SMODE Aug22 * SG219 * Dive index * Mission links * Dive 157 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 49.12 of 310.00 AH used of 24V (84.15% remains)
• Surface angle -67.7 deg, depth 1.15 m • Intended pitch -21.0 deg, speed -8.462 cm/s
• VBD pumped to 350.13 (SM_CC=350)
• GPS1 time: 20 s
• GPS2 time: 2 s • Transponder ping count: 22
• 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
15 begin dive
15.25 - - - 72.91 VBD -0.65 - - 145.19 - - - 2883.19 - -97.32 55.71 0.005 2732.59 - - - - - - - - - - 15.36
73.17 2.31 -2.16 11 109.46 -0.65 8.49 0.356 2080.25 227.9 2.76 0.029 1296.56 -574.9 -97.32 18.38 0.006 3364.16 34.4 -2.250 - - - - - - 15.40 15.53 15.56
171.56 18.58 -17.30 31 177.84 roll -0.65 - - 2070.81 - 2.69 0.043 2773.69 549.1 -97.32 - - 3365.72 - - - - - - - - - 15.64 -
361.58 47.16 -14.95 69 367.96 roll -0.65 - - 2062.75 - 1.75 0.065 3850.88 615.5 -97.32 - - 3366.69 - - - - - - - - - 15.61 -
431.61 57.87 -15.59 83 437.53 roll -0.65 - - 2063.25 - 1.78 0.015 2645.06 -677.4 -97.32 - - 3366.88 - - - - - - - - - 15.87 -
621.62 85.41 -14.71 121 627.82 roll -0.65 - - 2063.25 - 2.33 0.021 1290.88 -581.2 -97.32 - - 3368.66 - - - - - - - - - 15.75 -
661.63 90.91 -13.48 129 667.87 roll -0.65 - - 2052.62 - 2.66 0.039 2773.19 557.3 -97.32 - - 3369.53 - - - - - - - - - 15.69 -
851.64 117.88 -13.66 155 857.62 roll -0.65 - - 2052.62 - 2.57 0.023 1293.62 -575.7 -97.32 - - 3369.06 - - - - - - - - - 15.79 -
906.38 124.69 -12.08 166 912.90 roll -0.65 - - 2041.75 - 2.66 0.039 2775.69 557.2 -97.32 - - 3369.25 - - - - - - - - - 15.80 -
1221.71 164.02 -12.02 198 1224.55 pitch -0.65 0.15 0.249 2082.25 270.0 - - 2775.62 - -97.32 - - 3368.75 - - - - - - - - 15.79 - -
1531.67 195.46 -10.32 229 1537.44 roll -0.65 - - 2076.50 - 1.75 0.068 3849.56 613.7 -97.32 - - 3368.44 - - - - - - - - - 15.83 -
1577.29 200.32 -10.92 238 1581.84 roll -0.65 - - 2076.81 - 1.76 0.017 2635.75 -689.7 -97.32 - - 3368.38 - - - - - - - - - 15.98 -
1891.72 233.48 -10.56 270 1896.84 roll -0.65 - - 2066.94 - 2.02 0.066 3848.50 600.4 -97.32 - - 3367.00 - - - - - - - - - 16.02 -
1951.71 240.21 -11.36 282 1956.01 roll -0.65 - - 2067.44 - 1.76 0.017 2647.50 -682.4 -97.32 - - 3367.09 - - - - - - - - - 16.04 -
2261.73 273.29 -10.51 314 2266.07 roll -0.65 - - 2057.50 - 2.02 0.066 3848.56 594.6 -97.32 - - 3365.69 - - - - - - - - - 16.04 -
2331.73 281.16 -11.39 328 2336.03 roll -0.65 - - 2056.75 - 1.76 0.017 2644.88 -683.9 -97.32 - - 3366.31 - - - - - - - - - 16.02 -
