OKMC Nov12 * SG170 * Dive index * Mission links * Dive 407 * Raw log
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• Previous call tries 1 • 84.36 of 150.00 AH used of 24V (43.76% remains)
• Previous NAKs 0, Timeouts 0 • 42.37 of 100.00 AH used of 10V (57.63% remains)
• Surface angle -74.9 deg, depth 2.59 m • Intended pitch -14.9 deg, speed -9.167 cm/s
• No surface pump (final VBD was 501.64, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 19 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
18 end surface: CONTROL_FINISHED_OK
19 begin dive
22 - - - 75 VBD -0.57 - - 135 - - - 2484 - -184.9 -50.67 - 2065 - - - - - - - - - - -
79 3.0 -1.2 9 151 roll -0.57 11.55 0.239 2845 234.6 1.30 0.048 1587 -690.0 -184.9 -51.70 - 3609 -29.9 - - - - - - - 24.96 26.22 26.59
278 26.0 -14.0 44 284 done -0.54 - - 2845 - 1.38 0.039 2473 642.0 -184.9 - - 3610 - - - - - - - - - 26.14 -
464 51.4 -13.3 63 469 roll -0.51 - - 2845 - 1.38 0.051 3347 633.3 -184.9 - - 3610 - - - - - - - - - 26.08 -
508 57.1 -13.3 65 514 done -0.47 0.08 0.119 2877 400.0 1.27 0.024 2435 -718.1 -184.9 - - 3610 - - - - - - - - 26.13 26.45 -
715 78.9 -10.2 75 720 roll -0.47 - - 2878 - 1.10 0.023 1653 -710.9 -184.9 - - 3610 - - - - - - - - - 26.46 -
803 86.9 -9.4 79 808 done -0.55 - - 2877 - 1.27 0.038 2484 654.3 -184.9 - - 3610 - - - - - - - - - 26.25 -
1005 104.1 -8.6 89 1010 roll -0.63 0.12 0.087 2801 -633.3 1.35 0.048 3374 659.3 -184.9 - - 3610 - - - - - - - - 26.51 26.13 -
1040 106.4 -8.2 90 1045 done -0.70 - - 2801 - 1.25 0.023 2469 -724.0 -184.9 - - 3610 - - - - - - - - - 26.48 -
1234 126.9 -10.1 100 1240 roll -0.73 - - 2801 - 1.15 0.022 1637 -723.5 -184.9 - - 3610 - - - - - - - - - 26.48 -
1299 133.5 -10.2 103 1305 done -0.75 - - 2800 - 1.30 0.037 2477 646.2 -184.9 - - 3611 - - - - - - - - - 26.26 -
1505 153.1 -9.2 113 1510 roll -0.79 - - 2801 - 1.20 0.024 1624 -710.8 -184.9 - - 3611 - - - - - - - - - 26.46 -
1583 159.1 -9.2 116 1590 done -0.81 - - 2801 - 1.30 0.037 2476 655.4 -184.9 - - 3611 - - - - - - - - - 26.27 -
1770 177.8 -9.5 126 1772 done -0.85 0.12 0.089 2737 -533.3 - - 2476 - -184.9 - - 3611 - - - - - - - - 26.51 - -
1949 200.0 -13.1 135 1951 done -0.78 0.15 0.154 2780 286.7 - - 2476 - -184.9 - - 3611 - - - - - - - - 26.18 - -
2130 218.2 -9.8 144 2135 roll -0.78 - - 2780 - 1.20 0.024 1611 -720.8 -184.9 - - 3611 - - - - - - - - - 26.45 -
2194 225.2 -10.7 147 2199 done -0.78 - - 2780 - 1.33 0.037 2475 649.6 -184.9 - - 3611 - - - - - - - - - 26.26 -
2399 246.2 -10.1 157 2404 roll -0.76 - - 2780 - 1.38 0.050 3353 636.2 -184.9 - - 3611 - - - - - - - - - 26.15 -
2424 248.8 -10.1 158 2429 done -0.74 - - 2781 - 1.23 0.024 2468 -719.5 -184.9 - - 3611 - - - - - - - - - 26.50 -
