OKMC Feb13 * SG171 * Dive index * Mission links * Dive 407 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 63.70 of 150.00 AH used of 24V (57.54% remains)
• Previous NAKs 0, Timeouts 0 • 42.25 of 100.00 AH used of 10V (57.75% remains)
• Surface angle -66.5 deg, depth 1.18 m • Intended pitch -23.8 deg, speed -9.596 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 40 s
• GPS2 time: 12 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
20 - - - 91 VBD -1.22 - - 126 - - - 2494 - -76.6 -69.05 - 2419 - - - - - - - - - - -
96 3.9 -6.8 9 120 roll -1.34 9.02 0.220 2364 248.1 1.85 0.061 3672 636.8 -110.0 -6.97 - 2832 -59.3 - - - - - - - 25.28 25.97 26.48
262 65.6 -29.2 33 269 done -1.22 0.20 0.155 2417 265.0 1.73 0.023 2477 -690.8 -110.0 - - 2838 - - - - - - - - 25.74 26.27 -
399 101.3 -25.5 46 405 roll -1.17 - - 2417 - 2.03 0.028 1110 -673.4 -110.0 - - 2839 - - - - - - - - - 26.27 -
440 109.5 -23.0 49 448 done -1.13 0.15 0.160 2446 193.3 2.10 0.036 2502 662.9 -110.0 - - 2839 - - - - 1 - - - 25.86 26.17 -
567 136.2 -19.4 62 573 roll -1.13 - - 2447 - 2.08 0.028 1104 -672.1 -110.0 - - 2840 - - - - - - - - - 26.32 -
593 141.3 -20.6 64 598 done -1.13 - - 2436 - 2.12 0.037 2499 658.0 -110.0 - - 2840 - - - - - - - - - 26.21 -
728 166.6 -18.6 77 734 roll -1.13 - - 2427 - 1.85 0.051 3678 637.3 -110.0 - - 2841 - - - - - - - - - 26.18 -
745 169.2 -18.6 78 754 done -1.13 - - 2427 - 1.67 0.024 2495 -708.4 -110.0 - - 2841 - - - - - - - - - 26.45 -
874 194.1 -19.5 91 880 roll -1.13 - - 2427 - 2.03 0.028 1114 -680.3 -110.0 - - 2841 - - - - - - - - - 26.39 -
922 203.7 -19.6 95 928 done -1.13 0.12 0.162 2449 183.3 2.10 0.037 2501 660.5 -110.0 - - 2841 - - - - - - - - 26.01 26.27 -
1058 228.2 -17.3 108 1065 done -1.13 - - 2449 - - - 2501 - -110.0 - - 2841 - - - - - - - - - - -
1187 251.0 -17.8 121 1194 roll -1.13 - - 2440 - 1.83 0.051 3675 641.5 -110.0 - - 2841 - - - - - - - - - 26.22 -
1239 259.5 -17.8 125 1247 done -1.13 - - 2440 - 1.67 0.024 2495 -706.6 -110.0 - - 2841 - - - - - - - - - 26.51 -
1366 282.4 -17.3 138 1367 done -1.13 - - 2440 - - - 2494 - -110.0 - - 2841 - - - - - - - - - - -
1489 303.8 -18.2 150 1494 roll -1.13 - - 2440 - 2.03 0.027 1111 -681.3 -110.0 - - 2841 - - - - - - - - - 26.43 -
1529 310.7 -18.1 153 1537 done -1.13 - - 2429 - 2.12 0.036 2508 659.0 -110.0 - - 2841 - - - - - - - - - 26.31 -
1656 335.6 -19.7 166 1661 roll -1.13 - - 2420 - 1.83 0.051 3679 639.9 -110.0 - - 2841 - - - - - - - - - 26.23 -
1696 342.5 -19.7 169 1704 done -1.13 - - 2420 - 1.67 0.025 2502 -704.8 -110.0 - - 2841 - - - - - - - - - 26.53 -
