SMODE Aug22 * SG219 * Dive index * Mission links * Dive 138 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 42.12 of 310.00 AH used of 24V (86.41% remains)
• Surface angle -70.0 deg, depth 1.22 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 605.17 (SM_CC=605.40039)
• GPS1 time: 32 s
• GPS2 time: 3 s • Transponder ping count: 35
• 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
14.91 - - - 67.52 VBD -0.65 - - 165.88 - - - 2822.12 - -97.32 50.63 0.005 2658.72 - - - - - - - - - - 15.49
67.77 2.05 -1.82 10 106.15 -0.65 8.46 0.362 2080.62 226.3 2.63 0.028 1291.62 -581.9 -97.32 22.36 0.006 3363.22 31.5 -1.830 - - - - - - 15.44 15.60 15.60
148.19 13.48 -17.90 26 154.46 roll -0.65 - - 2071.19 - 2.67 0.042 2774.81 555.5 -97.32 - - 3367.69 - - - - - - - - - 15.74 -
338.26 39.98 -11.33 64 344.17 roll -0.65 - - 2063.31 - 1.75 0.063 3848.94 613.8 -97.32 - - 3366.81 - - - - - - - - - 15.78 -
408.26 48.43 -11.86 78 414.17 roll -0.65 - - 2063.12 - 1.77 0.015 2640.44 -682.8 -97.32 - - 3368.44 - - - - - - - - - 15.69 -
598.29 72.63 -13.45 116 604.35 roll -0.65 - - 2054.00 - 2.05 0.064 3850.94 590.5 -97.32 - - 3368.53 - - - - - - - - - 15.84 -
678.29 83.47 -12.46 132 684.60 roll -0.65 - - 2054.25 - 1.78 0.016 2646.12 -676.9 -97.32 - - 3367.81 - - - - - - - - - 15.75 -
868.32 107.84 -12.95 164 874.23 roll -0.65 - - 2054.12 - 2.30 0.023 1289.00 -590.1 -97.32 - - 3369.78 - - - - - - - - - 15.71 -
948.33 119.00 -14.14 180 954.31 roll -0.65 - - 2043.69 - 2.66 0.041 2774.38 558.4 -97.32 - - 3369.06 - - - - - - - - - 15.75 -
1258.40 162.64 -13.62 212 1264.38 roll back -0.65 0.14 0.251 2084.31 290.1 2.54 0.022 1288.38 -585.0 -97.32 - - 3368.34 - - - - - - - - 15.82 15.91 -
1288.35 166.09 -12.27 218 1294.34 roll -0.65 - - 2075.06 - 2.65 0.039 2775.12 561.0 -97.32 - - 3368.84 - - - - - - - - - 15.94 -
1598.43 199.89 -10.82 250 1604.20 roll -0.65 - - 2066.69 - 1.75 0.065 3849.81 614.1 -97.32 - - 3365.72 - - - - - - - - - 15.95 -
1708.39 211.77 -10.64 272 1712.69 roll -0.65 - - 2067.12 - 1.76 0.017 2648.38 -682.6 -97.32 - - 3366.12 - - - - - - - - - 16.03 -
2018.41 245.18 -10.72 304 2019.75 no move -0.65 - - 2066.44 - - - 2635.25 - -97.32 - - 3363.59 - - - - - - - - - - -
2328.42 279.94 -11.34 335 2329.76 no move -0.65 - - 2066.75 - - - 2635.50 - -97.32 - - 3362.69 - - - - - - - - - - -
2638.43 315.13 -11.00 366 2643.57 roll -0.65 - - 2057.56 - 2.04 0.066 3850.44 595.6 -97.32 - - 3361.38 - - - - - - - - - 16.09 -
2688.43 320.91 -11.60 376 2692.73 roll -0.65 - - 2057.38 - 1.77 0.017 2651.50 -677.4 -97.32 - - 3361.78 - - - - - - - - - 16.05 -
