SMODE Mar23 * SG220 * Dive index * Mission links * Dive 135 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 138.21 of 350.00 AH used of 24V (60.51% remains)
• Surface angle -67.0 deg, depth 1.22 m • Intended pitch -22.0 deg, speed -8.462 cm/s
VBD pumped to 325.21 (SM_CC=325)
• GPS1 time: 26 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
10.56 - - - 79.17 VBD -0.67 - - 168.38 - - - 2577.25 - -97.32 65.14 0.005 3063.50 - - - - - - - - - - 14.75
79.42 3.36 -3.71 13 107.41 -0.67 11.19 0.529 1824.25 148.0 - - 2577.94 - -97.32 9.53 0.007 3446.09 40.1 -3.435 - - - - - - 14.42 - 15.07
289.91 41.74 -17.92 55 296.79 roll -0.67 - - 1824.94 - 2.55 0.046 1211.75 -535.8 -97.32 - - 3452.44 - - - - - - - - - 15.44 -
324.92 47.93 -17.64 62 331.97 roll -0.67 - - 1824.69 - 2.93 0.113 2664.94 496.0 -97.32 - - 3451.28 - - - - - - - - - 15.27 -
514.97 79.06 -14.40 100 520.44 no move -0.67 - - 1824.94 - - - 2664.81 - -97.32 - - 3451.25 - - - - - - - - - - -
705.02 101.36 -11.40 137 708.00 no move -0.67 - - 1824.62 - - - 2665.25 - -97.32 - - 3450.78 - - - - - - - - - - -
1015.06 135.67 -11.46 168 1018.03 no move -0.67 - - 1824.94 - - - 2665.44 - -97.32 - - 3451.59 - - - - - - - - - - -
1325.12 170.36 -10.66 199 1328.09 no move -0.67 - - 1825.00 - - - 2665.19 - -97.32 - - 3451.69 - - - - - - - - - - -
1635.17 202.20 -10.12 230 1641.14 roll -0.67 - - 1824.44 - 2.19 0.162 3840.31 536.6 -97.32 - - 3452.66 - - - - - - - - - 15.33 -
1715.18 210.47 -10.41 246 1721.11 roll -0.67 - - 1824.62 - 2.01 0.045 2586.25 -623.9 -97.32 - - 3453.62 - - - - - - - - - 14.79 -
2025.29 241.86 -10.22 278 2031.55 roll -0.67 - - 1824.12 - 2.52 0.048 1212.31 -545.2 -97.32 - - 3453.44 - - - - - - - - - 15.62 -
2070.28 246.57 -10.43 287 2076.74 roll -0.67 - - 1824.75 - 2.88 0.107 2668.25 505.5 -97.32 - - 3452.75 - - - - - - - - - 15.41 -
2385.36 277.88 -9.79 319 2391.67 roll -0.67 - - 1825.12 - 2.68 0.048 1212.31 -543.3 -97.32 - - 3454.06 - - - - - - - - - 15.63 -
2435.37 282.91 -10.00 329 2441.80 roll -0.67 - - 1824.38 - 2.89 0.107 2663.25 502.1 -97.32 - - 3453.12 - - - - - - - - - 15.19 -
2745.43 313.14 -9.58 361 2751.51 roll -0.67 - - 1823.38 - 2.19 0.161 3841.38 538.0 -97.32 - - 3452.94 - - - - - - - - - 15.34 -
2790.42 317.47 -9.65 370 2796.44 roll -0.67 - - 1824.69 - 1.99 0.046 2585.75 -631.0 -97.32 - - 3453.75 - - - - - - - - - 15.66 -
3105.49 346.13 -8.80 402 3111.66 roll -0.67 - - 1824.44 - 2.37 0.156 3841.44 529.8 -97.32 - - 3451.62 - - - - - - - - - 15.32 -
