SMODE Mar23 * SG220 * Dive index * Mission links * Dive 420 * Raw log
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• Previous call tries 1 • 217.43 of 350.00 AH used of 24V (37.88% remains)
• Surface angle -65.1 deg, depth 1.15 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 324.95 (SM_CC=325)
• GPS1 time: 32 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
6.00 - - - 79.75 VBD -0.67 - - 153.38 - - - 2513.38 - -97.32 71.46 0.005 3190.19 - - - - - - - - - - 14.77
80.00 3.75 -3.89 14 101.39 -0.67 10.36 0.495 1824.94 161.3 - - 2512.94 - -97.32 6.16 0.008 3444.88 41.3 -3.460 - - - - - - 14.63 - 15.02
283.85 34.76 -10.98 55 289.79 roll -0.67 - - 1824.44 - 2.32 0.119 3840.81 572.4 -97.32 - - 3447.53 - - - - - - - - - 15.18 -
353.88 43.25 -11.51 69 360.02 roll -0.67 - - 1824.12 - 2.07 0.039 2506.50 -644.6 -97.32 - - 3448.03 - - - - - - - - - 15.49 -
544.00 64.62 -11.52 107 550.38 roll -0.67 - - 1824.50 - 2.72 0.057 1127.38 -507.0 -97.32 - - 3448.75 - - - - - - - - - 15.35 -
564.16 67.02 -11.75 111 570.46 roll -0.67 - - 1824.56 - 2.92 0.082 2576.88 496.4 -97.32 - - 3448.66 - - - - - - - - - 15.31 -
754.04 90.39 -12.18 149 755.62 no move -0.67 - - 1824.38 - - - 2576.38 - -97.32 - - 3447.75 - - - - - - - - - - -
944.08 114.73 -12.95 176 950.48 roll -0.67 - - 1823.81 - 2.85 0.056 1127.00 -508.6 -97.32 - - 3450.53 - - - - - - - - - 15.34 -
969.07 117.92 -12.47 181 975.55 roll -0.67 - - 1823.50 - 2.92 0.080 2576.44 496.4 -97.32 - - 3451.28 - - - - - - - - - 15.31 -
1284.13 156.53 -12.23 213 1285.71 no move -0.67 - - 1824.50 - - - 2576.19 - -97.32 - - 3448.69 - - - - - - - - - - -
1594.18 190.31 -10.63 244 1595.76 no move -0.67 - - 1824.44 - - - 2576.06 - -97.32 - - 3449.00 - - - - - - - - - - -
1904.26 222.95 -10.73 275 1905.88 no move -0.67 - - 1824.00 - - - 2576.44 - -97.32 - - 3448.62 - - - - - - - - - - -
2214.30 255.52 -10.15 306 2220.85 roll -0.67 - - 1824.12 - 2.87 0.056 1128.50 -504.5 -97.32 - - 3450.66 - - - - - - - - - 15.31 -
2274.31 261.67 -10.14 318 2280.92 roll -0.67 - - 1824.94 - 2.92 0.079 2578.62 496.6 -97.32 - - 3449.50 - - - - - - - - - 15.27 -
2584.36 292.97 -10.56 350 2590.91 roll -0.67 - - 1825.06 - 2.88 0.057 1127.38 -503.9 -97.32 - - 3449.69 - - - - - - - - - 15.30 -
2634.37 298.26 -10.41 360 2640.97 roll -0.67 - - 1824.81 - 2.93 0.080 2573.56 493.6 -97.32 - - 3449.94 - - - - - - - - - 15.25 -
2944.39 329.67 -10.09 392 2946.01 no move -0.67 - - 1824.12 - - - 2573.94 - -97.32 - - 3448.47 - - - - - - - - - - -
3254.40 359.85 -9.41 423 3260.62 roll -0.67 - - 1824.62 - 2.19 0.121 3842.00 579.0 -97.32 - - 3449.38 - - - - - - - - - 15.13 -
3299.39 364.09 -9.49 432 3305.58 roll -0.67 - - 1825.19 - 2.06 0.036 2504.19 -649.4 -97.32 - - 3449.47 - - - - - - - - - 15.65 -
3614.42 391.61 -8.86 464 3616.05 no move -0.67 - - 1824.75 - - - 2500.44 - -97.32 - - 3448.19 - - - - - - - - - - -
