OKMC Nov12 * SG170 * Dive index * Mission links * Dive 316 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 62.57 of 150.00 AH used of 24V (58.29% remains)
• Previous NAKs 0, Timeouts 0 • 31.26 of 100.00 AH used of 10V (68.74% remains)
• Surface angle -74.1 deg, depth 2.56 m • Intended pitch -14.5 deg, speed -8.684 cm/s
• No surface pump (final VBD was 490.11, SM_CC=450)
• GPS1 time: 41 s
• GPS2 time: 18 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
18 begin dive
21 - - - 86 VBD -0.50 - - 137 - - - 2617 - -180.0 -62.60 - 2071 - - - - - - - - - - -
89 3.1 -1.3 11 161 roll -0.50 11.40 0.239 2881 240.7 2.20 0.044 1186 -650.5 -180.0 -54.47 - 3504 -26.3 - - - - - - - 25.23 26.17 26.58
218 14.5 -14.5 33 224 done -0.48 - - 2881 - 2.22 0.049 2593 633.8 -180.0 - - 3505 - - - - - - - - - 26.06 -
408 43.4 -15.6 58 409 done -0.45 - - 2881 - - - 2594 - -180.0 - - 3504 - - - - - - - - - - -
598 72.8 -15.0 70 603 roll -0.43 - - 2881 - 2.15 0.040 1195 -650.7 -180.0 - - 3504 - - - - - - - - - 26.23 -
622 76.0 -14.5 71 628 done -0.41 0.12 0.149 2918 308.3 2.17 0.044 2613 653.5 -180.0 - - 3505 - - - - - - - - 26.06 26.26 -
828 93.1 -7.7 81 829 done -0.41 - - 2918 - - - 2614 - -180.0 - - 3505 - - - - - - - - - - -
1007 108.5 -8.3 90 1014 roll -0.43 - - 2918 - 2.12 0.028 1182 -675.5 -180.0 - - 3505 - - - - - - - - - 26.39 -
1081 113.4 -7.6 93 1087 done -0.45 - - 2918 - 2.20 0.044 2608 648.2 -180.0 - - 3505 - - - - - - - - - 26.30 -
1277 127.9 -8.1 103 1282 roll -0.49 - - 2918 - 2.12 0.030 1175 -675.9 -180.0 - - 3505 - - - - - - - - - 26.39 -
1295 127.9 -8.1 103 1304 done -0.53 0.12 0.092 2847 -591.7 2.20 0.044 2605 650.0 -180.0 - - 3505 - - - - - - - - 26.29 26.31 -
1483 148.5 -10.1 113 1488 roll -0.54 - - 2847 - 1.67 0.051 3689 649.1 -180.0 - - 3506 - - - - - - - - - 26.28 -
1566 156.4 -9.2 117 1571 done -0.54 - - 2847 - 1.60 0.023 2549 -712.5 -180.0 - - 3506 - - - - - - - - - 26.57 -
1769 173.0 -8.0 127 1774 roll -0.54 - - 2847 - 1.98 0.030 1181 -690.9 -180.0 - - 3506 - - - - - - - - - 26.40 -
1807 175.0 -8.3 128 1814 done -0.54 - - 2847 - 2.20 0.045 2603 646.4 -180.0 - - 3506 - - - - - - - - - 26.30 -
1992 195.1 -10.4 138 1993 done -0.54 - - 2847 - - - 2603 - -180.0 - - 3506 - - - - - - - - - - -
2173 212.4 -9.6 147 2178 roll -0.54 - - 2850 - 2.10 0.029 1184 -675.7 -180.0 - - 3505 - - - - - - - - - 26.42 -
2270 220.7 -9.7 151 2278 done -0.54 - - 2847 - 2.20 0.044 2609 647.7 -180.0 - - 3505 - - - - - - - - - 26.31 -
