OKMC Jun13 * SG167 * Dive index * Mission links * Dive 491 * Raw log
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• Previous call tries 2 • 81.35 of 150.00 AH used of 24V (45.77% remains)
• Previous NAKs 0, Timeouts 0 • 49.84 of 100.00 AH used of 10V (50.16% remains)
• Surface angle -58.8 deg, depth 1.98 m • Intended pitch -18.3 deg, speed -10.312 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 72 s, HDOP was 2.6 m
• GPS2 time: 7 s, HDOP was 2.2 m • Transponder ping count: 4
• 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 - - - 90 VBD -1.05 - - 109 - - - 2210 - -194.6 -60.38 - 2176 - - - - - - - - - - -
95 3.2 -3.2 11 153 roll -1.05 10.90 0.234 2652 233.3 2.12 0.047 792 -668.9 -194.6 -38.38 - 3766 -41.4 - - - - - - - 24.81 25.98 26.48
235 30.4 -25.4 34 240 done -1.05 - - 2645 - 2.12 0.033 2218 672.6 -194.6 - - 3766 - - - - - - - - - 26.05 -
560 102.8 -19.8 54 561 done -1.05 - - 2644 - - - 2219 - -194.6 - - 3766 - - - - - - - - - - -
864 157.0 -17.6 69 869 roll -1.05 - - 2645 - 2.10 0.031 793 -679.0 -194.6 - - 3767 - - - - - - - - - 26.22 -
898 162.2 -18.0 70 903 done -1.05 - - 2635 - 2.08 0.028 2218 685.1 -194.6 - - 3766 - - - - - - - - - 26.26 -
1212 217.3 -16.6 86 1218 roll -1.05 - - 2624 - 2.05 0.037 3605 676.6 -194.6 - - 3767 - - - - - - - - - 26.20 -
1272 225.1 -16.9 88 1279 done -1.05 0.12 0.183 2654 250.0 2.05 0.016 2145 -712.2 -194.6 - - 3767 - - - - - - - - 25.94 26.41 -
1577 274.9 -14.4 104 1582 roll -1.05 - - 2654 - 1.95 0.030 793 -693.3 -194.6 - - 3766 - - - - - - - - - 26.25 -
1617 278.4 -14.2 105 1623 done -1.05 - - 2647 - 2.05 0.028 2206 689.3 -194.6 - - 3767 - - - - - - - - - 26.30 -
1922 325.7 -15.3 121 1927 roll -1.05 - - 2637 - 2.08 0.037 3605 672.6 -194.6 - - 3766 - - - - - - - - - 26.20 -
1948 329.7 -15.2 122 1953 done -1.05 - - 2637 - 2.05 0.017 2167 -701.5 -194.6 - - 3767 - - - - - - - - - 26.42 -
2273 380.2 -15.2 138 2278 roll -1.05 - - 2637 - 1.95 0.030 816 -692.8 -194.6 - - 3765 - - - - - - - - - 26.26 -
2322 387.1 -15.4 140 2328 done -1.05 0.12 0.181 2657 166.7 2.03 0.027 2211 687.2 -194.6 - - 3765 - - - - - - - - 25.92 26.31 -
2643 435.6 -14.4 156 2648 roll -1.05 - - 2648 - 2.08 0.038 3604 669.7 -194.6 - - 3764 - - - - - - - - - 26.20 -
2698 442.1 -14.6 158 2703 done -1.05 - - 2648 - 1.98 0.017 2196 -711.1 -194.6 - - 3764 - - - - - - - - - 26.43 -
3012 486.8 -12.8 174 3018 roll -1.05 - - 2647 - 1.98 0.031 832 -688.9 -194.6 - - 3762 - - - - - - - - - 26.25 -
3092 494.8 -12.5 177 3099 done -1.05 - - 2640 - 2.00 0.028 2201 684.5 -194.6 - - 3761 - - - - - - - - - 26.29 -
