OKMC Oct12 * SG167 * Dive index * Mission links * Dive 427 * Raw log
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• Previous call tries 1 • 91.98 of 150.00 AH used of 24V (38.68% remains)
• Previous NAKs 0, Timeouts 0 • 59.12 of 110.00 AH used of 10V (46.26% remains)
• Surface angle -61.4 deg, depth 1.65 m • Intended pitch -14.8 deg, speed -9.429 cm/s
• No surface pump (final VBD was 503.36, SM_CC=400)
• GPS1 time: 48 s
• GPS2 time: 5 s • Transponder ping count: 89
• 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 - - - 85 VBD -0.73 - - 107 - - - 2458 - -195.5 -62.00 - 2644 - - - - - - - - - - -
88 3.0 -2.8 6 132 roll -0.73 9.12 0.212 2416 253.2 2.12 0.061 3750 609.4 -195.5 -27.40 - 3766 -40.9 - - - - - - - 24.93 25.84 26.65
323 40.4 -18.1 28 331 done -0.66 0.15 0.151 2455 260.0 1.90 0.021 2440 -689.5 -195.5 - - 3767 - - - - - - - - 25.73 26.24 -
640 85.8 -12.8 47 645 roll -0.62 - - 2455 - 2.03 0.032 1058 -680.8 -195.5 - - 3768 - - - - - - - - - 26.01 -
692 91.2 -12.4 49 698 done -0.59 - - 2451 - 2.10 0.034 2439 657.6 -195.5 - - 3768 - - - - - - - - - 25.94 -
1006 134.1 -13.5 65 1012 roll -0.56 0.12 0.151 2491 333.3 2.05 0.031 1066 -669.8 -195.5 - - 3767 - - - - - - - - 26.17 25.98 -
1031 137.2 -13.3 66 1037 done -0.54 - - 2491 - 2.10 0.035 2456 661.9 -195.5 - - 3768 - - - - - - - - - 25.94 -
1355 170.1 -10.0 82 1360 roll -0.55 - - 2491 - 2.00 0.046 3758 651.0 -195.5 - - 3768 - - - - - - - - - 25.80 -
1382 172.2 -9.7 83 1389 done -0.57 - - 2491 - 1.88 0.018 2437 -702.7 -195.5 - - 3768 - - - - - - - - - 26.34 -
1702 195.3 -6.3 99 1704 done -0.60 - - 2491 - - - 2437 - -195.5 - - 3768 - - - - - - - - - - -
2006 218.4 -8.2 114 2012 roll -0.67 0.12 0.079 2403 -733.3 2.08 0.044 3768 639.9 -195.5 - - 3769 - - - - - - - - 26.55 25.80 -
2171 238.6 -13.0 122 2177 done -0.62 0.20 0.130 2461 290.0 1.85 0.020 2455 -709.7 -195.5 - - 3769 - - - - - - - - 25.73 26.30 -
2495 268.0 -8.0 138 2501 roll -0.62 - - 2461 - 2.03 0.031 1069 -682.8 -195.5 - - 3769 - - - - - - - - - 26.05 -
2534 270.1 -7.9 139 2541 done -0.63 - - 2460 - 2.10 0.034 2459 661.9 -195.5 - - 3769 - - - - - - - - - 25.96 -
2840 296.5 -8.4 155 2846 roll -0.65 - - 2461 - 2.08 0.032 1064 -670.7 -195.5 - - 3769 - - - - - - - - - 26.03 -
2858 296.5 -8.4 155 2865 done -0.67 - - 2461 - 2.10 0.034 2455 662.4 -195.5 - - 3769 - - - - - - - - - 25.96 -
3165 326.4 -9.7 171 3170 roll -0.69 - - 2454 - 2.00 0.045 3757 651.0 -195.5 - - 3769 - - - - - - - - - 25.80 -
