OKMC Oct12 * SG167 * Dive index * Mission links * Dive 100 * Raw log
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• Previous call tries 1 • 25.67 of 150.00 AH used of 24V (82.88% remains)
• Previous NAKs 0, Timeouts 0 • 15.54 of 110.00 AH used of 10V (85.87% remains)
• Surface angle -60.4 deg, depth 1.58 m • Intended pitch -12.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 492.32, SM_CC=425)
• GPS1 time: 41 s
• GPS2 time: 4 s • Transponder ping count: 25
• 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 - - - 90 VBD -0.38 - - 110 - - - 2310 - -171.1 -70.10 - 2652 - - - - - - - - - - -
94 3.0 -3.7 12 132 roll -0.38 9.77 0.221 2607 255.6 2.10 0.047 956 -644.8 -171.1 -23.75 - 3667 -42.7 - - - - - - - 25.57 26.10 26.49
167 12.0 -12.6 24 174 done -0.40 - - 2606 - 2.05 0.037 2307 659.0 -171.1 - - 3668 - - - - - - - - - 26.08 -
477 47.9 -11.0 64 483 roll -0.40 - - 2607 - 2.20 0.047 3734 648.6 -171.1 - - 3666 - - - - - - - - - 26.18 -
534 52.3 -10.6 67 541 done -0.40 - - 2607 - 2.00 0.021 2351 -691.5 -171.1 - - 3668 - - - - - - - - - 26.41 -
843 82.4 -10.3 83 848 roll -0.42 - - 2607 - 2.17 0.051 3736 638.2 -171.1 - - 3668 - - - - - - - - - 26.22 -
889 87.0 -10.5 85 894 done -0.45 - - 2606 - 2.05 0.023 2320 -690.7 -171.1 - - 3668 - - - - - - - - - 26.49 -
1208 113.4 -5.6 101 1214 roll -0.52 - - 2607 - 2.05 0.036 914 -685.9 -171.1 - - 3668 - - - - - - - - - 26.46 -
1235 114.8 -5.6 102 1242 done -0.59 0.17 0.058 2497 -647.1 2.15 0.041 2331 659.1 -171.1 - - 3668 - - - - - - - - 26.48 26.39 -
1555 158.4 -14.1 118 1562 roll -0.51 0.22 0.132 2563 300.0 2.15 0.046 3742 656.3 -171.1 - - 3669 - - - - - - - - 26.24 26.40 -
1655 166.2 -9.0 122 1662 done -0.53 - - 2563 - 2.05 0.022 2316 -695.6 -171.1 - - 3669 - - - - - - - - - 26.58 -
1960 190.9 -7.7 138 1965 roll -0.58 - - 2561 - 2.20 0.046 3752 652.7 -171.1 - - 3669 - - - - - - - - - 26.44 -
2017 194.2 -7.6 140 2024 done -0.64 - - 2561 - 2.05 0.019 2297 -709.8 -171.1 - - 3669 - - - - - - - - - 26.65 -
2323 215.6 -6.4 156 2325 done -0.70 0.15 0.070 2469 -613.3 - - 2297 - -171.1 - - 3669 - - - - - - - - 26.74 - -
2625 256.3 -14.5 171 2627 done -0.61 0.25 0.129 2545 304.0 - - 2297 - -171.1 - - 3668 - - - - - - - - 26.26 - -
2925 279.8 -7.3 186 2931 roll -0.66 - - 2544 - 2.25 0.049 3739 640.9 -171.1 - - 3667 - - - - - - - - - 26.43 -
2995 284.4 -7.0 189 3001 done -0.71 0.12 0.076 2465 -658.3 2.00 0.019 2297 -721.0 -171.1 - - 3666 - - - - - - - - 26.60 26.70 -
3314 327.5 -14.0 205 3316 done -0.63 0.22 0.126 2534 313.6 - - 2297 - -171.1 - - 3665 - - - - - - - - 26.32 - -
3616 351.1 -7.4 220 3621 roll -0.67 - - 2533 - 2.22 0.047 3736 648.2 -171.1 - - 3664 - - - - - - - - - 26.41 -
