OKMC Nov12 * SG170 * Dive index * Mission links * Dive 279 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 54.01 of 150.00 AH used of 24V (64.00% remains)
• Previous NAKs 0, Timeouts 0 • 26.48 of 100.00 AH used of 10V (73.52% remains)
• Surface angle -68.0 deg, depth 2.54 m • Intended pitch -14.0 deg, speed -8.049 cm/s
• No surface pump (final VBD was 542.36, SM_CC=450)
• GPS1 time: 28 s
• GPS2 time: 16 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
18 end surface: CONTROL_FINISHED_OK
19 begin dive
21 - - - 84 VBD -0.48 - - 134 - - - 2636 - -170.3 -60.80 - 1965 - - - - - - - - - - -
88 3.1 -1.3 11 145 done -0.48 11.32 0.237 2891 243.6 - - 2637 - -170.3 -40.00 - 3466 -37.5 - - - - - - - 25.44 - 26.51
340 58.6 -20.3 43 345 roll -0.43 - - 2891 - 1.62 0.053 3665 634.6 -170.3 - - 3465 - - - - - - - - - 26.13 -
466 79.0 -16.2 49 471 done -0.41 - - 2891 - 1.58 0.024 2576 -689.2 -170.3 - - 3465 - - - - - - - - - 26.43 -
669 103.1 -11.2 59 675 roll -0.39 0.10 0.160 2921 300.0 1.95 0.026 1213 -699.0 -170.3 - - 3465 - - - - - - - - 26.35 26.34 -
727 107.4 -10.5 61 734 done -0.39 - - 2921 - 2.08 0.039 2570 652.4 -170.3 - - 3465 - - - - - - - - - 26.26 -
914 121.6 -6.7 71 915 done -0.41 - - 2921 - - - 2570 - -170.3 - - 3465 - - - - - - - - - - -
1094 135.0 -7.4 80 1100 roll -0.42 - - 2921 - 2.00 0.032 1212 -679.0 -170.3 - - 3465 - - - - - - - - - 26.41 -
1158 139.6 -7.0 83 1164 done -0.44 - - 2921 - 2.12 0.038 2613 660.8 -170.3 - - 3465 - - - - - - - - - 26.32 -
1364 154.7 -7.2 93 1369 roll -0.46 - - 2921 - 2.05 0.027 1209 -684.9 -170.3 - - 3465 - - - - - - - - - 26.43 -
1417 157.7 -6.8 95 1422 done -0.49 - - 2921 - 2.12 0.037 2611 661.3 -170.3 - - 3465 - - - - - - - - - 26.33 -
1611 171.3 -7.2 105 1616 roll -0.53 0.12 0.096 2846 -625.0 2.03 0.024 1207 -691.6 -170.3 - - 3464 - - - - - - - - 26.53 26.44 -
1695 179.5 -9.7 109 1701 done -0.53 0.12 0.154 2882 300.0 2.12 0.037 2612 662.7 -170.3 - - 3464 - - - - - - - - 26.11 26.33 -
1902 194.6 -6.9 119 1907 roll -0.54 - - 2882 - 2.03 0.026 1207 -692.1 -170.3 - - 3463 - - - - - - - - - 26.44 -
1975 199.3 -7.0 122 1980 done -0.55 - - 2882 - 2.12 0.038 2603 658.5 -170.3 - - 3463 - - - - - - - - - 26.32 -
2170 214.6 -7.9 132 2175 roll -0.56 - - 2882 - 2.03 0.025 1210 -686.2 -170.3 - - 3463 - - - - - - - - - 26.45 -
2248 219.9 -8.1 135 2255 done -0.57 - - 2882 - 2.12 0.038 2609 659.9 -170.3 - - 3462 - - - - - - - - - 26.33 -
2433 236.4 -8.4 145 2439 roll -0.58 - - 2882 - 2.00 0.025 1218 -695.5 -170.3 - - 3461 - - - - - - - - - 26.45 -
