OKMC Jun13 * SG167 * Dive index * Mission links * Dive 153 * Raw log
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• Previous call tries 1 • 20.89 of 150.00 AH used of 24V (86.07% remains)
• Previous NAKs 0, Timeouts 0 • 12.61 of 100.00 AH used of 10V (87.39% remains)
• Surface angle -69.8 deg, depth 1.48 m • Intended pitch -15.7 deg, speed -9.429 cm/s
• No surface pump (final VBD was 564.93, SM_CC=564.9259)
• GPS1 time: 32 s
• GPS2 time: 42 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 - - - 129 VBD -0.83 - - 110 - - - 2059 - -175.2 -100.95 - 2955 - - - - - - - - - - -
138 3.4 -5.8 18 164 roll -0.83 10.73 0.244 2774 248.3 2.03 0.041 706 -666.5 -175.2 -9.60 - 3480 -54.7 - - - - - - - 25.84 26.25 26.51
226 33.6 -33.4 30 233 done -0.72 0.20 0.203 2814 200.0 1.95 0.017 2088 708.7 -175.2 - - 3481 - - - - - - - - 26.01 26.32 -
533 111.9 -21.0 48 538 roll -0.66 - - 2806 - 2.00 0.029 3469 690.5 -175.2 - - 3482 - - - - - - - - - 26.41 -
563 118.4 -22.4 49 570 done -0.60 0.17 0.158 2853 276.5 1.95 0.015 2066 -719.5 -175.2 - - 3481 - - - - - - - - 26.24 26.48 -
885 165.6 -14.4 65 890 roll -0.57 - - 2853 - 1.92 0.028 715 -703.6 -175.2 - - 3482 - - - - - - - - - 26.51 -
970 177.7 -14.3 69 975 done -0.55 - - 2849 - 1.90 0.018 2066 711.1 -175.2 - - 3482 - - - - - - - - - 26.55 -
1296 220.5 -11.4 85 1301 roll -0.53 - - 2848 - 1.95 0.027 711 -694.9 -175.2 - - 3481 - - - - - - - - - 26.56 -
1322 223.3 -11.2 86 1328 done -0.51 0.12 0.159 2881 275.0 1.92 0.019 2077 711.5 -175.2 - - 3481 - - - - - - - - 26.41 26.58 -
1648 252.3 -8.7 102 1654 roll -0.51 - - 2876 - 2.03 0.031 3475 688.7 -175.2 - - 3480 - - - - - - - - - 26.58 -
1743 260.0 -8.9 106 1749 done -0.51 - - 2875 - 1.92 0.015 2073 -730.2 -175.2 - - 3479 - - - - - - - - - 26.65 -
2058 296.2 -10.5 122 2063 roll -0.51 - - 2875 - 1.95 0.028 706 -701.0 -175.2 - - 3478 - - - - - - - - - 26.61 -
2124 301.9 -9.2 125 2129 done -0.51 - - 2875 - 1.95 0.020 2079 704.1 -175.2 - - 3477 - - - - - - - - - 26.64 -
2449 330.0 -8.8 141 2454 roll -0.51 - - 2877 - 2.03 0.033 3471 685.7 -175.2 - - 3475 - - - - - - - - - 26.60 -
2519 334.8 -7.5 144 2524 done -0.52 - - 2875 - 1.92 0.015 2066 -731.8 -175.2 - - 3475 - - - - - - - - - 26.68 -
2840 359.7 -8.3 160 2845 roll -0.53 - - 2875 - 1.92 0.029 717 -702.6 -175.2 - - 3472 - - - - - - - - - 26.63 -
2920 365.4 -8.6 163 2927 done -0.55 - - 2875 - 1.92 0.020 2077 708.3 -175.2 - - 3472 - - - - - - - - - 26.65 -
3225 384.7 -4.9 179 3231 roll -0.56 - - 2875 - 2.03 0.034 3465 683.7 -175.2 - - 3470 - - - - - - - - - 26.61 -
3296 387.7 -4.4 182 3301 done -0.58 - - 2875 - 1.90 0.016 2067 -735.8 -175.2 - - 3470 - - - - - - - - - 26.68 -
3617 410.2 -8.0 198 3623 roll -0.59 - - 2875 - 1.95 0.043 719 -691.3 -175.2 -0.08 - 3495 -312.5 - - - - - - - - 26.63 26.33
3673 414.1 -8.0 200 3678 done -0.60 - - 2875 - 1.92 0.020 2075 706.2 -175.2 - - 3495 - - - - - - - - - 26.65 -
