OKMC Jun13 * SG167 * Dive index * Mission links * Dive 630 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 104.20 of 150.00 AH used of 24V (30.53% remains)
• Previous NAKs 0, Timeouts 0 • 64.64 of 100.00 AH used of 10V (35.36% remains)
• Surface angle -66.5 deg, depth 2.09 m • Intended pitch -19.3 deg, speed -8.049 cm/s
VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 36 s • Transponder ping count: 501
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
23 - - - 94 VBD -1.20 - - 112 - - - 2222 - -116.8 -69.10 - 2575 - - - - - - - - - - -
100 3.6 -3.3 7 132 roll -1.20 10.82 0.231 2647 234.3 1.65 0.054 3257 627.3 -116.8 -14.23 - 3193 -43.4 - - - - - - - 24.62 25.86 26.46
362 58.8 -20.7 30 368 done -1.20 - - 2647 - 1.50 0.018 2198 -706.0 -116.8 - - 3196 - - - - - - - - - 26.15 -
683 112.5 -14.0 46 688 roll -1.20 - - 2640 - 1.58 0.033 3249 665.2 -116.8 - - 3197 - - - - - - - - - 25.96 -
742 119.0 -14.1 48 748 done -1.20 - - 2640 - 1.52 0.018 2201 -689.5 -116.8 - - 3196 - - - - - - - - - 26.21 -
1049 161.6 -13.3 64 1054 roll -1.20 - - 2640 - 1.50 0.030 1148 -702.0 -116.8 - - 3198 - - - - - - - - - 26.03 -
1108 167.9 -13.4 66 1115 done -1.20 - - 2633 - 1.52 0.028 2206 696.1 -116.8 - - 3198 - - - - - - - - - 26.07 -
1415 208.5 -11.9 82 1421 roll -1.20 0.12 0.190 2667 283.3 1.52 0.025 1160 -688.2 -116.8 - - 3197 - - - - - - - - 25.91 26.03 -
1534 220.1 -10.8 87 1539 done -1.20 - - 2663 - 1.52 0.029 2184 673.7 -116.8 - - 3198 - - - - - - - - - 26.08 -
1869 256.2 -10.2 103 1874 roll -1.20 - - 2663 - 1.50 0.028 1147 -691.3 -116.8 - - 3198 - - - - - - - - - 26.07 -
1965 266.3 -10.5 106 1970 done -1.20 - - 2656 - 1.52 0.029 2193 688.2 -116.8 - - 3197 - - - - - - - - - 26.08 -
2300 299.4 -9.1 117 2305 roll -1.20 - - 2656 - 1.50 0.028 1157 -690.7 -116.8 - - 3197 - - - - - - - - - 26.07 -
2385 305.8 -9.5 119 2391 done -1.20 - - 2649 - 1.50 0.029 2194 691.3 -116.8 - - 3197 - - - - - - - - - 26.08 -
2700 340.1 -11.1 130 2706 roll -1.20 - - 2650 - 1.50 0.028 1157 -691.3 -116.8 - - 3195 - - - - - - - - - 26.08 -
2759 344.0 -11.0 131 2766 done -1.20 - - 2644 - 1.48 0.029 2145 667.6 -116.8 - - 3195 - - - - - - - - - 26.09 -
3067 378.3 -10.1 142 3072 roll -1.20 - - 2643 - 1.48 0.029 1160 -665.5 -116.8 - - 3195 - - - - - - - - - 26.08 -
3254 396.2 -9.2 148 3259 done -1.20 - - 2637 - 1.45 0.029 2120 662.1 -116.8 - - 3193 - - - - - - - - - 26.10 -
3590 427.1 -9.2 159 3595 roll -1.20 - - 2637 - 1.42 0.029 1165 -672.5 -116.8 - - 3193 - - - - - - - - - 26.09 -
