OKMC Jun13 * SG167 * Dive index * Mission links * Dive 614 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 102.27 of 150.00 AH used of 24V (31.82% remains)
• Previous NAKs 0, Timeouts 0 • 63.34 of 100.00 AH used of 10V (36.66% remains)
• Surface angle -70.4 deg, depth 2.10 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 42 s
• GPS2 time: 17 s • Transponder ping count: 6
• 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
19 end surface: CONTROL_FINISHED_OK
19 begin dive
23 - - - 95 VBD -1.09 - - 112 - - - 2228 - -116.8 -69.55 - 2611 - - - - - - - - - - -
101 3.3 -2.6 7 132 roll -1.09 10.95 0.230 2681 234.6 1.55 0.053 3248 658.1 -116.8 -12.45 - 3193 -46.7 - - - - - - - 24.70 25.86 26.46
328 53.0 -21.0 28 333 done -1.09 - - 2681 - 1.50 0.018 2180 -712.0 -116.8 - - 3193 - - - - - - - - - 26.17 -
645 105.2 -13.9 44 650 roll -1.09 - - 2681 - 1.50 0.034 1137 -695.3 -116.8 - - 3194 - - - - - - - - - 24.94 -
704 111.1 -13.1 46 711 done -1.09 - - 2674 - 1.55 0.034 2188 678.1 -116.8 - - 3194 - - - - - - - - - 26.00 -
1011 153.4 -13.6 62 1016 roll -1.09 - - 2674 - 1.52 0.037 1170 -669.7 -116.8 - - 3195 - - - - - - - - - 25.82 -
1077 162.7 -14.2 65 1083 done -1.09 0.12 0.182 2697 191.7 1.52 0.028 2221 691.4 -116.8 - - 3195 - - - - - - - - 25.67 26.10 -
1406 206.7 -13.4 81 1412 roll -1.09 - - 2697 - 1.58 0.028 1163 -669.6 -116.8 - - 3196 - - - - - - - - - 26.10 -
1502 217.8 -12.5 85 1507 done -1.09 - - 2692 - 1.48 0.028 2159 673.0 -116.8 - - 3196 - - - - - - - - - 26.15 -
1827 255.3 -11.5 101 1832 roll -1.09 - - 2684 - 1.58 0.034 3245 687.3 -116.8 - - 3196 - - - - - - - - - 26.06 -
1887 259.5 -11.7 102 1894 done -1.09 - - 2684 - 1.52 0.017 2144 -724.3 -116.8 - - 3196 - - - - - - - - - 26.30 -
2192 295.9 -11.1 113 2197 roll -1.09 - - 2677 - 1.65 0.033 3252 671.5 -116.8 - - 3196 - - - - - - - - - 26.05 -
2324 310.1 -11.4 117 2329 done -1.09 - - 2677 - 1.50 0.017 2173 -719.3 -116.8 - - 3196 - - - - - - - - - 26.31 -
2654 343.3 -9.9 128 2659 roll -1.09 - - 2676 - 1.45 0.029 1179 -685.5 -116.8 - - 3196 - - - - - - - - - 26.13 -
2743 349.7 -9.8 130 2751 done -1.09 0.12 0.171 2700 200.0 1.48 0.028 2177 674.3 -116.8 - - 3196 - - - - - - - - 25.78 26.16 -
3050 378.9 -8.6 141 3055 roll -1.09 - - 2695 - 1.60 0.034 3238 663.1 -116.8 - - 3195 - - - - - - - - - 26.06 -
3198 390.9 -9.6 145 3203 done -1.09 - - 2694 - 1.52 0.018 2173 -700.7 -116.8 - - 3195 - - - - - - - - - 26.32 -
3514 422.2 -9.4 156 3519 roll -1.09 - - 2694 - 1.48 0.030 1170 -677.7 -116.8 - - 3194 - - - - - - - - - 26.12 -
