OKMC Jun13 * SG167 * Dive index * Mission links * Dive 238 * Raw log
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• Previous call tries 1 • 35.96 of 150.00 AH used of 24V (76.02% remains)
• Previous NAKs 0, Timeouts 0 • 22.89 of 100.00 AH used of 10V (77.11% remains)
• Surface angle -69.4 deg, depth 1.92 m • Intended pitch -15.7 deg, speed -10.000 cm/s
• No surface pump (final VBD was 564.93, SM_CC=564.9259)
• GPS1 time: 38 s
• GPS2 time: 43 s • Transponder ping count: 9
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 124 VBD -0.85 - - 130 - - - 2056 - -194.6 -95.38 - 2858 - - - - - - - - - - -
132 3.2 -2.6 17 164 roll -0.85 10.70 0.236 2768 246.5 2.00 0.040 681 -687.5 -194.6 -13.60 - 3558 -51.5 - - - - - - - 25.58 26.17 26.50
192 21.4 -30.3 26 200 done -0.75 0.17 0.195 2803 205.9 2.03 0.021 2087 692.6 -194.6 - - 3558 - - - - - - - - 25.78 26.22 -
521 95.9 -21.3 48 526 roll -0.70 - - 2794 - 2.03 0.033 3468 680.3 -194.6 - - 3559 - - - - - - - - - 26.31 -
649 116.0 -15.2 54 655 done -0.67 0.15 0.155 2833 260.0 1.95 0.016 2055 -724.6 -194.6 - - 3558 - - - - - - - - 26.10 26.46 -
975 158.9 -14.3 70 981 roll -0.65 - - 2833 - 1.92 0.028 707 -702.1 -194.6 - - 3559 - - - - - - - - - 26.44 -
1001 162.8 -14.5 71 1007 done -0.63 - - 2828 - 1.98 0.021 2090 698.5 -194.6 - - 3559 - - - - - - - - - 26.47 -
1327 204.9 -11.7 87 1332 roll -0.61 - - 2817 - 2.03 0.034 3474 681.8 -194.6 - - 3559 - - - - - - - - - 26.43 -
1386 210.7 -12.3 89 1393 done -0.60 0.12 0.148 2852 291.7 1.92 0.016 2081 -725.5 -194.6 - - 3559 - - - - - - - - 26.26 26.55 -
1692 247.7 -10.5 105 1697 roll -0.60 - - 2853 - 1.98 0.029 702 -696.5 -194.6 - - 3559 - - - - - - - - - 26.48 -
1731 250.3 -10.4 106 1738 done -0.60 - - 2847 - 1.95 0.021 2072 702.6 -194.6 - - 3559 - - - - - - - - - 26.51 -
2037 278.1 -8.9 122 2042 roll -0.60 - - 2847 - 2.05 0.035 3469 681.5 -194.6 - - 3557 - - - - - - - - - 26.45 -
2111 284.0 -8.9 125 2117 done -0.60 - - 2848 - 1.92 0.017 2086 -720.3 -194.6 - - 3559 - - - - - - - - - 26.58 -
2427 313.9 -9.0 141 2433 roll -0.60 - - 2847 - 2.00 0.030 684 -701.0 -194.6 - - 3558 - - - - - - - - - 26.49 -
2493 320.0 -9.2 144 2499 done -0.60 - - 2847 - 2.00 0.022 2078 697.0 -194.6 - - 3557 - - - - - - - - - 26.53 -
2818 350.4 -10.7 160 2823 roll -0.60 - - 2847 - 2.05 0.035 3474 681.0 -194.6 - - 3555 - - - - - - - - - 26.46 -
2877 355.4 -11.1 162 2883 done -0.60 - - 2847 - 1.95 0.017 2068 -721.0 -194.6 - - 3554 - - - - - - - - - 26.58 -
