OKMC Jun13 * SG167 * Dive index * Mission links * Dive 431 * Raw log
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• Previous call tries 2 • 69.99 of 150.00 AH used of 24V (53.34% remains)
• Previous NAKs 0, Timeouts 0 • 43.15 of 100.00 AH used of 10V (56.85% remains)
• Surface angle -72.0 deg, depth 2.06 m • Intended pitch -17.1 deg, speed -9.429 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 35 s
• GPS2 time: 34 s • Transponder ping count: 5
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
27 - - - 111 VBD -0.99 - - 116 - - - 2180 - -184.9 -81.68 - 2716 - - - - - - - - - - -
117 3.1 -3.0 15 159 roll -0.99 10.95 0.235 2693 235.3 2.10 0.045 803 -655.7 -184.9 -21.92 - 3726 -46.1 - - - - - - - 25.01 26.03 26.50
230 27.4 -20.1 34 236 done -0.99 - - 2685 - 2.08 0.031 2197 670.2 -184.9 - - 3727 - - - - - - - - - 26.10 -
545 90.3 -18.2 55 546 done -0.99 - - 2685 - - - 2197 - -184.9 - - 3727 - - - - - - - - - - -
849 142.5 -16.9 70 850 done -0.99 - - 2685 - - - 2197 - -184.9 - - 3727 - - - - - - - - - - -
1148 190.3 -14.7 85 1153 roll -0.99 - - 2685 - 2.05 0.031 800 -681.5 -184.9 - - 3727 - - - - - - - - - 26.29 -
1196 197.1 -14.4 87 1201 done -0.99 - - 2676 - 2.05 0.028 2215 690.2 -184.9 - - 3727 - - - - - - - - - 26.33 -
1516 242.9 -14.6 103 1521 roll -0.99 - - 2676 - 2.08 0.030 797 -681.7 -184.9 - - 3727 - - - - - - - - - 26.29 -
1549 246.5 -14.6 104 1555 done -0.99 0.12 0.173 2700 200.0 2.05 0.028 2209 688.8 -184.9 - - 3727 - - - - - - - - 26.01 26.34 -
1865 290.4 -13.6 120 1870 roll -0.99 - - 2700 - 2.05 0.029 806 -684.4 -184.9 - - 3727 - - - - - - - - - 26.30 -
1884 290.4 -13.6 120 1890 done -0.99 - - 2697 - 2.03 0.028 2200 686.7 -184.9 - - 3727 - - - - - - - - - 26.34 -
2190 335.1 -13.9 136 2195 roll -0.99 - - 2696 - 2.05 0.030 803 -681.5 -184.9 - - 3727 - - - - - - - - - 26.30 -
2244 341.1 -13.4 138 2249 done -0.99 - - 2689 - 2.05 0.028 2216 689.3 -184.9 - - 3727 - - - - - - - - - 26.36 -
2558 384.0 -14.1 154 2564 roll -0.99 - - 2689 - 2.08 0.030 803 -679.3 -184.9 - - 3725 - - - - - - - - - 26.30 -
2597 387.7 -14.3 155 2604 done -0.99 - - 2683 - 2.03 0.028 2194 685.2 -184.9 - - 3725 - - - - - - - - - 26.34 -
2903 432.9 -13.7 171 2909 roll -0.99 - - 2683 - 2.05 0.031 799 -680.5 -184.9 - - 3724 - - - - - - - - - 26.29 -
2977 441.7 -13.6 174 2983 done -0.99 - - 2681 - 2.05 0.028 2206 686.3 -184.9 - - 3722 - - - - - - - - - 26.34 -
3292 482.4 -12.1 190 3297 roll -0.99 - - 2681 - 2.08 0.031 796 -677.9 -184.9 - - 3721 - - - - - - - - - 26.29 -
3341 487.9 -12.3 192 3346 done -0.99 - - 2672 - 2.05 0.028 2201 685.4 -184.9 - - 3721 - - - - - - - - - 26.34 -
3661 527.0 -11.9 208 3666 roll -0.99 - - 2673 - 2.05 0.031 806 -680.5 -184.9 - - 3718 - - - - - - - - - 26.29 -
