OKMC Jun13 * SG167 * Dive index * Mission links * Dive 244 * Raw log
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• Previous call tries 1 • 37.13 of 150.00 AH used of 24V (75.24% remains)
• Previous NAKs 0, Timeouts 0 • 23.63 of 100.00 AH used of 10V (76.37% remains)
• Surface angle -70.0 deg, depth 1.90 m • Intended pitch -17.7 deg, speed -10.000 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 29 s
• GPS2 time: 38 s • Transponder ping count: 13
• 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 - - - 129 VBD -1.12 - - 110 - - - 2071 - -194.6 -100.43 - 3016 - - - - - - - - - - -
137 3.5 -3.9 17 169 roll -1.12 10.45 0.236 2666 244.6 2.12 0.046 3493 670.8 -194.6 -13.30 - 3766 -56.4 - - - - - - - 25.54 26.12 26.46
306 66.7 -34.0 35 313 done -1.03 0.15 0.184 2702 240.0 2.05 0.016 2039 -709.3 -194.6 - - 3767 - - - - - - - - 25.84 26.28 -
633 150.1 -23.8 51 638 roll -0.97 - - 2695 - 2.15 0.031 3489 674.4 -194.6 - - 3768 - - - - - - - - - 26.30 -
708 164.9 -23.1 54 714 done -0.91 0.17 0.160 2741 270.6 1.98 0.015 2060 -721.7 -194.6 - - 3768 - - - - - - - - 26.01 26.44 -
1024 222.1 -17.2 70 1030 roll -0.88 - - 2733 - 2.10 0.031 3478 675.2 -194.6 - - 3768 - - - - - - - - - 26.38 -
1099 233.8 -17.7 73 1106 done -0.86 0.12 0.162 2764 258.3 1.95 0.015 2067 -723.6 -194.6 - - 3768 - - - - - - - - 26.17 26.51 -
1416 281.9 -13.3 89 1421 roll -0.84 - - 2764 - 1.95 0.029 706 -697.9 -194.6 - - 3768 - - - - - - - - - 26.44 -
1442 285.2 -13.4 90 1447 done -0.83 - - 2764 - 1.98 0.024 2085 696.5 -194.6 - - 3768 - - - - - - - - - 26.47 -
1767 330.0 -15.7 106 1773 roll -0.81 - - 2764 - 2.05 0.034 3482 681.5 -194.6 - - 3768 - - - - - - - - - 26.41 -
1975 362.5 -14.8 116 1982 done -0.81 - - 2764 - 1.95 0.015 2082 -717.9 -194.6 - - 3767 - - - - - - - - - 26.56 -
2302 404.1 -11.6 132 2303 done -0.81 - - 2764 - - - 2082 - -194.6 - - 3766 - - - - - - - - - - -
2604 439.7 -12.3 147 2605 done -0.81 - - 2764 - - - 2082 - -194.6 - - 3763 - - - - - - - - - - -
2906 479.6 -13.6 162 2911 roll -0.81 - - 2762 - 2.08 0.034 3474 669.2 -194.6 - - 3761 - - - - - - - - - 26.42 -
2931 483.7 -13.9 163 2937 done -0.81 - - 2763 - 1.98 0.017 2073 -707.6 -194.6 - - 3761 - - - - - - - - - 26.57 -
3257 527.0 -13.3 179 3263 roll -0.81 - - 2762 - 1.98 0.030 702 -692.4 -194.6 - - 3759 - - - - - - - - - 26.46 -
3286 530.6 -13.5 180 3291 done -0.81 - - 2759 - 1.98 0.022 2077 694.4 -194.6 - - 3758 - - - - - - - - - 26.50 -
3607 574.2 -13.4 196 3612 roll -0.81 - - 2755 - 2.08 0.036 3477 673.1 -194.6 - - 3756 - - - - - - - - - 26.42 -
