OKMC Jun13 * SG167 * Dive index * Mission links * Dive 198 * Raw log
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• Previous call tries 1 • 28.61 of 150.00 AH used of 24V (80.93% remains)
• Previous NAKs 0, Timeouts 0 • 17.84 of 100.00 AH used of 10V (82.16% remains)
• Surface angle -72.1 deg, depth 1.98 m • Intended pitch -15.7 deg, speed -9.429 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 43 s
• GPS2 time: 32 s • Transponder ping count: 7
• 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 - - - 125 VBD -0.83 - - 128 - - - 2055 - -175.2 -96.55 - 2884 - - - - - - - - - - -
133 3.2 -3.2 17 165 roll -0.83 10.43 0.230 2778 254.1 2.05 0.042 685 -668.3 -175.2 -11.55 - 3479 -51.5 - - - - - - - 25.74 26.21 26.49
187 21.2 -34.0 25 195 done -0.71 0.20 0.195 2818 200.0 2.00 0.021 2079 697.0 -175.2 - - 3480 - - - - - - - - 25.91 26.25 -
515 96.0 -19.4 47 520 roll -0.66 - - 2817 - 2.03 0.028 687 -685.7 -175.2 - - 3481 - - - - - - - - - 26.39 -
561 104.8 -19.0 49 567 done -0.61 0.15 0.165 2849 213.3 1.98 0.019 2085 706.1 -175.2 - - 3481 - - - - - - - - 26.17 26.44 -
887 153.1 -14.8 65 893 roll -0.59 - - 2847 - 2.00 0.032 3461 688.0 -175.2 - - 3482 - - - - - - - - - 26.46 -
922 156.8 -14.7 66 928 done -0.56 - - 2847 - 1.95 0.015 2056 -720.5 -175.2 - - 3481 - - - - - - - - - 26.55 -
1237 200.9 -12.0 82 1243 roll -0.55 - - 2847 - 2.08 0.032 3467 678.4 -175.2 - - 3481 - - - - - - - - - 26.51 -
1340 210.4 -11.1 86 1347 done -0.53 0.12 0.142 2882 291.7 1.92 0.015 2074 -725.5 -175.2 - - 3482 - - - - - - - - 26.37 26.59 -
1643 240.1 -10.6 102 1648 roll -0.53 - - 2882 - 1.98 0.029 694 -697.0 -175.2 - - 3482 - - - - - - - - - 26.55 -
1748 252.0 -11.6 107 1753 done -0.53 - - 2876 - 1.95 0.021 2071 706.2 -175.2 - - 3481 - - - - - - - - - 26.59 -
2073 286.8 -9.8 123 2078 roll -0.53 - - 2875 - 2.05 0.034 3474 684.4 -175.2 - - 3480 - - - - - - - - - 26.55 -
2127 291.2 -9.6 125 2132 done -0.53 - - 2875 - 1.95 0.017 2071 -719.5 -175.2 - - 3480 - - - - - - - - - 26.63 -
2442 319.5 -9.2 141 2448 roll -0.53 - - 2875 - 1.95 0.030 706 -700.0 -175.2 - - 3479 - - - - - - - - - 26.58 -
2473 322.0 -9.4 142 2478 done -0.53 - - 2875 - 1.95 0.022 2074 701.5 -175.2 - - 3478 - - - - - - - - - 26.60 -
2793 352.6 -9.9 158 2798 roll -0.53 - - 2875 - 2.05 0.035 3469 680.5 -175.2 - - 3478 - - - - - - - - - 26.55 -
2863 358.6 -9.3 161 2869 done -0.55 - - 2874 - 1.95 0.018 2063 -721.0 -175.2 - - 3477 - - - - - - - - - 26.64 -
