OKMC Jun13 * SG167 * Dive index * Mission links * Dive 107 * Raw log
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• Previous call tries 1 • 12.96 of 150.00 AH used of 24V (91.36% remains)
• Previous NAKs 0, Timeouts 0 • 8.53 of 100.00 AH used of 10V (91.47% remains)
• Surface angle -71.8 deg, depth 1.56 m • Intended pitch -15.4 deg, speed -9.167 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 38 s
• GPS2 time: 34 s • Transponder ping count: 5
• 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 - - - 131 VBD -0.96 - - 121 - - - 2110 - -175.2 -102.25 - 2997 - - - - - - - - - - -
139 3.3 -4.7 18 165 roll -0.96 10.43 0.239 2744 251.5 2.08 0.040 693 -681.2 -175.2 -8.30 - 3480 -58.2 - - - - - - - 25.92 26.20 26.45
222 43.8 -47.5 29 229 done -0.67 0.38 0.197 2834 236.8 2.03 0.019 2106 696.1 -175.2 - - 3480 - - - - - - - - 26.04 26.27 -
540 117.7 -20.0 45 546 roll -0.56 0.12 0.179 2864 250.0 2.03 0.028 3497 685.2 -175.2 - - 3482 - - - - - - - - 26.27 26.41 -
569 121.5 -18.1 46 575 done -0.47 0.15 0.148 2905 273.3 2.00 0.015 2047 -725.0 -175.2 - - 3482 - - - - - - - - 26.30 26.46 -
890 157.1 -11.3 62 896 roll -0.47 - - 2905 - 1.95 0.028 684 -699.0 -175.2 - - 3483 - - - - - - - - - 26.51 -
980 167.6 -12.3 66 985 done -0.47 - - 2900 - 2.00 0.018 2105 710.5 -175.2 - - 3483 - - - - - - - - - 26.55 -
1300 195.8 -9.4 82 1301 done -0.47 - - 2900 - - - 2105 - -175.2 - - 3483 - - - - - - - - - - -
1603 221.1 -7.8 97 1609 roll -0.49 - - 2900 - 2.05 0.034 683 -693.7 -175.2 - - 3481 - - - - - - - - - 26.60 -
1706 229.3 -9.3 101 1713 done -0.51 - - 2893 - 2.00 0.018 2104 710.5 -175.2 - - 3481 - - - - - - - - - 26.64 -
2010 258.2 -7.8 117 2011 done -0.53 - - 2892 - - - 2104 - -175.2 - - 3479 - - - - - - - - - - -
2312 278.0 -6.2 132 2313 done -0.56 - - 2892 - - - 2104 - -175.2 - - 3477 - - - - - - - - - - -
2612 297.5 -6.5 147 2617 roll -0.60 - - 2892 - 2.05 0.028 687 -691.2 -175.2 - - 3475 - - - - - - - - - 26.66 -
2714 304.2 -7.6 151 2721 done -0.63 - - 2891 - 2.03 0.020 2106 699.0 -175.2 - - 3474 - - - - - - - - - 26.68 -
3017 328.5 -7.4 167 3019 done -0.67 0.12 0.080 2821 -583.3 - - 2107 - -175.2 - - 3472 - - - - - - - - 26.70 - -
3318 362.3 -12.8 182 3324 roll -0.64 0.12 0.155 2860 325.0 2.03 0.032 3490 681.3 -175.2 - - 3470 - - - - - - - - 26.57 26.66 -
3384 369.7 -11.5 185 3389 done -0.64 - - 2860 - 2.00 0.018 2056 -717.0 -175.2 - - 3470 - - - - - - - - - 26.72 -
3710 399.9 -8.6 201 3716 roll -0.65 - - 2860 - 1.90 0.044 730 -697.9 -175.2 -0.08 - 3494 -300.0 - - - - - - - - 26.67 26.55
3777 406.1 -8.9 204 3783 done -0.67 - - 2860 - 1.95 0.020 2106 705.6 -175.2 - - 3494 - - - - - - - - - 26.70 -
4102 435.8 -9.3 220 4104 done -0.70 - - 2859 - - - 2106 - -175.2 - - 3492 - - - - - - - - - - -
4405 464.2 -9.1 235 4407 done -0.72 - - 2860 - - - 2106 - -175.2 - - 3490 - - - - - - - - - - -
4707 491.4 -8.8 250 4709 done -0.74 0.12 0.082 2796 -533.3 - - 2106 - -175.2 - - 3488 - - - - - - - - 26.72 - -
