OKMC Jun13 * SG167 * Dive index * Mission links * Dive 204 * Raw log
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• Previous call tries 1 • 29.68 of 150.00 AH used of 24V (80.21% remains)
• Previous NAKs 0, Timeouts 0 • 18.58 of 100.00 AH used of 10V (81.42% remains)
• Surface angle -72.3 deg, depth 1.90 m • Intended pitch -15.7 deg, speed -9.429 cm/s
• VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 30 s
• GPS2 time: 41 s • Transponder ping count: 16
• 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 - - 123 - - - 2045 - -175.2 -95.40 - 2861 - - - - - - - - - - -
132 3.1 -2.9 17 164 roll -0.83 10.57 0.234 2766 250.0 2.17 0.046 3471 657.1 -175.2 -12.10 - 3480 -51.2 - - - - - - - 25.75 26.22 26.52
197 23.5 -34.3 27 205 done -0.72 0.17 0.184 2809 252.9 1.98 0.018 2073 -706.1 -175.2 - - 3481 - - - - - - - - 25.94 26.29 -
516 104.6 -20.8 48 517 done -0.66 - - 2809 - - - 2073 - -175.2 - - 3481 - - - - - - - - - - -
818 161.9 -19.3 63 820 done -0.62 0.15 0.165 2850 273.3 - - 2073 - -175.2 - - 3481 - - - - - - - - 26.27 - -
1118 207.8 -15.0 78 1123 roll -0.60 - - 2847 - 2.05 0.031 3471 682.0 -175.2 - - 3481 - - - - - - - - - 26.50 -
1183 217.2 -14.0 81 1189 done -0.58 - - 2847 - 1.95 0.015 2055 -726.2 -175.2 - - 3481 - - - - - - - - - 26.59 -
1509 260.1 -12.5 97 1514 roll -0.57 - - 2845 - 1.92 0.028 703 -704.2 -175.2 - - 3481 - - - - - - - - - 26.55 -
1549 263.3 -12.4 98 1556 done -0.56 - - 2847 - 1.95 0.021 2077 704.6 -175.2 - - 3481 - - - - - - - - - 26.58 -
1855 301.1 -12.0 114 1860 roll -0.56 - - 2847 - 2.03 0.034 3469 685.7 -175.2 - - 3481 - - - - - - - - - 26.54 -
1920 308.8 -11.9 117 1926 done -0.56 - - 2847 - 1.95 0.016 2069 -717.9 -175.2 - - 3481 - - - - - - - - - 26.63 -
2246 345.3 -10.6 133 2252 roll -0.56 - - 2847 - 1.95 0.029 703 -700.5 -175.2 - - 3479 - - - - - - - - - 26.57 -
2315 352.5 -11.0 136 2320 done -0.56 - - 2847 - 1.95 0.022 2074 703.1 -175.2 - - 3479 - - - - - - - - - 26.59 -
2635 386.0 -10.9 152 2636 done -0.56 - - 2847 - - - 2074 - -175.2 - - 3477 - - - - - - - - - - -
2937 418.8 -10.5 167 2943 roll -0.56 - - 2847 - 2.05 0.036 3473 682.4 -175.2 - - 3476 - - - - - - - - - 26.55 -
2971 421.7 -10.4 168 2977 done -0.56 - - 2847 - 1.95 0.017 2073 -717.9 -175.2 - - 3475 - - - - - - - - - 26.65 -
3287 450.7 -8.6 184 3293 roll -0.56 - - 2847 - 1.98 0.030 697 -694.9 -175.2 - - 3473 - - - - - - - - - 26.57 -
3341 454.5 -8.4 186 3347 done -0.56 - - 2847 - 1.98 0.022 2078 697.5 -175.2 - - 3473 - - - - - - - - - 26.60 -
3657 480.6 -7.7 202 3662 roll -0.56 - - 2847 - 2.00 0.028 699 -689.5 -175.2 - - 3471 - - - - - - - - - 26.58 -
3722 486.0 -8.0 205 3728 done -0.56 - - 2847 - 1.98 0.022 2076 695.5 -175.2 - - 3470 - - - - - - - - - 26.60 -
4048 514.3 -9.0 221 4053 roll -0.56 - - 2847 - 2.05 0.036 3473 681.5 -175.2 - - 3468 - - - - - - - - - 26.54 -
4108 518.3 -9.0 223 4114 done -0.56 - - 2847 - 1.95 0.018 2069 -720.0 -175.2 - - 3468 - - - - - - - - - 26.64 -
