AMOS Sep20 * SG233 * Dive index * Mission links * Dive 59 * Raw log
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• Previous call tries 1 • 43.99 of 350.00 AH used of 24V (87.43% remains)
• Surface angle -74.1 deg, depth 1.79 m • Intended pitch -17.8 deg, speed -10.101 cm/s
• VBD pumped to 570.26 (SM_CC=570.32251)
• GPS1 time: 60 s
• GPS2 time: 3 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
10.13 - - - 69.20 VBD -0.89 - - 200.25 - - - 2028.75 - -145.99 57.00 0.005 1507.84 - - - - - - - - - - 15.46
69.44 3.14 -2.49 11 159.40 -0.89 19.98 0.307 2422.31 111.2 - - 2028.06 - -145.99 62.04 0.005 3419.59 30.8 -3.260 - - - - - - 15.38 - 15.45
338.25 48.23 -13.41 64 345.53 roll -0.89 - - 2421.62 - 3.38 0.144 3348.88 390.8 -145.99 - - 3424.41 - - - - - - - - - 15.55 -
415.60 58.24 -12.82 78 422.33 roll -0.89 - - 2422.75 - 3.11 0.057 2026.69 -425.1 -145.99 - - 3424.69 - - - - - - - - - 15.60 -
600.57 80.49 -11.83 115 608.12 roll -0.89 - - 2419.44 - 3.64 0.140 584.31 -396.3 -145.99 - - 3425.12 - - - - - - - - - 15.59 -
647.08 86.43 -13.28 124 653.31 roll -0.89 - - 2422.06 - 3.47 0.055 2071.88 428.7 -145.99 - - 3424.53 - - - - - - - - - 15.58 -
832.29 108.25 -11.71 154 835.89 no move -0.89 - - 2422.25 - - - 2072.31 - -145.99 - - 3423.97 - - - - - - - - - - -
1132.32 141.31 -10.48 184 1139.62 roll -0.89 - - 2420.25 - 3.72 0.134 583.50 -400.2 -145.99 - - 3426.06 - - - - - - - - - 15.64 -
1188.61 147.70 -11.59 195 1195.26 roll -0.89 - - 2422.44 - 3.47 0.055 2074.88 429.8 -145.99 - - 3425.16 - - - - - - - - - 15.69 -
1493.51 176.73 -8.31 226 1500.37 roll -1.00 - - 2421.50 - 3.71 0.132 584.69 -401.7 -145.99 - - 3426.03 - - - - - - - - - 15.67 -
1539.04 180.91 -9.35 235 1546.12 roll back -1.09 0.41 0.089 2360.25 -149.4 3.45 0.054 2073.81 431.6 -145.99 - - 3427.03 - - - - - - - - 15.70 15.72 -
1724 end dive: TARGET_DEPTH_EXCEEDED
1724 begin apogee
1725.56 200.54 -10.21 254 1856.40 -0.20 1.79 0.181 2591.31 129.1 0.12 0.176 1990.50 -694.2 - 123.70 1.463 2824.59 -4.9 0.112 - - - - - - 15.67 15.19 11.82
1858 end apogee: CONTROL_FINISHED_OK
1858 begin loiter
2153.66 206.54 -0.98 297 2157.60 VBD -0.20 - - 2588.31 - - - 1989.62 - - 0.01 2.084 2829.38 479.0 -7.998 - - - - - - - - -
2454.21 211.64 -1.66 327 2458.07 pitch -0.65 0.85 0.102 2471.44 -137.5 - - 1989.81 - - - - 2828.94 - - - - - - - - 15.55 - -
2754.29 216.22 -1.67 357 2758.18 no move -0.75 - - 2472.69 - - - 1990.12 - - - - 2825.97 - - - - - - - - - - -
3054.68 224.04 -2.87 387 3074.33 -0.84 0.25 0.108 2423.88 -195.2 - - 1990.25 - 11.17 13.26 1.331 2779.53 -3.5 0.099 - - - - - - 15.71 - 11.93
