SMODE Mar23 * SG219 * Dive index * Mission links * Dive 98 * Raw log
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• Previous call tries 4 • 129.31 of 310.00 AH used of 24V (58.29% remains)
• Surface angle -61.7 deg, depth 1.35 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 324.88 (SM_CC=325)
• GPS1 time: 31 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
16.38 - - - 70.27 VBD -0.65 - - 84.38 - - - 2649.31 - -97.32 49.34 0.005 2557.00 - - - - - - - - - - 14.81
70.70 2.09 -1.80 10 124.16 -0.65 8.88 0.350 2033.69 219.5 2.00 0.067 3850.31 600.5 -97.32 30.47 0.006 3363.88 26.5 -1.637 - - - - - - 14.76 14.90 15.05
281.67 32.01 -16.23 51 288.65 roll -0.65 - - 2033.81 - 1.73 0.018 2661.12 -687.4 -97.32 - - 3365.91 - - - - - - - - - 15.41 -
471.70 61.25 -12.60 89 476.62 no move -0.65 - - 2033.62 - - - 2653.38 - -97.32 - - 3366.47 - - - - - - - - - - -
661.75 85.85 -12.50 127 668.88 roll -0.65 - - 2024.81 - 1.98 0.063 3850.12 604.4 -97.32 - - 3366.69 - - - - - - - - - 15.31 -
726.75 94.60 -12.90 140 733.74 roll -0.65 - - 2024.81 - 1.74 0.019 2652.62 -688.2 -97.32 - - 3366.41 - - - - - - - - - 15.42 -
921.78 118.76 -12.00 164 924.89 no move -0.65 - - 2024.88 - - - 2644.94 - -97.32 - - 3366.59 - - - - - - - - - - -
1231.80 155.43 -11.68 195 1238.67 roll -0.65 - - 2015.75 - 1.98 0.064 3850.19 608.7 -97.32 - - 3368.41 - - - - - - - - - 15.36 -
1276.56 160.98 -12.46 204 1283.96 roll -0.65 - - 2016.12 - 1.73 0.019 2645.56 -696.3 -97.32 - - 3368.38 - - - - - - - - - 15.53 -
1592.83 200.13 -12.52 236 1594.59 no move -0.65 - - 2015.81 - - - 2635.69 - -97.32 - - 3366.75 - - - - - - - - - - -
1901.88 239.79 -12.53 267 1903.63 no move -0.65 - - 2015.31 - - - 2636.06 - -97.32 - - 3366.72 - - - - - - - - - - -
2211.90 278.86 -12.63 298 2218.09 roll -0.65 - - 2005.88 - 1.99 0.065 3851.94 611.0 -97.32 - - 3367.00 - - - - - - - - - 15.73 -
2241.90 282.75 -12.95 304 2248.04 roll back -0.65 0.14 0.224 2043.94 271.9 1.73 0.019 2644.25 -698.1 -97.32 - - 3368.25 - - - - - - - - 15.55 15.80 -
2551.96 312.54 -8.99 336 2558.05 roll -0.65 - - 2037.19 - 1.98 0.067 3848.94 608.4 -97.32 - - 3366.25 - - - - - - - - - 15.63 -
2581.97 315.28 -8.98 342 2587.89 roll -0.65 - - 2037.44 - 1.72 0.020 2639.12 -703.4 -97.32 - - 3366.84 - - - - - - - - - 15.93 -
2892.00 343.52 -9.19 374 2898.10 roll -0.65 - - 2029.12 - 1.98 0.066 3850.06 611.6 -97.32 - - 3366.09 - - - - - - - - - 15.74 -
2912.00 345.44 -9.36 378 2917.93 roll -0.65 - - 2028.62 - 1.72 0.020 2645.19 -700.5 -97.32 - - 3366.06 - - - - - - - - - 15.95 -
3222.02 377.27 -10.51 410 3228.38 roll -0.65 - - 2021.25 - 1.98 0.065 3851.88 609.4 -97.32 - - 3365.97 - - - - - - - - - 15.84 -
3266.76 382.15 -10.90 419 3272.96 roll -0.65 - - 2020.25 - 1.72 0.020 2642.25 -703.3 -97.32 - - 3365.66 - - - - - - - - - 15.94 -
