OKMC Oct12 * SG167 * Dive index * Mission links * Dive 128 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 31.33 of 150.00 AH used of 24V (79.11% remains)
• Previous NAKs 0, Timeouts 0 • 20.01 of 110.00 AH used of 10V (81.81% remains)
• Surface angle -64.3 deg, depth 1.62 m • Intended pitch -12.3 deg, speed -6.600 cm/s
• No surface pump (final VBD was 473.18, SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 5 s • Transponder ping count: 15
• 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 - - - 74 VBD -0.37 - - 111 - - - 2310 - -146.6 -52.42 - 2561 - - - - - - - - - - -
77 3.0 -5.5 9 121 roll -0.37 10.00 0.226 2616 250.5 2.03 0.041 933 -678.3 -146.6 -25.23 - 3564 -39.8 - - - - - - - 25.46 26.17 26.54
146 9.2 -8.7 20 153 done -0.42 - - 2616 - 2.05 0.029 2314 673.7 -146.6 - - 3564 - - - - - - - - - 26.14 -
458 34.6 -8.4 69 463 roll -0.46 - - 2616 - 2.20 0.046 3733 645.0 -146.6 - - 3565 - - - - - - - - - 26.21 -
557 41.6 -7.2 78 565 done -0.53 0.15 0.065 2522 -626.7 2.00 0.018 2301 -716.0 -146.6 - - 3565 - - - - - - - - 26.41 26.51 -
863 92.0 -17.2 97 869 roll -0.42 0.22 0.129 2596 336.4 1.92 0.023 939 -709.4 -146.6 - - 3565 - - - - - - - - 26.17 26.49 -
937 100.0 -13.4 100 943 done -0.41 - - 2596 - 2.03 0.028 2328 684.2 -146.6 - - 3565 - - - - - - - - - 26.44 -
1251 128.5 -7.2 116 1256 roll -0.46 - - 2596 - 2.12 0.044 3729 660.8 -146.6 - - 3565 - - - - - - - - - 26.36 -
1314 132.7 -6.7 119 1320 done -0.53 - - 2596 - 1.98 0.018 2323 -710.1 -146.6 - - 3565 - - - - - - - - - 26.64 -
1638 156.0 -6.8 135 1644 roll -0.70 0.20 0.060 2485 -555.0 1.95 0.024 938 -710.3 -146.6 - - 3565 - - - - - - - - 26.67 26.58 -
1766 168.0 -10.7 141 1772 done -0.64 0.17 0.129 2532 276.5 2.03 0.029 2323 682.3 -146.6 - - 3565 - - - - - - - - 26.23 26.51 -
2085 196.4 -9.7 157 2091 roll -0.64 - - 2532 - 2.15 0.045 3733 655.8 -146.6 - - 3566 - - - - - - - - - 26.41 -
2118 198.8 -9.9 158 2123 done -0.64 - - 2532 - 1.95 0.018 2320 -724.6 -146.6 - - 3565 - - - - - - - - - 26.69 -
2431 231.2 -9.9 174 2432 done -0.64 - - 2531 - - - 2319 - -146.6 - - 3565 - - - - - - - - - - -
2734 256.6 -8.0 189 2735 done -0.64 - - 2531 - - - 2320 - -146.6 - - 3565 - - - - - - - - - - -
3033 280.7 -8.1 204 3034 done -0.64 - - 2531 - - - 2320 - -146.6 - - 3565 - - - - - - - - - - -
3332 302.8 -7.3 219 3333 done -0.64 - - 2531 - - - 2319 - -146.6 - - 3564 - - - - - - - - - - -
3633 328.4 -9.0 234 3639 roll -0.65 - - 2532 - 2.17 0.045 3726 648.4 -146.6 - - 3563 - - - - - - - - - 26.42 -
