OKMC Jun13 * SG167 * Dive index * Mission links * Dive 216 * Raw log
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• Previous call tries 1 • 31.90 of 150.00 AH used of 24V (78.73% remains)
• Previous NAKs 0, Timeouts 0 • 20.08 of 100.00 AH used of 10V (79.92% remains)
• Surface angle -72.9 deg, depth 2.00 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: 30 s • Transponder ping count: 18
• 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 - - - 123 VBD -0.83 - - 131 - - - 2061 - -175.2 -94.40 - 2864 - - - - - - - - - - -
131 3.5 -4.4 16 163 roll -0.83 10.77 0.239 2768 244.8 2.17 0.046 3479 653.5 -175.2 -11.52 - 3479 -53.4 - - - - - - - 25.60 26.15 26.47
349 68.7 -26.1 38 355 done -0.75 0.15 0.177 2805 246.7 1.98 0.016 2065 -714.1 -175.2 - - 3480 - - - - - - - - 25.97 26.35 -
675 130.4 -15.5 54 681 roll -0.71 - - 2805 - 1.95 0.029 710 -694.9 -175.2 - - 3481 - - - - - - - - - 26.40 -
755 140.3 -15.1 57 762 done -0.67 0.12 0.168 2829 200.0 1.98 0.021 2096 700.0 -175.2 - - 3481 - - - - - - - - 26.17 26.45 -
1061 185.3 -14.7 73 1066 roll -0.65 - - 2829 - 2.03 0.028 703 -686.2 -175.2 - - 3482 - - - - - - - - - 26.46 -
1086 188.8 -14.7 74 1091 done -0.63 - - 2822 - 1.98 0.021 2084 697.5 -175.2 - - 3482 - - - - - - - - - 26.50 -
1411 232.9 -13.0 90 1417 roll -0.61 0.12 0.167 2860 316.7 2.03 0.032 3469 682.3 -175.2 - - 3481 - - - - - - - - 26.33 26.47 -
1446 235.6 -12.2 91 1452 done -0.59 - - 2860 - 1.92 0.016 2081 -722.9 -175.2 - - 3481 - - - - - - - - - 26.58 -
1762 269.3 -11.0 107 1768 roll -0.59 - - 2860 - 1.98 0.029 702 -696.5 -175.2 - - 3481 - - - - - - - - - 26.52 -
1811 274.5 -11.4 109 1816 done -0.59 - - 2860 - 1.95 0.022 2072 702.6 -175.2 - - 3481 - - - - - - - - - 26.55 -
2130 310.2 -10.4 125 2136 roll -0.59 - - 2860 - 2.05 0.035 3469 681.5 -175.2 - - 3480 - - - - - - - - - 26.49 -
2216 319.1 -10.4 129 2222 done -0.59 - - 2860 - 1.95 0.017 2073 -715.9 -175.2 - - 3483 - - - - - - - - - 26.61 -
2542 348.5 -8.1 145 2547 roll -0.59 - - 2860 - 1.98 0.029 696 -695.5 -175.2 - - 3478 - - - - - - - - - 26.53 -
2601 352.2 -8.1 147 2608 done -0.59 - - 2860 - 1.98 0.022 2080 699.0 -175.2 - - 3477 - - - - - - - - - 26.56 -
2907 377.2 -8.1 163 2912 roll -0.59 - - 2859 - 2.03 0.035 3468 683.7 -175.2 - - 3476 - - - - - - - - - 26.51 -
3002 384.2 -8.2 167 3008 done -0.59 - - 2860 - 1.95 0.017 2066 -719.0 -175.2 - - 3475 - - - - - - - - - 26.61 -
3318 413.4 -8.6 183 3324 roll -0.59 - - 2860 - 1.95 0.030 707 -696.9 -175.2 - - 3473 - - - - - - - - - 26.54 -
3367 417.4 -8.7 185 3373 done -0.59 - - 2860 - 1.98 0.023 2083 694.9 -175.2 - - 3473 - - - - - - - - - 26.56 -
3688 444.5 -8.5 201 3694 roll -0.60 - - 2860 - 2.05 0.035 3478 680.5 -175.2 - - 3472 - - - - - - - - - 26.50 -
3775 451.6 -8.2 205 3781 done -0.62 - - 2860 - 1.95 0.017 2071 -721.5 -175.2 - - 3470 - - - - - - - - - 26.62 -
4102 478.4 -8.3 221 4108 roll -0.63 - - 2860 - 1.98 0.044 706 -689.4 -175.2 -0.08 - 3498 -350.0 - - - - - - - - 26.53 25.95
