OKMC Oct12 * SG167 * Dive index * Mission links * Dive 402 * Raw log
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• Previous call tries 1 • 86.78 of 150.00 AH used of 24V (42.14% remains)
• Previous NAKs 0, Timeouts 0 • 55.88 of 110.00 AH used of 10V (49.20% remains)
• Surface angle -63.4 deg, depth 1.80 m • Intended pitch -14.7 deg, speed -8.462 cm/s
• No surface pump (final VBD was 420.93, SM_CC=400)
• GPS1 time: 42 s
• GPS2 time: 17 s • Transponder ping count: 54
• 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 -0.69 - - 109 - - - 2474 - -166.2 -51.97 - 2462 - - - - - - - - - - -
78 3.1 -3.5 5 124 roll -0.69 9.35 0.216 2426 247.8 2.03 0.063 3717 612.3 -166.2 -29.67 - 3647 -39.9 - - - - - - - 24.89 25.91 26.71
355 48.5 -16.6 32 360 done -0.65 - - 2426 - 1.83 0.018 2425 -706.0 -166.2 - - 3649 - - - - - - - - - 26.41 -
668 99.5 -16.2 48 670 done -0.62 0.15 0.151 2466 266.7 - - 2424 - -166.2 - - 3649 - - - - - - - - 26.18 - -
971 140.1 -13.2 63 976 roll -0.60 - - 2466 - 1.98 0.032 1072 -682.8 -166.2 - - 3649 - - - - - - - - - 26.15 -
1028 146.1 -13.1 65 1036 done -0.58 - - 2465 - 2.05 0.037 2428 661.5 -166.2 - - 3649 - - - - - - - - - 26.07 -
1334 186.0 -11.7 81 1335 done -0.58 - - 2465 - - - 2428 - -166.2 - - 3649 - - - - - - - - - - -
1636 218.0 -9.1 96 1641 roll -0.58 - - 2462 - 2.05 0.047 3762 650.7 -166.2 - - 3650 - - - - - - - - - 25.99 -
1709 223.7 -8.8 99 1714 done -0.58 - - 2462 - 1.85 0.020 2456 -705.9 -166.2 - - 3651 - - - - - - - - - 26.41 -
2022 255.0 -9.9 115 2027 roll -0.58 - - 2462 - 2.05 0.031 1052 -684.9 -166.2 - - 3650 - - - - - - - - - 26.22 -
2070 259.2 -9.8 117 2076 done -0.58 - - 2462 - 2.10 0.034 2452 666.7 -166.2 - - 3651 - - - - - - - - - 26.13 -
2389 290.8 -9.7 133 2394 roll -0.58 - - 2462 - 2.08 0.033 1057 -670.7 -166.2 - - 3651 - - - - - - - - - 26.17 -
2421 293.1 -9.6 134 2426 done -0.58 - - 2462 - 2.10 0.035 2452 664.3 -166.2 - - 3650 - - - - - - - - - 26.12 -
2734 323.4 -9.5 150 2740 roll -0.58 - - 2462 - 2.00 0.047 3758 653.0 -166.2 - - 3650 - - - - - - - - - 26.00 -
2837 333.4 -9.7 155 2844 done -0.58 - - 2462 - 1.88 0.019 2437 -702.7 -166.2 - - 3649 - - - - - - - - - 26.44 -
3161 363.4 -9.1 171 3166 roll -0.58 - - 2462 - 2.00 0.031 1063 -687.0 -166.2 - - 3648 - - - - - - - - - 26.19 -
3209 367.5 -9.2 173 3215 done -0.58 - - 2462 - 2.10 0.035 2456 663.3 -166.2 - - 3648 - - - - - - - - - 26.13 -
3528 393.2 -7.3 189 3529 done -0.58 - - 2462 - - - 2456 - -166.2 - - 3646 - - - - - - - - - - -
3830 417.5 -8.8 204 3835 roll -0.61 - - 2462 - 2.00 0.047 3756 650.0 -166.2 - - 3645 - - - - - - - - - 25.98 -
