SMODE Mar23 * SG220 * Dive index * Mission links * Dive 137 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 138.96 of 350.00 AH used of 24V (60.30% remains)
• Surface angle -67.1 deg, depth 1.26 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 324.70 (SM_CC=325)
• GPS1 time: 36 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
10.59 - - - 84.36 VBD -0.67 - - 167.56 - - - 2681.56 - -97.32 70.19 0.005 3175.31 - - - - - - - - - - 14.74
84.61 3.72 -3.83 14 113.30 -0.67 10.84 0.518 1824.69 152.9 2.18 0.163 3842.00 532.3 -97.32 6.41 0.008 3445.53 42.2 -3.497 - - - - - - 14.67 14.89 15.05
135.80 15.25 -17.91 24 142.47 roll -0.67 - - 1824.19 - 2.02 0.045 2591.88 -618.9 -97.32 - - 3446.72 - - - - - - - - - 15.48 -
325.86 46.97 -14.60 62 332.66 roll -0.67 - - 1823.12 - 2.40 0.161 3842.81 521.2 -97.32 - - 3448.12 - - - - - - - - - 15.19 -
440.90 63.46 -14.83 85 447.57 roll -0.67 - - 1824.19 - 2.02 0.044 2593.62 -618.4 -97.32 - - 3448.78 - - - - - - - - - 15.47 -
630.98 86.97 -11.31 123 637.86 roll -0.67 - - 1824.31 - 2.55 0.047 1212.56 -541.6 -97.32 - - 3447.81 - - - - - - - - - 15.41 -
685.99 93.27 -11.36 134 693.05 roll -0.67 - - 1824.62 - 2.91 0.111 2664.38 498.9 -97.32 - - 3447.94 - - - - - - - - - 15.32 -
876.04 115.86 -11.95 159 879.01 no move -0.67 - - 1824.56 - - - 2664.06 - -97.32 - - 3447.38 - - - - - - - - - - -
1186.09 148.22 -10.34 190 1192.83 roll -0.67 - - 1824.06 - 2.21 0.162 3841.50 532.8 -97.32 - - 3450.31 - - - - - - - - - 15.07 -
1236.11 153.56 -10.84 200 1242.91 roll -0.67 - - 1824.44 - 2.01 0.046 2587.69 -623.8 -97.32 - - 3448.81 - - - - - - - - - 15.50 -
1546.20 184.59 -9.49 232 1549.24 no move -0.67 - - 1824.75 - - - 2583.75 - -97.32 - - 3448.25 - - - - - - - - - - -
1856.25 213.45 -9.69 263 1862.44 roll -0.67 - - 1824.88 - 2.38 0.159 3841.31 528.4 -97.32 - - 3449.31 - - - - - - - - - 15.30 -
1931.26 221.13 -10.30 278 1937.27 roll -0.67 - - 1824.62 - 1.99 0.046 2585.81 -630.9 -97.32 - - 3449.47 - - - - - - - - - 15.63 -
2246.34 252.86 -10.07 310 2252.50 roll -0.67 - - 1823.75 - 2.38 0.159 3841.88 527.8 -97.32 - - 3450.38 - - - - - - - - - 15.23 -
2306.35 259.07 -10.51 322 2312.33 roll -0.67 - - 1824.56 - 1.99 0.046 2585.81 -631.2 -97.32 - - 3450.25 - - - - - - - - - 15.64 -
2616.42 289.98 -9.85 354 2617.98 no move -0.67 - - 1824.94 - - - 2583.12 - -97.32 - - 3447.94 - - - - - - - - - - -
2926.45 320.04 -9.34 385 2932.73 roll -0.67 - - 1824.44 - 2.52 0.047 1213.94 -543.3 -97.32 - - 3450.91 - - - - - - - - - 15.46 -
2996.50 326.74 -9.55 399 3002.88 roll -0.67 - - 1824.25 - 2.89 0.111 2664.19 501.8 -97.32 - - 3449.12 - - - - - - - - - 15.38 -
3306.49 354.80 -8.76 431 3312.82 roll -0.67 - - 1823.75 - 2.68 0.046 1210.81 -542.3 -97.32 - - 3449.03 - - - - - - - - - 15.55 -
3446.51 367.66 -9.18 459 3452.93 roll -0.67 - - 1824.62 - 2.90 0.111 2664.25 501.2 -97.32 - - 3448.62 - - - - - - - - - 15.31 -
