OKMC Feb13 * SG171 * Dive index * Mission links * Dive 391 * Raw log
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• Previous call tries 1 • 60.43 of 150.00 AH used of 24V (59.71% remains)
• Previous NAKs 0, Timeouts 0 • 39.22 of 100.00 AH used of 10V (60.78% remains)
• Surface angle -70.4 deg, depth 1.05 m • Intended pitch -20.8 deg, speed -9.596 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 40 s
• GPS2 time: 24 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 82 VBD -1.18 - - 122 - - - 2500 - -99.3 -60.38 - 2463 - - - - - - - - - - -
86 3.7 -6.5 8 111 roll -1.34 8.93 0.216 2362 250.8 1.92 0.067 3666 607.3 -146.9 -8.98 - 2983 -57.9 - - - - - - - 25.32 25.94 26.47
355 94.6 -28.1 43 361 done -1.19 0.22 0.152 2423 277.3 1.70 0.025 2489 -692.4 -146.9 - - 2988 - - - - - - - - 25.70 26.30 -
492 122.8 -19.6 56 499 done -1.12 - - 2423 - - - 2489 - -146.9 - - 2989 - - - - - - - - - - -
623 149.2 -21.6 69 629 roll -1.05 0.12 0.170 2464 341.7 2.05 0.026 1104 -675.6 -146.9 - - 2990 - - - - - - - - 26.12 26.29 -
653 155.1 -21.6 71 662 done -0.99 0.15 0.145 2495 206.7 2.15 0.037 2502 650.2 -146.9 - - 2990 - - - - - - - - 25.91 26.17 -
781 179.3 -18.4 84 790 done -0.99 - - 2494 - - - 2502 - -146.9 - - 2990 - - - - - - - - - - -
914 203.0 -17.4 97 919 roll -0.99 - - 2495 - 2.08 0.029 1106 -671.2 -146.9 - - 2990 - - - - - - - - - 26.33 -
939 208.0 -18.2 99 944 done -0.99 - - 2486 - 2.15 0.037 2507 651.6 -146.9 - - 2990 - - - - - - - - - 26.22 -
1073 230.5 -16.6 112 1079 roll -0.99 - - 2477 - 1.85 0.054 3659 622.7 -146.9 - - 2990 - - - - - - - - - 26.14 -
1142 242.7 -17.3 118 1148 done -0.99 - - 2477 - 1.67 0.027 2504 -691.6 -146.9 - - 2990 - - - - - - - - - 26.47 -
1278 266.3 -16.8 131 1284 roll -0.99 - - 2477 - 2.08 0.028 1096 -676.9 -146.9 - - 2991 - - - - - - - - - 26.36 -
1362 279.5 -16.5 138 1370 done -0.99 - - 2466 - 2.15 0.037 2508 656.7 -146.9 - - 2990 - - - - - - - - - 26.27 -
1490 302.7 -17.9 151 1495 roll -0.99 - - 2457 - 1.83 0.053 3674 637.2 -146.9 - - 2990 - - - - - - - - - 26.17 -
1541 311.5 -18.7 155 1549 done -0.99 0.12 0.142 2491 283.3 1.70 0.025 2485 -699.4 -146.9 - - 2991 - - - - - - - - 26.16 26.51 -
1668 333.7 -16.5 168 1669 done -0.99 - - 2491 - - - 2485 - -146.9 - - 2990 - - - - - - - - - - -
1791 352.5 -15.6 180 1797 roll -0.99 - - 2491 - 2.03 0.029 1112 -676.4 -146.9 - - 2990 - - - - - - - - - 26.38 -
1819 356.9 -15.8 182 1827 done -0.99 - - 2481 - 2.12 0.037 2508 658.5 -146.9 - - 2990 - - - - - - - - - 26.27 -
1947 377.1 -15.5 195 1953 roll -0.99 - - 2473 - 1.83 0.054 3671 635.5 -146.9 - - 2990 - - - - - - - - - 26.16 -
1975 380.9 -15.0 197 1983 done -0.99 - - 2473 - 1.67 0.027 2505 -698.2 -146.9 - - 2990 - - - - - - - - - 26.51 -
2102 401.1 -14.9 210 2108 roll -0.99 - - 2473 - 2.08 0.028 1100 -675.5 -146.9 - - 2990 - - - - - - - - - 26.38 -
