OKMC Apr12 * SG169 * Dive index * Mission links * Dive 472 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 103.06 of 147.52 AH used of 24V (30.14% remains)
• Previous NAKs 0, Timeouts 0 • 66.52 of 108.53 AH used of 10V (38.71% remains)
• Surface angle -67.3 deg, depth 0.75 m • Intended pitch -13.7 deg, speed -11.000 cm/s
• No surface pump (final VBD was 623.80, SM_CC=450)
• GPS1 time: 27 s
• GPS2 time: 14 s, HDOP was 8.0 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 113 VBD -0.70 - - 116 - - - 2431 - -292.0 -92.47 - 2979 - - - - - - - - - - -
117 3.1 -6.5 15 151 roll -0.70 7.97 0.230 1988 234.9 2.30 0.045 3840 612.6 -292.0 -19.23 - 3962 -51.1 - - - - - - - 24.74 25.98 26.59
190 26.2 -26.2 27 198 done -0.62 0.12 0.161 2031 358.3 2.28 0.018 2350 -653.5 -292.0 - - 3962 - - - - - - - - 25.79 26.20 -
328 58.5 -21.9 52 335 roll -0.56 - - 2037 - 2.33 0.023 919 -614.2 -292.0 - - 3962 - - - - - - - - - 26.15 -
364 65.3 -17.4 58 372 done -0.53 0.12 0.134 2063 216.7 2.50 0.028 2424 602.0 -292.0 - - 3961 - - - - - - - - 25.88 26.09 -
501 87.4 -16.0 83 508 roll -0.49 - - 2051 - 2.25 0.040 3828 624.0 -292.0 - - 3962 - - - - - - - - - 26.01 -
551 95.8 -14.7 92 558 done -0.48 - - 2052 - 2.15 0.017 2382 -672.6 -292.0 - - 3961 - - - - - - - - - 26.35 -
688 114.3 -12.8 117 697 roll -0.44 0.12 0.145 2083 258.3 2.40 0.036 3829 602.9 -292.0 - - 3962 - - - - - - - - 26.17 26.06 -
743 120.8 -10.3 126 750 done -0.45 - - 2083 - 1.98 0.018 2456 -693.4 -292.0 - - 3962 - - - - - - - - - 26.43 -
881 134.7 -10.3 151 888 roll -0.49 - - 2080 - 2.17 0.038 3836 635.9 -292.0 - - 3962 - - - - - - - - - 26.09 -
947 142.0 -10.9 163 954 done -0.50 - - 2080 - 1.77 0.016 2517 -745.2 -292.0 - - 3962 - - - - - - - - - 26.46 -
1082 155.0 -10.0 188 1088 done -0.55 - - 2080 - - - 2517 - -292.0 - - 3962 - - - - - - - - - - -
1215 168.1 -9.7 213 1222 roll -0.59 0.10 0.090 1986 -940.0 2.03 0.035 3849 656.2 -292.0 - - 3963 - - - - - - - - 26.53 26.11 -
1293 179.3 -15.3 227 1302 done -0.56 0.22 0.125 2056 318.2 1.70 0.018 2555 -761.2 -292.0 - - 3962 - - - - - - - - 25.84 26.39 -
1431 195.7 -10.9 252 1438 roll -0.54 - - 2056 - 2.83 0.024 933 -573.1 -292.0 - - 3962 - - - - - - - - - 26.21 -
1484 201.7 -10.8 261 1491 done -0.54 - - 2042 - 3.00 0.028 2634 567.0 -292.0 - - 3962 - - - - - - - - - 26.16 -
1616 216.0 -11.2 286 1623 roll -0.52 - - 2042 - 3.00 0.024 929 -568.3 -292.0 - - 3962 - - - - - - - - - 26.18 -
1663 221.2 -10.7 294 1671 done -0.52 0.12 0.132 2069 225.0 2.80 0.028 2531 572.1 -292.0 - - 3962 - - - - - - - - 25.97 26.18 -