2629 270.8 -10.6 168 2634 roll -0.74 - - 2780 - 1.15 0.023 1628 -730.4 -184.9 - - 3610 - - - - - - - - - 26.47 -
2672 275.6 -10.8 170 2677 done -0.74 - - 2781 - 1.30 0.038 2476 652.3 -184.9 - - 3611 - - - - - - - - - 26.27 -
2997 306.3 -8.8 186 3002 roll -0.72 - - 2780 - 1.38 0.052 3346 630.4 -184.9 - - 3609 - - - - - - - - - 26.15 -
3030 308.5 -8.7 187 3035 done -0.70 - - 2781 - 1.23 0.024 2459 -721.1 -184.9 - - 3609 - - - - - - - - - 26.50 -
3343 338.3 -9.5 203 3349 roll -0.70 - - 2781 - 1.15 0.024 1626 -724.3 -184.9 - - 3608 - - - - - - - - - 26.46 -
3411 344.4 -9.5 206 3416 done -0.70 - - 2780 - 1.30 0.037 2472 650.8 -184.9 - - 3607 - - - - - - - - - 26.27 -
3730 372.4 -8.5 222 3735 roll -0.73 - - 2781 - 1.20 0.023 1620 -710.0 -184.9 - - 3606 - - - - - - - - - 26.46 -
3805 377.8 -8.5 225 3810 done -0.75 - - 2781 - 1.33 0.038 2479 645.9 -184.9 - - 3605 - - - - - - - - - 26.26 -
4118 406.7 -9.5 241 4123 roll -0.79 - - 2780 - 1.38 0.052 3346 628.3 -184.9 - - 3604 - - - - - - - - - 26.13 -
4166 411.0 -9.7 243 4171 done -0.82 - - 2780 - 1.20 0.027 2509 -697.5 -184.9 - - 3604 - - - - - - - - - 26.47 -
4486 443.5 -10.1 259 4491 roll -0.84 - - 2781 - 1.27 0.024 1595 -719.7 -184.9 - - 3602 - - - - - - - - - 26.45 -
4504 443.5 -10.1 259 4512 done -0.87 - - 2781 - 1.38 0.039 2482 642.8 -184.9 - - 3602 - - - - - - - - - 26.24 -
4810 476.2 -10.0 275 4816 roll -0.90 0.12 0.089 2712 -575.0 1.38 0.050 3357 634.1 -184.9 - - 3600 - - - - - - - - 26.50 26.12 -
4961 495.9 -14.0 282 4967 done -0.84 0.15 0.131 2762 333.3 1.27 0.024 2466 -701.6 -184.9 - - 3599 - - - - - - - - 25.96 26.48 -
5281 528.4 -9.5 298 5282 done -0.81 - - 2763 - - - 2463 - -184.9 - - 3599 - - - - - - - - - - -
5582 559.0 -10.8 313 5587 roll -0.81 - - 2762 - 1.20 0.023 1606 -714.2 -184.9 - - 3596 - - - - - - - - - 26.46 -
5609 561.9 -11.0 314 5614 done -0.81 - - 2763 - 1.35 0.041 2471 640.7 -184.9 - - 3596 - - - - - - - - - 26.22 -
5929 598.0 -10.8 330 5930 done -0.79 - - 2763 - - - 2472 - -184.9 - - 3594 - - - - - - - - - - -
6248 630.6 -9.9 341 6254 roll -0.79 - - 2763 - 1.40 0.053 3353 629.3 -184.9 - - 3593 - - - - - - - - - 26.09 -
6272 630.6 -9.9 341 6278 done -0.79 - - 2763 - 1.27 0.027 2477 -689.8 -184.9 - - 3593 - - - - - - - - - 26.45 -
6588 661.0 -8.9 352 6594 roll -0.79 - - 2763 - 1.25 0.025 1592 -708.0 -184.9 - - 3591 - - - - - - - - - 26.43 -
6612 661.0 -8.9 352 6618 done -0.79 - - 2763 - 1.38 0.041 2467 634.1 -184.9 - - 3592 - - - - - - - - - 26.20 -
6927 695.9 -10.5 363 6933 roll -0.79 - - 2763 - 1.40 0.052 3348 629.3 -184.9 - - 3590 - - - - - - - - - 26.08 -
6995 702.8 -10.6 365 7001 done -0.79 - - 2763 - 1.27 0.028 2480 -683.5 -184.9 - - 3590 - - - - - - - - - 26.44 -
7327 737.9 -10.3 376 7333 roll -0.79 - - 2763 - 1.42 0.053 3351 613.4 -184.9 - - 3588 - - - - - - - - - 26.06 -
