OKMC Mar12 * SG176 * Dive index * Mission links * Dive 397 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 83.28 of 150.00 AH used of 24V (44.48% remains)
• Previous NAKs 0, Timeouts 0 • 51.01 of 110.00 AH used of 10V (53.63% remains)
• Surface angle -72.1 deg, depth 1.53 m • Intended pitch -12.5 deg, speed -7.857 cm/s
• No surface pump (final VBD was 456.01, SM_CC=375)
• GPS1 time: 25 s
• GPS2 time: 10 s • Transponder ping count: 0
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
18 - - - 71 VBD -0.52 - - 185 - - - 2661 - -170.3 -50.92 - 2580 - - - - - - - - - - -
74 3.2 -4.5 9 113 roll -0.52 8.82 0.234 2338 244.1 1.67 0.063 3770 664.1 -170.3 -22.02 - 3627 -47.5 - - - - - - - 25.00 26.10 26.70
180 34.0 -31.9 25 186 done -0.52 - - 2338 - 1.73 0.021 2499 -734.7 -170.3 - - 3627 - - - - - - - - - 26.46 -
491 112.8 -22.8 86 500 roll -0.52 - - 2328 - 1.95 0.050 3776 654.9 -170.3 - - 3628 - - - - - - - - - 26.17 -
524 119.9 -22.6 91 532 done -0.52 0.10 0.168 2357 290.0 1.73 0.021 2487 -745.1 -170.3 - - 3627 - - - - - - - - 26.23 26.55 -
833 173.5 -16.2 152 841 roll -0.52 0.08 0.135 2296 -762.5 1.90 0.023 1129 -714.7 -170.3 - - 3627 - - - - - - - - 26.61 26.46 -
878 180.4 -15.4 160 886 done -0.52 0.20 0.139 2354 290.0 2.25 0.044 2621 663.1 -170.3 - - 3627 - - - - - - - - 25.95 26.24 -
1195 227.4 -14.1 204 1204 roll -0.52 0.05 0.173 2299 -1100.0 2.08 0.022 1141 -711.5 -170.3 - - 3627 - - - - - - - - 26.64 26.44 -
1227 232.4 -15.1 207 1237 done -0.52 0.20 0.138 2354 275.0 2.22 0.043 2628 669.8 -170.3 - - 3627 - - - - - - - - 25.96 26.25 -
1538 275.6 -12.8 238 1540 done -0.52 0.05 0.174 2296 -1160.0 - - 2628 - -170.3 - - 3626 - - - - - - - - 26.64 - -
1837 335.5 -19.3 268 1847 roll -0.52 0.15 0.160 2346 333.3 2.12 0.023 1135 -704.2 -170.3 - - 3625 - - - - - - - - 26.20 26.42 -
1882 341.9 -15.5 272 1889 done -0.52 - - 2346 - 2.25 0.044 2629 664.0 -170.3 - - 3625 - - - - - - - - - 26.24 -
2190 376.5 -10.4 303 2194 roll -0.52 - - 2346 - 2.12 0.025 1137 -703.8 -170.3 - - 3623 - - - - - - - - - 26.41 -
2241 381.3 -8.9 308 2250 done -0.52 - - 2345 - 2.25 0.043 2627 662.2 -170.3 - - 3623 - - - - - - - - - 26.24 -
2552 417.0 -11.9 339 2555 roll -0.52 - - 2338 - 1.73 0.054 3766 658.4 -170.3 - - 3622 - - - - - - - - - 26.13 -
2583 420.8 -11.8 342 2586 done -0.52 - - 2338 - 1.73 0.022 2484 -741.0 -170.3 - - 3622 - - - - - - - - - 26.58 -
2893 456.4 -9.8 373 2902 roll -0.52 - - 2332 - 2.00 0.054 3765 640.5 -170.3 - - 3620 - - - - - - - - - 26.10 -
2924 459.6 -10.1 376 2929 done -0.52 0.08 0.170 2355 287.5 1.73 0.023 2485 -739.9 -170.3 - - 3619 - - - - - - - - 26.33 26.58 -
