OKMC Nov12 * SG170 * Dive index * Mission links * Dive 377 * Raw log
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• Previous call tries 1 • 77.22 of 150.00 AH used of 24V (48.52% remains)
• Previous NAKs 0, Timeouts 0 • 38.45 of 100.00 AH used of 10V (61.55% remains)
• Surface angle -76.7 deg, depth 2.60 m • Intended pitch -14.8 deg, speed -8.919 cm/s
• No surface pump (final VBD was 508.51, SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 20 s • Transponder ping count: 2
• 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
22 - - - 81 VBD -0.51 - - 132 - - - 2495 - -180.0 -56.90 - 2005 - - - - - - - - - - -
85 3.1 -1.7 10 163 roll -0.51 11.40 0.235 2883 241.3 1.35 0.054 1615 -651.9 -180.0 -59.95 - 3588 -26.4 - - - - - - - 25.14 26.18 26.60
301 26.7 -15.9 47 307 done -0.50 - - 2882 - 1.35 0.048 2462 627.4 -180.0 - - 3589 - - - - - - - - - 26.13 -
486 49.4 -12.1 66 487 done -0.49 - - 2883 - - - 2462 - -180.0 - - 3588 - - - - - - - - - - -
676 72.9 -12.5 76 682 roll -0.49 - - 2883 - 1.42 0.054 3364 635.2 -180.0 - - 3588 - - - - - - - - - 26.20 -
725 78.3 -12.3 78 730 done -0.49 - - 2882 - 1.27 0.023 2469 -704.7 -180.0 - - 3589 - - - - - - - - - 26.51 -
923 101.7 -10.2 88 928 roll -0.49 - - 2883 - 1.23 0.031 1626 -685.4 -180.0 - - 3589 - - - - - - - - - 26.39 -
971 105.7 -9.4 90 977 done -0.50 - - 2883 - 1.33 0.044 2476 639.1 -180.0 - - 3589 - - - - - - - - - 26.27 -
1172 120.3 -7.2 100 1179 roll -0.56 - - 2885 - 1.38 0.052 3358 639.1 -180.0 - - 3589 - - - - - - - - - 26.23 -
1213 122.5 -7.7 101 1220 done -0.63 0.08 0.059 2817 -850.0 1.25 0.024 2465 -714.4 -180.0 - - 3589 - - - - - - - - 26.34 26.48 -
1400 143.3 -10.6 111 1405 roll -0.66 - - 2817 - 1.40 0.047 3351 632.9 -180.0 - - 3590 - - - - - - - - - 26.24 -
1478 150.5 -10.6 114 1486 done -0.66 - - 2817 - 1.23 0.023 2481 -707.3 -180.0 - - 3590 - - - - - - - - - 26.51 -
1664 170.4 -9.3 124 1669 roll -0.65 - - 2817 - 1.23 0.031 1632 -690.2 -180.0 - - 3590 - - - - - - - - - 26.41 -
1791 182.3 -9.5 130 1796 done -0.64 - - 2816 - 1.33 0.047 2475 633.8 -180.0 - - 3590 - - - - - - - - - 26.27 -
1997 202.1 -9.5 140 1999 done -0.62 0.12 0.151 2854 316.7 - - 2475 - -180.0 - - 3590 - - - - - - - - 26.32 - -
2176 216.8 -8.2 149 2182 roll -0.67 - - 2854 - 1.25 0.037 1629 -676.8 -180.0 - - 3590 - - - - - - - - - 26.38 -
2303 227.0 -7.8 155 2310 done -0.72 0.08 0.057 2793 -762.5 1.33 0.043 2474 635.3 -180.0 - - 3589 - - - - - - - - 26.25 26.29 -
2511 245.8 -9.0 165 2517 roll -0.73 - - 2793 - 1.23 0.029 1632 -684.6 -180.0 - - 3589 - - - - - - - - - 26.44 -
2570 250.2 -9.0 167 2577 done -0.73 - - 2793 - 1.33 0.044 2479 636.8 -180.0 - - 3589 - - - - - - - - - 26.29 -
