OKMC Nov12 * SG170 * Dive index * Mission links * Dive 152 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 33.66 of 150.00 AH used of 24V (77.56% remains)
• Previous NAKs 0, Timeouts 0 • 14.80 of 100.00 AH used of 10V (85.20% remains)
• Surface angle -70.7 deg, depth 2.45 m • Intended pitch -14.3 deg, speed -8.250 cm/s
• No surface pump (final VBD was 516.11, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 16 s • Transponder ping count: 2
• 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
18 begin dive
20 - - - 81 VBD -0.49 - - 139 - - - 2633 - -170.3 -58.78 - 1787 - - - - - - - - - - -
84 3.0 -1.7 10 158 roll -0.49 11.30 0.245 2885 243.0 1.70 0.068 3663 605.9 -170.3 -57.47 - 3465 -29.2 - - - - - - - 25.58 26.06 26.44
335 51.3 -18.8 43 341 done -0.45 - - 2885 - 1.55 0.024 2557 -713.5 -170.3 - - 3465 - - - - - - - - - 26.34 -
534 83.5 -14.7 53 539 roll -0.42 - - 2885 - 1.77 0.052 3668 627.7 -170.3 - - 3466 - - - - - - - - - 26.25 -
557 86.5 -14.0 54 563 done -0.40 0.12 0.145 2923 316.7 1.50 0.025 2580 -725.3 -170.3 - - 3466 - - - - - - - - 26.16 26.44 -
762 104.3 -8.2 64 768 roll -0.40 - - 2924 - 1.95 0.031 1228 -693.3 -170.3 - - 3466 - - - - - - - - - 26.41 -
846 110.7 -7.5 68 851 done -0.42 - - 2923 - 2.05 0.041 2576 657.6 -170.3 - - 3466 - - - - - - - - - 26.35 -
1050 125.3 -8.5 78 1056 roll -0.43 - - 2923 - 1.75 0.051 3698 641.1 -170.3 - - 3466 - - - - - - - - - 26.36 -
1094 129.7 -9.5 80 1100 done -0.44 - - 2923 - 1.52 0.025 2588 -730.3 -170.3 - - 3466 - - - - - - - - - 26.55 -
1300 151.3 -9.3 90 1305 roll -0.46 - - 2923 - 1.92 0.024 1242 -701.0 -170.3 - - 3466 - - - - - - - - - 26.51 -
1433 158.2 -5.0 96 1439 done -0.49 - - 2923 - 2.08 0.039 2602 653.8 -170.3 - - 3466 - - - - - - - - - 26.44 -
1628 171.1 -6.9 106 1634 roll -0.51 0.12 0.092 2847 -633.3 2.00 0.027 1242 -680.0 -170.3 - - 3465 - - - - - - - - 26.58 26.51 -
1681 175.7 -8.5 108 1688 done -0.51 0.12 0.161 2882 291.7 2.08 0.040 2601 653.4 -170.3 - - 3465 - - - - - - - - 26.27 26.46 -
1876 198.6 -13.2 118 1881 roll -0.51 - - 2883 - 1.98 0.024 1233 -690.9 -170.3 - - 3464 - - - - - - - - - 26.55 -
1909 202.3 -14.3 119 1914 done -0.51 - - 2883 - 2.08 0.040 2605 659.6 -170.3 - - 3464 - - - - - - - - - 26.46 -
2102 230.7 -13.0 129 2108 roll -0.51 - - 2883 - 1.98 0.025 1239 -689.9 -170.3 - - 3463 - - - - - - - - - 26.55 -
2139 233.6 -12.6 130 2146 done -0.51 - - 2882 - 2.08 0.040 2600 654.3 -170.3 - - 3463 - - - - - - - - - 26.47 -
