OKMC Jun13 * SG167 * Dive index * Mission links * Dive 236 * Raw log
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• Previous call tries 1 • 35.57 of 150.00 AH used of 24V (76.29% remains)
• Previous NAKs 0, Timeouts 0 • 22.64 of 100.00 AH used of 10V (77.36% remains)
• Surface angle -70.4 deg, depth 1.91 m • Intended pitch -15.7 deg, speed -10.000 cm/s
• No surface pump (final VBD was 564.93, SM_CC=564.9259)
• GPS1 time: 41 s
• GPS2 time: 35 s • Transponder ping count: 13
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
27 - - - 121 VBD -0.85 - - 129 - - - 2071 - -194.6 -91.18 - 2767 - - - - - - - - - - -
129 3.1 -3.0 16 161 roll -0.85 10.68 0.234 2761 246.4 2.17 0.045 3480 649.3 -194.6 -15.88 - 3560 -49.9 - - - - - - - 25.55 26.12 26.46
189 20.3 -29.4 25 197 done -0.76 0.17 0.181 2804 252.9 2.03 0.016 2046 -706.4 -194.6 - - 3560 - - - - - - - - 25.77 26.22 -
518 95.4 -18.7 47 519 done -0.72 - - 2804 - - - 2046 - -194.6 - - 3561 - - - - - - - - - - -
820 145.9 -16.1 62 826 roll -0.68 - - 2796 - 2.12 0.031 3483 677.8 -194.6 - - 3562 - - - - - - - - - 26.36 -
859 150.3 -15.8 63 867 done -0.65 0.15 0.149 2836 266.7 1.98 0.016 2057 -720.2 -194.6 - - 3562 - - - - - - - - 26.13 26.48 -
1165 189.1 -11.9 79 1171 roll -0.63 - - 2829 - 2.10 0.031 3477 676.2 -194.6 - - 3562 - - - - - - - - - 26.41 -
1194 192.2 -12.2 80 1200 done -0.62 - - 2829 - 1.95 0.015 2070 -721.5 -194.6 - - 3562 - - - - - - - - - 26.53 -
1515 230.3 -11.1 96 1520 roll -0.61 - - 2829 - 1.95 0.029 704 -700.5 -194.6 - - 3562 - - - - - - - - - 26.47 -
1541 233.3 -11.2 97 1546 done -0.60 - - 2828 - 1.98 0.023 2088 699.0 -194.6 - - 3562 - - - - - - - - - 26.49 -
1866 274.7 -12.3 113 1871 roll -0.60 - - 2827 - 2.03 0.034 3469 680.3 -194.6 - - 3562 - - - - - - - - - 26.44 -
1920 279.6 -11.3 115 1925 done -0.60 - - 2827 - 1.92 0.016 2081 -722.9 -194.6 - - 3562 - - - - - - - - - 26.57 -
2235 308.5 -8.9 131 2241 roll -0.60 - - 2827 - 1.98 0.029 700 -697.5 -194.6 - - 3562 - - - - - - - - - 26.48 -
2290 312.9 -9.5 133 2296 done -0.60 0.12 0.157 2854 225.0 1.98 0.022 2083 698.5 -194.6 - - 3560 - - - - - - - - 26.25 26.52 -
2606 341.7 -9.0 149 2611 roll -0.60 - - 2847 - 2.03 0.034 3466 681.3 -194.6 - - 3559 - - - - - - - - - 26.45 -
2671 347.2 -8.5 152 2676 done -0.60 - - 2846 - 1.95 0.016 2070 -715.9 -194.6 - - 3559 - - - - - - - - - 26.58 -
2996 369.2 -6.5 168 3001 roll -0.60 - - 2847 - 1.98 0.030 696 -693.9 -194.6 - - 3557 - - - - - - - - - 26.48 -
