SMODE Mar23 * SG219 * Dive index * Mission links * Dive 89 * Raw log
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• Previous call tries 1 • 125.79 of 310.00 AH used of 24V (59.42% remains)
• Surface angle -64.2 deg, depth 1.34 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 324.98 (SM_CC=325)
• GPS1 time: 19 s
• GPS2 time: 2 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
16.26 - - - 64.94 VBD -0.65 - - 168.19 - - - 2705.25 - -97.32 44.30 0.005 2443.50 - - - - - - - - - - 14.84
65.38 2.01 -1.78 9 129.47 -0.65 8.65 0.359 2041.50 216.6 2.38 0.025 1391.75 -551.9 -97.32 39.70 0.005 3364.03 23.2 -1.665 - - - - - - 14.76 14.93 15.04
171.86 10.74 -12.09 29 179.91 roll -0.65 - - 2031.62 - 2.77 0.043 2878.00 536.6 -97.32 - - 3366.88 - - - - - - - - - 15.45 -
362.34 39.51 -16.14 67 370.04 roll -0.65 - - 2032.00 - 2.66 0.023 1402.00 -554.9 -97.32 - - 3366.31 - - - - - - - - - 14.98 -
382.52 42.80 -16.15 71 390.30 roll -0.65 - - 2018.94 - 2.74 0.042 2878.44 538.8 -97.32 - - 3367.69 - - - - - - - - - 15.40 -
572.75 71.96 -14.47 109 577.69 no move -0.65 - - 2020.19 - - - 2878.12 - -97.32 - - 3366.69 - - - - - - - - - - -
762.78 94.78 -12.28 147 770.49 roll -0.65 - - 2020.12 - 2.66 0.023 1398.69 -556.2 -97.32 - - 3366.75 - - - - - - - - - 15.56 -
807.96 99.80 -10.83 156 815.75 roll -0.65 - - 2007.81 - 2.75 0.041 2882.25 539.5 -97.32 - - 3367.88 - - - - - - - - - 15.27 -
1002.97 124.94 -12.80 176 1010.75 roll back -0.65 0.13 0.250 2044.44 281.8 2.66 0.023 1398.81 -557.7 -97.32 - - 3367.59 - - - - - - - - 15.41 15.22 -
1063.24 131.99 -11.43 188 1070.83 roll -0.65 - - 2035.00 - 2.75 0.041 2882.81 539.6 -97.32 - - 3367.22 - - - - - - - - - 15.56 -
1373.27 170.06 -11.88 220 1380.71 roll -0.65 - - 2034.50 - 2.65 0.023 1397.56 -560.5 -97.32 - - 3367.84 - - - - - - - - - 15.70 -
1398.02 173.03 -11.78 225 1406.14 roll -0.65 - - 2022.88 - 2.76 0.041 2879.62 537.0 -97.32 - - 3368.88 - - - - - - - - - 14.93 -
1713.32 210.46 -11.27 257 1720.24 roll -0.65 - - 2023.12 - 2.64 0.023 1399.88 -560.5 -97.32 - - 3367.75 - - - - - - - - - 14.95 -
1763.34 215.92 -10.68 267 1770.34 roll -0.65 - - 2011.94 - 2.71 0.041 2882.81 547.2 -97.32 - - 3368.38 - - - - - - - - - 15.78 -
2073.36 249.69 -10.51 299 2080.28 roll -0.65 - - 2011.06 - 2.65 0.023 1397.31 -560.6 -97.32 - - 3368.78 - - - - - - - - - 14.96 -
2118.11 254.44 -10.46 308 2125.64 roll -0.65 - - 2000.38 - 2.74 0.041 2882.06 541.9 -97.32 - - 3368.44 - - - - - - - - - 14.91 -
2433.39 291.47 -11.71 340 2440.59 roll back -0.65 0.16 0.238 2045.12 279.6 2.64 0.023 1397.88 -562.2 -97.32 - - 3367.09 - - - - - - - - 15.52 14.97 -
2483.41 296.42 -9.45 350 2490.40 roll -0.65 - - 2037.00 - 2.73 0.042 2881.75 543.5 -97.32 - - 3367.69 - - - - - - - - - 15.82 -
2793.43 326.95 -10.21 382 2800.35 roll -0.65 - - 2037.19 - 2.64 0.023 1398.56 -561.8 -97.32 - - 3366.66 - - - - - - - - - 14.96 -
