OKMC Nov12 * SG170 * Dive index * Mission links * Dive 324 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 64.50 of 150.00 AH used of 24V (57.00% remains)
• Previous NAKs 0, Timeouts 0 • 32.30 of 100.00 AH used of 10V (67.69% remains)
• Surface angle -73.9 deg, depth 2.55 m • Intended pitch -14.5 deg, speed -8.684 cm/s
• No surface pump (final VBD was 515.13, SM_CC=450)
• GPS1 time: 47 s
• GPS2 time: 16 s • Transponder ping count: 5
• 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 - - - 92 VBD -0.50 - - 122 - - - 2618 - -180.0 -68.62 - 2191 - - - - - - - - - - -
96 3.3 -1.3 12 152 roll -0.50 11.40 0.237 2886 242.5 2.17 0.043 1196 -655.3 -180.0 -38.15 - 3587 -36.6 - - - - - - - 25.29 26.19 26.58
221 18.9 -14.1 34 229 done -0.48 - - 2886 - 2.20 0.046 2598 637.3 -180.0 - - 3587 - - - - - - - - - 26.11 -
412 46.9 -13.4 56 417 roll -0.46 - - 2886 - 2.10 0.041 1224 -654.3 -180.0 - - 3587 - - - - - - - - - 26.20 -
479 55.3 -13.2 60 485 done -0.45 - - 2886 - 2.15 0.047 2609 644.2 -180.0 - - 3587 - - - - - - - - - 26.23 -
679 80.2 -12.1 70 684 roll -0.44 - - 2886 - 2.08 0.031 1205 -675.0 -180.0 - - 3587 - - - - - - - - - 26.37 -
742 87.9 -12.1 73 747 done -0.44 - - 2886 - 2.17 0.046 2606 645.6 -180.0 - - 3587 - - - - - - - - - 26.29 -
946 107.3 -9.5 83 948 done -0.45 - - 2886 - - - 2606 - -180.0 - - 3588 - - - - - - - - - - -
1126 124.7 -9.4 92 1131 roll -0.46 - - 2886 - 2.08 0.031 1197 -677.4 -180.0 - - 3588 - - - - - - - - - 26.40 -
1191 130.4 -8.9 95 1196 done -0.47 - - 2886 - 2.17 0.044 2607 649.8 -180.0 - - 3587 - - - - - - - - - 26.32 -
1397 147.5 -8.5 105 1398 done -0.49 - - 2886 - - - 2607 - -180.0 - - 3588 - - - - - - - - - - -
1575 165.2 -9.9 114 1580 roll -0.50 - - 2887 - 2.10 0.030 1194 -672.9 -180.0 - - 3588 - - - - - - - - - 26.41 -
1659 173.4 -9.8 118 1664 done -0.51 - - 2886 - 2.17 0.043 2610 652.5 -180.0 - - 3588 - - - - - - - - - 26.33 -
1866 190.1 -7.8 128 1872 roll -0.55 - - 2886 - 2.10 0.030 1196 -673.3 -180.0 - - 3588 - - - - - - - - - 26.42 -
1966 196.8 -7.7 132 1973 done -0.60 - - 2886 - 2.17 0.043 2608 650.7 -180.0 - - 3588 - - - - - - - - - 26.33 -
2153 211.9 -7.8 142 2159 roll -0.65 0.12 0.094 2818 -566.7 1.67 0.049 3703 655.7 -180.0 - - 3588 - - - - - - - - 26.54 26.31 -
2243 220.5 -9.9 146 2248 done -0.67 - - 2818 - 1.58 0.023 2587 -706.3 -180.0 - - 3587 - - - - - - - - - 26.58 -