3690 530.0 -12.1 209 3696 done -0.99 0.12 0.167 2701 233.3 2.05 0.029 2209 684.4 -184.9 - - 3718 - - - - - - - - 26.01 26.34 -
4011 567.2 -11.6 225 4016 roll -0.99 - - 2701 - 2.08 0.031 803 -676.0 -184.9 - - 3717 - - - - - - - - - 26.28 -
4050 570.1 -11.7 226 4057 done -0.99 - - 2697 - 2.05 0.028 2204 683.4 -184.9 - - 3715 - - - - - - - - - 26.33 -
4356 607.9 -12.2 241 4357 done -0.99 - - 2697 - - - 2204 - -184.9 - - 3713 - - - - - - - - - - -
4656 642.6 -11.3 251 4661 roll -0.99 - - 2697 - 2.08 0.032 803 -673.6 -184.9 - - 3710 - - - - - - - - - 26.27 -
4750 653.1 -11.1 254 4756 done -0.99 - - 2697 - 2.08 0.030 2209 676.0 -184.9 - - 3709 - - - - - - - - - 26.32 -
5089 688.8 -10.8 265 5094 roll -0.99 - - 2697 - 2.10 0.033 802 -670.0 -184.9 - - 3706 - - - - - - - - - 25.89 -
5138 693.1 -10.9 266 5143 done -0.99 - - 2697 - 2.08 0.031 2202 673.1 -184.9 - - 3706 - - - - - - - - - 26.29 -
5463 729.3 -10.8 277 5468 roll -0.99 - - 2697 - 2.10 0.041 797 -669.0 -184.9 - - 3702 - - - - - - - - - 26.05 -
5511 733.5 -10.9 278 5517 done -0.99 - - 2697 - 2.08 0.031 2201 675.0 -184.9 - - 3702 - - - - - - - - - 26.29 -
5832 770.7 -11.7 289 5833 done -0.99 - - 2697 - - - 2201 - -184.9 - - 3699 - - - - - - - - - - -
6131 808.6 -13.1 299 6136 roll -0.99 - - 2697 - 2.08 0.033 809 -669.2 -184.9 - - 3696 - - - - - - - - - 26.22 -
6190 813.4 -13.3 300 6197 done -0.99 - - 2697 - 2.10 0.031 2213 668.6 -184.9 - - 3695 - - - - - - - - - 26.27 -
6497 860.5 -14.2 311 6498 done -0.99 - - 2697 - - - 2213 - -184.9 - - 3693 - - - - - - - - - - -
6796 901.4 -13.3 321 6801 roll -0.99 - - 2697 - 2.10 0.033 809 -668.6 -184.9 - - 3691 - - - - - - - - - 26.20 -
6846 905.9 -13.2 322 6851 done -0.99 - - 2697 - 2.08 0.031 2202 669.7 -184.9 - - 3690 - - - - - - - - - 26.25 -
7170 946.5 -11.7 333 7171 done -0.99 - - 2697 - - - 2202 - -184.9 - - 3688 - - - - - - - - - - -
7466 980.8 -11.2 343 7471 roll -0.99 - - 2697 - 2.10 0.034 803 -666.2 -184.9 - - 3685 - - - - - - - - - 26.17 -
7505 984.8 -11.3 344 7510 done -0.99 - - 2697 - 2.10 0.032 2208 669.0 -184.9 - - 3685 - - - - - - - - - 26.22 -
7561 end dive: TARGET_DEPTH_EXCEEDED
7561 begin apogee
7570 992.1 -11.4 346 7792 done -0.21 0.77 0.125 2944 320.8 - - 2030 - - 216.57 1.004 2970 -3.3 0.339 - - - - - - 25.52 - 23.81
7795 end apogee: CONTROL_FINISHED_OK
7795 begin climb
7798 1004.1 - 353 7976 roll 0.99 1.10 0.060 3338 358.2 2.38 0.042 3438 591.6 184.9 167.98 1.142 2204 -4.6 0.417 - - - - - - 25.12 24.82 23.56
8049 991.5 9.7 362 8054 done 0.99 - - 3347 - 2.10 0.024 2060 -656.2 184.9 - - 2186 - - - - - - - - - 25.66 -
8388 959.1 9.3 373 8393 roll 0.99 - - 3358 - 2.17 0.041 649 -650.2 187.3 - - 2182 - - - - - - - - - 26.05 -
8477 952.3 9.5 375 8483 done 0.99 - - 3358 - 2.12 0.032 2056 663.7 187.3 - - 2179 - - - - - - - - - 26.15 -
