OKMC Apr12 * SG170 * Dive index * Mission links * Dive 113 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 25.52 of 146.00 AH used of 24V (82.52% remains)
• Previous NAKs 0, Timeouts 0 • 11.11 of 97.50 AH used of 10V (88.61% remains)
• Surface angle -74.3 deg, depth 2.02 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 652.99, SM_CC=652.74329)
• GPS1 time: 27 s
• GPS2 time: 15 s • Transponder ping count: 3
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 101 VBD -0.46 - - 136 - - - 2694 - -194.6 -81.18 - 2668 - - - - - - - - - - -
104 3.6 -3.1 8 147 roll -0.46 10.40 0.243 2640 240.8 1.60 0.073 3692 623.8 -194.6 -23.42 - 3925 -53.7 - - - - - - - 25.44 25.95 26.44
220 32.4 -20.0 19 226 done -0.39 0.10 0.162 2668 280.0 1.52 0.031 2656 -681.6 -194.6 - - 3927 - - - - - - - - 25.94 26.20 -
544 84.1 -12.6 40 550 roll -0.43 - - 2668 - 2.00 0.031 1287 -684.5 -194.6 - - 3930 - - - - - - - - - 26.27 -
631 86.5 -2.8 44 636 done -0.48 - - 2668 - 2.15 0.043 2672 644.2 -194.6 - - 3930 - - - - - - - - - 26.18 -
950 98.0 -7.4 60 956 roll -0.59 0.15 0.089 2600 -453.3 1.62 0.054 3704 637.0 -194.6 - - 3930 - - - - - - - - 26.42 26.22 -
1004 102.7 -9.6 62 1009 done -0.66 - - 2600 - 1.67 0.030 2554 -688.6 -194.6 - - 3930 - - - - - - - - - 26.46 -
1316 145.3 -10.2 78 1322 roll -0.66 - - 2600 - 1.85 0.028 1295 -680.5 -194.6 - - 3930 - - - - - - - - - 26.46 -
1382 150.6 -8.9 81 1388 done -0.66 - - 2600 - 1.95 0.041 2561 649.2 -194.6 - - 3930 - - - - - - - - - 26.33 -
1700 177.3 -9.7 97 1705 roll -0.66 - - 2600 - 1.80 0.056 3701 633.3 -194.6 - - 3929 - - - - - - - - - 26.29 -
1726 179.4 -9.5 98 1731 done -0.66 - - 2600 - 1.70 0.030 2524 -692.4 -194.6 - - 3929 - - - - - - - - - 26.56 -
2044 204.6 -6.8 114 2046 done -0.66 - - 2600 - - - 2524 - -194.6 - - 3928 - - - - - - - - - - -
2345 223.2 -6.8 129 2351 roll -0.68 - - 2600 - 1.77 0.031 1296 -693.8 -194.6 - - 3926 - - - - - - - - - 26.51 -
2369 225.0 -7.0 130 2375 done -0.69 - - 2600 - 1.98 0.044 2565 640.9 -194.6 - - 3926 - - - - - - - - - 26.37 -
2693 249.5 -7.7 146 2698 roll -0.71 - - 2600 - 1.88 0.031 1295 -675.5 -194.6 - - 3924 - - - - - - - - - 26.52 -
2747 253.0 -8.0 148 2753 done -0.73 0.12 0.089 2534 -550.0 1.95 0.044 2556 646.7 -194.6 - - 3924 - - - - - - - - 26.40 26.39 -
3061 302.0 -17.3 164 3063 done -0.67 0.17 0.141 2587 311.8 - - 2556 - -194.6 - - 3922 - - - - - - - - 26.32 - -
