OKMC Apr12 * SG170 * Dive index * Mission links * Dive 120 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 27.33 of 146.00 AH used of 24V (81.28% remains)
• Previous NAKs 0, Timeouts 0 • 11.97 of 97.50 AH used of 10V (87.72% remains)
• Surface angle -75.7 deg, depth 1.99 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: 28 s
• GPS2 time: 17 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 101 VBD -0.46 - - 133 - - - 2654 - -194.6 -81.62 - 2704 - - - - - - - - - - -
104 3.6 -3.5 8 147 roll -0.46 10.55 0.247 2641 237.7 1.70 0.075 3675 600.6 -194.6 -22.17 - 3926 -55.1 - - - - - - - 25.42 25.95 26.44
191 28.3 -24.7 16 197 done -0.36 0.10 0.121 2679 380.0 1.48 0.030 2698 -660.1 -194.6 - - 3928 - - - - - - - - 25.88 26.20 -
515 53.9 -5.6 45 521 roll -0.38 - - 2679 - 2.08 0.030 1290 -676.9 -194.6 - - 3930 - - - - - - - - - 26.28 -
629 62.6 -8.5 50 634 done -0.42 - - 2679 - 2.10 0.043 2644 644.8 -194.6 - - 3930 - - - - - - - - - 26.21 -
942 80.8 -2.8 66 944 done -0.59 0.20 0.076 2596 -415.0 - - 2644 - -194.6 - - 3932 - - - - - - - - 26.42 - -
1243 113.8 -10.7 81 1248 roll -0.63 - - 2596 - 2.03 0.029 1274 -674.9 -194.6 - - 3931 - - - - - - - - - 26.46 -
1328 120.7 -8.1 85 1333 done -0.64 - - 2596 - 2.10 0.042 2644 652.4 -194.6 - - 3932 - - - - - - - - - 26.34 -
1650 146.4 -7.5 101 1656 roll -0.64 - - 2596 - 1.65 0.057 3701 640.6 -194.6 - - 3931 - - - - - - - - - 26.32 -
1688 149.1 -8.9 102 1694 done -0.64 - - 2596 - 1.55 0.030 2628 -692.3 -194.6 - - 3931 - - - - - - - - - 26.57 -
1994 205.1 -17.3 118 1999 roll -0.64 - - 2596 - 1.95 0.030 1285 -688.7 -194.6 - - 3930 - - - - - - - - - 26.51 -
2071 214.7 -15.9 121 2078 done -0.64 - - 2596 - 2.10 0.045 2659 654.3 -194.6 - - 3929 - - - - - - - - - 26.39 -
2376 247.0 -8.5 137 2382 roll -0.64 - - 2596 - 2.03 0.030 1277 -680.8 -194.6 - - 3928 - - - - - - - - - 26.52 -
2428 250.5 -8.2 139 2435 done -0.64 - - 2595 - 2.10 0.044 2648 652.9 -194.6 - - 3927 - - - - - - - - - 26.39 -
2743 272.8 -6.6 155 2748 roll -0.66 - - 2596 - 2.03 0.029 1273 -677.3 -194.6 - - 3926 - - - - - - - - - 26.53 -
2811 276.7 -6.0 158 2816 done -0.68 - - 2596 - 2.08 0.044 2616 645.7 -194.6 - - 3925 - - - - - - - - - 26.41 -
3129 306.3 -11.7 174 3130 done -0.70 - - 2596 - - - 2616 - -194.6 - - 3923 - - - - - - - - - - -
3429 340.4 -9.8 189 3434 roll -0.72 - - 2595 - 1.98 0.030 1278 -675.8 -194.6 - - 3922 - - - - - - - - - 26.54 -
3506 345.9 -9.0 192 3513 done -0.75 0.12 0.092 2531 -533.3 2.05 0.044 2615 652.2 -194.6 - - 3921 - - - - - - - - 26.41 26.40 -
3812 383.9 -13.3 208 3814 done -0.70 0.15 0.146 2575 293.3 - - 2616 - -194.6 - - 3917 - - - - - - - - 26.39 - -
4114 420.0 -12.3 223 4119 roll -0.70 - - 2575 - 1.95 0.031 1284 -683.1 -194.6 - - 3915 - - - - - - - - - 26.53 -
4246 433.8 -10.5 229 4251 done -0.72 - - 2576 - 2.00 0.045 2585 650.5 -194.6 - - 3914 - - - - - - - - - 26.39 -
4559 462.2 -8.4 245 4560 done -0.72 - - 2575 - - - 2585 - -194.6 - - 3913 - - - - - - - - - - -
