OKMC Jun13 * SG167 * Dive index * Mission links * Dive 231 * Raw log
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• Previous call tries 1 • 34.61 of 150.00 AH used of 24V (76.93% remains)
• Previous NAKs 0, Timeouts 0 • 22.00 of 100.00 AH used of 10V (78.00% remains)
• Surface angle -72.4 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: 30 s
• GPS2 time: 44 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 - - - 121 VBD -0.83 - - 125 - - - 2051 - -175.2 -92.22 - 2781 - - - - - - - - - - -
129 3.1 -2.8 16 161 roll -0.83 10.73 0.236 2767 246.2 2.12 0.043 3481 674.5 -175.2 -13.88 - 3478 -50.2 - - - - - - - 25.59 26.15 26.50
238 35.6 -30.0 31 245 done -0.74 0.15 0.178 2804 246.7 1.98 0.016 2073 -711.1 -175.2 - - 3479 - - - - - - - - 25.89 26.29 -
555 103.7 -17.0 50 561 roll -0.69 - - 2796 - 2.08 0.031 3478 675.5 -175.2 - - 3479 - - - - - - - - - 26.34 -
575 103.7 -17.0 50 583 done -0.64 0.17 0.155 2843 276.5 1.98 0.015 2057 -717.7 -175.2 - - 3479 - - - - - - - - 26.06 26.44 -
882 146.3 -12.2 66 883 done -0.62 - - 2842 - - - 2057 - -175.2 - - 3479 - - - - - - - - - - -
1184 182.3 -13.2 81 1185 done -0.61 - - 2843 - - - 2057 - -175.2 - - 3480 - - - - - - - - - - -
1485 223.5 -12.5 96 1490 roll -0.59 - - 2843 - 1.92 0.028 707 -703.1 -175.2 - - 3480 - - - - - - - - - 26.49 -
1514 227.0 -12.2 97 1519 done -0.58 - - 2837 - 1.95 0.021 2084 706.2 -175.2 - - 3480 - - - - - - - - - 26.53 -
1834 255.4 -7.6 113 1840 roll -0.57 - - 2833 - 2.03 0.034 3474 684.7 -175.2 - - 3480 - - - - - - - - - 26.47 -
1889 259.3 -8.1 115 1895 done -0.57 0.12 0.146 2868 291.7 1.92 0.015 2073 -729.7 -175.2 - - 3480 - - - - - - - - 26.31 26.60 -
2205 287.0 -10.0 131 2210 roll -0.57 - - 2868 - 1.95 0.029 706 -701.0 -175.2 - - 3478 - - - - - - - - - 26.51 -
2289 297.0 -11.8 135 2294 done -0.57 - - 2863 - 1.95 0.021 2082 705.6 -175.2 - - 3478 - - - - - - - - - 26.55 -
2615 329.0 -7.9 151 2620 roll -0.57 - - 2861 - 2.03 0.034 3467 682.3 -175.2 - - 3477 - - - - - - - - - 26.48 -
2660 332.3 -7.4 153 2665 done -0.57 - - 2861 - 1.92 0.015 2075 -725.0 -175.2 - - 3476 - - - - - - - - - 26.60 -
2985 354.2 -7.8 169 2990 roll -0.57 - - 2861 - 1.95 0.029 710 -700.0 -175.2 - - 3475 - - - - - - - - - 26.52 -
3052 360.6 -9.3 172 3057 done -0.57 - - 2861 - 1.95 0.022 2071 697.9 -175.2 - - 3475 - - - - - - - - - 26.55 -
3377 395.8 -10.8 188 3383 roll -0.57 - - 2861 - 2.05 0.036 3467 681.0 -175.2 - - 3472 - - - - - - - - - 26.47 -
3406 398.4 -10.6 189 3412 done -0.57 - - 2861 - 1.92 0.017 2073 -726.0 -175.2 - - 3472 - - - - - - - - - 26.60 -
