OKMC Oct12 * SG167 * Dive index * Mission links * Dive 230 * Raw log
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• Previous call tries 2 • 51.99 of 150.00 AH used of 24V (65.34% remains)
• Previous NAKs 0, Timeouts 0 • 33.83 of 110.00 AH used of 10V (69.24% remains)
• Surface angle -52.8 deg, depth 1.59 m • Intended pitch -13.8 deg, speed -8.049 cm/s
• No surface pump (final VBD was 576.46, SM_CC=400)
• GPS1 time: 33 s
• GPS2 time: 8 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 84 VBD -0.53 - - 108 - - - 2466 - -171.1 -62.20 - 2556 - - - - - - - - - - -
87 3.4 -3.6 6 130 roll -0.53 9.52 0.215 2524 253.8 2.10 0.047 1067 -666.2 -171.1 -24.42 - 3666 -45.5 - - - - - - - 25.08 26.06 26.63
285 32.2 -14.6 25 291 done -0.48 - - 2520 - 2.10 0.041 2435 651.4 -171.1 - - 3668 - - - - - - - - - 26.17 -
609 78.5 -12.4 47 615 roll -0.46 0.12 0.148 2561 341.7 2.05 0.036 1076 -662.9 -171.1 - - 3668 - - - - - - - - 26.34 26.29 -
709 86.1 -9.1 51 716 done -0.49 - - 2561 - 2.08 0.034 2474 672.1 -171.1 - - 3668 - - - - - - - - - 26.37 -
1016 108.8 -7.3 67 1018 done -0.54 0.10 0.092 2487 -740.0 - - 2474 - -171.1 - - 3669 - - - - - - - - 26.70 - -
1315 143.0 -11.6 82 1321 roll -0.53 0.12 0.143 2529 350.0 2.10 0.032 1052 -677.1 -171.1 - - 3668 - - - - - - - - 26.42 26.44 -
1425 153.2 -9.1 87 1431 done -0.56 - - 2528 - 2.10 0.034 2460 670.5 -171.1 - - 3670 - - - - - - - - - 26.46 -
1744 178.3 -7.7 103 1745 done -0.60 - - 2528 - - - 2460 - -171.1 - - 3670 - - - - - - - - - - -
2046 200.7 -7.0 118 2051 roll -0.64 - - 2528 - 1.98 0.047 3752 652.5 -171.1 - - 3669 - - - - - - - - - 26.32 -
2084 202.3 -6.9 119 2092 done -0.68 0.15 0.067 2437 -606.7 1.85 0.021 2432 -713.5 -171.1 - - 3669 - - - - - - - - 26.53 26.62 -
2390 242.0 -13.0 135 2396 roll -0.64 0.17 0.136 2492 323.5 2.05 0.046 3760 647.8 -171.1 - - 3670 - - - - - - - - 26.31 26.32 -
2443 246.9 -11.8 137 2449 done -0.62 - - 2492 - 1.83 0.019 2435 -724.0 -171.1 - - 3668 - - - - - - - - - 26.64 -
2757 275.1 -9.2 153 2764 roll -0.63 - - 2493 - 1.95 0.036 1087 -691.3 -171.1 - - 3667 - - - - - - - - - 25.06 -
2846 283.5 -9.9 157 2851 done -0.65 - - 2490 - 2.05 0.034 2461 670.2 -171.1 - - 3666 - - - - - - - - - 26.46 -
3165 312.1 -8.4 173 3170 roll -0.67 - - 2492 - 1.95 0.047 3751 661.5 -171.1 - - 3665 - - - - - - - - - 26.31 -
3233 317.0 -8.0 176 3239 done -0.69 - - 2492 - 1.80 0.018 2437 -730.0 -171.1 - - 3664 - - - - - - - - - 26.68 -
3552 340.2 -7.7 192 3558 roll -0.72 - - 2492 - 1.95 0.028 1086 -692.8 -171.1 - - 3663 - - - - - - - - - 26.47 -
