OKMC Oct12 * SG167 * Dive index * Mission links * Dive 358 * Raw log
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• Previous call tries 5 • 76.62 of 150.00 AH used of 24V (48.92% remains)
• Previous NAKs 0, Timeouts 0 • 49.92 of 110.00 AH used of 10V (54.62% remains)
• Surface angle -66.9 deg, depth 1.73 m • Intended pitch -14.4 deg, speed -8.462 cm/s
VBD pumped to 615.21 (SM_CC=615.2124)
• GPS1 time: 25 s
• GPS2 time: 33 s • Transponder ping count: 31
• 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 - - - 84 VBD -0.57 - - 109 - - - 2464 - -171.1 -61.80 - 2715 - - - - - - - - - - -
87 3.2 -3.7 6 130 roll -0.57 9.65 0.223 2469 244.6 2.05 0.061 3734 619.5 -171.1 -22.88 - 3668 -41.7 - - - - - - - 24.98 26.01 26.76
360 39.9 -15.0 32 366 done -0.53 - - 2469 - 1.83 0.018 2427 -714.2 -171.1 - - 3669 - - - - - - - - - 26.48 -
667 84.3 -13.2 51 673 roll -0.50 0.12 0.151 2506 308.3 2.05 0.044 3743 642.0 -171.1 - - 3669 - - - - - - - - 26.32 26.10 -
700 87.2 -12.9 52 705 done -0.48 - - 2506 - 1.83 0.018 2437 -713.7 -171.1 - - 3669 - - - - - - - - - 26.50 -
1016 114.4 -8.0 68 1017 done -0.49 - - 2506 - - - 2438 - -171.1 - - 3669 - - - - - - - - - - -
1316 138.1 -8.5 83 1321 roll -0.51 - - 2506 - 2.03 0.046 3745 643.8 -171.1 - - 3669 - - - - - - - - - 26.11 -
1399 146.6 -9.9 87 1404 done -0.54 - - 2506 - 1.83 0.019 2423 -722.4 -171.1 - - 3670 - - - - - - - - - 26.53 -
1724 176.5 -8.1 103 1729 roll -0.60 0.10 0.092 2427 -790.0 1.90 0.022 1091 -701.1 -171.1 - - 3670 - - - - - - - - 26.66 26.41 -
1777 180.9 -8.8 105 1784 done -0.63 0.15 0.147 2466 260.0 2.00 0.030 2447 678.0 -171.1 - - 3670 - - - - - - - - 25.96 26.30 -
2093 206.3 -7.1 121 2098 roll -0.63 - - 2466 - 2.00 0.046 3758 655.5 -171.1 - - 3673 - - - - - - - - - 26.12 -
2116 208.2 -7.3 122 2122 done -0.63 - - 2466 - 1.80 0.018 2462 -720.0 -171.1 - - 3670 - - - - - - - - - 26.53 -
2440 231.0 -7.2 138 2446 roll -0.63 - - 2466 - 1.98 0.025 1070 -703.0 -171.1 - - 3670 - - - - - - - - - 26.39 -
2493 234.6 -7.9 140 2498 done -0.63 - - 2465 - 2.05 0.031 2450 673.2 -171.1 - - 3670 - - - - - - - - - 26.27 -
2806 262.9 -9.1 156 2807 done -0.64 - - 2466 - - - 2450 - -171.1 - - 3670 - - - - - - - - - - -
3108 288.9 -8.0 171 3113 roll -0.65 - - 2465 - 2.00 0.047 3755 652.5 -171.1 - - 3669 - - - - - - - - - 26.11 -
3153 292.9 -8.3 173 3158 done -0.65 - - 2466 - 1.83 0.018 2431 -723.5 -171.1 - - 3669 - - - - - - - - - 26.55 -
3477 323.2 -10.1 189 3478 done -0.67 - - 2466 - - - 2430 - -171.1 - - 3668 - - - - - - - - - - -
