OKMC Oct12 * SG167 * Dive index * Mission links * Dive 437 * Raw log
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• Previous call tries 1 • 94.17 of 150.00 AH used of 24V (37.22% remains)
• Previous NAKs 0, Timeouts 0 • 60.37 of 110.00 AH used of 10V (45.12% remains)
• Surface angle -60.6 deg, depth 1.73 m • Intended pitch -14.8 deg, speed -9.429 cm/s
• No surface pump (final VBD was 438.84, SM_CC=400)
• GPS1 time: 35 s, HDOP was 3.0 m
• GPS2 time: 4 s • Transponder ping count: 110
• 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
18 begin dive
21 - - - 94 VBD -0.73 - - 109 - - - 2468 - -195.5 -71.32 - 2701 - - - - - - - - - - -
98 3.4 -3.7 7 141 roll -0.73 9.32 0.220 2426 248.6 2.05 0.066 3746 623.4 -195.5 -24.90 - 3767 -42.8 - - - - - - - 25.01 25.80 26.67
367 51.4 -19.7 33 373 done -0.66 0.12 0.149 2456 250.0 1.90 0.022 2424 -695.8 -195.5 - - 3768 - - - - - - - - 25.82 26.22 -
681 98.9 -14.6 49 687 roll -0.62 - - 2456 - 2.00 0.033 1067 -678.5 -195.5 - - 3768 - - - - - - - - - 25.89 -
745 108.0 -13.9 52 751 done -0.60 - - 2452 - 2.12 0.040 2444 649.5 -195.5 - - 3767 - - - - - - - - - 25.79 -
1070 144.0 -10.6 68 1075 roll -0.58 - - 2452 - 2.05 0.047 3765 644.4 -195.5 - - 3768 - - - - - - - - - 25.69 -
1147 151.4 -11.7 71 1154 done -0.57 - - 2452 - 1.88 0.018 2444 -702.7 -195.5 - - 3768 - - - - - - - - - 26.28 -
1453 186.3 -10.1 87 1458 roll -0.57 - - 2452 - 2.03 0.034 1072 -675.9 -195.5 - - 3769 - - - - - - - - - 25.91 -
1480 188.7 -10.2 88 1485 done -0.57 - - 2452 - 2.10 0.037 2456 659.0 -195.5 - - 3769 - - - - - - - - - 25.87 -
1798 220.5 -10.2 104 1803 roll -0.57 - - 2451 - 2.03 0.047 3759 641.9 -195.5 - - 3769 - - - - - - - - - 25.65 -
1835 222.9 -10.2 105 1843 done -0.57 - - 2451 - 1.88 0.018 2429 -707.4 -195.5 - - 3769 - - - - - - - - - 26.31 -
2141 254.5 -9.6 121 2142 done -0.57 - - 2452 - - - 2429 - -195.5 - - 3769 - - - - - - - - - - -
2444 280.0 -8.0 136 2449 roll -0.57 - - 2452 - 2.00 0.034 1072 -678.5 -195.5 - - 3769 - - - - - - - - - 25.91 -
2479 282.2 -8.1 137 2484 done -0.57 - - 2452 - 2.10 0.036 2455 658.6 -195.5 - - 3768 - - - - - - - - - 25.86 -
2793 309.9 -8.8 153 2798 roll -0.58 - - 2452 - 2.03 0.047 3761 643.3 -195.5 - - 3767 - - - - - - - - - 25.67 -
2842 313.9 -9.0 155 2847 done -0.59 - - 2452 - 1.88 0.019 2452 -696.3 -195.5 - - 3767 - - - - - - - - - 26.31 -
3161 342.3 -8.6 171 3166 roll -0.65 - - 2452 - 2.05 0.046 3757 636.6 -195.5 - - 3767 - - - - - - - - - 25.68 -
3235 348.1 -8.7 174 3241 done -0.70 - - 2452 - 1.88 0.020 2443 -698.9 -195.5 - - 3766 - - - - - - - - - 26.27 -
