OKMC Jun13 * SG167 * Dive index * Mission links * Dive 208 * Raw log
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• Previous call tries 1 • 30.43 of 150.00 AH used of 24V (79.71% remains)
• Previous NAKs 0, Timeouts 0 • 19.07 of 100.00 AH used of 10V (80.93% remains)
• Surface angle -71.7 deg, depth 1.91 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: 29 s
• GPS2 time: 44 s • Transponder ping count: 16
• 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 - - 141 - - - 2094 - -175.2 -99.03 - 2981 - - - - - - - - - - -
135 3.5 -4.1 18 162 roll -0.83 10.55 0.235 2767 248.9 2.10 0.043 3484 661.9 -175.2 -8.95 - 3479 -55.6 - - - - - - - 25.72 26.22 26.52
204 27.8 -35.4 28 213 done -0.72 0.17 0.183 2810 252.9 2.03 0.018 2061 -701.0 -175.2 - - 3480 - - - - - - - - 25.94 26.30 -
512 105.3 -20.5 47 518 roll -0.67 - - 2810 - 1.98 0.029 687 -693.9 -175.2 - - 3480 - - - - - - - - - 26.39 -
592 118.2 -19.9 50 599 done -0.62 0.15 0.167 2842 213.3 1.98 0.020 2077 702.0 -175.2 - - 3481 - - - - - - - - 26.17 26.45 -
898 172.7 -16.2 66 903 roll -0.59 - - 2834 - 2.03 0.031 3474 688.2 -175.2 - - 3481 - - - - - - - - - 26.46 -
947 179.6 -15.7 68 953 done -0.57 0.12 0.155 2866 266.7 1.95 0.015 2060 -725.1 -175.2 - - 3481 - - - - - - - - 26.29 26.55 -
1268 220.3 -12.5 84 1274 roll -0.57 - - 2867 - 1.95 0.029 696 -699.5 -175.2 - - 3481 - - - - - - - - - 26.55 -
1294 223.6 -12.6 85 1300 done -0.57 - - 2862 - 1.98 0.021 2076 697.0 -175.2 - - 3481 - - - - - - - - - 26.55 -
1619 266.3 -13.2 101 1625 roll -0.57 - - 2861 - 2.03 0.034 3470 686.7 -175.2 - - 3480 - - - - - - - - - 26.52 -
1725 278.3 -11.2 106 1732 done -0.57 - - 2861 - 1.95 0.016 2066 -720.0 -175.2 - - 3480 - - - - - - - - - 26.62 -
2051 311.1 -9.6 122 2056 roll -0.57 - - 2861 - 1.95 0.030 702 -699.5 -175.2 - - 3479 - - - - - - - - - 26.56 -
2130 318.2 -10.6 125 2137 done -0.57 - - 2861 - 1.98 0.023 2085 698.5 -175.2 - - 3479 - - - - - - - - - 26.58 -
2436 352.2 -11.1 141 2441 roll -0.57 - - 2861 - 2.03 0.034 3473 683.7 -175.2 - - 3477 - - - - - - - - - 26.54 -
2505 359.0 -10.6 144 2510 done -0.57 - - 2861 - 1.95 0.017 2070 -719.5 -175.2 - - 3477 - - - - - - - - - 26.63 -
2826 388.4 -7.9 160 2827 done -0.57 - - 2861 - - - 2070 - -175.2 - - 3476 - - - - - - - - - - -
3128 413.8 -8.9 175 3134 roll -0.57 - - 2861 - 1.98 0.030 694 -694.9 -175.2 - - 3474 - - - - - - - - - 26.57 -
3174 418.4 -9.4 177 3180 done -0.57 - - 2861 - 1.98 0.022 2079 699.5 -175.2 - - 3474 - - - - - - - - - 26.60 -
3499 450.3 -10.3 193 3504 roll -0.57 - - 2860 - 2.05 0.035 3479 682.9 -175.2 - - 3472 - - - - - - - - - 26.54 -
3533 452.6 -10.1 194 3539 done -0.57 - - 2861 - 1.95 0.017 2070 -722.6 -175.2 - - 3471 - - - - - - - - - 26.64 -
3849 481.5 -8.4 210 3854 roll -0.58 - - 2861 - 1.98 0.030 697 -693.4 -175.2 - - 3470 - - - - - - - - - 26.57 -
3947 489.0 -8.7 214 3954 done -0.59 - - 2861 - 1.98 0.022 2076 696.5 -175.2 -0.08 - 3494 -300.0 - - - - - - - - 26.60 25.80
