ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 116 * Raw log
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• Previous call tries 1 • 46.95 of 350.00 AH used of 24V (86.59% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.0 deg, depth 0.83 m • Intended pitch -17.2 deg, speed -9.028 cm/s
• VBD pumped to 350.17 (SM_CC=350) • surface range 12.2 m at 12.2 m depth, ceiling 0.0 m (m = 1.03, R^2 = 1.00)
• GPS1 time: 22 s
• GPS2 time: 3 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 132 done -0.93 - - 199 - - - 2808 - -121.7 -118.50 0.003 3963 - - - - - - - - 14.57 13.32 14.57
134 3.5 -4.3 12 155 roll -0.93 11.98 0.469 2419 185.3 2.40 0.047 1400 -586.7 -121.7 - - 3971 - - - - - - - - 14.00 14.35 14.36
283 26.5 -12.3 41 291 done -0.93 - - 2419 - 2.50 0.071 2790 556.0 -121.7 - - 3974 - - - - - - - - 14.38 14.31 14.40
588 64.4 -12.2 72 594 roll -0.93 - - 2414 - 2.03 0.094 3906 549.8 -121.7 - - 3974 - - - - - - - - 14.73 14.40 14.73
633 70.1 -13.4 81 641 done -0.93 - - 2414 - 1.88 0.049 2800 -588.3 -121.7 - - 3974 - - - - - - - - 14.53 14.50 14.55
939 107.6 -12.1 112 939 done -0.93 - - 2414 - - - 2801 - -121.7 - - 3975 - - - - - - - - 14.79 14.78 14.78
1238 143.1 -11.4 142 1239 done -0.93 - - 2414 - - - 2801 - -121.7 - - 3975 - - - - - - - - 14.82 14.82 14.82
1538 177.6 -11.9 172 1539 done -0.93 - - 2414 - - - 2801 - -121.7 - - 3975 - - - - - - - - 14.83 14.83 14.84
1839 212.1 -11.7 202 1840 done -0.93 - - 2414 - - - 2801 - -121.7 - - 3975 - - - - - - - - 14.81 14.81 14.81
2139 246.8 -11.4 232 2144 roll -0.93 - - 2413 - 2.00 0.094 3903 551.0 -121.7 - - 3975 - - - - - - - - 14.87 14.51 14.85
2193 253.5 -12.5 243 2202 done -0.93 - - 2413 - 1.88 0.050 2791 -591.5 -121.7 - - 3975 - - - - - - - - 14.62 14.57 14.64
2499 288.6 -11.5 274 2499 done -0.93 - - 2413 - - - 2795 - -121.7 - - 3975 - - - - - - - - 14.85 14.85 14.85
2799 322.9 -11.3 294 2804 roll -0.93 - - 2413 - 2.03 0.094 3904 546.3 -121.7 - - 3975 - - - - - - - - 14.85 14.51 14.85
2833 327.2 -12.7 301 2841 done -0.93 - - 2413 - 1.88 0.050 2795 -589.9 -121.7 - - 3975 - - - - - - - - 14.66 14.62 14.68
3140 361.9 -11.3 317 3141 done -0.93 - - 2412 - - - 2795 - -121.7 - - 3975 - - - - - - - - 14.83 14.84 14.83
3438 396.1 -11.3 332 3444 roll -0.93 - - 2412 - 2.03 0.093 3913 550.7 -121.7 - - 3975 - - - - - - - - 14.88 14.52 14.86
3468 399.8 -12.4 338 3475 done -0.93 - - 2413 - 1.88 0.050 2801 -591.5 -121.7 - - 3975 - - - - - - - - 14.67 14.63 14.69
3779 433.3 -10.1 355 3785 roll -0.93 - - 2413 - 2.38 0.050 1404 -587.0 -121.7 - - 3975 - - - - - - - - 14.88 14.58 14.88
3823 437.8 -9.8 364 3830 done -0.93 - - 2412 - 2.47 0.072 2795 563.2 -121.7 - - 3975 - - - - - - - - 14.59 14.50 14.62
4139 469.3 -9.9 382 4145 roll -0.93 - - 2413 - 1.98 0.094 3924 570.2 -121.7 - - 3975 - - - - - - - - 14.88 14.54 14.88
4199 475.7 -10.8 394 4205 done -0.93 - - 2413 - 1.90 0.050 2800 -591.6 -121.7 - - 3975 - - - - - - - - 14.66 14.62 14.69
4529 509.6 -10.5 412 4535 roll -0.93 - - 2413 - 2.38 0.050 1402 -587.4 -121.7 - - 3975 - - - - - - - - 14.88 14.58 14.88
4569 513.9 -10.8 420 4575 done -0.93 - - 2413 - 2.47 0.073 2797 564.8 -121.7 - - 3975 - - - - - - - - 14.62 14.54 14.66
4950 555.8 -10.8 436 4955 roll -0.93 - - 2412 - 1.95 0.095 3909 570.3 -121.7 - - 3977 - - - - - - - - 14.85 14.55 14.85
4984 559.8 -11.6 443 4990 done -0.93 - - 2412 - 1.88 0.051 2795 -592.6 -121.7 - - 3975 - - - - - - - - 14.64 14.60 14.64
5188 end dive: TARGET_DEPTH_EXCEEDED
5188 begin apogee
