SMODE Mar23 * SG220 * Dive index * Mission links * Dive 157 * Raw log
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• Previous call tries 1 • 146.40 of 350.00 AH used of 24V (58.17% remains)
• Surface angle -64.3 deg, depth 1.18 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 325.15 (SM_CC=325)
• GPS1 time: 35 s
• GPS2 time: 2 s • Transponder ping count: -1
• 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
10.90 - - - 84.71 VBD -0.67 - - 158.06 - - - 2677.38 - -97.32 70.21 0.005 3140.09 - - - - - - - - - - 14.75
84.96 3.22 -3.15 14 112.09 -0.67 11.07 0.523 1823.81 150.5 - - 2677.75 - -97.32 7.72 0.007 3444.66 39.5 -3.240 - - - - - - 14.66 - 15.09
294.59 40.59 -16.12 56 300.01 no move -0.67 - - 1824.69 - - - 2677.38 - -97.32 - - 3447.03 - - - - - - - - - - -
484.65 67.13 -12.63 94 491.83 roll -0.67 - - 1824.62 - 2.21 0.158 3838.62 525.4 -97.32 - - 3446.81 - - - - - - - - - 14.62 -
689.72 92.43 -12.21 135 696.37 roll -0.67 - - 1824.19 - 1.99 0.043 2591.88 -626.5 -97.32 - - 3447.03 - - - - - - - - - 15.59 -
879.76 117.44 -13.30 160 886.64 roll -0.67 - - 1824.25 - 2.56 0.054 1211.94 -539.0 -97.32 - - 3447.47 - - - - - - - - - 15.53 -
969.78 128.36 -11.54 178 976.79 roll -0.67 - - 1823.12 - 2.88 0.104 2667.19 505.3 -97.32 - - 3449.28 - - - - - - - - - 15.38 -
1279.84 159.53 -9.90 210 1286.54 roll -0.67 - - 1824.12 - 2.20 0.155 3840.50 533.3 -97.32 - - 3447.38 - - - - - - - - - 15.18 -
1369.86 168.48 -9.87 228 1376.53 roll -0.67 - - 1823.38 - 2.01 0.044 2590.88 -621.7 -97.32 - - 3448.94 - - - - - - - - - 15.47 -
1680.04 196.28 -8.87 260 1683.08 no move -0.67 - - 1824.06 - - - 2586.62 - -97.32 - - 3446.53 - - - - - - - - - - -
1990.02 225.72 -9.70 291 1991.58 no move -0.67 - - 1824.25 - - - 2587.00 - -97.32 - - 3447.16 - - - - - - - - - - -
2300.08 258.50 -10.92 322 2301.64 no move -0.67 - - 1824.00 - - - 2586.75 - -97.32 - - 3447.22 - - - - - - - - - - -
2610.14 291.94 -10.84 353 2616.32 roll -0.67 - - 1824.06 - 2.35 0.151 3840.31 533.4 -97.32 - - 3447.66 - - - - - - - - - 15.31 -
2720.17 304.25 -11.12 375 2726.20 roll -0.67 - - 1824.12 - 2.01 0.045 2587.50 -623.3 -97.32 - - 3448.59 - - - - - - - - - 14.75 -
3030.23 335.98 -9.82 407 3031.92 no move -0.67 - - 1824.75 - - - 2584.50 - -97.32 - - 3447.16 - - - - - - - - - - -
3340.29 364.31 -8.86 438 3346.49 roll -0.67 - - 1823.62 - 2.36 0.151 3846.06 534.6 -97.32 - - 3449.06 - - - - - - - - - 15.31 -
3410.31 370.73 -9.23 452 3416.35 roll -0.67 - - 1824.12 - 2.03 0.046 2587.44 -620.0 -97.32 - - 3447.84 - - - - - - - - - 14.72 -
3720.38 398.86 -9.61 484 3721.94 no move -0.67 - - 1824.31 - - - 2584.19 - -97.32 - - 3446.62 - - - - - - - - - - -
4030.41 429.87 -9.76 515 4036.60 roll -0.67 - - 1824.00 - 2.36 0.151 3840.50 532.3 -97.32 - - 3446.81 - - - - - - - - - 15.29 -
4105.40 437.36 -10.14 530 4111.45 roll -0.67 - - 1823.81 - 1.99 0.046 2586.19 -630.3 -97.32 - - 3447.66 - - - - - - - - - 15.66 -