4266 516.3 -8.0 230 4271 roll -0.60 - - 2861 - 2.05 0.036 3470 680.0 -175.2 - - 3492 - - - - - - - - - 26.54 -
4326 519.6 -7.4 232 4333 done -0.62 - - 2861 - 1.95 0.018 2068 -719.0 -175.2 - - 3492 - - - - - - - - - 26.64 -
4631 539.7 -6.1 248 4637 roll -0.63 - - 2861 - 1.98 0.030 697 -692.4 -175.2 - - 3490 - - - - - - - - - 26.56 -
4692 542.6 -6.2 250 4699 done -0.65 - - 2861 - 1.98 0.023 2074 695.5 -175.2 - - 3489 - - - - - - - - - 26.59 -
4998 565.5 -8.2 266 5003 roll -0.67 - - 2861 - 2.05 0.037 3466 679.0 -175.2 - - 3488 - - - - - - - - - 26.53 -
5044 569.4 -8.5 268 5049 done -0.69 - - 2861 - 1.95 0.018 2075 -713.3 -175.2 - - 3487 - - - - - - - - - 26.64 -
5369 599.2 -9.6 284 5375 roll -0.70 0.12 0.080 2791 -583.3 1.98 0.029 709 -689.9 -175.2 - - 3485 - - - - - - - - 26.62 26.55 -
5399 602.2 -10.2 285 5407 done -0.72 0.12 0.157 2815 200.0 1.98 0.023 2087 696.0 -175.2 - - 3486 - - - - - - - - 26.34 26.59 -
5708 637.9 -11.2 296 5713 roll -0.72 - - 2809 - 2.03 0.035 3464 678.3 -175.2 - - 3482 - - - - - - - - - 26.53 -
5737 637.9 -11.2 296 5743 done -0.72 - - 2808 - 1.95 0.018 2072 -713.8 -175.2 - - 3483 - - - - - - - - - 26.63 -
6042 675.7 -11.0 307 6047 roll -0.72 - - 2808 - 1.98 0.031 707 -689.4 -175.2 - - 3481 - - - - - - - - - 26.54 -
6096 679.5 -10.8 308 6102 done -0.72 - - 2806 - 1.98 0.024 2073 689.9 -175.2 - - 3480 - - - - - - - - - 26.58 -
6415 709.8 -8.1 319 6421 roll -0.72 - - 2806 - 2.08 0.038 3470 671.6 -175.2 - - 3478 - - - - - - - - - 26.51 -
6460 712.6 -7.9 320 6466 done -0.72 - - 2806 - 1.98 0.019 2068 -708.1 -175.2 - - 3478 - - - - - - - - - 26.63 -
6790 739.8 -8.7 331 6791 done -0.72 - - 2806 - - - 2068 - -175.2 - - 3476 - - - - - - - - - - -
7086 768.0 -10.3 341 7092 roll -0.72 - - 2806 - 2.00 0.033 703 -682.5 -175.2 - - 3473 - - - - - - - - - 26.51 -
7116 768.0 -10.3 341 7125 done -0.72 - - 2806 - 2.00 0.026 2076 686.5 -175.2 - - 3473 - - - - - - - - - 26.56 -
7422 807.8 -12.1 352 7427 roll -0.72 - - 2806 - 2.08 0.039 3469 669.7 -175.2 - - 3471 - - - - - - - - - 26.48 -
7506 815.5 -11.8 354 7512 done -0.72 - - 2806 - 1.98 0.021 2077 -703.0 -175.2 - - 3470 - - - - - - - - - 26.61 -
7822 852.0 -10.7 365 7828 roll -0.72 - - 2806 - 2.03 0.034 693 -681.8 -175.2 - - 3468 - - - - - - - - - 26.51 -
7918 862.2 -10.8 368 7923 done -0.72 - - 2806 - 2.03 0.025 2074 680.3 -175.2 - - 3468 - - - - - - - - - 26.55 -
8256 894.0 -9.2 379 8261 roll -0.72 - - 2805 - 2.10 0.040 3476 667.6 -175.2 - - 3466 - - - - - - - - - 26.47 -
8351 902.8 -9.1 382 8357 done -0.72 - - 2806 - 2.00 0.021 2076 -700.0 -175.2 - - 3465 - - - - - - - - - 26.60 -
8690 931.6 -8.7 393 8696 roll -0.72 - - 2806 - 2.03 0.034 696 -679.8 -175.2 - - 3463 - - - - - - - - - 26.49 -
8735 934.9 -8.4 394 8741 done -0.72 - - 2806 - 2.05 0.026 2087 678.5 -175.2 - - 3462 - - - - - - - - - 26.53 -
