OKMC Jun13 * SG167 * Dive index * Mission links * Dive 644 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 106.08 of 150.00 AH used of 24V (29.28% remains)
• Previous NAKs 0, Timeouts 0 • 65.81 of 100.00 AH used of 10V (34.19% remains)
• Surface angle -70.3 deg, depth 2.11 m • Intended pitch -17.1 deg, speed -8.049 cm/s
VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 41 s
• GPS2 time: 42 s • Transponder ping count: 466
• 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 -1.09 - - 108 - - - 2221 - -116.8 -69.28 - 2592 - - - - - - - - - - -
101 3.1 -2.5 7 133 roll -1.09 10.95 0.230 2682 235.1 1.65 0.053 3251 624.2 -116.8 -14.00 - 3193 -42.9 - - - - - - - 24.62 25.82 26.45
319 44.2 -18.0 28 324 done -1.09 - - 2682 - 1.55 0.018 2165 -700.6 -116.8 - - 3194 - - - - - - - - - 26.10 -
635 96.6 -16.6 45 640 roll -1.09 - - 2675 - 1.67 0.034 3251 650.3 -116.8 - - 3194 - - - - - - - - - 25.90 -
848 128.3 -14.6 55 853 done -1.09 - - 2675 - 1.52 0.018 2174 -708.6 -116.8 - - 3195 - - - - - - - - - 26.17 -
1168 171.0 -11.9 71 1173 roll -1.09 - - 2675 - 1.48 0.030 1172 -677.0 -116.8 - - 3195 - - - - - - - - - 25.98 -
1253 180.6 -11.3 75 1259 done -1.09 0.12 0.177 2698 191.7 1.50 0.030 2164 661.3 -116.8 - - 3195 - - - - - - - - 25.60 26.01 -
1584 216.2 -11.4 91 1586 done -1.09 - - 2698 - - - 2164 - -116.8 - - 3195 - - - - - - - - - - -
1879 249.0 -10.5 106 1884 roll -1.09 - - 2698 - 1.50 0.028 1133 -687.3 -116.8 - - 3195 - - - - - - - - - 26.01 -
2018 261.4 -10.0 111 2024 done -1.09 - - 2693 - 1.50 0.028 2170 691.3 -116.8 - - 3195 - - - - - - - - - 26.04 -
2344 295.4 -10.9 122 2345 done -1.09 - - 2693 - - - 2171 - -116.8 - - 3195 - - - - - - - - - - -
2644 324.5 -8.9 132 2649 roll -1.09 - - 2693 - 1.50 0.028 1141 -686.7 -116.8 - - 3195 - - - - - - - - - 26.02 -
2782 335.6 -8.9 136 2787 done -1.09 - - 2686 - 1.48 0.028 2127 666.2 -116.8 - - 3195 - - - - - - - - - 26.06 -
3107 369.6 -11.3 147 3113 roll -1.09 - - 2687 - 1.45 0.029 1160 -666.9 -116.8 - - 3195 - - - - - - - - - 26.03 -
3153 373.6 -11.3 148 3158 done -1.09 - - 2683 - 1.42 0.029 2106 666.2 -116.8 - - 3195 - - - - - - - - - 26.05 -
3478 408.0 -9.5 159 3483 roll -1.09 - - 2682 - 1.40 0.029 1170 -668.6 -116.8 - - 3193 - - - - - - - - - 26.03 -
3537 411.3 -9.4 160 3544 done -1.09 - - 2677 - 1.40 0.029 2100 664.3 -116.8 - - 3193 - - - - - - - - - 26.05 -
3845 436.9 -7.4 171 3850 roll -1.09 - - 2677 - 1.40 0.029 1166 -667.1 -116.8 - - 3191 - - - - - - - - - 26.03 -
3926 442.4 -7.8 173 3931 done -1.09 - - 2671 - 1.38 0.028 2079 661.6 -116.8 - - 3191 - - - - - - - - - 26.06 -
