OKMC Nov12 * SG170 * Dive index * Mission links * Dive 322 * Raw log
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• Previous call tries 1 • 64.03 of 150.00 AH used of 24V (57.31% remains)
• Previous NAKs 0, Timeouts 0 • 32.04 of 100.00 AH used of 10V (67.96% remains)
• Surface angle -75.3 deg, depth 2.54 m • Intended pitch -14.5 deg, speed -8.684 cm/s
• No surface pump (final VBD was 545.06, SM_CC=450)
• GPS1 time: 38 s
• GPS2 time: 15 s • Transponder ping count: 6
• 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
21 - - - 86 VBD -0.50 - - 132 - - - 2638 - -180.0 -62.58 - 1915 - - - - - - - - - - -
89 3.0 -1.8 11 172 roll -0.50 11.38 0.240 2883 241.7 2.15 0.044 1207 -665.6 -180.0 -63.88 - 3586 -26.2 - - - - - - - 25.37 26.21 26.60
223 14.1 -14.0 34 231 done -0.48 - - 2883 - 2.15 0.046 2579 638.1 -180.0 - - 3586 - - - - - - - - - 26.15 -
415 44.4 -16.5 59 416 done -0.46 - - 2883 - - - 2582 - -180.0 - - 3586 - - - - - - - - - - -
595 72.7 -16.1 70 596 done -0.44 - - 2883 - - - 2580 - -180.0 - - 3586 - - - - - - - - - - -
775 99.5 -14.5 79 780 roll -0.42 0.10 0.168 2908 250.0 1.75 0.049 3700 640.0 -180.0 - - 3586 - - - - - - - - 26.39 26.27 -
803 102.5 -13.7 80 809 done -0.41 - - 2908 - 1.60 0.024 2546 -721.2 -180.0 - - 3586 - - - - - - - - - 26.53 -
1003 118.4 -7.0 90 1008 roll -0.43 - - 2909 - 1.98 0.039 1204 -677.8 -180.0 - - 3586 - - - - - - - - - 26.34 -
1081 123.4 -7.4 93 1088 done -0.45 - - 2909 - 2.17 0.044 2610 647.9 -180.0 - - 3586 - - - - - - - - - 26.32 -
1268 139.7 -7.9 103 1273 roll -0.51 - - 2909 - 1.67 0.051 3703 654.5 -180.0 - - 3586 - - - - - - - - - 26.30 -
1503 160.4 -9.9 114 1509 done -0.59 0.10 0.075 2856 -530.0 1.62 0.024 2558 -706.8 -180.0 - - 3586 - - - - - - - - 26.33 26.52 -
1700 175.9 -6.7 124 1705 roll -0.64 - - 2856 - 1.80 0.048 3703 636.1 -180.0 - - 3586 - - - - - - - - - 26.31 -
1779 180.3 -6.7 127 1787 done -0.67 - - 2856 - 1.55 0.024 2617 -700.6 -180.0 - - 3588 - - - - - - - - - 26.58 -
1966 195.3 -7.9 137 1972 roll -0.70 - - 2856 - 1.70 0.049 3693 632.9 -180.0 - - 3586 - - - - - - - - - 26.31 -
2067 202.2 -8.1 141 2075 done -0.72 0.12 0.083 2781 -625.0 1.58 0.024 2607 -687.3 -180.0 - - 3586 - - - - - - - - 26.45 26.58 -
2252 226.4 -13.5 151 2258 roll -0.70 0.12 0.151 2823 350.0 1.73 0.047 3698 630.6 -180.0 - - 3586 - - - - - - - - 26.32 26.31 -
2352 235.9 -11.0 155 2359 done -0.69 - - 2823 - 1.60 0.024 2558 -712.5 -180.0 - - 3586 - - - - - - - - - 26.53 -
