OKMC Apr12 * SG170 * Dive index * Mission links * Dive 133 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 30.61 of 146.00 AH used of 24V (79.03% remains)
• Previous NAKs 0, Timeouts 0 • 13.90 of 97.50 AH used of 10V (85.74% remains)
• Surface angle -74.8 deg, depth 2.00 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: 31 s
• GPS2 time: 17 s • Transponder ping count: 2
• 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 - - - 102 VBD -0.46 - - 134 - - - 2706 - -194.6 -81.72 - 2700 - - - - - - - - - - -
104 3.4 -3.2 8 147 roll -0.46 10.18 0.236 2639 246.1 1.62 0.074 3691 608.0 -194.6 -22.75 - 3926 -53.9 - - - - - - - 25.42 25.99 26.47
234 37.5 -22.9 20 242 done -0.37 0.15 0.147 2683 293.3 1.50 0.031 2668 -682.0 -194.6 - - 3930 - - - - - - - - 25.89 26.24 -
551 81.9 -12.1 40 556 roll -0.37 - - 2683 - 1.65 0.055 3695 622.4 -194.6 - - 3931 - - - - - - - - - 26.15 -
573 84.5 -12.2 41 578 done -0.37 - - 2684 - 1.50 0.032 2712 -655.3 -194.6 - - 3930 - - - - - - - - - 26.36 -
896 105.0 -6.1 57 902 roll -0.44 - - 2684 - 2.10 0.031 1285 -679.5 -194.6 - - 3932 - - - - - - - - - 26.37 -
964 108.6 -5.6 60 970 done -0.51 0.15 0.078 2598 -573.3 2.20 0.044 2707 646.4 -194.6 - - 3931 - - - - - - - - 26.32 26.29 -
1283 149.2 -11.9 76 1289 roll -0.48 0.12 0.152 2640 350.0 1.52 0.053 3692 648.0 -194.6 - - 3931 - - - - - - - - 26.32 26.29 -
1356 155.3 -10.1 79 1361 done -0.49 - - 2641 - 1.50 0.032 2691 -667.3 -194.6 - - 3932 - - - - - - - - - 26.52 -
1669 180.0 -6.8 95 1674 roll -0.54 - - 2641 - 2.08 0.031 1280 -678.4 -194.6 - - 3931 - - - - - - - - - 26.46 -
1767 186.1 -7.4 99 1774 done -0.59 - - 2641 - 2.17 0.045 2685 647.5 -194.6 - - 3931 - - - - - - - - - 26.35 -
2072 207.9 -6.2 115 2078 roll -0.64 0.12 0.085 2557 -700.0 2.08 0.030 1284 -673.6 -194.6 - - 3929 - - - - - - - - 26.65 26.42 -
2096 210.0 -6.6 116 2102 done -0.67 - - 2557 - 2.20 0.047 2694 640.9 -194.6 - - 3929 - - - - - - - - - 26.36 -
2420 254.6 -13.9 132 2425 roll -0.61 0.12 0.168 2599 350.0 1.55 0.053 3696 646.5 -194.6 - - 3927 - - - - - - - - 26.34 26.34 -
2543 267.2 -9.2 138 2548 done -0.63 - - 2599 - 1.50 0.032 2702 -662.7 -194.6 - - 3928 - - - - - - - - - 26.58 -
2866 297.7 -9.6 154 2872 roll -0.64 - - 2599 - 2.08 0.031 1280 -683.7 -194.6 - - 3925 - - - - - - - - - 26.49 -
2923 301.9 -9.3 156 2930 done -0.66 - - 2599 - 2.20 0.047 2699 645.0 -194.6 - - 3924 - - - - - - - - - 26.36 -
3231 326.4 -7.3 172 3236 roll -0.68 - - 2599 - 2.10 0.031 1287 -672.4 -194.6 - - 3925 - - - - - - - - - 26.51 -