4420.45 466.31 -8.73 562 4426.77 roll -0.67 - - 1824.00 - 2.54 0.053 1213.31 -540.5 -97.32 - - 3447.34 - - - - - - - - - 15.58 -
4470.45 470.83 -9.00 572 4476.89 roll -0.67 - - 1824.44 - 2.87 0.105 2665.38 505.9 -97.32 - - 3447.06 - - - - - - - - - 15.38 -
4780.49 497.86 -8.44 604 4782.05 no move -0.67 - - 1824.06 - - - 2664.88 - -97.32 - - 3445.34 - - - - - - - - - - -
5090.52 523.76 -8.60 635 5096.66 roll -0.67 - - 1824.19 - 2.20 0.154 3842.38 535.2 -97.32 - - 3445.44 - - - - - - - - - 15.15 -
5205.51 534.31 -9.35 658 5211.55 roll -0.67 - - 1822.88 - 2.00 0.046 2584.56 -628.9 -97.32 - - 3446.91 - - - - - - - - - 15.65 -
5520.56 563.68 -9.31 690 5526.74 roll -0.67 - - 1823.69 - 2.37 0.150 3840.44 529.9 -97.32 - - 3445.50 - - - - - - - - - 15.26 -
5595.55 571.06 -9.92 705 5601.58 roll -0.67 - - 1822.94 - 1.99 0.047 2588.19 -629.3 -97.32 - - 3445.72 - - - - - - - - - 15.64 -
5910.63 601.24 -9.28 737 5912.20 no move -0.67 - - 1824.06 - - - 2585.75 - -97.32 - - 3443.38 - - - - - - - - - - -
6220.69 630.45 -9.36 768 6222.25 no move -0.67 - - 1824.06 - - - 2585.62 - -97.32 - - 3442.75 - - - - - - - - - - -
6530.75 656.94 -8.35 799 6532.32 no move -0.67 - - 1824.25 - - - 2585.62 - -97.32 - - 3442.19 - - - - - - - - - - -
6840.81 681.53 -7.64 830 6847.00 roll -0.67 - - 1823.75 - 2.37 0.150 3841.88 530.1 -97.32 - - 3442.72 - - - - - - - - - 15.23 -
6985.84 693.33 -8.11 859 6991.86 roll -0.67 - - 1823.75 - 2.00 0.048 2585.19 -628.3 -97.32 - - 3442.09 - - - - - - - - - 15.63 -
7300.92 717.14 -7.44 891 7302.49 no move -0.67 - - 1823.94 - - - 2584.44 - -97.32 - - 3441.25 - - - - - - - - - - -
7610.98 740.42 -7.67 922 7617.17 roll -0.67 - - 1823.81 - 2.39 0.150 3840.31 525.5 -97.32 - - 3442.06 - - - - - - - - - 15.15 -
7680.99 746.07 -8.15 936 7686.99 roll -0.67 - - 1823.50 - 2.00 0.049 2587.12 -626.6 -97.32 - - 3442.66 - - - - - - - - - 15.61 -
7991.06 771.79 -8.33 968 7992.62 no move -0.67 - - 1823.88 - - - 2584.44 - -97.32 - - 3439.97 - - - - - - - - - - -
8301.12 799.49 -9.00 999 8307.35 roll -0.67 - - 1823.81 - 2.40 0.155 3839.25 522.8 -97.32 - - 3441.12 - - - - - - - - - 15.13 -
8391.14 807.99 -9.50 1017 8397.17 roll -0.67 - - 1824.06 - 2.02 0.048 2587.38 -619.7 -97.32 - - 3440.09 - - - - - - - - - 15.47 -
8701.20 835.58 -8.80 1049 8702.77 no move -0.67 - - 1823.94 - - - 2584.38 - -97.32 - - 3438.56 - - - - - - - - - - -
9011.26 861.11 -8.10 1080 9017.44 roll -0.67 - - 1823.69 - 2.39 0.154 3842.25 526.3 -97.32 - - 3439.91 - - - - - - - - - 15.14 -
9076.26 866.62 -8.51 1093 9082.33 roll -0.67 - - 1823.25 - 2.01 0.049 2589.19 -623.4 -97.32 - - 3440.69 - - - - - - - - - 15.60 -
9391.34 891.26 -7.41 1125 9397.52 roll -0.67 - - 1823.62 - 2.38 0.152 3839.00 525.1 -97.32 - - 3439.19 - - - - - - - - - 15.06 -
