OKMC Jun13 * SG167 * Dive index * Mission links * Dive 240 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 36.36 of 150.00 AH used of 24V (75.76% remains)
• Previous NAKs 0, Timeouts 0 • 23.14 of 100.00 AH used of 10V (76.86% remains)
• Surface angle -71.9 deg, depth 1.94 m • Intended pitch -15.7 deg, speed -10.000 cm/s
• No surface pump (final VBD was 564.93, SM_CC=564.9259)
• GPS1 time: 39 s
• GPS2 time: 40 s • Transponder ping count: 8
• 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 - - - 127 VBD -0.85 - - 124 - - - 2093 - -194.6 -97.97 - 2949 - - - - - - - - - - -
135 3.5 -4.3 17 162 roll -0.85 10.70 0.234 2769 247.2 2.15 0.041 673 -660.5 -194.6 -10.82 - 3558 -56.3 - - - - - - - 25.54 26.14 26.48
234 40.1 -32.1 30 240 done -0.76 0.15 0.194 2797 186.7 2.03 0.019 2077 691.6 -194.6 - - 3560 - - - - - - - - 25.80 26.22 -
550 108.0 -16.2 47 556 roll -0.72 - - 2789 - 2.05 0.032 3476 682.4 -194.6 - - 3560 - - - - - - - - - 26.29 -
590 111.9 -15.6 48 597 done -0.68 0.15 0.151 2828 260.0 1.98 0.016 2049 -720.7 -194.6 - - 3559 - - - - - - - - 26.06 26.41 -
896 155.0 -13.8 64 901 roll -0.66 - - 2828 - 1.95 0.029 700 -691.8 -194.6 - - 3561 - - - - - - - - - 26.40 -
961 163.9 -13.8 67 966 done -0.63 - - 2821 - 1.98 0.021 2084 699.0 -194.6 - - 3560 - - - - - - - - - 26.45 -
1287 209.2 -13.9 83 1292 roll -0.62 - - 2811 - 2.03 0.033 3476 685.7 -194.6 - - 3561 - - - - - - - - - 26.41 -
1418 224.3 -11.7 89 1423 done -0.60 0.15 0.144 2853 280.0 1.92 0.016 2075 -729.7 -194.6 - - 3560 - - - - - - - - 26.21 26.55 -
1739 252.4 -9.3 105 1744 roll -0.60 - - 2847 - 2.08 0.032 3474 672.6 -194.6 - - 3560 - - - - - - - - - 26.43 -
1758 252.4 -9.3 105 1766 done -0.60 - - 2847 - 1.92 0.016 2074 -729.2 -194.6 - - 3560 - - - - - - - - - 26.56 -
2064 288.6 -11.5 121 2070 roll -0.60 - - 2848 - 1.95 0.028 707 -701.0 -194.6 - - 3559 - - - - - - - - - 26.48 -
2113 293.8 -11.6 123 2118 done -0.60 - - 2846 - 1.98 0.022 2085 696.0 -194.6 - - 3559 - - - - - - - - - 26.51 -
2434 324.6 -8.3 139 2439 roll -0.60 - - 2847 - 2.00 0.027 697 -694.0 -194.6 - - 3558 - - - - - - - - - 26.49 -
2468 326.8 -8.1 140 2473 done -0.60 - - 2849 - 1.98 0.022 2075 696.0 -194.6 - - 3557 - - - - - - - - - 26.51 -
2783 353.4 -9.2 156 2788 roll -0.60 - - 2847 - 2.05 0.035 3467 679.0 -194.6 - - 3557 - - - - - - - - - 26.44 -
2872 362.0 -10.2 160 2877 done -0.60 - - 2847 - 1.92 0.016 2077 -724.0 -194.6 - - 3555 - - - - - - - - - 26.58 -
