AMOS Sep20 * SG235 * Dive index * Mission links * Dive 51 * Raw log
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• Previous call tries 1 • 33.49 of 350.00 AH used of 24V (90.43% remains)
• Surface angle -68.0 deg, depth 1.93 m • Intended pitch -17.8 deg, speed -10.101 cm/s
• No surface pump (final VBD was 410.5, SM_CC=502.86499)
• GPS1 time: 41 s
• GPS2 time: 4 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
10.49 - - - 59.37 VBD -1.07 - - 217.81 - - - 2113.88 - -145.99 46.89 0.005 1343.59 - - - - - - - - - - 15.48
59.66 3.04 -3.24 9 154.80 -1.07 16.84 0.296 2258.75 121.2 3.32 0.166 3406.12 389.2 -145.99 66.40 0.005 3144.72 27.1 -2.733 - - - - - - 15.39 15.46 15.49
328.55 56.59 -18.18 62 335.06 roll back -0.93 0.25 0.200 2295.19 145.8 3.20 0.097 2085.19 -412.8 -145.99 - - 3147.53 - - - - - - - - 15.56 15.60 -
513.82 82.47 -13.54 99 525.15 roll -0.93 - - 2294.94 - 3.77 0.187 637.31 -384.1 -145.99 - - 3147.03 - - - - - - - - - 15.52 -
529.16 84.59 -13.54 102 535.65 roll -0.93 - - 2293.62 - 3.52 0.086 2113.88 419.5 -145.99 - - 3146.12 - - - - - - - - - 15.64 -
714.40 108.15 -12.51 133 721.41 roll -0.98 - - 2295.12 - 3.85 0.186 636.94 -383.6 -145.99 - - 3146.62 - - - - - - - - - 15.60 -
723.55 109.40 -12.60 135 731.63 roll -0.98 - - 2295.75 - 3.51 0.087 2115.06 421.1 -145.99 - - 3144.78 - - - - - - - - - 15.68 -
1030.33 146.39 -11.83 166 1037.65 roll back -1.07 0.31 0.114 2249.00 -150.8 3.31 0.179 3404.38 389.5 -145.99 - - 3143.94 - - - - - - - - 15.73 15.66 -
1259.86 179.51 -13.96 212 1267.94 roll back -1.00 0.25 0.202 2276.94 111.8 3.21 0.118 2086.44 -410.6 -145.99 - - 3147.41 - - - - - - - - 15.70 15.70 -
1467 end dive: TARGET_DEPTH_EXCEEDED
1467 begin apogee
1467.83 200.48 -9.03 233 1592.65 -0.25 1.35 0.183 2459.62 135.3 0.06 0.307 2186.12 1661.3 - 120.65 1.713 2548.03 -5.0 0.096 - - - - - - 15.72 15.16 11.95
1595 end apogee: CONTROL_FINISHED_OK
1595 begin loiter
1889.70 204.59 -0.21 275 1893.71 VBD -0.25 - - 2457.62 - - - 2186.31 - - 0.01 1.469 2550.84 281.0 -6.486 - - - - - - - - -
2189.92 205.62 -0.36 305 2194.84 pitch -0.81 1.00 0.098 2310.31 -147.3 - - 2186.31 - - - - 2552.50 - - - - - - - - 15.58 - -
2489.76 207.14 -0.49 335 2492.65 no move -0.81 - - 2308.44 - - - 2186.44 - - - - 2547.19 - - - - - - - - - - -
2789.30 210.04 -0.97 365 2792.61 no move -0.81 - - 2310.44 - - - 2186.19 - - - - 2544.69 - - - - - - - - - - -
3091.04 214.68 -1.43 395 3094.96 no move -0.81 - - 2311.50 - - - 2185.44 - - - - 2544.88 - - - - - - - - - - -
3391.82 218.92 -1.42 425 3395.30 no move -0.81 - - 2312.00 - - - 2185.88 - - - - 2544.28 - - - - - - - - - - -
3691.78 221.73 -0.94 455 3695.64 no move -0.81 - - 2311.12 - - - 2186.00 - - - - 2544.38 - - - - - - - - - - -
3991.85 223.44 -0.58 485 3994.74 no move -0.81 - - 2311.50 - - - 2186.31 - - - - 2544.16 - - - - - - - - - - -
4291.87 224.54 -0.35 515 4294.76 no move -0.81 - - 2310.69 - - - 2185.56 - - - - 2542.97 - - - - - - - - - - -
4591.18 224.61 0.01 545 4594.63 no move -0.81 - - 2308.94 - - - 2186.44 - - - - 2545.69 - - - - - - - - - - -
