OKMC Oct12 * SG167 * Dive index * Mission links * Dive 503 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 109.93 of 150.00 AH used of 24V (26.72% remains)
• Previous NAKs 0, Timeouts 0 • 67.58 of 110.00 AH used of 10V (38.56% remains)
• Surface angle -60.0 deg, depth 1.72 m • Intended pitch -16.4 deg, speed -9.877 cm/s
• No surface pump (final VBD was 519.79, SM_CC=400)
• GPS1 time: 40 s
• GPS2 time: 7 s • Transponder ping count: 102
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
21 - - - 90 VBD -0.76 - - 109 - - - 2457 - -176.0 -66.47 - 2399 - - - - - - - - - - -
94 3.1 -3.2 7 147 roll -0.76 11.90 0.213 2408 193.2 2.50 0.040 1099 -543.2 -176.0 -31.75 - 3685 -40.5 - - - - - - - 21.16 21.54 22.01
263 29.2 -17.2 23 269 done -0.70 0.17 0.141 2436 164.7 2.55 0.035 2452 530.6 -176.0 - - 3686 - - - - - - - - 21.25 21.53 -
468 60.8 -16.1 40 474 roll -0.66 - - 2429 - 2.53 0.045 3765 519.0 -176.0 - - 3687 - - - - - - - - - 21.56 -
536 73.5 -19.2 43 542 done -0.62 0.15 0.135 2459 200.0 2.22 0.018 2500 -569.8 -176.0 - - 3687 - - - - - - - - 21.46 21.84 -
739 95.3 -7.1 53 744 roll -0.62 - - 2460 - 2.60 0.031 1058 -554.6 -176.0 - - 3688 - - - - - - - - - 21.73 -
777 95.5 -4.8 54 784 done -0.62 - - 2459 - 2.67 0.034 2493 537.5 -176.0 - - 3688 - - - - - - - - - 21.70 -
963 115.0 -11.8 64 968 roll -0.64 - - 2459 - 2.40 0.046 3761 528.3 -176.0 - - 3688 - - - - - - - - - 21.69 -
997 117.2 -10.8 65 1003 done -0.66 - - 2459 - 2.25 0.018 2453 -581.3 -176.0 - - 3688 - - - - - - - - - 22.08 -
1194 134.2 -9.1 75 1201 roll -0.72 - - 2453 - 2.50 0.044 3757 521.6 -176.0 - - 3689 - - - - - - - - - 21.73 -
1280 141.6 -8.3 79 1287 done -0.77 0.12 0.067 2393 -500.0 2.17 0.016 2488 -584.8 -176.0 - - 3689 - - - - - - - - 22.03 22.14 -
1488 164.5 -10.8 89 1494 roll -0.75 0.10 0.153 2417 240.0 2.55 0.030 1071 -555.7 -176.0 - - 3690 - - - - - - - - 22.23 21.88 -
1534 169.1 -10.1 91 1540 done -0.73 - - 2414 - 2.65 0.034 2507 541.9 -176.0 - - 3690 - - - - - - - - - 21.87 -
1740 187.4 -9.2 101 1745 roll -0.73 - - 2414 - 2.60 0.031 1073 -551.5 -176.0 - - 3690 - - - - - - - - - 21.91 -
1768 190.1 -9.8 102 1774 done -0.73 - - 2411 - 2.60 0.035 2491 545.4 -176.0 - - 3689 - - - - - - - - - 21.93 -
1969 210.9 -10.2 112 1974 roll -0.72 - - 2412 - 2.40 0.048 3761 529.2 -176.0 - - 3689 - - - - - - - - - 21.89 -
2013 215.7 -10.1 114 2018 done -0.71 - - 2412 - 2.17 0.015 2472 -594.0 -176.0 - - 3690 - - - - - - - - - 22.32 -
2218 236.1 -10.2 124 2224 roll -0.71 - - 2412 - 2.47 0.030 1076 -565.2 -176.0 - - 3688 - - - - - - - - - 21.97 -
