OKMC Oct12 * SG167 * Dive index * Mission links * Dive 203 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 46.81 of 150.00 AH used of 24V (68.79% remains)
• Previous NAKs 0, Timeouts 0 • 30.53 of 110.00 AH used of 10V (72.24% remains)
• Surface angle -66.8 deg, depth 1.62 m • Intended pitch -13.8 deg, speed -8.049 cm/s
• No surface pump (final VBD was 460.92, SM_CC=400)
• GPS1 time: 41 s
• GPS2 time: 6 s • Transponder ping count: 16
• 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 - - - 93 VBD -0.53 - - 120 - - - 2477 - -171.1 -72.10 - 2693 - - - - - - - - - - -
97 3.4 -4.2 7 135 roll -0.53 9.77 0.228 2522 245.9 2.08 0.037 1063 -679.8 -171.1 -22.15 - 3666 -43.9 - - - - - - - 25.17 26.22 26.63
247 24.9 -14.5 21 255 done -0.50 - - 2520 - 2.05 0.034 2435 669.3 -171.1 - - 3668 - - - - - - - - - 26.27 -
564 73.6 -14.4 45 570 roll -0.47 - - 2520 - 2.00 0.043 3760 662.5 -171.1 - - 3668 - - - - - - - - - 26.30 -
608 79.8 -14.4 47 615 done -0.44 0.12 0.140 2554 283.3 1.85 0.019 2414 -727.6 -171.1 - - 3668 - - - - - - - - 26.24 26.58 -
933 110.5 -8.9 63 938 roll -0.47 - - 2555 - 1.88 0.026 1092 -703.2 -171.1 - - 3668 - - - - - - - - - 26.48 -
961 112.4 -8.8 64 968 done -0.51 - - 2555 - 2.00 0.034 2452 680.0 -171.1 - - 3668 - - - - - - - - - 26.46 -
1281 135.9 -5.3 80 1283 done -0.56 0.10 0.092 2481 -740.0 - - 2452 - -171.1 - - 3669 - - - - - - - - 26.72 - -
1584 171.3 -11.8 95 1589 roll -0.54 0.12 0.143 2520 325.0 1.95 0.041 3750 665.6 -171.1 - - 3669 - - - - - - - - 26.46 26.39 -
1630 175.9 -10.8 97 1636 done -0.54 - - 2519 - 1.77 0.020 2462 -727.7 -171.1 - - 3669 - - - - - - - - - 26.62 -
1949 201.6 -7.6 113 1955 roll -0.57 - - 2520 - 1.95 0.025 1085 -706.2 -171.1 - - 3669 - - - - - - - - - 26.55 -
2043 208.5 -8.1 117 2048 done -0.60 - - 2519 - 2.00 0.032 2449 682.0 -171.1 - - 3669 - - - - - - - - - 26.51 -
2356 234.4 -7.7 133 2357 done -0.63 - - 2519 - - - 2450 - -171.1 - - 3668 - - - - - - - - - - -
2660 256.8 -7.5 148 2665 roll -0.66 0.10 0.093 2450 -690.0 1.98 0.026 1083 -690.4 -171.1 - - 3667 - - - - - - - - 26.74 26.55 -
2713 261.8 -9.0 150 2720 done -0.67 0.15 0.138 2484 226.7 2.00 0.031 2447 682.0 -171.1 - - 3667 - - - - - - - - 26.23 26.50 -
3028 292.8 -8.9 166 3030 done -0.68 - - 2485 - - - 2449 - -171.1 - - 3667 - - - - - - - - - - -
3330 319.4 -9.0 181 3336 roll -0.69 - - 2480 - 1.98 0.043 3763 663.6 -171.1 - - 3666 - - - - - - - - - 26.39 -
3375 323.4 -8.8 183 3381 done -0.69 - - 2482 - 1.83 0.019 2448 -718.6 -171.1 - - 3665 - - - - - - - - - 26.71 -
3699 353.3 -9.4 199 3704 roll -0.70 - - 2480 - 1.95 0.026 1083 -700.0 -171.1 - - 3664 - - - - - - - - - 26.55 -
