AMOS Sep20 * SG233 * Dive index * Mission links * Dive 48 * Raw log
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• Previous call tries 3 • 39.21 of 350.00 AH used of 24V (88.80% remains)
• Surface angle -74.3 deg, depth 1.81 m • Intended pitch -17.8 deg, speed -10.101 cm/s
• No surface pump (final VBD was 491.0, SM_CC=570.32251)
• GPS1 time: 88 s
• GPS2 time: 2 s
• 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
10.12 - - - 59.00 VBD -0.89 - - 200.19 - - - 2033.44 - -145.99 46.79 0.005 1322.56 - - - - - - - - - - 15.53
59.30 3.48 -4.01 9 175.35 -0.89 19.60 0.309 2422.31 113.4 3.69 0.155 584.81 -392.6 -145.99 82.92 0.005 3422.19 25.3 -2.937 - - - - - - 15.41 15.53 15.53
179.40 15.67 -22.43 32 190.44 roll back -0.59 0.55 0.220 2494.62 131.5 3.52 0.068 2067.56 421.2 -145.99 - - 3423.25 - - - - - - - - 15.54 15.60 -
369.55 47.90 -13.03 70 379.98 roll -0.66 - - 2492.44 - 3.77 0.142 584.31 -393.4 -145.99 - - 3425.38 - - - - - - - - - 15.60 -
414.41 53.17 -12.12 79 425.14 roll back -0.73 0.32 0.095 2450.19 -132.0 3.50 0.061 2074.19 425.7 -145.99 - - 3425.91 - - - - - - - - 15.66 15.58 -
604.48 77.00 -11.89 117 611.76 roll -0.73 - - 2449.38 - 3.25 0.147 3349.06 392.3 -145.99 - - 3424.00 - - - - - - - - - 15.59 -
640.27 81.49 -12.59 124 646.41 roll -0.73 - - 2449.75 - 3.15 0.064 2027.12 -419.7 -145.99 - - 3424.31 - - - - - - - - - 15.71 -
825.19 102.71 -11.15 159 832.48 roll -0.73 - - 2450.69 - 3.68 0.147 585.06 -391.9 -145.99 - - 3424.59 - - - - - - - - - 15.70 -
860.99 107.16 -12.60 166 868.14 roll -0.73 - - 2450.38 - 3.47 0.061 2071.69 428.4 -145.99 - - 3424.78 - - - - - - - - - 15.76 -
1166.48 141.85 -11.40 197 1170.41 no move -0.73 - - 2451.12 - - - 2073.44 - -145.99 - - 3423.69 - - - - - - - - - - -
1466.59 173.53 -10.22 227 1473.27 roll -0.82 - - 2448.88 - 3.81 0.142 585.31 -390.6 -145.99 - - 3425.12 - - - - - - - - - 15.75 -
1521.99 179.54 -10.96 238 1529.36 roll back -0.90 0.22 0.114 2406.94 -190.6 3.46 0.061 2074.19 430.3 -145.99 - - 3426.72 - - - - - - - - 15.82 15.81 -
1707 end dive: TARGET_DEPTH_EXCEEDED
1707 begin apogee
1708.59 200.44 -11.06 257 1835.23 -0.20 1.42 0.179 2590.38 129.2 0.10 0.203 1983.44 -907.5 - 121.79 1.539 2821.28 -5.0 0.108 - - - - - - 15.80 15.27 11.80
1837 end apogee: CONTROL_FINISHED_OK
1837 begin loiter
2131.83 211.33 -2.13 299 2143.26 VBD -0.19 - - 2590.94 - - - 1982.56 - 8.31 8.60 1.206 2789.25 -3.7 0.109 - - - - - - - - 11.66
2441.32 218.12 -2.19 330 2455.37 -0.59 0.73 0.098 2485.94 -143.8 - - 1983.62 - 16.84 9.65 1.229 2753.06 -3.8 0.111 - - - - - - 15.56 - 11.62
2751.36 223.01 -1.55 361 2754.87 no move -0.68 - - 2486.44 - - - 1983.06 - 16.84 - - 2751.69 - - - - - - - - - - -
