SMODE Aug22 * SG220 * Dive index * Mission links * Dive 109 * Raw log
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• Previous call tries 1 • 33.52 of 350.00 AH used of 24V (90.42% remains)
• Surface angle -66.4 deg, depth 1.15 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 350.35 (SM_CC=350)
• GPS1 time: 33 s
• GPS2 time: 3 s • Transponder ping count: 22
• 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
32.96 - - - 95.29 VBD -0.67 - - 160.31 - - - 2664.50 - -97.32 61.35 0.006 2995.12 - - - - - - - - - - 15.30
95.49 3.08 -3.47 12 122.74 -0.67 10.77 0.547 1802.50 152.5 2.18 0.138 3840.94 539.7 -97.32 11.07 0.007 3447.34 40.9 -3.075 - - - - - - 15.10 15.52 15.31
350.08 54.80 -16.22 63 354.96 roll -0.67 - - 1803.38 - 1.85 0.036 2677.31 -629.0 -97.32 - - 3448.81 - - - - - - - - - 15.61 -
535.16 82.82 -14.57 100 540.60 roll -0.67 - - 1804.12 - 2.14 0.132 3843.62 545.0 -97.32 - - 3449.88 - - - - - - - - - 15.77 -
765.20 113.28 -13.58 146 770.06 roll -0.67 - - 1804.50 - 1.84 0.036 2674.50 -635.4 -97.32 - - 3451.12 - - - - - - - - - 15.84 -
1075.26 151.89 -11.69 178 1076.60 no move -0.67 - - 1804.12 - - - 2671.81 - -97.32 - - 3450.06 - - - - - - - - - - -
1385.31 188.26 -11.21 209 1390.83 roll -0.67 - - 1804.19 - 2.34 0.041 1301.50 -585.6 -97.32 - - 3451.22 - - - - - - - - - 15.90 -
1455.33 195.74 -10.41 223 1460.90 roll -0.67 - - 1803.88 - 2.67 0.093 2765.44 548.3 -97.32 - - 3451.22 - - - - - - - - - 15.94 -
1765.41 228.66 -10.77 255 1770.93 roll -0.67 - - 1804.31 - 2.51 0.041 1300.38 -583.7 -97.32 - - 3450.16 - - - - - - - - - 16.00 -
1845.40 237.00 -10.17 271 1850.97 roll -0.67 - - 1803.75 - 2.68 0.099 2761.94 545.4 -97.32 - - 3450.69 - - - - - - - - - 15.97 -
2155.48 270.93 -11.06 303 2160.98 roll -0.67 - - 1803.62 - 2.49 0.040 1303.19 -585.8 -97.32 - - 3450.22 - - - - - - - - - 16.02 -
2210.45 277.01 -10.83 314 2216.08 roll -0.67 - - 1804.12 - 2.66 0.095 2763.38 548.9 -97.32 - - 3449.62 - - - - - - - - - 15.97 -
2525.55 309.94 -10.52 346 2526.89 no move -0.67 - - 1804.50 - - - 2763.00 - -97.32 - - 3446.91 - - - - - - - - - - -
2835.57 343.01 -10.26 377 2836.91 no move -0.67 - - 1803.19 - - - 2763.12 - -97.32 - - 3447.06 - - - - - - - - - - -
3145.62 375.23 -10.04 408 3146.96 no move -0.67 - - 1804.56 - - - 2763.06 - -97.32 - - 3444.31 - - - - - - - - - - -
3455.67 408.41 -10.75 439 3461.22 roll -0.67 - - 1803.62 - 2.51 0.042 1301.56 -582.3 -97.32 - - 3445.44 - - - - - - - - - 16.04 -
3490.66 412.28 -11.06 446 3496.26 roll -0.67 - - 1803.56 - 2.67 0.098 2762.19 547.1 -97.32 - - 3446.28 - - - - - - - - - 16.04 -
