OKMC Jun13 * SG167 * Dive index * Mission links * Dive 620 * Raw log
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• Previous call tries 1 • 103.00 of 150.00 AH used of 24V (31.33% remains)
• Previous NAKs 0, Timeouts 0 • 63.84 of 100.00 AH used of 10V (36.17% remains)
• Surface angle -72.1 deg, depth 2.10 m • Intended pitch -19.3 deg, speed -8.049 cm/s
VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 27 s • 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
24 - - - 95 VBD -1.20 - - 111 - - - 2234 - -116.8 -69.45 - 2595 - - - - - - - - - - -
101 3.2 -2.3 7 133 roll -1.20 10.90 0.232 2654 233.3 1.62 0.047 1144 -672.8 -116.8 -13.80 - 3193 -43.3 - - - - - - - 24.65 25.84 26.46
177 17.2 -19.4 14 183 done -1.20 - - 2649 - 1.55 0.034 2186 672.3 -116.8 - - 3193 - - - - - - - - - 25.86 -
484 78.2 -18.0 38 489 roll -1.20 - - 2641 - 1.60 0.042 3252 666.2 -116.8 - - 3194 - - - - - - - - - 25.85 -
550 88.7 -16.1 41 556 done -1.20 - - 2641 - 1.52 0.024 2213 -683.6 -116.8 - - 3194 - - - - - - - - - 26.12 -
877 137.2 -14.4 57 882 roll -1.20 - - 2641 - 1.52 0.031 1145 -702.6 -116.8 - - 3195 - - - - - - - - - 26.05 -
991 152.6 -14.7 62 996 done -1.20 - - 2634 - 1.60 0.031 2211 666.2 -116.8 - - 3195 - - - - - - - - - 26.06 -
1306 199.9 -14.7 78 1311 roll -1.20 - - 2626 - 1.52 0.037 3249 682.9 -116.8 - - 3195 - - - - - - - - - 25.99 -
1436 216.3 -13.0 84 1442 done -1.20 0.10 0.170 2655 290.0 1.52 0.020 2197 -692.1 -116.8 - - 3195 - - - - - - - - 25.69 26.24 -
1767 254.5 -11.9 100 1772 roll -1.20 - - 2655 - 1.50 0.031 1137 -706.7 -116.8 - - 3196 - - - - - - - - - 26.10 -
1872 265.5 -11.9 103 1878 done -1.20 - - 2650 - 1.52 0.030 2192 694.1 -116.8 - - 3196 - - - - - - - - - 26.09 -
2198 304.8 -11.9 114 2203 roll -1.20 - - 2650 - 1.50 0.029 1155 -691.3 -116.8 - - 3196 - - - - - - - - - 26.11 -
2273 312.5 -11.7 116 2278 done -1.20 - - 2643 - 1.50 0.030 2187 688.0 -116.8 - - 3196 - - - - - - - - - 26.10 -
2598 343.3 -8.9 127 2603 roll -1.20 - - 2643 - 1.50 0.028 1149 -692.0 -116.8 - - 3196 - - - - - - - - - 26.11 -
2667 349.4 -9.3 129 2672 done -1.20 - - 2637 - 1.52 0.030 2167 669.7 -116.8 - - 3196 - - - - - - - - - 26.10 -
2998 386.5 -11.7 140 3003 roll -1.20 - - 2637 - 1.50 0.028 1160 -671.3 -116.8 - - 3194 - - - - - - - - - 26.13 -
3104 397.5 -11.5 143 3109 done -1.20 0.12 0.183 2659 183.3 1.48 0.030 2146 666.2 -116.8 - - 3194 - - - - - - - - 25.70 26.11 -
3430 430.1 -8.9 154 3435 roll -1.20 - - 2660 - 1.48 0.029 1156 -668.9 -116.8 - - 3193 - - - - - - - - - 26.13 -
3529 438.3 -8.7 157 3534 done -1.20 - - 2655 - 1.48 0.029 2135 661.5 -116.8 - - 3192 - - - - - - - - - 26.11 -
3859 467.7 -8.9 168 3861 done -1.20 - - 2655 - - - 2136 - -116.8 - - 3191 - - - - - - - - - - -
4160 495.6 -9.7 178 4165 roll -1.20 - - 2647 - 1.65 0.037 3250 675.2 -116.8 - - 3189 - - - - - - - - - 26.01 -
