OKMC Oct12 * SG167 * Dive index * Mission links * Dive 77 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 21.20 of 150.00 AH used of 24V (85.87% remains)
• Previous NAKs 0, Timeouts 0 • 11.91 of 110.00 AH used of 10V (89.18% remains)
• Surface angle -64.7 deg, depth 1.60 m • Intended pitch -14.1 deg, speed -8.250 cm/s
• No surface pump (final VBD was 472.45, SM_CC=425)
• GPS1 time: 33 s
• GPS2 time: 5 s • Transponder ping count: 16
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 90 VBD -0.42 - - 109 - - - 2313 - -171.1 -69.32 - 2633 - - - - - - - - - - -
94 3.4 -6.4 12 133 roll -0.42 9.62 0.219 2598 258.7 2.08 0.037 927 -666.3 -171.1 -23.62 - 3668 -43.8 - - - - - - - 25.54 26.13 26.41
158 11.6 -12.5 22 165 done -0.44 - - 2597 - 2.08 0.028 2327 673.1 -171.1 - - 3669 - - - - - - - - - 26.11 -
469 50.1 -12.2 63 474 roll -0.44 - - 2597 - 2.15 0.045 3732 653.5 -171.1 - - 3668 - - - - - - - - - 26.19 -
547 57.0 -11.3 66 553 done -0.46 - - 2598 - 2.03 0.018 2288 -711.3 -171.1 - - 3669 - - - - - - - - - 26.44 -
855 96.5 -12.1 82 860 roll -0.48 - - 2591 - 2.22 0.045 3729 649.1 -171.1 - - 3669 - - - - - - - - - 26.30 -
879 99.4 -11.7 83 884 done -0.51 - - 2591 - 1.98 0.018 2310 -716.7 -171.1 - - 3669 - - - - - - - - - 26.54 -
1202 121.2 -5.1 99 1209 roll -0.62 0.12 0.077 2497 -783.3 2.17 0.044 3726 652.5 -171.1 - - 3670 - - - - - - - - 26.65 26.37 -
1237 123.0 -5.6 100 1242 done -0.71 - - 2497 - 1.95 0.018 2312 -725.1 -171.1 - - 3670 - - - - - - - - - 26.63 -
1550 163.5 -12.8 116 1555 roll -0.67 - - 2497 - 1.90 0.024 959 -712.1 -171.1 - - 3671 - - - - - - - - - 26.55 -
1583 166.7 -13.1 117 1589 done -0.64 0.12 0.139 2530 275.0 2.00 0.028 2334 687.5 -171.1 - - 3671 - - - - - - - - 26.31 26.52 -
1897 200.1 -9.1 133 1902 roll -0.67 - - 2530 - 1.98 0.024 950 -699.0 -171.1 - - 3671 - - - - - - - - - 26.58 -
1929 202.3 -9.0 134 1936 done -0.71 - - 2530 - 2.00 0.028 2327 688.5 -171.1 - - 3671 - - - - - - - - - 26.55 -
2244 229.9 -8.0 150 2250 roll -0.75 - - 2530 - 2.12 0.045 3730 661.8 -171.1 - - 3670 - - - - - - - - - 26.44 -
2312 234.6 -7.6 153 2317 done -0.80 0.15 0.069 2441 -593.3 1.95 0.018 2317 -724.6 -171.1 - - 3670 - - - - - - - - 26.60 26.70 -
2631 280.7 -14.4 169 2637 roll -0.72 0.20 0.135 2506 325.0 2.17 0.044 3731 651.6 -171.1 - - 3669 - - - - - - - - 26.33 26.45 -
2675 285.9 -13.2 171 2682 done -0.67 - - 2506 - 1.95 0.022 2362 -702.1 -171.1 - - 3669 - - - - - - - - - 26.63 -
3000 321.4 -11.1 187 3005 roll -0.69 - - 2506 - 2.12 0.050 3733 646.7 -171.1 - - 3668 - - - - - - - - - 26.46 -
3128 333.3 -9.4 193 3134 done -0.72 - - 2506 - 2.00 0.019 2296 -718.5 -171.1 - - 3667 - - - - - - - - - 26.72 -
