OKMC Oct12 * SG167 * Dive index * Mission links * Dive 340 * Raw log
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• Previous call tries 1 • 72.81 of 150.00 AH used of 24V (51.46% remains)
• Previous NAKs 0, Timeouts 0 • 47.62 of 110.00 AH used of 10V (56.71% remains)
• Surface angle -64.4 deg, depth 1.81 m • Intended pitch -14.7 deg, speed -8.919 cm/s
• No surface pump (final VBD was 418.97, SM_CC=400)
• GPS1 time: 40 s
• GPS2 time: 4 s • Transponder ping count: 43
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
20 - - - 74 VBD -0.58 - - 109 - - - 2473 - -180.8 -51.88 - 2702 - - - - - - - - - - -
77 3.2 -4.1 5 120 roll -0.58 9.57 0.222 2466 246.3 2.00 0.064 3730 628.5 -180.8 -24.55 - 3708 -41.0 - - - - - - - 24.92 25.94 26.67
266 28.1 -13.8 23 271 done -0.56 - - 2466 - 1.85 0.019 2421 -707.6 -180.8 - - 3708 - - - - - - - - - 26.44 -
580 71.0 -14.2 47 586 roll -0.53 - - 2466 - 1.95 0.030 1075 -690.3 -180.8 - - 3710 - - - - - - - - - 26.27 -
618 74.5 -14.2 48 625 done -0.50 0.12 0.149 2499 275.0 2.05 0.037 2436 663.9 -180.8 - - 3710 - - - - - - - - 25.94 26.20 -
924 109.1 -8.3 64 929 roll -0.53 - - 2499 - 2.03 0.046 3759 651.7 -180.8 - - 3711 - - - - - - - - - 26.08 -
942 109.1 -8.3 64 949 done -0.55 - - 2498 - 1.83 0.017 2431 -725.7 -180.8 - - 3711 - - - - - - - - - 26.55 -
1248 134.3 -7.1 80 1253 roll -0.58 - - 2499 - 1.92 0.030 1097 -694.8 -180.8 - - 3711 - - - - - - - - - 26.30 -
1306 137.6 -7.4 82 1314 done -0.62 0.12 0.075 2422 -641.7 2.05 0.036 2459 664.4 -180.8 - - 3711 - - - - - - - - 26.25 26.25 -
1612 178.9 -13.7 98 1618 roll -0.59 0.15 0.145 2466 293.3 2.00 0.044 3764 652.5 -180.8 - - 3712 - - - - - - - - 26.25 26.10 -
1699 188.8 -11.6 102 1704 done -0.59 - - 2466 - 1.80 0.017 2453 -728.3 -180.8 - - 3712 - - - - - - - - - 26.56 -
2018 224.1 -11.1 118 2023 roll -0.59 - - 2466 - 2.00 0.031 1081 -686.0 -180.8 - - 3712 - - - - - - - - - 26.30 -
2056 226.8 -11.1 119 2062 done -0.60 - - 2466 - 2.05 0.035 2450 667.8 -180.8 - - 3712 - - - - - - - - - 26.25 -
2362 257.6 -8.2 135 2367 roll -0.61 - - 2466 - 1.98 0.031 1096 -683.8 -180.8 - - 3712 - - - - - - - - - 26.31 -
2395 259.4 -8.0 136 2401 done -0.62 - - 2466 - 2.05 0.034 2460 665.4 -180.8 - - 3712 - - - - - - - - - 26.26 -
2709 287.0 -9.9 152 2714 roll -0.64 - - 2463 - 2.00 0.048 3761 650.5 -180.8 - - 3712 - - - - - - - - - 26.06 -
2756 291.6 -10.4 154 2761 done -0.65 - - 2466 - 1.83 0.018 2435 -724.6 -180.8 - - 3712 - - - - - - - - - 26.55 -