3666 330.6 -9.0 235 3671 done -0.67 - - 2532 - 1.95 0.018 2307 -727.7 -146.6 - - 3563 - - - - - - - - - 26.72 -
3979 357.8 -8.0 251 3985 roll -0.70 - - 2532 - 2.17 0.043 3728 654.8 -146.6 - - 3561 - - - - - - - - - 26.41 -
4026 361.3 -8.2 253 4031 done -0.73 - - 2532 - 1.92 0.018 2318 -734.4 -146.6 - - 3561 - - - - - - - - - 26.71 -
4346 388.0 -8.5 269 4352 roll -0.77 0.12 0.080 2446 -716.7 1.90 0.022 970 -709.5 -146.6 - - 3560 - - - - - - - - 26.76 26.60 -
4385 390.7 -9.2 270 4393 done -0.77 0.17 0.136 2491 264.7 1.98 0.027 2328 685.9 -146.6 - - 3560 - - - - - - - - 26.22 26.55 -
4690 423.6 -9.0 286 4696 roll -0.75 - - 2491 - 2.15 0.045 3729 651.6 -146.6 - - 3557 - - - - - - - - - 26.39 -
4758 428.9 -8.4 289 4763 done -0.75 - - 2491 - 1.92 0.018 2338 -724.5 -146.6 - - 3559 - - - - - - - - - 26.70 -
5076 456.3 -8.8 305 5082 roll -0.75 - - 2491 - 2.00 0.038 950 -694.0 -146.6 -0.08 - 3586 -337.5 - - - - - - - - 26.58 25.71
5144 462.2 -9.2 308 5150 done -0.75 - - 2491 - 2.03 0.029 2329 679.3 -146.6 - - 3586 - - - - - - - - - 26.52 -
5463 490.4 -8.4 324 5468 roll -0.75 - - 2490 - 2.12 0.046 3725 658.5 -146.6 - - 3585 - - - - - - - - - 26.37 -
5569 499.0 -8.2 329 5575 done -0.75 - - 2491 - 1.98 0.019 2320 -709.6 -146.6 - - 3585 - - - - - - - - - 26.70 -
5888 525.7 -8.1 345 5893 roll -0.75 - - 2491 - 2.20 0.052 3736 643.6 -146.6 - - 3586 - - - - - - - - - 26.19 -
5920 527.7 -8.3 346 5925 done -0.75 - - 2491 - 1.98 0.019 2311 -719.7 -146.6 - - 3583 - - - - - - - - - 26.69 -
6233 553.7 -8.0 362 6239 roll -0.75 - - 2491 - 1.92 0.025 961 -703.1 -146.6 - - 3581 - - - - - - - - - 26.57 -
6266 555.6 -8.0 363 6271 done -0.75 - - 2491 - 2.03 0.033 2331 674.9 -146.6 - - 3581 - - - - - - - - - 26.32 -
6578 579.4 -6.7 379 6583 roll -0.75 - - 2491 - 2.15 0.047 3735 653.0 -146.6 - - 3580 - - - - - - - - - 26.33 -
6683 586.6 -6.9 384 6688 done -0.77 - - 2491 - 1.98 0.020 2324 -712.6 -146.6 - - 3579 - - - - - - - - - 26.70 -
7007 610.1 -7.4 398 7013 roll -0.79 - - 2491 - 2.17 0.045 3729 647.5 -146.6 - - 3577 - - - - - - - - - 26.32 -
7036 610.1 -7.4 398 7043 done -0.81 - - 2491 - 1.98 0.020 2330 -706.6 -146.6 - - 3576 - - - - - - - - - 26.69 -
7344 632.7 -6.4 409 7350 roll -0.84 - - 2491 - 1.98 0.025 955 -694.4 -146.6 - - 3575 - - - - - - - - - 26.54 -
7373 632.7 -6.4 409 7379 done -0.86 - - 2491 - 2.03 0.029 2329 676.8 -146.6 - - 3574 - - - - - - - - - 26.47 -
7680 653.9 -6.3 420 7687 roll -0.88 0.12 0.080 2414 -641.7 2.15 0.045 3726 649.8 -146.6 - - 3572 - - - - - - - - 26.74 26.28 -