3924.52 418.38 -8.71 495 3926.15 no move -0.67 - - 1824.94 - - - 2500.38 - -97.32 - - 3447.81 - - - - - - - - - - -
4234.44 445.64 -8.92 526 4236.07 no move -0.67 - - 1824.56 - - - 2500.06 - -97.32 - - 3447.66 - - - - - - - - - - -
4544.47 472.41 -8.76 557 4546.09 no move -0.67 - - 1824.38 - - - 2500.19 - -97.32 - - 3447.03 - - - - - - - - - - -
4854.48 497.94 -7.65 588 4856.11 no move -0.67 - - 1824.50 - - - 2499.50 - -97.32 - - 3446.84 - - - - - - - - - - -
5164.49 519.54 -6.70 619 5166.11 no move -0.67 - - 1824.56 - - - 2499.81 - -97.32 - - 3446.88 - - - - - - - - - - -
5474.50 539.78 -6.33 650 5481.00 roll -0.67 - - 1824.62 - 2.73 0.059 1126.88 -502.9 -97.32 - - 3447.41 - - - - - - - - - 15.24 -
5524.50 543.11 -6.51 660 5531.09 roll -0.67 - - 1824.12 - 2.95 0.082 2573.19 490.3 -97.32 - - 3448.00 - - - - - - - - - 15.15 -
5834.52 566.08 -8.09 692 5840.77 roll -0.67 - - 1824.38 - 2.23 0.127 3842.25 569.1 -97.32 - - 3446.38 - - - - - - - - - 15.00 -
5944.53 576.06 -9.38 714 5950.69 roll -0.67 - - 1824.12 - 2.09 0.041 2502.88 -640.8 -97.32 - - 3446.94 - - - - - - - - - 15.48 -
6254.55 603.81 -9.10 746 6261.06 roll -0.67 - - 1824.00 - 2.73 0.059 1129.38 -503.1 -97.32 - - 3445.78 - - - - - - - - - 15.21 -
6349.53 612.61 -9.23 765 6356.16 roll -0.67 - - 1824.25 - 2.95 0.082 2573.25 489.4 -97.32 - - 3446.16 - - - - - - - - - 15.14 -
6664.56 639.86 -8.30 797 6671.11 roll -0.67 - - 1824.31 - 2.89 0.058 1127.94 -500.1 -97.32 - - 3445.31 - - - - - - - - - 15.19 -
6744.57 646.73 -8.52 813 6751.20 roll -0.67 - - 1824.25 - 2.96 0.082 2573.00 488.2 -97.32 - - 3445.16 - - - - - - - - - 15.12 -
7054.58 671.93 -8.10 845 7061.13 roll -0.67 - - 1824.62 - 2.89 0.059 1130.25 -499.2 -97.32 - - 3444.16 - - - - - - - - - 15.17 -
7089.57 674.90 -8.27 852 7096.21 roll -0.67 - - 1824.62 - 2.95 0.082 2574.94 489.7 -97.32 - - 3444.34 - - - - - - - - - 15.12 -
7404.63 701.13 -9.12 884 7406.26 no move -0.67 - - 1824.56 - - - 2574.31 - -97.32 - - 3442.66 - - - - - - - - - - -
7714.67 731.77 -9.97 915 7716.30 no move -0.67 - - 1824.25 - - - 2574.12 - -97.32 - - 3442.00 - - - - - - - - - - -
8024.71 762.42 -9.84 946 8031.26 roll -0.67 - - 1824.06 - 2.88 0.058 1128.75 -501.9 -97.32 - - 3442.22 - - - - - - - - - 15.15 -
8094.73 769.17 -9.35 960 8101.33 roll -0.67 - - 1824.19 - 2.96 0.082 2574.50 488.4 -97.32 - - 3442.50 - - - - - - - - - 15.09 -
8404.78 795.20 -7.83 992 8411.40 roll -0.67 - - 1823.88 - 2.94 0.068 1132.31 -490.5 -97.32 - - 3442.69 - - - - - - - - - 15.07 -
8474.79 800.79 -8.89 1006 8481.40 roll -0.67 - - 1823.75 - 2.97 0.084 2576.06 486.1 -97.32 - - 3443.50 - - - - - - - - - 15.08 -
8784.86 824.14 -6.30 1038 8791.11 roll -0.67 - - 1824.25 - 2.23 0.126 3838.81 566.3 -97.32 - - 3441.41 - - - - - - - - - 14.94 -