3644 430.5 -9.3 160 3650 done -1.20 0.08 0.166 2669 400.0 1.40 0.028 2097 665.7 -116.8 - - 3192 - - - - - - - - 25.54 26.10 -
3961 458.8 -8.5 171 3966 roll -1.20 - - 2669 - 1.40 0.029 1163 -667.1 -116.8 - - 3191 - - - - - - - - - 26.08 -
4045 464.6 -8.8 173 4050 done -1.20 - - 2665 - 1.40 0.030 2090 662.1 -116.8 - - 3189 - - - - - - - - - 26.08 -
4360 494.2 -8.6 184 4365 roll -1.20 - - 2656 - 1.73 0.035 3252 671.7 -116.8 - - 3188 - - - - - - - - - 25.98 -
4400 497.3 -8.7 185 4405 done -1.20 - - 2656 - 1.65 0.018 2090 -704.2 -116.8 - - 3188 - - - - - - - - - 26.23 -
4730 529.4 -9.9 196 4735 roll -1.20 - - 2656 - 1.38 0.031 1160 -673.9 -116.8 - - 3186 - - - - - - - - - 26.06 -
4869 541.8 -9.9 200 4874 done -1.20 - - 2651 - 1.40 0.030 2086 661.4 -116.8 - - 3184 - - - - - - - - - 26.08 -
5193 572.9 -9.4 211 5199 roll -1.20 - - 2642 - 1.73 0.036 3245 669.9 -116.8 - - 3183 - - - - - - - - - 25.96 -
5278 579.7 -10.1 213 5283 done -1.20 - - 2642 - 1.65 0.018 2091 -699.4 -116.8 - - 3182 - - - - - - - - - 26.21 -
5595 613.9 -10.0 224 5600 roll -1.20 - - 2642 - 1.38 0.032 1164 -671.7 -116.8 - - 3180 - - - - - - - - - 26.03 -
5747 625.8 -9.3 228 5754 done -1.20 - - 2637 - 1.38 0.031 2066 653.6 -116.8 - - 3179 - - - - - - - - - 26.04 -
5901 642.4 -9.2 234 5906 roll -1.20 - - 2637 - 1.38 0.031 1156 -659.4 -116.8 - - 3178 - - - - - - - - - 26.04 -
5966 648.3 -9.0 236 5972 done -1.20 0.08 0.168 2653 200.0 1.35 0.030 2038 653.3 -116.8 - - 3177 - - - - - - - - 25.63 26.06 -
6152 663.4 -8.1 242 6157 roll -1.20 - - 2654 - 1.33 0.031 1161 -659.4 -116.8 - - 3176 - - - - - - - - - 26.04 -
6197 666.2 -8.1 243 6202 done -1.20 - - 2650 - 1.33 0.031 2035 657.1 -116.8 - - 3175 - - - - - - - - - 26.05 -
6374 681.8 -8.6 249 6379 roll -1.20 - - 2641 - 1.80 0.036 3241 670.0 -116.8 - - 3174 - - - - - - - - - 25.91 -
6418 685.1 -8.8 250 6423 done -1.20 - - 2641 - 1.75 0.020 2029 -692.6 -116.8 - - 3175 - - - - - - - - - 26.15 -
6594 701.6 -8.8 256 6599 roll -1.20 - - 2641 - 1.27 0.032 1168 -678.0 -116.8 - - 3173 - - - - - - - - - 26.01 -
6629 704.9 -9.0 257 6634 done -1.20 - - 2636 - 1.30 0.030 2017 653.1 -116.8 - - 3173 - - - - - - - - - 26.03 -
6815 721.3 -9.0 263 6821 roll -1.20 - - 2626 - 1.85 0.037 3251 667.0 -116.8 - - 3172 - - - - - - - - - 25.88 -
6896 727.5 -9.1 265 6902 done -1.20 0.08 0.151 2661 437.5 1.80 0.020 2030 -678.3 -116.8 - - 3171 - - - - - - - - 25.51 26.17 -
7067 743.4 -8.3 271 7072 roll -1.20 - - 2662 - 1.27 0.033 1170 -677.2 -116.8 - - 3170 - - - - - - - - - 25.99 -
