OKMC Apr12 * SG169 * Dive index * Mission links * Dive 283 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 57.63 of 147.52 AH used of 24V (60.93% remains)
• Previous NAKs 0, Timeouts 0 • 36.43 of 108.53 AH used of 10V (66.43% remains)
• Surface angle -68.8 deg, depth 0.75 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 552.42, SM_CC=450)
• GPS1 time: 58 s
• GPS2 time: 12 s, HDOP was 2.8 m • Transponder ping count: 2
• 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 - - - 96 VBD -0.58 - - 116 - - - 2462 - -194.6 -76.43 - 2973 - - - - - - - - - - -
99 3.3 -9.2 13 131 roll -0.58 8.02 0.224 2068 243.4 2.12 0.046 3835 647.6 -194.6 -15.20 - 3776 -52.8 - - - - - - - 25.03 26.05 26.49
201 40.5 -28.7 31 209 done -0.50 0.12 0.155 2109 341.7 2.08 0.020 2416 -682.2 -194.6 - - 3776 - - - - - - - - 25.84 26.19 -
394 81.3 -17.9 68 402 roll -0.45 - - 2118 - 2.35 0.024 968 -616.2 -194.6 - - 3776 - - - - - - - - - 26.20 -
507 95.0 -10.6 89 514 done -0.46 - - 2106 - 2.50 0.030 2444 590.4 -194.6 - - 3778 - - - - - - - - - 26.20 -
697 121.0 -16.4 126 705 roll -0.42 0.12 0.156 2137 258.3 2.12 0.039 3840 658.5 -194.6 - - 3778 - - - - - - - - 26.18 26.17 -
764 128.5 -9.1 138 770 done -0.45 - - 2137 - 2.10 0.018 2384 -693.3 -194.6 - - 3778 - - - - - - - - - 26.43 -
955 146.2 -8.8 175 962 roll -0.45 - - 2137 - 2.25 0.024 981 -623.6 -194.6 - - 3778 - - - - - - - - - 26.34 -
985 148.9 -8.3 180 993 done -0.47 - - 2134 - 2.47 0.030 2448 593.9 -194.6 - - 3778 - - - - - - - - - 26.28 -
1180 165.3 -8.6 217 1186 roll -0.47 - - 2124 - 2.08 0.039 3831 664.9 -194.6 - - 3778 - - - - - - - - - 26.25 -
1219 168.9 -8.4 224 1227 done -0.49 - - 2124 - 2.05 0.017 2395 -700.5 -194.6 - - 3778 - - - - - - - - - 26.50 -
1412 186.1 -7.9 261 1419 roll -0.49 - - 2124 - 2.28 0.022 976 -622.4 -194.6 - - 3778 - - - - - - - - - 26.38 -
1443 188.7 -8.4 266 1450 done -0.51 - - 2122 - 2.55 0.029 2474 587.5 -194.6 - - 3778 - - - - - - - - - 26.32 -
1635 204.9 -8.7 303 1641 roll -0.51 - - 2111 - 2.05 0.041 3833 662.9 -194.6 - - 3777 - - - - - - - - - 26.25 -
1674 208.5 -8.3 310 1681 done -0.52 - - 2112 - 2.05 0.017 2405 -696.6 -194.6 - - 3777 - - - - - - - - - 26.51 -
1986 239.6 -9.4 371 1993 roll -0.52 - - 2112 - 2.30 0.023 978 -620.4 -194.6 - - 3777 - - - - - - - - - 26.38 -
2011 242.0 -9.4 375 2018 done -0.53 - - 2111 - 2.55 0.030 2473 586.3 -194.6 - - 3777 - - - - - - - - - 26.32 -
2325 271.8 -9.9 436 2332 roll -0.53 - - 2111 - 2.47 0.023 974 -606.9 -194.6 - - 3775 - - - - - - - - - 26.38 -
2358 274.7 -9.6 441 2365 done -0.55 - - 2111 - 2.50 0.030 2455 592.4 -194.6 - - 3776 - - - - - - - - - 26.32 -
2670 301.6 -8.3 502 2676 roll -0.55 - - 2100 - 2.10 0.039 3844 661.4 -194.6 - - 3774 - - - - - - - - - 26.27 -
