OKMC Jun13 * SG167 * Dive index * Mission links * Dive 104 * Raw log
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• Previous call tries 1 • 12.43 of 150.00 AH used of 24V (91.71% remains)
• Previous NAKs 0, Timeouts 0 • 8.18 of 100.00 AH used of 10V (91.82% remains)
• Surface angle -72.9 deg, depth 1.65 m • Intended pitch -15.4 deg, speed -9.167 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 43 s
• GPS2 time: 7 s • Transponder ping count: 1
• 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
25 - - - 128 VBD -0.96 - - 137 - - - 2067 - -175.2 -100.50 - 2999 - - - - - - - - - - -
136 3.7 -6.8 18 163 roll -0.96 10.60 0.246 2742 245.8 1.98 0.037 707 -686.9 -175.2 -7.90 - 3479 -60.8 - - - - - - - 25.89 26.18 26.43
312 72.6 -32.7 33 320 done -0.72 0.32 0.185 2821 246.9 2.03 0.021 2111 691.6 -175.2 - - 3480 - - - - - - - - 26.11 26.31 -
618 148.9 -20.3 49 624 roll -0.60 0.12 0.181 2852 258.3 2.03 0.028 3509 688.7 -175.2 - - 3482 - - - - - - - - 26.30 26.42 -
679 155.9 -17.8 51 686 done -0.51 0.15 0.146 2892 266.7 1.98 0.015 2078 -722.7 -175.2 - - 3482 - - - - - - - - 26.33 26.49 -
984 190.2 -11.3 67 989 roll -0.51 - - 2893 - 1.92 0.028 728 -703.1 -175.2 - - 3482 - - - - - - - - - 26.52 -
1145 205.7 -9.7 74 1153 done -0.51 - - 2890 - 1.95 0.018 2113 710.3 -175.2 - - 3482 - - - - - - - - - 26.57 -
1452 231.1 -8.3 90 1458 roll -0.52 - - 2888 - 2.00 0.032 3494 690.5 -175.2 - - 3481 - - - - - - - - - 26.58 -
1488 233.2 -8.1 91 1493 done -0.54 - - 2888 - 1.92 0.016 2101 -725.5 -175.2 - - 3481 - - - - - - - - - 26.63 -
1803 255.2 -7.4 107 1809 roll -0.56 - - 2888 - 1.95 0.028 732 -702.1 -175.2 - - 3480 - - - - - - - - - 26.62 -
1873 260.9 -8.5 110 1879 done -0.58 - - 2888 - 1.92 0.019 2099 712.0 -175.2 - - 3479 - - - - - - - - - 26.65 -
2194 286.3 -7.7 126 2199 roll -0.60 - - 2888 - 2.03 0.034 3491 685.7 -175.2 - - 3476 - - - - - - - - - 26.63 -
2225 288.5 -7.9 127 2231 done -0.63 - - 2888 - 1.92 0.017 2095 -727.1 -175.2 - - 3476 - - - - - - - - - 26.69 -
2546 311.9 -6.6 143 2548 done -0.66 0.12 0.080 2821 -558.3 - - 2095 - -175.2 - - 3474 - - - - - - - - 26.69 - -
2846 345.8 -11.3 158 2852 roll -0.64 0.12 0.156 2861 333.3 1.95 0.028 735 -697.4 -175.2 - - 3471 - - - - - - - - 26.55 26.66 -
2913 353.1 -11.1 161 2919 done -0.63 - - 2861 - 1.92 0.020 2096 708.9 -175.2 - - 3471 - - - - - - - - - 26.68 -
3239 382.9 -9.2 177 3245 roll -0.64 - - 2860 - 1.98 0.042 732 -688.9 -175.2 -0.08 - 3495 -300.0 - - - - - - - - 26.67 26.55
3337 391.3 -9.7 181 3343 done -0.66 - - 2861 - 1.95 0.020 2106 704.6 -175.2 - - 3494 - - - - - - - - - 26.69 -
3652 423.9 -9.6 197 3654 done -0.67 - - 2861 - - - 2106 - -175.2 - - 3492 - - - - - - - - - - -
3956 451.7 -8.5 212 3962 roll -0.70 - - 2861 - 2.00 0.028 733 -686.5 -175.2 - - 3491 - - - - - - - - - 26.68 -
4058 460.0 -9.3 216 4066 done -0.72 - - 2860 - 1.95 0.020 2103 702.6 -175.2 - - 3490 - - - - - - - - - 26.70 -
