OKMC Apr12 * SG169 * Dive index * Mission links * Dive 198 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 39.53 of 147.52 AH used of 24V (73.21% remains)
• Previous NAKs 0, Timeouts 0 • 24.39 of 108.53 AH used of 10V (77.52% remains)
• Surface angle -67.7 deg, depth 0.95 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 453.07, SM_CC=450)
• GPS1 time: 35 s
• GPS2 time: 29 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 113 VBD -0.58 - - 116 - - - 2421 - -194.6 -93.55 - 3094 - - - - - - - - - - -
116 3.9 -9.3 16 143 roll -0.58 7.72 0.220 2067 252.7 2.25 0.044 3846 633.3 -194.6 -12.25 - 3777 -55.8 - - - 1 - - - 25.23 25.52 26.46
232 49.5 -26.2 37 239 done -0.52 - - 2077 - 2.00 0.021 2470 -688.0 -194.6 - - 3777 - - - - - - - - - 26.18 -
424 120.9 -37.2 74 432 roll -0.41 0.20 0.174 2146 345.0 2.33 0.026 1048 -610.3 -194.6 - - 3777 - - - - - - - - 25.77 26.21 -
525 136.8 -8.8 93 532 done -0.43 - - 2133 - 2.40 0.030 2490 600.8 -194.6 - - 3777 - - - - - - - - - 26.22 -
716 172.9 -23.3 130 722 done -0.37 - - 2133 - - - 2489 - -194.6 - - 3777 - - - - - - - - - - -
912 208.5 -16.7 163 922 roll -0.34 0.12 0.151 2184 425.0 2.35 0.021 1034 -619.1 -194.6 - - 3777 - - - - - - - - 26.25 26.36 -
958 213.1 -10.0 167 966 done -0.35 - - 2183 - 2.33 0.030 2462 612.9 -194.6 - - 3778 - - - - - - - - - 26.33 -
1266 241.1 -9.4 198 1275 roll -0.44 0.12 0.095 2115 -566.7 2.03 0.035 3834 675.9 -194.6 - - 3777 - - - - - - - - 26.51 26.32 -
1333 246.5 -7.7 204 1341 done -0.49 - - 2115 - 2.05 0.018 2384 -707.3 -194.6 - - 3777 - - - - - - - - - 26.55 -
1641 269.3 -6.9 235 1650 roll -0.52 - - 2111 - 2.28 0.040 3821 630.3 -194.6 - - 3777 - - - - - - - - - 26.32 -
1666 270.9 -7.0 237 1673 done -0.54 - - 2111 - 1.73 0.018 2524 -749.7 -194.6 - - 3777 - - - - - - - - - 26.57 -
1973 301.9 -11.5 268 1982 roll -0.53 - - 2103 - 1.95 0.041 3824 666.7 -194.6 - - 3776 - - - - - - - - - 26.33 -
2048 309.1 -9.0 275 2055 done -0.55 - - 2103 - 1.77 0.020 2520 -736.7 -194.6 - - 3776 - - - - - - - - - 26.56 -
2355 341.8 -10.9 306 2365 roll -0.53 - - 2103 - 2.38 0.024 1045 -619.7 -194.6 - - 3774 - - - - - - - - - 26.43 -
2432 348.8 -8.7 313 2439 done -0.55 - - 2093 - 2.55 0.031 2565 596.1 -194.6 - - 3773 - - - - - - - - - 26.38 -
2739 381.1 -10.0 344 2748 roll -0.54 - - 2093 - 2.53 0.024 1041 -602.4 -194.6 - - 3771 - - - - - - - - - 26.41 -
2781 384.9 -8.9 348 2790 done -0.54 - - 2083 - 2.53 0.031 2551 596.8 -194.6 - - 3771 - - - - - - - - - 26.37 -
3092 415.7 -10.3 379 3101 roll -0.52 - - 2083 - 2.47 0.024 1040 -611.7 -194.6 - - 3768 - - - - - - - - - 26.42 -
3185 424.2 -8.2 388 3194 done -0.53 - - 2073 - 2.47 0.033 2530 603.2 -194.6 - - 3767 - - - - - - - - - 26.36 -
3495 459.5 -12.8 419 3504 roll -0.51 0.12 0.149 2106 275.0 1.90 0.039 3819 678.4 -194.6 - - 3765 - - - - - - - - 26.32 26.32 -
3527 462.9 -11.2 422 3538 done -0.50 - - 2106 - 1.92 0.019 2455 -710.4 -194.6 -0.10 - 3786 -210.0 - - - - - - - - 26.53 25.88