3756.54 395.96 -9.25 491 3758.10 no move -0.67 - - 1824.38 - - - 2664.31 - -97.32 - - 3446.94 - - - - - - - - - - -
4066.57 424.38 -9.03 522 4068.13 no move -0.67 - - 1824.56 - - - 2664.38 - -97.32 - - 3446.81 - - - - - - - - - - -
4376.60 453.71 -9.51 553 4382.92 roll -0.67 - - 1823.31 - 2.67 0.048 1211.94 -544.0 -97.32 - - 3447.59 - - - - - - - - - 15.61 -
4426.60 458.58 -9.69 563 4433.02 roll -0.67 - - 1824.94 - 2.90 0.110 2663.00 500.4 -97.32 - - 3446.88 - - - - - - - - - 15.21 -
4736.65 487.32 -9.15 595 4738.21 no move -0.67 - - 1824.69 - - - 2663.50 - -97.32 - - 3445.78 - - - - - - - - - - -
5046.73 514.77 -8.42 626 5048.33 no move -0.67 - - 1824.75 - - - 2663.56 - -97.32 - - 3445.22 - - - - - - - - - - -
5356.78 541.24 -8.44 657 5358.38 no move -0.67 - - 1824.62 - - - 2662.94 - -97.32 - - 3444.84 - - - - - - - - - - -
5666.83 568.14 -8.43 688 5668.43 no move -0.67 - - 1825.00 - - - 2663.88 - -97.32 - - 3444.16 - - - - - - - - - - -
5976.88 592.51 -7.50 719 5978.48 no move -0.67 - - 1824.81 - - - 2663.62 - -97.32 - - 3443.28 - - - - - - - - - - -
6286.93 616.51 -7.89 750 6293.17 roll -0.67 - - 1824.31 - 2.22 0.165 3838.25 529.1 -97.32 - - 3443.91 - - - - - - - - - 15.08 -
6371.93 623.59 -8.39 767 6378.03 roll -0.67 - - 1824.50 - 1.99 0.049 2585.25 -629.6 -97.32 - - 3445.16 - - - - - - - - - 15.62 -
6687.00 649.43 -8.37 799 6693.29 roll -0.67 - - 1824.19 - 2.39 0.159 3838.50 524.4 -97.32 - - 3443.19 - - - - - - - - - 15.14 -
6752.00 655.09 -8.72 812 6758.10 roll -0.67 - - 1823.94 - 2.00 0.049 2587.50 -625.5 -97.32 - - 3443.88 - - - - - - - - - 15.62 -
7067.05 681.38 -8.13 844 7068.66 no move -0.67 - - 1824.56 - - - 2585.62 - -97.32 - - 3441.66 - - - - - - - - - - -
7377.09 705.81 -7.84 875 7383.38 roll -0.67 - - 1824.62 - 2.40 0.161 3842.94 523.9 -97.32 - - 3442.34 - - - - - - - - - 15.18 -
7477.12 714.11 -8.37 895 7483.25 roll -0.67 - - 1823.25 - 2.02 0.050 2585.12 -622.7 -97.32 - - 3442.59 - - - - - - - - - 15.42 -
7787.16 739.27 -8.15 927 7788.76 no move -0.67 - - 1824.62 - - - 2583.56 - -97.32 - - 3440.38 - - - - - - - - - - -
8097.20 764.01 -7.88 958 8103.49 roll -0.67 - - 1823.75 - 2.40 0.159 3839.88 523.5 -97.32 - - 3441.12 - - - - - - - - - 15.17 -
8182.20 770.86 -8.07 975 8188.37 roll -0.67 - - 1824.81 - 2.01 0.050 2586.81 -623.4 -97.32 - - 3440.34 - - - - - - - - - 15.42 -
8497.26 795.42 -7.76 1007 8503.60 roll -0.67 - - 1824.75 - 2.40 0.159 3840.75 522.5 -97.32 - - 3440.38 - - - - - - - - - 15.14 -
8557.28 800.28 -8.23 1019 8563.42 roll -0.67 - - 1824.31 - 2.01 0.051 2588.25 -623.1 -97.32 - - 3440.16 - - - - - - - - - 15.41 -
8867.33 824.24 -7.69 1051 8868.93 no move -0.67 - - 1824.50 - - - 2585.50 - -97.32 - - 3438.47 - - - - - - - - - - -
9177.38 847.49 -7.48 1082 9183.73 roll -0.67 - - 1824.06 - 2.40 0.161 3839.81 522.6 -97.32 - - 3438.97 - - - - - - - - - 15.13 -
