AMOS Sep20 * SG233 * Dive index * Mission links * Dive 60 * Raw log
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• Previous call tries 1 • 44.47 of 350.00 AH used of 24V (87.29% remains)
• Surface angle -74.1 deg, depth 1.80 m • Intended pitch -17.8 deg, speed -10.101 cm/s
• VBD pumped to 570.40 (SM_CC=570.32251)
• GPS1 time: 28 s
• GPS2 time: 3 s
• 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
10.18 - - - 69.25 VBD -0.89 - - 200.38 - - - 2030.75 - -145.99 56.99 0.005 1515.62 - - - - - - - - - - 15.41
69.50 3.20 -2.94 11 165.24 -0.89 19.87 0.298 2421.69 111.8 3.42 0.154 3348.69 385.4 -145.99 65.05 0.005 3423.25 29.3 -3.169 - - - - - - 15.28 15.44 15.42
208.63 24.85 -22.74 38 215.99 roll back -0.72 0.31 0.198 2465.50 141.3 3.19 0.063 2029.00 -413.7 -145.99 - - 3422.97 - - - - - - - - 15.46 15.52 -
394.99 54.70 -11.30 75 399.99 no move -0.78 - - 2465.62 - - - 2029.25 - -145.99 - - 3424.81 - - - - - - - - - - -
579.84 73.89 -10.27 112 591.41 roll back -0.88 0.38 0.099 2412.12 -140.8 3.72 0.139 585.69 -388.1 -145.99 - - 3424.91 - - - - - - - - 15.62 15.59 -
625.06 79.97 -14.19 121 635.85 roll back -0.80 0.33 0.200 2445.50 101.2 3.49 0.057 2072.94 426.1 -145.99 - - 3425.91 - - - - - - - - 15.60 15.60 -
815.53 101.12 -10.66 158 818.42 no move -0.86 - - 2445.12 - - - 2072.50 - -145.99 - - 3424.31 - - - - - - - - - - -
1114.99 132.50 -10.22 188 1122.51 roll back -0.94 0.31 0.099 2397.38 -154.0 3.82 0.134 584.00 -389.7 -145.99 - - 3426.44 - - - - - - - - 15.75 15.67 -
1204.68 144.57 -13.64 206 1212.79 roll back -0.88 0.28 0.199 2426.12 102.6 3.46 0.057 2072.06 430.1 -145.99 - - 3426.78 - - - - - - - - 15.70 15.74 -
1510.82 171.95 -7.80 237 1518.28 roll -0.98 - - 2425.50 - 3.80 0.133 583.44 -391.7 -145.99 - - 3426.09 - - - - - - - - - 15.75 -
1547.02 175.01 -7.89 244 1554.45 roll back -1.06 0.38 0.099 2369.19 -148.2 3.44 0.055 2074.25 433.4 -145.99 - - 3426.75 - - - - - - - - 15.79 15.77 -
1793 end dive: TARGET_DEPTH_EXCEEDED
1793 begin apogee
1793.90 200.52 -10.36 269 1920.53 -0.20 1.71 0.181 2589.69 128.9 0.11 0.185 1980.62 -851.2 - 122.57 1.411 2823.75 -4.9 0.118 - - - - - - 15.77 15.29 11.87
1922 end apogee: CONTROL_FINISHED_OK
1922 begin loiter
2217.97 206.94 -1.07 311 2221.36 no move -0.20 - - 2590.75 - - - 1989.38 - - - - 2815.53 - - - - - - - - - - -
2518.07 210.93 -1.30 341 2522.99 -0.64 0.81 0.099 2475.31 -142.5 - - 1989.12 - - 0.01 1.513 2829.19 1366.0 -32.150 - - - - - - 15.59 - -
2818.07 215.72 -1.64 371 2821.80 no move -0.75 - - 2476.44 - - - 1988.25 - - - - 2827.00 - - - - - - - - - - -
