OKMC Apr12 * SG169 * Dive index * Mission links * Dive 172 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 33.76 of 147.52 AH used of 24V (77.11% remains)
• Previous NAKs 0, Timeouts 0 • 20.99 of 108.53 AH used of 10V (80.66% remains)
• Surface angle -73.9 deg, depth 0.93 m • Intended pitch -12.5 deg, speed -7.857 cm/s
VBD pumped to 457.98 (beyond SM_CC=450)
• GPS1 time: 27 s
• GPS2 time: 13 s, HDOP was 2.3 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 -0.55 - - 121 - - - 2555 - -194.6 -89.07 - 3143 - - - - - - - - - - -
112 3.6 -8.1 16 138 roll -0.55 7.72 0.220 2080 253.8 1.95 0.049 3837 657.4 -194.6 -11.52 - 3776 -54.9 - - - 1 - - - 25.29 25.60 26.43
182 36.0 -33.4 28 189 done -0.47 0.12 0.154 2119 325.0 2.00 0.021 2465 -686.0 -194.6 - - 3777 - - - - - - - - 25.82 26.13 -
375 92.3 -29.0 65 382 roll -0.38 0.12 0.174 2166 391.7 2.30 0.021 1038 -620.4 -194.6 - - 3777 - - - - - - - - 25.98 26.21 -
450 106.2 -11.3 79 458 done -0.41 - - 2154 - 2.45 0.031 2506 599.2 -194.6 - - 3777 - - - - - - - - - 26.17 -
644 132.6 -11.0 116 651 roll -0.38 - - 2144 - 1.98 0.038 3829 668.2 -194.6 - - 3777 - - - - - - - - - 26.21 -
699 137.9 -7.5 126 706 done -0.39 - - 2144 - 2.00 0.020 2445 -692.0 -194.6 - - 3777 - - - - - - - - - 26.38 -
891 163.6 -15.3 163 899 roll -0.35 - - 2147 - 2.25 0.023 1031 -628.4 -194.6 - - 3777 - - - - - - - - - 26.34 -
963 172.1 -9.3 176 970 done -0.37 - - 2137 - 2.42 0.030 2505 609.1 -194.6 - - 3777 - - - - - - - - - 26.32 -
1154 195.1 -11.1 213 1161 roll -0.34 - - 2127 - 1.95 0.039 3828 678.5 -194.6 - - 3778 - - - - - - - - - 26.29 -
1190 198.9 -11.0 219 1198 done -0.32 0.15 0.108 2178 340.0 2.03 0.020 2427 -690.1 -194.6 - - 3777 - - - - - - - - 26.22 26.46 -
1389 208.7 -4.7 239 1392 roll -0.34 - - 2178 - 2.20 0.024 1035 -632.7 -194.6 - - 3778 - - - - - - - - - 26.40 -
1413 209.9 -4.4 241 1420 done -0.37 - - 2178 - 2.42 0.028 2513 610.7 -194.6 - - 3778 - - - - - - - - - 26.37 -
1721 230.5 -8.1 272 1730 roll -0.44 0.12 0.096 2118 -500.0 1.95 0.037 3828 674.4 -194.6 - - 3777 - - - - - - - - 26.51 26.34 -
1837 239.8 -7.1 283 1846 done -0.51 - - 2119 - 2.00 0.018 2405 -711.5 -194.6 - - 3777 - - - - - - - - - 26.54 -
2148 260.0 -6.3 314 2157 roll -0.56 - - 2119 - 2.12 0.021 1021 -652.8 -194.6 - - 3776 - - - - - - - - - 26.48 -
2172 261.5 -6.2 316 2180 done -0.60 0.12 0.076 2037 -683.3 2.40 0.025 2517 623.3 -194.6 - - 3776 - - - - - - - - 26.39 26.43 -
2480 322.1 -21.8 347 2489 roll -0.52 0.20 0.150 2112 375.0 2.35 0.024 1046 -626.0 -194.6 - - 3774 - - - - - - - - 26.08 26.43 -
2555 331.0 -8.2 354 2562 done -0.52 - - 2102 - 2.38 0.031 2500 610.9 -194.6 - - 3774 - - - - - - - - - 26.39 -
2863 365.6 -12.3 385 2873 roll -0.49 - - 2107 - 2.33 0.024 1038 -627.5 -194.6 - - 3773 - - - - - - - - - 26.44 -