2262 241.0 -10.5 126 2268 done -0.71 - - 2412 - 2.58 0.035 2482 545.0 -176.0 - - 3687 - - - - - - - - - 22.00 -
2467 263.1 -10.9 136 2473 roll -0.71 - - 2412 - 2.38 0.047 3755 534.9 -176.0 - - 3687 - - - - - - - - - 22.14 -
2491 265.9 -10.9 137 2496 done -0.71 - - 2411 - 2.15 0.015 2477 -594.4 -176.0 - - 3687 - - - - - - - - - 22.46 -
2695 288.5 -11.2 147 2700 roll -0.71 - - 2412 - 2.47 0.030 1077 -566.8 -176.0 - - 3686 - - - - - - - - - 22.05 -
2743 293.6 -11.3 149 2748 done -0.71 - - 2412 - 2.53 0.034 2466 549.0 -176.0 - - 3686 - - - - - - - - - 22.08 -
2941 314.5 -9.9 159 2947 roll -0.71 - - 2412 - 2.42 0.048 3758 533.9 -176.0 - - 3685 - - - - - - - - - 22.05 -
2990 319.0 -10.0 161 2996 done -0.71 - - 2412 - 2.17 0.015 2453 -601.4 -176.0 - - 3684 - - - - - - - - - 22.51 -
3191 337.5 -8.6 171 3198 roll -0.71 - - 2411 - 2.47 0.048 3757 527.9 -176.0 - - 3683 - - - - - - - - - 22.08 -
3216 339.8 -8.6 172 3222 done -0.71 - - 2412 - 2.12 0.015 2476 -604.2 -176.0 - - 3683 - - - - - - - - - 22.57 -
3425 357.4 -8.6 182 3430 roll -0.71 - - 2411 - 2.45 0.049 3761 524.5 -176.0 - - 3682 - - - - - - - - - 22.13 -
3489 363.8 -9.4 185 3494 done -0.71 - - 2411 - 2.10 0.016 2500 -600.5 -176.0 - - 3682 - - - - - - - - - 22.57 -
3695 382.7 -8.8 195 3701 roll -0.71 - - 2418 - 2.50 0.034 1083 -566.8 -176.0 - - 3681 - - - - - - - - - 22.34 -
3734 385.2 -8.6 196 3740 done -0.71 - - 2411 - 2.58 0.034 2507 551.9 -176.0 - - 3680 - - - - - - - - - 22.24 -
3920 403.4 -9.1 206 3921 done -0.71 - - 2410 - - - 2507 - -176.0 - - 3679 - - - - - - - - - - -
4099 419.6 -8.5 215 4105 roll -0.71 - - 2411 - 2.35 0.050 3761 533.6 -176.0 - - 3678 - - - - - - - - - 22.20 -
4133 421.6 -8.5 216 4138 done -0.71 - - 2412 - 2.12 0.016 2491 -599.1 -176.0 - - 3678 - - - - - - - - - 22.68 -
4328 438.5 -7.8 226 4330 done -0.71 - - 2411 - - - 2489 - -176.0 -0.08 - 3699 -262.5 - - - - - - - - - 21.78
4507 451.9 -7.7 235 4512 roll -0.72 - - 2411 - 2.50 0.029 1074 -566.0 -176.0 - - 3699 - - - - - - - - - 22.24 -
4557 455.7 -8.2 237 4562 done -0.72 - - 2411 - 2.58 0.034 2496 551.2 -176.0 - - 3699 - - - - - - - - - 22.29 -
4758 472.6 -8.1 247 4763 roll -0.73 - - 2411 - 2.38 0.050 3757 529.8 -176.0 - - 3697 - - - - - - - - - 22.24 -
4807 476.7 -8.4 249 4813 done -0.74 - - 2411 - 2.15 0.017 2478 -594.9 -176.0 - - 3697 - - - - - - - - - 22.67 -
5009 496.6 -10.1 259 5015 roll -0.75 - - 2412 - 2.45 0.029 1084 -569.0 -176.0 - - 3696 - - - - - - - - - 22.25 -
5027 496.6 -10.1 259 5034 done -0.77 - - 2411 - 2.55 0.034 2500 555.3 -176.0 - - 3696 - - - - - - - - - 22.43 -
