SMODE Mar23 * SG220 * Dive index * Mission links * Dive 161 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 147.88 of 350.00 AH used of 24V (57.75% remains)
• Surface angle -65.6 deg, depth 1.20 m • Intended pitch -22.0 deg, speed -8.462 cm/s
• VBD pumped to 325.04 (SM_CC=325)
• GPS1 time: 30 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
10.93 - - - 84.71 VBD -0.67 - - 157.12 - - - 2594.06 - -97.32 70.19 0.005 3155.25 - - - - - - - - - - 14.73
84.96 3.40 -3.40 14 114.03 -0.67 11.15 0.525 1825.31 149.6 2.58 0.052 1212.31 -535.6 -97.32 7.09 0.008 3445.91 41.0 -3.113 - - - - - - 14.64 14.95 15.04
246.54 31.75 -16.28 46 253.60 roll -0.67 - - 1825.06 - 2.93 0.113 2662.88 495.1 -97.32 - - 3447.34 - - - - - - - - - 15.29 -
436.56 60.64 -13.99 84 443.53 roll -0.67 - - 1823.94 - 2.71 0.052 1215.00 -534.3 -97.32 - - 3448.59 - - - - - - - - - 15.43 -
506.57 69.61 -12.22 98 513.58 roll -0.67 - - 1824.19 - 2.90 0.108 2664.19 499.7 -97.32 - - 3447.34 - - - - - - - - - 15.34 -
696.58 93.23 -11.45 136 703.30 roll -0.67 - - 1824.31 - 2.20 0.159 3839.75 534.3 -97.32 - - 3448.00 - - - - - - - - - 15.24 -
811.57 107.30 -13.22 159 818.23 roll -0.67 - - 1824.38 - 1.99 0.044 2589.62 -628.2 -97.32 - - 3448.09 - - - - - - - - - 15.50 -
1126.61 146.06 -12.52 191 1129.59 no move -0.67 - - 1824.69 - - - 2584.56 - -97.32 - - 3447.19 - - - - - - - - - - -
1436.68 181.10 -10.89 222 1439.71 no move -0.67 - - 1824.56 - - - 2585.19 - -97.32 - - 3447.38 - - - - - - - - - - -
1746.75 213.28 -10.04 253 1748.31 no move -0.67 - - 1824.75 - - - 2584.75 - -97.32 - - 3447.22 - - - - - - - - - - -
2056.81 244.61 -9.88 284 2063.08 roll -0.67 - - 1825.12 - 2.55 0.053 1214.25 -537.5 -97.32 - - 3448.44 - - - - - - - - - 15.44 -
2081.79 247.25 -10.20 289 2088.25 roll -0.67 - - 1824.94 - 2.88 0.108 2668.00 504.8 -97.32 - - 3448.44 - - - - - - - - - 15.37 -
2396.87 280.40 -10.71 321 2402.95 roll -0.67 - - 1823.75 - 2.18 0.159 3841.50 538.3 -97.32 - - 3449.91 - - - - - - - - - 15.27 -
2446.88 285.92 -11.07 331 2452.87 roll -0.67 - - 1823.94 - 1.99 0.046 2587.94 -629.9 -97.32 - - 3449.44 - - - - - - - - - 15.65 -
2756.95 317.76 -9.90 363 2758.51 no move -0.67 - - 1824.81 - - - 2585.00 - -97.32 - - 3447.84 - - - - - - - - - - -
3067.00 346.77 -8.96 394 3073.18 roll -0.67 - - 1823.56 - 2.37 0.156 3840.38 529.7 -97.32 - - 3449.66 - - - - - - - - - 15.30 -
3152.02 354.66 -9.35 411 3158.05 roll -0.67 - - 1824.19 - 1.99 0.046 2588.19 -629.2 -97.32 - - 3448.28 - - - - - - - - - 15.67 -
