SMODE Aug22 * SG220 * Dive index * Mission links * Dive 167 * Raw log
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• Previous call tries 1 • 54.70 of 350.00 AH used of 24V (84.37% remains)
• Surface angle -63.1 deg, depth 1.08 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 350.32 (SM_CC=350)
• GPS1 time: 59 s
• GPS2 time: 4 s • Transponder ping count: 16
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.43 - - - 71.29 VBD -0.67 - - 159.06 - - - 2694.31 - -97.32 63.81 0.006 3007.34 - - - - - - - - - - 15.31
71.51 3.71 -4.33 12 98.78 -0.67 11.07 0.554 1804.25 148.6 2.43 0.048 1303.25 -572.5 -97.32 10.23 0.008 3444.22 42.7 -3.385 - - - - - - 15.26 15.49 15.38
241.10 37.45 -16.98 46 246.75 roll -0.67 - - 1804.19 - 2.81 0.118 2762.69 519.4 -97.32 - - 3448.31 - - - - - - - - - 15.68 -
431.19 63.96 -13.26 84 432.53 no move -0.67 - - 1804.50 - - - 2762.94 - -97.32 - - 3446.44 - - - - - - - - - - -
616.21 88.40 -12.33 121 621.64 roll -0.67 - - 1805.06 - 1.99 0.149 3841.56 542.0 -97.32 - - 3448.16 - - - - - - - - - 15.69 -
676.23 96.35 -13.60 133 681.12 roll -0.67 - - 1804.75 - 1.85 0.045 2677.31 -629.3 -97.32 - - 3448.50 - - - - - - - - - 15.77 -
866.29 120.59 -12.89 155 871.74 roll -0.67 - - 1804.31 - 2.18 0.152 3840.00 533.3 -97.32 - - 3449.16 - - - - - - - - - 15.75 -
1021.27 140.65 -12.41 186 1026.16 roll -0.67 - - 1804.44 - 1.85 0.044 2673.88 -630.3 -97.32 - - 3449.72 - - - - - - - - - 15.80 -
1336.31 179.56 -12.18 218 1337.65 no move -0.67 - - 1804.69 - - - 2671.94 - -97.32 - - 3448.12 - - - - - - - - - - -
1646.33 215.94 -11.31 249 1651.83 roll -0.67 - - 1804.69 - 2.15 0.144 3841.06 543.8 -97.32 - - 3449.12 - - - - - - - - - 15.88 -
1746.34 227.56 -11.61 269 1751.21 roll -0.67 - - 1804.62 - 1.84 0.046 2672.88 -634.9 -97.32 - - 3449.34 - - - - - - - - - 15.77 -
2056.36 261.87 -11.01 301 2057.70 no move -0.67 - - 1804.69 - - - 2672.75 - -97.32 - - 3448.16 - - - - - - - - - - -
2366.41 295.47 -10.57 332 2367.76 no move -0.67 - - 1804.69 - - - 2672.62 - -97.32 - - 3447.44 - - - - - - - - - - -
2676.42 327.60 -10.19 363 2677.77 no move -0.67 - - 1804.25 - - - 2671.31 - -97.32 - - 3446.59 - - - - - - - - - - -
2986.47 360.20 -10.68 394 2991.95 roll -0.67 - - 1804.31 - 2.14 0.145 3841.44 546.8 -97.32 - - 3446.81 - - - - - - - - - 15.94 -
3036.47 365.56 -10.73 404 3041.35 roll -0.67 - - 1804.12 - 1.84 0.048 2677.81 -632.4 -97.32 - - 3447.66 - - - - - - - - - 15.81 -
3346.52 396.14 -9.83 436 3347.86 no move -0.67 - - 1804.44 - - - 2677.62 - -97.32 - - 3445.19 - - - - - - - - - - -
3656.57 426.32 -9.67 467 3657.92 no move -0.67 - - 1804.56 - - - 2677.19 - -97.32 - - 3444.62 - - - - - - - - - - -
