SMODE Aug22 * SG220 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 1 • 32.42 of 350.00 AH used of 24V (90.74% remains)
• Surface angle -68.9 deg, depth 1.16 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 350.17 (SM_CC=350)
• GPS1 time: 28 s
• GPS2 time: 4 s • Transponder ping count: 20
• 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
32 end surface: CONTROL_FINISHED_OK
32 begin dive
32.97 - - - 100.38 VBD -0.67 - - 159.44 - - - 2670.44 - -97.32 66.39 0.006 3073.91 - - - - - - - - - - 15.31
100.58 3.71 -4.37 13 126.91 -0.67 12.05 0.584 1803.25 136.4 2.18 0.142 3842.75 537.8 -97.32 8.28 0.008 3446.31 45.0 -3.573 - - - - - - 15.29 15.52 15.37
304.25 47.52 -16.76 54 309.12 roll -0.67 - - 1802.31 - 1.86 0.034 2680.12 -625.1 -97.32 - - 3449.78 - - - - - - - - - 15.62 -
489.32 75.61 -14.51 91 494.76 roll -0.67 - - 1802.50 - 2.15 0.136 3843.50 541.1 -97.32 - - 3451.81 - - - - - - - - - 15.74 -
519.30 80.13 -15.21 97 524.17 roll -0.67 - - 1803.81 - 1.85 0.037 2678.31 -629.8 -97.32 - - 3450.47 - - - - - - - - - 15.77 -
709.35 107.54 -13.86 130 714.86 roll -0.67 - - 1803.31 - 2.36 0.040 1302.44 -583.0 -97.32 - - 3451.75 - - - - - - - - - 15.71 -
754.34 113.33 -12.50 139 759.94 roll -0.67 - - 1803.50 - 2.70 0.098 2766.00 542.1 -97.32 - - 3451.09 - - - - - - - - - 15.45 -
1069.44 153.73 -11.66 171 1070.78 no move -0.67 - - 1803.56 - - - 2765.81 - -97.32 - - 3450.75 - - - - - - - - - - -
1379.46 188.04 -11.42 202 1380.80 no move -0.67 - - 1804.25 - - - 2765.81 - -97.32 - - 3450.88 - - - - - - - - - - -
1689.50 225.34 -12.19 233 1690.84 no move -0.67 - - 1803.94 - - - 2766.00 - -97.32 - - 3450.62 - - - - - - - - - - -
1999.54 261.00 -11.09 264 2000.88 no move -0.67 - - 1804.00 - - - 2766.31 - -97.32 - - 3450.19 - - - - - - - - - - -
2309.59 295.38 -11.27 295 2310.93 no move -0.67 - - 1802.44 - - - 2766.38 - -97.32 - - 3450.66 - - - - - - - - - - -
2619.64 330.09 -11.28 326 2620.98 no move -0.67 - - 1803.50 - - - 2766.44 - -97.32 - - 3448.38 - - - - - - - - - - -
2929.69 362.23 -9.81 357 2935.22 roll -0.67 - - 1802.81 - 2.50 0.041 1303.62 -585.1 -97.32 - - 3449.50 - - - - - - - - - 15.91 -
3019.72 371.02 -9.61 375 3025.30 roll -0.67 - - 1803.19 - 2.66 0.097 2762.44 548.4 -97.32 - - 3450.00 - - - - - - - - - 15.90 -
3329.88 399.46 -8.86 407 3334.76 roll -0.67 - - 1803.69 - 1.92 0.136 3842.19 562.4 -97.32 - - 3447.03 - - - - - - - - - 16.00 -
3384.75 404.43 -9.10 418 3389.63 roll -0.67 - - 1802.69 - 1.82 0.039 2674.56 -641.6 -97.32 - - 3448.59 - - - - - - - - - 16.05 -
3699.81 432.74 -9.81 450 3701.14 no move -0.67 - - 1803.69 - - - 2672.75 - -97.32 - - 3444.50 - - - - - - - - - - -
4009.82 463.73 -10.22 481 4015.31 roll -0.67 - - 1803.06 - 2.12 0.136 3842.56 551.8 -97.32 - - 3445.00 - - - - - - - - - 15.88 -
4084.83 471.74 -10.76 496 4089.70 roll -0.67 - - 1803.12 - 1.83 0.040 2676.38 -637.3 -97.32 - - 3444.84 - - - - - - - - - 15.90 -
4399.87 503.29 -9.74 528 4401.20 no move -0.67 - - 1803.75 - - - 2675.94 - -97.32 - - 3442.88 - - - - - - - - - - -
