ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 123 * Raw log
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• Previous call tries 1 • 49.05 of 350.00 AH used of 24V (85.99% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.9 deg, depth 0.73 m • Intended pitch -17.2 deg, speed -9.028 cm/s
• VBD pumped to 350.17 (SM_CC=350) • surface range 10.6 m at 10.5 m depth, ceiling -0.1 m (m = 1.07, R^2 = 1.00)
• GPS1 time: 29 s
• GPS2 time: 2 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 - - - 123 done -0.93 - - 200 - - - 2805 - -121.7 -111.88 0.003 3963 - - - - - - - - 14.56 13.02 14.56
125 2.7 -3.2 11 142 roll -0.93 11.98 0.467 2413 184.7 1.95 0.081 3914 568.7 -121.7 - - 3972 - - - - - - - - 14.00 14.32 14.29
366 38.9 -13.6 59 372 done -0.93 - - 2413 - 1.90 0.049 2795 -588.9 -121.7 - - 3975 - - - - - - - - 14.49 14.45 14.50
677 76.7 -12.6 91 682 roll -0.93 - - 2411 - 1.98 0.093 3903 559.6 -121.7 - - 3975 - - - - - - - - 14.71 14.43 14.72
721 82.7 -13.6 100 728 done -0.93 - - 2411 - 1.88 0.050 2802 -585.6 -121.7 - - 3976 - - - - - - - - 14.56 14.52 14.58
1026 120.9 -12.6 131 1032 roll -0.93 - - 2410 - 2.40 0.051 1406 -581.7 -121.7 - - 3976 - - - - - - - - 14.81 14.49 14.81
1056 124.7 -12.4 137 1063 done -0.93 - - 2410 - 2.47 0.070 2797 563.2 -121.7 - - 3975 - - - - - - - - 14.55 14.47 14.59
1368 162.6 -12.1 169 1374 roll -0.93 - - 2405 - 1.95 0.092 3907 569.2 -121.7 - - 3976 - - - - - - - - 14.78 14.49 14.79
1398 166.6 -13.4 175 1404 done -0.93 - - 2405 - 1.88 0.049 2795 -591.5 -121.7 - - 3976 - - - - - - - - 14.62 14.57 14.63
1708 203.9 -11.9 207 1708 done -0.93 - - 2405 - - - 2794 - -121.7 - - 3976 - - - - - - - - 14.85 14.84 14.85
2008 240.9 -12.5 237 2008 done -0.93 - - 2405 - - - 2794 - -121.7 - - 3976 - - - - - - - - 14.85 14.85 14.85
2308 277.8 -12.1 267 2314 roll -0.93 - - 2405 - 2.38 0.050 1405 -583.6 -121.7 - - 3976 - - - - - - - - 14.85 14.53 14.85
2378 286.2 -11.7 281 2384 done -0.93 - - 2404 - 2.47 0.070 2798 564.0 -121.7 - - 3976 - - - - - - - - 14.58 14.50 14.62
2698 324.5 -11.9 304 2699 done -0.93 - - 2404 - - - 2799 - -121.7 - - 3975 - - - - - - - - 14.87 14.87 14.87
2999 359.3 -11.7 319 3004 roll -0.93 - - 2404 - 2.38 0.050 1393 -590.8 -121.7 - - 3977 - - - - - - - - 14.88 14.58 14.88
3053 365.7 -11.3 330 3061 done -0.93 - - 2403 - 2.50 0.070 2801 563.2 -121.7 - - 3976 - - - - - - - - 14.64 14.52 14.64
3359 400.7 -11.4 346 3360 done -0.93 - - 2403 - - - 2802 - -121.7 - - 3976 - - - - - - - - 14.88 14.88 14.88
3659 435.4 -11.6 361 3665 roll -0.93 - - 2403 - 2.35 0.050 1402 -595.7 -121.7 - - 3977 - - - - - - - - 14.85 14.59 14.85
3744 445.4 -11.3 378 3750 done -0.93 - - 2403 - 2.47 0.071 2796 564.4 -121.7 - - 3977 - - - - - - - - 14.61 14.53 14.64
4061 480.1 -11.0 396 4065 roll -0.93 - - 2402 - 2.35 0.050 1399 -594.5 -121.7 - - 3977 - - - - - - - - 14.85 14.59 14.85
4089 483.5 -11.0 402 4095 done -0.93 - - 2403 - 2.47 0.070 2799 566.8 -121.7 - - 3977 - - - - - - - - 14.62 14.54 14.65
4411 518.4 -11.1 417 4417 roll -0.93 - - 2403 - 2.35 0.049 1399 -595.7 -121.7 - - 3977 - - - - - - - - 14.86 14.59 14.86
