OKMC Jun13 * SG167 * Dive index * Mission links * Dive 586 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 97.17 of 150.00 AH used of 24V (35.22% remains)
• Previous NAKs 0, Timeouts 0 • 60.69 of 100.00 AH used of 10V (39.31% remains)
• Surface angle -72.9 deg, depth 2.09 m • Intended pitch -15.5 deg, speed -9.706 cm/s
VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 36 s
• GPS2 time: 30 s • Transponder ping count: 7
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
28 - - - 101 VBD -1.25 - - 127 - - - 2243 - -243.3 -70.80 - 2618 - - - - - - - - - - -
108 3.2 -2.7 13 149 roll -1.25 10.77 0.239 2580 227.8 1.35 0.047 1320 -683.7 -243.3 -23.77 - 3706 -45.8 - - - - - - - 24.72 25.95 26.47
271 42.7 -25.7 36 277 done -1.25 - - 2578 - 1.33 0.034 2186 651.1 -243.3 - - 3706 - - - - - - - - - 25.99 -
438 87.2 -26.0 46 443 roll -1.25 - - 2571 - 1.33 0.036 3075 668.4 -243.3 - - 3706 - - - - - - - - - 26.06 -
451 87.2 -26.0 46 456 done -1.25 - - 2571 - 1.27 0.021 2193 -694.5 -243.3 - - 3706 - - - - - - - - - 26.22 -
627 129.9 -21.1 55 632 roll -1.25 - - 2571 - 1.25 0.032 1338 -684.0 -243.3 - - 3706 - - - - - - - - - 26.14 -
686 140.3 -22.1 57 692 done -1.25 - - 2565 - 1.30 0.031 2206 667.7 -243.3 - - 3706 - - - - - - - - - 26.14 -
853 178.6 -21.0 66 858 roll -1.25 - - 2560 - 1.30 0.037 3076 669.2 -243.3 - - 3707 - - - - - - - - - 26.10 -
927 191.2 -19.3 69 932 done -1.25 - - 2559 - 1.27 0.022 2194 -694.5 -243.3 - - 3707 - - - - - - - - - 26.29 -
1103 223.8 -17.6 78 1108 roll -1.25 - - 2559 - 1.25 0.031 1333 -688.8 -243.3 - - 3706 - - - - - - - - - 26.19 -
1202 238.9 -17.6 82 1210 done -1.25 0.10 0.165 2581 220.0 1.30 0.031 2199 666.2 -243.3 - - 3707 - - - - - - - - 25.69 26.18 -
1368 269.3 -16.6 91 1373 roll -1.25 - - 2578 - 1.30 0.037 3071 670.8 -243.3 - - 3707 - - - - - - - - - 26.13 -
1388 269.3 -16.6 91 1394 done -1.25 - - 2578 - 1.25 0.021 2202 -695.2 -243.3 - - 3707 - - - - - - - - - 26.31 -
1553 302.9 -18.9 100 1554 done -1.25 - - 2578 - - - 2202 - -243.3 - - 3707 - - - - - - - - - - -
1714 332.8 -18.6 108 1719 roll -1.25 - - 2578 - 1.25 0.031 1338 -691.2 -243.3 - - 3707 - - - - - - - - - 26.20 -
1799 347.4 -16.9 112 1804 done -1.25 - - 2573 - 1.30 0.030 2199 662.3 -243.3 - - 3707 - - - - - - - - - 26.18 -
1963 374.5 -16.3 120 1969 roll -1.25 - - 2566 - 1.30 0.037 3068 668.5 -243.3 - - 3707 - - - - - - - - - 26.13 -
2043 385.9 -17.2 123 2050 done -1.25 - - 2566 - 1.25 0.021 2202 -692.8 -243.3 - - 3707 - - - - - - - - - 26.33 -
2208 415.6 -15.9 132 2214 roll -1.25 - - 2566 - 1.25 0.029 1336 -692.8 -243.3 - - 3707 - - - - - - - - - 26.22 -
2304 428.9 -15.7 136 2309 done -1.25 - - 2561 - 1.30 0.030 2201 665.4 -243.3 - - 3707 - - - - - - - - - 26.19 -
2479 456.9 -15.0 145 2484 roll -1.25 - - 2561 - 1.30 0.039 3067 666.2 -243.3 - - 3706 - - - - - - - - - 26.11 -