3467.09 381.43 -8.08 443 3468.65 no move -0.67 - - 1824.75 - - - 2585.31 - -97.32 - - 3447.16 - - - - - - - - - - -
3777.16 407.85 -8.86 474 3778.72 no move -0.67 - - 1824.88 - - - 2585.00 - -97.32 - - 3446.84 - - - - - - - - - - -
4087.21 436.52 -9.38 505 4093.39 roll -0.67 - - 1824.94 - 2.38 0.159 3839.69 527.2 -97.32 - - 3447.53 - - - - - - - - - 15.27 -
4157.23 443.46 -9.78 519 4163.21 roll -0.67 - - 1824.19 - 2.00 0.047 2588.44 -625.6 -97.32 - - 3448.22 - - - - - - - - - 15.63 -
4467.29 471.08 -8.76 551 4468.85 no move -0.67 - - 1824.62 - - - 2586.62 - -97.32 - - 3446.19 - - - - - - - - - - -
4777.35 497.29 -8.13 582 4783.52 roll -0.67 - - 1824.50 - 2.39 0.158 3841.56 525.1 -97.32 - - 3447.06 - - - - - - - - - 15.23 -
4897.39 507.27 -8.24 606 4903.37 roll -0.67 - - 1823.75 - 2.00 0.048 2588.38 -626.6 -97.32 - - 3447.38 - - - - - - - - - 15.50 -
5207.45 532.22 -8.28 638 5213.65 roll -0.67 - - 1824.56 - 2.38 0.157 3839.50 525.7 -97.32 - - 3446.41 - - - - - - - - - 15.15 -
5267.46 537.39 -8.66 650 5273.45 roll -0.67 - - 1824.88 - 2.00 0.049 2588.44 -625.5 -97.32 - - 3445.56 - - - - - - - - - 15.64 -
5577.50 563.34 -8.36 682 5583.68 roll -0.67 - - 1825.06 - 2.38 0.156 3840.12 525.9 -97.32 - - 3445.84 - - - - - - - - - 15.22 -
5677.51 572.00 -8.54 702 5683.49 roll -0.67 - - 1824.56 - 2.00 0.048 2587.44 -626.3 -97.32 - - 3445.09 - - - - - - - - - 15.54 -
5987.55 598.28 -8.46 734 5993.72 roll -0.67 - - 1824.94 - 2.38 0.156 3840.19 526.4 -97.32 - - 3444.69 - - - - - - - - - 15.13 -
6037.55 602.74 -9.02 744 6043.53 roll -0.67 - - 1824.69 - 2.00 0.049 2589.44 -625.4 -97.32 - - 3444.81 - - - - - - - - - 15.56 -
6347.58 629.11 -8.50 776 6353.76 roll -0.67 - - 1824.56 - 2.38 0.157 3840.50 525.7 -97.32 - - 3443.84 - - - - - - - - - 15.11 -
6477.60 640.89 -9.14 802 6483.58 roll -0.67 - - 1824.00 - 2.00 0.049 2585.06 -627.7 -97.32 - - 3444.50 - - - - - - - - - 15.62 -
6787.63 668.87 -9.07 834 6793.81 roll -0.67 - - 1824.25 - 2.38 0.156 3841.81 528.0 -97.32 - - 3443.16 - - - - - - - - - 15.20 -
6897.65 679.36 -9.74 856 6903.69 roll -0.67 - - 1824.81 - 2.01 0.049 2587.56 -624.0 -97.32 - - 3442.44 - - - - - - - - - 15.61 -
7207.71 707.36 -8.85 888 7213.89 roll -0.67 - - 1824.62 - 2.38 0.157 3841.56 526.9 -97.32 - - 3442.47 - - - - - - - - - 15.18 -
7267.73 712.89 -9.33 900 7273.77 roll -0.67 - - 1823.69 - 2.01 0.050 2589.44 -622.9 -97.32 - - 3443.47 - - - - - - - - - 15.57 -