2477 240.2 -8.6 147 2483 done -0.60 - - 2882 - 2.12 0.037 2611 657.1 -170.3 - - 3461 - - - - - - - - - 26.33 -
2683 256.5 -7.8 157 2684 done -0.61 - - 2882 - - - 2612 - -170.3 - - 3460 - - - - - - - - - - -
2983 279.9 -7.6 172 2988 roll -0.62 - - 2882 - 2.03 0.026 1219 -686.2 -170.3 - - 3458 - - - - - - - - - 26.44 -
3051 284.9 -7.8 175 3057 done -0.64 0.12 0.093 2821 -508.3 2.12 0.037 2613 657.5 -170.3 - - 3457 - - - - - - - - 26.29 26.32 -
3370 321.7 -11.7 191 3376 roll -0.62 0.10 0.162 2849 280.0 2.03 0.023 1210 -691.1 -170.3 - - 3456 - - - - - - - - 26.44 26.45 -
3434 328.4 -10.8 194 3439 done -0.62 - - 2850 - 2.10 0.038 2602 662.9 -170.3 - - 3456 - - - - - - - - - 26.31 -
3757 362.0 -10.1 210 3762 roll -0.62 - - 2849 - 2.03 0.024 1211 -685.2 -170.3 - - 3454 - - - - - - - - - 26.45 -
3829 368.3 -10.0 213 3834 done -0.62 - - 2849 - 2.12 0.038 2604 657.1 -170.3 - - 3454 - - - - - - - - - 26.30 -
4141 398.3 -9.3 229 4147 roll -0.62 - - 2849 - 2.00 0.024 1217 -693.5 -170.3 - - 3452 - - - - - - - - - 26.44 -
4179 400.4 -9.3 230 4185 done -0.62 - - 2849 - 2.12 0.039 2604 654.2 -170.3 - - 3451 - - - - - - - - - 26.29 -
4484 429.9 -9.5 246 4489 roll -0.62 - - 2849 - 2.00 0.025 1216 -694.0 -170.3 - - 3449 - - - - - - - - - 26.44 -
4527 434.1 -9.6 248 4532 done -0.62 - - 2849 - 2.12 0.039 2605 655.2 -170.3 - - 3449 - - - - - - - - - 26.28 -
4850 465.5 -9.9 264 4855 roll -0.62 - - 2849 - 2.03 0.025 1216 -684.2 -170.3 - - 3447 - - - - - - - - - 26.44 -
4913 472.0 -10.6 267 4919 done -0.62 - - 2849 - 2.15 0.039 2616 651.2 -170.3 - - 3447 - - - - - - - - - 26.27 -
5236 507.3 -11.4 283 5241 roll -0.62 - - 2849 - 2.05 0.026 1214 -683.9 -170.3 - - 3445 - - - - - - - - - 26.43 -
5283 512.1 -11.2 285 5288 done -0.63 - - 2849 - 2.12 0.039 2599 653.3 -170.3 - - 3445 - - - - - - - - - 26.27 -
5601 543.3 -9.0 301 5606 roll -0.63 - - 2849 - 2.03 0.025 1218 -680.3 -170.3 - - 3444 - - - - - - - - - 26.43 -
5673 548.7 -8.6 304 5679 done -0.64 - - 2850 - 2.12 0.038 2605 654.2 -170.3 - - 3443 - - - - - - - - - 26.26 -
5987 574.9 -8.0 320 5992 roll -0.64 - - 2850 - 2.05 0.025 1203 -683.9 -170.3 - - 3441 - - - - - - - - - 26.42 -
6040 578.2 -7.8 322 6045 done -0.64 - - 2849 - 2.15 0.039 2603 651.2 -170.3 - - 3441 - - - - - - - - - 26.24 -
6374 604.6 -7.4 338 6379 roll -0.65 - - 2849 - 2.05 0.026 1204 -682.4 -170.3 - - 3440 - - - - - - - - - 26.41 -
6422 607.2 -7.3 339 6427 done -0.65 - - 2849 - 2.15 0.040 2599 648.8 -170.3 - - 3439 - - - - - - - - - 26.22 -
