OKMC Mar13 * SG177 * Dive index * Mission links * Dive 138 * Raw log
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• Previous call tries 1 • 18.09 of 150.00 AH used of 24V (87.94% remains)
• Previous NAKs 0, Timeouts 0 • 15.83 of 100.00 AH used of 10V (84.17% remains)
• Surface angle -71.1 deg, depth -1.71 m • Intended pitch -12.2 deg, speed -9.167 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 58 s
• GPS2 time: 12 s • Transponder ping count: 13
• 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 - - - 87 done -0.57 - - 140 - - - 2401 - -42.5 -65.97 - 3168 - - - - - - - - - - 26.41
90 4.1 -15.4 9 106 roll -0.57 10.93 0.252 2744 238.2 2.05 0.020 952 -706.8 -42.5 - - 3172 - - - - - - - - 25.72 26.13 -
160 34.0 -29.3 17 168 done -0.57 - - 2737 - 2.00 0.029 2346 697.0 -42.5 - - 3175 - - - - - - - - - 26.13 -
467 105.9 -20.7 36 473 roll -0.57 - - 2726 - 2.03 0.041 3715 674.4 -42.5 - - 3176 - - - - - - - - - 26.28 -
527 114.0 -19.7 38 535 done -0.57 - - 2726 - 1.85 0.020 2345 -740.5 -42.5 - - 3177 - - - - - - - - - 26.39 -
834 157.6 -13.7 54 835 done -0.57 - - 2726 - - - 2345 - -42.5 - - 3178 - - - - - - - - - - -
1133 197.8 -13.4 69 1139 roll -0.57 - - 2726 - 1.88 0.032 1027 -701.1 -42.5 - - 3179 - - - - - - - - - 26.44 -
1272 215.6 -13.8 75 1281 done -0.57 0.10 0.183 2740 140.0 1.92 0.027 2384 706.8 -42.5 - - 3179 - - - - - - - - 26.32 26.49 -
1578 251.2 -10.3 91 1585 roll -0.57 - - 2741 - 1.95 0.031 1024 -697.4 -42.5 - - 3179 - - - - - - - - - 26.48 -
1623 255.9 -10.6 93 1629 done -0.57 - - 2736 - 1.92 0.027 2383 707.8 -42.5 - - 3178 - - - - - - - - - 26.52 -
1949 288.6 -10.4 109 1954 roll -0.57 - - 2732 - 1.92 0.041 3705 688.5 -42.5 - - 3178 - - - - - - - - - 26.50 -
2029 295.4 -10.0 112 2038 done -0.57 - - 2732 - 1.80 0.021 2356 -749.4 -42.5 - - 3177 - - - - - - - - - 26.61 -
2336 326.9 -9.9 128 2342 roll -0.57 - - 2732 - 1.88 0.031 1030 -705.3 -42.5 - - 3176 - - - - - - - - - 26.51 -
2451 337.0 -9.5 133 2457 done -0.57 - - 2729 - 1.90 0.028 2374 707.4 -42.5 - - 3175 - - - - - - - - - 26.55 -
2766 366.9 -9.2 149 2771 roll -0.57 - - 2726 - 1.95 0.042 3707 683.6 -42.5 - - 3173 - - - - - - - - - 26.51 -
2834 373.0 -9.0 152 2841 done -0.58 - - 2726 - 1.77 0.021 2377 -751.4 -43.4 - - 3172 - - - - - - - - - 26.63 -
3155 400.7 -7.9 168 3161 roll -0.59 - - 2726 - 1.90 0.031 1035 -706.3 -52.0 - - 3170 - - - - - - - - - 26.52 -
3244 407.1 -7.3 172 3250 done -0.62 - - 2716 - 1.90 0.028 2377 706.3 -64.8 - - 3169 - - - - - - - - - 26.55 -
3565 434.0 -7.9 188 3570 roll -0.64 - - 2719 - 1.92 0.032 1036 -698.4 -73.4 - - 3167 - - - - - - - - - 26.52 -
3624 437.8 -8.3 190 3633 done -0.65 - - 2714 - 1.90 0.028 2377 705.8 -79.5 - - 3166 - - - - - - - - - 26.55 -
