ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 231 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 91.51 of 350.00 AH used of 24V (73.85% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -1.7 deg, depth 220.36 m • Intended pitch -16.5 deg, speed -9.429 cm/s
• VBD pumped to 350.04 (SM_CC=350) • surface range 6.7 m at 6.9 m depth, ceiling 0.2 m (m = 1.02, R^2 = 1.00)
• GPS1 time: 0 s, HDOP was 4130.3 m • bottom range 20.2 m at 832.1 m, depth 852 m (990 m grid)(m = -1.09, R^2 = 0.97)
• GPS2 time: 0 s, HDOP was 4130.3 m • 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
10 - - - 13 done -0.93 - - 2806 - - - 2303 - -146.0 -2.78 0.035 3390 - - - - - - - - 15.09 13.24 15.06
15 - - - 23 done -0.93 0.95 0.111 2496 -326.3 - - 2304 - -146.0 - - 3391 - - - - - - - - 14.73 14.92 14.88
320 260.6 -14.6 31 327 roll -0.93 - - 2495 - 2.53 0.081 892 -558.1 -146.0 - - 3389 - - - - - - - - 15.09 14.69 15.12
351 265.3 -14.8 37 358 done -0.93 - - 2488 - 2.50 0.073 2306 565.6 -146.0 - - 3389 - - - - - - - - 14.88 14.73 14.92
662 312.0 -14.9 65 669 roll -0.93 - - 2477 - 2.58 0.106 3723 549.2 -146.0 - - 3389 - - - - - - - - 15.10 14.70 15.13
708 319.2 -15.9 74 714 done -0.93 - - 2477 - 2.45 0.046 2300 -580.8 -146.0 - - 3389 - - - - - - - - 14.83 14.78 14.88
1023 367.6 -15.0 92 1029 roll -0.93 - - 2478 - 2.50 0.080 889 -564.4 -146.0 - - 3389 - - - - - - - - 15.11 14.71 15.14
1053 372.0 -14.8 98 1059 done -0.93 - - 2474 - 2.50 0.075 2304 566.0 -146.0 - - 3389 - - - - - - - - 14.88 14.74 14.93
1363 416.3 -13.8 115 1369 roll -0.93 - - 2465 - 2.58 0.106 3723 550.0 -146.0 - - 3389 - - - - - - - - 15.11 14.66 15.15
1393 420.8 -15.5 121 1400 done -0.93 0.10 0.249 2504 390.0 2.45 0.047 2294 -583.3 -146.0 - - 3389 - - - - - - - - 14.48 14.74 14.79
1704 460.1 -12.7 138 1710 roll -0.93 - - 2505 - 2.47 0.079 895 -566.4 -146.0 - - 3389 - - - - - - - - 15.13 14.71 15.16
1739 464.7 -13.1 145 1747 done -0.93 - - 2503 - 2.55 0.074 2308 554.1 -146.0 - - 3389 - - - - - - - - 14.91 14.70 14.94
2044 501.5 -12.1 161 2045 done -0.93 - - 2503 - - - 2308 - -146.0 - - 3389 - - - - - - - - 15.11 15.14 15.14
2405 545.1 -12.2 173 2406 done -0.93 - - 2503 - - - 2308 - -146.0 - - 3389 - - - - - - - - 15.13 15.16 15.15
2765 590.4 -12.6 185 2771 roll -0.93 - - 2503 - 2.50 0.079 898 -564.0 -146.0 - - 3388 - - - - - - - - 15.14 14.72 15.16
2795 594.4 -13.3 191 2801 done -0.93 - - 2493 - 2.47 0.070 2305 569.6 -146.0 - - 3388 - - - - - - - - 14.90 14.77 14.93
3185 643.4 -12.3 209 3192 roll -0.93 - - 2488 - 2.55 0.107 3715 552.9 -146.0 - - 3388 - - - - - - - - 15.14 14.71 15.16
3226 648.7 -13.4 217 3232 done -0.93 - - 2488 - 2.42 0.045 2301 -584.3 -146.0 - - 3388 - - - - - - - - 14.86 14.81 14.89
3607 697.7 -13.9 233 3613 roll -0.93 - - 2488 - 2.47 0.076 891 -570.9 -146.0 - - 3388 - - - - - - - - 15.14 14.72 15.17
