OKMC Jun11 * SG167 * Dive index * Mission links * Dive 429 * Raw log
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• Previous call tries 5 • 81.37 of 150.00 AH used of 24V (45.75% remains)
• Previous NAKs 0, Timeouts 0 • 68.67 of 110.00 AH used of 10V (37.57% remains)
• Surface angle -66.4 deg, depth 1.58 m • Intended pitch -15.3 deg, speed -9.706 cm/s
VBD pumped to 576.21 (SM_CC=576.20972)
• GPS1 time: 901 s, HDOP was 99.0 m
• GPS2 time: 901 s, HDOP was 99.0 m • Transponder ping count: 61
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 114 VBD -0.62 - - 108 - - - 1973 - -194.6 -92.18 - 3043 - - - - - - - - - - -
117 5.1 -7.5 13 147 roll -0.62 10.20 0.229 2600 244.3 2.25 0.041 464 -670.7 -194.6 -9.98 - 3636 -59.4 - - - - - - - - - -
219 39.9 -25.4 29 227 done -0.62 - - 2592 - 2.08 0.022 1908 694.2 -194.6 - - 3637 - - - - - - - - - - -
364 77.2 -19.8 54 373 roll -0.62 - - 2582 - 2.03 0.032 3275 673.4 -194.6 - - 3636 - - - - - - - - - - -
445 90.7 -16.1 67 452 done -0.62 - - 2582 - 2.10 0.018 1788 -708.1 -194.6 - - 3637 - - - - - - - - - - -
588 113.1 -15.9 92 596 roll -0.62 - - 2573 - 2.22 0.030 3274 669.4 -194.6 - - 3637 - - - - - - - - - - -
623 118.4 -16.4 97 630 done -0.62 - - 2573 - 2.03 0.017 1835 -708.9 -194.6 - - 3637 - - - - - - - - - - -
770 145.7 -17.9 122 780 roll -0.62 - - 2573 - 1.95 0.028 502 -683.6 -194.6 - - 3637 - - - - - - - - - - -
838 157.5 -15.1 133 845 done -0.62 - - 2570 - 1.92 0.021 1848 701.0 -194.6 - - 3637 - - - - - - - - - - -
983 176.0 -12.2 158 993 roll -0.62 0.10 0.178 2596 260.0 2.00 0.024 488 -680.0 -194.6 - - 3637 - - - - - - - - - - -
1009 178.6 -9.9 161 1019 done -0.62 - - 2589 - 1.85 0.017 1822 721.1 -194.6 - - 3637 - - - - - - - - - - -
1158 195.1 -13.7 186 1167 roll -0.62 - - 2587 - 2.15 0.034 3258 667.9 -194.6 - - 3636 - - - - - - - - - - -
1193 199.1 -11.3 191 1199 done -0.62 - - 2587 - 2.08 0.018 1793 -704.3 -194.6 - - 3636 - - - - - - - - - - -
1327 215.5 -13.3 204 1332 roll -0.62 - - 2588 - 1.90 0.029 491 -685.3 -194.6 - - 3636 - - - - - - - - - - -
1369 221.1 -14.0 207 1375 done -0.62 - - 2587 - 1.83 0.020 1780 704.4 -194.6 - - 3635 - - - - - - - - - - -
1694 259.1 -8.9 238 1698 roll -0.62 - - 2587 - 2.17 0.033 3263 683.4 -194.6 - - 3634 - - - - - - - - - - -
1873 273.7 -7.7 253 1880 done -0.62 - - 2588 - 2.08 0.017 1792 -707.2 -194.6 - - 3633 - - - - - - - - - - -
2199 306.1 -10.6 284 2202 roll -0.62 - - 2588 - 1.88 0.029 495 -689.9 -194.6 - - 3631 - - - - - - - - - - -
2228 309.2 -10.7 286 2235 done -0.62 - - 2587 - 1.83 0.020 1780 702.2 -194.6 - - 3631 - - - - - - - - - - -