3051.45 227.39 -1.52 391 3055.09 pitch -0.77 0.24 0.113 2438.19 -201.0 - - 1983.12 - 16.84 - - 2753.72 - - - - - - - - 15.73 - -
3351.40 231.88 -1.36 421 3355.31 no move -0.77 - - 2440.75 - - - 1984.06 - 16.84 - - 2750.91 - - - - - - - - - - -
3652.24 237.17 -1.81 451 3655.89 no move -0.77 - - 2440.69 - - - 1983.38 - 16.84 - - 2750.56 - - - - - - - - - - -
3952.12 243.04 -1.92 481 3955.63 no move -0.77 - - 2440.69 - - - 1983.44 - 16.84 - - 2750.31 - - - - - - - - - - -
4252.31 248.05 -1.52 511 4256.33 no move -0.77 - - 2440.81 - - - 1983.12 - 16.84 - - 2750.03 - - - - - - - - - - -
4552.21 251.64 -1.18 541 4562.49 VBD -0.76 - - 2441.56 - - - 1983.50 - 21.43 6.01 1.060 2737.62 -2.1 0.082 - - - - - - - - 12.00
4862.20 254.75 -0.97 572 4872.51 VBD -0.76 - - 2440.19 - - - 1983.06 - 25.22 5.93 1.054 2722.34 -2.6 0.104 - - - - - - - - 11.81
5171.64 252.86 0.70 603 5175.56 no move -0.76 - - 2440.38 - - - 1983.50 - 25.22 - - 2719.31 - - - - - - - - - - -
5473.62 251.64 0.39 633 5476.51 no move -0.76 - - 2440.56 - - - 1983.25 - 25.22 - - 2719.06 - - - - - - - - - - -
5773.03 253.10 -0.50 663 5776.46 no move -0.76 - - 2440.88 - - - 1983.00 - 27.16 - - 2718.84 - - - - - - - - - - -
6073.07 253.87 -0.24 693 6083.94 VBD -0.76 - - 2440.12 - - - 1983.06 - 28.08 5.01 0.918 2710.41 -1.7 0.078 - - - - - - - - 11.85
6383.74 253.62 0.11 724 6386.63 no move -0.76 - - 2440.56 - - - 1983.12 - 28.08 - - 2707.78 - - - - - - - - - - -
6683.16 252.92 0.25 754 6686.58 no move -0.76 - - 2440.88 - - - 1983.69 - 28.08 - - 2707.66 - - - - - - - - - - -
6983.19 251.74 0.39 784 6986.68 no move -0.76 - - 2441.31 - - - 1983.00 - 28.08 - - 2707.53 - - - - - - - - - - -
7283.22 252.69 -0.30 814 7286.66 no move -0.75 - - 2440.31 - - - 1983.50 - 29.25 - - 2707.28 - - - - - - - - - - -
7584.00 255.60 -0.99 844 7594.16 VBD -0.75 - - 2439.50 - - - 1982.88 - 33.10 7.28 1.174 2689.97 -2.4 0.086 - - - - - - - - 11.79
7893.23 253.61 0.74 875 7896.80 no move -0.75 - - 2440.94 - - - 1983.69 - 33.10 - - 2686.34 - - - - - - - - - - -
8193.32 248.98 1.49 905 8197.14 no move -0.75 - - 2440.88 - - - 1983.12 - 33.10 - - 2685.72 - - - - - - - - - - -
8494.10 248.29 0.21 935 8497.72 no move -0.75 - - 2440.69 - - - 1983.44 - 33.10 - - 2685.97 - - - - - - - - - - -
8793.95 246.98 0.47 965 8797.82 no move -0.75 - - 2440.81 - - - 1983.88 - 33.10 - - 2686.44 - - - - - - - - - - -
9094.17 245.15 0.61 995 9098.17 no move -0.75 - - 2441.38 - - - 1983.75 - 33.10 - - 2686.06 - - - - - - - - - - -
9394.03 245.05 0.01 1025 9396.92 no move -0.75 - - 2440.81 - - - 1983.12 - 33.10 - - 2685.69 - - - - - - - - - - -
