OKMC Jun13 * SG167 * Dive index * Mission links * Dive 181 * Raw log
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• Previous call tries 1 • 25.64 of 150.00 AH used of 24V (82.90% remains)
• Previous NAKs 0, Timeouts 0 • 15.82 of 100.00 AH used of 10V (84.18% remains)
• Surface angle -71.0 deg, depth 1.89 m • Intended pitch -15.7 deg, speed -9.429 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 39 s
• GPS2 time: 34 s • Transponder ping count: 1
• 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 - - - 127 VBD -0.83 - - 111 - - - 2077 - -175.2 -98.22 - 2906 - - - - - - - - - - -
135 3.2 -2.8 17 161 roll -0.83 10.73 0.238 2778 248.6 2.12 0.041 667 -665.1 -175.2 -10.85 - 3480 -52.9 - - - - - - - 25.78 26.22 26.50
208 28.4 -38.0 28 215 done -0.71 0.20 0.202 2818 200.0 2.05 0.019 2095 696.6 -175.2 - - 3481 - - - - - - - - 25.95 26.29 -
525 113.8 -22.2 47 531 roll -0.65 - - 2809 - 2.00 0.030 3477 691.0 -175.2 - - 3481 - - - - - - - - - 26.41 -
621 130.3 -19.2 51 627 done -0.61 0.15 0.161 2848 260.0 2.00 0.017 2047 -715.0 -175.2 - - 3481 - - - - - - - - 26.23 26.48 -
937 183.2 -16.0 67 942 roll -0.58 - - 2849 - 1.92 0.030 701 -701.0 -175.2 - - 3482 - - - - - - - - - 26.51 -
996 190.5 -16.2 69 1003 done -0.56 - - 2848 - 1.95 0.021 2073 703.6 -175.2 - - 3482 - - - - - - - - - 26.53 -
1302 234.7 -12.4 85 1304 done -0.54 - - 2848 - - - 2074 - -175.2 - - 3482 - - - - - - - - - - -
1605 270.4 -11.8 100 1607 done -0.53 0.12 0.158 2882 283.3 - - 2074 - -175.2 - - 3482 - - - - - - - - 26.45 - -
1902 302.9 -11.1 115 1908 roll -0.53 - - 2876 - 2.05 0.034 3481 686.3 -175.2 - - 3481 - - - - - - - - - 26.57 -
1921 302.9 -11.1 115 1928 done -0.53 - - 2875 - 1.98 0.018 2061 -717.2 -175.2 - - 3481 - - - - - - - - - 26.64 -
2228 339.0 -10.7 131 2233 roll -0.53 - - 2876 - 1.95 0.030 700 -697.9 -175.2 - - 3479 - - - - - - - - - 26.59 -
2296 346.0 -10.8 134 2302 done -0.53 - - 2875 - 1.98 0.023 2084 699.0 -175.2 - - 3479 - - - - - - - - - 26.62 -
2617 377.8 -9.0 150 2622 roll -0.53 - - 2874 - 2.03 0.034 3476 685.7 -175.2 - - 3477 - - - - - - - - - 26.58 -
2714 384.7 -8.2 154 2720 done -0.54 - - 2875 - 1.95 0.017 2071 -720.5 -175.2 - - 3477 - - - - - - - - - 26.66 -
3032 409.0 -7.3 170 3037 roll -0.55 - - 2875 - 1.98 0.030 694 -695.5 -175.2 - - 3474 - - - - - - - - - 26.60 -
3087 413.1 -8.0 172 3092 done -0.56 - - 2875 - 1.98 0.021 2083 701.5 -175.2 - - 3474 - - - - - - - - - 26.63 -
3402 444.6 -10.8 188 3408 roll -0.58 - - 2875 - 2.00 0.029 703 -690.0 -175.2 - - 3472 - - - - - - - - - 26.60 -
3452 449.5 -10.6 190 3457 done -0.59 - - 2875 - 1.95 0.021 2076 704.1 -175.2 - - 3471 - - - - - - - - - 26.63 -
3772 480.1 -8.1 206 3777 roll -0.60 - - 2875 - 2.05 0.035 3476 682.9 -175.2 - - 3469 - - - - - - - - - 26.59 -
3818 483.6 -7.8 208 3824 done -0.62 - - 2875 - 1.98 0.018 2064 -713.1 -175.2 -0.08 - 3493 -300.0 - - - - - - - - 26.66 25.97
4144 506.3 -6.8 224 4149 roll -0.64 - - 2875 - 1.95 0.031 706 -696.4 -175.2 - - 3491 - - - - - - - - - 26.60 -