2537 257.5 -10.9 165 2543 roll -0.68 - - 2823 - 1.90 0.030 1240 -693.7 -180.0 - - 3585 - - - - - - - - - 26.44 -
2642 268.0 -9.5 170 2648 done -0.68 - - 2823 - 2.08 0.043 2599 653.4 -180.0 - - 3585 - - - - - - - - - 26.32 -
2966 297.3 -8.8 186 2972 roll -0.68 - - 2823 - 2.00 0.030 1233 -683.0 -180.0 - - 3584 - - - - - - - - - 26.44 -
3000 299.3 -8.9 187 3005 done -0.68 - - 2823 - 2.10 0.042 2608 654.8 -180.0 - - 3583 - - - - - - - - - 26.32 -
3313 327.1 -8.5 203 3318 roll -0.68 - - 2823 - 2.00 0.028 1242 -683.0 -180.0 - - 3583 - - - - - - - - - 26.44 -
3366 330.9 -8.9 205 3372 done -0.68 - - 2823 - 2.10 0.042 2604 648.6 -180.0 - - 3581 - - - - - - - - - 26.33 -
3681 360.4 -9.3 221 3686 roll -0.68 - - 2823 - 2.03 0.040 1240 -671.9 -180.0 - - 3580 - - - - - - - - - 26.35 -
3734 364.4 -9.2 223 3739 done -0.68 - - 2823 - 2.08 0.041 2599 653.4 -180.0 - - 3580 - - - - - - - - - 26.33 -
4047 394.8 -9.3 239 4053 roll -0.68 - - 2823 - 2.00 0.028 1242 -678.5 -180.0 - - 3577 - - - - - - - - - 26.44 -
4100 398.9 -9.5 241 4105 done -0.68 - - 2824 - 2.08 0.042 2599 652.4 -180.0 - - 3577 - - - - - - - - - 26.32 -
4413 429.2 -9.5 257 4418 roll -0.68 - - 2823 - 1.70 0.051 3692 642.9 -180.0 - - 3577 - - - - - - - - - 26.29 -
4450 431.3 -9.3 258 4457 done -0.68 - - 2823 - 1.55 0.026 2596 -707.1 -180.0 - - 3577 - - - - - - - - - 26.56 -
4756 460.4 -9.0 274 4761 roll -0.68 - - 2823 - 1.98 0.028 1242 -683.8 -180.0 - - 3573 - - - - - - - - - 26.44 -
4855 467.8 -8.9 278 4861 done -0.69 - - 2823 - 2.10 0.041 2601 647.1 -180.0 - - 3573 - - - - - - - - - 26.32 -
5161 493.6 -8.0 294 5166 roll -0.69 - - 2823 - 2.00 0.027 1233 -684.0 -180.0 - - 3570 - - - - - - - - - 26.44 -
5199 495.6 -8.0 295 5206 done -0.70 - - 2823 - 2.12 0.042 2605 647.2 -180.0 - - 3571 - - - - - - - - - 26.30 -
5505 521.8 -8.3 311 5511 roll -0.71 - - 2823 - 2.00 0.026 1237 -684.0 -180.0 - - 3569 - - - - - - - - - 26.44 -
5553 525.8 -8.7 313 5558 done -0.72 - - 2823 - 2.12 0.041 2609 647.2 -180.0 - - 3568 - - - - - - - - - 26.31 -
5872 553.9 -8.7 329 5877 roll -0.72 - - 2823 - 2.05 0.027 1227 -674.1 -180.0 - - 3566 - - - - - - - - - 26.44 -
5937 559.6 -8.7 332 5942 done -0.73 - - 2824 - 2.12 0.042 2599 647.2 -180.0 - - 3566 - - - - - - - - - 26.29 -
6260 585.6 -7.7 348 6265 roll -0.74 - - 2824 - 2.03 0.027 1226 -676.4 -180.0 - - 3564 - - - - - - - - - 26.43 -
6288 587.4 -7.6 349 6294 done -0.75 - - 2823 - 2.12 0.042 2603 649.5 -180.0 - - 3564 - - - - - - - - - 26.29 -
