OKMC Oct12 * SG167 * Dive index * Mission links * Dive 91 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 23.89 of 150.00 AH used of 24V (84.08% remains)
• Previous NAKs 0, Timeouts 0 • 14.12 of 110.00 AH used of 10V (87.16% remains)
• Surface angle -66.0 deg, depth 1.58 m • Intended pitch -12.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 483.00, SM_CC=425)
• GPS1 time: 41 s
• GPS2 time: 5 s • Transponder ping count: 19
• 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 -0.38 - - 112 - - - 2315 - -171.1 -64.65 - 2516 - - - - - - - - - - -
88 3.1 -5.9 11 133 roll -0.38 9.77 0.222 2610 255.7 2.08 0.039 938 -662.0 -171.1 -28.48 - 3667 -40.4 - - - - - - - 25.58 26.15 26.49
177 11.5 -9.6 26 184 done -0.43 - - 2610 - 2.05 0.027 2317 672.7 -171.1 - - 3668 - - - - - - - - - 26.17 -
493 46.0 -11.3 69 499 roll -0.43 - - 2610 - 2.15 0.044 3727 655.8 -171.1 - - 3668 - - - - - - - - - 26.22 -
546 51.0 -11.7 73 551 done -0.45 - - 2611 - 1.98 0.018 2297 -722.2 -171.1 - - 3668 - - - - - - - - - 26.48 -
859 82.2 -8.8 89 860 done -0.47 - - 2610 - - - 2296 - -171.1 - - 3668 - - - - - - - - - - -
1161 98.7 -5.5 104 1167 roll -0.59 0.15 0.073 2537 -486.7 2.17 0.041 3723 657.6 -171.1 - - 3669 - - - - - - - - 26.61 26.39 -
1195 100.8 -6.3 105 1201 done -0.71 - - 2537 - 1.92 0.018 2306 -738.0 -171.1 - - 3669 - - - - - - - - - 26.66 -
1510 128.8 -8.2 121 1516 roll -0.80 0.12 0.078 2445 -766.7 1.90 0.022 968 -704.2 -171.1 - - 3669 - - - - - - - - 26.71 26.57 -
1537 131.2 -8.4 122 1543 done -0.84 0.12 0.158 2470 208.3 1.98 0.026 2337 691.4 -171.1 - - 3668 - - - - - - - - 26.26 26.54 -
1857 177.9 -14.2 138 1863 roll -0.76 - - 2466 - 2.08 0.042 3722 665.9 -171.1 - - 3669 - - - - - - - - - 26.44 -
1901 184.2 -14.4 140 1908 done -0.67 0.20 0.125 2526 300.0 1.92 0.023 2360 -709.4 -171.1 - - 3669 - - - - - - - - 26.26 26.59 -
2225 214.7 -9.5 156 2231 roll -0.67 - - 2526 - 2.03 0.028 935 -702.0 -171.1 - - 3669 - - - - - - - - - 26.59 -
2258 216.9 -9.5 157 2263 done -0.67 - - 2526 - 2.03 0.030 2319 681.8 -171.1 - - 3668 - - - - - - - - - 26.55 -
2571 244.4 -8.2 173 2576 roll -0.67 - - 2526 - 2.15 0.046 3740 660.9 -171.1 - - 3668 - - - - - - - - - 26.45 -
2643 249.4 -8.1 176 2649 done -0.69 - - 2526 - 2.00 0.020 2307 -716.5 -171.1 - - 3668 - - - - - - - - - 26.70 -
2958 277.3 -9.2 192 2964 roll -0.71 - - 2527 - 2.20 0.046 3732 647.7 -171.1 - - 3666 - - - - - - - - - 26.45 -
2996 279.4 -9.0 193 3004 done -0.73 - - 2527 - 1.98 0.019 2309 -718.7 -171.1 - - 3666 - - - - - - - - - 26.71 -
3302 304.1 -7.3 209 3304 done -0.76 - - 2527 - - - 2309 - -171.1 - - 3665 - - - - - - - - - - -
3604 324.7 -6.8 224 3610 roll -0.80 0.12 0.080 2439 -733.3 2.17 0.042 3728 653.9 -171.1 - - 3663 - - - - - - - - 26.77 26.44 -
