OKMC Nov12 * SG170 * Dive index * Mission links * Dive 286 * Raw log
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• Previous call tries 1 • 55.61 of 150.00 AH used of 24V (62.92% remains)
• Previous NAKs 0, Timeouts 0 • 27.38 of 100.00 AH used of 10V (72.62% remains)
• Surface angle -72.9 deg, depth 2.51 m • Intended pitch -14.0 deg, speed -8.049 cm/s
• No surface pump (final VBD was 480.79, SM_CC=450)
• GPS1 time: 37 s
• GPS2 time: 18 s • Transponder ping count: 5
• 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 - - - 62 VBD -0.48 - - 134 - - - 2558 - -170.3 -39.25 - 1754 - - - - - - - - - - -
66 3.1 -2.3 7 153 roll -0.48 11.10 0.230 2892 248.5 1.88 0.082 3694 604.3 -170.3 -65.50 - 3465 -26.1 - - - - - - - 25.41 25.98 26.53
192 16.4 -19.1 29 199 done -0.44 - - 2892 - 1.55 0.024 2614 -696.8 -170.3 - - 3465 - - - - - - - - - 26.28 -
382 60.2 -24.3 50 388 roll -0.38 0.12 0.174 2931 325.0 2.03 0.029 1226 -683.7 -170.3 - - 3465 - - - - - - - - 26.08 26.26 -
415 65.6 -23.8 51 420 done -0.33 - - 2931 - 2.15 0.049 2593 635.8 -170.3 - - 3465 - - - - - - - - - 26.15 -
609 89.0 -10.8 61 614 roll -0.33 - - 2931 - 2.08 0.041 1238 -651.4 -170.3 - - 3465 - - - - - - - - - 26.23 -
666 93.5 -10.5 63 672 done -0.33 - - 2931 - 2.10 0.040 2610 653.3 -170.3 - - 3465 - - - - - - - - - 26.27 -
852 111.3 -8.2 73 858 roll -0.34 - - 2931 - 2.03 0.027 1218 -685.7 -170.3 - - 3466 - - - - - - - - - 26.37 -
885 113.2 -8.1 74 891 done -0.35 - - 2931 - 2.10 0.041 2603 659.5 -170.3 - - 3465 - - - - - - - - - 26.31 -
1079 129.5 -8.1 84 1080 done -0.41 - - 2931 - - - 2603 - -170.3 - - 3466 - - - - - - - - - - -
1260 142.0 -6.5 93 1265 roll -0.46 - - 2931 - 2.03 0.028 1215 -683.7 -170.3 - - 3466 - - - - - - - - - 26.40 -
1494 155.5 -7.3 104 1500 done -0.54 0.17 0.078 2858 -429.4 2.12 0.042 2605 655.7 -170.3 - - 3466 - - - - - - - - 26.31 26.34 -
1690 171.4 -8.0 114 1695 roll -0.57 - - 2858 - 2.03 0.035 1221 -681.8 -170.3 - - 3466 - - - - - - - - - 26.05 -
1743 175.3 -8.2 116 1748 done -0.59 - - 2858 - 2.12 0.054 2602 651.4 -170.3 - - 3466 - - - - - - - - - 26.33 -
1939 190.4 -7.5 126 1944 roll -0.62 - - 2858 - 2.03 0.028 1213 -684.2 -170.3 - - 3466 - - - - - - - - - 26.43 -
1986 194.3 -8.2 128 1991 done -0.65 - - 2858 - 2.12 0.041 2605 656.6 -170.3 - - 3466 - - - - - - - - - 26.34 -
2187 213.2 -9.5 138 2192 roll -0.67 - - 2858 - 2.05 0.041 1218 -676.6 -170.3 - - 3465 - - - - - - - - - 26.32 -
2274 221.4 -9.8 142 2279 done -0.69 - - 2858 - 2.10 0.040 2610 662.9 -170.3 - - 3465 - - - - - - - - - 26.34 -
2475 238.2 -7.6 152 2481 roll -0.72 0.12 0.084 2775 -691.7 2.03 0.026 1220 -684.7 -170.3 - - 3464 - - - - - - - - 26.60 26.43 -
2609 252.7 -12.4 158 2615 done -0.68 0.17 0.159 2825 294.1 2.12 0.041 2610 655.7 -170.3 - - 3464 - - - - - - - - 25.98 26.32 -
