OKMC Apr12 * SG169 * Dive index * Mission links * Dive 457 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 98.89 of 147.52 AH used of 24V (32.97% remains)
• Previous NAKs 0, Timeouts 0 • 64.14 of 108.53 AH used of 10V (40.90% remains)
• Surface angle -74.0 deg, depth 0.96 m • Intended pitch -13.7 deg, speed -11.000 cm/s
• No surface pump (final VBD was 624.29, SM_CC=450)
• GPS1 time: 41 s
• GPS2 time: 13 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
14 begin dive
17 - - - 115 VBD -0.70 - - 114 - - - 2520 - -292.0 -94.85 - 3082 - - - - - - - - - - -
118 4.0 -10.4 17 153 roll -0.70 7.93 0.228 2016 239.8 2.85 0.034 926 -559.3 -292.0 -15.82 - 3965 -55.8 - - - - - - - 24.77 26.07 26.57
226 37.8 -18.0 35 232 done -0.67 - - 2004 - 2.53 0.031 2422 591.3 -292.0 - - 3966 - - - - - - - - - 26.05 -
363 73.9 -27.5 60 373 roll -0.58 0.12 0.171 2031 225.0 2.25 0.037 3830 625.8 -292.0 - - 3966 - - - - - - - - 26.04 26.04 -
403 83.6 -22.0 66 410 done -0.53 0.12 0.139 2067 300.0 2.25 0.017 2340 -662.2 -292.0 - - 3965 - - - - - - - - 25.98 26.32 -
539 106.0 -16.2 91 546 roll -0.49 - - 2055 - 2.45 0.038 3845 614.3 -292.0 - - 3965 - - - - - - - - - 26.08 -
598 114.6 -13.3 101 606 done -0.48 - - 2055 - 2.08 0.017 2428 -681.2 -292.0 - - 3966 - - - - - - - - - 26.38 -
735 132.8 -11.0 126 742 roll -0.47 - - 2055 - 2.47 0.024 926 -608.1 -292.0 - - 3966 - - - - - - - - - 26.22 -
791 139.7 -11.8 136 801 done -0.48 0.12 0.128 2084 241.7 2.60 0.028 2457 588.8 -292.0 - - 3966 - - - - - - - - 26.01 26.20 -
933 152.8 -9.5 161 940 roll -0.53 - - 2082 - 2.12 0.037 3844 654.2 -292.0 - - 3966 - - - - - - - - - 26.13 -
994 159.1 -9.5 172 1001 done -0.60 0.12 0.092 2034 -400.0 2.00 0.015 2430 -707.0 -292.0 - - 3966 - - - - - - - - 26.26 26.46 -
1132 173.6 -11.4 197 1138 roll -0.60 - - 2025 - 2.28 0.037 3848 621.9 -292.0 - - 3966 - - - - - - - - - 26.15 -
1210 184.2 -13.2 211 1216 done -0.57 - - 2025 - 1.70 0.017 2546 -765.9 -292.0 - - 3966 - - - - - - - - - 26.48 -
1347 204.2 -15.4 236 1357 roll -0.54 0.12 0.136 2069 366.7 2.83 0.023 929 -571.4 -292.0 - - 3966 - - - - - - - - 26.26 26.22 -
1423 214.1 -11.3 249 1429 done -0.54 - - 2056 - 2.97 0.027 2615 567.7 -292.0 - - 3966 - - - - - - - - - 26.21 -
1561 230.8 -11.8 274 1568 roll -0.54 - - 2057 - 2.95 0.024 933 -570.2 -292.0 - - 3966 - - - - - - - - - 26.23 -
1606 236.4 -11.3 282 1613 done -0.55 - - 2044 - 2.85 0.027 2551 567.7 -292.0 - - 3965 - - - - - - - - - 26.22 -
1744 251.6 -11.1 307 1751 roll -0.54 - - 2035 - 1.88 0.037 3838 684.6 -292.0 - - 3966 - - - - - - - - - 26.17 -
