OKMC Oct12 * SG167 * Dive index * Mission links * Dive 312 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 67.62 of 150.00 AH used of 24V (54.92% remains)
• Previous NAKs 0, Timeouts 0 • 44.11 of 110.00 AH used of 10V (59.90% remains)
• Surface angle -57.0 deg, depth 1.56 m • Intended pitch -14.4 deg, speed -8.462 cm/s
• No surface pump (final VBD was 447.18, SM_CC=400)
• GPS1 time: 38 s
• GPS2 time: 4 s • Transponder ping count: 29
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 104 VBD -0.57 - - 109 - - - 2465 - -171.1 -82.22 - 2820 - - - - - - - - - - -
107 3.3 -3.9 8 143 roll -0.57 9.60 0.223 2473 246.2 2.10 0.044 1057 -670.5 -171.1 -19.42 - 3668 -43.7 - - - - - - - 25.01 26.16 26.67
228 21.7 -16.3 19 235 done -0.57 - - 2473 - 2.08 0.035 2435 662.5 -171.1 - - 3669 - - - - - - - - - 26.17 -
536 66.8 -12.7 44 541 roll -0.57 - - 2473 - 2.05 0.049 3764 648.3 -171.1 - - 3669 - - - - - - - - - 26.11 -
587 72.2 -12.6 46 593 done -0.57 - - 2472 - 1.88 0.021 2435 -706.9 -171.1 - - 3669 - - - - - - - - - 26.48 -
901 116.3 -13.8 62 907 roll -0.57 - - 2467 - 2.08 0.048 3755 634.6 -171.1 - - 3669 - - - - - - - - - 26.17 -
945 121.9 -12.7 64 951 done -0.57 - - 2467 - 1.85 0.018 2422 -720.5 -171.1 - - 3670 - - - - - - - - - 26.57 -
1269 154.2 -9.5 80 1274 roll -0.57 - - 2467 - 1.90 0.028 1096 -697.9 -171.1 - - 3670 - - - - - - - - - 26.36 -
1322 158.4 -9.6 82 1327 done -0.57 - - 2466 - 2.05 0.034 2463 666.8 -171.1 - - 3670 - - - - - - - - - 26.34 -
1635 191.0 -10.1 98 1640 roll -0.57 - - 2466 - 2.00 0.029 1093 -685.0 -171.1 - - 3673 - - - - - - - - - 26.39 -
1679 195.5 -10.2 100 1684 done -0.57 - - 2466 - 2.03 0.034 2456 671.4 -171.1 - - 3670 - - - - - - - - - 26.34 -
2002 230.1 -11.5 116 2007 roll -0.57 - - 2466 - 2.00 0.049 3759 651.5 -171.1 - - 3670 - - - - - - - - - 26.16 -
2026 232.8 -11.3 117 2031 done -0.57 - - 2466 - 1.80 0.018 2461 -721.1 -171.1 - - 3670 - - - - - - - - - 26.56 -
2349 269.1 -10.7 133 2355 roll -0.57 - - 2466 - 2.00 0.028 1071 -695.0 -171.1 - - 3670 - - - - - - - - - 26.39 -
2377 271.7 -10.6 134 2382 done -0.57 - - 2466 - 2.05 0.034 2449 672.2 -171.1 - - 3670 - - - - - - - - - 26.34 -
2695 301.8 -9.3 150 2700 roll -0.57 - - 2466 - 2.03 0.049 3763 647.3 -171.1 - - 3669 - - - - - - - - - 26.15 -
2738 306.1 -9.7 152 2743 done -0.57 - - 2466 - 1.85 0.018 2433 -718.9 -171.1 - - 3669 - - - - - - - - - 26.56 -
3061 338.2 -9.6 168 3066 roll -0.57 - - 2466 - 2.08 0.049 3762 638.9 -171.1 - - 3668 - - - - - - - - - 26.15 -
3098 340.4 -9.4 169 3105 done -0.57 - - 2466 - 1.83 0.018 2444 -720.2 -171.1 - - 3668 - - - - - - - - - 26.61 -
3405 367.4 -8.1 185 3410 roll -0.57 - - 2466 - 1.95 0.028 1090 -694.4 -171.1 - - 3666 - - - - - - - - - 26.37 -