3668 706.0 -13.2 245 3674 done -0.93 - - 2478 - 2.47 0.068 2308 573.7 -146.0 - - 3388 - - - - - - - - 14.90 14.81 14.93
4059 761.5 -14.4 263 4064 roll -0.93 - - 2473 - 2.55 0.105 3725 555.7 -146.0 - - 3389 - - - - - - - - 15.14 14.71 15.16
4103 767.7 -13.9 272 4109 done -0.93 - - 2473 - 2.45 0.046 2294 -584.1 -146.0 - - 3388 - - - - - - - - 14.85 14.81 14.88
4479 817.1 -13.0 287 4485 roll -0.93 - - 2473 - 2.45 0.075 893 -571.8 -146.0 - - 3388 - - - - - - - - 15.08 14.71 15.10
4539 824.4 -12.8 299 4545 done -0.93 0.17 0.289 2501 164.7 2.47 0.067 2306 572.1 -146.0 - - 3389 - - - - - - - - 14.49 14.73 14.78
4688 end dive: BOTTOM_OBSTACLE_DETECTED
4689 begin apogee
4693 844.7 -13.9 309 4861 done -0.23 0.80 0.207 2727 282.5 0.12 0.135 2130 -1466.7 - 164.85 3.096 2781 -3.7 0.201 - - - - - - 14.57 13.40 12.36
4862 end apogee: CONTROL_FINISHED_OK
4862 begin climb
4864 854.5 - 314 5053 done 0.93 1.30 0.152 3091 280.0 - - 2130 - 146.0 179.65 3.052 2184 -3.3 0.186 - - - - - - 13.38 13.25 12.26
5411 811.1 10.6 358 5417 roll 0.93 - - 3091 - 2.55 0.091 3504 538.8 146.0 - - 2172 - - - - - - - - 14.54 14.29 14.56
5476 802.3 12.9 371 5481 done 0.93 - - 3101 - 2.45 0.047 2120 -564.9 146.0 - - 2172 - - - - - - - - 14.46 14.40 14.49
5862 752.8 12.1 388 5867 roll 0.93 - - 3112 - 2.60 0.095 689 -550.4 146.0 - - 2170 - - - - - - - - 14.88 14.62 14.90
5911 747.3 11.0 398 5918 done 0.93 - - 3112 - 2.47 0.060 2091 567.6 146.0 - - 2168 - - - - - - - - 14.80 14.65 14.82
6283 707.8 10.4 412 6288 roll 0.93 - - 3112 - 2.58 0.099 3517 552.7 146.0 - - 2170 - - - - - - - - 14.98 14.70 15.01
6332 702.2 11.7 422 6339 done 0.93 - - 3122 - 2.47 0.049 2091 -577.3 146.0 - - 2167 - - - - - - - - 14.81 14.76 14.89
6704 662.7 10.7 436 6705 done 0.93 - - 3122 - - - 2091 - 146.0 - - 2167 - - - - - - - - 15.03 15.07 15.06
7065 622.3 11.3 448 7071 roll 0.93 - - 3122 - 2.53 0.096 3515 562.8 146.0 - - 2167 - - - - - - - - 15.07 14.76 15.09
7116 616.0 12.3 458 7121 done 0.93 0.15 0.266 3098 -160.0 2.40 0.048 2092 -592.9 146.0 - - 2166 - - - - - - - - 14.64 14.84 14.88
7486 580.4 9.0 472 7487 done 0.93 - - 3098 - - - 2091 - 146.0 - - 2166 - - - - - - - - 15.11 15.14 15.14
7846 545.3 10.3 484 7851 roll 0.93 - - 3098 - 2.58 0.096 3518 553.1 146.0 - - 2165 - - - - - - - - 15.09 14.78 15.11
7901 539.1 11.5 495 7908 done 0.93 - - 3105 - 2.40 0.047 2091 -594.6 146.0 - - 2165 - - - - - - - - 14.95 14.87 14.99
8268 497.8 11.1 508 8269 done 0.93 - - 3105 - - - 2091 - 146.0 - - 2165 - - - - - - - - 15.10 15.13 15.13
8568 464.8 11.0 523 8573 roll 0.93 - - 3106 - 2.55 0.095 3507 555.3 146.0 - - 2164 - - - - - - - - 15.11 14.78 15.13
8637 456.1 12.2 537 8644 done 0.93 - - 3116 - 2.42 0.047 2090 -585.5 146.0 - - 2164 - - - - - - - - 14.90 14.84 14.92
8948 422.0 10.7 554 8949 done 0.93 - - 3116 - - - 2093 - 146.0 - - 2164 - - - - - - - - 15.13 15.16 15.16
