OKMC Jun13 * SG167 * Dive index * Mission links * Dive 189 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 27.03 of 150.00 AH used of 24V (81.98% remains)
• Previous NAKs 0, Timeouts 0 • 16.74 of 100.00 AH used of 10V (83.26% remains)
• Surface angle -72.1 deg, depth 2.01 m • Intended pitch -15.7 deg, speed -9.429 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 39 s
• GPS2 time: 32 s • Transponder ping count: 4
• 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
21 end surface: CONTROL_FINISHED_OK
22 begin dive
25 - - - 128 VBD -0.83 - - 144 - - - 2100 - -175.2 -99.70 - 2950 - - - - - - - - - - -
136 3.5 -3.9 18 163 roll -0.83 10.68 0.240 2777 246.5 2.15 0.043 681 -660.0 -175.2 -9.93 - 3480 -53.4 - - - - - - - 25.75 26.20 26.48
190 23.0 -36.6 26 197 done -0.70 0.20 0.200 2819 210.0 2.00 0.018 2085 702.0 -175.2 - - 3481 - - - - - - - - 25.90 26.26 -
497 101.2 -20.6 46 502 roll -0.65 - - 2819 - 2.05 0.028 675 -687.8 -175.2 - - 3481 - - - - - - - - - 26.38 -
522 106.8 -21.0 47 529 done -0.60 0.15 0.167 2850 206.7 2.00 0.020 2082 703.5 -175.2 - - 3481 - - - - - - - - 26.15 26.42 -
849 162.7 -15.0 63 850 done -0.57 - - 2850 - - - 2084 - -175.2 - - 3482 - - - - - - - - - - -
1151 205.1 -13.2 78 1158 roll -0.56 - - 2848 - 2.03 0.032 3477 686.2 -175.2 - - 3482 - - - - - - - - - 26.51 -
1191 209.0 -13.2 79 1198 done -0.54 - - 2848 - 1.98 0.016 2046 -722.7 -175.2 - - 3482 - - - - - - - - - 26.59 -
1497 249.1 -12.3 95 1503 roll -0.53 0.12 0.150 2889 341.7 2.10 0.031 3470 678.1 -175.2 - - 3482 - - - - - - - - 26.42 26.53 -
1543 253.5 -10.8 97 1548 done -0.53 - - 2889 - 1.92 0.016 2073 -727.6 -175.2 - - 3482 - - - - - - - - - 26.62 -
1868 281.5 -8.7 113 1873 roll -0.54 - - 2888 - 1.95 0.030 709 -699.5 -175.2 - - 3482 - - - - - - - - - 26.57 -
1948 287.2 -8.8 116 1955 done -0.55 - - 2888 - 1.95 0.022 2079 702.6 -175.2 - - 3481 - - - - - - - - - 26.60 -
2254 315.4 -8.7 132 2259 roll -0.57 - - 2888 - 2.03 0.034 3468 684.2 -175.2 - - 3480 - - - - - - - - - 26.55 -
2300 319.2 -8.5 134 2305 done -0.58 - - 2888 - 1.95 0.018 2071 -716.4 -175.2 - - 3480 - - - - - - - - - 26.64 -
2625 344.7 -7.5 150 2631 roll -0.60 - - 2888 - 1.98 0.030 694 -695.5 -175.2 - - 3478 - - - - - - - - - 26.58 -
2681 348.6 -7.9 152 2687 done -0.62 0.10 0.094 2826 -620.0 1.98 0.022 2085 702.5 -175.2 - - 3477 - - - - - - - - 26.55 26.62 -
2997 384.5 -11.6 168 3002 roll -0.60 - - 2818 - 2.03 0.034 3471 682.8 -175.2 - - 3475 - - - - - - - - - 26.57 -
3128 398.8 -11.4 174 3135 done -0.60 0.12 0.150 2853 291.7 1.95 0.018 2069 -719.0 -175.2 - - 3475 - - - - - - - - 26.41 26.65 -
3449 431.9 -9.6 190 3454 roll -0.60 - - 2853 - 1.98 0.031 696 -693.4 -175.2 - - 3474 - - - - - - - - - 26.58 -
3509 436.4 -9.7 192 3515 done -0.60 - - 2848 - 1.98 0.021 2077 697.5 -175.2 - - 3473 - - - - - - - - - 26.62 -
3815 466.9 -9.3 208 3820 roll -0.60 - - 2848 - 2.05 0.036 3473 681.0 -175.2 - - 3471 - - - - - - - - - 26.56 -
