OKMC Jun13 * SG167 * Dive index * Mission links * Dive 629 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 104.07 of 150.00 AH used of 24V (30.62% remains)
• Previous NAKs 0, Timeouts 0 • 64.55 of 100.00 AH used of 10V (35.45% remains)
• Surface angle -69.8 deg, depth 2.12 m • Intended pitch -19.3 deg, speed -8.049 cm/s
VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 44 s • Transponder ping count: 487
• 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 - - - 2174 - -116.8 -69.25 - 2536 - - - - - - - - - - -
101 3.1 -2.1 7 133 roll -1.20 10.98 0.236 2650 231.1 1.58 0.046 1138 -655.7 -116.8 -14.85 - 3193 -44.2 - - - - - - - 24.65 25.95 26.47
262 36.7 -21.4 22 269 done -1.20 - - 2645 - 1.58 0.028 2221 685.4 -116.8 - - 3194 - - - - - - - - - 25.98 -
580 102.3 -18.1 41 585 roll -1.20 - - 2638 - 1.50 0.034 3251 686.7 -116.8 - - 3194 - - - - - - - - - 25.97 -
639 110.3 -17.8 43 646 done -1.20 - - 2638 - 1.50 0.018 2178 -715.3 -116.8 - - 3194 - - - - - - - - - 26.22 -
946 156.4 -14.0 59 951 roll -1.20 - - 2630 - 1.60 0.032 3257 674.4 -116.8 - - 3194 - - - - - - - - - 26.01 -
975 160.0 -14.0 60 981 done -1.20 0.12 0.184 2659 241.7 1.50 0.017 2164 -728.7 -116.8 - - 3194 - - - - - - - - 25.74 26.27 -
1296 200.7 -11.8 76 1302 roll -1.20 - - 2659 - 1.42 0.029 1188 -687.3 -116.8 - - 3195 - - - - - - - - - 26.08 -
1473 220.9 -12.1 84 1479 done -1.20 - - 2654 - 1.48 0.028 2186 674.3 -116.8 - - 3195 - - - - - - - - - 26.12 -
1788 258.2 -11.4 99 1794 roll -1.20 - - 2654 - 1.48 0.027 1192 -671.6 -116.8 - - 3195 - - - - - - - - - 26.10 -
1849 262.1 -11.4 100 1855 done -1.20 - - 2648 - 1.48 0.028 2186 671.6 -116.8 - - 3195 - - - - - - - - - 26.11 -
2154 296.8 -10.1 111 2159 roll -1.20 - - 2648 - 1.48 0.028 1193 -670.9 -116.8 - - 3195 - - - - - - - - - 26.11 -
2315 313.5 -10.8 116 2321 done -1.20 - - 2642 - 1.45 0.028 2169 673.1 -116.8 - - 3195 - - - - - - - - - 26.12 -
2646 349.6 -10.4 127 2651 roll -1.20 - - 2642 - 1.45 0.028 1191 -674.5 -116.8 - - 3194 - - - - - - - - - 26.11 -
2700 353.1 -10.3 128 2706 done -1.20 - - 2636 - 1.48 0.028 2173 663.5 -116.8 - - 3195 - - - - - - - - - 26.10 -
3017 386.4 -10.1 139 3022 roll -1.20 - - 2636 - 1.48 0.028 1183 -668.9 -116.8 - - 3194 - - - - - - - - - 26.11 -
3159 399.1 -10.0 143 3165 done -1.20 0.08 0.163 2660 300.0 1.45 0.028 2158 672.4 -116.8 - - 3193 - - - - - - - - 25.63 26.14 -
3481 432.8 -9.8 154 3486 roll -1.20 - - 2654 - 1.60 0.034 3247 680.6 -116.8 - - 3191 - - - - - - - - - 26.01 -
3530 436.5 -10.0 155 3535 done -1.20 - - 2654 - 1.52 0.018 2152 -720.4 -116.8 - - 3192 - - - - - - - - - 26.29 -
3850 468.6 -9.7 166 3855 roll -1.20 - - 2654 - 1.42 0.029 1180 -684.5 -116.8 - - 3190 - - - - - - - - - 26.10 -
4003 480.9 -9.9 170 4010 done -1.20 - - 2649 - 1.40 0.028 2121 672.1 -116.8 - - 3190 - - - - - - - - - 26.15 -