4709.92 533.13 -9.84 559 4711.26 no move -0.67 - - 1803.88 - - - 2675.69 - -97.32 - - 3442.22 - - - - - - - - - - -
5020.06 564.17 -10.09 590 5021.40 no move -0.67 - - 1803.81 - - - 2676.06 - -97.32 - - 3440.53 - - - - - - - - - - -
5330.02 593.06 -8.94 621 5331.36 no move -0.67 - - 1803.44 - - - 2675.50 - -97.32 - - 3439.78 - - - - - - - - - - -
5640.08 619.99 -8.73 652 5645.56 roll -0.67 - - 1803.38 - 2.12 0.138 3842.69 550.6 -97.32 - - 3440.50 - - - - - - - - - 16.02 -
5680.09 623.61 -9.06 660 5684.95 roll -0.67 - - 1803.56 - 1.83 0.043 2685.06 -632.6 -97.32 - - 3439.28 - - - - - - - - - 16.06 -
5990.15 651.55 -9.19 692 5995.57 roll -0.67 - - 1802.69 - 2.10 0.133 3844.06 551.9 -97.32 - - 3440.31 - - - - - - - - - 15.85 -
6045.14 656.83 -9.68 703 6050.02 roll -0.67 - - 1803.12 - 1.83 0.043 2683.12 -634.4 -97.32 - - 3439.16 - - - - - - - - - 16.06 -
6360.22 685.16 -8.70 735 6361.55 no move -0.67 - - 1803.69 - - - 2681.19 - -97.32 - - 3437.47 - - - - - - - - - - -
6670.27 710.92 -7.79 766 6675.79 roll -0.67 - - 1803.44 - 2.34 0.043 1301.44 -589.6 -97.32 - - 3439.19 - - - - - - - - - 16.07 -
6750.29 717.29 -7.77 782 6755.86 roll -0.67 - - 1803.06 - 2.66 0.096 2763.56 549.7 -97.32 - - 3439.16 - - - - - - - - - 16.04 -
7060.38 740.76 -7.62 814 7061.71 no move -0.67 - - 1803.69 - - - 2763.62 - -97.32 - - 3435.44 - - - - - - - - - - -
7370.39 766.89 -8.81 845 7371.73 no move -0.67 - - 1803.69 - - - 2764.19 - -97.32 - - 3434.62 - - - - - - - - - - -
7680.45 795.78 -9.50 876 7681.79 no move -0.67 - - 1803.06 - - - 2763.75 - -97.32 - - 3434.03 - - - - - - - - - - -
7990.51 825.66 -9.71 907 7991.85 no move -0.67 - - 1803.38 - - - 2764.38 - -97.32 - - 3434.09 - - - - - - - - - - -
8300.56 854.33 -8.98 938 8306.09 roll -0.67 - - 1802.75 - 2.50 0.044 1304.06 -584.1 -97.32 - - 3436.41 - - - - - - - - - 16.04 -
8350.60 858.90 -9.04 948 8356.15 roll -0.67 - - 1803.44 - 2.66 0.098 2761.56 547.9 -97.32 - - 3434.16 - - - - - - - - - 16.03 -
8660.66 885.78 -8.49 980 8662.00 no move -0.67 - - 1803.25 - - - 2762.19 - -97.32 - - 3432.41 - - - - - - - - - - -
8970.67 912.00 -8.62 1011 8972.01 no move -0.67 - - 1803.38 - - - 2761.69 - -97.32 - - 3431.72 - - - - - - - - - - -
9280.73 939.41 -8.90 1042 9282.07 no move -0.67 - - 1803.38 - - - 2761.88 - -97.32 - - 3431.72 - - - - - - - - - - -
9590.76 966.95 -8.62 1073 9592.10 no move -0.67 - - 1802.38 - - - 2761.69 - -97.32 - - 3433.56 - - - - - - - - - - -
9861 end dive: TARGET_DEPTH_EXCEEDED
9861 begin apogee
9862.55 990.52 -8.48 1100 9942.51 -0.12 0.61 0.249 1979.88 291.0 0.19 0.166 2315.75 -2347.1 - 75.93 2.519 3048.75 -5.1 0.341 - - - - - - 15.92 15.13 12.42
9943 end apogee: CONTROL_FINISHED_OK
9943 begin climb
9943.94 992.45 - 1108 10027.57 0.67 0.79 0.118 2236.38 324.7 - - 2315.75 - 97.32 80.64 2.470 2652.19 -4.9 0.338 - - - - - - 15.22 - 12.28
10330.82 960.65 9.52 1147 10332.16 VBD 0.67 - - 2238.88 - - - 2316.06 - 97.32 - - 2641.16 - - - - - - - - - - -
10640.83 931.47 9.45 1178 10642.17 VBD 0.67 - - 2238.31 - - - 2316.38 - 97.32 - - 2639.16 - - - - - - - - - - -
