OKMC Apr12 * SG170 * Dive index * Mission links * Dive 82 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 17.41 of 146.00 AH used of 24V (88.08% remains)
• Previous NAKs 0, Timeouts 0 • 7.26 of 97.50 AH used of 10V (92.55% remains)
• Surface angle -75.1 deg, depth 1.95 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 652.99, SM_CC=652.74329)
• GPS1 time: 35 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 102 VBD -0.46 - - 135 - - - 2671 - -194.6 -81.53 - 2675 - - - - - - - - - - -
104 3.1 -2.5 8 147 roll -0.46 10.23 0.243 2639 244.8 1.70 0.074 3683 595.3 -194.6 -24.70 - 3921 -50.4 - - - - - - - 25.65 26.10 26.53
240 37.0 -20.9 21 246 done -0.36 0.15 0.147 2683 293.3 1.50 0.028 2652 -687.3 -194.6 - - 3922 - - - - - - - - 25.99 26.32 -
564 67.8 -3.6 41 570 roll -0.41 - - 2684 - 2.00 0.030 1288 -682.0 -194.6 - - 3924 - - - - - - - - - 26.36 -
632 70.9 -4.6 44 638 done -0.49 0.12 0.088 2609 -625.0 2.12 0.042 2677 655.2 -194.6 - - 3924 - - - - - - - - 26.29 26.28 -
950 108.5 -12.3 60 956 roll -0.46 0.12 0.152 2650 341.7 1.60 0.054 3692 634.4 -194.6 - - 3923 - - - - - - - - 26.29 26.31 -
986 111.1 -11.8 61 993 done -0.44 - - 2650 - 1.52 0.031 2655 -682.2 -194.6 - - 3924 - - - - - - - - - 26.50 -
1294 132.5 -6.0 77 1299 roll -0.48 - - 2650 - 2.00 0.031 1287 -684.0 -194.6 - - 3923 - - - - - - - - - 26.48 -
1351 135.3 -6.5 79 1358 done -0.54 - - 2650 - 2.15 0.044 2679 647.4 -194.6 - - 3923 - - - - - - - - - 26.39 -
1657 158.1 -7.3 95 1663 roll -0.59 0.12 0.089 2574 -633.3 2.08 0.028 1277 -674.0 -194.6 - - 3922 - - - - - - - - 26.60 26.51 -
1701 162.9 -8.9 97 1706 done -0.62 - - 2574 - 2.12 0.046 2653 649.1 -194.6 - - 3922 - - - - - - - - - 26.41 -
2024 203.8 -12.3 113 2030 roll -0.57 0.12 0.167 2615 341.7 1.65 0.055 3700 634.5 -194.6 - - 3921 - - - - - - - - 26.37 26.41 -
2197 217.1 -7.3 121 2202 done -0.62 - - 2616 - 1.52 0.033 2670 -677.6 -194.6 - - 3920 - - - - - - - - - 26.60 -
2509 241.4 -7.7 137 2515 roll -0.65 - - 2615 - 2.03 0.028 1274 -687.7 -194.6 - - 3918 - - - - - - - - - 26.58 -
2582 246.0 -7.6 140 2587 done -0.68 - - 2615 - 2.12 0.043 2669 658.0 -194.6 - - 3918 - - - - - - - - - 26.47 -
2895 268.5 -6.2 156 2900 roll -0.71 0.12 0.086 2535 -666.7 2.05 0.028 1278 -678.5 -194.6 - - 3915 - - - - - - - - 26.67 26.58 -
2978 277.5 -11.0 160 2984 done -0.68 0.17 0.152 2586 300.0 2.12 0.046 2642 643.4 -194.6 - - 3915 - - - - - - - - 26.23 26.47 -
3302 304.5 -8.2 176 3307 roll -0.66 - - 2586 - 1.65 0.057 3698 640.0 -194.6 - - 3913 - - - - - - - - - 26.46 -
