ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 133 * Raw log
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• Previous call tries 2 • 52.03 of 350.00 AH used of 24V (85.13% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -58.4 deg, depth 0.62 m • Intended pitch -18.1 deg, speed -9.375 cm/s
• VBD pumped to 350.17 (SM_CC=350) • surface range 11.2 m at 10.7 m depth, ceiling -0.5 m (m = 1.02, R^2 = 1.00)
• GPS1 time: 25 s
• GPS2 time: 3 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 123 done -0.97 - - 196 - - - 2810 - -121.7 -112.25 0.003 3961 - - - - - - - - 14.52 12.99 14.53
125 2.4 -3.1 11 142 roll -0.97 11.82 0.462 2410 187.3 2.42 0.041 1397 -583.9 -121.7 - - 3972 - - - - - - - - 13.99 14.32 14.27
336 28.3 -9.3 53 343 done -0.97 - - 2409 - 2.53 0.070 2803 555.7 -121.7 - - 3974 - - - - - - - - 14.42 14.35 14.45
647 64.1 -11.3 85 654 roll -0.97 - - 2401 - 2.00 0.090 3911 554.0 -121.7 - - 3975 - - - - - - - - 14.75 14.39 14.75
683 68.6 -12.8 92 690 done -0.97 - - 2401 - 1.90 0.047 2787 -591.6 -121.7 - - 3975 - - - - - - - - 14.54 14.52 14.56
988 105.3 -12.1 123 989 done -0.97 - - 2402 - - - 2786 - -121.7 - - 3975 - - - - - - - - 14.80 14.78 14.79
1288 141.5 -11.9 153 1289 done -0.97 - - 2401 - - - 2787 - -121.7 - - 3975 - - - - - - - - 14.82 14.82 14.82
1588 176.6 -11.9 183 1594 roll -0.97 - - 2398 - 2.05 0.090 3912 548.8 -121.7 - - 3975 - - - - - - - - 14.83 14.46 14.83
1613 179.7 -12.8 188 1620 done -0.97 - - 2398 - 1.88 0.047 2798 -592.6 -121.7 - - 3975 - - - - - - - - 14.62 14.59 14.64
1918 217.7 -12.4 219 1924 roll -0.97 - - 2399 - 2.38 0.049 1406 -584.9 -121.7 - - 3972 - - - - - - - - 14.85 14.52 14.85
1973 224.4 -11.9 230 1980 done -0.97 - - 2398 - 2.47 0.069 2799 564.0 -121.7 - - 3975 - - - - - - - - 14.56 14.47 14.60
2279 260.5 -11.5 261 2285 roll -0.97 - - 2397 - 1.95 0.092 3913 571.3 -121.7 - - 3975 - - - - - - - - 14.82 14.50 14.83
2314 264.8 -12.3 268 2321 done -0.97 - - 2398 - 1.88 0.047 2799 -592.6 -121.7 - - 3975 - - - - - - - - 14.61 14.56 14.64
2619 299.5 -11.1 299 2625 roll -0.97 - - 2398 - 2.38 0.048 1408 -584.5 -121.7 - - 3975 - - - - - - - - 14.85 14.52 14.85
2649 302.9 -11.1 305 2657 done -0.97 - - 2398 - 2.47 0.069 2800 563.6 -121.7 - - 3975 - - - - - - - - 14.57 14.48 14.60
2962 339.7 -11.7 322 2963 done -0.97 - - 2398 - - - 2800 - -121.7 - - 3975 - - - - - - - - 14.87 14.87 14.87
3261 375.5 -11.8 337 3268 roll -0.97 - - 2398 - 2.40 0.050 1407 -580.4 -121.7 - - 3975 - - - - - - - - 14.88 14.54 14.88
3307 381.0 -12.1 346 3313 done -0.97 - - 2397 - 2.47 0.069 2803 565.2 -121.7 - - 3975 - - - - - - - - 14.59 14.52 14.62
3623 418.6 -12.0 364 3623 done -0.97 - - 2397 - - - 2804 - -121.7 - - 3975 - - - - - - - - 14.88 14.88 14.88
3923 451.7 -11.1 379 3928 roll -0.97 - - 2395 - 1.92 0.091 3909 575.5 -121.7 - - 3975 - - - - - - - - 14.85 14.52 14.85
3993 460.0 -12.0 393 3999 done -0.97 - - 2399 - 1.83 0.049 2797 -607.7 -121.7 - - 3975 - - - - - - - - 14.71 14.64 14.72
4304 495.3 -10.5 410 4309 roll -0.97 - - 2398 - 2.33 0.048 1406 -597.0 -121.7 - - 3975 - - - - - - - - 14.85 14.58 14.85
