OKMC Oct12 * SG167 * Dive index * Mission links * Dive 137 * Raw log
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• Previous call tries 1 • 32.94 of 150.00 AH used of 24V (78.04% remains)
• Previous NAKs 0, Timeouts 0 • 21.55 of 110.00 AH used of 10V (80.41% remains)
• Surface angle -62.8 deg, depth 1.70 m • Intended pitch -12.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 461.90, SM_CC=400)
• GPS1 time: 40 s
• GPS2 time: 4 s • Transponder ping count: 24
• 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 - - - 73 VBD -0.38 - - 106 - - - 2467 - -171.1 -52.45 - 2574 - - - - - - - - - - -
77 3.0 -4.8 9 121 roll -0.38 9.68 0.224 2542 251.7 2.12 0.047 1063 -662.3 -171.1 -27.30 - 3666 -40.0 - - - - - - - 25.36 26.06 26.55
200 18.0 -14.5 31 207 done -0.38 - - 2541 - 2.10 0.039 2436 653.8 -171.1 - - 3667 - - - - - - - - - 26.07 -
520 71.0 -17.4 61 525 roll -0.38 - - 2541 - 2.08 0.052 3772 642.3 -171.1 - - 3667 - - - - - - - - - 26.16 -
563 78.3 -17.4 63 568 done -0.38 - - 2541 - 1.90 0.022 2453 -694.2 -171.1 - - 3667 - - - - - - - - - 26.41 -
886 122.4 -9.5 79 891 roll -0.38 - - 2541 - 2.05 0.032 1044 -687.3 -171.1 - - 3668 - - - - - - - - - 26.39 -
988 132.0 -9.5 84 994 done -0.38 - - 2541 - 2.15 0.042 2464 660.5 -171.1 - - 3667 - - - - - - - - - 26.29 -
1312 162.8 -9.0 100 1317 roll -0.38 - - 2541 - 2.10 0.037 1060 -668.6 -171.1 - - 3667 - - - - - - - - - 26.38 -
1358 166.7 -9.1 102 1363 done -0.38 - - 2540 - 2.10 0.043 2441 657.6 -171.1 - - 3668 - - - - - - - - - 26.34 -
1676 194.9 -8.7 118 1682 roll -0.38 - - 2541 - 2.08 0.039 1058 -664.9 -171.1 - - 3668 - - - - - - - - - 26.39 -
1703 196.9 -9.0 119 1709 done -0.38 - - 2541 - 2.12 0.044 2451 657.1 -171.1 - - 3668 - - - - - - - - - 26.35 -
2021 225.8 -8.6 135 2022 done -0.38 - - 2541 - - - 2451 - -171.1 - - 3668 - - - - - - - - - - -
2323 250.6 -7.8 150 2324 done -0.38 - - 2540 - - - 2451 - -171.1 - - 3667 - - - - - - - - - - -
2624 271.3 -6.1 165 2629 roll -0.38 - - 2535 - 2.00 0.048 3768 658.5 -171.1 - - 3666 - - - - - - - - - 26.38 -
2668 274.2 -6.3 167 2673 done -0.38 - - 2535 - 1.90 0.019 2406 -716.8 -171.1 - - 3666 - - - - - - - - - 26.67 -
2991 296.8 -7.3 183 2997 roll -0.38 - - 2535 - 1.90 0.028 1073 -701.6 -171.1 - - 3665 - - - - - - - - - 26.55 -
3064 301.8 -7.7 186 3069 done -0.38 - - 2535 - 2.05 0.032 2459 676.1 -171.1 - - 3665 - - - - - - - - - 26.48 -
3377 329.1 -9.0 202 3382 roll -0.38 - - 2535 - 2.03 0.031 1067 -685.7 -171.1 - - 3664 - - - - - - - - - 26.54 -
