OKMC Aug12 * SG166 * Dive index * Mission links * Dive 21 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 5.75 of 147.00 AH used of 24V (96.09% remains)
• Previous NAKs 0, Timeouts 0 • 3.35 of 109.00 AH used of 10V (96.93% remains)
• Surface angle -45.7 deg, depth 1.62 m • Intended pitch -13.9 deg, speed -10.000 cm/s
• No surface pump (final VBD was 575.96, SM_CC=500)
• GPS1 time: 41 s
• GPS2 time: 17 s • Transponder ping count: 0
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 95 VBD -0.63 - - 155 - - - 2172 - -243.3 -75.28 - 2096 - - - - - - - - - - -
98 3.1 -4.8 13 166 roll -0.63 7.68 0.239 2099 253.1 1.48 0.075 3108 632.4 -243.3 -49.80 - 3797 -34.2 - - - - - - - 26.04 26.25 26.54
393 91.0 -34.9 45 400 done -0.57 0.12 0.158 2134 291.7 1.40 0.031 2137 -693.6 -243.3 - - 3797 - - - - - - - - 26.28 26.43 -
713 156.9 -15.1 61 718 roll -0.56 - - 2129 - 1.50 0.052 3139 668.0 -243.3 - - 3797 - - - - - - - - - 26.48 -
846 168.8 -9.0 67 852 done -0.56 - - 2130 - 1.42 0.031 2143 -701.4 -243.3 - - 3798 - - - - - - - - - 26.58 -
1161 205.6 -13.0 83 1166 roll -0.57 - - 2142 - 1.50 0.052 3153 673.3 -243.3 - - 3798 - - - - - - - - - 26.57 -
1306 224.6 -13.3 90 1311 done -0.58 - - 2132 - 1.42 0.031 2155 -702.8 -243.3 - - 3797 - - - - - - - - - 26.65 -
1629 262.4 -10.0 106 1630 done -0.59 - - 2123 - - - 2153 - -243.3 - - 3796 - - - - - - - - - - -
1930 292.7 -10.3 121 1935 roll -0.61 - - 2111 - 1.48 0.054 3112 648.0 -243.3 - - 3794 - - - - - - - - - 26.67 -
2044 303.6 -10.3 126 2050 done -0.63 - - 2109 - 1.38 0.032 2154 -694.2 -243.3 - - 3793 - - - - - - - - - 26.72 -
2358 334.1 -7.5 142 2359 done -0.64 - - 2109 - - - 2151 - -243.3 - - 3791 - - - - - - - - - - -
2660 349.9 -6.0 157 2665 roll -0.66 - - 2101 - 1.48 0.056 3109 647.3 -243.3 - - 3789 - - - - - - - - - 26.70 -
2707 353.3 -6.9 159 2712 done -0.68 - - 2101 - 1.38 0.034 2153 -692.8 -243.3 - - 3788 - - - - - - - - - 26.75 -
3026 383.2 -10.1 175 3032 roll -0.69 - - 2093 - 1.48 0.056 3107 644.6 -243.3 - - 3785 - - - - - - - - - 26.70 -
3064 385.7 -10.2 176 3071 done -0.71 - - 2093 - 1.38 0.034 2153 -691.3 -243.3 - - 3784 - - - - - - - - - 26.76 -
3370 423.3 -12.2 192 3371 done -0.72 - - 2093 - - - 2152 - -243.3 - - 3781 - - - - - - - - - - -
3673 453.7 -9.1 207 3674 done -0.73 - - 2093 - - - 2152 - -243.3 - - 3779 - - - - - - - - - - -
3972 478.4 -8.7 222 3977 roll -0.75 - - 2086 - 1.48 0.059 3108 645.9 -243.3 - - 3776 - - - - - - - - - 26.73 -
4017 482.8 -9.5 224 4022 done -0.76 - - 2086 - 1.40 0.036 2145 -687.9 -243.3 - - 3775 - - - - - - - - - 26.77 -
4340 518.5 -10.8 240 4346 roll -0.78 - - 2079 - 1.50 0.057 3145 666.7 -243.3 - - 3773 - - - - - - - - - 26.72 -
