OKMC Nov12 * SG170 * Dive index * Mission links * Dive 325 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 64.75 of 150.00 AH used of 24V (56.83% remains)
• Previous NAKs 0, Timeouts 0 • 32.43 of 100.00 AH used of 10V (67.57% remains)
• Surface angle -73.4 deg, depth 2.58 m • Intended pitch -14.5 deg, speed -8.684 cm/s
• No surface pump (final VBD was 553.64, SM_CC=450)
• GPS1 time: 27 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 - - - 86 VBD -0.50 - - 133 - - - 2625 - -180.0 -62.75 - 2104 - - - - - - - - - - -
89 3.1 -1.2 11 156 roll -0.50 11.48 0.241 2880 239.3 2.17 0.046 1218 -648.4 -180.0 -49.83 - 3588 -29.8 - - - - - - - 25.23 26.16 26.58
237 19.6 -15.0 37 243 done -0.48 - - 2880 - 2.15 0.048 2582 634.4 -180.0 - - 3589 - - - - - - - - - 26.12 -
432 53.9 -16.0 58 433 done -0.46 - - 2880 - - - 2583 - -180.0 - - 3588 - - - - - - - - - - -
612 79.8 -12.8 67 617 roll -0.44 - - 2880 - 1.75 0.055 3699 637.7 -180.0 - - 3588 - - - - - - - - - 26.22 -
646 82.6 -12.2 68 651 done -0.43 - - 2880 - 1.58 0.023 2571 -713.9 -180.0 - - 3588 - - - - - - - - - 26.48 -
839 104.0 -10.5 78 844 roll -0.43 - - 2880 - 1.95 0.030 1231 -687.2 -180.0 - - 3588 - - - - - - - - - 26.41 -
912 110.2 -9.9 81 918 done -0.44 - - 2880 - 2.12 0.043 2614 652.4 -180.0 - - 3589 - - - - - - - - - 26.27 -
1108 127.4 -7.9 91 1114 roll -0.45 - - 2880 - 2.05 0.047 1235 -672.7 -180.0 - - 3589 - - - - - - - - - 26.37 -
1132 129.5 -7.9 92 1138 done -0.46 - - 2880 - 2.12 0.044 2612 649.5 -180.0 - - 3589 - - - - - - - - - 26.29 -
1338 147.0 -8.9 102 1339 done -0.48 - - 2880 - - - 2612 - -180.0 - - 3589 - - - - - - - - - - -
1517 162.3 -8.1 111 1522 roll -0.49 - - 2880 - 2.05 0.031 1233 -672.7 -180.0 - - 3589 - - - - - - - - - 26.42 -
1591 167.9 -8.5 114 1596 done -0.51 - - 2880 - 2.12 0.043 2614 651.4 -180.0 - - 3589 - - - - - - - - - 26.32 -
1785 184.9 -8.3 124 1790 roll -0.55 - - 2880 - 1.65 0.050 3693 653.9 -180.0 - - 3589 - - - - - - - - - 26.29 -
1873 191.1 -7.3 128 1879 done -0.60 - - 2880 - 1.58 0.024 2600 -691.8 -180.0 - - 3589 - - - - - - - - - 26.57 -
2074 205.3 -6.8 138 2076 done -0.64 0.10 0.106 2810 -700.0 - - 2600 - -180.0 - - 3589 - - - - - - - - 26.58 - -
2253 222.8 -11.1 147 2260 roll -0.62 0.12 0.143 2854 366.7 2.00 0.028 1230 -685.0 -180.0 - - 3588 - - - - - - - - 26.35 26.42 -
2367 232.5 -8.6 152 2373 done -0.63 - - 2854 - 2.12 0.043 2608 650.0 -180.0 - - 3588 - - - - - - - - - 26.32 -