4152 482.4 -8.5 223 4159 done -0.64 - - 2860 - 1.98 0.023 2083 695.5 -175.2 - - 3498 - - - - - - - - - 26.56 -
4475 510.8 -8.9 239 4480 roll -0.66 - - 2859 - 2.05 0.036 3473 678.0 -175.2 - - 3496 - - - - - - - - - 26.49 -
4529 514.9 -8.9 241 4535 done -0.67 - - 2860 - 1.95 0.018 2076 -716.4 -175.2 - - 3496 - - - - - - - - - 26.62 -
4846 541.7 -7.6 257 4848 done -0.69 0.10 0.095 2806 -540.0 - - 2076 - -175.2 - - 3494 - - - - - - - - 26.63 - -
5145 569.9 -9.7 272 5151 roll -0.69 - - 2806 - 2.00 0.031 701 -687.5 -175.2 - - 3492 - - - - - - - - - 26.53 -
5245 578.9 -10.5 276 5251 done -0.69 - - 2805 - 2.00 0.024 2080 689.5 -175.2 - - 3492 - - - - - - - - - 26.55 -
5570 613.6 -10.5 291 5575 roll -0.69 - - 2806 - 2.05 0.037 3469 677.6 -175.2 - - 3490 - - - - - - - - - 26.48 -
5610 617.1 -10.4 292 5616 done -0.69 - - 2805 - 1.98 0.018 2065 -709.1 -175.2 - - 3489 - - - - - - - - - 26.60 -
5943 650.5 -9.5 303 5949 roll -0.69 - - 2805 - 1.98 0.031 704 -687.4 -175.2 - - 3487 - - - - - - - - - 26.51 -
6009 657.0 -9.6 305 6015 done -0.69 - - 2805 - 2.00 0.024 2075 685.5 -175.2 - - 3487 - - - - - - - - - 26.54 -
6347 686.0 -8.4 316 6353 roll -0.69 - - 2805 - 2.08 0.038 3467 669.2 -175.2 - - 3484 - - - - - - - - - 26.46 -
6418 691.9 -8.7 318 6423 done -0.69 - - 2805 - 1.98 0.019 2070 -705.6 -175.2 - - 3485 - - - - - - - - - 26.60 -
6751 724.1 -10.0 329 6757 roll -0.69 - - 2805 - 2.00 0.032 697 -686.5 -175.2 - - 3482 - - - - - - - - - 26.49 -
6786 728.2 -10.3 330 6791 done -0.69 - - 2801 - 2.03 0.024 2085 683.7 -175.2 - - 3481 - - - - - - - - - 26.53 -
7125 763.2 -10.2 341 7130 roll -0.69 - - 2793 - 2.08 0.037 3477 669.2 -175.2 - - 3479 - - - - - - - - - 26.45 -
7175 767.2 -10.1 342 7180 done -0.69 - - 2793 - 2.00 0.020 2071 -703.0 -175.2 - - 3479 - - - - - - - - - 26.58 -
7498 801.4 -10.0 353 7500 done -0.69 0.12 0.159 2825 266.7 - - 2071 - -175.2 - - 3477 - - - - - - - - 26.36 - -
7795 826.7 -8.6 363 7796 done -0.69 - - 2825 - - - 2070 - -175.2 - - 3475 - - - - - - - - - - -
8096 853.5 -8.9 373 8101 roll -0.69 - - 2825 - 2.03 0.034 693 -678.3 -175.2 - - 3478 - - - - - - - - - 26.46 -
8167 859.4 -8.7 375 8172 done -0.69 - - 2822 - 2.03 0.025 2077 681.8 -175.2 - - 3473 - - - - - - - - - 26.51 -
8500 887.2 -8.0 386 8506 roll -0.69 - - 2822 - 2.10 0.041 3471 663.8 -175.2 - - 3470 - - - - - - - - - 26.41 -
8581 892.5 -7.7 388 8586 done -0.70 - - 2822 - 2.00 0.022 2078 -696.5 -175.2 - - 3470 - - - - - - - - - 26.55 -
8904 915.5 -6.5 399 8910 roll -0.71 - - 2822 - 2.05 0.034 685 -679.5 -175.2 - - 3468 - - - - - - - - - 26.44 -
8974 920.4 -6.7 401 8979 done -0.71 - - 2821 - 2.05 0.026 2081 681.0 -175.2 - - 3467 - - - - - - - - - 26.48 -
9307 941.7 -6.7 412 9313 roll -0.71 - - 2822 - 2.10 0.041 3473 662.9 -175.2 - - 3466 - - - - - - - - - 26.38 -
9388 946.6 -7.0 414 9393 done -0.73 - - 2822 - 2.03 0.022 2066 -693.1 -175.2 - - 3465 - - - - - - - - - 26.54 -
9711 971.2 -7.3 425 9717 roll -0.74 - - 2822 - 2.03 0.034 691 -677.3 -175.2 - - 3463 - - - - - - - - - 26.42 -