2923 288.8 -12.0 174 2928 roll -0.67 - - 2826 - 2.03 0.028 1220 -684.7 -170.3 - - 3463 - - - - - - - - - 26.43 -
3002 296.6 -12.4 177 3008 done -0.66 - - 2825 - 2.12 0.041 2604 652.8 -170.3 - - 3462 - - - - - - - - - 26.32 -
3307 334.9 -11.8 193 3308 done -0.65 - - 2826 - - - 2605 - -170.3 - - 3460 - - - - - - - - - - -
3610 366.6 -9.6 208 3615 roll -0.64 - - 2826 - 2.03 0.027 1213 -685.7 -170.3 - - 3458 - - - - - - - - - 26.43 -
3687 372.8 -9.3 211 3694 done -0.63 - - 2826 - 2.15 0.041 2611 650.2 -170.3 - - 3456 - - - - - - - - - 26.32 -
3994 399.1 -8.0 227 3999 roll -0.62 - - 2826 - 2.05 0.027 1218 -679.5 -170.3 - - 3456 - - - - - - - - - 26.43 -
4032 401.1 -8.0 228 4039 done -0.61 - - 2826 - 2.12 0.041 2603 653.3 -170.3 - - 3456 - - - - - - - - - 26.31 -
4337 428.9 -9.4 244 4339 done -0.61 - - 2825 - - - 2603 - -170.3 - - 3454 - - - - - - - - - - -
4639 459.3 -10.6 259 4645 roll -0.60 0.10 0.161 2856 310.0 2.05 0.024 1214 -677.6 -170.3 - - 3452 - - - - - - - - 26.46 26.43 -
4672 461.9 -10.6 260 4677 done -0.60 - - 2856 - 2.15 0.041 2609 648.8 -170.3 - - 3452 - - - - - - - - - 26.29 -
4986 488.4 -7.8 276 4991 roll -0.61 - - 2855 - 2.05 0.027 1220 -677.6 -170.3 - - 3450 - - - - - - - - - 26.42 -
5034 491.7 -7.7 278 5039 done -0.62 - - 2855 - 2.12 0.041 2601 651.4 -170.3 - - 3450 - - - - - - - - - 26.29 -
5353 515.0 -7.6 294 5358 roll -0.63 - - 2856 - 2.05 0.027 1207 -680.0 -170.3 - - 3447 - - - - - - - - - 26.41 -
5391 517.0 -7.6 295 5398 done -0.64 - - 2856 - 2.15 0.041 2600 647.9 -170.3 - - 3448 - - - - - - - - - 26.27 -
5697 542.9 -8.2 311 5702 roll -0.66 - - 2856 - 2.03 0.028 1220 -679.8 -170.3 - - 3446 - - - - - - - - - 26.41 -
5741 546.6 -8.5 313 5746 done -0.67 - - 2856 - 2.12 0.041 2598 650.0 -170.3 - - 3446 - - - - - - - - - 26.27 -
6065 571.9 -7.4 329 6071 roll -0.68 - - 2856 - 2.03 0.027 1219 -679.3 -170.3 - - 3444 - - - - - - - - - 26.43 -
6124 575.2 -7.3 331 6131 done -0.69 - - 2855 - 2.15 0.040 2613 648.4 -170.3 - - 3444 - - - - - - - - - 26.27 -
6429 595.4 -6.0 347 6435 roll -0.71 0.10 0.104 2794 -610.0 2.08 0.025 1212 -673.6 -170.3 - - 3443 - - - - - - - - 26.60 26.40 -
6526 604.2 -9.4 351 6532 done -0.70 0.12 0.162 2828 283.3 2.17 0.041 2609 643.8 -170.3 - - 3442 - - - - - - - - 26.00 26.24 -
6862 634.1 -9.1 362 6867 roll -0.70 - - 2829 - 2.08 0.027 1206 -674.5 -170.3 - - 3441 - - - - - - - - - 26.40 -
6934 640.0 -9.2 364 6939 done -0.70 - - 2829 - 2.17 0.041 2610 647.0 -170.3 - - 3441 - - - - - - - - - 26.24 -
7257 669.2 -8.8 375 7262 roll -0.70 - - 2829 - 2.08 0.039 1215 -670.7 -170.3 - - 3439 - - - - - - - - - 26.22 -
7299 672.2 -8.9 376 7305 done -0.70 - - 2829 - 2.12 0.041 2601 653.8 -170.3 - - 3439 - - - - - - - - - 26.23 -
