OKMC Jun13 * SG167 * Dive index * Mission links * Dive 165 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 22.85 of 150.00 AH used of 24V (84.77% remains)
• Previous NAKs 0, Timeouts 0 • 13.95 of 100.00 AH used of 10V (86.05% remains)
• Surface angle -72.7 deg, depth 1.65 m • Intended pitch -15.7 deg, speed -9.429 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 42 s
• GPS2 time: 6 s • Transponder ping count: 3
• 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
26 - - - 132 VBD -0.83 - - 110 - - - 2039 - -175.2 -103.50 - 3036 - - - - - - - - - - -
140 3.5 -5.7 18 167 roll -0.83 10.75 0.241 2765 247.0 2.12 0.037 3483 681.1 -175.2 -7.75 - 3479 -57.2 - - - - - - - 25.76 26.21 26.48
234 39.8 -33.2 30 240 done -0.73 0.20 0.188 2814 245.0 2.00 0.016 2052 -715.5 -175.2 - - 3479 - - - - - - - - 25.97 26.31 -
560 114.6 -23.6 48 566 roll -0.67 - - 2806 - 2.08 0.027 3474 683.7 -175.2 - - 3480 - - - - - - - - - 26.41 -
755 149.4 -18.1 57 761 done -0.62 0.15 0.158 2845 260.0 1.95 0.016 2070 -720.0 -175.2 - - 3481 - - - - - - - - 26.27 26.51 -
1072 191.7 -12.9 73 1077 roll -0.60 - - 2846 - 1.95 0.029 709 -697.9 -175.2 - - 3480 - - - - - - - - - 26.51 -
1200 209.1 -13.8 79 1206 done -0.58 - - 2846 - 1.95 0.021 2086 706.2 -175.2 - - 3481 - - - - - - - - - 26.56 -
1526 249.4 -12.1 95 1531 roll -0.57 - - 2846 - 2.03 0.027 693 -686.2 -175.2 - - 3480 - - - - - - - - - 26.57 -
1611 260.1 -12.5 99 1616 done -0.55 - - 2846 - 1.95 0.019 2078 710.3 -175.2 - - 3479 - - - - - - - - - 26.60 -
1936 299.9 -12.4 115 1942 roll -0.54 0.12 0.158 2888 350.0 2.03 0.031 3473 687.2 -175.2 - - 3479 - - - - - - - - 26.45 26.58 -
1977 302.8 -12.1 116 1984 done -0.54 - - 2886 - 1.92 0.015 2065 -733.3 -175.2 - - 3479 - - - - - - - - - 26.65 -
2283 332.3 -8.7 132 2288 roll -0.55 - - 2887 - 1.92 0.031 718 -701.6 -175.2 - - 3477 - - - - - - - - - 26.58 -
2338 336.3 -8.4 134 2343 done -0.56 - - 2887 - 1.92 0.020 2078 708.3 -175.2 - - 3476 - - - - - - - - - 26.62 -
2653 361.4 -7.2 150 2659 roll -0.57 - - 2887 - 2.03 0.033 3471 686.2 -175.2 - - 3475 - - - - - - - - - 26.59 -
2694 363.5 -7.4 151 2701 done -0.59 - - 2886 - 1.92 0.016 2071 -729.2 -175.2 - - 3475 - - - - - - - - - 26.67 -
3000 389.9 -9.0 167 3005 roll -0.61 - - 2887 - 1.95 0.029 709 -698.5 -175.2 - - 3473 - - - - - - - - - 26.60 -
3090 398.6 -10.2 171 3096 done -0.62 0.12 0.080 2813 -616.7 1.95 0.020 2091 708.7 -175.2 - - 3473 - - - - - - - - 26.60 26.64 -
3412 441.0 -11.6 187 3418 roll -0.61 0.12 0.157 2848 291.7 2.00 0.032 3460 684.5 -175.2 - - 3472 - - - - - - - - 26.46 26.59 -
3492 446.4 -8.4 190 3499 done -0.61 - - 2848 - 1.92 0.017 2079 -719.3 -175.2 - - 3470 - - - - - - - - - 26.67 -
3798 472.6 -8.7 206 3800 done -0.61 - - 2848 - - - 2079 - -175.2 -0.08 - 3493 -287.5 - - - - - - - - - 26.03
4098 499.6 -9.3 221 4099 done -0.61 - - 2848 - - - 2079 - -175.2 - - 3491 - - - - - - - - - - -