2128 404.9 -15.1 212 2134 done -0.99 0.10 0.159 2489 160.0 2.15 0.037 2505 653.5 -146.9 - - 2990 - - - - - - - - 26.09 26.27 -
2264 423.8 -13.5 225 2272 done -1.02 - - 2489 - - - 2505 - -146.9 - - 2990 - - - - - - - - - - -
2394 441.1 -13.1 238 2400 roll -1.06 - - 2489 - 2.08 0.028 1107 -672.1 -146.9 - - 2989 - - - - - - - - - 26.38 -
2425 444.5 -12.9 240 2433 done -1.09 - - 2479 - 2.12 0.037 2502 658.0 -146.9 - - 2989 - - - - - - - - - 26.26 -
2551 463.6 -14.4 253 2558 roll -1.09 - - 2470 - 1.83 0.054 3667 636.6 -146.9 - - 2988 - - - - - - - - - 26.15 -
2593 468.7 -14.2 256 2601 done -1.09 - - 2470 - 1.67 0.027 2504 -696.4 -146.9 - - 2988 - - - - - - - - - 26.51 -
2719 487.5 -14.1 269 2720 done -1.09 - - 2470 - - - 2506 - -146.9 - - 2988 - - - - - - - - - - -
2842 505.5 -15.4 281 2849 roll -1.09 - - 2470 - 2.08 0.029 1105 -673.6 -146.9 - - 2987 - - - - - - - - - 26.36 -
2872 509.6 -15.1 283 2880 done -1.09 - - 2459 - 2.12 0.037 2501 658.5 -146.9 - - 2986 - - - - - - - - - 26.25 -
2998 530.2 -16.8 296 3004 roll -1.09 - - 2450 - 1.85 0.054 3675 634.6 -146.9 - - 2986 - - - - - - - - - 26.14 -
3045 537.9 -16.7 300 3051 done -1.09 - - 2450 - 1.73 0.026 2488 -686.1 -146.9 - - 2986 - - - - - - - - - 26.51 -
3179 560.0 -16.1 313 3186 roll -1.09 - - 2450 - 2.05 0.028 1102 -676.1 -146.9 - - 2985 - - - - - - - - - 26.38 -
3226 567.8 -16.2 317 3233 done -1.09 - - 2438 - 2.15 0.038 2507 653.5 -146.9 - - 2985 - - - - - - - - - 26.25 -
3363 590.7 -16.8 330 3370 done -1.09 - - 2439 - - - 2507 - -146.9 - - 2984 - - - - - - - - - - -
3492 612.0 -16.6 343 3493 done -1.09 - - 2439 - - - 2507 - -146.9 - - 2983 - - - - - - - - - - -
3675 642.3 -17.3 361 3680 roll -1.09 - - 2438 - 2.08 0.029 1109 -672.1 -146.9 - - 2982 - - - - - - - - - 26.37 -
3715 648.5 -16.5 364 3725 done -1.09 0.10 0.169 2454 160.0 2.15 0.037 2508 650.7 -146.9 - - 2982 - - - - - - - - 26.03 26.24 -
3904 677.6 -14.2 383 3905 done -1.09 - - 2454 - - - 2508 - -146.9 - - 2981 - - - - - - - - - - -
4086 702.2 -14.0 401 4092 roll -1.09 - - 2455 - 2.10 0.030 1104 -668.6 -146.9 - - 2980 - - - - - - - - - 26.36 -
4112 706.3 -14.8 403 4118 done -1.09 - - 2444 - 2.17 0.039 2509 647.5 -146.9 - - 2979 - - - - - - - - - 26.22 -
4308 736.4 -15.9 422 4314 roll -1.09 - - 2444 - 2.10 0.031 1104 -669.0 -146.9 - - 2978 - - - - - - - - - 26.34 -
4348 742.1 -16.1 425 4357 done -1.09 - - 2433 - 2.15 0.040 2501 649.8 -146.9 - - 2978 - - - - - - - - - 26.19 -
4536 775.3 -17.8 444 4542 roll -1.09 - - 2424 - 1.85 0.056 3671 632.4 -146.9 - - 2977 - - - - - - - - - 26.09 -
4596 786.8 -20.4 449 4602 done -1.09 0.12 0.150 2458 283.3 1.70 0.028 2509 -683.5 -146.9 - - 2977 - - - - - - - - 26.13 26.50 -
4791 820.6 -17.5 468 4797 roll -1.09 - - 2450 - 1.85 0.056 3671 628.1 -146.9 - - 2976 - - - - - - - - - 26.08 -
4810 823.2 -18.1 469 4818 done -1.09 - - 2450 - 1.73 0.027 2487 -684.4 -146.9 - - 2976 - - - - - - - - - 26.48 -
