OKMC Oct12 * SG167 * Dive index * Mission links * Dive 152 * Raw log
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• Previous call tries 1 • 35.99 of 150.00 AH used of 24V (76.00% remains)
• Previous NAKs 0, Timeouts 0 • 23.87 of 110.00 AH used of 10V (78.30% remains)
• Surface angle -60.8 deg, depth 1.70 m • Intended pitch -14.1 deg, speed -8.250 cm/s
• No surface pump (final VBD was 408.92, SM_CC=400)
• GPS1 time: 34 s
• GPS2 time: 4 s • Transponder ping count: 23
• 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 - - - 80 VBD -0.42 - - 108 - - - 2488 - -171.1 -59.15 - 2600 - - - - - - - - - - -
84 3.1 -6.1 10 126 roll -0.42 9.55 0.221 2525 253.1 2.15 0.047 1064 -662.3 -171.1 -25.40 - 3666 -42.0 - - - - - - - 25.34 26.05 26.53
272 30.4 -16.4 41 279 done -0.38 - - 2520 - 2.08 0.041 2416 650.0 -171.1 - - 3667 - - - - - - - - - 26.09 -
588 93.0 -19.6 62 594 roll -0.33 0.12 0.155 2559 325.0 2.10 0.048 3774 646.7 -171.1 - - 3667 - - - - - - - - 26.26 26.21 -
703 106.4 -11.7 67 709 done -0.33 - - 2559 - 1.90 0.018 2424 -710.5 -171.1 - - 3668 - - - - - - - - - 26.52 -
1017 136.2 -8.8 83 1023 roll -0.37 - - 2559 - 1.95 0.030 1063 -697.9 -171.1 - - 3668 - - - - - - - - - 26.46 -
1065 140.1 -8.7 85 1071 done -0.42 - - 2559 - 2.08 0.033 2460 671.6 -171.1 - - 3669 - - - - - - - - - 26.39 -
1384 159.9 -5.2 101 1390 roll -0.47 0.12 0.078 2466 -775.0 2.05 0.030 1058 -683.9 -171.1 - - 3669 - - - - - - - - 26.71 26.48 -
1412 162.1 -6.3 102 1419 done -0.51 0.12 0.145 2502 300.0 2.08 0.036 2451 669.7 -171.1 - - 3669 - - - - - - - - 26.19 26.41 -
1732 204.1 -13.0 118 1737 roll -0.51 - - 2500 - 2.05 0.032 1059 -679.0 -171.1 - - 3669 - - - - - - - - - 26.49 -
1775 209.5 -12.7 120 1781 done -0.51 - - 2501 - 2.12 0.037 2462 661.8 -171.1 - - 3669 - - - - - - - - - 26.43 -
2099 246.0 -11.2 136 2100 done -0.51 - - 2502 - - - 2462 - -171.1 - - 3668 - - - - - - - - - - -
2401 279.0 -10.5 151 2407 roll -0.51 - - 2501 - 2.03 0.030 1068 -686.7 -171.1 - - 3669 - - - - - - - - - 26.52 -
2441 281.8 -10.4 152 2447 done -0.51 - - 2501 - 2.08 0.036 2460 669.2 -171.1 - - 3668 - - - - - - - - - 26.44 -
2745 310.7 -8.5 168 2746 done -0.51 - - 2501 - - - 2460 - -171.1 - - 3667 - - - - - - - - - - -
3049 337.4 -9.5 183 3054 roll -0.52 - - 2501 - 2.05 0.035 1062 -682.0 -171.1 - - 3666 - - - - - - - - - 26.41 -
3072 340.0 -9.7 184 3077 done -0.53 - - 2508 - 2.10 0.037 2457 664.3 -171.1 - - 3666 - - - - - - - - - 26.34 -
3396 368.8 -8.3 200 3401 roll -0.55 - - 2501 - 2.03 0.029 1063 -686.7 -171.1 - - 3668 - - - - - - - - - 26.52 -
