OKMC Jun13 * SG167 * Dive index * Mission links * Dive 580 * Raw log
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• Previous call tries 1 • 96.04 of 150.00 AH used of 24V (35.97% remains)
• Previous NAKs 0, Timeouts 0 • 60.07 of 100.00 AH used of 10V (39.93% remains)
• Surface angle -71.4 deg, depth 2.03 m • Intended pitch -15.5 deg, speed -9.706 cm/s
• No surface pump (final VBD was 463.13, SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 39 s • Transponder ping count: 4
• 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 - - - 99 VBD -1.25 - - 111 - - - 2228 - -243.3 -69.55 - 2579 - - - - - - - - - - -
105 3.2 -3.4 12 150 roll -1.25 11.30 0.252 2573 217.9 1.33 0.062 3063 627.8 -243.3 -24.02 - 3710 -47.1 - - - - - - - 24.65 25.87 26.47
319 55.1 -27.7 38 325 done -1.25 - - 2573 - 1.30 0.025 2183 -676.9 -243.3 - - 3710 - - - - - - - - - 26.12 -
483 101.0 -24.1 47 488 roll -1.25 - - 2567 - 1.35 0.035 3065 653.3 -243.3 - - 3710 - - - - - - - - - 26.05 -
542 111.6 -22.8 49 548 done -1.25 - - 2567 - 1.27 0.025 2198 -682.7 -243.3 - - 3710 - - - - - - - - - 26.21 -
708 147.4 -19.3 58 713 roll -1.25 - - 2567 - 1.27 0.031 1322 -689.8 -243.3 - - 3711 - - - - - - - - - 26.15 -
754 156.1 -19.4 60 759 done -1.25 - - 2562 - 1.33 0.034 2190 652.6 -243.3 - - 3711 - - - - - - - - - 26.11 -
919 187.1 -17.9 68 924 roll -1.25 - - 2555 - 1.33 0.038 3072 663.2 -243.3 - - 3711 - - - - - - - - - 26.08 -
1052 210.7 -18.5 74 1058 done -1.25 0.08 0.173 2577 275.0 1.27 0.024 2190 -694.5 -243.3 - - 3711 - - - - - - - - 25.84 26.27 -
1215 241.0 -18.0 82 1216 done -1.25 - - 2576 - - - 2190 - -243.3 - - 3711 - - - - - - - - - - -
1374 267.7 -16.2 90 1379 roll -1.25 - - 2576 - 1.23 0.030 1343 -688.6 -243.3 - - 3712 - - - - - - - - - 26.19 -
1473 281.3 -15.7 94 1481 done -1.25 - - 2574 - 1.27 0.030 2196 671.7 -243.3 - - 3712 - - - - - - - - - 26.19 -
1641 309.8 -16.5 103 1642 done -1.25 - - 2575 - - - 2196 - -243.3 - - 3712 - - - - - - - - - - -
1800 337.7 -17.4 111 1805 roll -1.25 - - 2574 - 1.27 0.028 1335 -678.0 -243.3 - - 3712 - - - - - - - - - 26.21 -
1839 341.9 -17.1 112 1846 done -1.25 - - 2569 - 1.30 0.031 2203 667.7 -243.3 - - 3711 - - - - - - - - - 26.18 -
2006 371.9 -16.6 121 2011 roll -1.25 - - 2562 - 1.30 0.035 3078 673.1 -243.3 - - 3712 - - - - - - - - - 26.15 -
2060 379.1 -15.9 123 2066 done -1.25 - - 2562 - 1.27 0.020 2192 -697.6 -243.3 - - 3712 - - - - - - - - - 26.32 -
2236 405.7 -14.4 132 2241 roll -1.25 - - 2562 - 1.23 0.028 1339 -693.5 -243.3 - - 3712 - - - - - - - - - 26.22 -
2271 409.3 -14.2 133 2276 done -1.25 - - 2557 - 1.30 0.031 2203 664.6 -243.3 - - 3712 - - - - - - - - - 26.17 -