3184 388.5 -9.5 177 3189 roll -0.56 - - 2875 - 2.10 0.034 3479 674.3 -175.2 - - 3475 - - - - - - - - - 26.55 -
3218 391.2 -9.7 178 3225 done -0.57 - - 2875 - 1.95 0.018 2076 -719.5 -175.2 - - 3475 - - - - - - - - - 26.65 -
3536 418.8 -7.6 194 3541 roll -0.58 - - 2875 - 1.98 0.030 703 -693.4 -175.2 - - 3473 - - - - - - - - - 26.58 -
3587 422.5 -7.8 196 3592 done -0.60 - - 2875 - 1.98 0.022 2088 699.5 -175.2 - - 3473 - - - - - - - - - 26.61 -
3907 444.8 -6.8 212 3914 roll -0.61 - - 2875 - 2.05 0.036 3480 679.0 -175.2 - - 3471 - - - - - - - - - 26.55 -
3938 446.9 -7.2 213 3944 done -0.63 - - 2875 - 1.95 0.018 2073 -721.5 -175.2 - - 3471 - - - - - - - - - 26.65 -
4259 470.4 -6.9 229 4265 roll -0.65 - - 2875 - 1.98 0.044 706 -690.4 -175.2 -0.08 - 3499 -350.0 - - - - - - - - 26.58 26.12
4295 472.4 -7.0 230 4301 done -0.67 0.12 0.082 2804 -591.7 1.95 0.022 2080 704.6 -175.2 - - 3499 - - - - - - - - 26.56 26.61 -
4610 507.6 -11.4 246 4616 roll -0.67 0.12 0.153 2843 325.0 2.05 0.034 3475 680.5 -175.2 - - 3497 - - - - - - - - 26.44 26.55 -
4763 521.7 -9.4 253 4768 done -0.68 - - 2844 - 1.95 0.018 2079 -715.9 -175.2 - - 3496 - - - - - - - - - 26.64 -
5083 551.5 -8.8 269 5089 roll -0.68 - - 2843 - 2.00 0.031 694 -692.5 -175.2 - - 3494 - - - - - - - - - 26.57 -
5130 555.5 -8.7 271 5135 done -0.68 - - 2844 - 1.98 0.023 2071 695.5 -175.2 - - 3494 - - - - - - - - - 26.60 -
5455 579.2 -6.5 287 5461 roll -0.69 - - 2844 - 2.08 0.037 3474 674.5 -175.2 - - 3492 - - - - - - - - - 26.54 -
5554 584.9 -6.6 291 5559 done -0.70 - - 2843 - 1.98 0.018 2064 -712.1 -175.2 - - 3491 - - - - - - - - - 26.65 -
5889 608.8 -7.3 306 5894 roll -0.71 - - 2844 - 1.98 0.031 700 -688.9 -175.2 - - 3489 - - - - - - - - - 26.56 -
5980 614.0 -7.6 308 5987 done -0.72 - - 2844 - 1.98 0.024 2070 691.9 -175.2 - - 3488 - - - - - - - - - 26.60 -
6288 642.3 -8.8 319 6293 roll -0.74 - - 2844 - 2.08 0.037 3467 671.6 -175.2 - - 3486 - - - - - - - - - 26.53 -
6343 645.7 -8.8 320 6349 done -0.75 0.10 0.101 2796 -480.0 1.98 0.019 2059 -711.1 -175.2 - - 3485 - - - - - - - - 26.53 26.63 -
6662 681.6 -11.0 331 6667 roll -0.75 - - 2791 - 2.12 0.036 3474 667.5 -175.2 - - 3483 - - - - - - - - - 26.53 -
6736 688.7 -10.8 333 6742 done -0.75 - - 2791 - 1.98 0.020 2078 -705.1 -175.2 - - 3483 - - - - - - - - - 26.63 -
7064 728.0 -12.2 344 7070 roll -0.75 - - 2791 - 2.00 0.033 704 -687.0 -175.2 - - 3481 - - - - - - - - - 26.54 -