2555 342.7 -10.8 317 2559 roll -0.62 - - 2587 - 2.17 0.034 3262 682.9 -194.6 - - 3628 - - - - - - - - - - -
2642 352.0 -10.4 324 2646 done -0.62 - - 2587 - 2.08 0.018 1782 -711.5 -194.6 - - 3627 - - - - - - - - - - -
2968 386.5 -10.1 354 2972 roll -0.62 - - 2587 - 2.22 0.032 3267 668.9 -194.6 - - 3624 - - - - - - - - - - -
3054 393.9 -8.3 361 3058 done -0.62 - - 2587 - 2.05 0.018 1821 -705.4 -194.6 - - 3623 - - - - - - - - - - -
3388 423.1 -9.0 392 3392 roll -0.62 - - 2587 - 1.92 0.030 494 -691.1 -194.6 - - 3620 - - - - - - - - - - -
3473 430.6 -8.9 399 3477 done -0.62 - - 2587 - 1.88 0.020 1807 698.4 -194.6 - - 3620 - - - - - - - - - - -
3804 458.6 -9.1 430 3808 roll -0.62 - - 2587 - 2.17 0.035 3263 671.0 -194.6 - - 3616 - - - - - - - - - - -
3994 475.3 -8.7 446 4002 done -0.62 - - 2587 - 2.00 0.019 1856 -703.5 -194.6 - - 3614 - - - - - - - - - - -
4332 506.4 -9.3 475 4336 roll -0.62 - - 2587 - 2.12 0.034 3267 665.6 -194.6 - - 3612 - - - - - - - - - - -
4381 511.4 -9.3 477 4385 done -0.62 - - 2587 - 1.95 0.018 1888 -707.2 -194.6 - - 3611 - - - - - - - - - - -
4704 542.8 -9.8 493 4707 roll -0.62 - - 2587 - 2.08 0.035 3259 659.1 -194.6 - - 3609 - - - - - - - - - - -
4761 548.4 -9.5 495 4765 done -0.62 - - 2587 - 1.92 0.021 1916 -699.5 -194.6 - - 3608 - - - - - - - - - - -
5084 578.8 -9.7 511 5089 roll -0.62 - - 2587 - 2.10 0.031 510 -669.5 -194.6 - - 3606 - - - - - - - - - - -
5122 582.7 -9.3 512 5130 done -0.62 - - 2587 - 2.05 0.021 1899 677.6 -194.6 - - 3606 - - - - - - - - - - -
5440 607.5 -7.0 528 5444 roll -0.62 - - 2587 - 2.05 0.037 3260 663.9 -194.6 - - 3603 - - - - - - - - - - -
5473 610.0 -7.2 529 5477 done -0.62 - - 2587 - 1.95 0.021 1898 -698.5 -194.6 - - 3603 - - - - - - - - - - -
5797 631.4 -6.3 545 5800 roll -0.62 - - 2587 - 2.08 0.034 3265 657.2 -194.6 - - 3600 - - - - - - - - - - -
5844 634.3 -6.0 547 5847 done -0.62 - - 2588 - 1.95 0.019 1899 -700.5 -194.6 - - 3600 - - - - - - - - - - -
6177 658.6 -7.6 563 6179 done -0.62 - - 2587 - - - 1898 - -194.6 - - 3598 - - - - - - - - - - -
6488 682.2 -7.6 578 6489 done -0.62 - - 2587 - - - 1898 - -194.6 - - 3597 - - - - - - - - - - -
6795 705.2 -7.1 593 6799 roll -0.62 - - 2587 - 2.05 0.031 514 -675.1 -194.6 - - 3595 - - - - - - - - - - -
6845 709.6 -8.2 595 6849 done -0.62 - - 2587 - 2.03 0.023 1883 674.4 -194.6 - - 3594 - - - - - - - - - - -
7176 736.3 -8.1 611 7180 roll -0.62 - - 2587 - 2.05 0.030 514 -667.8 -194.6 - - 3593 - - - - - - - - - - -