3192 396.8 -10.1 176 3197 roll -0.60 - - 2847 - 1.98 0.029 700 -695.5 -194.6 - - 3553 - - - - - - - - - 26.48 -
3246 401.4 -10.2 178 3251 done -0.60 - - 2847 - 1.98 0.023 2079 696.5 -194.6 - - 3553 - - - - - - - - - 26.51 -
3561 427.2 -7.3 194 3567 roll -0.61 - - 2847 - 2.05 0.036 3467 677.1 -194.6 - - 3551 - - - - - - - - - 26.44 -
3602 429.3 -7.5 195 3608 done -0.62 - - 2847 - 1.95 0.018 2065 -719.0 -194.6 - - 3551 - - - - - - - - - 26.58 -
3907 453.5 -7.7 211 3913 roll -0.64 - - 2847 - 1.95 0.030 709 -695.4 -194.6 - - 3549 - - - - - - - - - 26.48 -
3958 457.2 -7.9 213 3964 done -0.65 - - 2847 - 1.95 0.023 2072 699.0 -194.6 - - 3549 - - - - - - - - - 26.51 -
4279 482.1 -7.4 229 4285 roll -0.66 - - 2847 - 2.08 0.050 3465 669.7 -194.6 -0.08 - 3576 -337.5 - - - - - - - - 26.41 25.77
4363 486.9 -7.1 232 4370 done -0.67 - - 2848 - 1.95 0.017 2063 -719.0 -194.6 - - 3576 - - - - - - - - - 26.58 -
4666 508.7 -6.7 248 4671 roll -0.69 - - 2847 - 1.95 0.030 712 -692.8 -194.6 - - 3574 - - - - - - - - - 26.46 -
4701 510.7 -7.0 249 4706 done -0.71 - - 2846 - 1.98 0.023 2086 693.9 -194.6 - - 3574 - - - - - - - - - 26.51 -
5017 535.0 -7.4 265 5023 roll -0.72 - - 2847 - 2.05 0.037 3467 673.7 -194.6 - - 3572 - - - - - - - - - 26.41 -
5049 537.0 -7.3 266 5055 done -0.74 0.10 0.099 2795 -520.0 1.95 0.018 2077 -712.8 -194.6 - - 3572 - - - - - - - - 26.44 26.57 -
5369 569.8 -10.1 282 5375 roll -0.74 - - 2793 - 2.10 0.035 3469 662.9 -194.6 - - 3569 - - - - - - - - - 26.40 -
5395 572.4 -10.2 283 5400 done -0.74 - - 2793 - 1.98 0.018 2067 -708.1 -194.6 - - 3569 - - - - - - - - - 26.56 -
5720 609.0 -11.8 298 5725 roll -0.74 - - 2793 - 1.98 0.031 705 -687.9 -194.6 - - 3567 - - - - - - - - - 26.44 -
5745 609.0 -11.8 298 5750 done -0.74 - - 2792 - 2.00 0.024 2080 687.5 -194.6 - - 3567 - - - - - - - - - 26.48 -
6060 647.1 -10.9 309 6066 roll -0.74 - - 2791 - 2.10 0.037 3478 665.7 -194.6 - - 3565 - - - - - - - - - 26.39 -
6126 654.1 -10.8 311 6131 done -0.74 - - 2792 - 2.00 0.018 2066 -706.0 -194.6 - - 3565 - - - - - - - - - 26.55 -
6464 690.2 -10.7 322 6469 roll -0.74 - - 2792 - 1.98 0.032 706 -686.9 -194.6 - - 3563 - - - - - - - - - 26.43 -
6523 694.5 -10.7 323 6531 done -0.74 - - 2792 - 2.00 0.026 2079 686.5 -194.6 - - 3563 - - - - - - - - - 26.46 -
6833 726.2 -9.2 334 6838 roll -0.74 - - 2782 - 2.08 0.037 3470 668.8 -194.6 - - 3560 - - - - - - - - - 26.38 -
6970 737.6 -8.9 338 6975 done -0.74 - - 2782 - 1.98 0.019 2077 -703.5 -194.6 - - 3560 - - - - - - - - - 26.55 -