3779 347.5 -7.1 204 3785 roll -0.68 - - 2466 - 1.92 0.024 1087 -699.5 -171.1 - - 3667 - - - - - - - - - 26.39 -
3838 350.9 -6.9 206 3845 done -0.70 - - 2466 - 2.05 0.031 2458 668.8 -171.1 - - 3666 - - - - - - - - - 26.27 -
4144 371.4 -7.1 222 4145 done -0.72 - - 2465 - - - 2458 - -171.1 - - 3665 - - - - - - - - - - -
4446 398.1 -9.8 237 4448 done -0.74 0.12 0.079 2387 -650.0 - - 2457 - -171.1 - - 3663 - - - - - - - - 26.64 - -
4746 436.9 -12.6 252 4752 roll -0.69 0.15 0.145 2433 306.7 2.00 0.046 3754 648.5 -171.1 - - 3662 - - - - - - - - 26.27 26.07 -
4805 442.2 -12.0 254 4812 done -0.67 - - 2433 - 1.83 0.020 2445 -715.3 -171.1 - - 3662 - - - - - - - - - 26.51 -
5110 468.8 -7.1 270 5116 roll -0.67 - - 2433 - 1.95 0.026 1083 -698.5 -171.1 - - 3660 - - - - - - - - - 26.36 -
5179 473.9 -7.6 273 5185 done -0.67 - - 2433 - 2.05 0.032 2454 668.8 -171.1 - - 3660 - - - - - - - - - 26.24 -
5497 502.9 -10.5 289 5502 roll -0.67 - - 2433 - 2.00 0.027 1080 -687.0 -171.1 - - 3658 - - - - - - - - - 26.17 -
5520 505.3 -10.5 290 5526 done -0.67 - - 2433 - 2.08 0.039 2452 659.6 -171.1 - - 3658 - - - - - - - - - 25.45 -
5843 539.1 -10.6 306 5848 roll -0.67 - - 2433 - 2.03 0.049 3765 646.8 -171.1 - - 3656 - - - - - - - - - 26.04 -
5927 547.7 -10.4 310 5932 done -0.67 - - 2433 - 1.85 0.021 2462 -704.3 -171.1 - - 3656 - - - - - - - - - 26.52 -
6250 582.0 -11.1 326 6255 roll -0.67 - - 2432 - 2.05 0.049 3765 635.6 -171.1 - - 3654 - - - - - - - - - 26.02 -
6314 588.8 -10.9 329 6320 done -0.67 - - 2433 - 1.88 0.021 2443 -703.2 -171.1 - - 3654 - - - - - - - - - 26.51 -
6650 623.2 -9.8 342 6655 roll -0.67 - - 2432 - 1.98 0.027 1071 -692.9 -171.1 - - 3652 - - - - - - - - - 26.33 -
6713 629.5 -9.6 344 6719 done -0.68 - - 2433 - 2.10 0.033 2459 661.0 -171.1 - - 3651 - - - - - - - - - 26.20 -
7050 656.8 -7.5 355 7055 roll -0.68 - - 2433 - 2.03 0.050 3762 641.9 -171.1 - - 3649 - - - - - - - - - 25.98 -
7148 663.8 -7.3 358 7154 done -0.69 - - 2433 - 1.88 0.021 2443 -701.6 -171.1 - - 3649 - - - - - - - - - 26.50 -
7480 687.1 -7.2 369 7481 done -0.70 - - 2433 - - - 2442 - -171.1 - - 3647 - - - - - - - - - - -
7780 710.4 -8.1 379 7785 roll -0.71 - - 2433 - 2.08 0.049 3757 632.2 -171.1 - - 3645 - - - - - - - - - 25.95 -
7823 713.5 -8.4 380 7828 done -0.72 - - 2433 - 1.88 0.022 2438 -701.6 -171.1 - - 3645 - - - - - - - - - 26.48 -
8148 744.1 -9.4 391 8153 roll -0.73 - - 2433 - 2.10 0.050 3755 627.1 -171.1 - - 3643 - - - - - - - - - 25.93 -