4860 485.6 -7.7 260 4865 roll -0.72 - - 2575 - 1.75 0.058 3701 637.7 -194.6 - - 3910 - - - - - - - - - 26.32 -
4892 487.7 -8.0 261 4897 done -0.72 - - 2575 - 1.67 0.033 2574 -674.9 -194.6 - - 3910 - - - - - - - - - 26.60 -
5204 518.9 -10.5 277 5209 roll -0.72 - - 2575 - 1.90 0.031 1283 -679.5 -194.6 - - 3908 - - - - - - - - - 26.52 -
5271 525.4 -10.5 280 5276 done -0.73 - - 2575 - 2.00 0.045 2565 641.0 -194.6 - - 3907 - - - - - - - - - 26.37 -
5589 560.3 -11.3 296 5594 roll -0.74 - - 2576 - 1.80 0.058 3701 631.1 -194.6 - - 3905 - - - - - - - - - 26.30 -
5632 565.7 -11.8 298 5637 done -0.76 - - 2575 - 1.70 0.034 2568 -666.5 -194.6 - - 3905 - - - - - - - - - 26.58 -
5965 604.6 -10.4 314 5971 roll -0.76 - - 2575 - 1.90 0.031 1273 -681.6 -194.6 - - 3903 - - - - - - - - - 26.51 -
6012 607.8 -10.1 315 6017 done -0.76 - - 2575 - 2.00 0.046 2566 646.5 -194.6 - - 3902 - - - - - - - - - 26.35 -
6331 626.3 -3.6 326 6337 roll -0.78 - - 2575 - 1.90 0.031 1286 -673.7 -194.6 - - 3901 - - - - - - - - - 26.51 -
6359 626.3 -3.6 326 6365 done -0.79 - - 2575 - 1.98 0.045 2562 644.4 -194.6 - - 3901 - - - - - - - - - 26.35 -
6665 643.1 -6.8 337 6671 roll -0.80 0.12 0.092 2502 -608.3 1.77 0.057 3692 638.4 -194.6 - - 3899 - - - - - - - - 26.65 26.27 -
6699 646.7 -7.9 338 6706 done -0.80 0.15 0.145 2546 293.3 1.70 0.034 2550 -671.8 -194.6 - - 3898 - - - - - - - - 26.19 26.56 -
7034 678.0 -8.9 349 7040 roll -0.78 - - 2547 - 1.85 0.031 1274 -689.7 -194.6 - - 3897 - - - - - - - - - 26.51 -
7077 680.9 -8.9 350 7083 done -0.76 - - 2547 - 2.00 0.047 2561 643.5 -194.6 - - 3897 - - - - - - - - - 26.32 -
7402 705.7 -7.3 361 7407 roll -0.75 - - 2547 - 1.77 0.059 3690 637.9 -194.6 - - 3895 - - - - - - - - - 26.24 -
7474 710.6 -7.4 363 7480 done -0.75 - - 2547 - 1.70 0.034 2576 -655.3 -194.6 - - 3895 - - - - - - - - - 26.55 -
7799 743.0 -10.7 374 7804 roll -0.75 - - 2547 - 1.88 0.031 1287 -685.6 -194.6 - - 3893 - - - - - - - - - 26.49 -
7855 746.8 -11.0 375 7862 done -0.75 - - 2547 - 2.00 0.046 2561 637.0 -194.6 - - 3893 - - - - - - - - - 26.30 -
8161 786.4 -12.4 386 8162 done -0.75 - - 2547 - - - 2561 - -194.6 - - 3892 - - - - - - - - - - -
8461 822.7 -12.0 396 8466 roll -0.75 - - 2547 - 1.77 0.060 3690 637.9 -194.6 - - 3890 - - - - - - - - - 26.21 -
8512 826.7 -12.0 397 8518 done -0.75 - - 2547 - 1.67 0.036 2568 -671.9 -194.6 - - 3890 - - - - - - - - - 26.52 -
8825 862.4 -10.1 408 8831 roll -0.75 - - 2547 - 1.90 0.032 1284 -675.8 -194.6 - - 3888 - - - - - - - - - 26.46 -
8858 865.6 -9.8 409 8863 done -0.75 - - 2547 - 2.03 0.047 2564 630.5 -194.6 - - 3889 - - - - - - - - - 26.27 -
9192 889.7 -6.1 420 9194 done -0.75 - - 2547 - - - 2564 - -194.6 - - 3888 - - - - - - - - - - -
9491 906.2 -5.5 430 9497 roll -0.75 - - 2547 - 1.92 0.032 1276 -670.8 -194.6 - - 3886 - - - - - - - - - 26.44 -
9540 908.2 -5.5 431 9545 done -0.75 - - 2547 - 2.00 0.047 2558 641.0 -194.6 - - 3886 - - - - - - - - - 26.25 -
9858 927.9 -6.8 442 9859 done -0.75 - - 2547 - - - 2558 - -194.6 - - 3885 - - - - - - - - - - -