9693.49 244.42 0.23 1055 9696.82 no move -0.75 - - 2440.19 - - - 1983.62 - 33.10 - - 2686.22 - - - - - - - - - - -
9993.53 244.40 0.02 1085 9997.16 no move -0.75 - - 2440.62 - - - 1982.75 - 33.10 - - 2686.69 - - - - - - - - - - -
10293.57 244.17 0.08 1115 10297.23 no move -0.75 - - 2440.56 - - - 1983.44 - 33.10 - - 2685.69 - - - - - - - - - - -
10593.72 244.53 -0.11 1145 10597.57 no move -0.75 - - 2440.50 - - - 1983.12 - 33.10 - - 2685.50 - - - - - - - - - - -
10894.38 245.15 -0.20 1175 10897.93 no move -0.75 - - 2440.81 - - - 1983.19 - 33.10 - - 2686.06 - - - - - - - - - - -
11194.41 245.16 - 1205 11198.25 no move -0.75 - - 2440.62 - - - 1983.12 - 33.10 - - 2686.16 - - - - - - - - - - -
11494.47 246.14 -0.29 1235 11497.35 no move -0.75 - - 2438.19 - - - 1981.38 - 33.10 - - 2687.72 - - - - - - - - - - -
11794.49 246.62 -0.16 1265 11797.38 no move -0.75 - - 2440.38 - - - 1983.75 - 33.10 - - 2686.16 - - - - - - - - - - -
12093.82 246.14 0.17 1295 12097.25 no move -0.75 - - 2441.19 - - - 1983.38 - 33.10 - - 2685.81 - - - - - - - - - - -
12393.87 246.38 -0.08 1325 12397.35 no move -0.75 - - 2440.62 - - - 1983.31 - 33.10 - - 2685.72 - - - - - - - - - - -
12693.92 247.54 -0.41 1355 12697.70 no move -0.75 - - 2441.69 - - - 1983.75 - 33.10 - - 2685.78 - - - - - - - - - - -
12994.17 247.58 -0.03 1385 12998.05 no move -0.75 - - 2441.38 - - - 1983.00 - 33.10 - - 2685.09 - - - - - - - - - - -
13294.53 247.31 0.10 1415 13298.00 no move -0.75 - - 2438.38 - - - 1982.88 - 33.10 - - 2687.72 - - - - - - - - - - -
13594.84 247.14 0.04 1445 13598.71 no move -0.75 - - 2441.12 - - - 1983.56 - 33.10 - - 2685.50 - - - - - - - - - - -
13894.84 247.81 -0.21 1475 13897.73 no move -0.75 - - 2440.62 - - - 1983.75 - 33.10 - - 2686.03 - - - - - - - - - - -
14194.92 248.04 -0.05 1505 14197.81 no move -0.75 - - 2440.50 - - - 1983.50 - 33.10 - - 2685.66 - - - - - - - - - - -
14494.18 247.35 0.23 1535 14497.72 no move -0.75 - - 2440.81 - - - 1983.12 - 33.10 - - 2685.31 - - - - - - - - - - -
14794.22 247.40 0.02 1565 14797.78 no move -0.75 - - 2440.69 - - - 1983.69 - 33.10 - - 2685.78 - - - - - - - - - - -
15094.26 248.46 -0.35 1595 15098.12 no move -0.75 - - 2440.25 - - - 1983.19 - 33.10 - - 2685.66 - - - - - - - - - - -
15395.04 248.88 -0.16 1625 15398.73 no move -0.75 - - 2441.31 - - - 1982.88 - 33.10 - - 2686.06 - - - - - - - - - - -
15694.96 247.90 0.32 1655 15698.80 no move -0.75 - - 2439.94 - - - 1983.25 - 33.10 - - 2685.88 - - - - - - - - - - -
15995.11 247.92 - 1685 15999.14 no move -0.75 - - 2440.44 - - - 1983.06 - 33.10 - - 2685.75 - - - - - - - - - - -
