OKMC Oct12 * SG167 * Dive index * Mission links * Dive 361 * Raw log
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• Previous call tries 1 • 77.26 of 150.00 AH used of 24V (48.49% remains)
• Previous NAKs 0, Timeouts 0 • 50.31 of 110.00 AH used of 10V (54.27% remains)
• Surface angle -59.4 deg, depth 1.60 m • Intended pitch -14.4 deg, speed -8.462 cm/s
• No surface pump (final VBD was 453.31, SM_CC=400)
• GPS1 time: 42 s
• GPS2 time: 4 s • Transponder ping count: 48
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
20 - - - 94 VBD -0.57 - - 108 - - - 2468 - -171.1 -71.88 - 2561 - - - - - - - - - - -
98 3.1 -3.2 7 141 roll -0.57 9.60 0.220 2468 245.8 2.10 0.063 3745 608.1 -171.1 -27.45 - 3665 -40.2 - - - - - - - 24.91 25.98 26.70
210 17.9 -15.9 17 217 done -0.52 - - 2468 - 1.85 0.017 2391 -731.9 -171.1 - - 3666 - - - - - - - - - 26.46 -
517 60.9 -12.9 44 523 roll -0.48 0.12 0.150 2505 308.3 2.12 0.044 3748 640.1 -171.1 - - 3666 - - - - - - - - 26.28 26.07 -
636 73.5 -11.7 49 643 done -0.48 - - 2506 - 1.85 0.018 2403 -727.0 -171.1 - - 3666 - - - - - - - - - 26.52 -
944 108.6 -11.4 65 949 roll -0.49 - - 2506 - 2.08 0.045 3743 644.2 -171.1 - - 3667 - - - - - - - - - 26.10 -
996 114.0 -11.6 67 1002 done -0.50 - - 2506 - 1.80 0.019 2460 -712.8 -171.1 - - 3667 - - - - - - - - - 26.50 -
1311 145.8 -8.8 83 1316 roll -0.51 - - 2506 - 2.00 0.028 1067 -696.5 -171.1 - - 3667 - - - - - - - - - 26.37 -
1338 148.0 -9.0 84 1343 done -0.52 - - 2505 - 2.05 0.033 2443 671.2 -171.1 - - 3667 - - - - - - - - - 26.25 -
1656 173.5 -7.9 100 1663 roll -0.54 - - 2506 - 2.03 0.048 3764 650.7 -171.1 - - 3667 - - - - - - - - - 26.12 -
1725 179.2 -8.6 103 1730 done -0.57 - - 2506 - 1.85 0.020 2447 -711.9 -171.1 - - 3667 - - - - - - - - - 26.48 -
2043 208.5 -9.0 119 2049 roll -0.64 0.12 0.077 2418 -733.3 2.00 0.028 1068 -689.5 -171.1 - - 3668 - - - - - - - - 26.65 26.33 -
2097 213.6 -10.3 121 2102 done -0.66 0.12 0.154 2446 233.3 2.08 0.035 2452 665.4 -171.1 - - 3668 - - - - - - - - 25.98 26.25 -
2411 246.4 -9.4 137 2416 roll -0.65 - - 2446 - 2.03 0.047 3764 646.3 -171.1 - - 3668 - - - - - - - - - 26.15 -
2520 256.2 -9.4 142 2525 done -0.64 - - 2446 - 1.85 0.019 2448 -711.4 -171.1 - - 3665 - - - - - - - - - 26.51 -
2839 282.7 -8.1 158 2840 done -0.63 - - 2446 - - - 2448 - -171.1 - - 3668 - - - - - - - - - - -
3140 310.1 -10.6 173 3141 done -0.62 - - 2441 - - - 2448 - -171.1 - - 3667 - - - - - - - - - - -
3439 346.0 -12.1 188 3441 done -0.62 - - 2445 - - - 2448 - -171.1 - - 3666 - - - - - - - - - - -
3740 379.3 -11.1 203 3745 roll -0.62 - - 2446 - 2.05 0.047 3768 643.9 -171.1 - - 3664 - - - - - - - - - 26.12 -
