OKMC Nov12 * SG170 * Dive index * Mission links * Dive 88 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 19.16 of 150.00 AH used of 24V (87.23% remains)
• Previous NAKs 0, Timeouts 0 • 7.39 of 100.00 AH used of 10V (92.61% remains)
• Surface angle -74.6 deg, depth 2.37 m • Intended pitch -15.6 deg, speed -10.000 cm/s
• No surface pump (final VBD was 562.72, SM_CC=450)
• GPS1 time: 26 s
• GPS2 time: 17 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
20 - - - 84 VBD -0.43 - - 143 - - - 2628 - -194.6 -62.25 - 2021 - - - - - - - - - - -
87 3.1 -2.0 11 155 roll -0.43 10.88 0.243 2866 250.3 2.20 0.047 1192 -652.7 -194.6 -49.62 - 3564 -31.1 - - - - - - - 25.87 26.18 26.46
248 32.2 -24.1 37 254 done -0.33 0.12 0.184 2898 266.7 2.20 0.049 2583 632.3 -194.6 - - 3564 - - - - - - - - 26.08 26.21 -
443 84.7 -26.5 50 449 roll -0.21 0.12 0.188 2935 308.3 1.80 0.067 3695 617.8 -194.6 - - 3564 - - - - - - - - 26.22 26.28 -
508 97.6 -21.2 53 514 done -0.13 0.12 0.148 2972 308.3 1.62 0.024 2580 -688.3 -194.6 - - 3564 - - - - - - - - 26.27 26.43 -
712 127.2 -13.4 63 717 roll -0.13 - - 2972 - 1.83 0.067 3693 608.2 -194.6 - - 3564 - - - - - - - - - 26.37 -
799 136.7 -11.5 67 804 done -0.20 - - 2972 - 1.55 0.025 2573 -722.6 -194.6 - - 3565 - - - - - - - - - 26.51 -
998 156.1 -8.6 77 1004 roll -0.39 0.22 0.096 2883 -404.5 1.95 0.035 1256 -675.4 -194.6 - - 3566 - - - - - - - - 26.46 26.50 -
1011 156.1 -8.6 77 1017 done -0.58 0.17 0.080 2803 -470.6 2.10 0.049 2601 640.5 -194.6 - - 3565 - - - - - - - - 26.50 26.47 -
1206 199.4 -25.7 87 1213 roll -0.46 0.17 0.177 2857 317.6 1.73 0.057 3698 634.1 -194.6 - - 3565 - - - - - - - - 26.39 26.50 -
1245 205.2 -24.4 88 1252 done -0.35 0.12 0.153 2895 316.7 1.55 0.024 2608 -703.2 -194.6 - - 3566 - - - - - - - - 26.44 26.60 -
1432 234.8 -13.5 98 1437 roll -0.36 - - 2895 - 2.00 0.031 1228 -690.0 -194.6 - - 3566 - - - - - - - - - 26.58 -
1557 243.4 -5.4 104 1562 done -0.40 - - 2895 - 2.15 0.050 2601 638.6 -194.6 - - 3566 - - - - - - - - - 26.53 -
1762 253.4 -6.0 114 1767 roll -0.42 - - 2894 - 1.70 0.057 3706 650.0 -194.6 - - 3566 - - - - - - - - - 26.56 -
1785 254.9 -6.4 115 1790 done -0.45 - - 2895 - 1.60 0.024 2620 -678.8 -194.6 - - 3566 - - - - - - - - - 26.67 -
2109 281.7 -8.7 131 2115 roll -0.49 0.12 0.093 2819 -633.3 2.05 0.041 1199 -693.2 -194.6 - - 3565 - - - - - - - - 26.66 26.65 -
