OKMC Aug11 * SG166 * Dive index * Mission links * Dive 276 * Raw log
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• Previous call tries 1 • 65.56 of 147.00 AH used of 24V (55.40% remains)
• Previous NAKs 0, Timeouts 0 • 46.08 of 109.00 AH used of 10V (57.73% remains)
• Surface angle -65.9 deg, depth 1.82 m • Intended pitch -14.9 deg, speed -9.429 cm/s
• No surface pump (final VBD was 570.32, SM_CC=450)
• GPS1 time: 28 s, HDOP was 99.0 m
• GPS2 time: 35 s • Transponder ping count: 114
• 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
18 - - - 120 VBD -0.57 - - 145 - - - 1579 - -194.6 -99.35 - 3074 - - - - - - - - - - -
123 5.0 -4.9 13 155 roll -0.57 9.52 0.222 2544 252.0 1.10 0.070 2302 657.3 -194.6 -12.12 - 3680 -50.0 - - - - - - - - - -
378 83.2 -24.7 59 388 done -0.46 0.17 0.140 2590 270.6 1.02 0.041 1617 -671.6 -194.6 - - 3681 - - - - - - - - - - -
709 138.6 -13.4 120 717 roll -0.44 - - 2590 - 1.05 0.043 902 -681.0 -194.6 - - 3682 - - - - - - - - - - -
791 147.7 -11.0 134 800 done -0.44 - - 2587 - 1.05 0.037 1607 671.4 -194.6 - - 3682 - - - - - - - - - - -
1121 185.0 -10.1 195 1129 roll -0.44 - - 2581 - 1.02 0.044 2308 687.3 -194.6 - - 3682 - - - - - - - - - - -
1181 190.9 -9.3 205 1189 done -0.46 - - 2581 - 1.05 0.041 1606 -668.6 -194.6 - - 3683 - - - - - - - - - - -
1508 227.5 -11.4 266 1516 roll -0.46 - - 2582 - 1.02 0.047 916 -676.5 -194.6 - - 3683 - - - - - - - - - - -
1602 237.7 -10.4 283 1611 done -0.48 - - 2577 - 1.02 0.040 1604 674.5 -194.6 - - 3682 - - - - - - - - - - -
1932 267.1 -9.2 326 1935 roll -0.49 - - 2573 - 1.02 0.047 2299 681.4 -194.6 - - 3682 - - - - - - - - - - -
1967 270.0 -8.7 329 1971 done -0.52 - - 2575 - 1.02 0.041 1615 -670.6 -194.6 - - 3682 - - - - - - - - - - -
2299 300.3 -8.6 360 2303 roll -0.54 - - 2589 - 1.05 0.047 913 -668.6 -194.6 - - 3681 - - - - - - - - - - -
2327 302.8 -8.7 362 2333 done -0.55 - - 2584 - 1.05 0.041 1611 664.8 -194.6 - - 3681 - - - - - - - - - - -
2652 333.4 -9.3 393 2656 roll -0.57 - - 2581 - 1.02 0.047 2304 679.4 -194.6 - - 3680 - - - - - - - - - - -
2757 342.0 -8.0 402 2761 done -0.60 - - 2582 - 1.05 0.044 1607 -663.8 -194.6 - - 3679 - - - - - - - - - - -
3089 370.4 -8.3 433 3093 roll -0.62 0.10 0.096 2514 -680.0 1.08 0.050 910 -645.4 -194.6 - - 3677 - - - - - - - - - - -
3174 381.9 -14.6 440 3182 done -0.56 0.15 0.133 2558 293.3 1.08 0.043 1612 650.0 -194.6 - - 3676 - - - - - - - - - - -
3499 416.0 -10.3 471 3503 roll -0.56 - - 2555 - 1.05 0.050 2312 666.7 -194.6 - - 3675 - - - - - - - - - - -
3547 420.7 -10.3 475 3551 done -0.56 - - 2555 - 1.05 0.043 1614 -664.8 -194.6 - - 3675 - - - - - - - - - - -
3878 455.1 -10.1 506 3881 roll -0.56 - - 2555 - 1.05 0.050 919 -661.9 -194.6 - - 3672 - - - - - - - - - - -
