OKMC Oct12 * SG167 * Dive index * Mission links * Dive 117 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 29.14 of 150.00 AH used of 24V (80.57% remains)
• Previous NAKs 0, Timeouts 0 • 18.20 of 110.00 AH used of 10V (83.45% remains)
• Surface angle -64.1 deg, depth 1.65 m • Intended pitch -12.5 deg, speed -7.333 cm/s
• No surface pump (final VBD was 552.91, SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 5 s • Transponder ping count: 19
• 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
18 - - - 72 VBD -0.38 - - 109 - - - 2309 - -171.1 -52.25 - 2552 - - - - - - - - - - -
76 3.1 -5.4 9 120 roll -0.38 9.82 0.223 2607 254.4 2.10 0.044 928 -657.6 -171.1 -27.83 - 3668 -40.1 - - - - - - - 25.51 26.17 26.53
251 19.9 -8.7 41 259 done -0.45 - - 2607 - 2.08 0.030 2315 666.8 -171.1 - - 3669 - - - - - - - - - 26.21 -
567 47.6 -9.3 80 572 roll -0.49 - - 2607 - 2.17 0.047 3729 651.6 -171.1 - - 3668 - - - - - - - - - 26.24 -
640 54.3 -10.5 84 646 done -0.54 0.12 0.075 2524 -691.7 2.00 0.018 2289 -720.0 -171.1 - - 3669 - - - - - - - - 26.43 26.53 -
954 116.3 -18.9 100 960 roll -0.42 0.22 0.133 2597 331.8 1.90 0.023 945 -707.4 -171.1 - - 3668 - - - - - - - - 26.17 26.51 -
999 122.3 -16.0 102 1004 done -0.36 - - 2597 - 2.05 0.028 2327 674.1 -171.1 - - 3668 - - - - - - - - - 26.45 -
1324 146.6 -6.4 118 1329 roll -0.43 - - 2597 - 2.12 0.045 3729 661.3 -171.1 - - 3668 - - - - - - - - - 26.37 -
1430 152.5 -5.6 123 1435 done -0.52 - - 2597 - 1.95 0.021 2327 -719.0 -171.1 - - 3668 - - - - - - - - - 26.65 -
1753 174.9 -7.5 139 1759 roll -0.65 0.15 0.072 2513 -560.0 2.15 0.041 3739 656.7 -171.1 - - 3668 - - - - - - - - 26.70 26.44 -
1806 178.6 -8.1 141 1812 done -0.75 - - 2514 - 1.98 0.018 2319 -717.2 -171.1 - - 3669 - - - - - - - - - 26.67 -
2120 213.6 -10.4 157 2125 roll -0.72 - - 2514 - 1.98 0.028 944 -694.4 -171.1 - - 3668 - - - - - - - - - 26.58 -
2183 220.0 -10.4 160 2188 done -0.70 - - 2513 - 2.03 0.031 2326 680.8 -171.1 - - 3669 - - - - - - - - - 26.52 -
2506 252.5 -10.7 176 2511 roll -0.67 - - 2506 - 2.15 0.045 3740 657.7 -171.1 - - 3669 - - - - - - - - - 26.43 -
2584 259.3 -10.9 179 2591 done -0.65 - - 2508 - 1.98 0.019 2323 -715.7 -171.1 - - 3669 - - - - - - - - - 26.69 -
2890 296.2 -11.7 195 2892 done -0.63 0.12 0.139 2542 283.3 - - 2323 - -171.1 - - 3668 - - - - - - - - 26.55 - -
3192 319.6 -7.5 210 3198 roll -0.68 - - 2543 - 2.17 0.047 3738 652.1 -171.1 - - 3667 - - - - - - - - - 26.42 -
3287 326.0 -7.3 214 3293 done -0.74 0.12 0.076 2463 -666.7 1.98 0.019 2308 -722.2 -171.1 - - 3667 - - - - - - - - 26.60 26.71 -
3601 367.0 -13.3 230 3607 roll -0.67 0.17 0.133 2519 329.4 1.90 0.022 958 -710.5 -171.1 - - 3665 - - - - - - - - 26.39 26.60 -
3684 375.4 -9.9 234 3690 done -0.67 - - 2520 - 2.03 0.028 2326 673.9 -171.1 - - 3665 - - - - - - - - - 26.55 -