3423 371.0 -8.6 201 3428 done -0.57 - - 2501 - 2.08 0.035 2450 666.8 -171.1 - - 3665 - - - - - - - - - 26.33 -
3741 398.5 -7.7 217 3747 roll -0.59 - - 2501 - 2.00 0.052 3763 656.5 -171.1 - - 3663 - - - - - - - - - 26.18 -
3820 402.9 -6.8 220 3826 done -0.61 - - 2502 - 1.85 0.020 2438 -716.2 -171.1 - - 3663 - - - - - - - - - 26.66 -
4126 422.5 -6.3 236 4132 roll -0.64 0.12 0.079 2422 -666.7 2.00 0.035 1068 -685.0 -171.1 - - 3661 - - - - - - - - 26.74 26.22 -
4169 427.1 -8.4 238 4175 done -0.64 0.15 0.145 2463 273.3 2.10 0.035 2458 661.9 -171.1 - - 3661 - - - - - - - - 26.14 26.44 -
4493 460.8 -11.7 254 4494 done -0.64 - - 2463 - - - 2458 - -171.1 - - 3660 - - - - - - - - - - -
4797 496.1 -11.0 269 4799 done -0.64 - - 2463 - - - 2458 - -171.1 -0.08 - 3683 -287.5 - - - - - - - - - 25.51
5093 523.5 -8.5 284 5099 roll -0.64 - - 2463 - 2.03 0.031 1072 -682.8 -171.1 - - 3681 - - - - - - - - - 26.51 -
5137 526.9 -8.2 286 5143 done -0.64 - - 2462 - 2.08 0.035 2453 663.9 -171.1 - - 3681 - - - - - - - - - 26.43 -
5461 555.6 -9.6 302 5466 roll -0.64 - - 2463 - 1.98 0.045 3758 659.1 -171.1 - - 3680 - - - - - - - - - 26.33 -
5544 563.2 -9.2 306 5549 done -0.65 - - 2463 - 1.85 0.021 2441 -711.9 -171.1 - - 3679 - - - - - - - - - 26.65 -
5868 589.3 -7.5 322 5873 roll -0.66 - - 2463 - 1.98 0.029 1068 -693.4 -171.1 - - 3677 - - - - - - - - - 26.48 -
5952 595.5 -7.5 326 5958 done -0.68 - - 2463 - 2.10 0.035 2451 658.6 -171.1 - - 3677 - - - - - - - - - 26.40 -
6278 619.4 -8.0 338 6283 roll -0.70 - - 2462 - 2.00 0.047 3762 655.5 -171.1 - - 3674 - - - - - - - - - 26.29 -
6398 628.2 -9.0 341 6405 done -0.71 - - 2463 - 1.88 0.022 2443 -701.6 -171.1 - - 3673 - - - - - - - - - 26.63 -
6703 659.2 -9.4 352 6708 roll -0.73 - - 2463 - 2.00 0.031 1071 -686.0 -171.1 - - 3672 - - - - - - - - - 26.46 -
6782 665.6 -9.6 354 6787 done -0.75 - - 2463 - 2.10 0.036 2459 661.0 -171.1 - - 3672 - - - - - - - - - 26.16 -
7101 694.4 -8.4 365 7107 roll -0.76 0.12 0.083 2388 -625.0 2.03 0.026 1074 -682.3 -171.1 - - 3669 - - - - - - - - 26.71 26.46 -
7137 698.2 -9.0 366 7143 done -0.76 0.12 0.159 2419 258.3 2.08 0.036 2449 661.1 -171.1 - - 3668 - - - - - - - - 26.07 26.35 -
7471 734.9 -11.1 377 7473 done -0.75 - - 2419 - - - 2449 - -171.1 - - 3666 - - - - - - - - - - -
7771 767.8 -10.9 387 7777 roll -0.73 - - 2419 - 2.05 0.031 1067 -674.1 -171.1 - - 3664 - - - - - - - - - 26.43 -
7890 778.0 -10.8 390 7897 done -0.72 - - 2420 - 2.10 0.037 2457 661.9 -171.1 - - 3664 - - - - - - - - - 26.32 -