4225 502.7 -10.3 180 4230 done -1.20 - - 2647 - 1.65 0.034 2115 -687.9 -116.8 - - 3189 - - - - - - - - - 26.05 -
4561 538.0 -11.2 191 4567 roll -1.20 - - 2647 - 1.40 0.031 1163 -680.0 -116.8 - - 3186 - - - - - - - - - 26.10 -
4774 559.0 -11.2 197 4781 done -1.20 - - 2641 - 1.42 0.030 2105 663.4 -116.8 - - 3185 - - - - - - - - - 26.10 -
5080 589.8 -8.3 208 5085 roll -1.20 - - 2634 - 1.75 0.037 3249 653.7 -116.8 - - 3183 - - - - - - - - - 26.00 -
5099 589.8 -8.3 208 5104 done -1.20 - - 2634 - 1.62 0.020 2111 -702.5 -116.8 - - 3183 - - - - - - - - - 26.23 -
5420 616.7 -7.9 219 5425 roll -1.20 - - 2634 - 1.40 0.031 1161 -678.6 -116.8 - - 3181 - - - - - - - - - 26.09 -
5588 630.2 -8.7 224 5594 done -1.20 0.10 0.161 2658 240.0 1.40 0.030 2082 657.9 -116.8 - - 3180 - - - - - - - - 25.60 26.09 -
5764 647.5 -9.3 230 5765 done -1.20 - - 2657 - - - 2082 - -116.8 - - 3178 - - - - - - - - - - -
5914 661.6 -9.4 235 5919 roll -1.20 - - 2658 - 1.38 0.030 1166 -663.8 -116.8 - - 3177 - - - - - - - - - 26.09 -
5980 667.8 -9.5 237 5985 done -1.20 - - 2656 - 1.38 0.030 2061 648.6 -116.8 - - 3177 - - - - - - - - - 26.08 -
6165 685.0 -9.2 243 6166 done -1.20 - - 2656 - - - 2061 - -116.8 - - 3176 - - - - - - - - - - -
6315 698.8 -9.2 248 6320 roll -1.20 - - 2656 - 1.35 0.031 1161 -666.7 -116.8 - - 3175 - - - - - - - - - 26.08 -
6382 705.0 -9.4 250 6387 done -1.20 - - 2655 - 1.38 0.031 2053 646.4 -116.8 - - 3175 - - - - - - - - - 26.04 -
6567 723.8 -10.3 256 6572 roll -1.20 - - 2655 - 1.35 0.031 1158 -663.0 -116.8 - - 3173 - - - - - - - - - 26.06 -
6606 727.5 -10.4 257 6611 done -1.20 - - 2650 - 1.35 0.031 2048 659.3 -116.8 - - 3173 - - - - - - - - - 26.07 -
6787 747.5 -10.9 263 6793 roll -1.20 - - 2641 - 1.80 0.039 3247 666.1 -116.8 - - 3172 - - - - - - - - - 25.91 -
6861 754.9 -10.9 265 6867 done -1.20 - - 2641 - 1.73 0.021 2054 -689.6 -116.8 - - 3172 - - - - - - - - - 26.18 -
7036 774.7 -10.7 271 7042 roll -1.20 - - 2641 - 1.33 0.032 1160 -672.2 -116.8 - - 3171 - - - - - - - - - 26.04 -
7066 774.7 -10.7 271 7073 done -1.20 - - 2636 - 1.35 0.031 2046 656.3 -116.8 - - 3171 - - - - - - - - - 26.05 -
7222 793.0 -9.7 277 7227 roll -1.20 - - 2627 - 1.80 0.039 3244 665.6 -116.8 - - 3169 - - - - - - - - - 25.89 -
7297 799.6 -10.0 279 7303 done -1.20 0.15 0.176 2663 240.0 1.73 0.021 2047 -691.9 -116.8 - - 3168 - - - - - - - - 25.58 26.17 -
7474 815.0 -8.0 285 7479 roll -1.20 - - 2663 - 1.33 0.033 1154 -671.4 -116.8 - - 3168 - - - - - - - - - 26.03 -
7559 820.0 -7.7 287 7564 done -1.20 - - 2659 - 1.35 0.031 2040 656.3 -116.8 - - 3167 - - - - - - - - - 26.04 -
7724 833.7 -7.4 293 7729 roll -1.20 - - 2656 - 1.83 0.040 3245 658.5 -116.8 - - 3166 - - - - - - - - - 25.84 -
