OKMC Oct12 * SG167 * Dive index * Mission links * Dive 168 * Raw log
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• Previous call tries 1 • 39.07 of 150.00 AH used of 24V (73.96% remains)
• Previous NAKs 0, Timeouts 0 • 26.16 of 110.00 AH used of 10V (76.22% remains)
• Surface angle -65.5 deg, depth 1.74 m • Intended pitch -14.1 deg, speed -8.250 cm/s
• No surface pump (final VBD was 616.19, SM_CC=400)
• GPS1 time: 35 s
• GPS2 time: 6 s • Transponder ping count: 14
• 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
18 - - - 83 VBD -0.54 - - 110 - - - 2466 - -171.1 -61.78 - 2751 - - - - - - - - - - -
86 3.5 -4.7 6 122 roll -0.54 9.45 0.226 2469 249.6 2.00 0.060 3741 637.5 -171.1 -20.00 - 3666 -45.8 - - - - - - - 25.32 26.05 26.60
354 61.2 -22.8 30 360 done -0.48 0.12 0.155 2501 266.7 1.88 0.022 2446 -688.8 -171.1 - - 3670 - - - - - - - - 26.04 26.37 -
679 109.3 -11.2 46 685 roll -0.46 - - 2501 - 2.03 0.054 3733 634.0 -171.1 - - 3671 - - - - - - - - - 26.19 -
717 111.8 -10.8 47 723 done -0.45 - - 2500 - 1.88 0.027 2466 -673.9 -171.1 - - 3671 - - - - - - - - - 26.43 -
1022 141.0 -10.2 63 1028 roll -0.45 - - 2501 - 2.10 0.031 1021 -688.1 -171.1 - - 3671 - - - - - - - - - 26.47 -
1055 143.7 -10.9 64 1061 done -0.45 - - 2501 - 2.10 0.034 2435 673.3 -171.1 - - 3671 - - - - - - - - - 26.41 -
1368 180.0 -10.7 80 1370 done -0.45 - - 2500 - - - 2435 - -171.1 - - 3672 - - - - - - - - - - -
1671 206.9 -9.3 95 1676 roll -0.45 - - 2501 - 2.05 0.031 1028 -686.3 -171.1 - - 3672 - - - - - - - - - 26.51 -
1714 211.7 -10.2 97 1720 done -0.45 - - 2501 - 2.12 0.036 2453 672.2 -171.1 - - 3672 - - - - - - - - - 26.45 -
2038 253.0 -12.9 113 2043 roll -0.46 - - 2501 - 1.98 0.046 3763 661.6 -171.1 - - 3671 - - - - - - - - - 26.39 -
2081 258.4 -12.5 115 2088 done -0.47 - - 2500 - 1.90 0.020 2405 -714.7 -171.1 - - 3671 - - - - - - - - - 26.65 -
2406 295.1 -10.7 131 2407 done -0.48 - - 2500 - - - 2405 - -171.1 - - 3670 - - - - - - - - - - -
2708 319.1 -6.5 146 2713 roll -0.49 - - 2500 - 1.92 0.034 1068 -696.4 -171.1 - - 3669 - - - - - - - - - 26.34 -
2766 321.9 -6.2 148 2773 done -0.51 - - 2501 - 2.08 0.037 2447 663.0 -171.1 - - 3669 - - - - - - - - - 25.80 -
3071 348.4 -10.4 164 3073 done -0.52 - - 2501 - - - 2447 - -171.1 - - 3668 - - - - - - - - - - -
3373 381.3 -10.5 179 3379 roll -0.54 - - 2501 - 2.00 0.047 3766 659.5 -171.1 - - 3667 - - - - - - - - - 26.36 -