3550 375.2 -8.1 190 3556 roll -0.75 - - 2452 - 2.08 0.046 3762 634.1 -195.5 - - 3764 - - - - - - - - - 25.67 -
3690 385.6 -8.5 196 3697 done -0.81 0.15 0.067 2362 -600.0 1.88 0.020 2451 -697.3 -195.5 - - 3764 - - - - - - - - 26.15 26.28 -
3996 420.4 -11.3 212 4001 roll -0.75 0.17 0.145 2416 317.6 2.05 0.030 1071 -673.2 -195.5 - - 3762 - - - - - - - - 25.97 25.91 -
4040 424.8 -10.6 214 4045 done -0.72 - - 2412 - 2.12 0.040 2449 650.0 -195.5 - - 3761 - - - - - - - - - 25.80 -
4363 457.6 -10.5 230 4368 roll -0.72 - - 2412 - 2.05 0.047 3764 641.5 -195.5 - - 3760 - - - - - - - - - 25.66 -
4420 462.3 -10.8 232 4427 done -0.72 - - 2412 - 1.90 0.021 2437 -698.4 -195.5 - - 3760 - - - - - - - - - 26.25 -
4726 493.7 -10.0 248 4727 done -0.72 - - 2412 - - - 2437 - -195.5 - - 3757 - - - - - - - - - - -
5028 524.2 -10.0 263 5033 roll -0.72 - - 2412 - 2.03 0.031 1061 -677.8 -195.5 - - 3757 - - - - - - - - - 25.94 -
5066 526.6 -9.8 264 5073 done -0.72 - - 2411 - 2.12 0.035 2453 656.6 -195.5 - - 3756 - - - - - - - - - 25.82 -
5372 556.5 -9.1 280 5373 done -0.72 - - 2411 - - - 2453 - -195.5 - - 3754 - - - - - - - - - - -
5674 584.9 -9.5 295 5679 roll -0.72 - - 2411 - 2.05 0.047 3764 639.5 -195.5 - - 3752 - - - - - - - - - 25.60 -
5721 589.5 -9.7 297 5726 done -0.72 - - 2412 - 1.90 0.021 2444 -694.7 -195.5 - - 3751 - - - - - - - - - 26.22 -
6052 621.5 -9.6 310 6057 roll -0.72 - - 2410 - 2.03 0.032 1071 -676.4 -195.5 - - 3749 - - - - - - - - - 25.89 -
6099 625.0 -9.6 311 6104 done -0.72 - - 2412 - 2.12 0.036 2459 654.7 -195.5 - - 3749 - - - - - - - - - 25.78 -
6417 656.4 -9.5 322 6418 done -0.72 - - 2412 - - - 2459 - -195.5 - - 3747 - - - - - - - - - - -
6718 684.5 -9.0 332 6724 roll -0.72 - - 2412 - 2.05 0.049 3762 635.6 -195.5 - - 3744 - - - - - - - - - 25.52 -
6812 693.4 -9.4 335 6818 done -0.72 - - 2411 - 1.95 0.022 2430 -683.1 -195.5 - - 3743 - - - - - - - - - 25.98 -
7150 721.9 -8.5 346 7156 roll -0.72 - - 2412 - 2.05 0.039 1067 -664.9 -195.5 - - 3740 - - - - - - - - - 25.75 -
7194 725.5 -8.6 347 7200 done -0.72 - - 2411 - 2.12 0.037 2449 651.9 -195.5 - - 3739 - - - - - - - - - 25.72 -
7521 754.6 -9.0 358 7526 roll -0.72 - - 2411 - 2.08 0.049 3765 632.7 -195.5 - - 3738 - - - - - - - - - 25.46 -
7593 761.0 -9.3 360 7599 done -0.72 - - 2412 - 1.92 0.024 2451 -684.4 -195.5 - - 3738 - - - - - - - - - 26.17 -
7920 792.5 -9.4 371 7921 done -0.72 - - 2411 - - - 2451 - -195.5 - - 3735 - - - - - - - - - - -