6620 611.9 -7.8 363 6621 done -0.76 - - 2824 - - - 2604 - -180.0 - - 3562 - - - - - - - - - - -
6919 635.7 -8.1 373 6924 roll -0.77 - - 2823 - 2.05 0.039 1227 -671.7 -180.0 - - 3563 - - - - - - - - - 26.21 -
6972 638.6 -8.1 374 6977 done -0.78 - - 2823 - 2.15 0.042 2611 643.7 -180.0 - - 3561 - - - - - - - - - 26.27 -
7287 661.9 -6.8 385 7293 roll -0.79 - - 2823 - 2.05 0.027 1229 -674.1 -180.0 - - 3559 - - - - - - - - - 26.42 -
7316 661.9 -6.8 385 7324 done -0.80 - - 2824 - 2.15 0.042 2611 642.8 -180.0 - - 3559 - - - - - - - - - 26.27 -
7623 684.8 -6.8 396 7629 roll -0.81 0.12 0.093 2751 -608.3 1.70 0.052 3700 640.6 -180.0 - - 3558 - - - - - - - - 26.55 26.20 -
7647 684.8 -6.8 396 7653 done -0.82 0.08 0.141 2779 350.0 1.60 0.028 2611 -680.6 -180.0 - - 3557 - - - - - - - - 26.18 26.53 -
7964 719.5 -10.2 407 7969 roll -0.81 - - 2779 - 2.03 0.027 1217 -686.7 -180.0 - - 3556 - - - - - - - - - 26.41 -
8032 726.3 -10.1 409 8038 done -0.80 - - 2779 - 2.15 0.042 2610 647.9 -180.0 - - 3556 - - - - - - - - - 26.25 -
8363 761.0 -10.5 420 8368 roll -0.79 - - 2779 - 1.73 0.054 3700 630.1 -180.0 - - 3555 - - - - - - - - - 26.18 -
8416 764.7 -10.4 421 8421 done -0.78 - - 2779 - 1.60 0.028 2591 -693.1 -180.0 - - 3554 - - - - - - - - - 26.51 -
8733 799.1 -10.5 432 8738 roll -0.77 - - 2779 - 1.98 0.028 1227 -688.9 -180.0 - - 3552 - - - - - - - - - 26.40 -
8826 809.2 -10.4 435 8831 done -0.76 - - 2779 - 2.17 0.043 2611 637.8 -180.0 - - 3552 - - - - - - - - - 26.22 -
9163 843.9 -10.2 446 9168 roll -0.75 - - 2779 - 2.05 0.027 1229 -674.1 -180.0 - - 3551 - - - - - - - - - 26.41 -
9190 843.9 -10.2 446 9198 done -0.74 0.12 0.158 2815 300.0 2.12 0.044 2600 646.7 -180.0 - - 3551 - - - - - - - - 25.99 26.21 -
9499 870.6 -7.4 457 9504 roll -0.75 - - 2815 - 2.08 0.028 1215 -665.9 -180.0 - - 3550 - - - - - - - - - 26.15 -
9527 870.6 -7.4 457 9534 done -0.76 - - 2815 - 2.17 0.043 2606 641.0 -180.0 - - 3550 - - - - - - - - - 26.20 -
9835 894.9 -7.0 468 9841 roll -0.77 - - 2815 - 2.08 0.028 1221 -665.9 -180.0 - - 3549 - - - - - - - - - 26.22 -
9878 897.4 -7.0 469 9884 done -0.78 - - 2815 - 2.17 0.043 2609 639.6 -180.0 - - 3549 - - - - - - - - - 26.20 -
10205 918.9 -6.4 480 10211 roll -0.79 - - 2815 - 2.08 0.028 1218 -668.8 -180.0 - - 3548 - - - - - - - - - 26.38 -
10270 923.0 -6.2 482 10275 done -0.80 - - 2815 - 2.17 0.042 2602 637.8 -180.0 - - 3547 - - - - - - - - - 26.19 -