8829.84 827.57 -7.62 1047 8836.04 roll -0.67 - - 1824.81 - 2.09 0.043 2508.19 -636.7 -97.32 - - 3440.97 - - - - - - - - - 15.51 -
9144.91 849.45 -6.11 1079 9146.54 no move -0.67 - - 1824.44 - - - 2504.38 - -97.32 - - 3439.66 - - - - - - - - - - -
9454.95 871.09 -7.49 1110 9461.25 roll -0.67 - - 1824.44 - 2.40 0.121 3843.31 557.9 -97.32 - - 3440.41 - - - - - - - - - 14.89 -
9549.95 878.97 -8.43 1129 9556.15 roll -0.67 - - 1824.12 - 2.10 0.042 2506.19 -636.7 -97.32 - - 3440.50 - - - - - - - - - 15.50 -
9865.01 906.32 -8.25 1161 9866.64 no move -0.67 - - 1824.31 - - - 2503.38 - -97.32 - - 3438.84 - - - - - - - - - - -
10175.06 931.82 -8.23 1192 10181.42 roll -0.67 - - 1824.50 - 2.40 0.121 3839.69 556.8 -97.32 - - 3439.50 - - - - - - - - - 14.86 -
10270.07 939.95 -8.57 1211 10276.32 roll -0.67 - - 1824.06 - 2.11 0.043 2504.25 -632.9 -97.32 - - 3439.94 - - - - - - - - - 15.48 -
10585.14 964.59 -8.06 1243 10591.50 roll -0.67 - - 1823.62 - 2.41 0.121 3840.25 554.4 -97.32 - - 3438.97 - - - - - - - - - 14.84 -
10670.14 971.75 -8.55 1260 10676.39 roll -0.67 - - 1824.50 - 2.11 0.043 2504.94 -632.8 -97.32 - - 3438.97 - - - - - - - - - 15.48 -
10815 end dive: TARGET_DEPTH_EXCEEDED
10815 begin apogee
10817.33 984.13 -8.58 1275 10909.27 -0.12 0.62 0.196 2001.50 285.5 0.19 0.148 2219.44 -1502.6 - 83.84 2.429 3047.59 -4.7 0.338 - - - - - - 14.78 14.81 10.90
10911 end apogee: CONTROL_FINISHED_OK
10911 begin climb
10912.37 986.74 - 1284 11005.41 0.67 0.76 0.091 2262.00 342.8 - - 2220.00 - 97.32 86.75 2.382 2650.00 -4.6 0.339 - - - - - - 15.10 - 11.47
11308.03 961.22 7.79 1324 11314.55 done 0.68 - - 2272.12 - 2.88 0.072 770.38 -503.3 97.32 - - 2643.31 - - - - - - - - - 15.43 -
11352.99 957.64 7.97 1333 11359.52 done 0.68 - - 2272.19 - 2.77 0.059 2214.88 521.5 97.32 - - 2641.47 - - - - - - - - - 15.47 -
11668.11 932.54 7.74 1365 11674.42 done 0.70 - - 2272.38 - 2.49 0.103 3628.38 567.7 97.32 - - 2640.91 - - - - - - - - - 15.38 -
11798.10 920.44 9.47 1391 11804.45 done 0.70 - - 2281.44 - 2.42 0.042 2163.75 -605.2 97.32 - - 2642.28 - - - - - - - - - 15.59 -
12108.16 894.93 8.23 1423 12114.77 0.70 0.10 0.263 2254.62 -268.2 2.64 0.099 3627.56 554.5 97.32 - - 2641.25 - - - - - - - - 15.22 15.21 -
12208.19 886.55 8.28 1443 12214.55 done 0.70 - - 2263.62 - 2.43 0.042 2166.38 -601.3 97.32 - - 2641.19 - - - - - - - - - 15.59 -
12518.29 864.78 6.63 1475 12524.71 done 0.73 - - 2263.69 - 2.64 0.102 3627.75 553.5 97.32 - - 2638.81 - - - - - - - - - 15.30 -
12628.33 856.29 7.62 1497 12634.64 done 0.75 - - 2272.62 - 2.44 0.042 2163.69 -600.0 97.32 - - 2639.81 - - - - - - - - - 15.58 -
12938.38 835.91 6.44 1529 12944.90 0.79 0.06 0.125 2355.38 1379.3 2.65 0.098 3628.00 552.6 97.32 - - 2638.25 - - - - - - - - 15.63 15.25 -
12968.38 833.07 7.74 1535 12974.96 0.80 0.31 0.277 2288.12 -217.0 2.44 0.043 2168.38 -598.2 97.32 - - 2640.03 - - - - - - - - 14.92 15.55 -
