OKMC Oct12 * SG167 * Dive index * Mission links * Dive 153 * Raw log
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• Previous call tries 1 • 36.20 of 150.00 AH used of 24V (75.87% remains)
• Previous NAKs 0, Timeouts 0 • 24.02 of 110.00 AH used of 10V (78.17% remains)
• Surface angle -65.6 deg, depth 1.73 m • Intended pitch -14.1 deg, speed -8.250 cm/s
• No surface pump (final VBD was 471.22, SM_CC=400)
• GPS1 time: 39 s
• GPS2 time: 4 s • Transponder ping count: 27
• 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 - - - 67 VBD -0.42 - - 109 - - - 2470 - -171.1 -46.28 - 2525 - - - - - - - - - - -
70 3.3 -6.3 8 114 roll -0.42 9.68 0.226 2525 249.6 2.10 0.044 1057 -672.9 -171.1 -26.35 - 3667 -43.3 - - - - - - - 25.32 26.13 26.58
214 26.9 -18.5 33 220 done -0.38 - - 2520 - 2.12 0.038 2450 657.1 -171.1 - - 3669 - - - - - - - - - 26.15 -
528 84.8 -19.9 55 535 roll -0.33 0.12 0.155 2554 283.3 2.00 0.046 3760 655.0 -171.1 - - 3669 - - - - - - - - 26.25 26.22 -
573 92.2 -18.0 57 579 done -0.31 - - 2559 - 1.88 0.021 2430 -707.4 -171.1 - - 3669 - - - - - - - - - 26.44 -
898 117.5 -6.3 73 903 roll -0.35 - - 2559 - 1.98 0.031 1071 -686.4 -171.1 - - 3670 - - - - - - - - - 26.44 -
951 120.2 -6.2 75 956 done -0.39 - - 2559 - 2.05 0.033 2454 674.6 -171.1 - - 3670 - - - - - - - - - 26.40 -
1264 145.2 -8.3 91 1266 done -0.44 - - 2559 - - - 2454 - -171.1 - - 3670 - - - - - - - - - - -
1566 171.7 -8.5 106 1572 roll -0.50 0.12 0.079 2469 -750.0 2.03 0.031 1067 -683.3 -171.1 - - 3670 - - - - - - - - 26.72 26.50 -
1605 174.3 -8.8 107 1613 done -0.54 - - 2466 - 2.08 0.036 2463 671.2 -171.1 - - 3670 - - - - - - - - - 26.45 -
1911 220.2 -14.6 123 1917 roll -0.51 0.12 0.149 2506 333.3 2.03 0.029 1069 -686.7 -171.1 - - 3670 - - - - - - - - 26.45 26.52 -
1965 226.1 -14.1 125 1970 done -0.49 - - 2506 - 2.05 0.035 2446 671.7 -171.1 - - 3670 - - - - - - - - - 26.46 -
2278 259.5 -9.9 141 2284 roll -0.51 - - 2506 - 2.00 0.046 3759 656.5 -171.1 - - 3670 - - - - - - - - - 26.38 -
2312 261.8 -9.8 142 2317 done -0.52 - - 2501 - 1.83 0.019 2444 -718.6 -171.1 - - 3670 - - - - - - - - - 26.67 -
2625 291.7 -9.1 158 2626 done -0.54 - - 2505 - - - 2444 - -171.1 - - 3669 - - - - - - - - - - -
2928 316.0 -7.4 173 2933 roll -0.56 - - 2506 - 2.03 0.047 3765 650.7 -171.1 - - 3668 - - - - - - - - - 26.37 -
2961 317.8 -7.3 174 2966 done -0.58 - - 2506 - 1.85 0.020 2438 -717.3 -171.1 - - 3667 - - - - - - - - - 26.67 -