3989 436.2 -6.8 216 3994 roll -0.62 - - 2875 - 2.05 0.035 3471 681.0 -175.2 - - 3492 - - - - - - - - - 26.60 -
4058 440.9 -7.1 219 4063 done -0.64 - - 2876 - 1.92 0.017 2084 -722.4 -175.2 - - 3492 - - - - - - - - - 26.69 -
4379 467.0 -7.9 235 4385 roll -0.66 0.12 0.082 2806 -583.3 2.05 0.033 3462 672.2 -175.2 - - 3490 - - - - - - - - 26.67 26.61 -
4426 471.8 -9.0 237 4432 done -0.66 0.12 0.155 2840 283.3 1.95 0.016 2049 -724.6 -175.2 - - 3489 - - - - - - - - 26.47 26.69 -
4752 499.8 -7.5 253 4753 done -0.66 - - 2838 - - - 2049 - -175.2 - - 3488 - - - - - - - - - - -
5054 529.0 -12.1 268 5060 roll -0.66 - - 2839 - 1.92 0.031 723 -690.6 -175.2 - - 3486 - - - - - - - - - 26.63 -
5089 532.1 -11.9 269 5094 done -0.66 - - 2833 - 1.92 0.019 2074 703.6 -175.2 - - 3485 - - - - - - - - - 26.66 -
5404 560.7 -8.5 285 5405 done -0.66 - - 2834 - - - 2074 - -175.2 - - 3483 - - - - - - - - - - -
5708 587.4 -9.1 300 5713 roll -0.66 - - 2834 - 2.05 0.036 3464 678.0 -175.2 - - 3482 - - - - - - - - - 26.61 -
5776 594.5 -10.2 303 5781 done -0.66 - - 2834 - 1.92 0.018 2083 -719.3 -175.2 - - 3481 - - - - - - - - - 26.70 -
6109 619.9 -6.9 315 6110 done -0.66 - - 2834 - - - 2083 - -175.2 - - 3479 - - - - - - - - - - -
6406 641.0 -7.0 325 6411 roll -0.66 - - 2834 - 2.00 0.031 703 -690.0 -175.2 - - 3477 - - - - - - - - - 26.62 -
6450 643.9 -7.4 326 6456 done -0.66 - - 2834 - 1.98 0.021 2078 694.4 -175.2 - - 3477 - - - - - - - - - 26.65 -
6780 673.1 -9.1 337 6781 done -0.66 - - 2834 - - - 2077 - -175.2 - - 3475 - - - - - - - - - - -
7075 706.3 -12.6 347 7080 roll -0.66 - - 2834 - 2.03 0.030 700 -678.3 -175.2 - - 3473 - - - - - - - - - 26.62 -
7149 716.2 -14.2 349 7155 done -0.66 - - 2834 - 1.98 0.021 2075 694.4 -175.2 - - 3473 - - - - - - - - - 26.65 -
7477 762.2 -13.0 360 7483 roll -0.66 - - 2832 - 2.08 0.037 3463 667.3 -175.2 - - 3471 - - - - - - - - - 26.59 -
7558 771.9 -13.8 362 7563 done -0.67 - - 2832 - 1.95 0.020 2081 -708.7 -175.2 - - 3471 - - - - - - - - - 26.67 -
7881 809.0 -7.8 373 7886 roll -0.68 - - 2833 - 2.03 0.033 703 -678.8 -175.2 - - 3469 - - - - - - - - - 26.60 -
8004 814.3 -5.5 376 8011 done -0.69 - - 2833 - 1.98 0.022 2073 691.9 -175.2 - - 3469 - - - - - - - - - 26.64 -
8309 835.3 -6.9 387 8315 roll -0.70 - - 2832 - 2.08 0.037 3470 671.6 -175.2 - - 3468 - - - - - - - - - 26.58 -
8355 838.1 -7.2 388 8361 done -0.71 - - 2832 - 1.98 0.020 2075 -704.5 -175.2 - - 3468 - - - - - - - - - 26.67 -
8685 862.4 -7.9 399 8690 roll -0.72 - - 2832 - 2.00 0.039 702 -686.5 -175.2 - - 3466 - - - - - - - - - 26.53 -
8745 865.9 -8.2 400 8752 done -0.73 - - 2833 - 1.98 0.022 2076 693.9 -175.2 - - 3466 - - - - - - - - - 26.64 -
9053 897.6 -8.7 411 9059 roll -0.75 - - 2833 - 2.03 0.031 699 -678.3 -175.2 - - 3464 - - - - - - - - - 26.60 -
9079 897.6 -8.7 411 9085 done -0.76 - - 2833 - 2.00 0.023 2080 690.5 -175.2 - - 3465 - - - - - - - - - 26.63 -
