OKMC Jun13 * SG167 * Dive index * Mission links * Dive 452 * Raw log
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• Previous call tries 1 • 73.90 of 150.00 AH used of 24V (50.73% remains)
• Previous NAKs 0, Timeouts 0 • 45.50 of 100.00 AH used of 10V (54.50% remains)
• Surface angle -72.6 deg, depth 2.08 m • Intended pitch -16.6 deg, speed -9.167 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 25 s
• GPS2 time: 40 s • Transponder ping count: 3
• 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 - - - 110 VBD -0.97 - - 141 - - - 2087 - -184.9 -81.55 - 2705 - - - - - - - - - - -
116 3.0 -2.5 15 158 roll -0.97 12.02 0.261 2737 216.0 1.98 0.045 759 -670.7 -184.9 -21.98 - 3724 -46.4 - - - - - - - 25.01 25.99 26.48
190 19.5 -23.7 27 197 done -0.81 0.25 0.171 2795 232.0 2.03 0.030 2123 671.9 -184.9 - - 3725 - - - - - - - - 25.41 26.03 -
517 76.1 -15.2 53 522 roll -0.76 - - 2792 - 2.12 0.039 3538 667.5 -184.9 - - 3725 - - - - - - - - - 26.09 -
556 80.2 -15.2 54 564 done -0.70 0.15 0.151 2831 260.0 2.00 0.019 2143 -697.5 -184.9 - - 3725 - - - - - - - - 25.89 26.29 -
862 122.6 -12.2 70 867 roll -0.70 - - 2825 - 2.12 0.037 3542 659.9 -184.9 - - 3725 - - - - - - - - - 26.17 -
947 131.9 -10.9 74 952 done -0.70 - - 2825 - 2.03 0.018 2120 -700.5 -184.9 - - 3725 - - - - - - - - - 26.37 -
1272 164.2 -10.7 90 1273 done -0.75 - - 2825 - - - 2120 - -184.9 - - 3726 - - - - - - - - - - -
1575 196.0 -9.9 105 1581 roll -0.81 - - 2824 - 2.12 0.038 3532 666.0 -184.9 - - 3726 - - - - - - - - - 26.20 -
1677 204.3 -9.4 109 1685 done -0.85 0.12 0.080 2753 -591.7 2.00 0.018 2126 -703.0 -184.9 - - 3726 - - - - - - - - 26.32 26.40 -
1981 240.7 -12.1 125 1986 roll -0.84 0.12 0.151 2793 333.3 2.12 0.036 3535 664.6 -184.9 - - 3725 - - - - - - - - 26.23 26.22 -
2040 246.1 -12.1 127 2047 done -0.84 - - 2792 - 2.03 0.019 2121 -696.6 -184.9 - - 3726 - - - - - - - - - 26.41 -
2347 280.9 -10.4 143 2348 done -0.87 - - 2792 - - - 2121 - -184.9 - - 3725 - - - - - - - - - - -
2650 308.5 -8.6 158 2655 roll -0.92 - - 2793 - 2.05 0.034 724 -681.5 -184.9 - - 3723 - - - - - - - - - 26.27 -
2696 312.6 -8.6 160 2702 done -0.95 0.12 0.080 2720 -608.3 2.08 0.030 2135 678.4 -184.9 - - 3724 - - - - - - - - 26.27 26.30 -
3023 349.8 -12.3 176 3029 roll -0.90 0.12 0.162 2755 291.7 2.10 0.037 3540 669.0 -184.9 - - 3722 - - - - - - - - 26.19 26.23 -
3103 357.8 -12.4 179 3110 done -0.88 - - 2754 - 2.03 0.019 2126 -696.6 -184.9 - - 3721 - - - - - - - - - 26.41 -
