SMODE Mar23 * SG220 * Dive index * Mission links * Dive 160 * Raw log
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• Previous call tries 1 • 147.51 of 350.00 AH used of 24V (57.86% remains)
• Surface angle -66.7 deg, depth 1.21 m • Intended pitch -22.0 deg, speed -8.462 cm/s
• VBD pumped to 325.22 (SM_CC=325)
• GPS1 time: 29 s
• GPS2 time: 3 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
10.96 - - - 84.75 VBD -0.67 - - 164.31 - - - 2573.69 - -97.32 70.18 0.005 3155.12 - - - - - - - - - - 14.72
85.00 3.44 -3.35 14 112.09 -0.67 11.05 0.523 1824.50 150.2 - - 2573.44 - -97.32 7.19 0.008 3445.34 40.4 -3.103 - - - - - - 14.63 - 15.05
294.56 40.55 -16.97 56 301.40 roll -0.67 - - 1824.88 - 2.40 0.159 3840.31 527.9 -97.32 - - 3447.62 - - - - - - - - - 15.25 -
339.55 48.36 -17.24 65 346.19 roll -0.67 - - 1824.19 - 2.00 0.045 2595.88 -622.2 -97.32 - - 3448.25 - - - - - - - - - 15.53 -
529.57 77.33 -12.76 103 536.38 roll -0.67 - - 1824.25 - 2.39 0.159 3839.94 520.5 -97.32 - - 3447.28 - - - - - - - - - 14.70 -
679.59 95.72 -12.76 133 686.27 roll -0.67 - - 1824.38 - 2.01 0.045 2593.44 -620.1 -97.32 - - 3448.16 - - - - - - - - - 14.78 -
869.64 116.61 -10.24 156 876.51 roll -0.67 - - 1823.75 - 2.56 0.053 1213.56 -539.0 -97.32 - - 3448.91 - - - - - - - - - 15.54 -
984.65 128.49 -10.50 179 991.74 roll -0.67 - - 1824.62 - 2.88 0.107 2667.50 504.8 -97.32 - - 3448.12 - - - - - - - - - 15.38 -
1299.72 160.75 -10.40 211 1306.47 roll -0.67 - - 1823.06 - 2.19 0.159 3840.06 535.4 -97.32 - - 3450.16 - - - - - - - - - 15.28 -
1449.80 177.48 -11.21 241 1456.53 roll -0.67 - - 1824.56 - 1.99 0.045 2590.12 -628.1 -97.32 - - 3448.72 - - - - - - - - - 15.60 -
1759.94 209.69 -10.33 273 1766.05 roll -0.67 - - 1823.94 - 2.39 0.154 3839.94 522.9 -97.32 - - 3448.19 - - - - - - - - - 14.68 -
1804.85 214.52 -10.88 282 1810.92 roll -0.67 - - 1824.50 - 2.02 0.046 2586.56 -620.5 -97.32 - - 3449.16 - - - - - - - - - 14.78 -
2119.93 247.57 -10.34 314 2126.24 roll -0.67 - - 1825.12 - 2.56 0.052 1215.00 -535.8 -97.32 - - 3448.56 - - - - - - - - - 14.87 -
2149.93 250.68 -10.25 320 2156.37 roll -0.67 - - 1824.50 - 2.90 0.107 2664.31 499.8 -97.32 - - 3449.03 - - - - - - - - - 14.81 -
2459.99 281.28 -9.85 352 2461.55 no move -0.67 - - 1824.88 - - - 2664.00 - -97.32 - - 3448.06 - - - - - - - - - - -
2770.05 310.82 -9.35 383 2771.61 no move -0.67 - - 1824.31 - - - 2664.44 - -97.32 - - 3447.72 - - - - - - - - - - -
3080.20 339.46 -9.13 414 3086.52 roll -0.67 - - 1824.50 - 2.72 0.052 1213.75 -533.3 -97.32 - - 3448.81 - - - - - - - - - 14.83 -
3120.12 343.23 -9.45 422 3126.55 roll -0.67 - - 1823.31 - 2.88 0.107 2663.75 503.5 -97.32 - - 3449.88 - - - - - - - - - 15.40 -
3430.18 372.24 -9.73 454 3436.27 roll -0.67 - - 1823.31 - 2.20 0.160 3841.12 535.2 -97.32 - - 3449.56 - - - - - - - - - 15.30 -