3616 345.7 -8.4 195 3621 done -0.74 - - 2492 - 2.03 0.034 2459 676.4 -171.1 - - 3663 - - - - - - - - - 26.46 -
3940 373.1 -8.0 211 3946 roll -0.77 0.12 0.078 2410 -683.3 1.98 0.045 3756 655.1 -171.1 - - 3661 - - - - - - - - 26.71 26.29 -
4018 381.0 -11.2 214 4026 done -0.75 0.17 0.139 2460 294.1 1.85 0.018 2446 -708.1 -171.1 - - 3661 - - - - - - - - 26.17 26.65 -
4323 413.3 -9.5 230 4329 roll -0.75 - - 2459 - 2.03 0.047 3759 646.8 -171.1 - - 3659 - - - - - - - - - 26.28 -
4416 421.6 -9.9 234 4421 done -0.75 - - 2459 - 1.83 0.020 2451 -714.8 -171.1 - - 3658 - - - - - - - - - 26.65 -
4729 452.0 -8.7 250 4735 roll -0.75 - - 2459 - 2.03 0.043 1074 -678.3 -171.1 -0.08 - 3684 -325.0 - - - - - - - - 26.36 25.63
4835 460.5 -8.3 255 4840 done -0.76 - - 2459 - 2.05 0.034 2448 670.2 -171.1 - - 3684 - - - - - - - - - 26.42 -
5159 484.5 -7.3 271 5160 done -0.77 - - 2459 - - - 2449 - -171.1 - - 3681 - - - - - - - - - - -
5462 506.0 -7.6 286 5463 done -0.78 - - 2459 - - - 2449 - -171.1 - - 3680 - - - - - - - - - - -
5760 534.5 -10.4 301 5766 roll -0.79 - - 2458 - 2.03 0.048 3756 643.8 -171.1 - - 3678 - - - - - - - - - 26.23 -
5814 539.1 -10.3 303 5819 done -0.81 - - 2458 - 1.85 0.021 2435 -714.1 -171.1 - - 3678 - - - - - - - - - 26.65 -
6127 570.1 -9.4 319 6129 done -0.82 - - 2458 - - - 2434 - -171.1 - - 3675 - - - - - - - - - - -
6430 595.7 -8.1 334 6435 roll -0.84 - - 2458 - 1.95 0.029 1086 -691.3 -171.1 - - 3673 - - - - - - - - - 26.42 -
6482 599.6 -8.3 336 6488 done -0.85 - - 2458 - 2.05 0.034 2459 669.8 -171.1 - - 3673 - - - - - - - - - 26.39 -
6798 623.6 -7.0 347 6800 done -0.87 0.12 0.083 2391 -558.3 - - 2459 - -171.1 - - 3671 - - - - - - - - 26.68 - -
7096 658.0 -11.8 357 7102 roll -0.83 0.12 0.155 2430 325.0 2.03 0.028 1084 -677.3 -171.1 - - 3670 - - - - - - - - 26.36 26.40 -
7145 661.6 -11.8 358 7150 done -0.80 - - 2428 - 2.05 0.034 2456 669.3 -171.1 - - 3670 - - - - - - - - - 26.36 -
7465 697.1 -10.7 369 7466 done -0.79 - - 2427 - - - 2456 - -171.1 - - 3667 - - - - - - - - - - -
7764 727.4 -9.7 379 7769 roll -0.78 - - 2427 - 2.00 0.049 3753 648.5 -171.1 - - 3666 - - - - - - - - - 26.15 -
7801 730.8 -9.7 380 7806 done -0.78 - - 2427 - 1.83 0.023 2454 -709.8 -171.1 - - 3665 - - - - - - - - - 26.60 -
8132 761.2 -8.8 391 8133 done -0.78 - - 2427 - - - 2460 - -171.1 - - 3664 - - - - - - - - - - -
8429 787.9 -8.8 401 8430 done -0.78 - - 2427 - - - 2453 - -171.1 - - 3662 - - - - - - - - - - -
8729 812.8 -8.4 411 8734 roll -0.78 - - 2427 - 2.00 0.031 1084 -684.5 -171.1 - - 3660 - - - - - - - - - 26.34 -
