OKMC Jun13 * SG167 * Dive index * Mission links * Dive 321 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 51.42 of 150.00 AH used of 24V (65.72% remains)
• Previous NAKs 0, Timeouts 0 • 32.14 of 100.00 AH used of 10V (67.86% remains)
• Surface angle -69.3 deg, depth 1.91 m • Intended pitch -18.3 deg, speed -10.000 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 38 s
• GPS2 time: 37 s • Transponder ping count: 6
• 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 - - - 120 VBD -1.12 - - 111 - - - 2224 - -184.9 -91.50 - 2955 - - - - - - - - - - -
129 3.0 -2.7 16 161 roll -1.12 10.55 0.237 2638 239.5 2.12 0.047 3596 647.2 -184.9 -15.65 - 3726 -49.3 - - - - - - - 25.34 26.08 26.49
396 84.2 -28.4 41 403 done -1.02 0.17 0.198 2678 235.3 2.00 0.016 2164 -716.0 -184.9 - - 3727 - - - - - - - - 25.67 26.34 -
713 165.2 -22.9 57 718 roll -0.96 - - 2670 - 2.12 0.033 3595 675.0 -184.9 - - 3728 - - - - - - - - - 26.27 -
933 208.6 -20.6 67 942 done -0.90 0.20 0.157 2724 270.0 1.95 0.017 2198 -716.4 -184.9 - - 3728 - - - - - - - - 25.91 26.45 -
1239 258.4 -14.7 83 1245 roll -0.87 - - 2724 - 1.95 0.028 826 -703.6 -184.9 - - 3729 - - - - - - - - - 26.37 -
1274 262.2 -14.8 84 1280 done -0.84 - - 2717 - 1.98 0.024 2205 696.5 -184.9 - - 3729 - - - - - - - - - 26.40 -
1589 310.1 -14.6 100 1596 roll -0.82 0.12 0.172 2752 291.7 2.05 0.034 3595 678.0 -184.9 - - 3729 - - - - - - - - 26.20 26.32 -
1615 313.6 -14.3 101 1621 done -0.79 - - 2751 - 1.98 0.017 2189 -710.1 -184.9 - - 3729 - - - - - - - - - 26.50 -
1941 353.2 -11.7 117 1946 roll -0.78 - - 2752 - 1.95 0.029 825 -699.5 -184.9 - - 3729 - - - - - - - - - 26.39 -
1995 358.6 -11.7 119 2001 done -0.77 - - 2742 - 1.98 0.025 2201 694.9 -184.9 - - 3729 - - - - - - - - - 26.41 -
2311 398.3 -12.7 135 2316 roll -0.76 - - 2742 - 2.00 0.028 822 -689.5 -184.9 - - 3727 - - - - - - - - - 26.39 -
2336 401.7 -13.1 136 2343 done -0.75 0.12 0.162 2769 225.0 2.00 0.025 2198 688.0 -184.9 - - 3727 - - - - - - - - 26.10 26.41 -
2662 440.3 -11.5 152 2668 roll -0.75 - - 2770 - 2.00 0.028 820 -689.0 -184.9 - - 3726 - - - - - - - - - 26.39 -
2708 445.5 -11.4 154 2714 done -0.75 - - 2766 - 2.00 0.025 2200 690.0 -184.9 - - 3725 - - - - - - - - - 26.41 -
3033 479.8 -10.4 170 3038 roll -0.75 - - 2765 - 2.00 0.028 823 -688.5 -184.9 - - 3723 - - - - - - - - - 26.39 -
3058 482.3 -10.3 171 3063 done -0.75 - - 2766 - 2.00 0.026 2206 691.5 -184.9 - - 3723 - - - - - - - - - 26.40 -
3383 514.8 -10.5 187 3388 roll -0.75 - - 2765 - 2.03 0.028 816 -684.7 -184.9 - - 3720 - - - - - - - - - 26.38 -
3427 519.6 -10.7 189 3432 done -0.75 - - 2766 - 2.03 0.026 2205 684.2 -184.9 - - 3720 - - - - - - - - - 26.39 -
3753 554.4 -10.8 205 3758 roll -0.75 - - 2766 - 2.03 0.028 816 -684.2 -184.9 - - 3717 - - - - - - - - - 26.37 -