2458 237.6 -7.9 161 2463 roll -0.54 - - 2847 - 2.10 0.029 1174 -683.3 -180.0 - - 3505 - - - - - - - - - 26.42 -
2481 239.7 -8.1 162 2486 done -0.54 - - 2847 - 2.20 0.042 2603 649.5 -180.0 - - 3505 - - - - - - - - - 26.31 -
2684 258.1 -9.7 172 2685 done -0.54 - - 2847 - - - 2603 - -180.0 - - 3504 - - - - - - - - - - -
2987 279.3 -6.6 187 2992 roll -0.54 - - 2847 - 2.08 0.028 1185 -681.7 -180.0 - - 3503 - - - - - - - - - 26.43 -
3031 282.3 -6.5 189 3036 done -0.55 - - 2847 - 2.17 0.041 2601 652.5 -180.0 - - 3502 - - - - - - - - - 26.32 -
3355 308.5 -9.2 205 3360 roll -0.55 - - 2847 - 2.10 0.028 1182 -675.7 -180.0 - - 3501 - - - - - - - - - 26.43 -
3387 310.7 -9.4 206 3392 done -0.56 - - 2847 - 2.20 0.042 2610 649.1 -180.0 - - 3501 - - - - - - - - - 26.31 -
3701 338.2 -8.5 222 3707 roll -0.57 - - 2847 - 2.12 0.028 1175 -676.9 -180.0 - - 3499 - - - - - - - - - 26.43 -
3790 345.6 -8.6 226 3795 done -0.57 - - 2847 - 2.20 0.041 2604 649.5 -180.0 - - 3498 - - - - - - - - - 26.32 -
4109 367.5 -6.0 242 4114 roll -0.58 - - 2847 - 2.10 0.028 1185 -675.7 -180.0 - - 3497 - - - - - - - - - 26.42 -
4143 368.8 -5.9 243 4149 done -0.59 - - 2847 - 2.20 0.041 2612 648.6 -180.0 - - 3497 - - - - - - - - - 26.31 -
4457 388.2 -6.4 259 4462 roll -0.60 - - 2847 - 2.10 0.028 1181 -681.4 -180.0 - - 3495 - - - - - - - - - 26.42 -
4521 392.9 -7.1 262 4526 done -0.61 - - 2847 - 2.20 0.041 2600 645.0 -180.0 - - 3495 - - - - - - - - - 26.31 -
4846 422.0 -9.6 278 4851 roll -0.62 - - 2847 - 2.08 0.028 1185 -680.3 -180.0 - - 3493 - - - - - - - - - 26.42 -
4878 424.3 -9.6 279 4883 done -0.64 - - 2847 - 2.17 0.041 2599 651.6 -180.0 - - 3493 - - - - - - - - - 26.30 -
5192 451.8 -7.6 295 5198 roll -0.65 - - 2847 - 2.08 0.027 1185 -679.8 -180.0 - - 3491 - - - - - - - - - 26.42 -
5226 453.5 -7.4 296 5231 done -0.66 - - 2847 - 2.20 0.041 2608 646.8 -180.0 - - 3491 - - - - - - - - - 26.29 -
5540 473.7 -5.6 312 5545 roll -0.67 - - 2847 - 2.10 0.028 1177 -681.4 -180.0 - - 3488 - - - - - - - - - 26.42 -
5598 476.2 -5.8 314 5605 done -0.68 - - 2847 - 2.20 0.041 2603 648.2 -180.0 - - 3488 - - - - - - - - - 26.29 -
5904 495.3 -6.4 330 5906 done -0.71 - - 2847 - - - 2603 - -180.0 - - 3487 - - - - - - - - - - -
6207 517.3 -7.7 345 6213 roll -0.75 0.12 0.086 2764 -691.7 2.10 0.025 1173 -681.0 -180.0 - - 3485 - - - - - - - - 26.58 26.43 -
6235 520.0 -8.1 346 6241 done -0.77 0.15 0.162 2806 280.0 2.22 0.041 2609 646.8 -180.0 - - 3485 - - - - - - - - 25.98 26.28 -
