OKMC Jun13 * SG167 * Dive index * Mission links * Dive 219 * Raw log
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• Previous call tries 1 • 32.46 of 150.00 AH used of 24V (78.36% remains)
• Previous NAKs 0, Timeouts 0 • 20.46 of 100.00 AH used of 10V (79.54% remains)
• Surface angle -72.9 deg, depth 2.00 m • Intended pitch -15.7 deg, speed -9.429 cm/s
• VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 40 s
• GPS2 time: 45 s • Transponder ping count: 14
• 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
22 begin dive
26 - - - 119 VBD -0.83 - - 132 - - - 2045 - -175.2 -90.80 - 2750 - - - - - - - - - - -
127 3.0 -2.6 16 158 done -0.83 10.57 0.233 2776 250.1 - - 2043 - -175.2 -14.98 - 3480 -48.7 - - - - - - - 25.67 - 26.51
463 92.2 -18.7 46 469 roll -0.76 - - 2776 - 1.95 0.028 696 -690.8 -175.2 - - 3481 - - - - - - - - - 26.36 -
503 96.8 -17.8 47 510 done -0.70 0.20 0.160 2823 235.0 2.00 0.021 2099 701.5 -175.2 - - 3481 - - - - - - - - 26.07 26.39 -
809 149.2 -18.5 63 814 roll -0.67 - - 2814 - 2.00 0.032 3469 685.0 -175.2 - - 3481 - - - - - - - - - 26.42 -
895 164.4 -17.8 67 901 done -0.64 0.12 0.158 2846 266.7 1.95 0.016 2060 -722.6 -175.2 - - 3481 - - - - - - - - 26.24 26.53 -
1221 209.7 -12.3 83 1226 roll -0.62 - - 2847 - 1.92 0.028 710 -703.1 -175.2 - - 3481 - - - - - - - - - 26.50 -
1301 217.8 -12.4 86 1308 done -0.61 - - 2847 - 1.95 0.021 2084 704.6 -175.2 - - 3482 - - - - - - - - - 26.53 -
1606 254.4 -11.8 102 1612 roll -0.61 - - 2847 - 2.05 0.034 3477 679.5 -175.2 - - 3481 - - - - - - - - - 26.48 -
1743 267.6 -10.2 108 1748 done -0.61 - - 2847 - 1.92 0.016 2077 -729.2 -175.2 - - 3481 - - - - - - - - - 26.60 -
2058 301.5 -11.0 124 2064 roll -0.61 - - 2847 - 1.95 0.028 708 -702.1 -175.2 - - 3480 - - - - - - - - - 26.54 -
2138 309.1 -11.4 127 2145 done -0.61 - - 2847 - 1.95 0.021 2077 702.1 -175.2 - - 3480 - - - - - - - - - 26.56 -
2445 339.9 -8.7 143 2450 roll -0.61 - - 2847 - 2.05 0.035 3477 682.9 -175.2 - - 3478 - - - - - - - - - 26.51 -
2470 342.0 -8.4 144 2475 done -0.61 - - 2847 - 1.95 0.017 2071 -721.0 -175.2 - - 3478 - - - - - - - - - 26.61 -
2795 371.9 -9.9 160 2800 roll -0.61 - - 2847 - 1.95 0.029 706 -700.0 -175.2 - - 3477 - - - - - - - - - 26.54 -
2868 378.9 -10.8 163 2875 done -0.61 - - 2847 - 1.98 0.023 2083 695.5 -175.2 - - 3477 - - - - - - - - - 26.56 -
3185 412.0 -10.2 179 3190 roll -0.61 - - 2847 - 2.05 0.035 3480 681.5 -175.2 - - 3475 - - - - - - - - - 26.51 -