3051 372.6 -7.2 170 3057 done -0.60 - - 2847 - 1.98 0.022 2073 695.5 -194.6 - - 3557 - - - - - - - - - 26.53 -
3367 404.7 -11.0 186 3372 roll -0.60 - - 2848 - 2.08 0.036 3479 676.0 -194.6 - - 3555 - - - - - - - - - 26.44 -
3413 409.4 -10.6 188 3419 done -0.61 - - 2848 - 1.98 0.018 2069 -712.1 -194.6 - - 3555 - - - - - - - - - 26.58 -
3739 436.0 -7.0 204 3745 roll -0.63 - - 2848 - 1.98 0.031 700 -691.4 -194.6 - - 3553 - - - - - - - - - 26.48 -
3780 437.7 -6.8 205 3786 done -0.64 - - 2847 - 1.98 0.023 2074 693.9 -194.6 - - 3553 - - - - - - - - - 26.52 -
4085 455.5 -5.1 221 4091 roll -0.65 - - 2848 - 2.08 0.037 3474 673.1 -194.6 - - 3551 - - - - - - - - - 26.44 -
4146 458.1 -5.4 223 4152 done -0.67 - - 2848 - 1.95 0.018 2081 -714.4 -194.6 - - 3551 - - - - - - - - - 26.58 -
4451 480.4 -8.1 239 4457 roll -0.68 - - 2847 - 2.00 0.044 703 -689.0 -194.6 -0.08 - 3578 -337.5 - - - - - - - - 26.47 25.79
4521 486.6 -9.2 242 4527 done -0.69 - - 2847 - 2.00 0.024 2086 691.5 -194.6 - - 3578 - - - - - - - - - 26.51 -
4843 516.7 -9.5 258 4848 roll -0.71 - - 2847 - 2.05 0.037 3467 673.7 -194.6 - - 3576 - - - - - - - - - 26.43 -
4909 522.9 -9.3 261 4914 done -0.73 - - 2847 - 1.98 0.018 2071 -705.1 -194.6 - - 3575 - - - - - - - - - 26.58 -
5236 551.4 -8.3 277 5242 roll -0.74 0.12 0.082 2775 -600.0 2.00 0.029 694 -688.5 -194.6 - - 3573 - - - - - - - - 26.60 26.46 -
5322 561.5 -11.6 281 5329 done -0.74 0.15 0.153 2807 213.3 2.00 0.022 2078 692.0 -194.6 - - 3573 - - - - - - - - 26.18 26.51 -
5649 591.2 -8.7 297 5654 roll -0.74 - - 2806 - 2.08 0.037 3473 670.7 -194.6 - - 3571 - - - - - - - - - 26.41 -
5708 594.9 -8.4 299 5715 done -0.74 - - 2806 - 1.98 0.018 2075 -706.1 -194.6 - - 3570 - - - - - - - - - 26.57 -
6017 624.2 -9.5 311 6023 roll -0.74 - - 2806 - 2.00 0.031 702 -686.5 -194.6 - - 3568 - - - - - - - - - 26.45 -
6077 628.1 -9.8 312 6084 done -0.74 - - 2806 - 2.00 0.024 2084 691.0 -194.6 - - 3568 - - - - - - - - - 26.49 -
6386 660.6 -9.8 323 6392 roll -0.74 - - 2806 - 2.08 0.037 3476 669.2 -194.6 - - 3566 - - - - - - - - - 26.39 -
6422 664.0 -9.4 324 6427 done -0.74 - - 2806 - 2.00 0.019 2070 -703.0 -194.6 - - 3566 - - - - - - - - - 26.56 -
6760 696.8 -9.9 335 6765 roll -0.74 - - 2806 - 2.00 0.033 706 -682.0 -194.6 - - 3564 - - - - - - - - - 26.43 -
6840 703.3 -9.6 337 6845 done -0.74 - - 2806 - 2.00 0.025 2078 686.0 -194.6 - - 3566 - - - - - - - - - 26.46 -
7163 733.3 -8.9 348 7169 roll -0.74 - - 2806 - 2.10 0.039 3474 664.8 -194.6 - - 3561 - - - - - - - - - 26.36 -
