OKMC Apr12 * SG170 * Dive index * Mission links * Dive 125 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 28.61 of 146.00 AH used of 24V (80.41% remains)
• Previous NAKs 0, Timeouts 0 • 12.71 of 97.50 AH used of 10V (86.96% remains)
• Surface angle -75.1 deg, depth 1.79 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 17 s
• GPS2 time: 18 s • Transponder ping count: 96
• 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 - - - 112 VBD -0.46 - - 131 - - - 2657 - -194.6 -90.97 - 3041 - - - - - - - - - - -
115 4.3 -5.0 9 147 roll -0.46 10.18 0.239 2640 246.5 1.65 0.069 3696 629.7 -194.6 -14.23 - 3929 -62.4 - - - - - - - 25.67 26.32 26.79
275 44.4 -16.1 24 283 done -0.41 - - 2640 - 1.48 0.030 2687 -681.8 -194.6 - - 3929 - - - - - - - - - 26.58 -
582 75.0 -7.2 42 583 done -0.43 - - 2640 - - - 2686 - -194.6 - - 3930 - - - - - - - - - - -
883 95.7 -6.6 57 888 roll -0.46 - - 2641 - 2.00 0.033 1305 -690.5 -194.6 - - 3929 - - - - - - - - - 24.91 -
948 100.3 -7.0 60 953 done -0.49 - - 2641 - 2.08 0.043 2672 657.2 -194.6 - - 3929 - - - - - - - - - 26.51 -
1271 123.8 -6.6 76 1277 roll -0.58 - - 2641 - 2.03 0.031 1297 -677.3 -194.6 - - 3927 - - - - - - - - - 26.61 -
1365 129.9 -7.2 80 1371 done -0.66 0.15 0.074 2550 -606.7 1.83 0.042 2511 663.4 -194.6 - - 3926 - - - - - - - - 26.57 26.53 -
1679 167.4 -12.5 96 1684 roll -0.61 0.15 0.143 2602 346.7 1.85 0.053 3700 642.7 -194.6 - - 3925 - - - - - - - - 26.44 26.49 -
1742 174.2 -11.4 99 1747 done -0.61 - - 2602 - 1.70 0.028 2518 -695.3 -194.6 - - 3923 - - - - - - - - - 26.70 -
2065 201.1 -7.2 115 2070 roll -0.63 - - 2602 - 1.75 0.031 1287 -703.4 -194.6 - - 3919 - - - - - - - - - 26.62 -
2137 205.3 -6.8 118 2143 done -0.65 - - 2602 - 1.85 0.042 2518 665.4 -194.6 - - 3919 - - - - - - - - - 26.55 -
2451 231.8 -9.9 134 2456 roll -0.67 - - 2603 - 1.80 0.029 1287 -683.9 -194.6 - - 3915 - - - - - - - - - 26.62 -
2488 234.1 -10.0 135 2495 done -0.68 - - 2602 - 1.85 0.043 2513 662.7 -194.6 - - 3915 - - - - - - - - - 26.54 -
2795 260.6 -6.8 151 2801 roll -0.71 - - 2602 - 1.83 0.055 3703 650.3 -194.6 - - 3912 - - - - - - - - - 26.48 -
2833 262.0 -6.4 152 2840 done -0.74 0.12 0.087 2522 -666.7 1.70 0.030 2518 -697.1 -194.6 - - 3912 - - - - - - - - 26.59 26.69 -
3139 303.8 -15.1 168 3141 done -0.67 0.20 0.137 2584 310.0 - - 2517 - -194.6 - - 3908 - - - - - - - - 26.37 - -
3439 333.7 -8.5 183 3444 roll -0.67 - - 2584 - 1.75 0.031 1293 -699.4 -194.6 - - 3905 - - - - - - - - - 26.61 -