2848.18 332.48 -9.90 393 2855.76 roll -0.65 - - 2026.75 - 2.72 0.041 2884.31 546.2 -97.32 - - 3367.91 - - - - - - - - - 15.83 -
3163.46 366.11 -10.51 425 3170.40 roll -0.65 - - 2024.81 - 2.62 0.023 1397.75 -567.4 -97.32 - - 3368.12 - - - - - - - - - 15.93 -
3238.22 373.93 -10.18 440 3245.73 roll -0.65 - - 2014.81 - 2.71 0.041 2882.69 547.9 -97.32 - - 3366.59 - - - - - - - - - 15.84 -
3553.50 409.55 -11.60 472 3560.43 roll -0.65 - - 2014.69 - 2.62 0.024 1397.38 -566.9 -97.32 - - 3367.03 - - - - - - - - - 15.93 -
3638.26 419.22 -11.22 489 3645.84 roll -0.65 - - 2005.06 - 2.73 0.042 2882.31 543.9 -97.32 - - 3366.75 - - - - - - - - - 15.83 -
3953.54 456.83 -11.78 521 3960.79 roll back -0.65 0.14 0.240 2045.12 286.1 2.61 0.024 1398.56 -568.5 -97.32 - - 3365.66 - - - - - - - - 15.53 15.58 -
3998.29 461.46 -10.07 530 4005.80 roll -0.65 - - 2035.12 - 2.72 0.043 2880.44 544.8 -97.32 - - 3366.00 - - - - - - - - - 15.82 -
4313.57 493.34 -9.93 562 4320.48 roll -0.65 - - 2034.06 - 2.62 0.024 1398.19 -565.7 -97.32 - - 3365.69 - - - - - - - - - 15.92 -
4358.32 497.70 -9.67 571 4365.83 roll -0.65 - - 2024.12 - 2.72 0.042 2880.19 544.9 -97.32 - - 3364.44 - - - - - - - - - 15.83 -
4673.61 528.92 -10.07 603 4680.59 roll -0.65 - - 2024.44 - 2.61 0.024 1397.50 -568.1 -97.32 - - 3365.25 - - - - - - - - - 15.92 -
4753.62 537.04 -10.03 619 4760.62 roll -0.65 - - 2012.38 - 2.72 0.042 2883.50 546.3 -97.32 - - 3364.75 - - - - - - - - - 15.82 -
5063.65 569.52 -10.52 651 5070.57 roll -0.65 - - 2013.00 - 2.62 0.024 1397.38 -567.2 -97.32 - - 3364.22 - - - - - - - - - 15.87 -
5133.68 576.74 -10.09 665 5140.76 roll -0.65 - - 2003.50 - 2.76 0.043 2882.12 537.9 -97.32 - - 3362.47 - - - - - - - - - 14.86 -
5443.73 607.99 -9.91 697 5450.92 roll back -0.65 0.15 0.236 2042.44 259.6 2.63 0.024 1399.56 -563.7 -97.32 - - 3364.12 - - - - - - - - 15.42 15.47 -
5503.76 612.80 -7.73 709 5510.77 roll -0.65 - - 2035.56 - 2.74 0.043 2881.00 540.7 -97.32 - - 3362.59 - - - - - - - - - 15.81 -
5813.84 636.98 -7.53 741 5820.69 roll -0.65 - - 2034.56 - 2.62 0.024 1397.38 -566.3 -97.32 - - 3362.81 - - - - - - - - - 15.91 -
5858.54 640.36 -7.45 750 5866.15 roll -0.65 - - 2025.94 - 2.73 0.043 2882.44 544.0 -97.32 - - 3361.78 - - - - - - - - - 15.81 -
6173.82 663.86 -7.22 782 6180.75 roll -0.65 - - 2024.75 - 2.63 0.024 1398.69 -564.2 -97.32 - - 3361.59 - - - - - - - - - 15.92 -
6223.84 667.59 -7.45 792 6230.84 roll -0.65 - - 2013.69 - 2.75 0.043 2881.31 539.1 -97.32 - - 3361.06 - - - - - - - - - 15.80 -
6533.85 692.19 -8.34 824 6540.77 roll -0.65 - - 2013.25 - 2.62 0.024 1398.69 -565.9 -97.32 - - 3360.72 - - - - - - - - - 15.91 -
6588.62 696.85 -8.37 835 6596.24 roll -0.65 - - 2003.88 - 2.76 0.042 2882.50 537.6 -97.32 - - 3360.12 - - - - - - - - - 14.80 -
6903.89 727.83 -10.60 867 6911.06 roll back -0.65 0.15 0.235 2044.31 269.5 2.66 0.024 1400.25 -557.2 -97.32 - - 3360.31 - - - - - - - - 15.32 14.84 -
