OKMC Jun13 * SG167 * Dive index * Mission links * Dive 628 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 103.94 of 150.00 AH used of 24V (30.71% remains)
• Previous NAKs 0, Timeouts 0 • 64.47 of 100.00 AH used of 10V (35.53% remains)
• Surface angle -71.0 deg, depth 2.19 m • Intended pitch -19.3 deg, speed -8.049 cm/s
VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 32 s
• GPS2 time: 36 s • Transponder ping count: 483
• 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
24 - - - 95 VBD -1.20 - - 113 - - - 2220 - -116.8 -69.38 - 2634 - - - - - - - - - - -
102 3.6 -3.0 7 132 roll -1.20 10.77 0.228 2654 235.9 1.62 0.051 1139 -667.3 -116.8 -12.02 - 3193 -46.5 - - - - - - - 24.67 25.84 26.46
263 37.1 -18.1 22 270 done -1.20 - - 2649 - 1.58 0.034 2194 667.7 -116.8 - - 3194 - - - - - - - - - 25.85 -
581 95.1 -17.2 42 586 roll -1.20 - - 2649 - 1.55 0.034 1153 -671.6 -116.8 - - 3194 - - - - - - - - - 25.89 -
629 102.7 -16.4 44 634 done -1.20 - - 2642 - 1.52 0.029 2207 693.4 -116.8 - - 3194 - - - - - - - - - 26.04 -
950 147.8 -12.8 60 955 roll -1.20 - - 2635 - 1.52 0.034 3252 687.5 -116.8 - - 3195 - - - - - - - - - 25.98 -
1020 156.2 -12.7 63 1025 done -1.20 - - 2634 - 1.55 0.017 2129 -724.5 -116.8 - - 3195 - - - - - - - - - 26.27 -
1340 197.1 -12.5 79 1345 roll -1.20 - - 2635 - 1.45 0.028 1138 -683.4 -116.8 - - 3196 - - - - - - - - - 26.07 -
1395 203.0 -12.7 81 1401 done -1.20 0.10 0.162 2658 230.0 1.52 0.028 2167 677.0 -116.8 - - 3196 - - - - - - - - 25.59 26.10 -
1711 239.2 -10.5 97 1716 roll -1.20 - - 2658 - 1.50 0.028 1130 -691.3 -116.8 - - 3197 - - - - - - - - - 26.08 -
1878 255.5 -10.6 104 1883 done -1.20 - - 2653 - 1.52 0.028 2180 690.8 -116.8 - - 3197 - - - - - - - - - 26.10 -
2203 291.0 -10.6 115 2208 roll -1.20 - - 2653 - 1.50 0.027 1140 -693.3 -116.8 - - 3196 - - - - - - - - - 26.09 -
2303 300.6 -10.2 118 2308 done -1.20 - - 2646 - 1.48 0.027 2137 673.6 -116.8 - - 3196 - - - - - - - - - 26.13 -
2634 335.8 -10.2 129 2639 roll -1.20 - - 2646 - 1.50 0.028 1132 -670.0 -116.8 - - 3196 - - - - - - - - - 26.10 -
2718 342.5 -10.2 131 2723 done -1.20 - - 2640 - 1.48 0.027 2124 670.3 -116.8 - - 3195 - - - - - - - - - 26.13 -
3034 378.8 -10.9 142 3039 roll -1.20 - - 2640 - 1.48 0.028 1138 -666.2 -116.8 - - 3195 - - - - - - - - - 26.09 -
3123 386.3 -11.0 144 3129 done -1.20 - - 2634 - 1.45 0.028 2113 672.4 -116.8 - - 3194 - - - - - - - - - 26.13 -
3429 423.4 -11.5 155 3430 done -1.20 - - 2634 - - - 2113 - -116.8 - - 3194 - - - - - - - - - - -
3733 457.9 -10.7 165 3738 roll -1.20 - - 2634 - 1.45 0.028 1143 -669.0 -116.8 - - 3192 - - - - - - - - - 26.09 -
3842 468.2 -10.5 168 3848 done -1.20 0.08 0.168 2659 312.5 1.42 0.028 2095 670.4 -116.8 - - 3192 - - - - - - - - 25.61 26.13 -
4164 497.1 -8.3 179 4169 roll -1.20 - - 2659 - 1.42 0.028 1142 -671.1 -116.8 - - 3190 - - - - - - - - - 26.09 -
