OKMC Oct12 * SG167 * Dive index * Mission links * Dive 82 * Raw log
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• Previous call tries 1 • 22.14 of 150.00 AH used of 24V (85.24% remains)
• Previous NAKs 0, Timeouts 0 • 12.67 of 110.00 AH used of 10V (88.48% remains)
• Surface angle -68.2 deg, depth 1.66 m • Intended pitch -12.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 454.54, SM_CC=425)
• GPS1 time: 40 s
• GPS2 time: 4 s • Transponder ping count: 18
• 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 - - - 72 VBD -0.38 - - 111 - - - 2321 - -171.1 -51.92 - 2564 - - - - - - - - - - -
76 3.3 -6.8 9 120 roll -0.38 9.90 0.227 2609 252.3 2.05 0.040 949 -669.3 -171.1 -25.20 - 3669 -43.8 - - - - - - - 25.58 26.14 26.48
178 15.0 -10.2 27 185 done -0.42 - - 2609 - 2.03 0.027 2323 676.8 -171.1 - - 3670 - - - - - - - - - 26.17 -
490 52.7 -12.6 65 496 roll -0.41 - - 2605 - 2.15 0.044 3733 655.8 -171.1 - - 3670 - - - - - - - - - 26.22 -
568 60.5 -12.0 68 575 done -0.41 - - 2605 - 2.00 0.019 2309 -712.0 -171.1 - - 3670 - - - - - - - - - 26.48 -
877 90.3 -6.0 84 882 roll -0.49 - - 2603 - 2.20 0.044 3734 647.7 -171.1 - - 3670 - - - - - - - - - 26.33 -
920 92.8 -5.7 86 926 done -0.58 0.15 0.067 2503 -666.7 1.98 0.018 2292 -728.3 -171.1 - - 3671 - - - - - - - - 26.50 26.60 -
1244 132.0 -13.1 102 1246 done -0.52 0.22 0.124 2573 318.2 - - 2291 - -171.1 - - 3672 - - - - - - - - 26.28 - -
1547 154.1 -6.4 117 1552 roll -0.60 - - 2572 - 2.20 0.044 3722 650.5 -171.1 - - 3672 - - - - - - - - - 26.41 -
1631 158.9 -5.7 121 1637 done -0.69 0.17 0.060 2471 -594.1 1.92 0.021 2340 -719.8 -171.1 - - 3672 - - - - - - - - 26.58 26.65 -
1955 201.2 -13.5 137 1957 done -0.61 0.22 0.127 2539 309.1 - - 2339 - -171.1 - - 3672 - - - - - - - - 26.32 - -
2257 224.0 -6.9 152 2258 done -0.64 - - 2539 - - - 2338 - -171.1 - - 3672 - - - - - - - - - - -
2558 245.1 -7.3 167 2563 roll -0.68 - - 2539 - 2.12 0.047 3723 653.3 -171.1 - - 3671 - - - - - - - - - 26.46 -
2585 246.8 -7.1 168 2591 done -0.72 - - 2539 - 1.95 0.020 2317 -721.0 -171.1 - - 3670 - - - - - - - - - 26.72 -
2905 268.4 -6.5 184 2906 done -0.77 0.15 0.069 2449 -600.0 - - 2316 - -171.1 - - 3669 - - - - - - - - 26.77 - -
3206 307.7 -13.8 199 3212 roll -0.69 0.20 0.132 2508 295.0 2.17 0.050 3726 649.8 -171.1 - - 3667 - - - - - - - - 26.34 26.50 -
3271 315.2 -12.0 202 3277 done -0.66 - - 2506 - 1.95 0.018 2325 -718.5 -171.1 - - 3667 - - - - - - - - - 26.72 -
3594 345.3 -9.4 218 3600 roll -0.66 - - 2506 - 1.98 0.028 945 -697.0 -171.1 - - 3666 - - - - - - - - - 26.62 -
3641 349.2 -9.0 220 3648 done -0.66 - - 2507 - 2.05 0.038 2326 673.7 -171.1 - - 3665 - - - - - - - - - 25.27 -
3961 378.8 -9.2 236 3966 roll -0.66 - - 2506 - 2.12 0.047 3730 662.3 -171.1 - - 3664 - - - - - - - - - 26.46 -
