SMODE Mar23 * SG219 * Dive index * Mission links * Dive 96 * Raw log
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• Previous call tries 1 • 128.53 of 310.00 AH used of 24V (58.54% remains)
• Surface angle -65.3 deg, depth 1.26 m • Intended pitch -21.0 deg, speed -8.462 cm/s
• VBD pumped to 325.31 (SM_CC=325)
• GPS1 time: 33 s
• GPS2 time: 4 s • Transponder ping count: 0
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
16.33 - - - 70.24 VBD -0.65 - - 85.69 - - - 2803.00 - -97.32 49.40 0.005 2533.56 - - - - - - - - - - 14.82
70.68 2.02 -1.59 10 123.75 -0.65 8.74 0.343 2035.00 223.0 1.69 0.063 3854.06 621.9 -97.32 30.69 0.006 3365.19 27.1 -1.618 - - - - - - 14.82 14.89 15.03
206.11 20.05 -15.50 36 213.18 roll -0.65 - - 2035.00 - 1.73 0.017 2661.62 -689.3 -97.32 - - 3367.84 - - - - - - - - - 15.67 -
396.20 52.64 -16.42 74 403.31 roll -0.65 - - 2026.19 - 1.97 0.064 3851.00 603.7 -97.32 - - 3368.12 - - - - - - - - - 15.28 -
471.20 63.74 -13.52 89 478.18 roll -0.65 - - 2026.25 - 1.73 0.019 2651.62 -693.3 -97.32 - - 3368.78 - - - - - - - - - 15.63 -
661.25 88.13 -12.69 127 668.36 roll -0.65 - - 2017.94 - 1.98 0.063 3849.00 604.7 -97.32 - - 3368.47 - - - - - - - - - 15.29 -
786.00 104.35 -12.92 152 793.23 roll -0.65 - - 2018.12 - 1.73 0.018 2654.75 -690.3 -97.32 - - 3368.41 - - - - - - - - - 15.66 -
1101.29 143.18 -11.77 184 1108.15 roll -0.65 - - 2007.00 - 1.97 0.062 3849.56 606.5 -97.32 - - 3369.31 - - - - - - - - - 15.18 -
1196.04 155.20 -12.59 203 1203.58 roll back -0.65 0.13 0.231 2044.38 287.5 1.73 0.018 2641.69 -698.2 -97.32 - - 3368.78 - - - - - - - - 15.44 15.77 -
1511.33 186.20 -10.03 235 1518.21 roll -0.65 - - 2035.88 - 1.99 0.064 3850.44 607.4 -97.32 - - 3369.66 - - - - - - - - - 15.59 -
1551.33 190.36 -10.41 243 1558.04 roll -0.65 - - 2036.38 - 1.72 0.019 2654.06 -695.6 -97.32 - - 3370.66 - - - - - - - - - 15.68 -
1861.36 224.86 -11.57 275 1867.28 roll -0.65 - - 2027.69 - 1.95 0.064 3850.00 613.3 -97.32 - - 3369.66 - - - - - - - - - 15.81 -
1916.13 231.63 -12.37 286 1922.31 roll -0.65 - - 2029.25 - 1.71 0.019 2644.19 -705.2 -97.32 - - 3368.12 - - - - - - - - - 15.89 -
2231.43 268.52 -10.84 318 2237.60 roll -0.65 - - 2019.94 - 1.95 0.064 3850.12 618.4 -97.32 - - 3368.81 - - - - - - - - - 15.81 -
2306.17 277.24 -11.68 333 2312.34 roll -0.65 - - 2018.62 - 1.72 0.019 2642.44 -702.1 -97.32 - - 3368.59 - - - - - - - - - 15.92 -
2621.46 311.37 -10.25 365 2627.53 roll -0.65 - - 2009.75 - 1.96 0.064 3850.06 616.1 -97.32 - - 3368.59 - - - - - - - - - 15.85 -
