OKMC Apr12 * SG169 * Dive index * Mission links * Dive 243 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 49.15 of 147.52 AH used of 24V (66.68% remains)
• Previous NAKs 0, Timeouts 0 • 30.10 of 108.53 AH used of 10V (72.26% remains)
• Surface angle -65.7 deg, depth 0.87 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 542.11, SM_CC=450)
• GPS1 time: 42 s
• GPS2 time: 16 s, HDOP was 2.8 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
15 begin dive
17 - - - 96 VBD -0.58 - - 116 - - - 2462 - -194.6 -76.22 - 3090 - - - - - - - - - - -
99 3.9 -10.0 13 126 roll -0.58 7.88 0.220 2091 250.6 2.58 0.041 984 -572.9 -194.6 -12.62 - 3775 -54.3 - - - - - - - 25.13 26.08 26.50
180 35.4 -27.8 27 187 done -0.50 0.12 0.161 2111 166.7 2.55 0.033 2469 582.4 -194.6 - - 3777 - - - - - - - - 25.80 26.07 -
373 87.0 -23.1 64 381 roll -0.43 - - 2122 - 2.47 0.024 979 -603.2 -194.6 - - 3777 - - - - - - - - - 26.22 -
454 98.7 -10.6 79 461 done -0.43 - - 2111 - 2.45 0.031 2421 588.6 -194.6 - - 3776 - - - - - - - - - 26.20 -
645 133.7 -20.9 116 652 done -0.38 0.12 0.160 2150 325.0 - - 2420 - -194.6 - - 3777 - - - - - - - - 26.17 - -
837 158.1 -11.3 153 844 roll -0.37 - - 2140 - 2.15 0.039 3839 660.0 -194.6 - - 3777 - - - - - - - - - 26.25 -
866 161.2 -10.2 158 873 done -0.37 - - 2140 - 2.15 0.019 2354 -690.7 -194.6 - - 3777 - - - - - - - - - 26.45 -
1059 182.1 -10.5 195 1065 roll -0.36 - - 2140 - 2.20 0.024 975 -626.8 -194.6 - - 3776 - - - - - - - - - 26.37 -
1105 186.6 -8.4 203 1112 done -0.38 - - 2137 - 2.40 0.029 2413 599.2 -194.6 - - 3776 - - - - - - - - - 26.34 -
1296 205.6 -10.8 235 1297 done -0.37 - - 2138 - - - 2412 - -194.6 - - 3777 - - - - - - - - - - -
1598 235.6 -10.3 265 1604 done -0.37 - - 2138 - - - 2412 - -194.6 - - 3776 - - - - - - - - - - -
1908 263.0 -9.1 296 1918 roll -0.37 - - 2127 - 2.15 0.039 3831 660.0 -194.6 - - 3776 - - - - - - - - - 26.31 -
1944 266.4 -9.5 299 1951 done -0.38 - - 2127 - 2.15 0.018 2332 -697.2 -194.6 - - 3776 - - - - - - - - - 26.53 -
2251 294.0 -8.1 330 2255 roll -0.38 - - 2127 - 2.15 0.023 985 -626.5 -194.6 - - 3775 - - - - - - - - - 26.43 -
2276 295.8 -8.4 332 2284 done -0.39 - - 2125 - 2.35 0.029 2405 604.3 -194.6 - - 3775 - - - - - - - - - 26.37 -
2584 320.5 -7.0 363 2592 roll -0.40 - - 2115 - 2.12 0.039 3822 668.4 -194.6 - - 3773 - - - - - - - - - 26.32 -
2647 325.1 -7.2 369 2655 done -0.42 - - 2115 - 2.10 0.018 2352 -700.0 -194.6 - - 3773 - - - - - - - - - 26.53 -
2955 347.3 -6.5 400 2966 roll -0.42 - - 2115 - 2.20 0.024 982 -622.7 -194.6 - - 3771 - - - - - - - - - 26.41 -
2981 349.1 -7.2 402 2988 done -0.43 - - 2112 - 2.40 0.032 2418 598.3 -194.6 - - 3771 - - - - - - - - - 26.35 -
