OKMC Feb13 * SG171 * Dive index * Mission links * Dive 355 * Raw log
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• Previous call tries 1 • 53.94 of 150.00 AH used of 24V (64.04% remains)
• Previous NAKs 0, Timeouts 0 • 33.89 of 100.00 AH used of 10V (66.11% remains)
• Surface angle -69.0 deg, depth 0.97 m • Intended pitch -14.3 deg, speed -9.596 cm/s
• No surface pump (final VBD was 482.01, SM_CC=400)
• GPS1 time: 65 s
• GPS2 time: 13 s • Transponder ping count: 0
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 86 VBD -1.25 - - 126 - - - 2499 - -194.6 -65.12 - 2283 - - - - - - - - - - -
90 3.2 -6.1 9 122 roll -1.25 9.02 0.220 2397 251.8 2.20 0.043 1083 -643.6 -194.6 -15.62 - 3179 -57.4 - - - - - - - 25.44 26.10 26.48
299 78.8 -32.8 38 306 done -0.47 0.90 0.142 2657 288.9 2.15 0.034 2500 659.1 -194.6 - - 3187 - - - - - - - - 25.62 26.14 -
435 97.1 -9.4 51 442 roll -0.72 0.20 0.060 2545 -560.0 2.12 0.028 1080 -669.8 -194.6 - - 3188 - - - - - - - - 26.39 26.25 -
476 101.9 -12.1 54 485 done -0.72 0.15 0.136 2576 206.7 2.17 0.037 2502 655.3 -194.6 - - 3189 - - - - - - - - 25.98 26.17 -
604 122.0 -15.4 67 606 done -0.63 0.10 0.156 2605 290.0 - - 2503 - -194.6 - - 3190 - - - - - - - - 26.32 - -
727 139.2 -14.4 79 734 done -0.69 - - 2605 - - - 2503 - -194.6 - - 3190 - - - - - - - - - - -
857 157.5 -13.9 92 865 done -0.75 0.12 0.083 2518 -725.0 - - 2503 - -194.6 - - 3191 - - - - - - - - 26.51 - -
985 180.4 -17.4 105 991 roll -0.49 0.40 0.116 2642 310.0 1.83 0.049 3671 638.3 -194.6 - - 3191 - - - - - - - - 25.98 26.22 -
1075 188.2 -6.3 113 1082 done -0.90 0.25 0.021 2480 -648.0 1.77 0.028 2472 -677.4 -194.6 - - 3192 - - - - - - - - 26.44 26.49 -
1212 209.0 -17.0 126 1218 roll -0.52 0.47 0.116 2628 314.9 1.88 0.049 3669 636.7 -194.6 - - 3192 - - - - - - - - 25.97 26.25 -
1269 215.9 -9.5 131 1276 done -0.77 0.20 0.059 2510 -590.0 1.70 0.028 2507 -683.5 -194.6 - - 3193 - - - - - - - - 26.43 26.49 -
1405 238.2 -18.5 144 1412 roll -0.54 0.35 0.114 2628 337.1 2.10 0.026 1093 -673.3 -194.6 - - 3193 - - - - - - - - 26.06 26.41 -
1443 243.3 -15.2 147 1449 done -0.60 - - 2618 - 2.12 0.036 2502 664.6 -194.6 - - 3193 - - - - - - - - - 26.32 -
1578 258.0 -10.9 160 1584 roll -0.88 0.22 0.057 2478 -636.4 1.83 0.050 3672 639.3 -194.6 - - 3192 - - - - - - - - 26.55 26.26 -
1658 272.0 -20.0 167 1664 done -0.57 0.45 0.111 2625 326.7 1.70 0.025 2483 -699.4 -194.6 - - 3193 - - - - - - - - 26.01 26.54 -
1794 286.4 -9.0 180 1801 roll -0.89 0.25 0.054 2486 -556.0 2.03 0.028 1113 -674.9 -194.6 - - 3193 - - - - - - - - 26.56 26.43 -
1835 291.6 -12.8 183 1844 done -0.89 0.17 0.135 2526 235.3 2.10 0.036 2504 662.4 -194.6 - - 3193 - - - - - - - - 26.10 26.34 -
1963 310.6 -13.6 196 1969 roll -0.79 0.10 0.160 2546 200.0 1.83 0.050 3674 639.3 -194.6 - - 3192 - - - - - - - - 26.45 26.27 -