4008 401.0 -7.3 250 4013 roll -0.70 - - 2521 - 2.15 0.045 3735 655.3 -171.1 - - 3664 - - - - - - - - - 26.40 -
4076 405.5 -7.1 253 4081 done -0.74 - - 2520 - 1.98 0.018 2323 -713.1 -171.1 - - 3664 - - - - - - - - - 26.71 -
4395 428.1 -7.2 269 4400 roll -0.78 - - 2520 - 2.17 0.046 3736 651.2 -171.1 - - 3662 - - - - - - - - - 26.39 -
4468 432.9 -7.6 272 4474 done -0.82 0.12 0.078 2444 -633.3 1.98 0.018 2301 -724.7 -171.1 - - 3662 - - - - - - - - 26.59 26.71 -
4782 476.5 -13.8 288 4788 roll -0.75 0.15 0.141 2493 326.7 1.90 0.023 955 -708.4 -171.1 - - 3660 - - - - - - - - 26.41 26.60 -
4831 481.6 -12.6 290 4836 done -0.70 - - 2493 - 2.03 0.031 2327 675.9 -171.1 - - 3660 - - - - - - - - - 26.38 -
5149 510.6 -8.9 306 5154 roll -0.70 - - 2493 - 2.15 0.054 3729 652.1 -171.1 - - 3658 - - - - - - - - - 26.36 -
5212 516.4 -9.1 309 5218 done -0.70 - - 2493 - 1.95 0.018 2336 -714.4 -171.1 - - 3655 - - - - - - - - - 26.70 -
5536 545.2 -8.8 325 5537 done -0.72 - - 2493 - - - 2332 - -171.1 - - 3657 - - - - - - - - - - -
5840 568.9 -7.6 340 5841 done -0.74 - - 2493 - - - 2336 - -171.1 - - 3655 - - - - - - - - - - -
6138 590.6 -7.3 355 6144 roll -0.76 - - 2493 - 2.15 0.047 3725 646.0 -171.1 - - 3653 - - - - - - - - - 26.34 -
6167 592.7 -7.4 356 6172 done -0.79 - - 2492 - 1.98 0.020 2312 -713.6 -171.1 - - 3652 - - - - - - - - - 26.70 -
6477 617.7 -8.0 368 6482 roll -0.81 - - 2488 - 2.22 0.045 3736 641.4 -171.1 - - 3651 - - - - - - - - - 26.32 -
6586 625.2 -7.8 371 6592 done -0.85 - - 2492 - 1.98 0.021 2326 -712.1 -171.1 - - 3650 - - - - - - - - - 26.70 -
6907 650.6 -7.7 382 6913 roll -0.89 0.12 0.081 2415 -641.7 2.20 0.051 3734 640.0 -171.1 - - 3647 - - - - - - - - 26.74 26.24 -
6956 654.2 -8.3 383 6962 done -0.90 0.12 0.151 2447 266.7 1.98 0.021 2320 -714.1 -171.1 - - 3647 - - - - - - - - 26.29 26.67 -
7277 687.2 -9.4 394 7278 done -0.88 - - 2448 - - - 2320 - -171.1 - - 3645 - - - - - - - - - - -
7576 714.4 -8.5 404 7581 roll -0.85 - - 2446 - 2.20 0.047 3724 638.2 -171.1 - - 3643 - - - - - - - - - 26.28 -
7628 717.4 -8.6 405 7634 done -0.83 - - 2446 - 1.98 0.021 2323 -707.6 -171.1 - - 3644 - - - - - - - - - 26.67 -
7943 745.4 -8.6 416 7949 roll -0.81 0.12 0.142 2488 350.0 2.20 0.045 3732 640.5 -171.1 - - 3640 - - - - - - - - 26.47 26.25 -
8011 749.9 -7.7 418 8017 done -0.81 - - 2488 - 2.00 0.024 2322 -705.0 -171.1 - - 3640 - - - - - - - - - 26.06 -
8342 770.9 -6.3 429 8347 roll -0.85 - - 2488 - 2.20 0.047 3730 640.0 -171.1 - - 3637 - - - - - - - - - 26.22 -
8370 770.9 -6.3 429 8378 done -0.89 0.12 0.079 2424 -533.3 2.00 0.023 2313 -708.5 -171.1 - - 3637 - - - - - - - - 26.51 26.65 -
8677 805.2 -11.1 440 8679 done -0.85 0.15 0.140 2466 280.0 - - 2311 - -171.1 - - 3635 - - - - - - - - 26.40 - -
8976 831.3 -8.4 450 8981 roll -0.85 - - 2467 - 2.22 0.054 3725 636.9 -171.1 - - 3633 - - - - - - - - - 26.11 -