13278.39 808.12 8.74 1567 13280.02 VBD 0.80 - - 2288.81 - - - 2161.81 - 97.32 - - 2636.66 - - - - - - - - - - -
13588.47 783.74 7.37 1598 13594.89 done 0.83 - - 2289.12 - 2.65 0.100 3631.06 554.4 97.32 - - 2637.94 - - - - - - - - - 15.23 -
13748.44 769.51 8.15 1630 13754.79 done 0.83 - - 2297.38 - 2.44 0.041 2165.06 -600.8 97.32 - - 2638.53 - - - - - - - - - 15.56 -
14058.50 748.03 5.75 1662 14065.07 0.88 0.06 0.111 2392.81 1590.5 2.74 0.072 770.44 -509.0 97.32 - - 2638.16 - - - - - - - - 15.64 15.33 -
14138.46 741.52 8.65 1678 14145.23 0.88 0.31 0.260 2314.12 -253.8 2.76 0.058 2216.38 523.9 97.32 - - 2637.09 - - - - - - - - 14.86 15.38 -
14448.48 716.39 9.00 1710 14455.04 done 0.88 - - 2323.62 - 2.85 0.071 770.69 -507.3 97.32 - - 2636.44 - - - - - - - - - 15.29 -
14478.48 713.60 9.22 1716 14484.99 done 0.88 - - 2323.31 - 2.77 0.057 2214.88 521.4 97.32 - - 2637.16 - - - - - - - - - 15.37 -
14788.51 683.03 10.52 1748 14790.14 VBD 0.88 - - 2324.00 - - - 2214.62 - 97.32 - - 2634.41 - - - - - - - - - - -
15098.53 649.50 9.57 1779 15105.16 done 0.88 - - 2334.69 - 2.84 0.068 769.88 -508.7 97.32 - - 2635.97 - - - - - - - - - 15.28 -
15233.52 637.24 9.01 1806 15240.06 done 0.88 - - 2334.94 - 2.76 0.055 2214.25 523.3 97.32 - - 2636.94 - - - - - - - - - 15.36 -
15548.57 608.25 8.73 1838 15554.98 done 0.88 - - 2334.81 - 2.52 0.099 3629.50 561.6 97.32 - - 2635.47 - - - - - - - - - 15.16 -
15673.56 595.94 10.13 1863 15680.08 done 0.88 - - 2342.88 - 2.43 0.039 2165.75 -602.4 97.32 - - 2636.66 - - - - - - - - - 15.50 -
15988.71 568.40 9.21 1895 15995.30 0.88 0.12 0.281 2322.69 -168.3 2.74 0.071 770.75 -509.1 97.32 - - 2635.22 - - - - - - - - 15.00 15.02 -
16063.63 561.90 8.65 1910 16070.19 done 0.88 - - 2321.19 - 2.78 0.057 2215.00 519.5 97.32 - - 2637.31 - - - - - - - - - 15.32 -
16378.72 532.87 9.25 1942 16385.24 done 0.88 - - 2322.12 - 2.54 0.102 3629.50 556.9 97.32 - - 2635.12 - - - - - - - - - 15.13 -
16403.69 530.37 9.52 1947 16410.08 done 0.88 - - 2333.56 - 2.43 0.041 2163.56 -603.3 97.32 - - 2636.62 - - - - - - - - - 15.51 -
16718.76 499.74 9.91 1979 16725.27 done 0.88 - - 2336.75 - 2.74 0.076 768.81 -509.0 97.32 - - 2635.56 - - - - - - - - - 15.23 -
16823.78 490.21 8.79 2000 16830.34 done 0.88 - - 2337.31 - 2.78 0.056 2213.25 519.6 97.32 - - 2635.88 - - - - - - - - - 15.31 -
17138.85 463.57 8.26 2032 17145.38 0.88 0.09 0.291 2313.62 -263.2 2.53 0.099 3628.81 559.5 97.32 - - 2635.03 - - - - - - - - 15.01 14.98 -
17178.87 459.84 9.33 2040 17185.23 done 0.88 - - 2321.81 - 2.43 0.042 2167.06 -601.5 97.32 - - 2635.47 - - - - - - - - - 15.43 -
17488.96 434.38 7.35 2072 17490.60 VBD 0.90 - - 2322.25 - - - 2162.62 - 97.32 - - 2633.56 - - - - - - - - - - -
17799.02 411.32 7.75 2103 17800.66 VBD 0.92 - - 2322.12 - - - 2162.50 - 97.32 - - 2634.31 - - - - - - - - - - -