8784 922.4 8.7 386 8812 roll 1.03 - - 3358 - 2.25 0.044 3454 621.3 209.3 21.67 1.098 2106 -3.4 0.294 - - - - - - - 25.79 24.36
8907 909.1 10.7 390 8913 done 1.03 - - 3368 - 2.12 0.025 2038 -667.9 209.3 - - 2090 - - - - - - - - - 26.03 -
9246 875.1 10.5 401 9251 roll 1.03 - - 3378 - 2.10 0.041 660 -656.2 209.3 - - 2088 - - - - - - - - - 26.08 -
9311 867.4 11.0 403 9316 done 1.03 - - 3378 - 2.12 0.033 2059 659.9 209.3 - - 2086 - - - - - - - - - 26.17 -
9650 828.9 11.6 414 9655 roll 1.03 - - 3377 - 2.15 0.044 3459 651.2 209.3 - - 2085 - - - - - - - - - 26.11 -
9704 824.0 11.8 415 9710 done 1.03 0.15 0.174 3351 -173.3 2.10 0.025 2035 -678.1 209.3 - - 2083 - - - - - - - - 25.82 26.28 -
10023 786.9 10.7 426 10028 roll 1.03 - - 3360 - 2.10 0.040 657 -656.2 209.3 - - 2083 - - - - - - - - - 26.14 -
10088 779.6 10.8 428 10093 done 1.03 - - 3360 - 2.10 0.032 2050 663.3 209.3 - - 2083 - - - - - - - - - 26.23 -
10426 745.4 10.0 439 10432 roll 1.03 - - 3360 - 2.15 0.044 3458 654.9 209.3 - - 2082 - - - - - - - - - 26.10 -
10481 741.1 10.2 440 10486 done 1.03 - - 3369 - 2.08 0.026 2050 -676.9 209.3 - - 2082 - - - - - - - - - 26.29 -
10796 707.8 9.8 451 10801 roll 1.03 - - 3378 - 2.12 0.041 652 -659.4 209.3 - - 2081 - - - - - - - - - 26.11 -
10846 704.2 10.0 452 10851 done 1.03 - - 3378 - 2.10 0.032 2049 665.2 209.3 - - 2082 - - - - - - - - - 26.22 -
11168 671.1 9.6 463 11174 roll 1.03 - - 3378 - 2.17 0.044 3456 648.4 209.3 - - 2081 - - - - - - - - - 26.08 -
11268 660.9 10.3 466 11274 done 1.03 0.15 0.171 3351 -180.0 2.10 0.026 2043 -672.9 209.3 - - 2081 - - - - - - - - 25.79 26.27 -
11602 632.9 7.8 477 11666 roll 1.10 - - 3360 - 2.15 0.039 664 -641.4 257.3 58.22 0.875 1914 -2.9 0.216 - - - - - - - 25.46 24.18
11742 621.9 8.8 481 11770 done 1.13 - - 3360 - 2.12 0.031 2053 655.2 274.7 16.67 0.926 1841 -4.4 0.306 - - - - 1 - - 25.76 23.77
12086 588.7 9.2 495 12091 roll 1.14 - - 3360 - 2.17 0.044 3460 648.4 281.6 - - 1829 - - - - - - - - - 25.90 -
12185 579.9 10.3 499 12191 done 1.14 - - 3370 - 2.10 0.026 2049 -671.9 281.6 - - 1828 - - - - - - - - - 26.11 -
12491 548.9 9.9 515 12496 roll 1.14 - - 3379 - 2.12 0.041 652 -659.0 281.6 - - 1827 - - - - - - - - - 26.02 -
12510 548.9 9.9 515 12516 done 1.14 - - 3378 - 2.12 0.031 2062 665.1 281.6 - - 1827 - - - - - - - - - 26.13 -
12816 515.7 9.9 531 12821 roll 1.14 - - 3386 - 2.15 0.039 657 -653.5 281.6 - - 1827 - - - - - - - - - 26.06 -
12915 507.4 9.8 535 12921 done 1.14 - - 3386 - 2.10 0.031 2053 664.8 281.6 - - 1826 - - - - - - - - - 26.17 -
13221 479.7 8.2 551 13284 roll 1.19 - - 3395 - 2.20 0.039 659 -633.6 317.8 55.40 0.802 1665 -2.9 0.181 - - - - - - - 25.53 24.32
13360 468.0 9.5 557 13367 done 1.19 - - 3395 - 2.12 0.031 2051 656.6 317.8 - - 1648 - - - - - - - - - 25.77 -
13666 433.2 11.4 573 13671 roll 1.19 - - 3395 - 2.17 0.043 3457 647.9 317.8 - - 1645 - - - - - - - - - 25.91 -