7210 739.0 -7.5 612 7214 done -0.62 - - 2587 - 2.00 0.021 1872 679.0 -194.6 - - 3592 - - - - - - - - - - -
7535 763.1 -7.7 628 7539 roll -0.62 - - 2588 - 2.10 0.039 3269 665.2 -194.6 - - 3591 - - - - - - - - - - -
7690 773.6 -6.8 635 7694 done -0.62 - - 2587 - 1.98 0.020 1897 -692.9 -194.6 - - 3590 - - - - - - - - - - -
8026 793.5 -7.0 651 8030 roll -0.62 - - 2587 - 2.08 0.037 3268 659.1 -194.6 - - 3589 - - - - - - - - - - -
8089 798.3 -8.0 654 8093 done -0.62 - - 2587 - 1.95 0.020 1910 -696.4 -194.6 - - 3589 - - - - - - - - - - -
8424 818.3 -5.0 670 8425 done -0.62 - - 2587 - - - 1910 - -194.6 - - 3587 - - - - - - - - - - -
8731 838.5 -6.7 685 8732 done -0.62 - - 2587 - - - 1908 - -194.6 - - 3585 - - - - - - - - - - -
9040 857.0 -6.0 700 9045 roll -0.62 - - 2587 - 2.10 0.040 3259 643.3 -194.6 - - 3584 - - - - - - - - - - -
9093 859.5 -5.6 702 9097 done -0.62 - - 2587 - 1.95 0.022 1914 -689.7 -194.6 - - 3584 - - - - - - - - - - -
9420 877.3 -6.2 718 9421 done -0.62 - - 2587 - - - 1914 - -194.6 - - 3583 - - - - - - - - - - -
9729 896.3 -4.8 733 9733 roll -0.62 - - 2587 - 2.05 0.040 3261 657.1 -194.6 - - 3582 - - - - - - - - - - -
9770 897.1 -4.5 734 9778 done -0.62 - - 2587 - 1.95 0.023 1922 -686.7 -194.6 - - 3583 - - - - - - - - - - -
10086 909.0 -4.4 750 10091 roll -0.62 - - 2587 - 2.15 0.032 498 -662.3 -194.6 - - 3581 - - - - - - - - - - -
10132 911.8 -5.2 752 10137 done -0.62 - - 2587 - 2.10 0.023 1902 668.6 -194.6 - - 3581 - - - - - - - - - - -
10467 936.0 -7.3 768 10471 roll -0.62 - - 2587 - 2.08 0.039 3265 655.3 -194.6 - - 3581 - - - - - - - - - - -
10506 939.0 -7.0 769 10513 done -0.62 - - 2587 - 1.98 0.021 1899 -689.9 -194.6 - - 3581 - - - - - - - - - - -
10824 958.9 -5.5 785 10825 done -0.62 - - 2587 - - - 1898 - -194.6 - - 3580 - - - - - - - - - - -
11131 976.3 -5.9 800 11136 roll -0.62 - - 2587 - 2.12 0.037 3268 646.2 -194.6 - - 3579 - - - - - - - - - - -
11159 978.2 -6.1 801 11162 done -0.62 - - 2587 - 1.95 0.020 1912 -695.4 -194.6 - - 3579 - - - - - - - - - - -
11361 end dive: TARGET_DEPTH_EXCEEDED
11361 begin apogee
11369 990.9 6.4 811 11533 roll -0.20 0.43 0.116 2729 330.2 - - 2081 - - 158.98 1.399 2840 -4.6 0.356 - - - - - - - - -
11534 end apogee: CONTROL_FINISHED_OK
11534 begin climb
11538 996.6 - 818 11717 done 0.62 0.77 0.080 2998 349.4 - - 2081 - 194.6 173.82 1.349 2045 -4.6 0.365 - - - - - - - - -
12027 941.6 13.9 842 12031 roll 0.62 - - 2999 - 2.15 0.040 3478 649.8 194.6 - - 2034 - - - - - - - - - - -
12076 933.9 14.8 844 12080 done 0.62 - - 3007 - 2.03 0.021 2105 -676.4 194.6 - - 2032 - - - - - - - - - - -