4401 528.6 -9.6 236 4406 roll -0.61 - - 2848 - 1.98 0.030 709 -691.9 -175.2 - - 3489 - - - - - - - - - 26.60 -
4469 535.6 -10.0 239 4475 done -0.61 - - 2848 - 1.95 0.021 2079 702.6 -175.2 - - 3489 - - - - - - - - - 26.65 -
4789 568.0 -9.4 255 4795 roll -0.61 - - 2848 - 2.00 0.028 706 -686.5 -175.2 - - 3487 - - - - - - - - - 26.60 -
4814 570.3 -9.4 256 4820 done -0.61 - - 2848 - 1.98 0.021 2086 697.0 -175.2 - - 3487 - - - - - - - - - 26.64 -
5140 599.3 -9.0 272 5145 roll -0.61 - - 2847 - 2.03 0.035 3466 679.8 -175.2 - - 3484 - - - - - - - - - 26.59 -
5238 607.4 -8.4 276 5244 done -0.62 - - 2848 - 1.95 0.018 2072 -714.9 -175.2 - - 3484 - - - - - - - - - 26.67 -
5577 633.4 -7.6 287 5582 roll -0.64 - - 2847 - 1.98 0.031 709 -688.4 -175.2 - - 3481 - - - - - - - - - 26.60 -
5607 633.4 -7.6 287 5615 done -0.65 - - 2848 - 1.95 0.021 2073 699.5 -175.2 - - 3481 - - - - - - - - - 26.64 -
5916 661.3 -8.6 298 5921 roll -0.66 - - 2848 - 2.08 0.037 3476 674.5 -175.2 - - 3479 - - - - - - - - - 26.58 -
5966 664.6 -8.7 299 5972 done -0.68 - - 2847 - 1.98 0.019 2067 -711.6 -175.2 - - 3478 - - - - - - - - - 26.66 -
6291 693.1 -8.1 310 6296 roll -0.69 - - 2847 - 1.98 0.032 709 -685.9 -175.2 - - 3476 - - - - - - - - - 26.59 -
6360 698.8 -8.1 312 6366 done -0.71 - - 2847 - 1.98 0.022 2080 692.4 -175.2 - - 3476 - - - - - - - - - 26.63 -
6695 724.6 -8.0 323 6700 roll -0.72 - - 2847 - 2.08 0.037 3479 672.6 -175.2 - - 3474 - - - - - - - - - 26.57 -
6750 727.9 -8.1 324 6756 done -0.74 0.10 0.100 2800 -470.0 1.98 0.020 2076 -708.6 -175.2 - - 3473 - - - - - - - - 26.56 26.66 -
7068 763.3 -11.2 335 7074 roll -0.74 - - 2800 - 2.00 0.032 710 -683.0 -175.2 - - 3472 - - - - - - - - - 26.58 -
7166 774.9 -11.8 338 7172 done -0.74 - - 2793 - 1.98 0.021 2080 691.9 -175.2 - - 3471 - - - - - - - - - 26.62 -
7500 813.1 -11.0 349 7501 done -0.74 - - 2793 - - - 2080 - -175.2 - - 3469 - - - - - - - - - - -
7796 847.5 -11.7 359 7801 roll -0.74 - - 2793 - 2.03 0.040 709 -675.4 -175.2 - - 3467 - - - - - - - - - 25.44 -
7865 855.2 -11.7 361 7871 done -0.74 - - 2793 - 1.98 0.022 2077 690.9 -175.2 - - 3467 - - - - - - - - - 26.62 -
8198 892.4 -11.2 372 8204 roll -0.74 - - 2793 - 2.08 0.037 3473 671.2 -175.2 - - 3465 - - - - - - - - - 26.55 -
8263 899.7 -10.9 374 8269 done -0.74 - - 2793 - 2.00 0.021 2068 -702.5 -175.2 - - 3465 - - - - - - - - - 26.65 -
8601 932.8 -9.5 385 8606 roll -0.74 - - 2793 - 2.00 0.034 700 -684.0 -175.2 - - 3463 - - - - - - - - - 26.56 -
8699 942.8 -10.2 388 8705 done -0.74 - - 2793 - 2.00 0.024 2077 688.5 -175.2 - - 3462 - - - - - - - - - 26.60 -
9034 971.8 -8.6 399 9040 roll -0.74 - - 2793 - 2.08 0.039 3467 668.3 -175.2 - - 3462 - - - - - - - - - 26.55 -
9094 975.0 -8.3 400 9101 done -0.74 - - 2793 - 1.98 0.021 2078 -701.5 -175.2 - - 3461 - - - - - - - - - 26.65 -
9276 end dive: TARGET_DEPTH_EXCEEDED
