OKMC Oct12 * SG167 * Dive index * Mission links * Dive 97 * Raw log
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• Previous call tries 1 • 25.07 of 150.00 AH used of 24V (83.28% remains)
• Previous NAKs 0, Timeouts 0 • 15.07 of 110.00 AH used of 10V (86.30% remains)
• Surface angle -58.7 deg, depth 1.59 m • Intended pitch -12.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 474.90, SM_CC=425)
• GPS1 time: 34 s
• GPS2 time: 4 s • Transponder ping count: 22
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 86 VBD -0.38 - - 109 - - - 2321 - -171.1 -64.30 - 2727 - - - - - - - - - - -
89 3.4 -6.5 11 126 roll -0.38 9.82 0.223 2610 254.7 2.12 0.047 934 -654.2 -171.1 -21.02 - 3668 -44.8 - - - - - - - 25.54 26.15 26.51
219 21.1 -11.2 35 226 done -0.43 - - 2610 - 2.08 0.031 2320 666.3 -171.1 - - 3670 - - - - - - - - - 26.15 -
529 52.9 -10.4 68 534 roll -0.45 - - 2610 - 2.17 0.047 3738 653.5 -171.1 - - 3670 - - - - - - - - - 26.21 -
576 57.2 -10.0 70 582 done -0.48 - - 2610 - 2.03 0.019 2304 -706.4 -171.1 - - 3670 - - - - - - - - - 26.46 -
895 88.7 -9.6 86 897 done -0.51 0.12 0.077 2525 -708.3 - - 2304 - -171.1 - - 3670 - - - - - - - - 26.61 - -
1198 130.7 -10.3 101 1204 roll -0.47 0.17 0.128 2583 341.2 2.20 0.044 3730 648.2 -171.1 - - 3670 - - - - - - - - 26.32 26.34 -
1231 132.8 -9.4 102 1236 done -0.45 - - 2583 - 1.98 0.018 2304 -720.2 -171.1 - - 3670 - - - - - - - - - 26.61 -
1545 154.7 -6.4 118 1551 roll -0.53 - - 2583 - 2.20 0.044 3740 652.7 -171.1 - - 3670 - - - - - - - - - 26.36 -
1624 159.2 -6.8 121 1631 done -0.63 0.12 0.074 2498 -708.3 2.00 0.021 2320 -710.0 -171.1 - - 3670 - - - - - - - - 26.54 26.63 -
1929 199.8 -12.7 137 1935 roll -0.58 0.17 0.129 2556 341.2 2.17 0.044 3736 652.5 -171.1 - - 3670 - - - - - - - - 26.36 26.40 -
1953 202.3 -12.1 138 1959 done -0.54 - - 2556 - 1.98 0.019 2322 -714.1 -171.1 - - 3670 - - - - - - - - - 26.66 -
2277 227.2 -7.7 154 2282 roll -0.60 - - 2556 - 2.20 0.045 3742 645.5 -171.1 - - 3670 - - - - - - - - - 26.40 -
2329 230.1 -7.3 156 2336 done -0.67 - - 2556 - 2.00 0.019 2313 -714.5 -171.1 - - 3670 - - - - - - - - - 26.69 -
2645 252.6 -7.0 172 2647 done -0.73 0.15 0.068 2463 -620.0 - - 2313 - -171.1 - - 3670 - - - - - - - - 26.75 - -
2945 295.2 -14.5 187 2952 roll -0.65 0.20 0.131 2521 290.0 2.17 0.041 3732 653.9 -171.1 - - 3669 - - - - - - - - 26.31 26.41 -
2995 300.4 -13.0 189 3001 done -0.61 - - 2521 - 1.95 0.019 2328 -720.0 -171.1 - - 3669 - - - - - - - - - 26.70 -
3313 327.9 -8.9 205 3318 roll -0.61 - - 2522 - 1.98 0.034 941 -700.5 -171.1 - - 3669 - - - - - - - - - 26.44 -
3337 329.9 -8.9 206 3342 done -0.62 - - 2521 - 2.08 0.036 2330 667.8 -171.1 - - 3667 - - - - - - - - - 25.15 -
