OKMC Apr12 * SG169 * Dive index * Mission links * Dive 251 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 50.97 of 147.52 AH used of 24V (65.45% remains)
• Previous NAKs 0, Timeouts 0 • 31.17 of 108.53 AH used of 10V (71.28% remains)
• Surface angle -74.5 deg, depth 0.88 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 504.83, SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 15 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 - - - 112 VBD -0.58 - - 117 - - - 2390 - -194.6 -92.22 - 3025 - - - - - - - - - - -
116 4.0 -9.8 16 143 roll -0.58 8.10 0.230 2065 240.5 2.38 0.048 3839 608.8 -194.6 -13.02 - 3775 -57.6 - - - - - - - 25.02 26.06 26.50
156 25.6 -52.3 22 163 done -0.36 0.32 0.194 2156 284.4 2.10 0.020 2401 -684.8 -194.6 - - 3775 - - - - - - - - 25.37 26.17 -
350 82.9 -19.6 59 357 roll -0.30 - - 2167 - 2.30 0.023 974 -620.4 -194.6 - - 3776 - - - - - - - - - 26.23 -
370 86.6 -18.0 62 378 done -0.27 0.10 0.142 2186 190.0 2.47 0.028 2458 600.8 -194.6 - - 3776 - - - - - - - - 26.04 26.20 -
563 102.0 -7.8 99 571 roll -0.29 - - 2187 - 2.42 0.022 972 -614.0 -194.6 - - 3776 - - - - - - - - - 26.30 -
599 104.5 -6.5 105 606 done -0.34 - - 2186 - 2.40 0.027 2438 610.8 -194.6 - - 3776 - - - - - - - - - 26.29 -
792 119.8 -9.0 142 800 roll -0.42 0.12 0.097 2121 -541.7 2.10 0.035 3844 669.5 -194.6 - - 3776 - - - - - - - - 26.45 26.28 -
867 126.3 -8.4 155 874 done -0.49 - - 2125 - 2.17 0.019 2354 -686.6 -194.6 - - 3776 - - - - - - - - - 26.44 -
1060 143.6 -8.8 192 1067 roll -0.57 0.12 0.118 2074 -425.0 2.33 0.035 3842 638.6 -194.6 - - 3777 - - - - - - - - 26.39 26.31 -
1186 155.1 -9.5 216 1194 done -0.57 - - 2074 - 2.12 0.018 2369 -694.8 -194.6 - - 3777 - - - - - - - - - 26.48 -
1378 183.7 -15.4 253 1386 roll -0.53 0.10 0.155 2090 160.0 2.28 0.036 3837 643.9 -194.6 - - 3776 - - - - - - - - 26.41 26.32 -
1482 195.1 -8.1 272 1490 done -0.53 - - 2091 - 2.10 0.018 2375 -696.2 -194.6 - - 3776 - - - - - - - - - 26.50 -
1676 217.4 -12.2 295 1684 roll -0.50 - - 2091 - 2.20 0.023 971 -638.2 -194.6 - - 3776 - - - - - - - - - 26.42 -
1698 220.1 -11.6 297 1707 done -0.48 0.10 0.094 2123 320.0 2.40 0.028 2433 609.2 -194.6 - - 3776 - - - - - - - - 26.18 26.38 -
2007 247.7 -9.0 328 2017 roll -0.48 - - 2124 - 2.35 0.024 974 -620.9 -194.6 - - 3776 - - - - - - - - - 26.41 -
2042 250.4 -8.9 331 2050 done -0.49 - - 2115 - 2.38 0.028 2428 610.9 -194.6 - - 3776 - - - - - - - - - 26.39 -
2350 282.3 -10.3 362 2359 roll -0.49 - - 2104 - 2.12 0.039 3841 666.5 -194.6 - - 3774 - - - - - - - - - 26.32 -
2403 287.1 -9.0 367 2412 done -0.51 - - 2104 - 2.12 0.018 2367 -695.3 -194.6 - - 3774 - - - - - - - - - 26.53 -
2713 317.4 -9.4 398 2715 done -0.50 - - 2104 - - - 2367 - -194.6 - - 3773 - - - - - - - - - - -