2267 305.6 -18.1 138 2275 done -0.46 0.15 0.154 2863 293.3 2.20 0.054 2603 638.2 -194.6 - - 3564 - - - - - - - - 26.51 26.58 -
2573 331.7 -6.2 154 2579 roll -0.48 - - 2863 - 1.73 0.057 3708 638.7 -194.6 - - 3564 - - - - - - - - - 26.60 -
2688 339.1 -7.2 159 2693 done -0.51 - - 2863 - 1.65 0.025 2572 -688.5 -194.6 - - 3563 - - - - - - - - - 26.71 -
3001 374.6 -12.2 175 3006 roll -0.53 - - 2863 - 1.77 0.052 3699 636.7 -194.6 - - 3562 - - - - - - - - - 26.63 -
3058 379.6 -11.8 177 3065 done -0.56 - - 2863 - 1.58 0.027 2575 -711.4 -194.6 - - 3561 - - - - - - - - - 26.74 -
3364 410.2 -7.6 193 3370 roll -0.59 0.12 0.092 2793 -583.3 1.92 0.027 1231 -700.0 -194.6 - - 3559 - - - - - - - - 26.71 26.69 -
3398 412.4 -7.8 194 3404 done -0.60 - - 2793 - 2.12 0.045 2615 652.8 -194.6 - - 3559 - - - - - - - - - 26.65 -
3712 457.0 -14.8 210 3718 roll -0.54 0.12 0.177 2834 341.7 2.00 0.026 1243 -686.0 -194.6 - - 3557 - - - - - - - - 26.55 26.70 -
3745 460.9 -15.6 211 3750 done -0.50 - - 2834 - 2.08 0.044 2603 653.8 -194.6 - - 3557 - - - - - - - - - 26.65 -
4058 495.9 -9.3 227 4059 done -0.50 - - 2834 - - - 2604 - -194.6 - - 3555 - - - - - - - - - - -
4360 519.0 -7.3 242 4361 done -0.50 - - 2834 - - - 2603 - -194.6 - - 3552 - - - - - - - - - - -
4659 542.3 -8.2 257 4664 roll -0.50 - - 2834 - 2.00 0.026 1228 -687.5 -194.6 - - 3550 - - - - - - - - - 26.71 -
4717 546.3 -8.7 259 4723 done -0.50 - - 2834 - 2.12 0.044 2607 650.5 -194.6 - - 3550 - - - - - - - - - 26.66 -
5022 583.2 -13.1 275 5027 roll -0.50 - - 2834 - 1.70 0.054 3700 642.9 -194.6 - - 3550 - - - - - - - - - 26.65 -
5049 586.3 -13.2 276 5054 done -0.51 - - 2836 - 1.55 0.030 2625 -693.5 -194.6 - - 3548 - - - - - - - - - 26.75 -
5378 626.8 -11.3 289 5383 roll -0.51 - - 2834 - 1.70 0.054 3698 631.2 -194.6 - - 3546 - - - - - - - - - 26.65 -
5435 630.4 -11.0 290 5443 done -0.52 - - 2834 - 1.60 0.029 2575 -701.9 -194.6 - - 3545 - - - - - - - - - 26.76 -
5743 659.9 -7.4 301 5748 roll -0.54 - - 2834 - 1.95 0.028 1232 -688.7 -194.6 - - 3545 - - - - - - - - - 26.71 -
5820 663.8 -6.4 303 5826 done -0.56 - - 2834 - 2.12 0.043 2610 650.0 -194.6 - - 3544 - - - - - - - - - 26.66 -
6140 680.9 -5.1 314 6145 roll -0.57 - - 2834 - 2.05 0.028 1220 -678.0 -194.6 - - 3542 - - - - - - - - - 26.71 -
6163 680.9 -5.1 314 6168 done -0.59 - - 2834 - 2.12 0.044 2604 652.8 -194.6 - - 3542 - - - - - - - - - 26.66 -
6478 703.2 -7.9 325 6483 roll -0.60 - - 2834 - 2.00 0.028 1234 -685.0 -194.6 - - 3541 - - - - - - - - - 26.71 -