4891.21 225.25 -0.20 575 4894.71 no move -0.81 - - 2310.19 - - - 2186.12 - - - - 2545.53 - - - - - - - - - - -
5191.25 225.93 -0.29 605 5195.05 no move -0.81 - - 2311.12 - - - 2185.38 - - - - 2543.69 - - - - - - - - - - -
5492.02 227.17 -0.47 635 5495.66 no move -0.81 - - 2311.00 - - - 2186.25 - - - - 2542.12 - - - - - - - - - - -
5791.89 228.61 -0.50 665 5795.74 no move -0.86 - - 2311.19 - - - 2184.94 - - - - 2542.53 - - - - - - - - - - -
6092.11 228.34 0.11 695 6096.07 no move -0.91 - - 2311.06 - - - 2185.88 - - - - 2542.00 - - - - - - - - - - -
6391.97 229.45 -0.37 725 6394.85 no move -0.95 - - 2308.62 - - - 2185.56 - - - - 2544.06 - - - - - - - - - - -
6691.44 230.95 -0.45 755 6694.87 pitch -1.00 0.25 0.124 2265.88 -171.0 - - 2185.56 - - - - 2542.31 - - - - - - - - 15.86 - -
6991.40 232.04 -0.30 785 6995.20 pitch -0.91 0.29 0.203 2299.94 117.4 - - 2185.62 - - - - 2546.72 - - - - - - - - 15.83 - -
7291.42 231.93 - 815 7294.81 no move -0.91 - - 2298.00 - - - 2185.69 - - - - 2543.59 - - - - - - - - - - -
7591.66 231.61 0.11 845 7595.15 no move -0.91 - - 2297.75 - - - 2186.12 - - - - 2543.84 - - - - - - - - - - -
7892.29 230.34 0.41 875 7895.49 no move -0.91 - - 2297.19 - - - 2185.81 - - - - 2544.03 - - - - - - - - - - -
8192.34 232.49 -0.75 905 8196.19 no move -0.91 - - 2299.50 - - - 2186.19 - - - - 2541.38 - - - - - - - - - - -
8492.35 232.57 0.01 935 8495.25 no move -0.91 - - 2299.56 - - - 2186.19 - - - - 2541.44 - - - - - - - - - - -
8792.42 232.72 -0.03 965 8795.32 no move -0.91 - - 2300.25 - - - 2185.88 - - - - 2542.09 - - - - - - - - - - -
9091.70 234.26 -0.53 995 9095.19 no move -0.91 - - 2297.50 - - - 2185.94 - - - - 2543.91 - - - - - - - - - - -
9391.75 234.95 -0.24 1025 9395.26 no move -0.91 - - 2299.69 - - - 2186.19 - - - - 2542.41 - - - - - - - - - - -
9691.80 234.46 0.17 1055 9695.61 no move -0.91 - - 2299.62 - - - 2185.56 - - - - 2541.72 - - - - - - - - - - -
9992.59 234.75 -0.09 1085 9996.21 no move -0.91 - - 2300.62 - - - 2186.62 - - - - 2542.16 - - - - - - - - - - -
10292.43 234.94 -0.04 1115 10296.29 no move -0.91 - - 2301.19 - - - 2186.56 - - - - 2541.66 - - - - - - - - - - -
10592.43 234.98 -0.04 1145 10595.32 no move -0.91 - - 2297.94 - - - 2185.06 - - - - 2544.34 - - - - - - - - - - -
10892.50 233.20 0.58 1175 10895.39 no move -0.91 - - 2299.75 - - - 2184.62 - - - - 2542.12 - - - - - - - - - - -
11192.03 233.11 0.02 1205 11195.29 no move -0.91 - - 2299.81 - - - 2185.75 - - - - 2542.44 - - - - - - - - - - -
11492.07 234.29 -0.35 1235 11495.63 no move -0.91 - - 2300.25 - - - 2186.38 - - - - 2542.62 - - - - - - - - - - -
11792.10 233.52 0.24 1265 11795.73 no move -0.91 - - 2300.44 - - - 2185.38 - - - - 2542.03 - - - - - - - - - - -
12092.20 233.37 0.02 1295 12096.07 no move -0.91 - - 2300.31 - - - 2185.94 - - - - 2541.81 - - - - - - - - - - -
12392.92 233.12 0.13 1325 12396.04 no move -0.91 - - 2299.44 - - - 2186.00 - - - - 2543.44 - - - - - - - - - - -
12692.88 233.13 -0.01 1355 12696.75 no move -0.91 - - 2299.56 - - - 2185.56 - - - - 2541.22 - - - - - - - - - - -
12992.99 233.43 -0.09 1385 12995.88 no move -0.91 - - 2300.19 - - - 2185.12 - - - - 2541.44 - - - - - - - - - - -