4044 385.9 -8.6 240 4049 done -0.68 - - 2506 - 1.98 0.020 2315 -714.6 -171.1 - - 3663 - - - - - - - - - 26.72 -
4368 411.6 -8.5 256 4373 roll -0.70 - - 2506 - 2.20 0.050 3733 644.5 -171.1 - - 3662 - - - - - - - - - 26.41 -
4431 417.1 -8.7 259 4437 done -0.73 - - 2506 - 1.98 0.020 2305 -721.2 -171.1 - - 3661 - - - - - - - - - 26.74 -
4755 441.6 -7.4 275 4756 done -0.76 - - 2506 - - - 2305 - -171.1 - - 3660 - - - - - - - - - - -
5057 463.5 -7.3 290 5058 done -0.79 - - 2506 - - - 2305 - -171.1 - - 3658 - - - - - - - - - - -
5358 485.9 -7.6 305 5364 roll -0.81 - - 2506 - 1.92 0.040 962 -699.5 -171.1 -0.08 - 3685 -337.5 - - - - - - - - 26.60 25.75
5386 487.9 -7.6 306 5392 done -0.84 0.12 0.080 2432 -616.7 2.03 0.028 2334 675.9 -171.1 - - 3685 - - - - - - - - 26.53 26.55 -
5705 527.1 -12.8 322 5711 roll -0.77 0.17 0.135 2489 335.3 1.98 0.023 964 -691.9 -171.1 - - 3684 - - - - - - - - 26.37 26.60 -
5830 538.8 -9.1 328 5835 done -0.81 - - 2489 - 2.03 0.029 2333 674.4 -171.1 - - 3683 - - - - - - - - - 26.54 -
6154 564.2 -7.3 344 6160 roll -0.82 - - 2489 - 2.00 0.026 958 -687.5 -171.1 - - 3682 - - - - - - - - - 26.59 -
6313 574.5 -7.1 351 6320 done -0.85 - - 2489 - 2.03 0.029 2335 678.3 -171.1 - - 3681 - - - - - - - - - 26.53 -
6619 597.4 -7.8 367 6624 roll -0.88 - - 2489 - 2.12 0.047 3725 655.7 -171.1 - - 3679 - - - - - - - - - 26.36 -
6636 597.4 -7.8 367 6644 done -0.90 0.12 0.080 2423 -550.0 1.95 0.022 2319 -721.0 -171.1 - - 3679 - - - - - - - - 26.59 26.72 -
6964 636.9 -11.7 379 6970 roll -0.84 0.12 0.150 2463 333.3 1.95 0.032 968 -692.8 -171.1 - - 3677 - - - - - - - - 26.46 26.46 -
7069 646.2 -10.2 382 7074 done -0.83 - - 2463 - 2.00 0.031 2326 679.0 -171.1 - - 3676 - - - - - - - - - 26.52 -
7392 677.4 -9.4 393 7398 roll -0.83 - - 2463 - 1.98 0.027 970 -684.8 -171.1 - - 3674 - - - - - - - - - 26.56 -
7546 691.8 -9.4 398 7552 done -0.83 - - 2463 - 2.03 0.030 2335 672.4 -171.1 - - 3674 - - - - - - - - - 26.50 -
7881 720.6 -8.3 409 7886 roll -0.83 - - 2463 - 1.98 0.027 971 -688.9 -171.1 - - 3670 - - - - - - - - - 26.54 -
8045 733.8 -8.5 414 8050 done -0.83 - - 2463 - 2.00 0.031 2324 676.5 -171.1 - - 3669 - - - - - - - - - 26.48 -
8368 760.8 -8.1 425 8374 roll -0.83 - - 2463 - 2.17 0.049 3732 648.8 -171.1 - - 3666 - - - - - - - - - 26.29 -
8441 765.7 -8.0 427 8446 done -0.83 - - 2463 - 1.98 0.024 2328 -709.1 -171.1 - - 3667 - - - - - - - - - 26.67 -
8764 790.5 -7.4 438 8770 roll -0.83 - - 2462 - 1.98 0.034 960 -690.9 -171.1 - - 3665 - - - - - - - - - 26.34 -
8792 790.5 -7.4 438 8799 done -0.83 - - 2462 - 2.05 0.036 2332 669.3 -171.1 - - 3665 - - - - - - - - - 26.45 -
9098 815.5 -7.3 449 9104 roll -0.83 - - 2463 - 2.15 0.050 3721 646.0 -171.1 - - 3663 - - - - - - - - - 26.25 -