2661.46 315.64 -10.74 373 2667.64 roll back -0.65 0.12 0.223 2044.50 289.6 1.72 0.019 2645.69 -700.2 -97.32 - - 3368.44 - - - - - - - - 15.57 15.82 -
2971.49 343.37 -9.26 405 2977.60 roll -0.65 - - 2037.06 - 1.96 0.066 3848.94 613.9 -97.32 - - 3368.06 - - - - - - - - - 15.85 -
3036.25 349.70 -9.84 418 3042.42 roll -0.65 - - 2037.81 - 1.71 0.019 2641.88 -705.9 -97.32 - - 3367.53 - - - - - - - - - 15.83 -
3351.53 380.35 -9.72 450 3353.32 no move -0.65 - - 2037.88 - - - 2637.75 - -97.32 - - 3366.53 - - - - - - - - - - -
3661.55 410.31 -9.76 481 3667.64 roll -0.65 - - 2028.81 - 1.98 0.066 3850.12 612.3 -97.32 - - 3366.62 - - - - - - - - - 15.82 -
3706.29 414.96 -10.43 490 3712.47 roll -0.65 - - 2028.38 - 1.72 0.020 2640.25 -703.4 -97.32 - - 3366.22 - - - - - - - - - 15.95 -
4021.58 446.33 -9.74 522 4027.67 roll -0.65 - - 2019.62 - 1.97 0.065 3847.94 613.0 -97.32 - - 3365.75 - - - - - - - - - 15.85 -
4076.33 451.77 -9.90 533 4082.54 roll -0.65 - - 2018.69 - 1.71 0.020 2641.81 -705.3 -97.32 - - 3366.94 - - - - - - - - - 15.95 -
4391.62 482.54 -9.97 565 4397.69 roll -0.65 - - 2010.94 - 1.97 0.065 3851.69 614.2 -97.32 - - 3365.28 - - - - - - - - - 15.82 -
4411.62 484.58 -9.96 569 4417.53 roll -0.65 - - 2010.81 - 1.72 0.021 2647.06 -700.4 -97.32 - - 3365.28 - - - - - - - - - 15.92 -
4721.65 516.77 -10.54 601 4727.74 roll -0.65 - - 2000.69 - 1.95 0.066 3850.69 617.2 -97.32 - - 3365.72 - - - - - - - - - 15.84 -
4791.67 524.55 -11.12 615 4797.92 roll back -0.65 0.15 0.219 2045.06 295.8 1.72 0.020 2641.75 -702.9 -97.32 - - 3365.94 - - - - - - - - 15.54 15.83 -
5101.73 552.37 -8.94 647 5103.52 no move -0.65 - - 2044.50 - - - 2634.12 - -97.32 - - 3363.09 - - - - - - - - - - -
5411.77 578.69 -8.27 678 5417.85 roll -0.65 - - 2038.81 - 1.96 0.068 3849.62 620.2 -97.32 - - 3363.31 - - - - - - - - - 15.82 -
5476.53 584.37 -8.74 691 5482.72 roll -0.65 - - 2038.69 - 1.71 0.021 2641.69 -706.4 -97.32 - - 3363.00 - - - - - - - - - 15.93 -
5791.81 611.52 -8.44 723 5797.89 roll -0.65 - - 2027.56 - 1.96 0.067 3848.25 615.6 -97.32 - - 3364.62 - - - - - - - - - 15.83 -
5826.56 614.62 -8.74 730 5832.74 roll -0.65 - - 2029.12 - 1.72 0.021 2648.81 -697.3 -97.32 - - 3362.66 - - - - - - - - - 15.81 -
6141.85 642.17 -8.76 762 6148.00 roll -0.65 - - 2021.81 - 1.95 0.065 3849.88 615.9 -97.32 - - 3361.84 - - - - - - - - - 15.70 -
6171.85 644.90 -8.91 768 6177.86 roll -0.65 - - 2022.00 - 1.73 0.021 2644.19 -696.9 -97.32 - - 3361.41 - - - - - - - - - 15.81 -
6481.89 672.55 -8.70 800 6487.97 roll -0.65 - - 2011.44 - 1.95 0.066 3850.81 618.8 -97.32 - - 3361.94 - - - - - - - - - 15.81 -
