OKMC Nov12 * SG170 * Dive index * Mission links * Dive 400 * Raw log
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• Previous call tries 1 • 82.69 of 150.00 AH used of 24V (44.87% remains)
• Previous NAKs 0, Timeouts 0 • 41.44 of 100.00 AH used of 10V (58.56% remains)
• Surface angle -75.9 deg, depth 2.59 m • Intended pitch -14.4 deg, speed -8.462 cm/s
• VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 36 s
• GPS2 time: 20 s • Transponder ping count: 1
• 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 - - - 73 VBD -0.55 - - 134 - - - 2509 - -175.2 -49.42 - 2045 - - - - - - - - - - -
77 3.0 -1.3 9 160 roll -0.55 11.45 0.239 2853 237.5 1.33 0.049 1601 -682.7 -175.2 -62.55 - 3569 -24.4 - - - - - - - 25.04 26.24 26.61
242 17.1 -13.6 38 249 done -0.51 - - 2852 - 1.33 0.041 2455 642.1 -175.2 - - 3569 - - - - - - - - - 26.15 -
433 42.5 -13.6 62 434 done -0.47 - - 2853 - - - 2456 - -175.2 - - 3569 - - - - - - - - - - -
613 66.6 -13.4 74 615 done -0.45 0.12 0.148 2890 308.3 - - 2456 - -175.2 - - 3569 - - - - - - - - 26.29 - -
792 84.0 -9.3 83 798 roll -0.45 - - 2890 - 1.25 0.049 1627 -663.2 -175.2 - - 3569 - - - - - - - - - 26.01 -
836 88.0 -9.0 85 843 done -0.45 - - 2890 - 1.30 0.038 2477 653.8 -175.2 - - 3569 - - - - - - - - - 26.27 -
1045 105.7 -8.4 95 1050 roll -0.52 - - 2890 - 1.38 0.050 3356 637.0 -175.2 - - 3569 - - - - - - - - - 26.17 -
1073 108.0 -8.6 96 1078 done -0.60 0.10 0.056 2818 -720.0 1.27 0.024 2435 -725.2 -175.2 - - 3570 - - - - - - - - 26.33 26.49 -
1274 127.7 -9.5 106 1279 roll -0.60 - - 2818 - 1.10 0.026 1638 -724.5 -175.2 - - 3570 - - - - - - - - - 26.44 -
1298 130.3 -9.7 107 1303 done -0.60 - - 2818 - 1.27 0.038 2471 655.9 -175.2 - - 3570 - - - - - - - - - 26.27 -
1504 152.9 -10.6 117 1510 roll -0.58 - - 2818 - 1.20 0.027 1632 -699.2 -175.2 - - 3571 - - - - - - - - - 26.44 -
1568 159.7 -10.4 120 1574 done -0.56 0.10 0.119 2857 390.0 1.30 0.038 2480 652.3 -175.2 - - 3570 - - - - - - - - 26.03 26.28 -
1775 178.2 -8.9 130 1781 roll -0.64 - - 2857 - 1.23 0.026 1627 -693.5 -175.2 - - 3570 - - - - - - - - - 26.44 -
1845 184.6 -9.4 133 1851 done -0.73 0.12 0.044 2773 -700.0 1.30 0.038 2476 653.1 -175.2 - - 3570 - - - - - - - - 26.25 26.29 -
2046 207.1 -11.1 143 2051 roll -0.73 - - 2773 - 1.20 0.024 1633 -702.5 -175.2 - - 3570 - - - - - - - - - 26.46 -
2167 218.9 -11.1 148 2175 done -0.69 0.10 0.133 2809 360.0 1.30 0.040 2476 648.5 -175.2 - - 3570 - - - - - - - - 25.98 26.28 -
