OKMC Oct12 * SG167 * Dive index * Mission links * Dive 71 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 20.00 of 150.00 AH used of 24V (86.67% remains)
• Previous NAKs 0, Timeouts 0 • 11.12 of 110.00 AH used of 10V (89.89% remains)
• Surface angle -66.0 deg, depth 1.64 m • Intended pitch -15.7 deg, speed -10.000 cm/s
• No surface pump (final VBD was 558.06, SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 4 s • Transponder ping count: 15
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 85 VBD -0.47 - - 112 - - - 2298 - -195.5 -64.57 - 2501 - - - - - - - - - - -
88 3.2 -6.1 11 137 roll -0.47 9.65 0.223 2579 255.6 2.03 0.043 950 -664.0 -195.5 -29.45 - 3768 -43.0 - - - - - - - 25.57 26.12 26.46
182 15.0 -11.8 27 189 done -0.51 - - 2577 - 2.05 0.028 2322 669.3 -195.5 - - 3768 - - - - - - - - - 26.15 -
503 67.4 -16.3 60 508 roll -0.48 - - 2574 - 2.15 0.044 3728 654.0 -195.5 - - 3768 - - - - - - - - - 26.22 -
555 74.0 -15.2 62 561 done -0.48 - - 2574 - 2.00 0.021 2341 -693.5 -195.5 - - 3768 - - - - - - - - - 26.40 -
870 113.1 -11.2 78 875 roll -0.54 - - 2574 - 2.08 0.031 918 -684.1 -195.5 - - 3769 - - - - - - - - - 26.44 -
927 117.8 -11.1 80 935 done -0.61 - - 2574 - 2.10 0.034 2330 672.4 -195.5 - - 3769 - - - - - - - - - 26.44 -
1235 143.5 -7.1 96 1242 roll -0.73 0.17 0.060 2460 -670.6 2.12 0.043 3728 659.4 -195.5 - - 3769 - - - - - - - - 26.65 26.40 -
1349 157.9 -14.8 101 1355 done -0.68 0.17 0.135 2515 323.5 2.03 0.021 2319 -694.1 -195.5 - - 3769 - - - - - - - - 26.24 26.58 -
1663 191.5 -10.4 117 1669 roll -0.71 - - 2515 - 2.00 0.030 927 -696.0 -195.5 - - 3770 - - - - - - - - - 26.55 -
1720 195.7 -10.2 119 1727 done -0.75 - - 2515 - 2.10 0.036 2328 667.1 -195.5 - - 3770 - - - - - - - - - 26.53 -
2027 225.1 -9.5 135 2032 roll -0.80 - - 2515 - 2.12 0.045 3735 663.7 -195.5 - - 3771 - - - - - - - - - 26.47 -
2105 230.8 -9.1 138 2113 done -0.85 0.15 0.068 2427 -586.7 2.00 0.019 2295 -720.0 -195.5 - - 3769 - - - - - - - - 26.60 26.69 -
2411 281.2 -16.8 154 2413 done -0.77 0.22 0.138 2494 304.5 - - 2294 - -195.5 - - 3769 - - - - - - - - 26.30 - -
2713 312.2 -9.7 169 2719 roll -0.81 - - 2494 - 2.20 0.048 3727 651.4 -195.5 - - 3768 - - - - - - - - - 26.48 -
2771 316.5 -9.4 171 2778 done -0.86 - - 2493 - 1.95 0.019 2317 -723.1 -195.5 - - 3768 - - - - - - - - - 26.74 -
3079 345.7 -9.4 187 3081 done -0.92 0.15 0.070 2412 -540.0 - - 2316 - -195.5 - - 3766 - - - - - - - - 26.76 - -
3379 393.9 -17.0 202 3384 roll -0.85 0.15 0.149 2452 266.7 2.17 0.042 3725 649.3 -195.5 - - 3765 - - - - - - - - 26.40 26.48 -
3452 403.1 -15.0 205 3458 done -0.83 - - 2452 - 1.95 0.019 2323 -719.0 -195.5 - - 3764 - - - - - - - - - 26.72 -