2876 281.6 -9.9 183 2882 roll -0.72 - - 2792 - 1.38 0.051 3361 639.1 -180.0 - - 3588 - - - - - - - - - 26.26 -
2930 286.0 -9.8 185 2935 done -0.71 - - 2793 - 1.25 0.023 2502 -687.2 -180.0 - - 3588 - - - - - - - - - 26.55 -
3244 315.9 -8.5 201 3249 roll -0.70 0.12 0.155 2836 358.3 1.30 0.027 1607 -688.5 -180.0 - - 3587 - - - - - - - - 26.28 26.41 -
3331 321.2 -6.3 205 3336 done -0.72 - - 2836 - 1.38 0.043 2479 631.9 -180.0 - - 3586 - - - - - - - - - 26.29 -
3655 341.4 -7.2 221 3660 roll -0.77 0.12 0.090 2754 -683.3 1.35 0.049 3367 657.8 -180.0 - - 3584 - - - - - - - - 26.53 26.25 -
3718 348.1 -9.9 224 3724 done -0.77 0.12 0.121 2799 375.0 1.33 0.023 2451 -688.7 -180.0 - - 3583 - - - - - - - - 26.11 26.51 -
4042 384.2 -11.7 240 4047 roll -0.77 - - 2799 - 1.17 0.028 1626 -705.1 -180.0 - - 3581 - - - - - - - - - 26.44 -
4075 386.9 -11.6 241 4080 done -0.77 - - 2799 - 1.33 0.042 2475 638.3 -180.0 - - 3581 - - - - - - - - - 26.29 -
4388 420.3 -9.2 257 4394 roll -0.80 - - 2799 - 1.25 0.028 1625 -680.0 -180.0 - - 3580 - - - - - - - - - 26.44 -
4443 424.0 -8.7 259 4448 done -0.83 - - 2798 - 1.33 0.042 2475 639.1 -180.0 - - 3579 - - - - - - - - - 26.29 -
4756 451.9 -8.7 275 4761 roll -0.85 - - 2800 - 1.38 0.051 3357 639.1 -180.0 - - 3578 - - - - - - - - - 26.24 -
4850 459.4 -9.0 279 4855 done -0.88 - - 2799 - 1.27 0.025 2452 -712.6 -180.0 - - 3577 - - - - - - - - - 26.53 -
5164 489.9 -9.3 295 5170 roll -0.91 0.12 0.094 2731 -566.7 1.17 0.024 1632 -700.9 -180.0 - - 3575 - - - - - - - - 26.52 26.44 -
5318 508.4 -13.1 302 5325 done -0.87 0.10 0.142 2765 340.0 1.33 0.043 2477 635.3 -180.0 - - 3574 - - - - - - - - 25.97 26.28 -
5635 544.4 -11.0 318 5640 roll -0.85 - - 2765 - 1.38 0.053 3348 631.2 -180.0 - - 3572 - - - - - - - - - 26.21 -
5707 551.7 -11.1 321 5712 done -0.83 - - 2765 - 1.23 0.025 2487 -700.0 -180.0 - - 3572 - - - - - - - - - 26.52 -
6021 587.7 -10.7 337 6027 roll -0.81 - - 2765 - 1.23 0.028 1633 -694.3 -180.0 - - 3569 - - - - - - - - - 26.43 -
6181 604.6 -10.9 344 6187 done -0.79 0.08 0.135 2794 362.5 1.33 0.042 2479 636.1 -180.0 - - 3568 - - - - - - - - 26.03 26.27 -
6512 635.7 -9.0 355 6514 done -0.79 - - 2793 - - - 2479 - -180.0 - - 3567 - - - - - - - - - - -
6810 661.4 -8.6 365 6816 roll -0.79 - - 2794 - 1.38 0.052 3351 631.9 -180.0 - - 3566 - - - - - - - - - 26.20 -
6864 664.3 -8.5 366 6870 done -0.79 - - 2794 - 1.25 0.028 2482 -695.2 -180.0 - - 3565 - - - - - - - - - 26.50 -
7180 690.7 -7.9 377 7185 roll -0.79 - - 2794 - 1.42 0.053 3355 614.8 -180.0 - - 3564 - - - - - - - - - 26.17 -
7208 690.7 -7.9 377 7215 done -0.79 - - 2793 - 1.27 0.028 2476 -692.1 -180.0 - - 3564 - - - - - - - - - 26.49 -