9787 976.3 -7.3 427 9792 done -0.75 - - 2821 - 2.05 0.027 2083 679.0 -175.2 - - 3463 - - - - - - - - - 26.47 -
9958 end dive: TARGET_DEPTH_EXCEEDED
9958 begin apogee
9967 990.1 -7.6 433 10137 done -0.18 0.50 0.116 2987 332.0 - - 2224 - - 160.95 1.189 2759 -4.4 0.375 - - - - - - 26.08 - 24.04
10139 end apogee: CONTROL_FINISHED_OK
10139 begin climb
10142 994.4 - 438 10317 roll 0.83 0.93 0.065 3317 354.8 2.30 0.041 3576 587.8 175.2 165.95 1.144 2039 -4.3 0.389 - - - - - - 25.03 24.57 23.78
10419 962.9 15.1 448 10425 done 0.78 - - 3325 - 2.10 0.024 2209 -651.0 175.2 - - 2014 - - - - - - - - - 25.46 -
10758 915.3 13.9 459 10764 roll 0.73 0.12 0.171 3290 -291.7 2.15 0.040 3584 639.5 175.2 - - 2012 - - - - - - - - 25.86 26.03 -
10808 910.2 13.6 460 10814 done 0.69 - - 3297 - 2.08 0.025 2186 -672.1 175.2 - - 2011 - - - - - - - - - 26.13 -
11131 869.4 12.2 471 11133 done 0.66 0.12 0.169 3265 -266.7 - - 2186 - 175.2 - - 2010 - - - - - - - - 26.10 - -
11432 837.0 10.9 481 11434 done 0.64 - - 3266 - - - 2186 - 175.2 - - 2010 - - - - - - - - - - -
11729 801.7 12.0 491 11734 roll 0.62 - - 3266 - 2.15 0.043 3577 647.0 175.2 - - 2009 - - - - - - - - - 26.31 -
11788 797.2 12.1 492 11795 done 0.60 - - 3265 - 2.05 0.026 2195 -674.1 175.2 - - 2006 - - - - - - - - - 26.41 -
12098 758.4 11.4 503 12103 roll 0.58 - - 3266 - 2.15 0.041 3582 645.1 175.2 - - 2006 - - - - - - - - - 26.34 -
12172 749.8 11.9 505 12178 done 0.56 0.15 0.158 3229 -246.7 2.05 0.026 2185 -681.5 175.2 - - 2006 - - - - - - - - 26.13 26.45 -
12498 718.0 8.9 516 12508 roll 0.58 - - 3237 - 2.10 0.036 804 -657.6 190.7 3.50 0.765 1983 -6.6 0.636 - - - - - - - 26.41 25.18
12606 709.6 8.7 519 12638 done 0.61 - - 3237 - 2.05 0.029 2194 678.0 210.4 21.85 0.979 1902 -3.7 0.277 - - - - 1 - - 26.39 25.02
12958 680.3 7.7 531 13017 roll 0.68 - - 3237 - 2.33 0.043 3598 602.6 257.9 42.90 1.312 1714 -4.4 0.234 - - - - 1 - - 25.25 24.20
13049 675.5 7.9 533 13101 done 0.74 0.15 0.070 3308 473.3 2.12 0.025 2206 -656.6 298.8 39.25 1.321 1542 -4.4 0.231 - - - - 1 - 25.56 25.58 23.94
13417 627.3 12.8 546 13422 roll 0.73 - - 3316 - 2.12 0.036 800 -663.2 298.8 - - 1552 - - - - - - - - - 25.97 -
13452 622.4 13.0 547 13458 done 0.71 0.12 0.140 3283 -275.0 2.12 0.028 2209 664.6 298.8 - - 1552 - - - - - - - - 25.84 26.02 -
13768 585.5 11.4 559 13769 done 0.71 - - 3283 - - - 2209 - 298.8 - - 1551 - - - - - - - - - - -
14070 553.6 10.3 574 14075 roll 0.71 - - 3285 - 2.12 0.036 799 -665.1 298.8 - - 1550 - - - - - - - - - 26.27 -
14119 548.7 10.3 576 14125 done 0.71 - - 3285 - 2.08 0.028 2203 675.0 298.8 - - 1549 - - - - - - - - - 26.30 -
14439 516.4 9.9 592 14444 roll 0.71 - - 3285 - 2.12 0.042 3603 660.4 298.8 - - 1549 - - - - - - - - - 26.31 -
14464 513.8 10.1 593 14469 done 0.71 - - 3290 - 2.08 0.026 2198 -675.5 298.8 - - 1548 - - - - - - - - - 26.40 -
14790 484.2 9.0 609 14814 roll 0.73 - - 3292 - 2.17 0.037 804 -642.4 311.7 19.23 0.985 1485 -3.3 0.166 - - - - - - - 26.05 25.32