2563 249.5 -8.5 162 2564 done -0.65 - - 2854 - - - 2608 - -180.0 - - 3587 - - - - - - - - - - -
2741 265.5 -9.0 171 2746 roll -0.66 - - 2854 - 2.03 0.029 1226 -680.8 -180.0 - - 3586 - - - - - - - - - 26.44 -
2820 271.0 -8.7 174 2826 done -0.67 - - 2853 - 2.12 0.042 2602 649.1 -180.0 - - 3586 - - - - - - - - - 26.32 -
3125 294.8 -6.9 190 3131 roll -0.69 - - 2854 - 2.03 0.028 1221 -680.3 -180.0 - - 3585 - - - - - - - - - 26.44 -
3191 299.4 -6.9 193 3196 done -0.70 - - 2854 - 2.10 0.041 2603 658.1 -180.0 - - 3584 - - - - - - - - - 26.33 -
3516 323.0 -7.4 209 3522 roll -0.74 0.12 0.088 2777 -641.7 2.05 0.026 1221 -674.1 -180.0 - - 3582 - - - - - - - - 26.58 26.44 -
3607 332.4 -10.9 213 3613 done -0.73 0.12 0.163 2812 291.7 2.12 0.042 2599 650.0 -180.0 - - 3582 - - - - - - - - 26.09 26.31 -
3925 363.8 -9.7 229 3931 roll -0.73 - - 2812 - 2.03 0.028 1225 -676.8 -180.0 - - 3580 - - - - - - - - - 26.44 -
3993 370.0 -9.7 232 3999 done -0.73 - - 2812 - 2.12 0.042 2598 647.6 -180.0 - - 3579 - - - - - - - - - 26.31 -
4312 399.7 -9.1 248 4317 roll -0.73 - - 2812 - 1.73 0.052 3701 637.6 -180.0 - - 3577 - - - - - - - - - 26.27 -
4329 399.7 -9.1 248 4337 done -0.73 - - 2812 - 1.58 0.026 2582 -708.2 -180.0 - - 3577 - - - - - - - - - 26.55 -
4636 431.7 -10.5 264 4642 roll -0.73 - - 2812 - 1.95 0.028 1243 -686.7 -180.0 - - 3575 - - - - - - - - - 26.43 -
4723 440.9 -10.8 268 4729 done -0.73 - - 2812 - 2.08 0.041 2601 652.9 -180.0 - - 3575 - - - - - - - - - 26.30 -
5041 476.8 -11.1 284 5043 done -0.73 - - 2812 - - - 2601 - -180.0 - - 3573 - - - - - - - - - - -
5343 508.0 -10.2 299 5348 roll -0.73 - - 2812 - 2.00 0.028 1243 -679.0 -180.0 - - 3571 - - - - - - - - - 26.32 -
5430 516.7 -10.2 303 5436 done -0.73 - - 2812 - 2.10 0.041 2599 645.7 -180.0 - - 3570 - - - - - - - - - 26.29 -
5749 546.9 -8.8 319 5754 roll -0.73 - - 2812 - 2.00 0.027 1243 -678.0 -180.0 - - 3569 - - - - - - - - - 26.42 -
5792 550.7 -8.9 321 5797 done -0.73 - - 2812 - 2.10 0.041 2605 648.6 -180.0 - - 3569 - - - - - - - - - 26.28 -
6116 578.1 -8.4 337 6121 roll -0.73 - - 2812 - 2.00 0.026 1240 -682.5 -180.0 - - 3567 - - - - - - - - - 26.43 -
6173 582.0 -8.8 339 6181 done -0.73 - - 2811 - 2.10 0.041 2611 652.9 -180.0 - - 3566 - - - - - - - - - 26.28 -
6502 610.7 -8.4 354 6507 roll -0.73 - - 2812 - 2.03 0.027 1229 -680.8 -180.0 - - 3565 - - - - - - - - - 26.42 -
