OKMC Mar13 * SG177 * Dive index * Mission links * Dive 36 * Raw log
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• Previous call tries 1 • 4.49 of 150.00 AH used of 24V (97.01% remains)
• Previous NAKs 0, Timeouts 0 • 5.79 of 100.00 AH used of 10V (94.21% remains)
• Surface angle -71.0 deg, depth -3.30 m • Intended pitch -6.0 deg, speed -7.857 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 31 s
• GPS2 time: 12 s • Transponder ping count: 25
• 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 - - - 94 VBD -0.57 - - 134 - - - 2260 - -165.5 -74.68 - 3450 - - - - - - - - - - -
96 3.7 -19.6 10 121 roll -0.57 11.10 0.254 2791 239.4 2.08 0.050 858 -674.0 -165.5 -3.17 - 3671 -69.7 - - - - - - - 25.89 26.10 26.35
250 53.6 -18.3 25 256 done -0.57 - - 2783 - 1.98 0.030 2236 696.0 -165.5 - - 3673 - - - - - - - - - 26.25 -
564 119.1 -19.8 41 569 roll -0.57 - - 2782 - 2.10 0.044 3657 676.7 -165.5 - - 3672 - - - - - - - - - 26.37 -
611 127.7 -19.4 43 618 done -0.57 - - 2782 - 1.98 0.022 2219 -726.3 -165.5 - - 3672 - - - - 1 - - - - 26.45 -
931 179.0 -14.4 59 932 done -0.57 - - 2781 - - - 2213 - -165.5 - - 3674 - - - - - - - - - - -
1231 218.3 -13.4 74 1237 roll -0.57 - - 2781 - 2.15 0.044 3661 673.5 -165.5 - - 3674 - - - - - - - - - 26.53 -
1255 221.3 -13.3 75 1261 done -0.57 - - 2782 - 1.95 0.023 2231 -733.3 -165.5 - - 3674 - - - - - - - - - 26.59 -
1579 256.0 -10.7 91 1586 roll -0.57 - - 2782 - 2.10 0.043 3655 678.1 -165.5 - - 3674 - - - - - - - - - 26.56 -
1612 258.8 -11.2 92 1618 done -0.57 - - 2782 - 1.92 0.023 2239 -737.5 -165.5 - - 3674 - - - - - - - - - 26.63 -
1926 293.5 -10.7 108 1931 roll -0.57 - - 2782 - 2.10 0.043 3664 678.6 -165.5 - - 3673 - - - - - - - - - 26.59 -
1963 296.0 -10.7 109 1971 done -0.57 - - 2782 - 1.92 0.023 2241 -741.1 -165.5 - - 3673 - - - - - - - - - 26.67 -
2270 325.5 -9.0 125 2275 roll -0.57 - - 2782 - 2.08 0.044 3650 677.4 -165.5 - - 3672 - - - - - - - - - 26.61 -
2301 327.6 -8.9 126 2308 done -0.57 - - 2782 - 1.90 0.024 2249 -737.4 -165.5 - - 3672 - - - - - - - - - 26.67 -
2617 357.5 -9.8 142 2618 done -0.57 - - 2781 - - - 2249 - -165.5 - - 3671 - - - - - - - - - - -
2916 383.8 -8.4 157 2922 roll -0.57 - - 2781 - 2.08 0.044 3656 676.4 -165.5 - - 3669 - - - - - - - - - 26.63 -
2949 385.7 -8.2 158 2955 done -0.57 - - 2782 - 1.90 0.024 2246 -742.1 -165.5 - - 3670 - - - - - - - - - 26.70 -
3263 410.8 -7.4 174 3269 roll -0.57 - - 2781 - 2.08 0.044 3653 676.4 -165.5 - - 3668 - - - - - - - - - 26.64 -
3287 412.5 -7.4 175 3293 done -0.57 - - 2781 - 1.90 0.024 2251 -737.9 -165.5 - - 3668 - - - - - - - - - 26.70 -
