OKMC Nov11 * SG168 * Dive index * Mission links * Dive 400 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 70.06 of 150.00 AH used of 24V (53.29% remains)
• Previous NAKs 0, Timeouts 0 • 61.93 of 110.00 AH used of 10V (43.70% remains)
• Surface angle -68.1 deg, depth 6.59 m • Intended pitch -15.3 deg, speed -9.706 cm/s
• No surface pump (final VBD was 614.48, SM_CC=400)
• GPS1 time: 42 s, HDOP was 3.3 m
• GPS2 time: 11 s • Transponder ping count: 12
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
16 - - - 91 VBD -0.65 - - 102 - - - 2018 - -194.6 -72.25 - 2814 - - - - - - - - - - -
95 8.0 -3.9 11 124 roll -0.65 7.12 0.195 2024 269.9 2.25 0.050 3428 626.7 -194.6 -15.93 - 3750 -58.8 - - - - - - - 24.94 25.96 26.46
255 63.5 -26.5 39 262 done -0.61 0.12 0.138 2061 308.3 2.15 0.033 2026 -652.1 -194.6 - - 3751 - - - - - - - - 25.83 26.04 -
586 158.5 -23.6 100 595 roll -0.55 - - 2061 - 2.17 0.042 625 -645.6 -194.6 - - 3751 - - - - - - - - - 26.06 -
753 190.3 -16.5 130 761 done -0.53 0.08 0.116 2083 275.0 2.10 0.033 2011 660.0 -194.6 - - 3751 - - - - - - - - 25.96 26.18 -
1070 236.7 -14.1 166 1074 roll -0.52 - - 2073 - 2.20 0.038 3437 648.2 -194.6 - - 3751 - - - - - - - - - 26.17 -
1112 242.1 -12.6 170 1116 done -0.52 - - 2073 - 2.12 0.030 2024 -666.5 -194.6 - - 3751 - - - - - - - - - 26.24 -
1427 280.3 -12.2 201 1436 roll -0.51 - - 2073 - 2.15 0.044 626 -650.2 -194.6 - - 3751 - - - - - - - - - 26.11 -
1483 286.7 -11.2 206 1493 done -0.52 - - 2070 - 2.08 0.034 2019 669.7 -194.6 - - 3750 - - - - - - - - - 26.20 -
1790 323.0 -12.0 237 1800 roll -0.52 - - 2061 - 2.17 0.037 3434 652.1 -194.6 - - 3749 - - - - - - - - - 26.18 -
1827 326.9 -12.2 240 1835 done -0.52 0.10 0.121 2099 380.0 2.12 0.030 2025 -664.6 -194.6 - - 3748 - - - - - - - - 26.12 26.23 -
2133 353.6 -7.5 271 2143 roll -0.54 0.10 0.096 1997 -1020.0 2.15 0.041 621 -653.0 -194.6 - - 3746 - - - - - - - - 26.51 26.12 -
2180 359.2 -13.2 275 2187 done -0.53 0.28 0.114 2078 289.3 2.12 0.035 2031 665.1 -194.6 - - 3747 - - - - - - - - 25.86 26.19 -
2487 390.1 -8.8 306 2495 roll -0.54 - - 2069 - 2.15 0.041 3430 650.7 -194.6 - - 3744 - - - - - - - - - 26.16 -
2530 393.5 -8.3 310 2534 done -0.56 - - 2069 - 2.12 0.031 2026 -662.3 -194.6 - - 3744 - - - - - - - - - 26.22 -
2842 423.0 -9.7 341 2852 roll -0.57 - - 2069 - 2.17 0.044 616 -649.8 -194.6 - - 3742 - - - - - - - - - 26.08 -
2866 425.3 -10.0 343 2874 done -0.58 - - 2064 - 2.10 0.033 2025 671.0 -194.6 - - 3741 - - - - - - - - - 26.21 -
3175 455.8 -9.9 374 3184 roll -0.59 - - 2055 - 2.15 0.041 3424 650.7 -194.6 - - 3739 - - - - - - - - - 26.14 -
3228 460.6 -9.1 379 3237 done -0.60 - - 2055 - 2.10 0.031 2031 -663.3 -194.6 - - 3738 - - - - - - - - - 26.20 -
3538 493.2 -10.8 410 3544 done -0.60 - - 2055 - - - 2030 - -194.6 - - 3736 - - - - - - - - - - -
3849 522.5 -8.4 441 3856 done -0.61 - - 2055 - - - 2030 - -194.6 - - 3734 - - - - - - - - - - -
