OKMC Nov12 * SG170 * Dive index * Mission links * Dive 376 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 76.97 of 150.00 AH used of 24V (48.69% remains)
• Previous NAKs 0, Timeouts 0 • 38.33 of 100.00 AH used of 10V (61.67% remains)
• Surface angle -76.6 deg, depth 2.60 m • Intended pitch -14.8 deg, speed -8.919 cm/s
• No surface pump (final VBD was 511.70, SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 16 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
21 - - - 79 VBD -0.51 - - 135 - - - 2476 - -180.0 -55.10 - 2003 - - - - - - - - - - -
82 3.1 -1.6 10 168 roll -0.51 11.45 0.237 2876 239.4 1.45 0.080 3353 604.8 -180.0 -62.92 - 3587 -25.2 - - - - - - - 25.01 26.01 26.60
264 19.5 -15.4 42 271 done -0.49 - - 2876 - 1.30 0.024 2452 -693.1 -180.0 - - 3587 - - - - - - - - - 26.40 -
454 44.3 -12.7 64 460 roll -0.47 - - 2877 - 1.20 0.031 1623 -690.8 -180.0 - - 3587 - - - - - - - - - 26.34 -
539 54.6 -11.9 71 545 done -0.46 - - 2877 - 1.33 0.047 2467 634.6 -180.0 - - 3587 - - - - - - - - - 26.20 -
744 80.0 -12.6 81 745 done -0.45 - - 2877 - - - 2466 - -180.0 - - 3588 - - - - - - - - - - -
924 101.2 -11.4 90 929 roll -0.45 - - 2877 - 1.27 0.037 1638 -652.0 -180.0 - - 3587 - - - - - - - - - 26.28 -
942 101.2 -11.4 90 948 done -0.45 - - 2877 - 1.30 0.042 2476 644.6 -180.0 - - 3588 - - - - - - - - - 26.27 -
1128 119.8 -8.7 100 1133 roll -0.49 - - 2877 - 1.38 0.050 3360 640.6 -180.0 - - 3588 - - - - - - - - - 26.24 -
1163 121.9 -8.8 101 1168 done -0.53 - - 2877 - 1.27 0.024 2464 -705.5 -180.0 - - 3588 - - - - - - - - - 26.52 -
1358 137.7 -7.9 111 1365 roll -0.60 - - 2877 - 1.40 0.047 3349 632.1 -180.0 - - 3589 - - - - - - - - - 26.24 -
1494 149.3 -9.3 117 1500 done -0.67 0.10 0.054 2802 -750.0 1.25 0.024 2489 -688.0 -180.0 - - 3591 - - - - - - - - 26.37 26.53 -
1691 170.3 -10.1 127 1696 roll -0.68 - - 2802 - 1.38 0.047 3359 630.4 -180.0 - - 3589 - - - - - - - - - 26.26 -
1756 176.8 -9.9 130 1761 done -0.68 - - 2802 - 1.27 0.023 2474 -696.9 -180.0 - - 3589 - - - - - - - - - 26.53 -
1961 197.1 -9.6 140 1967 roll -0.66 0.12 0.156 2845 358.3 1.25 0.027 1608 -692.8 -180.0 - - 3589 - - - - - - - - 26.29 26.41 -
2021 200.9 -8.7 142 2027 done -0.66 - - 2845 - 1.35 0.043 2478 644.4 -180.0 - - 3589 - - - - - - - - - 26.30 -
2206 215.5 -7.2 152 2211 roll -0.71 - - 2845 - 1.27 0.030 1613 -681.1 -180.0 - - 3589 - - - - - - - - - 26.42 -
2284 220.3 -7.5 155 2292 done -0.76 0.08 0.057 2781 -800.0 1.35 0.044 2480 642.2 -180.0 - - 3588 - - - - - - - - 26.25 26.29 -
2471 240.0 -10.5 165 2477 roll -0.77 - - 2781 - 1.35 0.051 3350 644.4 -180.0 - - 3588 - - - - - - - - - 26.25 -
2561 249.0 -10.4 169 2566 done -0.76 - - 2781 - 1.27 0.023 2471 -692.1 -180.0 - - 3588 - - - - - - - - - 26.54 -
2760 268.7 -9.2 179 2765 roll -0.74 - - 2781 - 1.25 0.028 1604 -693.6 -180.0 - - 3587 - - - - - - - - - 26.43 -