10607 943.2 -6.5 493 10612 roll -0.81 - - 2815 - 2.05 0.028 1229 -669.8 -180.0 - - 3546 - - - - - - - - - 26.38 -
10650 945.9 -6.8 494 10655 done -0.82 - - 2816 - 2.15 0.044 2599 637.2 -180.0 - - 3546 - - - - - - - - - 26.17 -
10976 972.2 -8.1 505 10982 roll -0.83 - - 2815 - 2.05 0.029 1221 -672.2 -180.0 - - 3544 - - - - - - - - - 25.94 -
11030 975.2 -8.0 506 11036 done -0.85 0.12 0.093 2760 -458.3 2.17 0.044 2605 637.8 -180.0 - - 3545 - - - - - - - - 26.15 26.16 -
11162 end dive: TARGET_DEPTH_EXCEEDED
11162 begin apogee
11169 991.4 -11.3 511 11330 done -0.15 0.70 0.120 2995 335.7 - - 2108 - - 152.05 1.492 2852 -4.6 0.335 - - - - - - 25.65 - 22.83
11332 end apogee: CONTROL_FINISHED_OK
11332 begin climb
11335 998.4 - 516 11513 done 0.50 0.60 0.050 3226 385.0 - - 2106 - 180.0 171.00 1.447 2119 -4.3 0.327 - - - - - - 24.56 - 22.21
11795 959.0 11.8 532 11800 roll 0.46 - - 3226 - 2.30 0.051 3530 619.1 180.0 - - 2108 - - - - - - - - - 25.84 -
11868 950.3 12.7 534 11875 done 0.43 0.17 0.156 3184 -247.1 2.08 0.028 2156 -660.6 180.0 - - 2108 - - - - - - - - 25.77 26.12 -
12196 917.7 9.3 545 12197 done 0.41 - - 3184 - - - 2156 - 180.0 - - 2105 - - - - - - - - - - -
12495 890.9 8.6 555 12501 roll 0.40 - - 3187 - 2.17 0.035 714 -664.5 182.1 - - 2104 - - - - - - - - - 26.30 -
12554 888.0 8.5 556 12567 done 0.39 - - 3188 - 2.17 0.037 2130 652.5 187.6 6.05 1.092 2088 -2.6 0.238 - - - - - - - 26.26 24.06
12896 857.5 8.5 568 12910 roll 0.38 - - 3187 - 2.25 0.050 3522 618.7 193.2 7.03 1.149 2066 -3.1 0.258 - - - - - - - 26.16 24.20
13023 844.8 10.2 572 13028 done 0.35 - - 3194 - 2.12 0.027 2110 -666.0 193.2 - - 2064 - - - - - - - - - 26.34 -
13354 810.9 10.6 583 13360 roll 0.34 0.12 0.160 3153 -341.7 2.28 0.047 3531 623.2 193.2 - - 2062 - - - - - - - - 26.21 26.18 -
13383 810.9 10.6 583 13390 done 0.32 - - 3158 - 2.12 0.028 2118 -666.5 193.2 - - 2062 - - - - - - - - - 26.41 -
13689 778.7 9.5 594 13695 roll 0.32 - - 3158 - 2.08 0.035 720 -672.1 193.2 - - 2061 - - - - - - - - - 26.32 -
13742 775.5 9.5 595 13747 done 0.32 - - 3158 - 2.15 0.036 2124 653.0 193.2 - - 2060 - - - - - - - - - 26.27 -
14058 745.8 8.6 606 14068 roll 0.32 - - 3159 - 2.22 0.050 3537 636.5 196.7 4.22 0.884 2051 -2.1 0.199 - - - - - - - 26.23 24.13
14151 737.2 8.9 609 14157 done 0.32 - - 3159 - 2.12 0.028 2119 -668.9 196.7 - - 2052 - - - - - - - - - 26.40 -
14488 713.2 7.0 620 14538 done 0.34 - - 3159 - - - 2119 - 248.0 48.08 1.311 1842 -4.4 0.263 - - - - - - - - 23.90
