OKMC Oct12 * SG167 * Dive index * Mission links * Dive 161 * Raw log
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• Previous call tries 1 • 37.80 of 150.00 AH used of 24V (74.80% remains)
• Previous NAKs 0, Timeouts 0 • 25.20 of 110.00 AH used of 10V (77.09% remains)
• Surface angle -63.9 deg, depth 1.64 m • Intended pitch -19.6 deg, speed -8.250 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 38 s
• GPS2 time: 5 s • Transponder ping count: 9
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 86 VBD -0.53 - - 108 - - - 2493 - -93.2 -64.40 - 2595 - - - - - - - - - - -
89 3.2 -5.2 11 127 roll -0.55 9.45 0.223 2480 251.0 1.98 0.067 3700 609.6 -145.2 -22.58 - 3561 -42.8 - - - - - - - 25.30 26.03 26.60
347 57.9 -22.7 45 352 done -0.51 - - 2480 - 1.80 0.023 2454 -692.2 -145.2 - - 3562 - - - - - - - - - 26.40 -
669 114.7 -14.5 61 674 roll -0.51 - - 2479 - 1.98 0.050 3704 631.3 -145.2 - - 3562 - - - - - - - - - 26.22 -
716 120.7 -14.4 63 721 done -0.51 - - 2479 - 1.77 0.017 2412 -729.9 -145.2 - - 3562 - - - - - - - - - 26.59 -
1034 166.6 -12.8 79 1040 roll -0.53 - - 2480 - 1.90 0.027 1070 -706.3 -145.2 - - 3563 - - - - - - - - - 26.53 -
1107 174.3 -12.2 82 1112 done -0.55 - - 2479 - 1.98 0.032 2411 677.3 -145.2 - - 3563 - - - - - - - - - 26.45 -
1420 220.0 -15.3 98 1421 done -0.58 - - 2479 - - - 2411 - -145.2 - - 3563 - - - - - - - - - - -
1722 259.4 -12.7 113 1727 roll -0.61 - - 2479 - 1.90 0.028 1084 -698.4 -145.2 - - 3563 - - - - - - - - - 26.55 -
1759 262.6 -12.8 114 1766 done -0.64 - - 2479 - 2.03 0.034 2447 671.4 -145.2 - - 3563 - - - - - - - - - 26.20 -
2065 294.0 -8.3 130 2070 roll -0.67 - - 2479 - 2.03 0.051 3768 650.7 -145.2 - - 3562 - - - - - - - - - 26.03 -
2118 297.7 -8.6 132 2125 done -0.71 0.12 0.079 2410 -575.0 1.83 0.019 2446 -722.4 -145.2 - - 3562 - - - - - - - - 26.56 26.68 -
2434 344.7 -16.1 148 2439 roll -0.70 0.12 0.158 2448 316.7 1.95 0.024 1075 -703.1 -145.2 - - 3560 - - - - - - - - 26.41 26.56 -
2567 361.2 -12.8 154 2572 done -0.72 - - 2449 - 2.05 0.033 2458 674.6 -145.2 - - 3560 - - - - - - - - - 26.48 -
2880 402.7 -13.6 170 2886 roll -0.75 - - 2448 - 1.98 0.047 3762 658.6 -145.2 - - 3559 - - - - - - - - - 26.39 -
2938 409.0 -14.0 172 2945 done -0.77 - - 2448 - 1.83 0.018 2438 -723.5 -145.2 - - 3559 - - - - - - - - - 26.69 -
3244 446.0 -9.7 188 3250 roll -0.81 0.12 0.082 2372 -633.3 1.95 0.024 1068 -702.6 -145.2 - - 3557 - - - - - - - - 26.73 26.56 -
3297 451.6 -11.2 190 3303 done -0.81 0.15 0.153 2411 260.0 2.05 0.034 2450 674.1 -145.2 - - 3557 - - - - - - - - 26.15 26.47 -
3611 492.2 -13.3 206 3612 done -0.81 - - 2412 - - - 2450 - -145.2 - - 3555 - - - - - - - - - - -
3913 532.2 -12.5 221 3915 done -0.82 - - 2411 - - - 2450 - -145.2 - - 3550 - - - - - - - - - - -
