OKMC Oct12 * SG167 * Dive index * Mission links * Dive 170 * Raw log
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• Previous call tries 1 • 39.52 of 150.00 AH used of 24V (73.65% remains)
• Previous NAKs 0, Timeouts 0 • 26.40 of 110.00 AH used of 10V (76.00% remains)
• Surface angle -59.6 deg, depth 1.63 m • Intended pitch -14.1 deg, speed -8.250 cm/s
• No surface pump (final VBD was 495.02, SM_CC=400)
• GPS1 time: 37 s
• GPS2 time: 4 s • Transponder ping count: 16
• 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 - - - 84 VBD -0.54 - - 109 - - - 2448 - -171.1 -62.83 - 2563 - - - - - - - - - - -
87 3.0 -3.2 6 130 roll -0.54 9.52 0.227 2470 248.0 2.17 0.069 3762 605.5 -171.1 -26.73 - 3667 -41.3 - - - - - - - 25.30 26.00 26.59
332 48.6 -19.9 29 340 done -0.48 0.12 0.153 2502 266.7 1.90 0.024 2458 -686.3 -171.1 - - 3668 - - - - - - - - 26.05 26.35 -
635 92.8 -10.4 45 641 roll -0.45 - - 2502 - 2.05 0.032 1044 -689.8 -171.1 - - 3668 - - - - - - - - - 26.41 -
684 98.2 -11.7 47 690 done -0.43 - - 2502 - 2.12 0.037 2460 667.9 -171.1 - - 3666 - - - - - - - - - 26.37 -
1002 139.5 -11.6 63 1003 done -0.43 - - 2502 - - - 2460 - -171.1 - - 3669 - - - - - - - - - - -
1304 172.1 -10.9 78 1305 done -0.43 - - 2502 - - - 2460 - -171.1 - - 3669 - - - - - - - - - - -
1606 209.5 -11.8 93 1611 roll -0.43 - - 2501 - 1.98 0.047 3767 660.1 -171.1 - - 3669 - - - - - - - - - 26.39 -
1650 214.5 -11.2 95 1655 done -0.44 - - 2502 - 1.90 0.019 2414 -712.1 -171.1 - - 3669 - - - - - - - - - 26.65 -
1973 245.5 -9.7 111 1980 roll -0.45 - - 2501 - 1.95 0.031 1060 -694.4 -171.1 - - 3669 - - - - - - - - - 26.53 -
2028 250.0 -9.9 113 2033 done -0.46 - - 2500 - 2.08 0.035 2458 672.1 -171.1 - - 3668 - - - - - - - - - 26.47 -
2341 283.1 -9.4 129 2342 done -0.47 - - 2504 - - - 2458 - -171.1 - - 3668 - - - - - - - - - - -
2645 305.3 -6.5 144 2646 done -0.48 - - 2501 - - - 2458 - -171.1 - - 3667 - - - - - - - - - - -
2944 328.3 -9.0 159 2949 roll -0.50 - - 2502 - 2.03 0.030 1066 -685.7 -171.1 - - 3665 - - - - - - - - - 26.28 -
2981 330.9 -9.3 160 2988 done -0.51 - - 2501 - 2.05 0.034 2451 675.6 -171.1 - - 3665 - - - - - - - - - 26.50 -
3287 364.1 -11.6 176 3289 done -0.53 - - 2501 - - - 2451 - -171.1 - - 3665 - - - - - - - - - - -
3589 395.0 -8.4 191 3590 done -0.55 - - 2501 - - - 2451 - -171.1 - - 3663 - - - - - - - - - - -
3890 412.1 -5.6 206 3891 done -0.57 - - 2501 - - - 2451 - -171.1 - - 3663 - - - - - - - - - - -
4189 438.3 -10.2 221 4191 done -0.60 0.10 0.095 2438 -630.0 - - 2451 - -171.1 - - 3665 - - - - - - - - 26.75 - -
4489 473.5 -10.0 236 4496 roll -0.58 0.12 0.143 2479 341.7 2.03 0.028 1069 -680.8 -171.1 - - 3659 - - - - - - - - 26.46 26.51 -
4528 475.9 -9.6 237 4535 done -0.57 - - 2479 - 2.08 0.036 2455 666.3 -171.1 - - 3659 - - - - - - - - - 26.45 -
4834 498.6 -7.9 253 4836 done -0.59 - - 2478 - - - 2455 - -171.1 - - 3658 - - - - - - - - - - -