3931 469.7 -10.9 206 3938 roll -0.65 - - 2714 - 1.92 0.031 1035 -699.0 -79.5 - - 3165 - - - - - - - - - 26.52 -
3991 474.9 -11.2 208 3999 done -0.65 - - 2708 - 1.90 0.029 2372 703.7 -79.5 - - 3167 - - - - - - - - - 26.55 -
4298 512.0 -10.8 224 4303 roll -0.65 - - 2708 - 1.92 0.032 1032 -697.9 -79.5 - - 3162 - - - - - - - - - 26.52 -
4423 525.2 -10.5 230 4429 done -0.65 - - 2704 - 1.92 0.029 2375 699.5 -79.5 - - 3161 - - - - - - - - - 26.55 -
4747 557.0 -10.4 246 4753 roll -0.65 - - 2704 - 1.92 0.032 1036 -697.4 -79.5 - - 3159 - - - - - - - - - 26.51 -
4796 561.9 -10.7 248 4802 done -0.65 0.08 0.200 2715 137.5 1.92 0.029 2382 701.0 -79.5 - - 3158 - - - - - - - - 26.39 26.55 -
5117 594.3 -10.5 264 5119 done -0.65 - - 2715 - - - 2382 - -79.5 - - 3157 - - - - - - - - - - -
5416 623.7 -9.7 275 5423 roll -0.65 - - 2715 - 1.95 0.033 1030 -693.3 -79.5 - - 3155 - - - - - - - - - 26.51 -
5546 635.7 -9.5 279 5551 done -0.65 - - 2713 - 1.92 0.030 2376 701.0 -79.5 - - 3155 - - - - - - - - - 26.54 -
5874 665.4 -8.8 290 5881 roll -0.65 - - 2713 - 1.92 0.033 1040 -695.8 -81.9 - - 3153 - - - - - - - - - 26.51 -
5963 671.0 -8.8 292 5971 done -0.66 - - 2708 - 1.90 0.030 2375 702.6 -84.4 - - 3152 - - - - - - - - - 26.54 -
6270 696.3 -7.3 303 6277 roll -0.68 - - 2708 - 1.92 0.033 1040 -695.3 -97.6 - - 3150 - - - - - - - - - 26.50 -
6366 703.7 -7.6 306 6372 done -0.71 - - 2703 - 1.95 0.031 2381 687.7 -108.7 - - 3150 - - - - - - - - - 26.53 -
6700 730.6 -8.1 317 6706 roll -0.72 - - 2703 - 1.95 0.033 1030 -692.8 -115.8 - - 3149 - - - - - - - - - 26.50 -
6849 740.4 -7.8 321 6857 done -0.74 - - 2700 - 1.92 0.031 2375 700.5 -125.2 - - 3148 - - - - - - - - - 26.53 -
7156 765.3 -8.0 332 7162 roll -0.76 0.08 0.129 2652 -600.0 1.98 0.044 3710 674.2 -133.0 - - 3146 - - - - - - - - 26.60 26.48 -
7184 765.3 -8.0 332 7193 done -0.77 0.10 0.186 2674 220.0 1.80 0.024 2382 -737.8 -140.8 - - 3146 - - - - - - - - 26.34 26.61 -
7491 798.4 -10.2 343 7497 roll -0.77 - - 2675 - 1.95 0.034 1025 -695.9 -140.8 - - 3145 - - - - - - - - - 26.48 -
7555 805.2 -10.3 345 7561 done -0.77 - - 2667 - 1.95 0.030 2381 695.4 -140.8 - - 3144 - - - - - - - - - 26.53 -
7889 840.3 -10.3 356 7895 roll -0.77 - - 2660 - 1.98 0.046 3710 671.2 -140.8 - - 3145 - - - - - - - - - 26.47 -
7988 850.5 -10.7 359 7995 done -0.77 0.08 0.191 2674 175.0 1.83 0.023 2370 -732.2 -140.8 - - 3144 - - - - - - - - 26.39 26.60 -
8317 883.2 -9.5 370 8319 done -0.77 - - 2674 - - - 2370 - -140.8 - - 3142 - - - - - - - - - - -
8618 911.4 -9.4 380 8623 roll -0.77 - - 2674 - 1.92 0.035 1034 -695.8 -140.8 - - 3141 - - - - - - - - - 26.47 -
8811 930.7 -10.7 386 8818 done -0.77 - - 2667 - 1.92 0.030 2377 699.5 -140.8 - - 3139 - - - - - - - - - 26.52 -
9134 end dive: TARGET_DEPTH_EXCEEDED
9134 begin apogee
