OKMC Jun13 * SG167 * Dive index * Mission links * Dive 232 * Raw log
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• Previous call tries 1 • 34.79 of 150.00 AH used of 24V (76.80% remains)
• Previous NAKs 0, Timeouts 0 • 22.13 of 100.00 AH used of 10V (77.87% remains)
• Surface angle -70.1 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: 27 s
• GPS2 time: 37 s • Transponder ping count: 12
• 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 - - - 124 VBD -0.83 - - 128 - - - 2059 - -175.2 -95.38 - 2879 - - - - - - - - - - -
132 3.3 -3.6 17 164 roll -0.83 10.68 0.233 2777 248.0 2.05 0.044 695 -665.4 -175.2 -11.40 - 3480 -52.7 - - - - - - - 25.56 26.14 26.45
196 24.9 -34.3 27 204 done -0.72 0.17 0.191 2812 205.9 2.00 0.021 2082 693.5 -175.2 - - 3481 - - - - - - - - 25.77 26.20 -
515 90.3 -17.4 48 521 roll -0.68 - - 2804 - 2.03 0.031 3470 683.7 -175.2 - - 3482 - - - - - - - - - 26.29 -
554 94.3 -16.6 49 563 done -0.64 0.15 0.156 2843 260.0 1.95 0.015 2061 -722.6 -175.2 - - 3482 - - - - - - - - 26.06 26.41 -
861 140.6 -15.1 65 862 done -0.62 - - 2842 - - - 2060 - -175.2 - - 3482 - - - - - - - - - - -
1163 182.3 -12.5 80 1168 roll -0.60 - - 2836 - 2.08 0.031 3467 676.4 -175.2 - - 3482 - - - - - - - - - 26.42 -
1239 189.9 -11.4 83 1244 done -0.59 - - 2835 - 1.92 0.016 2075 -725.0 -175.2 - - 3482 - - - - - - - - - 26.55 -
1554 227.8 -13.4 99 1559 roll -0.58 - - 2835 - 1.98 0.028 695 -697.0 -175.2 - - 3483 - - - - - - - - - 26.48 -
1624 236.7 -13.5 102 1630 done -0.57 0.12 0.157 2867 266.7 1.98 0.022 2079 699.0 -175.2 - - 3482 - - - - - - - - 26.25 26.51 -
1945 270.2 -9.3 118 1950 roll -0.57 - - 2867 - 2.00 0.028 696 -691.5 -175.2 - - 3482 - - - - - - - - - 26.49 -
1980 272.4 -9.0 119 1985 done -0.57 - - 2862 - 1.98 0.021 2085 701.5 -175.2 - - 3482 - - - - - - - - - 26.53 -
2294 302.4 -10.3 135 2301 roll -0.57 - - 2861 - 2.03 0.035 3467 680.8 -175.2 - - 3481 - - - - - - - - - 26.46 -
2365 309.5 -10.8 138 2370 done -0.57 - - 2861 - 1.92 0.016 2072 -726.6 -175.2 - - 3480 - - - - - - - - - 26.59 -
2685 345.5 -10.6 154 2690 roll -0.57 - - 2861 - 1.98 0.029 694 -696.0 -175.2 - - 3479 - - - - - - - - - 26.50 -
2753 351.6 -9.7 157 2759 done -0.57 - - 2861 - 1.98 0.022 2076 698.0 -175.2 - - 3479 - - - - - - - - - 26.53 -
3074 375.0 -6.2 173 3079 roll -0.57 - - 2861 - 2.05 0.035 3470 680.0 -175.2 - - 3477 - - - - - - - - - 26.46 -
3114 376.5 -6.1 174 3121 done -0.58 - - 2861 - 1.95 0.016 2064 -721.0 -175.2 - - 3477 - - - - - - - - - 26.60 -