3289 373.5 -8.6 433 3298 roll -0.43 - - 2102 - 2.12 0.040 3824 663.2 -194.6 - - 3769 - - - - - - - - - 26.28 -
3332 376.9 -8.2 437 3341 done -0.44 - - 2102 - 2.12 0.019 2354 -693.4 -194.6 - - 3768 - - - - - - - - - 26.51 -
3641 403.1 -9.0 468 3651 roll -0.44 0.10 0.135 2122 200.0 2.35 0.041 3831 628.5 -194.6 - - 3766 - - - - - - - - 26.49 26.28 -
3677 405.8 -8.4 471 3684 done -0.45 - - 2122 - 2.10 0.018 2361 -700.0 -194.6 - - 3766 - - - - - - - - - 26.53 -
3985 429.4 -7.2 502 3995 roll -0.46 - - 2113 - 2.35 0.051 3830 625.1 -194.6 -0.10 - 3784 -180.0 - - - - - - - - 26.27 26.02
4021 431.7 -6.9 505 4028 done -0.49 - - 2113 - 2.08 0.018 2372 -701.0 -194.6 - - 3784 - - - - - - - - - 26.53 -
4329 449.3 -5.6 536 4330 done -0.52 - - 2114 - - - 2372 - -194.6 - - 3783 - - - - - - - - - - -
4631 467.6 -6.8 566 4640 roll -0.56 - - 2112 - 2.30 0.041 3830 633.9 -194.6 - - 3780 - - - - - - - - - 26.26 -
4778 477.9 -7.8 580 4786 done -0.64 0.12 0.084 2037 -625.0 1.83 0.018 2473 -741.5 -194.6 - - 3778 - - - - - - - - 26.41 26.56 -
5086 517.7 -15.4 611 5095 roll -0.60 0.12 0.137 2082 375.0 2.42 0.023 985 -614.9 -194.6 - - 3777 - - - - - - - - 26.34 26.36 -
5159 525.5 -8.8 618 5169 done -0.62 - - 2071 - 2.65 0.032 2535 584.9 -194.6 - - 3776 - - - - - - - - - 26.31 -
5469 559.1 -11.1 649 5470 done -0.60 - - 2070 - - - 2534 - -194.6 - - 3774 - - - - - - - - - - -
5773 590.0 -9.6 679 5782 roll -0.59 - - 2071 - 2.62 0.027 986 -590.8 -194.6 - - 3772 - - - - - - - - - 26.32 -
5838 595.6 -7.5 685 5845 done -0.60 - - 2059 - 2.67 0.033 2538 581.3 -194.6 - - 3772 - - - - - - - - - 26.27 -
6155 628.2 -11.0 704 6161 roll -0.57 0.10 0.158 2089 300.0 2.60 0.023 993 -594.2 -194.6 - - 3769 - - - - - - - - 26.42 26.33 -
6224 633.6 -9.6 707 6228 done -0.57 - - 2086 - 2.60 0.032 2516 585.8 -194.6 - - 3769 - - - - - - - - - 26.26 -
6530 663.9 -10.3 722 6536 roll -0.57 - - 2086 - 2.53 0.024 988 -604.0 -194.6 - - 3766 - - - - - - - - - 26.33 -
6553 666.0 -10.3 723 6558 done -0.57 - - 2085 - 2.58 0.034 2507 588.8 -194.6 - - 3766 - - - - - - - - - 26.24 -
6866 697.1 -9.4 739 6871 roll -0.57 - - 2086 - 2.50 0.025 983 -609.6 -194.6 - - 3764 - - - - - - - - - 26.31 -
6893 699.0 -9.3 740 6898 done -0.57 - - 2085 - 2.58 0.034 2496 586.4 -194.6 - - 3764 - - - - - - - - - 26.22 -
7203 723.9 -7.5 755 7204 done -0.57 - - 2085 - - - 2495 - -194.6 - - 3762 - - - - - - - - - - -
7501 745.3 -7.0 770 7506 roll -0.57 - - 2086 - 2.47 0.025 994 -607.7 -194.6 - - 3760 - - - - - - - - - 26.29 -
7529 746.8 -7.1 771 7533 done -0.57 - - 2085 - 2.55 0.034 2492 587.5 -194.6 - - 3760 - - - - - - - - - 26.19 -