3361 341.5 -12.1 179 3367 roll -0.67 - - 2587 - 1.85 0.030 1286 -686.5 -194.6 - - 3919 - - - - - - - - - 26.53 -
3407 346.5 -11.6 181 3412 done -0.67 - - 2587 - 1.95 0.044 2550 648.2 -194.6 - - 3919 - - - - - - - - - 26.41 -
3725 376.2 -8.3 197 3731 roll -0.67 - - 2587 - 1.85 0.030 1292 -680.0 -194.6 - - 3918 - - - - - - - - - 26.53 -
3753 378.1 -8.1 198 3759 done -0.68 - - 2587 - 1.92 0.044 2536 647.9 -194.6 - - 3916 - - - - - - - - - 26.40 -
4071 395.3 -2.6 214 4076 roll -0.70 - - 2587 - 1.80 0.055 3696 644.4 -194.6 - - 3914 - - - - - - - - - 26.33 -
4108 395.9 -2.3 215 4115 done -0.72 - - 2587 - 1.73 0.033 2533 -672.3 -194.6 - - 3914 - - - - - - - - - 26.59 -
4414 401.8 -2.6 231 4419 roll -0.74 - - 2587 - 1.80 0.031 1299 -685.6 -194.6 - - 3911 - - - - - - - - - 26.53 -
4466 403.0 -3.0 233 4472 done -0.75 - - 2587 - 1.92 0.045 2538 645.3 -194.6 - - 3911 - - - - - - - - - 26.39 -
4780 420.3 -7.1 249 4782 done -0.77 0.12 0.092 2522 -541.7 - - 2538 - -194.6 - - 3908 - - - - - - - - 26.66 - -
5081 462.8 -16.2 264 5087 roll -0.71 0.12 0.152 2563 341.7 1.80 0.055 3692 641.1 -194.6 - - 3906 - - - - - - - - 26.40 26.30 -
5139 469.5 -15.8 266 5146 done -0.67 - - 2564 - 1.73 0.034 2553 -658.4 -194.6 - - 3907 - - - - - - - - - 26.58 -
5444 515.6 -14.8 282 5445 done -0.67 - - 2564 - - - 2553 - -194.6 - - 3904 - - - - - - - - - - -
5745 552.9 -10.8 297 5751 roll -0.67 - - 2564 - 1.85 0.030 1285 -685.4 -194.6 - - 3902 - - - - - - - - - 26.51 -
5791 557.3 -10.4 299 5796 done -0.67 - - 2564 - 1.98 0.045 2550 638.9 -194.6 - - 3902 - - - - - - - - - 26.36 -
6109 580.7 -6.0 315 6110 done -0.67 - - 2563 - - - 2550 - -194.6 - - 3901 - - - - - - - - - - -
6409 598.9 -6.7 330 6415 roll -0.67 - - 2564 - 1.80 0.057 3701 639.4 -194.6 - - 3899 - - - - - - - - - 26.27 -
6447 601.4 -7.3 332 6452 done -0.67 - - 2564 - 1.73 0.034 2546 -667.6 -194.6 - - 3898 - - - - - - - - - 26.57 -
6776 636.9 -12.2 343 6781 roll -0.67 - - 2564 - 1.83 0.031 1287 -688.0 -194.6 - - 3897 - - - - - - - - - 26.48 -
6833 641.3 -12.2 344 6840 done -0.67 - - 2564 - 1.95 0.045 2539 642.1 -194.6 - - 3896 - - - - - - - - - 26.34 -
7138 684.3 -12.8 355 7144 roll -0.67 - - 2564 - 1.85 0.032 1298 -670.8 -194.6 - - 3895 - - - - - - - - - 26.48 -
7171 688.3 -12.6 356 7176 done -0.67 - - 2564 - 1.92 0.047 2522 637.5 -194.6 - - 3895 - - - - - - - - - 26.32 -
7505 724.4 -10.2 367 7510 roll -0.67 - - 2564 - 1.83 0.032 1298 -668.9 -194.6 - - 3893 - - - - - - - - - 26.47 -
