OKMC Apr12 * SG170 * Dive index * Mission links * Dive 51 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 10.25 of 146.00 AH used of 24V (92.98% remains)
• Previous NAKs 0, Timeouts 0 • 3.66 of 97.50 AH used of 10V (96.25% remains)
• Surface angle -65.5 deg, depth 1.75 m • Intended pitch -13.0 deg, speed -9.167 cm/s
• No surface pump (final VBD was 652.74, SM_CC=652.74329)
• GPS1 time: 40 s
• GPS2 time: 19 s • Transponder ping count: 22
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
19 - - - 104 VBD -0.47 - - 136 - - - 2698 - -243.3 -83.00 - 2766 - - - - - - - - - - -
107 3.9 -4.5 8 150 roll -0.47 10.27 0.246 2636 243.4 2.22 0.045 1257 -649.1 -243.3 -21.08 - 3966 -56.9 - - - - - - - 25.58 26.01 26.29
187 27.4 -28.5 15 195 done -0.31 0.20 0.158 2693 285.0 2.28 0.050 2687 627.2 -243.3 - - 3967 - - - - - - - - 25.81 25.98 -
493 82.3 -16.9 37 498 roll -0.26 - - 2693 - 1.60 0.060 3696 630.6 -243.3 - - 3968 - - - - - - - - - 26.17 -
590 90.4 -9.8 41 596 done -0.26 - - 2693 - 1.50 0.032 2691 -670.0 -243.3 - - 3969 - - - - - - - - - 26.34 -
897 110.2 -5.5 57 902 roll -0.30 - - 2694 - 2.05 0.031 1284 -686.3 -243.3 - - 3968 - - - - - - - - - 26.39 -
994 115.3 -6.0 61 1002 done -0.36 - - 2693 - 2.20 0.047 2697 642.3 -243.3 - - 3968 - - - - - - - - - 26.35 -
1300 132.5 -3.7 77 1307 roll -0.44 0.10 0.106 2629 -640.0 2.10 0.030 1284 -672.9 -243.3 - - 3968 - - - - - - - - 26.53 26.47 -
1349 135.3 -5.0 79 1355 done -0.48 - - 2629 - 2.15 0.047 2672 645.6 -243.3 - - 3968 - - - - - - - - - 26.43 -
1666 170.6 -9.5 95 1668 done -0.48 - - 2629 - - - 2672 - -243.3 - - 3968 - - - - - - - - - - -
1967 200.9 -10.2 110 1972 roll -0.48 - - 2629 - 2.05 0.031 1288 -675.1 -243.3 - - 3968 - - - - - - - - - 26.56 -
2085 210.0 -8.5 115 2092 done -0.51 - - 2630 - 2.10 0.047 2663 654.8 -243.3 - - 3968 - - - - - - - - - 26.51 -
2391 235.8 -8.5 131 2396 roll -0.54 - - 2629 - 1.62 0.057 3692 635.2 -243.3 - - 3966 - - - - - - - - - 26.52 -
2443 239.4 -8.4 133 2448 done -0.57 - - 2632 - 1.52 0.034 2653 -683.6 -243.3 - - 3966 - - - - - - - - - 26.65 -
2755 263.8 -7.1 149 2761 roll -0.61 - - 2629 - 2.00 0.033 1288 -682.5 -243.3 - - 3964 - - - - - - - - - 26.60 -
2813 266.9 -7.1 151 2820 done -0.65 0.12 0.088 2556 -608.3 2.12 0.049 2672 652.8 -243.3 - - 3963 - - - - - - - - 26.57 26.54 -
3118 308.4 -12.9 167 3124 roll -0.59 0.15 0.150 2605 326.7 1.58 0.056 3694 646.8 -243.3 - - 3960 - - - - - - - - 26.46 26.54 -
3195 314.6 -10.3 170 3202 done -0.59 - - 2605 - 1.52 0.034 2648 -688.2 -243.3 - - 3960 - - - - - - - - - 26.69 -