3075 326.1 -10.1 170 3080 roll -0.67 - - 2466 - 1.92 0.029 1100 -695.3 -180.8 - - 3711 - - - - - - - - - 26.29 -
3132 330.3 -9.6 172 3141 done -0.69 - - 2466 - 2.03 0.034 2454 667.0 -180.8 - - 3711 - - - - - - - - - 26.27 -
3439 352.1 -5.7 188 3445 roll -0.72 - - 2465 - 2.00 0.049 3752 649.0 -180.8 - - 3710 - - - - - - - - - 26.04 -
3468 353.6 -5.8 189 3474 done -0.74 0.12 0.080 2394 -591.7 1.85 0.018 2411 -724.9 -180.8 - - 3710 - - - - - - - - 26.41 26.55 -
3787 389.1 -11.6 205 3793 roll -0.70 0.12 0.151 2433 325.0 1.90 0.027 1099 -690.5 -180.8 - - 3709 - - - - - - - - 26.32 26.29 -
3825 392.0 -11.7 206 3832 done -0.67 - - 2433 - 2.03 0.034 2455 668.0 -180.8 - - 3709 - - - - - - - - - 26.27 -
4132 421.9 -8.8 222 4133 done -0.67 - - 2432 - - - 2456 - -180.8 - - 3708 - - - - - - - - - - -
4433 452.6 -11.9 237 4438 roll -0.67 - - 2433 - 2.00 0.037 1104 -676.0 -180.8 - - 3707 - - - - - - - - - 26.25 -
4531 464.4 -13.9 241 4538 done -0.67 - - 2433 - 2.03 0.034 2456 666.0 -180.8 - - 3706 - - - - - - - - - 26.25 -
4837 500.8 -10.2 257 4843 roll -0.67 - - 2433 - 2.05 0.050 3762 637.1 -180.8 - - 3705 - - - - - - - - - 25.99 -
4881 505.1 -9.9 259 4887 done -0.67 - - 2433 - 1.83 0.019 2448 -718.0 -180.8 - - 3704 - - - - - - - - - 26.53 -
5206 538.0 -10.5 275 5207 done -0.67 - - 2433 - - - 2448 - -180.8 - - 3703 - - - - - - - - - - -
5508 566.4 -8.5 290 5509 done -0.68 - - 2433 - - - 2448 - -180.8 - - 3701 - - - - - - - - - - -
5809 586.8 -6.2 305 5814 roll -0.69 - - 2433 - 1.98 0.029 1093 -684.3 -180.8 - - 3699 - - - - - - - - - 26.24 -
5853 589.8 -6.3 307 5858 done -0.70 - - 2433 - 2.08 0.034 2457 655.8 -180.8 - - 3699 - - - - - - - - - 26.22 -
6170 613.4 -8.8 320 6175 roll -0.72 - - 2433 - 2.03 0.028 1093 -671.9 -180.8 - - 3697 - - - - - - - - - 26.03 -
6193 613.4 -8.8 320 6198 done -0.73 - - 2433 - 2.08 0.036 2457 655.8 -180.8 - - 3697 - - - - - - - - - 26.03 -
6507 648.3 -10.2 331 6512 roll -0.74 - - 2433 - 2.05 0.053 3764 637.6 -180.8 - - 3695 - - - - - - - - - 25.93 -
6575 654.7 -10.0 333 6580 done -0.75 - - 2433 - 1.85 0.020 2463 -703.2 -180.8 - - 3695 - - - - - - - - - 26.51 -
6906 680.7 -7.0 344 6911 roll -0.77 - - 2433 - 2.05 0.052 3753 629.3 -180.8 - - 3693 - - - - - - - - - 25.91 -
6955 683.1 -6.9 345 6960 done -0.79 - - 2433 - 1.85 0.021 2442 -708.6 -180.8 - - 3693 - - - - - - - - - 26.49 -