3475.18 376.74 -10.03 463 3481.20 roll -0.67 - - 1823.44 - 1.98 0.048 2586.44 -633.7 -97.32 - - 3449.78 - - - - - - - - - 15.66 -
3790.25 406.43 -9.33 495 3796.45 roll -0.67 - - 1824.31 - 2.37 0.156 3840.06 529.0 -97.32 - - 3448.00 - - - - - - - - - 15.28 -
3865.26 413.64 -9.62 510 3871.28 roll -0.67 - - 1823.50 - 1.99 0.047 2584.19 -631.1 -97.32 - - 3449.72 - - - - - - - - - 15.65 -
4180.33 442.20 -8.93 542 4181.90 no move -0.67 - - 1824.50 - - - 2581.62 - -97.32 - - 3446.56 - - - - - - - - - - -
4490.40 468.67 -8.11 573 4491.96 no move -0.67 - - 1824.56 - - - 2581.81 - -97.32 - - 3446.88 - - - - - - - - - - -
4800.45 493.84 -8.19 604 4802.02 no move -0.67 - - 1824.31 - - - 2581.94 - -97.32 - - 3446.19 - - - - - - - - - - -
5110.48 519.80 -8.77 635 5112.04 no move -0.67 - - 1824.50 - - - 2581.50 - -97.32 - - 3445.84 - - - - - - - - - - -
5420.51 548.40 -9.48 666 5422.08 no move -0.67 - - 1824.50 - - - 2581.50 - -97.32 - - 3445.41 - - - - - - - - - - -
5730.54 577.29 -9.29 697 5736.72 roll -0.67 - - 1824.19 - 2.38 0.157 3840.56 529.0 -97.32 - - 3445.28 - - - - - - - - - 15.23 -
5770.55 581.09 -9.50 705 5776.53 roll -0.67 - - 1824.56 - 2.00 0.050 2589.56 -625.5 -97.32 - - 3445.81 - - - - - - - - - 15.63 -
6080.57 609.10 -8.84 737 6082.13 no move -0.67 - - 1824.75 - - - 2586.31 - -97.32 - - 3443.75 - - - - - - - - - - -
6390.61 637.04 -8.92 768 6396.78 roll -0.67 - - 1823.75 - 2.38 0.159 3841.06 527.2 -97.32 - - 3443.88 - - - - - - - - - 15.20 -
6475.59 644.88 -9.23 785 6481.61 roll -0.67 - - 1823.56 - 2.00 0.050 2588.31 -626.4 -97.32 - - 3445.03 - - - - - - - - - 15.62 -
6790.66 674.50 -9.32 817 6792.23 no move -0.67 - - 1824.12 - - - 2586.00 - -97.32 - - 3442.50 - - - - - - - - - - -
7100.73 702.32 -8.70 848 7102.29 no move -0.67 - - 1824.50 - - - 2586.38 - -97.32 - - 3441.88 - - - - - - - - - - -
7410.78 727.97 -7.81 879 7417.06 roll -0.67 - - 1823.75 - 2.56 0.054 1215.00 -535.7 -97.32 - - 3442.75 - - - - - - - - - 15.55 -
7460.79 732.07 -8.21 889 7467.23 roll -0.67 - - 1824.25 - 2.89 0.106 2664.50 501.6 -97.32 - - 3443.09 - - - - - - - - - 15.28 -
7770.85 754.21 -6.92 921 7772.41 no move -0.67 - - 1824.31 - - - 2664.38 - -97.32 - - 3440.78 - - - - - - - - - - -
8080.91 774.71 -6.66 952 8082.47 no move -0.67 - - 1824.12 - - - 2664.38 - -97.32 - - 3440.03 - - - - - - - - - - -
8390.97 796.29 -7.14 983 8392.53 no move -0.67 - - 1824.19 - - - 2664.38 - -97.32 - - 3439.97 - - - - - - - - - - -
8701.02 818.20 -6.90 1014 8707.53 roll -0.67 - - 1824.44 - 2.69 0.054 1215.81 -538.5 -97.32 - - 3439.78 - - - - - - - - - 15.38 -
8751.03 821.83 -7.27 1024 8757.52 roll -0.67 - - 1824.62 - 2.90 0.106 2664.81 499.7 -97.32 - - 3440.50 - - - - - - - - - 15.18 -
9061.10 843.84 -6.98 1056 9062.68 no move -0.67 - - 1824.19 - - - 2664.94 - -97.32 - - 3439.16 - - - - - - - - - - -