3660 358.5 -8.9 222 3665 roll -0.64 - - 2521 - 2.12 0.046 3733 661.8 -171.1 - - 3665 - - - - - - - - - 26.39 -
3718 362.1 -8.5 224 3725 done -0.67 - - 2521 - 1.98 0.018 2323 -712.1 -171.1 - - 3666 - - - - - - - - - 26.70 -
4024 386.2 -7.5 240 4029 roll -0.69 - - 2521 - 2.17 0.046 3735 650.7 -171.1 - - 3664 - - - - - - - - - 26.39 -
4071 389.4 -7.6 242 4077 done -0.73 - - 2521 - 1.98 0.019 2316 -716.7 -171.1 - - 3664 - - - - - - - - - 26.70 -
4390 417.2 -9.2 258 4396 roll -0.77 - - 2521 - 2.20 0.046 3739 646.8 -171.1 - - 3662 - - - - - - - - - 26.34 -
4443 421.3 -9.2 260 4449 done -0.81 0.12 0.078 2443 -650.0 1.98 0.021 2324 -714.6 -171.1 - - 3662 - - - - - - - - 26.58 26.69 -
4757 467.8 -14.4 276 4759 done -0.74 0.20 0.129 2503 300.0 - - 2323 - -171.1 - - 3661 - - - - - - - - 26.34 - -
5059 493.1 -7.8 291 5064 roll -0.76 - - 2503 - 1.98 0.028 945 -696.0 -171.1 - - 3659 - - - - - - - - - 26.58 -
5097 495.0 -7.6 292 5103 done -0.79 - - 2503 - 2.05 0.034 2331 676.1 -171.1 - - 3659 - - - - - - - - - 26.20 -
5403 518.9 -7.6 308 5404 done -0.81 - - 2503 - - - 2331 - -171.1 - - 3658 - - - - - - - - - - -
5704 542.1 -7.7 323 5711 roll -0.84 0.12 0.080 2424 -658.3 2.15 0.045 3735 653.0 -171.1 - - 3656 - - - - - - - - 26.76 26.34 -
5774 549.4 -10.2 326 5780 done -0.81 0.17 0.135 2474 294.1 1.98 0.020 2317 -716.2 -171.1 - - 3655 - - - - - - - - 26.22 26.68 -
6093 579.6 -9.0 342 6098 roll -0.81 - - 2473 - 2.20 0.052 3728 641.4 -171.1 - - 3653 - - - - - - - - - 26.29 -
6175 587.1 -9.1 346 6181 done -0.81 - - 2473 - 1.95 0.021 2326 -719.0 -171.1 - - 3653 - - - - - - - - - 26.70 -
6490 613.3 -8.2 359 6495 roll -0.81 - - 2473 - 2.17 0.051 3725 644.7 -171.1 - - 3651 - - - - - - - - - 25.79 -
6586 621.0 -8.2 362 6591 done -0.81 - - 2473 - 1.98 0.021 2309 -715.2 -171.1 - - 3651 - - - - - - - - - 26.70 -
6917 647.6 -7.7 373 6922 roll -0.81 - - 2473 - 2.20 0.047 3727 644.5 -171.1 - - 3649 - - - - - - - - - 26.29 -
6940 647.6 -7.7 373 6945 done -0.81 - - 2480 - 1.95 0.021 2330 -716.4 -171.1 - - 3649 - - - - - - - - - 26.69 -
7253 675.0 -8.2 384 7258 roll -0.81 - - 2473 - 1.98 0.025 950 -697.0 -171.1 - - 3646 - - - - - - - - - 26.52 -
7290 677.9 -8.4 385 7296 done -0.81 - - 2473 - 2.05 0.029 2337 676.6 -171.1 - - 3646 - - - - - - - - - 26.46 -
7619 706.5 -8.8 396 7620 done -0.81 - - 2473 - - - 2337 - -171.1 - - 3644 - - - - - - - - - - -
7920 732.0 -8.6 406 7925 roll -0.81 - - 2473 - 2.15 0.048 3730 647.9 -171.1 - - 3642 - - - - - - - - - 26.25 -
7967 734.9 -8.5 407 7972 done -0.81 - - 2473 - 2.00 0.023 2320 -705.0 -171.1 - - 3642 - - - - - - - - - 26.65 -
8284 760.1 -7.4 418 8290 roll -0.81 - - 2475 - 2.20 0.047 3729 640.5 -171.1 - - 3640 - - - - - - - - - 26.23 -
8332 762.5 -7.4 419 8338 done -0.83 - - 2473 - 2.00 0.031 2320 -704.5 -171.1 - - 3639 - - - - - - - - - 26.40 -