3274 345.0 -9.1 190 3280 roll -0.61 - - 2505 - 1.95 0.027 1066 -703.6 -171.1 - - 3667 - - - - - - - - - 26.55 -
3314 347.3 -9.1 191 3321 done -0.64 0.12 0.078 2428 -641.7 2.05 0.032 2451 675.6 -171.1 - - 3666 - - - - - - - - 26.46 26.46 -
3618 385.9 -11.8 207 3624 roll -0.60 0.15 0.143 2469 273.3 2.00 0.045 3766 657.5 -171.1 - - 3665 - - - - - - - - 26.38 26.37 -
3656 388.4 -11.6 208 3663 done -0.56 - - 2469 - 1.85 0.020 2442 -715.7 -171.1 - - 3665 - - - - - - - - - 26.66 -
3962 423.4 -12.4 224 3967 roll -0.56 - - 2469 - 1.95 0.028 1073 -702.1 -171.1 - - 3665 - - - - - - - - - 26.53 -
4005 429.0 -12.9 226 4010 done -0.56 - - 2467 - 2.05 0.032 2448 670.7 -171.1 - - 3664 - - - - - - - - - 26.45 -
4328 465.7 -10.1 242 4330 done -0.56 - - 2466 - - - 2449 - -171.1 - - 3663 - - - - - - - - - - -
4630 494.9 -9.9 257 4631 done -0.56 - - 2467 - - - 2449 - -171.1 - - 3661 - - - - - - - - - - -
4930 529.2 -11.9 272 4931 done -0.56 - - 2467 - - - 2449 - -171.1 - - 3659 - - - - - - - - - - -
5230 558.2 -8.3 287 5231 done -0.56 - - 2467 - - - 2449 - -171.1 - - 3658 - - - - - - - - - - -
5533 579.1 -7.1 302 5534 done -0.56 - - 2466 - - - 2449 - -171.1 - - 3656 - - - - - - - - - - -
5830 605.7 -9.4 316 5831 done -0.58 - - 2467 - - - 2449 - -171.1 - - 3654 - - - - - - - - - - -
6130 631.2 -8.3 326 6135 roll -0.59 - - 2467 - 2.03 0.028 1064 -682.3 -171.1 - - 3652 - - - - - - - - - 26.50 -
6157 631.2 -8.3 326 6164 done -0.61 - - 2467 - 2.10 0.034 2453 661.4 -171.1 - - 3652 - - - - - - - - - 26.39 -
6464 659.8 -8.8 337 6469 roll -0.63 - - 2467 - 2.03 0.028 1073 -679.8 -171.1 - - 3649 - - - - - - - - - 26.52 -
6512 663.0 -8.9 338 6517 done -0.65 - - 2467 - 2.08 0.034 2449 661.5 -171.1 - - 3650 - - - - - - - - - 26.38 -
6832 692.3 -8.9 349 6837 roll -0.66 - - 2467 - 2.03 0.054 3758 644.8 -171.1 - - 3648 - - - - - - - - - 25.72 -
6875 695.3 -8.9 350 6880 done -0.68 - - 2467 - 1.85 0.022 2445 -709.7 -171.1 - - 3647 - - - - - - - - - 26.63 -
7201 721.1 -7.6 361 7206 roll -0.71 - - 2467 - 2.00 0.034 1073 -686.0 -171.1 - - 3644 - - - - - - - - - 26.24 -
7285 726.4 -7.8 363 7290 done -0.73 - - 2467 - 2.08 0.034 2450 662.0 -171.1 - - 3644 - - - - - - - - - 26.34 -
7600 753.6 -8.3 374 7606 roll -0.75 0.12 0.085 2393 -616.7 2.03 0.047 3763 646.8 -171.1 - - 3641 - - - - - - - - 26.70 26.22 -
7629 753.6 -8.3 374 7635 done -0.78 - - 2391 - 1.85 0.023 2457 -705.9 -171.1 - - 3641 - - - - - - - - - 26.60 -
