OKMC Nov11 * SG168 * Dive index * Mission links * Dive 371 * Raw log
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• Previous call tries 1 • 65.13 of 150.00 AH used of 24V (56.58% remains)
• Previous NAKs 0, Timeouts 0 • 57.27 of 110.00 AH used of 10V (47.93% remains)
• Surface angle -68.4 deg, depth 6.59 m • Intended pitch -15.6 deg, speed -9.167 cm/s
• No surface pump (final VBD was 540.40, SM_CC=400)
• GPS1 time: 31 s
• GPS2 time: 22 s • Transponder ping count: 20
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 90 VBD -0.63 - - 100 - - - 2027 - -170.3 -70.03 - 2853 - - - - - - - - - - -
93 8.3 -4.6 11 121 roll -0.63 7.20 0.199 2037 269.0 2.30 0.057 608 -617.0 -170.3 -13.82 - 3652 -57.8 - - - - - - - 24.93 25.86 26.44
242 59.7 -29.5 37 249 done -0.58 0.15 0.148 2069 213.3 2.15 0.034 2027 660.0 -170.3 - - 3653 - - - - - - - - 25.72 26.02 -
576 147.5 -20.0 98 584 roll -0.53 - - 2059 - 2.22 0.041 3430 632.0 -170.3 - - 3653 - - - - - - - - - 26.10 -
609 154.0 -19.2 103 616 done -0.50 0.10 0.139 2091 320.0 2.15 0.034 2024 -654.0 -170.3 - - 3653 - - - - - - - - 25.98 26.12 -
940 204.8 -14.3 161 949 roll -0.49 - - 2081 - 2.20 0.041 3434 640.9 -170.3 - - 3653 - - - - - - - - - 26.13 -
984 210.4 -12.8 165 993 done -0.49 - - 2080 - 2.12 0.034 2029 -662.7 -170.3 - - 3653 - - - - - - - - - 26.18 -
1292 249.4 -11.7 196 1303 roll -0.48 0.05 0.209 2100 400.0 2.17 0.044 617 -650.7 -170.3 - - 3653 - - - - - - - - 26.48 26.09 -
1362 256.0 -8.9 202 1370 done -0.50 - - 2097 - 2.15 0.034 2031 657.7 -170.3 - - 3653 - - - - - - - - - 26.22 -
1670 283.3 -8.6 233 1678 roll -0.51 - - 2088 - 2.15 0.042 3424 647.9 -170.3 - - 3652 - - - - - - - - - 26.15 -
1716 286.8 -8.2 237 1723 done -0.53 - - 2087 - 2.12 0.032 2020 -662.3 -170.3 - - 3652 - - - - - - - - - 26.22 -
2022 315.6 -9.2 268 2031 roll -0.54 - - 2080 - 2.20 0.042 3441 645.9 -170.3 - - 3651 - - - - - - - - - 26.15 -
2048 317.6 -9.3 270 2055 done -0.55 - - 2080 - 2.15 0.032 2025 -658.6 -170.3 - - 3651 - - - - - - - - - 26.21 -
2354 347.6 -9.6 301 2363 roll -0.55 - - 2080 - 2.17 0.046 621 -647.0 -170.3 - - 3650 - - - - - - - - - 26.08 -
2386 350.7 -9.6 304 2395 done -0.57 - - 2077 - 2.12 0.034 2033 666.0 -170.3 - - 3649 - - - - - - - - - 26.20 -
2696 380.0 -9.2 335 2705 roll -0.57 - - 2069 - 2.15 0.041 3435 652.1 -170.3 - - 3647 - - - - - - - - - 26.15 -
2721 382.0 -9.0 337 2728 done -0.59 - - 2068 - 2.15 0.033 2021 -657.7 -170.3 - - 3647 - - - - - - - - - 26.20 -