2641.75 316.92 -12.03 360 2646.88 roll -0.65 - - 2048.75 - 2.02 0.066 3849.38 596.3 -97.32 - - 3364.00 - - - - - - - - - 16.07 -
2676.49 321.29 -12.61 367 2679.37 roll back -0.65 0.12 0.221 2084.00 293.8 1.76 0.017 2648.44 -682.4 -97.32 - - 3361.09 - - - - - - - - 15.95 16.04 -
2986.77 354.05 -10.34 398 2991.90 roll -0.65 - - 2076.25 - 2.03 0.068 3847.81 590.8 -97.32 - - 3363.12 - - - - - - - - - 16.07 -
3126.78 368.73 -10.38 426 3131.09 roll -0.65 - - 2076.88 - 1.76 0.018 2641.00 -685.7 -97.32 - - 3362.38 - - - - - - - - - 16.04 -
3436.80 398.98 -9.38 458 3441.16 roll -0.65 - - 2068.06 - 2.01 0.067 3847.56 600.3 -97.32 - - 3359.78 - - - - - - - - - 16.07 -
3501.55 405.41 -9.91 471 3504.29 roll -0.65 - - 2068.38 - 1.76 0.018 2649.38 -680.8 -97.32 - - 3358.44 - - - - - - - - - 16.05 -
3811.82 436.07 -10.34 502 3816.17 roll -0.65 - - 2059.19 - 2.01 0.067 3849.25 597.0 -97.32 - - 3360.34 - - - - - - - - - 16.09 -
3856.56 440.94 -10.92 511 3859.31 roll -0.65 - - 2059.00 - 1.76 0.019 2650.62 -681.0 -97.32 - - 3357.72 - - - - - - - - - 16.09 -
4166.84 476.19 -11.74 542 4171.19 roll -0.65 - - 2049.12 - 2.01 0.067 3849.50 596.5 -97.32 - - 3358.78 - - - - - - - - - 16.08 -
4241.58 485.66 -12.55 557 4244.47 roll back -0.65 0.12 0.223 2083.62 287.5 1.76 0.018 2640.56 -686.9 -97.32 - - 3357.41 - - - - - - - - 15.97 16.11 -
4551.86 517.96 -10.03 588 4556.99 roll -0.65 - - 2077.12 - 2.03 0.068 3847.56 594.6 -97.32 - - 3358.12 - - - - - - - - - 16.05 -
4591.86 522.22 -10.72 596 4596.15 roll -0.65 - - 2077.31 - 1.76 0.019 2639.88 -686.2 -97.32 - - 3357.56 - - - - - - - - - 16.10 -
4901.88 552.49 -9.22 628 4906.21 roll -0.65 - - 2069.06 - 2.00 0.068 3849.38 604.8 -97.32 - - 3354.59 - - - - - - - - - 16.08 -
4991.88 561.18 -9.54 646 4996.18 roll -0.65 - - 2068.25 - 1.76 0.019 2639.56 -687.4 -97.32 - - 3355.31 - - - - - - - - - 16.09 -
5301.90 588.59 -8.64 678 5306.23 roll -0.65 - - 2059.38 - 2.00 0.068 3848.12 604.3 -97.32 - - 3354.81 - - - - - - - - - 16.05 -
5346.64 592.66 -9.18 687 5349.38 roll -0.65 - - 2058.75 - 1.76 0.019 2649.12 -681.2 -97.32 - - 3352.53 - - - - - - - - - 16.05 -
5656.92 619.56 -8.75 718 5661.25 roll -0.65 - - 2050.19 - 2.00 0.068 3849.38 600.1 -97.32 - - 3352.91 - - - - - - - - - 16.09 -
5706.91 624.26 -9.54 728 5711.36 roll back -0.65 0.12 0.221 2084.38 284.9 1.77 0.019 2641.38 -682.5 -97.32 - - 3353.69 - - - - - - - - 15.96 16.05 -
6016.94 647.85 -7.72 760 6021.28 roll -0.65 - - 2075.94 - 2.01 0.069 3847.88 600.2 -97.32 - - 3353.16 - - - - - - - - - 16.08 -