2325 252.6 -8.3 140 2331 roll -0.51 - - 2882 - 1.67 0.051 3687 650.9 -170.3 - - 3462 - - - - - - - - - 26.44 -
2419 258.8 -7.5 144 2425 done -0.52 - - 2883 - 1.50 0.027 2603 -722.7 -170.3 - - 3461 - - - - - - - - - 26.63 -
2733 283.9 -7.9 160 2739 roll -0.53 - - 2883 - 1.98 0.025 1223 -697.0 -170.3 - - 3461 - - - - - - - - - 26.58 -
2847 292.7 -8.5 165 2852 done -0.54 - - 2886 - 2.10 0.039 2613 661.9 -170.3 - - 3461 - - - - - - - - - 26.49 -
3160 323.5 -10.0 181 3166 roll -0.55 - - 2885 - 2.03 0.025 1222 -685.2 -170.3 - - 3458 - - - - - - - - - 26.58 -
3184 325.8 -10.1 182 3189 done -0.56 - - 2882 - 2.10 0.039 2599 655.7 -170.3 - - 3457 - - - - - - - - - 26.49 -
3507 351.1 -6.2 198 3513 roll -0.58 - - 2883 - 2.00 0.025 1222 -688.5 -170.3 - - 3456 - - - - - - - - - 26.58 -
3546 352.3 -5.9 199 3552 done -0.59 - - 2883 - 2.12 0.040 2608 653.8 -170.3 - - 3456 - - - - - - - - - 26.49 -
3852 369.8 -5.4 215 3857 roll -0.60 - - 2883 - 2.03 0.025 1230 -678.8 -170.3 - - 3454 - - - - - - - - - 26.58 -
3884 371.0 -5.5 216 3889 done -0.62 - - 2883 - 2.10 0.040 2613 658.6 -170.3 - - 3454 - - - - - - - - - 26.49 -
4198 387.4 -5.0 232 4204 roll -0.63 0.12 0.096 2812 -591.7 2.03 0.024 1225 -683.7 -170.3 - - 3452 - - - - - - - - 26.62 26.58 -
4251 391.3 -6.8 234 4257 done -0.63 0.12 0.160 2847 291.7 2.12 0.041 2604 650.5 -170.3 - - 3451 - - - - - - - - 26.28 26.48 -
4565 422.4 -10.8 250 4571 roll -0.63 - - 2848 - 1.73 0.054 3694 630.1 -170.3 - - 3449 - - - - - - - - - 26.44 -
4637 429.5 -11.1 253 4643 done -0.63 - - 2848 - 1.55 0.028 2622 -691.6 -170.3 - - 3448 - - - - - - - - - 26.65 -
4951 466.2 -11.9 269 4956 roll -0.63 - - 2848 - 2.03 0.025 1210 -695.6 -170.3 - - 3446 - - - - - - - - - 26.58 -
4993 471.5 -12.2 271 4999 done -0.63 - - 2847 - 2.15 0.041 2610 651.2 -170.3 - - 3447 - - - - - - - - - 26.48 -
5317 511.9 -12.5 287 5322 roll -0.63 - - 2848 - 2.05 0.025 1204 -685.9 -170.3 - - 3445 - - - - - - - - - 26.58 -
5349 514.8 -12.5 288 5354 done -0.63 - - 2847 - 2.15 0.041 2599 648.8 -170.3 - - 3445 - - - - - - - - - 26.48 -
5661 549.5 -9.9 304 5667 roll -0.63 - - 2848 - 1.73 0.054 3698 635.3 -170.3 - - 3444 - - - - - - - - - 26.43 -
5710 553.6 -9.6 306 5715 done -0.63 - - 2848 - 1.58 0.029 2600 -694.9 -170.3 - - 3443 - - - - - - - - - 26.63 -
6027 583.3 -9.1 322 6033 roll -0.63 - - 2848 - 1.75 0.054 3683 618.9 -170.3 - - 3442 - - - - - - - - - 26.43 -
