OKMC Jun13 * SG167 * Dive index * Mission links * Dive 168 * Raw log
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• Previous call tries 2 • 23.39 of 150.00 AH used of 24V (84.41% remains)
• Previous NAKs 0, Timeouts 0 • 14.30 of 100.00 AH used of 10V (85.70% remains)
• Surface angle -71.9 deg, depth 1.66 m • Intended pitch -15.7 deg, speed -9.429 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 42 s
• GPS2 time: 40 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 131 VBD -0.83 - - 124 - - - 2103 - -175.2 -102.32 - 3023 - - - - - - - - - - -
139 3.6 -5.6 18 165 roll -0.83 10.60 0.238 2775 250.1 2.10 0.039 669 -682.9 -175.2 -8.15 - 3480 -56.1 - - - - - - - 25.78 26.20 26.47
186 23.2 -39.7 25 193 done -0.68 0.22 0.203 2823 218.2 2.00 0.016 2086 708.5 -175.2 - - 3480 - - - - - - - - 25.92 26.26 -
494 95.3 -16.2 45 499 roll -0.63 - - 2823 - 2.05 0.028 675 -688.3 -175.2 - - 3481 - - - - - - - - - 26.39 -
648 123.1 -19.4 52 654 done -0.59 0.15 0.164 2856 220.0 1.98 0.018 2076 707.6 -175.2 - - 3482 - - - - - - - - 26.24 26.46 -
964 165.8 -11.7 68 970 roll -0.57 - - 2848 - 2.03 0.031 3471 687.2 -175.2 - - 3482 - - - - - - - - - 26.49 -
1192 194.1 -12.3 79 1198 done -0.57 - - 2847 - 2.00 0.016 2043 -714.0 -175.2 - - 3482 - - - - - - - - - 26.59 -
1518 234.7 -11.9 95 1524 roll -0.56 - - 2838 - 2.08 0.031 3463 682.7 -175.2 - - 3481 - - - - - - - - - 26.55 -
1564 239.9 -11.7 97 1570 done -0.55 0.12 0.148 2872 283.3 1.92 0.015 2060 -730.7 -175.2 - - 3481 - - - - - - - - 26.41 26.63 -
1889 274.1 -10.5 113 1894 roll -0.55 - - 2872 - 1.92 0.029 710 -703.1 -175.2 - - 3479 - - - - - - - - - 26.58 -
1983 283.2 -10.7 117 1989 done -0.55 - - 2871 - 1.92 0.020 2072 709.4 -175.2 - - 3479 - - - - - - - - - 26.62 -
2300 314.4 -8.4 133 2305 roll -0.55 - - 2870 - 2.03 0.034 3467 687.2 -175.2 - - 3477 - - - - - - - - - 26.58 -
2374 320.4 -9.1 136 2380 done -0.55 - - 2870 - 1.92 0.016 2072 -726.6 -175.2 - - 3476 - - - - - - - - - 26.66 -
2690 350.6 -8.8 152 2696 roll -0.55 - - 2870 - 1.95 0.028 709 -699.0 -175.2 - - 3475 - - - - - - - - - 26.60 -
2760 356.5 -8.8 155 2765 done -0.55 - - 2864 - 1.95 0.020 2080 703.1 -175.2 - - 3474 - - - - - - - - - 26.64 -
3080 385.8 -9.3 171 3085 roll -0.55 - - 2862 - 2.03 0.034 3469 684.2 -175.2 - - 3473 - - - - - - - - - 26.60 -
3115 388.1 -9.1 172 3120 done -0.55 - - 2862 - 1.92 0.017 2076 -725.5 -175.2 - - 3472 - - - - - - - - - 26.67 -
3429 419.6 -9.8 188 3431 done -0.55 - - 2862 - - - 2075 - -175.2 - - 3471 - - - - - - - - - - -
3733 447.0 -8.3 203 3735 done -0.55 - - 2862 - - - 2075 - -175.2 -0.08 - 3492 -262.5 - - - - - - - - - 26.05
4030 471.3 -7.8 218 4036 roll -0.56 - - 2862 - 1.98 0.041 709 -689.9 -175.2 - - 3490 - - - - - - - - - 26.25 -
4101 477.1 -8.6 221 4106 done -0.57 - - 2862 - 1.95 0.021 2078 702.1 -175.2 - - 3490 - - - - - - - - - 26.64 -
4422 502.8 -7.3 237 4427 roll -0.58 - - 2862 - 2.05 0.034 3474 681.0 -175.2 - - 3488 - - - - - - - - - 26.60 -