2998.45 356.81 -11.86 408 3003.59 roll -0.65 - - 2048.44 - 2.03 0.066 3848.75 589.8 -97.32 - - 3359.94 - - - - - - - - - 16.09 -
3028.45 360.55 -12.45 414 3032.89 roll back -0.65 0.12 0.227 2083.31 290.6 1.76 0.017 2643.38 -684.9 -97.32 - - 3359.09 - - - - - - - - 15.98 16.11 -
3338.48 392.95 -10.43 446 3343.74 roll -0.65 - - 2083.00 - 2.31 0.027 1293.38 -584.4 -97.32 - - 3358.59 - - - - - - - - - 15.38 -
3388.49 398.06 -10.07 456 3393.80 roll -0.65 - - 2073.62 - 2.65 0.042 2775.25 559.2 -97.32 - - 3357.56 - - - - - - - - - 16.11 -
3698.57 429.21 -9.65 488 3702.87 roll -0.65 - - 2065.19 - 1.75 0.068 3849.69 614.0 -97.32 - - 3358.19 - - - - - - - - - 16.09 -
3733.24 432.60 -9.63 495 3735.98 roll -0.65 - - 2065.56 - 1.76 0.018 2651.00 -681.1 -97.32 - - 3356.53 - - - - - - - - - 16.11 -
4043.52 461.80 -9.44 526 4048.76 roll -0.65 - - 2065.81 - 2.30 0.025 1290.94 -591.3 -97.32 - - 3356.78 - - - - - - - - - 16.13 -
4093.53 466.50 -9.30 536 4098.84 roll -0.65 - - 2054.88 - 2.66 0.041 2774.75 557.8 -97.32 - - 3356.12 - - - - - - - - - 16.12 -
4403.60 499.20 -11.28 568 4407.91 roll -0.65 - - 2047.25 - 1.75 0.068 3850.69 614.8 -97.32 - - 3353.12 - - - - - - - - - 16.09 -
4458.29 505.92 -12.27 579 4461.17 roll back -0.65 0.12 0.229 2084.31 308.8 1.76 0.018 2653.88 -680.0 -97.32 - - 3352.44 - - - - - - - - 15.96 16.12 -
4768.57 536.91 -9.73 610 4769.91 no move -0.65 - - 2083.25 - - - 2632.69 - -97.32 - - 3351.75 - - - - - - - - - - -
5078.57 565.47 -8.86 641 5083.70 roll -0.65 - - 2076.75 - 2.03 0.069 3851.06 600.2 -97.32 - - 3353.22 - - - - - - - - - 16.10 -
5108.57 568.24 -8.99 647 5112.87 roll -0.65 - - 2076.31 - 1.76 0.019 2647.81 -683.7 -97.32 - - 3352.56 - - - - - - - - - 16.12 -
5418.59 595.56 -8.73 679 5423.72 roll -0.65 - - 2068.38 - 2.03 0.068 3849.25 591.8 -97.32 - - 3351.84 - - - - - - - - - 16.09 -
5478.60 601.00 -9.06 691 5482.90 roll -0.65 - - 2067.88 - 1.76 0.019 2646.19 -683.6 -97.32 - - 3350.28 - - - - - - - - - 16.11 -
5788.64 627.95 -8.68 723 5792.99 roll -0.65 - - 2059.25 - 2.01 0.067 3849.00 598.4 -97.32 - - 3348.34 - - - - - - - - - 16.10 -
5823.38 631.11 -8.90 730 5826.12 roll -0.65 - - 2059.12 - 1.76 0.019 2655.44 -678.2 -97.32 - - 3347.53 - - - - - - - - - 16.12 -
6133.67 658.25 -8.71 761 6135.00 no move -0.65 - - 2059.62 - - - 2642.75 - -97.32 - - 3346.53 - - - - - - - - - - -
6443.68 686.60 -9.30 792 6448.03 roll -0.65 - - 2049.06 - 2.01 0.068 3848.56 599.9 -97.32 - - 3345.69 - - - - - - - - - 16.10 -
6563.71 698.86 -10.42 816 6568.15 roll back -0.65 0.12 0.228 2083.75 289.1 1.75 0.019 2648.06 -686.0 -97.32 - - 3346.06 - - - - - - - - 15.99 16.11 -
