OKMC Oct12 * SG167 * Dive index * Mission links * Dive 194 * Raw log
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• Previous call tries 1 • 44.95 of 150.00 AH used of 24V (70.03% remains)
• Previous NAKs 0, Timeouts 0 • 29.35 of 110.00 AH used of 10V (73.32% remains)
• Surface angle -57.6 deg, depth 1.65 m • Intended pitch -13.8 deg, speed -8.049 cm/s
• No surface pump (final VBD was 491.83, SM_CC=400)
• GPS1 time: 41 s
• GPS2 time: 5 s • Transponder ping count: 20
• 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 -0.53 - - 109 - - - 2459 - -171.1 -62.38 - 2642 - - - - - - - - - - -
87 3.0 -3.5 6 130 roll -0.53 9.62 0.221 2519 250.5 2.08 0.066 3763 626.9 -171.1 -24.45 - 3666 -41.9 - - - - - - - 25.21 26.01 26.61
178 15.9 -16.9 14 185 done -0.51 - - 2516 - 1.88 0.019 2431 -708.5 -171.1 - - 3667 - - - - - - - - - 26.34 -
495 63.8 -15.6 42 496 done -0.49 - - 2520 - - - 2431 - -171.1 - - 3668 - - - - - - - - - - -
796 99.4 -10.1 57 801 roll -0.49 - - 2520 - 2.08 0.049 3762 639.9 -171.1 - - 3668 - - - - - - - - - 26.28 -
873 105.0 -8.8 60 880 done -0.49 - - 2520 - 1.85 0.018 2422 -724.3 -171.1 - - 3668 - - - - - - - - - 26.62 -
1179 132.1 -8.1 76 1185 roll -0.49 - - 2519 - 1.90 0.028 1089 -701.6 -171.1 - - 3669 - - - - - - - - - 26.48 -
1219 134.2 -8.4 77 1226 done -0.50 - - 2519 - 2.03 0.036 2459 674.9 -171.1 - - 3670 - - - - - - - - - 26.41 -
1523 163.2 -10.5 93 1528 roll -0.52 - - 2519 - 1.95 0.044 3748 661.0 -171.1 - - 3669 - - - - - - - - - 26.37 -
1576 167.4 -10.1 95 1582 done -0.53 - - 2520 - 1.83 0.018 2454 -707.1 -171.1 - - 3669 - - - - - - - - - 26.65 -
1890 197.4 -9.6 111 1895 roll -0.55 - - 2520 - 1.95 0.026 1078 -705.6 -171.1 - - 3669 - - - - - - - - - 26.54 -
1962 203.5 -9.6 114 1968 done -0.57 - - 2519 - 2.03 0.036 2446 673.9 -171.1 - - 3669 - - - - - - - - - 26.36 -
2277 232.2 -8.4 130 2282 roll -0.59 - - 2520 - 2.00 0.046 3766 660.0 -171.1 - - 3668 - - - - - - - - - 26.36 -
2349 237.4 -8.3 133 2355 done -0.61 - - 2519 - 1.83 0.018 2431 -729.5 -171.1 - - 3668 - - - - - - - - - 26.67 -
2663 259.1 -6.5 149 2669 roll -0.63 - - 2520 - 1.90 0.025 1089 -706.3 -171.1 - - 3667 - - - - - - - - - 26.56 -
2742 263.7 -7.0 152 2748 done -0.66 - - 2518 - 2.00 0.031 2450 680.5 -171.1 - - 3667 - - - - - - - - - 26.47 -
3048 286.8 -7.0 168 3054 roll -0.68 0.12 0.080 2433 -708.3 1.98 0.027 1086 -688.9 -171.1 - - 3666 - - - - - - - - 26.72 26.54 -