3118.30 221.77 -2.04 401 3132.14 -0.85 0.31 0.100 2418.56 -186.7 - - 1989.25 - 7.96 10.74 1.285 2792.38 -3.2 0.094 - - - - - - 15.67 - 11.63
3428.14 228.74 -2.30 432 3441.30 VBD -0.84 - - 2418.06 - - - 1988.50 - 16.90 10.30 1.280 2753.47 -3.8 0.114 - - - - - - - - 11.68
3738.76 231.18 -0.71 463 3741.65 no move -0.84 - - 2418.56 - - - 1989.44 - 16.90 - - 2752.09 - - - - - - - - - - -
4038.26 231.92 -0.27 493 4041.61 no move -0.84 - - 2419.31 - - - 1989.00 - 16.90 - - 2750.69 - - - - - - - - - - -
4338.23 234.68 -0.89 523 4341.70 no move -0.84 - - 2418.81 - - - 1988.50 - 16.90 - - 2750.44 - - - - - - - - - - -
4638.32 237.62 -0.97 553 4642.04 no move -0.84 - - 2419.19 - - - 1989.00 - 16.90 - - 2750.97 - - - - - - - - - - -
4938.52 238.95 -0.41 583 4942.38 no move -0.84 - - 2418.62 - - - 1989.38 - 16.90 - - 2750.78 - - - - - - - - - - -
5239.14 240.25 -0.44 613 5242.73 no move -0.84 - - 2418.56 - - - 1989.50 - 16.90 - - 2750.84 - - - - - - - - - - -
5539.19 242.89 -0.91 643 5543.06 no move -0.84 - - 2420.00 - - - 1989.69 - 16.90 - - 2752.19 - - - - - - - - - - -
5839.21 245.45 -0.84 673 5842.10 no move -0.84 - - 2418.75 - - - 1989.81 - 16.90 - - 2750.16 - - - - - - - - - - -
6139.28 245.60 -0.04 703 6142.17 no move -0.84 - - 2419.19 - - - 1989.12 - 16.90 - - 2750.38 - - - - - - - - - - -
6438.53 245.16 0.16 733 6442.06 no move -0.84 - - 2418.50 - - - 1989.00 - 16.90 - - 2749.94 - - - - - - - - - - -
6738.57 245.82 -0.23 763 6742.13 no move -0.84 - - 2418.62 - - - 1988.25 - 16.90 - - 2750.81 - - - - - - - - - - -
7038.62 247.31 -0.48 793 7042.47 no move -0.84 - - 2418.12 - - - 1989.06 - 16.90 - - 2750.38 - - - - - - - - - - -
7339.38 248.54 -0.39 823 7343.08 no move -0.84 - - 2418.62 - - - 1988.94 - 16.90 - - 2751.84 - - - - - - - - - - -
7639.31 249.17 -0.19 853 7643.15 no move -0.84 - - 2418.62 - - - 1988.94 - 16.90 - - 2749.94 - - - - - - - - - - -
7939.47 249.10 0.02 883 7943.49 no move -0.84 - - 2419.12 - - - 1989.44 - 16.90 - - 2750.69 - - - - - - - - - - -
8239.37 249.26 -0.03 913 8242.26 no move -0.84 - - 2418.94 - - - 1989.50 - 16.90 - - 2750.78 - - - - - - - - - - -
8538.84 250.17 -0.31 943 8542.16 no move -0.84 - - 2419.06 - - - 1988.62 - 18.10 - - 2750.00 - - - - - - - - - - -
8838.90 251.39 -0.40 973 8842.50 no move -0.84 - - 2418.75 - - - 1989.00 - 19.67 - - 2749.81 - - - - - - - - - - -
9138.95 252.10 -0.18 1003 9149.81 VBD -0.84 - - 2417.81 - - - 1988.69 - 20.39 5.30 0.952 2741.09 -1.6 0.074 - - - - - - - - 11.82
9448.92 248.96 1.13 1034 9452.30 no move -0.84 - - 2418.25 - - - 1990.12 - 20.39 - - 2738.41 - - - - - - - - - - -
