OKMC Apr12 * SG170 * Dive index * Mission links * Dive 84 * Raw log
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• Previous call tries 5 • 17.87 of 146.00 AH used of 24V (87.76% remains)
• Previous NAKs 0, Timeouts 0 • 7.51 of 97.50 AH used of 10V (92.30% remains)
• Surface angle -74.1 deg, depth 1.95 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 28 s
• GPS2 time: 18 s • Transponder ping count: 0
• 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 - - - 101 VBD -0.46 - - 133 - - - 2659 - -194.6 -81.65 - 2716 - - - - - - - - - - -
104 3.6 -3.6 8 147 roll -0.46 10.27 0.244 2642 244.3 1.70 0.075 3699 611.8 -194.6 -22.98 - 3922 -52.5 - - - - - - - 25.66 26.13 26.57
220 29.6 -18.1 19 226 done -0.36 0.12 0.156 2677 291.7 1.50 0.029 2686 -675.3 -194.6 - - 3925 - - - - - - - - 26.04 26.34 -
543 84.6 -13.9 41 544 done -0.38 - - 2677 - - - 2686 - -194.6 - - 3927 - - - - - - - - - - -
845 95.1 -1.9 56 850 roll -0.45 - - 2678 - 2.05 0.031 1293 -679.5 -194.6 - - 3929 - - - - - - - - - 26.42 -
917 98.3 -4.5 59 923 done -0.52 0.12 0.087 2605 -608.3 2.17 0.046 2691 644.2 -194.6 - - 3928 - - - - - - - - 26.36 26.34 -
1230 144.7 -13.1 75 1237 roll -0.48 0.12 0.147 2645 333.3 1.58 0.055 3694 634.8 -194.6 - - 3928 - - - - - - - - 26.35 26.36 -
1303 149.7 -9.0 78 1308 done -0.49 - - 2646 - 1.45 0.033 2720 -671.7 -194.6 - - 3928 - - - - - - - - - 26.53 -
1616 161.0 -7.5 94 1621 roll -0.55 - - 2646 - 2.10 0.031 1291 -680.5 -194.6 - - 3927 - - - - - - - - - 26.51 -
1719 173.5 -12.6 99 1725 done -0.61 0.12 0.090 2574 -600.0 2.17 0.045 2686 642.9 -194.6 - - 3926 - - - - - - - - 26.46 26.43 -
2042 208.5 -7.1 115 2048 roll -0.57 0.12 0.151 2616 350.0 1.58 0.054 3695 638.6 -194.6 - - 3925 - - - - - - - - 26.41 26.42 -
2085 210.6 -6.2 117 2091 done -0.57 - - 2617 - 1.50 0.031 2691 -669.3 -194.6 - - 3925 - - - - - - - - - 26.63 -
2408 238.1 -10.8 133 2413 roll -0.60 - - 2617 - 2.05 0.031 1291 -682.9 -194.6 - - 3924 - - - - - - - - - 26.55 -
2515 248.0 -9.4 138 2520 done -0.64 - - 2617 - 2.15 0.045 2683 647.4 -194.6 - - 3922 - - - - - - - - - 26.48 -
2833 273.2 -8.3 154 2840 roll -0.68 0.12 0.090 2535 -683.3 2.05 0.030 1291 -679.0 -194.6 - - 3919 - - - - - - - - 26.67 26.56 -
2911 281.5 -12.0 157 2918 done -0.67 0.17 0.148 2587 305.9 2.15 0.048 2670 641.4 -194.6 - - 3919 - - - - - - - - 26.25 26.46 -
3217 318.7 -10.5 173 3222 roll -0.67 - - 2587 - 1.62 0.059 3704 638.3 -194.6 - - 3917 - - - - - - - - - 26.45 -
3294 324.7 -9.6 176 3301 done -0.67 - - 2588 - 1.52 0.033 2665 -683.6 -194.6 - - 3915 - - - - - - - - - 26.65 -