6585 616.3 -8.4 356 6590 done -0.73 - - 2812 - 2.12 0.041 2601 647.2 -180.0 - - 3565 - - - - - - - - - 26.29 -
6899 644.2 -8.3 367 6904 roll -0.73 - - 2812 - 2.00 0.027 1239 -681.0 -180.0 - - 3563 - - - - - - - - - 26.42 -
6963 649.7 -8.5 369 6968 done -0.73 - - 2812 - 2.10 0.041 2599 647.6 -180.0 - - 3563 - - - - - - - - - 26.27 -
7299 677.7 -8.1 380 7304 roll -0.73 - - 2812 - 2.00 0.027 1238 -680.5 -180.0 - - 3561 - - - - - - - - - 26.42 -
7357 680.6 -8.1 381 7363 done -0.74 - - 2812 - 2.12 0.041 2613 648.6 -180.0 - - 3561 - - - - - - - - - 26.26 -
7663 707.4 -8.1 392 7669 roll -0.74 - - 2812 - 2.03 0.027 1236 -678.3 -180.0 - - 3560 - - - - - - - - - 26.41 -
7701 710.4 -8.3 393 7707 done -0.74 - - 2812 - 2.12 0.041 2602 644.3 -180.0 - - 3559 - - - - - - - - - 26.25 -
8034 737.9 -8.3 404 8039 roll -0.75 - - 2812 - 2.00 0.027 1241 -680.5 -180.0 - - 3558 - - - - - - - - - 26.41 -
8071 740.8 -8.1 405 8076 done -0.76 - - 2812 - 2.12 0.041 2606 643.9 -180.0 - - 3557 - - - - - - - - - 26.24 -
8403 765.0 -7.0 416 8408 roll -0.76 - - 2812 - 2.03 0.029 1244 -670.9 -180.0 - - 3556 - - - - - - - - - 25.84 -
8451 767.7 -7.0 417 8456 done -0.77 - - 2812 - 2.10 0.041 2601 646.2 -180.0 - - 3556 - - - - - - - - - 26.23 -
8773 794.2 -8.4 428 8778 roll -0.77 - - 2812 - 2.03 0.027 1240 -670.4 -180.0 - - 3555 - - - - - - - - - 26.40 -
8846 800.3 -8.9 430 8851 done -0.78 - - 2812 - 2.10 0.041 2603 649.0 -180.0 - - 3555 - - - - - - - - - 26.22 -
9171 830.4 -9.2 441 9177 roll -0.79 - - 2812 - 2.03 0.027 1228 -677.3 -180.0 - - 3553 - - - - - - - - - 26.39 -
9206 833.8 -9.3 442 9212 done -0.80 - - 2812 - 2.15 0.041 2600 638.1 -180.0 - - 3553 - - - - - - - - - 26.21 -
9542 864.9 -9.3 453 9548 roll -0.80 - - 2812 - 2.00 0.028 1236 -682.0 -180.0 - - 3554 - - - - - - - - - 26.39 -
9586 868.2 -9.3 454 9591 done -0.81 - - 2812 - 2.15 0.042 2611 639.5 -180.0 - - 3552 - - - - - - - - - 26.19 -
9912 897.9 -8.6 465 9917 roll -0.82 - - 2812 - 2.03 0.028 1243 -673.9 -180.0 - - 3550 - - - - - - - - - 26.19 -
9966 901.0 -8.6 466 9971 done -0.83 - - 2812 - 2.10 0.043 2600 646.2 -180.0 - - 3552 - - - - - - - - - 26.18 -
10282 928.1 -8.1 477 10288 roll -0.83 - - 2812 - 2.03 0.028 1230 -674.9 -180.0 - - 3549 - - - - - - - - - 26.37 -
10321 931.3 -8.1 478 10327 done -0.84 - - 2812 - 2.15 0.043 2603 638.6 -180.0 - - 3549 - - - - - - - - - 26.17 -