9276 begin apogee
9285 990.7 -7.3 407 9461 done -0.18 0.57 0.123 2983 333.3 - - 2219 - - 164.48 1.165 2746 -4.3 0.379 - - - - - - 26.32 - 24.15
9463 end apogee: CONTROL_FINISHED_OK
9463 begin climb
9467 991.9 - 413 9647 roll 0.83 0.93 0.067 3311 352.7 2.25 0.040 3589 608.9 175.2 170.00 1.106 2037 -4.2 0.384 - - - - - - 25.08 24.63 23.89
9878 931.6 18.8 426 9883 done 0.78 - - 3319 - 2.08 0.024 2211 -662.5 175.2 - - 2010 - - - - - - - - - 25.81 -
10196 874.1 16.6 437 10202 roll 0.74 0.12 0.174 3283 -300.0 2.12 0.039 3582 646.7 175.2 - - 2008 - - - - - - - - 25.96 26.10 -
10347 854.2 15.4 441 10355 done 0.70 - - 3291 - 2.05 0.026 2193 -677.6 175.2 - - 2008 - - - - - - - - - 26.25 -
10656 811.4 12.4 452 10657 done 0.67 - - 3291 - - - 2194 - 175.2 - - 2007 - - - - - - - - - - -
10954 775.9 11.7 462 10960 roll 0.64 0.12 0.153 3254 -308.3 2.12 0.039 3583 655.2 175.2 - - 2006 - - - - - - - - 26.26 26.36 -
11115 759.4 10.3 467 11121 done 0.62 - - 3260 - 2.05 0.026 2194 -677.6 175.2 - - 2006 - - - - - - - - - 26.45 -
11449 728.2 9.6 478 11454 roll 0.61 - - 3260 - 2.15 0.041 3593 650.7 175.2 - - 2005 - - - - - - - - - 26.42 -
11504 724.2 9.8 479 11509 done 0.59 - - 3268 - 2.05 0.027 2197 -681.0 175.2 - - 2005 - - - - - - - - - 26.49 -
11823 690.5 9.8 490 11829 roll 0.57 0.12 0.161 3231 -308.3 2.12 0.038 3587 655.7 175.2 - - 2005 - - - - - - - - 26.32 26.45 -
11915 683.8 9.7 492 11922 done 0.56 - - 3237 - 2.05 0.027 2193 -680.0 175.2 - - 2004 - - - - - - - - - 26.52 -
12222 655.1 8.5 503 12254 roll 0.59 - - 3237 - 2.17 0.040 3588 642.9 201.0 24.83 0.942 1937 -2.7 0.193 - - - - - - - 26.03 25.33
12320 646.4 9.0 506 12338 done 0.61 - - 3241 - 2.08 0.027 2196 -669.2 213.6 13.18 0.975 1892 -3.4 0.232 - - - - - - - 26.15 25.19
12648 615.0 9.6 517 12649 done 0.61 - - 3241 - - - 2197 - 213.6 - - 1874 - - - - - - - - - - -
12958 583.9 10.1 530 12964 roll 0.61 - - 3240 - 2.15 0.039 3594 649.8 213.6 - - 1874 - - - - - - - - - 26.30 -
13008 579.0 10.2 532 13013 done 0.61 - - 3243 - 2.08 0.026 2185 -677.4 213.6 - - 1873 - - - - - - - - - 26.37 -
13328 549.7 8.6 548 13357 done 0.65 - - 3243 - - - 2184 - 235.5 27.45 0.887 1802 -2.6 0.165 - - - - - - - - 25.24
13648 520.8 8.5 564 13686 roll 0.68 - - 3250 - 2.15 0.035 815 -636.7 261.1 29.12 0.892 1685 -4.0 0.241 - - - - - - - 25.70 24.97
13715 515.5 8.4 567 13751 done 0.73 0.10 0.092 3303 530.0 2.08 0.024 2193 662.5 288.3 27.52 0.887 1581 -3.8 0.225 - - - - - - 25.79 25.82 24.70
14051 474.5 12.2 584 14057 roll 0.71 - - 3304 - 2.17 0.041 3603 649.8 288.3 - - 1556 - - - - - - - - - 26.03 -
14121 465.6 13.4 587 14127 done 0.70 0.12 0.160 3278 -216.7 2.10 0.025 2196 -670.0 288.3 - - 1555 - - - - - - - - 25.96 26.15 -
14442 427.0 11.1 603 14447 roll 0.70 - - 3279 - 2.08 0.037 810 -666.3 288.3 - - 1554 - - - - - - - - - 26.25 -
14488 422.4 10.5 605 14493 done 0.70 - - 3279 - 2.08 0.023 2220 677.9 288.3 - - 1554 - - - - - - - - - 26.30 -
