SMODE Mar23 * SG220 * Dive index * Mission links * Dive 28 * Raw log
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• Previous call tries 1 • 103.33 of 350.00 AH used of 24V (70.48% remains)
• Surface angle -63.8 deg, depth 1.07 m • Intended pitch -21.4 deg, speed -9.167 cm/s
VBD pumped to 325.38 (SM_CC=325)
• GPS1 time: 28 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
5.36 - - - 94.13 VBD -0.68 - - 170.00 - - - 2680.12 - -116.79 86.25 0.005 3302.03 - - - - - - - - - - 14.96
94.38 3.54 -3.01 17 120.95 -0.68 11.20 0.544 1801.62 145.7 2.46 0.046 1306.62 -558.3 -116.79 5.47 0.009 3525.69 40.9 -2.861 - - - - - - 14.88 15.11 15.20
348.47 52.76 -18.30 68 354.78 roll -0.68 - - 1801.25 - 2.72 0.073 2769.44 537.8 -116.79 - - 3525.78 - - - - - - - - - 15.53 -
538.49 79.26 -13.40 106 544.73 roll -0.68 - - 1801.06 - 2.63 0.045 1307.75 -555.8 -116.79 - - 3525.81 - - - - - - - - - 15.57 -
773.49 107.91 -11.82 153 779.81 roll -0.68 - - 1801.56 - 2.70 0.071 2771.69 542.2 -116.79 - - 3527.44 - - - - - - - - - 15.59 -
1088.52 145.95 -12.77 185 1094.74 roll -0.68 - - 1800.88 - 2.62 0.044 1307.38 -558.9 -116.79 - - 3526.38 - - - - - - - - - 15.65 -
1323.53 176.33 -12.85 232 1329.79 roll -0.68 - - 1801.00 - 2.69 0.068 2770.56 543.9 -116.79 - - 3528.16 - - - - - - - - - 15.63 -
1638.57 216.28 -12.80 264 1644.93 roll -0.68 - - 1801.81 - 2.61 0.044 1306.31 -561.0 -116.79 - - 3527.34 - - - - - - - - - 15.68 -
1848.65 241.68 -12.31 306 1855.00 roll -0.68 - - 1800.94 - 2.69 0.069 2772.06 544.9 -116.79 - - 3528.31 - - - - - - - - - 15.65 -
2158.71 279.81 -12.40 338 2160.34 no move -0.68 - - 1801.69 - - - 2772.94 - -116.79 - - 3526.12 - - - - - - - - - - -
2468.77 316.95 -12.36 369 2475.13 roll -0.68 - - 1801.19 - 2.61 0.044 1306.06 -562.0 -116.79 - - 3527.72 - - - - - - - - - 15.71 -
2543.77 326.31 -12.09 384 2550.16 roll -0.68 - - 1801.81 - 2.68 0.069 2771.81 546.9 -116.79 - - 3528.62 - - - - - - - - - 15.66 -
2858.86 362.24 -11.38 416 2860.49 no move -0.68 - - 1801.25 - - - 2771.38 - -116.79 - - 3525.94 - - - - - - - - - - -
3168.91 398.15 -11.90 447 3175.26 roll -0.68 - - 1801.62 - 2.61 0.044 1304.94 -561.9 -116.79 - - 3527.09 - - - - - - - - - 15.72 -
3248.94 407.46 -11.34 463 3255.30 roll -0.68 - - 1801.94 - 2.69 0.069 2772.06 545.4 -116.79 - - 3527.16 - - - - - - - - - 15.66 -
3559.00 441.70 -10.82 495 3560.64 no move -0.68 - - 1801.88 - - - 2773.00 - -116.79 - - 3525.25 - - - - - - - - - - -
3869.14 474.62 -10.38 526 3875.41 roll -0.68 - - 1801.38 - 2.61 0.045 1307.94 -561.3 -116.79 - - 3526.91 - - - - - - - - - 15.71 -
3899.15 477.83 -10.62 532 3905.42 roll -0.68 - - 1800.69 - 2.68 0.068 2773.12 546.7 -116.79 - - 3528.00 - - - - - - - - - 15.65 -
4209.13 508.95 -10.08 564 4215.48 roll -0.68 - - 1800.69 - 2.62 0.046 1307.88 -559.3 -116.79 - - 3526.62 - - - - - - - - - 15.70 -
4244.25 512.53 -10.25 571 4250.51 roll -0.68 - - 1801.19 - 2.68 0.068 2774.31 547.2 -116.79 - - 3526.34 - - - - - - - - - 15.64 -