3420 312.5 -7.5 181 3427 done -0.66 - - 2586 - 1.55 0.032 2628 -690.3 -194.6 - - 3912 - - - - - - - - - 26.65 -
3724 339.1 -9.3 197 3730 roll -0.66 - - 2586 - 1.95 0.030 1273 -694.9 -194.6 - - 3910 - - - - - - - - - 26.60 -
3767 343.3 -9.6 199 3773 done -0.66 - - 2586 - 2.12 0.044 2641 645.3 -194.6 - - 3910 - - - - - - - - - 26.48 -
4090 377.6 -11.1 215 4095 roll -0.66 - - 2586 - 2.00 0.031 1276 -682.5 -194.6 - - 3907 - - - - - - - - - 26.60 -
4122 380.0 -11.1 216 4127 done -0.66 - - 2586 - 2.08 0.046 2625 648.6 -194.6 - - 3907 - - - - - - - - - 26.49 -
4433 418.2 -11.9 232 4435 done -0.66 - - 2586 - - - 2625 - -194.6 - - 3906 - - - - - - - - - - -
4735 452.8 -11.0 247 4736 done -0.66 - - 2586 - - - 2625 - -194.6 - - 3904 - - - - - - - - - - -
5035 482.6 -9.6 262 5041 roll -0.67 - - 2586 - 1.98 0.031 1279 -679.8 -194.6 - - 3901 - - - - - - - - - 26.60 -
5067 484.8 -9.4 263 5072 done -0.69 - - 2586 - 2.05 0.046 2613 650.7 -194.6 - - 3901 - - - - - - - - - 26.49 -
5380 511.4 -7.7 279 5385 roll -0.70 - - 2586 - 2.00 0.032 1270 -671.5 -194.6 - - 3901 - - - - - - - - - 26.58 -
5437 514.5 -7.6 281 5443 done -0.72 - - 2586 - 2.08 0.046 2604 641.3 -194.6 - - 3898 - - - - - - - - - 26.48 -
5742 534.7 -5.7 297 5743 done -0.74 - - 2586 - - - 2604 - -194.6 - - 3897 - - - - - - - - - - -
6044 548.8 -4.1 312 6049 roll -0.76 - - 2586 - 1.95 0.031 1278 -680.0 -194.6 - - 3895 - - - - - - - - - 26.59 -
6081 549.8 -4.0 313 6089 done -0.79 0.12 0.092 2523 -525.0 2.05 0.046 2594 642.0 -194.6 - - 3895 - - - - - - - - 26.48 26.48 -
6386 575.2 -8.8 329 6393 roll -0.73 0.12 0.150 2563 333.3 1.73 0.056 3699 638.7 -194.6 - - 3893 - - - - - - - - 26.46 26.42 -
6411 577.1 -8.6 330 6417 done -0.68 - - 2564 - 1.67 0.034 2593 -662.3 -194.6 - - 3893 - - - - - - - - - 26.64 -
6743 603.9 -9.8 346 6744 done -0.68 - - 2564 - - - 2593 - -194.6 - - 3892 - - - - - - - - - - -
7044 638.2 -11.9 356 7050 roll -0.68 - - 2564 - 1.92 0.031 1272 -688.0 -194.6 - - 3890 - - - - - - - - - 26.58 -
7071 638.2 -11.9 356 7077 done -0.68 - - 2564 - 2.05 0.047 2586 641.0 -194.6 - - 3890 - - - - - - - - - 26.45 -
7377 677.3 -11.2 367 7383 roll -0.68 - - 2564 - 1.77 0.059 3690 623.7 -194.6 - - 3888 - - - - - - - - - 26.41 -
7420 681.1 -11.3 368 7426 done -0.68 - - 2564 - 1.67 0.035 2576 -667.1 -194.6 - - 3888 - - - - - - - - - 26.63 -
7744 712.5 -8.6 379 7745 done -0.68 - - 2564 - - - 2576 - -194.6 - - 3886 - - - - - - - - - - -
8043 733.4 -6.2 389 8044 done -0.68 - - 2564 - - - 2577 - -194.6 - - 3885 - - - - - - - - - - -