3665 580.2 -13.3 198 3672 done -0.81 - - 2756 - 1.98 0.018 2074 -708.6 -194.6 - - 3756 - - - - - - - - - 26.56 -
3994 623.3 -12.5 212 4000 roll -0.81 - - 2756 - 2.00 0.031 694 -690.0 -194.6 - - 3753 - - - - - - - - - 26.45 -
4034 628.4 -12.7 213 4040 done -0.81 - - 2751 - 2.00 0.023 2078 692.0 -194.6 - - 3753 - - - - - - - - - 26.49 -
4367 671.0 -12.6 224 4372 roll -0.81 - - 2750 - 2.08 0.037 3474 671.2 -194.6 - - 3750 - - - - - - - - - 26.40 -
4482 683.1 -12.4 227 4488 done -0.81 - - 2750 - 1.98 0.018 2077 -705.6 -194.6 - - 3749 - - - - - - - - - 26.55 -
4797 726.8 -12.9 238 4803 roll -0.81 - - 2751 - 2.00 0.031 700 -688.5 -194.6 - - 3746 - - - - - - - - - 26.44 -
4822 726.8 -12.9 238 4828 done -0.81 - - 2749 - 2.00 0.024 2079 689.5 -194.6 - - 3746 - - - - - - - - - 26.48 -
5138 771.4 -12.5 249 5144 roll -0.81 - - 2749 - 2.08 0.037 3471 669.2 -194.6 - - 3743 - - - - - - - - - 26.37 -
5276 787.0 -12.4 253 5282 done -0.81 - - 2749 - 2.00 0.019 2066 -702.5 -194.6 - - 3741 - - - - - - - - - 26.53 -
5604 832.4 -13.6 264 5611 roll -0.81 - - 2749 - 2.00 0.033 699 -683.5 -194.6 - - 3738 - - - - - - - - - 26.41 -
5656 837.7 -13.6 265 5662 done -0.81 0.12 0.166 2778 241.7 2.03 0.025 2087 683.7 -194.6 - - 3738 - - - - - - - - 26.13 26.45 -
5980 875.5 -10.5 276 5985 roll -0.81 - - 2778 - 2.08 0.038 3469 664.4 -194.6 - - 3735 - - - - - - - - - 26.34 -
6008 875.5 -10.5 276 6015 done -0.81 - - 2778 - 2.00 0.021 2072 -698.5 -194.6 - - 3735 - - - - - - - - - 26.51 -
6318 909.3 -10.0 287 6323 roll -0.81 - - 2778 - 2.05 0.034 688 -675.1 -194.6 - - 3732 - - - - - - - - - 26.38 -
6367 913.4 -10.3 288 6372 done -0.81 - - 2777 - 2.03 0.025 2073 682.3 -194.6 - - 3732 - - - - - - - - - 26.43 -
6690 946.9 -10.0 299 6696 roll -0.81 - - 2778 - 2.12 0.040 3478 662.7 -194.6 - - 3729 - - - - - - - - - 26.31 -
6766 953.5 -9.8 301 6771 done -0.82 - - 2778 - 2.03 0.021 2069 -694.1 -194.6 - - 3729 - - - - - - - - - 26.50 -
7094 987.9 -10.5 312 7100 roll -0.84 - - 2778 - 2.03 0.034 696 -676.4 -194.6 - - 3726 - - - - - - - - - 26.36 -
7126 end dive: TARGET_DEPTH_EXCEEDED
7126 begin apogee
7137 992.3 -10.8 313 7313 done -0.18 0.60 0.117 2977 331.7 - - 2212 - - 165.20 1.193 2956 -4.7 0.400 - - - - - - 25.91 - 24.01
7315 end apogee: CONTROL_FINISHED_OK
7315 begin climb
7319 1002.5 - 319 7505 roll 1.12 1.15 0.042 3405 372.2 2.33 0.041 3590 591.4 194.6 174.40 1.145 2161 -4.6 0.411 - - - - - - 25.07 24.58 23.76
7588 976.4 17.6 328 7594 done 1.04 0.17 0.183 3375 -176.5 2.12 0.024 2206 -652.8 194.6 - - 2145 - - - - - - - - 25.12 25.41 -
7925 924.5 14.9 339 7930 roll 0.98 - - 3375 - 2.17 0.041 3596 640.6 194.6 - - 2141 - - - - - - - - - 26.01 -