4247 471.9 -9.2 184 4252 roll -1.09 - - 2671 - 1.38 0.029 1164 -663.0 -116.8 - - 3190 - - - - - - - - - 26.05 -
4296 475.3 -9.3 185 4302 done -1.09 0.08 0.155 2693 275.0 1.38 0.030 2069 655.8 -116.8 - - 3189 - - - - - - - - 25.64 26.03 -
4617 503.8 -8.6 196 4622 roll -1.09 - - 2686 - 1.75 0.036 3242 670.3 -116.8 - - 3188 - - - - - - - - - 25.90 -
4683 509.1 -8.2 198 4688 done -1.09 - - 2686 - 1.67 0.018 2070 -701.8 -116.8 - - 3187 - - - - - - - - - 26.20 -
5018 532.8 -6.6 209 5024 roll -1.09 - - 2686 - 1.35 0.031 1161 -673.3 -116.8 - - 3185 - - - - - - - - - 26.00 -
5157 540.7 -6.2 213 5162 done -1.09 - - 2683 - 1.35 0.031 2049 657.8 -116.8 - - 3184 - - - - - - - - - 26.03 -
5483 566.7 -8.0 224 5488 roll -1.09 - - 2683 - 1.33 0.030 1170 -660.9 -116.8 - - 3182 - - - - - - - - - 26.01 -
5557 571.7 -7.5 226 5562 done -1.09 - - 2679 - 1.30 0.031 2029 660.8 -116.8 - - 3181 - - - - - - - - - 26.02 -
5884 598.9 -8.2 237 5889 roll -1.09 - - 2669 - 1.83 0.037 3238 660.7 -116.8 - - 3179 - - - - - - - - - 25.86 -
5908 598.9 -8.2 237 5914 done -1.09 0.12 0.166 2700 258.3 1.75 0.019 2016 -698.3 -116.8 - - 3180 - - - - - - - - 25.70 26.16 -
6226 624.7 -7.5 248 6231 roll -1.09 - - 2700 - 1.27 0.033 1160 -674.0 -116.8 - - 3177 - - - - - - - - - 25.97 -
6330 631.6 -7.2 251 6335 done -1.09 - - 2697 - 1.30 0.031 2014 656.9 -116.8 - - 3177 - - - - - - - - - 26.00 -
6506 643.9 -6.7 257 6511 roll -1.09 - - 2697 - 1.85 0.038 3237 661.1 -116.8 - - 3176 - - - - - - - - - 25.81 -
6556 646.2 -6.5 258 6562 done -1.09 - - 2697 - 1.77 0.020 2007 -694.9 -116.8 - - 3175 - - - - - - - - - 26.15 -
6727 659.3 -7.3 264 6732 roll -1.09 - - 2697 - 1.25 0.033 1168 -671.2 -116.8 - - 3175 - - - - - - - - - 25.96 -
6812 664.4 -7.7 266 6817 done -1.09 - - 2697 - 1.25 0.032 1984 652.8 -116.8 - - 3174 - - - - - - - - - 25.98 -
6978 679.1 -8.2 272 6983 roll -1.09 - - 2697 - 1.92 0.039 3237 652.6 -116.8 - - 3173 - - - - - - - - - 25.77 -
7062 685.0 -8.8 274 7067 done -1.09 - - 2697 - 1.80 0.020 1994 -690.6 -116.8 - - 3173 - - - - - - - - - 26.13 -
7228 702.1 -9.3 280 7233 roll -1.09 - - 2696 - 1.23 0.034 1172 -668.3 -116.8 - - 3171 - - - - - - - - - 25.94 -
7278 705.6 -9.5 281 7283 done -1.09 - - 2694 - 1.25 0.031 1989 653.6 -116.8 - - 3171 - - - - - - - - - 25.98 -
7449 723.3 -9.5 287 7454 roll -1.09 - - 2683 - 1.90 0.037 3245 661.1 -116.8 - - 3170 - - - - - - - - - 25.78 -
7548 732.2 -9.2 290 7554 done -1.09 - - 2683 - 1.80 0.021 2007 -687.8 -116.8 - - 3170 - - - - - - - - - 26.09 -