3803 386.5 -11.0 206 3809 done -0.63 - - 2446 - 1.90 0.020 2435 -701.6 -171.1 - - 3664 - - - - - - - - - 26.52 -
4127 418.8 -9.5 222 4133 roll -0.64 - - 2446 - 1.95 0.027 1070 -700.0 -171.1 - - 3662 - - - - - - - - - 26.37 -
4151 421.1 -9.4 223 4156 done -0.65 - - 2446 - 2.08 0.033 2457 666.8 -171.1 - - 3662 - - - - - - - - - 26.25 -
4475 450.9 -9.5 239 4480 roll -0.66 - - 2445 - 2.00 0.047 3758 650.5 -171.1 - - 3661 - - - - - - - - - 26.10 -
4559 459.0 -9.6 243 4565 done -0.66 - - 2446 - 1.88 0.024 2431 -705.9 -171.1 - - 3661 - - - - - - - - - 26.49 -
4885 490.3 -9.6 259 4890 roll -0.67 - - 2445 - 2.08 0.054 3756 637.0 -171.1 - - 3658 - - - - - - - - - 25.51 -
4932 494.6 -9.8 261 4939 done -0.69 - - 2446 - 1.85 0.020 2439 -711.9 -171.1 -0.08 - 3682 -300.0 - - - - - - - - 26.50 25.14
5252 524.5 -9.1 277 5257 roll -0.70 - - 2445 - 1.98 0.028 1068 -692.4 -171.1 - - 3680 - - - - - - - - - 26.34 -
5304 528.5 -9.1 279 5310 done -0.72 - - 2445 - 2.08 0.034 2448 663.5 -171.1 - - 3680 - - - - - - - - - 26.22 -
5619 558.4 -9.2 295 5624 roll -0.74 - - 2445 - 2.03 0.049 3758 645.3 -171.1 - - 3678 - - - - - - - - - 26.06 -
5672 562.3 -8.9 297 5677 done -0.76 - - 2446 - 1.85 0.021 2439 -713.0 -171.1 - - 3678 - - - - - - - - - 26.50 -
5986 585.7 -6.4 313 5992 roll -0.77 - - 2445 - 1.95 0.028 1081 -696.4 -171.1 - - 3676 - - - - - - - - - 26.33 -
6014 587.4 -6.5 314 6020 done -0.79 0.10 0.096 2387 -580.0 2.08 0.034 2460 663.0 -171.1 - - 3676 - - - - - - - - 26.17 26.20 -
6323 616.6 -10.0 327 6330 roll -0.76 0.12 0.153 2424 308.3 2.03 0.047 3762 641.4 -171.1 - - 3674 - - - - - - - - 26.28 26.02 -
6402 622.6 -9.6 329 6407 done -0.75 - - 2425 - 1.85 0.021 2461 -703.2 -171.1 - - 3677 - - - - - - - - - 26.51 -
6723 650.6 -8.2 340 6729 roll -0.76 - - 2425 - 2.03 0.028 1062 -689.2 -171.1 - - 3672 - - - - - - - - - 26.31 -
6758 653.8 -8.3 341 6763 done -0.77 - - 2425 - 2.10 0.034 2450 661.0 -171.1 - - 3671 - - - - - - - - - 26.17 -
7095 682.1 -8.3 352 7100 roll -0.77 - - 2425 - 2.05 0.049 3768 642.9 -171.1 - - 3670 - - - - - - - - - 25.99 -
7254 695.9 -8.8 357 7259 done -0.78 - - 2426 - 1.90 0.022 2442 -697.9 -171.1 - - 3669 - - - - - - - - - 26.48 -
7586 723.7 -8.3 368 7592 roll -0.79 - - 2425 - 2.10 0.050 3765 630.0 -171.1 - - 3668 - - - - - - - - - 25.77 -
7670 729.0 -7.9 370 7676 done -0.80 - - 2425 - 1.90 0.023 2454 -690.0 -171.1 - - 3666 - - - - - - - - - 26.45 -
7987 756.7 -8.6 381 7993 roll -0.81 - - 2425 - 2.10 0.054 3762 622.9 -171.1 - - 3664 - - - - - - - - - 25.86 -
