SMODE Mar23 * SG219 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 1 • 132.45 of 310.00 AH used of 24V (57.27% remains)
• Surface angle -68.8 deg, depth 1.41 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 325.18 (SM_CC=325)
• GPS1 time: 31 s
• GPS2 time: 2 s • 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
14 end surface: CONTROL_FINISHED_OK
15 begin dive
16.52 - - - 75.75 VBD -0.65 - - 209.19 - - - 2625.56 - -97.32 54.52 0.005 2654.16 - - - - - - - - - - 14.79
76.19 2.06 -1.27 11 124.26 -0.65 8.39 0.353 2040.44 218.3 2.44 0.028 1292.69 -546.3 -97.32 26.41 0.006 3363.97 26.9 -1.646 - - - - - - 14.74 14.93 15.03
236.64 22.26 -13.93 42 244.62 roll -0.65 - - 2031.44 - 2.84 0.042 2777.94 523.0 -97.32 - - 3366.53 - - - - - - - - - 15.45 -
427.01 53.47 -16.27 80 432.35 no move -0.65 - - 2031.75 - - - 2777.69 - -97.32 - - 3367.00 - - - - - - - - - - -
617.02 80.19 -12.76 118 622.09 no move -0.65 - - 2031.62 - - - 2777.25 - -97.32 - - 3367.66 - - - - - - - - - - -
812.03 103.59 -10.79 154 815.14 no move -0.65 - - 2031.69 - - - 2776.88 - -97.32 - - 3366.81 - - - - - - - - - - -
1122.04 140.10 -12.35 185 1128.76 roll -0.65 - - 2024.06 - 1.71 0.064 3849.00 627.0 -97.32 - - 3367.94 - - - - - - - - - 15.21 -
1162.05 145.06 -12.39 193 1168.84 roll -0.65 - - 2024.94 - 1.73 0.019 2654.00 -690.8 -97.32 - - 3367.94 - - - - - - - - - 15.36 -
1472.09 180.83 -11.00 225 1478.95 roll -0.65 - - 2014.50 - 1.98 0.063 3850.56 604.3 -97.32 - - 3368.53 - - - - - - - - - 15.56 -
1526.83 187.39 -12.07 236 1534.07 roll -0.65 - - 2016.19 - 1.72 0.019 2654.06 -695.6 -97.32 - - 3368.72 - - - - - - - - - 15.78 -
1842.11 223.98 -11.53 268 1843.87 no move -0.65 - - 2015.31 - - - 2644.81 - -97.32 - - 3367.44 - - - - - - - - - - -
2152.15 262.38 -12.89 299 2153.90 no move -0.65 - - 2015.19 - - - 2644.88 - -97.32 - - 3367.16 - - - - - - - - - - -
2462.18 301.70 -12.21 330 2468.15 roll -0.65 - - 2007.25 - 1.97 0.064 3851.88 612.7 -97.32 - - 3368.81 - - - - - - - - - 15.67 -
2546.93 312.10 -12.12 347 2553.34 roll back -0.65 0.13 0.223 2042.88 274.1 1.72 0.019 2638.00 -705.7 -97.32 - - 3369.66 - - - - - - - - 15.57 15.93 -
2862.25 341.87 -8.93 379 2868.54 roll -0.65 - - 2036.75 - 1.99 0.065 3851.19 609.6 -97.32 - - 3369.03 - - - - - - - - - 15.77 -
2927.00 347.81 -9.18 392 2933.17 roll -0.65 - - 2037.50 - 1.71 0.020 2644.69 -705.6 -97.32 - - 3367.91 - - - - - - - - - 15.91 -
3242.30 376.02 -8.88 424 3248.38 roll -0.65 - - 2027.50 - 1.97 0.065 3849.81 611.7 -97.32 - - 3367.00 - - - - - - - - - 15.64 -
3282.29 379.78 -9.40 432 3288.36 roll -0.65 - - 2028.44 - 1.71 0.020 2647.12 -703.3 -97.32 - - 3366.78 - - - - - - - - - 15.89 -
3592.32 409.89 -9.99 464 3598.69 roll -0.65 - - 2019.00 - 1.96 0.065 3850.31 613.9 -97.32 - - 3366.44 - - - - - - - - - 15.73 -