3424 333.1 -9.1 204 3430 done -0.38 - - 2535 - 2.08 0.034 2463 671.2 -171.1 - - 3664 - - - - - - - - - 26.47 -
3742 359.6 -7.7 220 3747 roll -0.38 - - 2535 - 1.98 0.048 3763 656.6 -171.1 - - 3662 - - - - - - - - - 26.37 -
3799 362.7 -7.4 222 3806 done -0.38 - - 2535 - 1.83 0.019 2441 -722.4 -171.1 - - 3663 - - - - - - - - - 26.69 -
4106 384.6 -6.5 238 4111 roll -0.38 - - 2535 - 1.92 0.028 1085 -706.2 -171.1 - - 3661 - - - - - - - - - 26.55 -
4178 389.1 -7.1 241 4183 done -0.38 - - 2535 - 2.05 0.033 2461 671.2 -171.1 - - 3661 - - - - - - - - - 26.38 -
4491 410.2 -6.7 257 4497 roll -0.38 - - 2535 - 1.98 0.049 3760 656.1 -171.1 - - 3660 - - - - - - - - - 26.36 -
4549 413.0 -6.4 259 4556 done -0.38 - - 2535 - 1.83 0.019 2430 -726.8 -171.1 - - 3657 - - - - - - - - - 26.69 -
4855 431.6 -5.6 275 4856 done -0.38 - - 2535 - - - 2430 - -171.1 - - 3659 - - - - - - - - - - -
5157 448.4 -5.6 290 5163 roll -0.38 - - 2535 - 1.92 0.041 1096 -694.8 -171.1 -0.08 - 3685 -325.0 - - - - - - - - 26.52 25.65
5196 450.0 -5.7 291 5202 done -0.38 - - 2535 - 2.00 0.031 2453 678.5 -171.1 - - 3685 - - - - - - - - - 26.46 -
5501 469.0 -6.1 307 5506 roll -0.38 - - 2535 - 2.03 0.049 3763 645.3 -171.1 - - 3684 - - - - - - - - - 26.34 -
5554 471.6 -6.1 309 5559 done -0.38 - - 2535 - 1.80 0.020 2448 -730.6 -171.1 - - 3684 - - - - - - - - - 26.70 -
5867 492.6 -7.1 325 5873 roll -0.38 - - 2535 - 2.03 0.049 3755 643.8 -171.1 - - 3683 - - - - - - - - - 26.32 -
5982 500.6 -7.8 330 5987 done -0.38 - - 2535 - 1.80 0.020 2428 -737.2 -171.1 - - 3682 - - - - - - - - - 26.71 -
6295 527.1 -8.1 346 6300 roll -0.38 - - 2535 - 2.05 0.047 3753 646.3 -171.1 - - 3681 - - - - - - - - - 26.30 -
6353 530.5 -7.7 348 6360 done -0.38 - - 2535 - 1.80 0.021 2449 -724.4 -171.1 - - 3683 - - - - - - - - - 26.70 -
6658 550.1 -5.4 364 6664 roll -0.38 - - 2535 - 1.95 0.028 1091 -696.4 -171.1 - - 3679 - - - - - - - - - 26.50 -
6707 552.4 -5.2 366 6712 done -0.38 - - 2535 - 2.00 0.031 2457 683.0 -171.1 - - 3678 - - - - - - - - - 26.48 -
7026 570.6 -6.5 382 7031 roll -0.38 - - 2535 - 1.98 0.028 1100 -685.4 -171.1 - - 3677 - - - - - - - - - 24.78 -
7251 586.7 -7.5 393 7257 done -0.38 - - 2535 - 2.03 0.032 2459 669.5 -171.1 - - 3676 - - - - - - - - - 26.46 -
7566 611.8 -7.7 406 7572 roll -0.38 - - 2534 - 1.98 0.047 3752 653.0 -171.1 - - 3674 - - - - - - - - - 26.27 -
7800 629.9 -8.8 413 7806 done -0.38 - - 2535 - 1.80 0.021 2448 -724.4 -171.1 - - 3673 - - - - - - - - - 26.68 -
8114 656.2 -7.6 424 8119 roll -0.38 - - 2535 - 1.95 0.029 1097 -692.8 -171.1 - - 3672 - - - - - - - - - 26.46 -