10653 958.5 -8.1 489 10659 roll -0.85 0.12 0.100 2750 -516.7 2.05 0.025 1230 -669.8 -180.0 - - 3549 - - - - - - - - 26.51 26.36 -
10721 965.8 -9.5 491 10727 done -0.85 - - 2749 - 2.15 0.044 2599 636.7 -180.0 - - 3548 - - - - - - - - - 26.15 -
10928 end dive: TARGET_DEPTH_EXCEEDED
10928 begin apogee
10935 992.5 -12.7 498 11096 done -0.15 0.75 0.127 2996 329.3 - - 2126 - - 152.73 1.493 2852 -4.6 0.335 - - - - - - 25.57 - 22.79
11098 end apogee: CONTROL_FINISHED_OK
11098 begin climb
11100 1000.9 - 503 11282 roll 0.50 0.60 0.054 3220 373.3 2.58 0.050 3530 544.2 180.0 171.43 1.444 2117 -4.3 0.328 - - - - - - 24.51 23.68 22.20
11353 986.7 11.3 512 11359 done 0.46 0.12 0.161 3196 -200.0 2.17 0.027 2167 -628.1 180.0 - - 2110 - - - - - - - - 24.63 24.86 -
11687 950.9 10.5 523 11692 roll 0.44 - - 3200 - 2.22 0.036 712 -655.4 180.0 - - 2104 - - - - - - - - - 26.10 -
11770 944.3 10.5 525 11776 done 0.42 - - 3200 - 2.17 0.037 2119 648.4 180.0 - - 2103 - - - - - - - - - 26.13 -
12086 907.7 11.2 536 12091 roll 0.40 - - 3200 - 2.22 0.051 3539 639.6 180.0 - - 2103 - - - - - - - - - 26.17 -
12181 895.6 12.3 539 12187 done 0.37 0.12 0.164 3173 -225.0 2.17 0.028 2099 -663.6 180.0 - - 2103 - - - - - - - - 26.06 26.38 -
12516 864.5 8.8 550 12521 roll 0.37 - - 3173 - 2.05 0.036 726 -669.8 180.0 - - 2102 - - - - - - - - - 26.32 -
12540 864.5 8.8 550 12545 done 0.36 - - 3173 - 2.15 0.037 2125 650.7 180.0 - - 2101 - - - - - - - - - 26.27 -
12856 836.2 8.4 561 12870 roll 0.36 - - 3172 - 2.28 0.050 3529 615.8 188.7 6.45 1.107 2083 -2.8 0.233 - - - - - - - 26.15 24.05
12929 830.0 9.0 563 12934 done 0.35 - - 3175 - 2.12 0.028 2119 -665.1 188.7 - - 2082 - - - - - - - - - 26.34 -
13255 800.0 8.8 574 13260 roll 0.34 - - 3178 - 2.25 0.048 3540 631.6 188.7 - - 2081 - - - - - - - - - 26.17 -
13299 796.6 8.9 575 13304 done 0.33 - - 3182 - 2.15 0.028 2108 -666.0 188.7 - - 2081 - - - - - - - - - 26.41 -
13624 767.9 8.5 586 13639 roll 0.32 - - 3186 - 2.12 0.034 727 -651.4 193.9 6.85 1.107 2061 -2.9 0.224 - - - - - - - 26.28 24.13
13660 764.7 8.6 587 13666 done 0.32 0.12 0.147 3150 -300.0 2.17 0.037 2132 647.5 196.2 - - 2060 - - - - - - - - 26.03 26.21 -
13996 739.9 7.4 598 14042 roll 0.34 - - 3150 - 2.30 0.051 3529 607.4 236.2 39.12 1.322 1890 -4.3 0.269 - - - - - - - 25.49 23.93
14126 729.9 8.2 602 14146 done 0.35 - - 3157 - 2.12 0.027 2120 -664.6 251.9 15.50 1.235 1825 -4.2 0.274 - - - - - - - 26.00 24.01
