OKMC Jun13 * SG167 * Dive index * Mission links * Dive 442 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 71.97 of 150.00 AH used of 24V (52.02% remains)
• Previous NAKs 0, Timeouts 0 • 44.35 of 100.00 AH used of 10V (55.65% remains)
• Surface angle -73.2 deg, depth 2.04 m • Intended pitch -18.3 deg, speed -10.312 cm/s
VBD pumped to 564.93 (SM_CC=564.9259)
• GPS1 time: 39 s
• GPS2 time: 44 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 - - - 110 VBD -1.05 - - 131 - - - 2092 - -194.6 -81.50 - 2715 - - - - - - - - - - -
116 3.1 -2.8 15 158 roll -1.05 10.85 0.237 2671 234.1 2.05 0.046 714 -672.2 -194.6 -22.58 - 3765 -46.5 - - - - - - - 24.96 26.03 26.50
189 20.2 -24.6 27 195 done -1.05 - - 2663 - 2.10 0.030 2133 675.7 -194.6 - - 3766 - - - - - - - - - 26.06 -
500 90.7 -19.9 50 506 roll -1.05 - - 2653 - 2.08 0.037 3533 673.1 -194.6 - - 3765 - - - - - - - - - 26.15 -
579 103.3 -19.5 53 586 done -1.05 - - 2653 - 2.03 0.019 2120 -696.1 -194.6 - - 3766 - - - - - - - - - 26.31 -
885 155.2 -15.1 69 887 done -1.05 - - 2653 - - - 2119 - -194.6 - - 3766 - - - - - - - - - - -
1188 205.1 -18.1 84 1193 roll -1.05 - - 2653 - 2.03 0.031 719 -689.7 -194.6 - - 3767 - - - - - - - - - 26.28 -
1253 217.3 -18.2 87 1260 done -1.05 0.15 0.168 2681 186.7 2.10 0.028 2138 675.7 -194.6 - - 3767 - - - - - - - - 25.91 26.31 -
1579 263.4 -12.5 103 1584 roll -1.05 - - 2673 - 2.05 0.037 3529 678.5 -194.6 - - 3767 - - - - - - - - - 26.26 -
1625 269.0 -12.1 105 1630 done -1.05 - - 2672 - 2.00 0.018 2121 -704.0 -194.6 - - 3767 - - - - - - - - - 26.41 -
1949 308.0 -12.3 121 1955 roll -1.05 - - 2669 - 2.12 0.036 3538 668.4 -194.6 - - 3767 - - - - - - - - - 26.25 -
2055 321.3 -12.7 126 2060 done -1.05 - - 2669 - 2.03 0.018 2121 -698.0 -194.6 - - 3767 - - - - - - - - - 26.42 -
2380 364.9 -14.0 142 2385 roll -1.05 - - 2669 - 2.03 0.031 721 -689.7 -194.6 - - 3766 - - - - - - - - - 26.31 -
2459 373.9 -13.7 145 2466 done -1.05 - - 2660 - 2.05 0.028 2126 685.4 -194.6 - - 3765 - - - - - - - - - 26.33 -
2764 414.0 -12.4 161 2765 done -1.05 - - 2660 - - - 2126 - -194.6 - - 3765 - - - - - - - - - - -
3068 452.6 -12.9 176 3073 roll -1.05 - - 2661 - 2.05 0.030 727 -682.4 -194.6 - - 3763 - - - - - - - - - 26.32 -
3102 456.3 -12.9 177 3107 done -1.05 - - 2656 - 2.05 0.029 2125 682.0 -194.6 - - 3763 - - - - - - - - - 26.31 -
3417 500.2 -13.3 193 3422 roll -1.05 - - 2656 - 2.05 0.031 730 -680.5 -194.6 - - 3761 - - - - - - - - - 26.30 -
3451 503.7 -13.7 194 3456 done -1.05 - - 2656 - 2.05 0.030 2124 680.0 -194.6 - - 3760 - - - - - - - - - 26.29 -