4559.20 544.56 -10.30 603 4565.55 roll -0.68 - - 1801.38 - 2.62 0.045 1308.00 -559.7 -116.79 - - 3526.84 - - - - - - - - - 15.70 -
4649.22 554.06 -10.49 621 4655.60 roll -0.68 - - 1801.38 - 2.68 0.068 2772.62 546.5 -116.79 - - 3525.41 - - - - - - - - - 15.64 -
4959.29 585.77 -10.33 653 4965.64 roll -0.68 - - 1801.69 - 2.62 0.046 1306.19 -559.7 -116.79 - - 3527.03 - - - - - - - - - 15.69 -
5024.28 592.79 -10.84 666 5030.68 roll -0.68 - - 1801.56 - 2.69 0.069 2770.56 544.4 -116.79 - - 3524.56 - - - - - - - - - 15.64 -
5339.36 626.54 -10.86 698 5345.73 roll -0.68 - - 1801.31 - 2.61 0.046 1306.31 -561.0 -116.79 - - 3525.28 - - - - - - - - - 15.68 -
5414.37 634.67 -10.76 713 5420.76 roll -0.68 - - 1801.38 - 2.69 0.069 2773.69 545.5 -116.79 - - 3524.81 - - - - - - - - - 15.62 -
5729.45 666.96 -9.86 745 5735.80 roll -0.68 - - 1802.12 - 2.62 0.047 1307.88 -559.5 -116.79 - - 3524.25 - - - - - - - - - 15.67 -
5794.45 673.32 -9.65 758 5800.84 roll -0.68 - - 1801.12 - 2.69 0.068 2769.12 543.2 -116.79 - - 3523.91 - - - - - - - - - 15.62 -
6109.50 703.07 -9.18 790 6115.85 roll -0.68 - - 1801.00 - 2.61 0.046 1307.44 -560.0 -116.79 - - 3523.88 - - - - - - - - - 15.67 -
6174.54 709.03 -9.09 803 6180.88 roll -0.68 - - 1801.44 - 2.69 0.069 2772.50 544.6 -116.79 - - 3522.50 - - - - - - - - - 15.60 -
6489.54 737.58 -9.42 835 6495.90 roll -0.68 - - 1801.81 - 2.62 0.046 1305.56 -559.9 -116.79 - - 3523.12 - - - - - - - - - 15.66 -
6549.54 743.56 -9.89 847 6555.91 roll -0.68 - - 1801.50 - 2.70 0.069 2772.12 543.2 -116.79 - - 3521.62 - - - - - - - - - 15.60 -
6859.57 774.94 -10.51 879 6865.93 roll -0.68 - - 1801.62 - 2.62 0.046 1308.12 -558.8 -116.79 - - 3523.50 - - - - - - - - - 15.66 -
6919.58 781.49 -10.85 891 6925.94 roll -0.68 - - 1801.81 - 2.69 0.069 2771.25 543.9 -116.79 - - 3521.69 - - - - - - - - - 15.58 -
7229.61 814.31 -10.64 923 7231.25 no move -0.68 - - 1801.56 - - - 2771.19 - -116.79 - - 3520.56 - - - - - - - - - - -
7539.65 846.63 -10.33 954 7546.01 roll -0.68 - - 1801.69 - 2.62 0.045 1306.25 -559.1 -116.79 - - 3522.16 - - - - - - - - - 15.65 -
7654.67 858.41 -10.08 977 7661.12 roll -0.68 - - 1801.50 - 2.71 0.070 2770.12 540.2 -116.79 - - 3521.03 - - - - - - - - - 15.57 -
7969.79 889.55 -9.82 1009 7971.42 no move -0.68 - - 1801.25 - - - 2771.19 - -116.79 - - 3519.00 - - - - - - - - - - -
8279.82 920.34 -10.27 1040 8286.17 roll -0.68 - - 1801.19 - 2.62 0.045 1307.69 -558.6 -116.79 - - 3519.16 - - - - - - - - - 15.64 -
8324.81 925.09 -10.48 1049 8331.24 roll -0.68 - - 1801.44 - 2.71 0.071 2769.75 539.5 -116.79 - - 3520.84 - - - - - - - - - 15.56 -
8639.88 958.18 -10.55 1081 8646.24 roll -0.68 - - 1801.62 - 2.63 0.047 1307.31 -556.1 -116.79 - - 3520.88 - - - - - - - - - 15.62 -
8749.91 970.21 -10.90 1103 8756.32 roll -0.68 - - 1801.31 - 2.71 0.071 2773.19 540.9 -116.79 - - 3519.28 - - - - - - - - - 15.54 -
8940 end dive: TARGET_DEPTH_EXCEEDED
8940 begin apogee
8942.14 990.27 -10.35 1123 9047.53 -0.12 0.65 0.240 1980.25 275.3 0.19 0.139 2322.75 -2370.7 - 98.32 2.486 3049.12 -4.8 0.339 - - - - - - 15.16 14.82 11.00
