OKMC Jun13 * SG167 * Dive index * Mission links * Dive 202 * Raw log
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• Previous call tries 1 • 29.34 of 150.00 AH used of 24V (80.44% remains)
• Previous NAKs 0, Timeouts 0 • 18.34 of 100.00 AH used of 10V (81.66% remains)
• Surface angle -71.7 deg, depth 1.99 m • Intended pitch -15.7 deg, speed -9.429 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 37 s
• GPS2 time: 38 s • Transponder ping count: 20
• 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 - - - 126 VBD -0.83 - - 137 - - - 2098 - -175.2 -96.70 - 2890 - - - - - - - - - - -
134 3.2 -3.4 17 166 roll -0.83 10.55 0.234 2766 249.2 2.10 0.045 3469 652.9 -175.2 -11.32 - 3479 -52.0 - - - - - - - 25.70 26.20 26.50
288 50.2 -25.8 37 294 done -0.74 0.15 0.178 2803 246.7 2.00 0.016 2050 -709.5 -175.2 - - 3479 - - - - - - - - 26.01 26.35 -
615 114.1 -19.4 53 620 roll -0.69 - - 2803 - 1.95 0.030 692 -696.4 -175.2 - - 3480 - - - - - - - - - 26.41 -
704 130.5 -19.2 57 710 done -0.64 0.17 0.158 2843 235.3 1.98 0.020 2084 703.0 -175.2 - - 3480 - - - - - - - - 26.19 26.48 -
1025 176.8 -13.3 73 1031 roll -0.62 - - 2843 - 2.00 0.028 700 -692.0 -175.2 - - 3480 - - - - - - - - - 26.50 -
1051 179.7 -12.3 74 1057 done -0.60 - - 2835 - 1.98 0.021 2083 698.5 -175.2 - - 3480 - - - - - - - - - 26.53 -
1377 216.4 -11.1 90 1382 roll -0.58 - - 2834 - 2.03 0.034 3474 685.2 -175.2 - - 3480 - - - - - - - - - 26.51 -
1538 232.2 -10.7 97 1545 done -0.57 0.12 0.148 2868 283.3 1.98 0.017 2060 -714.1 -175.2 - - 3480 - - - - - - - - 26.36 26.60 -
1843 266.0 -10.6 113 1848 roll -0.57 - - 2869 - 1.92 0.030 712 -702.1 -175.2 - - 3479 - - - - - - - - - 26.55 -
1868 268.7 -10.8 114 1873 done -0.57 - - 2863 - 1.92 0.021 2072 708.3 -175.2 - - 3480 - - - - - - - - - 26.58 -
2193 302.2 -9.7 130 2198 roll -0.57 - - 2862 - 2.05 0.034 3474 683.9 -175.2 - - 3478 - - - - - - - - - 26.53 -
2292 310.3 -9.5 134 2299 done -0.57 - - 2862 - 1.95 0.017 2079 -715.4 -175.2 - - 3477 - - - - - - - - - 26.63 -
2598 339.7 -10.2 150 2604 roll -0.57 - - 2862 - 2.00 0.030 684 -697.5 -175.2 - - 3476 - - - - - - - - - 26.55 -
2648 345.1 -11.3 152 2653 done -0.57 - - 2862 - 2.00 0.023 2083 699.5 -175.2 - - 3476 - - - - - - - - - 26.59 -
2968 380.1 -10.5 168 2973 roll -0.57 - - 2862 - 2.03 0.034 3469 682.8 -175.2 - - 3474 - - - - - - - - - 26.55 -
3068 388.0 -9.4 172 3075 done -0.57 - - 2862 - 1.95 0.018 2067 -719.0 -175.2 - - 3473 - - - - - - - - - 26.64 -
3374 415.5 -9.1 188 3379 roll -0.57 - - 2862 - 1.95 0.030 706 -697.9 -175.2 - - 3472 - - - - - - - - - 26.57 -
3403 417.8 -8.9 189 3408 done -0.57 - - 2862 - 1.98 0.023 2073 690.4 -175.2 - - 3472 - - - - - - - - - 26.60 -
3724 446.2 -8.1 205 3729 roll -0.57 - - 2862 - 2.05 0.036 3467 680.0 -175.2 - - 3470 - - - - - - - - - 26.54 -
3833 454.9 -8.1 210 3839 done -0.59 - - 2862 - 1.95 0.018 2073 -714.9 -175.2 - - 3470 - - - - - - - - - 26.64 -