8653 786.4 -7.5 430 8654 done -0.84 - - 2473 - - - 2317 - -171.1 - - 3637 - - - - - - - - - - -
8952 807.6 -7.2 440 8957 roll -0.86 - - 2473 - 2.22 0.048 3732 637.4 -171.1 - - 3636 - - - - - - - - - 26.20 -
9009 810.3 -7.3 441 9016 done -0.88 - - 2473 - 2.03 0.026 2330 -690.6 -171.1 - - 3636 - - - - - - - - - 25.77 -
9318 833.5 -6.9 452 9319 done -0.90 - - 2473 - - - 2330 - -171.1 - - 3633 - - - - - - - - - - -
9615 853.3 -6.5 462 9617 done -0.92 - - 2473 - - - 2330 - -171.1 - - 3632 - - - - - - - - - - -
9916 874.8 -7.4 472 9921 roll -0.94 0.12 0.087 2400 -608.3 2.20 0.047 3730 636.4 -171.1 - - 3630 - - - - - - - - 26.71 26.15 -
9969 878.3 -8.0 473 9974 done -0.94 0.12 0.155 2433 275.0 2.00 0.024 2323 -703.5 -171.1 - - 3631 - - - - - - - - 26.19 26.60 -
10284 911.1 -9.6 484 10285 done -0.92 - - 2433 - - - 2322 - -171.1 - - 3628 - - - - - - - - - - -
10584 941.2 -10.0 494 10589 roll -0.89 - - 2433 - 2.22 0.049 3735 636.5 -171.1 - - 3627 - - - - - - - - - 26.11 -
10677 951.1 -10.5 497 10682 done -0.87 - - 2433 - 2.03 0.024 2329 -692.6 -171.1 - - 3627 - - - - - - - - - 26.57 -
11013 984.5 -9.9 508 11019 roll -0.84 0.12 0.145 2474 341.7 2.22 0.047 3725 628.8 -171.1 - - 3625 - - - - - - - - 26.42 26.08 -
11050 987.6 -9.6 509 11055 done -0.84 - - 2481 - 2.03 0.025 2312 -696.1 -171.1 - - 3625 - - - - - - - - - 26.56 -
11076 end dive: TARGET_DEPTH_EXCEEDED
11076 begin apogee
11082 990.1 -9.1 510 11235 done -0.20 0.57 0.098 2673 336.8 - - 2309 - - 145.57 1.336 2964 -4.5 0.359 - - - - - - 25.86 - 23.57
11236 end apogee: CONTROL_FINISHED_OK
11236 begin climb
11239 997.2 - 515 11404 roll 0.38 0.50 0.039 2882 418.0 2.28 0.033 941 -600.0 171.1 155.62 1.268 2265 -4.5 0.377 - - - - - - 24.80 23.96 23.01
11533 980.7 9.3 525 11539 done 0.27 0.17 0.129 2833 -288.2 2.15 0.034 2300 632.1 171.1 - - 2252 - - - - - - - - 25.01 25.03 -
11870 955.6 7.2 536 11875 roll 0.21 - - 2833 - 2.22 0.048 3706 633.3 175.1 - - 2249 - - - - - - - - - 25.89 -
12013 944.8 8.6 540 12019 done 0.12 0.20 0.143 2784 -245.0 2.08 0.028 2322 -665.4 175.1 - - 2247 - - - - - - - - 25.79 26.16 -
12329 925.3 5.6 551 12396 roll 0.15 - - 2784 - 2.35 0.049 3697 585.1 234.2 58.72 1.237 2005 -4.1 0.329 - - - - - - - 25.03 24.10
12440 919.6 6.2 554 12488 done 0.16 - - 2786 - 2.15 0.028 2290 -654.4 274.4 39.60 1.232 1842 -4.1 0.328 - - - - - - - 25.54 23.98
12812 894.4 6.3 567 12850 done 0.22 - - 2786 - - - 2289 - 311.1 35.85 1.228 1699 -4.0 0.310 - - - - - - - - 24.24
13143 875.7 5.5 578 13211 roll 0.30 0.15 0.072 2863 513.3 2.35 0.047 3696 598.7 373.2 62.08 1.207 1439 -4.2 0.324 - - - - - - 26.11 24.93 24.02
13224 870.6 7.0 580 13245 done 0.31 - - 2865 - 2.17 0.029 2305 -641.0 386.2 13.93 1.206 1388 -3.7 0.282 - - - - - - - 25.24 24.06