4158 548.4 -9.0 472 4162 roll -0.62 - - 2055 - 2.20 0.047 617 -642.3 -194.6 - - 3731 - - - - - - - - - 26.01 -
4182 550.6 -9.3 474 4191 done -0.63 - - 2055 - 2.12 0.034 2029 666.0 -194.6 - - 3730 - - - - - - - - - 26.17 -
4490 580.3 -9.5 505 4500 roll -0.64 - - 2045 - 2.17 0.043 3432 646.5 -194.6 - - 3727 - - - - - - - - - 26.08 -
4537 584.1 -8.9 509 4545 done -0.66 - - 2045 - 2.17 0.034 2017 -652.1 -194.6 - - 3727 - - - - - - - - - 26.14 -
4855 612.5 -8.4 534 4861 roll -0.67 - - 2045 - 2.17 0.048 626 -641.0 -194.6 - - 3726 - - - - - - - - - 25.97 -
4888 614.3 -8.5 535 4895 done -0.67 - - 2042 - 2.12 0.036 2023 659.0 -194.6 - - 3725 - - - - - - - - - 26.10 -
5193 642.1 -9.1 551 5199 roll -0.67 - - 2033 - 2.20 0.043 3437 642.7 -194.6 - - 3722 - - - - - - - - - 26.05 -
5262 647.4 -8.9 554 5267 done -0.69 - - 2033 - 2.17 0.032 2026 -650.2 -194.6 - - 3721 - - - - - - - - - 26.12 -
5570 677.2 -9.5 569 5575 roll -0.69 - - 2032 - 2.20 0.047 623 -637.7 -194.6 - - 3719 - - - - - - - - - 25.95 -
5617 681.0 -9.6 571 5621 done -0.69 - - 2028 - 2.12 0.036 2029 663.2 -194.6 - - 3718 - - - - - - - - - 26.10 -
5930 712.2 -10.0 587 5935 roll -0.69 - - 2018 - 2.17 0.044 3435 647.9 -194.6 - - 3716 - - - - - - - - - 26.01 -
6012 720.2 -9.9 591 6016 done -0.70 - - 2018 - 2.17 0.034 2028 -648.4 -194.6 - - 3715 - - - - - - - - - 26.07 -
6324 753.6 -10.1 607 6330 roll -0.70 - - 2018 - 2.22 0.049 615 -636.5 -194.6 - - 3714 - - - - - - - - - 25.89 -
6351 755.5 -9.9 608 6355 done -0.70 - - 2014 - 2.17 0.037 2030 652.1 -194.6 - - 3713 - - - - - - - - - 26.06 -
6659 785.3 -9.6 623 6663 roll -0.70 - - 2004 - 2.20 0.044 3437 639.5 -194.6 - - 3712 - - - - - - - - - 25.98 -
6705 789.3 -9.8 625 6709 done -0.70 0.08 0.151 2028 300.0 2.20 0.034 2021 -643.6 -194.6 - - 3711 - - - - - - - - 25.94 26.03 -
7019 819.4 -10.2 641 7024 roll -0.70 - - 2019 - 2.17 0.044 3427 647.9 -194.6 - - 3709 - - - - - - - - - 25.98 -
7046 821.4 -10.3 642 7050 done -0.70 - - 2019 - 2.20 0.035 2018 -640.5 -194.6 - - 3709 - - - - - - - - - 26.02 -
7353 855.9 -11.0 657 7354 done -0.70 - - 2019 - - - 2017 - -194.6 - - 3707 - - - - - - - - - - -
7652 887.2 -10.1 672 7653 done -0.70 - - 2019 - - - 2017 - -194.6 - - 3704 - - - - - - - - - - -
7952 915.3 -9.1 687 7953 done -0.70 - - 2019 - - - 2017 - -194.6 - - 3703 - - - - - - - - - - -
8254 939.5 -7.8 702 8258 roll -0.70 - - 2019 - 2.22 0.051 613 -632.4 -194.6 - - 3702 - - - - - - - - - 25.77 -
8284 941.4 -7.9 703 8288 done -0.70 - - 2014 - 2.17 0.037 2023 649.8 -194.6 - - 3702 - - - - - - - - - 25.97 -
8591 964.7 -7.5 718 8597 roll -0.70 - - 2005 - 2.22 0.045 3438 637.4 -194.6 - - 3701 - - - - - - - - - 25.89 -
8620 966.2 -7.5 719 8630 done -0.70 0.08 0.148 2029 300.0 2.20 0.035 2025 -642.3 -194.6 - - 3701 - - - - - - - - 25.86 25.95 -
8932 986.8 -6.4 735 8938 roll -0.71 - - 2029 - 2.22 0.049 617 -634.2 -194.6 - - 3699 - - - - - - - - - 25.77 -