4159 483.9 -9.2 226 4165 roll -0.60 - - 2862 - 1.98 0.044 706 -690.4 -175.2 -0.08 - 3497 -337.5 - - - - - - - - 26.56 26.07
4206 487.9 -8.7 228 4212 done -0.61 - - 2862 - 1.98 0.023 2076 691.9 -175.2 - - 3497 - - - - - - - - - 26.60 -
4533 514.2 -7.6 244 4538 roll -0.63 - - 2862 - 2.05 0.036 3467 678.5 -175.2 - - 3495 - - - - - - - - - 26.53 -
4592 517.5 -7.4 246 4599 done -0.65 - - 2862 - 1.95 0.018 2074 -714.4 -175.2 - - 3495 - - - - - - - - - 26.64 -
4899 541.4 -7.3 262 4900 done -0.66 - - 2862 - - - 2074 - -175.2 - - 3493 - - - - - - - - - - -
5201 560.9 -6.0 277 5203 done -0.68 - - 2862 - - - 2074 - -175.2 - - 3491 - - - - - - - - - - -
5503 582.0 -6.9 292 5505 done -0.70 0.12 0.083 2797 -541.7 - - 2074 - -175.2 - - 3489 - - - - - - - - 26.64 - -
5801 613.5 -11.0 305 5806 roll -0.70 - - 2797 - 2.00 0.032 696 -689.0 -175.2 - - 3487 - - - - - - - - - 26.55 -
5840 617.8 -11.1 306 5846 done -0.70 - - 2795 - 2.00 0.024 2079 691.5 -175.2 - - 3487 - - - - - - - - - 26.58 -
6174 655.4 -11.4 317 6179 roll -0.69 0.12 0.161 2833 316.7 2.08 0.036 3475 671.2 -175.2 - - 3485 - - - - - - - - 26.39 26.52 -
6296 664.9 -10.2 320 6303 done -0.69 - - 2833 - 1.98 0.020 2081 -704.0 -175.2 - - 3484 - - - - - - - - - 26.63 -
6602 694.6 -8.7 331 6608 roll -0.69 - - 2834 - 2.03 0.033 691 -684.7 -175.2 - - 3482 - - - - - - - - - 26.53 -
6683 700.8 -8.8 333 6689 done -0.70 - - 2834 - 2.03 0.024 2088 688.2 -175.2 - - 3481 - - - - - - - - - 26.57 -
7007 730.4 -8.9 344 7012 roll -0.70 - - 2834 - 2.05 0.038 3467 672.7 -175.2 - - 3479 - - - - - - - - - 26.50 -
7061 733.5 -8.8 345 7067 done -0.70 - - 2834 - 1.98 0.021 2074 -703.5 -175.2 - - 3479 - - - - - - - - - 26.61 -
7379 759.8 -7.4 356 7385 roll -0.71 - - 2834 - 2.00 0.034 701 -686.5 -175.2 - - 3477 - - - - - - - - - 26.52 -
7460 765.0 -7.3 358 7465 done -0.72 - - 2833 - 2.00 0.025 2077 688.0 -175.2 - - 3476 - - - - - - - - - 26.56 -
7783 790.1 -8.3 369 7784 done -0.73 - - 2834 - - - 2077 - -175.2 - - 3474 - - - - - - - - - - -
8081 816.5 -9.1 379 8082 done -0.74 - - 2834 - - - 2077 - -175.2 - - 3472 - - - - - - - - - - -
8380 845.8 -9.9 389 8385 roll -0.75 - - 2834 - 2.10 0.041 3473 664.8 -175.2 - - 3470 - - - - - - - - - 26.47 -
8429 849.2 -9.8 390 8435 done -0.77 - - 2834 - 2.00 0.022 2080 -696.5 -175.2 - - 3470 - - - - - - - - - 26.60 -
8753 879.9 -9.5 401 8759 roll -0.78 0.12 0.087 2771 -525.0 2.05 0.033 690 -678.0 -175.2 - - 3468 - - - - - - - - 26.60 26.49 -
8844 889.2 -11.7 403 8851 done -0.78 0.12 0.168 2797 216.7 2.03 0.026 2072 680.8 -175.2 - - 3468 - - - - - - - - 26.25 26.54 -
9152 925.6 -9.6 414 9157 roll -0.78 - - 2795 - 2.10 0.041 3469 665.2 -175.2 - - 3466 - - - - - - - - - 26.45 -
9242 932.3 -9.3 416 9248 done -0.78 - - 2795 - 2.00 0.022 2074 -697.5 -175.2 - - 3466 - - - - - - - - - 26.58 -
9547 968.6 -9.9 427 9553 roll -0.78 - - 2795 - 2.03 0.035 696 -678.8 -175.2 - - 3464 - - - - - - - - - 26.48 -
9566 968.6 -9.9 427 9572 done -0.78 - - 2795 - 2.03 0.027 2075 679.3 -175.2 - - 3464 - - - - - - - - - 26.53 -
