ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 73 * Raw log
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• Previous call tries 1 • 38.83 of 350.00 AH used of 24V (88.91% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.5 deg, depth 0.25 m • Intended pitch -16.7 deg, speed -10.000 cm/s
• surface range 15.5 m at 17.3 m depth, ceiling 1.8 m (m = 1.18, R^2 = 0.99)
• GPS1 time: 20 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
7 - - - 112 done -0.94 - - 201 - - - 2513 - -146.0 -97.40 0.002 3312 - - - - - - - - 14.79 13.52 14.82
114 4.6 -9.1 10 131 roll -0.94 12.07 0.485 2390 181.4 2.62 0.105 1091 -542.7 -146.0 - - 3313 - - - - - - - - 14.33 14.56 14.54
264 34.8 -15.1 40 271 done -0.94 - - 2382 - 2.72 0.129 2508 521.0 -146.0 - - 3313 - - - - - - - - 14.66 14.57 14.71
575 87.1 -17.7 72 581 roll -0.94 - - 2373 - 2.38 0.153 3761 526.5 -146.0 - - 3313 - - - - - - - - 14.91 14.65 14.94
635 96.6 -14.9 84 641 done -0.94 - - 2373 - 2.30 0.099 2499 -548.7 -146.0 - - 3313 - - - - - - - - 14.78 14.71 14.81
945 145.7 -15.6 116 951 roll -0.94 - - 2365 - 2.42 0.152 3756 519.4 -146.0 - - 3313 - - - - - - - - 15.00 14.69 15.02
971 149.8 -16.8 121 979 done -0.94 0.15 0.295 2396 206.7 2.25 0.100 2493 -561.3 -146.0 - - 3313 - - - - - - - - 14.63 14.77 14.83
1275 190.0 -12.2 152 1276 done -0.94 - - 2396 - - - 2493 - -146.0 - - 3313 - - - - - - - - 15.02 15.06 15.05
1575 228.5 -13.1 182 1582 roll -0.94 - - 2387 - 2.42 0.151 3758 522.7 -146.0 - - 3313 - - - - - - - - 15.05 14.73 15.07
1616 234.2 -14.0 190 1622 done -0.94 - - 2387 - 2.30 0.100 2491 -550.9 -146.0 - - 3313 - - - - - - - - 14.87 14.80 14.90
1926 275.7 -13.2 222 1932 roll -0.94 - - 2379 - 2.42 0.151 3754 521.9 -146.0 - - 3310 - - - - - - - - 15.06 14.74 15.08
1951 279.3 -14.8 227 1959 done -0.94 - - 2379 - 2.28 0.101 2497 -551.3 -146.0 - - 3312 - - - - - - - - 14.87 14.81 14.91
2267 322.9 -13.7 251 2272 roll -0.94 - - 2371 - 2.38 0.153 3757 529.4 -146.0 - - 3313 - - - - - - - - 15.04 14.76 15.07
2301 327.9 -14.5 258 2308 done -0.94 - - 2370 - 2.30 0.101 2490 -550.9 -146.0 - - 3313 - - - - - - - - 14.88 14.81 14.92
2606 370.0 -13.7 274 2607 done -0.94 - - 2370 - - - 2490 - -146.0 - - 3313 - - - - - - - - 15.07 15.11 15.10
2906 411.0 -13.9 289 2913 roll -0.94 - - 2362 - 2.42 0.152 3753 521.9 -146.0 - - 3313 - - - - - - - - 15.09 14.77 15.11
2982 422.2 -14.5 304 2989 done -0.94 0.17 0.297 2399 217.6 2.25 0.100 2484 -564.0 -146.0 - - 3313 - - - - - - - - 14.69 14.84 14.92
3288 459.4 -12.3 320 3293 roll -0.94 - - 2391 - 2.40 0.153 3757 530.4 -146.0 - - 3313 - - - - - - - - 15.06 14.79 15.09
3317 463.2 -13.3 326 3323 done -0.94 - - 2391 - 2.28 0.101 2497 -552.6 -146.0 - - 3313 - - - - - - - - 14.90 14.83 14.92
3627 501.6 -11.8 343 3628 done -0.94 - - 2391 - - - 2496 - -146.0 - - 3312 - - - - - - - - 15.09 15.12 15.11
3987 543.6 -11.6 355 3993 roll -0.94 - - 2384 - 2.38 0.152 3760 531.1 -146.0 - - 3312 - - - - - - - - 15.10 14.79 15.12