8960 988.2 -6.5 736 8969 done -0.72 - - 2027 - 2.17 0.037 2030 651.2 -194.6 - - 3699 - - - - - - - - - 25.96 -
8989 end dive: TARGET_DEPTH_EXCEEDED
8989 begin apogee
8994 990.8 -6.4 738 9166 done -0.22 0.43 0.089 2183 362.8 - - 1973 - - 164.75 1.038 2953 -4.5 0.453 - - - - - - 25.80 - 23.49
9167 end apogee: CONTROL_FINISHED_OK
9167 begin climb
9169 996.0 - 746 9354 roll 0.65 0.73 0.042 2489 419.2 2.35 0.045 571 -596.6 194.6 173.48 1.018 2147 -4.6 0.477 - - - - - - 25.06 24.72 23.39
9396 974.6 18.2 757 9401 done 0.59 0.17 0.138 2440 -288.2 2.17 0.023 1980 649.3 194.6 - - 2133 - - - - - - - - 25.06 25.33 -
9705 922.1 16.3 772 9711 roll 0.56 - - 2440 - 2.17 0.031 3394 651.6 194.6 - - 2124 - - - - - - - - - 25.90 -
9765 911.8 17.1 775 9771 done 0.52 0.10 0.127 2414 -260.0 2.22 0.034 1976 -638.7 194.6 - - 2121 - - - - - - - - 25.65 25.90 -
10085 869.9 12.5 791 10086 done 0.50 - - 2414 - - - 1976 - 194.6 - - 2120 - - - - - - - - - - -
10387 832.3 12.9 806 10388 done 0.48 - - 2414 - - - 1976 - 194.6 - - 2119 - - - - - - - - - - -
10685 792.5 12.9 821 10692 roll 0.45 0.08 0.192 2394 -250.0 2.20 0.031 3395 645.0 194.6 - - 2118 - - - - - - - - 26.25 26.06 -
10729 787.5 12.7 823 10735 done 0.43 - - 2405 - 2.22 0.034 1969 -642.3 194.6 - - 2118 - - - - - - - - - 26.02 -
11046 749.8 11.6 839 11048 done 0.42 0.10 0.164 2377 -280.0 - - 1969 - 194.6 - - 2117 - - - - - - - - 26.19 - -
11345 722.7 8.8 854 11372 roll 0.45 0.08 0.122 2456 987.5 2.25 0.034 3402 636.9 220.5 21.60 0.831 2049 -3.1 0.287 - - - - - - 26.40 25.91 24.30
11426 711.6 14.9 858 11432 done 0.42 0.28 0.130 2381 -267.9 2.25 0.034 1973 -635.1 220.5 - - 2032 - - - - - - - - 25.52 25.87 -
11741 677.7 10.5 874 11747 roll 0.42 - - 2390 - 2.25 0.050 565 -625.8 220.5 - - 2029 - - - - - - - - - 25.82 -
11774 675.5 10.6 875 11781 done 0.42 - - 2390 - 2.12 0.024 1977 666.0 220.5 - - 2029 - - - - - - - - - 26.07 -
12082 640.0 11.1 891 12087 roll 0.42 - - 2390 - 2.15 0.035 3387 655.8 220.5 - - 2028 - - - - - - - - - 26.01 -
12103 637.7 11.1 892 12108 done 0.42 - - 2400 - 2.22 0.035 1962 -641.9 220.5 - - 2028 - - - - - - - - - 25.98 -
12417 606.1 9.1 908 12436 done 0.44 - - 2400 - - - 1962 - 237.8 16.45 0.750 1983 -2.7 0.232 - - - - - - - - 24.53
12737 572.4 11.2 936 12747 roll 0.44 - - 2400 - 2.20 0.034 3387 647.7 237.8 - - 1965 - - - - - - - - - 25.96 -
12781 567.3 11.7 940 12790 done 0.44 0.08 0.178 2389 -137.5 2.20 0.036 1979 -640.0 237.8 - - 1964 - - - - - - - - 25.79 25.93 -
13090 536.2 10.1 971 13099 roll 0.45 - - 2399 - 2.22 0.048 569 -635.1 237.8 - - 1963 - - - - - - - - - 25.84 -
13125 533.0 10.3 974 13132 done 0.46 - - 2399 - 2.12 0.024 1990 670.3 237.8 - - 1963 - - - - - - - - - 26.10 -
13433 500.7 10.6 1005 13442 roll 0.46 - - 2399 - 2.12 0.034 3386 658.5 237.8 - - 1962 - - - - - - - - - 26.01 -
13456 498.2 10.6 1007 13460 done 0.46 - - 2408 - 2.20 0.035 1975 -641.4 237.8 - - 1962 - - - - - - - - - 25.96 -