9793 end dive: TARGET_DEPTH_EXCEEDED
9793 begin apogee
9802 991.2 -8.8 435 10030 done -0.18 0.57 0.121 2983 329.8 - - 2219 - - 221.98 1.016 2762 -3.2 0.322 - - - - - - 26.15 - 24.17
10032 end apogee: CONTROL_FINISHED_OK
10032 begin climb
10036 996.1 - 442 10218 roll 0.83 0.93 0.065 3314 355.9 2.33 0.041 3588 587.6 175.2 167.45 1.136 2029 -4.4 0.401 - - - - - - 25.01 24.59 23.82
10298 965.9 15.9 451 10303 done 0.77 - - 3322 - 2.10 0.024 2210 -656.2 175.2 - - 2014 - - - - - - - - - 25.40 -
10621 911.6 15.9 462 10627 roll 0.73 0.12 0.177 3287 -291.7 2.15 0.040 3590 641.9 175.2 - - 2010 - - - - - - - - 25.86 26.02 -
10779 887.8 14.6 467 10784 done 0.69 - - 3294 - 2.08 0.024 2196 -670.2 175.2 - - 2008 - - - - - - - - - 26.20 -
11118 840.3 14.3 478 11124 roll 0.66 0.12 0.158 3256 -316.7 2.15 0.038 3591 648.8 175.2 - - 2007 - - - - - - - - 26.15 26.27 -
11164 834.8 14.2 479 11169 done 0.63 - - 3264 - 2.05 0.025 2196 -680.5 175.2 - - 2007 - - - - - - - - - 26.36 -
11492 793.6 12.2 490 11498 roll 0.61 - - 3272 - 2.08 0.035 804 -669.2 175.2 - - 2007 - - - - - - - - - 26.36 -
11543 788.7 12.4 491 11549 done 0.60 - - 3272 - 2.05 0.028 2193 677.6 175.2 - - 2004 - - - - - - - - - 26.39 -
11867 747.0 12.4 502 11873 roll 0.57 0.12 0.153 3235 -308.3 2.12 0.041 3596 661.8 175.2 - - 2004 - - - - - - - - 26.25 26.37 -
12008 731.7 11.7 506 12014 done 0.56 - - 3239 - 2.05 0.025 2196 -682.9 175.2 - - 2002 - - - - - - - - - 26.47 -
12332 698.5 9.3 517 12338 roll 0.56 - - 3249 - 2.08 0.035 802 -670.2 178.1 - - 2003 - - - - - - - - - 26.43 -
12383 694.7 9.5 518 12388 done 0.56 - - 3249 - 2.08 0.028 2209 676.4 178.1 - - 2003 - - - - - - - - - 26.46 -
12705 659.6 10.9 529 12710 roll 0.56 - - 3249 - 2.12 0.043 3601 656.6 178.1 - - 2002 - - - - - - - - - 26.41 -
12841 644.4 11.9 533 12846 done 0.55 - - 3250 - 2.05 0.026 2204 -681.5 178.1 - - 2002 - - - - - - - - - 26.51 -
13169 611.0 9.2 544 13171 done 0.55 - - 3250 - - - 2203 - 184.9 - - 2002 - - - - - - - - - - -
13478 583.5 8.4 557 13518 done 0.60 - - 3250 - - - 2204 - 214.6 37.55 0.921 1888 -3.0 0.201 - - - - - - - - 25.12
13816 553.4 9.1 574 13823 roll 0.61 - - 3249 - 2.17 0.037 806 -644.2 223.4 1.50 0.190 1849 -26.0 7.905 - - - - - - - 26.14 25.89
13867 549.2 8.9 576 13895 done 0.63 - - 3250 - 2.08 0.028 2203 671.6 238.0 22.38 0.941 1789 -2.7 0.163 - - - - - - - 26.18 25.04
14205 519.6 8.7 593 14229 roll 0.66 - - 3250 - 2.25 0.042 3600 620.9 258.1 19.52 0.934 1703 -4.4 0.256 - - - - - - - 25.79 25.05
14264 515.8 8.8 595 14285 done 0.69 - - 3250 - 2.10 0.025 2200 -666.7 274.3 14.90 0.915 1638 -4.4 0.257 - - - - - - - 25.92 24.90
14595 484.9 9.0 612 14605 roll 0.70 - - 3250 - 2.15 0.036 812 -645.6 286.0 3.12 0.605 1595 -13.8 1.153 - - - - - - - 26.07 24.93
14703 475.3 9.2 617 14723 done 0.71 - - 3250 - 2.08 0.028 2204 669.2 291.7 13.32 0.925 1569 -2.0 0.105 - - - - - - - 26.15 25.12