1823 368.4 -19.4 182 1829 roll -1.13 - - 2420 - 2.05 0.028 1108 -680.0 -110.0 - - 2841 - - - - - - - - - 26.42 -
1880 379.1 -18.2 187 1888 done -1.13 0.12 0.161 2442 183.3 2.12 0.036 2503 658.0 -110.0 - - 2841 - - - - - - - - 26.06 26.32 -
2017 401.6 -16.4 200 2023 roll -1.13 - - 2434 - 1.83 0.052 3672 638.8 -110.0 - - 2841 - - - - - - - - - 26.25 -
2046 406.0 -16.9 202 2054 done -1.13 - - 2434 - 1.67 0.026 2500 -701.8 -110.0 - - 2840 - - - - - - - - - 26.53 -
2173 427.4 -16.1 215 2179 roll -1.13 - - 2434 - 2.05 0.028 1108 -679.0 -110.0 - - 2839 - - - - - - - - - 26.42 -
2231 436.7 -15.9 220 2237 done -1.13 - - 2422 - 2.12 0.036 2501 657.1 -110.0 - - 2839 - - - - - - - - - 26.32 -
2366 458.7 -16.7 233 2367 done -1.13 - - 2423 - - - 2501 - -110.0 - - 2838 - - - - - - - - - - -
2488 478.6 -17.2 245 2496 done -1.13 - - 2423 - - - 2501 - -110.0 - - 2837 - - - - - - - - - - -
2616 500.9 -16.9 258 2622 roll -1.13 - - 2413 - 1.83 0.052 3670 638.8 -110.0 - - 2837 - - - - - - - - - 26.23 -
2669 509.5 -17.8 262 2677 done -1.13 0.12 0.155 2447 283.3 1.67 0.026 2508 -695.8 -110.0 - - 2836 - - - - - - - - 26.16 26.54 -
2797 530.0 -15.3 275 2802 roll -1.17 - - 2447 - 2.08 0.028 1109 -672.6 -110.0 - - 2835 - - - - - - - - - 26.41 -
2859 539.1 -15.8 280 2867 done -1.21 - - 2437 - 2.12 0.037 2502 657.1 -110.0 - - 2835 - - - - - - - - - 26.31 -
2986 560.6 -15.9 293 2994 done -1.24 - - 2436 - - - 2502 - -110.0 - - 2834 - - - - - - - - - - -
3116 581.2 -15.8 306 3123 roll -1.28 0.12 0.083 2354 -683.3 1.83 0.050 3668 637.2 -110.0 - - 2833 - - - - - - - - 26.63 26.21 -
3143 586.1 -16.8 308 3151 done -1.28 0.15 0.153 2394 266.7 1.70 0.026 2489 -693.5 -110.0 - - 2833 - - - - - - - - 26.08 26.53 -
3279 610.8 -18.1 321 3281 done -1.28 - - 2394 - - - 2489 - -110.0 - - 2832 - - - - - - - - - - -
3462 643.3 -18.2 339 3470 done -1.28 - - 2394 - - - 2489 - -110.0 - - 2832 - - - - - - - - - - -
3649 677.8 -18.0 358 3655 roll -1.28 - - 2394 - 2.05 0.028 1105 -675.1 -110.0 - - 2830 - - - - - - - - - 26.40 -
3691 684.0 -17.7 361 3699 done -1.28 - - 2385 - 2.12 0.037 2501 658.5 -110.0 - - 2829 - - - - - - - - - 26.29 -
3879 718.2 -17.4 380 3886 done -1.28 - - 2384 - - - 2501 - -110.0 - - 2827 - - - - - - - - - - -
4068 750.9 -16.6 399 4074 roll -1.28 - - 2375 - 1.83 0.054 3668 637.7 -110.0 - - 2827 - - - - - - - - - 26.19 -
4170 767.8 -16.9 408 4177 done -1.28 - - 2375 - 1.70 0.028 2506 -683.5 -110.0 - - 2825 - - - - - - - - - 26.52 -
4357 801.3 -17.4 427 4363 roll -1.28 - - 2375 - 2.10 0.029 1093 -672.9 -110.0 - - 2825 - - - - - - - - - 26.39 -