3447 359.0 -8.6 209 3448 done -0.75 - - 2506 - - - 2296 - -171.1 - - 3665 - - - - - - - - - - -
3750 383.8 -8.0 224 3755 roll -0.79 - - 2506 - 2.20 0.047 3723 648.6 -171.1 - - 3664 - - - - - - - - - 26.46 -
3794 387.5 -7.9 226 3800 done -0.83 - - 2506 - 1.98 0.020 2302 -717.7 -171.1 - - 3663 - - - - - - - - - 26.74 -
4118 412.9 -8.3 242 4120 done -0.88 0.15 0.070 2420 -573.3 - - 2302 - -171.1 - - 3662 - - - - - - - - 26.77 - -
4419 457.9 -15.0 257 4425 roll -0.80 0.17 0.146 2468 282.4 2.20 0.050 3723 645.9 -171.1 - - 3660 - - - - - - - - 26.35 26.42 -
4463 463.5 -13.6 259 4469 done -0.75 - - 2467 - 1.95 0.020 2310 -724.6 -171.1 - - 3660 - - - - - - - - - 26.74 -
4786 494.4 -9.2 275 4791 roll -0.75 - - 2467 - 1.90 0.025 967 -706.8 -171.1 - - 3658 - - - - - - - - - 26.61 -
4858 500.0 -9.0 278 4865 done -0.75 - - 2467 - 2.00 0.029 2333 683.0 -171.1 - - 3658 - - - - - - - - - 26.57 -
5173 527.0 -8.4 294 5178 roll -0.75 - - 2467 - 2.15 0.047 3732 650.7 -171.1 - - 3655 - - - - - - - - - 26.41 -
5260 534.1 -8.6 298 5265 done -0.75 - - 2467 - 1.95 0.021 2318 -725.1 -171.1 - - 3655 - - - - - - - - - 26.74 -
5578 563.5 -9.2 314 5584 roll -0.75 - - 2467 - 2.20 0.047 3726 640.0 -171.1 - - 3653 - - - - - - - - - 26.41 -
5622 567.4 -8.9 316 5628 done -0.75 - - 2467 - 1.95 0.021 2317 -722.6 -171.1 - - 3653 - - - - - - - - - 26.73 -
5945 597.4 -9.8 332 5951 roll -0.75 - - 2467 - 2.20 0.047 3725 640.0 -171.1 - - 3650 - - - - - - - - - 26.39 -
6050 606.3 -9.5 336 6055 done -0.77 - - 2467 - 1.95 0.021 2325 -717.9 -171.1 - - 3650 - - - - - - - - - 26.72 -
6375 636.6 -8.8 347 6380 roll -0.79 - - 2467 - 2.17 0.047 3726 645.6 -171.1 - - 3648 - - - - - - - - - 26.38 -
6423 639.8 -8.9 348 6428 done -0.81 - - 2467 - 1.98 0.022 2313 -713.6 -171.1 - - 3648 - - - - - - - - - 26.71 -
6743 670.1 -9.2 359 6748 roll -0.83 - - 2467 - 2.20 0.047 3730 644.1 -171.1 - - 3645 - - - - - - - - - 26.36 -
6840 678.5 -8.9 362 6845 done -0.85 - - 2466 - 1.98 0.024 2324 -710.1 -171.1 - - 3644 - - - - - - - - - 26.48 -
7171 704.5 -7.4 373 7172 done -0.87 - - 2467 - - - 2322 - -171.1 - - 3642 - - - - - - - - - - -
7469 726.1 -7.3 383 7474 roll -0.90 - - 2467 - 2.17 0.048 3720 644.2 -171.1 - - 3644 - - - - - - - - - 26.33 -
7542 731.0 -7.4 385 7548 done -0.92 - - 2467 - 1.95 0.023 2324 -715.9 -171.1 - - 3639 - - - - - - - - - 26.69 -
7867 757.8 -8.5 396 7873 roll -0.95 - - 2467 - 2.17 0.049 3721 643.8 -171.1 - - 3637 - - - - - - - - - 26.31 -
7901 760.9 -8.5 397 7907 done -0.97 0.12 0.083 2404 -525.0 1.98 0.024 2327 -704.0 -171.1 - - 3637 - - - - - - - - 26.54 26.68 -
8236 800.8 -11.6 408 8242 roll -0.92 0.12 0.158 2441 308.3 2.20 0.047 3729 637.3 -171.1 - - 3635 - - - - - - - - 26.41 26.29 -