9749.03 245.62 1.09 1064 9752.62 no move -0.84 - - 2418.50 - - - 1988.38 - 20.39 - - 2739.19 - - - - - - - - - - -
10049.07 243.88 0.59 1094 10052.71 no move -0.84 - - 2418.75 - - - 1989.19 - 20.39 - - 2738.31 - - - - - - - - - - -
10349.19 243.22 0.19 1124 10353.05 no move -0.84 - - 2418.31 - - - 1989.12 - 20.39 - - 2738.31 - - - - - - - - - - -
10649.90 242.24 0.33 1154 10653.39 no move -0.84 - - 2419.00 - - - 1988.69 - 20.39 - - 2738.41 - - - - - - - - - - -
10949.87 240.34 0.64 1184 10953.74 no move -0.84 - - 2419.56 - - - 1988.19 - 20.39 - - 2738.12 - - - - - - - - - - -
11249.98 239.26 0.33 1214 11252.87 no move -0.84 - - 2418.75 - - - 1988.38 - 20.39 - - 2738.88 - - - - - - - - - - -
11549.99 240.93 -0.59 1244 11552.88 no move -0.84 - - 2418.75 - - - 1989.12 - 20.39 - - 2738.44 - - - - - - - - - - -
11849.32 243.85 -0.98 1274 11852.73 no move -0.84 - - 2419.31 - - - 1989.25 - 20.39 - - 2738.41 - - - - - - - - - - -
12149.34 245.11 -0.42 1304 12152.81 no move -0.84 - - 2416.00 - - - 1988.88 - 20.39 - - 2740.59 - - - - - - - - - - -
12449.38 245.46 -0.14 1334 12453.15 no move -0.84 - - 2419.00 - - - 1989.19 - 20.39 - - 2739.12 - - - - - - - - - - -
12749.91 245.50 - 1364 12753.49 no move -0.84 - - 2419.06 - - - 1989.31 - 20.39 - - 2738.66 - - - - - - - - - - -
13049.97 244.98 0.17 1394 13053.83 no move -0.84 - - 2418.62 - - - 1989.44 - 20.39 - - 2738.81 - - - - - - - - - - -
13349.98 244.58 0.13 1424 13352.87 no move -0.84 - - 2419.31 - - - 1989.50 - 20.39 - - 2739.38 - - - - - - - - - - -
13650.05 244.29 0.07 1454 13652.94 no move -0.84 - - 2418.06 - - - 1989.38 - 20.39 - - 2738.47 - - - - - - - - - - -
13949.55 244.22 0.02 1484 13952.83 no move -0.84 - - 2418.50 - - - 1988.62 - 20.39 - - 2738.31 - - - - - - - - - - -
14249.59 243.62 0.21 1514 14253.17 no move -0.84 - - 2418.75 - - - 1988.94 - 20.39 - - 2739.28 - - - - - - - - - - -
14549.63 243.90 -0.10 1544 14553.27 no move -0.84 - - 2418.88 - - - 1989.00 - 20.39 - - 2738.31 - - - - - - - - - - -
14849.74 244.00 -0.04 1574 14853.61 no move -0.84 - - 2419.00 - - - 1989.50 - 20.39 - - 2738.72 - - - - - - - - - - -
15150.45 243.73 0.08 1604 15153.95 no move -0.84 - - 2419.44 - - - 1989.00 - 20.39 - - 2738.72 - - - - - - - - - - -
15450.42 242.68 0.34 1634 15454.29 no move -0.84 - - 2419.75 - - - 1989.62 - 20.39 - - 2738.78 - - - - - - - - - - -
15750.55 243.69 -0.36 1664 15753.44 no move -0.84 - - 2420.31 - - - 1989.38 - 20.39 - - 2739.84 - - - - - - - - - - -
16050.50 246.53 -0.96 1694 16053.39 no move -0.84 - - 2417.94 - - - 1989.62 - 20.39 - - 2739.12 - - - - - - - - - - -
