OKMC Jun13 * SG167 * Dive index * Mission links * Dive 226 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 33.72 of 150.00 AH used of 24V (77.52% remains)
• Previous NAKs 0, Timeouts 0 • 21.34 of 100.00 AH used of 10V (78.66% remains)
• Surface angle -71.5 deg, depth 1.99 m • Intended pitch -15.7 deg, speed -9.429 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 39 s
• GPS2 time: 43 s • Transponder ping count: 12
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 119 VBD -0.83 - - 119 - - - 2049 - -175.2 -90.15 - 2738 - - - - - - - - - - -
127 3.0 -2.4 16 159 roll -0.83 10.60 0.230 2768 249.9 2.20 0.044 3482 651.4 -175.2 -15.00 - 3481 -49.5 - - - - - - - 25.61 26.15 26.48
216 27.5 -27.4 30 224 done -0.74 0.15 0.178 2804 240.0 1.98 0.016 2080 -708.1 -175.2 - - 3482 - - - - - - - - 25.87 26.26 -
525 101.7 -21.2 50 530 roll -0.69 - - 2804 - 2.00 0.028 685 -697.5 -175.2 - - 3482 - - - - - - - - - 26.34 -
574 112.0 -22.4 52 580 done -0.63 0.17 0.157 2843 229.4 2.00 0.021 2091 703.0 -175.2 - - 3482 - - - - - - - - 26.06 26.40 -
895 161.6 -12.3 68 902 roll -0.61 - - 2835 - 2.03 0.034 3477 682.8 -175.2 - - 3483 - - - - - - - - - 26.41 -
966 168.8 -11.0 71 971 done -0.59 - - 2835 - 1.98 0.016 2076 -707.6 -175.2 - - 3482 - - - - - - - - - 26.52 -
1286 197.9 -9.7 87 1292 roll -0.58 0.10 0.168 2859 240.0 1.98 0.028 699 -695.5 -175.2 - - 3482 - - - - - - - - 26.41 26.47 -
1361 204.4 -9.8 90 1367 done -0.56 - - 2860 - 1.95 0.022 2071 703.6 -175.2 - - 3483 - - - - - - - - - 26.51 -
1676 241.1 -12.0 106 1682 roll -0.56 - - 2859 - 2.05 0.035 3470 682.4 -175.2 - - 3483 - - - - - - - - - 26.46 -
1770 251.3 -12.0 110 1777 done -0.56 - - 2860 - 1.95 0.016 2064 -721.0 -175.2 - - 3482 - - - - - - - - - 26.58 -
2087 285.8 -9.9 126 2092 roll -0.56 - - 2859 - 1.95 0.030 702 -698.5 -175.2 - - 3481 - - - - - - - - - 26.51 -
2152 292.2 -10.0 129 2157 done -0.56 - - 2860 - 1.98 0.024 2076 693.9 -175.2 - - 3481 - - - - - - - - - 26.53 -
2477 324.4 -10.2 145 2483 roll -0.56 - - 2860 - 2.05 0.035 3473 681.5 -175.2 - - 3480 - - - - - - - - - 26.48 -
2551 331.4 -10.6 148 2557 done -0.56 - - 2860 - 1.95 0.017 2074 -717.4 -175.2 - - 3480 - - - - - - - - - 26.60 -
2866 364.2 -9.8 164 2871 roll -0.56 - - 2860 - 1.98 0.030 697 -695.5 -175.2 - - 3478 - - - - - - - - - 26.51 -
2925 368.8 -10.2 166 2932 done -0.56 - - 2859 - 1.98 0.022 2081 699.0 -175.2 - - 3478 - - - - - - - - - 26.55 -
3231 401.6 -10.4 182 3236 roll -0.56 - - 2859 - 2.05 0.035 3478 681.5 -175.2 - - 3476 - - - - - - - - - 26.48 -
3260 404.1 -10.4 183 3266 done -0.56 - - 2859 - 1.95 0.017 2069 -722.6 -175.2 - - 3476 - - - - - - - - - 26.60 -
3581 438.2 -10.2 199 3586 roll -0.57 - - 2860 - 1.98 0.031 699 -691.9 -175.2 - - 3475 - - - - - - - - - 26.51 -
3650 444.6 -9.9 202 3655 done -0.58 - - 2859 - 1.98 0.023 2079 697.0 -175.2 - - 3474 - - - - - - - - - 26.55 -
