OKMC Oct12 * SG167 * Dive index * Mission links * Dive 124 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 30.55 of 150.00 AH used of 24V (79.63% remains)
• Previous NAKs 0, Timeouts 0 • 19.35 of 110.00 AH used of 10V (82.41% remains)
• Surface angle -65.2 deg, depth 1.58 m • Intended pitch -12.3 deg, speed -6.600 cm/s
• No surface pump (final VBD was 425.84, SM_CC=425)
• GPS1 time: 34 s
• GPS2 time: 5 s • Transponder ping count: 24
• 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 - - - 85 VBD -0.37 - - 112 - - - 2321 - -146.6 -63.92 - 2798 - - - - - - - - - - -
88 3.3 -4.4 11 125 roll -0.37 9.93 0.224 2611 251.7 2.12 0.041 918 -661.8 -146.6 -17.15 - 3569 -45.0 - - - - - - - 25.48 26.20 26.55
199 16.7 -7.0 31 205 done -0.42 - - 2612 - 2.08 0.028 2320 674.0 -146.6 - - 3569 - - - - - - - - - 26.19 -
514 42.5 -8.8 73 520 roll -0.45 - - 2611 - 2.17 0.045 3732 650.7 -146.6 - - 3569 - - - - - - - - - 26.21 -
578 47.9 -7.8 79 585 done -0.52 0.12 0.076 2529 -683.3 2.00 0.018 2303 -714.5 -146.6 - - 3569 - - - - - - - - 26.41 26.51 -
904 98.3 -15.8 96 909 roll -0.42 0.22 0.132 2601 327.3 1.92 0.024 946 -706.8 -146.6 - - 3569 - - - - - - - - 26.16 26.48 -
987 107.4 -10.6 100 993 done -0.44 - - 2601 - 2.05 0.029 2326 673.2 -146.6 - - 3569 - - - - - - - - - 26.44 -
1311 133.5 -6.7 116 1316 roll -0.50 - - 2601 - 2.15 0.045 3729 652.6 -146.6 - - 3569 - - - - - - - - - 26.34 -
1384 137.3 -6.0 119 1390 done -0.58 0.15 0.067 2509 -613.3 1.95 0.018 2314 -725.6 -146.6 - - 3569 - - - - - - - - 26.55 26.66 -
1698 175.7 -12.0 135 1705 roll -0.53 0.17 0.130 2566 335.3 1.95 0.024 943 -703.1 -146.6 - - 3569 - - - - - - - - 26.37 26.56 -
1768 181.7 -9.8 138 1773 done -0.53 - - 2568 - 2.03 0.028 2332 684.2 -146.6 - - 3569 - - - - - - - - - 26.50 -
2086 202.6 -6.8 154 2091 roll -0.58 - - 2569 - 2.12 0.045 3733 660.8 -146.6 - - 3570 - - - - - - - - - 26.37 -
2140 205.7 -6.9 156 2146 done -0.65 0.12 0.075 2486 -691.7 1.95 0.018 2317 -726.2 -146.6 - - 3569 - - - - - - - - 26.58 26.69 -
2454 248.7 -13.7 172 2460 roll -0.57 0.20 0.131 2552 330.0 1.95 0.024 948 -702.1 -146.6 - - 3569 - - - - - - - - 26.32 26.58 -
2498 253.4 -12.4 174 2504 done -0.54 - - 2557 - 2.05 0.029 2331 674.6 -146.6 - - 3569 - - - - - - - - - 26.51 -
2823 277.9 -7.0 190 2828 roll -0.58 - - 2552 - 2.12 0.046 3733 661.3 -146.6 - - 3569 - - - - - - - - - 26.37 -
2880 281.1 -7.2 192 2888 done -0.63 - - 2552 - 1.95 0.018 2319 -725.1 -146.6 - - 3569 - - - - - - - - - 26.70 -
3186 304.5 -7.6 208 3192 roll -0.67 - - 2553 - 1.92 0.024 950 -713.0 -146.6 - - 3568 - - - - - - - - - 26.59 -