4393 504.7 -10.3 428 4399 done -0.97 - - 2395 - 2.47 0.070 2800 564.4 -121.7 - - 3975 - - - - - - - - 14.60 14.52 14.63
4784 543.0 -9.7 446 4789 roll -0.97 - - 2393 - 1.92 0.090 3908 577.1 -121.7 - - 3975 - - - - - - - - 14.90 14.52 14.90
4813 546.2 -11.0 452 4820 done -0.97 - - 2394 - 1.88 0.047 2794 -592.6 -121.7 - - 3975 - - - - - - - - 14.62 14.58 14.64
5205 586.2 -10.6 470 5210 roll -0.97 - - 2394 - 2.35 0.049 1398 -594.0 -121.7 - - 3975 - - - - - - - - 14.85 14.58 14.85
5234 589.3 -10.2 476 5240 done -0.97 - - 2391 - 2.50 0.070 2808 564.0 -121.7 - - 3974 - - - - - - - - 14.61 14.52 14.64
5625 627.0 -9.5 494 5630 roll -0.97 - - 2389 - 1.92 0.091 3909 573.4 -121.7 - - 3975 - - - - - - - - 14.90 14.52 14.90
5674 632.2 -10.8 504 5680 done -0.97 - - 2389 - 1.88 0.049 2795 -592.6 -121.7 - - 3975 - - - - - - - - 14.66 14.63 14.69
6046 665.9 -9.1 518 6051 roll -0.97 - - 2389 - 2.33 0.049 1401 -598.3 -121.7 - - 3975 - - - - - - - - 14.86 14.59 14.86
6085 670.0 -10.6 526 6091 done -0.97 - - 2389 - 2.47 0.070 2798 565.6 -121.7 - - 3975 - - - - - - - - 14.60 14.52 14.64
6465 709.0 -10.4 542 6471 roll -0.97 - - 2389 - 2.33 0.048 1403 -598.7 -121.7 - - 3975 - - - - - - - - 14.90 14.59 14.91
6514 714.2 -10.4 552 6521 done -0.97 - - 2388 - 2.47 0.070 2799 565.2 -121.7 - - 3975 - - - - - - - - 14.62 14.52 14.63
6886 749.5 -7.7 566 6887 done -0.97 - - 2388 - - - 2799 - -121.7 - - 3976 - - - - - - - - 14.87 14.87 14.87
7245 773.1 -6.6 578 7246 done -0.97 0.12 0.329 2414 216.7 - - 2799 - -121.7 - - 3980 - - - - - - - - 14.31 14.66 14.59
7605 797.0 -7.4 590 7611 roll -0.97 - - 2413 - 1.98 0.092 3903 557.6 -121.7 - - 3976 - - - - - - - - 14.92 14.51 14.92
7681 803.0 -8.1 605 7686 done -0.97 - - 2413 - 1.83 0.050 2791 -607.7 -121.7 - - 3976 - - - - - - - - 14.71 14.66 14.73
8025 end dive: TARGET_DEPTH_EXCEEDED
8025 begin apogee
8029 832.0 -8.6 619 8129 done -0.23 0.88 0.243 2649 268.2 - - 2548 - - 97.45 3.077 3619 -3.7 0.197 - - - - - - 14.30 13.74 12.66
8130 end apogee: CONTROL_FINISHED_OK
8130 begin loiter
8475 831.3 1.8 634 8476 done -0.23 - - 2648 - - - 2548 - - - - 3612 - - - - - - - - 14.59 14.59 14.59
8836 825.7 1.7 646 8837 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 14.69 14.69 14.69
9195 816.6 2.9 658 9196 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 14.87 14.87 14.86
9556 805.0 3.2 670 9557 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 14.92 14.91 14.91
9916 793.6 3.2 682 9917 done -0.23 - - 2648 - - - 2548 - - - - 3609 - - - - - - - - 14.95 14.95 14.95
10277 782.1 3.0 694 10277 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 14.97 14.98 14.98
10635 771.5 3.0 706 10636 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.01 15.02 15.01
10996 761.3 2.3 718 10996 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.03 15.03 15.03
11355 752.8 2.5 730 11356 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.04 15.04 15.04
11715 741.7 3.4 742 11716 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.06 15.06 15.06