3583 428.7 -9.7 158 3589 done -1.09 - - 2688 - 1.50 0.028 2209 692.7 -116.8 - - 3194 - - - - - - - - - 26.15 -
3914 461.0 -9.4 169 3915 done -1.09 - - 2687 - - - 2209 - -116.8 - - 3192 - - - - - - - - - - -
4214 488.7 -9.1 179 4219 roll -1.09 - - 2687 - 1.50 0.028 1178 -687.3 -116.8 - - 3191 - - - - - - - - - 26.11 -
4356 499.8 -8.8 183 4362 done -1.09 - - 2683 - 1.48 0.029 2160 663.5 -116.8 - - 3189 - - - - - - - - - 26.14 -
4678 533.3 -10.1 194 4683 roll -1.09 - - 2683 - 1.48 0.028 1179 -662.8 -116.8 - - 3188 - - - - - - - - - 26.11 -
4792 542.6 -9.7 197 4797 done -1.09 - - 2677 - 1.45 0.029 2149 669.0 -116.8 - - 3187 - - - - - - - - - 26.15 -
5108 571.0 -8.0 208 5113 roll -1.09 - - 2678 - 1.45 0.028 1180 -668.3 -116.8 - - 3185 - - - - - - - - - 26.12 -
5212 579.1 -8.2 211 5217 done -1.09 - - 2672 - 1.45 0.028 2148 667.6 -116.8 - - 3184 - - - - - - - - - 26.15 -
5537 609.5 -9.5 222 5542 roll -1.09 - - 2672 - 1.45 0.029 1181 -666.9 -116.8 - - 3182 - - - - - - - - - 26.10 -
5598 612.9 -9.6 223 5606 done -1.09 0.08 0.155 2693 262.5 1.45 0.029 2136 658.6 -116.8 - - 3182 - - - - - - - - 25.72 26.11 -
5755 628.7 -8.7 229 5760 roll -1.09 - - 2693 - 1.45 0.030 1172 -664.8 -116.8 - - 3181 - - - - - - - - - 26.09 -
5804 631.8 -8.6 230 5809 done -1.09 - - 2689 - 1.40 0.029 2103 665.0 -116.8 - - 3180 - - - - - - - - - 26.13 -
5975 647.3 -8.4 236 5976 done -1.09 - - 2689 - - - 2103 - -116.8 - - 3179 - - - - - - - - - - -
6123 659.7 -8.2 241 6128 roll -1.09 - - 2689 - 1.40 0.030 1173 -664.3 -116.8 - - 3179 - - - - - - - - - 26.09 -
6143 659.7 -8.2 241 6148 done -1.09 - - 2685 - 1.40 0.030 2097 660.0 -116.8 - - 3178 - - - - - - - - - 26.12 -
6315 677.0 -9.3 247 6320 roll -1.09 - - 2683 - 1.73 0.038 3246 664.2 -116.8 - - 3178 - - - - - - - - - 25.95 -
6374 680.6 -9.4 248 6381 done -1.09 - - 2683 - 1.67 0.019 2098 -687.4 -116.8 - - 3177 - - - - - - - - - 26.27 -
6530 698.0 -9.5 254 6535 roll -1.09 - - 2683 - 1.80 0.037 3247 638.3 -116.8 - - 3176 - - - - - - - - - 25.95 -
6559 698.0 -9.5 254 6566 done -1.09 - - 2683 - 1.62 0.019 2105 -704.9 -116.8 - - 3175 - - - - - - - - - 26.25 -
6716 716.6 -10.0 260 6721 roll -1.09 - - 2683 - 1.38 0.031 1180 -670.3 -116.8 - - 3175 - - - - - - - - - 26.06 -
6800 723.0 -9.7 262 6805 done -1.09 - - 2678 - 1.40 0.031 2102 658.6 -116.8 - - 3174 - - - - - - - - - 26.09 -
6966 737.9 -7.9 268 6967 done -1.09 - - 2679 - - - 2102 - -116.8 - - 3173 - - - - - - - - - - -
7117 749.8 -7.9 273 7122 roll -1.09 - - 2670 - 1.73 0.037 3252 664.7 -116.8 - - 3172 - - - - - - - - - 25.95 -