3214 306.2 -7.5 209 3220 done -0.72 0.15 0.067 2462 -606.7 2.00 0.028 2329 689.5 -146.6 - - 3567 - - - - - - - - 26.52 26.53 -
3533 343.7 -10.6 225 3539 roll -0.63 0.22 0.135 2526 290.9 2.15 0.044 3733 653.0 -146.6 - - 3567 - - - - - - - - 26.21 26.37 -
3621 350.4 -7.8 229 3628 done -0.63 - - 2527 - 1.95 0.018 2337 -715.9 -146.6 - - 3566 - - - - - - - - - 26.70 -
3941 380.5 -10.1 245 3946 roll -0.63 - - 2524 - 2.12 0.045 3722 653.3 -146.6 - - 3566 - - - - - - - - - 26.37 -
3988 384.5 -9.6 247 3993 done -0.65 - - 2524 - 1.95 0.018 2314 -722.1 -146.6 - - 3566 - - - - - - - - - 26.70 -
4308 405.4 -5.4 263 4313 roll -0.67 - - 2522 - 2.17 0.044 3725 650.2 -146.6 - - 3564 - - - - - - - - - 26.32 -
4360 408.1 -5.6 265 4365 done -0.69 - - 2521 - 1.95 0.019 2317 -722.1 -146.6 - - 3564 - - - - - - - - - 26.70 -
4673 430.2 -7.2 281 4679 roll -0.71 - - 2521 - 1.92 0.025 951 -711.5 -146.6 - - 3563 - - - - - - - - - 26.58 -
4738 435.0 -7.6 284 4744 done -0.74 - - 2521 - 2.03 0.028 2329 678.8 -146.6 - - 3563 - - - - - - - - - 26.51 -
5062 458.3 -7.3 300 5067 roll -0.77 - - 2521 - 2.12 0.045 3728 659.9 -146.6 - - 3560 - - - - - - - - - 26.34 -
5129 462.8 -7.2 303 5136 done -0.80 0.12 0.080 2444 -641.7 1.98 0.018 2314 -714.1 -146.6 - - 3561 - - - - - - - - 26.60 26.69 -
5449 502.1 -12.5 319 5455 roll -0.72 0.17 0.134 2502 341.2 1.95 0.024 941 -704.1 -146.6 - - 3557 - - - - - - - - 26.36 26.57 -
5482 504.6 -12.0 320 5488 done -0.66 - - 2502 - 2.05 0.030 2334 679.5 -146.6 - - 3560 - - - - - - - - - 26.48 -
5796 531.0 -7.7 336 5802 roll -0.66 - - 2502 - 2.15 0.047 3733 650.7 -146.6 - - 3558 - - - - - - - - - 26.34 -
5849 534.3 -7.6 338 5854 done -0.68 - - 2502 - 1.98 0.019 2312 -717.7 -146.6 - - 3557 - - - - - - - - - 26.68 -
6162 558.0 -7.7 354 6169 roll -0.69 - - 2501 - 2.20 0.046 3739 648.6 -146.6 - - 3556 - - - - - - - - - 26.32 -
6317 570.7 -8.9 361 6322 done -0.72 - - 2503 - 2.00 0.020 2314 -712.5 -146.6 - - 3555 - - - - - - - - - 26.67 -
6630 594.9 -7.1 377 6635 roll -0.75 - - 2502 - 2.20 0.045 3738 647.3 -146.6 - - 3554 - - - - - - - - - 26.30 -
6708 599.5 -7.2 380 6715 done -0.78 - - 2502 - 1.98 0.021 2327 -712.6 -146.6 - - 3553 - - - - - - - - - 26.68 -
7016 622.9 -7.1 391 7021 roll -0.81 - - 2502 - 1.95 0.025 954 -704.1 -146.6 - - 3551 - - - - - - - - - 26.53 -
7080 627.6 -7.2 393 7085 done -0.84 - - 2502 - 2.03 0.028 2328 676.8 -146.6 - - 3551 - - - - - - - - - 26.46 -
7416 647.2 -5.3 404 7422 roll -0.87 0.12 0.082 2424 -650.0 2.17 0.047 3733 647.5 -146.6 - - 3549 - - - - - - - - 26.72 26.22 -
