OKMC Oct12 * SG167 * Dive index * Mission links * Dive 116 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 28.95 of 150.00 AH used of 24V (80.70% remains)
• Previous NAKs 0, Timeouts 0 • 18.04 of 110.00 AH used of 10V (83.60% remains)
• Surface angle -59.1 deg, depth 1.70 m • Intended pitch -12.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 439.82, SM_CC=425)
• GPS1 time: 35 s
• GPS2 time: 5 s • Transponder ping count: 21
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 72 VBD -0.38 - - 110 - - - 2313 - -171.1 -51.42 - 2603 - - - - - - - - - - -
76 3.0 -4.5 9 120 roll -0.38 9.73 0.218 2610 256.9 2.03 0.040 924 -684.2 -171.1 -26.45 - 3667 -40.2 - - - - - - - 25.53 26.18 26.58
175 10.5 -6.5 26 182 done -0.45 - - 2610 - 2.08 0.028 2324 673.1 -171.1 - - 3668 - - - - - - - - - 26.17 -
491 45.6 -12.6 73 497 roll -0.49 - - 2609 - 2.15 0.046 3735 656.3 -171.1 - - 3668 - - - - - - - - - 26.21 -
565 52.4 -10.2 78 571 done -0.54 0.12 0.075 2525 -700.0 2.00 0.021 2309 -713.0 -171.1 - - 3667 - - - - - - - - 26.39 26.47 -
879 101.1 -14.5 94 885 roll -0.46 0.20 0.132 2590 325.0 1.95 0.026 947 -698.5 -171.1 - - 3668 - - - - - - - - 26.21 26.48 -
947 106.7 -10.0 97 953 done -0.46 - - 2590 - 2.05 0.034 2333 676.1 -171.1 - - 3668 - - - - - - - - - 26.44 -
1266 133.6 -8.6 113 1272 roll -0.52 - - 2590 - 2.12 0.045 3735 661.3 -171.1 - - 3668 - - - - - - - - - 26.35 -
1325 136.9 -8.2 115 1332 done -0.60 0.15 0.071 2501 -593.3 1.98 0.021 2339 -705.1 -171.1 - - 3668 - - - - - - - - 26.49 26.57 -
1631 178.4 -12.8 131 1636 roll -0.54 0.17 0.130 2560 347.1 2.15 0.045 3735 649.3 -171.1 - - 3669 - - - - - - - - 26.35 26.39 -
1664 181.0 -12.3 132 1669 done -0.50 - - 2560 - 2.00 0.019 2312 -711.5 -171.1 - - 3669 - - - - - - - - - 26.65 -
1978 204.8 -7.2 148 1984 roll -0.56 - - 2560 - 2.20 0.045 3732 645.5 -171.1 - - 3669 - - - - - - - - - 26.39 -
2017 206.4 -6.9 149 2023 done -0.63 - - 2560 - 1.98 0.018 2298 -724.2 -171.1 - - 3669 - - - - - - - - - 26.69 -
2322 228.9 -7.9 165 2328 roll -0.70 0.12 0.077 2470 -750.0 2.20 0.043 3725 648.6 -171.1 - - 3672 - - - - - - - - 26.75 26.40 -
2376 234.0 -9.7 167 2382 done -0.72 0.15 0.133 2512 280.0 1.92 0.018 2333 -725.0 -171.1 - - 3669 - - - - - - - - 26.32 26.69 -
2690 270.4 -11.2 183 2695 roll -0.70 - - 2513 - 1.98 0.027 944 -701.5 -171.1 - - 3668 - - - - - - - - - 26.58 -
2743 275.0 -11.0 185 2749 done -0.70 - - 2513 - 2.05 0.030 2327 674.6 -171.1 - - 3668 - - - - - - - - - 26.51 -