9064 962.0 -8.0 405 9069 roll -0.72 - - 2806 - 2.08 0.040 3469 664.4 -175.2 - - 3461 - - - - - - - - - 26.45 -
9118 965.1 -8.0 406 9124 done -0.72 - - 2806 - 2.00 0.023 2076 -696.5 -175.2 - - 3461 - - - - - - - - - 26.58 -
9430 end dive: TARGET_DEPTH_EXCEEDED
9434 begin apogee
9442 991.8 -8.0 417 9672 done -0.18 0.55 0.119 2987 329.1 - - 2211 - - 220.85 0.985 2754 -3.2 0.336 - - - - - - 26.17 - 24.27
9675 end apogee: CONTROL_FINISHED_OK
9675 begin climb
9678 997.7 - 425 9855 done 0.83 0.93 0.057 3318 355.9 - - 2211 - 175.2 163.95 1.124 2034 -4.4 0.407 - - - - - - 25.11 - 23.94
10155 936.6 14.6 441 10160 roll 0.79 - - 3318 - 2.15 0.042 3594 643.3 175.2 - - 2010 - - - - - - - - - 25.95 -
10306 918.2 14.7 445 10314 done 0.74 0.15 0.168 3290 -186.7 2.08 0.024 2198 -671.2 175.2 - - 2008 - - - - - - - - 25.90 26.17 -
10616 880.8 10.3 456 10621 roll 0.71 - - 3290 - 2.15 0.041 3588 646.5 175.2 - - 2007 - - - - - - - - - 26.25 -
10681 873.7 10.2 458 10687 done 0.68 - - 3297 - 2.05 0.024 2198 -678.0 175.2 - - 2006 - - - - - - - - - 26.34 -
11020 841.1 9.4 469 11022 done 0.65 0.15 0.152 3257 -266.7 - - 2198 - 176.0 - - 2005 - - - - - - - - 26.20 - -
11320 819.0 7.3 479 11376 done 0.72 - - 3257 - - - 2198 - 235.8 48.25 1.077 1800 -4.2 0.337 - - - - 1 - - - 24.39
11677 784.9 10.0 491 11680 done 0.72 - - 3257 - - - 2198 - 235.8 2.03 0.224 1799 - - - - - - - - - - 23.55
11977 754.0 10.4 501 11980 done 0.72 - - 3257 - - - 2198 - 235.8 1.62 0.196 1798 - - - - - - - - - - 25.96
12277 724.1 10.1 511 12283 roll 0.72 - - 3257 - 2.17 0.040 3594 643.3 235.8 1.45 0.200 1798 - - - - - - - - - 26.30 26.03
12314 719.9 10.7 512 12319 done 0.72 - - 3261 - 2.08 0.025 2189 -675.5 235.8 - - 1804 - - - - - - - - - 26.39 -
12651 680.0 12.0 523 12657 roll 0.72 - - 3272 - 2.05 0.035 804 -675.6 235.8 - - 1809 - - - - - - - - - 26.38 -
12726 672.1 11.8 525 12732 done 0.72 - - 3272 - 2.05 0.028 2196 679.0 235.8 1.27 0.207 1798 -8.7 2.936 - - - - - - - 26.41 26.05
13052 637.6 9.6 536 13058 roll 0.71 - - 3272 - 2.15 0.041 3606 655.8 235.8 - - 1808 - - - - - - - - - 26.38 -
13092 634.3 9.5 537 13097 done 0.70 - - 3279 - 2.08 0.025 2193 -679.3 235.8 - - 1808 - - - - - - - - - 26.48 -
13425 603.8 9.3 548 13435 roll 0.69 - - 3287 - 2.10 0.035 810 -658.6 238.9 2.53 0.502 1790 -7.1 0.893 - - - - - - - 26.45 25.00
13485 600.0 9.6 549 13493 done 0.68 - - 3287 - 2.05 0.028 2203 679.5 238.9 1.85 0.197 1788 - - - - - - - - - 26.44 26.05
13790 560.3 13.1 565 13798 roll 0.66 - - 3287 - 2.17 0.041 3594 641.0 238.9 2.10 0.283 1789 - - - - - - - - - 26.41 24.80
13863 550.4 14.5 568 13874 done 0.65 0.12 0.155 3262 -208.3 2.05 0.024 2192 -683.9 238.9 1.90 0.189 1787 - - - - - - - - 26.24 26.48 26.06
14183 512.9 10.4 584 14194 roll 0.65 - - 3271 - 2.10 0.034 805 -660.5 238.9 1.95 0.188 1790 1.5 -0.438 - - - - - - - 26.43 26.01
14223 510.4 10.2 585 14231 done 0.65 - - 3270 - 2.05 0.027 2209 684.9 238.9 1.50 0.201 1787 -2.0 0.530 - - - - - - - 26.45 26.05
