OKMC Nov12 * SG170 * Dive index * Mission links * Dive 381 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 78.23 of 150.00 AH used of 24V (47.85% remains)
• Previous NAKs 0, Timeouts 0 • 38.96 of 100.00 AH used of 10V (61.04% remains)
• Surface angle -72.5 deg, depth 2.56 m • Intended pitch -14.8 deg, speed -8.919 cm/s
• No surface pump (final VBD was 533.28, SM_CC=450)
• GPS1 time: 14 s
• GPS2 time: 17 s • Transponder ping count: 3
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
21 - - - 92 VBD -0.57 - - 126 - - - 2524 - -180.0 -68.15 - 1986 - - - - - - - - - - -
95 3.0 -0.3 12 188 roll -0.57 11.35 0.237 2851 240.1 1.33 0.057 1608 -688.7 -180.0 -69.28 - 3586 -23.1 - - - - - - - 25.25 26.24 26.69
362 31.7 -13.8 56 369 done -0.54 - - 2851 - 1.30 0.045 2439 639.2 -180.0 - - 3586 - - - - - - - - - 26.24 -
549 55.5 -13.1 73 550 done -0.52 - - 2851 - - - 2439 - -180.0 - - 3586 - - - - - - - - - - -
730 78.2 -11.9 82 735 roll -0.49 - - 2851 - 1.23 0.034 1610 -674.0 -180.0 - - 3585 - - - - - - - - - 26.36 -
828 86.9 -10.4 86 835 done -0.49 - - 2851 - 1.35 0.043 2482 645.9 -180.0 - - 3585 - - - - - - - - - 26.29 -
1014 104.7 -8.9 96 1015 done -0.48 - - 2850 - - - 2482 - -180.0 - - 3585 - - - - - - - - - - -
1194 124.4 -11.0 105 1199 roll -0.48 - - 2851 - 1.27 0.029 1608 -688.2 -180.0 - - 3585 - - - - - - - - - 26.43 -
1261 130.9 -10.3 108 1267 done -0.48 - - 2851 - 1.33 0.041 2471 648.9 -180.0 - - 3585 - - - - - - - - - 26.32 -
1463 149.5 -8.7 118 1469 roll -0.49 - - 2851 - 1.38 0.050 3352 638.4 -180.0 - - 3585 - - - - - - - - - 26.25 -
1542 154.8 -7.8 121 1549 done -0.51 - - 2851 - 1.27 0.024 2473 -692.1 -180.0 - - 3585 - - - - - - - - - 26.48 -
1730 169.7 -7.4 131 1735 roll -0.56 - - 2851 - 1.40 0.047 3354 629.3 -180.0 - - 3585 - - - - - - - - - 26.25 -
1830 176.4 -7.8 135 1837 done -0.60 - - 2851 - 1.27 0.024 2468 -697.6 -180.0 - - 3585 - - - - - - - - - 26.50 -
2015 194.1 -9.2 145 2020 roll -0.64 - - 2851 - 1.23 0.025 1590 -713.8 -180.0 - - 3584 - - - - - - - - - 26.48 -
2129 204.6 -10.0 150 2136 done -0.68 0.08 0.059 2793 -725.0 1.35 0.039 2468 650.4 -180.0 - - 3584 - - - - - - - - 26.25 26.32 -
2327 225.2 -9.9 160 2332 roll -0.69 - - 2793 - 1.25 0.050 1626 -673.6 -180.0 - - 3584 - - - - - - - - - 25.65 -
2400 231.4 -9.5 163 2406 done -0.70 - - 2795 - 1.30 0.039 2473 651.5 -180.0 - - 3584 - - - - - - - - - 26.33 -
2595 251.4 -10.0 173 2601 roll -0.71 - - 2793 - 1.38 0.050 3362 644.2 -180.0 - - 3583 - - - - - - - - - 26.27 -
2634 254.2 -10.1 174 2641 done -0.72 - - 2793 - 1.27 0.024 2435 -729.9 -180.0 - - 3582 - - - - - - - - - 26.54 -
2941 288.2 -10.0 190 2946 roll -0.70 - - 2793 - 1.10 0.027 1640 -722.7 -180.0 - - 3580 - - - - - - - - - 26.48 -
3014 294.7 -9.9 193 3019 done -0.68 - - 2793 - 1.30 0.040 2483 648.5 -180.0 - - 3580 - - - - - - - - - 26.32 -