3688 355.9 -7.3 223 3695 done -0.73 - - 2534 - 1.98 0.018 2313 -718.7 -171.1 - - 3667 - - - - - - - - - 26.71 -
4003 379.5 -7.5 239 4009 roll -0.78 0.12 0.079 2448 -716.7 2.20 0.044 3742 649.5 -171.1 - - 3662 - - - - - - - - 26.77 26.39 -
4061 384.4 -9.3 241 4069 done -0.78 0.15 0.138 2491 286.7 2.00 0.024 2337 -702.5 -171.1 - - 3662 - - - - - - - - 26.29 26.66 -
4367 416.6 -9.0 257 4373 roll -0.78 - - 2491 - 2.03 0.031 932 -692.1 -171.1 - - 3661 - - - - - - - - - 26.55 -
4405 418.7 -9.0 258 4412 done -0.78 - - 2491 - 2.10 0.041 2338 669.5 -171.1 - - 3660 - - - - - - - - - 26.45 -
4711 446.4 -7.8 274 4716 roll -0.78 - - 2491 - 2.12 0.047 3732 657.5 -171.1 - - 3659 - - - - - - - - - 26.38 -
4794 452.9 -7.9 278 4799 done -0.78 - - 2491 - 2.00 0.021 2309 -711.5 -171.1 - - 3658 - - - - - - - - - 26.68 -
5117 479.1 -8.5 294 5123 roll -0.78 - - 2491 - 2.22 0.062 3723 636.9 -171.1 -0.08 - 3685 -337.5 - - - - - - - - 26.35 25.71
5190 484.5 -8.6 297 5196 done -0.80 - - 2491 - 1.98 0.018 2309 -714.1 -171.1 - - 3685 - - - - - - - - - 26.72 -
5505 510.1 -7.3 313 5511 roll -0.81 - - 2491 - 1.95 0.029 951 -696.4 -171.1 - - 3684 - - - - - - - - - 26.53 -
5593 516.4 -7.5 317 5598 done -0.83 - - 2491 - 2.05 0.036 2328 671.7 -171.1 - - 3683 - - - - - - - - - 26.49 -
5911 539.7 -7.6 333 5917 roll -0.86 - - 2491 - 2.15 0.045 3732 653.0 -171.1 - - 3681 - - - - - - - - - 26.37 -
6000 546.0 -7.5 337 6006 done -0.89 0.12 0.080 2424 -558.3 1.98 0.021 2317 -714.6 -171.1 - - 3680 - - - - - - - - 26.57 26.68 -
6319 587.9 -13.1 353 6325 roll -0.82 0.15 0.143 2473 326.7 1.95 0.026 958 -696.9 -171.1 - - 3679 - - - - - - - - 26.38 26.54 -
6393 594.4 -10.8 356 6399 done -0.79 - - 2473 - 2.03 0.032 2324 672.9 -171.1 - - 3678 - - - - - - - - - 26.48 -
6716 623.4 -8.6 368 6721 roll -0.79 - - 2473 - 2.17 0.047 3732 648.8 -171.1 - - 3676 - - - - - - - - - 26.34 -
6783 628.5 -8.2 370 6788 done -0.79 - - 2473 - 1.98 0.024 2337 -704.5 -171.1 - - 3676 - - - - - - - - - 25.46 -
7113 653.0 -7.3 381 7118 roll -0.79 - - 2473 - 2.17 0.050 3726 640.1 -171.1 - - 3673 - - - - - - - - - 26.22 -
7151 655.6 -7.3 382 7156 done -0.79 - - 2472 - 2.00 0.021 2311 -707.5 -171.1 - - 3673 - - - - - - - - - 26.67 -
7480 680.7 -7.8 393 7487 roll -0.79 - - 2472 - 2.20 0.047 3725 642.7 -171.1 - - 3670 - - - - - - - - - 25.41 -
7575 688.4 -8.1 396 7580 done -0.81 - - 2472 - 2.00 0.022 2317 -704.0 -171.1 - - 3669 - - - - - - - - - 26.67 -
7910 716.1 -8.5 407 7915 roll -0.83 - - 2473 - 2.20 0.047 3732 643.2 -171.1 - - 3665 - - - - - - - - - 26.27 -
7983 721.6 -8.6 409 7989 done -0.84 - - 2472 - 2.03 0.024 2332 -689.7 -171.1 - - 3667 - - - - - - - - - 25.73 -
8309 747.4 -7.4 420 8314 roll -0.86 - - 2472 - 2.20 0.048 3733 636.8 -171.1 - - 3665 - - - - - - - - - 26.21 -