7513 716.7 -7.7 388 7518 roll -0.79 - - 2794 - 1.23 0.028 1622 -694.3 -180.0 - - 3562 - - - - - - - - - 26.43 -
7586 722.0 -8.0 390 7592 done -0.79 - - 2794 - 1.35 0.042 2482 637.0 -180.0 - - 3562 - - - - - - - - - 26.25 -
7914 750.7 -8.7 401 7919 roll -0.79 - - 2794 - 1.27 0.026 1614 -683.5 -180.0 - - 3560 - - - - - - - - - 26.43 -
7952 753.9 -8.8 402 7957 done -0.79 - - 2794 - 1.35 0.043 2473 636.3 -180.0 - - 3559 - - - - - - - - - 26.24 -
8283 782.0 -8.3 413 8289 roll -0.79 - - 2794 - 1.40 0.054 3353 628.6 -180.0 - - 3558 - - - - - - - - - 26.15 -
8336 785.1 -8.4 414 8342 done -0.79 - - 2794 - 1.27 0.028 2472 -693.7 -180.0 - - 3558 - - - - - - - - - 26.48 -
8653 813.0 -7.8 425 8658 roll -0.79 - - 2794 - 1.45 0.053 3356 609.7 -180.0 - - 3557 - - - - - - - - - 26.14 -
8691 815.8 -7.7 426 8696 done -0.79 - - 2794 - 1.27 0.028 2478 -691.3 -180.0 - - 3557 - - - - - - - - - 26.46 -
9023 843.9 -8.6 437 9029 roll -0.79 - - 2794 - 1.23 0.028 1620 -697.6 -180.0 - - 3556 - - - - - - - - - 26.41 -
9112 849.8 -8.7 439 9119 done -0.80 - - 2794 - 1.35 0.043 2478 635.6 -180.0 - - 3556 - - - - - - - - - 26.22 -
9418 880.0 -9.3 450 9419 done -0.81 - - 2794 - - - 2479 - -180.0 - - 3554 - - - - - - - - - - -
9718 906.1 -8.5 460 9723 roll -0.82 - - 2794 - 1.27 0.027 1613 -681.9 -180.0 - - 3553 - - - - - - - - - 26.41 -
9761 908.9 -8.5 461 9766 done -0.83 - - 2794 - 1.38 0.044 2480 628.3 -180.0 - - 3553 - - - - - - - - - 26.20 -
10088 936.2 -8.1 472 10094 roll -0.84 - - 2793 - 1.40 0.054 3357 626.4 -180.0 - - 3551 - - - - - - - - - 26.10 -
10132 939.2 -8.0 473 10138 done -0.85 - - 2794 - 1.30 0.029 2471 -681.5 -180.0 - - 3551 - - - - - - - - - 26.45 -
10461 964.3 -7.3 484 10466 roll -0.86 - - 2794 - 1.23 0.027 1616 -695.1 -180.0 - - 3550 - - - - - - - - - 26.40 -
10525 969.4 -7.4 486 10530 done -0.87 - - 2793 - 1.38 0.044 2479 625.4 -180.0 - - 3550 - - - - - - - - - 26.17 -
10826 end dive: TARGET_DEPTH_EXCEEDED
10828 begin apogee
10835 990.7 -6.7 496 10998 done -0.15 0.60 0.106 3001 346.7 - - 2106 - - 155.85 1.476 2853 -4.5 0.333 - - - - - - 25.77 - 22.65
11000 end apogee: CONTROL_FINISHED_OK
11000 begin climb
11003 996.1 - 501 11187 roll 0.51 0.57 0.048 3220 384.2 1.62 0.047 3000 551.9 180.0 171.98 1.443 2118 -4.3 0.327 - - - - - - 24.63 23.74 22.09
11386 965.6 11.7 514 11391 done 0.46 - - 3226 - 1.30 0.028 2129 -670.0 180.0 - - 2110 - - - - - - - - - 25.96 -
11708 928.6 10.7 525 11710 done 0.42 0.15 0.155 3182 -293.3 - - 2129 - 180.0 - - 2106 - - - - - - - - 26.08 - -
12007 902.5 8.6 535 12021 roll 0.41 - - 3182 - 1.42 0.045 3008 619.0 188.2 7.10 1.152 2085 -3.0 0.257 - - - - - - - 26.11 23.93
12065 899.1 8.9 536 12072 done 0.39 - - 3186 - 1.33 0.028 2113 -672.9 188.9 - - 2084 - - - - - - - - - 26.28 -