7754 660.8 -8.4 422 7760 done -0.87 0.15 0.143 2456 280.0 2.00 0.021 2315 -705.5 -146.6 - - 3571 - - - - - - - - 26.22 26.67 -
8080 692.9 -9.4 433 8081 done -0.85 - - 2456 - - - 2315 - -146.6 - - 3569 - - - - - - - - - - -
8379 721.6 -9.7 443 8384 roll -0.83 - - 2456 - 1.98 0.031 945 -691.9 -146.6 - - 3568 - - - - - - - - - 26.32 -
8421 725.2 -9.8 444 8426 done -0.81 - - 2456 - 2.05 0.029 2329 675.1 -146.6 - - 3567 - - - - - - - - - 26.44 -
8746 758.7 -9.9 455 8753 roll -0.79 0.12 0.148 2497 341.7 2.17 0.047 3722 641.9 -146.6 - - 3566 - - - - - - - - 26.45 26.17 -
8789 761.8 -9.6 456 8796 done -0.79 - - 2497 - 1.98 0.021 2316 -710.1 -146.6 - - 3565 - - - - - - - - - 26.65 -
9116 786.8 -7.3 467 9121 roll -0.84 - - 2497 - 2.22 0.047 3727 635.6 -146.6 - - 3564 - - - - - - - - - 26.21 -
9194 791.6 -7.4 469 9200 done -0.89 0.12 0.082 2434 -525.0 1.98 0.023 2326 -707.6 -146.6 - - 3563 - - - - - - - - 26.49 26.64 -
9515 821.9 -8.8 480 9517 done -0.85 0.12 0.146 2467 275.0 - - 2324 - -146.6 - - 3561 - - - - - - - - 26.48 - -
9813 840.8 -5.9 490 9819 roll -0.85 - - 2467 - 2.20 0.048 3726 637.3 -146.6 - - 3559 - - - - - - - - - 26.17 -
9856 842.9 -5.9 491 9862 done -0.85 - - 2467 - 1.98 0.023 2333 -703.5 -146.6 - - 3558 - - - - - - - - - 26.62 -
10182 862.9 -6.2 502 10187 roll -0.85 - - 2466 - 2.22 0.052 3733 630.6 -146.6 - - 3557 - - - - - - - - - 25.70 -
10276 868.6 -6.0 505 10282 done -0.85 - - 2466 - 2.03 0.023 2323 -694.6 -146.6 - - 3557 - - - - - - - - - 26.60 -
10612 891.1 -7.3 516 10617 roll -0.85 - - 2466 - 2.20 0.048 3720 635.0 -146.6 - - 3555 - - - - - - - - - 24.65 -
10725 898.6 -7.7 519 10730 done -0.85 - - 2467 - 2.00 0.024 2317 -701.5 -146.6 - - 3554 - - - - - - - - - 26.59 -
11038 925.9 -8.3 530 11043 roll -0.85 - - 2467 - 2.22 0.048 3722 632.9 -146.6 - - 3551 - - - - - - - - - 26.10 -
11104 931.3 -8.4 532 11110 done -0.85 - - 2467 - 2.03 0.025 2317 -692.1 -146.6 - - 3552 - - - - - - - - - 26.18 -
11434 957.7 -7.8 543 11436 done -0.85 - - 2467 - - - 2314 - -146.6 - - 3551 - - - - - - - - - - -
11732 980.8 -7.7 553 11739 roll -0.85 - - 2466 - 2.22 0.049 3731 638.3 -146.6 - - 3550 - - - - - - - - - 26.06 -
11767 983.4 -7.6 554 11772 done -0.87 - - 2466 - 2.03 0.024 2322 -694.1 -146.6 - - 3549 - - - - - - - - - 26.55 -
11858 end dive: TARGET_DEPTH_EXCEEDED
11858 begin apogee
11863 990.6 -7.8 557 12001 done -0.20 0.60 0.102 2670 340.0 - - 2318 - - 130.12 1.344 2965 -4.5 0.354 - - - - - - 25.75 - 23.57