9398 924.1 -6.4 422 9399 done -0.77 - - 2833 - - - 2081 - -175.2 - - 3463 - - - - - - - - - - -
9695 934.6 -3.0 432 9701 roll -0.78 0.10 0.100 2784 -490.0 2.05 0.030 691 -678.0 -175.2 - - 3462 - - - - - - - - 26.66 26.59 -
9750 937.1 -4.1 433 9756 done -0.78 - - 2779 - 2.00 0.021 2076 692.5 -175.2 - - 3461 - - - - - - - - - 26.63 -
10068 971.3 -11.2 444 10075 roll -0.77 - - 2780 - 2.10 0.037 3476 666.7 -175.2 - - 3461 - - - - - - - - - 26.56 -
10105 975.4 -11.0 445 10110 done -0.75 - - 2779 - 2.00 0.021 2075 -700.5 -175.2 - - 3461 - - - - - - - - - 26.66 -
10256 end dive: TARGET_DEPTH_EXCEEDED
10256 begin apogee
10265 992.3 -11.2 450 10499 done -0.18 0.62 0.125 2985 332.3 - - 2212 - - 226.32 1.001 2759 -3.1 0.317 - - - - - - 26.36 - 24.22
10501 end apogee: CONTROL_FINISHED_OK
10501 begin climb
10504 1002.1 - 458 10686 roll 0.83 0.90 0.059 3313 364.4 2.30 0.040 3580 594.8 175.2 170.82 1.119 2033 -4.3 0.392 - - - - - - 25.01 24.56 23.84
10913 948.6 17.2 471 10919 done 0.78 - - 3321 - 2.05 0.025 2223 -662.0 175.2 - - 2011 - - - - - - - - - 25.75 -
11236 892.7 16.4 482 11242 roll 0.74 0.12 0.177 3284 -308.3 2.12 0.037 3594 646.7 175.2 - - 2010 - - - - - - - - 25.95 26.10 -
11306 882.0 16.0 484 11312 done 0.70 - - 3290 - 2.08 0.025 2195 -672.6 175.2 - - 2009 - - - - - - - - - 26.19 -
11640 834.6 14.4 495 11645 roll 0.66 - - 3290 - 2.15 0.039 3587 647.4 175.2 - - 2008 - - - - - - - - - 26.28 -
11695 829.0 14.6 496 11701 done 0.63 0.17 0.160 3252 -223.5 2.08 0.027 2185 -674.0 175.2 - - 2008 - - - - - - - - 26.13 26.34 -
12015 798.7 8.4 507 12051 roll 0.66 - - 3252 - 2.25 0.039 3586 622.7 203.5 28.10 0.995 1924 -3.0 0.247 - - - - - - - 25.83 25.13
12132 788.5 10.1 510 12140 done 0.64 - - 3257 - 2.08 0.025 2195 -668.8 203.5 - - 1912 - - - - - - - - - 26.03 -
12441 751.4 11.9 521 12446 roll 0.62 - - 3257 - 2.15 0.039 3587 647.4 203.5 - - 1910 - - - - - - - - - 26.22 -
12520 740.9 14.2 523 12525 done 0.61 - - 3263 - 2.05 0.026 2204 -674.6 203.5 - - 1910 - - - - - - - - - 26.30 -
12843 694.6 13.6 534 12848 roll 0.59 - - 3263 - 2.12 0.040 3587 652.4 203.5 - - 1910 - - - - - - - - - 26.34 -
12898 689.7 13.1 535 12904 done 0.58 0.12 0.164 3240 -191.7 2.08 0.026 2184 -674.5 203.5 - - 1909 - - - - - - - - 26.22 26.41 -
13217 648.9 12.9 546 13222 roll 0.58 - - 3248 - 2.05 0.036 812 -669.3 203.5 - - 1909 - - - - - - - - - 26.42 -
13252 644.0 12.8 547 13258 done 0.58 - - 3248 - 2.03 0.024 2195 681.3 203.5 - - 1909 - - - - - - - - - 26.45 -
13590 599.0 13.8 558 13595 roll 0.58 - - 3249 - 2.12 0.040 3602 663.7 203.5 - - 1909 - - - - - - - - - 26.45 -
13746 575.9 15.6 565 13752 done 0.58 - - 3253 - 2.05 0.026 2199 -684.4 203.5 - - 1908 - - - - - - - - - 26.52 -
14062 533.7 10.8 581 14067 roll 0.58 - - 3253 - 2.12 0.037 3594 658.0 203.5 - - 1908 - - - - - - - - - 26.48 -
14110 528.4 11.2 583 14115 done 0.58 - - 3260 - 2.05 0.025 2187 -686.3 203.5 - - 1908 - - - - - - - - - 26.55 -