7622 700.0 -8.1 387 7624 done -0.70 - - 2828 - - - 2602 - -170.3 - - 3438 - - - - - - - - - - -
7923 723.4 -7.7 397 7929 roll -0.70 - - 2829 - 2.05 0.027 1217 -675.6 -170.3 - - 3436 - - - - - - - - - 26.39 -
7971 726.2 -7.7 398 7976 done -0.70 - - 2829 - 2.15 0.041 2602 644.2 -170.3 - - 3436 - - - - - - - - - 26.21 -
8290 751.7 -7.9 409 8295 roll -0.70 - - 2829 - 2.05 0.027 1218 -675.1 -170.3 - - 3435 - - - - - - - - - 26.38 -
8357 756.9 -8.1 411 8362 done -0.70 - - 2829 - 2.15 0.041 2603 644.2 -170.3 - - 3435 - - - - - - - - - 26.20 -
8685 785.7 -9.0 422 8690 roll -0.70 - - 2829 - 2.03 0.026 1217 -682.8 -170.3 - - 3433 - - - - - - - - - 26.39 -
8727 788.6 -9.0 423 8732 done -0.70 - - 2829 - 2.12 0.041 2598 651.4 -170.3 - - 3433 - - - - - - - - - 26.19 -
9052 819.4 -9.3 434 9057 roll -0.70 - - 2829 - 2.05 0.028 1211 -676.6 -170.3 - - 3432 - - - - - - - - - 26.36 -
9086 822.6 -9.3 435 9091 done -0.71 - - 2829 - 2.17 0.041 2602 641.0 -170.3 - - 3433 - - - - - - - - - 26.17 -
9421 852.9 -9.0 446 9426 roll -0.71 - - 2829 - 2.05 0.027 1218 -675.1 -170.3 - - 3430 - - - - - - - - - 26.36 -
9469 856.1 -9.1 447 9474 done -0.72 - - 2829 - 2.12 0.041 2602 652.8 -170.3 - - 3431 - - - - - - - - - 26.17 -
9789 884.3 -8.5 458 9794 roll -0.73 - - 2829 - 2.05 0.028 1207 -680.5 -170.3 - - 3430 - - - - - - - - - 26.35 -
9823 887.5 -8.6 459 9828 done -0.73 - - 2829 - 2.20 0.042 2611 638.2 -170.3 - - 3430 - - - - - - - - - 26.15 -
10158 916.2 -8.7 470 10163 roll -0.74 - - 2829 - 2.08 0.028 1214 -671.6 -170.3 - - 3429 - - - - - - - - - 26.34 -
10225 922.2 -9.0 472 10230 done -0.75 - - 2829 - 2.17 0.042 2608 642.4 -170.3 - - 3429 - - - - - - - - - 26.13 -
10556 953.5 -9.8 483 10561 roll -0.75 - - 2829 - 2.08 0.028 1213 -670.7 -170.3 - - 3429 - - - - - - - - - 26.33 -
10628 960.0 -10.1 485 10633 done -0.76 - - 2829 - 2.17 0.042 2605 641.5 -170.3 - - 3428 - - - - - - - - - 26.12 -
10951 end dive: TARGET_DEPTH_EXCEEDED
10951 begin apogee
10958 992.7 -9.9 496 11111 done -0.15 0.47 0.109 2996 355.3 - - 2109 - - 144.15 1.495 2767 -4.6 0.335 - - - - - - 25.79 - 23.09
11113 end apogee: CONTROL_FINISHED_OK
11113 begin climb
11116 1002.8 - 501 11283 done 0.48 0.57 0.052 3215 384.2 - - 2109 - 170.3 161.05 1.449 2074 -4.3 0.328 - - - - - - 24.61 - 22.33
11582 968.0 10.8 517 11587 roll 0.45 - - 3216 - 2.30 0.050 3527 616.5 170.3 - - 2064 - - - - - - - - - 25.75 -
11685 956.1 12.4 520 11691 done 0.41 0.15 0.158 3182 -226.7 2.10 0.028 2141 -660.0 170.3 - - 2064 - - - - - - - - 25.75 26.07 -
12011 921.3 10.5 531 12016 roll 0.39 - - 3187 - 2.12 0.036 724 -668.4 170.3 - - 2062 - - - - - - - - - 26.20 -
12089 914.6 10.3 533 12094 done 0.38 - - 3187 - 2.15 0.037 2122 650.2 170.3 - - 2060 - - - - - - - - - 26.19 -
12410 879.8 10.5 544 12415 roll 0.36 - - 3187 - 2.20 0.050 3526 638.2 170.3 - - 2060 - - - - - - - - - 26.16 -