6743 631.2 -7.2 350 6748 roll -0.66 - - 2849 - 2.00 0.026 1216 -691.5 -170.3 - - 3438 - - - - - - - - - 26.40 -
6771 631.2 -7.2 350 6777 done -0.67 - - 2849 - 2.15 0.040 2611 648.8 -170.3 - - 3438 - - - - - - - - - 26.22 -
7079 656.0 -7.5 361 7084 roll -0.67 - - 2849 - 2.03 0.026 1216 -687.2 -170.3 - - 3437 - - - - - - - - - 26.40 -
7121 658.8 -7.6 362 7127 done -0.68 - - 2849 - 2.15 0.040 2611 648.8 -170.3 - - 3436 - - - - - - - - - 26.21 -
7447 682.3 -6.8 373 7452 roll -0.69 - - 2849 - 2.05 0.026 1216 -680.5 -170.3 - - 3435 - - - - - - - - - 26.39 -
7511 686.6 -6.6 375 7517 done -0.70 - - 2849 - 2.15 0.039 2604 645.6 -170.3 - - 3435 - - - - - - - - - 26.20 -
7847 706.2 -5.9 386 7852 roll -0.71 - - 2849 - 2.03 0.025 1208 -687.7 -170.3 - - 3433 - - - - - - - - - 26.39 -
7941 712.2 -6.2 389 7946 done -0.72 - - 2849 - 2.17 0.040 2611 646.5 -170.3 - - 3433 - - - - - - - - - 26.19 -
8277 734.5 -7.0 400 8279 done -0.73 0.10 0.110 2797 -520.0 - - 2612 - -170.3 - - 3431 - - - - - - - - 26.58 - -
8574 765.6 -10.3 410 8579 roll -0.71 - - 2797 - 2.05 0.026 1219 -679.5 -170.3 - - 3430 - - - - - - - - - 26.37 -
8627 769.1 -10.3 411 8632 done -0.69 - - 2795 - 2.15 0.041 2606 645.1 -170.3 - - 3430 - - - - - - - - - 26.16 -
8941 800.9 -9.5 422 8947 roll -0.68 0.12 0.162 2837 350.0 2.05 0.024 1206 -682.9 -170.3 - - 3430 - - - - - - - - 26.24 26.36 -
9009 805.6 -8.3 424 9014 done -0.67 - - 2837 - 2.17 0.041 2610 647.0 -170.3 - - 3429 - - - - - - - - - 26.15 -
9340 830.2 -7.8 435 9345 roll -0.68 - - 2837 - 2.05 0.026 1218 -679.0 -170.3 - - 3428 - - - - - - - - - 26.36 -
9397 833.2 -7.9 436 9404 done -0.68 - - 2837 - 2.12 0.040 2600 651.9 -170.3 - - 3429 - - - - - - - - - 26.15 -
9704 861.1 -8.5 447 9709 roll -0.69 - - 2837 - 2.03 0.026 1214 -682.8 -170.3 - - 3427 - - - - - - - - - 26.35 -
9741 864.0 -8.6 448 9746 done -0.69 - - 2837 - 2.15 0.041 2600 644.7 -170.3 - - 3427 - - - - - - - - - 26.13 -
10072 893.1 -8.6 459 10077 roll -0.70 - - 2837 - 2.03 0.027 1207 -686.2 -170.3 - - 3426 - - - - - - - - - 26.34 -
10149 898.8 -8.6 461 10155 done -0.71 - - 2837 - 2.17 0.041 2608 645.6 -170.3 - - 3426 - - - - - - - - - 26.11 -
10470 925.3 -7.9 472 10475 roll -0.72 - - 2837 - 2.05 0.027 1220 -677.1 -170.3 - - 3425 - - - - - - - - - 26.33 -
10528 928.0 -7.8 473 10535 done -0.72 - - 2837 - 2.15 0.041 2610 646.5 -170.3 - - 3425 - - - - - - - - - 26.10 -
10834 953.8 -8.1 484 10840 roll -0.73 - - 2837 - 2.05 0.027 1209 -683.4 -170.3 - - 3424 - - - - - - - - - 26.32 -
10877 956.6 -8.3 485 10882 done -0.74 - - 2837 - 2.17 0.041 2606 643.8 -170.3 - - 3423 - - - - - - - - - 26.08 -