3237 485.1 -7.8 407 3239 done -0.52 0.05 0.171 2292 -1260.0 - - 2468 - -170.3 - - 3618 - - - - - - - - 26.63 - -
3536 525.2 -13.4 437 3538 done -0.52 0.20 0.136 2356 320.0 - - 2467 - -170.3 - - 3616 - - - - - - - - 26.16 - -
3837 547.5 -7.1 467 3846 roll -0.52 0.05 0.174 2291 -1300.0 2.03 0.053 3767 640.4 -170.3 - - 3612 - - - - - - - - 26.62 26.05 -
3929 558.3 -12.4 476 3933 done -0.52 0.20 0.123 2357 330.0 1.73 0.023 2468 -750.9 -170.3 - - 3612 - - - - - - - - 26.09 26.56 -
4234 580.9 -7.2 506 4245 roll -0.52 0.08 0.126 2287 -875.0 2.03 0.053 3764 638.4 -170.3 - - 3610 - - - - - - - - 26.60 26.03 -
4272 584.2 -9.2 509 4279 done -0.52 0.20 0.125 2354 335.0 1.73 0.024 2479 -742.8 -170.3 - - 3609 - - - - - - - - 26.06 26.54 -
4580 609.8 -8.0 534 4585 roll -0.52 - - 2348 - 2.00 0.055 3768 644.5 -170.3 - - 3607 - - - - - - - - - 26.01 -
4638 614.6 -7.9 537 4641 done -0.52 - - 2348 - 1.73 0.024 2496 -735.3 -170.3 - - 3606 - - - - - - - - - 26.55 -
4960 640.3 -7.9 553 4965 roll -0.52 - - 2348 - 2.03 0.056 3768 626.6 -170.3 - - 3604 - - - - - - - - - 26.00 -
4999 643.2 -7.6 555 5003 done -0.52 - - 2348 - 1.73 0.024 2499 -733.5 -170.3 - - 3603 - - - - - - - - - 26.54 -
5321 664.3 -6.0 571 5327 roll -0.52 - - 2348 - 2.03 0.056 3769 625.6 -170.3 - - 3601 - - - - - - - - - 25.98 -
5375 666.6 -5.9 573 5381 done -0.52 - - 2348 - 1.73 0.024 2465 -753.8 -170.3 - - 3600 - - - - - - - - - 26.53 -
5681 686.0 -6.3 589 5686 roll -0.52 - - 2348 - 2.03 0.056 3762 638.9 -170.3 - - 3598 - - - - - - - - - 25.96 -
5713 687.2 -6.4 590 5721 done -0.52 - - 2348 - 1.73 0.024 2472 -745.7 -170.3 - - 3597 - - - - - - - - - 26.53 -
6022 708.4 -6.7 606 6027 roll -0.52 - - 2348 - 1.98 0.056 3760 650.5 -170.3 - - 3596 - - - - - - - - - 25.94 -
6080 712.3 -6.7 609 6084 done -0.52 - - 2348 - 1.75 0.024 2489 -726.3 -170.3 - - 3595 - - - - - - - - - 26.52 -
6403 734.2 -6.9 625 6408 roll -0.52 - - 2348 - 2.03 0.056 3763 627.6 -170.3 - - 3594 - - - - - - - - - 25.92 -
6451 736.9 -6.9 627 6455 done -0.52 - - 2348 - 1.75 0.024 2471 -738.3 -170.3 - - 3593 - - - - - - - - - 26.52 -
6764 758.4 -6.6 643 6769 roll -0.52 - - 2348 - 2.03 0.056 3771 640.4 -170.3 - - 3591 - - - - - - - - - 25.91 -
6812 761.0 -6.5 645 6816 done -0.52 - - 2348 - 1.77 0.024 2462 -739.5 -170.3 - - 3591 - - - - - - - - - 26.51 -
7124 782.0 -6.3 661 7129 roll -0.52 - - 2348 - 2.05 0.057 3765 635.6 -170.3 - - 3589 - - - - - - - - - 25.89 -
7167 784.5 -6.3 663 7171 done -0.52 - - 2348 - 1.75 0.024 2470 -740.0 -170.3 - - 3589 - - - - - - - - - 26.51 -
7484 803.9 -5.9 679 7490 roll -0.52 - - 2348 - 2.03 0.056 3762 636.5 -170.3 - - 3587 - - - - - - - - - 25.87 -