3662.33 417.17 -10.32 478 3668.26 roll -0.65 - - 2018.94 - 1.71 0.020 2644.56 -705.1 -97.32 - - 3368.22 - - - - - - - - - 15.84 -
3972.37 448.94 -9.98 510 3978.52 roll -0.65 - - 2011.12 - 1.95 0.064 3850.75 618.6 -97.32 - - 3367.16 - - - - - - - - - 15.82 -
4017.11 453.65 -10.52 519 4023.28 roll -0.65 - - 2010.31 - 1.71 0.020 2644.69 -705.3 -97.32 - - 3365.72 - - - - - - - - - 15.94 -
4332.39 483.97 -9.09 551 4334.19 no move -0.65 - - 2010.50 - - - 2642.75 - -97.32 - - 3364.41 - - - - - - - - - - -
4642.42 511.41 -8.57 582 4648.52 roll -0.65 - - 2000.88 - 1.97 0.065 3850.25 612.9 -97.32 - - 3364.38 - - - - - - - - - 15.71 -
4702.43 517.02 -9.47 594 4708.60 roll back -0.65 0.15 0.214 2044.06 287.9 1.73 0.020 2646.88 -695.6 -97.32 - - 3365.28 - - - - - - - - 15.49 15.79 -
5012.44 540.71 -7.85 626 5014.23 no move -0.65 - - 2044.50 - - - 2636.69 - -97.32 - - 3363.12 - - - - - - - - - - -
5322.47 567.17 -8.82 657 5324.27 no move -0.65 - - 2044.62 - - - 2637.12 - -97.32 - - 3362.50 - - - - - - - - - - -
5632.51 594.11 -8.59 688 5638.60 roll -0.65 - - 2037.44 - 2.00 0.067 3850.75 606.8 -97.32 - - 3362.69 - - - - - - - - - 15.73 -
5682.51 598.62 -9.15 698 5688.45 roll -0.65 - - 2038.50 - 1.72 0.021 2647.12 -699.8 -97.32 - - 3363.12 - - - - - - - - - 15.93 -
5992.53 626.83 -9.13 730 5994.32 no move -0.65 - - 2038.06 - - - 2645.75 - -97.32 - - 3361.50 - - - - - - - - - - -
6302.56 655.00 -8.90 761 6308.70 roll -0.65 - - 2030.06 - 1.97 0.066 3849.75 611.2 -97.32 - - 3362.31 - - - - - - - - - 15.60 -
6342.56 658.74 -9.33 769 6348.48 roll -0.65 - - 2027.56 - 1.72 0.021 2647.50 -699.0 -97.32 - - 3362.38 - - - - - - - - - 15.89 -
6652.60 686.79 -8.91 801 6654.39 no move -0.65 - - 2028.94 - - - 2645.81 - -97.32 - - 3360.41 - - - - - - - - - - -
6962.64 713.49 -8.59 832 6968.71 roll -0.65 - - 2019.75 - 1.98 0.066 3849.06 607.7 -97.32 - - 3360.41 - - - - - - - - - 15.58 -
7002.66 717.04 -8.86 840 7008.58 roll -0.65 - - 2020.62 - 1.73 0.021 2650.25 -693.0 -97.32 - - 3360.19 - - - - - - - - - 15.93 -
7312.71 742.71 -8.00 872 7314.50 no move -0.65 - - 2020.31 - - - 2647.25 - -97.32 - - 3358.72 - - - - - - - - - - -
7622.75 766.42 -7.54 903 7628.84 roll -0.65 - - 2011.50 - 1.97 0.066 3848.81 609.9 -97.32 - - 3358.81 - - - - - - - - - 15.44 -
7662.76 769.51 -7.63 911 7668.69 roll -0.65 - - 2011.19 - 1.72 0.021 2651.81 -695.9 -97.32 - - 3359.50 - - - - - - - - - 15.92 -
7972.78 794.29 -8.08 943 7974.57 no move -0.65 - - 2011.62 - - - 2648.12 - -97.32 - - 3358.00 - - - - - - - - - - -
8282.81 819.71 -8.27 974 8284.60 no move -0.65 - - 2011.19 - - - 2647.56 - -97.32 - - 3357.28 - - - - - - - - - - -
8592.83 845.76 -8.58 1005 8599.12 roll -0.65 - - 2003.00 - 1.97 0.067 3849.25 610.0 -97.32 - - 3357.91 - - - - - - - - - 15.79 -
8672.86 852.94 -9.13 1021 8679.04 roll back -0.65 0.14 0.209 2042.94 285.3 1.72 0.021 2648.44 -698.1 -97.32 - - 3358.12 - - - - - - - - 15.39 15.89 -