11203 984.5 -8.4 496 11208 roll -0.75 - - 2837 - 2.05 0.038 1217 -677.6 -170.3 - - 3423 - - - - - - - - - 25.41 -
11245 987.5 -8.4 497 11251 done -0.76 - - 2837 - 2.15 0.041 2610 647.9 -170.3 - - 3423 - - - - - - - - - 26.08 -
11266 end dive: TARGET_DEPTH_EXCEEDED
11266 begin apogee
11273 990.2 -8.4 498 11425 done -0.15 0.45 0.105 2996 353.3 - - 2127 - - 142.68 1.479 2768 -4.6 0.337 - - - - - - 25.76 - 23.25
11426 end apogee: CONTROL_FINISHED_OK
11427 begin climb
11429 997.2 - 503 11601 roll 0.48 0.57 0.054 3213 380.7 2.47 0.049 3522 564.8 170.3 160.40 1.434 2073 -4.3 0.330 - - - - - - 24.67 23.68 22.44
11668 981.8 11.3 511 11674 done 0.44 - - 3222 - 2.22 0.026 2125 -629.3 170.3 - - 2068 - - - - - - - - - 24.78 -
11999 938.4 13.5 522 12005 roll 0.40 0.12 0.164 3192 -250.0 2.10 0.032 725 -666.7 170.3 - - 2063 - - - - - - - - 25.83 25.97 -
12028 938.4 13.5 522 12034 done 0.36 - - 3191 - 2.15 0.037 2128 652.6 170.3 - - 2061 - - - - - - - - - 25.98 -
12333 901.2 10.8 533 12338 roll 0.34 - - 3192 - 2.22 0.049 3533 632.9 170.3 - - 2061 - - - - - - - - - 26.08 -
12407 893.7 11.3 535 12413 done 0.32 0.15 0.158 3157 -233.3 2.12 0.028 2117 -667.9 170.3 - - 2061 - - - - - - - - 25.93 26.32 -
12733 866.6 7.6 546 12751 roll 0.33 - - 3158 - 2.10 0.034 726 -662.4 184.5 12.35 1.280 2014 -3.8 0.282 - - - - - - - 26.07 24.57
12830 860.0 7.2 549 12862 done 0.34 - - 3158 - 2.15 0.036 2124 650.2 211.9 25.35 1.351 1904 -4.3 0.302 - - - - - - - 26.09 24.29
13186 833.9 7.3 561 13215 roll 0.35 - - 3159 - 2.30 0.050 3522 607.8 234.7 20.70 1.323 1811 -4.5 0.310 - - - - - - - 25.69 24.41
13294 826.5 7.7 564 13313 done 0.35 - - 3159 - 2.12 0.027 2118 -662.3 245.9 11.68 1.235 1765 -3.9 0.289 - - - - - - - 26.01 24.34
13642 798.7 7.6 576 13660 roll 0.36 - - 3159 - 2.10 0.034 724 -663.8 258.6 12.45 1.243 1712 -4.3 0.300 - - - - - - - 25.95 24.56
13724 794.0 7.7 578 13739 done 0.38 - - 3159 - 2.15 0.035 2132 654.9 268.6 10.07 1.193 1674 -3.8 0.275 - - - - - - - 26.01 24.43
14068 763.2 8.9 590 14073 roll 0.39 - - 3159 - 2.17 0.049 3524 641.5 268.6 - - 1670 - - - - - - - - - 26.09 -
14146 756.9 9.7 592 14151 done 0.40 - - 3159 - 2.10 0.027 2124 -666.7 268.6 - - 1670 - - - - - - - - - 26.32 -
14466 725.9 9.1 603 14472 roll 0.42 - - 3158 - 2.10 0.034 719 -669.0 268.6 - - 1669 - - - - - - - - - 26.27 -
14504 723.0 8.9 604 14509 done 0.43 - - 3159 - 2.12 0.035 2129 665.1 268.6 - - 1668 - - - - - - - - - 26.26 -