3212 331.0 -10.0 173 3217 done -0.71 - - 2454 - 1.85 0.018 2434 -715.1 -195.5 - - 3768 - - - - - - - - - 26.36 -
3532 361.1 -8.7 189 3537 roll -0.73 - - 2455 - 2.00 0.041 1086 -674.0 -195.5 - - 3767 - - - - - - - - - 25.97 -
3559 363.1 -8.7 190 3564 done -0.75 - - 2454 - 2.08 0.035 2452 656.7 -195.5 - - 3767 - - - - - - - - - 25.96 -
3878 387.9 -7.1 206 3884 roll -0.77 0.12 0.080 2372 -683.3 2.03 0.044 3758 643.3 -195.5 - - 3766 - - - - - - - - 26.53 25.75 -
3917 390.1 -7.7 207 3924 done -0.77 0.17 0.142 2420 282.4 1.85 0.019 2434 -715.7 -195.5 - - 3765 - - - - - - - - 25.77 26.35 -
4222 419.8 -9.5 223 4227 roll -0.77 - - 2419 - 1.98 0.032 1085 -681.3 -195.5 - - 3763 - - - - - - - - - 26.01 -
4255 422.0 -9.6 224 4260 done -0.77 - - 2420 - 2.08 0.034 2460 661.1 -195.5 - - 3763 - - - - - - - - - 25.96 -
4568 452.9 -9.5 240 4573 roll -0.77 - - 2421 - 2.00 0.047 3752 646.0 -195.5 - - 3762 - - - - - - - - - 25.72 -
4591 455.2 -9.5 241 4596 done -0.77 - - 2420 - 1.83 0.018 2465 -703.3 -195.5 - - 3762 - - - - - - - - - 26.39 -
4916 487.6 -9.9 257 4921 roll -0.77 - - 2420 - 2.05 0.031 1076 -677.6 -195.5 - - 3759 - - - - - - - - - 25.98 -
4983 494.5 -10.5 260 4988 done -0.77 - - 2420 - 2.10 0.036 2456 657.1 -195.5 - - 3759 - - - - - - - - - 25.94 -
5302 527.4 -10.1 276 5307 roll -0.77 - - 2420 - 2.03 0.048 3755 639.9 -195.5 - - 3761 - - - - - - - - - 25.67 -
5339 530.0 -10.1 277 5346 done -0.77 - - 2420 - 1.90 0.023 2443 -690.5 -195.5 - - 3757 - - - - - - - - - 26.21 -
5646 559.6 -8.8 293 5647 done -0.77 - - 2420 - - - 2442 - -195.5 - - 3755 - - - - - - - - - - -
5949 585.7 -8.7 308 5954 roll -0.77 - - 2420 - 2.10 0.049 3762 628.6 -195.5 - - 3753 - - - - - - - - - 25.61 -
6027 591.6 -9.1 311 6034 done -0.77 - - 2420 - 1.88 0.021 2448 -698.9 -195.5 - - 3752 - - - - - - - - - 26.34 -
6355 620.5 -8.1 324 6360 roll -0.77 - - 2420 - 2.05 0.033 1080 -667.3 -195.5 - - 3751 - - - - - - - - - 25.89 -
6377 620.5 -8.1 324 6383 done -0.77 - - 2420 - 2.12 0.042 2456 649.1 -195.5 - - 3750 - - - - - - - - - 25.85 -
6693 649.1 -8.8 335 6699 roll -0.77 - - 2420 - 2.05 0.049 3760 636.1 -195.5 - - 3748 - - - - - - - - - 25.58 -
6758 655.4 -9.2 337 6763 done -0.77 - - 2420 - 1.88 0.021 2441 -701.6 -195.5 - - 3748 - - - - - - - - - 26.31 -
7095 686.2 -9.2 348 7096 done -0.78 - - 2420 - - - 2440 - -195.5 - - 3746 - - - - - - - - - - -
7392 715.4 -9.8 358 7397 roll -0.80 - - 2420 - 2.10 0.050 3754 625.7 -195.5 - - 3744 - - - - - - - - - 25.53 -
7430 718.9 -9.8 359 7435 done -0.81 - - 2420 - 1.85 0.021 2450 -704.9 -195.5 - - 3744 - - - - - - - - - 26.29 -