8183 747.5 -9.5 392 8188 done -0.74 - - 2432 - 1.88 0.022 2442 -698.4 -171.1 - - 3643 - - - - - - - - - 26.47 -
8518 778.3 -9.2 403 8519 done -0.75 - - 2433 - - - 2441 - -171.1 - - 3642 - - - - - - - - - - -
8817 805.8 -9.0 413 8822 roll -0.76 - - 2433 - 2.10 0.050 3756 626.2 -171.1 - - 3640 - - - - - - - - - 25.89 -
8911 814.2 -8.9 416 8916 done -0.78 - - 2432 - 1.90 0.023 2446 -689.5 -171.1 - - 3639 - - - - - - - - - 26.44 -
9248 841.2 -7.7 427 9253 roll -0.79 - - 2432 - 2.08 0.050 3754 628.8 -171.1 - - 3637 - - - - - - - - - 25.86 -
9285 843.9 -7.6 428 9291 done -0.81 - - 2432 - 1.88 0.023 2442 -697.9 -171.1 - - 3637 - - - - - - - - - 26.44 -
9617 866.6 -6.4 439 9622 roll -0.82 - - 2433 - 2.10 0.050 3762 628.6 -171.1 - - 3635 - - - - - - - - - 25.84 -
9711 872.8 -6.4 442 9717 done -0.84 0.12 0.084 2372 -508.3 1.90 0.024 2441 -695.3 -171.1 - - 3635 - - - - - - - - 26.27 26.41 -
10046 905.4 -10.1 453 10048 done -0.80 0.12 0.157 2403 258.3 - - 2438 - -171.1 - - 3633 - - - - - - - - 26.29 - -
10347 930.0 -7.9 463 10352 roll -0.79 - - 2403 - 2.12 0.051 3762 624.5 -171.1 - - 3632 - - - - - - - - - 25.80 -
10406 932.9 -7.8 464 10412 done -0.79 - - 2403 - 1.90 0.024 2442 -694.7 -171.1 - - 3631 - - - - - - - - - 26.40 -
10713 955.2 -6.5 475 10714 done -0.79 - - 2403 - - - 2441 - -171.1 - - 3630 - - - - - - - - - - -
11012 973.7 -6.2 485 11017 roll -0.79 - - 2403 - 2.10 0.051 3756 626.2 -171.1 - - 3630 - - - - - - - - - 25.76 -
11054 975.9 -6.2 486 11059 done -0.79 - - 2403 - 1.90 0.024 2437 -694.2 -171.1 - - 3629 - - - - - - - - - 26.38 -
11284 end dive: TARGET_DEPTH_EXCEEDED
11285 begin apogee
11292 991.3 -6.5 494 11452 done -0.20 0.60 0.116 2598 325.0 - - 2192 - - 150.62 1.362 2961 -4.4 0.357 - - - - - - 25.34 - 22.64
11453 end apogee: CONTROL_FINISHED_OK
11454 begin climb
11456 993.6 - 499 11629 roll 0.57 0.70 0.069 2844 351.4 2.50 0.047 3589 558.8 171.1 160.48 1.310 2262 -4.4 0.365 - - - - - - 24.70 23.94 22.16
11677 980.0 8.9 506 11684 done 0.53 - - 2852 - 2.12 0.027 2229 -641.5 171.1 - - 2260 - - - - - - - - - 25.26 -
11985 946.8 9.7 517 11986 done 0.50 - - 2852 - - - 2229 - 171.1 - - 2252 - - - - - - - - - - -
12283 919.0 8.9 527 12289 roll 0.47 0.12 0.152 2814 -316.7 2.15 0.034 801 -664.2 171.1 - - 2250 - - - - - - - - 26.19 26.19 -
12333 916.2 8.7 528 12338 done 0.45 - - 2815 - 2.12 0.031 2215 667.0 171.1 - - 2248 - - - - - - - - - 26.25 -
12653 892.9 6.8 539 12705 roll 0.51 - - 2815 - 2.25 0.047 3603 616.9 219.5 45.33 1.265 2069 -3.9 0.308 - - - - - - - 25.38 23.62