3765 545.5 -12.9 210 3770 roll -1.05 - - 2656 - 2.05 0.031 733 -678.5 -194.6 - - 3758 - - - - - - - - - 26.30 -
3790 548.6 -12.6 211 3796 done -1.05 - - 2655 - 2.08 0.030 2126 669.7 -194.6 - - 3758 - - - - - - - - - 26.30 -
4116 587.9 -12.2 227 4117 done -1.05 - - 2655 - - - 2126 - -194.6 - - 3755 - - - - - - - - - - -
4425 626.5 -12.5 239 4430 roll -1.05 - - 2655 - 2.08 0.031 723 -674.5 -194.6 - - 3753 - - - - - - - - - 26.28 -
4505 634.5 -12.5 241 4510 done -1.05 - - 2655 - 2.08 0.030 2125 674.0 -194.6 - - 3752 - - - - - - - - - 26.29 -
4826 675.8 -12.8 252 4831 roll -1.05 - - 2655 - 2.12 0.041 3538 666.5 -194.6 - - 3749 - - - - - - - - - 26.20 -
4861 680.7 -13.0 253 4866 done -1.05 - - 2656 - 2.05 0.021 2120 -691.7 -194.6 - - 3749 - - - - - - - - - 26.40 -
5200 723.3 -12.9 264 5205 roll -1.05 - - 2656 - 2.05 0.034 724 -681.0 -194.6 - - 3746 - - - - - - - - - 26.25 -
5284 732.6 -13.1 266 5289 done -1.05 - - 2656 - 2.10 0.031 2137 672.9 -194.6 - - 3746 - - - - - - - - - 26.27 -
5601 776.7 -13.2 277 5606 roll -1.05 - - 2656 - 2.10 0.033 727 -671.4 -194.6 - - 3743 - - - - - - - - - 26.25 -
5630 776.7 -13.2 277 5636 done -1.05 - - 2656 - 2.10 0.031 2136 671.0 -194.6 - - 3742 - - - - - - - - - 26.25 -
5936 819.7 -12.6 288 5941 roll -1.05 - - 2656 - 2.10 0.041 3527 662.4 -194.6 - - 3740 - - - - - - - - - 26.15 -
5965 819.7 -12.6 288 5972 done -1.05 - - 2656 - 2.05 0.021 2110 -691.2 -194.6 - - 3739 - - - - - - - - - 26.38 -
6271 861.0 -12.3 299 6276 roll -1.05 - - 2656 - 2.03 0.035 739 -675.4 -194.6 - - 3737 - - - - - - - - - 26.22 -
6336 869.1 -12.4 301 6342 done -1.05 - - 2656 - 2.10 0.031 2125 660.0 -194.6 - - 3736 - - - - - - - - - 26.24 -
6674 910.8 -12.6 312 6679 roll -1.05 - - 2656 - 2.12 0.042 3526 660.8 -194.6 - - 3734 - - - - - - - - - 26.12 -
6758 919.4 -12.6 314 6764 done -1.05 - - 2656 - 2.05 0.022 2116 -687.8 -194.6 - - 3733 - - - - - - - - - 26.36 -
7073 961.8 -12.5 325 7079 roll -1.05 - - 2656 - 2.05 0.035 733 -674.6 -194.6 - - 3731 - - - - - - - - - 26.19 -
7132 966.3 -12.5 326 7139 done -1.05 - - 2656 - 2.10 0.032 2135 667.6 -194.6 - - 3730 - - - - - - - - - 26.20 -
7315 end dive: TARGET_DEPTH_EXCEEDED
7315 begin apogee
7323 991.5 -11.9 333 7500 done -0.21 0.93 0.132 2947 312.9 - - 2134 - - 168.57 1.192 2961 -4.6 0.396 - - - - - - 25.41 - 23.50
7502 end apogee: CONTROL_FINISHED_OK
7502 begin climb
7507 1000.3 - 339 7687 roll 1.05 1.12 0.054 3367 375.0 2.30 0.037 720 -614.8 194.6 170.98 1.171 2167 -4.6 0.414 - - - - - - 25.10 24.84 23.49
7726 988.7 9.6 346 7750 done 1.09 - - 3367 - 2.15 0.033 2093 638.6 215.1 18.45 1.111 2093 -4.0 0.373 - - - - - - - 25.42 23.81
