SMODE Aug22 * SG219 * Dive index * Mission links * Dive 147 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 45.49 of 310.00 AH used of 24V (85.32% remains)
• Surface angle -65.0 deg, depth 1.11 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 350.64 (SM_CC=350)
• GPS1 time: 57 s
• GPS2 time: 2 s • Transponder ping count: 30
• 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
14.96 - - - 67.57 VBD -0.65 - - 101.38 - - - 2586.31 - -97.32 50.71 0.005 2583.16 - - - - - - - - - - 15.48
67.82 2.25 -2.46 10 108.95 -0.65 8.75 0.362 2073.75 225.4 2.13 0.066 3849.06 592.8 -97.32 24.15 0.006 3366.12 32.4 -2.068 - - - - - - 15.38 15.53 15.54
291.10 43.20 -14.71 55 297.01 roll -0.65 - - 2074.38 - 1.78 0.015 2658.50 -668.9 -97.32 - - 3368.03 - - - - - - - - - 15.80 -
481.15 69.81 -13.54 93 483.85 no move -0.65 - - 2074.88 - - - 2647.38 - -97.32 - - 3368.53 - - - - - - - - - - -
666.20 95.40 -12.69 130 668.99 no move -0.65 - - 2072.12 - - - 2646.75 - -97.32 - - 3370.34 - - - - - - - - - - -
856.21 118.60 -12.26 153 862.20 roll -0.65 - - 2063.69 - 2.03 0.066 3849.31 592.4 -97.32 - - 3371.31 - - - - - - - - - 15.88 -
976.22 133.91 -12.58 177 981.89 roll -0.65 - - 2063.44 - 1.77 0.016 2649.81 -677.7 -97.32 - - 3371.47 - - - - - - - - - 15.91 -
1286.24 170.77 -11.76 209 1292.36 roll -0.65 - - 2055.50 - 2.03 0.065 3846.94 589.7 -97.32 - - 3371.75 - - - - - - - - - 15.93 -
1320.98 175.07 -12.43 216 1326.90 roll -0.65 - - 2055.12 - 1.76 0.017 2641.19 -685.1 -97.32 - - 3371.69 - - - - - - - - - 15.95 -
1636.26 212.38 -11.99 248 1641.39 roll -0.65 - - 2046.31 - 2.02 0.065 3848.50 597.7 -97.32 - - 3371.28 - - - - - - - - - 15.98 -
1691.00 219.40 -12.84 259 1693.90 roll back -0.65 0.12 0.224 2082.81 304.2 1.76 0.017 2635.81 -689.0 -97.32 - - 3369.22 - - - - - - - - 15.89 16.01 -
2001.29 252.00 -9.81 290 2006.42 roll -0.65 - - 2075.56 - 2.07 0.066 3850.50 586.8 -97.32 - - 3369.56 - - - - - - - - - 15.99 -
2081.30 260.50 -10.66 306 2085.61 roll -0.65 - - 2075.88 - 1.76 0.017 2644.56 -685.2 -97.32 - - 3369.22 - - - - - - - - - 16.04 -
2391.32 293.33 -10.38 338 2396.45 roll -0.65 - - 2066.50 - 2.03 0.066 3848.38 593.0 -97.32 - - 3368.06 - - - - - - - - - 16.02 -
2446.05 299.31 -10.79 349 2448.80 roll -0.65 - - 2065.38 - 1.76 0.017 2650.19 -680.8 -97.32 - - 3369.47 - - - - - - - - - 16.05 -
2756.34 331.05 -9.87 380 2761.47 roll -0.65 - - 2056.62 - 2.02 0.066 3848.62 593.3 -97.32 - - 3367.03 - - - - - - - - - 16.06 -
2826.35 338.48 -10.61 394 2830.65 roll -0.65 - - 2056.81 - 1.76 0.017 2637.81 -688.0 -97.32 - - 3368.81 - - - - - - - - - 16.05 -
