OKMC Apr12 * SG169 * Dive index * Mission links * Dive 229 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 46.41 of 147.52 AH used of 24V (68.54% remains)
• Previous NAKs 0, Timeouts 0 • 28.41 of 108.53 AH used of 10V (73.82% remains)
• Surface angle -70.4 deg, depth 0.75 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 553.64, SM_CC=450)
• GPS1 time: 28 s
• GPS2 time: 17 s, HDOP was 2.6 m • 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 - - - 109 VBD -0.58 - - 117 - - - 2436 - -194.6 -89.07 - 2937 - - - - - - - - - - -
113 3.4 -7.8 15 145 roll -0.58 8.12 0.233 2088 242.7 2.35 0.037 1019 -603.0 -194.6 -15.05 - 3775 -55.7 - - - - - - - 25.14 26.10 26.47
278 55.9 -18.4 46 286 done -0.58 - - 2076 - 2.58 0.034 2515 579.8 -194.6 - - 3776 - - - - - - - - - 26.09 -
473 108.2 -25.2 83 480 roll -0.50 0.12 0.168 2126 416.7 2.50 0.023 1027 -595.2 -194.6 - - 3776 - - - - - - - - 26.06 26.23 -
508 115.1 -16.5 89 515 done -0.46 - - 2115 - 2.55 0.034 2502 578.4 -194.6 - - 3776 - - - - - - - - - 26.17 -
699 144.1 -15.7 126 706 done -0.42 - - 2115 - - - 2501 - -194.6 - - 3776 - - - - - - - - - - -
893 174.8 -15.5 163 899 done -0.39 0.12 0.145 2156 341.7 - - 2500 - -194.6 - - 3776 - - - - - - - - 26.25 - -
1083 192.6 -7.6 200 1089 done -0.40 - - 2156 - - - 2500 - -194.6 - - 3776 - - - - - - - - - - -
1276 205.1 -6.1 229 1285 roll -0.42 - - 2155 - 2.40 0.023 1034 -610.8 -194.6 - - 3776 - - - - - - - - - 26.37 -
1312 207.2 -6.1 232 1318 done -0.44 - - 2156 - 2.47 0.030 2502 594.3 -194.6 - - 3776 - - - - - - - - - 26.33 -
1618 230.6 -8.9 263 1629 roll -0.52 0.12 0.102 2095 -508.3 1.98 0.040 3824 667.7 -194.6 - - 3776 - - - - - - - - 26.48 26.29 -
1664 234.1 -8.0 267 1673 done -0.60 - - 2096 - 1.95 0.019 2451 -704.1 -194.6 - - 3776 - - - - - - - - - 26.49 -
1973 256.7 -6.9 298 1977 roll -0.65 - - 2097 - 2.15 0.039 3838 645.1 -194.6 - - 3776 - - - - - - - - - 26.31 -
1999 258.3 -6.9 300 2008 done -0.71 0.15 0.093 2033 -426.7 2.12 0.018 2368 -693.4 -194.6 - - 3775 - - - - - - - - 26.33 26.49 -
2306 314.0 -19.3 331 2315 roll -0.65 0.10 0.157 2070 370.0 2.15 0.024 1021 -626.5 -194.6 - - 3774 - - - - - - - - 26.44 26.41 -
2372 323.5 -13.6 337 2380 done -0.63 - - 2059 - 2.33 0.032 2429 604.3 -194.6 - - 3774 - - - - - - - - - 26.36 -
2680 368.9 -14.3 368 2690 roll -0.59 - - 2048 - 2.15 0.041 3833 653.0 -194.6 - - 3772 - - - - - - - - - 26.30 -
2717 373.8 -14.1 371 2724 done -0.56 0.15 0.127 2095 313.3 2.12 0.020 2375 -687.7 -194.6 - - 3772 - - - - - - - - 26.16 26.48 -
3024 403.3 -8.1 402 3032 roll -0.56 - - 2083 - 2.33 0.041 3828 623.6 -194.6 - - 3770 - - - - - - - - - 26.28 -