3970 468.2 -6.9 218 3976 roll -0.60 - - 2859 - 2.05 0.036 3471 679.0 -175.2 - - 3472 - - - - - - - - - 26.48 -
4046 473.3 -7.7 221 4051 done -0.61 - - 2859 - 1.95 0.017 2073 -716.9 -175.2 - - 3471 - - - - - - - - - 26.60 -
4361 503.2 -9.7 237 4366 roll -0.63 - - 2860 - 1.98 0.031 702 -692.4 -175.2 - - 3470 - - - - - - - - - 26.51 -
4389 505.6 -9.6 238 4395 done -0.64 - - 2860 - 1.98 0.023 2080 696.0 -175.2 - - 3470 - - - - - - - - - 26.55 -
4710 530.2 -6.4 254 4716 roll -0.66 - - 2858 - 2.05 0.037 3467 676.6 -175.2 - - 3468 - - - - - - - - - 26.46 -
4771 533.2 -6.4 256 4779 done -0.68 - - 2860 - 1.95 0.018 2071 -715.9 -175.2 - - 3467 - - - - - - - - - 26.60 -
5076 556.8 -8.6 272 5081 roll -0.70 - - 2859 - 1.98 0.031 703 -690.9 -175.2 - - 3466 - - - - - - - - - 26.50 -
5146 563.2 -9.6 275 5152 done -0.71 0.12 0.083 2793 -550.0 1.98 0.024 2075 692.9 -175.2 - - 3465 - - - - - - - - 26.48 26.53 -
5476 605.9 -12.9 291 5482 roll -0.71 - - 2793 - 2.08 0.037 3474 672.6 -175.2 - - 3463 - - - - - - - - - 26.45 -
5543 614.3 -12.8 293 5549 done -0.71 - - 2793 - 1.98 0.018 2069 -709.6 -175.2 - - 3462 - - - - - - - - - 26.59 -
5881 655.5 -11.8 304 5888 roll -0.70 0.12 0.158 2831 316.7 1.98 0.030 707 -687.9 -175.2 - - 3460 - - - - - - - - 26.34 26.48 -
5948 662.5 -10.8 306 5955 done -0.70 - - 2831 - 1.98 0.024 2069 687.9 -175.2 - - 3460 - - - - - - - - - 26.53 -
6287 688.2 -7.1 317 6293 roll -0.70 - - 2831 - 2.10 0.038 3468 666.2 -175.2 - - 3457 - - - - - - - - - 26.44 -
6391 694.3 -6.4 320 6397 done -0.71 - - 2831 - 1.98 0.019 2073 -704.5 -175.2 - - 3457 - - - - - - - - - 26.58 -
6725 715.3 -6.4 331 6730 roll -0.72 - - 2831 - 2.00 0.032 699 -687.0 -175.2 - - 3454 - - - - - - - - - 26.47 -
6755 715.3 -6.4 331 6761 done -0.73 - - 2831 - 2.00 0.024 2078 689.5 -175.2 - - 3454 - - - - - - - - - 26.51 -
7060 738.3 -7.0 342 7065 roll -0.73 - - 2830 - 2.08 0.039 3467 667.8 -175.2 - - 3451 - - - - - - - - - 26.41 -
7190 747.7 -7.5 346 7195 done -0.75 - - 2831 - 2.00 0.020 2065 -701.0 -175.2 - - 3451 - - - - - - - - - 26.57 -
7528 776.4 -8.9 357 7534 roll -0.76 - - 2832 - 2.00 0.033 696 -684.5 -175.2 - - 3448 - - - - - - - - - 26.45 -
7595 782.5 -8.7 359 7600 done -0.77 - - 2831 - 2.03 0.026 2078 680.8 -175.2 - - 3448 - - - - - - - - - 26.49 -
7933 810.0 -7.8 370 7938 roll -0.78 - - 2832 - 2.10 0.040 3474 664.8 -175.2 - - 3446 - - - - - - - - - 26.39 -
7969 812.7 -7.7 371 7976 done -0.79 0.12 0.086 2776 -466.7 2.00 0.021 2077 -698.5 -175.2 - - 3445 - - - - - - - - 26.44 26.55 -
8306 846.1 -10.2 382 8312 roll -0.78 - - 2776 - 2.03 0.034 696 -680.3 -175.2 - - 3443 - - - - - - - - - 26.43 -
8372 853.6 -10.8 384 8379 done -0.77 0.12 0.163 2798 183.3 2.03 0.024 2083 683.3 -175.2 - - 3442 - - - - - - - - 26.17 26.48 -
8708 885.9 -9.6 395 8715 roll -0.77 - - 2793 - 2.08 0.039 3466 664.9 -175.2 - - 3440 - - - - - - - - - 26.37 -
8739 885.9 -9.6 395 8746 done -0.77 - - 2793 - 2.00 0.021 2068 -699.0 -175.2 - - 3440 - - - - - - - - - 26.53 -
