ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 119 * Raw log
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• Previous call tries 1 • 47.81 of 350.00 AH used of 24V (86.34% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.5 deg, depth 0.91 m • Intended pitch -17.2 deg, speed -9.028 cm/s
• VBD pumped to 350.17 (SM_CC=350) • surface range 10.0 m at 10.2 m depth, ceiling 0.2 m (m = 1.08, R^2 = 1.00)
• GPS1 time: 27 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 124 done -0.93 - - 191 - - - 2805 - -121.7 -113.38 0.003 3963 - - - - - - - - 14.57 13.06 14.56
126 3.2 -4.0 11 144 roll -0.93 12.15 0.474 2422 183.6 2.42 0.047 1389 -585.1 -121.7 - - 3973 - - - - - - - - 14.03 14.35 14.40
213 18.5 -12.3 28 221 done -0.93 - - 2421 - 2.53 0.071 2790 553.8 -121.7 - - 3974 - - - - - - - - 14.38 14.31 14.42
518 55.5 -12.3 59 525 roll -0.93 - - 2415 - 2.03 0.094 3903 548.3 -121.7 - - 3975 - - - - - - - - 14.73 14.39 14.73
558 60.9 -13.8 67 565 done -0.93 - - 2415 - 1.88 0.050 2803 -585.1 -121.7 - - 3975 - - - - - - - - 14.54 14.50 14.56
869 99.2 -12.5 99 869 done -0.93 - - 2415 - - - 2803 - -121.7 - - 3975 - - - - - - - - 14.78 14.78 14.78
1170 136.2 -12.1 129 1170 done -0.93 - - 2415 - - - 2803 - -121.7 - - 3976 - - - - - - - - 14.77 14.77 14.77
1469 171.5 -11.5 159 1469 done -0.93 - - 2415 - - - 2803 - -121.7 - - 3976 - - - - - - - - 14.83 14.84 14.83
1769 205.9 -11.3 189 1769 done -0.93 - - 2415 - - - 2803 - -121.7 - - 3976 - - - - - - - - 14.85 14.85 14.85
2069 240.2 -11.2 219 2069 done -0.93 - - 2415 - - - 2803 - -121.7 - - 3976 - - - - - - - - 14.86 14.86 14.87
2369 267.6 -11.1 249 2375 roll -0.93 - - 2421 - 2.00 0.094 3903 550.0 -121.7 - - 3976 - - - - - - - - 14.88 14.51 14.88
2414 273.1 -12.1 258 2421 done -0.93 - - 2415 - 1.88 0.050 2796 -588.8 -121.7 - - 3979 - - - - - - - - 14.64 14.61 14.66
2719 307.8 -11.5 286 2725 roll -0.93 - - 2415 - 2.38 0.050 1404 -584.9 -121.7 - - 3976 - - - - - - - - 14.88 14.56 14.88
2744 310.8 -11.7 291 2750 done -0.93 - - 2415 - 2.47 0.072 2801 565.6 -121.7 - - 3976 - - - - - - - - 14.62 14.54 14.64
3060 346.7 -11.5 309 3066 roll -0.93 - - 2414 - 2.38 0.050 1395 -590.8 -121.7 - - 3976 - - - - - - - - 14.88 14.59 14.88
3100 351.4 -11.4 317 3107 done -0.93 - - 2414 - 2.50 0.071 2802 562.8 -121.7 - - 3976 - - - - - - - - 14.62 14.54 14.66
3421 388.9 -11.7 336 3427 roll -0.93 - - 2413 - 1.98 0.094 3900 554.5 -121.7 - - 3976 - - - - - - - - 14.90 14.52 14.89
3461 393.9 -12.5 344 3467 done -0.93 - - 2410 - 1.85 0.051 2802 -593.5 -121.7 - - 3976 - - - - - - - - 14.66 14.64 14.69
3781 430.5 -11.5 363 3787 roll -0.93 - - 2413 - 2.35 0.050 1394 -599.1 -121.7 - - 3976 - - - - - - - - 14.85 14.60 14.85
