OKMC Jun13 * SG167 * Dive index * Mission links * Dive 631 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 104.33 of 150.00 AH used of 24V (30.45% remains)
• Previous NAKs 0, Timeouts 0 • 64.72 of 100.00 AH used of 10V (35.28% remains)
• Surface angle -70.2 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: 32 s
• GPS2 time: 74 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 - - 112 - - - 2226 - -116.8 -69.43 - 2605 - - - - - - - - - - -
101 3.2 -2.1 7 133 roll -1.20 10.82 0.231 2645 234.1 1.65 0.058 3243 616.4 -116.8 -14.07 - 3194 -41.9 - - - - - - - 24.62 25.83 26.48
363 48.7 -17.7 32 370 done -1.20 - - 2645 - 1.52 0.024 2183 -697.4 -116.8 - - 3195 - - - - - - - - - 26.07 -
669 102.4 -16.3 48 674 roll -1.20 - - 2645 - 1.50 0.031 1136 -698.0 -116.8 - - 3195 - - - - - - - - - 26.00 -
818 124.5 -14.6 55 823 done -1.20 - - 2638 - 1.58 0.033 2195 670.3 -116.8 - - 3195 - - - - - - - - - 25.98 -
1143 171.0 -13.6 71 1148 roll -1.20 - - 2638 - 1.52 0.034 1155 -684.2 -116.8 - - 3196 - - - - - - - - - 25.97 -
1212 180.4 -14.3 74 1218 done -1.20 0.12 0.187 2660 183.3 1.50 0.028 2196 694.0 -116.8 - - 3196 - - - - - - - - 25.63 26.08 -
1534 221.4 -12.4 90 1539 roll -1.20 - - 2660 - 1.50 0.028 1157 -692.7 -116.8 - - 3196 - - - - - - - - - 26.07 -
1625 232.1 -12.4 94 1630 done -1.20 - - 2655 - 1.50 0.028 2195 692.0 -116.8 - - 3196 - - - - - - - - - 26.08 -
1936 269.0 -11.5 107 1941 roll -1.20 - - 2655 - 1.50 0.028 1157 -692.0 -116.8 - - 3196 - - - - - - - - - 26.07 -
2045 279.4 -11.0 110 2050 done -1.20 - - 2649 - 1.48 0.029 2145 667.6 -116.8 - - 3196 - - - - - - - - - 26.10 -
2365 315.9 -10.6 121 2370 roll -1.20 - - 2649 - 1.48 0.028 1156 -668.2 -116.8 - - 3196 - - - - - - - - - 26.08 -
2401 319.7 -10.7 122 2406 done -1.20 - - 2643 - 1.48 0.028 2138 663.5 -116.8 - - 3196 - - - - - - - - - 26.11 -
2736 353.1 -10.3 133 2741 roll -1.20 - - 2643 - 1.45 0.028 1163 -672.4 -116.8 - - 3196 - - - - - - - - - 26.09 -
2765 353.1 -10.3 133 2772 done -1.20 - - 2637 - 1.42 0.029 2118 672.5 -116.8 - - 3195 - - - - - - - - - 26.11 -
3072 388.7 -10.7 144 3078 roll -1.20 - - 2637 - 1.42 0.029 1163 -672.5 -116.8 - - 3194 - - - - - - - - - 26.08 -
3225 403.2 -11.5 148 3232 done -1.20 0.08 0.166 2654 212.5 1.38 0.028 2083 666.7 -116.8 - - 3194 - - - - - - - - 25.72 26.13 -
3529 434.3 -8.7 159 3534 roll -1.20 - - 2654 - 1.38 0.029 1161 -668.1 -116.8 - - 3193 - - - - - - - - - 26.10 -