8082 764.9 -8.4 384 8088 done -0.83 - - 2425 - 1.92 0.023 2442 -687.5 -171.1 - - 3663 - - - - - - - - - 26.46 -
8418 792.8 -8.6 395 8423 roll -0.84 - - 2425 - 2.10 0.050 3766 630.5 -171.1 - - 3662 - - - - - - - - - 25.91 -
8470 795.8 -8.5 396 8476 done -0.85 - - 2425 - 1.90 0.024 2448 -693.7 -171.1 - - 3660 - - - - - - - - - 26.44 -
8787 822.0 -7.4 407 8794 roll -0.86 0.12 0.085 2359 -550.0 2.03 0.028 1067 -680.3 -171.1 - - 3659 - - - - - - - - 26.58 26.22 -
8822 825.5 -7.9 408 8828 done -0.86 0.12 0.167 2387 233.3 2.12 0.036 2455 654.7 -171.1 - - 3658 - - - - - - - - 25.77 26.08 -
9156 858.6 -10.2 419 9161 roll -0.84 - - 2385 - 2.03 0.050 3758 641.9 -171.1 - - 3657 - - - - - - - - - 25.87 -
9250 869.1 -11.0 422 9256 done -0.82 - - 2385 - 1.90 0.024 2443 -692.1 -171.1 - - 3656 - - - - - - - - - 26.42 -
9586 908.4 -12.0 433 9587 done -0.80 - - 2385 - - - 2442 - -171.1 - - 3655 - - - - - - - - - - -
9884 942.4 -11.2 443 9889 roll -0.78 - - 2384 - 2.10 0.051 3761 628.1 -171.1 - - 3654 - - - - - - - - - 25.82 -
9978 952.1 -10.6 446 9985 done -0.76 0.12 0.154 2416 266.7 1.90 0.024 2439 -695.8 -171.1 - - 3654 - - - - - - - - 25.98 26.41 -
10314 979.4 -7.5 457 10316 done -0.77 - - 2416 - - - 2438 - -171.1 - - 3652 - - - - - - - - - - -
10490 end dive: TARGET_DEPTH_EXCEEDED
10491 begin apogee
10497 991.7 -6.7 463 10659 done -0.20 0.55 0.109 2598 330.9 - - 2185 - - 153.57 1.298 2965 -4.5 0.378 - - - - - - 25.54 - 22.76
10660 end apogee: CONTROL_FINISHED_OK
10661 begin climb
10663 995.7 - 468 10835 roll 0.57 0.70 0.062 2849 358.6 2.47 0.048 3603 574.1 171.1 160.50 1.336 2261 -4.4 0.361 - - - - - - 24.88 24.01 22.20
10944 978.8 9.1 477 10951 done 0.53 - - 2855 - 2.08 0.027 2232 -659.1 171.1 - - 2256 - - - - - - - - - 25.89 -
11251 950.9 8.1 488 11261 roll 0.51 - - 2855 - 2.20 0.037 799 -651.4 181.2 3.38 0.957 2230 -7.7 0.845 - - - - - - - 26.16 23.94
11319 946.2 7.6 490 11357 done 0.51 - - 2855 - 2.12 0.032 2207 664.2 207.2 30.92 1.284 2122 -3.5 0.284 - - - - - - - 26.20 23.74
11676 917.5 8.3 502 11682 roll 0.50 - - 2855 - 2.20 0.046 3602 634.1 213.1 1.48 0.292 2102 -13.5 4.692 - - - - - - - 26.06 24.21
11795 907.7 9.9 505 11802 done 0.47 0.17 0.145 2814 -241.2 2.10 0.028 2195 -670.0 213.1 - - 2107 - - - - - - - - 25.89 26.32 -
12106 880.3 8.1 516 12130 done 0.49 - - 2814 - - - 2191 - 223.1 16.98 1.252 2049 -3.4 0.265 - - - - - - - - 23.99
12433 854.1 7.8 527 12462 roll 0.53 - - 2814 - 2.28 0.046 3605 620.2 244.0 20.95 1.253 1967 -3.9 0.295 - - - - - - - 25.72 23.89
12490 851.8 7.6 528 12525 done 0.59 0.12 0.080 2878 533.3 2.12 0.028 2194 -665.6 270.6 28.15 1.266 1862 -3.7 0.277 - - - - - - 25.94 26.01 23.63
