AMOS Sep20 * SG233 * Dive index * Mission links * Dive 104 * Raw log
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• Previous call tries 2 • 63.19 of 350.00 AH used of 24V (81.95% remains)
• Surface angle -72.5 deg, depth 1.81 m • Intended pitch -17.6 deg, speed -10.000 cm/s
VBD pumped to 570.27 (SM_CC=570.32251)
• GPS1 time: 20 s
• GPS2 time: 2 s
• 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
10.52 - - - 89.89 VBD -0.88 - - 200.31 - - - 2032.94 - -145.99 77.21 0.005 1835.44 - - - - - - - - - - 15.43
90.14 3.13 -1.94 15 170.68 -0.88 19.95 0.303 2423.12 111.4 3.68 0.131 582.75 -394.1 -145.99 49.14 0.005 3422.25 32.3 -3.427 - - - - - - 15.31 15.49 15.45
219.59 27.26 -22.40 40 226.50 roll back -0.71 0.34 0.212 2468.88 134.6 3.47 0.050 2068.62 428.2 -145.99 - - 3425.38 - - - - - - - - 15.49 15.46 -
404.77 53.92 -10.77 77 410.51 no move -0.79 - - 2469.75 - - - 2069.38 - -145.99 - - 3425.22 - - - - - - - - - - -
590.66 71.34 -9.38 114 601.45 roll back -0.91 0.44 0.090 2404.25 -148.9 3.72 0.118 584.75 -399.1 -145.99 - - 3427.25 - - - - - - - - 15.67 15.56 -
629.88 76.68 -14.12 122 637.40 roll back -0.84 0.31 0.204 2434.12 96.4 3.44 0.046 2072.19 432.4 -145.99 - - 3425.03 - - - - - - - - 15.62 15.60 -
816.32 98.37 -11.16 159 823.57 roll -0.84 - - 2436.00 - 3.20 0.133 3349.25 399.1 -145.99 - - 3426.28 - - - - - - - - - 15.58 -
852.52 102.50 -11.43 166 859.14 roll -0.84 - - 2435.81 - 3.07 0.045 2020.94 -432.7 -145.99 - - 3424.56 - - - - - - - - - 15.67 -
1157.68 133.16 -10.40 197 1164.87 roll -0.90 - - 2435.94 - 3.59 0.126 583.62 -400.4 -145.99 - - 3424.59 - - - - - - - - - 15.73 -
1197.03 137.63 -11.04 205 1205.06 roll -0.90 - - 2435.50 - 3.43 0.046 2076.69 435.3 -145.99 - - 3426.53 - - - - - - - - - 15.78 -
1503.88 166.95 -9.60 236 1514.83 roll back -0.99 0.33 0.093 2386.44 -148.7 3.71 0.120 584.88 -402.1 -145.99 - - 3425.78 - - - - - - - - 15.80 15.71 -
1533.29 170.57 -11.98 242 1540.72 roll -0.99 - - 2384.69 - 3.41 0.050 2072.81 436.3 -145.99 - - 3426.50 - - - - - - - - - 15.82 -
1838.30 201.30 -9.05 273 1841.83 no move -0.99 - - 2386.38 - - - 2074.12 - -145.99 - - 3425.12 - - - - - - - - - - -
2138.41 227.47 -8.66 303 2145.82 roll -0.99 - - 2385.06 - 3.69 0.124 584.81 -403.6 -145.99 - - 3425.44 - - - - - - - - - 15.82 -
2244.65 238.77 -10.96 324 2251.48 roll -0.99 - - 2386.38 - 3.42 0.051 2074.81 435.7 -145.99 - - 3426.28 - - - - - - - - - 15.82 -
2549.82 266.35 -8.80 355 2552.71 no move -0.99 - - 2385.62 - - - 2074.25 - -145.99 - - 3424.91 - - - - - - - - - - -
2849.89 291.63 -8.77 385 2856.58 roll -0.99 - - 2386.06 - 3.68 0.123 583.69 -405.0 -145.99 - - 3424.59 - - - - - - - - - 15.86 -