4461 504.7 -7.3 238 4468 done -0.60 - - 2862 - 1.95 0.018 2069 -720.5 -175.2 - - 3487 - - - - - - - - - 26.67 -
4767 526.6 -6.8 254 4772 roll -0.61 - - 2864 - 1.95 0.030 716 -693.8 -175.2 - - 3485 - - - - - - - - - 26.61 -
4880 534.3 -7.3 259 4886 done -0.62 - - 2862 - 1.95 0.021 2083 701.0 -175.2 - - 3484 - - - - - - - - - 26.64 -
5201 560.4 -8.4 275 5206 roll -0.64 - - 2862 - 2.05 0.035 3476 679.5 -175.2 - - 3481 - - - - - - - - - 26.58 -
5248 564.2 -8.3 277 5253 done -0.66 - - 2862 - 1.95 0.018 2078 -716.9 -175.2 - - 3481 - - - - - - - - - 26.67 -
5573 591.4 -8.1 293 5579 roll -0.68 - - 2863 - 1.98 0.040 716 -687.9 -175.2 - - 3479 - - - - - - - - - 26.01 -
5655 597.3 -8.7 296 5662 done -0.69 0.10 0.099 2809 -540.0 1.95 0.021 2080 699.5 -175.2 - - 3479 - - - - - - - - 26.57 26.64 -
5982 636.4 -11.7 308 5983 done -0.69 - - 2809 - - - 2081 - -175.2 - - 3476 - - - - - - - - - - -
6280 669.1 -10.3 318 6285 roll -0.69 - - 2809 - 2.05 0.036 3468 676.6 -175.2 - - 3474 - - - - - - - - - 26.58 -
6418 681.5 -9.9 322 6423 done -0.69 - - 2809 - 1.95 0.019 2085 -709.2 -175.2 - - 3473 - - - - - - - - - 26.66 -
6746 714.4 -9.5 333 6747 done -0.69 - - 2809 - - - 2084 - -175.2 - - 3472 - - - - - - - - - - -
7044 744.0 -10.0 343 7049 roll -0.69 - - 2809 - 2.03 0.033 694 -684.7 -175.2 - - 3470 - - - - - - - - - 26.58 -
7114 750.6 -9.9 345 7121 done -0.69 - - 2806 - 2.00 0.022 2080 693.0 -175.2 - - 3470 - - - - - - - - - 26.63 -
7448 784.0 -9.9 356 7453 roll -0.69 - - 2807 - 2.03 0.031 705 -677.3 -175.2 - - 3468 - - - - - - - - - 26.58 -
7476 784.0 -9.9 356 7484 done -0.69 - - 2807 - 1.98 0.021 2077 692.9 -175.2 - - 3467 - - - - - - - - - 26.63 -
7783 819.5 -11.0 367 7788 roll -0.69 - - 2807 - 2.08 0.037 3474 671.6 -175.2 - - 3465 - - - - - - - - - 26.56 -
7811 819.5 -11.0 367 7819 done -0.69 - - 2807 - 2.00 0.021 2062 -706.0 -175.2 - - 3465 - - - - - - - - - 26.65 -
8118 857.7 -11.8 378 8123 roll -0.69 - - 2805 - 1.98 0.033 706 -684.8 -175.2 - - 3465 - - - - - - - - - 26.57 -
8166 862.1 -12.0 379 8172 done -0.69 - - 2799 - 1.98 0.023 2074 690.9 -175.2 - - 3464 - - - - - - - - - 26.61 -
8487 900.1 -10.9 390 8492 roll -0.69 - - 2795 - 2.08 0.039 3463 667.8 -175.2 - - 3462 - - - - - - - - - 26.54 -
8526 903.9 -10.6 391 8533 done -0.69 0.12 0.153 2829 283.3 1.98 0.021 2076 -700.5 -175.2 - - 3462 - - - - - - - - 26.39 26.64 -
8858 931.4 -7.8 402 8864 roll -0.69 - - 2829 - 2.03 0.034 693 -681.3 -175.2 - - 3461 - - - - - - - - - 26.55 -
8914 934.1 -7.8 403 8919 done -0.69 - - 2829 - 2.00 0.024 2069 688.0 -175.2 - - 3461 - - - - - - - - - 26.60 -
9232 960.1 -7.2 414 9237 roll -0.69 - - 2829 - 2.10 0.040 3469 666.7 -175.2 - - 3460 - - - - - - - - - 26.53 -
9282 962.7 -7.0 415 9287 done -0.70 - - 2829 - 2.00 0.022 2063 -703.0 -175.2 - - 3459 - - - - - - - - - 26.63 -