6551 709.1 -8.7 327 6556 done -0.62 - - 2834 - 2.12 0.044 2611 649.5 -194.6 - - 3540 - - - - - - - - - 26.66 -
6875 742.9 -10.5 338 6876 done -0.64 - - 2834 - - - 2611 - -194.6 - - 3539 - - - - - - - - - - -
7174 775.5 -10.9 348 7180 roll -0.66 0.12 0.093 2760 -616.7 1.70 0.054 3698 639.4 -194.6 - - 3537 - - - - - - - - 26.72 26.64 -
7251 785.6 -13.2 350 7258 done -0.66 0.12 0.162 2795 291.7 1.58 0.029 2605 -691.8 -194.6 - - 3536 - - - - - - - - 26.53 26.76 -
7572 830.2 -12.8 361 7573 done -0.64 - - 2795 - - - 2604 - -194.6 - - 3535 - - - - - - - - - - -
7871 866.3 -11.6 371 7876 roll -0.62 - - 2795 - 2.00 0.029 1220 -692.0 -194.6 - - 3533 - - - - - - - - - 26.71 -
7913 870.0 -11.4 372 7918 done -0.60 - - 2795 - 2.12 0.044 2605 653.3 -194.6 - - 3533 - - - - - - - - - 26.65 -
8238 903.5 -10.2 383 8239 done -0.58 - - 2795 - - - 2605 - -194.6 - - 3532 - - - - - - - - - - -
8536 932.7 -9.6 393 8538 done -0.56 0.12 0.164 2832 308.3 - - 2605 - -194.6 - - 3531 - - - - - - - - 26.57 - -
8838 956.7 -7.7 403 8844 roll -0.59 - - 2833 - 2.05 0.029 1222 -674.6 -194.6 - - 3529 - - - - - - - - - 26.71 -
8905 961.5 -7.4 405 8910 done -0.62 - - 2832 - 2.15 0.044 2610 645.6 -194.6 - - 3529 - - - - - - - - - 26.65 -
9235 985.9 -7.5 416 9236 done -0.64 - - 2833 - - - 2610 - -194.6 - - 3528 - - - - - - - - - - -
9291 end dive: TARGET_DEPTH_EXCEEDED
9291 begin apogee
9296 990.6 -7.7 418 9463 done -0.11 0.38 0.109 2968 355.3 - - 1945 - - 158.15 1.478 2766 -4.8 0.339 - - - - - - 26.56 - 23.91
9464 end apogee: CONTROL_FINISHED_OK
9464 begin climb
9467 996.3 - 423 9649 roll 0.43 0.50 0.068 3152 368.0 2.47 0.049 3358 572.1 194.6 171.40 1.441 1973 -4.6 0.335 - - - - - - 24.89 24.14 23.35
9747 976.4 10.1 433 9753 done 0.43 - - 3158 - 2.20 0.028 1972 -630.0 194.6 - - 1966 - - - - - - - - - 25.10 -
10081 940.7 11.2 444 10087 roll 0.43 - - 3158 - 2.30 0.055 3358 602.6 194.6 - - 1962 - - - - - - - - - 25.85 -
10115 936.3 11.7 445 10120 done 0.43 - - 3158 - 2.17 0.028 1938 -654.4 194.6 - - 1961 - - - - - - - - - 25.96 -
10449 897.3 11.2 456 10455 roll 0.44 - - 3158 - 2.30 0.050 3360 618.3 194.6 - - 1960 - - - - - - - - - 26.16 -
10516 889.8 11.3 458 10521 done 0.44 - - 3158 - 2.12 0.028 1943 -668.4 194.6 - - 1960 - - - - - - - - - 26.27 -
10845 861.9 7.3 469 10919 roll 0.48 - - 3158 - 2.45 0.049 3354 575.9 273.5 67.22 1.388 1652 -4.6 0.298 - - - - - - - 24.98 24.14