3801 559.2 -10.6 207 3806 done -0.75 - - 2765 - 2.03 0.027 2210 686.7 -184.9 - - 3717 - - - - - - - - - 26.39 -
4121 591.8 -9.9 223 4127 roll -0.75 - - 2765 - 2.03 0.028 824 -682.8 -184.9 - - 3714 - - - - - - - - - 26.36 -
4196 598.4 -9.8 226 4202 done -0.75 - - 2765 - 2.03 0.027 2208 681.8 -184.9 - - 3713 - - - - - - - - - 26.38 -
4515 629.3 -9.7 237 4521 roll -0.75 - - 2765 - 2.03 0.028 822 -682.8 -184.9 - - 3711 - - - - - - - - - 26.25 -
4564 633.0 -9.7 238 4570 done -0.75 - - 2764 - 2.03 0.027 2208 682.8 -184.9 - - 3710 - - - - - - - - - 26.36 -
4889 664.1 -9.1 249 4895 roll -0.75 - - 2765 - 2.10 0.041 3599 662.4 -184.9 - - 3707 - - - - - - - - - 26.25 -
4920 664.1 -9.1 249 4927 done -0.75 - - 2765 - 2.00 0.019 2183 -708.0 -184.9 - - 3707 - - - - - - - - - 26.48 -
5228 696.8 -9.6 260 5234 roll -0.75 - - 2765 - 1.95 0.030 839 -689.2 -184.9 - - 3703 - - - - - - - - - 26.33 -
5298 703.5 -9.7 262 5304 done -0.75 - - 2766 - 2.03 0.028 2205 672.9 -184.9 - - 3702 - - - - - - - - - 26.34 -
5631 734.4 -9.3 273 5632 done -0.75 - - 2765 - - - 2205 - -184.9 - - 3700 - - - - - - - - - - -
5929 763.5 -10.0 283 5934 roll -0.75 - - 2765 - 2.03 0.030 833 -675.9 -184.9 - - 3697 - - - - - - - - - 26.31 -
5953 763.5 -10.0 283 5959 done -0.75 - - 2764 - 2.05 0.028 2210 671.7 -184.9 - - 3696 - - - - - - - - - 26.32 -
6268 800.2 -11.0 294 6269 done -0.75 - - 2766 - - - 2210 - -184.9 - - 3694 - - - - - - - - - - -
6569 834.0 -11.4 304 6575 roll -0.75 - - 2765 - 2.05 0.031 827 -674.6 -184.9 - - 3691 - - - - - - - - - 26.28 -
6599 834.0 -11.4 304 6605 done -0.75 - - 2765 - 2.03 0.029 2199 675.9 -184.9 - - 3691 - - - - - - - - - 26.30 -
6905 869.7 -10.4 315 6906 done -0.75 - - 2765 - - - 2199 - -184.9 - - 3690 - - - - - - - - - - -
7205 898.2 -9.3 325 7210 roll -0.75 - - 2765 - 2.03 0.031 835 -671.9 -184.9 - - 3687 - - - - - - - - - 26.25 -
7240 901.7 -9.4 326 7246 done -0.75 - - 2765 - 2.03 0.029 2196 670.4 -184.9 - - 3686 - - - - - - - - - 26.27 -
7579 932.2 -9.4 337 7585 roll -0.75 - - 2766 - 2.15 0.043 3602 654.0 -184.9 - - 3684 - - - - - - - - - 26.12 -
7634 935.8 -9.4 338 7640 done -0.76 - - 2765 - 2.03 0.023 2220 -680.8 -184.9 - - 3684 - - - - - - - - - 26.43 -
7953 967.1 -9.5 349 7959 roll -0.77 - - 2765 - 2.08 0.032 810 -677.9 -184.9 - - 3682 - - - - - - - - - 26.21 -
8014 971.1 -9.7 350 8020 done -0.78 - - 2765 - 2.08 0.030 2205 670.7 -184.9 - - 3682 - - - - - - - - - 26.24 -
8195 end dive: TARGET_DEPTH_EXCEEDED
8195 begin apogee
8204 991.2 -9.6 357 8364 done -0.18 0.57 0.119 2952 328.1 - - 2040 - - 150.60 1.235 2964 -4.8 0.399 - - - - - - 25.60 - 23.79
8366 end apogee: CONTROL_FINISHED_OK
8367 begin climb
8371 998.0 - 362 8545 roll 1.12 1.17 0.063 3367 354.7 2.40 0.042 3439 582.9 184.9 160.20 1.200 2204 -4.7 0.412 - - - - - - 24.98 24.44 23.48