4361 492.0 -10.8 232 4363 done -0.75 0.12 0.083 2800 -500.0 - - 2103 - -175.2 - - 3488 - - - - - - - - 26.71 - -
4661 534.1 -12.9 247 4667 roll -0.72 - - 2793 - 2.05 0.035 3495 679.0 -175.2 - - 3486 - - - - - - - - - 26.67 -
4696 537.4 -12.6 248 4702 done -0.69 0.15 0.146 2834 273.3 1.95 0.018 2099 -715.9 -175.2 - - 3485 - - - - - - - - 26.58 26.72 -
5012 569.1 -8.6 264 5017 roll -0.69 - - 2834 - 1.98 0.031 729 -691.9 -175.2 - - 3483 - - - - - - - - - 26.68 -
5129 578.5 -9.0 269 5135 done -0.69 - - 2834 - 1.98 0.021 2099 691.9 -175.2 - - 3483 - - - - - - - - - 26.70 -
5455 609.0 -9.2 284 5456 done -0.69 - - 2834 - - - 2099 - -175.2 - - 3481 - - - - - - - - - - -
5755 637.1 -9.3 294 5760 roll -0.69 - - 2833 - 2.05 0.037 3489 678.0 -175.2 - - 3479 - - - - - - - - - 26.67 -
5799 640.2 -9.3 295 5805 done -0.70 - - 2834 - 1.95 0.019 2100 -712.3 -175.2 - - 3478 - - - - - - - - - 26.73 -
6128 670.2 -8.8 306 6134 roll -0.72 - - 2834 - 2.00 0.031 725 -687.5 -175.2 - - 3477 - - - - - - - - - 26.68 -
6209 676.6 -8.8 308 6214 done -0.73 - - 2834 - 1.98 0.021 2104 696.5 -175.2 - - 3476 - - - - - - - - - 26.71 -
6531 703.6 -7.6 319 6538 roll -0.74 - - 2834 - 2.08 0.037 3497 669.7 -175.2 - - 3475 - - - - - - - - - 26.67 -
6572 706.7 -7.6 320 6577 done -0.76 - - 2834 - 1.98 0.020 2097 -707.1 -175.2 - - 3475 - - - - - - - - - 26.73 -
6905 732.3 -7.6 331 6910 roll -0.77 - - 2834 - 2.00 0.031 726 -685.5 -175.2 - - 3473 - - - - - - - - - 26.69 -
6981 738.0 -8.0 333 6987 done -0.79 - - 2833 - 1.98 0.022 2103 695.5 -175.2 - - 3472 - - - - - - - - - 26.70 -
7310 767.3 -8.9 344 7315 roll -0.80 - - 2833 - 2.05 0.037 3490 676.6 -175.2 - - 3471 - - - - - - - - - 26.67 -
7335 767.3 -8.9 344 7341 done -0.82 0.12 0.087 2774 -491.7 1.98 0.021 2088 -708.1 -175.2 - - 3471 - - - - - - - - 26.67 26.73 -
7653 806.7 -11.3 355 7659 roll -0.78 0.12 0.160 2813 325.0 1.98 0.030 727 -687.4 -175.2 - - 3469 - - - - - - - - 26.58 26.68 -
7784 819.9 -10.1 359 7790 done -0.78 - - 2808 - 1.98 0.022 2100 693.4 -175.2 - - 3469 - - - - - - - - - 26.70 -
8117 851.9 -9.4 370 8122 roll -0.78 - - 2808 - 2.08 0.037 3500 673.1 -175.2 - - 3467 - - - - - - - - - 26.67 -
8166 855.3 -9.4 371 8171 done -0.78 - - 2808 - 1.98 0.021 2107 -703.5 -175.2 - - 3467 - - - - - - - - - 26.72 -
8488 886.2 -9.8 382 8494 roll -0.78 - - 2808 - 2.00 0.031 725 -691.0 -175.2 - - 3466 - - - - - - - - - 26.68 -
8533 890.0 -9.9 383 8539 done -0.78 - - 2806 - 2.00 0.023 2110 692.5 -175.2 - - 3466 - - - - - - - - - 26.70 -
8861 921.5 -9.3 394 8862 done -0.78 - - 2806 - - - 2110 - -175.2 - - 3465 - - - - - - - - - - -
9158 949.0 -9.6 404 9164 roll -0.78 - - 2806 - 2.05 0.031 713 -681.5 -175.2 - - 3463 - - - - - - - - - 26.68 -
9203 952.5 -9.8 405 9209 done -0.78 - - 2806 - 2.00 0.022 2101 694.0 -175.2 - - 3463 - - - - - - - - - 26.70 -
