OKMC Oct12 * SG167 * Dive index * Mission links * Dive 158 * Raw log
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• Previous call tries 1 • 37.26 of 150.00 AH used of 24V (75.16% remains)
• Previous NAKs 0, Timeouts 0 • 24.77 of 110.00 AH used of 10V (77.49% remains)
• Surface angle -59.4 deg, depth 1.63 m • Intended pitch -14.1 deg, speed -8.250 cm/s
• No surface pump (final VBD was 484.96, SM_CC=400)
• GPS1 time: 42 s
• GPS2 time: 4 s • Transponder ping count: 18
• 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 - - - 91 VBD -0.42 - - 106 - - - 2497 - -171.1 -70.07 - 2479 - - - - - - - - - - -
95 3.2 -6.0 12 139 roll -0.42 9.73 0.226 2525 248.6 2.22 0.046 1063 -645.9 -171.1 -28.65 - 3668 -41.5 - - - - - - - 25.34 26.11 26.57
223 20.8 -16.8 35 229 done -0.38 - - 2520 - 2.05 0.038 2404 654.1 -171.1 - - 3670 - - - - - - - - - 26.10 -
548 83.2 -16.4 60 554 roll -0.33 0.12 0.154 2560 333.3 1.98 0.031 1076 -670.7 -171.1 - - 3669 - - - - - - - - 26.26 26.31 -
606 88.4 -13.6 62 613 done -0.31 - - 2560 - 2.10 0.042 2453 655.7 -171.1 - - 3669 - - - - - - - - - 26.25 -
913 117.1 -7.6 78 918 roll -0.35 - - 2560 - 2.00 0.047 3769 658.0 -171.1 - - 3670 - - - - - - - - - 26.30 -
936 118.6 -7.2 79 941 done -0.39 - - 2560 - 1.88 0.018 2417 -719.1 -171.1 - - 3669 - - - - - - - - - 26.60 -
1260 140.5 -7.5 95 1265 roll -0.44 - - 2560 - 2.08 0.045 3773 651.9 -171.1 - - 3670 - - - - - - - - - 26.36 -
1305 144.0 -7.8 97 1311 done -0.50 0.15 0.067 2465 -633.3 1.83 0.018 2451 -722.4 -171.1 - - 3669 - - - - - - - - 26.54 26.64 -
1629 193.1 -15.5 113 1635 roll -0.46 0.17 0.135 2522 335.3 1.98 0.029 1080 -692.4 -171.1 - - 3670 - - - - - - - - 26.32 26.51 -
1702 200.6 -12.5 116 1707 done -0.46 - - 2521 - 2.08 0.034 2463 664.9 -171.1 - - 3670 - - - - - - - - - 26.46 -
2016 227.7 -7.8 132 2017 done -0.48 - - 2521 - - - 2463 - -171.1 - - 3670 - - - - - - - - - - -
2317 249.3 -7.3 147 2322 roll -0.51 - - 2522 - 2.03 0.032 1077 -682.8 -171.1 - - 3670 - - - - - - - - - 26.53 -
2370 252.6 -7.3 149 2377 done -0.55 - - 2522 - 2.03 0.032 2453 677.8 -171.1 - - 3669 - - - - - - - - - 26.49 -
2686 273.0 -5.6 165 2692 roll -0.58 0.12 0.080 2434 -733.3 1.98 0.044 3755 657.6 -171.1 - - 3668 - - - - - - - - 26.74 26.35 -
2715 274.9 -6.0 166 2721 done -0.60 0.15 0.139 2476 280.0 1.83 0.022 2449 -713.7 -171.1 - - 3668 - - - - - - - - 26.28 26.60 -
