OKMC Feb13 * SG121 * Dive index * Mission links * Dive 31 * Raw log
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• Previous call tries 1 • 5.91 of 150.00 AH used of 24V (96.06% remains)
• Previous NAKs 0, Timeouts 0 • 4.42 of 100.00 AH used of 10V (95.58% remains)
• Surface angle -56.6 deg, depth 1.87 m • Intended pitch -18.4 deg, speed -9.167 cm/s
• No surface pump (final VBD was 492.07, SM_CC=400)
• GPS1 time: 37 s
• GPS2 time: 13 s • Transponder ping count: 2
• 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
18 - - - 74 VBD -1.11 - - 82 - - - 1955 - -170.3 -54.35 - 2385 - - - - - - - - - - -
77 3.3 -4.4 7 116 roll -1.11 8.48 0.243 2130 241.5 2.20 0.053 574 -627.7 -170.3 -22.45 - 3493 -49.4 - - - - - - - 25.93 26.15 26.42
245 34.7 -19.3 32 254 done -1.11 - - 2122 - 2.03 0.015 1991 698.0 -170.3 - - 3495 - - - - - - - - - 26.34 -
562 90.9 -15.1 52 569 roll -1.11 - - 2130 - 2.17 0.038 573 -653.5 -170.3 - - 3497 - - - - - - - - - 26.44 -
736 114.1 -13.5 60 742 done -1.11 - - 2122 - 1.98 0.016 1976 708.6 -170.3 - - 3498 - - - - - - - - - 26.57 -
1050 158.7 -13.7 76 1056 roll -1.11 - - 2112 - 2.00 0.028 3338 681.0 -170.3 - - 3499 - - - - - - - - - 26.59 -
1169 172.0 -12.6 81 1177 done -1.11 - - 2120 - 2.00 0.023 1967 -685.5 -170.3 - - 3498 - - - - - - - - - 26.63 -
1475 206.9 -10.6 97 1480 roll -1.11 - - 2129 - 2.08 0.039 580 -666.8 -170.3 - - 3498 - - - - - - - - - 26.65 -
1593 218.7 -11.4 102 1601 done -1.11 - - 2121 - 1.95 0.016 1980 717.9 -170.3 - - 3498 - - - - - - - - - 26.74 -
1899 252.4 -10.3 118 1905 roll -1.11 - - 2129 - 2.12 0.037 576 -662.3 -170.3 - - 3498 - - - - - - - - - 26.70 -
1932 255.1 -10.4 119 1938 done -1.11 - - 2121 - 1.95 0.016 1975 717.4 -170.3 - - 3498 - - - - - - - - - 26.77 -
2246 288.9 -9.8 135 2247 done -1.11 - - 2121 - - - 1976 - -170.3 - - 3497 - - - - - - - - - - -
2546 314.1 -7.3 150 2552 roll -1.11 - - 2129 - 2.12 0.038 573 -661.8 -170.3 - - 3495 - - - - - - - - - 26.74 -
2615 318.8 -7.1 153 2622 done -1.11 - - 2121 - 1.95 0.016 1972 717.4 -170.3 - - 3495 - - - - - - - - - 26.82 -
2935 343.9 -8.6 169 2941 roll -1.11 - - 2110 - 2.00 0.029 3345 686.5 -170.3 - - 3493 - - - - - - - - - 26.77 -
3039 353.7 -9.5 174 3045 done -1.11 - - 2116 - 2.03 0.024 1969 -677.8 -170.3 - - 3492 - - - - - - - - - 26.79 -
3364 384.3 -9.4 190 3370 roll -1.11 - - 2126 - 2.10 0.042 573 -664.8 -170.3 - - 3489 - - - - - - - - - 26.77 -