7837 770.2 -7.6 786 7838 done -0.57 - - 2085 - - - 2491 - -194.6 - - 3758 - - - - - - - - - - -
8137 791.0 -6.6 801 8142 roll -0.58 - - 2086 - 2.47 0.026 990 -607.7 -194.6 - - 3756 - - - - - - - - - 26.27 -
8186 793.6 -6.5 803 8195 done -0.59 - - 2085 - 2.55 0.036 2487 587.1 -194.6 - - 3756 - - - - - - - - - 26.16 -
8497 815.3 -7.0 819 8498 done -0.59 - - 2085 - - - 2486 - -194.6 - - 3754 - - - - - - - - - - -
8797 839.3 -8.6 834 8802 roll -0.60 - - 2086 - 2.47 0.028 994 -604.0 -194.6 - - 3753 - - - - - - - - - 26.24 -
8820 841.1 -8.7 835 8826 done -0.61 - - 2086 - 2.55 0.037 2480 582.7 -194.6 - - 3753 - - - - - - - - - 26.13 -
9138 867.6 -7.8 851 9139 done -0.62 - - 2085 - - - 2479 - -194.6 - - 3751 - - - - - - - - - - -
9438 890.8 -7.3 866 9444 roll -0.63 - - 2086 - 2.45 0.026 981 -611.4 -194.6 - - 3749 - - - - - - - - - 26.22 -
9470 892.3 -7.3 867 9477 done -0.64 - - 2086 - 2.55 0.037 2477 586.7 -194.6 - - 3749 - - - - - - - - - 26.10 -
9778 912.0 -5.8 883 9783 roll -0.65 - - 2081 - 2.10 0.047 3828 643.3 -194.6 - - 3748 - - - - - - - - - 26.03 -
9800 913.2 -5.6 884 9804 done -0.66 - - 2081 - 2.10 0.021 2405 -677.6 -194.6 - - 3747 - - - - - - - - - 26.39 -
10113 933.3 -6.9 900 10118 roll -0.67 - - 2081 - 2.30 0.028 983 -618.3 -194.6 - - 3747 - - - - - - - - - 26.17 -
10134 934.7 -7.0 901 10140 done -0.68 - - 2076 - 2.50 0.035 2466 593.2 -194.6 - - 3747 - - - - - - - - - 26.10 -
10453 960.3 -8.4 917 10457 roll -0.68 - - 2066 - 2.10 0.044 3833 651.0 -194.6 - - 3745 - - - - - - - - - 26.01 -
10488 962.2 -8.4 918 10496 done -0.68 - - 2066 - 2.10 0.021 2402 -681.4 -194.6 - - 3744 - - - - - - - - - 26.38 -
10792 end dive: TARGET_DEPTH_EXCEEDED
10793 begin apogee
10800 990.0 -8.0 934 10997 roll -0.20 0.40 0.094 2206 350.0 - - 2560 - - 192.82 1.166 2978 -4.0 0.360 - - - - - - 25.88 - 23.49
10998 end apogee: CONTROL_FINISHED_OK
10998 begin climb
11002 997.1 - 944 11217 roll 0.58 0.68 0.044 2468 385.3 1.98 0.044 3828 640.4 194.6 205.20 1.156 2180 -3.9 0.358 - - - - - - 24.85 24.79 23.04
11317 939.0 25.7 960 11322 done 0.50 0.15 0.184 2442 -173.3 1.95 0.023 2523 -669.2 194.6 - - 2149 - - - - - - - - 24.98 25.34 -
11628 875.8 19.4 975 11633 roll 0.45 - - 2455 - 2.50 0.029 1089 -573.6 194.6 - - 2143 - - - - - - - - - 25.96 -
11762 856.4 15.2 981 11769 done 0.42 0.15 0.155 2415 -266.7 2.62 0.034 2556 559.9 194.6 - - 2139 - - - - - - - - 25.71 26.01 -
12066 812.6 13.1 997 12072 roll 0.39 - - 2414 - 1.90 0.044 3837 674.2 194.6 - - 2139 - - - - - - - - - 26.05 -
12160 800.8 15.0 1001 12168 done 0.34 0.12 0.176 2392 -183.3 1.85 0.021 2531 -705.9 194.6 - - 2138 - - - - - - - - 25.82 26.22 -