12075 731.9 2.2 754 12076 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.07 15.07 15.07
12435 724.7 2.1 766 12436 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.08 15.08 15.08
12795 717.7 2.0 778 12796 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.09 15.09 15.09
13155 711.2 1.7 790 13156 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.09 15.09 15.09
13515 704.6 2.0 802 13516 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.10 15.10 15.10
13875 697.6 2.2 814 13876 done -0.23 - - 2647 - - - 2548 - - - - 3610 - - - - - - - - 15.10 15.11 15.11
14235 688.9 2.3 826 14236 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.11 15.11 15.11
14595 679.7 2.7 838 14596 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.11 15.11 15.11
14955 669.3 2.9 850 14956 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.11 15.11 15.11
15315 658.5 3.2 862 15316 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.12 15.12 15.12
15675 648.4 2.3 874 15676 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.12 15.12 15.12
16035 641.7 1.8 886 16036 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.13 15.12 15.13
16396 635.8 1.5 898 16396 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.13 15.13 15.12
16756 631.6 0.9 910 16756 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.13 15.13 15.13
17115 627.6 1.1 922 17116 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
17475 624.5 0.7 934 17476 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
17835 622.2 0.6 946 17836 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
18195 619.8 0.8 958 18196 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
18555 615.8 1.3 970 18556 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
18915 609.3 2.1 982 18916 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.14 15.14 15.14
19275 601.0 2.3 994 19276 done -0.23 - - 2648 - - - 2548 - - - - 3610 - - - - - - - - 15.14 15.14 15.14
19635 592.7 2.3 1006 19636 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
19995 585.3 1.8 1018 19996 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
20357 579.5 1.6 1030 20358 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.13 15.13 15.13
20717 574.0 1.5 1042 20718 done -0.23 - - 2647 - - - 2548 - - - - 3611 - - - - - - - - 15.13 15.13 15.13
21077 569.2 1.4 1054 21078 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.12 15.13 15.12
21435 564.9 1.1 1066 21436 done -0.23 - - 2648 - - - 2548 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
21795 561.1 1.1 1078 21796 done -0.23 - - 2647 - - - 2547 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
22156 557.5 0.8 1090 22156 done -0.23 - - 2648 - - - 2547 - - - - 3611 - - - - - - - - 15.14 15.14 15.14
22514 end loiter: LOITER_COMPLETE
22514 begin climb
22515 554.2 - 1102 22647 roll 0.97 1.23 0.154 3034 313.8 2.58 0.091 3906 526.7 121.7 121.60 2.820 3133 -3.9 0.153 - - - - - - 14.59 13.74 12.81
22841 522.2 13.7 1166 22847 done 0.97 - - 3044 - 2.38 0.050 2553 -568.5 121.7 - - 3123 - - - - - - - - 14.23 14.19 14.25
