OKMC Jun13 * SG167 * Dive index * Mission links * Dive 200 * Raw log
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• Previous call tries 1 • 28.97 of 150.00 AH used of 24V (80.68% remains)
• Previous NAKs 0, Timeouts 0 • 18.09 of 100.00 AH used of 10V (81.91% remains)
• Surface angle -71.9 deg, depth 1.96 m • Intended pitch -15.7 deg, speed -9.429 cm/s
• VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 34 s
• GPS2 time: 39 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 - - - 125 VBD -0.83 - - 128 - - - 2038 - -175.2 -96.53 - 2873 - - - - - - - - - - -
133 3.0 -2.3 17 165 roll -0.83 10.50 0.233 2779 252.5 1.98 0.043 716 -667.7 -175.2 -11.95 - 3480 -50.8 - - - - - - - 25.75 26.25 26.53
253 43.6 -33.2 33 259 done -0.72 0.17 0.194 2813 200.0 1.95 0.018 2090 704.6 -175.2 - - 3480 - - - - - - - - 25.99 26.34 -
579 118.2 -19.4 50 584 roll -0.67 - - 2805 - 2.00 0.032 3464 687.0 -175.2 - - 3481 - - - - - - - - - 26.41 -
645 130.9 -19.5 53 651 done -0.63 0.15 0.162 2844 260.0 1.95 0.015 2071 -714.4 -175.2 - - 3481 - - - - - - - - 26.21 26.51 -
971 182.4 -14.3 69 977 roll -0.60 - - 2844 - 1.95 0.029 708 -699.0 -175.2 - - 3481 - - - - - - - - - 26.51 -
1032 188.9 -14.4 71 1039 done -0.57 - - 2837 - 1.95 0.021 2082 704.6 -175.2 - - 3481 - - - - - - - - - 26.55 -
1338 230.9 -13.9 87 1343 roll -0.55 0.12 0.161 2874 308.3 2.03 0.031 3476 686.7 -175.2 - - 3481 - - - - - - - - 26.40 26.53 -
1408 238.4 -11.7 90 1415 done -0.55 - - 2874 - 1.92 0.015 2079 -727.6 -175.2 - - 3481 - - - - - - - - - 26.62 -
1729 274.6 -10.8 106 1731 done -0.55 - - 2874 - - - 2079 - -175.2 - - 3481 - - - - - - - - - - -
2033 302.6 -8.6 121 2034 done -0.55 - - 2875 - - - 2079 - -175.2 - - 3481 - - - - - - - - - - -
2332 329.0 -9.4 136 2338 roll -0.55 - - 2874 - 2.05 0.033 3470 678.5 -175.2 - - 3479 - - - - - - - - - 26.56 -
2363 331.5 -9.2 137 2368 done -0.55 - - 2874 - 1.92 0.017 2079 -724.5 -175.2 - - 3479 - - - - - - - - - 26.65 -
2683 357.6 -7.2 153 2688 roll -0.55 - - 2875 - 1.98 0.030 699 -697.0 -175.2 - - 3477 - - - - - - - - - 26.58 -
2737 360.8 -6.8 155 2743 done -0.55 - - 2875 - 1.95 0.022 2069 702.6 -175.2 - - 3477 - - - - - - - - - 26.61 -
3053 386.8 -8.8 171 3058 roll -0.56 - - 2874 - 2.05 0.035 3467 682.0 -175.2 - - 3474 - - - - - - - - - 26.56 -
3139 394.7 -9.2 175 3145 done -0.58 - - 2875 - 1.95 0.017 2069 -716.9 -175.2 - - 3475 - - - - - - - - - 26.65 -