7164 740.0 -12.3 347 7170 done -0.74 0.12 0.162 2814 191.7 2.00 0.023 2090 693.0 -175.2 - - 3480 - - - - - - - - 26.32 26.59 -
7494 772.5 -9.1 358 7500 roll -0.74 - - 2808 - 2.08 0.038 3477 666.8 -175.2 - - 3478 - - - - - - - - - 26.51 -
7594 781.3 -9.2 361 7600 done -0.74 - - 2808 - 2.00 0.021 2077 -700.0 -175.2 - - 3477 - - - - - - - - - 26.63 -
7927 815.6 -10.5 372 7928 done -0.74 - - 2808 - - - 2077 - -175.2 - - 3475 - - - - - - - - - - -
8224 843.9 -8.9 382 8230 roll -0.74 - - 2808 - 2.03 0.044 702 -677.3 -175.2 - - 3473 - - - - - - - - - 26.52 -
8313 850.6 -9.6 384 8320 done -0.74 - - 2808 - 2.00 0.025 2072 685.0 -175.2 - - 3472 - - - - - - - - - 26.56 -
8620 883.6 -9.5 395 8625 roll -0.74 - - 2808 - 2.10 0.040 3473 667.1 -175.2 - - 3470 - - - - - - - - - 26.49 -
8688 889.9 -9.6 397 8693 done -0.74 - - 2808 - 2.00 0.021 2081 -696.0 -175.2 - - 3469 - - - - - - - - - 26.60 -
9021 923.9 -10.4 408 9026 roll -0.74 - - 2808 - 2.05 0.035 694 -676.6 -175.2 - - 3468 - - - - - - - - - 26.51 -
9065 927.9 -10.5 409 9070 done -0.74 - - 2808 - 2.03 0.025 2082 683.7 -175.2 - - 3468 - - - - - - - - - 26.55 -
9392 961.1 -9.9 420 9399 roll -0.74 - - 2808 - 2.10 0.040 3476 663.8 -175.2 - - 3466 - - - - - - - - - 26.48 -
9447 964.8 -9.8 421 9453 done -0.74 - - 2808 - 2.03 0.023 2066 -694.6 -175.2 - - 3466 - - - - - - - - - 26.59 -
9729 end dive: TARGET_DEPTH_EXCEEDED
9729 begin apogee
9738 991.3 -8.1 431 9941 done -0.18 0.52 0.118 2982 334.6 - - 2213 - - 196.65 1.060 2759 -3.6 0.345 - - - - - - 26.22 - 24.09
9943 end apogee: CONTROL_FINISHED_OK
9944 begin climb
9947 996.4 - 438 10125 roll 0.83 0.93 0.064 3314 357.0 2.33 0.042 3592 591.8 175.2 164.05 1.129 2030 -4.4 0.403 - - - - - - 25.01 24.63 23.87
10212 966.5 16.1 446 10218 done 0.77 - - 3323 - 2.10 0.024 2215 -655.7 175.2 - - 2016 - - - - - - - - - 25.45 -
10531 908.6 16.8 457 10538 roll 0.73 0.12 0.168 3288 -291.7 2.17 0.039 3600 638.2 175.2 - - 2013 - - - - - - - - 25.89 26.03 -
10571 902.1 16.6 458 10578 done 0.69 - - 3295 - 2.10 0.025 2196 -668.6 175.2 - - 2011 - - - - - - - - - 26.13 -
10906 854.7 13.7 469 10911 roll 0.66 0.12 0.161 3258 -308.3 2.15 0.038 3594 650.2 175.2 - - 2010 - - - - - - - - 26.11 26.25 -
10935 854.7 13.7 469 10943 done 0.63 - - 3264 - 2.05 0.025 2198 -681.0 175.2 - - 2010 - - - - - - - - - 26.32 -
11245 820.3 9.6 480 11250 roll 0.61 - - 3274 - 2.08 0.036 806 -669.2 175.2 - - 2009 - - - - - - - - - 26.34 -
11280 816.6 9.8 481 11286 done 0.59 0.12 0.144 3242 -266.7 2.08 0.029 2199 669.7 175.2 - - 2007 - - - - - - - - 26.20 26.37 -