8982.88 873.82 -6.56 1053 8989.58 roll -0.65 - - 2044.94 - 2.45 0.027 1294.56 -552.6 -97.32 - - 3357.34 - - - - - - - - - 15.85 -
9027.63 876.92 -6.73 1062 9035.08 roll -0.65 - - 2033.88 - 2.80 0.043 2777.31 529.6 -97.32 - - 3358.06 - - - - - - - - - 15.77 -
9342.90 899.55 -7.40 1094 9349.78 roll -0.65 - - 2035.81 - 2.68 0.026 1296.12 -552.7 -97.32 - - 3357.44 - - - - - - - - - 15.87 -
9387.66 903.00 -7.66 1103 9395.23 roll -0.65 - - 2024.75 - 2.81 0.042 2778.81 527.6 -97.32 - - 3356.41 - - - - - - - - - 15.77 -
9702.92 929.20 -8.47 1135 9704.72 no move -0.65 - - 2024.69 - - - 2780.06 - -97.32 - - 3355.78 - - - - - - - - - - -
10012.96 955.76 -8.73 1166 10019.81 roll -0.65 - - 2025.00 - 2.68 0.026 1296.31 -553.6 -97.32 - - 3356.09 - - - - - - - - - 15.83 -
10067.71 960.66 -8.81 1177 10075.25 roll -0.65 - - 2013.44 - 2.82 0.042 2777.38 525.2 -97.32 - - 3356.28 - - - - - - - - - 15.61 -
10382.98 989.99 -9.23 1209 10389.88 roll -0.65 - - 2013.69 - 2.69 0.025 1297.56 -550.1 -97.32 - - 3355.88 - - - - - - - - - 15.66 -
10393 end dive: TARGET_DEPTH_EXCEEDED
10393 begin apogee
10398.35 990.96 -9.27 1211 10498.60 -0.12 0.71 0.190 2210.06 276.6 0.13 0.130 2309.50 7784.2 - 91.46 2.330 2966.44 -4.3 0.323 - - - - - - 15.13 14.86 10.21
10500 end apogee: CONTROL_FINISHED_OK
10500 begin climb
10501.22 993.82 - 1220 10614.15 0.65 0.78 0.096 2478.19 343.8 2.76 0.035 952.44 -491.7 97.32 97.17 2.278 2568.78 -4.1 0.319 - - - - - - 15.17 14.59 11.38
10631.75 990.74 4.90 1244 10703.96 done 0.73 - - 2476.69 - 3.01 0.034 2429.38 490.7 157.74 60.24 2.217 2324.09 -4.1 0.324 - - - - - - - 15.09 11.12
11006.66 955.46 10.13 1288 11008.45 VBD 0.73 - - 2476.81 - - - 2429.38 - 157.74 - - 2311.06 - - - - - - - - - - -
11316.45 924.20 10.28 1319 11318.24 VBD 0.73 - - 2477.25 - - - 2429.69 - 157.74 - - 2309.28 - - - - - - - - - - -
11626.48 892.70 10.23 1350 11633.43 done 0.73 - - 2488.31 - 2.80 0.030 949.44 -528.7 157.74 - - 2309.03 - - - - - - - - - 15.78 -
11656.48 889.55 10.27 1356 11663.52 done 0.73 - - 2489.00 - 2.85 0.034 2434.75 521.2 157.74 - - 2308.66 - - - - - - - - - 15.85 -
11966.50 856.90 10.20 1388 11973.46 done 0.73 - - 2500.56 - 2.79 0.031 949.44 -532.4 157.74 - - 2307.78 - - - - - - - - - 15.81 -
12001.26 853.28 10.35 1395 12008.81 done 0.73 - - 2500.44 - 2.86 0.034 2432.19 518.4 157.74 - - 2308.06 - - - - - - - - - 15.87 -
12316.54 819.65 11.00 1427 12323.07 done 0.73 - - 2500.00 - 2.27 0.064 3840.50 620.4 157.74 - - 2308.41 - - - - - - - - - 15.79 -
12331.28 817.84 11.25 1430 12338.33 done 0.73 - - 2508.75 - 2.28 0.020 2326.44 -664.1 157.74 - - 2307.84 - - - - - - - - - 15.90 -
12646.58 780.52 11.93 1462 12648.38 VBD 0.73 - - 2509.88 - - - 2309.00 - 157.74 - - 2305.56 - - - - - - - - - - -
12956.59 743.05 12.14 1493 12963.44 done 0.73 - - 2510.38 - 2.53 0.061 3840.44 605.3 157.74 - - 2306.44 - - - - - - - - - 15.80 -