12825 817.3 9.7 540 12827 done 0.56 0.12 0.131 2843 -291.7 - - 2194 - 270.6 - - 1853 - - - - - - - - 26.24 - -
13128 794.6 7.3 550 13173 roll 0.61 - - 2843 - 2.38 0.047 3605 592.9 306.5 36.45 1.228 1711 -3.9 0.279 - - - - - - - 25.50 23.73
13203 789.6 7.5 552 13240 done 0.66 - - 2842 - 2.12 0.028 2205 -660.4 335.4 29.75 1.213 1593 -4.0 0.285 - - - - - - - 25.89 23.63
13549 760.0 8.1 564 13564 roll 0.69 0.12 0.079 2921 658.3 2.12 0.035 804 -660.8 345.1 8.73 1.185 1557 -4.1 0.292 - - - - - - 26.41 26.02 24.12
13619 752.6 9.8 566 13624 done 0.70 - - 2921 - 2.12 0.031 2202 659.4 345.1 - - 1555 - - - - - - - - - 26.12 -
13950 709.0 13.3 577 13957 roll 0.66 0.12 0.146 2881 -333.3 2.17 0.046 3600 644.2 345.1 - - 1552 - - - - - - - - 26.21 26.08 -
14020 700.0 13.5 579 14026 done 0.64 - - 2881 - 2.10 0.028 2199 -667.1 345.1 - - 1551 - - - - - - - - - 26.32 -
14350 658.8 12.5 590 14351 done 0.64 - - 2881 - - - 2199 - 345.1 - - 1551 - - - - - - - - - - -
14649 623.2 11.3 600 14654 roll 0.64 - - 2881 - 2.10 0.038 803 -664.8 345.1 - - 1550 - - - - - - - - - 26.17 -
14692 619.5 11.1 601 14697 done 0.64 - - 2881 - 2.10 0.029 2206 668.1 345.1 - - 1550 - - - - - - - - - 26.24 -
15017 585.4 9.6 614 15022 roll 0.64 - - 2881 - 2.17 0.047 3597 641.0 345.1 - - 1549 - - - - - - - - - 26.03 -
15045 582.9 9.7 615 15050 done 0.64 - - 2886 - 2.08 0.028 2196 -673.6 345.1 - - 1549 - - - - - - - - - 26.32 -
15364 552.1 9.1 631 15369 roll 0.64 - - 2886 - 2.10 0.037 801 -664.3 345.1 - - 1549 - - - - - - - - - 26.14 -
15428 546.6 8.8 634 15434 done 0.65 - - 2886 - 2.10 0.031 2199 665.7 345.1 - - 1549 - - - - - - - - - 26.21 -
15752 519.1 8.7 650 15758 roll 0.65 - - 2886 - 2.12 0.035 801 -659.4 345.1 - - 1549 - - - - - - - - - 26.15 -
15777 516.9 8.9 651 15783 done 0.66 - - 2886 - 2.10 0.030 2201 666.7 345.1 - - 1549 - - - - - - - - - 26.20 -
16101 487.6 9.0 667 16107 roll 0.67 - - 2886 - 2.12 0.035 804 -659.0 345.1 - - 1549 - - - - - - - - - 26.14 -
16129 485.6 8.9 668 16135 done 0.68 - - 2886 - 2.10 0.029 2211 670.0 345.1 - - 1549 - - - - - - - - - 26.20 -
16448 457.3 8.6 684 16454 roll 0.69 - - 2886 - 2.17 0.046 3606 642.9 345.1 - - 1548 - - - - - - - - - 25.98 -
16487 455.1 8.7 685 16494 done 0.70 - - 2886 - 2.08 0.027 2198 -676.9 345.1 - - 1548 - - - - - - - - - 26.30 -
16792 425.8 8.6 701 16798 roll 0.71 - - 2886 - 2.10 0.036 805 -663.3 345.1 - - 1548 - - - - - - - - - 26.16 -
16857 420.3 8.8 704 16862 done 0.72 - - 2886 - 2.10 0.028 2208 668.1 345.1 - - 1548 - - - - - - - - - 26.20 -
17181 392.2 8.7 720 17187 roll 0.74 - - 2888 - 2.17 0.045 3607 644.7 345.1 - - 1548 - - - - - - - - - 25.96 -