12003 end apogee: CONTROL_FINISHED_OK
12003 begin climb
12005 995.5 - 561 12151 roll 0.37 0.50 0.041 2879 418.0 2.35 0.034 940 -586.4 146.6 133.98 1.249 2361 -4.5 0.385 - - - - - - 24.86 23.98 22.88
12209 989.5 6.3 568 12220 done 0.23 0.22 0.129 2818 -277.3 2.17 0.034 2300 626.7 155.3 3.50 0.996 2334 -7.7 0.821 - - - - - - 24.64 24.37 23.07
12528 966.5 6.6 579 12533 roll 0.17 - - 2817 - 2.22 0.047 3708 634.2 155.3 - - 2337 - - - - - - - - - 25.86 -
12565 963.9 6.9 580 12571 done 0.11 0.17 0.144 2775 -247.1 2.08 0.028 2321 -666.8 155.3 - - 2337 - - - - - - - - 25.72 26.07 -
12895 944.0 6.2 591 12923 roll 0.11 - - 2775 - 2.22 0.034 910 -635.6 169.0 18.73 1.281 2268 -3.7 0.291 - - - - - - - 25.75 24.56
12946 942.0 6.4 592 12958 done 0.12 - - 2775 - 2.15 0.031 2313 652.6 175.9 3.10 0.935 2251 -5.5 0.592 - - - - - - - 25.84 23.96
13258 920.2 6.5 603 13269 roll 0.12 - - 2775 - 2.20 0.047 3706 633.2 180.1 4.90 1.231 2236 -3.1 0.245 - - - - - - - 26.03 24.59
13306 917.8 6.5 604 13322 done 0.12 - - 2776 - 2.10 0.028 2291 -673.8 183.8 8.18 1.297 2215 -2.6 0.195 - - - - - - - 26.15 24.56
13624 899.3 5.3 615 13682 roll 0.14 - - 2776 - 2.40 0.047 3694 584.6 228.1 47.05 1.255 2030 -3.9 0.302 - - - - - - - 25.15 24.08
13720 894.2 5.3 618 13769 done 0.15 - - 2776 - 2.12 0.028 2299 -658.0 270.4 42.28 1.220 1862 -4.0 0.312 - - - - - - - 25.65 23.95
14078 877.2 4.9 630 14142 roll 0.22 0.10 0.094 2835 590.0 2.38 0.048 3694 586.1 326.6 55.12 1.176 1628 -4.2 0.339 - - - - - - 26.16 25.04 24.07
14190 869.7 7.3 633 14196 done 0.22 - - 2836 - 2.15 0.028 2305 -646.0 326.6 - - 1623 - - - - - - - - - 25.58 -
14504 841.0 8.8 644 14505 done 0.22 - - 2836 - - - 2306 - 326.6 - - 1620 - - - - - - - - - - -
14804 814.3 9.0 654 14805 done 0.22 - - 2836 - - - 2306 - 326.6 - - 1618 - - - - - - - - - - -
15103 787.1 9.1 664 15104 done 0.22 - - 2836 - - - 2305 - 326.6 - - 1617 - - - - - - - - - - -
15404 758.0 9.8 674 15410 roll 0.22 - - 2837 - 2.22 0.047 3703 629.7 326.6 - - 1616 - - - - - - - - - 26.26 -
15453 754.2 10.2 675 15458 done 0.22 - - 2836 - 2.08 0.028 2295 -676.9 326.6 - - 1615 - - - - - - - - - 26.44 -
15773 721.6 9.2 686 15778 roll 0.22 - - 2836 - 2.08 0.035 904 -668.8 326.6 - - 1615 - - - - - - - - - 26.37 -
15809 718.6 9.0 687 15814 done 0.22 - - 2836 - 2.10 0.030 2313 671.0 326.6 - - 1615 - - - - - - - - - 26.40 -
16140 692.4 7.5 698 16141 done 0.22 - - 2836 - - - 2313 - 326.6 - - 1614 - - - - - - - - - - -
16437 669.5 7.9 708 16438 done 0.22 - - 2836 - - - 2314 - 326.6 - - 1614 - - - - - - - - - - -
