SMODE Mar23 * SG220 * Dive index * Mission links * Dive 76 * Raw log
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• Previous call tries 1 • 116.04 of 350.00 AH used of 24V (66.84% remains)
• Surface angle -64.9 deg, depth 1.26 m • Intended pitch -22.0 deg, speed -8.462 cm/s
• VBD pumped to 325.46 (SM_CC=325)
• GPS1 time: 29 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
11.04 - - - 84.95 VBD -0.67 - - 162.31 - - - 2783.06 - -97.32 70.21 0.005 3150.81 - - - - - - - - - - 14.82
85.21 3.02 -2.75 14 114.45 -0.67 11.03 0.526 1824.19 150.7 1.96 0.145 3842.38 540.5 -97.32 7.84 0.007 3445.75 37.6 -2.875 - - - - - - 14.73 14.96 15.12
211.97 25.65 -17.85 39 218.57 roll -0.67 - - 1824.25 - 1.86 0.034 2687.25 -621.0 -97.32 - - 3447.16 - - - - - - - - - 15.33 -
402.04 57.82 -16.47 77 408.77 roll -0.67 - - 1824.00 - 2.18 0.141 3840.44 529.0 -97.32 - - 3448.28 - - - - - - - - - 15.26 -
467.06 69.11 -17.61 90 473.66 roll -0.67 - - 1824.25 - 1.85 0.035 2696.56 -618.3 -97.32 - - 3449.03 - - - - - - - - - 15.42 -
657.12 94.88 -12.21 128 664.02 roll -0.67 - - 1824.81 - 2.54 0.044 1307.19 -547.0 -97.32 - - 3447.88 - - - - - - - - - 15.49 -
697.13 99.44 -11.28 136 704.15 roll -0.67 - - 1824.38 - 2.86 0.096 2763.25 509.1 -97.32 - - 3449.56 - - - - - - - - - 15.35 -
887.15 121.11 -11.54 156 894.08 roll -0.67 - - 1824.31 - 2.70 0.045 1308.38 -538.8 -97.32 - - 3449.25 - - - - - - - - - 14.87 -
927.16 125.65 -11.34 164 934.21 roll -0.67 - - 1824.31 - 2.87 0.099 2762.50 506.7 -97.32 - - 3449.44 - - - - - - - - - 15.37 -
1237.26 161.27 -11.12 196 1240.33 no move -0.67 - - 1822.12 - - - 2763.56 - -97.32 - - 3448.19 - - - - - - - - - - -
1547.31 195.66 -11.06 227 1554.38 roll -0.67 - - 1824.44 - 2.69 0.044 1308.00 -541.1 -97.32 - - 3449.03 - - - - - - - - - 14.85 -
1662.32 207.81 -10.16 250 1668.77 roll -0.67 - - 1824.44 - 2.85 0.098 2762.44 510.3 -97.32 - - 3449.84 - - - - - - - - - 15.42 -
1977.40 238.78 -9.55 282 1983.71 roll -0.67 - - 1824.50 - 2.65 0.044 1307.88 -548.9 -97.32 - - 3449.78 - - - - - - - - - 15.63 -
2122.42 252.62 -9.73 311 2128.87 roll -0.67 - - 1824.19 - 2.84 0.098 2761.94 512.0 -97.32 - - 3449.75 - - - - - - - - - 15.44 -
2437.47 284.47 -10.20 343 2443.44 roll -0.67 - - 1824.25 - 1.98 0.140 3841.00 545.0 -97.32 - - 3449.22 - - - - - - - - - 15.34 -
2482.46 289.41 -11.07 352 2488.20 roll -0.67 - - 1824.50 - 1.83 0.040 2679.44 -634.7 -97.32 - - 3448.72 - - - - - - - - - 15.59 -
2797.50 321.45 -10.04 384 2803.71 roll -0.67 - - 1824.56 - 2.48 0.043 1308.25 -552.9 -97.32 - - 3449.44 - - - - - - - - - 15.63 -
2932.50 335.51 -10.16 411 2938.95 roll -0.67 - - 1824.38 - 2.84 0.097 2762.88 512.2 -97.32 - - 3448.19 - - - - - - - - - 15.45 -
3247.54 366.49 -10.03 443 3253.86 roll -0.67 - - 1824.69 - 2.64 0.044 1307.75 -551.2 -97.32 - - 3449.38 - - - - - - - - - 15.65 -