3430 390.6 -9.4 193 3436 done -1.11 - - 2118 - 1.98 0.016 1975 708.1 -170.3 - - 3489 - - - - - - - - - 26.84 -
3754 421.0 -9.8 209 3755 done -1.11 - - 2118 - - - 1975 - -170.3 - - 3487 - - - - - - - - - - -
4054 448.7 -8.8 224 4060 roll -1.11 - - 2126 - 2.12 0.041 573 -661.3 -170.3 - - 3485 - - - - - - - - - 26.79 -
4092 450.9 -8.8 225 4100 done -1.11 - - 2118 - 1.98 0.016 1980 710.6 -170.3 - - 3484 - - - - - - - - - 26.85 -
4398 476.8 -7.8 241 4404 roll -1.11 - - 2108 - 1.98 0.030 3334 683.8 -170.3 - - 3482 - - - - - - - - - 26.80 -
4442 480.3 -7.9 243 4448 done -1.11 - - 2112 - 2.00 0.024 1978 -678.0 -170.3 - - 3482 - - - - - - - - - 26.82 -
4767 503.6 -7.2 259 4769 done -1.11 - - 2112 - - - 1978 - -170.3 - - 3479 - - - - - - - - - - -
5066 526.0 -7.7 274 5073 roll -1.11 - - 2105 - 2.05 0.030 3344 666.3 -170.3 - - 3477 - - - - - - - - - 26.81 -
5106 528.0 -7.7 275 5114 done -1.11 - - 2110 - 2.03 0.025 1974 -674.9 -170.3 - - 3477 - - - - - - - - - 26.82 -
5411 555.5 -9.1 291 5417 roll -1.11 - - 2120 - 2.12 0.044 570 -662.3 -170.3 - - 3475 - - - - - - - - - 26.79 -
5455 559.8 -9.6 293 5461 done -1.11 - - 2112 - 2.00 0.017 1976 703.0 -170.3 - - 3474 - - - - - - - - - 26.86 -
5780 588.7 -8.9 309 5786 roll -1.11 - - 2102 - 2.03 0.031 3353 678.3 -170.3 - - 3473 - - - - - - - - - 26.81 -
5833 592.8 -9.3 311 5840 done -1.11 0.10 0.161 2131 290.0 2.05 0.026 1962 -678.5 -170.3 - - 3473 - - - - - - - - 26.70 26.82 -
6149 621.6 -9.1 323 6155 roll -1.11 - - 2140 - 2.10 0.045 579 -658.6 -170.3 - - 3472 - - - - - - - - - 26.79 -
6216 627.7 -9.3 325 6222 done -1.11 - - 2133 - 1.98 0.017 1975 705.1 -170.3 - - 3471 - - - - - - - - - 26.86 -
6545 655.8 -8.1 336 6551 roll -1.11 - - 2140 - 2.15 0.044 580 -648.8 -170.3 - - 3470 - - - - - - - - - 26.79 -
6579 658.4 -7.9 337 6585 done -1.11 - - 2133 - 2.00 0.017 1982 701.0 -170.3 - - 3469 - - - - - - - - - 26.86 -
6913 681.4 -6.7 348 6919 roll -1.11 - - 2123 - 2.03 0.032 3355 676.4 -170.3 - - 3468 - - - - - - - - - 26.81 -
6993 685.6 -6.6 350 6998 done -1.11 - - 2126 - 2.05 0.026 1968 -676.6 -170.3 - - 3467 - - - - - - - - - 26.82 -
7311 707.5 -7.0 361 7312 done -1.11 - - 2126 - - - 1968 - -170.3 - - 3466 - - - - - - - - - - -
7612 729.9 -7.6 371 7618 roll -1.11 - - 2118 - 2.08 0.032 3348 663.5 -170.3 - - 3464 - - - - - - - - - 26.80 -
7665 732.5 -7.6 372 7671 done -1.11 - - 2120 - 2.05 0.026 1965 -674.6 -170.3 - - 3464 - - - - - - - - - 26.82 -
7979 758.4 -7.6 383 7985 roll -1.11 - - 2130 - 2.12 0.047 570 -658.0 -170.3 - - 3463 - - - - - - - - - 26.79 -