3096 292.0 -9.2 170 3103 done -0.68 0.20 0.135 2484 255.0 2.03 0.031 2459 676.4 -171.1 - - 3666 - - - - - - - - 26.13 26.47 -
3416 326.5 -10.5 186 3417 done -0.68 - - 2484 - - - 2459 - -171.1 - - 3665 - - - - - - - - - - -
3718 355.0 -8.3 201 3720 done -0.69 - - 2484 - - - 2459 - -171.1 - - 3664 - - - - - - - - - - -
4018 377.3 -7.4 216 4024 roll -0.70 - - 2482 - 1.98 0.046 3763 658.6 -171.1 - - 3663 - - - - - - - - - 26.36 -
4072 381.2 -7.7 218 4077 done -0.71 - - 2482 - 1.85 0.019 2434 -718.4 -171.1 - - 3663 - - - - - - - - - 26.67 -
4385 410.2 -9.1 234 4391 roll -0.72 - - 2482 - 2.03 0.046 3756 651.2 -171.1 - - 3661 - - - - - - - - - 26.35 -
4439 414.0 -8.8 236 4444 done -0.73 - - 2482 - 1.80 0.019 2450 -725.6 -171.1 - - 3662 - - - - - - - - - 26.69 -
4752 442.1 -8.2 252 4757 roll -0.75 - - 2482 - 1.95 0.025 1074 -705.6 -171.1 - - 3661 - - - - - - - - - 26.55 -
4800 445.6 -8.2 254 4805 done -0.76 - - 2482 - 2.05 0.031 2460 676.1 -171.1 - - 3661 - - - - - - - - - 26.45 -
5119 469.4 -7.4 270 5120 done -0.78 - - 2482 - - - 2460 - -171.1 - - 3658 - - - - - - - - - - -
5420 494.4 -8.7 285 5423 done -0.79 0.12 0.083 2410 -600.0 - - 2461 - -171.1 -0.10 - 3679 -210.0 - - - - - - - 26.72 - 25.96
5718 533.9 -13.4 300 5723 roll -0.77 0.12 0.148 2450 333.3 2.00 0.023 1077 -692.0 -171.1 - - 3680 - - - - - - - - 26.42 26.53 -
5805 543.7 -11.7 304 5812 done -0.77 - - 2450 - 2.05 0.032 2456 672.7 -171.1 - - 3680 - - - - - - - - - 26.42 -
6125 577.0 -9.7 320 6130 roll -0.77 - - 2450 - 2.00 0.047 3765 654.5 -171.1 - - 3678 - - - - - - - - - 26.29 -
6208 585.2 -9.8 324 6213 done -0.77 - - 2450 - 1.85 0.020 2445 -713.5 -171.1 - - 3677 - - - - - - - - - 26.68 -
6522 615.4 -9.6 337 6523 done -0.77 - - 2450 - - - 2445 - -171.1 - - 3675 - - - - - - - - - - -
6821 644.8 -9.8 347 6822 done -0.77 - - 2450 - - - 2446 - -171.1 - - 3674 - - - - - - - - - - -
7121 674.7 -9.7 357 7122 done -0.77 - - 2450 - - - 2445 - -171.1 - - 3672 - - - - - - - - - - -
7421 701.1 -8.5 367 7422 done -0.77 - - 2450 - - - 2445 - -171.1 - - 3670 - - - - - - - - - - -
7722 724.8 -7.6 377 7727 roll -0.77 - - 2450 - 2.00 0.029 1081 -682.0 -171.1 - - 3668 - - - - - - - - - 26.26 -
7765 727.5 -7.6 378 7770 done -0.78 - - 2450 - 2.05 0.032 2452 668.8 -171.1 - - 3668 - - - - - - - - - 26.37 -
8090 753.3 -7.7 389 8091 done -0.79 - - 2450 - - - 2452 - -171.1 - - 3665 - - - - - - - - - - -