7541 727.8 -10.0 368 7546 done -0.67 - - 2564 - 1.90 0.047 2513 639.5 -194.6 - - 3893 - - - - - - - - - 26.32 -
7870 758.0 -8.6 379 7876 roll -0.67 - - 2563 - 1.85 0.058 3691 636.8 -194.6 - - 3891 - - - - - - - - - 26.21 -
7938 763.3 -8.4 381 7943 done -0.67 - - 2564 - 1.75 0.035 2533 -661.7 -194.6 - - 3891 - - - - - - - - - 26.53 -
8267 786.4 -6.4 392 8268 done -0.67 - - 2564 - - - 2532 - -194.6 - - 3890 - - - - - - - - - - -
8566 806.2 -6.9 402 8571 roll -0.67 - - 2565 - 1.83 0.032 1295 -676.0 -194.6 - - 3889 - - - - - - - - - 26.45 -
8623 808.6 -7.0 403 8630 done -0.67 - - 2564 - 1.90 0.047 2508 638.4 -194.6 - - 3889 - - - - - - - - - 26.29 -
8928 832.6 -7.4 414 8934 roll -0.67 - - 2564 - 1.90 0.059 3700 627.4 -194.6 - - 3887 - - - - - - - - - 26.17 -
8956 832.6 -7.4 414 8963 done -0.67 - - 2564 - 1.77 0.035 2524 -664.4 -194.6 - - 3887 - - - - - - - - - 26.52 -
9262 856.9 -7.2 425 9268 roll -0.67 - - 2564 - 1.80 0.033 1302 -678.9 -194.6 - - 3885 - - - - - - - - - 26.43 -
9315 859.5 -7.3 426 9320 done -0.67 - - 2563 - 1.88 0.047 2498 636.2 -194.6 - - 3885 - - - - - - - - - 26.26 -
9629 883.3 -6.9 437 9634 roll -0.68 - - 2564 - 1.90 0.060 3690 627.4 -194.6 - - 3885 - - - - - - - - - 26.13 -
9687 885.7 -6.9 438 9693 done -0.70 - - 2564 - 1.77 0.036 2518 -662.1 -194.6 - - 3884 - - - - - - - - - 26.49 -
9994 909.3 -7.3 449 9995 done -0.71 - - 2564 - - - 2518 - -194.6 - - 3883 - - - - - - - - - - -
10292 932.3 -8.0 459 10293 done -0.73 - - 2564 - - - 2518 - -194.6 - - 3882 - - - - - - - - - - -
10593 956.4 -8.0 469 10594 done -0.75 - - 2564 - - - 2518 - -194.6 - - 3882 - - - - - - - - - - -
10892 977.9 -6.8 479 10898 roll -0.76 - - 2564 - 1.83 0.034 1306 -662.3 -194.6 - - 3881 - - - - - - - - - 26.40 -
10919 977.9 -6.8 479 10926 done -0.78 - - 2564 - 1.90 0.048 2510 633.7 -194.6 - - 3881 - - - - - - - - - 26.20 -
11073 end dive: TARGET_DEPTH_EXCEEDED
11074 begin apogee
11080 990.1 -6.6 485 11244 roll -0.12 0.57 0.112 2758 340.4 - - 1949 - - 158.82 1.438 3121 -4.8 0.354 - - - - - - 25.79 - 23.27
11245 end apogee: CONTROL_FINISHED_OK
11246 begin climb
11248 995.5 - 490 11436 roll 0.46 0.55 0.060 2960 367.3 2.30 0.040 550 -608.3 194.6 178.60 1.395 2327 -4.4 0.341 - - - - - - 24.61 24.60 22.78
11454 987.3 7.3 497 11503 done 0.44 - - 2960 - 2.33 0.037 1939 596.1 240.7 43.08 1.343 2139 -4.4 0.345 - - - - - - - 24.36 22.94
