OKMC Jun13 * SG167 * Dive index * Mission links * Dive 616 * Raw log
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• Previous call tries 1 • 102.51 of 150.00 AH used of 24V (31.66% remains)
• Previous NAKs 0, Timeouts 0 • 63.51 of 100.00 AH used of 10V (36.49% remains)
• Surface angle -72.0 deg, depth 2.06 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 26 s
• GPS2 time: 43 s • 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
23 - - - 94 VBD -1.09 - - 112 - - - 2231 - -116.8 -69.25 - 2597 - - - - - - - - - - -
101 3.5 -2.9 7 132 roll -1.09 11.10 0.233 2689 232.2 1.65 0.058 3244 613.9 -116.8 -13.50 - 3194 -44.2 - - - - - - - 24.59 25.80 26.46
338 48.5 -18.9 30 344 done -1.09 - - 2689 - 1.60 0.038 2190 -658.8 -116.8 - - 3195 - - - - - - - - - 25.94 -
654 99.3 -13.7 46 659 roll -1.09 - - 2690 - 1.52 0.047 1142 -689.5 -116.8 - - 3196 - - - - - - - - - 25.80 -
845 124.0 -13.1 55 851 done -1.09 - - 2682 - 1.55 0.045 2195 679.4 -116.8 - - 3197 - - - - - - - - - 25.66 -
1166 166.4 -12.7 71 1171 roll -1.09 - - 2681 - 1.52 0.029 1145 -690.8 -116.8 - - 3197 - - - - - - - - - 26.08 -
1274 178.8 -11.7 76 1280 done -1.09 - - 2676 - 1.55 0.042 2174 663.9 -116.8 - - 3198 - - - - - - - - - 25.08 -
1596 218.7 -12.6 92 1601 roll -1.09 - - 2669 - 1.60 0.036 3253 674.4 -116.8 - - 3198 - - - - - - - - - 24.96 -
1755 235.6 -11.7 99 1763 done -1.09 0.12 0.171 2699 250.0 1.52 0.018 2164 -716.4 -116.8 - - 3198 - - - - - - - - 25.80 26.26 -
2063 269.8 -9.8 112 2068 roll -1.09 - - 2699 - 1.48 0.046 1173 -669.6 -116.8 - - 3199 - - - - - - - - - 26.06 -
2129 276.6 -10.0 114 2134 done -1.09 - - 2697 - 1.52 0.031 2199 675.0 -116.8 - - 3199 - - - - - - - - - 26.03 -
2465 311.5 -10.5 125 2471 roll -1.09 - - 2697 - 1.52 0.034 1161 -682.9 -116.8 - - 3198 - - - - - - - - - 26.04 -
2524 315.4 -10.7 126 2531 done -1.09 - - 2691 - 1.50 0.045 2182 680.7 -116.8 - - 3198 - - - - - - - - - 26.06 -
2831 348.3 -9.9 137 2836 roll -1.09 - - 2691 - 1.50 0.042 1163 -679.3 -116.8 - - 3197 - - - - - - - - - 26.03 -
2946 357.9 -10.0 140 2951 done -1.09 - - 2684 - 1.50 0.044 2184 680.7 -116.8 - - 3197 - - - - - - - - - 26.04 -
3261 394.2 -10.6 151 3266 roll -1.09 - - 2684 - 1.50 0.044 1164 -680.0 -116.8 - - 3196 - - - - - - - - - 26.05 -
3300 398.0 -10.6 152 3305 done -1.09 - - 2679 - 1.50 0.045 2179 676.7 -116.8 - - 3196 - - - - - - - - - 26.03 -
3630 430.6 -9.5 163 3636 roll -1.09 - - 2679 - 1.52 0.044 1174 -661.2 -116.8 - - 3194 - - - - - - - - - 26.05 -