2013 317.2 -13.7 200 2021 done -0.79 - - 2546 - 1.67 0.027 2504 -700.6 -194.6 - - 3193 - - - - - - - - - 26.54 -
2140 333.8 -12.4 213 2142 done -0.79 - - 2546 - - - 2504 - -194.6 - - 3192 - - - - - - - - - - -
2262 348.6 -12.7 225 2269 done -0.79 - - 2546 - - - 2504 - -194.6 - - 3192 - - - - - - - - - - -
2391 364.0 -11.8 238 2397 roll -0.79 - - 2537 - 1.83 0.053 3669 636.6 -194.6 - - 3193 - - - - - - - - - 26.27 -
2431 368.0 -11.1 241 2438 done -0.79 - - 2537 - 1.67 0.028 2510 -694.0 -194.6 - - 3192 - - - - - - - - - 26.54 -
2557 382.9 -11.3 254 2558 done -0.79 - - 2537 - - - 2510 - -194.6 - - 3192 - - - - - - - - - - -
2680 396.5 -11.5 266 2686 roll -0.79 - - 2537 - 2.08 0.028 1101 -677.4 -194.6 - - 3192 - - - - - - - - - 26.44 -
2737 403.6 -12.0 271 2743 done -0.79 0.10 0.153 2554 170.0 2.12 0.037 2502 660.8 -194.6 - - 3192 - - - - - - - - 26.20 26.35 -
2873 418.8 -11.1 284 2879 roll -0.86 - - 2557 - 2.10 0.029 1092 -671.4 -194.6 - - 3191 - - - - - - - - - 26.44 -
2899 421.7 -11.2 286 2905 done -0.93 - - 2544 - 2.15 0.037 2498 654.0 -194.6 - - 3191 - - - - - - - - - 26.34 -
3034 437.4 -11.8 299 3035 done -0.93 - - 2543 - - - 2498 - -194.6 - - 3190 - - - - - - - - - - -
3157 450.8 -10.8 311 3162 roll -0.93 - - 2544 - 2.08 0.031 1105 -669.7 -194.6 - - 3190 - - - - - - - - - 26.43 -
3224 458.5 -10.7 317 3231 done -0.99 0.12 0.078 2462 -683.3 2.15 0.038 2504 650.7 -194.6 - - 3189 - - - - - - - - 26.37 26.34 -
3360 480.2 -17.0 330 3366 roll -0.68 0.38 0.118 2578 305.3 1.83 0.050 3670 637.2 -194.6 - - 3189 - - - - - - - - 26.03 26.26 -
3400 484.4 -12.7 333 3408 done -0.68 - - 2578 - 1.70 0.030 2495 -691.2 -194.6 - - 3189 - - - - - - - - - 26.53 -
3527 495.2 -7.5 346 3534 roll -0.89 0.12 0.084 2492 -716.7 2.05 0.027 1106 -677.6 -194.6 - - 3188 - - - - - - - - 26.63 26.44 -
3564 500.0 -12.5 349 3571 done -0.89 0.15 0.135 2524 213.3 2.15 0.037 2504 650.2 -194.6 - - 3188 - - - - - - - - 26.13 26.33 -
3701 516.3 -10.7 362 3706 roll -0.89 - - 2515 - 1.83 0.054 3671 637.7 -194.6 - - 3187 - - - - - - - - - 26.25 -
3771 523.7 -10.7 368 3779 done -0.89 - - 2516 - 1.70 0.028 2499 -689.4 -194.6 - - 3186 - - - - - - - - - 26.54 -
3898 538.7 -12.0 381 3904 roll -0.83 - - 2516 - 2.08 0.031 1102 -671.6 -194.6 - - 3186 - - - - - - - - - 26.42 -
3935 543.0 -12.5 384 3941 done -0.83 0.12 0.142 2541 208.3 2.15 0.037 2505 652.6 -194.6 - - 3185 - - - - - - - - 26.14 26.32 -
4071 558.6 -11.1 397 4072 done -0.89 - - 2540 - - - 2504 - -194.6 - - 3185 - - - - - - - - - - -
4193 573.0 -12.2 409 4199 roll -0.89 - - 2541 - 2.08 0.029 1109 -670.7 -194.6 - - 3185 - - - - - - - - - 26.42 -
4261 581.8 -13.2 415 4267 done -0.96 - - 2530 - 2.15 0.037 2505 649.3 -194.6 - - 3184 - - - - - - - - - 26.32 -