3611 436.9 -7.8 191 3612 done -0.57 - - 2782 - - - 2250 - -165.5 - - 3666 - - - - - - - - - - -
3911 461.3 -8.0 206 3917 roll -0.57 - - 2782 - 2.08 0.044 3653 674.5 -165.5 - - 3664 - - - - - - - - - 26.65 -
3945 463.1 -7.9 207 3951 done -0.57 - - 2782 - 1.90 0.024 2247 -740.0 -165.5 - - 3663 - - - - - - - - - 26.72 -
4260 486.2 -6.8 223 4266 roll -0.57 - - 2781 - 2.10 0.045 3659 672.4 -165.5 - - 3661 - - - - - - - - - 26.65 -
4305 489.3 -6.8 225 4312 done -0.57 - - 2781 - 1.92 0.024 2243 -737.5 -165.5 - - 3661 - - - - - - - - - 26.72 -
4631 510.5 -6.7 241 4632 done -0.57 - - 2782 - - - 2243 - -165.5 - - 3658 - - - - - - - - - - -
4930 531.8 -7.2 256 4936 roll -0.57 - - 2782 - 2.10 0.046 3657 673.3 -165.5 - - 3657 - - - - - - - - - 26.65 -
4998 536.4 -7.2 259 5004 done -0.57 - - 2782 - 1.90 0.024 2251 -740.0 -165.5 - - 3656 - - - - - - - - - 26.72 -
5318 558.1 -6.1 275 5324 roll -0.57 - - 2782 - 2.08 0.046 3651 673.1 -165.5 - - 3654 - - - - - - - - - 26.65 -
5378 560.8 -5.9 277 5387 done -0.57 - - 2782 - 1.90 0.024 2246 -739.5 -165.5 - - 3653 - - - - - - - - - 26.72 -
5684 578.6 -5.6 293 5686 done -0.57 - - 2782 - - - 2246 - -165.5 - - 3651 - - - - - - - - - - -
5984 596.6 -6.3 308 5990 roll -0.57 - - 2781 - 2.10 0.047 3653 670.0 -165.5 - - 3649 - - - - - - - - - 26.65 -
6038 599.5 -6.5 310 6044 done -0.57 - - 2782 - 1.90 0.025 2253 -736.8 -165.5 - - 3649 - - - - - - - - - 26.72 -
6354 618.4 -5.7 321 6356 done -0.57 - - 2782 - - - 2252 - -165.5 - - 3646 - - - - - - - - - - -
6652 636.5 -6.2 331 6658 roll -0.57 - - 2782 - 2.10 0.047 3663 671.9 -165.5 - - 3645 - - - - - - - - - 26.65 -
6691 638.7 -6.3 332 6697 done -0.57 - - 2781 - 1.92 0.025 2248 -737.0 -165.5 - - 3645 - - - - - - - - - 26.72 -
7020 660.7 -6.7 343 7026 roll -0.57 - - 2782 - 2.10 0.048 3651 668.1 -165.5 - - 3642 - - - - - - - - - 26.65 -
7068 663.1 -6.8 344 7073 done -0.57 - - 2782 - 1.90 0.025 2250 -737.4 -165.5 - - 3642 - - - - - - - - - 26.72 -
7387 684.3 -6.1 355 7388 done -0.57 - - 2781 - - - 2250 - -165.5 - - 3640 - - - - - - - - - - -
7687 701.4 -5.7 365 7693 roll -0.57 - - 2781 - 2.10 0.047 3657 670.0 -165.5 - - 3640 - - - - - - - - - 26.64 -
7745 703.4 -5.7 366 7754 done -0.57 - - 2782 - 1.92 0.024 2239 -738.5 -165.5 - - 3638 - - - - - - - - - 26.72 -
8052 723.1 -5.9 377 8058 roll -0.57 - - 2781 - 2.10 0.047 3650 671.9 -165.5 - - 3637 - - - - - - - - - 26.64 -
8086 725.1 -5.8 378 8092 done -0.57 - - 2781 - 1.92 0.025 2248 -730.2 -165.5 - - 3637 - - - - - - - - - 26.72 -
8421 746.6 -6.7 389 8427 roll -0.57 - - 2782 - 1.92 0.039 907 -698.4 -165.5 - - 3635 - - - - - - - - - 26.63 -
8473 748.8 -6.6 390 8479 done -0.57 - - 2782 - 1.92 0.031 2263 706.2 -165.5 - - 3635 - - - - - - - - - 26.67 -