7804 839.1 -7.8 295 7809 done -1.20 - - 2656 - 1.75 0.021 2041 -688.0 -116.8 - - 3166 - - - - - - - - - 26.14 -
7974 855.3 -8.9 301 7976 done -1.20 - - 2656 - - - 2041 - -116.8 - - 3165 - - - - - - - - - - -
8124 868.9 -9.1 306 8129 roll -1.20 - - 2656 - 1.30 0.034 1166 -673.1 -116.8 - - 3165 - - - - - - - - - 25.99 -
8169 872.3 -9.4 307 8174 done -1.20 - - 2656 - 1.35 0.033 2040 647.4 -116.8 - - 3164 - - - - - - - - - 25.98 -
8346 890.7 -10.1 313 8351 roll -1.20 - - 2656 - 1.83 0.041 3244 657.9 -116.8 - - 3163 - - - - - - - - - 25.81 -
8375 890.7 -10.1 313 8381 done -1.20 - - 2656 - 1.77 0.022 2055 -671.8 -116.8 - - 3163 - - - - - - - - - 26.13 -
8533 910.0 -10.2 319 8534 done -1.20 - - 2656 - - - 2055 - -116.8 - - 3162 - - - - - - - - - - -
8681 925.5 -10.3 324 8682 done -1.20 - - 2656 - - - 2055 - -116.8 - - 3163 - - - - - - - - - - -
8831 940.6 -10.1 329 8832 done -1.20 - - 2656 - - - 2055 - -116.8 - - 3161 - - - - - - - - - - -
8981 955.7 -10.1 334 8986 roll -1.20 - - 2656 - 1.33 0.034 1167 -667.7 -116.8 - - 3160 - - - - - - - - - 25.97 -
9020 959.0 -9.9 335 9025 done -1.20 - - 2655 - 1.35 0.033 2034 642.2 -116.8 - - 3160 - - - - - - - - - 25.95 -
9205 976.7 -9.2 341 9210 roll -1.20 - - 2655 - 1.85 0.042 3244 654.1 -116.8 - - 3159 - - - - - - - - - 25.75 -
9240 979.8 -9.2 342 9245 done -1.20 - - 2655 - 1.77 0.022 2037 -681.9 -116.8 - - 3158 - - - - - - - - - 26.09 -
9361 end dive: TARGET_DEPTH_EXCEEDED
9361 begin apogee
9371 990.8 -8.8 346 9535 roll -0.25 1.02 0.142 2963 302.0 - - 1876 - - 153.65 1.003 2711 -2.9 0.303 - - - - - - 24.49 - 23.35
9537 end apogee: CONTROL_FINISHED_OK
9537 begin climb
9540 994.6 - 351 9672 roll 1.20 1.30 0.063 3440 366.9 1.58 0.038 888 -625.3 116.8 118.30 1.144 2231 -4.1 0.371 - - - - - - 25.15 25.27 23.25
9822 963.0 13.3 361 9827 done 1.20 - - 3440 - 1.55 0.034 1899 652.3 116.8 - - 2202 - - - - - - - - - 25.78 -
10009 938.8 13.0 367 10014 roll 1.20 - - 3447 - 1.55 0.039 883 -655.5 116.8 - - 2199 - - - - - - - - - 25.86 -
10113 925.8 13.3 370 10118 done 1.20 - - 3447 - 1.58 0.034 1921 657.0 116.8 - - 2198 - - - - - - - - - 25.92 -
10288 902.0 12.9 376 10293 roll 1.20 - - 3447 - 1.58 0.044 2961 658.2 116.8 - - 2196 - - - - - - - - - 25.86 -
10403 889.3 13.2 379 10408 done 1.20 - - 3453 - 1.48 0.029 1990 -656.1 116.8 - - 2195 - - - - - - - - - 26.04 -
10568 865.8 12.5 385 10573 roll 1.20 - - 3461 - 1.67 0.039 879 -665.3 116.8 - - 2194 - - - - - - - - - 25.91 -
10623 861.2 12.7 386 10628 done 1.20 - - 3461 - 1.62 0.034 1954 663.6 116.8 - - 2194 - - - - - - - - - 25.95 -
10788 837.8 12.4 392 10793 roll 1.20 - - 3462 - 1.52 0.044 2966 665.8 116.8 - - 2194 - - - - - - - - - 25.86 -
10837 833.3 12.4 393 10843 done 1.20 0.12 0.197 3442 -166.7 1.48 0.028 1995 -656.1 116.8 - - 2194 - - - - - - - - 25.56 26.06 -