3466 422.2 -7.6 191 3471 roll -0.59 - - 2874 - 1.95 0.030 709 -697.4 -175.2 - - 3472 - - - - - - - - - 26.58 -
3532 426.9 -7.1 194 3537 done -0.61 - - 2875 - 1.95 0.023 2073 699.5 -175.2 - - 3472 - - - - - - - - - 26.61 -
3857 450.0 -7.1 210 3863 roll -0.63 - - 2875 - 2.05 0.036 3469 681.0 -175.2 - - 3470 - - - - - - - - - 26.55 -
3924 454.8 -7.2 213 3930 done -0.64 - - 2874 - 1.95 0.018 2067 -719.0 -175.2 - - 3470 - - - - - - - - - 26.65 -
4251 479.9 -8.0 229 4257 roll -0.66 0.12 0.081 2800 -616.7 2.10 0.047 3476 671.0 -175.2 -0.05 - 3488 -360.0 - - - - - - - 26.66 26.55 25.22
4278 482.5 -8.6 230 4284 done -0.68 0.12 0.148 2833 275.0 1.95 0.018 2071 -720.5 -175.2 - - 3488 - - - - - - - - 26.39 26.65 -
4603 514.7 -9.7 246 4609 roll -0.68 - - 2834 - 1.98 0.031 700 -692.4 -175.2 - - 3486 - - - - - - - - - 26.58 -
4698 523.1 -10.0 250 4704 done -0.68 - - 2833 - 1.98 0.023 2076 694.9 -175.2 - - 3486 - - - - - - - - - 26.60 -
5013 554.7 -10.0 266 5019 roll -0.68 - - 2833 - 2.00 0.029 701 -687.5 -175.2 - - 3483 - - - - - - - - - 26.58 -
5062 559.3 -10.1 268 5067 done -0.68 - - 2833 - 1.98 0.023 2077 694.9 -175.2 - - 3483 - - - - - - - - - 26.60 -
5382 595.1 -11.2 284 5388 roll -0.68 - - 2833 - 2.05 0.037 3468 678.5 -175.2 - - 3481 - - - - - - - - - 26.55 -
5448 602.3 -11.0 287 5455 done -0.68 - - 2833 - 1.95 0.018 2079 -712.3 -175.2 - - 3481 - - - - - - - - - 26.65 -
5787 634.8 -9.3 298 5793 roll -0.68 - - 2833 - 2.00 0.031 701 -689.0 -175.2 - - 3479 - - - - - - - - - 26.56 -
5848 638.4 -9.2 299 5854 done -0.68 - - 2833 - 1.98 0.023 2074 693.4 -175.2 - - 3479 - - - - - - - - - 26.60 -
6153 667.9 -9.0 310 6158 roll -0.68 - - 2833 - 2.08 0.038 3470 671.2 -175.2 - - 3476 - - - - - - - - - 26.53 -
6208 670.9 -9.1 311 6214 done -0.68 - - 2833 - 1.98 0.019 2072 -706.1 -175.2 - - 3476 - - - - - - - - - 26.64 -
6524 703.2 -9.8 322 6530 roll -0.68 - - 2833 - 2.10 0.037 3470 665.7 -175.2 - - 3474 - - - - - - - - - 26.53 -
6560 706.6 -9.6 323 6565 done -0.68 - - 2833 - 1.98 0.020 2077 -703.5 -175.2 - - 3473 - - - - - - - - - 26.63 -
6898 734.7 -8.0 334 6903 roll -0.68 - - 2833 - 2.00 0.033 703 -687.0 -175.2 - - 3471 - - - - - - - - - 26.54 -
6998 743.6 -9.0 337 7003 done -0.68 - - 2833 - 2.00 0.024 2083 690.0 -175.2 - - 3471 - - - - - - - - - 26.58 -
7331 772.5 -8.7 348 7337 roll -0.68 - - 2833 - 2.08 0.037 3474 668.8 -175.2 - - 3468 - - - - - - - - - 26.51 -
