OKMC Feb13 * SG121 * Dive index * Mission links * Dive 21 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 4.16 of 150.00 AH used of 24V (97.23% remains)
• Previous NAKs 0, Timeouts 0 • 3.21 of 100.00 AH used of 10V (96.79% remains)
• Surface angle -64.4 deg, depth 1.77 m • Intended pitch -18.4 deg, speed -9.167 cm/s
• No surface pump (final VBD was 429.27, SM_CC=400)
• GPS1 time: 36 s
• GPS2 time: 17 s • Transponder ping count: 1
• 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 - - - 73 VBD -1.11 - - 83 - - - 2014 - -170.3 -54.05 - 2477 - - - - - - - - - - -
76 3.3 -5.0 7 115 roll -1.11 8.60 0.248 2131 238.1 2.22 0.054 581 -645.5 -170.3 -20.48 - 3493 -49.6 - - - - - - - 25.92 26.14 26.41
264 37.7 -19.4 34 273 done -1.11 - - 2123 - 1.98 0.015 1966 699.5 -170.3 - - 3495 - - - - - - - - - 26.34 -
572 89.1 -14.1 53 578 roll -1.11 - - 2112 - 2.08 0.029 3373 676.4 -170.3 - - 3496 - - - - - - - - - 26.45 -
636 98.8 -15.1 56 642 done -1.11 - - 2120 - 2.05 0.024 1989 -675.1 -170.3 - - 3496 - - - - - - - - - 26.48 -
960 140.0 -10.9 72 966 roll -1.11 - - 2112 - 2.08 0.030 3376 666.8 -170.3 - - 3498 - - - - - - - - - 26.56 -
1038 146.8 -10.8 75 1046 done -1.11 - - 2119 - 2.05 0.024 1985 -678.5 -170.3 - - 3498 - - - - - - - - - 26.60 -
1344 183.4 -12.0 91 1350 roll -1.11 - - 2129 - 2.10 0.041 592 -663.3 -170.3 - - 3499 - - - - - - - - - 26.63 -
1513 204.1 -11.9 99 1519 done -1.11 - - 2121 - 1.98 0.017 1997 709.6 -170.3 - - 3499 - - - - - - - - - 26.72 -
1837 237.5 -9.4 115 1843 roll -1.11 - - 2129 - 2.12 0.039 595 -661.3 -170.3 - - 3499 - - - - - - - - - 26.70 -
1870 239.9 -9.6 116 1876 done -1.11 - - 2121 - 1.98 0.017 2002 710.6 -170.3 - - 3499 - - - - - - - - - 26.75 -
2183 269.9 -9.7 132 2184 done -1.11 - - 2121 - - - 2002 - -170.3 - - 3498 - - - - - - - - - - -
2483 301.0 -10.3 147 2489 roll -1.11 - - 2128 - 2.12 0.041 599 -661.8 -170.3 - - 3495 - - - - - - - - - 26.73 -
2556 307.3 -9.9 150 2563 done -1.11 - - 2120 - 1.98 0.017 2005 710.1 -170.3 - - 3495 - - - - - - - - - 26.81 -
2872 336.8 -8.6 166 2877 roll -1.11 - - 2110 - 2.00 0.030 3378 686.5 -170.3 - - 3493 - - - - - - - - - 26.77 -
2946 342.4 -8.3 169 2952 done -1.11 - - 2114 - 2.03 0.024 1994 -681.8 -170.3 - - 3492 - - - - - - - - - 26.79 -
3260 370.7 -9.2 185 3267 roll -1.11 - - 2124 - 2.10 0.044 593 -667.1 -170.3 - - 3490 - - - - - - - - - 26.77 -
3379 380.5 -9.4 190 3387 done -1.11 - - 2116 - 1.98 0.017 1999 710.1 -170.3 - - 3488 - - - - - - - - - 26.84 -
3686 406.9 -7.7 206 3692 roll -1.11 - - 2105 - 2.00 0.031 3368 684.5 -170.3 - - 3486 - - - - - - - - - 26.79 -
3771 413.3 -7.5 210 3776 done -1.11 - - 2112 - 2.00 0.025 2001 -683.5 -170.3 - - 3486 - - - - - - - - - 26.81 -
4095 438.7 -8.2 226 4100 roll -1.11 - - 2122 - 2.10 0.044 600 -667.1 -170.3 - - 3483 - - - - - - - - - 26.79 -