6521.89 676.18 -9.07 808 6527.81 roll -0.65 - - 2011.19 - 1.71 0.021 2647.56 -703.7 -97.32 - - 3362.81 - - - - - - - - - 15.94 -
6831.92 704.67 -9.22 840 6838.06 roll -0.65 - - 2004.12 - 1.95 0.066 3849.62 616.4 -97.32 - - 3360.44 - - - - - - - - - 15.70 -
6901.94 711.42 -9.53 854 6908.14 roll back -0.65 0.14 0.217 2044.00 284.9 1.71 0.021 2646.56 -703.5 -97.32 - - 3360.44 - - - - - - - - 15.47 15.94 -
7211.97 733.66 -6.93 886 7218.05 roll -0.65 - - 2037.44 - 1.96 0.068 3850.25 614.1 -97.32 - - 3359.84 - - - - - - - - - 15.71 -
7241.99 735.93 -7.13 892 7247.90 roll -0.65 - - 2037.56 - 1.72 0.021 2644.69 -700.9 -97.32 - - 3361.41 - - - - - - - - - 15.93 -
7552.00 758.55 -7.35 924 7558.07 roll -0.65 - - 2029.50 - 1.96 0.067 3848.31 614.1 -97.32 - - 3359.03 - - - - - - - - - 15.68 -
7576.74 760.45 -7.40 929 7582.92 roll -0.65 - - 2029.50 - 1.72 0.021 2644.31 -700.0 -97.32 - - 3359.16 - - - - - - - - - 15.94 -
7892.03 784.35 -7.70 961 7893.82 no move -0.65 - - 2028.94 - - - 2640.81 - -97.32 - - 3357.94 - - - - - - - - - - -
8202.06 810.90 -8.94 992 8208.14 roll -0.65 - - 2020.12 - 1.95 0.066 3849.75 620.0 -97.32 - - 3357.91 - - - - - - - - - 15.77 -
8252.06 815.67 -9.60 1002 8257.98 roll -0.65 - - 2020.06 - 1.72 0.021 2643.44 -701.3 -97.32 - - 3357.91 - - - - - - - - - 15.89 -
8562.09 845.78 -9.92 1034 8568.23 roll -0.65 - - 2011.62 - 1.96 0.067 3849.44 615.3 -97.32 - - 3359.19 - - - - - - - - - 15.79 -
8606.83 850.37 -10.31 1043 8613.01 roll -0.65 - - 2010.75 - 1.72 0.021 2647.56 -698.8 -97.32 - - 3357.75 - - - - - - - - - 15.93 -
8922.12 880.50 -9.38 1075 8928.27 roll -0.65 - - 2003.50 - 1.96 0.067 3850.19 613.6 -97.32 - - 3357.53 - - - - - - - - - 15.76 -
8986.87 886.96 -9.93 1088 8993.33 roll back -0.65 0.14 0.217 2044.00 289.3 1.72 0.022 2651.50 -696.9 -97.32 - - 3356.84 - - - - - - - - 15.46 15.94 -
9302.16 910.23 -7.13 1120 9303.95 no move -0.65 - - 2044.00 - - - 2647.31 - -97.32 - - 3355.91 - - - - - - - - - - -
9612.19 930.69 -6.39 1151 9618.27 roll -0.65 - - 2035.31 - 1.95 0.069 3850.44 617.0 -97.32 - - 3357.38 - - - - - - - - - 15.67 -
9682.20 935.44 -6.78 1165 9688.12 roll -0.65 - - 2036.81 - 1.74 0.022 2641.06 -695.0 -97.32 - - 3357.00 - - - - - - - - - 15.72 -
9992.23 956.47 -6.84 1197 9994.05 no move -0.65 - - 2037.31 - - - 2637.19 - -97.32 - - 3355.31 - - - - - - - - - - -
10302.26 978.01 -6.83 1228 10308.36 roll -0.65 - - 2027.81 - 1.96 0.068 3848.19 617.9 -97.32 - - 3356.19 - - - - - - - - - 15.75 -
10327.00 979.81 -6.93 1233 10333.18 roll -0.65 - - 2028.00 - 1.74 0.022 2643.94 -692.1 -97.32 - - 3356.84 - - - - - - - - - 15.77 -