7111 746.5 -8.4 272 7116 done -1.20 - - 2658 - 1.30 0.031 2025 657.7 -116.8 - - 3170 - - - - - - - - - 26.03 -
7287 762.0 -8.4 278 7292 roll -1.20 - - 2656 - 1.85 0.039 3245 659.5 -116.8 - - 3169 - - - - - - - - - 25.82 -
7382 770.6 -8.8 281 7387 done -1.20 - - 2655 - 1.75 0.020 2041 -688.0 -116.8 - - 3168 - - - - - - - - - 26.15 -
7568 786.9 -8.8 287 7573 roll -1.20 - - 2656 - 1.30 0.033 1167 -672.3 -116.8 - - 3167 - - - - - - - - - 25.98 -
7628 790.2 -8.9 288 7634 done -1.20 - - 2650 - 1.30 0.031 2022 657.7 -116.8 - - 3167 - - - - - - - - - 26.00 -
7783 806.9 -9.1 294 7788 roll -1.20 - - 2641 - 1.85 0.038 3245 661.1 -116.8 - - 3165 - - - - - - - - - 25.82 -
7903 816.4 -9.8 297 7910 done -1.20 - - 2641 - 1.75 0.021 2038 -689.7 -116.8 - - 3165 - - - - - - - - - 26.13 -
8059 832.7 -9.0 303 8064 roll -1.20 - - 2641 - 1.30 0.034 1168 -669.2 -116.8 - - 3161 - - - - - - - - - 25.94 -
8184 844.4 -9.4 307 8189 done -1.20 - - 2636 - 1.33 0.031 2028 646.6 -116.8 - - 3159 - - - - - - - - - 25.98 -
8370 861.1 -9.1 313 8371 done -1.20 - - 2636 - - - 2028 - -116.8 - - 3154 - - - - - - - - - - -
8519 874.2 -8.7 318 8524 roll -1.20 - - 2627 - 1.85 0.038 3245 657.8 -116.8 - - 3149 - - - - - - - - - 25.78 -
8599 880.1 -8.9 320 8605 done -1.20 0.15 0.177 2661 226.7 1.75 0.021 2037 -690.3 -116.8 - - 3147 - - - - - - - - 25.50 26.12 -
8771 895.6 -8.1 326 8776 roll -1.20 - - 2656 - 1.85 0.037 3237 648.6 -116.8 - - 3144 - - - - - - - - - 25.78 -
8836 901.3 -8.2 328 8841 done -1.20 - - 2655 - 1.77 0.021 2060 -665.0 -116.8 - - 3143 - - - - - - - - - 26.11 -
9022 916.8 -8.2 334 9027 roll -1.20 - - 2656 - 1.35 0.033 1161 -665.9 -116.8 - - 3140 - - - - - - - - - 25.91 -
9082 919.7 -8.3 335 9089 done -1.20 - - 2651 - 1.35 0.033 2040 651.1 -116.8 - - 3139 - - - - - - - - - 25.93 -
9239 934.9 -8.4 341 9244 roll -1.20 - - 2642 - 1.83 0.039 3240 655.7 -116.8 - - 3137 - - - - - - - - - 25.76 -
9318 940.9 -8.6 343 9323 done -1.20 - - 2642 - 1.77 0.022 2055 -669.5 -116.8 - - 3137 - - - - - - - - - 26.09 -
9490 957.5 -9.0 349 9491 done -1.20 - - 2642 - - - 2056 - -116.8 - - 3136 - - - - - - - - - - -
9638 971.5 -9.3 354 9639 done -1.20 - - 2642 - - - 2055 - -116.8 - - 3136 - - - - - - - - - - -
9788 986.2 -9.7 359 9793 roll -1.20 - - 2642 - 1.35 0.034 1160 -663.0 -116.8 - - 3135 - - - - - - - - - 25.88 -
9837 989.6 -9.9 360 9842 done -1.20 - - 2637 - 1.38 0.033 2050 644.9 -116.8 - - 3134 - - - - - - - - - 25.91 -
9853 end dive: TARGET_DEPTH_EXCEEDED
9853 begin apogee
