OKMC Oct12 * SG167 * Dive index * Mission links * Dive 229 * Raw log
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• Previous call tries 1 • 51.80 of 150.00 AH used of 24V (65.47% remains)
• Previous NAKs 0, Timeouts 0 • 33.70 of 110.00 AH used of 10V (69.36% remains)
• Surface angle -66.8 deg, depth 1.78 m • Intended pitch -13.8 deg, speed -8.049 cm/s
• No surface pump (final VBD was 506.79, SM_CC=400)
• GPS1 time: 28 s
• GPS2 time: 3 s • Transponder ping count: 21
• 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 -0.53 - - 110 - - - 2465 - -171.1 -71.43 - 2846 - - - - - - - - - - -
97 3.6 -4.0 7 130 roll -0.53 9.55 0.216 2523 252.7 2.12 0.040 1051 -667.0 -171.1 -16.33 - 3670 -50.5 - - - - - - - 25.07 26.24 26.63
228 29.5 -17.2 19 236 done -0.49 - - 2520 - 2.10 0.031 2455 668.6 -171.1 - - 3671 - - - - - - - - - 26.20 -
536 75.0 -11.9 40 542 roll -0.47 0.12 0.148 2561 341.7 2.03 0.027 1058 -688.2 -171.1 - - 3671 - - - - - - - - 26.33 26.41 -
636 83.3 -9.7 44 644 done -0.49 - - 2561 - 2.08 0.031 2454 671.2 -171.1 - - 3671 - - - - - - - - - 26.36 -
943 110.6 -7.4 60 949 roll -0.53 - - 2562 - 1.98 0.046 3762 660.6 -171.1 - - 3672 - - - - - - - - - 26.31 -
1016 115.8 -7.7 63 1022 done -0.58 0.15 0.067 2466 -640.0 1.85 0.019 2421 -724.9 -171.1 - - 3671 - - - - - - - - 26.52 26.62 -
1330 161.6 -13.4 79 1336 roll -0.54 0.17 0.132 2522 329.4 1.90 0.025 1077 -707.4 -171.1 - - 3672 - - - - - - - - 26.31 26.51 -
1374 166.2 -11.7 81 1379 done -0.53 - - 2522 - 2.03 0.031 2458 680.3 -171.1 - - 3672 - - - - - - - - - 26.44 -
1698 191.6 -6.9 97 1703 roll -0.56 - - 2522 - 1.98 0.046 3766 660.6 -171.1 - - 3672 - - - - - - - - - 26.35 -
1745 194.6 -6.6 99 1750 done -0.59 - - 2522 - 1.83 0.018 2437 -726.2 -171.1 - - 3672 - - - - - - - - - 26.66 -
2064 218.8 -8.0 115 2070 roll -0.63 - - 2521 - 1.92 0.025 1071 -711.5 -171.1 - - 3672 - - - - - - - - - 26.53 -
2122 222.5 -8.1 117 2130 done -0.67 0.12 0.078 2440 -675.0 2.03 0.031 2453 680.8 -171.1 - - 3671 - - - - - - - - 26.44 26.46 -
2428 261.6 -12.4 133 2434 roll -0.64 0.15 0.142 2489 326.7 1.98 0.026 1084 -691.4 -171.1 - - 3671 - - - - - - - - 26.36 26.51 -
2481 266.2 -11.5 135 2487 done -0.62 - - 2490 - 2.03 0.032 2449 672.4 -171.1 - - 3670 - - - - - - - - - 26.28 -
2795 294.6 -8.9 151 2800 roll -0.64 - - 2490 - 1.98 0.046 3758 661.1 -171.1 - - 3667 - - - - - - - - - 26.34 -
2842 298.7 -9.0 153 2848 done -0.66 - - 2489 - 1.80 0.018 2455 -723.9 -171.1 - - 3669 - - - - - - - - - 26.65 -
3161 325.3 -8.2 169 3166 roll -0.68 - - 2489 - 1.98 0.027 1076 -696.5 -171.1 - - 3667 - - - - - - - - - 26.52 -
3225 330.4 -8.1 172 3230 done -0.71 - - 2489 - 2.05 0.032 2456 673.2 -171.1 - - 3667 - - - - - - - - - 26.43 -