3923 459.6 -10.2 510 3927 done -0.56 - - 2550 - 1.05 0.044 1610 658.1 -194.6 - - 3673 - - - - - - - - - - -
4255 490.9 -9.2 541 4256 done -0.56 - - 2550 - - - 1609 - -194.6 - - 3670 - - - - - - - - - - -
4577 520.7 -9.4 571 4581 roll -0.56 - - 2545 - 1.08 0.052 2309 648.1 -194.6 - - 3667 - - - - - - - - - - -
4623 525.2 -9.2 575 4627 done -0.56 - - 2545 - 1.05 0.047 1620 -656.2 -194.6 - - 3667 - - - - - - - - - - -
4956 559.1 -9.9 606 4957 done -0.56 - - 2545 - - - 1621 - -194.6 - - 3665 - - - - - - - - - - -
5274 589.2 -9.3 636 5278 roll -0.56 - - 2545 - 1.08 0.052 913 -655.6 -194.6 - - 3662 - - - - - - - - - - -
5368 598.3 -9.9 644 5372 done -0.56 - - 2540 - 1.08 0.047 1610 645.4 -194.6 - - 3661 - - - - - - - - - - -
5700 629.5 -9.1 661 5701 done -0.56 - - 2539 - - - 1611 - -194.6 - - 3659 - - - - - - - - - - -
6010 655.9 -8.5 676 6011 done -0.56 - - 2540 - - - 1611 - -194.6 - - 3657 - - - - - - - - - - -
6321 682.3 -8.6 691 6322 done -0.56 - - 2539 - - - 1610 - -194.6 - - 3655 - - - - - - - - - - -
6628 709.1 -8.7 706 6632 roll -0.56 - - 2540 - 1.12 0.056 906 -628.6 -194.6 - - 3653 - - - - - - - - - - -
6666 712.7 -9.1 707 6674 done -0.56 - - 2534 - 1.10 0.047 1617 646.4 -194.6 - - 3652 - - - - - - - - - - -
6984 743.0 -10.0 723 6986 done -0.56 0.10 0.171 2560 260.0 - - 1617 - -194.6 - - 3650 - - - - - - - - - - -
7292 767.0 -7.4 738 7296 roll -0.59 - - 2558 - 1.05 0.059 2301 651.4 -194.6 - - 3649 - - - - - - - - - - -
7341 770.1 -7.2 740 7345 done -0.63 - - 2558 - 1.08 0.050 1606 -643.5 -194.6 - - 3648 - - - - - - - - - - -
7676 794.6 -7.2 756 7679 roll -0.66 - - 2558 - 1.08 0.055 907 -647.2 -194.6 - - 3647 - - - - - - - - - - -
7754 800.8 -7.7 759 7758 done -0.69 - - 2553 - 1.10 0.050 1610 639.1 -194.6 - - 3646 - - - - - - - - - - -
8079 824.0 -7.6 775 8081 done -0.72 0.12 0.088 2488 -541.7 - - 1610 - -194.6 - - 3644 - - - - - - - - - - -
8386 857.4 -10.5 790 8390 roll -0.68 0.12 0.168 2518 250.0 1.10 0.060 2307 633.6 -194.6 - - 3643 - - - - - - - - - - -
8465 864.0 -7.9 793 8469 done -0.68 - - 2518 - 1.08 0.053 1615 -640.7 -194.6 - - 3643 - - - - - - - - - - -
8787 890.9 -8.3 809 8790 roll -0.68 - - 2518 - 1.10 0.059 905 -645.5 -194.6 - - 3641 - - - - - - - - - - -
8858 896.8 -8.7 812 8862 done -0.68 - - 2513 - 1.10 0.051 1608 639.1 -194.6 - - 3641 - - - - - - - - - - -
9191 925.3 -8.4 828 9195 roll -0.68 - - 2513 - 1.10 0.057 911 -633.6 -194.6 - - 3640 - - - - - - - - - - -
9248 930.6 -9.1 830 9251 done -0.67 - - 2508 - 1.10 0.053 1610 635.5 -194.6 - - 3640 - - - - - - - - - - -
9572 959.4 -8.7 846 9573 done -0.66 - - 2508 - - - 1610 - -194.6 - - 3639 - - - - - - - - - - -
9879 985.3 -8.3 861 9880 done -0.65 - - 2508 - - - 1610 - -194.6 - - 3638 - - - - - - - - - - -