2442 242.8 -10.8 156 2447 roll -0.66 - - 2818 - 1.98 0.031 1218 -691.4 -180.0 - - 3587 - - - - - - - - - 26.42 -
2495 247.7 -10.9 158 2501 done -0.66 - - 2818 - 2.10 0.043 2597 656.7 -180.0 - - 3587 - - - - - - - - - 26.32 -
2690 267.7 -9.8 168 2691 done -0.65 - - 2818 - - - 2597 - -180.0 - - 3585 - - - - - - - - - - -
2992 296.1 -9.5 183 2997 roll -0.65 - - 2818 - 2.05 0.029 1215 -674.1 -180.0 - - 3585 - - - - - - - - - 26.44 -
3112 306.1 -9.3 188 3119 done -0.65 - - 2818 - 2.12 0.043 2605 655.7 -180.0 - - 3584 - - - - - - - - - 26.32 -
3416 336.9 -9.9 204 3421 roll -0.65 - - 2818 - 2.05 0.028 1207 -682.0 -180.0 - - 3582 - - - - - - - - - 26.44 -
3489 343.2 -10.0 207 3494 done -0.65 - - 2818 - 2.12 0.042 2600 657.1 -180.0 - - 3582 - - - - - - - - - 26.32 -
3802 376.0 -10.2 223 3808 roll -0.65 - - 2818 - 2.08 0.028 1202 -672.1 -180.0 - - 3580 - - - - - - - - - 26.44 -
3887 384.5 -10.2 227 3893 done -0.65 - - 2818 - 2.17 0.041 2605 646.5 -180.0 - - 3579 - - - - - - - - - 26.32 -
4211 414.6 -8.4 243 4217 roll -0.65 - - 2818 - 2.05 0.028 1206 -682.4 -180.0 - - 3577 - - - - - - - - - 26.44 -
4265 418.0 -8.1 245 4271 done -0.65 - - 2818 - 2.15 0.041 2599 647.9 -180.0 - - 3577 - - - - - - - - - 26.32 -
4579 442.9 -7.7 261 4584 roll -0.65 - - 2818 - 2.05 0.028 1213 -676.1 -180.0 - - 3575 - - - - - - - - - 26.43 -
4617 444.8 -7.7 262 4623 done -0.65 - - 2818 - 2.12 0.041 2601 654.7 -180.0 - - 3575 - - - - - - - - - 26.31 -
4923 469.0 -7.7 278 4928 roll -0.65 - - 2818 - 2.08 0.039 1209 -669.2 -180.0 - - 3574 - - - - - - - - - 26.35 -
5011 476.1 -8.4 282 5016 done -0.65 - - 2818 - 2.12 0.041 2601 656.6 -180.0 - - 3573 - - - - - - - - - 26.31 -
5329 505.0 -8.8 298 5335 roll -0.65 - - 2818 - 2.05 0.028 1206 -680.5 -180.0 - - 3570 - - - - - - - - - 26.43 -
5367 507.1 -8.8 299 5374 done -0.65 - - 2818 - 2.17 0.042 2609 646.5 -180.0 - - 3570 - - - - - - - - - 26.29 -
5675 534.5 -8.7 315 5680 roll -0.65 - - 2818 - 2.08 0.037 1218 -668.8 -180.0 - - 3569 - - - - - - - - - 25.44 -
5719 538.4 -8.6 317 5724 done -0.65 - - 2818 - 2.15 0.041 2599 642.3 -180.0 - - 3569 - - - - - - - - - 26.29 -
6043 565.8 -8.5 333 6048 roll -0.65 - - 2818 - 2.08 0.027 1203 -671.2 -180.0 - - 3566 - - - - - - - - - 26.42 -
6076 567.9 -8.6 334 6082 done -0.66 - - 2818 - 2.15 0.041 2599 649.3 -180.0 - - 3566 - - - - - - - - - 26.29 -
6391 597.3 -9.3 350 6396 roll -0.66 - - 2818 - 2.08 0.027 1203 -671.2 -180.0 - - 3564 - - - - - - - - - 26.42 -