4152 442.3 -8.3 228 4160 done -1.11 - - 2113 - 1.98 0.017 2002 708.1 -170.3 - - 3483 - - - - - - - - - 26.85 -
4459 470.8 -9.4 244 4460 done -1.11 - - 2113 - - - 2002 - -170.3 - - 3481 - - - - - - - - - - -
4759 498.7 -9.1 259 4765 roll -1.11 - - 2121 - 2.15 0.044 593 -655.3 -170.3 - - 3478 - - - - - - - - - 26.79 -
4804 502.8 -9.0 261 4811 done -1.11 - - 2112 - 2.00 0.017 2001 704.0 -170.3 - - 3478 - - - - - - - - - 26.86 -
5129 530.5 -8.3 277 5135 roll -1.11 - - 2103 - 2.03 0.032 3384 681.3 -170.3 - - 3476 - - - - - - - - - 26.82 -
5177 534.2 -8.3 279 5184 done -1.11 0.10 0.158 2133 300.0 2.05 0.026 1991 -679.5 -170.3 - - 3475 - - - - - - - - 26.72 26.83 -
5498 557.7 -7.5 295 5503 roll -1.11 - - 2143 - 2.10 0.046 598 -663.3 -170.3 - - 3474 - - - - - - - - - 26.79 -
5530 559.6 -7.6 296 5537 done -1.11 - - 2135 - 2.00 0.017 2010 706.0 -170.3 - - 3474 - - - - - - - - - 26.87 -
5845 583.9 -7.7 312 5851 roll -1.11 - - 2125 - 2.00 0.032 3374 682.0 -170.3 - - 3472 - - - - - - - - - 26.82 -
5906 587.4 -7.7 314 5915 done -1.11 - - 2126 - 2.03 0.027 2000 -676.8 -170.3 - - 3472 - - - - - - - - - 26.83 -
6231 615.2 -8.3 328 6232 done -1.11 - - 2126 - - - 1999 - -170.3 - - 3470 - - - - - - - - - - -
6531 639.3 -7.9 338 6538 roll -1.11 - - 2118 - 2.05 0.031 3373 670.2 -170.3 - - 3468 - - - - - - - - - 26.82 -
6566 642.0 -7.9 339 6572 done -1.11 - - 2119 - 2.05 0.027 1993 -673.2 -170.3 - - 3468 - - - - - - - - - 26.83 -
6900 668.8 -7.7 350 6906 roll -1.11 - - 2119 - 2.12 0.047 592 -660.8 -170.3 - - 3466 - - - - - - - - - 26.79 -
6964 673.6 -7.5 352 6970 done -1.11 - - 2111 - 2.03 0.018 2006 696.6 -170.3 - - 3466 - - - - - - - - - 26.86 -
7297 697.3 -7.0 363 7303 roll -1.11 - - 2101 - 2.03 0.034 3379 676.4 -170.3 - - 3464 - - - - - - - - - 26.82 -
7361 701.8 -7.0 365 7368 done -1.11 0.10 0.163 2128 270.0 2.05 0.027 1995 -675.1 -170.3 - - 3463 - - - - - - - - 26.68 26.82 -
7696 723.2 -6.3 376 7702 roll -1.11 - - 2137 - 2.12 0.048 599 -658.5 -170.3 - - 3462 - - - - - - - - - 26.78 -
7742 725.6 -6.5 377 7748 done -1.11 - - 2130 - 2.00 0.018 2002 701.5 -170.3 - - 3462 - - - - - - - - - 26.86 -
8061 749.6 -7.7 388 8068 roll -1.11 - - 2133 - 2.20 0.047 589 -642.3 -170.3 - - 3462 - - - - - - - - - 26.77 -
8099 752.8 -8.3 389 8106 done -1.11 - - 2125 - 2.03 0.018 2004 697.0 -170.3 - - 3461 - - - - - - - - - 26.86 -
8428 783.1 -9.4 400 8434 roll -1.11 - - 2115 - 2.05 0.034 3389 675.6 -170.3 - - 3459 - - - - - - - - - 26.81 -
8466 786.1 -9.4 401 8472 done -1.11 - - 2118 - 2.05 0.028 2002 -676.6 -170.3 - - 3459 - - - - - - - - - 26.82 -
8795 816.7 -9.0 412 8796 done -1.11 - - 2117 - - - 2002 - -170.3 - - 3458 - - - - - - - - - - -
9095 841.3 -7.9 422 9101 roll -1.11 - - 2120 - 2.15 0.049 592 -655.8 -170.3 - - 3457 - - - - - - - - - 26.79 -
9129 844.1 -7.9 423 9135 done -1.11 - - 2111 - 2.03 0.018 1999 693.1 -170.3 - - 3456 - - - - - - - - - 26.86 -
