OKMC Jun13 * SG167 * Dive index * Mission links * Dive 116 * Raw log
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• Previous call tries 1 • 14.60 of 150.00 AH used of 24V (90.27% remains)
• Previous NAKs 0, Timeouts 0 • 9.56 of 100.00 AH used of 10V (90.44% remains)
• Surface angle -71.9 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: 27 s
• GPS2 time: 42 s • Transponder ping count: 6
• 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 - - - 132 VBD -0.96 - - 132 - - - 2077 - -175.2 -103.15 - 3059 - - - - - - - - - - -
140 3.4 -4.9 18 166 roll -0.96 10.35 0.237 2733 251.3 2.08 0.038 3512 689.9 -175.2 -7.47 - 3480 -56.4 - - - - - - - 25.91 26.21 26.45
263 52.8 -36.9 33 270 done -0.75 0.30 0.181 2812 263.3 2.00 0.018 2106 -703.0 -175.2 - - 3481 - - - - - - - - 26.08 26.30 -
590 135.6 -19.8 49 596 roll -0.63 0.12 0.181 2849 308.3 1.98 0.026 714 -703.0 -175.2 - - 3481 - - - - - - - - 26.29 26.43 -
704 154.2 -16.9 54 711 done -0.55 0.12 0.161 2880 258.3 1.95 0.018 2106 713.8 -175.2 - - 3482 - - - - - - - - 26.34 26.48 -
1026 189.1 -10.2 70 1031 roll -0.55 - - 2875 - 2.03 0.031 3500 686.7 -175.2 - - 3483 - - - - - - - - - 26.53 -
1100 196.4 -10.9 73 1106 done -0.55 - - 2875 - 1.95 0.015 2068 -734.4 -175.2 - - 3483 - - - - - - - - - 26.60 -
1416 231.2 -11.5 89 1421 roll -0.55 - - 2875 - 1.88 0.028 740 -706.4 -175.2 - - 3482 - - - - - - - - - 26.58 -
1450 234.1 -11.7 90 1455 done -0.55 - - 2874 - 1.90 0.019 2098 714.7 -175.2 - - 3482 - - - - - - - - - 26.61 -
1764 270.9 -11.3 106 1770 roll -0.55 - - 2874 - 2.00 0.033 3489 695.5 -175.2 - - 3480 - - - - - - - - - 26.60 -
1799 273.0 -10.5 107 1804 done -0.55 - - 2874 - 1.90 0.015 2085 -738.9 -175.2 - - 3480 - - - - - - - - - 26.67 -
2114 304.5 -8.4 123 2119 roll -0.56 - - 2874 - 1.92 0.028 733 -704.2 -175.2 - - 3478 - - - - - - - - - 26.63 -
2243 314.3 -7.8 129 2248 done -0.57 - - 2874 - 1.92 0.019 2108 716.1 -175.2 - - 3477 - - - - - - - - - 26.66 -
2568 341.6 -8.8 145 2573 roll -0.60 - - 2875 - 1.95 0.027 742 -700.5 -175.2 - - 3475 - - - - - - - - - 26.65 -
2594 344.1 -9.1 146 2599 done -0.62 - - 2875 - 1.90 0.019 2100 714.7 -175.2 - - 3474 - - - - - - - - - 26.67 -
2920 367.8 -5.8 162 2925 roll -0.65 - - 2875 - 1.95 0.037 739 -697.9 -175.2 - - 3472 - - - - - - - - - 26.65 -
2975 370.9 -6.4 164 2980 done -0.68 - - 2874 - 1.92 0.020 2108 713.0 -175.2 - - 3471 - - - - - - - - - 26.68 -
3290 397.4 -8.1 180 3298 roll -0.71 0.12 0.080 2801 -608.3 1.98 0.042 734 -693.9 -175.2 -0.05 - 3486 -300.0 - - - - - - - 26.70 26.66 25.75
3312 397.4 -8.1 180 3319 done -0.74 - - 2793 - 1.95 0.018 2111 706.2 -175.2 - - 3487 - - - - - - - - - 26.69 -
3618 436.9 -12.7 196 3624 roll -0.70 0.12 0.168 2831 316.7 1.98 0.026 735 -694.9 -175.2 - - 3485 - - - - - - - - 26.54 26.67 -
3773 452.4 -9.8 203 3778 done -0.70 - - 2831 - 1.92 0.020 2100 710.9 -175.2 - - 3483 - - - - - - - - - 26.69 -