4998 853.7 -14.0 488 5004 roll -1.09 - - 2441 - 1.88 0.055 3667 627.7 -146.9 - - 2975 - - - - - - - - - 26.08 -
5045 860.6 -14.3 492 5051 done -1.09 - - 2441 - 1.73 0.028 2488 -681.5 -146.9 - - 2974 - - - - - - - - - 26.48 -
5160 end dive: TARGET_DEPTH_EXCEEDED
5160 begin apogee
5167 877.4 -15.0 503 5437 done -0.20 0.90 0.112 2738 330.0 - - 1989 - - 259.30 0.734 2376 -2.3 0.282 - - - - - - 25.65 - 24.18
5438 end apogee: CONTROL_FINISHED_OK
5438 begin climb
5441 891.9 - 524 5699 roll 1.34 1.38 0.047 3249 370.3 2.38 0.044 3412 597.9 146.9 244.57 0.720 1774 -2.5 0.312 - - - - - - 25.19 24.81 23.96
5943 839.5 19.2 567 5950 done 1.14 0.30 0.158 3177 -240.0 2.12 0.028 2007 -662.7 146.9 - - 1746 - - - - - - - - 25.51 26.01 -
6139 810.1 14.1 586 6145 roll 1.04 0.12 0.166 3138 -325.0 2.22 0.043 3417 635.1 146.9 - - 1743 - - - - - - - - 25.97 26.06 -
6391 775.0 14.2 609 6397 done 0.93 0.15 0.150 3108 -200.0 2.12 0.028 1995 -670.8 146.9 - - 1741 - - - - - - - - 25.94 26.30 -
6587 754.9 8.7 628 6594 roll 0.93 - - 3108 - 2.33 0.047 3416 609.9 160.0 2.58 0.301 1723 -7.0 1.788 - - - - - - - 26.21 24.30
6703 744.3 9.3 638 6712 done 0.87 - - 3119 - 2.12 0.029 1994 -670.8 164.0 2.15 0.152 1711 -5.6 2.793 - - - - - - - 26.36 24.23
6892 725.9 9.8 657 6900 done 0.82 0.15 0.151 3077 -280.0 - - 1994 - 164.0 - - 1712 - - - - - - - - 26.16 - -
7081 709.2 9.5 676 7088 roll 0.82 - - 3077 - 2.25 0.049 3418 632.9 164.8 - - 1715 - - - - - - - - - 26.17 -
7170 700.5 10.0 684 7177 done 0.79 - - 3087 - 2.12 0.030 1997 -670.3 164.8 - - 1716 - - - - - - - - - 26.39 -
7366 683.6 8.8 703 7426 roll 0.83 - - 3099 - 2.17 0.038 613 -637.8 177.0 48.65 0.558 1654 -1.3 0.160 - - - - 1 - - 25.94 24.70
7491 672.1 10.1 713 7499 done 0.83 - - 3098 - 2.15 0.032 2017 653.0 177.0 - - 1652 - - - - - - - - - 26.00 -
7677 652.6 9.7 732 7684 roll 0.83 - - 3098 - 2.20 0.049 3408 632.3 177.0 - - 1652 - - - - - - - - - 26.02 -
7787 640.4 11.4 742 7794 done 0.77 0.17 0.142 3059 -229.4 2.12 0.030 1997 -665.6 177.0 - - 1652 - - - - - - - - 25.86 26.25 -
7983 622.3 9.2 761 8009 roll 0.80 - - 3059 - 2.25 0.049 3401 624.0 183.6 16.38 0.656 1628 -1.5 0.142 - - - - - - - 26.09 25.22
8046 615.8 10.1 766 8052 done 0.80 - - 3069 - 2.12 0.029 1996 -662.7 183.6 - - 1625 - - - - - - - - - 26.17 -
8241 596.8 9.7 785 8242 done 0.80 - - 3069 - - - 1996 - 183.6 - - 1619 - - - - - - - - - - -
8363 585.4 9.3 797 8369 roll 0.81 - - 3069 - 2.22 0.049 3401 632.9 187.9 - - 1618 - - - - - - - - - 26.08 -
8400 581.6 10.1 800 8407 done 0.81 - - 3081 - 2.12 0.030 1993 -664.2 187.9 - - 1617 - - - - - - - - - 26.28 -
8535 567.2 10.5 813 8541 roll 0.81 - - 3092 - 2.12 0.040 609 -652.8 187.9 - - 1617 - - - - - - - - - 26.17 -
8596 561.0 11.2 818 8604 done 0.81 - - 3092 - 2.12 0.033 2008 659.9 187.9 - - 1617 - - - - - - - - - 26.24 -