14450 706.6 6.7 613 14511 roll 0.39 - - 3157 - 2.17 0.035 733 -639.2 313.2 54.40 1.299 1574 -4.6 0.277 - - - - - - - 25.30 23.83
14524 702.8 6.6 615 14588 done 0.43 - - 3157 - 2.20 0.034 2124 632.3 376.7 56.53 1.269 1317 -4.5 0.278 - - - - - - - 25.48 23.49
14902 667.6 10.0 628 14908 roll 0.52 0.15 0.109 3218 406.7 2.22 0.048 3526 631.5 376.7 - - 1310 - - - - - - - - 26.10 26.01 -
14937 664.1 9.9 629 14942 done 0.61 - - 3219 - 2.15 0.027 2102 -662.3 376.7 - - 1310 - - - - - - - - - 26.24 -
15273 637.7 7.9 640 15303 roll 0.66 0.12 0.093 3297 650.0 2.38 0.048 3527 598.7 401.0 21.40 1.209 1218 -4.3 0.251 - - - - - - 26.41 25.81 24.29
15372 624.2 12.6 643 15378 done 0.66 0.15 0.155 3259 -253.3 2.12 0.027 2124 -661.8 401.0 - - 1217 - - - - - - - - 25.77 26.08 -
15691 576.3 14.8 656 15697 roll 0.65 - - 3268 - 2.10 0.035 716 -670.5 401.0 - - 1215 - - - - - - - - - 26.23 -
15775 564.3 14.3 660 15780 done 0.65 - - 3268 - 2.15 0.036 2124 654.9 401.0 - - 1214 - - - - - - - - - 26.22 -
16098 515.0 15.5 676 16103 roll 0.64 - - 3268 - 2.20 0.050 3531 639.5 401.0 - - 1214 - - - - - - - - - 26.18 -
16162 504.4 16.4 679 16167 done 0.62 - - 3268 - 2.15 0.028 2105 -663.3 401.0 - - 1214 - - - - - - - - - 26.39 -
16486 455.6 14.9 695 16491 roll 0.61 - - 3268 - 2.08 0.035 723 -664.4 401.0 - - 1214 - - - - - - - - - 26.31 -
16544 449.5 14.3 697 16552 done 0.60 - - 3268 - 2.15 0.035 2127 653.0 401.0 - - 1214 - - - - - - - - - 26.27 -
16850 406.3 13.4 713 16856 roll 0.59 - - 3268 - 2.20 0.049 3526 635.9 401.0 - - 1214 - - - - - - - - - 26.18 -
16924 396.9 14.2 716 16930 done 0.57 0.12 0.154 3231 -308.3 2.10 0.027 2110 -674.3 401.0 - - 1214 - - - - - - - - 26.10 26.42 -
17238 361.0 10.5 732 17244 roll 0.58 - - 3231 - 2.08 0.035 723 -666.8 401.0 - - 1214 - - - - - - - - - 26.31 -
17277 358.6 10.3 733 17283 done 0.60 - - 3230 - 2.12 0.034 2133 665.1 401.0 - - 1214 - - - - - - - - - 26.28 -
17582 328.9 9.1 749 17587 roll 0.61 - - 3230 - 2.20 0.050 3529 634.5 401.0 - - 1214 - - - - - - - - - 26.16 -
17656 322.3 10.0 752 17662 done 0.63 - - 3234 - 2.10 0.027 2105 -678.1 401.0 - - 1214 - - - - - - - - - 26.44 -
17971 293.6 8.3 768 17991 roll 0.65 - - 3234 - 2.08 0.033 731 -660.6 413.5 12.43 0.940 1165 -3.9 0.136 - - - - - - - 26.18 24.33
18019 290.1 8.0 770 18044 done 0.68 0.10 0.102 3295 610.0 2.12 0.033 2124 657.1 433.3 18.58 0.962 1086 -4.3 0.142 - - - - - - 26.13 26.15 24.37
