OKMC Jun13 * SG167 * Dive index * Mission links * Dive 234 * Raw log
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• Previous call tries 1 • 35.17 of 150.00 AH used of 24V (76.56% remains)
• Previous NAKs 0, Timeouts 0 • 22.39 of 100.00 AH used of 10V (77.61% remains)
• Surface angle -72.3 deg, depth 1.96 m • Intended pitch -15.7 deg, speed -9.429 cm/s
• VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 32 s
• GPS2 time: 33 s • Transponder ping count: 8
• 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 - - - 122 VBD -0.83 - - 110 - - - 2067 - -175.2 -93.18 - 2817 - - - - - - - - - - -
130 3.2 -3.5 16 162 roll -0.83 10.70 0.233 2768 248.4 2.12 0.047 3489 670.8 -175.2 -12.65 - 3480 -52.4 - - - - - - - 25.58 26.12 26.46
309 57.6 -28.9 37 315 done -0.75 0.15 0.181 2804 240.0 2.03 0.016 2047 -710.3 -175.2 - - 3480 - - - - - - - - 25.90 26.30 -
631 116.0 -14.3 53 636 roll -0.71 - - 2805 - 1.92 0.028 702 -700.5 -175.2 - - 3481 - - - - - - - - - 26.37 -
685 122.7 -14.4 55 691 done -0.67 0.12 0.164 2827 183.3 2.00 0.021 2109 703.5 -175.2 - - 3481 - - - - - - - - 26.13 26.41 -
1001 169.5 -15.6 71 1007 roll -0.65 - - 2820 - 1.98 0.032 3467 685.9 -175.2 - - 3482 - - - - - - - - - 26.41 -
1067 179.1 -14.9 74 1073 done -0.63 - - 2820 - 1.95 0.015 2075 -713.8 -175.2 - - 3482 - - - - - - - - - 26.53 -
1393 213.8 -8.5 90 1399 roll -0.61 0.12 0.161 2859 325.0 1.98 0.027 694 -697.5 -175.2 - - 3482 - - - - - - - - 26.30 26.48 -
1439 217.2 -7.7 92 1444 done -0.59 - - 2859 - 1.98 0.022 2080 700.0 -175.2 - - 3482 - - - - - - - - - 26.51 -
1764 244.1 -10.6 108 1769 roll -0.59 - - 2859 - 2.03 0.034 3467 683.3 -175.2 - - 3482 - - - - - - - - - 26.46 -
1793 246.7 -10.5 109 1798 done -0.59 - - 2859 - 1.92 0.015 2074 -725.5 -175.2 - - 3481 - - - - - - - - - 26.58 -
2113 283.8 -11.7 125 2118 roll -0.59 - - 2859 - 2.08 0.033 3476 674.0 -175.2 - - 3481 - - - - - - - - - 26.46 -
2172 288.9 -11.4 127 2179 done -0.59 - - 2859 - 1.95 0.016 2072 -720.0 -175.2 - - 3481 - - - - - - - - - 26.58 -
2478 319.3 -8.8 143 2484 roll -0.59 - - 2859 - 1.98 0.030 693 -696.5 -175.2 - - 3479 - - - - - - - - - 26.51 -
2504 321.7 -9.0 144 2510 done -0.59 - - 2859 - 2.00 0.022 2086 696.5 -175.2 - - 3479 - - - - - - - - - 26.53 -
2829 355.9 -11.1 160 2835 roll -0.59 - - 2850 - 2.03 0.034 3470 681.8 -175.2 - - 3477 - - - - - - - - - 26.48 -
2864 358.6 -11.1 161 2869 done -0.59 - - 2850 - 1.95 0.017 2070 -717.9 -175.2 - - 3477 - - - - - - - - - 26.59 -
3178 395.7 -11.1 177 3183 roll -0.59 - - 2850 - 1.98 0.029 694 -694.9 -175.2 - - 3475 - - - - - - - - - 26.51 -