4396 599.1 -12.6 428 4401 roll -0.96 - - 2521 - 1.83 0.054 3669 636.1 -194.6 - - 3184 - - - - - - - - - 26.23 -
4424 602.2 -12.7 430 4432 done -0.96 - - 2522 - 1.70 0.029 2503 -685.9 -194.6 - - 3184 - - - - - - - - - 26.53 -
4611 627.0 -12.7 449 4612 done -0.96 - - 2521 - - - 2503 - -194.6 - - 3183 - - - - - - - - - - -
4793 649.1 -11.9 467 4799 roll -0.96 - - 2512 - 1.85 0.054 3673 632.4 -194.6 - - 3182 - - - - - - - - - 26.22 -
4811 651.0 -11.7 468 4819 done -0.96 - - 2512 - 1.73 0.029 2489 -684.4 -194.6 - - 3182 - - - - - - - - - 26.53 -
4998 675.7 -13.8 487 5004 roll -0.96 - - 2512 - 2.05 0.029 1105 -675.1 -194.6 - - 3181 - - - - - - - - - 26.41 -
5022 678.9 -13.1 489 5028 done -0.96 - - 2502 - 2.15 0.039 2501 649.3 -194.6 - - 3181 - - - - - - - - - 26.29 -
5217 706.4 -14.1 508 5223 roll -0.89 - - 2502 - 2.08 0.030 1109 -669.2 -194.6 - - 3180 - - - - - - - - - 26.40 -
5243 709.9 -14.2 510 5249 done -0.83 0.17 0.131 2544 247.1 2.15 0.039 2504 648.8 -194.6 - - 3179 - - - - - - - - 26.06 26.29 -
5439 733.7 -11.3 529 5445 roll -0.94 0.12 0.083 2459 -708.3 1.85 0.054 3672 631.4 -194.6 - - 3178 - - - - - - - - 26.64 26.19 -
5487 740.7 -14.6 533 5493 done -0.79 0.30 0.116 2553 313.3 1.73 0.028 2489 -683.8 -194.6 - - 3178 - - - - - - - - 25.98 26.53 -
5683 761.8 -9.9 552 5690 roll -0.95 0.12 0.083 2475 -650.0 2.05 0.029 1112 -671.7 -194.6 - - 3177 - - - - - - - - 26.63 26.39 -
5755 770.8 -14.1 558 5763 done -0.80 0.28 0.122 2548 260.7 2.12 0.039 2501 655.2 -194.6 - - 3177 - - - - - - - - 25.94 26.27 -
5943 790.0 -9.8 577 5949 roll -0.94 0.12 0.083 2463 -708.3 1.85 0.054 3669 631.4 -194.6 - - 3176 - - - - - - - - 26.63 26.17 -
5991 795.9 -12.6 581 5997 done -0.81 0.28 0.118 2548 303.6 1.70 0.029 2510 -681.8 -194.6 - - 3175 - - - - - - - - 25.99 26.52 -
6187 816.5 -10.2 600 6193 roll -0.96 0.12 0.083 2473 -625.0 2.10 0.029 1105 -669.0 -194.6 - - 3174 - - - - - - - - 26.63 26.38 -
6248 824.4 -14.8 605 6257 done -0.81 0.28 0.122 2546 260.7 2.17 0.041 2507 646.1 -194.6 - - 3174 - - - - - - - - 25.91 26.25 -
6436 845.1 -11.1 624 6442 roll -0.96 0.12 0.083 2470 -633.3 2.10 0.029 1106 -667.1 -194.6 - - 3173 - - - - - - - - 26.63 26.37 -
6473 849.8 -12.9 627 6480 done -0.96 0.15 0.134 2503 220.0 2.17 0.041 2502 643.3 -194.6 - - 3173 - - - - - - - - 26.04 26.23 -
6669 875.3 -12.3 646 6671 done -0.96 - - 2503 - - - 2501 - -194.6 - - 3173 - - - - - - - - - - -
6851 896.9 -11.8 664 6858 done -0.96 - - 2503 - - - 2501 - -194.6 - - 3172 - - - - - - - - - - -
7041 918.7 -11.4 683 7049 done -0.96 - - 2503 - - - 2501 - -194.6 - - 3171 - - - - - - - - - - -
7230 939.9 -11.4 702 7236 roll -0.96 - - 2503 - 2.10 0.031 1105 -664.8 -194.6 - - 3170 - - - - - - - - - 26.35 -