3966.61 456.83 -9.94 498 3967.95 no move -0.67 - - 1804.19 - - - 2676.38 - -97.32 - - 3443.66 - - - - - - - - - - -
4276.65 488.23 -10.17 529 4277.99 no move -0.67 - - 1803.50 - - - 2676.62 - -97.32 - - 3444.66 - - - - - - - - - - -
4586.68 520.03 -9.98 560 4588.03 no move -0.67 - - 1804.00 - - - 2677.12 - -97.32 - - 3442.16 - - - - - - - - - - -
4896.73 551.37 -9.97 591 4898.07 no move -0.67 - - 1804.75 - - - 2677.06 - -97.32 - - 3440.91 - - - - - - - - - - -
5206.77 582.25 -10.00 622 5212.25 roll -0.67 - - 1803.69 - 2.15 0.155 3841.25 541.5 -97.32 - - 3442.94 - - - - - - - - - 15.57 -
5321.81 593.89 -9.96 645 5326.70 roll -0.67 - - 1804.31 - 1.84 0.050 2686.00 -627.9 -97.32 - - 3441.66 - - - - - - - - - 16.03 -
5636.85 623.88 -9.52 677 5642.33 roll -0.67 - - 1804.88 - 2.12 0.147 3842.19 545.4 -97.32 - - 3441.62 - - - - - - - - - 15.95 -
5676.85 627.87 -10.08 685 5681.73 roll -0.67 - - 1804.06 - 1.85 0.052 2685.88 -625.0 -97.32 - - 3440.22 - - - - - - - - - 15.79 -
5986.91 656.92 -9.14 717 5988.25 no move -0.67 - - 1804.00 - - - 2685.31 - -97.32 - - 3439.00 - - - - - - - - - - -
6297.04 685.56 -9.35 748 6298.39 no move -0.67 - - 1803.69 - - - 2685.50 - -97.32 - - 3438.44 - - - - - - - - - - -
6607.00 714.27 -9.19 779 6608.35 no move -0.67 - - 1804.31 - - - 2685.69 - -97.32 - - 3437.62 - - - - - - - - - - -
6917.05 743.24 -9.52 810 6918.40 no move -0.67 - - 1804.31 - - - 2684.94 - -97.32 - - 3436.59 - - - - - - - - - - -
7227.11 771.69 -8.92 841 7228.45 no move -0.67 - - 1804.50 - - - 2684.75 - -97.32 - - 3436.22 - - - - - - - - - - -
7537.16 799.52 -9.04 872 7538.50 no move -0.67 - - 1804.44 - - - 2684.88 - -97.32 - - 3435.53 - - - - - - - - - - -
7847.21 827.01 -8.85 903 7848.55 no move -0.67 - - 1804.25 - - - 2684.25 - -97.32 - - 3434.91 - - - - - - - - - - -
8157.26 854.89 -8.99 934 8162.78 roll -0.67 - - 1804.50 - 2.38 0.046 1302.19 -580.7 -97.32 - - 3435.69 - - - - - - - - - 16.04 -
8242.28 862.68 -9.07 951 8247.88 roll -0.67 - - 1804.50 - 2.74 0.111 2762.38 532.9 -97.32 - - 3435.94 - - - - - - - - - 15.74 -
8557.30 890.90 -8.78 983 8562.85 roll -0.67 - - 1804.12 - 2.54 0.047 1304.69 -573.9 -97.32 - - 3434.66 - - - - - - - - - 15.77 -
8592.29 894.01 -8.81 990 8597.90 roll -0.67 - - 1804.38 - 2.72 0.110 2761.19 535.5 -97.32 - - 3435.66 - - - - - - - - - 15.96 -
8907.32 920.77 -8.27 1022 8908.67 no move -0.67 - - 1804.44 - - - 2761.50 - -97.32 - - 3432.56 - - - - - - - - - - -
9217.34 946.11 -7.96 1053 9222.89 roll -0.67 - - 1804.25 - 2.54 0.046 1302.94 -574.2 -97.32 - - 3434.12 - - - - - - - - - 15.75 -