3666 444.8 -8.2 163 3671 done -1.20 - - 2650 - 1.35 0.028 2067 671.1 -116.8 - - 3192 - - - - - - - - - 26.14 -
3992 477.4 -9.8 174 3997 roll -1.20 - - 2650 - 1.38 0.029 1149 -665.2 -116.8 - - 3190 - - - - - - - - - 26.10 -
4017 477.4 -9.8 174 4022 done -1.20 - - 2644 - 1.40 0.028 2083 667.1 -116.8 - - 3190 - - - - - - - - - 26.13 -
4331 509.1 -9.4 185 4337 roll -1.20 - - 2635 - 1.77 0.035 3248 658.2 -116.8 - - 3188 - - - - - - - - - 26.00 -
4352 509.1 -9.4 185 4357 done -1.20 - - 2635 - 1.67 0.018 2068 -706.6 -116.8 - - 3188 - - - - - - - - - 26.24 -
4672 542.8 -10.3 196 4677 roll -1.20 - - 2635 - 1.35 0.031 1155 -676.3 -116.8 - - 3187 - - - - - - - - - 26.07 -
4726 546.6 -10.6 197 4732 done -1.20 0.10 0.159 2659 240.0 1.38 0.028 2068 661.6 -116.8 - - 3186 - - - - - - - - 25.63 26.12 -
5043 581.2 -10.6 208 5049 roll -1.20 - - 2653 - 1.80 0.036 3244 653.3 -116.8 - - 3184 - - - - - - - - - 25.98 -
5220 598.6 -11.1 213 5225 done -1.20 - - 2652 - 1.65 0.018 2086 -701.8 -116.8 - - 3183 - - - - - - - - - 26.22 -
5537 629.9 -8.5 224 5542 roll -1.20 - - 2653 - 1.38 0.032 1159 -671.7 -116.8 - - 3181 - - - - - - - - - 26.05 -
5696 642.1 -7.7 229 5701 done -1.20 - - 2647 - 1.40 0.029 2076 655.0 -116.8 - - 3180 - - - - - - - - - 26.08 -
5882 657.2 -8.2 235 5887 roll -1.20 - - 2647 - 1.38 0.030 1163 -661.6 -116.8 - - 3179 - - - - - - - - - 26.05 -
5961 662.8 -8.5 237 5967 done -1.20 - - 2642 - 1.35 0.029 2055 660.7 -116.8 - - 3178 - - - - - - - - - 26.07 -
6132 679.5 -9.2 243 6137 roll -1.20 - - 2641 - 1.35 0.030 1161 -662.2 -116.8 - - 3177 - - - - - - - - - 26.03 -
6182 682.9 -9.3 244 6187 done -1.20 - - 2636 - 1.33 0.030 2038 659.4 -116.8 - - 3177 - - - - - - - - - 26.08 -
6352 699.6 -9.1 250 6357 roll -1.20 - - 2636 - 1.33 0.030 1159 -660.9 -116.8 - - 3176 - - - - - - - - - 26.04 -
6371 699.6 -9.1 250 6377 done -1.20 0.08 0.168 2654 225.0 1.30 0.030 2021 663.1 -116.8 - - 3176 - - - - - - - - 25.65 26.08 -
6543 716.2 -8.5 256 6548 roll -1.20 - - 2653 - 1.30 0.031 1162 -660.8 -116.8 - - 3175 - - - - - - - - - 26.03 -
6567 716.2 -8.5 256 6572 done -1.20 - - 2649 - 1.33 0.030 2037 657.9 -116.8 - - 3175 - - - - - - - - - 26.06 -
6732 731.6 -8.1 262 6733 done -1.20 - - 2650 - - - 2037 - -116.8 - - 3173 - - - - - - - - - - -
6882 744.1 -8.3 267 6887 roll -1.20 - - 2641 - 1.80 0.036 3243 670.0 -116.8 - - 3172 - - - - - - - - - 25.91 -