4398 523.1 -10.6 242 4404 done -0.79 - - 2079 - 1.45 0.035 2146 -689.0 -243.3 - - 3772 - - - - - - - - - 26.77 -
4704 556.1 -10.3 258 4705 done -0.80 - - 2079 - - - 2143 - -243.3 - - 3769 - - - - - - - - - - -
5005 586.6 -10.0 273 5010 roll -0.81 - - 2072 - 1.50 0.059 3142 666.0 -243.3 - - 3767 - - - - - - - - - 26.72 -
5077 593.3 -10.3 276 5083 done -0.82 - - 2072 - 1.45 0.037 2150 -684.1 -243.3 - - 3766 - - - - - - - - - 26.78 -
5403 628.6 -10.4 288 5408 roll -0.83 - - 2064 - 1.50 0.060 3144 662.7 -243.3 - - 3764 - - - - - - - - - 26.72 -
5475 635.2 -10.2 290 5480 done -0.84 - - 2064 - 1.45 0.037 2153 -683.4 -243.3 - - 3763 - - - - - - - - - 26.78 -
5800 669.2 -10.3 301 5806 roll -0.84 - - 2056 - 1.50 0.060 3144 660.7 -243.3 - - 3760 - - - - - - - - - 26.72 -
5878 676.4 -10.8 303 5883 done -0.85 - - 2056 - 1.48 0.037 2141 -677.7 -243.3 - - 3760 - - - - - - - - - 26.78 -
6199 711.1 -9.9 314 6204 roll -0.85 - - 2056 - 1.45 0.044 1167 -671.7 -243.3 - - 3758 - - - - - - - - - 26.75 -
6265 717.4 -9.6 316 6270 done -0.85 - - 2050 - 1.48 0.048 2140 657.4 -243.3 - - 3758 - - - - - - - - - 26.74 -
6595 751.6 -10.3 327 6600 roll -0.85 - - 2049 - 1.45 0.045 1170 -669.0 -243.3 - - 3756 - - - - - - - - - 26.75 -
6642 755.1 -10.2 328 6647 done -0.85 - - 2043 - 1.50 0.050 2185 676.7 -243.3 - - 3755 - - - - - - - - - 26.74 -
6960 790.3 -10.2 339 6965 roll -0.85 - - 2043 - 1.52 0.044 1167 -669.7 -243.3 - - 3754 - - - - - - - - - 26.75 -
6994 793.6 -9.9 340 6999 done -0.85 - - 2035 - 1.50 0.050 2182 676.7 -243.3 - - 3753 - - - - - - - - - 26.74 -
7329 826.8 -10.4 351 7330 done -0.85 - - 2035 - - - 2182 - -243.3 - - 3752 - - - - - - - - - - -
7627 862.5 -12.9 361 7632 roll -0.84 - - 2033 - 1.50 0.044 1176 -670.7 -243.3 - - 3750 - - - - - - - - - 26.75 -
7680 867.0 -13.0 362 7685 done -0.84 - - 2028 - 1.48 0.051 2147 656.1 -243.3 - - 3750 - - - - - - - - - 26.74 -
7995 915.4 -14.8 373 8000 roll -0.84 - - 2028 - 1.45 0.047 1179 -667.6 -243.3 - - 3749 - - - - - - - - - 26.75 -
8133 932.8 -13.9 377 8139 done -0.84 - - 2021 - 1.48 0.051 2147 654.1 -243.3 - - 3748 - - - - - - - - - 26.74 -
8454 975.1 -12.4 388 8460 roll -0.83 0.12 0.185 2052 258.3 1.50 0.061 3141 662.7 -243.3 - - 3746 - - - - - - - - 26.63 26.71 -
8548 985.2 -10.9 391 8553 done -0.83 - - 2052 - 1.48 0.041 2150 -669.6 -243.3 - - 3746 - - - - - - - - - 26.77 -
8608 end dive: TARGET_DEPTH_EXCEEDED
8608 begin apogee
8615 991.3 -9.9 393 8844 done -0.19 0.60 0.128 2253 335.0 - - 2042 - - 215.55 1.568 2802 -4.4 0.293 - - - - 1 - 26.68 - 23.52
8846 end apogee: CONTROL_FINISHED_OK
8846 begin climb
8848 1003.1 - 400 9086 roll 0.63 0.75 0.067 2524 361.3 1.70 0.060 3039 586.5 243.3 223.52 1.691 1810 -4.4 0.278 - - - - 1 - 24.69 24.14 23.20