3057 308.1 -10.4 201 3062 roll -0.70 - - 2513 - 2.12 0.047 3730 661.8 -171.1 - - 3667 - - - - - - - - - 26.39 -
3124 314.3 -9.8 204 3129 done -0.70 - - 2513 - 1.95 0.018 2319 -723.6 -171.1 - - 3667 - - - - - - - - - 26.70 -
3442 343.6 -9.3 220 3448 roll -0.70 - - 2512 - 1.92 0.025 953 -711.5 -171.1 - - 3665 - - - - - - - - - 26.60 -
3471 345.8 -9.5 221 3476 done -0.70 - - 2512 - 2.03 0.029 2334 680.3 -171.1 - - 3666 - - - - - - - - - 26.52 -
3789 375.8 -9.5 237 3794 roll -0.70 - - 2513 - 2.12 0.046 3735 660.8 -171.1 - - 3664 - - - - - - - - - 26.39 -
3852 381.8 -9.6 240 3858 done -0.72 - - 2513 - 1.98 0.018 2319 -715.2 -171.1 - - 3664 - - - - - - - - - 26.70 -
4176 410.6 -8.9 256 4181 roll -0.75 - - 2513 - 2.17 0.045 3732 651.2 -171.1 - - 3663 - - - - - - - - - 26.39 -
4214 412.6 -9.0 257 4221 done -0.77 - - 2512 - 1.98 0.019 2310 -718.2 -171.1 - - 3663 - - - - - - - - - 26.70 -
4519 442.0 -9.3 273 4525 roll -0.80 - - 2511 - 2.20 0.045 3739 649.5 -171.1 - - 3662 - - - - - - - - - 26.37 -
4572 446.0 -9.6 275 4578 done -0.83 0.12 0.077 2438 -608.3 2.00 0.020 2308 -715.5 -171.1 - - 3661 - - - - - - - - 26.58 26.69 -
4886 489.7 -13.6 291 4893 roll -0.75 0.17 0.135 2493 323.5 2.20 0.043 3733 647.7 -171.1 - - 3657 - - - - - - - - 26.34 26.36 -
4921 492.7 -13.3 292 4926 done -0.69 - - 2493 - 1.95 0.018 2327 -721.0 -171.1 - - 3659 - - - - - - - - - 26.70 -
5234 521.5 -9.3 308 5239 roll -0.69 - - 2492 - 1.98 0.026 951 -694.9 -171.1 - - 3658 - - - - - - - - - 26.57 -
5261 523.6 -9.3 309 5267 done -0.69 - - 2493 - 2.03 0.030 2328 678.3 -171.1 - - 3658 - - - - - - - - - 26.49 -
5580 552.5 -8.7 325 5585 roll -0.69 - - 2493 - 2.15 0.047 3736 654.9 -171.1 - - 3657 - - - - - - - - - 26.34 -
5672 559.4 -8.4 329 5679 done -0.72 - - 2493 - 1.98 0.019 2314 -718.2 -171.1 - - 3655 - - - - - - - - - 26.68 -
5987 584.4 -7.5 345 5988 done -0.74 - - 2493 - - - 2314 - -171.1 - - 3654 - - - - - - - - - - -
6299 609.3 -8.5 359 6304 roll -0.77 - - 2493 - 2.20 0.047 3735 645.9 -171.1 - - 3652 - - - - - - - - - 26.32 -
6376 614.9 -8.7 361 6382 done -0.80 - - 2493 - 1.98 0.020 2321 -714.1 -171.1 - - 3652 - - - - - - - - - 26.70 -
6698 640.0 -7.1 372 6703 roll -0.84 - - 2493 - 1.95 0.025 951 -702.6 -171.1 - - 3650 - - - - - - - - - 26.53 -
6720 640.0 -7.1 372 6726 done -0.87 - - 2493 - 2.05 0.029 2333 674.1 -171.1 - - 3650 - - - - - - - - - 26.48 -
7036 663.6 -7.2 383 7042 roll -0.91 0.12 0.080 2414 -658.3 2.15 0.045 3722 646.0 -171.1 - - 3648 - - - - - - - - 26.74 26.28 -
