OKMC Jun13 * SG167 * Dive index * Mission links * Dive 111 * Raw log
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• Previous call tries 1 • 13.67 of 150.00 AH used of 24V (90.89% remains)
• Previous NAKs 0, Timeouts 0 • 8.99 of 100.00 AH used of 10V (91.01% remains)
• Surface angle -73.5 deg, depth 1.61 m • Intended pitch -15.4 deg, speed -9.167 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 42 s, HDOP was 2.4 m
• GPS2 time: 7 s • Transponder ping count: 4
• 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 - - - 130 VBD -0.96 - - 121 - - - 2032 - -175.2 -101.18 - 3004 - - - - - - - - - - -
138 3.5 -5.3 18 164 roll -0.96 10.57 0.244 2731 246.9 2.17 0.038 3510 681.1 -175.2 -8.10 - 3479 -58.6 - - - - - - - 25.89 26.17 26.42
281 65.6 -40.9 34 288 done -0.72 0.35 0.186 2824 265.7 2.03 0.015 2056 -716.3 -175.2 - - 3481 - - - - - - - - 26.08 26.31 -
608 141.2 -16.8 50 614 roll -0.62 0.12 0.178 2862 316.7 1.90 0.026 730 -697.9 -175.2 - - 3481 - - - - - - - - 26.29 26.42 -
677 152.8 -17.7 53 684 done -0.53 0.12 0.166 2889 225.0 1.95 0.018 2108 706.7 -175.2 - - 3482 - - - - - - - - 26.32 26.47 -
999 188.7 -11.3 69 1000 done -0.53 - - 2889 - - - 2108 - -175.2 - - 3482 - - - - - - - - - - -
1302 223.0 -11.9 84 1308 roll -0.53 - - 2889 - 1.98 0.032 738 -691.9 -175.2 - - 3482 - - - - - - - - - 26.56 -
1401 234.1 -12.5 88 1409 done -0.53 - - 2888 - 1.92 0.019 2104 711.5 -175.2 - - 3481 - - - - - - - - - 26.60 -
1710 264.9 -8.7 104 1716 roll -0.55 - - 2889 - 2.03 0.033 3498 686.7 -175.2 - - 3480 - - - - - - - - - 26.60 -
1736 267.4 -8.7 105 1742 done -0.56 - - 2888 - 1.95 0.017 2092 -721.0 -175.2 - - 3480 - - - - - - - - - 26.65 -
2062 297.8 -9.8 121 2067 roll -0.59 - - 2888 - 1.92 0.028 739 -704.7 -175.2 - - 3477 - - - - - - - - - 26.63 -
2174 307.2 -8.6 126 2180 done -0.62 - - 2889 - 1.92 0.019 2103 710.4 -175.2 - - 3477 - - - - - - - - - 26.65 -
2496 330.4 -6.6 142 2501 roll -0.65 0.12 0.080 2807 -683.3 2.03 0.031 3494 685.2 -175.2 - - 3475 - - - - - - - - 26.69 26.64 -
2564 337.2 -9.3 145 2570 done -0.65 0.15 0.146 2850 286.7 1.92 0.017 2095 -728.6 -175.2 - - 3474 - - - - - - - - 26.53 26.70 -
2886 371.6 -11.4 161 2891 roll -0.65 - - 2849 - 1.95 0.029 730 -700.0 -175.2 - - 3472 - - - - - - - - - 26.65 -
2991 382.5 -10.1 166 2996 done -0.65 - - 2848 - 1.95 0.020 2108 706.7 -175.2 - - 3471 - - - - - - - - - 26.68 -
3316 406.5 -7.2 182 3323 roll -0.65 - - 2848 - 2.03 0.048 3490 680.8 -175.2 -0.08 - 3496 -312.5 - - - - - - - - 26.65 26.53
3357 408.3 -7.2 183 3364 done -0.65 - - 2848 - 1.92 0.018 2096 -726.0 -175.2 - - 3496 - - - - - - - - - 26.71 -
3663 440.9 -10.8 199 3668 roll -0.66 - - 2848 - 1.98 0.030 736 -686.9 -175.2 - - 3494 - - - - - - - - - 26.67 -
3748 450.3 -11.0 203 3753 done -0.67 - - 2848 - 1.95 0.020 2101 700.0 -175.2 - - 3493 - - - - - - - - - 26.69 -
4074 478.4 -8.1 219 4079 roll -0.69 - - 2846 - 2.00 0.029 733 -684.0 -175.2 - - 3491 - - - - - - - - - 26.67 -