7527 806.3 -5.8 681 7531 done -0.52 - - 2348 - 1.75 0.025 2496 -723.4 -170.3 - - 3587 - - - - - - - - - 26.50 -
7845 824.6 -5.8 697 7849 roll -0.52 - - 2348 - 2.03 0.057 3762 623.6 -170.3 - - 3585 - - - - - - - - - 25.84 -
7900 827.2 -5.9 699 7907 done -0.52 - - 2348 - 1.73 0.025 2488 -736.4 -170.3 - - 3585 - - - - - - - - - 26.48 -
8209 846.2 -6.1 715 8213 roll -0.52 - - 2348 - 2.00 0.057 3767 639.5 -170.3 - - 3585 - - - - - - - - - 25.84 -
8254 848.7 -6.0 717 8257 done -0.52 - - 2348 - 1.73 0.025 2509 -727.2 -170.3 - - 3584 - - - - - - - - - 26.48 -
8571 868.1 -5.9 733 8574 roll -0.52 - - 2348 - 2.05 0.057 3766 613.2 -170.3 - - 3583 - - - - - - - - - 25.82 -
8616 870.5 -6.0 735 8620 done -0.52 - - 2348 - 1.73 0.025 2510 -726.0 -170.3 - - 3582 - - - - - - - - - 26.48 -
8933 890.0 -6.0 751 8937 roll -0.52 - - 2348 - 1.92 0.027 1150 -708.3 -170.3 - - 3582 - - - - - - - - - 26.27 -
9008 894.1 -6.5 754 9016 done -0.52 - - 2348 - 2.28 0.047 2629 648.7 -170.3 - - 3582 - - - - - - - - - 25.98 -
9316 914.3 -6.5 770 9321 roll -0.52 - - 2348 - 2.12 0.026 1142 -701.4 -170.3 - - 3580 - - - - - - - - - 26.25 -
9444 922.3 -6.5 776 9449 done -0.52 - - 2348 - 2.30 0.047 2628 646.1 -170.3 - - 3580 - - - - - - - - - 25.95 -
9752 942.1 -6.2 791 9757 roll -0.52 - - 2348 - 2.15 0.026 1137 -693.5 -170.3 - - 3579 - - - - - - - - - 26.25 -
9871 949.7 -6.3 797 9877 done -0.52 - - 2348 - 2.28 0.047 2617 649.1 -170.3 - - 3578 - - - - - - - - - 25.95 -
10190 969.4 -6.1 813 10196 roll -0.52 - - 2348 - 2.12 0.026 1141 -696.2 -170.3 - - 3578 - - - - - - - - - 26.25 -
10299 975.5 -5.9 818 10303 done -0.52 - - 2348 - 2.30 0.047 2625 645.2 -170.3 - - 3578 - - - - - - - - - 25.92 -
10543 end dive: TARGET_DEPTH_EXCEEDED
10543 begin apogee
10550 990.5 -6.0 830 10708 done -0.17 0.32 0.080 2477 403.1 0.10 0.070 2525 -1000.0 - 145.98 1.713 2928 -4.5 0.290 - - - - - - 26.11 24.15 22.38
10709 end apogee: CONTROL_FINISHED_OK
10709 begin climb
10711 998.4 - 838 10887 roll 0.52 0.57 0.049 2706 401.8 2.15 0.054 3765 576.7 170.3 165.68 1.670 2233 -4.2 0.282 - - - - - - 24.72 23.70 21.85
10964 979.0 16.2 850 10972 done 0.52 0.15 0.190 2680 -173.3 1.98 0.024 2448 -665.2 170.3 - - 2229 - - - - - - - - 25.02 25.42 -
11270 937.8 12.6 866 11276 roll 0.52 - - 2690 - 2.05 0.030 1045 -684.4 170.3 - - 2222 - - - - - - - - - 26.20 -
11293 935.3 12.4 867 11298 done 0.52 0.05 0.210 2678 -240.0 2.30 0.047 2526 643.9 170.3 - - 2221 - - - - - - - - 26.01 26.08 -
11606 895.6 12.6 883 11607 done 0.52 - - 2678 - - - 2527 - 170.3 - - 2220 - - - - - - - - - - -
11905 857.2 12.9 898 11906 done 0.52 - - 2678 - - - 2526 - 170.3 - - 2219 - - - - - - - - - - -