3794 446.3 -10.1 168 3799 done -1.09 - - 2673 - 1.45 0.039 2126 656.6 -116.8 - - 3193 - - - - - - - - - 26.08 -
4124 476.4 -8.8 179 4129 roll -1.09 - - 2673 - 1.45 0.040 1170 -659.3 -116.8 - - 3192 - - - - - - - - - 26.05 -
4189 482.0 -8.6 181 4195 done -1.09 0.08 0.155 2693 250.0 1.45 0.031 2109 647.6 -116.8 - - 3192 - - - - - - - - 25.67 26.04 -
4526 510.0 -8.5 192 4528 done -1.09 - - 2693 - - - 2109 - -116.8 - - 3190 - - - - - - - - - - -
4825 536.2 -8.8 202 4830 roll -1.09 - - 2687 - 1.75 0.048 3244 648.6 -116.8 - - 3188 - - - - - - - - - 25.96 -
4864 539.2 -8.9 203 4870 done -1.09 - - 2686 - 1.65 0.027 2135 -672.1 -116.8 - - 3187 - - - - - - - - - 26.21 -
5196 570.0 -9.2 214 5201 roll -1.09 - - 2686 - 1.45 0.047 1171 -664.8 -116.8 - - 3185 - - - - - - - - - 26.01 -
5291 579.2 -9.5 217 5296 done -1.09 - - 2683 - 1.48 0.044 2120 641.2 -116.8 - - 3185 - - - - - - - - - 25.90 -
5628 610.6 -9.7 228 5633 roll -1.09 - - 2683 - 1.73 0.050 3251 653.8 -116.8 - - 3182 - - - - - - - - - 25.91 -
5728 619.9 -9.7 231 5733 done -1.09 - - 2683 - 1.62 0.029 2132 -690.7 -116.8 - - 3182 - - - - - - - - - 26.17 -
5908 637.6 -9.5 237 5913 roll -1.09 - - 2683 - 1.45 0.033 1171 -662.8 -116.8 - - 3181 - - - - - - - - - 26.00 -
6028 646.3 -9.2 240 6035 done -1.09 - - 2678 - 1.45 0.046 2108 646.2 -116.8 - - 3180 - - - - - - - - - 25.99 -
6183 662.7 -9.2 246 6188 roll -1.09 - - 2679 - 1.42 0.044 1178 -654.9 -116.8 - - 3178 - - - - - - - - - 26.00 -
6242 666.0 -9.2 247 6251 done -1.09 - - 2673 - 1.40 0.044 2086 648.6 -116.8 - - 3177 - - - - - - - - - 25.82 -
6400 682.9 -9.4 253 6405 roll -1.09 - - 2669 - 1.77 0.050 3251 658.2 -116.8 - - 3177 - - - - - - - - - 25.86 -
6424 682.9 -9.4 253 6430 done -1.09 0.08 0.151 2703 425.0 1.75 0.032 2078 -670.3 -116.8 - - 3177 - - - - - - - - 25.58 26.03 -
6590 699.8 -8.4 259 6595 roll -1.09 - - 2703 - 1.35 0.047 1181 -664.4 -116.8 - - 3176 - - - - - - - - - 25.89 -
6656 705.5 -8.5 261 6661 done -1.09 - - 2700 - 1.38 0.044 2064 639.9 -116.8 - - 3176 - - - - - - - - - 25.67 -
6841 721.2 -8.3 267 6846 roll -1.09 - - 2697 - 1.80 0.050 3244 655.6 -116.8 - - 3174 - - - - - - - - - 25.86 -
6961 729.3 -8.6 270 6968 done -1.09 - - 2698 - 1.70 0.033 2081 -684.1 -116.8 - - 3173 - - - - - - - - - 25.98 -
7117 743.5 -7.9 276 7122 roll -1.09 - - 2697 - 1.38 0.034 1174 -657.2 -116.8 - - 3173 - - - - - - - - - 25.93 -
7196 748.6 -7.7 278 7201 done -1.09 - - 2697 - 1.35 0.032 2056 653.3 -116.8 - - 3172 - - - - - - - - - 26.04 -
7367 763.3 -8.0 284 7369 done -1.09 - - 2697 - - - 2056 - -116.8 - - 3171 - - - - - - - - - - -