9371.16 866.30 -7.20 1087 9372.72 no move -0.67 - - 1824.25 - - - 2664.44 - -97.32 - - 3438.78 - - - - - - - - - - -
9681.21 889.90 -7.92 1118 9682.77 no move -0.67 - - 1824.25 - - - 2665.06 - -97.32 - - 3438.72 - - - - - - - - - - -
9991.27 914.35 -7.74 1149 9992.83 no move -0.67 - - 1824.25 - - - 2664.50 - -97.32 - - 3438.25 - - - - - - - - - - -
10301.33 937.87 -7.67 1180 10307.71 roll -0.67 - - 1824.62 - 2.70 0.054 1213.75 -537.3 -97.32 - - 3439.16 - - - - - - - - - 15.48 -
10346.32 941.50 -8.05 1189 10352.79 roll -0.67 - - 1824.12 - 2.90 0.107 2663.81 500.0 -97.32 - - 3439.56 - - - - - - - - - 15.23 -
10661.40 964.63 -7.32 1221 10662.97 no move -0.67 - - 1824.12 - - - 2664.75 - -97.32 - - 3436.97 - - - - - - - - - - -
10971.45 988.22 -7.86 1252 10973.01 no move -0.67 - - 1824.81 - - - 2664.12 - -97.32 - - 3436.84 - - - - - - - - - - -
11002 end dive: TARGET_DEPTH_EXCEEDED
11002 begin apogee
11003.55 990.52 -7.72 1255 11096.31 -0.12 0.62 0.209 2000.12 282.8 0.14 0.208 2322.50 -2440.1 - 84.50 2.472 3048.34 -4.6 0.329 - - - - - - 15.12 14.78 10.46
11098 end apogee: CONTROL_FINISHED_OK
11098 begin climb
11098.42 992.71 - 1264 11196.23 0.67 0.78 0.099 2271.25 347.6 2.91 0.070 866.56 -500.3 97.32 87.72 2.431 2651.91 -4.5 0.330 - - - - - - 15.02 14.56 11.59
11198.81 988.30 5.95 1280 11205.26 roll 0.72 - - 2270.88 - 2.89 0.078 2313.12 500.5 97.32 - - 2649.44 - - - - - - - - - 14.79 -
11513.83 960.10 9.19 1312 11520.22 done 0.72 - - 2281.88 - 2.71 0.066 865.50 -534.2 97.32 - - 2644.19 - - - - - - - - - 15.48 -
11588.83 953.06 9.57 1327 11595.25 done 0.72 - - 2281.62 - 2.75 0.079 2312.25 526.1 97.32 - - 2642.81 - - - - - - - - - 15.41 -
11903.91 923.75 9.30 1359 11905.48 VBD 0.72 - - 2282.00 - - - 2312.94 - 97.32 - - 2639.44 - - - - - - - - - - -
12213.97 895.42 9.11 1390 12215.53 VBD 0.72 - - 2282.25 - - - 2312.75 - 97.32 - - 2638.91 - - - - - - - - - - -
12524.03 866.71 9.16 1421 12530.37 done 0.72 - - 2291.88 - 2.68 0.064 864.56 -540.4 97.32 - - 2639.31 - - - - - - - - - 15.59 -
12629.05 856.92 9.17 1442 12635.45 done 0.72 - - 2292.12 - 2.73 0.079 2313.88 530.9 97.32 - - 2640.03 - - - - - - - - - 15.46 -
12944.12 826.83 9.62 1474 12950.46 done 0.72 - - 2303.31 - 2.70 0.065 863.69 -537.1 97.32 - - 2639.09 - - - - - - - - - 15.58 -
13044.15 817.16 9.57 1494 13050.69 0.72 0.16 0.255 2261.31 -262.5 2.73 0.078 2311.25 530.2 97.32 - - 2639.06 - - - - - - - - 15.23 15.46 -
13354.21 791.02 8.18 1526 13355.78 VBD 0.72 - - 2261.56 - - - 2311.25 - 97.32 - - 2637.34 - - - - - - - - - - -
13664.31 766.02 7.96 1557 13670.62 done 0.73 - - 2268.69 - 2.68 0.065 865.00 -539.6 97.32 - - 2639.94 - - - - - - - - - 15.57 -
13748.66 759.43 7.76 1574 13755.72 done 0.74 - - 2268.94 - 2.73 0.078 2312.44 530.2 97.32 - - 2639.31 - - - - - - - - - 15.46 -
14064.35 734.27 8.10 1606 14070.68 done 0.74 - - 2278.12 - 2.69 0.066 864.94 -538.1 97.32 - - 2640.62 - - - - - - - - - 15.55 -