16349.93 247.13 -0.19 1724 16353.28 no move -0.84 - - 2419.44 - - - 1988.81 - 20.39 - - 2738.72 - - - - - - - - - - -
16651.71 245.38 0.58 1754 16655.63 no move -0.84 - - 2418.38 - - - 1988.75 - 20.39 - - 2738.53 - - - - - - - - - - -
16951.79 244.12 0.46 1784 16954.68 no move -0.84 - - 2417.12 - - - 1989.06 - 20.39 - - 2740.91 - - - - - - - - - - -
17251.85 244.68 -0.19 1814 17254.74 no move -0.84 - - 2418.56 - - - 1989.06 - 20.39 - - 2738.94 - - - - - - - - - - -
17551.14 246.13 -0.50 1844 17554.62 no move -0.84 - - 2419.00 - - - 1988.88 - 20.39 - - 2739.00 - - - - - - - - - - -
17851.17 246.29 -0.04 1874 17854.70 no move -0.84 - - 2419.00 - - - 1989.19 - 20.39 - - 2739.03 - - - - - - - - - - -
18151.21 245.26 0.35 1904 18155.04 no move -0.84 - - 2419.25 - - - 1988.94 - 20.39 - - 2738.56 - - - - - - - - - - -
18451.99 245.34 -0.05 1934 18455.64 no move -0.84 - - 2419.38 - - - 1988.81 - 20.39 - - 2738.31 - - - - - - - - - - -
18751.80 245.71 -0.11 1964 18755.72 no move -0.84 - - 2419.00 - - - 1989.56 - 20.39 - - 2738.28 - - - - - - - - - - -
19052.07 245.79 -0.06 1994 19056.06 no move -0.84 - - 2418.19 - - - 1989.31 - 20.39 - - 2739.06 - - - - - - - - - - -
19351.93 246.77 -0.33 2024 19354.83 no move -0.84 - - 2419.12 - - - 1989.06 - 20.39 - - 2738.78 - - - - - - - - - - -
19651.40 246.93 -0.05 2054 19654.72 no move -0.84 - - 2419.44 - - - 1989.38 - 20.39 - - 2738.34 - - - - - - - - - - -
19951.44 246.14 0.26 2084 19955.08 no move -0.84 - - 2419.00 - - - 1989.31 - 20.39 - - 2739.47 - - - - - - - - - - -
20251.47 245.72 0.15 2114 20255.16 no move -0.84 - - 2418.44 - - - 1989.00 - 20.39 - - 2738.25 - - - - - - - - - - -
20551.64 245.71 0.01 2144 20555.50 no move -0.84 - - 2419.00 - - - 1988.94 - 20.39 - - 2740.53 - - - - - - - - - - -
20852.31 244.50 0.40 2174 20855.84 no move -0.84 - - 2419.88 - - - 1989.50 - 20.39 - - 2738.56 - - - - - - - - - - -
21152.31 241.88 0.86 2204 21156.18 no move -0.84 - - 2418.88 - - - 1989.94 - 20.39 - - 2738.53 - - - - - - - - - - -
21452.37 240.49 0.46 2234 21455.26 no move -0.84 - - 2418.56 - - - 1989.31 - 20.39 - - 2738.66 - - - - - - - - - - -
21752.40 241.15 -0.22 2264 21755.29 no move -0.84 - - 2419.06 - - - 1989.50 - 20.39 - - 2738.78 - - - - - - - - - - -
22051.71 241.28 -0.03 2294 22055.18 no move -0.84 - - 2418.19 - - - 1989.19 - 20.39 - - 2738.66 - - - - - - - - - - -
22351.77 240.62 0.20 2324 22355.26 no move -0.84 - - 2419.38 - - - 1988.69 - 20.39 - - 2739.03 - - - - - - - - - - -
22651.82 240.78 -0.08 2354 22655.59 no move -0.84 - - 2419.25 - - - 1988.94 - 20.39 - - 2739.16 - - - - - - - - - - -