3805.77 446.84 -10.98 478 3807.11 no move -0.67 - - 1804.06 - - - 2762.62 - -97.32 - - 3441.62 - - - - - - - - - - -
4115.76 481.11 -11.31 509 4117.10 no move -0.67 - - 1803.94 - - - 2762.06 - -97.32 - - 3440.50 - - - - - - - - - - -
4425.78 515.60 -10.73 540 4427.12 no move -0.67 - - 1804.25 - - - 2762.31 - -97.32 - - 3439.00 - - - - - - - - - - -
4735.81 548.69 -10.28 571 4737.15 no move -0.67 - - 1804.00 - - - 2762.00 - -97.32 - - 3438.97 - - - - - - - - - - -
5045.83 577.98 -8.94 602 5051.38 roll -0.67 - - 1804.56 - 2.51 0.046 1303.25 -581.2 -97.32 - - 3440.03 - - - - - - - - - 16.05 -
5110.82 583.77 -8.82 615 5116.42 roll -0.67 - - 1804.00 - 2.68 0.102 2762.25 544.4 -97.32 - - 3438.09 - - - - - - - - - 16.04 -
5425.91 610.77 -8.53 647 5427.25 no move -0.67 - - 1803.81 - - - 2762.69 - -97.32 - - 3436.50 - - - - - - - - - - -
5735.92 638.22 -9.01 678 5740.80 roll -0.67 - - 1804.31 - 1.94 0.138 3843.75 557.2 -97.32 - - 3436.38 - - - - - - - - - 16.00 -
5785.93 642.98 -9.68 688 5790.79 roll -0.67 - - 1804.12 - 1.84 0.044 2682.19 -631.3 -97.32 - - 3437.75 - - - - - - - - - 16.07 -
6095.98 672.38 -9.47 720 6097.32 no move -0.67 - - 1803.94 - - - 2680.44 - -97.32 - - 3434.91 - - - - - - - - - - -
6406.02 701.62 -9.49 751 6411.50 roll -0.67 - - 1804.31 - 2.12 0.139 3844.62 549.1 -97.32 - - 3436.25 - - - - - - - - - 16.01 -
6501.03 711.14 -10.01 770 6505.92 roll -0.67 - - 1804.69 - 1.84 0.042 2683.56 -631.0 -97.32 - - 3433.84 - - - - - - - - - 16.03 -
6816.11 740.08 -9.31 802 6817.45 no move -0.67 - - 1804.62 - - - 2681.62 - -97.32 - - 3434.59 - - - - - - - - - - -
7126.15 767.87 -8.90 833 7131.64 roll -0.67 - - 1804.31 - 2.11 0.139 3841.44 549.7 -97.32 - - 3434.81 - - - - - - - - - 16.01 -
7176.17 772.36 -9.02 843 7181.03 roll -0.67 - - 1803.81 - 1.84 0.043 2685.00 -628.5 -97.32 - - 3434.00 - - - - - - - - - 16.04 -
7486.23 799.38 -8.59 875 7491.65 roll -0.67 - - 1803.62 - 2.10 0.134 3842.31 551.1 -97.32 - - 3432.00 - - - - - - - - - 16.00 -
7546.23 804.69 -8.81 887 7551.09 roll -0.67 - - 1803.69 - 1.83 0.042 2685.12 -632.3 -97.32 - - 3433.81 - - - - - - - - - 16.06 -
7856.29 830.99 -8.58 919 7857.63 no move -0.67 - - 1804.12 - - - 2684.69 - -97.32 - - 3431.00 - - - - - - - - - - -
8166.33 857.41 -8.49 950 8167.67 no move -0.67 - - 1804.25 - - - 2684.44 - -97.32 - - 3429.84 - - - - - - - - - - -
8476.39 884.50 -8.77 981 8481.82 roll -0.67 - - 1803.69 - 2.10 0.136 3843.44 551.9 -97.32 - - 3430.31 - - - - - - - - - 16.00 -