2447 436.2 -15.1 142 2448 done -1.25 - - 2557 - - - 2203 - -243.3 - - 3712 - - - - - - - - - - -
2608 460.4 -14.9 150 2613 roll -1.25 - - 2557 - 1.27 0.028 1340 -679.5 -243.3 - - 3711 - - - - - - - - - 26.21 -
2662 467.4 -15.2 152 2667 done -1.25 0.10 0.167 2581 240.0 1.30 0.031 2204 664.6 -243.3 - - 3710 - - - - - - - - 25.70 26.19 -
2838 494.6 -15.1 161 2843 roll -1.25 - - 2576 - 1.30 0.037 3074 669.2 -243.3 - - 3710 - - - - - - - - - 26.13 -
2907 505.1 -15.8 164 2912 done -1.25 - - 2576 - 1.25 0.020 2200 -699.2 -243.3 - - 3710 - - - - - - - - - 26.33 -
3067 532.8 -17.0 172 3073 roll -1.25 - - 2576 - 1.25 0.030 1340 -688.0 -243.3 - - 3709 - - - - - - - - - 26.20 -
3093 537.2 -16.9 173 3099 done -1.25 - - 2572 - 1.30 0.031 2195 657.7 -243.3 - - 3708 - - - - - - - - - 26.15 -
3260 564.8 -16.4 181 3265 roll -1.25 - - 2572 - 1.27 0.028 1335 -677.2 -243.3 - - 3707 - - - - - - - - - 26.21 -
3294 569.0 -16.3 182 3299 done -1.25 - - 2567 - 1.30 0.030 2201 666.2 -243.3 - - 3707 - - - - - - - - - 26.17 -
3471 598.3 -15.6 191 3472 done -1.25 - - 2566 - - - 2201 - -243.3 - - 3706 - - - - - - - - - - -
3641 624.6 -15.5 197 3646 roll -1.25 - - 2566 - 1.27 0.028 1343 -675.6 -243.3 - - 3705 - - - - - - - - - 26.20 -
3685 630.3 -15.6 198 3690 done -1.25 - - 2561 - 1.30 0.031 2205 663.1 -243.3 - - 3703 - - - - - - - - - 26.17 -
3861 660.0 -16.1 204 3866 roll -1.25 - - 2555 - 1.30 0.038 3069 664.6 -243.3 - - 3702 - - - - - - - - - 26.13 -
4006 681.7 -17.2 208 4012 done -1.25 0.08 0.171 2577 275.0 1.25 0.020 2196 -698.4 -243.3 - - 3701 - - - - - - - - 25.87 26.32 -
4174 711.1 -15.5 214 4179 roll -1.25 - - 2577 - 1.25 0.030 1340 -684.8 -243.3 - - 3699 - - - - - - - - - 26.17 -
4239 720.9 -15.0 216 4244 done -1.25 - - 2574 - 1.30 0.031 2192 655.4 -243.3 - - 3698 - - - - - - - - - 26.15 -
4425 748.6 -14.9 222 4431 roll -1.25 - - 2569 - 1.33 0.039 3067 657.9 -243.3 - - 3697 - - - - - - - - - 26.08 -
4583 773.4 -15.9 227 4588 done -1.25 - - 2569 - 1.25 0.021 2207 -688.0 -243.3 - - 3694 - - - - - - - - - 26.31 -
4769 802.1 -15.5 233 4775 roll -1.25 - - 2569 - 1.27 0.031 1337 -685.0 -243.3 - - 3695 - - - - - - - - - 26.16 -
4818 807.8 -15.4 234 4824 done -1.25 - - 2563 - 1.30 0.031 2192 657.7 -243.3 - - 3693 - - - - - - - - - 26.13 -
4988 837.4 -16.4 240 4994 roll -1.25 - - 2558 - 1.35 0.040 3079 657.0 -243.3 - - 3692 - - - - - - - - - 26.06 -
5095 854.2 -17.4 243 5100 done -1.25 - - 2558 - 1.27 0.021 2202 -690.6 -243.3 - - 3690 - - - - - - - - - 26.29 -
5270 887.3 -17.7 249 5275 roll -1.25 - - 2558 - 1.27 0.031 1334 -683.5 -243.3 - - 3689 - - - - - - - - - 26.15 -
5299 887.3 -17.7 249 5307 done -1.25 0.10 0.171 2580 220.0 1.33 0.031 2201 651.9 -243.3 - - 3689 - - - - - - - - 25.60 26.11 -