11831 942.7 10.9 510 11832 done 0.42 - - 2960 - - - 1939 - 240.7 - - 2129 - - - - - - - - - - -
12132 914.6 9.0 520 12137 roll 0.39 0.12 0.155 2919 -341.7 2.28 0.051 3357 621.9 240.7 - - 2128 - - - - - - - - 25.96 25.97 -
12204 909.7 8.3 522 12225 done 0.39 - - 2926 - 2.15 0.033 1953 -653.0 255.1 12.77 1.252 2079 -3.8 0.300 - - - - - - - 26.15 24.57
12527 891.0 5.4 533 12634 roll 0.47 - - 2926 - 2.42 0.053 3340 573.1 364.3 97.53 1.359 1635 -4.6 0.321 - - - - - - - 24.70 23.61
12657 884.4 5.3 537 12770 done 0.57 0.17 0.073 3010 494.1 2.22 0.033 1955 -623.9 476.1 99.40 1.324 1179 -4.6 0.330 - - - - - - 25.11 25.13 23.23
13068 823.1 17.9 551 13074 roll 0.54 0.12 0.143 2979 -258.3 2.20 0.041 536 -645.0 476.1 - - 1176 - - - - - - - - 25.70 25.77 -
13150 813.8 16.5 553 13155 done 0.54 - - 2979 - 2.20 0.038 1941 638.6 476.1 - - 1175 - - - - - - - - - 25.89 -
13464 770.9 12.5 564 13469 roll 0.57 - - 2980 - 2.25 0.052 3352 627.1 476.1 - - 1174 - - - - - - - - - 26.04 -
13491 770.9 12.5 564 13498 done 0.60 - - 2981 - 2.17 0.034 1924 -658.1 476.1 - - 1174 - - - - - - - - - 26.17 -
13798 737.1 8.4 575 13812 roll 0.63 - - 2983 - 2.15 0.044 530 -648.4 484.9 8.18 1.089 1144 -3.7 0.267 - - - - - - - 26.10 24.81
13850 734.7 8.0 576 13879 done 0.68 0.12 0.090 3052 575.0 2.17 0.037 1928 644.2 507.4 21.70 1.219 1052 -4.2 0.275 - - - - - - 26.09 26.10 24.46
14193 681.2 15.7 588 14199 roll 0.62 0.15 0.148 3011 -273.3 2.15 0.039 537 -647.0 507.4 - - 1050 - - - - - - - - 25.90 26.02 -
14220 681.2 15.7 588 14229 done 0.56 0.12 0.129 2973 -316.7 2.12 0.037 1907 646.2 507.4 - - 1050 - - - - - - - - 25.93 26.06 -
14528 662.1 4.9 599 14653 roll 0.70 0.12 0.089 3050 641.7 2.42 0.050 3351 596.7 634.0 116.15 1.213 536 -4.4 0.260 - - - - - - 26.32 24.70 23.72
14683 642.5 13.8 604 14690 done 0.67 0.12 0.145 3016 -283.3 2.28 0.033 1921 -627.2 634.0 - - 535 - - - - - - - - 25.02 25.14 -
15013 610.1 10.9 615 15018 roll 0.72 - - 3020 - 2.12 0.041 535 -653.8 634.0 - - 533 - - - - - - - - - 25.91 -
15079 602.4 11.9 617 15085 done 0.78 - - 3020 - 2.12 0.035 1910 648.6 634.0 - - 533 - - - - - - - - - 25.98 -
15388 563.1 12.7 632 15390 done 0.84 0.15 0.080 3095 500.0 - - 1911 - 634.0 - - 532 - - - - - - - - 26.27 - -
15687 493.2 22.7 647 15694 roll 0.77 0.15 0.150 3051 -293.3 2.12 0.041 530 -651.4 634.0 - - 532 - - - - - - - - 26.08 26.20 -
15736 486.1 19.2 649 15741 done 0.74 - - 3051 - 2.08 0.036 1885 651.4 634.0 - - 532 - - - - - - - - - 26.25 -
