OKMC Oct12 * SG167 * Dive index * Mission links * Dive 351 * Raw log
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• Previous call tries 1 • 75.14 of 150.00 AH used of 24V (49.91% remains)
• Previous NAKs 0, Timeouts 0 • 49.01 of 110.00 AH used of 10V (55.44% remains)
• Surface angle -63.9 deg, depth 1.66 m • Intended pitch -14.7 deg, speed -8.919 cm/s
• No surface pump (final VBD was 551.19, SM_CC=400)
• GPS1 time: 40 s
• GPS2 time: 4 s • Transponder ping count: 41
• 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
20 - - - 93 VBD -0.58 - - 108 - - - 2472 - -180.8 -71.50 - 2829 - - - - - - - - - - -
97 3.3 -3.8 7 134 roll -0.58 9.60 0.223 2463 245.3 2.08 0.066 3745 612.0 -180.8 -20.45 - 3708 -43.0 - - - - - - - 24.97 25.98 26.67
268 26.4 -14.0 23 276 done -0.55 - - 2463 - 1.85 0.018 2402 -725.9 -180.8 - - 3708 - - - - - - - - - 26.44 -
575 66.3 -12.6 48 581 roll -0.52 0.12 0.149 2503 333.3 1.85 0.021 1090 -709.2 -180.8 - - 3709 - - - - - - - - 26.29 26.38 -
608 69.3 -12.6 49 614 done -0.50 - - 2503 - 2.00 0.029 2446 678.0 -180.8 - - 3708 - - - - - - - - - 26.28 -
922 104.9 -11.4 65 928 roll -0.50 - - 2502 - 2.00 0.047 3752 653.0 -180.8 - - 3709 - - - - - - - - - 26.10 -
995 112.0 -11.1 68 1000 done -0.52 - - 2503 - 1.77 0.018 2459 -730.5 -180.8 - - 3709 - - - - - - - - - 26.53 -
1308 148.7 -12.4 84 1314 roll -0.55 - - 2503 - 1.98 0.027 1078 -697.5 -180.8 - - 3709 - - - - - - - - - 26.39 -
1346 151.7 -12.6 85 1353 done -0.58 - - 2502 - 2.05 0.033 2448 668.3 -180.8 - - 3710 - - - - - - - - - 26.19 -
1652 184.6 -8.0 101 1657 roll -0.61 - - 2499 - 2.00 0.047 3757 654.5 -180.8 - - 3710 - - - - - - - - - 26.13 -
1705 188.0 -7.6 103 1712 done -0.64 0.12 0.076 2421 -650.0 1.80 0.018 2434 -735.0 -180.8 - - 3710 - - - - - - - - 26.42 26.55 -
2021 224.2 -11.5 119 2023 done -0.60 0.17 0.136 2471 294.1 - - 2434 - -180.8 - - 3710 - - - - - - - - 26.22 - -
2321 255.6 -11.7 134 2327 roll -0.62 - - 2471 - 1.90 0.024 1094 -705.3 -180.8 - - 3711 - - - - - - - - - 26.42 -
2370 261.3 -11.9 136 2375 done -0.63 - - 2472 - 2.03 0.031 2451 668.5 -180.8 - - 3710 - - - - - - - - - 26.25 -
2689 297.1 -10.5 152 2690 done -0.65 - - 2472 - - - 2452 - -180.8 - - 3710 - - - - - - - - - - -
2991 326.1 -8.8 167 2996 roll -0.67 - - 2468 - 2.00 0.047 3756 652.0 -180.8 - - 3710 - - - - - - - - - 26.11 -
3044 330.0 -8.6 169 3050 done -0.69 - - 2472 - 1.83 0.018 2466 -704.9 -180.8 - - 3709 - - - - - - - - - 26.56 -