11009 811.7 11.6 399 11010 done 1.20 - - 3441 - - - 1995 - 116.8 - - 2193 - - - - - - - - - - -
11158 794.6 11.3 404 11163 roll 1.20 - - 3448 - 1.67 0.039 883 -665.9 116.8 - - 2193 - - - - - - - - - 25.88 -
11224 787.2 11.3 406 11230 done 1.20 - - 3448 - 1.67 0.034 1982 658.1 116.8 - - 2193 - - - - - - - - - 25.92 -
11411 766.9 10.8 412 11416 roll 1.20 - - 3447 - 1.52 0.044 2986 660.5 116.8 - - 2192 - - - - - - - - - 25.81 -
11501 759.3 11.0 414 11507 done 1.20 - - 3454 - 1.45 0.029 2032 -657.9 116.8 - - 2192 - - - - - - - - - 26.04 -
11657 739.7 10.7 420 11662 roll 1.20 - - 3454 - 1.48 0.042 2960 627.0 116.8 - - 2192 - - - - - - - - - 25.84 -
11697 735.8 10.8 421 11702 done 1.20 - - 3459 - 1.40 0.029 2037 -659.3 116.8 - - 2192 - - - - - - - - - 26.03 -
11877 714.7 11.2 427 11882 roll 1.20 - - 3468 - 1.75 0.038 880 -661.1 116.8 - - 2191 - - - - - - - - - 25.85 -
11973 703.6 11.7 430 11978 done 1.20 0.12 0.187 3442 -216.7 1.70 0.034 1995 655.9 116.8 - - 2191 - - - - - - - - 25.41 25.88 -
12160 683.2 11.0 436 12165 roll 1.20 - - 3442 - 1.50 0.044 2957 641.3 116.8 - - 2190 - - - - - - - - - 25.79 -
12189 683.2 11.0 436 12195 done 1.20 - - 3447 - 1.42 0.029 2021 -659.2 116.8 - - 2190 - - - - - - - - - 26.01 -
12345 663.5 10.4 442 12350 roll 1.20 - - 3455 - 1.73 0.039 883 -657.8 116.8 - - 2190 - - - - - - - - - 25.82 -
12455 653.1 10.8 445 12460 done 1.20 - - 3456 - 1.73 0.034 1987 638.2 116.8 - - 2190 - - - - - - - - - 25.86 -
12625 633.4 10.4 451 12631 roll 1.20 - - 3455 - 1.52 0.044 2989 659.2 116.8 - - 2190 - - - - - - - - - 25.75 -
12746 622.8 10.9 454 12752 done 1.20 - - 3461 - 1.45 0.029 2036 -657.2 116.8 - - 2190 - - - - - - - - - 26.00 -
12901 604.5 9.9 460 12906 roll 1.20 - - 3471 - 1.75 0.037 877 -662.3 116.8 - - 2190 - - - - - - - - - 25.79 -
12960 601.1 9.8 461 12967 done 1.20 0.08 0.177 3438 -412.5 1.77 0.034 2019 645.2 116.8 - - 2190 - - - - - - - - 25.23 25.84 -
13118 585.0 8.8 467 13123 roll 1.20 - - 3445 - 1.75 0.037 878 -652.0 116.8 - - 2190 - - - - - - - - - 25.78 -
13192 578.6 9.2 469 13197 done 1.20 - - 3445 - 1.67 0.033 1987 664.1 116.8 - - 2190 - - - - - - - - - 25.85 -
13517 546.4 9.9 480 13522 roll 1.20 - - 3445 - 1.52 0.044 2991 660.5 116.8 - - 2189 - - - - - - - - - 25.72 -
13563 542.8 10.0 481 13568 done 1.20 - - 3450 - 1.48 0.029 2018 -657.4 116.8 - - 2189 - - - - - - - - - 25.99 -
13888 509.4 10.0 492 13893 roll 1.20 - - 3459 - 1.73 0.039 881 -657.2 116.8 - - 2189 - - - - - - - - - 25.74 -
14014 497.1 9.9 496 14019 done 1.20 - - 3459 - 1.65 0.033 1962 655.2 116.8 - - 2189 - - - - - - - - - 25.82 -
14349 468.7 8.6 507 14354 roll 1.20 - - 3459 - 1.52 0.043 2969 662.5 116.8 - - 2189 - - - - - - - - - 25.70 -
14414 462.4 9.3 509 14420 done 1.20 - - 3465 - 1.52 0.028 1973 -655.3 116.8 - - 2189 - - - - - - - - - 25.95 -