9134 985.7 11.0 410 9140 done 0.59 - - 2531 - 1.58 0.041 2063 -617.7 243.3 - - 1810 - - - - - - - - - 24.89 -
9459 945.9 12.0 421 9464 roll 0.56 - - 2531 - 1.55 0.062 3039 629.7 243.3 - - 1807 - - - - - - - - - 25.74 -
9537 937.6 12.4 423 9543 done 0.53 0.17 0.185 2494 -217.6 1.50 0.041 2038 -667.3 243.3 - - 1807 - - - - - - - - 25.75 25.87 -
9857 901.9 10.8 434 9862 roll 0.51 - - 2493 - 1.58 0.062 3046 638.0 243.3 - - 1806 - - - - - - - - - 26.10 -
9893 897.4 11.3 435 9898 done 0.49 - - 2499 - 1.50 0.042 2035 -674.0 243.3 - - 1806 - - - - - - - - - 26.15 -
10224 858.7 10.9 446 10225 done 0.47 - - 2500 - - - 2032 - 243.3 - - 1805 - - - - - - - - - - -
10521 823.2 11.8 456 10527 roll 0.45 0.12 0.182 2460 -333.3 1.55 0.061 3039 649.7 243.3 - - 1805 - - - - - - - - 26.27 26.35 -
10641 812.9 11.1 459 10647 done 0.44 - - 2466 - 1.50 0.041 2015 -682.7 243.3 - - 1804 - - - - - - - - - 26.41 -
10946 784.7 8.7 470 11006 roll 0.46 - - 2466 - 1.73 0.062 3039 591.9 289.3 45.12 1.467 1622 -4.0 0.228 - - - - 1 - - 25.23 24.25
11098 771.5 8.6 475 11163 done 0.48 - - 2473 - 1.52 0.041 2038 -658.6 340.7 53.10 1.474 1412 -4.0 0.219 - - - - 1 - - 25.71 23.78
11491 736.5 9.1 488 11534 roll 0.50 - - 2474 - 1.70 0.063 3036 587.1 371.8 33.12 1.339 1286 -3.8 0.221 - - - - 1 - - 25.14 24.19
11576 730.6 9.4 490 11612 done 0.50 - - 2480 - 1.50 0.041 2047 -659.3 392.7 24.67 1.205 1200 -3.5 0.223 - - - - 1 - - 25.45 24.06
11913 695.6 9.3 502 11952 roll 0.53 - - 2480 - 1.67 0.062 3036 592.2 419.1 28.70 1.262 1092 -3.8 0.219 - - - - 1 - - 25.25 24.30
11990 690.2 8.8 504 12049 done 0.55 - - 2485 - 1.50 0.041 2052 -656.0 464.3 46.90 1.384 909 -3.9 0.206 - - - - 1 - - 25.48 23.79
12368 657.7 8.5 517 12450 roll 0.59 - - 2485 - 1.62 0.059 3039 609.3 517.2 60.95 1.392 693 -3.5 0.177 - - - - 3 - - 24.80 23.81
12489 647.7 8.2 521 12562 done 0.63 0.12 0.093 2547 516.7 1.55 0.040 2034 -648.4 582.9 62.55 1.401 453 -3.8 0.188 - - - - 1 - 25.20 25.22 23.59
12871 593.7 15.1 534 12876 roll 0.63 - - 2547 - 1.58 0.060 3037 634.8 582.9 - - 456 - - - - - - - - - 25.77 -
12897 590.2 15.1 535 12903 done 0.63 - - 2554 - 1.52 0.041 2054 -646.7 582.9 0.50 0.371 453 -6.0 1.009 - - - - - - - 25.84 25.43
13216 536.9 16.7 551 13223 roll 0.63 0.12 0.187 2519 -291.7 1.55 0.060 3039 635.5 582.9 0.12 0.538 455 - - - - - - - - 25.98 26.07 25.94
13255 532.9 16.7 552 13262 done 0.63 - - 2523 - 1.52 0.041 2042 -655.9 582.9 0.22 0.376 454 - - - - - - - - - 26.13 25.95
13561 501.2 8.3 568 13566 roll 0.67 - - 2530 - 1.50 0.050 1042 -666.7 644.7 - - 455 - - - - - - - - - 26.23 -