9272.33 950.65 -8.24 1064 9277.95 roll -0.67 - - 1804.06 - 2.72 0.106 2761.19 536.1 -97.32 - - 3433.53 - - - - - - - - - 15.95 -
9587.37 975.38 -7.81 1096 9588.72 no move -0.67 - - 1804.31 - - - 2760.56 - -97.32 - - 3432.16 - - - - - - - - - - -
9778 end dive: TARGET_DEPTH_EXCEEDED
9778 begin apogee
9779.12 990.29 -7.91 1115 9859.15 -0.12 0.60 0.235 1980.62 293.8 0.17 0.182 2319.94 -2591.9 - 77.21 2.501 3048.75 -5.0 0.336 - - - - - - 15.88 15.13 12.18
9860 end apogee: CONTROL_FINISHED_OK
9860 begin climb
9860.60 992.01 - 1123 9943.18 0.67 0.79 0.121 2238.69 326.7 - - 2320.12 - 97.32 80.43 2.460 2649.47 -5.0 0.342 - - - - - - 15.22 - 12.38
10247.44 962.29 8.75 1162 10253.00 done 0.67 - - 2237.56 - 2.60 0.126 3722.50 539.4 97.32 - - 2643.41 - - - - - - - - - 15.59 -
10277.44 959.31 9.28 1168 10282.99 done 0.67 - - 2249.31 - 2.47 0.042 2256.56 -593.5 97.32 - - 2643.97 - - - - - - - - - 15.64 -
10587.49 931.83 8.78 1200 10588.83 VBD 0.67 - - 2249.56 - - - 2251.06 - 97.32 - - 2640.47 - - - - - - - - - - -
10897.52 904.92 8.68 1231 10898.87 VBD 0.67 - - 2248.69 - - - 2250.19 - 97.32 - - 2639.69 - - - - - - - - - - -
11207.58 878.02 8.59 1262 11213.17 done 0.67 - - 2249.19 - 2.74 0.135 3723.62 537.7 97.32 - - 2641.16 - - - - - - - - - 15.79 -
11267.59 872.14 9.86 1274 11273.13 done 0.67 - - 2259.38 - 2.42 0.042 2254.75 -607.0 97.32 - - 2640.75 - - - - - - - - - 15.89 -
11577.63 845.28 8.51 1306 11578.97 VBD 0.67 - - 2259.44 - - - 2250.50 - 97.32 - - 2637.72 - - - - - - - - - - -
11887.67 819.36 8.53 1337 11893.18 done 0.67 - - 2270.69 - 2.38 0.055 855.44 -586.2 97.32 - - 2638.97 - - - - - - - - - 15.97 -
11937.67 815.09 8.60 1347 11943.29 0.67 0.17 0.259 2225.75 -264.4 2.60 0.078 2312.19 560.3 97.32 - - 2639.69 - - - - - - - - 15.80 15.85 -
12247.75 792.13 7.60 1379 12253.26 done 0.68 - - 2230.25 - 2.52 0.056 857.00 -577.5 97.32 - - 2637.75 - - - - - - - - - 15.96 -
12282.72 789.44 7.66 1386 12288.29 done 0.70 - - 2230.56 - 2.59 0.079 2313.31 562.3 97.32 - - 2638.09 - - - - - - - - - 15.91 -
12597.78 764.49 7.92 1418 12603.32 done 0.71 - - 2230.56 - 2.59 0.138 3724.00 544.7 97.32 - - 2638.34 - - - - - - - - - 15.83 -
12662.77 758.60 9.17 1431 12668.34 done 0.71 - - 2239.38 - 2.42 0.043 2254.62 -607.2 97.32 - - 2638.06 - - - - - - - - - 15.96 -
12977.83 732.24 8.24 1463 12979.17 VBD 0.71 - - 2238.94 - - - 2250.06 - 97.32 - - 2635.69 - - - - - - - - - - -
13287.87 706.37 8.34 1494 13289.21 VBD 0.71 - - 2239.62 - - - 2250.44 - 97.32 - - 2635.25 - - - - - - - - - - -
13597.91 680.14 8.57 1525 13599.25 VBD 0.71 - - 2239.81 - - - 2250.00 - 97.32 - - 2635.25 - - - - - - - - - - -