3259 418.3 -9.6 182 3264 done -0.61 - - 2847 - 1.95 0.017 2071 -722.6 -175.2 - - 3474 - - - - - - - - - 26.62 -
3574 446.0 -8.1 198 3580 roll -0.61 - - 2847 - 1.95 0.030 711 -697.4 -175.2 - - 3472 - - - - - - - - - 26.54 -
3629 450.1 -8.5 200 3634 done -0.61 - - 2847 - 1.95 0.023 2076 700.0 -175.2 - - 3472 - - - - - - - - - 26.57 -
3944 476.5 -7.8 216 3949 roll -0.61 - - 2847 - 2.05 0.037 3467 678.5 -175.2 - - 3470 - - - - - - - - - 26.50 -
4030 483.7 -8.5 220 4036 done -0.62 - - 2847 - 1.92 0.018 2079 -722.9 -175.2 -0.08 - 3494 -300.0 - - - - - - - - 26.62 25.70
4357 512.3 -8.6 236 4362 roll -0.63 - - 2847 - 2.00 0.030 694 -692.5 -175.2 - - 3492 - - - - - - - - - 26.53 -
4442 520.0 -8.9 240 4448 done -0.64 - - 2847 - 2.00 0.023 2075 690.5 -175.2 - - 3491 - - - - - - - - - 26.56 -
4768 550.6 -9.5 256 4773 roll -0.65 - - 2847 - 2.08 0.037 3474 672.6 -175.2 - - 3489 - - - - - - - - - 26.49 -
4818 554.8 -9.4 258 4824 done -0.67 - - 2847 - 1.98 0.018 2072 -708.1 -175.2 - - 3488 - - - - - - - - - 26.61 -
5138 585.8 -9.5 274 5144 roll -0.68 - - 2847 - 1.98 0.031 704 -690.9 -175.2 - - 3486 - - - - - - - - - 26.52 -
5185 590.3 -9.5 276 5191 done -0.69 - - 2847 - 2.00 0.024 2082 689.0 -175.2 - - 3486 - - - - - - - - - 26.55 -
5506 619.8 -8.9 288 5511 roll -0.71 - - 2847 - 2.05 0.037 3469 676.6 -175.2 - - 3484 - - - - - - - - - 26.48 -
5613 627.7 -8.1 291 5619 done -0.72 - - 2847 - 1.98 0.019 2069 -707.1 -175.2 - - 3483 - - - - - - - - - 26.60 -
5942 652.9 -7.1 302 5948 roll -0.74 0.10 0.099 2794 -530.0 2.00 0.030 696 -686.5 -175.2 - - 3481 - - - - - - - - 26.63 26.51 -
5994 656.3 -7.5 303 6000 done -0.75 - - 2792 - 2.00 0.024 2076 690.0 -175.2 - - 3480 - - - - - - - - - 26.54 -
6317 689.4 -10.1 314 6318 done -0.75 - - 2792 - - - 2076 - -175.2 - - 3478 - - - - - - - - - - -
6615 721.9 -11.2 324 6620 roll -0.75 - - 2792 - 2.08 0.038 3470 670.2 -175.2 - - 3476 - - - - - - - - - 26.46 -
6683 729.6 -11.8 326 6689 done -0.75 - - 2792 - 1.98 0.019 2076 -704.0 -175.2 - - 3476 - - - - - - - - - 26.60 -
7017 769.2 -12.2 337 7022 roll -0.75 - - 2791 - 2.10 0.037 3470 663.8 -175.2 - - 3474 - - - - - - - - - 26.46 -
7056 773.9 -12.4 338 7062 done -0.75 - - 2791 - 1.98 0.021 2079 -702.5 -175.2 - - 3474 - - - - - - - - - 26.58 -
7389 814.1 -11.7 349 7394 roll -0.75 - - 2791 - 2.03 0.033 697 -680.8 -175.2 - - 3472 - - - - - - - - - 26.48 -