7464 650.2 -5.9 405 7470 done -0.87 0.12 0.148 2457 275.0 1.98 0.021 2317 -715.2 -146.6 - - 3549 - - - - - - - - 26.27 26.65 -
7785 676.5 -7.9 416 7790 roll -0.85 - - 2457 - 1.95 0.032 958 -696.9 -146.6 - - 3547 - - - - - - - - - 26.27 -
7873 681.6 -7.9 418 7880 done -0.82 - - 2458 - 2.03 0.031 2322 671.9 -146.6 - - 3547 - - - - - - - - - 25.65 -
8181 707.5 -8.1 429 8186 roll -0.80 - - 2457 - 2.17 0.047 3735 651.2 -146.6 - - 3545 - - - - - - - - - 26.22 -
8238 710.5 -8.4 430 8245 done -0.78 0.10 0.147 2486 290.0 2.00 0.021 2320 -707.5 -146.6 - - 3544 - - - - - - - - 26.37 26.65 -
8546 735.6 -7.6 441 8552 roll -0.80 - - 2486 - 2.22 0.047 3735 637.4 -146.6 - - 3542 - - - - - - - - - 26.21 -
8599 738.3 -7.5 442 8604 done -0.83 - - 2487 - 1.98 0.021 2329 -710.1 -146.6 - - 3542 - - - - - - - - - 26.65 -
8915 760.8 -6.7 453 8920 roll -0.85 - - 2486 - 2.20 0.048 3727 635.5 -146.6 - - 3539 - - - - - - - - - 26.08 -
9039 769.3 -6.8 457 9045 done -0.88 - - 2486 - 2.00 0.022 2325 -701.0 -146.6 - - 3538 - - - - - - - - - 26.63 -
9375 789.6 -5.5 468 9381 roll -0.91 0.12 0.083 2413 -608.3 2.22 0.048 3732 633.8 -146.6 - - 3536 - - - - - - - - 26.72 26.14 -
9449 795.1 -6.7 470 9455 done -0.91 0.12 0.151 2446 275.0 2.00 0.022 2336 -698.0 -146.6 - - 3533 - - - - - - - - 26.21 26.62 -
9775 819.9 -7.6 481 9780 roll -0.89 - - 2446 - 2.20 0.047 3729 633.2 -146.6 - - 3533 - - - - - - - - - 26.14 -
9833 822.9 -7.9 482 9839 done -0.87 - - 2447 - 2.00 0.022 2320 -704.5 -146.6 - - 3533 - - - - - - - - - 26.60 -
10141 852.2 -9.4 493 10147 roll -0.84 - - 2446 - 2.22 0.048 3736 637.8 -146.6 - - 3532 - - - - - - - - - 26.12 -
10178 855.8 -9.7 494 10185 done -0.82 0.12 0.141 2481 291.7 2.03 0.023 2310 -702.5 -146.6 - - 3531 - - - - - - - - 26.23 26.59 -
10508 885.5 -8.6 505 10514 roll -0.84 - - 2481 - 2.25 0.047 3731 631.6 -146.6 - - 3529 - - - - - - - - - 26.09 -
10551 888.3 -8.5 506 10556 done -0.86 - - 2481 - 2.03 0.023 2317 -696.6 -146.6 - - 3529 - - - - - - - - - 26.58 -
10877 912.9 -6.7 517 10882 roll -0.89 - - 2481 - 2.22 0.048 3733 637.8 -146.6 - - 3528 - - - - - - - - - 26.07 -
10911 915.3 -6.6 518 10917 done -0.92 0.12 0.084 2423 -483.3 2.03 0.024 2316 -698.0 -146.6 - - 3524 - - - - - - - - 26.42 26.57 -
11245 944.5 -8.7 529 11251 roll -0.87 0.12 0.151 2461 316.7 1.98 0.027 957 -686.4 -146.6 - - 3525 - - - - - - - - 26.38 26.36 -
11283 947.0 -8.4 530 11288 done -0.83 - - 2461 - 2.05 0.032 2325 667.3 -146.6 - - 3525 - - - - - - - - - 26.28 -