7191 755.0 -7.7 275 7197 done -1.09 0.12 0.166 2700 250.0 1.65 0.019 2090 -704.2 -116.8 - - 3172 - - - - - - - - 25.78 26.24 -
7368 767.2 -6.5 281 7373 roll -1.09 - - 2700 - 1.35 0.033 1183 -671.9 -116.8 - - 3171 - - - - - - - - - 26.03 -
7443 771.7 -6.6 283 7448 done -1.09 - - 2697 - 1.35 0.031 2069 656.3 -116.8 - - 3171 - - - - - - - - - 26.08 -
7618 785.4 -7.7 289 7619 done -1.09 - - 2696 - - - 2068 - -116.8 - - 3170 - - - - - - - - - - -
7769 797.7 -8.3 294 7774 roll -1.09 - - 2697 - 1.35 0.031 1180 -657.8 -116.8 - - 3169 - - - - - - - - - 26.04 -
7838 803.3 -8.4 296 7843 done -1.09 - - 2697 - 1.33 0.031 2049 653.4 -116.8 - - 3168 - - - - - - - - - 26.06 -
8018 819.3 -8.6 302 8023 roll -1.09 - - 2697 - 1.83 0.040 3253 657.9 -116.8 - - 3167 - - - - - - - - - 25.87 -
8054 822.2 -8.6 303 8059 done -1.09 - - 2697 - 1.73 0.021 2062 -688.4 -116.8 - - 3167 - - - - - - - - - 26.20 -
8239 838.9 -9.1 309 8244 roll -1.09 - - 2697 - 1.33 0.033 1177 -665.4 -116.8 - - 3166 - - - - - - - - - 26.01 -
8308 845.0 -9.3 311 8313 done -1.09 - - 2697 - 1.33 0.032 2043 651.1 -116.8 - - 3166 - - - - - - - - - 26.04 -
8489 861.2 -8.8 317 8494 roll -1.09 - - 2697 - 1.85 0.040 3251 653.0 -116.8 - - 3165 - - - - - - - - - 25.85 -
8593 870.0 -9.1 320 8599 done -1.09 - - 2697 - 1.73 0.021 2056 -690.8 -116.8 - - 3164 - - - - - - - - - 26.17 -
8769 886.1 -8.7 326 8774 roll -1.09 - - 2697 - 1.30 0.034 1187 -668.5 -116.8 - - 3164 - - - - - - - - - 25.98 -
8885 894.9 -8.9 329 8890 done -1.09 - - 2697 - 1.30 0.033 2034 651.5 -116.8 - - 3163 - - - - - - - - - 26.01 -
9051 910.7 -8.5 335 9056 roll -1.09 - - 2697 - 1.85 0.041 3247 655.7 -116.8 - - 3162 - - - - - - - - - 25.81 -
9110 913.9 -8.6 336 9116 done -1.09 - - 2697 - 1.75 0.021 2039 -690.3 -116.8 - - 3162 - - - - - - - - - 26.15 -
9267 928.8 -8.5 342 9272 roll -1.09 - - 2697 - 1.27 0.034 1187 -670.9 -116.8 - - 3161 - - - - - - - - - 25.97 -
9311 931.8 -8.5 343 9316 done -1.09 - - 2696 - 1.27 0.033 2020 655.9 -116.8 - - 3161 - - - - - - - - - 26.00 -
9487 947.1 -8.6 349 9492 roll -1.09 - - 2696 - 1.88 0.041 3246 652.1 -116.8 - - 3161 - - - - - - - - - 25.78 -
9583 955.3 -8.4 352 9589 done -1.09 - - 2697 - 1.75 0.022 2049 -684.0 -116.8 - - 3159 - - - - - - - - - 26.14 -
9769 971.1 -8.6 358 9774 roll -1.09 - - 2696 - 1.30 0.034 1184 -665.4 -116.8 - - 3158 - - - - - - - - - 25.94 -
9787 971.1 -8.6 358 9792 done -1.09 - - 2697 - 1.30 0.034 2031 651.5 -116.8 - - 3158 - - - - - - - - - 25.97 -
9959 986.5 -8.1 364 9964 roll -1.09 - - 2696 - 1.85 0.042 3244 655.7 -116.8 - - 3158 - - - - - - - - - 25.75 -