10950.86 903.54 8.74 1209 10952.20 VBD 0.67 - - 2238.00 - - - 2316.31 - 97.32 - - 2638.88 - - - - - - - - - - -
11260.91 876.56 8.71 1240 11262.25 VBD 0.67 - - 2237.94 - - - 2316.06 - 97.32 - - 2638.06 - - - - - - - - - - -
11570.97 849.94 8.52 1271 11572.30 VBD 0.67 - - 2236.69 - - - 2315.69 - 97.32 - - 2639.97 - - - - - - - - - - -
11881.02 824.05 8.37 1302 11882.36 VBD 0.67 - - 2238.38 - - - 2316.25 - 97.32 - - 2637.09 - - - - - - - - - - -
12191.07 798.19 8.48 1333 12192.42 VBD 0.67 - - 2238.31 - - - 2316.44 - 97.32 - - 2636.81 - - - - - - - - - - -
12501.14 772.91 7.83 1364 12506.68 done 0.68 - - 2247.94 - 2.52 0.054 855.69 -579.7 97.32 - - 2638.47 - - - - - - - - - 15.93 -
12541.16 769.77 7.76 1372 12546.69 done 0.69 - - 2247.38 - 2.56 0.072 2309.81 568.0 97.32 - - 2637.62 - - - - - - - - - 15.98 -
12851.21 744.93 7.68 1404 12852.55 VBD 0.71 - - 2249.00 - - - 2310.00 - 97.32 - - 2635.28 - - - - - - - - - - -
13161.24 720.64 8.19 1435 13166.79 done 0.71 - - 2247.94 - 2.55 0.123 3727.00 555.7 97.32 - - 2636.16 - - - - - - - - - 15.88 -
13196.23 717.31 9.05 1442 13201.80 done 0.71 - - 2258.38 - 2.41 0.040 2255.38 -610.6 97.32 - - 2637.16 - - - - - - - - - 15.99 -
13511.36 690.02 8.74 1474 13512.70 VBD 0.71 - - 2258.44 - - - 2250.12 - 97.32 - - 2634.66 - - - - - - - - - - -
13821.36 663.17 8.67 1505 13826.89 done 0.71 - - 2268.06 - 2.38 0.056 855.62 -585.9 97.32 - - 2636.25 - - - - - - - - - 15.95 -
13851.37 660.60 8.57 1511 13856.93 done 0.71 - - 2268.25 - 2.56 0.071 2312.69 569.2 97.32 - - 2635.78 - - - - - - - - - 15.96 -
14161.42 633.18 8.76 1543 14166.98 done 0.71 - - 2267.88 - 2.53 0.119 3725.88 558.6 97.32 - - 2635.41 - - - - - - - - - 15.98 -
14216.42 627.65 10.26 1554 14221.99 done 0.71 - - 2279.69 - 2.40 0.040 2257.00 -612.0 97.32 - - 2636.56 - - - - - - - - - 16.00 -
14531.53 598.42 9.22 1586 14533.00 0.71 0.15 0.279 2238.81 -272.5 - - 2250.12 - 97.32 - - 2634.94 - - - - - - - - 15.89 - -
14841.56 574.82 7.34 1617 14842.90 VBD 0.73 - - 2239.44 - - - 2249.81 - 97.32 - - 2633.69 - - - - - - - - - - -
15151.61 552.79 7.06 1648 15152.96 VBD 0.76 - - 2239.69 - - - 2250.00 - 97.32 - - 2633.72 - - - - - - - - - - -
15461.66 531.44 7.06 1679 15463.12 0.79 0.10 0.099 2316.25 765.6 - - 2249.81 - 97.32 - - 2637.44 - - - - - - - - 15.97 - -
15771.69 502.38 9.61 1710 15773.17 0.79 0.19 0.273 2262.94 -280.6 - - 2249.12 - 97.32 - - 2635.88 - - - - - - - - 15.93 - -
16081.78 478.02 7.78 1741 16087.32 done 0.80 - - 2264.25 - 2.66 0.118 3726.19 555.3 97.32 - - 2635.31 - - - - - - - - - 15.99 -
16126.74 474.18 8.59 1750 16132.29 done 0.80 - - 2272.75 - 2.40 0.040 2254.00 -613.4 97.32 - - 2635.66 - - - - - - - - - 16.03 -
16441.81 450.43 8.06 1782 16443.15 VBD 0.80 - - 2272.62 - - - 2249.38 - 97.32 - - 2633.62 - - - - - - - - - - -
16751.88 424.46 8.77 1813 16753.22 VBD 0.80 - - 2272.94 - - - 2249.31 - 97.32 - - 2633.78 - - - - - - - - - - -
17061.83 397.02 8.48 1844 17063.17 VBD 0.80 - - 2272.94 - - - 2248.81 - 97.32 - - 2633.62 - - - - - - - - - - -