8074 945.9 11.1 358 8080 roll 1.09 - - 3367 - 2.20 0.044 3515 646.4 215.1 - - 2065 - - - - - - - - - 26.01 -
8134 941.9 11.1 359 8141 done 1.09 - - 3375 - 2.10 0.027 2111 -668.6 215.1 - - 2064 - - - - - - - - - 26.14 -
8440 906.9 10.4 370 8445 roll 1.09 - - 3387 - 2.15 0.041 693 -659.5 215.1 - - 2063 - - - - - - - - - 26.13 -
8544 896.7 10.7 373 8549 done 1.09 - - 3387 - 2.12 0.033 2103 665.1 215.1 - - 2061 - - - - - - - - - 26.19 -
8871 860.6 11.1 384 8877 roll 1.09 - - 3387 - 2.17 0.044 3509 647.9 215.1 - - 2060 - - - - - - - - - 26.13 -
8941 851.8 12.3 386 8946 done 1.09 - - 3397 - 2.10 0.026 2095 -673.3 215.1 - - 2059 - - - - - - - - - 26.28 -
9273 809.8 12.6 397 9278 roll 1.09 - - 3406 - 2.10 0.040 701 -663.8 215.1 - - 2059 - - - - - - - - - 26.17 -
9383 797.2 12.7 400 9389 done 1.09 0.15 0.165 3371 -233.3 2.12 0.033 2100 659.9 215.1 - - 2057 - - - - - - - - 25.82 26.22 -
9706 759.2 11.0 411 9711 roll 1.09 - - 3370 - 2.17 0.044 3513 651.2 215.1 - - 2057 - - - - - - - - - 26.10 -
9811 747.7 11.6 414 9816 done 1.09 - - 3380 - 2.10 0.027 2098 -673.8 215.1 - - 2057 - - - - - - - - - 26.29 -
10138 710.2 11.3 425 10143 roll 1.09 - - 3389 - 2.10 0.040 705 -663.3 215.1 - - 2056 - - - - - - - - - 26.15 -
10261 698.8 11.6 428 10267 done 1.09 - - 3388 - 2.10 0.034 2099 663.8 215.1 - - 2056 - - - - - - - - - 26.20 -
10563 662.7 10.4 439 10564 done 1.09 - - 3389 - - - 2099 - 215.1 - - 2056 - - - - - - - - - - -
10864 633.8 9.2 449 10895 done 1.13 - - 3389 - - - 2099 - 245.5 27.50 0.996 1964 -3.3 0.222 - - - - - - - - 24.18
11215 596.2 11.2 461 11216 done 1.13 - - 3389 - - - 2099 - 245.5 - - 1943 - - - - - - - - - - -
11518 562.2 11.2 476 11523 roll 1.13 - - 3391 - 2.17 0.044 3504 647.5 245.5 - - 1942 - - - - - - - - - 25.99 -
11572 556.4 11.7 478 11577 done 1.13 - - 3398 - 2.10 0.027 2100 -668.6 245.5 - - 1941 - - - - - - - - - 26.19 -
11887 521.9 10.1 494 11892 roll 1.14 - - 3408 - 2.10 0.039 703 -665.2 250.7 - - 1941 - - - - - - - - - 26.09 -
11973 513.3 10.1 498 11982 done 1.15 - - 3407 - 2.12 0.032 2105 661.3 255.9 2.62 0.486 1923 -6.9 0.757 - - - - - - - 26.15 23.89
12297 481.7 9.9 514 12324 roll 1.16 - - 3407 - 2.22 0.044 3503 629.7 267.0 19.80 0.893 1871 -2.6 0.148 - - - - - - - 25.93 24.48
12431 468.3 11.2 520 12436 done 1.16 - - 3418 - 2.10 0.026 2100 -668.1 267.0 - - 1862 - - - - - - - - - 26.05 -
12745 433.0 10.8 536 12751 roll 1.16 - - 3429 - 2.10 0.038 705 -664.3 267.0 - - 1861 - - - - - - - - - 26.02 -