4413 546.9 -9.0 239 4418 roll -0.56 - - 2847 - 1.98 0.031 699 -691.9 -175.2 - - 3466 - - - - - - - - - 26.57 -
4443 549.3 -9.3 240 4449 done -0.56 - - 2847 - 1.98 0.023 2074 694.4 -175.2 - - 3466 - - - - - - - - - 26.60 -
4764 578.1 -9.0 256 4769 roll -0.56 - - 2847 - 2.08 0.037 3473 672.6 -175.2 - - 3464 - - - - - - - - - 26.53 -
4824 582.1 -9.0 258 4833 done -0.57 - - 2847 - 1.95 0.018 2079 -714.9 -175.2 - - 3463 - - - - - - - - - 26.65 -
5149 612.0 -9.0 273 5155 roll -0.58 - - 2847 - 2.03 0.031 693 -682.8 -175.2 - - 3461 - - - - - - - - - 26.55 -
5209 615.3 -9.1 274 5216 done -0.59 - - 2846 - 2.00 0.023 2083 695.0 -175.2 - - 3460 - - - - - - - - - 26.59 -
5518 644.4 -8.8 285 5524 roll -0.60 - - 2847 - 2.05 0.037 3471 677.1 -175.2 - - 3458 - - - - - - - - - 26.53 -
5585 650.3 -8.6 287 5590 done -0.61 - - 2847 - 1.98 0.019 2075 -705.1 -175.2 - - 3458 - - - - - - - - - 26.63 -
5923 681.3 -9.6 298 5929 roll -0.63 - - 2847 - 2.00 0.032 697 -689.0 -175.2 - - 3456 - - - - - - - - - 26.55 -
5983 685.1 -9.7 299 5991 done -0.64 - - 2847 - 2.00 0.024 2081 692.0 -175.2 - - 3455 - - - - - - - - - 26.58 -
6292 713.9 -7.7 310 6297 roll -0.65 - - 2847 - 2.08 0.037 3478 671.6 -175.2 - - 3452 - - - - - - - - - 26.51 -
6347 716.6 -7.4 311 6352 done -0.67 - - 2847 - 2.00 0.020 2066 -706.0 -175.2 - - 3452 - - - - - - - - - 26.62 -
6666 738.1 -6.6 322 6671 roll -0.69 - - 2847 - 1.98 0.032 711 -684.3 -175.2 - - 3450 - - - - - - - - - 26.53 -
6716 740.9 -6.7 323 6721 done -0.70 - - 2847 - 2.00 0.024 2081 685.0 -175.2 - - 3450 - - - - - - - - - 26.56 -
7040 763.3 -6.6 334 7045 roll -0.72 - - 2847 - 2.08 0.038 3474 669.7 -175.2 - - 3447 - - - - - - - - - 26.50 -
7148 769.7 -6.5 337 7153 done -0.73 - - 2847 - 1.98 0.021 2081 -703.5 -175.2 - - 3446 - - - - - - - - - 26.61 -
7476 795.2 -7.4 348 7482 roll -0.75 0.12 0.086 2778 -575.0 2.03 0.031 700 -680.3 -175.2 - - 3444 - - - - - - - - 26.61 26.52 -
7529 799.6 -8.3 349 7534 done -0.76 - - 2775 - 2.00 0.025 2074 687.0 -175.2 - - 3443 - - - - - - - - - 26.55 -
7851 841.4 -12.6 360 7857 roll -0.75 0.12 0.167 2806 258.3 2.10 0.037 3478 668.6 -175.2 - - 3441 - - - - - - - - 26.34 26.48 -
7917 849.0 -12.0 362 7923 done -0.75 - - 2805 - 2.00 0.021 2082 -698.0 -175.2 - - 3441 - - - - - - - - - 26.60 -
8255 879.4 -8.3 373 8260 roll -0.75 - - 2806 - 2.03 0.034 697 -682.3 -175.2 - - 3439 - - - - - - - - - 26.51 -
8310 882.3 -8.0 374 8315 done -0.75 - - 2806 - 2.05 0.027 2086 677.6 -175.2 - - 3439 - - - - - - - - - 26.54 -
8629 908.7 -8.0 385 8630 done -0.75 - - 2806 - - - 2086 - -175.2 - - 3437 - - - - - - - - - - -
8925 932.1 -7.8 395 8930 roll -0.75 - - 2806 - 2.08 0.040 3470 665.4 -175.2 - - 3436 - - - - - - - - - 26.46 -
8964 934.9 -7.9 396 8969 done -0.75 - - 2805 - 2.00 0.023 2075 -697.5 -175.2 - - 3435 - - - - - - - - - 26.58 -
9297 962.7 -8.3 407 9298 done -0.75 - - 2806 - - - 2075 - -175.2 - - 3433 - - - - - - - - - - -
9594 987.6 -8.3 417 9599 roll -0.75 - - 2806 - 2.03 0.034 697 -678.8 -175.2 - - 3432 - - - - - - - - - 26.47 -