8526.40 889.13 -9.37 991 8531.27 roll -0.67 - - 1803.81 - 1.83 0.043 2686.50 -632.2 -97.32 - - 3429.69 - - - - - - - - - 16.03 -
8836.46 915.93 -8.32 1023 8841.94 roll -0.67 - - 1803.62 - 2.11 0.137 3843.12 548.2 -97.32 - - 3429.84 - - - - - - - - - 16.00 -
8906.47 922.05 -8.70 1037 8911.33 roll -0.67 - - 1803.25 - 1.83 0.042 2684.50 -633.1 -97.32 - - 3431.12 - - - - - - - - - 16.05 -
9216.52 947.79 -8.39 1069 9217.86 no move -0.67 - - 1804.00 - - - 2683.00 - -97.32 - - 3427.44 - - - - - - - - - - -
9526.56 974.35 -8.61 1100 9527.90 no move -0.67 - - 1803.94 - - - 2683.44 - -97.32 - - 3427.41 - - - - - - - - - - -
9716 end dive: TARGET_DEPTH_EXCEEDED
9716 begin apogee
9718.31 990.45 -8.50 1119 9798.33 -0.12 0.61 0.246 1981.12 290.5 0.19 0.159 2320.56 -1909.9 - 75.19 2.510 3046.81 -5.1 0.342 - - - - - - 15.90 15.14 12.42
9799 end apogee: CONTROL_FINISHED_OK
9799 begin climb
9799.77 992.46 - 1127 9883.37 0.67 0.78 0.118 2238.44 329.9 - - 2320.44 - 97.32 80.46 2.467 2648.88 -4.9 0.340 - - - - - - 15.24 - 12.33
10186.65 962.12 9.14 1166 10192.19 done 0.67 - - 2249.69 - 2.59 0.054 859.81 -563.9 97.32 - - 2645.56 - - - - - - - - - 15.65 -
10231.64 958.07 9.10 1175 10237.24 done 0.67 - - 2249.25 - 2.62 0.073 2310.50 553.7 97.32 - - 2642.84 - - - - - - - - - 15.67 -
10546.71 927.77 9.65 1207 10548.04 VBD 0.67 - - 2250.00 - - - 2310.19 - 97.32 - - 2642.75 - - - - - - - - - - -
10856.75 898.16 9.55 1238 10858.08 VBD 0.67 - - 2248.94 - - - 2310.56 - 97.32 - - 2638.00 - - - - - - - - - - -
11166.77 870.02 8.82 1269 11168.11 VBD 0.67 - - 2247.31 - - - 2310.44 - 97.32 - - 2640.91 - - - - - - - - - - -
11476.78 842.74 9.04 1300 11478.12 VBD 0.67 - - 2249.38 - - - 2310.50 - 97.32 - - 2637.34 - - - - - - - - - - -
11786.81 815.02 8.81 1331 11792.34 done 0.67 - - 2256.38 - 2.49 0.054 855.75 -584.2 97.32 - - 2640.41 - - - - - - - - - 15.99 -
11816.81 812.36 8.86 1337 11822.38 done 0.67 - - 2256.88 - 2.58 0.075 2311.94 564.4 97.32 - - 2637.94 - - - - - - - - - 15.96 -
12126.83 783.24 9.70 1369 12128.17 VBD 0.67 - - 2257.12 - - - 2311.56 - 97.32 - - 2635.62 - - - - - - - - - - -
12436.84 753.21 9.90 1400 12442.39 done 0.67 - - 2255.94 - 2.54 0.122 3726.50 557.1 97.32 - - 2638.12 - - - - - - - - - 15.95 -
12481.83 748.32 10.86 1409 12487.39 done 0.67 - - 2267.50 - 2.40 0.040 2255.31 -613.0 97.32 - - 2637.03 - - - - - - - - - 15.99 -
12796.90 718.30 9.08 1441 12798.38 0.67 0.16 0.279 2225.56 -262.1 - - 2249.62 - 97.32 - - 2635.19 - - - - - - - - 15.89 - -
13106.93 695.71 7.14 1472 13108.27 VBD 0.69 - - 2224.56 - - - 2248.81 - 97.32 - - 2638.16 - - - - - - - - - - -