3359 356.5 -8.4 185 3365 roll -0.72 0.12 0.081 2390 -683.3 1.98 0.024 1088 -696.0 -180.8 - - 3709 - - - - - - - - 26.63 26.39 -
3412 361.6 -9.9 187 3418 done -0.72 0.17 0.146 2433 252.9 2.05 0.031 2459 668.8 -180.8 - - 3709 - - - - - - - - 25.88 26.27 -
3726 393.6 -9.5 203 3732 roll -0.71 - - 2432 - 2.00 0.047 3762 651.5 -180.8 - - 3706 - - - - - - - - - 26.10 -
3759 396.1 -9.7 204 3764 done -0.71 - - 2433 - 1.83 0.019 2448 -718.0 -180.8 - - 3707 - - - - - - - - - 26.53 -
4072 428.3 -10.8 220 4073 done -0.71 - - 2433 - - - 2448 - -180.8 - - 3706 - - - - - - - - - - -
4375 457.1 -8.1 235 4380 roll -0.71 - - 2433 - 1.95 0.025 1081 -701.0 -180.8 - - 3705 - - - - - - - - - 26.38 -
4413 459.1 -8.0 236 4420 done -0.71 - - 2433 - 2.05 0.032 2456 670.7 -180.8 - - 3705 - - - - - - - - - 26.25 -
4720 480.2 -6.6 252 4721 done -0.71 - - 2433 - - - 2456 - -180.8 - - 3703 - - - - - - - - - - -
5021 505.4 -9.5 267 5027 roll -0.71 - - 2433 - 2.03 0.056 3759 641.9 -180.8 - - 3702 - - - - - - - - - 26.03 -
5059 508.1 -9.7 268 5066 done -0.71 - - 2433 - 1.85 0.020 2447 -709.2 -180.8 - - 3701 - - - - - - - - - 26.51 -
5365 541.1 -10.7 284 5370 roll -0.71 - - 2433 - 1.98 0.032 1080 -690.4 -180.8 - - 3699 - - - - - - - - - 25.96 -
5403 543.7 -10.7 285 5409 done -0.72 - - 2433 - 2.05 0.032 2450 668.3 -180.8 - - 3699 - - - - - - - - - 26.22 -
5709 574.1 -8.2 301 5710 done -0.73 - - 2432 - - - 2450 - -180.8 - - 3697 - - - - - - - - - - -
6012 594.5 -6.4 316 6013 done -0.74 - - 2432 - - - 2450 - -180.8 - - 3696 - - - - - - - - - - -
6321 616.4 -7.5 328 6326 roll -0.75 - - 2433 - 2.03 0.050 3755 642.9 -180.8 - - 3694 - - - - - - - - - 26.00 -
6385 621.9 -7.9 330 6391 done -0.76 - - 2433 - 1.85 0.021 2461 -699.5 -180.8 - - 3693 - - - - - - - - - 26.51 -
6722 648.7 -8.0 341 6727 roll -0.78 - - 2433 - 2.00 0.033 1081 -690.0 -180.8 - - 3691 - - - - - - - - - 24.89 -
6759 651.8 -8.1 342 6765 done -0.79 - - 2433 - 2.08 0.034 2457 661.5 -180.8 - - 3691 - - - - - - - - - 26.18 -
7091 680.4 -8.6 353 7096 roll -0.81 - - 2433 - 2.03 0.050 3758 640.9 -180.8 - - 3688 - - - - - - - - - 25.96 -
7149 683.5 -8.7 354 7156 done -0.82 - - 2433 - 1.88 0.021 2435 -703.7 -180.8 - - 3688 - - - - - - - - - 26.49 -
7458 710.9 -8.6 365 7464 roll -0.83 0.12 0.086 2365 -566.7 2.12 0.048 3765 627.4 -180.8 - - 3686 - - - - - - - - 26.59 25.94 -
7496 715.0 -9.1 366 7503 done -0.83 0.12 0.155 2397 266.7 1.85 0.022 2454 -708.6 -180.8 - - 3686 - - - - - - - - 26.05 26.48 -
7829 748.6 -10.0 377 7834 roll -0.82 - - 2397 - 2.00 0.027 1081 -686.5 -180.8 - - 3684 - - - - - - - - - 26.28 -
