383.0 - - 1390 - - - - - - - - - - -
20203 107.6 9.7 865 20208 roll 0.69 - - 2922 - 2.15 0.045 3705 647.9 383.0 - - 1391 - - - - - - - - - 26.22 -
20226 105.0 9.8 866 20231 done 0.71 - - 2923 - 2.08 0.024 2286 -682.2 383.0 - - 1388 - - - - - - - - - 26.49 -
20550 82.2 5.9 882 20585 roll 0.83 0.12 0.079 3006 691.7 2.05 0.034 905 -673.7 449.8 26.85 0.309 1138 -9.3 0.274 - - - - - - 26.65 26.25 25.10
20718 68.2 8.5 890 20724 done 0.84 0.12 0.118 2969 -308.3 2.08 0.030 2305 673.1 449.8 - - 1139 - - - - - - - - 26.09 26.26 -
21027 44.1 7.8 909 21039 roll 0.88 - - 2969 - 2.15 0.032 903 -652.1 456.8 3.45 0.220 1109 -8.7 0.193 - - - - - - - 26.27 24.98
21067 41.4 7.7 912 21079 done 0.93 - - 2969 - 2.08 0.029 2308 675.5 466.8 5.10 0.216 1062 -9.2 0.195 - - - - - - - 26.32 25.12
21390 19.2 7.2 944 21413 roll 0.99 0.12 0.077 3060 758.3 2.15 0.034 919 -646.0 495.0 12.52 0.164 949 -9.0 0.117 - - - - - - 26.63 26.26 25.35
21477 8.6 13.0 952 21484 done 0.97 0.15 0.118 3015 -300.0 2.05 0.031 2303 675.1 495.0 - - 950 - - - - - - - - 26.08 26.32 -
21539 end climb: SURFACE_DEPTH_REACHED
21539 begin surface coast
21573 end surface coast: CONTROL_FINISHED_OK
21573 begin surface
SM 1.72 - - - - -7.98 7.40 0.032 121 -391.1 0.20 0.070 2443 700.0 495.02 - - 950 - - - - - - - -