9864 993.0 -10.0 361 10023 roll -0.25 1.12 0.149 2962 290.2 - - 1904 - - 146.55 1.032 2707 -2.9 0.296 - - - - - - 24.18 - 23.34
10024 end apogee: CONTROL_FINISHED_OK
10024 begin climb
10028 999.2 - 366 10165 roll 1.20 1.30 0.072 3434 363.1 1.70 0.041 2940 609.4 116.8 121.95 1.153 2228 -3.9 0.360 - - - - - - 25.10 25.22 23.24
10299 975.3 11.6 375 10304 done 1.20 - - 3441 - 1.52 0.029 1923 -669.1 116.8 - - 2200 - - - - - - - - - 25.78 -
10470 954.4 11.3 381 10475 roll 1.20 - - 3441 - 1.58 0.041 2940 643.7 116.8 - - 2196 - - - - - - - - - 25.80 -
10631 935.0 12.4 386 10636 done 1.20 - - 3448 - 1.60 0.029 1901 -649.4 116.8 - - 2195 - - - - - - - - - 25.96 -
10812 911.9 12.5 392 10817 roll 1.20 - - 3455 - 1.60 0.041 851 -656.2 116.8 - - 2194 - - - - - - - - - 25.84 -
10837 911.9 12.5 392 10843 done 1.20 - - 3455 - 1.58 0.034 1888 656.3 116.8 - - 2194 - - - - - - - - - 25.91 -
11003 887.1 12.8 398 11008 roll 1.20 - - 3456 - 1.62 0.042 2960 661.7 116.8 - - 2193 - - - - - - - - - 25.84 -
11102 874.4 13.1 401 11107 done 1.20 - - 3462 - 1.58 0.040 1907 -666.5 116.8 - - 2192 - - - - - - - - - 25.92 -
11283 852.0 11.8 407 11288 roll 1.20 - - 3462 - 1.65 0.041 2948 630.9 116.8 - - 2192 - - - - - - - - - 25.83 -
11321 847.7 11.7 408 11327 done 1.20 0.12 0.197 3443 -158.3 1.52 0.032 1932 -668.4 116.8 - - 2193 - - - - - - - - 25.44 25.94 -
11504 827.6 10.3 414 11509 roll 1.20 - - 3449 - 1.65 0.041 846 -658.2 116.8 - - 2190 - - - - - - - - - 25.82 -
11563 823.7 10.3 415 11569 done 1.20 - - 3449 - 1.65 0.034 1934 659.4 116.8 - - 2189 - - - - - - - - - 25.90 -
11719 805.5 9.8 421 11724 roll 1.20 - - 3449 - 1.55 0.043 2956 659.4 116.8 - - 2189 - - - - - - - - - 25.79 -
11804 798.8 10.0 423 11809 done 1.20 - - 3456 - 1.50 0.029 1942 -676.0 116.8 - - 2189 - - - - - - - - - 25.99 -
11969 779.9 10.2 429 11974 roll 1.20 - - 3464 - 1.67 0.041 848 -655.1 116.8 - - 2188 - - - - - - - - - 25.80 -
12013 776.2 10.2 430 12018 done 1.20 - - 3463 - 1.67 0.034 1945 656.9 116.8 - - 2188 - - - - - - - - - 25.86 -
12191 757.1 10.4 436 12196 roll 1.20 - - 3464 - 1.52 0.043 2955 664.5 116.8 - - 2188 - - - - - - - - - 25.77 -
12266 749.1 11.1 438 12272 done 1.20 0.10 0.181 3442 -220.0 1.52 0.029 1955 -657.9 116.8 - - 2187 - - - - - - - - 25.39 25.98 -
12443 729.7 10.3 444 12448 roll 1.20 - - 3443 - 1.55 0.041 2961 649.0 116.8 - - 2187 - - - - - - - - - 25.75 -
12679 705.5 11.3 451 12684 done 1.20 - - 3448 - 1.48 0.029 1995 -652.7 116.8 - - 2187 - - - - - - - - - 25.98 -
