OKMC Nov12 * SG170 * Dive index * Mission links * Dive 320 * Raw log
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• Previous call tries 1 • 63.53 of 150.00 AH used of 24V (57.65% remains)
• Previous NAKs 0, Timeouts 0 • 31.78 of 100.00 AH used of 10V (68.22% remains)
• Surface angle -72.6 deg, depth 2.54 m • Intended pitch -14.5 deg, speed -8.684 cm/s
• No surface pump (final VBD was 535.24, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 16 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
20 - - - 83 VBD -0.50 - - 134 - - - 2651 - -180.0 -60.65 - 1953 - - - - - - - - - - -
87 3.0 -1.1 11 178 roll -0.50 11.60 0.246 2883 237.0 2.20 0.044 1199 -660.0 -180.0 -67.05 - 3589 -24.4 - - - - - - - 25.31 26.21 26.60
318 25.5 -14.0 52 324 done -0.49 - - 2883 - 2.15 0.046 2570 637.7 -180.0 - - 3588 - - - - - - - - - 26.16 -
513 55.8 -14.8 70 518 roll -0.46 - - 2884 - 2.08 0.041 1212 -652.9 -180.0 - - 3589 - - - - - - - - - 26.23 -
551 59.6 -14.9 71 559 done -0.44 - - 2883 - 2.15 0.046 2609 649.8 -180.0 - - 3589 - - - - - - - - - 26.26 -
737 88.3 -13.7 81 742 roll -0.43 - - 2883 - 1.67 0.051 3700 653.3 -180.0 - - 3589 - - - - - - - - - 26.25 -
780 93.2 -12.3 83 785 done -0.42 - - 2884 - 1.62 0.023 2524 -725.9 -180.0 - - 3590 - - - - - - - - - 26.54 -
984 114.9 -8.9 93 989 roll -0.42 - - 2884 - 1.92 0.031 1192 -693.8 -180.0 - - 3589 - - - - - - - - - 26.39 -
1031 119.3 -9.5 95 1037 done -0.42 - - 2884 - 2.17 0.046 2608 652.5 -180.0 - - 3589 - - - - - - - - - 26.30 -
1231 138.2 -9.9 105 1236 roll -0.43 - - 2884 - 1.70 0.052 3703 644.1 -180.0 - - 3589 - - - - - - - - - 26.28 -
1249 138.2 -9.9 105 1256 done -0.44 - - 2884 - 1.62 0.024 2573 -697.5 -180.0 - - 3589 - - - - - - - - - 26.56 -
1438 152.0 -5.6 115 1443 roll -0.47 - - 2883 - 1.77 0.049 3702 637.9 -180.0 - - 3589 - - - - - - - - - 26.29 -
1526 158.1 -6.9 119 1531 done -0.50 - - 2884 - 1.58 0.023 2597 -699.4 -180.0 - - 3589 - - - - - - - - - 26.57 -
1725 177.1 -10.0 129 1726 done -0.54 - - 2884 - - - 2597 - -180.0 - - 3589 - - - - - - - - - - -
1904 192.5 -7.8 138 1910 roll -0.58 - - 2883 - 1.73 0.047 3695 634.7 -180.0 - - 3589 - - - - - - - - - 26.31 -
1922 192.5 -7.8 138 1929 done -0.61 - - 2884 - 1.58 0.025 2561 -717.7 -180.0 - - 3589 - - - - - - - - - 26.57 -
2111 206.2 -6.7 148 2117 roll -0.65 0.12 0.089 2795 -741.7 1.75 0.044 3693 646.9 -180.0 - - 3589 - - - - - - - - 26.57 26.31 -