3767 359.9 -10.2 202 3773 done -0.71 - - 2480 - 2.03 0.031 2458 677.3 -171.1 - - 3664 - - - - - - - - - 26.48 -
4086 391.8 -9.3 218 4091 roll -0.72 - - 2480 - 1.95 0.043 3756 665.6 -171.1 - - 3662 - - - - - - - - - 26.39 -
4126 393.9 -9.2 219 4132 done -0.73 - - 2480 - 1.83 0.020 2441 -718.6 -171.1 - - 3662 - - - - - - - - - 26.70 -
4430 421.0 -8.5 235 4435 roll -0.75 - - 2482 - 1.95 0.026 1070 -703.1 -171.1 - - 3661 - - - - - - - - - 26.55 -
4458 423.1 -8.6 236 4463 done -0.76 - - 2480 - 2.05 0.031 2460 678.0 -171.1 - - 3661 - - - - - - - - - 26.48 -
4776 451.7 -8.4 252 4782 roll -0.78 - - 2480 - 1.98 0.044 3759 656.1 -171.1 - - 3660 - - - - - - - - - 26.37 -
4810 453.8 -8.3 253 4816 done -0.80 0.12 0.080 2411 -575.0 1.83 0.020 2430 -726.2 -171.1 - - 3660 - - - - - - - - 26.56 26.70 -
5124 493.3 -12.5 269 5130 roll -0.76 0.12 0.151 2450 325.0 1.90 0.024 1096 -702.1 -171.1 - - 3658 - - - - - - - - 26.41 26.53 -
5178 498.2 -11.8 271 5184 done -0.73 - - 2450 - 2.03 0.033 2457 670.4 -171.1 -0.08 - 3682 -300.0 - - - - - - - - 26.17 25.16
5492 531.3 -10.1 287 5493 done -0.73 - - 2450 - - - 2456 - -171.1 - - 3680 - - - - - - - - - - -
5794 559.6 -9.4 302 5795 done -0.73 - - 2450 - - - 2456 - -171.1 - - 3679 - - - - - - - - - - -
6093 586.3 -8.5 317 6099 roll -0.73 - - 2450 - 1.98 0.045 3755 656.1 -171.1 - - 3676 - - - - - - - - - 26.32 -
6158 591.7 -8.3 320 6164 done -0.74 - - 2450 - 1.80 0.022 2452 -723.9 -171.1 - - 3676 - - - - - - - - - 26.67 -
6495 616.6 -7.3 333 6501 roll -0.75 - - 2449 - 1.95 0.027 1090 -698.5 -171.1 - - 3674 - - - - - - - - - 26.51 -
6548 619.5 -7.5 334 6554 done -0.76 - - 2449 - 2.03 0.033 2450 670.0 -171.1 - - 3674 - - - - - - - - - 26.42 -
6863 647.6 -9.0 345 6868 roll -0.77 - - 2450 - 2.00 0.046 3762 656.0 -171.1 - - 3672 - - - - - - - - - 26.29 -
6951 653.8 -9.5 347 6958 done -0.78 - - 2450 - 1.85 0.023 2449 -709.7 -171.1 - - 3672 - - - - - - - - - 26.65 -
7258 684.6 -9.4 358 7259 done -0.79 - - 2450 - - - 2448 - -171.1 - - 3669 - - - - - - - - - - -
7557 710.9 -8.3 368 7563 roll -0.80 - - 2450 - 2.03 0.047 3756 644.3 -171.1 - - 3667 - - - - - - - - - 26.26 -
7606 713.9 -8.5 369 7611 done -0.82 - - 2450 - 1.85 0.024 2452 -704.9 -171.1 - - 3667 - - - - - - - - - 26.63 -
7926 742.7 -8.8 380 7932 roll -0.83 - - 2450 - 2.05 0.053 3765 640.5 -171.1 - - 3665 - - - - - - - - - 26.11 -
7979 746.0 -8.8 381 7985 done -0.84 - - 2450 - 1.88 0.024 2448 -700.5 -171.1 - - 3664 - - - - - - - - - 26.62 -
8295 773.0 -7.6 392 8301 roll -0.86 - - 2450 - 1.98 0.028 1082 -689.9 -171.1 - - 3663 - - - - - - - - - 26.44 -
8334 775.7 -7.5 393 8339 done -0.87 - - 2450 - 2.05 0.034 2451 667.8 -171.1 - - 3662 - - - - - - - - - 26.36 -
