OKMC Jun13 * SG167 * Dive index * Mission links * Dive 241 * Raw log
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• Previous call tries 1 • 36.56 of 150.00 AH used of 24V (75.63% remains)
• Previous NAKs 0, Timeouts 0 • 23.26 of 100.00 AH used of 10V (76.74% remains)
• Surface angle -66.4 deg, depth 1.95 m • Intended pitch -15.7 deg, speed -10.000 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 38 s
• GPS2 time: 39 s • Transponder ping count: 8
• 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
23 begin dive
26 - - - 122 VBD -0.85 - - 108 - - - 2096 - -194.6 -92.57 - 2809 - - - - - - - - - - -
130 3.2 -3.4 16 162 roll -0.85 10.82 0.236 2759 245.0 2.03 0.044 3464 673.9 -194.6 -14.07 - 3558 -53.2 - - - - - - - 25.51 26.11 26.45
189 22.5 -31.6 25 197 done -0.76 0.17 0.185 2801 247.1 1.98 0.016 2059 -709.6 -194.6 - - 3558 - - - - - - - - 25.75 26.21 -
507 97.0 -17.3 46 512 roll -0.71 - - 2794 - 2.08 0.031 3458 672.6 -194.6 - - 3558 - - - - - - - - - 26.27 -
562 104.4 -16.4 48 568 done -0.67 0.15 0.153 2833 260.0 1.95 0.015 2057 -718.5 -194.6 - - 3558 - - - - - - - - 26.04 26.41 -
878 151.0 -13.6 64 879 done -0.65 - - 2833 - - - 2056 - -194.6 - - 3559 - - - - - - - - - - -
1181 188.7 -11.5 79 1186 roll -0.63 - - 2833 - 1.92 0.029 712 -700.0 -194.6 - - 3560 - - - - - - - - - 26.44 -
1256 196.0 -10.6 82 1261 done -0.62 - - 2833 - 1.92 0.022 2061 702.6 -194.6 - - 3559 - - - - - - - - - 26.47 -
1571 224.8 -9.5 98 1578 roll -0.61 - - 2833 - 2.08 0.034 3480 682.2 -194.6 - - 3565 - - - - - - - - - 26.43 -
1708 239.7 -12.1 104 1714 done -0.61 - - 2833 - 1.95 0.015 2074 -721.0 -194.6 - - 3559 - - - - - - - - - 26.56 -
2023 282.3 -12.3 120 2028 roll -0.61 - - 2833 - 1.98 0.030 701 -693.4 -194.6 - - 3559 - - - - - - - - - 26.48 -
2073 287.6 -12.0 122 2079 done -0.61 - - 2831 - 1.98 0.022 2080 696.5 -194.6 - - 3559 - - - - - - - - - 26.51 -
2394 318.7 -9.3 138 2399 roll -0.61 - - 2831 - 2.05 0.034 3474 680.0 -194.6 - - 3558 - - - - - - - - - 26.45 -
2445 322.8 -9.3 140 2450 done -0.61 - - 2831 - 1.95 0.016 2070 -720.0 -194.6 - - 3557 - - - - - - - - - 26.58 -
2765 356.4 -11.3 156 2770 roll -0.61 - - 2831 - 1.98 0.030 703 -690.4 -194.6 - - 3555 - - - - - - - - - 26.48 -
2793 359.3 -11.6 157 2798 done -0.61 - - 2831 - 1.98 0.023 2080 695.5 -194.6 - - 3555 - - - - - - - - - 26.51 -
3113 396.6 -10.5 173 3119 roll -0.61 - - 2827 - 2.05 0.034 3474 680.0 -194.6 - - 3553 - - - - - - - - - 26.45 -
3255 408.0 -8.6 179 3261 done -0.61 - - 2829 - 1.95 0.018 2075 -717.4 -194.6 - - 3553 - - - - - - - - - 26.57 -
3561 437.5 -10.4 195 3562 done -0.61 - - 2828 - - - 2076 - -194.6 - - 3551 - - - - - - - - - - -
3864 468.9 -9.8 210 3869 roll -0.61 - - 2828 - 1.98 0.030 706 -691.9 -194.6 - - 3549 - - - - - - - - - 26.48 -
3918 473.5 -9.5 212 3924 done -0.61 - - 2828 - 1.98 0.023 2078 692.9 -194.6 - - 3549 - - - - - - - - - 26.51 -
