OKMC Oct12 * SG167 * Dive index * Mission links * Dive 428 * Raw log
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• Previous call tries 1 • 92.19 of 150.00 AH used of 24V (38.54% remains)
• Previous NAKs 0, Timeouts 0 • 59.24 of 110.00 AH used of 10V (46.15% remains)
• Surface angle -62.4 deg, depth 1.73 m • Intended pitch -14.8 deg, speed -9.429 cm/s
• No surface pump (final VBD was 491.09, SM_CC=400)
• GPS1 time: 49 s
• GPS2 time: 4 s • Transponder ping count: 81
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
21 - - - 95 VBD -0.73 - - 110 - - - 2468 - -195.5 -71.70 - 2852 - - - - - - - - - - -
99 3.4 -3.8 7 136 roll -0.73 9.25 0.216 2422 249.9 2.17 0.047 1058 -649.8 -195.5 -20.40 - 3767 -44.9 - - - - - - - 24.96 26.03 26.67
298 36.6 -16.1 26 303 done -0.67 - - 2422 - 2.10 0.041 2432 654.3 -195.5 - - 3769 - - - - - - - - - 25.86 -
611 86.1 -15.9 46 617 roll -0.61 0.12 0.164 2453 258.3 2.05 0.044 3755 645.4 -195.5 - - 3768 - - - - - - - - 26.13 25.77 -
711 98.6 -14.8 50 718 done -0.56 - - 2453 - 1.88 0.018 2418 -711.2 -195.5 - - 3768 - - - - - - - - - 26.35 -
1016 139.6 -13.6 66 1018 done -0.53 0.15 0.137 2495 280.0 - - 2418 - -195.5 - - 3768 - - - - - - - - 26.19 - -
1318 170.5 -9.4 81 1324 roll -0.55 - - 2496 - 1.95 0.032 1086 -683.1 -195.5 - - 3769 - - - - - - - - - 26.00 -
1362 175.0 -9.5 83 1368 done -0.57 - - 2495 - 2.08 0.036 2454 657.7 -195.5 - - 3769 - - - - - - - - - 25.96 -
1688 201.5 -8.8 99 1693 roll -0.64 0.12 0.080 2406 -741.7 2.05 0.032 1085 -667.8 -195.5 - - 3770 - - - - - - - - 26.53 25.98 -
1706 201.5 -8.8 99 1714 done -0.71 0.12 0.158 2437 258.3 2.08 0.037 2455 658.7 -195.5 - - 3770 - - - - - - - - 25.65 25.97 -
2013 237.1 -10.5 115 2014 done -0.69 - - 2436 - - - 2457 - -195.5 - - 3770 - - - - - - - - - - -
2314 269.3 -10.7 130 2319 roll -0.69 - - 2436 - 2.03 0.047 3762 642.9 -195.5 - - 3770 - - - - - - - - - 25.75 -
2398 278.5 -10.7 134 2403 done -0.69 - - 2437 - 1.85 0.018 2436 -716.8 -195.5 - - 3770 - - - - - - - - - 26.38 -
2721 311.3 -10.1 150 2727 roll -0.69 - - 2433 - 2.08 0.047 3759 636.1 -195.5 - - 3770 - - - - - - - - - 25.72 -
2751 313.7 -10.1 151 2756 done -0.69 - - 2432 - 1.88 0.018 2427 -708.5 -195.5 - - 3770 - - - - - - - - - 26.36 -
3069 343.9 -8.8 167 3074 roll -0.69 - - 2433 - 1.95 0.032 1096 -682.6 -195.5 - - 3769 - - - - - - - - - 26.00 -
3096 346.0 -8.9 168 3102 done -0.69 - - 2429 - 2.05 0.036 2455 662.9 -195.5 - - 3769 - - - - - - - - - 25.98 -
3415 380.5 -11.1 184 3416 done -0.69 - - 2429 - - - 2455 - -195.5 - - 3768 - - - - - - - - - - -