7286 741.7 -8.6 351 7292 done -0.74 - - 2806 - 2.00 0.020 2074 -700.0 -194.6 - - 3560 - - - - - - - - - 26.54 -
7592 769.6 -8.5 362 7598 roll -0.74 - - 2806 - 2.03 0.033 693 -680.3 -194.6 - - 3558 - - - - - - - - - 26.41 -
7637 773.2 -8.8 363 7643 done -0.74 - - 2806 - 2.03 0.025 2082 684.2 -194.6 - - 3558 - - - - - - - - - 26.46 -
7965 804.4 -9.8 374 7971 roll -0.74 - - 2806 - 2.10 0.038 3478 664.8 -194.6 - - 3556 - - - - - - - - - 26.35 -
8010 808.1 -10.0 375 8016 done -0.74 - - 2806 - 2.03 0.021 2064 -696.6 -194.6 - - 3555 - - - - - - - - - 26.53 -
8338 842.6 -10.4 386 8344 roll -0.74 - - 2806 - 2.00 0.034 702 -681.0 -194.6 - - 3554 - - - - - - - - - 26.39 -
8413 850.3 -10.9 388 8419 done -0.74 - - 2805 - 2.03 0.027 2078 677.8 -194.6 - - 3553 - - - - - - - - - 26.43 -
8741 886.1 -10.1 399 8747 roll -0.74 - - 2805 - 2.10 0.040 3467 661.4 -194.6 - - 3552 - - - - - - - - - 26.32 -
8781 889.9 -10.0 400 8787 done -0.74 - - 2806 - 2.00 0.021 2074 -696.5 -194.6 - - 3551 - - - - - - - - - 26.51 -
9114 919.7 -8.4 411 9115 done -0.74 - - 2806 - - - 2073 - -194.6 - - 3550 - - - - - - - - - - -
9412 944.2 -8.3 421 9418 roll -0.74 - - 2806 - 2.03 0.035 700 -676.4 -194.6 - - 3549 - - - - - - - - - 26.35 -
9437 944.2 -8.3 421 9443 done -0.74 - - 2806 - 2.03 0.027 2074 676.8 -194.6 - - 3548 - - - - - - - - - 26.41 -
9755 971.8 -8.3 432 9761 roll -0.74 - - 2806 - 2.12 0.041 3477 661.8 -194.6 - - 3548 - - - - - - - - - 26.28 -
9841 977.2 -8.0 434 9847 done -0.74 - - 2806 - 2.03 0.022 2072 -692.1 -194.6 - - 3546 - - - - - - - - - 26.48 -
10003 end dive: TARGET_DEPTH_EXCEEDED
10003 begin apogee
10011 992.6 -8.4 440 10269 done -0.18 0.55 0.116 2988 330.9 - - 2206 - - 247.93 1.019 2756 -3.2 0.323 - - - - - - 25.91 - 24.01
10271 end apogee: CONTROL_FINISHED_OK
10271 begin climb
10275 1004.1 - 448 10469 roll 0.85 0.93 0.053 3324 361.3 2.35 0.041 3587 587.7 194.6 182.75 1.144 1953 -4.4 0.401 - - - - - - 24.95 24.39 23.58
10554 975.4 14.6 458 10559 done 0.80 - - 3334 - 2.12 0.024 2208 -650.5 194.6 - - 1938 - - - - - - - - - 25.29 -
10889 923.9 15.7 469 10895 roll 0.76 0.12 0.174 3298 -300.0 2.17 0.040 3598 640.6 194.6 - - 1935 - - - - - - - - 25.81 25.96 -
10925 917.6 15.7 470 10930 done 0.72 - - 3306 - 2.10 0.025 2197 -667.1 194.6 - - 1935 - - - - - - - - - 26.08 -
11263 868.0 15.0 481 11269 roll 0.68 0.12 0.167 3269 -308.3 2.17 0.039 3598 645.6 194.6 - - 1934 - - - - - - - - 26.02 26.15 -