8314 807.4 -10.9 410 8320 done -0.89 - - 2440 - 2.00 0.024 2313 -708.0 -171.1 - - 3635 - - - - - - - - - 26.67 -
8633 836.7 -8.4 421 8639 roll -0.89 - - 2440 - 2.20 0.049 3721 640.0 -171.1 - - 3634 - - - - - - - - - 26.27 -
8670 839.7 -8.5 422 8676 done -0.89 - - 2440 - 1.98 0.024 2324 -705.6 -171.1 - - 3633 - - - - - - - - - 26.65 -
9000 872.3 -10.3 433 9001 done -0.89 - - 2440 - - - 2321 - -171.1 - - 3631 - - - - - - - - - - -
9299 903.9 -10.6 443 9305 roll -0.89 - - 2440 - 2.20 0.050 3725 638.2 -171.1 - - 3629 - - - - - - - - - 26.24 -
9402 913.9 -10.6 446 9407 done -0.89 - - 2440 - 2.00 0.024 2317 -704.0 -171.1 - - 3629 - - - - - - - - - 26.64 -
9727 947.5 -10.0 457 9732 roll -0.89 - - 2440 - 2.22 0.054 3717 630.6 -171.1 - - 3627 - - - - - - - - - 25.31 -
9804 953.9 -9.8 459 9809 done -0.89 - - 2440 - 2.00 0.024 2314 -701.5 -171.1 - - 3627 - - - - - - - - - 26.63 -
10122 986.1 -9.6 470 10128 roll -0.89 - - 2440 - 2.22 0.050 3726 636.0 -171.1 - - 3625 - - - - - - - - - 25.10 -
10183 end dive: TARGET_DEPTH_EXCEEDED
10184 begin apogee
10191 992.2 -9.6 472 10346 done -0.20 0.68 0.106 2667 333.8 - - 2294 - - 144.98 1.335 2965 -4.6 0.361 - - - - - - 25.86 - 23.64
10347 end apogee: CONTROL_FINISHED_OK
10347 begin climb
10350 999.1 - 477 10519 roll 0.42 0.55 0.037 2898 420.0 2.28 0.034 931 -597.8 171.1 156.55 1.297 2261 -4.5 0.369 - - - - - - 24.86 23.93 22.96
10567 989.0 8.4 484 10573 done 0.29 0.22 0.131 2836 -281.8 2.20 0.031 2298 621.4 171.1 - - 2254 - - - - - - - - 24.58 24.73 -
10888 959.3 8.5 495 10893 roll 0.25 - - 2837 - 2.25 0.048 3709 627.1 171.1 - - 2249 - - - - - - - - - 25.75 -
10975 952.8 9.4 497 10983 done 0.19 0.12 0.164 2807 -250.0 2.10 0.029 2314 -664.3 171.1 - - 2248 - - - - - - - - 25.71 25.99 -
11283 928.3 7.1 508 11320 roll 0.20 - - 2807 - 2.28 0.047 3701 608.3 206.5 31.60 1.234 2123 -4.0 0.317 - - - - - - - 25.36 24.46
11369 923.5 7.4 510 11403 done 0.20 - - 2812 - 2.15 0.029 2305 -649.3 232.4 26.50 1.229 2014 -4.1 0.330 - - - - - - - 25.70 24.23
11703 895.2 7.5 522 11732 roll 0.21 - - 2812 - 2.30 0.049 3707 609.6 254.1 21.23 1.229 1925 -4.2 0.326 - - - - - - - 25.43 24.53
11755 893.0 7.6 523 11784 done 0.22 - - 2811 - 2.17 0.028 2283 -656.2 274.0 20.85 1.221 1844 -3.9 0.303 - - - - - - - 25.65 24.27
12098 865.2 7.7 535 12118 done 0.25 - - 2812 - - - 2283 - 291.9 18.02 1.220 1777 -3.7 0.281 - - - - - - - - 24.62
12399 841.6 8.0 545 12410 roll 0.29 - - 2812 - 2.12 0.036 913 -646.2 298.3 3.05 0.925 1753 -7.9 0.764 - - - - - - - 26.02 24.46
12428 841.6 8.0 545 12448 done 0.33 0.10 0.093 2869 570.0 2.12 0.031 2315 661.3 304.8 12.38 1.235 1720 -2.7 0.194 - - - - - - 26.01 26.03 24.74
12767 800.7 11.4 557 12772 roll 0.31 - - 2869 - 2.20 0.048 3697 628.2 304.8 - - 1714 - - - - - - - - - 26.06 -