11011 849.9 7.9 474 11071 done 0.52 - - 3158 - 2.17 0.028 1943 -650.2 335.0 53.78 1.353 1403 -4.6 0.305 - - - - - - - 25.68 24.03
11389 814.1 10.7 487 11396 roll 0.57 0.12 0.093 3229 591.7 2.28 0.047 3356 619.7 335.0 - - 1397 - - - - - - - - 26.02 25.96 -
11454 803.0 14.0 489 11461 done 0.59 0.15 0.145 3195 -226.7 2.15 0.028 1946 -655.8 335.0 - - 1397 - - - - - - - - 25.94 26.08 -
11788 752.8 14.2 500 11794 roll 0.60 - - 3194 - 2.28 0.050 3357 618.9 335.0 - - 1395 - - - - - - - - - 26.23 -
11861 743.7 14.0 502 11866 done 0.60 - - 3199 - 2.12 0.028 1937 -669.8 335.0 - - 1395 - - - - - - - - - 26.33 -
12185 701.9 12.1 513 12191 roll 0.60 - - 3199 - 2.28 0.050 3367 627.2 335.0 - - 1395 - - - - - - - - - 26.36 -
12253 693.6 12.5 515 12258 done 0.60 - - 3199 - 2.12 0.028 1943 -671.7 335.0 - - 1395 - - - - - - - - - 26.44 -
12582 654.7 11.6 526 12588 roll 0.61 - - 3199 - 2.25 0.049 3365 632.0 335.0 - - 1394 - - - - - - - - - 26.43 -
12624 650.4 11.7 527 12631 done 0.61 - - 3199 - 2.12 0.028 1946 -669.3 335.0 - - 1394 - - - - - - - - - 26.51 -
12949 614.6 10.5 538 12955 roll 0.63 - - 3199 - 2.25 0.050 3365 630.7 335.0 - - 1394 - - - - - - - - - 26.47 -
12992 610.4 11.0 539 12997 done 0.64 - - 3198 - 2.10 0.028 1951 -673.3 335.0 - - 1393 - - - - - - - - - 26.55 -
13315 571.2 12.5 554 13321 roll 0.66 - - 3200 - 2.25 0.050 3364 628.0 335.0 - - 1394 - - - - - - - - - 26.51 -
13383 562.6 13.3 557 13388 done 0.66 - - 3199 - 2.10 0.028 1944 -676.2 335.0 - - 1394 - - - - - - - - - 26.58 -
13701 526.8 11.3 573 13706 roll 0.68 - - 3200 - 2.22 0.050 3356 636.0 335.0 - - 1394 - - - - - - - - - 26.53 -
13784 515.7 13.4 577 13789 done 0.69 - - 3199 - 2.08 0.028 1950 -676.0 335.0 - - 1394 - - - - - - - - - 26.60 -
14107 481.2 9.9 593 14113 roll 0.71 0.12 0.093 3281 683.3 2.20 0.047 3358 640.0 337.2 - - 1394 - - - - - - - - 26.63 26.55 -
14145 478.1 10.7 594 14153 done 0.71 0.17 0.161 3234 -276.5 2.10 0.028 1945 -672.9 337.2 - - 1394 - - - - - - - - 26.43 26.61 -
14452 423.3 18.5 610 14457 roll 0.69 - - 3234 - 2.25 0.050 3368 632.4 337.2 - - 1394 - - - - - - - - - 26.55 -
14498 414.9 19.2 612 14504 done 0.67 - - 3240 - 2.10 0.028 1946 -677.1 337.2 - - 1394 - - - - - - - - - 26.63 -
14816 366.9 12.1 628 14822 roll 0.65 - - 3240 - 2.22 0.049 3357 635.6 337.2 - - 1394 - - - - - - - - - 26.57 -
14889 358.6 12.7 631 14894 done 0.63 - - 3240 - 2.10 0.028 1950 -670.0 337.2 - - 1394 - - - - - - - - - 26.64 -
