AMOS Sep20 * SG233 * Dive index * Mission links * Dive 76 * Raw log
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• Previous call tries 1 • 51.24 of 350.00 AH used of 24V (85.36% remains)
• Surface angle -66.6 deg, depth 1.57 m • Intended pitch -17.8 deg, speed -10.101 cm/s
• VBD pumped to 570.02 (SM_CC=570.32251)
• GPS1 time: 16 s
• GPS2 time: 5 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
10.20 - - - 104.90 VBD -0.89 - - 200.56 - - - 2025.25 - -145.99 92.61 0.005 2077.75 - - - - - - - - - - 15.41
105.16 3.18 -1.91 18 180.52 -0.89 19.92 0.301 2420.62 111.4 3.72 0.149 583.44 -387.6 -145.99 42.30 0.005 3422.69 31.8 -3.508 - - - - - - 15.31 15.44 15.44
244.39 31.56 -24.38 45 254.78 roll back -0.74 0.27 0.199 2457.62 137.0 3.48 0.055 2071.75 427.7 -145.99 - - 3425.53 - - - - - - - - 15.46 15.56 -
433.87 57.48 -11.77 83 441.25 roll -0.81 - - 2457.12 - 3.21 0.137 3350.94 398.5 -145.99 - - 3427.88 - - - - - - - - - 15.57 -
474.82 61.77 -10.49 91 485.59 roll back -0.91 0.38 0.092 2405.00 -137.2 3.10 0.051 2021.88 -428.7 -145.99 - - 3426.62 - - - - - - - - 15.60 15.57 -
665.32 88.55 -13.51 129 670.51 no move -0.91 - - 2404.06 - - - 2022.81 - -145.99 - - 3427.09 - - - - - - - - - - -
854.78 113.51 -13.17 157 862.18 roll -0.91 - - 2406.06 - 3.63 0.140 584.44 -396.2 -145.99 - - 3425.38 - - - - - - - - - 15.60 -
884.34 117.70 -13.66 163 892.44 roll back -0.84 0.29 0.200 2435.06 100.0 3.43 0.054 2073.06 434.0 -145.99 - - 3427.53 - - - - - - - - 15.66 15.68 -
1190.92 149.40 -9.70 194 1196.79 roll -0.91 - - 2433.75 - 3.18 0.136 3349.62 401.4 -145.99 - - 3428.44 - - - - - - - - - 15.72 -
1209.39 151.29 -9.49 198 1216.93 roll back -0.97 0.29 0.100 2392.50 -142.2 3.08 0.049 2023.38 -430.6 -145.99 - - 3428.03 - - - - - - - - 15.76 15.78 -
1515.45 184.92 -9.84 229 1518.79 no move -0.97 - - 2392.56 - - - 2022.31 - -145.99 - - 3426.81 - - - - - - - - - - -
1676 end dive: TARGET_DEPTH_EXCEEDED
1676 begin apogee
1677.33 200.13 -9.37 245 1803.73 -0.20 1.53 0.173 2591.38 129.9 0.12 0.173 1991.50 -256.7 - 122.05 1.383 2822.78 -4.9 0.124 - - - - - - 15.77 15.31 11.86
1806 end apogee: CONTROL_FINISHED_OK
1806 begin loiter
2100.91 206.44 -0.98 287 2104.06 no move -0.20 - - 2589.38 - - - 1991.19 - - - - 2818.44 - - - - - - - - - - -
2401.01 211.51 -1.78 317 2405.67 -0.62 0.80 0.096 2477.44 -139.9 - - 1991.62 - - 0.01 1.494 2828.88 1044.0 -25.641 - - - - - - 15.59 - -
2701.48 217.53 -1.86 347 2705.10 no move -0.72 - - 2478.88 - - - 1991.50 - - - - 2826.59 - - - - - - - - - - -