3328 327.1 -10.3 209 3333 roll -0.67 - - 2793 - 1.35 0.049 3355 645.9 -180.0 - - 3578 - - - - - - - - - 26.28 -
3346 327.1 -10.3 209 3352 done -0.66 - - 2793 - 1.23 0.025 2480 -711.4 -180.0 - - 3578 - - - - - - - - - 26.53 -
3653 362.0 -11.0 225 3658 roll -0.65 0.12 0.152 2836 358.3 1.20 0.022 1626 -711.7 -180.0 - - 3576 - - - - - - - - 26.29 26.48 -
3760 371.7 -9.0 230 3765 done -0.68 - - 2836 - 1.33 0.040 2478 640.6 -180.0 - - 3575 - - - - - - - - - 26.33 -
4083 397.6 -7.3 246 4090 roll -0.73 0.12 0.088 2762 -616.7 1.38 0.047 3370 646.4 -180.0 - - 3573 - - - - - - - - 26.54 26.26 -
4169 405.5 -9.2 250 4176 done -0.73 0.10 0.120 2799 370.0 1.27 0.025 2467 -711.0 -180.0 - - 3573 - - - - - - - - 26.18 26.53 -
4495 433.5 -8.8 266 4497 done -0.75 - - 2799 - - - 2465 - -180.0 - - 3570 - - - - - - - - - - -
4798 460.2 -9.1 281 4803 roll -0.78 - - 2799 - 1.42 0.049 3354 626.1 -180.0 - - 3568 - - - - - - - - - 26.25 -
4866 465.8 -8.4 284 4871 done -0.80 - - 2798 - 1.25 0.026 2470 -707.2 -180.0 - - 3568 - - - - - - - - - 26.53 -
5185 491.7 -8.2 300 5191 roll -0.82 - - 2799 - 1.42 0.049 3355 623.2 -180.0 - - 3566 - - - - - - - - - 26.25 -
5234 495.4 -8.4 302 5239 done -0.85 0.08 0.065 2746 -662.5 1.25 0.027 2475 -704.0 -180.0 - - 3565 - - - - - - - - 26.34 26.52 -
5553 533.1 -12.3 318 5559 roll -0.81 - - 2745 - 1.20 0.024 1602 -727.5 -180.0 - - 3563 - - - - - - - - - 26.46 -
5703 552.1 -13.4 325 5708 done -0.78 0.10 0.138 2780 350.0 1.35 0.041 2473 645.2 -180.0 - - 3563 - - - - - - - - 25.99 26.30 -
6021 589.9 -10.8 341 6026 roll -0.78 - - 2780 - 1.38 0.050 3348 634.1 -180.0 - - 3561 - - - - - - - - - 26.22 -
6065 594.5 -10.5 343 6070 done -0.77 - - 2780 - 1.25 0.027 2468 -704.0 -180.0 - - 3560 - - - - - - - - - 26.51 -
6402 625.4 -8.6 355 6407 roll -0.76 - - 2780 - 1.20 0.023 1605 -719.2 -180.0 - - 3559 - - - - - - - - - 26.48 -
6455 628.5 -8.5 356 6461 done -0.75 - - 2780 - 1.35 0.041 2473 643.0 -180.0 - - 3559 - - - - - - - - - 26.30 -
6773 654.9 -8.0 367 6779 roll -0.74 - - 2780 - 1.23 0.024 1617 -695.9 -180.0 - - 3557 - - - - - - - - - 26.48 -
6832 658.0 -8.0 368 6838 done -0.73 - - 2780 - 1.35 0.041 2482 640.7 -180.0 - - 3556 - - - - - - - - - 26.28 -
7140 686.3 -8.6 379 7146 roll -0.72 - - 2781 - 1.38 0.051 3352 630.4 -180.0 - - 3555 - - - - - - - - - 26.20 -
7194 689.4 -8.5 380 7200 done -0.72 - - 2781 - 1.25 0.028 2499 -682.4 -180.0 - - 3555 - - - - - - - - - 26.48 -
7512 716.5 -8.3 391 7513 done -0.71 - - 2781 - - - 2499 - -180.0 - - 3553 - - - - - - - - - - -
7809 743.4 -9.3 401 7814 roll -0.70 - - 2780 - 1.38 0.051 3348 615.2 -180.0 - - 3551 - - - - - - - - - 26.18 -
7827 743.4 -9.3 401 7833 done -0.69 0.08 0.122 2809 362.5 1.30 0.029 2467 -677.7 -180.0 - - 3551 - - - - - - - - 26.16 26.47 -
8149 774.7 -9.7 412 8150 done -0.70 - - 2809 - - - 2466 - -180.0 - - 3550 - - - - - - - - - - -