14104.35 731.08 8.04 1614 14110.75 done 0.74 - - 2279.75 - 2.77 0.077 2314.94 523.5 97.32 - - 2638.72 - - - - - - - - - 14.68 -
14414.41 705.53 8.03 1646 14420.81 done 0.74 - - 2287.81 - 2.70 0.067 865.00 -537.0 97.32 - - 2638.06 - - - - - - - - - 15.52 -
14549.43 694.22 8.46 1673 14555.98 done 0.74 - - 2287.50 - 2.73 0.078 2312.06 530.1 97.32 - - 2637.97 - - - - - - - - - 15.42 -
14864.48 666.34 8.59 1705 14866.04 VBD 0.74 - - 2287.31 - - - 2312.38 - 97.32 - - 2636.44 - - - - - - - - - - -
15174.51 638.61 9.22 1736 15180.86 done 0.74 - - 2297.19 - 2.68 0.065 864.75 -540.2 97.32 - - 2637.56 - - - - - - - - - 15.53 -
15299.50 627.23 8.98 1761 15306.07 done 0.74 - - 2296.75 - 2.74 0.078 2312.75 528.5 97.32 - - 2638.03 - - - - - - - - - 15.40 -
15614.55 599.87 8.54 1793 15620.88 done 0.74 - - 2308.25 - 2.69 0.064 864.50 -538.4 97.32 - - 2637.09 - - - - - - - - - 15.52 -
15664.55 595.78 8.18 1803 15670.94 done 0.74 - - 2307.44 - 2.78 0.079 2311.75 520.6 97.32 - - 2637.53 - - - - - - - - - 14.62 -
15974.58 568.19 9.27 1835 15980.91 done 0.74 - - 2317.19 - 2.68 0.064 864.94 -539.9 97.32 - - 2639.31 - - - - - - - - - 15.52 -
16029.57 562.83 9.83 1846 16036.17 0.74 0.18 0.242 2268.81 -268.8 2.74 0.079 2313.81 528.8 97.32 - - 2637.09 - - - - - - - - 15.14 15.38 -
16344.62 535.98 8.70 1878 16351.00 done 0.74 - - 2279.06 - 2.70 0.065 866.12 -536.2 97.32 - - 2637.47 - - - - - - - - - 15.50 -
16369.60 533.72 8.87 1883 16376.17 done 0.74 - - 2278.88 - 2.78 0.078 2316.81 521.8 97.32 - - 2637.34 - - - - - - - - - 14.59 -
16684.68 505.83 8.73 1915 16686.24 VBD 0.74 - - 2279.19 - - - 2317.25 - 97.32 - - 2635.47 - - - - - - - - - - -
16994.81 481.16 7.52 1946 17001.13 done 0.76 - - 2287.44 - 2.71 0.065 864.94 -535.9 97.32 - - 2637.88 - - - - - - - - - 15.48 -
17064.80 476.01 7.44 1960 17071.15 done 0.78 - - 2287.38 - 2.74 0.078 2312.12 528.2 97.32 - - 2638.28 - - - - - - - - - 15.36 -
17374.86 453.40 7.23 1992 17381.19 done 0.81 - - 2296.81 - 2.73 0.064 865.00 -530.1 97.32 - - 2638.34 - - - - - - - - - 14.61 -
17494.88 445.00 6.97 2016 17501.23 done 0.84 - - 2297.06 - 2.78 0.077 2312.94 520.8 97.32 - - 2637.28 - - - - - - - - - 14.60 -
17804.89 421.23 8.17 2048 17811.22 done 0.84 - - 2307.81 - 2.69 0.064 863.06 -539.0 97.32 - - 2637.78 - - - - - - - - - 15.49 -
17839.88 418.40 8.13 2055 17846.90 done 0.84 - - 2307.38 - 2.79 0.078 2312.94 519.7 97.32 - - 2638.06 - - - - - - - - - 14.59 -
18154.95 391.41 8.35 2087 18156.52 VBD 0.84 - - 2307.50 - - - 2313.06 - 97.32 - - 2635.66 - - - - - - - - - - -
18465.00 365.78 7.98 2118 18471.42 done 0.84 - - 2316.50 - 2.70 0.064 863.00 -537.1 97.32 - - 2637.62 - - - - - - - - - 15.48 -
18540.05 359.88 7.87 2133 18546.43 done 0.85 - - 2316.75 - 2.75 0.077 2313.38 527.4 97.32 - - 2638.25 - - - - - - - - - 15.34 -