7969 918.8 15.1 340 7975 done 0.93 0.17 0.174 3339 -211.8 2.08 0.024 2197 -672.6 194.6 - - 2140 - - - - - - - - 25.75 26.13 -
8298 871.3 14.2 351 8304 roll 0.88 - - 3338 - 2.17 0.041 3597 645.2 194.6 - - 2138 - - - - - - - - - 26.18 -
8383 860.7 14.9 353 8389 done 0.84 0.15 0.183 3311 -180.0 2.08 0.024 2189 -676.9 194.6 - - 2137 - - - - - - - - 25.91 26.30 -
8703 816.8 12.6 364 8708 roll 0.81 - - 3311 - 2.20 0.041 3597 640.0 194.6 - - 2135 - - - - - - - - - 26.25 -
8757 811.6 12.9 365 8763 done 0.77 - - 3318 - 2.05 0.025 2199 -682.0 194.6 - - 2136 - - - - - - - - - 26.37 -
9075 769.3 12.2 376 9077 done 0.74 0.15 0.162 3280 -253.3 - - 2198 - 194.6 - - 2135 - - - - - - - - 26.13 - -
9376 740.3 9.1 386 9401 done 0.78 - - 3280 - - - 2199 - 219.1 20.65 1.020 2072 -3.1 0.228 - - - - - - - - 25.25
9705 710.1 9.1 397 9737 roll 0.82 - - 3280 - 2.30 0.041 3603 610.4 244.0 26.62 0.991 1967 -3.9 0.291 - - - - - - - 25.74 24.96
9757 707.3 9.4 398 9781 done 0.85 - - 3288 - 2.12 0.025 2194 -664.6 261.8 17.70 0.990 1899 -3.8 0.283 - - - - - - - 25.84 24.72
10102 669.2 10.3 410 10103 done 0.84 - - 3288 - - - 2194 - 261.8 - - 1877 - - - - - - - - - - -
10402 638.4 10.6 420 10407 roll 0.83 - - 3296 - 2.08 0.036 809 -665.9 261.8 - - 1876 - - - - - - - - - 26.18 -
10439 634.5 10.6 421 10444 done 0.82 - - 3296 - 2.08 0.029 2202 669.7 261.8 - - 1875 - - - - - - - - - 26.22 -
10778 597.4 10.9 432 10783 roll 0.81 - - 3296 - 2.15 0.042 3604 652.1 261.8 - - 1874 - - - - - - - - - 26.22 -
10880 586.6 12.1 436 10887 done 0.79 - - 3305 - 2.08 0.026 2197 -676.4 261.8 - - 1873 - - - - - - - - - 26.36 -
11184 550.4 11.2 452 11189 roll 0.77 - - 3314 - 2.08 0.036 809 -667.3 261.8 - - 1873 - - - - - - - - - 26.30 -
11274 540.9 11.2 456 11280 done 0.75 0.12 0.153 3282 -266.7 2.05 0.029 2200 678.5 261.8 - - 1873 - - - - - - - - 26.08 26.34 -
11595 512.4 7.9 472 11663 roll 0.91 0.12 0.083 3358 633.3 2.17 0.034 805 -642.9 322.7 60.83 0.881 1643 -3.8 0.227 - - - - - - 26.49 25.48 24.74
11684 503.1 11.3 476 11690 done 0.89 0.12 0.154 3328 -250.0 2.12 0.028 2199 657.5 322.7 - - 1625 - - - - - - - - 25.44 25.61 -
12006 466.7 11.0 492 12007 done 0.87 - - 3328 - - - 2198 - 322.7 - - 1618 - - - - - - - - - - -
12308 433.9 10.9 507 12313 roll 0.86 - - 3336 - 2.10 0.034 810 -661.0 322.7 - - 1617 - - - - - - - - - 26.16 -
12327 433.9 10.9 507 12334 done 0.85 - - 3336 - 2.08 0.028 2207 671.6 322.7 - - 1617 - - - - - - - - - 26.20 -
12633 397.8 10.8 523 12639 roll 0.84 - - 3336 - 2.15 0.041 3607 651.2 322.7 - - 1617 - - - - - - - - - 26.19 -