8723 547.2 10.1 831 8729 roll 0.81 - - 3092 - 2.20 0.050 3401 633.2 187.9 - - 1616 - - - - - - - - - 26.11 -
8764 543.1 11.6 834 8773 done 0.81 0.12 0.148 3069 -191.7 2.10 0.031 2000 -667.1 187.9 - - 1617 - - - - - - - - 26.03 26.34 -
8892 530.9 8.9 847 8923 done 0.85 - - 3069 - - - 2002 - 198.0 26.20 0.618 1569 -1.8 0.161 - - - - - - - - 25.13
9043 517.4 9.0 862 9056 roll 0.88 - - 3069 - 2.28 0.049 3398 612.3 207.6 3.47 0.444 1531 -11.0 1.304 - - - - - - - 26.09 24.61
9107 511.0 10.4 867 9116 done 0.88 - - 3079 - 2.10 0.031 2003 -664.3 207.6 - - 1531 - - - - - - - - - 26.19 -
9235 498.0 10.0 880 9236 done 0.88 - - 3079 - - - 2002 - 207.6 - - 1531 - - - - - - - - - - -
9358 486.0 10.2 892 9364 roll 0.88 - - 3079 - 2.22 0.049 3401 630.2 207.6 - - 1532 - - - - - - - - - 26.06 -
9416 479.1 11.5 897 9422 done 0.88 - - 3090 - 2.12 0.030 1990 -665.6 207.6 - - 1533 - - - - - - - - - 26.29 -
9552 464.7 10.4 910 9559 done 0.88 - - 3091 - - - 1990 - 207.6 - - 1533 - - - - - - - - - - -
9681 451.7 9.5 923 9687 roll 0.89 - - 3091 - 2.25 0.049 3409 630.7 208.7 - - 1533 - - - - - - - - - 26.10 -
9728 446.7 10.6 927 9734 done 0.89 - - 3102 - 2.10 0.030 2001 -670.5 208.7 - - 1534 - - - - - - - - - 26.32 -
9863 433.4 10.1 940 9871 done 0.89 - - 3102 - - - 2001 - 208.7 - - 1534 - - - - - - - - - - -
9993 419.8 10.4 953 9999 roll 0.89 - - 3102 - 2.22 0.048 3407 633.3 208.7 - - 1534 - - - - - - - - - 26.12 -
10021 417.0 10.5 955 10029 done 0.89 - - 3113 - 2.10 0.031 2002 -669.0 208.7 - - 1535 - - - - - - - - - 26.34 -
10149 402.2 12.0 968 10156 done 0.89 - - 3113 - - - 2001 - 208.7 - - 1535 - - - - - - - - - - -
10278 386.5 11.6 981 10285 roll 0.89 - - 3114 - 2.22 0.048 3409 634.2 208.7 - - 1535 - - - - - - - - - 26.12 -
10337 379.2 13.1 986 10344 done 0.83 0.15 0.146 3081 -220.0 2.12 0.030 1993 -667.9 208.7 - - 1536 - - - - - - - - 25.97 26.36 -
10473 364.2 10.6 999 10480 roll 0.83 - - 3091 - 2.12 0.041 610 -652.4 208.7 - - 1535 - - - - - - - - - 26.19 -
10504 361.2 11.2 1001 10512 done 0.83 - - 3091 - 2.10 0.034 2000 661.9 208.7 - - 1536 - - - - - - - - - 26.27 -
10631 346.7 10.3 1014 10637 roll 0.83 - - 3091 - 2.20 0.049 3401 636.8 208.7 - - 1535 - - - - - - - - - 26.12 -
10718 336.7 11.4 1022 10724 done 0.83 - - 3103 - 2.10 0.030 1993 -670.5 208.7 - - 1536 - - - - - - - - - 26.38 -
10853 323.3 9.5 1035 10863 done 0.84 - - 3102 - - - 1993 - 210.9 2.95 0.318 1517 -6.4 0.669 - - - - - - - - 24.44
10984 312.0 8.7 1048 11023 done 0.89 - - 3103 - - - 1993 - 224.5 30.80 0.565 1452 -2.1 0.119 - - - - - - - - 25.15
11144 299.2 8.0 1064 11184 roll 0.98 - - 3113 - 2.22 0.040 612 -622.1 248.9 33.17 0.555 1361 -2.7 0.151 - - - - - - - 25.86 25.01
11213 293.3 9.2 1069 11223 done 1.00 - - 3113 - 2.15 0.033 2006 648.4 255.5 1.80 0.036 1333 -15.6 12.953 - - - - - - - 25.89 25.90
11342 279.0 11.0 1082 11348 roll 1.00 - - 3117 - 2.22 0.049 3406 630.6 255.5 - - 1332 - - - - - - - - - 25.89 -