9461.35 896.66 -7.73 1139 9467.39 roll -0.67 - - 1824.06 - 2.00 0.050 2589.81 -624.6 -97.32 - - 3438.47 - - - - - - - - - 15.58 -
9771.40 917.77 -6.60 1171 9772.97 no move -0.67 - - 1824.25 - - - 2587.25 - -97.32 - - 3437.56 - - - - - - - - - - -
10081.43 937.95 -6.28 1202 10083.00 no move -0.67 - - 1823.94 - - - 2587.69 - -97.32 - - 3437.34 - - - - - - - - - - -
10391.46 958.13 -6.61 1233 10393.02 no move -0.67 - - 1824.00 - - - 2587.06 - -97.32 - - 3437.34 - - - - - - - - - - -
10701.49 978.99 -6.77 1264 10707.71 roll -0.67 - - 1823.62 - 2.40 0.153 3842.81 523.2 -97.32 - - 3437.62 - - - - - - - - - 15.11 -
10826.48 987.78 -6.95 1289 10832.56 roll -0.67 - - 1824.12 - 2.01 0.049 2588.25 -624.2 -97.32 - - 3437.34 - - - - - - - - - 15.58 -
10862 end dive: TARGET_DEPTH_EXCEEDED
10862 begin apogee
10863.57 990.18 -6.85 1293 10955.48 -0.12 0.62 0.204 2000.62 284.7 0.12 0.246 2324.75 -2195.8 - 83.74 2.480 3050.12 -4.6 0.330 - - - - - - 15.04 14.76 10.61
10957 end apogee: CONTROL_FINISHED_OK
10957 begin climb
10957.59 991.22 - 1302 11055.38 0.67 0.78 0.100 2273.50 349.8 2.90 0.068 866.38 -502.9 97.32 87.83 2.419 2650.03 -4.6 0.333 - - - - - - 15.02 14.54 11.56
11072.93 984.19 8.38 1324 11079.37 roll 0.67 - - 2274.25 - 2.85 0.075 2309.81 506.5 97.32 - - 2646.09 - - - - - - - - - 14.89 -
11383.00 952.77 10.30 1356 11384.56 VBD 0.67 - - 2273.69 - - - 2309.19 - 97.32 - - 2642.03 - - - - - - - - - - -
11693.06 921.99 10.00 1387 11699.42 done 0.67 - - 2282.25 - 2.69 0.064 863.06 -537.6 97.32 - - 2642.41 - - - - - - - - - 15.57 -
11728.05 918.51 10.02 1394 11734.48 done 0.67 - - 2283.38 - 2.76 0.078 2310.50 524.4 97.32 - - 2641.69 - - - - - - - - - 14.90 -
12043.12 886.96 10.19 1426 12049.50 done 0.67 - - 2293.69 - 2.72 0.064 862.00 -532.5 97.32 - - 2641.66 - - - - - - - - - 14.88 -
12123.15 878.59 10.40 1442 12129.69 0.67 0.18 0.246 2244.94 -270.8 2.73 0.077 2313.38 531.6 97.32 - - 2640.66 - - - - - - - - 15.28 15.49 -
12433.20 852.78 8.07 1474 12439.59 done 0.67 - - 2251.62 - 2.72 0.065 864.50 -532.7 97.32 - - 2640.12 - - - - - - - - - 14.84 -
12463.22 850.37 7.96 1480 12469.60 done 0.67 - - 2251.69 - 2.76 0.077 2311.94 524.4 97.32 - - 2640.28 - - - - - - - - - 14.81 -
12773.28 824.84 8.04 1512 12779.61 done 0.67 - - 2251.56 - 2.65 0.142 3724.62 533.1 97.32 - - 2639.25 - - - - - - - - - 15.33 -
12838.27 818.95 9.19 1525 12844.54 done 0.67 - - 2259.50 - 2.45 0.044 2267.62 -594.7 97.32 - - 2640.28 - - - - - - - - - 14.88 -
13153.40 794.68 7.48 1557 13159.64 done 0.69 - - 2266.50 - 2.60 0.066 864.88 -539.5 97.32 - - 2639.91 - - - - - - - - - 14.78 -
13188.39 792.06 7.50 1564 13194.75 done 0.71 - - 2266.00 - 2.72 0.077 2310.12 531.3 97.32 - - 2640.03 - - - - - - - - - 15.47 -
13503.40 766.83 8.19 1596 13509.74 done 0.71 - - 2275.56 - 2.68 0.064 860.62 -540.9 97.32 - - 2639.12 - - - - - - - - - 15.57 -
13558.40 762.30 8.26 1607 13564.81 done 0.71 - - 2275.25 - 2.77 0.078 2313.25 524.4 97.32 - - 2639.53 - - - - - - - - - 14.72 -