2715 305.3 -7.8 510 2722 done -0.57 - - 2100 - 2.10 0.019 2398 -688.6 -194.6 - - 3773 - - - - - - - - - 26.51 -
3028 332.2 -8.6 571 3035 roll -0.57 - - 2101 - 2.28 0.023 977 -623.2 -194.6 - - 3771 - - - - - - - - - 26.38 -
3058 334.9 -8.2 576 3066 done -0.57 - - 2099 - 2.50 0.030 2466 595.6 -194.6 - - 3771 - - - - - - - - - 26.32 -
3372 361.5 -9.2 637 3378 roll -0.57 - - 2089 - 2.08 0.039 3833 657.2 -194.6 - - 3768 - - - - - - - - - 26.26 -
3418 365.5 -7.9 645 3424 done -0.58 - - 2089 - 2.08 0.018 2407 -685.6 -194.6 - - 3768 - - - - - - - - - 26.51 -
3730 394.8 -9.3 706 3737 roll -0.57 - - 2089 - 2.28 0.024 983 -624.6 -194.6 - - 3767 - - - - - - - - - 26.36 -
3751 396.7 -9.3 709 3758 done -0.57 - - 2086 - 2.55 0.030 2480 587.1 -194.6 - - 3766 - - - - - - - - - 26.30 -
4062 425.8 -9.2 770 4069 done -0.56 - - 2085 - - - 2479 - -194.6 -0.10 - 3784 -180.0 - - - - - - - - - 25.99
4375 454.1 -9.0 831 4381 roll -0.55 - - 2086 - 2.47 0.024 983 -605.7 -194.6 - - 3783 - - - - - - - - - 26.34 -
4412 457.1 -8.5 837 4418 done -0.56 - - 2085 - 2.55 0.031 2475 585.1 -194.6 - - 3783 - - - - - - - - - 26.27 -
4723 482.9 -7.9 898 4730 roll -0.56 - - 2076 - 2.05 0.043 3826 659.0 -194.6 - - 3781 - - - - - - - - - 26.21 -
4747 485.0 -8.1 902 4754 done -0.56 - - 2076 - 2.08 0.018 2410 -680.8 -194.6 - - 3781 - - - - - - - - - 26.48 -
5059 515.1 -9.7 948 5060 done -0.55 - - 2076 - - - 2409 - -194.6 - - 3779 - - - - - - - - - - -
5360 543.9 -9.4 978 5370 roll -0.54 - - 2065 - 2.28 0.042 3817 617.5 -194.6 - - 3776 - - - - - - - - - 26.17 -
5387 546.2 -9.4 980 5396 done -0.53 0.12 0.116 2106 341.7 2.05 0.020 2410 -686.3 -194.6 - - 3776 - - - - - - - - 26.21 26.46 -
5694 571.9 -8.2 1011 5695 done -0.55 - - 2106 - - - 2410 - -194.6 - - 3774 - - - - - - - - - - -
5999 593.5 -6.9 1041 6007 roll -0.56 - - 2097 - 2.25 0.043 3821 627.1 -194.6 - - 3771 - - - - - - - - - 26.15 -
6063 598.2 -6.8 1047 6071 done -0.59 - - 2097 - 2.00 0.018 2413 -704.0 -194.6 - - 3771 - - - - - - - - - 26.48 -
6372 619.1 -6.9 1078 6381 roll -0.63 - - 2094 - 2.22 0.041 3823 635.1 -194.6 - - 3769 - - - - - - - - - 26.15 -
6424 622.5 -6.8 1083 6428 done -0.67 - - 2094 - 1.77 0.018 2518 -737.3 -194.6 - - 3768 - - - - - - - - - 26.53 -
6736 644.1 -7.3 1114 6746 roll -0.71 0.12 0.077 2015 -658.3 2.53 0.023 980 -607.9 -194.6 - - 3767 - - - - - - - - 26.55 26.29 -
6781 648.3 -9.7 1118 6789 done -0.71 0.15 0.130 2049 226.7 2.62 0.034 2506 582.4 -194.6 - - 3766 - - - - - - - - 25.96 26.18 -
7090 682.8 -10.5 1149 7098 roll -0.69 - - 2049 - 2.53 0.025 991 -598.8 -194.6 - - 3765 - - - - - - - - - 26.27 -
7124 686.0 -10.0 1152 7132 done -0.68 - - 2039 - 2.58 0.033 2496 583.3 -194.6 - - 3764 - - - - - - - - - 26.19 -