3727 423.3 -6.0 205 3732 roll -0.58 - - 2861 - 1.95 0.030 713 -697.4 -175.2 - - 3470 - - - - - - - - - 26.51 -
3786 426.0 -5.8 207 3794 done -0.60 - - 2861 - 1.95 0.022 2076 699.0 -175.2 -0.08 - 3493 -287.5 - - - - - - - - 26.55 25.59
4092 452.5 -9.6 223 4093 done -0.61 - - 2861 - - - 2076 - -175.2 - - 3492 - - - - - - - - - - -
4396 480.8 -8.9 238 4401 roll -0.63 - - 2861 - 2.08 0.037 3471 670.7 -175.2 - - 3490 - - - - - - - - - 26.46 -
4456 484.9 -8.3 240 4464 done -0.65 - - 2862 - 1.95 0.018 2074 -716.4 -175.2 - - 3490 - - - - - - - - - 26.60 -
4762 504.7 -5.3 256 4768 roll -0.66 - - 2861 - 1.98 0.031 703 -692.4 -175.2 - - 3488 - - - - - - - - - 26.50 -
4792 506.2 -5.6 257 4798 done -0.68 - - 2861 - 1.98 0.023 2080 695.5 -175.2 - - 3487 - - - - - - - - - 26.53 -
5113 531.6 -9.3 273 5119 roll -0.70 0.10 0.093 2805 -560.0 2.05 0.034 3467 676.6 -175.2 - - 3485 - - - - - - - - 26.63 26.45 -
5158 536.7 -10.4 275 5163 done -0.70 - - 2805 - 1.95 0.017 2073 -714.9 -175.2 - - 3485 - - - - - - - - - 26.60 -
5483 571.6 -9.4 291 5488 roll -0.70 - - 2805 - 1.98 0.031 707 -689.9 -175.2 - - 3483 - - - - - - - - - 26.49 -
5537 576.0 -9.5 293 5543 done -0.70 - - 2805 - 1.98 0.024 2077 691.9 -175.2 - - 3482 - - - - - - - - - 26.53 -
5873 605.1 -7.9 309 5879 roll -0.70 - - 2805 - 2.08 0.037 3476 672.6 -175.2 - - 3480 - - - - - - - - - 26.44 -
5927 607.7 -7.8 310 5933 done -0.70 - - 2805 - 1.98 0.018 2070 -710.1 -175.2 - - 3480 - - - - - - - - - 26.59 -
6246 634.1 -7.8 321 6251 roll -0.70 - - 2805 - 2.00 0.031 700 -685.0 -175.2 - - 3478 - - - - - - - - - 26.47 -
6330 639.6 -7.9 323 6335 done -0.70 - - 2798 - 2.00 0.024 2085 692.5 -175.2 - - 3477 - - - - - - - - - 26.52 -
6645 670.2 -9.7 334 6647 done -0.70 - - 2798 - - - 2086 - -175.2 - - 3476 - - - - - - - - - - -
6946 698.5 -9.1 344 6951 roll -0.70 - - 2792 - 2.05 0.037 3467 673.7 -175.2 - - 3473 - - - - - - - - - 26.42 -
7000 701.5 -8.9 345 7006 done -0.70 0.12 0.152 2825 275.0 1.98 0.019 2069 -706.1 -175.2 - - 3473 - - - - - - - - 26.25 26.57 -
7321 726.5 -7.2 356 7322 done -0.70 - - 2825 - - - 2069 - -175.2 - - 3471 - - - - - - - - - - -
7617 749.6 -8.0 366 7622 roll -0.70 - - 2822 - 2.12 0.037 3467 659.4 -175.2 - - 3469 - - - - - - - - - 26.39 -
7657 752.7 -8.3 367 7663 done -0.70 - - 2822 - 1.98 0.020 2082 -699.5 -175.2 - - 3469 - - - - - - - - - 26.55 -
7991 783.0 -9.2 378 7996 roll -0.70 - - 2822 - 2.03 0.034 702 -679.8 -175.2 - - 3466 - - - - - - - - - 26.42 -