5002 528.0 -12.2 265 5009 roll -0.71 0.12 0.157 2834 316.7 2.00 0.028 735 -685.5 -175.2 - - 3486 - - - - - - - - 26.58 26.69 -
5038 530.9 -11.8 266 5043 done -0.69 - - 2834 - 1.95 0.021 2101 700.5 -175.2 - - 3485 - - - - - - - - - 26.70 -
5353 558.2 -8.1 282 5354 done -0.69 - - 2834 - - - 2101 - -175.2 - - 3484 - - - - - - - - - - -
5656 582.6 -8.3 297 5661 roll -0.69 - - 2834 - 2.00 0.030 729 -686.0 -175.2 - - 3482 - - - - - - - - - 26.69 -
5710 586.7 -8.5 299 5716 done -0.69 - - 2835 - 1.98 0.021 2105 694.9 -175.2 - - 3481 - - - - - - - - - 26.71 -
6049 614.5 -7.9 313 6054 roll -0.69 - - 2834 - 2.00 0.029 730 -687.5 -175.2 - - 3479 - - - - - - - - - 26.69 -
6104 617.5 -7.9 314 6109 done -0.69 - - 2834 - 1.98 0.021 2109 696.5 -175.2 - - 3479 - - - - - - - - - 26.70 -
6422 647.5 -9.5 325 6423 done -0.70 - - 2834 - - - 2109 - -175.2 - - 3477 - - - - - - - - - - -
6720 674.3 -8.2 335 6725 roll -0.71 - - 2834 - 2.05 0.037 3500 678.5 -175.2 - - 3476 - - - - - - - - - 26.67 -
6769 677.0 -7.9 336 6775 done -0.73 - - 2834 - 1.98 0.020 2096 -709.1 -175.2 - - 3476 - - - - - - - - - 26.72 -
7094 698.4 -6.2 347 7099 roll -0.75 - - 2834 - 1.98 0.032 730 -689.9 -175.2 - - 3474 - - - - - - - - - 26.69 -
7139 701.1 -6.4 348 7145 done -0.76 - - 2834 - 1.98 0.022 2098 690.9 -175.2 - - 3473 - - - - - - - - - 26.70 -
7467 729.0 -9.1 359 7472 roll -0.78 - - 2834 - 2.08 0.037 3502 675.0 -175.2 - - 3472 - - - - - - - - - 26.67 -
7533 735.4 -9.4 361 7538 done -0.80 - - 2834 - 2.03 0.021 2089 -696.1 -175.2 - - 3472 - - - - - - - - - 26.72 -
7871 767.8 -9.2 372 7876 roll -0.82 0.12 0.088 2768 -550.0 1.98 0.030 728 -687.4 -175.2 - - 3470 - - - - - - - - 26.70 26.68 -
7910 772.2 -9.7 373 7916 done -0.82 0.12 0.167 2798 250.0 1.98 0.023 2098 691.9 -175.2 - - 3470 - - - - - - - - 26.55 26.70 -
8241 807.2 -9.8 384 8246 roll -0.81 - - 2798 - 2.03 0.031 729 -674.4 -175.2 - - 3469 - - - - - - - - - 26.68 -
8310 813.7 -9.7 386 8315 done -0.80 - - 2793 - 1.98 0.021 2105 694.9 -175.2 - - 3468 - - - - - - - - - 26.70 -
8644 843.6 -8.6 397 8649 roll -0.78 - - 2793 - 2.05 0.031 719 -676.1 -175.2 - - 3467 - - - - - - - - - 26.68 -
8713 850.2 -9.1 399 8719 done -0.76 - - 2793 - 2.00 0.022 2108 694.5 -175.2 - - 3466 - - - - - - - - - 26.69 -
9046 883.6 -10.2 410 9048 done -0.75 - - 2793 - - - 2108 - -175.2 - - 3465 - - - - - - - - - - -
9344 917.0 -11.4 420 9350 roll -0.73 0.12 0.164 2832 325.0 2.03 0.029 727 -680.3 -175.2 - - 3465 - - - - - - - - 26.56 26.67 -
9388 920.7 -11.1 421 9393 done -0.73 - - 2832 - 1.98 0.022 2101 693.9 -175.2 - - 3465 - - - - - - - - - 26.70 -
9717 946.7 -7.1 432 9722 roll -0.76 - - 2832 - 2.08 0.038 3494 669.7 -175.2 - - 3463 - - - - - - - - - 26.65 -
9768 949.4 -6.9 433 9773 done -0.78 - - 2832 - 1.98 0.021 2099 -704.5 -175.2 - - 3463 - - - - - - - - - 26.72 -
10092 969.1 -5.7 444 10097 roll -0.81 0.12 0.086 2767 -541.7 2.00 0.031 724 -687.5 -175.2 - - 3462 - - - - - - - - 26.70 26.67 -