7430 781.0 -8.6 351 7436 done -0.69 - - 2833 - 2.00 0.021 2077 -698.5 -175.2 - - 3467 - - - - - - - - - 26.62 -
7769 810.6 -8.6 362 7774 roll -0.70 - - 2833 - 2.03 0.034 691 -682.8 -175.2 - - 3465 - - - - - - - - - 26.53 -
7840 816.5 -8.6 364 7845 done -0.71 - - 2833 - 2.03 0.025 2082 685.2 -175.2 - - 3465 - - - - - - - - - 26.56 -
8173 842.5 -7.5 375 8179 roll -0.72 - - 2833 - 2.08 0.039 3471 667.8 -175.2 - - 3463 - - - - - - - - - 26.50 -
8240 847.3 -7.1 377 8245 done -0.74 - - 2834 - 2.00 0.022 2077 -697.0 -175.2 - - 3462 - - - - - - - - - 26.60 -
8578 869.7 -6.7 388 8579 done -0.75 - - 2833 - - - 2076 - -175.2 - - 3460 - - - - - - - - - - -
8876 889.9 -7.1 398 8882 roll -0.76 - - 2833 - 2.03 0.034 697 -679.3 -175.2 - - 3459 - - - - - - - - - 26.51 -
8921 892.9 -7.5 399 8927 done -0.78 - - 2833 - 2.03 0.026 2083 682.8 -175.2 - - 3458 - - - - - - - - - 26.55 -
9252 922.2 -9.4 410 9258 roll -0.79 0.12 0.084 2766 -558.3 2.10 0.037 3480 665.2 -175.2 - - 3457 - - - - - - - - 26.62 26.47 -
9292 926.9 -10.1 411 9297 done -0.79 - - 2766 - 2.03 0.022 2068 -695.6 -175.2 - - 3456 - - - - - - - - - 26.59 -
9625 973.8 -14.3 422 9632 roll -0.78 0.12 0.158 2805 325.0 2.05 0.032 684 -675.1 -175.2 - - 3455 - - - - - - - - 26.35 26.50 -
9662 979.2 -14.1 423 9667 done -0.77 - - 2805 - 2.05 0.027 2074 678.0 -175.2 - - 3454 - - - - - - - - - 26.53 -
9753 end dive: TARGET_DEPTH_EXCEEDED
9753 begin apogee
9761 990.7 -12.5 426 9983 done -0.18 0.55 0.119 2989 334.5 - - 2219 - - 212.65 1.016 2753 -3.3 0.330 - - - - - - 26.20 - 24.14
9986 end apogee: CONTROL_FINISHED_OK
9986 begin climb
9989 1001.6 - 433 10167 done 0.83 0.90 0.057 3316 363.3 - - 2219 - 175.2 165.18 1.141 2035 -4.3 0.392 - - - - - - 25.08 - 23.88
10485 939.3 14.8 450 10486 done 0.79 - - 3316 - - - 2219 - 175.2 - - 2011 - - - - - - - - - - -
10782 895.6 14.2 460 10787 roll 0.75 - - 3317 - 2.10 0.041 3586 651.0 175.2 - - 2009 - - - - - - - - - 26.19 -
10826 890.3 14.4 461 10832 done 0.71 0.17 0.158 3279 -223.5 2.03 0.024 2206 -679.8 175.2 - - 2008 - - - - - - - - 26.01 26.28 -
11153 850.8 11.6 472 11158 roll 0.68 - - 3278 - 2.12 0.041 3577 646.7 175.2 - - 2007 - - - - - - - - - 26.30 -
11188 846.5 11.7 473 11194 done 0.65 - - 3285 - 2.03 0.024 2201 -677.8 175.2 - - 2007 - - - - - - - - - 26.39 -
11527 803.0 13.8 484 11533 roll 0.63 0.12 0.155 3248 -308.3 2.12 0.039 3584 652.4 175.2 - - 2006 - - - - - - - - 26.25 26.36 -
11552 803.0 13.8 484 11557 done 0.60 - - 3251 - 2.05 0.025 2195 -677.6 175.2 - - 2006 - - - - - - - - - 26.44 -