3409 394.3 -11.0 195 3414 roll -0.87 - - 2746 - 2.12 0.037 3537 665.6 -184.9 - - 3720 - - - - - - - - - 26.23 -
3469 399.2 -10.9 197 3476 done -0.86 0.12 0.149 2780 283.3 2.03 0.019 2120 -698.0 -184.9 - - 3720 - - - - - - - - 26.08 26.41 -
3774 429.5 -9.6 213 3780 roll -0.90 - - 2779 - 2.03 0.034 736 -681.8 -184.9 - - 3718 - - - - - - - - - 26.27 -
3809 431.9 -9.5 214 3814 done -0.94 - - 2779 - 2.05 0.030 2127 678.5 -184.9 - - 3717 - - - - - - - - - 26.29 -
4124 465.1 -10.4 230 4130 roll -0.99 0.12 0.079 2699 -666.7 2.10 0.038 3528 667.1 -184.9 - - 3715 - - - - - - - - 26.52 26.21 -
4227 475.8 -12.4 234 4235 done -0.96 0.17 0.146 2747 282.4 2.03 0.020 2117 -695.1 -184.9 -0.10 - 3739 -240.0 - - - - - - - 25.96 26.41 25.58
4530 506.1 -7.9 250 4536 roll -0.96 - - 2740 - 2.15 0.037 3538 660.9 -184.9 - - 3737 - - - - - - - - - 26.21 -
4605 511.2 -7.8 253 4610 done -0.96 - - 2740 - 2.03 0.020 2123 -697.0 -184.9 - - 3737 - - - - - - - - - 26.41 -
4920 536.1 -7.8 269 4925 roll -0.96 - - 2738 - 2.15 0.040 3535 656.7 -184.9 - - 3735 - - - - - - - - - 26.20 -
4965 539.8 -7.8 271 4970 done -0.96 - - 2737 - 2.05 0.021 2119 -690.7 -184.9 - - 3734 - - - - - - - - - 26.40 -
5290 569.7 -9.5 287 5295 roll -0.96 - - 2738 - 2.15 0.041 3526 654.4 -184.9 - - 3732 - - - - - - - - - 26.17 -
5324 572.2 -9.7 288 5330 done -0.96 - - 2737 - 2.03 0.021 2122 -691.6 -184.9 - - 3732 - - - - - - - - - 26.39 -
5650 603.9 -9.3 304 5651 done -0.98 - - 2738 - - - 2122 - -184.9 - - 3731 - - - - - - - - - - -
5950 632.0 -9.2 314 5955 roll -1.01 - - 2738 - 2.05 0.036 739 -674.6 -184.9 - - 3727 - - - - - - - - - 26.22 -
5995 635.3 -9.3 315 6000 done -1.02 - - 2737 - 2.08 0.031 2125 666.3 -184.9 - - 3727 - - - - - - - - - 26.27 -
6323 667.1 -9.7 326 6328 roll -1.05 - - 2738 - 2.12 0.042 3527 661.3 -184.9 - - 3724 - - - - - - - - - 26.15 -
6373 671.0 -9.9 327 6378 done -1.07 - - 2738 - 2.05 0.021 2113 -689.8 -184.9 - - 3724 - - - - - - - - - 26.38 -
6696 706.6 -10.8 338 6697 done -1.10 - - 2737 - - - 2113 - -184.9 - - 3722 - - - - - - - - - - -
6994 738.1 -10.2 348 7000 roll -1.13 0.12 0.084 2666 -591.7 2.05 0.034 734 -672.7 -184.9 - - 3719 - - - - - - - - 26.49 26.20 -
7049 742.6 -10.6 349 7055 done -1.14 0.12 0.168 2688 183.3 2.10 0.032 2135 667.1 -184.9 - - 3719 - - - - - - - - 25.91 26.24 -
7370 783.3 -11.9 360 7375 roll -1.10 - - 2683 - 2.12 0.041 3534 659.9 -184.9 - - 3717 - - - - - - - - - 26.11 -
7466 795.9 -12.5 363 7472 done -1.06 0.12 0.160 2714 258.3 2.08 0.022 2113 -683.2 -184.9 - - 3716 - - - - - - - - 25.98 26.35 -