5456 918.3 -16.6 255 5461 roll -1.25 - - 2576 - 1.33 0.039 3072 654.9 -243.3 - - 3688 - - - - - - - - - 26.05 -
5627 944.7 -16.7 260 5632 done -1.25 - - 2576 - 1.27 0.021 2200 -686.6 -243.3 - - 3686 - - - - - - - - - 26.27 -
5797 974.9 -16.4 266 5802 roll -1.25 - - 2576 - 1.27 0.031 1337 -679.5 -243.3 - - 3685 - - - - - - - - - 26.12 -
5826 974.9 -16.4 266 5833 done -1.25 - - 2573 - 1.33 0.034 2197 646.6 -243.3 - - 3684 - - - - - - - - - 26.07 -
5918 end dive: TARGET_DEPTH_EXCEEDED
5918 begin apogee
5928 994.5 -15.8 270 6221 done -0.21 1.15 0.148 2915 297.4 - - 2040 - - 284.58 1.040 2712 -3.4 0.342 - - - - - - 24.84 - 23.37
6227 end apogee: CONTROL_FINISHED_OK
6227 begin climb
6231 1007.7 - 280 6467 roll 1.25 1.35 0.076 3392 353.3 1.38 0.040 1204 -605.8 243.3 226.40 1.136 1716 -4.4 0.409 - - - - - - 25.18 25.10 23.54
6548 971.1 14.8 290 6553 done 1.25 - - 3393 - 1.33 0.034 2043 630.8 243.3 - - 1691 - - - - - - - - - 25.75 -
6713 942.6 15.4 296 6720 roll 1.25 - - 3398 - 1.33 0.037 1204 -630.8 243.3 - - 1688 - - - - - - - - - 25.96 -
6814 927.8 15.4 299 6819 done 1.25 - - 3398 - 1.33 0.034 2052 637.6 243.3 - - 1688 - - - - - - - - - 26.03 -
6995 900.5 14.6 305 7000 roll 1.25 - - 3403 - 1.33 0.037 1207 -635.3 243.3 - - 1686 - - - - - - - - - 26.06 -
7041 895.3 14.5 306 7046 done 1.25 - - 3402 - 1.30 0.035 2043 643.1 243.3 - - 1686 - - - - - - - - - 26.08 -
7217 868.6 14.2 312 7222 roll 1.25 - - 3408 - 1.30 0.037 1213 -638.5 243.3 - - 1685 - - - - - - - - - 26.09 -
7276 863.7 14.1 313 7283 done 1.25 - - 3408 - 1.30 0.035 2049 643.1 243.3 - - 1685 - - - - - - - - - 26.10 -
7433 838.9 13.7 319 7438 roll 1.25 - - 3413 - 1.33 0.037 1202 -636.8 243.3 - - 1684 - - - - - - - - - 26.08 -
7507 830.1 13.5 321 7512 done 1.25 - - 3413 - 1.33 0.035 2054 640.6 243.3 - - 1684 - - - - - - - - - 26.10 -
7682 805.3 13.4 327 7683 done 1.25 - - 3413 - - - 2053 - 243.3 - - 1683 - - - - - - - - - - -
7833 784.6 13.9 332 7838 roll 1.25 - - 3419 - 1.33 0.037 1205 -637.6 243.3 - - 1683 - - - - - - - - - 26.08 -
7937 770.2 14.8 335 7942 done 1.25 - - 3419 - 1.30 0.034 2044 645.4 243.3 - - 1683 - - - - - - - - - 26.10 -
8113 742.5 14.9 341 8114 done 1.25 - - 3419 - - - 2044 - 243.3 - - 1682 - - - - - - - - - - -
8263 721.0 14.3 346 8268 roll 1.25 - - 3424 - 1.30 0.038 1213 -639.2 243.3 - - 1681 - - - - - - - - - 26.06 -
8361 707.0 14.8 349 8368 done 1.25 0.08 0.147 3401 -287.5 1.30 0.034 2053 646.2 243.3 - - 1681 - - - - - - - - 25.76 26.08 -
8544 681.9 13.4 355 8549 roll 1.25 - - 3404 - 1.33 0.037 1204 -638.3 243.3 - - 1680 - - - - - - - - - 26.05 -
8666 669.3 13.0 358 8673 done 1.25 - - 3404 - 1.30 0.035 2040 643.1 243.3 - - 1680 - - - - - - - - - 26.06 -