7100 671.1 -9.3 385 7106 done -0.91 0.12 0.151 2447 275.0 1.98 0.021 2319 -708.6 -171.1 - - 3647 - - - - - - - - 26.28 26.67 -
7436 705.3 -9.9 396 7441 roll -0.88 - - 2447 - 2.22 0.053 3727 634.2 -171.1 - - 3645 - - - - - - - - - 26.10 -
7463 705.3 -9.9 396 7471 done -0.86 - - 2446 - 1.98 0.021 2323 -709.1 -171.1 - - 3644 - - - - - - - - - 26.67 -
7771 735.4 -8.6 407 7776 roll -0.84 - - 2446 - 2.17 0.047 3722 644.7 -171.1 - - 3642 - - - - - - - - - 26.25 -
7808 738.5 -8.5 408 7814 done -0.82 0.12 0.138 2481 291.7 1.98 0.021 2319 -708.6 -171.1 - - 3642 - - - - - - - - 26.31 26.65 -
8140 760.0 -6.5 419 8145 roll -0.85 - - 2482 - 2.20 0.047 3729 640.9 -171.1 - - 3640 - - - - - - - - - 26.22 -
8188 762.6 -6.7 420 8193 done -0.88 - - 2481 - 1.98 0.023 2329 -707.1 -171.1 - - 3639 - - - - - - - - - 26.65 -
8508 785.4 -6.7 431 8513 roll -0.91 - - 2481 - 2.22 0.054 3728 630.2 -171.1 - - 3639 - - - - - - - - - 26.09 -
8556 787.8 -6.7 432 8563 done -0.94 0.12 0.083 2419 -516.7 2.00 0.023 2309 -709.5 -171.1 - - 3637 - - - - - - - - 26.49 26.63 -
8878 819.5 -9.6 443 8880 done -0.90 0.12 0.149 2453 283.3 - - 2306 - -171.1 - - 3635 - - - - - - - - 26.46 - -
9176 843.5 -8.3 453 9181 roll -0.90 - - 2453 - 2.22 0.047 3725 639.2 -171.1 - - 3633 - - - - - - - - - 26.16 -
9272 851.4 -8.4 456 9278 done -0.90 - - 2453 - 1.98 0.023 2333 -703.0 -171.1 - - 3633 - - - - - - - - - 26.61 -
9603 877.9 -7.9 467 9608 roll -0.90 - - 2452 - 2.03 0.035 948 -682.3 -171.1 - - 3631 - - - - - - - - - 26.21 -
9630 877.9 -7.9 467 9637 done -0.90 - - 2452 - 2.08 0.031 2326 662.5 -171.1 - - 3631 - - - - - - - - - 26.35 -
9937 904.0 -7.5 478 9938 done -0.90 - - 2452 - - - 2326 - -171.1 - - 3630 - - - - - - - - - - -
10237 925.4 -7.1 488 10242 roll -0.90 - - 2453 - 2.17 0.048 3725 644.7 -171.1 - - 3628 - - - - - - - - - 26.10 -
10304 930.1 -7.2 490 10310 done -0.90 - - 2452 - 2.03 0.031 2314 -695.1 -171.1 - - 3627 - - - - - - - - - 26.23 -
10635 954.1 -7.7 501 10640 roll -0.90 - - 2452 - 2.22 0.047 3733 639.2 -171.1 - - 3626 - - - - - - - - - 26.08 -
10742 961.1 -7.3 504 10748 done -0.90 - - 2453 - 2.03 0.024 2327 -692.6 -171.1 - - 3625 - - - - - - - - - 26.57 -
11064 989.0 -8.3 515 11069 roll -0.90 - - 2452 - 2.20 0.049 3723 634.5 -171.1 - - 3624 - - - - - - - - - 26.06 -
11094 end dive: TARGET_DEPTH_EXCEEDED
11095 begin apogee
11103 992.0 -8.2 516 11257 done -0.20 0.68 0.102 2681 336.8 - - 2302 - - 145.35 1.357 2963 -4.5 0.356 - - - - - - 25.70 - 23.54
11258 end apogee: CONTROL_FINISHED_OK