3014 343.6 -8.6 428 3024 roll -0.50 - - 2094 - 2.33 0.039 3837 630.9 -194.6 - - 3771 - - - - - - - - - 26.32 -
3050 346.6 -8.7 431 3057 done -0.50 - - 2094 - 2.08 0.018 2385 -698.1 -194.6 - - 3770 - - - - - - - - - 26.53 -
3359 375.6 -9.8 462 3367 roll -0.49 - - 2094 - 2.20 0.024 991 -633.6 -194.6 - - 3768 - - - - - - - - - 26.41 -
3423 381.0 -8.3 468 3433 done -0.51 - - 2085 - 2.38 0.029 2434 606.3 -194.6 - - 3767 - - - - - - - - - 26.37 -
3731 411.3 -10.0 499 3735 roll -0.50 - - 2075 - 2.12 0.041 3833 659.9 -194.6 - - 3766 - - - - - - - - - 26.29 -
3786 416.6 -10.0 504 3795 done -0.50 0.12 0.115 2116 341.7 2.10 0.018 2375 -694.3 -194.6 - - 3765 - - - - - - - - 26.27 26.51 -
4094 441.0 -8.7 535 4103 roll -0.52 - - 2106 - 2.30 0.050 3828 631.7 -194.6 -0.08 - 3790 -312.5 - - - - - - - - 26.28 25.54
4128 443.7 -8.1 538 4137 done -0.54 - - 2106 - 2.08 0.018 2386 -693.3 -194.6 - - 3790 - - - - - - - - - 26.53 -
4438 470.1 -8.0 569 4447 roll -0.58 - - 2105 - 2.28 0.041 3830 633.3 -194.6 - - 3788 - - - - - - - - - 26.27 -
4475 472.7 -7.8 572 4482 done -0.62 - - 2105 - 1.83 0.018 2496 -729.0 -194.6 - - 3788 - - - - - - - - - 26.55 -
4781 496.0 -7.2 603 4783 done -0.67 0.12 0.080 2039 -550.0 - - 2496 - -194.6 - - 3786 - - - - - - - - 26.58 - -
5082 525.6 -13.7 633 5091 roll -0.64 0.10 0.142 2069 300.0 2.45 0.024 995 -612.7 -194.6 - - 3783 - - - - - - - - 26.47 26.38 -
5208 537.5 -8.8 645 5216 done -0.65 - - 2058 - 2.50 0.031 2491 598.4 -194.6 - - 3783 - - - - - - - - - 26.32 -
5516 573.6 -11.7 676 5523 done -0.62 - - 2058 - - - 2490 - -194.6 - - 3781 - - - - - - - - - - -
5827 609.2 -11.4 703 5833 roll -0.60 - - 2058 - 2.45 0.026 991 -611.8 -194.6 - - 3778 - - - - - - - - - 26.33 -
5868 613.8 -11.4 705 5874 done -0.59 0.08 0.094 2087 362.5 2.53 0.034 2491 592.9 -194.6 - - 3778 - - - - - - - - 26.11 26.27 -
6188 644.2 -9.9 721 6194 roll -0.59 - - 2076 - 2.03 0.045 3822 655.7 -194.6 - - 3776 - - - - - - - - - 26.20 -
6229 647.9 -9.5 723 6234 done -0.60 - - 2077 - 2.03 0.021 2427 -687.2 -194.6 - - 3775 - - - - - - - - - 26.47 -
6548 678.6 -9.1 739 6553 roll -0.60 - - 2077 - 2.33 0.025 987 -618.0 -194.6 - - 3773 - - - - - - - - - 26.32 -
6590 682.0 -8.8 741 6595 done -0.60 - - 2067 - 2.50 0.033 2485 599.2 -194.6 - - 3773 - - - - - - - - - 26.27 -
6909 712.8 -10.1 757 6914 roll -0.59 - - 2056 - 2.03 0.044 3822 658.6 -194.6 - - 3771 - - - - - - - - - 26.17 -
6956 716.8 -10.2 759 6960 done -0.59 - - 2056 - 2.03 0.020 2426 -687.7 -194.6 - - 3770 - - - - - - - - - 26.46 -
7269 749.9 -10.6 775 7275 roll -0.57 0.12 0.126 2103 391.7 2.33 0.024 989 -616.7 -194.6 - - 3768 - - - - - - - - 26.36 26.30 -
7301 751.7 -10.2 776 7309 done -0.56 - - 2103 - 2.53 0.033 2490 593.3 -194.6 - - 3768 - - - - - - - - - 26.23 -
7611 771.7 -7.0 792 7617 roll -0.64 0.12 0.123 2054 -408.3 2.03 0.042 3820 655.2 -194.6 - - 3766 - - - - - - - - 26.36 26.17 -