12976.60 740.44 12.36 1497 12983.22 done 0.73 - - 2520.12 - 2.28 0.020 2328.88 -663.0 157.74 - - 2305.78 - - - - - - - - - 15.90 -
13286.65 702.13 12.42 1529 13288.70 0.73 0.16 0.212 2475.19 -280.8 - - 2311.75 - 157.74 - - 2306.34 - - - - - - - - 15.49 - -
13596.70 670.42 10.44 1560 13598.50 VBD 0.73 - - 2475.94 - - - 2311.69 - 157.74 - - 2303.59 - - - - - - - - - - -
13906.75 638.45 10.31 1591 13913.52 done 0.73 - - 2476.06 - 2.53 0.062 3839.00 603.7 157.74 - - 2304.53 - - - - - - - - - 15.79 -
13931.49 635.55 10.79 1596 13938.54 done 0.73 - - 2484.38 - 2.28 0.020 2320.88 -665.8 157.74 - - 2304.72 - - - - - - - - - 15.90 -
14246.77 601.74 10.62 1628 14253.56 done 0.73 - - 2485.25 - 2.54 0.062 3839.12 597.7 157.74 - - 2304.66 - - - - - - - - - 15.80 -
14321.53 592.79 12.03 1643 14328.58 done 0.73 - - 2494.25 - 2.26 0.020 2326.75 -669.2 157.74 - - 2304.31 - - - - - - - - - 15.92 -
14636.81 559.23 10.29 1675 14643.62 done 0.73 - - 2496.31 - 2.52 0.062 3836.94 599.3 157.74 - - 2303.44 - - - - - - - - - 15.79 -
14661.57 556.40 10.58 1680 14668.71 done 0.73 - - 2505.00 - 2.31 0.020 2328.00 -653.2 157.74 - - 2305.84 - - - - - - - - - 14.96 -
14976.85 523.24 10.41 1712 14983.71 done 0.73 - - 2508.25 - 2.55 0.061 3840.06 593.0 157.74 - - 2303.41 - - - - - - - - - 14.85 -
14986.85 522.15 10.53 1714 14993.40 done 0.73 - - 2515.88 - 2.28 0.020 2321.31 -666.1 157.74 - - 2303.62 - - - - - - - - - 15.82 -
15296.88 490.41 10.01 1746 15303.85 0.73 0.16 0.222 2473.94 -262.1 2.49 0.061 3839.12 609.6 157.74 - - 2303.59 - - - - - - - - 15.47 15.50 -
15321.62 487.97 9.92 1751 15328.68 done 0.73 - - 2484.12 - 2.30 0.020 2327.69 -657.1 157.74 - - 2303.25 - - - - - - - - - 14.94 -
15636.91 461.11 8.78 1783 15638.70 VBD 0.73 - - 2485.12 - - - 2311.56 - 157.74 - - 2302.00 - - - - - - - - - - -
15946.94 433.28 8.98 1814 15948.73 VBD 0.73 - - 2485.19 - - - 2310.81 - 157.74 - - 2301.91 - - - - - - - - - - -
16256.98 405.33 8.93 1845 16263.75 done 0.73 - - 2485.19 - 2.52 0.063 3839.94 606.8 157.74 - - 2303.25 - - - - - - - - - 15.77 -
16316.97 399.21 10.30 1857 16323.53 done 0.73 - - 2494.56 - 2.28 0.020 2325.25 -664.3 157.74 - - 2303.19 - - - - - - - - - 15.92 -
16627.01 370.87 8.67 1889 16633.79 done 0.73 - - 2495.00 - 2.55 0.063 3838.69 593.5 157.74 - - 2304.12 - - - - - - - - - 14.78 -
16681.76 365.40 10.02 1900 16688.81 done 0.73 - - 2505.00 - 2.27 0.019 2327.88 -665.6 157.74 - - 2303.06 - - - - - - - - - 15.92 -
16997.05 338.66 8.42 1932 17003.78 done 0.73 - - 2506.62 - 2.50 0.063 3839.56 604.7 157.74 - - 2304.16 - - - - - - - - - 15.77 -
17031.81 335.30 9.21 1939 17039.09 done 0.73 - - 2516.81 - 2.28 0.019 2328.06 -662.9 157.74 - - 2302.91 - - - - - - - - - 14.88 -
17347.09 307.74 8.61 1971 17354.14 0.73 0.16 0.215 2474.94 -261.7 2.54 0.062 3838.81 594.8 157.74 - - 2303.50 - - - - - - - - 15.36 14.75 -