3347.55 376.72 -10.12 463 3353.97 roll -0.67 - - 1824.38 - 2.85 0.098 2761.50 510.1 -97.32 - - 3449.69 - - - - - - - - - 14.68 -
3657.59 407.88 -10.10 495 3663.90 roll -0.67 - - 1824.44 - 2.64 0.043 1306.94 -551.0 -97.32 - - 3448.53 - - - - - - - - - 15.66 -
3762.58 418.78 -10.28 516 3769.03 roll -0.67 - - 1824.19 - 2.84 0.098 2762.19 512.4 -97.32 - - 3447.62 - - - - - - - - - 15.43 -
4077.64 449.72 -9.81 548 4083.95 roll -0.67 - - 1824.06 - 2.65 0.044 1306.88 -549.2 -97.32 - - 3448.12 - - - - - - - - - 15.66 -
4202.66 462.04 -9.73 573 4209.10 roll -0.67 - - 1824.56 - 2.87 0.099 2762.25 507.1 -97.32 - - 3446.75 - - - - - - - - - 14.63 -
4517.74 491.98 -8.90 605 4524.17 roll -0.67 - - 1823.06 - 2.67 0.044 1307.81 -544.7 -97.32 - - 3446.50 - - - - - - - - - 14.73 -
4562.73 496.07 -9.09 614 4569.18 roll -0.67 - - 1823.62 - 2.87 0.099 2760.69 506.2 -97.32 - - 3446.59 - - - - - - - - - 14.62 -
4877.80 522.99 -8.78 646 4884.12 roll -0.67 - - 1822.81 - 2.67 0.044 1308.25 -544.0 -97.32 - - 3446.59 - - - - - - - - - 14.72 -
4987.83 532.83 -8.77 668 4994.37 roll -0.67 - - 1824.44 - 2.85 0.100 2762.81 510.4 -97.32 - - 3445.84 - - - - - - - - - 15.39 -
5297.90 559.31 -8.52 700 5304.23 roll -0.67 - - 1824.56 - 2.69 0.044 1308.06 -540.8 -97.32 - - 3444.69 - - - - - - - - - 14.71 -
5357.91 564.57 -8.72 712 5364.32 roll -0.67 - - 1824.38 - 2.88 0.100 2760.00 504.1 -97.32 - - 3444.84 - - - - - - - - - 14.59 -
5667.98 591.56 -8.92 744 5669.54 no move -0.67 - - 1824.44 - - - 2760.56 - -97.32 - - 3443.28 - - - - - - - - - - -
5978.03 618.86 -8.93 775 5984.35 roll -0.67 - - 1824.25 - 2.66 0.044 1306.44 -546.7 -97.32 - - 3443.72 - - - - - - - - - 15.62 -
6033.03 623.89 -9.07 786 6039.48 roll -0.67 - - 1824.19 - 2.88 0.099 2763.38 505.9 -97.32 - - 3444.38 - - - - - - - - - 14.60 -
6348.11 650.37 -8.18 818 6354.42 roll -0.67 - - 1823.06 - 2.68 0.044 1309.56 -542.5 -97.32 - - 3443.19 - - - - - - - - - 14.68 -
6403.10 654.90 -8.17 829 6409.55 roll -0.67 - - 1824.62 - 2.86 0.101 2762.75 508.1 -97.32 - - 3442.34 - - - - - - - - - 15.36 -
6718.18 680.36 -8.08 861 6724.49 roll -0.67 - - 1824.56 - 2.66 0.045 1308.56 -546.7 -97.32 - - 3443.22 - - - - - - - - - 15.61 -
6853.20 691.82 -8.50 888 6859.65 roll -0.67 - - 1823.75 - 2.86 0.101 2764.75 509.2 -97.32 - - 3441.56 - - - - - - - - - 15.35 -
7168.28 717.16 -7.77 920 7174.60 roll -0.67 - - 1824.12 - 2.67 0.045 1308.19 -545.5 -97.32 - - 3441.47 - - - - - - - - - 15.60 -
7298.32 727.32 -7.70 946 7304.75 roll -0.67 - - 1824.19 - 2.87 0.101 2762.69 506.8 -97.32 - - 3441.91 - - - - - - - - - 15.33 -
7608.38 750.38 -7.37 978 7614.70 roll -0.67 - - 1824.50 - 2.69 0.045 1307.12 -541.1 -97.32 - - 3440.62 - - - - - - - - - 14.65 -
7673.38 755.42 -7.81 991 7679.84 roll -0.67 - - 1824.06 - 2.87 0.101 2761.38 506.7 -97.32 - - 3441.25 - - - - - - - - - 15.33 -
7988.48 779.85 -7.93 1023 7994.77 roll -0.67 - - 1824.44 - 2.67 0.045 1308.31 -544.2 -97.32 - - 3440.00 - - - - - - - - - 15.59 -
