OKMC Oct12 * SG167 * Dive index * Mission links * Dive 86 * Raw log
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• Previous call tries 5 • 22.93 of 150.00 AH used of 24V (84.71% remains)
• Previous NAKs 0, Timeouts 0 • 13.32 of 110.00 AH used of 10V (87.89% remains)
• Surface angle -65.3 deg, depth 1.53 m • Intended pitch -12.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 472.45, SM_CC=425)
• GPS1 time: 28 s
• GPS2 time: 44 s • Transponder ping count: 17
• 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
16 begin dive
18 - - - 72 VBD -0.38 - - 109 - - - 2278 - -171.1 -51.75 - 2532 - - - - - - - - - - -
76 3.0 -4.6 9 120 roll -0.38 9.75 0.221 2608 256.3 2.00 0.041 948 -665.0 -171.1 -28.38 - 3668 -40.0 - - - - - - - 25.55 26.15 26.48
195 15.2 -9.9 30 201 done -0.41 - - 2608 - 2.05 0.028 2325 671.7 -171.1 - - 3668 - - - - - - - - - 26.16 -
515 52.8 -12.2 69 522 roll -0.38 - - 2608 - 2.15 0.045 3730 653.5 -171.1 - - 3668 - - - - - - - - - 26.21 -
559 57.5 -11.5 71 565 done -0.38 - - 2608 - 1.98 0.020 2355 -694.4 -171.1 - - 3668 - - - - - - - - - 26.42 -
884 83.6 -6.9 87 889 roll -0.45 - - 2608 - 2.15 0.051 3736 642.3 -171.1 - - 3668 - - - - - - - - - 26.29 -
917 85.4 -7.3 88 923 done -0.52 0.12 0.075 2521 -725.0 2.03 0.018 2264 -725.1 -171.1 - - 3668 - - - - - - - - 26.48 26.58 -
1231 128.5 -13.1 104 1237 roll -0.46 0.20 0.121 2589 340.0 1.92 0.023 912 -704.2 -171.1 - - 3669 - - - - - - - - 26.32 26.53 -
1295 134.0 -9.4 107 1300 done -0.49 - - 2589 - 2.08 0.027 2333 683.2 -171.1 - - 3669 - - - - - - - - - 26.50 -
1620 154.4 -6.1 123 1625 roll -0.58 0.12 0.078 2493 -800.0 2.10 0.043 3723 661.9 -171.1 - - 3669 - - - - - - - - 26.70 26.39 -
1697 161.0 -9.0 126 1706 done -0.58 0.20 0.122 2554 305.0 2.03 0.021 2325 -688.7 -171.1 - - 3670 - - - - - - - - 26.24 26.58 -
2004 184.5 -6.1 142 2010 roll -0.63 - - 2555 - 2.17 0.053 3722 643.8 -171.1 - - 3669 - - - - - - - - - 26.34 -
2062 187.0 -5.9 144 2069 done -0.68 - - 2554 - 2.03 0.018 2261 -719.7 -171.1 - - 3669 - - - - - - - - - 26.70 -
2368 206.7 -6.5 160 2374 roll -0.73 0.12 0.078 2464 -750.0 2.25 0.042 3739 656.9 -171.1 - - 3668 - - - - - - - - 26.76 26.42 -
2407 208.8 -7.0 161 2414 done -0.76 0.12 0.139 2498 283.3 2.03 0.020 2283 -717.2 -171.1 - - 3668 - - - - - - - - 26.37 26.68 -
2713 243.7 -10.9 177 2718 roll -0.73 - - 2498 - 1.90 0.037 946 -703.7 -171.1 - - 3667 - - - - - - - - - 26.39 -
2739 246.3 -11.0 178 2745 done -0.69 - - 2495 - 2.03 0.036 2323 678.3 -171.1 - - 3667 - - - - - - - - - 26.42 -
3058 282.7 -11.3 194 3064 roll -0.66 0.12 0.144 2535 333.3 2.15 0.044 3736 657.2 -171.1 - - 3666 - - - - - - - - 26.51 26.42 -
3091 285.2 -11.0 195 3097 done -0.64 - - 2535 - 1.98 0.019 2323 -713.6 -171.1 - - 3665 - - - - - - - - - 26.70 -