8665 797.4 -6.5 404 8671 roll -0.88 0.12 0.086 2380 -583.3 2.03 0.046 3755 642.4 -171.1 - - 3660 - - - - - - - - 26.67 26.21 -
8747 804.2 -8.4 406 8753 done -0.87 0.15 0.147 2421 273.3 1.85 0.024 2439 -711.4 -171.1 - - 3659 - - - - - - - - 26.14 26.60 -
9063 834.8 -9.3 417 9069 roll -0.86 - - 2421 - 1.95 0.028 1088 -692.8 -171.1 - - 3657 - - - - - - - - - 26.42 -
9121 838.2 -9.5 418 9128 done -0.85 - - 2420 - 2.08 0.034 2458 658.7 -171.1 - - 3657 - - - - - - - - - 26.33 -
9427 870.3 -9.9 429 9433 roll -0.84 - - 2420 - 2.03 0.048 3762 642.4 -171.1 - - 3655 - - - - - - - - - 26.17 -
9451 870.3 -9.9 429 9457 done -0.82 - - 2421 - 1.88 0.025 2448 -698.9 -171.1 - - 3656 - - - - - - - - - 26.58 -
9766 903.2 -9.6 440 9767 done -0.81 - - 2421 - - - 2447 - -171.1 - - 3654 - - - - - - - - - - -
10065 931.6 -9.4 450 10070 roll -0.81 - - 2420 - 2.05 0.048 3759 640.0 -171.1 - - 3653 - - - - - - - - - 26.13 -
10099 934.7 -9.4 451 10105 done -0.80 - - 2420 - 1.88 0.026 2452 -695.2 -171.1 - - 3653 - - - - - - - - - 26.55 -
10435 964.2 -8.7 462 10441 roll -0.79 - - 2420 - 2.03 0.029 1073 -679.3 -171.1 - - 3652 - - - - - - - - - 26.37 -
10464 964.2 -8.7 462 10470 done -0.78 - - 2420 - 2.08 0.035 2449 661.5 -171.1 - - 3651 - - - - - - - - - 26.27 -
10737 end dive: TARGET_DEPTH_EXCEEDED
10737 begin apogee
10743 992.1 -9.2 472 10905 done -0.27 0.57 0.114 2607 328.1 - - 2297 - - 152.05 1.299 2963 -4.5 0.377 - - - - - - 25.70 - 23.01
10906 end apogee: CONTROL_FINISHED_OK
10906 begin climb
10909 998.0 - 477 11074 done 0.53 0.75 0.063 2870 350.7 - - 2297 - 171.1 158.02 1.201 2269 -4.4 0.398 - - - - - - 24.60 - 22.54
11369 962.7 10.2 493 11375 roll 0.48 - - 2870 - 2.25 0.047 3707 626.7 171.1 - - 2251 - - - - - - - - - 25.96 -
11452 955.4 10.9 495 11458 done 0.42 0.15 0.151 2839 -206.7 2.05 0.028 2329 -672.2 171.1 - - 2250 - - - - - - - - 25.87 26.20 -
11768 924.6 8.7 506 11773 roll 0.39 - - 2846 - 2.15 0.036 899 -665.1 171.1 - - 2249 - - - - - - - - - 26.27 -
11841 919.0 8.6 508 11847 done 0.37 - - 2846 - 2.12 0.032 2311 666.0 171.1 - - 2246 - - - - - - - - - 26.30 -
12167 889.7 8.8 519 12173 roll 0.34 0.12 0.142 2800 -383.3 2.15 0.046 3699 645.6 171.1 - - 2246 - - - - - - - - 26.29 26.25 -
12195 889.7 8.8 519 12202 done 0.31 - - 2805 - 2.08 0.028 2288 -678.4 171.1 - - 2245 - - - - - - - - - 26.44 -
12501 865.3 6.9 530 12539 roll 0.32 - - 2805 - 2.12 0.039 907 -651.4 206.3 32.22 1.235 2121 -3.8 0.294 - - - - - - - 25.63 24.09
12614 858.8 7.1 533 12652 done 0.34 - - 2806 - 2.15 0.031 2313 654.0 235.3 29.67 1.244 2001 -4.0 0.304 - - - - - - - 25.81 23.87