8347 672.0 -7.4 431 8352 done -0.38 - - 2535 - 2.00 0.032 2450 676.5 -171.1 - - 3671 - - - - - - - - - 26.44 -
8660 695.1 -6.9 442 8666 roll -0.38 - - 2535 - 1.98 0.028 1093 -685.4 -171.1 - - 3669 - - - - - - - - - 26.46 -
8893 709.8 -6.9 449 8898 done -0.38 - - 2535 - 2.03 0.033 2456 671.4 -171.1 - - 3668 - - - - - - - - - 26.41 -
9207 731.9 -6.7 460 9212 roll -0.38 - - 2534 - 2.00 0.029 1086 -685.0 -171.1 - - 3666 - - - - - - - - - 26.44 -
9441 747.0 -7.1 467 9447 done -0.38 - - 2535 - 2.03 0.032 2451 672.4 -171.1 - - 3664 - - - - - - - - - 26.41 -
9755 772.0 -7.6 478 9761 roll -0.38 - - 2534 - 2.00 0.035 1094 -678.5 -171.1 - - 3662 - - - - - - - - - 25.65 -
9988 787.5 -7.2 485 9993 done -0.38 - - 2535 - 2.03 0.034 2451 668.5 -171.1 - - 3661 - - - - - - - - - 26.38 -
10303 810.2 -7.1 496 10308 roll -0.38 - - 2534 - 2.03 0.050 3751 640.4 -171.1 - - 3659 - - - - - - - - - 26.13 -
10535 829.6 -9.5 503 10541 done -0.38 - - 2535 - 1.83 0.024 2457 -707.1 -171.1 - - 3658 - - - - - - - - - 26.61 -
10849 860.7 -9.1 514 10855 roll -0.38 - - 2536 - 2.03 0.050 3750 636.9 -171.1 - - 3656 - - - - - - - - - 26.11 -
10861 860.7 -9.1 514 10866 done -0.38 - - 2536 - 1.85 0.024 2455 -700.0 -171.1 - - 3657 - - - - - - - - - 26.59 -
11186 889.1 -8.1 525 11187 done -0.38 - - 2535 - - - 2455 - -171.1 - - 3655 - - - - - - - - - - -
11485 911.9 -7.4 535 11490 roll -0.38 - - 2535 - 2.03 0.031 1076 -679.3 -171.1 - - 3654 - - - - - - - - - 26.34 -
11717 927.8 -7.5 542 11723 done -0.38 - - 2535 - 2.08 0.035 2456 663.5 -171.1 - - 3653 - - - - - - - - - 26.29 -
12033 951.7 -7.0 553 12038 roll -0.38 - - 2535 - 2.05 0.032 1076 -673.2 -171.1 - - 3652 - - - - - - - - - 25.72 -
12266 966.8 -7.3 560 12271 done -0.38 - - 2535 - 2.10 0.036 2458 658.1 -171.1 - - 3650 - - - - - - - - - 25.82 -
12581 989.4 -6.9 571 12586 roll -0.38 - - 2535 - 2.05 0.050 3765 637.6 -171.1 - - 3650 - - - - - - - - - 26.01 -
12612 end dive: TARGET_DEPTH_EXCEEDED
12612 begin apogee
12620 991.7 -6.9 572 12780 done -0.20 0.17 0.073 2609 435.3 - - 2298 - - 151.73 1.325 2964 -4.5 0.366 - - - - - - 26.54 - 23.33
12781 end apogee: CONTROL_FINISHED_OK
12781 begin climb
12784 1000.2 - 577 12952 roll 0.38 0.50 0.055 2796 374.0 2.33 0.035 909 -596.1 171.1 158.05 1.266 2262 -4.4 0.379 - - - - - - 24.63 23.90 22.75
12970 994.7 5.5 583 13040 done 0.41 - - 2795 - 2.30 0.032 2303 606.1 235.9 61.30 1.264 1999 -4.3 0.365 - - - - - - - 24.39 22.74