3836 436.7 -11.1 374 3843 done -0.93 - - 2412 - 2.50 0.071 2800 562.4 -121.7 - - 3977 - - - - - - - - 14.63 14.55 14.66
4141 470.0 -10.8 390 4147 roll -0.93 - - 2412 - 1.98 0.094 3903 557.1 -121.7 - - 3976 - - - - - - - - 14.90 14.52 14.90
4185 475.2 -11.7 399 4192 done -0.93 - - 2413 - 1.88 0.051 2793 -590.4 -121.7 - - 3977 - - - - - - - - 14.69 14.64 14.71
4512 509.7 -10.6 416 4517 roll -0.93 - - 2412 - 2.33 0.050 1399 -598.3 -121.7 - - 3976 - - - - - - - - 14.86 14.61 14.86
4581 517.0 -10.2 430 4587 done -0.93 - - 2412 - 2.50 0.072 2806 562.8 -121.7 - - 3976 - - - - - - - - 14.63 14.55 14.66
4963 555.6 -10.1 446 4967 roll -0.93 - - 2412 - 1.92 0.095 3906 572.9 -121.7 - - 3977 - - - - - - - - 14.86 14.56 14.86
4996 559.4 -11.1 453 5003 done -0.93 - - 2413 - 1.88 0.051 2796 -590.4 -121.7 - - 3976 - - - - - - - - 14.69 14.65 14.71
5383 598.8 -10.4 470 5389 roll -0.93 - - 2412 - 2.33 0.050 1401 -598.7 -121.7 - - 3977 - - - - - - - - 14.90 14.62 14.90
5417 602.5 -10.4 477 5424 done -0.93 - - 2413 - 2.47 0.072 2798 565.6 -121.7 - - 3977 - - - - - - - - 14.64 14.56 14.67
5804 641.9 -10.0 494 5809 roll -0.93 - - 2412 - 1.95 0.094 3910 570.3 -121.7 - - 3977 - - - - - - - - 14.91 14.56 14.90
5833 645.0 -10.6 500 5839 done -0.93 - - 2412 - 1.88 0.050 2800 -590.4 -121.7 - - 3977 - - - - - - - - 14.69 14.66 14.71
5892 end dive: TARGET_DEPTH_EXCEEDED
5892 begin apogee
5895 651.1 -10.1 507 5997 done -0.23 0.88 0.243 2648 268.2 - - 2547 - - 99.38 2.977 3599 -3.8 0.166 - - - - - - 14.37 13.76 12.74
5998 end apogee: CONTROL_FINISHED_OK
5998 begin loiter
6343 658.9 -1.4 522 6344 done -0.23 - - 2648 - - - 2547 - - - - 3596 - - - - - - - - 14.59 14.59 14.59
6704 665.1 -1.6 534 6704 done -0.19 - - 2648 - - - 2547 - - - - 3595 - - - - - - - - 14.77 14.77 14.77
7063 671.1 -1.7 546 7064 done -0.16 - - 2648 - - - 2547 - - - - 3595 - - - - - - - - 14.86 14.86 14.85
7424 676.9 -1.6 558 7425 done -0.13 0.15 0.205 2689 273.3 - - 2547 - - - - 3595 - - - - - - - - 14.52 14.71 14.68
7783 682.4 -1.7 570 7784 done -0.10 - - 2689 - - - 2546 - - - - 3595 - - - - - - - - 14.96 14.96 14.96
8143 688.2 -1.6 582 8144 done -0.06 - - 2689 - - - 2546 - - - - 3595 - - - - - - - - 14.99 14.99 14.99
8503 693.8 -1.6 594 8504 done -0.03 - - 2689 - - - 2547 - - - - 3595 - - - - - - - - 15.02 15.02 15.02
8863 699.6 -1.7 606 8865 done - 0.15 0.184 2733 293.3 - - 2547 - - - - 3595 - - - - - - - - 14.64 14.82 14.79
9224 705.8 -1.9 618 9224 done 0.04 - - 2733 - - - 2547 - - - - 3595 - - - - - - - - 15.04 15.04 15.04
9583 712.3 -1.7 630 9584 done 0.07 - - 2734 - - - 2546 - - - - 3595 - - - - - - - - 15.05 15.07 15.07
9944 718.3 -1.7 642 9944 done 0.11 - - 2733 - - - 2547 - - - - 3595 - - - - - - - - 15.07 15.07 15.07