12699 389.8 11.8 526 12705 done 0.82 0.15 0.165 3306 -200.0 2.10 0.024 2186 -676.7 322.7 - - 1615 - - - - - - - - 25.95 26.32 -
13025 356.0 10.6 542 13030 roll 0.82 - - 3316 - 2.05 0.034 806 -673.2 322.7 - - 1615 - - - - - - - - - 26.29 -
13160 341.3 11.8 548 13166 done 0.82 - - 3316 - 2.05 0.026 2210 684.9 322.7 - - 1616 - - - - - - - - - 26.34 -
13476 306.6 10.1 564 13482 roll 0.82 - - 3324 - 2.10 0.034 807 -668.1 322.7 - - 1615 - - - - - - - - - 26.32 -
13536 302.1 9.9 566 13542 done 0.83 - - 3324 - 2.05 0.026 2213 685.9 325.5 - - 1615 - - - - - - - - - 26.36 -
13842 271.5 9.6 582 13853 roll 0.86 - - 3324 - 2.08 0.039 3593 663.5 337.1 4.50 0.654 1594 -4.7 0.200 - - - - - - - 26.37 25.42
13872 268.8 9.9 583 13883 done 0.87 - - 3333 - 2.05 0.023 2184 -687.3 340.8 2.97 0.489 1578 -5.4 0.305 - - - - - - - 26.41 25.26
14193 234.6 10.8 599 14202 roll 0.87 - - 3343 - 2.10 0.033 806 -656.2 340.8 1.85 0.169 1581 1.6 -0.232 - - - - - - - 26.33 25.95
14373 217.0 10.3 607 14381 done 0.87 - - 3343 - 2.03 0.025 2201 687.2 340.8 1.88 0.166 1577 -2.1 0.287 - - - - - - - 26.38 25.94
14680 187.0 9.3 623 14719 roll 0.92 - - 3343 - 2.17 0.040 3593 641.5 362.0 28.65 0.674 1478 -3.5 0.099 - - - - - - - 26.06 25.39
14727 183.3 9.3 625 14751 done 0.97 - - 3352 - 2.05 0.022 2193 -682.9 380.6 16.50 0.676 1409 -4.2 0.117 - - - - - - - 26.13 25.21
15066 147.3 10.6 642 15072 roll 0.97 - - 3357 - 2.05 0.032 812 -673.7 380.6 - - 1396 - - - - - - - - - 26.12 -
15126 142.2 10.8 644 15133 done 0.97 - - 3357 - 2.03 0.024 2194 680.8 380.6 - - 1396 - - - - - - - - - 26.20 -
15432 111.9 8.9 660 15452 roll 1.06 - - 3357 - 2.15 0.040 3603 655.3 413.3 12.20 0.329 1293 -8.4 0.296 - - - - - - - 26.20 25.56
15472 110.0 9.1 661 15492 done 1.14 0.15 0.067 3432 500.0 2.05 0.021 2191 -688.8 439.5 13.27 0.336 1179 -8.6 0.290 - - - - - - 26.24 26.28 25.52
15803 70.7 10.5 678 15812 roll 1.13 - - 3443 - 2.10 0.031 809 -658.1 439.5 1.85 0.171 1182 1.6 -0.069 - - - - - - - 26.25 25.83
15831 68.0 10.5 679 15843 done 1.12 0.15 0.144 3402 -273.3 2.03 0.024 2201 685.7 439.5 1.65 0.171 1179 -1.8 0.075 - - - - - - 26.01 26.30 25.87
16153 42.3 7.7 700 16196 roll 1.30 0.12 0.076 3483 675.0 2.17 0.037 3600 644.7 506.4 32.00 0.204 910 -8.4 0.180 - - - - - - 26.46 26.20 25.76
16215 35.7 11.9 705 16223 done 1.28 0.15 0.148 3453 -200.0 2.03 0.021 2195 -692.1 506.4 1.55 0.173 902 -5.2 0.110 - - - - - - 25.99 26.29 25.89
16521 end climb: SURFACE_DEPTH_REACHED
16521 begin surface coast
16549 end surface coast: CONTROL_FINISHED_OK
16549 begin surface
SM 2.10 - - - - -9.00 8.35 0.025 141 16.9 0.12 0.060 2044 -93950.0 564.93 25.83 0.119 665 25.7 -0.046 - - - - - -