6555 553.9 -10.3 362 6561 roll -0.76 - - 2807 - 2.12 0.027 1177 -675.5 -180.0 - - 3484 - - - - - - - - - 26.41 -
6714 567.9 -9.4 369 6721 done -0.76 - - 2807 - 2.22 0.041 2611 645.9 -180.0 - - 3483 - - - - - - - - - 26.27 -
7021 596.6 -8.3 385 7022 done -0.75 - - 2806 - - - 2612 - -180.0 - - 3482 - - - - - - - - - - -
7321 619.9 -7.6 396 7326 roll -0.75 - - 2807 - 2.12 0.028 1181 -675.0 -180.0 - - 3480 - - - - - - - - - 26.41 -
7359 622.6 -7.6 397 7364 done -0.75 - - 2807 - 2.20 0.041 2599 644.5 -180.0 - - 3481 - - - - - - - - - 26.26 -
7687 651.3 -9.5 408 7694 roll -0.75 - - 2807 - 2.10 0.027 1183 -674.3 -180.0 - - 3479 - - - - - - - - - 26.41 -
7761 657.9 -9.8 410 7766 done -0.75 - - 2807 - 2.20 0.041 2600 644.1 -180.0 - - 3479 - - - - - - - - - 26.25 -
8084 691.6 -10.0 421 8085 done -0.75 - - 2807 - - - 2600 - -180.0 - - 3477 - - - - - - - - - - -
8385 720.1 -9.0 431 8390 roll -0.75 - - 2807 - 2.08 0.028 1182 -681.7 -180.0 - - 3477 - - - - - - - - - 26.40 -
8442 723.2 -8.9 432 8449 done -0.75 - - 2807 - 2.22 0.041 2611 643.7 -180.0 - - 3476 - - - - - - - - - 26.23 -
8748 752.7 -8.8 443 8754 roll -0.75 - - 2807 - 2.12 0.031 1178 -675.9 -180.0 - - 3475 - - - - - - - - - 25.60 -
8792 755.6 -8.7 444 8798 done -0.75 - - 2807 - 2.22 0.042 2605 642.8 -180.0 - - 3475 - - - - - - - - - 26.22 -
9117 784.5 -8.6 455 9123 roll -0.75 - - 2807 - 1.75 0.053 3697 624.0 -180.0 - - 3473 - - - - - - - - - 26.16 -
9166 787.8 -8.7 456 9172 done -0.75 - - 2807 - 1.65 0.028 2541 -700.6 -180.0 - - 3473 - - - - - - - - - 26.51 -
9485 818.7 -9.1 467 9491 roll -0.75 - - 2807 - 1.98 0.038 1180 -687.4 -180.0 - - 3472 - - - - - - - - - 26.10 -
9549 824.4 -9.0 469 9555 done -0.75 - - 2807 - 2.22 0.042 2600 639.6 -180.0 - - 3472 - - - - - - - - - 26.20 -
9886 852.3 -8.1 480 9892 roll -0.75 - - 2806 - 2.08 0.028 1181 -682.2 -180.0 - - 3471 - - - - - - - - - 26.38 -
9959 857.6 -7.9 482 9964 done -0.75 - - 2807 - 2.22 0.042 2605 641.4 -180.0 - - 3471 - - - - - - - - - 26.18 -
10285 884.8 -8.3 493 10291 roll -0.75 - - 2807 - 2.12 0.027 1176 -674.1 -180.0 - - 3470 - - - - - - - - - 26.38 -
10343 887.9 -8.3 494 10350 done -0.75 - - 2806 - 2.22 0.042 2603 642.8 -180.0 - - 3470 - - - - - - - - - 26.18 -
10650 914.3 -7.8 505 10655 roll -0.75 - - 2807 - 2.10 0.027 1178 -678.6 -180.0 - - 3470 - - - - - - - - - 26.36 -
10708 917.0 -7.8 506 10714 done -0.75 - - 2807 - 2.22 0.043 2599 640.1 -180.0 - - 3469 - - - - - - - - - 26.17 -