8197 810.5 -9.5 401 8199 done -0.70 - - 2419 - - - 2458 - -171.1 - - 3667 - - - - - - - - - - -
8495 836.6 -8.5 411 8496 done -0.68 - - 2415 - - - 2458 - -171.1 - - 3659 - - - - - - - - - - -
8796 862.6 -9.2 421 8802 roll -0.67 0.12 0.155 2462 391.7 2.05 0.027 1079 -672.7 -171.1 - - 3657 - - - - - - - - 26.39 26.39 -
8845 865.7 -9.1 422 8850 done -0.67 - - 2461 - 2.08 0.036 2456 662.0 -171.1 - - 3657 - - - - - - - - - 26.29 -
9165 893.2 -8.5 433 9170 roll -0.70 - - 2461 - 2.03 0.029 1077 -679.3 -171.1 - - 3655 - - - - - - - - - 26.39 -
9202 896.3 -8.6 434 9208 done -0.73 - - 2461 - 2.08 0.036 2449 659.6 -171.1 - - 3656 - - - - - - - - - 26.27 -
9533 926.2 -9.0 445 9535 done -0.75 0.12 0.083 2398 -525.0 - - 2449 - -171.1 - - 3651 - - - - - - - - 26.70 - -
9831 963.1 -12.6 455 9837 roll -0.73 0.12 0.157 2437 325.0 2.03 0.028 1080 -674.4 -171.1 - - 3652 - - - - - - - - 26.36 26.34 -
9869 967.0 -12.5 456 9874 done -0.71 - - 2437 - 2.08 0.037 2449 658.2 -171.1 - - 3652 - - - - - - - - - 26.25 -
10104 end dive: TARGET_DEPTH_EXCEEDED
10104 begin apogee
10111 990.6 -9.5 464 10272 done -0.20 0.50 0.107 2605 336.0 - - 2291 - - 152.00 1.313 2962 -4.5 0.370 - - - - - - 25.79 - 23.16
10273 end apogee: CONTROL_FINISHED_OK
10273 begin climb
10276 997.2 - 469 10444 roll 0.42 0.57 0.067 2808 356.1 2.50 0.046 3716 570.0 171.1 158.43 1.307 2261 -4.4 0.365 - - - - - - 24.57 23.87 22.67
10505 987.5 7.1 477 10546 done 0.42 - - 2813 - 2.17 0.027 2341 -633.6 206.7 33.50 1.278 2120 -4.2 0.351 - - - - - - - 24.93 23.02
10864 958.0 8.2 489 10869 roll 0.42 - - 2813 - 2.22 0.038 900 -649.1 208.0 - - 2108 - - - - - - - - - 25.96 -
10891 958.0 8.2 489 10899 done 0.42 - - 2813 - 2.15 0.034 2305 653.5 209.2 - - 2106 - - - - - - - - - 25.86 -
11198 931.5 7.8 500 11220 roll 0.43 - - 2813 - 2.25 0.047 3693 616.9 222.8 14.85 1.237 2051 -3.7 0.301 - - - - - - - 25.84 24.51
11299 923.4 8.6 503 11305 done 0.43 - - 2813 - 2.10 0.027 2293 -666.7 222.8 - - 2049 - - - - - - - - - 26.09 -
11624 895.5 8.4 514 11630 roll 0.43 - - 2813 - 2.10 0.038 901 -662.9 222.8 - - 2047 - - - - - - - - - 26.23 -
11641 895.5 8.4 514 11647 done 0.43 - - 2808 - 2.12 0.033 2307 663.2 222.8 - - 2047 - - - - - - - - - 26.25 -
11963 868.2 7.9 525 11981 roll 0.44 - - 2813 - 2.22 0.047 3693 624.3 233.2 9.73 1.267 2012 -3.6 0.266 - - - - - - - 26.10 24.68
12028 862.6 8.2 527 12033 done 0.44 - - 2813 - 2.10 0.028 2289 -668.6 233.8 - - 2010 - - - - - - - - - 26.20 -
12359 838.8 6.7 538 12417 roll 0.47 - - 2813 - 2.40 0.046 3705 590.0 282.8 51.28 1.144 1808 -3.9 0.312 - - - - - - - 25.27 24.18
