ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 187 * Raw log
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• Previous call tries 1 • 76.88 of 350.00 AH used of 24V (78.04% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.5 deg, depth 1.20 m • Intended pitch -16.5 deg, speed -9.429 cm/s
• VBD pumped to 350.04 (SM_CC=350) • surface range 5.6 m at 6.1 m depth, ceiling 0.5 m (m = 1.07, R^2 = 1.00)
• GPS1 time: 15 s • bottom range 12.7 m at 824.4 m, depth 837 m (831 m grid)(m = -1.15, R^2 = 1.00)
• 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 123 done -0.93 - - 212 - - - 2303 - -146.0 -111.03 0.002 3379 - - - - - - - - 14.73 13.25 14.76
125 4.6 -7.3 11 140 roll -0.93 10.85 0.415 2487 209.7 2.65 0.100 3719 534.3 -146.0 - - 3381 - - - - - - - - 14.23 14.50 14.56
361 51.9 -17.9 57 366 done -0.93 - - 2487 - 2.45 0.049 2282 -586.5 -146.0 - - 3381 - - - - - - - - 14.75 14.66 14.77
671 104.4 -16.8 89 677 roll -0.93 - - 2487 - 2.47 0.080 891 -563.2 -146.0 - - 3380 - - - - - - - - 14.98 14.64 15.01
706 110.5 -17.2 96 713 done -0.93 - - 2476 - 2.55 0.074 2301 552.9 -146.0 - - 3380 - - - - - - - - 14.73 14.64 14.76
1011 163.7 -17.9 127 1017 roll -0.93 - - 2476 - 2.50 0.081 898 -561.2 -146.0 - - 3381 - - - - - - - - 15.02 14.67 15.05
1031 167.3 -18.1 131 1038 done -0.93 0.10 0.273 2499 230.0 2.55 0.076 2307 552.5 -146.0 - - 3380 - - - - - - - - 14.51 14.73 14.77
1342 217.3 -15.8 163 1348 roll -0.93 - - 2499 - 2.55 0.082 898 -552.5 -146.0 - - 3381 - - - - - - - - 15.07 14.66 15.09
1363 220.6 -16.4 167 1368 done -0.93 - - 2490 - 2.55 0.076 2311 554.1 -146.0 - - 3380 - - - - - - - - 14.78 14.71 14.89
1673 269.3 -15.3 199 1679 roll -0.93 - - 2480 - 2.58 0.112 3723 547.3 -146.0 - - 3380 - - - - - - - - 15.02 14.70 15.05
1703 274.2 -16.7 205 1709 done -0.93 - - 2480 - 2.47 0.050 2290 -580.2 -146.0 - - 3381 - - - - - - - - 14.83 14.78 14.85
2014 323.8 -15.9 230 2019 roll -0.93 - - 2479 - 2.47 0.081 890 -566.8 -146.0 - - 3381 - - - - - - - - 15.09 14.73 15.11
2075 333.3 -15.6 242 2080 done -0.93 - - 2474 - 2.53 0.080 2309 560.9 -146.0 - - 3381 - - - - - - - - 14.88 14.75 14.92
2395 382.8 -15.5 261 2401 roll -0.93 - - 2474 - 2.53 0.081 888 -561.7 -146.0 - - 3381 - - - - - - - - 15.05 14.73 15.07
2425 387.7 -15.9 267 2431 done -0.93 0.12 0.272 2496 183.3 2.55 0.076 2300 553.7 -146.0 - - 3381 - - - - - - - - 14.53 14.73 14.85
2736 432.4 -14.3 284 2736 done -0.93 - - 2496 - - - 2300 - -146.0 - - 3381 - - - - - - - - 15.05 15.09 15.08
3037 476.0 -14.5 299 3038 done -0.93 - - 2496 - - - 2300 - -146.0 - - 3381 - - - - - - - - 15.07 15.09 15.09
3337 518.5 -14.0 312 3342 roll -0.93 - - 2497 - 2.50 0.081 885 -566.0 -146.0 - - 3381 - - - - - - - - 15.07 14.74 15.09
3366 522.9 -14.7 318 3372 done -0.93 - - 2488 - 2.53 0.074 2315 565.2 -146.0 - - 3381 - - - - - - - - 14.90 14.76 14.93