14818 688.8 7.6 631 14855 roll 0.37 - - 3159 - 2.15 0.034 726 -647.9 282.9 31.00 1.269 1698 -4.6 0.279 - - - - - - - 25.57 24.05
14873 686.5 7.6 632 14909 done 0.40 - - 3159 - 2.20 0.035 2126 636.4 315.1 29.70 1.243 1568 -4.4 0.267 - - - - - - - 25.69 23.82
15209 660.3 7.1 644 15262 roll 0.44 0.10 0.106 3219 600.0 2.38 0.050 3533 591.2 365.2 43.95 1.250 1364 -4.6 0.271 - - - - - - 26.28 25.36 23.98
15342 645.7 11.8 648 15348 done 0.44 0.12 0.146 3189 -250.0 2.15 0.028 2123 -655.8 365.2 - - 1361 - - - - - - - - 25.70 25.93 -
15669 616.3 8.2 659 15688 roll 0.47 - - 3189 - 2.12 0.033 718 -662.7 380.0 13.65 1.147 1303 -4.2 0.252 - - - - - - - 25.98 24.38
15721 613.4 8.3 660 15741 done 0.49 - - 3189 - 2.17 0.034 2124 647.9 393.4 13.30 1.131 1249 -4.1 0.243 - - - - - - - 26.00 24.25
16046 584.9 8.2 674 16065 roll 0.52 - - 3189 - 2.30 0.050 3525 609.1 407.3 13.32 1.125 1192 -4.3 0.246 - - - - - - - 25.93 24.40
16134 577.1 9.3 678 16140 done 0.54 0.12 0.089 3266 641.7 2.15 0.027 2106 -660.0 407.3 - - 1190 - - - - - - - - 26.07 26.15 -
16453 527.8 15.3 694 16460 roll 0.53 0.12 0.151 3226 -333.3 2.05 0.033 733 -669.8 407.3 - - 1189 - - - - - - - - 26.17 26.26 -
16518 520.5 12.1 697 16524 done 0.53 - - 3226 - 2.12 0.034 2131 659.4 407.3 - - 1189 - - - - - - - - - 26.25 -
16843 485.0 11.3 713 16848 roll 0.53 - - 3226 - 2.17 0.049 3525 642.4 407.3 - - 1188 - - - - - - - - - 26.20 -
16906 476.9 12.5 716 16911 done 0.53 - - 3226 - 2.08 0.027 2125 -673.1 407.3 - - 1188 - - - - - - - - - 26.42 -
17230 438.9 11.9 732 17235 roll 0.54 - - 3227 - 2.10 0.034 721 -668.6 407.3 - - 1188 - - - - - - - - - 26.33 -
17283 434.0 11.5 734 17289 done 0.56 - - 3226 - 2.15 0.034 2132 656.3 407.3 - - 1189 - - - - - - - - - 26.30 -
17598 399.9 10.0 750 17603 roll 0.57 - - 3226 - 2.17 0.049 3526 642.4 407.3 - - 1189 - - - - - - - - - 26.20 -
17663 393.0 10.6 753 17668 done 0.58 - - 3226 - 2.12 0.027 2104 -670.8 407.3 - - 1189 - - - - - - - - - 26.44 -
17987 361.5 9.9 769 17993 roll 0.60 - - 3227 - 2.08 0.034 717 -666.8 407.3 - - 1189 - - - - - - - - - 26.33 -
18016 359.1 10.0 770 18021 done 0.62 - - 3226 - 2.15 0.034 2129 656.7 407.3 - - 1188 - - - - - - - - - 26.29 -
18335 326.6 9.8 786 18340 roll 0.63 - - 3227 - 2.17 0.047 3528 644.7 407.3 - - 1189 - - - - - - - - - 26.20 -
18399 319.9 10.3 789 18405 done 0.65 - - 3227 - 2.10 0.027 2118 -671.4 407.3 - - 1189 - - - - - - - - - 26.44 -