3056 405.9 -7.8 405 3060 done -0.56 - - 2084 - 2.10 0.019 2386 -686.7 -194.6 - - 3770 - - - - - - - - - 26.49 -
3368 434.6 -9.8 436 3377 roll -0.55 - - 2073 - 2.28 0.042 3814 626.3 -194.6 - - 3767 - - - - - - - - - 26.27 -
3404 438.0 -10.2 439 3411 done -0.54 - - 2073 - 2.08 0.019 2389 -685.1 -194.6 - - 3767 - - - - - - - - - 26.50 -
3712 471.3 -11.5 470 3721 roll -0.52 0.12 0.129 2121 400.0 2.15 0.022 1033 -630.7 -194.6 - - 3765 - - - - - - - - 26.36 26.40 -
3766 475.8 -7.5 475 3776 done -0.54 - - 2116 - 2.30 0.030 2434 609.1 -194.6 - - 3764 - - - - - - - - - 26.35 -
4076 499.6 -8.0 506 4086 roll -0.60 0.12 0.081 2058 -483.3 2.25 0.034 1036 -621.3 -194.6 -0.08 - 3787 -287.5 - - - - - - - 26.55 26.40 24.80
4123 503.5 -8.7 510 4130 done -0.66 - - 2056 - 2.42 0.030 2490 600.8 -194.6 - - 3786 - - - - - - - - - 26.32 -
4430 539.5 -11.5 541 4431 done -0.63 - - 2056 - - - 2488 - -194.6 - - 3784 - - - - - - - - - - -
4732 568.9 -8.7 571 4742 roll -0.60 - - 2056 - 2.38 0.024 1032 -611.8 -194.6 - - 3782 - - - - - - - - - 26.38 -
4795 573.5 -5.9 577 4805 done -0.60 0.08 0.102 2079 287.5 2.45 0.033 2489 594.7 -194.6 - - 3781 - - - - - - - - 26.10 26.29 -
5106 595.0 -8.0 608 5115 roll -0.60 - - 2069 - 2.05 0.044 3826 652.2 -194.6 - - 3778 - - - - - - - - - 26.22 -
5128 596.9 -8.1 610 5137 done -0.59 - - 2069 - 2.08 0.020 2410 -680.8 -194.6 - - 3778 - - - - - - - - - 26.48 -
5450 632.7 -12.4 628 5451 done -0.58 - - 2069 - - - 2410 - -194.6 - - 3776 - - - - - - - - - - -
5748 667.4 -11.4 643 5754 roll -0.57 - - 2058 - 2.25 0.044 3820 626.7 -194.6 - - 3773 - - - - - - - - - 26.17 -
5802 671.8 -11.2 645 5809 done -0.57 0.12 0.119 2098 333.3 2.08 0.021 2410 -677.9 -194.6 - - 3772 - - - - - - - - 26.19 26.45 -
6111 694.8 -6.0 661 6116 roll -0.58 - - 2098 - 2.20 0.027 1038 -623.6 -194.6 - - 3771 - - - - - - - - - 26.32 -
6138 696.1 -6.0 662 6147 done -0.60 - - 2098 - 2.45 0.035 2484 590.2 -194.6 - - 3771 - - - - - - - - - 26.22 -
6451 714.9 -5.9 678 6456 roll -0.61 - - 2089 - 2.03 0.047 3814 655.2 -194.6 - - 3768 - - - - - - - - - 26.14 -
6492 717.3 -5.9 680 6496 done -0.63 - - 2089 - 2.05 0.021 2418 -681.0 -194.6 - - 3767 - - - - - - - - - 26.45 -
6807 736.9 -6.2 696 6808 done -0.64 - - 2089 - - - 2417 - -194.6 - - 3765 - - - - - - - - - - -
7105 756.8 -6.8 711 7110 roll -0.65 - - 2083 - 2.25 0.046 3819 623.1 -194.6 - - 3763 - - - - - - - - - 26.11 -
7133 758.1 -6.9 712 7137 done -0.66 - - 2083 - 2.05 0.021 2418 -683.4 -194.6 - - 3763 - - - - - - - - - 26.45 -
7441 782.2 -8.1 727 7447 roll -0.67 - - 2083 - 2.22 0.026 1038 -621.6 -194.6 - - 3761 - - - - - - - - - 26.29 -