18358 248.6 11.7 787 18364 roll 0.67 - - 3295 - 2.20 0.049 3531 639.5 433.3 - - 1084 - - - - - - - - - 26.07 -
18427 239.8 13.1 790 18433 done 0.66 0.12 0.145 3258 -308.3 2.10 0.027 2130 -667.1 433.3 - - 1084 - - - - - - - - 26.03 26.31 -
18630 220.5 8.8 800 18635 roll 0.67 - - 3258 - 2.10 0.034 715 -673.8 433.3 - - 1083 - - - - - - - - - 26.25 -
18663 218.1 8.9 801 18668 done 0.69 - - 3258 - 2.15 0.033 2130 658.1 433.3 - - 1084 - - - - - - - - - 26.23 -
18857 199.9 8.5 811 18871 roll 0.72 - - 3258 - 2.22 0.047 3523 627.5 439.0 6.12 0.748 1063 -3.4 0.101 - - - - - - - 26.21 24.41
18915 195.8 8.9 813 18922 done 0.73 - - 3258 - 2.10 0.026 2100 -677.6 439.0 - - 1063 - - - - - - - - - 26.36 -
19102 179.3 7.7 823 19135 roll 0.77 0.12 0.090 3348 750.0 2.15 0.034 723 -640.5 469.8 28.12 0.887 936 -4.5 0.101 - - - - - - 26.47 25.92 24.54
19180 171.4 11.3 826 19188 done 0.77 0.17 0.130 3294 -317.6 2.15 0.034 2128 653.5 469.8 - - 935 - - - - - - - - 25.75 25.96 -
19366 149.4 9.9 836 19372 roll 0.78 - - 3294 - 2.20 0.047 3538 640.9 469.8 - - 933 - - - - - - - - - 26.06 -
19400 146.6 9.9 837 19405 done 0.79 - - 3296 - 2.12 0.026 2125 -666.5 469.8 - - 933 - - - - - - - - - 26.28 -
19594 125.2 10.2 847 19599 roll 0.80 - - 3296 - 2.08 0.034 723 -674.0 469.8 - - 933 - - - - - - - - - 26.25 -
19639 120.8 9.8 849 19644 done 0.82 - - 3296 - 2.12 0.033 2127 662.3 469.8 - - 933 - - - - - - - - - 26.23 -
19844 101.9 8.7 859 19849 roll 0.84 - - 3296 - 2.20 0.047 3534 639.5 469.8 - - 933 - - - - - - - - - 26.17 -
19912 95.2 9.9 862 19918 done 0.86 - - 3296 - 2.10 0.025 2115 -675.7 469.8 - - 933 - - - - - - - - - 26.41 -
20113 78.8 6.0 872 20191 roll 0.92 0.12 0.093 3370 616.7 2.20 0.034 727 -630.9 552.6 72.60 0.800 599 -4.6 0.050 - - - - - - 26.49 25.57 24.38
20256 64.1 10.0 879 20261 done 0.98 - - 3370 - 2.15 0.031 2124 649.8 552.6 - - 598 - - - - - - - - - 25.86 -
20452 44.2 9.5 891 20457 roll 1.05 - - 3372 - 2.12 0.031 717 -663.7 552.6 - - 596 - - - - - - - - - 26.16 -
20688 18.0 10.9 919 20695 done 1.14 0.15 0.097 3429 380.0 2.12 0.034 2120 661.8 552.6 - - 597 - - - - - - - - 26.15 26.22 -
20809 end climb: SURFACE_DEPTH_REACHED
20809 begin surface coast
20825 end surface coast: CONTROL_FINISHED_OK
20825 begin surface
SM 2.60 - - - - -9.06 8.48 0.042 137 -388.2 0.75 0.049 2606 648.0 553.64 - - 596 - - - - - - - -