2878.73 294.55 -9.16 391 2886.79 roll -0.99 - - 2386.56 - 3.42 0.051 2076.44 436.5 -145.99 - - 3426.72 - - - - - - - - - 15.91 -
3194.83 322.95 -8.35 410 3202.38 roll -0.99 - - 2384.44 - 3.67 0.121 582.69 -407.0 -145.99 - - 3426.75 - - - - - - - - - 15.88 -
3231.08 326.01 -8.21 417 3238.25 roll -0.99 - - 2386.31 - 3.39 0.050 2074.88 440.2 -145.99 - - 3426.44 - - - - - - - - - 15.93 -
3547.05 350.42 -7.67 435 3550.60 no move -1.05 - - 2385.94 - - - 2076.19 - -145.99 - - 3424.47 - - - - - - - - - - -
3847.06 371.55 -7.07 450 3854.29 roll -1.12 - - 2386.06 - 3.68 0.123 582.81 -405.8 -145.99 - - 3424.69 - - - - - - - - - 15.90 -
3886.43 374.97 -8.35 458 3893.93 roll -1.12 - - 2385.62 - 3.40 0.050 2075.81 439.1 -145.99 - - 3425.12 - - - - - - - - - 15.94 -
4197.56 398.50 -7.66 475 4201.46 pitch -1.19 0.25 0.104 2336.38 -197.0 - - 2075.56 - -145.99 - - 3424.59 - - - - - - - - 15.94 - -
4498.03 428.03 -10.01 490 4505.02 roll -1.19 - - 2335.94 - 3.68 0.125 583.50 -405.5 -145.99 - - 3424.97 - - - - - - - - - 15.91 -
4567.24 436.10 -11.73 504 4574.81 roll back -1.11 0.32 0.201 2370.94 109.4 3.39 0.051 2075.69 440.2 -145.99 - - 3425.88 - - - - - - - - 15.90 15.97 -
4873.34 461.58 -8.32 520 4877.09 no move -1.17 - - 2370.81 - - - 2076.00 - -145.99 - - 3424.22 - - - - - - - - - - -
5174.06 485.28 -7.37 535 5184.43 roll back -1.23 0.28 0.100 2326.19 -159.4 3.67 0.122 583.81 -406.6 -145.99 - - 3426.78 - - - - - - - - 15.95 15.93 -
5227.97 490.98 -10.82 546 5235.54 roll back -1.12 0.38 0.207 2367.12 107.7 3.38 0.051 2075.44 441.3 -145.99 - - 3425.66 - - - - - - - - 15.91 15.97 -
5534.78 513.67 -7.29 562 5541.46 roll -1.18 - - 2367.88 - 3.67 0.122 582.81 -406.7 -145.99 - - 3426.62 - - - - - - - - - 15.93 -
5563.62 516.20 -7.56 568 5571.64 roll -1.18 - - 2368.81 - 3.39 0.048 2076.38 440.6 -145.99 - - 3427.53 - - - - - - - - - 15.99 -
5869.80 539.12 -7.51 584 5877.24 roll back -1.24 0.28 0.098 2324.88 -156.9 3.66 0.121 583.81 -407.8 -145.99 - - 3424.78 - - - - - - - - 15.96 15.93 -
5914.45 544.12 -11.36 593 5922.01 roll back -1.12 0.38 0.204 2366.56 109.7 3.39 0.050 2075.44 440.0 -145.99 - - 3424.41 - - - - - - - - 15.92 15.99 -
6220.54 570.00 -8.41 609 6227.95 roll -1.18 - - 2367.38 - 3.65 0.121 583.69 -408.7 -145.99 - - 3425.94 - - - - - - - - - 15.94 -
6250.10 572.91 -8.68 615 6258.12 roll -1.18 - - 2367.25 - 3.38 0.048 2077.19 441.9 -145.99 - - 3425.25 - - - - - - - - - 16.00 -
6556.98 598.52 -8.32 631 6567.20 roll back -1.25 0.28 0.097 2323.94 -154.7 3.66 0.121 584.62 -407.8 -145.99 - - 3424.69 - - - - - - - - 15.98 15.94 -
6571 end dive: TARGET_DEPTH_EXCEEDED
6571 begin apogee