3420 398.0 -7.9 190 3425 roll -0.59 - - 2861 - 1.95 0.030 706 -696.4 -175.2 - - 3475 - - - - - - - - - 26.50 -
3467 402.2 -8.7 192 3472 done -0.60 - - 2861 - 1.98 0.023 2076 691.9 -175.2 - - 3475 - - - - - - - - - 26.53 -
3792 432.8 -9.1 208 3798 roll -0.62 - - 2861 - 2.05 0.037 3467 678.5 -175.2 - - 3473 - - - - - - - - - 26.46 -
3839 436.9 -8.7 210 3845 done -0.63 - - 2861 - 1.95 0.017 2071 -715.9 -175.2 - - 3473 - - - - - - - - - 26.60 -
4166 461.7 -7.3 226 4171 roll -0.65 - - 2861 - 1.98 0.030 699 -692.9 -175.2 - - 3471 - - - - - - - - - 26.49 -
4231 467.0 -7.9 229 4236 done -0.66 - - 2861 - 2.00 0.023 2080 690.5 -175.2 - - 3470 - - - - - - - - - 26.53 -
4557 494.2 -9.2 245 4563 roll -0.68 - - 2861 - 2.08 0.049 3473 669.7 -175.2 -0.08 - 3498 -350.0 - - - - - - - - 26.44 25.82
4655 502.1 -9.1 249 4662 done -0.70 0.12 0.085 2800 -508.3 1.95 0.018 2079 -714.9 -175.2 - - 3498 - - - - - - - - 26.48 26.59 -
4972 535.7 -9.4 265 4977 roll -0.70 - - 2800 - 2.00 0.030 694 -692.5 -175.2 - - 3496 - - - - - - - - - 26.48 -
5018 539.8 -8.9 267 5024 done -0.70 0.10 0.172 2821 210.0 2.00 0.023 2076 691.0 -175.2 - - 3495 - - - - - - - - 26.26 26.52 -
5344 559.7 -5.4 283 5350 roll -0.70 - - 2820 - 2.08 0.037 3473 671.6 -175.2 - - 3493 - - - - - - - - - 26.44 -
5444 564.2 -5.3 287 5451 done -0.70 - - 2820 - 1.98 0.018 2069 -709.1 -175.2 - - 3493 - - - - - - - - - 26.58 -
5750 588.5 -8.4 303 5751 done -0.70 - - 2820 - - - 2069 - -175.2 - - 3491 - - - - - - - - - - -
6070 619.9 -10.4 316 6076 roll -0.70 - - 2820 - 2.00 0.032 694 -687.5 -175.2 - - 3488 - - - - - - - - - 26.46 -
6114 624.0 -10.8 317 6120 done -0.70 - - 2820 - 2.00 0.024 2075 690.5 -175.2 - - 3488 - - - - - - - - - 26.51 -
6443 661.3 -9.9 328 6448 roll -0.70 - - 2820 - 2.10 0.037 3471 664.8 -175.2 - - 3486 - - - - - - - - - 26.41 -
6512 667.5 -9.3 330 6518 done -0.70 - - 2820 - 1.98 0.019 2080 -702.5 -175.2 - - 3485 - - - - - - - - - 26.57 -
6845 696.6 -8.5 341 6851 roll -0.70 - - 2821 - 2.03 0.033 700 -679.8 -175.2 - - 3483 - - - - - - - - - 26.44 -
6896 700.0 -8.7 342 6901 done -0.70 - - 2820 - 2.00 0.024 2075 687.5 -175.2 - - 3483 - - - - - - - - - 26.49 -
7219 728.8 -8.4 353 7225 roll -0.70 - - 2821 - 2.10 0.038 3477 667.6 -175.2 - - 3481 - - - - - - - - - 26.39 -
7348 739.3 -8.2 357 7354 done -0.70 - - 2820 - 2.00 0.020 2074 -701.5 -175.2 - - 3480 - - - - - - - - - 26.55 -
7686 767.7 -8.5 368 7693 roll -0.70 - - 2821 - 2.03 0.034 698 -677.8 -175.2 - - 3479 - - - - - - - - - 26.42 -
7753 774.1 -9.1 370 7759 done -0.70 - - 2820 - 2.03 0.025 2080 680.8 -175.2 - - 3478 - - - - - - - - - 26.47 -