7517 775.1 -7.9 289 7522 roll -1.09 - - 2697 - 1.83 0.041 3244 649.2 -116.8 - - 3170 - - - - - - - - - 25.82 -
7576 777.8 -7.9 290 7583 done -1.09 - - 2697 - 1.77 0.033 2069 -663.8 -116.8 - - 3170 - - - - - - - - - 26.01 -
7734 792.3 -8.0 296 7740 roll -1.09 - - 2697 - 1.35 0.040 1180 -658.5 -116.8 - - 3169 - - - - - - - - - 25.91 -
7793 795.5 -8.1 297 7800 done -1.09 - - 2697 - 1.33 0.033 2040 646.6 -116.8 - - 3169 - - - - - - - - - 26.01 -
7950 810.6 -8.4 303 7955 roll -1.09 - - 2697 - 1.85 0.041 3249 653.5 -116.8 - - 3168 - - - - - - - - - 25.84 -
8040 816.3 -8.6 305 8046 done -1.09 - - 2697 - 1.73 0.022 2062 -686.1 -116.8 - - 3167 - - - - - - - - - 26.15 -
8195 833.0 -9.4 311 8200 roll -1.09 - - 2698 - 1.33 0.034 1177 -665.4 -116.8 - - 3167 - - - - - - - - - 25.98 -
8254 836.4 -9.4 312 8261 done -1.09 - - 2696 - 1.33 0.033 2037 646.6 -116.8 - - 3166 - - - - - - - - - 25.99 -
8412 854.0 -9.8 318 8417 roll -1.09 - - 2696 - 1.83 0.041 3244 659.6 -116.8 - - 3165 - - - - - - - - - 25.82 -
8477 860.8 -10.1 320 8482 done -1.09 - - 2696 - 1.75 0.022 2049 -682.9 -116.8 - - 3165 - - - - - - - - - 26.13 -
8663 878.0 -9.1 326 8668 roll -1.09 - - 2696 - 1.33 0.035 1180 -653.4 -116.8 - - 3164 - - - - - - - - - 25.86 -
8713 881.3 -9.1 327 8718 done -1.09 - - 2696 - 1.30 0.034 2025 650.0 -116.8 - - 3164 - - - - - - - - - 25.98 -
8883 897.3 -8.7 333 8888 roll -1.09 - - 2696 - 1.88 0.041 3251 652.1 -116.8 - - 3163 - - - - - - - - - 25.78 -
8938 900.4 -8.6 334 8943 done -1.09 - - 2696 - 1.83 0.022 2010 -678.1 -116.8 - - 3163 - - - - - - - - - 26.10 -
9105 915.6 -8.0 340 9110 roll -1.09 - - 2696 - 1.25 0.034 1177 -666.4 -116.8 - - 3162 - - - - - - - - - 25.96 -
9145 918.6 -8.0 341 9150 done -1.09 - - 2692 - 1.27 0.033 2008 654.3 -116.8 - - 3162 - - - - - - - - - 25.98 -
9325 932.6 -7.4 347 9330 roll -1.09 - - 2683 - 1.88 0.040 3242 656.4 -116.8 - - 3161 - - - - - - - - - 25.78 -
9422 940.0 -7.7 350 9427 done -1.09 - - 2683 - 1.75 0.023 2049 -681.7 -116.8 - - 3160 - - - - - - - - - 26.10 -
9607 953.9 -7.5 356 9612 roll -1.09 - - 2683 - 1.30 0.034 1183 -666.2 -116.8 - - 3159 - - - - - - - - - 25.94 -
9657 956.7 -7.6 357 9662 done -1.09 - - 2679 - 1.30 0.034 2026 648.5 -116.8 - - 3159 - - - - - - - - - 25.96 -
9828 971.1 -7.9 363 9833 roll -1.09 - - 2670 - 1.88 0.041 3245 648.4 -116.8 - - 3159 - - - - - - - - - 25.77 -
9932 979.2 -8.3 366 9938 done -1.09 0.12 0.168 2699 241.7 1.75 0.023 2043 -686.9 -116.8 - - 3158 - - - - - - - - 25.64 26.09 -
10074 end dive: TARGET_DEPTH_EXCEEDED
10074 begin apogee