2917 370.8 -9.4 390 2926 done -0.48 - - 2099 - 2.35 0.031 2487 616.6 -194.6 - - 3773 - - - - - - - - - 26.39 -
3227 405.6 -11.5 421 3236 roll -0.45 - - 2099 - 2.30 0.024 1030 -633.5 -194.6 - - 3772 - - - - - - - - - 26.47 -
3290 412.0 -9.4 427 3299 done -0.45 - - 2099 - 2.35 0.032 2463 609.8 -194.6 - - 3771 - - - - - - - - - 26.38 -
3601 445.9 -10.6 458 3605 roll -0.43 0.12 0.142 2133 283.3 2.08 0.041 3822 653.4 -194.6 - - 3769 - - - - - - - - 26.38 26.32 -
3644 449.2 -7.6 462 3653 done -0.45 - - 2133 - 2.05 0.019 2394 -696.6 -194.6 - - 3769 - - - - - - - - - 26.54 -
3954 468.7 -6.8 493 3958 roll -0.52 - - 2132 - 2.25 0.040 3823 635.1 -194.6 - - 3767 - - - - - - - - - 26.33 -
3999 471.9 -7.5 497 4007 done -0.59 0.15 0.073 2049 -553.3 2.08 0.018 2369 -699.0 -194.6 - - 3766 - - - - - - - - 26.44 26.55 -
4307 510.2 -17.1 528 4316 roll -0.54 0.12 0.139 2082 275.0 2.28 0.041 3820 636.4 -194.6 - - 3764 - - - - - - - - 26.36 26.30 -
4360 517.0 -12.0 533 4369 done -0.53 - - 2083 - 2.08 0.019 2393 -686.1 -194.6 - - 3764 - - - - - - - - - 26.53 -
4671 550.9 -10.3 564 4679 roll -0.51 - - 2082 - 2.10 0.024 1040 -644.3 -194.6 - - 3762 - - - - - - - - - 26.42 -
4702 553.8 -9.3 567 4713 done -0.50 0.12 0.118 2120 316.7 2.33 0.031 2462 610.3 -194.6 - - 3761 - - - - - - - - 26.23 26.36 -
5013 570.8 -4.9 598 5022 roll -0.50 - - 2120 - 2.25 0.024 1040 -632.0 -194.6 - - 3759 - - - - - - - - - 26.42 -
5036 571.8 -4.7 600 5045 done -0.51 - - 2118 - 2.30 0.031 2456 615.7 -194.6 - - 3759 - - - - - - - - - 26.36 -
5345 588.3 -5.4 631 5355 roll -0.52 - - 2109 - 2.05 0.043 3815 662.9 -194.6 - - 3756 - - - - - - - - - 26.27 -
5391 590.7 -5.7 635 5399 done -0.54 - - 2109 - 2.08 0.019 2381 -689.4 -194.6 - - 3756 - - - - - - - - - 26.52 -
5701 611.3 -6.7 658 5706 roll -0.54 - - 2099 - 2.30 0.042 3822 626.5 -194.6 - - 3753 - - - - - - - - - 26.25 -
5728 612.8 -6.6 659 5732 done -0.54 - - 2099 - 2.08 0.019 2394 -686.5 -194.6 - - 3752 - - - - - - - - - 26.51 -
6036 634.9 -6.7 674 6037 done -0.54 - - 2099 - - - 2393 - -194.6 - - 3751 - - - - - - - - - - -
6335 656.5 -7.8 689 6341 roll -0.54 - - 2090 - 2.30 0.042 3826 623.0 -194.6 - - 3748 - - - - - - - - - 26.23 -
6363 658.0 -7.9 690 6367 done -0.54 - - 2090 - 2.08 0.020 2407 -682.2 -194.6 - - 3748 - - - - - - - - - 26.49 -
6671 686.3 -8.8 705 6677 roll -0.54 - - 2081 - 2.25 0.044 3822 628.9 -194.6 - - 3745 - - - - - - - - - 26.20 -
6718 689.8 -8.7 707 6722 done -0.54 - - 2081 - 2.05 0.020 2417 -685.4 -194.6 - - 3744 - - - - - - - - - 26.48 -
7025 716.5 -8.2 722 7031 roll -0.53 - - 2081 - 2.20 0.025 1028 -631.4 -194.6 - - 3743 - - - - - - - - - 26.35 -
7069 719.8 -8.2 724 7074 done -0.52 0.12 0.116 2115 283.3 2.40 0.034 2488 608.3 -194.6 - - 3743 - - - - - - - - 26.15 26.27 -