3582.06 414.87 -10.09 451 3588.14 roll -0.65 - - 2010.56 - 1.97 0.065 3850.75 613.5 -97.32 - - 3365.12 - - - - - - - - - 15.81 -
3612.06 418.08 -10.37 457 3618.00 roll -0.65 - - 2010.75 - 1.71 0.020 2646.06 -704.5 -97.32 - - 3365.06 - - - - - - - - - 15.94 -
3922.09 451.55 -10.59 489 3928.20 roll -0.65 - - 2001.62 - 1.98 0.066 3849.38 607.7 -97.32 - - 3365.84 - - - - - - - - - 15.72 -
3992.10 459.22 -10.84 503 3998.29 roll back -0.65 0.15 0.219 2043.88 281.7 1.72 0.020 2647.44 -698.8 -97.32 - - 3364.38 - - - - - - - - 15.35 15.90 -
4302.13 486.23 -8.64 535 4308.21 roll -0.65 - - 2036.38 - 1.98 0.068 3850.62 607.7 -97.32 - - 3365.25 - - - - - - - - - 15.80 -
4352.13 490.68 -9.04 545 4358.07 roll -0.65 - - 2037.19 - 1.72 0.021 2644.19 -701.4 -97.32 - - 3364.56 - - - - - - - - - 15.86 -
4662.15 517.30 -8.35 577 4663.95 no move -0.65 - - 2036.94 - - - 2639.44 - -97.32 - - 3362.09 - - - - - - - - - - -
4972.18 541.45 -7.57 608 4978.28 roll -0.65 - - 2029.12 - 1.98 0.068 3850.25 611.5 -97.32 - - 3362.03 - - - - - - - - - 15.69 -
5006.93 544.20 -7.73 615 5013.11 roll -0.65 - - 2027.81 - 1.71 0.021 2642.19 -706.5 -97.32 - - 3362.09 - - - - - - - - - 15.94 -
5322.21 569.29 -8.12 647 5324.00 no move -0.65 - - 2028.38 - - - 2640.69 - -97.32 - - 3360.59 - - - - - - - - - - -
5632.25 595.20 -8.57 678 5638.36 roll -0.65 - - 2019.75 - 1.99 0.067 3850.88 608.1 -97.32 - - 3360.69 - - - - - - - - - 15.70 -
5692.37 600.62 -9.14 690 5698.36 roll -0.65 - - 2020.31 - 1.72 0.020 2650.94 -697.6 -97.32 - - 3360.41 - - - - - - - - - 15.76 -
6002.28 630.56 -9.78 722 6004.07 no move -0.65 - - 2019.25 - - - 2641.69 - -97.32 - - 3358.75 - - - - - - - - - - -
6312.36 662.06 -10.12 753 6318.51 roll -0.65 - - 2011.00 - 1.98 0.068 3849.62 610.1 -97.32 - - 3359.78 - - - - - - - - - 15.71 -
6402.32 671.79 -10.76 771 6408.32 roll -0.65 - - 2011.31 - 1.71 0.020 2649.56 -701.8 -97.32 - - 3359.41 - - - - - - - - - 15.95 -
6712.34 703.44 -10.12 803 6718.44 roll -0.65 - - 2000.75 - 1.98 0.068 3847.94 605.2 -97.32 - - 3359.03 - - - - - - - - - 15.68 -
6747.09 707.20 -10.73 810 6753.54 roll back -0.65 0.15 0.217 2044.38 290.9 1.71 0.021 2649.94 -700.6 -97.32 - - 3358.91 - - - - - - - - 15.48 15.93 -
7062.37 733.13 -7.77 842 7064.17 no move -0.65 - - 2044.12 - - - 2640.88 - -97.32 - - 3356.53 - - - - - - - - - - -
7372.41 755.69 -7.12 873 7374.20 no move -0.65 - - 2044.44 - - - 2640.69 - -97.32 - - 3356.06 - - - - - - - - - - -
7682.43 778.11 -7.47 904 7684.22 no move -0.65 - - 2044.44 - - - 2641.19 - -97.32 - - 3355.78 - - - - - - - - - - -
7992.45 802.17 -7.69 935 7998.62 roll -0.65 - - 2038.31 - 1.98 0.071 3848.75 609.9 -97.32 - - 3356.94 - - - - - - - - - 15.63 -
8022.45 804.59 -7.88 941 8028.47 roll -0.65 - - 2038.94 - 1.72 0.022 2646.19 -699.2 -97.32 - - 3357.84 - - - - - - - - - 15.93 -