18724 295.6 7.0 805 18778 roll 0.69 0.12 0.091 3310 691.7 2.15 0.034 733 -644.2 459.6 46.53 1.000 977 -4.6 0.149 - - - - - - 26.53 25.65 24.25
18836 282.0 14.0 810 18843 done 0.68 0.15 0.129 3264 -306.7 2.17 0.034 2130 643.8 459.6 - - 975 - - - - - - - - 25.67 25.85 -
19153 246.2 11.2 826 19159 roll 0.69 - - 3264 - 2.20 0.048 3536 639.1 459.6 - - 974 - - - - - - - - - 26.08 -
19218 238.6 11.6 829 19223 done 0.70 - - 3268 - 2.10 0.027 2122 -673.3 459.6 - - 973 - - - - - - - - - 26.32 -
19425 218.9 9.3 839 19430 roll 0.72 - - 3268 - 2.10 0.034 720 -667.6 459.6 - - 974 - - - - - - - - - 26.27 -
19468 214.6 9.1 841 19473 done 0.73 - - 3268 - 2.12 0.032 2123 661.8 459.6 - - 973 - - - - - - - - - 26.25 -
19674 194.2 9.9 851 19679 roll 0.75 - - 3268 - 2.17 0.047 3524 645.6 459.6 - - 973 - - - - - - - - - 26.17 -
19727 189.5 10.0 853 19733 done 0.77 - - 3268 - 2.10 0.025 2114 -671.4 459.6 - - 973 - - - - - - - - - 26.42 -
19923 173.1 7.5 863 19962 roll 0.81 0.12 0.089 3350 683.3 2.12 0.034 725 -655.2 496.5 32.03 0.881 829 -4.5 0.098 - - - - - - 26.52 25.90 24.56
20002 164.9 11.3 866 20010 done 0.82 0.12 0.137 3313 -308.3 2.15 0.034 2118 647.9 496.5 - - 828 - - - - - - - - 25.79 25.94 -
20188 138.8 13.7 876 20193 roll 0.82 - - 3313 - 2.22 0.048 3538 639.6 496.5 - - 827 - - - - - - - - - 26.05 -
20226 135.0 13.9 877 20234 done 0.83 - - 3313 - 2.12 0.025 2126 -666.0 496.5 - - 826 - - - - - - - - - 26.27 -
20414 113.4 7.1 887 20465 roll 0.86 - - 3313 - 2.20 0.034 721 -638.6 544.3 43.25 0.831 634 -4.4 0.067 - - - - - - - 25.75 24.50
20525 104.1 9.3 892 20531 done 0.89 - - 3313 - 2.15 0.032 2122 651.6 544.3 - - 632 - - - - - - - - - 25.91 -
20719 83.5 10.3 902 20725 roll 0.98 0.12 0.116 3366 441.7 2.20 0.047 3524 637.3 544.3 - - 632 - - - - - - - - 26.20 26.06 -
20839 71.7 11.3 907 20846 done 1.04 - - 3366 - 2.08 0.024 2109 -680.3 544.3 - - 631 - - - - - - - - - 26.33 -
21026 48.6 10.9 917 21032 roll 1.12 0.12 0.093 3430 533.3 2.03 0.031 732 -678.3 544.3 - - 631 - - - - - - - - 26.41 26.29 -
21081 42.6 11.4 922 21086 done 1.13 - - 3430 - 2.12 0.035 2129 659.0 544.3 - - 631 - - - - - - - - - 26.25 -
21270 10.0 19.9 948 21277 roll 1.10 - - 3430 - 2.17 0.045 3530 645.6 544.3 - - 631 - - - - - - - - - 26.22 -
21302 end climb: SURFACE_DEPTH_REACHED
21302 begin surface coast
21309 end surface coast: CONTROL_FINISHED_OK
21309 begin surface
SM 2.56 - - - - -9.07 8.57 0.047 132 -384.8 1.40 0.024 2610 -657.1 545.06 - - 631 - - - - - - - -