10472 end dive: TARGET_DEPTH_EXCEEDED
10472 begin apogee
10474.15 990.27 -7.25 1248 10574.88 -0.12 0.63 0.177 2210.75 290.1 0.21 0.109 2437.56 -982.8 - 91.63 2.318 2968.78 -4.2 0.321 - - - - - - 15.24 14.85 10.19
10576 end apogee: CONTROL_FINISHED_OK
10577 begin climb
10577.50 991.79 - 1257 10690.17 0.65 0.77 0.098 2476.56 345.2 3.02 0.036 952.31 -491.8 97.32 96.57 2.267 2570.00 -4.1 0.320 - - - - - - 15.16 14.60 11.33
10742.51 984.21 7.66 1288 10750.09 roll 0.67 - - 2475.88 - 2.91 0.036 2428.88 507.4 97.32 - - 2567.09 - - - - - - - - - 15.22 -
11057.74 957.77 8.47 1320 11064.28 done 0.67 - - 2475.44 - 2.27 0.065 3839.06 621.2 97.32 - - 2560.31 - - - - - - - - - 15.67 -
11142.51 949.77 9.37 1337 11149.57 done 0.67 - - 2487.44 - 2.29 0.019 2314.94 -665.6 97.32 - - 2555.78 - - - - - - - - - 15.66 -
11457.80 923.31 8.21 1369 11459.59 VBD 0.67 - - 2487.56 - - - 2302.88 - 97.32 - - 2553.38 - - - - - - - - - - -
11767.83 897.57 8.49 1400 11774.62 done 0.67 - - 2487.75 - 2.53 0.061 3838.69 607.0 97.32 - - 2553.19 - - - - - - - - - 15.06 -
11857.85 888.62 10.05 1418 11864.46 done 0.67 - - 2498.81 - 2.30 0.020 2329.56 -656.1 97.32 - - 2553.62 - - - - - - - - - 15.13 -
12168.05 861.38 8.78 1450 12170.11 0.67 0.16 0.244 2454.12 -279.3 - - 2314.75 - 97.32 - - 2553.53 - - - - - - - - 15.48 - -
12477.98 839.52 6.75 1481 12484.59 done 0.70 - - 2455.12 - 2.49 0.062 3840.38 612.7 97.32 - - 2553.00 - - - - - - - - - 15.81 -
12557.99 833.17 7.95 1497 12564.46 done 0.71 - - 2464.81 - 2.27 0.020 2325.50 -667.3 97.32 - - 2551.16 - - - - - - - - - 15.91 -
12868.02 811.67 6.73 1529 12874.71 done 0.75 - - 2466.31 - 2.48 0.061 3839.81 610.6 97.32 - - 2552.22 - - - - - - - - - 15.81 -
12948.05 805.35 7.92 1545 12954.59 done 0.76 - - 2476.81 - 2.28 0.020 2330.12 -662.1 97.32 - - 2551.00 - - - - - - - - - 15.90 -
13258.08 783.75 6.84 1577 13259.87 VBD 0.79 - - 2476.25 - - - 2315.31 - 97.32 - - 2549.56 - - - - - - - - - - -
13568.10 762.40 6.86 1608 13575.08 0.82 0.10 0.074 2538.81 625.6 2.51 0.061 3840.50 607.6 97.32 - - 2550.25 - - - - - - - - 15.75 14.92 -
13672.78 752.11 9.99 1629 13679.92 done 0.82 - - 2549.00 - 2.31 0.019 2313.25 -661.1 97.32 - - 2550.03 - - - - - - - - - 15.00 -
13988.07 722.53 9.22 1661 13995.12 0.82 0.17 0.242 2505.44 -256.2 2.56 0.058 3840.62 596.6 97.32 - - 2549.72 - - - - - - - - 15.34 14.89 -
14058.07 715.97 9.39 1675 14064.61 done 0.82 - - 2513.31 - 2.29 0.020 2332.62 -658.5 97.32 - - 2550.72 - - - - - - - - - 15.92 -
14368.10 689.33 8.50 1707 14374.82 done 0.82 - - 2515.00 - 2.50 0.060 3841.12 603.4 97.32 - - 2550.16 - - - - - - - - - 15.80 -