12544 865.1 11.7 548 12550 done 0.33 0.12 0.161 3159 -233.3 2.10 0.027 2121 -669.0 170.3 - - 2060 - - - - - - - - 26.06 26.40 -
12870 836.5 8.2 559 12872 done 0.33 - - 3160 - - - 2120 - 170.3 - - 2060 - - - - - - - - - - -
13168 814.6 6.8 569 13205 done 0.35 - - 3160 - - - 2120 - 209.7 34.67 1.359 1913 -4.2 0.280 - - - - - - - - 24.20
13500 794.4 5.6 580 13576 roll 0.38 - - 3159 - 2.25 0.036 723 -620.9 285.9 67.20 1.353 1602 -4.6 0.299 - - - - - - - 25.12 23.86
13620 787.9 5.4 584 13702 done 0.42 - - 3160 - 2.22 0.035 2127 632.4 368.5 73.72 1.327 1265 -4.6 0.299 - - - - - - - 25.53 23.42
14011 768.8 5.1 597 14105 roll 0.49 0.12 0.090 3240 666.7 2.38 0.050 3520 585.3 463.0 84.35 1.316 881 -4.6 0.293 - - - - - - 26.10 24.84 23.69
14170 750.4 12.8 602 14176 done 0.48 0.12 0.140 3203 -308.3 2.15 0.027 2125 -648.8 463.0 - - 879 - - - - - - - - 25.34 25.53 -
14499 719.7 9.3 613 14505 roll 0.50 - - 3204 - 2.10 0.034 718 -670.0 463.0 - - 875 - - - - - - - - - 26.12 -
14552 716.6 9.3 614 14557 done 0.53 - - 3203 - 2.15 0.033 2124 654.0 463.0 - - 875 - - - - - - - - - 26.15 -
14867 685.9 9.1 625 14872 roll 0.55 - - 3203 - 2.17 0.048 3522 644.2 463.0 - - 874 - - - - - - - - - 26.17 -
14915 682.5 9.1 626 14920 done 0.58 - - 3203 - 2.12 0.027 2099 -671.2 463.0 - - 875 - - - - - - - - - 26.37 -
15235 654.6 7.8 637 15250 roll 0.60 0.12 0.089 3283 666.7 2.10 0.037 733 -650.5 470.1 6.90 1.034 851 -3.5 0.242 - - - - - - 26.47 26.25 24.48
15311 646.4 10.2 639 15317 done 0.62 0.12 0.144 3245 -316.7 2.10 0.036 2117 659.0 470.1 - - 851 - - - - - - - - 26.02 26.20 -
15637 599.2 14.3 650 15642 roll 0.61 - - 3245 - 2.20 0.049 3532 643.2 470.1 - - 851 - - - - - - - - - 26.18 -
15690 592.2 14.8 652 15695 done 0.60 - - 3252 - 2.12 0.028 2110 -670.8 470.1 - - 850 - - - - - - - - - 26.39 -
16004 542.3 15.5 668 16009 roll 0.59 - - 3254 - 2.08 0.037 726 -665.4 470.1 - - 850 - - - - - - - - - 26.31 -
16091 531.0 13.2 672 16097 done 0.60 - - 3254 - 2.12 0.034 2125 659.9 470.1 - - 850 - - - - - - - - - 26.29 -
16410 481.0 16.0 688 16415 roll 0.59 - - 3254 - 2.17 0.049 3526 645.6 470.1 - - 850 - - - - - - - - - 26.20 -
16473 470.8 15.9 691 16479 done 0.58 - - 3254 - 2.10 0.027 2119 -670.0 470.1 - - 850 - - - - - - - - - 26.44 -
16797 421.5 14.9 707 16802 roll 0.58 - - 3254 - 2.08 0.036 719 -673.1 470.1 - - 850 - - - - - - - - - 26.31 -
16854 415.5 14.3 709 16861 done 0.58 - - 3254 - 2.12 0.033 2135 667.9 470.1 - - 850 - - - - - - - - - 26.30 -
17160 373.5 12.6 725 17166 roll 0.58 - - 3254 - 2.20 0.049 3537 637.3 470.1 - - 850 - - - - - - - - - 26.18 -
17213 367.7 12.9 727 17218 done 0.58 - - 3254 - 2.12 0.027 2109 -673.6 470.1 - - 850 - - - - - - - - - 26.44 -
