OKMC Apr12 * SG170 * Dive index * Mission links * Dive 45 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 8.66 of 146.00 AH used of 24V (94.07% remains)
• Previous NAKs 0, Timeouts 0 • 2.99 of 97.50 AH used of 10V (96.93% remains)
• Surface angle -73.7 deg, depth 1.83 m • Intended pitch -13.0 deg, speed -9.167 cm/s
• No surface pump (final VBD was 534.02, SM_CC=525)
• GPS1 time: 37 s
• GPS2 time: 18 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 102 VBD -0.62 - - 138 - - - 2681 - -243.3 -82.03 - 2890 - - - - - - - - - - -
104 3.2 -3.1 8 141 roll -0.62 10.27 0.257 2589 238.7 1.62 0.073 3700 629.0 -243.3 -20.90 - 3963 -51.3 - - - - - - - 25.72 26.10 26.47
203 32.1 -31.9 17 211 done -0.31 0.38 0.164 2697 284.2 1.52 0.032 2657 -686.2 -243.3 - - 3966 - - - - - - - - 25.90 26.25 -
520 79.9 -12.2 38 525 roll -0.28 - - 2698 - 2.03 0.032 1288 -674.4 -243.3 - - 3967 - - - - - - - - - 26.32 -
566 83.9 -10.4 40 571 done -0.28 - - 2698 - 2.17 0.047 2692 647.0 -243.3 - - 3966 - - - - - - - - - 26.28 -
883 110.5 -6.4 56 890 roll -0.37 - - 2698 - 2.10 0.032 1280 -672.4 -243.3 - - 3968 - - - - - - - - - 26.41 -
927 112.9 -5.8 58 934 done -0.48 0.15 0.081 2618 -533.3 2.20 0.045 2693 642.3 -243.3 - - 3968 - - - - - - - - 26.39 26.37 -
1252 151.4 -12.3 74 1257 roll -0.43 0.12 0.149 2660 350.0 2.08 0.030 1282 -678.4 -243.3 - - 3969 - - - - - - - - 26.35 26.48 -
1375 161.8 -7.8 80 1380 done -0.50 - - 2660 - 2.17 0.047 2676 642.4 -243.3 - - 3970 - - - - - - - - - 26.44 -
1698 182.1 -6.9 96 1703 roll -0.57 0.12 0.093 2587 -608.3 2.08 0.030 1277 -672.6 -243.3 - - 3970 - - - - - - - - 26.59 26.53 -
1730 184.2 -7.5 97 1736 done -0.61 - - 2587 - 2.12 0.048 2659 651.9 -243.3 - - 3970 - - - - - - - - - 26.48 -
2044 226.5 -12.8 113 2050 roll -0.53 0.12 0.171 2628 341.7 2.03 0.031 1290 -674.4 -243.3 - - 3970 - - - - - - - - 26.41 26.56 -
2088 231.0 -12.0 115 2093 done -0.49 - - 2628 - 2.10 0.047 2638 641.9 -243.3 - - 3970 - - - - - - - - - 26.51 -
2410 256.1 -8.4 131 2411 done -0.53 - - 2628 - - - 2638 - -243.3 - - 3970 - - - - - - - - - - -
2711 279.1 -8.7 146 2716 roll -0.58 - - 2628 - 1.65 0.058 3694 640.0 -243.3 - - 3969 - - - - - - - - - 26.52 -
2748 281.2 -9.0 147 2754 done -0.64 - - 2628 - 1.58 0.035 2627 -675.3 -243.3 - - 3969 - - - - - - - - - 26.65 -
3054 305.9 -7.1 163 3060 roll -0.69 0.12 0.090 2547 -675.0 1.98 0.032 1285 -677.8 -243.3 - - 3969 - - - - - - - - 26.67 26.60 -