4114 480.6 -8.2 220 4120 done -0.70 - - 2846 - 1.95 0.021 2103 702.6 -175.2 - - 3490 - - - - - - - - - 26.69 -
4420 506.0 -7.9 236 4425 roll -0.71 - - 2846 - 1.98 0.028 739 -688.9 -175.2 - - 3488 - - - - - - - - - 26.67 -
4486 511.9 -8.7 239 4491 done -0.73 - - 2846 - 1.95 0.020 2103 699.5 -175.2 - - 3488 - - - - - - - - - 26.70 -
4812 538.9 -8.2 255 4817 roll -0.75 - - 2846 - 2.05 0.036 3497 680.0 -175.2 - - 3486 - - - - - - - - - 26.66 -
4898 546.0 -8.2 259 4905 done -0.77 0.12 0.088 2788 -483.3 1.95 0.018 2093 -720.0 -175.2 - - 3485 - - - - - - - - 26.65 26.72 -
5225 586.6 -12.5 275 5231 roll -0.74 0.12 0.159 2827 325.0 1.95 0.029 742 -692.8 -175.2 - - 3483 - - - - - - - - 26.56 26.67 -
5285 591.7 -11.8 277 5292 done -0.72 - - 2826 - 1.95 0.021 2107 700.0 -175.2 - - 3483 - - - - - - - - - 26.70 -
5613 627.2 -10.8 290 5619 roll -0.72 - - 2827 - 2.00 0.029 736 -685.5 -175.2 - - 3481 - - - - - - - - - 26.67 -
5697 635.2 -11.3 292 5703 done -0.72 - - 2827 - 1.95 0.021 2103 701.0 -175.2 - - 3480 - - - - - - - - - 26.70 -
6012 668.1 -9.3 303 6013 done -0.72 - - 2827 - - - 2103 - -175.2 - - 3478 - - - - - - - - - - -
6313 692.1 -7.4 313 6318 roll -0.72 - - 2827 - 2.00 0.030 732 -685.5 -175.2 - - 3477 - - - - - - - - - 26.68 -
6342 692.1 -7.4 313 6349 done -0.72 - - 2826 - 1.98 0.021 2109 695.5 -175.2 - - 3476 - - - - - - - - - 26.69 -
6651 717.1 -8.0 324 6653 done -0.72 - - 2827 - - - 2109 - -175.2 - - 3475 - - - - - - - - - - -
6948 742.7 -8.6 334 6953 roll -0.73 - - 2827 - 2.00 0.030 739 -685.0 -175.2 - - 3473 - - - - - - - - - 26.67 -
7038 748.3 -8.5 336 7046 done -0.74 - - 2827 - 1.95 0.021 2101 698.5 -175.2 - - 3472 - - - - - - - - - 26.70 -
7346 775.6 -8.3 347 7352 roll -0.75 - - 2827 - 2.05 0.037 3487 676.1 -175.2 - - 3471 - - - - - - - - - 26.66 -
7383 778.8 -8.4 348 7388 done -0.77 - - 2827 - 1.95 0.020 2107 -707.7 -175.2 - - 3471 - - - - - - - - - 26.72 -
7722 809.0 -9.4 359 7724 done -0.78 - - 2826 - - - 2106 - -175.2 - - 3470 - - - - - - - - - - -
8018 837.9 -9.6 369 8024 roll -0.80 - - 2827 - 2.00 0.032 733 -686.5 -175.2 - - 3469 - - - - - - - - - 26.67 -
8200 852.4 -9.1 374 8206 done -0.82 - - 2822 - 1.98 0.021 2108 694.4 -175.2 - - 3468 - - - - - - - - - 26.70 -
8509 878.1 -7.4 385 8514 roll -0.83 - - 2822 - 2.03 0.031 728 -679.8 -175.2 - - 3466 - - - - - - - - - 26.67 -
8598 883.0 -7.1 387 8605 done -0.84 - - 2822 - 1.98 0.022 2099 692.4 -175.2 - - 3466 - - - - - - - - - 26.70 -
8907 907.4 -7.8 398 8909 done -0.86 0.12 0.086 2763 -491.7 - - 2099 - -175.2 - - 3465 - - - - - - - - 26.70 - -
9204 941.5 -11.5 408 9210 roll -0.82 0.12 0.159 2801 316.7 2.03 0.031 726 -676.4 -175.2 - - 3464 - - - - - - - - 26.55 26.67 -
9270 947.9 -10.6 410 9276 done -0.80 - - 2795 - 2.00 0.022 2108 691.0 -175.2 - - 3464 - - - - - - - - - 26.69 -
9608 976.1 -8.2 421 9613 roll -0.80 - - 2795 - 2.08 0.039 3503 670.7 -175.2 - - 3462 - - - - - - - - - 26.65 -