6060 585.4 -9.1 323 6065 done -0.63 - - 2848 - 1.55 0.028 2595 -701.9 -170.3 - - 3441 - - - - - - - - - 26.64 -
6394 616.4 -9.0 337 6400 roll -0.63 - - 2847 - 2.03 0.025 1199 -687.7 -170.3 - - 3439 - - - - - - - - - 26.59 -
6428 619.0 -8.7 338 6433 done -0.63 - - 2848 - 2.17 0.041 2611 650.7 -170.3 - - 3439 - - - - - - - - - 26.46 -
6762 641.2 -5.5 349 6768 roll -0.63 - - 2848 - 2.05 0.026 1210 -683.4 -170.3 - - 3437 - - - - - - - - - 26.58 -
6809 644.0 -6.6 350 6814 done -0.63 - - 2848 - 2.12 0.041 2600 655.7 -170.3 - - 3437 - - - - - - - - - 26.45 -
7129 665.3 -6.5 361 7135 roll -0.63 - - 2848 - 2.05 0.026 1210 -678.0 -170.3 - - 3436 - - - - - - - - - 26.57 -
7166 667.6 -6.4 362 7172 done -0.63 - - 2847 - 2.15 0.041 2598 645.6 -170.3 - - 3436 - - - - - - - - - 26.45 -
7496 689.7 -6.9 373 7501 roll -0.63 - - 2848 - 2.03 0.026 1217 -680.3 -170.3 - - 3435 - - - - - - - - - 26.57 -
7554 691.9 -6.8 374 7560 done -0.63 - - 2847 - 2.15 0.041 2608 647.0 -170.3 - - 3435 - - - - - - - - - 26.44 -
7861 714.7 -7.0 385 7867 roll -0.64 - - 2848 - 2.08 0.027 1210 -672.1 -170.3 - - 3433 - - - - - - - - - 26.56 -
7960 721.3 -7.1 388 7965 done -0.64 - - 2847 - 2.15 0.041 2601 647.0 -170.3 - - 3433 - - - - - - - - - 26.44 -
8290 744.6 -7.5 399 8295 roll -0.65 - - 2848 - 2.05 0.027 1204 -681.5 -170.3 - - 3432 - - - - - - - - - 26.55 -
8338 747.6 -7.8 400 8343 done -0.66 - - 2847 - 2.15 0.041 2604 651.2 -170.3 - - 3432 - - - - - - - - - 26.43 -
8657 779.7 -10.7 411 8663 roll -0.66 - - 2848 - 2.08 0.026 1207 -671.6 -170.3 - - 3431 - - - - - - - - - 26.55 -
8691 783.6 -10.9 412 8696 done -0.67 - - 2847 - 2.15 0.041 2600 647.9 -170.3 - - 3431 - - - - - - - - - 26.42 -
9025 821.0 -11.3 423 9030 roll -0.68 - - 2848 - 2.05 0.027 1213 -676.6 -170.3 - - 3429 - - - - - - - - - 26.55 -
9053 821.0 -11.3 423 9059 done -0.69 - - 2847 - 2.15 0.042 2610 649.8 -170.3 - - 3428 - - - - - - - - - 26.41 -
9358 858.2 -11.3 434 9363 roll -0.69 - - 2848 - 2.05 0.028 1218 -679.0 -170.3 - - 3428 - - - - - - - - - 26.55 -
9395 862.2 -11.4 435 9400 done -0.70 - - 2848 - 2.15 0.042 2602 643.7 -170.3 - - 3428 - - - - - - - - - 26.41 -
9725 899.3 -10.8 446 9731 roll -0.71 - - 2847 - 2.08 0.027 1206 -671.2 -170.3 - - 3427 - - - - - - - - - 26.54 -
9758 903.0 -10.6 447 9764 done -0.72 - - 2847 - 2.15 0.042 2600 648.4 -170.3 - - 3427 - - - - - - - - - 26.41 -
10093 930.8 -7.4 458 10099 roll -0.73 - - 2848 - 2.03 0.028 1220 -679.8 -170.3 - - 3426 - - - - - - - - - 26.53 -