7684 776.1 -7.1 795 7692 done -0.71 - - 2062 - 2.05 0.020 2412 -686.8 -194.6 - - 3765 - - - - - - - - - 26.44 -
7995 795.5 -6.0 811 8000 roll -0.75 - - 2061 - 2.25 0.044 3830 630.2 -194.6 - - 3764 - - - - - - - - - 26.13 -
8041 798.4 -6.5 813 8046 done -0.77 0.10 0.090 1992 -690.0 1.83 0.020 2516 -718.0 -194.6 - - 3763 - - - - - - - - 26.36 26.48 -
8350 846.0 -16.1 828 8356 roll -0.72 0.15 0.149 2053 406.7 2.53 0.025 984 -605.5 -194.6 - - 3762 - - - - - - - - 26.13 26.25 -
8464 856.0 -8.7 833 8471 done -0.73 - - 2042 - 2.70 0.036 2547 578.9 -194.6 - - 3761 - - - - - - - - - 26.16 -
8771 887.4 -10.2 849 8776 roll -0.71 - - 2042 - 2.62 0.027 996 -592.0 -194.6 - - 3760 - - - - - - - - - 26.23 -
8817 891.4 -10.0 851 8822 done -0.70 - - 2033 - 2.67 0.035 2541 578.7 -194.6 - - 3760 - - - - - - - - - 26.16 -
9124 925.7 -11.0 866 9130 roll -0.68 - - 2034 - 2.60 0.027 997 -593.8 -194.6 - - 3758 - - - - - - - - - 26.22 -
9173 929.8 -10.8 868 9183 done -0.66 0.10 0.140 2063 290.0 2.62 0.036 2522 582.1 -194.6 - - 3759 - - - - - - - - 26.01 26.13 -
9485 955.4 -8.0 884 9486 done -0.66 - - 2064 - - - 2522 - -194.6 - - 3756 - - - - - - - - - - -
9785 981.1 -8.9 899 9790 roll -0.66 - - 2063 - 2.58 0.029 996 -591.5 -194.6 - - 3756 - - - - - - - - - 26.17 -
9824 984.7 -8.9 901 9830 done -0.67 - - 2058 - 2.60 0.037 2511 582.7 -194.6 - - 3756 - - - - - - - - - 26.09 -
9901 end dive: TARGET_DEPTH_EXCEEDED
9902 begin apogee
9908 991.8 -8.9 905 10184 roll -0.20 0.43 0.093 2208 348.8 0.08 0.090 2505 -75.0 - 265.30 0.917 2970 -3.0 0.336 - - - - - - 25.90 24.79 23.89
10185 end apogee: CONTROL_FINISHED_OK
10186 begin climb
10190 1004.8 - 919 10410 roll 0.58 0.62 0.035 2476 432.3 2.50 0.027 1089 -566.4 194.6 210.68 1.066 2179 -3.8 0.371 - - - - - - 25.13 25.12 23.35
10492 970.2 16.2 934 10497 done 0.54 - - 2476 - 2.70 0.038 2553 542.2 194.6 - - 2149 - - - - - - - - - 25.34 -
10801 904.0 21.0 949 10807 roll 0.46 0.15 0.184 2446 -200.0 2.55 0.028 1085 -575.7 194.6 - - 2144 - - - - - - - - 25.67 25.98 -
10902 887.9 14.6 954 10908 done 0.43 0.08 0.145 2420 -325.0 2.62 0.036 2557 561.8 194.6 - - 2142 - - - - - - - - 25.77 26.01 -
11224 840.5 14.5 970 11229 roll 0.39 - - 2420 - 1.85 0.044 3829 687.6 194.6 - - 2141 - - - - - - - - - 26.07 -
11331 824.1 16.7 975 11335 done 0.35 0.15 0.175 2390 -200.0 1.83 0.021 2538 -705.5 194.6 - - 2139 - - - - - - - - 25.77 26.24 -
11641 788.8 10.1 990 11646 roll 0.33 - - 2403 - 2.47 0.029 1083 -589.1 194.6 - - 2139 - - - - - - - - - 26.17 -
11673 786.7 9.9 991 11680 done 0.31 - - 2403 - 2.65 0.033 2575 563.0 194.6 - - 2138 - - - - - - - - - 26.15 -
11981 754.4 10.2 1007 11987 roll 0.29 0.12 0.155 2362 -341.7 1.85 0.042 3845 686.5 194.6 - - 2138 - - - - - - - - 26.09 26.12 -
