OKMC Aug12 * SG166 * Dive index * Mission links * Dive 83 * Raw log
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• Previous call tries 2 • 20.35 of 147.00 AH used of 24V (86.16% remains)
• Previous NAKs 0, Timeouts 0 • 14.28 of 109.00 AH used of 10V (86.90% remains)
• Surface angle -53.9 deg, depth 1.98 m • Intended pitch -13.1 deg, speed -8.250 cm/s
• No surface pump (final VBD was 574.25, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 16 s, HDOP was 2.4 m • Transponder ping count: 0
• 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 - - - 91 VBD -0.58 - - 157 - - - 2131 - -194.6 -70.65 - 1996 - - - - - - - - - - -
94 3.3 -4.6 12 162 roll -0.58 7.80 0.232 2143 254.6 1.52 0.067 3128 655.9 -194.6 -52.50 - 3597 -30.5 - - - - - - - 25.84 26.17 26.53
212 21.6 -29.1 32 219 done -0.52 0.10 0.159 2170 270.0 1.42 0.030 2139 -696.5 -194.6 - - 3597 - - - - - - - - 26.03 26.29 -
527 104.4 -20.7 53 533 roll -0.48 - - 2171 - 1.40 0.034 1177 -687.1 -194.6 - - 3597 - - - - - - - - - 26.41 -
591 117.5 -21.0 56 597 done -0.45 - - 2166 - 1.45 0.041 2148 669.7 -194.6 - - 3597 - - - - - - - - - 26.42 -
915 166.1 -14.1 72 921 roll -0.44 0.12 0.161 2203 308.3 1.48 0.050 3140 670.3 -194.6 - - 3597 - - - - - - - - 26.38 26.46 -
993 171.8 -10.0 75 999 done -0.44 - - 2200 - 1.42 0.031 2144 -701.4 -194.6 - - 3597 - - - - - - - - - 26.56 -
1300 197.0 -8.2 91 1305 roll -0.46 - - 2198 - 1.50 0.052 3136 661.3 -194.6 - - 3597 - - - - - - - - - 26.51 -
1338 198.8 -8.2 92 1344 done -0.49 - - 2195 - 1.42 0.030 2138 -702.8 -194.6 - - 3597 - - - - - - - - - 26.61 -
1643 220.9 -6.1 108 1649 roll -0.51 - - 2192 - 1.38 0.035 1184 -691.3 -194.6 - - 3596 - - - - - - - - - 26.62 -
1687 223.6 -6.0 110 1692 done -0.54 - - 2186 - 1.42 0.039 2150 680.3 -194.6 - - 3596 - - - - - - - - - 26.59 -
2011 246.3 -7.6 126 2016 roll -0.57 - - 2185 - 1.48 0.052 3156 679.7 -194.6 - - 3595 - - - - - - - - - 26.56 -
2059 249.7 -7.6 128 2064 done -0.59 - - 2180 - 1.42 0.030 2159 -702.1 -194.6 - - 3595 - - - - - - - - - 26.66 -
2377 270.7 -6.1 144 2383 roll -0.62 0.12 0.082 2086 -783.3 1.48 0.050 3140 662.8 -194.6 - - 3593 - - - - - - - - 26.71 26.58 -
2421 275.1 -8.0 146 2427 done -0.63 0.12 0.126 2137 425.0 1.42 0.031 2139 -704.9 -194.6 - - 3593 - - - - - - - - 26.46 26.67 -
2744 308.3 -10.5 162 2746 done -0.63 - - 2137 - - - 2139 - -194.6 - - 3591 - - - - - - - - - - -
3047 337.2 -9.0 177 3049 done -0.63 - - 2137 - - - 2139 - -194.6 - - 3589 - - - - - - - - - - -
