OKMC Apr12 * SG169 * Dive index * Mission links * Dive 484 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 106.78 of 147.52 AH used of 24V (27.62% remains)
• Previous NAKs 0, Timeouts 0 • 68.72 of 108.53 AH used of 10V (36.68% remains)
• Surface angle -54.0 deg, depth 0.47 m • Intended pitch -14.6 deg, speed -11.786 cm/s
• No surface pump (final VBD was 624.53, SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 42 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 - - - 107 VBD -0.72 - - 116 - - - 2421 - -292.0 -87.20 - 2823 - - - - - - - - - - -
110 4.5 -13.5 14 150 roll -0.72 7.75 0.221 2004 243.6 2.60 0.039 945 -567.7 -292.0 -19.85 - 3965 -57.5 - - - - - - - 24.74 25.96 26.56
219 43.2 -29.4 31 225 done -0.67 - - 1992 - 2.55 0.033 2415 576.5 -292.0 - - 3965 - - - - - - - - - 25.94 -
356 81.0 -22.6 56 363 roll -0.57 0.17 0.174 2055 370.6 2.53 0.023 925 -588.9 -292.0 - - 3965 - - - - - - - - 25.75 26.06 -
400 89.2 -14.4 63 407 done -0.55 - - 2043 - 2.38 0.031 2335 592.4 -292.0 - - 3965 - - - - - - - - - 26.01 -
535 110.1 -18.2 88 542 roll -0.49 0.12 0.158 2072 241.7 2.40 0.040 3830 622.9 -292.0 - - 3965 - - - - - - - - 26.10 25.91 -
587 119.6 -15.2 97 593 done -0.49 - - 2072 - 2.42 0.018 2251 -652.5 -292.0 - - 3965 - - - - - - - - - 26.24 -
725 140.0 -12.5 122 734 roll -0.46 - - 2058 - 2.60 0.038 3845 613.1 -292.0 - - 3965 - - - - - - - - - 25.96 -
768 145.7 -12.1 129 776 done -0.44 0.12 0.136 2094 300.0 2.30 0.019 2323 -661.7 -292.0 - - 3965 - - - - - - - - 25.94 26.27 -
908 159.6 -9.8 154 917 roll -0.43 - - 2082 - 2.45 0.040 3843 620.4 -292.0 - - 3965 - - - - - - - - - 25.95 -
942 163.3 -10.4 159 948 done -0.43 - - 2082 - 2.17 0.018 2361 -682.9 -292.0 - - 3965 - - - - - - - - - 26.32 -
1080 179.0 -12.5 184 1087 roll -0.42 - - 2070 - 2.35 0.039 3830 625.1 -292.0 - - 3965 - - - - - - - - - 25.98 -
1115 184.0 -12.8 190 1124 done -0.41 0.10 0.132 2100 300.0 1.98 0.018 2431 -706.6 -292.0 - - 3965 - - - - - - - - 26.10 26.34 -
1260 198.6 -9.2 215 1266 roll -0.42 - - 2100 - 2.55 0.025 929 -589.0 -292.0 - - 3966 - - - - - - - - - 26.13 -
1274 200.5 -9.2 217 1281 done -0.45 - - 2099 - 2.80 0.028 2509 564.3 -292.0 - - 3965 - - - - - - - - - 26.10 -
1410 211.4 -8.0 242 1419 roll -0.48 - - 2098 - 1.95 0.038 3851 688.2 -292.0 - - 3965 - - - - - - - - - 26.03 -
1508 219.8 -8.9 259 1515 done -0.53 0.10 0.092 2020 -780.0 1.80 0.017 2486 -758.3 -292.0 - - 3965 - - - - - - - - 26.26 26.41 -
1645 237.9 -15.2 284 1653 roll -0.48 0.17 0.126 2081 358.8 2.72 0.023 920 -575.7 -292.0 - - 3964 - - - - - - - - 26.08 26.12 -