2350 237.8 -8.9 158 2355 roll -0.69 - - 2809 - 1.20 0.024 1634 -701.7 -175.2 - - 3570 - - - - - - - - - 26.46 -
2377 240.0 -8.9 159 2382 done -0.69 - - 2809 - 1.30 0.039 2478 649.2 -175.2 - - 3570 - - - - - - - - - 26.28 -
2576 257.6 -8.3 169 2581 roll -0.69 - - 2809 - 1.35 0.049 3350 645.9 -175.2 - - 3570 - - - - - - - - - 26.22 -
2621 261.2 -8.2 171 2626 done -0.69 - - 2809 - 1.23 0.024 2470 -715.4 -175.2 - - 3569 - - - - - - - - - 26.51 -
2945 286.1 -7.4 187 2950 roll -0.72 - - 2809 - 1.15 0.024 1630 -730.4 -175.2 - - 3568 - - - - - - - - - 26.46 -
3010 291.1 -7.7 190 3015 done -0.76 - - 2809 - 1.33 0.039 2485 642.9 -175.2 - - 3568 - - - - - - - - - 26.29 -
3335 319.7 -9.1 206 3340 roll -0.80 - - 2809 - 1.35 0.050 3351 641.5 -175.2 - - 3567 - - - - - - - - - 26.21 -
3403 326.0 -9.7 209 3408 done -0.83 0.10 0.060 2739 -700.0 1.23 0.025 2471 -715.4 -175.2 - - 3565 - - - - - - - - 26.33 26.51 -
3722 366.9 -12.3 225 3729 roll -0.77 0.12 0.164 2781 350.0 1.17 0.021 1627 -721.4 -175.2 - - 3565 - - - - - - - - 26.22 26.45 -
3797 373.0 -10.0 228 3802 done -0.73 - - 2780 - 1.30 0.039 2469 647.7 -175.2 - - 3564 - - - - - - - - - 26.28 -
4112 403.0 -9.9 244 4117 roll -0.71 - - 2780 - 1.38 0.049 3352 639.9 -175.2 - - 3562 - - - - - - - - - 26.21 -
4175 409.8 -10.5 247 4182 done -0.69 0.08 0.125 2808 350.0 1.23 0.026 2490 -700.8 -175.2 - - 3562 - - - - - - - - 26.19 26.50 -
4501 440.9 -9.1 263 4506 roll -0.73 - - 2809 - 1.23 0.024 1614 -712.2 -175.2 - - 3560 - - - - - - - - - 26.46 -
4534 443.2 -9.0 264 4540 done -0.78 - - 2809 - 1.33 0.040 2470 643.6 -175.2 - - 3560 - - - - - - - - - 26.27 -
4849 470.0 -7.9 280 4855 roll -0.83 0.12 0.096 2740 -575.0 1.35 0.047 3357 657.0 -175.2 - - 3558 - - - - - - - - 26.49 26.18 -
4862 470.0 -7.9 280 4867 done -0.87 - - 2740 - 1.27 0.027 2464 -703.1 -175.2 - - 3557 - - - - - - - - - 26.48 -
5177 506.6 -11.6 296 5183 roll -0.82 0.10 0.173 2766 260.0 1.42 0.047 3363 633.1 -175.2 - - 3556 - - - - - - - - 26.35 26.17 -
5256 513.9 -11.1 299 5263 done -0.78 - - 2766 - 1.27 0.026 2460 -711.0 -175.2 - - 3555 - - - - - - - - - 26.48 -
5562 546.2 -10.3 315 5567 roll -0.75 - - 2766 - 1.17 0.024 1612 -724.8 -175.2 - - 3554 - - - - - - - - - 26.45 -
5590 548.9 -10.6 316 5597 done -0.72 0.10 0.135 2803 370.0 1.35 0.041 2476 640.0 -175.2 - - 3554 - - - - - - - - 25.97 26.25 -