4382 805.8 -17.9 429 4389 done -1.28 0.12 0.163 2397 183.3 2.17 0.037 2503 649.8 -110.0 - - 2825 - - - - - - - - 26.01 26.26 -
4578 839.0 -17.0 448 4584 roll -1.28 - - 2397 - 2.10 0.028 1101 -667.6 -110.0 - - 2824 - - - - - - - - - 26.39 -
4619 845.1 -17.3 451 4627 done -1.28 - - 2387 - 2.15 0.038 2499 650.2 -110.0 - - 2823 - - - - - - - - - 26.25 -
4806 880.0 -18.7 470 4807 done -1.28 - - 2387 - - - 2499 - -110.0 - - 2823 - - - - - - - - - - -
4988 913.0 -18.3 488 4995 done -1.28 - - 2387 - - - 2499 - -110.0 - - 2821 - - - - - - - - - - -
5177 947.7 -18.4 507 5178 done -1.28 - - 2387 - - - 2499 - -110.0 - - 2820 - - - - - - - - - - -
5194 end dive: TARGET_DEPTH_EXCEEDED
5194 begin apogee
5201 951.7 -18.3 509 5357 done -0.20 1.10 0.124 2740 320.9 - - 1985 - - 140.88 0.967 2379 -3.1 0.320 - - - - 1 - 25.63 - 23.61
5358 end apogee: CONTROL_FINISHED_OK
5358 begin climb
5361 961.7 - 521 5521 roll 1.34 1.35 0.041 3254 380.7 2.40 0.045 3414 595.4 110.0 143.05 0.914 1915 -3.2 0.355 - - - - - - 25.17 24.75 23.72
5690 944.9 14.1 549 5700 done 1.16 0.30 0.168 3186 -226.7 2.12 0.026 2006 -664.2 110.0 - - 1897 - - - - - - - - 25.41 25.94 -
5879 923.3 10.6 568 5885 roll 1.07 - - 3186 - 2.25 0.046 3419 628.0 110.0 - - 1894 - - - - - - - - - 26.05 -
5991 910.1 12.3 578 5997 done 0.96 0.28 0.152 3119 -239.3 2.12 0.028 1996 -671.2 110.0 - - 1894 - - - - - - - - 25.72 26.27 -
6188 891.3 9.5 597 6194 roll 0.96 - - 3118 - 2.25 0.047 3416 631.1 111.5 - - 1892 - - - - - - - - - 26.16 -
6261 884.2 10.4 603 6270 done 0.91 - - 3130 - 2.10 0.028 2003 -672.9 111.5 - - 1892 - - - - - - - - - 26.35 -
6449 865.9 9.8 622 6451 done 0.88 0.12 0.157 3096 -283.3 - - 2002 - 111.5 - - 1891 - - - - - - - - 26.23 - -
6633 849.4 9.1 640 6640 done 0.89 - - 3096 - - - 2002 - 116.9 - - 1889 - - - - - - - - - - -
6823 831.5 9.3 659 6829 roll 0.91 - - 3096 - 2.22 0.048 3414 636.0 120.5 - - 1889 - - - - - - - - - 26.22 -
6863 828.0 9.4 662 6872 done 0.92 - - 3107 - 2.12 0.030 1995 -669.3 123.4 2.62 0.321 1875 -5.3 1.433 - - - - - - - 26.41 24.01
7052 811.5 7.9 681 7105 roll 0.99 - - 3118 - 2.22 0.038 616 -621.2 143.4 44.47 0.727 1789 -1.9 0.224 - - - - - - - 25.84 24.84
7184 799.7 9.9 692 7191 done 0.99 - - 3116 - 2.15 0.032 2008 647.4 143.4 - - 1770 - - - - - - - - - 25.98 -
7380 779.9 10.1 711 7381 done 0.99 - - 3118 - - - 2008 - 143.4 - - 1767 - - - - - - - - - - -
7562 761.8 10.0 729 7568 roll 0.99 - - 3118 - 2.20 0.049 3401 633.2 143.4 - - 1766 - - - - - - - - - 26.11 -
