OKMC Apr12 * SG170 * Dive index * Mission links * Dive 141 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 32.67 of 146.00 AH used of 24V (77.62% remains)
• Previous NAKs 0, Timeouts 0 • 15.02 of 97.50 AH used of 10V (84.60% remains)
• Surface angle -73.5 deg, depth 2.02 m • Intended pitch -13.6 deg, speed -9.706 cm/s
• No surface pump (final VBD was 652.99, SM_CC=652.74329)
• GPS1 time: 37 s
• GPS2 time: 19 s • Transponder ping count: 10
• 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
16 begin dive
18 - - - 103 VBD -0.49 - - 132 - - - 2668 - -243.3 -82.28 - 2724 - - - - - - - - - - -
106 3.3 -2.8 8 148 roll -0.49 10.38 0.243 2632 240.8 1.70 0.076 3682 596.5 -243.3 -22.85 - 3966 -54.4 - - - - - - - 25.42 25.98 26.49
205 31.9 -27.0 17 213 done -0.36 0.17 0.143 2684 305.9 1.50 0.028 2670 -674.7 -243.3 - - 3967 - - - - - - - - 25.86 26.26 -
512 80.3 -10.4 37 513 done -0.36 - - 2684 - - - 2670 - -243.3 - - 3967 - - - - - - - - - - -
814 105.5 -6.2 52 815 done -0.43 - - 2684 - - - 2670 - -243.3 - - 3968 - - - - - - - - - - -
1113 129.8 -9.0 67 1120 roll -0.64 0.22 0.089 2592 -418.2 2.00 0.030 1293 -688.5 -243.3 - - 3968 - - - - - - - - 26.39 26.44 -
1198 137.4 -8.9 71 1204 done -0.72 - - 2592 - 2.17 0.045 2689 643.3 -243.3 - - 3968 - - - - - - - - - 26.34 -
1521 174.0 -12.1 87 1522 done -0.68 - - 2592 - - - 2690 - -243.3 - - 3968 - - - - - - - - - - -
1822 207.8 -11.2 102 1827 roll -0.65 - - 2592 - 1.58 0.057 3696 636.7 -243.3 - - 3967 - - - - - - - - - 26.36 -
1894 214.1 -10.2 105 1899 done -0.65 - - 2591 - 1.48 0.031 2696 -675.7 -243.3 - - 3967 - - - - - - - - - 26.60 -
2206 246.0 -10.1 121 2211 roll -0.65 - - 2591 - 2.05 0.031 1295 -683.4 -243.3 - - 3965 - - - - - - - - - 26.51 -
2237 248.1 -10.0 122 2243 done -0.65 - - 2591 - 2.17 0.046 2693 644.2 -243.3 - - 3965 - - - - - - - - - 26.39 -
2552 279.6 -9.3 138 2557 roll -0.65 - - 2591 - 1.58 0.057 3700 637.3 -243.3 - - 3962 - - - - - - - - - 26.36 -
2578 281.8 -9.3 139 2584 done -0.65 - - 2592 - 1.50 0.031 2686 -676.0 -243.3 - - 3962 - - - - - - - - - 26.61 -
2896 310.1 -9.0 155 2897 done -0.65 - - 2591 - - - 2685 - -243.3 - - 3960 - - - - - - - - - - -
3197 336.5 -8.3 170 3202 roll -0.65 - - 2592 - 2.03 0.031 1285 -689.7 -243.3 - - 3957 - - - - - - - - - 26.53 -
3243 340.0 -8.2 172 3249 done -0.66 - - 2592 - 2.17 0.045 2685 645.2 -243.3 - - 3957 - - - - - - - - - 26.39 -
