SMODE Mar23 * SG220 * Dive index * Mission links * Dive 159 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 147.13 of 350.00 AH used of 24V (57.96% remains)
• Surface angle -67.0 deg, depth 1.22 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 324.75 (SM_CC=325)
• GPS1 time: 33 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
10.97 - - - 84.78 VBD -0.67 - - 151.00 - - - 2591.25 - -97.32 70.17 0.005 3157.19 - - - - - - - - - - 14.74
85.03 3.35 -3.24 14 114.11 -0.67 10.94 0.517 1824.75 153.0 2.58 0.053 1213.69 -533.9 -97.32 7.14 0.008 3446.19 40.5 -3.028 - - - - - - 14.65 14.96 15.04
126.61 12.40 -17.78 22 133.76 roll -0.67 - - 1824.81 - 2.93 0.113 2662.69 494.5 -97.32 - - 3447.00 - - - - - - - - - 15.31 -
316.68 44.65 -17.10 60 323.45 roll -0.67 - - 1823.62 - 2.21 0.158 3839.62 532.5 -97.32 - - 3449.06 - - - - - - - - - 15.15 -
346.69 49.53 -16.23 66 353.37 roll -0.67 - - 1824.50 - 2.02 0.047 2590.44 -618.4 -97.32 - - 3447.94 - - - - - - - - - 15.44 -
536.75 74.07 -12.16 104 541.97 no move -0.67 - - 1825.19 - - - 2585.38 - -97.32 - - 3447.22 - - - - - - - - - - -
726.80 94.60 -10.76 142 733.61 roll -0.67 - - 1825.19 - 2.38 0.155 3840.19 527.2 -97.32 - - 3447.44 - - - - - - - - - 15.27 -
811.81 103.51 -10.65 159 818.51 roll -0.67 - - 1824.50 - 2.01 0.046 2591.94 -621.0 -97.32 - - 3448.03 - - - - - - - - - 15.48 -
1126.87 137.14 -10.81 191 1133.67 roll -0.67 - - 1825.00 - 2.38 0.154 3840.62 524.7 -97.32 - - 3447.69 - - - - - - - - - 15.20 -
1231.93 148.05 -10.34 212 1238.74 roll -0.67 - - 1824.12 - 2.01 0.045 2587.69 -623.3 -97.32 - - 3449.12 - - - - - - - - - 15.51 -
1547.01 182.07 -10.96 244 1550.05 no move -0.67 - - 1825.00 - - - 2583.88 - -97.32 - - 3447.34 - - - - - - - - - - -
1857.06 214.47 -10.87 275 1863.27 roll -0.67 - - 1823.81 - 2.37 0.154 3840.44 530.2 -97.32 - - 3449.88 - - - - - - - - - 15.25 -
1917.07 220.83 -10.53 287 1923.07 roll -0.67 - - 1824.56 - 2.00 0.046 2587.62 -626.4 -97.32 - - 3448.72 - - - - - - - - - 15.64 -
2227.14 253.42 -10.63 319 2233.32 roll -0.67 - - 1824.25 - 2.37 0.154 3840.62 528.7 -97.32 - - 3449.12 - - - - - - - - - 15.30 -
2367.18 268.64 -10.75 347 2373.18 roll -0.67 - - 1825.00 - 1.99 0.045 2587.25 -629.8 -97.32 - - 3448.53 - - - - - - - - - 15.65 -
2677.24 299.43 -9.94 379 2678.80 no move -0.67 - - 1824.94 - - - 2584.25 - -97.32 - - 3447.38 - - - - - - - - - - -
2987.30 328.30 -8.88 410 2993.50 roll -0.67 - - 1824.56 - 2.37 0.153 3840.31 530.0 -97.32 - - 3448.72 - - - - - - - - - 15.22 -
3127.34 341.30 -9.31 438 3133.33 roll -0.67 - - 1824.56 - 2.00 0.046 2586.75 -626.8 -97.32 - - 3448.53 - - - - - - - - - 15.51 -
3437.40 368.25 -8.85 470 3443.58 roll -0.67 - - 1823.88 - 2.38 0.154 3841.75 527.3 -97.32 - - 3449.34 - - - - - - - - - 15.20 -
3552.42 378.98 -9.40 493 3558.44 roll -0.67 - - 1824.50 - 2.00 0.047 2587.06 -627.3 -97.32 - - 3447.97 - - - - - - - - - 15.66 -