9009 834.4 -8.6 451 9015 done -0.86 - - 2467 - 2.00 0.024 2319 -703.0 -171.1 - - 3633 - - - - - - - - - 26.62 -
9344 862.0 -7.9 462 9349 roll -0.86 - - 2467 - 1.98 0.028 950 -691.4 -171.1 - - 3630 - - - - - - - - - 26.44 -
9371 862.0 -7.9 462 9378 done -0.86 - - 2466 - 2.05 0.031 2326 671.2 -171.1 - - 3630 - - - - - - - - - 26.37 -
9679 886.2 -6.9 473 9685 roll -0.88 - - 2467 - 2.17 0.048 3729 646.5 -171.1 - - 3629 - - - - - - - - - 26.15 -
9744 890.7 -6.9 475 9749 done -0.90 - - 2466 - 2.03 0.024 2319 -694.6 -171.1 - - 3628 - - - - - - - - - 26.60 -
10079 912.6 -6.5 486 10084 roll -0.92 - - 2466 - 2.22 0.048 3722 632.0 -171.1 - - 3626 - - - - - - - - - 26.13 -
10175 919.0 -6.7 489 10180 done -0.94 - - 2466 - 2.00 0.024 2326 -698.0 -171.1 - - 3626 - - - - - - - - - 26.59 -
10511 944.3 -8.1 500 10517 roll -0.97 0.12 0.086 2398 -566.7 2.22 0.047 3728 631.5 -171.1 - - 3624 - - - - - - - - 26.70 26.13 -
10636 958.9 -11.6 504 10642 done -0.92 0.15 0.152 2438 266.7 2.03 0.024 2314 -696.6 -171.1 - - 3623 - - - - - - - - 26.08 26.58 -
10968 end dive: TARGET_DEPTH_EXCEEDED
10968 begin apogee
10974 990.7 -8.9 515 11126 done -0.20 0.70 0.109 2672 334.3 - - 2312 - - 144.07 1.367 2964 -4.6 0.355 - - - - - - 25.65 - 23.50
11127 end apogee: CONTROL_FINISHED_OK
11127 begin climb
11130 995.5 - 520 11296 roll 0.38 0.50 0.039 2881 418.0 2.28 0.032 942 -600.9 171.1 155.62 1.291 2262 -4.5 0.373 - - - - - - 24.80 23.94 22.87
11408 974.5 12.0 529 11414 done 0.28 0.17 0.122 2833 -282.4 2.12 0.031 2300 640.6 171.1 - - 2251 - - - - - - - - 24.98 25.06 -
11729 943.5 9.0 540 11734 roll 0.21 - - 2833 - 2.20 0.047 3699 635.9 171.1 - - 2246 - - - - - - - - - 25.94 -
11866 930.1 10.7 544 11872 done 0.13 0.20 0.145 2782 -255.0 2.08 0.028 2324 -661.1 171.1 - - 2245 - - - - - - - - 25.82 26.20 -
12187 907.4 6.5 555 12220 roll 0.14 - - 2782 - 2.30 0.048 3705 600.4 199.3 24.83 1.262 2147 -3.9 0.304 - - - - - - - 25.62 24.56
12308 898.0 7.5 559 12314 done 0.14 - - 2784 - 2.12 0.028 2293 -666.0 199.3 - - 2144 - - - - - - - - - 25.98 -
12644 876.5 6.3 570 12685 roll 0.15 - - 2784 - 2.33 0.052 3702 604.7 234.4 34.58 1.257 2005 -4.0 0.300 - - - - - - - 25.35 24.32
12717 872.3 6.6 572 12752 done 0.16 - - 2785 - 2.12 0.028 2302 -660.4 260.4 26.00 1.248 1901 -4.0 0.299 - - - - - - - 25.67 24.13
13066 849.3 6.5 584 13098 done 0.21 - - 2784 - - - 2301 - 290.3 30.08 1.244 1784 -3.9 0.284 - - - - - - - - 24.30
13397 827.8 6.6 595 13430 roll 0.28 0.12 0.081 2858 616.7 2.15 0.034 909 -647.4 316.4 26.75 1.229 1672 -4.2 0.302 - - - - - - 26.20 25.44 24.37
13453 825.2 7.0 596 13470 done 0.31 - - 2858 - 2.15 0.031 2300 647.0 327.3 11.93 1.221 1630 -3.5 0.255 - - - - - - - 25.63 24.32
13793 786.3 10.6 608 13794 done 0.31 - - 2858 - - - 2300 - 327.3 - - 1617 - - - - - - - - - - -