9262.39 854.11 -7.79 1099 9268.55 roll -0.67 - - 1823.38 - 2.01 0.051 2588.44 -622.6 -97.32 - - 3439.50 - - - - - - - - - 15.39 -
9577.46 877.30 -7.23 1131 9579.06 no move -0.67 - - 1824.38 - - - 2586.25 - -97.32 - - 3437.84 - - - - - - - - - - -
9887.48 899.66 -7.03 1162 9893.82 roll -0.67 - - 1824.00 - 2.42 0.162 3838.44 517.4 -97.32 - - 3439.22 - - - - - - - - - 15.01 -
10007.49 908.54 -7.34 1186 10013.62 roll -0.67 - - 1823.19 - 2.01 0.050 2588.94 -621.6 -97.32 - - 3438.59 - - - - - - - - - 15.46 -
10317.51 929.87 -6.75 1218 10323.86 roll -0.67 - - 1824.50 - 2.41 0.162 3840.19 519.2 -97.32 - - 3438.84 - - - - - - - - - 15.11 -
10372.50 933.83 -7.21 1229 10378.68 roll -0.67 - - 1824.06 - 2.01 0.051 2587.81 -623.1 -97.32 - - 3438.44 - - - - - - - - - 15.43 -
10687.86 955.45 -6.91 1261 10693.89 roll -0.67 - - 1824.69 - 2.41 0.161 3840.06 519.6 -97.32 - - 3438.47 - - - - - - - - - 15.09 -
10737.54 959.01 -7.11 1271 10743.68 roll -0.67 - - 1824.69 - 2.01 0.052 2587.25 -623.3 -97.32 - - 3437.47 - - - - - - - - - 15.55 -
11047.56 979.32 -6.44 1303 11049.16 no move -0.67 - - 1824.12 - - - 2585.88 - -97.32 - - 3436.28 - - - - - - - - - - -
11218 end dive: TARGET_DEPTH_EXCEEDED
11218 begin apogee
11219.21 990.45 -6.67 1320 11312.08 -0.12 0.62 0.201 2001.38 285.9 0.11 0.262 2323.81 -2382.5 - 84.08 2.459 3047.66 -4.6 0.332 - - - - - - 15.15 14.76 10.67
11314 end apogee: CONTROL_FINISHED_OK
11314 begin climb
11314.24 991.51 - 1329 11407.97 0.67 0.77 0.098 2262.38 339.0 - - 2323.62 - 97.32 87.72 2.419 2649.50 -4.5 0.332 - - - - - - 15.01 - 11.56
11710.55 956.74 10.07 1369 11717.05 roll 0.67 - - 2271.88 - 2.76 0.060 862.00 -529.6 97.32 - - 2645.19 - - - - - - - - - 14.96 -
11795.54 948.11 10.08 1386 11802.08 done 0.67 - - 2272.56 - 2.78 0.083 2311.81 521.5 97.32 - - 2644.03 - - - - - - - - - 15.39 -
12110.57 916.87 9.83 1418 12117.03 done 0.67 - - 2280.31 - 2.68 0.059 862.81 -540.7 97.32 - - 2640.91 - - - - - - - - - 15.57 -
12150.58 912.93 9.83 1426 12157.10 done 0.67 - - 2280.88 - 2.76 0.083 2312.00 525.1 97.32 - - 2641.38 - - - - - - - - - 15.45 -
12460.68 882.64 9.41 1458 12462.28 VBD 0.67 - - 2280.38 - - - 2311.69 - 97.32 - - 2638.88 - - - - - - - - - - -
12770.62 853.13 9.31 1489 12777.09 done 0.67 - - 2291.31 - 2.68 0.058 862.94 -540.6 97.32 - - 2639.75 - - - - - - - - - 15.61 -
12810.62 849.42 9.27 1497 12817.30 0.67 0.17 0.245 2245.00 -272.4 2.76 0.082 2312.25 525.1 97.32 - - 2640.47 - - - - - - - - 15.28 15.46 -
13120.70 824.96 7.74 1529 13127.16 done 0.68 - - 2251.19 - 2.70 0.060 865.19 -535.9 97.32 - - 2639.44 - - - - - - - - - 14.90 -
13160.70 821.82 7.80 1537 13167.17 done 0.69 - - 2252.00 - 2.74 0.082 2310.44 527.5 97.32 - - 2639.78 - - - - - - - - - 15.45 -
13470.71 796.36 8.30 1569 13472.43 VBD 0.69 - - 2251.75 - - - 2311.06 - 97.32 - - 2637.56 - - - - - - - - - - -
13780.76 771.03 8.21 1600 13787.28 done 0.69 - - 2259.56 - 2.70 0.059 863.44 -536.2 97.32 - - 2639.41 - - - - - - - - - 14.85 -