8037 761.2 -7.8 384 8045 done -1.11 - - 2122 - 2.00 0.018 1972 701.0 -170.3 - - 3462 - - - - - - - - - 26.86 -
8345 785.6 -7.1 395 8350 roll -1.11 - - 2130 - 2.15 0.045 577 -648.8 -170.3 - - 3461 - - - - - - - - - 26.79 -
8379 788.1 -7.1 396 8384 done -1.11 - - 2122 - 2.00 0.018 1974 698.5 -170.3 - - 3461 - - - - - - - - - 26.86 -
8712 811.6 -6.8 407 8718 roll -1.11 - - 2112 - 2.05 0.034 3354 673.2 -170.3 - - 3459 - - - - - - - - - 26.81 -
8747 813.9 -6.8 408 8752 done -1.11 - - 2115 - 2.05 0.027 1976 -672.2 -170.3 - - 3459 - - - - - - - - - 26.82 -
9081 836.7 -6.8 419 9087 roll -1.11 - - 2125 - 2.15 0.050 571 -653.5 -170.3 - - 3458 - - - - - - - - - 26.79 -
9128 839.1 -6.9 420 9134 done -1.11 - - 2117 - 2.00 0.018 1973 701.0 -170.3 - - 3458 - - - - - - - - - 26.86 -
9447 862.7 -7.2 431 9448 done -1.11 - - 2117 - - - 1974 - -170.3 - - 3457 - - - - - - - - - - -
9747 884.8 -7.4 441 9753 roll -1.11 - - 2107 - 2.05 0.034 3353 672.7 -170.3 - - 3456 - - - - - - - - - 26.81 -
9794 887.4 -7.3 442 9800 done -1.11 - - 2113 - 2.05 0.028 1974 -672.7 -170.3 - - 3455 - - - - - - - - - 26.82 -
10113 912.8 -7.8 453 10114 done -1.11 - - 2113 - - - 1974 - -170.3 - - 3456 - - - - - - - - - - -
10414 937.9 -8.6 463 10419 roll -1.11 - - 2122 - 2.15 0.049 572 -652.1 -170.3 - - 3454 - - - - - - - - - 26.79 -
10460 941.0 -8.6 464 10466 done -1.11 - - 2114 - 2.03 0.018 1980 693.6 -170.3 - - 3454 - - - - - - - - - 26.86 -
10779 971.9 -9.3 475 10785 roll -1.11 - - 2104 - 2.08 0.035 3366 666.3 -170.3 - - 3453 - - - - - - - - - 26.79 -
10852 977.8 -9.2 477 10859 done -1.11 0.08 0.177 2126 275.0 2.08 0.029 1975 -668.8 -170.3 - - 3452 - - - - - - - - 26.70 26.82 -
10996 end dive: TARGET_DEPTH_EXCEEDED
10996 begin apogee
11000 991.2 -8.7 482 11166 done -0.19 0.60 0.115 2327 335.0 - - 2309 - - 157.25 1.209 2790 -4.2 0.359 - - - - - - 26.71 - 23.68
11167 end apogee: CONTROL_FINISHED_OK
11167 begin climb
11169 998.7 - 487 11344 roll 1.11 0.82 0.059 2620 357.3 2.33 0.038 3668 583.3 170.3 163.48 1.210 2093 -4.3 0.366 - - - - - - 24.86 24.51 23.65
11418 992.7 5.6 495 11525 done 1.35 0.12 0.090 2678 483.3 2.17 0.027 2310 -625.8 268.5 95.50 1.181 1693 -4.2 0.366 - - - - - - 25.26 25.27 23.65
11848 947.8 10.8 509 11854 roll 1.35 - - 2678 - 2.20 0.037 3686 625.5 268.5 - - 1685 - - - - - - - - - 25.79 -
11905 944.0 11.0 510 11914 done 1.35 0.10 0.200 2667 -110.0 2.17 0.029 2299 -639.2 268.5 - - 1685 - - - - - - - - 25.74 25.87 -