9647 979.0 -8.1 422 9652 done -0.80 - - 2795 - 1.98 0.021 2108 -704.5 -175.2 - - 3462 - - - - - - - - - 26.71 -
9793 end dive: TARGET_DEPTH_EXCEEDED
9793 begin apogee
9802 991.5 -8.2 427 9978 done -0.23 0.55 0.125 2978 332.7 - - 2314 - - 169.27 1.141 2758 -4.2 0.371 - - - - - - 26.54 - 24.20
9981 end apogee: CONTROL_FINISHED_OK
9981 begin climb
9984 995.5 - 433 10167 roll 0.96 1.10 0.065 3367 353.6 2.30 0.041 3678 593.0 175.2 171.45 1.104 2034 -4.2 0.391 - - - - - - 25.01 24.65 23.89
10398 933.0 20.3 446 10407 done 0.82 0.20 0.176 3327 -200.0 2.05 0.026 2325 -660.0 175.2 - - 2009 - - - - - - - - 25.59 25.78 -
10707 873.4 18.7 457 10713 roll 0.72 0.12 0.187 3291 -300.0 2.12 0.040 3685 641.5 175.2 - - 2007 - - - - - - - - 25.98 26.09 -
10773 860.6 18.9 459 10779 done 0.63 0.15 0.172 3260 -206.7 2.10 0.027 2293 -662.9 175.2 - - 2007 - - - - - - - - 26.02 26.18 -
11109 809.7 14.7 470 11115 roll 0.58 - - 3269 - 2.08 0.036 906 -666.8 175.2 - - 2005 - - - - - - - - - 26.30 -
11169 804.6 14.5 471 11177 done 0.53 0.15 0.145 3230 -260.0 2.05 0.027 2289 674.6 175.2 - - 2005 - - - - - - - - 26.20 26.34 -
11479 767.5 9.8 482 11484 roll 0.51 - - 3230 - 2.15 0.042 3693 653.0 175.2 - - 2004 - - - - - - - - - 26.39 -
11596 757.5 10.0 485 11601 done 0.49 - - 3236 - 2.05 0.026 2298 -680.5 175.2 - - 2004 - - - - - - - - - 26.46 -
11914 725.0 10.1 496 11920 roll 0.46 - - 3246 - 2.08 0.036 910 -667.3 175.2 - - 2003 - - - - - - - - - 26.47 -
11969 720.8 10.4 497 11975 done 0.43 0.17 0.137 3196 -294.1 2.05 0.025 2312 683.9 175.2 - - 2004 - - - - - - - - 26.36 26.49 -
12288 686.4 10.5 508 12293 roll 0.43 - - 3197 - 2.10 0.042 3691 656.7 175.2 - - 2003 - - - - - - - - - 26.49 -
12337 682.1 10.7 509 12342 done 0.43 - - 3196 - 2.05 0.027 2294 -681.5 175.2 - - 2003 - - - - - - - - - 26.54 -
12660 649.9 8.7 520 12666 roll 0.46 - - 3197 - 2.05 0.036 908 -676.1 188.3 - - 2002 - - - - - - - - - 26.53 -
12711 646.6 8.6 521 12748 done 0.50 - - 3196 - 2.03 0.025 2299 685.2 203.6 29.52 0.897 1928 -2.5 0.185 - - - - - - - 26.56 25.29
13058 616.1 8.3 533 13097 done 0.56 0.12 0.079 3261 541.7 - - 2299 - 229.1 31.35 0.911 1818 -3.5 0.244 - - - - 1 - 26.31 - 24.54
13388 576.2 11.9 547 13393 roll 0.53 - - 3262 - 2.17 0.041 3702 646.5 229.1 - - 1806 - - - - - - - - - 26.11 -
13427 573.1 12.0 548 13436 done 0.51 0.17 0.151 3223 -229.4 2.10 0.026 2299 -668.1 229.1 - - 1806 - - - - - - - - 26.03 26.19 -
13733 541.6 9.0 564 13734 done 0.51 - - 3223 - - - 2299 - 234.0 - - 1805 - - - - - - - - - - -
14036 514.9 9.1 579 14042 roll 0.52 - - 3230 - 2.08 0.034 896 -674.5 235.9 - - 1804 - - - - - - - - - 26.39 -
14128 507.0 9.0 583 14139 done 0.53 - - 3230 - 2.08 0.024 2306 677.9 239.9 3.25 0.666 1781 -7.1 0.553 - - - - - - - 26.44 25.26
14448 475.7 9.6 599 14454 roll 0.53 - - 3230 - 2.10 0.040 3693 660.5 239.9 - - 1791 - - - - - - - - - 26.42 -
14475 473.2 9.8 600 14480 done 0.53 - - 3237 - 2.05 0.024 2298 -680.5 239.9 - - 1791 - - - - - - - - - 26.47 -