11617 785.7 9.8 492 11622 roll 0.58 - - 3241 - 2.15 0.043 3604 653.5 175.2 - - 2007 - - - - - - - - - 26.37 -
11757 772.0 10.9 496 11763 done 0.56 - - 3245 - 2.05 0.024 2198 -685.9 175.2 - - 2006 - - - - - - - - - 26.47 -
12082 741.1 8.6 507 12105 roll 0.58 - - 3253 - 2.08 0.035 816 -664.4 197.5 17.50 1.039 1951 -3.1 0.230 - - - - - - - 26.11 25.37
12172 735.1 8.8 509 12196 done 0.60 - - 3254 - 2.08 0.028 2208 669.2 215.0 17.40 1.040 1882 -4.0 0.288 - - - - - - - 26.18 25.07
12511 704.4 7.6 521 12587 roll 0.68 - - 3254 - 2.30 0.042 3604 607.0 266.8 62.12 0.889 1670 -3.4 0.278 - - - - 1 - - 25.35 24.63
12683 692.5 7.9 526 12742 done 0.74 - - 3260 - 2.12 0.025 2209 -658.0 310.1 52.65 0.938 1495 -3.3 0.252 - - - - - - - 25.82 24.44
13057 660.0 9.2 539 13063 roll 0.75 - - 3260 - 2.12 0.037 800 -664.6 315.2 - - 1468 - - - - - - - - - 26.02 -
13142 653.7 9.5 541 13147 done 0.75 - - 3260 - 2.10 0.028 2212 672.4 315.2 - - 1467 - - - - - - - - - 26.10 -
13460 620.6 9.8 552 13466 roll 0.75 - - 3260 - 2.15 0.036 800 -656.7 315.2 - - 1466 - - - - - - - - - 26.25 -
13519 616.8 9.8 553 13527 done 0.75 - - 3260 - 2.08 0.027 2203 674.5 315.2 - - 1466 - - - - - - - - - 26.29 -
13829 586.6 9.0 566 13847 done 0.77 0.12 0.079 3327 558.3 - - 2204 - 328.0 15.30 0.946 1424 -2.7 0.175 - - - - - - 26.42 - 25.33
14146 544.2 12.7 582 14152 roll 0.76 0.12 0.150 3289 -316.7 2.12 0.040 3603 659.9 328.0 - - 1405 - - - - - - - - 26.13 26.23 -
14173 541.1 12.5 583 14178 done 0.74 - - 3293 - 2.10 0.026 2189 -673.3 328.0 - - 1403 - - - - - - - - - 26.30 -
14498 505.4 11.4 599 14504 roll 0.74 - - 3296 - 2.08 0.036 802 -666.8 328.0 - - 1403 - - - - - - - - - 26.34 -
14544 500.1 11.7 601 14550 done 0.74 - - 3296 - 2.08 0.026 2218 680.8 328.0 - - 1403 - - - - - - - - - 26.37 -
14869 464.8 10.7 617 14875 roll 0.74 - - 3296 - 2.10 0.041 3600 658.1 328.0 - - 1403 - - - - - - - - - 26.38 -
14909 462.0 10.9 618 14915 done 0.74 - - 3297 - 2.05 0.024 2196 -684.9 328.0 - - 1402 - - - - - - - - - 26.46 -
15214 428.4 10.0 634 15219 roll 0.74 - - 3296 - 2.08 0.036 799 -671.6 328.0 - - 1402 - - - - - - - - - 26.43 -
15336 417.7 10.4 639 15343 done 0.74 - - 3296 - 2.05 0.025 2202 684.4 328.0 - - 1402 - - - - - - - - - 26.46 -
15639 386.7 9.5 655 15645 roll 0.74 - - 3296 - 2.10 0.034 797 -669.0 328.0 - - 1402 - - - - - - - - - 26.46 -
15658 386.7 9.5 655 15666 done 0.74 - - 3296 - 2.05 0.025 2201 684.9 328.0 - - 1402 - - - - - - - - - 26.48 -