3502 342.3 -6.9 186 3507 roll -0.61 - - 2606 - 1.98 0.033 1286 -687.9 -243.3 - - 3957 - - - - - - - - - 26.63 -
3600 347.7 -6.6 190 3607 done -0.63 - - 2605 - 2.10 0.047 2660 654.3 -243.3 - - 3956 - - - - - - - - - 26.58 -
3905 369.5 -7.6 206 3910 roll -0.65 - - 2606 - 1.62 0.058 3700 642.0 -243.3 - - 3953 - - - - - - - - - 26.55 -
3949 372.8 -7.7 208 3954 done -0.67 - - 2605 - 1.55 0.034 2664 -668.4 -243.3 - - 3953 - - - - - - - - - 26.69 -
4272 396.6 -6.9 224 4278 roll -0.70 - - 2606 - 2.03 0.032 1281 -681.3 -243.3 - - 3950 - - - - - - - - - 26.65 -
4365 402.2 -6.8 228 4371 done -0.72 0.12 0.099 2540 -550.0 2.12 0.047 2656 648.6 -243.3 - - 3949 - - - - - - - - 26.58 26.58 -
4678 437.2 -11.6 244 4684 roll -0.67 0.12 0.153 2582 350.0 2.05 0.031 1272 -675.1 -243.3 - - 3947 - - - - - - - - 26.51 26.65 -
4712 439.8 -11.5 245 4717 done -0.62 - - 2581 - 2.10 0.048 2644 653.3 -243.3 - - 3947 - - - - - - - - - 26.58 -
5024 466.9 -7.8 261 5029 roll -0.62 - - 2581 - 1.62 0.059 3695 648.8 -243.3 - - 3944 - - - - - - - - - 26.55 -
5061 468.5 -7.7 262 5067 done -0.62 - - 2581 - 1.58 0.036 2634 -671.5 -243.3 - - 3944 - - - - - - - - - 26.70 -
5367 495.3 -8.9 278 5372 roll -0.62 - - 2581 - 2.00 0.033 1273 -680.5 -243.3 - - 3941 - - - - - - - - - 26.65 -
5423 499.1 -8.9 280 5431 done -0.62 - - 2581 - 2.12 0.049 2642 645.8 -243.3 - - 3941 - - - - - - - - - 26.58 -
5729 529.9 -9.9 296 5734 roll -0.62 - - 2581 - 1.65 0.059 3696 638.8 -243.3 - - 3938 - - - - - - - - - 26.55 -
5791 536.0 -9.6 299 5797 done -0.62 - - 2581 - 1.58 0.035 2642 -667.1 -243.3 - - 3939 - - - - - - - - - 26.71 -
6114 563.0 -7.6 315 6116 done -0.62 - - 2581 - - - 2642 - -243.3 - - 3936 - - - - - - - - - - -
6416 587.1 -8.6 330 6421 roll -0.62 - - 2581 - 2.00 0.033 1278 -682.0 -243.3 - - 3935 - - - - - - - - - 26.65 -
6458 591.0 -9.0 332 6463 done -0.62 - - 2581 - 2.12 0.049 2651 647.6 -243.3 - - 3934 - - - - - - - - - 26.56 -
6791 618.7 -7.7 345 6797 roll -0.62 - - 2581 - 1.62 0.059 3700 647.5 -243.3 - - 3931 - - - - - - - - - 26.53 -
6818 618.7 -7.7 345 6824 done -0.62 - - 2581 - 1.60 0.035 2624 -672.5 -243.3 - - 3931 - - - - - - - - - 26.70 -
7124 639.2 -5.8 356 7126 done -0.62 - - 2581 - - - 2624 - -243.3 - - 3929 - - - - - - - - - - -
7424 658.9 -7.0 366 7430 roll -0.62 - - 2581 - 1.98 0.034 1283 -677.3 -243.3 - - 3928 - - - - - - - - - 26.65 -
7457 661.4 -7.3 367 7462 done -0.62 - - 2581 - 2.10 0.050 2637 644.8 -243.3 - - 3928 - - - - - - - - - 26.55 -