13845.76 765.61 8.40 1613 13852.31 done 0.69 - - 2259.12 - 2.75 0.081 2311.88 526.7 97.32 - - 2638.16 - - - - - - - - - 15.44 -
14160.84 738.34 8.72 1645 14162.44 VBD 0.69 - - 2259.00 - - - 2311.56 - 97.32 - - 2637.25 - - - - - - - - - - -
14470.89 711.30 8.66 1676 14477.41 done 0.69 - - 2266.88 - 2.71 0.059 863.00 -534.5 97.32 - - 2638.16 - - - - - - - - - 14.81 -
14565.90 703.07 8.70 1695 14572.47 done 0.69 - - 2267.69 - 2.76 0.080 2313.25 525.5 97.32 - - 2639.06 - - - - - - - - - 15.42 -
14881.03 676.84 7.90 1727 14887.43 done 0.71 - - 2277.00 - 2.68 0.059 861.69 -541.6 97.32 - - 2637.72 - - - - - - - - - 15.55 -
14906.02 674.91 7.84 1732 14912.51 done 0.72 - - 2277.50 - 2.79 0.081 2312.12 519.9 97.32 - - 2640.03 - - - - - - - - - 14.80 -
15221.08 650.02 7.87 1764 15222.68 VBD 0.73 - - 2277.38 - - - 2311.88 - 97.32 - - 2636.44 - - - - - - - - - - -
15531.14 625.93 7.96 1795 15537.55 done 0.74 - - 2285.12 - 2.68 0.060 863.69 -540.4 97.32 - - 2637.88 - - - - - - - - - 15.55 -
15601.10 620.29 8.10 1809 15607.62 done 0.74 - - 2285.19 - 2.76 0.081 2312.50 524.9 97.32 - - 2639.31 - - - - - - - - - 15.38 -
15911.17 595.03 8.37 1841 15912.77 VBD 0.74 - - 2285.31 - - - 2311.75 - 97.32 - - 2636.41 - - - - - - - - - - -
16221.22 568.78 8.70 1872 16227.70 done 0.74 - - 2294.25 - 2.67 0.058 864.50 -542.0 97.32 - - 2637.97 - - - - - - - - - 15.53 -
16261.22 565.32 8.65 1880 16267.74 done 0.74 - - 2294.62 - 2.76 0.081 2313.50 525.0 97.32 - - 2640.09 - - - - - - - - - 15.37 -
16571.28 538.88 8.21 1912 16572.87 VBD 0.74 - - 2294.94 - - - 2313.19 - 97.32 - - 2636.34 - - - - - - - - - - -
16881.39 514.36 7.68 1943 16887.79 done 0.76 - - 2305.50 - 2.69 0.059 861.69 -539.6 97.32 - - 2638.00 - - - - - - - - - 15.52 -
16921.39 511.34 7.58 1951 16927.87 done 0.77 - - 2305.19 - 2.77 0.083 2312.19 523.6 97.32 - - 2638.91 - - - - - - - - - 15.35 -
17231.39 487.42 7.97 1983 17237.85 done 0.77 - - 2304.50 - 2.69 0.141 3724.75 525.1 97.32 - - 2638.09 - - - - - - - - - 14.47 -
17296.40 481.46 9.28 1996 17302.78 done 0.77 - - 2316.56 - 2.42 0.044 2267.75 -602.1 97.32 - - 2638.28 - - - - - - - - - 15.59 -
17611.46 455.51 8.04 2028 17613.06 VBD 0.77 - - 2316.00 - - - 2262.69 - 97.32 - - 2636.41 - - - - - - - - - - -
17921.48 430.34 8.16 2059 17927.88 done 0.77 - - 2326.94 - 2.59 0.059 862.94 -540.4 97.32 - - 2639.06 - - - - - - - - - 15.01 -
18066.54 418.86 7.93 2088 18073.20 0.78 0.16 0.253 2284.00 -268.4 2.77 0.083 2313.44 523.6 97.32 - - 2639.56 - - - - - - - - 15.07 15.34 -
18381.66 397.37 6.67 2120 18383.26 VBD 0.82 - - 2284.00 - - - 2313.50 - 97.32 - - 2636.12 - - - - - - - - - - -
18691.60 376.64 6.76 2151 18698.01 done 0.85 - - 2293.56 - 2.68 0.058 862.00 -541.6 97.32 - - 2637.31 - - - - - - - - - 15.50 -
18836.59 366.99 6.64 2180 18843.08 done 0.89 - - 2292.31 - 2.79 0.080 2314.00 520.4 97.32 - - 2638.12 - - - - - - - - - 15.32 -