1703 245.5 -11.3 294 1713 done -0.49 - - 2069 - 2.88 0.028 2526 557.6 -292.0 - - 3964 - - - - - - - - - 26.10 -
1843 260.0 -10.0 319 1852 roll -0.51 - - 2069 - 2.80 0.024 928 -570.7 -292.0 - - 3964 - - - - - - - - - 26.15 -
1918 267.4 -10.6 332 1925 done -0.51 - - 2057 - 2.50 0.028 2408 592.0 -292.0 - - 3964 - - - - - - - - - 26.13 -
2050 280.4 -10.0 357 2058 roll -0.51 - - 2046 - 2.22 0.038 3830 640.5 -292.0 - - 3963 - - - - - - - - - 26.01 -
2067 282.2 -10.5 359 2076 done -0.51 - - 2046 - 2.33 0.018 2287 -662.2 -292.0 - - 3963 - - - - - - - - - 26.34 -
2205 298.7 -12.6 384 2213 roll -0.49 0.10 0.145 2064 180.0 2.53 0.037 3836 612.3 -292.0 - - 3963 - - - - - - - - 26.34 25.99 -
2258 304.9 -11.0 393 2265 done -0.49 - - 2064 - 2.20 0.017 2344 -678.2 -292.0 - - 3962 - - - - - - - - - 26.34 -
2392 319.4 -10.3 418 2399 roll -0.50 - - 2053 - 2.38 0.038 3833 625.6 -292.0 - - 3962 - - - - - - - - - 26.01 -
2448 325.6 -10.7 428 2457 done -0.50 - - 2054 - 1.98 0.018 2437 -705.1 -292.0 - - 3961 - - - - - - - - - 26.36 -
2589 339.4 -9.9 453 2595 roll -0.49 - - 2053 - 2.58 0.025 923 -586.8 -292.0 - - 3961 - - - - - - - - - 26.12 -
2630 343.9 -9.2 460 2641 done -0.50 - - 2042 - 2.75 0.031 2480 566.2 -292.0 - - 3961 - - - - - - - - - 26.06 -
2771 357.6 -10.4 485 2780 roll -0.51 - - 2043 - 2.70 0.026 927 -575.2 -292.0 - - 3960 - - - - - - - - - 26.11 -
2814 362.5 -11.0 492 2821 done -0.51 0.12 0.130 2072 241.7 2.53 0.030 2410 586.2 -292.0 - - 3960 - - - - - - - - 25.86 26.07 -
2951 374.9 -8.8 517 2958 roll -0.55 - - 2066 - 2.30 0.050 3846 624.3 -292.0 -0.05 - 3970 -200.0 - - - - - - - - 25.94 25.86
3049 384.4 -9.7 535 3056 done -0.61 - - 2066 - 2.00 0.020 2453 -696.5 -292.0 - - 3969 - - - - - - - - - 26.30 -
3185 396.2 -8.7 560 3192 roll -0.65 0.12 0.074 1942 -1033.3 2.60 0.024 930 -585.8 -292.0 - - 3969 - - - - - - - - 26.49 26.13 -
3263 407.1 -14.6 574 3271 done -0.60 0.35 0.125 2037 271.4 2.67 0.032 2458 572.3 -292.0 - - 3969 - - - - - - - - 25.48 26.03 -
3399 421.4 -10.2 599 3405 roll -0.59 - - 2027 - 2.10 0.041 3835 655.7 -292.0 - - 3967 - - - - - - - - - 25.95 -
3442 425.9 -10.1 606 3449 done -0.58 - - 2027 - 2.10 0.019 2415 -676.2 -292.0 - - 3967 - - - - - - - - - 26.28 -
3579 440.9 -11.8 631 3586 roll -0.56 - - 2027 - 2.50 0.028 941 -589.6 -292.0 - - 3966 - - - - - - - - - 26.08 -
3601 443.7 -11.4 634 3608 done -0.55 0.15 0.116 2064 246.7 2.72 0.031 2482 566.5 -292.0 - - 3966 - - - - - - - - 25.85 26.05 -
3738 457.6 -9.6 659 3745 roll -0.58 - - 2064 - 2.70 0.025 927 -575.9 -292.0 - - 3964 - - - - - - - - - 26.10 -