1769 254.8 -11.3 311 1776 done -0.53 - - 2035 - 1.92 0.016 2468 -713.5 -292.0 - - 3966 - - - - - - - - - 26.45 -
1907 269.7 -10.7 336 1916 roll -0.51 0.12 0.129 2081 383.3 2.58 0.021 921 -599.6 -292.0 - - 3966 - - - - - - - - 26.29 26.26 -
1941 273.4 -9.6 341 1948 done -0.53 - - 2076 - 2.83 0.026 2542 572.8 -292.0 - - 3966 - - - - - - - - - 26.23 -
2077 284.3 -8.0 366 2084 roll -0.59 - - 2076 - 1.92 0.038 3842 677.1 -292.0 - - 3965 - - - - - - - - - 26.16 -
2184 294.3 -9.8 386 2191 done -0.66 0.15 0.083 2017 -393.3 1.88 0.017 2479 -725.0 -292.0 - - 3964 - - - - - - - - 26.25 26.46 -
2320 306.7 -9.8 411 2327 roll -0.67 - - 2009 - 2.12 0.037 3846 644.8 -292.0 - - 3964 - - - - - - - - - 26.17 -
2398 315.9 -12.3 425 2404 done -0.65 - - 2009 - 1.67 0.017 2553 -774.3 -292.0 - - 3963 - - - - - - - - - 26.46 -
2534 333.3 -12.8 450 2544 roll -0.62 - - 2010 - 2.83 0.024 930 -573.5 -292.0 - - 3963 - - - - - - - - - 26.23 -
2621 344.4 -12.0 465 2628 done -0.61 0.12 0.130 2038 233.3 3.03 0.028 2635 562.7 -292.0 - - 3963 - - - - - - - - 26.01 26.20 -
2760 358.5 -9.5 490 2769 roll -0.62 - - 2038 - 2.97 0.024 925 -575.8 -292.0 - - 3962 - - - - - - - - - 26.25 -
2845 366.6 -9.0 505 2852 done -0.64 - - 2029 - 2.70 0.028 2495 581.5 -292.0 - - 3961 - - - - - - - - - 26.22 -
2984 377.5 -7.3 530 2993 roll -0.67 - - 2030 - 2.65 0.022 909 -598.5 -292.0 - - 3961 - - - - - - - - - 26.27 -
3038 382.1 -8.9 539 3047 done -0.68 - - 2030 - 2.47 0.028 2406 606.1 -292.0 - - 3960 - - - - - - - - - 26.22 -
3176 393.3 -8.6 564 3183 roll -0.70 - - 2030 - 2.40 0.024 930 -615.0 -292.0 - - 3959 - - - - - - - - - 26.27 -
3252 400.7 -10.0 578 3259 done -0.72 - - 2029 - 2.67 0.028 2491 584.6 -292.0 -0.05 - 3971 -240.0 - - - - - - - - 26.20 25.53
3390 412.8 -9.2 603 3397 roll -0.74 0.10 0.092 1923 -1060.0 2.08 0.037 3832 644.7 -292.0 - - 3971 - - - - - - - - 26.53 26.12 -
3501 430.0 -16.4 623 3508 done -0.69 0.28 0.129 2009 307.1 1.85 0.018 2503 -718.4 -292.0 - - 3969 - - - - - - - - 25.77 26.41 -
3637 445.7 -10.6 648 3644 roll -0.67 - - 2013 - 2.67 0.024 925 -591.0 -292.0 - - 3969 - - - - - - - - - 26.22 -
3699 452.5 -10.1 659 3706 done -0.67 - - 2001 - 2.80 0.028 2538 576.1 -292.0 - - 3969 - - - - - - - - - 26.20 -
3837 467.3 -11.5 684 3844 roll -0.65 - - 2002 - 2.78 0.024 935 -576.6 -292.0 - - 3968 - - - - - - - - - 26.21 -
3873 471.3 -10.2 690 3881 done -0.65 0.12 0.125 2034 266.7 2.67 0.028 2489 582.0 -292.0 - - 3968 - - - - - - - - 26.01 26.20 -