17526 324.4 13.6 743 17531 roll 0.58 - - 3254 - 2.05 0.035 720 -677.6 470.1 - - 849 - - - - - - - - - 26.29 -
17603 317.1 12.1 746 17610 done 0.59 - - 3254 - 2.10 0.033 2126 669.5 470.1 - - 850 - - - - - - - - - 26.29 -
17910 277.3 12.3 762 17915 roll 0.60 - - 3254 - 2.17 0.047 3531 647.5 470.1 - - 850 - - - - - - - - - 26.17 -
17967 272.0 12.1 764 17974 done 0.61 - - 3254 - 2.08 0.027 2113 -681.7 470.1 - - 849 - - - - - - - - - 26.43 -
18273 239.7 10.0 780 18278 roll 0.62 - - 3254 - 2.05 0.035 723 -678.0 470.1 - - 850 - - - - - - - - - 26.30 -
18340 233.9 9.4 783 18345 done 0.64 - - 3254 - 2.10 0.033 2130 670.0 470.1 - - 850 - - - - - - - - - 26.28 -
18539 213.3 10.7 793 18545 roll 0.66 - - 3254 - 2.15 0.047 3523 647.9 470.1 - - 851 - - - - - - - - - 26.16 -
18588 208.3 11.0 795 18594 done 0.67 - - 3254 - 2.08 0.026 2116 -676.4 470.1 - - 851 - - - - - - - - - 26.45 -
18789 188.0 9.7 805 18794 roll 0.69 - - 3254 - 2.05 0.034 723 -679.5 470.1 - - 851 - - - - - - - - - 26.29 -
18836 184.0 9.2 807 18842 done 0.71 - - 3254 - 2.10 0.032 2127 668.6 470.1 - - 851 - - - - - - - - - 26.28 -
19037 166.1 9.5 817 19042 roll 0.73 - - 3254 - 2.15 0.047 3521 648.4 470.1 - - 851 - - - - - - - - - 26.16 -
19075 163.4 9.7 818 19083 done 0.76 0.12 0.090 3328 616.7 2.08 0.026 2117 -675.0 470.1 - - 851 - - - - - - - - 26.32 26.45 -
19262 130.7 16.9 828 19268 roll 0.73 0.12 0.152 3295 -275.0 2.05 0.033 729 -677.1 470.1 - - 851 - - - - - - - - 26.28 26.28 -
19341 123.5 12.0 831 19348 done 0.73 - - 3295 - 2.08 0.033 2122 669.7 470.1 - - 851 - - - - - - - - - 26.27 -
19526 104.7 11.3 841 19532 roll 0.74 - - 3295 - 2.17 0.047 3536 651.6 470.1 - - 851 - - - - - - - - - 26.15 -
19580 99.3 12.1 843 19585 done 0.75 - - 3296 - 2.10 0.025 2107 -680.5 470.1 - - 852 - - - - - - - - - 26.44 -
19773 81.3 8.2 853 19778 roll 0.77 - - 3296 - 2.03 0.034 727 -679.8 470.1 - - 852 - - - - - - - - - 26.29 -
19832 78.0 7.7 855 19847 done 0.80 - - 3296 - 2.10 0.031 2131 668.6 480.4 10.98 0.734 810 -3.8 0.045 - - - - - - - 26.29 24.70
20042 57.1 10.9 866 20048 roll 0.89 0.12 0.102 3363 558.3 2.15 0.044 3525 648.4 480.4 - - 808 - - - - - - - - 26.41 26.15 -
20139 48.1 8.8 871 20144 done 0.97 - - 3363 - 2.08 0.024 2096 -687.0 480.4 - - 808 - - - - - - - - - 26.41 -
20333 32.4 8.0 890 20334 done 1.02 - - 3363 - - - 2097 - 481.3 - - 809 - - - - - - - - - - -
20514 17.5 8.7 917 20521 roll 1.06 - - 3364 - 2.00 0.036 750 -673.5 481.3 - - 809 - - - - - - - - - 26.29 -
20575 11.1 11.7 928 20581 done 1.07 - - 3364 - 2.05 0.033 2119 667.8 481.3 - - 809 - - - - - - - - - 26.29 -
20648 end climb: SURFACE_DEPTH_REACHED
20648 begin surface coast
20674 end surface coast: CONTROL_FINISHED_OK
20674 begin surface
SM 2.42 - - - - -9.07 8.52 0.054 134 -379.1 0.73 0.047 2603 663.0 480.79 - - 809 - - - - - - - -