7577.79 739.52 -8.46 932 7579.35 no move -0.67 - - 1824.88 - - - 2586.94 - -97.32 - - 3440.53 - - - - - - - - - - -
7887.85 766.53 -8.66 963 7894.03 roll -0.67 - - 1824.50 - 2.39 0.159 3840.75 524.6 -97.32 - - 3441.38 - - - - - - - - - 15.16 -
7972.87 774.05 -8.78 980 7978.88 roll -0.67 - - 1824.50 - 2.00 0.050 2586.56 -627.1 -97.32 - - 3440.72 - - - - - - - - - 15.58 -
8287.94 801.06 -8.53 1012 8289.50 no move -0.67 - - 1824.94 - - - 2585.25 - -97.32 - - 3439.22 - - - - - - - - - - -
8598.00 826.63 -8.00 1043 8604.23 roll -0.67 - - 1823.81 - 2.42 0.157 3836.88 517.2 -97.32 - - 3440.50 - - - - - - - - - 14.24 -
8703.01 835.36 -8.31 1064 8709.07 roll -0.67 - - 1823.94 - 2.01 0.050 2590.12 -620.3 -97.32 - - 3441.59 - - - - - - - - - 15.49 -
9018.08 859.72 -7.73 1096 9019.65 no move -0.67 - - 1824.88 - - - 2588.31 - -97.32 - - 3438.94 - - - - - - - - - - -
9328.15 883.36 -7.69 1127 9334.33 roll -0.67 - - 1824.31 - 2.39 0.159 3839.75 523.6 -97.32 - - 3438.84 - - - - - - - - - 15.13 -
9408.17 889.89 -8.23 1143 9414.20 roll -0.67 - - 1825.00 - 2.02 0.050 2589.50 -618.9 -97.32 - - 3439.00 - - - - - - - - - 15.50 -
9718.23 914.06 -7.74 1175 9724.41 roll -0.67 - - 1824.25 - 2.40 0.158 3841.62 521.7 -97.32 - - 3438.81 - - - - - - - - - 15.12 -
9783.23 919.29 -8.15 1188 9789.30 roll -0.67 - - 1824.50 - 2.02 0.051 2593.00 -618.1 -97.32 - - 3438.28 - - - - - - - - - 15.19 -
10098.31 944.07 -7.84 1220 10099.89 no move -0.67 - - 1824.38 - - - 2590.81 - -97.32 - - 3437.00 - - - - - - - - - - -
10408.37 967.54 -7.66 1251 10414.55 roll -0.67 - - 1824.44 - 2.39 0.159 3839.00 522.3 -97.32 - - 3437.72 - - - - - - - - - 15.10 -
10478.38 972.96 -7.70 1265 10484.42 roll -0.67 - - 1823.69 - 2.01 0.051 2589.75 -621.5 -97.32 - - 3438.53 - - - - - - - - - 15.44 -
10719 end dive: TARGET_DEPTH_EXCEEDED
10719 begin apogee
10720.48 990.67 -7.26 1290 10812.41 -0.12 0.62 0.207 2001.50 286.8 0.12 0.242 2322.44 -2227.6 - 84.27 2.476 3048.16 -4.6 0.331 - - - - - - 15.13 14.75 10.54
10814 end apogee: CONTROL_FINISHED_OK
10814 begin climb
10814.51 992.36 - 1299 10912.26 0.67 0.77 0.099 2270.81 349.8 2.91 0.070 863.69 -501.3 97.32 87.61 2.427 2649.50 -4.6 0.332 - - - - - - 15.02 14.53 11.58
10974.81 982.17 9.16 1330 10981.26 roll 0.67 - - 2270.25 - 2.83 0.081 2311.38 511.6 97.32 - - 2645.59 - - - - - - - - - 15.06 -
11289.89 951.45 9.50 1362 11296.22 done 0.67 - - 2280.00 - 2.70 0.065 864.25 -536.0 97.32 - - 2642.56 - - - - - - - - - 15.50 -
11349.90 945.62 9.77 1374 11356.28 done 0.67 - - 2279.69 - 2.74 0.079 2313.00 528.7 97.32 - - 2641.69 - - - - - - - - - 15.44 -