1799 232.9 -8.7 319 1808 roll -0.55 - - 2069 - 2.75 0.022 914 -588.0 -292.0 - - 3962 - - - - - - - - - 26.24 -
1969 249.9 -10.0 351 1976 done -0.64 0.12 0.079 1994 -625.0 2.55 0.027 2443 599.6 -292.0 - - 3962 - - - - - - - - 26.16 26.22 -
2105 266.5 -12.6 376 2113 roll -0.61 0.12 0.126 2028 283.3 2.17 0.034 3836 641.9 -292.0 - - 3961 - - - - - - - - 26.29 26.11 -
2180 275.6 -12.0 389 2186 done -0.60 - - 2028 - 2.08 0.017 2420 -680.8 -292.0 - - 3961 - - - - - - - - - 26.41 -
2317 290.9 -9.8 414 2326 roll -0.60 - - 2019 - 2.28 0.037 3849 626.8 -292.0 - - 3960 - - - - - - - - - 26.11 -
2382 297.8 -10.4 425 2389 done -0.59 - - 2019 - 1.83 0.018 2521 -725.7 -292.0 -0.03 - 3968 -266.7 - - - - - - - - 26.44 26.04
2518 312.0 -9.4 450 2528 roll -0.57 0.10 0.148 2052 330.0 2.72 0.021 924 -587.1 -292.0 - - 3968 - - - - - - - - 26.36 26.22 -
2555 315.3 -8.7 455 2562 done -0.58 - - 2039 - 2.97 0.027 2603 565.3 -292.0 - - 3967 - - - - - - - - - 26.17 -
2690 327.4 -8.2 480 2697 roll -0.61 - - 2040 - 2.90 0.021 926 -578.3 -292.0 - - 3966 - - - - - - - - - 26.25 -
2748 333.0 -9.6 490 2755 done -0.63 - - 2031 - 2.65 0.028 2479 586.0 -292.0 - - 3966 - - - - - - - - - 26.18 -
2883 346.0 -10.0 515 2890 roll -0.65 - - 2032 - 2.62 0.022 913 -597.7 -292.0 - - 3965 - - - - - - - - - 26.25 -
2963 353.9 -10.2 529 2969 done -0.66 - - 2030 - 2.95 0.028 2576 563.7 -292.0 - - 3965 - - - - - - - - - 26.16 -
3098 367.9 -10.2 554 3105 roll -0.67 - - 2030 - 2.88 0.022 928 -572.2 -292.0 - - 3964 - - - - - - - - - 26.22 -
3183 377.5 -11.2 570 3190 done -0.67 - - 2029 - 2.58 0.028 2449 589.5 -292.0 - - 3964 - - - - - - - - - 26.17 -
3317 390.2 -9.4 595 3323 roll -0.70 - - 2029 - 2.17 0.041 3828 635.5 -292.0 - - 3963 - - - - - - - - - 26.06 -
3421 399.7 -9.0 614 3430 done -0.75 0.10 0.090 1935 -940.0 1.90 0.017 2474 -712.6 -292.0 - - 3961 - - - - - - - - 26.30 26.44 -
3563 420.7 -15.6 639 3570 roll -0.68 0.22 0.136 2020 386.4 2.62 0.023 933 -588.2 -292.0 - - 3961 - - - - - - - - 25.89 26.19 -
3600 425.9 -10.6 645 3607 done -0.68 - - 2007 - 2.92 0.028 2575 562.3 -292.0 - - 3961 - - - - - - - - - 26.17 -
3737 440.0 -10.0 670 3746 roll -0.69 - - 2007 - 2.90 0.024 918 -571.4 -292.0 - - 3960 - - - - - - - - - 26.19 -
3799 446.3 -10.2 680 3806 done -0.69 - - 1999 - 2.65 0.030 2466 584.2 -292.0 - - 3959 - - - - - - - - - 26.14 -
3936 460.2 -10.0 705 3943 roll -0.68 - - 1989 - 2.12 0.050 3828 642.5 -292.0 -0.05 - 3972 -260.0 - - - - - - - - 26.04 25.89
3968 463.2 -9.8 710 3977 done -0.66 0.10 0.134 2018 290.0 2.17 0.018 2372 -671.0 -292.0 - - 3971 - - - - - - - - 26.12 26.36 -