11323 862.3 15.0 482 11330 done 0.65 - - 3275 - 2.10 0.025 2186 -672.4 194.6 - - 1932 - - - - - - - - - 26.27 -
11633 818.1 13.1 493 11638 roll 0.63 - - 3281 - 2.08 0.037 807 -663.0 194.6 - - 1932 - - - - - - - - - 26.26 -
11735 805.3 13.0 496 11742 done 0.61 0.12 0.144 3249 -266.7 2.08 0.030 2200 669.7 194.6 - - 1930 - - - - - - - - 26.09 26.31 -
12067 769.3 10.3 507 12069 done 0.59 - - 3249 - - - 2201 - 194.6 - - 1930 - - - - - - - - - - -
12369 740.1 9.6 517 12378 roll 0.60 - - 3249 - 2.17 0.042 3594 641.9 207.5 2.35 0.415 1916 -6.0 1.104 - - - - - - - 26.35 24.78
12413 736.4 9.7 518 12441 done 0.61 - - 3249 - 2.05 0.026 2204 -678.0 216.7 16.67 1.070 1869 -2.8 0.202 - - - - 1 - - 26.39 24.79
12767 701.0 9.4 530 12795 roll 0.63 - - 3249 - 2.15 0.038 808 -649.3 234.1 20.05 1.018 1798 -3.5 0.253 - - - - - - - 25.86 25.08
12830 694.9 9.5 532 12849 done 0.65 - - 3250 - 2.12 0.028 2215 663.7 247.9 13.05 1.031 1751 -3.6 0.252 - - - - - - - 25.93 24.89
13164 663.4 9.4 543 13193 roll 0.68 - - 3249 - 2.17 0.034 808 -648.4 266.1 21.20 0.997 1668 -3.9 0.271 - - - - - - - 25.71 24.96
13255 657.1 9.7 545 13263 done 0.69 - - 3250 - 2.10 0.028 2201 663.3 273.9 1.23 0.203 1642 -21.1 7.112 - - - - - - - 25.85 25.61
13561 625.9 9.2 556 13603 roll 0.73 0.10 0.093 3312 620.0 2.22 0.037 815 -624.3 296.4 33.50 0.945 1546 -2.9 0.197 - - - - - - 26.22 25.56 24.82
13655 614.9 11.1 559 13660 done 0.73 - - 3313 - 2.12 0.029 2200 653.3 296.4 - - 1535 - - - - - - - - - 25.75 -
13980 575.0 11.6 573 13986 roll 0.71 0.12 0.150 3274 -325.0 2.15 0.040 3597 649.8 296.4 - - 1532 - - - - - - - - 25.96 26.05 -
14036 570.0 11.0 575 14042 done 0.70 - - 3277 - 2.10 0.026 2192 -669.0 296.4 - - 1531 - - - - - - - - - 26.17 -
14352 541.0 8.6 591 14404 roll 0.76 - - 3278 - 2.25 0.041 3597 624.4 337.7 44.78 0.904 1376 -3.5 0.215 - - - - - - - 25.51 24.56
14480 529.2 9.8 597 14485 done 0.77 - - 3281 - 2.12 0.025 2192 -662.7 344.0 - - 1362 - - - - - - - - - 25.80 -
14800 499.6 9.4 613 14828 roll 0.79 - - 3281 - 2.12 0.036 802 -655.7 360.3 21.85 0.904 1284 -3.6 0.205 - - - - - - - 25.74 24.92
14857 495.7 9.4 615 14883 done 0.82 - - 3281 - 2.12 0.026 2209 663.7 378.5 17.05 0.897 1210 -4.3 0.249 - - - - - - - 25.84 24.79
15184 466.0 8.9 632 15224 roll 0.90 0.15 0.068 3374 620.0 2.28 0.035 797 -619.3 411.6 33.53 0.861 1075 -4.0 0.227 - - - - - - 26.12 25.53 24.78
15260 458.3 11.1 635 15266 done 0.90 0.12 0.144 3344 -250.0 2.15 0.027 2208 656.3 411.6 - - 1060 - - - - - - - - 25.53 25.70 -