11659.97 914.17 10.43 1406 11666.34 done 0.67 - - 2290.00 - 2.73 0.065 862.12 -531.5 97.32 - - 2641.16 - - - - - - - - - 14.90 -
11744.98 905.22 10.43 1423 11751.54 0.67 0.17 0.250 2245.56 -261.4 2.75 0.081 2312.06 527.3 97.32 - - 2640.31 - - - - - - - - 15.28 15.47 -
12060.05 877.47 8.88 1455 12066.43 done 0.67 - - 2252.00 - 2.70 0.067 865.94 -535.6 97.32 - - 2640.03 - - - - - - - - - 15.57 -
12105.05 873.46 8.97 1464 12111.48 done 0.67 - - 2251.44 - 2.73 0.080 2311.81 529.6 97.32 - - 2640.06 - - - - - - - - - 15.49 -
12420.13 844.05 9.47 1496 12426.51 done 0.67 - - 2253.00 - 2.71 0.068 864.06 -534.2 97.32 - - 2638.81 - - - - - - - - - 15.58 -
12455.12 840.71 9.56 1503 12461.53 done 0.67 - - 2253.81 - 2.77 0.080 2313.12 523.1 97.32 - - 2639.91 - - - - - - - - - 14.79 -
12770.20 809.31 9.81 1535 12776.57 done 0.67 - - 2262.25 - 2.72 0.066 863.00 -533.1 97.32 - - 2639.66 - - - - - - - - - 14.79 -
12820.21 804.44 9.69 1545 12826.58 done 0.67 - - 2261.81 - 2.74 0.080 2313.62 529.4 97.32 - - 2638.75 - - - - - - - - - 15.46 -
13130.27 774.86 8.99 1577 13136.65 done 0.67 - - 2268.19 - 2.73 0.067 863.44 -531.2 97.32 - - 2639.50 - - - - - - - - - 14.77 -
13170.32 771.28 8.94 1585 13176.65 done 0.67 - - 2267.69 - 2.74 0.080 2314.38 529.5 97.32 - - 2638.72 - - - - - - - - - 15.45 -
13480.34 744.57 8.01 1617 13486.86 done 0.67 - - 2278.56 - 2.70 0.065 864.38 -537.0 97.32 - - 2639.25 - - - - - - - - - 15.56 -
13525.33 740.95 8.06 1626 13531.74 done 0.67 - - 2278.19 - 2.74 0.079 2312.69 528.6 97.32 - - 2638.44 - - - - - - - - - 15.44 -
13840.46 715.82 7.84 1658 13846.79 done 0.68 - - 2286.06 - 2.70 0.066 864.38 -536.4 97.32 - - 2637.78 - - - - - - - - - 15.56 -
13920.48 709.57 7.83 1674 13926.82 done 0.69 - - 2285.69 - 2.74 0.079 2314.94 529.4 97.32 - - 2638.06 - - - - - - - - - 15.43 -
14230.48 684.36 8.26 1706 14236.81 done 0.69 - - 2294.75 - 2.69 0.066 864.25 -539.3 97.32 - - 2638.09 - - - - - - - - - 15.54 -
14285.47 679.73 8.45 1717 14292.03 0.69 0.16 0.246 2253.50 -257.8 2.77 0.078 2313.00 523.0 97.32 - - 2638.03 - - - - - - - - 15.10 14.68 -
14600.56 656.53 7.38 1749 14606.89 done 0.71 - - 2253.19 - 2.74 0.068 865.88 -528.1 97.32 - - 2637.44 - - - - - - - - - 14.67 -
14630.56 654.34 7.27 1755 14636.92 done 0.74 - - 2253.00 - 2.78 0.079 2313.75 520.8 97.32 - - 2638.41 - - - - - - - - - 14.66 -
14940.59 631.10 7.56 1787 14942.15 VBD 0.76 - - 2253.31 - - - 2314.50 - 97.32 - - 2635.75 - - - - - - - - - - -
