OKMC Apr12 * SG169 * Dive index * Mission links * Dive 242 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 48.94 of 147.52 AH used of 24V (66.83% remains)
• Previous NAKs 0, Timeouts 0 • 29.96 of 108.53 AH used of 10V (72.39% remains)
• Surface angle -68.3 deg, depth 0.90 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 490.85, SM_CC=450)
• GPS1 time: 42 s
• GPS2 time: 16 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
15 begin dive
17 - - - 108 VBD -0.58 - - 116 - - - 2477 - -194.6 -88.22 - 3212 - - - - - - - - - - -
112 4.3 -10.5 15 139 roll -0.58 7.80 0.218 2089 252.9 2.58 0.041 986 -577.9 -194.6 -9.77 - 3775 -57.6 - - - - - - - 25.12 26.04 26.48
167 32.1 -41.3 24 175 done -0.46 0.17 0.142 2126 217.6 2.55 0.037 2465 580.0 -194.6 - - 3777 - - - - - - - - 25.73 26.01 -
361 78.5 -21.0 61 368 roll -0.40 - - 2116 - 2.05 0.038 3835 668.3 -194.6 - - 3777 - - - - - - - - - 26.13 -
411 88.5 -18.0 70 419 done -0.37 0.10 0.145 2151 350.0 2.00 0.018 2415 -710.0 -194.6 - - 3777 - - - - - - - - 26.08 26.32 -
605 116.6 -11.8 107 612 roll -0.35 - - 2153 - 2.33 0.023 984 -614.2 -194.6 - - 3777 - - - - - - - - - 26.29 -
660 122.3 -8.3 117 669 done -0.38 - - 2145 - 2.53 0.031 2473 588.5 -194.6 - - 3777 - - - - - - - - - 26.25 -
854 143.1 -12.6 154 862 roll -0.36 - - 2149 - 2.47 0.024 977 -605.7 -194.6 - - 3777 - - - - - - - - - 26.32 -
890 147.0 -9.6 160 897 done -0.38 - - 2147 - 2.45 0.030 2438 596.3 -194.6 - - 3777 - - - - - - - - - 26.29 -
1082 166.6 -11.4 197 1090 roll -0.37 - - 2137 - 2.10 0.039 3840 667.6 -194.6 - - 3777 - - - - - - - - - 26.26 -
1118 170.6 -11.3 203 1125 done -0.38 - - 2137 - 2.12 0.019 2357 -699.5 -194.6 - - 3778 - - - - - - - - - 26.47 -
1310 192.4 -11.6 240 1317 roll -0.37 - - 2137 - 2.20 0.023 979 -626.4 -194.6 - - 3777 - - - - - - - - - 26.39 -
1339 195.7 -10.9 245 1347 done -0.38 - - 2134 - 2.42 0.029 2426 597.9 -194.6 - - 3777 - - - - - - - - - 26.34 -
1538 216.7 -10.9 268 1547 roll -0.37 - - 2124 - 2.08 0.038 3831 675.5 -194.6 - - 3777 - - - - - - - - - 26.29 -
1562 219.2 -10.4 270 1570 done -0.37 0.10 0.121 2157 330.0 2.15 0.018 2328 -699.1 -194.6 - - 3777 - - - - - - - - 26.31 26.50 -
1870 239.6 -6.6 301 1880 roll -0.39 - - 2148 - 2.35 0.039 3836 641.7 -194.6 - - 3777 - - - - - - - - - 26.29 -
1897 241.3 -7.0 303 1903 done -0.41 - - 2147 - 2.12 0.018 2344 -703.8 -194.6 - - 3777 - - - - - - - - - 26.51 -
2204 264.0 -8.1 334 2213 roll -0.43 - - 2139 - 2.30 0.039 3823 643.0 -194.6 - - 3776 - - - - - - - - - 26.32 -
2249 267.3 -7.8 338 2256 done -0.45 - - 2139 - 2.08 0.018 2350 -708.2 -194.6 - - 3775 - - - - - - - - - 26.55 -
2558 290.6 -6.5 369 2567 roll -0.50 - - 2139 - 2.17 0.021 981 -630.9 -194.6 - - 3774 - - - - - - - - - 26.44 -