4088 479.5 -9.0 219 4093 roll -0.70 - - 2821 - 2.03 0.034 3497 688.2 -175.2 - - 3481 - - - - - - - - - 26.66 -
4153 485.3 -9.1 222 4158 done -0.70 - - 2821 - 1.92 0.018 2100 -727.6 -175.2 - - 3481 - - - - - - - - - 26.70 -
4478 515.1 -9.4 238 4483 roll -0.70 - - 2820 - 1.92 0.031 749 -703.6 -175.2 - - 3478 - - - - - - - - - 26.67 -
4600 525.5 -9.8 243 4608 done -0.69 - - 2814 - 1.92 0.020 2111 709.4 -175.2 - - 3477 - - - - - - - - - 26.70 -
4903 560.4 -11.4 259 4910 roll -0.67 - - 2814 - 2.03 0.036 3496 682.3 -175.2 - - 3475 - - - - - - - - - 26.65 -
4949 565.6 -11.5 261 4956 done -0.67 - - 2815 - 1.95 0.018 2104 -713.8 -175.2 - - 3475 - - - - - - - - - 26.72 -
5275 597.9 -9.2 277 5280 roll -0.67 - - 2814 - 1.98 0.031 727 -695.5 -175.2 - - 3473 - - - - - - - - - 26.67 -
5345 603.7 -9.1 280 5351 done -0.66 0.15 0.151 2850 240.0 1.95 0.020 2103 705.6 -175.2 - - 3472 - - - - - - - - 26.55 26.70 -
5679 625.4 -6.7 291 5680 done -0.69 - - 2850 - - - 2102 - -175.2 - - 3470 - - - - - - - - - - -
5978 646.3 -7.1 301 5979 done -0.72 - - 2850 - - - 2103 - -175.2 - - 3469 - - - - - - - - - - -
6277 669.4 -7.9 311 6282 roll -0.75 - - 2850 - 1.98 0.030 736 -690.4 -175.2 - - 3467 - - - - - - - - - 26.67 -
6366 675.3 -8.6 313 6375 done -0.78 0.12 0.086 2783 -558.3 1.95 0.021 2108 703.6 -175.2 - - 3466 - - - - - - - - 26.66 26.70 -
6674 714.6 -12.1 324 6680 roll -0.75 0.12 0.159 2819 300.0 2.03 0.034 3487 679.3 -175.2 - - 3465 - - - - - - - - 26.55 26.65 -
6714 718.8 -11.8 325 6719 done -0.73 - - 2819 - 1.92 0.020 2100 -722.4 -175.2 - - 3465 - - - - - - - - - 26.71 -
7047 747.9 -8.1 336 7053 roll -0.73 - - 2819 - 1.98 0.032 732 -690.9 -175.2 - - 3462 - - - - - - - - - 26.67 -
7098 751.0 -8.0 337 7103 done -0.73 - - 2819 - 1.95 0.022 2097 700.0 -175.2 - - 3462 - - - - - - - - - 26.69 -
7421 775.4 -7.3 348 7426 roll -0.73 - - 2819 - 2.05 0.037 3490 679.5 -175.2 - - 3461 - - - - - - - - - 26.65 -
7475 778.2 -7.5 349 7481 done -0.73 - - 2819 - 1.95 0.021 2093 -716.4 -175.2 - - 3461 - - - - - - - - - 26.71 -
7791 807.6 -9.5 360 7792 done -0.73 - - 2819 - - - 2090 - -175.2 - - 3459 - - - - - - - - - - -
8090 835.9 -9.2 370 8096 roll -0.73 - - 2819 - 1.98 0.033 726 -688.9 -175.2 - - 3458 - - - - - - - - - 26.66 -
8189 845.0 -9.5 373 8194 done -0.73 - - 2819 - 1.98 0.023 2103 695.5 -175.2 - - 3458 - - - - - - - - - 26.69 -
8524 874.5 -8.6 384 8529 roll -0.73 - - 2819 - 2.00 0.031 732 -685.5 -175.2 - - 3457 - - - - - - - - - 26.66 -
8590 880.6 -8.5 386 8595 done -0.74 - - 2818 - 1.98 0.022 2101 691.4 -175.2 - - 3456 - - - - - - - - - 26.68 -
8929 906.7 -7.6 397 8934 roll -0.75 - - 2818 - 2.00 0.031 729 -686.0 -175.2 - - 3454 - - - - - - - - - 26.66 -
8978 909.9 -7.6 398 8984 done -0.76 - - 2818 - 1.98 0.022 2103 693.9 -175.2 - - 3454 - - - - - - - - - 26.68 -
9301 938.5 -9.1 409 9307 roll -0.77 - - 2818 - 2.00 0.031 733 -685.0 -175.2 - - 3452 - - - - - - - - - 26.66 -