7802 830.2 -9.9 374 7807 roll -1.04 - - 2714 - 2.05 0.037 734 -672.7 -184.9 - - 3714 - - - - - - - - - 26.17 -
7856 833.6 -9.8 375 7861 done -1.02 - - 2712 - 2.08 0.033 2121 666.8 -184.9 - - 3713 - - - - - - - - - 26.20 -
8175 863.9 -8.9 386 8181 roll -1.01 - - 2711 - 2.17 0.044 3533 650.7 -184.9 - - 3711 - - - - - - - - - 26.07 -
8293 873.6 -9.7 389 8299 done -0.99 0.12 0.156 2742 258.3 2.05 0.023 2130 -684.4 -184.9 - - 3710 - - - - - - - - 25.97 26.34 -
8612 906.6 -10.3 400 8617 roll -0.99 - - 2743 - 2.08 0.037 736 -670.2 -184.9 - - 3709 - - - - - - - - - 26.14 -
8677 913.9 -10.6 402 8682 done -0.99 - - 2739 - 2.10 0.032 2131 664.3 -184.9 - - 3708 - - - - - - - - - 26.17 -
9015 952.3 -12.0 413 9020 roll -0.99 - - 2739 - 2.15 0.045 3529 650.2 -184.9 - - 3707 - - - - - - - - - 26.03 -
9094 960.6 -12.0 415 9099 done -0.99 - - 2739 - 2.08 0.024 2116 -679.3 -184.9 - - 3705 - - - - - - - - - 26.31 -
9350 end dive: TARGET_DEPTH_EXCEEDED
9350 begin apogee
9359 993.5 -11.8 424 9536 done -0.21 0.75 0.116 2983 325.3 - - 2114 - - 171.07 1.199 2968 -4.3 0.398 - - - - - - 25.51 - 23.39
9538 end apogee: CONTROL_FINISHED_OK
9538 begin climb
9541 1007.3 - 430 9720 roll 0.97 1.05 0.043 3376 374.3 2.35 0.044 3500 589.8 184.9 169.48 1.174 2207 -4.5 0.430 - - - - - - 25.06 24.76 23.39
9797 996.7 10.5 438 9806 done 0.82 0.20 0.158 3328 -240.0 2.10 0.026 2120 -657.1 184.9 - - 2184 - - - - - - - - 25.23 25.64 -
10108 960.0 11.3 449 10114 roll 0.74 0.12 0.183 3301 -225.0 2.17 0.040 692 -658.1 184.9 - - 2181 - - - - - - - - 25.85 26.02 -
10227 949.2 11.0 452 10233 done 0.66 - - 3301 - 2.15 0.034 2107 658.1 184.9 - - 2179 - - - - - - - - - 26.10 -
10546 912.5 10.9 463 10551 roll 0.60 0.15 0.154 3256 -300.0 2.15 0.043 3505 650.2 184.9 - - 2178 - - - - - - - - 25.98 26.08 -
10627 905.0 10.9 465 10632 done 0.54 - - 3264 - 2.10 0.026 2092 -672.9 184.9 - - 2177 - - - - - - - - - 26.24 -
10950 874.8 8.1 476 10985 roll 0.56 - - 3272 - 2.15 0.040 699 -647.9 215.9 29.60 1.084 2080 -3.3 0.295 - - - - - - - 25.69 24.16
11061 867.1 8.2 479 11101 done 0.56 0.12 0.143 3242 -250.0 2.15 0.034 2099 651.2 245.7 32.83 1.024 1964 -3.5 0.334 - - - - - - 25.64 25.86 24.06
11403 843.6 6.0 491 11530 done 0.72 0.12 0.078 3310 566.7 - - 2099 - 338.3 122.95 0.964 1589 -3.1 0.298 - - - - - - 26.20 - 23.81
11823 806.5 9.2 505 11829 roll 0.70 - - 3319 - 2.17 0.040 698 -645.6 338.5 - - 1561 - - - - - - - - - 25.92 -