4305 513.8 -9.6 181 4310 roll -1.20 - - 2648 - 1.40 0.028 1183 -670.0 -116.8 - - 3188 - - - - - - - - - 26.11 -
4405 522.5 -9.4 184 4410 done -1.20 - - 2642 - 1.38 0.028 2101 665.2 -116.8 - - 3187 - - - - - - - - - 26.14 -
4735 551.8 -8.7 195 4737 done -1.20 - - 2642 - - - 2101 - -116.8 - - 3185 - - - - - - - - - - -
5035 579.3 -9.3 205 5040 roll -1.20 - - 2634 - 1.70 0.035 3249 675.3 -116.8 - - 3183 - - - - - - - - - 25.98 -
5091 582.7 -9.5 206 5096 done -1.20 - - 2634 - 1.62 0.018 2092 -714.2 -116.8 - - 3183 - - - - - - - - - 26.27 -
5406 614.1 -9.0 217 5411 roll -1.20 0.12 0.180 2669 291.7 1.35 0.028 1152 -696.3 -116.8 - - 3181 - - - - - - - - 25.94 26.05 -
5526 622.3 -8.6 220 5531 done -1.20 - - 2669 - 1.38 0.029 2061 658.7 -116.8 - - 3180 - - - - - - - - - 26.08 -
5692 637.5 -8.0 226 5697 roll -1.20 - - 2669 - 1.77 0.037 3245 668.9 -116.8 - - 3179 - - - - - - - - - 25.94 -
5806 645.7 -8.5 229 5811 done -1.20 - - 2668 - 1.65 0.018 2081 -705.5 -116.8 - - 3178 - - - - - - - - - 26.25 -
5972 661.4 -8.7 235 5977 roll -1.20 - - 2669 - 1.33 0.031 1184 -674.4 -116.8 - - 3178 - - - - - - - - - 26.06 -
6061 667.3 -8.8 237 6067 done -1.20 - - 2664 - 1.33 0.028 2066 663.2 -116.8 - - 3176 - - - - - - - - - 26.10 -
6217 683.5 -9.1 243 6218 done -1.20 - - 2663 - - - 2066 - -116.8 - - 3175 - - - - - - - - - - -
6367 697.2 -9.1 248 6372 roll -1.20 - - 2663 - 1.35 0.029 1172 -662.2 -116.8 - - 3175 - - - - - - - - - 26.05 -
6416 700.5 -9.1 249 6421 done -1.20 - - 2658 - 1.33 0.028 2053 662.4 -116.8 - - 3175 - - - - - - - - - 26.10 -
6586 716.6 -8.7 255 6591 roll -1.20 - - 2648 - 1.83 0.036 3264 661.7 -116.8 - - 3173 - - - - - - - - - 25.92 -
6631 719.7 -8.6 256 6637 done -1.20 - - 2649 - 1.77 0.018 2055 -683.1 -116.8 - - 3173 - - - - - - - - - 26.22 -
6807 735.1 -8.2 262 6812 roll -1.20 - - 2649 - 1.30 0.031 1177 -675.4 -116.8 - - 3171 - - - - - - - - - 26.04 -
6886 740.4 -8.2 264 6891 done -1.20 - - 2644 - 1.27 0.028 2027 669.3 -116.8 - - 3171 - - - - - - - - - 26.09 -
7058 755.7 -8.3 270 7059 done -1.20 - - 2643 - - - 2027 - -116.8 - - 3170 - - - - - - - - - - -
7206 768.3 -8.3 275 7208 done -1.20 - - 2644 - - - 2027 - -116.8 - - 3169 - - - - - - - - - - -
7357 780.2 -7.9 280 7358 done -1.20 - - 2644 - - - 2027 - -116.8 - - 3169 - - - - - - - - - - -
7507 792.1 -7.8 285 7512 roll -1.20 - - 2635 - 1.83 0.037 3238 661.7 -116.8 - - 3167 - - - - - - - - - 25.87 -
7543 795.2 -8.1 286 7548 done -1.20 - - 2634 - 1.80 0.019 2025 -673.9 -116.8 - - 3168 - - - - - - - - - 26.17 -
7728 811.1 -8.5 292 7733 roll -1.20 - - 2635 - 1.25 0.032 1184 -672.8 -116.8 - - 3166 - - - - - - - - - 26.01 -
7772 814.2 -8.6 293 7778 done -1.20 0.10 0.164 2659 240.0 1.27 0.029 2026 663.0 -116.8 - - 3167 - - - - - - - - 25.53 26.07 -
7950 829.1 -8.0 299 7955 roll -1.20 - - 2652 - 1.83 0.038 3237 661.7 -116.8 - - 3165 - - - - - - - - - 25.84 -