3274 329.7 -7.6 174 3279 done -0.70 - - 2599 - 2.17 0.045 2683 643.3 -194.6 - - 3923 - - - - - - - - - 26.37 -
3597 354.3 -7.7 190 3602 roll -0.72 - - 2599 - 1.60 0.057 3700 635.6 -194.6 - - 3920 - - - - - - - - - 26.32 -
3629 356.1 -7.7 191 3636 done -0.75 0.12 0.087 2523 -633.3 1.50 0.034 2675 -683.3 -194.6 - - 3920 - - - - - - - - 26.46 26.56 -
3944 398.7 -13.4 207 3950 roll -0.68 0.15 0.143 2574 340.0 1.62 0.054 3699 632.1 -194.6 - - 3917 - - - - - - - - 26.34 26.32 -
4136 417.3 -9.8 216 4141 done -0.68 - - 2575 - 1.50 0.033 2674 -683.3 -194.6 - - 3915 - - - - - - - - - 26.58 -
4448 448.4 -9.8 232 4454 roll -0.68 - - 2575 - 2.03 0.031 1285 -684.2 -194.6 - - 3913 - - - - - - - - - 26.48 -
4496 452.8 -10.0 234 4501 done -0.68 - - 2573 - 2.20 0.046 2693 640.0 -194.6 - - 3913 - - - - - - - - - 26.34 -
4813 483.6 -9.5 250 4818 roll -0.68 - - 2575 - 2.08 0.031 1287 -676.0 -194.6 - - 3910 - - - - - - - - - 26.48 -
4855 487.5 -9.2 252 4860 done -0.68 - - 2575 - 2.20 0.046 2689 637.3 -194.6 - - 3910 - - - - - - - - - 26.34 -
5177 516.8 -9.4 268 5182 roll -0.68 - - 2575 - 2.08 0.031 1290 -672.6 -194.6 - - 3907 - - - - - - - - - 26.47 -
5203 518.9 -9.5 269 5208 done -0.68 - - 2575 - 2.17 0.047 2674 637.8 -194.6 - - 3908 - - - - - - - - - 26.32 -
5520 547.7 -8.9 285 5526 roll -0.68 - - 2575 - 2.05 0.031 1287 -676.6 -194.6 - - 3905 - - - - - - - - - 26.48 -
5552 549.9 -9.1 286 5557 done -0.68 - - 2575 - 2.17 0.047 2675 639.6 -194.6 - - 3905 - - - - - - - - - 26.32 -
5864 579.4 -9.4 302 5870 roll -0.68 - - 2575 - 1.62 0.058 3697 630.9 -194.6 - - 3903 - - - - - - - - - 26.25 -
5921 583.2 -9.1 304 5928 done -0.69 - - 2575 - 1.52 0.035 2688 -663.8 -194.6 - - 3902 - - - - - - - - - 26.53 -
6229 610.0 -8.2 318 6234 roll -0.71 - - 2575 - 2.08 0.031 1275 -679.3 -194.6 - - 3900 - - - - - - - - - 26.46 -
6272 612.8 -8.1 319 6277 done -0.72 - - 2575 - 2.20 0.047 2674 635.9 -194.6 - - 3900 - - - - - - - - - 26.29 -
6596 639.8 -8.2 330 6597 done -0.73 - - 2575 - - - 2673 - -194.6 - - 3898 - - - - - - - - - - -
6895 663.8 -8.0 340 6901 roll -0.75 - - 2575 - 2.10 0.031 1272 -667.1 -194.6 - - 3897 - - - - - - - - - 26.44 -
6994 671.3 -7.9 343 7000 done -0.76 - - 2575 - 2.17 0.047 2656 637.8 -194.6 - - 3896 - - - - - - - - - 26.28 -
7325 695.1 -6.8 354 7330 roll -0.78 - - 2575 - 2.05 0.032 1278 -672.2 -194.6 - - 3894 - - - - - - - - - 26.43 -
7372 697.6 -6.8 355 7378 done -0.80 - - 2575 - 2.15 0.047 2644 635.3 -194.6 - - 3894 - - - - - - - - - 26.26 -
7692 721.8 -7.4 366 7694 done -0.82 0.12 0.090 2506 -575.0 - - 2644 - -194.6 - - 3892 - - - - - - - - 26.66 - -