3217 398.1 -10.7 178 3224 done -0.59 - - 2847 - 1.98 0.022 2076 698.0 -175.2 - - 3474 - - - - - - - - - 26.53 -
3524 422.2 -5.7 194 3529 roll -0.59 - - 2846 - 2.05 0.036 3470 680.0 -175.2 - - 3473 - - - - - - - - - 26.46 -
3610 426.1 -4.4 198 3615 done -0.59 - - 2847 - 1.98 0.017 2056 -714.1 -175.2 - - 3472 - - - - - - - - - 26.60 -
3935 446.5 -8.1 214 3941 roll -0.59 - - 2847 - 1.95 0.030 700 -695.4 -175.2 - - 3471 - - - - - - - - - 26.50 -
3995 450.7 -8.9 216 4001 done -0.59 - - 2847 - 1.98 0.023 2077 695.5 -175.2 - - 3470 - - - - - - - - - 26.53 -
4300 486.2 -11.7 232 4306 roll -0.59 - - 2847 - 2.08 0.049 3475 672.1 -175.2 -0.08 - 3498 -350.0 - - - - - - - - 26.45 25.85
4366 493.4 -11.2 235 4372 done -0.60 - - 2847 - 1.95 0.018 2078 -716.4 -175.2 - - 3498 - - - - - - - - - 26.59 -
4692 519.5 -6.9 251 4697 roll -0.62 - - 2847 - 2.00 0.031 692 -693.0 -175.2 - - 3497 - - - - - - - - - 26.49 -
4718 521.4 -7.0 252 4723 done -0.63 - - 2847 - 2.00 0.023 2077 692.5 -175.2 - - 3496 - - - - - - - - - 26.53 -
5044 544.0 -7.3 268 5050 roll -0.64 - - 2847 - 2.05 0.037 3468 678.5 -175.2 - - 3494 - - - - - - - - - 26.45 -
5114 549.3 -7.9 271 5119 done -0.66 - - 2847 - 1.95 0.018 2078 -712.8 -175.2 - - 3493 - - - - - - - - - 26.59 -
5434 577.1 -8.7 287 5440 roll -0.67 - - 2847 - 2.00 0.031 696 -691.0 -175.2 - - 3491 - - - - - - - - - 26.48 -
5470 579.4 -8.8 288 5475 done -0.69 - - 2847 - 2.00 0.023 2084 694.0 -175.2 - - 3492 - - - - - - - - - 26.52 -
5786 605.7 -7.6 303 5791 roll -0.70 - - 2847 - 2.08 0.037 3477 669.7 -175.2 - - 3490 - - - - - - - - - 26.44 -
5847 608.2 -7.4 304 5853 done -0.72 - - 2847 - 1.98 0.018 2070 -710.6 -175.2 - - 3489 - - - - - - - - - 26.58 -
6154 631.2 -6.8 315 6160 roll -0.73 - - 2847 - 1.98 0.031 708 -687.9 -175.2 - - 3487 - - - - - - - - - 26.47 -
6246 636.4 -7.3 317 6253 done -0.75 0.12 0.084 2781 -550.0 1.98 0.024 2076 690.9 -175.2 - - 3486 - - - - - - - - 26.44 26.51 -
6553 669.8 -10.5 328 6559 roll -0.73 0.12 0.155 2818 308.3 2.08 0.036 3466 668.3 -175.2 - - 3485 - - - - - - - - 26.32 26.41 -
6629 676.3 -10.0 330 6634 done -0.73 - - 2819 - 1.95 0.019 2082 -709.7 -175.2 - - 3484 - - - - - - - - - 26.58 -
6956 706.4 -8.8 341 6962 roll -0.73 - - 2818 - 2.10 0.037 3473 662.4 -175.2 - - 3483 - - - - - - - - - 26.41 -
7017 709.7 -8.8 342 7025 done -0.73 - - 2818 - 2.00 0.021 2071 -701.0 -175.2 - - 3481 - - - - - - - - - 26.55 -
7322 740.7 -9.9 353 7327 roll -0.73 - - 2818 - 2.00 0.032 700 -685.5 -175.2 - - 3480 - - - - - - - - - 26.44 -