8067 789.7 -9.5 380 8072 done -0.70 - - 2821 - 2.00 0.025 2070 684.0 -175.2 - - 3465 - - - - - - - - - 26.48 -
8394 823.2 -10.1 391 8399 roll -0.70 - - 2821 - 2.12 0.041 3480 665.1 -175.2 - - 3464 - - - - - - - - - 26.36 -
8423 823.2 -10.1 391 8430 done -0.70 - - 2821 - 2.00 0.021 2077 -701.5 -175.2 - - 3464 - - - - - - - - - 26.54 -
8732 856.5 -9.2 402 8737 roll -0.70 - - 2821 - 2.03 0.034 697 -679.8 -175.2 - - 3461 - - - - - - - - - 26.41 -
8781 860.1 -9.1 403 8787 done -0.70 - - 2821 - 2.03 0.025 2084 683.3 -175.2 - - 3461 - - - - - - - - - 26.46 -
9106 888.9 -8.6 414 9111 roll -0.70 - - 2821 - 2.10 0.040 3471 660.5 -175.2 - - 3459 - - - - - - - - - 26.34 -
9208 897.1 -8.3 417 9215 done -0.71 - - 2821 - 2.03 0.022 2067 -691.6 -175.2 - - 3459 - - - - - - - - - 26.52 -
9543 923.2 -7.7 428 9549 roll -0.72 - - 2821 - 2.03 0.034 692 -677.3 -175.2 - - 3457 - - - - - - - - - 26.39 -
9573 923.2 -7.7 428 9580 done -0.73 - - 2821 - 2.03 0.026 2070 678.8 -175.2 - - 3458 - - - - - - - - - 26.44 -
9882 948.5 -7.0 439 9887 roll -0.73 - - 2821 - 2.12 0.041 3473 661.8 -175.2 - - 3456 - - - - - - - - - 26.32 -
9931 951.2 -6.9 440 9937 done -0.74 - - 2821 - 2.03 0.022 2062 -695.1 -175.2 - - 3455 - - - - - - - - - 26.51 -
10256 974.1 -7.2 451 10262 roll -0.75 - - 2821 - 2.03 0.035 694 -673.9 -175.2 - - 3453 - - - - - - - - - 26.36 -
10296 977.3 -7.5 452 10302 done -0.76 - - 2821 - 2.05 0.027 2081 676.6 -175.2 - - 3454 - - - - - - - - - 26.41 -
10473 end dive: TARGET_DEPTH_EXCEEDED
10474 begin apogee
10482 991.1 -7.2 458 10652 done -0.18 0.50 0.116 2987 332.0 - - 2222 - - 158.35 1.195 2752 -4.4 0.379 - - - - - - 25.97 - 24.01
10655 end apogee: CONTROL_FINISHED_OK
10655 begin climb
10658 995.0 - 463 10832 roll 0.83 0.93 0.064 3317 354.8 2.25 0.040 3586 606.2 175.2 165.65 1.151 2039 -4.3 0.384 - - - - - - 25.06 24.58 23.77
10925 969.3 14.0 472 10930 done 0.77 - - 3326 - 2.10 0.024 2208 -656.2 175.2 - - 2015 - - - - - - - - - 25.44 -
11243 920.3 14.5 483 11249 roll 0.73 0.12 0.168 3292 -283.3 2.15 0.039 3579 637.7 175.2 - - 2013 - - - - - - - - 25.84 25.99 -
11288 914.9 14.4 484 11294 done 0.69 - - 3297 - 2.08 0.024 2194 -665.9 175.2 - - 2012 - - - - - - - - - 26.11 -
11617 871.9 12.3 495 11623 roll 0.65 0.12 0.171 3260 -308.3 2.15 0.039 3584 646.5 175.2 - - 2011 - - - - - - - - 26.04 26.17 -
11692 863.8 12.0 497 11698 done 0.62 - - 3266 - 2.05 0.025 2197 -676.6 175.2 - - 2010 - - - - - - - - - 26.29 -
12021 830.7 9.4 508 12027 roll 0.60 - - 3275 - 2.08 0.037 809 -667.3 176.2 - - 2008 - - - - - - - - - 26.28 -
