OKMC Apr12 * SG170 * Dive index * Mission links * Dive 71 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 14.80 of 146.00 AH used of 24V (89.87% remains)
• Previous NAKs 0, Timeouts 0 • 5.96 of 97.50 AH used of 10V (93.88% remains)
• Surface angle -73.9 deg, depth 1.90 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 27 s
• GPS2 time: 18 s • Transponder ping count: 1
• 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
16 begin dive
17 - - - 111 VBD -0.46 - - 137 - - - 2683 - -194.6 -91.25 - 3002 - - - - - - - - - - -
114 4.4 -4.9 9 147 roll -0.46 10.50 0.250 2641 238.5 1.62 0.073 3702 629.0 -194.6 -15.25 - 3919 -60.1 - - - - - - - 25.53 25.90 26.29
230 42.8 -26.7 20 236 done -0.36 0.15 0.145 2685 293.3 1.52 0.028 2661 -684.9 -194.6 - - 3923 - - - - - - - - 25.86 26.13 -
553 76.4 -9.3 38 558 roll -0.41 - - 2686 - 2.00 0.030 1301 -680.0 -194.6 - - 3925 - - - - - - - - - 26.26 -
611 80.1 -8.8 40 618 done -0.48 0.12 0.090 2614 -600.0 2.15 0.043 2684 643.3 -194.6 - - 3925 - - - - - - - - 26.22 26.20 -
916 120.9 -11.6 56 922 roll -0.45 0.12 0.151 2655 341.7 1.62 0.056 3696 624.7 -194.6 - - 3926 - - - - - - - - 26.25 26.27 -
973 124.8 -10.3 58 981 done -0.45 - - 2656 - 1.50 0.031 2695 -667.3 -194.6 - - 3926 - - - - - - - - - 26.44 -
1280 151.0 -7.5 74 1286 roll -0.51 - - 2656 - 2.08 0.031 1279 -680.8 -194.6 - - 3926 - - - - - - - - - 26.45 -
1373 157.8 -8.2 78 1379 done -0.57 0.12 0.087 2586 -583.3 2.12 0.044 2669 655.7 -194.6 - - 3925 - - - - - - - - 26.41 26.39 -
1687 199.8 -12.3 94 1689 done -0.52 0.15 0.148 2629 286.7 - - 2671 - -194.6 - - 3924 - - - - - - - - 26.34 - -
1988 223.9 -7.7 109 1993 roll -0.57 - - 2630 - 2.03 0.031 1287 -681.8 -194.6 - - 3924 - - - - - - - - - 26.53 -
2031 227.4 -8.0 111 2036 done -0.61 - - 2630 - 2.12 0.044 2655 645.3 -194.6 - - 3923 - - - - - - - - - 26.46 -
2354 255.0 -9.2 127 2359 roll -0.66 0.12 0.088 2549 -675.0 2.03 0.030 1274 -680.3 -194.6 - - 3922 - - - - - - - - 26.63 26.55 -
2420 263.0 -11.8 130 2426 done -0.66 0.12 0.156 2585 300.0 2.10 0.047 2638 649.5 -194.6 - - 3922 - - - - - - - - 26.32 26.47 -
2738 294.0 -8.0 146 2744 roll -0.66 - - 2586 - 2.03 0.032 1277 -670.4 -194.6 - - 3920 - - - - - - - - - 26.57 -
2781 297.4 -7.9 148 2787 done -0.66 - - 2585 - 2.08 0.047 2621 646.2 -194.6 - - 3919 - - - - - - - - - 26.49 -
3104 326.1 -9.6 164 3109 roll -0.66 - - 2585 - 1.67 0.057 3692 641.3 -194.6 - - 3917 - - - - - - - - - 26.48 -
3166 332.0 -9.8 167 3171 done -0.66 - - 2586 - 1.60 0.034 2598 -683.8 -194.6 - - 3916 - - - - - - - - - 26.65 -
3488 364.7 -10.5 183 3493 roll -0.66 - - 2586 - 1.90 0.030 1275 -696.3 -194.6 - - 3916 - - - - - - - - - 26.61 -
3545 368.9 -10.1 185 3552 done -0.66 - - 2586 - 2.08 0.046 2617 645.2 -194.6 - - 3915 - - - - - - - - - 26.51 -
3850 399.3 -9.5 201 3852 done -0.66 - - 2585 - - - 2617 - -194.6 - - 3912 - - - - - - - - - - -
4151 424.1 -8.1 216 4152 done -0.66 - - 2585 - - - 2617 - -194.6 - - 3910 - - - - - - - - - - -
