ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 121 * Raw log
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• Previous call tries 2 • 48.44 of 350.00 AH used of 24V (86.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.2 deg, depth 0.86 m • Intended pitch -17.2 deg, speed -9.028 cm/s
• VBD pumped to 350.17 (SM_CC=350) • surface range 12.5 m at 12.6 m depth, ceiling 0.1 m (m = 1.05, R^2 = 1.00)
• GPS1 time: 22 s
• GPS2 time: 4 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
8 - - - 122 done -0.93 - - 198 - - - 2804 - -121.7 -109.60 0.003 3965 - - - - - - - - 14.56 13.03 14.57
123 3.3 -4.6 11 142 roll -0.93 12.07 0.474 2411 183.3 1.98 0.083 3916 561.6 -121.7 - - 3973 - - - - - - - - 14.01 14.31 14.40
360 40.4 -13.6 58 368 done -0.93 - - 2411 - 1.92 0.048 2790 -586.5 -121.7 - - 3975 - - - - - - - - 14.48 14.45 14.50
666 79.2 -13.0 89 672 roll -0.93 - - 2411 - 2.40 0.050 1400 -579.2 -121.7 - - 3976 - - - - - - - - 14.76 14.45 14.76
706 84.5 -12.6 97 713 done -0.93 - - 2411 - 2.50 0.070 2797 558.8 -121.7 - - 3975 - - - - - - - - 14.51 14.43 14.54
1017 123.5 -12.2 129 1024 roll -0.93 - - 2408 - 2.03 0.093 3914 550.2 -121.7 - - 3977 - - - - - - - - 14.80 14.45 14.80
1043 127.0 -13.6 134 1050 done -0.93 - - 2408 - 1.90 0.050 2797 -587.9 -121.7 - - 3976 - - - - - - - - 14.59 14.55 14.61
1349 164.6 -12.2 165 1355 roll -0.93 - - 2410 - 2.35 0.049 1403 -593.2 -121.7 - - 3975 - - - - - - - - 14.78 14.54 14.78
1394 170.1 -12.0 174 1401 done -0.93 - - 2405 - 2.50 0.070 2804 560.4 -121.7 - - 3976 - - - - - - - - 14.56 14.48 14.59
1700 206.6 -11.9 205 1701 done -0.93 - - 2405 - - - 2804 - -121.7 - - 3976 - - - - - - - - 14.80 14.80 14.80
1999 243.3 -11.9 235 1999 done -0.93 - - 2405 - - - 2804 - -121.7 - - 3977 - - - - - - - - 14.85 14.85 14.85
2299 279.2 -11.7 265 2299 done -0.93 - - 2405 - - - 2804 - -121.7 - - 3977 - - - - - - - - 14.84 14.85 14.83
2599 314.1 -11.5 289 2606 roll -0.93 - - 2406 - 2.42 0.050 1401 -579.8 -121.7 - - 3976 - - - - - - - - 14.86 14.53 14.85
2624 317.0 -11.8 294 2630 done -0.93 - - 2403 - 2.50 0.071 2802 560.4 -121.7 - - 3976 - - - - - - - - 14.60 14.52 14.63
2941 351.8 -11.1 312 2946 roll -0.93 - - 2403 - 2.38 0.050 1402 -588.2 -121.7 - - 3976 - - - - - - - - 14.84 14.59 14.85
2975 355.8 -11.2 319 2982 done -0.93 - - 2403 - 2.50 0.071 2805 561.2 -121.7 - - 3977 - - - - - - - - 14.61 14.54 14.64
3281 390.6 -11.5 335 3281 done -0.93 - - 2403 - - - 2805 - -121.7 - - 3977 - - - - - - - - 14.88 14.89 14.88
3581 424.7 -11.3 350 3582 done -0.93 - - 2403 - - - 2805 - -121.7 - - 3977 - - - - - - - - 14.85 14.85 14.85