2559 467.2 -15.5 148 2566 done -1.25 - - 2561 - 1.25 0.021 2201 -692.8 -243.3 - - 3705 - - - - - - - - - 26.32 -
2724 495.0 -15.4 157 2729 roll -1.25 - - 2561 - 1.25 0.029 1333 -694.4 -243.3 - - 3705 - - - - - - - - - 26.22 -
2789 505.2 -15.6 160 2794 done -1.25 - - 2560 - 1.33 0.032 2200 651.9 -243.3 - - 3705 - - - - - - - - - 26.15 -
2954 531.1 -15.4 168 2960 roll -1.25 - - 2560 - 1.27 0.028 1337 -679.5 -243.3 - - 3703 - - - - - - - - - 26.22 -
3033 541.6 -15.8 171 3041 done -1.25 0.08 0.172 2577 212.5 1.30 0.031 2199 663.1 -243.3 - - 3703 - - - - - - - - 25.78 26.17 -
3201 568.1 -14.2 180 3206 roll -1.25 - - 2573 - 1.33 0.038 3077 660.2 -243.3 - - 3701 - - - - - - - - - 26.12 -
3275 577.8 -14.5 183 3280 done -1.25 - - 2572 - 1.27 0.021 2194 -695.3 -243.3 - - 3701 - - - - - - - - - 26.32 -
3462 605.8 -14.4 192 3467 roll -1.25 - - 2572 - 1.25 0.029 1332 -689.6 -243.3 - - 3700 - - - - - - - - - 26.21 -
3481 605.8 -14.4 192 3486 done -1.25 - - 2567 - 1.30 0.031 2195 663.8 -243.3 - - 3700 - - - - - - - - - 26.17 -
3651 633.2 -14.7 198 3656 roll -1.25 - - 2567 - 1.27 0.028 1337 -675.6 -243.3 - - 3697 - - - - - - - - - 26.20 -
3706 638.3 -14.6 199 3711 done -1.25 - - 2562 - 1.30 0.031 2199 663.1 -243.3 - - 3697 - - - - - - - - - 26.17 -
3871 666.6 -15.5 205 3872 done -1.25 - - 2562 - - - 2199 - -243.3 - - 3695 - - - - - - - - - - -
4021 690.3 -16.0 210 4026 roll -1.25 - - 2556 - 1.33 0.039 3077 660.2 -243.3 - - 3694 - - - - - - - - - 26.10 -
4060 696.2 -16.4 211 4065 done -1.25 - - 2556 - 1.27 0.021 2201 -689.8 -243.3 - - 3694 - - - - - - - - - 26.29 -
4240 727.8 -17.2 217 4246 roll -1.25 0.12 0.184 2590 283.3 1.27 0.027 1333 -683.5 -243.3 - - 3692 - - - - - - - - 25.98 26.15 -
4270 727.8 -17.2 217 4277 done -1.25 - - 2587 - 1.30 0.031 2187 656.9 -243.3 - - 3691 - - - - - - - - - 26.14 -
4427 756.7 -15.5 223 4432 roll -1.25 - - 2583 - 1.35 0.041 3078 660.0 -243.3 - - 3690 - - - - - - - - - 26.07 -
4496 767.4 -15.8 225 4501 done -1.25 - - 2582 - 1.27 0.021 2196 -694.5 -243.3 - - 3689 - - - - - - - - - 26.29 -
4678 796.2 -15.5 231 4683 roll -1.25 - - 2583 - 1.25 0.031 1340 -684.8 -243.3 - - 3687 - - - - - - - - - 26.17 -
4716 801.7 -15.3 232 4721 done -1.25 - - 2578 - 1.30 0.031 2198 660.0 -243.3 - - 3687 - - - - - - - - - 26.13 -
4896 829.5 -14.9 238 4901 roll -1.25 - - 2571 - 1.33 0.041 3066 652.6 -243.3 - - 3685 - - - - - - - - - 26.04 -
5001 844.4 -15.5 241 5006 done -1.25 - - 2571 - 1.27 0.021 2193 -687.4 -243.3 - - 3684 - - - - - - - - - 26.28 -
5176 874.5 -16.5 247 5181 roll -1.25 - - 2571 - 1.25 0.031 1340 -682.4 -243.3 - - 3683 - - - - - - - - - 26.14 -
5207 874.5 -16.5 247 5213 done -1.25 - - 2566 - 1.30 0.032 2194 656.9 -243.3 - - 3682 - - - - - - - - - 26.11 -
5362 906.0 -17.1 253 5364 done -1.25 - - 2564 - - - 2194 - -243.3 - - 3681 - - - - - - - - - - -
5511 930.3 -16.1 258 5516 roll -1.25 - - 2560 - 1.35 0.041 3071 649.6 -243.3 - - 3679 - - - - - - - - - 26.01 -