3028 408.6 -8.2 368 3037 roll -0.59 - - 2068 - 2.20 0.047 596 -647.7 -170.3 - - 3645 - - - - - - - - - 26.06 -
3060 411.2 -8.2 371 3069 done -0.60 - - 2064 - 2.17 0.034 2032 661.8 -170.3 - - 3645 - - - - - - - - - 26.20 -
3371 438.7 -8.9 402 3379 roll -0.61 - - 2055 - 2.15 0.043 3426 648.4 -170.3 - - 3643 - - - - - - - - - 26.13 -
3433 443.8 -7.8 408 3441 done -0.63 - - 2055 - 2.12 0.034 2025 -660.8 -170.3 - - 3642 - - - - - - - - - 26.17 -
3742 471.0 -8.7 439 3746 roll -0.63 - - 2055 - 2.20 0.047 614 -641.4 -170.3 - - 3640 - - - - - - - - - 26.03 -
3787 474.7 -9.1 443 3794 done -0.64 - - 2050 - 2.12 0.035 2023 664.6 -170.3 - - 3640 - - - - - - - - - 26.17 -
4093 505.1 -10.2 474 4097 roll -0.64 - - 2041 - 2.20 0.043 3438 643.2 -170.3 - - 3637 - - - - - - - - - 26.10 -
4117 507.2 -9.9 476 4125 done -0.64 - - 2041 - 2.20 0.034 2027 -641.4 -170.3 - - 3637 - - - - - - - - - 26.14 -
4425 538.3 -9.9 507 4434 roll -0.64 - - 2041 - 2.22 0.049 612 -637.4 -170.3 - - 3635 - - - - - - - - - 25.99 -
4447 540.4 -9.8 509 4451 done -0.64 - - 2033 - 2.15 0.036 2027 658.1 -170.3 - - 3635 - - - - - - - - - 26.15 -
4758 572.8 -11.1 540 4767 roll -0.64 - - 2023 - 2.20 0.045 3439 641.8 -170.3 - - 3633 - - - - - - - - - 26.06 -
4810 578.5 -11.1 545 4820 done -0.65 0.03 0.138 2041 600.0 2.20 0.035 2019 -645.5 -170.3 - - 3632 - - - - - - - - 26.00 26.11 -
5131 613.3 -10.9 571 5134 roll -0.65 - - 2041 - 2.22 0.050 608 -635.6 -170.3 - - 3629 - - - - - - - - - 25.96 -
5160 615.8 -10.7 572 5164 done -0.65 - - 2033 - 2.17 0.037 2032 656.2 -170.3 - - 3629 - - - - - - - - - 26.10 -
5467 648.7 -9.8 587 5473 roll -0.65 - - 2023 - 2.17 0.044 3435 646.5 -170.3 - - 3627 - - - - - - - - - 26.04 -
5528 654.2 -9.4 590 5534 done -0.66 - - 2023 - 2.17 0.035 2030 -647.5 -170.3 - - 3626 - - - - - - - - - 26.08 -
5847 685.9 -9.8 606 5849 done -0.66 0.05 0.216 2041 360.0 - - 2029 - -170.3 - - 3624 - - - - - - - - 26.45 - -
6148 711.7 -8.8 621 6149 done -0.66 - - 2041 - - - 2029 - -170.3 - - 3623 - - - - - - - - - - -
6449 738.4 -8.8 636 6455 roll -0.67 - - 2042 - 2.22 0.050 623 -633.3 -170.3 - - 3621 - - - - - - - - - 25.88 -
6482 740.3 -8.8 637 6489 done -0.68 - - 2034 - 2.15 0.037 2027 653.0 -170.3 - - 3620 - - - - - - - - - 26.08 -
6790 769.8 -9.4 653 6794 roll -0.68 - - 2024 - 2.22 0.046 3440 636.5 -170.3 - - 3617 - - - - - - - - - 25.96 -
6833 773.7 -9.3 655 6838 done -0.69 - - 2024 - 2.17 0.035 2027 -651.2 -170.3 - - 3617 - - - - - - - - - 26.03 -
7151 805.4 -10.1 671 7157 roll -0.69 - - 2025 - 2.25 0.051 612 -628.9 -170.3 - - 3616 - - - - - - - - - 25.84 -