11613 967.1 -5.9 541 11619 roll -0.83 - - 2461 - 2.22 0.049 3737 636.0 -146.6 - - 3524 - - - - - - - - - 26.03 -
11681 971.3 -6.1 543 11687 done -0.83 - - 2462 - 2.03 0.024 2322 -697.0 -146.6 - - 3524 - - - - - - - - - 26.54 -
11977 end dive: TARGET_DEPTH_EXCEEDED
11979 begin apogee
11984 990.2 -6.3 553 12116 done -0.20 0.60 0.103 2666 340.0 - - 2319 - - 124.60 1.367 2968 -4.5 0.346 - - - - - - 25.67 - 23.55
12117 end apogee: CONTROL_FINISHED_OK
12117 begin climb
12120 993.7 - 557 12266 roll 0.37 0.50 0.038 2881 430.0 2.30 0.034 938 -600.4 146.6 135.15 1.301 2362 -4.5 0.367 - - - - - - 24.89 23.98 22.90
12304 988.0 5.6 563 12346 done 0.23 0.22 0.129 2819 -281.8 2.20 0.031 2304 620.9 181.0 31.83 1.236 2222 -4.4 0.377 - - - - - - 24.50 24.70 23.24
12644 962.3 6.6 575 12649 roll 0.19 - - 2819 - 2.22 0.048 3702 629.7 181.0 - - 2211 - - - - - - - - - 25.80 -
12697 959.8 6.7 576 12703 done 0.14 0.15 0.147 2784 -233.3 2.08 0.028 2318 -665.4 181.0 - - 2211 - - - - - - - - 25.73 26.03 -
13014 941.3 5.6 587 13047 done 0.15 - - 2784 - - - 2318 - 214.1 31.30 1.275 2094 -3.7 0.296 - - - - - - - - 24.32
13341 919.6 6.8 598 13347 roll 0.15 - - 2784 - 2.12 0.035 908 -665.1 214.1 - - 2081 - - - - - - - - - 26.10 -
13379 917.3 6.9 599 13384 done 0.17 - - 2784 - 2.12 0.031 2315 663.7 214.1 - - 2080 - - - - - - - - - 26.14 -
13710 897.3 5.6 610 13751 roll 0.20 - - 2784 - 2.28 0.049 3686 601.3 247.7 32.50 1.268 1950 -4.0 0.303 - - - - - - - 25.44 24.37
13778 893.9 5.6 612 13817 done 0.21 - - 2784 - 2.10 0.027 2292 -663.8 279.0 31.92 1.228 1826 -3.9 0.303 - - - - - - - 25.71 24.12
14130 872.0 6.6 624 14137 roll 0.26 0.12 0.081 2857 608.3 2.08 0.033 918 -660.6 279.0 - - 1815 - - - - - - - - 26.19 26.07 -
14144 872.0 6.6 624 14149 done 0.30 - - 2857 - 2.10 0.031 2306 661.0 279.0 - - 1815 - - - - - - - - - 26.09 -
14469 833.9 11.9 635 14476 roll 0.26 0.12 0.134 2816 -341.7 2.17 0.046 3698 641.5 279.0 - - 1814 - - - - - - - - 26.17 26.15 -
14493 833.9 11.9 635 14499 done 0.21 - - 2816 - 2.08 0.028 2298 -673.1 279.0 - - 1812 - - - - - - - - - 26.32 -
14807 802.3 8.7 646 14813 roll 0.21 - - 2822 - 2.22 0.047 3705 633.8 279.0 - - 1812 - - - - - - - - - 26.22 -
14841 799.1 8.8 647 14846 done 0.21 - - 2816 - 2.10 0.028 2291 -673.3 279.0 - - 1812 - - - - - - - - - 26.39 -
15176 772.9 7.2 658 15177 done 0.21 - - 2816 - - - 2290 - 279.0 - - 1811 - - - - - - - - - - -
15474 754.7 5.6 668 15512 roll 0.23 - - 2816 - 2.28 0.047 3693 615.4 312.0 32.42 1.201 1691 -3.7 0.249 - - - - - - - 25.59 24.53
15550 750.7 5.9 670 15583 done 0.24 - - 2816 - 2.10 0.028 2300 -663.3 336.4 25.38 1.184 1589 -4.0 0.273 - - - - - - - 25.82 24.20