12825 796.5 11.6 558 12833 done 0.28 0.15 0.148 2832 -246.7 2.08 0.030 2302 -670.7 304.8 - - 1712 - - - - - - - - 25.96 26.19 -
13132 766.1 8.4 569 13137 roll 0.30 - - 2832 - 2.22 0.053 3705 632.0 304.8 - - 1712 - - - - - - - - - 26.04 -
13169 762.9 8.6 570 13175 done 0.32 - - 2832 - 2.10 0.028 2286 -675.7 304.8 - - 1712 - - - - - - - - - 26.34 -
13500 735.6 8.4 581 13505 roll 0.35 - - 2832 - 2.05 0.036 912 -670.2 304.8 - - 1711 - - - - - - - - - 26.34 -
13523 735.6 8.4 581 13528 done 0.38 - - 2832 - 2.08 0.031 2301 667.8 304.8 - - 1710 - - - - - - - - - 26.36 -
13838 706.9 8.4 592 13844 roll 0.41 0.12 0.080 2904 600.0 2.17 0.047 3706 647.5 304.8 - - 1710 - - - - - - - - 26.53 26.31 -
13911 698.2 10.7 594 13917 done 0.41 0.15 0.156 2871 -220.0 2.08 0.029 2298 -676.9 304.8 - - 1710 - - - - - - - - 26.14 26.46 -
14237 661.8 10.7 605 14242 roll 0.41 - - 2872 - 2.10 0.037 903 -664.3 304.8 - - 1710 - - - - - - - - - 26.40 -
14270 658.1 10.7 606 14275 done 0.41 - - 2873 - 2.10 0.031 2306 668.1 304.8 - - 1710 - - - - - - - - - 26.44 -
14605 622.7 10.7 617 14606 done 0.40 - - 2872 - - - 2306 - 304.8 - - 1710 - - - - - - - - - - -
14903 591.5 10.3 628 14908 roll 0.38 - - 2872 - 2.17 0.048 3706 645.2 304.8 - - 1709 - - - - - - - - - 26.36 -
14927 588.9 10.4 629 14932 done 0.36 - - 2871 - 2.08 0.028 2292 -679.8 304.8 - - 1709 - - - - - - - - - 26.53 -
15251 556.5 9.7 645 15256 roll 0.35 - - 2872 - 2.20 0.047 3696 638.2 304.8 - - 1709 - - - - - - - - - 26.36 -
15335 547.2 11.1 649 15341 done 0.32 - - 2872 - 2.10 0.029 2292 -668.6 304.8 - - 1708 - - - - - - - - - 26.53 -
15658 514.7 10.3 665 15664 roll 0.32 - - 2872 - 2.20 0.047 3706 642.7 304.8 - - 1708 - - - - - - - - - 26.36 -
15717 509.8 10.8 667 15724 done 0.30 0.12 0.151 2838 -283.3 2.10 0.028 2290 -674.3 304.8 - - 1708 - - - - - - - - 26.25 26.53 -
16023 481.6 8.5 683 16028 roll 0.34 - - 2838 - 2.05 0.035 910 -673.2 304.8 - - 1708 - - - - - - - - - 26.45 -
16070 478.0 8.4 685 16076 done 0.39 - - 2838 - 2.08 0.029 2314 675.0 304.8 - - 1708 - - - - - - - - - 26.48 -
16390 452.1 7.6 701 16414 roll 0.44 0.12 0.081 2914 633.3 2.17 0.046 3697 637.3 323.7 18.90 1.001 1640 -3.6 0.173 - - - - - - 26.67 26.12 25.27
16458 444.6 10.8 704 16464 done 0.41 0.15 0.151 2873 -273.3 2.08 0.028 2299 -672.1 323.7 - - 1635 - - - - - - - - 25.95 26.20 -
16777 413.2 9.4 720 16782 roll 0.41 - - 2873 - 2.08 0.034 910 -667.8 323.7 - - 1635 - - - - - - - - - 26.23 -
16814 411.2 9.3 721 16822 done 0.41 - - 2873 - 2.08 0.029 2300 668.3 323.7 - - 1634 - - - - - - - - - 26.27 -
17120 382.8 8.7 737 17126 roll 0.41 - - 2874 - 2.17 0.046 3697 643.8 323.7 - - 1634 - - - - - - - - - 26.22 -