7185 807.5 -10.2 672 7192 done -0.69 - - 2016 - 2.15 0.037 2023 656.3 -170.3 - - 3615 - - - - - - - - - 26.04 -
7491 840.1 -10.2 688 7497 roll -0.69 - - 2007 - 2.20 0.046 3437 642.7 -170.3 - - 3614 - - - - - - - - - 25.94 -
7531 844.0 -10.0 690 7537 done -0.69 0.10 0.136 2040 330.0 2.20 0.036 2024 -642.3 -170.3 - - 3613 - - - - - - - - 25.86 25.99 -
7854 871.8 -8.6 706 7855 done -0.70 - - 2040 - - - 2024 - -170.3 - - 3612 - - - - - - - - - - -
8174 896.9 -8.3 721 8196 done -0.71 0.08 0.121 1961 -987.5 - - 2023 - -170.3 - - 3610 - - - - - - - - 26.47 - -
8487 940.5 -13.5 737 8493 roll -0.68 0.20 0.119 2022 305.0 2.20 0.043 3433 640.9 -170.3 - - 3609 - - - - - - - - 26.01 25.90 -
8519 942.8 -13.2 738 8527 done -0.66 0.05 0.178 2041 380.0 2.20 0.037 2026 -639.5 -170.3 - - 3609 - - - - - - - - 25.89 25.94 -
8831 967.3 -7.3 754 8836 roll -0.68 - - 2042 - 2.22 0.051 617 -634.7 -170.3 - - 3608 - - - - - - - - - 25.75 -
8860 968.9 -7.5 755 8868 done -0.69 - - 2037 - 2.17 0.036 2035 653.5 -170.3 - - 3608 - - - - - - - - - 25.98 -
9150 end dive: TARGET_DEPTH_EXCEEDED
9150 begin apogee
9155 991.5 -7.6 770 9308 done -0.22 0.40 0.090 2185 370.0 - - 1958 - - 145.45 1.043 2953 -4.5 0.495 - - - - - - 25.83 - 23.55
9309 end apogee: CONTROL_FINISHED_OK
9309 begin climb
9311 997.2 - 777 9473 roll 0.63 0.70 0.042 2480 421.4 2.33 0.048 574 -594.0 170.3 153.12 1.012 2251 -4.6 0.523 - - - - - - 25.06 24.63 23.37
9514 982.9 15.1 787 9520 done 0.57 0.17 0.134 2430 -294.1 2.20 0.024 1989 643.2 170.3 - - 2235 - - - - - - - - 24.97 25.22 -
9840 937.1 14.4 802 9845 roll 0.54 - - 2430 - 2.12 0.032 3382 657.1 170.3 - - 2225 - - - - - - - - - 25.89 -
9926 922.7 14.9 806 9931 done 0.50 0.12 0.157 2406 -200.0 2.20 0.036 1979 -637.7 170.3 - - 2223 - - - - - - - - 25.65 25.88 -
10233 885.3 11.5 821 10239 roll 0.48 - - 2406 - 2.17 0.034 3386 648.4 170.3 - - 2221 - - - - - - - - - 25.98 -
10261 882.9 11.6 822 10266 done 0.47 0.08 0.186 2398 -100.0 2.22 0.037 1968 -638.7 170.3 - - 2220 - - - - - - - - 25.80 25.95 -
10571 851.1 9.3 837 10577 roll 0.45 - - 2397 - 2.22 0.037 3385 638.3 170.3 - - 2219 - - - - - - - - - 26.00 -
10626 847.1 9.8 839 10633 done 0.44 0.08 0.186 2388 -112.5 2.20 0.038 1969 -643.6 170.3 - - 2219 - - - - - - - - 25.83 25.97 -
10934 819.6 8.5 855 10955 roll 0.45 - - 2398 - 2.28 0.052 573 -612.3 189.5 14.75 0.901 2174 -3.1 0.321 - - - - - - - 25.89 24.32
10981 815.6 8.7 857 11000 done 0.46 - - 2398 - 2.12 0.027 1966 657.1 202.8 13.05 0.873 2123 -3.9 0.422 - - - - - - - 25.98 24.37