3647 329.5 -8.6 226 3653 done -0.80 0.15 0.138 2482 286.7 1.95 0.020 2330 -716.9 -171.1 - - 3664 - - - - - - - - 26.33 26.70 -
3971 365.5 -10.9 242 3976 roll -0.77 - - 2481 - 1.98 0.028 942 -701.0 -171.1 - - 3663 - - - - - - - - - 26.60 -
4018 370.0 -10.7 244 4023 done -0.76 - - 2482 - 2.05 0.030 2326 675.1 -171.1 - - 3663 - - - - - - - - - 26.55 -
4337 403.5 -10.5 260 4342 roll -0.74 - - 2480 - 2.12 0.046 3729 661.8 -171.1 - - 3660 - - - - - - - - - 26.44 -
4401 410.0 -10.4 263 4406 done -0.74 - - 2480 - 1.98 0.020 2317 -713.1 -171.1 - - 3660 - - - - - - - - - 26.71 -
4723 443.7 -10.3 279 4730 roll -0.74 - - 2479 - 2.17 0.047 3730 651.2 -171.1 - - 3659 - - - - - - - - - 26.42 -
4761 446.1 -10.2 280 4768 done -0.74 - - 2480 - 1.98 0.019 2306 -719.2 -171.1 - - 3658 - - - - - - - - - 26.72 -
5067 476.7 -9.2 296 5073 roll -0.74 - - 2480 - 2.22 0.064 3730 641.4 -171.1 -0.08 - 3685 -337.5 - - - - - - - - 26.39 25.75
5131 482.8 -9.3 299 5136 done -0.74 - - 2480 - 1.98 0.020 2319 -712.6 -171.1 - - 3683 - - - - - - - - - 26.72 -
5454 514.4 -9.6 315 5455 done -0.74 - - 2480 - - - 2319 - -171.1 - - 3683 - - - - - - - - - - -
5756 539.9 -8.0 330 5762 roll -0.74 - - 2480 - 1.95 0.026 948 -703.1 -171.1 - - 3682 - - - - - - - - - 26.59 -
5863 549.4 -9.2 335 5868 done -0.74 - - 2480 - 2.03 0.029 2327 679.3 -171.1 - - 3681 - - - - - - - - - 26.53 -
6181 578.7 -9.1 351 6187 roll -0.74 - - 2480 - 1.98 0.025 953 -693.9 -171.1 - - 3679 - - - - - - - - - 26.58 -
6248 585.1 -10.0 354 6253 done -0.74 - - 2480 - 2.03 0.030 2327 676.8 -171.1 - - 3678 - - - - - - - - - 26.51 -
6558 615.1 -9.4 367 6559 done -0.74 - - 2479 - - - 2327 - -171.1 - - 3676 - - - - - - - - - - -
6856 642.3 -8.8 377 6857 done -0.74 - - 2480 - - - 2327 - -171.1 - - 3675 - - - - - - - - - - -
7156 666.9 -8.2 387 7162 roll -0.74 - - 2480 - 2.17 0.054 3731 647.0 -171.1 - - 3673 - - - - - - - - - 26.32 -
7294 677.4 -8.4 391 7299 done -0.76 - - 2480 - 2.00 0.029 2314 -708.5 -171.1 - - 3672 - - - - - - - - - 26.51 -
7614 705.6 -8.6 402 7620 roll -0.78 - - 2480 - 2.22 0.053 3734 639.6 -171.1 - - 3669 - - - - - - - - - 26.25 -
7724 713.9 -8.6 405 7730 done -0.81 - - 2480 - 2.00 0.022 2323 -705.5 -171.1 - - 3669 - - - - - - - - - 26.68 -
8045 740.6 -7.7 416 8050 roll -0.83 - - 2480 - 2.20 0.047 3732 640.5 -171.1 - - 3668 - - - - - - - - - 26.27 -
8117 745.5 -7.6 418 8123 done -0.87 - - 2480 - 1.98 0.023 2326 -710.1 -171.1 - - 3667 - - - - - - - - - 26.66 -
8444 769.7 -7.2 429 8445 done -0.89 - - 2480 - - - 2325 - -171.1 - - 3664 - - - - - - - - - - -
8742 791.2 -7.1 439 8748 roll -0.92 0.12 0.085 2405 -625.0 2.20 0.046 3732 639.5 -171.1 - - 3662 - - - - - - - - 26.72 26.24 -
8791 794.6 -7.7 440 8797 done -0.92 0.12 0.151 2439 283.3 2.00 0.023 2319 -706.5 -171.1 - - 3662 - - - - - - - - 26.25 26.65 -