6873.71 726.24 -8.69 848 6878.84 roll -0.65 - - 2076.62 - 2.03 0.069 3849.12 591.7 -97.32 - - 3344.19 - - - - - - - - - 16.06 -
6928.46 731.32 -9.36 859 6931.20 roll -0.65 - - 2076.00 - 1.77 0.019 2655.31 -674.5 -97.32 - - 3343.16 - - - - - - - - - 16.11 -
7238.74 758.15 -8.09 890 7243.99 roll -0.65 - - 2076.06 - 2.32 0.026 1290.75 -588.2 -97.32 - - 3345.75 - - - - - - - - - 16.11 -
7278.74 761.40 -8.18 898 7284.05 roll -0.65 - - 2065.62 - 2.65 0.042 2776.06 560.5 -97.32 - - 3344.19 - - - - - - - - - 15.83 -
7588.82 786.52 -7.99 930 7590.15 no move -0.65 - - 2065.56 - - - 2776.38 - -97.32 - - 3342.19 - - - - - - - - - - -
7898.82 811.48 -8.27 961 7904.07 roll -0.65 - - 2064.75 - 2.55 0.025 1294.88 -581.0 -97.32 - - 3342.78 - - - - - - - - - 16.10 -
7928.77 814.00 -8.38 967 7934.09 roll -0.65 - - 2055.62 - 2.66 0.041 2774.44 556.2 -97.32 - - 3342.53 - - - - - - - - - 16.10 -
8238.85 840.41 -8.68 999 8244.08 roll -0.65 - - 2055.62 - 2.56 0.024 1288.06 -580.6 -97.32 - - 3343.56 - - - - - - - - - 15.83 -
8273.54 843.45 -8.69 1006 8279.32 roll -0.65 - - 2046.12 - 2.68 0.043 2773.38 554.2 -97.32 - - 3341.34 - - - - - - - - - 16.11 -
8588.87 871.51 -8.79 1038 8594.16 roll back -0.65 0.13 0.248 2083.06 284.2 2.55 0.025 1289.75 -581.8 -97.32 - - 3340.50 - - - - - - - - 15.94 15.97 -
8628.82 874.56 -7.93 1046 8634.13 roll -0.65 - - 2074.38 - 2.68 0.042 2773.69 553.7 -97.32 - - 3342.06 - - - - - - - - - 15.81 -
8938.88 897.48 -7.40 1078 8940.22 no move -0.65 - - 2074.38 - - - 2773.12 - -97.32 - - 3339.72 - - - - - - - - - - -
9249.08 920.77 -7.65 1109 9254.13 roll -0.65 - - 2073.94 - 2.55 0.025 1290.31 -581.5 -97.32 - - 3341.03 - - - - - - - - - 16.05 -
9328.84 926.90 -7.65 1125 9334.17 roll -0.65 - - 2064.06 - 2.67 0.043 2772.75 555.2 -97.32 - - 3340.19 - - - - - - - - - 16.10 -
9638.94 952.80 -8.54 1157 9640.28 no move -0.65 - - 2065.00 - - - 2773.38 - -97.32 - - 3338.53 - - - - - - - - - - -
9948.87 980.78 -9.13 1188 9954.18 roll -0.65 - - 2064.12 - 2.56 0.024 1290.06 -579.4 -97.32 - - 3339.41 - - - - - - - - - 15.80 -
10008.89 986.38 -9.19 1200 10014.20 roll -0.65 - - 2055.31 - 2.70 0.043 2772.94 549.2 -97.32 - - 3338.91 - - - - - - - - - 15.79 -
10049 end dive: TARGET_DEPTH_EXCEEDED
10049 begin apogee
10050.65 990.07 -9.27 1205 10134.79 -0.12 0.67 0.213 2252.62 294.5 0.23 0.104 2423.44 -1519.6 - 82.64 2.375 2969.53 -4.5 0.317 - - - - - - 15.94 15.21 12.06
10136 end apogee: CONTROL_FINISHED_OK
10136 begin climb
10136.12 992.39 - 1213 10234.87 0.65 0.78 0.117 2514.56 335.8 2.82 0.035 950.62 -522.3 97.32 91.56 2.307 2569.44 -4.4 0.320 - - - - - - 15.27 15.01 12.14