3805 464.8 -9.2 671 3812 done -0.62 - - 2061 - 2.53 0.028 2413 587.4 -292.0 - - 3964 - - - - - - - - - 26.06 -
3942 476.0 -8.0 696 3952 roll -0.66 0.12 0.076 1946 -958.3 2.50 0.024 927 -594.4 -292.0 - - 3963 - - - - - - - - 26.46 26.10 -
4028 487.1 -13.4 711 4036 done -0.63 0.32 0.119 2035 278.1 2.72 0.033 2474 568.8 -292.0 - - 3962 - - - - - - - - 25.53 25.99 -
4168 500.1 -8.8 736 4178 roll -0.62 - - 2025 - 2.03 0.043 3821 663.5 -292.0 - - 3961 - - - - - - - - - 25.93 -
4212 504.7 -9.6 740 4223 done -0.61 - - 2025 - 2.03 0.021 2444 -678.3 -292.0 - - 3960 - - - - - - - - - 26.25 -
4522 537.3 -11.1 771 4531 roll -0.59 - - 2025 - 2.58 0.027 929 -587.2 -292.0 - - 3957 - - - - - - - - - 26.06 -
4557 541.2 -11.5 774 4566 done -0.59 - - 2013 - 2.70 0.031 2472 571.5 -292.0 - - 3956 - - - - - - - - - 26.01 -
4867 576.8 -11.2 805 4876 roll -0.57 0.12 0.142 2059 383.3 2.62 0.026 944 -583.2 -292.0 - - 3954 - - - - - - - - 26.18 26.03 -
4892 579.3 -10.5 807 4899 done -0.56 - - 2048 - 2.65 0.031 2465 574.0 -292.0 - - 3953 - - - - - - - - - 25.98 -
5200 605.7 -8.6 838 5204 roll -0.60 - - 2039 - 2.15 0.044 3837 638.1 -292.0 - - 3950 - - - - - - - - - 25.86 -
5264 611.4 -9.4 844 5273 done -0.61 - - 2039 - 1.85 0.020 2503 -721.1 -292.0 - - 3949 - - - - - - - - - 26.28 -
5573 638.5 -9.0 875 5584 roll -0.63 - - 2039 - 2.75 0.028 932 -571.3 -292.0 - - 3947 - - - - - - - - - 26.01 -
5619 642.7 -9.4 879 5629 done -0.65 - - 2029 - 3.17 0.034 2666 547.0 -292.0 - - 3946 - - - - - - - - - 25.89 -
5927 672.4 -9.6 910 5936 roll -0.66 - - 2029 - 3.10 0.028 940 -556.8 -292.0 - - 3943 - - - - - - - - - 25.97 -
6020 682.4 -11.3 919 6031 done -0.66 - - 2016 - 2.83 0.033 2526 560.4 -292.0 - - 3942 - - - - - - - - - 25.91 -
6331 714.8 -10.1 950 6339 roll -0.67 - - 2017 - 2.80 0.028 935 -568.2 -292.0 - - 3940 - - - - - - - - - 25.97 -
6373 719.2 -10.5 954 6382 done -0.67 - - 2007 - 2.50 0.032 2409 589.6 -292.0 - - 3940 - - - - - - - - - 25.93 -
6684 753.2 -10.3 985 6692 roll -0.65 - - 1996 - 2.30 0.044 3825 615.7 -292.0 - - 3938 - - - - - - - - - 25.77 -
6780 763.1 -10.2 994 6787 done -0.63 0.12 0.132 2032 300.0 2.20 0.021 2382 -655.9 -292.0 - - 3937 - - - - - - - - 25.84 26.15 -
7087 790.6 -9.1 1025 7096 roll -0.63 - - 2021 - 2.40 0.044 3828 602.5 -292.0 - - 3935 - - - - - - - - - 25.75 -
7139 795.7 -9.8 1030 7143 done -0.63 - - 2021 - 2.15 0.021 2418 -655.8 -292.0 - - 3935 - - - - - - - - - 26.19 -
7452 827.9 -10.5 1061 7453 done -0.61 - - 2021 - - - 2417 - -292.0 - - 3932 - - - - - - - - - - -
7755 858.9 -10.0 1091 7766 roll -0.60 - - 2011 - 2.33 0.044 3828 605.6 -292.0 - - 3930 - - - - - - - - - 25.71 -