3035 302.0 -7.9 182 3041 roll -0.60 - - 2476 - 1.98 0.033 1080 -691.4 -171.1 - - 3667 - - - - - - - - - 25.41 -
3093 305.5 -7.9 184 3099 done -0.60 - - 2476 - 2.03 0.034 2446 672.9 -171.1 - - 3667 - - - - - - - - - 26.47 -
3399 335.0 -10.1 200 3404 roll -0.60 - - 2476 - 2.00 0.038 1076 -685.0 -171.1 - - 3665 - - - - - - - - - 25.68 -
3462 342.0 -11.0 203 3467 done -0.60 - - 2476 - 2.05 0.034 2448 669.3 -171.1 - - 3665 - - - - - - - - - 26.45 -
3785 380.9 -12.1 219 3786 done -0.60 - - 2476 - - - 2444 - -171.1 - - 3664 - - - - - - - - - - -
4087 411.2 -9.5 234 4092 roll -0.60 - - 2476 - 2.00 0.049 3759 657.5 -171.1 - - 3663 - - - - - - - - - 26.35 -
4139 415.2 -9.3 236 4144 done -0.60 - - 2476 - 1.83 0.020 2442 -719.7 -171.1 - - 3659 - - - - - - - - - 26.67 -
4452 441.9 -8.4 252 4458 roll -0.62 - - 2476 - 1.98 0.027 1072 -691.9 -171.1 - - 3660 - - - - - - - - - 26.53 -
4606 456.0 -10.1 259 4612 done -0.63 - - 2476 - 2.05 0.033 2451 672.7 -171.1 - - 3660 - - - - - - - - - 26.44 -
4920 487.9 -9.6 275 4925 roll -0.65 - - 2476 - 2.00 0.049 3757 653.0 -171.1 - - 3658 - - - - - - - - - 26.32 -
4967 492.0 -9.5 277 4973 done -0.67 - - 2476 - 1.83 0.019 2435 -722.4 -171.1 - - 3658 - - - - - - - - - 26.67 -
5286 518.3 -7.9 293 5287 done -0.68 - - 2476 - - - 2435 - -171.1 - - 3656 - - - - - - - - - - -
5589 541.6 -7.9 308 5594 roll -0.70 - - 2476 - 1.92 0.026 1088 -701.6 -171.1 - - 3654 - - - - - - - - - 26.51 -
5633 545.5 -8.0 310 5639 done -0.73 0.12 0.080 2406 -583.3 2.05 0.032 2459 668.8 -171.1 - - 3653 - - - - - - - - 26.42 26.43 -
5957 584.8 -12.7 326 5964 roll -0.69 0.12 0.156 2440 283.3 2.00 0.047 3756 648.5 -171.1 - - 3647 - - - - - - - - 26.39 26.29 -
5986 587.8 -12.3 327 5992 done -0.66 - - 2440 - 1.83 0.020 2442 -718.0 -171.1 - - 3651 - - - - - - - - - 26.65 -
6316 622.1 -10.5 340 6322 roll -0.66 - - 2439 - 1.95 0.028 1090 -693.3 -171.1 - - 3649 - - - - - - - - - 26.10 -
6419 632.8 -11.0 343 6425 done -0.66 - - 2439 - 2.05 0.033 2448 662.4 -171.1 - - 3651 - - - - - - - - - 26.40 -
6745 673.6 -13.0 354 6750 roll -0.66 - - 2440 - 2.05 0.050 3766 642.9 -171.1 - - 3646 - - - - - - - - - 26.24 -
6772 673.6 -13.0 354 6779 done -0.66 - - 2439 - 1.85 0.021 2449 -711.9 -171.1 - - 3645 - - - - - - - - - 26.65 -
7078 715.3 -11.8 365 7084 roll -0.66 - - 2439 - 1.98 0.029 1084 -689.4 -171.1 - - 3643 - - - - - - - - - 26.46 -
7156 723.0 -12.0 367 7161 done -0.66 - - 2439 - 2.08 0.039 2457 660.1 -171.1 - - 3643 - - - - - - - - - 26.21 -