3183 385.5 -8.7 178 3188 roll -0.60 - - 2847 - 1.98 0.030 693 -694.4 -194.6 - - 3553 - - - - - - - - - 26.50 -
3213 387.7 -8.8 179 3219 done -0.60 - - 2847 - 1.98 0.023 2073 697.0 -194.6 - - 3553 - - - - - - - - - 26.53 -
3534 416.0 -8.8 195 3539 roll -0.60 - - 2847 - 2.08 0.036 3471 672.1 -194.6 - - 3551 - - - - - - - - - 26.45 -
3573 418.1 -8.6 196 3581 done -0.60 - - 2847 - 1.98 0.018 2065 -710.1 -194.6 - - 3551 - - - - - - - - - 26.58 -
3880 445.1 -8.6 212 3886 roll -0.61 - - 2847 - 1.98 0.030 692 -693.4 -194.6 - - 3549 - - - - - - - - - 26.49 -
3946 451.3 -9.3 215 3952 done -0.62 - - 2847 - 2.03 0.022 2084 685.7 -194.6 - - 3549 - - - - - - - - - 26.53 -
4272 482.9 -9.9 231 4278 roll -0.63 - - 2847 - 2.05 0.049 3467 674.6 -194.6 -0.08 - 3576 -337.5 - - - - - - - - 26.44 25.82
4351 489.1 -9.5 234 4356 done -0.65 - - 2847 - 1.95 0.018 2073 -714.9 -194.6 - - 3576 - - - - - - - - - 26.59 -
4667 515.6 -7.2 250 4672 roll -0.66 - - 2847 - 1.98 0.030 704 -691.4 -194.6 - - 3575 - - - - - - - - - 26.48 -
4713 519.0 -7.1 252 4718 done -0.68 - - 2847 - 1.98 0.023 2081 695.5 -194.6 - - 3574 - - - - - - - - - 26.52 -
5038 542.3 -7.6 268 5044 roll -0.69 - - 2847 - 2.05 0.036 3467 676.1 -194.6 - - 3572 - - - - - - - - - 26.44 -
5105 548.1 -8.8 271 5111 done -0.71 - - 2847 - 1.98 0.018 2064 -708.6 -194.6 - - 3572 - - - - - - - - - 26.58 -
5431 579.4 -10.1 287 5437 roll -0.73 - - 2847 - 1.98 0.031 701 -688.4 -194.6 - - 3570 - - - - - - - - - 26.46 -
5534 588.2 -10.2 291 5541 done -0.75 0.12 0.083 2778 -575.0 2.00 0.024 2087 693.0 -194.6 - - 3569 - - - - - - - - 26.44 26.51 -
5850 624.0 -10.0 304 5857 roll -0.73 0.12 0.152 2817 325.0 2.08 0.035 3478 668.8 -194.6 - - 3567 - - - - - - - - 26.33 26.41 -
5959 631.7 -8.0 307 5965 done -0.73 - - 2817 - 1.98 0.018 2077 -707.6 -194.6 - - 3566 - - - - - - - - - 26.58 -
6288 659.5 -8.7 318 6294 roll -0.73 - - 2817 - 2.00 0.032 703 -687.0 -194.6 - - 3564 - - - - - - - - - 26.45 -
6342 662.9 -9.0 319 6349 done -0.73 - - 2817 - 2.00 0.024 2073 685.0 -194.6 - - 3563 - - - - - - - - - 26.50 -
6662 693.9 -9.3 330 6668 roll -0.73 - - 2817 - 2.10 0.038 3474 667.1 -194.6 - - 3562 - - - - - - - - - 26.39 -
6722 697.7 -9.5 331 6729 done -0.73 - - 2817 - 1.98 0.019 2077 -705.6 -194.6 - - 3561 - - - - - - - - - 26.55 -
7028 731.6 -10.6 342 7033 roll -0.73 - - 2817 - 2.00 0.032 703 -687.0 -194.6 - - 3559 - - - - - - - - - 26.44 -
7087 735.4 -10.6 343 7094 done -0.73 - - 2816 - 2.00 0.024 2081 689.0 -194.6 - - 3559 - - - - - - - - - 26.48 -