9139 967.0 -10.3 397 9182 done -0.20 0.60 0.145 2857 316.7 - - 2264 - - 37.62 0.982 2991 -3.9 0.393 - - - - - - 26.26 - 25.08
9185 end apogee: CONTROL_FINISHED_OK
9185 begin climb
9186 968.6 - 398 9333 done 0.77 0.88 0.084 3168 353.4 - - 2264 - 140.8 142.82 0.962 2418 -4.0 0.409 - - - - - - 25.75 - 24.23
9617 933.5 12.1 413 9623 roll 0.77 - - 3168 - 2.12 0.045 3634 646.2 140.8 - - 2405 - - - - - - - - - 25.84 -
9730 920.0 13.7 416 9737 done 0.77 - - 3176 - 2.00 0.027 2273 -680.5 140.8 - - 2402 - - - - - - - - - 25.98 -
10046 877.9 12.1 427 10053 roll 0.77 - - 3179 - 2.17 0.050 848 -656.7 140.8 - - 2401 - - - - - - - - - 26.10 -
10126 869.4 12.4 429 10132 done 0.77 - - 3179 - 2.03 0.029 2244 687.7 140.8 - - 2400 - - - - - - - - - 26.20 -
10444 832.6 10.6 440 10451 roll 0.77 - - 3179 - 2.10 0.045 3638 663.8 140.8 - - 2399 - - - - - - - - - 26.24 -
10540 821.1 11.8 443 10546 done 0.77 - - 3187 - 2.05 0.026 2229 -687.3 140.8 - - 2398 - - - - - - - - - 26.29 -
10874 782.9 11.4 454 10875 done 0.77 - - 3187 - - - 2229 - 140.8 - - 2397 - - - - - - - - - - -
11174 747.4 11.9 464 11181 roll 0.77 - - 3197 - 2.05 0.047 857 -669.3 140.8 - - 2397 - - - - - - - - - 26.32 -
11294 736.5 11.4 467 11303 done 0.77 0.10 0.203 3176 -210.0 2.00 0.029 2250 696.5 140.8 - - 2396 - - - - - - - - 26.15 26.39 -
11600 704.1 9.5 478 11606 roll 0.77 - - 3176 - 2.08 0.044 3634 665.4 140.8 - - 2396 - - - - - - - - - 26.37 -
11673 697.0 10.3 480 11680 done 0.77 - - 3177 - 2.03 0.028 2227 -693.1 140.8 - - 2392 - - - - - - - - - 26.42 -
11998 664.8 9.1 491 12004 roll 0.77 - - 3186 - 2.03 0.043 857 -674.9 141.4 - - 2394 - - - - - - - - - 26.36 -
12037 661.8 8.8 492 12043 done 0.78 - - 3187 - 1.98 0.028 2238 697.5 144.0 - - 2393 - - - - - - - - - 26.44 -
12367 631.4 8.9 503 12373 roll 0.78 - - 3187 - 2.08 0.044 3635 671.6 145.6 - - 2394 - - - - - - - - - 26.40 -
12523 615.9 10.1 508 12529 done 0.78 - - 3191 - 2.03 0.027 2226 -694.1 145.6 - - 2391 - - - - - - - - - 26.48 -
12848 586.1 9.9 521 12855 roll 0.78 0.08 0.233 3187 -50.0 2.03 0.042 855 -675.4 145.6 - - 2393 - - - - - - - - 26.37 26.39 -
12947 577.9 9.6 525 12955 done 0.78 - - 3187 - 1.98 0.028 2241 700.0 145.6 - - 2393 - - - - - - - - - 26.47 -
13253 543.8 11.3 541 13254 done 0.78 - - 3187 - - - 2241 - 145.6 - - 2393 - - - - - - - - - - -
13554 514.7 8.9 556 13555 done 0.78 - - 3187 - - - 2241 - 147.4 - - 2393 - - - - - - - - - - -
13854 486.8 9.0 571 13860 roll 0.79 - - 3186 - 2.08 0.044 3640 672.6 148.9 - - 2393 - - - - - - - - - 26.44 -
13941 477.2 10.9 575 13947 done 0.79 - - 3191 - 2.00 0.025 2227 -706.5 148.9 - - 2392 - - - - - - - - - 26.51 -
14267 440.1 12.0 591 14273 roll 0.79 - - 3191 - 2.10 0.042 3636 671.0 148.9 - - 2393 - - - - - - - - - 26.44 -