3347 364.6 -9.2 192 3353 roll -0.64 - - 2127 - 1.40 0.036 1185 -681.4 -194.6 - - 3587 - - - - - - - - - 26.66 -
3400 369.1 -9.4 194 3405 done -0.65 - - 2117 - 1.45 0.041 2157 670.3 -194.6 - - 3586 - - - - - - - - - 26.64 -
3713 401.6 -10.3 210 3718 roll -0.66 - - 2117 - 1.42 0.035 1188 -682.4 -194.6 - - 3584 - - - - - - - - - 26.66 -
3756 406.0 -10.4 212 3761 done -0.66 - - 2110 - 1.45 0.041 2152 664.8 -194.6 - - 3583 - - - - - - - - - 26.64 -
4080 437.0 -9.0 228 4081 done -0.67 - - 2110 - - - 2152 - -194.6 - - 3581 - - - - - - - - - - -
4382 463.3 -8.7 243 4387 roll -0.68 - - 2103 - 1.50 0.055 3153 667.3 -194.6 - - 3578 - - - - - - - - - 26.58 -
4439 467.6 -8.9 245 4446 done -0.68 - - 2103 - 1.45 0.032 2148 -693.1 -194.6 - - 3578 - - - - - - - - - 26.69 -
4745 500.5 -10.7 261 4746 done -0.69 - - 2103 - - - 2146 - -194.6 - - 3575 - - - - - - - - - - -
5046 530.5 -9.5 276 5052 roll -0.70 - - 2095 - 1.50 0.057 3126 653.3 -194.6 - - 3573 - - - - - - - - - 26.59 -
5099 534.5 -9.3 278 5105 done -0.71 - - 2095 - 1.42 0.033 2145 -690.8 -194.6 - - 3573 - - - - - - - - - 26.67 -
5413 565.1 -9.5 294 5414 done -0.71 - - 2094 - - - 2144 - -194.6 - - 3570 - - - - - - - - - - -
5715 593.0 -9.4 309 5716 done -0.72 - - 2095 - - - 2143 - -194.6 - - 3568 - - - - - - - - - - -
6033 623.5 -9.8 321 6039 roll -0.72 - - 2089 - 1.55 0.058 3130 636.8 -194.6 - - 3565 - - - - - - - - - 26.57 -
6067 626.8 -9.7 322 6072 done -0.73 - - 2088 - 1.42 0.034 2158 -684.5 -194.6 - - 3565 - - - - - - - - - 26.67 -
6401 658.5 -9.2 333 6403 done -0.73 - - 2088 - - - 2157 - -194.6 - - 3563 - - - - - - - - - - -
6700 685.6 -9.0 343 6701 done -0.73 - - 2088 - - - 2156 - -194.6 - - 3561 - - - - - - - - - - -
7000 713.9 -9.5 353 7005 roll -0.74 - - 2081 - 1.50 0.061 3138 654.7 -194.6 - - 3559 - - - - - - - - - 26.54 -
7064 720.0 -9.5 355 7069 done -0.74 - - 2082 - 1.45 0.036 2154 -678.6 -194.6 - - 3558 - - - - - - - - - 26.65 -
7398 751.8 -9.4 366 7403 roll -0.74 - - 2081 - 1.45 0.043 1176 -674.5 -194.6 - - 3555 - - - - - - - - - 26.60 -
7450 755.3 -9.4 367 7456 done -0.74 - - 2076 - 1.48 0.050 2142 652.7 -194.6 - - 3555 - - - - - - - - - 26.58 -
7764 786.0 -8.8 378 7770 roll -0.74 - - 2069 - 1.55 0.062 3134 640.0 -194.6 - - 3553 - - - - - - - - - 26.53 -
7797 789.0 -8.9 379 7803 done -0.74 0.08 0.133 2105 450.0 1.45 0.036 2152 -677.2 -194.6 - - 3553 - - - - - - - - 26.40 26.64 -