3397 534.8 -12.7 193 3402 roll -1.05 - - 2640 - 2.10 0.039 3604 668.1 -194.6 - - 3759 - - - - - - - - - 26.18 -
3452 540.9 -13.3 195 3457 done -1.05 - - 2640 - 1.98 0.018 2200 -709.1 -194.6 - - 3759 - - - - - - - - - 26.42 -
3767 586.1 -13.8 211 3772 roll -1.05 - - 2640 - 2.00 0.031 826 -687.0 -194.6 - - 3756 - - - - - - - - - 26.24 -
3856 597.9 -14.0 215 3861 done -1.05 - - 2631 - 2.03 0.028 2212 682.8 -194.6 - - 3755 - - - - - - - - - 26.29 -
4179 643.8 -14.2 226 4180 done -1.05 - - 2631 - - - 2213 - -194.6 - - 3753 - - - - - - - - - - -
4477 685.8 -14.0 236 4479 done -1.05 0.12 0.184 2661 250.0 - - 2213 - -194.6 - - 3750 - - - - - - - - 26.15 - -
4776 724.0 -12.7 246 4781 roll -1.05 - - 2661 - 2.05 0.031 831 -674.1 -194.6 - - 3747 - - - - - - - - - 26.21 -
4825 728.4 -12.7 247 4830 done -1.05 - - 2656 - 2.03 0.029 2203 675.9 -194.6 - - 3747 - - - - - - - - - 26.25 -
5148 771.1 -13.0 258 5154 roll -1.05 - - 2656 - 2.05 0.031 823 -673.2 -194.6 - - 3744 - - - - - - - - - 26.20 -
5172 771.1 -13.0 258 5177 done -1.05 - - 2656 - 2.05 0.031 2206 674.6 -194.6 - - 3744 - - - - - - - - - 26.24 -
5489 814.9 -12.8 269 5494 roll -1.05 - - 2656 - 2.12 0.042 3603 659.0 -194.6 - - 3741 - - - - - - - - - 26.10 -
5538 819.5 -12.7 270 5543 done -1.05 - - 2656 - 2.00 0.021 2192 -705.5 -194.6 - - 3740 - - - - - - - - - 26.37 -
5861 861.0 -12.5 281 5866 roll -1.05 - - 2656 - 2.00 0.032 830 -681.0 -194.6 - - 3737 - - - - - - - - - 26.17 -
5880 861.0 -12.5 281 5885 done -1.05 - - 2656 - 2.05 0.031 2207 671.7 -194.6 - - 3737 - - - - - - - - - 26.21 -
6200 903.1 -12.3 292 6205 roll -1.05 - - 2656 - 2.12 0.043 3599 656.6 -194.6 - - 3735 - - - - - - - - - 26.06 -
6316 915.1 -12.5 295 6321 done -1.05 - - 2656 - 2.00 0.021 2198 -700.5 -194.6 - - 3733 - - - - - - - - - 26.34 -
6631 955.2 -11.9 306 6632 done -1.05 - - 2656 - - - 2198 - -194.6 - - 3731 - - - - - - - - - - -
6928 end dive: TARGET_DEPTH_EXCEEDED
6928 begin apogee
6937 992.1 -12.2 316 7113 done -0.21 0.85 0.134 2922 312.9 - - 1945 - - 167.15 1.211 2959 -4.6 0.397 - - - - - - 25.34 - 23.41
7115 end apogee: CONTROL_FINISHED_OK
7115 begin climb
7120 1000.7 - 322 7304 roll 1.05 1.17 0.070 3345 361.5 2.15 0.038 597 -627.0 194.6 174.10 1.170 2165 -4.6 0.409 - - - - - - 25.14 24.98 23.55
7394 984.3 10.3 331 7400 done 1.05 - - 3345 - 2.08 0.031 1958 654.3 194.6 - - 2143 - - - - - - - - - 25.78 -
7723 949.0 10.8 342 7728 roll 1.05 - - 3345 - 2.15 0.041 3359 651.6 194.6 - - 2139 - - - - - - - - - 26.03 -
7768 944.6 11.0 343 7773 done 1.05 - - 3354 - 2.03 0.025 1989 -674.9 194.6 - - 2138 - - - - - - - - - 26.18 -
8095 907.6 11.2 354 8100 roll 1.05 - - 3364 - 2.17 0.041 560 -658.5 194.6 - - 2136 - - - - - - - - - 26.09 -