23211 478.6 11.7 1183 23218 roll 0.97 - - 3044 - 2.47 0.093 3897 544.1 121.7 - - 3121 - - - - - - - - 14.66 14.32 14.66
23246 473.9 13.6 1190 23254 done 0.97 - - 3054 - 2.33 0.052 2547 -579.4 121.7 - - 3121 - - - - - - - - 14.47 14.42 14.49
23552 437.0 11.9 1206 23553 done 0.97 - - 3054 - - - 2547 - 121.7 - - 3120 - - - - - - - - 14.76 14.76 14.76
23853 403.1 11.1 1221 23858 roll 0.97 - - 3064 - 2.40 0.065 1158 -578.8 121.7 - - 3120 - - - - - - - - 14.76 14.48 14.76
23912 396.4 11.1 1233 23918 done 0.97 - - 3064 - 2.47 0.068 2553 564.8 121.7 - - 3120 - - - - - - - - 14.56 14.48 14.59
24232 359.8 11.5 1252 24238 roll 0.97 - - 3063 - 2.45 0.093 3904 551.4 121.7 - - 3120 - - - - - - - - 14.85 14.47 14.85
24267 355.2 13.5 1259 24275 done 0.97 - - 3072 - 2.30 0.053 2555 -586.5 121.7 - - 3120 - - - - - - - - 14.61 14.58 14.64
24572 317.7 12.6 1275 24579 roll 0.97 0.12 0.315 3058 -116.7 2.40 0.065 1157 -582.5 121.7 - - 3120 - - - - - - - - 14.31 14.52 14.62
24648 309.1 10.9 1290 24655 done 0.97 - - 3058 - 2.45 0.069 2549 568.2 121.7 - - 3120 - - - - - - - - 14.59 14.52 14.62
24953 273.3 11.5 1317 24959 roll 0.97 - - 3058 - 2.45 0.093 3901 551.8 121.7 - - 3120 - - - - - - - - 14.88 14.50 14.88
25008 266.2 12.9 1328 25015 done 0.97 - - 3067 - 2.33 0.053 2541 -583.7 121.7 - - 3120 - - - - - - - - 14.64 14.60 14.66
25313 232.5 10.8 1359 25320 roll 0.97 - - 3078 - 2.40 0.064 1163 -574.2 121.7 - - 3119 - - - - - - - - 14.90 14.51 14.90
25349 228.6 10.9 1366 25357 done 0.97 0.10 0.273 3051 -270.0 2.45 0.069 2549 565.7 121.7 - - 3120 - - - - - - - - 14.28 14.53 14.51
25654 197.9 9.7 1397 25660 roll 0.97 - - 3051 - 2.45 0.093 3902 552.2 121.7 - - 3119 - - - - - - - - 14.90 14.50 14.90
25684 194.6 11.1 1403 25692 done 0.97 - - 3060 - 2.30 0.054 2555 -585.7 121.7 - - 3120 - - - - - - - - 14.64 14.60 14.67
25997 163.5 10.1 1435 26003 roll 0.97 - - 3069 - 2.40 0.066 1159 -581.7 121.7 - - 3119 - - - - - - - - 14.83 14.54 14.84
26032 159.9 10.0 1442 26039 done 0.97 - - 3069 - 2.45 0.069 2549 567.3 121.7 - - 3120 - - - - - - - - 14.61 14.54 14.64
26337 128.8 11.0 1473 26337 done 0.97 - - 3069 - - - 2548 - 121.7 - - 3119 - - - - - - - - 14.88 14.89 14.89
26637 97.0 10.8 1503 26645 roll 0.97 - - 3080 - 2.40 0.063 1153 -581.2 121.7 - - 3119 - - - - - - - - 14.89 14.53 14.88
26674 93.1 10.5 1510 26681 done 0.97 0.12 0.274 3047 -275.0 2.47 0.069 2550 565.6 121.7 - - 3119 - - - - - - - - 14.28 14.53 14.64
26979 61.4 10.8 1541 26985 roll 0.97 - - 3047 - 2.45 0.093 3904 552.7 121.7 - - 3119 - - - - - - - - 14.88 14.49 14.88
27029 55.4 12.0 1551 27036 done 0.97 - - 3056 - 2.33 0.054 2545 -583.3 121.7 - - 3119 - - - - - - - - 14.64 14.60 14.67
27340 24.3 8.0 1583 27341 done 1.00 - - 3056 - - - 2545 - 121.7 - - 3119 - - - - - - - - 14.87 14.87 14.87
27569 end climb: SURFACE_DEPTH_REACHED
27569 begin surface coast
27579 end surface coast: CONTROL_FINISHED_OK
27579 begin surface
SM 0.68 - - - - -7.89 8.52 0.086 196 23.0 0.47 0.093 2803 5814.9 350.17 208.85 0.224 2224 10.6 -0.003 - - - - - -