OKMC Oct12 * SG167 * Dive index * Mission links * Dive 212 * Raw log
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• Previous call tries 1 • 48.59 of 150.00 AH used of 24V (67.61% remains)
• Previous NAKs 0, Timeouts 0 • 31.70 of 110.00 AH used of 10V (71.18% remains)
• Surface angle -67.8 deg, depth 1.71 m • Intended pitch -13.8 deg, speed -8.049 cm/s
• No surface pump (final VBD was 612.51, SM_CC=400)
• GPS1 time: 41 s
• GPS2 time: 6 s • Transponder ping count: 22
• 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
15 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 82 VBD -0.53 - - 110 - - - 2465 - -171.1 -60.97 - 2617 - - - - - - - - - - -
85 3.7 -4.7 6 123 roll -0.53 9.75 0.223 2519 247.1 2.00 0.059 3740 637.5 -171.1 -22.15 - 3663 -47.2 - - - - - - - 25.09 25.98 26.61
352 48.6 -15.5 32 358 done -0.49 - - 2519 - 1.83 0.018 2419 -721.9 -171.1 - - 3664 - - - - - - - - - 26.48 -
666 97.4 -12.6 48 672 roll -0.47 - - 2519 - 1.90 0.028 1093 -697.9 -171.1 - - 3664 - - - - - - - - - 26.39 -
724 102.5 -11.6 50 731 done -0.46 0.12 0.138 2554 291.7 2.00 0.036 2437 672.0 -171.1 - - 3665 - - - - - - - - 26.15 26.36 -
1031 127.9 -7.3 66 1032 done -0.50 - - 2555 - - - 2437 - -171.1 - - 3665 - - - - - - - - - - -
1332 147.4 -6.6 81 1334 done -0.56 0.10 0.091 2481 -740.0 - - 2438 - -171.1 - - 3666 - - - - - - - - 26.72 - -
1633 181.6 -11.7 96 1638 roll -0.54 0.12 0.138 2522 341.7 1.98 0.030 1086 -682.8 -171.1 - - 3666 - - - - - - - - 26.46 26.48 -
1690 186.4 -11.3 98 1698 done -0.54 - - 2522 - 2.03 0.031 2453 673.4 -171.1 - - 3666 - - - - - - - - - 26.47 -
1997 214.6 -8.5 114 2003 roll -0.58 - - 2522 - 1.98 0.047 3755 657.6 -171.1 - - 3666 - - - - - - - - - 26.31 -
2045 218.3 -8.3 116 2051 done -0.62 - - 2522 - 1.80 0.018 2436 -732.8 -171.1 - - 3666 - - - - - - - - - 26.66 -
2364 242.8 -7.8 132 2370 roll -0.66 0.10 0.094 2452 -700.0 1.92 0.025 1089 -701.6 -171.1 - - 3665 - - - - - - - - 26.74 26.49 -
2438 250.4 -10.9 135 2444 done -0.66 0.12 0.144 2486 283.3 2.03 0.036 2455 672.9 -171.1 - - 3665 - - - - - - - - 26.22 26.46 -
2752 279.2 -7.9 151 2757 roll -0.67 - - 2486 - 2.00 0.047 3757 651.0 -171.1 - - 3664 - - - - - - - - - 26.31 -
2791 281.1 -7.9 152 2798 done -0.68 - - 2487 - 1.80 0.018 2443 -730.0 -171.1 - - 3664 - - - - - - - - - 26.68 -
3096 307.3 -8.2 168 3101 roll -0.70 - - 2487 - 1.92 0.028 1097 -701.0 -171.1 - - 3663 - - - - - - - - - 26.48 -
3164 312.5 -8.2 171 3169 done -0.72 - - 2486 - 2.03 0.034 2459 670.9 -171.1 - - 3662 - - - - - - - - - 26.45 -
3482 339.2 -8.6 187 3488 roll -0.74 - - 2487 - 2.00 0.029 1083 -688.0 -171.1 - - 3661 - - - - - - - - - 26.49 -