12845 686.2 10.3 457 12850 roll 1.20 - - 3456 - 1.75 0.040 849 -654.9 116.8 - - 2186 - - - - - - - - - 25.73 -
12885 682.5 10.2 458 12890 done 1.20 - - 3456 - 1.75 0.035 1993 653.7 116.8 - - 2186 - - - - - - - - - 25.79 -
13065 664.1 9.9 464 13070 roll 1.20 - - 3456 - 1.50 0.044 2952 639.3 116.8 - - 2186 - - - - - - - - - 25.72 -
13140 657.3 10.1 466 13145 done 1.20 - - 3462 - 1.48 0.042 2001 -642.6 116.8 - - 2186 - - - - - - - - - 25.84 -
13315 639.1 9.8 472 13320 roll 1.20 - - 3470 - 1.75 0.040 850 -657.7 116.8 - - 2186 - - - - - - - - - 25.70 -
13404 632.6 9.9 474 13411 done 1.20 0.15 0.184 3437 -220.0 1.77 0.038 2000 649.7 116.8 - - 2186 - - - - - - - - 25.13 25.69 -
13561 615.4 9.3 480 13563 done 1.20 - - 3437 - - - 2000 - 116.8 - - 2185 - - - - - - - - - - -
13710 600.8 9.8 485 13715 roll 1.20 - - 3436 - 1.50 0.043 2953 635.3 116.8 - - 2185 - - - - - - - - - 25.67 -
13759 597.5 9.6 486 13764 done 1.20 - - 3442 - 1.48 0.029 1986 -653.4 116.8 - - 2185 - - - - - - - - - 25.93 -
14080 567.1 8.9 497 14085 roll 1.20 - - 3442 - 1.52 0.041 2973 649.3 116.8 - - 2185 - - - - - - - - - 25.67 -
14115 563.7 8.9 498 14121 done 1.20 - - 3449 - 1.52 0.028 1949 -673.7 116.8 - - 2185 - - - - - - - - - 25.92 -
14451 532.9 9.4 509 14456 roll 1.20 - - 3449 - 1.60 0.041 2952 626.9 116.8 - - 2185 - - - - - - - - - 25.66 -
14584 520.8 9.6 513 14589 done 1.20 - - 3455 - 1.45 0.029 1999 -657.2 116.8 - - 2185 - - - - - - - - - 25.92 -
14914 489.2 8.6 524 14920 roll 1.20 - - 3455 - 1.52 0.041 2952 627.0 116.8 - - 2185 - - - - - - - - - 25.64 -
15132 472.2 7.7 531 15137 done 1.22 - - 3461 - 1.45 0.030 2018 -644.1 125.6 - - 2184 - - - - - - - - - 25.30 -
15469 446.9 7.7 542 15474 done 1.23 - - 3461 - - - 2018 - 133.0 3.20 0.602 2172 -3.8 0.294 - - - - - - - - 23.65
15767 421.1 9.1 552 15772 roll 1.23 - - 3461 - 1.48 0.040 2954 632.4 133.0 - - 2174 - - - - - - - - - 25.65 -
15881 412.2 9.4 555 15886 done 1.23 - - 3467 - 1.40 0.028 2029 -660.7 133.0 - - 2175 - - - - - - - - - 25.93 -
16198 386.3 7.2 566 16233 roll 1.27 - - 3476 - 1.83 0.041 840 -649.7 153.5 30.05 0.827 2081 -3.1 0.154 - - - - - - - 25.59 23.89
16353 374.3 7.7 571 16358 done 1.29 - - 3476 - 1.83 0.033 2030 650.3 160.8 - - 2058 - - - - - - - - - 25.75 -
16689 345.2 9.5 582 16694 roll 1.29 - - 3476 - 1.42 0.041 2957 652.8 160.8 - - 2055 - - - - - - - - - 25.72 -
16755 338.4 10.1 584 16760 done 1.29 - - 3482 - 1.42 0.027 2018 -661.3 160.8 - - 2056 - - - - - - - - - 25.94 -
17092 310.1 7.7 595 17110 roll 1.31 - - 3482 - 1.52 0.037 2966 623.7 170.0 13.38 0.778 2017 -2.9 0.123 - - - - - - - 25.81 24.14