8389 776.6 -7.8 399 8394 roll -0.80 - - 2450 - 2.00 0.026 1080 -686.0 -171.1 - - 3664 - - - - - - - - - 26.45 -
8423 779.3 -7.8 400 8429 done -0.81 - - 2447 - 2.08 0.033 2458 662.5 -171.1 - - 3663 - - - - - - - - - 26.35 -
8759 805.8 -8.8 411 8760 done -0.82 - - 2450 - - - 2459 - -171.1 - - 3661 - - - - - - - - - - -
9058 833.4 -9.6 421 9059 done -0.83 - - 2450 - - - 2458 - -171.1 - - 3659 - - - - - - - - - - -
9357 864.3 -9.9 431 9363 roll -0.84 - - 2450 - 2.03 0.050 3765 643.8 -171.1 - - 3658 - - - - - - - - - 26.13 -
9392 867.9 -10.0 432 9397 done -0.85 - - 2450 - 1.88 0.024 2444 -702.7 -171.1 - - 3657 - - - - - - - - - 26.59 -
9727 900.8 -9.5 443 9732 roll -0.86 - - 2450 - 2.08 0.050 3764 634.6 -171.1 - - 3656 - - - - - - - - - 26.11 -
9785 904.0 -9.3 444 9793 done -0.87 - - 2450 - 1.88 0.025 2455 -696.3 -171.1 - - 3655 - - - - - - - - - 26.57 -
10092 933.3 -8.6 455 10094 done -0.89 0.12 0.086 2388 -516.7 - - 2454 - -171.1 - - 3654 - - - - - - - - 26.67 - -
10391 967.3 -11.4 465 10397 roll -0.86 0.12 0.155 2427 325.0 2.00 0.026 1083 -685.5 -171.1 - - 3652 - - - - - - - - 26.35 26.37 -
10474 973.6 -10.6 467 10479 done -0.85 - - 2427 - 2.08 0.034 2459 661.5 -171.1 - - 3653 - - - - - - - - - 26.27 -
10665 end dive: TARGET_DEPTH_EXCEEDED
10665 begin apogee
10672 991.2 -8.1 474 10832 done -0.27 0.55 0.111 2608 329.1 - - 2289 - - 152.82 1.251 2964 -4.5 0.389 - - - - - - 25.73 - 23.09
10834 end apogee: CONTROL_FINISHED_OK
10834 begin climb
10836 994.7 - 479 11005 roll 0.53 0.73 0.060 2867 354.8 2.47 0.048 3700 571.3 171.1 158.90 1.213 2260 -4.4 0.396 - - - - - - 24.61 23.89 22.53
11079 978.4 10.7 487 11085 done 0.48 - - 2868 - 2.15 0.028 2324 -640.0 171.1 - - 2253 - - - - - - - - - 25.13 -
11401 943.3 10.0 498 11406 roll 0.45 - - 2868 - 2.15 0.036 902 -661.4 171.1 - - 2249 - - - - - - - - - 26.10 -
11555 927.2 10.3 503 11561 done 0.42 0.12 0.131 2834 -283.3 2.15 0.031 2309 654.4 171.1 - - 2245 - - - - - - - - 26.04 26.22 -
11889 898.6 8.3 514 11895 roll 0.40 - - 2834 - 2.17 0.048 3699 640.6 171.1 - - 2244 - - - - - - - - - 26.20 -
11953 892.9 8.5 516 11959 done 0.38 - - 2839 - 2.10 0.028 2293 -669.5 171.1 - - 2244 - - - - - - - - - 26.41 -
12289 867.3 7.5 527 12311 roll 0.37 - - 2839 - 2.30 0.047 3698 610.9 189.3 15.12 1.231 2189 -3.6 0.279 - - - - - - - 25.99 24.46
12366 862.2 7.7 529 12386 done 0.35 - - 2839 - 2.10 0.029 2304 -663.8 201.6 13.75 1.232 2140 -3.6 0.272 - - - - - - - 26.15 24.25