8063.44 785.92 -8.02 1038 8069.93 roll -0.67 - - 1823.81 - 2.87 0.101 2762.69 506.8 -97.32 - - 3440.31 - - - - - - - - - 15.32 -
8378.49 811.27 -8.33 1070 8384.81 roll -0.67 - - 1824.19 - 2.68 0.045 1308.19 -542.7 -97.32 - - 3439.16 - - - - - - - - - 15.58 -
8453.48 817.72 -8.61 1085 8459.93 roll -0.67 - - 1824.56 - 2.87 0.102 2760.88 506.2 -97.32 - - 3439.56 - - - - - - - - - 15.31 -
8768.53 844.31 -8.39 1117 8770.09 no move -0.67 - - 1823.94 - - - 2760.50 - -97.32 - - 3438.28 - - - - - - - - - - -
9078.56 870.35 -8.33 1148 9084.93 roll -0.67 - - 1823.56 - 2.71 0.044 1307.81 -536.0 -97.32 - - 3438.56 - - - - - - - - - 14.63 -
9168.57 877.97 -8.36 1166 9175.03 roll -0.67 - - 1824.31 - 2.90 0.101 2760.94 501.1 -97.32 - - 3438.53 - - - - - - - - - 14.54 -
9478.59 902.77 -7.85 1198 9480.16 no move -0.67 - - 1824.06 - - - 2760.88 - -97.32 - - 3437.41 - - - - - - - - - - -
9788.65 926.11 -7.43 1229 9794.96 roll -0.67 - - 1824.31 - 2.66 0.044 1307.75 -546.3 -97.32 - - 3439.91 - - - - - - - - - 15.56 -
9898.68 934.43 -7.44 1251 9905.10 roll -0.67 - - 1823.75 - 2.88 0.103 2763.94 505.6 -97.32 - - 3437.59 - - - - - - - - - 15.28 -
10208.74 955.66 -6.64 1283 10215.07 roll -0.67 - - 1823.88 - 2.68 0.046 1307.81 -543.3 -97.32 - - 3437.03 - - - - - - - - - 15.55 -
10288.85 961.21 -6.90 1299 10295.18 roll -0.67 - - 1824.06 - 2.88 0.102 2761.19 504.6 -97.32 - - 3437.34 - - - - - - - - - 15.27 -
10598.83 981.91 -6.54 1331 10605.14 roll -0.67 - - 1824.44 - 2.67 0.045 1307.50 -544.5 -97.32 - - 3436.88 - - - - - - - - - 15.55 -
10668.84 986.67 -6.76 1345 10675.31 roll -0.67 - - 1824.69 - 2.91 0.103 2760.62 499.4 -97.32 - - 3437.66 - - - - - - - - - 14.54 -
10719 end dive: TARGET_DEPTH_EXCEEDED
10719 begin apogee
10721.04 990.05 -6.77 1351 10809.58 -0.12 0.63 0.228 2000.88 279.7 0.15 0.204 2312.06 -2990.4 - 82.44 2.482 3047.19 -4.7 0.335 - - - - - - 15.10 14.83 10.84
10811 end apogee: CONTROL_FINISHED_OK
10811 begin climb
10811.66 991.17 - 1359 10909.29 0.67 0.79 0.111 2268.44 338.7 2.85 0.065 864.69 -507.8 97.32 86.64 2.412 2651.00 -4.6 0.333 - - - - - - 14.98 14.56 11.71
10926.84 984.12 8.43 1381 10933.27 roll 0.67 - - 2268.44 - 2.82 0.071 2308.62 512.0 97.32 - - 2645.66 - - - - - - - - - 14.87 -
11236.91 953.20 9.61 1413 11238.47 VBD 0.67 - - 2268.38 - - - 2308.25 - 97.32 - - 2641.09 - - - - - - - - - - -
11546.97 924.52 8.98 1444 11548.53 VBD 0.67 - - 2268.50 - - - 2308.19 - 97.32 - - 2639.94 - - - - - - - - - - -
11857.03 895.89 9.19 1475 11863.34 done 0.67 - - 2278.19 - 2.64 0.057 860.06 -548.5 97.32 - - 2642.97 - - - - - - - - - 15.59 -
11887.03 893.02 9.37 1481 11893.35 done 0.67 - - 2278.31 - 2.69 0.074 2308.12 538.3 97.32 - - 2639.75 - - - - - - - - - 15.51 -
12197.18 863.45 9.43 1513 12198.74 VBD 0.67 - - 2277.94 - - - 2307.62 - 97.32 - - 2638.16 - - - - - - - - - - -