10021 end dive: TARGET_DEPTH_EXCEEDED
10021 begin apogee
10032 992.4 -8.6 366 10195 roll -0.25 0.88 0.137 2961 301.1 - - 1923 - - 151.75 1.021 2712 -2.9 0.302 - - - - - - 24.64 - 23.33
10197 end apogee: CONTROL_FINISHED_OK
10197 begin climb
10200 998.0 - 371 10330 roll 1.09 1.20 0.062 3399 365.0 1.65 0.040 2940 616.4 116.8 118.47 1.163 2235 -4.0 0.365 - - - - - - 25.15 25.25 23.20
10340 989.5 7.8 376 10345 done 1.10 - - 3407 - 1.58 0.028 1908 -653.2 122.6 - - 2210 - - - - - - - - - 25.32 -
10515 967.4 11.4 382 10520 roll 1.10 - - 3406 - 1.62 0.040 2956 646.9 122.6 - - 2201 - - - - - - - - - 25.77 -
10574 963.3 11.5 383 10581 done 1.10 - - 3413 - 1.58 0.028 1928 -650.6 122.6 - - 2200 - - - - - - - - - 25.91 -
10733 941.9 11.7 389 10738 roll 1.10 - - 3413 - 1.58 0.040 2950 646.8 122.6 - - 2199 - - - - - - - - - 25.86 -
10798 933.3 12.2 391 10803 done 1.10 - - 3420 - 1.52 0.029 1925 -674.3 122.6 - - 2198 - - - - - - - - - 26.01 -
10983 911.6 11.5 397 10989 roll 1.10 - - 3420 - 1.58 0.041 2951 649.4 122.6 - - 2198 - - - - - - - - - 25.89 -
11059 903.8 11.8 399 11064 done 1.10 - - 3427 - 1.50 0.029 1934 -678.0 122.6 - - 2197 - - - - - - - - - 26.04 -
11235 883.7 10.6 405 11240 roll 1.10 - - 3434 - 1.65 0.041 850 -657.0 122.6 - - 2197 - - - - - - - - - 25.89 -
11289 879.7 10.6 406 11295 done 1.10 0.12 0.176 3407 -225.0 1.67 0.034 1964 667.1 122.6 - - 2196 - - - - - - - - 25.58 25.98 -
11455 861.3 9.7 412 11460 roll 1.10 - - 3407 - 1.52 0.042 2975 665.1 122.6 - - 2193 - - - - - - - - - 25.88 -
11559 852.1 9.6 415 11564 done 1.10 - - 3412 - 1.48 0.028 2000 -658.8 122.6 - - 2193 - - - - - - - - - 26.08 -
11736 834.5 9.5 421 11741 roll 1.10 - - 3411 - 1.50 0.041 2948 632.0 122.6 - - 2194 - - - - - - - - - 25.88 -
11780 830.9 9.5 422 11785 done 1.10 - - 3417 - 1.40 0.029 2021 -662.1 122.6 - - 2193 - - - - - - - - - 26.08 -
11955 811.9 10.3 428 11960 roll 1.10 - - 3426 - 1.77 0.040 855 -658.8 122.6 - - 2193 - - - - - - - - - 25.84 -
12078 801.7 10.7 431 12084 done 1.10 - - 3426 - 1.75 0.034 2009 659.4 122.6 - - 2193 - - - - - - - - - 25.93 -
12231 782.1 10.9 437 12236 roll 1.10 - - 3426 - 1.45 0.042 2945 645.5 122.6 - - 2192 - - - - - - - - - 25.86 -
12275 778.2 11.0 438 12280 done 1.10 - - 3432 - 1.42 0.028 2001 -664.8 122.6 - - 2192 - - - - - - - - - 26.07 -
12451 757.9 10.9 444 12457 roll 1.10 - - 3441 - 1.75 0.041 851 -657.1 122.6 - - 2191 - - - - - - - - - 25.82 -
12546 747.4 10.9 447 12552 done 1.10 0.15 0.180 3407 -226.7 1.73 0.034 1986 656.1 122.6 - - 2191 - - - - - - - - 25.37 25.92 -