4461 524.1 -10.9 427 4467 done -0.93 - - 2402 - 2.50 0.070 2809 564.0 -121.7 - - 3977 - - - - - - - - 14.62 14.54 14.66
4832 564.6 -10.8 441 4832 done -0.93 - - 2403 - - - 2809 - -121.7 - - 3977 - - - - - - - - 14.90 14.90 14.88
5191 602.4 -10.5 453 5198 roll -0.93 - - 2403 - 2.40 0.049 1405 -585.0 -121.7 - - 3977 - - - - - - - - 14.91 14.57 14.91
5257 609.3 -10.3 466 5263 done -0.93 - - 2402 - 2.42 0.070 2801 576.9 -121.7 - - 3977 - - - - - - - - 14.69 14.57 14.71
5643 647.8 -9.9 483 5643 done -0.93 - - 2402 - - - 2801 - -121.7 - - 3977 - - - - - - - - 14.90 14.90 14.90
5672 end dive: TARGET_DEPTH_EXCEEDED
5672 begin apogee
5675 650.8 -9.9 484 5778 done -0.23 0.95 0.262 2651 262.1 - - 2539 - - 99.97 2.964 3598 -3.8 0.165 - - - - - - 14.30 13.76 12.73
5779 end apogee: CONTROL_FINISHED_OK
5779 begin loiter
6122 655.1 -0.4 499 6123 done -0.23 - - 2651 - - - 2539 - - - - 3594 - - - - - - - - 14.58 14.58 14.58
6482 656.8 -0.6 511 6483 done -0.22 - - 2651 - - - 2539 - - - - 3593 - - - - - - - - 14.76 14.76 14.76
6842 659.0 -0.7 523 6843 done -0.20 - - 2651 - - - 2539 - - - - 3593 - - - - - - - - 14.85 14.85 14.85
7202 661.9 -0.8 535 7203 done -0.19 - - 2651 - - - 2538 - - - - 3593 - - - - - - - - 14.91 14.91 14.91
7562 664.8 -0.9 547 7563 done -0.17 - - 2651 - - - 2539 - - - - 3593 - - - - - - - - 14.95 14.95 14.95
7922 668.1 -0.9 559 7923 done -0.15 - - 2651 - - - 2539 - - - - 3593 - - - - - - - - 14.98 14.98 14.98
8282 670.9 -0.8 571 8283 done -0.14 0.12 0.226 2684 275.0 - - 2539 - - - - 3593 - - - - - - - - 14.57 14.78 14.75
8642 673.7 -0.8 583 8643 done -0.12 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.02 15.02 15.02
9002 676.3 -0.7 595 9003 done -0.11 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.04 15.04 15.04
9362 678.5 -0.6 607 9363 done -0.09 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.05 15.05 15.05
9722 680.2 -0.4 619 9723 done -0.09 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.06 15.06 15.06
10082 681.3 -0.3 631 10083 done -0.09 - - 2684 - - - 2539 - - - - 3592 - - - - - - - - 15.07 15.07 15.07
10442 682.0 -0.1 643 10443 done -0.09 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.07 15.07 15.08
10802 683.0 -0.3 655 10803 done -0.09 - - 2684 - - - 2538 - - - - 3593 - - - - - - - - 15.09 15.09 15.09
11162 683.9 -0.2 667 11163 done -0.09 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.09 15.09 15.09
11522 685.2 -0.4 679 11523 done -0.09 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.09 15.09 15.09
11882 686.5 -0.4 691 11883 done -0.09 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.09 15.09 15.10
12242 688.5 -0.6 703 12243 done -0.08 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.10 15.10 15.10
12602 690.6 -0.6 715 12603 done -0.07 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.11 15.10 15.10
12962 692.6 -0.5 727 12963 done -0.06 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.11 15.11 15.11
13322 694.2 -0.4 739 13323 done -0.06 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.11 15.11 15.11