8132 811.9 -6.7 390 8133 done -0.76 - - 2106 - - - 2151 - -194.6 - - 3551 - - - - - - - - - - -
8432 831.0 -6.1 400 8437 roll -0.77 - - 2100 - 1.55 0.063 3130 631.6 -194.6 - - 3549 - - - - - - - - - 26.51 -
8466 833.0 -6.0 401 8471 done -0.79 - - 2097 - 1.45 0.037 2152 -674.5 -194.6 - - 3549 - - - - - - - - - 26.63 -
8801 852.8 -6.0 412 8806 roll -0.80 - - 2092 - 1.52 0.063 3148 655.3 -194.6 - - 3547 - - - - - - - - - 26.48 -
8844 855.2 -6.3 413 8849 done -0.82 - - 2092 - 1.48 0.037 2148 -675.7 -194.6 - - 3547 - - - - - - - - - 26.62 -
9170 878.7 -7.4 424 9175 roll -0.83 - - 2085 - 1.52 0.064 3141 653.3 -194.6 - - 3546 - - - - - - - - - 26.48 -
9227 881.4 -7.5 425 9235 done -0.84 - - 2085 - 1.48 0.038 2144 -673.6 -194.6 - - 3545 - - - - - - - - - 26.62 -
9535 908.0 -8.0 436 9540 roll -0.85 - - 2077 - 1.58 0.063 3139 629.7 -194.6 - - 3544 - - - - - - - - - 26.48 -
9563 908.0 -8.0 436 9570 done -0.86 - - 2077 - 1.48 0.038 2143 -673.0 -194.6 - - 3544 - - - - - - - - - 26.61 -
9871 934.1 -7.7 447 9876 roll -0.87 - - 2070 - 1.55 0.063 3148 648.4 -194.6 - - 3542 - - - - - - - - - 26.46 -
9898 934.1 -7.7 447 9905 done -0.87 - - 2069 - 1.48 0.038 2152 -673.0 -194.6 - - 3542 - - - - - - - - - 26.60 -
10203 962.7 -8.6 458 10208 roll -0.87 - - 2062 - 1.52 0.064 3140 650.0 -194.6 - - 3540 - - - - - - - - - 26.45 -
10240 965.5 -8.5 459 10245 done -0.87 - - 2062 - 1.48 0.037 2147 -670.9 -194.6 - - 3540 - - - - - - - - - 26.60 -
10535 end dive: TARGET_DEPTH_EXCEEDED
10535 begin apogee
10542 992.0 -8.9 469 10786 done -0.19 0.62 0.127 2269 333.9 - - 2144 - - 236.38 0.873 2799 -3.1 0.366 - - - - - - 26.25 - 24.41
10787 end apogee: CONTROL_FINISHED_OK
10787 begin climb
10790 1002.5 - 477 10978 done 0.58 0.70 0.053 2537 382.9 - - 2144 - 194.6 184.65 1.043 2008 -4.3 0.423 - - - - - - 25.08 - 23.94
11258 956.4 12.5 493 11263 roll 0.54 - - 2542 - 1.55 0.064 3109 622.6 194.6 - - 1982 - - - - - - - - - 25.71 -
11361 944.4 12.6 496 11367 done 0.49 0.15 0.162 2505 -246.7 1.50 0.040 2135 -649.3 194.6 - - 1981 - - - - - - - - 25.69 25.91 -
11687 911.5 9.6 507 11692 roll 0.47 - - 2506 - 1.55 0.063 3114 631.6 194.6 - - 1980 - - - - - - - - - 26.09 -
11730 907.9 9.7 508 11735 done 0.44 - - 2511 - 1.50 0.038 2095 -679.3 194.6 - - 1980 - - - - - - - - - 26.18 -
12055 875.5 9.8 519 12061 roll 0.41 0.12 0.183 2473 -316.7 1.60 0.060 3121 641.2 194.6 - - 1979 - - - - - - - - 26.12 26.22 -