4022 547.9 -12.4 362 4029 done -0.94 - - 2381 - 2.28 0.100 2500 -552.6 -146.0 - - 3313 - - - - - - - - 14.90 14.84 14.95
4408 594.5 -12.2 379 4414 roll -0.94 - - 2376 - 2.40 0.153 3754 522.5 -146.0 - - 3313 - - - - - - - - 15.10 14.78 15.13
4438 598.5 -13.5 385 4446 done -0.94 - - 2375 - 2.28 0.100 2490 -554.4 -146.0 - - 3313 - - - - - - - - 14.90 14.84 14.95
4829 647.8 -12.4 403 4830 done -0.94 - - 2375 - - - 2490 - -146.0 - - 3312 - - - - - - - - 15.11 15.17 15.14
5189 692.9 -12.5 415 5190 done -0.94 - - 2375 - - - 2490 - -146.0 - - 3313 - - - - - - - - 15.12 15.15 15.14
5549 737.8 -12.5 427 5555 roll -0.94 - - 2367 - 2.40 0.150 3752 525.8 -146.0 - - 3313 - - - - - - - - 15.12 14.80 15.15
5579 741.7 -13.0 433 5588 done -0.94 0.10 0.286 2392 250.0 2.25 0.099 2496 -558.2 -146.0 - - 3314 - - - - - - - - 14.69 14.85 14.85
5971 785.9 -11.1 451 5972 done -0.94 - - 2392 - - - 2496 - -146.0 - - 3314 - - - - - - - - 15.13 15.16 15.15
6331 826.2 -11.2 463 6338 roll -0.94 - - 2384 - 2.40 0.151 3754 524.2 -146.0 - - 3315 - - - - - - - - 15.13 14.80 15.16
6387 832.5 -11.7 474 6394 done -0.94 - - 2384 - 2.28 0.099 2488 -555.3 -146.0 - - 3314 - - - - - - - - 14.93 14.86 14.96
6752 873.7 -10.9 487 6753 done -0.94 - - 2384 - - - 2489 - -146.0 - - 3315 - - - - - - - - 15.13 15.16 15.16
6781 end dive: TARGET_DEPTH_EXCEEDED
6781 begin apogee
6784 876.8 -10.9 488 6945 done -0.23 0.88 0.243 2621 269.3 0.03 0.337 2199 -9666.7 - 158.18 3.102 2714 -3.8 0.216 - - - - - - 14.73 13.43 12.42
6946 end apogee: CONTROL_FINISHED_OK
6946 begin climb
6947 879.9 - 493 7127 roll 0.94 1.33 0.148 3006 289.5 2.97 0.131 786 -475.8 146.0 170.45 3.104 2118 -3.5 0.199 - - - - - - 13.50 13.09 12.20
7156 862.0 13.2 533 7163 done 0.94 - - 3006 - 2.90 0.111 2211 491.4 146.0 - - 2113 - - - - - - - - 13.65 13.59 13.69
7528 807.3 14.7 547 7533 roll 0.94 - - 3006 - 2.72 0.144 3615 516.2 146.0 - - 2107 - - - - - - - - 14.57 14.35 14.59
7557 802.9 15.1 553 7563 done 0.94 - - 3017 - 2.65 0.103 2190 -537.7 146.0 - - 2107 - - - - - - - - 14.50 14.39 14.52
7948 745.5 14.3 571 7954 roll 0.94 - - 3028 - 2.65 0.135 778 -532.8 146.0 - - 2105 - - - - - - - - 14.82 14.59 14.85
7982 740.5 14.7 578 7990 done 0.94 - - 3028 - 2.67 0.116 2202 533.3 146.0 - - 2105 - - - - - - - - 14.68 14.60 14.72
8369 683.7 15.1 595 8375 roll 0.94 - - 3038 - 2.65 0.133 779 -537.0 146.0 - - 2104 - - - - - - - - 14.93 14.69 14.96
8388 680.8 14.6 599 8395 done 0.94 0.12 0.250 3004 -283.3 2.65 0.116 2203 537.4 146.0 - - 2104 - - - - - - - - 14.62 14.70 14.76
8759 630.6 13.6 613 8765 roll 0.94 - - 3004 - 2.70 0.145 3616 523.3 146.0 - - 2104 - - - - - - - - 15.02 14.73 15.04
8783 626.9 15.1 618 8793 done 0.94 - - 3014 - 2.60 0.105 2194 -546.9 146.0 - - 2102 - - - - - - - - 14.83 14.76 14.87
9150 574.4 14.1 631 9155 roll 0.94 - - 3025 - 2.62 0.135 775 -541.6 146.0 - - 2104 - - - - - - - - 15.02 14.78 15.05
9179 570.1 14.4 637 9185 done 0.94 - - 3024 - 2.65 0.116 2208 540.8 146.0 - - 2103 - - - - - - - - 14.86 14.81 14.90