3880 457.9 -11.0 365 3881 done -0.93 - - 2403 - - - 2805 - -121.7 - - 3977 - - - - - - - - 14.90 14.91 14.91
4180 491.0 -11.3 380 4186 roll -0.93 - - 2403 - 2.40 0.050 1406 -582.9 -121.7 - - 3977 - - - - - - - - 14.91 14.57 14.91
4230 496.6 -11.1 390 4236 done -0.93 - - 2403 - 2.47 0.070 2801 564.8 -121.7 - - 3977 - - - - - - - - 14.63 14.55 14.66
4550 532.0 -11.0 403 4556 roll -0.93 - - 2401 - 1.98 0.093 3903 556.6 -121.7 - - 3975 - - - - - - - - 14.92 14.52 14.92
4580 535.5 -11.8 409 4587 done -0.93 0.08 0.286 2421 250.0 1.88 0.050 2795 -589.4 -121.7 - - 3977 - - - - - - - - 14.31 14.64 14.52
4971 574.8 -9.9 427 4977 roll -0.93 - - 2421 - 2.38 0.050 1403 -584.9 -121.7 - - 3976 - - - - - - - - 14.92 14.58 14.92
5006 578.1 -9.6 434 5012 done -0.93 - - 2421 - 2.47 0.072 2798 564.8 -121.7 - - 3977 - - - - - - - - 14.62 14.55 14.67
5392 614.2 -9.4 451 5393 done -0.93 - - 2421 - - - 2799 - -121.7 - - 3977 - - - - - - - - 14.92 14.92 14.92
5751 647.4 -9.4 463 5757 roll -0.93 - - 2421 - 2.40 0.050 1399 -583.3 -121.7 - - 3977 - - - - - - - - 14.92 14.57 14.92
5776 649.8 -9.9 468 5783 done -0.93 - - 2421 - 2.50 0.070 2804 562.0 -121.7 - - 3977 - - - - - - - - 14.63 14.59 14.66
5811 end dive: TARGET_DEPTH_EXCEEDED
5811 begin apogee
5815 653.2 -9.5 470 5916 done -0.23 0.85 0.249 2648 267.1 - - 2545 - - 98.88 2.965 3599 -3.8 0.168 - - - - - - 14.33 13.77 12.72
5917 end apogee: CONTROL_FINISHED_OK
5917 begin loiter
6261 660.2 -1.0 485 6262 done -0.23 - - 2648 - - - 2545 - - - - 3595 - - - - - - - - 14.59 14.59 14.59
6622 664.5 -1.2 497 6623 done -0.20 - - 2648 - - - 2545 - - - - 3594 - - - - - - - - 14.76 14.76 14.76
6981 669.1 -1.3 509 6982 done -0.18 - - 2648 - - - 2545 - - - - 3594 - - - - - - - - 14.86 14.86 14.85
7341 673.8 -1.3 521 7343 done -0.15 0.12 0.222 2681 275.0 - - 2545 - - - - 3594 - - - - - - - - 14.50 14.71 14.68
7702 678.5 -1.4 533 7702 done -0.12 - - 2681 - - - 2545 - - - - 3595 - - - - - - - - 14.95 14.96 14.96
8062 683.8 -1.5 545 8062 done -0.09 - - 2680 - - - 2545 - - - - 3595 - - - - - - - - 14.99 14.99 14.99
8422 689.3 -1.5 557 8422 done -0.06 - - 2680 - - - 2545 - - - - 3596 - - - - - - - - 15.01 15.01 15.01
8781 694.2 -1.4 569 8783 done -0.03 0.12 0.212 2716 300.0 - - 2545 - - - - 3597 - - - - - - - - 14.63 14.81 14.78
9141 698.9 -1.3 581 9142 done -0.01 - - 2716 - - - 2545 - - - - 3597 - - - - - - - - 15.04 15.05 15.05
9501 704.0 -1.4 593 9502 done 0.02 - - 2716 - - - 2545 - - - - 3598 - - - - - - - - 15.06 15.06 15.06
9861 709.4 -1.5 605 9862 done 0.05 - - 2716 - - - 2546 - - - - 3598 - - - - - - - - 15.07 15.07 15.07