4214 568.4 -12.5 236 4220 roll -0.83 - - 2412 - 2.00 0.047 3763 656.5 -145.2 - - 3551 - - - - - - - - - 26.34 -
4258 574.4 -12.7 238 4264 done -0.85 - - 2412 - 1.85 0.020 2443 -713.5 -145.2 - - 3550 - - - - - - - - - 26.68 -
4592 610.6 -9.7 253 4593 done -0.86 - - 2412 - - - 2443 - -145.2 - - 3548 - - - - - - - - - - -
4892 642.3 -11.0 263 4893 done -0.88 - - 2411 - - - 2444 - -145.2 - - 3547 - - - - - - - - - - -
5192 677.2 -11.5 273 5198 roll -0.90 - - 2411 - 1.98 0.028 1069 -694.4 -145.2 - - 3546 - - - - - - - - - 26.51 -
5230 681.2 -11.4 274 5236 done -0.92 0.12 0.083 2351 -500.0 2.08 0.034 2450 663.9 -145.2 - - 3543 - - - - - - - - 26.34 26.28 -
5561 729.9 -14.9 285 5563 done -0.90 0.12 0.171 2381 250.0 - - 2450 - -145.2 - - 3541 - - - - - - - - 26.39 - -
5858 768.6 -12.6 295 5863 roll -0.90 - - 2381 - 2.00 0.028 1079 -685.5 -145.2 - - 3539 - - - - - - - - - 26.48 -
5905 772.6 -12.5 296 5910 done -0.90 - - 2381 - 2.08 0.034 2460 663.9 -145.2 - - 3539 - - - - - - - - - 26.39 -
6224 812.5 -12.3 307 6229 roll -0.90 - - 2381 - 2.00 0.049 3762 651.0 -145.2 - - 3535 - - - - - - - - - 26.25 -
6281 817.0 -12.5 308 6288 done -0.90 - - 2381 - 1.88 0.022 2442 -702.1 -145.2 - - 3537 - - - - - - - - - 26.64 -
6588 861.1 -13.7 319 6593 roll -0.90 - - 2381 - 2.08 0.048 3762 634.6 -145.2 - - 3533 - - - - - - - - - 26.22 -
6625 865.7 -13.7 320 6630 done -0.90 - - 2380 - 1.85 0.023 2449 -709.7 -145.2 - - 3532 - - - - - - - - - 26.63 -
6955 907.5 -12.0 331 6961 roll -0.90 - - 2374 - 2.05 0.047 3765 642.0 -145.2 - - 3530 - - - - - - - - - 26.22 -
6998 911.9 -12.0 332 7004 done -0.90 - - 2374 - 1.90 0.024 2442 -696.3 -145.2 - - 3530 - - - - - - - - - 26.61 -
7323 950.5 -11.3 343 7325 done -0.90 - - 2374 - - - 2441 - -145.2 - - 3528 - - - - - - - - - - -
7622 983.9 -11.1 353 7624 done -0.90 - - 2374 - - - 2441 - -145.2 - - 3526 - - - - - - - - - - -
7679 end dive: TARGET_DEPTH_EXCEEDED
7680 begin apogee
7686 990.3 -10.9 355 7818 done -0.20 0.70 0.125 2598 320.0 - - 2302 - - 122.30 1.271 2960 -4.6 0.390 - - - - - - 25.63 - 23.57
7819 end apogee: CONTROL_FINISHED_OK
7820 begin climb
7822 992.8 - 359 7962 done 0.55 0.70 0.071 2843 350.0 - - 2302 - 145.2 133.15 1.303 2375 -4.4 0.362 - - - - - - 24.93 - 22.68
8253 959.7 9.1 374 8259 roll 0.57 - - 2843 - 2.25 0.048 3707 624.4 145.2 - - 2356 - - - - - - - - - 25.89 -
8287 956.4 9.3 375 8292 done 0.58 - - 2852 - 2.10 0.027 2300 -670.0 145.2 - - 2356 - - - - - - - - - 26.08 -
8622 926.8 8.7 386 8628 roll 0.59 - - 2861 - 2.10 0.035 908 -662.9 145.2 - - 2355 - - - - - - - - - 26.25 -
8656 923.7 8.6 387 8662 done 0.61 - - 2868 - 2.12 0.031 2314 663.2 145.2 - - 2351 - - - - - - - - - 26.27 -
8992 893.2 9.1 398 8997 roll 0.61 - - 2859 - 2.17 0.052 3703 640.1 145.2 - - 2350 - - - - - - - - - 26.23 -