6973.92 734.04 -8.61 881 6980.92 roll -0.65 - - 2035.19 - 2.73 0.044 2878.50 541.5 -97.32 - - 3361.06 - - - - - - - - - 15.80 -
7283.93 762.44 -9.22 913 7290.85 roll -0.65 - - 2034.38 - 2.62 0.025 1397.56 -565.2 -97.32 - - 3360.06 - - - - - - - - - 15.83 -
7353.95 768.96 -9.18 927 7360.97 roll -0.65 - - 2025.50 - 2.78 0.042 2881.88 533.9 -97.32 - - 3358.66 - - - - - - - - - 14.81 -
7663.98 799.77 -9.98 959 7670.90 roll -0.65 - - 2025.25 - 2.63 0.025 1399.19 -563.8 -97.32 - - 3358.19 - - - - - - - - - 15.83 -
7738.74 807.30 -9.92 974 7746.25 roll -0.65 - - 2013.75 - 2.73 0.043 2880.12 542.5 -97.32 - - 3358.00 - - - - - - - - - 15.78 -
8054.04 839.54 -10.11 1006 8060.95 roll -0.65 - - 2014.12 - 2.62 0.025 1399.56 -565.1 -97.32 - - 3357.81 - - - - - - - - - 15.90 -
8144.04 848.43 -9.76 1024 8151.04 roll -0.65 - - 2003.62 - 2.72 0.043 2878.19 543.6 -97.32 - - 3358.06 - - - - - - - - - 15.78 -
8454.06 878.81 -9.36 1056 8461.31 roll back -0.65 0.14 0.234 2045.31 297.8 2.62 0.025 1399.06 -564.6 -97.32 - - 3358.00 - - - - - - - - 15.46 15.49 -
8524.08 884.01 -7.09 1070 8531.10 roll -0.65 - - 2036.81 - 2.79 0.043 2878.69 530.3 -97.32 - - 3357.88 - - - - - - - - - 14.73 -
8834.10 905.26 -6.59 1102 8841.03 roll -0.65 - - 2035.94 - 2.62 0.025 1397.50 -565.3 -97.32 - - 3357.94 - - - - - - - - - 15.88 -
8904.12 909.89 -6.59 1116 8911.11 roll -0.65 - - 2025.12 - 2.76 0.043 2882.19 537.9 -97.32 - - 3358.03 - - - - - - - - - 15.72 -
9214.13 931.68 -7.32 1148 9221.12 roll -0.65 - - 2026.19 - 2.66 0.025 1397.56 -558.1 -97.32 - - 3357.38 - - - - - - - - - 14.75 -
9294.16 937.57 -7.33 1164 9301.17 roll -0.65 - - 2014.56 - 2.74 0.043 2882.62 542.0 -97.32 - - 3355.69 - - - - - - - - - 15.75 -
9604.18 961.64 -8.01 1196 9611.11 roll -0.65 - - 2014.19 - 2.67 0.024 1397.94 -556.1 -97.32 - - 3357.38 - - - - - - - - - 14.76 -
9654.19 965.65 -8.07 1206 9661.20 roll -0.65 - - 2003.88 - 2.73 0.043 2880.25 543.0 -97.32 - - 3356.78 - - - - - - - - - 15.75 -
9944 end dive: TARGET_DEPTH_EXCEEDED
9944 begin apogee
9946.88 990.73 -8.83 1236 10047.17 -0.12 0.71 0.186 2210.12 290.5 0.24 0.100 2439.62 -1836.0 - 91.19 2.317 2968.62 -4.3 0.325 - - - - - - 15.39 14.88 9.96
10049 end apogee: CONTROL_FINISHED_OK
10049 begin climb
10049.80 992.48 - 1245 10160.21 0.65 0.77 0.094 2465.56 331.7 2.44 0.068 3837.75 573.0 97.32 96.20 2.270 2569.78 -4.1 0.324 - - - - - - 15.16 14.59 11.31
10162.57 988.66 4.74 1257 10235.29 done 0.73 - - 2477.69 - 2.41 0.019 2317.25 -630.9 160.48 62.69 2.206 2313.03 -4.1 0.328 - - - - - - - 14.95 11.17
10537.78 950.35 10.48 1301 10544.62 done 0.73 - - 2478.69 - 2.57 0.064 3837.81 591.7 160.48 - - 2300.88 - - - - - - - - - 15.55 -
10597.80 943.15 12.13 1313 10604.46 done 0.73 - - 2487.44 - 2.31 0.020 2331.75 -652.0 160.48 - - 2299.94 - - - - - - - - - 15.61 -
10907.83 909.49 10.68 1345 10909.64 VBD 0.73 - - 2488.94 - - - 2316.75 - 160.48 - - 2296.12 - - - - - - - - - - -