3766 441.4 -11.1 221 3772 roll -0.83 - - 2452 - 2.17 0.048 3729 647.9 -195.5 - - 3762 - - - - - - - - - 26.48 -
3804 444.2 -11.1 222 3811 done -0.83 - - 2452 - 1.95 0.020 2316 -724.6 -195.5 - - 3762 - - - - - - - - - 26.75 -
4110 476.8 -10.0 238 4116 roll -0.83 - - 2452 - 1.95 0.025 964 -693.3 -195.5 - - 3760 - - - - - - - - - 26.63 -
4164 481.2 -9.8 240 4169 done -0.85 - - 2452 - 2.00 0.028 2332 684.0 -195.5 - - 3759 - - - - - - - - - 26.58 -
4476 515.1 -10.1 256 4482 roll -0.85 - - 2452 - 2.00 0.024 953 -689.5 -195.5 - - 3758 - - - - - - - - - 26.63 -
4535 519.3 -9.9 258 4541 done -0.87 - - 2452 - 2.03 0.029 2333 679.8 -195.5 - - 3757 - - - - - - - - - 26.58 -
4840 550.9 -9.9 274 4845 roll -0.89 - - 2452 - 2.15 0.047 3731 650.2 -195.5 - - 3754 - - - - - - - - - 26.44 -
4904 557.2 -10.2 277 4910 done -0.91 - - 2452 - 1.95 0.021 2320 -723.6 -195.5 - - 3754 - - - - - - - - - 26.74 -
5228 590.1 -10.3 293 5229 done -0.94 - - 2452 - - - 2317 - -195.5 - - 3751 - - - - - - - - - - -
5540 620.3 -9.5 305 5546 roll -0.97 - - 2452 - 2.20 0.054 3732 643.2 -195.5 - - 3749 - - - - - - - - - 26.36 -
5613 626.5 -9.4 307 5619 done -1.00 0.10 0.096 2395 -570.0 1.98 0.022 2320 -713.1 -195.5 - - 3749 - - - - - - - - 26.58 26.72 -
5940 669.1 -13.4 318 5946 roll -0.96 0.12 0.159 2433 316.7 2.20 0.046 3733 642.3 -195.5 - - 3746 - - - - - - - - 26.44 26.40 -
6024 676.9 -12.8 320 6029 done -0.95 - - 2433 - 1.98 0.023 2325 -711.1 -195.5 - - 3746 - - - - - - - - - 26.71 -
6337 712.5 -10.2 331 6342 roll -0.95 - - 2433 - 2.20 0.048 3730 638.6 -195.5 - - 3743 - - - - - - - - - 26.38 -
6359 712.5 -10.2 331 6365 done -0.95 - - 2433 - 2.00 0.027 2315 -707.5 -195.5 - - 3743 - - - - - - - - - 26.42 -
6675 746.7 -10.2 342 6676 done -0.96 - - 2433 - - - 2313 - -195.5 - - 3740 - - - - - - - - - - -
6973 777.8 -10.3 352 6978 roll -0.98 - - 2433 - 2.20 0.052 3722 640.5 -195.5 - - 3738 - - - - - - - - - 25.69 -
7037 784.8 -10.7 354 7042 done -1.00 - - 2433 - 1.98 0.024 2327 -704.5 -195.5 - - 3737 - - - - - - - - - 26.69 -
7372 822.3 -11.4 365 7378 roll -1.03 - - 2433 - 2.20 0.049 3722 634.1 -195.5 - - 3735 - - - - - - - - - 26.33 -
7439 829.9 -11.5 367 7446 done -1.05 - - 2433 - 1.98 0.024 2317 -709.6 -195.5 - - 3734 - - - - - - - - - 26.68 -
7770 867.0 -10.8 378 7772 done -1.08 0.12 0.086 2372 -508.3 - - 2316 - -195.5 - - 3732 - - - - - - - - 26.74 - -
8069 909.6 -14.0 388 8075 roll -1.03 0.12 0.161 2410 316.7 2.20 0.047 3722 639.1 -195.5 - - 3730 - - - - - - - - 26.39 26.30 -
8107 913.9 -13.5 389 8114 done -0.99 - - 2410 - 1.98 0.024 2330 -703.0 -195.5 - - 3730 - - - - - - - - - 26.66 -
8438 949.4 -10.3 400 8444 roll -0.99 - - 2410 - 2.03 0.030 952 -678.8 -195.5 - - 3728 - - - - - - - - - 26.48 -