9346 942.2 -9.4 410 9351 done -0.78 - - 2818 - 1.98 0.022 2106 693.4 -175.2 - - 3453 - - - - - - - - - 26.68 -
9674 970.5 -7.7 421 9676 done -0.80 - - 2818 - - - 2106 - -175.2 - - 3452 - - - - - - - - - - -
9938 end dive: TARGET_DEPTH_EXCEEDED
9939 begin apogee
9947 991.6 -7.9 430 10179 done -0.23 0.47 0.119 2977 338.3 - - 2312 - - 224.07 1.032 2758 -3.1 0.307 - - - - - - 26.53 - 24.10
10182 end apogee: CONTROL_FINISHED_OK
10182 begin climb
10186 997.6 - 438 10369 roll 0.96 1.12 0.061 3370 350.9 2.30 0.042 3676 593.0 175.2 174.12 1.157 2034 -4.2 0.370 - - - - - - 24.96 24.56 23.80
10527 942.5 22.5 449 10533 done 0.82 0.22 0.180 3323 -213.6 2.05 0.026 2328 -657.6 175.2 - - 2009 - - - - - - - - 25.37 25.56 -
10853 882.7 17.6 460 10859 roll 0.72 0.12 0.189 3288 -291.7 2.12 0.040 3691 642.9 175.2 - - 2006 - - - - - - - - 25.89 26.02 -
10913 876.6 17.4 461 10921 done 0.63 0.12 0.171 3265 -191.7 2.08 0.027 2297 -670.2 175.2 - - 2006 - - - - - - - - 25.95 26.11 -
11222 830.1 13.6 472 11223 done 0.58 - - 3265 - - - 2296 - 175.2 - - 2004 - - - - - - - - - - -
11519 792.0 12.2 482 11521 done 0.53 0.12 0.170 3232 -275.0 - - 2296 - 175.2 - - 2004 - - - - - - - - 26.24 - -
11822 761.8 9.7 492 11827 roll 0.51 - - 3233 - 2.15 0.041 3692 649.3 175.2 - - 2004 - - - - - - - - - 26.40 -
11911 754.4 10.2 494 11918 done 0.48 - - 3238 - 2.05 0.027 2291 -683.4 175.2 - - 2003 - - - - - - - - - 26.46 -
12220 723.5 9.0 505 12226 roll 0.46 - - 3238 - 2.15 0.040 3692 651.6 180.6 - - 2002 - - - - - - - - - 26.46 -
12289 716.6 9.5 507 12295 done 0.43 0.17 0.157 3198 -235.3 2.05 0.027 2290 -683.9 180.6 - - 2002 - - - - - - - - 26.34 26.51 -
12621 692.9 7.2 518 12672 done 0.51 - - 3198 - - - 2290 - 235.4 41.65 1.255 1800 -4.8 0.276 - - - - 1 - - - 24.33
12982 664.1 8.3 530 13030 roll 0.57 0.12 0.078 3277 658.3 2.12 0.034 914 -649.1 259.8 41.28 0.960 1695 -2.5 0.181 - - - - - - 26.14 25.39 24.68
13092 653.0 11.1 533 13098 done 0.57 0.12 0.137 3245 -266.7 2.08 0.025 2289 661.1 259.8 - - 1684 - - - - - - - - 25.58 25.70 -
13416 617.2 10.0 544 13421 roll 0.57 - - 3245 - 2.17 0.041 3699 649.8 259.8 - - 1681 - - - - - - - - - 26.10 -
13482 609.4 10.8 546 13487 done 0.57 - - 3249 - 2.10 0.026 2292 -670.0 259.8 - - 1679 - - - - - - - - - 26.18 -
13797 575.6 11.4 560 13803 roll 0.57 - - 3250 - 2.08 0.037 909 -664.9 259.8 - - 1679 - - - - - - - - - 26.29 -
13852 570.5 11.3 562 13857 done 0.57 - - 3250 - 2.05 0.024 2307 682.0 259.8 - - 1680 - - - - - - - - - 26.34 -
14167 533.0 11.9 578 14172 roll 0.57 - - 3250 - 2.12 0.041 3702 658.0 259.8 - - 1679 - - - - - - - - - 26.37 -
14195 530.0 12.0 579 14201 done 0.57 - - 3250 - 2.08 0.025 2286 -680.8 259.8 - - 1679 - - - - - - - - - 26.43 -
14516 492.0 11.6 595 14521 roll 0.57 - - 3250 - 2.05 0.036 899 -676.6 259.8 - - 1679 - - - - - - - - - 26.45 -
14565 487.0 11.3 597 14570 done 0.57 - - 3250 - 2.05 0.024 2308 687.3 259.8 - - 1679 - - - - - - - - - 26.48 -