3431 385.7 -10.0 181 3438 done -0.56 - - 2500 - 1.88 0.021 2436 -707.4 -171.1 - - 3666 - - - - - - - - - 26.65 -
3737 409.3 -6.4 197 3742 roll -0.59 - - 2501 - 1.95 0.028 1071 -700.0 -171.1 - - 3665 - - - - - - - - - 26.53 -
3781 412.3 -6.5 199 3787 done -0.61 0.12 0.077 2425 -633.3 2.08 0.036 2452 663.9 -171.1 - - 3665 - - - - - - - - 26.40 26.35 -
4105 452.1 -12.9 215 4107 done -0.59 0.15 0.142 2467 280.0 - - 2452 - -171.1 - - 3664 - - - - - - - - 26.41 - -
4407 478.3 -8.0 230 4408 done -0.59 - - 2467 - - - 2452 - -171.1 - - 3663 - - - - - - - - - - -
4708 502.7 -8.4 245 4709 done -0.59 - - 2467 - - - 2452 - -171.1 - - 3659 - - - - - - - - - - -
5007 529.1 -9.4 260 5012 roll -0.60 - - 2466 - 2.00 0.049 3761 654.5 -171.1 - - 3660 - - - - - - - - - 26.32 -
5040 531.5 -9.4 261 5045 done -0.61 - - 2466 - 1.88 0.021 2440 -702.7 -171.1 - - 3659 - - - - - - - - - 26.65 -
5353 561.5 -8.6 277 5358 roll -0.62 - - 2466 - 1.98 0.035 1077 -688.4 -171.1 - - 3657 - - - - - - - - - 25.61 -
5396 565.1 -8.5 279 5402 done -0.64 - - 2466 - 2.08 0.041 2446 658.2 -171.1 - - 3657 - - - - - - - - - 25.55 -
5721 587.5 -6.6 295 5726 roll -0.65 - - 2466 - 2.03 0.050 3759 646.8 -171.1 - - 3655 - - - - - - - - - 26.17 -
5759 589.1 -6.7 296 5766 done -0.66 - - 2466 - 1.85 0.021 2438 -714.1 -171.1 - - 3655 - - - - - - - - - 26.63 -
6077 609.9 -6.3 310 6082 roll -0.67 - - 2466 - 1.98 0.028 1072 -689.9 -171.1 - - 3652 - - - - - - - - - 26.48 -
6150 615.1 -7.3 312 6156 done -0.69 - - 2462 - 2.08 0.034 2457 665.9 -171.1 - - 3652 - - - - - - - - - 26.37 -
6476 641.4 -8.0 323 6481 roll -0.70 - - 2466 - 2.00 0.050 3759 651.0 -171.1 - - 3650 - - - - - - - - - 26.25 -
6510 644.1 -7.9 324 6516 done -0.71 0.12 0.082 2399 -558.3 1.85 0.022 2449 -708.1 -171.1 - - 3649 - - - - - - - - 26.49 26.63 -
6847 684.9 -12.0 335 6849 done -0.69 0.15 0.145 2441 280.0 - - 2449 - -171.1 - - 3648 - - - - - - - - 26.36 - -
7144 712.3 -9.0 345 7145 done -0.69 - - 2440 - - - 2449 - -171.1 - - 3646 - - - - - - - - - - -
7445 740.0 -9.3 355 7446 done -0.69 - - 2440 - - - 2450 - -171.1 - - 3644 - - - - - - - - - - -
7744 770.1 -10.2 365 7746 done -0.69 - - 2440 - - - 2449 - -171.1 - - 3642 - - - - - - - - - - -
8044 799.7 -9.3 375 8045 done -0.69 - - 2440 - - - 2450 - -171.1 - - 3640 - - - - - - - - - - -
8345 823.3 -7.6 385 8350 roll -0.69 - - 2441 - 2.00 0.030 1074 -688.0 -171.1 - - 3638 - - - - - - - - - 26.41 -