3428 369.5 -8.2 186 3434 done -0.57 - - 2466 - 2.03 0.033 2457 673.4 -171.1 - - 3666 - - - - - - - - - 26.34 -
3751 397.3 -8.9 202 3757 roll -0.57 - - 2465 - 2.00 0.049 3756 649.5 -171.1 - - 3665 - - - - - - - - - 26.13 -
3804 401.3 -9.1 204 3809 done -0.57 - - 2466 - 1.83 0.018 2436 -721.3 -171.1 - - 3665 - - - - - - - - - 26.59 -
4117 429.4 -8.9 220 4122 roll -0.57 - - 2466 - 1.95 0.031 1091 -689.7 -171.1 - - 3663 - - - - - - - - - 26.02 -
4189 435.3 -9.2 223 4194 done -0.57 - - 2466 - 2.03 0.034 2449 669.0 -171.1 - - 3663 - - - - - - - - - 26.32 -
4502 464.5 -8.8 239 4507 roll -0.57 - - 2466 - 1.98 0.031 1102 -680.3 -171.1 - - 3663 - - - - - - - - - 26.08 -
4534 466.7 -9.0 240 4540 done -0.57 - - 2466 - 2.03 0.034 2459 668.5 -171.1 - - 3663 - - - - - - - - - 26.32 -
4848 494.2 -8.2 256 4853 roll -0.57 - - 2466 - 2.00 0.049 3753 647.0 -171.1 - - 3659 - - - - - - - - - 26.10 -
4892 497.7 -8.2 258 4897 done -0.57 - - 2466 - 1.83 0.019 2445 -714.8 -171.1 - - 3661 - - - - - - - - - 26.58 -
5215 521.1 -6.9 274 5221 roll -0.57 - - 2466 - 2.05 0.050 3751 637.1 -171.1 - - 3659 - - - - - - - - - 26.08 -
5243 522.9 -7.0 275 5249 done -0.57 - - 2465 - 1.83 0.020 2437 -718.0 -171.1 - - 3658 - - - - - - - - - 26.58 -
5562 546.4 -7.7 291 5568 roll -0.57 - - 2466 - 2.08 0.050 3748 630.3 -171.1 - - 3657 - - - - - - - - - 26.06 -
5629 551.7 -8.1 294 5635 done -0.57 - - 2466 - 1.83 0.019 2438 -715.8 -171.1 - - 3656 - - - - - - - - - 26.56 -
5948 578.2 -8.1 310 5949 done -0.57 - - 2466 - - - 2438 - -171.1 - - 3655 - - - - - - - - - - -
6260 602.8 -7.9 325 6265 roll -0.57 - - 2466 - 1.95 0.029 1097 -687.7 -171.1 - - 3655 - - - - - - - - - 26.30 -
6304 605.7 -8.0 326 6309 done -0.57 - - 2466 - 2.03 0.035 2447 665.0 -171.1 - - 3652 - - - - - - - - - 26.27 -
6629 632.6 -7.8 337 6630 done -0.57 - - 2466 - - - 2447 - -171.1 - - 3651 - - - - - - - - - - -
6928 654.7 -7.2 347 6933 roll -0.57 - - 2466 - 2.00 0.028 1088 -679.5 -171.1 - - 3649 - - - - - - - - - 26.29 -
6972 657.3 -7.3 348 6977 done -0.57 - - 2466 - 2.08 0.035 2456 657.7 -171.1 - - 3649 - - - - - - - - - 25.76 -
7297 681.0 -7.3 359 7302 roll -0.57 - - 2466 - 2.03 0.029 1091 -672.4 -171.1 - - 3647 - - - - - - - - - 26.28 -
7331 683.8 -7.6 360 7336 done -0.57 - - 2466 - 2.08 0.034 2460 658.2 -171.1 - - 3647 - - - - - - - - - 26.23 -
7666 712.6 -9.2 371 7672 roll -0.57 - - 2465 - 2.03 0.053 3753 636.9 -171.1 - - 3645 - - - - - - - - - 25.96 -
7724 715.8 -9.3 372 7731 done -0.57 - - 2466 - 1.83 0.021 2450 -712.0 -171.1 - - 3644 - - - - - - - - - 26.53 -
8030 745.0 -8.3 383 8035 roll -0.57 - - 2466 - 2.08 0.052 3757 628.4 -171.1 - - 3643 - - - - - - - - - 25.94 -
8057 745.0 -8.3 383 8064 done -0.57 - - 2466 - 1.85 0.022 2450 -706.5 -171.1 - - 3642 - - - - - - - - - 26.51 -