12805 428.2 10.7 538 12813 done 1.16 0.12 0.164 3400 -241.7 2.10 0.032 2101 664.8 267.0 - - 1861 - - - - - - - - 25.76 26.09 -
13111 398.0 8.9 554 13158 roll 1.22 - - 3400 - 2.22 0.044 3510 634.7 306.8 40.47 0.831 1707 -3.8 0.190 - - - - - - - 25.63 24.31
13230 387.7 10.3 559 13237 done 1.22 - - 3407 - 2.12 0.025 2098 -666.0 308.1 - - 1692 - - - - - - - - - 25.86 -
13536 353.1 11.0 575 13541 roll 1.22 - - 3406 - 2.20 0.041 3506 640.0 308.1 - - 1690 - - - - - - - - - 25.91 -
13616 345.3 11.5 578 13623 done 1.22 - - 3417 - 2.10 0.025 2096 -671.4 308.1 - - 1690 - - - - - - - - - 26.10 -
13922 311.4 10.7 594 13928 roll 1.22 - - 3427 - 2.10 0.038 702 -663.8 308.1 - - 1689 - - - - - - - - - 26.05 -
14016 301.8 11.3 598 14022 done 1.22 - - 3427 - 2.10 0.031 2106 668.6 308.1 - - 1689 - - - - - - - - - 26.13 -
14331 267.7 9.3 614 14363 roll 1.27 - - 3437 - 2.20 0.037 708 -635.5 335.3 24.80 0.744 1589 -4.0 0.151 - - - - - - - 25.94 24.56
14426 259.4 10.0 618 14437 done 1.28 - - 3437 - 2.10 0.030 2102 663.8 345.2 2.60 0.403 1559 -11.5 0.775 - - - - - - - 25.96 23.91
14733 225.3 10.8 634 14738 roll 1.28 - - 3437 - 2.12 0.041 3502 660.4 345.2 - - 1568 - - - - - - - - - 25.97 -
14746 225.3 10.8 634 14751 done 1.28 - - 3446 - 2.08 0.024 2097 -675.5 345.2 - - 1568 - - - - - - - - - 26.15 -
15061 193.1 9.3 650 15100 roll 1.32 - - 3456 - 2.20 0.036 693 -638.2 373.0 33.38 0.679 1439 -3.9 0.115 - - - - - - - 25.83 24.60
15148 184.3 10.4 654 15153 done 1.32 - - 3456 - 2.15 0.029 2107 657.7 373.0 - - 1425 - - - - - - - - - 25.89 -
15473 146.1 11.7 670 15478 roll 1.32 - - 3456 - 2.15 0.040 3510 652.6 373.0 - - 1423 - - - - - - - - - 25.98 -
15518 140.6 11.7 672 15523 done 1.32 - - 3466 - 2.10 0.023 2090 -676.2 373.0 - - 1422 - - - - - - - - - 26.15 -
15843 106.8 9.6 688 15857 roll 1.35 - - 3476 - 2.12 0.036 707 -652.4 392.4 6.65 0.265 1376 -6.9 0.291 - - - - - - - 26.10 24.71
15963 97.2 9.3 693 15988 done 1.39 - - 3476 - 2.08 0.028 2110 674.5 420.2 14.98 0.304 1260 -7.7 0.258 - - - - - - - 26.17 25.04
16289 68.5 8.2 710 16327 roll 1.48 - - 3476 - 2.17 0.040 3504 642.4 478.4 29.12 0.261 1024 -8.1 0.222 - - - - - - - 26.03 25.19
16415 55.6 10.6 716 16425 done 1.48 - - 3482 - 2.08 0.022 2092 -678.8 478.4 1.98 0.168 1018 -3.0 0.105 - - - - - - - 26.16 25.34
16730 24.8 9.5 744 16748 done 1.51 - - 3482 - - - 2092 - 500.1 12.02 0.164 931 -7.2 0.114 - - - - - - - - 25.19
16949 end climb: SURFACE_DEPTH_REACHED
16949 begin surface coast
16980 end surface coast: CONTROL_FINISHED_OK
16980 begin surface
SM 2.23 - - - - -8.93 8.48 0.026 136 16.0 - - 2093 - 564.93 29.02 0.121 666 22.9 -0.043 - - - - - -