8447 802.1 -8.6 422 8453 roll -0.72 - - 2809 - 1.23 0.024 1600 -704.1 -180.0 - - 3549 - - - - - - - - - 26.46 -
8473 802.1 -8.6 422 8479 done -0.73 - - 2809 - 1.38 0.041 2475 634.1 -180.0 - - 3549 - - - - - - - - - 26.25 -
8789 828.2 -6.8 433 8795 roll -0.75 - - 2809 - 1.40 0.052 3355 628.6 -180.0 - - 3547 - - - - - - - - - 26.15 -
8814 828.2 -6.8 433 8820 done -0.76 - - 2810 - 1.30 0.030 2478 -674.6 -180.0 - - 3547 - - - - - - - - - 26.45 -
9131 851.5 -6.6 444 9137 roll -0.78 - - 2810 - 1.25 0.026 1601 -701.6 -180.0 - - 3546 - - - - - - - - - 26.44 -
9191 853.7 -6.4 445 9198 done -0.79 - - 2809 - 1.38 0.041 2478 635.5 -180.0 - - 3545 - - - - - - - - - 26.22 -
9498 874.4 -6.5 456 9504 roll -0.81 0.12 0.103 2752 -475.0 1.38 0.050 3355 635.5 -180.0 - - 3544 - - - - - - - - 26.46 26.12 -
9567 880.5 -8.0 458 9573 done -0.81 - - 2752 - 1.30 0.030 2475 -676.9 -180.0 - - 3544 - - - - - - - - - 26.45 -
9898 915.5 -10.5 469 9903 roll -0.79 - - 2752 - 1.42 0.053 3356 620.4 -180.0 - - 3542 - - - - - - - - - 26.10 -
9936 919.3 -10.7 470 9942 done -0.76 0.10 0.132 2789 370.0 1.30 0.029 2485 -670.0 -180.0 - - 3542 - - - - - - - - 26.05 26.45 -
10268 948.5 -8.5 481 10274 roll -0.76 - - 2789 - 1.40 0.053 3344 613.6 -180.0 - - 3542 - - - - - - - - - 26.09 -
10306 951.6 -8.4 482 10311 done -0.76 - - 2789 - 1.30 0.029 2467 -674.6 -180.0 - - 3543 - - - - - - - - - 26.44 -
10639 977.8 -7.6 493 10640 done -0.76 - - 2789 - - - 2467 - -180.0 - - 3540 - - - - - - - - - - -
10782 end dive: TARGET_DEPTH_EXCEEDED
10782 begin apogee
10789 990.4 -8.5 498 10951 done -0.17 0.55 0.112 2978 343.6 - - 2105 - - 153.93 1.486 2853 -4.5 0.330 - - - - - - 25.78 - 22.68
10952 end apogee: CONTROL_FINISHED_OK
10953 begin climb
10955 998.7 - 503 11142 roll 0.57 0.65 0.054 3220 372.3 1.62 0.046 3004 554.9 180.0 173.05 1.442 2118 -4.2 0.327 - - - - - - 24.65 23.77 22.11
11195 988.9 8.6 511 11211 done 0.51 - - 3226 - 1.35 0.026 2147 -634.8 188.6 9.10 1.195 2082 -4.0 0.363 - - - - - - - 24.98 22.89
11513 953.0 10.8 522 11515 done 0.47 0.15 0.154 3182 -293.3 - - 2146 - 188.6 - - 2077 - - - - - - - - 26.00 - -
11813 927.4 8.4 532 11831 roll 0.46 - - 3182 - 1.40 0.043 3000 610.0 203.5 14.27 1.323 2023 -3.8 0.294 - - - - - - - 25.94 23.94
11892 921.4 8.8 534 11897 done 0.45 - - 3186 - 1.33 0.027 2127 -656.4 205.9 - - 2020 - - - - - - - - - 26.20 -
12212 889.1 9.5 545 12213 done 0.43 - - 3185 - - - 2128 - 205.9 - - 2020 - - - - - - - - - - -
12512 861.8 9.0 555 12517 roll 0.42 - - 3186 - 1.38 0.044 3000 631.9 205.9 - - 2016 - - - - - - - - - 26.25 -
12546 858.6 8.9 556 12551 done 0.41 - - 3186 - 1.33 0.027 2125 -657.9 205.9 - - 2016 - - - - - - - - - 26.44 -
12883 828.7 8.9 567 12888 roll 0.40 - - 3188 - 1.33 0.031 1232 -671.4 206.7 - - 2016 - - - - - - - - - 26.36 -