15250.63 607.14 7.73 1818 15257.06 0.77 0.09 0.091 2350.88 1084.1 2.73 0.067 863.88 -531.4 97.32 - - 2637.09 - - - - - - - - 15.66 15.51 -
15315.57 600.53 10.43 1831 15322.19 0.77 0.27 0.258 2279.25 -265.3 2.74 0.078 2318.12 530.7 97.32 - - 2637.34 - - - - - - - - 15.09 15.41 -
15630.62 573.38 8.43 1863 15632.18 VBD 0.77 - - 2279.44 - - - 2317.56 - 97.32 - - 2635.72 - - - - - - - - - - -
15940.64 546.55 8.68 1894 15947.02 done 0.77 - - 2288.25 - 2.71 0.065 863.19 -536.7 97.32 - - 2637.94 - - - - - - - - - 15.51 -
16060.72 536.32 8.57 1918 16067.06 done 0.77 - - 2288.88 - 2.75 0.078 2314.38 527.7 97.32 - - 2636.94 - - - - - - - - - 15.38 -
16370.74 510.23 8.63 1950 16377.14 done 0.77 - - 2299.06 - 2.74 0.065 863.06 -529.7 97.32 - - 2637.56 - - - - - - - - - 14.62 -
16510.79 497.99 8.88 1978 16517.17 done 0.77 - - 2297.62 - 2.76 0.080 2312.00 525.0 97.32 - - 2637.78 - - - - - - - - - 15.35 -
16820.85 472.52 8.16 2010 16827.22 done 0.77 - - 2308.62 - 2.74 0.064 866.19 -527.7 97.32 - - 2636.84 - - - - - - - - - 14.61 -
16865.89 468.96 7.92 2019 16873.10 done 0.78 - - 2308.12 - 2.79 0.079 2313.69 518.8 97.32 - - 2636.56 - - - - - - - - - 14.60 -
17180.91 443.03 8.39 2051 17187.28 done 0.78 - - 2318.25 - 2.74 0.065 866.19 -528.3 97.32 - - 2637.12 - - - - - - - - - 14.61 -
17255.92 436.58 8.81 2066 17262.92 done 0.78 - - 2317.00 - 2.78 0.078 2312.88 520.4 97.32 - - 2637.41 - - - - - - - - - 14.59 -
17571.06 408.60 8.92 2098 17577.36 done 0.78 - - 2326.50 - 2.74 0.065 859.19 -530.5 97.32 - - 2636.72 - - - - - - - - - 14.63 -
17691.01 397.66 9.20 2122 17697.56 0.78 0.17 0.256 2282.31 -259.9 2.80 0.079 2314.62 519.8 97.32 - - 2636.91 - - - - - - - - 14.92 14.60 -
18001.13 372.74 7.79 2154 18002.78 VBD 0.79 - - 2282.69 - - - 2314.62 - 97.32 - - 2635.88 - - - - - - - - - - -
18311.18 350.23 6.75 2185 18317.47 done 0.83 - - 2292.88 - 2.70 0.063 862.19 -537.9 97.32 - - 2636.81 - - - - - - - - - 15.49 -
18421.21 342.82 6.73 2207 18427.55 done 0.86 - - 2292.31 - 2.75 0.078 2313.88 527.9 97.32 - - 2637.62 - - - - - - - - - 15.36 -
18731.27 322.34 6.27 2239 18733.03 0.91 0.10 0.076 2387.44 951.3 - - 2313.81 - 97.32 - - 2639.09 - - - - - - - - 15.66 - -
19041.29 295.25 8.67 2270 19047.99 0.91 0.26 0.272 2334.12 -205.1 2.74 0.063 863.06 -529.5 97.32 - - 2637.94 - - - - - - - - 14.92 14.61 -
19101.35 290.96 7.08 2282 19107.69 done 0.94 - - 2333.00 - 2.80 0.079 2314.06 518.2 97.32 - - 2637.75 - - - - - - - - - 14.63 -