12466 764.8 10.9 1017 12472 roll 0.33 - - 2405 - 2.47 0.030 1092 -582.6 194.6 - - 2137 - - - - - - - - - 26.15 -
12490 762.5 11.1 1018 12497 done 0.31 - - 2405 - 2.62 0.033 2563 561.5 194.6 - - 2136 - - - - - - - - - 26.14 -
12807 719.6 14.0 1034 12813 roll 0.29 0.12 0.158 2364 -341.7 1.85 0.041 3829 684.3 194.6 - - 2136 - - - - - - - - 26.08 26.11 -
12827 716.9 13.9 1035 12831 done 0.27 - - 2374 - 1.88 0.021 2526 -693.1 194.6 - - 2136 - - - - - - - - - 26.32 -
13151 685.9 8.8 1051 13157 roll 0.27 - - 2387 - 2.45 0.031 1090 -586.1 194.6 - - 2136 - - - - - - - - - 26.17 -
13193 682.5 8.8 1053 13198 done 0.27 - - 2387 - 2.60 0.033 2556 563.8 194.6 - - 2135 - - - - - - - - - 26.15 -
13507 653.1 9.4 1069 13508 done 0.27 - - 2387 - - - 2554 - 194.6 - - 2135 - - - - - - - - - - -
13806 627.5 8.8 1084 13811 roll 0.26 - - 2400 - 2.55 0.030 1097 -571.4 194.6 - - 2135 - - - - - - - - - 26.17 -
13833 625.7 8.9 1085 13838 done 0.26 0.12 0.123 2361 -325.0 2.58 0.034 2549 562.8 194.6 - - 2134 - - - - - - - - 25.98 26.15 -
14144 600.5 8.1 1100 14170 done 0.30 - - 2361 - - - 2548 - 215.4 20.85 0.844 2095 -1.9 0.142 - - - - - - - - 24.77
14472 575.6 7.1 1132 14561 roll 0.38 0.10 0.092 2440 790.0 2.67 0.030 1087 -547.2 267.7 77.07 0.828 1874 -2.9 0.213 - - - - - - 26.34 25.35 24.32
14615 558.9 10.8 1146 14626 done 0.38 0.15 0.127 2395 -300.0 2.65 0.034 2539 547.9 267.7 - - 1864 - - - - - - - - 25.41 25.60 -
14925 529.9 9.4 1177 14927 done 0.38 - - 2395 - - - 2538 - 267.7 - - 1861 - - - - - - - - - - -
15227 500.0 10.0 1207 15236 roll 0.38 - - 2408 - 2.53 0.030 1097 -569.6 267.7 - - 1860 - - - - - - - - - 26.04 -
15271 495.8 9.3 1211 15279 done 0.40 - - 2408 - 2.53 0.033 2529 566.0 267.7 - - 1859 - - - - - - - - - 26.04 -
15579 465.6 10.9 1242 15588 roll 0.40 - - 2408 - 1.98 0.044 3836 660.1 267.7 - - 1859 - - - - - - - - - 26.03 -
15612 461.5 12.5 1245 15621 done 0.40 - - 2419 - 1.98 0.022 2491 -679.3 267.7 - - 1858 - - - - - - - - - 26.22 -
15923 424.7 10.9 1276 15932 roll 0.40 - - 2431 - 2.38 0.030 1086 -590.3 267.7 - - 1857 - - - - - - - - - 26.14 -
15987 418.5 9.2 1282 15997 done 0.41 - - 2431 - 2.50 0.033 2518 572.8 267.7 - - 1857 - - - - - - - - - 26.13 -
16296 388.9 8.7 1313 16305 roll 0.40 - - 2431 - 1.98 0.044 3840 667.7 268.6 - - 1857 - - - - - - - - - 26.08 -
16329 385.4 10.6 1316 16333 done 0.39 0.15 0.149 2399 -213.3 2.00 0.021 2472 -684.0 268.6 - - 1857 - - - - - - - - 25.86 26.27 -
16642 359.4 8.8 1347 16651 roll 0.41 - - 2411 - 2.33 0.031 1095 -591.0 268.6 - - 1857 - - - - - - - - - 26.18 -