3155.49 350.61 -9.04 412 3161.54 roll -0.67 - - 1825.19 - 2.01 0.046 2585.12 -625.0 -97.32 - - 3453.69 - - - - - - - - - 15.52 -
3465.52 378.29 -9.06 444 3467.09 no move -0.67 - - 1825.00 - - - 2583.62 - -97.32 - - 3450.69 - - - - - - - - - - -
3775.55 406.64 -9.15 475 3777.12 no move -0.67 - - 1824.81 - - - 2581.94 - -97.32 - - 3450.06 - - - - - - - - - - -
4085.59 435.70 -9.34 506 4087.14 no move -0.67 - - 1824.56 - - - 2582.19 - -97.32 - - 3449.59 - - - - - - - - - - -
4395.61 464.09 -8.98 537 4397.18 no move -0.67 - - 1824.75 - - - 2581.94 - -97.32 - - 3448.75 - - - - - - - - - - -
4705.64 490.72 -8.27 568 4711.85 roll -0.67 - - 1824.88 - 2.38 0.157 3840.19 528.7 -97.32 - - 3448.88 - - - - - - - - - 15.28 -
4755.65 495.08 -8.76 578 4761.63 roll -0.67 - - 1824.88 - 1.99 0.047 2585.75 -630.4 -97.32 - - 3450.19 - - - - - - - - - 15.66 -
5065.71 521.10 -8.36 610 5067.28 no move -0.67 - - 1824.88 - - - 2582.56 - -97.32 - - 3447.75 - - - - - - - - - - -
5375.77 546.81 -8.03 641 5381.95 roll -0.67 - - 1824.31 - 2.39 0.156 3840.00 526.1 -97.32 - - 3447.97 - - - - - - - - - 15.20 -
5435.81 551.91 -8.51 653 5441.83 roll -0.67 - - 1825.25 - 2.01 0.047 2585.00 -624.4 -97.32 - - 3447.38 - - - - - - - - - 15.52 -
5745.85 577.24 -8.19 685 5747.41 no move -0.67 - - 1824.88 - - - 2581.81 - -97.32 - - 3445.78 - - - - - - - - - - -
6055.91 602.89 -8.26 716 6062.07 roll -0.67 - - 1825.12 - 2.38 0.157 3839.31 528.4 -97.32 - - 3445.97 - - - - - - - - - 15.25 -
6110.90 607.62 -8.68 727 6116.98 roll -0.67 - - 1824.88 - 2.01 0.048 2585.06 -624.0 -97.32 - - 3447.12 - - - - - - - - - 15.51 -
6425.99 633.46 -8.09 759 6427.55 no move -0.67 - - 1824.69 - - - 2584.19 - -97.32 - - 3444.38 - - - - - - - - - - -
6736.05 658.34 -8.03 790 6742.23 roll -0.67 - - 1824.38 - 2.38 0.158 3840.94 528.0 -97.32 - - 3445.25 - - - - - - - - - 15.22 -
6801.05 663.85 -8.47 803 6807.11 roll -0.67 - - 1823.44 - 2.02 0.048 2585.50 -621.5 -97.32 - - 3445.28 - - - - - - - - - 15.50 -
7116.13 688.54 -7.82 835 7117.68 no move -0.67 - - 1825.12 - - - 2584.25 - -97.32 - - 3443.91 - - - - - - - - - - -
7426.19 712.31 -7.51 866 7427.76 no move -0.67 - - 1824.69 - - - 2583.56 - -97.32 - - 3442.94 - - - - - - - - - - -
7736.25 735.83 -7.71 897 7737.81 no move -0.67 - - 1825.25 - - - 2584.25 - -97.32 - - 3442.34 - - - - - - - - - - -
8046.31 760.54 -8.01 928 8047.87 no move -0.67 - - 1824.44 - - - 2583.69 - -97.32 - - 3442.12 - - - - - - - - - - -