8211 895.8 11.8 357 8216 done 1.05 - - 3364 - 2.10 0.031 1961 667.1 194.6 - - 2136 - - - - - - - - - 26.20 -
8526 858.7 10.6 368 8531 roll 1.05 - - 3364 - 2.12 0.042 3349 654.7 194.6 - - 2135 - - - - - - - - - 26.10 -
8570 854.8 10.7 369 8576 done 1.05 0.12 0.173 3345 -158.3 2.08 0.025 1947 -674.0 194.6 - - 2134 - - - - - - - - 25.88 26.26 -
8899 822.6 9.4 380 8930 roll 1.09 - - 3353 - 2.20 0.041 557 -631.8 221.0 22.73 1.084 2057 -3.4 0.269 - - - - - - - 25.82 24.08
9037 809.9 10.2 384 9042 done 1.10 - - 3353 - 2.12 0.031 1960 661.8 225.1 - - 2044 - - - - - - - - - 25.98 -
9360 779.8 8.8 395 9416 roll 1.16 - - 3353 - 2.28 0.042 3350 609.6 268.0 49.75 1.035 1866 -3.6 0.283 - - - - - - - 25.37 23.82
9454 769.8 10.2 398 9460 done 1.17 - - 3363 - 2.15 0.026 1946 -653.0 271.1 - - 1851 - - - - - - - - - 25.68 -
9792 733.4 11.0 409 9797 roll 1.17 - - 3373 - 2.15 0.041 546 -651.2 271.1 - - 1847 - - - - - - - - - 25.94 -
9902 721.5 11.9 412 9907 done 1.17 - - 3373 - 2.12 0.031 1958 666.0 271.1 - - 1845 - - - - - - - - - 26.08 -
10222 681.7 11.7 423 10223 done 1.17 - - 3373 - - - 1957 - 271.1 - - 1844 - - - - - - - - - - -
10522 646.5 11.6 433 10528 roll 1.17 - - 3373 - 2.15 0.044 3355 650.2 271.1 - - 1844 - - - - - - - - - 26.03 -
10566 642.2 11.7 434 10571 done 1.17 - - 3383 - 2.10 0.027 1942 -672.9 271.1 - - 1843 - - - - - - - - - 26.21 -
10896 601.8 12.0 445 10901 roll 1.17 - - 3393 - 2.12 0.042 552 -655.7 271.1 - - 1843 - - - - - - - - - 26.03 -
10982 590.8 12.5 449 10987 done 1.17 - - 3393 - 2.12 0.031 1951 659.9 271.1 - - 1842 - - - - - - - - - 26.17 -
11307 552.1 11.3 465 11313 roll 1.17 - - 3393 - 2.15 0.042 3352 651.6 271.1 - - 1842 - - - - - - - - - 26.03 -
11366 546.6 11.5 467 11373 done 1.17 - - 3402 - 2.10 0.027 1945 -670.0 271.1 - - 1841 - - - - - - - - - 26.21 -
11673 512.2 11.0 483 11678 roll 1.17 - - 3413 - 2.12 0.041 552 -657.1 271.1 - - 1840 - - - - - - - - - 26.01 -
11712 509.3 11.0 484 11719 done 1.17 0.15 0.161 3376 -246.7 2.10 0.031 1956 668.6 271.1 - - 1841 - - - - - - - - 25.72 26.15 -
12019 472.9 11.7 500 12024 roll 1.17 - - 3376 - 2.15 0.043 3352 649.3 271.1 - - 1840 - - - - - - - - - 26.00 -
12073 467.5 11.8 502 12078 done 1.17 - - 3384 - 2.10 0.027 1939 -672.9 271.1 - - 1840 - - - - - - - - - 26.20 -
12389 434.6 9.6 518 12416 roll 1.20 - - 3393 - 2.20 0.041 549 -631.8 289.6 19.23 0.866 1777 -3.3 0.172 - - - - - - - 25.90 24.13
12460 428.4 9.8 521 12479 done 1.22 - - 3394 - 2.12 0.030 1957 664.2 303.8 12.32 0.860 1727 -4.1 0.212 - - - - - - - 25.98 24.12