11870 761.7 11.5 495 11876 roll 0.58 - - 3251 - 2.15 0.041 3587 647.4 175.2 - - 2005 - - - - - - - - - 26.39 -
11950 754.0 11.2 497 11955 done 0.57 - - 3251 - 2.05 0.025 2190 -681.5 175.2 - - 2006 - - - - - - - - - 26.48 -
12273 719.9 10.3 508 12278 roll 0.56 - - 3252 - 2.08 0.037 800 -668.3 175.2 - - 2004 - - - - - - - - - 26.44 -
12332 715.9 10.5 509 12339 done 0.54 - - 3251 - 2.03 0.028 2184 681.8 175.2 - - 2004 - - - - - - - - - 26.46 -
12642 681.3 9.9 520 12647 roll 0.53 - - 3252 - 2.15 0.043 3596 656.7 175.2 - - 2003 - - - - - - - - - 26.42 -
12797 663.5 11.5 525 12804 done 0.52 0.15 0.151 3221 -206.7 2.05 0.025 2196 -682.9 175.2 - - 2002 - - - - - - - - 26.23 26.52 -
13134 638.5 6.3 536 13256 roll 0.65 0.12 0.080 3293 600.0 2.20 0.036 803 -633.2 262.0 109.07 0.868 1683 -2.9 0.221 - - - - - - 26.55 25.18 24.51
13331 620.6 10.0 542 13337 done 0.63 0.15 0.129 3253 -266.7 2.12 0.028 2207 662.3 262.0 - - 1669 - - - - - - - - 25.54 25.67 -
13646 592.0 9.4 554 13653 roll 0.63 - - 3253 - 2.17 0.042 3600 641.9 263.7 - - 1664 - - - - - - - - - 26.08 -
13687 589.2 9.8 555 13694 done 0.63 - - 3253 - 2.08 0.025 2203 -671.6 263.7 - - 1663 - - - - - - - - - 26.17 -
13992 553.2 11.5 571 13997 roll 0.63 - - 3253 - 2.10 0.037 802 -667.1 263.7 - - 1662 - - - - - - - - - 26.25 -
14081 544.0 10.9 575 14087 done 0.63 - - 3253 - 2.08 0.028 2211 677.4 263.7 - - 1663 - - - - - - - - - 26.29 -
14402 514.1 8.2 591 14449 roll 0.68 - - 3253 - 2.25 0.035 800 -627.1 298.3 37.80 0.847 1534 -3.4 0.213 - - - - - - - 25.77 25.08
14502 507.6 7.9 595 14553 done 0.75 0.12 0.078 3317 533.3 2.10 0.026 2203 668.1 339.8 43.10 0.865 1375 -3.7 0.222 - - - - - - 25.90 25.91 24.68
14873 463.4 11.6 614 14878 roll 0.75 - - 3324 - 2.12 0.034 808 -658.0 339.8 - - 1344 - - - - - - - - - 26.05 -
14926 457.9 12.0 616 14932 done 0.75 0.12 0.141 3291 -275.0 2.08 0.026 2199 668.8 339.8 - - 1344 - - - - - - - - 25.95 26.12 -
15242 424.8 9.5 632 15248 roll 0.75 - - 3293 - 2.10 0.034 805 -663.8 339.8 - - 1343 - - - - - - - - - 26.24 -
15268 422.4 9.5 633 15274 done 0.75 - - 3292 - 2.08 0.026 2216 678.4 339.8 - - 1343 - - - - - - - - - 26.27 -
15594 390.5 9.8 649 15599 roll 0.75 - - 3293 - 2.12 0.034 800 -667.9 339.8 - - 1343 - - - - - - - - - 26.34 -
15672 384.0 9.8 652 15679 done 0.75 - - 3293 - 2.08 0.024 2211 678.4 339.8 - - 1342 - - - - - - - - - 26.37 -