7393 767.5 -9.3 354 7399 roll -0.73 - - 2817 - 2.08 0.038 3468 666.8 -194.6 - - 3556 - - - - - - - - - 26.38 -
7484 773.5 -9.1 356 7491 done -0.74 - - 2817 - 1.98 0.021 2076 -703.0 -194.6 - - 3556 - - - - - - - - - 26.53 -
7789 803.7 -9.2 367 7794 roll -0.74 - - 2817 - 2.03 0.033 695 -680.3 -194.6 - - 3554 - - - - - - - - - 26.41 -
7849 807.1 -9.3 368 7856 done -0.74 - - 2817 - 2.03 0.025 2079 681.8 -194.6 - - 3554 - - - - - - - - - 26.46 -
8157 837.7 -9.0 379 8163 roll -0.74 - - 2817 - 2.10 0.040 3470 662.4 -194.6 - - 3551 - - - - - - - - - 26.35 -
8193 841.0 -8.8 380 8199 done -0.76 - - 2817 - 2.00 0.021 2077 -696.5 -194.6 - - 3551 - - - - - - - - - 26.52 -
8533 868.5 -7.7 391 8539 roll -0.77 - - 2817 - 2.03 0.034 699 -678.8 -194.6 - - 3550 - - - - - - - - - 26.39 -
8593 871.6 -7.6 392 8600 done -0.78 - - 2817 - 2.03 0.026 2081 680.8 -194.6 - - 3550 - - - - - - - - - 26.44 -
8902 895.3 -6.6 403 8908 roll -0.79 - - 2817 - 2.10 0.040 3474 663.3 -194.6 - - 3548 - - - - - - - - - 26.32 -
8968 899.5 -6.2 405 8973 done -0.80 - - 2817 - 2.03 0.022 2066 -693.6 -194.6 - - 3548 - - - - - - - - - 26.51 -
9307 918.5 -5.7 416 9312 roll -0.81 - - 2817 - 2.03 0.034 690 -677.8 -194.6 - - 3545 - - - - - - - - - 26.36 -
9373 923.1 -6.2 418 9378 done -0.83 - - 2817 - 2.05 0.026 2080 678.0 -194.6 - - 3545 - - - - - - - - - 26.42 -
9711 945.7 -6.8 429 9717 roll -0.84 0.12 0.084 2751 -550.0 2.10 0.039 3469 661.4 -194.6 - - 3543 - - - - - - - - 26.57 26.29 -
9778 952.4 -8.5 431 9783 done -0.84 - - 2751 - 2.03 0.022 2070 -689.2 -194.6 - - 3543 - - - - - - - - - 26.48 -
10116 987.9 -10.5 442 10121 roll -0.82 0.12 0.160 2790 325.0 2.05 0.033 685 -675.6 -194.6 - - 3541 - - - - - - - - 26.24 26.34 -
10148 end dive: TARGET_DEPTH_EXCEEDED
10148 begin apogee
10159 991.7 -10.4 443 10369 done -0.18 0.62 0.122 2986 316.1 - - 2202 - - 202.57 1.125 2757 -3.9 0.355 - - - - - - 25.84 - 23.90
10371 end apogee: CONTROL_FINISHED_OK
10372 begin climb
10375 998.8 - 450 10568 roll 0.85 0.93 0.054 3322 361.3 2.33 0.040 3599 599.6 194.6 183.85 1.144 1958 -4.3 0.394 - - - - - - 24.91 24.43 23.59
10608 973.0 14.5 458 10615 done 0.79 - - 3331 - 2.17 0.024 2210 -640.1 194.6 - - 1939 - - - - - - - - - 25.01 -
10948 921.8 14.8 469 10954 roll 0.75 0.12 0.168 3305 -216.7 2.12 0.034 802 -664.2 194.6 - - 1935 - - - - - - - - 25.79 25.96 -
10988 916.5 14.4 470 10994 done 0.71 - - 3306 - 2.10 0.029 2201 666.2 194.6 - - 1933 - - - - - - - - - 26.01 -