13340 964.4 7.5 596 13345 roll 0.41 - - 2795 - 2.22 0.049 3698 628.4 235.9 - - 1987 - - - - - - - - - 25.78 -
13387 961.6 7.8 597 13392 done 0.41 - - 2795 - 2.10 0.026 2290 -670.5 235.9 - - 1987 - - - - - - - - - 26.01 -
13705 934.5 7.9 608 13710 roll 0.41 - - 2798 - 2.08 0.037 914 -661.5 235.9 - - 1986 - - - - - - - - - 26.17 -
13732 934.5 7.9 608 13740 done 0.41 - - 2798 - 2.10 0.031 2307 663.3 235.9 - - 1985 - - - - - - - - - 26.21 -
14038 909.2 7.5 619 14044 roll 0.41 - - 2798 - 2.17 0.050 3696 640.1 235.9 - - 1985 - - - - - - - - - 26.17 -
14065 909.2 7.5 619 14073 done 0.41 - - 2798 - 2.05 0.026 2293 -684.4 235.9 - - 1984 - - - - - - - - - 26.38 -
14372 885.7 6.7 630 14402 roll 0.42 - - 2798 - 2.15 0.037 925 -636.3 257.5 20.30 1.258 1911 -3.6 0.274 - - - - - - - 25.86 24.60
14429 883.7 6.7 631 14458 done 0.42 - - 2798 - 2.10 0.031 2300 654.8 278.2 22.30 1.260 1829 -3.7 0.279 - - - - - - - 25.94 24.20
14767 858.9 7.0 643 14783 done 0.43 - - 2798 - - - 2300 - 291.0 13.95 1.257 1780 -3.5 0.259 - - - - - - - - 24.50
15067 837.0 7.3 653 15068 done 0.43 - - 2798 - - - 2300 - 292.8 - - 1770 - - - - - - - - - - -
15367 816.8 6.5 663 15406 roll 0.44 - - 2798 - 2.25 0.051 3694 619.6 321.8 32.83 1.236 1649 -3.7 0.263 - - - - - - - 25.44 24.31
15418 815.0 6.5 664 15459 done 0.45 - - 2798 - 2.12 0.027 2301 -657.1 352.0 31.80 1.216 1527 -3.8 0.278 - - - - - - - 25.65 24.04
15759 793.8 5.7 676 15823 roll 0.48 - - 2797 - 2.20 0.033 904 -635.0 408.6 58.12 1.129 1297 -4.0 0.301 - - - - - - - 25.08 24.06
15858 788.4 5.9 679 15916 done 0.50 - - 2797 - 2.17 0.028 2309 647.5 458.3 51.78 1.095 1095 -3.9 0.304 - - - - - - - 25.47 23.86
16244 744.6 11.4 692 16250 roll 0.50 - - 2797 - 2.15 0.033 901 -654.9 458.3 - - 1084 - - - - - - - - - 26.03 -
16272 744.6 11.4 692 16279 done 0.50 - - 2797 - 2.15 0.035 2299 650.2 458.3 - - 1084 - - - - - - - - - 25.26 -
16578 706.4 11.5 703 16584 roll 0.50 - - 2798 - 2.22 0.050 3709 635.1 458.3 - - 1083 - - - - - - - - - 26.13 -
16646 698.6 11.8 705 16652 done 0.50 - - 2798 - 2.10 0.025 2274 -683.3 458.3 - - 1081 - - - - - - - - - 26.36 -
16976 657.4 13.1 716 16977 done 0.50 - - 2798 - - - 2273 - 458.3 - - 1081 - - - - - - - - - - -
17275 618.7 12.3 726 17281 roll 0.50 - - 2797 - 2.25 0.047 3701 634.7 458.3 - - 1081 - - - - - - - - - 26.25 -
17339 611.4 11.8 728 17344 done 0.50 - - 2798 - 2.05 0.024 2300 -683.4 458.3 - - 1079 - - - - - - - - - 26.49 -
17662 575.6 11.7 742 17663 done 0.50 - - 2798 - - - 2299 - 458.3 - - 1078 - - - - - - - - - - -