4107 474.5 -7.1 735 4116 roll -0.69 - - 2007 - 2.40 0.039 3840 611.7 -292.0 - - 3971 - - - - - - - - - 26.06 -
4164 479.3 -8.8 745 4171 done -0.69 - - 2008 - 1.88 0.018 2493 -716.5 -292.0 - - 3970 - - - - - - - - - 26.43 -
4300 489.8 -7.6 770 4307 roll -0.71 - - 1999 - 2.10 0.041 3837 640.0 -292.0 - - 3969 - - - - - - - - - 26.05 -
4351 494.5 -9.3 779 4360 done -0.71 - - 2000 - 1.73 0.018 2539 -750.3 -292.0 - - 3969 - - - - - - - - - 26.42 -
4487 507.3 -9.9 797 4495 roll -0.69 - - 1999 - 2.78 0.024 936 -576.6 -292.0 - - 3968 - - - - - - - - - 26.15 -
4541 512.7 -9.9 802 4549 done -0.69 - - 1988 - 2.97 0.030 2618 566.3 -292.0 - - 3967 - - - - - - - - - 26.13 -
4851 545.9 -10.9 833 4860 roll -0.66 0.12 0.147 2036 400.0 2.95 0.026 951 -565.1 -292.0 - - 3964 - - - - - - - - 26.19 26.11 -
4938 553.4 -8.3 841 4946 done -0.69 - - 2032 - 2.83 0.031 2543 562.5 -292.0 - - 3963 - - - - - - - - - 26.09 -
5247 578.9 -8.6 872 5258 roll -0.74 0.10 0.091 1980 -520.0 2.78 0.022 928 -580.9 -292.0 - - 3961 - - - - - - - - 26.50 26.16 -
5325 587.3 -11.8 879 5333 done -0.73 0.12 0.132 2005 208.3 2.95 0.031 2586 562.0 -292.0 - - 3960 - - - - - - - - 25.87 26.07 -
5633 620.3 -10.5 910 5642 roll -0.72 - - 2006 - 2.90 0.025 935 -569.3 -292.0 - - 3956 - - - - - - - - - 26.10 -
5711 627.9 -10.1 917 5718 done -0.72 - - 2002 - 2.83 0.031 2540 567.1 -292.0 - - 3956 - - - - - - - - - 26.05 -
6017 660.3 -10.3 948 6028 roll -0.71 - - 2003 - 2.78 0.025 939 -575.9 -292.0 - - 3953 - - - - - - - - - 26.10 -
6043 662.8 -10.1 950 6052 done -0.70 - - 1991 - 2.75 0.031 2525 576.7 -292.0 - - 3952 - - - - - - - - - 26.06 -
6354 695.8 -10.6 981 6362 roll -0.68 - - 1991 - 2.78 0.027 930 -573.7 -292.0 - - 3950 - - - - - - - - - 26.08 -
6412 701.6 -10.5 986 6419 done -0.68 0.12 0.127 2019 233.3 2.72 0.031 2497 576.1 -292.0 - - 3949 - - - - - - - - 25.85 26.03 -
6719 726.7 -8.1 1017 6728 roll -0.71 - - 2020 - 2.65 0.026 941 -587.2 -292.0 - - 3947 - - - - - - - - - 26.09 -
6753 729.5 -8.4 1020 6763 done -0.74 - - 2017 - 3.00 0.033 2610 556.3 -292.0 - - 3947 - - - - - - - - - 25.99 -
7062 754.6 -7.9 1051 7073 roll -0.77 - - 2017 - 2.95 0.025 940 -566.1 -292.0 - - 3944 - - - - - - - - - 26.07 -
7091 756.5 -7.8 1053 7099 done -0.80 0.12 0.077 1946 -591.7 3.12 0.031 2666 553.2 -292.0 - - 3944 - - - - - - - - 25.98 25.98 -
7398 799.3 -14.8 1084 7408 roll -0.76 0.12 0.157 1999 441.7 3.10 0.028 944 -555.5 -292.0 - - 3942 - - - - - - - - 26.11 25.98 -