10084 992.0 -8.1 371 10248 roll -0.25 0.85 0.133 2961 308.2 - - 1885 - - 153.60 1.022 2711 -2.9 0.299 - - - - - - 24.65 - 23.27
10250 end apogee: CONTROL_FINISHED_OK
10250 begin climb
10254 997.5 - 376 10386 roll 1.09 1.20 0.060 3404 369.2 1.73 0.041 2943 611.6 116.8 120.15 1.164 2237 -3.9 0.357 - - - - - - 25.12 25.23 23.20
10405 990.3 6.9 381 10444 done 1.15 - - 3411 - 1.55 0.029 1928 -654.8 149.5 32.80 1.135 2098 -4.2 0.391 - - - - - - - 25.39 23.30
10596 966.5 10.8 388 10601 roll 1.15 - - 3411 - 1.60 0.053 2951 639.4 149.5 - - 2069 - - - - - - - - - 25.72 -
10621 966.5 10.8 388 10626 done 1.15 - - 3418 - 1.55 0.030 1914 -669.0 149.5 - - 2069 - - - - - - - - - 25.83 -
10786 946.2 10.6 394 10787 done 1.15 - - 3418 - - - 1914 - 149.5 - - 2067 - - - - - - - - - - -
10936 930.6 10.4 399 10941 roll 1.15 - - 3418 - 1.60 0.052 2946 645.0 149.5 - - 2066 - - - - - - - - - 25.85 -
10966 930.6 10.4 399 10972 done 1.15 - - 3424 - 1.52 0.029 1916 -677.6 149.5 - - 2066 - - - - - - - - - 25.99 -
11121 910.7 10.8 405 11126 roll 1.15 - - 3433 - 1.62 0.041 846 -660.5 149.5 - - 2066 - - - - - - - - - 25.89 -
11159 906.8 10.8 406 11165 done 1.15 - - 3433 - 1.62 0.034 1921 663.6 149.5 - - 2066 - - - - - - - - - 25.95 -
11341 885.7 11.6 412 11346 roll 1.15 - - 3432 - 1.58 0.043 2965 660.8 149.5 - - 2064 - - - - - - - - - 25.88 -
11415 877.5 11.8 414 11420 done 1.15 - - 3439 - 1.52 0.028 1932 -679.6 149.5 - - 2062 - - - - - - - - - 26.03 -
11591 855.3 12.1 420 11596 roll 1.15 - - 3447 - 1.67 0.048 838 -655.1 149.5 - - 2062 - - - - - - - - - 25.86 -
11642 850.6 12.2 421 11647 done 1.15 - - 3448 - 1.67 0.034 1949 665.3 149.5 - - 2062 - - - - - - - - - 25.94 -
11812 828.4 11.9 427 11817 roll 1.15 - - 3447 - 1.52 0.043 2959 664.5 149.5 - - 2062 - - - - - - - - - 25.86 -
11891 820.1 12.4 429 11897 done 1.15 0.12 0.191 3427 -166.7 1.50 0.029 1945 -676.0 149.5 - - 2061 - - - - - - - - 25.52 26.02 -
12063 798.7 11.1 435 12068 roll 1.15 - - 3427 - 1.55 0.042 2956 652.3 149.5 - - 2061 - - - - - - - - - 25.84 -
12118 794.2 11.3 436 12123 done 1.15 - - 3432 - 1.48 0.030 1986 -655.4 149.5 - - 2060 - - - - - - - - - 26.03 -
12283 773.4 11.1 442 12289 roll 1.15 - - 3441 - 1.73 0.041 848 -657.8 149.5 - - 2061 - - - - - - - - - 25.84 -
12433 758.9 11.6 446 12438 done 1.15 - - 3441 - 1.70 0.034 1972 661.2 149.5 - - 2060 - - - - - - - - - 25.91 -
12598 737.6 11.0 452 12603 roll 1.15 - - 3441 - 1.52 0.043 2980 663.2 149.5 - - 2061 - - - - - - - - - 25.81 -
12638 733.6 11.1 453 12643 done 1.15 - - 3447 - 1.50 0.030 1965 -676.7 149.5 - - 2060 - - - - - - - - - 26.00 -