3527 342.9 -8.4 189 3533 done -0.76 - - 2487 - 2.05 0.034 2454 668.8 -171.1 - - 3661 - - - - - - - - - 25.99 -
3851 369.5 -8.2 205 3857 roll -0.78 0.12 0.080 2408 -658.3 1.98 0.025 1095 -686.4 -171.1 - - 3661 - - - - - - - - 26.72 26.48 -
3880 372.1 -8.9 206 3887 done -0.79 0.17 0.142 2450 247.1 2.03 0.032 2463 673.9 -171.1 - - 3658 - - - - - - - - 26.09 26.45 -
4200 406.9 -10.3 222 4206 roll -0.78 - - 2450 - 2.00 0.060 3755 646.0 -171.1 -0.08 - 3683 -312.5 - - - - - - - - 26.26 25.64
4239 409.2 -10.3 223 4246 done -0.77 - - 2450 - 1.80 0.018 2444 -728.3 -171.1 - - 3683 - - - - - - - - - 26.68 -
4544 438.3 -8.3 239 4549 roll -0.77 - - 2450 - 1.98 0.028 1086 -685.9 -171.1 - - 3682 - - - - - - - - - 26.47 -
4597 442.0 -8.4 241 4602 done -0.77 - - 2450 - 2.03 0.034 2450 671.9 -171.1 - - 3682 - - - - - - - - - 26.43 -
4910 470.5 -9.5 257 4916 roll -0.77 - - 2450 - 2.00 0.047 3751 650.5 -171.1 - - 3680 - - - - - - - - - 26.26 -
4939 472.8 -9.5 258 4944 done -0.77 - - 2451 - 1.80 0.019 2441 -727.8 -171.1 - - 3680 - - - - - - - - - 26.67 -
5257 504.5 -9.7 274 5262 roll -0.77 - - 2450 - 1.92 0.028 1102 -697.4 -171.1 - - 3678 - - - - - - - - - 26.46 -
5330 510.9 -10.1 277 5335 done -0.77 - - 2450 - 2.03 0.034 2458 668.0 -171.1 - - 3678 - - - - - - - - - 26.41 -
5643 542.1 -9.3 293 5648 roll -0.77 - - 2450 - 1.98 0.047 3753 654.0 -171.1 - - 3676 - - - - - - - - - 26.25 -
5711 548.3 -9.7 296 5716 done -0.78 - - 2450 - 1.80 0.020 2446 -726.1 -171.1 - - 3675 - - - - - - - - - 26.66 -
6029 579.8 -10.1 312 6030 done -0.79 - - 2450 - - - 2445 - -171.1 - - 3673 - - - - - - - - - - -
6351 612.6 -10.1 326 6352 done -0.80 - - 2450 - - - 2445 - -171.1 - - 3672 - - - - - - - - - - -
6649 640.7 -8.9 336 6654 roll -0.81 - - 2450 - 1.95 0.028 1097 -691.3 -171.1 - - 3669 - - - - - - - - - 26.43 -
6714 646.5 -8.8 338 6719 done -0.82 - - 2450 - 2.05 0.034 2458 663.9 -171.1 - - 3669 - - - - - - - - - 26.37 -
7049 674.6 -8.3 349 7054 roll -0.83 - - 2450 - 2.00 0.049 3753 647.5 -171.1 - - 3667 - - - - - - - - - 26.17 -
7083 677.7 -8.2 350 7089 done -0.84 - - 2450 - 1.83 0.022 2446 -714.2 -171.1 - - 3667 - - - - - - - - - 26.63 -
7419 705.3 -8.1 361 7420 done -0.85 - - 2450 - - - 2444 - -171.1 - - 3665 - - - - - - - - - - -
7718 728.5 -7.6 371 7723 roll -0.86 - - 2450 - 2.05 0.050 3752 638.0 -171.1 - - 3663 - - - - - - - - - 26.13 -
7752 731.1 -7.5 372 7757 done -0.87 - - 2450 - 1.83 0.023 2452 -710.4 -171.1 - - 3663 - - - - - - - - - 26.60 -
8087 758.2 -8.3 383 8093 roll -0.89 0.12 0.086 2380 -583.3 2.00 0.027 1087 -682.5 -171.1 - - 3660 - - - - - - - - 26.67 26.12 -