7414 814.1 -11.7 349 7419 done -0.75 - - 2788 - 2.03 0.025 2085 683.7 -175.2 - - 3471 - - - - - - - - - 26.51 -
7728 853.1 -11.3 360 7734 roll -0.75 - - 2781 - 2.08 0.038 3474 667.8 -175.2 - - 3470 - - - - - - - - - 26.44 -
7764 856.9 -11.2 361 7769 done -0.75 - - 2781 - 2.00 0.021 2077 -698.5 -175.2 - - 3470 - - - - - - - - - 26.57 -
8103 892.0 -10.1 372 8109 roll -0.75 - - 2780 - 2.03 0.034 696 -680.3 -175.2 - - 3467 - - - - - - - - - 26.46 -
8177 899.1 -10.2 374 8183 done -0.75 0.12 0.163 2811 258.3 2.03 0.026 2079 681.3 -175.2 - - 3466 - - - - - - - - 26.21 26.51 -
8508 926.9 -8.1 385 8513 roll -0.75 - - 2808 - 2.10 0.040 3476 665.2 -175.2 - - 3465 - - - - - - - - - 26.41 -
8573 932.6 -8.2 387 8579 done -0.75 - - 2808 - 2.03 0.021 2070 -692.6 -175.2 - - 3464 - - - - - - - - - 26.56 -
8913 959.1 -7.9 398 8918 roll -0.75 - - 2808 - 2.03 0.034 692 -678.8 -175.2 - - 3463 - - - - - - - - - 26.44 -
8943 959.1 -7.9 398 8950 done -0.75 - - 2808 - 2.03 0.026 2072 679.8 -175.2 - - 3462 - - - - - - - - - 26.48 -
9252 985.4 -7.5 409 9257 roll -0.75 - - 2808 - 2.12 0.041 3480 664.2 -175.2 - - 3461 - - - - - - - - - 26.39 -
9290 988.3 -7.5 410 9296 done -0.75 - - 2808 - 2.03 0.022 2070 -694.6 -175.2 - - 3460 - - - - - - - - - 26.54 -
9318 end dive: TARGET_DEPTH_EXCEEDED
9318 begin apogee
9326 990.9 -7.5 411 9553 done -0.18 0.52 0.116 2983 336.5 - - 2216 - - 220.12 1.017 2760 -3.2 0.319 - - - - - - 26.09 - 24.17
9555 end apogee: CONTROL_FINISHED_OK
9555 begin climb
9559 995.9 - 418 9737 roll 0.83 0.93 0.064 3314 355.9 2.33 0.042 3592 590.6 175.2 163.50 1.152 2029 -4.5 0.398 - - - - - - 25.01 24.59 23.79
9814 964.5 16.7 427 9820 done 0.77 - - 3322 - 2.12 0.024 2204 -654.7 175.2 - - 2017 - - - - - - - - - 25.39 -
10149 908.7 15.9 438 10155 roll 0.73 0.12 0.171 3286 -300.0 2.17 0.039 3597 641.9 175.2 - - 2014 - - - - - - - - 25.87 26.02 -
10174 908.7 15.9 438 10180 done 0.69 - - 3293 - 2.10 0.024 2194 -668.1 175.2 - - 2014 - - - - - - - - - 26.12 -
10493 862.2 12.8 449 10499 roll 0.66 0.12 0.161 3264 -241.7 2.10 0.034 799 -664.3 175.2 - - 2013 - - - - - - - - 26.08 26.23 -
10533 857.5 12.4 450 10539 done 0.63 - - 3264 - 2.10 0.029 2200 667.1 175.2 - - 2013 - - - - - - - - - 26.26 -
10867 822.1 10.4 461 10872 roll 0.61 - - 3264 - 2.15 0.043 3602 652.1 175.2 - - 2011 - - - - - - - - - 26.29 -
10896 822.1 10.4 461 10904 done 0.59 0.12 0.155 3242 -183.3 2.08 0.025 2189 -679.3 175.2 - - 2011 - - - - - - - - 26.13 26.39 -