12768 885.7 7.5 542 12804 done 0.55 - - 2815 - 2.12 0.027 2189 -667.0 248.4 29.60 1.238 1951 -4.0 0.315 - - - - - - - 25.97 23.65
13104 856.4 8.2 554 13108 done 0.58 0.10 0.094 2875 600.0 - - 2186 - 255.0 1.30 0.244 1928 -17.7 6.861 - - - - - - 26.44 - 24.65
13407 824.7 10.4 564 13413 roll 0.56 - - 2875 - 2.22 0.048 3599 636.5 255.0 - - 1934 - - - - - - - - - 26.07 -
13485 817.4 10.7 566 13491 done 0.53 0.17 0.138 2833 -247.1 2.08 0.028 2203 -671.2 255.0 - - 1934 - - - - - - - - 25.92 26.32 -
13807 791.7 7.1 577 13856 done 0.59 - - 2833 - - - 2203 - 294.7 47.25 1.210 1766 -3.6 0.257 - - - - - - - - 23.63
14137 769.0 6.9 588 14194 done 0.68 0.15 0.069 2908 500.0 - - 2201 - 343.0 49.97 1.186 1562 -4.1 0.292 - - - - - - 26.40 - 23.62
14496 727.3 12.1 600 14498 done 0.66 0.12 0.136 2871 -308.3 - - 2200 - 343.0 - - 1554 - - - - - - - - 26.20 - -
14795 695.9 10.4 610 14796 done 0.67 - - 2871 - - - 2200 - 343.0 - - 1552 - - - - - - - - - - -
15094 665.1 10.1 620 15100 roll 0.68 - - 2871 - 2.22 0.047 3600 630.6 343.0 - - 1551 - - - - - - - - - 26.06 -
15144 661.6 10.0 621 15149 done 0.69 - - 2873 - 2.08 0.028 2200 -673.1 343.0 - - 1551 - - - - - - - - - 26.32 -
15464 633.1 8.1 632 15474 roll 0.71 - - 2873 - 2.10 0.036 805 -664.3 352.7 4.28 1.082 1531 -4.7 0.302 - - - - - - - 26.17 24.36
15511 630.4 8.0 633 15535 done 0.74 - - 2873 - 2.10 0.029 2211 669.5 365.2 19.45 1.141 1480 -2.6 0.160 - - - - - - - 26.25 23.95
15859 604.4 7.1 645 15903 done 0.81 0.15 0.074 2951 520.0 - - 2211 - 405.4 41.35 1.113 1315 -4.0 0.239 - - - - - - 26.44 - 23.77
16199 560.0 13.6 661 16200 done 0.78 0.12 0.140 2917 -283.3 - - 2211 - 405.4 - - 1304 - - - - - - - - 26.17 - -
16499 522.0 12.5 676 16504 roll 0.78 - - 2918 - 2.17 0.046 3603 641.5 405.4 - - 1302 - - - - - - - - - 26.06 -
16556 516.3 12.9 678 16564 done 0.78 - - 2923 - 2.10 0.027 2190 -672.9 405.4 - - 1302 - - - - - - - - - 26.32 -
16862 479.4 10.4 694 16868 roll 0.78 - - 2933 - 2.08 0.034 803 -666.8 405.4 - - 1302 - - - - - - - - - 26.19 -
16920 475.0 10.1 696 16927 done 0.78 - - 2933 - 2.08 0.028 2200 671.6 405.4 - - 1302 - - - - - - - - - 26.25 -
17226 444.5 9.2 712 17231 roll 0.78 - - 2934 - 2.17 0.045 3607 648.4 405.4 - - 1301 - - - - - - - - - 26.04 -
17254 442.2 9.5 713 17260 done 0.78 - - 2935 - 2.08 0.026 2204 -674.5 405.4 - - 1301 - - - - - - - - - 26.33 -
17573 408.9 10.3 729 17578 roll 0.78 - - 2936 - 2.10 0.035 800 -668.6 405.4 - - 1301 - - - - - - - - - 26.16 -
17641 402.4 10.4 732 17646 done 0.78 - - 2935 - 2.08 0.028 2201 673.6 405.4 - - 1301 - - - - - - - - - 26.25 -