8599 983.2 11.6 370 8605 done 1.05 - - 3376 - 2.15 0.024 2048 -647.0 184.9 - - 2197 - - - - - - - - - 25.25 -
8933 938.9 13.1 381 8939 roll 1.00 0.12 0.173 3342 -283.3 2.20 0.040 3458 640.9 184.9 - - 2194 - - - - - - - - 25.80 25.96 -
9008 929.7 13.1 383 9015 done 0.94 0.12 0.187 3322 -166.7 2.10 0.025 2044 -673.3 184.9 - - 2192 - - - - - - - - 25.75 26.12 -
9338 893.5 10.9 394 9343 roll 0.91 - - 3322 - 2.20 0.041 3459 643.2 184.9 - - 2191 - - - - - - - - - 26.10 -
9392 889.0 11.1 395 9399 done 0.87 0.15 0.169 3294 -186.7 2.10 0.025 2039 -676.2 184.9 - - 2191 - - - - - - - - 25.84 26.25 -
9713 854.1 10.3 406 9718 roll 0.85 - - 3304 - 2.10 0.037 648 -662.4 184.9 - - 2189 - - - - - - - - - 26.18 -
9763 849.8 10.4 407 9768 done 0.82 - - 3303 - 2.10 0.031 2049 667.1 184.9 - - 2187 - - - - - - - - - 26.25 -
10087 814.6 10.1 418 10093 roll 0.79 0.12 0.162 3266 -308.3 2.17 0.041 3462 651.2 184.9 - - 2187 - - - - - - - - 26.10 26.14 -
10154 807.9 9.7 420 10159 done 0.79 - - 3273 - 2.10 0.025 2041 -676.7 191.7 - - 2187 - - - - - - - - - 26.32 -
10493 779.7 8.4 431 10548 roll 0.88 - - 3282 - 2.15 0.038 665 -640.0 236.2 46.33 1.095 1996 -4.1 0.306 - - - - - - - 25.48 24.48
10565 774.3 8.8 433 10607 done 0.95 0.12 0.076 3338 466.7 2.15 0.030 2057 647.4 270.1 33.15 1.082 1859 -4.1 0.309 - - - - - - 25.60 25.61 24.21
10917 728.4 12.8 445 10923 roll 0.93 - - 3338 - 2.20 0.043 3463 639.1 270.1 - - 1845 - - - - - - - - - 25.91 -
10953 723.3 13.2 446 10959 done 0.90 0.17 0.165 3303 -205.9 2.12 0.025 2047 -667.9 270.1 - - 1844 - - - - - - - - 25.63 26.06 -
11289 685.3 10.7 457 11295 roll 0.89 - - 3312 - 2.12 0.037 650 -659.0 270.1 - - 1843 - - - - - - - - - 26.09 -
11364 677.9 11.0 459 11371 done 0.88 - - 3313 - 2.12 0.030 2063 666.5 270.1 - - 1842 - - - - - - - - - 26.17 -
11693 639.7 11.4 470 11699 roll 0.86 - - 3312 - 2.15 0.043 3460 649.8 270.1 - - 1842 - - - - - - - - - 26.10 -
11733 635.1 11.6 471 11738 done 0.85 0.12 0.170 3291 -175.0 2.10 0.025 2038 -677.1 270.1 - - 1841 - - - - - - - - 25.90 26.27 -
12066 598.2 11.0 482 12073 roll 0.85 - - 3299 - 2.10 0.038 649 -661.4 270.1 - - 1840 - - - - - - - - - 26.15 -
12141 590.4 11.1 485 12147 done 0.85 - - 3300 - 2.10 0.030 2053 668.6 270.1 - - 1840 - - - - - - - - - 26.25 -
12456 559.0 8.8 501 12495 roll 0.93 - - 3300 - 2.22 0.043 3441 625.2 303.2 29.33 0.990 1723 -4.0 0.235 - - - - - - - 25.82 24.83
12524 553.0 9.2 504 12553 done 0.99 - - 3308 - 2.10 0.025 2044 -665.2 325.4 21.83 0.987 1636 -4.0 0.233 - - - - - - - 25.89 24.54
12862 522.9 9.0 521 12896 roll 1.05 0.12 0.078 3388 666.7 2.20 0.038 660 -629.1 351.7 24.20 0.968 1526 -4.5 0.256 - - - - - - 26.15 25.63 24.68
12984 509.2 13.2 526 12991 done 1.02 0.17 0.147 3344 -258.8 2.12 0.029 2055 658.0 351.7 - - 1519 - - - - - - - - 25.50 25.83 -
13289 469.7 12.2 542 13294 roll 1.02 - - 3351 - 2.15 0.037 657 -650.2 351.7 - - 1518 - - - - - - - - - 26.00 -