8092 804.0 -8.6 381 8098 roll -0.70 - - 2821 - 2.10 0.040 3469 661.4 -175.2 - - 3475 - - - - - - - - - 26.36 -
8206 812.7 -8.9 384 8211 done -0.70 - - 2820 - 2.00 0.021 2072 -698.5 -175.2 - - 3475 - - - - - - - - - 26.53 -
8529 840.4 -7.8 395 8534 roll -0.70 - - 2820 - 2.03 0.034 692 -679.8 -175.2 - - 3474 - - - - - - - - - 26.40 -
8564 843.5 -8.0 396 8570 done -0.70 - - 2821 - 2.05 0.025 2087 680.5 -175.2 - - 3473 - - - - - - - - - 26.45 -
8904 871.5 -8.3 407 8910 roll -0.70 - - 2820 - 2.08 0.039 3467 663.5 -175.2 - - 3471 - - - - - - - - - 26.34 -
8959 874.9 -8.3 408 8965 done -0.70 - - 2820 - 2.00 0.022 2072 -697.5 -175.2 - - 3471 - - - - - - - - - 26.51 -
9277 903.7 -8.4 419 9283 roll -0.71 - - 2821 - 2.12 0.040 3467 658.0 -175.2 - - 3469 - - - - - - - - - 26.32 -
9313 906.8 -8.1 420 9319 done -0.72 - - 2820 - 2.03 0.022 2063 -691.6 -175.2 - - 3468 - - - - - - - - - 26.51 -
9654 934.1 -7.6 431 9660 roll -0.73 - - 2821 - 2.00 0.033 702 -680.5 -175.2 - - 3468 - - - - - - - - - 26.37 -
9685 934.1 -7.6 431 9692 done -0.74 - - 2821 - 2.03 0.028 2069 673.4 -175.2 - - 3468 - - - - - - - - - 26.41 -
9993 962.0 -8.1 442 9999 roll -0.75 - - 2820 - 2.15 0.041 3480 656.3 -175.2 - - 3466 - - - - - - - - - 26.29 -
10111 969.5 -7.6 445 10116 done -0.77 - - 2820 - 2.03 0.022 2070 -694.6 -175.2 - - 3466 - - - - - - - - - 26.50 -
10362 end dive: TARGET_DEPTH_EXCEEDED
10362 begin apogee
10371 990.7 -7.5 454 10541 done -0.18 0.50 0.114 2987 334.0 - - 2216 - - 160.70 1.196 2757 -4.4 0.378 - - - - - - 25.96 - 24.00
10544 end apogee: CONTROL_FINISHED_OK
10544 begin climb
10548 995.9 - 459 10726 roll 0.83 0.93 0.065 3317 354.8 2.35 0.042 3592 585.5 175.2 165.07 1.160 2030 -4.4 0.391 - - - - - - 25.01 24.52 23.68
10871 967.5 12.3 470 10877 done 0.78 - - 3326 - 2.10 0.024 2206 -660.0 175.2 - - 2016 - - - - - - - - - 25.61 -
11190 929.2 12.1 481 11196 roll 0.74 0.12 0.164 3290 -300.0 2.17 0.041 3594 639.6 175.2 - - 2013 - - - - - - - - 25.87 26.03 -
11229 924.2 12.0 482 11235 done 0.69 - - 3298 - 2.10 0.025 2195 -666.2 175.2 - - 2012 - - - - - - - - - 26.13 -
11563 890.5 10.7 493 11569 roll 0.66 0.12 0.163 3260 -316.7 2.17 0.039 3600 647.5 175.2 - - 2011 - - - - - - - - 26.06 26.18 -
11633 883.3 10.4 495 11638 done 0.63 - - 3267 - 2.10 0.025 2189 -671.9 175.2 - - 2011 - - - - - - - - - 26.29 -
11967 850.7 10.3 506 11968 done 0.61 - - 3267 - - - 2189 - 175.2 - - 2010 - - - - - - - - - - -
12263 818.2 10.8 516 12268 roll 0.59 - - 3276 - 2.05 0.036 813 -671.2 175.2 - - 2009 - - - - - - - - - 26.32 -