3373.86 230.46 -1.50 419 3377.31 no move -0.84 - - 2424.44 - - - 1990.38 - 11.17 - - 2774.88 - - - - - - - - - - -
3673.98 235.52 -2.04 449 3686.91 VBD -0.83 - - 2423.25 - - - 1990.12 - 19.11 9.15 1.244 2746.78 -3.1 0.098 - - - - - - - - 11.81
3984.59 237.94 -0.70 480 3987.48 no move -0.83 - - 2424.12 - - - 1989.62 - 19.11 - - 2742.97 - - - - - - - - - - -
4284.04 237.20 0.27 510 4287.43 no move -0.83 - - 2424.44 - - - 1990.75 - 19.11 - - 2745.16 - - - - - - - - - - -
4584.07 237.84 -0.24 540 4587.77 no move -0.83 - - 2424.62 - - - 1990.44 - 19.11 - - 2743.16 - - - - - - - - - - -
4884.11 239.45 -0.57 570 4887.87 no move -0.83 - - 2424.25 - - - 1991.75 - 19.11 - - 2742.91 - - - - - - - - - - -
5184.34 241.59 -0.70 600 5188.21 no move -0.83 - - 2424.69 - - - 1990.31 - 19.11 - - 2742.50 - - - - - - - - - - -
5484.68 243.13 -0.52 630 5488.55 no move -0.83 - - 2424.19 - - - 1989.88 - 19.11 - - 2743.38 - - - - - - - - - - -
5785.02 242.49 0.21 660 5788.89 no move -0.83 - - 2424.06 - - - 1990.75 - 19.11 - - 2742.75 - - - - - - - - - - -
6084.76 242.38 0.05 690 6087.65 no move -0.83 - - 2423.94 - - - 1990.31 - 19.11 - - 2743.12 - - - - - - - - - - -
6385.10 243.37 -0.37 720 6387.99 no move -0.83 - - 2423.94 - - - 1989.81 - 19.11 - - 2742.69 - - - - - - - - - - -
6684.34 243.43 -0.01 750 6687.89 no move -0.83 - - 2424.81 - - - 1990.12 - 19.11 - - 2742.50 - - - - - - - - - - -
6984.38 244.13 -0.28 780 6987.96 no move -0.83 - - 2423.75 - - - 1989.56 - 19.11 - - 2742.00 - - - - - - - - - - -
7284.44 243.97 0.05 810 7288.30 no move -0.83 - - 2425.31 - - - 1990.38 - 19.11 - - 2742.19 - - - - - - - - - - -
7585.19 243.87 0.03 840 7588.64 no move -0.83 - - 2424.69 - - - 1990.38 - 19.11 - - 2742.06 - - - - - - - - - - -
7885.12 244.43 -0.23 870 7888.98 no move -0.83 - - 2424.88 - - - 1989.81 - 19.11 - - 2744.00 - - - - - - - - - - -
8185.28 246.03 -0.50 900 8189.32 no move -0.83 - - 2425.94 - - - 1990.25 - 19.11 - - 2742.09 - - - - - - - - - - -
8485.19 246.58 -0.18 930 8488.08 no move -0.83 - - 2423.12 - - - 1990.31 - 19.11 - - 2742.00 - - - - - - - - - - -
8784.59 247.60 -0.35 960 8787.98 no move -0.83 - - 2424.44 - - - 1990.62 - 19.11 - - 2742.25 - - - - - - - - - - -
9084.63 248.84 -0.46 990 9088.32 no move -0.83 - - 2423.62 - - - 1990.44 - 19.11 - - 2742.28 - - - - - - - - - - -
9384.67 249.48 -0.21 1020 9388.42 no move -0.83 - - 2424.56 - - - 1990.81 - 19.11 - - 2742.12 - - - - - - - - - - -
9684.90 250.48 -0.37 1050 9688.76 no move -0.82 - - 2423.88 - - - 1990.44 - 20.54 - - 2742.28 - - - - - - - - - - -