7474 758.1 -10.1 378 7479 roll -0.66 - - 2440 - 2.03 0.050 3767 645.3 -171.1 - - 3640 - - - - - - - - - 26.21 -
7507 761.2 -9.9 379 7513 done -0.66 - - 2439 - 1.88 0.023 2451 -700.0 -171.1 - - 3643 - - - - - - - - - 26.60 -
7842 790.5 -8.5 390 7843 done -0.66 - - 2439 - - - 2451 - -171.1 - - 3637 - - - - - - - - - - -
8141 816.5 -8.6 400 8146 roll -0.66 - - 2439 - 2.05 0.051 3756 636.6 -171.1 - - 3636 - - - - - - - - - 26.17 -
8193 819.3 -8.5 401 8199 done -0.66 - - 2439 - 1.85 0.023 2452 -704.9 -171.1 - - 3636 - - - - - - - - - 26.60 -
8507 847.6 -8.6 412 8508 done -0.66 - - 2439 - - - 2451 - -171.1 - - 3634 - - - - - - - - - - -
8807 873.6 -8.7 422 8808 done -0.66 - - 2440 - - - 2451 - -171.1 - - 3633 - - - - - - - - - - -
9107 898.9 -8.4 432 9108 done -0.66 - - 2440 - - - 2451 - -171.1 - - 3631 - - - - - - - - - - -
9407 923.4 -8.2 442 9412 roll -0.66 - - 2439 - 2.03 0.029 1073 -678.8 -171.1 - - 3627 - - - - - - - - - 26.37 -
9471 928.8 -8.4 444 9476 done -0.67 - - 2439 - 2.10 0.034 2457 659.0 -171.1 - - 3628 - - - - - - - - - 26.29 -
9805 959.6 -9.7 455 9811 roll -0.67 - - 2439 - 2.05 0.057 3759 635.1 -171.1 - - 3627 - - - - - - - - - 26.06 -
9848 963.1 -9.9 456 9853 done -0.68 - - 2440 - 1.88 0.024 2439 -702.1 -171.1 - - 3627 - - - - - - - - - 26.56 -
10108 end dive: TARGET_DEPTH_EXCEEDED
10108 begin apogee
10115 991.1 -10.3 465 10271 done -0.20 0.47 0.109 2597 334.0 - - 2296 - - 147.62 1.257 2963 -4.5 0.385 - - - - - - 25.81 - 23.32
10272 end apogee: CONTROL_FINISHED_OK
10272 begin climb
10275 1000.4 - 470 10441 done 0.42 0.60 0.070 2807 350.0 - - 2295 - 171.1 161.35 1.305 2269 -4.3 0.358 - - - - - - 24.66 - 22.56
10743 987.0 4.5 486 10861 roll 0.49 - - 2807 - 2.20 0.034 933 -619.1 286.4 108.47 1.147 1789 -4.4 0.413 - - - - - - - 24.67 23.55
10936 976.5 5.9 492 11017 done 0.57 0.15 0.068 2882 500.0 2.15 0.031 2311 640.9 359.6 70.95 1.136 1493 -4.2 0.389 - - - - - - 25.45 25.44 23.41
11316 933.3 11.8 505 11317 done 0.57 - - 2883 - - - 2310 - 359.6 - - 1479 - - - - - - - - - - -
11616 897.6 11.9 515 11621 roll 0.57 - - 2881 - 2.10 0.036 936 -654.3 359.6 - - 1478 - - - - - - - - - 26.22 -
11683 889.9 12.1 517 11688 done 0.57 - - 2882 - 2.05 0.031 2300 665.4 359.6 - - 1478 - - - - - - - - - 26.27 -
12013 847.2 13.1 528 12018 roll 0.57 - - 2882 - 2.10 0.035 928 -653.3 359.6 - - 1476 - - - - - - - - - 26.32 -