11013 943.3 -7.9 517 11015 done -0.75 - - 2807 - - - 2599 - -180.0 - - 3468 - - - - - - - - - - -
11314 967.2 -8.1 527 11319 roll -0.75 - - 2807 - 2.10 0.028 1178 -676.7 -180.0 - - 3466 - - - - - - - - - 26.36 -
11372 970.0 -8.1 528 11379 done -0.75 - - 2807 - 2.22 0.043 2598 639.6 -180.0 - - 3466 - - - - - - - - - 26.15 -
11615 end dive: TARGET_DEPTH_EXCEEDED
11615 begin apogee
11623 991.6 -7.8 537 11788 done -0.15 0.55 0.105 2999 349.1 0.08 0.094 2122 -5950.0 - 155.00 1.491 2769 -4.5 0.330 - - - - - - 25.82 24.17 22.78
11790 end apogee: CONTROL_FINISHED_OK
11790 begin climb
11793 997.4 - 542 11979 roll 0.50 0.57 0.049 3217 382.5 2.58 0.050 3533 546.9 180.0 172.05 1.445 2033 -4.3 0.326 - - - - - - 24.54 23.67 22.20
12001 985.5 9.5 549 12007 done 0.46 - - 3227 - 2.28 0.027 2154 -604.8 180.0 - - 2030 - - - - - - - - - 24.37 -
12319 940.3 13.1 560 12325 roll 0.42 0.12 0.164 3197 -250.0 2.20 0.034 715 -654.1 180.0 - - 2024 - - - - - - - - 25.88 26.03 -
12348 940.3 13.1 560 12355 done 0.39 - - 3197 - 2.20 0.037 2127 641.8 180.0 - - 2022 - - - - - - - - - 26.02 -
12654 905.3 10.3 571 12660 roll 0.37 - - 3197 - 2.22 0.051 3534 633.8 180.0 - - 2022 - - - - - - - - - 26.14 -
12738 897.5 11.1 573 12745 done 0.35 0.15 0.154 3159 -253.3 2.15 0.028 2109 -662.8 180.0 - - 2022 - - - - - - - - 26.01 26.34 -
13055 867.4 8.5 584 13061 roll 0.35 - - 3159 - 2.08 0.035 725 -665.4 185.0 - - 2020 - - - - - - - - - 26.31 -
13089 864.4 8.4 585 13108 done 0.36 - - 3159 - 2.17 0.037 2132 648.4 194.5 12.07 1.282 1976 -3.6 0.272 - - - - - - - 26.27 24.21
13421 837.6 8.2 596 13444 roll 0.37 - - 3159 - 2.22 0.051 3527 628.4 210.6 16.20 1.314 1909 -4.1 0.291 - - - - - - - 25.89 24.27
13542 826.3 9.4 600 13547 done 0.37 - - 3159 - 2.15 0.028 2115 -656.7 210.6 - - 1906 - - - - - - - - - 26.17 -
13879 798.8 8.3 611 13897 roll 0.38 - - 3159 - 2.15 0.036 724 -647.0 221.4 10.90 1.239 1865 -3.8 0.268 - - - - - - - 26.10 24.37
13945 793.3 8.4 613 13960 done 0.40 - - 3159 - 2.17 0.036 2130 647.9 229.2 8.90 1.183 1834 -3.5 0.258 - - - - - - - 26.09 24.26
14273 764.9 8.4 624 14288 roll 0.41 - - 3159 - 2.28 0.050 3524 611.4 238.6 9.60 1.194 1796 -4.0 0.280 - - - - - - - 26.04 24.37
14362 758.9 8.8 626 14369 done 0.42 - - 3159 - 2.12 0.027 2115 -664.6 238.6 - - 1793 - - - - - - - - - 26.22 -
14669 732.6 7.5 637 14706 done 0.45 0.10 0.106 3220 610.0 - - 2115 - 275.1 34.00 1.310 1647 -4.3 0.265 - - - - - - 26.45 - 24.13
15000 693.8 12.1 648 15005 roll 0.44 - - 3226 - 2.10 0.035 729 -660.0 275.1 - - 1641 - - - - - - - - - 26.17 -