9207 822.6 -7.5 452 9212 done -0.83 - - 2463 - 1.98 0.024 2323 -706.1 -171.1 - - 3663 - - - - - - - - - 26.66 -
9525 848.9 -8.0 463 9530 roll -0.83 - - 2463 - 2.20 0.049 3728 638.6 -171.1 - - 3661 - - - - - - - - - 26.24 -
9589 854.1 -8.2 465 9594 done -0.84 - - 2463 - 2.00 0.024 2325 -701.5 -171.1 - - 3660 - - - - - - - - - 26.65 -
9923 882.6 -9.0 476 9928 roll -0.84 - - 2463 - 1.98 0.028 960 -689.4 -171.1 - - 3658 - - - - - - - - - 26.46 -
9945 882.6 -9.0 476 9950 done -0.84 - - 2464 - 2.03 0.031 2324 671.9 -171.1 - - 3659 - - - - - - - - - 26.41 -
10258 912.2 -8.7 487 10263 roll -0.84 - - 2463 - 2.17 0.050 3724 645.2 -171.1 - - 3657 - - - - - - - - - 26.21 -
10336 917.4 -8.5 489 10341 done -0.86 - - 2463 - 2.00 0.026 2330 -697.0 -171.1 - - 3656 - - - - - - - - - 26.44 -
10656 944.2 -8.0 500 10661 roll -0.88 - - 2463 - 2.20 0.049 3731 636.8 -171.1 - - 3655 - - - - - - - - - 26.18 -
10703 946.9 -7.8 501 10708 done -0.90 - - 2463 - 2.03 0.025 2315 -697.5 -171.1 - - 3660 - - - - - - - - - 26.62 -
11024 972.1 -7.6 512 11030 roll -0.91 - - 2463 - 2.22 0.049 3732 638.3 -171.1 - - 3654 - - - - - - - - - 26.18 -
11102 977.1 -7.6 514 11107 done -0.94 - - 2463 - 2.03 0.027 2323 -694.1 -171.1 - - 3654 - - - - - - - - - 26.60 -
11267 end dive: TARGET_DEPTH_EXCEEDED
11267 begin apogee
11273 990.9 -7.6 520 11435 done -0.20 0.60 0.102 2669 343.3 - - 2322 - - 151.88 1.303 2961 -4.6 0.370 - - - - - - 25.95 - 23.64
11436 end apogee: CONTROL_FINISHED_OK
11436 begin climb
11439 997.4 - 525 11607 roll 0.38 0.52 0.042 2883 411.5 2.35 0.035 941 -587.7 171.1 155.95 1.248 2261 -4.5 0.383 - - - - - - 24.84 23.95 23.01
11711 981.6 10.1 534 11717 done 0.27 0.20 0.130 2829 -270.0 2.15 0.031 2300 632.1 171.1 - - 2252 - - - - - - - - 24.86 25.07 -
12032 953.7 8.2 545 12037 roll 0.21 - - 2829 - 2.22 0.048 3700 630.6 171.1 - - 2248 - - - - - - - - - 25.81 -
12129 944.6 9.4 548 12135 done 0.13 0.17 0.151 2786 -252.9 2.08 0.029 2314 -666.3 171.1 - - 2247 - - - - - - - - 25.72 26.06 -
12458 922.5 6.5 559 12492 roll 0.14 - - 2786 - 2.28 0.047 3712 613.2 201.0 27.17 1.226 2142 -3.9 0.310 - - - - - - - 25.49 24.58
12534 918.2 6.8 561 12559 done 0.15 - - 2786 - 2.15 0.029 2298 -657.7 220.4 20.10 1.229 2068 -3.7 0.293 - - - - - - - 25.75 24.34
12882 893.9 6.6 573 12914 roll 0.16 - - 2787 - 2.38 0.049 3701 589.5 247.4 25.98 1.219 1955 -4.3 0.340 - - - - - - - 25.37 24.46
12941 891.7 6.6 574 12977 done 0.17 - - 2787 - 2.15 0.028 2295 -654.0 271.1 25.50 1.213 1855 -3.9 0.307 - - - - - - - 25.63 24.19
13277 869.8 5.5 586 13344 done 0.23 - - 2786 - - - 2294 - 336.2 64.47 1.170 1595 -4.0 0.320 - - - - - - - - 24.06
13639 849.7 5.7 598 13701 roll 0.32 0.12 0.080 2860 616.7 2.35 0.047 3700 598.3 393.0 56.28 1.137 1361 -4.2 0.331 - - - - - - 26.04 24.95 24.12