14093 756.7 9.6 618 14099 roll 0.30 - - 2858 - 2.12 0.034 901 -659.9 327.3 - - 1617 - - - - - - - - - 26.25 -
14121 756.7 9.6 618 14128 done 0.28 - - 2858 - 2.10 0.029 2303 667.6 327.3 - - 1617 - - - - - - - - - 26.27 -
14427 724.8 9.8 629 14432 roll 0.28 - - 2858 - 2.12 0.034 896 -663.7 327.3 - - 1616 - - - - - - - - - 26.32 -
14454 724.8 9.8 629 14460 done 0.28 - - 2858 - 2.10 0.035 2301 669.0 327.3 - - 1616 - - - - - - - - - 26.21 -
14760 693.0 9.5 640 14765 roll 0.28 - - 2858 - 2.17 0.047 3697 643.3 327.3 - - 1615 - - - - - - - - - 26.26 -
14824 686.3 10.0 642 14830 done 0.26 0.12 0.147 2824 -283.3 2.08 0.028 2294 -674.5 327.3 - - 1614 - - - - - - - - 26.16 26.44 -
15158 661.3 7.3 653 15163 roll 0.30 - - 2824 - 2.08 0.035 900 -670.2 327.8 - - 1614 - - - - - - - - - 26.37 -
15192 658.7 7.5 654 15198 done 0.33 - - 2824 - 2.12 0.030 2308 664.2 327.8 - - 1614 - - - - - - - - - 26.06 -
15528 633.2 7.6 665 15535 roll 0.37 0.10 0.098 2881 570.0 2.15 0.046 3697 646.0 327.8 - - 1614 - - - - - - - - 26.62 26.27 -
15567 629.3 8.3 666 15572 done 0.38 - - 2881 - 2.05 0.028 2300 -681.5 327.8 - - 1613 - - - - - - - - - 26.49 -
15886 595.1 10.2 677 15892 roll 0.35 - - 2882 - 2.08 0.035 900 -673.1 327.8 - - 1613 - - - - - - - - - 26.37 -
15945 590.7 9.9 679 15952 done 0.33 0.12 0.121 2844 -316.7 2.10 0.030 2303 668.1 327.8 - - 1613 - - - - - - - - 26.24 26.41 -
16250 564.2 8.1 695 16255 roll 0.35 - - 2845 - 2.17 0.047 3702 644.7 327.8 - - 1612 - - - - - - - - - 26.27 -
16295 560.1 8.7 697 16300 done 0.35 - - 2844 - 2.05 0.026 2296 -685.9 327.8 - - 1612 - - - - - - - - - 26.52 -
16618 533.3 8.0 713 16624 roll 0.37 - - 2844 - 2.05 0.034 911 -675.6 327.8 - - 1612 - - - - - - - - - 26.39 -
16656 531.4 7.9 714 16663 done 0.39 - - 2844 - 2.08 0.029 2309 672.1 327.8 - - 1612 - - - - - - - - - 26.39 -
16962 509.3 6.2 730 17003 roll 0.44 0.12 0.080 2923 658.3 2.28 0.047 3696 608.3 365.6 34.97 1.054 1474 -3.9 0.204 - - - - - - 26.65 25.70 24.70
17042 502.5 9.5 733 17050 done 0.41 0.17 0.140 2873 -294.1 2.10 0.026 2298 -665.7 365.6 - - 1469 - - - - - - - - 25.61 25.89 -
17346 474.3 8.9 749 17351 roll 0.41 - - 2873 - 2.10 0.033 898 -666.7 365.6 - - 1468 - - - - - - - - - 26.11 -
17419 468.9 8.6 752 17425 done 0.43 - - 2873 - 2.10 0.028 2301 668.1 365.6 - - 1468 - - - - - - - - - 26.17 -
17734 441.7 8.5 768 17735 done 0.43 - - 2873 - - - 2302 - 365.6 - - 1468 - - - - - - - - - - -
18035 415.5 8.8 783 18041 roll 0.43 - - 2873 - 2.17 0.045 3705 646.5 365.6 - - 1468 - - - - - - - - - 26.19 -
18062 412.9 9.3 784 18068 done 0.43 - - 2873 - 2.08 0.024 2275 -687.5 365.6 - - 1467 - - - - - - - - - 26.43 -
18381 386.0 7.5 800 18382 done 0.44 - - 2873 - - - 2275 - 365.6 - - 1467 - - - - - - - - - - -
18683 363.0 8.4 815 18684 done 0.46 - - 2873 - - - 2275 - 365.6 - - 1467 - - - - - - - - - - -