4012 482.6 -8.0 715 4018 roll -0.68 - - 2028 - 2.05 0.041 3832 655.1 -292.0 - - 3966 - - - - - - - - - 26.10 -
4074 488.0 -8.4 726 4081 done -0.72 - - 2028 - 1.92 0.018 2443 -723.4 -292.0 - - 3965 - - - - - - - - - 26.46 -
4208 498.5 -7.5 751 4215 roll -0.76 0.12 0.078 1939 -741.7 2.17 0.036 3831 639.6 -292.0 - - 3964 - - - - - - - - 26.48 26.11 -
4289 507.8 -13.1 760 4297 done -0.71 0.20 0.131 1999 300.0 2.17 0.018 2378 -669.6 -292.0 - - 3963 - - - - - - - - 25.86 26.36 -
4597 541.4 -10.8 791 4606 roll -0.70 - - 1988 - 2.38 0.039 3838 613.4 -292.0 - - 3961 - - - - - - - - - 26.08 -
4660 548.8 -11.2 797 4671 done -0.69 - - 1988 - 2.12 0.018 2408 -674.5 -292.0 - - 3960 - - - - - - - - - 26.39 -
4972 585.3 -11.6 828 4981 roll -0.66 0.10 0.146 2007 190.0 2.28 0.037 3829 623.2 -292.0 - - 3957 - - - - - - - - 26.36 26.08 -
5028 591.2 -10.3 833 5037 done -0.66 - - 2007 - 2.00 0.018 2442 -693.5 -292.0 - - 3957 - - - - - - - - - 26.39 -
5335 621.4 -9.6 864 5344 roll -0.68 - - 2000 - 2.20 0.041 3824 628.2 -292.0 - - 3954 - - - - - - - - - 26.06 -
5377 626.0 -10.8 868 5381 done -0.69 - - 2001 - 1.77 0.019 2538 -726.6 -292.0 - - 3953 - - - - - - - - - 26.41 -
5691 661.4 -11.2 899 5699 roll -0.67 - - 1991 - 1.95 0.040 3856 675.9 -292.0 - - 3951 - - - - - - - - - 26.07 -
5776 670.6 -10.9 907 5784 done -0.66 0.10 0.132 2021 300.0 1.85 0.019 2526 -718.9 -292.0 - - 3949 - - - - - - - - 26.13 26.39 -
6084 699.6 -9.8 938 6093 roll -0.66 - - 2021 - 2.75 0.027 936 -578.2 -292.0 - - 3947 - - - - - - - - - 26.13 -
6169 707.9 -10.3 946 6178 done -0.68 - - 2017 - 2.85 0.030 2553 567.4 -292.0 - - 3947 - - - - - - - - - 26.10 -
6479 734.5 -7.6 977 6488 roll -0.71 - - 2017 - 2.83 0.025 925 -575.3 -292.0 - - 3944 - - - - - - - - - 26.15 -
6598 743.3 -7.5 988 6605 done -0.74 - - 2017 - 3.05 0.031 2639 562.0 -292.0 - - 3943 - - - - - - - - - 26.06 -
6904 765.3 -7.3 1019 6908 roll -0.76 - - 2011 - 1.77 0.043 3835 675.7 -292.0 - - 3941 - - - - - - - - - 26.01 -
6939 767.7 -7.1 1022 6946 done -0.79 - - 2010 - 2.05 0.018 2437 -682.0 -292.0 - - 3941 - - - - - - - - - 26.34 -
7248 792.6 -8.4 1053 7259 roll -0.82 0.12 0.077 1908 -850.0 2.50 0.024 927 -604.0 -292.0 - - 3938 - - - - - - - - 26.46 26.13 -
7282 797.1 -11.5 1056 7292 done -0.82 0.25 0.126 1973 260.0 2.50 0.031 2415 595.2 -292.0 - - 3938 - - - - - - - - 25.61 26.05 -
7592 836.4 -12.9 1087 7601 roll -0.79 - - 1961 - 2.28 0.041 3836 623.2 -292.0 - - 3936 - - - - - - - - - 25.94 -
7657 843.8 -11.6 1093 7666 done -0.78 - - 1969 - 2.28 0.020 2369 -643.4 -292.0 - - 3935 - - - - - - - - - 26.26 -