9109 883.4 10.1 401 9116 done 0.61 - - 2870 - 2.05 0.028 2301 -683.9 145.2 - - 2351 - - - - - - - - - 26.44 -
9414 851.6 9.5 412 9416 done 0.61 - - 2870 - - - 2301 - 145.2 - - 2350 - - - - - - - - - - -
9715 822.3 9.8 422 9721 roll 0.61 - - 2868 - 2.22 0.048 3698 629.3 145.2 - - 2348 - - - - - - - - - 26.26 -
9772 818.8 10.0 423 9780 done 0.61 - - 2880 - 2.05 0.028 2303 -680.5 145.2 - - 2349 - - - - - - - - - 26.48 -
10078 785.6 9.8 434 10080 done 0.61 - - 2881 - - - 2303 - 145.2 - - 2347 - - - - - - - - - - -
10379 756.2 9.9 444 10384 roll 0.61 - - 2878 - 2.20 0.047 3700 635.0 145.2 - - 2346 - - - - - - - - - 26.25 -
10416 752.8 10.0 445 10422 done 0.60 - - 2881 - 2.08 0.028 2293 -676.4 145.2 - - 2346 - - - - - - - - - 26.48 -
10747 719.1 10.2 456 10752 roll 0.60 - - 2891 - 2.08 0.036 904 -667.8 145.2 - - 2345 - - - - - - - - - 26.35 -
10810 712.9 9.7 458 10816 done 0.60 - - 2890 - 2.10 0.031 2304 666.7 145.2 - - 2343 - - - - - - - - - 26.38 -
11146 682.7 8.5 469 11152 roll 0.59 0.12 0.147 2851 -325.0 2.17 0.047 3702 644.2 145.2 - - 2344 - - - - - - - - 26.35 26.21 -
11234 677.3 8.3 471 11241 done 0.59 - - 2849 - 2.08 0.028 2290 -678.8 145.2 - - 2343 - - - - - - - - - 26.48 -
11542 654.9 6.8 482 11569 done 0.62 - - 2855 - - - 2290 - 170.2 20.73 1.111 2267 -3.7 0.234 - - - - - - - - 24.67
11872 628.0 8.6 493 11877 roll 0.64 - - 2855 - 2.22 0.047 3696 633.3 170.2 - - 2262 - - - - - - - - - 26.10 -
11910 624.6 8.8 494 11915 done 0.66 - - 2855 - 2.08 0.028 2301 -670.7 170.2 - - 2262 - - - - - - - - - 26.30 -
12230 596.2 8.5 505 12232 done 0.69 0.10 0.103 2905 500.0 - - 2297 - 170.2 - - 2262 - - - - - - - - 26.52 - -
12528 568.6 8.9 520 12533 roll 0.69 - - 2905 - 2.22 0.047 3708 635.6 170.2 - - 2261 - - - - - - - - - 26.18 -
12571 564.3 9.2 522 12577 done 0.67 - - 2915 - 2.10 0.028 2290 -675.2 170.2 - - 2261 - - - - - - - - - 26.43 -
12895 535.7 8.6 538 12901 roll 0.65 0.12 0.157 2876 -325.0 2.22 0.045 3707 638.3 170.2 - - 2259 - - - - - - - - 26.28 26.19 -
12963 530.2 8.6 541 12968 done 0.65 - - 2881 - 2.08 0.028 2304 -674.5 170.2 - - 2259 - - - - - - - - - 26.44 -
13282 505.5 7.8 557 13286 done 0.67 - - 2881 - - - 2302 - 177.2 2.22 0.517 2245 -6.3 0.666 - - - - - - - - 24.12
13582 480.7 8.3 572 13588 roll 0.68 - - 2881 - 2.17 0.046 3697 642.9 177.2 - - 2250 - - - - - - - - - 26.22 -
13771 463.5 9.3 581 13777 done 0.68 - - 2889 - 2.08 0.028 2282 -680.3 177.2 - - 2250 - - - - - - - - - 26.48 -
14090 440.6 6.2 597 14134 roll 0.69 - - 2898 - 2.08 0.032 911 -659.1 212.4 38.70 0.917 2095 -4.0 0.208 - - - - - - - 25.77 24.65
14234 431.4 6.5 604 14268 done 0.73 - - 2897 - 2.12 0.029 2303 656.6 241.8 27.35 0.913 1978 -4.3 0.218 - - - - - - - 25.97 24.44