3838 487.7 -7.8 453 3847 roll -0.51 - - 2106 - 2.25 0.024 1042 -628.0 -194.6 - - 3785 - - - - - - - - - 26.41 -
3874 490.2 -7.5 456 3881 done -0.53 - - 2099 - 2.47 0.031 2530 602.4 -194.6 - - 3784 - - - - - - - - - 26.34 -
4180 517.1 -9.4 487 4189 roll -0.53 - - 2099 - 2.40 0.026 1051 -616.2 -194.6 - - 3780 - - - - - - - - - 26.38 -
4205 519.2 -9.7 489 4212 done -0.53 - - 2099 - 2.45 0.034 2516 598.0 -194.6 - - 3780 - - - - - - - - - 26.32 -
4512 548.7 -9.0 520 4521 roll -0.53 - - 2099 - 2.42 0.026 1042 -609.1 -194.6 - - 3777 - - - - - - - - - 26.36 -
4537 550.6 -8.5 522 4545 done -0.54 - - 2098 - 2.45 0.033 2512 600.0 -194.6 - - 3777 - - - - - - - - - 26.32 -
4845 575.2 -8.0 553 4854 roll -0.55 - - 2099 - 2.38 0.024 1038 -619.3 -194.6 - - 3774 - - - - - - - - - 26.37 -
4890 578.4 -7.8 557 4897 done -0.57 - - 2099 - 2.42 0.034 2498 603.3 -194.6 - - 3774 - - - - - - - - - 26.29 -
5201 601.8 -7.3 587 5206 roll -0.58 - - 2090 - 2.00 0.046 3825 663.5 -194.6 - - 3771 - - - - - - - - - 26.22 -
5248 604.7 -7.1 589 5251 done -0.59 - - 2090 - 2.00 0.021 2427 -699.0 -194.6 - - 3771 - - - - - - - - - 26.50 -
5560 628.0 -7.0 605 5566 roll -0.59 - - 2090 - 2.20 0.026 1042 -629.5 -194.6 - - 3768 - - - - - - - - - 26.36 -
5588 629.4 -7.1 606 5592 done -0.60 - - 2085 - 2.42 0.034 2500 602.5 -194.6 - - 3769 - - - - - - - - - 26.28 -
5895 653.6 -8.1 621 5896 done -0.60 - - 2086 - - - 2499 - -194.6 - - 3765 - - - - - - - - - - -
6195 678.7 -8.4 636 6201 roll -0.60 - - 2086 - 2.38 0.027 1042 -612.2 -194.6 - - 3763 - - - - - - - - - 26.32 -
6250 682.1 -8.5 638 6258 done -0.61 - - 2085 - 2.42 0.035 2491 598.8 -194.6 - - 3763 - - - - - - - - - 26.25 -
6555 710.3 -9.2 654 6559 roll -0.61 - - 2076 - 2.05 0.046 3828 652.2 -194.6 - - 3761 - - - - - - - - - 26.17 -
6599 714.1 -8.9 656 6604 done -0.61 - - 2076 - 2.05 0.021 2423 -685.4 -194.6 - - 3760 - - - - - - - - - 26.46 -
6917 744.0 -9.0 672 6921 roll -0.61 - - 2077 - 2.17 0.027 1045 -635.0 -194.6 - - 3759 - - - - - - - - - 26.31 -
6952 746.0 -9.0 673 6959 done -0.61 - - 2068 - 2.40 0.035 2489 601.7 -194.6 - - 3758 - - - - - - - - - 26.22 -
7259 776.1 -9.7 689 7260 done -0.61 - - 2068 - - - 2488 - -194.6 - - 3756 - - - - - - - - - - -
7559 804.4 -9.5 704 7560 done -0.60 - - 2068 - - - 2488 - -194.6 - - 3754 - - - - - - - - - - -
7861 832.0 -8.8 719 7862 done -0.59 - - 2067 - - - 2488 - -194.6 - - 3752 - - - - - - - - - - -
8159 858.3 -8.6 734 8165 roll -0.59 - - 2068 - 2.38 0.028 1040 -608.4 -194.6 - - 3751 - - - - - - - - - 26.24 -
8193 859.9 -8.5 735 8199 done -0.59 - - 2059 - 2.42 0.037 2480 595.0 -194.6 - - 3751 - - - - - - - - - 26.15 -
8499 889.1 -9.2 751 8505 roll -0.58 0.10 0.153 2079 200.0 2.05 0.045 3810 648.8 -194.6 - - 3749 - - - - - - - - 26.41 26.06 -
8532 890.7 -9.0 752 8539 done -0.57 - - 2079 - 2.05 0.021 2416 -680.0 -194.6 - - 3748 - - - - - - - - - 26.41 -
8841 913.6 -7.2 768 8843 done -0.57 - - 2078 - - - 2415 - -194.6 - - 3747 - - - - - - - - - - -