7791 688.5 -8.6 378 7796 roll -0.64 - - 2581 - 2.00 0.034 1280 -678.5 -243.3 - - 3926 - - - - - - - - - 26.63 -
7863 694.2 -8.7 380 7869 done -0.65 - - 2581 - 2.08 0.047 2627 647.6 -243.3 - - 3926 - - - - - - - - - 26.55 -
8186 725.4 -9.4 391 8187 done -0.65 - - 2583 - - - 2627 - -243.3 - - 3925 - - - - - - - - - - -
8486 752.2 -8.6 401 8491 roll -0.65 - - 2581 - 2.00 0.032 1284 -671.5 -243.3 - - 3923 - - - - - - - - - 26.64 -
8519 754.8 -8.4 402 8524 done -0.65 - - 2581 - 2.08 0.047 2625 644.7 -243.3 - - 3923 - - - - - - - - - 26.54 -
8853 780.0 -7.2 413 8858 roll -0.66 - - 2581 - 1.98 0.033 1285 -676.8 -243.3 - - 3921 - - - - - - - - - 26.63 -
8894 782.4 -7.1 414 8900 done -0.68 - - 2581 - 2.08 0.047 2616 639.9 -243.3 - - 3920 - - - - - - - - - 26.53 -
9218 805.0 -6.7 425 9224 roll -0.70 - - 2581 - 2.00 0.034 1281 -667.5 -243.3 - - 3919 - - - - - - - - - 26.61 -
9246 805.0 -6.7 425 9252 done -0.71 - - 2581 - 2.05 0.049 2608 647.3 -243.3 - - 3919 - - - - - - - - - 26.51 -
9552 825.9 -6.3 436 9553 done -0.73 - - 2581 - - - 2608 - -243.3 - - 3918 - - - - - - - - - - -
9851 845.8 -6.4 446 9852 done -0.75 - - 2581 - - - 2608 - -243.3 - - 3917 - - - - - - - - - - -
10152 867.7 -7.7 456 10158 roll -0.76 - - 2581 - 2.00 0.035 1277 -665.5 -243.3 - - 3917 - - - - - - - - - 26.59 -
10180 867.7 -7.7 456 10187 done -0.78 - - 2581 - 2.08 0.050 2604 638.0 -243.3 - - 3915 - - - - - - - - - 26.49 -
10487 893.2 -7.2 467 10489 done -0.80 0.12 0.103 2523 -483.3 - - 2604 - -243.3 - - 3915 - - - - - - - - 26.70 - -
10785 921.9 -9.2 477 10791 roll -0.76 0.12 0.151 2564 341.7 1.98 0.031 1270 -673.7 -243.3 - - 3914 - - - - - - - - 26.47 26.60 -
10828 924.3 -8.8 478 10833 done -0.72 - - 2564 - 2.05 0.050 2594 645.9 -243.3 - - 3914 - - - - - - - - - 26.48 -
11151 944.4 -6.3 489 11157 roll -0.72 - - 2564 - 1.73 0.061 3696 637.0 -243.3 - - 3913 - - - - - - - - - 26.42 -
11188 946.5 -6.2 490 11193 done -0.72 - - 2564 - 1.67 0.037 2582 -667.1 -243.3 - - 3913 - - - - - - - - - 26.65 -
11516 967.1 -6.6 501 11517 done -0.72 - - 2564 - - - 2581 - -243.3 - - 3912 - - - - - - - - - - -
11816 988.0 -7.2 511 11821 roll -0.72 - - 2564 - 1.90 0.035 1287 -681.1 -243.3 - - 3912 - - - - - - - - - 26.57 -
11847 end dive: TARGET_DEPTH_EXCEEDED
11847 begin apogee
11852 990.6 -7.4 512 12022 roll -0.12 0.55 0.116 2753 343.6 - - 1949 - - 161.88 1.437 3121 -4.9 0.358 - - - - - - 26.19 - 23.46
12024 end apogee: CONTROL_FINISHED_OK
12024 begin climb
12025 996.0 - 517 12253 roll 0.47 0.57 0.060 2967 375.4 2.33 0.040 545 -602.6 243.3 218.10 1.401 2129 -4.5 0.343 - - - - - - 24.75 24.74 23.08