8332.53 829.16 -8.00 973 8334.32 no move -0.65 - - 2037.44 - - - 2645.31 - -97.32 - - 3354.78 - - - - - - - - - - -
8642.50 853.68 -7.82 1004 8644.30 no move -0.65 - - 2037.25 - - - 2644.44 - -97.32 - - 3354.66 - - - - - - - - - - -
8952.79 877.67 -7.64 1035 8958.84 roll -0.65 - - 2028.00 - 1.97 0.071 3848.25 611.1 -97.32 - - 3356.19 - - - - - - - - - 15.67 -
8977.27 879.66 -7.77 1040 8983.55 roll -0.65 - - 2029.94 - 1.72 0.021 2647.81 -697.9 -97.32 - - 3355.38 - - - - - - - - - 15.77 -
9292.57 905.03 -8.16 1072 9294.38 no move -0.65 - - 2029.00 - - - 2645.75 - -97.32 - - 3353.31 - - - - - - - - - - -
9602.59 930.37 -8.15 1103 9604.38 no move -0.65 - - 2028.50 - - - 2644.88 - -97.32 - - 3353.09 - - - - - - - - - - -
9912.62 955.81 -8.27 1134 9914.42 no move -0.65 - - 2029.31 - - - 2644.62 - -97.32 - - 3353.72 - - - - - - - - - - -
10222.69 980.88 -7.98 1165 10224.48 no move -0.65 - - 2028.56 - - - 2644.62 - -97.32 - - 3352.94 - - - - - - - - - - -
10343 end dive: TARGET_DEPTH_EXCEEDED
10343 begin apogee
10344.58 990.32 -7.79 1177 10444.38 -0.12 0.62 0.179 2211.06 294.4 0.28 0.096 2436.38 -743.7 - 90.60 2.317 2966.25 -4.3 0.324 - - - - - - 15.41 14.86 10.23
10446 end apogee: CONTROL_FINISHED_OK
10446 begin climb
10446.98 991.98 - 1186 10559.70 0.65 0.78 0.098 2478.69 343.1 3.01 0.037 953.75 -492.6 97.32 96.48 2.266 2570.59 -4.1 0.319 - - - - - - 15.16 14.60 11.23
10587.30 986.36 6.52 1212 10594.34 roll 0.69 - - 2477.88 - 2.96 0.037 2429.38 498.5 97.32 - - 2565.91 - - - - - - - - - 14.77 -
10897.23 959.85 8.56 1244 10899.02 VBD 0.69 - - 2477.12 - - - 2428.75 - 97.32 - - 2557.41 - - - - - - - - - - -
11207.26 934.65 8.02 1275 11209.05 VBD 0.69 - - 2476.94 - - - 2428.88 - 97.32 - - 2554.75 - - - - - - - - - - -
11517.37 910.84 7.42 1306 11524.23 done 0.71 - - 2489.75 - 2.78 0.030 949.94 -532.0 97.32 - - 2554.97 - - - - - - - - - 15.11 -
11552.11 908.20 7.55 1313 11559.59 done 0.73 - - 2489.44 - 2.82 0.034 2433.69 526.2 97.32 - - 2555.12 - - - - - - - - - 15.78 -
11867.40 883.52 7.78 1345 11869.19 VBD 0.74 - - 2489.06 - - - 2433.19 - 97.32 - - 2552.06 - - - - - - - - - - -
12177.34 859.20 8.05 1376 12179.13 VBD 0.74 - - 2489.62 - - - 2433.38 - 97.32 - - 2551.56 - - - - - - - - - - -
12487.42 834.11 8.25 1407 12489.21 VBD 0.74 - - 2489.00 - - - 2433.44 - 97.32 - - 2551.34 - - - - - - - - - - -
12797.39 808.06 8.21 1438 12799.18 VBD 0.74 - - 2489.56 - - - 2433.88 - 97.32 - - 2551.03 - - - - - - - - - - -
13107.42 782.58 7.96 1469 13109.21 VBD 0.74 - - 2488.94 - - - 2433.50 - 97.32 - - 2550.69 - - - - - - - - - - -
13417.52 757.92 7.93 1500 13419.33 VBD 0.75 - - 2489.75 - - - 2432.81 - 97.32 - - 2549.81 - - - - - - - - - - -
13727.55 733.76 7.67 1531 13729.34 VBD 0.77 - - 2488.62 - - - 2433.62 - 97.32 - - 2549.62 - - - - - - - - - - -