7275 705.2 -6.3 356 7281 roll -0.81 - - 2433 - 2.10 0.053 3752 623.8 -180.8 - - 3691 - - - - - - - - - 25.88 -
7330 707.7 -6.5 357 7335 done -0.83 0.10 0.096 2380 -530.0 1.88 0.021 2441 -697.3 -180.8 - - 3690 - - - - - - - - 26.34 26.48 -
7646 739.7 -10.1 368 7647 done -0.80 - - 2381 - - - 2438 - -180.8 - - 3688 - - - - - - - - - - -
7945 768.9 -9.2 378 7947 done -0.77 0.12 0.153 2413 266.7 - - 2438 - -180.8 - - 3686 - - - - - - - - 26.34 - -
8244 792.5 -8.2 388 8250 roll -0.77 - - 2413 - 2.00 0.031 1086 -676.0 -180.8 - - 3687 - - - - - - - - - 26.18 -
8287 795.4 -8.5 389 8293 done -0.77 - - 2413 - 2.10 0.036 2458 653.3 -180.8 - - 3684 - - - - - - - - - 26.11 -
8614 825.0 -8.8 400 8619 roll -0.78 - - 2414 - 2.05 0.054 3757 633.7 -180.8 - - 3683 - - - - - - - - - 25.80 -
8642 825.0 -8.8 400 8649 done -0.79 - - 2413 - 1.88 0.021 2435 -703.2 -180.8 - - 3683 - - - - - - - - - 26.46 -
8950 853.6 -8.3 411 8951 done -0.79 - - 2413 - - - 2435 - -180.8 - - 3681 - - - - - - - - - - -
9248 878.6 -8.4 421 9253 roll -0.80 - - 2413 - 2.12 0.054 3759 624.5 -180.8 - - 3680 - - - - - - - - - 25.76 -
9316 884.2 -8.5 423 9322 done -0.81 - - 2413 - 1.85 0.022 2451 -707.0 -180.8 - - 3680 - - - - - - - - - 26.44 -
9647 914.3 -9.1 434 9652 roll -0.82 - - 2413 - 2.10 0.060 3752 619.5 -180.8 - - 3679 - - - - - - - - - 25.32 -
9700 917.4 -9.2 435 9706 done -0.82 - - 2413 - 1.88 0.022 2433 -701.6 -180.8 - - 3678 - - - - - - - - - 26.42 -
10015 948.1 -9.2 446 10016 done -0.83 - - 2413 - - - 2431 - -180.8 - - 3676 - - - - - - - - - - -
10315 977.5 -9.9 456 10316 done -0.84 - - 2415 - - - 2430 - -180.8 - - 3676 - - - - - - - - - - -
10431 end dive: TARGET_DEPTH_EXCEEDED
10431 begin apogee
10438 990.5 -10.8 460 10605 done -0.20 0.55 0.113 2593 323.6 - - 2197 - - 158.65 1.257 2965 -4.5 0.390 - - - - - - 25.44 - 22.80
10607 end apogee: CONTROL_FINISHED_OK
10607 begin climb
10609 998.8 - 465 10789 roll 0.58 0.73 0.069 2847 347.9 2.50 0.050 3596 559.6 180.8 167.82 1.251 2224 -4.4 0.390 - - - - - - 24.82 23.99 22.18
10822 994.4 4.9 472 10949 done 0.69 0.12 0.086 2905 483.3 2.12 0.027 2241 -639.2 300.8 115.15 1.275 1735 -4.2 0.366 - - - - - - 24.95 25.02 22.34
11249 944.3 12.3 487 11254 roll 0.66 - - 2915 - 2.20 0.040 798 -655.9 300.8 - - 1725 - - - - - - - - - 26.11 -
11321 936.1 12.5 489 11327 done 0.64 0.15 0.129 2872 -286.7 2.15 0.034 2218 660.5 300.8 - - 1724 - - - - - - - - 25.96 26.19 -