11862 802.9 9.3 506 11868 done 0.68 0.15 0.137 3278 -273.3 2.15 0.034 2109 656.3 338.5 - - 1561 - - - - - - - - 25.75 25.99 -
12194 774.2 8.5 517 12222 roll 0.75 - - 3279 - 2.28 0.041 697 -619.3 358.8 17.35 0.977 1502 -3.4 0.300 - - - - 1 - - 25.86 24.51
12294 766.1 8.6 520 12322 done 0.80 0.12 0.076 3340 508.3 2.15 0.033 2104 654.4 374.3 21.62 0.992 1443 -2.7 0.235 - - - - - - 25.94 25.94 24.29
12652 728.1 10.7 532 12653 done 0.80 - - 3340 - - - 2104 - 374.3 - - 1423 - - - - - - - - - - -
12952 695.5 11.0 542 12957 roll 0.80 - - 3340 - 2.17 0.045 3505 645.6 374.3 - - 1421 - - - - - - - - - 26.01 -
13002 691.2 11.3 543 13008 done 0.80 0.12 0.169 3318 -183.3 2.10 0.027 2102 -668.1 374.3 - - 1421 - - - - - - - - 25.83 26.17 -
13325 652.8 11.4 554 13327 done 0.81 - - 3318 - - - 2102 - 374.3 - - 1420 - - - - - - - - - - -
13623 619.6 10.9 564 13628 roll 0.83 - - 3326 - 2.12 0.041 701 -660.8 374.3 - - 1420 - - - - - - - - - 26.10 -
13667 615.7 11.0 565 13672 done 0.85 - - 3326 - 2.12 0.032 2113 666.0 374.3 - - 1420 - - - - - - - - - 26.16 -
13992 579.3 10.4 579 13997 roll 0.87 - - 3326 - 2.15 0.045 3502 646.0 374.3 - - 1420 - - - - - - - - - 26.04 -
14006 579.3 10.4 579 14011 done 0.90 - - 3334 - 2.10 0.028 2093 -671.0 374.3 - - 1419 - - - - - - - - - 26.24 -
14322 548.3 8.4 595 14359 roll 0.95 - - 3334 - 2.22 0.042 695 -629.7 397.1 26.77 0.896 1341 -2.9 0.199 - - - - - - - 25.83 24.40
14417 541.1 8.7 599 14437 done 0.97 0.10 0.090 3394 600.0 2.15 0.033 2104 655.3 409.9 12.55 0.941 1295 -3.7 0.235 - - - - - - 25.86 25.89 24.22
14752 503.2 11.2 616 14758 roll 0.93 0.12 0.150 3364 -250.0 2.17 0.038 699 -647.5 409.9 - - 1279 - - - - - - - - 25.93 25.93 -
14829 495.7 11.5 619 14834 done 0.89 - - 3364 - 2.12 0.033 2098 659.9 409.9 - - 1279 - - - - - - - - - 26.01 -
15144 456.9 12.1 635 15149 roll 0.89 - - 3370 - 2.17 0.040 697 -645.6 409.9 - - 1278 - - - - - - - - - 26.01 -
15204 451.5 11.9 637 15211 done 0.88 - - 3371 - 2.12 0.032 2104 663.7 409.9 - - 1278 - - - - - - - - - 26.09 -
15509 416.7 10.1 653 15515 roll 0.89 - - 3371 - 2.17 0.045 3505 645.6 409.9 - - 1277 - - - - - - - - - 26.01 -
15560 411.7 10.5 655 15565 done 0.89 - - 3372 - 2.10 0.027 2093 -672.4 409.9 - - 1277 - - - - - - - - - 26.20 -
15880 374.2 12.3 671 15886 roll 0.91 - - 3372 - 2.22 0.043 3506 636.5 409.9 - - 1277 - - - - - - - - - 26.01 -
15894 374.2 12.3 671 15900 done 0.93 - - 3378 - 2.10 0.026 2092 -673.3 409.9 - - 1277 - - - - - - - - - 26.22 -