5217 516.8 -9.7 269 5223 roll -0.78 - - 2411 - 2.38 0.050 3760 529.4 -176.0 - - 3695 - - - - - - - - - 22.25 -
5245 519.7 -10.0 270 5250 done -0.79 - - 2412 - 2.12 0.017 2483 -602.4 -176.0 - - 3695 - - - - - - - - - 22.74 -
5445 539.9 -9.9 280 5450 roll -0.80 - - 2411 - 2.45 0.029 1084 -571.0 -176.0 - - 3693 - - - - - - - - - 22.26 -
5493 544.7 -10.3 282 5498 done -0.82 - - 2411 - 2.55 0.037 2493 552.5 -176.0 - - 3693 - - - - - - - - - 22.46 -
5695 563.7 -9.2 292 5700 roll -0.83 - - 2411 - 2.35 0.055 3755 537.0 -176.0 - - 3695 - - - - - - - - - 22.36 -
5723 566.3 -9.3 293 5729 done -0.85 - - 2411 - 2.12 0.018 2476 -603.3 -176.0 - - 3692 - - - - - - - - - 22.77 -
5925 585.5 -9.4 303 5931 roll -0.86 - - 2412 - 2.42 0.028 1086 -574.4 -176.0 - - 3690 - - - - - - - - - 22.27 -
5965 588.1 -9.5 304 5972 done -0.87 - - 2411 - 2.50 0.036 2471 554.0 -176.0 - - 3690 - - - - - - - - - 22.51 -
6150 605.7 -8.4 313 6157 roll -0.89 - - 2411 - 2.42 0.050 3757 531.4 -176.0 - - 3689 - - - - - - - - - 22.26 -
6205 608.6 -8.3 314 6210 done -0.90 - - 2412 - 2.17 0.023 2466 -594.9 -176.0 - - 3689 - - - - - - - - - 22.75 -
6399 624.5 -7.3 321 6405 roll -0.92 0.12 0.076 2352 -500.0 2.45 0.049 3754 525.7 -176.0 - - 3688 - - - - - - - - 23.03 22.26 -
6423 624.5 -7.3 321 6428 done -0.93 - - 2351 - 2.10 0.018 2505 -594.8 -176.0 - - 3688 - - - - - - - - - 22.76 -
6618 645.1 -9.5 328 6624 roll -0.90 - - 2351 - 2.47 0.029 1092 -572.1 -176.0 - - 3686 - - - - - - - - - 22.27 -
6743 657.6 -10.0 332 6749 done -0.87 0.17 0.147 2382 182.4 2.55 0.035 2480 544.3 -176.0 - - 3685 - - - - - - - - 21.97 22.30 -
6959 676.7 -8.6 339 6964 roll -0.87 - - 2382 - 2.40 0.051 3755 531.2 -176.0 - - 3684 - - - - - - - - - 22.26 -
6997 679.9 -8.7 340 7002 done -0.87 - - 2382 - 2.12 0.018 2481 -600.9 -176.0 - - 3684 - - - - - - - - - 22.75 -
7207 698.9 -9.1 347 7208 done -0.87 - - 2382 - - - 2479 - -176.0 - - 3683 - - - - - - - - - - -
7386 714.6 -8.9 353 7391 roll -0.87 - - 2382 - 2.42 0.051 3751 525.6 -176.0 - - 3682 - - - - - - - - - 22.26 -
7408 714.6 -8.9 353 7414 done -0.87 - - 2381 - 2.12 0.019 2487 -596.2 -176.0 - - 3682 - - - - - - - - - 22.78 -
7603 735.3 -10.0 360 7604 done -0.87 - - 2382 - - - 2486 - -176.0 - - 3681 - - - - - - - - - - -
7782 754.0 -10.4 366 7788 roll -0.87 - - 2381 - 2.45 0.029 1089 -570.2 -176.0 - - 3681 - - - - - - - - - 22.27 -
7825 757.6 -10.4 367 7831 done -0.87 - - 2381 - 2.53 0.036 2485 551.8 -176.0 - - 3680 - - - - - - - - - 22.40 -
8031 778.8 -10.1 374 8036 roll -0.87 - - 2381 - 2.42 0.052 3759 526.4 -176.0 - - 3680 - - - - - - - - - 22.25 -