4234 504.1 -9.9 228 4239 roll -0.61 - - 2828 - 2.05 0.036 3466 677.1 -194.6 - - 3547 - - - - - - - - - 26.43 -
4303 510.5 -9.7 231 4308 done -0.61 - - 2828 - 1.95 0.018 2068 -716.9 -194.6 - - 3546 - - - - - - - - - 26.58 -
4623 541.0 -9.4 247 4629 roll -0.61 - - 2827 - 1.98 0.031 702 -689.9 -194.6 - - 3545 - - - - - - - - - 26.47 -
4658 543.4 -9.3 248 4664 done -0.61 - - 2826 - 2.00 0.024 2084 691.0 -194.6 - - 3544 - - - - - - - - - 26.50 -
4974 573.7 -8.9 264 4979 roll -0.61 - - 2827 - 2.05 0.036 3470 676.1 -194.6 - - 3542 - - - - - - - - - 26.42 -
5064 581.0 -8.6 268 5070 done -0.61 - - 2829 - 1.98 0.018 2070 -707.1 -194.6 - - 3542 - - - - - - - - - 26.57 -
5396 608.7 -8.6 283 5402 roll -0.61 - - 2827 - 2.00 0.031 695 -687.5 -194.6 - - 3539 - - - - - - - - - 26.46 -
5421 608.7 -8.6 283 5427 done -0.61 - - 2824 - 2.00 0.024 2080 692.5 -194.6 - - 3539 - - - - - - - - - 26.51 -
5740 640.9 -9.5 294 5745 roll -0.61 - - 2822 - 2.08 0.037 3466 666.3 -194.6 - - 3537 - - - - - - - - - 26.41 -
5791 644.7 -9.5 295 5797 done -0.61 0.12 0.142 2855 275.0 1.98 0.019 2063 -708.6 -194.6 - - 3536 - - - - - - - - 26.26 26.56 -
6115 672.6 -8.3 306 6120 roll -0.63 - - 2857 - 1.98 0.032 707 -684.8 -194.6 - - 3534 - - - - - - - - - 26.44 -
6181 678.4 -8.5 308 6186 done -0.66 - - 2858 - 2.00 0.024 2071 682.0 -194.6 - - 3533 - - - - - - - - - 26.48 -
6519 708.5 -9.1 319 6525 roll -0.68 - - 2857 - 2.10 0.039 3470 666.2 -194.6 - - 3532 - - - - - - - - - 26.37 -
6622 717.0 -8.7 322 6628 done -0.71 0.12 0.086 2801 -466.7 1.98 0.020 2075 -704.5 -194.6 - - 3530 - - - - - - - - 26.42 26.53 -
6955 752.5 -10.3 333 6961 roll -0.71 - - 2801 - 2.00 0.032 703 -686.0 -194.6 - - 3528 - - - - - - - - - 26.42 -
6995 756.4 -10.3 334 7001 done -0.71 - - 2800 - 2.00 0.024 2076 686.5 -194.6 - - 3528 - - - - - - - - - 26.46 -
7328 789.1 -9.6 345 7334 roll -0.71 - - 2794 - 2.10 0.038 3474 665.7 -194.6 - - 3525 - - - - - - - - - 26.36 -
7367 792.7 -9.4 346 7373 done -0.71 - - 2794 - 2.00 0.021 2075 -699.5 -194.6 - - 3525 - - - - - - - - - 26.53 -
7701 823.9 -9.4 357 7702 done -0.71 - - 2795 - - - 2076 - -194.6 - - 3524 - - - - - - - - - - -
7998 855.4 -11.1 367 8003 roll -0.71 - - 2795 - 2.03 0.034 699 -678.3 -194.6 - - 3522 - - - - - - - - - 26.39 -
8036 859.7 -11.5 368 8042 done -0.71 0.12 0.158 2824 241.7 2.03 0.026 2081 680.8 -194.6 - - 3521 - - - - - - - - 26.14 26.44 -
8371 896.3 -11.2 379 8376 roll -0.72 - - 2822 - 2.10 0.040 3471 661.9 -194.6 - - 3520 - - - - - - - - - 26.32 -
8466 907.3 -11.3 382 8471 done -0.73 - - 2822 - 2.03 0.021 2075 -687.7 -194.6 - - 3519 - - - - - - - - - 26.51 -
8805 942.1 -9.9 393 8810 roll -0.74 - - 2822 - 2.03 0.034 696 -679.3 -194.6 - - 3517 - - - - - - - - - 26.36 -
8864 945.7 -9.6 394 8871 done -0.76 - - 2821 - 2.03 0.026 2073 678.3 -194.6 - - 3516 - - - - - - - - - 26.42 -
9174 974.9 -8.5 405 9180 roll -0.77 - - 2821 - 2.12 0.041 3470 659.0 -194.6 - - 3515 - - - - - - - - - 26.29 -