13416.98 673.05 7.37 1503 13422.53 done 0.72 - - 2224.88 - 2.68 0.126 3726.50 551.4 97.32 - - 2635.81 - - - - - - - - - 15.97 -
13441.96 670.84 7.86 1508 13447.52 done 0.73 - - 2233.00 - 2.40 0.041 2255.00 -613.1 97.32 - - 2638.53 - - - - - - - - - 16.00 -
13757.05 645.12 8.07 1540 13762.59 done 0.73 - - 2231.81 - 2.68 0.124 3725.06 548.5 97.32 - - 2637.19 - - - - - - - - - 15.97 -
13792.01 641.91 8.69 1547 13797.58 done 0.73 - - 2242.25 - 2.41 0.041 2254.25 -610.3 97.32 - - 2636.16 - - - - - - - - - 16.03 -
14107.14 616.63 7.81 1579 14108.48 VBD 0.74 - - 2242.94 - - - 2249.62 - 97.32 - - 2634.50 - - - - - - - - - - -
14417.12 591.94 8.01 1610 14418.47 VBD 0.74 - - 2243.00 - - - 2249.94 - 97.32 - - 2634.56 - - - - - - - - - - -
14727.18 565.60 8.49 1641 14728.52 VBD 0.74 - - 2243.38 - - - 2249.38 - 97.32 - - 2634.94 - - - - - - - - - - -
15037.24 540.28 7.54 1672 15042.75 done 0.76 - - 2252.00 - 2.37 0.055 857.06 -587.5 97.32 - - 2636.09 - - - - - - - - - 16.04 -
15067.25 538.13 7.38 1678 15072.79 done 0.78 - - 2251.69 - 2.56 0.072 2314.38 569.3 97.32 - - 2635.84 - - - - - - - - - 16.00 -
15377.29 515.78 7.03 1710 15378.63 VBD 0.81 - - 2251.69 - - - 2314.38 - 97.32 - - 2634.06 - - - - - - - - - - -
15687.33 494.46 7.00 1741 15692.91 0.84 0.10 0.095 2340.75 890.6 2.50 0.055 855.25 -583.7 97.32 - - 2635.72 - - - - - - - - 16.00 15.93 -
15737.33 489.90 9.44 1751 15742.96 0.84 0.22 0.281 2281.12 -271.0 2.56 0.073 2311.81 569.0 97.32 - - 2636.28 - - - - - - - - 15.91 16.01 -
16047.38 464.45 8.12 1783 16048.72 VBD 0.84 - - 2280.88 - - - 2312.06 - 97.32 - - 2633.81 - - - - - - - - - - -
16357.44 439.49 7.91 1814 16358.78 VBD 0.85 - - 2281.06 - - - 2312.31 - 97.32 - - 2633.78 - - - - - - - - - - -
16667.49 415.58 7.70 1845 16668.83 VBD 0.86 - - 2280.94 - - - 2312.31 - 97.32 - - 2633.56 - - - - - - - - - - -
16977.54 391.25 7.82 1876 16983.05 done 0.88 - - 2290.81 - 2.50 0.057 854.19 -583.2 97.32 - - 2637.12 - - - - - - - - - 15.97 -
17052.53 385.08 8.25 1891 17058.11 done 0.88 - - 2290.19 - 2.58 0.080 2313.44 565.6 97.32 - - 2636.31 - - - - - - - - - 15.96 -
17367.58 358.05 8.70 1923 17368.93 VBD 0.88 - - 2290.25 - - - 2313.31 - 97.32 - - 2634.03 - - - - - - - - - - -
17677.65 332.04 7.85 1954 17683.19 done 0.89 - - 2290.31 - 2.53 0.125 3723.62 557.4 97.32 - - 2636.16 - - - - - - - - - 15.98 -
17722.64 328.22 8.49 1963 17728.18 done 0.89 - - 2301.50 - 2.39 0.038 2253.94 -614.9 97.32 - - 2635.59 - - - - - - - - - 16.04 -