4259 505.3 -8.5 182 4264 done -1.20 - - 2655 - 1.40 0.028 2069 662.1 -116.8 - - 3189 - - - - - - - - - 26.11 -
4594 535.5 -9.1 193 4595 done -1.20 - - 2655 - - - 2069 - -116.8 - - 3188 - - - - - - - - - - -
4895 561.6 -8.3 203 4900 roll -1.20 - - 2647 - 1.75 0.036 3245 672.0 -116.8 - - 3186 - - - - - - - - - 25.96 -
5004 571.0 -9.6 206 5009 done -1.20 - - 2647 - 1.70 0.018 2043 -707.1 -116.8 - - 3185 - - - - - - - - - 26.25 -
5325 603.5 -9.9 217 5330 roll -1.20 - - 2647 - 1.33 0.031 1147 -673.7 -116.8 - - 3183 - - - - - - - - - 26.06 -
5409 610.2 -9.9 219 5414 done -1.20 - - 2641 - 1.38 0.028 2060 661.6 -116.8 - - 3183 - - - - - - - - - 26.09 -
5575 628.4 -9.9 225 5580 roll -1.20 - - 2633 - 1.77 0.035 3244 668.9 -116.8 - - 3181 - - - - - - - - - 25.96 -
5650 635.3 -10.3 227 5656 done -1.20 0.12 0.178 2661 233.3 1.70 0.018 2041 -707.6 -116.8 - - 3181 - - - - - - - - 25.74 26.24 -
5826 654.5 -10.3 233 5831 roll -1.20 - - 2661 - 1.33 0.031 1146 -672.9 -116.8 - - 3180 - - - - - - - - - 26.03 -
5980 666.9 -10.0 237 5986 done -1.20 - - 2658 - 1.35 0.028 2049 668.9 -116.8 - - 3179 - - - - - - - - - 26.10 -
6131 684.2 -9.4 243 6133 done -1.20 - - 2657 - - - 2048 - -116.8 - - 3178 - - - - - - - - - - -
6283 697.0 -8.4 248 6288 roll -1.20 - - 2657 - 1.38 0.029 1139 -658.7 -116.8 - - 3177 - - - - - - - - - 26.01 -
6343 700.1 -8.5 249 6350 done -1.20 - - 2656 - 1.35 0.030 2033 662.2 -116.8 - - 3176 - - - - - - - - - 26.06 -
6499 715.4 -8.7 255 6504 roll -1.20 - - 2656 - 1.35 0.029 1141 -660.7 -116.8 - - 3175 - - - - - - - - - 26.03 -
6548 718.5 -8.6 256 6553 done -1.20 - - 2656 - 1.33 0.031 2015 657.1 -116.8 - - 3175 - - - - - - - - - 26.06 -
6719 734.6 -8.7 262 6724 roll -1.20 - - 2656 - 1.33 0.030 1139 -658.6 -116.8 - - 3174 - - - - - - - - - 26.03 -
6755 737.8 -8.8 263 6760 done -1.20 - - 2650 - 1.33 0.029 2014 657.9 -116.8 - - 3174 - - - - - - - - - 26.07 -
6940 754.9 -9.3 269 6941 done -1.20 - - 2650 - - - 2014 - -116.8 - - 3173 - - - - - - - - - - -
7090 769.2 -9.5 274 7095 roll -1.20 - - 2641 - 1.85 0.036 3245 665.4 -116.8 - - 3171 - - - - - - - - - 25.86 -
7115 769.2 -9.5 274 7120 done -1.20 - - 2641 - 1.80 0.019 1993 -695.6 -116.8 - - 3171 - - - - - - - - - 26.17 -
7280 788.3 -10.2 280 7285 roll -1.20 - - 2641 - 1.27 0.032 1137 -674.0 -116.8 - - 3170 - - - - - - - - - 25.99 -
7349 794.7 -9.9 282 7355 done -1.20 - - 2641 - 1.30 0.031 1993 658.5 -116.8 - - 3169 - - - - - - - - - 26.03 -
7531 812.5 -9.7 288 7536 roll -1.20 - - 2631 - 1.88 0.037 3237 661.7 -116.8 - - 3169 - - - - - - - - - 25.84 -
7640 822.0 -9.9 291 7646 done -1.20 0.12 0.179 2660 241.7 1.77 0.019 1995 -701.7 -116.8 - - 3168 - - - - - - - - 25.65 26.17 -
7811 839.7 -9.5 297 7816 roll -1.20 - - 2660 - 1.27 0.033 1143 -670.9 -116.8 - - 3167 - - - - - - - - - 25.98 -