7761 750.4 -8.9 370 7762 done -0.82 - - 2420 - - - 2448 - -195.5 - - 3741 - - - - - - - - - - -
8060 775.3 -8.2 380 8061 done -0.84 - - 2420 - - - 2448 - -195.5 - - 3739 - - - - - - - - - - -
8359 799.8 -8.4 390 8364 roll -0.86 - - 2420 - 2.10 0.050 3757 623.3 -195.5 - - 3738 - - - - - - - - - 25.45 -
8427 805.5 -8.6 392 8433 done -0.87 0.10 0.096 2369 -510.0 1.88 0.023 2458 -691.0 -195.5 - - 3737 - - - - - - - - 26.08 26.24 -
8759 842.8 -11.2 403 8764 roll -0.85 - - 2368 - 2.08 0.050 3749 620.7 -195.5 - - 3736 - - - - - - - - - 25.43 -
8797 846.8 -11.3 404 8802 done -0.82 0.12 0.150 2400 266.7 1.88 0.023 2438 -697.3 -195.5 - - 3734 - - - - - - - - 25.79 26.23 -
9128 880.4 -10.1 415 9134 roll -0.82 - - 2400 - 2.03 0.031 1074 -671.9 -195.5 - - 3732 - - - - - - - - - 25.84 -
9146 880.4 -10.1 415 9151 done -0.82 - - 2400 - 2.12 0.037 2452 650.0 -195.5 - - 3732 - - - - - - - - - 25.72 -
9467 911.5 -8.8 426 9473 roll -0.82 - - 2400 - 2.08 0.051 3755 626.4 -195.5 - - 3731 - - - - - - - - - 25.37 -
9510 914.9 -8.8 427 9516 done -0.82 - - 2400 - 1.88 0.023 2444 -697.3 -195.5 - - 3730 - - - - - - - - - 26.20 -
9837 943.0 -8.4 438 9842 roll -0.82 - - 2400 - 2.12 0.051 3755 618.4 -195.5 - - 3729 - - - - - - - - - 25.34 -
9890 946.1 -8.4 439 9895 done -0.82 - - 2400 - 1.88 0.024 2448 -695.2 -195.5 - - 3729 - - - - - - - - - 26.19 -
10204 974.6 -8.6 450 10205 done -0.82 - - 2400 - - - 2447 - -195.5 - - 3727 - - - - - - - - - - -
10381 end dive: TARGET_DEPTH_EXCEEDED
10381 begin apogee
10388 990.2 -8.7 456 10565 done -0.27 0.55 0.112 2576 320.0 - - 2192 - - 168.85 1.252 2964 -4.5 0.390 - - - - - - 25.08 - 23.10
10566 end apogee: CONTROL_FINISHED_OK
10566 begin climb
10570 997.0 - 462 10757 roll 0.73 0.93 0.075 2893 340.9 2.25 0.039 857 -593.3 195.5 178.30 1.213 2161 -4.5 0.404 - - - - - - 24.58 23.95 22.48
10793 984.3 8.5 469 10826 done 0.70 - - 2893 - 2.17 0.034 2212 624.4 223.3 26.02 1.196 2053 -4.2 0.372 - - - - - - - 24.92 23.13
11139 944.9 10.9 481 11145 roll 0.66 - - 2893 - 2.20 0.049 3601 631.4 223.3 - - 2040 - - - - - - - - - 25.86 -
11260 933.3 12.0 484 11268 done 0.61 0.12 0.165 2867 -216.7 2.03 0.028 2241 -670.0 223.3 - - 2039 - - - - - - - - 25.79 26.15 -
11565 901.4 9.2 495 11569 done 0.60 - - 2861 - - - 2241 - 231.9 1.85 0.299 2025 -7.6 2.487 - - - - - - - - 24.44
11866 874.9 8.7 505 11900 done 0.61 - - 2861 - - - 2241 - 255.5 31.50 1.180 1924 -3.2 0.259 - - - - - - - - 23.93
12195 847.7 8.0 516 12242 done 0.67 - - 2861 - - - 2241 - 298.1 44.25 1.164 1751 -3.9 0.310 - - - - - - - - 23.82