10221 715.1 -1.6 617 10223 done 0.08 0.12 0.197 2753 308.3 - - 2545 - - - - 3598 - - - - - - - - 14.68 14.85 14.82
10581 720.9 -1.7 629 10582 done 0.12 - - 2753 - - - 2545 - - - - 3599 - - - - - - - - 15.09 15.09 15.09
10941 726.1 -1.3 641 10942 done 0.14 - - 2753 - - - 2545 - - - - 3600 - - - - - - - - 15.09 15.09 15.09
11301 730.4 -1.2 653 11302 done 0.17 - - 2752 - - - 2545 - - - - 3600 - - - - - - - - 15.10 15.10 15.10
11661 734.8 -1.3 665 11663 done 0.19 0.12 0.180 2794 350.0 - - 2545 - - - - 3601 - - - - - - - - 14.73 14.88 14.85
12022 739.4 -1.3 677 12022 done 0.22 - - 2793 - - - 2545 - - - - 3601 - - - - - - - - 15.11 15.11 15.11
12382 744.6 -1.4 689 12382 done 0.25 - - 2794 - - - 2545 - - - - 3602 - - - - - - - - 15.11 15.11 15.09
12741 749.7 -1.4 701 12742 done 0.28 - - 2794 - - - 2545 - - - - 3602 - - - - - - - - 15.11 15.11 15.12
13102 754.6 -1.3 713 13102 done 0.30 - - 2794 - - - 2545 - - - - 3603 - - - - - - - - 15.12 15.11 15.11
13461 759.2 -1.3 725 13463 done 0.33 0.12 0.161 2839 375.0 - - 2545 - - - - 3604 - - - - - - - - 14.76 14.90 14.87
13822 763.1 -1.0 737 13822 done 0.35 - - 2839 - - - 2545 - - - - 3604 - - - - - - - - 15.12 15.12 15.12
14181 767.2 -1.2 749 14182 done 0.37 - - 2839 - - - 2545 - - - - 3605 - - - - - - - - 15.13 15.13 15.13
14541 771.8 -1.3 761 14542 done 0.40 - - 2838 - - - 2545 - - - - 3605 - - - - - - - - 15.13 15.13 15.13
14901 776.7 -1.3 773 14902 done 0.43 - - 2840 - - - 2545 - - - - 3606 - - - - - - - - 15.13 15.13 15.13
15261 782.3 -1.6 785 15263 done 0.46 0.12 0.164 2888 400.0 - - 2545 - - - - 3607 - - - - - - - - 14.77 14.90 14.88
15621 788.5 -1.8 797 15622 done 0.49 - - 2888 - - - 2545 - - - - 3607 - - - - - - - - 15.13 15.14 15.14
15981 794.9 -1.8 809 15986 done 0.53 - - 2888 - - - 2545 - - 3.45 1.591 3599 -2.3 0.231 - - - - - - 15.14 14.83 13.46
16341 800.8 -1.6 821 16342 done 0.56 - - 2888 - - - 2545 - - - - 3602 - - - - - - - - 15.11 15.11 15.11
16701 806.4 -1.5 833 16702 done 0.59 - - 2888 - - - 2545 - - - - 3602 - - - - - - - - 15.11 15.11 15.11
17061 811.8 -1.5 845 17063 done 0.62 0.12 0.152 2932 366.7 - - 2545 - - - - 3602 - - - - - - - - 14.76 14.89 14.86
17422 816.9 -1.5 857 17423 done 0.65 - - 2932 - - - 2545 - - - - 3602 - - - - - - - - 15.10 15.10 15.10
17781 821.9 -1.3 869 17782 done 0.68 - - 2932 - - - 2545 - - - - 3602 - - - - - - - - 15.12 15.12 15.12
18141 826.2 -1.2 881 18142 done 0.70 - - 2932 - - - 2545 - - - - 3603 - - - - - - - - 15.12 15.12 15.12
18501 830.2 -1.1 893 18502 done 0.72 - - 2932 - - - 2545 - - - - 3602 - - - - - - - - 15.13 15.13 15.13
