OKMC Apr12 * SG170 * Dive index * Mission links * Dive 123 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 28.08 of 146.00 AH used of 24V (80.77% remains)
• Previous NAKs 0, Timeouts 0 • 12.39 of 97.50 AH used of 10V (87.30% remains)
• Surface angle -74.3 deg, depth 2.04 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 652.74, SM_CC=652.74329)
• GPS1 time: 37 s
• GPS2 time: 19 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 102 VBD -0.46 - - 138 - - - 2693 - -194.6 -81.85 - 2707 - - - - - - - - - - -
105 3.5 -3.4 8 148 roll -0.46 10.45 0.245 2640 239.4 1.62 0.075 3694 617.9 -194.6 -23.55 - 3927 -51.8 - - - - - - - 25.41 25.92 26.42
272 45.7 -21.7 24 277 done -0.42 - - 2640 - 1.52 0.030 2655 -683.6 -194.6 - - 3928 - - - - - - - - - 26.25 -
595 74.7 -6.9 42 601 roll -0.43 - - 2640 - 2.00 0.031 1295 -680.0 -194.6 - - 3929 - - - - - - - - - 26.30 -
659 79.8 -7.8 45 665 done -0.45 - - 2640 - 2.22 0.045 2709 636.9 -194.6 - - 3929 - - - - - - - - - 26.20 -
983 104.2 -12.9 61 988 roll -0.49 - - 2640 - 2.10 0.031 1302 -670.0 -194.6 - - 3930 - - - - - - - - - 26.39 -
1015 106.9 -12.6 62 1020 done -0.53 - - 2640 - 2.17 0.046 2708 647.9 -194.6 - - 3930 - - - - - - - - - 26.27 -
1328 125.4 -6.3 78 1333 roll -0.57 - - 2640 - 2.10 0.035 1304 -668.6 -194.6 - - 3930 - - - - - - - - - 26.41 -
1397 130.4 -7.7 81 1403 done -0.62 0.12 0.085 2566 -616.7 2.10 0.045 2672 651.4 -194.6 - - 3929 - - - - - - - - 26.36 26.33 -
1716 171.5 -11.5 97 1721 roll -0.58 0.12 0.148 2607 341.7 1.60 0.054 3704 645.0 -194.6 - - 3927 - - - - - - - - 26.35 26.33 -
1740 174.1 -11.7 98 1745 done -0.56 - - 2607 - 1.55 0.031 2669 -667.7 -194.6 - - 3927 - - - - - - - - - 26.56 -
2063 204.9 -7.7 114 2069 roll -0.57 - - 2607 - 2.03 0.030 1287 -680.8 -194.6 - - 3926 - - - - - - - - - 26.49 -
2162 211.4 -7.7 118 2169 done -0.60 - - 2607 - 2.10 0.045 2642 645.2 -194.6 - - 3926 - - - - - - - - - 26.39 -
2468 237.5 -8.7 134 2473 roll -0.63 - - 2607 - 2.00 0.031 1293 -674.5 -194.6 - - 3924 - - - - - - - - - 26.51 -
2491 239.8 -8.9 135 2496 done -0.65 - - 2607 - 2.05 0.046 2624 649.3 -194.6 - - 3923 - - - - - - - - - 26.39 -
2814 274.7 -11.7 151 2819 roll -0.68 - - 2607 - 1.98 0.030 1293 -672.2 -194.6 - - 3922 - - - - - - - - - 26.51 -
2865 279.8 -11.8 153 2872 done -0.71 0.12 0.091 2541 -550.0 2.03 0.047 2609 648.3 -194.6 - - 3921 - - - - - - - - 26.40 26.39 -
3180 325.2 -12.0 169 3186 roll -0.66 0.12 0.149 2581 333.3 1.70 0.056 3699 641.2 -194.6 - - 3919 - - - - - - - - 26.41 26.34 -
3274 332.2 -8.2 173 3279 done -0.66 - - 2581 - 1.60 0.031 2622 -673.1 -194.6 - - 3917 - - - - - - - - - 26.61 -