2915 284.5 -11.1 186 2921 done -0.73 0.08 0.131 2810 362.5 1.35 0.044 2469 640.7 -180.0 - - 3587 - - - - - - - - 26.06 26.29 -
3229 315.9 -9.0 202 3235 roll -0.73 - - 2810 - 1.38 0.050 3353 640.6 -180.0 - - 3585 - - - - - - - - - 26.25 -
3254 318.0 -8.8 203 3260 done -0.73 - - 2811 - 1.27 0.024 2465 -699.2 -180.0 - - 3584 - - - - - - - - - 26.54 -
3579 344.3 -7.7 219 3584 roll -0.73 - - 2813 - 1.23 0.028 1614 -691.9 -180.0 - - 3582 - - - - - - - - - 26.43 -
3667 350.9 -7.9 223 3673 done -0.73 - - 2811 - 1.35 0.041 2483 643.7 -180.0 - - 3582 - - - - - - - - - 26.30 -
3986 378.7 -9.0 239 3991 roll -0.76 - - 2810 - 1.38 0.051 3360 635.5 -180.0 - - 3580 - - - - - - - - - 26.25 -
4034 382.5 -9.0 241 4039 done -0.79 - - 2811 - 1.27 0.025 2451 -715.7 -180.0 - - 3579 - - - - - - - - - 26.53 -
4354 408.6 -7.1 257 4359 roll -0.83 - - 2811 - 1.45 0.047 3360 626.9 -180.0 - - 3579 - - - - - - - - - 26.24 -
4440 413.9 -6.3 261 4445 done -0.86 0.08 0.065 2752 -737.5 1.25 0.025 2468 -713.6 -180.0 - - 3577 - - - - - - - - 26.37 26.53 -
4765 439.0 -7.6 277 4771 roll -0.83 - - 2752 - 1.17 0.027 1642 -706.0 -180.0 - - 3574 - - - - - - - - - 26.45 -
4850 445.8 -8.0 281 4856 done -0.80 0.10 0.132 2789 370.0 1.30 0.042 2475 640.8 -180.0 - - 3574 - - - - - - - - 26.02 26.28 -
5175 470.3 -8.4 297 5180 roll -0.80 - - 2789 - 1.38 0.052 3348 632.6 -180.0 - - 3572 - - - - - - - - - 26.22 -
5218 474.2 -8.6 299 5223 done -0.80 - - 2789 - 1.25 0.026 2476 -697.6 -180.0 - - 3572 - - - - - - - - - 26.52 -
5541 504.6 -9.8 315 5546 roll -0.80 - - 2789 - 1.20 0.028 1635 -700.8 -180.0 - - 3570 - - - - - - - - - 26.44 -
5594 509.1 -10.2 317 5599 done -0.80 - - 2789 - 1.33 0.042 2482 636.8 -180.0 - - 3569 - - - - - - - - - 26.27 -
5910 541.2 -9.6 333 5915 roll -0.80 - - 2789 - 1.38 0.052 3353 631.2 -180.0 - - 3568 - - - - - - - - - 26.21 -
5943 543.7 -9.6 334 5948 done -0.80 - - 2789 - 1.25 0.027 2480 -698.4 -180.0 - - 3567 - - - - - - - - - 26.51 -
6256 574.0 -8.4 350 6262 roll -0.80 - - 2789 - 1.23 0.028 1625 -695.1 -180.0 - - 3566 - - - - - - - - - 26.44 -
6325 579.6 -8.5 353 6330 done -0.80 - - 2789 - 1.33 0.041 2476 639.8 -180.0 - - 3565 - - - - - - - - - 26.28 -
6643 605.9 -8.4 368 6648 roll -0.80 - - 2789 - 1.38 0.052 3348 631.9 -180.0 - - 3564 - - - - - - - - - 26.19 -
6677 608.9 -8.4 369 6682 done -0.80 - - 2789 - 1.27 0.027 2469 -692.1 -180.0 - - 3563 - - - - - - - - - 26.50 -
7014 637.1 -8.5 380 7020 roll -0.80 - - 2789 - 1.20 0.026 1623 -705.0 -180.0 - - 3562 - - - - - - - - - 26.44 -
7057 640.3 -8.4 381 7063 done -0.80 - - 2789 - 1.33 0.042 2470 636.8 -180.0 - - 3562 - - - - - - - - - 26.26 -
7384 668.2 -8.5 392 7389 roll -0.80 - - 2789 - 1.40 0.051 3355 632.1 -180.0 - - 3561 - - - - - - - - - 26.17 -
7458 674.0 -8.7 394 7464 done -0.80 - - 2789 - 1.27 0.028 2469 -697.6 -180.0 - - 3560 - - - - - - - - - 26.48 -