8058 778.8 -10.1 374 8065 done -0.87 - - 2381 - 2.15 0.019 2481 -594.4 -176.0 - - 3679 - - - - - - - - - 22.77 -
8241 end dive: TARGET_DEPTH_EXCEEDED
8241 begin apogee
8250 800.9 -10.3 381 8523 roll -0.27 0.70 0.115 2569 268.6 - - 2184 - - 266.12 0.955 2967 -2.7 0.284 - - - - - - 21.58 - 19.65
8524 end apogee: CONTROL_FINISHED_OK
8527 begin climb
8530 814.5 - 390 8734 roll 0.76 1.23 0.074 2904 272.4 2.62 0.033 843 -511.8 176.0 191.62 1.056 2238 -3.8 0.371 - - - - - - 20.76 20.87 19.43
8814 803.6 7.6 399 8888 done 0.79 - - 2904 - 2.67 0.034 2202 509.0 236.0 67.85 1.016 2005 -3.4 0.343 - - - - - - - 20.82 19.42
9093 772.3 10.8 409 9098 roll 0.76 - - 2912 - 2.67 0.037 851 -506.0 236.0 - - 1977 - - - - - - - - - 20.88 -
9229 759.6 10.1 413 9234 done 0.74 - - 2912 - 2.62 0.032 2206 517.2 236.0 - - 1975 - - - - - - - - - 21.00 -
9434 737.1 10.6 420 9439 roll 0.71 - - 2912 - 2.80 0.046 3600 497.9 236.0 - - 1974 - - - - - - - - - 20.94 -
9472 733.2 10.8 421 9479 done 0.68 0.15 0.146 2890 -146.7 2.58 0.022 2237 -528.3 236.0 - - 1973 - - - - - - - - 20.79 21.16 -
9685 712.1 9.6 428 9687 done 0.68 - - 2890 - - - 2242 - 242.3 - - 1972 - - - - - - - - - - -
9864 695.4 9.3 434 9896 roll 0.69 - - 2890 - 2.83 0.047 3604 481.3 258.7 25.73 0.978 1908 -2.5 0.224 - - - - - - - 20.67 19.77
9934 689.4 9.3 436 9963 done 0.69 - - 2897 - 2.67 0.023 2217 -519.5 275.0 20.60 0.981 1842 -3.2 0.285 - - - - - - - 20.90 19.63
10170 666.5 9.1 444 10201 roll 0.72 - - 2898 - 2.90 0.046 3601 477.2 294.6 24.73 0.989 1758 -3.4 0.289 - - - - - - - 20.47 19.61
10219 663.8 9.1 445 10253 done 0.74 - - 2905 - 2.70 0.022 2207 -516.3 315.4 26.40 0.968 1677 -3.1 0.266 - - - - - - - 20.68 19.49
10444 640.0 9.9 453 10450 roll 0.74 - - 2909 - 2.78 0.037 800 -506.1 315.4 - - 1658 - - - - - - - - - 20.71 -
10467 640.0 9.9 453 10472 done 0.74 - - 2909 - 2.80 0.033 2222 507.9 315.4 - - 1658 - - - - - - - - - 20.79 -
10661 613.6 12.5 460 10666 roll 0.74 - - 2909 - 2.80 0.047 3601 492.5 315.4 - - 1660 - - - - - - - - - 20.75 -
10714 609.2 12.9 461 10720 done 0.74 - - 2911 - 2.62 0.022 2219 -527.5 315.4 - - 1655 - - - - - - - - - 20.99 -
10908 583.9 11.2 470 10914 roll 0.74 - - 2911 - 2.83 0.046 3600 488.0 315.4 - - 1654 - - - - - - - - - 20.80 -
10932 581.2 11.1 471 10937 done 0.74 - - 2917 - 2.60 0.022 2236 -524.6 315.4 - - 1654 - - - - - - - - - 21.06 -
11139 559.8 10.0 481 11144 roll 0.74 - - 2923 - 2.78 0.037 810 -512.9 315.4 - - 1654 - - - - - - - - - 20.94 -
11166 557.1 10.1 482 11172 done 0.74 - - 2923 - 2.78 0.031 2238 513.7 315.4 - - 1654 - - - - - - - - - 21.00 -