14885 449.1 11.8 613 14890 roll 0.57 - - 3250 - 2.10 0.041 3694 660.0 259.8 - - 1678 - - - - - - - - - 26.48 -
14960 441.2 11.9 616 14965 done 0.57 - - 3253 - 2.05 0.025 2285 -687.3 259.8 - - 1678 - - - - - - - - - 26.53 -
15274 408.6 9.4 632 15280 roll 0.57 - - 3262 - 2.03 0.034 910 -677.3 259.8 - - 1678 - - - - - - - - - 26.53 -
15326 404.3 9.5 634 15331 done 0.57 - - 3262 - 2.03 0.024 2309 689.2 259.8 - - 1679 - - - - - - - - - 26.55 -
15646 371.4 11.0 650 15651 roll 0.57 - - 3262 - 2.10 0.041 3688 656.7 259.8 - - 1678 - - - - - - - - - 26.53 -
15754 359.2 11.8 655 15759 done 0.57 - - 3264 - 2.03 0.025 2296 -685.7 259.8 - - 1678 - - - - - - - - - 26.58 -
16079 327.4 8.1 671 16117 roll 0.61 - - 3264 - 2.22 0.038 3687 626.6 289.5 28.55 0.826 1566 -3.9 0.160 - - - - - - - 26.06 25.40
16194 318.3 9.1 676 16200 done 0.62 - - 3264 - 2.05 0.024 2291 -681.0 292.8 - - 1557 - - - - - - - - - 26.19 -
16510 285.6 9.9 692 16515 roll 0.63 - - 3264 - 2.05 0.034 906 -675.6 292.8 - - 1558 - - - - - - - - - 26.32 -
16600 277.6 9.2 696 16606 done 0.65 - - 3264 - 2.03 0.023 2300 686.7 292.8 - - 1557 - - - - - - - - - 26.37 -
16921 247.8 9.1 712 16927 roll 0.67 - - 3264 - 2.12 0.039 3702 661.3 295.3 - - 1557 - - - - - - - - - 26.41 -
16981 243.1 9.6 714 16988 done 0.69 - - 3264 - 2.05 0.023 2284 -691.7 295.3 - - 1556 - - - - - - - - - 26.47 -
17287 210.0 10.7 730 17292 roll 0.72 - - 3264 - 2.00 0.032 909 -687.5 295.3 - - 1556 - - - - - - - - - 26.49 -
17326 207.7 10.3 731 17334 done 0.74 0.10 0.091 3327 630.0 2.03 0.021 2314 692.1 295.3 - - 1556 - - - - - - - - 26.48 26.51 -
17632 171.4 12.6 747 17638 roll 0.72 0.12 0.154 3289 -316.7 2.05 0.035 3689 670.7 295.3 - - 1556 - - - - - - - - 26.41 26.51 -
17707 163.5 12.2 750 17713 done 0.72 - - 3293 - 2.00 0.022 2290 -699.5 295.3 - - 1556 - - - - - - - - - 26.57 -
18024 134.8 7.8 766 18072 roll 0.80 - - 3292 - 2.08 0.031 925 -656.2 334.1 40.10 0.655 1385 -4.3 0.090 - - - - - - - 26.01 25.42
18154 126.1 6.6 772 18230 done 0.96 0.22 0.048 3412 545.5 2.00 0.020 2306 690.5 406.7 63.58 0.615 1086 -4.7 0.099 - - - - - - 26.17 26.15 24.93
18531 72.7 13.9 791 18537 roll 0.94 0.15 0.142 3373 -260.0 2.08 0.028 908 -672.1 406.7 - - 1073 - - - - - - - - 25.99 26.10 -
18591 67.4 12.3 793 18598 done 0.94 - - 3373 - 2.03 0.020 2311 691.1 406.7 - - 1073 - - - - - - - - - 26.17 -
18898 35.5 6.9 817 18931 roll 1.07 - - 3381 - 2.12 0.028 920 -656.1 472.4 28.20 0.191 835 -8.4 0.162 - - - - - - - 26.22 25.98
19019 26.1 8.2 828 19044 done 1.17 0.15 0.063 3480 660.0 1.98 0.019 2296 694.9 500.3 14.15 0.177 724 -7.8 0.119 - - - - - - 26.29 26.29 26.02
19185 end climb: SURFACE_DEPTH_REACHED
19186 begin surface coast
19207 end surface coast: CONTROL_FINISHED_OK
19207 begin surface
SM 1.60 - - - - -9.07 8.45 0.026 133 15.7 0.25 0.037 2052 -36872.0 564.93 31.38 0.126 456 14.5 -0.019 - - - - - -