13726 844.4 7.3 600 13734 done 0.35 - - 2862 - 2.17 0.029 2303 -643.8 395.8 - - 1355 - - - - - - - - - 25.33 -
14029 810.3 10.2 611 14034 roll 0.35 - - 2862 - 2.12 0.037 901 -661.3 395.8 - - 1353 - - - - - - - - - 25.98 -
14071 807.0 10.1 612 14076 done 0.35 - - 2862 - 2.12 0.030 2303 661.3 395.8 - - 1352 - - - - - - - - - 26.03 -
14397 774.7 9.8 623 14398 done 0.35 - - 2861 - - - 2304 - 395.8 - - 1350 - - - - - - - - - - -
14694 744.5 10.1 633 14699 roll 0.35 - - 2862 - 2.12 0.035 897 -663.7 395.8 - - 1349 - - - - - - - - - 26.29 -
14747 741.2 10.0 634 14752 done 0.35 - - 2861 - 2.10 0.030 2301 668.6 395.8 - - 1349 - - - - - - - - - 26.32 -
15060 707.4 10.0 645 15065 roll 0.35 - - 2861 - 2.17 0.048 3706 647.5 395.8 - - 1348 - - - - - - - - - 26.28 -
15087 707.4 10.0 645 15094 done 0.35 - - 2862 - 2.12 0.028 2284 -670.8 395.8 - - 1348 - - - - - - - - - 26.43 -
15394 673.7 10.0 656 15399 roll 0.35 - - 2861 - 2.05 0.036 909 -670.7 395.8 - - 1347 - - - - - - - - - 26.38 -
15436 670.4 10.0 657 15442 done 0.35 - - 2862 - 2.08 0.030 2302 669.7 395.8 - - 1348 - - - - - - - - - 26.41 -
15761 640.1 8.8 668 15766 roll 0.35 - - 2862 - 2.15 0.048 3694 647.4 395.8 - - 1348 - - - - - - - - - 26.32 -
15803 636.7 9.1 669 15808 done 0.35 - - 2861 - 2.08 0.029 2289 -675.5 395.8 - - 1346 - - - - - - - - - 26.48 -
16128 604.8 9.6 680 16134 roll 0.35 - - 2862 - 2.08 0.036 901 -667.3 395.8 - - 1347 - - - - - - - - - 26.41 -
16181 601.5 9.5 681 16186 done 0.35 - - 2862 - 2.10 0.031 2310 671.0 395.8 - - 1347 - - - - - - - - - 26.39 -
16494 571.2 9.1 697 16495 done 0.37 - - 2862 - - - 2311 - 395.8 - - 1347 - - - - - - - - - - -
16797 544.3 8.8 712 16802 roll 0.38 - - 2862 - 2.15 0.048 3703 647.4 395.8 - - 1347 - - - - - - - - - 26.34 -
16844 539.8 9.3 714 16850 done 0.38 - - 2862 - 2.08 0.027 2278 -685.1 395.8 - - 1346 - - - - - - - - - 26.54 -
17163 511.6 8.8 730 17168 roll 0.40 - - 2862 - 2.25 0.047 3703 633.3 395.8 - - 1346 - - - - - - - - - 26.34 -
17190 509.5 8.8 731 17195 done 0.40 - - 2862 - 2.05 0.027 2295 -686.8 395.8 - - 1346 - - - - - - - - - 26.54 -
17509 480.1 8.9 747 17514 roll 0.42 - - 2861 - 2.05 0.034 912 -674.6 395.8 - - 1346 - - - - - - - - - 26.44 -
17546 478.0 8.9 748 17554 done 0.44 - - 2862 - 2.05 0.029 2304 679.0 395.8 - - 1346 - - - - - - - - - 26.46 -
17852 451.5 7.9 764 17858 roll 0.47 - - 2862 - 2.08 0.033 925 -663.0 395.8 - - 1346 - - - - - - - - - 26.45 -
17896 448.2 7.4 766 17903 done 0.50 0.12 0.080 2934 600.0 2.08 0.029 2312 666.8 395.8 - - 1346 - - - - - - - - 26.44 26.47 -
18221 407.4 12.8 782 18227 roll 0.43 0.15 0.140 2886 -320.0 2.12 0.044 3695 652.4 395.8 - - 1346 - - - - - - - - 26.34 26.33 -
18249 404.4 12.8 783 18256 done 0.38 - - 2885 - 2.03 0.026 2301 -686.7 395.8 - - 1346 - - - - - - - - - 26.55 -