5191 582.2 -10.9 454 5372 done -0.23 0.90 0.246 2653 267.8 - - 2540 - - 171.18 1.568 3495 -2.8 0.200 - - - - 1 - 14.38 13.85 13.09
5373 end apogee: CONTROL_FINISHED_OK
5373 begin loiter
5730 588.0 0.7 472 5730 done -0.23 - - 2653 - - - 2540 - - - - 3496 - - - - - - - - 14.61 14.61 14.61
6089 584.6 1.0 484 6090 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 14.78 14.78 14.78
6449 580.7 1.2 496 6450 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 14.86 14.87 14.86
6809 576.1 1.4 508 6810 done -0.23 - - 2653 - - - 2541 - - - - 3494 - - - - - - - - 14.92 14.92 14.92
7169 570.8 1.5 520 7170 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 14.96 14.96 14.96
7529 565.4 1.5 532 7530 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 14.98 14.98 14.99
7889 560.0 1.5 544 7890 done -0.23 - - 2653 - - - 2541 - - - - 3494 - - - - - - - - 15.01 15.01 15.01
8249 554.8 1.4 556 8250 done -0.23 - - 2653 - - - 2540 - - - - 3494 - - - - - - - - 15.02 15.02 15.02
8609 550.5 1.1 568 8610 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.04 15.04 15.04
8969 547.1 0.9 580 8970 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.05 15.05 15.05
9329 544.0 0.8 592 9330 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.07 15.07 15.06
9689 541.4 0.7 604 9690 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.07 15.07 15.07
10049 539.4 0.6 616 10050 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.07 15.07 15.08
10409 537.8 0.4 628 10410 done -0.23 - - 2653 - - - 2540 - - - - 3494 - - - - - - - - 15.08 15.09 15.09
10769 536.9 0.2 640 10770 done -0.23 - - 2653 - - - 2540 - - - - 3494 - - - - - - - - 15.09 15.09 15.09
11129 535.7 0.5 652 11130 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.09 15.10 15.09
11489 533.1 0.8 664 11490 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.10 15.10 15.10
11849 529.6 1.0 676 11850 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.10 15.10 15.10
12209 525.5 1.2 688 12210 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
12569 520.7 1.3 700 12570 done -0.23 - - 2653 - - - 2541 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
12929 515.8 1.4 712 12930 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.09 15.09 15.09
13289 510.6 1.4 724 13290 done -0.23 - - 2653 - - - 2540 - - - - 3494 - - - - - - - - 15.09 15.09 15.09
13649 505.7 1.3 736 13650 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.09 15.09 15.09
14009 500.8 1.3 748 14010 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
14379 496.4 1.0 765 14380 done -0.23 - - 2653 - - - 2541 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
14679 493.2 1.1 780 14680 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
14979 490.5 0.8 795 14980 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
15279 488.9 0.4 810 15280 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
15579 488.3 0.1 825 15580 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
15879 488.2 - 840 15880 done -0.23 - - 2653 - - - 2541 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
16179 488.3 - 855 16180 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
16479 488.1 0.1 870 16480 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
16779 487.5 0.3 885 16780 done -0.23 - - 2652 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
17079 486.3 0.5 900 17080 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
17379 484.7 0.6 915 17380 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
17679 483.1 0.5 930 17680 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