3845 469.4 -9.3 209 3850 done -0.60 - - 2849 - 1.95 0.018 2071 -719.0 -175.2 - - 3471 - - - - - - - - - 26.65 -
4165 498.9 -9.3 225 4172 roll -0.60 - - 2849 - 2.00 0.044 700 -685.5 -175.2 -0.08 - 3499 -350.0 - - - - - - - - 26.58 26.15
4192 501.5 -9.4 226 4198 done -0.60 - - 2849 - 2.00 0.023 2086 693.0 -175.2 - - 3500 - - - - - - - - - 26.61 -
4517 534.0 -10.2 242 4522 roll -0.60 - - 2848 - 2.03 0.031 700 -682.8 -175.2 - - 3498 - - - - - - - - - 26.57 -
4546 536.6 -10.3 243 4552 done -0.60 - - 2848 - 1.98 0.023 2077 695.5 -175.2 - - 3497 - - - - - - - - - 26.61 -
4868 566.4 -8.6 259 4873 roll -0.60 - - 2848 - 2.05 0.037 3468 678.5 -175.2 - - 3496 - - - - - - - - - 26.56 -
4938 571.5 -7.8 262 4943 done -0.62 - - 2848 - 1.95 0.019 2077 -713.3 -175.2 - - 3495 - - - - - - - - - 26.65 -
5259 595.7 -7.1 278 5264 roll -0.63 - - 2848 - 2.00 0.032 697 -690.0 -175.2 - - 3493 - - - - - - - - - 26.58 -
5319 599.0 -7.3 280 5327 done -0.64 - - 2849 - 2.00 0.024 2087 695.0 -175.2 - - 3493 - - - - - - - - - 26.61 -
5627 625.0 -8.5 291 5632 roll -0.65 - - 2848 - 2.05 0.037 3472 675.6 -175.2 - - 3491 - - - - - - - - - 26.55 -
5729 633.4 -8.6 294 5735 done -0.67 - - 2848 - 1.98 0.020 2075 -705.6 -175.2 - - 3490 - - - - - - - - - 26.65 -
6064 662.1 -8.4 305 6069 roll -0.68 - - 2848 - 2.00 0.032 699 -688.0 -175.2 - - 3488 - - - - - - - - - 26.57 -
6139 667.7 -8.1 307 6145 done -0.70 - - 2848 - 2.00 0.024 2082 691.5 -175.2 - - 3487 - - - - - - - - - 26.60 -
6468 692.6 -7.2 318 6470 done -0.71 - - 2848 - - - 2081 - -175.2 - - 3484 - - - - - - - - - - -
6765 714.1 -7.4 328 6770 roll -0.72 - - 2848 - 2.08 0.038 3475 670.2 -175.2 - - 3483 - - - - - - - - - 26.54 -
6831 718.9 -7.4 330 6837 done -0.74 0.12 0.089 2789 -491.7 2.03 0.021 2073 -690.6 -175.2 - - 3482 - - - - - - - - 26.54 26.63 -
7166 753.4 -10.7 341 7172 roll -0.74 - - 2790 - 2.00 0.034 701 -686.0 -175.2 - - 3479 - - - - - - - - - 26.55 -
7201 757.3 -11.2 342 7207 done -0.74 - - 2782 - 2.00 0.024 2073 686.0 -175.2 - - 3480 - - - - - - - - - 26.58 -
7542 796.7 -12.5 353 7547 roll -0.73 0.12 0.166 2820 316.7 2.10 0.037 3474 667.1 -175.2 - - 3478 - - - - - - - - 26.39 26.52 -
7610 804.9 -12.3 355 7615 done -0.73 - - 2821 - 2.00 0.021 2069 -702.5 -175.2 - - 3477 - - - - - - - - - 26.63 -
7945 839.5 -10.1 366 7946 done -0.73 - - 2820 - - - 2068 - -175.2 - - 3475 - - - - - - - - - - -
8240 865.9 -8.2 376 8246 roll -0.73 - - 2819 - 2.03 0.035 702 -672.9 -175.2 - - 3473 - - - - - - - - - 26.21 -
8270 865.9 -8.2 376 8278 done -0.73 - - 2820 - 2.00 0.026 2072 685.0 -175.2 - - 3472 - - - - - - - - - 26.57 -
8578 891.8 -7.8 387 8579 done -0.73 - - 2820 - - - 2072 - -175.2 - - 3472 - - - - - - - - - - -
8877 916.6 -8.3 397 8878 done -0.73 - - 2820 - - - 2072 - -175.2 - - 3470 - - - - - - - - - - -
9176 942.8 -8.8 407 9181 roll -0.73 - - 2820 - 2.05 0.040 696 -671.2 -175.2 - - 3468 - - - - - - - - - 26.39 -