10116 930.8 -7.4 458 10122 done -0.74 0.12 0.096 2791 -475.0 2.15 0.042 2600 641.9 -170.3 - - 3426 - - - - - - - - 26.37 26.39 -
10431 960.9 -8.6 469 10436 roll -0.72 - - 2791 - 1.70 0.056 3689 640.6 -170.3 - - 3425 - - - - - - - - - 26.33 -
10473 963.6 -8.3 470 10479 done -0.70 0.12 0.156 2826 291.7 1.60 0.030 2608 -675.6 -170.3 - - 3424 - - - - - - - - 26.26 26.59 -
10798 979.4 -3.9 481 10805 roll -0.70 - - 2826 - 2.05 0.028 1205 -684.4 -170.3 - - 3424 - - - - - - - - - 26.52 -
10867 982.2 -4.2 483 10872 done -0.70 - - 2826 - 2.17 0.042 2600 642.9 -170.3 - - 3424 - - - - - - - - - 26.38 -
11103 end dive: TARGET_DEPTH_EXCEEDED
11103 begin apogee
11109 990.6 -3.3 491 11256 done -0.15 0.50 0.116 2998 344.0 - - 2106 - - 140.77 1.493 2769 -4.7 0.332 - - - - - - 26.06 - 23.68
11258 end apogee: CONTROL_FINISHED_OK
11258 begin climb
11260 988.6 - 496 11426 roll 0.49 0.57 0.054 3226 400.0 2.28 0.032 751 -594.3 170.3 156.85 1.446 2073 -4.4 0.326 - - - - - - 24.77 23.72 22.80
11448 968.6 13.6 502 11454 done 0.44 0.12 0.147 3195 -258.3 2.30 0.037 2124 597.0 170.3 - - 2068 - - - - - - - - 24.10 24.20 -
11774 920.4 14.0 513 11779 roll 0.42 - - 3195 - 2.30 0.051 3528 610.4 170.3 - - 2062 - - - - - - - - - 25.58 -
11807 915.3 14.0 514 11813 done 0.39 - - 3202 - 2.17 0.028 2137 -641.0 170.3 - - 2061 - - - - - - - - - 25.79 -
12142 871.9 12.2 525 12148 roll 0.36 0.12 0.165 3172 -250.0 2.15 0.033 721 -658.6 170.3 - - 2060 - - - - - - - - 25.92 26.06 -
12191 868.2 11.6 526 12197 done 0.34 - - 3171 - 2.17 0.037 2133 650.7 170.3 - - 2059 - - - - - - - - - 26.07 -
12512 838.7 8.5 537 12517 roll 0.33 - - 3172 - 2.22 0.051 3526 627.5 170.3 - - 2058 - - - - - - - - - 26.13 -
12599 832.2 9.4 539 12605 done 0.32 - - 3176 - 2.12 0.028 2107 -669.3 170.3 - - 2058 - - - - - - - - - 26.32 -
12908 802.1 8.8 550 12913 roll 0.30 - - 3176 - 2.10 0.035 728 -656.7 170.3 - - 2057 - - - - - - - - - 26.30 -
12950 798.9 8.9 551 12955 done 0.29 - - 3175 - 2.12 0.037 2122 657.5 170.3 - - 2056 - - - - - - - - - 26.28 -
13275 770.3 8.5 562 13280 roll 0.28 0.12 0.151 3132 -358.3 2.22 0.050 3535 636.5 170.3 - - 2056 - - - - - - - - 26.25 26.25 -
13359 765.5 7.9 564 13371 done 0.28 - - 3132 - 2.12 0.028 2113 -670.8 180.1 7.20 1.134 2034 -3.1 0.222 - - - - - - - 26.46 25.15
13670 747.4 5.1 575 13760 roll 0.33 - - 3132 - 2.28 0.034 730 -606.6 276.2 83.75 1.337 1642 -4.7 0.282 - - - - - - - 24.97 24.09