12065 842.7 13.0 529 12071 done 0.57 - - 2883 - 2.05 0.030 2301 669.8 359.6 - - 1476 - - - - - - - - - 26.36 -
12378 799.7 12.8 540 12379 done 0.57 - - 2882 - - - 2302 - 359.6 - - 1475 - - - - - - - - - - -
12679 760.5 13.1 550 12685 roll 0.57 - - 2882 - 2.08 0.035 935 -657.2 359.6 - - 1475 - - - - - - - - - 26.36 -
12706 760.5 13.1 550 12713 done 0.57 - - 2882 - 2.05 0.031 2308 669.8 359.6 - - 1476 - - - - - - - - - 26.40 -
13013 719.1 11.8 561 13018 roll 0.57 - - 2882 - 2.08 0.034 936 -659.6 359.6 - - 1474 - - - - - - - - - 26.37 -
13046 715.4 11.6 562 13051 done 0.57 - - 2882 - 2.05 0.030 2305 667.8 359.6 - - 1474 - - - - - - - - - 26.41 -
13381 679.1 10.6 573 13386 roll 0.57 - - 2882 - 2.08 0.035 933 -659.6 359.6 - - 1474 - - - - - - - - - 26.36 -
13433 675.4 10.4 574 13439 done 0.57 - - 2882 - 2.05 0.031 2301 667.3 359.6 - - 1474 - - - - - - - - - 26.41 -
13747 642.7 9.6 585 13752 roll 0.57 - - 2882 - 2.08 0.034 937 -655.8 359.6 - - 1474 - - - - - - - - - 26.36 -
13790 639.5 9.6 586 13795 done 0.57 - - 2882 - 2.05 0.030 2301 665.4 359.6 - - 1474 - - - - - - - - - 26.40 -
14116 608.4 9.4 597 14121 roll 0.57 - - 2882 - 2.08 0.034 930 -659.1 359.6 - - 1474 - - - - - - - - - 26.35 -
14172 605.1 9.4 598 14179 done 0.57 - - 2882 - 2.05 0.030 2307 671.7 359.6 - - 1474 - - - - - - - - - 26.40 -
14490 573.4 9.2 614 14495 roll 0.57 - - 2882 - 2.08 0.034 932 -661.1 359.6 - - 1473 - - - - - - - - - 26.34 -
14553 567.6 9.1 617 14558 done 0.58 - - 2882 - 2.05 0.030 2301 667.8 359.6 - - 1474 - - - - - - - - - 26.39 -
14877 540.8 7.9 633 14883 roll 0.59 - - 2882 - 2.08 0.032 930 -659.1 368.9 1.10 0.211 1462 -10.9 3.035 - - - - - - - 26.32 25.50
14902 538.8 8.0 634 14930 done 0.60 - - 2882 - 2.08 0.032 2306 661.5 378.1 16.67 1.050 1413 -2.9 0.164 - - - - 1 - - 26.37 24.34
15243 514.4 6.9 651 15288 done 0.63 - - 2882 - - - 2306 - 419.4 43.08 0.948 1257 -3.6 0.213 - - - - - - - - 24.42
15585 488.2 8.2 668 15590 roll 0.65 - - 2882 - 2.10 0.033 930 -655.2 420.2 - - 1238 - - - - - - - - - 26.08 -
15642 484.5 8.2 670 15650 done 0.68 - - 2881 - 2.08 0.029 2308 662.5 422.7 - - 1237 - - - - - - - - - 26.13 -
15949 458.8 7.7 686 15972 done 0.71 - - 2882 - - - 2309 - 440.4 20.92 0.952 1171 -3.2 0.165 - - - - - - - - 24.72
16268 433.3 8.4 702 16274 roll 0.74 - - 2882 - 2.10 0.033 928 -657.6 440.4 - - 1154 - - - - - - - - - 26.15 -
16327 429.7 8.5 704 16334 done 0.78 0.12 0.081 2952 583.3 2.05 0.028 2301 669.8 440.4 - - 1154 - - - - - - - - 26.17 26.22 -