14306 436.7 12.2 592 14314 done 0.79 0.10 0.223 3180 -110.0 1.95 0.024 2244 -713.8 148.9 - - 2395 - - - - - - - - 26.22 26.52 -
14613 405.8 8.9 608 14625 roll 0.79 - - 3179 - 2.10 0.043 3636 662.9 150.5 4.00 0.544 2379 -4.0 0.302 - - - - - - - 26.42 25.56
14719 394.9 10.5 613 14725 done 0.79 - - 3185 - 1.98 0.024 2230 -710.1 150.5 - - 2379 - - - - - - - - - 26.48 -
15044 368.7 7.4 629 15063 done 0.81 - - 3185 - - - 2229 - 162.5 14.55 0.628 2326 -3.6 0.217 - - - - - - - - 25.70
15363 338.5 10.6 645 15368 roll 0.81 - - 3194 - 2.00 0.042 871 -679.0 162.5 - - 2323 - - - - - - - - - 26.29 -
15416 333.6 10.9 647 15422 done 0.81 - - 3200 - 1.95 0.027 2243 703.6 162.5 - - 2324 - - - - - - - - - 26.37 -
15731 300.9 9.4 663 15737 roll 0.81 - - 3194 - 2.08 0.042 3640 671.6 162.5 - - 2322 - - - - - - - - - 26.36 -
15875 287.1 10.7 669 15884 done 0.81 0.08 0.233 3190 -50.0 1.98 0.023 2242 -706.1 162.5 - - 2322 - - - - - - - - 26.22 26.45 -
16181 255.9 8.2 685 16188 done 0.83 - - 3190 - - - 2241 - 169.2 5.53 0.579 2303 -3.4 0.154 - - - - - - - - 25.71
16480 229.5 9.6 700 16486 roll 0.83 - - 3197 - 2.03 0.043 865 -677.8 169.2 - - 2302 - - - - - - - - - 26.36 -
16718 209.2 7.3 711 16736 done 0.85 - - 3197 - 1.95 0.026 2245 707.7 181.9 13.30 0.542 2248 -4.1 0.159 - - - - - - - 26.46 25.73
17055 180.8 8.9 728 17061 roll 0.86 - - 3197 - 2.08 0.042 3631 666.3 183.9 - - 2244 - - - - - - - - - 26.33 -
17176 170.2 10.1 733 17184 done 0.86 - - 3205 - 1.98 0.023 2233 -706.1 183.9 - - 2244 - - - - - - - - - 26.41 -
17482 142.7 8.4 749 17491 done 0.87 - - 3205 - - - 2232 - 188.9 6.60 0.500 2221 -3.5 0.101 - - - - - - - - 25.78
17782 120.7 6.7 764 17805 roll 0.90 - - 3205 - 2.10 0.038 3634 667.6 206.1 15.38 0.468 2149 -4.7 0.122 - - - - - - - 26.24 25.76
17913 110.3 8.8 770 17919 done 0.91 - - 3209 - 1.98 0.022 2227 -710.6 208.6 - - 2147 - - - - - - - - - 26.34 -
18233 93.3 2.2 786 18281 roll 1.00 0.12 0.088 3292 691.7 2.08 0.038 871 -651.9 256.8 40.47 0.418 1941 -5.1 0.115 - - - - - - 26.43 26.01 25.59
18511 72.0 10.1 799 18518 done 1.00 0.17 0.168 3248 -258.8 1.95 0.024 2249 706.7 256.8 - - 1937 - - - - - - - - 25.98 26.23 -
18833 49.6 6.1 815 18859 roll 1.05 - - 3255 - 2.10 0.039 869 -657.1 277.8 16.52 0.392 1854 -5.0 0.064 - - - - - - - 26.16 25.73
18957 41.7 5.8 826 18984 done 1.09 0.08 0.120 3299 550.0 1.95 0.024 2250 708.2 301.5 18.12 0.383 1759 -5.2 0.058 - - - - - - 26.20 26.27 25.67
19289 13.7 8.6 869 19297 roll 1.10 0.10 0.177 3276 -230.0 2.03 0.037 3624 676.8 305.2 - - 1754 - - - - - - - - 26.17 26.26 -
19424 end climb: SURFACE_DEPTH_REACHED
19424 begin surface coast
19462 end surface coast: CONTROL_FINISHED_OK
19462 begin surface
SM -1.74 - - - - -8.61 8.65 0.077 144 16.6 1.77 0.021 2370 -1122.0 400.08 37.33 0.057 1360 36.4 0.114 - - 1 - - -