12101 824.2 9.5 510 12108 done 0.58 0.15 0.138 3236 -260.0 2.05 0.030 2189 673.2 176.2 - - 2008 - - - - - - - - 26.07 26.33 -
12426 795.4 8.7 521 12444 done 0.61 - - 3236 - - - 2189 - 196.2 16.05 1.087 1962 -2.9 0.216 - - - - - - - - 25.25
12724 766.3 10.0 531 12729 roll 0.61 - - 3242 - 2.10 0.036 805 -659.0 196.2 - - 1942 - - - - - - - - - 26.20 -
12759 762.8 10.0 532 12765 done 0.61 - - 3242 - 2.10 0.028 2209 668.6 196.2 - - 1942 - - - - - - - - - 26.24 -
13099 729.4 9.9 543 13104 roll 0.61 - - 3242 - 2.15 0.044 3606 649.8 196.2 - - 1941 - - - - - - - - - 26.25 -
13133 725.1 10.2 544 13139 done 0.61 - - 3249 - 2.10 0.025 2200 -669.5 196.2 - - 1941 - - - - - - - - - 26.36 -
13471 691.8 9.8 555 13472 done 0.61 - - 3249 - - - 2200 - 196.2 - - 1941 - - - - - - - - - - -
13770 666.8 7.7 565 13829 roll 0.68 - - 3257 - 2.22 0.037 807 -627.5 243.7 51.62 0.975 1757 -3.6 0.251 - - - - - - - 25.51 24.73
13876 659.3 7.8 568 13927 done 0.75 0.10 0.091 3311 540.0 2.12 0.028 2203 658.5 288.1 45.05 0.971 1587 -3.8 0.264 - - - - - - 25.69 25.70 24.41
14257 613.9 12.2 581 14262 roll 0.74 - - 3312 - 2.17 0.043 3601 644.2 288.1 - - 1556 - - - - - - - - - 25.95 -
14302 609.4 12.3 582 14308 done 0.72 0.15 0.158 3281 -206.7 2.10 0.026 2196 -669.0 288.1 - - 1555 - - - - - - - - 25.78 26.08 -
14628 575.2 9.5 597 14633 roll 0.72 - - 3289 - 2.10 0.037 799 -665.2 288.1 - - 1553 - - - - - - - - - 26.16 -
14715 566.7 9.7 601 14720 done 0.72 - - 3289 - 2.08 0.028 2203 675.0 288.1 - - 1553 - - - - - - - - - 26.22 -
15040 533.1 10.7 617 15041 done 0.72 - - 3289 - - - 2203 - 288.1 - - 1552 - - - - - - - - - - -
15343 501.1 10.8 632 15348 roll 0.72 - - 3296 - 2.12 0.036 796 -663.7 288.1 - - 1552 - - - - - - - - - 26.29 -
15388 495.6 11.1 634 15393 done 0.72 - - 3297 - 2.08 0.027 2201 675.5 288.1 - - 1552 - - - - - - - - - 26.33 -
15712 459.1 11.4 650 15717 roll 0.72 - - 3305 - 2.10 0.034 802 -666.2 288.1 - - 1551 - - - - - - - - - 26.32 -
15781 451.5 11.5 653 15787 done 0.72 - - 3305 - 2.08 0.028 2202 673.1 288.1 - - 1551 - - - - - - - - - 26.37 -
16102 416.5 10.7 669 16107 roll 0.72 - - 3313 - 2.10 0.034 805 -665.2 288.1 - - 1551 - - - - - - - - - 26.34 -
16168 409.5 10.6 672 16174 done 0.72 0.12 0.145 3281 -266.7 2.08 0.027 2212 676.4 288.1 - - 1551 - - - - - - - - 26.13 26.39 -
16494 381.2 8.7 688 16518 roll 0.75 - - 3288 - 2.15 0.034 797 -658.1 308.9 17.27 0.821 1491 -3.5 0.166 - - - - - - - 26.19 25.44