9938 end dive: TARGET_DEPTH_EXCEEDED
9939 begin apogee
9946 990.2 8.2 864 10117 done -0.11 0.60 0.125 2702 323.3 - - 1781 - - 164.38 1.444 2884 -4.6 0.343 - - - - - - - - -
10118 end apogee: CONTROL_FINISHED_OK
10118 begin climb
10123 993.1 - 872 10315 roll 0.57 0.65 0.069 2932 353.8 1.17 0.062 2477 594.9 194.6 182.23 1.385 2089 -4.4 0.341 - - - - - - - - -
10343 971.7 12.5 882 10347 done 0.52 - - 2937 - 1.15 0.053 1790 -597.4 194.6 - - 2086 - - - - - - - - - - -
10676 925.5 13.4 898 10680 roll 0.47 0.12 0.171 2896 -341.7 1.10 0.063 2482 629.1 194.6 - - 2081 - - - - - - - - - - -
10732 918.8 10.9 900 10736 done 0.46 - - 2901 - 1.10 0.052 1782 -636.4 194.6 - - 2080 - - - - - - - - - - -
11056 882.7 11.7 916 11060 roll 0.44 - - 2898 - 1.10 0.062 2484 638.2 194.6 - - 2079 - - - - - - - - - - -
11111 876.0 11.5 918 11115 done 0.42 - - 2905 - 1.10 0.050 1781 -639.1 194.6 - - 2079 - - - - - - - - - - -
11435 839.4 11.4 934 11439 roll 0.40 - - 2903 - 1.10 0.057 2490 644.5 194.6 - - 2078 - - - - - - - - - - -
11504 831.1 11.7 937 11509 done 0.37 0.12 0.140 2869 -283.3 1.10 0.050 1783 -642.7 194.6 - - 2078 - - - - - - - - - - -
11842 799.7 9.1 953 11853 roll 0.40 - - 2868 - 1.12 0.056 2485 626.8 203.6 7.43 1.090 2053 -3.4 0.269 - - - - - - - - -
11938 790.3 9.3 957 11951 done 0.42 - - 2869 - 1.10 0.048 1776 -644.5 208.4 6.22 1.020 2033 -3.2 0.272 - - - - - - - - -
12264 761.9 8.8 973 12289 roll 0.46 - - 2874 - 1.12 0.053 1069 -631.2 228.0 19.45 1.251 1953 -4.1 0.273 - - - - - - - - -
12312 757.2 8.9 975 12332 done 0.50 - - 2875 - 1.12 0.047 1786 640.2 244.7 16.77 1.212 1886 -4.0 0.272 - - - - - - - - -
12660 723.5 9.5 992 12665 roll 0.52 0.10 0.101 2936 610.0 1.08 0.057 2478 640.7 244.7 - - 1880 - - - - - - - - - - -
12693 719.4 11.8 993 12698 done 0.50 0.10 0.142 2906 -300.0 1.08 0.046 1779 -647.2 244.7 - - 1880 - - - - - - - - - - -
13017 681.6 11.8 1009 13021 roll 0.50 - - 2907 - 1.08 0.056 2475 644.4 244.7 - - 1879 - - - - - - - - - - -
13062 675.8 12.0 1011 13066 done 0.50 - - 2910 - 1.08 0.046 1773 -650.0 244.7 - - 1879 - - - - - - - - - - -
13395 635.2 11.8 1027 13399 roll 0.50 - - 2911 - 1.10 0.057 2485 647.3 244.7 - - 1878 - - - - - - - - - - -
13458 628.0 11.2 1029 13464 done 0.50 - - 2913 - 1.10 0.047 1770 -650.0 244.7 - - 1878 - - - - - - - - - - -
13775 593.8 10.1 1047 13779 roll 0.49 - - 2917 - 1.10 0.055 2486 650.9 244.7 - - 1878 - - - - - - - - - - -
13812 590.2 10.5 1050 13815 done 0.48 - - 2922 - 1.08 0.047 1784 -650.0 244.7 - - 1878 - - - - - - - - - - -
14143 556.4 10.2 1081 14144 done 0.47 - - 2921 - - - 1784 - 244.7 - - 1878 - - - - - - - - - - -
14465 525.6 9.3 1111 14478 roll 0.46 - - 2928 - 1.10 0.051 1071 -648.2 249.9 4.95 0.817 1865 -2.6 0.184 - - - - - - - - -