13907.94 654.81 8.21 1556 13909.29 VBD 0.71 - - 2239.81 - - - 2249.56 - 97.32 - - 2634.84 - - - - - - - - - - -
14217.99 630.82 7.43 1587 14219.34 VBD 0.73 - - 2239.94 - - - 2249.62 - 97.32 - - 2634.81 - - - - - - - - - - -
14528.06 608.98 6.85 1618 14533.61 done 0.76 - - 2239.75 - 2.72 0.135 3724.75 542.3 97.32 - - 2636.75 - - - - - - - - - 15.90 -
14598.04 603.24 8.32 1632 14603.58 done 0.76 - - 2249.81 - 2.41 0.043 2259.19 -608.1 97.32 - - 2636.56 - - - - - - - - - 15.97 -
14908.11 580.50 7.39 1664 14913.68 done 0.79 - - 2249.94 - 2.71 0.135 3725.38 541.0 97.32 - - 2636.50 - - - - - - - - - 15.87 -
14943.09 577.56 7.80 1671 14948.65 done 0.80 - - 2258.06 - 2.41 0.044 2262.12 -607.2 97.32 - - 2636.69 - - - - - - - - - 15.97 -
15258.14 554.98 6.76 1703 15263.66 done 0.83 - - 2268.31 - 2.40 0.060 855.50 -586.1 97.32 - - 2636.97 - - - - - - - - - 15.96 -
15308.16 551.49 6.98 1713 15313.70 done 0.86 - - 2268.56 - 2.58 0.077 2313.38 565.1 97.32 - - 2636.16 - - - - - - - - - 15.94 -
15618.20 528.47 7.66 1745 15623.78 0.88 0.09 0.095 2353.81 947.2 2.57 0.135 3724.12 548.9 97.32 - - 2635.38 - - - - - - - - 15.93 15.92 -
15693.24 519.87 12.11 1760 15698.82 0.88 0.28 0.315 2293.62 -215.0 2.40 0.040 2257.75 -611.0 97.32 - - 2635.66 - - - - - - - - 15.80 15.96 -
16008.25 492.23 8.76 1792 16013.84 done 0.88 - - 2293.69 - 2.71 0.133 3724.56 541.3 97.32 - - 2636.62 - - - - - - - - - 15.90 -
16048.25 488.14 10.41 1800 16053.79 done 0.88 - - 2303.75 - 2.41 0.044 2253.50 -610.4 97.32 - - 2636.41 - - - - - - - - - 15.96 -
16358.27 459.49 9.57 1832 16363.79 done 0.88 - - 2315.25 - 2.37 0.055 856.25 -589.6 97.32 - - 2635.62 - - - - - - - - - 16.01 -
16413.26 453.96 10.09 1843 16418.84 done 0.88 - - 2315.00 - 2.59 0.078 2310.44 561.5 97.32 - - 2635.91 - - - - - - - - - 15.96 -
16728.28 421.30 10.37 1875 16729.63 VBD 0.88 - - 2315.12 - - - 2310.62 - 97.32 - - 2634.00 - - - - - - - - - - -
17038.30 392.48 8.80 1906 17043.89 done 0.88 - - 2314.88 - 2.58 0.136 3724.38 548.0 97.32 - - 2636.94 - - - - - - - - - 15.84 -
17133.29 383.37 9.37 1925 17138.85 done 0.88 - - 2326.00 - 2.40 0.041 2253.12 -613.0 97.32 - - 2636.66 - - - - - - - - - 15.96 -
17448.34 358.47 7.21 1957 17453.93 done 0.90 - - 2325.88 - 2.72 0.132 3727.56 542.1 97.32 - - 2636.66 - - - - - - - - - 15.90 -
17598.34 346.29 8.35 1987 17603.88 done 0.90 - - 2336.12 - 2.41 0.042 2258.12 -609.7 97.32 - - 2636.94 - - - - - - - - - 15.96 -
17908.37 324.78 6.90 2019 17913.95 done 0.93 - - 2336.44 - 2.70 0.131 3723.88 542.9 97.32 - - 2636.06 - - - - - - - - - 15.85 -