2125 206.2 -6.7 148 2130 done -0.69 0.12 0.145 2833 316.7 1.52 0.024 2612 -711.2 -180.0 - - 3589 - - - - - - - - 26.24 26.58 -
2322 226.1 -9.0 158 2327 roll -0.68 - - 2833 - 2.00 0.030 1225 -693.5 -180.0 - - 3588 - - - - - - - - - 26.42 -
2386 231.6 -8.4 161 2391 done -0.68 - - 2833 - 2.12 0.045 2600 648.6 -180.0 - - 3588 - - - - - - - - - 26.32 -
2589 248.9 -9.3 171 2594 roll -0.68 - - 2833 - 1.70 0.052 3696 644.7 -180.0 - - 3588 - - - - - - - - - 26.31 -
2642 253.0 -9.6 173 2647 done -0.68 - - 2833 - 1.55 0.024 2624 -691.6 -180.0 - - 3587 - - - - - - - - - 26.57 -
2956 287.2 -11.0 189 2961 roll -0.68 - - 2833 - 2.08 0.030 1200 -684.6 -180.0 - - 3587 - - - - - - - - - 26.44 -
3054 295.4 -9.9 193 3062 done -0.69 - - 2833 - 2.17 0.043 2609 649.3 -180.0 - - 3586 - - - - - - - - - 26.32 -
3360 323.4 -8.9 209 3361 done -0.69 - - 2833 - - - 2609 - -180.0 - - 3585 - - - - - - - - - - -
3661 352.3 -9.5 224 3666 roll -0.69 - - 2833 - 2.10 0.031 1201 -670.5 -180.0 - - 3583 - - - - - - - - - 26.23 -
3745 360.0 -9.2 228 3750 done -0.70 - - 2833 - 2.17 0.042 2611 649.8 -180.0 - - 3582 - - - - - - - - - 26.32 -
4069 388.6 -8.6 244 4070 done -0.70 - - 2833 - - - 2611 - -180.0 - - 3581 - - - - - - - - - - -
4373 414.5 -9.0 259 4378 roll -0.71 - - 2833 - 2.10 0.028 1192 -675.7 -180.0 - - 3578 - - - - - - - - - 26.44 -
4460 422.3 -9.1 263 4465 done -0.72 - - 2833 - 2.17 0.041 2613 654.8 -180.0 - - 3578 - - - - - - - - - 26.32 -
4779 450.3 -8.7 279 4785 roll -0.73 - - 2833 - 2.10 0.028 1195 -675.2 -180.0 - - 3576 - - - - - - - - - 26.44 -
4837 454.1 -8.5 281 4844 done -0.74 - - 2833 - 2.17 0.041 2612 653.0 -180.0 - - 3575 - - - - - - - - - 26.31 -
5143 480.9 -8.5 297 5148 roll -0.75 - - 2833 - 2.10 0.028 1194 -675.2 -180.0 - - 3573 - - - - - - - - - 26.44 -
5171 482.9 -8.5 298 5177 done -0.76 - - 2833 - 2.17 0.041 2614 654.4 -180.0 - - 3573 - - - - - - - - - 26.30 -
5491 510.0 -8.3 314 5496 roll -0.77 - - 2833 - 2.08 0.027 1199 -680.3 -180.0 - - 3571 - - - - - - - - - 26.44 -
5549 513.8 -8.4 316 5556 done -0.78 0.10 0.098 2768 -650.0 2.17 0.041 2606 648.4 -180.0 - - 3571 - - - - - - - - 26.29 26.30 -
5855 551.1 -11.6 332 5861 roll -0.76 0.12 0.155 2810 350.0 2.08 0.024 1200 -676.0 -180.0 - - 3569 - - - - - - - - 26.30 26.44 -
5893 553.8 -11.5 333 5901 done -0.74 - - 2810 - 2.15 0.042 2598 650.2 -180.0 - - 3569 - - - - - - - - - 26.29 -
6199 583.1 -8.9 349 6205 roll -0.74 - - 2812 - 2.05 0.027 1200 -682.0 -180.0 - - 3567 - - - - - - - - - 26.44 -