5911 580.1 -10.0 332 5916 roll -0.76 - - 2803 - 1.38 0.051 3351 634.1 -175.2 - - 3552 - - - - - - - - - 26.16 -
5970 584.6 -10.1 334 5976 done -0.80 - - 2803 - 1.23 0.028 2506 -687.0 -175.2 - - 3551 - - - - - - - - - 26.47 -
6298 616.9 -8.9 348 6304 roll -0.84 0.12 0.096 2739 -533.3 1.30 0.022 1595 -700.8 -175.2 - - 3550 - - - - - - - - 26.48 26.44 -
6333 620.6 -9.1 349 6338 done -0.87 - - 2738 - 1.38 0.039 2473 636.2 -175.2 - - 3549 - - - - - - - - - 26.25 -
6671 656.3 -10.3 360 6677 roll -0.82 0.12 0.170 2779 341.7 1.35 0.049 3353 651.9 -175.2 - - 3547 - - - - - - - - 26.19 26.13 -
6706 660.0 -10.0 361 6711 done -0.78 - - 2779 - 1.30 0.028 2460 -686.9 -175.2 - - 3548 - - - - - - - - - 26.46 -
7042 685.2 -7.5 372 7048 roll -0.78 - - 2779 - 1.45 0.050 3356 617.9 -175.2 - - 3546 - - - - - - - - - 26.13 -
7085 688.0 -7.7 373 7090 done -0.78 - - 2779 - 1.27 0.028 2487 -684.3 -175.2 - - 3546 - - - - - - - - - 26.45 -
7411 716.2 -9.0 384 7412 done -0.78 - - 2778 - - - 2487 - -175.2 - - 3545 - - - - - - - - - - -
7709 745.4 -9.8 394 7714 roll -0.78 - - 2779 - 1.40 0.051 3351 617.1 -175.2 - - 3543 - - - - - - - - - 26.11 -
7773 751.8 -10.1 396 7778 done -0.78 - - 2779 - 1.30 0.028 2469 -678.5 -175.2 - - 3543 - - - - - - - - - 26.44 -
8109 785.9 -10.0 407 8114 roll -0.78 - - 2779 - 1.23 0.025 1602 -704.9 -175.2 - - 3541 - - - - - - - - - 26.42 -
8197 792.5 -9.9 409 8204 done -0.78 - - 2779 - 1.38 0.041 2480 636.2 -175.2 - - 3542 - - - - - - - - - 26.21 -
8504 822.9 -8.9 420 8509 roll -0.78 - - 2779 - 1.27 0.025 1605 -689.0 -175.2 - - 3540 - - - - - - - - - 26.41 -
8542 826.0 -8.8 421 8547 done -0.78 - - 2779 - 1.38 0.041 2478 632.6 -175.2 - - 3540 - - - - - - - - - 26.20 -
8872 854.9 -8.7 432 8877 roll -0.78 - - 2779 - 1.40 0.053 3351 623.6 -175.2 - - 3538 - - - - - - - - - 26.07 -
8901 854.9 -8.7 432 8907 done -0.78 - - 2779 - 1.30 0.029 2470 -677.7 -175.2 - - 3538 - - - - - - - - - 26.43 -
9206 884.5 -8.7 443 9211 roll -0.78 - - 2779 - 1.25 0.026 1597 -698.4 -175.2 - - 3537 - - - - - - - - - 26.40 -
9249 887.4 -8.8 444 9254 done -0.78 - - 2779 - 1.38 0.042 2470 632.6 -175.2 - - 3536 - - - - - - - - - 26.17 -
9575 915.4 -8.4 455 9580 roll -0.78 - - 2780 - 1.40 0.053 3345 625.0 -175.2 - - 3535 - - - - - - - - - 26.06 -
9639 921.0 -8.4 457 9644 done -0.78 - - 2779 - 1.30 0.028 2469 -673.8 -175.2 - - 3535 - - - - - - - - - 26.43 -
9976 948.7 -8.4 468 9981 roll -0.78 - - 2779 - 1.45 0.052 3354 610.3 -175.2 - - 3534 - - - - - - - - - 26.04 -