7785 703.6 -8.7 405 7790 roll -0.80 - - 2789 - 1.42 0.051 3349 619.7 -180.0 - - 3559 - - - - - - - - - 26.16 -
7828 706.6 -8.6 406 7833 done -0.80 - - 2789 - 1.25 0.028 2478 -696.8 -180.0 - - 3558 - - - - - - - - - 26.48 -
8153 732.8 -7.5 417 8159 roll -0.80 - - 2789 - 1.42 0.053 3351 614.8 -180.0 - - 3557 - - - - - - - - - 26.14 -
8188 735.6 -7.6 418 8193 done -0.80 - - 2789 - 1.27 0.028 2475 -689.8 -180.0 - - 3557 - - - - - - - - - 26.48 -
8525 760.4 -7.4 429 8530 roll -0.80 - - 2789 - 1.23 0.027 1623 -692.7 -180.0 - - 3555 - - - - - - - - - 26.43 -
8578 763.3 -7.5 430 8583 done -0.80 - - 2789 - 1.35 0.043 2481 635.6 -180.0 - - 3555 - - - - - - - - - 26.22 -
8893 791.0 -8.8 441 8899 roll -0.80 - - 2789 - 1.25 0.026 1626 -684.0 -180.0 - - 3554 - - - - - - - - - 26.42 -
8931 794.3 -9.0 442 8936 done -0.80 - - 2789 - 1.33 0.043 2467 632.3 -180.0 - - 3554 - - - - - - - - - 26.22 -
9262 827.7 -10.3 453 9263 done -0.80 - - 2789 - - - 2467 - -180.0 - - 3553 - - - - - - - - - - -
9559 857.3 -9.8 463 9565 roll -0.80 - - 2789 - 1.40 0.053 3349 630.0 -180.0 - - 3552 - - - - - - - - - 26.11 -
9602 860.5 -9.8 464 9608 done -0.80 - - 2789 - 1.27 0.028 2473 -689.8 -180.0 - - 3551 - - - - - - - - - 26.46 -
9929 889.4 -8.2 475 9934 roll -0.80 - - 2789 - 1.45 0.054 3356 609.0 -180.0 - - 3551 - - - - - - - - - 26.09 -
9993 894.6 -8.1 477 9998 done -0.80 - - 2789 - 1.30 0.028 2472 -680.0 -180.0 - - 3551 - - - - - - - - - 26.45 -
10329 919.2 -7.2 488 10334 roll -0.80 - - 2789 - 1.45 0.054 3353 607.6 -180.0 - - 3549 - - - - - - - - - 26.08 -
10372 921.7 -7.0 489 10377 done -0.80 - - 2789 - 1.27 0.029 2483 -685.0 -180.0 - - 3549 - - - - - - - - - 26.45 -
10699 943.2 -6.6 500 10705 roll -0.80 - - 2789 - 1.42 0.054 3353 612.7 -180.0 - - 3548 - - - - - - - - - 26.08 -
10734 946.0 -6.7 501 10739 done -0.80 - - 2789 - 1.30 0.029 2471 -678.5 -180.0 - - 3548 - - - - - - - - - 26.44 -
11070 972.6 -8.3 512 11075 roll -0.80 - - 2789 - 1.23 0.027 1621 -691.1 -180.0 - - 3547 - - - - - - - - - 26.41 -
11134 978.3 -8.4 514 11139 done -0.80 - - 2789 - 1.35 0.044 2468 627.4 -180.0 - - 3547 - - - - - - - - - 26.16 -
11285 end dive: TARGET_DEPTH_EXCEEDED
11285 begin apogee
11293 991.9 -8.8 519 11457 done -0.15 0.62 0.114 3001 341.9 - - 2104 - - 156.02 1.481 2852 -4.5 0.331 - - - - - - 25.69 - 22.61
11459 end apogee: CONTROL_FINISHED_OK
11459 begin climb
11462 999.4 - 524 11651 roll 0.51 0.57 0.050 3219 382.5 1.62 0.047 2998 551.9 180.0 173.38 1.442 2118 -4.2 0.326 - - - - - - 24.58 23.71 22.06
11688 988.5 9.1 532 11694 done 0.46 - - 3225 - 1.35 0.027 2146 -631.1 180.0 - - 2113 - - - - - - - - - 24.70 -
12023 952.3 10.7 543 12028 roll 0.42 0.12 0.164 3188 -308.3 1.35 0.031 1252 -662.2 180.0 - - 2107 - - - - - - - - 26.01 26.17 -
