SMODE Aug22 * SG219 * Dive index * Mission links * Dive 156 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 48.74 of 310.00 AH used of 24V (84.28% remains)
• Surface angle -69.7 deg, depth 1.10 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 350.30 (SM_CC=350)
• GPS1 time: 32 s
• GPS2 time: 2 s • Transponder ping count: 27
• 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
15.17 - - - 67.74 VBD -0.65 - - 185.62 - - - 2603.94 - -97.32 50.63 0.005 2588.97 - - - - - - - - - - 15.47
67.99 2.17 -2.18 10 109.06 -0.65 8.32 0.357 2081.62 227.9 2.29 0.027 1291.00 -573.3 -97.32 24.22 0.006 3364.56 32.0 -1.987 - - - - - - 15.39 15.53 15.53
131.10 11.01 -16.38 23 137.43 roll -0.65 - - 2072.12 - 2.69 0.041 2771.38 550.3 -97.32 - - 3365.41 - - - - - - - - - 15.60 -
321.17 43.29 -16.56 61 327.40 roll -0.65 - - 2070.81 - 2.58 0.024 1295.62 -572.0 -97.32 - - 3367.97 - - - - - - - - - 15.70 -
361.18 50.14 -16.88 69 367.49 roll -0.65 - - 2061.31 - 2.68 0.042 2771.12 550.6 -97.32 - - 3366.84 - - - - - - - - - 15.65 -
551.23 80.84 -15.52 107 557.47 roll -0.65 - - 2059.81 - 2.58 0.023 1294.06 -572.5 -97.32 - - 3370.00 - - - - - - - - - 15.79 -
641.26 93.22 -12.52 125 647.51 roll -0.65 - - 2050.50 - 2.68 0.040 2772.25 551.6 -97.32 - - 3369.69 - - - - - - - - - 15.64 -
831.27 117.07 -13.72 150 837.04 roll -0.65 - - 2042.75 - 1.77 0.066 3851.62 609.8 -97.32 - - 3370.53 - - - - - - - - - 15.85 -
921.29 129.67 -13.59 168 927.09 roll back -0.65 0.14 0.222 2084.06 295.1 1.77 0.015 2625.62 -692.7 -97.32 - - 3370.50 - - - - - - - - 15.80 15.88 -
1231.31 164.94 -11.53 200 1237.11 roll -0.65 - - 2076.81 - 2.09 0.066 3847.56 584.7 -97.32 - - 3371.41 - - - - - - - - - 15.92 -
1286.10 171.76 -12.33 211 1292.47 roll -0.65 - - 2077.06 - 1.77 0.016 2634.62 -685.3 -97.32 - - 3369.97 - - - - - - - - - 15.93 -
1601.34 209.85 -11.63 243 1606.46 roll -0.65 - - 2066.94 - 2.04 0.066 3848.31 594.9 -97.32 - - 3369.16 - - - - - - - - - 15.98 -
1681.34 219.56 -12.03 259 1685.65 roll -0.65 - - 2067.25 - 1.76 0.017 2645.19 -683.6 -97.32 - - 3369.31 - - - - - - - - - 16.00 -
1991.36 254.37 -10.79 291 1996.50 roll -0.65 - - 2058.00 - 2.03 0.066 3849.44 593.2 -97.32 - - 3368.53 - - - - - - - - - 16.02 -
2071.37 263.46 -11.35 307 2075.68 roll -0.65 - - 2057.75 - 1.75 0.017 2645.62 -687.9 -97.32 - - 3368.19 - - - - - - - - - 16.02 -
2381.39 298.12 -11.10 339 2385.74 roll -0.65 - - 2048.62 - 2.02 0.067 3849.88 596.2 -97.32 - - 3367.09 - - - - - - - - - 16.04 -