9044 921.4 -10.8 406 9045 done -0.77 - - 2793 - - - 2068 - -175.2 - - 3438 - - - - - - - - - - -
9345 953.4 -10.8 416 9346 done -0.77 - - 2792 - - - 2068 - -175.2 - - 3437 - - - - - - - - - - -
9644 984.8 -10.0 426 9645 done -0.77 - - 2792 - - - 2068 - -175.2 - - 3435 - - - - - - - - - - -
9701 end dive: TARGET_DEPTH_EXCEEDED
9701 begin apogee
9709 990.6 -9.6 428 9870 done -0.18 0.60 0.122 2988 326.7 - - 2201 - - 150.80 1.203 2755 -4.5 0.381 - - - - - - 25.95 - 24.06
9872 end apogee: CONTROL_FINISHED_OK
9872 begin climb
9875 995.9 - 433 10046 roll 0.83 0.93 0.066 3318 354.8 2.25 0.041 3595 619.6 175.2 161.12 1.150 2036 -4.5 0.397 - - - - - - 25.08 24.67 23.86
10213 956.0 16.7 444 10218 done 0.78 - - 3327 - 2.08 0.024 2213 -664.4 175.2 - - 2016 - - - - - - - - - 25.75 -
10532 903.3 15.4 455 10538 roll 0.73 0.12 0.168 3292 -291.7 2.15 0.039 3597 643.7 175.2 - - 2014 - - - - - - - - 25.94 26.08 -
10608 893.0 15.3 457 10614 done 0.69 - - 3300 - 2.08 0.024 2188 -677.4 175.2 - - 2013 - - - - - - - - - 26.21 -
10937 844.3 14.6 468 10939 done 0.66 0.15 0.154 3259 -273.3 - - 2188 - 175.2 - - 2012 - - - - - - - - 26.10 - -
11237 808.8 11.6 478 11242 roll 0.64 - - 3268 - 2.05 0.036 812 -671.2 175.2 - - 2012 - - - - - - - - - 26.32 -
11262 808.8 11.6 478 11267 done 0.62 - - 3268 - 2.05 0.029 2200 677.1 175.2 - - 2010 - - - - - - - - - 26.34 -
11580 768.6 11.5 489 11585 roll 0.60 - - 3268 - 2.12 0.042 3598 659.4 175.2 - - 2011 - - - - - - - - - 26.32 -
11646 760.5 11.7 491 11652 done 0.58 0.15 0.151 3237 -206.7 2.05 0.025 2202 -681.0 175.2 - - 2008 - - - - - - - - 26.11 26.43 -
11983 732.5 7.6 502 12042 roll 0.65 - - 3240 - 2.20 0.037 811 -632.3 226.0 48.72 1.011 1825 -3.8 0.279 - - - - - - - 25.55 24.81
12089 725.0 7.9 505 12140 done 0.72 0.12 0.078 3305 541.7 2.12 0.028 2214 661.8 268.1 42.75 1.001 1663 -3.8 0.282 - - - - - - 25.76 25.76 24.49
12470 676.5 12.8 518 12476 roll 0.70 - - 3305 - 2.15 0.042 3600 644.7 268.1 - - 1634 - - - - - - - - - 26.01 -
12592 663.5 13.4 521 12600 done 0.68 0.17 0.148 3266 -229.4 2.10 0.025 2192 -670.5 268.1 - - 1633 - - - - - - - - 25.90 26.17 -
12900 626.5 10.8 532 12905 roll 0.68 - - 3275 - 2.08 0.036 809 -664.9 268.1 - - 1632 - - - - - - - - - 26.23 -
12995 615.5 11.2 535 13000 done 0.68 - - 3274 - 2.08 0.028 2204 670.7 268.1 - - 1632 - - - - - - - - - 26.27 -
13310 582.4 10.1 548 13316 roll 0.68 - - 3275 - 2.12 0.043 3594 655.7 268.1 - - 1630 - - - - - - - - - 26.27 -
13344 579.7 10.3 549 13349 done 0.68 - - 3281 - 2.05 0.025 2197 -681.5 268.1 - - 1631 - - - - - - - - - 26.39 -
13659 545.1 10.8 565 13665 roll 0.68 - - 3291 - 2.08 0.036 805 -669.2 268.1 - - 1630 - - - - - - - - - 26.34 -
13835 526.4 11.2 573 13841 done 0.67 - - 3291 - 2.08 0.028 2212 676.4 268.1 - - 1630 - - - - - - - - - 26.38 -
14151 495.7 8.8 589 14166 roll 0.69 - - 3298 - 2.20 0.034 800 -641.8 284.4 10.23 0.902 1598 -3.1 0.176 - - - - - - - 26.28 25.44