7729 748.7 -8.8 296 7734 roll -1.09 - - 2683 - 1.25 0.034 1169 -670.4 -116.8 - - 3168 - - - - - - - - - 25.91 -
7795 754.4 -8.7 298 7800 done -1.09 - - 2683 - 1.25 0.032 1974 644.0 -116.8 - - 3168 - - - - - - - - - 25.94 -
7981 770.0 -8.4 304 7986 roll -1.09 - - 2683 - 1.92 0.039 3237 657.8 -116.8 - - 3168 - - - - - - - - - 25.72 -
8070 776.3 -9.0 306 8077 done -1.09 - - 2683 - 1.80 0.021 2000 -687.2 -116.8 - - 3167 - - - - - - - - - 26.08 -
8226 792.9 -9.4 312 8231 roll -1.09 - - 2684 - 1.25 0.034 1167 -666.4 -116.8 - - 3166 - - - - - - - - - 25.89 -
8307 799.0 -9.4 314 8312 done -1.09 - - 2679 - 1.23 0.032 1968 651.2 -116.8 - - 3166 - - - - - - - - - 25.95 -
8477 817.1 -10.0 320 8478 done -1.09 - - 2679 - - - 1968 - -116.8 - - 3165 - - - - - - - - - - -
8626 831.8 -9.7 325 8631 roll -1.09 - - 2679 - 1.23 0.032 1167 -651.2 -116.8 - - 3164 - - - - - - - - - 25.91 -
8646 831.8 -9.7 325 8652 done -1.09 - - 2674 - 1.23 0.031 1970 652.8 -116.8 - - 3164 - - - - - - - - - 25.96 -
8817 849.1 -8.9 331 8822 roll -1.09 - - 2670 - 1.95 0.039 3245 653.8 -116.8 - - 3163 - - - - - - - - - 25.67 -
8954 859.9 -8.6 335 8960 done -1.09 0.12 0.169 2700 250.0 1.83 0.021 1995 -683.1 -116.8 - - 3162 - - - - - - - - 25.58 26.04 -
9131 872.7 -6.2 341 9137 roll -1.09 - - 2699 - 1.25 0.035 1165 -664.0 -116.8 - - 3161 - - - - - - - - - 25.84 -
9211 876.8 -6.1 343 9216 done -1.09 - - 2697 - 1.23 0.032 1963 648.8 -116.8 - - 3161 - - - - - - - - - 25.93 -
9384 886.4 -5.0 349 9389 roll -1.09 - - 2697 - 1.98 0.041 3234 641.9 -116.8 - - 3160 - - - - - - - - - 25.63 -
9479 891.4 -5.1 352 9485 done -1.09 - - 2697 - 1.85 0.021 1987 -674.1 -116.8 - - 3160 - - - - - - - - - 26.00 -
9665 902.1 -5.8 358 9670 roll -1.09 - - 2697 - 1.23 0.034 1175 -660.2 -116.8 - - 3159 - - - - - - - - - 25.84 -
9726 904.3 -6.0 359 9732 done -1.09 - - 2697 - 1.23 0.033 1969 645.5 -116.8 - - 3159 - - - - - - - - - 25.89 -
9881 916.1 -6.7 365 9886 roll -1.09 - - 2697 - 1.95 0.041 3237 650.3 -116.8 - - 3158 - - - - - - - - - 25.61 -
9976 923.6 -7.7 368 9981 done -1.09 - - 2697 - 1.83 0.021 1998 -677.0 -116.8 - - 3158 - - - - - - - - - 26.03 -
10163 939.5 -8.7 374 10168 roll -1.09 - - 2697 - 1.25 0.035 1172 -660.8 -116.8 - - 3157 - - - - - - - - - 25.81 -
10222 942.9 -9.0 375 10228 done -1.09 - - 2696 - 1.25 0.034 1978 644.8 -116.8 - - 3157 - - - - - - - - - 25.86 -
10378 959.7 -9.4 381 10383 roll -1.09 - - 2697 - 1.95 0.041 3241 647.7 -116.8 - - 3156 - - - - - - - - - 25.56 -
10474 968.8 -9.7 384 10479 done -1.09 - - 2697 - 1.85 0.022 1988 -677.3 -116.8 - - 3156 - - - - - - - - - 26.00 -