12447 835.0 6.6 540 12504 done 0.51 - - 2813 - 2.15 0.027 2297 -654.9 334.0 51.53 1.119 1603 -4.0 0.321 - - - - - - - 25.63 23.90
12813 809.4 6.3 553 12878 roll 0.57 0.12 0.082 2886 608.3 2.20 0.037 907 -631.8 392.7 58.67 1.090 1359 -4.2 0.334 - - - - - - 26.20 25.14 24.06
12908 800.0 9.3 556 12913 done 0.59 - - 2887 - 2.20 0.033 2306 635.9 392.7 - - 1354 - - - - - - - - - 25.48 -
13243 760.7 12.1 567 13248 roll 0.59 - - 2886 - 2.17 0.037 897 -649.3 392.7 - - 1349 - - - - - - - - - 26.14 -
13285 756.5 12.2 568 13291 done 0.59 - - 2887 - 2.15 0.033 2302 653.5 392.7 - - 1350 - - - - - - - - - 26.17 -
13611 715.9 12.1 579 13616 roll 0.59 - - 2886 - 2.17 0.047 3700 644.2 392.7 - - 1348 - - - - - - - - - 26.22 -
13633 715.9 12.1 579 13638 done 0.59 - - 2886 - 2.08 0.028 2302 -672.1 392.7 - - 1347 - - - - - - - - - 26.34 -
13948 676.8 11.3 590 13953 roll 0.59 - - 2886 - 2.10 0.038 900 -667.6 392.7 - - 1347 - - - - - - - - - 26.33 -
14030 669.7 11.1 592 14035 done 0.59 - - 2886 - 2.12 0.032 2312 666.0 392.7 - - 1347 - - - - - - - - - 26.36 -
14344 630.8 11.9 603 14345 done 0.59 - - 2887 - - - 2312 - 392.7 - - 1346 - - - - - - - - - - -
14643 596.9 10.9 613 14648 roll 0.59 - - 2886 - 2.12 0.036 905 -663.7 392.7 - - 1346 - - - - - - - - - 26.38 -
14676 594.5 10.8 614 14681 done 0.59 - - 2886 - 2.10 0.032 2304 666.2 392.7 - - 1347 - - - - - - - - - 26.14 -
14989 564.5 8.9 630 14994 roll 0.59 - - 2886 - 2.12 0.035 894 -665.1 392.7 - - 1346 - - - - - - - - - 26.39 -
15016 562.4 8.8 631 15021 done 0.60 - - 2886 - 2.12 0.037 2310 667.9 392.7 - - 1346 - - - - - - - - - 26.04 -
15335 533.7 9.2 647 15340 roll 0.61 - - 2887 - 2.15 0.046 3699 646.0 392.7 - - 1345 - - - - - - - - - 26.30 -
15352 533.7 9.2 647 15360 done 0.62 - - 2887 - 2.08 0.026 2291 -676.9 392.7 - - 1344 - - - - - - - - - 26.51 -
15658 500.9 10.0 663 15664 roll 0.63 - - 2886 - 2.05 0.037 912 -672.7 392.7 - - 1345 - - - - - - - - - 26.38 -
15736 495.0 9.3 666 15743 done 0.65 - - 2886 - 2.08 0.031 2302 668.3 392.7 - - 1345 - - - - - - - - - 26.40 -
16042 467.1 8.5 682 16047 roll 0.67 - - 2886 - 2.15 0.045 3699 649.8 392.7 - - 1344 - - - - - - - - - 26.29 -
16069 465.0 8.8 683 16075 done 0.68 - - 2886 - 2.05 0.025 2295 -684.9 392.7 - - 1344 - - - - - - - - - 26.52 -
16389 434.0 10.7 699 16394 roll 0.70 - - 2887 - 2.08 0.036 899 -671.2 392.7 - - 1343 - - - - - - - - - 26.38 -
16481 424.9 10.7 703 16488 done 0.72 - - 2887 - 2.12 0.031 2311 666.0 392.7 - - 1344 - - - - - - - - - 26.40 -