8364 767.9 -6.1 394 8369 roll -0.57 - - 2467 - 2.00 0.031 1087 -681.5 -171.1 - - 3641 - - - - - - - - - 26.23 -
8398 770.0 -6.0 395 8403 done -0.57 - - 2466 - 2.08 0.035 2450 655.3 -171.1 - - 3640 - - - - - - - - - 26.19 -
8734 788.5 -5.6 406 8735 done -0.57 - - 2466 - - - 2450 - -171.1 - - 3638 - - - - - - - - - - -
9031 807.7 -6.5 416 9032 done -0.57 - - 2466 - - - 2451 - -171.1 - - 3637 - - - - - - - - - - -
9331 829.6 -7.7 426 9337 roll -0.57 - - 2466 - 2.03 0.030 1088 -671.4 -171.1 - - 3636 - - - - - - - - - 26.20 -
9384 832.4 -7.9 427 9389 done -0.57 - - 2466 - 2.08 0.037 2453 656.2 -171.1 - - 3636 - - - - - - - - - 26.14 -
9698 858.7 -7.9 438 9699 done -0.57 - - 2466 - - - 2454 - -171.1 - - 3634 - - - - - - - - - - -
9999 881.7 -7.5 448 10000 done -0.57 - - 2466 - - - 2453 - -171.1 - - 3633 - - - - - - - - - - -
10298 902.5 -6.8 458 10299 done -0.57 - - 2466 - - - 2454 - -171.1 - - 3632 - - - - - - - - - - -
10599 923.1 -6.8 468 10600 done -0.57 - - 2466 - - - 2453 - -171.1 - - 3631 - - - - - - - - - - -
10898 943.5 -6.9 478 10899 done -0.57 - - 2466 - - - 2453 - -171.1 - - 3629 - - - - - - - - - - -
11199 963.1 -6.3 488 11204 roll -0.57 - - 2466 - 2.08 0.054 3761 628.8 -171.1 - - 3629 - - - - - - - - - 25.75 -
11226 963.1 -6.3 488 11233 done -0.57 - - 2466 - 1.88 0.024 2459 -692.6 -171.1 - - 3629 - - - - - - - - - 26.42 -
11534 983.7 -6.1 499 11536 done -0.57 - - 2466 - - - 2459 - -171.1 - - 3628 - - - - - - - - - - -
11650 end dive: TARGET_DEPTH_EXCEEDED
11650 begin apogee
11657 990.9 -6.0 503 11817 done -0.20 0.38 0.101 2594 336.8 - - 2181 - - 151.90 1.281 2964 -4.4 0.375 - - - - - - 25.84 - 22.68
11818 end apogee: CONTROL_FINISHED_OK
11819 begin climb
11821 996.3 - 508 11994 roll 0.57 0.73 0.072 2845 343.8 2.50 0.049 3597 566.4 171.1 162.65 1.256 2263 -4.3 0.379 - - - - - - 24.60 23.84 22.13
12017 987.8 6.5 515 12080 done 0.64 - - 2845 - 2.20 0.026 2230 -621.4 228.9 56.42 1.276 2029 -4.1 0.356 - - - - - - - 24.61 22.30
12408 953.1 9.0 528 12413 roll 0.64 - - 2845 - 2.20 0.050 3603 624.1 228.9 - - 2015 - - - - - - - - - 26.01 -
12437 953.1 9.0 528 12445 done 0.64 - - 2851 - 2.10 0.027 2188 -673.8 228.9 - - 2012 - - - - - - - - - 26.24 -
12742 923.9 8.5 539 12747 roll 0.64 - - 2851 - 2.25 0.050 3602 628.4 228.9 - - 2014 - - - - - - - - - 26.09 -
12784 920.9 8.6 540 12789 done 0.64 - - 2855 - 2.08 0.028 2207 -670.7 228.9 - - 2014 - - - - - - - - - 26.34 -
13110 893.5 8.1 551 13116 done 0.65 - - 2855 - - - 2204 - 239.0 3.62 1.063 1993 -5.8 0.541 - - - - - - - - 23.91
13407 868.7 8.3 561 13422 roll 0.65 - - 2855 - 2.25 0.048 3602 621.3 243.4 9.70 1.274 1972 -2.2 0.164 - - - - - - - 26.02 24.10
13476 862.7 8.9 563 13482 done 0.65 - - 2855 - 2.12 0.028 2195 -663.7 243.4 - - 1968 - - - - - - - - - 26.20 -