3549 355.1 -7.6 188 3554 roll -0.73 - - 2489 - 1.98 0.046 3760 658.6 -171.1 - - 3664 - - - - - - - - - 26.32 -
3582 356.8 -7.5 189 3587 done -0.75 - - 2489 - 1.83 0.020 2441 -720.8 -171.1 - - 3665 - - - - - - - - - 26.65 -
3896 381.0 -7.9 205 3897 done -0.78 0.12 0.078 2416 -608.3 - - 2441 - -171.1 - - 3662 - - - - - - - - 26.72 - -
4198 416.0 -11.3 220 4203 roll -0.74 0.12 0.152 2456 333.3 1.95 0.025 1083 -696.4 -171.1 - - 3661 - - - - - - - - 26.41 26.18 -
4231 419.0 -11.2 221 4237 done -0.72 - - 2462 - 2.05 0.040 2449 666.3 -171.1 - - 3661 - - - - - - - - - 25.85 -
4544 450.6 -9.5 237 4549 roll -0.72 - - 2453 - 2.00 0.047 3763 657.0 -171.1 - - 3659 - - - - - - - - - 26.29 -
4596 454.6 -9.4 239 4602 done -0.72 - - 2453 - 1.83 0.020 2455 -714.8 -171.1 - - 3658 - - - - - - - - - 26.64 -
4910 483.0 -8.5 255 4916 roll -0.72 - - 2453 - 2.00 0.039 1073 -691.0 -171.1 -0.08 - 3685 -337.5 - - - - - - - - 26.48 25.64
4975 488.6 -8.7 258 4980 done -0.72 - - 2453 - 2.08 0.033 2462 667.8 -171.1 - - 3685 - - - - - - - - - 26.40 -
5298 519.3 -9.8 274 5299 done -0.73 - - 2453 - - - 2463 - -171.1 - - 3683 - - - - - - - - - - -
5600 547.1 -8.8 289 5601 done -0.74 - - 2453 - - - 2462 - -171.1 - - 3682 - - - - - - - - - - -
5902 571.7 -8.3 304 5903 done -0.74 - - 2453 - - - 2462 - -171.1 - - 3680 - - - - - - - - - - -
6200 596.8 -8.6 319 6201 done -0.75 - - 2453 - - - 2462 - -171.1 - - 3678 - - - - - - - - - - -
6509 624.8 -9.2 330 6515 roll -0.76 - - 2452 - 2.00 0.048 3763 650.5 -171.1 - - 3675 - - - - - - - - - 26.22 -
6607 633.9 -9.6 333 6612 done -0.77 - - 2453 - 1.85 0.021 2444 -713.0 -171.1 - - 3675 - - - - - - - - - 26.63 -
6938 664.9 -9.0 344 6943 roll -0.79 - - 2452 - 1.98 0.028 1073 -692.4 -171.1 - - 3674 - - - - - - - - - 26.44 -
6990 668.0 -8.9 345 6996 done -0.80 - - 2452 - 2.08 0.033 2459 666.3 -171.1 - - 3673 - - - - - - - - - 26.34 -
7307 695.2 -7.9 356 7308 done -0.81 - - 2452 - - - 2459 - -171.1 - - 3671 - - - - - - - - - - -
7604 721.3 -9.3 366 7605 done -0.83 - - 2452 - - - 2460 - -171.1 - - 3669 - - - - - - - - - - -
7905 749.8 -9.5 376 7911 roll -0.84 - - 2452 - 2.03 0.050 3762 641.4 -171.1 - - 3668 - - - - - - - - - 25.98 -
7974 755.9 -9.5 378 7979 done -0.86 - - 2452 - 1.88 0.023 2444 -701.1 -171.1 - - 3667 - - - - - - - - - 26.59 -
8304 786.7 -9.1 389 8311 roll -0.88 0.10 0.100 2397 -550.0 2.08 0.047 3766 635.6 -171.1 - - 3665 - - - - - - - - 26.67 26.13 -
8330 786.7 -9.1 389 8336 done -0.89 - - 2397 - 1.88 0.024 2445 -702.7 -171.1 - - 3664 - - - - - - - - - 26.58 -
8646 827.5 -12.3 400 8647 done -0.86 - - 2397 - - - 2444 - -171.1 - - 3662 - - - - - - - - - - -