3466 335.6 -8.3 184 3471 done -0.67 - - 2584 - 1.85 0.044 2513 659.5 -194.6 - - 3906 - - - - - - - - - 26.52 -
3784 358.1 -7.0 200 3785 done -0.67 - - 2584 - - - 2513 - -194.6 - - 3902 - - - - - - - - - - -
4085 383.2 -8.6 215 4091 roll -0.67 - - 2585 - 1.77 0.031 1292 -689.8 -194.6 - - 3899 - - - - - - - - - 26.60 -
4153 388.9 -8.5 218 4158 done -0.69 - - 2584 - 1.85 0.044 2508 657.3 -194.6 - - 3898 - - - - - - - - - 26.51 -
4471 415.4 -8.7 234 4476 roll -0.69 - - 2583 - 1.85 0.056 3692 640.0 -194.6 - - 3895 - - - - - - - - - 26.44 -
4553 422.9 -9.1 238 4558 done -0.71 - - 2584 - 1.73 0.033 2512 -682.1 -194.6 - - 3895 - - - - - - - - - 26.67 -
4876 455.8 -10.1 254 4877 done -0.73 - - 2584 - - - 2512 - -194.6 - - 3891 - - - - - - - - - - -
5178 481.1 -7.2 269 5183 roll -0.75 - - 2584 - 1.80 0.032 1300 -673.3 -194.6 - - 3889 - - - - - - - - - 26.58 -
5230 484.2 -6.9 271 5236 done -0.77 - - 2584 - 1.88 0.047 2517 647.3 -194.6 - - 3890 - - - - - - - - - 26.45 -
5544 505.7 -7.1 287 5550 roll -0.79 0.12 0.090 2509 -625.0 1.83 0.031 1294 -668.3 -194.6 - - 3886 - - - - - - - - 26.70 26.57 -
5592 510.6 -9.0 289 5598 done -0.79 0.12 0.162 2543 283.3 1.90 0.048 2508 638.9 -194.6 - - 3886 - - - - - - - - 26.24 26.44 -
5911 544.4 -10.3 305 5916 roll -0.76 - - 2543 - 1.88 0.058 3697 632.4 -194.6 - - 3883 - - - - - - - - - 26.39 -
5973 550.8 -10.3 308 5978 done -0.74 - - 2543 - 1.75 0.032 2513 -676.6 -194.6 - - 3883 - - - - - - - - - 26.65 -
6296 584.2 -10.1 324 6297 done -0.72 - - 2543 - - - 2511 - -194.6 - - 3880 - - - - - - - - - - -
6607 617.5 -11.1 337 6613 roll -0.69 0.12 0.157 2587 366.7 1.90 0.057 3700 625.8 -194.6 - - 3878 - - - - - - - - 26.44 26.36 -
6660 620.8 -10.9 338 6665 done -0.69 - - 2588 - 1.77 0.034 2523 -665.0 -194.6 - - 3878 - - - - - - - - - 26.63 -
6975 643.4 -6.3 349 6980 roll -0.73 - - 2588 - 1.80 0.031 1294 -682.8 -194.6 - - 3876 - - - - - - - - - 26.55 -
7022 645.7 -6.3 350 7027 done -0.76 - - 2587 - 1.88 0.046 2511 647.3 -194.6 - - 3876 - - - - - - - - - 26.40 -
7342 664.8 -6.3 361 7348 roll -0.79 0.12 0.089 2509 -650.0 1.88 0.057 3695 629.8 -194.6 - - 3874 - - - - - - - - 26.69 26.33 -
7415 671.8 -8.7 363 7420 done -0.79 0.12 0.143 2546 308.3 1.73 0.033 2512 -683.8 -194.6 - - 3873 - - - - - - - - 26.31 26.62 -
7740 706.4 -10.1 374 7741 done -0.78 - - 2545 - - - 2513 - -194.6 - - 3873 - - - - - - - - - - -
8038 735.3 -9.5 384 8039 done -0.78 - - 2546 - - - 2512 - -194.6 - - 3871 - - - - - - - - - - -
8338 762.8 -9.4 394 8343 roll -0.78 - - 2546 - 1.92 0.061 3698 617.7 -194.6 - - 3869 - - - - - - - - - 26.27 -