7431 721.7 -11.5 1183 7432 done -0.65 - - 2039 - - - 2494 - -194.6 - - 3762 - - - - - - - - - - -
7736 756.8 -11.8 1213 7745 roll -0.62 0.12 0.146 2082 358.3 2.53 0.024 991 -594.1 -194.6 - - 3761 - - - - - - - - 26.27 26.25 -
7791 761.9 -8.3 1218 7799 done -0.64 - - 2076 - 2.58 0.033 2491 581.4 -194.6 - - 3760 - - - - - - - - - 26.16 -
8099 786.0 -7.8 1249 8101 done -0.64 - - 2076 - - - 2489 - -194.6 - - 3759 - - - - - - - - - - -
8400 808.6 -7.5 1279 8409 roll -0.64 - - 2075 - 2.47 0.027 999 -603.2 -194.6 - - 3757 - - - - - - - - - 26.20 -
8432 810.9 -7.2 1282 8441 done -0.65 - - 2071 - 2.55 0.036 2482 581.6 -194.6 - - 3757 - - - - - - - - - 26.10 -
8742 834.8 -7.8 1313 8751 roll -0.65 - - 2060 - 2.08 0.044 3826 646.2 -194.6 - - 3754 - - - - - - - - - 26.04 -
8787 838.1 -7.9 1317 8794 done -0.65 - - 2060 - 2.03 0.020 2429 -688.2 -194.6 - - 3754 - - - - - - - - - 26.40 -
9094 866.6 -9.5 1348 9104 roll -0.65 - - 2060 - 2.35 0.027 982 -615.7 -194.6 - - 3753 - - - - - - - - - 26.20 -
9137 870.6 -9.2 1352 9147 done -0.65 - - 2050 - 2.58 0.033 2487 583.3 -194.6 - - 3753 - - - - - - - - - 26.13 -
9447 903.4 -10.9 1383 9456 roll -0.64 - - 2050 - 2.47 0.025 985 -608.1 -194.6 - - 3752 - - - - - - - - - 26.19 -
9479 906.8 -10.9 1386 9488 done -0.63 - - 2040 - 2.58 0.033 2481 579.8 -194.6 - - 3752 - - - - - - - - - 26.10 -
9790 941.3 -11.0 1417 9799 roll -0.61 0.12 0.139 2074 283.3 2.05 0.043 3820 653.2 -194.6 - - 3750 - - - - - - - - 26.26 26.00 -
9821 944.4 -9.7 1420 9831 done -0.61 - - 2075 - 2.08 0.020 2419 -673.6 -194.6 - - 3749 - - - - - - - - - 26.39 -
10133 966.7 -7.2 1451 10141 roll -0.62 - - 2075 - 2.33 0.026 975 -619.7 -194.6 - - 3749 - - - - - - - - - 26.17 -
10175 970.0 -7.6 1455 10183 done -0.64 - - 2070 - 2.53 0.032 2467 589.7 -194.6 - - 3748 - - - - - - - - - 26.09 -
10437 end dive: TARGET_DEPTH_EXCEEDED
10437 begin apogee
10443 990.1 -8.0 1481 10639 roll -0.20 0.40 0.089 2212 355.0 0.05 0.044 2506 780.0 - 189.07 1.164 2973 -4.1 0.370 - - - - - - 25.91 24.50 23.51
10640 end apogee: CONTROL_FINISHED_OK
10640 begin climb
10643 997.9 - 1501 10857 roll 0.58 0.65 0.041 2479 410.8 2.58 0.025 1075 -554.7 194.6 205.15 1.099 2183 -3.9 0.371 - - - - - - 24.94 24.93 23.08
10887 970.6 16.2 1526 10896 done 0.54 0.08 0.162 2456 -287.5 2.78 0.035 2545 528.8 194.6 - - 2156 - - - - - - - - 24.61 24.84 -
11197 914.5 18.2 1557 11206 roll 0.48 - - 2469 - 2.58 0.028 1089 -564.3 194.6 - - 2150 - - - - - - - - - 25.94 -
11289 899.3 15.2 1566 11298 done 0.44 0.15 0.147 2420 -326.7 2.67 0.037 2554 548.7 194.6 - - 2148 - - - - - - - - 25.60 25.97 -
11600 854.1 14.3 1597 11604 roll 0.41 - - 2420 - 1.88 0.043 3841 684.6 194.6 - - 2147 - - - - - - - - - 26.04 -
11665 843.7 16.9 1603 11672 done 0.36 0.12 0.181 2398 -183.3 1.88 0.020 2517 -704.3 194.6 - - 2146 - - - - - - - - 25.80 26.22 -