8356.38 785.34 -8.10 959 8362.55 roll -0.67 - - 1824.56 - 2.39 0.158 3840.00 525.7 -97.32 - - 3442.28 - - - - - - - - - 15.02 -
8441.38 792.42 -8.33 976 8447.40 roll -0.67 - - 1824.25 - 2.00 0.049 2586.62 -626.7 -97.32 - - 3443.09 - - - - - - - - - 15.59 -
8756.46 817.09 -7.70 1008 8762.64 roll -0.67 - - 1824.56 - 2.38 0.157 3838.81 526.1 -97.32 - - 3442.94 - - - - - - - - - 15.17 -
8831.46 823.19 -8.21 1023 8837.48 roll -0.67 - - 1824.75 - 2.00 0.050 2586.62 -626.1 -97.32 - - 3441.31 - - - - - - - - - 15.59 -
9146.51 847.84 -7.94 1055 9148.07 no move -0.67 - - 1824.25 - - - 2585.06 - -97.32 - - 3440.12 - - - - - - - - - - -
9456.54 873.21 -8.28 1086 9462.79 roll -0.67 - - 1824.50 - 2.41 0.158 3840.81 521.1 -97.32 - - 3441.19 - - - - - - - - - 15.15 -
9581.54 884.03 -8.72 1111 9587.55 roll -0.67 - - 1824.69 - 2.00 0.049 2587.69 -626.6 -97.32 - - 3439.31 - - - - - - - - - 15.58 -
9896.59 909.91 -8.13 1143 9902.90 roll -0.67 - - 1824.50 - 2.40 0.159 3841.44 522.4 -97.32 - - 3440.03 - - - - - - - - - 15.14 -
9946.59 914.26 -8.79 1153 9952.62 roll -0.67 - - 1824.69 - 2.01 0.050 2590.06 -622.6 -97.32 - - 3439.34 - - - - - - - - - 15.58 -
10256.62 938.61 -7.52 1185 10258.19 no move -0.67 - - 1824.56 - - - 2588.31 - -97.32 - - 3438.19 - - - - - - - - - - -
10566.65 961.06 -7.04 1216 10572.87 roll -0.67 - - 1824.25 - 2.41 0.158 3840.50 519.6 -97.32 - - 3439.69 - - - - - - - - - 15.05 -
10651.65 967.12 -7.11 1233 10657.72 roll -0.67 - - 1824.25 - 2.01 0.050 2587.50 -623.4 -97.32 - - 3438.38 - - - - - - - - - 15.57 -
10966.73 987.85 -6.49 1265 10968.29 no move -0.67 - - 1824.19 - - - 2586.62 - -97.32 - - 3437.16 - - - - - - - - - - -
11007 end dive: TARGET_DEPTH_EXCEEDED
11007 begin apogee
11008.72 990.47 -6.54 1269 11100.66 -0.12 0.62 0.202 2000.75 284.8 0.14 0.227 2320.56 -1900.4 - 83.75 2.469 3048.47 -4.6 0.332 - - - - - - 15.09 14.75 10.58
11102 end apogee: CONTROL_FINISHED_OK
11102 begin climb
11102.76 991.28 - 1278 11200.44 0.67 0.77 0.099 2271.12 351.1 2.89 0.065 864.50 -503.8 97.32 87.54 2.410 2653.06 -4.5 0.331 - - - - - - 15.01 14.54 11.57
11228.00 982.84 9.40 1302 11234.42 roll 0.67 - - 2272.12 - 2.90 0.083 2313.50 499.7 97.32 - - 2646.50 - - - - - - - - - 14.60 -
11538.06 949.83 10.54 1334 11544.43 done 0.67 - - 2282.31 - 2.71 0.059 863.44 -535.1 97.32 - - 2642.94 - - - - - - - - - 15.49 -
11583.05 945.11 10.60 1343 11589.45 done 0.67 - - 2280.25 - 2.78 0.084 2312.50 521.2 97.32 - - 2642.62 - - - - - - - - - 15.41 -