14813 389.2 11.0 621 14819 roll 0.70 - - 3278 - 2.12 0.034 808 -666.0 288.3 - - 1554 - - - - - - - - - 26.36 -
14839 386.6 11.0 622 14845 done 0.70 - - 3279 - 2.05 0.022 2210 683.9 288.3 - - 1554 - - - - - - - - - 26.39 -
15164 349.9 11.3 638 15170 roll 0.70 - - 3278 - 2.08 0.039 3591 663.9 288.3 - - 1554 - - - - - - - - - 26.41 -
15223 344.6 11.7 640 15230 done 0.70 - - 3278 - 2.03 0.024 2196 -687.2 288.3 - - 1553 - - - - - - - - - 26.47 -
15529 313.3 9.2 656 15535 roll 0.71 - - 3278 - 2.05 0.034 806 -678.0 294.7 - - 1554 - - - - - - - - - 26.46 -
15604 307.3 9.2 659 15616 done 0.72 - - 3279 - 2.03 0.022 2208 690.6 301.6 4.68 0.703 1533 -4.5 0.201 - - - - - - - 26.50 25.53
15915 277.0 9.5 675 15920 roll 0.72 - - 3278 - 2.08 0.037 3600 669.2 301.6 - - 1537 - - - - - - - - - 26.44 -
15954 274.5 9.6 676 15961 done 0.72 - - 3278 - 2.05 0.023 2185 -690.2 301.6 - - 1537 - - - - - - - - - 26.50 -
16259 245.5 8.3 692 16303 roll 0.77 - - 3278 - 2.12 0.032 813 -647.2 333.2 37.92 0.708 1393 -3.8 0.135 - - - - - - - 25.95 25.32
16362 239.4 7.3 696 16425 done 0.87 0.15 0.067 3361 553.3 2.03 0.021 2197 681.8 391.0 53.45 0.684 1157 -4.4 0.159 - - - - - - 26.06 26.08 24.87
16723 194.0 12.8 715 16729 roll 0.87 0.12 0.147 3330 -258.3 2.08 0.029 812 -665.9 391.0 - - 1138 - - - - - - - - 25.95 26.07 -
16798 186.9 11.1 718 16804 done 0.87 - - 3330 - 2.03 0.020 2203 685.2 391.0 - - 1138 - - - - - - - - - 26.17 -
17113 153.8 10.0 734 17118 roll 0.87 - - 3337 - 2.08 0.031 810 -669.7 391.0 - - 1138 - - - - - - - - - 26.29 -
17172 149.3 10.2 736 17179 done 0.87 - - 3337 - 2.03 0.020 2202 685.7 391.0 - - 1138 - - - - - - - - - 26.35 -
17479 118.0 8.9 752 17493 roll 0.91 - - 3344 - 2.10 0.031 817 -659.5 406.2 6.90 0.159 1109 -4.2 0.320 - - - - - - - 26.37 25.75
17537 114.2 8.5 754 17558 done 0.96 - - 3344 - 2.00 0.019 2212 697.5 432.6 14.05 0.342 998 -7.9 0.271 - - - - - - - 26.43 25.74
17868 85.3 7.7 771 17898 roll 1.05 0.12 0.075 3445 841.7 2.08 0.028 810 -674.0 481.4 24.12 0.304 806 -8.0 0.229 - - - - - - 26.46 26.25 25.78
17933 78.3 10.1 774 17941 done 1.05 0.20 0.129 3387 -290.0 2.00 0.019 2204 697.0 481.4 2.08 0.173 797 -4.3 0.201 - - - - - - 26.12 26.31 26.01
18262 54.7 7.4 790 18296 roll 1.16 0.12 0.073 3474 725.0 2.08 0.034 3595 668.8 538.3 27.98 0.239 567 -8.2 0.193 - - - - - - 26.46 26.24 25.88
18311 49.8 8.9 792 18329 done 1.20 0.17 0.132 3431 -252.9 2.03 0.021 2195 -689.7 553.4 11.40 0.225 505 -5.4 0.124 - - - - - - 26.12 26.30 25.86
18631 15.2 9.6 833 18638 roll 1.22 - - 3439 - 2.00 0.030 813 -691.0 553.4 - - 510 - - - - - - - - - 26.36 -
18753 end climb: SURFACE_DEPTH_REACHED
18753 begin surface coast
18779 end surface coast: CONTROL_FINISHED_OK
18779 begin surface
SM 1.38 - - - - -9.03 8.23 0.021 137 16.6 1.88 0.021 2087 835.6 564.93 5.10 0.138 457 89.6 -0.092 - - - - - -