7810 864.7 -10.2 1096 7820 done -0.59 0.08 0.103 2042 387.5 2.08 0.021 2435 -669.7 -292.0 - - 3930 - - - - - - - - 25.89 26.15 -
8119 890.6 -8.1 1127 8130 roll -0.59 - - 2031 - 2.25 0.047 3826 618.2 -292.0 - - 3927 - - - - - - - - - 25.65 -
8143 892.6 -8.0 1129 8151 done -0.59 - - 2032 - 2.05 0.021 2454 -669.3 -292.0 - - 3927 - - - - - - - - - 26.16 -
8454 919.5 -8.6 1160 8463 roll -0.59 - - 2031 - 2.60 0.029 951 -578.1 -292.0 - - 3925 - - - - - - - - - 25.84 -
8486 922.3 -8.5 1163 8497 done -0.59 - - 2021 - 2.72 0.034 2485 564.0 -292.0 - - 3925 - - - - - - - - - 25.77 -
8798 951.7 -9.7 1194 8806 roll -0.58 - - 2011 - 2.10 0.048 3816 633.8 -292.0 - - 3924 - - - - - - - - - 25.60 -
8842 956.1 -9.6 1198 8851 done -0.57 0.10 0.098 2051 400.0 2.00 0.022 2467 -674.5 -292.0 - - 3923 - - - - - - - - 25.80 26.12 -
9154 979.1 -7.5 1229 9162 roll -0.61 - - 2042 - 2.17 0.048 3814 620.7 -292.0 - - 3921 - - - - - - - - - 25.58 -
9210 983.2 -7.8 1234 9217 done -0.66 - - 2042 - 2.28 0.021 2357 -639.0 -292.0 - - 3921 - - - - - - - - - 26.11 -
9295 end dive: TARGET_DEPTH_EXCEEDED
9295 begin apogee
9302 990.4 -7.9 1243 9556 roll -0.20 0.35 0.083 2171 368.6 0.10 0.072 2353 -40.0 - 241.88 1.045 2966 -3.9 0.392 - - - - - - 25.84 24.77 23.43
9557 end apogee: CONTROL_FINISHED_OK
9557 begin climb
9559 1007.2 - 1269 9877 roll 0.72 0.82 0.070 2468 362.2 2.42 0.029 945 -581.8 292.0 307.77 1.043 1788 -3.8 0.387 - - - - - - 25.04 25.22 23.51
9934 973.0 11.1 1306 9972 done 0.76 - - 2468 - 2.58 0.034 2411 568.2 318.3 28.30 0.955 1669 -4.2 0.449 - - - - - - - 25.56 23.80
10273 926.0 13.9 1340 10274 done 0.74 - - 2467 - - - 2410 - 318.3 - - 1650 - - - - - - - - - - -
10575 884.5 14.0 1370 10586 roll 0.72 - - 2468 - 2.30 0.046 3818 612.2 318.3 - - 1648 - - - - - - - - - 25.81 -
10674 869.9 14.3 1379 10680 done 0.70 - - 2479 - 2.22 0.024 2405 -636.5 318.3 - - 1647 - - - - - - - - - 26.02 -
10981 824.3 14.6 1410 10992 roll 0.68 - - 2480 - 2.35 0.046 3816 600.4 318.3 - - 1646 - - - - - - - - - 25.77 -
11059 812.5 15.5 1417 11068 done 0.65 0.12 0.132 2447 -275.0 2.15 0.024 2441 -639.5 318.3 - - 1646 - - - - - - - - 25.58 26.03 -
11368 777.8 10.7 1448 11429 done 0.70 - - 2448 - - - 2441 - 359.8 58.35 0.831 1512 -2.3 0.225 - - - - - - - - 24.03
11727 740.1 10.5 1484 11806 roll 0.76 - - 2460 - 2.62 0.033 939 -573.3 406.1 70.85 0.766 1314 -2.8 0.283 - - - - - - - 25.38 23.94
11823 730.4 10.2 1493 11900 done 0.85 0.10 0.038 2541 810.0 2.72 0.030 2473 564.0 464.3 69.40 0.835 1082 -3.3 0.307 - - - - - - 25.55 25.55 23.75
12201 665.4 16.8 1531 12210 roll 0.82 0.12 0.170 2503 -316.7 2.17 0.041 3826 623.5 464.3 - - 1054 - - - - - - - - 25.77 25.73 -