2431.39 303.96 -11.83 349 2435.83 roll back -0.65 0.12 0.219 2084.12 295.8 1.76 0.018 2632.88 -691.5 -97.32 - - 3367.53 - - - - - - - - 15.94 16.06 -
2741.42 332.62 -8.71 381 2746.55 roll -0.65 - - 2077.75 - 2.04 0.067 3849.38 596.3 -97.32 - - 3366.75 - - - - - - - - - 16.06 -
2781.41 336.24 -9.04 389 2785.72 roll -0.65 - - 2077.31 - 1.76 0.018 2637.12 -688.8 -97.32 - - 3366.00 - - - - - - - - - 16.03 -
3091.43 362.83 -9.03 421 3095.82 roll -0.65 - - 2067.12 - 2.00 0.067 3850.06 606.5 -97.32 - - 3365.41 - - - - - - - - - 16.07 -
3186.20 371.89 -9.51 440 3188.94 roll -0.65 - - 2067.44 - 1.76 0.018 2648.44 -682.7 -97.32 - - 3363.44 - - - - - - - - - 16.03 -
3496.47 402.23 -10.09 471 3501.72 roll -0.65 - - 2067.62 - 2.30 0.025 1292.50 -589.5 -97.32 - - 3364.53 - - - - - - - - - 16.09 -
3526.49 405.36 -10.32 477 3531.80 roll -0.65 - - 2057.31 - 2.63 0.042 2772.06 562.6 -97.32 - - 3363.06 - - - - - - - - - 16.09 -
3836.57 440.70 -11.54 509 3837.91 no move -0.65 - - 2057.25 - - - 2773.06 - -97.32 - - 3360.72 - - - - - - - - - - -
4146.51 476.45 -11.52 540 4150.81 roll -0.65 - - 2049.38 - 1.74 0.069 3850.81 619.4 -97.32 - - 3360.09 - - - - - - - - - 16.03 -
4171.26 479.46 -11.76 545 4174.15 roll back -0.65 0.12 0.220 2083.25 282.2 1.76 0.019 2641.00 -687.4 -97.32 - - 3360.31 - - - - - - - - 15.97 16.10 -
4481.55 509.21 -9.31 576 4486.68 roll -0.65 - - 2075.31 - 2.03 0.069 3848.94 595.0 -97.32 - - 3360.16 - - - - - - - - - 16.08 -
4581.55 519.01 -9.91 596 4585.85 roll -0.65 - - 2075.81 - 1.77 0.018 2640.69 -682.6 -97.32 - - 3361.03 - - - - - - - - - 16.05 -
4891.58 548.42 -9.61 628 4895.93 roll -0.65 - - 2066.94 - 2.02 0.068 3847.69 597.5 -97.32 - - 3358.53 - - - - - - - - - 16.08 -
4946.31 553.97 -10.12 639 4949.05 roll -0.65 - - 2064.88 - 1.77 0.019 2649.56 -676.9 -97.32 - - 3358.41 - - - - - - - - - 16.09 -
5256.59 583.37 -9.14 670 5260.95 roll -0.65 - - 2057.00 - 2.01 0.068 3848.12 596.3 -97.32 - - 3358.56 - - - - - - - - - 16.04 -
5301.33 587.70 -9.67 679 5304.07 roll -0.65 - - 2058.00 - 1.77 0.019 2648.81 -677.6 -97.32 - - 3357.59 - - - - - - - - - 16.04 -
5611.64 615.73 -8.99 710 5615.98 roll -0.65 - - 2047.75 - 2.02 0.068 3848.75 594.0 -97.32 - - 3358.72 - - - - - - - - - 16.07 -
5666.36 621.08 -9.80 721 5669.24 roll back -0.65 0.12 0.217 2084.12 303.1 1.77 0.019 2644.00 -680.6 -97.32 - - 3355.88 - - - - - - - - 15.96 16.09 -
5976.63 645.75 -7.71 752 5981.77 roll -0.65 - - 2076.38 - 2.03 0.070 3848.75 593.5 -97.32 - - 3356.53 - - - - - - - - - 16.03 -