8343 747.3 -4.4 399 8344 done -0.68 - - 2564 - - - 2576 - -194.6 - - 3884 - - - - - - - - - - -
8643 763.8 -6.0 409 8644 done -0.68 - - 2564 - - - 2576 - -194.6 - - 3883 - - - - - - - - - - -
8943 781.8 -6.0 419 8944 done -0.68 - - 2563 - - - 2576 - -194.6 - - 3882 - - - - - - - - - - -
9243 798.5 -5.4 429 9245 done -0.68 - - 2564 - - - 2576 - -194.6 - - 3880 - - - - - - - - - - -
9543 810.2 -3.2 439 9548 roll -0.68 - - 2564 - 1.90 0.032 1277 -683.7 -194.6 - - 3879 - - - - - - - - - 26.55 -
9579 811.2 -3.2 440 9584 done -0.68 - - 2564 - 2.08 0.047 2597 634.6 -194.6 - - 3878 - - - - - - - - - 26.41 -
9908 815.9 -0.8 451 9913 roll -0.69 - - 2563 - 1.95 0.033 1286 -672.3 -194.6 - - 3878 - - - - - - - - - 26.54 -
9931 815.9 -0.8 451 9936 done -0.71 - - 2564 - 2.03 0.047 2592 643.3 -194.6 - - 3878 - - - - - - - - - 26.40 -
10244 825.6 -4.2 462 10249 roll -0.71 - - 2563 - 1.75 0.060 3690 627.4 -194.6 - - 3877 - - - - - - - - - 26.33 -
10276 827.3 -4.6 463 10281 done -0.72 - - 2564 - 1.67 0.037 2577 -666.5 -194.6 - - 3877 - - - - - - - - - 26.59 -
10611 850.9 -8.1 474 10616 roll -0.72 - - 2564 - 1.80 0.060 3689 617.8 -194.6 - - 3877 - - - - - - - - - 26.31 -
10673 856.7 -8.6 476 10679 done -0.74 - - 2564 - 1.67 0.037 2591 -657.5 -194.6 - - 3876 - - - - - - - - - 26.58 -
11007 892.0 -11.7 487 11012 roll -0.75 - - 2564 - 1.95 0.034 1280 -672.3 -194.6 - - 3875 - - - - - - - - - 26.51 -
11033 892.0 -11.7 487 11041 done -0.77 - - 2564 - 2.05 0.049 2594 641.0 -194.6 - - 3875 - - - - - - - - - 26.36 -
11340 935.2 -13.2 498 11341 done -0.78 - - 2564 - - - 2594 - -194.6 - - 3874 - - - - - - - - - - -
11640 974.3 -12.6 508 11641 done -0.80 - - 2564 - - - 2594 - -194.6 - - 3874 - - - - - - - - - - -
11787 end dive: TARGET_DEPTH_EXCEEDED
11788 begin apogee
11793 991.6 -11.3 513 11958 roll -0.12 0.57 0.113 2760 343.9 - - 1923 - - 156.75 1.440 3120 -4.8 0.353 - - - - - - 26.01 - 23.47
11959 end apogee: CONTROL_FINISHED_OK
11959 begin climb
11961 1002.0 - 518 12150 roll 0.46 0.55 0.058 2968 378.2 2.25 0.040 554 -608.4 194.6 176.32 1.400 2325 -4.5 0.344 - - - - - - 24.72 24.71 22.97
12291 983.5 10.4 529 12297 done 0.43 - - 2967 - 2.22 0.037 1946 627.0 194.6 - - 2317 - - - - - - - - - 25.23 -
12604 944.2 12.2 540 12610 roll 0.39 0.12 0.158 2930 -308.3 2.20 0.039 541 -638.6 194.6 - - 2313 - - - - - - - - 25.76 25.86 -
12776 927.8 10.4 545 12782 done 0.39 - - 2929 - 2.17 0.039 1945 647.0 194.6 - - 2312 - - - - - - - - - 25.99 -