14834 693.9 8.5 615 14840 roll 0.45 0.10 0.109 3217 580.0 2.17 0.047 3529 645.2 268.6 - - 1669 - - - - - - - - 26.50 26.17 -
14930 681.8 11.6 618 14936 done 0.44 0.12 0.152 3189 -233.3 2.10 0.027 2122 -670.0 268.6 - - 1669 - - - - - - - - 26.11 26.44 -
15264 647.8 9.9 629 15269 roll 0.44 - - 3190 - 2.08 0.034 717 -675.5 268.6 - - 1668 - - - - - - - - - 26.29 -
15357 639.4 9.2 632 15362 done 0.44 - - 3189 - 2.15 0.035 2124 654.4 268.6 - - 1667 - - - - - - - - - 26.28 -
15692 607.2 9.8 643 15697 roll 0.44 - - 3189 - 2.17 0.049 3525 645.6 268.6 - - 1668 - - - - - - - - - 26.15 -
15797 595.0 11.6 647 15803 done 0.43 - - 3195 - 2.10 0.026 2104 -676.7 268.6 - - 1668 - - - - - - - - - 26.45 -
16120 558.7 10.9 663 16126 roll 0.43 - - 3199 - 2.05 0.034 725 -672.7 268.6 - - 1667 - - - - - - - - - 26.28 -
16163 554.1 10.8 665 16168 done 0.43 - - 3199 - 2.10 0.035 2124 666.2 268.6 - - 1667 - - - - - - - - - 26.26 -
16486 519.6 10.5 681 16491 roll 0.43 - - 3199 - 2.20 0.049 3524 636.4 268.6 - - 1667 - - - - - - - - - 26.12 -
16560 512.3 11.4 684 16565 done 0.43 - - 3199 - 2.10 0.027 2109 -673.8 268.6 - - 1668 - - - - - - - - - 26.43 -
16873 478.0 10.4 700 16878 roll 0.43 - - 3199 - 2.05 0.034 732 -671.7 268.6 - - 1667 - - - - - - - - - 26.27 -
16919 473.8 10.0 702 16925 done 0.43 - - 3199 - 2.10 0.035 2128 664.8 268.6 - - 1667 - - - - - - - - - 26.24 -
17237 442.8 10.0 718 17242 roll 0.43 - - 3199 - 2.20 0.048 3530 637.3 268.6 - - 1668 - - - - - - - - - 26.09 -
17324 433.5 11.2 722 17329 done 0.42 - - 3199 - 2.10 0.026 2120 -671.4 268.6 - - 1668 - - - - - - - - - 26.43 -
17642 402.2 9.6 738 17647 roll 0.42 - - 3199 - 2.08 0.034 727 -669.7 268.6 - - 1667 - - - - - - - - - 26.25 -
17674 400.1 9.5 739 17679 done 0.42 - - 3199 - 2.10 0.035 2123 664.8 268.6 - - 1667 - - - - - - - - - 26.22 -
17987 371.6 9.1 755 17992 roll 0.42 - - 3199 - 2.20 0.048 3524 636.8 268.6 - - 1668 - - - - - - - - - 26.07 -
18034 367.2 9.5 757 18039 done 0.42 - - 3199 - 2.08 0.026 2116 -676.9 268.6 - - 1668 - - - - - - - - - 26.43 -
18351 337.1 9.2 773 18357 roll 0.42 - - 3199 - 2.05 0.034 725 -678.5 268.6 - - 1668 - - - - - - - - - 26.23 -
18374 335.1 9.1 774 18380 done 0.42 - - 3200 - 2.10 0.035 2123 665.7 268.6 - - 1667 - - - - - - - - - 26.21 -
18698 306.4 8.5 790 18703 roll 0.42 - - 3199 - 2.20 0.047 3527 638.2 268.6 - - 1668 - - - - - - - - - 26.06 -
18825 294.4 9.8 796 18831 done 0.42 - - 3199 - 2.08 0.026 2114 -679.3 268.6 - - 1668 - - - - - - - - - 26.42 -
19143 267.2 8.3 812 19144 done 0.42 - - 3200 - - - 2114 - 268.6 - - 1668 - - - - - - - - - - -