8218 820.0 -9.1 381 8224 roll -0.72 - - 2411 - 2.10 0.049 3761 623.8 -195.5 - - 3733 - - - - - - - - - 25.41 -
8261 823.2 -9.3 382 8267 done -0.72 - - 2412 - 1.92 0.024 2444 -685.9 -195.5 - - 3733 - - - - - - - - - 26.13 -
8588 853.3 -9.0 393 8593 roll -0.72 - - 2411 - 2.05 0.032 1070 -670.2 -195.5 - - 3731 - - - - - - - - - 25.76 -
8626 856.7 -9.2 394 8631 done -0.72 - - 2412 - 2.12 0.037 2449 650.5 -195.5 - - 3730 - - - - - - - - - 25.64 -
8957 887.0 -9.0 405 8963 roll -0.72 - - 2411 - 2.10 0.050 3761 624.8 -195.5 - - 3729 - - - - - - - - - 25.34 -
9015 890.5 -9.2 406 9022 done -0.72 - - 2412 - 1.92 0.024 2446 -684.9 -195.5 - - 3728 - - - - - - - - - 26.13 -
9324 920.5 -9.1 417 9325 done -0.74 - - 2411 - - - 2445 - -195.5 - - 3726 - - - - - - - - - - -
9622 945.0 -7.9 427 9628 roll -0.75 - - 2411 - 2.15 0.050 3761 612.1 -195.5 - - 3729 - - - - - - - - - 24.97 -
9688 950.0 -7.6 429 9694 done -0.76 - - 2411 - 1.98 0.024 2443 -665.7 -195.5 - - 3725 - - - - - - - - - 26.06 -
10025 973.9 -7.1 440 10026 done -0.77 - - 2411 - - - 2442 - -195.5 - - 3723 - - - - - - - - - - -
10259 end dive: TARGET_DEPTH_EXCEEDED
10259 begin apogee
10267 992.2 -7.8 448 10444 done -0.27 0.50 0.112 2571 320.0 0.08 0.095 2200 -3025.0 - 169.43 1.331 2963 -4.5 0.375 - - - - - - 25.06 23.99 22.78
10445 end apogee: CONTROL_FINISHED_OK
10446 begin climb
10449 998.5 - 454 10638 done 0.73 0.98 0.076 2898 333.7 - - 2200 - 195.5 182.98 1.297 2170 -4.3 0.374 - - - - - - 24.28 - 21.87
10925 952.8 11.7 470 10926 done 0.68 - - 2898 - - - 2200 - 195.5 - - 2151 - - - - - - - - - - -
11223 917.2 11.6 480 11229 roll 0.63 0.12 0.146 2859 -325.0 2.25 0.047 3611 627.1 195.5 - - 2149 - - - - - - - - 26.08 25.71 -
11291 909.9 11.4 482 11297 done 0.59 - - 2866 - 2.08 0.028 2236 -661.1 195.5 - - 2148 - - - - - - - - - 26.08 -
11623 879.4 8.6 493 11654 roll 0.59 - - 2866 - 2.30 0.048 3610 597.4 221.6 23.85 1.245 2057 -3.8 0.302 - - - - - - - 25.56 23.99
11710 873.6 8.8 495 11738 done 0.59 - - 2870 - 2.15 0.029 2199 -656.3 242.5 21.40 1.248 1975 -3.8 0.300 - - - - - - - 25.98 23.86
12046 838.5 9.7 507 12047 done 0.57 - - 2872 - - - 2199 - 242.5 - - 1965 - - - - - - - - - - -
12347 808.6 10.1 517 12353 roll 0.55 - - 2873 - 2.15 0.041 796 -652.6 242.5 - - 1964 - - - - - - - - - 25.82 -
12365 808.6 10.1 517 12372 done 0.54 0.12 0.125 2840 -275.0 2.15 0.032 2211 658.1 242.5 - - 1964 - - - - - - - - 25.72 25.91 -
12688 779.1 8.6 528 12720 roll 0.58 - - 2840 - 2.25 0.047 3609 621.3 268.7 26.50 1.215 1869 -3.6 0.257 - - - - - - - 25.54 23.97