9531 982.8 -8.3 416 9532 done -0.78 - - 2806 - - - 2101 - -175.2 - - 3461 - - - - - - - - - - -
9645 end dive: TARGET_DEPTH_EXCEEDED
9645 begin apogee
9653 992.3 -7.9 420 9824 done -0.23 0.52 0.121 2981 336.5 - - 2307 - - 162.68 1.160 2762 -4.3 0.377 - - - - - - 26.56 - 24.08
9826 end apogee: CONTROL_FINISHED_OK
9826 begin climb
9830 995.3 - 425 10009 roll 0.96 1.10 0.066 3367 350.9 2.25 0.039 3678 609.3 175.2 168.38 1.103 2033 -4.3 0.401 - - - - - - 24.99 24.65 23.94
10240 926.2 21.1 439 10247 done 0.82 0.20 0.175 3327 -200.0 2.05 0.025 2317 -663.9 175.2 - - 2010 - - - - - - - - 25.60 25.79 -
10565 869.3 16.3 450 10571 roll 0.72 0.12 0.183 3290 -308.3 2.12 0.038 3683 644.3 175.2 - - 2007 - - - - - - - - 26.00 26.11 -
10686 854.0 15.6 453 10694 done 0.64 0.12 0.178 3268 -183.3 2.05 0.026 2303 -673.2 175.2 - - 2007 - - - - - - - - 26.07 26.22 -
10995 812.7 11.9 464 10996 done 0.58 - - 3268 - - - 2303 - 175.2 - - 2006 - - - - - - - - - - -
11293 777.0 12.0 474 11299 roll 0.53 0.12 0.164 3238 -250.0 2.08 0.033 900 -674.5 175.2 - - 2005 - - - - - - - - 26.29 26.40 -
11323 777.0 12.0 474 11330 done 0.48 - - 3237 - 2.05 0.025 2295 680.5 175.2 - - 2005 - - - - - - - - - 26.42 -
11632 743.0 9.4 485 11637 roll 0.45 - - 3237 - 2.12 0.040 3693 659.4 175.2 - - 2004 - - - - - - - - - 26.45 -
11698 736.1 9.7 487 11704 done 0.43 0.17 0.156 3198 -229.4 2.08 0.027 2288 -675.5 175.2 - - 2004 - - - - - - - - 26.35 26.49 -
12034 713.2 6.6 498 12107 roll 0.53 0.10 0.093 3258 600.0 2.20 0.035 910 -626.4 248.0 58.72 1.132 1752 -4.3 0.278 - - - - 1 - 26.56 25.27 24.15
12168 701.5 9.3 502 12179 done 0.51 0.12 0.142 3226 -266.7 2.10 0.024 2299 661.4 248.0 1.92 0.196 1750 - - - - - - - - 25.54 25.66 25.47
12494 668.7 10.0 513 12501 roll 0.51 - - 3226 - 2.15 0.038 3696 649.8 248.0 1.60 0.206 1749 - - - - - - - - - 26.10 25.96
12524 668.7 10.0 513 12532 done 0.51 - - 3231 - 2.10 0.026 2294 -667.6 248.0 - - 1758 - - - - - - - - - 26.16 -
12831 634.2 9.8 524 12836 roll 0.51 - - 3241 - 2.08 0.035 904 -668.3 248.0 - - 1760 - - - - - - - - - 26.29 -
12870 630.7 9.7 525 12877 done 0.51 - - 3241 - 2.08 0.025 2309 675.5 248.0 1.33 0.215 1748 -9.0 2.717 - - - - - - - 26.32 26.13
13192 594.8 11.6 536 13197 roll 0.51 - - 3241 - 2.10 0.041 3692 658.6 248.0 - - 1759 - - - - - - - - - 26.38 -
13257 586.2 13.0 539 13263 done 0.50 - - 3249 - 2.05 0.026 2296 -681.0 248.0 - - 1759 - - - - - - - - - 26.44 -
13583 545.2 12.2 555 13585 done 0.49 0.12 0.160 3215 -283.3 - - 2295 - 248.0 - - 1759 - - - - - - - - 26.36 - -
13883 516.9 8.7 570 13911 roll 0.52 - - 3222 - 2.08 0.033 912 -664.9 261.5 22.05 0.973 1687 -3.3 0.178 - - - - - - - 26.05 25.34
13958 511.3 8.8 573 13971 done 0.56 - - 3221 - 2.08 0.023 2312 673.1 273.3 4.00 0.899 1647 -10.0 0.584 - - - - - - - 26.13 24.89
14266 483.3 8.9 589 14285 done 0.60 - - 3222 - - - 2312 - 282.2 16.30 1.003 1609 -2.3 0.115 - - - - - - - - 25.20