18003.34 316.39 9.19 2038 18008.92 done 0.93 - - 2347.00 - 2.40 0.041 2256.62 -611.4 97.32 - - 2636.09 - - - - - - - - - 15.96 -
18318.39 291.53 7.95 2070 18323.90 done 0.94 - - 2357.19 - 2.38 0.055 854.19 -589.3 97.32 - - 2635.72 - - - - - - - - - 15.96 -
18393.39 285.22 8.53 2085 18399.01 0.94 0.16 0.289 2315.06 -263.3 2.58 0.076 2313.25 565.5 97.32 - - 2636.44 - - - - - - - - 15.82 15.96 -
18708.43 258.49 9.14 2117 18709.78 VBD 0.94 - - 2315.56 - - - 2313.62 - 97.32 - - 2634.91 - - - - - - - - - - -
19018.49 232.05 7.89 2148 19019.84 VBD 0.96 - - 2314.81 - - - 2313.69 - 97.32 - - 2634.84 - - - - - - - - - - -
19328.53 211.22 5.83 2179 19329.88 VBD 1.01 - - 2314.88 - - - 2313.00 - 97.32 - - 2634.50 - - - - - - - - - - -
19638.56 193.61 5.73 2210 19644.16 1.06 0.13 0.074 2412.31 749.5 2.56 0.129 3725.94 551.9 97.32 - - 2636.53 - - - - - - - - 15.93 15.89 -
19648.56 192.87 5.88 2212 19654.14 1.12 0.22 0.344 2369.69 -193.7 2.40 0.037 2252.12 -614.1 97.32 - - 2638.56 - - - - - - - - 15.74 15.92 -
19958.60 172.15 6.99 2244 19964.18 done 1.14 - - 2369.94 - 2.70 0.127 3725.25 545.6 97.32 - - 2636.66 - - - - - - - - - 15.90 -
20193.64 152.99 8.40 2291 20199.20 done 1.14 - - 2380.19 - 2.40 0.035 2247.31 -615.8 97.32 - - 2636.78 - - - - - - - - - 15.95 -
20508.72 131.93 6.67 2323 20514.29 done 1.18 - - 2379.81 - 2.74 0.132 3726.50 539.9 97.32 - - 2637.84 - - - - - - - - - 15.81 -
20668.90 119.64 7.51 2355 20674.29 done 1.20 - - 2391.62 - 2.41 0.037 2246.62 -614.1 97.32 - - 2637.03 - - - - - - - - - 15.86 -
20978.83 97.90 6.49 2390 20984.33 done 1.24 - - 2402.62 - 2.37 0.050 848.75 -589.8 97.32 - - 2638.22 - - - - - - - - - 15.85 -
21213.86 85.70 4.03 2437 21274.70 1.33 0.12 0.084 2481.50 657.3 2.61 0.077 2313.56 561.2 173.34 54.43 1.263 2339.75 -5.5 0.064 - - - - - - 15.83 15.80 12.24
21458.92 61.86 11.82 2486 21464.54 roll back 1.33 0.18 0.341 2438.62 -238.2 2.59 0.124 3726.75 545.6 173.34 - - 2335.75 - - - - - - - - 15.52 15.62 -
21693.97 37.87 9.28 2533 21699.53 roll 1.33 - - 2448.88 - 2.42 0.035 2246.69 -611.6 173.34 - - 2336.00 - - - - - - - - - 15.72 -
21884.07 23.78 5.08 2571 21931.49 done 1.40 - - 2449.56 - 2.76 0.121 3725.69 535.9 231.41 42.60 1.165 2105.88 -5.4 0.019 - - - - - - - 15.51 12.30
22159.08 3.63 9.80 2626 22164.65 roll 1.40 - - 2459.50 - 2.43 0.037 2257.00 -604.4 231.41 - - 2098.91 - - - - - - - - - 15.69 -
22179 end climb: SURFACE_DEPTH_REACHED
22179 begin surface coast
22204 end surface coast: CONTROL_FINISHED_OK
22204 begin surface
SM 0.90 - - - - 167.9 83.69 1.130 1620.9 19.4 6.43 0.066 1703.3 264.9 - 0.93 0.096 1538.4 1651.6 -1.583 - - 12.30 15.73 15.71 -