6247 586.9 -8.6 351 6253 done -0.74 - - 2810 - 2.17 0.041 2600 645.2 -180.0 - - 3567 - - - - - - - - - 26.29 -
6558 614.1 -9.0 364 6564 roll -0.74 - - 2810 - 2.08 0.027 1200 -673.1 -180.0 - - 3565 - - - - - - - - - 26.44 -
6601 617.6 -9.2 365 6607 done -0.74 - - 2809 - 2.15 0.041 2601 651.6 -180.0 - - 3565 - - - - - - - - - 26.28 -
6927 646.5 -8.5 376 6933 roll -0.74 - - 2809 - 2.08 0.027 1198 -674.5 -180.0 - - 3564 - - - - - - - - - 26.43 -
6980 649.8 -8.6 377 6986 done -0.74 - - 2810 - 2.15 0.041 2601 652.6 -180.0 - - 3563 - - - - - - - - - 26.27 -
7295 678.4 -8.6 388 7300 roll -0.74 - - 2810 - 2.08 0.027 1187 -679.8 -180.0 - - 3562 - - - - - - - - - 26.42 -
7348 681.2 -8.5 389 7354 done -0.74 - - 2810 - 2.20 0.041 2603 643.6 -180.0 - - 3561 - - - - - - - - - 26.27 -
7662 710.3 -8.6 400 7667 roll -0.74 - - 2810 - 2.08 0.027 1189 -679.8 -180.0 - - 3560 - - - - - - - - - 26.42 -
7696 713.0 -8.4 401 7702 done -0.74 - - 2810 - 2.20 0.041 2612 646.8 -180.0 - - 3560 - - - - - - - - - 26.25 -
8032 740.8 -8.3 412 8038 roll -0.74 - - 2810 - 2.10 0.027 1191 -676.7 -180.0 - - 3558 - - - - - - - - - 26.42 -
8061 740.8 -8.3 412 8068 done -0.74 - - 2810 - 2.20 0.041 2605 642.7 -180.0 - - 3558 - - - - - - - - - 26.25 -
8367 768.6 -7.9 423 8368 done -0.74 - - 2810 - - - 2605 - -180.0 - - 3558 - - - - - - - - - - -
8667 792.6 -8.0 433 8672 roll -0.74 - - 2809 - 2.10 0.026 1189 -674.3 -180.0 - - 3555 - - - - - - - - - 26.41 -
8715 795.4 -8.0 434 8720 done -0.74 - - 2810 - 2.20 0.041 2602 642.3 -180.0 - - 3555 - - - - - - - - - 26.23 -
9035 821.0 -7.5 445 9041 roll -0.74 - - 2810 - 1.73 0.054 3695 631.8 -180.0 - - 3554 - - - - - - - - - 26.17 -
9071 823.8 -7.5 446 9076 done -0.75 - - 2810 - 1.65 0.029 2565 -684.8 -180.0 - - 3554 - - - - - - - - - 26.50 -
9406 849.4 -8.0 457 9412 roll -0.76 - - 2810 - 1.85 0.054 3715 621.6 -180.0 - - 3552 - - - - - - - - - 26.15 -
9440 852.6 -8.3 458 9446 done -0.76 - - 2810 - 1.65 0.029 2594 -679.4 -180.0 - - 3552 - - - - - - - - - 26.49 -
9778 882.0 -9.1 469 9784 roll -0.77 - - 2810 - 2.00 0.028 1215 -689.5 -180.0 - - 3551 - - - - - - - - - 26.39 -
9826 885.5 -9.1 470 9832 done -0.77 - - 2810 - 2.15 0.042 2606 647.0 -180.0 - - 3551 - - - - - - - - - 26.20 -
10148 914.2 -8.5 481 10149 done -0.78 - - 2810 - - - 2606 - -180.0 - - 3550 - - - - - - - - - - -
10445 940.4 -8.8 491 10451 roll -0.79 - - 2810 - 2.08 0.027 1207 -672.6 -180.0 - - 3549 - - - - - - - - - 26.39 -