7965 881.6 -12.3 1124 7974 roll -0.75 - - 1957 - 2.42 0.041 3830 603.7 -292.0 - - 3933 - - - - - - - - - 25.94 -
8007 886.9 -12.6 1128 8017 done -0.72 0.12 0.130 1999 350.0 2.25 0.021 2378 -645.3 -292.0 - - 3933 - - - - - - - - 25.94 26.24 -
8318 916.8 -9.5 1159 8326 roll -0.71 - - 1988 - 2.40 0.040 3830 605.0 -292.0 - - 3931 - - - - - - - - - 25.92 -
8342 918.9 -9.9 1161 8352 done -0.70 - - 1988 - 2.17 0.020 2405 -656.7 -292.0 - - 3932 - - - - - - - - - 26.26 -
8652 949.9 -10.0 1192 8662 roll -0.69 - - 1988 - 2.40 0.025 935 -612.5 -292.0 - - 3930 - - - - - - - - - 26.07 -
8685 953.3 -9.8 1195 8695 done -0.69 0.08 0.099 2013 312.5 2.55 0.031 2448 593.3 -292.0 - - 3929 - - - - - - - - 25.79 25.98 -
8997 977.8 -7.9 1226 9000 roll -0.69 - - 2002 - 2.25 0.044 3832 615.1 -292.0 - - 3928 - - - - - - - - - 25.84 -
9081 984.5 -8.2 1234 9089 done -0.69 - - 2003 - 2.15 0.021 2426 -654.0 -292.0 - - 3927 - - - - - - - - - 26.25 -
9146 end dive: TARGET_DEPTH_EXCEEDED
9147 begin apogee
9154 990.2 -8.1 1241 9390 roll -0.20 0.45 0.086 2166 362.2 0.17 0.063 2438 70.6 - 229.32 1.127 2976 -4.1 0.382 - - - - - - 25.78 24.98 23.42
9392 end apogee: CONTROL_FINISHED_OK
9392 begin climb
9395 1002.1 - 1265 9712 roll 0.70 0.77 0.045 2469 393.5 2.58 0.026 939 -581.0 292.0 306.23 1.077 1784 -3.9 0.380 - - - - - - 25.28 25.32 23.58
9764 962.0 12.4 1302 9775 done 0.69 - - 2469 - 2.50 0.032 2413 589.6 292.0 - - 1754 - - - - - - - - - 25.65 -
10076 912.7 15.9 1333 10082 done 0.64 - - 2469 - - - 2412 - 292.0 - - 1750 - - - - - - - - - - -
10386 862.3 16.4 1364 10395 roll 0.59 0.12 0.168 2430 -325.0 2.35 0.041 3824 600.9 292.0 - - 1749 - - - - - - - - 25.97 26.00 -
10504 845.0 14.1 1375 10513 done 0.56 - - 2442 - 2.28 0.021 2388 -629.8 292.0 - - 1748 - - - - - - - - - 26.18 -
10811 800.9 14.3 1406 10823 roll 0.53 0.12 0.173 2404 -316.7 2.40 0.039 3819 596.2 292.0 - - 1746 - - - - - - - - 25.98 26.00 -
10869 793.6 12.9 1411 10878 done 0.52 - - 2415 - 2.17 0.021 2421 -644.2 292.0 - - 1746 - - - - - - - - - 26.20 -
11177 758.7 11.3 1442 11188 roll 0.51 - - 2415 - 2.35 0.041 3836 602.1 292.0 - - 1746 - - - - - - - - - 25.98 -
11226 753.0 12.7 1446 11235 done 0.50 0.12 0.146 2391 -200.0 2.15 0.021 2443 -647.9 292.0 - - 1746 - - - - - - - - 25.88 26.20 -
11534 721.1 10.4 1477 11566 roll 0.52 - - 2391 - 2.38 0.040 3836 585.3 314.8 25.98 0.893 1687 -2.3 0.192 - - - - - - - 25.77 24.07
11610 713.3 11.1 1484 11617 done 0.53 - - 2402 - 2.10 0.018 2457 -656.7 314.8 - - 1675 - - - - - - - - - 26.01 -