10277.73 985.85 7.45 1241 10283.07 roll 0.67 - - 2514.50 - 2.84 0.037 2426.00 519.5 97.32 - - 2566.53 - - - - - - - - - 15.28 -
10587.72 958.06 9.53 1273 10589.05 VBD 0.67 - - 2514.00 - - - 2425.50 - 97.32 - - 2555.91 - - - - - - - - - - -
10897.73 927.93 9.76 1304 10903.05 done 0.67 - - 2525.00 - 2.65 0.030 948.12 -557.5 97.32 - - 2555.06 - - - - - - - - - 15.91 -
10912.48 926.50 9.71 1307 10918.28 done 0.67 - - 2525.38 - 2.72 0.035 2428.75 544.3 97.32 - - 2554.28 - - - - - - - - - 15.90 -
11227.75 895.32 9.58 1339 11233.07 done 0.67 - - 2535.56 - 2.63 0.030 945.19 -564.1 97.32 - - 2552.97 - - - - - - - - - 15.34 -
11272.51 891.01 9.59 1348 11278.31 done 0.67 - - 2536.31 - 2.71 0.034 2428.56 547.4 97.32 - - 2552.75 - - - - - - - - - 15.98 -
11587.76 860.41 9.64 1380 11593.13 0.67 0.14 0.214 2503.62 -233.5 2.62 0.030 947.06 -565.5 97.32 - - 2551.88 - - - - - - - - 15.91 15.38 -
11597.77 859.53 9.60 1382 11603.09 done 0.67 - - 2503.19 - 2.68 0.033 2431.44 553.9 97.32 - - 2553.09 - - - - - - - - - 15.80 -
11907.84 833.94 8.18 1414 11913.10 done 0.67 - - 2515.88 - 2.63 0.029 948.12 -564.0 97.32 - - 2550.94 - - - - - - - - - 15.37 -
11932.53 831.93 8.15 1419 11938.33 done 0.67 - - 2515.69 - 2.68 0.032 2431.25 553.4 97.32 - - 2551.66 - - - - - - - - - 16.04 -
12247.79 805.17 8.69 1451 12249.13 VBD 0.67 - - 2515.38 - - - 2432.12 - 97.32 - - 2549.12 - - - - - - - - - - -
12557.81 778.21 8.66 1482 12563.13 done 0.67 - - 2527.50 - 2.63 0.029 946.69 -564.8 97.32 - - 2550.22 - - - - - - - - - 15.44 -
12587.82 775.62 8.70 1488 12593.13 done 0.67 - - 2526.56 - 2.69 0.032 2432.75 552.4 97.32 - - 2549.47 - - - - - - - - - 15.82 -
12897.91 747.84 8.79 1520 12903.15 done 0.67 - - 2538.94 - 2.65 0.029 946.19 -561.0 97.32 - - 2551.47 - - - - - - - - - 15.44 -
12907.84 747.00 8.74 1522 12913.21 0.67 0.14 0.240 2496.12 -305.9 2.69 0.031 2437.69 554.5 97.32 - - 2550.09 - - - - - - - - 15.94 16.07 -
13217.87 723.31 7.42 1554 13223.17 done 0.69 - - 2507.00 - 2.66 0.029 946.88 -560.5 97.32 - - 2548.72 - - - - - - - - - 15.40 -
13227.87 722.59 7.38 1556 13233.17 done 0.71 - - 2506.69 - 2.68 0.032 2434.38 555.0 97.32 - - 2548.72 - - - - - - - - - 16.07 -
13537.94 696.81 8.44 1588 13543.18 done 0.71 - - 2519.06 - 2.65 0.029 947.25 -561.2 97.32 - - 2549.06 - - - - - - - - - 15.42 -
13552.62 695.56 8.36 1591 13558.42 done 0.71 - - 2518.31 - 2.68 0.032 2432.88 554.3 97.32 - - 2548.47 - - - - - - - - - 16.08 -
13867.90 669.09 7.53 1623 13873.13 done 0.73 - - 2519.44 - 2.25 0.063 3840.56 625.6 97.32 - - 2546.59 - - - - - - - - - 16.06 -
13937.89 662.86 8.99 1637 13943.16 done 0.73 - - 2529.88 - 2.33 0.020 2319.25 -652.9 97.32 - - 2549.62 - - - - - - - - - 15.18 -