3001.60 224.27 -2.48 377 3016.60 -0.81 0.26 0.105 2429.31 -190.7 - - 1992.12 - 9.65 11.99 1.279 2782.19 -3.7 0.113 - - - - - - 15.68 - 11.81
3311.06 229.20 -1.49 408 3314.52 no move -0.81 - - 2428.94 - - - 1991.50 - 9.65 - - 2780.72 - - - - - - - - - - -
3611.65 234.30 -1.74 438 3615.22 no move -0.81 - - 2429.88 - - - 1991.12 - 9.65 - - 2782.12 - - - - - - - - - - -
3911.70 238.87 -1.53 468 3915.57 no move -0.81 - - 2430.19 - - - 1991.31 - 9.65 - - 2780.41 - - - - - - - - - - -
4211.64 243.01 -1.35 498 4214.53 no move -0.81 - - 2429.56 - - - 1991.00 - 9.65 - - 2780.09 - - - - - - - - - - -
4511.77 246.99 -1.36 528 4514.66 no move -0.81 - - 2430.38 - - - 1991.25 - 9.65 - - 2780.03 - - - - - - - - - - -
4811.30 250.27 -1.08 558 4822.16 VBD -0.80 - - 2428.19 - - - 1991.25 - 13.84 5.93 1.027 2769.16 -1.8 0.077 - - - - - - - - 11.68
5121.76 252.50 -0.72 589 5132.20 VBD -0.80 - - 2429.69 - - - 1990.50 - 16.64 5.04 0.905 2756.88 -2.4 0.118 - - - - - - - - 11.87
5432.05 252.09 0.18 620 5435.71 no move -0.80 - - 2429.69 - - - 1991.25 - 16.64 - - 2754.31 - - - - - - - - - - -
5731.94 251.43 0.22 650 5735.44 no move -0.80 - - 2428.00 - - - 1991.25 - 16.64 - - 2756.78 - - - - - - - - - - -
6032.19 251.68 -0.05 680 6036.15 no move -0.80 - - 2429.56 - - - 1991.25 - 16.84 - - 2754.47 - - - - - - - - - - -
6332.01 251.58 - 710 6334.90 no move -0.80 - - 2429.62 - - - 1991.94 - 16.84 - - 2754.34 - - - - - - - - - - -
6631.50 251.31 0.12 740 6634.80 no move -0.80 - - 2429.06 - - - 1991.69 - 16.84 - - 2754.66 - - - - - - - - - - -
6931.55 251.48 -0.05 770 6935.16 no move -0.80 - - 2430.75 - - - 1991.06 - 17.06 - - 2755.28 - - - - - - - - - - -
7231.58 252.14 -0.22 800 7235.22 no move -0.80 - - 2429.44 - - - 1990.75 - 17.93 - - 2754.56 - - - - - - - - - - -
7531.72 252.46 -0.11 830 7535.56 no move -0.79 - - 2429.00 - - - 1991.50 - 18.36 - - 2754.22 - - - - - - - - - - -
7832.43 252.29 0.06 860 7835.90 no move -0.79 - - 2428.94 - - - 1991.38 - 18.36 - - 2753.50 - - - - - - - - - - -
8132.38 252.30 -0.03 890 8136.24 no move -0.79 - - 2429.69 - - - 1991.19 - 18.48 - - 2753.62 - - - - - - - - - - -
8432.54 253.22 -0.29 920 8442.72 VBD -0.79 - - 2429.81 - - - 1991.38 - 19.61 5.28 0.939 2744.78 -1.7 0.078 - - - - - - - - 11.90
8742.52 252.08 0.41 951 8746.02 no move -0.79 - - 2428.88 - - - 1991.12 - 19.61 - - 2741.75 - - - - - - - - - - -
9042.50 250.85 0.39 981 9046.36 no move -0.79 - - 2429.62 - - - 1991.69 - 19.61 - - 2741.25 - - - - - - - - - - -
9342.65 249.49 0.43 1011 9346.70 no move -0.79 - - 2429.12 - - - 1990.88 - 19.61 - - 2741.41 - - - - - - - - - - -