11918 681.8 9.6 1515 12008 roll 0.60 - - 2416 - 2.65 0.028 937 -573.6 370.1 83.55 0.840 1465 -2.5 0.214 - - - - - - - 25.37 23.78
12041 670.0 9.1 1527 12139 done 0.71 0.15 0.063 2507 606.7 2.72 0.025 2498 573.9 444.4 87.82 0.898 1158 -3.5 0.273 - - - - - - 25.64 25.63 23.69
12440 598.5 17.7 1567 12449 roll 0.68 0.15 0.152 2458 -326.7 2.10 0.037 3823 631.0 444.4 - - 1132 - - - - - - - - 25.79 25.87 -
12487 591.6 15.7 1571 12494 done 0.67 - - 2468 - 2.08 0.020 2461 -654.8 444.4 - - 1131 - - - - - - - - - 26.09 -
12793 552.3 12.1 1602 12804 roll 0.67 - - 2481 - 2.58 0.032 948 -586.4 444.4 - - 1129 - - - - - - - - - 25.96 -
12817 549.4 12.4 1604 12826 done 0.67 - - 2482 - 2.70 0.027 2506 577.0 444.4 - - 1129 - - - - - - - - - 26.03 -
13129 508.2 13.9 1635 13137 roll 0.67 - - 2482 - 2.08 0.042 3821 632.2 444.4 - - 1129 - - - - - - - - - 25.93 -
13151 504.8 14.4 1637 13160 done 0.67 0.15 0.132 2439 -286.7 2.08 0.020 2465 -651.9 444.4 - - 1128 - - - - - - - - 25.81 26.20 -
13472 468.1 11.0 1695 13479 roll 0.72 - - 2432 - 2.25 0.042 3828 605.8 444.4 - - 1127 - - - - - - - - - 25.91 -
13700 442.4 12.8 1739 13707 done 0.79 0.15 0.070 2511 526.7 2.00 0.021 2496 -666.0 444.4 - - 1127 - - - - - - - - 26.11 26.22 -
13836 427.3 10.8 1764 13842 roll 0.82 - - 2511 - 2.15 0.041 3836 623.3 452.7 - - 1126 - - - - - - - - - 25.94 -
13902 418.2 14.2 1776 13909 done 0.80 - - 2522 - 2.22 0.020 2402 -645.9 452.7 - - 1126 - - - - - - - - - 26.16 -
14039 400.1 13.3 1801 14048 roll 0.79 0.12 0.166 2495 -225.0 2.42 0.029 947 -601.2 452.7 - - 1126 - - - - - - - - 26.03 25.98 -
14056 397.6 12.2 1803 14063 done 0.78 - - 2495 - 2.58 0.028 2461 586.8 452.7 - - 1126 - - - - - - - - - 26.03 -
14193 383.0 11.2 1828 14199 done 0.78 - - 2495 - - - 2460 - 452.7 - - 1126 - - - - - - - - - - -
14329 369.4 10.2 1853 14381 roll 0.85 - - 2494 - 2.25 0.040 3833 610.2 484.7 42.47 0.740 988 -3.2 0.170 - - - - - - - 25.65 24.12
14566 345.7 10.5 1896 14590 done 0.95 0.10 0.087 2557 630.0 2.35 0.021 2352 -630.2 502.5 18.02 0.740 927 -3.4 0.166 - - - - - - 25.95 26.02 24.15
14719 328.7 10.2 1923 14763 roll 1.01 - - 2568 - 2.40 0.031 937 -589.6 535.3 35.90 0.710 784 -4.0 0.193 - - - - - - - 25.63 24.12
14829 316.0 12.1 1942 14836 done 1.01 - - 2568 - 2.83 0.026 2536 565.0 535.3 - - 772 - - - - - - - - - 25.79 -
14967 295.1 16.5 1967 14973 roll 0.99 - - 2568 - 1.98 0.038 3829 653.0 535.3 - - 772 - - - - - - - - - 25.84 -
14982 292.3 16.2 1969 14990 done 0.96 0.12 0.155 2544 -200.0 2.05 0.020 2475 -660.5 535.3 - - 772 - - - - - - - - 25.68 26.03 -