8944 862.9 -11.3 410 8950 roll -0.83 0.12 0.158 2436 325.0 2.08 0.047 3754 629.8 -171.1 - - 3661 - - - - - - - - 26.34 26.10 -
8993 866.4 -11.0 411 8998 done -0.81 - - 2436 - 1.85 0.024 2447 -706.5 -171.1 - - 3661 - - - - - - - - - 26.55 -
9314 892.6 -7.5 422 9320 roll -0.82 - - 2436 - 2.05 0.050 3755 638.0 -171.1 - - 3659 - - - - - - - - - 26.08 -
9352 895.3 -7.4 423 9357 done -0.83 - - 2436 - 1.85 0.024 2449 -705.9 -171.1 - - 3658 - - - - - - - - - 26.54 -
9683 920.7 -8.0 434 9688 roll -0.83 - - 2436 - 2.08 0.052 3762 631.2 -171.1 - - 3657 - - - - - - - - - 25.29 -
9721 923.5 -7.9 435 9726 done -0.84 - - 2436 - 1.88 0.026 2459 -693.1 -171.1 - - 3657 - - - - - - - - - 25.75 -
10053 947.6 -6.8 446 10059 roll -0.85 - - 2436 - 2.03 0.034 1076 -681.3 -171.1 - - 3656 - - - - - - - - - 25.98 -
10107 950.4 -6.9 447 10112 done -0.86 - - 2436 - 2.10 0.036 2452 655.2 -171.1 - - 3655 - - - - - - - - - 26.01 -
10423 972.7 -6.7 458 10428 roll -0.87 - - 2436 - 2.03 0.050 3763 645.8 -171.1 - - 3653 - - - - - - - - - 26.03 -
10481 975.1 -6.6 459 10488 done -0.88 - - 2436 - 1.90 0.025 2442 -695.3 -171.1 - - 3653 - - - - - - - - - 26.52 -
10664 end dive: TARGET_DEPTH_EXCEEDED
10664 begin apogee
10671 990.8 -7.7 466 10836 done -0.27 0.52 0.109 2609 332.7 - - 2298 - - 154.88 1.246 2965 -4.4 0.389 - - - - - - 25.72 - 22.86
10837 end apogee: CONTROL_FINISHED_OK
10837 begin climb
10840 996.1 - 471 11012 roll 0.53 0.70 0.054 2865 365.7 2.53 0.048 3705 556.1 171.1 159.73 1.229 2260 -4.4 0.394 - - - - - - 24.65 23.89 22.34
11102 981.6 9.4 480 11107 done 0.47 - - 2873 - 2.12 0.028 2332 -647.6 171.1 - - 2253 - - - - - - - - - 25.39 -
11427 950.7 9.1 491 11429 done 0.41 0.15 0.144 2832 -273.3 - - 2332 - 171.1 - - 2248 - - - - - - - - 26.06 - -
11728 928.5 7.2 501 11759 roll 0.40 - - 2831 - 2.20 0.038 911 -645.9 199.1 25.75 1.274 2149 -3.8 0.308 - - - - - - - 25.63 23.99
11814 923.9 7.3 503 11842 done 0.39 - - 2832 - 2.17 0.031 2319 648.8 221.7 22.62 1.293 2062 -3.8 0.302 - - - - - - - 25.91 23.76
12151 894.5 8.4 515 12156 roll 0.38 - - 2831 - 2.17 0.048 3703 637.8 221.7 - - 2050 - - - - - - - - - 26.10 -
12178 894.5 8.4 515 12186 done 0.38 - - 2839 - 2.10 0.028 2294 -671.0 221.7 - - 2049 - - - - - - - - - 26.28 -
12486 865.9 8.3 526 12491 roll 0.37 - - 2839 - 2.08 0.037 908 -666.3 221.7 - - 2049 - - - - - - - - - 26.28 -
12520 863.1 8.2 527 12526 done 0.36 - - 2839 - 2.10 0.032 2303 664.3 221.7 - - 2047 - - - - - - - - - 26.31 -
12856 837.9 7.5 538 12884 roll 0.35 - - 2839 - 2.28 0.049 3696 611.0 240.2 18.23 1.258 1981 -3.6 0.265 - - - - - - - 25.87 24.21
12927 832.5 8.0 540 12932 done 0.34 - - 2839 - 2.10 0.029 2301 -664.3 241.6 - - 1978 - - - - - - - - - 26.07 -