3136.37 371.67 -11.04 426 3141.50 roll -0.65 - - 2048.00 - 2.02 0.066 3848.94 599.6 -97.32 - - 3365.22 - - - - - - - - - 16.06 -
3251.13 385.08 -12.08 449 3254.02 roll back -0.65 0.12 0.222 2083.94 299.5 1.76 0.017 2637.56 -688.3 -97.32 - - 3364.53 - - - - - - - - 15.96 16.08 -
3561.41 415.66 -9.88 480 3566.53 roll -0.65 - - 2077.25 - 2.05 0.068 3848.38 590.6 -97.32 - - 3364.12 - - - - - - - - - 16.05 -
3576.14 417.22 -10.01 483 3578.88 roll -0.65 - - 2076.75 - 1.75 0.018 2653.19 -683.0 -97.32 - - 3366.16 - - - - - - - - - 16.04 -
3886.42 447.64 -9.44 514 3890.77 roll -0.65 - - 2066.94 - 2.01 0.068 3850.06 595.5 -97.32 - - 3362.69 - - - - - - - - - 16.08 -
3986.43 457.75 -10.14 534 3990.74 roll -0.65 - - 2068.12 - 1.76 0.018 2642.50 -686.1 -97.32 - - 3362.53 - - - - - - - - - 16.09 -
4296.48 486.87 -9.59 566 4300.82 roll -0.65 - - 2057.69 - 2.00 0.067 3848.88 603.2 -97.32 - - 3360.78 - - - - - - - - - 16.04 -
4316.44 488.91 -9.77 570 4320.73 roll -0.65 - - 2059.81 - 1.75 0.019 2642.38 -689.4 -97.32 - - 3362.53 - - - - - - - - - 16.10 -
4626.47 521.38 -10.64 602 4631.58 roll -0.65 - - 2049.06 - 2.00 0.068 3848.19 602.9 -97.32 - - 3362.09 - - - - - - - - - 16.05 -
4716.47 531.68 -11.80 620 4720.94 roll back -0.65 0.12 0.220 2083.19 284.4 1.75 0.019 2637.81 -691.6 -97.32 - - 3361.94 - - - - - - - - 15.95 16.06 -
5026.51 562.69 -10.14 652 5027.85 no move -0.65 - - 2083.75 - - - 2625.69 - -97.32 - - 3358.19 - - - - - - - - - - -
5336.50 594.34 -10.05 683 5341.64 roll -0.65 - - 2076.75 - 2.02 0.069 3850.56 606.4 -97.32 - - 3360.41 - - - - - - - - - 16.08 -
5396.51 600.70 -10.63 695 5400.81 roll -0.65 - - 2076.00 - 1.76 0.020 2646.06 -684.4 -97.32 - - 3356.97 - - - - - - - - - 16.10 -
5706.54 631.79 -9.48 727 5710.88 roll -0.65 - - 2067.75 - 1.99 0.068 3848.44 604.2 -97.32 - - 3357.06 - - - - - - - - - 16.04 -
5766.54 637.89 -10.13 739 5770.84 roll -0.65 - - 2067.81 - 1.75 0.019 2644.25 -688.1 -97.32 - - 3358.75 - - - - - - - - - 16.06 -
6076.56 667.82 -9.50 771 6080.90 roll -0.65 - - 2059.31 - 2.00 0.068 3849.81 602.8 -97.32 - - 3355.56 - - - - - - - - - 16.08 -
6116.55 671.74 -9.81 779 6120.85 roll -0.65 - - 2058.44 - 1.75 0.019 2641.88 -690.2 -97.32 - - 3358.16 - - - - - - - - - 16.09 -
6426.58 700.30 -9.10 811 6430.93 roll -0.65 - - 2048.75 - 2.01 0.068 3849.50 600.8 -97.32 - - 3355.62 - - - - - - - - - 16.04 -
6486.58 706.10 -9.62 823 6491.03 roll back -0.65 0.12 0.222 2082.62 282.2 1.75 0.019 2644.81 -688.4 -97.32 - - 3357.38 - - - - - - - - 15.96 16.05 -
6796.60 729.26 -7.23 855 6801.73 roll -0.65 - - 2076.31 - 2.04 0.069 3848.88 590.2 -97.32 - - 3356.75 - - - - - - - - - 16.08 -