11415 270.0 13.3 1088 11423 done 0.97 - - 3127 - 2.12 0.030 2000 -663.2 255.5 - - 1332 - - - - - - - - - 26.12 -
11541 253.6 12.2 1101 11547 roll 0.97 - - 3136 - 2.15 0.040 609 -647.0 255.5 - - 1332 - - - - - - - - - 26.04 -
11583 249.3 12.3 1104 11591 done 0.97 - - 3136 - 2.12 0.031 2010 660.8 255.5 - - 1332 - - - - - - - - - 26.13 -
11710 231.5 13.7 1117 11716 roll 0.93 - - 3135 - 2.20 0.047 3410 636.4 255.5 - - 1333 - - - - - - - - - 26.03 -
11891 206.4 13.6 1133 11901 done 0.88 0.17 0.137 3097 -223.5 2.12 0.029 1992 -668.9 255.5 - - 1333 - - - - - - - - 25.89 26.27 -
12020 192.0 9.8 1146 12026 roll 0.88 - - 3108 - 2.12 0.039 606 -653.8 255.5 - - 1333 - - - - - - - - - 26.15 -
12069 187.2 9.9 1150 12075 done 0.88 - - 3107 - 2.10 0.031 2002 664.8 255.5 - - 1333 - - - - - - - - - 26.23 -
12204 172.7 10.7 1163 12210 roll 0.88 - - 3119 - 2.15 0.038 608 -648.4 255.5 - - 1333 - - - - - - - - - 26.17 -
12241 169.0 10.5 1166 12247 done 0.88 - - 3119 - 2.10 0.031 2007 666.2 255.5 - - 1331 - - - - - - - - - 26.25 -
12377 154.7 10.5 1179 12383 roll 0.88 - - 3119 - 2.17 0.047 3400 641.9 255.5 - - 1333 - - - - - - - - - 26.11 -
12405 151.4 11.5 1181 12414 done 0.88 0.12 0.146 3095 -200.0 2.10 0.029 1988 -672.4 255.5 - - 1333 - - - - - - - - 26.04 26.34 -
12535 135.8 11.3 1194 12540 roll 0.88 - - 3106 - 2.10 0.038 609 -656.7 255.5 - - 1333 - - - - - - - - - 26.20 -
12604 127.1 12.6 1200 12610 done 0.88 - - 3106 - 2.10 0.031 2001 662.9 255.5 - - 1335 - - - - - - - - - 26.27 -
12739 112.3 9.8 1213 12745 roll 0.88 - - 3117 - 2.12 0.038 610 -656.1 255.5 - - 1333 - - - - - - - - - 26.20 -
12828 103.1 10.5 1221 12834 done 0.88 - - 3117 - 2.12 0.031 2007 659.0 255.5 - - 1333 - - - - - - - - - 26.29 -
12963 88.1 11.9 1234 12969 roll 0.88 - - 3117 - 2.17 0.047 3402 642.9 255.5 - - 1333 - - - - - - - - - 26.13 -
13075 74.9 11.0 1244 13082 done 0.88 0.12 0.144 3093 -200.0 2.08 0.028 1994 -676.9 255.5 - - 1335 - - - - - - - - 26.08 26.38 -
13211 63.9 8.3 1257 13253 roll 1.00 0.12 0.079 3193 833.3 2.20 0.039 609 -629.5 275.4 33.70 0.438 1250 -2.5 0.038 - - - - - - 26.60 26.15 25.29
13395 45.4 7.2 1279 13451 done 1.13 - - 3193 - 2.10 0.030 2002 663.3 312.2 49.53 0.426 1104 -2.9 0.032 - - - - - - - 26.17 25.14
13583 27.0 9.3 1310 13591 roll 1.14 - - 3193 - 2.22 0.046 3409 633.8 316.6 - - 1080 - - - - - - - - - 25.90 -
13627 22.0 12.0 1317 13636 done 1.11 0.15 0.139 3162 -206.7 2.10 0.028 2005 -668.6 316.6 - - 1080 - - - - - - - - 25.79 26.12 -
13770 8.1 10.2 1342 13777 roll 1.15 - - 3172 - 2.12 0.038 610 -658.0 316.6 - - 1078 - - - - - - - - - 26.06 -
13825 end climb: SURFACE_DEPTH_REACHED
13825 begin surface coast
13863 end surface coast: CONTROL_FINISHED_OK
13863 begin surface
SM 0.83 - - - - -8.26 7.82 0.030 111 14.2 2.97 0.037 2486 663.3 400.08 46.35 0.060 747 16.1 -0.023 - - - - - -