OKMC Nov12 * SG170 * Dive index * Mission links * Dive 409 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 84.83 of 150.00 AH used of 24V (43.45% remains)
• Previous NAKs 0, Timeouts 0 • 42.62 of 100.00 AH used of 10V (57.38% remains)
• Surface angle -77.4 deg, depth 2.66 m • Intended pitch -14.9 deg, speed -9.167 cm/s
• No surface pump (final VBD was 503.85, SM_CC=450)
• GPS1 time: 25 s
• GPS2 time: 19 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
22 - - - 63 VBD -0.57 - - 139 - - - 2488 - -184.9 -39.20 - 1826 - - - - - - - - - - -
67 3.0 -1.6 7 164 roll -0.57 11.25 0.236 2839 240.0 1.45 0.074 3349 593.8 -184.9 -76.62 - 3607 -23.2 - - - - - - - 25.09 25.95 26.60
266 22.2 -14.5 42 273 done -0.54 - - 2839 - 1.27 0.024 2437 -718.1 -184.9 - - 3608 - - - - - - - - - 26.38 -
457 48.5 -11.9 62 462 roll -0.52 - - 2839 - 1.45 0.050 3339 622.1 -184.9 - - 3608 - - - - - - - - - 26.10 -
481 51.4 -11.8 64 487 done -0.50 0.08 0.114 2870 387.5 1.20 0.024 2488 -709.2 -184.9 - - 3608 - - - - - - - - 26.13 26.44 -
689 70.5 -8.9 74 694 roll -0.59 - - 2870 - 1.38 0.050 3342 618.8 -184.9 - - 3608 - - - - - - - - - 26.12 -
722 72.8 -8.8 75 729 done -0.67 0.10 0.048 2795 -750.0 1.23 0.024 2457 -719.5 -184.9 - - 3608 - - - - - - - - 26.32 26.46 -
920 95.8 -11.6 85 926 roll -0.64 0.12 0.150 2837 350.0 1.15 0.022 1644 -707.0 -184.9 - - 3608 - - - - - - - - 26.22 26.40 -
945 98.6 -11.2 86 950 done -0.61 - - 2837 - 1.27 0.041 2470 650.4 -184.9 - - 3608 - - - - - - - - - 26.22 -
1151 117.4 -9.4 96 1157 roll -0.66 - - 2837 - 1.38 0.050 3352 639.1 -184.9 - - 3610 - - - - - - - - - 26.14 -
1190 119.9 -9.4 97 1197 done -0.72 - - 2837 - 1.23 0.024 2473 -714.6 -184.9 - - 3609 - - - - - - - - - 26.47 -
1377 139.0 -9.5 107 1382 roll -0.77 0.12 0.086 2753 -700.0 1.20 0.023 1628 -704.2 -184.9 - - 3609 - - - - - - - - 26.51 26.39 -
1562 163.1 -12.8 116 1568 done -0.71 0.12 0.132 2797 366.7 1.33 0.041 2476 637.6 -184.9 - - 3609 - - - - - - - - 25.89 26.24 -
1769 182.7 -9.2 126 1774 roll -0.71 - - 2797 - 1.38 0.050 3353 635.5 -184.9 - - 3609 - - - - - - - - - 26.15 -
1827 187.1 -9.4 128 1834 done -0.71 - - 2797 - 1.23 0.025 2468 -719.5 -184.9 - - 3610 - - - - - - - - - 26.48 -
2014 206.1 -9.5 138 2019 roll -0.75 - - 2797 - 1.42 0.049 3357 626.1 -184.9 - - 3610 - - - - - - - - - 26.16 -
2092 212.3 -9.6 141 2099 done -0.77 - - 2796 - 1.23 0.025 2469 -722.0 -184.9 - - 3610 - - - - - - - - - 26.49 -
2281 229.4 -8.1 151 2287 roll -0.80 - - 2797 - 1.42 0.048 3359 626.8 -184.9 - - 3609 - - - - - - - - - 26.16 -
2382 236.4 -8.0 155 2389 done -0.84 - - 2797 - 1.23 0.025 2472 -721.1 -184.9 - - 3610 - - - - - - - - - 26.48 -
2567 253.1 -8.6 165 2572 roll -0.88 0.12 0.092 2726 -591.7 1.17 0.022 1643 -708.5 -184.9 - - 3609 - - - - - - - - 26.50 26.42 -