18861 833.6 -0.8 905 18863 done 0.74 0.12 0.166 2974 350.0 - - 2545 - - - - 3602 - - - - - - - - 14.74 14.89 14.86
19222 836.8 -0.9 917 19223 done 0.76 - - 2974 - - - 2545 - - - - 3602 - - - - - - - - 15.13 15.13 15.13
19581 839.9 -0.9 929 19582 done 0.78 - - 2973 - - - 2545 - - - - 3602 - - - - - - - - 15.14 15.13 15.14
19941 843.2 -0.9 941 19942 done 0.79 - - 2974 - - - 2545 - - - - 3602 - - - - - - - - 15.14 15.14 15.14
20300 end loiter: LOITER_COMPLETE
20300 begin climb
20301 846.3 - 953 20433 roll 0.93 0.17 0.131 3034 352.9 2.67 0.092 3906 509.7 121.7 125.43 3.091 3112 -3.9 0.213 - - - - - - 14.76 13.62 12.59
20578 821.0 14.1 1007 20584 done 0.93 - - 3044 - 2.35 0.052 2552 -576.2 121.7 - - 3108 - - - - - - - - 14.15 14.09 14.16
20968 773.6 12.0 1025 20969 done 0.93 - - 3044 - - - 2552 - 121.7 - - 3104 - - - - - - - - 14.62 14.62 14.62
21328 730.0 12.2 1037 21329 done 0.93 - - 3044 - - - 2552 - 121.7 - - 3103 - - - - - - - - 14.74 14.75 14.74
21688 685.2 12.5 1049 21694 roll 0.93 - - 3044 - 2.47 0.093 3910 549.8 121.7 - - 3103 - - - - - - - - 14.81 14.47 14.81
21733 679.1 14.0 1058 21740 done 0.93 - - 3054 - 2.33 0.054 2549 -584.1 121.7 - - 3103 - - - - - - - - 14.61 14.57 14.63
22109 631.9 12.4 1073 22115 roll 0.93 - - 3065 - 2.40 0.065 1151 -582.5 121.7 - - 3101 - - - - - - - - 14.81 14.54 14.82
22148 627.0 12.0 1081 22155 done 0.93 0.10 0.275 3038 -270.0 2.47 0.069 2558 569.6 121.7 - - 3102 - - - - - - - - 14.34 14.54 14.54
22529 583.1 11.5 1097 22535 roll 0.93 - - 3038 - 2.42 0.093 3904 556.2 121.7 - - 3102 - - - - - - - - 14.88 14.53 14.88
22564 578.5 13.2 1104 22570 done 0.93 - - 3047 - 2.30 0.055 2554 -587.0 121.7 - - 3102 - - - - - - - - 14.67 14.64 14.69
22950 533.7 11.4 1121 22955 roll 0.93 - - 3058 - 2.40 0.064 1150 -585.0 121.7 - - 3102 - - - - - - - - 14.89 14.58 14.89
22999 528.0 11.3 1131 23005 done 0.93 - - 3058 - 2.47 0.069 2562 571.7 121.7 - - 3102 - - - - - - - - 14.65 14.57 14.68
23369 485.5 11.5 1147 23370 done 0.93 - - 3058 - - - 2555 - 121.7 - - 3102 - - - - - - - - 14.91 14.91 14.91
23669 451.2 11.3 1162 23670 done 0.93 - - 3058 - - - 2555 - 121.7 - - 3102 - - - - - - - - 14.91 14.92 14.92
23969 417.3 11.4 1177 23975 roll 0.93 - - 3068 - 2.45 0.064 1151 -573.1 121.7 - - 3102 - - - - - - - - 14.92 14.54 14.92
24019 411.7 11.0 1187 24027 done 0.93 0.12 0.272 3035 -275.0 2.45 0.068 2549 570.6 121.7 - - 3102 - - - - - - - - 14.37 14.59 14.58
24331 379.3 10.3 1204 24337 roll 0.93 - - 3035 - 2.45 0.093 3930 563.7 121.7 - - 3103 - - - - - - - - 14.92 14.57 14.90
