SMODE Mar23 * SG220 * Dive index * Mission links * Dive 81 * Raw log
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• Previous call tries 4 • 118.00 of 350.00 AH used of 24V (66.29% remains)
• Surface angle -62.2 deg, depth 1.26 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 325.14 (SM_CC=325)
• GPS1 time: 32 s
• GPS2 time: 2 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
11.14 - - - 79.77 VBD -0.67 - - 168.75 - - - 2776.38 - -97.32 65.14 0.005 3055.84 - - - - - - - - - - 14.81
80.02 3.13 -3.06 13 113.44 -0.67 10.63 0.513 1824.50 155.8 2.03 0.163 3839.12 523.5 -97.32 10.75 0.007 3445.56 36.3 -2.873 - - - - - - 14.72 14.92 15.08
341.00 47.56 -16.84 65 347.61 roll -0.67 - - 1824.81 - 1.84 0.037 2692.06 -623.4 -97.32 - - 3447.47 - - - - - - - - - 15.42 -
531.07 75.46 -14.28 103 538.04 roll -0.67 - - 1824.62 - 2.53 0.045 1309.75 -546.4 -97.32 - - 3447.78 - - - - - - - - - 15.42 -
631.10 87.87 -11.82 123 638.13 roll -0.67 - - 1824.81 - 2.88 0.104 2760.56 503.8 -97.32 - - 3448.56 - - - - - - - - - 15.21 -
826.15 111.73 -12.23 153 829.16 no move -0.67 - - 1825.12 - - - 2760.50 - -97.32 - - 3446.34 - - - - - - - - - - -
1136.19 148.36 -12.17 184 1143.12 roll -0.67 - - 1824.81 - 2.67 0.044 1310.12 -543.2 -97.32 - - 3449.06 - - - - - - - - - 15.44 -
1266.24 163.18 -10.86 210 1273.38 roll -0.67 - - 1824.62 - 2.88 0.104 2760.50 503.6 -97.32 - - 3447.44 - - - - - - - - - 15.36 -
1576.33 195.02 -10.05 242 1583.53 roll -0.67 - - 1825.06 - 2.66 0.044 1309.88 -545.3 -97.32 - - 3449.22 - - - - - - - - - 15.45 -
1631.33 200.60 -10.04 253 1637.78 roll -0.67 - - 1824.50 - 2.86 0.103 2759.25 506.8 -97.32 - - 3449.25 - - - - - - - - - 15.35 -
1946.41 231.47 -9.71 285 1952.72 roll -0.67 - - 1825.19 - 2.65 0.045 1308.69 -547.4 -97.32 - - 3448.22 - - - - - - - - - 15.57 -
1991.40 236.07 -10.17 294 1997.85 roll -0.67 - - 1824.69 - 2.86 0.103 2762.31 508.3 -97.32 - - 3448.97 - - - - - - - - - 15.35 -
2306.44 269.11 -10.20 326 2312.76 roll -0.67 - - 1825.06 - 2.65 0.044 1308.69 -548.5 -97.32 - - 3448.06 - - - - - - - - - 15.59 -
2361.43 275.06 -10.86 337 2367.88 roll -0.67 - - 1825.12 - 2.86 0.103 2758.81 507.0 -97.32 - - 3448.06 - - - - - - - - - 15.41 -
2676.48 308.34 -10.27 369 2678.17 no move -0.67 - - 1825.06 - - - 2759.50 - -97.32 - - 3446.59 - - - - - - - - - - -
2986.51 338.61 -9.38 400 2992.83 roll -0.67 - - 1825.38 - 2.65 0.044 1308.88 -547.4 -97.32 - - 3447.66 - - - - - - - - - 15.44 -
3151.51 354.38 -9.43 433 3157.95 roll -0.67 - - 1824.31 - 2.86 0.104 2760.56 507.6 -97.32 - - 3447.53 - - - - - - - - - 15.33 -
3466.55 383.86 -9.44 465 3472.88 roll -0.67 - - 1824.75 - 2.65 0.045 1308.62 -547.9 -97.32 - - 3447.56 - - - - - - - - - 15.50 -
3521.54 389.08 -9.42 476 3527.99 roll -0.67 - - 1825.25 - 2.86 0.102 2760.50 507.7 -97.32 - - 3447.66 - - - - - - - - - 15.41 -