14227 489.6 9.3 592 14232 done 0.70 - - 3297 - 2.08 0.027 2208 676.9 287.4 - - 1587 - - - - - - - - - 26.29 -
14541 459.3 9.6 608 14543 done 0.70 - - 3298 - - - 2208 - 287.4 - - 1585 - - - - - - - - - - -
14845 429.6 10.0 623 14851 roll 0.70 - - 3307 - 2.10 0.034 802 -669.5 287.4 - - 1585 - - - - - - - - - 26.34 -
14879 426.6 10.0 624 14885 done 0.70 0.12 0.143 3273 -283.3 2.05 0.027 2207 685.4 287.4 - - 1585 - - - - - - - - 26.16 26.38 -
15195 397.8 8.4 640 15234 roll 0.74 - - 3280 - 2.20 0.034 810 -635.0 316.6 33.65 0.800 1463 -3.6 0.185 - - - - - - - 25.93 25.22
15316 389.6 7.6 645 15369 done 0.82 - - 3280 - 2.08 0.026 2201 668.8 366.7 47.35 0.790 1263 -4.2 0.214 - - - - - - - 26.03 24.75
15685 362.0 7.3 664 15748 roll 0.95 0.17 0.059 3394 670.6 2.20 0.032 816 -629.5 425.0 53.72 0.760 1015 -4.6 0.226 - - - - - - 26.13 25.42 24.73
15900 334.2 15.5 674 15906 done 0.92 0.17 0.132 3347 -276.5 2.10 0.024 2213 665.2 425.0 - - 1003 - - - - - - - - 25.68 25.91 -
16216 291.5 12.7 690 16221 roll 0.92 - - 3353 - 2.12 0.033 802 -665.6 425.0 - - 1002 - - - - - - - - - 26.14 -
16328 278.0 13.0 695 16333 done 0.92 - - 3353 - 2.08 0.024 2208 676.0 425.0 - - 1002 - - - - - - - - - 26.24 -
16648 243.3 10.0 711 16654 roll 0.92 - - 3360 - 2.10 0.033 804 -668.6 425.0 - - 1002 - - - - - - - - - 26.28 -
16662 243.3 10.0 711 16668 done 0.92 - - 3360 - 2.05 0.024 2212 686.8 425.0 - - 1001 - - - - - - - - - 26.33 -
16977 207.7 10.6 727 16978 done 0.92 - - 3360 - - - 2212 - 425.0 - - 1002 - - - - - - - - - - -
17281 177.4 8.9 742 17301 roll 0.95 - - 3360 - 2.15 0.039 3597 644.2 439.5 10.98 0.641 960 -3.8 0.109 - - - - - - - 26.29 25.58
17371 167.6 11.2 746 17377 done 0.95 - - 3367 - 2.03 0.021 2186 -695.1 439.5 - - 954 - - - - - - - - - 26.36 -
17692 128.6 10.4 762 17697 roll 0.95 - - 3368 - 2.15 0.037 3599 657.2 439.5 - - 954 - - - - - - - - - 26.33 -
17740 123.8 10.4 764 17745 done 0.95 - - 3375 - 2.00 0.021 2201 -699.0 439.5 - - 954 - - - - - - - - - 26.44 -
18061 88.5 11.6 780 18066 roll 0.97 - - 3374 - 2.10 0.037 3594 663.3 439.5 - - 954 - - - - - - - - - 26.37 -
18100 85.5 11.5 781 18108 done 0.98 - - 3383 - 2.00 0.020 2182 -706.0 439.5 - - 954 - - - - - - - - - 26.49 -
18406 56.6 7.6 797 18435 roll 1.10 - - 3382 - 2.22 0.037 3601 639.2 491.1 20.95 0.230 769 -8.8 0.223 - - - - - - - 26.33 25.84
18455 53.2 7.4 799 18489 done 1.23 0.17 0.057 3492 647.1 2.00 0.020 2194 -703.5 547.4 26.12 0.230 533 -9.0 0.214 - - - - - - 26.41 26.43 25.78
18793 11.6 13.5 841 18803 roll 1.23 0.15 0.138 3445 -313.3 2.17 0.035 3596 646.1 547.4 1.75 0.148 532 - - - - - - - - 26.19 26.32 26.01
18861 end climb: SURFACE_DEPTH_REACHED
18861 begin surface coast
18883 end surface coast: CONTROL_FINISHED_OK
18883 begin surface
SM 1.72 - - - - -9.04 8.32 0.024 134 16.1 2.22 0.019 2115 -4699.5 564.93 8.35 0.125 457 54.7 -0.077 - - - - - -