7469 783.9 -8.1 728 7478 done -0.68 - - 2074 - 2.47 0.034 2495 589.9 -194.6 - - 3761 - - - - - - - - - 26.19 -
7781 812.9 -9.1 744 7785 roll -0.68 - - 2064 - 2.05 0.047 3828 650.2 -194.6 - - 3760 - - - - - - - - - 26.08 -
7806 815.0 -9.2 745 7810 done -0.68 - - 2065 - 2.08 0.021 2424 -675.0 -194.6 - - 3759 - - - - - - - - - 26.40 -
8124 846.6 -9.7 761 8129 roll -0.68 - - 2054 - 2.22 0.047 3818 627.9 -194.6 - - 3758 - - - - - - - - - 26.05 -
8158 848.6 -9.8 762 8164 done -0.67 - - 2054 - 2.05 0.022 2428 -678.0 -194.6 - - 3757 - - - - - - - - - 26.40 -
8464 880.3 -10.2 778 8469 roll -0.66 - - 2054 - 2.22 0.028 1049 -621.2 -194.6 - - 3756 - - - - - - - - - 26.24 -
8506 884.2 -10.1 780 8511 done -0.65 - - 2043 - 2.45 0.036 2488 587.3 -194.6 - - 3756 - - - - - - - - - 26.13 -
8821 918.8 -10.9 796 8822 done -0.63 - - 2043 - - - 2487 - -194.6 - - 3754 - - - - - - - - - - -
9119 949.8 -10.0 811 9125 roll -0.61 0.12 0.142 2090 391.7 2.38 0.026 1050 -603.8 -194.6 - - 3753 - - - - - - - - 26.27 26.20 -
9161 952.8 -8.7 813 9166 done -0.61 - - 2089 - 2.42 0.037 2477 589.7 -194.6 - - 3753 - - - - - - - - - 26.10 -
9481 970.0 -5.1 829 9487 roll -0.63 - - 2083 - 2.08 0.048 3819 645.2 -194.6 - - 3751 - - - - - - - - - 25.98 -
9521 972.0 -5.2 831 9527 done -0.65 - - 2083 - 2.08 0.021 2415 -675.0 -194.6 - - 3751 - - - - - - - - - 26.38 -
9841 985.6 -4.0 847 9846 roll -0.69 - - 2083 - 2.22 0.028 1039 -619.8 -194.6 - - 3750 - - - - - - - - - 26.20 -
9905 988.5 -4.6 850 9911 done -0.73 0.08 0.047 2018 -812.5 2.70 0.036 2579 570.4 -194.6 - - 3750 - - - - - - - - 26.03 26.08 -
9938 end dive: TARGET_DEPTH_EXCEEDED
9938 begin apogee
9945 990.8 -5.1 852 10228 roll -0.20 0.55 0.106 2204 338.2 0.15 0.071 2551 -186.7 - 275.38 0.944 2978 -2.8 0.312 - - - - - - 25.62 24.70 23.75
10231 end apogee: CONTROL_FINISHED_OK
10231 begin climb
10234 997.7 - 866 10496 roll 0.58 0.70 0.044 2472 382.9 2.05 0.045 3829 623.4 194.6 248.18 1.012 2170 -3.3 0.341 - - - - - - 24.89 24.85 23.15
10580 931.3 25.0 884 10586 done 0.50 0.15 0.175 2439 -220.0 2.03 0.024 2503 -653.2 194.6 - - 2148 - - - - - - - - 24.84 25.22 -
10903 875.0 16.7 900 10907 roll 0.44 - - 2439 - 2.08 0.044 3827 636.5 194.6 - - 2141 - - - - - - - - - 25.87 -
11058 846.7 19.4 907 11066 done 0.38 0.20 0.173 2396 -215.0 1.88 0.022 2531 -689.4 194.6 - - 2140 - - - - - - - - 25.58 26.08 -
11366 806.0 11.5 923 11371 roll 0.35 - - 2396 - 1.98 0.044 3825 653.5 194.6 - - 2139 - - - - - - - - - 26.03 -
11398 803.5 11.7 924 11405 done 0.32 - - 2406 - 1.88 0.022 2524 -692.0 194.6 - - 2138 - - - - - - - - - 26.17 -