5652 951.0 -16.5 262 5657 done -1.25 - - 2560 - 1.27 0.022 2201 -685.0 -243.3 - - 3678 - - - - - - - - - 26.26 -
5822 980.6 -15.8 268 5827 roll -1.25 - - 2556 - 1.35 0.039 3066 640.7 -243.3 - - 3676 - - - - - - - - - 26.02 -
5861 986.1 -15.7 269 5866 done -1.25 - - 2556 - 1.27 0.022 2194 -686.6 -243.3 - - 3675 - - - - - - - - - 26.26 -
5887 end dive: TARGET_DEPTH_EXCEEDED
5888 begin apogee
5898 991.4 -15.6 270 6203 done -0.21 1.20 0.151 2911 295.8 - - 2020 - - 296.25 1.025 2710 -3.3 0.343 - - - - - - 24.79 - 23.60
6210 end apogee: CONTROL_FINISHED_OK
6210 begin climb
6213 1002.6 - 280 6444 roll 1.25 1.38 0.079 3392 348.6 1.30 0.039 1221 -614.6 243.3 222.12 1.154 1718 -4.5 0.423 - - - - - - 25.22 25.10 23.56
6636 952.1 14.2 294 6641 done 1.25 - - 3392 - 1.27 0.034 2040 644.9 243.3 - - 1688 - - - - - - - - - 25.94 -
6803 925.9 14.3 300 6804 done 1.25 - - 3392 - - - 2040 - 243.3 - - 1686 - - - - - - - - - - -
6952 904.4 14.3 305 6957 roll 1.25 - - 3397 - 1.27 0.037 1224 -642.5 243.3 - - 1685 - - - - - - - - - 26.07 -
7017 895.3 14.4 307 7022 done 1.25 - - 3397 - 1.30 0.034 2056 640.0 243.3 - - 1685 - - - - - - - - - 26.10 -
7203 870.6 12.9 313 7208 roll 1.25 - - 3402 - 1.30 0.036 1219 -643.8 243.3 - - 1684 - - - - - - - - - 26.10 -
7271 861.9 13.0 315 7276 done 1.25 - - 3402 - 1.27 0.034 2044 649.6 243.3 - - 1685 - - - - - - - - - 26.11 -
7452 836.9 13.9 321 7457 roll 1.25 - - 3407 - 1.27 0.037 1223 -646.5 243.3 - - 1683 - - - - - - - - - 26.11 -
7496 831.8 14.0 322 7501 done 1.25 - - 3407 - 1.27 0.034 2047 648.8 243.3 - - 1683 - - - - - - - - - 26.10 -
7671 805.6 14.2 328 7676 roll 1.25 - - 3412 - 1.27 0.037 1226 -646.5 243.3 - - 1682 - - - - - - - - - 26.09 -
7726 800.7 14.3 329 7731 done 1.25 - - 3412 - 1.27 0.034 2050 648.8 243.3 - - 1682 - - - - - - - - - 26.10 -
7891 774.7 14.0 335 7896 roll 1.25 - - 3416 - 1.27 0.037 1229 -646.5 243.3 - - 1681 - - - - - - - - - 26.08 -
7975 765.7 14.0 337 7980 done 1.25 - - 3417 - 1.27 0.034 2050 646.5 243.3 - - 1681 - - - - - - - - - 26.10 -
8141 741.6 12.8 343 8146 roll 1.25 - - 3422 - 1.27 0.037 1223 -651.2 243.3 - - 1680 - - - - - - - - - 26.08 -
8297 720.9 13.3 348 8303 done 1.25 0.08 0.148 3399 -287.5 1.30 0.034 2055 640.0 243.3 - - 1680 - - - - - - - - 25.76 26.08 -
8484 699.0 11.7 354 8489 roll 1.25 - - 3403 - 1.30 0.037 1221 -641.5 243.3 - - 1680 - - - - - - - - - 26.06 -
8629 682.4 13.2 358 8634 done 1.25 - - 3403 - 1.27 0.034 2042 646.5 243.3 - - 1679 - - - - - - - - - 26.07 -
8795 658.0 13.0 364 8801 roll 1.25 - - 3403 - 1.38 0.044 2930 643.5 243.3 - - 1678 - - - - - - - - - 26.00 -
8825 658.0 13.0 364 8831 done 1.25 - - 3408 - 1.25 0.031 2101 -663.2 243.3 - - 1679 - - - - - - - - - 26.13 -
8981 632.8 13.3 370 8986 roll 1.25 - - 3415 - 1.35 0.039 1214 -657.0 243.3 - - 1679 - - - - - - - - - 26.03 -