11206 791.2 8.6 472 11234 roll 0.61 - - 3250 - 2.12 0.035 816 -647.6 197.6 18.05 1.067 1946 -3.6 0.275 - - - - - - - 26.04 25.23
11248 788.4 8.7 473 11277 done 0.65 - - 3250 - 2.08 0.028 2206 668.3 219.0 22.77 1.050 1868 -3.4 0.265 - - - - - - - 26.06 24.89
11602 753.6 9.6 485 11603 done 0.65 - - 3250 - - - 2206 - 219.0 - - 1843 - - - - - - - - - - -
11902 723.1 10.4 495 11907 roll 0.65 - - 3250 - 2.15 0.043 3596 646.5 219.0 - - 1842 - - - - - - - - - 26.22 -
11971 715.4 11.2 497 11977 done 0.65 - - 3255 - 2.05 0.025 2201 -680.5 219.0 - - 1842 - - - - - - - - - 26.32 -
12304 676.8 11.9 508 12310 roll 0.65 - - 3266 - 2.10 0.037 803 -665.7 219.0 - - 1841 - - - - - - - - - 26.33 -
12433 662.1 11.6 512 12438 done 0.65 - - 3266 - 2.08 0.028 2203 673.1 219.0 - - 1840 - - - - - - - - - 26.37 -
12771 630.2 8.4 523 12808 roll 0.68 - - 3266 - 2.22 0.043 3596 627.5 248.3 28.62 0.978 1738 -3.6 0.237 - - - - - - - 25.88 25.15
12852 624.7 8.2 525 12892 done 0.73 - - 3272 - 2.08 0.025 2201 -670.7 281.8 33.50 0.956 1611 -3.8 0.255 - - - - - - - 26.01 24.72
13193 593.7 8.7 538 13217 roll 0.76 - - 3280 - 2.12 0.034 810 -656.1 302.5 19.05 0.952 1523 -4.6 0.297 - - - - - - - 25.72 24.94
13383 575.7 9.9 547 13388 done 0.76 - - 3280 - 2.08 0.028 2198 667.3 302.5 - - 1507 - - - - - - - - - 26.01 -
13703 543.3 10.6 563 13708 roll 0.76 - - 3280 - 2.10 0.035 814 -659.0 302.5 - - 1505 - - - - - - - - - 26.19 -
13777 536.1 11.2 566 13782 done 0.76 - - 3280 - 2.05 0.027 2203 677.6 302.5 - - 1505 - - - - - - - - - 26.23 -
14092 504.1 9.1 582 14099 roll 0.77 - - 3280 - 2.17 0.035 810 -641.9 311.2 1.58 0.184 1493 -7.6 2.145 - - - - - - - 26.29 26.01
14159 498.4 8.4 585 14203 done 0.82 - - 3280 - 2.08 0.027 2212 674.0 339.0 36.80 0.883 1374 -3.2 0.188 - - - - - - - 26.33 25.00
14523 467.7 9.1 603 14530 roll 0.83 0.12 0.076 3361 675.0 2.20 0.034 809 -637.7 347.9 1.38 0.165 1341 -23.9 6.986 - - - - - - 26.20 26.10 25.86
14652 449.8 14.6 609 14658 done 0.81 0.17 0.140 3312 -288.2 2.08 0.028 2196 666.8 347.9 - - 1349 - - - - - - - - 25.96 26.20 -
14978 412.5 10.8 625 14983 roll 0.81 - - 3320 - 2.08 0.034 807 -667.8 347.9 - - 1349 - - - - - - - - - 26.28 -
15017 409.8 10.8 626 15024 done 0.81 - - 3320 - 2.08 0.027 2220 679.3 347.9 - - 1349 - - - - - - - - - 26.31 -
15323 375.6 10.9 642 15328 roll 0.81 - - 3323 - 2.10 0.034 810 -671.4 347.9 - - 1349 - - - - - - - - - 26.34 -