12715 834.1 7.7 541 12733 roll 0.35 - - 2839 - 2.12 0.034 906 -659.4 213.0 12.30 1.235 2091 -4.0 0.293 - - - - - - - 25.94 24.46
12762 831.5 7.6 542 12782 done 0.34 - - 2839 - 2.15 0.031 2303 649.8 226.8 14.48 1.213 2040 -3.5 0.263 - - - - - - - 26.00 24.20
13111 802.8 7.9 554 13116 roll 0.34 - - 2839 - 2.17 0.047 3697 642.4 231.5 - - 2031 - - - - - - - - - 26.11 -
13144 799.9 8.1 555 13150 done 0.34 - - 2839 - 2.10 0.028 2296 -667.1 231.5 - - 2029 - - - - - - - - - 26.29 -
13480 773.1 7.8 566 13498 roll 0.34 - - 2839 - 2.15 0.037 911 -644.2 238.0 10.48 1.225 1993 -3.4 0.236 - - - - - - - 26.10 24.52
13536 770.4 7.9 567 13543 done 0.34 - - 2839 - 2.12 0.031 2314 661.8 243.1 2.40 0.640 1976 -7.1 0.930 - - - - - - - 26.13 23.82
13843 741.2 9.3 578 13844 done 0.34 - - 2839 - - - 2313 - 243.1 - - 1982 - - - - - - - - - - -
14141 713.0 9.4 588 14142 done 0.34 - - 2839 - - - 2313 - 243.1 - - 1980 - - - - - - - - - - -
14441 687.5 8.1 598 14442 done 0.34 - - 2839 - - - 2314 - 243.1 - - 1981 - - - - - - - - - - -
14742 665.0 7.4 608 14772 done 0.35 - - 2839 - - - 2313 - 264.8 28.27 1.103 1887 -3.3 0.219 - - - - - - - - 24.45
15073 642.5 6.7 619 15118 done 0.37 - - 2839 - - - 2313 - 306.3 42.78 1.053 1718 -4.0 0.263 - - - - - - - - 24.15
15404 619.0 7.2 630 15433 done 0.39 - - 2839 - - - 2314 - 333.5 27.15 1.061 1607 -4.1 0.260 - - - - - - - - 24.30
15733 595.9 6.8 642 15779 roll 0.43 - - 2839 - 2.22 0.034 902 -636.0 372.8 39.67 1.027 1442 -4.2 0.263 - - - - - - - 25.44 24.20
15804 591.9 6.7 645 15853 done 0.47 - - 2839 - 2.17 0.030 2311 649.3 415.3 42.60 0.992 1271 -4.0 0.261 - - - - - - - 25.56 23.94
16154 568.0 6.9 663 16198 roll 0.52 - - 2839 - 2.20 0.030 897 -642.7 452.4 37.17 0.988 1114 -4.2 0.265 - - - - - - - 25.47 24.23
16232 562.8 7.9 666 16241 done 0.58 0.15 0.105 2891 346.7 2.15 0.028 2303 654.0 457.6 1.10 0.213 1099 -13.6 3.928 - - - - - - 25.61 25.72 25.25
16537 530.7 10.0 682 16542 roll 0.65 - - 2891 - 2.10 0.030 897 -669.5 457.6 - - 1105 - - - - - - - - - 26.19 -
16614 524.1 10.3 685 16621 done 0.72 0.12 0.084 2956 541.7 2.10 0.029 2301 668.6 457.6 - - 1105 - - - - - - - - 26.19 26.22 -
16920 486.2 12.2 701 16925 roll 0.75 - - 2956 - 2.08 0.032 906 -670.7 457.6 - - 1106 - - - - - - - - - 26.31 -
17025 471.9 14.2 706 17030 done 0.73 - - 2956 - 2.10 0.029 2308 667.6 457.6 - - 1105 - - - - - - - - - 26.34 -
17349 424.6 13.8 722 17354 roll 0.71 - - 2956 - 2.15 0.046 3703 648.8 457.6 - - 1104 - - - - - - - - - 26.27 -