13293.04 233.84 -0.13 1415 13295.94 no move -0.91 - - 2298.69 - - - 2186.00 - - - - 2541.34 - - - - - - - - - - -
13592.32 234.87 -0.36 1445 13595.74 no move -0.91 - - 2300.25 - - - 2185.62 - - - - 2541.94 - - - - - - - - - - -
13892.35 234.35 0.18 1475 13895.82 no move -0.91 - - 2299.88 - - - 2186.12 - - - - 2541.56 - - - - - - - - - - -
14192.39 233.13 0.36 1505 14196.16 no move -0.91 - - 2300.06 - - - 2185.06 - - - - 2541.47 - - - - - - - - - - -
14492.91 233.79 -0.24 1535 14496.50 no move -0.91 - - 2299.56 - - - 2185.31 - - - - 2541.16 - - - - - - - - - - -
14792.98 235.48 -0.58 1565 14796.84 no move -0.91 - - 2297.75 - - - 2185.19 - - - - 2543.28 - - - - - - - - - - -
15092.97 236.68 -0.40 1595 15095.87 no move -0.91 - - 2300.38 - - - 2185.56 - - - - 2541.41 - - - - - - - - - - -
15393.05 235.74 0.32 1625 15395.95 no move -0.91 - - 2299.81 - - - 2186.00 - - - - 2542.25 - - - - - - - - - - -
15692.56 235.64 0.03 1655 15695.84 no move -0.91 - - 2299.62 - - - 2186.31 - - - - 2541.69 - - - - - - - - - - -
15992.59 236.52 -0.30 1685 15996.18 no move -0.91 - - 2300.00 - - - 2186.12 - - - - 2541.66 - - - - - - - - - - -
16292.63 236.09 0.15 1715 16296.28 no move -0.91 - - 2299.75 - - - 2186.12 - - - - 2541.88 - - - - - - - - - - -
16592.76 235.39 0.21 1745 16596.62 no move -0.91 - - 2299.94 - - - 2185.56 - - - - 2541.97 - - - - - - - - - - -
16893.46 235.03 0.11 1775 16896.96 no move -0.91 - - 2300.31 - - - 2185.88 - - - - 2541.91 - - - - - - - - - - -
17193.43 235.82 -0.32 1805 17197.30 no move -0.91 - - 2299.69 - - - 2185.75 - - - - 2541.53 - - - - - - - - - - -
17493.95 237.05 -0.39 1835 17497.62 no move -0.91 - - 2299.62 - - - 2186.31 - - - - 2541.66 - - - - - - - - - - -
17794.10 236.35 0.22 1865 17797.96 no move -0.91 - - 2299.50 - - - 2186.50 - - - - 2541.97 - - - - - - - - - - -
18094.81 236.13 0.08 1895 18098.29 no move -0.91 - - 2299.19 - - - 2185.56 - - - - 2541.75 - - - - - - - - - - -
18394.77 236.22 -0.04 1925 18398.27 no move -0.91 - - 2297.88 - - - 2186.50 - - - - 2544.00 - - - - - - - - - - -
18694.88 236.45 -0.06 1955 18697.78 no move -0.91 - - 2300.00 - - - 2186.19 - - - - 2541.84 - - - - - - - - - - -
18994.85 237.10 -0.21 1985 18997.74 no move -0.91 - - 2299.69 - - - 2185.88 - - - - 2542.47 - - - - - - - - - - -
19294.21 237.16 0.01 2015 19297.63 no move -0.91 - - 2298.19 - - - 2186.62 - - - - 2543.66 - - - - - - - - - - -
19594.19 236.88 0.09 2045 19597.71 no move -0.91 - - 2298.38 - - - 2185.88 - - - - 2543.47 - - - - - - - - - - -
19894.28 237.26 -0.15 2075 19898.05 no move -0.91 - - 2300.00 - - - 2186.62 - - - - 2542.09 - - - - - - - - - - -
20194.80 237.44 -0.04 2105 20198.39 no move -0.91 - - 2299.75 - - - 2185.75 - - - - 2542.03 - - - - - - - - - - -
20494.87 237.57 -0.09 2135 20498.73 no move -0.91 - - 2297.50 - - - 2186.12 - - - - 2543.66 - - - - - - - - - - -
20794.87 237.76 -0.04 2165 20797.75 no move -0.91 - - 2298.75 - - - 2185.56 - - - - 2543.88 - - - - - - - - - - -
21094.94 237.34 0.13 2195 21097.83 no move -0.91 - - 2296.81 - - - 2185.62 - - - - 2544.22 - - - - - - - - - - -