6942 747.3 -8.5 268 6949 done -1.20 - - 2641 - 1.80 0.020 2022 -678.3 -116.8 - - 3172 - - - - - - - - - 26.17 -
7097 764.6 -9.6 274 7098 done -1.20 - - 2641 - - - 2022 - -116.8 - - 3171 - - - - - - - - - - -
7247 779.8 -10.2 279 7248 done -1.20 - - 2641 - - - 2022 - -116.8 - - 3171 - - - - - - - - - - -
7397 795.5 -10.5 284 7402 roll -1.20 - - 2641 - 1.27 0.034 1167 -673.2 -116.8 - - 3169 - - - - - - - - - 25.98 -
7447 799.1 -10.3 285 7452 done -1.20 - - 2635 - 1.30 0.031 2025 660.0 -116.8 - - 3169 - - - - - - - - - 26.04 -
7617 817.2 -9.8 291 7623 roll -1.20 - - 2628 - 1.85 0.037 3239 656.2 -116.8 - - 3168 - - - - - - - - - 25.84 -
7697 823.6 -9.8 293 7702 done -1.20 0.12 0.184 2656 233.3 1.77 0.020 2005 -697.2 -116.8 - - 3167 - - - - - - - - 25.63 26.15 -
7868 840.2 -8.6 299 7874 roll -1.20 - - 2656 - 1.27 0.033 1155 -669.3 -116.8 - - 3167 - - - - - - - - - 25.97 -
7898 840.2 -8.6 299 7904 done -1.20 - - 2656 - 1.30 0.031 2006 654.6 -116.8 - - 3167 - - - - - - - - - 26.01 -
8054 855.6 -8.3 305 8055 done -1.20 - - 2656 - - - 2006 - -116.8 - - 3166 - - - - - - - - - - -
8205 867.8 -8.0 310 8210 roll -1.20 - - 2656 - 1.88 0.039 3240 656.4 -116.8 - - 3165 - - - - - - - - - 25.79 -
8289 873.5 -8.4 312 8294 done -1.20 - - 2656 - 1.80 0.021 2001 -688.3 -116.8 - - 3165 - - - - - - - - - 26.13 -
8454 889.2 -8.9 318 8460 roll -1.20 - - 2656 - 1.25 0.034 1164 -669.6 -116.8 - - 3163 - - - - - - - - - 25.96 -
8535 895.2 -9.0 320 8540 done -1.20 - - 2656 - 1.27 0.033 1992 652.0 -116.8 - - 3163 - - - - - - - - - 25.98 -
8705 911.8 -9.0 326 8710 roll -1.20 - - 2656 - 1.90 0.039 3238 655.8 -116.8 - - 3162 - - - - - - - - - 25.77 -
8806 921.1 -9.5 329 8811 done -1.20 - - 2656 - 1.80 0.021 2004 -685.6 -116.8 - - 3162 - - - - - - - - - 26.11 -
8986 939.6 -10.0 335 8991 roll -1.20 - - 2656 - 1.27 0.034 1157 -666.9 -116.8 - - 3161 - - - - - - - - - 25.91 -
9051 946.3 -10.2 337 9056 done -1.20 - - 2652 - 1.33 0.032 2013 643.6 -116.8 - - 3160 - - - - - - - - - 25.97 -
9237 965.4 -10.4 343 9242 roll -1.20 - - 2652 - 1.88 0.040 3240 652.7 -116.8 - - 3159 - - - - - - - - - 25.74 -
9332 975.6 -10.5 346 9337 done -1.20 - - 2652 - 1.77 0.021 2026 -685.9 -116.8 - - 3158 - - - - - - - - - 26.10 -
9483 end dive: TARGET_DEPTH_EXCEEDED
9483 begin apogee
9492 991.5 -10.2 351 9629 roll -0.25 1.05 0.144 2962 295.2 - - 1875 - - 128.75 1.102 2708 -3.5 0.332 - - - - - - 24.35 - 23.34
9635 end apogee: CONTROL_FINISHED_OK