17210 389.9 9.1 721 17216 done 0.75 - - 2886 - 2.10 0.026 2190 -674.8 345.1 - - 1548 - - - - - - - - - 26.29 -
17529 357.3 10.6 737 17534 roll 0.77 - - 2886 - 2.08 0.034 802 -667.3 345.1 - - 1548 - - - - - - - - - 26.11 -
17598 350.7 10.3 740 17604 done 0.79 0.10 0.096 2943 570.0 2.08 0.028 2202 673.1 345.1 - - 1548 - - - - - - - - 26.13 26.19 -
17917 315.5 10.4 756 17923 roll 0.77 0.12 0.141 2903 -333.3 2.17 0.043 3605 646.5 345.1 - - 1548 - - - - - - - - 26.28 25.94 -
17951 313.1 10.3 757 17957 done 0.74 - - 2909 - 2.08 0.024 2190 -680.3 345.1 - - 1548 - - - - - - - - - 26.30 -
18266 290.8 6.3 773 18334 roll 0.83 - - 2909 - 2.17 0.034 809 -636.4 410.1 59.60 0.793 1289 -4.3 0.176 - - - - - - - 25.53 24.04
18373 283.6 7.2 778 18419 done 0.90 0.12 0.076 2981 600.0 2.10 0.026 2206 665.2 449.5 36.75 0.795 1127 -4.4 0.174 - - - - - - 25.85 25.87 24.05
18732 234.7 13.9 796 18739 roll 0.88 0.12 0.128 2941 -333.3 2.15 0.042 3599 647.9 449.5 - - 1117 - - - - - - - - 26.20 26.00 -
18771 231.3 13.7 797 18778 done 0.86 - - 2947 - 2.05 0.024 2196 -684.4 449.5 - - 1120 - - - - - - - - - 26.27 -
19078 196.9 10.6 813 19083 roll 0.88 - - 2950 - 2.05 0.034 811 -675.6 449.5 - - 1120 - - - - - - - - - 26.18 -
19116 194.2 10.7 814 19123 done 0.89 - - 2950 - 2.05 0.027 2210 682.4 449.5 - - 1120 - - - - - - - - - 26.25 -
19421 162.2 9.9 830 19426 roll 0.91 - - 2951 - 2.10 0.034 803 -670.0 449.5 - - 1120 - - - - - - - - - 26.20 -
19444 160.0 9.7 831 19450 done 0.94 - - 2950 - 2.05 0.026 2199 681.0 449.5 - - 1120 - - - - - - - - - 26.25 -
19769 129.5 9.5 847 19774 roll 1.02 0.12 0.080 3038 733.3 2.15 0.042 3603 653.0 449.5 - - 1120 - - - - - - - - 26.56 26.06 -
19802 127.0 9.5 848 19808 done 1.07 0.15 0.151 3007 -206.7 2.05 0.023 2192 -688.3 449.5 - - 1120 - - - - - - - - 25.91 26.36 -
20116 93.0 11.0 864 20123 roll 1.06 - - 3009 - 2.08 0.033 795 -671.6 449.5 - - 1120 - - - - - - - - - 26.22 -
20200 83.2 11.7 868 20206 done 1.06 - - 3009 - 2.08 0.026 2209 679.8 449.5 - - 1120 - - - - - - - - - 26.28 -
20515 47.0 11.4 884 20520 roll 1.05 - - 3009 - 2.12 0.050 3596 654.2 449.5 - - 1120 - - - - - - - - - 26.05 -
20579 39.5 11.6 890 20584 done 1.03 - - 3018 - 2.05 0.022 2187 -687.3 449.5 - - 1120 - - - - - - - - - 26.38 -
20893 3.1 12.9 921 20894 done 1.01 - - 3018 - - - 2187 - 449.5 - - 1120 - - - - - - - - - - -
20899 end climb: SURFACE_DEPTH_REACHED
20899 begin surface coast
20921 end surface coast: CONTROL_FINISHED_OK
20921 begin surface
SM 1.81 - - - - -7.88 7.47 0.034 124 -387.4 0.40 0.048 2445 645.0 453.31 - - 1120 - - - - - - - -