12953 833.0 7.2 545 12987 roll 0.37 - - 2805 - 2.28 0.047 3695 606.1 261.8 25.90 1.234 1894 -4.1 0.304 - - - - - - - 25.53 24.06
13005 830.7 7.4 546 13034 done 0.40 - - 2805 - 2.10 0.028 2305 -661.9 283.0 22.38 1.209 1810 -3.8 0.281 - - - - - - - 25.79 23.91
13348 802.1 8.0 558 13353 roll 0.43 0.10 0.093 2863 580.0 2.10 0.034 904 -667.1 285.1 - - 1799 - - - - - - - - 26.35 26.16 -
13421 795.7 9.0 560 13427 done 0.45 - - 2863 - 2.10 0.031 2300 664.8 285.1 - - 1799 - - - - - - - - - 26.22 -
13748 761.6 9.7 571 13753 roll 0.44 - - 2862 - 2.10 0.036 908 -662.9 285.1 - - 1798 - - - - - - - - - 26.30 -
13785 758.4 9.5 572 13791 done 0.43 - - 2863 - 2.10 0.031 2309 667.1 285.1 - - 1797 - - - - - - - - - 26.31 -
14115 725.4 10.4 583 14122 roll 0.42 - - 2866 - 2.12 0.035 908 -660.8 285.1 - - 1797 - - - - - - - - - 26.35 -
14150 721.6 10.6 584 14156 done 0.42 0.12 0.127 2831 -291.7 2.10 0.031 2307 666.2 285.1 - - 1797 - - - - - - - - 26.19 26.37 -
14485 692.1 8.3 595 14490 roll 0.43 - - 2831 - 2.17 0.047 3706 644.7 285.1 - - 1796 - - - - - - - - - 26.26 -
14513 692.1 8.3 595 14520 done 0.45 - - 2830 - 2.10 0.028 2283 -677.6 285.1 - - 1795 - - - - - - - - - 26.48 -
14820 667.0 7.1 606 14861 roll 0.49 - - 2831 - 2.15 0.034 913 -637.2 316.0 32.80 1.094 1672 -3.8 0.249 - - - - - - - 25.76 24.32
14906 662.8 7.0 608 14949 done 0.52 0.12 0.076 2895 533.3 2.15 0.031 2311 650.2 350.7 35.05 1.079 1534 -3.9 0.264 - - - - - - 25.89 25.89 24.01
15273 623.6 10.2 621 15278 roll 0.51 - - 2895 - 2.17 0.047 3699 639.6 350.7 - - 1525 - - - - - - - - - 26.06 -
15321 619.4 11.0 622 15327 done 0.50 0.12 0.151 2861 -283.3 2.08 0.027 2301 -672.1 350.7 - - 1525 - - - - - - - - 25.98 26.27 -
15640 588.1 8.6 635 15645 roll 0.51 - - 2868 - 2.08 0.035 904 -671.6 350.7 - - 1523 - - - - - - - - - 26.27 -
15728 580.9 8.6 639 15733 done 0.53 - - 2868 - 2.10 0.030 2310 669.5 350.7 - - 1527 - - - - - - - - - 26.32 -
16048 554.7 7.9 655 16053 roll 0.55 - - 2868 - 2.15 0.047 3698 645.6 356.5 - - 1522 - - - - - - - - - 26.13 -
16076 552.6 8.2 656 16082 done 0.56 - - 2868 - 2.05 0.027 2293 -685.4 356.5 - - 1522 - - - - - - - - - 26.46 -
16395 524.1 9.2 672 16401 roll 0.58 - - 2868 - 2.05 0.034 918 -670.7 356.5 - - 1521 - - - - - - - - - 26.34 -
16460 518.3 9.0 675 16466 done 0.59 - - 2868 - 2.10 0.031 2304 660.0 356.5 - - 1522 - - - - - - - - - 26.36 -
16784 490.1 8.1 691 16786 done 0.61 - - 2868 - - - 2305 - 356.5 - - 1522 - - - - - - - - - - -
17086 466.2 8.4 706 17092 roll 0.63 0.10 0.095 2925 570.0 2.08 0.031 913 -669.2 356.5 - - 1522 - - - - - - - - 26.66 26.36 -
17125 463.6 8.8 707 17132 done 0.64 - - 2925 - 2.08 0.030 2310 671.6 356.5 - - 1522 - - - - - - - - - 26.38 -
