SMODE Aug22 * SG219 * Dive index * Mission links * Dive 22 * Raw log
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• Previous call tries 2 • 8.03 of 310.00 AH used of 24V (97.41% remains)
• Surface angle -65.0 deg, depth 0.83 m • Intended pitch -18.8 deg, speed -10.000 cm/s
VBD pumped to 399.84 (SM_CC=400)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 17
• 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
6.97 - - - 90.51 VBD -0.66 - - 213.06 - - - 2942.25 - -145.99 83.00 0.005 2930.03 - - - - - - - - - - 15.66
90.77 2.29 -1.86 16 122.83 -0.66 8.20 0.371 2067.56 226.2 - - 2942.62 - -145.99 20.93 0.006 3561.50 30.2 -1.956 - - - - - - 15.65 - 15.71
304.88 33.03 -14.21 59 309.42 roll -0.66 - - 2063.00 - 1.53 0.070 3850.69 593.5 -145.99 - - 3564.00 - - - - - - - - - 15.89 -
419.89 48.92 -12.82 82 424.45 roll -0.66 - - 2062.62 - 1.61 0.022 2769.69 -671.4 -145.99 - - 3564.53 - - - - - - - - - 15.95 -
604.94 73.80 -14.93 119 610.45 roll -0.66 - - 2062.12 - 2.26 0.026 1418.62 -597.8 -145.99 - - 3565.03 - - - - - - - - - 16.00 -
659.93 81.45 -13.55 130 665.50 roll -0.66 - - 2050.94 - 2.60 0.048 2899.88 569.7 -145.99 - - 3565.28 - - - - - - - - - 15.99 -
850.01 109.09 -14.26 162 855.23 roll -0.66 - - 2052.25 - 2.49 0.026 1415.75 -596.0 -145.99 - - 3564.34 - - - - - - - - - 16.03 -
899.95 116.03 -13.59 172 905.26 roll -0.66 - - 2041.88 - 2.60 0.048 2898.81 570.4 -145.99 - - 3564.31 - - - - - - - - - 16.03 -
1210.03 161.24 -14.42 204 1215.26 roll -0.66 - - 2041.94 - 2.48 0.026 1416.25 -597.8 -145.99 - - 3564.97 - - - - - - - - - 16.08 -
1239.96 165.59 -14.52 210 1245.29 roll -0.66 - - 2030.50 - 2.58 0.050 2900.50 575.3 -145.99 - - 3564.75 - - - - - - - - - 16.07 -
1550.03 213.23 -14.89 242 1555.32 roll back -0.66 0.14 0.274 2072.44 299.6 2.47 0.026 1414.50 -601.6 -145.99 - - 3565.97 - - - - - - - - 15.99 16.08 -
1614.73 220.85 -11.10 255 1620.51 roll -0.66 - - 2063.75 - 2.60 0.049 2900.00 571.3 -145.99 - - 3565.56 - - - - - - - - - 16.10 -
1930.05 263.01 -13.88 287 1935.27 roll -0.66 - - 2063.88 - 2.46 0.026 1415.44 -603.5 -145.99 - - 3566.12 - - - - - - - - - 16.13 -
1970.00 268.36 -13.20 295 1975.30 roll -0.66 - - 2054.00 - 2.60 0.046 2901.31 571.5 -145.99 - - 3565.28 - - - - - - - - - 16.14 -
2280.06 311.07 -13.64 327 2281.40 no move -0.66 - - 2054.00 - - - 2901.19 - -145.99 - - 3564.16 - - - - - - - - - - -
2590.00 349.41 -12.00 358 2595.30 roll -0.66 - - 2053.81 - 2.46 0.025 1413.19 -604.9 -145.99 - - 3564.72 - - - - - - - - - 16.17 -
2694.76 361.18 -11.11 379 2700.58 roll -0.66 - - 2044.81 - 2.61 0.048 2900.75 569.9 -145.99 - - 3564.75 - - - - - - - - - 16.17 -