8078 840.0 -8.6 303 8084 done -1.20 - - 2651 - 1.67 0.020 2067 -700.6 -116.8 - - 3164 - - - - - - - - - 26.19 -
8260 856.5 -9.1 309 8265 roll -1.20 - - 2652 - 1.33 0.031 1179 -667.7 -116.8 - - 3163 - - - - - - - - - 25.98 -
8359 865.5 -9.3 312 8364 done -1.20 - - 2646 - 1.30 0.030 2040 662.3 -116.8 - - 3163 - - - - - - - - - 26.04 -
8539 882.9 -9.6 318 8545 roll -1.20 - - 2638 - 1.83 0.038 3246 659.0 -116.8 - - 3161 - - - - - - - - - 25.81 -
8595 886.2 -9.6 319 8600 done -1.20 - - 2638 - 1.73 0.021 2048 -692.5 -116.8 - - 3161 - - - - - - - - - 26.15 -
8760 903.9 -9.5 325 8765 roll -1.20 - - 2638 - 1.30 0.032 1178 -669.2 -116.8 - - 3157 - - - - - - - - - 25.96 -
8814 907.4 -9.6 326 8819 done -1.20 - - 2633 - 1.27 0.030 2022 664.6 -116.8 - - 3157 - - - - - - - - - 26.03 -
8981 925.8 -9.9 332 8986 roll -1.20 0.12 0.190 2660 225.0 1.88 0.037 3248 652.1 -116.8 - - 3156 - - - - - - - - 25.87 25.77 -
9060 932.3 -9.9 334 9066 done -1.20 - - 2660 - 1.75 0.021 2035 -693.1 -116.8 - - 3156 - - - - - - - - - 26.15 -
9230 949.6 -9.4 340 9235 roll -1.20 - - 2660 - 1.27 0.033 1184 -670.1 -116.8 - - 3154 - - - - - - - - - 25.94 -
9266 953.0 -9.3 341 9271 done -1.20 - - 2656 - 1.30 0.031 2027 648.5 -116.8 - - 3155 - - - - - - - - - 25.99 -
9452 969.8 -8.8 347 9457 roll -1.20 - - 2656 - 1.85 0.041 3235 653.0 -116.8 - - 3154 - - - - - - - - - 25.72 -
9501 973.0 -8.8 348 9506 done -1.20 - - 2656 - 1.73 0.021 2044 -688.4 -116.8 - - 3153 - - - - - - - - - 26.13 -
9672 988.6 -8.4 354 9677 roll -1.20 - - 2656 - 1.30 0.032 1177 -666.9 -116.8 - - 3153 - - - - - - - - - 25.93 -
9703 end dive: TARGET_DEPTH_EXCEEDED
9703 begin apogee
9713 991.7 -8.4 355 9874 roll -0.25 1.05 0.145 2963 292.4 - - 1905 - - 150.43 1.027 2713 -2.9 0.297 - - - - - - 24.34 - 23.34
9875 end apogee: CONTROL_FINISHED_OK
9876 begin climb
9879 995.2 - 360 10014 roll 1.20 1.30 0.063 3434 362.3 1.67 0.041 887 -609.6 116.8 120.47 1.151 2227 -4.0 0.367 - - - - - - 25.11 24.79 23.27
10169 963.3 13.3 370 10174 done 1.20 - - 3434 - 1.52 0.034 1894 662.5 116.8 - - 2198 - - - - - - - - - 25.81 -
10349 939.7 12.6 376 10354 roll 1.20 - - 3441 - 1.55 0.038 887 -649.7 116.8 - - 2196 - - - - - - - - - 25.83 -
10449 927.5 12.7 379 10455 done 1.20 - - 3441 - 1.58 0.034 1930 660.1 116.8 - - 2195 - - - - - - - - - 25.93 -
10630 904.7 12.1 385 10635 roll 1.20 - - 3441 - 1.55 0.041 2959 663.9 116.8 - - 2194 - - - - - - - - - 25.86 -
10709 896.6 12.3 387 10714 done 1.20 - - 3447 - 1.48 0.028 1984 -658.8 116.8 - - 2193 - - - - - - - - - 26.05 -
10880 874.0 12.1 393 10885 roll 1.20 - - 3455 - 1.67 0.039 879 -661.7 116.8 - - 2192 - - - - - - - - - 25.86 -
10924 869.6 12.1 394 10929 done 1.20 - - 3455 - 1.62 0.034 1958 666.0 116.8 - - 2192 - - - - - - - - - 25.96 -
11100 848.1 11.6 400 11105 roll 1.20 - - 3455 - 1.52 0.041 2970 665.8 116.8 - - 2191 - - - - - - - - - 25.85 -
11145 843.7 11.8 401 11150 done 1.20 - - 3461 - 1.48 0.028 1992 -660.8 116.8 - - 2191 - - - - - - - - - 26.06 -