3562 366.6 -8.6 188 3567 roll -0.68 - - 2591 - 2.05 0.031 1294 -678.5 -243.3 - - 3955 - - - - - - - - - 26.51 -
3589 368.5 -8.6 189 3594 done -0.70 - - 2591 - 2.17 0.047 2688 642.4 -243.3 - - 3954 - - - - - - - - - 26.39 -
3908 397.2 -8.6 205 3913 roll -0.72 - - 2591 - 2.08 0.034 1285 -674.5 -243.3 - - 3951 - - - - - - - - - 26.46 -
3940 399.1 -8.6 206 3945 done -0.74 - - 2592 - 2.15 0.046 2672 645.1 -243.3 - - 3950 - - - - - - - - - 26.39 -
4253 424.8 -8.0 222 4255 done -0.76 0.12 0.092 2518 -616.7 - - 2672 - -243.3 - - 3948 - - - - - - - - 26.67 - -
4554 463.6 -13.3 237 4560 roll -0.69 0.17 0.139 2577 347.1 1.60 0.054 3700 642.5 -243.3 - - 3946 - - - - - - - - 26.31 26.33 -
4587 466.2 -12.4 238 4592 done -0.64 - - 2577 - 1.52 0.034 2677 -673.0 -243.3 - - 3946 - - - - - - - - - 26.58 -
4899 489.9 -7.6 254 4904 roll -0.64 - - 2577 - 2.05 0.031 1271 -685.9 -243.3 - - 3942 - - - - - - - - - 26.50 -
4931 491.7 -7.6 255 4937 done -0.64 - - 2577 - 2.20 0.047 2679 640.0 -243.3 - - 3943 - - - - - - - - - 26.36 -
5246 517.7 -8.3 271 5251 roll -0.65 - - 2577 - 2.10 0.031 1273 -669.5 -243.3 - - 3941 - - - - - - - - - 26.48 -
5273 519.7 -8.3 272 5278 done -0.67 - - 2577 - 2.17 0.047 2668 642.9 -243.3 - - 3940 - - - - - - - - - 26.35 -
5591 549.5 -9.7 288 5597 roll -0.67 - - 2577 - 2.08 0.031 1274 -670.2 -243.3 - - 3938 - - - - - - - - - 26.48 -
5623 552.0 -9.8 289 5628 done -0.68 - - 2577 - 2.17 0.047 2663 640.1 -243.3 - - 3938 - - - - - - - - - 26.34 -
5936 582.9 -9.4 305 5941 roll -0.69 - - 2577 - 1.62 0.057 3692 635.2 -243.3 - - 3935 - - - - - - - - - 26.29 -
5990 586.9 -9.5 307 5995 done -0.71 - - 2577 - 1.55 0.035 2660 -665.8 -243.3 - - 3937 - - - - - - - - - 26.54 -
6304 616.3 -8.8 320 6309 roll -0.73 - - 2577 - 2.05 0.031 1273 -676.6 -243.3 - - 3934 - - - - - - - - - 26.47 -
6331 616.3 -8.8 320 6339 done -0.74 - - 2577 - 2.17 0.047 2660 639.2 -243.3 - - 3933 - - - - - - - - - 26.32 -
6639 643.3 -7.7 331 6640 done -0.76 - - 2577 - - - 2661 - -243.3 - - 3931 - - - - - - - - - - -
6938 665.2 -7.2 341 6943 roll -0.78 - - 2577 - 2.08 0.032 1278 -664.9 -243.3 - - 3930 - - - - - - - - - 26.46 -
6986 667.7 -7.4 342 6992 done -0.80 0.12 0.091 2508 -575.0 2.17 0.047 2665 639.2 -243.3 - - 3929 - - - - - - - - 26.32 26.30 -
7305 709.5 -13.6 353 7311 roll -0.74 0.15 0.148 2559 340.0 2.08 0.031 1271 -670.2 -243.3 - - 3927 - - - - - - - - 26.31 26.45 -
7343 713.5 -13.2 354 7348 done -0.69 - - 2559 - 2.17 0.047 2654 637.3 -243.3 - - 3927 - - - - - - - - - 26.29 -