14247.99 637.77 7.94 1669 14253.20 done 0.74 - - 2530.38 - 2.57 0.062 3839.12 591.4 97.32 - - 2549.84 - - - - - - - - - 16.07 -
14317.93 631.47 9.08 1683 14323.18 done 0.74 - - 2540.25 - 2.33 0.019 2315.69 -653.8 97.32 - - 2546.31 - - - - - - - - - 16.07 -
14628.01 606.89 7.83 1715 14633.23 done 0.76 - - 2541.88 - 2.56 0.061 3841.19 595.9 97.32 - - 2546.78 - - - - - - - - - 15.80 -
14702.69 600.11 9.23 1730 14708.42 done 0.76 - - 2552.94 - 2.33 0.019 2320.50 -652.7 97.32 - - 2546.91 - - - - - - - - - 15.39 -
15018.03 573.58 8.31 1762 15023.25 done 0.76 - - 2553.44 - 2.60 0.061 3839.56 584.3 97.32 - - 2546.75 - - - - - - - - - 15.80 -
15037.96 571.70 8.53 1766 15043.22 done 0.76 - - 2564.69 - 2.34 0.020 2324.00 -647.7 97.32 - - 2546.88 - - - - - - - - - 15.42 -
15348.05 543.72 9.61 1798 15353.32 0.76 0.15 0.243 2522.69 -280.0 2.58 0.061 3838.62 587.1 97.32 - - 2547.62 - - - - - - - - 15.92 15.79 -
15447.99 533.98 9.72 1818 15453.24 done 0.76 - - 2531.00 - 2.34 0.020 2319.06 -649.4 97.32 - - 2548.31 - - - - - - - - - 15.36 -
15758.06 508.10 8.01 1850 15763.28 done 0.76 - - 2533.31 - 2.58 0.062 3838.69 589.0 97.32 - - 2545.28 - - - - - - - - - 16.07 -
15818.00 502.53 9.26 1862 15823.26 done 0.76 - - 2542.69 - 2.33 0.020 2319.12 -652.2 97.32 - - 2545.75 - - - - - - - - - 15.41 -
16128.07 477.45 8.14 1894 16129.41 VBD 0.76 - - 2544.31 - - - 2304.75 - 97.32 - - 2544.94 - - - - - - - - - - -
16438.00 452.29 8.24 1925 16443.31 done 0.76 - - 2543.62 - 2.60 0.062 3838.00 589.7 97.32 - - 2546.22 - - - - - - - - - 16.07 -
16508.03 445.74 9.37 1939 16513.28 done 0.76 - - 2553.00 - 2.34 0.018 2326.62 -645.9 97.32 - - 2546.16 - - - - - - - - - 16.08 -
16818.12 419.50 7.89 1971 16823.33 done 0.77 - - 2556.12 - 2.59 0.062 3839.50 584.1 97.32 - - 2545.91 - - - - - - - - - 15.78 -
16918.05 410.12 9.36 1991 16923.31 done 0.77 - - 2565.62 - 2.34 0.018 2326.75 -646.5 97.32 - - 2545.09 - - - - - - - - - 16.08 -
17228.14 384.08 8.26 2023 17229.60 0.77 0.14 0.246 2527.06 -275.4 - - 2312.00 - 97.32 - - 2544.03 - - - - - - - - 15.92 - -
17538.08 362.56 7.04 2054 17539.42 VBD 0.80 - - 2527.50 - - - 2311.38 - 97.32 - - 2544.56 - - - - - - - - - - -
17848.11 342.04 6.48 2085 17853.40 done 0.84 - - 2525.94 - 2.59 0.065 3839.88 590.2 97.32 - - 2547.00 - - - - - - - - - 16.07 -
17888.37 339.02 7.17 2093 17893.42 0.86 0.09 0.094 2604.62 874.2 2.35 0.019 2325.75 -644.3 97.32 - - 2548.06 - - - - - - - - 16.01 15.39 -
18198.16 312.98 8.15 2125 18203.51 0.86 0.19 0.274 2557.38 -248.6 2.59 0.061 3840.25 584.7 97.32 - - 2545.03 - - - - - - - - 15.87 15.78 -