9210 978.3 -8.5 406 9215 done -0.78 - - 2821 - 2.03 0.022 2065 -692.1 -194.6 - - 3514 - - - - - - - - - 26.49 -
9362 end dive: TARGET_DEPTH_EXCEEDED
9362 begin apogee
9370 990.8 -8.0 411 9548 done -0.18 0.50 0.112 2989 336.0 - - 2209 - - 170.15 1.198 2754 -4.5 0.382 - - - - - - 25.96 - 23.96
9550 end apogee: CONTROL_FINISHED_OK
9550 begin climb
9554 996.4 - 417 9744 roll 0.85 0.93 0.063 3319 354.8 2.30 0.042 3592 601.3 194.6 179.35 1.159 1954 -4.5 0.397 - - - - - - 24.96 24.48 23.66
9905 955.9 16.7 428 9913 done 0.81 - - 3327 - 2.08 0.024 2219 -660.1 194.6 - - 1936 - - - - - - - - - 25.65 -
10213 902.8 16.1 439 10218 roll 0.77 - - 3337 - 2.12 0.036 811 -664.2 194.6 - - 1935 - - - - - - - - - 26.05 -
10268 896.8 16.1 440 10274 done 0.73 0.20 0.150 3283 -270.0 2.08 0.030 2201 668.3 194.6 - - 1934 - - - - - - - - 25.82 26.09 -
10588 851.1 13.3 451 10593 roll 0.71 - - 3283 - 2.15 0.042 3600 650.7 194.6 - - 1932 - - - - - - - - - 26.18 -
10639 845.6 13.4 452 10644 done 0.68 - - 3291 - 2.08 0.025 2195 -675.5 194.6 - - 1930 - - - - - - - - - 26.29 -
10962 804.6 11.8 463 10963 done 0.65 - - 3291 - - - 2195 - 194.6 - - 1931 - - - - - - - - - - -
11259 772.0 10.2 473 11265 roll 0.63 0.12 0.151 3262 -241.7 2.08 0.034 799 -671.2 194.6 - - 1930 - - - - - - - - 26.19 26.31 -
11358 764.0 8.7 476 11403 done 0.67 - - 3261 - 2.08 0.028 2201 674.0 233.1 37.65 1.028 1805 -3.3 0.255 - - - - - - - 26.34 24.87
11719 732.9 8.9 488 11752 done 0.71 - - 3262 - - - 2201 - 263.7 30.92 1.030 1688 -3.8 0.279 - - - - - - - - 24.75
12051 699.0 10.9 499 12057 roll 0.71 - - 3268 - 2.12 0.036 812 -655.2 263.7 - - 1660 - - - - - - - - - 26.03 -
12101 694.6 11.0 500 12106 done 0.71 - - 3268 - 2.08 0.028 2203 668.8 263.7 - - 1660 - - - - - - - - - 26.09 -
12424 659.2 9.9 511 12429 roll 0.72 - - 3274 - 2.12 0.035 808 -658.0 267.0 - - 1658 - - - - - - - - - 26.20 -
12479 655.5 9.7 512 12491 done 0.73 - - 3274 - 2.08 0.028 2209 673.6 275.0 3.17 0.666 1638 -6.3 0.643 - - - - - - - 26.24 24.94
12792 625.9 8.4 523 12873 roll 0.80 0.10 0.093 3335 610.0 2.25 0.036 819 -617.8 322.6 70.05 0.893 1436 -2.9 0.209 - - - - - - 26.38 25.31 24.58
12904 615.5 10.5 526 12910 done 0.79 0.12 0.145 3304 -258.3 2.10 0.028 2192 653.8 322.6 - - 1426 - - - - - - - - 25.41 25.55 -
13220 575.2 12.3 540 13221 done 0.79 - - 3304 - - - 2192 - 322.6 - - 1422 - - - - - - - - - - -
13523 536.8 12.2 555 13529 roll 0.79 - - 3313 - 2.10 0.035 806 -660.0 322.6 - - 1421 - - - - - - - - - 26.17 -
13658 522.6 10.5 561 13664 done 0.77 - - 3312 - 2.08 0.028 2210 675.0 322.6 - - 1422 - - - - - - - - - 26.23 -
13974 493.7 9.1 577 14007 roll 0.81 - - 3319 - 2.15 0.034 808 -652.1 349.6 27.65 0.874 1330 -3.3 0.195 - - - - - - - 25.88 25.16
14079 482.6 11.1 582 14085 done 0.81 - - 3319 - 2.10 0.027 2206 665.7 349.6 - - 1314 - - - - - - - - - 25.97 -
14404 442.9 12.2 598 14409 roll 0.81 - - 3326 - 2.12 0.035 805 -660.8 349.6 - - 1312 - - - - - - - - - 26.14 -