3836.58 418.80 -9.42 508 3843.03 roll -0.67 - - 1825.19 - 2.65 0.044 1308.25 -548.0 -97.32 - - 3448.16 - - - - - - - - - 15.65 -
3911.57 425.98 -9.48 523 3918.03 roll -0.67 - - 1824.75 - 2.86 0.102 2762.12 508.3 -97.32 - - 3445.94 - - - - - - - - - 15.40 -
4226.65 454.75 -9.14 555 4232.96 roll -0.67 - - 1825.50 - 2.65 0.045 1311.50 -547.4 -97.32 - - 3447.62 - - - - - - - - - 15.58 -
4266.66 458.43 -9.20 563 4273.07 roll -0.67 - - 1824.81 - 2.87 0.103 2761.56 505.2 -97.32 - - 3446.09 - - - - - - - - - 15.36 -
4576.71 486.23 -9.21 595 4578.27 no move -0.67 - - 1824.81 - - - 2761.94 - -97.32 - - 3444.56 - - - - - - - - - - -
4886.77 514.17 -8.99 626 4893.09 roll -0.67 - - 1823.69 - 2.66 0.045 1310.38 -545.7 -97.32 - - 3445.72 - - - - - - - - - 15.58 -
4941.76 519.23 -9.15 637 4948.22 roll -0.67 - - 1824.56 - 2.87 0.102 2761.00 505.4 -97.32 - - 3444.44 - - - - - - - - - 15.37 -
5256.84 546.64 -8.63 669 5258.40 no move -0.67 - - 1824.88 - - - 2760.56 - -97.32 - - 3443.09 - - - - - - - - - - -
5566.90 573.23 -8.56 700 5573.21 roll -0.67 - - 1824.88 - 2.67 0.045 1308.12 -544.0 -97.32 - - 3443.81 - - - - - - - - - 15.47 -
5676.94 582.96 -8.62 722 5683.35 roll -0.67 - - 1824.88 - 2.88 0.103 2759.75 504.0 -97.32 - - 3442.75 - - - - - - - - - 15.36 -
5986.99 610.01 -9.05 754 5993.31 roll -0.67 - - 1825.62 - 2.67 0.046 1309.56 -543.1 -97.32 - - 3444.44 - - - - - - - - - 15.47 -
6112.01 621.60 -9.28 779 6118.48 roll -0.67 - - 1825.25 - 2.87 0.103 2760.88 505.7 -97.32 - - 3442.72 - - - - - - - - - 15.35 -
6427.09 649.41 -8.57 811 6428.65 no move -0.67 - - 1825.25 - - - 2760.19 - -97.32 - - 3440.94 - - - - - - - - - - -
6737.15 675.42 -8.33 842 6743.47 roll -0.67 - - 1823.88 - 2.67 0.046 1310.12 -543.1 -97.32 - - 3442.25 - - - - - - - - - 15.51 -
6847.18 684.90 -8.56 864 6853.61 roll -0.67 - - 1824.69 - 2.88 0.103 2760.06 503.5 -97.32 - - 3440.88 - - - - - - - - - 15.33 -
7157.25 710.62 -8.16 896 7163.57 roll -0.67 - - 1824.06 - 2.67 0.046 1311.38 -542.6 -97.32 - - 3441.22 - - - - - - - - - 15.49 -
7257.28 719.14 -8.48 916 7263.71 roll -0.67 - - 1824.44 - 2.87 0.103 2760.81 505.0 -97.32 - - 3440.41 - - - - - - - - - 15.32 -
7567.34 745.07 -8.33 948 7573.66 roll -0.67 - - 1823.25 - 2.67 0.046 1309.38 -543.6 -97.32 - - 3440.84 - - - - - - - - - 15.55 -
7612.33 748.98 -8.69 957 7618.79 roll -0.67 - - 1824.94 - 2.88 0.104 2762.12 504.4 -97.32 - - 3440.09 - - - - - - - - - 15.31 -
7927.41 775.37 -8.43 989 7933.73 roll -0.67 - - 1823.44 - 2.69 0.046 1311.31 -539.3 -97.32 - - 3440.06 - - - - - - - - - 15.54 -
8017.43 783.35 -8.88 1007 8023.86 roll -0.67 - - 1824.69 - 2.88 0.104 2761.56 503.6 -97.32 - - 3439.50 - - - - - - - - - 15.30 -
8327.47 810.12 -8.61 1039 8333.79 roll -0.67 - - 1824.06 - 2.68 0.046 1311.44 -541.1 -97.32 - - 3439.22 - - - - - - - - - 15.33 -
8382.45 815.05 -8.92 1050 8389.03 roll -0.67 - - 1825.00 - 2.88 0.104 2760.12 503.0 -97.32 - - 3439.16 - - - - - - - - - 15.30 -