10660 985.5 -8.7 390 10661 done -1.09 - - 2697 - - - 1989 - -116.8 - - 3156 - - - - - - - - - - -
10715 end dive: TARGET_DEPTH_EXCEEDED
10715 begin apogee
10726 990.6 -8.6 392 10889 roll -0.25 0.88 0.136 2960 298.9 - - 1895 - - 153.27 1.026 2711 -2.9 0.296 - - - - - - 24.30 - 23.38
10891 end apogee: CONTROL_FINISHED_OK
10891 begin climb
10895 995.6 - 397 11031 roll 1.09 1.20 0.063 3397 364.2 1.73 0.041 2937 602.3 116.8 122.12 1.145 2230 -3.9 0.362 - - - - - - 25.00 24.26 23.24
11130 973.7 12.2 405 11135 done 1.09 - - 3404 - 1.52 0.030 1925 -665.8 116.8 - - 2200 - - - - - - - - - 25.68 -
11303 951.5 12.0 411 11308 roll 1.09 - - 3404 - 1.58 0.042 2940 642.4 116.8 - - 2197 - - - - - - - - - 25.72 -
11459 931.4 12.7 416 11464 done 1.09 - - 3411 - 1.58 0.029 1892 -663.3 116.8 - - 2197 - - - - - - - - - 25.90 -
11644 909.5 11.6 422 11649 roll 1.09 - - 3419 - 1.65 0.042 845 -634.5 116.8 - - 2196 - - - - - - - - - 25.76 -
11684 905.3 11.7 423 11690 done 1.09 - - 3419 - 1.62 0.035 1883 640.7 116.8 - - 2193 - - - - - - - - - 25.86 -
11865 884.6 11.0 429 11870 roll 1.09 - - 3419 - 1.62 0.042 2953 660.5 116.8 - - 2193 - - - - - - - - - 25.75 -
11970 873.3 11.7 432 11975 done 1.09 - - 3426 - 1.52 0.029 1922 -678.3 116.8 - - 2192 - - - - - - - - - 25.95 -
12147 852.1 11.4 438 12152 roll 1.09 - - 3426 - 1.60 0.041 2959 648.1 116.8 - - 2192 - - - - - - - - - 25.74 -
12186 847.8 11.4 439 12191 done 1.09 0.12 0.187 3404 -183.3 1.52 0.029 1931 -676.3 116.8 - - 2191 - - - - - - - - 25.46 25.94 -
12367 829.0 9.8 445 12369 done 1.09 - - 3404 - - - 1931 - 116.8 - - 2191 - - - - - - - - - - -
12516 813.8 10.2 450 12521 roll 1.09 - - 3405 - 1.58 0.041 2953 646.8 116.8 - - 2190 - - - - - - - - - 25.71 -
12590 806.9 10.4 452 12595 done 1.09 - - 3410 - 1.50 0.029 1940 -675.3 116.8 - - 2190 - - - - - - - - - 25.94 -
12766 787.9 10.5 458 12772 roll 1.09 - - 3418 - 1.67 0.041 843 -656.9 116.8 - - 2190 - - - - - - - - - 25.70 -
12857 780.4 10.8 460 12863 done 1.09 - - 3418 - 1.65 0.035 1930 658.8 116.8 - - 2190 - - - - - - - - - 25.80 -
13013 759.8 11.6 466 13018 roll 1.09 - - 3418 - 1.55 0.044 2953 660.0 116.8 - - 2190 - - - - - - - - - 25.67 -
13068 755.6 11.6 467 13073 done 1.09 - - 3425 - 1.58 0.039 1936 -643.7 116.8 - - 2189 - - - - - - - - - 25.71 -
13234 733.7 11.8 473 13239 roll 1.09 - - 3424 - 1.58 0.041 2954 644.3 116.8 - - 2189 - - - - - - - - - 25.66 -
13273 729.5 11.8 474 13278 done 1.09 0.12 0.188 3404 -166.7 1.50 0.029 1941 -675.3 116.8 - - 2189 - - - - - - - - 25.41 25.92 -