13784 742.5 5.4 578 13868 done 0.37 0.12 0.089 3197 541.7 2.22 0.035 2131 631.1 363.7 76.65 1.295 1286 -4.6 0.287 - - - - - - 25.29 25.28 23.75
14185 700.5 11.1 592 14190 roll 0.37 - - 3198 - 2.25 0.050 3525 619.6 363.7 - - 1279 - - - - - - - - - 25.74 -
14218 696.4 11.4 593 14224 done 0.37 - - 3199 - 2.15 0.028 2116 -655.3 363.7 - - 1279 - - - - - - - - - 25.90 -
14553 655.5 12.2 604 14558 roll 0.37 - - 3199 - 2.10 0.035 736 -657.1 363.7 - - 1277 - - - - - - - - - 26.12 -
14649 645.8 10.6 607 14656 done 0.38 - - 3199 - 2.15 0.036 2132 649.3 363.7 - - 1277 - - - - - - - - - 26.15 -
14980 608.0 11.6 618 14985 roll 0.38 - - 3199 - 2.22 0.051 3524 627.0 363.7 - - 1277 - - - - - - - - - 26.17 -
15026 603.5 11.8 619 15032 done 0.38 - - 3199 - 2.10 0.027 2116 -670.5 363.7 - - 1277 - - - - - - - - - 26.34 -
15345 563.0 12.5 635 15350 roll 0.38 - - 3199 - 2.10 0.035 737 -656.7 363.7 - - 1277 - - - - - - - - - 26.32 -
15392 558.2 11.8 637 15397 done 0.39 - - 3199 - 2.10 0.035 2123 660.0 363.7 - - 1277 - - - - - - - - - 26.32 -
15709 523.9 10.1 653 15715 roll 0.39 - - 3199 - 2.22 0.050 3536 636.5 363.7 - - 1277 - - - - - - - - - 26.27 -
15753 519.3 10.5 655 15758 done 0.39 - - 3199 - 2.10 0.027 2122 -673.3 363.7 - - 1277 - - - - - - - - - 26.44 -
16075 485.0 10.7 671 16081 roll 0.39 - - 3199 - 2.08 0.035 729 -669.7 363.7 - - 1277 - - - - - - - - - 26.39 -
16159 477.4 9.1 675 16165 done 0.40 - - 3199 - 2.12 0.037 2125 658.5 363.7 - - 1277 - - - - - - - - - 26.36 -
16483 445.4 10.7 691 16488 roll 0.41 - - 3199 - 2.20 0.050 3524 635.9 363.7 - - 1277 - - - - - - - - - 26.31 -
16536 440.2 11.4 693 16541 done 0.41 - - 3199 - 2.10 0.027 2117 -670.0 363.7 - - 1277 - - - - - - - - - 26.50 -
16848 404.1 11.2 709 16853 roll 0.41 - - 3199 - 2.10 0.034 729 -661.0 363.7 - - 1277 - - - - - - - - - 26.41 -
16900 399.6 11.0 711 16907 done 0.42 - - 3199 - 2.10 0.034 2124 664.3 363.7 - - 1277 - - - - - - - - - 26.40 -
17215 367.3 9.7 727 17216 done 0.43 - - 3200 - - - 2125 - 363.7 - - 1277 - - - - - - - - - - -
17516 339.7 9.2 742 17522 roll 0.44 - - 3198 - 2.17 0.050 3524 644.7 363.7 - - 1277 - - - - - - - - - 26.33 -
17544 337.1 9.6 743 17549 done 0.45 - - 3199 - 2.10 0.026 2116 -670.5 363.7 - - 1278 - - - - - - - - - 26.53 -
17863 302.1 11.8 759 17868 roll 0.46 - - 3199 - 2.10 0.034 722 -663.8 363.7 - - 1277 - - - - - - - - - 26.44 -
17935 295.0 11.4 762 17941 done 0.48 - - 3200 - 2.10 0.034 2121 666.2 363.7 - - 1277 - - - - - - - - - 26.41 -