8697.50 842.58 -8.71 1082 8703.90 roll -0.67 - - 1824.44 - 2.67 0.047 1310.00 -543.1 -97.32 - - 3440.72 - - - - - - - - - 15.57 -
8747.54 847.03 -8.90 1092 8754.17 roll -0.67 - - 1824.38 - 2.90 0.104 2760.25 500.1 -97.32 - - 3439.25 - - - - - - - - - 14.47 -
9057.57 872.68 -8.17 1124 9064.03 roll -0.67 - - 1824.19 - 2.66 0.047 1310.94 -544.9 -97.32 - - 3437.94 - - - - - - - - - 15.57 -
9112.58 877.18 -8.12 1135 9119.15 roll -0.67 - - 1825.12 - 2.88 0.104 2759.69 503.0 -97.32 - - 3438.84 - - - - - - - - - 15.27 -
9427.60 901.75 -8.00 1167 9429.19 no move -0.67 - - 1825.06 - - - 2759.94 - -97.32 - - 3436.69 - - - - - - - - - - -
9737.74 925.78 -7.50 1198 9744.07 roll -0.67 - - 1824.50 - 2.69 0.047 1310.06 -539.0 -97.32 - - 3436.75 - - - - - - - - - 14.57 -
9817.62 932.32 -8.17 1214 9824.19 roll -0.67 - - 1824.81 - 2.89 0.104 2760.62 501.9 -97.32 - - 3437.09 - - - - - - - - - 15.26 -
10127.65 956.81 -7.78 1246 10129.25 no move -0.67 - - 1825.56 - - - 2761.06 - -97.32 - - 3435.47 - - - - - - - - - - -
10437.70 980.88 -7.64 1277 10444.15 roll -0.67 - - 1824.38 - 2.67 0.046 1309.25 -543.7 -97.32 - - 3435.72 - - - - - - - - - 15.55 -
10553 end dive: TARGET_DEPTH_EXCEEDED
10553 begin apogee
10556.64 990.14 -8.07 1300 10645.74 -0.12 0.64 0.231 2000.25 274.8 0.06 0.290 2264.00 15912.5 - 82.64 2.456 3048.38 -4.7 0.335 - - - - - - 15.08 14.84 10.81
10647 end apogee: CONTROL_FINISHED_OK
10647 begin climb
10647.90 992.14 - 1309 10740.21 0.67 0.79 0.111 2258.94 327.5 - - 2263.88 - 97.32 86.07 2.434 2649.88 -4.6 0.334 - - - - - - 14.99 - 11.65
11042.82 960.08 9.35 1349 11049.23 done 0.67 - - 2269.94 - 2.60 0.059 863.06 -538.8 97.32 - - 2646.00 - - - - - - - - - 14.92 -
11077.81 956.69 9.47 1356 11084.39 done 0.67 - - 2268.94 - 2.74 0.076 2308.31 527.5 97.32 - - 2643.03 - - - - - - - - - 15.39 -
11392.89 926.03 9.75 1388 11399.46 done 0.67 - - 2269.50 - 2.64 0.133 3725.00 536.6 97.32 - - 2643.88 - - - - - - - - - 15.38 -
11437.88 920.90 11.58 1397 11444.27 done 0.67 - - 2279.56 - 2.44 0.043 2268.50 -596.9 97.32 - - 2643.75 - - - - - - - - - 15.62 -
11752.94 887.93 10.54 1429 11759.45 done 0.67 - - 2279.81 - 2.78 0.132 3725.06 523.9 97.32 - - 2642.97 - - - - - - - - - 15.40 -
11783.04 884.39 11.27 1435 11789.31 done 0.67 - - 2287.56 - 2.44 0.044 2267.12 -597.5 97.32 - - 2641.62 - - - - - - - - - 15.65 -
12092.99 850.91 10.98 1467 12094.80 0.67 0.17 0.249 2244.62 -252.6 - - 2260.88 - 97.32 - - 2639.91 - - - - - - - - 15.35 - -
12403.04 823.56 8.54 1498 12409.55 done 0.67 - - 2245.44 - 2.79 0.137 3725.50 525.0 97.32 - - 2639.72 - - - - - - - - - 15.38 -
12453.05 818.73 9.73 1508 12459.40 done 0.67 - - 2248.94 - 2.47 0.044 2268.31 -590.0 97.32 - - 2640.97 - - - - - - - - - 14.94 -
12763.15 794.33 7.30 1540 12764.75 VBD 0.69 - - 2251.19 - - - 2263.56 - 97.32 - - 2638.00 - - - - - - - - - - -