6836.59 732.34 -7.47 863 6840.90 roll -0.65 - - 2075.69 - 1.75 0.020 2646.00 -687.4 -97.32 - - 3355.69 - - - - - - - - - 16.09 -
7146.62 755.83 -7.75 895 7150.97 roll -0.65 - - 2067.00 - 2.01 0.069 3849.19 598.6 -97.32 - - 3353.34 - - - - - - - - - 16.03 -
7181.35 758.77 -8.00 902 7184.10 roll -0.65 - - 2067.38 - 1.76 0.020 2652.25 -680.1 -97.32 - - 3353.34 - - - - - - - - - 16.09 -
7491.63 784.51 -8.48 933 7495.97 roll -0.65 - - 2057.12 - 2.00 0.068 3848.38 598.1 -97.32 - - 3353.53 - - - - - - - - - 16.03 -
7511.62 786.30 -8.68 937 7515.92 roll -0.65 - - 2058.06 - 1.75 0.020 2644.25 -688.1 -97.32 - - 3355.47 - - - - - - - - - 16.08 -
7821.64 813.99 -8.88 969 7825.98 roll -0.65 - - 2049.50 - 2.00 0.069 3848.38 602.1 -97.32 - - 3352.97 - - - - - - - - - 16.03 -
7846.38 816.36 -9.15 974 7849.28 roll back -0.65 0.12 0.216 2083.62 284.3 1.76 0.020 2649.44 -681.2 -97.32 - - 3351.81 - - - - - - - - 15.95 16.08 -
8156.66 841.69 -8.28 1005 8161.01 roll -0.65 - - 2075.69 - 2.02 0.070 3848.31 593.5 -97.32 - - 3354.34 - - - - - - - - - 16.07 -
8211.39 846.52 -8.81 1016 8214.14 roll -0.65 - - 2076.44 - 1.77 0.019 2652.94 -675.4 -97.32 - - 3351.78 - - - - - - - - - 16.04 -
8521.67 873.14 -8.67 1047 8526.00 roll -0.65 - - 2068.00 - 2.00 0.070 3850.50 598.8 -97.32 - - 3352.34 - - - - - - - - - 16.07 -
8561.66 876.79 -9.13 1055 8565.97 roll -0.65 - - 2067.44 - 1.76 0.019 2645.44 -684.7 -97.32 - - 3352.78 - - - - - - - - - 16.08 -
8871.68 903.21 -8.37 1087 8876.02 roll -0.65 - - 2059.62 - 2.00 0.069 3848.69 601.6 -97.32 - - 3351.72 - - - - - - - - - 16.02 -
8926.42 908.12 -8.98 1098 8929.17 roll -0.65 - - 2059.44 - 1.77 0.020 2654.00 -675.0 -97.32 - - 3353.44 - - - - - - - - - 16.09 -
9236.70 934.73 -8.58 1129 9241.83 roll -0.65 - - 2049.00 - 2.02 0.069 3848.44 591.3 -97.32 - - 3353.06 - - - - - - - - - 16.07 -
9291.45 939.79 -9.25 1140 9294.34 roll back -0.65 0.12 0.222 2084.50 295.8 1.78 0.020 2653.06 -671.6 -97.32 - - 3350.38 - - - - - - - - 15.93 16.03 -
9601.72 963.08 -7.47 1171 9606.08 roll -0.65 - - 2076.50 - 2.01 0.070 3849.19 595.1 -97.32 - - 3351.53 - - - - - - - - - 16.06 -
9631.71 965.51 -7.77 1177 9636.01 roll -0.65 - - 2078.12 - 1.77 0.021 2645.62 -680.0 -97.32 - - 3351.03 - - - - - - - - - 16.07 -
9932 end dive: TARGET_DEPTH_EXCEEDED
9932 begin apogee
9932.98 990.31 -8.46 1208 10019.67 -0.12 0.58 0.191 2252.94 301.4 0.25 0.100 2437.69 -831.7 - 84.79 2.371 2965.38 -4.5 0.323 - - - - - - 15.95 15.20 11.94
10021 end apogee: CONTROL_FINISHED_OK
10021 begin climb