8427 828.2 -7.5 387 8432 done -0.69 - - 2440 - 2.10 0.035 2451 655.7 -171.1 - - 3637 - - - - - - - - - 26.29 -
8741 853.2 -7.7 398 8746 roll -0.69 - - 2440 - 2.03 0.050 3759 644.3 -171.1 - - 3636 - - - - - - - - - 26.14 -
8813 858.7 -8.2 400 8820 done -0.69 - - 2440 - 1.85 0.024 2464 -700.0 -171.1 - - 3636 - - - - - - - - - 26.58 -
9139 887.7 -8.7 411 9140 done -0.69 - - 2440 - - - 2464 - -171.1 - - 3634 - - - - - - - - - - -
9437 912.9 -8.4 421 9443 roll -0.69 - - 2440 - 2.05 0.030 1060 -684.9 -171.1 - - 3633 - - - - - - - - - 26.36 -
9516 918.5 -8.6 423 9521 done -0.69 - - 2440 - 2.12 0.036 2451 656.1 -171.1 - - 3633 - - - - - - - - - 26.24 -
9836 947.1 -8.5 434 9842 roll -0.70 - - 2440 - 2.05 0.050 3760 638.5 -171.1 - - 3630 - - - - - - - - - 25.86 -
9874 950.3 -8.6 435 9879 done -0.71 - - 2440 - 1.90 0.031 2451 -688.9 -171.1 - - 3631 - - - - - - - - - 25.49 -
10205 977.0 -8.1 446 10206 done -0.72 - - 2440 - - - 2451 - -171.1 - - 3629 - - - - - - - - - - -
10380 end dive: TARGET_DEPTH_EXCEEDED
10380 begin apogee
10386 992.1 -8.5 452 10543 done -0.27 0.40 0.110 2573 332.5 - - 2271 - - 147.93 1.281 2963 -4.5 0.380 - - - - - - 25.86 - 23.22
10544 end apogee: CONTROL_FINISHED_OK
10544 begin climb
10547 998.4 - 457 10716 roll 0.54 0.75 0.080 2825 336.0 2.20 0.036 953 -599.1 171.1 158.43 1.207 2261 -4.4 0.400 - - - - - - 24.53 23.90 22.65
10729 994.1 4.2 463 10855 done 0.56 - - 2825 - 2.22 0.031 2306 609.5 294.5 117.70 1.248 1765 -4.2 0.366 - - - - - - - 24.30 22.47
11174 961.2 7.4 478 11203 done 0.59 - - 2825 - - - 2303 - 322.1 26.75 1.206 1653 -4.2 0.364 - - - - - - - - 24.06
11506 936.0 7.6 489 11532 done 0.61 - - 2825 - - - 2306 - 340.8 18.80 1.217 1571 -4.4 0.366 - - - - - - - - 24.37
11835 912.5 6.9 500 11887 roll 0.65 0.12 0.085 2896 591.7 2.17 0.037 946 -626.7 383.7 44.00 1.174 1400 -3.9 0.329 - - - - - - 26.31 25.29 24.08
11942 903.7 8.9 503 11948 done 0.65 - - 2896 - 2.10 0.031 2306 647.6 383.7 - - 1395 - - - - - - - - - 25.70 -
12263 868.7 11.5 514 12264 done 0.65 - - 2896 - - - 2306 - 383.7 - - 1392 - - - - - - - - - - -
12561 829.1 14.1 524 12567 roll 0.65 - - 2896 - 2.08 0.036 941 -656.2 383.7 - - 1391 - - - - - - - - - 26.29 -
12614 824.5 14.1 525 12619 done 0.65 - - 2896 - 2.08 0.031 2308 657.2 383.7 - - 1391 - - - - - - - - - 26.30 -
12927 782.7 11.6 536 12932 roll 0.65 - - 2897 - 2.08 0.036 939 -658.2 383.7 - - 1390 - - - - - - - - - 26.34 -