7384 737.0 -5.4 740 7390 roll -0.53 - - 2105 - 2.05 0.045 3815 647.3 -194.6 - - 3740 - - - - - - - - - 26.18 -
7407 738.1 -5.3 741 7411 done -0.55 - - 2105 - 2.05 0.019 2408 -686.3 -194.6 - - 3740 - - - - - - - - - 26.49 -
7719 757.1 -6.1 757 7721 done -0.56 - - 2105 - - - 2406 - -194.6 - - 3738 - - - - - - - - - - -
8020 774.6 -5.8 772 8025 roll -0.56 - - 2098 - 2.22 0.045 3811 632.9 -194.6 - - 3736 - - - - - - - - - 26.14 -
8053 775.8 -5.8 773 8060 done -0.57 - - 2098 - 2.03 0.019 2413 -688.7 -194.6 - - 3736 - - - - - - - - - 26.48 -
8359 796.6 -6.5 789 8363 roll -0.57 - - 2098 - 2.15 0.025 1042 -637.7 -194.6 - - 3734 - - - - - - - - - 26.32 -
8385 797.9 -6.4 790 8391 done -0.58 - - 2098 - 2.42 0.034 2505 604.5 -194.6 - - 3734 - - - - - - - - - 26.21 -
8701 816.3 -5.1 806 8707 roll -0.58 - - 2089 - 2.05 0.045 3833 647.8 -194.6 - - 3731 - - - - - - - - - 26.12 -
8721 817.3 -5.1 807 8726 done -0.58 - - 2089 - 2.08 0.020 2419 -679.8 -194.6 - - 3731 - - - - - - - - - 26.46 -
9042 835.6 -5.7 823 9047 roll -0.58 - - 2089 - 2.17 0.027 1042 -634.6 -194.6 - - 3730 - - - - - - - - - 26.29 -
9065 836.8 -5.6 824 9071 done -0.58 - - 2086 - 2.42 0.034 2502 603.3 -194.6 - - 3730 - - - - - - - - - 26.17 -
9382 855.3 -5.9 840 9383 done -0.58 - - 2086 - - - 2501 - -194.6 - - 3728 - - - - - - - - - - -
9682 875.1 -7.0 855 9687 roll -0.58 - - 2086 - 2.35 0.027 1051 -617.0 -194.6 - - 3727 - - - - - - - - - 26.25 -
9709 876.6 -7.1 856 9713 done -0.58 - - 2086 - 2.40 0.036 2492 600.4 -194.6 - - 3726 - - - - - - - - - 26.14 -
10017 899.4 -7.2 871 10023 roll -0.58 - - 2076 - 2.05 0.047 3810 642.9 -194.6 - - 3725 - - - - - - - - - 26.03 -
10059 902.3 -7.1 873 10063 done -0.58 - - 2076 - 2.05 0.021 2420 -678.0 -194.6 - - 3725 - - - - - - - - - 26.42 -
10372 925.5 -7.3 889 10377 roll -0.57 - - 2076 - 2.17 0.028 1050 -631.3 -194.6 - - 3724 - - - - - - - - - 26.23 -
10405 927.1 -7.3 890 10412 done -0.56 - - 2068 - 2.40 0.036 2488 599.2 -194.6 - - 3724 - - - - - - - - - 26.12 -
10713 953.6 -8.6 906 10718 roll -0.55 - - 2068 - 2.33 0.027 1051 -616.7 -194.6 - - 3723 - - - - - - - - - 26.21 -
10740 955.6 -8.7 907 10745 done -0.54 0.15 0.110 2109 273.3 2.38 0.036 2482 601.3 -194.6 - - 3723 - - - - - - - - 25.96 26.10 -
11050 972.8 -5.2 922 11055 roll -0.55 - - 2100 - 2.10 0.045 3819 636.7 -194.6 - - 3722 - - - - - - - - - 26.01 -
11076 973.9 -5.2 923 11080 done -0.57 - - 2100 - 2.08 0.020 2411 -676.9 -194.6 - - 3722 - - - - - - - - - 26.41 -
11382 end dive: TARGET_DEPTH_EXCEEDED
11382 begin apogee
11389 990.6 -5.0 938 11577 roll -0.20 0.30 0.086 2210 366.7 0.08 0.090 2483 900.0 - 182.57 1.168 2978 -4.1 0.364 - - - - - - 26.10 24.63 23.75
11578 end apogee: CONTROL_FINISHED_OK
11578 begin climb
11582 996.6 - 947 11798 roll 0.55 0.60 0.035 2466 426.7 2.42 0.027 1066 -585.5 194.6 204.55 1.144 2173 -3.9 0.361 - - - - - - 24.87 24.87 23.30