14037.56 710.47 7.42 1562 14044.03 done 0.79 - - 2488.62 - 2.22 0.063 3840.44 633.7 97.32 - - 2552.59 - - - - - - - - - 14.85 -
14102.24 705.02 8.45 1575 14109.37 done 0.79 - - 2500.38 - 2.25 0.020 2320.62 -675.5 97.32 - - 2549.59 - - - - - - - - - 15.91 -
14417.54 680.36 8.05 1607 14424.25 done 0.79 - - 2499.31 - 2.47 0.062 3842.44 616.1 97.32 - - 2550.03 - - - - - - - - - 15.79 -
14512.55 671.86 8.99 1626 14519.34 done 0.79 - - 2509.88 - 2.27 0.020 2332.00 -665.4 97.32 - - 2548.72 - - - - - - - - - 15.81 -
14827.67 647.65 7.64 1658 14834.35 done 0.81 - - 2510.62 - 2.47 0.061 3840.50 610.7 97.32 - - 2551.31 - - - - - - - - - 15.78 -
14862.31 644.66 8.06 1665 14869.36 done 0.81 - - 2520.06 - 2.30 0.020 2322.00 -660.2 97.32 - - 2551.19 - - - - - - - - - 14.92 -
15177.68 621.30 7.16 1697 15184.40 done 0.83 - - 2521.12 - 2.54 0.060 3840.88 598.0 97.32 - - 2551.47 - - - - - - - - - 14.80 -
15257.62 614.61 8.47 1713 15264.16 done 0.83 - - 2530.62 - 2.26 0.019 2330.25 -668.4 97.32 - - 2549.59 - - - - - - - - - 15.91 -
15567.77 591.24 7.61 1745 15574.47 done 0.85 - - 2543.81 - 2.58 0.030 947.38 -536.0 97.32 - - 2551.47 - - - - - - - - - 14.87 -
15622.51 587.20 7.36 1756 15629.92 done 0.87 - - 2543.38 - 2.77 0.031 2436.94 537.7 97.32 - - 2548.16 - - - - - - - - - 15.87 -
15937.81 562.60 7.90 1788 15944.71 done 0.88 - - 2555.25 - 2.75 0.029 948.06 -541.4 97.32 - - 2551.09 - - - - - - - - - 15.88 -
15978.07 559.45 7.92 1796 15984.78 done 0.89 - - 2555.25 - 2.81 0.031 2436.12 529.6 97.32 - - 2551.06 - - - - - - - - - 15.77 -
16287.78 533.83 8.45 1828 16294.33 done 0.89 - - 2554.44 - 2.23 0.061 3840.62 629.8 97.32 - - 2548.59 - - - - - - - - - 14.75 -
16317.78 531.09 8.70 1834 16324.33 done 0.89 - - 2565.50 - 2.29 0.019 2316.88 -665.4 97.32 - - 2548.66 - - - - - - - - - 14.83 -
16627.82 503.81 8.77 1866 16634.63 done 0.89 - - 2576.62 - 2.52 0.030 945.25 -544.3 97.32 - - 2548.41 - - - - - - - - - 15.88 -
16707.84 496.67 8.86 1882 16715.13 0.89 0.18 0.229 2528.31 -268.4 2.84 0.031 2439.44 526.1 97.32 - - 2547.69 - - - - - - - - 15.16 14.82 -
17017.87 471.98 8.19 1914 17019.68 VBD 0.89 - - 2527.94 - - - 2439.38 - 97.32 - - 2546.69 - - - - - - - - - - -
17327.97 448.74 7.13 1945 17329.77 VBD 0.92 - - 2527.81 - - - 2439.00 - 97.32 - - 2546.84 - - - - - - - - - - -
17638.00 427.84 6.27 1976 17644.96 done 0.96 - - 2538.62 - 2.81 0.029 947.44 -530.8 97.32 - - 2548.88 - - - - - - - - - 14.82 -
17738.03 421.91 5.90 1996 17745.23 1.02 0.10 0.077 2613.00 743.8 2.81 0.031 2437.06 530.1 97.32 - - 2550.03 - - - - - - - - 15.64 15.82 -
18048.05 397.90 7.83 2028 18054.76 1.03 0.17 0.259 2569.94 -253.3 2.23 0.060 3841.31 629.7 97.32 - - 2549.19 - - - - - - - - 15.32 15.37 -
18082.80 395.09 7.93 2035 18089.90 done 1.04 - - 2581.50 - 2.28 0.019 2307.75 -672.6 97.32 - - 2548.56 - - - - - - - - - 15.90 -