15896 724.3 7.9 682 15898 done 0.27 - - 2816 - - - 2301 - 336.4 - - 1582 - - - - - - - - - - -
16197 700.1 8.0 692 16198 done 0.31 - - 2816 - - - 2300 - 336.4 - - 1581 - - - - - - - - - - -
16498 679.8 6.2 702 16517 roll 0.36 0.10 0.093 2881 650.0 2.25 0.048 3700 622.2 348.8 12.12 1.175 1541 -3.3 0.205 - - - - - - 26.49 26.01 24.89
16540 676.9 6.6 703 16545 done 0.38 - - 2889 - 2.10 0.028 2293 -670.0 348.8 - - 1537 - - - - - - - - - 26.11 -
16865 644.8 9.4 714 16871 roll 0.33 0.12 0.142 2852 -308.3 2.08 0.034 907 -666.3 348.8 - - 1536 - - - - - - - - 26.16 26.21 -
16949 639.9 8.3 716 16955 done 0.31 - - 2852 - 2.10 0.030 2309 667.6 348.8 - - 1535 - - - - - - - - - 26.26 -
17262 613.3 8.4 727 17268 roll 0.31 - - 2853 - 2.10 0.033 914 -664.3 348.8 - - 1535 - - - - - - - - - 26.31 -
17285 613.3 8.4 727 17291 done 0.31 - - 2853 - 2.08 0.030 2301 666.8 348.8 - - 1535 - - - - - - - - - 26.33 -
17601 583.2 9.3 741 17606 roll 0.31 - - 2852 - 2.10 0.033 903 -665.7 348.8 - - 1534 - - - - - - - - - 26.34 -
17628 580.8 9.4 742 17634 done 0.31 - - 2852 - 2.08 0.029 2301 672.1 348.8 - - 1535 - - - - - - - - - 26.37 -
17947 551.7 9.1 758 17952 roll 0.31 - - 2852 - 2.17 0.047 3701 645.2 348.8 - - 1535 - - - - - - - - - 26.25 -
17973 549.5 9.1 759 17979 done 0.31 - - 2852 - 2.05 0.027 2296 -685.4 348.8 - - 1534 - - - - - - - - - 26.48 -
18292 520.7 8.7 775 18293 done 0.31 - - 2852 - - - 2296 - 348.8 - - 1534 - - - - - - - - - - -
18594 497.9 7.0 790 18599 roll 0.33 - - 2852 - 2.20 0.048 3700 638.2 348.8 - - 1534 - - - - - - - - - 26.11 -
18618 495.9 7.2 791 18624 done 0.35 - - 2852 - 2.05 0.026 2293 -686.3 348.8 - - 1534 - - - - - - - - - 26.50 -
18942 471.9 7.5 807 18948 roll 0.37 - - 2852 - 2.05 0.033 905 -677.1 348.8 - - 1534 - - - - - - - - - 26.39 -
18996 468.6 7.4 809 19001 done 0.40 - - 2853 - 2.08 0.033 2306 673.6 348.8 - - 1534 - - - - - - - - - 24.97 -
19309 443.0 8.5 825 19314 roll 0.43 - - 2852 - 2.17 0.046 3701 642.9 348.8 - - 1533 - - - - - - - - - 26.25 -
19342 440.7 8.8 826 19349 done 0.45 0.10 0.094 2911 590.0 2.05 0.024 2278 -694.1 348.8 - - 1534 - - - - - - - - 26.43 26.53 -
19658 402.9 11.0 842 19663 roll 0.41 0.12 0.132 2873 -316.7 2.00 0.030 913 -682.5 348.8 - - 1534 - - - - - - - - 26.42 26.40 -
19746 396.4 7.6 846 19751 done 0.41 - - 2873 - 2.05 0.028 2303 678.0 348.8 - - 1534 - - - - - - - - - 26.42 -
20064 375.7 6.7 862 20070 roll 0.41 - - 2873 - 2.17 0.045 3704 645.6 348.8 - - 1534 - - - - - - - - - 26.27 -