4241 513.1 -8.0 228 4248 done -0.66 0.12 0.083 2807 -566.7 1.95 0.023 2073 701.0 -175.2 - - 3491 - - - - - - - - 26.59 26.63 -
4558 550.2 -11.7 244 4564 roll -0.66 0.12 0.157 2846 325.0 2.05 0.034 3466 679.5 -175.2 - - 3489 - - - - - - - - 26.45 26.58 -
4634 556.5 -10.1 247 4640 done -0.66 - - 2845 - 1.95 0.018 2071 -715.4 -175.2 - - 3489 - - - - - - - - - 26.66 -
4949 585.5 -8.7 263 4955 roll -0.66 - - 2846 - 1.98 0.031 704 -690.4 -175.2 - - 3487 - - - - - - - - - 26.60 -
5010 589.4 -8.5 265 5017 done -0.66 - - 2846 - 1.98 0.023 2076 692.9 -175.2 - - 3486 - - - - - - - - - 26.63 -
5318 614.8 -8.1 278 5324 roll -0.66 - - 2846 - 2.05 0.037 3467 678.5 -175.2 - - 3484 - - - - - - - - - 26.58 -
5385 620.2 -8.1 280 5392 done -0.67 - - 2846 - 1.98 0.021 2072 -704.5 -175.2 - - 3484 - - - - - - - - - 26.65 -
5725 645.1 -7.4 291 5731 roll -0.68 - - 2846 - 2.10 0.036 3476 668.6 -175.2 - - 3481 - - - - - - - - - 26.57 -
5757 645.1 -7.4 291 5764 done -0.69 - - 2846 - 1.98 0.020 2076 -707.1 -175.2 - - 3481 - - - - - - - - - 26.65 -
6064 671.2 -7.8 302 6070 roll -0.70 - - 2846 - 2.00 0.033 700 -688.0 -175.2 - - 3479 - - - - - - - - - 26.58 -
6140 676.7 -8.0 304 6145 done -0.72 - - 2846 - 2.00 0.024 2082 691.0 -175.2 - - 3478 - - - - - - - - - 26.62 -
6468 701.7 -7.6 315 6474 roll -0.73 - - 2846 - 2.08 0.037 3482 673.1 -175.2 - - 3476 - - - - - - - - - 26.56 -
6560 707.0 -7.8 317 6567 done -0.74 0.12 0.088 2788 -483.3 2.00 0.021 2067 -707.5 -175.2 - - 3475 - - - - - - - - 26.56 26.65 -
6867 746.4 -13.0 328 6868 done -0.73 - - 2788 - - - 2067 - -175.2 - - 3473 - - - - - - - - - - -
7165 781.9 -11.1 338 7170 roll -0.72 - - 2788 - 2.00 0.033 694 -686.5 -175.2 - - 3471 - - - - - - - - - 26.57 -
7239 789.4 -11.2 340 7246 done -0.71 0.15 0.156 2820 213.3 2.03 0.024 2076 680.8 -175.2 - - 3470 - - - - - - - - 26.35 26.60 -
7569 820.8 -9.2 351 7574 roll -0.71 - - 2819 - 2.03 0.032 703 -676.4 -175.2 - - 3468 - - - - - - - - - 26.56 -
7618 824.4 -9.4 352 7623 done -0.71 - - 2820 - 2.00 0.025 2078 687.5 -175.2 - - 3468 - - - - - - - - - 26.60 -
7941 854.3 -8.5 363 7942 done -0.71 - - 2820 - - - 2078 - -175.2 - - 3466 - - - - - - - - - - -
8238 880.1 -8.4 373 8239 done -0.71 - - 2820 - - - 2078 - -175.2 - - 3464 - - - - - - - - - - -
8538 905.4 -8.4 383 8544 roll -0.71 - - 2820 - 2.10 0.040 3481 668.1 -175.2 - - 3462 - - - - - - - - - 26.53 -
8589 908.6 -8.6 384 8594 done -0.71 - - 2820 - 2.00 0.022 2084 -698.5 -175.2 - - 3462 - - - - - - - - - 26.63 -
8911 937.7 -8.6 395 8913 done -0.71 - - 2820 - - - 2084 - -175.2 - - 3461 - - - - - - - - - - -
9209 963.6 -8.6 405 9215 roll -0.71 - - 2820 - 2.10 0.039 3469 659.5 -175.2 - - 3460 - - - - - - - - - 26.51 -
9249 966.7 -8.7 406 9254 done -0.71 - - 2820 - 2.00 0.023 2076 -696.5 -175.2 - - 3459 - - - - - - - - - 26.61 -
9546 end dive: TARGET_DEPTH_EXCEEDED
9546 begin apogee
9555 992.4 -8.4 416 9781 done -0.18 0.50 0.117 2986 332.0 - - 2212 - - 220.95 0.981 2762 -3.2 0.328 - - - - - - 26.31 - 24.27