6455 603.2 -9.5 353 6460 done -0.66 - - 2818 - 2.17 0.041 2603 645.2 -180.0 - - 3564 - - - - - - - - - 26.28 -
6791 633.2 -8.9 364 6797 roll -0.67 - - 2818 - 2.08 0.027 1205 -672.1 -180.0 - - 3562 - - - - - - - - - 26.42 -
6829 636.5 -9.0 365 6835 done -0.68 - - 2818 - 2.17 0.041 2605 645.2 -180.0 - - 3562 - - - - - - - - - 26.27 -
7161 663.7 -7.9 376 7166 roll -0.68 - - 2818 - 2.08 0.028 1211 -670.2 -180.0 - - 3561 - - - - - - - - - 26.26 -
7214 666.6 -7.8 377 7220 done -0.69 - - 2818 - 2.15 0.041 2598 645.1 -180.0 - - 3560 - - - - - - - - - 26.27 -
7531 693.9 -8.6 388 7537 roll -0.70 - - 2818 - 2.08 0.027 1204 -670.2 -180.0 - - 3559 - - - - - - - - - 26.41 -
7584 696.9 -8.5 389 7590 done -0.71 - - 2817 - 2.17 0.041 2603 644.7 -180.0 - - 3558 - - - - - - - - - 26.26 -
7900 726.0 -8.7 400 7905 roll -0.71 - - 2818 - 2.08 0.039 1202 -673.6 -180.0 - - 3557 - - - - - - - - - 26.39 -
7964 731.8 -8.6 402 7970 done -0.72 - - 2818 - 2.17 0.041 2607 647.5 -180.0 - - 3557 - - - - - - - - - 26.25 -
8301 759.5 -8.2 413 8306 roll -0.73 - - 2818 - 2.08 0.027 1199 -676.9 -180.0 - - 3556 - - - - - - - - - 26.41 -
8354 762.5 -8.2 414 8359 done -0.74 - - 2818 - 2.17 0.041 2612 651.2 -180.0 - - 3555 - - - - - - - - - 26.24 -
8671 788.1 -7.4 425 8676 roll -0.75 - - 2818 - 2.08 0.027 1207 -675.5 -180.0 - - 3554 - - - - - - - - - 26.40 -
8719 790.9 -7.4 426 8724 done -0.76 - - 2818 - 2.15 0.041 2600 647.9 -180.0 - - 3554 - - - - - - - - - 26.23 -
9040 813.7 -6.7 437 9045 roll -0.77 - - 2818 - 2.05 0.027 1203 -681.5 -180.0 - - 3553 - - - - - - - - - 26.40 -
9069 813.7 -6.7 437 9076 done -0.78 - - 2818 - 2.17 0.041 2605 646.1 -180.0 - - 3552 - - - - - - - - - 26.22 -
9376 837.5 -7.2 448 9381 roll -0.79 - - 2818 - 2.08 0.028 1208 -671.6 -180.0 - - 3551 - - - - - - - - - 26.39 -
9411 840.1 -7.2 449 9416 done -0.80 - - 2818 - 2.17 0.042 2609 645.6 -180.0 - - 3551 - - - - - - - - - 26.21 -
9747 865.1 -7.8 460 9753 roll -0.81 - - 2818 - 2.08 0.028 1201 -676.9 -180.0 - - 3550 - - - - - - - - - 26.39 -
9786 868.0 -7.9 461 9792 done -0.82 - - 2818 - 2.20 0.042 2611 640.9 -180.0 - - 3549 - - - - - - - - - 26.20 -
10118 896.4 -8.7 472 10124 roll -0.83 0.12 0.093 2750 -566.7 1.70 0.052 3696 638.2 -180.0 - - 3549 - - - - - - - - 26.53 26.13 -
10141 896.4 -8.7 472 10147 done -0.84 - - 2750 - 1.62 0.029 2576 -691.4 -180.0 - - 3549 - - - - - - - - - 26.49 -
10457 938.9 -12.3 483 10459 done -0.82 0.12 0.174 2783 275.0 - - 2573 - -180.0 - - 3548 - - - - - - - - 26.26 - -