11973 806.0 12.0 1634 11974 done 0.34 - - 2398 - - - 2516 - 194.6 - - 2145 - - - - - - - - - - -
12274 771.6 11.2 1664 12284 roll 0.32 - - 2398 - 2.00 0.041 3826 655.0 194.6 - - 2145 - - - - - - - - - 26.09 -
12299 768.5 11.7 1666 12308 done 0.30 0.12 0.167 2374 -200.0 1.85 0.020 2523 -704.3 194.6 - - 2144 - - - - - - - - 25.91 26.29 -
12608 739.2 9.3 1697 12617 roll 0.30 - - 2387 - 2.45 0.029 1087 -586.1 194.6 - - 2144 - - - - - - - - - 26.17 -
12652 735.4 9.0 1701 12660 done 0.31 - - 2387 - 2.60 0.031 2557 565.4 194.6 - - 2143 - - - - - - - - - 26.16 -
12960 703.8 10.2 1732 12969 roll 0.30 - - 2387 - 1.88 0.042 3840 682.4 194.6 - - 2143 - - - - - - - - - 26.09 -
12993 700.1 11.0 1735 13002 done 0.29 - - 2396 - 1.88 0.020 2522 -701.1 194.6 - - 2142 - - - - - - - - - 26.32 -
13302 664.9 10.6 1766 13312 roll 0.27 0.12 0.165 2370 -216.7 2.45 0.027 1086 -586.1 194.6 - - 2142 - - - - - - - - 26.10 26.17 -
13337 662.0 9.2 1769 13345 done 0.27 - - 2369 - 2.62 0.031 2557 561.5 194.6 - - 2141 - - - - - - - - - 26.16 -
13646 636.2 8.0 1800 13675 roll 0.30 - - 2383 - 2.62 0.028 1088 -560.7 217.8 22.20 0.925 2082 -2.7 0.194 - - - - - - - 25.97 24.41
13690 632.6 8.2 1804 13712 done 0.33 - - 2382 - 2.60 0.031 2540 558.5 232.6 17.00 0.921 2030 -3.1 0.223 - - - - - - - 25.96 24.37
14014 605.3 7.9 1836 14053 roll 0.37 - - 2382 - 2.00 0.044 3823 641.5 259.5 30.42 0.904 1910 -3.9 0.280 - - - - - - - 25.65 24.31
14068 601.0 8.3 1841 14086 done 0.39 - - 2392 - 1.92 0.020 2507 -685.4 271.3 10.50 0.903 1870 -3.8 0.269 - - - - - - - 25.77 24.24
14387 574.0 8.4 1873 14406 roll 0.42 - - 2405 - 2.50 0.030 1097 -564.0 282.2 10.95 0.884 1824 -4.2 0.290 - - - - - - - 25.89 24.50
14433 570.4 8.3 1877 14452 done 0.45 - - 2405 - 2.60 0.031 2545 556.9 294.0 14.05 0.818 1779 -3.2 0.237 - - - - - - - 25.88 24.47
14756 539.9 9.4 1909 14762 done 0.46 - - 2405 - - - 2544 - 294.0 - - 1761 - - - - - - - - - - -
15066 511.1 9.2 1940 15077 roll 0.47 - - 2418 - 2.58 0.031 1095 -561.6 294.0 - - 1759 - - - - - - - - - 26.06 -
15111 507.0 9.0 1944 15121 done 0.49 - - 2418 - 2.58 0.031 2539 559.7 294.0 - - 1758 - - - - - - - - - 26.08 -
15421 475.5 9.9 1998 15427 roll 0.49 - - 2417 - 1.92 0.044 3839 677.1 294.0 - - 1758 - - - - - - - - - 26.06 -
15442 473.2 11.5 2001 15448 done 0.49 - - 2427 - 1.92 0.020 2496 -699.5 294.0 - - 1758 - - - - - - - - - 26.27 -
15754 439.0 11.5 2062 15761 roll 0.49 - - 2440 - 2.42 0.030 1090 -581.0 294.0 - - 1757 - - - - - - - - - 26.15 -
15799 434.2 10.0 2070 15805 done 0.50 - - 2440 - 2.58 0.034 2534 559.7 294.0 - - 1757 - - - - - - - - - 26.12 -
16113 396.3 11.8 2131 16118 done 0.49 - - 2440 - - - 2532 - 294.0 - - 1757 - - - - - - - - - - -