6575.45 600.00 -8.45 634 6707.85 -0.20 2.08 0.194 2591.12 128.5 0.10 0.214 1915.62 13310.0 - 126.79 1.843 2824.38 -4.7 0.261 - - - - - - 15.92 15.27 11.76
6710 end apogee: CONTROL_FINISHED_OK
6710 begin climb
6710.08 602.67 - 641 6853.15 0.88 1.91 0.117 2856.12 138.7 3.76 0.118 3349.62 381.4 145.99 133.22 1.785 2229.47 -4.5 0.256 - - - - - - 15.27 14.91 11.54
6865.34 589.18 13.71 671 6872.94 roll back 0.63 0.63 0.210 2788.50 -107.3 3.48 0.050 1926.31 -409.0 145.99 - - 2221.19 - - - - - - - - 14.97 15.04 -
7171.36 555.72 10.72 687 7177.82 done 0.63 - - 2788.88 - 3.46 0.129 569.12 -392.3 145.99 - - 2212.59 - - - - - - - - - 15.27 -
7230.34 547.83 13.38 699 7237.88 0.46 0.31 0.194 2746.44 -136.9 3.28 0.044 1979.38 430.0 145.99 - - 2207.88 - - - - - - - - 15.39 15.46 -
7542.21 519.48 8.69 716 7549.06 done 0.46 - - 2745.56 - 3.55 0.122 569.06 -397.3 145.99 - - 2209.06 - - - - - - - - - 15.55 -
7601.21 513.27 10.33 728 7607.67 done 0.46 - - 2745.25 - 3.26 0.045 1981.19 433.2 145.99 - - 2207.88 - - - - - - - - - 15.62 -
7917.30 486.19 8.42 746 7924.76 done 0.46 - - 2746.94 - 3.53 0.121 569.25 -400.0 145.99 - - 2205.88 - - - - - - - - - 15.66 -
7973.51 480.59 10.17 757 7979.38 done 0.46 - - 2743.00 - 3.22 0.045 1971.00 435.3 145.99 - - 2206.78 - - - - - - - - - 15.70 -
8288.11 453.15 8.87 775 8295.44 done 0.46 - - 2745.94 - 3.52 0.121 569.06 -398.3 145.99 - - 2206.62 - - - - - - - - - 15.73 -
8344.37 447.43 10.77 786 8351.08 done 0.46 - - 2747.56 - 3.22 0.045 1981.44 438.6 145.99 - - 2206.84 - - - - - - - - - 15.78 -
8659.29 419.77 8.75 804 8666.75 done 0.46 - - 2745.56 - 3.52 0.120 569.38 -401.2 145.99 - - 2205.78 - - - - - - - - - 15.73 -
8703.90 415.11 10.37 813 8710.37 done 0.46 - - 2747.31 - 3.21 0.045 1981.19 439.8 145.99 - - 2204.09 - - - - - - - - - 15.78 -
9015.58 388.79 8.32 830 9022.42 done 0.46 - - 2746.62 - 3.50 0.120 569.19 -403.4 145.99 - - 2203.50 - - - - - - - - - 15.74 -
9074.58 382.94 10.11 842 9081.05 done 0.46 - - 2745.69 - 3.20 0.045 1981.38 441.3 145.99 - - 2204.75 - - - - - - - - - 15.66 -
9391.41 357.15 8.13 860 9398.12 done 0.46 - - 2744.38 - 3.51 0.119 569.06 -402.4 145.99 - - 2203.62 - - - - - - - - - 15.74 -
9440.30 352.20 9.99 870 9447.83 done 0.46 - - 2746.00 - 3.20 0.044 1982.19 441.6 145.99 - - 2204.34 - - - - - - - - - 15.79 -
9746.56 327.05 8.19 886 9753.84 done 0.46 - - 2745.75 - 3.51 0.117 568.94 -402.6 145.99 - - 2204.22 - - - - - - - - - 15.75 -
9785.99 323.20 9.46 894 9792.43 done 0.46 - - 2745.94 - 3.19 0.041 1982.75 443.2 145.99 - - 2204.59 - - - - - - - - - 15.79 -
10092.84 298.06 8.11 912 10099.65 done 0.46 - - 2745.56 - 3.50 0.118 570.38 -403.5 145.99 - - 2203.84 - - - - - - - - - 15.72 -