8382 752.5 -7.6 422 8388 done -0.88 - - 2472 - 2.05 0.023 2309 -694.6 -171.1 - - 3664 - - - - - - - - - 26.64 -
8708 778.3 -7.8 433 8713 roll -0.90 - - 2473 - 2.22 0.054 3725 637.8 -171.1 - - 3662 - - - - - - - - - 26.16 -
8731 778.3 -7.8 433 8736 done -0.92 - - 2473 - 2.00 0.031 2322 -701.5 -171.1 - - 3662 - - - - - - - - - 25.83 -
9046 805.8 -8.5 444 9051 roll -0.94 0.12 0.086 2402 -591.7 2.00 0.026 940 -691.0 -171.1 - - 3659 - - - - - - - - 26.71 26.46 -
9074 805.8 -8.5 444 9080 done -0.96 - - 2400 - 2.08 0.032 2330 668.3 -171.1 - - 3659 - - - - - - - - - 26.37 -
9382 847.8 -12.8 455 9384 done -0.89 0.17 0.148 2450 294.1 - - 2330 - -171.1 - - 3657 - - - - - - - - 26.27 - -
9679 876.4 -9.3 465 9685 roll -0.89 - - 2450 - 2.20 0.050 3735 638.6 -171.1 - - 3655 - - - - - - - - - 26.09 -
9815 888.2 -9.5 469 9820 done -0.89 - - 2450 - 2.03 0.024 2318 -698.0 -171.1 - - 3655 - - - - - - - - - 26.60 -
10140 918.7 -9.0 480 10141 done -0.89 - - 2450 - - - 2317 - -171.1 - - 3653 - - - - - - - - - - -
10439 947.1 -9.7 490 10444 roll -0.89 - - 2450 - 2.00 0.036 951 -683.0 -171.1 - - 3652 - - - - - - - - - 26.15 -
10460 947.1 -9.7 490 10466 done -0.89 - - 2450 - 2.08 0.033 2324 660.1 -171.1 - - 3651 - - - - - - - - - 26.32 -
10773 979.8 -9.8 501 10778 roll -0.89 - - 2450 - 2.20 0.054 3726 637.3 -171.1 - - 3653 - - - - - - - - - 25.87 -
10881 989.1 -10.0 504 10886 done -0.89 - - 2450 - 2.03 0.026 2315 -695.1 -171.1 - - 3648 - - - - - - - - - 26.56 -
10896 end dive: TARGET_DEPTH_EXCEEDED
10896 begin apogee
10902 992.3 -10.1 505 11059 done -0.20 0.65 0.103 2671 340.0 - - 2314 - - 150.43 1.344 2967 -4.5 0.358 - - - - - - 25.75 - 23.56
11061 end apogee: CONTROL_FINISHED_OK
11061 begin climb
11063 1000.6 - 510 11231 roll 0.38 0.52 0.042 2885 411.5 2.30 0.034 940 -597.4 171.1 156.40 1.313 2261 -4.5 0.368 - - - - - - 24.77 23.94 22.93
11259 997.0 4.9 516 11344 done 0.26 0.20 0.126 2831 -270.0 2.20 0.031 2299 617.7 254.6 77.65 1.248 1928 -4.3 0.367 - - - - - - 24.41 24.57 22.99
11657 961.5 8.2 530 11663 roll 0.24 - - 2831 - 2.25 0.048 3706 625.3 254.6 - - 1911 - - - - - - - - - 25.73 -
11740 955.6 8.7 532 11745 done 0.21 - - 2831 - 2.10 0.028 2308 -665.7 254.6 - - 1910 - - - - - - - - - 25.98 -
12055 929.2 7.8 543 12061 roll 0.18 0.12 0.147 2789 -350.0 2.10 0.034 908 -666.7 254.6 - - 1908 - - - - - - - - 26.08 26.15 -
12092 926.9 7.5 544 12097 done 0.18 - - 2789 - 2.10 0.031 2305 665.2 254.6 - - 1907 - - - - - - - - - 26.19 -
12425 906.8 6.4 555 12457 done 0.23 - - 2789 - - - 2305 - 287.1 30.40 1.255 1797 -3.6 0.280 - - - - - - - - 24.55
12752 885.5 6.4 566 12789 roll 0.28 0.12 0.080 2861 600.0 2.28 0.051 3692 608.3 317.6 31.27 1.240 1667 -4.2 0.318 - - - - - - 26.22 25.32 24.37