9985.53 251.97 -0.51 1080 9995.66 VBD -0.82 - - 2425.19 - - - 1990.25 - 22.51 5.32 0.963 2731.94 -1.9 0.086 - - - - - - - - 12.07
10294.78 249.22 0.96 1111 10298.54 no move -0.82 - - 2424.31 - - - 1989.56 - 22.51 - - 2730.66 - - - - - - - - - - -
10595.02 244.92 1.39 1141 10598.88 no move -0.82 - - 2424.75 - - - 1990.06 - 22.51 - - 2729.94 - - - - - - - - - - -
10895.67 242.73 0.71 1171 10899.22 no move -0.82 - - 2424.88 - - - 1990.31 - 22.51 - - 2729.97 - - - - - - - - - - -
11195.69 241.87 0.29 1201 11199.56 no move -0.82 - - 2425.62 - - - 1989.62 - 22.51 - - 2730.16 - - - - - - - - - - -
11495.77 241.30 0.18 1231 11498.66 no move -0.82 - - 2424.81 - - - 1990.88 - 22.51 - - 2730.56 - - - - - - - - - - -
11795.77 241.71 -0.12 1261 11798.66 no move -0.82 - - 2424.88 - - - 1990.12 - 22.51 - - 2730.25 - - - - - - - - - - -
12095.09 243.71 -0.69 1291 12098.56 no move -0.82 - - 2424.38 - - - 1990.25 - 22.51 - - 2729.62 - - - - - - - - - - -
12395.13 245.15 -0.44 1321 12398.63 no move -0.82 - - 2425.25 - - - 1989.25 - 22.51 - - 2729.84 - - - - - - - - - - -
12695.18 244.09 0.36 1351 12698.97 no move -0.82 - - 2423.75 - - - 1990.19 - 22.51 - - 2729.72 - - - - - - - - - - -
12995.94 243.56 0.18 1381 12999.57 no move -0.82 - - 2424.31 - - - 1990.31 - 22.51 - - 2730.56 - - - - - - - - - - -
13295.80 244.75 -0.38 1411 13299.65 no move -0.82 - - 2423.62 - - - 1989.88 - 22.51 - - 2729.62 - - - - - - - - - - -
13596.01 245.98 -0.41 1441 13599.99 no move -0.82 - - 2424.25 - - - 1990.38 - 22.51 - - 2730.59 - - - - - - - - - - -
13895.87 244.86 0.34 1471 13898.76 no move -0.82 - - 2424.69 - - - 1990.75 - 22.51 - - 2729.88 - - - - - - - - - - -
14195.34 244.35 0.16 1501 14198.65 no move -0.82 - - 2424.50 - - - 1990.38 - 22.51 - - 2730.47 - - - - - - - - - - -
14495.38 246.16 -0.63 1531 14498.99 no move -0.82 - - 2424.31 - - - 1990.31 - 22.51 - - 2731.12 - - - - - - - - - - -
14797.42 248.18 -0.65 1561 14801.33 no move -0.82 - - 2424.56 - - - 1990.62 - 22.51 - - 2729.91 - - - - - - - - - - -
15097.48 247.43 0.26 1591 15100.38 no move -0.82 - - 2424.38 - - - 1990.50 - 22.51 - - 2730.66 - - - - - - - - - - -
15397.55 245.90 0.48 1621 15400.44 no move -0.82 - - 2424.88 - - - 1990.62 - 22.51 - - 2730.44 - - - - - - - - - - -
15697.07 247.19 -0.44 1651 15700.34 no move -0.82 - - 2425.25 - - - 1990.31 - 22.51 - - 2729.84 - - - - - - - - - - -
15997.11 249.05 -0.60 1681 16000.68 no move -0.82 - - 2424.38 - - - 1990.19 - 22.51 - - 2730.16 - - - - - - - - - - -