21394.45 237.31 0.01 2225 21397.73 no move -0.91 - - 2299.81 - - - 2185.81 - - - - 2542.25 - - - - - - - - - - -
21694.48 238.09 -0.24 2255 21698.07 no move -0.91 - - 2298.88 - - - 2184.94 - - - - 2544.19 - - - - - - - - - - -
21994.54 238.91 -0.26 2285 21997.80 no move -0.91 - - 2298.44 - - - 2185.62 - - - - 2542.91 - - - - - - - - - - -
22294.65 238.19 0.21 2315 22298.51 no move -0.91 - - 2300.31 - - - 2185.44 - - - - 2541.88 - - - - - - - - - - -
22595.32 238.53 -0.12 2345 22598.85 no move -0.91 - - 2299.88 - - - 2185.69 - - - - 2541.47 - - - - - - - - - - -
22895.33 238.30 0.08 2375 22898.83 no move -0.91 - - 2298.94 - - - 2185.88 - - - - 2543.81 - - - - - - - - - - -
23195 end loiter: LOITER_COMPLETE
23195 begin climb
23195.48 239.21 - 2405 23340.82 1.07 3.44 0.181 2778.94 139.5 4.01 0.214 737.00 -361.3 145.99 130.18 1.746 1952.62 -4.5 0.103 - - - - - - 15.88 15.19 11.90
23349.74 229.91 11.18 2435 23360.70 roll back 0.78 0.62 0.239 2702.31 -123.6 3.72 0.120 2209.06 395.7 145.99 - - 1951.00 - - - - - - - - 15.22 15.26 -
23659.82 204.09 7.61 2467 23716.00 0.89 0.26 0.132 2741.38 150.3 3.22 0.193 3405.56 371.6 199.11 47.17 1.641 1737.56 -4.5 0.093 - - - - - - 15.51 15.23 11.71
23939.68 177.89 9.03 2523 23946.04 done 0.89 - - 2741.06 - 3.01 0.102 2186.94 -404.9 199.11 - - 1727.94 - - - - - - - - - 15.45 -
24244.75 156.08 6.28 2554 24323.34 1.05 0.20 0.132 2780.88 199.1 3.93 0.197 737.56 -368.8 280.38 71.21 1.613 1406.06 -4.5 0.072 - - - - - - 15.57 15.19 11.82
24385.55 144.14 9.98 2582 24393.57 roll 1.05 - - 2778.50 - 3.66 0.105 2213.00 403.1 280.38 - - 1402.41 - - - - - - - - - 15.30 -
24692.15 115.83 9.00 2613 24695.04 VBD 1.05 - - 2777.69 - - - 2212.12 - 280.38 - - 1396.66 - - - - - - - - - - -
24991.69 88.69 8.69 2655 24999.22 done 1.11 - - 2778.69 - 3.86 0.182 737.31 -382.1 280.38 - - 1394.12 - - - - - - - - - 15.55 -
25052.93 82.99 9.53 2667 25063.64 done 1.11 - - 2780.62 - 3.57 0.099 2213.25 413.4 280.38 - - 1393.56 - - - - - - - - - 15.55 -
25243.42 68.20 7.29 2705 25305.82 1.29 0.34 0.119 2838.00 168.8 3.13 0.179 3406.69 381.3 340.20 53.38 1.535 1163.47 -4.3 0.032 - - - - - - 15.64 15.33 11.71
25309.77 62.02 9.90 2718 25315.59 roll 1.29 - - 2837.31 - 2.99 0.092 2181.62 -409.7 340.20 - - 1161.91 - - - - - - - - - 15.40 -
25494.25 45.05 7.59 2755 25551.84 1.42 0.17 0.136 2867.44 177.2 3.86 0.180 735.75 -374.6 393.67 48.98 1.478 944.38 -4.4 0.022 - - - - - - 15.49 15.23 11.78
25620.87 34.76 8.52 2780 25627.60 roll 1.47 - - 2868.56 - 3.61 0.093 2212.69 409.1 393.67 - - 940.88 - - - - - - - - - 15.35 -
25805.89 23.48 4.92 2817 25914.43 1.83 0.64 0.103 2969.69 158.0 3.17 0.169 3405.69 376.3 503.88 98.50 1.439 500.44 -4.5 0.012 - - - - - - 15.45 15.00 11.63
25962.65 11.00 10.01 2848 25969.07 roll 1.83 - - 2969.31 - 3.02 0.088 2180.94 -405.5 503.88 - - 497.38 - - - - - - - - - 15.20 -
26138 end climb: SURFACE_DEPTH_REACHED
26138 begin surface coast
26203 end surface coast: CONTROL_FINISHED_OK
26203 begin surface
SM 2.45 - - - - 220.2 - - 491.7 - 18.04 0.100 572.9 31.8 - 0.22 0.146 410.5 1852.2 -3.177 - - 30.00 15.36 15.40 -