19446 242.1 8.1 827 19451 roll 0.43 - - 3199 - 2.08 0.034 719 -670.7 268.6 - - 1669 - - - - - - - - - 26.22 -
19483 240.2 8.2 828 19490 done 0.43 - - 3199 - 2.12 0.034 2121 661.3 268.6 - - 1668 - - - - - - - - - 26.20 -
19670 225.2 7.4 838 19693 roll 0.45 - - 3200 - 2.28 0.048 3531 618.4 288.9 18.48 0.912 1591 -4.2 0.113 - - - - - - - 26.08 24.74
19763 218.5 8.1 842 19768 done 0.46 - - 3199 - 2.12 0.026 2106 -672.2 288.9 - - 1589 - - - - - - - - - 26.23 -
19959 204.7 6.6 852 20004 roll 0.49 - - 3200 - 2.08 0.031 731 -661.1 335.1 39.38 0.916 1400 -4.8 0.117 - - - - - - - 25.68 24.59
20029 200.4 6.8 855 20070 done 0.53 - - 3200 - 2.12 0.032 2124 657.1 374.2 33.20 0.890 1243 -4.7 0.117 - - - - - - - 25.75 24.37
20259 183.1 7.5 867 20283 roll 0.60 0.12 0.103 3255 458.3 2.25 0.046 3515 618.2 392.3 15.82 0.847 1169 -4.7 0.111 - - - - - - 26.03 25.77 24.64
20513 161.1 9.5 879 20518 done 0.67 - - 3255 - 2.05 0.025 2107 -686.8 392.3 - - 1167 - - - - - - - - - 26.17 -
20706 143.5 8.4 889 20711 roll 0.73 - - 3255 - 2.03 0.031 737 -674.9 392.3 - - 1167 - - - - - - - - - 26.17 -
20785 138.5 7.8 892 20797 done 0.80 0.15 0.100 3312 380.0 2.10 0.031 2139 667.6 398.9 6.72 0.712 1143 -3.6 0.076 - - - - - - 26.07 26.20 24.82
20995 114.6 11.1 903 21001 roll 0.82 - - 3312 - 2.10 0.031 740 -666.2 398.9 - - 1142 - - - - - - - - - 26.20 -
21023 112.2 10.8 904 21029 done 0.84 - - 3312 - 2.05 0.031 2118 672.2 398.9 - - 1142 - - - - - - - - - 26.20 -
21224 89.6 11.5 914 21229 roll 0.83 - - 3312 - 2.20 0.047 3528 640.9 398.9 - - 1142 - - - - - - - - - 26.12 -
21297 81.4 12.3 917 21302 done 0.83 - - 3313 - 2.08 0.025 2117 -678.4 398.9 - - 1142 - - - - - - - - - 26.37 -
21492 64.0 7.3 927 21519 roll 0.84 - - 3313 - 2.10 0.034 740 -655.7 421.1 19.58 0.763 1051 -4.6 0.043 - - - - - - - 26.13 25.03
21567 58.6 8.6 930 21574 done 0.86 - - 3312 - 2.10 0.032 2132 662.9 421.1 - - 1050 - - - - - - - - - 26.10 -
21754 45.2 6.4 943 21807 roll 0.90 - - 3313 - 2.28 0.045 3530 613.2 473.7 44.20 0.757 838 -4.8 0.031 - - - - - - - 25.68 24.77
21886 36.8 5.9 956 21956 done 1.00 0.17 0.096 3378 382.4 2.10 0.023 2083 -689.0 541.5 59.10 0.741 560 -4.7 0.026 - - - - - - 25.82 26.03 24.55
22137 12.1 13.2 993 22143 roll 1.08 - - 3378 - 2.28 0.043 3522 631.1 541.5 - - 559 - - - - - - - - - 25.92 -
22206 end climb: SURFACE_DEPTH_REACHED
22206 begin surface coast
22232 end surface coast: CONTROL_FINISHED_OK
22233 begin surface
SM 2.44 - - - - -9.07 8.48 0.045 134 -382.5 1.33 0.024 2633 -668.4 542.36 - - 558 - - - - - - - -