3756 578.9 -14.5 336 3762 roll -0.93 - - 2488 - 2.53 0.080 895 -561.3 -146.0 - - 3381 - - - - - - - - 15.11 14.73 15.13
3781 582.7 -15.2 341 3789 done -0.93 - - 2478 - 2.50 0.075 2309 565.6 -146.0 - - 3381 - - - - - - - - 14.90 14.76 14.93
4146 637.0 -14.9 354 4147 done -0.93 - - 2479 - - - 2309 - -146.0 - - 3381 - - - - - - - - 15.10 15.13 15.13
4507 691.6 -15.1 366 4512 roll -0.93 - - 2478 - 2.50 0.080 898 -564.4 -146.0 - - 3381 - - - - - - - - 15.11 14.74 15.14
4536 696.3 -16.3 372 4542 done -0.93 - - 2475 - 2.53 0.076 2297 553.0 -146.0 - - 3381 - - - - - - - - 14.82 14.73 14.86
4927 751.2 -14.0 390 4928 done -0.93 - - 2475 - - - 2298 - -146.0 - - 3382 - - - - - - - - 15.07 15.09 15.09
5288 801.7 -14.0 402 5293 roll -0.93 - - 2467 - 2.60 0.112 3726 549.2 -146.0 - - 3382 - - - - - - - - 15.08 14.73 15.11
5317 805.9 -14.3 408 5323 done -0.93 0.10 0.243 2504 370.0 2.45 0.048 2293 -584.9 -146.0 - - 3382 - - - - - - - - 14.56 14.81 14.83
5497 end dive: BOTTOM_OBSTACLE_DETECTED
5497 begin apogee
5501 827.8 -12.0 419 5883 done -0.23 0.77 0.224 2722 283.1 0.10 0.160 2123 -1700.0 - 377.88 1.271 2781 -1.6 0.195 - - - - - - 14.59 13.69 13.18
5885 end apogee: CONTROL_FINISHED_OK
5885 begin climb
5886 835.9 - 431 6220 roll 0.93 1.30 0.153 3106 295.4 2.83 0.091 728 -492.9 146.0 319.88 1.317 2182 -1.9 0.224 - - - - - - 13.67 13.52 13.04
6289 803.6 9.2 510 6295 done 0.93 - - 3106 - 2.58 0.062 2091 528.3 146.0 - - 2175 - - - - - - - - 13.88 13.81 13.91
6674 762.7 11.0 527 6680 roll 0.93 - - 3106 - 2.62 0.100 3509 541.2 146.0 - - 2170 - - - - - - - - 14.66 14.38 14.68
6750 753.7 12.1 542 6755 done 0.93 - - 3114 - 2.40 0.050 2121 -578.3 146.0 - - 2170 - - - - - - - - 14.59 14.50 14.62
7126 712.5 11.0 557 7127 done 0.93 - - 3114 - - - 2121 - 146.0 - - 2168 - - - - - - - - 14.88 14.91 14.91
7486 672.7 11.1 569 7487 done 0.93 - - 3114 - - - 2122 - 146.0 - - 2168 - - - - - - - - 14.97 15.00 15.00
7846 631.5 11.7 581 7847 done 0.93 - - 3114 - - - 2121 - 146.0 - - 2168 - - - - - - - - 15.02 15.05 15.04
8206 591.0 11.1 593 8207 done 0.93 - - 3114 - - - 2121 - 146.0 - - 2167 - - - - - - - - 15.04 15.08 15.07
8566 551.4 10.7 605 8567 done 0.93 - - 3114 - - - 2122 - 146.0 - - 2166 - - - - - - - - 15.07 15.09 15.09
8926 513.5 10.4 617 8932 roll 0.93 - - 3114 - 2.53 0.103 3513 549.8 146.0 - - 2166 - - - - - - - - 15.08 14.78 15.11
8976 507.7 11.5 627 8983 done 0.93 - - 3125 - 2.45 0.051 2090 -580.8 146.0 - - 2166 - - - - - - - - 14.88 14.83 14.92
9359 466.3 10.8 646 9364 roll 0.93 - - 3125 - 2.58 0.099 3521 554.7 146.0 - - 2166 - - - - - - - - 15.08 14.79 15.11
9393 462.2 12.0 653 9401 done 0.93 0.15 0.270 3099 -173.3 2.45 0.050 2101 -579.6 146.0 - - 2166 - - - - - - - - 14.66 14.82 14.91
9698 433.5 9.4 669 9704 roll 0.93 - - 3099 - 2.58 0.099 3506 544.6 146.0 - - 2166 - - - - - - - - 15.13 14.75 15.16
9724 430.8 10.2 674 9730 done 0.93 - - 3107 - 2.40 0.051 2088 -590.8 146.0 - - 2166 - - - - - - - - 14.95 14.87 14.99