12818 712.9 11.1 459 12823 roll 1.15 - - 3455 - 1.70 0.041 849 -656.5 149.5 - - 2060 - - - - - - - - - 25.81 -
12927 702.5 11.0 462 12933 done 1.15 0.08 0.172 3422 -412.5 1.73 0.034 1961 642.8 149.5 - - 2060 - - - - - - - - 25.27 25.89 -
13100 683.9 9.9 468 13105 roll 1.15 - - 3422 - 1.52 0.043 2965 660.5 149.5 - - 2060 - - - - - - - - - 25.77 -
13136 680.0 10.0 469 13141 done 1.15 - - 3428 - 1.52 0.029 1943 -672.4 149.5 - - 2059 - - - - - - - - - 25.98 -
13321 660.7 10.4 475 13326 roll 1.15 - - 3436 - 1.67 0.040 837 -662.3 149.5 - - 2059 - - - - - - - - - 25.79 -
13361 656.8 10.6 476 13366 done 1.15 - - 3436 - 1.73 0.034 1973 656.6 149.5 - - 2059 - - - - - - - - - 25.85 -
13542 636.9 10.7 482 13547 roll 1.15 - - 3436 - 1.52 0.043 2981 663.2 149.5 - - 2059 - - - - - - - - - 25.75 -
13586 633.0 10.8 483 13591 done 1.15 - - 3443 - 1.50 0.030 1969 -674.7 149.5 - - 2059 - - - - - - - - - 25.96 -
13762 613.7 10.3 489 13767 roll 1.15 - - 3443 - 1.52 0.041 2960 652.0 149.5 - - 2059 - - - - - - - - - 25.75 -
13786 613.7 10.3 489 13791 done 1.15 - - 3450 - 1.48 0.030 1990 -655.4 149.5 - - 2059 - - - - - - - - - 25.96 -
13951 592.2 11.5 495 13956 roll 1.15 - - 3450 - 1.52 0.042 2979 650.7 149.5 - - 2059 - - - - - - - - - 25.75 -
14026 584.6 11.7 497 14032 done 1.15 0.15 0.190 3421 -193.3 1.48 0.030 2013 -652.7 149.5 - - 2058 - - - - - - - - 25.33 25.96 -
14352 549.5 10.3 508 14357 roll 1.15 - - 3421 - 1.50 0.042 2956 628.7 149.5 - - 2058 - - - - - - - - - 25.74 -
14457 540.0 10.0 511 14462 done 1.15 - - 3427 - 1.42 0.030 2023 -657.0 149.5 - - 2058 - - - - - - - - - 25.96 -
14782 508.6 8.8 522 14787 roll 1.15 - - 3435 - 1.80 0.040 840 -657.2 149.5 - - 2058 - - - - - - - - - 25.71 -
14929 497.6 8.8 526 14934 done 1.15 - - 3435 - 1.80 0.034 2021 656.1 149.5 - - 2058 - - - - - - - - - 25.79 -
15246 466.1 9.3 537 15251 roll 1.15 - - 3435 - 1.45 0.044 2950 640.7 149.5 - - 2058 - - - - - - - - - 25.70 -
15325 459.3 9.9 539 15330 done 1.15 - - 3441 - 1.38 0.029 2041 -658.7 149.5 - - 2058 - - - - - - - - - 25.97 -
15646 427.5 9.2 550 15651 roll 1.15 - - 3450 - 1.83 0.039 841 -655.7 149.5 - - 2059 - - - - - - - - - 25.70 -
15681 424.2 9.2 551 15686 done 1.15 - - 3450 - 1.83 0.034 2033 651.4 149.5 - - 2058 - - - - - - - - - 25.77 -
16016 395.1 8.7 562 16021 roll 1.15 - - 3459 - 1.83 0.037 846 -648.6 149.5 - - 2058 - - - - - - - - - 25.72 -
16155 384.5 8.4 566 16161 done 1.15 0.15 0.178 3425 -226.7 1.75 0.032 2005 662.3 149.5 - - 2058 - - - - - - - - 25.21 25.80 -