11707 762.3 12.9 940 11713 roll 0.29 0.12 0.171 2379 -225.0 2.42 0.029 1079 -597.1 194.6 - - 2138 - - - - - - - - 25.97 26.13 -
11727 759.8 12.7 941 11733 done 0.27 - - 2379 - 2.60 0.035 2563 570.8 194.6 - - 2136 - - - - - - - - - 26.11 -
12048 728.2 10.1 957 12052 roll 0.26 - - 2379 - 1.90 0.047 3821 662.1 194.6 - - 2135 - - - - - - - - - 26.07 -
12104 723.0 11.0 959 12112 done 0.25 0.12 0.156 2354 -208.3 1.85 0.022 2529 -698.4 194.6 - - 2135 - - - - - - - - 25.93 26.27 -
12411 695.7 8.1 975 12435 done 0.28 - - 2354 - - - 2528 - 215.5 22.08 0.856 2100 -1.6 0.137 - - - - - - - - 24.84
12731 669.8 8.2 991 12761 roll 0.31 - - 2367 - 2.55 0.030 1077 -569.0 231.0 23.83 0.851 2033 -2.8 0.235 - - - - - - - 25.82 24.83
12799 665.0 7.9 994 12850 done 0.36 - - 2367 - 2.62 0.033 2556 564.5 256.9 41.65 0.812 1923 -2.6 0.230 - - - - - - - 25.83 24.47
13151 636.2 7.7 1012 13193 roll 0.41 0.12 0.074 2452 708.3 2.00 0.044 3831 637.5 288.6 36.28 0.924 1796 -3.5 0.256 - - - - - - 26.13 25.47 24.41
13243 623.6 15.6 1016 13252 done 0.38 0.17 0.146 2406 -270.6 1.92 0.022 2528 -678.6 288.6 - - 1777 - - - - - - - - 25.30 25.71 -
13554 582.7 12.1 1039 13564 roll 0.37 - - 2419 - 2.45 0.031 1082 -590.2 288.6 - - 1772 - - - - - - - - - 25.96 -
13600 577.6 11.4 1043 13608 done 0.37 - - 2418 - 2.58 0.033 2551 569.4 288.6 - - 1771 - - - - - - - - - 25.98 -
13907 535.5 14.7 1074 13908 done 0.35 - - 2418 - - - 2549 - 288.6 - - 1771 - - - - - - - - - - -
14209 493.1 14.1 1104 14219 roll 0.34 0.12 0.153 2377 -341.7 1.95 0.044 3829 656.4 288.6 - - 1770 - - - - - - - - 26.05 26.06 -
14242 488.6 13.3 1107 14252 done 0.34 - - 2387 - 1.90 0.022 2518 -690.0 288.6 - - 1770 - - - - - - - - - 26.23 -
14553 459.9 9.4 1138 14562 roll 0.35 - - 2400 - 2.42 0.031 1077 -595.5 288.6 - - 1768 - - - - - - - - - 26.15 -
14599 456.0 8.9 1142 14606 done 0.38 - - 2399 - 2.58 0.032 2553 572.1 288.6 - - 1767 - - - - - - - - - 26.15 -
14907 423.5 10.9 1173 14915 roll 0.39 - - 2411 - 2.55 0.032 1079 -578.0 288.6 - - 1767 - - - - - - - - - 26.15 -
14940 420.0 10.3 1176 14949 done 0.40 - - 2413 - 2.55 0.034 2540 572.9 288.6 - - 1767 - - - - - - - - - 26.15 -
15248 386.0 10.3 1207 15252 roll 0.40 - - 2412 - 1.95 0.045 3830 661.5 288.6 - - 1767 - - - - - - - - - 26.09 -
15291 381.2 11.9 1211 15300 done 0.40 - - 2423 - 1.95 0.023 2500 -682.1 288.6 - - 1767 - - - - - - - - - 26.29 -
15600 348.5 11.2 1242 15609 roll 0.39 - - 2436 - 2.40 0.031 1072 -595.0 288.6 - - 1767 - - - - - - - - - 26.18 -
15646 344.2 10.3 1246 15653 done 0.39 0.12 0.120 2396 -333.3 2.55 0.033 2539 575.3 288.6 - - 1766 - - - - - - - - 26.01 26.16 -