3718 413.0 -9.7 199 3724 roll -0.69 - - 2426 - 2.03 0.047 3757 641.4 -195.5 - - 3767 - - - - - - - - - 25.71 -
3750 415.5 -9.4 200 3756 done -0.69 - - 2426 - 1.83 0.018 2459 -709.3 -195.5 - - 3767 - - - - - - - - - 26.40 -
4064 441.4 -7.3 216 4065 done -0.69 - - 2426 - - - 2459 - -195.5 - - 3765 - - - - - - - - - - -
4366 466.1 -9.2 231 4372 roll -0.69 - - 2426 - 2.03 0.031 1080 -679.3 -195.5 - - 3763 - - - - - - - - - 25.99 -
4393 468.6 -9.5 232 4399 done -0.69 - - 2426 - 2.08 0.036 2451 659.1 -195.5 - - 3763 - - - - - - - - - 25.95 -
4712 500.3 -9.8 248 4713 done -0.69 - - 2426 - - - 2451 - -195.5 - - 3761 - - - - - - - - - - -
5014 526.9 -8.3 263 5019 roll -0.69 - - 2426 - 2.05 0.050 3758 637.6 -195.5 - - 3758 - - - - - - - - - 25.63 -
5082 532.8 -8.8 266 5088 done -0.69 - - 2426 - 1.85 0.018 2435 -715.1 -195.5 - - 3758 - - - - - - - - - 26.37 -
5402 559.6 -8.2 282 5408 roll -0.71 - - 2435 - 1.98 0.032 1099 -674.7 -195.5 - - 3756 - - - - - - - - - 24.55 -
5426 561.6 -8.1 283 5432 done -0.72 - - 2426 - 2.08 0.035 2457 652.9 -195.5 - - 3756 - - - - - - - - - 25.91 -
5752 586.8 -7.5 299 5757 roll -0.73 - - 2426 - 2.05 0.050 3761 636.1 -195.5 - - 3754 - - - - - - - - - 25.60 -
5840 593.3 -7.7 303 5846 done -0.74 - - 2426 - 1.88 0.019 2437 -704.3 -195.5 - - 3754 - - - - - - - - - 26.35 -
6153 617.3 -8.0 315 6154 done -0.75 - - 2426 - - - 2435 - -195.5 - - 3752 - - - - - - - - - - -
6450 643.0 -8.6 325 6456 roll -0.77 - - 2426 - 2.10 0.050 3751 626.7 -195.5 - - 3751 - - - - - - - - - 25.54 -
6519 649.1 -9.1 327 6524 done -0.79 - - 2426 - 1.85 0.023 2447 -704.9 -195.5 - - 3750 - - - - - - - - - 26.24 -
6851 679.5 -8.9 338 6857 roll -0.81 - - 2426 - 2.10 0.051 3755 622.9 -195.5 - - 3748 - - - - - - - - - 25.51 -
6895 683.0 -8.9 339 6901 done -0.83 - - 2434 - 1.85 0.021 2452 -704.3 -195.5 - - 3747 - - - - - - - - - 26.32 -
7222 712.2 -8.9 350 7227 roll -0.84 - - 2426 - 2.00 0.031 1099 -676.5 -195.5 - - 3745 - - - - - - - - - 25.91 -
7257 715.6 -9.0 351 7263 done -0.86 0.12 0.082 2363 -525.0 2.08 0.036 2453 651.0 -195.5 - - 3745 - - - - - - - - 25.82 25.86 -
7594 754.9 -11.7 362 7601 roll -0.82 0.12 0.156 2398 291.7 2.08 0.049 3754 625.5 -195.5 - - 3742 - - - - - - - - 26.15 25.46 -
7624 754.9 -11.7 362 7631 done -0.79 - - 2398 - 1.85 0.021 2457 -701.1 -195.5 - - 3742 - - - - - - - - - 26.27 -
7930 786.8 -8.9 373 7936 roll -0.79 - - 2398 - 2.10 0.052 3751 616.2 -195.5 - - 3740 - - - - - - - - - 25.43 -
7974 790.0 -8.8 374 7980 done -0.79 - - 2398 - 1.88 0.021 2437 -698.9 -195.5 - - 3739 - - - - - - - - - 26.27 -