3960 429.0 -9.1 210 3965 done -0.64 - - 2462 - 1.85 0.021 2447 -707.6 -166.2 - - 3644 - - - - - - - - - 26.42 -
4278 454.7 -7.0 226 4284 roll -0.67 - - 2462 - 2.00 0.030 1071 -688.0 -166.2 - - 3642 - - - - - - - - - 26.20 -
4332 457.9 -7.0 228 4337 done -0.69 - - 2462 - 2.08 0.034 2450 663.0 -166.2 - - 3642 - - - - - - - - - 26.11 -
4646 479.4 -6.6 244 4651 roll -0.71 - - 2462 - 2.03 0.031 1068 -680.8 -166.2 - - 3640 - - - - - - - - - 26.20 -
4741 485.6 -7.4 248 4746 done -0.73 - - 2462 - 2.10 0.034 2451 658.6 -166.2 - - 3640 - - - - - - - - - 26.12 -
5054 510.2 -7.7 264 5060 roll -0.75 0.12 0.077 2379 -691.7 2.05 0.028 1066 -675.6 -166.2 - - 3639 - - - - - - - - 26.58 26.18 -
5079 512.5 -8.0 265 5085 done -0.77 0.17 0.151 2419 235.3 2.10 0.034 2466 666.7 -166.2 - - 3639 - - - - - - - - 25.67 26.10 -
5403 542.5 -9.2 281 5408 roll -0.77 - - 2418 - 2.00 0.047 3756 645.0 -166.2 - - 3637 - - - - - - - - - 25.94 -
5475 548.6 -9.5 284 5480 done -0.77 - - 2419 - 1.85 0.021 2446 -708.1 -166.2 - - 3636 - - - - - - - - - 26.41 -
5788 577.0 -8.5 300 5794 roll -0.77 - - 2418 - 2.03 0.031 1069 -678.3 -166.2 - - 3634 - - - - - - - - - 26.16 -
5821 579.2 -8.5 301 5826 done -0.77 - - 2418 - 2.10 0.035 2444 654.8 -166.2 - - 3634 - - - - - - - - - 26.07 -
6144 607.9 -8.6 316 6149 roll -0.77 - - 2419 - 2.05 0.048 3763 643.4 -166.2 - - 3632 - - - - - - - - - 25.89 -
6196 611.0 -8.8 317 6202 done -0.77 - - 2419 - 1.88 0.021 2441 -703.2 -166.2 - - 3631 - - - - - - - - - 26.39 -
6511 640.6 -9.0 328 6512 done -0.77 - - 2420 - - - 2441 - -166.2 - - 3629 - - - - - - - - - - -
6810 669.0 -9.8 338 6815 roll -0.77 - - 2418 - 2.08 0.048 3759 633.7 -166.2 - - 3625 - - - - - - - - - 25.84 -
6852 672.3 -10.0 339 6857 done -0.77 - - 2419 - 1.88 0.022 2453 -694.7 -166.2 - - 3627 - - - - - - - - - 26.39 -
7177 706.2 -10.3 350 7179 done -0.77 - - 2419 - - - 2452 - -166.2 - - 3624 - - - - - - - - - - -
7475 737.7 -10.5 360 7476 done -0.77 - - 2418 - - - 2453 - -166.2 - - 3622 - - - - - - - - - - -
7776 767.2 -9.6 370 7777 done -0.77 - - 2419 - - - 2453 - -166.2 - - 3621 - - - - - - - - - - -
8075 796.9 -10.0 380 8080 roll -0.77 - - 2419 - 2.10 0.049 3765 624.8 -166.2 - - 3618 - - - - - - - - - 25.76 -
8117 800.5 -10.2 381 8123 done -0.77 - - 2418 - 1.92 0.024 2446 -687.0 -166.2 - - 3618 - - - - - - - - - 26.34 -
8443 835.4 -10.3 392 8444 done -0.77 - - 2418 - - - 2445 - -166.2 - - 3616 - - - - - - - - - - -
8740 864.4 -9.4 402 8746 roll -0.77 - - 2418 - 2.10 0.050 3756 624.3 -166.2 - - 3615 - - - - - - - - - 25.70 -
8774 867.6 -9.3 403 8780 done -0.77 - - 2419 - 1.90 0.024 2449 -687.9 -166.2 - - 3614 - - - - - - - - - 26.31 -