10041 401.1 9.3 692 10041 done 0.93 - - 3107 - - - 2088 - 146.0 - - 2166 - - - - - - - - 15.09 15.11 15.11
10339 373.7 9.0 707 10345 roll 0.93 - - 3110 - 2.58 0.099 3513 552.3 146.0 - - 2165 - - - - - - - - 15.13 14.79 15.16
10379 369.6 10.2 715 10385 done 0.93 - - 3117 - 2.45 0.050 2094 -579.2 146.0 - - 2165 - - - - - - - - 14.90 14.84 14.93
10699 339.5 9.4 734 10700 done 0.93 - - 3117 - - - 2094 - 146.0 - - 2165 - - - - - - - - 15.13 15.16 15.15
11001 309.5 10.0 749 11007 roll 0.93 - - 3117 - 2.55 0.098 3511 555.7 146.0 - - 2165 - - - - - - - - 15.09 14.79 15.12
11061 302.6 11.1 761 11068 done 0.93 - - 3126 - 2.45 0.050 2093 -578.8 146.0 - - 2165 - - - - - - - - 14.88 14.83 14.92
11372 272.1 9.4 793 11373 done 0.93 - - 3126 - - - 2093 - 146.0 - - 2165 - - - - - - - - 15.13 15.16 15.15
11672 243.9 9.3 823 11678 roll 0.93 - - 3126 - 2.58 0.098 3518 552.3 146.0 - - 2165 - - - - - - - - 15.13 14.78 15.15
11732 237.7 10.5 835 11738 done 0.93 0.15 0.270 3101 -166.7 2.42 0.049 2086 -591.7 146.0 - - 2165 - - - - - - - - 14.64 14.85 14.90
12043 211.9 8.2 867 12043 done 0.96 - - 3102 - - - 2086 - 146.0 - - 2164 - - - - - - - - 15.12 15.15 15.15
12343 187.8 8.2 897 12349 roll 0.98 - - 3101 - 2.58 0.098 3513 553.1 146.0 - - 2164 - - - - - - - - 15.16 14.78 15.15
12383 184.1 9.3 905 12390 done 0.98 - - 3110 - 2.45 0.050 2091 -580.4 146.0 - - 2165 - - - - - - - - 14.88 14.82 14.91
12694 157.8 8.3 937 12700 roll 1.00 - - 3110 - 2.58 0.096 3519 553.5 146.0 - - 2164 - - - - - - - - 15.11 14.77 15.14
12730 154.6 9.3 944 12737 done 1.00 - - 3120 - 2.45 0.049 2099 -579.6 146.0 - - 2164 - - - - - - - - 14.83 14.78 14.88
13035 128.6 8.5 975 13036 done 1.02 - - 3120 - - - 2098 - 146.0 - - 2164 - - - - - - - - 15.12 15.14 15.14
13335 102.8 8.5 1005 13341 roll 1.04 - - 3120 - 2.55 0.099 3511 554.1 146.0 - - 2164 - - - - - - - - 15.11 14.76 15.14
13370 99.3 9.7 1012 13377 done 1.04 - - 3129 - 2.45 0.051 2096 -577.6 146.0 - - 2163 - - - - - - - - 14.86 14.81 14.90
13676 72.3 8.9 1043 13681 roll 1.05 - - 3129 - 2.58 0.099 3517 550.8 146.0 - - 2163 - - - - - - - - 15.11 14.76 15.14
13700 69.8 10.0 1048 13707 done 1.05 - - 3139 - 2.47 0.050 2089 -578.1 146.0 - - 2163 - - - - - - - - 14.86 14.81 14.90
14005 41.5 9.1 1079 14006 done 1.05 - - 3135 - - - 2089 - 146.0 - - 2163 - - - - - - - - 15.11 15.14 15.13
14306 14.1 8.9 1109 14312 roll 1.05 - - 3139 - 2.58 0.100 3513 551.9 146.0 - - 2163 - - - - - - - - 15.11 14.76 15.14
14346 10.1 9.6 1117 14353 done 1.05 - - 3149 - 2.47 0.050 2087 -577.3 146.0 - - 2163 - - - - - - - - 14.85 14.78 14.88
14436 end climb: SURFACE_DEPTH_REACHED
14436 begin surface coast
14446 end surface coast: CONTROL_FINISHED_OK
14446 begin surface
SM 1.22 - - - - -8.02 8.88 0.105 211 23.8 0.43 0.096 2316 2990.7 350.04 126.18 0.233 1351 10.7 -0.006 - - - - - -