17430 424.7 12.1 723 17435 roll 0.62 - - 2925 - 2.12 0.044 3695 653.3 356.5 - - 1522 - - - - - - - - - 26.24 -
17475 418.9 12.8 725 17481 done 0.59 0.15 0.149 2885 -266.7 2.03 0.026 2302 -686.2 356.5 - - 1524 - - - - - - - - 26.10 26.50 -
17799 388.7 9.2 741 17805 roll 0.60 - - 2886 - 2.05 0.033 908 -680.0 356.5 - - 1521 - - - - - - - - - 26.35 -
17883 381.0 9.1 745 17890 done 0.61 - - 2886 - 2.10 0.029 2306 665.7 356.5 - - 1521 - - - - - - - - - 26.39 -
18208 352.0 8.4 761 18209 done 0.63 - - 2886 - - - 2306 - 356.5 - - 1521 - - - - - - - - - - -
18510 330.3 6.8 776 18561 roll 0.66 - - 2886 - 2.20 0.031 914 -632.7 397.3 41.35 0.847 1341 -4.4 0.185 - - - - - - - 25.77 24.44
18592 325.1 6.5 780 18645 done 0.71 0.12 0.077 2957 591.7 2.10 0.028 2305 662.4 447.4 45.53 0.797 1141 -4.4 0.195 - - - - - - 25.87 25.89 24.20
18953 278.3 13.6 798 18959 roll 0.69 0.12 0.134 2917 -333.3 2.10 0.028 905 -666.7 447.4 - - 1133 - - - - - - - - 26.09 26.14 -
18992 275.3 13.3 799 19000 done 0.68 - - 2921 - 2.08 0.027 2301 671.2 447.4 - - 1132 - - - - - - - - - 26.19 -
19298 248.2 7.7 815 19313 roll 0.71 - - 2915 - 2.08 0.029 910 -668.8 458.1 9.55 0.859 1096 -3.8 0.119 - - - - - - - 26.18 24.76
19356 244.5 8.3 817 19362 done 0.73 - - 2921 - 2.08 0.027 2309 672.6 458.1 - - 1093 - - - - - - - - - 26.20 -
19662 212.8 9.7 833 19667 roll 0.76 - - 2921 - 2.08 0.030 906 -674.5 458.1 - - 1093 - - - - - - - - - 26.30 -
19689 210.6 9.6 834 19695 done 0.79 - - 2921 - 2.05 0.026 2304 682.0 458.1 - - 1096 - - - - - - - - - 26.34 -
20009 183.7 7.9 850 20014 roll 0.82 0.12 0.081 3006 708.3 2.05 0.028 909 -680.5 461.9 - - 1093 - - - - - - - - 26.60 26.37 -
20037 181.1 8.6 851 20043 done 0.84 0.12 0.131 2971 -291.7 2.08 0.027 2310 673.6 461.9 - - 1093 - - - - - - - - 26.17 26.39 -
20357 139.7 12.8 867 20358 done 0.83 - - 2971 - - - 2310 - 461.9 - - 1093 - - - - - - - - - - -
20658 106.5 10.0 882 20659 done 0.84 - - 2972 - - - 2308 - 461.9 - - 1093 - - - - - - - - - - -
20958 78.4 8.8 897 20960 done 0.86 - - 2972 - - - 2310 - 461.9 - - 1092 - - - - - - - - - - -
21258 51.5 9.0 912 21263 roll 0.88 - - 2971 - 2.08 0.031 899 -678.4 461.9 - - 1093 - - - - - - - - - 26.44 -
21302 47.5 9.0 915 21307 done 0.91 - - 2972 - 2.05 0.026 2310 688.3 461.9 - - 1093 - - - - - - - - - 26.47 -
21615 20.4 8.5 946 21624 done 0.94 - - 2971 - - - 2310 - 461.9 1.17 0.210 1085 -6.8 0.072 - - - - - - - - 25.48
21812 end climb: SURFACE_DEPTH_REACHED
21812 begin surface coast
21844 end surface coast: CONTROL_FINISHED_OK
21844 begin surface
SM 1.75 - - - - -7.97 7.22 0.031 118 -395.2 0.17 0.072 2454 847.1 460.92 - - 1089 - - - - - - - -