12259 657.4 14.0 1536 12265 done 0.82 - - 2514 - 2.10 0.024 2461 -650.0 464.3 - - 1052 - - - - - - - - - 25.94 -
12566 617.7 11.9 1567 12575 roll 0.81 - - 2527 - 2.60 0.034 955 -579.2 464.3 - - 1051 - - - - - - - - - 25.82 -
12582 616.4 12.3 1568 12589 done 0.80 0.12 0.134 2490 -308.3 2.78 0.032 2506 557.9 464.3 - - 1050 - - - - - - - - 25.63 25.84 -
12890 580.4 12.0 1599 12899 roll 0.81 - - 2504 - 2.78 0.035 951 -559.4 464.3 - - 1050 - - - - - - - - - 25.79 -
12916 577.6 11.6 1601 12923 done 0.84 - - 2504 - 2.72 0.030 2489 565.4 472.8 - - 1049 - - - - - - - - - 25.88 -
13222 541.0 11.3 1632 13256 roll 0.86 - - 2517 - 2.85 0.037 949 -540.4 489.5 27.25 0.851 974 -2.8 0.183 - - - - - - - 25.67 24.15
13300 533.1 10.7 1639 13355 done 0.94 - - 2517 - 2.67 0.032 2465 567.8 531.1 47.58 0.796 808 -3.5 0.245 - - - - - - - 25.79 23.92
13658 492.1 10.4 1682 13740 roll 1.05 0.12 0.081 2590 608.3 2.78 0.034 938 -549.3 580.6 73.78 0.739 604 -2.8 0.193 - - - - - - 26.16 25.37 23.96
13779 479.0 11.6 1701 13788 done 1.10 - - 2591 - 2.65 0.031 2439 566.4 586.2 - - 592 - - - - - - - - - 25.58 -
13918 457.8 15.6 1726 13925 roll 1.09 - - 2590 - 2.28 0.043 3836 612.7 586.2 - - 590 - - - - - - - - - 25.66 -
13948 452.0 17.3 1731 13955 done 1.07 - - 2601 - 2.25 0.023 2403 -636.9 586.2 - - 590 - - - - - - - - - 25.88 -
14085 429.4 17.4 1756 14094 roll 1.05 - - 2613 - 2.53 0.035 945 -576.3 586.2 - - 589 - - - - - - - - - 25.77 -
14112 424.2 17.6 1760 14119 done 1.04 0.15 0.131 2570 -286.7 2.62 0.031 2442 571.4 586.2 - - 589 - - - - - - - - 25.55 25.81 -
14246 404.7 13.8 1785 14255 roll 1.04 - - 2570 - 2.25 0.043 3836 619.6 586.2 - - 589 - - - - - - - - - 25.74 -
14279 399.9 15.3 1790 14286 done 1.04 - - 2581 - 2.28 0.023 2391 -633.8 586.2 - - 589 - - - - - - - - - 25.98 -
14417 379.7 14.3 1815 14423 done 1.04 - - 2582 - - - 2390 - 586.2 - - 588 - - - - - - - - - - -
14549 359.3 15.0 1840 14556 roll 1.04 - - 2594 - 2.50 0.034 936 -581.6 586.2 - - 588 - - - - - - - - - 25.80 -
14568 356.5 14.9 1843 14575 done 1.04 - - 2593 - 2.65 0.028 2455 573.2 586.2 - - 588 - - - - - - - - - 25.88 -
14708 335.5 14.8 1868 14715 roll 1.04 - - 2593 - 2.20 0.043 3822 621.4 586.2 - - 587 - - - - - - - - - 25.75 -
14727 331.6 16.5 1871 14735 done 1.03 0.15 0.151 2562 -206.7 2.25 0.022 2391 -636.0 586.2 - - 588 - - - - - - - - 25.60 26.03 -
14862 314.8 11.7 1896 14869 roll 1.06 - - 2574 - 2.47 0.029 931 -591.1 588.4 - - 587 - - - - - - - - - 25.88 -
14954 302.7 14.0 1913 14961 done 1.15 - - 2573 - 2.58 0.030 2429 580.6 588.4 - - 587 - - - - - - - - - 25.87 -