7642 753.1 11.0 736 7649 done 0.95 - - 3129 - 2.10 0.028 1998 -668.1 143.4 - - 1766 - - - - - - - - - 26.33 -
7837 732.1 10.5 755 7839 done 0.95 - - 3129 - - - 1998 - 143.4 - - 1765 - - - - - - - - - - -
8019 713.6 10.0 773 8025 roll 0.95 - - 3127 - 2.22 0.048 3402 632.4 143.4 - - 1765 - - - - - - - - - 26.17 -
8108 703.9 11.2 781 8115 done 0.91 0.15 0.154 3099 -186.7 2.10 0.028 1999 -668.1 143.4 - - 1766 - - - - - - - - 25.99 26.40 -
8304 684.7 9.1 800 8305 done 0.92 - - 3099 - - - 1999 - 148.7 - - 1764 - - - - - - - - - - -
8487 668.3 9.0 818 8496 done 0.95 - - 3100 - - - 1999 - 155.8 3.42 0.476 1743 -6.1 0.896 - - - - - - - - 24.31
8676 650.8 9.1 837 8696 roll 0.97 - - 3099 - 2.30 0.049 3401 609.6 161.8 14.30 0.757 1719 -1.7 0.150 - - - - - - - 26.17 25.13
8748 643.2 10.8 843 8754 done 0.97 - - 3110 - 2.10 0.030 2007 -663.8 161.8 - - 1711 - - - - - - - - - 26.27 -
8943 623.1 11.0 862 8949 roll 0.97 - - 3110 - 2.22 0.049 3405 629.7 161.8 - - 1706 - - - - - - - - - 26.11 -
8991 617.2 12.1 866 8997 done 0.97 - - 3121 - 2.12 0.030 1992 -666.5 161.8 - - 1705 - - - - - - - - - 26.32 -
9186 594.7 11.2 885 9192 roll 0.97 - - 3121 - 2.25 0.048 3405 628.0 161.8 - - 1705 - - - - - - - - - 26.13 -
9214 591.8 11.3 887 9223 done 0.97 - - 3133 - 2.10 0.030 2002 -668.1 161.8 - - 1705 - - - - - - - - - 26.36 -
9343 575.3 12.5 900 9350 done 0.97 - - 3132 - - - 2001 - 161.8 - - 1704 - - - - - - - - - - -
9472 560.2 11.4 913 9478 roll 0.97 - - 3132 - 2.22 0.048 3401 630.6 161.8 - - 1704 - - - - - - - - - 26.14 -
9534 552.8 13.0 918 9542 done 0.93 0.12 0.157 3110 -183.3 2.10 0.029 1993 -670.5 161.8 - - 1704 - - - - - - - - 26.03 26.38 -
9661 536.6 12.1 931 9667 roll 0.93 - - 3120 - 2.12 0.039 610 -652.4 161.8 - - 1704 - - - - - - - - - 26.22 -
9719 530.0 11.5 936 9725 done 0.93 - - 3120 - 2.12 0.032 2008 659.4 161.8 - - 1704 - - - - - - - - - 26.29 -
9855 514.4 11.6 949 9861 roll 0.93 - - 3120 - 2.20 0.049 3401 633.2 161.8 - - 1704 - - - - - - - - - 26.14 -
9935 505.6 11.4 956 9942 done 0.93 - - 3131 - 2.10 0.030 2002 -666.2 161.8 - - 1704 - - - - - - - - - 26.39 -
10071 491.9 9.4 969 10077 roll 0.94 - - 3131 - 2.20 0.048 3400 635.5 164.2 - - 1703 - - - - - - - - - 26.14 -
10119 486.9 10.4 973 10125 done 0.94 - - 3142 - 2.10 0.029 1996 -668.6 164.2 - - 1704 - - - - - - - - - 26.39 -
10254 473.9 9.3 986 10261 roll 0.95 - - 3153 - 2.12 0.039 609 -654.2 167.3 - - 1704 - - - - - - - - - 26.22 -
10335 466.6 8.9 993 10366 done 0.98 - - 3153 - 2.12 0.032 2007 659.4 175.4 23.17 0.602 1659 -1.9 0.156 - - - - - - - 26.29 25.07