13252 805.1 8.3 551 13257 roll 0.34 - - 2839 - 2.10 0.037 907 -663.8 241.6 - - 1977 - - - - - - - - - 26.22 -
13316 799.9 8.2 553 13321 done 0.34 - - 2839 - 2.10 0.031 2299 662.9 241.6 - - 1975 - - - - - - - - - 26.27 -
13651 775.0 7.2 564 13688 roll 0.35 - - 2838 - 2.30 0.048 3699 608.7 267.9 28.55 1.239 1870 -3.7 0.253 - - - - - - - 25.63 24.03
13702 773.0 7.1 565 13741 done 0.36 - - 2839 - 2.12 0.028 2301 -659.4 296.3 30.02 1.238 1754 -3.9 0.265 - - - - - - - 25.83 23.66
14043 746.9 7.3 577 14072 roll 0.39 - - 2839 - 2.22 0.037 906 -628.4 318.9 23.48 1.219 1663 -3.9 0.261 - - - - - - - 25.60 24.00
14115 742.3 7.3 579 14145 done 0.41 - - 2839 - 2.15 0.031 2311 653.5 341.2 23.35 1.214 1574 -3.8 0.256 - - - - - - - 25.84 23.82
14469 714.7 7.6 591 14486 done 0.44 - - 2839 - - - 2311 - 355.9 15.90 1.200 1516 -3.6 0.239 - - - - - - - - 24.16
14770 691.0 7.9 601 14771 done 0.48 - - 2846 - - - 2311 - 359.5 - - 1505 - - - - - - - - - - -
15068 667.4 7.7 611 15091 roll 0.51 - - 2839 - 2.20 0.035 910 -636.8 369.7 15.07 1.142 1453 -3.5 0.222 - - - - - - - 25.98 24.39
15129 662.8 7.7 613 15149 done 0.56 0.12 0.081 2907 566.7 2.12 0.031 2309 659.9 379.5 11.55 1.151 1413 -3.5 0.219 - - - - - - 26.03 26.04 24.22
15462 624.6 11.8 624 15468 roll 0.54 0.12 0.143 2868 -325.0 2.12 0.033 907 -661.3 379.5 - - 1407 - - - - - - - - 26.14 26.17 -
15480 624.6 11.8 624 15486 done 0.53 - - 2868 - 2.10 0.030 2309 667.6 379.5 - - 1407 - - - - - - - - - 26.22 -
15801 593.1 9.2 636 15802 done 0.55 - - 2868 - - - 2309 - 379.5 - - 1406 - - - - - - - - - - -
16100 565.7 9.7 651 16106 roll 0.56 - - 2868 - 2.12 0.034 900 -664.6 379.5 - - 1406 - - - - - - - - - 26.32 -
16133 563.3 9.7 652 16138 done 0.58 - - 2868 - 2.10 0.030 2312 672.4 379.5 - - 1405 - - - - - - - - - 26.35 -
16447 532.5 9.5 668 16452 roll 0.60 - - 2868 - 2.15 0.047 3696 643.7 379.5 - - 1405 - - - - - - - - - 26.22 -
16479 530.0 9.7 669 16486 done 0.62 - - 2868 - 2.08 0.027 2292 -675.0 379.5 - - 1405 - - - - - - - - - 26.46 -
16794 497.4 10.4 685 16800 roll 0.64 0.12 0.084 2946 650.0 2.05 0.033 909 -674.6 379.5 - - 1404 - - - - - - - - 26.60 26.34 -
16884 485.6 14.1 689 16890 done 0.62 0.15 0.128 2901 -300.0 2.08 0.030 2306 671.6 379.5 - - 1405 - - - - - - - - 26.10 26.37 -
17203 448.5 10.5 705 17209 roll 0.62 - - 2901 - 2.15 0.047 3692 644.7 379.5 - - 1404 - - - - - - - - - 26.22 -
17242 445.8 10.7 706 17248 done 0.61 - - 2908 - 2.05 0.027 2297 -680.5 379.5 - - 1404 - - - - - - - - - 26.46 -
17547 412.6 9.9 722 17552 roll 0.60 - - 2908 - 2.08 0.036 909 -667.3 379.5 - - 1404 - - - - - - - - - 26.32 -