7298 770.8 -10.4 349 7303 roll -0.74 - - 2782 - 2.03 0.032 692 -682.3 -194.6 - - 3557 - - - - - - - - - 26.41 -
7382 778.4 -10.9 351 7388 done -0.74 0.12 0.160 2812 250.0 2.03 0.024 2082 684.7 -194.6 - - 3556 - - - - - - - - 26.15 26.46 -
7701 809.7 -9.2 362 7706 roll -0.74 - - 2806 - 2.10 0.038 3480 665.7 -194.6 - - 3555 - - - - - - - - - 26.34 -
7785 816.3 -9.4 364 7790 done -0.74 - - 2806 - 2.00 0.020 2079 -700.5 -194.6 - - 3554 - - - - - - - - - 26.53 -
8100 849.7 -10.1 375 8105 roll -0.74 - - 2807 - 2.03 0.034 700 -679.3 -194.6 - - 3552 - - - - - - - - - 26.38 -
8184 856.5 -10.3 377 8189 done -0.74 - - 2807 - 2.03 0.026 2082 680.8 -194.6 - - 3551 - - - - - - - - - 26.43 -
8502 886.6 -8.4 388 8507 roll -0.74 - - 2807 - 2.10 0.040 3476 663.8 -194.6 - - 3550 - - - - - - - - - 26.32 -
8606 894.5 -8.1 391 8612 done -0.74 - - 2807 - 2.03 0.021 2073 -691.1 -194.6 - - 3549 - - - - - - - - - 26.51 -
8936 921.3 -8.3 402 8941 roll -0.74 - - 2806 - 2.03 0.034 698 -677.3 -194.6 - - 3548 - - - - - - - - - 26.36 -
9021 927.4 -8.5 404 9027 done -0.74 - - 2806 - 2.03 0.026 2075 678.3 -194.6 - - 3548 - - - - - - - - - 26.41 -
9340 955.8 -8.5 415 9345 roll -0.74 - - 2806 - 2.12 0.041 3477 661.3 -194.6 - - 3546 - - - - - - - - - 26.27 -
9375 959.1 -8.5 416 9381 done -0.74 - - 2806 - 2.03 0.022 2077 -689.7 -194.6 - - 3545 - - - - - - - - - 26.48 -
9715 986.3 -7.9 427 9720 roll -0.74 - - 2806 - 2.05 0.034 692 -675.6 -194.6 - - 3544 - - - - - - - - - 26.33 -
9753 989.5 -7.9 428 9759 done -0.74 - - 2806 - 2.05 0.027 2085 679.5 -194.6 - - 3543 - - - - - - - - - 26.39 -
9780 end dive: TARGET_DEPTH_EXCEEDED
9780 begin apogee
9788 992.2 -7.9 429 9974 done -0.18 0.55 0.116 2987 329.1 - - 2225 - - 177.20 1.203 2753 -4.5 0.382 - - - - - - 25.88 - 23.91
9977 end apogee: CONTROL_FINISHED_OK
9977 begin climb
9980 997.2 - 435 10173 roll 0.85 0.93 0.058 3331 369.9 2.30 0.034 819 -611.3 194.6 182.40 1.164 1955 -4.4 0.390 - - - - - - 24.96 24.46 23.61
10236 972.3 14.1 443 10243 done 0.79 - - 3332 - 2.12 0.029 2181 642.5 194.6 - - 1938 - - - - - - - - - 25.15 -
10542 923.8 14.4 454 10548 roll 0.75 0.12 0.165 3295 -308.3 2.20 0.041 3601 645.5 194.6 - - 1933 - - - - - - - - 25.79 25.93 -
10640 910.4 13.6 457 10645 done 0.72 - - 3304 - 2.08 0.024 2211 -668.3 194.6 - - 1931 - - - - - - - - - 26.10 -
10980 868.3 12.6 468 10986 roll 0.68 0.12 0.163 3276 -233.3 2.10 0.034 803 -670.5 194.6 - - 1930 - - - - - - - - 26.04 26.20 -