17422 415.0 14.7 725 17428 done 0.69 0.15 0.151 2922 -226.7 2.08 0.026 2290 -679.3 457.6 - - 1103 - - - - - - - - 26.09 26.46 -
17736 378.4 11.3 741 17742 roll 0.69 - - 2922 - 2.05 0.034 896 -680.0 457.6 - - 1104 - - - - - - - - - 26.38 -
17785 373.5 11.4 743 17791 done 0.69 - - 2921 - 2.08 0.028 2303 676.4 457.6 - - 1103 - - - - - - - - - 26.42 -
18104 338.0 10.4 759 18105 done 0.70 - - 2922 - - - 2302 - 457.6 - - 1104 - - - - - - - - - - -
18406 306.9 10.6 774 18411 roll 0.71 - - 2922 - 2.08 0.031 900 -674.0 457.6 - - 1104 - - - - - - - - - 26.41 -
18464 302.2 10.5 776 18471 done 0.73 - - 2922 - 2.08 0.028 2305 675.5 457.6 - - 1104 - - - - - - - - - 26.44 -
18770 269.0 10.2 792 18771 done 0.74 - - 2922 - - - 2304 - 457.6 - - 1102 - - - - - - - - - - -
19071 238.0 10.5 807 19077 roll 0.76 - - 2922 - 2.08 0.030 892 -678.8 457.6 - - 1104 - - - - - - - - - 26.44 -
19104 235.4 10.4 808 19110 done 0.77 - - 2922 - 2.08 0.026 2309 681.2 457.6 - - 1104 - - - - - - - - - 26.46 -
19418 203.6 9.5 824 19419 done 0.79 - - 2922 - - - 2309 - 457.6 - - 1104 - - - - - - - - - - -
19720 176.7 8.8 839 19726 roll 0.81 0.12 0.079 3003 675.0 2.08 0.028 896 -679.3 457.6 - - 1105 - - - - - - - - 26.69 26.44 -
19763 171.0 10.7 841 19769 done 0.81 0.15 0.128 2960 -286.7 2.05 0.027 2304 686.8 457.6 - - 1105 - - - - - - - - 26.19 26.46 -
20088 133.1 10.7 857 20093 roll 0.81 - - 2959 - 2.10 0.043 3691 660.5 457.6 - - 1105 - - - - - - - - - 26.32 -
20114 130.4 11.0 858 20119 done 0.81 - - 2960 - 2.03 0.022 2276 -697.0 457.6 - - 1105 - - - - - - - - - 26.56 -
20433 101.3 7.5 874 20447 roll 0.84 - - 2960 - 2.00 0.031 909 -683.5 475.5 8.65 0.337 1030 -8.7 0.284 - - - - - - - 26.38 24.86
20490 97.6 7.8 876 20503 done 0.86 - - 2960 - 2.05 0.026 2305 681.0 482.6 4.15 0.306 1000 -7.2 0.251 - - - - - - - 26.42 24.93
20821 68.5 8.2 893 20826 roll 0.89 - - 2959 - 2.10 0.043 3693 661.0 482.6 - - 1006 - - - - - - - - - 26.29 -
20855 66.9 7.7 894 20867 done 0.92 0.12 0.077 3035 633.3 2.00 0.021 2285 -704.0 493.4 5.85 0.253 955 -8.7 0.251 - - - - - - 26.46 26.54 25.13
21164 22.5 14.6 918 21166 done 0.89 0.15 0.126 2993 -280.0 - - 2285 - 493.4 - - 963 - - - - - - - - 26.40 - -
21352 end climb: SURFACE_DEPTH_REACHED
21352 begin surface coast
21373 end surface coast: CONTROL_FINISHED_OK
21373 begin surface
SM 1.75 - - - - -8.00 7.25 0.028 114 -397.1 0.25 0.055 2458 692.0 491.83 - - 963 - - - - - - - -