8301 817.0 -8.2 385 8306 roll -0.79 - - 2398 - 2.12 0.052 3751 619.8 -195.5 - - 3738 - - - - - - - - - 25.40 -
8349 820.0 -8.4 386 8354 done -0.79 - - 2398 - 1.85 0.021 2448 -704.3 -195.5 - - 3737 - - - - - - - - - 26.26 -
8668 848.2 -8.4 397 8670 done -0.79 - - 2398 - - - 2447 - -195.5 - - 3735 - - - - - - - - - - -
8968 873.2 -8.3 407 8973 roll -0.79 - - 2398 - 2.12 0.052 3761 619.8 -195.5 - - 3733 - - - - - - - - - 25.35 -
9020 876.1 -8.3 408 9026 done -0.79 - - 2397 - 1.88 0.022 2454 -695.2 -195.5 - - 3733 - - - - - - - - - 26.22 -
9337 903.5 -8.5 419 9338 done -0.79 - - 2398 - - - 2453 - -195.5 - - 3731 - - - - - - - - - - -
9634 930.1 -9.3 429 9635 done -0.79 - - 2398 - - - 2452 - -195.5 - - 3728 - - - - - - - - - - -
9935 957.9 -9.1 439 9936 done -0.79 - - 2398 - - - 2452 - -195.5 - - 3729 - - - - - - - - - - -
10234 984.3 -8.7 449 10239 roll -0.79 - - 2398 - 2.12 0.053 3759 616.5 -195.5 - - 3727 - - - - - - - - - 25.24 -
10282 987.2 -8.6 450 10287 done -0.79 - - 2397 - 1.92 0.024 2449 -682.3 -195.5 - - 3727 - - - - - - - - - 26.15 -
10297 end dive: TARGET_DEPTH_EXCEEDED
10297 begin apogee
10305 990.1 -8.6 451 10481 done -0.27 0.55 0.114 2573 320.0 - - 2182 - - 168.45 1.262 2963 -4.5 0.390 - - - - - - 25.04 - 23.08
10482 end apogee: CONTROL_FINISHED_OK
10483 begin climb
10486 995.9 - 457 10674 roll 0.73 0.95 0.075 2905 349.5 2.25 0.038 849 -592.4 195.5 178.73 1.216 2163 -4.5 0.401 - - - - - - 24.58 23.89 22.44
10697 981.5 9.5 464 10703 done 0.66 - - 2906 - 2.20 0.035 2200 614.1 195.5 - - 2158 - - - - - - - - - 24.61 -
11028 944.0 10.9 475 11034 roll 0.61 0.12 0.146 2866 -333.3 2.25 0.053 3609 626.2 195.5 - - 2148 - - - - - - - - 26.07 25.77 -
11126 934.1 10.4 478 11131 done 0.56 - - 2872 - 2.05 0.028 2238 -668.8 195.5 - - 2149 - - - - - - - - - 26.13 -
11462 904.4 8.8 489 11482 done 0.55 - - 2871 - - - 2239 - 216.1 18.08 1.212 2086 -3.5 0.285 - - - - - - - - 24.08
11763 877.9 8.5 499 11796 roll 0.56 - - 2882 - 2.22 0.038 809 -644.1 243.3 27.65 1.204 1971 -4.2 0.332 - - - - - - - 25.58 23.94
11809 875.1 8.7 500 11843 done 0.56 0.12 0.132 2849 -275.0 2.15 0.034 2204 648.8 266.8 25.10 1.196 1873 -3.9 0.313 - - - - - - 25.59 25.77 23.70
12156 845.6 8.1 512 12205 roll 0.61 - - 2848 - 2.28 0.048 3604 614.0 308.7 42.65 1.188 1701 -4.0 0.314 - - - - - - - 25.37 23.77
12294 834.4 9.1 516 12310 done 0.62 - - 2853 - 2.12 0.028 2188 -667.9 318.4 10.12 1.219 1666 -3.5 0.259 - - - - - - - 26.03 24.03
