ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 286 * Raw log
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• Previous call tries 3 • 92.65 of 350.00 AH used of 24V (73.53% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.6 deg, depth 0.84 m • Intended pitch -17.0 deg, speed -8.333 cm/s
• surface range 15.1 m at 14.7 m depth, ceiling -0.4 m (m = 1.04, R^2 = 1.00)
• GPS1 time: 23 s • bottom range 15.2 m at 707.8 m, depth 723 m (750 m grid)(m = -1.05, R^2 = 1.00)
• GPS2 time: 2 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
9 - - - 111 done -0.91 - - 196 - - - 2807 - -107.1 -99.78 0.003 3964 - - - - - - - - 14.71 12.65 14.68
113 1.6 -1.2 3 130 roll -0.91 11.90 0.451 2433 188.0 2.47 0.049 1397 -570.9 -107.1 - - 3971 - - - - - - - - 13.85 14.38 14.37
218 17.2 -10.2 19 225 done -0.91 - - 2423 - 2.55 0.067 2800 550.2 -107.1 - - 3973 - - - - - - - - 14.45 14.31 14.48
584 56.9 -11.1 35 584 done -0.91 - - 2429 - - - 2800 - -107.1 - - 3974 - - - - - - - - 14.80 14.80 14.80
918 91.3 -10.3 47 925 roll -0.91 - - 2429 - 2.47 0.051 1395 -568.8 -107.1 - - 3974 - - - - - - - - 14.82 14.35 14.82
960 96.0 -11.4 53 968 done -0.91 - - 2428 - 2.58 0.069 2812 549.2 -107.1 - - 3974 - - - - - - - - 14.47 14.33 14.52
1311 134.7 -11.0 67 1317 roll -0.91 - - 2428 - 2.47 0.051 1401 -571.3 -107.1 - - 3974 - - - - - - - - 14.83 14.30 14.83
1380 141.8 -10.0 77 1388 done -0.91 - - 2428 - 2.55 0.069 2804 550.2 -107.1 - - 3974 - - - - - - - - 14.47 14.33 14.53
1730 177.7 -10.6 91 1731 done -0.91 - - 2427 - - - 2804 - -107.1 - - 3975 - - - - - - - - 14.86 14.85 14.85
2066 206.8 -8.2 102 2074 roll -0.91 - - 2428 - 2.50 0.051 1385 -567.6 -107.1 - - 3975 - - - - - - - - 14.87 14.37 14.87
2136 212.6 -8.2 112 2144 done -0.91 - - 2427 - 2.58 0.069 2803 549.6 -107.1 - - 3975 - - - - - - - - 14.50 14.34 14.54
2514 248.6 -10.0 124 2515 done -0.91 - - 2427 - - - 2803 - -107.1 - - 3972 - - - - - - - - 14.88 14.88 14.88
2850 281.1 -9.6 130 2851 done -0.91 - - 2427 - - - 2803 - -107.1 - - 3975 - - - - - - - - 14.88 14.88 14.88
3187 312.0 -9.3 136 3193 roll -0.91 - - 2428 - 2.47 0.051 1394 -570.4 -107.1 - - 3975 - - - - - - - - 14.78 14.31 14.78
3228 316.1 -9.9 142 3235 done -0.91 - - 2427 - 2.58 0.069 2812 549.6 -107.1 - - 3975 - - - - - - - - 14.50 14.34 14.55
3579 349.8 -9.0 150 3586 roll -0.91 - - 2428 - 2.50 0.051 1388 -569.6 -107.1 - - 3975 - - - - - - - - 14.78 14.30 14.78
3648 356.4 -9.1 160 3655 done -0.91 - - 2427 - 2.58 0.070 2805 549.2 -107.1 - - 3975 - - - - - - - - 14.49 14.34 14.54
4027 393.8 -10.2 172 4033 roll -0.91 - - 2425 - 2.03 0.094 3903 540.9 -107.1 - - 3975 - - - - - - - - 14.78 14.21 14.78
4125 404.5 -10.9 186 4132 done -0.91 - - 2425 - 1.92 0.050 2792 -578.6 -107.1 - - 3975 - - - - - - - - 14.54 14.49 14.59
4474 435.7 -9.0 194 4481 roll -0.91 - - 2425 - 2.08 0.092 3904 534.6 -107.1 - - 3975 - - - - - - - - 14.88 14.26 14.88
4495 437.8 -9.4 197 4503 done -0.91 - - 2425 - 1.92 0.050 2791 -579.7 -107.1 - - 3975 - - - - - - - - 14.57 14.50 14.59
4867 473.7 -9.8 208 4873 roll -0.91 - - 2425 - 2.40 0.050 1402 -578.8 -107.1 - - 3971 - - - - - - - - 14.78 14.30 14.77