12918 825.6 8.9 568 12928 done 0.40 - - 3187 - 1.40 0.037 2130 641.4 207.5 4.18 0.898 2006 -2.4 0.244 - - - - - - - 26.28 24.02
13251 794.8 9.1 579 13258 roll 0.40 - - 3188 - 1.35 0.047 3000 644.4 207.5 - - 2004 - - - - - - - - - 26.22 -
13347 785.6 9.6 582 13352 done 0.38 - - 3188 - 1.35 0.027 2105 -663.0 207.5 - - 2004 - - - - - - - - - 26.44 -
13683 757.1 8.1 593 13711 roll 0.39 - - 3188 - 1.35 0.032 1238 -642.2 231.2 23.17 1.310 1910 -4.1 0.260 - - - - - - - 25.84 23.84
13749 752.0 8.2 595 13779 done 0.40 - - 3188 - 1.40 0.037 2129 636.4 254.0 22.55 1.287 1815 -4.2 0.273 - - - - - - - 25.95 23.73
14108 724.3 7.5 607 14155 roll 0.42 - - 3187 - 1.40 0.047 2993 617.1 297.3 39.28 1.301 1639 -4.5 0.277 - - - - - - - 25.46 23.77
14278 711.7 8.5 612 14298 done 0.42 - - 3188 - 1.33 0.026 2102 -669.9 310.6 13.57 1.196 1584 -4.1 0.268 - - - - - - - 26.14 23.98
14622 682.1 8.0 624 14655 roll 0.46 - - 3187 - 1.45 0.042 2996 616.6 339.6 26.30 1.252 1468 -4.4 0.267 - - - - - - - 25.69 23.99
14685 677.0 8.0 626 14717 done 0.49 - - 3188 - 1.33 0.026 2119 -659.4 367.3 26.27 1.229 1354 -4.3 0.265 - - - - - - - 25.97 23.80
15047 645.9 8.8 638 15058 roll 0.60 0.12 0.103 3247 491.7 1.35 0.040 2998 651.1 371.1 4.30 0.830 1340 -3.3 0.281 - - - - - - 26.28 26.10 23.98
15123 638.9 9.9 640 15128 done 0.68 - - 3252 - 1.30 0.027 2134 -664.6 371.1 - - 1339 - - - - - - - - - 26.32 -
15439 595.3 13.4 651 15444 roll 0.68 - - 3253 - 1.33 0.032 1245 -668.4 371.1 - - 1338 - - - - - - - - - 26.32 -
15492 589.3 13.0 653 15497 done 0.68 - - 3253 - 1.35 0.036 2121 648.9 371.1 - - 1340 - - - - - - - - - 26.27 -
15805 551.0 10.9 669 15811 roll 0.68 - - 3253 - 1.35 0.046 2993 645.9 371.1 - - 1337 - - - - - - - - - 26.22 -
15913 538.9 11.6 674 15919 done 0.66 - - 3254 - 1.33 0.026 2111 -663.2 371.1 - - 1337 - - - - - - - - - 26.46 -
16237 507.6 9.5 690 16242 roll 0.66 - - 3254 - 1.30 0.033 1237 -672.3 371.1 - - 1337 - - - - - - - - - 26.34 -
16305 501.3 9.8 693 16311 done 0.66 - - 3253 - 1.35 0.035 2118 652.6 371.1 - - 1337 - - - - - - - - - 26.29 -
16624 469.8 9.4 709 16629 roll 0.66 - - 3254 - 1.35 0.046 2991 646.7 371.1 - - 1337 - - - - - - - - - 26.22 -
16683 465.1 10.0 711 16689 done 0.66 - - 3253 - 1.30 0.026 2124 -666.9 371.1 - - 1336 - - - - - - - - - 26.45 -
16988 429.0 11.8 727 16989 done 0.66 - - 3253 - - - 2124 - 371.1 - - 1337 - - - - - - - - - - -
17290 395.1 10.7 742 17296 roll 0.66 - - 3253 - 1.33 0.032 1230 -672.2 371.1 - - 1336 - - - - - - - - - 26.33 -
17328 392.3 10.5 743 17335 done 0.66 - - 3253 - 1.38 0.035 2122 646.4 371.1 - - 1336 - - - - - - - - - 26.27 -
17635 359.7 10.1 759 17640 roll 0.67 - - 3253 - 1.35 0.031 1228 -662.2 371.1 - - 1336 - - - - - - - - - 26.34 -
17719 351.4 9.9 763 17724 done 0.68 - - 3253 - 1.38 0.034 2118 644.9 371.1 - - 1336 - - - - - - - - - 26.27 -