4452 445.7 -6.9 231 4457 roll -0.68 - - 2586 - 1.98 0.032 1272 -679.3 -194.6 - - 3907 - - - - - - - - - 26.62 -
4489 447.6 -7.3 232 4496 done -0.69 - - 2586 - 2.08 0.046 2611 643.8 -194.6 - - 3907 - - - - - - - - - 26.52 -
4795 472.7 -8.3 248 4796 done -0.70 - - 2586 - - - 2611 - -194.6 - - 3905 - - - - - - - - - - -
5095 498.2 -9.0 263 5096 done -0.72 - - 2586 - - - 2611 - -194.6 - - 3903 - - - - - - - - - - -
5395 526.4 -9.4 278 5401 roll -0.74 - - 2586 - 1.98 0.032 1283 -670.7 -194.6 - - 3901 - - - - - - - - - 26.62 -
5443 530.4 -9.3 280 5448 done -0.76 - - 2586 - 2.05 0.047 2617 650.7 -194.6 - - 3901 - - - - - - - - - 26.52 -
5761 556.2 -7.6 296 5763 done -0.78 0.12 0.094 2523 -525.0 - - 2620 - -194.6 - - 3898 - - - - - - - - 26.70 - -
6061 589.5 -11.2 311 6067 roll -0.72 0.12 0.151 2564 341.7 1.98 0.031 1278 -677.8 -194.6 - - 3897 - - - - - - - - 26.47 26.61 -
6095 591.9 -11.0 312 6101 done -0.68 - - 2564 - 2.08 0.048 2605 638.0 -194.6 - - 3897 - - - - - - - - - 26.51 -
6419 616.5 -7.4 325 6424 roll -0.68 - - 2564 - 1.73 0.059 3697 631.2 -194.6 - - 3895 - - - - - - - - - 26.47 -
6456 619.1 -7.5 326 6461 done -0.68 - - 2564 - 1.62 0.036 2600 -677.2 -194.6 - - 3894 - - - - - - - - - 26.65 -
6784 647.0 -8.8 337 6785 done -0.68 - - 2564 - - - 2600 - -194.6 - - 3893 - - - - - - - - - - -
7082 673.4 -8.7 347 7088 roll -0.68 - - 2564 - 1.92 0.032 1284 -685.4 -194.6 - - 3892 - - - - - - - - - 26.61 -
7125 676.4 -8.8 348 7130 done -0.68 - - 2564 - 2.05 0.047 2611 647.3 -194.6 - - 3892 - - - - - - - - - 26.49 -
7447 706.4 -9.4 359 7453 roll -0.68 - - 2564 - 1.70 0.060 3690 634.7 -194.6 - - 3890 - - - - - - - - - 26.44 -
7484 709.6 -9.5 360 7489 done -0.68 - - 2564 - 1.65 0.036 2617 -650.3 -194.6 - - 3889 - - - - - - - - - 26.65 -
7813 739.8 -9.2 371 7818 roll -0.68 - - 2564 - 1.95 0.033 1281 -685.1 -194.6 - - 3888 - - - - - - - - - 26.59 -
7854 743.0 -9.1 372 7859 done -0.68 - - 2564 - 2.08 0.048 2608 638.0 -194.6 - - 3888 - - - - - - - - - 26.48 -
8177 772.2 -8.8 383 8178 done -0.68 - - 2564 - - - 2608 - -194.6 - - 3886 - - - - - - - - - - -
8476 796.7 -7.8 393 8477 done -0.68 - - 2564 - - - 2608 - -194.6 - - 3885 - - - - - - - - - - -
8776 819.5 -7.6 403 8778 done -0.68 - - 2565 - - - 2608 - -194.6 - - 3884 - - - - - - - - - - -
9076 844.0 -8.5 413 9078 done -0.68 - - 2564 - - - 2608 - -194.6 - - 3884 - - - - - - - - - - -
9376 870.4 -9.0 423 9377 done -0.68 - - 2564 - - - 2608 - -194.6 - - 3882 - - - - - - - - - - -
9676 897.6 -9.1 433 9677 done -0.68 - - 2563 - - - 2608 - -194.6 - - 3882 - - - - - - - - - - -
9976 926.3 -9.8 443 9982 roll -0.69 - - 2564 - 1.98 0.034 1280 -670.7 -194.6 - - 3882 - - - - - - - - - 26.56 -
10004 926.3 -9.8 443 10011 done -0.70 - - 2564 - 2.08 0.048 2600 634.6 -194.6 - - 3881 - - - - - - - - - 26.44 -
10310 956.3 -8.5 454 10312 done -0.72 - - 2564 - - - 2600 - -194.6 - - 3879 - - - - - - - - - - -