15033 689.3 12.0 649 15039 done 0.43 0.12 0.136 3188 -316.7 2.17 0.037 2129 645.2 275.1 - - 1640 - - - - - - - - 26.01 26.16 -
15368 658.2 8.8 660 15374 roll 0.43 - - 3189 - 2.20 0.049 3528 635.9 275.1 - - 1640 - - - - - - - - - 26.17 -
15456 651.7 9.4 662 15463 done 0.43 - - 3191 - 2.12 0.027 2108 -669.8 275.1 - - 1640 - - - - - - - - - 26.41 -
15762 622.5 8.8 673 15767 roll 0.44 - - 3188 - 2.08 0.034 732 -661.5 275.1 - - 1639 - - - - - - - - - 26.33 -
15785 622.5 8.8 673 15791 done 0.45 - - 3187 - 2.12 0.036 2122 655.7 275.1 - - 1639 - - - - - - - - - 26.28 -
16101 593.2 8.7 685 16107 roll 0.46 - - 3188 - 2.22 0.050 3528 633.3 275.1 - - 1639 - - - - - - - - - 26.20 -
16199 584.5 10.1 689 16206 done 0.46 - - 3188 - 2.10 0.027 2119 -671.0 275.1 - - 1639 - - - - - - - - - 26.44 -
16505 554.7 9.1 705 16511 roll 0.46 - - 3188 - 2.10 0.034 723 -664.8 275.1 - - 1638 - - - - - - - - - 26.33 -
16534 552.6 8.9 706 16540 done 0.47 - - 3188 - 2.15 0.035 2131 654.9 275.1 - - 1638 - - - - - - - - - 26.28 -
16853 525.1 7.8 722 16886 roll 0.50 - - 3188 - 2.30 0.050 3533 609.6 301.9 23.75 1.157 1538 -4.2 0.211 - - - - - - - 25.88 24.34
16957 516.5 8.8 727 16962 done 0.51 - - 3188 - 2.12 0.027 2114 -669.3 301.9 - - 1536 - - - - - - - - - 26.13 -
17282 492.7 7.1 743 17334 roll 0.54 0.12 0.093 3279 758.3 2.17 0.037 729 -638.2 351.6 44.40 1.148 1333 -4.6 0.217 - - - - - - 26.41 25.51 24.13
17392 479.8 13.7 748 17398 done 0.52 0.20 0.128 3217 -310.0 2.17 0.037 2118 640.1 351.6 - - 1331 - - - - - - - - 25.60 25.79 -
17706 449.3 9.1 764 17712 roll 0.54 - - 3217 - 2.25 0.050 3540 632.0 351.6 - - 1330 - - - - - - - - - 26.07 -
17779 442.5 10.4 767 17785 done 0.54 - - 3222 - 2.15 0.027 2107 -666.5 351.6 - - 1331 - - - - - - - - - 26.32 -
18093 409.5 10.1 783 18098 roll 0.55 - - 3226 - 2.05 0.034 726 -673.7 351.6 - - 1329 - - - - - - - - - 26.29 -
18120 407.2 10.0 784 18126 done 0.56 - - 3226 - 2.15 0.034 2134 654.9 351.6 - - 1329 - - - - - - - - - 26.25 -
18440 374.8 9.7 800 18445 roll 0.57 - - 3226 - 2.20 0.048 3531 635.0 351.6 - - 1329 - - - - - - - - - 26.18 -
18517 367.9 10.6 803 18524 done 0.57 - - 3226 - 2.10 0.027 2112 -675.7 351.6 - - 1329 - - - - - - - - - 26.42 -
18824 337.6 9.2 819 18829 roll 0.58 - - 3226 - 2.08 0.034 726 -666.3 351.6 - - 1328 - - - - - - - - - 26.32 -
18869 333.6 9.1 821 18874 done 0.60 - - 3226 - 2.12 0.034 2127 660.8 351.6 - - 1329 - - - - - - - - - 26.28 -