9112 824.0 -8.3 451 9117 roll -0.90 - - 2439 - 2.20 0.048 3723 638.2 -171.1 - - 3660 - - - - - - - - - 26.22 -
9149 827.0 -8.2 452 9155 done -0.89 - - 2439 - 2.00 0.024 2318 -702.5 -171.1 - - 3659 - - - - - - - - - 26.63 -
9480 853.1 -7.8 463 9486 roll -0.87 - - 2438 - 2.22 0.049 3729 635.6 -171.1 - - 3657 - - - - - - - - - 26.20 -
9529 856.1 -7.8 464 9534 done -0.87 - - 2439 - 2.00 0.024 2325 -702.0 -171.1 - - 3657 - - - - - - - - - 26.62 -
9849 884.1 -8.6 475 9850 done -0.85 - - 2439 - - - 2325 - -171.1 - - 3656 - - - - - - - - - - -
10147 910.8 -9.1 485 10153 roll -0.85 - - 2438 - 2.20 0.050 3722 635.0 -171.1 - - 3655 - - - - - - - - - 26.16 -
10220 916.8 -9.2 487 10225 done -0.85 - - 2439 - 2.00 0.024 2323 -699.5 -171.1 - - 3654 - - - - - - - - - 26.60 -
10544 947.1 -9.1 498 10545 done -0.85 - - 2439 - - - 2321 - -171.1 - - 3653 - - - - - - - - - - -
10843 974.2 -9.0 508 10848 roll -0.85 - - 2439 - 2.22 0.050 3723 631.5 -171.1 - - 3651 - - - - - - - - - 26.12 -
10910 979.8 -9.1 510 10915 done -0.85 - - 2437 - 2.03 0.032 2319 -691.6 -171.1 - - 3651 - - - - - - - - - 26.33 -
11026 end dive: TARGET_DEPTH_EXCEEDED
11026 begin apogee
11031 990.7 -8.9 514 11189 done -0.20 0.70 0.106 2675 340.0 - - 2316 - - 150.85 1.330 2967 -4.5 0.360 - - - - - - 25.75 - 23.66
11191 end apogee: CONTROL_FINISHED_OK
11191 begin climb
11193 997.3 - 519 11362 roll 0.38 0.50 0.041 2882 414.0 2.30 0.033 935 -600.4 171.1 155.23 1.229 2261 -4.5 0.394 - - - - - - 24.79 23.98 23.04
11486 977.2 10.7 529 11492 done 0.28 0.17 0.129 2834 -282.4 2.17 0.033 2305 631.3 171.1 - - 2252 - - - - - - - - 25.02 25.21 -
11822 947.5 8.7 540 11828 roll 0.22 - - 2834 - 2.22 0.050 3700 628.4 171.1 - - 2249 - - - - - - - - - 25.88 -
11956 935.1 9.9 544 11962 done 0.13 0.20 0.142 2783 -255.0 2.08 0.029 2312 -667.3 171.1 - - 2247 - - - - - - - - 25.79 26.13 -
12283 913.9 6.1 555 12323 done 0.15 - - 2782 - - - 2312 - 212.3 37.92 1.226 2102 -3.8 0.304 - - - - - - - - 24.40
12613 892.4 6.7 566 12645 roll 0.18 - - 2782 - 2.25 0.035 908 -624.0 235.6 23.20 1.230 2000 -4.4 0.340 - - - - - - - 25.48 24.51
12662 890.4 6.7 567 12691 done 0.20 - - 2782 - 2.15 0.032 2301 647.9 257.1 21.92 1.222 1916 -3.8 0.298 - - - - - - - 25.38 24.25
13004 866.6 6.5 579 13036 done 0.25 0.12 0.081 2848 550.0 - - 2301 - 284.8 28.25 1.213 1806 -3.9 0.297 - - - - - - 26.14 - 24.41
13335 835.2 9.5 590 13341 roll 0.22 0.12 0.132 2807 -341.7 2.20 0.047 3697 634.5 284.8 - - 1793 - - - - - - - - 25.96 25.97 -
13394 832.0 9.3 591 13401 done 0.20 - - 2807 - 2.10 0.029 2298 -666.2 284.8 - - 1792 - - - - - - - - - 26.13 -
13700 806.2 7.8 602 13701 done 0.22 - - 2807 - - - 2299 - 284.8 - - 1791 - - - - - - - - - - -
14000 782.7 7.7 612 14001 done 0.25 - - 2807 - - - 2299 - 284.8 - - 1790 - - - - - - - - - - -