16796 391.0 10.0 719 16802 roll 0.75 - - 2887 - 2.15 0.045 3707 649.3 392.7 - - 1345 - - - - - - - - - 26.28 -
16834 388.4 10.1 720 16842 done 0.77 - - 2887 - 2.05 0.024 2299 -686.8 392.7 - - 1344 - - - - - - - - - 26.53 -
17140 354.2 11.0 736 17146 roll 0.79 0.12 0.085 2966 658.3 2.05 0.032 907 -679.0 392.7 - - 1344 - - - - - - - - 26.67 26.39 -
17213 345.2 13.2 739 17219 done 0.79 0.15 0.126 2924 -280.0 2.08 0.031 2304 671.6 392.7 - - 1344 - - - - - - - - 26.13 26.39 -
17527 306.8 11.4 755 17532 roll 0.79 - - 2924 - 2.17 0.044 3710 647.9 392.7 - - 1344 - - - - - - - - - 26.28 -
17554 304.0 11.6 756 17560 done 0.79 - - 2923 - 2.05 0.024 2301 -687.3 392.7 - - 1344 - - - - - - - - - 26.52 -
17872 265.6 12.0 772 17877 roll 0.79 - - 2923 - 2.05 0.035 906 -680.5 392.7 - - 1344 - - - - - - - - - 26.38 -
17910 262.9 11.8 773 17916 done 0.79 - - 2924 - 2.08 0.029 2308 674.0 392.7 - - 1345 - - - - - - - - - 26.40 -
18216 225.7 11.2 789 18217 done 0.79 - - 2923 - - - 2308 - 392.7 - - 1344 - - - - - - - - - - -
18518 194.1 10.2 804 18523 roll 0.79 - - 2923 - 2.10 0.035 894 -673.3 392.7 - - 1345 - - - - - - - - - 26.39 -
18555 191.8 9.8 805 18562 done 0.79 - - 2923 - 2.08 0.030 2302 676.9 392.7 - - 1345 - - - - - - - - - 26.41 -
18862 163.5 9.9 821 18867 roll 0.81 - - 2923 - 2.08 0.033 899 -674.5 392.7 - - 1345 - - - - - - - - - 26.40 -
18885 161.0 10.3 822 18891 done 0.82 - - 2924 - 2.08 0.029 2302 674.5 392.7 - - 1346 - - - - - - - - - 26.42 -
19209 129.2 7.8 838 19224 roll 0.84 - - 2923 - 2.08 0.031 905 -671.6 407.4 8.95 0.753 1303 -4.8 0.089 - - - - - - - 26.41 25.08
19272 123.8 8.4 841 19278 done 0.87 - - 2923 - 2.10 0.028 2311 669.5 407.4 - - 1301 - - - - - - - - - 26.38 -
19597 94.3 8.7 857 19603 roll 0.92 0.12 0.080 3008 708.3 2.10 0.041 3694 658.6 407.4 - - 1301 - - - - - - - - 26.63 26.29 -
19610 94.3 8.7 857 19616 done 0.97 0.12 0.158 2983 -208.3 2.03 0.021 2288 -692.6 407.4 - - 1301 - - - - - - - - 26.15 26.51 -
19923 56.9 12.6 873 19930 roll 0.97 - - 2985 - 2.03 0.034 902 -682.8 407.4 - - 1301 - - - - - - - - - 26.39 -
19976 52.0 11.7 875 19982 done 0.97 - - 2985 - 2.08 0.030 2308 676.0 407.4 - - 1301 - - - - - - - - - 26.42 -
20290 24.6 8.7 906 20296 done 0.97 - - 2985 - - - 2308 - 407.4 - - 1298 - - - - - - - - - - -
20489 end climb: SURFACE_DEPTH_REACHED
20489 begin surface coast
20515 end surface coast: CONTROL_FINISHED_OK
20515 begin surface
SM 1.89 - - - - -7.89 7.15 0.023 117 -401.1 0.20 0.064 2457 745.0 408.92 - - 1301 - - - - - - - -