16297.15 249.65 -0.22 1711 16300.78 no move -0.82 - - 2424.62 - - - 1989.25 - 22.51 - - 2729.97 - - - - - - - - - - -
16597.25 248.60 0.38 1741 16601.12 no move -0.82 - - 2424.50 - - - 1991.25 - 22.51 - - 2730.06 - - - - - - - - - - -
16897.99 245.96 0.87 1771 16901.46 no move -0.82 - - 2424.75 - - - 1990.12 - 22.51 - - 2731.12 - - - - - - - - - - -
17197.88 244.52 0.50 1801 17201.79 no move -0.82 - - 2424.00 - - - 1990.38 - 22.51 - - 2730.09 - - - - - - - - - - -
17498.03 245.16 -0.24 1831 17500.93 no move -0.82 - - 2424.50 - - - 1990.50 - 22.51 - - 2730.50 - - - - - - - - - - -
17798.00 245.82 -0.21 1861 17800.90 no move -0.82 - - 2424.56 - - - 1990.38 - 22.51 - - 2729.91 - - - - - - - - - - -
18097.37 245.76 0.03 1891 18100.80 no move -0.82 - - 2424.69 - - - 1990.44 - 22.51 - - 2730.50 - - - - - - - - - - -
18397.39 245.52 0.08 1921 18400.87 no move -0.82 - - 2425.50 - - - 1990.50 - 22.51 - - 2730.19 - - - - - - - - - - -
18697.44 245.53 -0.01 1951 18701.21 no move -0.82 - - 2423.75 - - - 1991.19 - 22.51 - - 2730.19 - - - - - - - - - - -
18997.95 245.26 0.07 1981 19001.55 no move -0.82 - - 2424.25 - - - 1989.75 - 22.51 - - 2730.12 - - - - - - - - - - -
19298.02 244.95 0.07 2011 19301.89 no move -0.82 - - 2424.06 - - - 1990.00 - 22.51 - - 2730.50 - - - - - - - - - - -
19598.02 245.02 -0.02 2041 19600.91 no move -0.82 - - 2425.12 - - - 1990.94 - 22.51 - - 2730.66 - - - - - - - - - - -
19898.10 245.59 -0.18 2071 19900.99 no move -0.82 - - 2424.56 - - - 1990.50 - 22.51 - - 2730.03 - - - - - - - - - - -
20197.60 244.98 0.20 2101 20200.89 no move -0.82 - - 2424.44 - - - 1990.12 - 22.51 - - 2729.66 - - - - - - - - - - -
20497.64 244.22 0.26 2131 20501.23 no move -0.82 - - 2425.06 - - - 1990.44 - 22.51 - - 2730.72 - - - - - - - - - - -
20797.69 243.61 0.19 2161 20801.33 no move -0.82 - - 2424.94 - - - 1991.00 - 22.51 - - 2730.50 - - - - - - - - - - -
21097.80 242.97 0.22 2191 21101.67 no move -0.82 - - 2423.88 - - - 1990.50 - 22.51 - - 2730.53 - - - - - - - - - - -
21398.56 242.87 0.04 2221 21402.24 no move -0.82 - - 2422.62 - - - 1990.31 - 22.51 - - 2732.78 - - - - - - - - - - -
21698.48 243.51 -0.20 2251 21702.35 no move -0.82 - - 2424.81 - - - 1990.25 - 22.51 - - 2730.81 - - - - - - - - - - -
21998.64 243.18 0.15 2281 22002.69 no move -0.82 - - 2425.06 - - - 1990.12 - 22.51 - - 2729.59 - - - - - - - - - - -
22298.56 243.17 0.01 2311 22301.46 no move -0.82 - - 2424.50 - - - 1990.88 - 22.51 - - 2729.91 - - - - - - - - - - -
22597.99 243.77 -0.20 2341 22601.34 no move -0.82 - - 2423.69 - - - 1990.00 - 22.51 - - 2730.44 - - - - - - - - - - -