9127 616.3 13.1 374 9132 done 1.25 - - 3415 - 1.30 0.034 2051 643.8 243.3 - - 1679 - - - - - - - - - 26.06 -
9302 591.2 12.8 381 9307 roll 1.25 - - 3415 - 1.38 0.045 2935 640.6 243.3 - - 1678 - - - - - - - - - 25.95 -
9362 585.2 13.3 383 9369 done 1.25 - - 3420 - 1.27 0.030 2093 -663.0 243.3 - - 1678 - - - - - - - - - 26.13 -
9527 561.3 13.1 392 9532 roll 1.25 - - 3420 - 1.33 0.042 2929 628.6 243.3 - - 1678 - - - - - - - - - 25.96 -
9617 549.9 13.5 396 9623 done 1.25 0.08 0.151 3403 -212.5 1.33 0.031 2056 -656.4 243.3 - - 1677 - - - - - - - - 25.73 26.10 -
9778 532.1 9.9 404 9783 roll 1.25 - - 3407 - 1.35 0.038 1172 -654.8 243.3 - - 1678 - - - - - - - - - 26.01 -
9879 523.7 9.9 408 9886 done 1.25 - - 3407 - 1.35 0.034 2044 645.9 243.3 - - 1677 - - - - - - - - - 26.03 -
10044 504.7 10.8 417 10045 done 1.25 - - 3406 - - - 2044 - 243.3 - - 1678 - - - - - - - - - - -
10205 485.4 12.3 425 10210 roll 1.25 - - 3413 - 1.35 0.037 1177 -642.2 243.3 - - 1678 - - - - - - - - - 26.00 -
10301 474.9 12.3 429 10306 done 1.25 - - 3413 - 1.35 0.034 2046 643.7 243.3 - - 1677 - - - - - - - - - 26.01 -
10476 452.3 12.1 438 10481 roll 1.25 - - 3418 - 1.38 0.037 1166 -637.7 243.3 - - 1676 - - - - - - - - - 25.98 -
10536 447.0 11.9 440 10543 done 1.25 - - 3418 - 1.38 0.034 2054 643.5 243.3 - - 1677 - - - - - - - - - 26.01 -
10701 427.1 10.7 449 10706 roll 1.25 - - 3418 - 1.35 0.044 2926 645.9 243.3 - - 1677 - - - - - - - - - 25.90 -
10720 427.1 10.7 449 10728 done 1.25 0.08 0.148 3401 -212.5 1.33 0.030 2049 -659.4 243.3 - - 1677 - - - - - - - - 25.71 26.08 -
10887 408.5 9.8 458 10892 roll 1.25 - - 3405 - 1.35 0.038 1166 -654.1 243.3 - - 1676 - - - - - - - - - 25.97 -
10995 397.4 10.6 463 11000 done 1.25 - - 3405 - 1.38 0.034 2049 639.9 243.3 - - 1677 - - - - - - - - - 26.01 -
11161 378.2 11.5 471 11166 roll 1.25 - - 3411 - 1.38 0.035 1166 -639.9 243.3 - - 1677 - - - - - - - - - 25.98 -
11215 372.5 11.8 473 11220 done 1.25 - - 3410 - 1.38 0.033 2053 642.8 243.3 - - 1676 - - - - - - - - - 26.00 -
11391 351.3 11.0 482 11396 roll 1.25 - - 3410 - 1.35 0.044 2925 645.9 243.3 - - 1676 - - - - - - - - - 25.88 -
11436 346.3 11.0 484 11441 done 1.25 - - 3416 - 1.33 0.029 2046 -660.9 243.3 - - 1676 - - - - - - - - - 26.08 -
11602 329.5 9.8 492 11607 roll 1.25 - - 3422 - 1.33 0.037 1173 -656.4 243.3 - - 1676 - - - - - - - - - 25.98 -
11687 321.1 9.8 496 11693 done 1.25 0.08 0.139 3399 -287.5 1.38 0.032 2060 642.8 243.3 - - 1676 - - - - - - - - 25.69 26.01 -
11857 305.6 9.5 504 11862 roll 1.28 - - 3399 - 1.35 0.044 2929 643.7 252.4 - - 1676 - - - - - - - - - 25.87 -
11932 299.1 9.3 507 11960 done 1.31 - - 3402 - 1.33 0.028 2044 -665.4 266.1 19.70 0.773 1619 -2.9 0.122 - - - - - - - 26.09 24.03
12127 279.5 9.6 517 12128 done 1.32 - - 3402 - - - 2044 - 269.7 - - 1605 - - - - - - - - - - -
12282 263.2 10.3 525 12287 roll 1.32 - - 3402 - 1.40 0.041 2931 633.6 269.7 - - 1604 - - - - - - - - - 25.87 -