2652 297.5 -8.1 378 2661 done -0.57 0.10 0.067 2092 -470.0 2.58 0.028 2510 592.6 -194.6 - - 3773 - - - - - - - - 26.25 26.39 -
2961 320.1 -7.5 409 2965 roll -0.59 - - 2092 - 1.95 0.041 3834 679.0 -194.6 - - 3772 - - - - - - - - - 26.31 -
3016 324.1 -8.3 414 3023 done -0.61 - - 2092 - 1.73 0.018 2522 -758.4 -194.6 - - 3771 - - - - - - - - - 26.56 -
3324 357.2 -11.8 445 3333 roll -0.59 - - 2092 - 2.55 0.024 992 -600.0 -194.6 - - 3770 - - - - - - - - - 26.39 -
3398 364.7 -9.2 452 3405 done -0.60 - - 2086 - 2.83 0.031 2617 574.2 -194.6 - - 3769 - - - - - - - - - 26.33 -
3707 400.6 -11.5 483 3716 roll -0.58 - - 2086 - 2.78 0.024 980 -588.8 -194.6 - - 3767 - - - - - - - - - 26.39 -
3782 407.9 -9.0 490 3789 done -0.59 - - 2085 - 2.78 0.034 2569 571.6 -194.6 - - 3767 - - - - - - - - - 26.32 -
4090 440.4 -9.8 521 4098 roll -0.57 - - 2085 - 2.70 0.026 991 -584.4 -194.6 - - 3765 - - - - - - - - - 26.36 -
4173 447.8 -8.0 529 4182 done -0.59 - - 2085 - 2.67 0.033 2534 577.9 -194.6 - - 3764 - - - - - - - - - 26.32 -
4484 479.8 -11.6 560 4493 roll -0.57 - - 2085 - 2.65 0.034 979 -586.8 -194.6 -0.10 - 3784 -200.0 - - - - - - - - 26.36 26.01
4528 484.4 -10.7 564 4535 done -0.57 - - 2085 - 2.65 0.034 2516 580.0 -194.6 - - 3784 - - - - - - - - - 26.29 -
4836 518.3 -11.2 595 4846 roll -0.56 - - 2076 - 1.92 0.041 3832 685.4 -194.6 - - 3782 - - - - - - - - - 26.27 -
4859 520.8 -11.0 597 4868 done -0.55 - - 2076 - 1.95 0.019 2442 -712.8 -194.6 - - 3782 - - - - - - - - - 26.51 -
5170 553.7 -10.4 628 5179 roll -0.53 - - 2077 - 2.40 0.025 962 -616.7 -194.6 - - 3780 - - - - - - - - - 26.37 -
5243 560.5 -8.2 635 5254 done -0.55 0.08 0.096 2101 300.0 2.60 0.033 2495 589.6 -194.6 - - 3780 - - - - - - - - 26.12 26.29 -
5553 584.6 -7.9 666 5554 done -0.55 - - 2101 - - - 2493 - -194.6 - - 3778 - - - - - - - - - - -
5857 609.0 -8.2 691 5862 roll -0.56 - - 2102 - 2.50 0.025 990 -601.2 -194.6 - - 3775 - - - - - - - - - 26.34 -
5896 612.4 -8.4 693 5901 done -0.58 - - 2099 - 2.55 0.034 2488 587.5 -194.6 - - 3775 - - - - - - - - - 26.27 -
6217 639.4 -8.5 709 6218 done -0.58 - - 2099 - - - 2486 - -194.6 - - 3772 - - - - - - - - - - -
6518 663.1 -7.8 724 6519 done -0.59 - - 2099 - - - 2486 - -194.6 - - 3771 - - - - - - - - - - -
6816 685.4 -7.3 739 6821 roll -0.61 - - 2090 - 2.03 0.045 3830 662.1 -194.6 - - 3768 - - - - - - - - - 26.17 -
6845 686.9 -7.2 740 6849 done -0.62 - - 2091 - 2.03 0.021 2412 -698.5 -194.6 - - 3767 - - - - - - - - - 26.46 -
7152 711.7 -7.8 755 7158 roll -0.63 - - 2090 - 2.33 0.026 993 -609.0 -194.6 - - 3765 - - - - - - - - - 26.30 -
7185 713.3 -7.8 756 7192 done -0.64 - - 2086 - 2.55 0.034 2485 585.1 -194.6 - - 3765 - - - - - - - - - 26.22 -