7477 807.7 -10.2 1091 7486 done -0.76 - - 1989 - 3.05 0.033 2636 554.8 -292.0 - - 3941 - - - - - - - - - 25.96 -
7784 845.0 -12.7 1122 7793 roll -0.74 - - 1988 - 3.03 0.028 949 -556.8 -292.0 - - 3940 - - - - - - - - - 25.98 -
7872 854.8 -11.2 1130 7878 done -0.74 - - 1976 - 2.95 0.034 2576 551.5 -292.0 - - 3939 - - - - - - - - - 25.94 -
8178 895.3 -12.8 1161 8187 roll -0.71 0.10 0.155 2015 390.0 2.90 0.026 950 -560.7 -292.0 - - 3937 - - - - - - - - 26.27 25.97 -
8214 898.9 -11.4 1164 8221 done -0.71 - - 2007 - 2.88 0.033 2554 556.9 -292.0 - - 3937 - - - - - - - - - 25.92 -
8521 924.5 -8.1 1195 8532 roll -0.73 - - 2007 - 2.83 0.026 937 -571.4 -292.0 - - 3935 - - - - - - - - - 26.01 -
8560 927.3 -7.8 1198 8567 done -0.75 - - 2004 - 2.58 0.031 2447 585.3 -292.0 - - 3935 - - - - - - - - - 25.94 -
8866 951.3 -7.5 1229 8874 roll -0.77 - - 2004 - 2.53 0.027 933 -598.4 -292.0 - - 3933 - - - - - - - - - 26.00 -
8933 956.4 -8.3 1235 8940 done -0.79 - - 2003 - 2.92 0.033 2567 559.6 -292.0 - - 3933 - - - - - - - - - 25.89 -
9241 980.9 -7.9 1266 9250 roll -0.81 - - 2004 - 2.90 0.028 940 -561.0 -292.0 - - 3931 - - - - - - - - - 25.94 -
9285 984.7 -8.8 1270 9294 done -0.83 0.08 0.047 1928 -950.0 2.58 0.035 2448 584.5 -292.0 - - 3931 - - - - - - - - 25.81 25.84 -
9331 end dive: TARGET_DEPTH_EXCEEDED
9331 begin apogee
9337 991.0 -14.2 1275 9624 roll -0.20 0.73 0.112 2165 324.7 0.20 0.058 2437 -55.0 - 279.45 0.991 2977 -3.4 0.355 - - - - - - 25.21 25.05 23.61
9625 end apogee: CONTROL_FINISHED_OK
9625 begin climb
9627 1007.5 - 1304 10046 roll 0.70 0.77 0.046 2466 390.9 2.60 0.027 931 -579.2 292.0 407.00 0.883 1785 -2.9 0.347 - - - - - - 25.29 25.34 23.77
10111 950.8 15.0 1352 10120 done 0.68 - - 2466 - 2.55 0.033 2412 580.8 292.0 - - 1759 - - - - - - - - - 25.70 -
10420 898.7 16.1 1383 10429 roll 0.64 - - 2467 - 2.33 0.044 3820 604.3 292.0 - - 1755 - - - - - - - - - 25.91 -
10466 890.8 18.2 1387 10474 done 0.58 0.20 0.165 2423 -220.0 2.20 0.022 2420 -636.4 292.0 - - 1755 - - - - - - - - 25.53 26.09 -
10774 852.5 11.8 1418 10783 roll 0.56 - - 2423 - 2.35 0.043 3831 600.4 292.0 - - 1753 - - - - - - - - - 25.93 -
10841 844.1 13.4 1424 10847 done 0.54 - - 2434 - 2.15 0.022 2442 -646.0 292.0 - - 1753 - - - - - - - - - 26.14 -
11147 804.6 12.9 1455 11156 roll 0.52 0.12 0.173 2396 -316.7 2.28 0.041 3830 608.8 292.0 - - 1752 - - - - - - - - 25.96 25.91 -
11211 796.8 12.0 1461 11221 done 0.52 - - 2407 - 2.03 0.021 2474 -668.0 292.0 - - 1752 - - - - - - - - - 26.18 -
11520 760.9 11.4 1492 11531 roll 0.51 - - 2420 - 2.60 0.031 954 -584.6 292.0 - - 1751 - - - - - - - - - 25.98 -