10755 967.5 -9.3 493 10761 roll -0.81 - - 2783 - 1.80 0.055 3701 626.7 -180.0 - - 3547 - - - - - - - - - 26.10 -
10779 967.5 -9.3 493 10785 done -0.81 - - 2784 - 1.62 0.029 2605 -676.5 -180.0 - - 3547 - - - - - - - - - 26.48 -
11000 end dive: TARGET_DEPTH_EXCEEDED
11000 begin apogee
11006 990.0 -9.0 501 11168 done -0.15 0.62 0.114 2996 341.9 - - 2107 - - 151.93 1.490 2852 -4.6 0.336 - - - - - - 25.72 - 22.85
11170 end apogee: CONTROL_FINISHED_OK
11170 begin climb
11173 996.1 - 506 11351 done 0.50 0.57 0.049 3223 398.2 - - 2107 - 180.0 170.88 1.444 2118 -4.3 0.327 - - - - - - 24.59 - 22.22
11634 951.0 13.4 522 11640 roll 0.47 - - 3223 - 2.30 0.050 3529 618.3 180.0 - - 2107 - - - - - - - - - 25.87 -
11692 946.1 13.5 523 11700 done 0.43 0.12 0.167 3194 -241.7 2.15 0.028 2111 -659.5 180.0 - - 2107 - - - - - - - - 25.82 26.11 -
12001 908.9 11.1 534 12002 done 0.42 - - 3194 - - - 2111 - 180.0 - - 2105 - - - - - - - - - - -
12298 873.6 11.7 544 12303 roll 0.40 - - 3194 - 2.28 0.048 3528 621.5 180.0 - - 2104 - - - - - - - - - 26.20 -
12342 869.4 11.8 545 12347 done 0.38 - - 3200 - 2.15 0.028 2104 -662.3 180.0 - - 2104 - - - - - - - - - 26.40 -
12667 830.6 11.4 556 12673 roll 0.36 0.12 0.163 3160 -333.3 2.08 0.033 719 -665.9 180.0 - - 2103 - - - - - - - - 26.22 26.33 -
12712 827.0 11.0 557 12718 done 0.35 - - 3160 - 2.15 0.037 2122 652.6 180.0 - - 2103 - - - - - - - - - 26.28 -
13038 798.6 8.1 568 13060 roll 0.35 - - 3160 - 2.22 0.049 3528 633.3 199.5 16.95 1.300 2038 -3.8 0.260 - - - - - - - 25.96 24.15
13139 790.3 8.7 571 13145 done 0.35 - - 3160 - 2.12 0.027 2112 -667.9 199.5 - - 2036 - - - - - - - - - 26.20 -
13465 764.6 7.4 582 13507 roll 0.37 - - 3160 - 2.22 0.036 719 -627.5 239.9 36.80 1.336 1873 -4.4 0.280 - - - - - - - 25.56 24.01
13535 759.8 7.5 584 13578 done 0.39 - - 3160 - 2.20 0.036 2121 637.3 278.0 35.12 1.306 1718 -4.4 0.284 - - - - - - - 25.74 23.79
13887 731.2 8.3 596 13906 roll 0.42 - - 3159 - 2.30 0.050 3525 610.4 290.6 11.38 1.190 1668 -4.4 0.298 - - - - - - - 25.92 24.29
13996 722.3 9.2 599 14002 done 0.43 - - 3160 - 2.12 0.027 2106 -669.3 290.6 - - 1666 - - - - - - - - - 26.19 -
14318 693.1 8.7 610 14324 roll 0.45 0.12 0.091 3241 675.0 2.05 0.032 729 -671.7 290.6 - - 1664 - - - - - - - - 26.41 26.27 -
14366 688.9 9.4 611 14372 done 0.47 0.15 0.135 3195 -306.7 2.15 0.037 2125 649.3 290.6 - - 1663 - - - - - - - - 26.04 26.23 -