20093 373.7 7.0 863 20098 done 0.41 - - 2873 - 2.03 0.023 2293 -695.1 348.8 - - 1534 - - - - - - - - - 26.54 -
20410 345.9 8.9 879 20412 done 0.41 - - 2873 - - - 2293 - 348.8 - - 1534 - - - - - - - - - - -
20713 319.4 9.1 894 20718 roll 0.43 - - 2873 - 2.17 0.044 3702 649.3 348.8 - - 1534 - - - - - - - - - 26.27 -
20736 317.0 9.2 895 20741 done 0.45 - - 2874 - 2.00 0.023 2302 -700.0 348.8 - - 1535 - - - - - - - - - 26.55 -
21060 291.0 7.2 911 21065 roll 0.47 - - 2873 - 2.00 0.031 919 -691.5 348.8 - - 1535 - - - - - - - - - 26.42 -
21104 288.2 6.6 913 21109 done 0.50 - - 2873 - 2.03 0.027 2304 682.3 348.8 - - 1535 - - - - - - - - - 26.45 -
21427 271.4 5.3 929 21473 roll 0.55 0.12 0.079 2958 708.3 2.17 0.042 3700 643.3 391.3 37.47 0.752 1364 -4.6 0.176 - - - - - - 26.70 25.93 25.09
21507 264.5 9.5 932 21514 done 0.51 0.20 0.129 2901 -285.0 2.05 0.023 2308 -679.0 391.3 - - 1362 - - - - - - - - 25.76 26.06 -
21811 231.1 11.1 948 21816 roll 0.51 - - 2901 - 2.05 0.029 906 -683.9 391.3 - - 1362 - - - - - - - - - 26.20 -
21864 226.5 11.0 950 21869 done 0.54 - - 2901 - 2.05 0.025 2300 680.0 391.3 - - 1359 - - - - - - - - - 26.25 -
22177 194.6 7.7 966 22178 done 0.56 - - 2901 - - - 2300 - 391.3 - - 1362 - - - - - - - - - - -
22481 177.6 5.6 981 22510 done 0.60 - - 2901 - - - 2300 - 423.5 27.33 0.689 1240 -4.5 0.123 - - - - - - - - 25.25
22799 150.8 8.2 997 22805 roll 0.65 0.12 0.077 2990 741.7 2.05 0.026 905 -680.5 423.5 - - 1233 - - - - - - - - 26.41 26.23 -
22832 148.3 8.6 998 22839 done 0.67 0.12 0.126 2956 -283.3 2.08 0.025 2309 675.0 423.5 - - 1232 - - - - - - - - 26.06 26.27 -
23146 112.3 11.0 1014 23147 done 0.67 - - 2956 - - - 2309 - 423.5 - - 1233 - - - - - - - - - - -
23448 87.9 7.0 1029 23453 roll 0.67 - - 2956 - 2.08 0.029 898 -678.4 423.5 - - 1233 - - - - - - - - - 26.41 -
23471 86.1 7.1 1030 23476 done 0.67 - - 2956 - 2.05 0.025 2306 686.8 423.5 - - 1232 - - - - - - - - - 26.42 -
23795 62.4 7.9 1046 23800 roll 0.69 - - 2956 - 2.12 0.044 3700 657.5 423.5 - - 1232 - - - - - - - - - 26.32 -
23827 60.2 8.3 1047 23833 done 0.71 - - 2956 - 2.03 0.021 2284 -697.5 423.5 - - 1233 - - - - - - - - - 26.56 -
24142 32.4 8.8 1073 24147 roll 0.73 - - 2960 - 1.98 0.029 920 -688.9 423.5 - - 1233 - - - - - - - - - 26.48 -
24185 28.3 9.5 1077 24190 done 0.76 - - 2960 - 2.00 0.025 2300 690.0 423.5 - - 1233 - - - - - - - - - 26.49 -
24463 end climb: SURFACE_DEPTH_REACHED
24463 begin surface coast
24496 end surface coast: CONTROL_FINISHED_OK
24496 begin surface
SM 1.57 - - - - -8.12 7.15 0.028 113 -398.2 - - 2298 - 425.84 - - 1232 - - - - - - - -