4964 482.6 -8.8 222 4971 done -0.91 - - 2425 - 2.55 0.070 2806 550.6 -107.1 - - 3975 - - - - - - - - 14.47 14.33 14.52
5315 512.6 -8.6 230 5321 roll -0.91 - - 2425 - 2.03 0.092 3912 544.8 -107.1 - - 3975 - - - - - - - - 14.76 14.20 14.76
5377 518.7 -9.7 239 5384 done -0.91 - - 2425 - 1.95 0.050 2785 -577.9 -107.1 - - 3975 - - - - - - - - 14.56 14.49 14.59
5763 552.4 -8.6 252 5770 roll -0.91 - - 2425 - 2.40 0.050 1400 -577.1 -107.1 - - 3975 - - - - - - - - 14.77 14.29 14.78
5825 557.9 -8.6 261 5834 done -0.91 - - 2425 - 2.55 0.069 2804 550.6 -107.1 - - 3974 - - - - - - - - 14.47 14.33 14.52
6210 589.4 -8.2 274 6218 roll -0.91 - - 2425 - 2.45 0.050 1394 -575.5 -107.1 - - 3975 - - - - - - - - 14.88 14.31 14.88
6245 592.2 -8.3 279 6253 done -0.91 - - 2425 - 2.58 0.069 2814 550.4 -107.1 - - 3975 - - - - - - - - 14.48 14.33 14.52
6602 620.7 -8.2 288 6609 roll -0.91 - - 2425 - 2.50 0.050 1387 -570.8 -107.1 - - 3975 - - - - - - - - 14.88 14.36 14.88
6651 625.0 -8.7 295 6660 done -0.91 - - 2425 - 2.58 0.069 2803 548.8 -107.1 - - 3975 - - - - - - - - 14.48 14.33 14.52
6994 657.9 -10.1 302 7001 roll -0.91 - - 2429 - 2.47 0.049 1393 -570.9 -107.1 - - 3975 - - - - - - - - 14.88 14.37 14.88
7043 663.0 -10.4 309 7053 done -0.91 - - 2425 - 2.58 0.070 2811 549.6 -107.1 - - 3975 - - - - - - - - 14.48 14.33 14.52
7387 697.2 -10.1 316 7393 roll -0.91 - - 2425 - 2.47 0.051 1392 -574.5 -107.1 - - 3975 - - - - - - - - 14.78 14.28 14.78
7449 704.9 -13.2 325 7457 done -0.91 - - 2425 - 2.58 0.071 2806 548.1 -107.1 - - 3975 - - - - - - - - 14.48 14.33 14.52
7609 end dive: BOTTOM_OBSTACLE_DETECTED
7609 begin apogee
7613 714.9 -4.0 334 7725 done -0.23 0.85 0.228 2651 265.9 - - 2535 - - 108.25 3.087 3598 -3.5 0.171 - - - - - - 14.02 13.52 12.26
7726 end apogee: CONTROL_FINISHED_OK
7726 begin climb
7728 715.0 - 336 7861 roll 0.91 1.27 0.149 3019 289.8 2.78 0.093 3910 494.6 107.1 123.30 3.075 3172 -3.5 0.170 - - - - - - 13.47 13.10 11.85
7907 697.9 12.8 362 7914 done 0.91 - - 3029 - 2.55 0.054 2552 -532.5 107.1 - - 3168 - - - - - - - - 13.61 13.54 13.62
8286 651.7 12.2 374 8293 roll 0.91 - - 3041 - 2.55 0.066 1141 -553.3 107.1 - - 3158 - - - - - - - - 14.47 14.11 14.47
8327 646.5 12.4 380 8335 done 0.91 - - 3040 - 2.60 0.070 2561 546.2 107.1 - - 3159 - - - - - - - - 14.33 14.20 14.35
8677 606.5 10.9 388 8685 roll 0.91 - - 3050 - 2.55 0.066 1141 -556.9 107.1 - - 3159 - - - - - - - - 14.73 14.33 14.72
8720 602.0 10.7 394 8727 done 0.91 - - 3050 - 2.53 0.070 2549 556.5 107.1 - - 3159 - - - - - - - - 14.42 14.33 14.45
9070 562.4 11.4 402 9077 roll 0.91 - - 3050 - 2.50 0.096 3906 542.8 107.1 - - 3159 - - - - - - - - 14.76 14.32 14.75
9090 559.6 12.0 405 9099 done 0.91 0.17 0.299 3022 -164.7 2.38 0.055 2540 -573.9 107.1 - - 3159 - - - - - - - - 14.09 14.51 14.47
9461 521.2 10.2 416 9462 done 0.91 - - 3022 - - - 2541 - 107.1 - - 3158 - - - - - - - - 14.85 14.86 14.85
9798 483.8 11.2 422 9805 roll 0.91 - - 3022 - 2.53 0.094 3910 541.1 107.1 - - 3158 - - - - - - - - 14.86 14.35 14.86
9825 480.4 12.0 426 9836 done 0.91 - - 3032 - 2.38 0.054 2541 -575.2 107.1 - - 3158 - - - - - - - - 14.63 14.55 14.66