18983 334.3 9.8 830 18988 roll 0.49 - - 2873 - 1.98 0.031 921 -683.8 365.6 - - 1467 - - - - - - - - - 26.40 -
19020 331.9 9.7 831 19028 done 0.52 0.10 0.094 2937 640.0 2.05 0.027 2313 679.0 365.6 - - 1467 - - - - - - - - 26.37 26.42 -
19326 291.7 12.1 847 19333 roll 0.46 0.15 0.135 2888 -326.7 2.12 0.043 3701 654.7 365.6 - - 1468 - - - - - - - - 26.34 26.27 -
19381 286.6 11.6 849 19386 done 0.42 - - 2888 - 2.03 0.022 2290 -695.1 365.6 - - 1468 - - - - - - - - - 26.55 -
19694 257.5 9.1 865 19699 roll 0.44 - - 2888 - 2.03 0.031 914 -677.8 365.6 - - 1468 - - - - - - - - - 26.42 -
19738 253.6 9.2 867 19743 done 0.47 - - 2888 - 2.05 0.027 2306 679.0 365.6 - - 1468 - - - - - - - - - 26.46 -
20062 225.8 8.3 883 20067 roll 0.49 - - 2888 - 2.12 0.044 3700 657.5 365.6 - - 1466 - - - - - - - - - 26.29 -
20125 220.2 8.5 886 20130 done 0.49 - - 2888 - 2.00 0.021 2293 -703.5 365.6 - - 1469 - - - - - - - - - 26.58 -
20449 197.3 7.2 902 20455 roll 0.52 - - 2892 - 1.98 0.030 925 -690.9 368.5 - - 1469 - - - - - - - - - 26.45 -
20494 193.9 7.4 904 20499 done 0.56 - - 2888 - 2.00 0.025 2301 688.0 368.5 - - 1469 - - - - - - - - - 26.48 -
20818 168.4 7.0 920 20838 roll 0.61 0.12 0.080 2979 758.3 2.05 0.028 923 -672.2 378.7 13.32 0.772 1419 -3.8 0.088 - - - - - - 26.72 26.39 25.44
20856 166.8 7.3 921 20864 done 0.63 0.12 0.122 2944 -291.7 2.03 0.026 2304 680.3 379.9 - - 1418 - - - - - - - - 26.19 26.36 -
21162 138.8 8.0 937 21167 roll 0.63 - - 2944 - 2.12 0.043 3700 658.5 379.9 - - 1417 - - - - - - - - - 26.26 -
21194 136.7 8.1 938 21199 done 0.63 - - 2949 - 2.00 0.021 2296 -702.0 379.9 - - 1417 - - - - - - - - - 26.49 -
21507 107.3 7.8 954 21513 roll 0.63 - - 2949 - 2.00 0.029 909 -693.5 379.9 - - 1417 - - - - - - - - - 26.43 -
21575 102.7 7.1 957 21585 done 0.65 - - 2949 - 2.03 0.025 2301 685.7 386.9 3.03 0.312 1392 -8.3 0.291 - - - - - - - 26.45 25.39
21894 80.9 5.7 973 21926 roll 0.67 - - 2949 - 2.17 0.043 3691 640.6 443.3 24.45 0.304 1161 -9.4 0.269 - - - - - - - 26.32 25.70
21958 78.3 4.2 976 22016 done 0.74 - - 2948 - 2.00 0.021 2292 -699.5 553.3 46.12 0.298 713 -9.7 0.273 - - - - - - - 26.44 25.52
22315 52.2 7.8 994 22322 roll 0.84 0.15 0.070 3052 693.3 2.00 0.026 909 -691.5 553.3 - - 716 - - - - - - - - 26.43 26.29 -
22390 44.5 11.6 999 22396 done 0.81 0.17 0.109 2997 -323.5 2.03 0.025 2297 683.7 553.3 - - 715 - - - - - - - - 26.09 26.32 -
22700 13.6 11.9 1040 22709 roll 0.81 - - 2997 - 2.12 0.041 3693 658.5 553.3 - - 716 - - - - - - - - - 26.28 -
22727 10.6 11.0 1044 22735 done 0.83 - - 2997 - 2.00 0.021 2299 -697.0 553.3 - - 715 - - - - - - - - - 26.47 -
22807 end climb: SURFACE_DEPTH_REACHED
22807 begin surface coast
22832 end surface coast: CONTROL_FINISHED_OK
22832 begin surface
SM 1.57 - - - - -8.10 7.25 0.028 127 -395.9 - - 2296 - 552.91 - - 715 - - - - - - - -