11322 872.2 13.6 481 11328 roll 0.68 0.12 0.158 3269 -308.3 2.15 0.041 3599 650.2 194.6 - - 1933 - - - - - - - - 26.02 26.14 -
11410 862.9 13.6 483 11415 done 0.65 - - 3276 - 2.08 0.024 2190 -677.4 194.6 - - 1930 - - - - - - - - - 26.27 -
11728 824.2 11.9 494 11733 roll 0.62 - - 3279 - 2.08 0.037 812 -662.5 194.6 - - 1930 - - - - - - - - - 26.25 -
11778 819.8 11.8 495 11784 done 0.60 0.12 0.141 3247 -266.7 2.08 0.029 2212 673.1 194.6 - - 1930 - - - - - - - - 26.08 26.29 -
12103 784.4 10.4 506 12109 roll 0.60 - - 3253 - 2.12 0.035 808 -662.3 194.6 - - 1929 - - - - - - - - - 26.30 -
12148 780.2 10.6 507 12154 done 0.59 - - 3254 - 2.08 0.029 2204 671.2 194.6 - - 1929 - - - - - - - - - 26.34 -
12479 747.9 9.3 518 12496 done 0.61 - - 3254 - - - 2204 - 213.5 14.65 1.076 1890 -2.7 0.192 - - - - - - - - 25.29
12814 715.6 9.7 529 12821 roll 0.62 - - 3261 - 2.10 0.034 815 -661.4 221.5 1.70 0.186 1857 -19.4 7.763 - - - - - - - 26.21 25.87
12855 711.7 9.7 530 12883 done 0.62 - - 3261 - 2.08 0.029 2208 669.7 230.6 16.67 1.050 1810 -2.8 0.199 - - - - 1 - - 26.25 24.68
13214 679.9 8.3 542 13272 roll 0.70 - - 3261 - 2.28 0.043 3600 610.5 279.9 43.67 1.023 1622 -4.3 0.297 - - - - 1 - - 25.41 24.27
13338 667.6 9.9 546 13348 done 0.70 - - 3263 - 2.12 0.026 2206 -657.5 283.7 4.05 0.881 1607 -3.7 0.292 - - - - - - - 25.75 24.63
13672 632.1 11.1 557 13682 roll 0.70 - - 3270 - 2.17 0.037 806 -645.2 283.7 2.45 0.468 1608 - - - - - - - - - 26.07 24.60
13784 621.2 11.5 560 13794 done 0.70 - - 3271 - 2.10 0.028 2207 667.1 283.7 2.10 0.272 1605 -1.4 0.339 - - - - - - - 26.13 24.47
14104 586.7 9.6 573 14137 roll 0.72 - - 3277 - 2.22 0.036 807 -630.6 295.3 23.45 0.995 1546 -2.5 0.154 - - - - - - - 25.82 25.07
14193 578.4 10.1 577 14199 done 0.72 - - 3277 - 2.10 0.028 2198 662.4 295.3 - - 1537 - - - - - - - - - 25.91 -
14514 547.7 9.5 593 14534 roll 0.74 - - 3277 - 2.25 0.041 3600 623.1 309.9 13.18 1.004 1491 -3.5 0.198 - - - - - - - 25.91 25.07
14625 534.8 12.4 598 14631 done 0.74 - - 3280 - 2.10 0.025 2195 -669.0 309.9 - - 1481 - - - - - - - - - 26.05 -
14945 493.5 11.3 614 14951 roll 0.74 - - 3279 - 2.20 0.041 3608 642.3 309.9 - - 1480 - - - - - - - - - 26.14 -
15036 485.3 9.7 618 15042 done 0.75 - - 3279 - 2.10 0.026 2193 -673.8 317.7 1.62 0.187 1467 -8.0 2.165 - - - - - - - 26.26 25.84
15357 462.4 8.0 634 15430 roll 0.84 0.12 0.080 3353 616.7 2.25 0.038 3598 624.4 374.3 66.20 0.855 1228 -3.6 0.203 - - - - - - 26.40 25.35 24.63
15511 442.8 14.7 641 15517 done 0.82 0.17 0.145 3314 -229.4 2.12 0.024 2190 -664.2 374.3 - - 1208 - - - - - - - - 25.49 25.73 -