9635 begin climb
9639 996.7 - 355 9764 done 1.20 1.33 0.063 3433 354.1 - - 1875 - 116.8 120.50 1.151 2239 -3.9 0.356 - - - - - - 25.12 - 23.25
9944 967.1 11.8 366 9949 roll 1.20 - - 3433 - 1.65 0.040 2940 645.5 116.8 - - 2201 - - - - - - - - - 25.76 -
10028 958.9 12.0 368 10033 done 1.20 - - 3440 - 1.50 0.028 1959 -654.0 116.8 - - 2198 - - - - - - - - - 25.94 -
10193 936.6 12.0 374 10198 roll 1.20 - - 3448 - 1.62 0.041 889 -660.5 116.8 - - 2196 - - - - - - - - - 25.84 -
10213 936.6 12.0 374 10219 done 1.20 - - 3448 - 1.58 0.047 1921 653.2 116.8 - - 2196 - - - - - - - - - 25.88 -
10384 913.0 12.4 380 10389 roll 1.20 - - 3448 - 1.60 0.041 2951 643.8 116.8 - - 2195 - - - - - - - - - 25.86 -
10483 901.0 12.5 383 10488 done 1.20 - - 3454 - 1.48 0.033 1993 -647.3 116.8 - - 2194 - - - - - - - - - 25.91 -
10665 878.2 12.3 389 10670 roll 1.20 - - 3462 - 1.67 0.040 889 -661.1 116.8 - - 2194 - - - - - - - - - 25.86 -
10754 869.8 12.5 391 10760 done 1.20 - - 3462 - 1.60 0.045 1941 657.5 116.8 - - 2194 - - - - - - - - - 25.90 -
10911 847.9 12.1 397 10916 roll 1.20 - - 3462 - 1.52 0.041 2954 666.4 116.8 - - 2193 - - - - - - - - - 25.86 -
10965 843.2 12.3 398 10971 done 1.20 0.12 0.193 3442 -166.7 1.50 0.041 1949 -670.0 116.8 - - 2193 - - - - - - - - 25.47 25.96 -
11131 820.3 12.1 404 11136 roll 1.20 - - 3449 - 1.73 0.041 854 -632.9 116.8 - - 2192 - - - - - - - - - 25.78 -
11176 816.2 12.0 405 11182 done 1.20 - - 3449 - 1.67 0.036 1925 641.3 116.8 - - 2193 - - - - - - - - - 24.79 -
11352 794.5 11.7 411 11357 roll 1.20 - - 3449 - 1.55 0.041 2956 665.2 116.8 - - 2192 - - - - - - - - - 25.82 -
11421 786.7 11.8 413 11426 done 1.20 - - 3455 - 1.55 0.041 1949 -649.7 116.8 - - 2192 - - - - - - - - - 25.91 -
11602 766.0 11.0 419 11603 done 1.20 - - 3455 - - - 1948 - 116.8 - - 2191 - - - - - - - - - - -
11751 749.5 11.2 424 11756 roll 1.20 - - 3455 - 1.58 0.041 2964 643.0 116.8 - - 2191 - - - - - - - - - 25.27 -
11849 738.2 11.7 427 11854 done 1.20 - - 3462 - 1.52 0.040 1944 -671.1 116.8 - - 2191 - - - - - - - - - 25.94 -
12032 716.8 11.6 433 12037 roll 1.20 - - 3462 - 1.55 0.041 2957 653.5 116.8 - - 2190 - - - - - - - - - 25.78 -
12182 702.2 11.4 437 12189 done 1.20 0.12 0.192 3442 -166.7 1.48 0.032 1995 -650.0 116.8 - - 2190 - - - - - - - - 25.13 25.36 -
12340 682.6 10.7 443 12345 roll 1.20 - - 3450 - 1.75 0.040 846 -656.6 116.8 - - 2190 - - - - - - - - - 25.74 -