12822 879.3 8.0 568 12828 done 0.28 0.12 0.147 2835 -216.7 2.12 0.028 2303 -655.2 317.6 - - 1662 - - - - - - - - 25.46 25.63 -
13147 848.8 9.1 579 13148 done 0.28 - - 2835 - - - 2302 - 317.6 - - 1658 - - - - - - - - - - -
13446 820.8 8.8 589 13451 roll 0.28 - - 2835 - 2.12 0.036 886 -667.9 317.6 - - 1658 - - - - - - - - - 26.23 -
13483 818.1 8.7 590 13488 done 0.28 - - 2835 - 2.12 0.031 2301 667.5 317.6 - - 1657 - - - - - - - - - 26.27 -
13813 793.5 6.9 601 13832 roll 0.29 - - 2835 - 2.20 0.047 3698 635.0 331.0 13.52 1.225 1610 -3.5 0.241 - - - - - - - 25.98 24.99
13850 791.1 7.0 602 13868 done 0.29 - - 2835 - 2.10 0.028 2293 -669.0 342.0 11.32 1.225 1569 -3.6 0.251 - - - - - - - 26.08 24.77
14177 768.5 6.6 613 14206 done 0.32 - - 2835 - - - 2294 - 366.2 26.27 1.185 1473 -3.7 0.254 - - - - - - - - 24.53
14509 745.0 7.5 624 14510 done 0.35 - - 2835 - - - 2294 - 366.2 - - 1464 - - - - - - - - - - -
14807 721.7 8.0 634 14808 done 0.37 - - 2836 - - - 2294 - 366.2 - - 1462 - - - - - - - - - - -
15107 697.8 8.0 644 15113 roll 0.40 0.12 0.082 2908 600.0 2.22 0.046 3708 636.9 366.2 - - 1462 - - - - - - - - 26.45 26.20 -
15155 693.8 8.7 645 15161 done 0.40 0.15 0.148 2868 -266.7 2.10 0.030 2299 -671.0 366.2 - - 1462 - - - - - - - - 26.06 26.36 -
15476 660.3 9.6 656 15477 done 0.40 - - 2868 - - - 2299 - 366.2 - - 1462 - - - - - - - - - - -
15774 629.9 10.2 666 15775 done 0.40 - - 2867 - - - 2299 - 366.2 - - 1462 - - - - - - - - - - -
16074 600.6 9.5 676 16080 roll 0.40 - - 2868 - 2.20 0.048 3695 634.5 366.2 - - 1461 - - - - - - - - - 26.27 -
16108 596.9 9.7 677 16113 done 0.40 - - 2867 - 2.10 0.029 2291 -668.6 366.2 - - 1461 - - - - - - - - - 26.46 -
16421 565.3 9.4 693 16422 done 0.40 - - 2868 - - - 2291 - 366.2 - - 1461 - - - - - - - - - - -
16723 539.2 8.4 708 16728 roll 0.40 - - 2867 - 2.08 0.036 900 -668.8 366.2 - - 1461 - - - - - - - - - 26.39 -
16755 537.2 8.2 709 16760 done 0.40 - - 2868 - 2.08 0.030 2301 673.6 366.2 - - 1461 - - - - - - - - - 26.42 -
17068 508.2 9.2 725 17074 roll 0.40 - - 2868 - 2.10 0.034 902 -666.2 366.2 - - 1461 - - - - - - - - - 26.40 -
17132 502.2 9.2 728 17138 done 0.40 - - 2868 - 2.08 0.030 2303 673.6 366.2 - - 1461 - - - - - - - - - 26.42 -
17455 470.5 9.5 744 17456 done 0.40 - - 2868 - - - 2302 - 366.2 - - 1464 - - - - - - - - - - -
17757 442.9 9.0 759 17763 roll 0.40 - - 2868 - 2.15 0.047 3693 647.0 366.2 - - 1460 - - - - - - - - - 26.28 -
17784 440.5 9.1 760 17789 done 0.40 - - 2868 - 2.05 0.026 2286 -686.3 366.2 - - 1461 - - - - - - - - - 26.53 -
18102 412.1 8.4 776 18107 roll 0.40 - - 2868 - 2.05 0.034 905 -673.7 366.2 - - 1461 - - - - - - - - - 26.41 -
18155 408.7 8.2 778 18160 done 0.43 - - 2868 - 2.08 0.028 2312 676.4 366.2 - - 1461 - - - - - - - - - 26.44 -