9642.58 250.53 -0.34 1041 9645.47 no move -0.79 - - 2429.12 - - - 1991.50 - 20.93 - - 2741.38 - - - - - - - - - - -
9942.00 250.10 0.14 1071 9945.36 no move -0.79 - - 2429.31 - - - 1992.31 - 20.93 - - 2741.41 - - - - - - - - - - -
10242.04 249.60 0.17 1101 10245.70 no move -0.79 - - 2429.25 - - - 1991.38 - 20.93 - - 2742.34 - - - - - - - - - - -
10542.07 249.58 0.01 1131 10545.80 no move -0.79 - - 2429.50 - - - 1991.44 - 20.93 - - 2741.44 - - - - - - - - - - -
10842.28 249.03 0.18 1161 10846.14 no move -0.79 - - 2429.94 - - - 1991.81 - 20.93 - - 2741.12 - - - - - - - - - - -
11142.89 249.05 -0.01 1191 11146.48 no move -0.79 - - 2429.19 - - - 1992.00 - 20.93 - - 2741.50 - - - - - - - - - - -
11442.96 249.48 -0.16 1221 11446.82 no move -0.79 - - 2429.81 - - - 1990.94 - 20.93 - - 2741.31 - - - - - - - - - - -
11742.97 249.92 -0.16 1251 11745.86 no move -0.79 - - 2429.56 - - - 1991.38 - 20.93 - - 2741.59 - - - - - - - - - - -
12043.04 251.85 -0.65 1281 12053.14 VBD -0.79 - - 2430.19 - - - 1991.12 - 23.45 5.93 1.027 2728.16 -2.3 0.096 - - - - - - - - 11.88
12353.02 251.06 0.30 1312 12356.94 no move -0.79 - - 2429.81 - - - 1991.38 - 23.45 - - 2726.12 - - - - - - - - - - -
12653.08 247.85 1.06 1342 12655.97 no move -0.79 - - 2430.69 - - - 1991.44 - 23.45 - - 2727.81 - - - - - - - - - - -
12953.15 244.57 1.09 1372 12956.04 no move -0.79 - - 2429.38 - - - 1991.50 - 23.45 - - 2726.00 - - - - - - - - - - -
13252.40 240.95 1.23 1402 13255.94 no move -0.79 - - 2429.38 - - - 1991.25 - 23.45 - - 2726.00 - - - - - - - - - - -
13552.44 239.99 0.31 1432 13556.01 no move -0.79 - - 2428.88 - - - 1991.62 - 23.45 - - 2726.56 - - - - - - - - - - -
13852.49 239.89 0.05 1462 13856.35 no move -0.79 - - 2429.94 - - - 1991.31 - 23.45 - - 2726.22 - - - - - - - - - - -
14153.26 240.30 -0.14 1492 14156.96 no move -0.79 - - 2429.12 - - - 1991.75 - 23.45 - - 2726.22 - - - - - - - - - - -
14453.17 240.66 -0.11 1522 14457.03 no move -0.79 - - 2429.69 - - - 1991.62 - 23.45 - - 2726.56 - - - - - - - - - - -
14753.33 238.66 0.68 1552 14757.37 no move -0.79 - - 2429.75 - - - 1991.12 - 23.45 - - 2725.81 - - - - - - - - - - -
15053.25 237.94 0.26 1582 15056.15 no move -0.79 - - 2429.81 - - - 1991.50 - 23.45 - - 2726.31 - - - - - - - - - - -
15352.69 238.14 -0.05 1612 15356.03 no move -0.79 - - 2429.69 - - - 1991.31 - 23.45 - - 2725.91 - - - - - - - - - - -
15652.74 238.59 -0.18 1642 15656.37 no move -0.79 - - 2429.56 - - - 1991.50 - 23.45 - - 2726.25 - - - - - - - - - - -
