SMODE Aug22 * SG220 * Dive index * Mission links * Dive 197 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 65.23 of 350.00 AH used of 24V (81.36% remains)
• Surface angle -69.0 deg, depth 1.15 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 350.35 (SM_CC=350)
• GPS1 time: 23 s
• GPS2 time: 3 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
6.46 - - - 76.76 VBD -0.67 - - 181.50 - - - 2678.06 - -97.32 69.17 0.006 3097.50 - - - - - - - - - - 15.24
76.96 3.78 -4.00 13 103.16 -0.67 11.45 0.569 1805.75 141.9 2.43 0.047 1303.00 -565.9 -97.32 8.09 0.008 3445.97 43.1 -3.484 - - - - - - 15.16 15.40 15.33
330.51 53.59 -17.24 64 336.14 roll -0.67 - - 1804.81 - 2.82 0.116 2764.00 518.1 -97.32 - - 3447.53 - - - - - - - - - 15.67 -
520.59 84.94 -17.41 102 521.93 no move -0.67 - - 1805.12 - - - 2764.50 - -97.32 - - 3446.91 - - - - - - - - - - -
710.60 116.54 -16.54 130 711.95 no move -0.67 - - 1805.00 - - - 2764.62 - -97.32 - - 3447.69 - - - - - - - - - - -
1020.66 158.84 -11.49 161 1026.21 roll -0.67 - - 1805.25 - 2.55 0.042 1303.25 -573.1 -97.32 - - 3450.22 - - - - - - - - - 15.88 -
1085.66 166.51 -11.58 174 1091.28 roll -0.67 - - 1805.00 - 2.79 0.114 2764.62 523.8 -97.32 - - 3449.66 - - - - - - - - - 15.57 -
1400.71 200.82 -11.27 206 1402.05 no move -0.67 - - 1805.06 - - - 2764.31 - -97.32 - - 3448.69 - - - - - - - - - - -
1710.75 237.25 -11.75 237 1716.30 roll -0.67 - - 1805.00 - 2.55 0.043 1302.62 -573.2 -97.32 - - 3449.22 - - - - - - - - - 15.96 -
1765.74 243.92 -12.06 248 1771.39 roll -0.67 - - 1804.94 - 2.76 0.109 2764.62 529.7 -97.32 - - 3449.69 - - - - - - - - - 15.88 -
2080.80 280.36 -11.53 280 2082.15 no move -0.67 - - 1805.12 - - - 2764.31 - -97.32 - - 3448.88 - - - - - - - - - - -
2390.84 315.40 -10.69 311 2396.39 roll -0.67 - - 1804.69 - 2.55 0.044 1302.88 -573.1 -97.32 - - 3449.03 - - - - - - - - - 15.72 -
2440.85 320.97 -11.19 321 2446.45 roll -0.67 - - 1805.12 - 2.76 0.113 2764.12 529.4 -97.32 - - 3448.56 - - - - - - - - - 15.90 -
2750.90 355.91 -11.45 353 2752.24 no move -0.67 - - 1805.31 - - - 2764.44 - -97.32 - - 3447.16 - - - - - - - - - - -
3060.92 390.76 -11.13 384 3066.47 roll -0.67 - - 1804.88 - 2.54 0.045 1303.88 -575.0 -97.32 - - 3447.38 - - - - - - - - - 15.99 -
3150.97 400.76 -10.88 402 3156.53 roll -0.67 - - 1804.62 - 2.76 0.113 2765.06 529.4 -97.32 - - 3448.59 - - - - - - - - - 15.92 -
3461.64 431.98 -9.60 434 3462.98 no move -0.67 - - 1804.81 - - - 2764.69 - -97.32 - - 3445.88 - - - - - - - - - - -
3771.02 460.80 -9.10 465 3776.58 roll -0.67 - - 1805.19 - 2.55 0.044 1304.69 -572.5 -97.32 - - 3446.16 - - - - - - - - - 15.73 -