3405 311.1 -7.8 211 3411 roll -0.68 - - 2535 - 2.17 0.047 3736 651.2 -171.1 - - 3663 - - - - - - - - - 26.43 -
3438 313.1 -7.9 212 3443 done -0.73 - - 2535 - 1.98 0.019 2317 -716.7 -171.1 - - 3663 - - - - - - - - - 26.71 -
3752 335.9 -6.5 228 3757 roll -0.78 0.12 0.080 2449 -716.7 1.95 0.024 943 -704.6 -171.1 - - 3662 - - - - - - - - 26.77 26.60 -
3805 340.5 -8.4 230 3811 done -0.78 0.15 0.138 2489 266.7 2.05 0.031 2331 677.1 -171.1 - - 3661 - - - - - - - - 26.25 26.46 -
4119 374.2 -10.5 246 4124 roll -0.76 - - 2489 - 2.12 0.046 3730 659.9 -171.1 - - 3660 - - - - - - - - - 26.41 -
4212 382.1 -9.4 250 4218 done -0.76 - - 2489 - 1.95 0.018 2327 -719.5 -171.1 - - 3660 - - - - - - - - - 26.70 -
4526 408.8 -8.3 266 4531 roll -0.76 - - 2489 - 2.17 0.047 3737 649.8 -171.1 - - 3659 - - - - - - - - - 26.41 -
4573 412.4 -8.3 268 4579 done -0.76 - - 2489 - 1.98 0.019 2322 -714.6 -171.1 -0.08 - 3680 -262.5 - - - - - - - - 26.71 25.44
4891 440.1 -9.0 284 4892 done -0.76 - - 2488 - - - 2321 - -171.1 - - 3679 - - - - - - - - - - -
5193 467.0 -8.8 299 5198 roll -0.76 - - 2489 - 2.20 0.048 3739 644.5 -171.1 - - 3677 - - - - - - - - - 26.32 -
5318 477.6 -8.2 305 5323 done -0.77 - - 2490 - 1.98 0.021 2322 -715.7 -171.1 - - 3676 - - - - - - - - - 26.72 -
5641 504.7 -8.3 321 5646 roll -0.77 - - 2489 - 2.17 0.045 3733 650.2 -171.1 - - 3674 - - - - - - - - - 26.38 -
5667 506.6 -8.1 322 5673 done -0.77 - - 2489 - 1.98 0.021 2314 -716.7 -171.1 - - 3674 - - - - - - - - - 26.72 -
5987 531.1 -7.3 338 5988 done -0.79 - - 2489 - - - 2314 - -171.1 - - 3672 - - - - - - - - - - -
6288 552.8 -7.1 353 6289 done -0.81 - - 2489 - - - 2314 - -171.1 - - 3670 - - - - - - - - - - -
6589 575.9 -8.1 368 6594 roll -0.84 - - 2489 - 2.20 0.046 3733 645.0 -171.1 - - 3669 - - - - - - - - - 26.34 -
6642 579.7 -8.1 370 6647 done -0.86 - - 2489 - 1.98 0.021 2314 -716.7 -171.1 - - 3668 - - - - - - - - - 26.70 -
6956 606.1 -8.4 385 6958 done -0.89 0.10 0.094 2431 -580.0 - - 2316 - -171.1 - - 3666 - - - - - - - - 26.78 - -
7256 642.8 -12.4 395 7262 roll -0.84 0.12 0.150 2467 300.0 2.20 0.045 3730 642.7 -171.1 - - 3664 - - - - - - - - 26.46 26.32 -
7344 649.9 -11.9 397 7352 done -0.81 - - 2467 - 1.98 0.022 2322 -711.1 -171.1 - - 3663 - - - - - - - - - 26.69 -
7649 682.0 -9.5 408 7650 done -0.81 - - 2467 - - - 2323 - -171.1 - - 3661 - - - - - - - - - - -
7950 708.5 -8.5 418 7955 roll -0.81 - - 2467 - 2.20 0.048 3733 640.9 -171.1 - - 3659 - - - - - - - - - 26.28 -
8034 713.9 -8.4 420 8039 done -0.81 - - 2467 - 1.98 0.023 2329 -709.1 -171.1 - - 3658 - - - - - - - - - 26.67 -
8348 741.6 -8.1 431 8353 roll -0.81 - - 2467 - 2.17 0.048 3726 643.8 -171.1 - - 3656 - - - - - - - - - 26.26 -
8430 746.6 -7.9 433 8436 done -0.81 - - 2467 - 2.00 0.023 2319 -703.5 -171.1 - - 3656 - - - - - - - - - 26.66 -
8744 772.2 -7.6 444 8750 roll -0.81 - - 2467 - 2.22 0.048 3730 635.6 -171.1 - - 3654 - - - - - - - - - 26.24 -