10499 451.0 10.1 1008 10506 roll 0.98 - - 3153 - 2.22 0.048 3410 632.0 175.4 - - 1645 - - - - - - - - - 26.04 -
10562 444.3 10.9 1013 10570 done 0.93 0.20 0.145 3107 -230.0 2.12 0.030 1994 -667.9 175.4 - - 1644 - - - - - - - - 25.78 26.25 -
10690 432.7 8.5 1026 10709 done 0.97 - - 3107 - - - 1994 - 187.9 14.98 0.619 1609 -2.3 0.170 - - - - - - - - 25.09
10830 419.6 9.5 1040 10835 roll 0.98 - - 3118 - 2.15 0.040 609 -644.2 189.3 - - 1596 - - - - - - - - - 26.08 -
10897 413.1 9.8 1046 10904 done 0.98 - - 3118 - 2.12 0.032 2003 657.5 189.3 - - 1593 - - - - - - - - - 26.15 -
11033 399.3 10.3 1059 11040 roll 0.98 - - 3118 - 2.22 0.048 3401 629.7 189.3 - - 1595 - - - - - - - - - 26.06 -
11074 395.0 11.3 1062 11082 done 0.98 - - 3129 - 2.10 0.030 2001 -666.7 189.3 - - 1592 - - - - - - - - - 26.28 -
11202 379.8 11.9 1075 11208 roll 0.98 - - 3139 - 2.12 0.039 610 -656.1 189.3 - - 1592 - - - - - - - - - 26.15 -
11240 375.4 11.6 1078 11246 done 0.98 - - 3140 - 2.12 0.032 2005 658.0 189.3 - - 1592 - - - - - - - - - 26.23 -
11375 359.2 12.2 1091 11382 roll 0.98 - - 3148 - 2.17 0.039 604 -645.6 189.3 - - 1592 - - - - - - - - - 26.17 -
11448 351.1 11.7 1097 11456 done 0.98 - - 3150 - 2.12 0.031 2012 664.2 189.3 - - 1592 - - - - - - - - - 26.26 -
11575 336.3 10.8 1110 11581 roll 0.98 - - 3150 - 2.20 0.048 3403 632.3 189.3 - - 1592 - - - - - - - - - 26.11 -
11668 325.6 12.2 1118 11677 done 0.95 0.17 0.147 3112 -223.5 2.10 0.030 1998 -669.0 189.3 - - 1592 - - - - - - - - 25.90 26.34 -
11796 312.4 9.1 1131 11802 roll 0.97 - - 3122 - 2.12 0.040 610 -654.7 195.2 - - 1592 - - - - - - - - - 26.19 -
11828 310.0 9.3 1133 11837 done 0.98 - - 3122 - 2.10 0.032 2000 661.9 198.7 3.83 0.406 1571 -5.5 0.435 - - - - - - - 26.27 24.60
11957 297.2 9.5 1146 11962 roll 0.98 - - 3133 - 2.12 0.038 610 -655.7 199.3 - - 1570 - - - - - - - - - 26.22 -
12026 290.5 9.3 1152 12039 done 0.99 - - 3133 - 2.10 0.032 2000 661.9 203.0 3.70 0.405 1551 -5.1 0.383 - - - - - - - 26.27 24.68
12158 277.6 10.2 1165 12165 roll 0.99 - - 3133 - 2.20 0.047 3402 637.3 203.0 - - 1554 - - - - - - - - - 26.13 -
12198 273.8 10.5 1168 12203 done 0.99 - - 3144 - 2.10 0.030 1993 -671.0 203.0 - - 1556 - - - - - - - - - 26.35 -
12332 260.2 9.3 1181 12352 done 1.01 - - 3144 - - - 1993 - 206.4 14.62 0.532 1535 -1.4 0.073 - - - - - - - - 25.22
12473 245.2 11.5 1195 12479 roll 1.01 - - 3144 - 2.25 0.047 3410 629.8 206.4 - - 1523 - - - - - - - - - 26.08 -
12573 233.5 11.7 1204 12579 done 1.01 - - 3156 - 2.12 0.030 1994 -667.9 206.4 - - 1524 - - - - - - - - - 26.29 -