14529 483.1 7.3 601 14596 roll 0.74 - - 3270 - 2.20 0.042 3590 627.7 298.4 54.53 1.258 1550 -4.3 0.174 - - - - 1 - - 25.26 24.27
14628 477.2 7.2 605 14705 done 0.83 0.12 0.076 3336 550.0 2.10 0.024 2200 -661.9 361.0 69.72 0.845 1289 -3.7 0.221 - - - - - - 25.55 25.58 24.41
15018 435.2 10.9 625 15024 roll 0.83 - - 3345 - 2.10 0.034 800 -666.7 361.0 - - 1262 - - - - - - - - - 25.98 -
15116 425.1 11.9 629 15122 done 0.82 0.12 0.144 3311 -283.3 2.08 0.025 2198 672.1 361.0 - - 1262 - - - - - - - - 25.91 26.10 -
15431 389.3 10.6 645 15437 roll 0.82 - - 3319 - 2.10 0.033 805 -663.3 361.0 - - 1261 - - - - - - - - - 26.22 -
15477 384.5 10.5 647 15484 done 0.82 - - 3319 - 2.08 0.025 2217 678.8 361.0 - - 1261 - - - - - - - - - 26.27 -
15803 347.8 12.1 663 15804 done 0.82 - - 3319 - - - 2217 - 361.0 - - 1261 - - - - - - - - - - -
16106 308.3 13.2 678 16112 roll 0.82 - - 3322 - 2.10 0.032 805 -672.4 361.0 - - 1260 - - - - - - - - - 26.37 -
16160 302.3 12.8 680 16167 done 0.82 - - 3322 - 2.05 0.024 2208 684.4 361.0 - - 1261 - - - - - - - - - 26.41 -
16477 268.3 10.1 696 16482 roll 0.82 - - 3330 - 2.10 0.032 797 -671.9 361.0 - - 1261 - - - - - - - - - 26.41 -
16531 263.4 10.5 698 16536 done 0.82 - - 3330 - 2.08 0.024 2209 678.8 361.0 - - 1261 - - - - - - - - - 26.45 -
16846 225.1 11.6 714 16852 roll 0.82 - - 3330 - 2.10 0.032 797 -672.4 361.0 - - 1261 - - - - - - - - - 26.44 -
16925 217.8 11.3 717 16932 done 0.82 - - 3331 - 2.05 0.023 2209 688.8 361.0 - - 1261 - - - - - - - - - 26.49 -
17232 187.0 8.2 733 17270 roll 0.87 - - 3330 - 2.17 0.031 805 -647.0 395.3 28.35 0.669 1135 -4.4 0.130 - - - - - - - 26.13 25.50
17322 180.7 7.5 737 17375 done 0.97 - - 3330 - 2.08 0.023 2210 675.5 449.2 47.60 0.632 930 -4.3 0.129 - - - - - - - 26.20 25.10
17675 151.5 8.6 755 17700 roll 1.05 0.12 0.075 3415 708.3 2.12 0.035 3598 654.7 471.2 19.12 0.608 832 -5.1 0.133 - - - - - - 26.19 25.91 25.28
17776 140.4 13.0 759 17783 done 1.05 0.15 0.138 3383 -213.3 2.05 0.021 2188 -687.8 471.2 - - 816 - - - - - - - - 25.87 26.08 -
18082 101.5 12.2 775 18088 roll 1.06 - - 3383 - 2.15 0.036 3600 656.7 471.2 - - 816 - - - - - - - - - 26.22 -
18142 95.6 12.4 777 18149 done 1.08 - - 3386 - 2.03 0.020 2190 -694.6 471.2 - - 815 - - - - - - - - - 26.33 -
18448 62.3 9.1 793 18455 roll 1.11 - - 3386 - 2.08 0.031 818 -659.6 481.1 2.00 0.151 800 -7.5 0.323 - - - - - - - 26.36 26.12
18558 55.3 6.3 798 18603 done 1.27 0.20 0.052 3505 595.0 2.03 0.022 2221 691.1 568.8 38.83 0.230 457 -8.8 0.222 - - - - - - 26.43 26.42 25.79
18910 10.3 14.1 839 18917 done 1.27 0.15 0.140 3457 -320.0 - - 2221 - 568.8 1.88 0.146 458 - - - - - - - - 26.21 - 26.07
18972 end climb: SURFACE_DEPTH_REACHED
18972 begin surface coast
18998 end surface coast: CONTROL_FINISHED_OK
18998 begin surface
SM 2.28 - - - - -9.02 8.32 0.024 143 17.2 0.17 0.047 2059 -60205.9 564.93 1.20 0.174 457 380.7 -0.510 - - - - - -