10021.06 992.50 - 1216 10119.59 0.65 0.78 0.110 2516.25 337.6 2.82 0.035 951.25 -527.1 97.32 91.28 2.296 2569.00 -4.3 0.319 - - - - - - 15.28 14.69 12.04
10172.51 985.66 7.19 1246 10177.76 roll 0.68 - - 2516.81 - 2.76 0.035 2427.12 534.7 97.32 - - 2566.38 - - - - - - - - - 15.39 -
10482.67 960.03 8.36 1278 10487.70 done 0.68 - - 2516.94 - 2.38 0.067 3838.94 593.2 97.32 - - 2558.19 - - - - - - - - - 15.75 -
10517.18 956.65 9.21 1285 10522.94 done 0.68 - - 2526.44 - 2.37 0.020 2326.75 -638.1 97.32 - - 2556.66 - - - - - - - - - 15.19 -
10832.54 929.29 8.62 1317 10837.75 done 0.68 - - 2537.06 - 2.40 0.031 948.31 -574.4 97.32 - - 2554.19 - - - - - - - - - 15.32 -
10892.48 924.22 8.40 1329 10897.80 done 0.68 - - 2537.94 - 2.67 0.033 2432.31 555.8 97.32 - - 2553.41 - - - - - - - - - 15.92 -
11202.50 896.33 9.17 1361 11207.76 done 0.68 - - 2537.50 - 2.34 0.066 3838.44 600.9 97.32 - - 2555.72 - - - - - - - - - 15.95 -
11257.25 890.71 10.27 1372 11263.23 done 0.68 - - 2548.56 - 2.36 0.019 2313.50 -646.2 97.32 - - 2552.31 - - - - - - - - - 15.95 -
11572.59 861.16 9.45 1404 11577.84 0.68 0.18 0.217 2505.62 -238.6 2.38 0.031 945.62 -574.7 97.32 - - 2552.12 - - - - - - - - 15.89 15.31 -
11612.52 858.08 8.15 1412 11617.84 done 0.68 - - 2505.00 - 2.67 0.033 2432.19 556.8 97.32 - - 2553.34 - - - - - - - - - 16.01 -
11922.55 834.97 7.60 1444 11927.80 done 0.69 - - 2504.81 - 2.34 0.067 3840.81 602.0 97.32 - - 2552.56 - - - - - - - - - 16.01 -
12017.29 826.39 9.04 1463 12023.03 done 0.69 - - 2516.62 - 2.35 0.020 2316.44 -648.7 97.32 - - 2550.28 - - - - - - - - - 15.35 -
12332.64 800.97 8.38 1495 12333.98 VBD 0.69 - - 2517.81 - - - 2302.56 - 97.32 - - 2548.81 - - - - - - - - - - -
12642.56 774.02 8.92 1526 12647.86 done 0.69 - - 2516.62 - 2.59 0.064 3839.12 593.3 97.32 - - 2552.00 - - - - - - - - - 16.05 -
12672.57 770.86 9.97 1532 12677.83 done 0.69 - - 2527.94 - 2.34 0.020 2321.44 -648.6 97.32 - - 2550.31 - - - - - - - - - 15.43 -
12982.65 741.45 9.36 1564 12987.87 done 0.69 - - 2528.62 - 2.60 0.064 3838.00 583.3 97.32 - - 2550.59 - - - - - - - - - 15.77 -
13072.59 731.76 10.91 1582 13077.86 done 0.69 - - 2540.62 - 2.35 0.018 2312.62 -649.1 97.32 - - 2548.94 - - - - - - - - - 15.81 -
13382.67 701.38 9.68 1614 13384.01 VBD 0.69 - - 2540.12 - - - 2298.38 - 97.32 - - 2547.84 - - - - - - - - - - -
13692.60 673.41 8.59 1645 13697.91 done 0.69 - - 2540.88 - 2.58 0.063 3840.19 597.6 97.32 - - 2549.31 - - - - - - - - - 16.05 -
13762.61 666.60 9.78 1659 13767.88 done 0.69 - - 2550.62 - 2.36 0.018 2312.00 -647.5 97.32 - - 2548.31 - - - - - - - - - 15.81 -