17257 297.1 8.4 600 17262 done 1.31 - - 3488 - 1.40 0.026 2038 -662.9 170.0 - - 2000 - - - - - - - - - 25.95 -
17583 267.2 8.9 611 17589 roll 1.31 - - 3497 - 1.80 0.037 844 -663.3 170.0 - - 1999 - - - - - - - - - 25.74 -
17668 261.3 8.9 613 17673 done 1.31 - - 3497 - 1.83 0.031 2053 660.7 170.0 - - 1999 - - - - - - - - - 25.82 -
17994 230.6 8.5 628 17999 roll 1.31 - - 3505 - 1.85 0.034 839 -656.2 170.0 - - 1999 - - - - - - - - - 25.75 -
18048 226.7 8.4 630 18054 done 1.31 0.15 0.171 3469 -240.0 1.83 0.031 2049 661.2 170.0 - - 1999 - - - - - - - - 25.29 25.82 -
18364 202.6 7.4 646 18388 roll 1.34 - - 3477 - 1.88 0.035 854 -635.6 186.6 15.73 0.691 1945 -3.4 0.106 - - - - - - - 25.86 24.25
18454 195.7 8.3 650 18459 done 1.34 - - 3477 - 1.80 0.031 2051 665.0 186.6 - - 1935 - - - - - - - - - 25.90 -
18774 169.3 7.7 666 18780 roll 1.36 - - 3477 - 1.42 0.038 2959 639.4 194.8 2.42 0.334 1918 -7.0 0.376 - - - - - - - 25.88 24.06
18885 161.0 7.9 671 18895 done 1.37 - - 3483 - 1.38 0.024 2047 -660.9 198.9 3.85 0.544 1902 -4.2 0.130 - - - - - - - 26.03 24.16
19213 137.5 7.1 687 19248 done 1.41 - - 3483 - - - 2047 - 221.1 30.00 0.639 1804 -3.3 0.074 - - - - - - - - 24.22
19551 108.2 7.5 704 19561 roll 1.43 - - 3492 - 1.85 0.035 851 -646.5 233.2 3.03 0.155 1769 -11.6 0.853 - - - - - - - 25.79 24.60
19577 106.1 7.5 705 19591 done 1.46 - - 3491 - 1.83 0.029 2064 662.8 245.9 8.52 0.295 1712 -6.7 0.254 - - - - - - - 25.89 24.58
19906 81.2 7.2 721 19926 roll 1.50 0.12 0.076 3575 700.0 1.85 0.031 839 -662.2 266.4 12.57 0.262 1633 -6.3 0.206 - - - - - - 26.32 25.95 24.74
20094 63.9 9.4 730 20105 done 1.50 0.17 0.161 3530 -264.7 1.88 0.029 2092 666.5 266.4 2.20 0.158 1628 -2.3 0.097 - - - - - - 25.33 25.91 24.84
20423 49.7 5.9 746 20458 roll 1.60 0.10 0.093 3591 610.0 1.27 0.034 2967 689.0 318.7 29.15 0.214 1415 -7.3 0.179 - - - - - - 26.36 25.96 25.00
20469 46.0 7.4 750 20484 done 1.63 - - 3597 - 1.33 0.025 2084 -663.9 333.4 8.65 0.204 1354 -7.1 0.168 - - - - - - - 26.06 24.96
20794 15.2 10.9 782 20800 roll 1.63 - - 3597 - 1.40 0.033 2967 630.7 333.4 1.77 0.160 1352 - - - - - - - - - 25.81 24.75
20816 13.2 12.1 783 20822 done 1.63 - - 3603 - 1.38 0.026 2052 -663.0 333.4 - - 1362 - - - - - - - - - 26.04 -
20888 end climb: SURFACE_DEPTH_REACHED
20888 begin surface coast
20909 end surface coast: CONTROL_FINISHED_OK
20910 begin surface
SM 2.19 - - - - -9.04 8.95 0.030 135 15.1 0.22 0.040 2214 5381.8 450.13 55.70 0.115 878 15.8 -0.031 - - - - - -