3867.48 407.97 -8.99 525 3869.04 no move -0.67 - - 1824.94 - - - 2584.50 - -97.32 - - 3446.66 - - - - - - - - - - -
4177.50 435.67 -8.65 556 4183.69 roll -0.67 - - 1823.50 - 2.38 0.155 3841.94 528.3 -97.32 - - 3448.66 - - - - - - - - - 15.27 -
4257.51 442.84 -9.11 572 4263.58 roll -0.67 - - 1825.19 - 2.01 0.048 2587.88 -623.9 -97.32 - - 3447.09 - - - - - - - - - 15.64 -
4567.54 469.41 -8.59 604 4573.73 roll -0.67 - - 1824.06 - 2.37 0.154 3839.56 528.1 -97.32 - - 3448.66 - - - - - - - - - 15.26 -
4667.56 478.38 -9.05 624 4673.59 roll -0.67 - - 1824.50 - 2.01 0.048 2588.06 -622.6 -97.32 - - 3447.66 - - - - - - - - - 15.61 -
4977.59 505.99 -9.03 656 4979.15 no move -0.67 - - 1824.56 - - - 2585.81 - -97.32 - - 3446.06 - - - - - - - - - - -
5287.64 534.82 -9.43 687 5293.80 roll -0.67 - - 1824.50 - 2.38 0.155 3839.75 526.9 -97.32 - - 3445.38 - - - - - - - - - 15.24 -
5387.62 544.59 -9.58 707 5393.67 roll -0.67 - - 1824.62 - 2.01 0.048 2588.69 -622.4 -97.32 - - 3445.62 - - - - - - - - - 15.63 -
5697.68 572.95 -9.37 739 5703.86 roll -0.67 - - 1824.81 - 2.38 0.156 3840.19 525.8 -97.32 - - 3444.81 - - - - - - - - - 15.23 -
5787.70 581.79 -9.76 757 5793.70 roll -0.67 - - 1823.81 - 2.00 0.049 2587.25 -626.5 -97.32 - - 3446.09 - - - - - - - - - 15.63 -
6097.76 610.76 -9.36 789 6103.95 roll -0.67 - - 1824.19 - 2.38 0.155 3843.25 527.7 -97.32 - - 3445.06 - - - - - - - - - 15.21 -
6207.79 621.55 -9.79 811 6213.88 roll -0.67 - - 1824.25 - 2.02 0.049 2588.69 -621.1 -97.32 - - 3444.34 - - - - - - - - - 15.62 -
6517.86 648.46 -8.30 843 6519.42 no move -0.67 - - 1824.88 - - - 2586.69 - -97.32 - - 3442.34 - - - - - - - - - - -
6827.91 672.89 -7.66 874 6834.11 roll -0.67 - - 1824.88 - 2.39 0.156 3838.31 523.7 -97.32 - - 3442.84 - - - - - - - - - 14.39 -
6932.93 681.41 -8.02 895 6939.00 roll -0.67 - - 1824.69 - 2.01 0.050 2588.62 -621.7 -97.32 - - 3442.03 - - - - - - - - - 15.56 -
7248.00 705.27 -7.58 927 7254.24 roll -0.67 - - 1824.06 - 2.40 0.156 3840.12 521.5 -97.32 - - 3442.16 - - - - - - - - - 14.29 -
7328.03 711.69 -8.03 943 7334.06 roll -0.67 - - 1824.56 - 2.01 0.050 2588.81 -622.5 -97.32 - - 3441.59 - - - - - - - - - 15.58 -
7638.08 736.50 -8.12 975 7644.32 roll -0.67 - - 1824.56 - 2.41 0.155 3840.50 519.4 -97.32 - - 3441.88 - - - - - - - - - 14.30 -
7748.11 745.61 -8.29 997 7754.15 roll -0.67 - - 1825.06 - 2.01 0.049 2590.31 -622.0 -97.32 - - 3441.28 - - - - - - - - - 15.59 -
8058.20 770.18 -7.80 1029 8064.55 roll -0.67 - - 1824.25 - 2.41 0.156 3840.25 518.6 -97.32 - - 3440.91 - - - - - - - - - 14.32 -
8158.22 778.33 -8.06 1049 8164.37 roll -0.67 - - 1825.00 - 2.02 0.050 2591.88 -618.0 -97.32 - - 3440.78 - - - - - - - - - 15.50 -
8468.27 801.73 -7.59 1081 8474.58 roll -0.67 - - 1824.50 - 2.38 0.157 3840.81 524.8 -97.32 - - 3439.66 - - - - - - - - - 15.15 -
8558.29 808.85 -7.98 1099 8564.45 roll -0.67 - - 1824.25 - 2.02 0.050 2588.44 -620.0 -97.32 - - 3439.53 - - - - - - - - - 15.50 -