14576 402.8 10.4 621 14582 roll 0.75 - - 2898 - 2.17 0.045 3694 641.0 241.8 - - 1968 - - - - - - - - - 26.03 -
14655 394.6 12.4 624 14662 done 0.77 - - 2898 - 2.08 0.026 2291 -674.5 241.8 - - 1964 - - - - - - - - - 26.24 -
14961 357.7 9.6 640 14966 roll 0.80 - - 2898 - 2.20 0.044 3696 638.6 241.8 - - 1966 - - - - - - - - - 26.17 -
15076 347.6 9.7 645 15081 done 0.81 - - 2898 - 2.05 0.026 2299 -681.5 241.8 - - 1966 - - - - - - - - - 26.39 -
15389 322.7 8.5 661 15396 roll 0.84 0.12 0.090 2974 633.3 2.05 0.031 904 -680.5 241.8 - - 1966 - - - - - - - - 26.53 26.33 -
15500 310.0 12.8 666 15506 done 0.82 0.15 0.138 2935 -260.0 2.08 0.028 2307 674.5 241.8 - - 1966 - - - - - - - - 26.06 26.37 -
15819 271.7 10.7 682 15824 roll 0.82 - - 2935 - 2.15 0.044 3703 649.3 241.8 - - 1966 - - - - - - - - - 26.26 -
15856 269.3 10.5 683 15863 done 0.82 - - 2935 - 2.08 0.024 2291 -678.8 241.8 - - 1966 - - - - - - - - - 26.49 -
16162 238.8 9.2 699 16167 roll 0.82 - - 2935 - 2.17 0.043 3696 647.5 241.8 - - 1966 - - - - - - - - - 26.28 -
16276 227.6 11.0 704 16282 done 0.82 - - 2942 - 2.03 0.024 2296 -689.7 241.8 - - 1966 - - - - - - - - - 26.51 -
16590 196.4 10.0 720 16595 roll 0.82 - - 2948 - 2.05 0.033 902 -680.0 241.8 - - 1966 - - - - - - - - - 26.39 -
16683 187.2 11.0 724 16688 done 0.84 - - 2948 - 2.05 0.028 2301 682.4 241.8 - - 1966 - - - - - - - - - 26.43 -
16996 151.4 9.4 740 17002 roll 0.84 - - 2948 - 2.08 0.032 912 -667.8 241.8 - - 1966 - - - - - - - - - 26.41 -
17030 149.5 9.0 741 17035 done 0.85 - - 2948 - 2.05 0.028 2312 682.9 241.8 - - 1966 - - - - - - - - - 26.44 -
17343 119.7 10.4 757 17348 roll 0.86 - - 2949 - 2.12 0.043 3704 656.6 241.8 - - 1965 - - - - - - - - - 26.29 -
17369 117.4 10.4 758 17376 done 0.86 - - 2949 - 2.05 0.022 2288 -690.7 241.8 - - 1966 - - - - - - - - - 26.55 -
17689 94.3 5.5 774 17713 roll 0.90 - - 2949 - 2.03 0.029 898 -684.7 288.5 18.55 0.337 1793 -9.3 0.282 - - - - - - - 26.41 25.44
17752 90.9 5.4 777 17781 done 0.95 - - 2948 - 2.08 0.027 2313 680.3 337.2 20.48 0.330 1596 -9.6 0.286 - - - - - - - 26.37 25.35
18094 67.2 6.5 794 18115 roll 1.04 0.12 0.079 3025 641.7 2.12 0.041 3696 652.4 367.1 13.15 0.267 1470 -9.6 0.261 - - - - - - 26.56 26.24 25.41
18253 47.8 13.3 802 18260 done 1.04 0.12 0.155 3002 -191.7 2.03 0.022 2298 -688.7 367.1 - - 1473 - - - - - - - - 26.08 26.43 -
18559 18.7 9.9 839 18566 roll 1.07 - - 3010 - 2.03 0.032 905 -686.2 367.1 - - 1473 - - - - - - - - - 26.36 -
18604 14.0 10.3 847 18611 done 1.10 - - 3010 - 2.05 0.027 2308 684.4 367.1 - - 1473 - - - - - - - - - 26.41 -
18707 end climb: SURFACE_DEPTH_REACHED
18707 begin surface coast
18734 end surface coast: CONTROL_FINISHED_OK
18734 begin surface
SM 2.44 - - - - -7.90 7.38 0.032 120 -391.6 0.20 0.060 2475 835.0 400.08 13.35 0.129 1335 -10.3 0.020 - - - - - -