8766 815.7 -8.4 412 8771 done -0.78 - - 2427 - 2.05 0.035 2455 668.8 -171.1 - - 3660 - - - - - - - - - 26.30 -
9096 845.7 -9.2 423 9097 done -0.78 - - 2427 - - - 2449 - -171.1 - - 3657 - - - - - - - - - - -
9395 873.8 -9.6 433 9401 roll -0.78 - - 2427 - 2.00 0.030 1093 -678.0 -171.1 - - 3657 - - - - - - - - - 26.36 -
9443 877.2 -9.7 434 9448 done -0.78 - - 2427 - 2.05 0.037 2451 662.4 -171.1 - - 3656 - - - - - - - - - 26.27 -
9761 910.1 -9.5 445 9766 roll -0.78 - - 2427 - 2.03 0.050 3756 642.9 -171.1 - - 3654 - - - - - - - - - 26.05 -
9828 916.1 -9.5 447 9833 done -0.78 - - 2427 - 1.85 0.024 2455 -703.2 -171.1 - - 3654 - - - - - - - - - 26.54 -
10158 944.8 -8.5 458 10159 done -0.78 - - 2427 - - - 2454 - -171.1 - - 3653 - - - - - - - - - - -
10457 969.0 -8.0 468 10458 done -0.78 - - 2427 - - - 2453 - -171.1 - - 3652 - - - - - - - - - - -
10754 end dive: TARGET_DEPTH_EXCEEDED
10754 begin apogee
10760 991.6 -7.4 478 10922 done -0.27 0.55 0.111 2606 325.5 - - 2293 - - 153.93 1.259 2966 -4.5 0.384 - - - - - - 25.67 - 22.87
10924 end apogee: CONTROL_FINISHED_OK
10924 begin climb
10926 995.8 - 483 11098 roll 0.53 0.75 0.064 2869 350.7 2.47 0.050 3708 572.9 171.1 159.57 1.202 2262 -4.4 0.400 - - - - - - 24.56 23.89 22.41
11111 988.2 6.7 489 11160 done 0.48 - - 2871 - 2.22 0.028 2333 -619.4 214.6 41.30 1.193 2090 -4.2 0.378 - - - - - - - 24.46 22.51
11484 947.0 10.2 502 11490 roll 0.44 - - 2870 - 2.20 0.039 894 -654.1 214.6 - - 2077 - - - - - - - - - 26.05 -
11582 937.9 9.6 505 11589 done 0.41 0.15 0.125 2828 -280.0 2.15 0.034 2311 659.1 214.6 - - 2076 - - - - - - - - 25.96 26.17 -
11912 913.3 7.2 516 11946 roll 0.41 - - 2828 - 2.28 0.050 3695 607.0 241.4 25.98 1.215 1975 -3.9 0.320 - - - - - - - 25.64 24.11
11975 908.4 7.5 518 11998 done 0.41 - - 2828 - 2.12 0.028 2290 -662.7 258.2 17.58 1.227 1913 -3.5 0.286 - - - - - - - 25.91 23.91
12306 883.3 7.7 529 12325 roll 0.42 - - 2828 - 2.17 0.038 906 -637.8 268.3 10.82 1.259 1866 -4.3 0.334 - - - - - - - 25.93 24.24
12358 880.8 7.7 530 12378 done 0.43 - - 2828 - 2.12 0.032 2303 659.0 279.8 13.02 1.239 1821 -3.5 0.269 - - - - - - - 26.02 24.11
12702 853.7 7.5 542 12725 roll 0.45 - - 2828 - 2.17 0.034 903 -645.2 297.2 17.55 1.229 1753 -3.9 0.295 - - - - - - - 25.79 24.22
12748 851.5 7.4 543 12777 done 0.48 - - 2828 - 2.15 0.031 2309 654.0 317.7 23.12 1.213 1670 -3.6 0.276 - - - - - - - 25.90 23.92
13095 826.2 7.0 555 13134 roll 0.51 0.12 0.082 2906 650.0 2.22 0.037 902 -633.8 349.4 32.47 1.199 1538 -4.1 0.307 - - - - - - 26.35 25.48 24.02