12507.15 833.64 9.86 1544 12508.71 VBD 0.67 - - 2278.31 - - - 2307.88 - 97.32 - - 2637.94 - - - - - - - - - - -
12817.21 803.63 9.43 1575 12823.53 done 0.67 - - 2278.06 - 2.62 0.125 3727.12 541.7 97.32 - - 2640.69 - - - - - - - - - 15.41 -
12882.21 796.38 11.34 1588 12888.47 done 0.67 - - 2287.81 - 2.45 0.042 2269.00 -595.2 97.32 - - 2639.34 - - - - - - - - - 15.68 -
13197.29 766.34 9.15 1620 13199.05 0.67 0.16 0.250 2244.44 -271.1 - - 2262.19 - 97.32 - - 2636.81 - - - - - - - - 15.27 - -
13507.39 743.40 7.11 1651 13508.95 VBD 0.69 - - 2244.06 - - - 2262.69 - 97.32 - - 2636.47 - - - - - - - - - - -
13817.45 722.27 6.92 1682 13819.01 VBD 0.73 - - 2243.94 - - - 2261.94 - 97.32 - - 2636.56 - - - - - - - - - - -
14127.50 700.03 7.39 1713 14133.88 0.75 0.10 0.083 2343.25 993.1 2.55 0.061 863.69 -548.3 97.32 - - 2639.00 - - - - - - - - 15.67 15.58 -
14192.44 693.53 10.29 1726 14199.04 0.75 0.28 0.265 2272.19 -253.8 2.72 0.074 2309.88 531.7 97.32 - - 2637.09 - - - - - - - - 15.11 14.77 -
14507.49 666.95 8.32 1758 14513.81 done 0.75 - - 2281.19 - 2.67 0.058 860.50 -542.8 97.32 - - 2637.47 - - - - - - - - - 14.80 -
14562.48 662.38 8.40 1769 14568.87 done 0.75 - - 2281.00 - 2.70 0.076 2309.69 536.7 97.32 - - 2637.91 - - - - - - - - - 15.48 -
14877.53 635.68 8.59 1801 14879.09 VBD 0.75 - - 2281.31 - - - 2309.75 - 97.32 - - 2635.84 - - - - - - - - - - -
15187.56 609.42 8.32 1832 15189.12 VBD 0.75 - - 2281.25 - - - 2309.44 - 97.32 - - 2635.75 - - - - - - - - - - -
15497.58 582.64 8.88 1863 15499.15 VBD 0.75 - - 2280.88 - - - 2309.38 - 97.32 - - 2635.84 - - - - - - - - - - -
15807.62 555.50 8.88 1894 15809.17 VBD 0.75 - - 2281.25 - - - 2309.38 - 97.32 - - 2635.84 - - - - - - - - - - -
16117.67 527.14 9.30 1925 16119.24 VBD 0.75 - - 2281.06 - - - 2309.44 - 97.32 - - 2635.81 - - - - - - - - - - -
16427.74 499.93 8.18 1956 16429.30 VBD 0.75 - - 2281.38 - - - 2309.12 - 97.32 - - 2635.91 - - - - - - - - - - -
16737.85 475.19 7.88 1987 16744.12 done 0.76 - - 2291.38 - 2.63 0.058 862.94 -549.9 97.32 - - 2639.12 - - - - - - - - - 15.53 -
16782.84 471.77 7.61 1996 16789.14 done 0.78 - - 2290.94 - 2.69 0.073 2310.38 538.1 97.32 - - 2637.59 - - - - - - - - - 15.44 -
17097.95 448.46 7.41 2028 17104.19 done 0.80 - - 2290.62 - 2.62 0.124 3725.19 540.0 97.32 - - 2638.22 - - - - - - - - - 15.30 -
17142.86 444.77 8.19 2037 17149.11 done 0.80 - - 2300.56 - 2.46 0.042 2266.19 -593.1 97.32 - - 2637.97 - - - - - - - - - 15.65 -
17457.99 421.85 7.01 2069 17459.55 VBD 0.83 - - 2300.75 - - - 2260.88 - 97.32 - - 2635.75 - - - - - - - - - - -
17768.04 398.88 7.81 2100 17774.37 done 0.84 - - 2301.00 - 2.77 0.123 3727.69 529.5 97.32 - - 2638.22 - - - - - - - - - 15.28 -
17868.02 389.26 9.69 2120 17874.27 done 0.84 - - 2313.12 - 2.49 0.041 2268.69 -585.9 97.32 - - 2637.00 - - - - - - - - - 14.73 -
18178.08 361.39 8.66 2152 18184.46 done 0.84 - - 2311.00 - 2.77 0.123 3727.50 526.6 97.32 - - 2637.16 - - - - - - - - - 15.28 -