6036.63 650.68 -8.27 764 6040.93 roll -0.65 - - 2077.50 - 1.76 0.019 2641.62 -685.9 -97.32 - - 3355.12 - - - - - - - - - 16.04 -
6346.65 675.57 -8.13 796 6350.98 roll -0.65 - - 2068.25 - 2.00 0.069 3849.25 603.8 -97.32 - - 3354.97 - - - - - - - - - 16.08 -
6421.39 682.16 -8.79 811 6424.13 roll -0.65 - - 2067.75 - 1.77 0.019 2652.44 -676.2 -97.32 - - 3354.38 - - - - - - - - - 16.09 -
6731.67 708.86 -8.72 842 6736.80 roll -0.65 - - 2059.31 - 2.02 0.068 3849.81 592.8 -97.32 - - 3355.31 - - - - - - - - - 16.08 -
6806.43 715.80 -9.27 857 6809.18 roll -0.65 - - 2058.88 - 1.77 0.019 2652.06 -676.7 -97.32 - - 3354.56 - - - - - - - - - 16.06 -
7116.70 744.35 -9.30 888 7121.83 roll -0.65 - - 2049.19 - 2.03 0.069 3849.31 589.8 -97.32 - - 3353.75 - - - - - - - - - 16.02 -
7151.44 747.84 -9.96 895 7154.32 roll back -0.65 0.12 0.220 2083.50 285.9 1.78 0.020 2648.12 -674.8 -97.32 - - 3352.12 - - - - - - - - 15.95 16.09 -
7461.72 773.17 -8.00 926 7463.06 no move -0.65 - - 2083.56 - - - 2635.50 - -97.32 - - 3351.94 - - - - - - - - - - -
7771.71 799.21 -8.51 957 7776.85 roll -0.65 - - 2077.31 - 2.03 0.069 3848.94 597.8 -97.32 - - 3352.44 - - - - - - - - - 16.07 -
7896.47 810.70 -9.16 982 7899.21 roll -0.65 - - 2076.81 - 1.77 0.019 2654.88 -674.6 -97.32 - - 3351.38 - - - - - - - - - 16.03 -
8206.74 838.31 -8.90 1013 8211.09 roll -0.65 - - 2067.00 - 2.01 0.069 3849.75 594.5 -97.32 - - 3352.53 - - - - - - - - - 16.06 -
8291.49 846.51 -9.65 1030 8294.23 roll -0.65 - - 2068.12 - 1.77 0.020 2653.69 -675.7 -97.32 - - 3350.84 - - - - - - - - - 16.08 -
8601.77 874.42 -8.88 1061 8603.10 no move -0.65 - - 2067.44 - - - 2641.62 - -97.32 - - 3350.22 - - - - - - - - - - -
8911.76 902.60 -8.98 1092 8916.09 roll -0.65 - - 2058.75 - 2.00 0.069 3847.25 602.8 -97.32 - - 3350.31 - - - - - - - - - 16.05 -
8976.51 908.81 -9.65 1105 8979.25 roll -0.65 - - 2057.38 - 1.78 0.020 2651.19 -671.9 -97.32 - - 3349.94 - - - - - - - - - 16.03 -
9286.79 938.28 -9.51 1136 9291.92 roll -0.65 - - 2049.00 - 2.02 0.069 3849.75 593.3 -97.32 - - 3349.41 - - - - - - - - - 16.07 -
9326.78 942.34 -10.26 1144 9331.23 roll back -0.65 0.12 0.219 2083.81 290.1 1.78 0.020 2646.38 -676.1 -97.32 - - 3350.12 - - - - - - - - 15.94 16.07 -
9636.82 967.79 -8.13 1176 9641.24 roll -0.65 - - 2076.50 - 2.02 0.070 3849.06 595.4 -97.32 - - 3348.66 - - - - - - - - - 16.01 -