12087 945.8 10.0 545 12092 done 0.39 - - 3187 - 1.38 0.040 2122 630.4 180.0 - - 2106 - - - - - - - - - 26.15 -
12425 915.9 9.1 556 12430 roll 0.37 - - 3187 - 1.38 0.049 2997 634.1 180.0 - - 2105 - - - - - - - - - 26.21 -
12649 894.6 9.7 563 12654 done 0.35 - - 3189 - 1.30 0.027 2114 -679.2 180.0 - - 2105 - - - - - - - - - 26.39 -
12974 863.6 9.2 574 12980 roll 0.33 0.12 0.158 3148 -341.7 1.38 0.042 3008 647.8 180.0 - - 2103 - - - - - - - - 26.22 26.22 -
13119 853.6 7.8 578 13159 done 0.34 - - 3147 - 1.33 0.027 2108 -676.7 214.3 30.33 1.373 1977 -4.2 0.287 - - - - - - - 26.41 23.75
13460 827.1 8.0 590 13491 roll 0.37 - - 3147 - 1.50 0.044 3008 600.0 241.9 26.10 1.349 1865 -4.3 0.292 - - - - - - - 25.63 23.87
13585 815.9 9.0 594 13590 done 0.39 - - 3147 - 1.33 0.027 2148 -646.6 241.9 - - 1861 - - - - - - - - - 26.10 -
13922 790.7 7.5 605 13963 done 0.43 0.12 0.092 3218 591.7 - - 2147 - 283.9 38.70 1.346 1695 -4.3 0.280 - - - - - - 26.41 - 23.80
14251 754.3 11.5 616 14253 done 0.42 0.12 0.145 3180 -316.7 - - 2148 - 283.9 - - 1690 - - - - - - - - 26.15 - -
14552 729.2 7.9 626 14584 roll 0.45 - - 3180 - 1.35 0.042 3007 636.3 313.7 27.15 1.291 1573 -4.3 0.270 - - - - - - - 25.70 23.99
14613 724.2 7.8 628 14651 done 0.48 - - 3184 - 1.38 0.027 2121 -642.0 348.2 32.15 1.278 1433 -4.4 0.274 - - - - - - - 25.94 23.73
14975 695.5 8.2 640 15005 roll 0.57 0.12 0.097 3255 591.7 1.45 0.044 3006 610.3 370.0 20.00 1.235 1344 -4.5 0.278 - - - - - - 26.29 25.77 24.08
15104 680.8 11.6 644 15110 done 0.58 - - 3254 - 1.35 0.028 2098 -672.6 370.0 - - 1343 - - - - - - - - - 26.13 -
15435 639.3 12.0 655 15440 roll 0.57 - - 3255 - 1.25 0.034 1258 -672.0 370.0 - - 1341 - - - - - - - - - 26.30 -
15484 635.2 11.7 656 15489 done 0.57 - - 3254 - 1.35 0.038 2127 643.7 370.0 - - 1341 - - - - - - - - - 26.24 -
15804 599.5 10.3 667 15810 roll 0.57 - - 3254 - 1.35 0.047 2997 644.4 370.0 - - 1340 - - - - - - - - - 26.22 -
15940 585.3 11.3 673 15945 done 0.55 - - 3255 - 1.30 0.028 2111 -681.5 370.0 - - 1340 - - - - - - - - - 26.40 -
16253 551.5 10.8 689 16258 roll 0.55 - - 3254 - 1.40 0.044 2997 632.9 370.0 - - 1340 - - - - - - - - - 26.22 -
16301 546.4 11.2 691 16308 done 0.54 0.08 0.126 3225 -362.5 1.30 0.028 2115 -678.5 370.0 - - 1340 - - - - - - - - 26.11 26.40 -
16622 513.9 10.2 707 16627 roll 0.56 - - 3225 - 1.40 0.044 3002 633.6 370.0 - - 1339 - - - - - - - - - 26.22 -
16650 511.5 10.2 708 16656 done 0.57 - - 3226 - 1.30 0.028 2135 -666.9 370.0 - - 1340 - - - - - - - - - 26.41 -
16970 481.4 8.5 724 16990 roll 0.60 - - 3225 - 1.38 0.042 3006 631.2 382.4 12.52 1.069 1292 -3.8 0.192 - - - - - - - 26.04 24.05
17035 476.5 7.8 727 17074 done 0.63 - - 3226 - 1.35 0.027 2111 -663.0 415.9 30.90 1.121 1156 -4.4 0.208 - - - - - - - 26.23 23.93
17375 454.1 7.0 744 17434 roll 0.73 0.15 0.088 3305 526.7 1.38 0.033 1245 -627.5 473.9 52.45 1.112 921 -4.5 0.203 - - - - - - 26.27 25.43 23.87