18218.09 357.34 10.26 2160 18224.32 done 0.84 - - 2322.00 - 2.46 0.043 2267.25 -593.6 97.32 - - 2637.34 - - - - - - - - - 15.62 -
18528.15 329.66 8.18 2192 18534.52 done 0.84 - - 2322.12 - 2.80 0.122 3725.62 520.8 97.32 - - 2638.47 - - - - - - - - - 14.63 -
18568.16 325.98 9.22 2200 18574.38 done 0.84 - - 2332.50 - 2.45 0.043 2265.31 -596.0 97.32 - - 2638.59 - - - - - - - - - 15.63 -
18878.27 301.42 7.50 2232 18879.83 VBD 0.86 - - 2333.06 - - - 2259.88 - 97.32 - - 2636.16 - - - - - - - - - - -
19188.33 279.26 7.14 2263 19194.54 done 0.88 - - 2336.25 - 2.58 0.061 863.44 -541.3 97.32 - - 2638.53 - - - - - - - - - 14.70 -
19393.37 264.71 7.52 2304 19399.70 done 0.90 - - 2336.56 - 2.69 0.073 2310.00 537.8 97.32 - - 2637.94 - - - - - - - - - 15.42 -
19708.40 240.51 8.12 2336 19714.72 done 0.90 - - 2338.06 - 2.66 0.060 863.31 -543.9 97.32 - - 2639.84 - - - - - - - - - 15.50 -
19848.48 229.28 7.73 2364 19854.81 done 0.92 - - 2336.88 - 2.73 0.071 2311.31 530.4 97.32 - - 2638.75 - - - - - - - - - 14.72 -
20158.51 203.63 7.89 2396 20164.79 done 0.93 - - 2337.19 - 2.62 0.124 3724.81 539.5 97.32 - - 2638.75 - - - - - - - - - 15.25 -
20271.52 193.77 8.89 2418 20278.49 done 0.93 - - 2345.00 - 2.45 0.038 2261.94 -597.1 97.32 - - 2638.59 - - - - - - - - - 15.48 -
20581.59 170.19 7.31 2450 20588.58 done 0.95 - - 2355.31 - 2.57 0.056 860.12 -545.5 97.32 - - 2638.72 - - - - - - - - - 14.70 -
20686.59 162.31 7.66 2471 20693.72 done 0.97 - - 2355.50 - 2.74 0.070 2310.88 529.5 97.32 - - 2639.00 - - - - - - - - - 14.69 -
21001.59 137.14 8.58 2503 21004.66 VBD 0.97 - - 2356.31 - - - 2310.69 - 97.32 - - 2637.28 - - - - - - - - - - -
21311.67 112.94 7.74 2534 21318.70 done 0.98 - - 2355.31 - 2.63 0.121 3725.69 538.0 97.32 - - 2639.84 - - - - - - - - - 15.23 -
21546.74 94.60 7.00 2581 21553.70 done 1.01 - - 2367.00 - 2.44 0.034 2258.62 -601.3 97.32 - - 2640.00 - - - - - - - - - 15.46 -
21736.81 85.08 4.49 2619 21797.58 done 1.09 - - 2367.00 - 2.80 0.123 3727.62 524.6 165.42 51.87 1.247 2371.16 -5.2 0.063 - - - - - - - 15.20 11.74
22025.22 55.87 10.75 2676 22032.21 roll 1.09 - - 2377.81 - 2.47 0.038 2267.94 -591.0 165.42 - - 2371.62 - - - - - - - - - 15.28 -
22215.28 38.24 8.27 2714 22220.49 no move 1.09 - - 2376.25 - - - 2261.31 - 165.42 - - 2369.06 - - - - - - - - - - -
22405.40 24.19 6.90 2752 22410.62 no move 1.12 - - 2378.56 - - - 2261.31 - 165.42 - - 2367.59 - - - - - - - - - - -
22595.47 13.28 5.02 2790 22650.09 1.20 0.12 0.073 2475.19 805.3 2.77 0.123 3726.50 528.9 224.37 45.45 1.134 2133.56 -5.1 0.011 - - - - - - 15.37 15.25 11.65
22688 end climb: SURFACE_DEPTH_REACHED
22688 begin surface coast
22703 end surface coast: CONTROL_FINISHED_OK
22703 begin surface
SM 1.19 - - - - 175.8 74.53 1.141 1722.2 22.5 6.55 0.059 1809.2 276.2 - 1.66 0.048 1635.2 983.4 -2.492 - - 11.65 15.38 15.44 -