14072.70 640.54 8.34 1691 14077.95 0.69 0.17 0.223 2511.75 -228.6 2.36 0.031 945.44 -579.1 97.32 - - 2548.81 - - - - - - - - 15.94 15.34 -
14127.40 636.82 6.76 1702 14133.20 done 0.73 - - 2510.94 - 2.65 0.033 2431.56 560.8 97.32 - - 2547.62 - - - - - - - - - 16.05 -
14442.66 614.13 7.33 1734 14447.90 done 0.75 - - 2511.75 - 2.33 0.067 3838.19 603.7 97.32 - - 2547.00 - - - - - - - - - 16.05 -
14532.65 606.31 8.75 1752 14537.92 done 0.75 - - 2522.06 - 2.34 0.018 2321.62 -648.1 97.32 - - 2549.72 - - - - - - - - - 16.07 -
14842.73 580.78 8.10 1784 14844.07 VBD 0.75 - - 2522.56 - - - 2310.00 - 97.32 - - 2546.25 - - - - - - - - - - -
15152.68 556.00 7.82 1815 15157.97 done 0.76 - - 2522.38 - 2.58 0.066 3841.00 593.4 97.32 - - 2547.25 - - - - - - - - - 16.06 -
15247.43 547.20 9.35 1834 15253.17 done 0.76 - - 2533.69 - 2.35 0.019 2323.50 -645.7 97.32 - - 2546.75 - - - - - - - - - 15.37 -
15562.76 521.22 8.15 1866 15564.10 VBD 0.76 - - 2533.50 - - - 2310.38 - 97.32 - - 2546.00 - - - - - - - - - - -
15872.70 496.14 8.33 1897 15878.00 done 0.76 - - 2533.81 - 2.58 0.065 3839.06 592.5 97.32 - - 2547.00 - - - - - - - - - 16.05 -
15907.45 492.84 9.03 1904 15913.19 done 0.76 - - 2544.94 - 2.35 0.020 2321.25 -645.9 97.32 - - 2546.66 - - - - - - - - - 15.40 -
16222.81 465.58 8.80 1936 16228.02 done 0.76 - - 2546.00 - 2.58 0.064 3838.81 588.2 97.32 - - 2547.00 - - - - - - - - - 15.74 -
16262.72 461.59 10.08 1944 16267.99 done 0.76 - - 2555.56 - 2.33 0.018 2312.25 -655.2 97.32 - - 2547.00 - - - - - - - - - 16.07 -
16572.81 435.50 7.98 1976 16578.03 done 0.76 - - 2556.44 - 2.58 0.064 3839.00 591.8 97.32 - - 2549.56 - - - - - - - - - 16.05 -
16652.74 428.39 8.98 1992 16658.01 done 0.76 - - 2568.50 - 2.33 0.018 2311.94 -655.4 97.32 - - 2546.31 - - - - - - - - - 15.72 -
16962.84 405.56 7.38 2024 16968.01 done 0.78 - - 2579.12 - 2.35 0.031 944.38 -581.9 97.32 - - 2547.59 - - - - - - - - - 15.36 -
17037.51 400.04 7.38 2039 17043.31 done 0.81 - - 2578.88 - 2.65 0.032 2433.00 561.7 97.32 - - 2547.09 - - - - - - - - - 16.06 -
17352.77 375.21 7.54 2071 17354.20 VBD 0.83 - - 2579.06 - - - 2432.94 - 97.32 - - 2546.06 - - - - - - - - - - -
17662.78 351.61 7.80 2102 17664.12 VBD 0.84 - - 2578.75 - - - 2432.69 - 97.32 - - 2545.97 - - - - - - - - - - -
17972.77 326.32 8.20 2133 17978.02 done 0.84 - - 2577.75 - 2.30 0.066 3841.12 612.4 97.32 - - 2548.88 - - - - - - - - - 16.05 -
18057.53 318.36 9.32 2150 18063.29 done 0.84 - - 2589.81 - 2.34 0.019 2319.31 -650.3 97.32 - - 2548.53 - - - - - - - - - 15.39 -