10191 440.5 10.9 436 10197 roll 0.91 - - 3042 - 2.45 0.063 1157 -564.9 107.1 - - 3158 - - - - - - - - 14.81 14.33 14.82
10225 436.9 10.6 441 10233 done 0.91 - - 3042 - 2.53 0.069 2564 556.1 107.1 - - 3157 - - - - - - - - 14.59 14.45 14.63
10582 399.1 10.4 450 10589 roll 0.91 - - 3050 - 2.53 0.065 1151 -558.5 107.1 - - 3158 - - - - - - - - 14.89 14.41 14.90
10617 395.7 9.4 455 10624 done 0.91 - - 3050 - 2.53 0.069 2557 555.7 107.1 - - 3158 - - - - - - - - 14.60 14.45 14.62
10975 359.3 10.5 464 10981 roll 0.91 - - 3050 - 2.47 0.095 3903 544.9 107.1 - - 3158 - - - - - - - - 14.82 14.32 14.82
11023 353.3 12.7 471 11032 done 0.91 0.17 0.302 3022 -164.7 2.38 0.054 2536 -574.4 107.1 - - 3158 - - - - - - - - 14.06 14.55 14.46
11366 319.7 9.6 478 11373 roll 0.91 - - 3033 - 2.47 0.064 1144 -563.6 107.1 - - 3158 - - - - - - - - 14.88 14.40 14.88
11387 317.8 9.4 481 11395 done 0.91 - - 3032 - 2.55 0.068 2565 557.3 107.1 - - 3158 - - - - - - - - 14.57 14.43 14.62
11759 284.8 8.8 492 11765 roll 0.91 - - 3043 - 2.50 0.063 1154 -564.4 107.1 - - 3158 - - - - - - - - 14.81 14.33 14.81
11786 282.1 9.8 496 11793 done 0.91 - - 3043 - 2.53 0.069 2556 554.2 107.1 - - 3157 - - - - - - - - 14.57 14.42 14.61
12150 247.3 9.4 506 12157 roll 0.91 - - 3043 - 2.50 0.094 3913 542.8 107.1 - - 3158 - - - - - - - - 14.90 14.32 14.90
12220 239.9 10.6 516 12228 done 0.91 0.15 0.308 3021 -146.7 2.40 0.054 2536 -573.8 107.1 - - 3158 - - - - - - - - 14.02 14.52 14.42
12599 209.3 8.0 528 12605 roll 0.91 - - 3039 - 2.45 0.063 1155 -563.7 107.1 - - 3158 - - - - - - - - 14.89 14.31 14.88
12668 203.5 8.3 538 12675 done 0.91 - - 3031 - 2.53 0.068 2559 554.9 107.1 - - 3157 - - - - - - - - 14.55 14.41 14.60
13019 171.9 9.1 555 13025 roll 0.91 - - 3042 - 2.50 0.063 1150 -563.6 107.1 - - 3156 - - - - - - - - 14.88 14.31 14.88
13060 168.4 8.6 561 13068 done 0.91 - - 3042 - 2.55 0.069 2564 554.5 107.1 - - 3158 - - - - - - - - 14.55 14.40 14.60
13410 137.1 8.9 575 13417 roll 0.91 - - 3042 - 2.47 0.096 3901 541.3 107.1 - - 3158 - - - - - - - - 14.92 14.28 14.91
13445 133.5 10.7 580 13452 done 0.91 - - 3051 - 2.38 0.055 2546 -569.3 107.1 - - 3158 - - - - - - - - 14.61 14.53 14.64
13804 101.4 9.0 595 13805 done 0.91 - - 3051 - - - 2542 - 107.1 - - 3158 - - - - - - - - 14.81 14.81 14.81
14138 75.1 7.6 607 14139 done 0.92 - - 3050 - - - 2541 - 107.1 - - 3157 - - - - - - - - 14.90 14.90 14.89
14474 49.6 7.0 619 14481 roll 0.95 - - 3051 - 2.55 0.094 3904 534.5 107.1 - - 3158 - - - - - - - - 14.90 14.31 14.90
14523 45.2 9.4 626 14531 done 0.95 - - 3059 - 2.40 0.054 2532 -571.7 107.1 - - 3158 - - - - - - - - 14.60 14.52 14.63
14867 19.9 8.5 639 14873 roll 0.95 - - 3064 - 2.47 0.067 1151 -559.1 107.1 - - 3158 - - - - - - - - 14.88 14.27 14.88
14930 14.7 7.4 648 14936 done 0.96 - - 3064 - 2.53 0.070 2555 554.9 107.1 - - 3157 - - - - - - - - 14.41 14.32 14.46
15004 end climb: FINISH_DEPTH_REACHED
15005 begin subsurface finish
15009 7.5 9.6 653 15027 done 0.01 1.25 0.241 2734 -264.0 - - 2555 - 8.1 -15.05 0.008 3570 -27.4 5.454 - - - - - - 14.04 12.78 14.42
15027 end subsurface finish: CONTROL_FINISHED_OK
15027 begin surface