8115 758.2 -8.3 383 8124 done -0.90 0.12 0.164 2405 208.3 2.05 0.034 2450 664.9 -171.1 - - 3660 - - - - - - - - 26.01 26.32 -
8422 798.5 -12.4 394 8428 roll -0.88 - - 2400 - 2.03 0.054 3751 640.9 -171.1 - - 3657 - - - - - - - - - 25.84 -
8460 803.1 -12.5 395 8465 done -0.85 - - 2400 - 1.83 0.023 2452 -709.8 -171.1 - - 3657 - - - - - - - - - 26.58 -
8790 842.6 -11.5 406 8796 roll -0.82 0.12 0.155 2439 325.0 2.00 0.028 1092 -680.0 -171.1 - - 3655 - - - - - - - - 26.34 26.22 -
8856 849.1 -10.6 408 8861 done -0.81 - - 2439 - 2.08 0.037 2449 652.4 -171.1 - - 3655 - - - - - - - - - 26.11 -
9191 877.7 -8.4 419 9196 roll -0.82 - - 2440 - 2.05 0.056 3760 639.5 -171.1 - - 3654 - - - - - - - - - 25.17 -
9249 880.9 -8.6 420 9257 done -0.83 - - 2439 - 1.88 0.024 2450 -696.8 -171.1 - - 3653 - - - - - - - - - 26.55 -
9556 910.0 -8.8 431 9561 roll -0.84 - - 2440 - 2.03 0.030 1075 -677.3 -171.1 - - 3652 - - - - - - - - - 26.34 -
9604 913.3 -8.9 432 9610 done -0.85 - - 2439 - 2.12 0.037 2456 651.4 -171.1 - - 3652 - - - - - - - - - 26.24 -
9926 943.4 -9.0 443 9931 roll -0.86 - - 2439 - 2.03 0.050 3756 640.4 -171.1 - - 3650 - - - - - - - - - 26.02 -
9969 946.7 -9.1 444 9974 done -0.87 - - 2439 - 1.88 0.024 2438 -701.1 -171.1 - - 3650 - - - - - - - - - 26.53 -
10294 973.7 -7.9 455 10296 done -0.88 - - 2439 - - - 2436 - -171.1 - - 3649 - - - - - - - - - - -
10529 end dive: TARGET_DEPTH_EXCEEDED
10529 begin apogee
10536 992.1 -7.6 463 10697 done -0.27 0.50 0.109 2606 334.0 - - 2290 - - 154.32 1.342 2968 -4.4 0.357 - - - - - - 25.75 - 22.75
10699 end apogee: CONTROL_FINISHED_OK
10699 begin climb
10701 996.5 - 468 10870 roll 0.53 0.75 0.063 2866 346.7 2.50 0.046 3707 566.8 171.1 159.90 1.238 2263 -4.4 0.389 - - - - - - 24.39 23.86 22.42
10932 982.9 9.2 476 10937 done 0.46 - - 2871 - 2.17 0.028 2329 -635.0 171.1 - - 2255 - - - - - - - - - 24.99 -
11263 949.0 10.0 487 11268 roll 0.41 0.12 0.154 2842 -241.7 2.17 0.035 891 -662.7 171.1 - - 2249 - - - - - - - - 26.02 26.10 -
11316 945.7 9.7 488 11321 done 0.37 - - 2842 - 2.17 0.039 2305 651.6 171.1 - - 2247 - - - - - - - - - 26.13 -
11632 920.0 7.6 499 11650 roll 0.34 - - 2842 - 2.22 0.050 3700 628.4 185.9 12.40 1.283 2203 -3.5 0.279 - - - - - - - 25.94 24.30
11678 917.3 7.6 500 11703 done 0.32 0.15 0.155 2805 -246.7 2.10 0.027 2292 -670.5 200.7 16.00 1.278 2142 -3.8 0.300 - - - - - - 25.79 26.11 24.01
12027 895.0 5.7 512 12110 roll 0.36 - - 2804 - 2.25 0.037 911 -613.8 275.6 74.15 1.261 1837 -4.1 0.320 - - - - - - - 24.98 23.55