8787 774.8 -7.6 445 8792 done -0.81 - - 2467 - 2.00 0.024 2328 -701.0 -171.1 - - 3654 - - - - - - - - - 26.65 -
9112 799.9 -7.6 456 9117 roll -0.81 - - 2467 - 2.22 0.054 3733 632.9 -171.1 - - 3652 - - - - - - - - - 26.01 -
9149 802.5 -7.6 457 9154 done -0.81 - - 2467 - 2.03 0.028 2315 -698.5 -171.1 - - 3652 - - - - - - - - - 26.39 -
9479 828.6 -8.0 468 9484 roll -0.82 - - 2467 - 2.22 0.053 3725 635.1 -171.1 - - 3650 - - - - - - - - - 26.20 -
9613 838.6 -8.1 472 9618 done -0.84 - - 2467 - 2.00 0.024 2316 -704.5 -171.1 - - 3650 - - - - - - - - - 26.62 -
9939 863.4 -7.2 483 9944 roll -0.86 - - 2467 - 2.22 0.049 3733 638.3 -171.1 - - 3648 - - - - - - - - - 26.18 -
10006 868.1 -7.1 485 10012 done -0.88 - - 2467 - 2.00 0.024 2327 -703.0 -171.1 - - 3647 - - - - - - - - - 26.65 -
10337 889.4 -6.3 496 10338 done -0.88 - - 2467 - - - 2325 - -171.1 - - 3645 - - - - - - - - - - -
10636 907.6 -6.1 506 10641 roll -0.90 - - 2467 - 2.22 0.050 3731 633.3 -171.1 - - 3644 - - - - - - - - - 26.14 -
10718 911.8 -6.3 508 10724 done -0.92 - - 2467 - 2.00 0.025 2328 -701.5 -171.1 - - 3644 - - - - - - - - - 26.59 -
11034 936.0 -7.7 519 11039 roll -0.94 - - 2467 - 2.22 0.050 3732 632.4 -171.1 - - 3643 - - - - - - - - - 26.12 -
11076 938.9 -7.8 520 11082 done -0.96 0.10 0.097 2414 -530.0 2.03 0.026 2327 -692.1 -171.1 - - 3640 - - - - - - - - 26.32 26.36 -
11402 975.1 -11.2 531 11408 roll -0.91 0.12 0.156 2453 325.0 2.22 0.049 3725 629.7 -171.1 - - 3641 - - - - - - - - 26.39 26.10 -
11476 981.5 -10.4 533 11481 done -0.89 - - 2447 - 2.03 0.025 2313 -695.6 -171.1 - - 3641 - - - - - - - - - 26.57 -
11586 end dive: TARGET_DEPTH_EXCEEDED
11586 begin apogee
11592 992.3 -8.8 537 11749 done -0.20 0.65 0.103 2673 347.7 - - 2311 - - 149.43 1.297 2966 -4.5 0.369 - - - - - - 25.82 - 23.61
11750 end apogee: CONTROL_FINISHED_OK
11750 begin climb
11753 999.3 - 542 11922 roll 0.38 0.50 0.039 2881 416.0 2.42 0.046 3697 572.7 171.1 156.00 1.266 2260 -4.5 0.381 - - - - - - 24.82 23.90 22.95
12150 966.2 12.6 555 12156 done 0.23 0.25 0.148 2820 -244.0 2.10 0.030 2331 -650.5 171.1 - - 2251 - - - - - - - - 25.24 25.61 -
12471 937.7 8.2 566 12476 roll 0.18 - - 2820 - 2.20 0.048 3705 624.5 171.1 - - 2248 - - - - - - - - - 25.94 -
12518 934.5 8.5 567 12525 done 0.13 0.12 0.154 2786 -283.3 2.15 0.028 2282 -661.9 171.1 - - 2248 - - - - - - - - 25.84 26.11 -
12840 911.8 6.2 578 12886 roll 0.14 - - 2786 - 2.20 0.036 912 -622.7 211.8 37.10 1.203 2102 -3.9 0.318 - - - - - - - 25.36 24.44
12908 908.2 6.0 580 12960 done 0.16 - - 2785 - 2.15 0.031 2302 646.5 257.9 45.75 1.215 1912 -4.2 0.331 - - - - - - - 25.56 24.03
13260 887.9 5.4 592 13332 roll 0.22 - - 2786 - 2.35 0.048 3687 589.4 323.5 63.55 1.170 1639 -4.3 0.348 - - - - - - - 24.92 24.06