17959 369.8 9.6 748 17960 done 0.78 - - 2935 - - - 2202 - 405.4 - - 1301 - - - - - - - - - - -
18261 341.4 9.2 763 18267 roll 0.78 - - 2935 - 2.15 0.044 3599 649.8 405.4 - - 1301 - - - - - - - - - 26.01 -
18285 338.8 9.3 764 18291 done 0.78 - - 2935 - 2.08 0.024 2193 -676.0 405.4 - - 1301 - - - - - - - - - 26.34 -
18610 308.4 9.8 780 18615 roll 0.78 - - 2935 - 2.05 0.034 811 -674.1 405.4 - - 1301 - - - - - - - - - 26.17 -
18682 302.2 10.0 783 18688 done 0.79 - - 2935 - 2.08 0.026 2206 670.7 405.4 - - 1301 - - - - - - - - - 26.25 -
18996 269.7 9.7 799 19001 roll 0.81 - - 2935 - 2.15 0.044 3603 649.8 405.4 - - 1301 - - - - - - - - - 26.03 -
19019 267.3 9.8 800 19025 done 0.82 - - 2935 - 2.05 0.024 2196 -686.3 405.4 - - 1301 - - - - - - - - - 26.34 -
19343 238.2 9.3 816 19348 roll 0.83 - - 2935 - 2.05 0.034 812 -675.1 405.4 - - 1301 - - - - - - - - - 26.17 -
19401 234.2 9.4 818 19408 done 0.85 - - 2935 - 2.05 0.025 2209 681.5 405.4 - - 1301 - - - - - - - - - 26.27 -
19707 202.3 9.8 834 19713 roll 0.87 - - 2935 - 2.12 0.043 3599 655.7 405.4 - - 1301 - - - - - - - - - 26.03 -
19745 199.7 10.1 835 19752 done 0.88 - - 2937 - 2.05 0.023 2186 -689.3 405.4 - - 1301 - - - - - - - - - 26.36 -
20051 172.9 6.7 851 20105 roll 0.97 0.12 0.080 3019 683.3 2.08 0.031 810 -661.5 459.0 46.70 0.681 1089 -4.5 0.127 - - - - - - 26.59 25.78 24.30
20184 159.8 11.2 857 20189 done 0.96 0.15 0.117 2975 -293.3 2.08 0.032 2206 671.2 459.0 - - 1086 - - - - - - - - 25.80 26.04 -
20498 129.9 9.5 873 20499 done 0.98 - - 2975 - - - 2206 - 459.0 - - 1084 - - - - - - - - - - -
20801 99.3 10.3 888 20806 roll 1.00 - - 2980 - 2.10 0.032 805 -667.1 459.0 - - 1085 - - - - - - - - - 26.18 -
20833 96.6 10.2 889 20838 done 1.03 - - 2980 - 2.08 0.025 2211 676.0 459.0 - - 1084 - - - - - - - - - 26.29 -
21146 67.0 9.3 905 21147 done 1.05 - - 2980 - - - 2211 - 459.0 - - 1084 - - - - - - - - - - -
21447 38.8 9.5 926 21452 roll 1.07 - - 2983 - 2.08 0.031 809 -674.0 459.0 - - 1084 - - - - - - - - - 26.27 -
21491 34.6 9.5 930 21497 done 1.09 - - 2983 - 2.03 0.024 2204 687.2 459.0 - - 1084 - - - - - - - - - 26.33 -
21807 4.7 9.4 961 21813 roll 1.11 0.12 0.076 3070 725.0 2.12 0.041 3603 659.9 459.0 - - 1085 - - - - - - - - 26.62 26.12 -
21829 end climb: SURFACE_DEPTH_REACHED
21829 begin surface coast
21851 end surface coast: CONTROL_FINISHED_OK
21851 begin surface
SM 1.59 - - - - -7.87 7.55 0.031 120 -390.7 1.73 0.022 2462 -659.5 615.21 66.95 0.122 460 -9.3 0.012 - - - - - -