9463 868.7 -7.2 434 9470 roll -1.11 - - 2102 - 2.05 0.035 3382 674.6 -170.3 - - 3455 - - - - - - - - - 26.82 -
9528 873.2 -7.0 436 9535 done -1.11 0.12 0.153 2135 275.0 2.08 0.028 1992 -668.3 -170.3 - - 3456 - - - - - - - - 26.71 26.83 -
9863 891.9 -5.2 447 9870 roll -1.11 - - 2127 - 2.10 0.034 3385 663.3 -170.3 - - 3454 - - - - - - - - - 26.81 -
9912 893.6 -5.1 448 9918 done -1.11 - - 2130 - 2.08 0.029 1989 -671.2 -170.3 - - 3454 - - - - - - - - - 26.83 -
10231 910.4 -4.7 459 10237 roll -1.11 - - 2130 - 2.15 0.050 594 -648.8 -170.3 - - 3453 - - - - - - - - - 26.79 -
10275 912.2 -4.7 460 10281 done -1.11 - - 2122 - 2.03 0.018 2004 694.6 -170.3 - - 3453 - - - - - - - - - 26.86 -
10599 928.4 -4.9 471 10606 roll -1.11 - - 2113 - 2.05 0.036 3383 672.7 -170.3 - - 3452 - - - - - - - - - 26.81 -
10635 930.2 -4.9 472 10641 done -1.11 - - 2114 - 2.08 0.029 1997 -666.3 -170.3 - - 3452 - - - - - - - - - 26.82 -
10969 949.0 -6.0 483 10970 done -1.11 - - 2114 - - - 1997 - -170.3 - - 3450 - - - - - - - - - - -
11269 967.4 -6.2 493 11270 done -1.11 - - 2114 - - - 1997 - -170.3 - - 3450 - - - - - - - - - - -
11569 987.0 -6.7 503 11570 done -1.11 - - 2114 - - - 1999 - -170.3 - - 3449 - - - - - - - - - - -
11627 end dive: TARGET_DEPTH_EXCEEDED
11627 begin apogee
11631 990.9 -6.7 505 11797 done -0.19 0.65 0.118 2332 335.4 - - 1772 - - 156.45 1.207 2791 -4.2 0.359 - - - - - - 26.72 - 23.78
11799 end apogee: CONTROL_FINISHED_OK
11799 begin climb
11800 995.6 - 510 11974 roll 1.11 0.80 0.056 2628 370.0 2.17 0.054 546 -565.0 170.3 164.80 1.202 2094 -4.2 0.364 - - - - - - 24.80 24.46 23.68
12003 990.4 4.8 517 12132 done 1.41 0.17 0.076 2692 376.5 1.90 0.017 1786 652.6 292.0 118.57 1.180 1599 -4.2 0.364 - - - - - - 24.96 25.02 23.63
12423 936.9 13.6 531 12429 roll 1.41 - - 2692 - 2.12 0.031 3154 645.3 292.0 - - 1591 - - - - - - - - - 25.75 -
12657 906.5 14.1 538 12664 done 1.41 0.12 0.190 2674 -150.0 2.15 0.037 1786 -636.3 292.0 - - 1590 - - - - - - - - 25.89 26.01 -
12971 861.5 13.6 549 12977 roll 1.41 - - 2673 - 2.10 0.031 3148 648.6 292.0 - - 1589 - - - - - - - - - 26.22 -
13205 831.0 14.3 556 13212 done 1.41 - - 2682 - 2.15 0.036 1766 -642.8 292.0 - - 1589 - - - - - - - - - 26.31 -
13520 783.4 14.4 567 13526 roll 1.41 - - 2683 - 2.12 0.031 3151 653.3 292.0 - - 1589 - - - - - - - - - 26.41 -
13754 751.7 14.6 574 13760 done 1.41 - - 2692 - 2.12 0.036 1774 -649.5 292.0 - - 1588 - - - - - - - - - 26.45 -
14068 709.7 12.1 585 14074 roll 1.41 - - 2701 - 1.98 0.056 524 -631.3 292.0 - - 1588 - - - - - - - - - 26.48 -
14241 690.5 12.4 590 14249 done 1.41 0.12 0.188 2672 -241.7 1.80 0.018 1795 706.1 292.0 - - 1588 - - - - - - - - 26.41 26.60 -
14556 653.2 10.7 601 14563 roll 1.41 - - 2672 - 2.03 0.033 3144 664.5 292.0 - - 1588 - - - - - - - - - 26.58 -