13375 882.6 5.7 595 13441 done 0.28 0.15 0.069 2858 480.0 2.12 0.028 2299 -654.7 380.3 56.55 1.177 1410 -4.0 0.324 - - - - - - 25.43 25.46 23.88
13741 846.1 10.1 608 13746 roll 0.28 - - 2858 - 2.12 0.036 910 -655.2 380.3 - - 1401 - - - - - - - - - 25.89 -
13774 842.7 10.1 609 13779 done 0.28 - - 2858 - 2.15 0.035 2310 651.2 380.3 - - 1401 - - - - - - - - - 25.93 -
14108 808.2 10.6 620 14114 roll 0.28 - - 2859 - 2.20 0.048 3709 635.9 380.3 - - 1399 - - - - - - - - - 26.10 -
14130 808.2 10.6 620 14136 done 0.28 - - 2857 - 2.10 0.029 2301 -670.5 380.3 - - 1398 - - - - - - - - - 26.24 -
14443 774.3 9.5 631 14448 roll 0.28 - - 2860 - 2.08 0.037 907 -670.2 380.3 - - 1398 - - - - - - - - - 26.26 -
14486 771.4 9.4 632 14491 done 0.28 - - 2860 - 2.10 0.031 2307 666.7 380.3 - - 1398 - - - - - - - - - 26.29 -
14811 739.4 9.8 643 14816 roll 0.28 - - 2860 - 2.17 0.049 3699 641.5 380.3 - - 1397 - - - - - - - - - 26.25 -
14838 739.4 9.8 643 14845 done 0.28 - - 2859 - 2.08 0.028 2293 -676.0 380.3 - - 1397 - - - - - - - - - 26.41 -
15144 705.4 10.1 654 15149 roll 0.28 - - 2860 - 2.08 0.037 908 -665.9 380.3 - - 1397 - - - - - - - - - 26.34 -
15161 705.4 10.1 654 15167 done 0.28 - - 2860 - 2.10 0.031 2301 663.3 380.3 - - 1397 - - - - - - - - - 26.37 -
15481 673.3 9.3 665 15486 roll 0.28 - - 2860 - 2.17 0.048 3704 646.5 380.3 - - 1396 - - - - - - - - - 26.27 -
15528 669.8 9.6 666 15533 done 0.28 - - 2860 - 2.08 0.029 2302 -674.0 380.3 - - 1396 - - - - - - - - - 26.46 -
15848 638.6 9.2 677 15853 roll 0.28 - - 2860 - 2.08 0.036 902 -673.1 380.3 - - 1396 - - - - - - - - - 26.37 -
15874 638.6 9.2 677 15882 done 0.28 - - 2860 - 2.10 0.030 2313 671.9 380.3 - - 1396 - - - - - - - - - 26.40 -
16180 608.8 8.7 688 16182 done 0.28 - - 2860 - - - 2314 - 380.3 - - 1396 - - - - - - - - - - -
16481 582.5 8.6 701 16487 roll 0.28 - - 2861 - 2.15 0.048 3696 642.8 380.3 - - 1396 - - - - - - - - - 26.28 -
16518 580.2 9.0 702 16525 done 0.28 - - 2860 - 2.08 0.028 2295 -673.6 380.3 - - 1395 - - - - - - - - - 26.50 -
16825 551.1 9.0 718 16830 roll 0.29 - - 2860 - 2.08 0.036 910 -665.9 380.3 - - 1395 - - - - - - - - - 26.39 -
16878 547.4 8.8 720 16883 done 0.32 - - 2860 - 2.10 0.030 2313 668.1 380.3 - - 1395 - - - - - - - - - 26.42 -
17191 520.1 8.3 736 17192 done 0.33 - - 2860 - - - 2313 - 380.3 - - 1395 - - - - - - - - - - -
17493 495.0 8.2 751 17495 done 0.35 - - 2860 - - - 2313 - 380.3 - - 1395 - - - - - - - - - - -
17794 472.1 7.5 766 17800 roll 0.37 - - 2860 - 2.15 0.049 3702 646.0 380.3 - - 1395 - - - - - - - - - 26.03 -
17832 469.9 7.7 767 17838 done 0.39 - - 2861 - 2.05 0.027 2290 -688.8 380.3 - - 1395 - - - - - - - - - 26.53 -
18138 443.3 8.4 783 18143 roll 0.42 - - 2861 - 2.03 0.034 912 -678.8 380.3 - - 1395 - - - - - - - - - 26.40 -
18181 439.6 8.5 785 18186 done 0.45 - - 2861 - 2.05 0.028 2305 679.5 380.3 - - 1395 - - - - - - - - - 26.44 -