12399 888.1 14.5 860 12404 roll 0.62 - - 3018 - 2.12 0.034 698 -663.7 194.6 - - 2031 - - - - - - - - - - -
12516 871.3 12.5 865 12520 done 0.62 - - 3018 - 2.03 0.024 2051 666.5 194.6 - - 2031 - - - - - - - - - - -
12845 828.3 13.6 881 12850 roll 0.62 - - 3018 - 2.17 0.040 3465 651.6 194.6 - - 2030 - - - - - - - - - - -
12922 816.8 15.1 884 12926 done 0.62 - - 3028 - 2.03 0.021 2079 -682.8 194.6 - - 2029 - - - - - - - - - - -
13245 773.2 13.7 900 13249 roll 0.62 - - 3037 - 2.10 0.034 688 -662.4 194.6 - - 2029 - - - - - - - - - - -
13340 760.0 13.3 904 13346 done 0.62 0.10 0.133 3003 -340.0 2.05 0.024 2057 667.8 194.6 - - 2028 - - - - - - - - - - -
13669 720.9 12.7 920 13673 roll 0.62 - - 3004 - 2.15 0.040 3467 655.8 194.6 - - 2029 - - - - - - - - - - -
13737 711.4 14.3 923 13742 done 0.62 - - 3011 - 2.10 0.022 2057 -671.4 194.6 - - 2028 - - - - - - - - - - -
14064 672.3 11.5 939 14067 roll 0.62 - - 3021 - 2.05 0.034 683 -670.2 194.6 - - 2028 - - - - - - - - - - -
14237 650.5 12.8 946 14244 done 0.62 - - 3021 - 1.95 0.024 1990 670.3 194.6 - - 2028 - - - - - - - - - - -
14553 608.6 13.1 962 14557 roll 0.62 - - 3021 - 2.22 0.038 3464 664.0 194.6 - - 2028 - - - - - - - - - - -
14631 597.2 14.6 965 14639 done 0.62 0.12 0.166 2998 -191.7 2.12 0.021 2011 -685.4 194.6 - - 2027 - - - - - - - - - - -
14949 560.2 11.2 981 14952 roll 0.62 - - 3006 - 1.95 0.034 685 -680.0 194.6 - - 2027 - - - - - - - - - - -
15101 543.1 10.4 987 15108 done 0.62 - - 3006 - 1.90 0.023 1969 675.8 194.6 - - 2027 - - - - - - - - - - -
15418 511.0 10.2 1003 15423 roll 0.62 - - 3006 - 2.30 0.038 3462 649.1 194.6 - - 2027 - - - - - - - - - - -
15479 503.6 11.7 1005 15486 done 0.62 - - 3016 - 2.20 0.021 1966 -680.0 194.6 - - 2027 - - - - - - - - - - -
15803 465.6 12.0 1034 15804 done 0.62 - - 3016 - - - 1965 - 194.6 - - 2027 - - - - - - - - - - -
16124 428.5 11.7 1064 16128 roll 0.62 - - 3016 - 2.30 0.037 3460 650.0 194.6 - - 2027 - - - - - - - - - - -
16165 423.3 12.7 1067 16169 done 0.62 - - 3025 - 2.12 0.021 2007 -685.4 194.6 - - 2027 - - - - - - - - - - -
16493 383.7 11.4 1097 16497 roll 0.62 - - 3035 - 1.98 0.034 679 -670.7 194.6 - - 2027 - - - - - - - - - - -
16654 366.6 10.6 1111 16659 done 0.62 0.10 0.129 3001 -340.0 1.88 0.022 1949 675.5 194.6 - - 2026 - - - - - - - - - - -
16985 337.9 8.4 1142 17023 roll 0.67 - - 3001 - 2.38 0.037 3458 634.0 233.8 32.10 0.931 1884 -4.4 0.173 - - - - - - - - -
17104 326.9 9.7 1152 17111 done 0.67 - - 3009 - 2.22 0.021 1976 -667.6 233.8 - - 1881 - - - - - - - - - - -