14300 760.5 7.2 622 14303 done 0.28 - - 2807 - - - 2299 - 291.0 0.95 0.255 1780 -10.5 3.348 - - - - - - - - 25.58
14602 740.3 6.5 632 14643 roll 0.31 0.10 0.096 2864 570.0 2.15 0.037 916 -643.3 318.9 34.35 1.142 1662 -3.4 0.238 - - - - - - 26.56 25.58 24.66
14671 734.8 7.5 634 14676 done 0.31 - - 2865 - 2.15 0.031 2309 647.9 318.9 - - 1658 - - - - - - - - - 25.72 -
14996 704.2 9.1 645 15002 roll 0.29 0.12 0.132 2824 -341.7 2.20 0.047 3705 634.5 318.9 - - 1654 - - - - - - - - 26.01 25.84 -
15019 704.2 9.1 645 15024 done 0.26 - - 2825 - 2.10 0.028 2293 -672.4 318.9 - - 1653 - - - - - - - - - 26.17 -
15334 679.4 7.1 656 15344 roll 0.29 - - 2824 - 2.28 0.047 3697 615.8 325.7 2.10 0.459 1645 -3.8 0.601 - - - - - - - 26.20 24.39
15382 676.6 7.2 657 15399 done 0.31 - - 2824 - 2.08 0.028 2296 -673.6 330.9 11.80 1.164 1618 -2.3 0.142 - - - - - - - 26.30 24.99
15700 653.8 6.7 668 15728 roll 0.35 - - 2824 - 2.35 0.047 3703 598.7 352.2 22.83 1.108 1528 -3.9 0.248 - - - - - - - 25.62 24.73
15762 649.0 7.0 670 15786 done 0.38 0.12 0.080 2886 516.7 2.12 0.028 2297 -663.2 364.6 14.18 1.122 1474 -3.8 0.235 - - - - - - 25.77 25.81 24.55
16094 614.2 10.4 681 16100 roll 0.36 - - 2886 - 2.22 0.047 3697 630.6 364.6 - - 1470 - - - - - - - - - 25.96 -
16214 603.3 11.5 684 16221 done 0.33 0.15 0.140 2845 -273.3 2.08 0.028 2308 -667.8 364.6 - - 1468 - - - - - - - - 25.90 26.16 -
16519 577.6 7.2 700 16524 roll 0.36 - - 2844 - 2.10 0.035 908 -666.7 367.5 - - 1468 - - - - - - - - - 26.22 -
16582 572.9 7.4 703 16588 done 0.39 - - 2845 - 2.10 0.029 2312 668.6 367.5 - - 1468 - - - - - - - - - 26.26 -
16906 546.6 8.5 719 16908 done 0.43 0.10 0.092 2903 580.0 - - 2313 - 367.5 - - 1468 - - - - - - - - 26.50 - -
17206 511.4 11.2 734 17212 roll 0.39 0.12 0.133 2867 -300.0 2.12 0.031 905 -664.2 367.5 - - 1468 - - - - - - - - 26.31 26.34 -
17271 505.5 9.5 737 17276 done 0.39 - - 2867 - 2.10 0.028 2302 665.2 367.5 - - 1468 - - - - - - - - - 26.37 -
17594 477.5 9.0 753 17600 roll 0.39 - - 2867 - 2.15 0.047 3697 648.8 367.5 - - 1468 - - - - - - - - - 26.28 -
17652 472.9 9.8 755 17659 done 0.39 - - 2868 - 2.08 0.027 2290 -676.4 367.5 - - 1467 - - - - - - - - - 26.47 -
17958 442.0 9.4 771 17959 done 0.39 - - 2868 - - - 2290 - 367.5 - - 1467 - - - - - - - - - - -
18260 417.2 7.4 786 18261 done 0.39 - - 2868 - - - 2291 - 367.5 - - 1467 - - - - - - - - - - -
18562 393.8 7.6 801 18568 roll 0.40 - - 2868 - 2.20 0.050 3701 640.9 367.5 - - 1467 - - - - - - - - - 26.23 -
18594 391.5 7.8 802 18600 done 0.40 - - 2868 - 2.08 0.027 2290 -678.4 367.5 - - 1467 - - - - - - - - - 26.52 -
18908 365.0 8.3 818 18914 roll 0.42 - - 2868 - 2.03 0.033 908 -680.8 367.5 - - 1467 - - - - - - - - - 26.43 -
18937 363.1 8.0 819 18942 done 0.45 - - 2868 - 2.05 0.028 2301 679.5 367.5 - - 1467 - - - - - - - - - 26.46 -