16481 358.4 7.7 577 16482 done 1.17 - - 3424 - - - 2005 - 159.5 - - 2058 - - - - - - - - - - -
16782 334.9 7.9 587 16787 roll 1.18 - - 3425 - 1.45 0.041 2951 652.4 163.0 - - 2058 - - - - - - - - - 25.72 -
16948 321.4 8.6 592 16954 done 1.18 - - 3429 - 1.45 0.028 1990 -662.8 163.0 1.85 0.144 2049 -4.9 1.148 - - - - - - - 25.97 24.41
17275 294.3 7.7 603 17297 roll 1.20 - - 3429 - 1.50 0.036 2958 645.3 172.0 16.48 0.770 2005 -2.7 0.108 - - - - - - - 25.68 24.06
17490 274.0 9.7 610 17495 done 1.20 - - 3435 - 1.42 0.027 2017 -662.7 172.0 - - 1988 - - - - - - - - - 25.95 -
17815 247.3 7.6 621 17835 roll 1.22 - - 3435 - 1.50 0.037 2961 629.3 185.6 10.93 0.725 1950 -3.5 0.125 - - - - - - - 25.83 24.16
17957 237.2 8.0 627 17964 done 1.23 - - 3441 - 1.40 0.026 2029 -665.7 186.4 - - 1944 - - - - - - - - - 25.99 -
18262 212.9 8.4 643 18263 done 1.23 - - 3441 - - - 2029 - 186.4 - - 1944 - - - - - - - - - - -
18562 185.7 8.7 658 18568 roll 1.23 - - 3441 - 1.48 0.040 2959 628.4 186.4 - - 1944 - - - - - - - - - 25.75 -
18772 169.2 7.6 668 18791 done 1.25 - - 3447 - 1.38 0.037 2060 -651.4 199.4 14.70 0.661 1901 -2.9 0.079 - - - - - - - 25.95 24.21
19095 142.9 8.6 684 19101 roll 1.25 - - 3447 - 1.42 0.050 2961 634.5 199.4 - - 1883 - - - - - - - - - 25.75 -
19155 138.3 9.0 686 19161 done 1.25 - - 3453 - 1.33 0.032 2082 -660.9 199.4 - - 1882 - - - - - - - - - 25.98 -
19461 111.1 8.6 702 19466 roll 1.25 - - 3453 - 1.38 0.050 2957 634.1 199.4 - - 1883 - - - - - - - - - 25.75 -
19594 101.5 7.3 708 19609 done 1.29 - - 3458 - 1.38 0.040 2043 -662.3 218.8 7.72 0.256 1827 -7.3 0.304 - - - - - - - 26.00 24.52
19909 80.2 5.6 724 19950 roll 1.42 0.12 0.080 3544 716.7 1.80 0.033 837 -670.0 285.5 35.08 0.282 1551 -7.9 0.237 - - - - - - 26.37 25.92 24.82
20075 65.7 9.1 732 20085 done 1.42 0.15 0.161 3506 -253.3 1.85 0.034 2060 661.1 285.5 2.00 0.161 1550 - - - - - - - - 25.42 25.88 24.94
20390 40.7 7.4 753 20406 roll 1.46 - - 3506 - 1.40 0.037 2961 643.6 304.8 11.75 0.192 1472 -6.6 0.149 - - - - - - - 25.91 24.87
20509 31.1 8.5 764 20515 done 1.46 - - 3510 - 1.38 0.041 2059 -653.6 304.8 1.98 0.146 1469 -1.5 0.034 - - - - - - - 25.98 24.85
20826 4.8 8.4 795 20832 roll 1.46 - - 3520 - 1.90 0.035 844 -639.5 304.8 1.95 0.156 1468 - - - - - - - - - 25.81 24.80
20848 end climb: SURFACE_DEPTH_REACHED
20848 begin surface coast
20853 end surface coast: CONTROL_FINISHED_OK
20853 begin surface
SM 2.08 - - - - -9.04 8.60 0.024 135 15.7 2.10 0.031 2202 -3098.1 450.13 67.40 0.116 877 13.0 -0.024 - - - - - -