7672 743.8 -8.8 365 7677 roll -0.69 - - 2559 - 1.65 0.058 3690 627.9 -243.3 - - 3925 - - - - - - - - - 26.22 -
7735 749.2 -8.6 367 7740 done -0.69 - - 2559 - 1.58 0.036 2658 -653.2 -243.3 - - 3925 - - - - - - - - - 26.51 -
8069 776.2 -8.0 378 8074 roll -0.69 - - 2559 - 2.03 0.032 1281 -678.3 -243.3 - - 3923 - - - - - - - - - 26.43 -
8121 778.9 -8.0 379 8126 done -0.69 - - 2559 - 2.15 0.047 2649 636.3 -243.3 - - 3924 - - - - - - - - - 26.27 -
8434 807.5 -8.9 390 8435 done -0.69 - - 2559 - - - 2649 - -243.3 - - 3922 - - - - - - - - - - -
8734 833.8 -9.0 400 8739 roll -0.69 - - 2559 - 2.08 0.033 1268 -663.9 -243.3 - - 3921 - - - - - - - - - 26.42 -
8786 837.0 -9.1 401 8791 done -0.69 - - 2559 - 2.17 0.047 2647 635.5 -243.3 - - 3920 - - - - - - - - - 26.24 -
9098 869.2 -10.1 412 9104 roll -0.69 - - 2558 - 2.05 0.033 1272 -670.7 -243.3 - - 3919 - - - - - - - - - 26.41 -
9131 872.5 -10.2 413 9137 done -0.69 - - 2559 - 2.15 0.047 2626 629.8 -243.3 - - 3919 - - - - - - - - - 26.23 -
9467 904.8 -9.7 424 9472 roll -0.69 - - 2559 - 2.03 0.032 1266 -670.0 -243.3 - - 3918 - - - - - - - - - 26.40 -
9489 904.8 -9.7 424 9494 done -0.69 - - 2559 - 2.15 0.047 2626 632.6 -243.3 - - 3918 - - - - - - - - - 26.22 -
9803 934.3 -8.3 435 9804 done -0.69 - - 2559 - - - 2627 - -243.3 - - 3917 - - - - - - - - - - -
10101 959.8 -8.4 445 10106 roll -0.69 - - 2559 - 2.03 0.033 1269 -669.0 -243.3 - - 3915 - - - - - - - - - 26.38 -
10128 959.8 -8.4 445 10135 done -0.69 - - 2559 - 2.15 0.048 2626 631.2 -243.3 - - 3915 - - - - - - - - - 26.20 -
10434 985.6 -7.6 456 10439 roll -0.69 - - 2559 - 1.70 0.058 3691 626.5 -243.3 - - 3914 - - - - - - - - - 26.10 -
10471 988.3 -7.8 457 10476 done -0.70 - - 2559 - 1.65 0.037 2608 -656.4 -243.3 - - 3914 - - - - - - - - - 26.45 -
10496 end dive: TARGET_DEPTH_EXCEEDED
10496 begin apogee
10502 990.6 -7.7 458 10679 roll -0.12 0.57 0.109 2756 345.6 - - 1920 - - 167.57 1.458 3119 -4.7 0.347 - - - - - - 25.81 - 23.19
10681 end apogee: CONTROL_FINISHED_OK
10681 begin climb
10683 998.5 - 464 10920 roll 0.49 0.57 0.057 2968 371.9 2.47 0.051 3350 578.9 243.3 223.12 1.412 2127 -4.4 0.338 - - - - - - 24.60 24.56 22.77
10954 978.3 11.8 473 10960 done 0.42 0.12 0.155 2940 -233.3 2.30 0.031 1960 -604.3 243.3 - - 2122 - - - - - - - - 24.49 24.65 -
11288 946.9 9.0 484 11319 roll 0.44 - - 2940 - 2.33 0.050 3354 598.3 269.6 23.70 1.334 2019 -4.3 0.332 - - - - - - - 25.42 24.19