15575 419.3 11.1 651 15581 roll 0.90 - - 3353 - 2.15 0.036 801 -654.4 411.6 - - 1058 - - - - - - - - - 26.05 -
15698 406.7 12.3 656 15705 done 0.88 - - 3351 - 2.10 0.026 2211 671.4 411.6 - - 1057 - - - - - - - - - 26.15 -
16001 367.5 12.8 672 16006 roll 0.88 - - 3360 - 2.12 0.034 803 -664.2 411.6 - - 1057 - - - - - - - - - 26.22 -
16142 348.9 15.1 678 16149 done 0.87 - - 3360 - 2.08 0.026 2209 676.0 411.6 - - 1057 - - - - - - - - - 26.30 -
16448 310.1 10.4 694 16454 roll 0.87 - - 3368 - 2.12 0.034 797 -666.0 411.6 - - 1057 - - - - - - - - - 26.31 -
16534 300.5 11.3 698 16541 done 0.86 0.15 0.141 3327 -273.3 2.08 0.025 2207 677.9 411.6 - - 1058 - - - - - - - - 26.10 26.36 -
16861 261.1 13.6 714 16867 roll 0.86 - - 3333 - 2.12 0.032 792 -667.5 411.6 - - 1057 - - - - - - - - - 26.35 -
16920 254.9 13.5 716 16927 done 0.86 - - 3333 - 2.10 0.025 2220 680.0 411.6 - - 1057 - - - - - - - - - 26.39 -
17227 224.9 6.5 732 17328 roll 1.01 0.12 0.074 3420 725.0 2.25 0.033 805 -628.9 512.4 88.30 0.685 656 -4.5 0.155 - - - - - - 26.53 25.42 24.78
17438 197.6 16.2 742 17445 done 0.99 0.17 0.136 3373 -276.5 2.08 0.024 2196 668.8 512.4 - - 643 - - - - - - - - 25.59 25.82 -
17760 151.3 11.9 758 17765 roll 1.00 - - 3379 - 2.10 0.031 796 -666.7 512.4 - - 640 - - - - - - - - - 26.11 -
17840 144.7 10.4 761 17847 done 1.02 - - 3379 - 2.08 0.023 2210 679.8 512.4 - - 640 - - - - - - - - - 26.18 -
18146 113.0 10.7 777 18151 roll 1.06 - - 3379 - 2.10 0.039 3597 660.5 512.4 - - 640 - - - - - - - - - 26.22 -
18182 110.0 11.1 778 18188 done 1.11 - - 3381 - 2.05 0.020 2167 -697.6 512.4 - - 639 - - - - - - - - - 26.34 -
18498 77.4 7.8 794 18524 roll 1.26 0.17 0.060 3500 700.0 2.05 0.030 814 -660.0 574.8 19.77 0.258 466 -8.8 0.273 - - - - - - 26.44 26.26 25.67
18620 62.8 14.2 799 18629 done 1.25 0.17 0.134 3450 -294.1 2.03 0.023 2216 690.6 574.8 2.30 0.158 457 -3.9 0.162 - - - - - - 26.05 26.32 25.88
18927 26.9 11.2 825 18933 roll 1.26 - - 3458 - 2.15 0.031 812 -653.0 574.8 2.05 0.160 459 - - - - - - - - - 26.32 25.93
19065 10.7 12.6 850 19072 done 1.26 - - 3457 - 2.00 0.022 2202 695.0 574.8 2.05 0.159 456 -1.5 0.010 - - - - - - - 26.40 25.96
19150 end climb: SURFACE_DEPTH_REACHED
19151 begin surface coast
19182 end surface coast: CONTROL_FINISHED_OK
19182 begin surface
SM 2.17 - - - - -9.01 8.32 0.024 139 16.7 0.12 0.060 2096 -59383.3 564.93 1.45 0.166 457 315.2 -0.421 - - - - - -