16665 357.5 8.6 1349 16674 done 0.43 - - 2411 - 2.45 0.031 2511 578.0 272.9 - - 1856 - - - - - - - - - 26.16 -
16976 331.3 7.6 1380 17036 roll 0.49 - - 2423 - 2.55 0.028 1091 -556.9 309.2 53.65 0.719 1710 -2.7 0.134 - - - - - - - 25.74 24.69
17060 325.5 7.0 1388 17126 done 0.59 0.12 0.076 2509 716.7 2.50 0.030 2506 566.0 366.5 59.42 0.750 1482 -3.8 0.178 - - - - - - 25.76 25.75 24.31
17426 259.9 17.7 1425 17435 roll 0.55 0.17 0.152 2453 -329.4 2.05 0.038 3830 645.9 366.5 - - 1454 - - - - - - - - 25.67 25.87 -
17461 254.3 17.5 1428 17468 done 0.52 - - 2464 - 2.05 0.021 2446 -675.1 366.5 - - 1453 - - - - - - - - - 26.02 -
17769 219.9 9.5 1459 17778 roll 0.53 - - 2476 - 2.30 0.030 1091 -589.1 366.5 - - 1452 - - - - - - - - - 26.06 -
17804 216.9 9.2 1462 17812 done 0.55 - - 2476 - 2.40 0.028 2487 581.7 366.5 - - 1451 - - - - - - - - - 26.08 -
18113 187.6 9.4 1506 18120 done 0.56 - - 2476 - - - 2486 - 366.5 - - 1451 - - - - - - - - - - -
18307 171.2 9.1 1543 18314 roll 0.57 - - 2488 - 2.40 0.029 1088 -582.5 366.5 - - 1451 - - - - - - - - - 26.16 -
18342 167.8 9.1 1549 18349 done 0.59 - - 2488 - 2.38 0.030 2476 583.2 366.5 - - 1451 - - - - - - - - - 26.17 -
18533 148.1 10.2 1586 18541 roll 0.60 - - 2488 - 2.05 0.040 3833 662.0 366.5 - - 1450 - - - - - - - - - 26.13 -
18575 143.4 11.2 1593 18582 done 0.61 - - 2499 - 2.08 0.020 2417 -680.8 366.5 - - 1451 - - - - - - - - - 26.32 -
18767 125.8 10.9 1630 18775 roll 0.61 - - 2499 - 2.20 0.039 3824 639.5 366.5 - - 1451 - - - - - - - - - 26.15 -
18793 122.6 11.9 1634 18801 done 0.61 0.12 0.122 2467 -266.7 1.98 0.021 2461 -688.4 366.5 - - 1451 - - - - - - - - 26.10 26.32 -
18990 108.8 5.5 1671 19128 roll 0.78 0.15 0.065 2595 853.3 2.40 0.028 1077 -576.7 471.4 128.00 0.330 1062 -3.0 0.107 - - - - - - 26.52 25.77 25.09
19179 77.6 10.5 1703 19187 done 0.78 0.22 0.109 2524 -322.7 2.50 0.028 2502 570.0 471.4 2.72 0.161 1056 -2.2 0.113 - - - - - - 25.60 25.84 25.32
19372 62.9 8.1 1740 19397 done 0.84 - - 2524 - - - 2501 - 490.6 22.83 0.240 979 -3.4 0.094 - - - - - - - - 25.17
19582 49.3 7.1 1780 19643 roll 0.96 0.12 0.076 2614 750.0 2.50 0.027 1090 -564.4 544.1 50.25 0.215 768 -4.2 0.103 - - - - - - 26.27 25.97 25.28
19657 41.8 10.2 1792 19665 done 0.99 - - 2614 - 2.42 0.025 2495 580.6 544.1 2.45 0.152 759 -3.7 0.108 - - - - - - - 25.99 25.43
19851 16.4 11.4 1829 19858 roll 0.98 - - 2614 - 2.08 0.041 3824 638.9 544.1 2.25 0.152 758 - - - - - - - - - 26.01 25.49
19946 end climb: SURFACE_DEPTH_REACHED
19946 begin surface coast
19964 end surface coast: CONTROL_FINISHED_OK
19964 begin surface
SM 0.60 - - - - -6.61 6.47 0.045 123 -385.0 2.28 0.057 2433 -610.1 542.11 - - 769 - - - - - - - -