2586 253.1 -8.6 165 2593 done -0.92 - - 2725 - 1.30 0.043 2481 644.6 -184.9 - - 3609 - - - - - - - - - 26.23 -
2891 293.8 -12.3 181 2897 roll -0.86 0.12 0.171 2758 275.0 1.38 0.047 3385 655.1 -184.9 - - 3608 - - - - - - - - 26.24 26.15 -
2983 303.2 -11.1 185 2988 done -0.82 - - 2759 - 1.27 0.025 2468 -722.0 -184.9 - - 3608 - - - - - - - - - 26.48 -
3302 336.7 -10.4 201 3307 roll -0.79 - - 2758 - 1.15 0.024 1647 -713.9 -184.9 - - 3607 - - - - - - - - - 26.43 -
3340 339.3 -10.4 202 3347 done -0.76 0.08 0.140 2786 350.0 1.27 0.042 2468 646.5 -184.9 - - 3606 - - - - - - - - 25.98 26.24 -
3647 368.3 -8.3 218 3652 roll -0.79 - - 2786 - 1.38 0.050 3345 635.5 -184.9 - - 3605 - - - - - - - - - 26.15 -
3711 373.9 -8.4 221 3716 done -0.83 - - 2786 - 1.20 0.027 2489 -713.3 -184.9 - - 3606 - - - - - - - - - 26.48 -
4036 402.6 -9.2 237 4041 roll -0.86 - - 2786 - 1.23 0.026 1630 -698.4 -184.9 - - 3603 - - - - - - - - - 26.39 -
4101 408.5 -9.2 240 4107 done -0.89 0.08 0.063 2732 -675.0 1.33 0.041 2482 640.6 -184.9 - - 3603 - - - - - - - - 26.15 26.24 -
4425 442.1 -10.2 256 4431 roll -0.89 - - 2732 - 1.25 0.026 1627 -684.0 -184.9 - - 3601 - - - - - - - - - 26.41 -
4536 453.3 -10.9 261 4542 done -0.84 0.08 0.151 2757 312.5 1.33 0.042 2476 638.3 -184.9 - - 3600 - - - - - - - - 25.94 26.22 -
4856 484.2 -9.1 277 4861 roll -0.81 - - 2757 - 1.38 0.051 3347 631.2 -184.9 - - 3597 - - - - - - - - - 26.13 -
4893 486.3 -9.2 278 4900 done -0.79 - - 2757 - 1.25 0.027 2474 -698.4 -184.9 - - 3597 - - - - - - - - - 26.46 -
5199 516.4 -9.4 294 5205 roll -0.76 0.12 0.152 2799 350.0 1.23 0.024 1622 -692.7 -184.9 - - 3596 - - - - - - - - 26.22 26.39 -
5244 519.8 -8.4 296 5249 done -0.76 - - 2799 - 1.35 0.041 2483 637.8 -184.9 - - 3596 - - - - - - - - - 26.22 -
5569 543.1 -7.1 312 5574 roll -0.82 - - 2799 - 1.38 0.050 3354 631.2 -184.9 - - 3595 - - - - - - - - - 26.13 -
5615 546.5 -7.3 314 5621 done -0.87 0.10 0.052 2732 -670.0 1.27 0.028 2476 -691.3 -184.9 - - 3594 - - - - - - - - 26.30 26.45 -
5940 581.6 -11.7 330 5946 roll -0.83 0.12 0.164 2771 325.0 1.23 0.024 1627 -690.2 -184.9 - - 3593 - - - - - - - - 26.19 26.38 -
5970 584.3 -11.7 331 5975 done -0.79 - - 2771 - 1.33 0.042 2472 635.3 -184.9 - - 3593 - - - - - - - - - 26.20 -
6280 616.5 -10.1 344 6286 roll -0.79 - - 2771 - 1.40 0.051 3351 627.9 -184.9 - - 3591 - - - - - - - - - 26.10 -
6329 620.2 -10.1 345 6334 done -0.79 - - 2771 - 1.27 0.028 2482 -684.3 -184.9 - - 3591 - - - - - - - - - 26.44 -
6650 653.7 -10.0 356 6655 roll -0.81 - - 2771 - 1.42 0.051 3354 614.1 -184.9 - - 3590 - - - - - - - - - 26.09 -
6693 657.2 -9.9 357 6698 done -0.84 - - 2771 - 1.30 0.028 2459 -688.5 -184.9 - - 3589 - - - - - - - - - 26.44 -
7020 689.5 -9.5 368 7026 roll -0.86 - - 2771 - 1.45 0.052 3348 613.1 -184.9 - - 3588 - - - - - - - - - 26.08 -
7079 693.1 -9.4 369 7085 done -0.88 - - 2771 - 1.27 0.029 2485 -679.5 -184.9 - - 3588 - - - - - - - - - 26.42 -