5137 524.6 -8.8 268 5138 done -0.61 - - 2478 - - - 2456 - -171.1 - - 3656 - - - - - - - - - - -
5437 547.5 -6.4 283 5442 roll -0.62 - - 2479 - 2.03 0.028 1061 -687.2 -171.1 - - 3654 - - - - - - - - - 26.52 -
5521 552.8 -6.2 287 5527 done -0.64 - - 2478 - 2.08 0.034 2452 668.8 -171.1 - - 3654 - - - - - - - - - 26.42 -
5845 576.8 -8.8 303 5846 done -0.66 - - 2478 - - - 2452 - -171.1 - - 3652 - - - - - - - - - - -
6167 605.8 -8.5 318 6169 done -0.68 0.12 0.083 2412 -550.0 - - 2452 - -171.1 - - 3650 - - - - - - - - 26.72 - -
6465 637.6 -10.2 328 6467 done -0.66 0.12 0.153 2445 275.0 - - 2452 - -171.1 - - 3648 - - - - - - - - 26.45 - -
6765 661.6 -8.0 338 6766 done -0.66 - - 2445 - - - 2452 - -171.1 - - 3647 - - - - - - - - - - -
7065 689.3 -9.8 348 7070 roll -0.66 - - 2445 - 2.00 0.049 3757 652.5 -171.1 - - 3644 - - - - - - - - - 26.26 -
7103 692.7 -9.9 349 7109 done -0.66 - - 2445 - 1.85 0.022 2452 -705.4 -171.1 - - 3644 - - - - - - - - - 26.63 -
7434 727.6 -10.5 360 7435 done -0.66 - - 2445 - - - 2452 - -171.1 - - 3642 - - - - - - - - - - -
7733 757.4 -9.5 370 7738 roll -0.66 - - 2445 - 2.03 0.031 1062 -684.7 -171.1 - - 3639 - - - - - - - - - 26.44 -
7785 760.4 -9.3 371 7790 done -0.66 - - 2444 - 2.10 0.041 2447 659.5 -171.1 - - 3639 - - - - - - - - - 26.15 -
8100 785.7 -6.7 382 8105 roll -0.66 - - 2445 - 2.03 0.031 1072 -677.3 -171.1 - - 3638 - - - - - - - - - 26.08 -
8137 787.9 -6.6 383 8142 done -0.67 - - 2444 - 2.10 0.037 2455 658.6 -171.1 - - 3637 - - - - - - - - - 26.13 -
8469 810.0 -7.2 394 8474 roll -0.68 - - 2445 - 2.03 0.049 3759 642.4 -171.1 - - 3636 - - - - - - - - - 26.18 -
8497 810.0 -7.2 394 8503 done -0.69 - - 2445 - 1.88 0.024 2446 -698.4 -171.1 - - 3635 - - - - - - - - - 26.60 -
8805 840.7 -10.0 405 8810 roll -0.69 - - 2445 - 2.03 0.031 1059 -683.3 -171.1 - - 3634 - - - - - - - - - 26.39 -
8869 848.1 -11.0 407 8874 done -0.71 - - 2441 - 2.12 0.037 2458 659.9 -171.1 - - 3633 - - - - - - - - - 26.28 -
9205 885.9 -11.1 418 9210 roll -0.71 - - 2445 - 2.03 0.050 3759 640.9 -171.1 - - 3632 - - - - - - - - - 25.96 -
9242 889.7 -10.9 419 9248 done -0.72 - - 2445 - 1.88 0.024 2448 -697.3 -171.1 - - 3631 - - - - - - - - - 26.58 -
9574 918.9 -7.6 430 9575 done -0.74 - - 2445 - - - 2448 - -171.1 - - 3630 - - - - - - - - - - -
9872 936.9 -5.8 440 9873 done -0.75 - - 2445 - - - 2448 - -171.1 - - 3629 - - - - - - - - - - -
10172 957.5 -7.5 450 10173 done -0.76 - - 2445 - - - 2448 - -171.1 - - 3628 - - - - - - - - - - -
10472 984.4 -9.3 460 10474 done -0.77 0.12 0.088 2385 -500.0 - - 2448 - -171.1 - - 3624 - - - - - - - - 26.68 - -
10528 end dive: TARGET_DEPTH_EXCEEDED
10529 begin apogee
10535 991.8 -10.8 462 10696 done -0.27 0.57 0.125 2567 319.3 - - 2286 - - 152.68 1.241 2963 -4.3 0.377 - - - - - - 25.56 - 23.18
10698 end apogee: CONTROL_FINISHED_OK
10698 begin climb
10700 1000.4 - 467 10873 roll 0.54 0.77 0.081 2827 337.7 2.30 0.037 947 -582.2 171.1 163.45 1.251 2259 -4.3 0.376 - - - - - - 24.54 23.84 22.49