14464 437.5 12.1 600 14471 done 0.81 - - 3327 - 2.08 0.027 2204 672.6 349.6 - - 1312 - - - - - - - - - 26.20 -
14770 404.2 9.7 616 14776 roll 0.83 - - 3334 - 2.17 0.034 811 -641.9 358.1 1.52 0.181 1300 -7.9 1.825 - - - - - - - 26.23 25.90
14820 399.5 9.9 618 14830 done 0.83 - - 3334 - 2.05 0.027 2200 677.6 362.2 3.33 0.609 1284 -4.8 0.326 - - - - - - - 26.29 25.05
15140 367.8 9.9 634 15150 roll 0.84 - - 3342 - 2.15 0.034 804 -649.3 366.1 4.03 0.696 1273 -2.7 0.149 - - - - - - - 26.30 25.20
15237 358.7 10.8 638 15248 done 0.84 - - 3342 - 2.05 0.025 2203 682.4 366.1 2.55 0.427 1271 - - - - - - - - - 26.30 24.97
15545 324.7 10.8 654 15556 roll 0.84 - - 3344 - 2.15 0.034 808 -648.8 366.1 2.05 0.229 1271 - - - - - - - - - 26.32 24.27
15580 321.9 10.7 655 15586 done 0.84 - - 3345 - 2.05 0.025 2206 682.0 366.1 1.42 0.189 1267 -2.8 0.497 - - - - - - - 26.35 25.97
15896 287.2 10.6 671 15906 roll 0.84 - - 3345 - 2.15 0.034 806 -651.2 366.1 1.95 0.171 1270 1.5 -0.267 - - - - - - - 26.32 25.91
15975 279.9 11.1 674 15982 done 0.84 - - 3345 - 2.05 0.025 2212 685.9 366.1 1.77 0.174 1267 -1.7 0.282 - - - - - - - 26.39 25.91
16281 243.8 10.8 690 16291 roll 0.84 - - 3345 - 2.15 0.032 805 -654.4 366.1 1.95 0.171 1271 2.1 -0.303 - - - - - - - 26.34 25.91
16377 234.7 10.8 694 16389 done 0.84 - - 3344 - 2.05 0.024 2214 687.3 366.1 1.98 0.171 1273 - - - - - - - - - 26.41 25.90
16685 203.0 9.7 710 16710 roll 0.85 - - 3345 - 2.15 0.032 808 -654.0 373.7 16.42 0.706 1228 -2.7 0.082 - - - - - - - 26.22 25.48
16814 191.2 9.3 716 16839 done 0.88 - - 3345 - 2.05 0.024 2213 685.4 394.9 20.00 0.688 1152 -3.8 0.109 - - - - - - - 26.26 25.30
17160 158.4 9.4 733 17180 roll 0.92 - - 3344 - 2.10 0.029 805 -670.5 411.0 13.70 0.673 1077 -5.5 0.133 - - - - - - - 26.07 25.35
17226 152.9 8.4 736 17274 done 1.02 - - 3345 - 2.05 0.022 2208 684.4 456.8 41.58 0.637 894 -4.4 0.109 - - - - - - - 26.12 25.01
17589 120.7 9.2 754 17613 roll 1.10 0.15 0.067 3448 686.7 2.12 0.037 3598 655.7 480.1 18.73 0.614 796 -5.2 0.106 - - - - - - 26.19 25.90 25.27
17680 109.8 12.8 758 17686 done 1.10 0.20 0.142 3402 -230.0 2.05 0.021 2191 -686.3 480.1 - - 785 - - - - - - - - 25.77 26.05 -
18001 75.7 10.0 774 18002 done 1.10 - - 3402 - - - 2190 - 480.5 - - 785 - - - - - - - - - - -
18304 50.2 8.3 789 18330 roll 1.21 0.10 0.085 3479 770.0 2.10 0.030 803 -660.5 528.6 19.35 0.213 611 -9.0 0.219 - - - - - - 26.44 26.24 25.73
18425 37.1 11.8 799 18433 done 1.21 0.15 0.134 3439 -266.7 2.03 0.021 2210 693.1 528.6 1.70 0.164 605 -3.5 0.083 - - - - - - 26.06 26.31 25.93
18738 6.3 9.3 848 18753 roll 1.25 - - 3445 - 2.12 0.031 815 -658.0 549.3 9.95 0.130 519 -8.6 0.043 - - - - - - - 26.32 26.01
18764 end climb: SURFACE_DEPTH_REACHED
18764 begin surface coast
18794 end surface coast: CONTROL_FINISHED_OK
18795 begin surface
SM 1.83 - - - - -9.01 8.40 0.030 144 17.1 1.88 0.018 2084 -3523.4 564.93 6.93 0.125 460 66.4 -0.099 - - - - - -