16632 386.6 14.6 720 16638 roll 0.76 0.12 0.138 2912 -333.3 2.08 0.032 936 -656.2 440.4 - - 1154 - - - - - - - - 26.23 26.25 -
16666 383.6 14.0 721 16672 done 0.75 - - 2911 - 2.03 0.028 2301 672.4 440.4 - - 1153 - - - - - - - - - 26.31 -
16980 349.5 10.5 737 16981 done 0.76 - - 2912 - - - 2301 - 440.4 - - 1153 - - - - - - - - - - -
17282 320.4 9.4 752 17288 roll 0.78 - - 2912 - 2.05 0.031 931 -668.3 440.4 - - 1153 - - - - - - - - - 26.39 -
17346 314.5 9.1 755 17352 done 0.80 - - 2909 - 2.05 0.027 2303 669.3 440.4 - - 1153 - - - - - - - - - 26.40 -
17670 282.0 10.7 771 17676 roll 0.83 - - 2912 - 2.05 0.031 930 -669.8 440.4 - - 1153 - - - - - - - - - 26.38 -
17688 282.0 10.7 771 17694 done 0.85 - - 2911 - 2.03 0.027 2304 676.8 440.4 - - 1153 - - - - - - - - - 26.42 -
17994 246.0 11.0 787 17996 done 0.87 0.12 0.080 2984 608.3 - - 2304 - 440.4 - - 1153 - - - - - - - - 26.66 - -
18294 201.5 13.5 802 18300 roll 0.84 0.12 0.132 2949 -291.7 2.05 0.030 927 -671.7 440.4 - - 1153 - - - - - - - - 26.42 26.38 -
18353 196.5 12.5 804 18359 done 0.82 - - 2949 - 2.03 0.027 2303 677.8 440.4 - - 1153 - - - - - - - - - 26.44 -
18658 161.2 10.8 820 18664 roll 0.82 - - 2949 - 2.03 0.031 935 -673.9 440.4 - - 1154 - - - - - - - - - 26.40 -
18697 158.9 10.6 821 18704 done 0.82 - - 2949 - 2.00 0.027 2301 683.0 440.4 - - 1154 - - - - - - - - - 26.44 -
19002 127.8 9.8 837 19003 done 0.82 - - 2949 - - - 2301 - 440.4 - - 1153 - - - - - - - - - - -
19303 98.2 10.4 852 19309 roll 0.83 - - 2949 - 2.03 0.032 931 -674.9 440.4 - - 1154 - - - - - - - - - 26.41 -
19316 98.2 10.4 852 19321 done 0.84 - - 2949 - 2.00 0.027 2300 684.5 440.4 - - 1154 - - - - - - - - - 26.44 -
19629 68.6 8.2 868 19634 roll 0.87 - - 2949 - 2.03 0.031 922 -678.8 442.4 - - 1155 - - - - - - - - - 26.43 -
19676 65.0 8.2 870 19681 done 0.91 - - 2949 - 2.03 0.027 2306 681.8 443.5 - - 1155 - - - - - - - - - 26.46 -
19985 39.4 6.8 892 20011 roll 0.98 0.10 0.094 3020 710.0 2.17 0.044 3689 637.3 486.8 18.52 0.206 982 -9.3 0.194 - - - - - - 26.73 26.31 25.53
20065 30.5 13.1 899 20073 done 0.97 0.15 0.142 2979 -273.3 1.98 0.021 2311 -696.0 486.8 - - 990 - - - - - - - - 26.12 26.48 -
20363 end climb: SURFACE_DEPTH_REACHED
20363 begin surface coast
20398 end surface coast: CONTROL_FINISHED_OK
20399 begin surface
SM 1.69 - - - - -7.88 7.20 0.027 115 -397.8 0.20 0.059 2454 715.0 484.96 - - 991 - - - - - - - -