7863 752.3 -10.0 378 7868 done -0.81 - - 2397 - 2.08 0.034 2450 658.2 -180.8 - - 3684 - - - - - - - - - 26.14 -
8199 784.1 -9.2 389 8204 roll -0.80 - - 2397 - 2.05 0.051 3761 639.5 -180.8 - - 3682 - - - - - - - - - 25.90 -
8340 795.8 -9.3 393 8346 done -0.78 - - 2397 - 1.88 0.023 2444 -700.5 -180.8 - - 3682 - - - - - - - - - 26.46 -
8662 829.4 -10.4 404 8663 done -0.78 - - 2397 - - - 2442 - -180.8 - - 3679 - - - - - - - - - - -
8959 859.9 -10.0 414 8964 roll -0.77 - - 2397 - 2.10 0.050 3763 629.0 -180.8 - - 3678 - - - - - - - - - 25.86 -
9002 863.2 -9.9 415 9007 done -0.76 - - 2397 - 1.88 0.024 2449 -698.9 -180.8 - - 3678 - - - - - - - - - 26.44 -
9328 892.6 -8.6 426 9333 roll -0.76 - - 2397 - 2.08 0.051 3755 627.9 -180.8 - - 3676 - - - - - - - - - 25.84 -
9406 898.5 -8.8 428 9412 done -0.75 - - 2396 - 1.90 0.024 2446 -688.9 -180.8 - - 3675 - - - - - - - - - 26.42 -
9729 927.2 -8.5 439 9730 done -0.75 - - 2397 - - - 2444 - -180.8 - - 3674 - - - - - - - - - - -
10026 951.4 -8.2 449 10031 roll -0.75 - - 2396 - 2.00 0.028 1076 -684.0 -180.8 - - 3673 - - - - - - - - - 26.18 -
10060 954.3 -8.4 450 10065 done -0.75 - - 2397 - 2.10 0.035 2449 653.8 -180.8 - - 3673 - - - - - - - - - 26.04 -
10395 983.0 -8.7 461 10396 done -0.75 - - 2396 - - - 2449 - -180.8 - - 3671 - - - - - - - - - - -
10480 end dive: TARGET_DEPTH_EXCEEDED
10480 begin apogee
10488 990.8 -8.7 464 10654 done -0.20 0.60 0.115 2592 326.7 - - 2181 - - 158.15 1.258 2964 -4.5 0.386 - - - - - - 25.38 - 22.84
10655 end apogee: CONTROL_FINISHED_OK
10656 begin climb
10659 996.0 - 469 10839 roll 0.58 0.75 0.071 2853 348.0 2.53 0.049 3604 562.5 180.8 166.70 1.199 2221 -4.5 0.405 - - - - - - 24.83 24.14 22.44
10872 987.9 6.3 476 10951 done 0.64 - - 2862 - 2.15 0.027 2227 -640.5 259.1 73.68 1.180 1908 -4.2 0.389 - - - - - - - 25.14 22.92
11265 950.4 9.4 490 11270 roll 0.62 - - 2871 - 2.17 0.037 797 -659.0 259.1 - - 1893 - - - - - - - - - 26.15 -
11319 947.3 9.3 491 11324 done 0.61 - - 2871 - 2.12 0.031 2207 665.1 259.1 - - 1892 - - - - - - - - - 26.20 -
11634 915.5 9.2 502 11639 roll 0.59 - - 2871 - 2.17 0.048 3599 641.5 259.1 - - 1890 - - - - - - - - - 26.12 -
11702 908.8 9.8 504 11707 done 0.57 - - 2866 - 2.10 0.028 2199 -666.7 259.1 - - 1888 - - - - - - - - - 26.33 -
12033 879.8 8.4 515 12051 roll 0.57 - - 2872 - 2.33 0.047 3607 604.3 273.9 13.65 1.237 1844 -3.2 0.251 - - - - - - - 25.94 24.08
12104 873.6 8.9 517 12111 done 0.55 0.12 0.148 2845 -225.0 2.12 0.028 2199 -664.2 273.9 - - 1840 - - - - - - - - 25.87 26.16 -