9110 896.3 -8.2 414 9111 done -0.77 - - 2419 - - - 2444 - -166.2 - - 3612 - - - - - - - - - - -
9409 918.3 -6.8 424 9410 done -0.77 - - 2418 - - - 2444 - -166.2 - - 3611 - - - - - - - - - - -
9708 936.3 -5.9 434 9714 roll -0.77 - - 2419 - 2.10 0.050 3757 625.2 -166.2 - - 3610 - - - - - - - - - 25.63 -
9746 938.3 -6.0 435 9751 done -0.77 - - 2419 - 1.90 0.024 2442 -692.1 -166.2 - - 3609 - - - - - - - - - 26.28 -
10078 958.6 -6.5 446 10083 roll -0.77 - - 2419 - 2.03 0.031 1074 -673.9 -166.2 - - 3607 - - - - - - - - - 25.98 -
10136 961.1 -6.6 447 10143 done -0.77 - - 2419 - 2.12 0.038 2444 646.2 -166.2 - - 3607 - - - - - - - - - 25.06 -
10444 984.3 -7.1 458 10450 roll -0.77 - - 2419 - 2.12 0.054 3762 621.7 -166.2 - - 3606 - - - - - - - - - 25.51 -
10473 984.3 -7.1 458 10480 done -0.77 - - 2419 - 1.90 0.025 2445 -693.2 -166.2 - - 3606 - - - - - - - - - 26.27 -
10536 end dive: TARGET_DEPTH_EXCEEDED
10536 begin apogee
10542 990.9 -6.7 461 10695 done -0.27 0.47 0.116 2571 323.4 - - 2174 - - 144.05 1.268 2963 -4.5 0.377 - - - - - - 25.33 - 23.13
10696 end apogee: CONTROL_FINISHED_OK
10697 begin climb
10699 994.3 - 466 10860 roll 0.69 0.90 0.077 2881 344.4 2.17 0.037 857 -606.9 166.2 153.15 1.232 2284 -4.4 0.387 - - - - - - 24.87 24.36 22.71
10893 984.3 7.3 472 10934 done 0.69 - - 2881 - 2.15 0.032 2209 628.8 200.3 31.98 1.229 2143 -4.4 0.382 - - - - - - - 25.24 23.23
11234 945.7 10.9 484 11239 roll 0.67 - - 2881 - 2.20 0.048 3608 635.9 200.3 - - 2133 - - - - - - - - - 26.00 -
11270 941.7 11.2 485 11276 done 0.65 - - 2881 - 2.03 0.028 2244 -671.9 200.3 - - 2132 - - - - - - - - - 26.23 -
11603 907.7 9.4 496 11609 roll 0.63 - - 2885 - 2.20 0.039 797 -657.7 200.3 - - 2130 - - - - - - - - - 26.06 -
11686 901.3 9.5 498 11692 done 0.62 - - 2885 - 2.12 0.033 2202 662.7 200.3 - - 2128 - - - - - - - - - 26.12 -
12003 871.4 8.6 509 12008 roll 0.60 - - 2885 - 2.20 0.048 3600 635.5 200.3 - - 2129 - - - - - - - - - 25.91 -
12100 861.7 9.8 512 12107 done 0.57 0.17 0.148 2846 -229.4 2.12 0.028 2188 -666.0 200.3 - - 2128 - - - - - - - - 25.72 26.22 -
12433 835.7 7.8 523 12455 roll 0.59 - - 2845 - 2.28 0.047 3605 621.5 219.0 16.77 1.253 2070 -3.5 0.249 - - - - - - - 25.77 23.97
12487 832.9 8.1 524 12507 done 0.61 - - 2845 - 2.12 0.028 2190 -667.5 230.9 13.23 1.229 2022 -3.6 0.266 - - - - - - - 26.07 23.89
12825 801.1 8.9 536 12826 done 0.61 - - 2845 - - - 2190 - 230.9 - - 2012 - - - - - - - - - - -
13126 775.4 8.5 546 13127 done 0.61 - - 2845 - - - 2190 - 230.9 - - 2014 - - - - - - - - - - -
13426 749.7 8.9 556 13431 roll 0.61 - - 2845 - 2.25 0.047 3602 627.6 230.9 - - 2013 - - - - - - - - - 25.84 -