7881 846.1 -9.6 299 7886 done -1.20 - - 2656 - 1.33 0.030 2017 657.1 -116.8 - - 3167 - - - - - - - - - 26.04 -
8061 863.4 -9.3 305 8067 roll -1.20 - - 2656 - 1.88 0.040 3238 649.5 -116.8 - - 3166 - - - - - - - - - 25.78 -
8210 876.3 -10.2 309 8215 done -1.20 - - 2656 - 1.83 0.021 1983 -685.8 -116.8 - - 3165 - - - - - - - - - 26.15 -
8376 895.5 -10.4 315 8381 roll -1.20 - - 2656 - 1.25 0.033 1147 -668.8 -116.8 - - 3165 - - - - - - - - - 25.94 -
8420 899.3 -10.5 316 8425 done -1.20 - - 2651 - 1.38 0.031 2048 652.9 -116.8 - - 3167 - - - - - - - - - 25.98 -
8596 919.1 -10.7 322 8601 roll -1.20 - - 2643 - 1.80 0.038 3236 660.0 -116.8 - - 3167 - - - - - - - - - 25.78 -
8662 926.4 -10.7 324 8667 done -1.20 - - 2643 - 1.77 0.021 2016 -689.3 -116.8 - - 3166 - - - - - - - - - 26.13 -
8847 946.7 -10.8 330 8852 roll -1.20 - - 2642 - 1.30 0.033 1149 -666.9 -116.8 - - 3165 - - - - - - - - - 25.93 -
8894 950.7 -10.9 331 8899 done -1.20 - - 2641 - 1.38 0.045 2032 639.9 -116.8 - - 3165 - - - - - - - - - 25.84 -
9070 970.8 -10.9 337 9075 roll -1.20 - - 2640 - 1.85 0.040 3242 654.1 -116.8 - - 3164 - - - - - - - - - 25.71 -
9169 981.2 -10.7 340 9174 done -1.20 - - 2640 - 1.77 0.021 2014 -693.8 -116.8 - - 3163 - - - - - - - - - 26.12 -
9255 end dive: TARGET_DEPTH_EXCEEDED
9255 begin apogee
9265 991.2 -10.8 343 9434 roll -0.25 1.10 0.147 2962 292.7 - - 1838 - - 157.15 1.013 2708 -2.9 0.300 - - - - - - 24.30 - 23.37
9436 end apogee: CONTROL_FINISHED_OK
9436 begin climb
9440 997.5 - 348 9575 roll 1.20 1.30 0.063 3439 366.9 1.58 0.041 860 -619.0 116.8 120.10 1.154 2227 -4.0 0.366 - - - - - - 25.13 25.20 23.25
9724 968.7 13.0 358 9729 done 1.20 - - 3439 - 1.58 0.034 1897 656.3 116.8 - - 2202 - - - - - - - - - 25.79 -
9902 944.6 13.2 364 9907 roll 1.20 - - 3447 - 1.62 0.038 844 -650.0 116.8 - - 2199 - - - - - - - - - 25.82 -
10006 931.7 13.1 367 10011 done 1.20 - - 3446 - 1.62 0.034 1922 665.4 116.8 - - 2198 - - - - - - - - - 25.93 -
10182 907.9 12.9 373 10187 roll 1.20 - - 3447 - 1.55 0.041 2951 663.9 116.8 - - 2197 - - - - - - - - - 25.86 -
10266 899.0 13.1 375 10271 done 1.20 - - 3453 - 1.50 0.028 1927 -682.7 116.8 - - 2196 - - - - - - - - - 26.04 -
10431 875.9 12.3 381 10432 done 1.20 - - 3453 - - - 1927 - 116.8 - - 2196 - - - - - - - - - - -
10582 858.7 11.4 386 10587 roll 1.20 - - 3453 - 1.58 0.040 2952 648.7 116.8 - - 2195 - - - - - - - - - 25.84 -
10656 851.2 11.3 388 10662 done 1.20 - - 3460 - 1.50 0.028 1931 -680.7 116.8 - - 2195 - - - - - - - - - 26.04 -
10832 830.6 11.1 394 10833 done 1.20 - - 3460 - - - 1931 - 116.8 - - 2194 - - - - - - - - - - -
10982 814.5 10.6 399 10987 roll 1.20 - - 3460 - 1.58 0.040 2959 650.6 116.8 - - 2194 - - - - - - - - - 25.84 -
11052 807.1 10.9 401 11057 done 1.20 - - 3466 - 1.50 0.028 1938 -680.7 116.8 - - 2193 - - - - - - - - - 26.03 -