7991 759.7 -13.4 376 7997 roll -0.76 0.15 0.151 2557 340.0 1.70 0.057 3701 621.8 -194.6 - - 3891 - - - - - - - - 26.29 26.16 -
8099 769.6 -11.2 379 8105 done -0.74 - - 2557 - 1.58 0.035 2646 -667.7 -194.6 - - 3890 - - - - - - - - - 26.49 -
8418 800.6 -9.2 390 8423 roll -0.74 - - 2557 - 2.03 0.033 1273 -676.4 -194.6 - - 3889 - - - - - - - - - 26.39 -
8454 803.6 -9.1 391 8460 done -0.74 - - 2556 - 2.20 0.048 2665 632.7 -194.6 - - 3889 - - - - - - - - - 26.22 -
8784 833.8 -9.4 402 8786 done -0.74 - - 2557 - - - 2665 - -194.6 - - 3888 - - - - - - - - - - -
9083 860.2 -8.6 412 9089 roll -0.74 - - 2557 - 2.08 0.033 1284 -663.9 -194.6 - - 3887 - - - - - - - - - 26.37 -
9116 863.0 -8.5 413 9121 done -0.74 - - 2556 - 2.17 0.048 2652 630.4 -194.6 - - 3887 - - - - - - - - - 26.20 -
9450 890.4 -8.6 424 9451 done -0.74 - - 2557 - - - 2652 - -194.6 - - 3885 - - - - - - - - - - -
9749 915.5 -8.2 434 9751 done -0.74 - - 2556 - - - 2652 - -194.6 - - 3884 - - - - - - - - - - -
10049 940.2 -8.4 444 10054 roll -0.74 - - 2557 - 2.08 0.033 1280 -659.6 -194.6 - - 3883 - - - - - - - - - 26.36 -
10096 943.1 -8.5 445 10102 done -0.74 - - 2557 - 2.15 0.048 2649 636.7 -194.6 - - 3882 - - - - - - - - - 26.15 -
10414 972.9 -9.2 456 10416 done -0.74 - - 2557 - - - 2655 - -194.6 - - 3883 - - - - - - - - - - -
10592 end dive: TARGET_DEPTH_EXCEEDED
10592 begin apogee
10598 990.2 -9.6 462 10763 roll -0.12 0.57 0.108 2753 343.9 - - 1934 - - 158.40 1.436 3121 -4.8 0.357 - - - - - - 25.78 - 23.28
10765 end apogee: CONTROL_FINISHED_OK
10765 begin climb
10767 999.3 - 467 10955 roll 0.46 0.57 0.059 2965 371.9 2.30 0.039 540 -606.1 194.6 178.70 1.401 2327 -4.4 0.341 - - - - - - 24.60 24.59 22.79
11082 987.0 7.7 478 11117 done 0.47 - - 2965 - 2.25 0.038 1946 624.9 227.4 30.02 1.342 2194 -4.4 0.351 - - - - - - - 25.25 23.54
11440 955.2 9.1 490 11446 roll 0.45 - - 2970 - 2.22 0.041 535 -635.6 227.4 - - 2186 - - - - - - - - - 25.93 -
11587 943.9 9.2 494 11593 done 0.45 - - 2970 - 2.20 0.039 1955 645.5 227.4 - - 2184 - - - - - - - - - 26.05 -
11895 910.3 10.6 505 11901 roll 0.43 0.12 0.149 2928 -350.0 2.20 0.050 3345 631.8 227.4 - - 2184 - - - - - - - - 26.11 26.09 -
11922 910.3 10.6 505 11929 done 0.41 - - 2929 - 2.12 0.034 1951 -657.5 227.4 - - 2184 - - - - - - - - - 26.25 -
12230 881.5 8.3 516 12244 done 0.43 - - 2929 - - - 1951 - 240.1 11.15 1.236 2142 -3.8 0.289 - - - - - - - - 24.67
12530 857.4 7.7 526 12567 roll 0.48 - - 2929 - 2.30 0.051 3342 604.8 274.7 31.95 1.327 2000 -4.4 0.309 - - - - - - - 25.43 24.27
12600 852.8 7.4 528 12645 done 0.53 0.12 0.089 2996 558.3 2.17 0.033 1963 -635.5 316.2 38.42 1.316 1831 -4.4 0.307 - - - - - - 25.62 25.66 23.87