7361 741.9 -10.4 377 7366 done -0.79 - - 2763 - 1.30 0.028 2473 -675.4 -184.9 - - 3588 - - - - - - - - - 26.43 -
7697 776.5 -10.3 388 7698 done -0.79 - - 2763 - - - 2472 - -184.9 - - 3587 - - - - - - - - - - -
7994 808.3 -10.6 398 8000 roll -0.79 - - 2763 - 1.42 0.054 3344 614.1 -184.9 - - 3586 - - - - - - - - - 26.04 -
8073 815.1 -10.6 400 8078 done -0.79 - - 2763 - 1.27 0.028 2477 -682.7 -184.9 - - 3586 - - - - - - - - - 26.44 -
8392 849.5 -10.4 411 8398 roll -0.79 - - 2761 - 1.42 0.054 3348 613.4 -184.9 - - 3584 - - - - - - - - - 26.03 -
8445 853.2 -10.3 412 8450 done -0.79 - - 2763 - 1.27 0.028 2486 -678.7 -184.9 - - 3583 - - - - - - - - - 26.42 -
8759 886.7 -9.7 423 8764 roll -0.79 - - 2763 - 1.42 0.054 3353 610.6 -184.9 - - 3583 - - - - - - - - - 26.02 -
8802 890.1 -9.7 424 8807 done -0.79 - - 2763 - 1.30 0.028 2468 -680.8 -184.9 - - 3583 - - - - - - - - - 26.41 -
9128 921.4 -9.4 435 9134 roll -0.79 - - 2763 - 1.45 0.054 3352 609.7 -184.9 - - 3581 - - - - - - - - - 26.01 -
9192 927.5 -9.3 437 9198 done -0.79 - - 2762 - 1.30 0.029 2487 -665.4 -184.9 - - 3581 - - - - - - - - - 26.40 -
9528 958.7 -9.4 448 9529 done -0.79 - - 2763 - - - 2486 - -184.9 - - 3580 - - - - - - - - - - -
9827 988.6 -10.2 458 9828 done -0.79 - - 2763 - - - 2486 - -184.9 - - 3579 - - - - - - - - - - -
9854 end dive: TARGET_DEPTH_EXCEEDED
9854 begin apogee
9861 991.7 -10.1 459 10032 done -0.17 0.62 0.116 2974 340.3 - - 2094 - - 162.95 1.480 2853 -4.5 0.333 - - - - - - 25.61 - 22.50
10034 end apogee: CONTROL_FINISHED_OK
10034 begin climb
10037 1001.1 - 464 10224 roll 0.57 0.68 0.054 3226 370.6 1.38 0.030 1278 -591.3 184.9 178.75 1.438 2098 -4.2 0.328 - - - - - - 24.59 23.80 22.01
10260 994.3 7.7 472 10309 done 0.52 - - 3226 - 1.40 0.035 2122 602.9 228.2 42.12 1.385 1922 -4.2 0.334 - - - - - - - 24.60 22.40
10609 957.4 10.3 484 10615 roll 0.48 0.12 0.152 3184 -350.0 1.35 0.044 3011 658.5 228.2 - - 1913 - - - - - - - - 26.01 26.05 -
10744 945.6 9.3 488 10749 done 0.45 - - 3187 - 1.30 0.026 2133 -675.4 228.2 - - 1912 - - - - - - - - - 26.34 -
11070 915.7 9.0 499 11075 roll 0.46 - - 3187 - 1.38 0.044 3002 629.7 232.1 - - 1911 - - - - - - - - - 26.20 -
11104 912.2 9.3 500 11109 done 0.46 - - 3188 - 1.33 0.028 2121 -662.4 232.1 - - 1911 - - - - - - - - - 26.41 -
11442 881.4 9.3 511 11447 roll 0.46 - - 3188 - 1.40 0.044 3007 632.9 232.1 - - 1910 - - - - - - - - - 26.20 -
11544 871.6 9.8 514 11549 done 0.46 - - 3188 - 1.33 0.026 2117 -669.2 232.1 - - 1910 - - - - - - - - - 26.43 -
11871 842.2 8.4 525 11897 done 0.46 - - 3187 - - - 2117 - 254.1 23.85 1.349 1817 -3.9 0.271 - - - - - - - - 23.67
12198 815.7 7.8 536 12241 roll 0.48 - - 3188 - 1.48 0.043 2998 595.3 294.3 38.40 1.358 1652 -4.3 0.288 - - - - - - - 25.43 23.59