11232 787.0 10.8 407 11237 roll 1.20 - - 3474 - 1.65 0.040 850 -659.4 116.8 - - 2193 - - - - - - - - - 25.82 -
11268 783.1 10.9 408 11274 done 1.20 0.15 0.184 3441 -220.0 1.70 0.044 1962 654.1 116.8 - - 2192 - - - - - - - - 25.27 25.82 -
11454 763.4 10.4 414 11459 roll 1.20 - - 3441 - 1.52 0.053 2964 659.2 116.8 - - 2192 - - - - - - - - - 25.32 -
11606 749.0 11.5 418 11612 done 1.20 - - 3446 - 1.48 0.028 1987 -660.1 116.8 - - 2191 - - - - - - - - - 26.03 -
11760 728.8 11.0 424 11765 roll 1.20 - - 3454 - 1.73 0.039 850 -657.2 116.8 - - 2191 - - - - - - - - - 25.79 -
11880 718.2 11.0 427 11887 done 1.20 - - 3454 - 1.73 0.036 1975 650.3 116.8 - - 2191 - - - - - - - - - 25.85 -
12036 698.7 10.7 433 12037 done 1.20 - - 3454 - - - 1975 - 116.8 - - 2191 - - - - - - - - - - -
12185 683.0 10.5 438 12190 roll 1.20 - - 3454 - 1.52 0.041 2983 663.2 116.8 - - 2191 - - - - - - - - - 25.75 -
12224 679.4 10.4 439 12229 done 1.20 - - 3461 - 1.50 0.037 1976 -671.3 116.8 - - 2191 - - - - - - - - - 25.86 -
12404 659.8 10.7 445 12409 roll 1.20 - - 3468 - 1.73 0.048 854 -648.6 116.8 - - 2191 - - - - - - - - - 25.40 -
12446 655.9 10.8 446 12451 done 1.20 0.12 0.184 3442 -216.7 1.73 0.045 1978 649.7 116.8 - - 2190 - - - - - - - - 25.30 25.75 -
12627 637.6 9.6 452 12632 roll 1.20 - - 3442 - 1.52 0.044 2972 653.9 116.8 - - 2190 - - - - - - - - - 25.48 -
12693 631.2 9.6 454 12698 done 1.20 - - 3448 - 1.50 0.041 1994 -652.0 116.8 - - 2190 - - - - - - - - - 24.88 -
12878 614.4 8.8 460 12883 roll 1.20 - - 3447 - 1.52 0.041 2983 650.7 116.8 - - 2189 - - - - - - - - - 25.72 -
12907 614.4 8.8 460 12914 done 1.20 - - 3454 - 1.52 0.031 1993 -651.3 116.8 - - 2190 - - - - - - - - - 25.86 -
13064 597.8 8.8 466 13070 roll 1.20 - - 3454 - 1.52 0.041 2985 652.6 116.8 - - 2189 - - - - - - - - - 25.72 -
13090 597.8 8.8 466 13095 done 1.20 - - 3460 - 1.50 0.030 2001 -656.0 116.8 - - 2189 - - - - - - - - - 24.74 -
13405 564.1 10.6 477 13410 roll 1.20 - - 3460 - 1.50 0.040 2947 630.7 116.8 - - 2190 - - - - - - - - - 25.72 -
13587 546.5 11.3 482 13593 done 1.20 - - 3466 - 1.42 0.039 2016 -655.6 116.8 - - 2189 - - - - - - - - - 25.39 -
13893 512.4 9.5 493 13898 roll 1.20 - - 3466 - 1.48 0.041 2944 627.0 116.8 - - 2189 - - - - - - - - - 25.72 -
13958 506.7 8.9 495 13964 done 1.20 0.10 0.171 3444 -220.0 1.35 0.028 2067 -649.6 116.8 - - 2188 - - - - - - - - 24.67 24.92 -
14295 478.6 9.1 506 14300 roll 1.20 - - 3452 - 1.85 0.038 850 -657.8 116.8 - - 2189 - - - - - - - - - 25.66 -
14379 472.5 9.2 508 14385 done 1.20 - - 3452 - 1.90 0.042 2081 647.9 116.8 - - 2188 - - - - - - - - - 25.64 -
14696 445.9 7.6 519 14701 roll 1.22 - - 3452 - 1.35 0.042 2951 644.4 126.4 - - 2188 - - - - - - - - - 25.70 -
14795 437.6 8.4 522 14801 done 1.22 - - 3457 - 1.30 0.027 2077 -672.3 126.4 - - 2188 - - - - - - - - - 26.01 -