13682 695.6 -0.4 751 13683 done -0.06 - - 2685 - - - 2538 - - - - 3593 - - - - - - - - 15.11 15.10 15.11
14042 696.8 -0.3 763 14043 done -0.06 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.11 15.11 15.11
14402 698.4 -0.5 775 14403 done -0.06 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.11 15.11 15.11
14762 700.1 -0.5 787 14763 done -0.05 - - 2684 - - - 2539 - - - - 3593 - - - - - - - - 15.11 15.09 15.11
15122 702.1 -0.6 799 15123 done -0.04 0.12 0.210 2719 291.7 - - 2539 - - - - 3593 - - - - - - - - 14.67 14.87 14.83
15482 704.1 -0.5 811 15483 done -0.03 - - 2718 - - - 2539 - - - - 3593 - - - - - - - - 15.11 15.11 15.11
15842 705.8 -0.4 823 15843 done -0.03 - - 2719 - - - 2538 - - - - 3593 - - - - - - - - 15.12 15.12 15.12
16202 706.8 -0.2 835 16203 done -0.03 - - 2719 - - - 2539 - - - - 3594 - - - - - - - - 15.12 15.12 15.12
16562 707.2 - 847 16563 done -0.03 - - 2719 - - - 2539 - - - - 3594 - - - - - - - - 15.13 15.12 15.12
16922 706.9 0.1 859 16923 done -0.03 - - 2719 - - - 2539 - - - - 3594 - - - - - - - - 15.12 15.12 15.12
17282 706.6 0.1 871 17283 done -0.03 - - 2719 - - - 2539 - - - - 3593 - - - - - - - - 15.13 15.12 15.13
17642 706.4 - 883 17643 done -0.03 - - 2719 - - - 2539 - - - - 3594 - - - - - - - - 15.13 15.13 15.13
18002 706.6 -0.1 895 18003 done -0.03 - - 2719 - - - 2539 - - - - 3593 - - - - - - - - 15.13 15.13 15.13
18362 707.3 -0.3 907 18363 done -0.03 - - 2719 - - - 2539 - - - - 3594 - - - - - - - - 15.13 15.13 15.13
18722 708.7 -0.5 919 18723 done -0.03 - - 2719 - - - 2539 - - - - 3594 - - - - - - - - 15.13 15.13 15.13
19082 710.7 -0.6 931 19083 done -0.02 - - 2719 - - - 2539 - - - - 3594 - - - - - - - - 15.13 15.13 15.13
19442 712.9 -0.6 943 19443 done - - - 2719 - - - 2539 - - - - 3594 - - - - - - - - 15.13 15.13 15.13
19802 715.2 -0.6 955 19803 done 0.01 - - 2719 - - - 2539 - - - - 3594 - - - - - - - - 15.13 15.14 15.13
20161 end loiter: LOITER_COMPLETE
20161 begin climb
20162 717.1 - 967 20296 roll 0.93 0.93 0.128 3035 339.8 2.58 0.063 1160 -534.5 121.7 122.95 3.023 3110 -3.9 0.185 - - - - - - 14.66 13.67 12.66
20405 700.3 10.6 1015 20411 done 0.93 - - 3035 - 2.55 0.066 2551 545.5 121.7 - - 3108 - - - - - - - - 14.07 14.01 14.09
20796 655.6 11.7 1033 20801 roll 0.93 - - 3035 - 2.47 0.091 3903 547.4 121.7 - - 3104 - - - - - - - - 14.62 14.30 14.62
20865 646.4 13.5 1047 20872 done 0.93 - - 3046 - 2.33 0.053 2556 -578.1 121.7 - - 3104 - - - - - - - - 14.42 14.38 14.45
21247 601.5 11.7 1063 21252 roll 0.93 - - 3056 - 2.45 0.064 1150 -573.9 121.7 - - 3102 - - - - - - - - 14.72 14.46 14.71
21281 597.3 11.7 1070 21287 done 0.93 - - 3056 - 2.47 0.068 2548 566.0 121.7 - - 3104 - - - - - - - - 14.54 14.47 14.56
21666 549.9 12.3 1087 21667 done 0.93 - - 3056 - - - 2548 - 121.7 - - 3103 - - - - - - - - 14.83 14.83 14.82
22026 506.6 11.9 1099 22027 done 0.93 - - 3056 - - - 2548 - 121.7 - - 3104 - - - - - - - - 14.86 14.86 14.86
22386 464.8 11.3 1116 22393 roll 0.93 - - 3056 - 2.45 0.094 3903 553.1 121.7 - - 3104 - - - - - - - - 14.88 14.52 14.88