16210 339.5 9.1 687 16215 roll 0.95 - - 3386 - 2.10 0.040 697 -664.3 413.3 - - 1277 - - - - - - - - - 26.06 -
16271 335.4 8.9 689 16282 done 0.96 - - 3386 - 2.12 0.031 2112 667.5 422.4 4.55 0.713 1248 -6.4 0.334 - - - - - - - 26.15 24.19
16602 299.8 11.6 706 16612 roll 0.96 - - 3394 - 2.22 0.037 701 -635.6 422.4 2.03 0.208 1250 - - - - - - - - - 26.08 22.04
16657 294.2 12.2 708 16668 done 0.95 - - 3394 - 2.10 0.031 2102 667.1 422.4 2.00 0.174 1246 -2.0 0.377 - - - - - - - 26.13 25.29
16966 255.4 11.4 724 16976 roll 0.95 - - 3403 - 2.20 0.037 699 -637.7 422.4 1.88 0.174 1247 - - - - - - - - - 26.05 25.24
17049 248.2 11.0 727 17057 done 0.92 0.17 0.135 3356 -276.5 2.10 0.031 2106 670.0 422.4 1.80 0.171 1244 -1.7 0.270 - - - - - - 25.77 26.14 25.24
17352 219.8 9.1 743 17362 roll 0.96 - - 3356 - 2.15 0.043 3502 649.3 425.1 3.20 0.535 1237 -2.2 0.100 - - - - - - - 26.06 24.08
17406 215.3 9.5 745 17418 done 0.99 - - 3361 - 2.08 0.024 2090 -678.8 425.1 2.15 0.275 1237 - - - - - - - - - 26.25 23.80
17718 184.6 8.7 761 17749 roll 1.04 - - 3362 - 2.20 0.039 3501 641.4 438.5 25.65 0.674 1174 -2.5 0.075 - - - - - - - 25.91 24.61
17823 175.7 8.5 766 17847 done 1.10 0.15 0.065 3446 560.0 2.08 0.024 2102 -672.6 456.8 18.05 0.687 1106 -3.8 0.107 - - - - - - 26.00 26.04 24.51
18167 137.3 11.6 783 18173 roll 1.10 0.12 0.139 3406 -333.3 2.17 0.037 3509 648.4 456.8 - - 1084 - - - - - - - - 25.99 25.93 -
18234 129.4 12.0 786 18239 done 1.09 - - 3414 - 2.08 0.023 2096 -679.3 456.8 - - 1084 - - - - - - - - - 26.13 -
18560 96.6 9.6 802 18565 roll 1.11 - - 3418 - 2.08 0.037 707 -667.8 456.8 - - 1084 - - - - - - - - - 26.08 -
18629 89.8 10.2 805 18635 done 1.13 - - 3418 - 2.08 0.028 2109 674.0 456.8 - - 1084 - - - - - - - - - 26.16 -
18951 61.0 7.1 821 18983 roll 1.28 0.12 0.074 3526 900.0 2.20 0.035 708 -636.8 516.7 25.92 0.240 863 -8.5 0.242 - - - - - - 26.45 26.08 25.17
18993 57.4 7.7 823 19020 done 1.37 - - 3525 - 2.08 0.028 2102 670.2 558.7 20.85 0.239 695 -8.1 0.216 - - - - - - - 26.12 25.17
19327 18.8 10.9 857 19334 roll 1.37 - - 3536 - 2.20 0.034 699 -637.7 558.7 1.92 0.164 693 - - - - - - - - - 26.05 25.31
19407 9.3 12.0 871 19415 done 1.32 0.17 0.143 3486 -294.1 2.08 0.028 2106 676.4 558.7 1.73 0.163 689 -2.3 0.015 - - - - - - 25.75 26.15 25.37
19469 end climb: SURFACE_DEPTH_REACHED
19469 begin surface coast
19495 end surface coast: CONTROL_FINISHED_OK
19496 begin surface
SM 2.39 - - - - -9.07 8.45 0.021 130 15.4 - - 2107 - 564.93 3.85 0.136 665 172.7 -0.310 - - - - - -