3811.03 464.46 -9.13 473 3816.62 roll -0.67 - - 1805.00 - 2.74 0.110 2761.12 531.5 -97.32 - - 3445.94 - - - - - - - - - 15.93 -
4121.07 492.34 -9.01 505 4126.49 roll -0.67 - - 1804.81 - 1.97 0.153 3842.44 548.9 -97.32 - - 3446.09 - - - - - - - - - 15.86 -
4171.08 497.03 -9.46 515 4175.96 roll -0.67 - - 1805.38 - 1.84 0.049 2681.06 -631.2 -97.32 - - 3445.59 - - - - - - - - - 16.01 -
4481.13 525.21 -9.21 547 4482.47 no move -0.67 - - 1804.75 - - - 2679.12 - -97.32 - - 3443.56 - - - - - - - - - - -
4791.17 554.58 -9.62 578 4796.65 roll -0.67 - - 1804.75 - 2.16 0.152 3841.38 538.1 -97.32 - - 3444.94 - - - - - - - - - 15.63 -
4896.20 565.00 -9.95 599 4901.09 roll -0.67 - - 1804.75 - 1.85 0.049 2678.12 -628.8 -97.32 - - 3444.84 - - - - - - - - - 15.70 -
5211.25 596.10 -10.14 631 5212.59 no move -0.67 - - 1805.38 - - - 2675.88 - -97.32 - - 3441.81 - - - - - - - - - - -
5521.27 627.21 -9.72 662 5522.61 no move -0.67 - - 1804.88 - - - 2676.00 - -97.32 - - 3441.25 - - - - - - - - - - -
5831.29 657.27 -9.72 693 5836.81 roll -0.67 - - 1805.06 - 2.38 0.045 1301.75 -577.4 -97.32 - - 3441.56 - - - - - - - - - 16.02 -
5881.29 662.25 -9.92 703 5886.88 roll -0.67 - - 1804.75 - 2.74 0.108 2763.19 533.4 -97.32 - - 3442.56 - - - - - - - - - 15.92 -
6191.31 692.02 -9.42 735 6192.65 no move -0.67 - - 1804.94 - - - 2763.31 - -97.32 - - 3439.81 - - - - - - - - - - -
6501.32 720.20 -9.00 766 6506.87 roll -0.67 - - 1804.88 - 2.56 0.045 1301.88 -570.9 -97.32 - - 3440.59 - - - - - - - - - 15.71 -
6546.31 724.32 -9.16 775 6551.93 roll -0.67 - - 1805.06 - 2.76 0.109 2763.75 529.7 -97.32 - - 3441.66 - - - - - - - - - 15.66 -
6861.34 751.68 -8.56 807 6866.91 roll -0.67 - - 1804.94 - 2.55 0.045 1303.69 -572.6 -97.32 - - 3439.66 - - - - - - - - - 15.71 -
6941.34 758.72 -8.78 823 6946.93 roll -0.67 - - 1804.81 - 2.75 0.108 2762.81 530.6 -97.32 - - 3439.59 - - - - - - - - - 15.91 -
7251.36 785.84 -8.89 855 7252.70 no move -0.67 - - 1804.81 - - - 2762.69 - -97.32 - - 3437.69 - - - - - - - - - - -
7561.37 813.55 -8.94 886 7562.72 no move -0.67 - - 1805.06 - - - 2762.50 - -97.32 - - 3437.09 - - - - - - - - - - -
7871.40 841.39 -9.01 917 7876.95 roll -0.67 - - 1805.25 - 2.54 0.045 1302.94 -574.6 -97.32 - - 3438.16 - - - - - - - - - 16.02 -
7936.39 847.51 -9.40 930 7942.02 roll -0.67 - - 1804.81 - 2.74 0.108 2762.50 532.7 -97.32 - - 3438.50 - - - - - - - - - 15.91 -
8251.46 876.44 -9.16 962 8252.80 no move -0.67 - - 1804.31 - - - 2762.38 - -97.32 - - 3436.41 - - - - - - - - - - -
8561.49 905.41 -9.46 993 8562.84 no move -0.67 - - 1804.69 - - - 2762.25 - -97.32 - - 3435.84 - - - - - - - - - - -