11320 820.8 12.4 407 11322 done 1.20 - - 3461 - - - 1992 - 116.8 - - 2191 - - - - - - - - - - -
11470 802.1 12.6 412 11475 roll 1.20 - - 3461 - 1.52 0.041 2985 653.3 116.8 - - 2190 - - - - - - - - - 25.84 -
11592 789.5 13.2 415 11599 done 1.20 0.12 0.190 3441 -166.7 1.50 0.039 1974 -674.0 116.8 - - 2190 - - - - - - - - 25.46 25.94 -
11745 766.3 12.8 421 11751 roll 1.20 - - 3448 - 1.65 0.040 887 -658.8 116.8 - - 2190 - - - - - - - - - 25.80 -
11790 761.6 12.9 422 11795 done 1.20 - - 3448 - 1.62 0.035 1952 657.4 116.8 - - 2190 - - - - - - - - - 25.85 -
11966 738.4 12.5 428 11971 roll 1.20 - - 3448 - 1.55 0.041 2949 643.2 116.8 - - 2189 - - - - - - - - - 25.80 -
12055 730.0 12.5 430 12062 done 1.20 - - 3454 - 1.45 0.041 2003 -652.4 116.8 - - 2189 - - - - - - - - - 25.91 -
12211 708.1 12.0 436 12216 roll 1.20 - - 3462 - 1.70 0.039 881 -660.0 116.8 - - 2189 - - - - - - - - - 25.78 -
12414 685.5 12.0 442 12419 done 1.20 - - 3461 - 1.60 0.034 1940 661.9 116.8 - - 2188 - - - - - - - - - 25.89 -
12584 664.5 11.2 448 12590 roll 1.20 - - 3462 - 1.58 0.041 2951 639.9 116.8 - - 2188 - - - - - - - - - 25.77 -
12675 657.1 11.0 450 12682 done 1.20 0.08 0.182 3439 -287.5 1.45 0.028 1994 -660.0 116.8 - - 2188 - - - - - - - - 25.41 26.02 -
12830 638.6 9.9 456 12835 roll 1.20 - - 3446 - 1.67 0.040 889 -661.7 116.8 - - 2188 - - - - - - - - - 25.74 -
12868 635.1 9.9 457 12873 done 1.20 - - 3447 - 1.60 0.034 1950 663.1 116.8 - - 2188 - - - - - - - - - 25.87 -
13050 617.1 9.6 463 13055 roll 1.20 - - 3446 - 1.52 0.041 2959 663.8 116.8 - - 2188 - - - - - - - - - 25.74 -
13094 613.3 9.8 464 13099 done 1.20 - - 3453 - 1.48 0.034 1996 -650.7 116.8 - - 2188 - - - - - - - - - 25.56 -
13269 594.9 10.0 470 13274 roll 1.20 - - 3461 - 1.70 0.040 880 -656.5 116.8 - - 2188 - - - - - - - - - 25.70 -
13289 594.9 10.0 470 13294 done 1.20 - - 3461 - 1.67 0.034 1985 661.7 116.8 - - 2188 - - - - - - - - - 25.84 -
13609 560.5 10.1 481 13614 roll 1.20 - - 3468 - 1.70 0.037 883 -648.2 116.8 - - 2187 - - - - - - - - - 25.71 -
13644 557.0 10.0 482 13650 done 1.20 0.12 0.182 3442 -216.7 1.67 0.035 1973 652.7 116.8 - - 2187 - - - - - - - - 25.08 25.41 -
13981 527.7 8.3 493 13986 roll 1.20 - - 3442 - 1.52 0.041 2980 662.5 116.8 - - 2186 - - - - - - - - - 25.70 -
14095 519.4 8.6 496 14101 done 1.20 - - 3447 - 1.50 0.041 2004 -650.7 116.8 - - 2187 - - - - - - - - - 25.77 -
14412 490.7 8.3 507 14417 roll 1.20 - - 3455 - 1.73 0.039 897 -639.9 116.8 - - 2186 - - - - - - - - - 25.69 -
14599 474.4 8.7 513 14604 done 1.20 - - 3456 - 1.70 0.033 2017 658.8 116.8 - - 2186 - - - - - - - - - 25.82 -
14935 447.4 7.7 524 14940 roll 1.22 - - 3463 - 1.77 0.037 893 -635.0 124.6 - - 2186 - - - - - - - - - 25.68 -
15010 442.2 7.8 526 15015 done 1.23 - - 3462 - 1.67 0.033 2003 664.7 130.5 - - 2186 - - - - - - - - - 25.81 -