13073.18 774.35 6.03 1571 13074.79 VBD 0.74 - - 2251.06 - - - 2263.62 - 97.32 - - 2638.28 - - - - - - - - - - -
13383.22 756.44 5.84 1602 13385.03 0.79 0.12 0.079 2354.56 862.5 - - 2261.81 - 97.32 - - 2637.16 - - - - - - - - 15.66 - -
13693.21 727.05 9.96 1633 13699.83 0.79 0.26 0.264 2296.12 -224.8 2.56 0.059 860.19 -547.5 97.32 - - 2640.94 - - - - - - - - 15.14 15.24 -
13743.22 722.98 8.01 1643 13749.73 done 0.79 - - 2295.44 - 2.74 0.075 2309.31 528.9 97.32 - - 2638.44 - - - - - - - - - 14.78 -
14053.27 697.22 8.70 1675 14054.87 VBD 0.79 - - 2295.88 - - - 2309.19 - 97.32 - - 2636.25 - - - - - - - - - - -
14363.31 669.59 9.19 1706 14369.79 done 0.79 - - 2295.12 - 2.63 0.134 3724.62 538.2 97.32 - - 2637.69 - - - - - - - - - 15.33 -
14433.33 662.15 10.92 1720 14439.69 done 0.79 - - 2305.62 - 2.47 0.042 2265.31 -590.8 97.32 - - 2638.12 - - - - - - - - - 14.83 -
14743.38 630.49 10.25 1752 14749.79 done 0.79 - - 2317.94 - 2.54 0.061 863.31 -552.0 97.32 - - 2638.16 - - - - - - - - - 15.55 -
14848.39 619.41 10.58 1773 14854.95 done 0.79 - - 2317.81 - 2.71 0.076 2308.94 533.4 97.32 - - 2637.72 - - - - - - - - - 15.46 -
15163.45 588.30 9.22 1805 15165.05 VBD 0.79 - - 2317.81 - - - 2308.69 - 97.32 - - 2635.59 - - - - - - - - - - -
15473.46 560.67 8.69 1836 15475.07 VBD 0.79 - - 2317.88 - - - 2308.88 - 97.32 - - 2635.56 - - - - - - - - - - -
15783.47 535.63 7.98 1867 15785.07 VBD 0.79 - - 2318.12 - - - 2308.88 - 97.32 - - 2635.88 - - - - - - - - - - -
16093.47 509.73 8.21 1898 16099.95 done 0.79 - - 2327.44 - 2.68 0.059 861.88 -539.9 97.32 - - 2637.53 - - - - - - - - - 15.52 -
16128.46 506.79 8.39 1905 16135.22 0.79 0.16 0.261 2286.56 -255.5 2.74 0.074 2308.69 528.0 97.32 - - 2638.06 - - - - - - - - 15.07 14.69 -
16443.54 483.57 7.43 1937 16449.98 done 0.81 - - 2295.69 - 2.69 0.060 861.75 -537.9 97.32 - - 2637.84 - - - - - - - - - 14.71 -
16518.54 477.83 7.71 1952 16525.03 done 0.83 - - 2295.88 - 2.74 0.074 2309.88 528.5 97.32 - - 2637.50 - - - - - - - - - 14.69 -
16833.57 453.21 7.93 1984 16835.17 VBD 0.84 - - 2295.75 - - - 2308.94 - 97.32 - - 2636.34 - - - - - - - - - - -
17143.57 428.73 7.70 2015 17150.00 done 0.85 - - 2295.50 - 2.64 0.135 3723.31 535.7 97.32 - - 2637.34 - - - - - - - - - 15.26 -
17213.53 422.56 9.07 2029 17219.89 done 0.85 - - 2306.19 - 2.45 0.043 2265.19 -595.2 97.32 - - 2638.25 - - - - - - - - - 15.55 -
17523.60 397.98 7.84 2061 17529.96 done 0.87 - - 2316.38 - 2.58 0.061 860.69 -544.4 97.32 - - 2637.50 - - - - - - - - - 14.68 -
17598.58 392.12 7.81 2076 17605.12 done 0.88 - - 2316.31 - 2.75 0.076 2308.94 526.6 97.32 - - 2639.34 - - - - - - - - - 14.65 -
17913.57 365.34 8.61 2108 17915.19 VBD 0.88 - - 2317.12 - - - 2309.38 - 97.32 - - 2635.78 - - - - - - - - - - -
18223.58 340.20 8.14 2139 18230.05 done 0.88 - - 2326.12 - 2.66 0.059 863.25 -543.7 97.32 - - 2637.59 - - - - - - - - - 15.50 -