11898.13 912.90 10.14 1375 11904.50 done 0.67 - - 2292.19 - 2.69 0.059 863.00 -538.8 97.32 - - 2641.16 - - - - - - - - - 15.58 -
11938.13 908.79 10.33 1383 11944.66 0.67 0.18 0.251 2246.06 -256.3 2.76 0.082 2313.69 525.6 97.32 - - 2642.88 - - - - - - - - 15.28 15.47 -
12248.20 881.43 8.56 1415 12254.58 done 0.67 - - 2251.75 - 2.71 0.061 862.94 -535.3 97.32 - - 2640.78 - - - - - - - - - 14.91 -
12278.20 878.87 8.51 1421 12284.58 done 0.67 - - 2252.50 - 2.78 0.083 2312.56 521.4 97.32 - - 2642.25 - - - - - - - - - 14.88 -
12588.26 851.49 8.92 1453 12589.83 VBD 0.67 - - 2251.69 - - - 2311.75 - 97.32 - - 2638.62 - - - - - - - - - - -
12898.33 824.46 8.74 1484 12904.65 done 0.67 - - 2260.06 - 2.68 0.060 863.12 -540.5 97.32 - - 2639.50 - - - - - - - - - 15.60 -
12943.32 820.48 8.87 1493 12949.73 done 0.67 - - 2260.06 - 2.74 0.080 2312.50 529.0 97.32 - - 2640.47 - - - - - - - - - 15.48 -
13258.40 792.51 8.73 1525 13264.72 done 0.67 - - 2267.88 - 2.68 0.060 862.94 -540.9 97.32 - - 2639.12 - - - - - - - - - 15.59 -
13303.39 788.60 8.71 1534 13309.79 done 0.67 - - 2267.38 - 2.76 0.082 2312.44 525.2 97.32 - - 2639.56 - - - - - - - - - 15.45 -
13618.46 760.74 8.78 1566 13620.02 VBD 0.67 - - 2267.38 - - - 2312.69 - 97.32 - - 2637.47 - - - - - - - - - - -
13928.50 734.26 8.38 1597 13934.87 done 0.67 - - 2277.12 - 2.71 0.059 863.19 -534.9 97.32 - - 2639.12 - - - - - - - - - 14.78 -
13963.48 731.34 8.30 1604 13969.88 done 0.67 - - 2277.69 - 2.75 0.081 2312.12 526.9 97.32 - - 2637.97 - - - - - - - - - 15.44 -
14278.53 704.67 8.41 1636 14280.09 VBD 0.67 - - 2277.94 - - - 2312.00 - 97.32 - - 2636.72 - - - - - - - - - - -
14588.56 679.30 8.10 1667 14594.93 done 0.67 - - 2286.88 - 2.71 0.059 861.88 -535.1 97.32 - - 2638.22 - - - - - - - - - 14.73 -
14663.55 673.18 8.13 1682 14670.10 0.67 0.16 0.241 2245.94 -255.9 2.79 0.080 2315.81 521.1 97.32 - - 2638.09 - - - - - - - - 15.13 14.69 -
14978.65 650.24 7.40 1714 14984.98 done 0.69 - - 2251.50 - 2.72 0.060 860.25 -535.1 97.32 - - 2637.88 - - - - - - - - - 14.72 -
15033.64 646.03 7.73 1725 15040.00 done 0.70 - - 2252.31 - 2.77 0.082 2313.56 524.7 97.32 - - 2639.78 - - - - - - - - - 15.41 -
15348.68 621.79 7.84 1757 15354.97 done 0.72 - - 2254.50 - 2.69 0.062 864.31 -538.8 97.32 - - 2637.56 - - - - - - - - - 15.54 -
15403.67 617.55 7.77 1768 15410.03 done 0.73 - - 2253.75 - 2.76 0.080 2312.00 524.5 97.32 - - 2639.50 - - - - - - - - - 15.40 -