12370 868.3 9.0 547 12375 roll 0.38 - - 3186 - 1.40 0.045 2996 630.7 188.9 - - 2082 - - - - - - - - - 26.22 -
12412 864.9 9.3 548 12418 done 0.36 - - 3187 - 1.30 0.028 2117 -676.2 188.9 - - 2083 - - - - - - - - - 26.38 -
12739 834.0 9.2 559 12744 roll 0.34 - - 3187 - 1.40 0.045 3001 631.4 188.9 - - 2081 - - - - - - - - - 26.22 -
12788 830.4 9.2 560 12793 done 0.33 0.08 0.131 3159 -350.0 1.30 0.028 2123 -675.4 188.9 - - 2081 - - - - - - - - 26.10 26.39 -
13110 805.6 6.9 571 13175 roll 0.35 - - 3159 - 1.48 0.044 3005 595.9 250.5 57.85 1.372 1831 -4.3 0.282 - - - - - - - 25.27 23.52
13212 799.4 6.7 574 13282 done 0.38 - - 3159 - 1.35 0.027 2135 -644.4 318.4 62.03 1.337 1554 -4.5 0.296 - - - - - - - 25.78 23.36
13591 776.5 5.8 587 13681 done 0.50 0.12 0.093 3224 541.7 - - 2135 - 412.6 84.22 1.327 1170 -4.6 0.296 - - - - - - 26.27 - 23.45
13981 748.1 6.9 600 14040 roll 0.59 - - 3227 - 1.48 0.043 3002 585.8 472.3 54.97 1.296 926 -4.4 0.284 - - - - - - - 25.26 23.70
14272 722.5 10.5 609 14278 done 0.72 0.12 0.057 3295 566.7 1.35 0.027 2109 -661.5 472.3 - - 923 - - - - - - - - 26.09 26.20 -
14595 684.9 11.6 620 14600 roll 0.76 - - 3295 - 1.30 0.034 1238 -670.0 472.3 - - 922 - - - - - - - - - 26.30 -
14614 684.9 11.6 620 14620 done 0.81 - - 3295 - 1.38 0.035 2129 645.7 472.3 - - 922 - - - - - - - - - 26.27 -
14935 644.0 11.7 631 14941 roll 0.85 - - 3295 - 1.35 0.031 1237 -660.7 472.3 - - 921 - - - - - - - - - 26.35 -
14974 639.7 11.7 632 14981 done 0.88 0.08 0.063 3361 825.0 1.38 0.034 2126 644.2 472.3 - - 921 - - - - - - - - 26.21 26.32 -
15295 569.1 21.3 645 15300 roll 0.82 0.15 0.164 3313 -320.0 1.33 0.045 3006 661.7 472.3 - - 921 - - - - - - - - 26.10 26.22 -
15385 553.0 18.9 649 15390 done 0.77 - - 3318 - 1.33 0.028 2111 -672.9 472.3 - - 920 - - - - - - - - - 26.39 -
15704 501.2 14.8 665 15710 roll 0.74 - - 3323 - 1.27 0.034 1254 -674.8 472.3 - - 920 - - - - - - - - - 26.34 -
15743 497.5 14.7 666 15751 done 0.72 0.12 0.115 3277 -383.3 1.35 0.037 2128 647.4 472.3 - - 920 - - - - - - - - 26.00 26.28 -
16050 458.7 12.2 682 16055 roll 0.73 - - 3277 - 1.35 0.047 2998 644.4 472.3 - - 920 - - - - - - - - - 26.22 -
16123 450.0 13.2 685 16128 done 0.73 - - 3281 - 1.30 0.028 2125 -671.5 472.3 - - 919 - - - - - - - - - 26.41 -
16436 410.1 12.4 701 16441 roll 0.74 - - 3282 - 1.30 0.033 1248 -674.6 472.3 - - 919 - - - - - - - - - 26.34 -
16470 407.2 12.3 702 16476 done 0.75 - - 3282 - 1.35 0.036 2123 648.1 472.3 - - 920 - - - - - - - - - 26.27 -
16785 366.0 12.8 718 16790 roll 0.76 - - 3282 - 1.35 0.047 2991 643.0 472.3 - - 920 - - - - - - - - - 26.21 -
16869 354.1 14.0 722 16874 done 0.76 - - 3282 - 1.30 0.027 2106 -680.8 472.3 - - 920 - - - - - - - - - 26.40 -