17979 481.7 0.4 945 17980 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
18279 481.1 0.1 960 18280 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
18579 481.2 -0.1 975 18580 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
18879 481.8 -0.2 990 18880 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
19179 482.6 -0.3 1005 19180 done -0.23 - - 2653 - - - 2540 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
19479 483.3 -0.2 1020 19480 done -0.23 - - 2653 - - - 2541 - - - - 3495 - - - - - - - - 15.11 15.11 15.11
19778 end loiter: LOITER_COMPLETE
19778 begin climb
19779 483.8 - 1035 19965 roll 0.93 1.17 0.155 3037 328.2 2.47 0.063 1161 -558.7 121.7 170.75 1.401 3009 -2.8 0.189 - - - - 1 - 14.64 13.95 13.33
20079 463.5 10.7 1093 20085 done 0.93 - - 3037 - 2.53 0.069 2556 551.4 121.7 - - 3008 - - - - - - - - 14.26 14.20 14.28
20389 428.4 11.4 1110 20395 roll 0.93 - - 3037 - 2.45 0.096 3901 549.0 121.7 - - 3010 - - - - - - - - 14.65 14.34 14.65
20420 424.5 13.4 1116 20426 done 0.93 - - 3047 - 2.30 0.055 2542 -590.9 121.7 - - 3010 - - - - - - - - 14.51 14.46 14.53
20732 388.1 11.7 1133 20732 done 0.93 - - 3047 - - - 2542 - 121.7 - - 3011 - - - - - - - - 14.72 14.72 14.72
21030 354.3 11.2 1148 21037 roll 0.93 - - 3058 - 2.40 0.064 1162 -575.0 121.7 - - 3010 - - - - - - - - 14.81 14.46 14.80
21076 349.2 11.0 1157 21082 done 0.93 - - 3058 - 2.45 0.070 2547 565.3 121.7 - - 3011 - - - - - - - - 14.58 14.51 14.61
21391 313.1 11.5 1175 21397 roll 0.93 - - 3058 - 2.45 0.095 3906 554.7 121.7 - - 3011 - - - - - - - - 14.83 14.50 14.84
21416 309.9 13.3 1180 21423 done 0.93 0.12 0.298 3036 -183.3 2.30 0.055 2557 -586.5 121.7 - - 3010 - - - - - - - - 14.31 14.61 14.52
21722 278.4 10.4 1207 21728 roll 0.93 - - 3046 - 2.42 0.063 1160 -577.3 121.7 - - 3010 - - - - - - - - 14.85 14.52 14.85
21777 272.9 9.8 1218 21785 done 0.93 - - 3046 - 2.45 0.070 2550 567.3 121.7 - - 3010 - - - - - - - - 14.59 14.52 14.62
22082 242.2 10.4 1249 22083 done 0.93 - - 3046 - - - 2550 - 121.7 - - 3010 - - - - - - - - 14.87 14.87 14.87
22382 211.3 10.2 1279 22383 done 0.93 - - 3046 - - - 2551 - 121.7 - - 3010 - - - - - - - - 14.88 14.88 14.88
22683 181.3 10.0 1309 22683 done 0.93 - - 3046 - - - 2551 - 121.7 - - 3010 - - - - - - - - 14.88 14.88 14.88
22982 151.8 9.9 1339 22983 done 0.93 - - 3046 - - - 2551 - 121.7 - - 3010 - - - - - - - - 14.90 14.89 14.90
23282 123.4 9.4 1369 23288 roll 0.93 - - 3056 - 2.42 0.064 1158 -575.6 121.7 - - 3010 - - - - - - - - 14.90 14.55 14.90
23347 117.2 9.8 1382 23354 done 0.93 - - 3056 - 2.45 0.070 2549 567.8 121.7 - - 3010 - - - - - - - - 14.62 14.54 14.65
23652 85.8 10.4 1413 23658 roll 0.93 - - 3056 - 2.42 0.096 3897 557.0 121.7 - - 3010 - - - - - - - - 14.89 14.54 14.89
23682 82.3 11.5 1419 23688 done 0.93 0.10 0.308 3040 -160.0 2.30 0.057 2549 -586.1 121.7 - - 3010 - - - - - - - - 14.33 14.64 14.54
23992 51.2 9.6 1451 23998 roll 0.93 - - 3050 - 2.42 0.066 1154 -576.4 121.7 - - 3009 - - - - - - - - 14.88 14.54 14.88
24032 47.3 9.9 1459 24038 done 0.93 - - 3050 - 2.45 0.070 2545 567.8 121.7 - - 3009 - - - - - - - - 14.64 14.57 14.66
24342 16.2 9.9 1491 24343 done 0.93 - - 3050 - - - 2544 - 121.7 - - 3009 - - - - - - - - 14.88 14.88 14.88
24492 end climb: SURFACE_DEPTH_REACHED
24492 begin surface coast
24512 end surface coast: CONTROL_FINISHED_OK
24512 begin surface
SM 0.89 - - - - -7.88 8.45 0.084 198 23.4 0.47 0.094 2809 5963.8 350.17 208.85 0.221 2106 10.1 -0.004 - - - - - -