22898.01 244.07 -0.12 2371 22901.69 no move -0.82 - - 2424.88 - - - 1990.25 - 22.51 - - 2732.25 - - - - - - - - - - -
23198.06 244.85 -0.28 2401 23201.76 no move -0.82 - - 2423.94 - - - 1990.69 - 22.51 - - 2730.03 - - - - - - - - - - -
23458 end loiter: LOITER_COMPLETE
23458 begin climb
23458.12 244.73 - 2427 23582.88 0.89 3.29 0.176 2852.81 130.4 3.68 0.139 570.38 -386.0 145.99 110.84 1.430 2228.25 -4.5 0.131 - - - - - - 15.97 15.48 12.06
23785.13 205.63 15.64 2492 23792.84 0.55 0.76 0.223 2767.25 -112.6 3.31 0.059 1975.00 424.4 145.99 - - 2216.31 - - - - - - - - 15.57 15.65 -
24091.73 183.61 6.20 2523 24173.69 0.65 0.27 0.110 2803.75 135.2 3.68 0.133 570.25 -381.7 229.12 72.14 1.355 1888.44 -4.5 0.104 - - - - - - 15.70 15.38 11.76
24215.86 171.55 11.90 2548 24223.47 0.55 0.32 0.200 2768.50 -110.2 3.35 0.056 1976.75 419.9 229.12 - - 1883.50 - - - - - - - - 15.42 15.42 -
24522.10 150.76 6.54 2579 24595.94 0.80 0.50 0.097 2839.31 141.6 3.68 0.130 571.12 -382.0 305.00 65.60 1.301 1578.66 -4.6 0.091 - - - - - - 15.60 15.33 11.82
24689.84 134.06 11.28 2612 24696.60 done 0.80 - - 2839.44 - 3.33 0.054 1976.69 422.1 305.00 - - 1571.69 - - - - - - - - - 15.48 -
24994.73 106.73 8.75 2643 25001.67 done 0.80 - - 2838.25 - 3.62 0.128 568.94 -388.9 305.00 - - 1566.88 - - - - - - - - - 15.56 -
25059.90 100.03 10.31 2656 25066.28 done 0.80 - - 2840.12 - 3.29 0.053 1973.69 427.0 305.00 - - 1565.16 - - - - - - - - - 15.64 -
25365.69 75.56 7.78 2717 25422.52 0.93 0.17 0.125 2871.25 183.1 3.64 0.131 571.25 -385.3 354.48 47.71 1.243 1378.56 -3.9 0.040 - - - - - - 15.68 15.39 11.67
25500.81 62.28 10.92 2744 25507.22 roll 0.93 - - 2870.69 - 3.29 0.054 1977.00 427.3 354.48 - - 1375.19 - - - - - - - - - 15.56 -
25686.57 45.35 8.35 2781 25696.35 done 1.03 - - 2870.81 - 3.59 0.128 571.12 -391.6 354.48 - - 1372.38 - - - - - - - - - 15.50 -
25741.64 41.19 7.79 2792 25819.46 1.09 0.22 0.117 2910.56 180.7 3.28 0.052 1985.69 431.3 403.62 69.37 1.198 1180.25 -2.8 0.016 - - - - - - 15.63 15.55 11.91
25998.49 28.58 5.30 2843 26163.50 1.37 0.42 0.100 2976.75 157.6 3.75 0.131 571.31 -377.2 505.84 157.76 1.128 763.50 -2.6 0.011 - - - - - - 15.47 15.09 11.50
26212.46 9.71 10.51 2885 26219.28 roll 1.37 - - 2976.75 - 3.36 0.053 1977.38 418.5 505.84 - - 760.38 - - - - - - - - - 15.14 -
26363 end climb: SURFACE_DEPTH_REACHED
26363 begin surface coast
26423 end surface coast: CONTROL_FINISHED_OK
26423 begin surface
SM 2.40 - - - - 200.2 - 0.013 500.2 - 19.14 0.092 489.1 25.6 - 0.19 0.098 511.4 2673.9 -6.693 - - 30.36 15.38 15.44 -