17964 537.8 13.1 757 17965 done 0.50 - - 2798 - - - 2299 - 458.3 - - 1078 - - - - - - - - - - -
18265 497.2 13.5 772 18266 done 0.50 - - 2798 - - - 2299 - 458.3 - - 1079 - - - - - - - - - - -
18564 459.1 12.7 787 18569 roll 0.50 - - 2798 - 2.05 0.033 912 -676.6 458.3 - - 1078 - - - - - - - - - 26.44 -
18591 455.9 12.6 788 18597 done 0.50 - - 2798 - 2.10 0.034 2322 671.4 458.3 - - 1079 - - - - - - - - - 25.98 -
18910 413.0 13.9 804 18915 roll 0.50 - - 2798 - 2.12 0.047 3693 646.7 458.3 - - 1079 - - - - - - - - - 26.24 -
19064 392.7 13.8 811 19070 done 0.50 - - 2799 - 2.03 0.023 2287 -692.6 458.3 - - 1079 - - - - - - - - - 26.58 -
19377 350.6 12.9 827 19383 roll 0.50 - - 2797 - 2.20 0.045 3702 643.2 458.3 - - 1079 - - - - - - - - - 26.28 -
19445 342.7 12.8 830 19450 done 0.50 - - 2798 - 2.03 0.023 2288 -696.6 458.3 - - 1079 - - - - - - - - - 26.59 -
19763 301.4 13.3 846 19769 roll 0.50 - - 2798 - 2.17 0.044 3690 646.1 458.3 - - 1079 - - - - - - - - - 26.28 -
19998 271.7 13.1 857 20003 done 0.50 - - 2798 - 2.00 0.022 2289 -700.5 458.3 - - 1079 - - - - - - - - - 26.60 -
20311 233.0 11.9 873 20317 roll 0.50 - - 2798 - 2.17 0.044 3691 646.1 458.3 - - 1079 - - - - - - - - - 26.28 -
20369 227.4 12.6 875 20377 done 0.50 - - 2798 - 1.98 0.021 2297 -704.0 458.3 - - 1079 - - - - - - - - - 26.61 -
20675 186.3 12.8 891 20680 roll 0.50 - - 2798 - 2.15 0.044 3692 648.8 458.3 - - 1080 - - - - - - - - - 26.32 -
20722 180.9 12.5 893 20728 done 0.50 - - 2798 - 1.98 0.021 2291 -707.6 458.3 - - 1080 - - - - - - - - - 26.63 -
21041 143.5 11.9 909 21046 roll 0.50 - - 2798 - 2.15 0.043 3698 654.4 458.3 - - 1078 - - - - - - - - - 26.30 -
21134 133.0 12.5 913 21139 done 0.50 - - 2798 - 1.98 0.021 2288 -712.1 458.3 - - 1081 - - - - - - - - - 26.63 -
21447 93.8 10.8 929 21453 roll 0.50 - - 2798 - 1.98 0.031 934 -683.8 458.3 - - 1082 - - - - - - - - - 26.46 -
21500 89.5 10.2 931 21506 done 0.50 - - 2798 - 2.00 0.025 2316 691.0 458.3 - - 1082 - - - - - - - - - 26.51 -
21814 52.8 13.6 947 21820 roll 0.50 - - 2798 - 2.05 0.030 935 -673.7 458.3 - - 1083 - - - - - - - - - 26.46 -
21852 48.3 13.3 949 21859 done 0.50 - - 2798 - 1.98 0.025 2298 688.4 458.3 - - 1083 - - - - - - - - - 26.51 -
22159 12.3 11.1 992 22166 roll 0.50 - - 2798 - 2.12 0.044 3696 659.4 458.3 - - 1084 - - - - - - - - - 26.32 -
22241 end climb: SURFACE_DEPTH_REACHED
22241 begin surface coast
22268 end surface coast: CONTROL_FINISHED_OK
22268 begin surface
SM 1.89 - - - - -7.88 6.68 0.023 118 -401.2 1.80 0.019 2494 -667.8 461.90 - - 1085 - - - - - - - -