9681.54 971.62 -8.51 1185 9684.28 roll -0.65 - - 2076.69 - 1.78 0.020 2653.94 -671.4 -97.32 - - 3351.19 - - - - - - - - - 16.02 -
9912 end dive: TARGET_DEPTH_EXCEEDED
9912 begin apogee
9913.06 990.55 -8.36 1208 9999.74 -0.12 0.58 0.189 2251.75 301.8 0.24 0.102 2436.75 -905.0 - 84.97 2.361 2965.09 -4.5 0.327 - - - - - - 15.94 15.18 11.95
10001 end apogee: CONTROL_FINISHED_OK
10001 begin climb
10001.18 992.58 - 1216 10099.60 0.65 0.77 0.107 2516.19 343.4 2.83 0.034 951.00 -525.0 97.32 91.54 2.312 2571.47 -4.3 0.317 - - - - - - 15.28 14.98 12.08
10102.69 989.14 3.97 1236 10179.09 done 0.75 - - 2515.56 - 2.84 0.034 2425.19 519.1 173.65 70.57 2.255 2259.69 -4.4 0.332 - - - - - - - 15.17 12.00
10482.58 950.48 10.34 1282 10487.77 done 0.75 - - 2527.31 - 2.69 0.031 952.31 -547.5 173.65 - - 2247.16 - - - - - - - - - 15.07 -
10512.46 947.42 10.29 1288 10517.79 done 0.75 - - 2527.19 - 2.73 0.034 2429.31 541.0 173.65 - - 2247.97 - - - - - - - - - 15.71 -
10822.46 913.98 10.89 1320 10827.78 done 0.75 - - 2538.62 - 2.68 0.030 951.00 -551.6 173.65 - - 2246.88 - - - - - - - - - 15.20 -
10842.47 911.79 10.89 1324 10847.81 done 0.75 - - 2537.19 - 2.71 0.034 2428.50 545.2 173.65 - - 2244.75 - - - - - - - - - 15.88 -
11152.48 876.76 11.37 1356 11157.80 done 0.75 - - 2548.94 - 2.67 0.030 951.06 -553.3 173.65 - - 2243.28 - - - - - - - - - 15.36 -
11197.24 871.60 11.51 1365 11203.03 done 0.75 - - 2549.00 - 2.69 0.033 2429.81 549.7 173.65 - - 2243.91 - - - - - - - - - 15.95 -
11512.57 833.32 12.27 1397 11513.91 VBD 0.75 - - 2548.69 - - - 2430.62 - 173.65 - - 2241.19 - - - - - - - - - - -
11822.52 794.16 13.00 1428 11827.86 done 0.75 - - 2559.38 - 2.66 0.030 949.75 -556.7 173.65 - - 2241.94 - - - - - - - - - 15.35 -
11842.77 791.50 13.17 1432 11847.85 done 0.75 - - 2559.62 - 2.69 0.033 2432.19 551.1 173.65 - - 2241.66 - - - - - - - - - 16.02 -
12152.62 747.78 14.46 1464 12157.94 done 0.75 - - 2572.31 - 2.66 0.030 948.12 -557.9 173.65 - - 2241.62 - - - - - - - - - 15.31 -
12217.31 738.35 14.48 1477 12223.17 0.75 0.17 0.188 2520.12 -307.0 2.68 0.033 2432.00 553.7 173.65 - - 2240.84 - - - - - - - - 15.90 16.03 -
12532.58 699.07 12.39 1509 12533.92 VBD 0.75 - - 2519.69 - - - 2432.12 - 173.65 - - 2239.47 - - - - - - - - - - -
12842.61 661.25 12.23 1540 12847.92 done 0.75 - - 2528.88 - 2.66 0.030 950.38 -557.0 173.65 - - 2242.00 - - - - - - - - - 15.41 -
12872.62 657.53 12.39 1546 12877.93 done 0.75 - - 2527.44 - 2.68 0.033 2429.81 552.0 173.65 - - 2241.47 - - - - - - - - - 15.77 -