3081 308.2 -7.7 164 3086 done -0.73 - - 2547 - 2.10 0.049 2637 643.8 -243.3 - - 3968 - - - - - - - - - 26.55 -
3399 350.7 -12.2 180 3405 roll -0.63 0.12 0.171 2589 350.0 1.65 0.059 3698 643.0 -243.3 - - 3967 - - - - - - - - 26.46 26.53 -
3492 358.6 -9.4 184 3497 done -0.61 - - 2590 - 1.52 0.034 2647 -691.4 -243.3 - - 3966 - - - - - - - - - 26.67 -
3804 388.0 -9.3 200 3810 roll -0.61 - - 2590 - 2.00 0.034 1286 -680.5 -243.3 - - 3964 - - - - - - - - - 26.63 -
3835 390.1 -9.4 201 3841 done -0.61 - - 2590 - 2.08 0.049 2641 651.4 -243.3 - - 3964 - - - - - - - - - 26.57 -
4148 420.2 -8.4 217 4153 roll -0.61 - - 2590 - 1.65 0.059 3694 638.2 -243.3 - - 3962 - - - - - - - - - 26.55 -
4193 423.6 -8.0 219 4199 done -0.61 - - 2590 - 1.58 0.036 2630 -673.4 -243.3 - - 3961 - - - - - - - - - 26.68 -
4511 446.0 -7.5 235 4516 roll -0.61 - - 2590 - 1.98 0.034 1285 -679.3 -243.3 - - 3960 - - - - - - - - - 26.64 -
4548 447.9 -7.8 236 4555 done -0.61 - - 2590 - 2.10 0.049 2637 643.8 -243.3 - - 3959 - - - - - - - - - 26.58 -
4854 478.9 -10.7 252 4855 done -0.61 - - 2590 - - - 2637 - -243.3 - - 3958 - - - - - - - - - - -
5154 510.1 -9.7 267 5160 roll -0.61 - - 2590 - 2.03 0.033 1273 -671.9 -243.3 - - 3955 - - - - - - - - - 26.65 -
5206 514.2 -9.3 269 5212 done -0.63 - - 2590 - 2.08 0.048 2625 650.0 -243.3 - - 3956 - - - - - - - - - 26.58 -
5519 541.6 -8.1 285 5524 roll -0.65 - - 2590 - 2.00 0.033 1279 -673.0 -243.3 - - 3952 - - - - - - - - - 26.65 -
5576 545.0 -7.9 287 5583 done -0.67 - - 2590 - 2.08 0.047 2619 644.2 -243.3 - - 3952 - - - - - - - - - 26.58 -
5882 571.0 -8.3 303 5883 done -0.69 - - 2590 - - - 2619 - -243.3 - - 3950 - - - - - - - - - - -
6184 594.4 -7.4 318 6185 done -0.71 - - 2590 - - - 2619 - -243.3 - - 3948 - - - - - - - - - - -
6503 615.9 -6.4 330 6504 done -0.74 - - 2590 - - - 2620 - -243.3 - - 3947 - - - - - - - - - - -
6802 632.6 -5.2 340 6808 roll -0.77 0.12 0.097 2521 -575.0 1.98 0.033 1287 -673.2 -243.3 - - 3945 - - - - - - - - 26.71 26.65 -
6836 635.3 -5.8 341 6842 done -0.77 0.12 0.164 2555 283.3 2.05 0.049 2611 645.9 -243.3 - - 3945 - - - - - - - - 26.40 26.57 -
7171 661.4 -8.4 352 7172 done -0.73 - - 2555 - - - 2611 - -243.3 - - 3944 - - - - - - - - - - -
7469 687.8 -9.1 362 7475 roll -0.70 - - 2555 - 1.98 0.034 1287 -668.7 -243.3 - - 3942 - - - - - - - - - 26.64 -
7497 687.8 -9.1 362 7504 done -0.67 - - 2555 - 2.05 0.049 2601 641.0 -243.3 - - 3942 - - - - - - - - - 26.56 -