11931 950.3 17.4 964 11942 done 0.51 - - 2466 - 2.60 0.040 2533 564.2 194.6 - - 2151 - - - - - - - - - 25.27 -
12243 881.8 21.0 980 12249 roll 0.43 0.15 0.177 2422 -293.3 1.98 0.041 3816 648.0 194.6 - - 2148 - - - - - - - - 25.56 25.82 -
12345 863.0 18.2 985 12351 done 0.38 0.08 0.161 2406 -200.0 1.95 0.022 2512 -668.7 194.6 - - 2147 - - - - - - - - 25.67 25.99 -
12667 818.7 13.1 1001 12673 roll 0.34 - - 2406 - 2.05 0.043 3813 634.6 194.6 - - 2146 - - - - - - - - - 25.98 -
12740 809.8 14.3 1004 12748 done 0.30 0.15 0.155 2374 -213.3 1.85 0.022 2535 -690.8 194.6 - - 2145 - - - - - - - - 25.76 26.13 -
13046 775.0 11.0 1020 13051 roll 0.28 - - 2386 - 2.40 0.031 1070 -610.4 194.6 - - 2144 - - - - - - - - - 26.09 -
13080 772.6 11.1 1021 13086 done 0.27 - - 2386 - 2.55 0.034 2562 585.1 194.6 - - 2143 - - - - - - - - - 26.07 -
13387 732.5 13.1 1037 13389 done 0.24 0.12 0.150 2351 -291.7 - - 2561 - 194.6 - - 2143 - - - - - - - - 26.09 - -
13686 701.7 9.9 1052 13692 roll 0.24 - - 2363 - 2.47 0.029 1068 -604.5 194.6 - - 2143 - - - - - - - - - 26.14 -
13718 699.7 9.7 1053 13725 done 0.24 - - 2363 - 2.53 0.034 2558 588.9 194.6 - - 2142 - - - - - - - - - 26.11 -
14026 670.5 8.5 1069 14031 roll 0.24 - - 2376 - 2.45 0.028 1074 -605.7 194.6 - - 2142 - - - - - - - - - 26.15 -
14053 668.8 8.4 1070 14058 done 0.24 - - 2376 - 2.50 0.034 2550 590.4 194.6 - - 2141 - - - - - - - - - 26.11 -
14362 640.4 8.9 1085 14366 roll 0.23 - - 2376 - 1.92 0.044 3823 663.0 194.6 - - 2141 - - - - - - - - - 26.07 -
14412 635.8 9.5 1087 14417 done 0.21 0.15 0.149 2343 -220.0 1.90 0.021 2510 -691.1 194.6 - - 2141 - - - - - - - - 25.88 26.31 -
14722 612.1 7.6 1102 14728 roll 0.24 - - 2355 - 2.35 0.029 1069 -613.2 203.1 - - 2141 - - - - - - - - - 26.16 -
14763 609.0 7.5 1104 14788 done 0.27 - - 2356 - 2.50 0.033 2551 592.8 215.2 19.23 0.885 2099 -2.2 0.158 - - - - - - - 26.14 25.07
15091 581.0 8.0 1131 15092 done 0.28 - - 2356 - - - 2550 - 215.2 - - 2077 - - - - - - - - - - -
15394 559.3 6.3 1161 15461 done 0.36 0.10 0.088 2423 670.0 - - 2550 - 272.1 62.65 0.881 1863 -3.4 0.228 - - - - - - 26.39 - 24.52
15762 511.9 13.7 1198 15771 roll 0.33 0.12 0.146 2382 -341.7 1.92 0.043 3813 657.8 272.1 - - 1838 - - - - - - - - 25.74 25.78 -
15788 508.9 13.5 1200 15796 done 0.31 - - 2392 - 1.92 0.023 2514 -676.6 272.1 - - 1836 - - - - - - - - - 25.95 -
16094 476.6 10.2 1231 16103 roll 0.31 - - 2404 - 2.40 0.031 1074 -600.0 272.1 - - 1835 - - - - - - - - - 25.98 -
16140 472.9 8.9 1235 16147 done 0.32 - - 2404 - 2.50 0.034 2546 588.8 272.1 - - 1834 - - - - - - - - - 25.98 -
16446 440.4 10.5 1266 16455 roll 0.31 - - 2404 - 1.95 0.043 3821 653.8 272.1 - - 1833 - - - - - - - - - 26.00 -
16481 436.7 11.5 1269 16488 done 0.30 0.12 0.138 2375 -241.7 1.92 0.021 2506 -684.9 272.1 - - 1833 - - - - - - - - 25.91 26.19 -