11648 897.2 12.0 500 11653 roll 0.63 - - 2872 - 2.17 0.052 3599 636.4 300.8 - - 1722 - - - - - - - - - 26.09 -
11745 883.9 13.5 503 11751 done 0.61 - - 2879 - 2.08 0.027 2194 -675.5 300.8 - - 1721 - - - - - - - - - 26.36 -
12078 839.9 13.2 514 12079 done 0.60 - - 2879 - - - 2194 - 300.8 - - 1721 - - - - - - - - - - -
12375 803.0 11.7 524 12376 done 0.58 - - 2879 - - - 2194 - 300.8 - - 1720 - - - - - - - - - - -
12675 770.7 10.5 534 12677 done 0.57 - - 2879 - - - 2194 - 300.8 - - 1719 - - - - - - - - - - -
12975 738.6 10.9 544 12977 done 0.56 0.12 0.142 2845 -283.3 - - 2194 - 300.8 - - 1719 - - - - - - - - 26.34 - -
13275 709.4 9.7 554 13280 roll 0.58 - - 2852 - 2.10 0.038 805 -661.4 300.8 - - 1718 - - - - - - - - - 26.15 -
13309 706.1 9.6 555 13315 done 0.60 - - 2852 - 2.12 0.032 2210 662.7 300.8 - - 1719 - - - - - - - - - 26.21 -
13646 678.0 7.5 566 13696 roll 0.66 - - 2852 - 2.33 0.049 3604 598.3 342.3 40.95 1.056 1565 -3.8 0.267 - - - - - - - 25.51 23.83
13755 671.1 7.5 569 13808 done 0.73 0.15 0.073 2925 486.7 2.10 0.026 2198 -669.5 386.4 46.45 1.031 1391 -3.7 0.269 - - - - - - 25.92 25.99 23.68
14127 628.6 11.6 582 14129 done 0.71 0.12 0.137 2888 -308.3 - - 2198 - 386.4 - - 1378 - - - - - - - - 26.21 - -
14440 594.0 11.3 593 14441 done 0.73 - - 2889 - - - 2198 - 386.4 - - 1376 - - - - - - - - - - -
14739 562.8 10.4 608 14744 roll 0.74 - - 2890 - 2.10 0.039 803 -664.3 386.4 - - 1375 - - - - - - - - - 26.15 -
14803 555.9 10.5 611 14809 done 0.76 - - 2890 - 2.12 0.031 2209 663.2 386.4 - - 1376 - - - - - - - - - 26.23 -
15127 522.5 9.7 627 15133 roll 0.78 - - 2890 - 2.17 0.049 3597 639.6 386.4 - - 1375 - - - - - - - - - 25.98 -
15151 520.0 9.8 628 15157 done 0.79 - - 2894 - 2.08 0.026 2196 -673.6 386.4 - - 1374 - - - - - - - - - 26.34 -
15476 491.3 8.6 644 15491 roll 0.82 0.10 0.098 2955 610.0 2.10 0.037 807 -661.4 397.3 9.20 1.062 1344 -3.3 0.167 - - - - - - 26.59 26.13 24.24
15524 486.5 9.8 646 15530 done 0.82 - - 2955 - 2.10 0.031 2204 665.2 397.3 - - 1341 - - - - - - - - - 26.16 -
15843 447.0 12.1 662 15849 roll 0.80 0.12 0.141 2924 -258.3 2.12 0.034 808 -658.5 397.3 - - 1339 - - - - - - - - 26.22 26.11 -
15877 444.3 11.8 663 15883 done 0.78 - - 2923 - 2.10 0.031 2212 668.6 397.3 - - 1340 - - - - - - - - - 26.20 -
16191 408.1 11.7 679 16197 roll 0.78 - - 2924 - 2.15 0.036 802 -655.8 397.3 - - 1340 - - - - - - - - - 26.13 -
16245 403.2 11.5 681 16250 done 0.79 - - 2924 - 2.10 0.030 2210 670.5 397.3 - - 1340 - - - - - - - - - 26.21 -