14418.11 684.50 9.76 1717 14424.72 done 0.82 - - 2526.06 - 2.28 0.020 2327.81 -663.7 97.32 - - 2549.62 - - - - - - - - - 15.92 -
14728.15 657.77 8.33 1749 14734.96 done 0.82 - - 2536.50 - 2.57 0.031 948.31 -536.8 97.32 - - 2549.28 - - - - - - - - - 15.88 -
14772.90 654.08 8.21 1758 14780.44 done 0.82 - - 2536.44 - 2.83 0.032 2437.38 526.2 97.32 - - 2550.03 - - - - - - - - - 15.88 -
15088.18 628.01 8.12 1790 15094.73 done 0.82 - - 2536.19 - 2.26 0.061 3839.12 620.2 97.32 - - 2550.22 - - - - - - - - - 15.79 -
15162.92 621.32 8.84 1805 15170.04 done 0.82 - - 2548.00 - 2.28 0.019 2329.75 -662.0 97.32 - - 2548.84 - - - - - - - - - 15.82 -
15478.29 597.20 7.67 1837 15480.09 VBD 0.84 - - 2546.94 - - - 2314.69 - 97.32 - - 2547.84 - - - - - - - - - - -
15788.33 573.09 7.64 1868 15795.03 done 0.85 - - 2546.88 - 2.54 0.058 3840.38 600.7 97.32 - - 2550.25 - - - - - - - - - 14.80 -
15928.50 560.71 8.71 1896 15935.02 done 0.85 - - 2559.25 - 2.29 0.019 2332.81 -658.3 97.32 - - 2548.56 - - - - - - - - - 15.91 -
16238.30 536.48 8.10 1928 16240.35 0.85 0.17 0.242 2515.19 -259.2 - - 2318.44 - 97.32 - - 2546.94 - - - - - - - - 15.28 - -
16548.41 515.17 6.94 1959 16555.03 done 0.88 - - 2514.62 - 2.50 0.060 3839.75 608.5 97.32 - - 2549.00 - - - - - - - - - 15.77 -
16583.15 512.36 7.55 1966 16590.28 done 0.90 - - 2524.12 - 2.31 0.019 2323.56 -656.4 97.32 - - 2549.66 - - - - - - - - - 14.86 -
16898.44 488.70 7.44 1998 16900.24 VBD 0.92 - - 2524.31 - - - 2323.12 - 97.32 - - 2547.69 - - - - - - - - - - -
17208.48 465.65 7.41 2029 17215.09 done 0.94 - - 2524.44 - 2.47 0.062 3838.94 613.7 97.32 - - 2548.91 - - - - - - - - - 15.76 -
17258.45 461.44 8.55 2039 17265.00 done 0.94 - - 2535.69 - 2.30 0.019 2316.31 -662.0 97.32 - - 2547.97 - - - - - - - - - 14.83 -
17568.53 438.40 7.33 2071 17575.20 done 0.97 - - 2535.44 - 2.52 0.061 3839.38 604.4 97.32 - - 2548.97 - - - - - - - - - 15.75 -
17658.51 431.33 7.80 2089 17665.05 done 0.98 - - 2545.62 - 2.27 0.019 2313.44 -672.2 97.32 - - 2548.53 - - - - - - - - - 15.90 -
17968.55 409.12 7.03 2121 17970.35 VBD 1.01 - - 2546.44 - - - 2298.62 - 97.32 - - 2547.34 - - - - - - - - - - -
18278.58 387.31 6.90 2152 18285.59 1.04 0.10 0.074 2618.00 715.6 2.58 0.060 3839.56 597.3 97.32 - - 2548.38 - - - - - - - - 15.71 14.74 -
18383.24 377.43 9.65 2173 18390.72 1.04 0.22 0.293 2575.56 -192.9 2.31 0.018 2335.56 -651.1 97.32 - - 2547.94 - - - - - - - - 15.05 14.81 -
18698.54 352.98 8.10 2205 18700.33 VBD 1.04 - - 2575.94 - - - 2321.25 - 97.32 - - 2547.00 - - - - - - - - - - -