12733 728.5 10.1 453 12738 roll 1.10 - - 3406 - 1.50 0.042 2948 641.3 122.6 - - 2191 - - - - - - - - - 25.82 -
12802 721.5 10.4 455 12807 done 1.10 - - 3411 - 1.45 0.028 1994 -657.9 122.6 - - 2191 - - - - - - - - - 26.06 -
12982 702.5 10.3 461 12988 roll 1.10 - - 3420 - 1.75 0.041 844 -657.1 122.6 - - 2190 - - - - - - - - - 25.78 -
13038 698.7 10.5 462 13043 done 1.10 - - 3420 - 1.75 0.035 1997 658.9 122.6 - - 2191 - - - - - - - - - 25.88 -
13203 679.1 10.4 468 13208 roll 1.10 - - 3420 - 1.48 0.043 2943 639.2 122.6 - - 2190 - - - - - - - - - 25.79 -
13345 665.2 11.0 472 13350 done 1.10 - - 3426 - 1.40 0.028 2014 -663.6 122.6 - - 2190 - - - - - - - - - 26.04 -
13516 646.8 9.4 478 13521 roll 1.10 - - 3426 - 1.48 0.041 2944 628.4 122.6 - - 2190 - - - - - - - - - 25.79 -
13712 628.7 9.8 484 13717 done 1.10 - - 3432 - 1.38 0.028 2031 -661.6 122.6 - - 2190 - - - - - - - - - 26.03 -
13888 610.6 9.9 490 13889 done 1.10 - - 3432 - - - 2031 - 122.6 - - 2190 - - - - - - - - - - -
14037 595.4 10.0 495 14038 done 1.10 - - 3432 - - - 2031 - 122.6 - - 2190 - - - - - - - - - - -
14337 566.3 9.6 505 14342 roll 1.10 - - 3441 - 1.85 0.040 829 -649.7 122.6 - - 2190 - - - - - - - - - 25.73 -
14427 559.9 9.5 507 14434 done 1.10 0.15 0.175 3406 -233.3 1.83 0.034 2037 660.1 122.6 - - 2190 - - - - - - - - 25.29 25.84 -
14732 529.2 9.2 518 14737 roll 1.10 - - 3406 - 1.42 0.043 2951 643.7 122.6 - - 2189 - - - - - - - - - 25.74 -
14781 525.9 9.2 519 14786 done 1.10 - - 3411 - 1.35 0.028 2051 -666.7 122.6 - - 2189 - - - - - - - - - 26.03 -
15102 499.3 7.7 530 15112 roll 1.12 - - 3419 - 1.90 0.040 854 -630.0 132.1 3.33 0.646 2175 -4.2 0.344 - - - - - - - 25.60 23.48
15156 496.4 7.7 531 15180 done 1.14 - - 3419 - 1.85 0.034 2070 657.3 141.7 17.12 0.933 2133 -2.5 0.138 - - - - - - - 25.82 23.93
15501 466.8 8.1 543 15506 roll 1.14 - - 3427 - 1.88 0.037 854 -646.8 141.7 - - 2111 - - - - - - - - - 25.72 -
15525 466.8 8.1 543 15530 done 1.14 - - 3426 - 1.85 0.034 2067 655.7 141.7 - - 2112 - - - - - - - - - 25.82 -
15840 437.5 8.7 554 15845 roll 1.14 - - 3427 - 1.38 0.042 2950 639.9 141.7 - - 2111 - - - - - - - - - 25.76 -
15906 431.8 8.8 556 15911 done 1.14 - - 3433 - 1.30 0.028 2091 -660.8 141.7 - - 2111 - - - - - - - - - 26.02 -
16241 404.7 7.3 567 16272 roll 1.18 - - 3433 - 1.38 0.040 2945 618.8 161.5 19.77 0.865 2040 -3.6 0.178 - - - - - - - 25.74 23.99
16311 399.6 7.4 569 16335 done 1.21 - - 3438 - 1.25 0.028 2113 -665.6 179.5 17.45 0.841 1977 -3.6 0.181 - - - - - - - 25.95 23.87