24371 374.7 11.6 1212 24377 done 0.93 - - 3045 - 2.35 0.055 2549 -587.7 121.7 - - 3103 - - - - - - - - 14.70 14.66 14.72
24691 341.7 10.1 1231 24697 roll 0.93 - - 3045 - 2.45 0.093 3902 552.2 121.7 - - 3103 - - - - - - - - 14.91 14.54 14.92
24716 338.9 11.6 1236 24722 done 0.93 - - 3055 - 2.30 0.055 2551 -587.4 121.7 - - 3103 - - - - - - - - 14.69 14.66 14.72
25031 307.0 10.3 1254 25038 roll 0.93 - - 3065 - 2.42 0.064 1160 -574.8 121.7 - - 3103 - - - - - - - - 14.92 14.57 14.92
25062 303.8 10.5 1260 25068 done 0.93 0.10 0.272 3038 -270.0 2.45 0.069 2553 568.6 121.7 - - 3103 - - - - - - - - 14.35 14.58 14.57
25372 273.6 9.9 1290 25373 done 0.93 - - 3038 - - - 2553 - 121.7 - - 3103 - - - - - - - - 14.92 14.92 14.92
25672 245.3 9.3 1320 25678 roll 0.93 - - 3048 - 2.42 0.062 1161 -575.2 121.7 - - 3103 - - - - - - - - 14.92 14.56 14.92
25738 239.3 9.1 1333 25745 done 0.93 - - 3048 - 2.45 0.068 2552 567.8 121.7 - - 3103 - - - - - - - - 14.66 14.58 14.69
26042 211.9 8.7 1364 26048 roll 0.93 - - 3048 - 2.45 0.095 3906 552.7 121.7 - - 3103 - - - - - - - - 14.91 14.54 14.91
26084 207.7 10.7 1372 26089 done 0.93 - - 3058 - 2.28 0.054 2547 -596.1 121.7 - - 3103 - - - - - - - - 14.74 14.67 14.76
26392 178.5 9.3 1404 26398 roll 0.93 - - 3068 - 2.42 0.063 1155 -575.2 121.7 - - 3103 - - - - - - - - 14.90 14.54 14.91
26513 167.6 9.2 1428 26519 done 0.93 0.15 0.298 3037 -206.7 2.42 0.070 2554 578.1 121.7 - - 3103 - - - - - - - - 14.34 14.59 14.66
26823 140.8 8.6 1460 26832 roll 0.93 - - 3037 - 2.45 0.093 3906 551.8 121.7 - - 3103 - - - - - - - - 14.90 14.53 14.90
26896 133.6 10.1 1474 26903 done 0.93 - - 3047 - 2.33 0.056 2551 -581.5 121.7 - - 3103 - - - - - - - - 14.67 14.63 14.69
27209 106.2 8.7 1506 27210 done 0.93 - - 3046 - - - 2551 - 121.7 - - 3103 - - - - - - - - 14.88 14.88 14.88
27508 80.2 8.7 1536 27509 done 0.93 - - 3046 - - - 2551 - 121.7 - - 3103 - - - - - - - - 14.86 14.86 14.86
27808 54.9 8.1 1566 27814 roll 0.95 - - 3046 - 2.42 0.096 3906 559.9 121.7 - - 3103 - - - - - - - - 14.86 14.54 14.86
27853 50.7 9.4 1575 27860 done 0.95 - - 3056 - 2.33 0.054 2547 -583.3 121.7 - - 3102 - - - - - - - - 14.67 14.63 14.69
28158 23.9 8.6 1606 28165 roll 0.95 - - 3056 - 2.47 0.097 3926 558.3 121.7 - - 3103 - - - - - - - - 14.90 14.52 14.90
28204 19.1 10.8 1615 28211 done 0.95 0.10 0.308 3041 -150.0 2.35 0.056 2555 -583.4 121.7 - - 3103 - - - - - - - - 14.28 14.62 14.51
28408 end climb: SURFACE_DEPTH_REACHED
28408 begin surface coast
28428 end surface coast: CONTROL_FINISHED_OK
28428 begin surface
SM 0.83 - - - - -7.88 8.35 0.075 189 22.6 0.45 0.092 2802 -5164.4 350.17 214.73 0.221 2205 10.3 -0.004 - - - - - -