ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 120 * Raw log
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• Previous call tries 1 • 48.12 of 350.00 AH used of 24V (86.25% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.2 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 12.7 m at 12.0 m depth, ceiling -0.7 m (m = 1.08, R^2 = 0.99)
• GPS1 time: 31 s
• GPS2 time: 2 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
8 - - - 122 done -0.93 - - 198 - - - 2800 - -121.7 -108.75 0.003 3965 - - - - - - - - 14.56 13.04 14.56
123 3.8 -5.3 11 141 roll -0.93 12.12 0.474 2413 182.8 1.95 0.082 3906 567.2 -121.7 - - 3973 - - - - - - - - 14.02 14.31 14.39
261 26.8 -13.6 38 268 done -0.93 - - 2413 - 1.90 0.050 2797 -583.7 -121.7 - - 3975 - - - - - - - - 14.46 14.42 14.47
565 65.4 -12.8 69 572 roll -0.93 - - 2413 - 2.40 0.051 1407 -579.2 -121.7 - - 3975 - - - - - - - - 14.74 14.44 14.74
592 68.7 -13.1 74 598 done -0.93 - - 2413 - 2.45 0.071 2798 567.8 -121.7 - - 3976 - - - - - - - - 14.56 14.45 14.59
896 107.0 -12.5 105 897 done -0.93 - - 2413 - - - 2800 - -121.7 - - 3976 - - - - - - - - 14.80 14.79 14.79
1196 144.1 -12.7 135 1202 roll -0.93 - - 2413 - 2.42 0.050 1398 -579.3 -121.7 - - 3976 - - - - - - - - 14.83 14.51 14.83
1226 147.8 -12.5 141 1233 done -0.93 - - 2413 - 2.50 0.070 2801 561.2 -121.7 - - 3976 - - - - - - - - 14.57 14.50 14.61
1537 185.8 -12.0 173 1538 done -0.93 - - 2412 - - - 2801 - -121.7 - - 3976 - - - - - - - - 14.84 14.84 14.84
1838 222.5 -12.3 203 1839 done -0.93 - - 2413 - - - 2801 - -121.7 - - 3976 - - - - - - - - 14.81 14.82 14.81
2137 258.2 -11.8 233 2144 roll -0.93 - - 2413 - 2.42 0.050 1395 -581.0 -121.7 - - 3976 - - - - - - - - 14.86 14.54 14.86
2172 262.4 -11.7 240 2180 done -0.93 - - 2413 - 2.50 0.070 2802 562.8 -121.7 - - 3976 - - - - - - - - 14.54 14.50 14.61
2477 297.8 -11.5 271 2478 done -0.93 - - 2412 - - - 2802 - -121.7 - - 3976 - - - - - - - - 14.87 14.87 14.87
2779 332.7 -11.4 287 2780 done -0.93 - - 2413 - - - 2802 - -121.7 - - 3976 - - - - - - - - 14.85 14.85 14.85
3078 365.6 -10.8 302 3078 done -0.93 - - 2413 - - - 2802 - -121.7 - - 3976 - - - - - - - - 14.88 14.88 14.88
3378 398.4 -10.9 317 3384 roll -0.93 - - 2413 - 2.38 0.051 1394 -591.6 -121.7 - - 3977 - - - - - - - - 14.88 14.59 14.88
3418 402.8 -10.9 325 3425 done -0.93 - - 2413 - 2.50 0.070 2802 563.2 -121.7 - - 3977 - - - - - - - - 14.62 14.56 14.66
3739 437.7 -11.1 344 3740 done -0.93 - - 2413 - - - 2802 - -121.7 - - 3975 - - - - - - - - 14.85 14.85 14.85
4039 471.0 -11.0 359 4039 done -0.93 - - 2413 - - - 2802 - -121.7 - - 3977 - - - - - - - - 14.90 14.90 14.90
4349 504.1 -10.3 374 4350 done -0.93 - - 2413 - - - 2802 - -121.7 - - 3977 - - - - - - - - 14.90 14.90 14.90
4709 540.6 -10.0 386 4709 done -0.93 - - 2412 - - - 2802 - -121.7 - - 3977 - - - - - - - - 14.91 14.91 14.92
5069 575.2 -9.7 398 5075 roll -0.93 - - 2413 - 2.40 0.050 1398 -585.0 -121.7 - - 3977 - - - - - - - - 14.92 14.59 14.92
5113 579.6 -9.8 407 5120 done -0.93 - - 2412 - 2.47 0.071 2795 565.6 -121.7 - - 3977 - - - - - - - - 14.64 14.56 14.67