15952.80 238.07 0.19 1672 15956.47 no move -0.79 - - 2429.12 - - - 1991.38 - 23.45 - - 2726.50 - - - - - - - - - - -
16252.95 236.56 0.53 1702 16256.81 no move -0.79 - - 2429.75 - - - 1990.62 - 23.45 - - 2725.62 - - - - - - - - - - -
16553.93 236.85 -0.08 1732 16557.38 no move -0.79 - - 2430.00 - - - 1992.12 - 23.45 - - 2726.16 - - - - - - - - - - -
16854.00 238.26 -0.44 1762 16857.47 no move -0.79 - - 2429.88 - - - 1991.50 - 23.45 - - 2726.28 - - - - - - - - - - -
17154.04 239.43 -0.39 1792 17157.83 no move -0.79 - - 2429.06 - - - 1992.00 - 23.45 - - 2726.00 - - - - - - - - - - -
17454.57 238.45 0.37 1822 17458.15 no move -0.79 - - 2429.00 - - - 1991.50 - 23.45 - - 2726.09 - - - - - - - - - - -
17754.70 237.80 0.23 1852 17758.50 no move -0.79 - - 2429.44 - - - 1991.62 - 23.45 - - 2726.09 - - - - - - - - - - -
18054.97 237.38 0.18 1882 18058.84 no move -0.79 - - 2429.69 - - - 1991.25 - 23.45 - - 2725.66 - - - - - - - - - - -
18354.70 237.38 0.02 1912 18357.59 no move -0.79 - - 2429.94 - - - 1991.31 - 23.45 - - 2726.56 - - - - - - - - - - -
18654.17 237.20 0.10 1942 18657.49 no move -0.79 - - 2430.56 - - - 1991.38 - 23.45 - - 2725.16 - - - - - - - - - - -
18954.27 237.84 -0.20 1972 18957.84 no move -0.79 - - 2429.06 - - - 1991.88 - 23.45 - - 2725.44 - - - - - - - - - - -
19254.30 238.20 -0.10 2002 19257.90 no move -0.79 - - 2429.38 - - - 1990.44 - 23.45 - - 2726.03 - - - - - - - - - - -
19554.39 238.49 -0.10 2032 19558.24 no move -0.79 - - 2428.88 - - - 1991.19 - 23.45 - - 2726.00 - - - - - - - - - - -
19855.13 237.97 0.20 2062 19858.58 no move -0.79 - - 2429.19 - - - 1991.56 - 23.45 - - 2726.75 - - - - - - - - - - -
20155.06 236.97 0.33 2092 20158.92 no move -0.79 - - 2430.44 - - - 1991.31 - 23.45 - - 2725.69 - - - - - - - - - - -
20455.20 237.32 -0.11 2122 20458.09 no move -0.79 - - 2428.50 - - - 1991.31 - 23.45 - - 2728.41 - - - - - - - - - - -
20755.14 238.72 -0.48 2152 20758.04 no move -0.79 - - 2427.75 - - - 1990.88 - 23.45 - - 2728.53 - - - - - - - - - - -
21054.55 239.72 -0.34 2182 21057.92 no move -0.79 - - 2428.69 - - - 1991.50 - 23.45 - - 2726.34 - - - - - - - - - - -
21354.55 239.27 0.18 2212 21358.02 no move -0.79 - - 2429.69 - - - 1991.56 - 23.45 - - 2725.75 - - - - - - - - - - -
21654.61 238.92 0.12 2242 21658.36 no move -0.79 - - 2429.44 - - - 1991.50 - 23.45 - - 2726.62 - - - - - - - - - - -
21954.84 238.94 -0.03 2272 21958.71 no move -0.79 - - 2429.75 - - - 1991.06 - 23.45 - - 2726.34 - - - - - - - - - - -
22255.60 238.95 -0.01 2302 22259.29 no move -0.79 - - 2429.56 - - - 1991.56 - 23.45 - - 2725.53 - - - - - - - - - - -