12802 770.4 9.2 531 12811 done 0.59 - - 2837 - 2.15 0.028 2179 -665.1 275.1 3.40 1.003 1845 -7.1 0.607 - - - - - - - 26.03 23.92
13112 743.0 7.9 542 13174 roll 0.67 0.12 0.083 2905 566.7 2.40 0.047 3603 593.3 322.8 54.97 1.149 1644 -3.7 0.265 - - - - - - 26.39 25.31 23.80
13192 736.9 9.1 544 13207 done 0.68 - - 2913 - 2.15 0.028 2198 -653.5 332.0 9.65 1.170 1611 -3.4 0.241 - - - - - - - 25.73 23.82
13536 696.7 10.5 556 13542 roll 0.66 0.12 0.148 2874 -325.0 2.12 0.038 806 -656.6 332.0 - - 1599 - - - - - - - - 26.05 25.88 -
13554 696.7 10.5 556 13559 done 0.65 - - 2874 - 2.12 0.031 2208 661.3 332.0 - - 1600 - - - - - - - - - 25.98 -
13876 667.8 8.6 567 13909 roll 0.69 - - 2874 - 2.28 0.048 3595 608.3 356.4 24.98 1.133 1508 -3.7 0.243 - - - - - - - 25.60 24.04
13958 662.1 8.9 569 13982 done 0.72 - - 2874 - 2.12 0.028 2196 -659.9 372.7 17.42 1.141 1445 -3.6 0.235 - - - - - - - 26.00 23.99
14303 631.5 8.2 581 14350 roll 0.79 0.12 0.082 2951 641.7 2.17 0.041 807 -640.1 410.5 38.78 1.079 1290 -4.0 0.262 - - - - - - 26.36 25.50 23.96
14377 624.5 9.7 583 14384 done 0.79 0.12 0.129 2918 -275.0 2.15 0.031 2209 652.1 410.5 - - 1287 - - - - - - - - 25.63 25.81 -
14688 589.0 11.5 595 14694 roll 0.79 - - 2918 - 2.22 0.047 3607 629.7 410.5 - - 1284 - - - - - - - - - 25.82 -
14715 585.8 11.9 596 14720 done 0.79 - - 2922 - 2.12 0.028 2193 -667.0 410.5 - - 1283 - - - - - - - - - 26.09 -
15034 548.7 10.8 612 15039 roll 0.79 - - 2922 - 2.12 0.040 805 -654.7 410.5 - - 1284 - - - - - - - - - 25.82 -
15077 544.0 10.8 614 15083 done 0.79 - - 2922 - 2.12 0.031 2202 659.0 410.5 - - 1282 - - - - - - - - - 25.95 -
15401 507.8 11.2 630 15407 roll 0.79 - - 2922 - 2.22 0.047 3605 632.0 410.5 - - 1281 - - - - - - - - - 25.63 -
15433 505.0 11.4 631 15439 done 0.79 - - 2924 - 2.12 0.028 2188 -668.4 410.5 - - 1281 - - - - - - - - - 26.01 -
15746 470.9 9.7 647 15752 roll 0.79 - - 2922 - 2.12 0.040 807 -651.4 410.5 - - 1280 - - - - - - - - - 25.71 -
15804 466.6 9.6 649 15811 done 0.81 - - 2922 - 2.10 0.030 2201 663.8 410.5 - - 1281 - - - - - - - - - 25.86 -
16110 435.1 9.9 665 16115 roll 0.82 - - 2922 - 2.22 0.047 3599 629.7 410.5 - - 1281 - - - - - - - - - 25.54 -
16134 432.6 9.9 666 16139 done 0.83 - - 2922 - 2.10 0.027 2197 -667.6 410.5 - - 1280 - - - - - - - - - 26.00 -
16458 399.2 10.5 682 16463 roll 0.84 - - 2921 - 2.12 0.039 808 -655.2 410.5 - - 1280 - - - - - - - - - 25.65 -
16515 394.6 10.4 684 16523 done 0.86 - - 2922 - 2.12 0.030 2203 658.0 410.5 - - 1280 - - - - - - - - - 25.82 -