10003 948.7 -8.4 468 10011 done -0.78 - - 2779 - 1.30 0.030 2483 -670.0 -175.2 - - 3534 - - - - - - - - - 26.40 -
10312 976.0 -8.0 479 10317 roll -0.78 - - 2779 - 1.27 0.025 1597 -697.6 -175.2 - - 3533 - - - - - - - - - 26.39 -
10409 983.8 -8.0 482 10414 done -0.78 - - 2778 - 1.38 0.042 2469 631.9 -175.2 - - 3533 - - - - - - - - - 26.14 -
10495 end dive: TARGET_DEPTH_EXCEEDED
10495 begin apogee
10503 991.2 -8.1 485 10663 done -0.17 0.57 0.114 2974 343.9 - - 2098 - - 152.60 1.483 2853 -4.5 0.331 - - - - - - 25.67 - 22.66
10665 end apogee: CONTROL_FINISHED_OK
10665 begin climb
10668 998.2 - 490 10849 roll 0.55 0.65 0.052 3216 372.3 1.60 0.046 2994 560.0 175.2 169.45 1.437 2137 -4.2 0.326 - - - - - - 24.66 23.78 22.08
10878 990.2 7.4 497 10917 done 0.48 0.08 0.137 3196 -250.0 1.35 0.025 2150 -625.2 207.3 30.98 1.369 2006 -4.2 0.339 - - - - - - 24.40 24.66 22.49
11226 954.7 9.4 509 11232 roll 0.45 - - 3200 - 1.38 0.031 1241 -658.7 207.3 - - 1998 - - - - - - - - - 26.18 -
11300 948.5 9.5 511 11305 done 0.42 - - 3200 - 1.38 0.037 2128 642.8 207.3 - - 1998 - - - - - - - - - 26.17 -
11627 917.8 9.1 522 11633 roll 0.39 0.12 0.147 3157 -358.3 1.35 0.044 3025 664.4 207.3 - - 1996 - - - - - - - - 26.20 26.20 -
11787 905.0 8.0 527 11806 done 0.40 - - 3160 - 1.35 0.026 2118 -671.9 222.3 13.73 1.314 1945 -3.7 0.284 - - - - - - - 26.43 23.87
12114 881.2 7.1 538 12158 roll 0.41 - - 3159 - 1.48 0.044 2996 593.2 263.6 38.95 1.401 1778 -4.3 0.299 - - - - - - - 25.44 23.63
12219 874.4 7.2 541 12260 done 0.43 - - 3159 - 1.33 0.026 2110 -666.2 301.5 36.20 1.377 1624 -4.3 0.300 - - - - - - - 26.00 23.56
12570 849.3 7.0 553 12617 roll 0.55 0.12 0.093 3225 550.0 1.50 0.044 3001 594.0 346.7 41.95 1.377 1439 -4.4 0.302 - - - - - - 26.31 25.38 23.68
12648 844.0 7.8 555 12673 done 0.63 - - 3226 - 1.33 0.027 2121 -661.7 366.8 20.12 1.304 1357 -4.1 0.293 - - - - - - - 25.83 23.68
12997 811.1 9.3 567 13003 roll 0.69 - - 3226 - 1.40 0.045 3002 629.3 366.8 - - 1352 - - - - - - - - - 26.16 -
13047 807.6 9.5 568 13053 done 0.75 0.10 0.054 3297 710.0 1.30 0.027 2117 -680.8 366.8 - - 1351 - - - - - - - - 26.24 26.36 -
13370 755.2 16.3 579 13372 done 0.69 0.15 0.145 3253 -293.3 - - 2115 - 366.8 - - 1351 - - - - - - - - 26.17 - -
13667 716.9 12.5 589 13673 roll 0.69 - - 3253 - 1.40 0.046 2997 630.0 366.8 - - 1351 - - - - - - - - - 26.22 -