8789 771.0 -6.9 401 8795 roll -0.57 - - 2783 - 2.05 0.048 3647 675.1 -165.5 - - 3634 - - - - - - - - - 26.64 -
8833 773.4 -6.8 402 8839 done -0.57 - - 2781 - 1.92 0.026 2242 -731.8 -165.5 - - 3634 - - - - - - - - - 26.71 -
9156 796.2 -6.9 413 9162 roll -0.57 - - 2782 - 1.95 0.041 896 -690.3 -165.5 - - 3632 - - - - - - - - - 26.63 -
9313 806.9 -6.8 418 9319 done -0.57 - - 2782 - 1.92 0.031 2250 705.2 -165.5 - - 3631 - - - - - - - - - 26.67 -
9647 827.6 -5.8 429 9653 roll -0.57 - - 2781 - 2.08 0.049 3646 671.2 -165.5 - - 3629 - - - - - - - - - 26.63 -
9705 829.5 -5.7 430 9714 done -0.57 - - 2781 - 1.92 0.025 2248 -728.1 -165.5 - - 3629 - - - - - - - - - 26.70 -
10012 847.5 -5.5 441 10018 roll -0.57 - - 2782 - 1.95 0.042 903 -689.7 -165.5 - - 3628 - - - - - - - - - 26.63 -
10168 856.1 -5.6 446 10174 done -0.57 - - 2781 - 1.92 0.031 2252 702.6 -165.5 - - 3628 - - - - - - - - - 26.66 -
10503 876.1 -6.2 457 10504 done -0.57 - - 2782 - - - 2252 - -165.5 - - 3626 - - - - - - - - - - -
10803 897.2 -7.4 467 10808 roll -0.57 - - 2781 - 1.98 0.041 900 -682.8 -165.5 - - 3625 - - - - - - - - - 26.63 -
10867 902.3 -7.6 469 10873 done -0.57 - - 2781 - 1.95 0.033 2257 695.9 -165.5 - - 3625 - - - - - - - - - 26.65 -
11201 928.8 -8.1 480 11207 roll -0.57 - - 2781 - 2.00 0.041 888 -684.5 -165.5 - - 3621 - - - - - - - - - 26.62 -
11228 928.8 -8.1 480 11237 done -0.57 - - 2781 - 1.95 0.032 2256 701.5 -165.5 - - 3624 - - - - - - - - - 26.65 -
11535 954.0 -7.3 491 11541 roll -0.57 - - 2781 - 1.98 0.041 902 -683.8 -165.5 - - 3622 - - - - - - - - - 26.62 -
11588 956.4 -7.2 492 11595 done -0.57 - - 2781 - 1.92 0.034 2248 701.0 -165.5 - - 3622 - - - - - - - - - 26.65 -
11904 979.3 -6.8 503 11910 roll -0.57 - - 2781 - 1.98 0.042 901 -680.3 -165.5 - - 3621 - - - - - - - - - 26.61 -
11948 981.6 -6.7 504 11954 done -0.57 - - 2781 - 1.92 0.033 2250 702.6 -165.5 - - 3622 - - - - - - - - - 26.65 -
12090 end dive: TARGET_DEPTH_EXCEEDED
12090 begin apogee
12094 991.7 -6.7 509 12252 done -0.20 0.38 0.099 2916 355.3 - - 2250 - - 147.30 1.005 2988 -4.3 0.436 - - - - - - 26.58 - 24.10
12253 end apogee: CONTROL_FINISHED_OK
12253 begin climb
12255 1000.2 - 514 12420 roll 0.57 0.68 0.067 3162 361.8 2.40 0.054 829 -592.1 165.5 153.75 0.996 2312 -4.4 0.453 - - 1 - - - 24.88 24.52 23.94
12492 989.0 9.3 522 12498 done 0.57 - - 3162 - 2.05 0.032 2179 658.5 165.5 - - 2304 - - - - - - - - - 25.27 -
12816 952.8 10.9 533 12822 roll 0.57 - - 3162 - 2.17 0.050 3584 647.5 165.5 - - 2298 - - - - - - - - - 25.88 -
12850 948.8 11.0 534 12856 done 0.57 - - 3162 - 2.03 0.031 2225 -669.5 165.5 - - 2297 - - - - - - - - - 25.93 -