7493 740.3 -8.4 772 7499 roll -0.64 - - 2086 - 2.47 0.027 985 -607.3 -194.6 - - 3763 - - - - - - - - - 26.28 -
7526 742.0 -8.5 773 7533 done -0.64 - - 2085 - 2.53 0.035 2474 588.5 -194.6 - - 3763 - - - - - - - - - 26.20 -
7833 769.3 -8.4 789 7839 roll -0.64 - - 2086 - 2.45 0.026 996 -603.3 -194.6 - - 3761 - - - - - - - - - 26.27 -
7861 770.9 -8.4 790 7865 done -0.65 - - 2086 - 2.50 0.034 2465 587.6 -194.6 - - 3761 - - - - - - - - - 26.19 -
8168 796.4 -8.0 805 8173 roll -0.65 - - 2077 - 2.08 0.045 3831 656.7 -194.6 - - 3759 - - - - - - - - - 26.10 -
8198 798.0 -7.9 806 8206 done -0.65 - - 2077 - 2.08 0.021 2396 -689.9 -194.6 - - 3759 - - - - - - - - - 26.41 -
8507 825.0 -8.1 822 8513 roll -0.65 - - 2077 - 2.30 0.028 979 -616.1 -194.6 - - 3758 - - - - - - - - - 26.25 -
8530 826.6 -8.2 823 8535 done -0.65 - - 2069 - 2.55 0.034 2470 584.7 -194.6 - - 3757 - - - - - - - - - 26.15 -
8844 853.3 -8.3 839 8850 roll -0.64 - - 2069 - 2.47 0.027 984 -601.6 -194.6 - - 3755 - - - - - - - - - 26.23 -
8897 856.5 -8.1 841 8904 done -0.64 - - 2059 - 2.47 0.036 2438 588.7 -194.6 - - 3755 - - - - - - - - - 26.14 -
9204 884.5 -9.4 857 9210 roll -0.62 - - 2059 - 2.40 0.028 984 -605.8 -194.6 - - 3754 - - - - - - - - - 26.21 -
9246 888.2 -9.6 859 9250 done -0.62 - - 2050 - 2.45 0.036 2420 586.1 -194.6 - - 3754 - - - - - - - - - 26.12 -
9559 923.4 -11.7 875 9566 roll -0.60 0.10 0.158 2078 280.0 2.35 0.025 985 -610.6 -194.6 - - 3753 - - - - - - - - 26.39 26.22 -
9592 925.7 -11.6 876 9599 done -0.59 - - 2072 - 2.42 0.036 2415 590.9 -194.6 - - 3753 - - - - - - - - - 26.11 -
9899 956.3 -9.4 892 9904 roll -0.59 - - 2061 - 2.20 0.047 3847 650.9 -194.6 - - 3751 - - - - - - - - - 26.00 -
9932 958.3 -9.3 893 9939 done -0.59 - - 2061 - 2.20 0.023 2362 -675.0 -194.6 - - 3750 - - - - - - - - - 26.34 -
10239 986.7 -8.5 909 10245 roll -0.58 - - 2061 - 2.22 0.029 996 -615.3 -194.6 - - 3749 - - - - - - - - - 26.18 -
10267 988.4 -8.3 910 10272 done -0.58 0.12 0.113 2098 308.3 2.42 0.035 2419 588.0 -194.6 - - 3749 - - - - - - - - 25.98 26.09 -
10291 end dive: TARGET_DEPTH_EXCEEDED
10291 begin apogee
10298 990.8 -7.8 911 10494 roll -0.20 0.30 0.090 2208 366.7 0.08 0.093 2516 1212.5 - 189.82 1.181 2975 -4.1 0.362 - - - - - - 26.08 24.59 23.51
10495 end apogee: CONTROL_FINISHED_OK
10496 begin climb
10499 997.8 - 921 10708 done 0.58 0.65 0.036 2472 406.2 0.12 0.079 2578 516.7 194.6 202.57 1.113 2184 -3.9 0.370 - - - - - - 24.86 24.86 23.16
11011 908.2 21.4 946 11017 roll 0.51 0.12 0.187 2434 -316.7 1.85 0.041 3840 682.2 194.6 - - 2146 - - - - - - - - 25.63 25.85 -
11058 899.5 21.4 948 11062 done 0.45 - - 2444 - 1.90 0.022 2517 -696.3 194.6 - - 2144 - - - - - - - - - 25.98 -