9784 end apogee: CONTROL_FINISHED_OK
9784 begin climb
9788 1000.3 - 423 9968 roll 0.83 0.93 0.067 3325 364.5 2.25 0.035 827 -615.6 175.2 168.98 1.090 2031 -4.3 0.407 - - - - - - 25.03 24.65 23.94
10139 963.0 14.2 434 10144 done 0.79 - - 3325 - 2.08 0.028 2185 652.9 175.2 - - 2010 - - - - - - - - - 25.67 -
10462 914.2 14.6 445 10468 roll 0.74 0.12 0.168 3288 -308.3 2.17 0.040 3601 652.5 175.2 - - 2006 - - - - - - - - 25.95 26.09 -
10634 892.1 13.7 450 10640 done 0.71 - - 3297 - 2.05 0.025 2210 -678.5 175.2 - - 2004 - - - - - - - - - 26.26 -
10959 847.7 13.1 461 10960 done 0.68 - - 3297 - - - 2210 - 175.2 - - 2004 - - - - - - - - - - -
11255 808.8 12.7 471 11261 roll 0.65 0.12 0.164 3267 -250.0 2.08 0.034 812 -672.1 175.2 - - 2002 - - - - - - - - 26.24 26.38 -
11286 808.8 12.7 471 11293 done 0.62 - - 3267 - 2.05 0.028 2203 678.5 175.2 - - 2003 - - - - - - - - - 26.41 -
11594 769.8 11.9 482 11599 roll 0.60 - - 3268 - 2.15 0.043 3610 654.4 175.2 - - 2002 - - - - - - - - - 26.40 -
11740 752.9 13.2 486 11746 done 0.57 0.15 0.154 3238 -200.0 2.08 0.026 2196 -679.8 175.2 - - 2001 - - - - - - - - 26.24 26.48 -
12059 716.9 10.3 497 12064 roll 0.57 - - 3237 - 2.17 0.041 3607 650.2 175.2 - - 2001 - - - - - - - - - 26.44 -
12143 709.6 10.5 499 12148 done 0.57 - - 3241 - 2.08 0.026 2192 -680.3 175.2 - - 2001 - - - - - - - - - 26.51 -
12460 678.1 8.9 510 12471 roll 0.60 - - 3242 - 2.22 0.041 3601 634.7 189.9 3.12 0.666 1985 -5.1 0.536 - - - - - - - 26.45 25.27
12491 678.1 8.9 510 12520 done 0.62 - - 3249 - 2.05 0.026 2202 -682.4 204.6 18.65 0.883 1926 -3.2 0.249 - - - - 1 - - 26.50 25.15
12830 643.7 9.4 522 12835 roll 0.62 - - 3249 - 2.17 0.041 3604 646.1 205.6 - - 1928 - - - - - - - - - 26.28 -
12875 640.0 9.6 523 12880 done 0.62 - - 3257 - 2.08 0.027 2198 -676.0 205.6 - - 1929 - - - - - - - - - 26.35 -
13202 606.1 10.2 534 13207 roll 0.62 - - 3256 - 2.15 0.041 3600 652.1 205.6 - - 1929 - - - - - - - - - 26.36 -
13320 594.4 10.9 538 13325 done 0.61 - - 3264 - 2.08 0.026 2188 -678.8 205.6 - - 1928 - - - - - - - - - 26.46 -
13635 560.1 10.4 554 13641 roll 0.60 - - 3274 - 2.05 0.035 799 -677.6 205.6 - - 1928 - - - - - - - - - 26.44 -
13675 557.6 10.2 555 13683 done 0.58 0.12 0.141 3242 -266.7 2.08 0.027 2216 681.2 205.6 - - 1928 - - - - - - - - 26.28 26.45 -
13982 528.6 8.7 571 14020 roll 0.61 - - 3242 - 2.20 0.042 3591 625.0 224.8 31.88 0.843 1838 -2.8 0.182 - - - - - - - 25.94 25.31
14088 518.6 9.5 576 14094 done 0.61 - - 3244 - 2.08 0.025 2200 -668.8 224.8 - - 1826 - - - - - - - - - 26.09 -
14414 489.6 8.6 592 14443 roll 0.65 - - 3244 - 2.12 0.034 806 -657.5 246.9 23.23 0.870 1747 -3.4 0.196 - - - - - - - 25.86 25.16
14566 476.4 9.0 599 14576 done 0.67 - - 3244 - 2.08 0.026 2202 671.2 257.4 3.05 0.578 1709 -12.5 1.054 - - - - - - - 26.05 24.97
14886 447.4 8.9 615 14915 roll 0.71 - - 3244 - 2.22 0.041 3594 627.0 272.3 23.05 0.843 1643 -2.9 0.156 - - - - - - - 25.84 25.15