13806 831.9 9.3 574 13807 done 0.65 - - 2851 - - - 2194 - 243.4 - - 1967 - - - - - - - - - - -
14106 803.3 9.6 584 14111 roll 0.65 - - 2855 - 2.10 0.040 807 -660.5 243.4 - - 1966 - - - - - - - - - 26.19 -
14128 803.3 9.6 584 14134 done 0.65 - - 2855 - 2.10 0.032 2206 666.2 243.4 - - 1967 - - - - - - - - - 26.25 -
14442 770.9 9.8 595 14447 roll 0.65 - - 2856 - 2.20 0.050 3604 635.5 243.4 - - 1967 - - - - - - - - - 26.04 -
14507 763.9 10.5 597 14512 done 0.65 - - 2856 - 2.12 0.028 2181 -671.2 243.4 - - 1966 - - - - - - - - - 26.35 -
14842 731.7 9.2 608 14843 done 0.65 - - 2856 - - - 2180 - 243.4 - - 1965 - - - - - - - - - - -
15140 704.9 8.8 618 15145 roll 0.65 - - 2855 - 2.25 0.049 3599 630.7 243.4 - - 1965 - - - - - - - - - 25.99 -
15207 698.6 9.4 620 15213 done 0.65 - - 2862 - 2.10 0.028 2192 -670.0 243.4 - - 1965 - - - - - - - - - 26.33 -
15538 669.5 8.7 631 15543 roll 0.65 - - 2861 - 2.10 0.039 807 -659.5 243.4 - - 1965 - - - - - - - - - 26.12 -
15560 669.5 8.7 631 15566 done 0.65 - - 2861 - 2.12 0.032 2209 661.3 243.4 - - 1965 - - - - - - - - - 26.20 -
15873 640.1 8.7 642 15879 roll 0.65 - - 2861 - 2.20 0.048 3599 631.8 243.4 - - 1965 - - - - - - - - - 25.96 -
15951 634.1 8.9 644 15956 done 0.65 - - 2860 - 2.08 0.027 2198 -673.6 243.4 - - 1965 - - - - - - - - - 26.33 -
16271 607.9 7.6 655 16301 done 0.68 - - 2861 - - - 2198 - 267.9 27.55 1.040 1876 -3.2 0.210 - - - - - - - - 24.04
16610 580.5 8.4 670 16615 roll 0.69 - - 2861 - 2.22 0.047 3601 632.0 270.9 - - 1865 - - - - - - - - - 25.92 -
16653 576.5 8.8 672 16658 done 0.69 - - 2860 - 2.10 0.027 2186 -673.8 270.9 - - 1864 - - - - - - - - - 26.25 -
16977 549.5 8.1 688 16997 roll 0.70 - - 2861 - 2.33 0.047 3596 605.2 280.9 13.80 1.092 1815 -3.6 0.198 - - - - - - - 25.94 24.22
17023 545.6 8.5 690 17028 done 0.70 - - 2861 - 2.10 0.026 2187 -671.0 280.9 - - 1812 - - - - - - - - - 26.13 -
17341 517.8 8.9 706 17347 roll 0.70 - - 2860 - 2.10 0.038 804 -658.6 280.9 - - 1811 - - - - - - - - - 26.08 -
17359 517.8 8.9 706 17365 done 0.70 - - 2861 - 2.10 0.031 2202 665.7 280.9 - - 1810 - - - - - - - - - 26.17 -
17665 488.1 9.0 722 17670 roll 0.70 - - 2861 - 2.20 0.048 3604 637.3 280.9 - - 1810 - - - - - - - - - 25.98 -
17702 485.9 9.1 723 17708 done 0.70 - - 2861 - 2.08 0.025 2191 -679.3 280.9 - - 1810 - - - - - - - - - 26.34 -
18009 458.4 8.3 739 18014 roll 0.70 - - 2861 - 2.08 0.037 805 -666.3 285.9 - - 1810 - - - - - - - - - 26.14 -
18076 453.3 8.0 742 18101 done 0.72 0.10 0.093 2912 510.0 2.10 0.031 2211 669.5 300.3 19.23 0.992 1743 -3.5 0.177 - - - - - - 26.17 26.22 24.30
18415 421.0 8.7 759 18420 roll 0.72 - - 2912 - 2.17 0.047 3599 639.6 300.3 - - 1733 - - - - - - - - - 25.96 -
18478 414.8 9.5 762 18484 done 0.72 - - 2921 - 2.08 0.024 2200 -672.6 300.3 - - 1732 - - - - - - - - - 26.30 -