12425 962.7 11.4 531 12430 done 0.45 - - 2967 - 2.25 0.041 1943 621.3 243.3 - - 2123 - - - - - - - - - 25.34 -
12754 923.3 11.7 542 12760 roll 0.41 0.12 0.158 2929 -316.7 2.17 0.041 550 -641.9 243.3 - - 2120 - - - - - - - - 25.79 25.89 -
12886 912.1 8.9 546 12902 done 0.42 - - 2929 - 2.20 0.041 1956 639.1 252.8 8.35 1.157 2090 -3.6 0.301 - - - - - - - 26.00 24.72
13210 884.3 8.3 557 13249 roll 0.44 - - 2929 - 2.28 0.052 3343 608.3 287.4 32.10 1.329 1948 -4.4 0.313 - - - - - - - 25.26 24.30
13312 876.2 8.6 560 13338 done 0.45 - - 2929 - 2.15 0.033 1962 -642.3 309.4 20.85 1.284 1859 -4.3 0.309 - - - - - - - 25.60 24.17
13666 845.4 8.7 572 13686 done 0.48 - - 2929 - - - 1962 - 329.0 18.35 1.268 1779 -4.4 0.309 - - - - - - - - 24.45
13966 820.0 8.5 582 13997 roll 0.52 0.12 0.093 2999 583.3 2.30 0.052 3354 605.2 353.8 22.98 1.274 1677 -4.4 0.303 - - - - - - 26.01 25.35 24.38
14019 816.5 9.2 583 14025 done 0.54 - - 3002 - 2.22 0.034 1950 -632.4 353.8 - - 1676 - - - - - - - - - 25.53 -
14333 765.2 14.7 594 14339 roll 0.48 0.15 0.163 2956 -306.7 2.20 0.044 540 -640.9 353.8 - - 1674 - - - - - - - - 25.86 25.97 -
14400 758.2 12.9 596 14405 done 0.46 - - 2956 - 2.20 0.040 1947 639.5 353.8 - - 1674 - - - - - - - - - 26.03 -
14728 725.9 9.8 607 14733 roll 0.46 - - 2956 - 2.22 0.052 3349 631.5 353.8 - - 1673 - - - - - - - - - 26.15 -
14764 722.3 10.0 608 14770 done 0.46 - - 2956 - 2.12 0.034 1948 -660.8 353.8 - - 1672 - - - - - - - - - 26.23 -
15093 691.0 9.3 619 15098 roll 0.46 - - 2956 - 2.15 0.044 533 -658.1 353.8 - - 1672 - - - - - - - - - 26.27 -
15126 688.2 9.1 620 15136 done 0.48 - - 2956 - 2.20 0.040 1951 644.5 358.0 4.15 0.827 1661 -2.7 0.234 - - - - - - - 26.29 25.03
15459 657.7 9.6 631 15464 roll 0.50 - - 2957 - 2.22 0.053 3357 633.3 358.0 - - 1662 - - - - - - - - - 26.27 -
15521 651.0 10.2 633 15527 done 0.50 - - 2956 - 2.12 0.034 1957 -660.4 358.0 - - 1662 - - - - - - - - - 26.35 -
15855 618.3 9.5 644 15860 roll 0.51 - - 2957 - 2.15 0.044 538 -660.0 358.0 - - 1661 - - - - - - - - - 26.36 -
15901 615.4 9.5 645 15907 done 0.53 - - 2956 - 2.20 0.040 1967 649.5 358.0 - - 1661 - - - - - - - - - 26.36 -
16211 589.6 7.1 658 16292 roll 0.60 0.12 0.096 3027 591.7 2.35 0.051 3342 585.1 441.2 72.45 1.177 1322 -4.7 0.249 - - - - - - 26.48 24.95 24.09
16334 573.8 13.9 664 16341 done 0.55 0.20 0.142 2978 -245.0 2.20 0.033 1968 -624.5 441.2 - - 1321 - - - - - - - - 25.24 25.37 -
16658 543.6 10.3 680 16664 roll 0.56 - - 2981 - 2.25 0.044 526 -640.9 441.2 - - 1317 - - - - - - - - - 25.90 -