13182.69 620.20 11.57 1578 13187.94 done 0.75 - - 2540.56 - 2.64 0.030 947.88 -561.3 173.65 - - 2240.97 - - - - - - - - - 15.39 -
13222.63 615.60 11.52 1586 13227.95 done 0.75 - - 2539.31 - 2.66 0.033 2430.81 557.5 173.65 - - 2241.19 - - - - - - - - - 16.06 -
13532.63 580.11 11.20 1618 13537.97 done 0.75 - - 2550.94 - 2.66 0.030 947.44 -557.7 173.65 - - 2242.75 - - - - - - - - - 15.33 -
13542.64 579.01 11.13 1620 13547.96 done 0.75 - - 2550.12 - 2.66 0.033 2430.44 557.5 173.65 - - 2240.59 - - - - - - - - - 16.07 -
13852.72 543.11 11.73 1652 13857.97 done 0.75 - - 2562.12 - 2.64 0.030 949.56 -560.9 173.65 - - 2240.56 - - - - - - - - - 15.34 -
13882.66 539.53 11.73 1658 13888.03 0.75 0.14 0.194 2518.12 -314.3 2.64 0.033 2435.31 562.8 173.65 - - 2239.44 - - - - - - - - 15.92 16.06 -
14192.67 507.09 10.59 1690 14194.01 VBD 0.75 - - 2518.31 - - - 2435.12 - 173.65 - - 2239.06 - - - - - - - - - - -
14502.67 473.98 10.83 1721 14508.00 done 0.75 - - 2528.00 - 2.66 0.031 948.12 -559.0 173.65 - - 2240.41 - - - - - - - - - 15.34 -
14512.68 472.91 10.86 1723 14518.00 done 0.75 - - 2528.19 - 2.66 0.033 2432.19 557.9 173.65 - - 2240.44 - - - - - - - - - 16.07 -
14822.77 438.32 11.16 1755 14828.01 done 0.75 - - 2538.31 - 2.65 0.031 948.94 -559.7 173.65 - - 2241.09 - - - - - - - - - 15.33 -
14837.44 436.68 11.03 1758 14843.23 done 0.75 - - 2537.31 - 2.68 0.034 2429.75 552.5 173.65 - - 2240.84 - - - - - - - - - 15.77 -
15152.77 401.42 11.05 1790 15158.04 done 0.75 - - 2549.44 - 2.65 0.031 945.12 -560.2 173.65 - - 2239.78 - - - - - - - - - 15.35 -
15202.72 395.90 11.01 1800 15208.03 done 0.75 - - 2548.31 - 2.67 0.034 2430.38 556.3 173.65 - - 2240.97 - - - - - - - - - 16.07 -
15512.73 361.56 10.71 1832 15517.97 done 0.75 - - 2549.25 - 2.26 0.068 3838.88 623.2 173.65 - - 2238.78 - - - - - - - - - 15.74 -
15532.73 359.17 11.10 1836 15537.98 done 0.75 - - 2560.31 - 2.29 0.020 2331.19 -658.4 173.65 - - 2239.25 - - - - - - - - - 15.34 -
15842.75 324.47 11.04 1868 15848.03 done 0.75 - - 2560.19 - 2.56 0.065 3839.38 589.1 173.65 - - 2240.66 - - - - - - - - - 15.73 -
15857.48 322.64 11.25 1871 15863.22 done 0.75 - - 2569.69 - 2.35 0.019 2335.44 -640.0 173.65 - - 2239.44 - - - - - - - - - 15.26 -
16172.82 286.91 11.24 1903 16178.09 0.75 0.17 0.200 2527.31 -249.3 2.41 0.032 947.31 -576.0 173.65 - - 2241.38 - - - - - - - - 15.89 15.31 -
16187.50 285.49 10.84 1906 16193.29 done 0.75 - - 2526.94 - 2.68 0.034 2430.06 553.3 173.65 - - 2238.91 - - - - - - - - - 15.75 -