3010.09 399.12 -12.15 411 3015.32 roll -0.66 - - 2044.19 - 2.48 0.026 1415.31 -599.0 -145.99 - - 3564.16 - - - - - - - - - 15.69 -
3084.78 407.29 -10.32 426 3090.58 roll -0.66 - - 2035.81 - 2.61 0.049 2900.88 569.2 -145.99 - - 3564.31 - - - - - - - - - 16.18 -
3400.11 445.02 -13.11 458 3405.39 roll back -0.66 0.13 0.276 2073.56 290.4 2.48 0.026 1413.88 -599.6 -145.99 - - 3563.53 - - - - - - - - 16.08 16.16 -
3444.79 449.98 -10.45 467 3450.60 roll -0.66 - - 2065.00 - 2.61 0.049 2900.75 569.7 -145.99 - - 3564.31 - - - - - - - - - 16.19 -
3760.14 485.83 -11.27 499 3765.36 roll -0.66 - - 2064.75 - 2.47 0.026 1414.88 -601.6 -145.99 - - 3564.81 - - - - - - - - - 16.20 -
3790.09 489.09 -11.00 505 3795.41 roll -0.66 - - 2055.56 - 2.61 0.049 2898.88 568.6 -145.99 - - 3563.97 - - - - - - - - - 16.20 -
4100.18 526.72 -12.19 537 4101.52 no move -0.66 - - 2055.62 - - - 2899.00 - -145.99 - - 3562.91 - - - - - - - - - - -
4410.16 563.42 -10.97 568 4415.46 roll -0.66 - - 2053.69 - 2.46 0.026 1413.62 -603.8 -145.99 - - 3564.69 - - - - - - - - - 16.22 -
4434.90 566.15 -10.99 573 4440.71 roll -0.66 - - 2045.06 - 2.61 0.050 2898.81 569.0 -145.99 - - 3563.84 - - - - - - - - - 16.20 -
4750.27 603.22 -11.97 605 4755.49 roll -0.66 - - 2044.69 - 2.47 0.027 1413.00 -601.5 -145.99 - - 3563.12 - - - - - - - - - 16.22 -
4770.21 605.58 -11.87 609 4775.54 roll -0.66 - - 2035.62 - 2.62 0.051 2900.12 567.6 -145.99 - - 3563.22 - - - - - - - - - 16.21 -
5080.31 641.27 -11.39 641 5085.59 roll back -0.66 0.12 0.272 2072.00 303.2 2.47 0.027 1416.25 -600.8 -145.99 - - 3563.34 - - - - - - - - 16.11 16.19 -
5140.27 646.89 -8.90 653 5145.58 roll -0.66 - - 2064.50 - 2.61 0.051 2899.38 568.2 -145.99 - - 3562.81 - - - - - - - - - 16.22 -
5450.34 676.75 -9.70 685 5451.68 no move -0.66 - - 2064.94 - - - 2898.75 - -145.99 - - 3560.38 - - - - - - - - - - -
5760.26 709.62 -11.15 716 5765.58 roll -0.66 - - 2062.94 - 2.47 0.027 1416.12 -600.3 -145.99 - - 3562.06 - - - - - - - - - 16.22 -
5795.02 713.42 -10.86 723 5800.83 roll -0.66 - - 2054.56 - 2.62 0.050 2900.25 566.5 -145.99 - - 3560.78 - - - - - - - - - 16.23 -
6110.36 749.19 -11.40 755 6115.59 roll -0.66 - - 2054.56 - 2.46 0.027 1417.38 -602.8 -145.99 - - 3559.44 - - - - - - - - - 16.22 -
6145.04 753.15 -11.30 762 6150.86 roll -0.66 - - 2046.44 - 2.61 0.052 2902.00 568.8 -145.99 - - 3559.84 - - - - - - - - - 16.22 -
6221 end dive: TARGET_DEPTH_EXCEEDED
6221 begin apogee
6222.11 761.83 -11.66 770 6346.06 -0.12 0.66 0.220 2240.69 294.3 0.22 0.108 2535.19 -1667.3 - 122.13 2.035 2969.38 -4.8 0.307 - - - - - - 16.12 15.12 12.59
6347 end apogee: CONTROL_FINISHED_OK
6347 begin climb
6346.83 766.03 - 782 6477.76 0.66 0.81 0.135 2505.56 327.0 2.74 0.036 1052.25 -541.2 145.99 125.68 1.968 2371.16 -4.8 0.315 - - - - - - 15.19 14.66 12.09