15336 415.4 8.1 537 15341 roll 1.23 - - 3462 - 1.45 0.041 2945 649.7 130.5 - - 2186 - - - - - - - - - 25.67 -
15461 404.7 8.4 541 15466 done 1.23 - - 3468 - 1.38 0.027 2032 -661.6 130.5 - - 2186 - - - - - - - - - 26.00 -
15798 379.0 7.3 552 15833 roll 1.27 - - 3468 - 1.48 0.038 2951 620.9 149.1 28.15 0.828 2094 -3.3 0.157 - - - - - - - 25.62 23.94
15951 365.4 8.9 557 15956 done 1.27 - - 3474 - 1.40 0.039 2040 -650.7 149.1 - - 2075 - - - - - - - - - 25.86 -
16288 334.1 9.3 568 16293 roll 1.27 - - 3474 - 1.45 0.038 2957 632.4 149.1 - - 2074 - - - - - - - - - 25.74 -
16372 327.5 9.6 570 16377 done 1.27 - - 3480 - 1.35 0.027 2053 -669.6 149.1 - - 2074 - - - - - - - - - 25.98 -
16687 297.3 9.2 581 16692 roll 1.27 - - 3480 - 1.40 0.037 2946 637.9 149.1 - - 2073 - - - - - - - - - 25.78 -
16723 294.0 9.1 582 16728 done 1.27 - - 3486 - 1.38 0.034 2047 -651.4 149.1 - - 2074 - - - - - - - - - 25.90 -
17059 266.8 7.7 593 17064 roll 1.28 - - 3494 - 1.75 0.036 886 -663.4 157.8 - - 2074 - - - - - - - - - 25.72 -
17193 257.6 7.2 597 17227 done 1.32 - - 3494 - 1.70 0.031 2022 668.2 178.0 27.50 0.731 1981 -3.4 0.125 - - - - - - - 25.86 24.08
17538 225.9 9.2 613 17543 roll 1.32 - - 3494 - 1.42 0.039 2949 652.8 178.0 - - 1957 - - - - - - - - - 25.77 -
17624 218.3 8.7 617 17629 done 1.32 - - 3500 - 1.38 0.025 2033 -663.8 178.0 - - 1956 - - - - - - - - - 26.00 -
17949 191.1 8.4 633 17954 roll 1.32 - - 3509 - 1.73 0.035 883 -664.7 178.0 - - 1956 - - - - - - - - - 25.78 -
18018 185.4 8.6 636 18024 done 1.32 0.08 0.164 3474 -437.5 1.73 0.031 2015 654.3 178.0 - - 1957 - - - - - - - - 25.32 25.90 -
18344 159.5 7.4 652 18363 roll 1.36 - - 3474 - 1.48 0.037 2960 638.5 194.4 13.60 0.647 1914 -3.2 0.082 - - - - - - - 25.89 24.27
18527 145.5 8.3 660 18534 done 1.36 - - 3479 - 1.33 0.024 2065 -672.9 194.4 - - 1901 - - - - - - - - - 26.04 -
18832 119.1 7.3 676 18846 roll 1.39 - - 3488 - 1.83 0.035 879 -648.1 211.8 6.85 0.251 1859 -6.1 0.306 - - - - - - - 25.91 24.49
18944 112.3 6.4 681 18971 done 1.47 0.10 0.089 3548 600.0 1.83 0.029 2105 669.9 252.0 21.45 0.343 1687 -8.0 0.276 - - - - - - 25.87 25.93 24.68
19282 78.8 10.5 698 19288 roll 1.47 - - 3556 - 1.95 0.033 874 -631.3 252.0 1.85 0.165 1684 -1.6 0.082 - - - - - - - 25.77 24.76
19414 69.3 6.6 704 19441 done 1.54 - - 3556 - 1.88 0.028 2133 669.7 287.3 19.58 0.252 1546 -7.0 0.204 - - - - - - - 25.94 24.87
19746 36.2 12.1 726 19769 roll 1.54 - - 3565 - 1.95 0.034 886 -639.5 287.3 12.77 0.184 1545 - - - - - - - - - 25.91 24.95
19788 32.1 10.8 729 19796 done 1.54 - - 3565 - 1.85 0.030 2131 673.0 287.3 1.77 0.167 1540 -2.8 0.057 - - - - - - - 25.96 25.06
20025 end climb: SURFACE_DEPTH_REACHED
20025 begin surface coast
20043 end surface coast: CONTROL_FINISHED_OK
20043 begin surface
SM 2.23 - - - - -9.02 8.85 0.030 142 16.0 0.08 0.105 2209 -87662.5 450.13 79.07 0.117 879 11.1 -0.022 - - - - - -