16295.01 246.87 0.36 1715 16297.91 no move -0.75 - - 2440.75 - - - 1983.31 - 33.10 - - 2687.66 - - - - - - - - - - -
16594.44 247.00 -0.03 1745 16597.80 no move -0.75 - - 2440.44 - - - 1983.12 - 33.10 - - 2685.75 - - - - - - - - - - -
16894.48 246.54 0.19 1775 16898.14 no move -0.75 - - 2440.31 - - - 1983.44 - 33.10 - - 2685.53 - - - - - - - - - - -
17194.52 245.27 0.45 1805 17198.24 no move -0.75 - - 2440.88 - - - 1983.12 - 33.10 - - 2685.84 - - - - - - - - - - -
17494.72 244.88 0.13 1835 17498.58 no move -0.75 - - 2440.81 - - - 1983.38 - 33.10 - - 2686.44 - - - - - - - - - - -
17795.32 246.91 -0.69 1865 17798.92 no move -0.75 - - 2441.38 - - - 1983.06 - 33.10 - - 2685.59 - - - - - - - - - - -
18095.39 248.17 -0.38 1895 18099.26 no move -0.75 - - 2440.12 - - - 1983.81 - 33.10 - - 2685.81 - - - - - - - - - - -
18395.40 247.86 0.09 1925 18398.29 no move -0.75 - - 2440.62 - - - 1983.19 - 33.10 - - 2685.81 - - - - - - - - - - -
18695.47 247.57 0.11 1955 18698.36 no move -0.75 - - 2441.25 - - - 1983.56 - 33.10 - - 2687.41 - - - - - - - - - - -
18994.75 246.29 0.43 1985 18998.26 no move -0.75 - - 2440.44 - - - 1982.88 - 33.10 - - 2686.16 - - - - - - - - - - -
19294.80 247.00 -0.26 2015 19298.33 no move -0.75 - - 2440.62 - - - 1983.19 - 33.10 - - 2685.44 - - - - - - - - - - -
19594.85 247.26 -0.09 2045 19598.67 no move -0.75 - - 2441.75 - - - 1983.50 - 33.10 - - 2685.69 - - - - - - - - - - -
19895.93 247.15 0.03 2075 19899.26 no move -0.75 - - 2441.56 - - - 1983.75 - 33.10 - - 2685.78 - - - - - - - - - - -
20196.05 246.70 0.14 2105 20199.61 no move -0.75 - - 2440.81 - - - 1983.25 - 33.10 - - 2685.94 - - - - - - - - - - -
20496.08 244.93 0.56 2135 20499.68 no move -0.75 - - 2441.00 - - - 1983.31 - 33.10 - - 2686.09 - - - - - - - - - - -
20796.16 244.25 0.22 2165 20800.02 no move -0.75 - - 2440.81 - - - 1983.44 - 33.10 - - 2685.69 - - - - - - - - - - -
21096.90 243.85 0.18 2195 21100.36 no move -0.75 - - 2440.81 - - - 1983.69 - 33.10 - - 2685.94 - - - - - - - - - - -
21396.84 244.52 -0.22 2225 21400.70 no move -0.75 - - 2440.75 - - - 1983.06 - 33.10 - - 2685.34 - - - - - - - - - - -
21696.97 245.38 -0.32 2255 21699.86 no move -0.75 - - 2440.19 - - - 1983.44 - 33.10 - - 2688.09 - - - - - - - - - - -
21996.91 245.14 0.07 2285 21999.80 no move -0.75 - - 2441.38 - - - 1983.44 - 33.10 - - 2685.75 - - - - - - - - - - -
22296.24 245.06 - 2315 22299.70 no move -0.75 - - 2440.62 - - - 1983.88 - 33.10 - - 2685.59 - - - - - - - - - - -
22596.33 246.33 -0.43 2345 22599.80 no move -0.75 - - 2441.25 - - - 1983.25 - 33.10 - - 2685.56 - - - - - - - - - - -
22896.38 246.39 0.02 2375 22900.14 no move -0.75 - - 2440.94 - - - 1983.31 - 33.10 - - 2686.03 - - - - - - - - - - -