16425 358.6 11.8 2192 16433 roll 0.48 - - 2453 - 2.55 0.031 1090 -565.5 294.0 - - 1757 - - - - - - - - - 26.15 -
16456 355.0 11.6 2197 16463 done 0.48 - - 2453 - 2.55 0.032 2523 562.0 294.0 - - 1757 - - - - - - - - - 26.13 -
16773 315.3 12.9 2258 16779 roll 0.47 - - 2453 - 1.95 0.042 3833 671.8 294.0 - - 1756 - - - - - - - - - 26.08 -
16818 308.6 14.0 2266 16825 done 0.44 0.15 0.157 2421 -213.3 1.95 0.021 2490 -688.7 294.0 - - 1757 - - - - - - - - 25.86 26.32 -
17132 281.1 8.5 2327 17138 done 0.46 - - 2422 - - - 2489 - 298.9 - - 1756 - - - - - - - - - - -
17444 257.4 7.3 2388 17506 roll 0.54 - - 2434 - 2.53 0.029 1088 -553.8 345.2 51.88 0.725 1555 -3.9 0.146 - - - - - - - 25.75 24.49
17525 251.5 6.9 2401 17591 done 0.65 0.15 0.063 2535 673.3 2.60 0.028 2538 557.7 404.7 58.17 0.715 1322 -4.0 0.150 - - - - - - 25.81 25.79 24.24
17900 175.7 18.2 2472 17908 roll 0.61 0.20 0.154 2473 -310.0 1.95 0.038 3830 662.6 404.7 - - 1299 - - - - - - - - 25.61 25.89 -
17953 168.0 12.9 2481 17960 done 0.61 - - 2483 - 1.92 0.021 2496 -694.8 404.7 - - 1299 - - - - - - - - - 26.08 -
18145 149.5 9.0 2518 18152 roll 0.62 - - 2496 - 2.45 0.030 1086 -575.5 404.7 - - 1297 - - - - - - - - - 26.03 -
18189 145.2 9.7 2526 18196 done 0.65 - - 2496 - 2.55 0.028 2532 567.1 404.7 - - 1296 - - - - - - - - - 26.06 -
18381 125.6 9.6 2563 18388 roll 0.66 - - 2496 - 1.95 0.041 3841 671.3 404.7 - - 1295 - - - - - - - - - 26.03 -
18413 121.9 11.7 2568 18421 done 0.68 - - 2506 - 1.95 0.019 2477 -699.5 404.7 - - 1295 - - - - - - - - - 26.25 -
18607 103.4 7.9 2605 18639 roll 0.73 - - 2518 - 2.45 0.028 1087 -567.3 432.2 25.67 0.295 1220 -2.9 0.109 - - - - - - - 26.10 25.07
18688 96.7 9.2 2619 18695 done 0.75 - - 2518 - 2.47 0.027 2511 576.5 432.2 2.72 0.164 1215 -1.8 0.115 - - - - - - - 26.09 25.26
18880 76.7 10.8 2656 18889 roll 0.77 - - 2518 - 2.05 0.040 3833 644.9 432.2 2.62 0.157 1216 - - - - - - - - - 26.03 25.29
18913 73.1 11.5 2661 18919 done 0.79 - - 2528 - 1.95 0.018 2473 -697.4 432.2 - - 1225 - - - - - - - - - 26.27 -
19106 57.6 5.0 2698 19223 roll 1.00 0.17 0.065 2627 582.4 2.45 0.027 1085 -566.5 554.3 108.22 0.231 726 -4.6 0.122 - - - - - - 26.37 25.88 25.15
19258 45.0 9.0 2723 19266 done 1.02 - - 2627 - 2.55 0.026 2529 566.3 554.3 2.08 0.158 717 -4.3 0.131 - - - - - - - 25.91 25.36
19450 22.8 11.1 2760 19457 roll 1.02 - - 2627 - 1.92 0.036 3844 684.9 554.3 - - 727 - - - - - - - - - 26.01 -
19471 20.6 10.4 2763 19478 done 1.02 0.12 0.133 2599 -233.3 1.98 0.020 2476 -690.9 554.3 - - 727 - - - - - - - - 25.89 26.15 -
19655 end climb: SURFACE_DEPTH_REACHED
19656 begin surface coast
19682 end surface coast: CONTROL_FINISHED_OK
19682 begin surface
SM 0.47 - - - - -6.60 6.15 0.024 128 -401.8 0.08 0.100 2393 -1037.5 552.42 - - 727 - - - - - - - -