22555.52 238.13 0.30 2332 22559.38 no move -0.79 - - 2429.56 - - - 1991.50 - 23.45 - - 2725.62 - - - - - - - - - - -
22855.56 238.34 -0.08 2362 22858.45 no move -0.79 - - 2429.25 - - - 1991.62 - 23.45 - - 2726.25 - - - - - - - - - - -
23155.60 239.99 -0.51 2392 23158.49 no move -0.79 - - 2429.06 - - - 1991.06 - 23.45 - - 2726.44 - - - - - - - - - - -
23395 end loiter: LOITER_COMPLETE
23395 begin climb
23395.13 239.42 - 2416 23515.22 0.89 3.28 0.177 2854.69 129.8 3.45 0.132 3350.56 394.1 145.99 109.44 1.421 2225.66 -4.6 0.134 - - - - - - 15.96 15.47 11.79
23684.04 211.93 13.12 2473 23695.38 0.64 0.59 0.213 2791.25 -107.5 3.44 0.073 1928.38 -413.4 145.99 - - 2214.81 - - - - - - - - 15.55 15.62 -
23993.89 184.89 6.90 2505 24060.55 0.73 0.23 0.113 2820.56 127.4 3.52 0.143 571.38 -385.5 214.03 58.79 1.327 1949.88 -4.5 0.109 - - - - - - 15.69 15.42 12.16
24197.86 164.51 11.01 2546 24205.46 0.61 0.37 0.196 2781.25 -106.2 3.30 0.060 1975.19 425.4 214.03 - - 1942.69 - - - - - - - - 15.49 15.52 -
24503.97 144.12 5.84 2577 24591.15 0.83 0.47 0.095 2847.88 141.8 3.67 0.136 570.19 -382.8 304.84 78.97 1.305 1580.09 -4.6 0.088 - - - - - - 15.66 15.31 11.61
24694.38 125.46 11.86 2615 24701.80 done 0.83 - - 2848.94 - 3.33 0.058 1975.56 422.0 304.84 - - 1570.34 - - - - - - - - - 15.36 -
24999.40 98.24 8.74 2647 25009.91 done 0.83 - - 2847.88 - 3.60 0.132 570.06 -390.4 304.84 - - 1566.66 - - - - - - - - - 15.55 -
25095.18 88.33 10.54 2666 25105.64 done 0.83 - - 2847.94 - 3.28 0.057 1977.94 429.2 304.84 - - 1564.69 - - - - - - - - - 15.64 -
25285.87 72.65 7.84 2704 25352.70 0.96 0.14 0.124 2875.00 193.3 - - 1979.38 - 352.93 60.97 1.201 1387.03 -2.9 0.031 - - - - - - 15.67 - 11.60
25531.59 52.52 8.33 2753 25538.89 roll 1.02 - - 2875.81 - 3.62 0.134 568.88 -389.6 352.93 - - 1378.88 - - - - - - - - - 15.50 -
25637.88 43.29 8.88 2774 25644.59 done 1.02 - - 2875.69 - 3.29 0.057 1979.75 428.8 352.93 - - 1376.53 - - - - - - - - - 15.50 -
25822.85 33.00 5.07 2811 25991.95 1.30 0.54 0.096 2960.44 156.9 - - 1981.75 - 460.09 162.66 1.138 949.78 -2.6 0.013 - - - - - - 15.65 - 11.78
26170.96 12.76 5.72 2880 26299.17 1.52 0.33 0.104 3012.12 156.6 - - 1981.94 - 553.26 125.32 1.088 618.38 -2.6 0.005 - - - - - - 15.40 - 11.69
26299 end climb: SURFACE_DEPTH_REACHED
26299 begin surface coast
26323 end surface coast: CONTROL_FINISHED_OK
26323 begin surface
SM 1.56 - - - - 204.6 0.14 0.192 501.2 2684.9 19.45 0.071 497.2 25.5 - 0.18 0.104 505.3 2807.2 -4.304 - - 15.09 15.18 15.19 -