15953 318.5 8.1 1277 15983 roll 0.44 - - 2408 - 2.55 0.028 1071 -575.7 308.3 18.50 0.746 1707 -3.2 0.145 - - - - - - - 26.13 24.92
15997 315.1 7.8 1281 16036 done 0.50 - - 2409 - 2.50 0.032 2514 577.2 338.8 31.95 0.750 1592 -3.6 0.161 - - - - - - - 26.07 24.75
16336 285.5 8.7 1315 16347 roll 0.53 0.10 0.089 2497 880.0 2.47 0.029 1073 -583.4 338.8 - - 1569 - - - - - - - - 26.22 25.97 -
16361 282.9 9.8 1317 16370 done 0.55 0.12 0.106 2450 -391.7 2.50 0.034 2508 574.0 338.8 - - 1568 - - - - - - - - 25.72 25.95 -
16671 239.9 12.3 1348 16679 roll 0.54 - - 2450 - 2.00 0.042 3829 660.5 338.8 - - 1568 - - - - - - - - - 26.03 -
16714 234.3 12.9 1352 16717 done 0.54 - - 2460 - 2.00 0.022 2473 -678.0 338.8 - - 1567 - - - - - - - - - 26.19 -
17026 203.5 9.5 1383 17035 roll 0.53 - - 2472 - 2.33 0.031 1080 -597.9 338.8 - - 1567 - - - - - - - - - 26.15 -
17049 201.5 9.2 1385 17057 done 0.53 - - 2473 - 2.47 0.033 2512 579.8 338.8 - - 1566 - - - - - - - - - 26.13 -
17362 169.7 11.3 1445 17369 roll 0.52 - - 2473 - 2.03 0.041 3840 654.2 338.8 - - 1566 - - - - - - - - - 26.13 -
17412 162.5 14.1 1454 17419 done 0.51 0.15 0.136 2437 -240.0 1.98 0.021 2482 -685.9 338.8 - - 1566 - - - - - - - - 25.97 26.30 -
17605 145.2 8.6 1491 17613 roll 0.54 - - 2450 - 2.38 0.031 1071 -592.9 341.6 - - 1566 - - - - - - - - - 26.20 -
17641 142.2 8.4 1497 17654 done 0.59 - - 2450 - 2.47 0.030 2518 585.8 351.4 3.78 0.507 1545 -5.6 0.165 - - - - - - - 26.22 24.62
17840 127.6 6.3 1535 17961 roll 0.78 0.17 0.070 2542 541.2 2.60 0.030 1077 -554.2 431.6 108.95 0.602 1206 -3.1 0.070 - - - - - - 26.38 25.48 24.64
18022 113.4 9.0 1566 18030 done 0.80 - - 2542 - 2.50 0.031 2503 570.4 431.6 - - 1198 - - - - - - - - - 25.69 -
18216 85.8 13.5 1603 18222 roll 0.78 - - 2542 - 2.03 0.041 3823 650.2 431.6 - - 1198 - - - - - - - - - 25.89 -
18275 76.4 15.3 1614 18283 done 0.78 - - 2551 - 2.00 0.023 2476 -673.5 431.6 - - 1196 - - - - - - - - - 26.05 -
18469 51.6 14.0 1651 18475 done 0.78 - - 2552 - - - 2475 - 431.6 - - 1195 - - - - - - - - - - -
18661 29.2 9.5 1688 18667 done 0.79 - - 2552 - - - 2475 - 431.6 - - 1196 - - - - - - - - - - -
18852 15.5 6.6 1725 18897 roll 0.89 - - 2563 - 2.42 0.027 1069 -581.0 499.4 39.17 0.145 942 -6.5 0.074 - - - - - - - 26.13 25.57
18936 10.2 7.0 1739 18974 done 1.01 0.10 0.088 2648 850.0 2.53 0.027 2537 580.2 555.1 32.20 0.137 716 -7.0 0.055 - - - - - - 26.12 26.15 25.60
18989 end climb: SURFACE_DEPTH_REACHED
18989 begin surface coast
19009 end surface coast: CONTROL_FINISHED_OK
19009 begin surface
SM 0.57 - - - - -6.63 6.28 0.021 126 -401.6 0.12 0.063 2453 -700.0 553.64 - - 722 - - - - - - - -