11366 536.7 10.0 492 11372 roll 0.74 - - 2923 - 2.75 0.047 3601 495.6 315.4 - - 1653 - - - - - - - - - 20.88 -
11405 534.0 10.3 493 11411 done 0.73 - - 2928 - 2.58 0.022 2238 -528.3 315.4 - - 1653 - - - - - - - - - 21.16 -
11591 512.9 10.4 503 11597 roll 0.72 0.12 0.148 2902 -216.7 2.78 0.036 802 -516.5 315.4 - - 1653 - - - - - - - - 21.07 21.01 -
11611 512.9 10.4 503 11619 done 0.71 - - 2902 - 2.78 0.031 2244 518.7 315.4 - - 1651 - - - - - - - - - 21.08 -
11796 493.4 9.5 513 11806 roll 0.72 - - 2902 - 2.72 0.046 3598 497.8 326.2 1.98 0.155 1638 -6.6 2.643 - - - - - - - 21.13 20.82
11840 489.2 9.6 515 11864 done 0.73 - - 2902 - 2.55 0.023 2238 -533.3 332.5 17.42 0.934 1610 -1.6 0.106 - - - - - - - 21.23 19.94
12063 468.1 9.3 526 12087 roll 0.76 - - 2902 - 2.83 0.037 805 -506.4 346.5 17.98 0.916 1546 -3.6 0.230 - - - - - - - 20.73 19.79
12111 463.6 9.6 528 12122 done 0.79 - - 2902 - 2.80 0.031 2239 512.1 354.5 2.60 0.420 1519 -10.4 1.449 - - - - - - - 20.80 19.56
12312 443.2 10.3 538 12318 roll 0.81 - - 2901 - 2.75 0.047 3601 495.3 354.5 - - 1528 - - - - - - - - - 20.72 -
12372 438.1 10.6 540 12379 done 0.82 - - 2901 - 2.55 0.022 2259 -526.3 354.5 - - 1528 - - - - - - - - - 20.97 -
12558 417.0 10.4 550 12564 roll 0.87 0.12 0.067 2957 466.7 2.83 0.034 805 -513.8 354.5 - - 1528 - - - - - - - - 21.22 20.87 -
12644 406.6 12.3 554 12649 done 0.87 - - 2957 - 2.80 0.031 2236 511.1 354.5 - - 1528 - - - - - - - - - 20.95 -
12850 382.0 12.1 564 12855 roll 0.85 - - 2956 - 2.75 0.047 3604 497.5 354.5 - - 1528 - - - - - - - - - 20.85 -
12893 376.1 12.3 566 12900 done 0.82 0.15 0.145 2935 -140.0 2.58 0.023 2248 -525.6 354.5 - - 1528 - - - - - - - - 20.73 21.11 -
13101 354.0 10.4 576 13106 roll 0.82 - - 2943 - 2.78 0.036 805 -519.1 354.5 - - 1528 - - - - - - - - - 21.00 -
13158 349.2 10.5 578 13165 done 0.82 - - 2943 - 2.78 0.031 2244 517.6 354.5 - - 1528 - - - - - - - - - 21.08 -
13346 329.5 9.5 588 13371 roll 0.83 - - 2943 - 2.83 0.046 3606 481.3 363.8 19.58 0.828 1479 -2.5 0.126 - - - - - - - 20.86 20.01
13405 325.1 9.4 590 13425 done 0.85 - - 2949 - 2.60 0.022 2236 -526.9 376.2 15.38 0.803 1434 -2.9 0.150 - - - - - - - 21.01 19.86
13618 303.1 9.5 601 13627 roll 0.86 - - 2960 - 2.80 0.036 805 -511.1 386.7 3.95 0.659 1390 -11.1 0.648 - - - - - - - 20.88 19.68
13650 300.5 9.5 602 13681 done 0.87 - - 2960 - 2.83 0.031 2248 509.9 397.0 23.85 0.805 1343 -2.0 0.093 - - - - - - - 20.88 19.79
13861 278.2 10.3 613 13866 roll 0.87 - - 2960 - 2.75 0.046 3601 492.0 397.0 - - 1327 - - - - - - - - - 20.69 -