15089 284.6 14.5 1938 15097 roll 1.24 0.15 0.094 2640 446.7 2.30 0.043 3830 609.1 588.4 - - 586 - - - - - - - - 26.22 25.71 -
15238 263.6 13.8 1966 15244 done 1.26 - - 2651 - 2.17 0.023 2426 -647.0 588.4 - - 586 - - - - - - - - - 26.03 -
15375 237.3 18.7 1991 15382 roll 1.23 - - 2665 - 2.58 0.034 937 -577.1 588.4 - - 586 - - - - - - - - - 25.82 -
15411 230.3 17.2 1997 15419 done 1.22 0.15 0.143 2622 -286.7 2.62 0.031 2444 575.2 588.4 - - 586 - - - - - - - - 25.53 25.86 -
15549 209.6 13.9 2022 15556 roll 1.21 - - 2621 - 2.22 0.041 3836 627.0 588.4 - - 586 - - - - - - - - - 25.77 -
15573 205.9 14.8 2026 15580 done 1.21 - - 2633 - 2.25 0.022 2387 -644.0 588.4 - - 586 - - - - - - - - - 26.03 -
15713 185.8 14.9 2051 15719 done 1.20 - - 2633 - - - 2386 - 588.4 - - 586 - - - - - - - - - - -
15847 164.3 16.3 2076 15856 done 1.19 - - 2633 - - - 2386 - 588.4 - - 586 - - - - - - - - - - -
15987 145.1 14.7 2101 15994 roll 1.18 - - 2646 - 2.47 0.033 941 -585.0 588.4 - - 586 - - - - - - - - - 25.83 -
16012 141.1 13.8 2105 16020 done 1.18 0.12 0.133 2610 -300.0 2.62 0.028 2455 577.9 588.4 - - 586 - - - - - - - - 25.67 25.92 -
16150 122.4 13.4 2130 16157 roll 1.18 - - 2622 - 2.65 0.029 935 -573.6 588.4 - - 586 - - - - - - - - - 25.87 -
16181 118.2 12.9 2135 16188 done 1.21 - - 2622 - 2.50 0.024 2413 591.2 588.4 - - 586 - - - - - - - - - 25.98 -
16316 103.6 10.0 2160 16388 roll 1.39 0.15 0.099 2685 420.0 2.33 0.037 3840 612.4 655.0 64.38 0.327 438 -2.3 0.076 - - - - - - 26.22 25.77 24.67
16426 87.8 17.2 2177 16434 done 1.36 - - 2697 - 2.22 0.022 2403 -647.3 655.0 1.48 0.171 432 -4.1 0.218 - - - - - - - 25.89 25.18
16564 63.6 17.3 2202 16571 roll 1.34 0.12 0.164 2670 -225.0 2.53 0.029 945 -576.3 655.0 - - 434 - - - - - - - - 25.86 25.79 -
16642 53.2 11.2 2216 16649 done 1.40 - - 2670 - 2.53 0.028 2416 581.4 676.9 - - 434 - - - - - - - - - 25.87 -
16779 35.9 12.4 2241 16788 roll 1.40 - - 2683 - 2.55 0.033 937 -580.0 676.9 - - 434 - - - - - - - - - 25.82 -
16806 31.8 13.2 2245 16815 done 1.41 - - 2682 - 2.38 0.026 2347 592.4 676.9 - - 434 - - - - - - - - - 25.96 -
16943 9.7 10.4 2270 16950 roll 1.48 - - 2682 - 2.40 0.036 3836 620.4 726.7 - - 434 - - - - - - - - - 25.84 -
16959 8.1 8.0 2272 16966 done 1.65 0.20 0.066 2779 485.0 2.50 0.023 2268 -627.2 865.2 - - 434 - - - - - - - - 25.93 26.00 -
16982 end climb: SURFACE_DEPTH_REACHED
16982 begin surface coast
16998 end surface coast: CONTROL_FINISHED_OK
16998 begin surface
SM 0.25 - - - - -6.48 6.70 0.027 114 -397.8 0.32 0.034 2455 584.4 624.53 - - 433 - - - - - - - -