6529.83 756.18 8.92 818 6555.65 done 0.69 - - 2504.19 - 2.74 0.041 2527.38 538.4 169.48 21.52 1.796 2277.00 -4.4 0.313 - - - - - - - 15.41 12.15
6859.89 722.09 11.14 854 6861.23 VBD 0.69 - - 2505.31 - - - 2527.75 - 169.48 - - 2265.44 - - - - - - - - - - -
7169.84 688.99 9.72 885 7176.41 VBD 0.70 - - 2505.44 - - - 2527.75 - 175.64 6.01 1.213 2249.84 -2.6 0.250 - - - - - - - - 12.36
7479.85 660.33 9.07 916 7502.73 done 0.72 - - 2504.88 - 2.23 0.075 3845.62 591.0 195.88 19.61 1.766 2168.94 -4.1 0.262 - - - - - - - 15.67 12.52
7544.84 653.60 10.97 929 7550.10 roll 0.72 - - 2515.44 - 2.26 0.025 2427.88 -627.3 195.88 - - 2165.09 - - - - - - - - - 15.35 -
7854.86 622.65 10.09 961 7856.19 no move 0.72 - - 2516.38 - - - 2414.44 - 195.88 - - 2161.91 - - - - - - - - - - -
8164.87 590.25 10.00 992 8170.15 roll 0.72 - - 2517.19 - 2.46 0.069 3846.31 582.1 195.88 - - 2161.78 - - - - - - - - - 16.02 -
8229.62 583.09 11.01 1005 8235.34 done 0.72 - - 2524.94 - 2.24 0.025 2422.50 -635.6 195.88 - - 2163.72 - - - - - - - - - 15.54 -
8544.89 551.15 10.99 1037 8550.15 done 0.72 - - 2536.56 - 2.34 0.034 1047.69 -587.5 195.88 - - 2161.88 - - - - - - - - - 15.53 -
8574.88 548.04 10.54 1043 8580.21 done 0.72 - - 2537.38 - 2.62 0.041 2529.25 565.5 195.88 - - 2159.94 - - - - - - - - - 16.07 -
8884.95 512.33 11.83 1075 8890.05 done 0.72 - - 2537.19 - 2.19 0.070 3847.62 602.0 195.88 - - 2161.09 - - - - - - - - - 16.09 -
8919.63 507.60 13.65 1082 8925.36 done 0.72 - - 2546.31 - 2.22 0.025 2424.44 -641.1 195.88 - - 2159.53 - - - - - - - - - 15.58 -
9234.92 468.22 12.04 1114 9240.25 0.72 0.15 0.200 2501.06 -301.7 2.44 0.068 3845.94 582.6 195.88 - - 2161.41 - - - - - - - - 16.03 16.09 -
9259.65 465.40 11.76 1119 9265.38 done 0.72 - - 2509.31 - 2.23 0.026 2421.44 -638.8 195.88 - - 2160.25 - - - - - - - - - 15.58 -
9574.92 433.92 10.11 1151 9580.22 done 0.72 - - 2510.50 - 2.43 0.069 3846.62 586.5 195.88 - - 2158.19 - - - - - - - - - 16.12 -
9619.66 428.75 11.64 1160 9625.39 done 0.72 - - 2519.62 - 2.22 0.025 2416.50 -644.2 195.88 - - 2160.78 - - - - - - - - - 15.59 -
9934.95 395.35 10.46 1192 9940.22 done 0.72 - - 2521.31 - 2.46 0.068 3849.38 582.5 195.88 - - 2161.00 - - - - - - - - - 16.14 -
9974.93 390.62 11.94 1200 9980.20 done 0.72 - - 2530.31 - 2.24 0.025 2422.44 -637.0 195.88 - - 2158.34 - - - - - - - - - 15.60 -
10284.96 355.19 11.19 1232 10290.24 done 0.72 - - 2532.38 - 2.44 0.068 3847.50 584.0 195.88 - - 2157.62 - - - - - - - - - 16.17 -
10309.68 352.14 11.68 1237 10315.41 done 0.72 - - 2540.75 - 2.22 0.025 2414.25 -645.6 195.88 - - 2160.44 - - - - - - - - - 15.66 -