15827 401.5 12.0 657 15832 roll 0.82 - - 3314 - 2.20 0.039 3603 642.3 374.3 - - 1206 - - - - - - - - - 26.03 -
15861 398.5 11.9 658 15867 done 0.82 - - 3316 - 2.10 0.024 2189 -673.3 374.3 - - 1206 - - - - - - - - - 26.12 -
16177 364.5 9.6 674 16187 roll 0.84 - - 3316 - 2.17 0.039 3598 649.3 386.7 3.20 0.571 1184 -6.9 0.456 - - - - - - - 26.20 25.02
16231 359.7 10.1 676 16236 done 0.84 - - 3316 - 2.08 0.024 2187 -678.4 386.7 - - 1193 - - - - - - - - - 26.26 -
16546 320.3 13.6 692 16553 roll 0.84 - - 3316 - 2.12 0.034 808 -650.5 386.7 1.58 0.177 1184 -5.7 1.071 - - - - - - - 26.25 25.90
16581 316.7 13.6 693 16587 done 0.84 - - 3316 - 2.05 0.026 2209 683.4 386.7 - - 1193 - - - - - - - - - 26.29 -
16897 274.2 12.6 709 16902 roll 0.87 - - 3316 - 2.10 0.033 800 -671.0 386.7 - - 1194 - - - - - - - - - 26.31 -
16976 266.9 11.6 712 16983 done 0.89 - - 3316 - 2.05 0.024 2200 682.9 386.7 - - 1195 - - - - - - - - - 26.37 -
17282 239.9 7.0 728 17376 roll 1.04 0.17 0.060 3436 705.9 2.25 0.034 803 -620.9 474.1 86.20 0.698 819 -4.4 0.156 - - - - - - 26.48 25.41 24.76
17489 207.4 19.1 738 17495 done 1.02 0.20 0.141 3378 -290.0 2.12 0.024 2206 661.8 474.1 - - 802 - - - - - - - - 25.53 25.82 -
17816 168.6 9.5 754 17825 roll 1.03 - - 3385 - 2.12 0.033 803 -661.8 487.1 3.55 0.522 778 -6.8 0.227 - - - - - - - 26.10 25.07
17952 154.5 11.5 760 17964 done 1.03 - - 3385 - 2.05 0.024 2203 682.9 487.1 1.75 0.164 776 - - - - - - - - - 26.18 25.86
18263 120.7 8.5 776 18315 roll 1.10 - - 3393 - 2.17 0.032 810 -641.9 530.6 44.58 0.618 585 -4.3 0.087 - - - - - - - 25.79 25.15
18326 115.6 8.2 779 18346 done 1.19 0.12 0.075 3462 575.0 2.08 0.023 2212 674.0 583.7 12.55 0.315 466 -9.5 0.362 - - - - - - 25.83 25.85 25.26
18645 66.9 14.6 795 18656 roll 1.19 - - 3465 - 2.15 0.038 3591 641.4 583.7 2.00 0.169 466 - - - - - - - - - 26.06 25.73
18680 63.5 13.8 796 18692 done 1.19 0.15 0.144 3431 -226.7 2.05 0.021 2178 -689.3 583.7 1.92 0.162 466 - - - - - - - - 25.89 26.18 25.77
18992 38.0 9.1 819 18999 roll 1.24 - - 3439 - 2.08 0.031 811 -657.2 609.1 1.80 0.170 459 -3.9 0.090 - - - - - - - 26.24 25.84
19030 34.2 9.6 822 19036 done 1.28 - - 3439 - 2.03 0.023 2212 690.1 621.1 1.70 0.169 459 - - - - - - - - - 26.29 25.89
19303 end climb: SURFACE_DEPTH_REACHED
19303 begin surface coast
19332 end surface coast: CONTROL_FINISHED_OK
19332 begin surface
SM 2.38 - - - - -9.04 8.27 0.021 133 16.1 0.15 0.051 2087 -47566.7 564.93 1.65 0.161 458 277.6 -0.419 - - - - - -