15979 353.5 9.2 668 15984 roll 0.76 - - 3293 - 2.10 0.033 799 -672.4 346.3 - - 1343 - - - - - - - - - 26.39 -
16028 349.4 9.3 670 16033 done 0.76 - - 3293 - 2.05 0.024 2206 686.3 350.1 - - 1343 - - - - - - - - - 26.43 -
16349 319.1 9.0 686 16373 roll 0.79 - - 3295 - 2.17 0.033 807 -644.7 362.8 19.50 0.754 1275 -3.5 0.151 - - - - - - - 26.17 25.48
16451 311.0 9.4 690 16458 done 0.81 - - 3295 - 2.05 0.024 2206 682.4 363.5 - - 1258 - - - - - - - - - 26.23 -
16753 280.2 9.8 706 16760 roll 0.82 - - 3295 - 2.10 0.034 803 -668.1 363.5 - - 1257 - - - - - - - - - 26.32 -
16824 273.6 9.9 709 16830 done 0.83 - - 3295 - 2.05 0.024 2205 683.9 363.5 - - 1258 - - - - - - - - - 26.36 -
17145 239.0 10.7 725 17150 roll 0.85 - - 3295 - 2.10 0.033 796 -671.0 363.5 - - 1257 - - - - - - - - - 26.40 -
17234 230.4 10.1 729 17241 done 0.86 - - 3295 - 2.05 0.023 2208 688.8 363.5 - - 1258 - - - - - - - - - 26.45 -
17556 203.7 7.3 745 17619 roll 0.98 0.15 0.067 3406 740.0 2.17 0.031 807 -645.6 423.1 53.45 0.659 1025 -4.4 0.138 - - - - - - 26.53 25.81 25.22
17710 185.2 14.0 752 17717 done 0.96 0.17 0.133 3358 -282.4 2.05 0.023 2196 677.6 423.1 - - 1014 - - - - - - - - 25.83 26.02 -
18028 145.4 11.4 768 18033 roll 0.97 - - 3364 - 2.08 0.031 805 -668.8 423.1 - - 1013 - - - - - - - - - 26.23 -
18127 136.1 10.8 772 18135 done 0.97 - - 3364 - 2.05 0.023 2212 686.3 423.1 - - 1013 - - - - - - - - - 26.32 -
18433 106.5 8.9 788 18444 roll 1.01 - - 3365 - 2.15 0.030 803 -655.3 438.2 6.47 0.183 976 -5.7 0.342 - - - - - - - 26.34 25.65
18494 101.9 9.4 790 18502 done 1.02 - - 3365 - 2.03 0.022 2204 690.1 439.1 3.03 0.180 971 -1.7 0.096 - - - - - - - 26.39 25.67
18800 71.0 9.6 806 18810 roll 1.04 - - 3365 - 2.12 0.031 797 -663.7 439.1 2.62 0.163 978 2.7 -0.119 - - - - - - - 26.41 25.99
18835 68.5 9.7 807 18846 done 1.06 - - 3365 - 2.03 0.021 2210 696.1 439.1 2.60 0.167 978 - - - - - - - - - 26.45 25.95
19146 40.3 7.1 829 19184 roll 1.19 0.15 0.066 3485 800.0 2.08 0.028 799 -678.4 503.2 31.40 0.200 712 -8.5 0.175 - - - - - - 26.54 26.34 25.94
19307 21.0 13.0 847 19315 done 1.18 0.20 0.125 3425 -300.0 2.00 0.021 2204 702.5 503.2 1.83 0.164 708 -2.2 0.029 - - - - - - 26.17 26.41 26.10
19486 end climb: SURFACE_DEPTH_REACHED
19486 begin surface coast
19513 end surface coast: CONTROL_FINISHED_OK
19513 begin surface
SM 2.08 - - - - -9.03 8.23 0.023 134 16.3 0.17 0.046 2048 -66294.1 564.93 27.98 0.119 455 16.3 -0.029 - - - - - -