19008.57 326.62 8.72 2236 19015.35 done 1.04 - - 2575.44 - 2.51 0.060 3839.25 604.8 97.32 - - 2548.19 - - - - - - - - - 15.76 -
19108.57 317.04 9.72 2256 19115.11 done 1.04 - - 2583.94 - 2.28 0.019 2312.25 -669.7 97.32 - - 2548.47 - - - - - - - - - 15.90 -
19418.60 290.50 8.12 2288 19420.41 VBD 1.04 - - 2586.19 - - - 2297.75 - 97.32 - - 2547.41 - - - - - - - - - - -
19728.71 266.78 7.08 2319 19735.41 done 1.07 - - 2586.31 - 2.55 0.060 3837.50 603.8 97.32 - - 2548.00 - - - - - - - - - 15.74 -
19898.67 253.03 7.97 2353 19905.43 done 1.07 - - 2598.69 - 2.33 0.018 2307.94 -656.5 97.32 - - 2550.59 - - - - - - - - - 14.78 -
20208.81 229.59 7.52 2385 20215.51 done 1.09 - - 2607.38 - 2.55 0.031 946.81 -533.8 97.32 - - 2548.03 - - - - - - - - - 15.87 -
20288.84 223.64 7.42 2401 20295.79 done 1.11 - - 2608.44 - 2.87 0.032 2438.00 519.6 97.32 - - 2548.31 - - - - - - - - - 14.79 -
20598.87 200.50 7.11 2433 20600.66 VBD 1.13 - - 2607.81 - - - 2438.56 - 97.32 - - 2547.53 - - - - - - - - - - -
20908.98 178.84 6.54 2464 20916.03 done 1.17 - - 2607.94 - 2.27 0.061 3839.50 617.2 97.32 - - 2548.75 - - - - - - - - - 15.62 -
20983.65 173.36 7.48 2479 20991.37 done 1.19 - - 2618.19 - 2.29 0.018 2315.94 -665.3 97.32 - - 2548.00 - - - - - - - - - 15.79 -
21298.94 156.03 5.06 2511 21355.79 1.27 0.10 0.076 2709.44 912.5 2.58 0.059 3841.12 591.2 155.15 45.72 1.259 2332.22 -4.7 0.104 - - - - - - 15.73 15.30 10.66
21463.31 134.68 15.57 2543 21471.04 roll back 1.27 0.31 0.321 2647.44 -200.0 2.32 0.017 2335.62 -648.9 155.15 - - 2329.69 - - - - - - - - 15.12 15.62 -
21773.51 96.22 13.28 2577 21778.49 VBD 1.27 - - 2648.81 - - - 2320.94 - 155.15 - - 2325.84 - - - - - - - - - - -
21963.53 74.91 9.69 2615 21971.26 done 1.27 - - 2657.50 - 2.60 0.029 951.38 -526.8 155.15 - - 2326.38 - - - - - - - - - 15.68 -
21998.76 71.25 10.38 2622 22006.83 done 1.27 - - 2659.94 - 2.87 0.033 2437.81 517.9 155.15 - - 2325.44 - - - - - - - - - 15.36 -
22189.37 58.90 4.53 2660 22252.38 done 1.35 - - 2659.44 - 2.30 0.057 3842.62 610.8 221.96 52.94 1.109 2059.12 -5.0 0.047 - - - - - - - 15.23 11.12
22444.91 29.02 16.31 2710 22452.51 done 1.35 - - 2667.81 - 2.33 0.018 2335.06 -647.0 221.96 - - 2053.94 - - - - - - - - - 15.37 -
22634.96 3.78 15.03 2748 22642.68 done 1.35 - - 2668.94 - 2.54 0.059 3835.88 590.9 221.96 - - 2052.06 - - - - - - - - - 15.39 -
22650 end climb: SURFACE_DEPTH_REACHED
22650 begin surface coast
22670 end surface coast: CONTROL_FINISHED_OK
22670 begin surface
SM 1.15 - - - - 223.4 75.43 1.036 1641.8 21.8 6.86 0.038 1637.8 238.7 - 1.68 0.021 1645.8 978.1 -5.475 - - 11.05 15.69 15.76 -