8820 646.8 12.3 364 8825 roll 1.25 - - 3404 - 1.38 0.044 2929 644.2 243.3 - - 1680 - - - - - - - - - 25.98 -
8849 646.8 12.3 364 8856 done 1.25 - - 3410 - 1.27 0.030 2085 -664.6 243.3 - - 1680 - - - - - - - - - 26.15 -
9005 623.2 12.6 370 9010 roll 1.25 - - 3416 - 1.40 0.040 1175 -650.0 243.3 - - 1680 - - - - - - - - - 26.00 -
9134 607.1 12.8 374 9139 done 1.25 - - 3416 - 1.38 0.035 2051 634.8 243.3 - - 1680 - - - - - - - - - 26.05 -
9299 586.9 11.8 381 9304 roll 1.25 - - 3416 - 1.35 0.044 2929 650.4 243.3 - - 1679 - - - - - - - - - 25.96 -
9349 581.4 12.1 383 9354 done 1.25 - - 3422 - 1.33 0.030 2053 -658.6 243.3 - - 1679 - - - - - - - - - 26.12 -
9509 562.1 11.6 391 9515 roll 1.25 - - 3428 - 1.35 0.040 1176 -649.6 243.3 - - 1679 - - - - - - - - - 25.99 -
9628 549.5 11.9 396 9633 done 1.25 0.10 0.148 3398 -300.0 1.35 0.034 2049 646.7 243.3 - - 1679 - - - - - - - - 25.62 26.03 -
9804 528.8 10.8 405 9805 done 1.25 - - 3398 - - - 2049 - 243.3 - - 1678 - - - - - - - - - - -
9964 510.7 11.5 413 9969 roll 1.25 - - 3401 - 1.38 0.044 2929 637.7 243.3 - - 1678 - - - - - - - - - 25.92 -
9994 507.6 11.7 414 9999 done 1.25 - - 3402 - 1.33 0.029 2053 -658.6 243.3 - - 1678 - - - - - - - - - 26.10 -
10154 487.9 11.6 422 10160 roll 1.25 - - 3401 - 1.38 0.041 2926 632.6 243.3 - - 1678 - - - - - - - - - 25.94 -
10230 480.2 11.6 425 10235 done 1.25 - - 3407 - 1.33 0.029 2049 -659.4 243.3 - - 1678 - - - - - - - - - 26.10 -
10405 459.5 11.1 434 10411 roll 1.25 - - 3413 - 1.35 0.039 1170 -651.1 243.3 - - 1678 - - - - - - - - - 25.97 -
10530 447.5 11.3 439 10537 done 1.25 - - 3413 - 1.35 0.034 2042 645.9 243.3 - - 1678 - - - - - - - - - 26.01 -
10692 426.5 11.6 448 10698 roll 1.25 - - 3413 - 1.38 0.044 2926 640.6 243.3 - - 1678 - - - - - - - - - 25.90 -
10806 414.2 11.7 453 10811 done 1.25 - - 3418 - 1.33 0.029 2048 -660.2 243.3 - - 1678 - - - - - - - - - 26.08 -
10966 396.7 9.9 461 10967 done 1.25 - - 3418 - - - 2049 - 243.3 - - 1677 - - - - - - - - - - -
11126 380.8 10.0 469 11131 roll 1.25 - - 3418 - 1.38 0.040 2924 634.1 243.3 - - 1678 - - - - - - - - - 25.90 -
11152 378.2 10.2 470 11158 done 1.25 0.08 0.151 3401 -212.5 1.33 0.029 2054 -654.1 243.3 - - 1678 - - - - - - - - 25.70 26.09 -
11321 362.6 9.4 478 11326 roll 1.28 - - 3400 - 1.38 0.041 2932 636.2 253.0 - - 1677 - - - - - - - - - 25.90 -
11416 353.0 10.9 482 11423 done 1.28 - - 3404 - 1.33 0.028 2049 -663.9 253.0 - - 1677 - - - - - - - - - 26.09 -
11592 332.1 11.4 491 11594 done 1.28 - - 3404 - - - 2049 - 253.0 - - 1677 - - - - - - - - - - -
11754 314.9 10.5 499 11759 roll 1.28 - - 3404 - 1.38 0.040 2928 637.0 253.0 - - 1677 - - - - - - - - - 25.89 -