14911 474.6 9.2 614 14919 done 0.74 - - 3291 - 2.10 0.028 2215 671.9 316.9 - - 1471 - - - - - - - - - 26.12 -
15217 441.8 10.2 630 15223 roll 0.74 - - 3298 - 2.12 0.034 799 -667.9 316.9 - - 1470 - - - - - - - - - 26.25 -
15243 439.3 10.1 631 15249 done 0.74 - - 3302 - 2.08 0.027 2210 678.4 316.9 - - 1470 - - - - - - - - - 26.27 -
15569 409.0 8.4 647 15607 roll 0.78 - - 3306 - 2.15 0.034 806 -653.0 344.0 30.55 0.873 1347 -4.0 0.194 - - - - - - - 25.84 25.15
15659 402.6 7.5 651 15716 done 0.86 - - 3306 - 2.10 0.026 2197 662.4 396.1 49.78 0.802 1143 -4.1 0.212 - - - - - - - 25.95 24.69
16037 374.2 7.6 670 16090 roll 0.97 0.12 0.076 3390 700.0 2.28 0.040 3596 613.6 446.7 47.38 0.765 933 -4.4 0.223 - - - - - - 26.10 25.43 24.75
16146 361.6 12.3 675 16152 done 0.97 0.15 0.146 3359 -206.7 2.10 0.023 2194 -667.6 446.7 - - 912 - - - - - - - - 25.54 25.72 -
16468 320.3 13.4 691 16473 roll 0.97 - - 3358 - 2.17 0.038 3599 647.5 446.7 - - 910 - - - - - - - - - 26.07 -
16527 313.8 13.8 693 16534 done 0.97 - - 3363 - 2.08 0.023 2183 -680.8 446.7 - - 910 - - - - - - - - - 26.17 -
16833 275.1 10.6 709 16839 roll 0.97 - - 3363 - 2.17 0.038 3600 653.0 446.7 - - 910 - - - - - - - - - 26.23 -
16928 265.7 11.0 713 16933 done 0.97 - - 3370 - 2.05 0.022 2186 -689.8 446.7 - - 910 - - - - - - - - - 26.34 -
17243 229.4 11.8 729 17248 roll 0.97 - - 3378 - 2.03 0.033 810 -677.8 446.7 - - 910 - - - - - - - - - 26.35 -
17418 209.1 12.0 737 17424 done 0.97 - - 3379 - 2.03 0.023 2208 688.7 446.7 - - 910 - - - - - - - - - 26.41 -
17734 169.9 12.4 753 17739 roll 0.97 - - 3386 - 2.08 0.032 808 -673.1 446.7 - - 910 - - - - - - - - - 26.41 -
17787 164.4 12.3 755 17793 done 0.97 - - 3386 - 2.03 0.023 2211 691.1 446.7 - - 910 - - - - - - - - - 26.46 -
18104 130.3 9.3 771 18109 roll 0.98 - - 3393 - 2.08 0.031 806 -675.5 450.7 - - 911 - - - - - - - - - 26.45 -
18190 121.6 10.2 775 18195 done 0.98 - - 3394 - 2.00 0.023 2199 696.5 450.7 - - 911 - - - - - - - - - 26.49 -
18515 88.9 9.9 791 18521 roll 0.98 - - 3401 - 2.05 0.031 809 -678.0 450.7 - - 912 - - - - - - - - - 26.47 -
18564 83.8 10.7 793 18570 done 0.98 0.15 0.131 3359 -280.0 2.00 0.022 2204 697.5 450.7 - - 912 - - - - - - - - 26.28 26.51 -
18886 54.5 8.0 809 18911 roll 1.08 0.12 0.074 3429 583.3 2.10 0.030 809 -664.3 488.9 16.58 0.216 773 -8.4 0.218 - - - - - - 26.57 26.42 25.87
18941 50.4 8.4 811 18963 done 1.17 - - 3429 - 2.00 0.022 2201 696.0 517.1 14.32 0.219 657 -8.1 0.192 - - - - - - - 26.46 25.87
19267 18.6 9.6 849 19275 roll 1.21 - - 3429 - 2.15 0.036 3598 649.8 517.1 1.75 0.167 655 - - - - - - - - - 26.39 26.08
19310 14.1 10.1 856 19319 done 1.23 - - 3438 - 2.00 0.020 2194 -702.0 517.1 1.48 0.174 654 - - - - - - - - - 26.48 26.11
19412 end climb: SURFACE_DEPTH_REACHED
19413 begin surface coast
19439 end surface coast: CONTROL_FINISHED_OK
19439 begin surface
SM 1.98 - - - - -9.04 8.35 0.030 136 16.3 0.10 0.071 2042 -71800.0 564.93 21.08 0.119 456 21.6 -0.037 - - - - - -