17371.87 372.77 7.23 1875 17373.21 VBD 0.83 - - 2273.19 - - - 2249.44 - 97.32 - - 2634.03 - - - - - - - - - - -
17681.90 351.70 6.54 1906 17687.45 done 0.86 - - 2272.19 - 2.65 0.115 3725.19 556.9 97.32 - - 2635.84 - - - - - - - - - 15.98 -
17721.95 348.58 7.46 1914 17727.41 done 0.88 - - 2284.06 - 2.40 0.041 2253.56 -613.2 97.32 - - 2635.59 - - - - - - - - - 16.04 -
18032.00 325.40 7.51 1946 18033.33 VBD 0.90 - - 2284.38 - - - 2248.81 - 97.32 - - 2633.88 - - - - - - - - - - -
18342.01 301.46 7.59 1977 18347.57 done 0.92 - - 2283.94 - 2.66 0.116 3726.69 555.6 97.32 - - 2635.50 - - - - - - - - - 15.98 -
18497.05 288.61 8.07 2008 18502.58 done 0.92 - - 2295.25 - 2.39 0.039 2252.75 -616.7 97.32 - - 2635.56 - - - - - - - - - 16.04 -
18812.15 267.24 7.00 2040 18817.62 done 0.95 - - 2305.75 - 2.36 0.053 854.06 -592.7 97.32 - - 2635.59 - - - - - - - - - 16.04 -
18967.17 256.71 6.62 2071 18972.71 done 0.99 - - 2306.06 - 2.56 0.072 2312.31 569.6 97.32 - - 2635.44 - - - - - - - - - 15.81 -
19282.21 235.90 6.77 2103 19283.69 1.02 0.11 0.082 2395.62 814.2 - - 2312.44 - 97.32 - - 2634.03 - - - - - - - - 16.01 - -
19592.25 206.33 9.53 2134 19593.74 1.02 0.21 0.307 2339.06 -269.3 - - 2312.44 - 97.32 - - 2635.72 - - - - - - - - 15.89 - -
19902.30 181.36 7.39 2165 19907.82 done 1.04 - - 2349.44 - 2.46 0.050 852.94 -593.3 97.32 - - 2637.50 - - - - - - - - - 16.03 -
20137.35 163.79 7.24 2212 20142.93 done 1.07 - - 2349.19 - 2.56 0.071 2313.56 570.6 97.32 - - 2637.19 - - - - - - - - - 15.82 -
20452.42 140.28 7.03 2244 20457.93 done 1.10 - - 2360.12 - 2.47 0.048 852.62 -591.5 97.32 - - 2638.38 - - - - - - - - - 15.82 -
20687.46 126.41 5.16 2291 20733.81 done 1.16 - - 2361.06 - 2.56 0.072 2310.50 569.5 153.96 40.70 1.327 2420.56 -5.4 0.087 - - - - - - - 15.94 12.41
21037.53 94.91 8.44 2336 21043.06 roll 1.16 - - 2371.56 - 2.49 0.050 854.12 -584.9 153.96 - - 2415.44 - - - - - - - - - 15.65 -
21232.57 78.35 8.81 2375 21238.15 done 1.16 - - 2373.06 - 2.57 0.068 2312.31 567.4 153.96 - - 2411.91 - - - - - - - - - 15.66 -
21422.65 63.32 7.51 2413 21428.20 done 1.18 - - 2372.69 - 2.54 0.118 3726.50 556.8 153.96 - - 2411.75 - - - - - - - - - 15.78 -
21437.64 62.20 7.30 2416 21443.22 1.21 0.06 0.134 2444.38 1194.8 2.41 0.038 2238.19 -617.6 153.96 - - 2414.03 - - - - - - - - 15.83 15.82 -
21627.69 49.73 6.45 2454 21629.03 VBD 1.25 - - 2445.31 - - - 2235.12 - 153.96 - - 2410.88 - - - - - - - - - - -
21812.74 38.65 4.86 2491 21864.13 done 1.32 - - 2455.88 - 2.39 0.052 852.62 -578.5 215.67 45.33 1.208 2167.00 -5.4 0.029 - - - - - - - 15.52 12.45
22092.78 17.44 5.12 2547 22139.14 done 1.39 - - 2455.69 - 2.58 0.066 2315.88 567.2 273.02 42.24 1.158 1935.31 -5.5 0.014 - - - - - - - 15.73 12.38
22248 end climb: SURFACE_DEPTH_REACHED
22248 begin surface coast
22268 end surface coast: CONTROL_FINISHED_OK
22268 begin surface
SM 1.37 - - - - 159.6 54.01 1.140 1621.5 29.2 6.51 0.075 1683.9 258.7 - 0.80 0.118 1559.1 1945.6 -2.309 - - 12.37 15.64 15.62 -