16821 360.0 10.6 700 16828 roll 0.93 0.12 0.080 3003 675.0 2.15 0.034 804 -650.7 410.5 - - 1280 - - - - - - - - 26.42 25.67 -
16953 343.5 13.8 706 16959 done 0.89 0.17 0.124 2954 -288.2 2.10 0.029 2198 663.8 410.5 - - 1280 - - - - - - - - 25.41 25.81 -
17272 308.5 10.1 722 17277 roll 0.89 - - 2962 - 2.15 0.037 803 -648.8 410.5 - - 1280 - - - - - - - - - 25.65 -
17295 306.2 10.1 723 17301 done 0.89 - - 2962 - 2.12 0.029 2208 662.7 410.5 - - 1280 - - - - - - - - - 25.80 -
17618 271.6 10.7 739 17624 roll 0.89 - - 2962 - 2.22 0.046 3603 628.4 410.5 - - 1280 - - - - - - - - - 25.44 -
17641 269.1 10.8 740 17646 done 0.89 - - 2961 - 2.12 0.032 2195 -664.2 410.5 - - 1280 - - - - - - - - - 25.86 -
17965 234.8 10.3 756 17970 roll 0.89 - - 2962 - 2.15 0.044 805 -646.5 410.5 - - 1281 - - - - - - - - - 25.58 -
18008 230.3 10.3 758 18014 done 0.89 - - 2961 - 2.10 0.028 2209 668.6 410.5 - - 1281 - - - - - - - - - 25.81 -
18332 198.5 9.4 774 18338 roll 0.89 - - 2962 - 2.17 0.044 3604 642.9 412.6 - - 1280 - - - - - - - - - 25.50 -
18390 193.8 10.2 776 18396 done 0.89 - - 2961 - 2.08 0.024 2197 -676.4 412.6 - - 1280 - - - - - - - - - 25.98 -
18696 158.1 10.0 792 18701 roll 0.91 - - 2962 - 2.10 0.037 803 -663.8 412.6 - - 1281 - - - - - - - - - 25.65 -
18749 154.2 9.2 794 18761 done 0.93 - - 2962 - 2.15 0.030 2207 653.0 418.8 5.62 0.830 1262 -3.4 0.070 - - - - - - - 25.75 24.54
19060 126.1 9.4 810 19065 roll 0.95 - - 2962 - 2.15 0.043 3599 647.4 418.8 - - 1262 - - - - - - - - - 25.65 -
19092 123.8 9.6 811 19099 done 0.97 - - 2962 - 2.10 0.024 2188 -671.9 418.8 - - 1262 - - - - - - - - - 26.02 -
19408 96.9 8.8 827 19429 roll 1.06 0.12 0.079 3055 775.0 2.12 0.035 812 -649.1 439.5 9.85 0.328 1177 -8.6 0.286 - - - - - - 26.46 25.89 24.78
19456 92.0 10.3 829 19461 done 1.09 0.15 0.125 3013 -280.0 2.10 0.029 2206 663.8 439.5 - - 1178 - - - - - - - - 25.70 25.99 -
19774 59.0 9.7 845 19780 roll 1.09 - - 3012 - 2.15 0.042 3602 649.3 439.5 - - 1178 - - - - - - - - - 25.65 -
19849 52.4 10.1 848 19854 done 1.09 - - 3016 - 2.05 0.024 2205 -681.5 439.5 - - 1178 - - - - - - - - - 26.04 -
20163 19.2 10.8 879 20168 roll 1.09 - - 3016 - 2.10 0.036 800 -669.0 439.5 - - 1178 - - - - - - - - - 25.75 -
20206 14.7 10.0 883 20211 done 1.10 - - 3016 - 2.08 0.028 2202 674.0 439.5 - - 1178 - - - - - - - - - 25.89 -
20358 end climb: SURFACE_DEPTH_REACHED
20358 begin surface coast
20390 end surface coast: CONTROL_FINISHED_OK
20390 begin surface
SM 1.62 - - - - -7.89 7.53 0.030 109 -386.1 0.35 0.054 2445 694.3 438.84 - - 1180 - - - - - - - -