11259 begin climb
11261 998.6 - 521 11430 roll 0.38 0.47 0.039 2881 425.5 2.28 0.034 934 -600.0 171.1 155.45 1.255 2260 -4.5 0.385 - - - - - - 24.79 23.95 22.93
11467 989.5 7.7 528 11474 done 0.24 0.22 0.126 2820 -277.3 2.20 0.030 2299 620.5 171.1 - - 2253 - - - - - - - - 24.50 24.69 -
11800 967.0 6.8 539 11822 roll 0.20 - - 2821 - 2.25 0.048 3697 621.3 189.6 15.88 1.278 2189 -4.0 0.327 - - - - - - - 25.53 24.42
11965 954.5 8.6 544 11971 done 0.14 0.12 0.156 2788 -275.0 2.08 0.028 2317 -663.5 189.6 - - 2184 - - - - - - - - 25.74 26.00 -
12287 932.8 6.3 555 12328 roll 0.15 - - 2787 - 2.28 0.048 3699 606.1 224.4 33.97 1.282 2045 -4.1 0.319 - - - - - - - 25.34 24.29
12396 926.5 6.8 558 12421 done 0.16 - - 2787 - 2.12 0.028 2301 -659.4 242.3 18.33 1.271 1977 -3.7 0.290 - - - - - - - 25.79 24.21
12740 902.7 6.5 570 12778 roll 0.20 - - 2787 - 2.20 0.037 892 -640.5 272.4 30.33 1.271 1850 -4.2 0.319 - - - - - - - 25.36 24.31
12796 900.7 6.7 571 12825 done 0.23 - - 2787 - 2.20 0.034 2309 644.1 295.7 23.85 1.251 1761 -3.7 0.288 - - - - - - - 25.56 24.13
13134 876.1 6.5 583 13165 done 0.29 0.15 0.071 2862 500.0 - - 2309 - 324.2 28.73 1.245 1646 -4.0 0.302 - - - - - - 26.17 - 24.34
13465 843.7 9.9 594 13471 roll 0.26 0.12 0.131 2827 -291.7 2.15 0.032 896 -657.2 324.2 - - 1633 - - - - - - - - 26.01 26.08 -
13503 840.4 9.6 595 13508 done 0.24 - - 2827 - 2.15 0.030 2317 660.9 324.2 - - 1632 - - - - - - - - - 26.13 -
13834 814.3 7.9 606 13839 roll 0.24 - - 2827 - 2.17 0.047 3707 640.6 324.2 - - 1631 - - - - - - - - - 26.18 -
13861 814.3 7.9 606 13868 done 0.24 - - 2827 - 2.12 0.028 2288 -669.3 324.2 - - 1631 - - - - - - - - - 26.34 -
14169 785.1 8.3 617 14175 roll 0.26 - - 2828 - 2.08 0.035 899 -667.8 324.2 - - 1631 - - - - - - - - - 26.32 -
14203 782.4 8.1 618 14209 done 0.28 - - 2827 - 2.12 0.030 2312 666.5 324.2 - - 1631 - - - - - - - - - 26.34 -
14539 757.3 7.4 629 14545 roll 0.30 - - 2827 - 2.10 0.035 915 -665.2 324.2 - - 1630 - - - - - - - - - 25.22 -
14558 757.3 7.4 629 14563 done 0.32 - - 2827 - 2.08 0.031 2303 667.3 324.2 - - 1630 - - - - - - - - - 26.37 -
14878 730.8 8.2 640 14884 roll 0.33 - - 2827 - 2.17 0.047 3700 643.8 324.2 - - 1628 - - - - - - - - - 26.28 -
14912 727.4 8.5 641 14917 done 0.35 - - 2827 - 2.08 0.028 2290 -677.9 324.2 - - 1629 - - - - - - - - - 26.48 -
15247 699.0 8.3 652 15253 roll 0.37 0.10 0.096 2886 590.0 2.05 0.033 915 -670.7 324.2 - - 1628 - - - - - - - - 26.63 26.39 -