8465 949.4 -10.3 400 8473 done -0.99 - - 2409 - 2.05 0.032 2326 670.2 -195.5 - - 3728 - - - - - - - - - 26.47 -
8771 984.1 -10.5 411 8776 roll -0.99 - - 2410 - 2.17 0.050 3729 646.5 -195.5 - - 3727 - - - - - - - - - 26.26 -
8832 end dive: TARGET_DEPTH_EXCEEDED
8832 begin apogee
8840 990.8 -10.5 413 9016 done -0.20 0.77 0.112 2670 337.7 - - 2296 - - 165.07 1.307 2962 -4.6 0.375 - - - - - - 25.90 - 23.62
9018 end apogee: CONTROL_FINISHED_OK
9018 begin climb
9021 998.3 - 419 9206 roll 0.47 0.57 0.037 2909 419.3 2.45 0.047 3697 571.8 195.5 176.48 1.215 2163 -4.5 0.397 - - - - - - 24.82 23.90 23.01
9393 962.7 14.6 431 9400 done 0.35 0.22 0.151 2857 -236.4 2.12 0.028 2316 -651.4 195.5 - - 2151 - - - - - - - - 25.17 25.47 -
9715 929.3 9.7 442 9720 done 0.32 - - 2857 - - - 2314 - 205.1 2.85 0.809 2132 -6.7 0.817 - - - - - - - - 24.42
10015 899.3 9.9 452 10020 done 0.29 - - 2857 - - - 2315 - 207.0 3.08 0.931 2124 -2.6 0.268 - - - - - - - - 24.60
10314 868.2 10.5 462 10320 roll 0.26 0.12 0.153 2816 -341.7 2.20 0.046 3711 634.5 207.0 - - 2129 - - - - - - - - 26.10 26.16 -
10351 864.7 10.4 463 10357 done 0.24 - - 2817 - 2.10 0.030 2298 -672.9 207.0 - - 2129 - - - - - - - - - 26.31 -
10682 839.6 7.2 474 10776 roll 0.29 - - 2817 - 2.35 0.046 3699 596.2 289.9 87.18 1.171 1780 -4.0 0.306 - - - - - - - 24.88 24.03
10819 830.5 7.3 478 10903 done 0.34 - - 2816 - 2.17 0.029 2291 -648.8 369.0 77.12 1.128 1459 -4.2 0.327 - - - - - - - 25.41 23.87
11227 801.1 7.1 492 11317 roll 0.46 0.17 0.064 2909 547.1 2.45 0.047 3709 578.8 453.8 82.43 1.087 1109 -4.2 0.334 - - - - - - 25.97 24.80 24.03
11341 790.1 11.3 495 11347 done 0.48 - - 2911 - 2.20 0.031 2307 -637.3 453.8 - - 1104 - - - - - - - - - 25.20 -
11654 741.3 14.5 506 11659 roll 0.48 - - 2911 - 2.15 0.037 893 -657.7 453.8 - - 1100 - - - - - - - - - 25.94 -
11690 736.9 14.3 507 11696 done 0.48 - - 2910 - 2.15 0.030 2310 659.1 453.8 - - 1100 - - - - - - - - - 26.00 -
12021 689.5 14.2 518 12026 roll 0.48 - - 2911 - 2.17 0.047 3699 640.1 453.8 - - 1099 - - - - - - - - - 26.14 -
12054 684.3 14.3 519 12059 done 0.48 - - 2911 - 2.10 0.028 2293 -669.5 453.8 - - 1098 - - - - - - - - - 26.25 -
12389 639.7 12.9 530 12394 roll 0.48 - - 2911 - 2.22 0.047 3697 632.4 453.8 - - 1097 - - - - - - - - - 26.24 -
12425 634.8 13.1 531 12430 done 0.48 - - 2911 - 2.08 0.030 2302 -670.7 453.8 - - 1096 - - - - - - - - - 26.36 -
12737 592.3 14.0 542 12742 roll 0.48 - - 2911 - 2.20 0.052 3704 637.3 453.8 - - 1097 - - - - - - - - - 25.98 -
12763 588.5 14.2 543 12769 done 0.48 - - 2911 - 2.08 0.029 2295 -677.4 453.8 - - 1097 - - - - - - - - - 26.43 -
13081 545.4 13.0 559 13082 done 0.48 - - 2910 - - - 2295 - 453.8 - - 1096 - - - - - - - - - - -