17192 315.3 11.7 738 17194 done 0.77 - - 3283 - - - 2106 - 472.3 - - 919 - - - - - - - - - - -
17496 284.2 9.8 753 17501 roll 0.78 - - 3283 - 1.25 0.033 1259 -677.6 472.3 - - 920 - - - - - - - - - 26.33 -
17534 281.5 9.8 754 17541 done 0.80 - - 3283 - 1.33 0.034 2126 651.9 472.3 - - 920 - - - - - - - - - 26.28 -
17840 251.8 8.7 770 17850 roll 0.82 - - 3283 - 1.40 0.047 3000 624.3 477.8 5.38 0.740 905 -2.8 0.105 - - - - - - - 26.08 24.03
17948 240.7 11.2 775 17953 done 0.82 - - 3283 - 1.30 0.027 2112 -683.1 477.8 - - 905 - - - - - - - - - 26.36 -
18149 218.9 10.3 785 18154 roll 0.87 0.12 0.097 3354 591.7 1.25 0.028 1264 -678.4 477.8 - - 906 - - - - - - - - 26.44 26.33 -
18198 213.7 10.7 787 18204 done 0.92 - - 3354 - 1.33 0.034 2130 651.1 477.8 - - 905 - - - - - - - - - 26.26 -
18398 190.1 11.5 797 18403 roll 0.90 - - 3354 - 1.35 0.045 3002 645.9 477.8 - - 905 - - - - - - - - - 26.17 -
18528 172.9 14.5 803 18533 done 0.87 - - 3359 - 1.30 0.027 2106 -689.2 477.8 - - 905 - - - - - - - - - 26.39 -
18729 145.5 12.9 813 18735 roll 0.85 0.12 0.157 3321 -316.7 1.25 0.030 1259 -677.6 477.8 - - 905 - - - - - - - - 26.22 26.32 -
18783 140.4 11.6 815 18789 done 0.85 - - 3322 - 1.33 0.034 2126 651.9 477.8 - - 905 - - - - - - - - - 26.27 -
18979 122.1 8.3 825 19003 roll 0.88 - - 3322 - 1.35 0.044 3001 648.1 496.2 18.35 0.815 829 -4.1 0.069 - - - - - - - 25.98 24.15
19027 118.1 8.8 827 19037 done 0.90 - - 3322 - 1.30 0.027 2117 -680.0 500.2 5.32 0.643 814 -2.8 0.057 - - - - - - - 26.18 24.10
19228 96.8 11.2 837 19234 roll 0.95 0.10 0.111 3388 660.0 1.38 0.041 2987 630.4 500.2 - - 812 - - - - - - - - 26.36 26.10 -
19277 90.3 12.9 839 19283 done 1.00 - - 3392 - 1.27 0.027 2125 -678.7 500.2 - - 812 - - - - - - - - - 26.34 -
19477 64.9 10.3 849 19482 roll 1.00 - - 3393 - 1.30 0.033 1246 -676.2 500.2 - - 812 - - - - - - - - - 26.29 -
19542 59.5 8.7 852 19556 done 1.00 - - 3393 - 1.33 0.034 2115 653.4 507.7 8.38 0.692 782 -3.6 0.034 - - - - - - - 26.25 24.34
19744 38.9 11.2 867 19749 roll 1.00 - - 3393 - 1.35 0.045 2991 648.9 507.7 - - 781 - - - - - - - - - 26.17 -
19803 32.7 11.7 872 19809 done 0.99 - - 3393 - 1.27 0.026 2117 -688.2 507.7 - - 780 - - - - - - - - - 26.36 -
19989 13.5 13.2 901 19996 roll 0.99 - - 3393 - 1.27 0.034 1255 -678.7 507.7 - - 780 - - - - - - - - - 26.32 -
20050 7.0 10.3 912 20056 done 0.99 - - 3393 - 1.30 0.032 2112 659.2 507.7 - - 780 - - - - - - - - - 26.30 -
20086 end climb: SURFACE_DEPTH_REACHED
20086 begin surface coast
20117 end surface coast: CONTROL_FINISHED_OK
20117 begin surface
SM 2.60 - - - - -9.07 8.60 0.053 135 -378.8 0.55 0.046 2488 683.6 508.51 - - 780 - - - - - - - -