15266 699.0 8.3 652 15271 done 0.40 - - 2885 - 2.08 0.031 2305 668.3 324.2 - - 1629 - - - - - - - - - 26.40 -
15586 663.5 10.4 663 15587 done 0.35 - - 2885 - - - 2306 - 324.2 - - 1628 - - - - - - - - - - -
15884 632.2 10.4 673 15891 roll 0.32 0.12 0.131 2843 -350.0 2.15 0.046 3694 645.6 324.2 - - 1628 - - - - - - - - 26.41 26.28 -
15914 632.2 10.4 673 15920 done 0.28 - - 2848 - 2.05 0.028 2293 -683.4 324.2 - - 1627 - - - - - - - - - 26.51 -
16219 603.6 8.6 684 16224 roll 0.28 - - 2849 - 2.05 0.035 917 -671.2 324.2 - - 1628 - - - - - - - - - 26.38 -
16252 600.9 8.6 685 16258 done 0.28 - - 2849 - 2.08 0.030 2304 666.8 324.2 - - 1627 - - - - - - - - - 26.42 -
16566 574.9 7.9 700 16571 roll 0.28 - - 2849 - 2.17 0.047 3705 645.6 324.2 - - 1627 - - - - - - - - - 26.27 -
16617 570.9 8.6 702 16623 done 0.28 - - 2849 - 2.08 0.026 2299 -676.0 324.2 - - 1627 - - - - - - - - - 26.51 -
16931 544.0 8.2 718 16937 roll 0.28 - - 2850 - 2.05 0.034 914 -675.6 324.2 - - 1627 - - - - - - - - - 26.39 -
16989 540.6 8.2 720 16997 done 0.29 - - 2849 - 2.08 0.030 2301 666.8 324.2 - - 1627 - - - - - - - - - 26.41 -
17295 514.4 7.9 736 17301 roll 0.31 - - 2849 - 2.17 0.047 3704 646.5 324.2 - - 1627 - - - - - - - - - 26.25 -
17332 512.3 8.0 737 17339 done 0.31 - - 2849 - 2.05 0.025 2294 -687.8 324.2 - - 1627 - - - - - - - - - 26.53 -
17638 487.5 7.7 753 17644 roll 0.31 - - 2850 - 2.05 0.033 916 -672.2 324.2 - - 1627 - - - - - - - - - 26.39 -
17692 484.4 7.5 755 17697 done 0.33 - - 2849 - 2.05 0.029 2303 676.6 324.2 - - 1627 - - - - - - - - - 26.41 -
18005 459.8 7.4 771 18010 roll 0.36 - - 2849 - 2.15 0.046 3692 646.0 324.2 - - 1627 - - - - - - - - - 26.24 -
18037 457.9 7.6 772 18044 done 0.38 - - 2849 - 2.03 0.025 2292 -689.7 324.2 - - 1627 - - - - - - - - - 26.51 -
18352 431.0 8.6 788 18357 roll 0.40 - - 2850 - 2.03 0.032 919 -676.4 324.2 - - 1627 - - - - - - - - - 26.38 -
18399 427.2 8.6 790 18404 done 0.43 - - 2849 - 2.05 0.028 2308 677.6 324.2 - - 1627 - - - - - - - - - 26.41 -
18717 404.6 6.4 806 18757 roll 0.48 0.12 0.083 2931 683.3 2.25 0.044 3700 618.7 356.3 28.83 0.949 1511 -4.0 0.184 - - - - - - 26.70 25.94 24.97
18825 392.1 13.0 811 18831 done 0.41 0.22 0.133 2868 -286.4 2.08 0.024 2297 -674.5 356.3 - - 1504 - - - - - - - - 25.72 26.08 -
19145 366.7 7.5 827 19150 roll 0.44 - - 2868 - 2.05 0.032 909 -677.1 356.3 - - 1503 - - - - - - - - - 26.18 -
19212 361.9 7.6 830 19218 done 0.47 - - 2868 - 2.08 0.028 2304 670.7 356.3 - - 1507 - - - - - - - - - 26.22 -