8868.34 831.72 -7.49 1131 8869.94 no move -0.67 - - 1824.62 - - - 2587.38 - -97.32 - - 3438.84 - - - - - - - - - - -
9178.38 853.86 -7.15 1162 9184.74 roll -0.67 - - 1824.31 - 2.40 0.159 3842.06 522.8 -97.32 - - 3439.38 - - - - - - - - - 15.12 -
9278.42 861.39 -7.55 1182 9284.55 roll -0.67 - - 1823.88 - 2.03 0.051 2588.06 -617.7 -97.32 - - 3440.84 - - - - - - - - - 15.48 -
9588.45 884.14 -7.50 1214 9594.82 roll -0.67 - - 1824.69 - 2.42 0.156 3839.81 517.3 -97.32 - - 3439.69 - - - - - - - - - 14.31 -
9643.45 888.51 -8.00 1225 9649.62 roll -0.67 - - 1824.19 - 2.01 0.052 2590.38 -621.6 -97.32 - - 3440.34 - - - - - - - - - 15.57 -
9958.48 912.51 -7.80 1257 9960.08 no move -0.67 - - 1824.69 - - - 2588.88 - -97.32 - - 3437.66 - - - - - - - - - - -
10268.50 936.91 -8.08 1288 10274.80 roll -0.67 - - 1824.69 - 2.39 0.157 3840.19 523.6 -97.32 - - 3437.97 - - - - - - - - - 15.10 -
10448.51 952.15 -8.60 1324 10454.65 roll -0.67 - - 1823.75 - 2.02 0.049 2586.75 -620.5 -97.32 - - 3438.41 - - - - - - - - - 15.55 -
10758.54 977.24 -7.88 1356 10760.14 no move -0.67 - - 1824.06 - - - 2585.75 - -97.32 - - 3436.28 - - - - - - - - - - -
10929 end dive: TARGET_DEPTH_EXCEEDED
10929 begin apogee
10930.68 990.54 -7.84 1373 11023.06 -0.12 0.62 0.215 2000.94 285.3 0.14 0.220 2322.00 -1883.9 - 83.79 2.467 3047.31 -4.6 0.333 - - - - - - 15.11 14.76 10.48
11025 end apogee: CONTROL_FINISHED_OK
11025 begin climb
11025.24 992.59 - 1382 11123.68 0.67 0.78 0.102 2271.88 347.4 2.91 0.069 864.88 -500.7 97.32 87.76 2.423 2645.97 -4.6 0.335 - - - - - - 15.01 14.53 11.57
11186.31 982.68 9.10 1413 11192.93 roll 0.67 - - 2269.88 - 2.82 0.078 2310.31 512.6 97.32 - - 2644.03 - - - - - - - - - 15.07 -
11501.38 951.26 10.06 1445 11507.90 done 0.67 - - 2280.88 - 2.71 0.066 864.62 -533.5 97.32 - - 2643.34 - - - - - - - - - 15.49 -
11586.39 942.52 10.32 1462 11592.94 done 0.67 - - 2281.31 - 2.78 0.079 2312.81 520.9 97.32 - - 2642.88 - - - - - - - - - 14.95 -
11901.48 908.77 10.91 1494 11908.00 done 0.67 - - 2291.44 - 2.72 0.064 863.25 -532.9 97.32 - - 2641.72 - - - - - - - - - 14.96 -
11951.47 903.40 10.78 1504 11958.17 0.67 0.17 0.249 2244.94 -273.5 2.73 0.079 2310.81 530.2 97.32 - - 2640.84 - - - - - - - - 15.28 15.47 -
12261.49 874.41 8.96 1536 12268.01 done 0.67 - - 2251.38 - 2.72 0.066 864.50 -531.7 97.32 - - 2640.47 - - - - - - - - - 14.92 -
12356.49 866.04 8.78 1555 12363.05 done 0.67 - - 2251.44 - 2.73 0.078 2312.38 530.4 97.32 - - 2639.81 - - - - - - - - - 15.49 -
12671.52 838.30 8.54 1587 12678.05 done 0.67 - - 2255.81 - 2.70 0.068 862.31 -537.1 97.32 - - 2639.97 - - - - - - - - - 15.58 -
12716.51 834.53 8.37 1596 12723.07 done 0.67 - - 2256.12 - 2.74 0.080 2313.12 529.5 97.32 - - 2639.41 - - - - - - - - - 15.47 -
13031.55 808.37 8.03 1628 13038.01 done 0.67 - - 2264.38 - 2.70 0.066 865.00 -536.3 97.32 - - 2638.94 - - - - - - - - - 15.57 -