18801 386.3 8.9 778 18807 roll 0.72 - - 2921 - 2.08 0.037 812 -667.3 300.3 - - 1732 - - - - - - - - - 26.13 -
18839 384.1 9.1 779 18845 done 0.72 - - 2921 - 2.08 0.029 2205 669.7 300.3 - - 1733 - - - - - - - - - 26.23 -
19145 352.0 10.7 795 19150 roll 0.72 - - 2920 - 2.17 0.046 3603 644.2 300.3 - - 1733 - - - - - - - - - 26.00 -
19197 347.0 11.1 797 19203 done 0.72 - - 2921 - 2.05 0.024 2203 -682.9 300.3 - - 1733 - - - - - - - - - 26.36 -
19510 314.1 9.5 813 19512 done 0.72 - - 2921 - - - 2202 - 300.3 - - 1733 - - - - - - - - - - -
19813 286.5 9.0 828 19818 roll 0.72 - - 2921 - 2.20 0.044 3603 636.8 300.3 - - 1733 - - - - - - - - - 26.04 -
19857 282.0 9.3 830 19862 done 0.72 - - 2921 - 2.05 0.024 2197 -685.9 300.3 - - 1733 - - - - - - - - - 26.37 -
20180 255.1 7.8 846 20206 roll 0.75 - - 2921 - 2.17 0.036 805 -641.5 321.7 20.45 0.818 1651 -4.0 0.139 - - - - - - - 26.03 24.45
20234 251.7 7.9 848 20258 done 0.77 - - 2921 - 2.10 0.028 2209 668.6 339.6 16.67 0.828 1577 -4.4 0.150 - - - - - - - 26.10 24.31
20566 223.7 8.7 865 20567 done 0.77 - - 2921 - - - 2210 - 339.6 - - 1573 - - - - - - - - - - -
20869 194.6 9.9 880 20874 roll 0.77 - - 2921 - 2.17 0.045 3602 641.5 339.6 - - 1573 - - - - - - - - - 25.94 -
20906 192.1 9.8 881 20913 done 0.77 - - 2921 - 2.05 0.022 2185 -691.2 339.6 - - 1572 - - - - - - - - - 26.39 -
21212 162.1 9.1 897 21213 done 0.77 - - 2921 - - - 2185 - 339.6 - - 1575 - - - - - - - - - - -
21514 136.3 8.4 912 21519 roll 0.77 - - 2920 - 2.03 0.034 814 -675.4 341.1 - - 1572 - - - - - - - - - 26.20 -
21532 136.3 8.4 912 21539 done 0.77 - - 2921 - 2.05 0.028 2211 681.5 342.5 - - 1572 - - - - - - - - - 26.30 -
21837 109.8 7.7 928 21853 roll 0.80 - - 2921 - 2.15 0.042 3597 644.7 364.1 10.07 0.360 1483 -8.8 0.299 - - - - - - - 26.10 24.74
21875 108.2 7.5 929 21896 done 0.83 - - 2921 - 2.03 0.021 2185 -695.6 393.8 13.50 0.362 1362 -9.0 0.297 - - - - - - - 26.40 24.89
22204 84.0 7.8 946 22219 roll 0.86 - - 2921 - 2.28 0.042 3599 620.2 414.6 9.20 0.302 1278 -9.1 0.282 - - - - - - - 26.12 24.91
22312 76.2 7.4 951 22334 done 0.90 0.10 0.090 2992 710.0 2.00 0.019 2189 -705.0 447.7 14.90 0.289 1142 -9.1 0.267 - - - - - - 26.31 26.42 25.04
22642 43.5 10.4 970 22648 roll 0.90 0.12 0.132 2950 -350.0 2.17 0.042 3591 646.1 447.7 - - 1145 - - - - - - - - 26.35 26.07 -
22738 34.5 10.2 979 22743 done 0.90 - - 2950 - 1.98 0.022 2214 -695.5 447.7 - - 1145 - - - - - - - - - 26.42 -
23052 10.1 8.9 1010 23057 roll 0.90 - - 2951 - 2.08 0.034 812 -674.0 447.7 - - 1145 - - - - - - - - - 26.23 -
23122 end climb: SURFACE_DEPTH_REACHED
23123 begin surface coast
23139 end surface coast: CONTROL_FINISHED_OK
23140 begin surface
SM 1.76 - - - - -7.87 7.15 0.026 115 -396.6 2.47 0.028 2441 659.5 447.18 - - 1145 - - - - - - - -