18504 412.6 8.4 801 18510 roll 0.48 0.10 0.093 2923 620.0 2.15 0.044 3700 648.8 380.3 - - 1395 - - - - - - - - 26.71 26.27 -
18557 407.1 10.4 803 18563 done 0.48 - - 2923 - 2.03 0.026 2305 -687.2 380.3 - - 1395 - - - - - - - - - 26.53 -
18872 366.9 12.0 819 18878 roll 0.43 0.12 0.151 2890 -275.0 2.05 0.031 911 -680.0 380.3 - - 1395 - - - - - - - - 26.39 26.40 -
18917 362.5 10.9 821 18922 done 0.41 - - 2887 - 2.05 0.028 2306 680.5 380.3 - - 1395 - - - - - - - - - 26.44 -
19240 331.6 9.9 837 19245 roll 0.41 - - 2888 - 2.12 0.046 3692 653.8 380.3 - - 1395 - - - - - - - - - 26.27 -
19287 327.0 10.2 839 19292 done 0.41 - - 2888 - 2.03 0.024 2288 -691.6 380.3 - - 1395 - - - - - - - - - 26.55 -
19605 296.2 9.4 855 19610 roll 0.41 - - 2888 - 2.03 0.032 907 -680.3 380.3 - - 1396 - - - - - - - - - 26.42 -
19638 294.1 9.4 856 19643 done 0.41 - - 2888 - 2.08 0.027 2311 675.0 380.3 - - 1396 - - - - - - - - - 26.45 -
19951 263.9 9.1 872 19952 done 0.41 - - 2888 - - - 2311 - 380.3 - - 1396 - - - - - - - - - - -
20253 237.2 8.9 887 20254 done 0.42 - - 2888 - - - 2311 - 380.3 - - 1396 - - - - - - - - - - -
20555 209.5 9.2 902 20560 roll 0.44 - - 2888 - 2.12 0.044 3704 657.1 380.3 - - 1397 - - - - - - - - - 26.29 -
20578 206.7 9.3 903 20585 done 0.46 - - 2888 - 2.03 0.022 2286 -698.5 380.3 - - 1397 - - - - - - - - - 26.59 -
20903 181.0 7.6 919 20908 roll 0.48 - - 2888 - 1.98 0.030 923 -688.4 380.3 - - 1397 - - - - - - - - - 26.45 -
20930 179.0 7.9 920 20936 done 0.51 - - 2888 - 2.03 0.026 2311 683.7 380.3 - - 1397 - - - - - - - - - 26.48 -
21249 152.3 9.0 936 21255 roll 0.55 - - 2888 - 2.12 0.044 3696 653.3 380.3 - - 1398 - - - - - - - - - 26.29 -
21287 150.0 9.1 937 21295 done 0.58 0.12 0.078 2966 650.0 2.00 0.022 2294 -701.0 380.3 - - 1398 - - - - - - - - 26.50 26.59 -
21593 109.6 12.2 953 21599 roll 0.52 0.17 0.122 2908 -341.2 2.00 0.029 921 -686.5 380.3 - - 1398 - - - - - - - - 26.35 26.44 -
21652 105.3 10.9 955 21659 done 0.50 - - 2911 - 2.00 0.025 2300 689.5 380.3 - - 1398 - - - - - - - - - 26.49 -
21958 82.3 6.1 971 21983 roll 0.56 - - 2911 - 2.17 0.044 3691 641.0 423.8 16.50 0.309 1241 -9.5 0.270 - - - - - - - 26.42 25.80
22022 78.7 5.9 974 22051 done 0.63 - - 2911 - 1.98 0.021 2296 -704.5 473.1 21.00 0.304 1038 -9.7 0.267 - - - - - - - 26.54 25.79
22364 53.9 11.4 991 22370 roll 0.85 0.28 0.079 3020 389.3 2.00 0.025 910 -693.0 473.1 - - 1041 - - - - - - - - 26.32 26.39 -
22422 48.1 10.9 994 22431 done 1.01 0.12 0.076 3097 641.7 2.03 0.026 2301 685.2 473.1 - - 1043 - - - - - - - - 26.36 26.39 -
22677 end climb: SURFACE_DEPTH_REACHED
22677 begin surface coast
22689 end surface coast: CONTROL_FINISHED_OK
22689 begin surface
SM 1.45 - - - - -8.11 7.47 0.024 114 -399.3 - - 2302 - 472.45 - - 1042 - - - - - - - -