18568 373.9 9.0 799 18574 roll 0.38 - - 2885 - 2.05 0.034 905 -681.0 395.8 - - 1346 - - - - - - - - - 26.44 -
18591 372.0 8.8 800 18596 done 0.38 - - 2885 - 2.08 0.028 2308 674.5 395.8 - - 1346 - - - - - - - - - 26.48 -
18915 343.7 9.2 816 18916 done 0.38 - - 2885 - - - 2308 - 395.8 - - 1346 - - - - - - - - - - -
19216 316.0 9.2 831 19217 done 0.38 - - 2885 - - - 2308 - 395.8 - - 1346 - - - - - - - - - - -
19517 291.8 7.9 846 19523 roll 0.39 - - 2885 - 2.12 0.046 3693 653.3 395.8 - - 1346 - - - - - - - - - 26.34 -
19595 285.8 8.9 849 19601 done 0.39 - - 2885 - 2.03 0.024 2283 -694.6 395.8 - - 1346 - - - - - - - - - 26.60 -
19902 258.2 8.5 865 19907 roll 0.41 - - 2885 - 2.00 0.031 917 -683.0 395.8 - - 1346 - - - - - - - - - 26.47 -
19929 256.2 8.5 866 19934 done 0.44 - - 2885 - 2.03 0.027 2302 682.3 395.8 - - 1347 - - - - - - - - - 26.50 -
20248 229.4 8.3 882 20253 roll 0.47 - - 2885 - 2.12 0.044 3697 658.0 395.8 - - 1346 - - - - - - - - - 26.34 -
20285 227.4 8.4 883 20293 done 0.49 - - 2885 - 2.00 0.023 2291 -703.0 395.8 - - 1347 - - - - - - - - - 26.62 -
20591 203.8 7.5 899 20597 roll 0.53 - - 2885 - 2.00 0.031 924 -683.5 395.8 - - 1347 - - - - - - - - - 26.48 -
20630 202.0 7.6 900 20637 done 0.56 0.10 0.090 2953 680.0 2.03 0.026 2305 680.3 395.8 - - 1347 - - - - - - - - 26.46 26.52 -
20936 162.2 12.4 916 20938 done 0.51 0.17 0.125 2899 -317.6 - - 2306 - 395.8 - - 1348 - - - - - - - - 26.39 - -
21236 135.8 8.5 931 21241 roll 0.54 - - 2900 - 2.10 0.044 3689 658.6 395.8 - - 1347 - - - - - - - - - 26.37 -
21279 131.9 8.6 933 21284 done 0.56 - - 2900 - 1.98 0.021 2293 -705.1 395.8 - - 1347 - - - - - - - - - 26.64 -
21603 109.0 6.9 949 21617 roll 0.62 0.12 0.078 2996 800.0 2.05 0.030 922 -668.8 410.2 6.07 0.344 1297 -8.2 0.278 - - - - - - 26.74 26.55 25.60
21681 102.1 10.0 952 21689 done 0.62 0.20 0.111 2935 -305.0 2.00 0.025 2301 689.5 410.2 - - 1302 - - - - - - - - 26.22 26.51 -
21986 80.1 6.5 968 22006 roll 0.68 - - 2935 - 2.10 0.041 3689 661.0 439.9 13.52 0.301 1174 -9.5 0.269 - - - - - - - 26.45 25.86
22018 78.7 6.9 969 22035 done 0.73 0.12 0.076 3018 691.7 1.98 0.021 2286 -708.6 455.9 7.10 0.295 1110 -9.0 0.256 - - - - - - 26.50 26.61 25.84
22344 36.7 12.1 990 22349 roll 0.68 0.17 0.119 2964 -317.6 1.95 0.027 933 -693.8 455.9 - - 1115 - - - - - - - - 26.31 26.44 -
22408 31.1 8.6 996 22413 done 0.73 - - 2965 - 1.98 0.024 2301 690.9 455.9 - - 1114 - - - - - - - - - 26.47 -
22719 6.7 8.5 1050 22725 done 0.76 - - 2965 - - - 2301 - 455.9 - - 1115 - - - - - - - - - - -
22765 end climb: SURFACE_DEPTH_REACHED
22765 begin surface coast
22800 end surface coast: CONTROL_FINISHED_OK
22800 begin surface
SM 1.74 - - - - -8.11 7.07 0.022 117 -402.8 - - 2304 - 454.54 - - 1115 - - - - - - - -