12435 672.4 10.5 446 12440 done 1.20 - - 3449 - 1.73 0.035 1966 647.4 116.8 - - 2190 - - - - - - - - - 25.76 -
12620 652.4 11.0 452 12625 roll 1.20 - - 3449 - 1.52 0.041 2948 646.1 116.8 - - 2189 - - - - - - - - - 25.75 -
12650 652.4 11.0 452 12657 done 1.20 - - 3456 - 1.48 0.028 1975 -657.4 116.8 - - 2189 - - - - - - - - - 25.98 -
12805 631.4 11.3 458 12810 roll 1.20 - - 3464 - 1.73 0.040 844 -653.8 116.8 - - 2190 - - - - - - - - - 25.72 -
12864 627.5 11.3 459 12871 done 1.20 - - 3464 - 1.80 0.044 1982 632.2 116.8 - - 2189 - - - - - - - - - 25.72 -
13023 607.8 10.9 465 13028 roll 1.20 - - 3464 - 1.52 0.043 2986 660.5 116.8 - - 2189 - - - - - - - - - 25.71 -
13113 600.3 10.7 467 13120 done 1.20 0.15 0.190 3437 -180.0 1.50 0.040 1980 -670.7 116.8 - - 2189 - - - - - - - - 24.94 25.38 -
13268 583.5 9.0 473 13273 roll 1.20 - - 3445 - 1.73 0.040 849 -653.8 116.8 - - 2189 - - - - - - - - - 25.70 -
13318 580.2 9.0 474 13323 done 1.20 - - 3445 - 1.75 0.034 1984 648.6 116.8 - - 2189 - - - - - - - - - 25.75 -
13638 551.2 8.5 485 13643 roll 1.20 - - 3445 - 1.52 0.043 2980 655.3 116.8 - - 2189 - - - - - - - - - 25.26 -
13657 551.2 8.5 485 13662 done 1.20 - - 3451 - 1.50 0.040 1968 -674.7 116.8 - - 2189 - - - - - - - - - 24.80 -
13978 522.2 8.3 496 13984 roll 1.20 - - 3451 - 1.52 0.040 2960 652.6 116.8 - - 2189 - - - - - - - - - 25.69 -
14169 505.7 8.9 502 14174 done 1.20 - - 3458 - 1.48 0.031 1996 -651.4 116.8 - - 2189 - - - - - - - - - 25.44 -
14500 475.1 9.3 513 14506 roll 1.20 - - 3466 - 1.75 0.039 847 -656.6 116.8 - - 2188 - - - - - - - - - 25.65 -
14737 454.6 9.2 520 14742 done 1.20 - - 3466 - 1.83 0.042 2034 648.6 116.8 - - 2188 - - - - - - - - - 25.16 -
15053 426.9 8.2 531 15058 roll 1.20 - - 3474 - 1.85 0.037 842 -644.3 116.8 - - 2188 - - - - - - - - - 25.66 -
15072 426.9 8.2 531 15078 done 1.20 0.15 0.178 3441 -220.0 1.83 0.037 2031 649.7 116.8 - - 2188 - - - - - - - - 24.90 25.34 -
15394 400.5 8.1 542 15399 roll 1.20 - - 3441 - 1.45 0.041 2961 641.4 116.8 - - 2188 - - - - - - - - - 25.67 -
15594 384.9 8.4 548 15599 done 1.20 - - 3446 - 1.42 0.028 2032 -654.2 116.8 - - 2188 - - - - - - - - - 25.79 -
15916 361.5 6.2 559 15966 roll 1.29 - - 3454 - 1.90 0.037 847 -623.7 161.4 41.47 0.801 2042 -3.5 0.168 - - - - - - - 25.48 23.84
16047 352.1 7.8 563 16053 done 1.30 - - 3454 - 1.80 0.041 2021 652.2 168.5 - - 2022 - - - - - - - - - 25.72 -