9140 934.7 -7.3 783 9145 roll -0.58 - - 2069 - 2.28 0.048 3821 616.7 -194.6 - - 3746 - - - - - - - - - 26.01 -
9168 936.2 -7.2 784 9177 done -0.58 - - 2069 - 2.08 0.022 2416 -675.5 -194.6 - - 3745 - - - - - - - - - 26.39 -
9479 962.3 -8.3 800 9480 done -0.58 - - 2069 - - - 2416 - -194.6 - - 3745 - - - - - - - - - - -
9779 986.7 -8.2 815 9785 roll -0.58 - - 2059 - 2.25 0.047 3813 620.9 -194.6 - - 3743 - - - - - - - - - 26.00 -
9813 988.3 -8.2 816 9820 done -0.58 - - 2058 - 2.05 0.023 2422 -678.5 -194.6 - - 3743 - - - - - - - - - 26.38 -
9836 end dive: TARGET_DEPTH_EXCEEDED
9836 begin apogee
9842 991.6 -8.1 818 10041 roll -0.20 0.43 0.099 2206 344.2 0.08 0.090 2490 850.0 - 188.05 1.179 2966 -4.1 0.367 - - - - - - 25.82 24.63 23.69
10042 end apogee: CONTROL_FINISHED_OK
10042 begin climb
10045 999.2 - 828 10261 roll 0.58 0.68 0.039 2481 404.4 2.22 0.047 3819 598.6 194.6 206.52 1.150 2183 -3.8 0.348 - - - - - - 24.94 24.87 23.25
10432 922.8 26.6 847 10437 done 0.49 0.20 0.186 2440 -205.0 1.98 0.023 2504 -664.1 194.6 - - 2146 - - - - - - - - 25.15 25.58 -
10746 861.2 18.3 863 10752 roll 0.44 - - 2453 - 2.40 0.031 1068 -598.3 194.6 - - 2142 - - - - - - - - - 25.94 -
10889 838.2 15.8 870 10896 done 0.41 0.15 0.152 2411 -280.0 2.53 0.036 2538 581.0 194.6 - - 2138 - - - - - - - - 25.72 25.98 -
11207 786.8 15.7 886 11213 roll 0.37 - - 2411 - 2.00 0.045 3820 641.0 194.6 - - 2137 - - - - - - - - - 26.03 -
11321 768.5 18.3 891 11328 done 0.32 0.15 0.164 2380 -206.7 1.92 0.023 2512 -681.2 194.6 - - 2136 - - - - - - - - 25.79 26.19 -
11628 727.8 11.7 907 11629 done 0.31 - - 2381 - - - 2511 - 194.6 - - 2136 - - - - - - - - - - -
11926 695.7 10.2 922 11927 done 0.30 - - 2380 - - - 2511 - 194.6 - - 2135 - - - - - - - - - - -
12226 666.6 9.7 937 12232 roll 0.29 - - 2393 - 2.40 0.031 1067 -601.7 194.6 - - 2136 - - - - - - - - - 26.16 -
12260 664.7 9.7 938 12268 done 0.28 - - 2392 - 2.53 0.034 2548 585.4 194.6 - - 2135 - - - - - - - - - 26.13 -
12566 629.1 11.2 954 12572 roll 0.26 0.12 0.157 2351 -341.7 1.92 0.042 3820 662.5 194.6 - - 2135 - - - - - - - - 26.10 26.10 -
12620 624.5 11.6 956 12627 done 0.25 - - 2361 - 1.88 0.021 2515 -694.1 194.6 - - 2134 - - - - - - - - - 26.31 -
12927 598.0 8.0 973 12958 done 0.28 - - 2361 - - - 2514 - 216.3 24.00 0.808 2092 -1.8 0.137 - - - - 1 - - - 24.37
13257 571.9 7.7 1006 13326 roll 0.33 - - 2373 - 2.53 0.033 1083 -565.6 249.8 54.00 0.782 1957 -2.5 0.193 - - - - 1 - - 25.53 24.40
13362 563.8 7.4 1016 13440 done 0.41 0.08 0.047 2445 900.0 2.53 0.035 2533 573.1 293.0 61.62 0.806 1782 -2.8 0.210 - - - - 1 - 25.60 25.61 24.11
13741 498.2 16.9 1054 13752 roll 0.38 0.15 0.164 2399 -306.7 2.03 0.046 3820 634.0 293.0 1.77 0.176 1780 - - - - 1 - - - 25.64 25.76 25.37
13849 485.0 9.6 1064 13856 done 0.38 - - 2409 - 1.88 0.021 2531 -685.6 293.0 - - 1789 - - - - - - - - - 26.02 -
14159 451.6 11.2 1095 14168 roll 0.38 - - 2422 - 2.45 0.032 1076 -593.9 293.0 - - 1790 - - - - - - - - - 26.03 -