6066.93 652.05 -8.43 770 6071.23 roll -0.65 - - 2077.88 - 1.77 0.019 2644.06 -680.1 -97.32 - - 3351.62 - - - - - - - - - 16.05 -
6376.95 677.79 -8.31 802 6381.31 roll -0.65 - - 2067.00 - 2.01 0.068 3848.19 599.1 -97.32 - - 3352.44 - - - - - - - - - 16.07 -
6421.69 681.85 -9.14 811 6424.44 roll -0.65 - - 2067.88 - 1.76 0.020 2651.75 -679.8 -97.32 - - 3351.25 - - - - - - - - - 16.09 -
6731.97 709.13 -8.97 842 6736.32 roll -0.65 - - 2059.62 - 2.01 0.068 3849.75 596.0 -97.32 - - 3350.66 - - - - - - - - - 16.08 -
6781.96 713.96 -9.74 852 6786.32 roll -0.65 - - 2059.06 - 1.77 0.020 2641.38 -682.7 -97.32 - - 3350.53 - - - - - - - - - 16.09 -
7091.99 742.72 -9.51 884 7096.34 roll -0.65 - - 2049.06 - 2.01 0.068 3851.00 601.8 -97.32 - - 3349.19 - - - - - - - - - 16.07 -
7166.75 750.25 -10.15 899 7169.63 roll back -0.65 0.12 0.223 2083.81 289.6 1.77 0.019 2647.12 -680.2 -97.32 - - 3348.59 - - - - - - - - 15.94 16.09 -
7477.01 776.06 -8.24 930 7481.36 roll -0.65 - - 2077.06 - 2.02 0.069 3849.81 595.4 -97.32 - - 3347.94 - - - - - - - - - 16.03 -
7551.76 782.74 -8.93 945 7554.50 roll -0.65 - - 2076.62 - 1.77 0.019 2651.69 -676.9 -97.32 - - 3348.97 - - - - - - - - - 16.04 -
7862.03 809.85 -8.59 976 7866.37 roll -0.65 - - 2066.88 - 2.00 0.069 3850.94 599.6 -97.32 - - 3348.53 - - - - - - - - - 16.07 -
7902.03 813.40 -8.86 984 7906.33 roll -0.65 - - 2066.81 - 1.77 0.019 2640.75 -683.7 -97.32 - - 3348.31 - - - - - - - - - 16.08 -
8212.06 839.77 -8.55 1016 8213.40 no move -0.65 - - 2067.38 - - - 2637.88 - -97.32 - - 3345.78 - - - - - - - - - - -
8522.05 865.94 -8.38 1047 8523.39 no move -0.65 - - 2067.38 - - - 2638.00 - -97.32 - - 3345.47 - - - - - - - - - - -
8832.09 892.19 -8.50 1078 8836.44 roll -0.65 - - 2057.75 - 2.01 0.069 3849.38 602.7 -97.32 - - 3346.34 - - - - - - - - - 16.06 -
8952.13 903.16 -9.17 1102 8956.44 roll -0.65 - - 2057.12 - 1.77 0.019 2643.00 -681.6 -97.32 - - 3346.22 - - - - - - - - - 16.08 -
9262.17 930.89 -8.82 1134 9266.53 roll -0.65 - - 2049.25 - 2.01 0.069 3847.38 599.2 -97.32 - - 3345.22 - - - - - - - - - 16.02 -
9302.18 934.70 -9.54 1142 9306.64 roll back -0.65 0.12 0.219 2082.69 278.7 1.77 0.020 2646.00 -678.7 -97.32 - - 3344.59 - - - - - - - - 15.93 16.07 -
9612.23 958.18 -7.39 1174 9613.57 no move -0.65 - - 2083.19 - - - 2637.25 - -97.32 - - 3343.38 - - - - - - - - - - -
9922.25 980.51 -7.34 1205 9926.60 roll -0.65 - - 2076.75 - 2.01 0.070 3848.94 602.8 -97.32 - - 3344.44 - - - - - - - - - 16.01 -
10002.27 986.84 -7.94 1221 10006.57 roll -0.65 - - 2076.50 - 1.77 0.020 2645.19 -680.1 -97.32 - - 3344.84 - - - - - - - - - 16.08 -