3599 352.0 -9.1 192 3604 roll -0.67 - - 2588 - 2.03 0.031 1276 -684.2 -194.6 - - 3913 - - - - - - - - - 26.59 -
3661 357.7 -9.3 195 3667 done -0.67 - - 2588 - 2.17 0.047 2668 641.5 -194.6 - - 3913 - - - - - - - - - 26.48 -
3984 385.8 -7.9 211 3985 done -0.67 - - 2588 - - - 2668 - -194.6 - - 3911 - - - - - - - - - - -
4285 403.9 -4.6 226 4291 roll -0.67 - - 2587 - 2.03 0.032 1298 -674.9 -194.6 - - 3908 - - - - - - - - - 26.58 -
4349 406.4 -4.0 229 4355 done -0.68 - - 2588 - 2.12 0.048 2652 638.7 -194.6 - - 3908 - - - - - - - - - 26.48 -
4672 424.0 -7.3 245 4677 roll -0.70 - - 2588 - 2.00 0.032 1296 -678.0 -194.6 - - 3905 - - - - - - - - - 26.58 -
4730 427.8 -8.4 247 4736 done -0.72 - - 2588 - 2.10 0.045 2649 644.3 -194.6 - - 3905 - - - - - - - - - 26.48 -
5035 461.4 -11.3 263 5040 roll -0.73 - - 2588 - 2.03 0.031 1283 -672.9 -194.6 - - 3903 - - - - - - - - - 26.58 -
5061 464.1 -11.4 264 5067 done -0.75 - - 2588 - 2.10 0.046 2635 643.8 -194.6 - - 3903 - - - - - - - - - 26.48 -
5379 499.4 -10.1 280 5385 roll -0.77 0.12 0.093 2514 -616.7 1.98 0.030 1296 -676.3 -194.6 - - 3901 - - - - - - - - 26.68 26.58 -
5405 502.2 -10.6 281 5411 done -0.77 0.15 0.153 2557 286.7 2.08 0.047 2628 640.4 -194.6 - - 3900 - - - - - - - - 26.25 26.48 -
5724 537.1 -9.5 297 5730 roll -0.75 - - 2557 - 2.00 0.031 1288 -670.0 -194.6 - - 3900 - - - - - - - - - 26.58 -
5756 539.3 -9.4 298 5761 done -0.73 - - 2557 - 2.08 0.047 2622 641.3 -194.6 - - 3898 - - - - - - - - - 26.47 -
6068 568.9 -9.6 314 6073 roll -0.71 - - 2557 - 1.70 0.059 3696 631.8 -194.6 - - 3896 - - - - - - - - - 26.41 -
6133 574.9 -9.6 317 6140 done -0.71 - - 2557 - 1.62 0.034 2632 -656.8 -194.6 - - 3898 - - - - - - - - - 26.63 -
6452 608.6 -11.1 332 6457 roll -0.71 - - 2557 - 1.95 0.032 1296 -685.1 -194.6 - - 3894 - - - - - - - - - 26.57 -
6528 615.8 -11.4 334 6534 done -0.71 - - 2557 - 2.05 0.047 2610 641.0 -194.6 - - 3895 - - - - - - - - - 26.46 -
6847 655.8 -11.8 345 6852 roll -0.71 - - 2557 - 1.73 0.059 3699 629.5 -194.6 - - 3893 - - - - - - - - - 26.40 -
6889 659.5 -11.6 346 6894 done -0.71 - - 2557 - 1.60 0.035 2632 -666.9 -194.6 - - 3893 - - - - - - - - - 26.63 -
7212 692.8 -9.2 357 7217 roll -0.71 - - 2557 - 1.98 0.033 1284 -680.8 -194.6 - - 3891 - - - - - - - - - 26.55 -
7268 695.5 -8.9 358 7275 done -0.71 - - 2557 - 2.08 0.047 2612 638.5 -194.6 - - 3890 - - - - - - - - - 26.45 -
7575 718.2 -6.3 369 7580 roll -0.71 - - 2557 - 1.73 0.060 3698 627.7 -194.6 - - 3889 - - - - - - - - - 26.38 -
7657 722.1 -6.2 371 7662 done -0.71 - - 2557 - 1.60 0.035 2638 -662.5 -194.6 - - 3888 - - - - - - - - - 26.61 -
7970 742.0 -6.1 382 7971 done -0.71 - - 2557 - - - 2638 - -194.6 - - 3887 - - - - - - - - - - -