18248 255.3 12.1 778 18254 roll 0.49 - - 3199 - 2.22 0.050 3530 634.7 363.7 - - 1277 - - - - - - - - - 26.33 -
18292 250.0 12.2 780 18297 done 0.51 - - 3199 - 2.12 0.026 2118 -666.0 363.7 - - 1277 - - - - - - - - - 26.55 -
18497 230.5 9.0 790 18502 roll 0.52 - - 3199 - 2.10 0.034 720 -665.7 363.7 - - 1277 - - - - - - - - - 26.44 -
18530 228.5 8.7 791 18535 done 0.54 - - 3200 - 2.10 0.033 2122 667.6 363.7 - - 1277 - - - - - - - - - 26.42 -
18724 213.3 7.9 801 18739 roll 0.56 - - 3199 - 2.22 0.050 3529 633.8 373.1 8.10 0.831 1248 -3.6 0.099 - - - - - - - 26.35 25.39
18792 207.3 9.1 804 18798 done 0.58 0.12 0.093 3272 608.3 2.10 0.026 2107 -677.1 373.1 - - 1247 - - - - - - - - 26.34 26.46 -
18993 174.4 17.4 814 18998 roll 0.57 0.12 0.146 3228 -366.7 2.05 0.032 726 -673.7 373.1 - - 1247 - - - - - - - - 26.29 26.36 -
19066 166.5 13.3 817 19071 done 0.57 - - 3228 - 2.12 0.033 2129 661.8 373.1 - - 1246 - - - - - - - - - 26.36 -
19259 146.9 9.0 827 19264 roll 0.58 - - 3227 - 2.17 0.048 3531 646.1 373.1 - - 1247 - - - - - - - - - 26.29 -
19286 144.9 8.9 828 19292 done 0.60 - - 3228 - 2.10 0.026 2126 -669.0 373.1 - - 1247 - - - - - - - - - 26.50 -
19486 130.2 7.0 838 19525 roll 0.63 - - 3228 - 2.20 0.032 716 -640.9 412.3 33.67 0.858 1087 -4.8 0.078 - - - - - - - 25.94 25.18
19579 124.8 6.7 842 19629 done 0.68 0.12 0.092 3296 566.7 2.15 0.031 2131 658.1 461.3 41.30 0.843 887 -4.8 0.077 - - - - - - 25.97 25.99 24.76
19808 95.8 13.0 854 19809 done 0.67 - - 3296 - - - 2132 - 461.3 - - 885 - - - - - - - - - - -
19988 74.9 12.1 863 19993 roll 0.67 - - 3297 - 2.20 0.047 3532 636.4 461.3 - - 885 - - - - - - - - - 26.01 -
19999 74.9 12.1 863 20004 done 0.67 - - 3296 - 2.12 0.026 2110 -670.8 461.3 - - 885 - - - - - - - - - 26.18 -
20192 50.1 12.2 873 20197 roll 0.67 - - 3296 - 2.08 0.033 727 -664.9 461.3 - - 884 - - - - - - - - - 26.19 -
20235 45.7 11.1 876 20241 done 0.69 - - 3297 - 2.10 0.031 2123 664.8 461.3 - - 884 - - - - - - - - - 26.20 -
20429 28.4 10.8 895 20434 roll 0.71 - - 3296 - 2.12 0.031 713 -665.1 461.3 - - 885 - - - - - - - - - 26.27 -
20476 25.5 6.5 899 20512 done 0.79 - - 3296 - 2.10 0.031 2123 671.4 515.3 27.60 0.721 667 -7.9 0.030 - - - - - - - 26.28 25.26
20694 end climb: SURFACE_DEPTH_REACHED
20695 begin surface coast
20716 end surface coast: CONTROL_FINISHED_OK
20716 begin surface
SM 2.46 - - - - -9.05 8.15 0.040 140 -387.2 0.73 0.044 2597 649.3 516.11 - - 665 - - - - - - - -