12793 394.3 10.3 538 12799 roll 1.22 - - 3394 - 2.15 0.041 3352 648.8 303.8 - - 1712 - - - - - - - - - 25.89 -
12822 391.6 10.4 539 12827 done 1.22 - - 3403 - 2.10 0.026 1943 -671.0 303.8 - - 1711 - - - - - - - - - 26.08 -
13142 357.9 10.1 555 13147 roll 1.23 - - 3403 - 2.17 0.041 3351 648.8 309.4 - - 1711 - - - - - - - - - 25.96 -
13259 346.1 11.2 560 13264 done 1.23 - - 3413 - 2.08 0.026 1950 -673.6 309.4 - - 1711 - - - - - - - - - 26.17 -
13574 313.8 9.8 576 13601 roll 1.25 - - 3423 - 2.15 0.039 548 -652.1 324.9 22.33 0.779 1637 -3.3 0.140 - - - - - - - 25.89 24.36
13640 307.0 10.7 579 13645 done 1.25 - - 3424 - 2.10 0.028 1951 668.1 324.9 - - 1621 - - - - - - - - - 25.96 -
13960 269.7 11.5 595 13961 done 1.25 - - 3424 - - - 1951 - 324.9 - - 1618 - - - - - - - - - - -
14263 235.7 10.8 610 14269 roll 1.25 - - 3423 - 2.15 0.041 3360 655.3 324.9 - - 1618 - - - - - - - - - 25.98 -
14317 230.3 11.0 612 14323 done 1.25 0.12 0.171 3404 -158.3 2.10 0.025 1944 -674.3 324.9 - - 1617 - - - - - - - - 25.78 26.17 -
14634 200.3 9.4 628 14665 roll 1.29 - - 3404 - 2.22 0.040 3344 630.6 350.7 24.20 0.694 1529 -3.6 0.110 - - - - - - - 25.92 24.49
14738 189.9 10.2 633 14743 done 1.29 - - 3412 - 2.08 0.024 1940 -675.0 354.1 - - 1515 - - - - - - - - - 26.03 -
15063 156.7 9.8 649 15082 done 1.32 - - 3412 - - - 1939 - 369.2 17.05 0.663 1464 -3.0 0.074 - - - - - - - - 24.54
15384 130.3 8.1 665 15446 roll 1.41 0.12 0.078 3488 633.3 2.20 0.035 3348 640.5 430.5 55.88 0.627 1203 -4.7 0.102 - - - - - - 26.31 25.58 24.37
15497 118.6 11.4 670 15504 done 1.41 0.17 0.153 3453 -205.9 2.10 0.024 1948 -666.7 430.5 - - 1184 - - - - - - - - 25.39 25.79 -
15814 88.8 8.4 686 15841 roll 1.49 - - 3453 - 2.17 0.036 3361 651.2 483.9 22.30 0.284 1000 -8.3 0.270 - - - - - - - 25.91 24.89
15860 84.9 9.3 688 15883 done 1.53 - - 3460 - 2.08 0.022 1945 -680.8 513.2 15.85 0.288 882 -7.4 0.230 - - - - - - - 26.04 24.89
16198 57.4 10.4 705 16208 roll 1.53 - - 3460 - 2.22 0.037 3356 635.6 513.2 1.92 0.165 879 -1.6 0.057 - - - - - - - 25.96 25.24
16247 53.2 9.8 707 16262 done 1.55 - - 3469 - 2.05 0.023 1951 -685.4 527.5 8.57 0.208 821 -6.8 0.181 - - - - - - - 26.17 24.79
16566 17.6 13.6 745 16574 roll 1.55 - - 3469 - 2.20 0.034 3352 636.8 527.5 2.17 0.161 820 - - - - - - - - - 26.06 25.25
16583 15.2 14.3 747 16590 done 1.55 - - 3479 - 2.05 0.022 1942 -687.8 527.5 1.33 0.184 818 - - - - - - - - - 26.22 25.35
16669 end climb: SURFACE_DEPTH_REACHED
16669 begin surface coast
16690 end surface coast: CONTROL_FINISHED_OK
16690 begin surface
SM 1.92 - - - - -8.88 8.55 0.029 142 16.6 0.38 0.037 2226 -18410.5 564.93 38.15 0.249 663 17.4 -0.014 - - - - 2 -