15123 271.8 14.3 1994 15130 roll 0.96 - - 2557 - 2.62 0.031 947 -583.2 535.3 - - 771 - - - - - - - - - 25.91 -
15165 265.7 14.1 2001 15172 done 0.96 - - 2557 - 2.67 0.027 2493 579.0 535.3 - - 771 - - - - - - - - - 25.98 -
15302 244.9 14.5 2026 15309 roll 0.95 - - 2557 - 2.10 0.038 3840 641.4 535.3 - - 771 - - - - - - - - - 25.94 -
15334 239.8 15.4 2031 15341 done 0.95 - - 2568 - 2.10 0.020 2453 -660.5 535.3 - - 771 - - - - - - - - - 26.16 -
15469 220.4 13.6 2056 15478 roll 0.94 - - 2580 - 2.58 0.030 933 -589.1 535.3 - - 770 - - - - - - - - - 25.99 -
15507 215.2 12.5 2062 15515 done 0.94 0.15 0.132 2537 -286.7 2.62 0.027 2476 588.9 535.3 - - 770 - - - - - - - - 25.75 26.06 -
15643 199.3 10.7 2087 15657 roll 1.01 - - 2537 - 2.67 0.029 927 -580.1 546.2 6.97 0.606 750 -2.9 0.099 - - - - - - - 26.03 24.40
15890 166.3 14.8 2134 15898 done 1.10 0.15 0.085 2598 406.7 2.40 0.028 2371 601.7 546.2 - - 746 - - - - - - - - 25.98 26.07 -
16031 147.8 12.7 2159 16037 done 1.13 - - 2598 - - - 2370 - 546.2 - - 746 - - - - - - - - - - -
16163 131.0 12.1 2184 16170 roll 1.15 - - 2610 - 2.38 0.029 944 -599.2 546.2 - - 746 - - - - - - - - - 26.06 -
16200 126.3 12.6 2190 16209 done 1.16 - - 2610 - 2.47 0.025 2433 602.8 546.2 - - 745 - - - - - - - - - 26.11 -
16342 105.0 13.7 2215 16348 roll 1.13 - - 2610 - 2.25 0.037 3838 624.4 546.2 - - 746 - - - - - - - - - 25.98 -
16377 99.4 14.7 2221 16384 done 1.11 - - 2621 - 2.25 0.020 2390 -643.6 546.2 - - 745 - - - - - - - - - 26.21 -
16514 83.2 11.8 2246 16524 roll 1.10 0.12 0.158 2582 -325.0 2.38 0.035 3828 604.2 546.2 - - 746 - - - - - - - - 26.10 25.99 -
16542 79.5 12.1 2250 16551 done 1.11 - - 2592 - 2.05 0.020 2457 -668.8 546.2 - - 746 - - - - - - - - - 26.25 -
16684 65.1 9.9 2275 16733 roll 1.17 - - 2604 - 2.65 0.028 940 -572.5 590.4 42.60 0.239 575 -4.0 0.115 - - - - - - - 26.03 25.05
16936 35.5 12.7 2321 16945 done 1.26 0.12 0.099 2654 416.7 2.60 0.026 2468 587.7 590.4 2.85 0.151 572 -1.1 0.026 - - - - - - 25.97 26.08 25.13
17071 21.8 10.1 2346 17110 roll 1.40 - - 2654 - 2.22 0.038 3835 615.8 626.5 28.80 0.155 435 -4.8 0.070 - - - - - - - 25.96 25.20
17209 6.5 14.2 2371 17217 done 1.45 0.12 0.075 2733 658.3 1.83 0.017 2514 -721.9 626.5 1.02 0.203 432 -2.9 0.010 - - - - - - 26.19 26.34 25.36
17237 end climb: SURFACE_DEPTH_REACHED
17238 begin surface coast
17260 end surface coast: CONTROL_FINISHED_OK
17263 begin surface
SM 0.72 - - - - -6.50 6.57 0.029 124 -397.1 0.32 0.034 2317 -615.6 624.29 - - 434 - - - - - - - -