16558 368.3 10.1 697 16564 roll 0.79 - - 2924 - 2.12 0.035 807 -661.8 397.3 - - 1339 - - - - - - - - - 26.13 -
16591 366.0 9.8 698 16597 done 0.80 - - 2924 - 2.10 0.029 2205 665.7 397.3 - - 1339 - - - - - - - - - 26.22 -
16905 335.4 9.8 714 16910 roll 0.81 - - 2924 - 2.12 0.036 803 -661.3 397.3 - - 1339 - - - - - - - - - 26.13 -
16938 333.1 9.9 715 16943 done 0.82 - - 2924 - 2.08 0.030 2202 672.6 397.3 - - 1339 - - - - - - - - - 26.22 -
17251 299.1 9.8 731 17256 roll 0.83 - - 2924 - 2.12 0.035 801 -660.8 397.3 - - 1339 - - - - - - - - - 26.12 -
17289 297.1 9.5 732 17296 done 0.84 - - 2924 - 2.08 0.029 2201 673.1 397.3 - - 1339 - - - - - - - - - 26.22 -
17596 272.4 8.3 748 17617 done 0.88 - - 2924 - - - 2201 - 416.3 19.35 0.830 1269 -3.6 0.131 - - - - - - - - 24.32
17915 235.3 12.1 764 17920 roll 0.90 - - 2924 - 2.10 0.035 806 -664.3 416.3 - - 1259 - - - - - - - - - 26.11 -
17979 228.3 11.1 767 17985 done 0.93 0.12 0.079 2994 583.3 2.08 0.028 2201 670.7 416.3 - - 1258 - - - - - - - - 26.17 26.20 -
18303 188.2 11.6 783 18309 roll 0.90 0.12 0.145 2953 -341.7 2.15 0.044 3593 647.4 416.3 - - 1259 - - - - - - - - 26.28 25.98 -
18332 185.5 11.3 784 18337 done 0.87 - - 2960 - 2.03 0.022 2191 -690.6 416.3 - - 1265 - - - - - - - - - 26.37 -
18650 150.7 11.1 800 18655 roll 0.87 - - 2968 - 2.05 0.035 815 -671.2 416.3 - - 1259 - - - - - - - - - 26.15 -
18727 144.1 10.4 803 18734 done 0.87 - - 2969 - 2.05 0.029 2203 677.1 416.3 - - 1259 - - - - - - - - - 26.26 -
19033 107.3 11.9 819 19038 roll 0.87 - - 2972 - 2.10 0.034 808 -664.3 416.3 - - 1260 - - - - - - - - - 26.17 -
19105 100.0 11.7 822 19112 done 0.88 - - 2972 - 2.08 0.028 2209 673.6 416.3 - - 1259 - - - - - - - - - 26.27 -
19420 67.6 9.2 838 19426 roll 0.89 - - 2979 - 2.12 0.045 3591 651.9 416.3 - - 1259 - - - - - - - - - 26.01 -
19464 63.1 9.5 840 19469 done 0.89 - - 2975 - 2.03 0.023 2196 -687.2 416.3 - - 1259 - - - - - - - - - 26.38 -
19777 31.7 10.0 864 19783 roll 0.89 - - 2979 - 2.05 0.035 815 -673.7 416.3 - - 1260 - - - - - - - - - 26.16 -
19821 27.3 9.8 868 19827 done 0.91 - - 2979 - 2.05 0.028 2215 682.9 416.3 - - 1259 - - - - - - - - - 26.29 -
20083 end climb: SURFACE_DEPTH_REACHED
20083 begin surface coast
20114 end surface coast: CONTROL_FINISHED_OK
20116 begin surface
SM 1.78 - - - - -7.89 7.32 0.031 119 -390.7 0.32 0.050 2451 737.5 418.97 - - 1260 - - - - - - - -