11005 868.3 12.6 468 11010 done 0.65 - - 3276 - 2.10 0.029 2218 673.8 194.6 - - 1929 - - - - - - - - - 26.22 -
11323 831.6 10.4 479 11328 roll 0.63 - - 3275 - 2.12 0.043 3593 648.6 194.6 - - 1928 - - - - - - - - - 26.22 -
11347 831.6 10.4 479 11353 done 0.61 0.15 0.155 3245 -200.0 2.05 0.025 2199 -680.0 194.6 - - 1929 - - - - - - - - 26.02 26.34 -
11666 800.4 8.9 490 11700 done 0.66 - - 3245 - - - 2199 - 227.3 31.60 1.057 1835 -3.0 0.234 - - - - - - - - 24.94
11995 767.4 10.6 501 12000 roll 0.66 - - 3253 - 2.10 0.037 808 -662.4 227.3 - - 1809 - - - - - - - - - 26.08 -
12085 759.6 11.1 503 12091 done 0.66 - - 3253 - 2.08 0.029 2200 669.2 227.3 - - 1810 - - - - - - - - - 26.15 -
12390 720.7 11.8 514 12395 roll 0.66 - - 3258 - 2.12 0.036 799 -660.8 227.3 - - 1808 - - - - - - - - - 26.22 -
12444 716.4 11.9 515 12450 done 0.66 - - 3258 - 2.10 0.028 2207 670.5 227.3 - - 1808 - - - - - - - - - 26.27 -
12763 679.9 10.0 526 12769 roll 0.66 - - 3265 - 2.12 0.036 810 -659.0 227.7 - - 1807 - - - - - - - - - 26.27 -
12788 679.9 10.0 526 12794 done 0.66 - - 3265 - 2.08 0.029 2210 673.1 228.2 - - 1807 - - - - - - - - - 26.31 -
13107 647.7 9.3 537 13133 done 0.68 - - 3264 - - - 2210 - 248.2 20.12 1.029 1742 -3.2 0.211 - - - - - - - - 25.19
13436 615.9 9.5 548 13459 roll 0.70 - - 3272 - 2.22 0.036 799 -635.6 263.5 14.45 1.029 1678 -4.4 0.276 - - - - - - - 25.94 25.05
13513 609.5 9.6 550 13523 done 0.72 - - 3272 - 2.12 0.028 2211 666.0 275.1 3.85 0.774 1638 -10.4 0.850 - - - - - - - 25.98 24.77
13834 576.8 9.0 565 13892 roll 0.76 - - 3278 - 2.25 0.035 816 -620.0 305.5 47.95 0.903 1506 -2.8 0.183 - - - - - - - 25.44 24.71
13948 567.2 9.1 570 13986 done 0.80 - - 3277 - 2.10 0.027 2196 657.1 331.4 28.77 0.922 1400 -3.7 0.236 - - - - - - - 25.70 24.56
14301 532.9 9.0 588 14336 roll 0.84 0.12 0.077 3355 650.0 2.22 0.035 812 -623.4 360.4 28.08 0.920 1284 -4.1 0.249 - - - - - - 26.10 25.56 24.79
14412 518.0 14.5 593 14418 done 0.82 0.15 0.144 3316 -260.0 2.12 0.028 2206 657.5 360.4 - - 1267 - - - - - - - - 25.58 25.79 -
14733 476.4 12.7 609 14739 roll 0.82 - - 3324 - 2.15 0.036 800 -654.0 360.4 - - 1264 - - - - - - - - - 26.07 -
14874 460.7 12.4 615 14882 done 0.81 - - 3324 - 2.10 0.027 2210 671.4 360.4 - - 1264 - - - - - - - - - 26.17 -
15180 426.6 9.9 631 15186 roll 0.81 - - 3331 - 2.12 0.035 807 -661.8 362.0 - - 1263 - - - - - - - - - 26.22 -
15272 417.5 10.6 635 15278 done 0.80 - - 3332 - 2.08 0.028 2209 674.0 362.0 - - 1263 - - - - - - - - - 26.29 -