14202 447.1 10.4 1099 14210 done 0.38 - - 2422 - 2.58 0.035 2559 574.8 293.0 - - 1790 - - - - - - - - - 26.03 -
14513 409.3 12.2 1130 14520 done 0.36 - - 2422 - - - 2558 - 293.0 - - 1790 - - - - - - - - - - -
14824 367.7 13.5 1161 14833 roll 0.35 0.12 0.151 2392 -250.0 2.53 0.028 1077 -585.4 293.0 - - 1790 - - - - - - - - 26.09 26.14 -
14859 363.9 11.6 1164 14866 done 0.35 - - 2393 - 2.55 0.034 2561 582.0 293.0 - - 1790 - - - - - - - - - 26.13 -
15167 339.8 7.7 1195 15217 roll 0.41 - - 2405 - 2.62 0.031 1070 -569.1 325.3 37.97 0.764 1651 -3.7 0.172 - - 1 - 1 - - 25.82 24.67
15243 333.9 8.0 1202 15299 done 0.47 - - 2404 - 2.55 0.032 2545 578.4 349.1 45.60 0.720 1546 -2.3 0.113 - - - - - - - 25.82 24.58
15601 305.9 8.1 1238 15630 roll 0.53 0.12 0.075 2506 850.0 2.58 0.029 1075 -569.8 368.1 18.73 0.739 1463 -4.4 0.194 - - 1 - - - 26.11 25.77 24.82
15665 296.5 17.4 1244 15674 done 0.51 0.17 0.104 2442 -376.5 2.53 0.034 2536 577.5 368.1 - - 1455 - - - - - - - - 25.60 25.79 -
15975 257.8 12.0 1275 15983 roll 0.51 - - 2455 - 2.45 0.030 1071 -598.0 368.1 - - 1454 - - - - - - - - - 26.01 -
16009 254.0 11.8 1278 16017 done 0.52 - - 2455 - 2.47 0.031 2526 589.1 368.1 - - 1452 - - - - - - - - - 26.02 -
16319 222.5 9.7 1309 16328 roll 0.53 - - 2455 - 1.95 0.042 3822 664.6 368.1 - - 1452 - - - - - - - - - 26.07 -
16341 219.9 10.0 1311 16345 done 0.54 - - 2465 - 2.00 0.020 2464 -679.0 368.1 - - 1452 - - - - - - - - - 26.24 -
16651 192.3 7.9 1351 16684 roll 0.59 - - 2477 - 2.33 0.028 1068 -599.1 395.2 25.88 0.662 1354 -3.8 0.116 - - - - - - - 26.01 25.08
16754 184.4 7.5 1369 16798 done 0.67 - - 2477 - 2.42 0.028 2509 595.5 435.2 37.28 0.658 1200 -4.1 0.122 - - - - - - - 26.01 24.87
16985 162.5 11.5 1412 16993 roll 0.75 0.12 0.106 2531 450.0 2.05 0.039 3833 645.9 435.2 - - 1181 - - - - - - - - 25.99 25.89 -
17063 153.9 10.4 1426 17070 done 0.87 - - 2531 - 2.08 0.020 2431 -674.0 435.2 - - 1181 - - - - - - - - - 26.08 -
17255 136.9 10.6 1463 17264 roll 0.92 0.12 0.083 2598 558.3 2.17 0.038 3823 641.5 435.2 - - 1181 - - - - - - - - 26.25 26.04 -
17297 133.0 9.2 1470 17303 done 0.96 - - 2608 - 1.98 0.020 2473 -681.8 435.2 - - 1181 - - - - - - - - - 26.20 -
17490 89.5 23.6 1507 17496 done 0.90 0.12 0.190 2573 -291.7 - - 2470 - 435.2 - - 1181 - - - - - - - - 25.92 - -
17681 55.1 16.7 1544 17688 done 0.87 - - 2573 - - - 2470 - 435.2 - - 1181 - - - - - - - - - - -
17873 27.0 14.1 1581 17880 roll 0.86 - - 2573 - 2.10 0.037 3826 645.7 435.2 - - 1180 - - - - - - - - - 26.22 -
17899 23.4 14.2 1585 17906 done 0.84 0.12 0.142 2546 -225.0 1.90 0.021 2508 -693.7 435.2 - - 1181 - - - - - - - - 26.06 26.34 -
18091 6.6 8.1 1622 18104 roll 0.88 - - 2558 - 2.42 0.028 1069 -594.6 454.0 8.45 0.132 1125 -6.6 0.035 - - - - - - - 26.27 25.72
18131 end climb: SURFACE_DEPTH_REACHED
18131 begin surface coast
18142 end surface coast: CONTROL_FINISHED_OK
18142 begin surface
SM 0.89 - - - - -6.60 6.35 0.051 139 -380.9 2.45 0.028 2517 591.0 453.07 - - 1132 - - - - - - - -