13567 834.0 10.1 592 13573 roll 0.31 - - 2865 - 2.15 0.036 896 -655.3 386.2 - - 1378 - - - - - - - - - 25.98 -
13604 830.6 10.2 593 13609 done 0.31 - - 2865 - 2.15 0.031 2310 657.7 386.2 - - 1378 - - - - - - - - - 26.03 -
13934 793.7 11.1 604 13936 done 0.31 - - 2865 - - - 2310 - 386.2 - - 1376 - - - - - - - - - - -
14233 760.7 10.9 614 14238 roll 0.31 - - 2865 - 2.17 0.049 3697 639.2 386.2 - - 1376 - - - - - - - - - 26.21 -
14266 756.7 11.2 615 14272 done 0.31 - - 2865 - 2.10 0.028 2288 -671.0 386.2 - - 1375 - - - - - - - - - 26.36 -
14601 719.5 10.9 626 14607 roll 0.31 - - 2865 - 2.08 0.036 908 -663.5 386.2 - - 1375 - - - - - - - - - 26.33 -
14629 719.5 10.9 626 14635 done 0.31 - - 2865 - 2.10 0.031 2311 668.1 386.2 - - 1375 - - - - - - - - - 26.36 -
14935 684.1 10.4 637 14940 roll 0.31 - - 2865 - 2.17 0.049 3706 642.9 386.2 - - 1374 - - - - - - - - - 26.27 -
14977 680.2 10.6 638 14983 done 0.31 - - 2865 - 2.08 0.028 2297 -677.4 386.2 - - 1373 - - - - - - - - - 26.46 -
15302 647.1 9.8 649 15307 roll 0.31 - - 2865 - 2.08 0.035 904 -669.7 386.2 - - 1374 - - - - - - - - - 26.38 -
15349 643.6 9.8 650 15355 done 0.31 - - 2865 - 2.10 0.030 2313 671.0 386.2 - - 1371 - - - - - - - - - 26.40 -
15670 611.6 9.6 661 15675 roll 0.31 - - 2865 - 2.12 0.034 905 -664.2 386.2 - - 1373 - - - - - - - - - 26.31 -
15703 608.3 9.4 662 15708 done 0.31 - - 2865 - 2.10 0.030 2312 670.0 386.2 - - 1373 - - - - - - - - - 26.41 -
16016 579.4 9.5 676 16021 roll 0.31 - - 2864 - 2.15 0.048 3694 642.8 386.2 - - 1373 - - - - - - - - - 26.28 -
16044 577.0 9.6 677 16049 done 0.31 - - 2864 - 2.05 0.028 2290 -684.9 386.2 - - 1372 - - - - - - - - - 26.50 -
16363 547.8 8.9 693 16368 roll 0.31 - - 2865 - 2.20 0.047 3694 638.2 386.2 - - 1372 - - - - - - - - - 26.28 -
16426 541.0 10.5 696 16431 done 0.31 - - 2865 - 2.05 0.028 2290 -684.9 386.2 - - 1372 - - - - - - - - - 26.51 -
16750 510.5 9.1 712 16751 done 0.32 - - 2864 - - - 2290 - 386.2 - - 1372 - - - - - - - - - - -
17051 483.7 8.9 727 17057 roll 0.34 - - 2865 - 2.20 0.047 3699 640.5 386.2 - - 1372 - - - - - - - - - 26.27 -
17078 481.3 9.1 728 17085 done 0.36 - - 2864 - 2.08 0.028 2297 -674.0 386.2 - - 1372 - - - - - - - - - 26.52 -
17398 450.6 9.5 744 17403 roll 0.38 - - 2865 - 2.05 0.034 911 -676.1 386.2 - - 1372 - - - - - - - - - 26.40 -
17466 444.6 9.6 747 17471 done 0.42 - - 2865 - 2.08 0.029 2313 674.0 386.2 - - 1372 - - - - - - - - - 26.43 -
17784 416.0 8.2 763 17789 roll 0.45 - - 2865 - 2.15 0.047 3704 647.0 386.2 - - 1372 - - - - - - - - - 26.27 -
17811 413.9 8.2 764 17817 done 0.47 - - 2865 - 2.05 0.025 2283 -693.2 386.2 - - 1373 - - - - - - - - - 26.54 -