14800 441.1 9.6 616 14805 roll 0.53 - - 3246 - 2.05 0.034 897 -683.4 239.9 - - 1791 - - - - - - - - - 26.48 -
14834 438.6 9.6 617 14839 done 0.53 - - 3246 - 2.05 0.023 2300 684.4 239.9 - - 1791 - - - - - - - - - 26.51 -
15149 406.8 10.6 633 15155 roll 0.53 - - 3245 - 2.10 0.040 3695 664.3 239.9 - - 1791 - - - - - - - - - 26.51 -
15198 401.1 11.5 635 15203 done 0.53 - - 3253 - 2.05 0.025 2287 -686.8 239.9 - - 1791 - - - - - - - - - 26.55 -
15518 366.2 9.8 651 15519 done 0.53 - - 3253 - - - 2287 - 239.9 - - 1791 - - - - - - - - - - -
15820 338.6 9.9 666 15822 done 0.53 - - 3253 - - - 2287 - 239.9 - - 1791 - - - - - - - - - - -
16122 306.8 10.2 681 16127 roll 0.53 - - 3262 - 2.00 0.033 908 -689.5 239.9 - - 1790 - - - - - - - - - 26.58 -
16151 304.3 9.9 682 16157 done 0.53 0.12 0.138 3229 -275.0 2.03 0.023 2312 691.6 239.9 - - 1791 - - - - - - - - 26.47 26.60 -
16472 280.6 7.7 698 16531 roll 0.62 - - 3229 - 2.12 0.037 3687 648.6 280.7 50.67 0.735 1602 -3.7 0.146 - - - - - - - 25.83 25.19
16551 276.1 7.6 701 16601 done 0.71 0.17 0.060 3317 517.6 2.08 0.023 2287 -673.1 325.3 42.72 0.724 1431 -4.0 0.157 - - - - - - 25.93 25.94 24.77
16921 229.7 12.3 720 16927 roll 0.70 - - 3324 - 2.05 0.033 916 -668.8 325.3 - - 1405 - - - - - - - - - 26.08 -
17057 214.3 12.1 726 17063 done 0.70 0.15 0.133 3282 -280.0 2.03 0.021 2301 682.3 325.3 - - 1405 - - - - - - - - 26.07 26.20 -
17373 182.7 9.9 742 17379 roll 0.72 - - 3284 - 2.08 0.031 907 -670.2 325.3 - - 1404 - - - - - - - - - 26.32 -
17439 176.6 9.4 745 17444 done 0.75 - - 3284 - 2.05 0.021 2312 685.4 325.3 - - 1404 - - - - - - - - - 26.36 -
17764 148.6 8.3 761 17793 roll 0.82 0.12 0.074 3364 666.7 2.12 0.037 3700 654.7 350.4 21.30 0.656 1321 -3.9 0.091 - - - - - - 26.48 26.10 25.51
17884 135.0 13.5 766 17891 done 0.80 0.20 0.142 3317 -235.0 2.05 0.021 2294 -685.9 350.4 - - 1306 - - - - - - - - 26.08 26.24 -
18191 101.5 8.2 782 18210 roll 0.86 - - 3323 - 2.08 0.031 914 -663.5 379.0 10.68 0.284 1221 -8.0 0.292 - - - - - - - 26.29 25.89
18288 93.8 8.9 786 18300 done 0.91 - - 3323 - 2.00 0.020 2303 694.5 387.4 5.90 0.268 1184 -6.3 0.225 - - - - - - - 26.35 25.92
18596 68.2 6.4 802 18640 roll 1.08 0.20 0.054 3454 655.0 2.08 0.029 908 -670.7 465.5 35.88 0.274 867 -8.8 0.226 - - - - - - 26.46 26.20 25.89
18702 55.5 12.9 807 18710 done 1.05 0.20 0.135 3397 -285.0 2.03 0.020 2310 690.6 465.5 1.80 0.177 862 -2.8 0.089 - - - - - - 26.13 26.27 26.08
19023 28.4 8.1 835 19045 roll 1.14 - - 3397 - 2.08 0.027 900 -677.9 497.2 15.38 0.184 736 -8.2 0.130 - - - - - - - 26.32 26.12
19138 19.0 8.0 852 19166 done 1.24 0.17 0.059 3502 617.6 2.00 0.018 2295 697.5 531.3 16.55 0.162 596 -8.5 0.102 - - - - - - 26.40 26.39 26.13
19254 end climb: SURFACE_DEPTH_REACHED
19254 begin surface coast
19276 end surface coast: CONTROL_FINISHED_OK
19276 begin surface
SM 1.98 - - - - -9.05 8.45 0.024 142 16.8 0.25 0.037 2052 -36872.0 564.93 16.35 0.129 456 27.9 -0.044 - - - - - -