9205 942.8 -8.8 407 9212 done -0.73 - - 2820 - 2.03 0.026 2077 680.3 -175.2 - - 3468 - - - - - - - - - 26.56 -
9511 971.4 -8.3 418 9516 roll -0.73 - - 2820 - 2.10 0.041 3473 664.8 -175.2 - - 3467 - - - - - - - - - 26.48 -
9556 974.3 -8.2 419 9561 done -0.74 - - 2821 - 2.00 0.022 2077 -698.0 -175.2 - - 3467 - - - - - - - - - 26.60 -
9758 end dive: TARGET_DEPTH_EXCEEDED
9758 begin apogee
9767 990.8 -7.5 426 9944 done -0.18 0.50 0.112 2989 336.0 - - 2209 - - 162.52 1.166 2746 -4.4 0.387 - - - - - - 26.28 - 24.14
9946 end apogee: CONTROL_FINISHED_OK
9947 begin climb
9950 994.6 - 432 10129 roll 0.83 0.90 0.063 3314 361.1 2.33 0.042 3586 591.0 175.2 167.32 1.110 2031 -4.3 0.393 - - - - - - 25.13 24.65 23.89
10347 944.7 15.7 445 10352 done 0.78 - - 3322 - 2.08 0.024 2206 -663.5 175.2 - - 2013 - - - - - - - - - 25.82 -
10675 894.3 14.7 456 10677 done 0.74 0.12 0.176 3292 -250.0 - - 2206 - 175.2 - - 2011 - - - - - - - - 25.99 - -
10975 855.3 12.7 466 10981 roll 0.71 - - 3292 - 2.15 0.042 3593 645.1 175.2 - - 2010 - - - - - - - - - 26.25 -
11077 842.2 13.3 469 11084 done 0.68 - - 3299 - 2.08 0.025 2184 -677.4 175.2 - - 2008 - - - - - - - - - 26.36 -
11411 798.4 13.1 480 11417 roll 0.65 0.12 0.164 3261 -316.7 2.17 0.040 3599 652.1 175.2 - - 2007 - - - - - - - - 26.22 26.34 -
11578 779.6 11.4 485 11583 done 0.62 - - 3268 - 2.08 0.026 2199 -673.1 175.2 - - 2006 - - - - - - - - - 26.44 -
11907 745.1 10.0 496 11912 roll 0.60 - - 3278 - 2.08 0.037 805 -670.2 175.2 - - 2006 - - - - - - - - - 26.41 -
11956 741.2 10.0 497 11962 done 0.59 0.15 0.138 3237 -273.3 2.05 0.029 2194 677.6 175.2 - - 2004 - - - - - - - - 26.25 26.45 -
12280 712.8 8.5 508 12309 roll 0.63 - - 3238 - 2.25 0.042 3602 625.8 202.0 23.15 0.994 1932 -3.1 0.229 - - - - - - - 26.01 25.23
12391 703.7 9.2 511 12397 done 0.64 - - 3238 - 2.10 0.026 2190 -672.4 208.7 - - 1916 - - - - - - - - - 26.15 -
12715 673.7 8.5 522 12756 roll 0.67 - - 3238 - 2.17 0.037 811 -635.5 233.4 32.97 0.965 1798 -3.6 0.256 - - - - - - - 25.69 24.94
12831 665.6 8.6 525 12861 done 0.71 0.12 0.077 3302 533.3 2.10 0.028 2206 664.3 256.8 23.55 0.971 1714 -3.6 0.251 - - - - - - 25.89 25.89 24.77
13171 620.9 12.5 537 13176 roll 0.69 - - 3302 - 2.15 0.042 3598 647.4 256.8 - - 1688 - - - - - - - - - 26.06 -
13256 611.7 13.4 539 13262 done 0.67 0.17 0.148 3262 -235.3 2.08 0.026 2198 -673.1 256.8 - - 1686 - - - - - - - - 25.97 26.17 -
13572 572.4 10.7 554 13577 roll 0.67 - - 3271 - 2.10 0.037 799 -666.2 256.8 - - 1685 - - - - - - - - - 26.27 -
13606 569.7 10.8 555 13611 done 0.67 - - 3271 - 2.08 0.028 2204 675.5 256.8 - - 1685 - - - - - - - - - 26.29 -
13921 534.5 10.5 571 13927 roll 0.67 - - 3271 - 2.12 0.042 3596 656.6 256.8 - - 1685 - - - - - - - - - 26.33 -
13970 529.6 10.7 573 13976 done 0.67 - - 3278 - 2.05 0.025 2198 -682.0 256.8 - - 1684 - - - - - - - - - 26.41 -