9605 986.1 -7.1 426 9610 roll -0.72 - - 2828 - 2.03 0.034 696 -673.4 -175.2 - - 3459 - - - - - - - - - 26.54 -
9635 986.1 -7.1 426 9642 done -0.73 - - 2829 - 2.03 0.025 2082 682.8 -175.2 - - 3457 - - - - - - - - - 26.59 -
9667 end dive: TARGET_DEPTH_EXCEEDED
9667 begin apogee
9675 991.3 -7.4 428 9892 done -0.18 0.47 0.115 2988 338.3 - - 2230 - - 208.15 1.046 2754 -3.4 0.330 - - - - - - 26.32 - 23.96
9894 end apogee: CONTROL_FINISHED_OK
9894 begin climb
9898 997.2 - 435 10080 roll 0.83 0.93 0.067 3317 353.8 2.20 0.040 3569 608.6 175.2 172.68 1.111 2037 -4.2 0.384 - - - - - - 25.01 24.57 23.77
10250 953.1 16.6 447 10255 done 0.78 - - 3324 - 2.05 0.024 2214 -661.0 175.2 - - 2010 - - - - - - - - - 25.63 -
10584 902.3 15.0 458 10589 roll 0.74 0.12 0.179 3289 -291.7 2.12 0.040 3578 643.4 175.2 - - 2008 - - - - - - - - 25.91 26.06 -
10741 879.8 14.0 463 10747 done 0.70 - - 3296 - 2.05 0.026 2202 -671.2 175.2 - - 2007 - - - - - - - - - 26.22 -
11079 836.5 12.9 474 11085 roll 0.67 0.12 0.161 3259 -308.3 2.12 0.040 3580 650.0 175.2 - - 2007 - - - - - - - - 26.16 26.28 -
11146 828.2 12.4 476 11151 done 0.64 - - 3265 - 2.05 0.026 2198 -674.1 175.2 - - 2006 - - - - - - - - - 26.36 -
11484 791.7 10.6 487 11489 roll 0.62 - - 3265 - 2.12 0.041 3573 648.6 175.2 - - 2005 - - - - - - - - - 26.36 -
11573 784.0 10.9 489 11581 done 0.60 - - 3271 - 2.03 0.026 2200 -676.4 175.2 - - 2005 - - - - - - - - - 26.44 -
11882 746.5 11.5 500 11887 roll 0.57 0.12 0.164 3241 -250.0 2.08 0.035 803 -671.6 175.2 - - 2004 - - - - - - - - 26.28 26.42 -
11912 746.5 11.5 500 11919 done 0.55 - - 3241 - 2.03 0.027 2184 680.3 175.2 - - 2004 - - - - - - - - - 26.44 -
12220 714.0 8.9 511 12230 roll 0.58 - - 3241 - 2.15 0.041 3599 658.1 190.4 4.03 0.861 1983 -5.2 0.445 - - - - - - - 26.40 25.27
12362 701.2 9.8 515 12367 done 0.56 - - 3248 - 2.08 0.026 2188 -678.4 190.4 - - 1988 - - - - - - - - - 26.47 -
12684 668.7 9.9 526 12690 roll 0.55 - - 3249 - 2.17 0.042 3600 650.7 190.4 - - 1988 - - - - - - - - - 26.43 -
12735 664.2 10.4 527 12742 done 0.54 - - 3254 - 2.05 0.027 2202 -682.0 190.4 - - 1989 - - - - - - - - - 26.50 -
13060 630.1 10.2 538 13065 roll 0.52 0.12 0.169 3217 -308.3 2.12 0.040 3596 657.5 190.4 - - 1988 - - - - - - - - 26.32 26.45 -
13134 623.9 9.6 540 13140 done 0.52 - - 3221 - 2.05 0.026 2195 -683.4 190.4 - - 1987 - - - - - - - - - 26.52 -
13453 598.4 7.5 551 13510 roll 0.60 - - 3228 - 2.22 0.037 811 -623.4 242.6 46.10 1.271 1772 -4.7 0.226 - - - - 1 - - 25.41 24.38
13607 587.2 7.5 558 13678 done 0.69 0.12 0.075 3292 533.3 2.12 0.026 2214 661.8 295.0 64.07 0.934 1556 -3.4 0.218 - - - - - - 25.80 25.80 24.44
13978 542.6 12.2 577 13984 roll 0.69 - - 3292 - 2.15 0.041 3598 643.7 295.0 - - 1530 - - - - - - - - - 25.96 -
14008 539.3 12.3 578 14014 done 0.69 - - 3299 - 2.10 0.025 2199 -666.2 295.0 - - 1529 - - - - - - - - - 26.04 -
14328 497.4 12.6 594 14330 done 0.68 - - 3299 - - - 2197 - 295.0 - - 1529 - - - - - - - - - - -