15718.75 593.13 7.80 1800 15720.31 VBD 0.74 - - 2254.38 - - - 2312.31 - 97.32 - - 2635.84 - - - - - - - - - - -
16028.81 569.36 7.64 1831 16030.37 VBD 0.76 - - 2254.56 - - - 2312.19 - 97.32 - - 2635.91 - - - - - - - - - - -
16338.87 546.68 7.14 1862 16345.30 0.79 0.10 0.079 2359.19 1046.3 2.69 0.060 861.25 -539.4 97.32 - - 2637.47 - - - - - - - - 15.67 15.53 -
16398.86 540.90 9.89 1874 16405.41 0.79 0.30 0.277 2282.50 -255.6 2.76 0.080 2318.06 527.8 97.32 - - 2639.69 - - - - - - - - 15.02 15.38 -
16708.94 517.17 7.40 1906 16715.22 done 0.81 - - 2293.75 - 2.69 0.060 862.94 -540.9 97.32 - - 2637.25 - - - - - - - - - 15.51 -
16823.96 508.62 7.55 1929 16830.49 done 0.82 - - 2293.44 - 2.79 0.080 2313.81 520.0 97.32 - - 2637.03 - - - - - - - - - 14.61 -
17139.05 485.36 7.26 1961 17140.61 VBD 0.85 - - 2293.50 - - - 2313.50 - 97.32 - - 2635.81 - - - - - - - - - - -
17449.10 462.77 7.15 1992 17450.67 VBD 0.88 - - 2293.44 - - - 2312.81 - 97.32 - - 2635.72 - - - - - - - - - - -
17759.15 439.06 7.69 2023 17760.72 VBD 0.89 - - 2293.12 - - - 2313.00 - 97.32 - - 2635.97 - - - - - - - - - - -
18069.17 414.69 8.00 2054 18075.54 done 0.89 - - 2304.44 - 2.71 0.058 860.38 -536.0 97.32 - - 2638.50 - - - - - - - - - 14.63 -
18109.18 411.46 8.11 2062 18115.57 done 0.89 - - 2305.06 - 2.78 0.081 2314.75 523.2 97.32 - - 2638.81 - - - - - - - - - 15.35 -
18419.24 385.02 8.84 2094 18425.56 done 0.89 - - 2315.69 - 2.68 0.060 863.25 -541.6 97.32 - - 2637.56 - - - - - - - - - 15.50 -
18539.28 374.58 8.51 2118 18545.65 done 0.89 - - 2315.62 - 2.76 0.080 2314.12 525.7 97.32 - - 2639.28 - - - - - - - - - 15.36 -
18849.34 348.37 8.36 2150 18855.76 done 0.89 - - 2325.62 - 2.72 0.059 862.00 -533.9 97.32 - - 2639.00 - - - - - - - - - 14.64 -
18934.35 341.49 7.98 2167 18940.76 done 0.89 - - 2325.25 - 2.77 0.080 2313.69 524.1 97.32 - - 2637.69 - - - - - - - - - 15.34 -
19249.48 317.48 7.34 2199 19255.75 done 0.91 - - 2335.75 - 2.69 0.059 861.88 -539.7 97.32 - - 2638.50 - - - - - - - - - 15.49 -
19334.48 311.26 7.36 2216 19340.84 done 0.94 - - 2335.69 - 2.77 0.081 2313.88 524.2 97.32 - - 2638.84 - - - - - - - - - 15.35 -
19649.53 287.78 7.40 2248 19655.81 done 0.96 - - 2339.00 - 2.69 0.061 859.00 -540.8 97.32 - - 2638.53 - - - - - - - - - 15.48 -
19699.54 284.09 7.37 2258 19705.87 done 0.98 - - 2338.75 - 2.77 0.079 2314.44 525.4 97.32 - - 2640.19 - - - - - - - - - 15.35 -
20009.57 260.17 7.75 2290 20015.85 done 0.99 - - 2350.81 - 2.68 0.058 863.00 -541.6 97.32 - - 2637.94 - - - - - - - - - 15.49 -