13161 819.4 8.9 557 13168 done 0.51 0.15 0.124 2864 -280.0 2.17 0.032 2309 648.4 349.4 - - 1535 - - - - - - - - 25.56 25.72 -
13491 786.1 10.1 568 13497 roll 0.51 - - 2864 - 2.15 0.037 911 -650.2 349.4 - - 1531 - - - - - - - - - 26.19 -
13514 786.1 10.1 568 13519 done 0.51 - - 2864 - 2.10 0.032 2303 662.9 349.4 - - 1531 - - - - - - - - - 26.23 -
13829 752.4 10.1 579 13830 done 0.52 - - 2864 - - - 2303 - 349.4 - - 1530 - - - - - - - - - - -
14128 722.7 9.8 589 14133 roll 0.53 - - 2864 - 2.12 0.037 903 -660.4 349.4 - - 1529 - - - - - - - - - 26.32 -
14156 722.7 9.8 589 14162 done 0.54 - - 2864 - 2.10 0.032 2302 666.2 349.4 - - 1529 - - - - - - - - - 26.29 -
14462 693.5 8.4 600 14467 roll 0.55 - - 2864 - 2.17 0.048 3698 643.3 349.4 - - 1529 - - - - - - - - - 26.22 -
14492 693.5 8.4 600 14498 done 0.56 - - 2864 - 2.08 0.028 2291 -676.4 349.4 - - 1528 - - - - - - - - - 26.46 -
14799 663.2 9.0 611 14804 roll 0.57 - - 2864 - 2.08 0.038 909 -664.4 349.4 - - 1528 - - - - - - - - - 26.32 -
14863 657.4 8.8 613 14868 done 0.58 - - 2864 - 2.10 0.032 2307 665.7 349.4 - - 1528 - - - - - - - - - 26.37 -
15199 628.1 9.0 624 15204 roll 0.59 - - 2864 - 2.17 0.050 3696 640.1 349.4 - - 1527 - - - - - - - - - 26.15 -
15226 628.1 9.0 624 15233 done 0.61 - - 2863 - 2.08 0.028 2296 -673.1 349.4 - - 1527 - - - - - - - - - 26.47 -
15544 595.9 9.0 636 15550 roll 0.62 0.10 0.101 2916 530.0 2.08 0.035 914 -664.4 349.4 - - 1527 - - - - - - - - 26.64 26.31 -
15609 588.7 10.3 639 15614 done 0.61 - - 2915 - 2.08 0.032 2303 667.8 349.4 - - 1527 - - - - - - - - - 26.35 -
15933 549.5 12.4 655 15934 done 0.58 - - 2915 - - - 2303 - 349.4 - - 1527 - - - - - - - - - - -
16234 511.7 12.5 670 16236 done 0.56 0.12 0.140 2879 -300.0 - - 2303 - 349.4 - - 1527 - - - - - - - - 26.43 - -
16531 481.9 9.3 685 16537 roll 0.56 - - 2879 - 2.17 0.047 3697 642.4 349.4 - - 1527 - - - - - - - - - 26.15 -
16584 477.6 9.8 687 16590 done 0.56 - - 2878 - 2.08 0.027 2294 -674.5 349.4 - - 1526 - - - - - - - - - 26.47 -
16898 449.2 8.6 703 16903 roll 0.56 - - 2881 - 2.08 0.038 912 -664.4 349.4 - - 1526 - - - - - - - - - 25.62 -
16982 442.0 8.6 707 16987 done 0.58 - - 2881 - 2.08 0.031 2306 670.2 349.4 - - 1526 - - - - - - - - - 26.34 -
17306 410.8 10.0 723 17311 roll 0.59 - - 2881 - 2.17 0.047 3703 643.8 349.4 - - 1526 - - - - - - - - - 26.14 -
17370 403.7 10.9 726 17375 done 0.59 - - 2881 - 2.05 0.025 2296 -686.3 349.4 - - 1526 - - - - - - - - - 26.48 -
17693 373.3 8.7 742 17699 roll 0.60 - - 2881 - 2.05 0.035 918 -672.2 349.4 - - 1526 - - - - - - - - - 26.27 -