7936 795.6 -12.2 385 7938 done -0.74 0.12 0.158 2425 283.3 - - 2457 - -171.1 - - 3640 - - - - - - - - 26.43 - -
8234 826.5 -9.7 395 8235 done -0.74 - - 2425 - - - 2457 - -171.1 - - 3637 - - - - - - - - - - -
8534 852.8 -8.6 405 8540 roll -0.74 - - 2425 - 2.03 0.030 1065 -685.7 -171.1 - - 3635 - - - - - - - - - 26.41 -
8572 855.7 -8.7 406 8578 done -0.74 - - 2425 - 2.10 0.035 2453 661.0 -171.1 - - 3635 - - - - - - - - - 26.29 -
8903 886.2 -9.5 417 8904 done -0.74 - - 2425 - - - 2453 - -171.1 - - 3631 - - - - - - - - - - -
9201 916.4 -10.1 427 9206 roll -0.74 - - 2425 - 2.05 0.030 1072 -673.7 -171.1 - - 3631 - - - - - - - - - 26.17 -
9228 916.4 -10.1 427 9235 done -0.74 - - 2425 - 2.12 0.036 2449 649.5 -171.1 - - 3629 - - - - - - - - - 26.25 -
9535 949.5 -9.8 438 9540 roll -0.74 - - 2424 - 2.05 0.049 3760 639.5 -171.1 - - 3630 - - - - - - - - - 26.10 -
9562 949.5 -9.8 438 9569 done -0.74 - - 2425 - 1.88 0.024 2458 -692.6 -171.1 - - 3629 - - - - - - - - - 26.57 -
9869 980.8 -9.4 449 9874 roll -0.74 - - 2425 - 2.08 0.036 1052 -676.0 -171.1 - - 3628 - - - - - - - - - 26.13 -
9966 989.9 -9.6 452 9972 done -0.74 - - 2425 - 2.12 0.037 2449 659.0 -171.1 - - 3628 - - - - - - - - - 26.22 -
9992 end dive: TARGET_DEPTH_EXCEEDED
9992 begin apogee
9999 993.0 -9.7 453 10155 done -0.20 0.52 0.111 2599 334.6 - - 2276 - - 147.68 1.364 2965 -4.5 0.355 - - - - - - 25.72 - 23.10
10156 end apogee: CONTROL_FINISHED_OK
10156 begin climb
10158 999.1 - 458 10329 roll 0.42 0.60 0.070 2807 346.7 2.22 0.033 948 -598.2 171.1 160.48 1.343 2261 -4.4 0.354 - - - - - - 24.49 23.86 22.58
10346 994.0 4.7 464 10457 done 0.45 - - 2807 - 2.22 0.031 2304 610.8 279.7 102.05 1.188 1820 -4.3 0.392 - - - - - - - 24.31 22.70
10788 963.9 6.5 479 10848 roll 0.50 - - 2807 - 2.30 0.048 3701 607.4 332.8 50.28 1.180 1602 -4.3 0.384 - - - - - - - 25.09 23.94
10861 959.9 6.7 481 10917 done 0.55 0.12 0.080 2869 516.7 2.10 0.026 2331 -652.4 380.7 47.38 1.187 1411 -4.0 0.354 - - - - - - 25.38 25.42 23.65
11245 918.6 10.9 494 11250 roll 0.55 - - 2870 - 2.17 0.037 903 -658.1 380.7 - - 1402 - - - - - - - - - 26.07 -
11342 908.9 10.5 497 11349 done 0.56 - - 2870 - 2.12 0.032 2304 660.8 380.7 - - 1402 - - - - - - - - - 26.16 -
11673 872.6 10.7 508 11678 roll 0.56 - - 2870 - 2.12 0.036 906 -659.4 380.7 - - 1401 - - - - - - - - - 26.29 -
11700 872.6 10.7 508 11708 done 0.56 - - 2870 - 2.10 0.031 2302 664.8 380.7 - - 1400 - - - - - - - - - 26.30 -
12006 838.9 10.1 519 12007 done 0.56 - - 2870 - - - 2301 - 380.7 - - 1400 - - - - - - - - - - -