12347 256.2 10.7 528 12353 done 1.32 - - 3407 - 1.33 0.028 2043 -667.7 269.7 - - 1604 - - - - - - - - - 26.06 -
12514 239.1 10.1 536 12519 roll 1.32 - - 3413 - 1.30 0.036 1181 -663.1 269.7 - - 1604 - - - - - - - - - 25.98 -
12602 230.6 9.9 540 12607 done 1.32 - - 3413 - 1.33 0.032 2046 650.4 269.7 - - 1604 - - - - - - - - - 26.01 -
12763 215.1 9.5 548 12773 roll 1.34 - - 3414 - 1.38 0.043 2932 642.0 277.6 3.65 0.574 1581 -6.3 0.257 - - - - - - - 25.91 24.08
12792 212.4 9.8 549 12797 done 1.34 - - 3419 - 1.33 0.027 2043 -668.4 277.6 - - 1588 - - - - - - - - - 26.13 -
12952 193.6 11.7 557 12958 roll 1.34 - - 3425 - 1.30 0.031 1179 -664.6 277.6 1.98 0.161 1581 -3.5 0.463 - - - - - - - 25.94 25.09
13028 186.0 11.2 560 13034 done 1.34 - - 3425 - 1.33 0.031 2045 651.1 277.6 1.77 0.148 1581 - - - - - - - - - 26.03 25.08
13207 167.3 9.6 569 13217 roll 1.35 - - 3424 - 1.38 0.041 2930 641.3 280.0 3.05 0.479 1571 -3.3 0.125 - - - - - - - 25.94 24.10
13253 162.5 9.8 571 13259 done 1.35 - - 3430 - 1.33 0.026 2047 -663.9 280.0 1.60 0.157 1569 - - - - - - - - - 26.13 25.22
13422 145.1 10.5 579 13428 roll 1.35 - - 3437 - 1.35 0.034 1173 -647.4 280.0 2.03 0.197 1571 - - - - - - - - - 25.98 22.54
13464 142.0 10.4 580 13472 done 1.35 - - 3437 - 1.35 0.031 2057 654.8 280.0 1.65 0.155 1570 - - - - - - - - - 26.05 25.11
13633 126.6 8.1 589 13721 roll 1.49 - - 3437 - 1.40 0.039 2933 625.7 339.1 83.82 0.612 1328 -2.9 0.065 - - - - - - - 25.43 23.99
13775 114.0 8.9 596 13794 done 1.57 0.10 0.044 3511 740.0 1.33 0.025 2054 -660.9 368.9 12.15 0.302 1212 -9.5 0.393 - - - - - - 25.64 25.72 24.30
13956 95.0 10.3 605 13962 roll 1.57 - - 3518 - 1.38 0.034 1170 -640.6 368.9 2.35 0.161 1210 - - - - - - - - - 25.79 24.84
14088 82.6 9.5 611 14103 done 1.59 - - 3518 - 1.35 0.030 2052 653.3 377.1 6.68 0.234 1180 -4.5 0.173 - - - - - - - 25.95 24.39
14269 66.2 9.3 620 14283 roll 1.62 - - 3524 - 1.38 0.031 1179 -632.6 390.8 9.45 0.232 1123 -6.0 0.188 - - - - - - - 25.91 24.53
14365 57.5 9.8 624 14375 done 1.62 - - 3524 - 1.33 0.029 2048 653.4 390.8 2.58 0.148 1123 - - - - - - - - - 26.02 24.78
14523 40.6 9.7 637 14529 roll 1.62 - - 3524 - 1.38 0.037 2929 638.4 390.8 2.40 0.158 1120 -1.2 0.035 - - - - - - - 25.87 24.83
14592 33.7 10.8 643 14600 done 1.62 - - 3531 - 1.30 0.027 2053 -673.8 390.8 2.33 0.145 1121 - - - - - - - - - 26.10 24.82
14753 16.2 10.5 666 14760 roll 1.62 - - 3529 - 1.40 0.034 2935 630.0 390.8 2.40 0.158 1120 - - - - - - - - - 25.91 24.85
14853 4.7 12.0 684 14861 done 1.62 - - 3536 - 1.33 0.027 2043 -670.7 390.8 2.08 0.138 1117 -1.4 0.005 - - - - - - - 26.13 25.02
14866 end climb: SURFACE_DEPTH_REACHED
14867 begin surface coast
14893 end surface coast: CONTROL_FINISHED_OK
14897 begin surface
SM 2.20 - - - - -8.84 8.73 0.031 142 16.2 0.22 0.041 2199 -31922.7 450.13 27.85 0.119 878 31.5 -0.060 - - - - - -