11217.85 876.32 10.57 1376 11219.66 VBD 0.73 - - 2489.00 - - - 2317.12 - 160.48 - - 2295.47 - - - - - - - - - - -
11527.88 843.73 10.58 1407 11529.70 VBD 0.73 - - 2489.44 - - - 2317.44 - 160.48 - - 2294.50 - - - - - - - - - - -
11837.91 810.90 10.60 1438 11839.72 VBD 0.73 - - 2488.81 - - - 2316.62 - 160.48 - - 2294.44 - - - - - - - - - - -
12147.94 778.71 10.43 1469 12149.75 VBD 0.73 - - 2488.69 - - - 2317.94 - 160.48 - - 2294.00 - - - - - - - - - - -
12457.96 747.12 10.16 1500 12464.88 done 0.73 - - 2489.12 - 2.53 0.062 3839.12 601.3 160.48 - - 2295.97 - - - - - - - - - 15.76 -
12497.97 742.40 11.91 1508 12504.64 done 0.73 - - 2499.25 - 2.29 0.021 2324.31 -661.5 160.48 - - 2293.50 - - - - - - - - - 15.86 -
12808.00 707.45 11.57 1540 12809.82 VBD 0.73 - - 2498.94 - - - 2310.00 - 160.48 - - 2292.84 - - - - - - - - - - -
13118.03 672.44 11.12 1571 13119.84 VBD 0.73 - - 2499.38 - - - 2309.56 - 160.48 - - 2292.56 - - - - - - - - - - -
13428.06 636.54 11.69 1602 13429.86 VBD 0.73 - - 2499.56 - - - 2309.50 - 160.48 - - 2292.34 - - - - - - - - - - -
13738.08 600.76 11.76 1633 13744.93 done 0.73 - - 2498.62 - 2.54 0.062 3839.12 602.2 160.48 - - 2293.66 - - - - - - - - - 15.79 -
13802.83 592.31 13.12 1646 13810.01 done 0.73 - - 2510.56 - 2.26 0.020 2323.12 -670.8 160.48 - - 2292.94 - - - - - - - - - 15.86 -
14118.12 556.25 10.92 1678 14119.93 VBD 0.73 - - 2509.75 - - - 2308.62 - 160.48 - - 2292.00 - - - - - - - - - - -
14428.15 523.65 10.14 1709 14429.96 VBD 0.73 - - 2509.88 - - - 2308.62 - 160.48 - - 2291.72 - - - - - - - - - - -
14738.17 491.46 10.25 1740 14745.01 done 0.73 - - 2509.50 - 2.52 0.061 3841.19 608.2 160.48 - - 2292.81 - - - - - - - - - 15.73 -
14778.18 486.82 11.69 1748 14784.84 done 0.73 - - 2521.38 - 2.28 0.020 2326.56 -664.3 160.48 - - 2292.00 - - - - - - - - - 15.55 -
15088.21 455.48 9.74 1780 15090.30 0.73 0.16 0.207 2476.62 -279.8 - - 2311.50 - 160.48 - - 2290.84 - - - - - - - - 15.53 - -
15398.24 430.57 7.97 1811 15405.07 done 0.73 - - 2476.44 - 2.52 0.062 3838.88 606.1 160.48 - - 2292.75 - - - - - - - - - 15.70 -
15453.00 425.39 9.41 1822 15460.16 done 0.73 - - 2486.50 - 2.28 0.020 2325.69 -663.7 160.48 - - 2291.75 - - - - - - - - - 15.54 -
15768.27 397.19 9.18 1854 15770.08 VBD 0.73 - - 2486.31 - - - 2310.62 - 160.48 - - 2290.81 - - - - - - - - - - -
16078.29 368.30 9.26 1885 16085.21 done 0.73 - - 2487.81 - 2.51 0.061 3839.00 608.9 160.48 - - 2293.22 - - - - - - - - - 15.77 -
16148.30 361.17 10.22 1899 16154.88 done 0.73 - - 2494.50 - 2.27 0.020 2323.00 -667.8 160.48 - - 2293.81 - - - - - - - - - 15.71 -
16458.33 334.35 8.48 1931 16465.21 done 0.73 - - 2507.81 - 2.56 0.032 952.12 -535.5 160.48 - - 2292.41 - - - - - - - - - 15.73 -
16498.33 330.94 8.55 1939 16505.36 done 0.73 - - 2506.56 - 2.79 0.032 2435.12 531.5 160.48 - - 2293.62 - - - - - - - - - 15.86 -