7388 720.9 -8.0 380 7393 roll -0.91 - - 2771 - 1.42 0.052 3357 614.1 -184.9 - - 3587 - - - - - - - - - 26.07 -
7441 723.9 -8.0 381 7448 done -0.94 0.08 0.070 2726 -562.5 1.30 0.028 2470 -682.3 -184.9 - - 3589 - - - - - - - - 26.23 26.42 -
7759 757.1 -10.2 392 7765 roll -0.88 - - 2726 - 1.23 0.026 1620 -691.1 -184.9 - - 3585 - - - - - - - - - 26.38 -
7833 763.8 -10.1 394 7839 done -0.83 0.10 0.138 2760 340.0 1.35 0.044 2473 631.9 -184.9 - - 3585 - - - - - - - - 25.83 26.15 -
8160 794.1 -9.3 405 8166 roll -0.83 - - 2760 - 1.40 0.054 3351 627.1 -184.9 - - 3583 - - - - - - - - - 26.03 -
8213 797.8 -9.6 406 8218 done -0.83 - - 2760 - 1.30 0.028 2466 -680.8 -184.9 - - 3583 - - - - - - - - - 26.41 -
8526 831.7 -10.2 417 8531 roll -0.83 - - 2760 - 1.45 0.052 3350 609.7 -184.9 - - 3582 - - - - - - - - - 26.04 -
8561 835.1 -10.2 418 8567 done -0.83 - - 2762 - 1.30 0.028 2468 -678.5 -184.9 - - 3582 - - - - - - - - - 26.41 -
8897 868.0 -9.6 429 8903 roll -0.83 - - 2760 - 1.45 0.053 3352 609.7 -184.9 - - 3581 - - - - - - - - - 26.02 -
8922 868.0 -9.6 429 8927 done -0.83 - - 2760 - 1.27 0.029 2483 -684.3 -184.9 - - 3581 - - - - - - - - - 26.40 -
9238 899.1 -9.0 440 9239 done -0.83 - - 2760 - - - 2481 - -184.9 - - 3580 - - - - - - - - - - -
9536 926.0 -9.2 450 9541 roll -0.83 - - 2760 - 1.25 0.026 1619 -689.6 -184.9 - - 3579 - - - - - - - - - 26.36 -
9584 929.1 -9.2 451 9589 done -0.83 - - 2760 - 1.35 0.044 2470 630.4 -184.9 - - 3578 - - - - - - - - - 26.10 -
9902 959.9 -9.2 462 9908 roll -0.83 - - 2760 - 1.42 0.054 3358 625.4 -184.9 - - 3578 - - - - - - - - - 25.99 -
9932 959.9 -9.2 462 9938 done -0.83 - - 2760 - 1.30 0.029 2482 -673.8 -184.9 - - 3578 - - - - - - - - - 26.39 -
10234 end dive: TARGET_DEPTH_EXCEEDED
10234 begin apogee
10243 990.3 -9.1 473 10418 done -0.17 0.65 0.116 2978 335.4 - - 2104 - - 162.60 1.484 2851 -4.5 0.333 - - - - - - 25.58 - 22.49
10420 end apogee: CONTROL_FINISHED_OK
10420 begin climb
10423 999.6 - 479 10610 roll 0.57 0.65 0.054 3230 387.7 1.38 0.032 1275 -600.7 184.9 179.07 1.437 2097 -4.2 0.327 - - - - - - 24.60 23.74 21.96
10666 988.1 9.1 487 10672 done 0.50 0.08 0.128 3201 -362.5 1.40 0.039 2118 602.1 187.4 - - 2091 - - - - - - - - 24.64 24.81 -
10996 958.1 9.0 498 11010 roll 0.47 - - 3201 - 1.42 0.047 3013 630.3 192.4 6.43 1.109 2069 -3.4 0.330 - - - - - - - 25.99 23.86
11210 936.8 10.1 505 11216 done 0.42 0.08 0.138 3176 -312.5 1.30 0.026 2156 -659.2 192.4 - - 2067 - - - - - - - - 26.01 26.34 -
11544 909.6 8.0 516 11582 roll 0.44 - - 3176 - 1.40 0.032 1243 -652.1 226.3 32.42 1.398 1929 -4.3 0.309 - - - - - - - 25.59 23.69
11621 904.4 8.2 518 11655 done 0.45 - - 3176 - 1.40 0.039 2125 630.0 255.0 27.90 1.369 1813 -4.2 0.306 - - - - - - - 25.83 23.58