15127 409.1 8.9 533 15132 roll 1.22 - - 3457 - 1.38 0.039 2949 631.9 126.4 - - 2188 - - - - - - - - - 25.71 -
15226 400.7 8.7 536 15232 done 1.22 - - 3463 - 1.33 0.028 2077 -655.6 126.4 - - 2188 - - - - - - - - - 25.86 -
15557 376.2 7.0 547 15593 done 1.27 - - 3463 - - - 2077 - 151.0 30.15 0.829 2087 -3.3 0.161 - - - - - - - - 23.88
15919 345.6 8.3 559 15924 roll 1.27 - - 3463 - 1.38 0.037 2947 630.4 151.0 - - 2065 - - - - - - - - - 25.76 -
16156 326.2 9.0 566 16161 done 1.27 - - 3469 - 1.30 0.026 2072 -673.1 151.0 - - 2064 - - - - - - - - - 26.01 -
16471 297.7 8.2 577 16476 roll 1.27 - - 3478 - 1.85 0.036 849 -661.1 151.0 - - 2064 - - - - - - - - - 25.72 -
16609 287.1 8.5 581 16614 done 1.27 - - 3478 - 1.85 0.031 2078 664.3 151.0 - - 2065 - - - - - - - - - 25.86 -
16934 259.3 8.4 592 16939 roll 1.27 - - 3486 - 1.88 0.034 850 -653.2 151.0 - - 2064 - - - - - - - - - 25.74 -
17029 251.3 8.4 595 17035 done 1.27 - - 3486 - 1.85 0.030 2077 663.2 151.0 - - 2065 - - - - - - - - - 25.86 -
17346 227.8 7.1 610 17377 roll 1.32 - - 3494 - 1.95 0.034 853 -627.7 174.9 22.67 0.693 1989 -3.4 0.117 - - - - - - - 25.77 24.15
17544 212.2 8.9 619 17551 done 1.32 - - 3494 - 1.88 0.030 2101 663.8 174.9 - - 1975 - - - - - - - - - 25.86 -
17850 186.4 7.6 635 17859 roll 1.34 - - 3494 - 1.25 0.036 2954 682.4 186.7 4.15 0.572 1952 -5.5 0.191 - - - - - - - 25.90 24.28
18092 168.4 7.9 646 18100 done 1.35 - - 3499 - 1.25 0.024 2102 -681.6 190.3 3.85 0.533 1938 -3.6 0.121 - - - - - - - 26.06 24.17
18398 144.3 7.0 662 18437 roll 1.40 - - 3499 - 1.38 0.034 2962 623.2 215.9 33.03 0.628 1825 -3.4 0.083 - - - - - - - 25.75 24.21
18605 127.0 8.3 672 18610 done 1.40 - - 3505 - 1.25 0.023 2117 -676.0 215.9 - - 1805 - - - - - - - - - 25.98 -
18932 102.7 7.3 688 18942 roll 1.43 - - 3504 - 1.35 0.034 2967 629.6 233.5 5.97 0.230 1765 -6.7 0.316 - - - - - - - 25.89 24.51
19079 90.6 8.2 695 19085 done 1.43 - - 3510 - 1.23 0.023 2139 -673.2 233.5 2.40 0.144 1762 -1.2 0.083 - - - - - - - 26.10 24.82
19410 69.8 5.6 711 19454 roll 1.56 0.12 0.079 3584 616.7 1.23 0.032 2961 668.3 293.9 38.00 0.257 1521 -6.3 0.182 - - - - - - 26.34 25.94 24.91
19526 59.9 10.4 716 19534 done 1.56 0.12 0.163 3551 -275.0 1.20 0.024 2147 -678.3 293.9 2.33 0.147 1515 -2.6 0.111 - - - - - - 25.43 26.04 24.90
19833 24.8 11.8 743 19844 roll 1.56 - - 3560 - 2.00 0.034 854 -646.5 293.9 2.72 0.158 1522 2.6 -0.043 - - - - - - - 25.77 24.46
19948 15.0 6.6 753 19974 done 1.62 - - 3560 - 1.92 0.028 2160 680.2 328.8 19.27 0.141 1371 -7.8 0.088 - - - - - - - 25.98 25.10
20080 end climb: SURFACE_DEPTH_REACHED
20080 begin surface coast
20115 end surface coast: CONTROL_FINISHED_OK
20115 begin surface
SM 2.19 - - - - -9.03 8.68 0.022 136 15.7 - - 2161 - 450.13 59.75 0.116 877 14.7 -0.028 - - - - - -