13460 746.5 9.1 557 13465 done 0.61 - - 2845 - 2.10 0.028 2206 -664.8 230.9 - - 2013 - - - - - - - - - 26.19 -
13795 719.2 7.6 568 13827 roll 0.64 - - 2845 - 2.17 0.038 798 -648.8 256.0 26.02 1.148 1918 -3.7 0.247 - - - - - - - 25.69 23.92
13870 714.6 7.5 570 13910 done 0.67 0.12 0.078 2908 525.0 2.15 0.031 2209 656.3 283.9 29.75 1.125 1802 -3.9 0.268 - - - - - - 25.94 25.94 23.78
14219 676.8 10.7 582 14225 roll 0.66 0.12 0.139 2865 -358.3 2.17 0.046 3597 639.6 283.9 - - 1794 - - - - - - - - 26.13 25.92 -
14303 670.1 10.5 584 14308 done 0.64 - - 2871 - 2.10 0.028 2185 -672.4 283.9 - - 1793 - - - - - - - - - 26.20 -
14617 639.2 9.0 595 14622 roll 0.64 - - 2882 - 2.10 0.038 802 -658.6 283.9 - - 1793 - - - - - - - - - 26.01 -
14643 639.2 9.0 595 14651 done 0.64 - - 2881 - 2.10 0.032 2198 664.8 283.9 - - 1792 - - - - - - - - - 26.07 -
14950 612.5 7.3 606 14993 roll 0.69 - - 2881 - 2.30 0.048 3595 607.4 318.3 35.03 1.074 1662 -3.7 0.229 - - - - - - - 25.56 23.89
15058 604.7 8.1 609 15077 done 0.70 - - 2882 - 2.10 0.028 2201 -663.8 330.1 12.27 1.112 1615 -3.8 0.225 - - - - - - - 26.02 23.98
15386 571.4 9.8 625 15391 roll 0.70 - - 2881 - 2.12 0.037 788 -666.5 330.1 - - 1607 - - - - - - - - - 26.02 -
15413 569.3 9.4 626 15419 done 0.70 - - 2881 - 2.12 0.031 2202 667.0 330.1 - - 1607 - - - - - - - - - 26.08 -
15733 540.8 8.8 642 15738 roll 0.70 - - 2881 - 2.22 0.047 3606 632.4 330.1 - - 1606 - - - - - - - - - 25.88 -
15760 538.7 8.7 643 15765 done 0.70 - - 2881 - 2.10 0.027 2193 -672.9 330.1 - - 1606 - - - - - - - - - 26.20 -
16079 509.2 9.4 659 16085 roll 0.70 - - 2881 - 2.10 0.038 811 -658.1 330.1 - - 1606 - - - - - - - - - 25.96 -
16132 504.9 9.5 661 16137 done 0.70 - - 2881 - 2.10 0.031 2206 664.3 330.1 - - 1603 - - - - - - - - - 26.06 -
16444 473.7 9.4 677 16450 roll 0.70 - - 2881 - 2.20 0.047 3606 636.4 330.1 - - 1605 - - - - - - - - - 25.80 -
16483 471.4 9.4 678 16490 done 0.70 - - 2881 - 2.10 0.027 2193 -672.9 330.1 - - 1604 - - - - - - - - - 26.17 -
16788 440.4 9.7 694 16793 roll 0.70 - - 2881 - 2.10 0.038 810 -658.6 330.1 - - 1604 - - - - - - - - - 25.91 -
16816 438.2 9.8 695 16822 done 0.70 - - 2881 - 2.10 0.030 2207 665.2 330.1 - - 1604 - - - - - - - - - 26.03 -
17135 406.6 9.0 711 17141 roll 0.71 - - 2881 - 2.20 0.046 3607 636.4 330.1 - - 1605 - - - - - - - - - 25.76 -
17199 400.6 9.4 714 17204 done 0.71 - - 2881 - 2.12 0.027 2193 -667.0 330.1 - - 1604 - - - - - - - - - 26.03 -
17523 372.1 8.7 730 17528 roll 0.73 - - 2881 - 2.10 0.037 805 -661.0 330.1 - - 1604 - - - - - - - - - 25.90 -
17576 368.2 8.8 732 17582 done 0.74 - - 2882 - 2.10 0.030 2208 668.1 330.1 - - 1604 - - - - - - - - - 26.02 -