18298.57 334.09 8.12 2154 18305.13 done 0.88 - - 2326.56 - 2.71 0.077 2308.44 533.3 97.32 - - 2638.16 - - - - - - - - - 15.39 -
18613.65 309.09 7.82 2186 18615.34 VBD 0.89 - - 2326.06 - - - 2308.06 - 97.32 - - 2635.78 - - - - - - - - - - -
18923.61 284.60 8.10 2217 18925.21 VBD 0.89 - - 2326.25 - - - 2308.06 - 97.32 - - 2636.16 - - - - - - - - - - -
19233.67 260.89 7.54 2248 19240.09 done 0.91 - - 2325.75 - 2.69 0.136 3724.88 526.7 97.32 - - 2637.81 - - - - - - - - - 14.53 -
19258.65 258.79 7.87 2253 19264.99 done 0.92 - - 2335.50 - 2.44 0.042 2267.38 -597.3 97.32 - - 2638.59 - - - - - - - - - 15.62 -
19573.68 233.98 7.84 2285 19575.28 VBD 0.93 - - 2336.31 - - - 2261.69 - 97.32 - - 2636.34 - - - - - - - - - - -
19883.69 210.16 7.52 2316 19890.05 done 0.95 - - 2344.12 - 2.55 0.061 861.75 -549.0 97.32 - - 2638.53 - - - - - - - - - 15.49 -
19963.71 204.38 7.31 2332 19970.18 done 0.98 - - 2343.88 - 2.72 0.075 2308.62 531.9 97.32 - - 2638.53 - - - - - - - - - 15.39 -
20273.75 181.82 7.11 2364 20277.27 VBD 1.00 - - 2344.25 - - - 2308.56 - 97.32 - - 2636.94 - - - - - - - - - - -
20583.79 162.01 6.26 2395 20591.03 done 1.05 - - 2353.88 - 2.71 0.057 860.44 -534.4 97.32 - - 2638.97 - - - - - - - - - 14.74 -
20733.84 152.26 6.41 2425 20741.21 1.09 0.10 0.089 2447.94 940.6 2.74 0.072 2308.06 528.3 97.32 - - 2638.84 - - - - - - - - 15.23 14.65 -
21043.96 123.81 8.77 2457 21051.28 1.09 0.28 0.307 2378.81 -246.9 2.65 0.126 3725.44 534.9 97.32 - - 2639.94 - - - - - - - - 14.94 15.05 -
21148.98 115.01 8.19 2478 21156.07 done 1.09 - - 2390.69 - 2.45 0.038 2265.56 -595.9 97.32 - - 2640.66 - - - - - - - - - 15.53 -
21459.03 94.45 6.32 2518 21466.34 done 1.13 - - 2391.75 - 2.81 0.129 3726.31 519.8 97.32 - - 2639.41 - - - - - - - - - 15.18 -
21694.13 78.81 6.80 2565 21701.17 done 1.16 - - 2402.25 - 2.48 0.036 2259.31 -591.5 97.32 - - 2641.50 - - - - - - - - - 14.72 -
21884.27 71.16 3.09 2603 21965.36 1.27 0.12 0.066 2488.12 715.6 2.58 0.057 860.75 -542.1 189.48 69.25 1.230 2273.94 -5.3 0.054 - - - - - - 15.49 15.13 11.53
21967.96 65.91 9.64 2619 21975.44 roll back 1.27 0.20 0.316 2441.19 -234.6 2.77 0.077 2311.19 523.6 189.48 - - 2271.25 - - - - - - - - 15.06 15.27 -
22158.04 43.43 10.70 2657 22165.34 done 1.27 - - 2451.19 - 2.71 0.059 863.25 -534.3 189.48 - - 2267.88 - - - - - - - - - 14.86 -
22228.06 35.75 11.45 2671 22235.36 done 1.27 - - 2451.12 - 2.71 0.068 2311.88 534.5 189.48 - - 2265.91 - - - - - - - - - 15.36 -
22418.11 14.16 9.49 2709 22423.40 VBD 1.27 - - 2452.00 - - - 2311.44 - 189.48 - - 2265.47 - - - - - - - - - - -
22528 end climb: SURFACE_DEPTH_REACHED
22528 begin surface coast
22548 end surface coast: CONTROL_FINISHED_OK
22548 begin surface
SM 1.31 - - - - 174.8 99.06 1.145 1723.5 17.4 6.62 0.081 1807.4 273.0 - 0.85 0.136 1639.7 1929.1 -1.899 - - 11.59 15.43 15.37 -