13588 499.3 8.2 569 13594 done 0.72 - - 2530 - 1.55 0.047 2068 661.9 709.6 - - 455 - - - - - - - - - 26.25 -
13907 469.0 10.6 585 13912 roll 0.74 - - 2530 - 1.50 0.062 3055 658.0 709.6 - - 453 - - - - - - - - - 26.32 -
13954 464.2 10.9 587 13959 done 0.75 - - 2535 - 1.50 0.041 2031 -682.7 709.6 - - 455 - - - - - - - - - 26.36 -
14273 430.6 9.4 603 14279 roll 0.77 0.10 0.109 2592 570.0 1.42 0.047 1067 -678.9 731.1 0.22 0.376 454 - - - - - - - - 26.44 26.40 26.29
14292 430.6 9.4 603 14300 done 0.79 - - 2592 - 1.52 0.047 2049 646.1 752.6 - - 455 - - - - - - - - - 26.42 -
14597 362.1 22.9 619 14598 done 0.77 - - 2592 - - - 2049 - 752.6 - - 455 - - - - - - - - - - -
14900 300.0 19.7 634 14905 roll 0.75 - - 2592 - 1.50 0.060 3045 664.0 752.6 - - 455 - - - - - - - - - 26.48 -
14957 290.9 19.9 636 14965 done 0.73 0.15 0.170 2560 -213.3 1.50 0.041 2035 -673.3 752.6 - - 455 - - - - - - - - 26.39 26.52 -
15264 251.1 10.1 652 15269 roll 0.74 - - 2566 - 1.45 0.049 1073 -663.4 752.6 - - 455 - - - - - - - - - 26.53 -
15291 248.8 10.0 653 15296 done 0.75 - - 2566 - 1.50 0.047 2080 671.3 754.3 - - 455 - - - - - - - - - 26.53 -
15609 213.0 11.8 669 15615 roll 0.76 - - 2565 - 1.48 0.059 3037 646.6 754.3 - - 455 - - - - - - - - - 26.54 -
15662 207.9 11.9 671 15667 done 0.76 - - 2571 - 1.48 0.039 2041 -673.0 754.3 - - 455 - - - - - - - - - 26.58 -
15975 171.0 10.7 687 15981 roll 0.77 - - 2571 - 1.50 0.057 3039 665.3 754.3 - - 455 - - - - - - - - - 26.57 -
16008 168.4 10.9 688 16013 done 0.78 - - 2578 - 1.48 0.038 2042 -673.6 754.3 - - 455 - - - - - - - - - 26.61 -
16321 128.1 10.3 704 16327 roll 0.80 - - 2578 - 1.50 0.054 3037 663.3 754.3 0.35 0.406 455 - - - - - - - - - 26.58 26.39
16379 123.1 10.6 706 16385 done 0.81 - - 2584 - 1.45 0.036 2051 -680.0 754.3 - - 455 - - - - - - - - - 26.63 -
16685 90.6 9.4 722 16687 done 0.85 - - 2584 - - - 2051 - 775.4 0.15 0.697 455 - - - - - - - - - - 26.51
16986 71.0 6.1 737 16992 roll 0.95 0.12 0.092 2648 533.3 1.40 0.042 1076 -696.4 915.6 0.82 0.301 452 -3.7 0.091 - - - - - - 26.65 26.63 26.39
17014 69.0 6.6 738 17019 done 1.03 - - 2648 - 1.48 0.041 2060 664.9 1039.4 - - 454 - - - - - - - - - 26.65 -
17323 44.3 9.8 756 17324 done 1.05 - - 2648 - - - 2061 - 1047.7 - - 455 - - - - - - - - - - -
17624 14.8 11.9 795 17631 roll 1.06 - - 2655 - 1.42 0.040 1076 -693.7 1047.7 0.17 0.591 454 - - - - - - - - - 26.66 26.57
17670 11.7 5.4 803 17677 done 1.14 - - 2658 - 1.45 0.041 2043 666.9 1213.3 - - 455 - - - - - - - - - 26.67 -
17768 end climb: SURFACE_DEPTH_REACHED
17768 begin surface coast
17800 end surface coast: CONTROL_FINISHED_OK
17800 begin surface
SM 1.72 - - - - -6.70 6.45 0.044 121 -393.3 0.15 0.078 2177 893.3 575.96 - - 455 - - - - - - - -