12321 804.9 8.8 540 12340 done 0.48 - - 3188 - 1.35 0.026 2109 -658.5 304.8 11.43 1.219 1609 -3.8 0.277 - - - - - - - 26.05 23.76
12654 774.5 9.5 551 12659 roll 0.52 - - 3187 - 1.42 0.043 3006 631.7 304.8 - - 1605 - - - - - - - - - 26.14 -
12689 771.2 9.6 552 12695 done 0.54 - - 3188 - 1.33 0.027 2128 -660.2 304.8 - - 1605 - - - - - - - - - 26.36 -
13025 739.5 9.3 563 13031 roll 0.57 - - 3189 - 1.30 0.031 1254 -672.3 304.8 - - 1604 - - - - - - - - - 26.32 -
13085 736.2 9.1 564 13092 done 0.59 0.08 0.061 3254 812.5 1.35 0.034 2132 650.4 306.2 - - 1604 - - - - - - - - 26.17 26.27 -
13392 697.8 11.7 575 13398 roll 0.56 0.12 0.150 3211 -358.3 1.35 0.044 3028 663.7 306.2 - - 1603 - - - - - - - - 26.22 26.17 -
13498 688.1 10.4 578 13503 done 0.56 - - 3213 - 1.35 0.026 2124 -669.6 306.2 - - 1603 - - - - - - - - - 26.43 -
13823 661.0 7.8 589 13869 roll 0.58 - - 3214 - 1.33 0.030 1239 -665.4 348.1 40.25 1.268 1432 -4.2 0.247 - - - - - - - 25.54 23.63
13888 656.2 7.7 591 13936 done 0.60 - - 3213 - 1.40 0.033 2131 637.1 391.9 41.08 1.239 1255 -4.3 0.254 - - - - - - - 25.73 23.49
14245 625.6 8.7 603 14264 roll 0.70 0.12 0.094 3294 675.0 1.33 0.028 1245 -666.2 405.1 13.20 1.143 1200 -4.2 0.254 - - - - - - 26.29 25.95 23.96
14330 618.3 10.1 605 14335 done 0.75 - - 3294 - 1.35 0.034 2117 645.9 405.1 - - 1199 - - - - - - - - - 26.06 -
14647 574.4 12.3 619 14652 roll 0.72 - - 3294 - 1.38 0.046 2998 638.4 405.1 - - 1198 - - - - - - - - - 26.15 -
14700 568.3 12.6 621 14705 done 0.68 0.10 0.133 3259 -350.0 1.33 0.027 2121 -659.4 405.1 - - 1198 - - - - - - - - 25.99 26.38 -
15015 536.1 9.2 637 15020 roll 0.68 - - 3260 - 1.40 0.044 3000 627.9 405.1 - - 1197 - - - - - - - - - 26.18 -
15039 533.6 9.5 638 15045 done 0.68 - - 3264 - 1.33 0.027 2112 -667.7 405.1 - - 1197 - - - - - - - - - 26.41 -
15364 498.4 11.7 654 15369 roll 0.68 - - 3267 - 1.30 0.032 1242 -669.2 405.1 - - 1197 - - - - - - - - - 26.30 -
15431 490.9 11.5 657 15437 done 0.68 - - 3267 - 1.35 0.034 2121 651.1 405.1 - - 1196 - - - - - - - - - 26.27 -
15751 451.9 12.1 673 15756 roll 0.68 - - 3268 - 1.35 0.046 2987 641.5 405.1 - - 1196 - - - - - - - - - 26.16 -
15844 440.7 13.2 677 15850 done 0.68 - - 3267 - 1.30 0.026 2117 -669.2 405.1 - - 1197 - - - - - - - - - 26.43 -
16159 405.3 10.4 693 16164 roll 0.68 - - 3268 - 1.38 0.043 2990 632.6 405.1 - - 1197 - - - - - - - - - 26.17 -
16186 402.8 10.5 694 16191 done 0.68 - - 3267 - 1.30 0.026 2125 -665.4 405.1 - - 1197 - - - - - - - - - 26.41 -
16505 369.3 10.4 710 16511 roll 0.68 - - 3267 - 1.38 0.041 3000 634.1 405.1 - - 1196 - - - - - - - - - 26.16 -
16543 366.5 10.6 711 16550 done 0.68 - - 3268 - 1.33 0.026 2109 -669.9 405.1 - - 1196 - - - - - - - - - 26.41 -