13383 507.7 13.1 574 13388 roll 0.48 - - 2910 - 2.08 0.037 905 -668.3 453.8 - - 1096 - - - - - - - - - 26.41 -
13436 502.2 12.8 576 13441 done 0.50 - - 2911 - 2.10 0.029 2309 668.6 453.8 - - 1096 - - - - - - - - - 26.44 -
13749 461.7 12.6 592 13754 roll 0.50 - - 2911 - 2.15 0.047 3697 645.6 453.8 - - 1096 - - - - - - - - - 26.36 -
13772 458.6 12.6 593 13777 done 0.50 - - 2911 - 2.08 0.027 2288 -677.4 453.8 - - 1095 - - - - - - - - - 26.52 -
14096 417.8 12.7 609 14097 done 0.50 - - 2911 - - - 2288 - 453.8 - - 1095 - - - - - - - - - - -
14397 380.2 12.4 624 14398 done 0.52 - - 2911 - - - 2288 - 453.8 - - 1095 - - - - - - - - - - -
14697 342.1 13.1 639 14699 done 0.54 - - 2911 - - - 2288 - 453.8 - - 1095 - - - - - - - - - - -
14999 300.7 12.9 654 15004 roll 0.57 - - 2912 - 2.20 0.047 3697 640.5 453.8 - - 1095 - - - - - - - - - 26.36 -
15022 297.1 12.9 655 15028 done 0.59 - - 2911 - 2.05 0.026 2294 -684.4 453.8 - - 1095 - - - - - - - - - 26.57 -
15346 259.7 12.1 671 15352 roll 0.62 - - 2911 - 2.05 0.034 904 -678.0 453.8 - - 1096 - - - - - - - - - 26.48 -
15373 257.1 11.8 672 15379 done 0.66 0.12 0.078 2986 625.0 2.05 0.028 2303 682.4 453.8 - - 1096 - - - - - - - - 26.48 26.51 -
15693 200.1 18.6 688 15700 roll 0.61 0.15 0.137 2938 -320.0 2.15 0.043 3702 650.7 453.8 - - 1095 - - - - - - - - 26.38 26.40 -
15738 192.7 17.6 690 15744 done 0.58 - - 2938 - 2.08 0.024 2288 -679.8 453.8 - - 1096 - - - - - - - - - 26.59 -
16062 152.4 11.3 706 16068 roll 0.60 - - 2938 - 2.03 0.033 909 -679.3 453.8 - - 1099 - - - - - - - - - 26.49 -
16086 149.9 11.3 707 16091 done 0.63 - - 2938 - 2.03 0.026 2304 687.2 453.8 - - 1096 - - - - - - - - - 26.54 -
16410 117.6 8.8 723 16430 roll 0.69 - - 2938 - 2.05 0.028 908 -681.0 489.8 12.98 0.390 975 -9.3 0.300 - - - - - - - 26.49 25.76
16462 114.1 8.6 725 16488 done 0.78 0.15 0.066 3026 586.7 2.03 0.025 2299 685.2 531.7 17.88 0.387 805 -9.5 0.299 - - - - - - 26.48 26.48 25.72
16796 64.5 14.1 742 16803 roll 0.78 0.12 0.138 2986 -333.3 2.12 0.041 3688 655.2 531.7 0.88 0.189 800 -5.7 0.207 - - - - - - 26.30 26.31 25.98
16821 61.0 14.1 743 16827 done 0.78 - - 2989 - 2.00 0.022 2289 -699.5 531.7 - - 804 - - - - - - - - - 26.47 -
17135 28.0 10.2 769 17140 roll 0.85 - - 2989 - 1.98 0.030 922 -690.4 531.7 - - 806 - - - - - - - - - 26.43 -
17194 22.5 9.1 777 17214 done 0.96 0.17 0.060 3092 605.9 2.00 0.024 2305 691.5 559.2 11.40 0.174 688 -10.4 0.143 - - - - - - 26.47 26.48 25.96
17301 end climb: SURFACE_DEPTH_REACHED
17301 begin surface coast
17312 end surface coast: CONTROL_FINISHED_OK
17312 begin surface
SM 1.56 - - - - -8.10 7.50 0.028 120 -396.3 - - 2306 - 558.06 - - 693 - - - - - - - -