18037.75 303.48 7.56 1995 18039.09 VBD 0.91 - - 2301.38 - - - 2250.38 - 97.32 - - 2634.28 - - - - - - - - - - -
18347.76 279.58 7.57 2026 18349.20 VBD 0.93 - - 2301.31 - - - 2250.44 - 97.32 - - 2634.16 - - - - - - - - - - -
18657.78 255.13 7.61 2057 18659.12 VBD 0.94 - - 2300.19 - - - 2249.50 - 97.32 - - 2636.50 - - - - - - - - - - -
18967.80 231.14 7.84 2088 18969.14 VBD 0.96 - - 2301.25 - - - 2249.75 - 97.32 - - 2634.38 - - - - - - - - - - -
19277.82 208.48 7.39 2119 19283.39 done 0.98 - - 2301.94 - 2.69 0.127 3726.94 549.1 97.32 - - 2638.53 - - - - - - - - - 15.97 -
19312.81 205.57 7.66 2126 19318.38 0.99 0.07 0.120 2369.19 960.7 2.39 0.036 2246.19 -619.6 97.32 - - 2636.00 - - - - - - - - 15.98 16.03 -
19627.83 178.30 8.53 2158 19633.40 0.99 0.15 0.298 2339.31 -199.2 2.36 0.054 851.25 -591.1 97.32 - - 2636.47 - - - - - - - - 15.90 15.99 -
19712.84 171.98 7.27 2175 19718.40 done 1.02 - - 2337.81 - 2.57 0.074 2313.19 568.8 97.32 - - 2636.72 - - - - - - - - - 15.99 -
20027.87 148.67 7.02 2207 20033.38 done 1.05 - - 2349.12 - 2.50 0.053 852.75 -584.2 97.32 - - 2639.06 - - - - - - - - - 15.94 -
20192.88 137.26 7.31 2240 20198.45 done 1.07 - - 2349.94 - 2.57 0.073 2313.94 568.6 97.32 - - 2637.50 - - - - - - - - - 15.93 -
20507.93 118.74 5.41 2272 20550.22 done 1.13 - - 2358.94 - 2.56 0.056 852.75 -570.8 149.67 37.74 1.315 2434.69 -5.4 0.083 - - - - - - - 15.63 12.38
20597.92 112.21 8.98 2290 20603.52 roll 1.13 - - 2358.88 - 2.62 0.076 2314.69 558.0 149.67 - - 2432.62 - - - - - - - - - 15.71 -
20908.02 83.10 7.68 2340 20909.36 VBD 1.15 - - 2359.44 - - - 2314.94 - 149.67 - - 2432.00 - - - - - - - - - - -
21093.06 67.66 8.12 2377 21098.62 done 1.15 - - 2371.12 - 2.54 0.056 853.00 -575.6 149.67 - - 2432.53 - - - - - - - - - 15.80 -
21253.11 55.44 7.96 2409 21258.68 done 1.16 - - 2371.00 - 2.61 0.077 2313.38 559.5 149.67 - - 2430.16 - - - - - - - - - 15.78 -
21443.15 46.41 3.45 2447 21509.96 1.26 0.14 0.072 2460.00 635.7 2.60 0.120 3725.75 543.2 235.64 62.19 1.220 2087.56 -5.5 0.036 - - - - - - 15.82 15.41 12.44
21738.20 19.49 9.46 2506 21743.82 1.26 0.22 0.327 2415.88 -200.5 2.42 0.033 2254.50 -608.0 235.64 - - 2081.62 - - - - - - - - 15.59 15.69 -
21928.26 4.52 8.24 2544 21933.83 done 1.26 - - 2427.00 - 2.41 0.056 854.56 -580.9 235.64 - - 2077.84 - - - - - - - - - 15.74 -
21958 end climb: SURFACE_DEPTH_REACHED
21958 begin surface coast
21978 end surface coast: CONTROL_FINISHED_OK
21978 begin surface
SM 0.91 - - - - 167.9 78.71 1.148 1620.8 20.6 6.41 0.080 1694.1 264.3 - 3.50 0.108 1547.4 441.4 -0.380 - - 12.39 15.77 15.76 -