13873.44 735.94 8.64 1639 13875.00 VBD 0.71 - - 2275.69 - - - 2313.31 - 97.32 - - 2636.91 - - - - - - - - - - -
14183.46 708.05 9.11 1670 14189.79 done 0.71 - - 2283.12 - 2.68 0.065 863.31 -541.0 97.32 - - 2638.41 - - - - - - - - - 15.56 -
14218.45 704.79 9.37 1677 14224.86 done 0.71 - - 2282.81 - 2.75 0.076 2314.00 527.5 97.32 - - 2639.41 - - - - - - - - - 14.68 -
14533.50 675.29 9.20 1709 14535.07 VBD 0.71 - - 2282.88 - - - 2313.31 - 97.32 - - 2636.50 - - - - - - - - - - -
14843.53 646.69 9.41 1740 14849.86 done 0.71 - - 2294.06 - 2.68 0.064 864.62 -540.6 97.32 - - 2637.69 - - - - - - - - - 15.55 -
14883.53 643.07 9.07 1748 14889.91 done 0.71 - - 2293.62 - 2.72 0.076 2311.88 532.1 97.32 - - 2638.12 - - - - - - - - - 15.42 -
15193.57 614.71 8.66 1780 15199.94 done 0.71 - - 2303.69 - 2.72 0.063 864.62 -532.1 97.32 - - 2638.03 - - - - - - - - - 14.64 -
15248.56 609.80 9.01 1791 15255.13 0.71 0.17 0.241 2257.50 -271.7 2.73 0.076 2312.94 530.5 97.32 - - 2637.91 - - - - - - - - 15.16 15.42 -
15563.68 585.79 7.74 1823 15569.97 done 0.72 - - 2266.44 - 2.69 0.064 864.94 -538.3 97.32 - - 2637.16 - - - - - - - - - 15.52 -
15613.69 581.82 7.95 1833 15620.03 done 0.73 - - 2264.25 - 2.76 0.077 2309.62 523.4 97.32 - - 2638.59 - - - - - - - - - 14.62 -
15923.76 557.12 7.89 1865 15925.33 VBD 0.74 - - 2266.06 - - - 2309.62 - 97.32 - - 2636.03 - - - - - - - - - - -
16233.83 533.51 7.33 1896 16240.11 done 0.76 - - 2274.19 - 2.69 0.065 863.12 -537.7 97.32 - - 2637.53 - - - - - - - - - 15.52 -
16323.83 526.82 7.41 1914 16330.18 done 0.79 - - 2273.56 - 2.74 0.077 2314.12 529.6 97.32 - - 2638.12 - - - - - - - - - 15.38 -
16633.91 504.61 7.03 1946 16640.39 done 0.81 - - 2279.56 - 2.73 0.064 864.38 -531.0 97.32 - - 2637.97 - - - - - - - - - 14.62 -
16668.90 502.16 7.11 1953 16675.28 done 0.84 - - 2279.12 - 2.74 0.077 2313.88 529.0 97.32 - - 2637.59 - - - - - - - - - 15.37 -
16983.98 479.78 7.02 1985 16990.44 0.87 0.11 0.079 2377.56 894.9 2.66 0.140 3725.75 530.8 97.32 - - 2637.72 - - - - - - - - 15.59 15.23 -
17018.92 476.26 10.06 1992 17025.44 0.87 0.31 0.280 2311.56 -212.9 2.43 0.042 2269.25 -599.4 97.32 - - 2637.19 - - - - - - - - 14.99 15.62 -
17334.00 450.10 8.39 2024 17340.38 done 0.87 - - 2310.75 - 2.80 0.136 3725.12 520.0 97.32 - - 2638.03 - - - - - - - - - 15.20 -
17414.02 442.10 10.11 2040 17420.26 done 0.87 - - 2321.50 - 2.47 0.045 2269.19 -589.4 97.32 - - 2636.97 - - - - - - - - - 14.63 -
17724.07 413.61 9.08 2072 17730.39 done 0.87 - - 2330.25 - 2.59 0.067 864.12 -542.5 97.32 - - 2638.47 - - - - - - - - - 15.49 -
17794.17 407.11 9.35 2086 17800.47 done 0.87 - - 2329.50 - 2.74 0.077 2314.44 529.3 97.32 - - 2638.19 - - - - - - - - - 15.36 -
18104.14 378.49 9.19 2118 18105.80 VBD 0.87 - - 2330.19 - - - 2314.44 - 97.32 - - 2636.09 - - - - - - - - - - -