12022 750.6 10.0 1009 12026 done 0.27 - - 2372 - 1.85 0.021 2538 -706.5 194.6 - - 2137 - - - - - - - - - 26.30 -
12336 725.3 8.6 1025 12342 roll 0.27 - - 2385 - 2.47 0.030 1092 -585.4 195.8 - - 2137 - - - - - - - - - 26.20 -
12376 721.9 8.6 1027 12381 done 0.28 - - 2384 - 2.65 0.033 2588 564.5 198.2 - - 2136 - - - - - - - - - 26.17 -
12696 690.0 10.2 1043 12697 done 0.27 - - 2385 - - - 2586 - 198.2 - - 2136 - - - - - - - - - - -
12998 661.8 9.2 1058 13004 roll 0.26 - - 2398 - 2.62 0.031 1090 -571.0 198.2 - - 2136 - - - - - - - - - 26.17 -
13030 659.8 9.3 1059 13038 done 0.25 0.15 0.125 2352 -306.7 2.65 0.035 2573 559.6 198.2 - - 2136 - - - - - - - - 25.92 26.15 -
13340 637.8 6.7 1075 13445 roll 0.34 0.10 0.091 2432 800.0 2.75 0.033 1094 -537.8 264.8 98.18 0.807 1892 -2.5 0.206 - - - - - - 26.52 25.33 24.29
13466 624.1 12.9 1081 13474 done 0.32 0.17 0.125 2380 -305.9 2.72 0.035 2568 541.9 264.8 - - 1879 - - - - - - - - 25.29 25.48 -
13776 595.3 8.3 1099 13795 roll 0.34 - - 2393 - 2.72 0.031 1092 -542.6 276.5 12.55 0.868 1844 -2.8 0.201 - - - - - - - 25.84 24.60
13832 590.8 8.1 1104 13868 done 0.39 - - 2393 - 2.62 0.034 2552 557.3 296.0 26.40 0.827 1764 -3.0 0.227 - - - - - - - 25.85 24.48
14170 559.1 9.8 1138 14178 roll 0.40 - - 2406 - 2.60 0.032 1091 -561.9 296.0 - - 1748 - - - - - - - - - 25.98 -
14195 557.0 9.5 1140 14203 done 0.41 - - 2406 - 2.60 0.034 2547 560.0 296.0 - - 1747 - - - - - - - - - 25.96 -
14501 525.0 10.0 1171 14510 roll 0.41 - - 2419 - 2.58 0.031 1087 -565.9 296.0 - - 1746 - - - - - - - - - 26.06 -
14543 521.1 9.1 1175 14552 done 0.42 - - 2418 - 2.55 0.034 2527 564.7 296.0 - - 1745 - - - - - - - - - 26.06 -
14854 489.2 10.3 1206 14862 roll 0.42 - - 2418 - 1.95 0.044 3829 667.7 296.0 - - 1745 - - - - - - - - - 26.06 -
14886 485.4 11.5 1209 14896 done 0.41 - - 2429 - 1.98 0.022 2484 -679.3 296.0 - - 1744 - - - - - - - - - 26.22 -
15196 448.5 12.2 1240 15205 roll 0.40 - - 2441 - 2.38 0.033 1091 -585.3 296.0 - - 1744 - - - - - - - - - 26.14 -
15228 444.5 12.1 1243 15238 done 0.40 0.12 0.128 2403 -316.7 2.53 0.035 2520 564.8 296.0 - - 1743 - - - - - - - - 25.95 26.13 -
15539 417.2 8.2 1274 15561 roll 0.43 - - 2416 - 2.55 0.031 1086 -562.4 311.3 15.98 0.791 1702 -2.6 0.142 - - - - - - - 26.11 24.84
15573 414.7 8.2 1277 15599 done 0.46 - - 2415 - 2.50 0.034 2509 569.2 326.3 16.27 0.800 1638 -3.9 0.214 - - - - - - - 26.06 24.72
15900 384.8 9.3 1310 15908 roll 0.48 - - 2415 - 1.98 0.043 3822 663.1 326.3 - - 1625 - - - - - - - - - 25.97 -
15922 382.4 10.1 1312 15926 done 0.49 - - 2426 - 2.03 0.021 2453 -674.4 326.3 - - 1624 - - - - - - - - - 26.15 -
16234 351.1 9.8 1343 16242 roll 0.50 - - 2438 - 2.30 0.031 1095 -590.4 326.3 - - 1623 - - - - - - - - - 26.11 -
16278 346.9 9.9 1347 16285 done 0.51 - - 2437 - 2.42 0.033 2491 576.9 326.3 - - 1622 - - - - - - - - - 26.12 -