18855.13 337.06 7.09 2165 18861.47 done 0.87 - - 2327.06 - 2.71 0.064 863.25 -535.1 97.32 - - 2638.12 - - - - - - - - - 15.49 -
18885.13 334.92 7.12 2171 18891.48 done 0.90 - - 2326.00 - 2.76 0.079 2314.00 525.6 97.32 - - 2637.81 - - - - - - - - - 15.33 -
19195.20 312.04 7.69 2203 19196.76 VBD 0.92 - - 2326.69 - - - 2313.25 - 97.32 - - 2636.28 - - - - - - - - - - -
19505.21 287.61 8.08 2234 19511.60 done 0.92 - - 2336.19 - 2.74 0.062 864.88 -528.6 97.32 - - 2637.44 - - - - - - - - - 14.60 -
19580.22 281.62 8.04 2249 19586.63 done 0.92 - - 2335.25 - 2.79 0.077 2314.88 519.7 97.32 - - 2638.59 - - - - - - - - - 14.61 -
19895.35 255.93 7.69 2281 19901.63 done 0.93 - - 2335.94 - 2.66 0.136 3723.50 529.6 97.32 - - 2638.81 - - - - - - - - - 14.48 -
19955.31 250.39 9.32 2293 19961.57 done 0.93 - - 2344.12 - 2.44 0.041 2266.06 -597.3 97.32 - - 2638.31 - - - - - - - - - 14.58 -
20265.42 227.15 6.60 2325 20266.99 VBD 0.97 - - 2344.50 - - - 2261.94 - 97.32 - - 2636.44 - - - - - - - - - - -
20575.48 206.41 7.76 2356 20581.72 done 0.98 - - 2354.50 - 2.58 0.063 857.31 -544.4 97.32 - - 2637.91 - - - - - - - - - 15.49 -
20788.51 189.33 7.45 2398 20795.81 done 1.00 - - 2355.00 - 2.77 0.077 2313.50 525.7 97.32 - - 2638.69 - - - - - - - - - 15.30 -
21098.56 166.74 7.40 2430 21105.62 done 1.02 - - 2365.62 - 2.71 0.062 863.81 -534.9 97.32 - - 2638.19 - - - - - - - - - 15.43 -
21313.55 151.62 6.73 2473 21320.67 done 1.06 - - 2365.81 - 2.77 0.079 2315.12 523.9 97.32 - - 2638.34 - - - - - - - - - 15.29 -
21628.62 127.62 7.83 2505 21631.67 VBD 1.07 - - 2365.81 - - - 2315.62 - 97.32 - - 2637.31 - - - - - - - - - - -
21938.63 106.15 5.72 2536 21945.77 1.13 0.10 0.083 2462.62 968.1 2.64 0.135 3724.81 533.8 97.32 - - 2639.91 - - - - - - - - 15.49 15.16 -
22173.66 90.12 5.45 2583 22222.89 1.19 0.26 0.323 2415.00 -183.2 2.45 0.035 2258.12 -598.6 148.90 39.88 1.230 2440.03 -5.0 0.066 - - - - - - 14.77 14.64 11.35
22405.46 75.02 7.97 2629 22412.60 roll 1.19 - - 2414.25 - 2.79 0.132 3724.06 525.4 148.90 - - 2437.03 - - - - - - - - - 15.22 -
22640.50 51.53 8.50 2676 22647.51 roll 1.19 - - 2425.19 - 2.44 0.039 2261.88 -599.3 148.90 - - 2436.06 - - - - - - - - - 15.43 -
22830.58 37.54 5.16 2714 22879.59 VBD 1.26 - - 2425.81 - - - 2257.31 - 205.55 44.51 1.157 2209.53 -5.1 0.030 - - - - - - - - 11.74
23062.17 16.46 10.53 2760 23069.22 roll 1.26 - - 2435.88 - 2.60 0.065 866.31 -535.0 205.55 - - 2204.66 - - - - - - - - - 15.41 -
23167.20 4.97 11.20 2781 23174.34 done 1.26 - - 2435.31 - 2.76 0.077 2313.81 524.5 205.55 - - 2202.72 - - - - - - - - - 15.35 -
23197 end climb: SURFACE_DEPTH_REACHED
23197 begin surface coast
23217 end surface coast: CONTROL_FINISHED_OK
23218 begin surface
SM 1.11 - - - - 158.2 88.78 1.126 1723.2 19.4 6.49 0.071 1804.5 278.0 - 0.62 0.091 1641.9 2643.8 -3.296 - - 11.61 15.51 15.49 -