11318 780.9 10.2 874 11324 roll 0.45 - - 2399 - 2.22 0.037 3401 646.4 202.8 - - 2106 - - - - - - - - - 25.91 -
11359 776.6 10.7 876 11366 done 0.45 0.03 0.171 2397 - 2.17 0.038 1986 -652.1 202.8 - - 2105 - - - - - - - - 25.76 25.89 -
11679 744.0 10.3 892 11684 roll 0.44 - - 2407 - 2.25 0.052 570 -629.3 202.8 - - 2103 - - - - - - - - - 25.83 -
11741 737.7 10.4 895 11747 done 0.44 0.03 0.148 2392 -500.0 2.12 0.028 1988 668.9 202.8 - - 2103 - - - - - - - - 25.93 26.08 -
12060 704.2 10.5 911 12061 done 0.44 - - 2393 - - - 1988 - 202.8 - - 2102 - - - - - - - - - - -
12361 673.4 10.0 926 12366 roll 0.44 - - 2393 - 2.12 0.037 3379 656.1 202.8 - - 2102 - - - - - - - - - 26.00 -
12388 671.3 10.2 927 12392 done 0.44 - - 2403 - 2.17 0.039 1972 -648.4 202.8 - - 2102 - - - - - - - - - 25.96 -
12695 639.9 9.7 942 12696 done 0.44 - - 2403 - - - 1972 - 202.8 - - 2102 - - - - - - - - - - -
12998 612.4 8.8 957 13007 roll 0.44 - - 2403 - 2.22 0.036 3387 637.4 212.0 2.05 0.234 2092 -4.9 1.477 - - - - - - - 25.97 21.21
13058 606.7 9.4 960 13065 done 0.44 0.10 0.158 2384 -190.0 2.22 0.040 1974 -636.5 212.0 1.42 0.206 2086 -4.2 1.440 - - - - - - 25.77 25.94 25.12
13373 582.1 8.0 987 13423 roll 0.48 0.08 0.119 2469 1062.5 2.28 0.051 567 -617.1 243.4 38.85 0.775 1948 -3.6 0.309 - - - - - - 26.43 25.69 24.36
13488 566.4 14.9 998 13498 done 0.46 0.22 0.121 2398 -322.7 2.15 0.026 1976 655.3 243.4 - - 1939 - - - - - - - - 25.47 25.83 -
13798 532.6 10.0 1029 13807 roll 0.47 - - 2398 - 2.20 0.037 3387 641.4 243.4 - - 1935 - - - - - - - - - 25.84 -
13831 529.0 10.8 1032 13840 done 0.47 - - 2406 - 2.25 0.041 1965 -632.0 243.4 - - 1934 - - - - - - - - - 25.81 -
14141 498.0 9.4 1063 14144 roll 0.48 - - 2416 - 2.22 0.054 573 -627.0 243.4 - - 1933 - - - - - - - - - 25.75 -
14183 494.1 9.4 1067 14192 done 0.49 - - 2416 - 2.10 0.028 1966 663.3 243.4 - - 1933 - - - - - - - - - 26.03 -
14492 463.9 9.2 1098 14493 done 0.49 - - 2416 - - - 1966 - 243.6 - - 1932 - - - - - - - - - - -
14796 436.4 9.0 1128 14807 roll 0.49 - - 2426 - 2.20 0.051 563 -637.7 248.0 - - 1932 - - - - - - - - - 25.79 -
14821 433.9 9.2 1130 14830 done 0.49 0.05 0.119 2404 -440.0 2.12 0.028 1990 673.1 248.0 - - 1932 - - - - - - - - 25.88 26.08 -
15130 407.7 8.9 1161 15140 roll 0.51 - - 2404 - 2.17 0.036 3384 642.4 256.5 3.60 0.546 1909 -6.4 0.552 - - - - - - - 26.06 24.13
15176 403.5 9.7 1165 15184 done 0.53 - - 2412 - 2.20 0.039 1975 -640.5 256.5 1.73 0.194 1907 - - - - - - - - - 26.01 25.36