10624.96 317.53 10.98 1269 10630.21 done 0.72 - - 2551.00 - 2.30 0.034 1047.00 -594.5 195.88 - - 2160.66 - - - - - - - - - 15.61 -
10654.96 314.26 10.98 1275 10660.33 0.72 0.16 0.208 2502.31 -304.3 2.60 0.040 2532.44 571.3 195.88 - - 2160.75 - - - - - - - - 16.10 16.17 -
10964.98 286.00 9.14 1307 10982.32 VBD 0.75 - - 2503.12 - - - 2532.81 - 214.62 15.98 1.376 2090.59 -4.4 0.155 - - - - - - - - 12.52
11285.00 259.23 8.64 1339 11313.04 done 0.79 - - 2503.25 - 2.21 0.073 3846.19 594.3 244.22 24.80 1.378 1969.53 -4.9 0.156 - - - - - - - 15.81 12.57
11330.10 254.89 9.54 1346 11345.44 0.80 0.07 0.116 2564.56 875.9 2.24 0.024 2408.62 -641.8 254.28 10.44 1.189 1931.94 -3.6 0.131 - - - - - - 15.89 15.44 12.42
11650.13 215.51 12.00 1380 11655.41 roll 0.80 - - 2575.06 - 2.35 0.035 1049.12 -578.5 254.28 - - 1927.41 - - - - - - - - - 15.47 -
11680.14 211.98 11.88 1386 11685.52 roll back 0.80 0.16 0.181 2525.62 -309.0 2.64 0.041 2530.50 561.1 254.28 - - 1924.81 - - - - - - - - 15.91 15.97 -
11990.19 182.10 9.56 1418 12002.95 done 0.81 - - 2533.69 - 2.58 0.035 1049.19 -574.2 263.82 9.12 1.084 1889.84 -3.8 0.109 - - - - - - - 15.42 12.50
12045.27 176.86 9.55 1429 12060.74 done 0.83 - - 2533.75 - 2.63 0.040 2531.94 563.8 273.53 10.24 1.119 1853.84 -3.5 0.094 - - - - - - - 15.98 12.45
12365.23 142.73 11.13 1463 12370.53 roll 0.83 - - 2543.88 - 2.58 0.032 1049.31 -574.7 273.53 - - 1849.56 - - - - - - - - - 15.52 -
12415.24 137.21 11.05 1473 12420.57 roll 0.83 - - 2544.81 - 2.64 0.041 2532.12 561.7 273.53 - - 1848.34 - - - - - - - - - 16.01 -
12725.25 102.47 11.16 1505 12726.59 no move 0.83 - - 2544.56 - - - 2532.00 - 273.53 - - 1847.53 - - - - - - - - - - -
13030.30 69.29 10.34 1563 13031.64 no move 0.83 - - 2545.25 - - - 2531.75 - 273.53 - - 1847.91 - - - - - - - - - - -
13215.30 50.82 10.10 1600 13220.71 roll 0.83 - - 2544.12 - 2.16 0.075 3848.00 609.4 273.53 - - 1849.78 - - - - - - - - - 16.07 -
13240.29 48.07 10.73 1605 13245.73 roll 0.83 - - 2555.00 - 2.20 0.024 2421.25 -648.5 273.53 - - 1847.44 - - - - - - - - - 15.61 -
13430.40 29.02 9.67 1643 13440.32 VBD 0.83 - - 2554.69 - - - 2405.94 - 280.74 7.57 0.889 1824.66 -3.0 0.017 - - - - - - - - 12.59
13625.35 9.39 9.28 1682 13643.17 done 0.85 - - 2555.69 - 2.46 0.073 3848.00 586.2 296.30 14.06 1.013 1759.81 -4.6 0.007 - - - - - - - 15.92 12.58
13670.40 4.73 10.80 1691 13675.84 roll 0.85 - - 2565.00 - 2.22 0.022 2427.75 -639.8 296.30 - - 1757.19 - - - - - - - - - 16.00 -
13701 end climb: SURFACE_DEPTH_REACHED
13701 begin surface coast
13726 end surface coast: CONTROL_FINISHED_OK
13726 begin surface
SM 0.89 - - - - 219.3 72.53 1.073 1338.0 18.4 6.61 0.067 1324.2 200.3 - 0.82 0.072 1351.8 1645.8 -2.079 - - 12.52 16.00 16.01 -