15453 360.7 11.8 648 15458 done 0.81 - - 3323 - 2.05 0.026 2197 676.6 347.9 - - 1349 - - - - - - - - - 26.39 -
15773 324.7 10.5 664 15779 roll 0.81 - - 3330 - 2.08 0.033 800 -671.6 347.9 - - 1349 - - - - - - - - - 26.39 -
15813 322.0 10.5 665 15820 done 0.81 - - 3330 - 2.05 0.025 2200 682.9 347.9 - - 1349 - - - - - - - - - 26.44 -
16119 291.6 9.1 681 16139 roll 0.82 - - 3330 - 2.15 0.034 812 -645.6 356.6 14.00 0.769 1299 -3.6 0.140 - - - - - - - 26.25 25.53
16168 287.4 9.3 683 16174 done 0.82 - - 3330 - 2.05 0.024 2207 680.5 359.9 - - 1289 - - - - - - - - - 26.29 -
16489 254.2 11.1 699 16494 roll 0.82 - - 3331 - 2.08 0.033 810 -671.6 359.9 - - 1288 - - - - - - - - - 26.34 -
16542 248.8 11.6 701 16548 done 0.82 - - 3331 - 2.05 0.024 2215 685.4 359.9 - - 1288 - - - - - - - - - 26.38 -
16858 208.5 11.8 717 16864 roll 0.82 - - 3333 - 2.08 0.031 808 -676.4 359.9 - - 1288 - - - - - - - - - 26.39 -
16933 201.1 11.4 720 16939 done 0.82 - - 3333 - 2.03 0.024 2201 686.2 359.9 - - 1288 - - - - - - - - - 26.44 -
17248 171.0 7.5 736 17307 roll 0.90 - - 3333 - 2.17 0.032 806 -642.9 413.6 49.53 0.657 1062 -4.6 0.122 - - - - - - - 25.85 25.24
17399 158.8 8.9 743 17419 done 0.94 - - 3333 - 2.08 0.022 2215 677.4 428.2 11.57 0.634 1010 -4.5 0.116 - - - - - - - 26.04 25.21
17740 125.5 8.5 760 17770 roll 1.02 0.12 0.076 3433 833.3 2.20 0.030 800 -643.2 453.4 23.15 0.619 903 -4.6 0.097 - - - - - - 26.27 25.94 25.29
17840 116.4 10.6 764 17848 done 1.02 0.20 0.133 3377 -280.0 2.08 0.022 2210 677.9 453.4 - - 893 - - - - - - - - 25.84 26.06 -
18147 87.9 9.3 780 18153 roll 1.04 - - 3377 - 2.08 0.031 808 -674.0 457.6 - - 892 - - - - - - - - - 26.24 -
18250 79.7 9.7 784 18257 done 1.06 - - 3377 - 2.03 0.022 2206 688.7 457.6 - - 892 - - - - - - - - - 26.32 -
18554 54.0 8.0 800 18579 roll 1.17 0.12 0.077 3452 625.0 2.12 0.038 3588 651.9 496.2 16.52 0.218 747 -8.8 0.224 - - - - - - 26.44 26.27 25.82
18609 48.0 10.0 803 18615 done 1.19 - - 3460 - 2.00 0.020 2189 -699.5 496.2 1.75 0.171 739 -4.6 0.132 - - - - - - - 26.37 26.00
18924 7.5 12.1 846 18932 roll 1.19 - - 3471 - 2.08 0.032 815 -660.6 496.2 1.60 0.168 739 - - - - - - - - - 26.38 26.11
18958 end climb: SURFACE_DEPTH_REACHED
18958 begin surface coast
18983 end surface coast: CONTROL_FINISHED_OK
18983 begin surface
SM 2.13 - - - - -9.04 8.40 0.027 137 16.3 1.88 0.021 2085 -3522.9 564.93 28.85 0.118 457 15.8 -0.029 - - - - - -