9249 391.2 10.2 569 9255 roll 0.93 - - 3116 - 2.55 0.095 3511 556.1 146.0 - - 2164 - - - - - - - - 15.13 14.78 15.16
9304 385.0 11.1 580 9311 done 0.93 - - 3126 - 2.42 0.047 2101 -582.6 146.0 - - 2164 - - - - - - - - 14.88 14.81 14.90
9610 355.1 9.6 596 9611 done 0.93 - - 3125 - - - 2101 - 146.0 - - 2164 - - - - - - - - 15.13 15.16 15.15
9909 325.3 10.0 611 9915 roll 0.93 - - 3126 - 2.58 0.097 3526 552.3 146.0 - - 2164 - - - - - - - - 15.14 14.74 15.16
9959 319.7 11.2 621 9966 done 0.93 0.08 0.256 3100 -325.0 2.47 0.048 2087 -582.6 146.0 - - 2164 - - - - - - - - 14.59 14.82 14.88
10271 291.6 9.1 642 10271 done 0.93 - - 3100 - - - 2086 - 146.0 - - 2163 - - - - - - - - 15.14 15.16 15.16
10571 265.7 8.6 672 10576 roll 0.95 - - 3100 - 2.58 0.096 3516 554.3 146.0 - - 2166 - - - - - - - - 15.14 14.76 15.15
10610 261.8 10.1 680 10616 done 0.95 - - 3114 - 2.45 0.047 2064 -592.7 146.0 - - 2163 - - - - - - - - 14.94 14.83 14.97
10921 233.6 8.8 712 10926 roll 0.96 - - 3109 - 2.62 0.096 3518 555.0 146.0 - - 2163 - - - - - - - - 15.14 14.75 15.16
10956 230.1 10.0 719 10962 done 0.96 - - 3120 - 2.40 0.048 2098 -591.7 146.0 - - 2163 - - - - - - - - 14.93 14.83 14.97
11261 201.2 9.6 750 11266 roll 0.96 - - 3119 - 2.55 0.095 3516 556.1 146.0 - - 2163 - - - - - - - - 15.14 14.75 15.16
11301 196.9 11.1 758 11306 done 0.96 - - 3129 - 2.40 0.048 2096 -591.7 146.0 - - 2162 - - - - - - - - 14.93 14.83 14.97
11611 167.5 9.1 790 11616 roll 0.96 - - 3129 - 2.55 0.095 3513 555.7 146.0 - - 2162 - - - - - - - - 15.13 14.74 15.16
11665 161.8 10.6 801 11674 done 0.96 0.10 0.242 3111 -180.0 2.45 0.048 2091 -580.4 146.0 - - 2162 - - - - - - - - 14.54 14.78 14.70
11971 136.6 8.0 832 11976 roll 0.99 - - 3111 - 2.58 0.095 3515 551.9 146.0 - - 2162 - - - - - - - - 15.13 14.73 15.16
12011 133.0 9.2 840 12016 done 0.99 - - 3120 - 2.40 0.047 2096 -591.2 146.0 - - 2162 - - - - - - - - 14.92 14.83 14.96
12321 105.4 9.2 872 12322 done 0.99 - - 3120 - - - 2096 - 146.0 - - 2162 - - - - - - - - 15.12 15.15 15.15
12621 79.2 8.6 902 12627 roll 1.00 - - 3120 - 2.58 0.096 3516 550.4 146.0 - - 2161 - - - - - - - - 15.12 14.73 15.15
12671 74.3 10.0 912 12677 done 1.00 - - 3129 - 2.45 0.048 2094 -580.4 146.0 - - 2159 - - - - - - - - 14.84 14.78 14.88
12981 47.2 7.9 944 12982 done 1.04 - - 3128 - - - 2097 - 146.0 - - 2162 - - - - - - - - 15.11 15.14 15.14
13282 22.5 8.2 974 13287 roll 1.06 - - 3128 - 2.58 0.096 3518 550.8 146.0 - - 2161 - - - - - - - - 15.10 14.71 15.14
13366 13.7 10.6 991 13375 done 1.06 - - 3139 - 2.45 0.047 2103 -577.6 146.0 - - 2161 - - - - - - - - 14.82 14.76 14.85
13500 end climb: SURFACE_DEPTH_REACHED
13500 begin surface coast
13520 end surface coast: CONTROL_FINISHED_OK
13520 begin surface
SM 1.12 - - - - -8.03 8.60 0.076 210 24.4 0.38 0.097 2309 3365.8 350.04 128.48 0.238 1351 10.5 -0.005 - - - - - -