9623 987.6 -8.3 417 9631 done -0.75 - - 2806 - 2.03 0.027 2076 679.3 -175.2 - - 3432 - - - - - - - - - 26.52 -
9655 end dive: TARGET_DEPTH_EXCEEDED
9656 begin apogee
9664 993.2 -8.5 419 9829 done -0.18 0.55 0.119 2988 330.9 - - 2219 - - 153.85 1.187 2752 -4.4 0.380 - - - - - - 26.15 - 24.12
9831 end apogee: CONTROL_FINISHED_OK
9832 begin climb
9835 997.5 - 424 10010 roll 0.83 0.93 0.064 3319 355.9 2.22 0.040 3579 612.6 175.2 164.95 1.146 2036 -4.3 0.388 - - - - - - 25.11 24.68 23.91
10151 960.6 15.8 435 10157 done 0.78 - - 3327 - 2.08 0.024 2204 -661.1 175.2 - - 2012 - - - - - - - - - 25.67 -
10487 909.3 15.3 446 10493 roll 0.73 0.12 0.171 3292 -291.7 2.15 0.038 3590 644.7 175.2 - - 2010 - - - - - - - - 25.96 26.10 -
10608 895.0 14.4 449 10614 done 0.69 - - 3300 - 2.05 0.024 2199 -678.5 175.2 - - 2008 - - - - - - - - - 26.25 -
10918 851.5 13.3 460 10920 done 0.66 0.15 0.155 3259 -273.3 - - 2198 - 175.2 - - 2007 - - - - - - - - 26.15 - -
11218 818.9 10.5 470 11223 roll 0.64 - - 3260 - 2.12 0.042 3578 650.9 175.2 - - 2006 - - - - - - - - - 26.34 -
11329 808.6 10.4 473 11335 done 0.62 - - 3267 - 2.03 0.025 2198 -679.8 175.2 - - 2005 - - - - - - - - - 26.44 -
11654 773.4 10.5 484 11659 roll 0.60 - - 3267 - 2.12 0.041 3578 650.9 175.2 - - 2005 - - - - - - - - - 26.39 -
11679 773.4 10.5 484 11685 done 0.58 0.15 0.150 3236 -206.7 2.03 0.025 2202 -677.8 175.2 - - 2005 - - - - - - - - 26.20 26.47 -
12000 743.3 8.4 495 12032 roll 0.63 - - 3236 - 2.20 0.041 3572 622.7 204.0 25.27 1.022 1920 -3.4 0.251 - - - - - - - 25.96 25.22
12057 737.4 8.9 497 12076 done 0.65 - - 3238 - 2.05 0.025 2204 -667.3 218.7 13.62 1.037 1871 -3.6 0.263 - - - - - - - 26.06 24.98
12390 705.2 9.4 508 12397 roll 0.65 - - 3248 - 2.10 0.036 806 -665.7 218.7 - - 1849 - - - - - - - - - 26.15 -
12475 698.3 10.1 510 12481 done 0.65 - - 3248 - 2.05 0.028 2183 671.7 218.7 - - 1849 - - - - - - - - - 26.20 -
12794 661.9 10.6 521 12800 roll 0.65 - - 3247 - 2.17 0.042 3598 652.1 218.7 - - 1849 - - - - - - - - - 26.28 -
12849 657.6 10.6 522 12854 done 0.65 - - 3253 - 2.08 0.025 2187 -678.4 218.7 - - 1848 - - - - - - - - - 26.38 -
13167 627.3 8.3 533 13201 done 0.69 - - 3253 - - - 2187 - 249.1 32.45 0.960 1746 -3.1 0.211 - - - - - - - - 25.07
13497 597.5 9.7 544 13503 roll 0.69 - - 3262 - 2.08 0.035 803 -665.4 249.1 - - 1720 - - - - - - - - - 26.15 -
13542 592.3 10.2 546 13548 done 0.69 - - 3262 - 2.10 0.028 2212 671.0 249.1 - - 1720 - - - - - - - - - 26.18 -
13867 557.7 10.2 562 13873 roll 0.69 - - 3262 - 2.12 0.042 3601 655.2 249.1 - - 1719 - - - - - - - - - 26.27 -
13913 552.7 10.7 564 13919 done 0.69 - - 3268 - 2.08 0.024 2194 -676.4 249.1 - - 1718 - - - - - - - - - 26.36 -
14238 520.5 10.1 580 14243 roll 0.69 - - 3278 - 2.08 0.035 799 -670.7 249.1 - - 1718 - - - - - - - - - 26.36 -
14277 518.1 10.1 581 14283 done 0.69 - - 3278 - 2.08 0.027 2215 680.8 249.1 - - 1718 - - - - - - - - - 26.39 -
14583 483.5 11.4 597 14588 roll 0.69 - - 3278 - 2.10 0.041 3597 658.1 249.1 - - 1718 - - - - - - - - - 26.38 -