16637 371.3 9.0 580 16642 roll 1.21 - - 3439 - 1.33 0.039 2948 627.8 179.5 - - 1955 - - - - - - - - - 25.75 -
16808 354.9 10.4 585 16814 done 1.21 - - 3444 - 1.20 0.027 2143 -670.8 179.5 - - 1955 - - - - - - - - - 25.99 -
17129 325.5 8.3 596 17134 roll 1.21 - - 3453 - 1.98 0.037 846 -655.1 179.5 - - 1954 - - - - - - - - - 25.76 -
17291 312.1 8.5 601 17296 done 1.21 - - 3453 - 1.95 0.031 2140 663.6 179.5 - - 1954 - - - - - - - - - 25.86 -
17621 284.1 8.3 612 17626 roll 1.21 - - 3453 - 1.25 0.041 2951 648.8 179.5 - - 1954 - - - - - - - - - 25.84 -
17808 268.1 8.4 618 17813 done 1.21 - - 3458 - 1.23 0.026 2132 -665.9 179.5 - - 1955 - - - - - - - - - 26.08 -
18133 241.2 8.5 630 18138 roll 1.21 - - 3468 - 1.92 0.036 851 -667.2 179.5 - - 1954 - - - - - - - - - 25.78 -
18178 237.5 8.3 632 18183 done 1.21 - - 3469 - 1.98 0.031 2166 664.1 179.5 - - 1954 - - - - - - - - - 25.89 -
18506 213.7 7.4 648 18525 roll 1.25 - - 3468 - 1.23 0.038 2950 637.4 196.7 14.75 0.704 1909 -3.1 0.098 - - - - - - - 25.85 24.19
18643 203.2 8.7 654 18648 done 1.25 - - 3473 - 1.15 0.024 2169 -679.1 196.7 - - 1894 - - - - - - - - - 26.06 -
18958 175.1 8.8 670 18963 roll 1.25 - - 3483 - 1.98 0.035 852 -665.2 196.7 - - 1894 - - - - - - - - - 25.80 -
19032 169.6 8.6 673 19038 done 1.25 0.12 0.162 3453 -250.0 1.98 0.030 2180 670.7 196.7 - - 1894 - - - - - - - - 25.53 25.91 -
19349 146.3 7.2 689 19376 roll 1.29 - - 3453 - 1.20 0.037 2951 642.5 219.4 22.33 0.643 1812 -3.7 0.088 - - - - - - - 25.85 24.25
19411 140.9 8.2 692 19416 done 1.29 - - 3457 - 1.20 0.024 2142 -674.2 219.4 - - 1796 - - - - - - - - - 26.01 -
19738 111.7 9.0 708 19743 roll 1.29 - - 3457 - 1.25 0.035 2948 644.8 219.4 - - 1795 - - - - - - - - - 25.91 -
19852 101.3 10.0 713 19857 done 1.29 - - 3462 - 1.23 0.024 2118 -674.8 219.4 - - 1795 - - - - - - - - - 26.10 -
20169 76.5 6.8 729 20189 roll 1.36 - - 3471 - 1.98 0.035 845 -642.9 254.0 14.77 0.255 1684 -7.5 0.238 - - - - - - - 25.97 24.79
20297 66.9 7.2 735 20316 done 1.41 - - 3471 - 1.95 0.028 2141 664.6 276.5 13.15 0.243 1589 -7.2 0.210 - - - - - - - 25.98 24.89
20620 46.6 7.1 753 20641 roll 1.46 0.12 0.076 3562 758.3 2.03 0.033 851 -635.5 304.1 16.25 0.204 1474 -7.1 0.171 - - - - - - 26.37 25.97 24.98
20763 34.8 7.3 766 20780 done 1.50 - - 3562 - 1.90 0.029 2132 674.2 324.0 12.10 0.181 1391 -6.9 0.139 - - - - - - - 25.98 25.00
21076 end climb: SURFACE_DEPTH_REACHED
21076 begin surface coast
21097 end surface coast: CONTROL_FINISHED_OK
21097 begin surface
SM 2.13 - - - - -9.03 8.80 0.029 137 15.5 0.08 0.109 2200 -87775.0 450.13 58.88 0.116 877 14.9 -0.028 - - - - - -