13773 704.2 13.4 592 13779 done 0.66 - - 3257 - 1.30 0.026 2128 -668.5 366.8 - - 1351 - - - - - - - - - 26.44 -
14100 660.4 12.8 603 14101 done 0.64 - - 3256 - - - 2128 - 366.8 - - 1350 - - - - - - - - - - -
14398 625.6 11.3 613 14404 roll 0.64 - - 3256 - 1.33 0.033 1241 -666.9 366.8 - - 1350 - - - - - - - - - 26.33 -
14462 618.3 11.1 615 14468 done 0.64 - - 3256 - 1.38 0.035 2126 641.3 366.8 - - 1350 - - - - - - - - - 26.27 -
14787 583.8 11.3 628 14792 roll 0.64 - - 3256 - 1.35 0.046 2994 643.0 366.8 - - 1350 - - - - - - - - - 26.19 -
14903 570.1 13.5 633 14910 done 0.60 0.08 0.133 3230 -325.0 1.30 0.026 2115 -676.2 366.8 - - 1350 - - - - - - - - 26.10 26.44 -
15219 533.4 11.1 649 15224 roll 0.60 - - 3236 - 1.30 0.032 1249 -666.2 366.8 - - 1349 - - - - - - - - - 26.32 -
15243 530.7 11.2 650 15248 done 0.60 - - 3236 - 1.35 0.035 2128 651.1 366.8 - - 1349 - - - - - - - - - 26.26 -
15566 496.3 10.3 666 15572 roll 0.60 - - 3235 - 1.35 0.045 2991 639.3 366.8 - - 1349 - - - - - - - - - 26.17 -
15696 482.5 11.1 672 15701 done 0.60 - - 3239 - 1.30 0.025 2114 -674.6 366.8 - - 1349 - - - - - - - - - 26.44 -
16015 453.2 8.7 688 16020 roll 0.60 - - 3239 - 1.40 0.042 3000 632.9 366.8 - - 1349 - - - - - - - - - 26.17 -
16072 449.0 9.2 690 16079 done 0.60 - - 3240 - 1.30 0.027 2122 -675.4 366.8 - - 1349 - - - - - - - - - 26.42 -
16379 418.1 10.0 706 16384 roll 0.63 - - 3240 - 1.30 0.032 1247 -673.1 366.8 - - 1349 - - - - - - - - - 26.30 -
16406 415.8 10.0 707 16411 done 0.66 - - 3241 - 1.35 0.034 2126 651.1 366.8 - - 1349 - - - - - - - - - 26.25 -
16726 385.5 8.7 723 16731 roll 0.77 0.12 0.094 3312 591.7 1.35 0.044 2993 642.2 366.8 - - 1349 - - - - - - - - 26.46 26.14 -
16764 383.0 9.0 724 16772 done 0.85 - - 3315 - 1.30 0.026 2115 -675.4 366.8 - - 1349 - - - - - - - - - 26.41 -
17070 340.3 13.7 740 17076 roll 0.80 - - 3322 - 1.30 0.032 1248 -666.9 366.8 - - 1349 - - - - - - - - - 26.30 -
17099 336.9 13.6 741 17104 done 0.75 0.12 0.118 3277 -375.0 1.35 0.036 2122 647.4 366.8 - - 1349 - - - - - - - - 25.89 26.23 -
17418 299.7 11.5 757 17423 roll 0.75 - - 3277 - 1.35 0.045 2992 644.4 366.8 - - 1349 - - - - - - - - - 26.14 -
17511 289.7 12.1 761 17516 done 0.72 - - 3281 - 1.30 0.025 2113 -676.2 366.8 - - 1349 - - - - - - - - - 26.42 -
17824 255.1 10.3 777 17829 roll 0.72 - - 3283 - 1.30 0.033 1247 -666.2 366.8 - - 1350 - - - - - - - - - 26.29 -
17868 250.6 10.3 779 17873 done 0.72 - - 3284 - 1.35 0.034 2129 653.3 366.8 - - 1349 - - - - - - - - - 26.22 -