9049 end apogee: CONTROL_FINISHED_OK
9049 begin climb
9049.63 994.14 - 1133 9163.99 0.68 0.82 0.137 2249.25 328.0 2.84 0.065 864.69 -513.4 116.79 101.66 2.445 2569.16 -4.7 0.341 - - - - - - 14.94 14.53 11.74
9166.57 989.15 6.20 1146 9225.60 done 0.74 - - 2250.00 - 2.75 0.051 2317.81 528.4 172.97 50.06 2.370 2342.59 -4.5 0.336 - - - - - - - 14.78 11.74
9531.57 951.36 10.65 1188 9533.23 VBD 0.74 - - 2249.00 - - - 2317.75 - 172.97 - - 2334.59 - - - - - - - - - - -
9841.60 918.19 10.94 1219 9847.95 done 0.74 - - 2253.81 - 2.66 0.065 861.94 -547.3 172.97 - - 2336.25 - - - - - - - - - 15.55 -
9876.58 914.30 11.11 1226 9882.92 done 0.74 - - 2253.88 - 2.60 0.052 2317.88 560.0 172.97 - - 2334.66 - - - - - - - - - 15.60 -
10191.63 878.48 11.37 1258 10193.26 VBD 0.74 - - 2253.31 - - - 2317.81 - 172.97 - - 2330.91 - - - - - - - - - - -
10501.67 844.20 10.92 1289 10507.93 done 0.74 - - 2253.62 - 2.44 0.081 3732.12 579.6 172.97 - - 2332.84 - - - - - - - - - 15.62 -
10536.67 839.86 12.64 1296 10542.96 done 0.74 - - 2262.25 - 2.44 0.039 2268.44 -599.9 172.97 - - 2332.41 - - - - - - - - - 15.71 -
10851.74 805.12 10.99 1328 10853.38 VBD 0.74 - - 2261.56 - - - 2263.56 - 172.97 - - 2329.66 - - - - - - - - - - -
11161.80 770.41 11.18 1359 11163.44 VBD 0.74 - - 2261.75 - - - 2262.81 - 172.97 - - 2329.22 - - - - - - - - - - -
11471.86 736.62 11.00 1390 11473.49 VBD 0.74 - - 2261.12 - - - 2263.00 - 172.97 - - 2328.53 - - - - - - - - - - -
11781.92 703.39 10.64 1421 11783.55 VBD 0.74 - - 2261.12 - - - 2263.00 - 172.97 - - 2328.50 - - - - - - - - - - -
12091.97 672.09 9.81 1452 12093.60 VBD 0.74 - - 2261.25 - - - 2262.88 - 172.97 - - 2328.53 - - - - - - - - - - -
12402.04 643.26 9.21 1483 12403.67 VBD 0.74 - - 2261.19 - - - 2262.62 - 172.97 - - 2328.50 - - - - - - - - - - -
12712.10 613.76 9.77 1514 12718.43 done 0.74 - - 2270.12 - 2.51 0.064 860.44 -558.6 172.97 - - 2329.94 - - - - - - - - - 15.63 -
12747.08 610.32 9.79 1521 12753.42 done 0.74 - - 2270.31 - 2.58 0.051 2319.44 565.5 172.97 - - 2331.69 - - - - - - - - - 15.68 -
13062.16 577.28 10.47 1553 13063.79 VBD 0.74 - - 2269.94 - - - 2319.69 - 172.97 - - 2328.09 - - - - - - - - - - -
13372.22 544.93 10.32 1584 13378.58 done 0.74 - - 2278.06 - 2.63 0.063 861.44 -554.5 172.97 - - 2329.62 - - - - - - - - - 15.61 -
13422.23 539.59 10.77 1594 13428.54 done 0.74 - - 2277.75 - 2.58 0.051 2318.31 564.7 172.97 - - 2330.69 - - - - - - - - - 15.67 -
13732.29 505.76 11.16 1626 13733.93 VBD 0.74 - - 2277.69 - - - 2319.06 - 172.97 - - 2327.88 - - - - - - - - - - -
14042.35 470.27 11.37 1657 14048.71 done 0.74 - - 2282.62 - 2.64 0.063 861.44 -552.1 172.97 - - 2330.38 - - - - - - - - - 15.60 -
14067.34 467.45 11.34 1662 14073.71 done 0.74 - - 2283.62 - 2.59 0.052 2318.88 562.7 172.97 - - 2329.78 - - - - - - - - - 15.66 -
14382.42 433.24 10.71 1694 14388.68 done 0.74 - - 2283.12 - 2.45 0.081 3734.00 577.6 172.97 - - 2330.28 - - - - - - - - - 15.58 -