8410 769.2 -9.9 396 8415 done -0.78 - - 2546 - 1.73 0.034 2532 -674.0 -194.6 - - 3870 - - - - - - - - - 26.58 -
8733 803.7 -10.4 407 8738 roll -0.78 - - 2546 - 1.80 0.031 1291 -689.4 -194.6 - - 3866 - - - - - - - - - 26.51 -
8775 807.2 -10.3 408 8780 done -0.78 - - 2546 - 1.88 0.045 2506 646.3 -194.6 - - 3866 - - - - - - - - - 26.35 -
9098 838.4 -9.1 419 9103 roll -0.78 - - 2546 - 1.88 0.061 3692 630.9 -194.6 - - 3865 - - - - - - - - - 26.23 -
9161 844.0 -8.8 421 9166 done -0.78 - - 2546 - 1.75 0.035 2524 -667.4 -194.6 - - 3865 - - - - - - - - - 26.56 -
9495 875.7 -9.9 432 9500 roll -0.78 - - 2546 - 1.88 0.061 3691 620.7 -194.6 - - 3863 - - - - - - - - - 26.22 -
9551 879.1 -9.8 433 9559 done -0.78 - - 2546 - 1.73 0.034 2533 -669.4 -194.6 - - 3863 - - - - - - - - - 26.55 -
9858 905.9 -7.3 444 9859 done -0.78 - - 2546 - - - 2533 - -194.6 - - 3861 - - - - - - - - - - -
10158 928.2 -7.7 454 10163 roll -0.78 - - 2546 - 1.83 0.032 1299 -674.3 -194.6 - - 3860 - - - - - - - - - 26.46 -
10210 931.0 -8.0 455 10215 done -0.78 - - 2546 - 1.92 0.047 2526 639.1 -194.6 - - 3860 - - - - - - - - - 26.28 -
10523 960.8 -9.4 466 10524 done -0.78 - - 2546 - - - 2526 - -194.6 - - 3860 - - - - - - - - - - -
10823 987.4 -8.7 476 10829 roll -0.78 - - 2546 - 1.85 0.032 1289 -668.6 -194.6 - - 3859 - - - - - - - - - 26.45 -
10854 end dive: TARGET_DEPTH_EXCEEDED
10854 begin apogee
10860 990.1 -8.6 477 11020 roll -0.12 0.62 0.111 2760 345.2 - - 1951 - - 154.05 1.449 3121 -4.8 0.349 - - - - - - 25.87 - 23.58
11022 end apogee: CONTROL_FINISHED_OK
11022 begin climb
11023 996.3 - 482 11207 roll 0.46 0.55 0.060 2965 372.7 2.28 0.039 562 -609.2 194.6 175.23 1.408 2328 -4.5 0.342 - - - - - - 24.85 24.84 22.99
11260 985.2 8.2 490 11280 done 0.43 - - 2965 - 2.25 0.037 1943 613.8 210.3 15.10 1.270 2264 -4.2 0.351 - - - - - - - 24.96 23.60
11581 953.0 9.9 501 11587 roll 0.39 0.12 0.160 2930 -291.7 2.15 0.037 567 -640.0 210.3 - - 2255 - - - - - - - - 25.87 25.97 -
11690 945.0 8.7 504 11695 done 0.39 - - 2930 - 2.17 0.037 1968 645.6 210.3 - - 2253 - - - - - - - - - 26.08 -
12008 917.1 8.7 515 12014 roll 0.39 - - 2929 - 2.20 0.054 3342 624.5 210.3 - - 2252 - - - - - - - - - 26.15 -
12065 913.8 9.0 516 12072 done 0.39 - - 2930 - 2.08 0.031 1979 -655.3 210.3 - - 2251 - - - - - - - - - 26.32 -
12373 885.5 7.9 527 12402 roll 0.41 - - 2930 - 2.30 0.054 3342 592.6 236.6 23.45 1.330 2154 -4.1 0.294 - - - - - - - 25.76 24.56
12470 877.9 7.9 530 12500 done 0.43 - - 2930 - 2.08 0.032 1983 -653.4 262.0 23.60 1.314 2052 -4.3 0.308 - - - - - - - 25.97 24.24