7803 723.8 -11.5 373 7809 roll -0.64 0.12 0.163 2598 358.3 1.70 0.058 3694 642.9 -243.3 - - 3939 - - - - - - - - 26.49 26.51 -
7879 730.0 -10.8 375 7884 done -0.64 - - 2596 - 1.60 0.037 2618 -672.5 -243.3 - - 3939 - - - - - - - - - 26.67 -
8198 759.0 -8.5 386 8203 roll -0.69 - - 2598 - 1.98 0.034 1281 -675.3 -243.3 - - 3938 - - - - - - - - - 26.63 -
8239 761.8 -8.4 387 8245 done -0.74 0.12 0.096 2536 -516.7 2.05 0.049 2611 648.8 -243.3 - - 3938 - - - - - - - - 26.55 26.55 -
8564 797.7 -10.9 398 8566 done -0.69 0.15 0.143 2580 293.3 - - 2610 - -243.3 - - 3937 - - - - - - - - 26.48 - -
8864 821.0 -7.4 408 8869 roll -0.71 - - 2581 - 1.98 0.034 1288 -667.7 -243.3 - - 3935 - - - - - - - - - 26.62 -
8891 821.0 -7.4 408 8898 done -0.73 - - 2581 - 2.03 0.048 2601 646.8 -243.3 - - 3935 - - - - - - - - - 26.54 -
9197 844.7 -7.2 419 9199 done -0.75 - - 2581 - - - 2601 - -243.3 - - 3934 - - - - - - - - - - -
9498 868.4 -8.3 429 9499 done -0.78 - - 2581 - - - 2601 - -243.3 - - 3933 - - - - - - - - - - -
9797 893.4 -8.2 439 9799 done -0.81 0.12 0.103 2523 -483.3 - - 2602 - -243.3 - - 3932 - - - - - - - - 26.70 - -
10097 928.0 -11.6 449 10103 roll -0.74 0.12 0.155 2564 341.7 1.98 0.033 1285 -665.2 -243.3 - - 3931 - - - - - - - - 26.48 26.61 -
10131 931.5 -11.2 450 10136 done -0.69 - - 2564 - 2.05 0.050 2602 642.4 -243.3 - - 3931 - - - - - - - - - 26.51 -
10464 959.3 -8.4 461 10465 done -0.69 - - 2564 - - - 2603 - -243.3 - - 3929 - - - - - - - - - - -
10763 984.7 -8.4 471 10769 roll -0.69 - - 2564 - 1.98 0.034 1283 -666.7 -243.3 - - 3928 - - - - - - - - - 26.61 -
10785 984.7 -8.4 471 10791 done -0.69 - - 2564 - 2.03 0.050 2590 643.8 -243.3 - - 3928 - - - - - - - - - 26.50 -
10826 end dive: TARGET_DEPTH_EXCEEDED
10826 begin apogee
10831 990.0 -8.3 473 11009 roll -0.12 0.55 0.115 2753 343.6 - - 1934 - - 168.05 1.434 3119 -4.8 0.353 - - - - - - 26.25 - 23.55
11011 end apogee: CONTROL_FINISHED_OK
11011 begin climb
11012 997.6 - 479 11242 roll 0.62 0.70 0.058 3010 367.1 2.28 0.041 547 -608.3 243.3 217.82 1.395 2127 -4.6 0.346 - - - - - - 24.75 24.74 23.11
11264 977.1 12.9 487 11271 done 0.48 0.20 0.139 2956 -270.0 2.30 0.041 1936 603.9 243.3 - - 2123 - - - - - - - - 24.43 24.52 -
11585 938.4 11.0 498 11590 roll 0.44 - - 2956 - 2.22 0.045 548 -625.2 243.3 - - 2116 - - - - - - - - - 25.67 -
11727 925.8 10.1 502 11733 done 0.44 - - 2956 - 2.20 0.041 1957 640.5 243.3 - - 2114 - - - - - - - - - 25.86 -