22422 460.2 13.2 1123 22430 done 0.93 0.10 0.303 3040 -160.0 2.30 0.054 2547 -589.6 121.7 - - 3104 - - - - - - - - 14.32 14.62 14.54
22727 427.3 10.6 1139 22733 roll 0.93 - - 3050 - 2.42 0.063 1156 -574.8 121.7 - - 3104 - - - - - - - - 14.90 14.54 14.90
22763 423.5 10.8 1146 22770 done 0.93 - - 3050 - 2.42 0.068 2551 576.4 121.7 - - 3104 - - - - - - - - 14.70 14.59 14.74
23068 389.5 11.1 1162 23074 roll 0.93 - - 3050 - 2.40 0.094 3906 564.6 121.7 - - 3104 - - - - - - - - 14.90 14.58 14.90
23117 383.2 12.8 1172 23125 done 0.93 - - 3060 - 2.30 0.055 2556 -587.0 121.7 - - 3104 - - - - - - - - 14.68 14.65 14.70
23430 348.6 10.8 1189 23435 roll 0.93 - - 3067 - 2.40 0.065 1150 -585.8 121.7 - - 3105 - - - - - - - - 14.90 14.58 14.90
23484 342.8 10.4 1200 23492 done 0.93 0.12 0.269 3036 -258.3 2.47 0.070 2554 568.4 121.7 - - 3105 - - - - - - - - 14.34 14.57 14.54
23790 314.1 9.5 1216 23796 roll 0.93 - - 3047 - 2.40 0.064 1153 -583.8 121.7 - - 3104 - - - - - - - - 14.90 14.57 14.91
23900 303.6 9.4 1238 23906 done 0.93 - - 3047 - 2.42 0.069 2555 579.3 121.7 - - 3105 - - - - - - - - 14.65 14.56 14.70
24210 273.4 10.0 1268 24217 roll 0.93 - - 3047 - 2.45 0.093 3909 552.7 121.7 - - 3104 - - - - - - - - 14.90 14.53 14.90
24296 263.4 11.6 1285 24303 done 0.93 - - 3057 - 2.33 0.054 2543 -586.3 121.7 - - 3105 - - - - - - - - 14.67 14.63 14.69
24601 233.8 9.6 1316 24608 roll 0.93 - - 3056 - 2.47 0.094 3904 551.0 121.7 - - 3105 - - - - - - - - 14.90 14.52 14.91
24652 228.3 11.0 1326 24658 done 0.93 0.12 0.302 3035 -175.0 2.33 0.055 2545 -583.3 121.7 - - 3105 - - - - - - - - 14.31 14.64 14.53
24962 200.8 8.7 1358 24963 done 0.93 - - 3035 - - - 2546 - 121.7 - - 3105 - - - - - - - - 14.91 14.91 14.90
25262 174.8 8.6 1388 25263 done 0.93 - - 3038 - - - 2546 - 121.7 - - 3105 - - - - - - - - 14.91 14.91 14.91
25562 148.9 8.6 1418 25568 roll 0.93 - - 3034 - 2.45 0.093 3899 552.2 121.7 - - 3105 - - - - - - - - 14.90 14.53 14.91
25622 142.9 10.2 1430 25628 done 0.93 - - 3045 - 2.30 0.056 2550 -586.5 121.7 - - 3105 - - - - - - - - 14.67 14.64 14.70
25932 114.8 9.0 1462 25938 roll 0.93 - - 3045 - 2.45 0.093 3902 551.8 121.7 - - 3105 - - - - - - - - 14.90 14.52 14.90
25977 110.2 10.3 1471 25984 done 0.93 - - 3055 - 2.30 0.056 2550 -587.8 121.7 - - 3105 - - - - - - - - 14.67 14.64 14.69
26282 82.6 9.0 1502 26288 roll 0.93 - - 3055 - 2.45 0.094 3900 551.0 121.7 - - 3105 - - - - - - - - 14.91 14.52 14.90
26342 76.6 10.1 1514 26349 done 0.93 0.10 0.298 3038 -170.0 2.33 0.055 2541 -583.3 121.7 - - 3105 - - - - - - - - 14.29 14.63 14.52
26653 49.8 8.6 1546 26654 done 0.93 - - 3035 - - - 2541 - 121.7 - - 3105 - - - - - - - - 14.89 14.90 14.90
26953 24.0 8.8 1576 26960 roll 0.93 - - 3038 - 2.47 0.093 3904 551.8 121.7 - - 3105 - - - - - - - - 14.90 14.51 14.90
27004 19.4 8.8 1586 27010 done 0.93 - - 3048 - 2.33 0.055 2546 -582.8 121.7 - - 3105 - - - - - - - - 14.66 14.62 14.68
27213 end climb: SURFACE_DEPTH_REACHED
27213 begin surface coast
27233 end surface coast: CONTROL_FINISHED_OK
27233 begin surface
SM 0.72 - - - - -7.87 8.48 0.087 197 23.2 0.47 0.096 2804 3774.5 350.17 215.27 0.224 2206 10.2 -0.003 - - - - - -