16590 373.6 8.9 692 16611 done 0.78 - - 3288 - 2.08 0.026 2206 677.4 324.9 14.00 0.819 1434 -4.1 0.191 - - - - - - - 26.20 25.21
16926 338.0 10.8 709 16931 roll 0.80 - - 3288 - 2.12 0.041 3593 654.2 324.9 - - 1417 - - - - - - - - - 26.13 -
17014 328.1 11.6 713 17021 done 0.80 - - 3294 - 2.05 0.024 2186 -686.3 324.9 - - 1416 - - - - - - - - - 26.27 -
17336 296.5 9.2 729 17342 roll 0.81 - - 3294 - 2.15 0.039 3594 654.9 331.1 - - 1416 - - - - - - - - - 26.23 -
17421 288.0 10.0 733 17427 done 0.81 - - 3296 - 2.05 0.023 2202 -679.0 331.1 - - 1416 - - - - - - - - - 26.37 -
17747 259.2 8.9 749 17775 roll 0.83 - - 3296 - 2.12 0.033 812 -655.7 346.2 19.70 0.731 1338 -4.0 0.145 - - - - - - - 26.13 25.41
17873 248.0 8.9 755 17887 done 0.87 - - 3296 - 2.05 0.023 2206 680.0 360.2 8.85 0.715 1296 -4.7 0.170 - - - - - - - 26.20 25.25
18197 216.8 9.7 771 18204 roll 0.90 0.12 0.075 3387 758.3 2.08 0.030 813 -669.7 360.2 - - 1292 - - - - - - - - 26.32 26.21 -
18219 216.8 9.7 771 18227 done 0.93 0.15 0.140 3347 -266.7 2.05 0.025 2219 685.9 360.2 - - 1292 - - - - - - - - 25.98 26.23 -
18523 180.4 11.1 787 18529 roll 0.93 - - 3355 - 2.10 0.031 802 -674.8 360.2 - - 1292 - - - - - - - - - 26.29 -
18646 170.5 9.2 792 18654 done 0.94 - - 3355 - 2.03 0.023 2191 684.2 367.0 3.17 0.498 1264 -8.8 0.312 - - - - - - - 26.36 25.18
18948 145.6 8.4 808 18991 roll 0.99 - - 3355 - 2.20 0.038 3596 638.6 396.3 35.12 0.648 1132 -3.8 0.087 - - - - - - - 25.95 25.32
19020 139.5 9.6 811 19027 done 0.99 - - 3359 - 2.05 0.021 2188 -686.8 396.3 - - 1124 - - - - - - - - - 26.06 -
19336 100.3 11.1 827 19342 roll 0.99 - - 3359 - 2.17 0.037 3607 653.9 396.3 - - 1124 - - - - - - - - - 26.17 -
19365 97.6 10.9 828 19370 done 0.99 - - 3367 - 2.03 0.020 2198 -694.1 396.3 - - 1123 - - - - - - - - - 26.29 -
19685 70.6 7.5 844 19714 roll 1.07 - - 3367 - 2.20 0.037 3604 639.1 450.9 21.95 0.262 927 -8.9 0.248 - - - - - - - 26.20 25.69
19786 62.3 9.8 848 19794 done 1.07 - - 3369 - 2.03 0.021 2195 -694.1 450.9 1.73 0.171 922 -2.9 0.109 - - - - - - - 26.32 25.91
20091 32.6 7.3 873 20124 roll 1.21 0.15 0.063 3487 786.7 2.10 0.030 809 -660.0 509.5 27.15 0.183 686 -8.7 0.160 - - - - - - 26.44 26.25 25.81
20247 14.1 12.6 895 20256 done 1.19 0.17 0.132 3437 -294.1 2.03 0.022 2214 692.1 509.5 1.52 0.170 681 -3.3 0.028 - - - - - - 26.05 26.32 25.96
20355 end climb: SURFACE_DEPTH_REACHED
20355 begin surface coast
20381 end surface coast: CONTROL_FINISHED_OK
20381 begin surface
SM 1.86 - - - - -9.02 8.38 0.030 138 16.4 0.15 0.052 2064 -75026.7 564.93 23.55 0.119 458 19.4 -0.031 - - - - - -