16706 539.0 10.8 682 16712 done 0.58 - - 2981 - 2.25 0.039 1963 638.7 441.2 - - 1317 - - - - - - - - - 25.95 -
17023 497.2 13.2 698 17029 roll 0.58 - - 2981 - 2.17 0.052 3344 636.4 441.2 - - 1317 - - - - - - - - - 26.09 -
17069 491.6 13.2 700 17076 done 0.58 - - 2981 - 2.12 0.033 1961 -652.4 441.2 - - 1317 - - - - - - - - - 26.18 -
17388 461.8 7.6 716 17448 roll 0.63 - - 2982 - 2.33 0.044 542 -609.0 501.5 50.70 1.086 1075 -4.8 0.216 - - - - - - - 25.22 24.37
17472 455.4 7.9 720 17526 done 0.69 0.12 0.093 3038 466.7 2.30 0.037 1972 621.7 553.3 45.65 1.056 865 -4.6 0.211 - - - - - - 25.39 25.39 24.02
17835 383.7 22.1 738 17840 roll 0.63 0.12 0.151 2998 -333.3 2.28 0.042 538 -628.9 553.3 - - 861 - - - - - - - - 25.73 25.81 -
17892 376.1 19.7 740 17900 done 0.60 - - 2998 - 2.22 0.038 1957 639.2 553.3 - - 860 - - - - - - - - - 25.88 -
18198 345.2 8.3 756 18228 done 0.67 - - 2998 - - - 1958 - 585.7 28.05 0.979 734 -4.5 0.168 - - - - - - - - 24.67
18518 321.8 7.6 772 18591 done 0.78 0.12 0.097 3069 591.7 - - 1958 - 649.5 64.60 0.945 472 -4.1 0.147 - - - - 1 - 26.00 - 24.25
18878 241.9 24.0 790 18884 roll 0.72 0.12 0.160 3028 -341.7 2.25 0.044 541 -629.8 649.5 - - 473 - - - - - - - - 25.72 25.82 -
18945 231.6 18.2 793 18951 done 0.72 - - 3028 - 2.20 0.037 1951 640.9 649.5 - - 473 - - - - - - - - - 25.90 -
19264 204.5 8.5 809 19270 done 0.81 0.10 0.109 3081 530.0 - - 1951 - 674.1 3.28 0.457 460 -4.0 0.188 - - - - - - 26.17 - 25.04
19564 145.4 19.5 824 19570 roll 0.78 - - 3082 - 2.17 0.041 538 -651.2 674.1 0.88 0.054 460 - - - - - - - - - 26.18 26.19
19642 135.8 16.4 827 19649 done 0.78 - - 3082 - 2.15 0.037 1941 652.6 674.1 - - 460 - - - - - - - - - 26.22 -
19947 89.8 14.1 843 19954 roll 0.78 - - 3082 - 2.15 0.044 535 -654.0 674.1 - - 460 - - - - - - - - - 26.27 -
19995 84.8 12.7 845 20000 done 0.80 - - 3082 - 2.08 0.036 1899 655.8 674.1 - - 460 - - - - - - - - - 26.31 -
20313 53.4 8.7 861 20318 roll 0.96 - - 3082 - 2.25 0.050 3339 640.0 690.9 - - 460 - - - - - - - - - 26.32 -
20350 50.5 10.3 862 20358 done 1.13 0.22 0.097 3162 363.6 2.22 0.031 1862 -665.3 690.9 - - 460 - - - - - - - - 26.29 26.41 -
20656 10.4 11.8 893 20659 done 1.33 0.20 0.094 3237 375.0 - - 1859 - 690.9 0.03 0.340 460 - - - - - - - - 26.38 - 26.29
20735 end climb: SURFACE_DEPTH_REACHED
20735 begin surface coast
20766 end surface coast: CONTROL_FINISHED_OK
20766 begin surface
SM 1.85 - - - - -8.28 8.05 0.050 136 -385.2 1.30 0.041 2694 642.3 652.74 - - 460 - - - - - - - -