14505 521.4 9.1 1114 14524 done 0.47 0.08 0.134 2902 -325.0 1.10 0.044 1791 654.5 259.3 10.88 1.027 1825 -3.7 0.203 - - - - - - - - -
14842 497.4 7.9 1146 14892 roll 0.56 - - 2903 - 1.10 0.054 2475 621.8 307.7 45.42 1.114 1629 -4.3 0.210 - - - - - - - - -
14944 489.6 8.0 1154 14991 done 0.65 0.10 0.047 2968 650.0 1.10 0.044 1770 -640.9 351.0 40.17 1.082 1453 -4.4 0.216 - - - - - - - - -
15308 435.7 14.8 1188 15311 roll 0.62 - - 2976 - 1.05 0.050 1077 -660.0 351.0 - - 1448 - - - - - - - - - - -
15346 430.3 14.6 1191 15350 done 0.59 0.12 0.131 2935 -341.7 1.08 0.043 1781 651.9 351.0 - - 1447 - - - - - - - - - - -
15676 395.6 9.7 1222 15680 roll 0.61 - - 2939 - 1.08 0.048 1078 -650.9 351.0 - - 1445 - - - - - - - - - - -
15725 391.1 9.6 1226 15729 done 0.64 - - 2939 - 1.08 0.041 1789 658.3 351.0 - - 1445 - - - - - - - - - - -
16056 358.0 9.3 1257 16069 roll 0.67 - - 2943 - 1.10 0.047 1077 -647.3 356.0 4.80 0.697 1432 -2.7 0.152 - - - - - - - - -
16107 353.6 9.0 1261 16123 done 0.70 - - 2943 - 1.05 0.041 1776 665.7 368.0 12.75 0.910 1382 -3.9 0.166 - - - - - - - - -
16446 323.1 8.5 1292 16475 done 0.76 0.12 0.084 3017 616.7 - - 1776 - 396.4 25.90 0.934 1268 -4.4 0.166 - - - - - - - - -
16794 261.8 19.0 1325 16799 roll 0.70 0.17 0.155 2973 -258.8 1.10 0.047 1073 -639.1 396.4 - - 1265 - - - - - - - - - - -
16866 252.0 11.4 1331 16870 done 0.72 - - 2970 - 1.08 0.041 1785 659.3 396.4 - - 1265 - - - - - - - - - - -
17191 217.2 9.6 1390 17199 roll 0.73 - - 2974 - 1.08 0.046 1077 -655.6 396.4 - - 1265 - - - - - - - - - - -
17348 201.6 9.7 1418 17356 done 0.76 - - 2972 - 1.05 0.039 1782 671.4 396.4 - - 1264 - - - - - - - - - - -
17677 167.3 8.8 1479 17702 roll 0.83 0.12 0.082 3050 650.0 1.08 0.047 2478 644.4 417.2 19.27 0.776 1182 -4.3 0.100 - - - - - - - - -
17734 160.0 14.9 1487 17743 done 0.78 0.17 0.136 2999 -300.0 1.08 0.040 1769 -656.5 417.2 - - 1182 - - - - - - - - - - -
18066 128.5 7.7 1548 18120 roll 0.88 - - 3003 - 1.05 0.043 1087 -649.5 471.0 46.05 0.760 962 -4.8 0.088 - - - - - - - - -
18241 114.3 8.2 1577 18280 done 0.99 0.12 0.041 3103 833.3 1.05 0.035 1792 671.4 509.7 33.25 0.725 806 -4.7 0.081 - - - - - - - - -
18601 48.0 17.0 1642 18609 done 0.95 0.17 0.150 3053 -294.1 - - 1796 - 509.7 - - 801 - - - - - - - - - - -
18929 15.9 8.6 1703 18960 roll 1.03 - - 3057 - 1.10 0.041 1078 -652.7 536.5 23.33 0.622 693 -4.6 0.013 - - - - - - - - -
19044 6.4 8.4 1721 19075 done 1.13 0.10 0.048 3151 940.0 1.02 0.034 1784 692.2 568.5 27.40 0.614 565 -4.7 0.005 - - - - - - - - -
19081 end climb: SURFACE_DEPTH_REACHED
19081 begin surface coast
19112 end surface coast: CONTROL_FINISHED_OK
19112 begin surface
SM 1.99 - - - - -8.03 7.88 0.035 159 -379.7 - - 1599 - 570.32 - - 559 - - - - - - - -