8270 762.9 -7.3 392 8275 roll -0.71 - - 2557 - 1.98 0.033 1291 -680.3 -194.6 - - 3886 - - - - - - - - - 26.54 -
8326 765.4 -7.3 393 8332 done -0.71 - - 2557 - 2.08 0.047 2617 637.5 -194.6 - - 3886 - - - - - - - - - 26.42 -
8633 793.9 -9.1 404 8634 done -0.71 - - 2557 - - - 2618 - -194.6 - - 3884 - - - - - - - - - - -
8931 822.6 -9.7 414 8933 done -0.71 - - 2557 - - - 2618 - -194.6 - - 3884 - - - - - - - - - - -
9233 849.0 -8.4 424 9234 done -0.71 - - 2557 - - - 2618 - -194.6 - - 3883 - - - - - - - - - - -
9533 871.6 -7.4 434 9538 roll -0.71 - - 2557 - 1.73 0.061 3697 623.7 -194.6 - - 3881 - - - - - - - - - 26.33 -
9554 871.6 -7.4 434 9559 done -0.71 - - 2557 - 1.65 0.037 2609 -659.4 -194.6 - - 3881 - - - - - - - - - 26.59 -
9867 893.4 -6.1 445 9872 roll -0.71 - - 2557 - 1.95 0.034 1286 -678.5 -194.6 - - 3880 - - - - - - - - - 26.51 -
9919 895.6 -6.1 446 9924 done -0.71 - - 2557 - 2.05 0.047 2592 637.1 -194.6 - - 3880 - - - - - - - - - 26.39 -
10233 914.2 -5.6 457 10234 done -0.71 - - 2557 - - - 2591 - -194.6 - - 3879 - - - - - - - - - - -
10531 929.5 -5.3 467 10533 done -0.71 - - 2557 - - - 2592 - -194.6 - - 3878 - - - - - - - - - - -
10832 945.6 -5.4 477 10833 done -0.71 - - 2557 - - - 2592 - -194.6 - - 3877 - - - - - - - - - - -
11131 960.5 -4.7 487 11133 done -0.71 - - 2556 - - - 2592 - -194.6 - - 3877 - - - - - - - - - - -
11432 974.8 -4.9 497 11437 roll -0.71 - - 2557 - 1.77 0.061 3696 623.7 -194.6 - - 3876 - - - - - - - - - 26.28 -
11474 976.4 -4.9 498 11479 done -0.71 - - 2557 - 1.65 0.037 2610 -658.2 -194.6 - - 3876 - - - - - - - - - 26.56 -
11764 end dive: TARGET_DEPTH_EXCEEDED
11765 begin apogee
11770 990.1 -4.6 508 11931 roll -0.12 0.57 0.112 2753 343.9 - - 1937 - - 154.52 1.432 3120 -4.9 0.361 - - - - - - 26.01 - 23.48
11932 end apogee: CONTROL_FINISHED_OK
11932 begin climb
11934 992.1 - 513 12121 roll 0.46 0.55 0.054 2962 380.0 2.30 0.041 540 -607.4 194.6 176.93 1.392 2326 -4.5 0.341 - - - - - - 24.71 24.68 22.97
12172 975.3 10.8 521 12178 done 0.42 - - 2962 - 2.30 0.039 1942 609.6 194.6 - - 2321 - - - - - - - - - 24.73 -
12492 936.1 11.5 532 12498 roll 0.37 0.12 0.158 2930 -266.7 2.20 0.040 542 -636.4 194.6 - - 2315 - - - - - - - - 25.65 25.74 -
12659 921.9 9.1 537 12664 done 0.37 - - 2929 - 2.17 0.040 1942 645.2 194.6 - - 2314 - - - - - - - - - 25.93 -
12977 893.6 8.3 548 12996 roll 0.38 - - 2932 - 2.30 0.053 3342 608.7 207.3 10.75 1.221 2275 -3.6 0.283 - - - - - - - 25.89 24.78
13069 885.4 8.8 551 13075 done 0.36 - - 2929 - 2.15 0.033 1962 -641.9 207.3 - - 2273 - - - - - - - - - 26.00 -