14687 650.6 11.3 622 14693 roll 0.47 - - 3195 - 2.20 0.050 3531 639.1 290.6 - - 1663 - - - - - - - - - 26.20 -
14751 642.8 11.6 624 14756 done 0.47 - - 3199 - 2.10 0.028 2126 -669.0 290.6 - - 1663 - - - - - - - - - 26.42 -
15086 605.9 10.7 635 15091 roll 0.47 - - 3199 - 2.08 0.034 726 -673.1 290.6 - - 1662 - - - - - - - - - 26.34 -
15129 602.2 10.5 636 15134 done 0.47 - - 3200 - 2.15 0.035 2132 654.0 290.6 - - 1662 - - - - - - - - - 26.29 -
15452 570.4 9.3 652 15457 roll 0.47 - - 3199 - 2.20 0.050 3528 634.5 290.6 - - 1662 - - - - - - - - - 26.20 -
15515 563.8 10.2 655 15521 done 0.47 - - 3199 - 2.10 0.028 2110 -675.2 290.6 - - 1662 - - - - - - - - - 26.44 -
15839 534.3 9.2 671 15845 roll 0.47 - - 3199 - 2.25 0.047 3537 634.2 290.6 - - 1662 - - - - - - - - - 26.19 -
15867 531.9 9.4 672 15872 done 0.47 - - 3200 - 2.12 0.028 2124 -666.5 290.6 - - 1662 - - - - - - - - - 26.43 -
16186 502.5 8.9 688 16187 done 0.47 - - 3199 - - - 2124 - 290.6 - - 1662 - - - - - - - - - - -
16487 475.2 9.1 703 16492 roll 0.47 - - 3199 - 2.25 0.047 3537 628.0 290.6 - - 1662 - - - - - - - - - 26.17 -
16524 472.8 9.2 704 16531 done 0.47 - - 3199 - 2.12 0.028 2109 -673.6 290.6 - - 1661 - - - - - - - - - 26.43 -
16831 444.1 8.9 720 16832 done 0.48 - - 3200 - - - 2109 - 290.6 - - 1662 - - - - - - - - - - -
17133 417.4 8.8 735 17138 roll 0.49 - - 3200 - 2.05 0.034 723 -676.1 290.6 - - 1661 - - - - - - - - - 26.31 -
17161 415.2 8.6 736 17167 done 0.50 - - 3200 - 2.15 0.034 2133 655.8 291.7 - - 1661 - - - - - - - - - 26.25 -
17480 385.4 9.7 752 17486 roll 0.51 - - 3200 - 2.20 0.049 3534 636.8 291.7 - - 1662 - - - - - - - - - 26.13 -
17559 378.4 10.5 755 17566 done 0.51 - - 3200 - 2.12 0.027 2114 -669.8 291.7 - - 1662 - - - - - - - - - 26.42 -
17865 349.2 8.7 771 17870 roll 0.52 - - 3200 - 2.05 0.034 731 -674.6 291.7 - - 1662 - - - - - - - - - 26.29 -
17899 347.4 8.5 772 17911 done 0.54 - - 3200 - 2.12 0.034 2128 659.0 297.8 7.18 0.875 1639 -3.2 0.141 - - - - - - - 26.25 24.13
18209 322.1 7.5 788 18249 roll 0.57 0.10 0.106 3262 620.0 2.33 0.050 3533 603.0 334.8 33.55 1.014 1487 -4.5 0.159 - - - - - - 26.51 25.72 24.20
18333 306.8 13.5 794 18339 done 0.55 0.15 0.145 3224 -253.3 2.15 0.027 2125 -654.9 334.8 - - 1486 - - - - - - - - 25.73 26.06 -
18658 277.8 8.5 810 18668 roll 0.57 - - 3226 - 2.17 0.034 720 -647.5 339.2 5.22 0.750 1469 -3.3 0.133 - - - - - - - 26.20 24.29