7387 747.1 -9.8 355 7392 done -0.73 - - 2818 - 2.00 0.025 2069 684.5 -175.2 - - 3479 - - - - - - - - - 26.48 -
7725 780.2 -9.7 366 7730 roll -0.73 - - 2818 - 2.10 0.039 3469 666.7 -175.2 - - 3477 - - - - - - - - - 26.38 -
7765 783.5 -9.3 367 7770 done -0.73 - - 2817 - 2.00 0.021 2063 -703.0 -175.2 - - 3477 - - - - - - - - - 26.55 -
8099 812.1 -8.5 378 8104 roll -0.73 - - 2818 - 2.00 0.033 696 -683.5 -175.2 - - 3476 - - - - - - - - - 26.42 -
8158 815.5 -8.6 379 8165 done -0.73 - - 2818 - 2.03 0.025 2082 682.8 -175.2 - - 3474 - - - - - - - - - 26.46 -
8465 843.1 -8.1 390 8470 roll -0.73 - - 2817 - 2.08 0.038 3470 667.3 -175.2 - - 3472 - - - - - - - - - 26.36 -
8554 848.2 -8.0 392 8561 done -0.73 - - 2818 - 2.00 0.021 2073 -698.5 -175.2 - - 3472 - - - - - - - - - 26.53 -
8863 874.4 -8.2 403 8868 roll -0.73 - - 2818 - 2.03 0.034 694 -679.3 -175.2 - - 3470 - - - - - - - - - 26.40 -
8958 883.4 -8.9 406 8964 done -0.73 - - 2818 - 2.03 0.026 2074 679.8 -175.2 - - 3470 - - - - - - - - - 26.45 -
9297 916.2 -10.3 417 9303 roll -0.73 - - 2817 - 2.10 0.040 3467 663.3 -175.2 - - 3468 - - - - - - - - - 26.34 -
9333 920.2 -10.3 418 9338 done -0.73 - - 2818 - 2.00 0.022 2075 -696.0 -175.2 - - 3468 - - - - - - - - - 26.51 -
9670 955.5 -10.5 429 9676 roll -0.73 - - 2818 - 2.03 0.034 699 -677.8 -175.2 - - 3467 - - - - - - - - - 26.37 -
9730 959.5 -10.4 430 9737 done -0.75 - - 2811 - 2.03 0.026 2082 681.3 -175.2 - - 3466 - - - - - - - - - 26.43 -
10002 end dive: TARGET_DEPTH_EXCEEDED
10002 begin apogee
10011 991.5 -10.7 440 10181 done -0.18 0.52 0.117 2984 332.7 - - 2227 - - 159.00 1.206 2749 -4.5 0.387 - - - - - - 25.96 - 24.00
10184 end apogee: CONTROL_FINISHED_OK
10184 begin climb
10187 1000.3 - 445 10360 roll 0.83 0.93 0.065 3315 355.9 2.22 0.042 3575 607.2 175.2 162.90 1.162 2035 -4.4 0.394 - - - - - - 25.06 24.58 23.76
10472 977.8 12.2 455 10477 done 0.78 - - 3323 - 2.08 0.024 2210 -656.2 175.2 - - 2016 - - - - - - - - - 25.53 -
10800 938.0 11.8 466 10806 roll 0.74 0.12 0.172 3296 -225.0 2.10 0.034 811 -666.2 175.2 - - 2013 - - - - - - - - 25.86 26.05 -
10851 933.6 11.7 467 10856 done 0.70 - - 3296 - 2.05 0.029 2184 669.8 175.2 - - 2013 - - - - - - - - - 26.10 -
11174 896.2 11.4 478 11180 roll 0.67 0.12 0.154 3259 -308.3 2.17 0.041 3599 652.1 175.2 - - 2013 - - - - - - - - 26.08 26.19 -
11234 891.9 11.3 479 11241 done 0.63 - - 3265 - 2.08 0.025 2188 -678.4 175.2 - - 2010 - - - - - - - - - 26.31 -
11543 858.4 10.0 490 11549 roll 0.61 - - 3274 - 2.05 0.036 811 -671.7 175.2 - - 2009 - - - - - - - - - 26.29 -