5489 617.6 -10.2 422 5495 roll -0.93 - - 2411 - 1.98 0.094 3927 571.7 -121.7 - - 3977 - - - - - - - - 14.91 14.54 14.93
5549 624.0 -10.9 434 5555 done -0.93 - - 2411 - 1.90 0.050 2801 -592.6 -121.7 - - 3977 - - - - - - - - 14.68 14.64 14.70
5818 end dive: TARGET_DEPTH_EXCEEDED
5818 begin apogee
5822 651.6 -10.1 448 5923 done -0.23 0.90 0.246 2652 267.8 - - 2546 - - 99.20 2.967 3602 -3.8 0.166 - - - - - - 14.35 13.76 12.74
5925 end apogee: CONTROL_FINISHED_OK
5925 begin loiter
6269 658.4 -1.3 463 6269 done -0.23 - - 2652 - - - 2546 - - - - 3599 - - - - - - - - 14.59 14.59 14.59
6629 664.0 -1.5 475 6630 done -0.20 - - 2652 - - - 2546 - - - - 3598 - - - - - - - - 14.76 14.76 14.76
6989 669.5 -1.5 487 6990 done -0.17 - - 2652 - - - 2546 - - - - 3598 - - - - - - - - 14.85 14.85 14.85
7349 675.2 -1.5 499 7350 done -0.14 0.12 0.220 2686 283.3 - - 2546 - - - - 3598 - - - - - - - - 14.52 14.71 14.68
7709 679.9 -1.3 511 7710 done -0.11 - - 2686 - - - 2546 - - - - 3599 - - - - - - - - 14.95 14.95 14.95
8069 684.8 -1.5 523 8070 done -0.08 - - 2686 - - - 2546 - - - - 3599 - - - - - - - - 14.99 14.99 14.99
8429 690.1 -1.5 535 8430 done -0.05 - - 2686 - - - 2546 - - - - 3599 - - - - - - - - 15.01 15.01 15.01
8789 695.4 -1.6 547 8790 done -0.02 0.12 0.205 2722 300.0 - - 2546 - - - - 3600 - - - - - - - - 14.64 14.81 14.78
9149 701.3 -1.7 559 9150 done 0.02 - - 2722 - - - 2546 - - - - 3600 - - - - - - - - 15.03 15.04 15.04
9509 707.3 -1.7 571 9510 done 0.05 - - 2721 - - - 2546 - - - - 3601 - - - - - - - - 15.04 15.05 15.06
9869 714.0 -1.8 583 9870 done 0.09 0.12 0.193 2759 316.7 - - 2546 - - - - 3602 - - - - - - - - 14.69 14.85 14.82
10229 720.7 -1.7 595 10230 done 0.12 - - 2759 - - - 2546 - - - - 3603 - - - - - - - - 15.07 15.07 15.07
10589 726.7 -1.7 607 10590 done 0.15 - - 2759 - - - 2546 - - - - 3603 - - - - - - - - 15.08 15.08 15.08
10949 732.7 -1.5 619 10950 done 0.19 - - 2759 - - - 2546 - - - - 3604 - - - - - - - - 15.09 15.09 15.09
11309 737.3 -1.4 631 11310 done 0.21 0.12 0.178 2803 366.7 - - 2546 - - - - 3604 - - - - - - - - 14.73 14.88 14.85
11669 742.2 -1.3 643 11670 done 0.24 - - 2803 - - - 2546 - - - - 3604 - - - - - - - - 15.10 15.10 15.10
12029 747.1 -1.4 655 12030 done 0.27 - - 2803 - - - 2546 - - - - 3606 - - - - - - - - 15.10 15.11 15.10
12389 751.7 -1.3 667 12390 done 0.29 - - 2802 - - - 2546 - - - - 3607 - - - - - - - - 15.11 15.11 15.11
12749 756.3 -1.3 679 12750 done 0.32 - - 2803 - - - 2546 - - - - 3607 - - - - - - - - 15.11 15.11 15.11
13109 761.2 -1.4 691 13110 done 0.35 0.12 0.163 2845 350.0 - - 2545 - - - - 3608 - - - - - - - - 14.76 14.90 14.87
13469 765.4 -1.0 703 13473 done 0.37 - - 2846 - - - 2546 - - 2.92 1.246 3600 -2.7 0.336 - - - - - - 15.11 14.82 13.43
13829 768.5 -0.8 715 13830 done 0.38 - - 2846 - - - 2546 - - - - 3604 - - - - - - - - 15.08 15.09 15.08
14189 771.6 -0.9 727 14190 done 0.40 - - 2846 - - - 2546 - - - - 3605 - - - - - - - - 15.08 15.08 15.09
14549 775.1 -1.0 739 14550 done 0.42 - - 2846 - - - 2546 - - - - 3605 - - - - - - - - 15.09 15.09 15.09