12708 218.4 10.2 1217 12714 roll 1.01 - - 3156 - 2.22 0.047 3401 633.8 206.4 - - 1524 - - - - - - - - - 26.10 -
12788 209.9 11.0 1224 12795 done 1.01 0.12 0.157 3133 -191.7 2.08 0.029 1998 -674.5 206.4 - - 1523 - - - - - - - - 25.98 26.33 -
12924 198.0 7.8 1237 12970 roll 1.08 - - 3142 - 2.20 0.040 615 -628.6 227.8 34.97 0.482 1442 -2.3 0.099 - - - - - - - 26.07 25.15
13015 189.2 11.1 1244 13023 done 1.08 - - 3144 - 2.10 0.031 2000 659.5 227.8 - - 1433 - - - - - - - - - 26.06 -
13142 172.5 12.3 1257 13148 roll 1.08 - - 3143 - 2.20 0.047 3401 636.8 227.8 - - 1430 - - - - - - - - - 25.99 -
13254 157.9 13.3 1267 13262 done 1.08 - - 3155 - 2.10 0.028 1995 -669.5 227.8 - - 1430 - - - - - - - - - 26.23 -
13382 141.3 12.2 1280 13388 roll 1.08 - - 3165 - 2.12 0.038 610 -653.3 227.8 - - 1429 - - - - - - - - - 26.13 -
13433 135.5 11.7 1284 13441 done 1.08 - - 3165 - 2.10 0.030 2006 664.8 227.8 - - 1429 - - - - - - - - - 26.22 -
13560 122.6 10.5 1297 13566 roll 1.08 - - 3165 - 2.20 0.047 3406 636.4 227.8 - - 1429 - - - - - - - - - 26.09 -
13610 117.2 11.7 1301 13618 done 1.08 - - 3176 - 2.10 0.029 1994 -672.4 227.8 - - 1430 - - - - - - - - - 26.32 -
13738 101.9 11.9 1314 13746 done 1.08 - - 3176 - - - 1994 - 227.8 - - 1429 - - - - - - - - - - -
13868 88.0 9.6 1327 13874 roll 1.08 - - 3176 - 2.22 0.046 3405 635.6 227.8 - - 1427 - - - - - - - - - 26.13 -
13927 83.2 7.8 1332 13968 done 1.16 - - 3188 - 2.08 0.028 2002 -674.5 249.6 28.10 0.428 1353 -2.6 0.053 - - - - - - - 26.36 25.25
14089 68.8 10.2 1347 14095 roll 1.16 - - 3199 - 2.15 0.038 608 -648.4 249.6 - - 1338 - - - - - - - - - 26.10 -
14130 65.0 10.2 1350 14139 done 1.16 - - 3198 - 2.10 0.030 2006 665.7 249.6 - - 1337 - - - - - - - - - 26.18 -
14259 52.0 9.9 1363 14264 roll 1.16 - - 3199 - 2.20 0.046 3408 637.3 249.6 - - 1336 - - - - - - - - - 26.08 -
14329 44.6 11.5 1373 14337 done 1.16 - - 3210 - 2.10 0.028 1990 -675.2 249.6 - - 1336 - - - - - - - - - 26.30 -
14470 30.0 9.0 1398 14478 roll 1.18 - - 3221 - 2.10 0.037 607 -658.6 256.7 - - 1336 - - - - - - - - - 26.19 -
14493 28.0 9.0 1401 14516 done 1.21 - - 3220 - 2.08 0.029 2002 670.7 263.8 13.57 0.384 1295 -3.0 0.023 - - - - - - - 26.27 25.25
14649 15.4 7.9 1428 14666 roll 1.28 - - 3221 - 2.20 0.042 3405 637.7 283.6 8.40 0.084 1220 -8.9 0.170 - - - - - - - 26.10 25.73
14795 end climb: SURFACE_DEPTH_REACHED
14795 begin surface coast
14830 end surface coast: CONTROL_FINISHED_OK
14830 begin surface
SM 0.99 - - - - -8.27 7.85 0.025 130 16.5 1.38 0.030 2512 -4304.3 400.08 64.70 0.061 747 11.5 -0.019 - - - - - -