17890 341.3 8.0 748 17910 roll 0.79 0.12 0.080 2968 716.7 2.15 0.034 805 -652.6 343.4 12.05 0.938 1562 -3.5 0.137 - - - - - - 26.52 25.93 24.29
17919 339.6 8.1 749 17940 done 0.83 0.12 0.138 2936 -266.7 2.10 0.029 2203 665.7 353.8 11.85 0.928 1518 -3.7 0.147 - - - - - - 25.80 26.05 24.14
18259 306.1 9.4 766 18264 roll 0.83 - - 2937 - 2.12 0.037 809 -657.5 353.8 - - 1513 - - - - - - - - - 25.98 -
18302 302.0 9.4 768 18307 done 0.83 - - 2937 - 2.08 0.028 2200 668.8 353.8 - - 1513 - - - - - - - - - 26.07 -
18626 271.8 9.2 784 18631 roll 0.83 - - 2937 - 2.17 0.044 3599 644.7 353.8 - - 1513 - - - - - - - - - 25.85 -
18663 269.6 9.2 785 18670 done 0.83 - - 2940 - 2.10 0.024 2184 -673.8 353.8 - - 1513 - - - - - - - - - 26.22 -
18969 240.8 8.6 801 18974 roll 0.83 - - 2948 - 2.08 0.035 802 -664.4 353.8 - - 1513 - - - - - - - - - 25.97 -
19027 237.3 8.2 803 19036 done 0.84 - - 2949 - 2.12 0.030 2207 662.7 360.6 3.42 0.799 1496 -5.0 0.160 - - - - - - - 25.99 24.22
19333 213.2 7.3 819 19373 roll 0.88 - - 2948 - 2.25 0.043 3601 619.6 394.6 34.62 0.767 1352 -4.2 0.125 - - - - - - - 25.75 24.26
19405 207.6 8.5 822 19411 done 0.88 - - 2949 - 2.10 0.028 2187 -673.3 394.6 - - 1349 - - - - - - - - - 26.04 -
19719 175.1 9.7 838 19725 roll 0.90 - - 2949 - 2.20 0.043 3603 643.6 394.6 - - 1348 - - - - - - - - - 25.94 -
19757 172.7 9.8 839 19764 done 0.91 - - 2949 - 2.05 0.023 2198 -685.4 394.6 - - 1346 - - - - - - - - - 26.25 -
20064 147.6 7.8 855 20088 roll 0.97 - - 2948 - 2.15 0.034 798 -651.2 413.8 17.15 0.737 1272 -4.3 0.093 - - - - - - - 26.03 24.49
20152 140.8 8.2 859 20163 done 1.01 0.12 0.076 3029 675.0 2.10 0.028 2213 673.8 422.4 3.40 0.740 1247 -7.4 0.151 - - - - - - 26.08 26.10 24.16
20473 103.7 12.0 875 20479 roll 1.00 0.12 0.139 2989 -333.3 2.12 0.041 3600 654.2 422.4 - - 1251 - - - - - - - - 26.22 25.97 -
20526 98.5 11.9 877 20531 done 1.00 - - 2989 - 2.05 0.023 2193 -686.3 422.4 - - 1250 - - - - - - - - - 26.27 -
20839 65.6 10.0 893 20845 roll 1.00 - - 2989 - 2.08 0.035 792 -673.6 422.4 - - 1250 - - - - - - - - - 26.06 -
20892 61.2 9.9 895 20897 done 1.00 - - 2989 - 2.08 0.028 2201 677.4 422.4 - - 1250 - - - - - - - - - 26.15 -
21205 30.1 10.8 921 21210 roll 1.00 - - 2989 - 2.12 0.037 795 -663.2 422.4 - - 1251 - - - - - - - - - 26.03 -
21217 28.5 11.7 922 21223 done 1.00 - - 2989 - 2.08 0.029 2199 675.0 422.4 - - 1252 - - - - - - - - - 26.13 -
21529 end climb: SURFACE_DEPTH_REACHED
21529 begin surface coast
21569 end surface coast: CONTROL_FINISHED_OK
21570 begin surface
SM 1.76 - - - - -7.86 7.35 0.030 114 -391.2 0.35 0.050 2452 722.9 420.93 - - 1252 - - - - - - - -