12212 907.3 11.0 521 12218 roll 1.35 - - 2678 - 2.25 0.047 885 -628.4 268.5 - - 1684 - - - - - - - - - 26.10 -
12239 907.3 11.0 521 12247 done 1.35 - - 2678 - 2.12 0.020 2296 665.6 268.5 - - 1684 - - - - - - - - - 26.17 -
12547 869.1 11.4 532 12553 roll 1.35 - - 2678 - 2.17 0.041 3703 648.4 268.5 - - 1684 - - - - - - - - - 26.28 -
12635 861.4 11.5 534 12644 done 1.35 0.10 0.200 2666 -120.0 2.15 0.028 2300 -652.6 268.5 - - 1683 - - - - - - - - 26.19 26.33 -
12943 823.7 11.6 545 12944 done 1.35 - - 2666 - - - 2300 - 268.5 - - 1682 - - - - - - - - - - -
13242 789.4 11.3 555 13248 roll 1.35 - - 2677 - 2.20 0.047 896 -638.2 268.5 - - 1682 - - - - - - - - - 26.45 -
13276 785.3 11.5 556 13282 done 1.35 - - 2676 - 2.10 0.019 2305 671.0 268.5 - - 1682 - - - - - - - - - 26.51 -
13610 744.6 12.5 567 13616 roll 1.35 - - 2677 - 2.12 0.039 3696 656.1 268.5 - - 1682 - - - - - - - - - 26.52 -
13644 740.0 12.8 568 13650 done 1.35 0.10 0.201 2665 -120.0 2.12 0.028 2298 -659.4 268.5 - - 1681 - - - - - - - - 26.40 26.54 -
13978 697.0 13.2 579 13984 roll 1.35 - - 2665 - 2.15 0.037 3688 646.5 268.5 - - 1680 - - - - - - - - - 26.56 -
14061 687.9 13.8 581 14067 done 1.35 - - 2674 - 2.10 0.028 2300 -661.0 268.5 - - 1681 - - - - - - - - - 26.58 -
14374 643.3 13.0 592 14380 roll 1.35 - - 2674 - 2.15 0.037 3692 647.4 268.5 - - 1681 - - - - - - - - - 26.60 -
14409 638.8 13.1 593 14414 done 1.35 - - 2684 - 2.12 0.028 2293 -659.9 268.5 - - 1681 - - - - - - - - - 26.62 -
14742 599.2 11.0 604 14748 roll 1.35 - - 2695 - 2.17 0.047 897 -643.3 268.5 - - 1681 - - - - - - - - - 26.60 -
14775 596.6 10.9 605 14782 done 1.35 0.12 0.183 2664 -258.3 2.08 0.018 2316 682.2 268.5 - - 1681 - - - - - - - - 26.50 26.67 -
15090 567.0 8.6 621 15114 roll 1.39 - - 2664 - 2.10 0.037 3684 651.4 285.2 14.50 0.840 1629 -3.6 0.252 - - - - - - - 26.38 25.74
15191 558.9 9.4 625 15199 done 1.39 - - 2674 - 2.10 0.028 2299 -659.5 285.2 - - 1627 - - - - - - - - - 26.43 -
15498 530.1 8.8 641 15515 roll 1.42 - - 2673 - 2.22 0.036 3683 623.4 295.5 11.77 0.826 1588 -3.3 0.221 - - - - - - - 26.29 25.65
15546 526.0 8.8 643 15566 done 1.44 - - 2684 - 2.12 0.028 2294 -655.2 305.3 11.30 0.821 1548 -3.5 0.236 - - - - - - - 26.32 25.48
15864 495.2 10.0 659 15865 done 1.44 - - 2683 - - - 2294 - 305.3 - - 1545 - - - - - - - - - - -
16164 462.3 11.6 674 16165 done 1.44 - - 2683 - - - 2294 - 305.3 - - 1545 - - - - - - - - - - -