14751 431.8 8.9 520 14756 roll 1.20 - - 3473 - 1.65 0.038 879 -663.0 116.8 - - 2189 - - - - - - - - - 25.75 -
14841 426.0 8.8 522 14849 done 1.20 0.15 0.180 3439 -226.7 1.58 0.032 1923 660.8 116.8 - - 2189 - - - - - - - - 25.22 25.82 -
15147 400.0 7.7 533 15149 done 1.22 - - 3439 - - - 1923 - 126.1 - - 2188 - - - - - - - - - - -
15446 379.4 6.8 543 15488 roll 1.28 - - 3440 - 1.58 0.040 2954 652.5 156.5 36.33 0.819 2067 -3.3 0.162 - - - - - - - 25.53 23.86
15676 360.0 9.7 550 15681 done 1.28 - - 3445 - 1.50 0.028 1942 -674.7 156.5 - - 2042 - - - - - - - - - 25.84 -
15996 332.4 7.4 561 16014 roll 1.31 - - 3445 - 1.60 0.039 2953 631.9 171.3 10.82 0.784 2008 -3.1 0.140 - - - - - - - 25.82 24.11
16090 324.4 8.4 564 16095 done 1.31 - - 3452 - 1.55 0.028 1907 -674.8 171.3 - - 1997 - - - - - - - - - 25.93 -
16425 290.5 10.4 575 16430 roll 1.31 - - 3452 - 1.60 0.038 2957 656.2 171.3 - - 1996 - - - - - - - - - 25.77 -
16662 273.5 6.7 582 16701 done 1.37 - - 3459 - 1.52 0.027 1914 -686.2 203.2 33.75 0.728 1882 -3.4 0.134 - - - - - - - 25.97 24.01
17006 243.2 9.8 595 17011 roll 1.37 - - 3466 - 1.60 0.036 847 -666.9 203.2 - - 1853 - - - - - - - - - 25.80 -
17127 232.4 10.0 600 17134 done 1.37 - - 3466 - 1.65 0.028 1954 670.9 203.2 - - 1853 - - - - - - - - - 25.89 -
17431 206.8 7.4 616 17451 roll 1.40 0.10 0.088 3529 630.0 1.50 0.037 2958 669.3 218.7 11.73 0.672 1813 -3.4 0.110 - - - - - - 26.36 25.91 24.27
17595 191.5 10.8 623 17602 done 1.40 0.15 0.186 3500 -193.3 1.50 0.027 1931 -684.7 218.7 - - 1802 - - - - - - - - 25.39 25.96 -
17902 161.0 9.6 639 17907 roll 1.40 - - 3499 - 1.60 0.037 2959 642.5 218.7 - - 1802 - - - - - - - - - 25.86 -
17971 154.3 10.1 642 17976 done 1.40 - - 3506 - 1.50 0.027 1929 -686.7 218.7 - - 1802 - - - - - - - - - 26.00 -
18291 124.6 8.9 658 18293 done 1.40 - - 3506 - - - 1929 - 218.7 - - 1802 - - - - - - - - - - -
18592 96.4 9.7 673 18598 roll 1.40 - - 3515 - 1.65 0.035 845 -657.0 218.7 - - 1802 - - - - - - - - - 25.90 -
18687 89.1 8.4 677 18692 done 1.40 - - 3515 - 1.75 0.029 1991 654.9 218.7 - - 1802 - - - - - - - - - 25.97 -
19003 64.1 8.0 693 19005 done 1.41 - - 3515 - - - 1991 - 219.8 - - 1802 - - - - - - - - - - -
19302 45.7 4.1 713 19356 roll 1.60 0.12 0.082 3590 625.0 1.42 0.035 2961 683.1 315.6 47.20 0.207 1426 -8.0 0.185 - - - - - - 26.38 25.93 25.05
19423 35.3 10.9 724 19431 done 1.60 0.08 0.175 3559 -387.5 1.40 0.027 2025 -668.6 315.6 1.50 0.168 1425 - - - - - - - - 25.39 26.01 25.09
19731 4.2 10.3 755 19737 roll 1.60 - - 3568 - 1.77 0.033 836 -671.8 315.6 1.38 0.170 1425 - - - - - - - - - 25.83 24.87
19743 end climb: SURFACE_DEPTH_REACHED
19743 begin surface coast
19765 end surface coast: CONTROL_FINISHED_OK
19765 begin surface
SM 1.95 - - - - -9.02 8.85 0.031 142 16.0 2.10 0.029 2203 -3097.6 450.13 62.72 0.116 876 14.0 -0.024 - - - - - -