14586 452.8 10.1 605 14593 roll 0.62 0.12 0.079 3296 616.7 2.12 0.038 3701 655.2 282.2 - - 1593 - - - - - - - - 26.25 26.19 -
14622 449.4 10.8 606 14628 done 0.64 0.15 0.155 3263 -220.0 2.08 0.024 2298 -674.5 282.2 - - 1593 - - - - - - - - 26.11 26.25 -
14937 407.3 12.6 622 14942 roll 0.64 - - 3272 - 2.08 0.034 902 -671.2 282.2 - - 1593 - - - - - - - - - 26.34 -
15002 399.6 12.1 625 15007 done 0.64 - - 3271 - 2.05 0.023 2301 682.4 282.2 - - 1593 - - - - - - - - - 26.39 -
15327 363.3 11.1 641 15332 roll 0.64 - - 3272 - 2.12 0.040 3699 659.4 282.2 - - 1592 - - - - - - - - - 26.42 -
15375 357.8 11.6 643 15380 done 0.64 - - 3279 - 2.05 0.024 2296 -684.4 282.2 - - 1592 - - - - - - - - - 26.48 -
15695 320.3 11.8 659 15701 roll 0.62 - - 3289 - 2.05 0.034 903 -679.5 282.2 - - 1593 - - - - - - - - - 26.48 -
15821 305.0 12.0 665 15827 done 0.62 - - 3289 - 2.05 0.023 2304 683.4 282.2 - - 1592 - - - - - - - - - 26.53 -
16147 266.5 12.0 681 16153 roll 0.60 0.12 0.147 3249 -333.3 2.10 0.037 3702 665.7 282.2 - - 1592 - - - - - - - - 26.43 26.51 -
16198 261.1 12.0 683 16203 done 0.60 - - 3253 - 2.05 0.024 2288 -689.8 282.2 - - 1592 - - - - - - - - - 26.57 -
16518 228.7 9.3 699 16523 roll 0.63 - - 3252 - 2.03 0.033 906 -680.8 282.2 - - 1592 - - - - - - - - - 26.55 -
16689 214.1 8.7 707 16710 done 0.68 - - 3252 - 2.03 0.022 2303 688.2 295.7 12.48 0.850 1547 -3.6 0.093 - - - - - - - 26.59 25.67
17030 186.1 8.1 724 17064 roll 0.76 0.12 0.076 3343 758.3 2.17 0.031 908 -642.9 324.6 27.10 0.755 1429 -4.4 0.110 - - - - - - 26.50 26.01 25.42
17083 180.9 10.0 726 17090 done 0.77 0.12 0.144 3311 -266.7 2.05 0.021 2304 681.0 324.6 - - 1420 - - - - - - - - 25.94 26.07 -
17401 144.8 10.5 742 17406 roll 0.78 - - 3317 - 2.08 0.030 911 -669.7 324.6 - - 1418 - - - - - - - - - 26.28 -
17561 129.6 10.1 749 17569 done 0.80 - - 3316 - 2.03 0.021 2307 687.7 324.6 - - 1419 - - - - - - - - - 26.36 -
17868 100.7 9.4 765 17874 roll 0.83 - - 3316 - 2.10 0.037 3700 663.3 324.6 - - 1418 - - - - - - - - - 26.41 -
17958 89.7 12.7 769 17963 done 0.85 - - 3319 - 2.03 0.020 2287 -696.1 324.6 - - 1418 - - - - - - - - - 26.49 -
18278 66.6 5.6 785 18327 roll 1.03 0.17 0.059 3435 682.4 2.00 0.028 917 -685.0 426.3 40.92 0.272 1026 -9.6 0.241 - - - - - - 26.55 26.28 25.99
18495 40.7 12.4 799 18501 done 1.03 0.15 0.133 3393 -280.0 2.00 0.020 2308 695.5 426.3 - - 1032 - - - - - - - - 26.26 26.38 -
18808 13.6 9.5 842 18815 roll 1.05 - - 3393 - 2.08 0.036 3691 664.9 426.3 - - 1032 - - - - - - - - - 26.44 -
18845 9.6 11.9 848 18852 done 1.07 - - 3399 - 2.00 0.019 2290 -700.5 426.3 - - 1030 - - - - - - - - - 26.50 -
18899 end climb: SURFACE_DEPTH_REACHED
18899 begin surface coast
18927 end surface coast: CONTROL_FINISHED_OK
18927 begin surface
SM 1.63 - - - - -9.05 8.18 0.025 137 16.7 0.20 0.043 2077 5235.0 564.93 69.00 0.125 459 6.7 -0.009 - - - - - -