23196.90 245.08 0.41 2405 23200.48 no move -0.75 - - 2441.56 - - - 1982.75 - 33.10 - - 2686.41 - - - - - - - - - - -
23437 end loiter: LOITER_COMPLETE
23437 begin climb
23437.22 244.35 - 2429 23551.20 0.89 3.18 0.181 2855.88 130.3 3.78 0.146 570.25 -373.7 145.99 102.49 1.497 2227.00 -4.5 0.122 - - - - - - 15.90 15.42 11.89
23633.37 227.67 13.55 2468 23641.05 0.55 0.77 0.220 2767.19 -115.2 3.37 0.067 1973.12 416.3 145.99 - - 2220.31 - - - - - - - - 15.47 15.54 -
23939.98 207.20 5.57 2499 24026.94 0.67 0.29 0.110 2805.00 130.4 - - 1973.88 - 242.44 84.59 1.511 1835.47 -4.5 0.104 - - - - - - 15.64 - 11.80
24325.14 177.85 7.69 2545 24377.47 0.79 0.15 0.130 2835.56 203.7 3.75 0.143 570.62 -374.2 293.73 44.72 1.501 1627.44 -4.7 0.092 - - - - - - 15.51 15.29 11.74
24479.63 162.76 10.58 2576 24487.20 done 0.79 - - 2835.81 - 3.37 0.064 1976.81 417.3 293.73 - - 1619.69 - - - - - - - - - 15.41 -
24786.40 137.80 7.98 2607 24834.14 0.91 0.16 0.130 2866.75 193.4 3.72 0.139 570.88 -377.9 338.81 40.52 1.441 1443.19 -4.4 0.069 - - - - - - 15.57 15.36 11.73
24896.29 126.44 11.61 2629 24903.83 roll 0.91 - - 2866.38 - 3.35 0.061 1977.50 419.9 338.81 - - 1439.03 - - - - - - - - - 15.39 -
25203.13 98.06 9.09 2662 25209.93 done 0.91 - - 2864.25 - 3.66 0.136 571.38 -384.2 338.81 - - 1434.41 - - - - - - - - - 15.55 -
25283.15 89.61 10.56 2678 25290.63 done 0.91 - - 2866.44 - 3.33 0.062 1977.81 422.4 338.81 - - 1432.75 - - - - - - - - - 15.62 -
25469.59 73.87 8.14 2715 25475.14 VBD 0.98 - - 2866.31 - - - 1979.88 - 338.81 - - 1432.62 - - - - - - - - - - -
25654.46 59.60 7.52 2752 25727.39 1.16 0.36 0.105 2923.06 157.6 3.71 0.138 571.38 -379.6 393.75 62.41 1.365 1220.00 -3.4 0.025 - - - - - - 15.69 15.40 11.78
25831.36 43.84 9.02 2787 25838.65 roll 1.16 - - 2923.50 - 3.34 0.060 1976.81 420.8 393.75 - - 1215.00 - - - - - - - - - 15.52 -
26017.74 33.65 4.55 2824 26191.80 1.45 0.47 0.100 2996.50 155.3 3.62 0.130 3350.31 379.4 512.01 166.79 1.304 738.25 -2.9 0.012 - - - - - - 15.57 14.99 11.49
26275.07 18.84 6.73 2875 26359.18 1.68 0.35 0.106 3050.75 155.0 3.55 0.067 1930.19 -400.0 583.70 76.28 1.225 500.91 -3.1 0.008 - - - - - - 15.22 15.25 11.44
26537.45 3.78 2.95 2927 26548.14 2.07 0.61 0.101 3145.75 155.7 3.65 0.121 3349.12 388.7 736.01 - - 494.94 - - - - - - - - 15.31 15.27 -
26568.03 3.31 2.36 2933 26575.09 2.46 0.63 0.097 3239.56 148.9 3.52 0.062 1927.81 -403.8 900.77 - - 495.00 - - - - - - - - 15.33 15.35 -
26723 end climb: NO_VERTICAL_VELOCITY
26723 begin surface
SM 3.96 - - - - 200.4 - - 490.4 - 20.87 0.104 489.8 23.4 - 0.32 0.081 491.0 1523.4 -7.612 - - 30.00 15.48 15.56 -