17158 380.6 8.9 738 17165 done 0.41 - - 2873 - 2.08 0.027 2294 -674.5 323.7 - - 1633 - - - - - - - - - 26.41 -
17465 349.8 9.6 754 17470 roll 0.43 - - 2873 - 2.20 0.045 3701 639.5 323.7 - - 1633 - - - - - - - - - 26.27 -
17537 343.0 10.4 757 17543 done 0.43 - - 2873 - 2.05 0.026 2296 -685.4 323.7 - - 1633 - - - - - - - - - 26.46 -
17851 313.0 8.9 773 17856 roll 0.45 - - 2873 - 2.05 0.033 908 -677.1 323.7 - - 1633 - - - - - - - - - 26.39 -
17874 311.2 8.6 774 17879 done 0.48 - - 2873 - 2.05 0.028 2301 679.5 323.7 - - 1633 - - - - - - - - - 26.43 -
18199 285.4 7.7 790 18222 roll 0.51 - - 2873 - 2.20 0.045 3687 630.0 341.6 16.08 0.887 1568 -4.0 0.139 - - - - - - - 26.20 25.40
18322 274.3 9.3 796 18329 done 0.53 0.12 0.080 2943 583.3 2.03 0.024 2288 -689.2 341.6 - - 1565 - - - - - - - - 26.22 26.29 -
18647 232.9 12.5 812 18653 roll 0.48 0.12 0.142 2910 -275.0 2.00 0.029 927 -680.5 341.6 - - 1566 - - - - - - - - 26.22 26.30 -
18676 230.1 12.1 813 18681 done 0.44 - - 2910 - 2.03 0.026 2302 677.3 341.6 - - 1566 - - - - - - - - - 26.33 -
18994 195.3 10.9 829 18999 roll 0.44 - - 2910 - 2.12 0.044 3691 655.2 341.6 - - 1565 - - - - - - - - - 26.28 -
19037 190.2 11.2 831 19042 done 0.44 - - 2910 - 2.00 0.023 2302 -694.5 341.6 - - 1565 - - - - - - - - - 26.48 -
19360 156.9 9.2 847 19365 roll 0.44 - - 2909 - 2.05 0.031 912 -678.0 341.6 - - 1566 - - - - - - - - - 26.42 -
19408 153.2 8.8 849 19413 done 0.45 - - 2910 - 2.03 0.026 2301 684.2 341.6 - - 1566 - - - - - - - - - 26.45 -
19728 123.5 8.5 865 19733 roll 0.48 - - 2909 - 2.15 0.044 3698 649.8 341.6 - - 1566 - - - - - - - - - 26.35 -
19752 121.2 8.5 866 19757 done 0.50 - - 2909 - 2.03 0.022 2282 -697.5 341.6 - - 1566 - - - - - - - - - 26.57 -
20076 97.9 7.9 882 20086 roll 0.56 - - 2910 - 2.03 0.028 924 -669.0 353.0 3.83 0.323 1536 -7.8 0.253 - - - - - - - 26.52 25.65
20155 94.3 5.9 885 20191 done 0.67 0.12 0.078 2993 691.7 2.00 0.025 2304 690.0 424.9 30.23 0.339 1234 -10.0 0.296 - - - - - - 26.47 26.51 25.78
20505 56.9 11.5 903 20510 roll 0.65 0.12 0.131 2951 -350.0 2.12 0.041 3699 658.0 424.9 - - 1237 - - - - - - - - 26.32 26.28 -
20558 52.2 10.9 905 20563 done 0.65 - - 2951 - 2.00 0.021 2289 -705.0 424.9 - - 1237 - - - - - - - - - 26.48 -
20872 25.5 8.1 935 20885 roll 0.71 - - 2951 - 2.03 0.029 931 -669.0 431.0 3.05 0.191 1210 -8.9 0.126 - - - - - - - 26.44 25.85
20917 22.1 6.9 942 20943 done 0.81 0.15 0.067 3044 620.0 2.00 0.024 2313 691.0 471.8 17.15 0.171 1040 -9.9 0.137 - - - - - - 26.45 26.46 25.94
21051 end climb: SURFACE_DEPTH_REACHED
21051 begin surface coast
21068 end surface coast: CONTROL_FINISHED_OK
21069 begin surface
SM 1.71 - - - - -8.10 7.30 0.022 122 -400.3 - - 2314 - 472.45 - - 1042 - - - - - - - -