20199.68 245.76 7.42 2328 20205.98 done 1.01 - - 2350.38 - 2.81 0.079 2315.25 516.8 97.32 - - 2639.19 - - - - - - - - - 14.62 -
20509.62 223.93 7.03 2360 20511.19 VBD 1.04 - - 2350.38 - - - 2315.50 - 97.32 - - 2637.03 - - - - - - - - - - -
20819.61 201.23 8.20 2391 20821.17 VBD 1.04 - - 2350.50 - - - 2315.44 - 97.32 - - 2636.94 - - - - - - - - - - -
21129.69 176.69 7.85 2422 21136.77 done 1.05 - - 2359.50 - 2.71 0.057 860.12 -537.0 97.32 - - 2639.66 - - - - - - - - - 15.35 -
21229.70 169.39 7.00 2442 21236.77 done 1.08 - - 2358.88 - 2.78 0.078 2313.56 522.8 97.32 - - 2639.28 - - - - - - - - - 15.30 -
21539.76 148.94 6.09 2474 21546.93 1.13 0.12 0.074 2470.56 930.7 2.70 0.057 861.69 -537.7 97.32 - - 2639.16 - - - - - - - - 15.55 15.36 -
21574.75 146.34 6.68 2481 21582.06 1.17 0.28 0.322 2406.00 -230.6 2.78 0.077 2317.25 523.6 97.32 - - 2640.28 - - - - - - - - 14.62 15.31 -
21889.83 124.60 6.53 2513 21896.86 done 1.21 - - 2418.12 - 2.69 0.054 858.50 -542.3 97.32 - - 2639.59 - - - - - - - - - 15.46 -
21914.82 123.17 6.28 2518 21921.92 done 1.25 - - 2418.38 - 2.77 0.077 2315.31 525.9 97.32 - - 2640.41 - - - - - - - - - 15.32 -
22229.90 104.58 5.90 2550 22237.17 1.30 0.10 0.078 2491.06 726.8 2.63 0.131 3725.62 536.2 97.32 - - 2639.88 - - - - - - - - 15.56 15.11 -
22464.98 91.88 4.67 2597 22524.44 done 1.38 - - 2501.56 - 2.41 0.032 2248.44 -612.9 162.31 49.96 1.243 2388.47 -5.0 0.066 - - - - - - - 15.47 11.30
22707.03 65.97 9.92 2645 22714.06 roll 1.38 - - 2513.50 - 2.55 0.055 858.69 -545.0 162.31 - - 2380.66 - - - - - - - - - 15.43 -
22737.15 63.17 9.15 2651 22744.31 1.38 0.17 0.316 2474.31 -230.5 2.79 0.079 2317.75 523.0 162.31 - - 2379.72 - - - - - - - - 15.01 15.34 -
22927.10 46.19 8.67 2689 22934.24 done 1.38 - - 2484.94 - 2.72 0.056 859.06 -536.3 162.31 - - 2378.72 - - - - - - - - - 14.72 -
23127.22 30.90 6.77 2729 23134.31 done 1.41 - - 2485.69 - 2.77 0.076 2314.69 525.5 162.31 - - 2377.81 - - - - - - - - - 15.38 -
23317.26 16.20 8.31 2767 23324.54 done 1.41 - - 2496.94 - 2.72 0.056 860.69 -534.6 162.31 - - 2377.16 - - - - - - - - - 14.72 -
23467.29 3.74 8.15 2797 23474.95 done 1.41 - - 2496.88 - 2.79 0.077 2315.00 521.3 162.31 - - 2376.91 - - - - - - - - - 14.70 -
23493 end climb: SURFACE_DEPTH_REACHED
23493 begin surface coast
23523 end surface coast: CONTROL_FINISHED_OK
23523 begin surface
SM 1.23 - - - - 168.2 119.21 1.123 1723.2 14.5 7.10 0.123 1805.4 254.3 - 0.63 0.117 1641.1 2600.5 -2.794 - - 11.62 15.27 15.45 -