16808.36 304.85 8.46 1971 16814.95 done 0.73 - - 2507.06 - 2.25 0.063 3839.06 624.0 160.48 - - 2292.22 - - - - - - - - - 15.66 -
16843.11 301.38 9.91 1978 16850.21 done 0.73 - - 2516.31 - 2.27 0.019 2325.56 -666.7 160.48 - - 2292.62 - - - - - - - - - 15.91 -
17158.39 271.27 9.72 2010 17160.47 0.73 0.14 0.213 2477.19 -279.4 - - 2310.38 - 160.48 - - 2289.78 - - - - - - - - 15.49 - -
17468.42 245.57 8.46 2041 17475.27 done 0.73 - - 2476.88 - 2.53 0.063 3837.44 603.6 160.48 - - 2292.88 - - - - - - - - - 15.68 -
17568.44 235.66 10.02 2061 17575.02 done 0.73 - - 2484.50 - 2.28 0.019 2322.38 -664.5 160.48 - - 2292.38 - - - - - - - - - 15.66 -
17878.47 207.88 8.61 2093 17885.30 done 0.73 - - 2497.06 - 2.55 0.031 951.12 -537.7 160.48 - - 2293.03 - - - - - - - - - 15.71 -
17933.21 203.26 8.43 2104 17940.84 done 0.73 - - 2497.50 - 2.82 0.033 2436.12 526.6 160.48 - - 2292.91 - - - - - - - - - 15.74 -
18248.57 178.65 7.32 2136 18255.78 done 0.76 - - 2497.06 - 2.29 0.065 3838.00 612.2 160.48 - - 2291.62 - - - - - - - - - 15.60 -
18308.50 173.50 8.67 2148 18315.77 done 0.76 - - 2506.31 - 2.29 0.019 2328.38 -659.2 160.48 - - 2291.28 - - - - - - - - - 15.78 -
18618.62 149.48 7.67 2180 18626.19 done 0.77 - - 2508.06 - 2.57 0.062 3838.94 587.8 160.48 - - 2291.84 - - - - - - - - - 14.71 -
18648.72 146.84 8.10 2186 18656.09 done 0.77 - - 2516.12 - 2.33 0.019 2329.81 -647.7 160.48 - - 2292.44 - - - - - - - - - 14.82 -
18958.77 121.87 8.03 2218 18966.30 done 0.77 - - 2518.31 - 2.56 0.061 3839.06 589.6 160.48 - - 2293.16 - - - - - - - - - 15.57 -
19138.85 105.79 8.39 2254 19146.20 done 0.77 - - 2529.19 - 2.30 0.018 2327.38 -657.3 160.48 - - 2292.28 - - - - - - - - - 15.63 -
19448.90 79.84 8.14 2309 19457.00 0.77 0.14 0.205 2488.62 -289.8 2.55 0.061 3837.94 592.4 160.48 - - 2292.97 - - - - - - - - 15.36 15.34 -
19524.60 73.92 7.72 2324 19532.06 done 0.79 - - 2497.94 - 2.29 0.018 2329.88 -658.5 160.48 - - 2291.72 - - - - - - - - - 15.31 -
19714.64 63.04 5.87 2362 19719.63 VBD 0.84 - - 2499.31 - - - 2315.38 - 160.48 - - 2292.06 - - - - - - - - - - -
19904.67 52.57 4.98 2400 19961.67 0.92 0.13 0.068 2583.81 650.0 2.56 0.062 3837.50 594.6 219.58 45.85 1.104 2071.09 -4.8 0.041 - - - - - - 15.57 15.29 10.79
20054.23 38.13 10.37 2429 20062.21 roll back 0.92 0.22 0.237 2535.06 -221.6 2.32 0.018 2332.56 -648.7 219.58 - - 2067.12 - - - - - - - - 15.14 15.55 -
20244.82 23.12 7.45 2467 20252.50 done 0.94 - - 2534.69 - 2.56 0.061 3837.12 587.7 219.58 - - 2065.34 - - - - - - - - - 15.39 -
20335.03 14.15 9.29 2485 20342.56 done 0.94 - - 2545.25 - 2.30 0.018 2331.94 -654.4 219.58 - - 2063.88 - - - - - - - - - 15.51 -
20480 end climb: SURFACE_DEPTH_REACHED
20480 begin surface coast
20505 end surface coast: CONTROL_FINISHED_OK
20505 begin surface
SM 1.17 - - - - 216.2 77.86 1.049 1643.2 21.1 6.45 0.035 1631.1 252.9 - 0.94 0.063 1655.2 1758.4 -3.338 - - 10.95 15.72 15.68 -