17429 295.3 10.3 1183 17433 roll 0.67 - - 3019 - 1.90 0.033 684 -680.0 233.8 - - 1879 - - - - - - - - - - -
17588 277.1 12.7 1197 17592 done 0.67 - - 3019 - 1.77 0.023 1894 683.6 233.8 - - 1879 - - - - - - - - - - -
17921 244.9 9.3 1228 17937 roll 0.69 - - 3020 - 1.83 0.031 679 -663.9 246.8 11.60 0.801 1833 -4.0 0.131 - - - - - - - - -
17954 241.9 8.0 1230 18007 done 0.75 - - 3020 - 1.73 0.021 1864 685.0 298.5 44.78 0.843 1621 -4.7 0.147 - - - - - - - - -
18325 204.2 11.6 1265 18330 roll 0.75 - - 3020 - 2.45 0.035 3456 649.8 298.5 - - 1614 - - - - - - - - - - -
18415 194.1 10.9 1277 18423 done 0.75 - - 3029 - 2.28 0.019 1919 -674.1 298.5 - - 1614 - - - - - - - - - - -
18559 181.9 8.2 1302 18606 roll 0.80 - - 3037 - 1.90 0.034 686 -648.9 342.0 36.38 0.780 1443 -4.7 0.118 - - - - - - - - -
18705 168.6 9.1 1326 18728 done 0.82 - - 3037 - 1.75 0.021 1868 675.4 359.5 15.62 0.732 1373 -4.5 0.112 - - - - - - - - -
18865 153.1 10.1 1353 18872 roll 0.82 - - 3037 - 2.42 0.035 3464 659.5 359.5 - - 1369 - - - - - - - - - - -
18904 148.7 11.3 1359 18915 done 0.82 - - 3044 - 2.38 0.020 1849 -678.6 359.5 - - 1367 - - - - - - - - - - -
19048 130.6 12.6 1384 19057 done 0.82 - - 3044 - - - 1849 - 359.5 - - 1367 - - - - - - - - - - -
19192 115.3 10.0 1409 19198 done 0.82 - - 3044 - - - 1849 - 359.5 - - 1367 - - - - - - - - - - -
19329 100.3 11.2 1434 19337 roll 0.82 - - 3044 - 2.47 0.033 3467 655.1 359.5 - - 1366 - - - - - - - - - - -
19352 97.9 11.5 1437 19359 done 0.82 - - 3044 - 2.33 0.020 1877 -682.4 359.5 - - 1366 - - - - - - - - - - -
19495 84.3 8.5 1462 19532 roll 0.87 0.10 0.103 3108 640.0 1.85 0.031 670 -652.4 396.3 30.48 0.686 1222 -4.7 0.063 - - - - - - - - -
19597 73.5 9.5 1478 19613 done 0.88 - - 3108 - 1.65 0.020 1808 689.7 402.8 6.68 0.566 1197 -3.7 0.053 - - - - - - - - -
19748 58.6 9.4 1504 19763 roll 0.89 - - 3108 - 2.50 0.031 3462 661.6 411.0 8.90 0.594 1162 -3.9 0.042 - - - - - - - - -
19826 51.2 9.0 1517 19855 done 0.91 - - 3117 - 2.30 0.019 1887 -684.8 431.9 18.38 0.636 1077 -4.6 0.040 - - - - - - - - -
19993 37.5 9.8 1545 20001 roll 0.91 - - 3126 - 1.80 0.031 678 -671.7 431.9 - - 1074 - - - - - - - - - - -
20074 29.6 10.2 1559 20082 done 0.91 - - 3126 - 1.62 0.018 1818 703.7 431.9 - - 1074 - - - - - - - - - - -
20219 16.4 8.7 1584 20254 done 0.95 - - 3126 - - - 1817 - 463.1 26.50 0.606 949 -4.7 0.014 - - - - - - - - -
20377 end climb: SURFACE_DEPTH_REACHED
20377 begin surface coast
20415 end surface coast: CONTROL_FINISHED_OK
20415 begin surface
SM 1.65 - - - - -8.38 - - 110 - - - 1828 - 576.21 91.75 0.536 490 -5.0 0.002 - - - - 1 -