13705 430.3 11.5 574 13713 done 1.19 - - 3403 - 2.10 0.026 2045 -672.4 317.8 - - 1644 - - - - - - - - - 26.09 -
14010 394.5 10.8 590 14016 roll 1.19 - - 3414 - 2.12 0.040 653 -656.6 317.8 - - 1643 - - - - - - - - - 26.01 -
14110 385.4 10.8 594 14117 done 1.19 - - 3413 - 2.10 0.031 2054 667.1 317.8 - - 1644 - - - - - - - - - 26.14 -
14415 347.8 12.2 610 14421 roll 1.19 - - 3413 - 2.15 0.042 3457 652.6 317.8 - - 1643 - - - - - - - - - 26.04 -
14481 339.3 12.8 613 14487 done 1.19 - - 3423 - 2.10 0.025 2041 -674.3 317.8 - - 1642 - - - - - - - - - 26.25 -
14806 303.7 10.0 629 14811 roll 1.19 - - 3424 - 2.17 0.040 3449 648.8 317.8 - - 1642 - - - - - - - - - 26.06 -
14856 299.0 10.2 631 14862 done 1.19 0.12 0.174 3404 -166.7 2.05 0.025 2048 -683.4 317.8 - - 1642 - - - - - - - - 25.85 26.25 -
15176 266.8 10.6 647 15182 roll 1.19 - - 3413 - 2.10 0.038 655 -663.3 317.8 - - 1642 - - - - - - - - - 26.08 -
15211 264.2 10.6 648 15216 done 1.19 - - 3413 - 2.08 0.029 2055 673.1 317.8 - - 1642 - - - - - - - - - 26.21 -
15527 228.6 10.5 664 15532 roll 1.19 - - 3413 - 2.12 0.041 3451 658.5 317.8 - - 1642 - - - - - - - - - 26.08 -
15618 219.2 11.0 668 15623 done 1.19 - - 3422 - 2.05 0.024 2045 -685.9 317.8 - - 1642 - - - - - - - - - 26.29 -
15939 190.2 7.8 684 15997 roll 1.26 - - 3423 - 2.25 0.039 3449 624.0 364.7 48.60 0.632 1470 -3.5 0.111 - - - - - - - 25.75 24.59
16054 181.5 8.5 689 16088 done 1.30 - - 3431 - 2.08 0.023 2046 -674.5 390.1 25.55 0.632 1368 -4.0 0.119 - - - - - - - 25.93 24.50
16408 142.5 11.0 707 16414 roll 1.30 - - 3442 - 2.10 0.037 657 -661.4 390.1 - - 1350 - - - - - - - - - 25.94 -
16477 135.6 10.5 710 16483 done 1.30 - - 3442 - 2.08 0.028 2053 671.2 390.1 - - 1350 - - - - - - - - - 26.08 -
16798 106.6 8.9 726 16807 roll 1.32 - - 3442 - 2.12 0.037 3450 659.0 404.4 4.25 0.163 1324 -6.1 0.416 - - - - - - - 26.02 24.34
16846 102.3 9.4 728 16856 done 1.32 - - 3451 - 2.05 0.022 2037 -689.3 405.1 3.33 0.170 1323 - - - - - - - - - 26.25 24.53
17166 70.8 9.0 744 17180 roll 1.34 - - 3451 - 2.22 0.037 3444 633.8 417.3 9.15 0.232 1267 -6.1 0.194 - - - - - - - 26.08 24.90
17279 62.0 8.6 749 17299 done 1.38 - - 3460 - 2.03 0.022 2048 -687.7 441.4 14.25 0.232 1168 -6.9 0.193 - - - - - - - 26.27 25.15
17604 33.8 8.8 774 17619 roll 1.40 - - 3460 - 2.22 0.036 3454 633.3 459.2 10.65 0.178 1097 -6.7 0.132 - - - - - - - 26.06 25.16
17650 29.4 9.7 778 17661 done 1.40 - - 3468 - 2.03 0.021 2052 -690.6 459.2 1.75 0.167 1098 - - - - - - - - - 26.26 25.44
17928 end climb: SURFACE_DEPTH_REACHED
17929 begin surface coast
17968 end surface coast: CONTROL_FINISHED_OK
17968 begin surface
SM 2.08 - - - - -8.93 8.52 0.031 143 16.8 0.20 0.044 2194 -35140.0 564.93 47.47 0.117 663 14.0 -0.025 - - - - - -