16374 321.3 10.0 574 16375 done 1.30 - - 3454 - - - 2021 - 168.5 - - 2020 - - - - - - - - - - -
16672 291.6 9.6 584 16677 roll 1.30 - - 3454 - 1.45 0.040 2960 647.6 168.5 - - 2019 - - - - - - - - - 25.75 -
16869 273.7 9.5 590 16874 done 1.30 - - 3461 - 1.48 0.026 1978 -663.5 168.5 - - 2019 - - - - - - - - - 25.98 -
17194 243.4 8.7 602 17199 roll 1.30 - - 3469 - 1.70 0.037 850 -663.5 168.5 - - 2019 - - - - - - - - - 25.73 -
17240 239.4 8.7 604 17245 done 1.30 - - 3468 - 1.73 0.031 1996 662.4 168.5 - - 2019 - - - - - - - - - 25.86 -
17567 211.4 8.5 620 17572 roll 1.30 - - 3476 - 1.75 0.036 850 -654.9 168.5 - - 2019 - - - - - - - - - 25.74 -
17602 209.1 8.5 621 17607 done 1.30 - - 3477 - 1.70 0.031 1984 667.1 168.5 - - 2019 - - - - - - - - - 25.86 -
17918 182.1 8.1 637 17923 roll 1.30 - - 3484 - 1.73 0.035 849 -656.1 168.5 - - 2019 - - - - - - - - - 25.74 -
18134 166.8 6.8 647 18173 done 1.36 - - 3484 - 1.77 0.030 2005 653.1 197.8 33.12 0.655 1904 -3.5 0.093 - - - - - - - 25.86 24.13
18488 136.2 8.3 665 18493 roll 1.36 - - 3484 - 1.45 0.037 2954 654.5 197.8 - - 1875 - - - - - - - - - 25.80 -
18557 130.4 8.8 668 18562 done 1.36 - - 3490 - 1.42 0.024 1997 -673.9 197.8 - - 1875 - - - - - - - - - 25.99 -
18879 105.1 7.9 684 18884 roll 1.37 - - 3499 - 1.73 0.036 843 -667.1 201.5 - - 1875 - - - - - - - - - 25.80 -
18954 100.2 7.4 687 18969 done 1.40 - - 3499 - 1.75 0.029 2020 672.6 217.4 7.97 0.207 1835 -5.0 0.257 - - - - - - - 25.91 24.52
19294 80.8 6.1 704 19325 roll 1.50 - - 3499 - 1.45 0.037 2961 649.0 265.6 26.17 0.278 1630 -7.8 0.241 - - - - - - - 25.94 24.81
19481 65.0 8.8 713 19488 done 1.50 - - 3505 - 1.40 0.024 2017 -674.3 265.6 1.85 0.148 1628 - - - - - - - - - 26.02 24.91
19797 44.4 8.2 731 19803 roll 1.50 - - 3513 - 1.85 0.036 838 -637.3 265.6 1.75 0.161 1630 - - - - - - - - - 25.75 24.77
19827 41.9 8.3 733 19834 done 1.50 - - 3514 - 1.80 0.029 2049 672.8 265.6 1.40 0.175 1630 - - - - - - - - - 25.93 24.92
20134 16.2 8.5 764 20140 roll 1.50 - - 3514 - 1.42 0.036 2961 642.3 265.6 1.75 0.159 1630 - - - - - - - - - 25.76 24.70
20274 5.0 7.6 777 20286 done 1.52 - - 3519 - 1.38 0.024 2027 -676.8 276.7 7.00 0.126 1582 -6.9 0.029 - - - - - - - 26.10 24.94
20302 end climb: SURFACE_DEPTH_REACHED
20302 begin surface coast
20343 end surface coast: CONTROL_FINISHED_OK
20343 begin surface
SM 2.28 - - - - -9.04 8.68 0.028 136 15.7 0.28 0.047 2217 -25017.9 450.13 80.55 0.116 877 10.9 -0.022 - - - - - -