11435 935.5 9.3 488 11460 done 0.45 - - 2942 - 2.22 0.032 1927 -642.8 286.4 15.95 1.288 1951 -4.3 0.333 - - - - - - - 25.91 24.22
11773 907.0 7.7 500 11844 done 0.52 - - 2942 - - - 1927 - 362.1 67.82 1.376 1645 -4.5 0.320 - - - - - - - - 23.78
12133 881.3 7.2 512 12224 roll 0.62 0.17 0.074 3037 558.8 2.33 0.044 543 -594.0 455.6 83.57 1.356 1262 -4.6 0.320 - - - - - - 26.09 24.82 23.68
12258 862.2 15.6 516 12263 done 0.59 0.17 0.126 2986 -300.0 2.25 0.038 1942 621.8 455.6 - - 1259 - - - - - - - - 25.15 25.27 -
12593 827.4 9.5 527 12602 done 0.61 - - 2986 - - - 1943 - 462.6 6.22 1.041 1236 -3.7 0.316 - - - - - - - - 24.47
12927 796.1 9.6 538 12940 roll 0.64 - - 2986 - 2.25 0.041 531 -627.6 466.6 5.45 0.991 1217 -3.5 0.301 - - - - - - - 26.12 24.51
12952 796.1 9.6 538 12964 done 0.67 - - 2986 - 2.17 0.037 1944 651.2 470.7 5.03 0.946 1202 -3.0 0.270 - - - - - - - 26.11 24.48
13291 760.0 10.4 550 13293 done 0.71 0.12 0.090 3056 583.3 - - 1946 - 470.7 - - 1200 - - - - - - - - 26.35 - -
13592 697.7 21.4 560 13598 roll 0.63 0.17 0.145 2999 -335.3 2.17 0.041 535 -650.2 470.7 - - 1200 - - - - - - - - 26.10 26.27 -
13670 687.9 18.4 562 13676 done 0.59 - - 3000 - 2.10 0.037 1913 656.2 470.7 - - 1199 - - - - - - - - - 26.29 -
13990 651.1 11.5 573 13992 done 0.61 - - 2999 - - - 1914 - 470.7 - - 1199 - - - - - - - - - - -
14288 618.4 10.8 583 14294 roll 0.63 - - 2999 - 2.25 0.051 3351 638.7 470.7 - - 1199 - - - - - - - - - 26.27 -
14316 618.4 10.8 583 14323 done 0.66 - - 3000 - 2.22 0.034 1898 -654.5 470.7 - - 1198 - - - - - - - - - 26.41 -
14632 580.8 11.1 597 14638 roll 0.68 - - 3000 - 2.08 0.042 536 -654.8 470.7 - - 1198 - - - - - - - - - 26.34 -
14665 578.0 11.2 598 14671 done 0.71 - - 2999 - 2.08 0.037 1905 658.2 470.7 - - 1198 - - - - - - - - - 26.36 -
14979 541.8 11.9 614 14984 roll 0.74 0.12 0.091 3079 666.7 2.25 0.049 3344 639.6 470.7 - - 1198 - - - - - - - - 26.58 26.27 -
15005 538.2 12.7 615 15011 done 0.74 0.17 0.158 3034 -264.7 2.22 0.034 1894 -653.2 470.7 - - 1198 - - - - - - - - 26.03 26.43 -
15323 482.4 16.3 631 15329 roll 0.70 - - 3036 - 2.08 0.042 535 -653.4 470.7 - - 1198 - - - - - - - - - 26.34 -
15422 470.4 14.4 635 15429 done 0.70 - - 3037 - 2.05 0.037 1888 660.0 470.7 - - 1198 - - - - - - - - - 26.36 -
15727 422.7 15.4 651 15732 roll 0.66 - - 3038 - 2.30 0.050 3350 635.7 470.7 - - 1198 - - - - - - - - - 26.26 -
15759 419.0 15.6 652 15765 done 0.63 0.12 0.157 3002 -300.0 2.25 0.034 1879 -653.8 470.7 - - 1198 - - - - - - - - 26.15 26.41 -