10157 953.8 -9.0 452 10163 roll -0.75 - - 2547 - 1.90 0.031 1290 -667.4 -194.6 - - 3884 - - - - - - - - - 26.44 -
10209 956.9 -9.0 453 10214 done -0.75 - - 2547 - 1.98 0.047 2556 639.4 -194.6 - - 3883 - - - - - - - - - 26.23 -
10523 986.9 -8.5 464 10524 done -0.75 - - 2547 - - - 2556 - -194.6 - - 3882 - - - - - - - - - - -
10580 end dive: TARGET_DEPTH_EXCEEDED
10580 begin apogee
10585 992.0 -8.5 466 10750 roll -0.12 0.60 0.109 2753 343.3 - - 1932 - - 157.25 1.437 3121 -4.8 0.358 - - - - - - 25.85 - 23.39
10752 end apogee: CONTROL_FINISHED_OK
10752 begin climb
10754 997.9 - 471 10942 roll 0.46 0.57 0.060 2965 371.9 2.25 0.038 556 -611.6 194.6 177.48 1.396 2327 -4.5 0.343 - - - - - - 24.68 24.68 22.89
11125 968.4 11.2 484 11131 done 0.44 - - 2965 - 2.22 0.037 1947 626.6 194.6 - - 2318 - - - - - - - - - 25.49 -
11459 932.7 10.1 495 11465 roll 0.40 0.12 0.155 2925 -333.3 2.25 0.050 3349 623.1 194.6 - - 2316 - - - - - - - - 25.93 25.95 -
11512 929.5 9.8 496 11518 done 0.36 - - 2928 - 2.15 0.033 1955 -648.4 194.6 - - 2314 - - - - - - - - - 26.11 -
11827 906.8 6.6 507 11891 done 0.40 - - 2928 - - - 1956 - 265.0 61.65 1.364 2040 -4.4 0.317 - - - - - - - - 23.93
12187 877.8 8.3 519 12205 roll 0.43 - - 2928 - 2.33 0.054 3340 594.0 276.5 10.62 1.204 1992 -4.5 0.353 - - - - - - - 25.73 24.51
12249 872.2 8.6 521 12259 done 0.45 - - 2929 - 2.17 0.033 1949 -641.0 280.3 4.55 0.900 1978 -3.1 0.319 - - - - - - - 25.89 24.35
12582 839.2 11.1 532 12584 done 0.48 - - 2931 - - - 1947 - 280.3 - - 1976 - - - - - - - - - - -
12882 803.1 12.0 542 12888 roll 0.51 0.10 0.108 2986 550.0 2.28 0.051 3349 614.9 280.3 - - 1975 - - - - - - - - 26.36 26.12 -
12919 798.2 12.4 543 12925 done 0.52 - - 2986 - 2.12 0.033 1953 -658.5 280.3 - - 1975 - - - - - - - - - 26.27 -
13249 756.3 10.9 554 13254 roll 0.49 - - 2994 - 2.17 0.043 536 -653.0 280.3 - - 1974 - - - - - - - - - 26.25 -
13282 752.5 10.8 555 13288 done 0.46 0.15 0.141 2951 -286.7 2.20 0.039 1965 649.5 280.3 - - 1973 - - - - - - - - 26.05 26.27 -
13615 726.3 7.7 566 13650 roll 0.48 - - 2950 - 2.25 0.054 3341 611.6 311.8 28.27 1.252 1849 -4.4 0.273 - - - - - - - 25.69 24.58
13687 721.1 8.1 568 13713 done 0.49 - - 2955 - 2.17 0.032 1950 -641.0 331.2 18.40 1.200 1769 -4.3 0.280 - - - - - - - 25.84 24.32
14042 690.4 8.0 580 14071 roll 0.53 - - 2955 - 2.30 0.043 532 -616.5 352.6 19.23 1.191 1682 -4.5 0.281 - - - - - - - 25.63 24.51
14083 687.9 8.2 581 14105 done 0.56 - - 2955 - 2.28 0.038 1968 629.8 368.7 15.60 1.154 1618 -4.1 0.262 - - - - - - - 25.69 24.30
14405 659.8 8.9 592 14411 roll 0.61 0.12 0.093 3030 625.0 2.20 0.050 3349 627.7 368.7 - - 1615 - - - - - - - - 26.10 25.92 -
14452 655.1 10.0 593 14459 done 0.63 0.12 0.161 3002 -233.3 2.15 0.033 1957 -647.4 368.7 - - 1615 - - - - - - - - 25.84 26.07 -
14773 607.8 14.5 604 14779 roll 0.61 - - 3010 - 2.20 0.042 532 -647.7 368.7 - - 1613 - - - - - - - - - 26.14 -
14856 595.3 14.9 607 14862 done 0.61 - - 3010 - 2.22 0.037 1965 645.5 368.7 - - 1612 - - - - - - - - - 26.19 -