12089 872.2 9.6 520 12094 done 0.38 - - 2478 - 1.52 0.040 2087 -680.3 194.6 - - 1977 - - - - - - - - - 26.31 -
12426 843.9 8.7 531 12431 roll 0.37 - - 2478 - 1.60 0.063 3110 639.4 194.6 - - 1978 - - - - - - - - - 26.29 -
12530 835.1 9.0 534 12536 done 0.35 0.12 0.173 2453 -208.3 1.48 0.038 2127 -664.2 194.6 - - 1978 - - - - - - - - 26.18 26.41 -
12856 809.9 7.4 545 12889 roll 0.36 - - 2453 - 1.62 0.062 3110 606.8 224.5 27.92 0.982 1880 -3.5 0.297 - - - - - - - 25.91 25.25
12912 807.6 7.6 546 12952 done 0.36 - - 2458 - 1.50 0.039 2100 -673.3 248.8 31.58 0.783 1782 -3.1 0.329 - - - - - - - 26.00 25.00
13280 775.2 8.4 559 13286 roll 0.36 - - 2458 - 1.60 0.060 3115 634.4 248.8 - - 1772 - - - - - - - - - 26.03 -
13328 772.1 8.6 560 13333 done 0.36 - - 2466 - 1.50 0.039 2096 -679.3 248.8 - - 1772 - - - - - - - - - 26.13 -
13646 742.3 8.9 571 13651 roll 0.36 - - 2466 - 1.60 0.061 3118 638.8 248.8 - - 1771 - - - - - - - - - 26.20 -
13692 739.2 9.0 572 13697 done 0.36 - - 2475 - 1.50 0.039 2092 -684.0 248.8 - - 1771 - - - - - - - - - 26.29 -
14012 709.6 8.6 583 14018 roll 0.35 - - 2475 - 1.60 0.062 3115 639.4 248.8 - - 1770 - - - - - - - - - 26.29 -
14050 706.6 8.5 584 14055 done 0.34 - - 2482 - 1.50 0.038 2085 -686.7 248.8 - - 1770 - - - - - - - - - 26.37 -
14381 677.3 8.8 595 14387 roll 0.34 0.12 0.170 2449 -275.0 1.38 0.044 1144 -681.9 248.8 - - 1770 - - - - - - - - 26.25 26.37 -
14421 674.4 8.6 596 14426 done 0.34 - - 2448 - 1.50 0.049 2147 668.7 248.8 - - 1769 - - - - - - - - - 26.36 -
14751 651.9 6.7 607 14833 roll 0.36 - - 2445 - 1.60 0.060 3109 601.2 303.7 76.57 0.748 1560 -2.7 0.244 - - - - - - - 25.46 24.94
14864 645.6 6.9 610 14936 done 0.38 - - 2454 - 1.50 0.037 2110 -666.0 351.7 66.03 0.718 1369 -2.9 0.267 - - - - - - - 25.65 24.63
15265 616.7 7.0 624 15323 done 0.42 - - 2453 - - - 2109 - 395.3 52.42 0.768 1181 -3.6 0.296 - - - - - - - - 24.75
15636 591.8 6.3 638 15735 roll 0.47 0.12 0.092 2530 641.7 1.70 0.060 3103 584.7 462.9 92.45 0.701 910 -2.9 0.254 - - - - - - 26.01 25.13 24.62
15769 578.5 11.2 644 15776 done 0.46 0.17 0.145 2488 -247.1 1.50 0.037 2117 -657.3 462.9 - - 900 - - - - - - - - 25.30 25.42 -
16084 554.5 6.9 660 16165 roll 0.50 - - 2493 - 1.52 0.043 1138 -644.1 510.9 71.45 0.685 716 -2.6 0.214 - - - - - - - 25.26 24.71
16210 545.9 6.6 666 16314 done 0.55 - - 2493 - 1.58 0.045 2121 622.2 567.9 97.30 0.648 483 -2.4 0.207 - - - - - - - 25.51 24.50
16636 499.4 13.5 687 16638 done 0.62 0.15 0.108 2547 360.0 - - 2121 - 567.9 - - 469 - - - - - - - - 25.88 - -