14431 496.1 9.0 599 14448 done 0.60 - - 3260 - - - 2186 - 216.4 11.12 0.925 1875 -3.0 0.164 - - - - - - - - 25.59
14750 466.2 9.2 615 14754 done 0.61 - - 3260 - - - 2186 - 222.8 1.45 0.197 1852 -15.9 3.869 - - - - - - - - 26.20
15050 441.0 8.8 630 15088 done 0.63 - - 3260 - - - 2188 - 241.5 31.35 0.822 1769 -2.6 0.146 - - - - 1 - - - 24.76
15391 413.5 7.6 647 15453 roll 0.71 - - 3260 - 2.28 0.037 3583 611.8 292.2 54.35 0.814 1557 -3.9 0.204 - - - - - - - 25.44 24.77
15473 406.9 7.9 651 15521 done 0.77 0.10 0.090 3317 570.0 2.10 0.024 2192 -662.4 333.6 41.55 0.806 1401 -3.8 0.195 - - - - - - 25.58 25.61 24.55
15836 361.9 12.5 669 15842 roll 0.77 - - 3324 - 2.08 0.034 810 -664.4 333.6 - - 1370 - - - - - - - - - 26.02 -
15861 358.8 12.0 670 15867 done 0.77 - - 3324 - 2.05 0.021 2207 681.5 333.6 - - 1370 - - - - - - - - - 26.07 -
16186 320.6 12.6 686 16191 roll 0.77 - - 3324 - 2.10 0.037 3594 660.5 333.6 - - 1368 - - - - - - - - - 26.22 -
16245 314.4 13.3 688 16252 done 0.77 - - 3330 - 2.05 0.023 2190 -684.9 333.6 - - 1367 - - - - - - - - - 26.29 -
16551 273.2 13.0 704 16557 roll 0.77 0.12 0.155 3298 -266.7 2.03 0.031 813 -678.3 333.6 - - 1367 - - - - - - - - 26.24 26.34 -
16661 262.0 10.4 709 16666 done 0.78 - - 3297 - 2.00 0.020 2203 695.0 333.6 - - 1367 - - - - - - - - - 26.41 -
16986 236.2 7.8 725 17033 roll 0.86 - - 3304 - 2.10 0.028 812 -662.4 379.6 41.92 0.687 1206 -3.8 0.136 - - - - - - - 25.86 25.25
17053 231.9 7.0 728 17127 done 0.98 0.17 0.058 3399 558.8 2.05 0.019 2209 681.5 447.2 64.47 0.675 926 -4.3 0.154 - - - - - - 25.95 25.95 24.72
17428 177.2 14.3 747 17434 roll 0.98 0.12 0.142 3367 -266.7 2.10 0.029 811 -665.7 447.2 - - 906 - - - - - - - - 25.95 26.04 -
17503 169.5 12.4 750 17509 done 0.98 - - 3368 - 2.03 0.019 2200 684.2 447.2 - - 906 - - - - - - - - - 26.14 -
17819 138.8 9.0 766 17830 roll 1.01 - - 3374 - 2.12 0.030 806 -657.5 458.0 4.05 0.549 891 -3.7 0.097 - - - - - - - 26.24 25.46
17879 134.2 9.5 768 17886 done 1.02 - - 3374 - 2.03 0.018 2201 687.2 458.0 - - 893 - - - - - - - - - 26.30 -
18185 99.7 11.1 784 18191 roll 1.03 - - 3384 - 2.05 0.030 805 -681.0 458.0 - - 893 - - - - - - - - - 26.37 -
18224 97.4 10.4 785 18231 done 1.04 - - 3383 - 2.00 0.018 2205 700.0 458.0 - - 894 - - - - - - - - - 26.42 -
18531 70.7 6.7 801 18570 roll 1.17 0.12 0.074 3478 791.7 2.15 0.030 801 -653.0 532.2 33.00 0.265 592 -9.2 0.252 - - - - - - 26.51 26.26 25.89
18640 55.6 15.2 806 18652 done 1.16 0.20 0.130 3419 -295.0 2.00 0.018 2211 705.0 532.2 2.08 0.163 592 - - - - - - - - 26.15 26.34 26.09
18959 24.3 7.1 836 18979 done 1.28 0.12 0.073 3508 741.7 - - 2210 - 595.5 17.05 0.165 455 -8.0 0.122 - - - - - - 26.48 - 26.11
19118 end climb: SURFACE_DEPTH_REACHED
19119 begin surface coast
19136 end surface coast: CONTROL_FINISHED_OK
19136 begin surface
SM 2.12 - - - - -9.02 8.50 0.029 141 16.6 0.15 0.051 2044 -54680.0 564.93 - - 461 - - - - - - - -