13089 891.5 10.9 556 13094 roll 0.39 - - 2930 - 2.25 0.053 3352 625.3 194.6 - - 2311 - - - - - - - - - 26.08 -
13161 883.9 11.4 558 13166 done 0.37 - - 2930 - 2.12 0.033 1955 -659.0 194.6 - - 2311 - - - - - - - - - 26.22 -
13484 850.2 9.4 569 13490 roll 0.37 - - 2930 - 2.22 0.054 3346 626.6 194.6 - - 2310 - - - - - - - - - 26.16 -
13526 847.1 9.3 570 13532 done 0.36 - - 2930 - 2.12 0.034 1949 -659.0 194.6 - - 2309 - - - - - - - - - 26.30 -
13850 823.6 6.1 581 13927 done 0.41 - - 2930 - - - 1949 - 281.7 75.38 1.323 1972 -4.5 0.297 - - - - - - - - 23.91
14210 804.5 5.1 593 14324 roll 0.51 0.10 0.106 2986 560.0 2.38 0.044 541 -591.6 402.0 104.68 1.294 1482 -4.7 0.310 - - - - - - 25.94 24.63 23.69
14356 793.1 9.4 597 14364 done 0.49 - - 2986 - 2.33 0.037 1967 612.0 402.0 - - 1477 - - - - - - - - - 25.07 -
14663 753.2 12.9 608 14669 roll 0.48 0.12 0.148 2954 -266.7 2.28 0.040 534 -628.5 402.0 - - 1473 - - - - - - - - 25.75 25.83 -
14690 753.2 12.9 608 14698 done 0.46 - - 2955 - 2.22 0.038 1964 644.1 402.0 - - 1474 - - - - - - - - - 25.86 -
14997 717.3 11.5 619 15002 roll 0.50 - - 2955 - 2.22 0.054 3354 626.1 402.0 - - 1472 - - - - - - - - - 26.03 -
15030 713.0 11.9 620 15035 done 0.53 - - 2955 - 2.17 0.033 1954 -645.2 402.0 - - 1472 - - - - - - - - - 26.15 -
15364 674.2 11.4 631 15369 roll 0.57 - - 2955 - 2.20 0.043 538 -643.6 402.0 - - 1471 - - - - - - - - - 26.19 -
15400 670.3 11.3 632 15407 done 0.61 0.12 0.095 3023 566.7 2.17 0.038 1957 653.9 402.0 - - 1471 - - - - - - - - 26.20 26.22 -
15730 607.9 19.3 643 15736 roll 0.55 0.12 0.159 2983 -333.3 2.22 0.042 534 -641.0 402.0 - - 1471 - - - - - - - - 26.16 26.26 -
15764 602.2 18.7 644 15769 done 0.51 - - 2983 - 2.17 0.038 1940 647.9 402.0 - - 1471 - - - - - - - - - 26.28 -
16076 563.9 11.2 659 16082 roll 0.51 - - 2984 - 2.22 0.053 3343 632.0 402.0 - - 1471 - - - - - - - - - 26.26 -
16092 563.9 11.2 659 16100 done 0.51 - - 2984 - 2.15 0.033 1924 -660.0 402.0 - - 1471 - - - - - - - - - 26.38 -
16399 529.0 10.5 675 16405 roll 0.51 - - 2984 - 2.15 0.044 531 -647.9 402.0 - - 1470 - - - - - - - - - 26.32 -
16442 524.9 10.0 677 16448 done 0.51 - - 2984 - 2.12 0.037 1924 657.1 402.0 - - 1470 - - - - - - - - - 26.35 -
16765 495.6 8.7 693 16770 roll 0.51 - - 2984 - 2.25 0.051 3356 636.4 402.8 - - 1470 - - - - - - - - - 26.31 -
16807 490.5 10.6 695 16812 done 0.51 - - 2984 - 2.20 0.033 1922 -651.8 402.8 - - 1471 - - - - - - - - - 26.43 -
17129 449.1 14.4 711 17134 roll 0.51 - - 2984 - 2.12 0.042 528 -657.5 402.8 - - 1470 - - - - - - - - - 26.37 -