16738 643.6 8.7 718 16743 roll 0.24 - - 2836 - 2.15 0.048 3695 642.3 326.6 - - 1614 - - - - - - - - - 26.28 -
16772 640.3 9.0 719 16777 done 0.24 - - 2836 - 2.08 0.028 2286 -677.4 326.6 - - 1613 - - - - - - - - - 26.51 -
17107 611.4 8.6 730 17112 roll 0.26 - - 2836 - 2.05 0.034 906 -673.2 326.6 - - 1613 - - - - - - - - - 26.39 -
17164 608.6 8.5 731 17171 done 0.28 - - 2836 - 2.10 0.029 2309 668.1 326.6 - - 1613 - - - - - - - - - 26.43 -
17480 580.5 8.0 746 17482 done 0.31 - - 2836 - - - 2309 - 326.6 - - 1613 - - - - - - - - - - -
17782 557.4 7.6 761 17788 roll 0.33 - - 2836 - 2.15 0.050 3689 641.9 326.6 - - 1613 - - - - - - - - - 25.34 -
17800 557.4 7.6 761 17807 done 0.36 - - 2836 - 2.03 0.025 2291 -688.7 326.6 - - 1613 - - - - - - - - - 26.53 -
18106 534.1 7.0 777 18111 roll 0.39 - - 2837 - 2.03 0.033 922 -674.4 326.6 - - 1613 - - - - - - - - - 26.39 -
18143 532.5 7.0 778 18151 done 0.43 0.12 0.080 2908 591.7 2.05 0.028 2308 676.1 326.6 - - 1613 - - - - - - - - 26.39 26.42 -
18449 495.9 12.3 794 18455 roll 0.37 0.15 0.132 2858 -333.3 2.15 0.045 3696 645.6 326.6 - - 1610 - - - - - - - - 26.34 25.30 -
18488 493.2 12.1 795 18495 done 0.32 - - 2860 - 2.03 0.026 2304 -685.7 326.6 - - 1613 - - - - - - - - - 26.51 -
18793 462.0 9.3 811 18798 roll 0.32 - - 2860 - 2.05 0.033 918 -676.1 326.6 - - 1613 - - - - - - - - - 26.38 -
18817 459.9 9.1 812 18822 done 0.32 - - 2859 - 2.08 0.029 2310 669.2 326.6 - - 1613 - - - - - - - - - 26.41 -
19140 434.1 7.7 828 19146 roll 0.32 - - 2859 - 2.15 0.046 3700 646.5 326.6 - - 1613 - - - - - - - - - 26.23 -
19192 430.3 8.3 830 19198 done 0.32 - - 2859 - 2.03 0.024 2295 -692.1 326.6 - - 1610 - - - - - - - - - 26.53 -
19506 408.3 6.4 846 19512 roll 0.32 - - 2859 - 2.03 0.029 921 -676.8 334.7 0.95 0.236 1605 -5.3 0.975 - - - - - - - 26.37 25.25
19574 404.0 6.6 849 19580 done 0.35 - - 2859 - 2.05 0.028 2312 678.5 334.7 - - 1611 - - - - - - - - - 26.41 -
19893 378.4 8.3 865 19899 roll 0.37 - - 2859 - 2.15 0.043 3700 645.6 334.7 1.17 0.249 1604 -6.0 0.974 - - - - - - - 26.22 24.55
19932 376.1 8.7 866 19939 done 0.38 - - 2859 - 2.03 0.023 2291 -694.1 334.7 - - 1610 - - - - - - - - - 26.53 -
20238 348.2 8.2 882 20243 roll 0.41 - - 2859 - 2.00 0.031 921 -685.0 334.7 - - 1612 - - - - - - - - - 26.39 -
20302 343.3 7.6 885 20308 done 0.44 - - 2859 - 2.05 0.028 2309 677.1 334.7 1.15 0.240 1602 -8.7 1.332 - - - - - - - 26.41 24.73
20627 322.9 5.4 901 20670 done 0.49 0.12 0.078 2937 650.0 - - 2309 - 375.0 41.15 0.792 1434 -4.1 0.178 - - - - - - 26.70 - 24.93