17722 371.1 8.6 743 17727 done 0.61 - - 2881 - 2.08 0.031 2308 668.3 349.4 - - 1525 - - - - - - - - - 24.90 -
18041 344.3 7.1 759 18072 done 0.64 - - 2881 - - - 2309 - 380.9 29.75 0.872 1414 -3.7 0.161 - - - - - - - - 24.38
18360 319.5 8.5 775 18366 roll 0.66 - - 2882 - 2.12 0.034 904 -662.7 380.9 - - 1405 - - - - - - - - - 26.13 -
18384 317.6 8.4 776 18390 done 0.69 0.12 0.080 2953 591.7 2.12 0.028 2312 664.2 380.9 - - 1405 - - - - - - - - 26.16 26.19 -
18708 276.0 13.1 792 18714 roll 0.66 0.12 0.140 2912 -341.7 2.15 0.044 3702 646.5 380.9 - - 1405 - - - - - - - - 26.26 26.10 -
18736 273.1 12.8 793 18741 done 0.63 - - 2913 - 2.05 0.023 2291 -688.3 380.9 - - 1404 - - - - - - - - - 26.41 -
19055 240.8 9.4 809 19060 roll 0.63 - - 2913 - 2.03 0.034 920 -675.4 380.9 - - 1404 - - - - - - - - - 26.28 -
19119 235.4 8.5 812 19124 done 0.64 - - 2913 - 2.05 0.029 2307 676.6 380.9 - - 1404 - - - - - - - - - 26.33 -
19442 206.9 8.9 828 19448 roll 0.65 - - 2913 - 2.12 0.044 3692 653.3 380.9 - - 1404 - - - - - - - - - 26.17 -
19475 204.6 9.2 829 19481 done 0.66 - - 2913 - 2.03 0.023 2280 -695.6 380.9 - - 1404 - - - - - - - - - 26.49 -
19789 176.1 8.9 845 19794 roll 0.67 - - 2913 - 2.00 0.034 925 -677.5 380.9 - - 1404 - - - - - - - - - 26.32 -
19816 174.1 9.0 846 19822 done 0.69 - - 2913 - 2.03 0.028 2304 679.3 380.9 - - 1404 - - - - - - - - - 26.36 -
20135 145.6 8.7 862 20137 done 0.71 - - 2912 - - - 2304 - 380.9 - - 1404 - - - - - - - - - - -
20438 119.2 8.8 877 20443 roll 0.74 - - 2913 - 2.05 0.031 917 -676.6 380.9 - - 1405 - - - - - - - - - 26.35 -
20490 115.2 9.0 879 20496 done 0.77 0.10 0.091 2982 690.0 2.03 0.028 2300 681.3 380.9 - - 1405 - - - - - - - - 26.35 26.40 -
20805 77.0 10.4 895 20812 roll 0.75 0.12 0.135 2944 -316.7 2.05 0.030 926 -670.2 380.9 - - 1403 - - - - - - - - 26.42 26.34 -
20839 74.6 10.3 896 20844 done 0.74 - - 2944 - 2.03 0.028 2308 680.8 380.9 - - 1405 - - - - - - - - - 26.41 -
21153 53.8 5.8 912 21185 done 0.79 - - 2944 - - - 2308 - 451.6 29.88 0.242 1125 -9.4 0.228 - - - - - - - - 25.21
21474 31.9 9.8 940 21479 roll 0.85 - - 2944 - 2.05 0.031 924 -675.1 451.6 - - 1129 - - - - - - - - - 26.30 -
21548 27.6 4.1 947 21611 done 0.96 0.17 0.059 3050 623.5 2.03 0.025 2316 685.7 576.1 51.90 0.176 617 -9.9 0.169 - - - - - - 26.38 26.39 25.43
21716 end climb: SURFACE_DEPTH_REACHED
21716 begin surface coast
21727 end surface coast: CONTROL_FINISHED_OK
21727 begin surface
SM 1.69 - - - - -7.97 7.43 0.027 123 -393.9 0.17 0.063 2499 1076.5 576.46 - - 618 - - - - - - - -