13403 858.3 8.2 562 13421 done 0.37 - - 2928 - - - 1962 - 223.9 16.20 1.272 2208 -4.0 0.289 - - - - - - - - 24.71
13702 833.7 8.3 572 13717 done 0.38 - - 2930 - - - 1962 - 237.2 13.10 1.232 2154 -4.1 0.298 - - - - - - - - 24.67
14002 808.5 8.3 582 14022 roll 0.39 - - 2929 - 2.25 0.051 3342 613.3 250.4 12.88 1.218 2098 -4.3 0.308 - - - - - - - 25.72 24.68
14070 802.9 8.5 584 14084 done 0.39 - - 2929 - 2.17 0.033 1951 -641.0 255.5 6.18 1.034 2078 -3.2 0.268 - - - - - - - 25.86 24.59
14398 776.9 7.5 595 14440 roll 0.43 - - 2930 - 2.35 0.053 3348 594.5 294.4 35.28 1.280 1920 -4.5 0.290 - - - - - - - 25.21 24.25
14467 772.5 7.4 597 14512 done 0.48 - - 2930 - 2.20 0.034 1967 -627.7 338.1 39.40 1.261 1742 -4.5 0.295 - - - - - - - 25.46 23.91
14820 747.3 6.9 609 14881 roll 0.56 0.12 0.093 3009 658.3 2.40 0.043 532 -597.9 399.3 53.38 1.257 1492 -4.7 0.297 - - - - - - 25.94 24.89 23.91
14903 740.8 8.7 611 14908 done 0.58 - - 3009 - 2.33 0.039 1966 615.5 399.3 - - 1490 - - - - - - - - - 25.19 -
15216 690.7 15.1 622 15218 done 0.53 0.15 0.150 2967 -280.0 - - 1965 - 399.3 - - 1486 - - - - - - - - 25.78 - -
15516 657.7 10.8 632 15517 done 0.55 - - 2967 - - - 1965 - 399.3 - - 1485 - - - - - - - - - - -
15816 625.9 10.4 642 15817 done 0.57 - - 2967 - - - 1965 - 399.3 - - 1484 - - - - - - - - - - -
16116 597.5 9.0 652 16121 roll 0.59 - - 2969 - 2.25 0.044 526 -639.6 399.3 - - 1484 - - - - - - - - - 26.25 -
16142 595.3 8.9 653 16147 done 0.62 - - 2968 - 2.22 0.039 1965 648.2 399.3 - - 1484 - - - - - - - - - 26.27 -
16460 567.5 8.5 669 16467 done 0.65 0.12 0.093 3037 575.0 - - 1966 - 404.3 4.40 0.809 1472 -2.7 0.204 - - - - - - 26.44 - 25.05
16760 522.6 15.0 684 16766 roll 0.59 0.15 0.149 2989 -320.0 2.15 0.049 3344 640.9 404.3 - - 1472 - - - - - - - - 26.17 26.26 -
16777 522.6 15.0 684 16784 done 0.52 - - 2995 - 2.12 0.034 1958 -653.8 404.3 - - 1472 - - - - - - - - - 26.36 -
17084 487.0 11.4 700 17090 roll 0.51 0.12 0.159 2956 -325.0 2.17 0.043 538 -654.4 404.3 - - 1472 - - - - - - - - 26.25 26.33 -
17146 481.9 8.9 703 17152 done 0.54 - - 2956 - 2.17 0.038 1960 655.3 404.3 - - 1470 - - - - - - - - - 26.36 -
17469 457.3 8.8 719 17475 roll 0.60 0.12 0.092 3032 633.3 2.15 0.050 3340 641.9 404.3 - - 1472 - - - - - - - - 26.51 26.32 -
17527 450.9 11.7 721 17535 done 0.61 0.15 0.151 2994 -253.3 2.10 0.033 1961 -656.7 404.3 - - 1471 - - - - - - - - 26.18 26.43 -
17832 406.2 13.2 737 17838 roll 0.61 - - 2996 - 2.17 0.044 534 -657.6 404.3 - - 1472 - - - - - - - - - 26.38 -
17910 398.1 13.1 740 17916 done 0.63 - - 2995 - 2.17 0.038 1956 655.3 404.3 - - 1472 - - - - - - - - - 26.40 -