10303 724.6 -1.8 654 10305 done 0.14 0.15 0.174 2782 326.7 - - 2547 - - - - 3595 - - - - - - - - 14.71 14.87 14.83
10663 731.0 -1.8 666 10664 done 0.18 - - 2782 - - - 2547 - - - - 3595 - - - - - - - - 15.09 15.09 15.09
11023 737.9 -1.9 678 11024 done 0.22 - - 2782 - - - 2547 - - - - 3595 - - - - - - - - 15.09 15.10 15.10
11383 745.0 -2.0 690 11384 done 0.26 - - 2782 - - - 2547 - - - - 3595 - - - - - - - - 15.10 15.10 15.10
11743 751.7 -1.8 702 11745 done 0.29 0.12 0.162 2825 358.3 - - 2546 - - - - 3595 - - - - - - - - 14.76 14.89 14.86
12104 757.8 -1.6 714 12104 done 0.32 - - 2825 - - - 2547 - - - - 3595 - - - - - - - - 15.10 15.10 15.10
12463 763.3 -1.5 726 12464 done 0.36 - - 2825 - - - 2546 - - - - 3595 - - - - - - - - 15.11 15.11 15.11
12823 768.5 -1.4 738 12824 done 0.38 - - 2825 - - - 2546 - - - - 3595 - - - - - - - - 15.11 15.11 15.11
13184 773.0 -1.2 750 13185 done 0.41 0.12 0.191 2866 341.7 - - 2547 - - - - 3595 - - - - - - - - 14.72 14.89 14.86
13543 777.7 -1.2 762 13544 done 0.43 - - 2865 - - - 2546 - - - - 3596 - - - - - - - - 15.12 15.12 15.12
13903 782.1 -1.2 774 13904 done 0.46 - - 2866 - - - 2547 - - - - 3596 - - - - - - - - 15.13 15.12 15.12
14263 785.6 -0.8 786 14264 done 0.47 - - 2866 - - - 2546 - - - - 3596 - - - - - - - - 15.13 15.13 15.13
14623 789.4 -1.2 798 14624 done 0.50 - - 2865 - - - 2547 - - - - 3596 - - - - - - - - 15.13 15.13 15.14
14983 793.5 -1.1 810 14984 done 0.52 - - 2865 - - - 2547 - - - - 3596 - - - - - - - - 15.14 15.14 15.13
15343 798.2 -1.3 822 15345 done 0.55 0.12 0.149 2910 375.0 - - 2547 - - - - 3596 - - - - - - - - 14.80 14.92 14.89
15703 803.0 -1.5 834 15704 done 0.57 - - 2910 - - - 2547 - - - - 3596 - - - - - - - - 15.14 15.14 15.14
16063 809.2 -1.7 846 16064 done 0.61 - - 2910 - - - 2547 - - - - 3597 - - - - - - - - 15.14 15.14 15.14
16423 815.9 -1.7 858 16424 done 0.64 - - 2909 - - - 2546 - - - - 3597 - - - - - - - - 15.14 15.14 15.14
16783 822.1 -1.7 870 16785 done 0.68 0.12 0.165 2951 350.0 - - 2547 - - - - 3596 - - - - - - - - 14.76 14.91 14.88
17144 828.8 -1.9 882 17144 done 0.72 - - 2951 - - - 2547 - - - - 3597 - - - - - - - - 15.14 15.14 15.14
17503 835.2 -1.8 894 17504 done 0.75 - - 2951 - - - 2547 - - - - 3597 - - - - - - - - 15.14 15.14 15.14
17864 841.6 -1.6 906 17864 done 0.79 - - 2951 - - - 2547 - - - - 3597 - - - - - - - - 15.14 15.14 15.14
18223 846.8 -1.4 918 18225 done 0.81 0.12 0.188 2996 375.0 - - 2547 - - - - 3597 - - - - - - - - 14.76 14.91 14.88
18583 852.2 -1.3 930 18584 done 0.84 - - 2997 - - - 2547 - - - - 3597 - - - - - - - - 15.14 15.14 15.14
18943 855.6 -1.0 942 18944 done 0.86 - - 2996 - - - 2547 - - - - 3597 - - - - - - - - 15.14 15.14 15.14