12206 819.3 12.5 913 12207 done 0.52 - - 2678 - - - 2527 - 170.3 - - 2218 - - - - - - - - - - -
12506 783.5 11.4 928 12511 roll 0.52 - - 2678 - 1.88 0.054 3765 658.5 170.3 - - 2217 - - - - - - - - - 26.01 -
12545 778.2 12.3 930 12549 done 0.52 - - 2687 - 1.92 0.024 2427 -696.9 170.3 - - 2217 - - - - - - - - - 26.37 -
12868 741.2 11.4 946 12871 roll 0.52 - - 2687 - 2.10 0.054 3766 637.6 170.3 - - 2216 - - - - - - - - - 25.96 -
12891 738.3 11.6 947 12896 done 0.52 0.05 0.183 2681 -120.0 1.92 0.024 2446 -687.5 170.3 - - 2216 - - - - - - - - 26.03 26.38 -
13209 702.7 10.9 963 13214 roll 0.52 - - 2680 - 2.05 0.054 3769 645.4 170.3 - - 2216 - - - - - - - - - 25.95 -
13252 697.6 11.7 965 13257 done 0.52 0.05 0.250 2679 - 1.88 0.023 2444 -704.8 170.3 - - 2215 - - - - - - - - 26.18 26.40 -
13564 664.6 9.8 981 13565 done 0.52 - - 2679 - - - 2439 - 170.3 - - 2215 - - - - - - - - - - -
13866 635.7 9.7 996 13870 roll 0.52 - - 2679 - 2.05 0.053 3765 646.8 170.3 - - 2215 - - - - - - - - - 25.94 -
13920 630.7 10.5 998 13927 done 0.52 - - 2689 - 1.90 0.022 2430 -702.6 170.3 - - 2215 - - - - - - - - - 26.39 -
14227 596.7 10.5 1015 14237 roll 0.52 0.05 0.249 2687 - 2.03 0.031 1053 -678.3 170.3 - - 2214 - - - - - - - - 26.47 26.18 -
14254 594.4 10.6 1017 14260 done 0.52 - - 2687 - 2.25 0.044 2520 652.0 170.3 - - 2213 - - - - - - - - - 26.03 -
14560 561.3 10.7 1048 14569 roll 0.52 - - 2687 - 1.90 0.054 3766 655.8 170.3 - - 2214 - - - - - - - - - 25.89 -
14584 558.6 11.1 1050 14592 done 0.52 0.10 0.195 2673 -140.0 1.90 0.022 2432 -702.1 170.3 - - 2214 - - - - - - - - 26.00 26.39 -
14891 531.4 7.9 1081 14892 done 0.52 - - 2673 - - - 2431 - 170.3 - - 2213 - - - - - - - - - - -
15196 508.5 7.5 1111 15214 roll 0.54 0.08 0.135 2729 700.0 2.08 0.050 3767 642.3 182.7 8.85 1.295 2184 -3.3 0.145 - - - - - - 26.53 25.90 23.87
15237 503.6 11.0 1115 15247 done 0.54 0.20 0.173 2683 -230.0 1.90 0.022 2436 -700.5 182.7 - - 2184 - - - - - - - - 25.64 26.27 -
15547 474.6 8.4 1146 15556 roll 0.54 - - 2693 - 2.03 0.033 1057 -679.3 182.7 - - 2182 - - - - - - - - - 26.14 -
15598 470.5 7.9 1151 15609 done 0.54 0.05 0.205 2680 -260.0 2.25 0.043 2529 654.2 182.7 - - 2181 - - - - - - - - 25.95 26.03 -
15908 445.4 8.0 1182 15909 done 0.54 - - 2680 - - - 2529 - 182.7 - - 2181 - - - - - - - - - - -
16210 419.9 9.1 1212 16219 roll 0.54 - - 2680 - 1.90 0.051 3771 653.7 182.7 - - 2181 - - - - - - - - - 25.91 -
16295 410.7 11.2 1220 16302 done 0.54 - - 2689 - 1.90 0.023 2421 -710.5 182.7 - - 2182 - - - - - - - - - 26.39 -
16601 380.5 9.5 1251 16611 roll 0.54 - - 2690 - 2.08 0.050 3772 649.5 182.7 - - 2182 - - - - - - - - - 25.89 -