10053 end dive: TARGET_DEPTH_EXCEEDED
10053 begin apogee
10053.51 990.73 -7.72 1227 10139.19 -0.12 0.58 0.189 2252.25 303.0 0.24 0.100 2435.94 -871.9 - 83.81 2.362 2965.41 -4.5 0.323 - - - - - - 15.80 15.20 11.80
10140 end apogee: CONTROL_FINISHED_OK
10140 begin climb
10140.64 992.33 - 1235 10239.08 0.65 0.78 0.110 2517.75 340.4 2.82 0.035 951.31 -526.5 97.32 91.32 2.309 2569.66 -4.3 0.317 - - - - - - 15.28 14.63 12.08
10246.67 987.96 5.52 1256 10252.51 roll 0.71 - - 2516.38 - 2.82 0.035 2427.62 523.5 97.32 - - 2567.56 - - - - - - - - - 15.20 -
10561.92 959.68 8.93 1288 10563.26 VBD 0.71 - - 2516.19 - - - 2427.69 - 97.32 - - 2556.19 - - - - - - - - - - -
10871.93 932.26 8.71 1319 10877.25 done 0.71 - - 2527.81 - 2.67 0.030 950.69 -553.2 97.32 - - 2555.75 - - - - - - - - - 15.20 -
10926.69 927.47 8.81 1330 10932.50 done 0.71 - - 2527.38 - 2.70 0.033 2430.19 548.0 97.32 - - 2553.91 - - - - - - - - - 15.67 -
11241.95 899.02 9.10 1362 11247.27 done 0.71 - - 2538.81 - 2.67 0.029 948.56 -554.9 97.32 - - 2554.78 - - - - - - - - - 15.27 -
11251.96 898.10 9.11 1364 11257.27 done 0.71 - - 2538.38 - 2.69 0.032 2430.62 551.0 97.32 - - 2554.25 - - - - - - - - - 15.97 -
11561.97 868.02 10.01 1396 11567.28 done 0.71 - - 2549.75 - 2.66 0.029 949.25 -556.9 97.32 - - 2555.03 - - - - - - - - - 15.33 -
11581.96 866.06 9.96 1400 11587.34 0.71 0.15 0.244 2508.38 -275.8 2.68 0.032 2437.00 555.1 97.32 - - 2553.78 - - - - - - - - 15.86 16.00 -
11891.99 838.23 8.81 1432 11893.33 VBD 0.71 - - 2509.19 - - - 2437.19 - 97.32 - - 2550.03 - - - - - - - - - - -
12201.99 810.97 8.69 1463 12203.33 VBD 0.71 - - 2509.19 - - - 2436.94 - 97.32 - - 2548.94 - - - - - - - - - - -
12511.99 784.48 8.68 1494 12517.37 done 0.71 - - 2520.25 - 2.68 0.029 946.94 -556.0 97.32 - - 2550.06 - - - - - - - - - 15.32 -
12566.76 779.84 8.49 1505 12572.54 done 0.71 - - 2519.50 - 2.70 0.032 2433.38 550.5 97.32 - - 2549.88 - - - - - - - - - 16.05 -
12882.01 753.02 8.27 1537 12887.34 done 0.71 - - 2531.12 - 2.67 0.029 946.88 -556.7 97.32 - - 2549.53 - - - - - - - - - 15.38 -
12892.02 752.23 8.24 1539 12897.34 done 0.71 - - 2530.31 - 2.69 0.032 2431.31 551.8 97.32 - - 2550.00 - - - - - - - - - 15.78 -
13202.04 727.11 7.83 1571 13207.28 done 0.72 - - 2529.88 - 2.27 0.065 3841.69 621.3 97.32 - - 2548.94 - - - - - - - - - 16.04 -
13236.78 724.00 8.43 1578 13242.50 done 0.72 - - 2541.31 - 2.32 0.019 2310.75 -659.9 97.32 - - 2549.53 - - - - - - - - - 16.04 -