18414.28 351.08 8.21 2149 18420.53 done 0.87 - - 2336.75 - 2.70 0.065 864.88 -536.9 97.32 - - 2638.16 - - - - - - - - - 15.48 -
18544.28 340.69 7.82 2175 18550.63 done 0.88 - - 2335.75 - 2.73 0.076 2311.69 530.0 97.32 - - 2638.25 - - - - - - - - - 15.35 -
18854.34 315.49 7.77 2207 18860.69 done 0.90 - - 2338.12 - 2.73 0.067 863.31 -530.5 97.32 - - 2638.03 - - - - - - - - - 14.60 -
18924.36 309.96 7.87 2221 18930.69 done 0.91 - - 2338.12 - 2.74 0.078 2314.44 529.6 97.32 - - 2637.84 - - - - - - - - - 15.35 -
19234.42 285.20 7.85 2253 19240.74 done 0.92 - - 2347.56 - 2.67 0.061 863.19 -543.5 97.32 - - 2639.38 - - - - - - - - - 15.49 -
19354.46 275.88 7.39 2277 19360.78 done 0.94 - - 2349.06 - 2.74 0.075 2315.31 530.0 97.32 - - 2637.94 - - - - - - - - - 15.37 -
19664.48 252.81 7.43 2309 19670.77 done 0.96 - - 2348.81 - 2.65 0.133 3723.44 531.4 97.32 - - 2638.84 - - - - - - - - - 14.48 -
19699.46 249.85 7.92 2316 19705.69 done 0.97 - - 2358.56 - 2.41 0.043 2268.38 -603.8 97.32 - - 2637.91 - - - - - - - - - 15.60 -
20014.51 224.66 7.92 2348 20020.75 done 0.98 - - 2369.25 - 2.57 0.063 861.56 -547.4 97.32 - - 2638.69 - - - - - - - - - 15.50 -
20124.52 216.07 7.88 2370 20130.88 done 1.00 - - 2369.38 - 2.73 0.076 2312.69 531.5 97.32 - - 2637.94 - - - - - - - - - 15.35 -
20434.56 192.71 7.42 2402 20437.60 VBD 1.02 - - 2369.25 - - - 2312.38 - 97.32 - - 2636.59 - - - - - - - - - - -
20744.54 169.07 8.05 2433 20747.59 VBD 1.02 - - 2369.94 - - - 2312.19 - 97.32 - - 2636.44 - - - - - - - - - - -
21054.66 146.00 6.53 2464 21061.69 done 1.06 - - 2379.88 - 2.71 0.060 861.94 -535.1 97.32 - - 2639.06 - - - - - - - - - 15.22 -
21164.64 139.34 5.92 2486 21171.72 done 1.11 - - 2380.12 - 2.77 0.073 2314.00 524.2 97.32 - - 2639.22 - - - - - - - - - 15.25 -
21474.70 122.81 5.41 2518 21523.96 1.17 0.09 0.086 2478.38 1091.8 2.62 0.131 3727.56 539.5 149.62 40.72 1.274 2437.12 -5.0 0.085 - - - - - - 15.56 15.20 11.23
21751.55 84.04 13.86 2573 21758.92 roll back 1.17 0.34 0.308 2406.94 -210.1 2.44 0.038 2269.00 -597.8 149.62 - - 2435.56 - - - - - - - - 15.00 15.50 -
21941.60 66.72 8.34 2611 21948.80 roll 1.17 - - 2406.25 - 2.81 0.133 3724.19 517.9 149.62 - - 2433.72 - - - - - - - - - 14.64 -
22171.74 49.21 4.98 2657 22227.14 done 1.24 - - 2417.00 - 2.43 0.037 2250.44 -606.5 209.28 46.92 1.182 2195.47 -5.1 0.038 - - - - - - - 15.54 11.62
22409.72 29.91 9.44 2704 22417.35 roll 1.24 - - 2417.19 - 2.82 0.131 3725.44 523.0 209.28 - - 2190.12 - - - - - - - - - 15.18 -
22509.92 18.51 12.55 2724 22516.93 roll 1.24 - - 2427.56 - 2.44 0.042 2271.00 -596.1 209.28 - - 2189.56 - - - - - - - - - 15.50 -
22655 end climb: SURFACE_DEPTH_REACHED
22655 begin surface coast
22680 end surface coast: CONTROL_FINISHED_OK
22680 begin surface
SM 1.10 - - - - 162.1 86.09 1.128 1723.5 20.0 6.32 0.055 1805.1 285.6 - 0.70 0.079 1641.9 2342.1 -3.333 - - 11.64 15.53 15.50 -