15483 375.6 8.8 1196 15505 roll 0.55 - - 2421 - 2.22 0.051 571 -632.4 266.4 17.27 0.659 1861 -2.7 0.176 - - - - - - - 25.96 24.69
15575 368.1 7.9 1205 15614 done 0.61 0.08 0.118 2495 925.0 2.12 0.028 1981 665.1 300.9 32.62 0.646 1722 -4.3 0.281 - - - - - - 25.92 26.00 24.53
15914 312.8 16.5 1239 15923 roll 0.58 0.17 0.139 2436 -347.1 2.20 0.031 3393 641.8 300.9 - - 1701 - - - - - - - - 25.76 25.87 -
15971 306.1 11.7 1244 15978 done 0.59 - - 2446 - 2.22 0.038 1976 -638.3 300.9 - - 1699 - - - - - - - - - 25.82 -
16277 274.5 10.4 1275 16286 roll 0.59 - - 2455 - 2.22 0.051 570 -633.3 300.9 - - 1699 - - - - - - - - - 25.80 -
16355 267.0 9.9 1282 16363 done 0.60 0.03 0.135 2439 -533.3 2.15 0.027 1981 656.3 300.9 - - 1699 - - - - - - - - 25.93 26.06 -
16662 237.6 9.3 1313 16666 roll 0.61 - - 2440 - 2.17 0.037 3388 648.4 300.9 - - 1699 - - - - - - - - - 25.98 -
16696 234.3 10.0 1316 16706 done 0.63 - - 2447 - 2.17 0.038 1984 -647.0 300.9 - - 1698 - - - - - - - - - 25.94 -
17006 204.1 10.1 1347 17015 roll 0.64 - - 2456 - 2.17 0.048 577 -648.4 300.9 - - 1699 - - - - - - - - - 25.87 -
17094 195.6 9.0 1359 17101 done 0.66 - - 2456 - 2.10 0.028 1978 667.1 305.1 - - 1699 - - - - - - - - - 26.13 -
17429 163.8 8.8 1420 17438 roll 0.68 - - 2457 - 2.22 0.036 3387 634.7 314.4 3.90 0.451 1674 -6.4 0.269 - - - - - - - 26.10 24.32
17479 158.9 9.5 1428 17488 done 0.70 - - 2461 - 2.22 0.037 1971 -637.8 314.4 1.90 0.155 1675 - - - - - - - - - 26.07 25.46
17816 134.4 7.3 1489 17874 roll 0.78 0.12 0.080 2568 891.7 2.20 0.030 3393 646.4 366.6 50.58 0.465 1448 -4.5 0.150 - - - - - - 26.45 25.89 24.82
17929 117.4 17.5 1507 17937 done 0.76 0.28 0.128 2495 -260.7 2.22 0.037 1970 -641.0 366.6 - - 1438 - - - - - - - - 25.48 25.84 -
18263 89.6 6.2 1568 18360 roll 0.89 0.12 0.077 2607 933.3 2.22 0.047 572 -629.7 448.7 87.35 0.299 1137 -3.4 0.119 - - - - - - 26.32 25.72 24.98
18450 59.3 16.4 1599 18458 done 0.88 0.25 0.109 2526 -324.0 2.10 0.022 1989 674.8 448.7 3.10 0.160 1124 -4.2 0.180 - - - - - - 25.59 25.94 24.96
18780 27.1 10.8 1660 18789 roll 0.90 - - 2528 - 2.22 0.043 570 -639.2 448.7 2.72 0.155 1132 2.9 -0.060 - - - - - - - 25.89 25.11
18840 22.2 5.8 1670 18905 done 1.06 0.15 0.032 2653 833.3 2.10 0.025 1968 665.7 542.5 56.97 0.143 741 -6.9 0.123 - - - - - - 26.08 26.11 25.37
18915 end climb: SURFACE_DEPTH_REACHED
18915 begin surface coast
18950 end surface coast: CONTROL_FINISHED_OK
18950 begin surface
SM 6.48 - - - - -6.58 6.22 0.023 101 -410.3 0.05 0.142 2033 1300.0 540.40 - - 751 - - - - - - - -