12828 850.7 7.6 542 12867 roll 0.46 - - 2930 - 2.28 0.052 3340 595.2 298.4 32.92 1.326 1902 -4.6 0.312 - - - - - - - 25.35 24.23
12915 845.7 7.8 544 12951 done 0.50 - - 2930 - 2.10 0.032 1996 -640.0 328.3 27.27 1.297 1781 -4.4 0.309 - - - - - - - 25.71 24.07
13250 814.0 9.4 556 13255 roll 0.55 0.12 0.093 3001 591.7 2.17 0.053 3341 619.8 328.3 - - 1774 - - - - - - - - 26.15 25.98 -
13272 814.0 9.4 556 13278 done 0.59 - - 3009 - 2.03 0.033 2009 -656.2 328.3 - - 1775 - - - - - - - - - 26.12 -
13586 762.6 15.4 567 13592 roll 0.54 0.12 0.168 2978 -258.3 2.25 0.039 545 -650.7 328.3 - - 1772 - - - - - - - - 26.10 26.21 -
13653 754.6 13.7 569 13660 done 0.51 - - 2979 - 2.25 0.039 1994 644.0 328.3 - - 1772 - - - - - - - - - 26.23 -
13984 716.2 11.4 580 13989 roll 0.50 - - 2979 - 2.12 0.054 3342 635.8 328.3 - - 1771 - - - - - - - - - 26.22 -
14026 712.0 11.7 581 14031 done 0.49 - - 2982 - 2.03 0.033 1997 -662.6 328.3 - - 1771 - - - - - - - - - 26.38 -
14350 673.7 10.9 592 14355 roll 0.47 - - 2983 - 2.22 0.043 538 -657.2 328.3 - - 1770 - - - - - - - - - 26.32 -
14383 670.4 10.4 593 14388 done 0.47 - - 2983 - 2.22 0.039 1990 654.1 328.3 - - 1769 - - - - - - - - - 26.33 -
14717 639.8 9.3 604 14723 roll 0.46 0.12 0.153 2941 -350.0 2.15 0.051 3351 633.0 328.3 - - 1770 - - - - - - - - 26.30 26.26 -
14744 639.8 9.3 604 14752 done 0.45 - - 2942 - 2.05 0.033 1986 -665.9 328.3 - - 1769 - - - - - - - - - 26.44 -
15052 616.7 6.9 615 15111 roll 0.52 - - 2941 - 2.25 0.051 3345 604.0 388.9 51.53 1.206 1534 -4.6 0.249 - - - - - - - 25.34 24.27
15128 612.8 6.8 617 15192 done 0.61 0.15 0.080 3012 473.3 2.12 0.033 1996 -636.3 451.0 54.15 1.176 1281 -4.7 0.260 - - - - - - 25.53 25.56 23.94
15504 568.2 12.0 634 15509 roll 0.61 - - 3013 - 2.25 0.042 538 -648.0 451.0 - - 1278 - - - - - - - - - 25.95 -
15556 563.4 11.8 636 15562 done 0.61 - - 3013 - 2.28 0.037 1997 639.9 451.0 - - 1275 - - - - - - - - - 26.01 -
15869 523.9 13.0 652 15874 roll 0.61 - - 3013 - 2.17 0.053 3356 626.3 451.0 - - 1274 - - - - - - - - - 26.09 -
15912 518.1 13.4 654 15917 done 0.61 - - 3013 - 2.08 0.033 1994 -654.8 451.0 - - 1274 - - - - - - - - - 26.25 -
16234 476.6 12.4 670 16240 roll 0.61 - - 3020 - 2.22 0.041 538 -655.9 451.0 - - 1273 - - - - - - - - - 26.24 -
16307 469.6 11.6 673 16312 done 0.63 - - 3020 - 2.22 0.037 1996 656.8 451.0 - - 1273 - - - - - - - - - 26.27 -
16619 432.3 11.8 689 16625 roll 0.63 - - 3020 - 2.15 0.053 3353 631.2 451.0 - - 1273 - - - - - - - - - 26.20 -