17614 406.8 9.0 725 17620 done 0.60 - - 2908 - 2.08 0.030 2309 673.1 379.5 - - 1404 - - - - - - - - - 26.37 -
17934 374.2 10.2 741 17939 roll 0.59 - - 2908 - 2.15 0.046 3696 645.1 379.5 - - 1404 - - - - - - - - - 26.20 -
18012 367.1 11.1 744 18019 done 0.58 - - 2908 - 2.05 0.026 2296 -682.9 379.5 - - 1404 - - - - - - - - - 26.47 -
18317 336.5 9.7 760 18319 done 0.58 - - 2907 - - - 2297 - 379.5 - - 1404 - - - - - - - - - - -
18619 304.0 11.1 775 18625 roll 0.58 - - 2908 - 2.08 0.034 906 -668.8 379.5 - - 1404 - - - - - - - - - 26.32 -
18692 297.3 10.5 778 18698 done 0.59 - - 2907 - 2.08 0.029 2310 675.0 379.5 - - 1404 - - - - - - - - - 26.37 -
19006 267.1 8.9 794 19011 roll 0.60 - - 2908 - 2.15 0.045 3703 647.9 379.5 - - 1404 - - - - - - - - - 26.20 -
19033 264.9 9.1 795 19039 done 0.60 - - 2908 - 2.05 0.024 2292 -688.3 379.5 - - 1404 - - - - - - - - - 26.48 -
19352 234.4 10.2 811 19357 roll 0.61 - - 2908 - 2.03 0.034 911 -680.3 379.5 - - 1404 - - - - - - - - - 26.34 -
19435 225.9 10.2 815 19441 done 0.63 - - 2908 - 2.08 0.028 2314 674.5 379.5 - - 1404 - - - - - - - - - 26.38 -
19759 193.8 9.5 831 19765 roll 0.65 - - 2907 - 2.12 0.044 3699 653.3 379.5 - - 1404 - - - - - - - - - 26.21 -
19817 189.4 9.7 833 19825 done 0.66 - - 2908 - 2.05 0.024 2290 -687.3 379.5 - - 1404 - - - - - - - - - 26.50 -
20123 162.3 7.8 849 20138 roll 0.68 - - 2908 - 2.05 0.033 903 -676.6 388.4 8.38 0.826 1378 -3.1 0.067 - - - - - - - 26.27 24.41
20161 160.7 7.7 850 20177 done 0.70 - - 2908 - 2.05 0.027 2303 682.9 399.7 11.48 0.795 1337 -3.6 0.079 - - - - - - - 26.31 24.61
20491 135.1 7.5 867 20509 done 0.74 - - 2908 - - - 2302 - 417.9 13.18 0.760 1260 -5.8 0.114 - - - - - - - - 24.75
20811 110.1 7.4 883 20826 roll 0.79 0.12 0.081 3003 791.7 2.12 0.030 909 -657.1 437.0 7.80 0.352 1188 -9.2 0.318 - - - - - - 26.51 26.25 24.96
20889 102.8 10.5 886 20897 done 0.79 0.17 0.118 2950 -311.8 2.05 0.027 2307 682.0 437.0 - - 1190 - - - - - - - - 26.00 26.27 -
21194 73.9 8.1 902 21195 done 0.82 - - 2951 - - - 2307 - 437.0 - - 1190 - - - - - - - - - - -
21497 51.8 7.3 917 21517 roll 0.87 - - 2951 - 2.08 0.030 910 -671.6 460.8 10.95 0.234 1090 -9.1 0.222 - - - - - - - 26.32 25.15
21592 45.2 6.6 924 21619 done 0.94 0.15 0.067 3042 606.7 2.03 0.026 2303 686.2 505.9 20.05 0.222 903 -9.3 0.209 - - - - - - 26.36 26.37 25.31
21927 4.3 13.4 957 21933 roll 0.94 0.12 0.139 3007 -291.7 2.08 0.028 896 -676.4 505.9 - - 906 - - - - - - - - 26.36 26.36 -
21938 end climb: SURFACE_DEPTH_REACHED
21939 begin surface coast
21960 end surface coast: CONTROL_FINISHED_OK
21960 begin surface
SM 1.74 - - - - -8.00 7.32 0.028 116 -394.9 2.35 0.025 2452 662.1 506.79 - - 901 - - - - - - - -