11833 308.0 10.4 502 11840 done 1.28 - - 3410 - 1.33 0.028 2043 -665.4 253.0 - - 1677 - - - - - - - - - 26.09 -
11999 292.1 8.0 511 12078 roll 1.43 0.12 0.083 3491 675.0 1.33 0.035 1184 -645.9 314.2 70.97 0.742 1421 -3.6 0.149 - - - - - - 26.37 25.38 23.73
12198 269.5 12.9 520 12205 done 1.43 0.12 0.149 3439 -433.3 1.35 0.034 2049 640.7 314.2 - - 1399 - - - - - - - - 25.15 25.74 -
12378 247.6 11.7 529 12380 done 1.43 - - 3440 - - - 2048 - 314.2 - - 1397 - - - - - - - - - - -
12535 229.4 11.4 537 12540 roll 1.43 - - 3440 - 1.35 0.042 2920 645.9 314.2 - - 1397 - - - - - - - - - 25.86 -
12605 221.9 11.4 540 12610 done 1.43 - - 3444 - 1.30 0.028 2056 -664.6 314.2 - - 1397 - - - - - - - - - 26.04 -
12766 204.6 10.1 548 12771 roll 1.43 - - 3451 - 1.35 0.036 1165 -660.0 314.2 - - 1397 - - - - - - - - - 25.96 -
12889 192.9 11.1 553 12896 done 1.43 - - 3450 - 1.35 0.031 2047 653.3 314.2 - - 1396 - - - - - - - - - 26.03 -
13052 172.2 11.2 562 13057 roll 1.43 - - 3450 - 1.35 0.041 2925 650.4 314.2 - - 1396 - - - - - - - - - 25.94 -
13088 169.4 10.9 563 13093 done 1.43 - - 3455 - 1.33 0.027 2037 -667.7 314.2 - - 1397 - - - - - - - - - 26.13 -
13265 152.4 8.8 572 13303 roll 1.51 - - 3455 - 1.42 0.037 2927 626.8 347.2 32.38 0.633 1290 -3.3 0.083 - - - - - - - 25.79 24.25
13355 144.2 9.4 576 13365 done 1.54 - - 3460 - 1.33 0.027 2049 -660.2 357.4 3.70 0.501 1254 -9.7 0.294 - - - - - - - 25.91 23.94
13540 124.4 10.8 585 13545 roll 1.54 - - 3466 - 1.30 0.034 1182 -666.9 357.4 - - 1259 - - - - - - - - - 25.91 -
13657 111.8 11.5 590 13662 done 1.54 - - 3466 - 1.33 0.031 2048 651.1 357.4 - - 1259 - - - - - - - - - 26.00 -
13834 96.5 6.7 599 13893 roll 1.81 0.25 0.049 3599 532.0 1.30 0.036 2927 676.2 465.0 50.12 0.324 822 -8.7 0.272 - - - - - - 26.29 25.84 24.77
13977 80.4 13.8 605 13986 done 1.81 0.10 0.163 3573 -260.0 1.33 0.028 2050 -659.4 465.0 1.98 0.146 818 -2.0 0.117 - - - - - - 25.47 25.94 25.03
14146 55.1 13.9 614 14152 roll 1.81 - - 3573 - 1.40 0.034 2933 630.7 465.0 1.75 0.165 817 - - - - - - - - - 25.87 25.03
14183 50.8 13.8 615 14188 done 1.81 - - 3577 - 1.33 0.028 2050 -663.9 465.0 1.45 0.151 816 - - - - - - - - - 26.04 25.04
14349 27.9 12.9 631 14356 roll 1.81 - - 3585 - 1.38 0.036 1167 -639.9 465.0 1.60 0.166 819 1.9 -0.033 - - - - - - - 25.92 25.08
14515 5.5 14.5 660 14523 done 1.81 - - 3585 - 1.35 0.030 2057 659.3 465.0 1.62 0.145 816 -1.9 0.007 - - - - - - - 26.08 25.11
14533 end climb: SURFACE_DEPTH_REACHED
14534 begin surface coast
14555 end surface coast: CONTROL_FINISHED_OK
14559 begin surface
SM 2.17 - - - - -8.84 8.80 0.029 141 16.0 0.20 0.062 2224 -34990.0 463.13 - - 827 - - - - - - - -