12953 807.6 12.7 540 12959 roll 0.50 0.12 0.149 2956 -333.3 2.22 0.041 538 -641.9 316.2 - - 1824 - - - - - - - - 25.88 25.94 -
13006 804.0 12.1 541 13011 done 0.49 - - 2956 - 2.22 0.038 1961 641.0 316.2 - - 1824 - - - - - - - - - 26.01 -
13320 776.0 8.1 552 13342 roll 0.53 - - 2956 - 2.25 0.054 3353 618.7 334.8 16.15 1.232 1756 -4.2 0.285 - - - - - - - 25.82 24.60
13364 773.6 8.0 553 13390 done 0.57 - - 2956 - 2.20 0.033 1949 -638.2 356.1 19.98 1.235 1668 -4.4 0.297 - - - - - - - 25.92 24.28
13713 743.3 8.7 565 13719 roll 0.61 0.12 0.093 3036 666.7 2.17 0.041 538 -650.2 357.1 - - 1665 - - - - - - - - 26.16 26.01 -
13756 739.3 9.2 566 13761 done 0.64 0.12 0.144 3000 -300.0 2.17 0.040 1945 648.4 357.1 - - 1664 - - - - - - - - 25.89 26.06 -
14081 697.0 12.5 577 14086 roll 0.62 - - 3000 - 2.25 0.053 3354 626.2 357.1 - - 1664 - - - - - - - - - 26.10 -
14114 692.4 12.7 578 14119 done 0.60 - - 3000 - 2.17 0.034 1952 -646.1 357.1 - - 1664 - - - - - - - - - 26.25 -
14448 651.8 12.0 589 14453 roll 0.58 - - 3010 - 2.17 0.043 538 -651.6 357.1 - - 1663 - - - - - - - - - 26.23 -
14554 641.3 11.5 592 14560 done 0.58 - - 3010 - 2.15 0.039 1929 647.0 357.1 - - 1662 - - - - - - - - - 26.26 -
14874 601.1 12.1 603 14879 roll 0.55 - - 3010 - 2.22 0.052 3343 636.9 357.1 - - 1662 - - - - - - - - - 26.19 -
14901 601.1 12.1 603 14909 done 0.53 0.15 0.150 2967 -286.7 2.17 0.034 1926 -653.0 357.1 - - 1662 - - - - - - - - 26.06 26.36 -
15207 568.9 9.8 619 15212 roll 0.56 - - 2968 - 2.12 0.043 541 -653.3 357.1 - - 1661 - - - - - - - - - 26.28 -
15234 566.7 9.8 620 15240 done 0.60 - - 2968 - 2.15 0.038 1941 651.2 357.1 - - 1661 - - - - - - - - - 26.31 -
15553 536.4 9.1 636 15555 done 0.64 0.12 0.092 3039 591.7 - - 1942 - 357.1 - - 1661 - - - - - - - - 26.55 - -
15852 486.8 17.3 651 15859 roll 0.58 0.15 0.147 2998 -273.3 2.15 0.040 541 -651.6 357.1 - - 1661 - - - - - - - - 26.25 26.29 -
15912 480.7 15.7 653 15918 done 0.55 - - 2998 - 2.12 0.039 1933 656.6 357.1 - - 1661 - - - - - - - - - 26.32 -
16216 441.7 12.1 669 16221 roll 0.55 - - 2997 - 2.25 0.052 3353 631.1 357.1 - - 1661 - - - - - - - - - 26.20 -
16242 439.0 12.2 670 16248 done 0.55 - - 2997 - 2.17 0.033 1928 -656.7 357.1 - - 1662 - - - - - - - - - 26.41 -
16560 404.8 10.2 686 16565 roll 0.55 - - 2998 - 2.12 0.043 539 -655.2 357.1 - - 1661 - - - - - - - - - 26.29 -
16597 402.6 10.1 687 16604 done 0.55 - - 2998 - 2.15 0.038 1939 651.2 357.1 - - 1661 - - - - - - - - - 26.32 -