13161.55 797.62 8.28 1654 13168.13 done 0.67 - - 2265.44 - 2.76 0.078 2313.00 524.6 97.32 - - 2639.19 - - - - - - - - - 14.83 -
13471.58 771.56 8.29 1686 13473.19 VBD 0.67 - - 2264.81 - - - 2313.00 - 97.32 - - 2637.22 - - - - - - - - - - -
13782.29 744.81 8.83 1717 13788.12 done 0.67 - - 2269.62 - 2.71 0.067 864.25 -534.6 97.32 - - 2639.09 - - - - - - - - - 15.57 -
13821.60 741.27 8.87 1725 13828.13 done 0.67 - - 2269.31 - 2.77 0.077 2311.50 522.5 97.32 - - 2638.88 - - - - - - - - - 14.79 -
14131.63 714.15 8.28 1757 14138.12 done 0.67 - - 2279.12 - 2.69 0.065 864.75 -537.8 97.32 - - 2638.28 - - - - - - - - - 15.55 -
14181.63 710.03 8.33 1767 14188.16 done 0.67 - - 2278.62 - 2.77 0.077 2314.69 523.4 97.32 - - 2639.25 - - - - - - - - - 14.75 -
14491.70 684.76 7.92 1799 14493.31 VBD 0.68 - - 2279.50 - - - 2314.69 - 97.32 - - 2636.81 - - - - - - - - - - -
14802.34 662.39 7.11 1830 14808.20 done 0.71 - - 2287.62 - 2.70 0.065 864.88 -537.0 97.32 - - 2638.12 - - - - - - - - - 15.54 -
14892.28 656.07 7.01 1848 14898.23 done 0.73 - - 2287.31 - 2.74 0.078 2313.12 528.6 97.32 - - 2638.50 - - - - - - - - - 15.42 -
15201.78 634.48 6.85 1880 15208.25 done 0.77 - - 2294.19 - 2.74 0.065 864.69 -528.6 97.32 - - 2638.28 - - - - - - - - - 14.71 -
15276.77 629.30 6.84 1895 15283.28 done 0.80 - - 2294.62 - 2.78 0.077 2313.69 521.2 97.32 - - 2636.06 - - - - - - - - - 14.72 -
15591.79 605.72 8.00 1927 15598.32 done 0.80 - - 2305.12 - 2.74 0.064 864.44 -528.9 97.32 - - 2638.31 - - - - - - - - - 14.71 -
15661.81 599.85 8.41 1941 15668.34 done 0.80 - - 2304.12 - 2.73 0.077 2311.06 529.9 97.32 - - 2638.03 - - - - - - - - - 15.40 -
15971.86 571.73 9.40 1973 15978.39 done 0.80 - - 2314.56 - 2.70 0.065 861.88 -536.7 97.32 - - 2638.09 - - - - - - - - - 15.51 -
16036.95 565.63 9.40 1986 16043.45 done 0.80 - - 2314.69 - 2.75 0.078 2313.38 527.8 97.32 - - 2637.69 - - - - - - - - - 15.38 -
16351.94 535.32 9.63 2018 16358.44 done 0.80 - - 2322.94 - 2.70 0.065 865.00 -536.4 97.32 - - 2637.34 - - - - - - - - - 15.50 -
16411.96 529.66 9.52 2030 16418.49 done 0.80 - - 2323.12 - 2.74 0.078 2311.62 528.0 97.32 - - 2637.47 - - - - - - - - - 15.37 -
16722.00 499.96 9.43 2062 16728.47 done 0.80 - - 2333.69 - 2.69 0.064 864.38 -538.0 97.32 - - 2637.44 - - - - - - - - - 15.51 -
16957.06 477.63 9.33 2109 16963.82 0.80 0.17 0.264 2287.94 -269.1 2.78 0.077 2313.81 521.4 97.32 - - 2637.00 - - - - - - - - 15.04 14.66 -
17272.18 452.98 7.46 2141 17273.79 VBD 0.82 - - 2287.56 - - - 2313.88 - 97.32 - - 2635.59 - - - - - - - - - - -
17582.24 429.96 7.33 2172 17588.66 done 0.84 - - 2298.00 - 2.69 0.064 864.62 -538.8 97.32 - - 2637.59 - - - - - - - - - 15.49 -
17632.25 426.13 7.69 2182 17638.73 done 0.86 - - 2297.06 - 2.78 0.077 2313.88 521.3 97.32 - - 2638.22 - - - - - - - - - 14.63 -
17942.39 402.67 7.88 2214 17944.02 VBD 0.87 - - 2297.00 - - - 2313.50 - 97.32 - - 2635.94 - - - - - - - - - - -