20968 288.6 10.8 918 20973 roll 0.44 0.15 0.129 2885 -346.7 2.15 0.042 3693 643.7 375.0 - - 1429 - - - - - - - - 26.03 26.02 -
21002 285.9 10.5 919 21007 done 0.40 - - 2888 - 2.03 0.022 2299 -686.7 375.0 - - 1428 - - - - - - - - - 26.25 -
21315 258.8 8.4 935 21321 roll 0.41 - - 2893 - 2.03 0.029 918 -680.3 375.0 - - 1428 - - - - - - - - - 26.27 -
21359 255.2 8.3 937 21365 done 0.44 - - 2893 - 2.05 0.026 2304 676.1 375.0 - - 1428 - - - - - - - - - 26.30 -
21683 230.0 7.8 953 21685 done 0.45 - - 2893 - - - 2304 - 375.0 - - 1428 - - - - - - - - - - -
21985 206.1 8.1 968 21986 done 0.47 - - 2894 - - - 2304 - 375.0 - - 1428 - - - - - - - - - - -
22286 184.3 6.8 983 22288 done 0.50 - - 2894 - - - 2304 - 375.0 - - 1428 - - - - - - - - - - -
22585 163.1 7.2 998 22591 roll 0.53 - - 2893 - 2.05 0.028 905 -682.4 375.0 - - 1429 - - - - - - - - - 26.44 -
22610 161.3 7.2 999 22616 done 0.56 - - 2894 - 2.05 0.025 2301 681.0 375.0 - - 1429 - - - - - - - - - 26.46 -
22934 143.7 4.1 1015 23014 roll 0.64 0.12 0.078 2988 783.3 2.22 0.043 3686 623.9 458.6 70.00 0.618 1090 -4.8 0.121 - - - - - - 26.70 25.67 24.94
23034 135.7 10.3 1019 23041 done 0.59 0.20 0.124 2931 -285.0 2.05 0.021 2300 -676.1 458.6 - - 1088 - - - - - - - - 25.61 25.84 -
23339 109.9 6.5 1035 23344 roll 0.65 - - 2931 - 2.05 0.028 897 -684.4 462.4 - - 1086 - - - - - - - - - 26.17 -
23383 107.0 6.5 1037 23395 done 0.72 0.12 0.074 3017 716.7 2.08 0.024 2313 680.8 465.8 1.77 0.254 1072 -7.9 0.357 - - - - - - 26.19 26.22 24.91
23708 62.8 14.5 1053 23714 roll 0.66 0.20 0.112 2949 -340.0 2.10 0.041 3689 655.2 465.8 - - 1076 - - - - - - - - 26.17 26.21 -
23752 57.7 12.8 1055 23757 done 0.63 - - 2948 - 2.03 0.021 2285 -691.6 465.8 - - 1076 - - - - - - - - - 26.42 -
24065 33.7 6.3 1081 24078 roll 0.68 - - 2950 - 2.00 0.027 905 -690.0 474.0 4.70 0.198 1033 -9.1 0.167 - - - - - - - 26.39 25.52
24115 30.6 6.9 1085 24122 done 0.75 - - 2950 - 2.03 0.024 2305 689.7 474.0 - - 1039 - - - - - - - - - 26.39 -
24425 9.7 6.8 1138 24432 roll 0.81 0.12 0.076 3042 766.7 2.10 0.041 3691 660.0 474.0 - - 1039 - - - - - - - - 26.65 26.32 -
24446 7.8 7.3 1141 24455 done 0.81 0.17 0.137 3000 -247.1 2.00 0.021 2290 -700.5 474.0 - - 1041 - - - - - - - - 26.13 26.53 -
24480 end climb: SURFACE_DEPTH_REACHED
24480 begin surface coast
24504 end surface coast: CONTROL_FINISHED_OK
24504 begin surface
SM 1.78 - - - - -8.11 7.30 0.031 114 -395.3 - - 2287 - 473.18 - - 1039 - - - - - - - -