13455 710.1 10.4 480 13460 roll 1.09 - - 3404 - 1.58 0.041 2957 643.0 116.8 - - 2189 - - - - - - - - - 25.64 -
13529 702.9 10.5 482 13534 done 1.09 - - 3409 - 1.50 0.028 1945 -674.7 116.8 - - 2189 - - - - - - - - - 25.91 -
13704 683.8 10.3 488 13709 roll 1.09 - - 3409 - 1.58 0.042 2960 642.4 116.8 - - 2189 - - - - - - - - - 25.63 -
13744 680.1 10.4 489 13749 done 1.09 - - 3415 - 1.48 0.029 1994 -652.7 116.8 - - 2189 - - - - - - - - - 25.91 -
13925 661.1 10.1 495 13930 roll 1.09 - - 3415 - 1.52 0.042 2978 647.4 116.8 - - 2189 - - - - - - - - - 25.62 -
14009 654.2 10.2 497 14014 done 1.09 - - 3422 - 1.48 0.029 2010 -654.1 116.8 - - 2189 - - - - - - - - - 25.91 -
14176 635.0 10.4 503 14181 roll 1.09 - - 3422 - 1.50 0.041 2953 628.7 116.8 - - 2188 - - - - - - - - - 25.63 -
14235 631.1 10.5 504 14241 done 1.09 - - 3428 - 1.40 0.029 2032 -657.9 116.8 - - 2188 - - - - - - - - - 25.91 -
14391 612.7 10.0 510 14396 roll 1.09 - - 3428 - 1.48 0.041 2954 623.0 116.8 - - 2187 - - - - - - - - - 25.60 -
14481 606.5 9.7 512 14488 done 1.09 0.10 0.169 3392 -360.0 1.38 0.029 2050 -655.1 116.8 - - 2186 - - - - - - - - 25.11 25.91 -
14636 591.7 7.8 518 14641 roll 1.10 - - 3399 - 1.85 0.040 850 -648.6 124.3 - - 2186 - - - - - - - - - 25.55 -
14742 585.0 7.2 521 14779 done 1.15 - - 3399 - 1.83 0.034 2044 652.5 149.0 30.05 0.952 2101 -2.8 0.184 - - - - - - - 25.68 23.92
15097 558.7 7.3 533 15125 roll 1.19 0.10 0.092 3455 560.0 1.90 0.037 849 -628.9 168.9 20.45 0.943 2016 -4.2 0.260 - - - - - - 26.20 25.59 23.91
15179 553.2 7.9 535 15184 done 1.20 - - 3454 - 1.83 0.036 2020 639.9 173.7 - - 1996 - - - - - - - - - 25.72 -
15499 518.3 11.1 546 15504 roll 1.20 - - 3454 - 1.45 0.043 2948 640.0 173.7 - - 1992 - - - - - - - - - 25.68 -
15518 518.3 11.1 546 15523 done 1.20 - - 3460 - 1.45 0.029 1998 -655.2 173.7 - - 1992 - - - - - - - - - 25.89 -
15840 480.0 10.7 557 15845 roll 1.20 - - 3460 - 1.52 0.041 2985 649.3 173.7 - - 1991 - - - - - - - - - 25.67 -
15924 473.0 10.6 559 15929 done 1.20 - - 3466 - 1.48 0.028 2018 -653.4 173.7 - - 1991 - - - - - - - - - 25.91 -
16240 442.8 8.5 570 16245 roll 1.20 - - 3475 - 1.80 0.041 843 -652.8 173.7 - - 1991 - - - - - - - - - 25.62 -
16382 432.0 8.6 574 16388 done 1.20 0.15 0.175 3441 -226.7 1.77 0.034 2001 654.2 173.7 - - 1991 - - - - - - - - 25.18 25.73 -
16703 401.0 9.6 585 16708 roll 1.20 - - 3441 - 1.50 0.042 2959 638.7 173.7 - - 1990 - - - - - - - - - 25.63 -
16718 401.0 9.6 585 16723 done 1.20 - - 3446 - 1.42 0.028 2018 -662.7 173.7 - - 1991 - - - - - - - - - 25.92 -