10504 943.3 -8.8 492 10510 done -0.79 - - 2810 - 2.17 0.043 2599 641.5 -180.0 - - 3549 - - - - - - - - - 26.17 -
10811 971.7 -8.5 503 10816 roll -0.80 - - 2810 - 1.75 0.056 3698 628.0 -180.0 - - 3548 - - - - - - - - - 26.10 -
10846 974.5 -8.2 504 10852 done -0.81 - - 2810 - 1.62 0.030 2603 -675.9 -180.0 - - 3548 - - - - - - - - - 26.47 -
11057 end dive: TARGET_DEPTH_EXCEEDED
11057 begin apogee
11064 990.4 -7.1 511 11226 done -0.15 0.55 0.104 3001 347.3 - - 2093 - - 152.40 1.488 2852 -4.6 0.336 - - - - - - 25.84 - 22.86
11227 end apogee: CONTROL_FINISHED_OK
11227 begin climb
11230 995.9 - 516 11410 roll 0.50 0.57 0.050 3227 396.5 2.22 0.034 764 -598.6 180.0 170.85 1.443 2117 -4.3 0.328 - - - - - - 24.58 23.73 22.24
11490 977.3 11.9 525 11496 done 0.47 - - 3227 - 2.22 0.037 2121 611.3 180.0 - - 2109 - - - - - - - - - 24.88 -
11821 933.6 13.2 536 11827 roll 0.43 0.12 0.163 3186 -341.7 2.25 0.050 3543 632.0 180.0 - - 2106 - - - - - - - - 25.98 26.03 -
11919 921.3 12.8 539 11924 done 0.40 - - 3193 - 2.10 0.027 2145 -665.7 180.0 - - 2105 - - - - - - - - - 26.27 -
12255 882.1 11.5 550 12261 roll 0.39 - - 3199 - 2.12 0.035 724 -670.3 180.0 - - 2104 - - - - - - - - - 26.29 -
12313 878.1 11.3 551 12321 done 0.37 - - 3200 - 2.15 0.037 2124 651.2 180.0 - - 2102 - - - - - - - - - 26.25 -
12622 843.6 10.1 562 12627 roll 0.35 0.12 0.155 3157 -358.3 2.22 0.050 3540 637.8 180.0 - - 2103 - - - - - - - - 26.24 26.21 -
12742 834.8 9.3 565 12748 done 0.34 - - 3159 - 2.12 0.028 2113 -673.1 180.0 - - 2103 - - - - - - - - - 26.43 -
13047 809.0 7.8 576 13075 done 0.35 - - 3159 - - - 2113 - 208.5 24.75 1.340 2002 -4.1 0.272 - - - - - - - - 24.13
13376 782.7 7.8 587 13409 roll 0.36 - - 3160 - 2.38 0.050 3532 596.2 237.0 26.45 1.326 1886 -4.4 0.286 - - - - - - - 25.64 24.13
13443 777.5 8.1 589 13469 done 0.37 - - 3160 - 2.15 0.028 2125 -654.4 255.8 17.92 1.278 1809 -4.3 0.289 - - - - - - - 25.92 24.00
13768 752.2 7.5 600 13811 roll 0.40 - - 3159 - 2.25 0.034 715 -626.7 293.2 33.40 1.317 1655 -4.6 0.291 - - - - - - - 25.55 24.08
13851 747.6 7.5 602 13890 done 0.43 - - 3159 - 2.20 0.034 2123 640.0 329.3 33.17 1.294 1510 -4.4 0.279 - - - - - - - 25.80 23.89
14190 721.5 7.4 614 14233 roll 0.47 0.12 0.090 3241 683.3 2.38 0.051 3539 595.0 367.6 33.78 1.284 1354 -4.6 0.287 - - - - - - 26.28 25.49 24.10
14313 704.4 13.9 618 14319 done 0.46 0.15 0.140 3196 -300.0 2.17 0.028 2114 -656.7 367.6 - - 1351 - - - - - - - - 25.77 25.98 -