9570 516.0 13.4 655 9576 roll 0.94 - - 3025 - 2.65 0.145 3620 532.8 146.0 - - 2104 - - - - - - - - 15.05 14.80 15.07
9599 511.5 14.7 661 9606 done 0.94 0.12 0.257 3001 -200.0 2.60 0.106 2196 -547.7 146.0 - - 2104 - - - - - - - - 14.73 14.82 14.86
9970 464.8 12.6 683 9971 done 0.94 - - 3001 - - - 2194 - 146.0 - - 2103 - - - - - - - - 15.09 15.11 15.11
10270 428.1 11.9 698 10276 roll 0.94 - - 3010 - 2.60 0.134 780 -543.8 146.0 - - 2103 - - - - - - - - 15.07 14.82 15.09
10295 425.0 11.7 703 10301 done 0.94 - - 3011 - 2.65 0.116 2217 542.3 146.0 - - 2103 - - - - - - - - 14.91 14.83 14.95
10610 387.7 11.5 721 10611 done 0.94 - - 3011 - - - 2216 - 146.0 - - 2103 - - - - - - - - 15.11 15.14 15.13
10911 352.1 12.4 736 10917 roll 0.94 - - 3011 - 2.62 0.146 3620 535.9 146.0 - - 2103 - - - - - - - - 15.08 14.83 15.11
10945 347.3 13.9 743 10953 done 0.94 - - 3021 - 2.60 0.104 2194 -548.5 146.0 - - 2103 - - - - - - - - 14.92 14.85 14.95
11251 308.3 12.8 759 11256 roll 0.94 - - 3032 - 2.60 0.134 780 -543.8 146.0 - - 2103 - - - - - - - - 15.11 14.82 15.14
11285 303.6 13.3 766 11294 done 0.94 0.10 0.243 3004 -280.0 2.62 0.116 2203 543.1 146.0 - - 2103 - - - - - - - - 14.76 14.84 14.88
11590 267.8 11.4 795 11596 roll 0.94 - - 3004 - 2.70 0.148 3619 524.4 146.0 - - 2104 - - - - - - - - 15.11 14.80 15.14
11645 260.9 12.7 806 11653 done 0.94 - - 3013 - 2.60 0.106 2193 -548.5 146.0 - - 2102 - - - - - - - - 14.92 14.83 14.96
11950 225.0 11.8 837 11956 roll 0.94 - - 3013 - 2.72 0.148 3613 522.1 146.0 - - 2102 - - - - - - - - 15.11 14.79 15.14
11975 221.8 12.7 842 11984 done 0.94 - - 3024 - 2.58 0.105 2199 -548.1 146.0 - - 2102 - - - - - - - - 14.92 14.85 14.97
12280 186.2 11.7 873 12286 roll 0.94 - - 3034 - 2.65 0.136 788 -532.5 146.0 - - 2102 - - - - - - - - 15.11 14.78 15.14
12321 181.4 12.1 881 12327 done 0.94 0.15 0.261 3000 -226.7 2.58 0.118 2205 549.2 146.0 - - 2102 - - - - - - - - 14.77 14.83 14.96
12631 147.8 9.8 913 12637 roll 0.94 - - 2999 - 2.70 0.148 3618 523.3 146.0 - - 2101 - - - - - - - - 15.10 14.79 15.13
12661 144.5 11.3 919 12667 done 0.94 - - 3009 - 2.60 0.105 2194 -547.7 146.0 - - 2101 - - - - - - - - 14.90 14.81 14.92
12971 111.5 10.8 951 12972 done 0.94 - - 3009 - - - 2192 - 146.0 - - 2101 - - - - - - - - 15.10 15.14 15.13
13271 79.3 10.9 981 13281 roll 0.94 - - 3009 - 2.72 0.148 3616 523.5 146.0 - - 2101 - - - - - - - - 15.10 14.78 15.13
13295 76.4 11.8 985 13301 done 0.94 - - 3019 - 2.60 0.104 2194 -546.9 146.0 - - 2101 - - - - - - - - 14.90 14.83 14.95
13605 42.5 10.4 1017 13606 done 0.94 - - 3019 - - - 2193 - 146.0 - - 2101 - - - - - - - - 15.10 15.13 15.13
13884 end climb: SURFACE_OBSTACLE_DETECTED
13884 begin subsurface finish
13887 11.9 11.1 1045 13908 done 0.01 1.12 0.220 2702 -283.0 - - 2190 - 10.3 -13.50 0.008 2675 -42.5 12.717 - - - - - - 14.76 14.15 14.96
13909 end subsurface finish: CONTROL_FINISHED_OK
13909 begin surface