12318 814.5 10.8 517 12324 done 0.57 0.15 0.139 3237 -260.0 2.05 0.030 2198 675.6 175.2 - - 2010 - - - - - - - - 26.08 26.34 -
12637 782.9 9.2 528 12643 roll 0.58 - - 3236 - 2.17 0.043 3604 647.9 180.7 - - 2009 - - - - - - - - - 26.29 -
12663 782.9 9.2 528 12668 done 0.58 - - 3240 - 2.08 0.026 2190 -679.8 186.2 - - 2009 - - - - - - - - - 26.41 -
12981 752.4 8.3 539 13030 roll 0.63 - - 3249 - 2.17 0.036 811 -635.5 217.3 40.92 1.030 1863 -3.6 0.270 - - - - - - - 25.65 24.84
13115 741.6 8.7 543 13144 done 0.66 - - 3249 - 2.10 0.029 2202 662.4 238.5 21.80 0.998 1785 -3.6 0.275 - - - - - - - 25.85 24.72
13463 707.7 9.3 555 13465 done 0.67 - - 3250 - - - 2202 - 240.7 - - 1766 - - - - - - - - - - -
13764 678.2 10.1 565 13770 roll 0.67 - - 3255 - 2.12 0.036 807 -658.0 240.7 - - 1765 - - - - - - - - - 26.17 -
13849 671.0 10.4 567 13854 done 0.67 - - 3255 - 2.08 0.028 2205 672.1 240.7 - - 1766 - - - - - - - - - 26.22 -
14167 638.3 8.9 578 14190 roll 0.69 - - 3262 - 2.17 0.036 816 -640.1 254.2 14.40 1.019 1716 -3.5 0.225 - - - - - - - 26.06 25.25
14230 632.8 8.4 580 14268 done 0.73 - - 3261 - 2.08 0.028 2197 663.9 281.5 29.15 0.968 1605 -3.8 0.258 - - - - - - - 26.08 24.81
14593 604.0 8.1 592 14635 roll 0.78 0.12 0.079 3340 658.3 2.17 0.035 806 -641.0 317.6 36.33 0.959 1458 -4.0 0.264 - - - - - - 26.16 25.47 24.70
14659 596.5 10.2 594 14666 done 0.78 0.15 0.142 3301 -260.0 2.12 0.028 2190 652.8 317.6 - - 1440 - - - - - - - - 25.46 25.62 -
14981 558.3 12.1 610 14986 roll 0.78 - - 3309 - 2.10 0.035 813 -655.7 317.6 - - 1437 - - - - - - - - - 26.04 -
15030 552.8 12.0 612 15036 done 0.78 - - 3309 - 2.10 0.028 2222 671.0 317.6 - - 1437 - - - - - - - - - 26.09 -
15351 514.0 11.2 628 15356 roll 0.78 - - 3317 - 2.15 0.035 806 -658.6 317.6 - - 1435 - - - - - - - - - 26.20 -
15427 506.8 11.1 631 15432 done 0.77 - - 3317 - 2.08 0.028 2209 674.5 317.6 - - 1435 - - - - - - - - - 26.24 -
15742 474.3 9.9 647 15748 roll 0.76 - - 3325 - 2.15 0.036 801 -654.9 317.6 - - 1435 - - - - - - - - - 26.28 -
15803 469.5 9.9 649 15810 done 0.75 0.12 0.145 3293 -266.7 2.08 0.028 2212 678.4 317.6 - - 1435 - - - - - - - - 26.10 26.32 -
16108 435.0 11.7 665 16113 roll 0.75 - - 3300 - 2.12 0.035 811 -660.8 317.6 - - 1435 - - - - - - - - - 26.32 -
16153 429.4 12.2 667 16159 done 0.75 - - 3300 - 2.05 0.026 2195 675.1 317.6 - - 1434 - - - - - - - - - 26.36 -
16478 392.4 9.8 683 16483 roll 0.75 - - 3308 - 2.08 0.034 812 -664.9 317.6 - - 1434 - - - - - - - - - 26.35 -