15964 357.5 9.0 671 15975 roll 0.76 - - 3296 - 2.12 0.033 810 -656.1 339.3 3.58 0.622 1379 -6.4 0.379 - - - - - - - 26.46 25.37
16030 351.4 9.2 674 16050 done 0.77 - - 3296 - 2.05 0.025 2209 682.4 345.5 13.35 0.812 1349 -2.2 0.100 - - - - - - - 26.46 25.49
16350 321.4 9.2 690 16352 done 0.78 - - 3296 - - - 2209 - 350.7 - - 1334 - - - - - - - - - - -
16653 292.7 9.4 705 16656 done 0.79 - - 3296 - - - 2209 - 352.6 1.23 0.190 1323 -8.9 1.414 - - - - - - - - 26.17
16951 267.1 7.7 720 17010 roll 0.88 0.10 0.090 3370 740.0 2.12 0.030 809 -660.4 400.1 50.80 0.709 1116 -4.1 0.158 - - - - - - 26.54 25.77 25.18
17102 252.2 10.5 727 17108 done 0.88 0.15 0.130 3330 -266.7 2.05 0.023 2198 677.6 400.1 - - 1105 - - - - - - - - 25.82 25.99 -
17423 221.6 10.3 743 17429 roll 0.91 - - 3330 - 2.08 0.031 805 -669.7 400.1 - - 1104 - - - - - - - - - 26.22 -
17450 218.9 10.3 744 17456 done 0.94 - - 3330 - 2.05 0.022 2214 687.3 400.1 - - 1104 - - - - - - - - - 26.27 -
17776 185.9 9.7 760 17782 roll 0.98 0.10 0.092 3393 630.0 2.08 0.037 3598 665.4 400.1 - - 1104 - - - - - - - - 26.44 26.33 -
17827 180.3 11.0 762 17833 done 1.00 - - 3401 - 2.03 0.021 2188 -694.6 400.1 - - 1104 - - - - - - - - - 26.42 -
18148 138.9 13.3 778 18153 roll 1.00 - - 3411 - 2.00 0.031 817 -685.5 400.1 - - 1103 - - - - - - - - - 26.42 -
18208 132.6 13.8 780 18215 done 1.00 0.15 0.133 3370 -273.3 2.00 0.022 2212 697.5 400.1 - - 1104 - - - - - - - - 26.26 26.47 -
18513 96.0 10.0 796 18519 roll 1.01 - - 3377 - 2.05 0.030 817 -680.5 400.1 - - 1104 - - - - - - - - - 26.47 -
18553 93.5 9.9 797 18561 done 1.02 - - 3377 - 1.98 0.021 2199 698.0 400.1 - - 1104 - - - - - - - - - 26.51 -
18859 68.6 7.2 813 18890 roll 1.14 0.12 0.076 3478 841.7 2.12 0.030 805 -657.5 460.7 25.00 0.253 888 -8.6 0.240 - - - - - - 26.60 26.37 25.89
19026 46.8 14.4 822 19034 done 1.12 0.22 0.131 3412 -300.0 2.00 0.021 2204 699.5 460.7 1.80 0.165 882 -3.3 0.097 - - - - - - 26.20 26.45 26.12
19342 16.9 9.6 861 19351 roll 1.14 - - 3419 - 2.10 0.030 816 -661.0 460.7 1.62 0.168 885 1.9 -0.019 - - - - - - - 26.46 26.20
19377 13.8 9.2 866 19390 done 1.16 - - 3419 - 1.98 0.021 2202 700.0 467.5 4.18 0.151 857 -6.7 0.063 - - - - - - - 26.50 26.17
19483 end climb: SURFACE_DEPTH_REACHED
19483 begin surface coast
19509 end surface coast: CONTROL_FINISHED_OK
19509 begin surface
SM 1.93 - - - - -9.02 8.12 0.019 135 16.6 0.15 0.051 2057 -47766.7 564.93 42.35 0.116 458 10.8 -0.018 - - - - - -