3587 357.8 -8.4 189 3593 roll -0.66 - - 2581 - 1.95 0.031 1291 -682.6 -194.6 - - 3916 - - - - - - - - - 26.52 -
3614 359.8 -8.3 190 3619 done -0.66 - - 2581 - 2.08 0.047 2636 646.6 -194.6 - - 3916 - - - - - - - - - 26.39 -
3932 380.2 -5.2 206 3933 done -0.66 - - 2581 - - - 2637 - -194.6 - - 3914 - - - - - - - - - - -
4232 398.5 -7.1 221 4237 roll -0.66 - - 2581 - 2.00 0.032 1293 -672.0 -194.6 - - 3911 - - - - - - - - - 26.51 -
4310 403.4 -7.7 224 4317 done -0.68 - - 2581 - 2.05 0.044 2628 651.2 -194.6 - - 3911 - - - - - - - - - 26.39 -
4616 434.7 -10.5 240 4621 roll -0.69 - - 2581 - 2.00 0.031 1285 -671.5 -194.6 - - 3909 - - - - - - - - - 26.51 -
4659 439.2 -10.3 242 4665 done -0.70 - - 2581 - 2.05 0.044 2611 646.8 -194.6 - - 3908 - - - - - - - - - 26.39 -
4982 468.3 -8.3 258 4984 done -0.72 - - 2581 - - - 2611 - -194.6 - - 3906 - - - - - - - - - - -
5284 490.0 -7.3 273 5289 roll -0.73 - - 2581 - 1.98 0.031 1288 -668.2 -194.6 - - 3904 - - - - - - - - - 26.51 -
5388 497.7 -7.2 278 5393 done -0.76 - - 2581 - 2.03 0.044 2602 647.3 -194.6 - - 3903 - - - - - - - - - 26.39 -
5711 521.3 -7.7 294 5716 roll -0.78 - - 2581 - 1.92 0.031 1296 -680.2 -194.6 - - 3902 - - - - - - - - - 26.51 -
5764 524.8 -7.8 296 5771 done -0.80 0.12 0.093 2519 -516.7 2.03 0.045 2595 639.9 -194.6 - - 3901 - - - - - - - - 26.37 26.36 -
6079 564.1 -12.4 312 6085 roll -0.75 0.12 0.155 2561 350.0 1.73 0.056 3694 635.3 -194.6 - - 3899 - - - - - - - - 26.41 26.29 -
6153 570.6 -10.6 315 6158 done -0.73 - - 2561 - 1.65 0.034 2596 -665.5 -194.6 - - 3898 - - - - - - - - - 26.56 -
6466 597.7 -8.3 331 6472 roll -0.73 - - 2562 - 1.90 0.031 1294 -685.3 -194.6 - - 3897 - - - - - - - - - 26.48 -
6545 603.0 -8.3 334 6550 done -0.73 - - 2561 - 2.03 0.047 2585 636.0 -194.6 - - 3896 - - - - - - - - - 26.34 -
6862 636.1 -10.9 345 6868 roll -0.73 - - 2561 - 1.92 0.032 1289 -675.0 -194.6 - - 3895 - - - - - - - - - 26.48 -
6911 639.9 -11.0 346 6916 done -0.73 - - 2562 - 2.00 0.046 2578 644.5 -194.6 - - 3895 - - - - - - - - - 26.34 -
7228 675.9 -10.4 357 7233 roll -0.73 - - 2562 - 1.92 0.032 1292 -669.8 -194.6 - - 3893 - - - - - - - - - 26.47 -
7271 679.2 -10.3 358 7276 done -0.73 - - 2562 - 1.98 0.047 2566 643.4 -194.6 - - 3893 - - - - - - - - - 26.32 -
7594 708.5 -8.4 369 7596 done -0.73 - - 2562 - - - 2567 - -194.6 - - 3890 - - - - - - - - - - -
7893 733.0 -8.1 379 7898 roll -0.73 - - 2562 - 1.92 0.034 1290 -665.1 -194.6 - - 3889 - - - - - - - - - 26.45 -