12431 845.5 8.9 528 12436 roll 0.56 - - 2846 - 2.10 0.037 804 -664.3 274.6 - - 1838 - - - - - - - - - 26.17 -
12469 842.4 8.9 529 12475 done 0.57 - - 2845 - 2.10 0.031 2203 666.2 275.3 - - 1837 - - - - - - - - - 26.24 -
12800 810.1 10.1 540 12805 roll 0.58 - - 2845 - 2.20 0.047 3609 639.1 275.3 - - 1837 - - - - - - - - - 26.06 -
12883 802.7 10.8 542 12888 done 0.58 - - 2845 - 2.10 0.028 2197 -672.4 275.3 - - 1836 - - - - - - - - - 26.32 -
13198 771.9 8.3 553 13227 roll 0.61 - - 2845 - 2.25 0.045 3600 623.6 294.7 21.42 1.193 1760 -3.5 0.251 - - - - - - - 25.78 24.00
13255 769.6 8.1 554 13291 done 0.65 - - 2844 - 2.12 0.028 2186 -667.0 320.0 27.85 1.193 1658 -3.7 0.259 - - - - - - - 26.03 23.75
13591 742.8 7.5 566 13644 roll 0.73 0.12 0.083 2920 633.3 2.20 0.037 811 -625.0 363.2 44.45 1.077 1481 -4.0 0.301 - - - - - - 26.41 25.47 23.83
13674 736.1 9.0 568 13680 done 0.74 - - 2914 - 2.12 0.030 2202 656.1 363.2 - - 1478 - - - - - - - - - 25.79 -
13990 698.0 11.2 579 13995 roll 0.72 - - 2920 - 2.20 0.047 3604 637.3 363.2 - - 1475 - - - - - - - - - 26.03 -
14048 693.6 11.6 580 14056 done 0.70 0.12 0.160 2888 -266.7 2.10 0.028 2205 -666.2 363.2 - - 1476 - - - - - - - - 25.93 26.26 -
14355 657.5 11.2 591 14360 roll 0.70 - - 2888 - 2.12 0.038 804 -660.8 363.2 - - 1472 - - - - - - - - - 26.17 -
14393 653.4 11.3 592 14400 done 0.70 - - 2889 - 2.10 0.030 2208 668.6 363.2 - - 1472 - - - - - - - - - 26.24 -
14724 614.0 11.5 603 14730 roll 0.71 - - 2889 - 2.20 0.047 3606 635.5 363.2 - - 1472 - - - - - - - - - 26.05 -
14758 609.7 11.6 604 14763 done 0.71 - - 2894 - 2.10 0.028 2195 -671.9 363.2 - - 1471 - - - - - - - - - 26.32 -
15071 577.5 9.7 618 15077 roll 0.71 - - 2894 - 2.10 0.037 807 -661.0 363.2 - - 1471 - - - - - - - - - 26.15 -
15104 575.2 9.6 619 15110 done 0.71 - - 2894 - 2.10 0.030 2205 665.7 363.2 - - 1471 - - - - - - - - - 26.22 -
15418 545.8 9.6 635 15423 roll 0.72 - - 2890 - 2.17 0.047 3599 642.4 363.2 - - 1471 - - - - - - - - - 26.01 -
15471 541.0 10.2 637 15476 done 0.72 - - 2889 - 2.08 0.027 2198 -673.6 363.2 - - 1470 - - - - - - - - - 26.31 -
15784 505.8 10.7 653 15789 roll 0.73 - - 2894 - 2.10 0.037 802 -664.8 363.2 - - 1470 - - - - - - - - - 26.13 -
15828 501.6 10.1 655 15833 done 0.74 - - 2894 - 2.12 0.029 2204 661.3 363.2 - - 1470 - - - - - - - - - 26.21 -
16152 473.0 8.1 671 16178 done 0.78 - - 2894 - - - 2204 - 387.1 24.10 0.972 1387 -3.4 0.184 - - - - - - - - 24.13