12307 807.5 10.6 529 12312 roll 0.56 - - 2870 - 2.17 0.047 3701 645.2 380.7 - - 1399 - - - - - - - - - 26.29 -
12330 807.5 10.6 529 12335 done 0.56 - - 2870 - 2.08 0.028 2302 -672.6 380.7 - - 1399 - - - - - - - - - 26.45 -
12643 772.2 9.8 540 12648 roll 0.56 - - 2870 - 2.10 0.037 902 -666.7 380.7 - - 1399 - - - - - - - - - 26.36 -
12701 769.1 9.6 541 12708 done 0.57 - - 2870 - 2.12 0.032 2307 662.7 380.7 - - 1399 - - - - - - - - - 26.39 -
13006 737.3 10.0 552 13011 roll 0.57 - - 2870 - 2.15 0.036 899 -654.9 380.7 - - 1399 - - - - - - - - - 26.37 -
13043 733.8 10.3 553 13048 done 0.58 - - 2870 - 2.10 0.031 2301 667.6 380.7 - - 1399 - - - - - - - - - 26.39 -
13374 694.4 12.3 564 13379 roll 0.59 - - 2870 - 2.17 0.047 3699 644.2 380.7 - - 1398 - - - - - - - - - 26.22 -
13421 689.6 12.5 565 13427 done 0.60 - - 2870 - 2.08 0.028 2291 -676.9 380.7 - - 1397 - - - - - - - - - 26.48 -
13742 650.8 11.2 576 13747 roll 0.62 - - 2870 - 2.08 0.037 908 -664.9 380.7 - - 1397 - - - - - - - - - 26.36 -
13809 643.7 10.9 578 13815 done 0.63 - - 2870 - 2.10 0.035 2309 667.1 380.7 - - 1397 - - - - - - - - - 25.90 -
14141 609.6 9.8 589 14146 roll 0.65 - - 2870 - 2.12 0.036 904 -662.7 380.7 - - 1397 - - - - - - - - - 26.36 -
14174 606.4 9.5 590 14180 done 0.67 - - 2870 - 2.10 0.031 2303 666.2 380.7 - - 1397 - - - - - - - - - 26.37 -
14488 579.8 8.4 604 14494 roll 0.69 - - 2870 - 2.17 0.047 3703 645.2 380.7 - - 1397 - - - - - - - - - 26.25 -
14521 577.6 8.6 605 14526 done 0.70 - - 2870 - 2.08 0.027 2294 -677.4 380.7 - - 1397 - - - - - - - - - 26.48 -
14834 548.3 9.5 621 14840 roll 0.72 - - 2870 - 2.10 0.037 901 -663.3 380.7 - - 1396 - - - - - - - - - 26.33 -
14878 544.0 9.8 623 14884 done 0.75 0.12 0.081 2937 558.3 2.12 0.031 2306 662.7 380.7 - - 1397 - - - - - - - - 26.34 26.36 -
15202 495.3 15.4 639 15204 done 0.71 0.15 0.142 2894 -286.7 - - 2306 - 380.7 - - 1399 - - - - - - - - 26.34 - -
15502 460.6 11.3 654 15508 roll 0.71 - - 2894 - 2.12 0.035 908 -659.4 380.7 - - 1397 - - - - - - - - - 26.33 -
15551 455.4 11.6 656 15556 done 0.72 - - 2894 - 2.08 0.036 2295 666.8 380.7 - - 1397 - - - - - - - - - 24.88 -
15869 415.9 12.9 672 15875 roll 0.72 - - 2894 - 2.17 0.046 3705 649.8 380.7 - - 1396 - - - - - - - - - 26.22 -
15887 415.9 12.9 672 15894 done 0.72 - - 2894 - 2.08 0.026 2293 -678.8 380.7 - - 1397 - - - - - - - - - 26.47 -
16193 377.6 10.3 688 16198 roll 0.72 - - 2895 - 2.08 0.036 897 -671.2 380.7 - - 1397 - - - - - - - - - 26.32 -