16502.76 257.29 9.17 1938 16508.08 done 0.75 - - 2537.25 - 2.65 0.030 946.75 -559.7 173.65 - - 2239.44 - - - - - - - - - 15.27 -
16537.51 254.16 8.97 1945 16543.34 done 0.75 - - 2537.19 - 2.68 0.034 2431.00 553.8 173.65 - - 2239.75 - - - - - - - - - 16.07 -
16852.78 224.03 9.54 1977 16854.12 VBD 0.75 - - 2538.06 - - - 2431.81 - 173.65 - - 2237.75 - - - - - - - - - - -
17162.79 194.36 9.45 2008 17164.13 VBD 0.75 - - 2537.75 - - - 2431.94 - 173.65 - - 2237.16 - - - - - - - - - - -
17472.79 165.28 9.52 2039 17474.13 VBD 0.75 - - 2538.12 - - - 2432.00 - 173.65 - - 2237.25 - - - - - - - - - - -
17782.81 134.76 10.04 2070 17788.13 done 0.75 - - 2547.50 - 2.67 0.032 948.31 -555.7 173.65 - - 2238.69 - - - - - - - - - 15.32 -
17832.82 129.94 9.69 2080 17838.15 done 0.75 - - 2548.12 - 2.70 0.034 2430.12 548.8 173.65 - - 2238.91 - - - - - - - - - 15.92 -
18142.83 100.17 8.79 2112 18144.17 VBD 0.75 - - 2548.12 - - - 2429.75 - 173.65 - - 2237.69 - - - - - - - - - - -
18447.87 76.85 7.57 2172 18453.42 done 0.77 - - 2559.88 - 2.66 0.031 948.19 -557.0 173.65 - - 2239.44 - - - - - - - - - 15.27 -
18502.87 72.58 7.85 2183 18508.44 done 0.78 - - 2559.38 - 2.71 0.034 2432.31 547.6 173.65 - - 2240.06 - - - - - - - - - 15.89 -
18692.88 57.37 7.86 2221 18698.44 done 0.79 - - 2569.50 - 2.65 0.029 948.06 -560.1 173.65 - - 2239.88 - - - - - - - - - 15.19 -
18792.90 50.13 7.03 2241 18798.44 done 0.82 - - 2570.62 - 2.70 0.032 2434.06 550.4 173.65 - - 2239.91 - - - - - - - - - 15.88 -
18982.90 37.07 6.80 2279 18988.45 done 0.85 - - 2581.19 - 2.66 0.028 945.31 -559.7 173.65 - - 2241.22 - - - - - - - - - 15.17 -
19052.90 33.04 5.72 2293 19058.47 done 0.91 - - 2582.00 - 2.70 0.031 2433.81 551.3 173.65 - - 2239.94 - - - - - - - - - 15.67 -
19242.91 21.73 5.16 2331 19289.29 done 0.98 - - 2593.19 - 2.70 0.031 947.38 -550.5 229.67 41.08 1.081 2029.97 -5.1 0.018 - - - - - - - 15.17 11.98
19382.93 14.36 5.49 2359 19388.51 roll 1.04 - - 2593.19 - 2.72 0.031 2434.25 546.6 229.67 - - 2027.16 - - - - - - - - - 15.62 -
19572.93 6.99 3.84 2397 19635.70 1.14 0.19 0.060 2707.62 602.3 2.31 0.066 3839.31 608.3 308.13 58.53 1.035 1708.84 -5.4 0.006 - - - - - - 15.77 15.50 12.22
19638 end climb: SURFACE_DEPTH_REACHED
19638 begin surface coast
19663 end surface coast: CONTROL_FINISHED_OK
19663 begin surface
SM 0.82 - - - - 224.2 29.82 1.042 1539.9 49.7 7.16 0.053 1524.3 212.9 - 1.75 0.019 1555.6 887.6 -3.915 - - 12.12 15.64 15.67 -