12525 821.6 7.5 527 12593 roll 0.75 0.12 0.083 2939 650.0 2.35 0.041 801 -612.8 358.5 61.55 1.131 1499 -4.1 0.324 - - - - - - 26.35 25.31 23.75
12613 815.2 9.1 529 12634 done 0.75 0.12 0.131 2906 -275.0 2.20 0.034 2202 636.8 369.9 12.30 1.164 1452 -3.8 0.292 - - - - - - 25.50 25.66 23.78
12953 776.3 10.5 541 12958 roll 0.75 - - 2905 - 2.22 0.048 3606 632.4 369.9 - - 1445 - - - - - - - - - 25.84 -
13020 768.4 11.6 543 13026 done 0.75 - - 2911 - 2.10 0.028 2201 -669.0 369.9 - - 1444 - - - - - - - - - 26.13 -
13351 728.8 11.8 554 13356 roll 0.75 - - 2919 - 2.15 0.041 798 -652.6 369.9 - - 1443 - - - - - - - - - 25.87 -
13384 724.6 11.8 555 13389 done 0.75 - - 2920 - 2.15 0.032 2208 655.8 369.9 - - 1442 - - - - - - - - - 25.98 -
13721 683.1 12.3 566 13726 roll 0.74 - - 2919 - 2.20 0.047 3599 632.3 369.9 - - 1441 - - - - - - - - - 25.69 -
13780 678.5 12.2 567 13786 done 0.72 - - 2921 - 2.10 0.028 2193 -669.5 369.9 - - 1441 - - - - - - - - - 26.08 -
14087 641.9 10.8 578 14088 done 0.71 - - 2921 - - - 2193 - 369.9 - - 1441 - - - - - - - - - - -
14385 609.8 10.8 588 14390 roll 0.71 - - 2921 - 2.12 0.041 805 -654.7 369.9 - - 1440 - - - - - - - - - 25.74 -
14428 606.4 10.7 589 14433 done 0.71 - - 2921 - 2.12 0.031 2209 662.3 369.9 - - 1440 - - - - - - - - - 25.89 -
14742 570.7 11.4 604 14747 roll 0.71 - - 2922 - 2.20 0.047 3599 631.8 369.9 - - 1439 - - - - - - - - - 25.57 -
14780 567.6 11.7 605 14788 done 0.71 - - 2922 - 2.10 0.026 2188 -671.9 369.9 - - 1439 - - - - - - - - - 26.02 -
15085 529.8 11.4 621 15091 roll 0.71 - - 2923 - 2.12 0.040 803 -653.3 369.9 - - 1439 - - - - - - - - - 25.70 -
15150 522.6 11.3 624 15156 done 0.71 - - 2923 - 2.12 0.031 2202 659.9 369.9 - - 1439 - - - - - - - - - 25.85 -
15474 488.8 9.9 640 15480 roll 0.71 - - 2923 - 2.25 0.047 3604 623.1 369.9 - - 1439 - - - - - - - - - 25.34 -
15491 488.8 9.9 640 15498 done 0.71 - - 2923 - 2.12 0.031 2191 -666.5 369.9 - - 1438 - - - - - - - - - 25.94 -
15798 456.0 9.7 656 15803 roll 0.71 - - 2925 - 2.12 0.039 804 -654.2 369.9 - - 1439 - - - - - - - - - 25.67 -
15886 447.8 9.8 660 15891 done 0.71 - - 2925 - 2.12 0.031 2202 659.4 369.9 - - 1439 - - - - - - - - - 25.84 -
16205 416.9 9.2 676 16210 roll 0.72 - - 2925 - 2.20 0.045 3601 635.9 376.4 - - 1438 - - - - - - - - - 25.50 -
16222 416.9 9.2 676 16239 done 0.73 - - 2925 - 2.10 0.025 2185 -674.3 383.0 11.75 0.981 1406 -2.7 0.126 - - - - - - - 26.04 24.31