16573 384.6 9.1 687 16579 done 0.76 - - 3308 - 2.05 0.026 2215 684.4 325.9 - - 1435 - - - - - - - - - 26.39 -
16890 361.1 7.1 703 16969 roll 0.86 - - 3317 - 2.17 0.031 812 -646.5 391.6 69.65 0.780 1149 -4.1 0.197 - - - - - - - 25.48 24.80
17030 350.1 9.0 709 17042 done 0.88 - - 3316 - 2.08 0.024 2197 665.9 404.6 6.00 0.709 1114 -5.8 0.298 - - - - - - - 25.72 24.87
17362 311.0 11.9 726 17369 roll 0.92 - - 3317 - 2.12 0.041 3593 658.5 404.6 - - 1113 - - - - - - - - - 26.02 -
17393 307.6 12.1 727 17399 done 0.95 - - 3322 - 2.05 0.022 2186 -686.3 404.6 - - 1112 - - - - - - - - - 26.15 -
17713 272.9 8.8 743 17743 roll 0.97 0.12 0.078 3399 641.7 2.20 0.038 3598 641.8 421.6 21.15 0.723 1032 -3.8 0.148 - - - - - - 26.34 25.95 25.25
17761 267.6 10.4 745 17768 done 0.97 0.17 0.146 3362 -217.6 2.05 0.022 2207 -678.5 421.6 - - 1023 - - - - - - - - 25.82 26.03 -
18082 228.8 13.1 761 18088 roll 0.97 - - 3361 - 2.15 0.037 3602 648.8 421.6 - - 1021 - - - - - - - - - 26.15 -
18142 222.8 13.3 763 18148 done 0.97 - - 3366 - 2.05 0.022 2195 -686.3 421.6 - - 1021 - - - - - - - - - 26.27 -
18448 186.9 11.7 779 18453 roll 0.97 - - 3366 - 2.15 0.037 3600 653.5 421.6 - - 1021 - - - - - - - - - 26.25 -
18516 178.1 13.3 782 18521 done 0.97 - - 3373 - 2.03 0.022 2196 -691.6 421.6 - - 1021 - - - - - - - - - 26.37 -
18836 140.7 9.6 798 18842 roll 0.97 - - 3383 - 2.03 0.032 816 -679.8 421.6 - - 1020 - - - - - - - - - 26.34 -
19023 123.9 9.1 807 19033 done 0.99 - - 3383 - 2.03 0.023 2209 686.2 431.8 2.60 0.370 1001 -7.3 0.253 - - - - - - - 26.41 25.23
19349 97.0 8.3 823 19369 roll 1.03 - - 3390 - 2.15 0.031 806 -652.6 463.1 15.93 0.304 877 -7.8 0.257 - - - - - - - 26.32 25.70
19447 88.9 9.3 827 19458 done 1.05 - - 3390 - 2.03 0.022 2210 691.6 465.4 3.25 0.197 872 -1.5 0.072 - - - - - - - 26.38 25.59
19755 60.8 7.5 843 19788 roll 1.15 - - 3396 - 2.08 0.030 809 -673.6 518.1 25.45 0.243 658 -8.4 0.218 - - - - - - - 26.27 25.75
19869 52.1 8.7 848 19887 done 1.21 0.12 0.082 3484 733.3 2.03 0.022 2216 693.1 538.6 10.90 0.214 567 -8.3 0.210 - - - - - - 26.27 26.33 25.72
20194 10.7 12.6 890 20203 roll 1.21 0.12 0.141 3452 -266.7 2.15 0.031 810 -654.0 538.6 1.92 0.147 566 - - - - - - - - 26.22 26.32 25.96
20232 6.2 10.5 896 20240 done 1.21 - - 3452 - 2.00 0.022 2203 696.5 538.6 1.30 0.179 564 - - - - - - - - - 26.39 26.02
20261 end climb: SURFACE_DEPTH_REACHED
20261 begin surface coast
20291 end surface coast: CONTROL_FINISHED_OK
20291 begin surface
SM 2.05 - - - - -9.03 8.30 0.024 138 16.6 0.15 0.051 2048 -47826.7 564.93 11.70 0.122 457 39.1 -0.067 - - - - - -