11573 858.4 10.0 490 11580 done 0.59 0.12 0.142 3243 -258.3 2.05 0.029 2195 675.1 175.2 - - 2009 - - - - - - - - 26.11 26.32 -
11882 824.9 10.0 501 11887 roll 0.58 - - 3242 - 2.15 0.043 3600 653.5 175.2 - - 2008 - - - - - - - - - 26.29 -
11927 820.6 10.2 502 11932 done 0.57 - - 3249 - 2.05 0.025 2201 -682.4 175.2 - - 2009 - - - - - - - - - 26.41 -
12255 783.9 11.1 513 12260 roll 0.56 - - 3257 - 2.08 0.037 815 -666.3 175.2 - - 2008 - - - - - - - - - 26.34 -
12324 776.2 11.1 515 12331 done 0.54 0.12 0.145 3226 -258.3 2.05 0.029 2203 677.1 175.2 - - 2008 - - - - - - - - 26.14 26.37 -
12656 745.6 8.5 526 12686 roll 0.58 - - 3226 - 2.15 0.041 3597 648.4 200.8 21.83 1.050 1933 -3.4 0.255 - - - - - - - 26.00 25.20
12700 743.1 8.4 527 12738 done 0.62 - - 3228 - 2.08 0.026 2204 -669.7 228.1 32.50 0.965 1831 -3.1 0.252 - - - - - - - 26.07 24.76
13053 713.8 7.5 539 13116 roll 0.70 0.12 0.080 3307 658.3 2.20 0.037 808 -634.5 280.5 55.55 0.996 1607 -4.0 0.302 - - - - - - 26.15 25.24 24.49
13193 699.4 11.5 543 13199 done 0.68 0.15 0.139 3268 -260.0 2.12 0.029 2203 658.0 280.5 - - 1589 - - - - - - - - 25.50 25.66 -
13516 665.4 9.8 554 13521 roll 0.68 - - 3265 - 2.17 0.042 3601 644.2 280.5 - - 1585 - - - - - - - - - 26.03 -
13540 665.4 9.8 554 13545 done 0.68 - - 3273 - 2.10 0.026 2189 -672.4 280.5 - - 1584 - - - - - - - - - 26.14 -
13858 626.6 11.8 565 13863 roll 0.68 - - 3283 - 2.08 0.037 809 -663.5 280.5 - - 1584 - - - - - - - - - 26.20 -
13980 614.6 12.3 568 13987 done 0.68 - - 3283 - 2.08 0.029 2214 675.5 280.5 - - 1584 - - - - - - - - - 26.25 -
14293 574.7 11.0 583 14299 roll 0.68 - - 3290 - 2.15 0.036 801 -657.2 280.5 - - 1583 - - - - - - - - - 26.29 -
14348 569.6 11.0 585 14353 done 0.68 - - 3290 - 2.08 0.028 2210 677.4 280.5 - - 1582 - - - - - - - - - 26.32 -
14663 537.7 9.4 601 14669 roll 0.68 - - 3297 - 2.12 0.036 803 -663.7 280.7 - - 1582 - - - - - - - - - 26.32 -
14702 535.3 9.5 602 14709 done 0.68 - - 3297 - 2.05 0.028 2198 680.5 280.7 - - 1582 - - - - - - - - - 26.35 -
15008 502.3 10.9 618 15013 roll 0.68 - - 3304 - 2.10 0.035 806 -662.9 280.7 - - 1582 - - - - - - - - - 26.34 -
15078 494.2 12.1 621 15085 done 0.67 0.15 0.138 3262 -280.0 2.05 0.028 2204 682.0 280.7 - - 1582 - - - - - - - - 26.13 26.38 -
15400 459.8 9.9 637 15405 roll 0.70 - - 3262 - 2.12 0.042 3601 659.0 280.7 - - 1581 - - - - - - - - - 26.32 -
15489 450.7 10.7 641 15495 done 0.70 - - 3263 - 2.05 0.025 2200 -683.4 280.7 - - 1580 - - - - - - - - - 26.45 -
15810 421.8 8.7 657 15834 roll 0.75 - - 3263 - 2.12 0.036 812 -654.7 301.4 16.75 0.857 1524 -3.3 0.172 - - - - - - - 26.20 25.42