17043 369.4 8.5 596 17048 roll 1.20 - - 3454 - 1.83 0.040 853 -636.6 173.7 - - 1990 - - - - - - - - - 25.60 -
17159 362.2 7.7 599 17170 done 1.22 - - 3454 - 1.77 0.034 2025 662.1 182.5 7.28 0.794 1971 -2.6 0.126 - - - - - - - 25.71 24.15
17469 332.3 10.2 610 17474 roll 1.22 - - 3455 - 1.42 0.041 2954 654.2 182.5 - - 1963 - - - - - - - - - 25.70 -
17534 325.3 10.5 612 17539 done 1.22 - - 3460 - 1.45 0.028 2002 -656.6 182.5 - - 1963 - - - - - - - - - 25.92 -
17870 294.0 8.3 623 17875 roll 1.22 - - 3461 - 1.50 0.037 2989 658.0 182.5 - - 1963 - - - - - - - - - 25.66 -
17995 283.6 8.2 627 18000 done 1.22 - - 3467 - 1.52 0.026 1956 -679.6 182.5 - - 1963 - - - - - - - - - 25.91 -
18332 255.2 8.6 638 18337 roll 1.22 - - 3475 - 1.70 0.038 856 -647.1 182.5 - - 1963 - - - - - - - - - 25.63 -
18411 249.1 8.9 640 18418 done 1.22 0.12 0.171 3448 -225.0 1.67 0.032 1969 666.5 182.5 - - 1963 - - - - - - - - 25.29 25.74 -
18720 223.0 7.9 656 18730 roll 1.23 - - 3448 - 1.52 0.037 2956 649.3 187.9 2.88 0.458 1946 -5.9 0.304 - - - - - - - 25.76 24.03
18843 214.0 8.3 661 18850 done 1.23 - - 3453 - 1.50 0.026 1927 -686.0 187.9 - - 1954 - - - - - - - - - 25.93 -
19146 194.2 4.9 677 19243 done 1.40 0.12 0.076 3531 650.0 - - 1927 - 275.0 92.38 0.665 1586 -4.0 0.123 - - - - - - 26.31 - 23.84
19546 153.6 11.9 697 19551 roll 1.40 - - 3530 - 1.58 0.036 2960 653.8 275.0 - - 1554 - - - - - - - - - 25.70 -
19616 145.3 12.6 700 19622 done 1.40 0.15 0.177 3501 -193.3 1.50 0.025 1972 -658.7 275.0 - - 1553 - - - - - - - - 25.32 25.88 -
19941 117.3 6.9 716 19960 roll 1.47 - - 3501 - 1.58 0.035 2965 628.5 306.7 12.82 0.286 1463 -7.0 0.304 - - - - - - - 25.88 24.53
20026 110.3 8.0 720 20036 done 1.47 - - 3507 - 1.52 0.024 1925 -684.2 308.4 3.38 0.192 1460 -0.9 0.054 - - - - - - - 25.96 24.25
20355 82.7 9.2 736 20364 roll 1.47 - - 3507 - 1.62 0.035 2951 633.3 308.4 2.95 0.162 1462 - - - - - - - - - 25.72 24.30
20522 66.0 10.0 744 20532 done 1.47 - - 3514 - 1.52 0.026 1945 -661.8 308.4 2.95 0.151 1463 - - - - - - - - - 25.98 24.33
20837 36.3 10.2 766 20848 roll 1.47 - - 3522 - 1.73 0.037 847 -634.7 308.4 2.95 0.158 1465 - - - - - - - - - 25.70 24.30
20858 34.9 10.7 767 20866 done 1.47 - - 3522 - 1.67 0.029 1973 674.3 308.4 2.28 0.166 1457 -3.5 0.078 - - - - - - - 25.92 24.56
21132 end climb: SURFACE_DEPTH_REACHED
21132 begin surface coast
21153 end surface coast: CONTROL_FINISHED_OK
21153 begin surface
SM 2.12 - - - - -9.04 8.77 0.031 145 16.5 0.32 0.050 2218 -21887.5 450.13 67.60 0.117 876 13.0 -0.024 - - - - - -