7926 735.8 -8.2 380 7932 done -0.73 - - 2561 - 2.00 0.047 2568 639.0 -194.6 - - 3889 - - - - - - - - - 26.30 -
8260 764.6 -8.9 391 8266 roll -0.73 - - 2560 - 1.92 0.034 1291 -665.1 -194.6 - - 3888 - - - - - - - - - 26.44 -
8308 767.7 -9.0 392 8313 done -0.73 - - 2562 - 1.98 0.047 2561 641.4 -194.6 - - 3888 - - - - - - - - - 26.29 -
8627 798.3 -9.0 403 8632 roll -0.75 - - 2561 - 1.90 0.033 1298 -664.7 -194.6 - - 3886 - - - - - - - - - 26.44 -
8674 801.2 -8.7 404 8679 done -0.77 - - 2561 - 1.95 0.047 2548 641.0 -194.6 - - 3885 - - - - - - - - - 26.28 -
8993 829.6 -8.4 415 8999 roll -0.78 - - 2562 - 1.90 0.034 1291 -661.6 -194.6 - - 3884 - - - - - - - - - 26.42 -
9031 832.6 -8.3 416 9036 done -0.80 - - 2561 - 1.92 0.047 2526 643.2 -194.6 - - 3884 - - - - - - - - - 26.27 -
9361 858.8 -7.7 427 9362 done -0.82 - - 2561 - - - 2527 - -194.6 - - 3882 - - - - - - - - - - -
9660 881.1 -7.1 437 9666 roll -0.83 - - 2562 - 1.85 0.060 3691 629.2 -194.6 - - 3881 - - - - - - - - - 26.15 -
9709 883.6 -7.1 438 9715 done -0.85 0.12 0.093 2500 -516.7 1.75 0.037 2542 -656.6 -194.6 - - 3881 - - - - - - - - 26.36 26.48 -
10028 918.6 -10.8 449 10034 roll -0.79 0.12 0.160 2540 333.3 1.88 0.059 3699 615.4 -194.6 - - 3880 - - - - - - - - 26.34 26.12 -
10076 921.8 -10.4 450 10081 done -0.75 - - 2540 - 1.77 0.037 2549 -649.7 -194.6 - - 3880 - - - - - - - - - 26.48 -
10395 947.9 -7.9 461 10401 roll -0.75 - - 2539 - 1.88 0.060 3696 610.1 -194.6 - - 3878 - - - - - - - - - 26.11 -
10429 950.8 -8.1 462 10434 done -0.75 - - 2539 - 1.75 0.036 2553 -653.1 -194.6 - - 3878 - - - - - - - - - 26.47 -
10762 980.5 -9.6 473 10768 roll -0.75 - - 2539 - 1.88 0.033 1295 -669.1 -194.6 - - 3877 - - - - - - - - - 26.38 -
10804 984.0 -9.9 474 10809 done -0.75 - - 2539 - 1.95 0.049 2536 636.4 -194.6 - - 3877 - - - - - - - - - 26.20 -
10854 end dive: TARGET_DEPTH_EXCEEDED
10854 begin apogee
10860 990.3 -10.1 476 11025 roll -0.12 0.65 0.116 2757 335.4 - - 1943 - - 158.25 1.454 3121 -4.8 0.350 - - - - - - 25.74 - 23.30
11026 end apogee: CONTROL_FINISHED_OK
11027 begin climb
11029 999.7 - 481 11217 roll 0.46 0.55 0.058 2961 370.9 2.30 0.041 552 -604.8 194.6 178.02 1.411 2326 -4.5 0.340 - - - - - - 24.59 24.58 22.82
11289 993.0 6.5 490 11364 done 0.47 - - 2961 - 2.30 0.039 1949 607.4 268.1 66.90 1.379 2027 -4.5 0.346 - - - - - - - 24.89 23.06
11672 962.8 8.1 503 11695 roll 0.46 - - 2968 - 2.25 0.041 548 -622.7 286.2 16.35 1.299 1954 -4.5 0.356 - - - - - - - 25.46 24.23
11793 952.3 8.7 507 11798 done 0.46 - - 2968 - 2.25 0.039 1962 628.4 286.8 - - 1950 - - - - - - - - - 25.77 -