10895 995.2 5.2 474 10995 done 0.56 - - 2827 - 2.22 0.033 2303 610.8 264.7 91.43 1.141 1885 -4.1 0.389 - - - - - - - 24.39 22.63
11313 959.8 8.9 488 11318 roll 0.56 - - 2827 - 2.22 0.047 3703 630.6 264.7 - - 1860 - - - - - - - - - 25.89 -
11361 956.5 9.2 489 11367 done 0.56 - - 2827 - 2.05 0.028 2333 -668.3 264.7 - - 1859 - - - - - - - - - 26.08 -
11682 925.9 8.7 500 11687 roll 0.56 - - 2827 - 2.15 0.038 907 -663.3 264.7 - - 1859 - - - - - - - - - 26.21 -
11729 922.8 8.6 501 11734 done 0.56 - - 2827 - 2.12 0.033 2304 659.0 264.7 - - 1859 - - - - - - - - - 26.23 -
12049 895.4 8.0 512 12055 roll 0.56 - - 2827 - 2.17 0.053 3701 643.8 271.7 - - 1858 - - - - - - - - - 26.22 -
12092 892.4 8.1 513 12102 done 0.56 - - 2827 - 2.08 0.028 2299 -674.0 277.8 3.08 0.702 1832 -8.4 1.170 - - - - - - - 26.39 24.10
12418 868.6 6.9 524 12475 roll 0.58 - - 2827 - 2.28 0.038 901 -613.2 319.5 41.35 1.467 1668 -4.0 0.256 - - - - 1 - - 25.23 23.51
12514 862.3 6.8 527 12577 done 0.61 - - 2827 - 2.17 0.032 2302 645.6 363.5 57.03 1.105 1483 -3.2 0.276 - - - - - - - 25.60 23.76
12901 835.7 7.3 540 12940 roll 0.65 0.12 0.081 2898 591.7 2.25 0.037 911 -618.2 393.2 30.33 1.126 1354 -4.3 0.344 - - - - - - 26.22 25.46 24.23
12989 828.8 9.1 542 12997 done 0.66 - - 2898 - 2.17 0.033 2307 643.3 393.2 - - 1348 - - - - - - - - - 25.75 -
13295 789.1 12.1 553 13296 done 0.65 - - 2898 - - - 2307 - 393.2 - - 1344 - - - - - - - - - - -
13594 751.2 12.9 563 13600 roll 0.64 0.12 0.137 2861 -308.3 2.12 0.035 906 -660.8 393.2 - - 1343 - - - - - - - - 26.24 26.27 -
13647 747.3 12.6 564 13652 done 0.64 - - 2861 - 2.10 0.031 2302 664.8 393.2 - - 1344 - - - - - - - - - 26.29 -
13962 713.2 9.9 575 13963 done 0.66 - - 2861 - - - 2303 - 393.2 - - 1342 - - - - - - - - - - -
14261 687.6 8.0 585 14267 roll 0.68 - - 2861 - 2.10 0.037 903 -666.7 399.6 - - 1342 - - - - - - - - - 26.35 -
14295 684.8 7.9 586 14318 done 0.70 - - 2861 - 2.10 0.037 2298 664.3 409.0 15.90 1.117 1294 -3.0 0.202 - - - - - - - 25.13 24.71
14626 656.3 9.0 597 14631 roll 0.72 - - 2861 - 2.20 0.047 3717 645.0 409.0 - - 1280 - - - - - - - - - 26.14 -
14653 656.3 9.0 597 14662 done 0.74 0.10 0.097 2915 540.0 2.10 0.028 2299 -675.2 409.0 - - 1279 - - - - - - - - 26.23 26.30 -
14961 617.9 11.1 608 14967 roll 0.73 - - 2921 - 2.10 0.037 895 -668.6 409.0 - - 1279 - - - - - - - - - 26.29 -
15035 611.2 10.5 610 15040 done 0.72 - - 2922 - 2.12 0.033 2308 666.5 409.0 - - 1279 - - - - - - - - - 26.30 -
15348 578.9 10.7 624 15354 roll 0.71 0.12 0.148 2881 -341.7 2.15 0.045 3700 647.4 409.0 - - 1279 - - - - - - - - 26.29 26.23 -
15387 576.3 10.8 625 15393 done 0.71 - - 2882 - 2.08 0.027 2289 -678.4 409.0 - - 1278 - - - - - - - - - 26.44 -
15693 545.2 10.1 641 15698 roll 0.72 - - 2882 - 2.08 0.037 895 -670.2 409.0 - - 1278 - - - - - - - - - 26.34 -
15780 536.6 10.5 645 15785 done 0.74 - - 2881 - 2.10 0.032 2301 669.5 409.0 - - 1278 - - - - - - - - - 26.36 -