13184 912.5 10.7 545 13190 roll 0.57 - - 3163 - 2.08 0.049 3574 648.6 165.5 - - 2296 - - - - - - - - - 26.12 -
13238 908.3 11.1 546 13243 done 0.57 - - 3162 - 2.08 0.032 2172 -674.0 165.5 - - 2294 - - - - - - - - - 26.16 -
13551 871.3 10.7 557 13557 roll 0.57 - - 3162 - 2.15 0.047 3577 653.5 165.5 - - 2293 - - - - - - - - - 26.25 -
13610 867.3 10.8 558 13618 done 0.57 - - 3162 - 2.08 0.032 2166 -678.4 165.5 - - 2292 - - - - - - - - - 26.28 -
13916 831.6 10.7 569 13918 done 0.57 - - 3162 - - - 2166 - 165.5 - - 2292 - - - - - - - - - - -
14215 801.6 10.1 579 14221 roll 0.57 - - 3163 - 2.15 0.047 3579 657.2 165.5 - - 2292 - - - - - - - - - 26.37 -
14250 797.9 10.5 580 14255 done 0.57 - - 3162 - 2.08 0.032 2170 -677.4 165.5 - - 2291 - - - - - - - - - 26.39 -
14584 762.9 10.5 591 14585 done 0.57 - - 3163 - - - 2170 - 165.5 - - 2290 - - - - - - - - - - -
14883 730.8 10.7 601 14889 roll 0.57 - - 3162 - 2.15 0.047 3584 657.7 165.5 - - 2290 - - - - - - - - - 26.44 -
15040 712.4 11.9 606 15046 done 0.57 - - 3162 - 2.08 0.031 2164 -682.7 165.5 - - 2290 - - - - - - - - - 26.47 -
15374 677.4 10.5 617 15375 done 0.57 - - 3162 - - - 2164 - 165.5 - - 2289 - - - - - - - - - - -
15674 646.2 10.2 627 15679 roll 0.57 - - 3162 - 2.15 0.047 3579 658.1 165.5 - - 2289 - - - - - - - - - 26.49 -
15708 642.5 10.3 628 15713 done 0.57 - - 3162 - 2.05 0.031 2171 -686.8 165.5 - - 2289 - - - - - - - - - 26.51 -
16042 611.4 9.0 639 16043 done 0.57 - - 3163 - - - 2170 - 165.5 - - 2289 - - - - - - - - - - -
16351 583.6 9.2 652 16357 roll 0.57 - - 3163 - 2.12 0.047 3579 664.6 165.5 - - 2288 - - - - - - - - - 26.52 -
16383 581.3 9.4 653 16390 done 0.57 - - 3163 - 2.03 0.030 2169 -694.6 165.5 - - 2288 - - - - - - - - - 26.54 -
16698 550.2 9.4 669 16704 roll 0.57 - - 3168 - 2.05 0.049 788 -673.7 165.5 - - 2288 - - - - - - - - - 26.51 -
16752 545.9 9.3 671 16758 done 0.57 - - 3168 - 1.98 0.029 2185 705.6 165.5 - - 2288 - - - - - - - - - 26.56 -
17066 514.4 9.3 687 17073 roll 0.57 - - 3168 - 2.05 0.045 3571 676.1 165.5 - - 2288 - - - - - - - - - 26.54 -
17115 509.9 9.9 689 17121 done 0.57 0.10 0.210 3154 -140.0 2.00 0.028 2172 -699.5 165.5 - - 2288 - - - - - - - - 26.42 26.57 -
17435 481.1 8.5 705 17436 done 0.57 - - 3154 - - - 2170 - 165.5 - - 2287 - - - - - - - - - - -
17734 458.5 7.9 720 17740 roll 0.57 - - 3154 - 2.10 0.044 3572 667.6 165.5 - - 2288 - - - - - - - - - 26.55 -
17779 454.8 8.1 722 17785 done 0.57 - - 3161 - 2.00 0.027 2168 -702.0 165.5 - - 2288 - - - - - - - - - 26.60 -
18104 427.8 8.5 738 18105 done 0.57 - - 3161 - - - 2167 - 165.5 - - 2287 - - - - - - - - - - -