19411.36 267.19 8.09 2314 19417.74 done 0.94 - - 2336.94 - 2.72 0.067 866.50 -532.2 97.32 - - 2637.50 - - - - - - - - - 15.45 -
19511.39 258.99 8.26 2334 19517.78 done 0.94 - - 2336.88 - 2.74 0.077 2315.81 528.9 97.32 - - 2637.72 - - - - - - - - - 15.35 -
19821.45 232.53 8.91 2366 19823.01 VBD 0.94 - - 2336.69 - - - 2315.44 - 97.32 - - 2636.41 - - - - - - - - - - -
20131.49 205.57 8.12 2397 20137.87 done 0.94 - - 2337.56 - 2.72 0.067 863.00 -534.0 97.32 - - 2637.66 - - - - - - - - - 15.45 -
20229.56 198.05 7.57 2416 20236.67 done 0.95 - - 2336.56 - 2.77 0.077 2314.94 524.2 97.32 - - 2639.34 - - - - - - - - - 15.30 -
20544.61 174.91 7.15 2448 20551.96 done 0.98 - - 2336.12 - 2.65 0.136 3724.62 532.0 97.32 - - 2640.16 - - - - - - - - - 15.15 -
20654.62 166.72 6.95 2470 20661.57 done 1.01 - - 2347.06 - 2.43 0.041 2265.50 -600.5 97.32 - - 2639.78 - - - - - - - - - 15.46 -
20964.66 146.22 6.29 2502 20971.78 done 1.05 - - 2346.81 - 2.81 0.137 3723.19 518.8 97.32 - - 2640.09 - - - - - - - - - 15.11 -
21149.66 133.08 7.05 2539 21156.72 1.08 0.09 0.097 2440.75 1043.8 2.42 0.039 2261.56 -604.0 97.32 - - 2638.69 - - - - - - - - 15.38 15.45 -
21464.72 110.32 7.07 2571 21472.24 1.11 0.22 0.299 2398.12 -193.8 2.58 0.059 860.88 -542.9 97.32 - - 2639.44 - - - - - - - - 14.89 15.00 -
21699.90 95.74 6.26 2618 21707.31 done 1.15 - - 2398.00 - 2.77 0.077 2316.69 525.6 97.32 - - 2639.19 - - - - - - - - - 15.30 -
21889.98 83.94 6.44 2656 21897.08 done 1.19 - - 2409.88 - 2.75 0.058 859.56 -529.9 97.32 - - 2640.09 - - - - - - - - - 14.59 -
21899.97 83.35 6.34 2658 21907.06 done 1.24 - - 2408.81 - 2.77 0.078 2314.38 525.2 97.32 - - 2639.84 - - - - - - - - - 15.31 -
22090.04 75.69 3.20 2696 22170.97 1.34 0.17 0.060 2521.81 664.7 2.74 0.063 861.88 -530.1 187.62 68.64 1.223 2282.97 -5.2 0.057 - - - - - - 15.49 15.17 11.34
22188.52 67.76 12.57 2715 22195.87 roll back 1.34 0.25 0.308 2463.19 -234.5 2.80 0.077 2314.81 518.9 187.62 - - 2278.59 - - - - - - - - 15.02 14.83 -
22378.56 43.74 12.31 2753 22385.76 done 1.34 - - 2463.50 - 2.65 0.137 3724.81 532.1 187.62 - - 2275.78 - - - - - - - - - 15.22 -
22593.64 20.43 10.67 2796 22600.59 done 1.34 - - 2473.44 - 2.44 0.038 2268.31 -596.9 187.62 - - 2276.50 - - - - - - - - - 14.77 -
22769 end climb: SURFACE_DEPTH_REACHED
22769 begin surface coast
22789 end surface coast: CONTROL_FINISHED_OK
22789 begin surface
SM 1.11 - - - - 157.0 101.71 1.127 1723.9 16.9 6.66 0.079 1802.3 270.6 - 0.76 0.097 1645.6 2162.1 -2.529 - - 11.50 15.45 15.48 -