12611 806.6 8.1 527 12658 done 0.70 0.10 0.096 2910 570.0 - - 2187 - 360.8 43.55 1.170 1496 -3.9 0.295 - - - - - - 26.40 - 23.84
12972 770.0 10.3 539 12977 roll 0.69 - - 2910 - 2.25 0.048 3597 626.7 360.8 - - 1483 - - - - - - - - - 25.84 -
13015 766.0 10.5 540 13020 done 0.67 - - 2910 - 2.10 0.027 2193 -668.6 360.8 - - 1482 - - - - - - - - - 26.15 -
13342 729.5 11.0 551 13347 roll 0.67 - - 2911 - 2.12 0.041 804 -655.2 360.8 - - 1480 - - - - - - - - - 25.86 -
13369 729.5 11.0 551 13377 done 0.67 - - 2911 - 2.12 0.032 2206 661.3 360.8 - - 1482 - - - - - - - - - 26.00 -
13675 692.7 11.0 562 13681 roll 0.67 - - 2912 - 2.20 0.048 3597 632.3 360.8 - - 1481 - - - - - - - - - 25.70 -
13698 692.7 11.0 562 13704 done 0.67 0.15 0.142 2877 -233.3 2.10 0.027 2188 -671.0 360.8 - - 1480 - - - - - - - - 25.71 26.12 -
14015 659.9 9.6 573 14020 roll 0.70 - - 2876 - 2.28 0.048 3602 620.2 360.8 - - 1480 - - - - - - - - - 25.62 -
14039 659.9 9.6 573 14044 done 0.72 - - 2882 - 2.10 0.027 2192 -671.4 360.8 - - 1479 - - - - - - - - - 26.10 -
14354 627.3 9.3 584 14359 roll 0.74 - - 2882 - 2.10 0.040 812 -657.1 364.9 - - 1479 - - - - - - - - - 25.76 -
14388 624.0 9.3 585 14398 done 0.77 - - 2881 - 2.12 0.031 2209 659.0 370.3 4.12 1.076 1459 -4.9 0.308 - - - - - - - 25.90 24.46
14702 595.6 9.2 596 14723 roll 0.80 0.12 0.083 2954 608.3 2.28 0.048 3595 607.9 377.0 13.38 1.092 1423 -2.7 0.161 - - - - - - 26.42 25.77 24.28
14797 583.7 13.8 600 14803 done 0.77 0.17 0.145 2916 -223.5 2.10 0.028 2191 -668.6 377.0 - - 1421 - - - - - - - - 25.65 26.10 -
15111 547.6 11.3 616 15117 roll 0.77 - - 2922 - 2.12 0.039 801 -655.7 377.0 - - 1419 - - - - - - - - - 25.84 -
15150 544.8 11.3 617 15156 done 0.77 - - 2922 - 2.12 0.032 2202 660.8 377.0 - - 1420 - - - - - - - - - 25.95 -
15455 509.8 10.4 633 15460 roll 0.77 - - 2922 - 2.20 0.047 3595 633.2 377.0 - - 1423 - - - - - - - - - 25.60 -
15493 507.2 10.5 634 15499 done 0.77 - - 2922 - 2.08 0.026 2196 -672.6 377.0 - - 1419 - - - - - - - - - 26.09 -
15798 475.5 9.3 650 15803 roll 0.77 - - 2922 - 2.10 0.039 812 -659.0 379.7 - - 1419 - - - - - - - - - 25.72 -
15825 473.4 9.2 651 15841 done 0.78 - - 2922 - 2.10 0.031 2203 662.4 385.4 8.32 1.044 1392 -3.2 0.161 - - - - - - - 25.89 24.33
16142 444.0 9.5 667 16147 roll 0.78 - - 2922 - 2.20 0.046 3603 636.4 385.4 - - 1389 - - - - - - - - - 25.68 -
16170 441.6 9.7 668 16175 done 0.78 - - 2922 - 2.10 0.025 2186 -674.8 385.4 - - 1389 - - - - - - - - - 26.10 -
16488 409.4 9.7 684 16494 roll 0.78 - - 2922 - 2.12 0.045 811 -648.6 385.4 - - 1389 - - - - - - - - - 25.72 -