18192 215.6 11.2 795 18197 roll 0.72 - - 3283 - 1.35 0.044 3001 645.9 366.8 - - 1350 - - - - - - - - - 26.13 -
18249 210.7 11.2 797 18257 done 0.72 - - 3284 - 1.30 0.026 2135 -666.2 366.8 - - 1350 - - - - - - - - - 26.40 -
18436 191.1 9.5 807 18441 roll 0.72 - - 3284 - 1.33 0.031 1240 -672.9 366.8 - - 1350 - - - - - - - - - 26.28 -
18489 187.0 9.2 809 18495 done 0.72 - - 3285 - 1.35 0.034 2124 654.8 366.8 - - 1350 - - - - - - - - - 26.24 -
18684 167.8 9.8 819 18689 roll 0.74 - - 3284 - 1.35 0.044 2998 647.4 366.8 - - 1350 - - - - - - - - - 26.14 -
18788 157.3 10.0 824 18793 done 0.74 - - 3284 - 1.33 0.025 2103 -672.9 366.8 - - 1350 - - - - - - - - - 26.42 -
18994 139.7 8.3 834 19004 roll 0.79 - - 3284 - 1.42 0.041 2993 626.8 371.6 4.72 0.634 1338 -2.5 0.062 - - - - - - - 26.00 23.64
19052 135.7 8.4 836 19065 done 0.82 - - 3285 - 1.30 0.025 2109 -680.0 374.5 4.95 0.651 1325 -2.6 0.061 - - - - - - - 26.39 24.08
19262 113.2 10.6 847 19266 roll 0.89 0.12 0.094 3365 666.7 1.27 0.027 1246 -679.5 374.5 - - 1325 - - - - - - - - 26.42 26.27 -
19288 110.8 10.9 848 19291 done 0.94 - - 3365 - 1.35 0.035 2124 650.4 374.5 - - 1325 - - - - - - - - - 26.20 -
19486 85.3 11.8 858 19490 roll 0.89 0.12 0.150 3323 -350.0 1.35 0.041 2997 646.7 374.5 - - 1325 - - - - - - - - 26.20 26.13 -
19512 82.8 11.3 859 19515 done 0.85 - - 3324 - 1.30 0.026 2126 -670.0 374.5 - - 1325 - - - - - - - - - 26.39 -
19710 66.5 7.7 869 19735 roll 0.89 - - 3324 - 1.30 0.028 1238 -683.1 396.6 20.75 0.780 1235 -4.3 0.041 - - - - - - - 26.02 24.12
19789 60.7 7.2 873 19829 done 0.95 - - 3324 - 1.35 0.034 2121 654.1 434.5 33.97 0.782 1080 -4.6 0.039 - - - - - - - 26.08 23.97
20017 42.8 8.5 888 20021 roll 1.04 0.12 0.091 3398 616.7 1.35 0.041 3023 668.1 434.5 - - 1078 - - - - - - - - 26.27 26.01 -
20134 29.7 12.7 899 20138 done 0.99 0.12 0.121 3357 -341.7 1.35 0.025 2093 -688.9 434.5 - - 1078 - - - - - - - - 25.87 26.27 -
20320 11.1 9.3 932 20324 roll 0.99 - - 3362 - 1.23 0.032 1259 -678.0 434.5 - - 1078 - - - - - - - - - 26.27 -
20345 8.6 8.8 937 20349 done 0.99 - - 3362 - 1.30 0.034 2117 660.0 434.5 - - 1078 - - - - - - - - - 26.22 -
20403 end climb: SURFACE_DEPTH_REACHED
20403 begin surface coast
20433 end surface coast: CONTROL_FINISHED_OK
20434 begin surface
SM 2.91 - - - - -9.02 8.40 0.044 135 -384.2 0.55 0.047 2488 674.5 450.13 6.38 0.062 1017 -9.6 0.046 - - - - - -