12127 920.6 9.8 518 12132 roll 0.45 - - 2968 - 2.20 0.053 3348 630.0 286.8 - - 1949 - - - - - - - - - 26.03 -
12179 916.8 10.1 519 12185 done 0.43 0.12 0.161 2936 -266.7 2.12 0.033 1956 -656.6 286.8 - - 1948 - - - - - - - - 25.93 26.17 -
12495 888.6 8.2 530 12513 done 0.45 - - 2935 - - - 1955 - 303.0 16.05 1.298 1885 -3.9 0.289 - - - - - - - - 24.63
12794 865.7 7.6 540 12828 done 0.50 - - 2936 - - - 1956 - 338.4 32.38 1.338 1741 -4.4 0.310 - - - - - - - - 24.23
13124 841.8 7.1 551 13176 done 0.57 0.12 0.090 3009 608.3 - - 1951 - 391.8 48.38 1.335 1523 -4.5 0.306 - - - - - - 26.11 - 23.97
13453 798.9 13.4 562 13459 roll 0.54 0.12 0.150 2978 -258.3 2.20 0.041 536 -643.2 391.8 - - 1517 - - - - - - - - 25.83 25.91 -
13496 795.2 12.8 563 13501 done 0.51 - - 2978 - 2.25 0.039 1961 633.3 391.8 - - 1516 - - - - - - - - - 25.97 -
13820 759.6 11.7 574 13825 roll 0.51 - - 2977 - 2.22 0.053 3352 626.6 391.8 - - 1515 - - - - - - - - - 26.08 -
13862 755.4 12.1 575 13867 done 0.51 - - 2983 - 2.12 0.034 1958 -657.5 391.8 - - 1515 - - - - - - - - - 26.22 -
14186 714.6 12.0 586 14191 roll 0.51 - - 2983 - 2.17 0.044 541 -653.0 391.8 - - 1514 - - - - - - - - - 26.22 -
14222 710.9 11.6 587 14228 done 0.51 - - 2983 - 2.20 0.040 1957 643.6 391.8 - - 1514 - - - - - - - - - 26.25 -
14551 678.4 9.3 598 14557 roll 0.51 - - 2983 - 2.22 0.053 3350 627.5 391.8 - - 1514 - - - - - - - - - 26.20 -
14593 675.0 9.4 599 14598 done 0.51 - - 2983 - 2.10 0.034 1961 -661.4 391.8 - - 1514 - - - - - - - - - 26.36 -
14917 637.2 12.7 610 14922 roll 0.51 - - 2983 - 2.20 0.043 536 -647.7 391.8 - - 1514 - - - - - - - - - 26.29 -
14969 633.0 12.8 611 14974 done 0.53 - - 2983 - 2.20 0.038 1965 649.5 391.8 - - 1514 - - - - - - - - - 26.32 -
15293 592.1 11.8 623 15299 roll 0.55 - - 2983 - 2.17 0.052 3343 635.0 391.8 - - 1512 - - - - - - - - - 26.24 -
15336 586.8 11.8 625 15341 done 0.56 - - 2983 - 2.10 0.032 1955 -661.0 391.8 - - 1514 - - - - - - - - - 26.42 -
15659 552.4 10.3 641 15664 roll 0.58 - - 2986 - 2.15 0.043 542 -657.2 391.8 - - 1513 - - - - - - - - - 26.31 -
15705 548.4 9.7 643 15711 done 0.60 - - 2983 - 2.15 0.039 1946 653.0 391.8 - - 1513 - - - - - - - - - 26.34 -
16024 518.5 8.9 659 16030 roll 0.63 - - 2983 - 2.20 0.051 3341 634.1 391.8 - - 1513 - - - - - - - - - 26.25 -
16076 514.5 8.8 661 16082 done 0.65 - - 2983 - 2.10 0.032 1943 -665.7 391.8 - - 1513 - - - - - - - - - 26.44 -
16389 491.7 6.3 677 16464 roll 0.72 0.12 0.095 3060 641.7 2.22 0.040 546 -629.3 472.8 68.03 1.116 1192 -4.7 0.224 - - - - - - 26.56 25.19 24.18