11366 845.2 16.1 963 11372 roll 0.40 0.12 0.188 2421 -191.7 2.47 0.029 1086 -579.4 194.6 - - 2143 - - - - - - - - 25.84 26.07 -
11399 842.2 15.8 964 11407 done 0.35 0.12 0.141 2386 -291.7 2.65 0.036 2553 553.6 194.6 - - 2140 - - - - - - - - 25.86 26.06 -
11708 807.0 10.5 980 11713 roll 0.34 - - 2385 - 1.88 0.044 3827 677.7 194.6 - - 2140 - - - - - - - - - 26.08 -
11741 804.5 10.6 981 11748 done 0.32 - - 2395 - 1.85 0.021 2517 -708.1 194.6 - - 2140 - - - - - - - - - 26.25 -
12047 769.7 10.4 997 12048 done 0.31 - - 2395 - - - 2515 - 194.6 - - 2140 - - - - - - - - - - -
12348 736.6 11.7 1012 12353 roll 0.29 - - 2408 - 2.47 0.031 1085 -578.9 194.6 - - 2139 - - - - - - - - - 26.17 -
12376 734.4 11.4 1013 12386 done 0.28 0.15 0.125 2362 -306.7 2.62 0.036 2545 557.3 194.6 - - 2138 - - - - - - - - 25.93 26.15 -
12689 711.0 6.9 1029 12780 roll 0.36 - - 2375 - 2.67 0.029 1083 -547.6 255.3 85.07 0.861 1931 -2.4 0.212 - - - - - - - 25.34 24.30
12806 702.5 7.4 1034 12864 done 0.42 0.08 0.047 2452 962.5 2.65 0.033 2533 547.2 297.9 50.22 0.904 1759 -3.4 0.281 - - - - - - 25.48 25.51 24.08
13164 641.0 16.3 1052 13170 roll 0.39 0.15 0.165 2405 -313.3 1.92 0.041 3821 670.8 297.9 - - 1732 - - - - - - - - 25.68 25.89 -
13212 635.4 15.2 1054 13216 done 0.36 - - 2415 - 1.88 0.022 2511 -696.8 297.9 - - 1731 - - - - - - - - - 26.03 -
13518 601.0 11.2 1069 13524 roll 0.35 - - 2428 - 2.45 0.031 1099 -576.3 297.9 - - 1728 - - - - - - - - - 26.08 -
13569 595.8 10.4 1073 13579 done 0.36 0.10 0.096 2387 -410.0 2.55 0.034 2529 560.8 297.9 - - 1728 - - - - - - - - 25.88 26.07 -
13879 574.2 6.4 1104 13969 roll 0.47 0.12 0.076 2473 716.7 2.08 0.043 3832 626.4 374.6 83.15 0.882 1442 -3.4 0.237 - - - - - - 26.39 25.26 24.24
13997 555.1 20.3 1115 14005 done 0.43 0.22 0.148 2421 -236.4 2.00 0.021 2490 -671.0 374.6 - - 1423 - - - - - - - - 25.20 25.53 -
14305 520.7 10.3 1146 14314 roll 0.44 - - 2433 - 2.42 0.031 1096 -576.0 374.6 - - 1417 - - - - - - - - - 25.94 -
14357 515.9 8.8 1151 14367 done 0.47 - - 2433 - 2.47 0.031 2503 569.6 374.6 - - 1416 - - - - - - - - - 25.98 -
14666 482.9 10.2 1182 14668 done 0.47 - - 2433 - - - 2502 - 374.6 - - 1416 - - - - - - - - - - -
14969 452.9 9.8 1212 14977 roll 0.48 - - 2445 - 2.42 0.031 1089 -583.9 374.6 - - 1416 - - - - - - - - - 26.13 -
15004 449.5 10.0 1215 15013 done 0.49 - - 2445 - 2.47 0.031 2506 573.7 374.6 - - 1414 - - - - - - - - - 26.13 -
15313 409.2 14.0 1246 15322 roll 0.48 - - 2445 - 1.98 0.042 3823 665.2 374.6 - - 1414 - - - - - - - - - 26.10 -
15348 404.3 14.2 1249 15355 done 0.48 - - 2455 - 1.98 0.021 2459 -688.9 374.6 - - 1414 - - - - - - - - - 26.28 -
15655 361.7 12.6 1280 15664 roll 0.47 - - 2468 - 2.35 0.031 1070 -591.1 374.6 - - 1414 - - - - - - - - - 26.17 -