16645 375.9 10.6 1255 16655 done 0.54 0.08 0.207 2682 -100.0 1.90 0.024 2431 -705.8 182.7 - - 2182 - - - - - - - - 26.09 26.38 -
16954 354.3 5.9 1286 17019 roll 0.62 0.12 0.088 2764 683.3 2.12 0.033 1067 -643.4 245.7 58.08 1.277 1926 -4.4 0.138 - - - - - - 26.51 25.42 23.49
17090 339.2 11.9 1299 17101 done 0.62 0.20 0.142 2705 -295.0 2.25 0.041 2525 648.0 245.7 - - 1921 - - - - - - - - 25.52 25.82 -
17401 304.9 11.7 1330 17410 roll 0.62 - - 2705 - 1.90 0.051 3770 655.3 245.7 - - 1919 - - - - - - - - - 25.96 -
17445 299.3 13.1 1334 17452 done 0.62 - - 2714 - 1.90 0.024 2433 -703.7 245.7 - - 1919 - - - - - - - - - 26.32 -
17752 261.3 13.0 1365 17761 roll 0.62 - - 2724 - 2.03 0.034 1055 -678.8 245.7 - - 1918 - - - - - - - - - 26.20 -
17785 257.3 12.9 1368 17794 done 0.62 0.05 0.124 2703 -420.0 2.20 0.042 2517 664.5 245.7 - - 1917 - - - - - - - - 25.95 26.11 -
18093 223.1 10.1 1399 18097 roll 0.62 - - 2703 - 1.88 0.049 3769 666.0 245.7 - - 1917 - - - - - - - - - 26.02 -
18176 214.1 11.3 1407 18185 done 0.62 - - 2711 - 1.90 0.024 2427 -706.3 245.7 - - 1918 - - - - - - - - - 26.41 -
18487 183.0 9.5 1455 18495 roll 0.62 - - 2721 - 2.00 0.034 1058 -684.5 245.7 - - 1917 - - - - - - - - - 26.21 -
18518 180.3 9.0 1460 18525 done 0.62 0.08 0.164 2700 -262.5 2.20 0.041 2523 665.9 245.7 - - 1917 - - - - - - - - 26.02 26.13 -
18830 156.2 7.2 1521 18856 done 0.64 0.10 0.099 2760 600.0 - - 2523 - 267.2 19.38 1.072 1838 -4.1 0.067 - - - - - - 26.56 - 24.13
19161 112.6 13.5 1585 19168 roll 0.64 0.15 0.148 2721 -260.0 2.17 0.029 1058 -675.1 267.2 - - 1837 - - - - - - - - 26.10 26.20 -
19272 102.8 8.2 1606 19279 done 0.64 - - 2721 - 2.20 0.040 2524 666.4 267.2 - - 1835 - - - - - - - - - 26.17 -
19584 78.5 7.6 1667 19593 roll 0.65 - - 2721 - 1.95 0.049 3766 636.9 274.6 3.28 0.321 1808 -8.2 0.227 - - - - - - - 26.05 24.72
19650 72.9 8.1 1676 19657 done 0.65 - - 2729 - 1.88 0.024 2433 -709.0 274.6 - - 1808 - - - - - - - - - 26.44 -
19964 51.1 6.6 1737 19991 roll 0.70 0.05 0.181 2783 1080.0 2.03 0.031 1050 -681.3 314.5 18.52 0.243 1642 -9.0 0.212 - - - - - - 26.60 26.24 25.20
20013 47.4 8.4 1745 20020 done 0.70 0.17 0.122 2727 -329.4 2.22 0.039 2530 666.7 314.5 - - 1639 - - - - - - - - 25.94 26.17 -
20328 35.6 3.5 1806 20390 done 0.87 0.17 0.069 2836 641.2 - - 2531 - 453.2 57.67 0.203 1078 -9.7 0.192 - - - - - - 26.55 - 25.37
20548 end climb: SURFACE_DEPTH_REACHED
20548 begin surface coast
20570 end surface coast: CONTROL_FINISHED_OK
20570 begin surface
SM 1.56 - - - - -7.15 6.50 0.027 177 -409.1 0.12 0.094 2655 1033.3 456.01 - - 1070 - - - - - - - -