18402 403.2 8.6 753 18403 done 0.57 - - 3161 - - - 2167 - 165.5 - - 2287 - - - - - - - - - - -
18703 380.0 7.6 768 18715 roll 0.59 - - 3170 - 2.10 0.047 792 -654.8 175.0 2.92 0.389 2279 -2.7 0.275 - - - - - - - 26.53 25.86
18757 376.8 7.4 770 18781 done 0.62 - - 3170 - 1.98 0.028 2181 701.5 190.1 16.10 0.620 2215 -4.0 0.248 - - - - - - - 26.58 25.86
19094 349.1 7.9 787 19100 roll 0.62 - - 3170 - 2.05 0.043 3568 676.6 190.2 - - 2210 - - - - - - - - - 26.42 -
19138 345.2 8.6 789 19144 done 0.62 - - 3176 - 2.00 0.026 2177 -695.5 190.2 - - 2210 - - - - - - - - - 26.45 -
19463 319.6 7.1 805 19492 roll 0.67 - - 3175 - 2.12 0.048 792 -653.3 212.8 19.65 0.590 2121 -4.5 0.252 - - - - - - - 26.20 25.75
19541 314.7 7.0 808 19570 done 0.72 0.12 0.093 3231 466.7 1.98 0.027 2182 702.0 240.1 23.58 0.581 2013 -4.6 0.255 - - - - - - 26.25 26.28 25.51
19878 272.0 12.7 825 19885 roll 0.72 0.10 0.181 3210 -210.0 2.08 0.041 3575 669.7 240.1 - - 2003 - - - - - - - - 26.10 26.19 -
20007 255.8 13.1 831 20013 done 0.72 - - 3215 - 2.03 0.026 2164 -695.1 240.1 - - 2001 - - - - - - - - - 26.28 -
20326 219.8 11.3 847 20332 roll 0.72 - - 3216 - 2.10 0.042 3571 670.0 240.1 - - 2001 - - - - - - - - - 26.34 -
20371 214.0 12.2 849 20377 done 0.72 - - 3219 - 2.00 0.027 2172 -699.5 240.1 - - 2001 - - - - - - - - - 26.37 -
20695 178.4 10.1 865 20701 roll 0.72 - - 3220 - 2.08 0.041 3566 670.2 240.1 - - 2001 - - - - - - - - - 26.41 -
20759 171.4 10.5 868 20766 done 0.72 0.10 0.203 3205 -150.0 2.00 0.024 2158 -704.0 240.1 - - 2001 - - - - - - - - 26.30 26.45 -
21084 144.7 7.2 884 21108 roll 0.76 - - 3212 - 2.08 0.044 799 -653.4 260.2 15.57 0.464 1927 -4.8 0.152 - - - - - - - 26.29 25.94
21264 132.2 7.1 892 21289 done 0.81 0.08 0.122 3259 587.5 1.95 0.026 2184 710.3 282.8 17.73 0.451 1835 -5.2 0.156 - - - - - - 26.34 26.40 25.82
21602 100.1 9.3 909 21609 roll 0.81 0.12 0.167 3223 -300.0 2.05 0.039 3576 679.0 282.8 - - 1831 - - - - - - - - 26.23 26.34 -
21661 95.9 9.4 911 21669 done 0.81 - - 3227 - 1.98 0.024 2175 -707.6 282.8 - - 1830 - - - - - - - - - 26.39 -
21968 72.3 7.8 927 21969 done 0.81 - - 3227 - - - 2174 - 285.1 - - 1829 - - - - - - - - - - -
22268 51.0 6.4 942 22310 roll 0.90 0.12 0.083 3296 575.0 2.08 0.038 3566 669.2 329.6 34.15 0.373 1645 -5.4 0.076 - - - - - - 26.53 26.22 25.92
22502 22.6 13.1 964 22511 done 0.90 0.15 0.179 3262 -226.7 1.98 0.027 2173 -703.5 329.6 - - 1639 - - - - - - - - 26.21 26.34 -
22721 end climb: SURFACE_DEPTH_REACHED
22721 begin surface coast
22749 end surface coast: CONTROL_FINISHED_OK
22749 begin surface
SM -1.93 - - - - -8.78 8.38 0.066 127 15.2 0.10 0.090 2266 -28600.0 400.08 26.38 0.057 1361 51.6 0.179 - - - - - -