16472 449.1 7.4 687 16520 done 0.86 0.12 0.083 2963 575.0 - - 2205 - 432.5 45.10 0.910 1205 -4.0 0.218 - - - - - - 26.44 - 23.99
16811 415.5 9.4 704 16816 roll 0.84 - - 2966 - 2.15 0.035 796 -655.3 432.5 - - 1192 - - - - - - - - - 26.08 -
16851 413.3 9.4 705 16859 done 0.82 0.15 0.125 2923 -286.7 2.10 0.028 2203 670.0 432.5 - - 1192 - - - - - - - - 25.88 26.17 -
17155 383.8 10.4 721 17160 roll 0.83 - - 2924 - 2.17 0.045 3603 645.2 432.5 - - 1191 - - - - - - - - - 26.03 -
17183 381.1 10.9 722 17188 done 0.84 - - 2925 - 2.08 0.025 2192 -678.4 432.5 - - 1191 - - - - - - - - - 26.32 -
17501 342.8 12.4 738 17508 roll 0.86 - - 2925 - 2.08 0.035 803 -667.8 432.5 - - 1191 - - - - - - - - - 26.17 -
17571 335.0 12.2 741 17577 done 0.89 - - 2925 - 2.08 0.027 2208 675.5 432.5 - - 1190 - - - - - - - - - 26.25 -
17891 301.8 8.6 757 17906 roll 0.92 0.10 0.093 2993 680.0 2.12 0.032 802 -663.2 441.6 8.93 0.910 1160 -3.4 0.122 - - - - - - 26.60 26.16 24.38
17928 299.5 8.9 758 17935 done 0.93 - - 2993 - 2.08 0.028 2198 671.2 443.3 - - 1158 - - - - - - - - - 26.21 -
18235 253.5 14.2 774 18237 done 0.89 0.15 0.135 2952 -273.3 - - 2198 - 443.3 - - 1158 - - - - - - - - 26.23 - -
18535 220.7 11.3 789 18540 roll 0.90 - - 2956 - 2.08 0.032 805 -669.7 443.3 - - 1157 - - - - - - - - - 26.21 -
18560 218.2 11.0 790 18565 done 0.91 - - 2957 - 2.08 0.027 2208 674.5 443.3 - - 1157 - - - - - - - - - 26.26 -
18883 181.3 12.6 806 18889 roll 0.92 - - 2957 - 2.12 0.043 3599 656.1 443.3 - - 1157 - - - - - - - - - 26.06 -
18928 175.4 13.0 808 18934 done 0.92 - - 2957 - 2.08 0.028 2190 -677.4 443.3 - - 1157 - - - - - - - - - 26.34 -
19252 137.2 10.3 824 19253 done 0.93 - - 2957 - - - 2190 - 443.3 - - 1158 - - - - - - - - - - -
19555 118.8 5.3 839 19607 roll 1.09 0.12 0.079 3048 758.3 2.08 0.031 799 -668.8 551.9 44.92 0.396 719 -9.8 0.321 - - - - - - 26.60 26.02 24.82
19650 110.7 9.7 843 19658 done 1.07 0.15 0.123 3005 -286.7 2.10 0.026 2210 671.9 551.9 - - 722 - - - - - - - - 25.82 26.10 -
19956 74.7 11.9 859 19957 done 1.08 - - 3005 - - - 2210 - 551.9 - - 722 - - - - - - - - - - -
20255 39.0 11.6 878 20261 roll 1.10 - - 3008 - 2.08 0.031 808 -674.0 551.9 - - 721 - - - - - - - - - 26.23 -
20304 33.8 11.6 882 20310 done 1.13 - - 3008 - 2.05 0.024 2214 685.9 551.9 - - 722 - - - - - - - - - 26.31 -
20567 end climb: SURFACE_DEPTH_REACHED
20567 begin surface coast
20588 end surface coast: CONTROL_FINISHED_OK
20588 begin surface
SM 1.66 - - - - -7.86 7.35 0.028 116 -393.5 0.32 0.048 2461 771.9 551.19 - - 722 - - - - - - - -