16903 370.9 10.2 703 16908 roll 0.57 - - 2998 - 2.20 0.051 3345 639.1 357.1 - - 1661 - - - - - - - - - 26.19 -
16935 368.2 10.5 704 16940 done 0.58 - - 2998 - 2.17 0.033 1919 -657.1 357.1 - - 1661 - - - - - - - - - 26.41 -
17247 335.8 9.7 720 17253 roll 0.59 - - 2998 - 2.12 0.042 530 -655.2 357.1 - - 1661 - - - - - - - - - 26.28 -
17271 333.6 9.7 721 17277 done 0.61 - - 2998 - 2.15 0.038 1937 654.4 357.1 - - 1661 - - - - - - - - - 26.32 -
17595 303.7 9.1 737 17600 roll 0.63 - - 2998 - 2.22 0.050 3346 634.7 357.1 - - 1662 - - - - - - - - - 26.18 -
17657 297.1 10.4 740 17663 done 0.65 - - 2998 - 2.15 0.032 1940 -654.0 357.1 - - 1662 - - - - - - - - - 26.42 -
17980 266.5 9.1 756 17985 roll 0.68 - - 2998 - 2.15 0.041 531 -655.3 357.1 - - 1662 - - - - - - - - - 26.28 -
18038 262.8 8.7 758 18044 done 0.71 - - 2998 - 2.17 0.036 1969 662.7 357.9 - - 1662 - - - - - - - - - 26.33 -
18344 237.0 8.3 774 18365 roll 0.75 0.12 0.092 3079 675.0 2.22 0.040 534 -646.4 369.9 12.73 0.861 1611 -4.0 0.119 - - - - - - 26.60 26.29 24.98
18382 235.2 8.4 775 18398 done 0.78 - - 3079 - 2.17 0.038 1943 649.3 378.2 8.48 0.801 1579 -3.8 0.119 - - - - - - - 26.23 24.89
18711 179.5 17.1 792 18718 roll 0.71 0.15 0.151 3030 -326.7 2.22 0.048 3355 636.0 378.2 - - 1576 - - - - - - - - 26.05 26.08 -
18740 175.8 16.8 793 18746 done 0.65 - - 3036 - 2.17 0.032 1921 -660.8 378.2 - - 1576 - - - - - - - - - 26.26 -
19058 139.7 10.8 809 19059 done 0.65 - - 3035 - - - 1921 - 378.2 - - 1576 - - - - - - - - - - -
19359 110.7 9.6 824 19364 roll 0.67 - - 3036 - 2.10 0.040 539 -658.1 378.2 - - 1576 - - - - - - - - - 26.24 -
19391 108.5 9.5 825 19397 done 0.70 - - 3036 - 2.12 0.036 1946 663.7 378.2 - - 1576 - - - - - - - - - 26.28 -
19705 86.3 5.4 841 19805 roll 0.82 - - 3036 - 2.33 0.048 3340 598.3 489.6 89.35 0.775 1124 -5.1 0.061 - - - - - - - 25.30 24.46
19822 81.0 5.4 846 19918 done 0.97 0.22 0.065 3136 454.5 2.20 0.030 1935 -638.6 599.7 88.82 0.745 676 -5.0 0.059 - - - - - - 25.51 25.53 24.25
20224 44.1 6.9 870 20280 roll 1.09 - - 3136 - 2.20 0.039 539 -634.5 659.4 49.50 0.706 460 -4.4 0.029 - - - - - - - 25.44 24.69
20340 37.3 6.6 881 20347 done 1.30 0.25 0.099 3220 336.0 2.12 0.030 1935 658.5 730.6 0.10 0.158 460 - - - - - - - - 25.57 25.71 25.54
20656 3.8 10.7 912 20663 roll 1.50 0.15 0.103 3284 426.7 2.20 0.046 3341 639.1 730.6 0.62 0.044 459 - - - - - - - - 26.10 26.00 26.08
20668 end climb: SURFACE_DEPTH_REACHED
20668 begin surface coast
20690 end surface coast: CONTROL_FINISHED_OK
20691 begin surface
SM 2.03 - - - - -8.29 8.15 0.041 134 -386.5 1.02 0.032 2679 -649.0 652.74 - - 460 - - - - - - - -