22952.36 241.81 -0.31 2384 22955.93 no move -0.84 - - 2418.88 - - - 1989.75 - 20.39 - - 2738.59 - - - - - - - - - - -
23252.67 242.63 -0.28 2414 23256.27 no move -0.84 - - 2418.94 - - - 1988.75 - 20.39 - - 2739.31 - - - - - - - - - - -
23512 end loiter: LOITER_COMPLETE
23512 begin climb
23511.99 243.56 - 2440 23636.91 0.89 3.34 0.179 2855.81 130.8 3.77 0.140 570.19 -376.3 145.99 112.86 1.495 2227.47 -4.5 0.125 - - - - - - 15.96 15.36 11.91
23835.17 205.81 16.20 2504 23842.74 0.55 0.76 0.221 2767.94 -115.6 3.34 0.062 1976.25 421.0 145.99 - - 2216.19 - - - - - - - - 15.54 15.62 -
24140.20 178.95 7.70 2535 24192.65 done 0.61 - - 2767.44 - 3.71 0.134 570.25 -379.0 197.09 44.25 1.340 2020.50 -4.4 0.100 - - - - - - - 15.38 11.94
24271.36 167.60 9.51 2561 24278.35 done 0.61 - - 2768.56 - 3.34 0.058 1978.94 421.8 197.09 - - 2012.69 - - - - - - - - - 15.50 -
24576.61 147.15 5.73 2592 24665.69 0.83 0.55 0.093 2846.50 141.7 3.72 0.132 570.19 -378.7 290.18 80.79 1.305 1639.31 -4.6 0.088 - - - - - - 15.60 15.33 11.57
24748.06 130.41 12.05 2626 24755.59 done 0.75 - - 2846.69 - 3.33 0.056 1977.00 422.5 290.18 - - 1633.38 - - - - - - - - - 15.46 -
25054.89 103.24 8.12 2657 25066.36 0.75 0.28 0.193 2817.12 -105.6 3.68 0.130 570.25 -382.3 290.18 - - 1626.53 - - - - - - - - 15.56 15.55 -
25129.85 96.95 8.53 2672 25136.32 done 0.75 - - 2816.00 - 3.29 0.055 1979.50 428.3 290.18 - - 1625.50 - - - - - - - - - 15.58 -
25315.49 84.42 6.80 2709 25387.91 0.96 0.44 0.099 2878.19 141.3 3.68 0.131 571.31 -382.7 360.41 64.19 1.243 1355.22 -4.2 0.048 - - - - - - 15.66 15.39 11.78
25421.12 73.50 12.41 2730 25427.59 roll 0.96 - - 2878.12 - 3.31 0.054 1977.12 424.7 360.41 - - 1350.41 - - - - - - - - - 15.48 -
25606.70 55.37 8.52 2767 25613.72 done 0.96 - - 2876.69 - 3.63 0.129 569.31 -387.8 360.41 - - 1345.62 - - - - - - - - - 15.52 -
25661.93 50.01 9.85 2778 25669.39 done 0.96 - - 2876.94 - 3.30 0.053 1979.19 427.2 360.41 - - 1343.81 - - - - - - - - - 15.58 -
25848.39 36.42 6.73 2815 25956.25 1.17 0.30 0.105 2927.75 169.4 - - 1980.50 - 432.22 102.71 1.249 1063.12 -2.7 0.013 - - - - - - 15.62 - 11.61
26135.20 18.67 5.28 2872 26279.29 1.45 0.44 0.096 2996.19 155.5 3.77 0.132 571.19 -373.8 534.76 133.05 1.193 645.12 -3.1 0.008 - - - - - - 15.42 15.07 11.60
26342 end climb: SURFACE_DEPTH_REACHED
26343 begin surface coast
26353 end surface coast: CONTROL_FINISHED_OK
26353 begin surface
SM 1.98 - - - - 199.1 - 0.011 499.7 - 19.35 0.079 494.9 25.6 - 3.58 0.056 504.5 139.9 -0.505 - - 30.36 15.25 15.27 -