16934 460.3 13.2 702 16940 roll 0.69 - - 2544 - 1.55 0.059 3117 642.6 567.9 - - 469 - - - - - - - - - 26.08 -
16987 454.5 13.4 704 16993 done 0.76 0.12 0.100 2586 350.0 1.50 0.037 2090 -684.7 567.9 - - 468 - - - - - - - - 26.10 26.17 -
17302 418.5 10.8 720 17307 roll 0.82 - - 2586 - 1.42 0.044 1155 -658.5 567.9 - - 468 - - - - - - - - - 26.25 -
17536 390.9 12.5 731 17542 done 0.89 0.12 0.103 2643 475.0 1.50 0.048 2129 649.3 567.9 - - 468 - - - - - - - - 26.29 26.30 -
17851 353.4 11.9 747 17856 roll 0.93 - - 2649 - 1.48 0.044 1160 -654.7 567.9 - - 468 - - - - - - - - - 26.36 -
17979 331.5 20.5 753 17984 done 0.89 - - 2649 - 1.48 0.047 2120 648.6 567.9 - - 468 - - - - - - - - - 26.37 -
18297 250.9 24.7 769 18304 roll 0.85 0.12 0.184 2607 -350.0 1.50 0.056 3111 660.7 567.9 - - 468 - - - - - - - - 26.25 26.38 -
18356 241.5 22.6 771 18363 done 0.81 - - 2612 - 1.48 0.037 2121 -668.9 567.9 - - 468 - - - - - - - - - 26.46 -
18662 184.2 17.2 787 18667 roll 0.79 - - 2621 - 1.45 0.043 1147 -671.7 567.9 - - 468 - - - - - - - - - 26.46 -
18715 177.2 16.5 789 18721 done 0.77 0.12 0.158 2590 -258.3 1.50 0.045 2160 675.3 567.9 - - 468 - - - - - - - - 26.30 26.46 -
19029 145.4 8.3 805 19030 done 0.79 - - 2594 - - - 2160 - 567.9 - - 468 - - - - - - - - - - -
19331 119.2 7.8 820 19341 roll 0.82 - - 2595 - 1.55 0.042 1141 -657.4 583.1 3.25 0.140 452 -4.9 0.430 - - - - - - - 26.50 26.29
19417 112.0 8.5 824 19423 done 0.85 - - 2594 - 1.48 0.041 2126 665.5 583.1 0.52 0.281 455 5.8 -0.236 - - - - - - - 26.50 26.30
19741 86.4 7.6 840 19748 roll 0.89 - - 2601 - 1.42 0.038 1141 -693.7 607.5 1.30 0.179 451 -3.1 0.152 - - - - - - - 26.52 26.33
19807 81.5 7.6 843 19814 done 0.93 0.08 0.060 2679 975.0 1.48 0.040 2121 662.2 630.9 1.02 0.166 451 - - - - - - - - 26.50 26.54 26.33
20122 34.1 12.5 864 20130 roll 0.93 0.12 0.152 2632 -391.7 1.58 0.053 3124 634.8 630.9 1.35 0.153 451 - - - - - - - - 26.44 26.51 26.35
20184 28.3 9.6 869 20191 done 0.95 - - 2648 - 1.48 0.031 2105 -688.5 630.9 0.80 0.218 452 - - - - - - - - - 26.60 26.36
20493 5.8 7.1 926 20502 roll 0.99 - - 2654 - 1.38 0.036 1150 -692.0 671.1 1.40 0.169 451 - - - - - - - - - 26.56 26.36
20532 end climb: SURFACE_DEPTH_REACHED
20532 begin surface coast
20579 end surface coast: CONTROL_FINISHED_OK
20579 begin surface
SM 2.17 - - - - -6.78 6.43 0.034 154 -388.8 1.55 0.041 2174 660.6 574.25 - - 462 - - - - - - - -