19303 859.0 -1.1 954 19304 done 0.88 - - 2997 - - - 2547 - - - - 3597 - - - - - - - - 15.14 15.15 15.14
19663 864.5 -1.5 966 19664 done 0.91 - - 2997 - - - 2547 - - - - 3597 - - - - - - - - 15.15 15.15 15.14
20023 869.3 -1.4 978 20025 done 0.94 0.10 0.174 3031 340.0 - - 2547 - - - - 3597 - - - - - - - - 14.79 14.92 14.89
20382 end loiter: LOITER_COMPLETE
20382 begin climb
20383 874.1 - 990 20514 roll 0.93 - - 3041 - 2.58 0.060 1154 -539.9 121.7 124.18 3.089 3110 -3.9 0.221 - - - - - - 15.15 13.56 12.59
20703 848.0 11.4 1053 20709 done 0.93 - - 3041 - 2.55 0.067 2552 548.2 121.7 - - 3107 - - - - - - - - 14.16 14.11 14.19
21078 804.2 11.6 1068 21084 roll 0.93 - - 3041 - 2.47 0.093 3899 545.3 121.7 - - 3104 - - - - - - - - 14.64 14.33 14.65
21123 798.3 13.4 1077 21129 done 0.93 - - 3051 - 2.33 0.054 2556 -576.4 121.7 - - 3104 - - - - - - - - 14.47 14.43 14.49
21498 753.5 12.0 1092 21504 roll 0.93 - - 3061 - 2.42 0.064 1148 -581.8 121.7 - - 3104 - - - - - - - - 14.77 14.48 14.77
21528 750.0 11.2 1098 21534 done 0.93 0.10 0.275 3036 -250.0 2.47 0.069 2547 566.4 121.7 - - 3103 - - - - - - - - 14.28 14.47 14.48
21919 705.6 11.6 1116 21925 roll 0.93 - - 3035 - 2.45 0.093 3919 560.0 121.7 - - 3103 - - - - - - - - 14.83 14.52 14.83
21953 701.1 13.3 1123 21961 done 0.93 - - 3045 - 2.33 0.054 2554 -585.8 121.7 - - 3103 - - - - - - - - 14.63 14.59 14.65
22340 654.5 12.1 1140 22340 done 0.93 - - 3045 - - - 2554 - 121.7 - - 3102 - - - - - - - - 14.86 14.86 14.85
22701 612.5 11.9 1152 22701 done 0.93 - - 3045 - - - 2554 - 121.7 - - 3103 - - - - - - - - 14.84 14.84 14.84
23061 571.3 11.4 1164 23066 roll 0.93 - - 3056 - 2.40 0.064 1151 -584.6 121.7 - - 3102 - - - - - - - - 14.86 14.59 14.86
23080 569.0 11.2 1168 23086 done 0.93 - - 3056 - 2.47 0.069 2558 569.6 121.7 - - 3102 - - - - - - - - 14.66 14.59 14.69
23450 526.2 11.4 1182 23451 done 0.93 - - 3055 - - - 2561 - 121.7 - - 3102 - - - - - - - - 14.90 14.90 14.90
23810 485.8 11.1 1196 23816 roll 0.93 - - 3056 - 2.40 0.096 3916 564.6 121.7 - - 3102 - - - - - - - - 14.91 14.59 14.91
23835 482.7 12.5 1201 23842 done 0.93 0.10 0.310 3040 -160.0 2.33 0.054 2546 -588.0 121.7 - - 3102 - - - - - - - - 14.35 14.66 14.58
24151 448.3 10.6 1219 24158 roll 0.93 - - 3050 - 2.40 0.063 1162 -576.7 121.7 - - 3102 - - - - - - - - 14.92 14.58 14.92
24217 441.4 10.3 1232 24223 done 0.93 - - 3050 - 2.45 0.068 2557 569.4 121.7 - - 3102 - - - - - - - - 14.67 14.60 14.71
24532 408.0 10.4 1250 24538 roll 0.93 - - 3050 - 2.42 0.094 3902 555.8 121.7 - - 3103 - - - - - - - - 14.91 14.57 14.92
24568 403.9 11.8 1257 24574 done 0.93 - - 3060 - 2.25 0.055 2550 -600.9 121.7 - - 3103 - - - - - - - - 14.76 14.69 14.77