14631 460.8 11.8 609 14636 roll 0.68 - - 3309 - 2.10 0.037 807 -661.9 295.0 - - 1528 - - - - - - - - - 26.30 -
14720 450.4 11.8 613 14726 done 0.68 0.15 0.133 3267 -280.0 2.05 0.025 2198 678.5 295.0 - - 1528 - - - - - - - - 26.19 26.36 -
15042 422.0 8.2 629 15081 roll 0.73 - - 3267 - 2.17 0.038 3598 645.2 328.2 31.40 0.845 1414 -3.6 0.187 - - - - - - - 25.86 25.22
15114 416.8 8.1 632 15159 done 0.78 0.10 0.090 3323 560.0 2.10 0.025 2195 -668.1 364.8 37.35 0.817 1272 -3.8 0.200 - - - - - - 25.94 25.98 24.79
15468 374.7 13.0 650 15474 roll 0.78 - - 3328 - 2.10 0.036 803 -662.9 364.8 - - 1243 - - - - - - - - - 26.05 -
15600 357.7 13.6 656 15605 done 0.78 - - 3328 - 2.08 0.024 2208 675.5 364.8 - - 1242 - - - - - - - - - 26.18 -
15920 318.6 11.5 672 15921 done 0.78 - - 3328 - - - 2210 - 364.8 - - 1242 - - - - - - - - - - -
16223 282.3 12.7 687 16228 roll 0.78 - - 3336 - 2.10 0.034 806 -668.6 364.8 - - 1242 - - - - - - - - - 26.36 -
16247 278.8 12.8 688 16253 done 0.78 0.12 0.138 3302 -283.3 2.03 0.022 2202 687.7 364.8 - - 1242 - - - - - - - - 26.25 26.41 -
16574 241.6 10.8 704 16579 roll 0.80 - - 3302 - 2.10 0.038 3598 664.8 364.8 - - 1242 - - - - - - - - - 26.41 -
16609 238.9 10.6 705 16614 done 0.81 - - 3304 - 2.05 0.024 2187 -688.3 364.8 - - 1242 - - - - - - - - - 26.47 -
16924 208.7 9.1 721 16930 roll 0.84 - - 3304 - 2.03 0.032 799 -683.7 374.2 - - 1242 - - - - - - - - - 26.46 -
17051 196.8 9.4 727 17057 done 0.85 - - 3304 - 2.03 0.022 2208 694.1 374.2 - - 1242 - - - - - - - - - 26.50 -
17377 172.3 7.3 743 17445 roll 0.96 0.12 0.076 3393 741.7 2.15 0.033 802 -654.0 431.7 59.45 0.634 987 -4.3 0.120 - - - - - - 26.58 25.79 25.20
17472 161.0 13.6 747 17478 done 0.96 0.12 0.132 3360 -275.0 2.08 0.021 2209 676.4 431.7 - - 977 - - - - - - - - 25.77 25.90 -
17787 120.5 11.2 763 17793 roll 0.96 - - 3367 - 2.10 0.030 800 -671.0 431.7 - - 973 - - - - - - - - - 26.20 -
17832 115.4 11.0 765 17838 done 0.96 - - 3367 - 2.05 0.021 2211 688.3 431.7 - - 973 - - - - - - - - - 26.26 -
18158 80.8 9.9 781 18163 roll 0.98 - - 3375 - 2.08 0.030 806 -675.5 431.7 - - 972 - - - - - - - - - 26.35 -
18238 75.0 9.1 784 18247 done 1.01 - - 3375 - 2.03 0.021 2212 692.6 441.4 2.88 0.142 962 -3.5 0.189 - - - - - - - 26.41 26.20
18544 51.6 7.3 800 18580 roll 1.12 0.10 0.090 3449 740.0 2.08 0.035 3601 667.8 499.6 28.75 0.223 730 -8.1 0.192 - - - - - - 26.51 26.29 25.94
18650 38.6 13.1 809 18657 done 1.12 0.17 0.136 3408 -241.2 2.03 0.021 2195 -692.6 499.6 1.83 0.170 722 -4.4 0.102 - - - - - - 26.19 26.39 26.11
18968 5.9 10.3 857 18976 roll 1.13 - - 3415 - 2.03 0.028 805 -684.7 499.6 1.75 0.169 724 - - - - - - - - - 26.41 26.22
18993 end climb: SURFACE_DEPTH_REACHED
18993 begin surface coast
19021 end surface coast: CONTROL_FINISHED_OK
19021 begin surface
SM 1.65 - - - - -9.01 8.20 0.024 145 17.7 1.90 0.020 2099 -3478.4 564.93 31.10 0.122 456 14.7 -0.020 - - - - - -