15201 318.3 13.0 647 15207 roll 0.63 - - 3240 - 2.17 0.049 3358 648.8 337.2 - - 1394 - - - - - - - - - 26.58 -
15258 312.7 13.0 649 15266 done 0.62 0.12 0.153 3203 -308.3 2.08 0.028 1950 -676.9 337.2 - - 1394 - - - - - - - - 26.50 26.65 -
15565 295.3 3.5 665 15734 roll 0.74 0.12 0.093 3284 675.0 2.25 0.037 555 -620.0 527.2 161.00 0.983 618 -4.8 0.152 - - - - - - 26.66 24.94 24.27
15770 271.4 12.6 675 15776 done 0.74 0.12 0.122 3245 -325.0 2.20 0.032 1958 637.7 527.2 - - 617 - - - - - - - - 25.27 25.33 -
16089 231.7 12.9 691 16095 roll 0.81 - - 3245 - 2.20 0.048 3355 635.0 527.2 - - 615 - - - - - - - - - 25.98 -
16188 222.7 10.8 695 16196 done 0.87 0.12 0.088 3312 558.3 2.12 0.026 1943 -666.0 527.2 - - 615 - - - - - - - - 26.10 26.14 -
16374 191.9 17.3 705 16380 roll 0.84 0.12 0.143 3271 -341.7 2.10 0.034 555 -661.0 527.2 - - 614 - - - - - - - - 26.13 26.21 -
16418 186.8 14.2 707 16423 done 0.86 - - 3274 - 2.10 0.031 1953 665.7 527.2 - - 614 - - - - - - - - - 26.24 -
16622 166.6 13.8 717 16628 roll 0.92 0.10 0.106 3325 510.0 2.20 0.047 3355 637.3 527.2 - - 614 - - - - - - - - 26.36 26.28 -
16707 153.4 15.7 721 16712 done 0.94 - - 3326 - 2.08 0.026 1954 -673.6 527.2 - - 614 - - - - - - - - - 26.38 -
16910 134.3 10.1 731 16916 roll 0.94 - - 3325 - 2.20 0.047 3364 640.9 527.2 - - 614 - - - - - - - - - 26.36 -
16927 134.3 10.1 731 16934 done 0.94 - - 3326 - 2.10 0.026 1940 -678.1 527.2 - - 614 - - - - - - - - - 26.44 -
17114 107.1 13.5 741 17116 done 0.98 - - 3326 - - - 1940 - 527.2 - - 614 - - - - - - - - - - -
17294 89.7 8.8 750 17334 roll 1.04 - - 3325 - 2.33 0.045 3362 610.3 562.3 29.40 0.780 476 -4.7 0.057 - - - - - - - 25.98 25.34
17356 83.0 10.3 753 17362 done 1.10 0.12 0.089 3398 608.3 2.15 0.026 1937 -662.8 562.3 - - 476 - - - - - - - - 26.06 26.09 -
17551 43.0 21.3 764 17553 done 1.06 0.15 0.140 3353 -300.0 - - 1937 - 562.3 - - 475 - - - - - - - - 26.13 - -
17731 17.6 11.3 788 17738 roll 1.10 - - 3353 - 2.22 0.046 3365 643.2 562.3 - - 476 - - - - - - - - - 26.30 -
17803 8.7 12.7 801 17810 done 1.14 - - 3353 - 2.10 0.026 1945 -676.2 562.3 - - 476 - - - - - - - - - 26.39 -
17850 end climb: SURFACE_DEPTH_REACHED
17850 begin surface coast
17878 end surface coast: CONTROL_FINISHED_OK
17878 begin surface
SM 2.49 - - - - -8.95 8.18 0.038 134 -393.5 1.02 0.031 2629 670.6 562.72 - - 475 - - - - - - - -