18372.89 293.38 7.52 2182 18378.07 done 0.86 - - 2601.06 - 2.38 0.031 945.38 -577.3 97.32 - - 2546.91 - - - - - - - - - 15.30 -
18467.57 286.04 7.71 2201 18473.38 done 0.87 - - 2601.06 - 2.66 0.033 2431.88 558.8 97.32 - - 2547.16 - - - - - - - - - 16.06 -
18782.83 260.81 7.73 2233 18788.08 done 0.89 - - 2600.69 - 2.32 0.065 3839.62 606.8 97.32 - - 2548.53 - - - - - - - - - 16.05 -
18817.56 257.68 8.53 2240 18823.30 done 0.89 - - 2611.31 - 2.35 0.017 2318.94 -647.1 97.32 - - 2548.19 - - - - - - - - - 15.77 -
19132.92 232.60 7.38 2272 19138.21 0.91 0.15 0.270 2572.62 -257.9 2.61 0.062 3841.25 583.3 97.32 - - 2548.94 - - - - - - - - 15.83 15.73 -
19272.85 221.78 7.74 2300 19278.10 done 0.92 - - 2583.88 - 2.33 0.017 2315.00 -655.0 97.32 - - 2547.75 - - - - - - - - - 16.00 -
19583.00 201.36 6.65 2332 19584.34 VBD 0.96 - - 2584.62 - - - 2302.00 - 97.32 - - 2545.78 - - - - - - - - - - -
19892.88 177.92 7.54 2363 19898.16 done 0.98 - - 2585.44 - 2.58 0.063 3839.81 596.1 97.32 - - 2547.12 - - - - - - - - - 16.01 -
20042.96 165.13 8.88 2393 20048.14 done 0.98 - - 2595.62 - 2.34 0.018 2315.50 -651.4 97.32 - - 2547.56 - - - - - - - - - 16.02 -
20352.99 145.49 5.61 2425 20358.16 done 1.03 - - 2605.81 - 2.36 0.030 944.69 -580.9 97.32 - - 2548.72 - - - - - - - - - 15.24 -
20452.92 139.96 5.63 2445 20458.22 done 1.09 - - 2607.56 - 2.67 0.032 2434.44 558.0 97.32 - - 2548.66 - - - - - - - - - 15.72 -
20762.99 122.51 5.14 2477 20809.06 1.16 0.16 0.056 2710.62 644.1 2.36 0.063 3839.75 595.5 153.77 41.90 1.241 2338.41 -5.0 0.084 - - - - - - 15.87 15.66 12.02
20937.67 99.63 16.41 2512 20943.50 1.16 0.27 0.322 2656.31 -201.1 2.38 0.016 2334.25 -632.6 153.77 - - 2333.28 - - - - - - - - 15.66 15.79 -
21248.02 65.96 8.55 2574 21253.50 done 1.16 - - 2656.62 - 2.60 0.059 3842.88 580.2 153.77 - - 2330.84 - - - - - - - - - 15.65 -
21352.96 54.96 9.73 2595 21358.49 done 1.16 - - 2666.88 - 2.38 0.016 2303.25 -646.9 153.77 - - 2329.41 - - - - - - - - - 15.69 -
21542.98 43.93 5.58 2633 21548.49 done 1.22 - - 2677.38 - 2.37 0.028 941.00 -574.8 153.77 - - 2330.19 - - - - - - - - - 15.20 -
21778.01 32.74 3.98 2680 21839.80 1.32 0.10 0.074 2738.69 613.1 2.67 0.029 2438.94 561.0 229.77 56.54 1.088 2030.09 -5.3 0.027 - - - - - - 15.89 15.87 11.98
22023.02 13.62 7.31 2729 22028.52 done 1.34 - - 2738.50 - 2.35 0.059 3841.06 596.6 229.77 - - 2022.06 - - - - - - - - - 15.73 -
22148 end climb: SURFACE_DEPTH_REACHED
22148 begin surface coast
22173 end surface coast: CONTROL_FINISHED_OK
22173 begin surface
SM 0.89 - - - - 223.4 82.85 1.049 1538.6 18.6 7.26 0.067 1519.5 209.3 - 1.75 0.017 1557.6 888.7 -4.755 - - 12.13 15.80 15.86 -