18398.08 370.54 7.65 2067 18404.80 done 1.05 - - 2580.56 - 2.53 0.059 3840.88 606.0 97.32 - - 2548.03 - - - - - - - - - 15.75 -
18492.76 362.20 8.93 2086 18499.91 done 1.05 - - 2590.75 - 2.31 0.019 2313.44 -661.2 97.32 - - 2547.59 - - - - - - - - - 14.79 -
18808.05 335.93 8.65 2118 18809.85 VBD 1.05 - - 2591.81 - - - 2296.69 - 97.32 - - 2546.88 - - - - - - - - - - -
19118.08 308.52 8.54 2149 19124.87 done 1.05 - - 2603.25 - 2.53 0.030 948.44 -532.9 97.32 - - 2548.12 - - - - - - - - - 15.86 -
19288.11 294.30 8.10 2183 19295.16 done 1.05 - - 2602.25 - 2.87 0.032 2437.25 518.7 97.32 - - 2547.62 - - - - - - - - - 14.78 -
19598.13 269.77 7.98 2215 19599.92 VBD 1.05 - - 2602.06 - - - 2437.88 - 97.32 - - 2546.97 - - - - - - - - - - -
19908.31 247.86 6.77 2246 19910.12 VBD 1.09 - - 2601.81 - - - 2438.00 - 97.32 - - 2547.03 - - - - - - - - - - -
20218.26 227.33 6.63 2277 20225.22 done 1.13 - - 2614.31 - 2.81 0.028 946.88 -530.6 97.32 - - 2550.12 - - - - - - - - - 14.78 -
20408.30 215.13 6.69 2315 20415.27 done 1.16 - - 2613.06 - 2.82 0.033 2436.62 528.3 97.32 - - 2551.12 - - - - - - - - - 15.84 -
20718.32 194.68 6.49 2347 20725.66 done 1.20 - - 2615.06 - 2.23 0.062 3841.12 629.8 97.32 - - 2550.25 - - - - - - - - - 15.63 -
20953.09 177.55 7.10 2394 20960.85 done 1.23 - - 2623.31 - 2.31 0.018 2334.00 -652.4 97.32 - - 2548.06 - - - - - - - - - 14.74 -
21268.37 158.47 5.39 2426 21320.92 1.30 0.12 0.067 2726.06 856.2 2.60 0.030 946.06 -533.8 149.50 41.08 1.255 2359.22 -4.6 0.103 - - - - - - 15.57 15.33 10.77
21368.46 148.33 13.63 2445 21377.62 roll back 1.30 0.29 0.298 2657.19 -237.5 2.87 0.032 2441.38 521.0 149.50 - - 2351.22 - - - - - - - - 14.79 15.60 -
21683.46 107.56 13.24 2477 21690.69 done 1.30 - - 2657.19 - 2.29 0.061 3840.88 611.1 149.50 - - 2348.47 - - - - - - - - - 15.61 -
21793.48 93.97 12.24 2499 21801.06 done 1.30 - - 2665.50 - 2.32 0.018 2327.25 -652.4 149.50 - - 2348.31 - - - - - - - - - 15.60 -
21983.52 79.17 8.20 2537 21991.26 done 1.30 - - 2667.31 - 2.53 0.059 3841.00 598.3 149.50 - - 2347.53 - - - - - - - - - 15.60 -
22218.86 63.01 7.72 2584 22226.27 done 1.31 - - 2677.81 - 2.29 0.017 2314.38 -666.6 149.50 - - 2347.22 - - - - - - - - - 15.71 -
22408.89 52.47 5.14 2622 22465.45 done 1.38 - - 2688.06 - 2.59 0.030 945.81 -528.4 205.84 45.08 1.092 2127.53 -4.9 0.042 - - - - - - - 15.05 11.08
22692.99 26.87 12.61 2678 22701.04 roll 1.38 - - 2690.31 - 2.88 0.033 2436.88 517.7 205.84 - - 2121.84 - - - - - - - - - 15.55 -
22883.50 2.24 11.82 2716 22888.73 VBD 1.38 - - 2688.56 - - - 2438.56 - 205.84 - - 2119.25 - - - - - - - - - - -
22893 end climb: SURFACE_DEPTH_REACHED
22894 begin surface coast
22914 end surface coast: CONTROL_FINISHED_OK
22914 begin surface
SM 1.35 - - - - 218.3 86.87 1.036 1643.6 18.9 7.12 0.070 1633.8 229.5 - 0.50 0.066 1653.4 3306.8 -6.913 - - 11.07 15.60 15.70 -