16551 383.9 9.7 693 16557 roll 0.73 - - 2925 - 2.10 0.038 805 -657.1 383.0 - - 1397 - - - - - - - - - 25.81 -
16611 379.8 9.3 695 16618 done 0.74 - - 2925 - 2.12 0.030 2209 662.3 385.5 - - 1396 - - - - - - - - - 25.94 -
16916 349.4 9.3 711 16926 done 0.76 - - 2925 - - - 2209 - 390.8 8.25 0.953 1374 -2.7 0.107 - - - - - - - - 24.37
17216 325.0 7.3 726 17280 done 0.85 - - 2925 - - - 2209 - 457.0 61.33 0.827 1105 -4.4 0.188 - - - - - - - - 24.08
17577 295.3 9.7 744 17583 roll 0.95 0.12 0.079 3010 708.3 2.12 0.033 812 -659.0 457.0 - - 1093 - - - - - - - - 26.38 25.92 -
17625 289.9 10.9 746 17630 done 1.01 - - 3010 - 2.08 0.029 2201 667.8 457.0 - - 1093 - - - - - - - - - 26.01 -
17944 247.2 12.8 762 17950 roll 0.97 0.12 0.139 2978 -266.7 2.12 0.034 809 -656.6 457.0 - - 1092 - - - - - - - - 26.17 25.85 -
17983 244.2 12.6 763 17991 done 0.95 - - 2978 - 2.08 0.030 2205 671.2 457.0 - - 1092 - - - - - - - - - 25.98 -
18288 209.3 11.4 779 18294 roll 0.95 - - 2978 - 2.15 0.037 804 -651.6 457.0 - - 1092 - - - - - - - - - 25.82 -
18326 206.5 11.7 780 18333 done 0.95 - - 2978 - 2.10 0.035 2201 665.2 457.0 - - 1092 - - - - - - - - - 25.93 -
18633 171.6 10.8 796 18638 roll 0.95 - - 2978 - 2.17 0.043 3599 644.2 457.0 - - 1092 - - - - - - - - - 25.69 -
18670 168.7 11.2 797 18677 done 0.95 - - 2983 - 2.05 0.022 2189 -687.8 457.0 - - 1092 - - - - - - - - - 26.17 -
18978 135.8 8.7 813 18998 roll 0.99 - - 2988 - 2.15 0.037 818 -637.7 479.0 15.88 0.729 1011 -5.1 0.104 - - - - - - - 25.90 24.51
19102 124.8 8.7 819 19126 done 1.04 - - 2988 - 2.05 0.028 2197 672.7 500.3 16.75 0.708 921 -5.4 0.103 - - - - - - - 26.04 24.47
19445 95.7 9.8 836 19451 roll 1.13 0.12 0.080 3068 666.7 2.17 0.041 3603 647.9 500.3 - - 917 - - - - - - - - 26.43 25.80 -
19464 95.7 9.8 836 19472 done 1.21 0.10 0.157 3053 -150.0 2.05 0.022 2197 -685.9 500.3 - - 916 - - - - - - - - 25.89 26.19 -
19769 56.5 12.5 852 19775 roll 1.19 - - 3062 - 2.10 0.037 803 -663.8 500.3 - - 916 - - - - - - - - - 25.88 -
19803 53.3 12.5 853 19808 done 1.17 - - 3062 - 2.10 0.029 2206 668.1 500.3 - - 916 - - - - - - - - - 26.03 -
20117 13.8 12.3 883 20122 roll 1.15 - - 3058 - 2.12 0.041 3594 654.7 500.3 - - 916 - - - - - - - - - 25.78 -
20162 6.3 17.3 887 20168 done 1.11 0.17 0.139 3022 -211.8 2.05 0.021 2198 -681.0 500.3 - - 916 - - - - - - - - 25.67 26.20 -
20184 end climb: SURFACE_DEPTH_REACHED
20184 begin surface coast
20196 end surface coast: CONTROL_FINISHED_OK
20196 begin surface
SM 1.70 - - - - -7.87 7.47 0.030 121 -388.4 0.38 0.039 2457 681.6 503.36 - - 915 - - - - - - - -