8871.53 934.19 -9.32 1024 8877.10 roll -0.67 - - 1804.56 - 2.56 0.045 1303.00 -570.0 -97.32 - - 3436.19 - - - - - - - - - 15.67 -
8966.57 943.04 -9.19 1043 8972.16 roll -0.67 - - 1804.94 - 2.75 0.109 2762.44 530.7 -97.32 - - 3438.19 - - - - - - - - - 15.90 -
9281.59 970.05 -8.39 1075 9282.94 no move -0.67 - - 1804.50 - - - 2762.44 - -97.32 - - 3435.16 - - - - - - - - - - -
9542 end dive: TARGET_DEPTH_EXCEEDED
9542 begin apogee
9543.36 990.52 -7.75 1101 9623.37 -0.12 0.60 0.231 1980.88 294.0 0.17 0.196 2317.88 -2615.1 - 77.18 2.512 3048.50 -5.0 0.338 - - - - - - 15.81 15.13 12.01
9625 end apogee: CONTROL_FINISHED_OK
9625 begin climb
9624.83 992.12 - 1109 9708.43 0.67 0.77 0.114 2235.50 330.7 - - 2316.88 - 97.32 81.26 2.450 2651.09 -4.9 0.339 - - - - - - 15.21 - 12.37
10011.68 961.10 8.97 1148 10013.02 VBD 0.67 - - 2238.56 - - - 2317.94 - 97.32 - - 2641.62 - - - - - - - - - - -
10321.72 933.25 8.76 1179 10323.06 VBD 0.67 - - 2238.44 - - - 2317.31 - 97.32 - - 2640.38 - - - - - - - - - - -
10631.77 907.81 7.74 1210 10637.31 done 0.68 - - 2247.12 - 2.57 0.055 857.38 -568.1 97.32 - - 2642.22 - - - - - - - - - 15.87 -
10686.76 903.75 7.43 1221 10692.36 done 0.70 - - 2246.75 - 2.63 0.078 2313.12 553.5 97.32 - - 2639.38 - - - - - - - - - 15.84 -
11001.83 880.69 7.39 1253 11007.36 done 0.72 - - 2247.19 - 2.59 0.133 3724.25 544.8 97.32 - - 2640.28 - - - - - - - - - 15.80 -
11041.81 877.26 8.58 1261 11047.35 done 0.72 - - 2254.81 - 2.42 0.044 2258.00 -605.9 97.32 - - 2640.47 - - - - - - - - - 15.91 -
11351.86 852.82 7.89 1293 11353.21 VBD 0.74 - - 2254.69 - - - 2251.94 - 97.32 - - 2637.84 - - - - - - - - - - -
11661.88 827.92 8.05 1324 11663.23 VBD 0.74 - - 2254.88 - - - 2251.44 - 97.32 - - 2637.28 - - - - - - - - - - -
11971.92 801.63 8.51 1355 11977.50 done 0.74 - - 2254.19 - 2.73 0.135 3723.88 539.4 97.32 - - 2640.03 - - - - - - - - - 15.77 -
12036.91 795.13 10.10 1368 12042.48 done 0.74 - - 2265.50 - 2.42 0.043 2258.94 -605.3 97.32 - - 2639.28 - - - - - - - - - 15.92 -
12351.96 768.26 8.39 1400 12353.31 VBD 0.74 - - 2265.25 - - - 2254.44 - 97.32 - - 2636.31 - - - - - - - - - - -
12662.00 741.68 8.70 1431 12667.53 done 0.74 - - 2275.19 - 2.41 0.055 854.81 -580.8 97.32 - - 2638.53 - - - - - - - - - 15.99 -
12737.00 734.99 9.04 1446 12742.59 done 0.74 - - 2273.56 - 2.61 0.078 2311.50 558.1 97.32 - - 2637.22 - - - - - - - - - 15.87 -
13052.05 705.77 9.48 1478 13057.60 done 0.74 - - 2284.94 - 2.54 0.057 857.62 -572.4 97.32 - - 2636.56 - - - - - - - - - 15.88 -