18252.36 379.18 7.59 2245 18253.96 VBD 0.89 - - 2297.12 - - - 2313.94 - 97.32 - - 2635.78 - - - - - - - - - - -
18562.40 356.93 6.97 2276 18569.05 0.92 0.10 0.085 2392.81 956.9 2.72 0.063 862.25 -533.7 97.32 - - 2638.62 - - - - - - - - 14.65 15.25 -
18647.36 349.50 8.91 2293 18654.15 0.92 0.26 0.266 2325.12 -260.3 2.74 0.077 2315.75 530.5 97.32 - - 2637.50 - - - - - - - - 15.00 15.35 -
18962.48 326.78 6.94 2325 18968.95 done 0.95 - - 2335.62 - 2.71 0.064 863.44 -535.9 97.32 - - 2638.12 - - - - - - - - - 15.48 -
19107.51 316.20 7.43 2354 19114.01 done 0.97 - - 2336.31 - 2.74 0.077 2313.31 529.1 97.32 - - 2638.34 - - - - - - - - - 15.34 -
19422.49 292.43 7.99 2386 19429.01 done 0.97 - - 2338.56 - 2.72 0.067 860.81 -534.0 97.32 - - 2637.94 - - - - - - - - - 15.46 -
19537.49 282.70 8.72 2409 19544.08 done 0.97 - - 2338.31 - 2.78 0.077 2314.00 522.7 97.32 - - 2638.19 - - - - - - - - - 15.32 -
19852.52 254.42 8.70 2441 19859.05 done 0.97 - - 2349.12 - 2.72 0.062 864.81 -532.8 97.32 - - 2637.97 - - - - - - - - - 15.33 -
20087.53 234.25 8.23 2488 20094.10 done 0.97 - - 2348.69 - 2.74 0.076 2315.81 529.6 97.32 - - 2638.62 - - - - - - - - - 15.35 -
20402.57 208.40 8.10 2520 20404.17 VBD 0.97 - - 2349.31 - - - 2315.31 - 97.32 - - 2636.94 - - - - - - - - - - -
20712.64 184.73 7.38 2551 20719.80 done 0.99 - - 2348.75 - 2.64 0.135 3723.81 533.5 97.32 - - 2639.47 - - - - - - - - - 15.09 -
20802.59 177.70 8.02 2569 20809.71 done 0.99 - - 2359.06 - 2.43 0.041 2268.75 -598.8 97.32 - - 2638.44 - - - - - - - - - 15.48 -
21112.65 160.09 5.03 2601 21167.64 done 1.06 - - 2358.38 - 2.79 0.138 3724.94 521.9 156.14 45.94 1.339 2410.50 -5.0 0.106 - - - - - - - 15.17 11.23
21360.28 132.27 12.96 2650 21367.43 roll 1.06 - - 2369.50 - 2.46 0.043 2272.12 -590.6 156.14 - - 2407.72 - - - - - - - - - 15.41 -
21670.35 98.64 10.78 2682 21677.59 roll 1.06 - - 2380.31 - 2.61 0.066 863.44 -539.7 156.14 - - 2407.03 - - - - - - - - - 15.45 -
21775.37 87.32 10.78 2703 21782.67 done 1.06 - - 2379.69 - 2.77 0.081 2313.75 523.6 156.14 - - 2405.09 - - - - - - - - - 15.32 -
21965.42 67.16 9.02 2741 21972.72 done 1.06 - - 2391.75 - 2.74 0.062 862.00 -529.8 156.14 - - 2404.59 - - - - - - - - - 14.72 -
22035.49 61.57 7.82 2755 22042.74 done 1.07 - - 2391.88 - 2.76 0.079 2314.94 526.4 156.14 - - 2404.19 - - - - - - - - - 15.36 -
22225.54 52.30 3.75 2793 22297.33 done 1.17 - - 2389.88 - 2.63 0.139 3724.00 535.8 237.00 62.36 1.196 2082.69 -5.2 0.040 - - - - - - - 15.13 11.61
22525.00 21.56 12.60 2852 22532.13 roll 1.17 - - 2402.75 - 2.44 0.041 2269.88 -596.0 237.00 - - 2077.38 - - - - - - - - - 15.44 -
22690 end climb: SURFACE_DEPTH_REACHED
22690 begin surface coast
22710 end surface coast: CONTROL_FINISHED_OK
22710 begin surface
SM 1.28 - - - - 164.6 66.31 1.125 1725.1 26.0 6.30 0.059 1811.9 287.6 - 0.77 0.111 1638.4 2124.6 -2.504 - - 11.48 15.50 15.45 -