16532 405.2 9.8 686 16538 done 0.78 - - 2922 - 2.12 0.031 2206 658.0 385.4 - - 1389 - - - - - - - - - 25.91 -
16856 372.5 10.4 702 16857 done 0.79 - - 2922 - - - 2206 - 385.4 - - 1389 - - - - - - - - - - -
17159 341.2 9.8 717 17164 roll 0.81 - - 2922 - 2.17 0.046 3594 639.6 385.4 - - 1389 - - - - - - - - - 25.50 -
17222 334.4 10.0 720 17227 done 0.81 - - 2922 - 2.08 0.024 2191 -674.5 385.4 - - 1389 - - - - - - - - - 26.08 -
17547 303.8 9.9 736 17552 roll 0.82 - - 2922 - 2.08 0.037 817 -660.6 385.4 - - 1389 - - - - - - - - - 25.70 -
17594 299.4 9.9 738 17599 done 0.84 - - 2922 - 2.10 0.030 2202 659.5 385.4 - - 1389 - - - - - - - - - 25.86 -
17913 268.6 10.2 754 17920 roll 0.87 - - 2922 - 2.17 0.045 3593 641.0 385.4 - - 1389 - - - - - - - - - 25.49 -
18007 259.0 11.2 758 18012 done 0.89 - - 2922 - 2.05 0.022 2189 -684.9 385.4 - - 1389 - - - - - - - - - 26.10 -
18321 230.4 8.0 774 18370 roll 0.97 0.12 0.079 3007 708.3 2.30 0.044 3592 610.0 428.0 39.10 0.767 1215 -4.5 0.146 - - - - - - 26.48 25.58 24.26
18412 221.0 11.3 778 18419 done 0.96 0.15 0.146 2977 -200.0 2.08 0.023 2201 -668.8 428.0 - - 1214 - - - - - - - - 25.60 26.01 -
18726 186.0 10.6 794 18731 roll 0.96 - - 2977 - 2.10 0.037 805 -664.8 428.0 - - 1213 - - - - - - - - - 25.86 -
18805 179.0 11.0 797 18811 done 0.96 - - 2978 - 2.08 0.029 2200 670.7 428.0 - - 1213 - - - - - - - - - 26.00 -
19110 148.1 8.9 813 19131 roll 0.99 - - 2977 - 2.25 0.044 3599 621.8 444.1 15.10 0.746 1152 -4.0 0.088 - - - - - - - 25.85 24.51
19220 138.4 9.6 818 19226 done 1.00 - - 2983 - 2.05 0.021 2189 -687.8 444.1 - - 1148 - - - - - - - - - 26.18 -
19539 107.8 9.6 834 19545 roll 1.02 - - 2983 - 2.08 0.037 814 -661.1 444.1 - - 1148 - - - - - - - - - 25.86 -
19568 105.5 9.7 835 19573 done 1.04 - - 2983 - 2.08 0.029 2212 672.1 444.1 - - 1150 - - - - - - - - - 26.03 -
19887 75.7 8.6 851 19907 roll 1.09 - - 2983 - 2.20 0.043 3593 627.7 470.5 10.60 0.284 1050 -9.4 0.275 - - - - - - - 25.89 24.86
19945 71.7 8.7 853 19962 done 1.13 0.12 0.078 3057 616.7 2.05 0.029 2188 -685.4 491.5 9.95 0.272 964 -8.6 0.250 - - - - - - 26.10 26.23 24.94
20267 34.6 11.6 876 20274 roll 1.11 0.12 0.135 3021 -300.0 2.05 0.035 820 -667.3 491.5 - - 967 - - - - - - - - 26.20 25.83 -
20282 32.7 11.7 877 20287 done 1.10 - - 3021 - 2.05 0.031 2200 673.2 491.5 - - 967 - - - - - - - - - 26.01 -
20563 end climb: SURFACE_DEPTH_REACHED
20563 begin surface coast
20585 end surface coast: CONTROL_FINISHED_OK
20587 begin surface
SM 1.87 - - - - -7.87 7.35 0.021 117 -395.1 0.35 0.049 2449 711.4 491.09 - - 966 - - - - - - - -