13092.06 702.05 9.31 1486 13097.65 done 0.74 - - 2283.19 - 2.62 0.081 2312.38 555.3 97.32 - - 2636.72 - - - - - - - - - 15.90 -
13402.09 671.98 9.71 1518 13403.44 VBD 0.74 - - 2284.75 - - - 2312.56 - 97.32 - - 2634.66 - - - - - - - - - - -
13712.12 641.55 9.72 1549 13713.47 VBD 0.74 - - 2284.88 - - - 2312.62 - 97.32 - - 2634.84 - - - - - - - - - - -
14022.16 612.18 9.09 1580 14023.50 VBD 0.74 - - 2284.56 - - - 2312.62 - 97.32 - - 2635.00 - - - - - - - - - - -
14332.19 584.48 8.87 1611 14337.74 done 0.74 - - 2295.00 - 2.53 0.056 855.69 -575.9 97.32 - - 2636.91 - - - - - - - - - 15.95 -
14367.18 581.42 8.69 1618 14372.83 0.74 0.17 0.254 2247.12 -281.6 2.61 0.078 2312.31 558.1 97.32 - - 2637.81 - - - - - - - - 15.78 15.93 -
14682.27 558.08 7.37 1650 14683.62 VBD 0.76 - - 2246.75 - - - 2312.12 - 97.32 - - 2634.22 - - - - - - - - - - -
14992.28 535.75 7.22 1681 14993.62 VBD 0.78 - - 2247.31 - - - 2312.00 - 97.32 - - 2634.34 - - - - - - - - - - -
15302.31 512.98 7.49 1712 15307.83 done 0.80 - - 2247.12 - 2.59 0.136 3726.81 546.3 97.32 - - 2636.81 - - - - - - - - - 15.81 -
15362.28 507.83 8.65 1724 15367.82 done 0.80 - - 2251.50 - 2.41 0.042 2259.31 -608.9 97.32 - - 2636.62 - - - - - - - - - 15.97 -
15672.31 483.97 7.69 1756 15677.82 done 0.82 - - 2259.75 - 2.41 0.060 856.75 -582.0 97.32 - - 2636.06 - - - - - - - - - 15.95 -
15742.31 478.62 7.64 1770 15747.86 done 0.83 - - 2259.81 - 2.62 0.083 2312.62 555.7 97.32 - - 2636.97 - - - - - - - - - 15.93 -
16052.31 455.82 6.92 1802 16057.89 0.86 0.10 0.091 2346.75 869.4 2.60 0.138 3726.81 543.9 97.32 - - 2635.66 - - - - - - - - 15.95 15.78 -
16132.33 447.40 11.01 1818 16137.91 0.86 0.26 0.311 2289.75 -219.2 2.41 0.041 2256.50 -610.1 97.32 - - 2635.97 - - - - - - - - 15.71 15.92 -
16442.35 423.18 7.72 1850 16447.92 done 0.88 - - 2289.44 - 2.73 0.136 3724.50 537.7 97.32 - - 2637.03 - - - - - - - - - 15.78 -
16467.30 421.07 7.83 1855 16472.86 done 0.89 - - 2299.44 - 2.41 0.045 2253.50 -610.4 97.32 - - 2636.00 - - - - - - - - - 15.97 -
16782.42 396.69 7.60 1887 16787.83 done 0.91 - - 2310.62 - 2.39 0.057 855.75 -584.8 97.32 - - 2636.38 - - - - - - - - - 15.99 -
16837.32 392.51 7.65 1898 16842.90 done 0.93 - - 2310.19 - 2.61 0.078 2313.00 558.3 97.32 - - 2638.03 - - - - - - - - - 15.93 -
17152.35 367.53 7.89 1930 17157.89 done 0.94 - - 2320.06 - 2.53 0.056 855.69 -576.0 97.32 - - 2635.78 - - - - - - - - - 15.92 -
17262.36 359.51 7.17 1952 17267.90 done 0.96 - - 2320.12 - 2.60 0.076 2312.81 560.4 97.32 - - 2637.22 - - - - - - - - - 15.93 -
17572.36 334.91 8.33 1984 17573.79 VBD 0.96 - - 2320.00 - - - 2312.44 - 97.32 - - 2634.59 - - - - - - - - - - -