14909 779.4 -1.2 751 14910 done 0.45 - - 2846 - - - 2546 - - - - 3605 - - - - - - - - 15.11 15.10 15.11
15269 784.2 -1.4 763 15270 done 0.47 0.12 0.172 2893 391.7 - - 2546 - - - - 3605 - - - - - - - - 14.76 14.89 14.86
15629 789.5 -1.5 775 15630 done 0.50 - - 2893 - - - 2546 - - - - 3605 - - - - - - - - 15.11 15.11 15.11
15989 795.2 -1.5 787 15990 done 0.54 - - 2893 - - - 2546 - - - - 3605 - - - - - - - - 15.11 15.11 15.11
16349 801.5 -1.8 799 16350 done 0.57 - - 2893 - - - 2546 - - - - 3605 - - - - - - - - 15.12 15.12 15.12
16709 808.0 -1.7 811 16710 done 0.61 - - 2893 - - - 2546 - - - - 3606 - - - - - - - - 15.12 15.12 15.12
17069 813.7 -1.5 823 17070 done 0.64 0.12 0.152 2937 366.7 - - 2546 - - - - 3606 - - - - - - - - 14.77 14.90 14.88
17429 818.6 -1.4 835 17430 done 0.66 - - 2937 - - - 2545 - - - - 3606 - - - - - - - - 15.12 15.12 15.12
17789 823.1 -1.2 847 17790 done 0.69 - - 2937 - - - 2546 - - - - 3606 - - - - - - - - 15.13 15.13 15.13
18149 827.4 -1.1 859 18150 done 0.71 - - 2937 - - - 2546 - - - - 3606 - - - - - - - - 15.13 15.13 15.13
18509 831.8 -1.5 871 18510 done 0.74 - - 2937 - - - 2546 - - - - 3606 - - - - - - - - 15.13 15.14 15.13
18869 836.2 -1.3 883 18870 done 0.76 0.12 0.171 2979 350.0 - - 2546 - - - - 3606 - - - - - - - - 14.73 14.90 14.86
19229 841.7 -1.7 895 19230 done 0.80 - - 2979 - - - 2546 - - - - 3606 - - - - - - - - 15.13 15.13 15.13
19589 848.0 -1.8 907 19590 done 0.83 - - 2979 - - - 2546 - - - - 3606 - - - - - - - - 15.14 15.14 15.14
19949 854.9 -1.9 919 19950 done 0.87 - - 2979 - - - 2546 - - - - 3606 - - - - - - - - 15.14 15.14 15.14
20307 end loiter: LOITER_COMPLETE
20307 begin climb
20309 862.2 - 931 20446 roll 0.93 0.15 0.145 3029 333.3 2.65 0.093 3898 510.2 121.7 126.38 3.089 3112 -3.9 0.218 - - - - - - 14.76 13.62 12.57
20581 840.5 13.2 984 20589 done 0.93 - - 3039 - 2.40 0.052 2549 -562.1 121.7 - - 3109 - - - - - - - - 14.10 14.07 14.12
20945 796.2 12.3 997 20946 done 0.93 - - 3039 - - - 2549 - 121.7 - - 3106 - - - - - - - - 14.62 14.60 14.61
21306 752.5 12.2 1009 21307 done 0.93 - - 3039 - - - 2548 - 121.7 - - 3105 - - - - - - - - 14.74 14.74 14.74
21666 709.7 11.7 1021 21666 done 0.93 - - 3039 - - - 2549 - 121.7 - - 3105 - - - - - - - - 14.81 14.81 14.81
22025 668.2 11.4 1033 22026 done 0.93 - - 3039 - - - 2549 - 121.7 - - 3104 - - - - - - - - 14.85 14.85 14.85
22385 626.7 11.5 1045 22391 roll 0.93 - - 3039 - 2.45 0.094 3904 553.1 121.7 - - 3104 - - - - - - - - 14.88 14.54 14.88
22425 621.5 13.3 1053 22431 done 0.93 - - 3050 - 2.30 0.053 2545 -590.9 121.7 - - 3104 - - - - - - - - 14.67 14.63 14.69
22806 576.6 11.8 1069 22811 roll 0.93 - - 3050 - 2.42 0.095 3907 562.8 121.7 - - 3104 - - - - - - - - 14.90 14.57 14.90
22825 574.0 13.3 1073 22831 done 0.93 - - 3060 - 2.30 0.054 2554 -588.3 121.7 - - 3104 - - - - - - - - 14.69 14.65 14.71
23196 528.8 12.1 1087 23197 done 0.93 - - 3060 - - - 2554 - 121.7 - - 3104 - - - - - - - - 14.90 14.90 14.90
23556 485.3 12.2 1101 23557 done 0.93 - - 3064 - - - 2554 - 121.7 - - 3104 - - - - - - - - 14.91 14.91 14.91