18109.08 387.41 7.53 2134 18110.96 0.93 0.05 0.146 2408.56 1728.8 - - 2159.62 - 97.32 - - 2634.72 - - - - - - - - 15.62 - -
18419.08 360.90 8.67 2165 18425.76 0.93 0.30 0.263 2329.88 -262.3 2.67 0.097 3628.75 550.2 97.32 - - 2636.28 - - - - - - - - 14.72 14.81 -
18509.11 353.58 8.10 2183 18515.49 done 0.93 - - 2336.38 - 2.45 0.043 2167.94 -596.2 97.32 - - 2636.66 - - - - - - - - - 15.43 -
18819.21 331.74 6.65 2215 18820.85 VBD 0.97 - - 2337.00 - - - 2163.44 - 97.32 - - 2634.47 - - - - - - - - - - -
19129.26 311.16 6.30 2246 19135.79 1.01 0.08 0.097 2446.88 1373.5 2.66 0.097 3628.75 550.9 97.32 - - 2636.34 - - - - - - - - 15.63 15.10 -
19214.22 303.45 9.53 2263 19220.96 1.01 0.41 0.284 2358.06 -216.6 2.43 0.037 2163.81 -602.9 97.32 - - 2636.44 - - - - - - - - 14.62 15.46 -
19529.35 282.89 6.32 2295 19535.93 1.06 0.06 0.124 2457.25 1653.2 2.73 0.069 769.56 -510.7 97.32 - - 2637.91 - - - - - - - - 15.64 15.22 -
19594.30 277.68 8.16 2308 19601.12 1.06 0.34 0.272 2370.38 -255.5 2.76 0.056 2217.25 524.5 97.32 - - 2636.59 - - - - - - - - 14.67 15.28 -
19909.42 255.89 7.56 2340 19915.79 done 1.07 - - 2370.25 - 2.52 0.101 3627.00 559.4 97.32 - - 2636.88 - - - - - - - - - 15.11 -
20114.38 237.19 9.53 2381 20120.80 done 1.07 - - 2380.94 - 2.42 0.038 2163.81 -604.6 97.32 - - 2636.88 - - - - - - - - - 15.48 -
20429.42 207.91 9.21 2413 20435.95 done 1.07 - - 2392.56 - 2.72 0.068 770.06 -512.4 97.32 - - 2637.84 - - - - - - - - - 15.25 -
20664.42 182.46 11.29 2460 20670.98 done 1.07 - - 2391.88 - 2.76 0.056 2215.62 523.8 97.32 - - 2638.75 - - - - - - - - - 15.28 -
20979.51 153.25 7.86 2492 20986.03 done 1.09 - - 2405.25 - 2.85 0.067 767.81 -508.0 97.32 - - 2637.88 - - - - - - - - - 15.23 -
21214.53 141.61 3.45 2539 21289.29 done 1.19 - - 2404.69 - 2.76 0.054 2219.06 525.8 183.34 65.59 1.290 2301.94 -5.1 0.100 - - - - - - - 15.31 11.52
21591.89 89.76 15.33 2590 21598.46 roll 1.19 - - 2416.00 - 2.85 0.069 768.75 -508.9 183.34 - - 2295.94 - - - - - - - - - 15.37 -
21826.96 59.63 11.23 2637 21833.49 done 1.19 - - 2417.31 - 2.76 0.056 2213.88 523.6 183.34 - - 2292.16 - - - - - - - - - 15.42 -
22017.02 39.20 9.09 2675 22023.45 done 1.19 - - 2415.94 - 2.51 0.099 3627.81 563.3 183.34 - - 2292.88 - - - - - - - - - 15.31 -
22197.08 20.22 9.67 2711 22203.45 done 1.19 - - 2427.69 - 2.44 0.037 2162.56 -600.5 183.34 - - 2291.69 - - - - - - - - - 15.55 -
22387.13 3.32 9.23 2749 22393.61 done 1.19 - - 2428.12 - 2.62 0.091 3628.25 559.4 183.34 - - 2291.66 - - - - - - - - - 15.32 -
22402 end climb: SURFACE_DEPTH_REACHED
22402 begin surface coast
22427 end surface coast: CONTROL_FINISHED_OK
22427 begin surface
SM 1.02 - - - - 155.4 105.00 1.098 1724.3 16.4 6.45 0.068 1808.4 280.4 - 1.73 0.042 1640.2 946.6 -2.350 - - 11.71 15.42 15.62 -