16053 448.5 10.6 665 16058 roll 0.74 - - 3051 - 2.30 0.051 3341 633.0 634.0 - - 531 - - - - - - - - - 26.20 -
16069 448.5 10.6 665 16076 done 0.74 - - 3051 - 2.25 0.033 1868 -654.7 634.0 - - 531 - - - - - - - - - 26.34 -
16376 405.4 16.2 681 16381 roll 0.74 - - 3051 - 2.03 0.042 536 -656.2 634.0 - - 530 - - - - - - - - - 26.29 -
16443 395.2 16.5 684 16448 done 0.78 - - 3051 - 2.03 0.035 1870 657.1 634.0 - - 531 - - - - - - - - - 26.34 -
16761 341.9 16.1 700 16766 roll 0.81 - - 3051 - 2.33 0.050 3346 633.5 634.0 - - 531 - - - - - - - - - 26.25 -
16784 338.1 16.0 701 16790 done 0.83 - - 3051 - 2.28 0.032 1846 -657.9 634.0 - - 531 - - - - - - - - - 26.40 -
17108 296.5 10.5 717 17113 roll 0.86 - - 3051 - 1.98 0.042 531 -664.1 634.0 - - 530 - - - - - - - - - 26.33 -
17151 293.0 8.8 719 17158 done 0.91 0.12 0.090 3120 575.0 2.03 0.034 1865 657.1 634.0 - - 530 - - - - - - - - 26.34 26.38 -
17476 242.2 14.3 735 17482 roll 0.84 0.15 0.150 3079 -273.3 2.03 0.039 532 -656.7 634.0 - - 531 - - - - - - - - 26.26 26.35 -
17503 239.0 13.9 736 17509 done 0.79 - - 3079 - 1.98 0.037 1834 657.6 634.0 - - 530 - - - - - - - - - 26.36 -
17821 207.9 11.7 752 17826 roll 0.79 - - 3079 - 2.35 0.050 3345 643.0 634.0 - - 530 - - - - - - - - - 26.27 -
17858 204.9 12.3 753 17865 done 0.79 - - 3079 - 2.28 0.032 1828 -665.4 634.0 - - 530 - - - - - - - - - 26.44 -
18165 142.4 20.8 769 18171 roll 0.81 - - 3079 - 1.92 0.041 535 -673.4 634.0 - - 529 - - - - - - - - - 26.36 -
18202 137.7 20.2 770 18210 done 0.83 - - 3079 - 1.95 0.034 1833 665.6 634.0 - - 530 - - - - - - - - - 26.41 -
18508 90.7 12.4 786 18515 roll 0.89 - - 3079 - 2.35 0.047 3343 642.6 634.0 - - 530 - - - - - - - - - 26.29 -
18536 88.0 11.8 787 18541 done 0.95 - - 3079 - 2.28 0.031 1816 -669.7 634.0 - - 530 - - - - - - - - - 26.47 -
18854 72.9 2.2 803 18889 roll 1.16 0.22 0.066 3196 531.8 1.98 0.042 538 -645.5 849.6 21.35 0.701 459 -3.3 0.037 - - - - 1 - 26.55 26.22 25.25
18917 65.4 9.9 806 18923 done 1.18 - - 3195 - 1.98 0.035 1826 650.5 849.6 - - 461 - - - - - - - - - 26.20 -
19230 17.2 12.7 832 19231 done 1.20 - - 3196 - - - 1827 - 849.6 - - 459 - - - - - - - - - - -
19379 end climb: SURFACE_DEPTH_REACHED
19379 begin surface coast
19410 end surface coast: CONTROL_FINISHED_OK
19410 begin surface
SM 2.06 - - - - -8.28 7.93 0.044 135 -386.0 1.35 0.047 2686 636.3 652.99 - - 459 - - - - - - - -