15592 380.1 12.1 651 15598 roll 0.80 - - 3339 - 2.12 0.035 805 -662.3 362.0 - - 1263 - - - - - - - - - 26.29 -
15647 374.2 12.7 653 15653 done 0.80 0.12 0.144 3306 -275.0 2.08 0.027 2209 675.0 362.0 - - 1263 - - - - - - - - 26.11 26.34 -
15963 336.0 11.4 669 15968 roll 0.80 - - 3314 - 2.12 0.034 799 -665.1 362.0 - - 1263 - - - - - - - - - 26.33 -
16037 328.5 11.3 672 16043 done 0.80 - - 3314 - 2.08 0.026 2213 679.8 362.0 - - 1263 - - - - - - - - - 26.38 -
16353 295.8 8.5 688 16405 roll 0.87 - - 3314 - 2.22 0.032 802 -635.6 405.7 42.50 0.759 1092 -4.0 0.163 - - - - - - - 25.82 25.13
16482 285.8 7.7 694 16557 done 1.00 0.17 0.058 3410 564.7 2.10 0.024 2214 672.4 473.8 63.33 0.737 813 -4.4 0.178 - - - - - - 25.96 25.94 24.63
16858 232.4 15.6 713 16865 roll 0.99 0.12 0.150 3379 -258.3 2.12 0.031 809 -662.7 473.8 - - 799 - - - - - - - - 25.84 25.97 -
16981 217.5 13.7 718 16988 done 0.99 - - 3379 - 2.08 0.024 2205 671.2 473.8 - - 799 - - - - - - - - - 26.10 -
17287 183.0 10.1 734 17292 roll 0.99 - - 3388 - 2.10 0.034 808 -665.2 473.8 - - 798 - - - - - - - - - 26.20 -
17371 172.9 12.0 738 17377 done 0.99 - - 3388 - 2.05 0.024 2205 681.5 473.8 - - 799 - - - - - - - - - 26.27 -
17696 130.8 12.4 754 17701 roll 0.99 - - 3388 - 2.12 0.039 3605 660.4 473.8 - - 798 - - - - - - - - - 26.25 -
17756 125.1 12.7 756 17763 done 0.99 - - 3396 - 2.05 0.022 2193 -688.8 473.8 - - 798 - - - - - - - - - 26.39 -
18062 89.5 11.4 772 18068 roll 0.99 - - 3396 - 2.15 0.037 3603 655.8 473.8 - - 798 - - - - - - - - - 26.31 -
18096 86.2 11.7 773 18102 done 0.99 0.12 0.148 3371 -208.3 2.03 0.021 2194 -694.1 473.8 - - 798 - - - - - - - - 26.16 26.43 -
18413 54.6 8.3 789 18438 roll 1.12 0.12 0.078 3440 575.0 2.10 0.031 807 -660.5 523.7 19.58 0.221 628 -8.7 0.223 - - - - - - 26.50 26.32 25.76
18472 50.4 8.7 791 18495 done 1.22 - - 3440 - 2.03 0.022 2210 691.1 560.6 17.67 0.220 474 -8.7 0.208 - - - - - - - 26.36 25.74
18802 19.5 8.1 829 18811 roll 1.31 - - 3449 - 2.15 0.031 806 -653.0 616.3 3.67 0.158 460 -3.8 0.049 - - - - - - - 26.31 25.86
18894 8.3 13.4 845 18903 done 1.33 - - 3449 - 2.03 0.021 2215 694.1 616.3 1.85 0.164 458 - - - - - - - - - 26.38 25.94
18944 end climb: SURFACE_DEPTH_REACHED
18944 begin surface coast
18972 end surface coast: CONTROL_FINISHED_OK
18973 begin surface
SM 2.24 - - - - -9.03 8.32 0.024 131 15.7 0.17 0.047 2009 -42429.4 564.93 1.27 0.171 456 359.1 -0.481 - - - - - -