11969 872.3 8.8 530 11983 roll 0.45 - - 3176 - 1.42 0.047 3009 622.5 264.9 9.65 1.226 1773 -4.1 0.329 - - - - - - - 25.97 23.91
12112 860.7 9.3 534 12118 done 0.45 - - 3180 - 1.35 0.027 2125 -654.8 264.9 - - 1772 - - - - - - - - - 26.28 -
12428 833.2 7.9 545 12468 done 0.47 - - 3180 - - - 2125 - 303.9 37.62 1.369 1613 -4.2 0.287 - - - - - - - - 23.69
12759 807.5 7.7 556 12806 roll 0.57 0.12 0.088 3269 741.7 1.35 0.033 1236 -658.5 346.8 40.15 1.347 1438 -4.4 0.291 - - - - - - 26.33 25.44 23.68
12882 793.6 11.1 560 12889 done 0.57 0.12 0.123 3215 -450.0 1.40 0.038 2117 629.3 346.8 - - 1435 - - - - - - - - 25.63 25.89 -
13217 762.7 9.1 571 13223 roll 0.57 - - 3215 - 1.38 0.046 2997 637.7 349.8 - - 1434 - - - - - - - - - 26.17 -
13301 756.1 9.7 573 13307 done 0.57 - - 3215 - 1.35 0.028 2093 -669.6 349.8 - - 1434 - - - - - - - - - 26.34 -
13618 725.2 9.1 584 13629 roll 0.57 - - 3215 - 1.25 0.032 1251 -673.6 352.1 5.62 1.003 1417 -3.0 0.244 - - - - - - - 26.19 24.03
13654 721.8 9.1 585 13659 done 0.57 - - 3215 - 1.38 0.038 2128 635.5 353.9 - - 1415 - - - - - - - - - 26.20 -
13990 692.1 8.7 596 14012 roll 0.60 - - 3215 - 1.35 0.044 3010 653.3 368.9 17.10 1.235 1348 -3.9 0.245 - - - - - - - 25.89 23.92
14126 679.8 9.9 600 14131 done 0.60 - - 3215 - 1.33 0.027 2139 -654.9 368.9 - - 1346 - - - - - - - - - 26.23 -
14447 647.8 9.6 611 14452 roll 0.69 0.12 0.091 3298 691.7 1.35 0.031 1241 -665.2 368.9 - - 1344 - - - - - - - - 26.41 26.25 -
14522 639.6 11.0 613 14528 done 0.73 - - 3296 - 1.38 0.038 2124 639.9 368.9 - - 1344 - - - - - - - - - 26.21 -
14849 590.8 14.5 625 14855 roll 0.69 0.12 0.152 3254 -350.0 1.35 0.044 3015 660.0 368.9 - - 1344 - - - - - - - - 26.20 26.17 -
14908 584.6 14.0 627 14915 done 0.65 - - 3256 - 1.35 0.027 2096 -680.7 368.9 - - 1344 - - - - - - - - - 26.36 -
15213 547.1 11.2 643 15214 done 0.65 - - 3256 - - - 2095 - 368.9 - - 1344 - - - - - - - - - - -
15516 512.2 12.0 658 15521 roll 0.65 - - 3256 - 1.42 0.043 2996 634.5 368.9 - - 1344 - - - - - - - - - 26.17 -
15540 508.9 12.1 659 15545 done 0.65 - - 3256 - 1.30 0.028 2113 -679.2 368.9 - - 1344 - - - - - - - - - 26.36 -
15863 471.6 11.2 675 15864 done 0.65 - - 3256 - - - 2114 - 368.9 - - 1344 - - - - - - - - - - -
16165 440.7 9.7 690 16170 roll 0.65 - - 3256 - 1.40 0.043 2996 630.0 368.9 - - 1344 - - - - - - - - - 26.15 -
16209 435.9 10.2 692 16215 done 0.65 - - 3260 - 1.30 0.028 2122 -672.3 368.9 - - 1344 - - - - - - - - - 26.35 -
16533 401.9 10.8 708 16538 roll 0.65 - - 3266 - 1.30 0.034 1254 -667.7 368.9 - - 1344 - - - - - - - - - 26.26 -
16557 399.3 10.8 709 16562 done 0.65 - - 3266 - 1.35 0.037 2119 640.7 368.9 - - 1344 - - - - - - - - - 26.21 -
16881 361.8 11.3 725 16886 roll 0.65 - - 3266 - 1.38 0.047 3000 638.4 368.9 - - 1344 - - - - - - - - - 26.13 -
16996 349.5 12.0 730 17002 done 0.65 - - 3268 - 1.30 0.028 2110 -684.6 368.9 - - 1344 - - - - - - - - - 26.35 -