15709 355.8 10.6 1285 15718 done 0.48 0.08 0.099 2435 -412.5 2.47 0.033 2496 577.3 374.6 - - 1413 - - - - - - - - 25.98 26.17 -
16018 327.4 9.3 1316 16020 done 0.50 - - 2435 - - - 2495 - 374.6 - - 1413 - - - - - - - - - - -
16322 300.8 8.7 1346 16330 roll 0.52 - - 2447 - 2.40 0.031 1091 -585.0 374.6 - - 1413 - - - - - - - - - 26.20 -
16354 297.9 8.5 1349 16362 done 0.56 - - 2448 - 2.42 0.029 2492 578.9 382.1 - - 1412 - - - - - - - - - 26.22 -
16665 273.1 7.7 1380 16713 roll 0.62 - - 2458 - 2.47 0.031 1091 -567.2 416.1 40.75 0.705 1269 -3.5 0.144 - - - - - - - 25.89 24.79
16737 267.8 6.7 1387 16807 done 0.74 0.12 0.034 2552 783.3 2.38 0.027 2471 579.8 482.2 64.18 0.711 1012 -4.0 0.159 - - - - - - 25.91 25.90 24.43
17108 177.3 23.1 1433 17115 roll 0.70 0.17 0.170 2501 -300.0 2.08 0.037 3829 652.9 482.2 - - 980 - - - - - - - - 25.63 25.91 -
17201 163.0 8.5 1450 17208 done 0.75 - - 2511 - 2.03 0.020 2434 -687.2 489.0 - - 979 - - - - - - - - - 26.13 -
17393 145.5 8.8 1487 17401 roll 0.77 - - 2523 - 2.28 0.029 1092 -588.6 489.0 - - 979 - - - - - - - - - 26.08 -
17439 141.4 9.1 1495 17447 done 0.81 - - 2523 - 2.42 0.028 2491 578.1 489.0 - - 977 - - - - - - - - - 26.11 -
17633 120.8 10.7 1532 17640 roll 0.82 - - 2523 - 2.00 0.040 3831 670.0 489.0 - - 977 - - - - - - - - - 26.10 -
17663 117.3 11.7 1537 17669 done 0.84 - - 2533 - 2.00 0.020 2432 -699.5 489.0 - - 977 - - - - - - - - - 26.27 -
17854 97.7 10.1 1574 17861 roll 0.86 - - 2544 - 2.30 0.030 1077 -589.1 489.0 - - 977 - - - - - - - - - 26.18 -
17911 92.6 9.2 1584 17918 done 0.89 - - 2544 - 2.40 0.028 2480 584.6 489.0 - - 977 - - - - - - - - - 26.22 -
18103 73.3 10.1 1621 18110 roll 0.91 - - 2556 - 2.40 0.028 1084 -581.7 489.0 - - 977 - - - - - - - - - 26.22 -
18129 70.9 9.5 1625 18136 done 0.93 - - 2555 - 2.35 0.028 2461 586.0 489.0 - - 977 - - - - - - - - - 26.25 -
18321 50.9 9.4 1662 18328 roll 0.94 - - 2555 - 2.05 0.039 3837 671.2 489.0 - - 977 - - - - - - - - - 26.20 -
18340 48.8 10.8 1665 18347 done 0.96 - - 2566 - 2.10 0.019 2394 -687.1 489.0 - - 977 - - - - - - - - - 26.36 -
18532 28.7 10.0 1702 18539 roll 0.97 - - 2577 - 2.17 0.028 1090 -600.9 489.0 - - 977 - - - - - - - - - 26.28 -
18562 26.1 9.1 1707 18570 done 0.99 - - 2577 - 2.33 0.028 2456 586.3 489.0 - - 977 - - - - - - - - - 26.29 -
18755 7.6 12.7 1744 18762 roll 0.99 - - 2589 - 2.33 0.028 1088 -587.1 489.0 - - 977 - - - - - - - - - 26.29 -
18775 5.1 12.6 1747 18783 done 1.00 - - 2589 - 2.33 0.027 2457 587.6 489.0 - - 977 - - - - - - - - - 26.31 -
18804 end climb: SURFACE_DEPTH_REACHED
18804 begin surface coast
18836 end surface coast: CONTROL_FINISHED_OK
18836 begin surface
SM 0.75 - - - - -6.62 6.18 0.030 130 -397.9 - - 2462 - 490.85 - - 978 - - - - - - - -