12139 890.0 5.5 515 12226 done 0.40 - - 2803 - 2.17 0.031 2304 641.9 356.5 80.38 1.233 1511 -4.1 0.321 - - - - - - - 25.41 22.98
12539 867.5 5.5 529 12622 done 0.49 0.17 0.064 2888 500.0 - - 2304 - 436.4 79.60 1.209 1189 -4.0 0.318 - - - - - - 26.22 - 23.49
12902 828.0 11.5 541 12907 roll 0.50 - - 2888 - 2.15 0.037 905 -650.7 436.4 - - 1175 - - - - - - - - - 26.08 -
12966 820.4 11.7 543 12971 done 0.51 - - 2888 - 2.12 0.031 2304 659.9 436.4 - - 1174 - - - - - - - - - 26.16 -
13301 781.9 11.5 554 13307 roll 0.52 - - 2888 - 2.12 0.036 908 -658.5 436.4 - - 1171 - - - - - - - - - 26.27 -
13349 777.9 11.3 555 13355 done 0.53 - - 2889 - 2.10 0.031 2311 668.1 436.4 - - 1172 - - - - - - - - - 26.32 -
13670 739.4 11.5 566 13676 roll 0.53 - - 2888 - 2.12 0.036 906 -662.7 436.4 - - 1172 - - - - - - - - - 26.32 -
13708 735.5 11.4 567 13715 done 0.54 - - 2888 - 2.08 0.031 2297 668.8 436.4 - - 1169 - - - - - - - - - 26.36 -
14040 701.4 10.0 578 14045 roll 0.55 - - 2888 - 2.12 0.037 908 -655.2 436.4 - - 1171 - - - - - - - - - 26.34 -
14068 701.4 10.0 578 14075 done 0.56 - - 2888 - 2.10 0.031 2310 667.6 436.4 - - 1171 - - - - - - - - - 26.37 -
14375 667.4 10.6 589 14380 roll 0.57 - - 2888 - 2.12 0.036 908 -661.3 436.4 - - 1171 - - - - - - - - - 26.34 -
14413 663.8 10.6 590 14418 done 0.58 - - 2888 - 2.10 0.031 2309 667.1 436.4 - - 1171 - - - - - - - - - 26.38 -
14743 626.3 11.2 601 14749 roll 0.60 - - 2888 - 2.15 0.036 904 -653.5 436.4 - - 1171 - - - - - - - - - 26.34 -
14808 619.3 10.9 603 14813 done 0.61 - - 2888 - 2.10 0.031 2305 667.1 436.4 - - 1171 - - - - - - - - - 26.38 -
15132 585.9 9.9 616 15137 roll 0.63 - - 2888 - 2.10 0.035 909 -664.8 436.4 - - 1171 - - - - - - - - - 26.34 -
15165 583.6 9.8 617 15171 done 0.65 - - 2888 - 2.08 0.031 2300 668.8 436.4 - - 1171 - - - - - - - - - 26.37 -
15479 552.3 9.8 633 15480 done 0.66 - - 2888 - - - 2300 - 436.4 - - 1171 - - - - - - - - - - -
15781 522.9 10.2 648 15787 roll 0.68 - - 2888 - 2.10 0.035 910 -661.9 436.4 - - 1169 - - - - - - - - - 26.32 -
15819 520.2 10.2 649 15827 done 0.70 0.10 0.095 2945 570.0 2.08 0.030 2303 669.7 436.4 - - 1170 - - - - - - - - 26.32 26.36 -
16125 478.2 13.4 665 16127 done 0.67 0.12 0.145 2912 -275.0 - - 2302 - 436.4 - - 1170 - - - - - - - - 26.41 - -
16425 446.2 10.1 680 16430 roll 0.67 - - 2912 - 2.10 0.035 909 -663.3 436.4 - - 1170 - - - - - - - - - 26.30 -
16482 441.9 10.2 682 16489 done 0.67 - - 2912 - 2.10 0.031 2307 665.7 436.4 - - 1170 - - - - - - - - - 26.35 -
16787 408.1 10.4 698 16793 roll 0.67 - - 2912 - 2.12 0.034 901 -663.2 436.4 - - 1171 - - - - - - - - - 26.29 -