17882.36 309.50 8.16 2015 17883.71 VBD 0.96 - - 2320.06 - - - 2313.06 - 97.32 - - 2634.25 - - - - - - - - - - -
18192.37 283.31 8.38 2046 18197.92 done 0.96 - - 2320.50 - 2.57 0.132 3726.31 549.9 97.32 - - 2636.31 - - - - - - - - - 15.83 -
18277.38 275.37 9.28 2063 18282.92 done 0.96 - - 2330.44 - 2.40 0.040 2254.94 -613.1 97.32 - - 2636.44 - - - - - - - - - 15.90 -
18592.39 249.14 7.90 2095 18597.97 done 0.97 - - 2329.56 - 2.74 0.137 3725.94 536.9 97.32 - - 2636.28 - - - - - - - - - 15.84 -
18617.36 246.86 8.46 2100 18622.93 done 0.97 - - 2337.75 - 2.41 0.044 2250.44 -612.2 97.32 - - 2637.19 - - - - - - - - - 15.92 -
18932.41 220.12 8.66 2132 18938.00 done 0.97 - - 2338.38 - 2.73 0.131 3727.31 541.0 97.32 - - 2636.59 - - - - - - - - - 15.80 -
18962.41 217.18 9.13 2138 18967.96 done 0.97 - - 2349.69 - 2.40 0.041 2256.38 -612.9 97.32 - - 2636.78 - - - - - - - - - 15.92 -
19272.47 192.30 7.16 2170 19273.82 VBD 1.00 - - 2349.56 - - - 2251.38 - 97.32 - - 2635.38 - - - - - - - - - - -
19582.51 171.97 6.91 2201 19588.08 done 1.03 - - 2348.88 - 2.72 0.131 3725.88 542.1 97.32 - - 2637.41 - - - - - - - - - 15.83 -
19747.54 159.38 7.63 2234 19753.08 done 1.05 - - 2360.12 - 2.40 0.039 2251.56 -614.3 97.32 - - 2636.97 - - - - - - - - - 15.92 -
20062.61 137.59 5.91 2266 20068.19 done 1.10 - - 2360.69 - 2.73 0.129 3727.38 540.6 97.32 - - 2636.62 - - - - - - - - - 15.76 -
20157.70 132.67 4.85 2285 20209.10 1.17 0.06 0.133 2432.38 1194.8 2.41 0.038 2240.94 -616.8 159.27 45.19 1.317 2400.94 -5.2 0.090 - - - - - - 15.83 15.84 12.15
20512.67 95.83 9.93 2330 20514.15 pitch 1.17 0.17 0.318 2387.69 -262.9 - - 2240.69 - 159.27 - - 2392.28 - - - - - - - - 15.48 - -
20697.74 80.53 7.78 2367 20703.28 roll 1.19 - - 2397.88 - 2.40 0.054 855.69 -577.1 159.27 - - 2392.50 - - - - - - - - - 15.73 -
20922.81 66.21 5.66 2412 20928.38 done 1.24 - - 2397.56 - 2.64 0.080 2313.75 552.3 159.27 - - 2390.84 - - - - - - - - - 15.76 -
21112.86 54.00 6.23 2450 21118.51 1.29 0.09 0.097 2461.12 706.2 2.58 0.129 3726.69 547.7 159.27 - - 2392.66 - - - - - - - - 15.73 15.72 -
21347.93 35.59 7.30 2497 21353.48 done 1.31 - - 2473.12 - 2.41 0.034 2245.12 -614.8 159.27 - - 2390.62 - - - - - - - - - 15.79 -
21538.03 27.00 3.29 2535 21609.03 done 1.42 - - 2473.19 - 2.82 0.133 3725.62 525.0 247.89 64.39 1.167 2035.75 -5.5 0.022 - - - - - - - 15.43 12.17
21738 end climb: SURFACE_DEPTH_REACHED
21738 begin surface coast
21753 end surface coast: CONTROL_FINISHED_OK
21753 begin surface
SM 1.14 - - - - 174.7 72.63 1.132 1620.8 21.4 6.42 0.056 1698.8 264.6 - 1.65 0.044 1542.7 933.3 -2.471 - - 12.38 15.61 15.68 -