19151.63 345.09 6.72 2212 19153.57 0.93 0.12 0.069 2394.88 854.8 - - 2313.81 - 97.32 - - 2636.28 - - - - - - - - 15.46 - -
19461.69 316.51 9.00 2243 19463.64 0.93 0.25 0.274 2329.38 -262.0 - - 2313.38 - 97.32 - - 2639.50 - - - - - - - - 15.02 - -
19771.67 293.29 7.74 2274 19778.21 done 0.94 - - 2337.12 - 2.69 0.059 860.62 -540.1 97.32 - - 2638.09 - - - - - - - - - 15.48 -
19991.69 276.96 7.12 2318 19998.16 done 0.97 - - 2336.69 - 2.79 0.079 2315.19 521.4 97.32 - - 2639.47 - - - - - - - - - 15.32 -
20301.74 256.14 6.77 2350 20308.14 done 1.00 - - 2341.50 - 2.69 0.060 863.06 -539.8 97.32 - - 2638.69 - - - - - - - - - 15.49 -
20361.75 252.37 6.28 2362 20368.21 done 1.04 - - 2341.81 - 2.76 0.078 2316.12 526.5 97.32 - - 2639.19 - - - - - - - - - 15.33 -
20671.79 232.31 6.49 2394 20678.37 1.08 0.12 0.069 2457.62 965.1 2.69 0.058 862.94 -540.2 97.32 - - 2640.44 - - - - - - - - 15.65 15.48 -
20806.76 220.57 8.97 2421 20813.60 1.08 0.32 0.310 2380.69 -240.4 2.77 0.079 2316.38 524.7 97.32 - - 2639.25 - - - - - - - - 14.77 15.33 -
21121.88 195.67 7.76 2453 21129.04 done 1.10 - - 2380.38 - 2.63 0.133 3726.19 536.0 97.32 - - 2639.91 - - - - - - - - - 15.12 -
21201.85 188.43 9.25 2469 21208.96 done 1.10 - - 2390.56 - 2.43 0.040 2265.19 -601.2 97.32 - - 2639.56 - - - - - - - - - 15.37 -
21511.94 163.24 7.64 2501 21519.33 done 1.11 - - 2402.81 - 2.57 0.057 860.62 -546.5 97.32 - - 2639.22 - - - - - - - - - 15.37 -
21596.98 156.81 7.70 2518 21604.22 done 1.13 - - 2403.12 - 2.80 0.080 2313.31 518.8 97.32 - - 2640.28 - - - - - - - - - 15.22 -
21912.04 135.44 5.99 2550 21919.19 done 1.18 - - 2402.50 - 2.67 0.135 3725.00 528.7 97.32 - - 2638.78 - - - - - - - - - 15.11 -
22017.04 127.79 7.57 2571 22024.12 done 1.20 - - 2413.75 - 2.43 0.040 2266.12 -600.4 97.32 - - 2640.53 - - - - - - - - - 15.40 -
22332.09 110.53 4.48 2603 22396.51 1.28 0.10 0.076 2494.94 811.9 2.58 0.059 860.44 -544.8 165.68 52.62 1.274 2371.03 -5.1 0.079 - - - - - - 15.44 15.19 11.31
22399.10 105.63 9.33 2614 22406.62 roll back 1.28 0.22 0.309 2442.75 -237.2 2.80 0.082 2314.81 519.4 165.68 - - 2368.56 - - - - - - - - 15.11 15.33 -
22709.20 69.27 10.33 2671 22716.42 done 1.28 - - 2442.56 - 2.64 0.134 3724.62 534.0 165.68 - - 2366.16 - - - - - - - - - 15.24 -
22944.32 51.21 7.19 2718 22951.39 done 1.30 - - 2453.31 - 2.45 0.037 2261.94 -597.0 165.68 - - 2365.88 - - - - - - - - - 14.80 -
23134.44 37.34 8.13 2756 23141.61 done 1.30 - - 2453.12 - 2.79 0.130 3725.12 524.4 165.68 - - 2365.47 - - - - - - - - - 15.26 -
23369.39 14.16 8.85 2803 23376.52 done 1.30 - - 2463.62 - 2.41 0.036 2268.25 -604.5 165.68 - - 2365.28 - - - - - - - - - 15.54 -
23530 end climb: SURFACE_DEPTH_REACHED
23530 begin surface coast
23560 end surface coast: CONTROL_FINISHED_OK
23560 begin surface
SM 1.35 - - - - 169.9 116.18 1.138 1725.3 14.9 7.03 0.123 1808.1 257.2 - 0.76 0.101 1642.5 2158.0 -2.948 - - 11.59 15.26 15.50 -