16789 412.6 7.9 1300 16798 roll 0.32 - - 2388 - 2.38 0.031 1062 -606.7 272.1 - - 1833 - - - - - - - - - 26.10 -
16843 408.2 8.0 1305 16852 done 0.35 - - 2388 - 2.45 0.031 2532 600.0 272.1 - - 1832 - - - - - - - - - 26.12 -
17152 380.8 8.9 1336 17156 roll 0.43 - - 2388 - 1.98 0.044 3823 652.0 272.1 - - 1833 - - - - - - - - - 26.06 -
17215 375.1 8.9 1342 17219 done 0.51 0.15 0.075 2453 433.3 1.95 0.021 2467 -695.4 272.1 - - 1831 - - - - - - - - 26.20 26.34 -
17528 350.9 7.6 1373 17537 roll 0.55 - - 2453 - 2.10 0.041 3812 640.5 283.3 - - 1832 - - - - - - - - - 26.09 -
17614 342.0 11.9 1381 17620 done 0.53 - - 2464 - 1.98 0.022 2476 -674.7 283.3 - - 1831 - - - - - - - - - 26.28 -
17921 293.0 16.5 1412 17932 roll 0.49 0.12 0.171 2424 -333.3 2.12 0.038 3832 639.6 283.3 2.58 0.370 1822 -3.5 0.291 - - - - - - 26.10 26.28 24.77
17976 284.6 15.1 1417 17985 done 0.47 - - 2435 - 1.95 0.021 2501 -682.6 283.3 - - 1824 - - - - - - - - - 26.33 -
18285 244.0 12.0 1448 18287 done 0.45 - - 2436 - - - 2499 - 283.3 - - 1826 - - - - - - - - - - -
18587 209.8 12.2 1478 18591 roll 0.43 - - 2435 - 2.08 0.039 3827 638.5 283.3 - - 1826 - - - - - - - - - 26.16 -
18620 205.2 13.4 1481 18625 done 0.42 0.12 0.146 2409 -216.7 1.92 0.020 2512 -684.9 283.3 - - 1826 - - - - - - - - 26.06 26.39 -
18933 181.8 6.1 1537 19006 roll 0.51 - - 2422 - 2.40 0.027 1069 -601.2 346.7 65.00 0.647 1551 -4.2 0.125 - - - - - - - 25.72 24.96
19032 176.2 5.1 1553 19129 done 0.68 0.20 0.057 2524 510.0 2.53 0.028 2553 586.6 449.3 89.62 0.642 1142 -4.6 0.132 - - - - - - 25.79 25.76 24.56
19317 117.6 21.3 1605 19324 roll 0.64 0.12 0.169 2486 -316.7 1.92 0.037 3825 662.5 449.3 - - 1116 - - - - - - - - 25.58 25.73 -
19394 106.0 9.5 1619 19400 done 0.68 - - 2495 - 1.90 0.019 2511 -691.6 449.3 - - 1114 - - - - - - - - - 25.94 -
19585 87.1 11.7 1656 19591 roll 0.76 - - 2495 - 2.38 0.028 1066 -607.1 449.3 - - 1113 - - - - - - - - - 26.00 -
19626 82.8 10.7 1663 19634 done 0.83 0.15 0.088 2556 406.7 2.55 0.030 2566 588.2 449.3 - - 1112 - - - - - - - - 25.94 26.01 -
19819 64.9 10.4 1700 19827 roll 0.89 - - 2550 - 1.88 0.041 3833 673.9 449.3 - - 1113 - - - - - - - - - 26.03 -
19911 54.4 12.5 1717 19919 done 0.94 - - 2550 - 1.83 0.019 2525 -714.8 449.3 - - 1112 - - - - - - - - - 26.26 -
20104 33.3 11.3 1754 20112 roll 1.00 0.12 0.086 2611 508.3 2.40 0.027 1066 -607.9 449.3 - - 1113 - - - - - - - - 26.32 26.17 -
20197 23.8 11.3 1771 20204 done 1.06 - - 2611 - 2.50 0.031 2552 594.4 449.3 - - 1112 - - - - - - - - - 26.17 -
20365 end climb: SURFACE_DEPTH_REACHED
20365 begin surface coast
20381 end surface coast: CONTROL_FINISHED_OK
20381 begin surface
SM 0.79 - - - - -6.61 6.12 0.021 125 -406.2 0.15 0.055 2421 -873.3 457.98 - - 1112 - - - - - - - -