10199 978.4 -8.4 447 10205 done -0.81 0.12 0.167 2798 258.3 2.00 0.024 2106 691.0 -175.2 - - 3461 - - - - - - - - 26.54 26.69 -
10311 end dive: TARGET_DEPTH_EXCEEDED
10311 begin apogee
10320 990.0 -9.1 451 10528 done -0.23 0.55 0.121 2982 334.5 - - 2315 - - 202.60 1.037 2763 -3.4 0.339 - - - - - - 26.55 - 24.18
10530 end apogee: CONTROL_FINISHED_OK
10530 begin climb
10534 997.0 - 458 10714 roll 0.96 1.10 0.066 3368 350.9 2.25 0.038 3685 608.9 175.2 170.75 1.172 2038 -4.2 0.372 - - - - - - 24.97 24.57 23.86
10870 957.0 16.9 469 10876 done 0.82 0.20 0.175 3329 -195.0 2.10 0.026 2321 -649.5 175.2 - - 2009 - - - - - - - - 25.39 25.57 -
11196 911.7 14.0 480 11202 roll 0.72 0.12 0.184 3292 -308.3 2.12 0.039 3682 642.0 175.2 - - 2006 - - - - - - - - 25.92 26.02 -
11277 902.3 14.2 482 11283 done 0.63 0.12 0.177 3269 -191.7 2.08 0.026 2290 -669.2 175.2 - - 2005 - - - - - - - - 25.98 26.13 -
11600 858.1 13.5 493 11602 done 0.58 - - 3269 - - - 2290 - 175.2 - - 2003 - - - - - - - - - - -
11898 816.0 14.0 503 11904 roll 0.53 0.12 0.170 3238 -258.3 2.05 0.034 907 -674.6 175.2 - - 2003 - - - - - - - - 26.25 26.36 -
11953 811.2 13.8 504 11958 done 0.48 - - 3239 - 2.03 0.026 2283 677.8 175.2 - - 2003 - - - - - - - - - 26.39 -
12271 774.7 10.3 515 12277 roll 0.45 0.12 0.154 3201 -316.7 2.17 0.041 3702 653.9 175.2 - - 2002 - - - - - - - - 26.34 26.42 -
12316 770.7 10.4 516 12322 done 0.43 - - 3201 - 2.08 0.026 2292 -677.9 175.2 - - 2002 - - - - - - - - - 26.48 -
12645 745.7 7.1 527 12692 done 0.52 - - 3201 - - - 2291 - 232.6 39.83 1.245 1813 -4.7 0.293 - - - - 1 - - - 24.38
12975 722.5 7.2 538 13036 done 0.62 0.17 0.065 3280 464.7 - - 2289 - 289.7 53.00 1.450 1579 -4.4 0.227 - - - - 1 - 26.11 - 23.81
13332 672.6 15.4 550 13340 roll 0.59 0.12 0.146 3243 -308.3 2.22 0.037 3699 635.1 289.7 1.33 0.194 1578 - - - - - - - - 25.86 25.94 25.79
13385 666.7 15.5 551 13390 done 0.56 - - 3249 - 2.10 0.026 2304 -664.3 289.7 - - 1586 - - - - - - - - - 26.03 -
13707 625.0 11.6 562 13712 roll 0.56 - - 3258 - 2.10 0.035 893 -671.9 289.7 - - 1588 - - - - - - - - - 26.22 -
13796 618.0 10.8 564 13803 done 0.56 - - 3258 - 2.08 0.024 2301 676.9 289.7 - - 1587 - - - - - - - - - 26.27 -
14115 580.2 11.2 578 14116 done 0.56 - - 3258 - - - 2301 - 289.7 - - 1587 - - - - - - - - - - -
14415 547.3 10.0 593 14421 roll 0.54 - - 3265 - 2.10 0.033 889 -672.4 289.7 - - 1587 - - - - - - - - - 26.43 -
14435 547.3 10.0 593 14443 done 0.53 0.12 0.138 3232 -275.0 2.10 0.024 2311 677.1 289.7 - - 1587 - - - - - - - - 26.32 26.44 -
14741 517.0 8.8 609 14761 done 0.56 - - 3232 - - - 2311 - 300.3 17.62 1.028 1537 -2.8 0.147 - - - - - - - - 25.37
15062 489.3 8.4 625 15090 roll 0.62 - - 3237 - 2.17 0.032 890 -654.8 321.8 21.60 0.982 1440 -4.5 0.231 - - - - - - - 25.84 25.15
15120 485.7 8.2 627 15155 done 0.68 0.12 0.075 3303 550.0 2.10 0.023 2298 670.5 347.9 26.52 0.920 1335 -4.0 0.215 - - - - - - 25.93 25.94 24.81