17367.09 306.04 8.58 1975 17373.64 done 0.73 - - 2483.56 - 2.27 0.019 2325.62 -666.6 157.74 - - 2304.12 - - - - - - - - - 15.86 -
17677.20 283.09 7.55 2007 17683.91 done 0.75 - - 2485.19 - 2.54 0.063 3839.94 596.2 157.74 - - 2302.94 - - - - - - - - - 14.76 -
17711.95 280.18 7.92 2014 17718.98 done 0.76 - - 2493.25 - 2.25 0.019 2323.81 -673.8 157.74 - - 2303.44 - - - - - - - - - 15.92 -
18027.15 254.24 8.57 2046 18033.85 done 0.76 - - 2495.56 - 2.50 0.063 3840.31 606.6 157.74 - - 2303.53 - - - - - - - - - 15.76 -
18117.16 245.45 9.80 2064 18123.76 done 0.76 - - 2505.38 - 2.27 0.019 2332.25 -664.3 157.74 - - 2303.97 - - - - - - - - - 15.88 -
18427.26 220.32 7.68 2096 18433.97 done 0.77 - - 2506.25 - 2.53 0.063 3839.62 595.8 157.74 - - 2303.53 - - - - - - - - - 14.74 -
18487.20 214.93 9.07 2108 18493.74 done 0.77 - - 2516.56 - 2.29 0.019 2330.69 -658.9 157.74 - - 2303.06 - - - - - - - - - 14.83 -
18797.22 189.13 8.38 2140 18800.38 VBD 0.77 - - 2517.75 - - - 2314.25 - 157.74 - - 2302.28 - - - - - - - - - - -
19107.25 161.40 9.39 2171 19110.59 VBD 0.77 - - 2517.62 - - - 2314.19 - 157.74 - - 2302.38 - - - - - - - - - - -
19417.27 133.69 8.63 2202 19420.43 VBD 0.77 - - 2517.81 - - - 2314.38 - 157.74 - - 2302.56 - - - - - - - - - - -
19727.31 108.66 8.12 2233 19734.98 done 0.77 - - 2518.38 - 2.51 0.064 3836.50 606.4 157.74 - - 2304.12 - - - - - - - - - 15.56 -
19852.50 96.17 10.08 2258 19859.99 done 0.77 - - 2526.75 - 2.29 0.018 2332.12 -656.9 157.74 - - 2304.22 - - - - - - - - - 15.28 -
20042.55 80.48 8.39 2296 20050.26 done 0.77 - - 2527.88 - 2.50 0.062 3838.88 602.7 157.74 - - 2304.22 - - - - - - - - - 15.17 -
20082.77 76.79 9.18 2304 20090.32 done 0.77 - - 2538.56 - 2.28 0.019 2330.00 -661.8 157.74 - - 2304.44 - - - - - - - - - 15.71 -
20272.88 63.89 5.97 2342 20280.51 done 0.82 - - 2538.75 - 2.51 0.060 3840.38 601.7 157.74 - - 2305.47 - - - - - - - - - 15.26 -
20293.08 62.58 6.07 2346 20300.58 done 0.87 - - 2548.06 - 2.29 0.018 2327.81 -660.5 157.74 - - 2304.72 - - - - - - - - - 15.52 -
20483.12 52.16 5.90 2384 20490.85 done 0.92 - - 2559.75 - 2.60 0.030 947.94 -530.7 157.74 - - 2305.22 - - - - - - - - - 15.36 -
20543.44 48.39 6.24 2396 20551.33 done 0.97 - - 2560.56 - 2.87 0.033 2434.56 518.0 157.74 - - 2306.25 - - - - - - - - - 15.37 -
20733.87 35.95 6.23 2434 20741.28 done 1.01 - - 2560.50 - 2.27 0.061 3839.38 618.9 157.74 - - 2304.19 - - - - - - - - - 15.07 -
20968.92 22.30 5.29 2481 21021.41 1.08 0.08 0.098 2620.62 751.5 2.29 0.017 2288.56 -677.2 211.58 41.92 1.055 2103.34 -4.8 0.018 - - - - - - 15.26 15.43 10.95
21189 end climb: SURFACE_DEPTH_REACHED
21189 begin surface coast
21214 end surface coast: CONTROL_FINISHED_OK
21214 begin surface
SM 1.39 - - - - 216.0 83.76 1.039 1642.4 19.1 7.07 0.072 1630.6 230.6 - 0.81 0.057 1654.2 2039.4 -5.083 - - 11.23 15.52 15.67 -