16850 331.4 10.4 727 16855 roll 0.75 - - 3268 - 1.40 0.041 3001 637.1 405.1 - - 1197 - - - - - - - - - 26.15 -
16928 325.1 10.2 730 16935 done 0.81 - - 3268 - 1.30 0.026 2117 -680.0 405.1 - - 1197 - - - - - - - - - 26.43 -
17234 294.1 9.9 746 17240 roll 0.90 0.12 0.092 3330 516.7 1.35 0.044 2994 649.6 405.1 - - 1197 - - - - - - - - 26.46 26.12 -
17253 294.1 9.9 746 17260 done 0.98 - - 3334 - 1.30 0.026 2132 -663.1 405.1 - - 1197 - - - - - - - - - 26.40 -
17560 250.8 13.7 762 17565 roll 0.94 - - 3334 - 1.38 0.045 2998 627.5 405.1 - - 1197 - - - - - - - - - 26.13 -
17653 238.2 14.8 766 17658 done 0.89 - - 3336 - 1.33 0.027 2105 -671.4 405.1 - - 1197 - - - - - - - - - 26.36 -
17848 212.7 11.5 776 17853 roll 0.85 - - 3336 - 1.40 0.042 2993 634.3 405.1 - - 1197 - - - - - - - - - 26.14 -
17886 209.8 11.5 777 17893 done 0.82 0.10 0.134 3300 -360.0 1.30 0.026 2128 -665.4 405.1 - - 1197 - - - - - - - - 25.97 26.39 -
18074 191.1 8.8 787 18094 roll 0.82 - - 3305 - 1.35 0.030 1236 -660.7 416.7 11.38 0.851 1154 -3.8 0.095 - - - - - - - 26.10 24.09
18128 186.9 9.1 789 18133 done 0.82 - - 3306 - 1.35 0.032 2120 654.8 417.7 - - 1154 - - - - - - - - - 26.15 -
18321 167.4 9.9 799 18327 roll 0.82 - - 3306 - 1.35 0.044 2997 649.6 417.7 - - 1153 - - - - - - - - - 26.09 -
18406 157.7 11.6 803 18412 done 0.82 - - 3309 - 1.33 0.026 2104 -671.4 417.7 - - 1153 - - - - - - - - - 26.38 -
18612 135.3 10.4 813 18617 roll 0.82 - - 3309 - 1.27 0.030 1240 -680.3 417.7 - - 1153 - - - - - - - - - 26.29 -
18646 133.1 10.1 814 18651 done 0.82 - - 3309 - 1.33 0.031 2117 659.4 417.7 - - 1153 - - - - - - - - - 26.27 -
18842 115.3 8.2 824 18875 roll 0.90 - - 3309 - 1.30 0.026 1239 -675.4 446.4 27.23 0.840 1031 -4.5 0.069 - - - - - - - 25.93 24.14
18981 104.1 9.0 830 18993 done 1.01 0.10 0.058 3381 720.0 1.35 0.032 2124 655.6 452.4 6.43 0.685 1009 -3.4 0.058 - - - - - - 26.01 26.10 24.13
19192 77.6 12.1 841 19198 roll 0.98 0.12 0.149 3338 -358.3 1.33 0.028 1249 -657.9 452.4 - - 1007 - - - - - - - - 26.12 26.21 -
19281 69.3 9.8 845 19287 done 0.98 - - 3338 - 1.33 0.031 2124 657.9 452.4 - - 1007 - - - - - - - - - 26.22 -
19483 53.2 7.6 855 19532 done 1.09 0.12 0.089 3409 591.7 - - 2124 - 500.3 43.08 0.784 812 -4.5 0.034 - - - - - - 26.44 - 24.22
19711 28.2 11.7 876 19717 roll 1.09 - - 3413 - 1.33 0.030 1245 -660.9 500.3 - - 809 - - - - - - - - - 26.16 -
19741 25.3 11.7 878 19747 done 1.09 - - 3412 - 1.33 0.033 2119 657.1 500.3 - - 810 - - - - - - - - - 26.15 -
19922 end climb: SURFACE_DEPTH_REACHED
19922 begin surface coast
19943 end surface coast: CONTROL_FINISHED_OK
19944 begin surface
SM 2.63 - - - - -9.03 8.60 0.048 134 -381.2 0.52 0.038 2487 707.7 501.64 - - 809 - - - - - - - -