15470 441.0 13.1 645 15476 roll 0.66 0.12 0.148 3265 -316.7 2.15 0.037 3700 652.1 347.9 - - 1320 - - - - - - - - 25.97 26.06 -
15499 437.7 12.9 646 15505 done 0.64 - - 3267 - 2.10 0.025 2293 -670.0 347.9 - - 1318 - - - - - - - - - 26.12 -
15820 401.2 10.7 662 15825 roll 0.64 - - 3267 - 2.08 0.036 907 -666.3 347.9 - - 1318 - - - - - - - - - 26.26 -
15928 390.7 9.7 667 15934 done 0.66 - - 3267 - 2.05 0.023 2303 681.0 347.9 - - 1318 - - - - - - - - - 26.32 -
16254 362.5 8.2 683 16287 roll 0.71 - - 3271 - 2.15 0.034 897 -654.0 375.5 26.02 0.843 1222 -3.7 0.164 - - - - - - - 25.93 25.27
16329 357.2 8.5 686 16359 done 0.76 0.10 0.090 3328 570.0 2.08 0.021 2301 675.0 395.4 20.15 0.813 1138 -4.2 0.189 - - - - - - 26.00 26.03 25.03
16657 304.1 16.9 703 16662 roll 0.74 - - 3335 - 2.12 0.034 895 -663.2 395.4 - - 1122 - - - - - - - - - 26.10 -
16686 299.9 17.0 704 16693 done 0.72 0.15 0.136 3295 -266.7 2.08 0.021 2310 680.3 395.4 - - 1123 - - - - - - - - 26.03 26.15 -
17008 256.2 12.8 720 17014 roll 0.74 - - 3299 - 2.12 0.033 894 -667.9 395.4 - - 1122 - - - - - - - - - 26.29 -
17048 253.1 12.4 721 17055 done 0.76 - - 3299 - 2.05 0.021 2301 686.3 395.4 - - 1122 - - - - - - - - - 26.32 -
17354 220.1 10.0 737 17360 roll 0.78 - - 3304 - 2.10 0.032 893 -670.5 395.4 - - 1123 - - - - - - - - - 26.39 -
17400 215.6 10.0 739 17405 done 0.80 - - 3304 - 2.05 0.021 2308 690.2 395.4 - - 1122 - - - - - - - - - 26.42 -
17725 180.7 10.9 755 17731 roll 0.82 - - 3308 - 2.10 0.031 893 -673.8 395.4 - - 1122 - - - - - - - - - 26.45 -
17872 166.3 9.2 762 17878 done 0.85 - - 3308 - 2.05 0.021 2306 689.3 395.4 - - 1121 - - - - - - - - - 26.49 -
18198 135.0 11.7 778 18204 roll 0.88 0.10 0.090 3377 690.0 2.08 0.028 892 -679.8 395.4 - - 1122 - - - - - - - - 26.56 26.51 -
18270 125.1 14.4 781 18277 done 0.88 0.12 0.132 3344 -275.0 2.03 0.021 2305 696.1 395.4 - - 1121 - - - - - - - - 26.42 26.53 -
18591 90.6 9.9 797 18597 roll 0.91 - - 3343 - 2.08 0.037 3689 665.4 395.4 - - 1121 - - - - - - - - - 26.53 -
18626 88.6 8.9 798 18632 done 0.95 - - 3344 - 2.03 0.020 2274 -697.0 402.8 - - 1122 - - - - - - - - - 26.58 -
18943 64.1 8.2 814 18965 roll 1.04 0.12 0.073 3442 816.7 2.05 0.029 904 -668.3 429.3 13.00 0.236 1014 -8.3 0.233 - - - - - - 26.63 26.51 26.22
19083 48.4 11.1 821 19096 done 1.02 0.20 0.133 3384 -290.0 2.00 0.020 2313 704.5 429.3 1.77 0.177 1014 - - - - - - - - 26.41 26.54 26.35
19396 25.2 8.1 852 19419 roll 1.10 - - 3383 - 2.08 0.035 3676 655.3 458.3 14.75 0.175 895 -8.1 0.120 - - - - - - - 26.49 26.32
19453 20.6 8.9 860 19468 done 1.15 0.12 0.075 3466 691.7 1.95 0.018 2297 -707.2 466.2 5.07 0.167 861 -6.7 0.085 - - - - - - 26.52 26.55 26.32
19566 end climb: SURFACE_DEPTH_REACHED
19566 begin surface coast
19583 end surface coast: CONTROL_FINISHED_OK
19583 begin surface
SM 1.65 - - - - -9.06 8.40 0.029 140 16.6 0.22 0.044 2108 -41645.5 564.93 51.20 0.125 458 8.9 -0.012 - - - - - -