16585 315.4 9.6 1378 16594 roll 0.51 - - 2437 - 2.05 0.044 3826 651.2 326.3 - - 1622 - - - - - - - - - 26.09 -
16627 310.8 11.4 1382 16636 done 0.52 - - 2448 - 2.05 0.022 2444 -674.1 326.3 - - 1622 - - - - - - - - - 26.27 -
16937 278.4 10.6 1413 16946 roll 0.52 - - 2460 - 2.25 0.031 1091 -601.3 326.3 - - 1622 - - - - - - - - - 26.20 -
16969 275.2 9.7 1416 16981 done 0.53 - - 2460 - 2.42 0.032 2490 578.1 326.3 - - 1622 - - - - - - - - - 26.17 -
17280 238.8 11.7 1447 17288 roll 0.52 - - 2460 - 2.00 0.041 3818 664.0 326.3 - - 1622 - - - - - - - - - 26.13 -
17324 233.2 13.4 1451 17331 done 0.51 - - 2470 - 2.03 0.022 2441 -678.3 326.3 - - 1622 - - - - - - - - - 26.32 -
17633 193.9 12.0 1486 17640 roll 0.50 0.12 0.156 2429 -341.7 2.17 0.038 3832 641.0 326.3 - - 1622 - - - - - - - - 26.19 26.15 -
17657 191.2 11.2 1490 17664 done 0.50 - - 2440 - 1.98 0.020 2461 -692.4 326.3 - - 1622 - - - - - - - - - 26.36 -
17850 176.7 8.1 1527 17875 roll 0.55 - - 2452 - 2.35 0.028 1079 -588.1 345.9 18.70 0.654 1558 -3.4 0.097 - - - - - - - 26.17 24.94
17899 172.7 8.1 1535 17925 done 0.60 - - 2452 - 2.50 0.028 2514 574.0 365.4 18.83 0.654 1483 -4.0 0.110 - - - - - - - 26.13 24.85
18112 155.2 7.9 1575 18150 roll 0.72 0.12 0.084 2509 475.0 2.55 0.028 1080 -562.4 392.3 26.67 0.640 1364 -4.5 0.113 - - - - - - 26.21 25.88 24.81
18236 144.1 9.2 1597 18244 done 0.80 - - 2500 - 2.45 0.030 2492 576.3 392.3 - - 1357 - - - - - - - - - 25.94 -
18430 126.3 9.3 1634 18437 done 0.88 0.15 0.096 2565 433.3 - - 2491 - 392.3 - - 1356 - - - - - - - - 26.14 - -
18622 104.8 14.4 1671 18631 roll 0.85 - - 2576 - 2.42 0.029 1088 -579.8 392.3 - - 1357 - - - - - - - - - 26.12 -
18655 99.7 14.9 1676 18662 done 0.83 0.12 0.135 2540 -300.0 2.40 0.032 2474 577.5 392.3 - - 1356 - - - - - - - - 25.91 26.12 -
18847 79.3 9.4 1713 18854 roll 0.83 - - 2541 - 2.05 0.038 3833 662.9 392.3 - - 1356 - - - - - - - - - 26.14 -
18964 67.7 9.7 1735 18971 done 0.85 - - 2550 - 1.98 0.019 2459 -693.9 392.3 - - 1356 - - - - - - - - - 26.34 -
19157 53.0 6.4 1772 19225 roll 0.96 0.10 0.090 2638 880.0 2.38 0.028 1088 -576.1 467.3 58.20 0.221 1076 -4.8 0.121 - - - - - - 26.51 26.11 25.43
19250 40.7 15.2 1787 19260 done 0.94 0.20 0.129 2578 -300.0 2.45 0.030 2494 573.9 467.3 1.85 0.172 1072 -2.2 0.054 - - - - - - 25.78 26.10 25.61
19446 23.3 7.5 1824 19479 roll 1.00 - - 2578 - 2.10 0.038 3841 641.4 506.3 27.52 0.164 912 -5.8 0.087 - - - - - - - 26.06 25.44
19513 17.5 9.4 1835 19521 done 1.02 - - 2588 - 2.03 0.020 2442 -689.2 506.3 - - 921 - - - - - - - - - 26.22 -
19683 end climb: SURFACE_DEPTH_REACHED
19683 begin surface coast
19724 end surface coast: CONTROL_FINISHED_OK
19724 begin surface
SM 0.82 - - - - -6.63 6.18 0.028 119 -399.5 - - 2440 - 504.83 - - 921 - - - - - - - -