16098 504.6 9.4 661 16099 done 0.75 - - 2881 - - - 2301 - 409.0 - - 1278 - - - - - - - - - - -
16400 481.1 7.0 676 16448 roll 0.79 0.10 0.098 2945 640.0 2.17 0.036 906 -642.9 447.8 39.35 0.920 1131 -3.7 0.213 - - - - - - 26.65 25.73 24.55
16505 471.0 10.1 681 16512 done 0.79 0.12 0.129 2911 -283.3 2.12 0.031 2300 657.5 447.8 - - 1123 - - - - - - - - 25.71 25.87 -
16825 439.2 11.5 697 16826 done 0.80 - - 2911 - - - 2300 - 447.8 - - 1126 - - - - - - - - - - -
17127 399.9 13.0 712 17132 roll 0.81 - - 2912 - 2.10 0.035 899 -667.1 447.8 - - 1121 - - - - - - - - - 26.25 -
17160 396.9 12.6 713 17165 done 0.83 - - 2911 - 2.10 0.030 2304 669.0 447.8 - - 1121 - - - - - - - - - 26.27 -
17474 366.4 7.8 729 17493 done 0.85 - - 2911 - - - 2304 - 462.7 13.52 0.885 1072 -3.6 0.164 - - - - - - - - 24.86
17794 337.9 9.7 745 17800 roll 0.87 - - 2911 - 2.10 0.033 903 -667.1 462.7 - - 1064 - - - - - - - - - 26.25 -
17822 335.5 9.7 746 17828 done 0.89 0.12 0.079 2980 575.0 2.12 0.029 2313 665.1 462.7 - - 1064 - - - - - - - - 26.25 26.26 -
18142 289.6 13.2 762 18147 roll 0.87 0.12 0.133 2940 -333.3 2.12 0.043 3699 653.8 462.7 - - 1064 - - - - - - - - 26.32 26.22 -
18175 286.6 13.0 763 18181 done 0.85 - - 2946 - 2.05 0.024 2291 -686.8 462.7 - - 1064 - - - - - - - - - 26.43 -
18488 250.6 12.0 779 18494 roll 0.85 - - 2951 - 2.08 0.035 900 -668.8 462.7 - - 1064 - - - - - - - - - 26.32 -
18581 240.8 11.9 783 18587 done 0.85 - - 2950 - 2.08 0.030 2301 673.6 462.7 - - 1064 - - - - - - - - - 26.37 -
18895 204.8 9.6 799 18896 done 0.85 - - 2951 - - - 2301 - 462.7 - - 1064 - - - - - - - - - - -
19197 177.8 9.5 814 19203 roll 0.86 - - 2951 - 2.08 0.034 907 -670.2 462.7 - - 1064 - - - - - - - - - 26.40 -
19246 173.3 9.9 816 19251 done 0.87 - - 2951 - 2.08 0.029 2314 676.4 462.7 - - 1064 - - - - - - - - - 26.41 -
19565 137.0 11.2 832 19566 done 0.89 - - 2951 - - - 2313 - 462.7 - - 1064 - - - - - - - - - - -
19866 101.9 11.8 847 19871 roll 0.91 - - 2951 - 2.10 0.042 3704 662.4 462.7 - - 1066 - - - - - - - - - 26.32 -
19904 99.1 11.5 848 19911 done 0.92 - - 2951 - 2.03 0.022 2288 -697.5 462.7 - - 1065 - - - - - - - - - 26.55 -
20210 71.0 8.1 864 20215 roll 0.96 - - 2950 - 2.00 0.034 910 -689.0 466.7 - - 1066 - - - - - - - - - 26.42 -
20278 65.6 8.3 867 20283 done 0.99 - - 2951 - 2.05 0.028 2310 682.9 466.7 - - 1066 - - - - - - - - - 26.45 -
20586 42.3 7.3 887 20609 roll 1.04 0.12 0.077 3045 783.3 2.10 0.034 908 -667.6 497.2 14.00 0.206 941 -8.9 0.200 - - - - - - 26.70 26.36 25.39
20627 38.5 9.8 890 20635 done 1.05 0.17 0.116 2993 -305.9 2.05 0.030 2300 679.0 497.2 1.23 0.187 940 - - - - - - - - 26.14 26.41 25.72
20935 8.2 9.7 921 20942 done 1.06 - - 2993 - - - 2300 - 497.2 1.10 0.191 941 - - - - - - - - - - 25.76
20990 end climb: SURFACE_DEPTH_REACHED
20990 begin surface coast
21021 end surface coast: CONTROL_FINISHED_OK
21022 begin surface
SM 1.84 - - - - -7.85 7.32 0.034 117 -392.9 0.20 0.073 2434 670.0 495.02 - - 950 - - - - - - - -