16511 476.6 12.9 683 16517 done 0.69 0.12 0.142 3026 -283.3 2.25 0.037 1948 623.1 472.8 - - 1190 - - - - - - - - 25.34 25.49 -
16835 434.4 14.4 699 16836 done 0.69 - - 3026 - - - 1950 - 472.8 - - 1187 - - - - - - - - - - -
17136 390.1 14.3 714 17142 roll 0.69 - - 3026 - 2.20 0.050 3345 634.1 472.8 - - 1187 - - - - - - - - - 26.02 -
17162 386.8 14.0 715 17168 done 0.69 - - 3026 - 2.15 0.032 1931 -657.7 472.8 - - 1187 - - - - - - - - - 26.19 -
17480 345.4 12.5 731 17486 roll 0.71 - - 3026 - 2.15 0.043 535 -649.3 472.8 - - 1186 - - - - - - - - - 26.15 -
17523 340.3 12.0 733 17530 done 0.73 - - 3026 - 2.17 0.036 1943 648.8 472.8 - - 1187 - - - - - - - - - 26.20 -
17848 310.5 7.8 749 17877 roll 0.78 - - 3026 - 2.30 0.050 3342 608.3 501.5 24.12 0.962 1076 -4.6 0.160 - - - - - - - 25.89 24.87
17935 304.1 7.8 753 17971 done 0.82 0.12 0.092 3091 541.7 2.15 0.031 1951 -647.0 532.6 27.05 0.946 949 -4.7 0.162 - - - - - - 25.92 25.99 24.52
18270 246.7 18.6 770 18276 roll 0.77 0.12 0.157 3051 -333.3 2.17 0.041 539 -650.7 532.6 - - 947 - - - - - - - - 25.86 25.94 -
18314 240.5 16.4 772 18319 done 0.76 - - 3051 - 2.17 0.035 1938 644.7 532.6 - - 947 - - - - - - - - - 26.01 -
18638 208.5 7.9 788 18666 roll 0.80 - - 3051 - 2.30 0.050 3344 611.3 557.7 21.50 0.872 847 -4.7 0.120 - - - - - - - 25.84 24.88
18688 204.9 8.3 790 18708 done 0.84 - - 3051 - 2.15 0.032 1939 -653.5 570.6 12.50 0.822 793 -4.3 0.116 - - - - - - - 25.93 24.71
19021 163.2 11.2 807 19028 roll 0.90 0.12 0.093 3122 591.7 2.15 0.039 536 -652.6 570.6 - - 791 - - - - - - - - 26.17 26.01 -
19054 160.4 10.8 808 19059 done 0.95 - - 3122 - 2.17 0.036 1943 648.4 570.6 - - 790 - - - - - - - - - 26.06 -
19367 102.7 21.2 824 19372 roll 0.91 - - 3122 - 2.20 0.048 3349 639.1 570.6 - - 790 - - - - - - - - - 26.10 -
19390 97.8 21.1 825 19395 done 0.86 0.17 0.145 3079 -252.9 2.17 0.031 1929 -654.4 570.6 - - 790 - - - - - - - - 25.92 26.25 -
19713 71.1 12.0 841 19719 roll 0.93 - - 3079 - 2.25 0.047 3343 628.4 570.6 - - 790 - - - - - - - - - 26.17 -
19731 71.1 12.0 841 19738 done 1.00 0.12 0.090 3147 566.7 2.12 0.031 1941 -661.3 570.6 - - 790 - - - - - - - - 26.25 26.33 -
20037 43.8 5.8 862 20119 roll 1.11 - - 3147 - 2.22 0.039 551 -626.1 668.4 72.72 0.742 459 -4.6 0.029 - - - - - - - 25.44 24.72
20141 34.6 9.5 872 20147 done 1.21 0.12 0.090 3214 558.3 2.20 0.032 1961 640.9 668.4 - - 461 - - - - - - - - 25.56 25.59 -
20453 end climb: SURFACE_DEPTH_REACHED
20454 begin surface coast
20484 end surface coast: CONTROL_FINISHED_OK
20484 begin surface
SM 2.41 - - - - -8.29 8.07 0.047 135 -381.5 1.12 0.044 2682 643.7 652.74 - - 460 - - - - - - - -