14417.40 429.08 12.06 1701 14423.70 done 0.74 - - 2292.31 - 2.43 0.039 2268.81 -603.0 172.97 - - 2330.66 - - - - - - - - - 15.70 -
14732.47 395.15 10.59 1733 14734.32 0.74 0.16 0.246 2249.19 -269.5 - - 2262.50 - 172.97 - - 2328.50 - - - - - - - - 15.31 - -
15042.54 369.82 7.76 1764 15066.73 VBD 0.78 - - 2248.81 - - - 2262.06 - 199.59 22.21 1.585 2233.50 -4.3 0.178 - - - - - - - - 11.27
15372.57 343.43 7.75 1797 15404.46 done 0.81 - - 2247.69 - 2.61 0.085 3731.62 563.0 226.55 23.50 1.549 2125.41 -4.6 0.181 - - - - - - - 15.41 11.78
15447.51 336.96 9.26 1812 15453.82 roll 0.81 - - 2250.44 - 2.47 0.040 2269.12 -592.1 226.55 - - 2125.16 - - - - - - - - - 15.57 -
15762.61 311.20 8.47 1844 15777.31 VBD 0.82 - - 2251.44 - - - 2264.50 - 239.85 12.92 1.402 2069.09 -4.3 0.171 - - - - - - - - 11.80
16082.64 283.28 8.98 1876 16089.78 0.83 0.09 0.104 2311.81 670.8 - - 2262.44 - 243.35 5.24 0.963 2055.50 -2.6 0.136 - - - - - - 15.59 - 11.81
16392.64 244.51 12.50 1907 16398.94 roll 0.83 - - 2311.81 - 2.60 0.081 3732.12 565.3 243.35 - - 2056.03 - - - - - - - - - 15.51 -
16417.61 241.01 13.30 1912 16423.91 roll 0.83 - - 2318.56 - 2.44 0.039 2270.25 -599.1 243.35 - - 2056.12 - - - - - - - - - 15.67 -
16732.67 199.90 12.64 1944 16734.50 pitch 0.83 0.16 0.270 2275.25 -270.7 - - 2264.88 - 243.35 - - 2053.88 - - - - - - - - 15.32 - -
17042.73 168.74 10.03 1975 17044.37 no move 0.83 - - 2275.44 - - - 2264.56 - 243.35 - - 2053.00 - - - - - - - - - - -
17353.44 138.00 9.78 2006 17355.08 no move 0.83 - - 2275.88 - - - 2264.62 - 243.35 - - 2053.22 - - - - - - - - - - -
17662.85 107.41 9.60 2037 17664.48 no move 0.83 - - 2275.44 - - - 2264.50 - 243.35 - - 2053.25 - - - - - - - - - - -
17968.00 79.24 8.99 2090 17979.65 done 0.83 - - 2275.25 - 2.56 0.083 3732.88 573.6 246.68 5.24 0.831 2042.53 -2.0 0.035 - - - - - - - 15.50 11.73
18048.01 71.00 10.60 2106 18054.26 roll 0.83 - - 2278.94 - 2.43 0.039 2270.44 -601.8 246.68 - - 2042.84 - - - - - - - - - 15.68 -
18238.09 54.16 8.45 2144 18259.28 done 0.85 - - 2278.56 - 2.50 0.070 863.12 -562.9 260.32 13.81 1.120 1985.25 -4.2 0.036 - - - - - - - 15.55 11.91
18278.09 50.68 8.68 2152 18294.94 done 0.86 - - 2278.50 - 2.58 0.050 2319.31 564.4 269.61 9.77 1.032 1948.75 -3.7 0.033 - - - - - - - 15.67 12.11
18478.17 33.84 8.36 2192 18500.34 done 0.88 - - 2278.88 - 2.63 0.066 863.06 -553.7 284.88 14.07 1.090 1885.66 -4.5 0.025 - - - - - - - 15.47 11.89
18578.19 25.43 8.54 2212 18595.15 done 0.89 - - 2279.12 - 2.59 0.050 2319.19 562.2 296.78 11.38 1.038 1838.72 -4.1 0.018 - - - - - - - 15.57 11.86
18778.27 8.42 8.57 2252 18793.87 VBD 0.91 - - 2279.44 - - - 2319.19 - 308.08 11.38 1.019 1791.12 -4.2 0.006 - - - - - - - - 11.87
18853 end climb: SURFACE_DEPTH_REACHED
18853 begin surface coast
18883 end surface coast: CONTROL_FINISHED_OK
18884 begin surface
SM 1.49 - - - - 178.4 14.27 1.076 1722.5 119.9 6.02 0.072 1813.0 301.2 - 0.75 0.068 1632.1 2176.1 -4.874 - - 11.72 15.52 15.60 -