11555 756.6 12.1 1495 11564 done 0.51 - - 2420 - 2.70 0.029 2508 575.6 292.0 - - 1751 - - - - - - - - - 26.01 -
11866 717.3 12.4 1526 11875 roll 0.50 - - 2420 - 2.08 0.042 3833 637.0 292.0 - - 1751 - - - - - - - - - 25.89 -
11923 709.8 14.2 1531 11930 done 0.48 0.15 0.147 2387 -220.0 2.00 0.021 2491 -671.0 292.0 - - 1750 - - - - - - - - 25.72 26.15 -
12229 678.3 9.5 1562 12329 roll 0.56 - - 2401 - 2.83 0.031 954 -543.1 352.7 92.88 0.819 1534 -2.3 0.200 - - - - - - - 25.30 23.75
12378 664.4 9.0 1576 12487 done 0.69 0.17 0.060 2504 605.9 2.72 0.027 2502 569.1 432.3 94.38 0.889 1199 -3.5 0.276 - - - - - - 25.67 25.65 23.62
12789 595.2 16.8 1617 12798 roll 0.66 0.15 0.158 2468 -240.0 2.72 0.032 947 -571.7 432.3 - - 1180 - - - - - - - - 25.75 25.82 -
12813 591.9 15.7 1619 12822 done 0.65 0.05 0.106 2446 -440.0 2.65 0.032 2472 575.5 432.3 - - 1179 - - - - - - - - 25.72 25.89 -
13122 557.7 10.7 1650 13132 roll 0.67 - - 2459 - 2.60 0.031 943 -588.1 442.5 - - 1178 - - - - - - - - - 25.92 -
13166 553.0 10.6 1654 13205 done 0.71 - - 2459 - 2.55 0.028 2448 590.2 459.5 31.23 0.802 1099 -2.5 0.181 - - - - - - - 26.00 24.14
13506 515.5 11.0 1688 13507 done 0.72 - - 2459 - - - 2447 - 459.5 - - 1081 - - - - - - - - - - -
13809 483.1 12.2 1732 13818 roll 0.76 - - 2459 - 2.25 0.045 3825 612.4 459.5 - - 1079 - - - - - - - - - 25.83 -
14055 453.9 9.0 1778 14151 done 0.95 0.22 0.047 2582 559.1 2.22 0.022 2397 -643.2 537.3 88.88 0.786 783 -3.3 0.200 - - - - - - 26.11 26.12 23.87
14279 415.1 17.1 1817 14289 roll 0.92 0.15 0.167 2537 -300.0 2.40 0.038 3839 600.8 537.3 - - 755 - - - - - - - - 25.55 25.69 -
14334 406.0 15.4 1826 14341 done 0.91 - - 2548 - 2.22 0.022 2429 -635.1 537.3 - - 754 - - - - - - - - - 25.90 -
14470 385.6 15.3 1851 14477 roll 0.90 - - 2560 - 2.55 0.034 939 -584.3 537.3 - - 754 - - - - - - - - - 25.84 -
14515 378.4 14.9 1859 14523 done 0.90 0.12 0.145 2526 -283.3 2.60 0.030 2455 583.1 537.3 - - 753 - - - - - - - - 25.63 25.90 -
14650 360.8 12.3 1884 14657 roll 0.90 - - 2526 - 2.22 0.041 3827 618.0 537.3 - - 752 - - - - - - - - - 25.84 -
14674 357.0 14.6 1888 14681 done 0.90 - - 2537 - 2.25 0.022 2396 -636.0 537.3 - - 752 - - - - - - - - - 26.05 -
14808 338.8 13.0 1913 14817 roll 0.90 - - 2549 - 2.45 0.031 945 -592.2 537.3 - - 752 - - - - - - - - - 25.92 -
14836 335.0 13.3 1917 14845 done 0.90 - - 2549 - 2.55 0.027 2444 587.8 537.3 - - 751 - - - - - - - - - 25.98 -
14977 315.4 14.5 1942 14985 roll 0.88 0.12 0.148 2509 -333.3 2.25 0.039 3828 615.1 537.3 - - 751 - - - - - - - - 26.03 25.86 -