14648 667.1 10.9 629 14653 roll 0.48 - - 3199 - 2.10 0.035 717 -665.2 367.6 - - 1349 - - - - - - - - - 26.25 -
14686 663.7 10.7 630 14691 done 0.49 - - 3199 - 2.17 0.034 2134 653.0 367.6 - - 1349 - - - - - - - - - 26.26 -
15017 632.3 8.7 641 15023 roll 0.51 - - 3199 - 2.17 0.050 3527 641.9 367.8 - - 1349 - - - - - - - - - 26.22 -
15091 625.9 9.0 643 15096 done 0.52 - - 3199 - 2.10 0.028 2112 -673.8 367.8 - - 1349 - - - - - - - - - 26.42 -
15407 597.7 8.8 654 15413 roll 0.54 - - 3200 - 2.08 0.034 729 -664.9 367.8 - - 1348 - - - - - - - - - 26.34 -
15456 593.6 8.8 656 15461 done 0.56 - - 3200 - 2.12 0.034 2124 658.0 367.8 - - 1348 - - - - - - - - - 26.33 -
15775 563.5 9.6 672 15781 roll 0.57 0.10 0.106 3264 640.0 2.22 0.048 3534 635.1 367.8 - - 1348 - - - - - - - - 26.54 26.22 -
15849 553.9 13.4 675 15856 done 0.57 0.12 0.158 3234 -250.0 2.12 0.028 2119 -667.5 367.8 - - 1348 - - - - - - - - 26.13 26.43 -
16164 510.2 13.4 691 16169 roll 0.57 - - 3240 - 2.08 0.034 722 -671.6 367.8 - - 1348 - - - - - - - - - 26.34 -
16201 507.1 13.5 692 16208 done 0.57 - - 3240 - 2.15 0.035 2128 654.0 367.8 - - 1347 - - - - - - - - - 26.29 -
16507 467.4 11.8 708 16512 roll 0.57 - - 3240 - 2.20 0.050 3537 640.5 367.8 - - 1348 - - - - - - - - - 26.19 -
16571 459.4 12.3 711 16577 done 0.56 - - 3241 - 2.12 0.028 2112 -672.2 367.8 - - 1347 - - - - - - - - - 26.44 -
16895 424.2 10.3 727 16901 roll 0.56 - - 3241 - 2.08 0.035 718 -670.2 367.8 - - 1347 - - - - - - - - - 26.32 -
16928 421.7 10.2 728 16933 done 0.56 - - 3241 - 2.15 0.035 2123 653.5 367.8 - - 1347 - - - - - - - - - 26.28 -
17241 387.1 11.1 744 17247 roll 0.56 - - 3241 - 2.22 0.050 3534 635.6 367.8 - - 1348 - - - - - - - - - 26.17 -
17319 379.1 12.2 747 17326 done 0.56 - - 3241 - 2.12 0.027 2119 -667.5 367.8 - - 1348 - - - - - - - - - 26.43 -
17625 341.2 12.0 763 17630 roll 0.56 - - 3241 - 2.08 0.034 720 -672.6 367.8 - - 1347 - - - - - - - - - 26.30 -
17652 338.4 12.0 764 17657 done 0.56 - - 3241 - 2.12 0.034 2129 664.6 367.8 - - 1348 - - - - - - - - - 26.27 -
17971 301.9 10.8 780 17976 roll 0.56 - - 3241 - 2.20 0.049 3527 635.5 367.8 - - 1348 - - - - - - - - - 26.17 -
18038 294.6 11.3 783 18043 done 0.56 - - 3241 - 2.12 0.027 2106 -670.3 367.8 - - 1348 - - - - - - - - - 26.44 -
18357 263.4 9.2 799 18364 roll 0.57 - - 3241 - 2.08 0.034 718 -667.3 367.8 - - 1348 - - - - - - - - - 26.31 -
18391 261.2 9.2 800 18396 done 0.58 - - 3241 - 2.12 0.034 2128 665.1 367.8 - - 1348 - - - - - - - - - 26.27 -