16073 382.3 11.1 668 16078 roll 0.66 - - 3010 - 2.03 0.041 535 -662.1 470.7 - - 1198 - - - - - - - - - 26.34 -
16120 377.7 11.0 670 16125 done 0.70 - - 3010 - 2.05 0.036 1892 662.0 470.7 - - 1198 - - - - - - - - - 26.36 -
16438 342.2 11.4 686 16443 roll 0.73 - - 3010 - 2.28 0.050 3352 640.4 470.7 - - 1198 - - - - - - - - - 26.25 -
16475 339.3 11.5 687 16483 done 0.76 0.10 0.106 3067 570.0 2.25 0.033 1874 -656.9 470.7 - - 1198 - - - - - - - - 26.35 26.43 -
16781 284.0 17.9 703 16787 roll 0.70 0.12 0.159 3035 -266.7 2.03 0.040 533 -660.6 470.7 - - 1198 - - - - - - - - 26.34 26.32 -
16839 277.5 16.1 705 16846 done 0.68 - - 3035 - 2.05 0.036 1882 658.0 470.7 - - 1198 - - - - - - - - - 26.36 -
17144 238.6 11.4 721 17149 roll 0.68 - - 3036 - 2.08 0.041 531 -649.5 470.7 - - 1199 - - - - - - - - - 26.33 -
17177 236.3 11.0 722 17182 done 0.70 - - 3036 - 2.05 0.036 1890 662.9 470.7 - - 1198 - - - - - - - - - 26.35 -
17489 200.7 12.1 738 17495 roll 0.72 - - 3036 - 2.28 0.049 3353 641.7 470.7 - - 1198 - - - - - - - - - 26.23 -
17516 198.0 11.9 739 17521 done 0.74 - - 3036 - 2.28 0.032 1856 -656.6 470.7 - - 1199 - - - - - - - - - 26.42 -
17834 162.7 9.6 755 17848 roll 0.78 - - 3036 - 2.05 0.041 532 -645.9 476.2 6.50 0.723 1179 -3.1 0.074 - - - - - - - 26.37 24.70
17897 157.6 8.4 758 17950 done 0.87 0.12 0.092 3106 583.3 2.03 0.034 1864 656.2 527.0 43.40 0.855 970 -4.8 0.096 - - - - - - 26.32 26.35 24.67
18258 110.2 11.7 776 18264 roll 0.89 - - 3106 - 2.35 0.047 3346 630.6 527.0 - - 968 - - - - - - - - - 25.96 -
18306 105.8 10.2 778 18311 done 0.92 - - 3106 - 2.28 0.031 1852 -655.3 527.0 - - 968 - - - - - - - - - 26.13 -
18624 77.6 8.1 794 18684 roll 1.02 - - 3106 - 2.45 0.046 3340 607.3 588.4 49.92 0.774 721 -4.9 0.053 - - - - - - - 25.59 24.66
18702 73.2 7.7 797 18777 done 1.14 0.17 0.072 3188 482.4 2.28 0.031 1865 -646.9 665.3 61.83 0.734 460 -4.2 0.045 - - - - 1 - 25.70 25.72 24.44
19081 33.2 9.0 824 19086 roll 1.21 - - 3188 - 2.05 0.041 536 -648.3 690.4 0.50 0.054 459 - - - - - - - - - 25.97 26.03
19166 25.5 9.6 832 19172 done 1.32 0.10 0.105 3240 520.0 2.03 0.035 1862 653.2 695.6 - - 459 - - - - - - - - 26.01 26.08 -
19358 end climb: SURFACE_DEPTH_REACHED
19358 begin surface coast
19379 end surface coast: CONTROL_FINISHED_OK
19379 begin surface
SM 2.07 - - - - -8.28 8.30 0.059 136 -374.0 1.30 0.049 2685 633.1 652.99 - - 459 - - - - - - - -