16463 426.4 11.9 689 16470 roll 1.44 - - 2694 - 2.17 0.046 894 -645.2 305.3 - - 1545 - - - - - - - - - 26.47 -
16517 421.0 12.0 691 16523 done 1.44 - - 2694 - 2.08 0.018 2300 676.0 305.3 - - 1545 - - - - - - - - - 26.55 -
16830 387.7 10.1 707 16836 roll 1.44 - - 2694 - 2.10 0.037 3690 661.9 305.3 - - 1546 - - - - - - - - - 26.55 -
16949 376.2 11.1 712 16957 done 1.44 - - 2704 - 2.10 0.028 2300 -661.9 305.3 - - 1545 - - - - - - - - - 26.58 -
17256 341.0 11.6 728 17257 done 1.44 - - 2704 - - - 2300 - 305.3 - - 1545 - - - - - - - - - - -
17556 304.3 11.9 743 17562 roll 1.44 - - 2704 - 2.12 0.036 3688 654.7 305.3 - - 1545 - - - - - - - - - 26.63 -
17594 301.4 12.1 744 17604 done 1.44 0.12 0.187 2683 -175.0 2.10 0.028 2297 -662.4 305.3 - - 1545 - - - - - - - - 26.51 26.65 -
17900 266.3 11.3 760 17907 roll 1.44 - - 2693 - 2.15 0.044 896 -651.6 305.3 - - 1545 - - - - - - - - - 26.63 -
18006 254.9 10.5 765 18013 done 1.44 - - 2693 - 2.08 0.018 2311 680.3 305.3 - - 1545 - - - - - - - - - 26.71 -
18331 224.3 8.2 781 18365 roll 1.51 - - 2703 - 2.25 0.041 887 -632.9 331.2 26.73 0.597 1441 -3.9 0.152 - - - - - - - 26.31 25.84
18493 210.8 9.6 788 18501 done 1.51 - - 2704 - 2.08 0.017 2299 678.8 331.2 - - 1439 - - - - - - - - - 26.45 -
18800 174.7 11.7 804 18806 roll 1.51 - - 2703 - 2.10 0.036 3692 663.3 331.2 - - 1438 - - - - - - - - - 26.48 -
18899 162.9 13.9 808 18907 done 1.51 - - 2713 - 2.10 0.026 2297 -664.3 331.2 - - 1438 - - - - - - - - - 26.53 -
19206 123.2 10.9 824 19211 roll 1.51 - - 2724 - 2.15 0.043 896 -651.6 331.2 - - 1438 - - - - - - - - - 26.55 -
19280 115.7 11.4 827 19287 done 1.51 0.12 0.174 2693 -258.3 2.05 0.017 2315 692.2 331.2 - - 1438 - - - - - - - - 26.46 26.63 -
19597 88.7 5.6 843 19694 roll 1.76 0.15 0.080 2776 553.3 2.33 0.041 901 -606.9 431.4 86.28 0.469 1032 -4.7 0.093 - - - - - - 26.65 25.81 25.42
19867 64.6 9.6 855 19876 done 1.76 0.10 0.180 2754 -220.0 2.05 0.015 2303 683.9 431.4 - - 1029 - - - - - - - - 25.99 26.16 -
20174 33.0 7.1 880 20232 roll 1.91 0.12 0.087 2812 483.3 2.12 0.034 3673 646.2 490.1 47.80 0.422 793 -4.9 0.040 - - - - - - 26.34 25.93 25.56
20260 22.7 15.1 888 20268 done 1.91 0.15 0.175 2785 -180.0 2.10 0.024 2301 -653.3 490.1 - - 791 - - - - - - - - 25.86 26.01 -
20416 end climb: SURFACE_DEPTH_REACHED
20417 begin surface coast
20439 end surface coast: CONTROL_FINISHED_OK
20440 begin surface
SM 1.74 - - - - -10.41 7.00 0.029 86 12.3 0.50 0.043 1960 -6332.0 492.07 - - 789 - - - - - - - -