16247 373.6 9.7 690 16252 done 0.74 - - 2895 - 2.12 0.030 2313 667.9 380.7 - - 1396 - - - - - - - - - 26.34 -
16560 344.2 9.4 706 16565 roll 0.75 - - 2894 - 2.15 0.046 3701 645.6 380.7 - - 1396 - - - - - - - - - 24.82 -
16587 341.8 9.7 707 16593 done 0.76 - - 2894 - 2.05 0.024 2296 -685.4 380.7 - - 1397 - - - - - - - - - 26.48 -
16907 309.5 9.7 723 16912 roll 0.78 - - 2895 - 2.08 0.034 895 -673.6 380.7 - - 1397 - - - - - - - - - 26.34 -
16964 305.9 8.6 725 16972 done 0.80 - - 2894 - 2.10 0.029 2308 672.9 380.7 - - 1397 - - - - - - - - - 26.34 -
17270 281.9 8.1 741 17277 roll 0.82 0.12 0.081 2975 675.0 2.15 0.044 3697 646.0 386.0 - - 1396 - - - - - - - - 26.68 26.20 -
17305 278.9 9.2 742 17311 done 0.82 0.17 0.145 2936 -229.4 2.05 0.025 2295 -683.9 386.0 - - 1397 - - - - - - - - 26.00 26.47 -
17619 237.8 12.2 758 17620 done 0.81 - - 2936 - - - 2294 - 386.0 - - 1397 - - - - - - - - - - -
17921 199.3 13.4 773 17926 roll 0.80 - - 2938 - 2.05 0.034 899 -680.5 386.0 - - 1398 - - - - - - - - - 26.34 -
17953 196.0 13.2 774 17959 done 0.80 - - 2937 - 2.08 0.028 2303 675.0 386.0 - - 1398 - - - - - - - - - 26.36 -
18267 153.4 13.0 790 18272 roll 0.80 - - 2941 - 2.15 0.043 3703 651.2 386.0 - - 1398 - - - - - - - - - 26.27 -
18320 147.8 12.5 792 18325 done 0.80 - - 2941 - 2.05 0.023 2288 -690.2 386.0 - - 1398 - - - - - - - - - 26.51 -
18633 121.5 6.7 808 18682 roll 0.82 - - 2948 - 2.08 0.031 899 -667.8 435.1 43.28 0.629 1186 -4.9 0.103 - - - - - - - 25.98 24.96
18709 116.9 7.3 811 18725 done 0.83 - - 2947 - 2.10 0.028 2301 667.6 463.1 10.65 0.374 1079 -10.0 0.341 - - - - - - - 25.99 25.01
19038 87.7 9.9 828 19043 roll 0.87 - - 2947 - 2.10 0.034 895 -669.5 463.1 - - 1086 - - - - - - - - - 26.18 -
19122 78.2 11.5 832 19127 done 0.93 - - 2947 - 2.10 0.028 2313 675.2 463.1 - - 1086 - - - - - - - - - 26.22 -
19446 48.8 7.9 848 19455 done 0.98 0.12 0.076 3030 691.7 - - 2313 - 472.5 5.07 0.220 1040 -9.1 0.218 - - - - - - 26.58 - 25.28
19757 8.6 15.3 890 19765 roll 0.95 0.15 0.138 2980 -333.3 2.10 0.040 3697 659.0 472.5 - - 1046 - - - - - - - - 26.26 26.27 -
19792 3.4 13.0 896 19799 done 0.95 - - 2980 - 2.05 0.023 2299 -682.0 472.5 - - 1047 - - - - - - - - - 26.45 -
19804 end climb: SURFACE_DEPTH_REACHED
19804 begin surface coast
19831 end surface coast: CONTROL_FINISHED_OK
19831 begin surface
SM 1.68 - - - - -7.90 7.18 0.023 102 -400.8 0.22 0.053 2459 727.3 471.22 - - 1047 - - - - - - - -