15856 417.8 8.9 659 15877 done 0.78 0.12 0.077 3332 575.0 2.05 0.026 2193 673.7 315.8 13.23 0.849 1469 -4.2 0.214 - - - - - - 26.20 26.22 25.21
16175 380.1 10.8 675 16182 roll 0.77 0.12 0.151 3294 -316.7 2.15 0.038 3603 655.8 315.8 - - 1454 - - - - - - - - 26.02 26.12 -
16278 371.9 9.3 679 16285 done 0.78 - - 3301 - 2.08 0.024 2190 -679.3 318.6 - - 1453 - - - - - - - - - 26.26 -
16581 341.5 10.6 695 16587 roll 0.78 - - 3310 - 2.05 0.034 811 -672.7 318.6 - - 1453 - - - - - - - - - 26.26 -
16737 324.7 11.4 702 16742 done 0.78 - - 3310 - 2.05 0.026 2214 684.4 318.6 - - 1453 - - - - - - - - - 26.32 -
17052 298.8 5.4 718 17169 roll 0.94 0.12 0.077 3396 716.7 2.28 0.032 809 -616.2 429.8 106.32 0.732 998 -4.3 0.182 - - - - - - 26.46 25.25 24.61
17223 282.8 10.4 726 17229 done 0.93 0.17 0.135 3351 -264.7 2.12 0.025 2198 655.2 429.8 - - 980 - - - - - - - - 25.41 25.62 -
17545 248.9 12.0 742 17550 roll 0.93 - - 3358 - 2.10 0.033 809 -661.4 429.8 - - 978 - - - - - - - - - 26.03 -
17694 228.3 14.6 749 17700 done 0.93 - - 3358 - 2.05 0.024 2205 681.0 429.8 - - 978 - - - - - - - - - 26.17 -
18015 193.2 9.1 765 18022 roll 0.94 - - 3366 - 2.17 0.032 799 -647.9 440.1 2.03 0.193 966 -5.9 0.618 - - - - - - - 26.25 23.46
18164 178.3 10.4 772 18170 done 0.94 - - 3366 - 2.05 0.024 2204 685.4 440.1 - - 975 - - - - - - - - - 26.32 -
18489 133.0 15.6 788 18494 roll 0.94 - - 3370 - 2.08 0.031 805 -672.6 440.1 - - 975 - - - - - - - - - 26.32 -
18619 118.6 10.5 794 18625 done 0.94 - - 3370 - 2.03 0.023 2203 688.7 440.1 - - 975 - - - - - - - - - 26.39 -
18941 91.8 9.4 810 18947 roll 0.98 - - 3370 - 2.05 0.031 808 -680.5 440.2 - - 975 - - - - - - - - - 26.37 -
18966 89.0 10.0 811 18972 done 1.01 - - 3370 - 2.05 0.023 2215 686.3 440.2 - - 976 - - - - - - - - - 26.43 -
19293 52.9 9.7 827 19298 roll 1.06 - - 3370 - 2.08 0.029 796 -682.2 440.2 - - 976 - - - - - - - - - 26.41 -
19349 48.4 8.3 830 19372 done 1.16 0.15 0.069 3466 640.0 2.03 0.022 2210 696.6 472.1 15.70 0.207 837 -8.9 0.216 - - - - - - 26.41 26.45 25.79
19673 15.6 12.3 869 19682 roll 1.16 0.12 0.147 3433 -275.0 2.15 0.030 799 -656.3 472.1 2.00 0.145 840 1.5 -0.017 - - - - - - 26.25 26.38 25.99
19708 12.3 9.1 874 19721 done 1.17 - - 3434 - 2.00 0.021 2200 700.5 481.6 5.78 0.146 796 -7.6 0.067 - - - - - - - 26.44 25.98
19804 end climb: SURFACE_DEPTH_REACHED
19804 begin surface coast
19830 end surface coast: CONTROL_FINISHED_OK
19830 begin surface
SM 2.01 - - - - -9.03 8.27 0.024 136 16.4 0.15 0.051 2046 -47840.0 564.93 35.53 0.119 458 12.9 -0.022 - - - - - -