13314 466.6 12.3 543 13320 done 1.02 - - 3351 - 2.12 0.028 2055 659.4 351.7 - - 1517 - - - - - - - - - 26.08 -
13640 431.6 10.0 559 13646 roll 1.02 - - 3351 - 2.15 0.042 3451 649.3 351.7 - - 1517 - - - - - - - - - 26.06 -
13690 426.5 10.5 561 13695 done 1.01 - - 3359 - 2.08 0.025 2048 -674.5 351.7 - - 1516 - - - - - - - - - 26.22 -
14010 391.1 10.9 577 14015 roll 1.01 - - 3369 - 2.10 0.037 654 -663.8 351.7 - - 1515 - - - - - - - - - 26.13 -
14098 381.6 11.4 581 14105 done 1.00 0.12 0.150 3339 -250.0 2.08 0.028 2051 671.6 351.7 - - 1516 - - - - - - - - 25.93 26.23 -
14420 351.2 9.2 597 14448 roll 1.05 - - 3346 - 2.20 0.035 652 -635.9 373.6 19.80 0.879 1435 -4.1 0.171 - - - - - - - 26.03 25.07
14466 347.1 9.7 599 14477 done 1.08 - - 3346 - 2.10 0.026 2057 669.0 383.1 3.22 0.712 1412 -7.1 0.363 - - - - - - - 26.03 24.37
14787 313.5 10.6 615 14793 done 1.09 - - 3346 - - - 2057 - 383.1 1.50 0.205 1407 -3.3 0.532 - - - - - - - - 25.37
15113 282.1 9.1 631 15152 roll 1.16 0.12 0.076 3434 733.3 2.20 0.034 660 -635.0 408.8 29.20 0.813 1290 -4.0 0.145 - - - - - - 26.39 25.84 24.96
15234 269.0 12.6 636 15241 done 1.14 0.20 0.149 3382 -260.0 2.08 0.026 2047 666.8 408.8 - - 1287 - - - - - - - - 25.55 25.94 -
15539 234.5 10.0 652 15544 roll 1.14 - - 3382 - 2.15 0.041 3450 652.6 408.8 - - 1286 - - - - - - - - - 26.01 -
15593 229.7 10.2 654 15599 done 1.14 - - 3389 - 2.08 0.023 2037 -679.3 408.8 - - 1285 - - - - - - - - - 26.17 -
15909 196.6 10.7 670 15914 roll 1.14 - - 3389 - 2.17 0.039 3450 651.2 408.8 - - 1285 - - - - - - - - - 26.09 -
15998 187.2 11.1 674 16003 done 1.14 - - 3398 - 2.05 0.023 2047 -684.4 408.8 - - 1285 - - - - - - - - - 26.27 -
16320 159.9 8.4 690 16362 roll 1.26 - - 3398 - 2.17 0.037 3450 646.5 453.3 37.08 0.695 1111 -4.7 0.113 - - - - - - - 25.85 25.05
16440 149.9 9.8 695 16447 done 1.28 - - 3406 - 2.08 0.021 2036 -679.8 458.3 - - 1103 - - - - - - - - - 26.00 -
16747 117.6 8.4 711 16773 roll 1.40 0.12 0.077 3504 816.7 2.08 0.032 657 -663.0 500.6 19.12 0.366 933 -8.9 0.298 - - - - - - 26.30 26.04 25.26
16845 107.6 11.4 715 16851 done 1.39 0.15 0.151 3465 -260.0 2.05 0.024 2059 683.9 500.6 1.55 0.182 928 -3.2 0.199 - - - - - - 25.75 26.10 25.48
17161 68.2 11.8 731 17167 roll 1.39 - - 3474 - 2.17 0.032 657 -646.1 500.6 1.50 0.182 928 - - - - - - - - - 26.13 25.48
17201 65.3 11.5 732 17208 done 1.39 - - 3474 - 2.03 0.023 2048 685.2 500.6 - - 937 - - - - - - - - - 26.22 -
17508 31.6 11.2 756 17515 done 1.39 - - 3473 - - - 2048 - 500.6 1.27 0.187 932 -3.9 0.069 - - - - - - - - 25.61
17758 end climb: SURFACE_DEPTH_REACHED
17759 begin surface coast
17781 end surface coast: CONTROL_FINISHED_OK
17781 begin surface
SM 2.10 - - - - -8.92 8.50 0.030 138 16.2 0.20 0.059 2216 -29910.0 564.93 27.38 0.124 666 24.3 -0.042 - - - - - -