13919 273.1 11.0 615 13926 done 0.86 - - 2966 - 2.58 0.021 2246 -525.2 397.0 - - 1327 - - - - - - - - - 20.91 -
14105 251.3 10.7 625 14111 roll 0.86 - - 2976 - 2.80 0.036 809 -513.2 397.0 - - 1327 - - - - - - - - - 20.84 -
14132 248.5 10.9 626 14139 done 0.86 0.15 0.118 2946 -200.0 2.78 0.031 2244 516.2 397.0 - - 1327 - - - - - - - - 20.68 20.91 -
14337 226.8 10.9 636 14344 roll 0.87 - - 2946 - 2.72 0.045 3600 498.5 397.0 - - 1327 - - - - - - - - - 20.82 -
14372 223.2 11.2 637 14377 done 0.87 - - 2953 - 2.55 0.021 2244 -531.8 397.0 - - 1326 - - - - - - - - - 21.07 -
14567 200.4 11.0 647 14572 roll 0.88 - - 2948 - 2.78 0.037 809 -516.2 397.0 - - 1326 - - - - - - - - - 21.01 -
14612 195.7 10.7 649 14618 done 0.90 - - 2948 - 2.75 0.029 2246 522.5 397.0 - - 1326 - - - - - - - - - 21.04 -
14818 173.1 11.1 659 14824 roll 0.91 - - 2948 - 2.70 0.046 3602 502.2 397.0 - - 1326 - - - - - - - - - 20.95 -
14866 167.5 11.5 661 14871 done 0.91 - - 2948 - 2.50 0.021 2254 -539.2 397.0 - - 1331 - - - - - - - - - 21.20 -
15067 143.9 11.9 671 15072 roll 0.92 - - 2948 - 2.78 0.036 808 -520.1 397.0 - - 1326 - - - - - - - - - 21.13 -
15100 140.9 11.8 672 15106 done 0.94 - - 2948 - 2.75 0.031 2255 526.2 397.0 - - 1331 - - - - - - - - - 21.21 -
15298 119.7 9.8 682 15304 roll 0.96 - - 2948 - 2.67 0.045 3603 504.9 398.2 - - 1326 - - - - - - - - - 21.06 -
15317 119.7 9.8 682 15324 done 0.98 - - 2948 - 2.53 0.020 2243 -537.5 399.3 - - 1326 - - - - - - - - - 21.32 -
15504 98.4 10.4 692 15510 roll 1.01 0.12 0.070 3004 466.7 2.72 0.034 811 -526.5 399.3 - - 1327 - - - - - - - - 21.56 21.17 -
15538 95.2 10.9 693 15543 done 1.03 - - 3004 - 2.72 0.030 2249 528.7 399.3 - - 1327 - - - - - - - - - 21.25 -
15733 73.7 10.2 703 15738 roll 1.01 - - 3004 - 2.65 0.044 3604 511.3 399.3 - - 1327 - - - - - - - - - 21.13 -
15887 59.1 9.7 710 15894 done 0.99 - - 3004 - 2.42 0.020 2282 -546.3 405.1 1.62 0.152 1312 -9.3 0.455 - - - - - - - 21.41 21.06
16083 41.4 8.1 725 16120 roll 1.07 - - 3005 - 2.85 0.036 810 -516.5 453.3 28.30 0.200 1124 -6.6 0.174 - - - - - - - 21.28 20.86
16191 32.9 8.2 735 16223 done 1.16 - - 3005 - 2.78 0.028 2287 531.3 497.2 26.90 0.182 939 -6.9 0.157 - - - - - - - 21.27 20.82
16402 14.3 9.0 756 16425 roll 1.25 0.17 0.052 3087 482.4 2.85 0.034 804 -520.4 521.7 14.70 0.137 840 -6.7 0.089 - - - - - - 21.49 21.25 20.99
16497 end climb: SURFACE_DEPTH_REACHED
16497 begin surface coast
16518 end surface coast: CONTROL_FINISHED_OK
16518 begin surface
SM 1.88 - - - - -7.88 9.52 0.031 127 -310.9 3.17 0.029 2445 517.7 519.79 - - 849 - - - - - - - -