10611 979.7 -7.4 464 10612 done -0.73 - - 2564 - - - 2600 - -194.6 - - 3878 - - - - - - - - - - -
10758 end dive: TARGET_DEPTH_EXCEEDED
10758 begin apogee
10763 990.4 -7.1 469 10923 roll -0.12 0.55 0.110 2754 345.5 - - 1928 - - 154.25 1.437 3121 -4.9 0.359 - - - - - - 26.15 - 23.60
10925 end apogee: CONTROL_FINISHED_OK
10925 begin climb
10927 995.4 - 474 11109 done 0.46 0.52 0.053 2968 411.5 - - 1928 - 194.6 175.30 1.396 2326 -4.5 0.343 - - - - - - 24.71 - 23.08
11422 944.9 12.5 491 11428 roll 0.41 0.12 0.161 2929 -325.0 2.33 0.050 3356 612.9 194.6 - - 2317 - - - - - - - - 25.56 25.63 -
11535 934.4 11.3 494 11541 done 0.37 - - 2930 - 2.20 0.033 1944 -641.8 194.6 - - 2316 - - - - - - - - - 25.87 -
11849 904.1 8.6 505 11854 roll 0.38 - - 2929 - 2.20 0.043 534 -640.9 195.9 - - 2314 - - - - - - - - - 26.06 -
11885 901.3 8.6 506 11890 done 0.38 - - 2930 - 2.17 0.040 1941 648.4 199.5 - - 2314 - - - - - - - - - 26.08 -
12214 873.9 7.9 517 12247 roll 0.39 - - 2930 - 2.33 0.054 3356 607.3 225.1 26.48 1.320 2202 -4.2 0.297 - - - - - - - 25.54 24.58
12309 865.6 8.7 520 12315 done 0.38 - - 2930 - 2.17 0.033 1951 -647.5 226.1 - - 2200 - - - - - - - - - 25.77 -
12638 837.3 8.6 531 12639 done 0.38 - - 2930 - - - 1951 - 227.5 - - 2198 - - - - - - - - - - -
12938 810.9 9.1 541 12939 done 0.38 - - 2930 - - - 1952 - 227.5 - - 2196 - - - - - - - - - - -
13237 783.6 8.9 551 13238 done 0.38 - - 2930 - - - 1951 - 227.5 - - 2195 - - - - - - - - - - -
13538 757.7 8.5 561 13546 done 0.38 - - 2930 - - - 1951 - 232.2 6.43 1.051 2174 -3.3 0.250 - - - - - - - - 25.11
13838 733.7 7.8 571 13873 roll 0.40 - - 2930 - 2.28 0.044 542 -618.0 262.5 28.05 1.250 2049 -4.5 0.278 - - - - - - - 25.61 24.67
13901 728.9 7.7 573 13936 done 0.44 - - 2930 - 2.25 0.039 1966 632.9 294.0 28.83 1.229 1922 -4.4 0.277 - - - - - - - 25.70 24.21
14264 702.2 7.6 585 14303 roll 0.49 - - 2930 - 2.33 0.053 3346 592.3 328.7 30.58 1.218 1780 -4.6 0.284 - - - - - - - 25.23 24.30
14335 697.0 8.1 587 14360 done 0.54 0.12 0.090 2993 525.0 2.20 0.033 1960 -630.0 348.3 18.40 1.165 1701 -4.3 0.273 - - - - - - 25.46 25.48 24.20
14688 647.1 14.6 599 14693 roll 0.51 - - 2998 - 2.20 0.042 538 -646.4 348.3 - - 1695 - - - - - - - - - 25.89 -
14774 637.9 14.9 601 14783 done 0.49 0.15 0.130 2953 -300.0 2.17 0.039 1941 646.5 348.3 - - 1694 - - - - - - - - 25.85 25.98 -
15081 597.9 12.1 612 15086 roll 0.51 - - 2953 - 2.22 0.052 3351 635.1 348.3 - - 1694 - - - - - - - - - 26.09 -
15104 595.0 12.0 613 15109 done 0.53 - - 2955 - 2.20 0.034 1932 -645.0 348.3 - - 1694 - - - - - - - - - 26.18 -
15426 561.3 9.9 629 15432 roll 0.63 0.12 0.096 3024 575.0 2.15 0.040 532 -651.2 348.3 - - 1692 - - - - - - - - 26.32 26.23 -
15504 553.7 11.5 632 15511 done 0.65 - - 3025 - 2.47 0.040 2124 644.5 348.3 - - 1692 - - - - - - - - - 26.25 -
15810 497.1 17.5 648 15816 roll 0.58 0.12 0.164 2994 -258.3 2.47 0.040 534 -643.7 348.3 - - 1692 - - - - - - - - 26.18 26.30 -