15021 446.2 9.2 633 15025 done 0.75 0.12 0.083 3325 625.0 - - 2204 - 299.0 1.35 0.190 1541 -20.7 5.084 - - - - - - 26.22 - 25.92
15320 412.3 11.6 648 15327 roll 0.74 0.12 0.144 3294 -258.3 2.10 0.032 806 -665.7 299.0 - - 1549 - - - - - - - - 26.16 26.27 -
15401 405.5 10.6 651 15408 done 0.74 - - 3294 - 2.08 0.027 2212 676.0 299.0 - - 1550 - - - - - - - - - 26.32 -
15707 375.5 9.2 667 15717 roll 0.75 - - 3300 - 2.10 0.031 805 -670.0 304.7 3.97 0.718 1522 -7.1 0.385 - - - - - - - 26.34 25.20
15752 371.1 9.3 669 15763 done 0.75 - - 3300 - 2.05 0.026 2198 679.5 307.4 3.25 0.663 1514 -2.5 0.144 - - - - - - - 26.34 25.03
16078 341.7 9.5 685 16083 done 0.75 - - 3300 - - - 2198 - 307.4 2.58 0.454 1509 -1.9 0.152 - - - - - - - - 25.11
16403 306.5 10.8 701 16413 roll 0.75 - - 3308 - 2.12 0.032 806 -656.6 307.4 2.20 0.313 1512 1.4 -0.139 - - - - - - - 26.39 25.08
16482 299.1 11.2 704 16491 done 0.75 - - 3308 - 2.05 0.025 2216 687.8 307.4 2.12 0.276 1509 -1.4 0.160 - - - - - - - 26.41 25.03
16788 263.2 11.2 720 16795 roll 0.75 - - 3315 - 2.17 0.031 797 -653.9 307.4 1.95 0.177 1510 - - - - - - - - - 26.42 26.08
16809 263.2 11.2 720 16817 done 0.75 - - 3315 - 2.05 0.024 2212 690.2 307.4 1.30 0.205 1510 - - - - - - - - - 26.44 26.10
17115 227.9 10.1 736 17125 roll 0.75 - - 3315 - 2.12 0.039 3588 649.1 307.4 2.03 0.213 1513 1.5 -0.165 - - - - - - - 26.42 23.50
17154 225.4 10.1 737 17162 done 0.75 - - 3321 - 2.03 0.021 2178 -694.6 307.4 1.85 0.177 1508 -2.7 0.359 - - - - - - - 26.51 26.13
17460 195.7 8.2 753 17507 roll 0.80 - - 3329 - 2.08 0.031 820 -652.9 341.2 39.42 0.696 1358 -3.8 0.112 - - - - - - - 25.95 25.31
17599 185.6 8.1 759 17638 done 0.86 - - 3329 - 2.03 0.023 2198 678.8 377.5 31.52 0.670 1216 -4.5 0.130 - - - - - - - 26.10 25.08
17949 157.8 7.5 777 18000 roll 0.95 - - 3328 - 2.10 0.028 820 -656.2 431.4 45.97 0.633 995 -4.8 0.125 - - - - - - - 25.65 25.04
18094 146.9 7.5 784 18152 done 1.05 0.17 0.059 3422 552.9 2.05 0.021 2209 677.6 484.5 46.25 0.607 768 -4.9 0.124 - - - - - - 25.93 25.91 24.89
18453 100.4 13.3 802 18459 roll 1.05 0.12 0.145 3390 -266.7 2.08 0.029 819 -668.3 484.5 - - 757 - - - - - - - - 25.97 26.10 -
18528 92.8 11.7 805 18533 done 1.05 - - 3390 - 2.03 0.022 2200 680.3 484.5 - - 756 - - - - - - - - - 26.19 -
18844 59.8 9.4 821 18849 roll 1.07 - - 3397 - 2.05 0.031 813 -676.6 484.5 - - 757 - - - - - - - - - 26.30 -
18918 53.3 9.7 824 18924 done 1.08 - - 3397 - 2.03 0.021 2217 691.6 484.5 - - 757 - - - - - - - - - 26.36 -
19237 24.8 9.2 854 19244 roll 1.13 - - 3397 - 2.05 0.037 3597 673.2 491.2 - - 756 - - - - - - - - - 26.38 -
19291 19.3 10.4 863 19298 done 1.15 - - 3404 - 2.00 0.019 2184 -706.5 491.2 - - 756 - - - - - - - - - 26.48 -
19456 end climb: SURFACE_DEPTH_REACHED
19457 begin surface coast
19484 end surface coast: CONTROL_FINISHED_OK
19484 begin surface
SM 2.04 - - - - -9.03 8.20 0.025 141 17.2 0.08 0.094 2090 13250.0 564.93 30.67 0.118 456 14.9 -0.026 - - - - - -