17175 443.1 14.4 713 17181 done 0.53 - - 2984 - 2.15 0.037 1937 655.3 402.8 - - 1470 - - - - - - - - - 26.40 -
17493 403.4 8.8 729 17498 roll 0.53 - - 2984 - 2.22 0.052 3342 632.9 402.8 - - 1470 - - - - - - - - - 26.33 -
17519 401.6 8.4 730 17537 done 0.53 - - 2984 - 2.17 0.033 1919 -655.8 412.6 8.75 0.929 1438 -3.7 0.169 - - - - - - - 26.47 25.27
17836 373.8 11.4 746 17842 roll 0.55 - - 2984 - 2.12 0.042 532 -654.2 412.6 - - 1436 - - - - - - - - - 26.30 -
17884 368.4 12.3 748 17889 done 0.58 - - 2984 - 2.10 0.036 1920 661.0 412.6 - - 1436 - - - - - - - - - 26.34 -
18201 320.0 14.4 764 18206 roll 0.62 - - 2984 - 2.25 0.051 3343 632.4 412.6 - - 1436 - - - - - - - - - 26.28 -
18244 313.7 14.8 766 18249 done 0.65 - - 2984 - 2.17 0.033 1921 -655.3 412.6 - - 1436 - - - - - - - - - 26.42 -
18566 275.5 9.4 782 18572 roll 0.68 0.10 0.109 3041 570.0 2.10 0.039 541 -657.1 412.6 - - 1436 - - - - - - - - 26.54 26.36 -
18633 268.0 11.1 785 18638 done 0.70 - - 3041 - 2.10 0.036 1932 662.4 412.6 - - 1436 - - - - - - - - - 26.39 -
18951 217.6 14.6 801 18956 roll 0.66 - - 3049 - 2.15 0.041 537 -648.8 412.6 - - 1436 - - - - - - - - - 26.37 -
18988 214.8 13.7 802 18996 done 0.63 0.15 0.135 3003 -306.7 2.12 0.037 1930 657.1 412.6 - - 1436 - - - - - - - - 26.20 26.40 -
19294 189.4 14.2 818 19300 roll 0.66 - - 3003 - 2.20 0.050 3345 643.2 412.6 - - 1437 - - - - - - - - - 26.33 -
19326 185.1 15.9 819 19331 done 0.68 - - 3006 - 2.15 0.032 1921 -662.3 412.6 - - 1437 - - - - - - - - - 26.48 -
19639 141.0 8.3 835 19659 roll 0.73 - - 3005 - 2.08 0.040 544 -662.0 426.4 13.15 0.780 1381 -4.3 0.082 - - - - - - - 26.30 25.42
19696 138.1 7.2 837 19747 done 0.81 0.15 0.080 3082 513.3 2.10 0.034 1928 659.0 477.6 42.42 0.811 1173 -4.9 0.089 - - - - - - 26.31 26.30 24.90
20064 86.5 1.7 856 20230 roll 0.92 - - 3082 - 2.38 0.048 3336 591.6 710.6 149.85 0.747 460 -4.8 0.059 - - - - 1 - - 24.96 24.28
20247 60.0 15.1 865 20253 done 1.03 0.15 0.082 3146 426.7 2.25 0.031 1916 -631.1 710.6 - - 460 - - - - - - - - 25.20 25.24 -
20561 36.3 5.5 891 20566 roll 1.18 0.10 0.107 3204 580.0 2.12 0.037 539 -649.5 817.5 - - 460 - - - - - - - - 25.98 25.87 -
20609 33.2 7.1 895 20617 done 1.28 - - 3203 - 2.12 0.034 1924 653.3 871.0 - - 460 - - - - - - - - - 25.94 -
20862 end climb: SURFACE_DEPTH_REACHED
20862 begin surface coast
20884 end surface coast: CONTROL_FINISHED_OK
20884 begin surface
SM 1.94 - - - - -8.29 8.00 0.044 128 -384.4 1.20 0.050 2677 627.5 652.99 - - 459 - - - - - - - -