14790 628.1 12.1 608 14796 done 1.41 - - 2681 - 2.12 0.036 1761 -652.4 292.0 - - 1587 - - - - - - - - - 26.60 -
15103 590.6 11.1 620 15109 roll 1.41 - - 2681 - 2.10 0.031 3141 657.1 292.0 - - 1587 - - - - - - - - - 26.63 -
15339 562.9 12.5 631 15345 done 1.41 - - 2690 - 2.10 0.036 1772 -651.9 292.0 - - 1588 - - - - - - - - - 26.64 -
15652 521.2 12.9 647 15658 roll 1.41 - - 2690 - 2.08 0.031 3140 657.7 292.0 - - 1588 - - - - - - - - - 26.67 -
15888 491.2 13.6 658 15895 done 1.41 0.10 0.198 2677 -130.0 2.10 0.036 1767 -653.8 292.0 - - 1588 - - - - - - - - 26.55 26.67 -
16204 452.6 10.9 674 16209 roll 1.41 - - 2677 - 2.08 0.031 3137 658.7 292.0 - - 1588 - - - - - - - - - 26.70 -
16444 428.4 10.2 685 16450 done 1.41 - - 2686 - 2.08 0.035 1775 -654.8 292.0 - - 1588 - - - - - - - - - 26.70 -
16757 396.5 10.3 701 16764 roll 1.41 - - 2686 - 2.08 0.030 3148 660.1 292.0 - - 1588 - - - - - - - - - 26.72 -
16994 370.7 11.7 712 17000 done 1.41 - - 2696 - 2.10 0.035 1771 -655.7 292.0 - - 1588 - - - - - - - - - 26.72 -
17307 333.6 11.8 728 17313 roll 1.41 - - 2696 - 2.08 0.030 3145 660.6 292.0 - - 1588 - - - - - - - - - 26.73 -
17543 305.1 12.5 739 17549 done 1.41 0.12 0.187 2675 -175.0 2.10 0.035 1766 -656.7 292.0 - - 1588 - - - - - - - - 26.60 26.73 -
17857 271.5 10.2 755 17863 roll 1.41 - - 2684 - 1.92 0.053 526 -645.8 292.0 - - 1587 - - - - - - - - - 26.71 -
18052 252.0 10.6 764 18059 done 1.41 - - 2684 - 1.75 0.017 1775 713.7 292.0 - - 1588 - - - - - - - - - 26.81 -
18367 217.6 10.5 780 18373 roll 1.41 - - 2684 - 2.03 0.031 3152 678.3 292.0 - - 1588 - - - - - - - - - 26.76 -
18606 194.2 9.9 791 18612 done 1.41 - - 2693 - 2.10 0.033 1765 -660.5 292.0 - - 1587 - - - - - - - - - 26.76 -
18920 164.2 8.4 807 18949 roll 1.47 - - 2693 - 2.12 0.029 3136 646.7 314.1 20.52 0.550 1510 -3.8 0.116 - - - - - - - 26.54 26.08
19177 140.1 9.9 819 19183 done 1.47 - - 2703 - 2.08 0.033 1774 -654.8 314.1 - - 1508 - - - - - - - - - 26.58 -
19491 107.9 10.3 835 19497 roll 1.47 - - 2702 - 2.05 0.028 3145 668.8 314.1 - - 1508 - - - - - - - - - 26.64 -
19726 85.6 10.0 846 19732 done 1.47 0.10 0.184 2688 -140.0 2.08 0.031 1773 -659.6 314.1 - - 1508 - - - - - - - - 26.54 26.66 -
20041 58.5 7.1 862 20097 roll 1.61 0.12 0.091 2749 508.3 2.08 0.025 3144 659.1 370.5 49.12 0.448 1278 -4.7 0.064 - - - - - - 26.70 26.23 25.86
20297 32.7 9.4 882 20306 done 1.61 0.15 0.171 2720 -193.3 2.10 0.031 1768 -655.2 370.5 - - 1275 - - - - - - - - 26.25 26.37 -
20609 11.1 7.1 933 20642 roll 1.75 0.12 0.081 2782 516.7 2.15 0.026 3152 643.7 428.1 25.20 0.088 1048 -9.0 0.118 - - - - - - 26.52 26.46 26.38
20688 end climb: SURFACE_DEPTH_REACHED
20688 begin surface coast
20716 end surface coast: CONTROL_FINISHED_OK
20716 begin surface
SM 1.51 - - - - -10.40 6.93 0.030 92 13.3 1.80 0.028 1997 -4723.9 429.27 - - 1045 - - - - - - - -