17310 314.9 10.7 746 17316 roll 0.65 - - 3268 - 1.27 0.035 1261 -668.5 368.9 - - 1344 - - - - - - - - - 26.24 -
17340 312.5 10.4 747 17345 done 0.65 - - 3268 - 1.33 0.036 2120 645.9 368.9 - - 1346 - - - - - - - - - 26.20 -
17658 281.8 8.7 763 17678 roll 0.66 - - 3268 - 1.35 0.044 2996 648.9 382.7 13.62 0.942 1292 -4.0 0.132 - - - - - - - 25.97 24.03
17794 270.7 8.9 769 17809 done 0.66 - - 3268 - 1.27 0.027 2128 -683.5 390.4 8.95 0.877 1259 -3.7 0.127 - - - - - - - 26.25 24.06
18128 241.5 9.2 786 18130 done 0.69 - - 3268 - - - 2128 - 390.4 - - 1258 - - - - - - - - - - -
18308 223.9 9.8 795 18313 roll 0.76 - - 3268 - 1.38 0.043 2999 631.2 390.4 - - 1258 - - - - - - - - - 26.13 -
18396 215.6 9.9 799 18402 done 0.81 - - 3268 - 1.30 0.026 2132 -666.9 390.4 - - 1258 - - - - - - - - - 26.38 -
18598 197.4 8.5 809 18624 roll 0.88 0.12 0.086 3352 700.0 1.38 0.041 3005 632.6 410.4 18.55 0.897 1178 -4.3 0.106 - - - - - - 26.46 25.96 24.18
18667 189.9 10.5 812 18673 done 0.88 0.10 0.138 3323 -290.0 1.35 0.028 2098 -671.9 410.4 - - 1178 - - - - - - - - 25.79 26.14 -
18869 167.9 10.7 822 18874 roll 0.86 - - 3324 - 1.25 0.035 1265 -666.4 410.4 - - 1178 - - - - - - - - - 26.18 -
18882 167.9 10.7 822 18888 done 0.84 - - 3324 - 1.33 0.037 2120 642.9 410.4 - - 1177 - - - - - - - - - 26.15 -
19077 144.9 11.2 832 19082 roll 0.84 - - 3324 - 1.35 0.046 2997 649.6 410.4 - - 1178 - - - - - - - - - 26.12 -
19161 134.6 12.1 836 19166 done 0.81 - - 3324 - 1.27 0.027 2123 -688.2 410.4 - - 1178 - - - - - - - - - 26.34 -
19365 112.5 11.0 846 19370 roll 0.81 - - 3324 - 1.27 0.034 1266 -674.8 410.4 - - 1178 - - - - - - - - - 26.26 -
19398 109.8 11.0 847 19403 done 0.81 - - 3324 - 1.33 0.037 2123 644.4 410.4 - - 1177 - - - - - - - - - 26.20 -
19592 88.2 10.3 857 19598 roll 0.81 - - 3324 - 1.35 0.046 2997 647.4 410.4 - - 1177 - - - - - - - - - 26.15 -
19660 81.6 10.0 860 19665 done 0.81 - - 3324 - 1.27 0.026 2122 -689.0 410.4 - - 1177 - - - - - - - - - 26.38 -
19863 64.8 8.1 870 19901 roll 0.87 - - 3324 - 1.40 0.041 2997 625.0 443.4 29.42 0.796 1044 -4.5 0.041 - - - - - - - 25.87 24.30
19962 57.9 8.0 874 20000 done 0.94 - - 3324 - 1.30 0.026 2109 -683.1 478.2 31.27 0.779 902 -4.5 0.038 - - - - - - - 26.14 24.21
20190 36.1 8.4 893 20217 roll 1.11 0.17 0.084 3404 470.6 1.33 0.034 1255 -642.1 502.6 22.35 0.744 803 -4.4 0.024 - - - - - - 26.17 25.88 24.37
20262 29.7 9.7 899 20270 done 1.15 - - 3404 - 1.35 0.037 2123 643.0 502.6 - - 801 - - - - - - - - - 25.96 -
20451 7.9 10.6 932 20458 roll 1.15 - - 3404 - 1.35 0.044 3001 650.4 502.6 - - 800 - - - - - - - - - 26.10 -
20494 end climb: SURFACE_DEPTH_REACHED
20494 begin surface coast
20507 end surface coast: CONTROL_FINISHED_OK
20507 begin surface
SM 2.57 - - - - -9.01 8.52 0.046 140 -383.1 0.75 0.028 2467 -712.0 503.85 - - 799 - - - - - - - -