7277 945.8 -12.2 706 7283 done -0.96 - - 2494 - 2.17 0.040 2506 645.6 -194.6 - - 3170 - - - - - - - - - 26.23 -
7322 end dive: TARGET_DEPTH_EXCEEDED
7322 begin apogee
7329 951.2 -12.0 710 7561 done -0.20 0.73 0.101 2741 338.4 - - 1983 - - 219.68 1.078 2378 -3.6 0.335 - - - - 1 - 25.88 - 23.34
7562 end apogee: CONTROL_FINISHED_OK
7562 begin climb
7565 967.8 - 729 7836 roll 1.25 1.30 0.044 3233 378.5 2.35 0.035 615 -582.1 194.6 259.85 0.852 1578 -3.1 0.368 - - - - - - 24.59 24.28 23.51
8059 912.0 18.5 772 8066 done 0.26 1.12 0.143 2900 -297.3 2.17 0.030 2021 647.9 194.6 - - 1558 - - - - - - - - 25.35 25.76 -
8256 900.5 4.7 791 8542 roll 1.09 0.68 0.035 3190 426.5 2.28 0.044 3398 603.9 341.6 275.20 0.684 981 -2.1 0.291 - - - - - - 26.11 24.95 24.25
8646 813.2 27.6 824 8653 done 0.25 1.02 0.136 2895 -289.2 2.15 0.028 2008 -646.5 341.6 - - 960 - - - - - - - - 25.32 25.67 -
8843 794.3 10.5 843 8850 roll 1.29 0.88 0.054 3230 380.7 2.17 0.037 606 -646.1 341.6 - - 953 - - - - - - - - 25.99 25.98 -
8880 788.9 13.3 846 8886 done 1.29 - - 3230 - 2.12 0.031 1997 656.1 341.6 - - 952 - - - - - - - - - 26.06 -
9075 737.3 27.6 865 9084 done 0.37 0.98 0.135 2931 -305.1 - - 1997 - 341.6 - - 951 - - - - - - - - 25.76 - -
9266 722.2 5.9 884 9419 roll 1.15 0.62 0.036 3211 451.6 2.33 0.043 3401 602.6 453.3 137.38 0.817 526 -3.1 0.288 - - - - 1 - 26.32 25.03 24.16
9442 681.2 27.6 898 9451 done 0.35 1.00 0.134 2925 -286.0 2.20 0.028 1997 -638.2 453.3 - - 523 - - - - - - - - 25.13 25.36 -
9630 661.2 11.4 917 9636 roll 1.33 0.85 0.065 3239 369.4 2.17 0.039 606 -641.0 453.3 - - 522 - - - - - - - - 25.86 25.88 -
9668 656.0 13.8 920 9675 done 1.48 0.15 0.071 3323 560.0 2.15 0.030 2005 650.7 453.3 - - 522 - - - - - - - - 25.98 25.98 -
9864 579.7 40.4 939 9873 done 0.27 1.40 0.148 2904 -299.3 - - 2008 - 453.3 - - 522 - - - - - - - - 25.67 - -
9994 563.7 11.4 952 10000 roll 1.36 0.93 0.062 3250 372.0 2.17 0.040 606 -646.1 453.3 - - 522 - - - - - - - - 26.13 26.13 -
10025 560.0 13.3 954 10033 done 1.82 0.40 0.043 3430 450.0 2.10 0.030 2000 663.8 453.3 - - 522 - - - - - - - - 26.26 26.22 -
10153 501.0 51.1 967 10159 roll 0.23 1.80 0.161 2886 -302.2 2.25 0.041 3411 627.1 453.3 - - 522 - - - - - - - - 25.66 26.18 -
10181 492.1 42.7 969 10187 done 0.23 - - 2893 - 2.15 0.031 1989 -661.4 453.3 - - 522 - - - - - - - - - 26.28 -
10316 479.2 13.0 982 10322 roll 1.23 0.82 0.063 3206 381.7 2.15 0.040 601 -645.6 453.3 - - 522 - - - - - - - - 26.18 26.20 -
10354 473.8 14.5 985 10361 done 1.57 0.30 0.047 3347 470.0 2.10 0.032 1998 665.2 453.3 - - 522 - - - - - - - - 26.34 26.28 -
10490 420.6 43.0 998 10497 roll 0.26 1.48 0.151 2910 -295.3 2.17 0.037 603 -642.9 453.3 - - 522 - - - - - - - - 25.72 26.24 -
10505 414.3 42.7 999 10511 done 0.26 - - 2910 - 2.12 0.031 2006 661.8 453.3 - - 522 - - - - - - - - - 26.31 -