12042 892.5 9.6 513 12047 roll 0.40 - - 2956 - 2.22 0.054 3347 626.1 243.3 - - 2113 - - - - - - - - - 26.03 -
12083 889.0 9.7 514 12089 done 0.35 0.15 0.153 2914 -280.0 2.12 0.035 1960 -654.2 243.3 - - 2113 - - - - - - - - 25.94 26.13 -
12408 864.8 7.4 525 12478 roll 0.46 0.12 0.093 2985 591.7 2.35 0.053 3345 589.4 314.1 61.95 1.338 1838 -4.4 0.305 - - - - - - 26.30 24.87 23.94
12495 858.1 9.2 527 12503 done 0.44 0.15 0.154 2947 -253.3 2.20 0.034 1966 -626.8 314.1 - - 1835 - - - - - - - - 25.06 25.18 -
12801 819.1 11.1 538 12806 roll 0.44 - - 2955 - 2.25 0.044 531 -637.8 314.1 - - 1829 - - - - - - - - - 25.88 -
12833 815.6 11.0 539 12838 done 0.44 - - 2955 - 2.28 0.040 1969 630.7 314.1 - - 1828 - - - - - - - - - 25.91 -
13167 778.3 11.3 550 13172 roll 0.44 - - 2955 - 2.17 0.054 3350 636.4 314.1 - - 1828 - - - - - - - - - 26.09 -
13202 774.2 11.4 551 13209 done 0.44 - - 2955 - 2.12 0.034 1958 -656.6 314.1 - - 1828 - - - - - - - - - 26.17 -
13531 737.4 11.1 562 13536 roll 0.44 - - 2956 - 2.17 0.045 538 -654.4 314.1 - - 1827 - - - - - - - - - 26.23 -
13553 737.4 11.1 562 13558 done 0.44 - - 2955 - 2.20 0.041 1969 650.5 314.1 - - 1826 - - - - - - - - - 26.25 -
13866 706.9 8.3 573 13901 roll 0.49 - - 2955 - 2.22 0.051 3353 623.4 348.6 29.70 1.228 1698 -4.3 0.263 - - - - - - - 25.57 24.66
13953 701.1 8.8 575 13972 done 0.50 - - 2956 - 2.12 0.034 1983 -646.2 363.5 13.77 1.148 1639 -4.3 0.278 - - - - - - - 25.75 24.49
14290 667.3 10.0 587 14296 roll 0.53 - - 2956 - 2.25 0.044 538 -642.2 363.5 - - 1633 - - - - - - - - - 25.94 -
14337 664.0 10.1 588 14342 done 0.56 - - 2955 - 2.25 0.040 1973 637.8 363.5 - - 1633 - - - - - - - - - 25.98 -
14655 628.5 10.9 599 14661 roll 0.59 0.10 0.110 3010 550.0 2.17 0.051 3354 636.4 363.5 - - 1632 - - - - - - - - 26.22 26.11 -
14688 623.9 11.5 600 14694 done 0.59 - - 3010 - 2.12 0.034 1967 -654.2 363.5 - - 1632 - - - - - - - - - 26.19 -
15001 574.2 16.1 613 15007 roll 0.51 0.15 0.161 2970 -266.7 2.20 0.043 537 -650.0 363.5 - - 1631 - - - - - - - - 26.11 26.24 -
15085 564.6 11.5 617 15090 done 0.53 - - 2970 - 2.22 0.040 1971 645.9 363.5 - - 1631 - - - - - - - - - 26.27 -
15407 530.6 9.9 633 15412 roll 0.53 - - 2971 - 2.15 0.052 3350 641.4 363.5 - - 1631 - - - - - - - - - 26.29 -
15444 528.1 10.2 634 15450 done 0.53 - - 2971 - 2.10 0.034 1958 -662.9 363.5 - - 1631 - - - - - - - - - 26.37 -
15750 497.2 9.2 650 15751 done 0.53 - - 2970 - - - 1958 - 363.5 - - 1632 - - - - - - - - - - -