12974 778.9 11.4 537 12980 done 0.65 - - 2897 - 2.05 0.032 2306 666.8 383.7 - - 1390 - - - - - - - - - 26.35 -
13294 740.1 12.1 548 13300 roll 0.64 - - 2897 - 2.17 0.049 3704 644.2 383.7 - - 1390 - - - - - - - - - 26.28 -
13372 730.9 13.3 550 13378 done 0.63 0.12 0.158 2863 -283.3 2.03 0.028 2335 -674.4 383.7 - - 1389 - - - - - - - - 26.15 26.46 -
13693 696.5 9.4 561 13698 roll 0.64 - - 2867 - 2.15 0.037 899 -667.9 383.7 - - 1389 - - - - - - - - - 26.36 -
13730 693.4 9.1 562 13735 done 0.65 - - 2867 - 2.12 0.031 2305 663.2 383.7 - - 1389 - - - - - - - - - 26.38 -
14061 663.3 9.3 573 14066 roll 0.66 - - 2867 - 2.17 0.048 3699 642.4 383.7 - - 1388 - - - - - - - - - 26.27 -
14110 659.8 9.4 574 14115 done 0.67 - - 2867 - 2.08 0.028 2292 -676.4 383.7 - - 1388 - - - - - - - - - 26.48 -
14430 631.5 8.4 585 14435 roll 0.69 - - 2867 - 2.08 0.037 905 -666.8 383.7 - - 1388 - - - - - - - - - 26.36 -
14493 625.7 8.7 587 14499 done 0.70 - - 2867 - 2.10 0.031 2302 665.2 383.7 - - 1388 - - - - - - - - - 26.22 -
14830 598.3 8.1 598 14836 roll 0.72 - - 2867 - 2.17 0.045 3703 645.6 389.7 0.98 0.243 1378 -10.2 2.739 - - - - - - - 26.25 25.37
14874 593.4 9.2 600 14879 done 0.73 - - 2867 - 2.08 0.028 2300 -674.5 389.7 - - 1383 - - - - - - - - - 26.47 -
15197 562.8 9.4 616 15202 roll 0.75 - - 2867 - 2.08 0.036 902 -672.1 389.7 - - 1385 - - - - - - - - - 26.34 -
15235 560.8 9.3 617 15242 done 0.76 0.12 0.085 2933 550.0 2.12 0.031 2310 664.2 389.7 - - 1385 - - - - - - - - 26.34 26.36 -
15541 525.1 9.6 633 15547 roll 0.74 0.12 0.146 2892 -341.7 2.15 0.046 3700 646.5 389.7 - - 1385 - - - - - - - - 26.36 26.23 -
15586 521.5 8.7 635 15591 done 0.72 - - 2894 - 2.08 0.027 2291 -677.4 389.7 - - 1385 - - - - - - - - - 26.47 -
15909 492.8 11.0 651 15915 roll 0.72 - - 2894 - 2.08 0.037 893 -672.1 389.7 - - 1385 - - - - - - - - - 26.33 -
15962 487.7 11.6 653 15967 done 0.72 - - 2894 - 2.12 0.031 2303 665.1 389.7 - - 1385 - - - - - - - - - 26.35 -
16275 447.9 10.1 669 16276 done 0.72 - - 2894 - - - 2303 - 389.7 - - 1385 - - - - - - - - - - -
16577 423.1 9.7 684 16582 roll 0.72 - - 2894 - 2.15 0.047 3700 649.8 389.7 - - 1384 - - - - - - - - - 26.22 -
16594 423.1 9.7 684 16601 done 0.72 - - 2894 - 2.08 0.026 2286 -679.8 389.7 - - 1385 - - - - - - - - - 26.48 -
16901 385.8 10.6 700 16907 roll 0.73 - - 2894 - 2.05 0.034 895 -678.5 389.7 - - 1385 - - - - - - - - - 26.33 -
16954 381.8 9.7 702 16959 done 0.74 - - 2894 - 2.10 0.030 2308 672.9 389.7 - - 1385 - - - - - - - - - 26.34 -