14951 441.4 9.2 618 14957 done 0.73 0.12 0.077 3310 550.0 2.10 0.024 2193 -667.1 278.3 - - 1629 - - - - - - - - 25.94 25.96 -
15277 403.6 11.5 634 15282 roll 0.72 - - 3319 - 2.05 0.034 808 -675.6 278.3 - - 1628 - - - - - - - - - 26.20 -
15374 393.8 11.4 638 15381 done 0.70 0.15 0.136 3279 -266.7 2.05 0.026 2203 680.5 278.3 - - 1628 - - - - - - - - 26.09 26.26 -
15691 362.0 9.4 654 15696 roll 0.70 - - 3279 - 2.10 0.040 3596 663.3 278.6 - - 1627 - - - - - - - - - 26.32 -
15717 359.5 9.4 655 15722 done 0.71 - - 3279 - 2.05 0.024 2192 -684.9 280.1 - - 1627 - - - - - - - - - 26.39 -
16042 328.3 9.2 671 16062 roll 0.72 - - 3279 - 2.05 0.032 809 -674.6 287.5 12.50 0.796 1581 -3.7 0.156 - - - - - - - 26.22 25.51
16198 316.1 8.1 678 16241 done 0.77 - - 3279 - 2.05 0.024 2215 685.9 324.9 36.62 0.746 1431 -4.1 0.178 - - - - - - - 26.30 25.11
16552 287.0 8.3 696 16586 roll 0.84 0.12 0.076 3369 750.0 2.15 0.030 802 -657.2 356.2 27.60 0.717 1300 -4.7 0.195 - - - - - - 26.24 25.79 25.12
16642 276.5 12.4 700 16649 done 0.84 0.17 0.132 3320 -288.2 2.08 0.023 2200 672.1 356.2 - - 1285 - - - - - - - - 25.77 25.94 -
16964 242.0 10.1 716 16965 done 0.84 - - 3320 - - - 2199 - 356.2 - - 1283 - - - - - - - - - - -
17267 214.2 8.4 731 17299 roll 0.88 - - 3322 - 2.15 0.032 809 -646.5 384.6 24.60 0.669 1183 -4.1 0.134 - - - - - - - 26.01 25.37
17356 206.7 8.8 735 17376 done 0.92 - - 3321 - 2.05 0.022 2203 680.0 402.4 15.62 0.658 1122 -3.9 0.126 - - - - - - - 26.11 25.27
17697 176.6 8.7 752 17723 roll 0.97 0.12 0.074 3416 791.7 2.10 0.030 807 -664.8 423.5 18.60 0.646 1022 -5.4 0.151 - - - - - - 26.29 25.98 25.32
17775 168.1 11.9 755 17781 done 0.97 0.20 0.132 3361 -275.0 2.08 0.022 2209 674.0 423.5 - - 1014 - - - - - - - - 25.91 26.08 -
18090 131.7 11.8 771 18095 roll 0.97 - - 3368 - 2.10 0.031 799 -671.4 423.5 - - 1014 - - - - - - - - - 26.27 -
18139 126.0 12.2 773 18145 done 0.97 - - 3368 - 2.05 0.021 2217 691.7 423.5 - - 1012 - - - - - - - - - 26.32 -
18460 91.4 9.6 789 18465 roll 0.98 - - 3375 - 2.08 0.031 807 -677.9 423.5 - - 1012 - - - - - - - - - 26.39 -
18520 87.2 9.4 791 18526 done 1.00 - - 3375 - 2.00 0.021 2199 696.0 425.3 - - 1012 - - - - - - - - - 26.44 -
18826 56.6 10.1 807 18831 roll 1.01 - - 3383 - 2.05 0.030 805 -680.0 425.3 - - 1013 - - - - - - - - - 26.46 -
18892 50.4 9.3 810 18897 done 1.03 - - 3383 - 2.00 0.021 2205 700.0 427.9 - - 1012 - - - - - - - - - 26.50 -
19210 27.5 7.0 840 19250 roll 1.16 0.12 0.076 3484 841.7 2.12 0.031 801 -662.3 495.0 30.23 0.170 747 -8.8 0.146 - - - - - - 26.58 26.39 26.12
19265 21.0 12.1 847 19274 done 1.16 0.20 0.129 3424 -300.0 2.03 0.021 2211 694.6 495.0 1.35 0.178 742 -3.7 0.045 - - - - - - 26.23 26.44 26.19
19445 end climb: SURFACE_DEPTH_REACHED
19445 begin surface coast
19476 end surface coast: CONTROL_FINISHED_OK
19476 begin surface
SM 1.82 - - - - -9.02 8.27 0.028 141 17.0 0.17 0.047 2062 -66211.8 564.93 32.12 0.119 459 14.3 -0.022 - - - - - -