19192 303.5 9.3 837 19198 roll 0.61 - - 3226 - 2.20 0.049 3526 635.9 351.6 - - 1329 - - - - - - - - - 26.17 -
19267 296.8 10.4 840 19272 done 0.62 - - 3226 - 2.10 0.026 2117 -671.0 351.6 - - 1329 - - - - - - - - - 26.44 -
19580 264.2 10.0 856 19585 roll 0.64 - - 3226 - 2.08 0.034 729 -667.3 351.6 - - 1329 - - - - - - - - - 26.32 -
19598 264.2 10.0 856 19605 done 0.66 0.10 0.105 3288 620.0 2.12 0.034 2129 660.4 351.6 - - 1328 - - - - - - - - 26.24 26.27 -
19904 221.5 13.1 872 19910 roll 0.64 0.12 0.155 3243 -375.0 2.20 0.047 3528 635.9 351.6 - - 1330 - - - - - - - - 26.27 26.16 -
19988 211.6 11.6 876 19994 done 0.64 - - 3244 - 2.08 0.026 2113 -680.3 351.6 - - 1330 - - - - - - - - - 26.44 -
20194 194.0 8.1 886 20218 roll 0.66 - - 3247 - 2.10 0.035 727 -660.0 371.1 17.27 0.888 1254 -4.4 0.106 - - - - - - - 26.14 24.54
20261 188.8 8.0 889 20287 done 0.69 - - 3246 - 2.12 0.033 2122 658.0 391.8 18.85 0.878 1170 -4.5 0.106 - - - - - - - 26.12 24.51
20480 170.7 8.0 900 20507 roll 0.72 0.10 0.101 3310 640.0 2.22 0.047 3527 632.9 412.2 18.65 0.862 1087 -4.5 0.097 - - - - - - 26.31 25.86 24.56
20567 159.8 12.9 904 20574 done 0.72 - - 3310 - 2.10 0.026 2125 -667.6 412.2 - - 1085 - - - - - - - - - 26.09 -
20774 130.7 15.2 914 20776 done 0.71 0.12 0.144 3272 -316.7 - - 2125 - 412.2 - - 1085 - - - - - - - - 26.16 - -
20954 114.3 7.1 923 21006 roll 0.75 - - 3272 - 2.20 0.034 724 -636.8 461.6 42.55 0.840 886 -4.7 0.070 - - - - - - - 25.73 24.53
21060 106.2 7.8 928 21090 done 0.79 - - 3272 - 2.15 0.031 2131 654.4 488.4 24.80 0.806 777 -4.4 0.064 - - - - - - - 25.91 24.44
21281 82.9 10.7 939 21287 roll 0.87 0.15 0.096 3338 440.0 2.17 0.045 3524 641.9 488.4 - - 775 - - - - - - - - 26.13 26.01 -
21371 74.0 10.1 943 21377 done 0.96 - - 3338 - 2.10 0.024 2105 -675.7 488.4 - - 774 - - - - - - - - - 26.26 -
21572 51.6 10.9 953 21578 roll 1.05 0.12 0.099 3395 475.0 2.03 0.032 733 -675.9 488.4 - - 773 - - - - - - - - 26.34 26.26 -
21591 51.6 10.9 953 21598 done 1.13 - - 3395 - 2.08 0.031 2124 668.8 488.4 - - 773 - - - - - - - - - 26.24 -
21776 28.8 10.5 972 21781 roll 1.13 - - 3395 - 2.20 0.047 3533 640.5 488.4 - - 773 - - - - - - - - - 26.19 -
21881 15.1 12.9 989 21888 done 1.12 - - 3402 - 2.05 0.026 2133 -682.9 488.4 - - 772 - - - - - - - - - 26.42 -
21965 end climb: SURFACE_DEPTH_REACHED
21965 begin surface coast
21987 end surface coast: CONTROL_FINISHED_OK
21987 begin surface
SM 2.64 - - - - -9.06 8.50 0.049 136 -384.2 0.75 0.041 2616 644.0 490.11 - - 771 - - - - - - - -