10641 403.6 10.5 1012 10648 roll 1.27 0.82 0.057 3229 389.0 2.22 0.052 3403 629.3 453.3 - - 522 - - - - - - - - 26.26 26.17 -
10679 398.4 13.0 1015 10685 done 1.36 - - 3241 - 2.10 0.029 1997 -669.5 453.3 - - 522 - - - - - - - - - 26.36 -
10814 358.4 30.4 1028 10821 roll 0.50 0.82 0.137 2992 -303.7 2.15 0.041 606 -647.0 453.3 - - 522 - - - - - - - - 25.78 26.25 -
10937 345.2 6.6 1039 11006 done 1.25 0.57 0.036 3244 442.1 2.12 0.033 2003 659.0 541.8 56.05 0.493 414 -1.9 0.142 - - - - 1 - 26.43 26.32 25.19
11135 291.5 31.1 1057 11149 roll 0.40 0.95 0.136 2958 -301.1 2.25 0.042 607 -620.4 541.8 3.08 0.266 412 - - - - - - - - 25.60 26.02 24.94
11197 283.7 8.0 1062 11206 done 0.95 0.43 0.051 3133 407.0 2.12 0.034 2001 657.5 590.1 - - 413 - - - - - - - - 26.10 26.07 -
11326 264.1 17.5 1075 11332 roll 0.63 0.35 0.120 3017 -331.4 2.22 0.046 3410 634.7 590.1 - - 413 - - - - - - - - 25.82 26.06 -
11366 259.1 15.0 1078 11375 done 0.56 0.12 0.122 2989 -233.3 2.12 0.031 1995 -667.5 590.1 - - 413 - - - - - - - - 26.03 26.21 -
11495 251.1 5.4 1091 11502 roll 1.47 0.75 0.032 3330 454.7 2.12 0.039 610 -653.3 714.7 - - 413 - - - - - - - - 26.33 26.14 -
11526 247.0 10.5 1093 11535 done 1.41 0.22 0.155 3268 -281.8 2.10 0.031 2007 665.2 714.7 - - 413 - - - - - - - - 25.77 26.23 -
11655 205.5 31.2 1106 11660 roll 1.41 - - 3281 - 2.17 0.043 610 -643.8 714.7 - - 414 - - - - - - - - - 26.17 -
11691 193.6 34.1 1109 11697 done 1.41 - - 3279 - 2.10 0.031 2006 664.8 714.7 - - 414 - - - - - - - - - 26.26 -
11827 150.4 30.4 1122 11833 roll 1.41 - - 3279 - 2.17 0.045 3405 644.7 714.7 - - 416 - - - - - - - - - 26.19 -
11918 124.4 28.6 1130 11928 done 0.58 0.95 0.133 2997 -296.8 2.10 0.030 2007 -665.7 714.7 0.05 0.171 415 - - - - - - - - 25.72 26.33 25.87
12048 111.5 10.2 1143 12055 roll 1.52 0.80 0.054 3311 392.5 2.15 0.036 603 -653.0 714.7 0.10 0.080 416 - - - - - - - - 26.25 26.25 26.14
12080 107.8 12.7 1145 12089 done 1.93 0.32 0.044 3456 453.1 2.10 0.031 2005 667.6 714.7 0.10 0.104 416 - - - - - - - - 26.39 26.31 26.21
12208 66.6 32.3 1158 12215 roll 0.59 1.50 0.151 3003 -302.0 2.20 0.039 3401 634.5 714.7 - - 415 - - - - - - - - 25.64 26.24 -
12299 56.7 5.7 1166 12306 done 1.65 0.88 0.044 3357 402.3 2.10 0.030 1985 -674.3 832.4 0.55 0.042 416 - - - - - - - - 26.34 26.39 26.37
12434 26.8 23.4 1187 12442 roll 1.65 - - 3369 - 2.10 0.040 609 -655.2 832.4 - - 415 - - - - - - - - - 26.27 -
12474 17.3 24.7 1193 12482 done 1.65 0.12 0.163 3338 -258.3 2.08 0.028 2012 674.5 832.4 - - 417 - - - - - - - - 26.05 26.36 -
12531 end climb: SURFACE_DEPTH_REACHED
12532 begin surface coast
12544 end surface coast: CONTROL_FINISHED_OK
12544 begin surface
SM 0.71 - - - - -8.26 8.23 0.032 138 16.8 0.73 0.041 2491 -3609.6 482.01 - - 415 - - - - - - - -