10131.79 294.23 9.38 920 10139.38 done 0.46 - - 2745.56 - 3.20 0.042 1982.44 441.3 145.99 - - 2204.31 - - - - - - - - - 15.79 -
10438.65 269.12 8.87 951 10445.51 done 0.46 - - 2745.81 - 3.51 0.118 570.19 -402.4 145.99 - - 2201.00 - - - - - - - - - 15.75 -
10474.47 265.47 10.17 958 10481.12 done 0.46 - - 2745.81 - 3.19 0.043 1982.12 442.6 145.99 - - 2202.53 - - - - - - - - - 15.69 -
10779.54 242.51 6.77 989 10847.09 0.55 0.24 0.114 2778.69 137.0 3.57 0.120 570.50 -395.4 215.45 59.58 1.436 1943.56 -4.3 0.124 - - - - - - 15.80 15.52 11.86
10889.29 232.22 11.27 1011 10896.83 roll 0.55 - - 2779.19 - 3.24 0.044 1980.69 435.2 215.45 - - 1941.34 - - - - - - - - - 15.60 -
11195.92 202.36 9.79 1042 11203.20 done 0.55 - - 2778.56 - 3.53 0.118 570.38 -399.5 215.45 - - 1933.00 - - - - - - - - - 15.66 -
11252.19 196.54 10.55 1053 11258.83 done 0.55 - - 2779.12 - 3.22 0.044 1980.38 437.9 215.45 - - 1932.00 - - - - - - - - - 15.71 -
11557.11 173.66 6.78 1084 11625.18 0.71 0.22 0.108 2817.69 175.3 3.58 0.121 570.00 -394.0 284.63 61.35 1.345 1665.34 -4.3 0.095 - - - - - - 15.74 15.37 11.93
11657.38 164.77 9.84 1104 11664.92 roll 0.71 - - 2817.81 - 3.26 0.043 1982.00 433.1 284.63 - - 1660.16 - - - - - - - - - 15.44 -
11963.52 139.08 7.81 1135 12015.95 0.84 0.16 0.124 2849.38 197.3 3.60 0.122 570.81 -392.0 331.78 42.96 1.282 1473.34 -4.3 0.080 - - - - - - 15.65 15.45 11.92
12074.20 127.74 11.68 1157 12081.57 roll 0.84 - - 2850.81 - 3.26 0.044 1980.00 432.3 331.78 - - 1465.53 - - - - - - - - - 15.51 -
12379.22 98.00 9.58 1190 12386.72 done 0.84 - - 2849.56 - 3.56 0.120 568.75 -396.4 331.78 - - 1461.19 - - - - - - - - - 15.61 -
12435.68 91.75 11.37 1201 12445.42 done 0.84 - - 2849.69 - 3.22 0.041 1982.31 439.0 331.78 - - 1460.56 - - - - - - - - - 15.67 -
12625.00 74.54 8.04 1239 12632.50 done 0.91 - - 2849.69 - 3.56 0.121 569.06 -397.0 331.78 - - 1461.44 - - - - - - - - - 15.67 -
12675.71 69.92 9.48 1249 12682.19 done 0.91 - - 2849.69 - 3.23 0.046 1981.81 437.4 331.78 - - 1459.19 - - - - - - - - - 15.73 -
12861.47 55.19 7.48 1286 12943.70 1.07 0.33 0.099 2906.00 170.6 - - 1983.19 - 385.96 76.08 1.201 1251.53 -2.7 0.021 - - - - - - 15.73 - 11.91
13122.52 34.69 5.11 1338 13296.86 1.36 0.44 0.095 2976.25 159.7 3.70 0.124 570.38 -381.8 491.09 164.60 1.116 823.47 -2.6 0.014 - - - - - - 15.55 15.09 11.95
13440.11 4.84 11.25 1401 13446.56 roll 1.36 - - 2976.06 - 3.29 0.039 1972.62 426.2 491.09 - - 817.59 - - - - - - - - - 15.37 -
13476 end climb: SURFACE_DEPTH_REACHED
13476 begin surface coast
13501 end surface coast: CONTROL_FINISHED_OK
13501 begin surface
SM 1.90 - - - - 201.6 - 0.014 500.2 - 19.20 0.072 490.9 25.6 - 0.17 0.097 509.5 2977.7 -5.961 - - 30.36 15.40 15.43 -