18696 275.7 8.5 811 18708 done 0.58 - - 3226 - 2.15 0.034 2126 654.0 344.6 6.47 0.806 1448 -3.2 0.123 - - - - - - - 26.15 24.38
19027 246.9 8.4 828 19042 roll 0.60 - - 3226 - 2.22 0.047 3530 632.4 354.1 9.73 0.866 1408 -4.1 0.130 - - - - - - - 26.11 24.55
19117 238.9 9.7 832 19122 done 0.61 - - 3226 - 2.12 0.026 2097 -675.9 354.1 - - 1407 - - - - - - - - - 26.27 -
19318 221.4 8.4 842 19339 roll 0.64 - - 3226 - 2.10 0.034 729 -651.4 364.2 10.18 0.852 1367 -3.9 0.113 - - - - - - - 26.17 24.58
19357 219.8 8.2 843 19378 done 0.66 0.12 0.088 3298 600.0 2.12 0.033 2122 657.1 377.8 13.10 0.868 1311 -4.3 0.120 - - - - - - 26.11 26.13 24.52
19566 192.9 12.5 854 19572 roll 0.65 0.12 0.148 3254 -366.7 2.22 0.047 3525 632.0 377.8 - - 1308 - - - - - - - - 26.08 26.05 -
19651 184.1 10.4 858 19656 done 0.65 - - 3254 - 2.08 0.026 2126 -672.6 377.8 - - 1309 - - - - - - - - - 26.30 -
19857 166.8 8.5 868 19864 done 0.67 - - 3254 - - - 2125 - 382.6 5.47 0.695 1293 -2.9 0.078 - - - - - - - - 24.44
20035 151.1 8.8 877 20041 roll 0.69 - - 3254 - 2.10 0.033 719 -669.5 382.6 - - 1291 - - - - - - - - - 26.27 -
20060 148.8 9.0 878 20066 done 0.71 - - 3254 - 2.12 0.033 2120 660.8 382.6 - - 1291 - - - - - - - - - 26.24 -
20267 130.2 8.9 888 20272 roll 0.73 - - 3254 - 2.20 0.047 3527 639.5 382.6 - - 1291 - - - - - - - - - 26.17 -
20345 123.8 9.5 891 20354 done 0.75 0.10 0.103 3323 690.0 2.10 0.025 2109 -675.2 382.6 - - 1291 - - - - - - - - 26.31 26.42 -
20532 103.3 9.8 901 20538 roll 0.74 0.12 0.138 3283 -333.3 2.05 0.033 736 -669.8 382.6 - - 1292 - - - - - - - - 26.32 26.31 -
20598 98.1 8.2 904 20618 done 0.76 - - 3283 - 2.10 0.033 2128 662.9 399.0 15.27 0.784 1226 -4.3 0.060 - - - - - - - 26.29 24.71
20799 84.8 5.0 914 20906 roll 0.82 - - 3283 - 2.30 0.046 3524 607.0 513.8 97.12 0.802 757 -4.8 0.056 - - - - - - - 25.39 24.30
21137 54.6 12.4 930 21145 done 0.91 0.17 0.080 3357 435.3 2.08 0.024 2109 -680.3 513.8 - - 755 - - - - - - - - 26.07 26.21 -
21324 31.7 11.5 948 21329 roll 1.01 - - 3357 - 2.03 0.034 736 -676.4 513.8 - - 753 - - - - - - - - - 26.23 -
21423 20.8 12.2 961 21430 done 1.10 0.12 0.103 3410 441.7 2.10 0.032 2127 662.4 513.8 - - 753 - - - - - - - - 26.17 26.23 -
21567 end climb: SURFACE_DEPTH_REACHED
21567 begin surface coast
21590 end surface coast: CONTROL_FINISHED_OK
21590 begin surface
SM 2.48 - - - - -9.07 8.43 0.041 134 -388.6 0.73 0.045 2611 663.0 515.13 - - 753 - - - - - - - -