16825 405.7 10.5 699 16832 done 0.67 - - 2912 - 2.10 0.029 2302 667.1 436.4 - - 1171 - - - - - - - - - 26.35 -
17131 371.2 11.2 715 17137 roll 0.67 - - 2912 - 2.12 0.034 900 -661.3 436.4 - - 1171 - - - - - - - - - 26.30 -
17185 366.7 10.7 717 17190 done 0.68 - - 2912 - 2.10 0.029 2312 672.4 436.4 - - 1170 - - - - - - - - - 26.34 -
17498 331.9 10.6 733 17499 done 0.69 - - 2912 - - - 2312 - 436.4 - - 1170 - - - - - - - - - - -
17802 301.9 10.0 748 17807 roll 0.71 - - 2911 - 2.12 0.033 896 -667.9 436.4 - - 1171 - - - - - - - - - 26.31 -
17879 295.7 9.4 751 17886 done 0.73 - - 2911 - 2.10 0.029 2312 674.3 436.4 - - 1170 - - - - - - - - - 26.35 -
18185 265.2 9.4 767 18191 roll 0.74 - - 2912 - 2.10 0.033 902 -671.4 436.4 - - 1171 - - - - - - - - - 26.31 -
18225 263.0 9.4 768 18232 done 0.76 0.12 0.079 2983 591.7 2.08 0.028 2304 674.0 436.4 - - 1171 - - - - - - - - 26.32 26.35 -
18529 218.1 14.6 784 18535 roll 0.72 0.15 0.139 2943 -266.7 2.10 0.031 900 -668.6 436.4 - - 1170 - - - - - - - - 26.29 26.29 -
18583 212.4 13.7 786 18588 done 0.70 - - 2943 - 2.10 0.029 2311 671.9 436.4 - - 1171 - - - - - - - - - 26.34 -
18896 179.4 10.1 802 18897 done 0.70 - - 2943 - - - 2311 - 436.4 - - 1171 - - - - - - - - - - -
19199 147.4 10.3 817 19204 roll 0.71 - - 2944 - 2.10 0.032 908 -668.1 436.4 - - 1171 - - - - - - - - - 26.32 -
19252 142.7 10.3 819 19258 done 0.72 - - 2944 - 2.05 0.028 2303 680.5 436.4 - - 1171 - - - - - - - - - 26.38 -
19566 112.8 8.9 835 19567 done 0.75 - - 2944 - - - 2303 - 436.4 - - 1170 - - - - - - - - - - -
19870 91.0 6.6 850 19894 roll 0.81 - - 2944 - 2.15 0.042 3696 647.9 481.0 18.02 0.324 1008 -9.0 0.277 - - - - - - - 26.14 24.87
19913 88.2 6.0 852 19953 done 0.88 0.12 0.076 3022 650.0 2.03 0.021 2276 -699.5 545.0 27.75 0.324 750 -9.3 0.277 - - - - - - 26.34 26.44 25.03
20252 53.0 10.8 869 20259 roll 0.89 0.12 0.126 2980 -350.0 1.98 0.031 930 -679.8 545.0 - - 753 - - - - - - - - 26.32 26.22 -
20350 44.9 7.5 876 20366 done 0.95 - - 2980 - 2.03 0.027 2313 681.3 562.4 8.45 0.217 675 -9.2 0.209 - - - - - - - 26.32 25.11
20676 21.8 4.6 908 20715 roll 1.07 0.15 0.067 3080 666.7 2.08 0.032 930 -664.9 670.4 31.17 0.163 466 -6.7 0.098 - - - - - - 26.60 26.22 25.46
20765 13.0 11.6 916 20778 done 1.06 0.15 0.116 3035 -300.0 2.03 0.027 2299 674.4 670.4 7.03 0.125 461 -0.7 0.008 - - - - - - 26.06 26.29 25.54
20855 end climb: SURFACE_DEPTH_REACHED
20855 begin surface coast
20875 end surface coast: CONTROL_FINISHED_OK
20875 begin surface
SM 1.74 - - - - -7.99 7.35 0.024 115 -397.3 0.20 0.062 2457 790.0 612.51 - - 471 - - - - - - - -