19256 338.7 7.5 835 19261 roll 0.47 - - 2867 - 2.15 0.045 3705 653.0 367.5 - - 1467 - - - - - - - - - 26.32 -
19342 331.2 9.1 839 19348 done 0.47 - - 2868 - 2.08 0.023 2279 -685.6 367.5 - - 1467 - - - - - - - - - 26.56 -
19661 304.3 8.3 855 19667 roll 0.50 0.10 0.096 2934 660.0 1.98 0.028 922 -685.4 367.5 - - 1467 - - - - - - - - 26.70 26.46 -
19689 301.9 8.6 856 19694 done 0.52 - - 2934 - 2.03 0.028 2303 680.3 367.5 - - 1467 - - - - - - - - - 26.47 -
20008 262.5 12.5 872 20014 roll 0.48 0.12 0.133 2892 -350.0 2.15 0.043 3709 654.0 367.5 - - 1468 - - - - - - - - 26.46 26.32 -
20073 255.4 11.3 875 20078 done 0.45 - - 2892 - 2.03 0.023 2299 -694.6 367.5 - - 1468 - - - - - - - - - 26.58 -
20395 227.9 8.3 891 20401 roll 0.45 - - 2892 - 2.17 0.044 3710 650.2 367.5 - - 1468 - - - - - - - - - 26.33 -
20419 225.7 8.5 892 20425 done 0.45 - - 2892 - 2.03 0.023 2293 -698.0 367.5 - - 1468 - - - - - - - - - 26.58 -
20743 198.8 7.9 908 20748 roll 0.45 - - 2892 - 2.00 0.030 911 -691.0 367.5 - - 1468 - - - - - - - - - 26.47 -
20790 195.6 7.5 910 20796 done 0.48 - - 2892 - 2.05 0.027 2317 685.9 367.5 - - 1469 - - - - - - - - - 26.49 -
21109 167.8 9.3 926 21115 roll 0.50 - - 2892 - 2.10 0.043 3702 659.5 367.5 - - 1469 - - - - - - - - - 26.34 -
21153 163.4 9.9 928 21158 done 0.51 - - 2892 - 2.00 0.022 2290 -706.0 367.5 - - 1469 - - - - - - - - - 26.61 -
21477 137.3 7.5 944 21482 roll 0.55 - - 2891 - 1.98 0.030 923 -690.4 367.5 - - 1470 - - - - - - - - - 26.48 -
21509 135.7 7.2 945 21516 done 0.59 0.12 0.078 2970 658.3 2.00 0.025 2304 690.5 370.5 1.58 0.306 1461 -5.7 0.269 - - - - - - 26.48 26.51 25.10
21824 101.2 10.0 961 21832 roll 0.55 0.15 0.122 2919 -340.0 2.12 0.041 3702 659.4 370.5 1.08 0.220 1460 - - - - - - - - 26.44 26.40 25.26
21905 95.6 9.0 964 21912 done 0.55 - - 2919 - 1.98 0.021 2296 -710.1 370.5 - - 1462 - - - - - - - - - 26.63 -
22210 74.9 6.2 980 22234 roll 0.62 - - 2919 - 2.03 0.028 931 -672.4 409.7 17.30 0.291 1296 -9.6 0.263 - - - - - - - 26.51 25.84
22256 72.5 6.0 982 22283 done 0.70 0.12 0.076 3007 733.3 2.00 0.024 2308 688.5 456.9 19.77 0.286 1104 -9.7 0.263 - - - - - - 26.44 26.47 25.82
22586 34.0 11.5 1005 22593 roll 0.66 0.15 0.122 2956 -340.0 2.10 0.041 3689 657.6 456.9 - - 1108 - - - - - - - - 26.32 26.27 -
22606 32.3 11.6 1006 22612 done 0.63 - - 2955 - 1.98 0.021 2298 -702.5 456.9 - - 1108 - - - - - - - - - 26.49 -
22916 6.8 9.0 1059 22923 roll 0.68 - - 2955 - 2.00 0.028 921 -688.5 456.9 - - 1108 - - - - - - - - - 26.44 -
22948 4.7 6.6 1064 22966 done 0.76 - - 2955 - 2.03 0.026 2308 683.3 481.6 10.30 0.135 999 -10.6 0.039 - - - - - - - 26.44 25.99
22972 end climb: SURFACE_DEPTH_REACHED
22972 begin surface coast
23015 end surface coast: CONTROL_FINISHED_OK
23015 begin surface
SM 1.58 - - - - -8.11 7.10 0.024 119 -399.4 - - 2311 - 483.00 - - 999 - - - - - - - -