18706 232.6 8.3 816 18726 roll 0.60 - - 3241 - 2.22 0.047 3534 633.3 381.2 12.70 0.891 1299 -3.9 0.111 - - - - - - - 26.09 24.29
18794 224.5 9.7 820 18801 done 0.60 - - 3241 - 2.12 0.026 2115 -669.3 381.2 - - 1297 - - - - - - - - - 26.29 -
18997 206.1 8.9 830 19003 roll 0.62 - - 3241 - 2.22 0.046 3527 636.0 381.2 - - 1298 - - - - - - - - - 26.11 -
19021 203.6 8.9 831 19027 done 0.64 - - 3241 - 2.10 0.027 2120 -670.0 381.2 - - 1297 - - - - - - - - - 26.36 -
19228 187.1 7.8 841 19260 roll 0.67 - - 3241 - 2.15 0.034 723 -649.8 408.7 24.73 0.895 1185 -4.5 0.105 - - - - - - - 25.98 24.51
19290 182.2 7.9 844 19319 done 0.71 0.12 0.088 3314 608.3 2.15 0.032 2128 653.5 432.4 21.35 0.873 1090 -4.4 0.103 - - - - - - 25.97 25.99 24.35
19512 156.0 11.9 855 19518 roll 0.71 0.12 0.142 3269 -375.0 2.22 0.046 3531 632.0 432.4 - - 1088 - - - - - - - - 26.04 25.99 -
19598 147.9 9.5 859 19604 done 0.72 - - 3270 - 2.10 0.026 2112 -675.7 432.4 - - 1087 - - - - - - - - - 26.26 -
19805 131.4 8.0 869 19829 roll 0.75 - - 3270 - 2.10 0.032 723 -661.4 452.4 18.27 0.825 1006 -4.4 0.078 - - - - - - - 26.05 24.65
19877 126.0 8.2 872 19898 done 0.79 0.10 0.101 3332 620.0 2.12 0.031 2128 662.7 466.3 13.00 0.788 952 -4.2 0.073 - - - - - - 26.03 26.06 24.55
20091 102.7 9.9 883 20097 roll 0.79 - - 3332 - 2.20 0.047 3525 635.0 466.3 - - 950 - - - - - - - - - 26.06 -
20144 97.7 10.1 885 20150 done 0.79 0.12 0.146 3298 -283.3 2.08 0.025 2128 -671.6 466.3 - - 949 - - - - - - - - 26.01 26.28 -
20342 81.7 7.8 895 20375 roll 0.85 - - 3298 - 2.15 0.033 724 -653.0 494.9 25.42 0.784 834 -4.5 0.052 - - - - - - - 25.99 24.70
20608 55.7 10.6 908 20614 done 0.94 0.15 0.099 3359 406.7 2.10 0.033 2121 665.2 494.9 - - 832 - - - - - - - - 26.10 26.17 -
20803 37.1 9.4 924 20808 roll 1.00 - - 3359 - 2.20 0.046 3533 641.8 494.9 - - 832 - - - - - - - - - 26.18 -
20832 35.0 9.0 926 20839 done 1.06 - - 3362 - 2.12 0.025 2099 -676.4 494.9 - - 832 - - - - - - - - - 26.39 -
21019 17.6 9.3 953 21026 roll 1.07 - - 3363 - 2.03 0.034 723 -677.8 494.9 - - 832 - - - - - - - - - 26.32 -
21091 11.4 7.4 966 21117 done 1.10 0.12 0.087 3432 575.0 2.12 0.033 2130 663.7 534.3 18.33 0.078 673 -8.7 0.140 - - - - - - 26.28 26.29 26.05
21150 end climb: SURFACE_DEPTH_REACHED
21150 begin surface coast
21167 end surface coast: CONTROL_FINISHED_OK
21167 begin surface
SM 2.56 - - - - -9.07 8.38 0.035 122 -395.0 0.73 0.039 2615 664.4 535.24 - - 671 - - - - - - - -