24873 372.0 10.4 1273 24878 roll 0.93 - - 3070 - 2.38 0.064 1159 -584.5 121.7 - - 3103 - - - - - - - - 14.91 14.60 14.91
24957 363.2 10.4 1290 24963 done 0.93 0.12 0.274 3036 -283.3 2.45 0.070 2551 568.2 121.7 - - 3103 - - - - - - - - 14.37 14.59 14.57
25273 333.5 9.2 1308 25278 roll 0.93 - - 3037 - 2.40 0.093 3908 565.4 121.7 - - 3103 - - - - - - - - 14.88 14.59 14.89
25367 323.7 10.4 1327 25375 done 0.93 - - 3046 - 2.33 0.053 2543 -585.8 121.7 - - 3103 - - - - - - - - 14.66 14.63 14.69
25673 294.2 9.8 1345 25678 roll 0.93 - - 3056 - 2.38 0.064 1153 -584.0 121.7 - - 3103 - - - - - - - - 14.92 14.60 14.92
25728 288.8 9.7 1356 25735 done 0.93 - - 3057 - 2.42 0.070 2558 580.6 121.7 - - 3103 - - - - - - - - 14.73 14.62 14.76
26032 259.3 9.6 1387 26039 roll 0.93 - - 3058 - 2.42 0.094 3901 555.0 121.7 - - 3102 - - - - - - - - 14.90 14.56 14.92
26074 254.8 11.2 1395 26080 done 0.93 0.15 0.323 3036 -146.7 2.28 0.056 2539 -597.4 121.7 - - 3103 - - - - - - - - 14.37 14.68 14.68
26384 226.7 9.0 1427 26385 done 0.93 - - 3039 - - - 2539 - 121.7 - - 3103 - - - - - - - - 14.92 14.92 14.92
26684 200.2 8.9 1457 26690 roll 0.93 - - 3035 - 2.47 0.094 3903 552.2 121.7 - - 3103 - - - - - - - - 14.92 14.56 14.93
26784 190.0 10.2 1477 26790 done 0.93 - - 3046 - 2.30 0.055 2557 -585.2 121.7 - - 3103 - - - - - - - - 14.69 14.66 14.72
27095 162.6 8.5 1509 27095 done 0.94 - - 3046 - - - 2557 - 121.7 - - 3103 - - - - - - - - 14.92 14.92 14.92
27394 137.1 8.7 1539 27402 roll 0.94 - - 3056 - 2.45 0.063 1149 -574.7 121.7 - - 3103 - - - - - - - - 14.92 14.56 14.93
27442 133.2 8.4 1548 27448 done 0.96 - - 3056 - 2.42 0.070 2552 579.8 121.7 - - 3103 - - - - - - - - 14.72 14.61 14.75
27746 108.6 7.8 1579 27747 done 0.98 - - 3056 - - - 2552 - 121.7 - - 3103 - - - - - - - - 14.92 14.92 14.92
28046 83.4 8.5 1609 28052 roll 0.98 - - 3056 - 2.45 0.094 3906 552.7 121.7 - - 3104 - - - - - - - - 14.92 14.51 14.92
28076 80.6 9.6 1615 28084 done 0.98 - - 3066 - 2.33 0.054 2540 -586.3 121.7 - - 3103 - - - - - - - - 14.70 14.65 14.72
28387 53.1 8.9 1647 28394 roll 0.98 - - 3066 - 2.47 0.096 3903 551.8 121.7 - - 3103 - - - - - - - - 14.92 14.54 14.92
28433 48.5 10.3 1656 28440 done 0.98 0.10 0.312 3052 -140.0 2.30 0.056 2556 -585.7 121.7 - - 3103 - - - - - - - - 14.30 14.64 14.54
28738 22.5 8.4 1687 28745 roll 0.99 - - 3052 - 2.45 0.094 3906 551.0 121.7 - - 3103 - - - - - - - - 14.91 14.54 14.91
28774 19.0 10.0 1694 28785 done 0.99 - - 3061 - 2.33 0.056 2541 -585.8 121.7 - - 3103 - - - - - - - - 14.69 14.64 14.71
28968 end climb: SURFACE_DEPTH_REACHED
28968 begin surface coast
28988 end surface coast: CONTROL_FINISHED_OK
28988 begin surface
SM 0.91 - - - - -7.87 8.50 0.088 197 23.2 0.47 0.100 2800 3766.0 350.17 214.32 0.218 2205 10.3 -0.004 - - - - - -