15179 546.5 15.5 623 15185 roll 0.59 - - 3010 - 2.20 0.041 537 -649.1 368.7 - - 1612 - - - - - - - - - 26.23 -
15203 543.1 15.2 624 15209 done 0.57 - - 3011 - 2.20 0.037 1956 645.0 368.7 - - 1612 - - - - - - - - - 26.25 -
15526 495.4 13.2 640 15528 done 0.55 0.12 0.151 2974 -308.3 - - 1957 - 368.7 - - 1612 - - - - - - - - 26.27 - -
15827 469.7 7.4 655 15871 roll 0.60 - - 2974 - 2.28 0.052 3335 604.4 411.3 36.22 1.088 1444 -4.6 0.214 - - - - - - - 25.64 24.63
15892 465.5 7.0 658 15949 done 0.67 0.12 0.088 3039 541.7 2.20 0.032 1929 -639.1 467.7 48.97 1.071 1214 -4.7 0.219 - - - - - - 25.72 25.77 24.12
16249 420.1 14.1 676 16254 roll 0.65 - - 3045 - 2.15 0.041 542 -645.1 467.7 - - 1209 - - - - - - - - - 25.90 -
16294 414.1 14.0 678 16300 done 0.65 0.12 0.135 3007 -316.7 2.17 0.037 1936 642.4 467.7 - - 1208 - - - - - - - - 25.82 25.96 -
16613 377.2 11.3 694 16619 roll 0.68 - - 3007 - 2.25 0.051 3348 627.6 467.7 - - 1208 - - - - - - - - - 26.05 -
16641 374.5 11.3 695 16646 done 0.71 - - 3008 - 2.15 0.032 1930 -659.5 467.7 - - 1208 - - - - - - - - - 26.21 -
16959 338.0 11.9 711 16964 roll 0.75 - - 3009 - 2.12 0.041 544 -653.8 467.7 - - 1207 - - - - - - - - - 26.19 -
17001 333.0 11.8 713 17007 done 0.80 0.15 0.081 3086 513.3 2.15 0.035 1940 649.3 467.7 - - 1207 - - - - - - - - 26.23 26.24 -
17325 267.2 21.1 729 17330 roll 0.73 0.15 0.153 3037 -326.7 2.15 0.041 543 -649.8 467.7 - - 1207 - - - - - - - - 26.13 26.24 -
17363 263.1 20.3 730 17369 done 0.69 - - 3038 - 2.10 0.037 1913 652.4 467.7 - - 1206 - - - - - - - - - 26.28 -
17668 224.1 12.4 746 17673 roll 0.69 - - 3038 - 2.28 0.051 3351 630.7 467.7 - - 1206 - - - - - - - - - 26.20 -
17694 220.7 13.6 747 17699 done 0.69 - - 3037 - 2.22 0.032 1894 -656.3 467.7 - - 1206 - - - - - - - - - 26.38 -
18012 187.5 6.9 763 18061 done 0.74 - - 3038 - - - 1894 - 525.9 47.03 0.880 977 -4.9 0.111 - - - - - - - - 24.73
18352 154.4 6.4 780 18418 done 0.84 - - 3038 - - - 1894 - 602.0 63.62 0.843 666 -4.9 0.096 - - - - - - - - 24.41
18712 129.8 10.4 798 18718 roll 0.92 0.15 0.081 3120 546.7 2.35 0.047 3342 616.2 602.0 - - 663 - - - - - - - - 26.06 25.86 -
18737 126.3 11.6 799 18742 done 0.99 - - 3120 - 2.22 0.031 1884 -656.8 602.0 - - 663 - - - - - - - - - 26.01 -
19059 81.8 4.0 815 19120 roll 1.08 - - 3120 - 2.45 0.048 3340 594.3 759.0 50.25 0.752 459 -4.1 0.047 - - - - 1 - - 25.51 24.77
19133 77.0 7.3 818 19140 done 1.14 0.15 0.079 3190 466.7 2.25 0.031 1888 -645.3 803.9 - - 460 - - - - - - - - 25.62 25.64 -
19448 33.5 5.6 843 19453 roll 1.25 - - 3190 - 2.08 0.042 539 -648.6 906.3 - - 460 - - - - - - - - - 26.00 -
19486 31.9 4.7 846 19493 done 1.39 0.17 0.072 3281 535.3 2.10 0.033 1916 655.7 1041.2 - - 459 - - - - - - - - 26.06 26.07 -
19659 end climb: SURFACE_DEPTH_REACHED
19659 begin surface coast
19670 end surface coast: CONTROL_FINISHED_OK
19670 begin surface
SM 1.95 - - - - -8.27 8.20 0.046 138 -383.3 1.20 0.043 2687 642.5 652.99 - - 459 - - - - - - - -