19532 336.1 7.9 846 19538 roll 0.51 0.10 0.093 2935 670.0 2.10 0.028 900 -668.6 356.3 - - 1503 - - - - - - - - 26.52 26.29 -
19571 333.9 8.1 847 19578 done 0.53 - - 2935 - 2.08 0.027 2306 676.0 356.3 - - 1508 - - - - - - - - - 26.32 -
19876 299.0 10.6 863 19882 roll 0.48 0.12 0.136 2893 -350.0 2.15 0.042 3698 647.4 356.3 - - 1503 - - - - - - - - 26.33 26.21 -
19930 294.6 10.3 865 19935 done 0.45 - - 2894 - 2.03 0.023 2291 -693.1 356.3 - - 1501 - - - - - - - - - 26.46 -
20243 267.6 8.7 881 20249 roll 0.45 - - 2894 - 2.00 0.031 919 -686.0 356.3 - - 1503 - - - - - - - - - 26.37 -
20276 265.5 8.7 882 20281 done 0.45 - - 2894 - 2.03 0.026 2301 680.8 356.3 - - 1503 - - - - - - - - - 26.41 -
20589 238.1 8.6 898 20595 roll 0.46 - - 2894 - 2.12 0.043 3696 658.0 356.3 - - 1504 - - - - - - - - - 26.27 -
20616 235.8 8.7 899 20622 done 0.46 - - 2894 - 2.00 0.022 2296 -700.0 356.3 - - 1504 - - - - - - - - - 26.53 -
20935 207.1 9.1 915 20937 done 0.49 - - 2894 - - - 2296 - 356.3 - - 1504 - - - - - - - - - - -
21238 183.0 7.9 930 21243 roll 0.51 - - 2894 - 2.00 0.030 921 -687.5 356.3 - - 1505 - - - - - - - - - 26.44 -
21265 181.2 7.7 931 21270 done 0.54 - - 2894 - 2.03 0.025 2312 685.2 356.3 - - 1505 - - - - - - - - - 26.46 -
21584 160.4 6.0 947 21629 roll 0.61 0.12 0.078 2986 766.7 2.22 0.048 3704 627.0 401.8 39.08 0.655 1324 -4.6 0.121 - - - - - - 26.68 25.99 25.29
21689 148.0 12.8 952 21696 done 0.53 0.28 0.120 2906 -285.7 2.03 0.021 2308 -687.7 401.8 - - 1320 - - - - - - - - 25.78 26.11 -
22014 125.9 6.3 968 22048 roll 0.62 0.10 0.091 2976 700.0 2.08 0.028 911 -671.6 437.4 27.20 0.631 1179 -5.2 0.111 - - - - - - 26.46 25.98 25.25
22099 118.7 8.7 972 22104 done 0.64 - - 2976 - 2.08 0.025 2300 667.8 437.4 - - 1176 - - - - - - - - - 26.04 -
22422 88.1 8.9 988 22423 done 0.64 - - 2972 - - - 2299 - 437.4 - - 1175 - - - - - - - - - - -
22725 58.2 10.1 1003 22731 roll 0.64 - - 2976 - 2.12 0.043 3692 657.1 437.4 - - 1175 - - - - - - - - - 26.25 -
22749 55.3 10.7 1004 22754 done 0.64 - - 2976 - 2.00 0.021 2291 -700.5 437.4 - - 1175 - - - - - - - - - 26.45 -
23062 28.6 8.6 1032 23068 roll 0.64 - - 2977 - 2.00 0.029 902 -694.5 437.4 - - 1175 - - - - - - - - - 26.42 -
23097 25.6 9.2 1035 23102 done 0.66 - - 2977 - 2.03 0.024 2300 688.7 437.4 - - 1175 - - - - - - - - - 26.45 -
23325 end climb: SURFACE_DEPTH_REACHED
23325 begin surface coast
23352 end surface coast: CONTROL_FINISHED_OK
23352 begin surface
SM 1.60 - - - - -8.12 7.20 0.028 117 -397.2 - - 2301 - 439.82 - - 1174 - - - - - - - -