23855 449.8 11.8 1116 23862 roll 0.93 - - 3070 - 2.42 0.065 1161 -575.6 121.7 - - 3104 - - - - - - - - 14.92 14.58 14.92
23907 444.0 11.3 1126 23913 done 0.93 0.17 0.296 3032 -223.5 2.40 0.069 2554 580.4 121.7 - - 3104 - - - - - - - - 14.39 14.63 14.69
24216 412.5 9.8 1143 24217 done 0.93 - - 3032 - - - 2554 - 121.7 - - 3103 - - - - - - - - 14.92 14.92 14.92
24518 383.0 9.7 1158 24523 roll 0.93 - - 3031 - 2.40 0.093 3913 566.2 121.7 - - 3105 - - - - - - - - 14.92 14.59 14.92
24577 376.4 11.1 1170 24583 done 0.93 - - 3042 - 2.30 0.054 2559 -588.7 121.7 - - 3105 - - - - - - - - 14.71 14.66 14.73
24897 345.5 9.5 1189 24898 done 0.93 - - 3042 - - - 2560 - 121.7 - - 3105 - - - - - - - - 14.92 14.92 14.92
25197 318.2 9.1 1204 25198 done 0.93 - - 3042 - - - 2560 - 121.7 - - 3104 - - - - - - - - 14.92 14.92 14.92
25497 290.1 9.5 1224 25504 roll 0.93 - - 3052 - 2.45 0.063 1154 -573.9 121.7 - - 3105 - - - - - - - - 14.92 14.54 14.92
25538 286.2 9.4 1232 25545 done 0.93 - - 3052 - 2.45 0.069 2545 567.8 121.7 - - 3104 - - - - - - - - 14.63 14.56 14.67
25848 257.4 8.7 1264 25855 roll 0.93 - - 3052 - 2.45 0.095 3900 553.1 121.7 - - 3105 - - - - - - - - 14.92 14.54 14.92
25914 250.7 10.4 1277 25922 done 0.93 - - 3061 - 2.30 0.054 2552 -586.1 121.7 - - 3105 - - - - - - - - 14.70 14.66 14.71
26219 221.2 9.9 1308 26227 roll 0.93 0.12 0.321 3046 -125.0 2.42 0.063 1155 -577.3 121.7 - - 3105 - - - - - - - - 14.33 14.56 14.64
26302 213.9 8.6 1324 26308 done 0.93 - - 3046 - 2.45 0.067 2550 569.4 121.7 - - 3105 - - - - - - - - 14.66 14.57 14.69
26612 187.1 8.4 1356 26613 done 0.95 - - 3045 - - - 2550 - 121.7 - - 3105 - - - - - - - - 14.90 14.90 14.90
26912 161.5 8.5 1386 26921 roll 0.96 - - 3046 - 2.45 0.095 3903 552.2 121.7 - - 3105 - - - - - - - - 14.90 14.53 14.90
26940 158.8 9.8 1391 26947 done 0.96 - - 3056 - 2.33 0.055 2545 -582.8 121.7 - - 3105 - - - - - - - - 14.69 14.64 14.70
27245 131.4 9.1 1422 27246 done 0.96 - - 3056 - - - 2545 - 121.7 - - 3105 - - - - - - - - 14.92 14.91 14.92
27546 104.3 8.9 1452 27547 done 0.96 - - 3057 - - - 2545 - 121.7 - - 3105 - - - - - - - - 14.88 14.88 14.88
27845 77.6 8.9 1482 27851 roll 0.96 - - 3056 - 2.47 0.096 3903 549.8 121.7 - - 3105 - - - - - - - - 14.93 14.52 14.93
27900 72.0 10.2 1493 27907 done 0.96 - - 3064 - 2.33 0.055 2545 -582.8 121.7 - - 3105 - - - - - - - - 14.69 14.64 14.71
28205 44.6 9.1 1524 28212 roll 0.96 - - 3067 - 2.45 0.096 3912 558.0 121.7 - - 3105 - - - - - - - - 14.92 14.56 14.92
28256 39.3 10.6 1534 28262 done 0.96 0.12 0.308 3045 -183.3 2.33 0.054 2553 -583.3 121.7 - - 3105 - - - - - - - - 14.28 14.64 14.53
28566 12.8 8.4 1566 28572 roll 0.97 - - 3045 - 2.42 0.094 3910 560.7 121.7 - - 3105 - - - - - - - - 14.93 14.55 14.92
28596 10.2 9.2 1572 28603 done 0.97 - - 3054 - 2.33 0.055 2550 -583.7 121.7 - - 3104 - - - - - - - - 14.69 14.64 14.71
28707 end climb: SURFACE_DEPTH_REACHED
28707 begin surface coast
28727 end surface coast: CONTROL_FINISHED_OK
28727 begin surface
SM 0.87 - - - - -7.88 8.45 0.084 198 23.4 0.47 0.105 2802 3770.2 350.17 215.93 0.219 2203 10.2 -0.004 - - - - - -