18468 381.9 8.4 794 18474 roll 0.44 - - 2868 - 2.15 0.046 3696 643.7 366.2 - - 1460 - - - - - - - - - 26.28 -
18502 379.7 8.5 795 18507 done 0.46 - - 2868 - 2.05 0.025 2285 -688.3 366.2 - - 1460 - - - - - - - - - 26.54 -
18815 350.7 9.1 811 18820 roll 0.48 - - 2868 - 2.03 0.032 907 -678.8 366.2 - - 1461 - - - - - - - - - 26.41 -
18839 348.7 9.1 812 18845 done 0.51 0.12 0.080 2940 600.0 2.08 0.028 2303 671.2 366.2 - - 1460 - - - - - - - - 26.41 26.44 -
19163 304.9 13.4 828 19169 roll 0.44 0.17 0.133 2883 -335.3 2.15 0.043 3705 652.1 366.2 - - 1460 - - - - - - - - 26.27 26.28 -
19188 302.1 12.8 829 19193 done 0.39 - - 2883 - 2.03 0.024 2298 -693.1 366.2 - - 1461 - - - - - - - - - 26.55 -
19511 273.2 8.8 845 19512 done 0.39 - - 2883 - - - 2298 - 366.2 - - 1461 - - - - - - - - - - -
19813 247.6 8.4 860 19819 roll 0.41 - - 2882 - 2.03 0.031 905 -686.2 366.2 - - 1461 - - - - - - - - - 26.43 -
19862 244.0 8.0 862 19867 done 0.44 - - 2883 - 2.05 0.027 2306 683.4 366.2 - - 1461 - - - - - - - - - 26.46 -
20180 219.5 7.9 878 20185 roll 0.47 - - 2883 - 2.15 0.048 3702 649.3 366.2 - - 1462 - - - - - - - - - 25.51 -
20233 215.5 8.6 880 20238 done 0.49 - - 2883 - 2.03 0.022 2290 -695.6 366.2 - - 1462 - - - - - - - - - 26.58 -
20546 189.6 6.8 896 20571 roll 0.53 - - 2882 - 2.03 0.029 907 -681.3 386.0 18.45 0.791 1388 -4.0 0.103 - - - - - - - 26.30 25.43
20651 184.0 5.1 901 20725 done 0.62 0.17 0.061 2979 570.6 2.05 0.026 2301 680.0 465.0 66.57 0.713 1069 -4.8 0.132 - - - - - - 26.27 26.27 24.73
21034 131.4 15.3 920 21040 roll 0.56 0.17 0.123 2922 -335.3 2.15 0.041 3693 647.4 465.0 - - 1059 - - - - - - - - 25.90 25.98 -
21101 123.1 13.3 923 21106 done 0.56 - - 2922 - 2.03 0.023 2304 -684.2 465.0 - - 1059 - - - - - - - - - 26.20 -
21419 97.0 7.7 939 21425 roll 0.63 - - 2923 - 2.05 0.031 899 -685.4 465.0 - - 1058 - - - - - - - - - 26.27 -
21484 93.0 6.5 942 21500 done 0.72 0.15 0.070 3009 573.3 2.08 0.025 2304 675.5 493.6 10.55 0.327 954 -9.9 0.300 - - - - - - 26.27 26.29 25.56
21808 55.4 12.1 958 21814 roll 0.69 0.15 0.125 2958 -340.0 2.12 0.041 3697 657.1 493.6 - - 961 - - - - - - - - 26.24 26.23 -
21865 50.2 11.9 960 21872 done 0.69 - - 2958 - 2.03 0.021 2288 -694.1 493.6 - - 961 - - - - - - - - - 26.43 -
22172 26.3 8.3 991 22177 roll 0.74 - - 2958 - 2.00 0.030 911 -688.5 493.6 - - 961 - - - - - - - - - 26.40 -
22217 22.0 10.6 997 22224 done 0.81 0.12 0.073 3044 716.7 2.03 0.025 2305 686.7 493.6 - - 961 - - - - - - - - 26.41 26.42 -
22345 end climb: SURFACE_DEPTH_REACHED
22345 begin surface coast
22363 end surface coast: CONTROL_FINISHED_OK
22365 begin surface
SM 1.71 - - - - -8.11 7.30 0.022 114 -401.4 - - 2306 - 492.32 - - 961 - - - - - - - -