18130 386.7 8.4 780 18136 roll 0.51 0.12 0.082 2949 700.0 2.00 0.029 922 -680.5 386.2 - - 1372 - - - - - - - - 26.68 26.41 -
18155 384.2 8.8 781 18162 done 0.52 0.15 0.125 2905 -293.3 2.05 0.028 2304 674.1 386.2 - - 1372 - - - - - - - - 26.16 26.43 -
18480 347.5 11.5 797 18486 roll 0.50 - - 2907 - 2.15 0.045 3700 649.3 386.2 - - 1372 - - - - - - - - - 26.27 -
18518 344.7 11.6 798 18525 done 0.48 - - 2908 - 2.03 0.024 2294 -692.6 386.2 - - 1372 - - - - - - - - - 26.55 -
18824 309.3 10.4 814 18829 roll 0.46 - - 2908 - 2.05 0.032 907 -676.6 386.2 - - 1372 - - - - - - - - - 26.41 -
18873 305.0 10.3 816 18878 done 0.46 - - 2909 - 2.05 0.028 2303 681.0 386.2 - - 1373 - - - - - - - - - 26.44 -
19191 273.2 9.2 832 19196 roll 0.46 - - 2908 - 2.15 0.044 3703 651.2 386.2 - - 1373 - - - - - - - - - 26.27 -
19228 270.9 9.3 833 19235 done 0.46 - - 2908 - 2.03 0.024 2294 -694.1 386.2 - - 1373 - - - - - - - - - 26.55 -
19534 239.6 9.3 849 19540 roll 0.46 - - 2909 - 2.03 0.031 912 -680.8 386.2 - - 1373 - - - - - - - - - 26.42 -
19573 237.6 9.0 850 19579 done 0.46 - - 2908 - 2.05 0.027 2312 682.9 386.2 - - 1373 - - - - - - - - - 26.45 -
19877 209.6 8.8 866 19883 roll 0.46 - - 2908 - 2.12 0.044 3694 651.9 386.2 - - 1374 - - - - - - - - - 26.29 -
19930 205.1 9.7 868 19935 done 0.46 - - 2908 - 2.00 0.023 2296 -699.0 386.2 - - 1374 - - - - - - - - - 26.57 -
20243 172.1 9.9 884 20248 roll 0.46 - - 2908 - 2.00 0.031 921 -687.5 386.2 - - 1373 - - - - - - - - - 26.44 -
20280 170.1 9.7 885 20287 done 0.46 - - 2908 - 2.03 0.026 2310 684.2 386.2 - - 1375 - - - - - - - - - 26.47 -
20587 142.7 8.8 901 20592 roll 0.48 - - 2908 - 2.12 0.044 3697 654.2 386.2 - - 1374 - - - - - - - - - 26.29 -
20644 137.9 9.8 903 20651 done 0.48 - - 2908 - 2.00 0.022 2293 -702.0 386.2 - - 1375 - - - - - - - - - 26.58 -
20951 117.4 5.3 919 20984 roll 0.56 - - 2908 - 2.00 0.028 919 -687.0 456.5 27.62 0.396 1106 -9.7 0.308 - - - - - - - 26.39 25.69
21038 111.9 6.8 923 21055 done 0.65 0.12 0.078 2993 708.3 2.05 0.024 2311 679.0 476.2 8.77 0.367 1025 -9.2 0.300 - - - - - - 26.28 26.33 25.53
21353 73.9 11.6 939 21359 roll 0.63 0.15 0.125 2943 -333.3 2.10 0.041 3687 655.2 476.2 - - 1032 - - - - - - - - 26.25 26.20 -
21420 68.5 9.0 942 21426 done 0.63 - - 2942 - 1.98 0.020 2294 -703.5 476.2 - - 1032 - - - - - - - - - 26.46 -
21729 46.6 8.0 959 21735 roll 0.69 - - 2942 - 1.98 0.028 926 -690.9 476.2 - - 1032 - - - - - - - - - 26.39 -
21777 43.4 7.5 963 21785 done 0.78 0.15 0.064 3036 626.7 2.00 0.024 2305 689.5 476.2 - - 1032 - - - - - - - - 26.41 26.43 -
22057 end climb: SURFACE_DEPTH_REACHED
22057 begin surface coast
22072 end surface coast: CONTROL_FINISHED_OK
22072 begin surface
SM 1.89 - - - - -8.10 7.28 0.022 122 -400.3 - - 2307 - 474.90 - - 1032 - - - - - - - -