14631 477.8 12.0 599 14636 done 0.69 - - 3280 - 2.05 0.024 2193 -684.9 249.1 - - 1718 - - - - - - - - - 26.47 -
14951 442.3 9.8 615 14956 roll 0.69 - - 3280 - 2.05 0.035 810 -674.6 249.1 - - 1718 - - - - - - - - - 26.43 -
15016 436.6 8.9 618 15026 done 0.72 - - 3284 - 2.05 0.026 2205 680.5 263.2 4.35 0.752 1689 -6.7 0.397 - - - - - - - 26.46 25.44
15341 408.8 8.9 634 15370 roll 0.74 - - 3280 - 2.15 0.041 3602 649.8 277.2 22.15 0.839 1622 -3.0 0.151 - - - - - - - 26.08 25.37
15388 404.7 9.2 636 15394 done 0.75 - - 3280 - 2.08 0.024 2201 -673.6 284.2 - - 1610 - - - - - - - - - 26.15 -
15708 372.0 10.0 652 15713 roll 0.75 - - 3280 - 2.08 0.035 803 -672.1 284.2 - - 1608 - - - - - - - - - 26.25 -
15826 362.7 8.7 657 15855 done 0.78 - - 3280 - 2.05 0.025 2200 681.5 303.5 24.65 0.809 1525 -3.4 0.155 - - - - - - - 26.32 25.26
16154 337.4 7.2 674 16217 roll 0.88 0.12 0.076 3363 691.7 2.17 0.034 802 -644.2 364.1 55.72 0.760 1266 -4.6 0.212 - - - - - - 26.28 25.48 24.82
16279 322.0 12.8 680 16285 done 0.86 0.12 0.138 3331 -266.7 2.10 0.024 2189 660.5 364.1 - - 1250 - - - - - - - - 25.60 25.77 -
16605 286.5 10.1 696 16607 done 0.86 - - 3331 - - - 2190 - 364.1 - - 1248 - - - - - - - - - - -
16908 254.9 11.5 711 16914 roll 0.86 - - 3339 - 2.08 0.032 801 -667.8 364.1 - - 1248 - - - - - - - - - 26.27 -
16943 251.6 11.6 712 16948 done 0.86 - - 3339 - 2.08 0.023 2222 683.2 364.1 - - 1248 - - - - - - - - - 26.32 -
17257 214.3 10.2 728 17259 done 0.86 - - 3339 - - - 2222 - 364.1 - - 1248 - - - - - - - - - - -
17561 187.0 9.7 743 17566 roll 0.86 - - 3344 - 2.10 0.031 807 -673.8 364.1 - - 1248 - - - - - - - - - 26.41 -
17620 181.8 10.2 745 17627 done 0.86 - - 3344 - 2.03 0.024 2201 686.7 364.1 - - 1249 - - - - - - - - - 26.45 -
17926 148.3 9.9 761 17931 roll 0.86 - - 3344 - 2.08 0.031 800 -673.6 364.1 - - 1248 - - - - - - - - - 26.45 -
17964 146.0 9.7 762 17972 done 0.86 - - 3344 - 2.03 0.023 2199 689.2 364.1 - - 1248 - - - - - - - - - 26.50 -
18271 119.4 8.8 778 18282 roll 0.90 - - 3346 - 2.05 0.028 805 -680.0 380.1 5.18 0.220 1215 -6.4 0.355 - - - - - - - 26.46 25.63
18321 114.9 9.6 780 18331 done 0.91 - - 3346 - 2.03 0.022 2209 691.6 380.1 2.42 0.168 1214 - - - - - - - - - 26.50 26.03
18641 84.8 7.6 796 18673 roll 1.01 - - 3346 - 2.12 0.029 798 -665.6 431.0 24.92 0.294 1012 -8.1 0.240 - - - - - - - 26.35 25.79
18704 80.7 6.7 799 18747 done 1.15 0.20 0.057 3445 495.0 2.03 0.022 2203 692.1 507.3 34.85 0.293 696 -9.1 0.256 - - - - - - 26.38 26.39 25.67
19057 44.9 11.8 818 19063 roll 1.15 - - 3452 - 2.15 0.031 800 -652.6 507.3 1.75 0.169 693 -1.7 0.047 - - - - - - - 26.32 26.03
19154 32.4 12.9 827 19166 done 1.15 0.12 0.137 3417 -291.7 2.03 0.021 2209 694.1 507.3 1.67 0.163 697 2.4 -0.049 - - - - - - 26.20 26.39 26.09
19451 end climb: SURFACE_DEPTH_REACHED
19451 begin surface coast
19483 end surface coast: CONTROL_FINISHED_OK
19483 begin surface
SM 2.09 - - - - -9.02 8.23 0.025 142 17.2 0.17 0.054 2029 -66405.9 564.93 25.00 0.118 456 18.2 -0.033 - - - - - -