17268 362.6 5.4 718 17362 roll 0.79 - - 2894 - 2.25 0.044 3706 621.3 477.6 86.82 0.793 1012 -4.3 0.214 - - - - - - - 25.31 24.30
17376 355.8 6.7 723 17430 done 0.83 - - 2894 - 2.15 0.024 2291 -658.1 525.6 45.58 0.785 818 -4.3 0.210 - - - - - - - 25.56 24.15
17731 320.6 10.0 741 17737 roll 0.87 0.12 0.080 2977 691.7 2.08 0.031 902 -667.8 525.6 - - 808 - - - - - - - - 26.22 26.05 -
17846 305.8 14.7 746 17851 done 0.87 0.12 0.120 2942 -291.7 2.10 0.029 2302 666.7 525.6 - - 808 - - - - - - - - 25.97 26.13 -
18160 273.2 7.7 762 18180 done 0.89 - - 2941 - - - 2302 - 543.5 15.80 0.806 745 -4.0 0.147 - - - - - - - - 24.91
18480 242.6 11.4 778 18486 roll 0.92 - - 2942 - 2.10 0.034 903 -666.2 543.5 - - 738 - - - - - - - - - 26.22 -
18518 239.9 11.3 779 18524 done 0.94 - - 2942 - 2.10 0.029 2312 671.0 543.5 - - 738 - - - - - - - - - 26.24 -
18824 208.9 9.7 795 18829 roll 0.97 - - 2942 - 2.10 0.032 898 -673.3 543.5 - - 738 - - - - - - - - - 26.32 -
18877 205.1 9.0 797 18883 done 1.00 0.12 0.076 3016 616.7 2.10 0.028 2305 670.0 543.5 - - 737 - - - - - - - - 26.32 26.33 -
19191 158.3 17.1 813 19193 done 0.97 0.15 0.132 2973 -286.7 - - 2305 - 543.5 - - 738 - - - - - - - - 26.32 - -
19491 120.6 9.1 828 19497 roll 0.98 - - 2975 - 2.08 0.032 904 -673.6 543.5 - - 739 - - - - - - - - - 26.39 -
19576 114.8 6.9 832 19600 done 1.02 - - 2976 - 2.05 0.028 2304 682.9 586.3 16.67 0.379 578 -9.7 0.319 - - - - - - - 26.41 25.35
19919 94.5 6.1 849 19941 roll 1.09 0.10 0.093 3052 760.0 2.17 0.034 900 -647.0 652.7 15.80 0.327 462 -7.3 0.231 - - - - - - 26.60 26.31 25.38
19969 89.8 8.1 851 20004 done 1.12 0.12 0.122 3014 -316.7 2.08 0.029 2303 674.5 657.6 22.12 0.288 455 -0.3 0.011 - - - - 1 - 26.13 26.30 24.92
20304 53.6 10.9 868 20309 roll 1.14 - - 3015 - 2.08 0.033 901 -674.0 657.6 - - 456 - - - - - - - - - 26.30 -
20337 51.1 10.9 869 20342 done 1.16 - - 3015 - 2.08 0.028 2301 673.1 657.6 - - 456 - - - - - - - - - 26.34 -
20651 16.2 9.3 900 20656 roll 1.18 - - 3015 - 2.08 0.036 906 -670.7 657.6 - - 457 - - - - - - - - - 26.36 -
20696 11.7 10.4 904 20702 done 1.21 0.10 0.091 3087 720.0 2.08 0.029 2307 673.6 657.6 - - 457 - - - - - - - - 26.37 26.42 -
20757 end climb: SURFACE_DEPTH_REACHED
20757 begin surface coast
20769 end surface coast: CONTROL_FINISHED_OK
20771 begin surface
SM 1.59 - - - - -7.85 7.45 0.025 106 -400.1 0.20 0.063 2476 845.0 616.19 - - 456 - - - - - - - -