16652 429.4 11.8 690 16657 done 0.63 - - 3023 - 2.08 0.033 1977 -661.5 451.0 - - 1273 - - - - - - - - - 26.38 -
16964 390.2 12.1 706 16965 done 0.63 - - 3023 - - - 1977 - 451.0 - - 1273 - - - - - - - - - - -
17265 356.0 10.6 721 17271 roll 0.63 - - 3023 - 2.20 0.042 541 -652.7 451.0 - - 1273 - - - - - - - - - 26.32 -
17323 351.7 9.9 723 17330 done 0.64 - - 3023 - 2.15 0.037 1963 661.4 451.0 - - 1273 - - - - - - - - - 26.34 -
17629 320.7 10.6 739 17634 roll 0.66 - - 3023 - 2.20 0.053 3349 630.0 451.0 - - 1273 - - - - - - - - - 26.23 -
17675 315.5 11.4 741 17681 done 0.67 - - 3023 - 2.08 0.032 1964 -665.9 451.0 - - 1273 - - - - - - - - - 26.44 -
17993 276.2 12.1 757 17999 roll 0.70 - - 3023 - 2.15 0.041 542 -661.4 451.0 - - 1274 - - - - - - - - - 26.33 -
18025 273.5 11.8 758 18031 done 0.72 - - 3023 - 2.15 0.036 1969 663.7 451.0 - - 1273 - - - - - - - - - 26.36 -
18338 243.4 9.6 774 18343 roll 0.76 - - 3023 - 2.15 0.051 3349 641.9 451.0 - - 1274 - - - - - - - - - 26.24 -
18361 240.9 9.9 775 18366 done 0.79 - - 3023 - 2.08 0.031 1968 -663.9 451.0 - - 1273 - - - - - - - - - 26.46 -
18683 210.5 8.9 791 18689 roll 0.83 0.12 0.092 3100 641.7 2.15 0.039 538 -665.1 451.0 - - 1273 - - - - - - - - 26.60 26.33 -
18721 207.7 9.5 792 18728 done 0.85 - - 3099 - 2.17 0.036 1978 663.6 451.0 - - 1274 - - - - - - - - - 26.35 -
19027 151.7 16.4 808 19029 done 0.80 0.15 0.150 3054 -300.0 - - 1980 - 451.0 - - 1274 - - - - - - - - 26.30 - -
19327 118.6 9.6 823 19333 roll 0.82 - - 3054 - 2.12 0.051 3349 645.8 451.0 - - 1274 - - - - - - - - - 26.24 -
19380 114.2 9.7 825 19385 done 0.83 - - 3054 - 2.05 0.031 1972 -671.7 451.0 - - 1274 - - - - - - - - - 26.46 -
19693 80.1 9.7 841 19698 roll 0.88 - - 3054 - 2.20 0.050 3359 630.5 451.0 - - 1274 - - - - - - - - - 26.25 -
19747 76.9 7.7 843 19781 done 0.95 0.15 0.082 3133 526.7 2.03 0.031 1991 -673.9 482.4 25.50 0.767 1153 -4.7 0.051 - - - - - - 26.39 26.48 25.11
20090 42.6 7.6 864 20121 done 0.99 - - 3133 - - - 1990 - 517.9 29.30 0.734 1008 -4.9 0.031 - - - - - - - - 24.99
20421 17.3 6.9 897 20457 roll 1.09 - - 3133 - 2.30 0.040 530 -634.8 576.6 26.75 0.100 768 -9.0 0.166 - - - - - - - 26.03 25.78
20529 8.1 10.1 907 20537 done 1.31 0.25 0.073 3234 404.0 2.30 0.032 2039 656.1 576.6 - - 766 - - - - - - - - 26.06 26.10 -
20584 end climb: SURFACE_DEPTH_REACHED
20584 begin surface coast
20618 end surface coast: CONTROL_FINISHED_OK
20618 begin surface
SM 1.79 - - - - -8.29 8.10 0.046 133 -382.8 1.02 0.047 2695 643.1 652.74 36.03 0.060 459 -8.5 0.026 - - - - - -