18215 358.5 11.9 756 18220 roll 0.63 - - 2996 - 2.15 0.050 3342 644.7 404.3 - - 1472 - - - - - - - - - 26.35 -
18237 355.7 12.0 757 18243 done 0.63 - - 2996 - 2.15 0.033 1932 -655.8 404.3 - - 1472 - - - - - - - - - 26.47 -
18559 320.7 10.3 773 18564 roll 0.63 - - 2996 - 2.12 0.043 537 -658.0 404.3 - - 1472 - - - - - - - - - 26.41 -
18596 318.5 10.2 774 18603 done 0.63 - - 2996 - 2.12 0.039 1927 655.7 404.3 - - 1472 - - - - - - - - - 26.43 -
18902 287.2 9.8 790 18908 roll 0.64 - - 2995 - 2.20 0.051 3343 643.6 404.3 - - 1472 - - - - - - - - - 26.36 -
18928 284.9 10.0 791 18934 done 0.66 - - 2996 - 2.17 0.033 1909 -660.8 404.3 - - 1472 - - - - - - - - - 26.49 -
19246 252.8 10.2 807 19252 roll 0.67 - - 2995 - 2.10 0.043 530 -656.7 404.3 - - 1472 - - - - - - - - - 26.41 -
19294 248.9 9.6 809 19299 done 0.70 - - 2996 - 2.10 0.037 1924 663.8 404.3 - - 1473 - - - - - - - - - 26.46 -
19612 220.9 8.2 825 19633 roll 0.74 0.12 0.093 3069 608.3 2.30 0.050 3347 618.7 421.2 15.98 0.864 1403 -4.4 0.119 - - - - - - 26.60 26.23 25.32
19696 208.9 14.5 829 19702 done 0.69 0.17 0.153 3026 -252.9 2.17 0.032 1932 -652.1 421.2 - - 1402 - - - - - - - - 26.01 26.27 -
20019 174.9 9.8 845 20024 roll 0.69 - - 3026 - 2.12 0.043 538 -657.5 421.2 - - 1401 - - - - - - - - - 26.26 -
20097 169.8 8.6 848 20108 done 0.72 - - 3026 - 2.10 0.037 1926 661.0 424.3 4.10 0.595 1391 -2.4 0.074 - - - - - - - 26.29 25.13
20426 136.8 9.8 865 20431 roll 0.74 - - 3026 - 2.15 0.041 525 -651.6 424.3 - - 1390 - - - - - - - - - 26.29 -
20442 136.8 9.8 865 20450 done 0.76 - - 3026 - 2.12 0.037 1922 659.0 424.3 - - 1390 - - - - - - - - - 26.32 -
20748 107.4 8.7 881 20755 roll 0.79 - - 3026 - 2.20 0.049 3345 646.8 424.3 - - 1391 - - - - - - - - - 26.28 -
20792 103.5 8.8 883 20799 done 0.82 0.12 0.092 3094 566.7 2.17 0.031 1910 -661.3 424.3 - - 1391 - - - - - - - - 26.36 26.41 -
21117 56.4 14.4 899 21122 roll 0.78 0.12 0.151 3052 -350.0 2.08 0.041 542 -657.7 424.3 - - 1391 - - - - - - - - 26.31 26.36 -
21213 46.9 9.1 905 21218 done 0.85 - - 3051 - 2.05 0.036 1904 664.4 424.3 - - 1391 - - - - - - - - - 26.40 -
21525 26.7 5.5 936 21589 roll 1.12 0.28 0.077 3163 400.0 2.15 0.040 538 -635.3 531.4 53.78 0.704 951 -8.2 0.033 - - - - - - 26.40 25.75 25.06
21655 18.6 7.2 948 21684 done 1.25 0.12 0.088 3227 533.3 2.10 0.034 1920 658.1 580.1 22.27 0.104 755 -8.8 0.168 - - - - - - 25.84 25.87 25.65
21780 end climb: SURFACE_DEPTH_REACHED
21780 begin surface coast
21801 end surface coast: CONTROL_FINISHED_OK
21801 begin surface
SM 1.67 - - - - -8.28 8.15 0.047 136 -379.3 1.20 0.044 2681 634.2 652.74 34.85 0.062 459 -8.5 0.023 - - - - - -