18268.18 306.93 8.65 2139 18273.44 done 0.86 - - 2567.62 - 2.33 0.019 2319.00 -652.9 97.32 - - 2544.81 - - - - - - - - - 15.35 -
18578.29 283.10 7.43 2171 18579.63 VBD 0.88 - - 2568.25 - - - 2305.56 - 97.32 - - 2545.25 - - - - - - - - - - -
18888.26 257.92 9.04 2202 18893.55 done 0.88 - - 2568.56 - 2.59 0.063 3841.62 593.1 97.32 - - 2547.31 - - - - - - - - - 15.77 -
19078.29 238.63 9.95 2240 19083.56 done 0.88 - - 2578.62 - 2.34 0.019 2324.81 -648.2 97.32 - - 2545.53 - - - - - - - - - 15.38 -
19388.40 212.72 7.61 2272 19393.57 done 0.90 - - 2590.25 - 2.38 0.031 944.12 -580.1 97.32 - - 2546.84 - - - - - - - - - 15.36 -
19418.33 210.47 7.48 2278 19423.63 done 0.92 - - 2590.69 - 2.66 0.033 2436.12 560.9 97.32 - - 2546.53 - - - - - - - - - 16.04 -
19728.34 187.46 7.52 2310 19733.59 done 0.94 - - 2589.31 - 2.33 0.064 3839.31 602.2 97.32 - - 2545.44 - - - - - - - - - 15.76 -
19748.34 185.83 7.57 2314 19753.58 done 0.96 - - 2599.31 - 2.33 0.018 2320.25 -652.0 97.32 - - 2546.19 - - - - - - - - - 16.04 -
20058.42 165.85 6.02 2346 20059.76 VBD 1.00 - - 2601.19 - - - 2306.75 - 97.32 - - 2545.38 - - - - - - - - - - -
20368.37 146.76 6.70 2377 20369.71 VBD 1.04 - - 2601.50 - - - 2306.31 - 97.32 - - 2545.69 - - - - - - - - - - -
20678.38 125.04 7.14 2408 20683.67 done 1.07 - - 2601.62 - 2.61 0.062 3840.38 587.8 97.32 - - 2546.50 - - - - - - - - - 15.92 -
20823.21 114.20 7.31 2437 20828.95 1.09 0.08 0.113 2659.00 717.3 2.36 0.017 2296.00 -654.4 97.32 - - 2547.47 - - - - - - - - 15.93 15.76 -
21133.43 91.12 7.55 2479 21139.00 done 1.11 - - 2658.69 - 2.61 0.058 3840.88 591.9 97.32 - - 2547.53 - - - - - - - - - 15.90 -
21258.44 81.38 6.95 2504 21263.94 done 1.14 - - 2669.94 - 2.36 0.016 2291.06 -656.7 97.32 - - 2547.91 - - - - - - - - - 15.74 -
21448.44 72.84 3.68 2542 21512.23 done 1.24 - - 2670.31 - 2.68 0.060 3839.81 577.9 178.47 59.11 1.175 2236.81 -5.3 0.055 - - - - - - - 15.57 12.05
21639.28 51.42 13.67 2580 21644.83 done 1.24 - - 2679.88 - 2.39 0.019 2329.38 -632.0 178.47 - - 2232.59 - - - - - - - - - 15.24 -
21829.31 35.41 4.21 2618 21887.01 1.34 0.10 0.075 2748.25 683.7 2.46 0.033 945.50 -562.6 250.57 53.74 1.092 1942.72 -5.4 0.030 - - - - - - 15.79 15.09 12.10
21909.38 33.48 2.46 2634 21988.45 done 1.47 - - 2749.12 - 2.72 0.030 2435.94 548.0 352.42 74.39 1.052 1532.22 -5.5 0.030 - - - - - - - 15.63 12.07
22111 end climb: SURFACE_DEPTH_REACHED
22111 begin surface coast
22126 end surface coast: CONTROL_FINISHED_OK
22126 begin surface
SM 0.95 - - - - 223.7 167.84 1.013 500.9 2.5 7.31 0.066 523.8 71.7 - 0.53 0.060 478.1 896.9 -1.452 - - 12.15 15.65 15.69 -