16050 464.3 11.4 665 16056 roll 0.53 - - 2970 - 2.22 0.055 3349 626.6 363.5 - - 1631 - - - - - - - - - 26.35 -
16073 461.3 11.6 666 16079 done 0.53 - - 2970 - 2.10 0.034 1971 -656.2 363.5 - - 1631 - - - - - - - - - 26.45 -
16396 429.8 8.3 682 16430 roll 0.57 - - 2970 - 2.22 0.042 533 -647.7 396.9 28.55 1.043 1501 -4.6 0.199 - - - - - - - 25.84 25.01
16458 424.8 8.2 685 16499 done 0.65 0.12 0.092 3035 541.7 2.28 0.037 1980 634.6 436.2 34.67 1.028 1341 -4.6 0.203 - - - - - - 25.89 25.90 24.44
16798 364.6 20.0 702 16804 roll 0.56 0.17 0.148 2983 -305.9 2.25 0.041 540 -640.0 436.2 - - 1336 - - - - - - - - 25.75 25.87 -
16830 360.7 19.1 703 16836 done 0.48 - - 2983 - 2.20 0.037 1963 646.8 436.2 - - 1336 - - - - - - - - - 25.91 -
17144 328.4 9.1 719 17149 roll 0.52 - - 2983 - 2.17 0.053 3347 637.8 437.0 - - 1334 - - - - - - - - - 26.06 -
17221 322.3 9.5 722 17228 done 0.56 - - 2983 - 2.10 0.034 1976 -652.9 437.0 - - 1334 - - - - - - - - - 26.17 -
17527 297.6 7.3 738 17597 roll 0.71 0.12 0.093 3063 666.7 2.35 0.045 542 -610.2 511.2 61.78 0.945 1036 -4.8 0.161 - - - - - - 26.31 25.18 24.41
17634 280.0 18.9 743 17640 done 0.63 0.20 0.132 3003 -300.0 2.28 0.039 1974 628.1 511.2 - - 1034 - - - - - - - - 25.31 25.41 -
17953 241.4 9.8 759 17954 done 0.70 - - 3003 - - - 1975 - 511.2 - - 1030 - - - - - - - - - - -
18253 214.8 8.6 774 18275 done 0.81 0.15 0.086 3083 533.3 - - 1976 - 533.0 18.50 0.845 948 -4.4 0.120 - - - - - - 26.17 - 24.98
18573 151.7 19.5 790 18579 roll 0.73 0.15 0.148 3037 -306.7 2.22 0.041 537 -648.2 533.0 - - 944 - - - - - - - - 25.94 26.04 -
18645 144.3 13.1 793 18651 done 0.75 - - 3036 - 2.22 0.036 1977 648.6 533.0 - - 943 - - - - - - - - - 26.10 -
18958 117.3 9.1 809 18965 roll 0.87 0.12 0.093 3108 600.0 2.15 0.050 3357 641.9 534.6 - - 943 - - - - - - - - 26.27 26.18 -
18982 114.7 9.2 810 18989 done 0.96 - - 3108 - 2.10 0.034 1964 -663.3 534.6 - - 943 - - - - - - - - - 26.25 -
19306 65.7 14.3 826 19311 roll 0.93 - - 3108 - 2.17 0.042 532 -659.9 534.6 - - 943 - - - - - - - - - 26.29 -
19378 58.2 12.6 829 19384 done 0.93 - - 3108 - 2.17 0.036 1962 659.0 534.6 - - 943 - - - - - - - - - 26.32 -
19691 22.4 9.8 857 19692 done 0.97 - - 3108 - - - 1962 - 534.6 - - 944 - - - - - - - - - - -
19929 end climb: SURFACE_DEPTH_REACHED
19929 begin surface coast
19970 end surface coast: CONTROL_FINISHED_OK
19971 begin surface
SM 1.82 - - - - -8.28 7.62 0.044 136 -390.0 1.15 0.053 2697 639.1 534.02 - - 944 - - - - - - - -