17454 449.2 8.2 747 17481 done 0.80 - - 3305 - 1.40 0.035 2126 629.3 496.0 21.95 1.050 830 -4.1 0.197 - - - - - - - 25.63 23.82
17778 413.6 11.7 764 17783 roll 0.87 - - 3305 - 1.35 0.031 1239 -657.0 496.0 - - 828 - - - - - - - - - 26.20 -
17831 408.8 11.3 766 17837 done 0.94 0.10 0.054 3391 860.0 1.38 0.035 2124 641.3 496.0 - - 828 - - - - - - - - 26.14 26.16 -
18146 340.8 20.7 782 18152 roll 0.87 0.17 0.159 3338 -311.8 1.33 0.045 3001 659.4 496.0 - - 828 - - - - - - - - 25.98 26.18 -
18243 325.8 17.8 786 18249 done 0.83 - - 3339 - 1.33 0.028 2099 -678.2 496.0 - - 827 - - - - - - - - - 26.37 -
18558 281.0 15.0 802 18564 roll 0.82 - - 3340 - 1.25 0.034 1260 -671.2 496.0 - - 826 - - - - - - - - - 26.34 -
18584 277.3 15.1 803 18589 done 0.81 - - 3338 - 1.33 0.037 2120 646.6 496.0 - - 826 - - - - - - - - - 26.27 -
18907 232.7 13.1 819 18913 roll 0.81 - - 3338 - 1.35 0.046 2992 645.9 496.0 - - 825 - - - - - - - - - 26.21 -
19023 218.3 14.0 824 19028 done 0.79 0.10 0.123 3300 -380.0 1.27 0.027 2119 -687.4 496.0 - - 825 - - - - - - - - 26.06 26.41 -
19220 195.5 10.8 834 19225 roll 0.81 - - 3300 - 1.27 0.033 1255 -680.3 496.0 - - 825 - - - - - - - - - 26.34 -
19249 192.8 10.9 835 19254 done 0.83 - - 3300 - 1.33 0.035 2119 649.6 496.0 - - 825 - - - - - - - - - 26.28 -
19450 171.6 9.7 845 19455 roll 0.89 0.12 0.096 3378 650.0 1.35 0.044 3019 666.7 496.0 - - 825 - - - - - - - - 26.46 26.19 -
19534 160.6 12.8 849 19540 done 0.89 0.12 0.138 3338 -333.3 1.33 0.027 2120 -675.9 496.0 - - 825 - - - - - - - - 25.96 26.41 -
19740 136.0 12.4 859 19745 roll 0.89 - - 3338 - 1.27 0.033 1252 -683.5 496.0 - - 825 - - - - - - - - - 26.33 -
19778 132.9 12.6 860 19784 done 0.89 - - 3338 - 1.33 0.034 2121 653.4 496.0 - - 825 - - - - - - - - - 26.29 -
19965 110.0 11.3 870 19966 done 0.92 - - 3338 - - - 2121 - 496.0 - - 825 - - - - - - - - - - -
20145 91.5 9.9 879 20150 roll 0.99 - - 3338 - 1.35 0.045 2995 647.4 496.0 - - 827 - - - - - - - - - 26.21 -
20326 76.9 8.4 887 20347 done 1.07 0.12 0.047 3412 616.7 1.27 0.025 2119 -689.8 510.7 13.68 0.738 770 -4.2 0.048 - - - - - - 26.32 26.44 24.20
20535 51.8 10.8 898 20540 roll 1.07 - - 3416 - 1.27 0.034 1258 -678.0 510.7 - - 768 - - - - - - - - - 26.26 -
20568 48.4 10.4 900 20575 done 1.07 - - 3417 - 1.33 0.036 2121 648.9 510.7 - - 768 - - - - - - - - - 26.22 -
20763 25.8 12.1 919 20769 roll 1.06 - - 3417 - 1.35 0.046 2995 647.4 510.7 - - 768 - - - - - - - - - 26.20 -
20814 18.9 14.5 927 20821 done 1.03 0.10 0.119 3380 -370.0 1.27 0.025 2109 -697.6 510.7 - - 768 - - - - - - - - 26.07 26.41 -
20944 end climb: SURFACE_DEPTH_REACHED
20944 begin surface coast
20972 end surface coast: CONTROL_FINISHED_OK
20972 begin surface
SM 2.66 - - - - -9.07 8.45 0.047 132 -384.4 0.57 0.038 2482 654.4 511.70 - - 768 - - - - - - - -