13768 465.8 10.3 1038 13776 roll 0.46 - - 2419 - 2.20 0.048 571 -638.2 237.8 - - 1962 - - - - - - - - - 25.84 -
13789 463.4 10.4 1040 13799 done 0.46 0.10 0.136 2387 -320.0 2.10 0.025 1967 664.8 237.8 - - 1962 - - - - - - - - 25.93 26.12 -
14100 435.6 8.5 1071 14150 roll 0.52 0.10 0.091 2471 840.0 2.22 0.032 3399 645.0 272.4 41.90 0.632 1835 -3.0 0.219 - - - - - - 26.43 25.80 24.53
14196 421.5 16.8 1080 14205 done 0.49 0.20 0.111 2411 -300.0 2.22 0.034 1977 -640.5 272.4 - - 1825 - - - - - - - - 25.46 25.78 -
14503 385.9 10.9 1111 14512 roll 0.50 - - 2422 - 2.25 0.048 571 -624.9 272.4 - - 1823 - - - - - - - - - 25.75 -
14549 381.5 10.5 1115 14556 done 0.51 - - 2422 - 2.12 0.025 1982 665.6 272.4 - - 1822 - - - - - - - - - 26.00 -
14856 352.7 9.1 1146 14885 roll 0.53 - - 2422 - 2.25 0.035 3391 626.2 291.7 19.20 0.613 1754 -3.5 0.214 - - - - - - - 25.94 24.65
14891 350.0 9.5 1149 14899 done 0.54 - - 2431 - 2.22 0.034 1972 -639.2 297.0 - - 1750 - - - - - - - - - 25.89 -
15197 318.4 9.5 1180 15210 roll 0.55 - - 2441 - 2.28 0.047 570 -614.9 303.2 4.22 0.539 1725 -5.9 0.367 - - - - - - - 25.92 24.32
15274 310.9 9.5 1187 15293 done 0.57 - - 2441 - 2.10 0.026 1972 667.6 308.0 12.35 0.609 1693 -2.6 0.139 - - - - - - - 26.04 24.65
15595 273.2 11.8 1219 15604 roll 0.57 - - 2441 - 2.17 0.034 3390 653.5 308.0 - - 1681 - - - - - - - - - 25.96 -
15639 267.8 12.2 1223 15648 done 0.57 0.03 0.168 2436 -166.7 2.17 0.034 1981 -649.3 308.0 - - 1681 - - - - - - - - 25.81 25.94 -
15949 238.0 9.2 1254 15968 roll 0.60 - - 2446 - 2.30 0.046 566 -615.2 323.3 14.20 0.552 1630 -3.6 0.162 - - - - - - - 25.98 24.78
16058 229.0 8.0 1264 16126 done 0.69 0.05 0.063 2525 1580.0 2.15 0.026 1979 657.2 375.2 55.62 0.512 1414 -3.9 0.182 - - - - - - 25.94 26.05 24.64
16442 156.2 18.8 1321 16450 roll 0.67 0.17 0.132 2464 -358.8 2.15 0.029 3392 657.2 375.2 - - 1404 - - - - - - - - 25.82 25.94 -
16481 150.6 12.4 1327 16488 done 0.68 - - 2468 - 2.22 0.034 1965 -642.8 375.2 - - 1402 - - - - - - - - - 25.91 -
16810 123.8 6.7 1388 16917 roll 0.82 0.12 0.079 2580 933.3 2.28 0.046 570 -611.8 464.9 95.95 0.423 1049 -3.7 0.113 - - - - - - 26.35 25.59 24.68
16989 97.0 11.0 1417 16998 done 0.82 0.22 0.099 2504 -345.5 2.12 0.024 1987 668.4 464.9 - - 1043 - - - - - - - - 25.58 25.82 -
17324 72.0 8.6 1478 17366 roll 0.90 0.12 0.078 2616 933.3 2.25 0.041 563 -632.9 498.4 33.38 0.253 929 -3.4 0.102 - - - - - - 26.27 25.87 25.01
17396 59.8 22.6 1489 17406 done 0.87 0.28 0.109 2527 -317.9 2.08 0.022 1978 680.3 498.4 2.90 0.160 923 -2.1 0.081 - - - - - - 25.65 26.02 25.08
17731 26.9 5.7 1550 17812 roll 1.04 0.15 0.067 2663 906.7 2.20 0.044 572 -639.1 616.6 71.75 0.145 441 -6.7 0.131 - - - - - - 26.34 25.83 25.39
17818 end climb: SURFACE_DEPTH_REACHED
17818 begin surface coast
17852 end surface coast: CONTROL_FINISHED_OK
17853 begin surface
SM 6.50 - - - - -6.56 6.28 0.026 103 -407.6 2.22 0.028 2016 650.5 614.48 - - 448 - - - - - - - -