14992 312.6 14.1 1944 14999 done 0.87 - - 2520 - 2.30 0.019 2364 -636.5 537.3 - - 751 - - - - - - - - - 26.15 -
15131 297.6 9.9 1969 15187 roll 0.94 - - 2521 - 2.42 0.030 929 -593.0 579.4 49.47 0.671 604 -3.0 0.137 - - - - - - - 25.66 24.15
15206 289.0 12.7 1981 15213 done 1.02 0.17 0.113 2566 264.7 2.55 0.028 2430 588.6 579.4 - - 592 - - - - - - - - 25.55 25.75 -
15342 273.1 10.6 2006 15362 roll 1.11 - - 2567 - 2.33 0.037 3832 601.7 593.3 12.75 0.679 551 -3.2 0.134 - - - - - - - 25.79 24.27
15376 269.0 12.3 2011 15383 done 1.21 0.17 0.066 2647 470.6 2.12 0.018 2432 -660.4 593.3 - - 543 - - - - - - - - 25.89 25.99 -
15513 244.8 19.8 2036 15521 roll 1.16 0.12 0.174 2610 -308.3 2.30 0.037 3827 606.5 593.3 - - 540 - - - - - - - - 25.79 25.84 -
15581 231.5 18.1 2048 15588 done 1.14 - - 2620 - 2.20 0.021 2427 -636.4 593.3 - - 540 - - - - - - - - - 26.03 -
15720 207.0 18.3 2073 15728 roll 1.10 0.12 0.176 2596 -200.0 2.53 0.031 941 -587.4 593.3 - - 540 - - - - - - - - 25.89 25.91 -
15771 198.6 13.9 2082 15780 done 1.10 - - 2596 - 2.55 0.028 2442 588.6 593.3 - - 539 - - - - - - - - - 25.98 -
15913 178.8 13.7 2107 15920 roll 1.10 - - 2596 - 2.25 0.039 3835 619.1 593.3 - - 539 - - - - - - - - - 25.91 -
15948 172.9 15.1 2113 15954 done 1.10 - - 2607 - 2.25 0.020 2378 -647.6 593.3 - - 539 - - - - - - - - - 26.14 -
16084 152.7 14.6 2138 16093 done 1.08 - - 2608 - - - 2377 - 593.3 - - 539 - - - - - - - - - - -
16223 133.1 14.6 2163 16230 done 1.07 0.12 0.162 2569 -325.0 - - 2377 - 593.3 - - 539 - - - - - - - - 26.05 - -
16358 117.4 12.5 2188 16366 roll 1.15 0.10 0.105 2602 330.0 2.42 0.039 3842 605.4 593.3 - - 539 - - - - - - - - 26.39 25.91 -
16435 107.6 11.7 2202 16442 done 1.22 - - 2602 - 2.22 0.021 2395 -651.8 593.3 - - 539 - - - - - - - - - 26.17 -
16569 93.9 11.1 2227 16576 roll 1.31 0.12 0.103 2657 458.3 2.38 0.037 3842 608.0 593.3 - - 539 - - - - - - - - 26.32 25.94 -
16759 72.0 9.2 2263 16798 done 1.50 0.15 0.066 2758 673.3 2.12 0.018 2418 -671.7 662.5 32.58 0.250 435 -3.2 0.096 - - - - - - 26.17 26.27 24.93
16925 36.9 21.9 2293 16938 roll 1.43 0.20 0.184 2698 -300.0 2.35 0.035 3841 605.5 662.5 1.40 0.145 433 - - - - - - - - 25.55 25.94 25.26
17020 19.5 17.1 2309 17030 done 1.40 - - 2709 - 2.10 0.020 2443 -665.7 662.5 0.62 0.237 433 - - - - - - - - - 26.15 25.22
17102 end climb: SURFACE_DEPTH_REACHED
17102 begin surface coast
17120 end surface coast: CONTROL_FINISHED_OK
17121 begin surface
SM 0.41 - - - - -6.49 6.47 0.025 105 -402.5 0.12 0.063 2356 -725.0 623.80 - - 436 - - - - - - - -