18043 322.6 8.1 779 18071 roll 0.73 - - 3254 - 1.40 0.031 1226 -637.1 396.2 23.27 1.001 1237 -4.3 0.152 - - - - - - - 25.95 24.02
18122 317.8 7.6 782 18167 done 0.79 0.08 0.062 3312 725.0 1.40 0.034 2129 645.0 435.0 35.67 1.002 1078 -4.5 0.157 - - - - - - 25.94 26.03 23.92
18465 281.5 11.0 800 18470 roll 0.81 - - 3312 - 1.35 0.044 3000 645.2 435.0 - - 1075 - - - - - - - - - 26.09 -
18530 273.0 12.5 803 18536 done 0.81 - - 3315 - 1.33 0.025 2108 -670.7 435.0 - - 1075 - - - - - - - - - 26.34 -
18854 225.6 13.1 819 18860 roll 0.80 - - 3322 - 1.27 0.031 1245 -679.5 435.0 - - 1075 - - - - - - - - - 26.32 -
18899 220.3 12.3 821 18906 done 0.79 0.08 0.118 3291 -387.5 1.35 0.034 2121 648.9 435.0 - - 1074 - - - - - - - - 26.03 26.26 -
19107 200.9 9.4 831 19112 roll 0.81 - - 3291 - 1.35 0.044 2995 647.4 435.0 - - 1074 - - - - - - - - - 26.21 -
19192 191.8 10.5 835 19197 done 0.81 - - 3295 - 1.27 0.025 2113 -694.5 435.0 - - 1074 - - - - - - - - - 26.45 -
19398 169.9 11.1 845 19403 roll 0.82 - - 3296 - 1.25 0.031 1261 -681.6 435.0 - - 1074 - - - - - - - - - 26.34 -
19443 164.6 11.2 847 19448 done 0.83 - - 3295 - 1.30 0.034 2120 660.8 435.0 - - 1074 - - - - - - - - - 26.30 -
19649 143.2 9.8 857 19654 roll 0.86 - - 3296 - 1.35 0.044 2999 651.1 435.0 - - 1074 - - - - - - - - - 26.21 -
19708 139.4 8.6 859 19724 done 0.91 - - 3295 - 1.27 0.025 2124 -689.0 445.0 9.68 0.784 1037 -3.8 0.075 - - - - - - - 26.45 24.20
19920 122.7 7.6 870 19964 roll 0.99 0.15 0.080 3390 633.3 1.40 0.044 2990 618.6 484.6 35.58 0.839 876 -4.5 0.073 - - - - - - 26.40 25.77 24.24
19973 119.0 8.5 872 19993 done 1.04 - - 3392 - 1.30 0.025 2117 -671.5 498.6 14.18 0.777 820 -3.9 0.067 - - - - - - - 25.97 24.14
20187 88.2 13.9 883 20192 roll 1.03 - - 3393 - 1.27 0.033 1259 -675.6 498.6 - - 817 - - - - - - - - - 26.15 -
20261 79.5 13.6 886 20266 done 1.02 0.08 0.122 3364 -362.5 1.33 0.034 2125 651.1 498.6 - - 817 - - - - - - - - 25.94 26.17 -
20457 59.9 9.6 896 20462 roll 1.03 - - 3365 - 1.30 0.030 1252 -671.5 498.6 - - 816 - - - - - - - - - 26.29 -
20556 51.9 9.4 900 20562 done 1.04 - - 3365 - 1.33 0.033 2125 656.4 498.6 - - 815 - - - - - - - - - 26.27 -
20742 34.1 9.9 919 20748 roll 1.06 - - 3365 - 1.33 0.044 2991 651.1 498.6 - - 816 - - - - - - - - - 26.22 -
20777 31.4 7.8 922 20809 done 1.09 - - 3365 - 1.27 0.025 2126 -681.1 532.1 25.38 0.734 683 -5.2 0.025 - - - - - - - 26.44 24.50
20990 9.7 10.9 957 20998 roll 1.11 - - 3365 - 1.30 0.031 1241 -680.8 532.1 - - 681 - - - - - - - - - 26.23 -
21022 6.2 11.3 962 21029 done 1.14 0.08 0.060 3424 737.5 1.33 0.034 2117 658.6 532.1 - - 681 - - - - - - - - 26.13 26.22 -
21050 end climb: SURFACE_DEPTH_REACHED
21050 begin surface coast
21079 end surface coast: CONTROL_FINISHED_OK
21079 begin surface
SM 2.68 - - - - -9.02 8.70 0.053 136 -377.9 0.52 0.046 2472 682.7 533.28 - - 679 - - - - - - - -