15895 485.7 13.4 652 15900 done 0.57 - - 2994 - 2.42 0.039 2105 649.2 348.3 - - 1692 - - - - - - - - - 26.31 -
16217 444.5 13.1 668 16224 roll 0.54 - - 2996 - 2.45 0.042 528 -643.7 348.3 - - 1692 - - - - - - - - - 26.34 -
16304 434.9 11.4 672 16310 done 0.54 - - 2996 - 2.38 0.040 2078 651.3 348.3 - - 1692 - - - - - - - - - 26.36 -
16622 392.6 14.0 688 16628 roll 0.51 0.12 0.155 2956 -333.3 2.40 0.040 531 -644.6 348.3 - - 1692 - - - - - - - - 26.30 26.38 -
16685 385.7 11.6 691 16690 done 0.53 - - 2956 - 2.35 0.037 2065 652.8 348.3 - - 1691 - - - - - - - - - 26.40 -
17007 354.8 9.4 707 17013 roll 0.57 - - 2956 - 2.38 0.041 525 -647.1 348.3 - - 1692 - - - - - - - - - 26.41 -
17039 352.8 9.2 708 17046 done 0.61 0.12 0.093 3023 558.3 2.30 0.038 2040 658.7 348.3 - - 1692 - - - - - - - - 26.41 26.42 -
17353 304.0 15.6 724 17359 roll 0.56 0.12 0.154 2983 -333.3 2.33 0.041 538 -644.6 348.3 - - 1692 - - - - - - - - 26.34 26.41 -
17458 293.9 9.0 729 17463 done 0.59 - - 2983 - 2.25 0.038 2012 655.1 348.3 - - 1691 - - - - - - - - - 26.44 -
17780 263.9 10.1 745 17781 done 0.59 - - 2983 - - - 2013 - 348.3 - - 1692 - - - - - - - - - - -
18081 231.7 10.9 760 18082 done 0.60 - - 2983 - - - 2013 - 348.3 - - 1693 - - - - - - - - - - -
18381 202.9 8.8 775 18386 roll 0.63 - - 2983 - 2.30 0.041 524 -647.4 348.3 - - 1692 - - - - - - - - - 26.46 -
18424 199.3 8.6 777 18429 done 0.66 - - 2983 - 2.25 0.037 2008 659.6 350.0 - - 1692 - - - - - - - - - 26.47 -
18747 173.1 8.7 793 18753 roll 0.69 0.12 0.093 3060 641.7 2.08 0.049 3353 646.6 350.0 - - 1692 - - - - - - - - 26.60 26.41 -
18793 166.6 12.2 795 18800 done 0.69 0.15 0.161 3022 -253.3 2.05 0.032 1988 -665.9 350.0 - - 1692 - - - - - - - - 26.23 26.53 -
19112 129.9 10.1 811 19118 roll 0.68 - - 3023 - 2.20 0.041 532 -661.8 350.0 - - 1692 - - - - - - - - - 26.46 -
19231 119.0 10.3 816 19238 done 0.70 - - 3023 - 2.20 0.037 1985 660.5 350.0 - - 1693 - - - - - - - - - 26.49 -
19536 87.3 7.6 832 19576 roll 0.74 - - 3023 - 2.22 0.050 3354 616.7 385.3 30.08 0.772 1550 -4.8 0.057 - - - - - - - 26.07 25.35
19593 84.8 6.7 834 19653 done 0.80 0.10 0.105 3080 570.0 2.08 0.031 1979 -661.1 450.9 53.17 0.765 1282 -5.0 0.059 - - - - - - 26.09 26.15 24.71
19961 45.4 11.0 855 19966 roll 0.83 - - 3080 - 2.22 0.041 539 -648.6 450.9 - - 1277 - - - - - - - - - 25.92 -
20085 34.0 7.9 867 20111 done 0.93 - - 3081 - 2.20 0.034 1967 649.1 476.2 20.52 0.698 1179 -4.8 0.025 - - - - - - - 26.03 25.04
20420 16.0 4.5 900 20492 roll 1.11 0.20 0.071 3182 505.0 2.20 0.047 3352 629.5 614.8 63.03 0.092 613 -9.0 0.166 - - - - - - 26.13 25.95 25.86
20528 4.6 12.4 910 20535 done 1.11 - - 3183 - 2.12 0.029 1960 -656.6 614.8 - - 612 - - - - - - - - - 26.07 -
20543 end climb: SURFACE_DEPTH_REACHED
20543 begin surface coast
20564 end surface coast: CONTROL_FINISHED_OK
20564 begin surface
SM 1.91 - - - - -8.29 7.88 0.039 131 -387.3 1.17 0.043 2697 629.9 652.74 19.52 0.061 459 -7.8 0.025 - - - - - -