14290 495.6 10.7 589 14295 roll 0.67 - - 3286 - 2.08 0.037 802 -671.2 256.8 - - 1684 - - - - - - - - - 26.40 -
14416 481.7 11.2 595 14421 done 0.67 - - 3286 - 2.08 0.027 2211 677.4 256.8 - - 1684 - - - - - - - - - 26.44 -
14741 448.4 9.5 611 14742 done 0.67 - - 3286 - - - 2211 - 256.8 - - 1684 - - - - - - - - - - -
15045 420.3 9.2 626 15046 done 0.68 - - 3286 - - - 2211 - 263.1 - - 1684 - - - - - - - - - - -
15344 393.9 8.4 641 15382 done 0.72 - - 3286 - - - 2211 - 291.4 36.47 0.767 1575 -3.0 0.158 - - - - - - - - 25.31
15681 361.7 10.1 658 15686 roll 0.72 - - 3286 - 2.12 0.041 3600 655.2 291.4 - - 1552 - - - - - - - - - 26.18 -
15700 361.7 10.1 658 15708 done 0.72 - - 3290 - 2.08 0.024 2194 -676.0 291.4 - - 1551 - - - - - - - - - 26.26 -
16006 331.1 9.1 674 16013 roll 0.73 - - 3294 - 2.12 0.034 804 -655.7 299.7 2.05 0.220 1539 -5.9 0.904 - - - - - - - 26.32 24.40
16116 321.3 9.4 679 16124 done 0.74 - - 3294 - 2.05 0.024 2204 682.9 301.7 2.53 0.399 1532 -2.8 0.229 - - - - - - - 26.36 25.18
16443 293.6 8.1 695 16489 done 0.79 - - 3294 - - - 2203 - 337.5 43.35 0.713 1387 -3.3 0.141 - - - - - - - - 25.18
16783 262.9 10.0 712 16790 roll 0.80 - - 3300 - 2.10 0.032 806 -665.2 337.5 - - 1361 - - - - - - - - - 26.15 -
16886 254.0 10.4 716 16893 done 0.81 - - 3300 - 2.05 0.024 2210 684.9 337.5 - - 1361 - - - - - - - - - 26.23 -
17190 226.2 8.0 732 17229 roll 0.88 0.10 0.091 3365 650.0 2.20 0.038 3599 631.4 375.7 32.95 0.671 1221 -4.2 0.147 - - - - - - 26.41 25.90 25.26
17254 219.0 10.5 735 17261 done 0.88 0.15 0.145 3331 -226.7 2.08 0.022 2190 -677.4 375.7 - - 1206 - - - - - - - - 25.82 26.00 -
17580 186.9 10.2 751 17586 roll 0.90 - - 3340 - 2.05 0.031 801 -677.6 375.7 - - 1205 - - - - - - - - - 26.23 -
17737 170.9 10.8 758 17743 done 0.91 - - 3340 - 2.03 0.022 2197 687.7 375.7 - - 1204 - - - - - - - - - 26.32 -
18053 142.5 7.5 774 18105 roll 1.00 - - 3345 - 2.10 0.029 804 -663.3 429.0 45.67 0.607 1004 -4.4 0.106 - - - - - - - 25.86 25.28
18141 136.4 7.1 778 18203 done 1.12 0.17 0.058 3441 564.7 2.05 0.021 2204 682.9 492.2 54.80 0.589 751 -4.6 0.110 - - - - - - 25.98 25.98 24.92
18518 86.8 13.1 797 18520 done 1.12 0.12 0.145 3408 -275.0 - - 2204 - 492.2 - - 725 - - - - - - - - 26.02 - -
18819 56.0 9.2 812 18824 roll 1.15 - - 3414 - 2.08 0.031 802 -674.0 498.3 - - 724 - - - - - - - - - 26.29 -
18937 46.0 8.6 819 18959 done 1.20 - - 3414 - 2.03 0.021 2209 693.1 520.8 11.45 0.183 642 -7.2 0.185 - - - - - - - 26.37 25.92
19262 16.0 10.0 860 19271 roll 1.22 - - 3423 - 2.15 0.031 800 -655.3 520.8 2.05 0.159 640 - - - - - - - - - 26.39 26.15
19338 8.3 10.8 873 19345 done 1.23 - - 3423 - 2.03 0.021 2214 696.6 520.8 1.83 0.160 635 -2.7 0.015 - - - - - - - 26.45 26.18
19386 end climb: SURFACE_DEPTH_REACHED
19386 begin surface coast
19416 end surface coast: CONTROL_FINISHED_OK
19416 begin surface
SM 1.85 - - - - -9.04 8.25 0.024 133 16.1 0.17 0.046 2068 -42082.4 564.93 20.58 0.118 457 22.2 -0.036 - - - - - -