13552.12 700.01 7.22 1610 13557.34 done 0.75 - - 2542.38 - 2.58 0.063 3840.25 592.8 97.32 - - 2549.16 - - - - - - - - - 15.75 -
13606.79 695.25 8.79 1621 13612.52 done 0.75 - - 2551.50 - 2.33 0.018 2310.56 -656.5 97.32 - - 2549.06 - - - - - - - - - 16.05 -
13922.15 670.47 7.93 1653 13923.49 VBD 0.76 - - 2553.69 - - - 2296.94 - 97.32 - - 2547.31 - - - - - - - - - - -
14232.12 645.97 7.99 1684 14237.42 done 0.76 - - 2554.25 - 2.60 0.062 3841.81 594.2 97.32 - - 2550.38 - - - - - - - - - 16.05 -
14272.13 642.23 9.34 1692 14277.39 done 0.76 - - 2563.62 - 2.36 0.020 2317.88 -645.7 97.32 - - 2547.53 - - - - - - - - - 15.07 -
14582.23 615.34 8.70 1724 14587.53 0.76 0.15 0.241 2522.75 -272.5 2.57 0.063 3838.62 591.7 97.32 - - 2548.53 - - - - - - - - 15.92 15.97 -
14596.92 613.99 8.79 1727 14602.65 done 0.76 - - 2532.25 - 2.35 0.020 2314.69 -648.5 97.32 - - 2547.12 - - - - - - - - - 15.33 -
14912.28 588.80 8.02 1759 14917.51 done 0.76 - - 2533.25 - 2.57 0.063 3840.81 593.8 97.32 - - 2548.41 - - - - - - - - - 16.06 -
14956.97 584.62 9.33 1768 14962.71 done 0.76 - - 2544.31 - 2.33 0.018 2317.69 -653.7 97.32 - - 2546.78 - - - - - - - - - 16.06 -
15272.32 557.85 8.36 1800 15273.66 VBD 0.76 - - 2545.12 - - - 2304.19 - 97.32 - - 2546.47 - - - - - - - - - - -
15582.28 532.86 7.64 1831 15587.56 done 0.77 - - 2545.62 - 2.58 0.064 3839.94 595.3 97.32 - - 2549.47 - - - - - - - - - 16.06 -
15592.28 531.97 7.83 1833 15597.53 done 0.79 - - 2556.06 - 2.35 0.018 2323.75 -645.2 97.32 - - 2546.00 - - - - - - - - - 15.77 -
15902.36 504.86 8.83 1865 15903.70 VBD 0.79 - - 2556.50 - - - 2310.56 - 97.32 - - 2545.72 - - - - - - - - - - -
16212.29 477.93 8.26 1896 16217.59 done 0.79 - - 2556.94 - 2.57 0.064 3840.19 595.2 97.32 - - 2547.81 - - - - - - - - - 16.04 -
16272.31 472.37 9.33 1908 16277.57 done 0.79 - - 2567.19 - 2.34 0.018 2319.00 -650.1 97.32 - - 2547.00 - - - - - - - - - 16.06 -
16582.40 447.22 7.75 1940 16587.62 done 0.80 - - 2568.25 - 2.58 0.063 3842.38 590.5 97.32 - - 2546.94 - - - - - - - - - 15.71 -
16627.08 443.10 9.21 1949 16632.81 done 0.80 - - 2579.31 - 2.34 0.019 2320.81 -650.2 97.32 - - 2546.31 - - - - - - - - - 15.09 -
16942.43 418.22 7.89 1981 16943.77 VBD 0.81 - - 2579.44 - - - 2310.38 - 97.32 - - 2545.28 - - - - - - - - - - -
17252.36 392.37 8.64 2012 17257.67 done 0.81 - - 2578.56 - 2.54 0.063 3839.50 602.0 97.32 - - 2548.25 - - - - - - - - - 16.05 -
17267.11 390.88 8.91 2015 17272.95 done 0.81 - - 2590.38 - 2.33 0.018 2315.00 -654.3 97.32 - - 2546.44 - - - - - - - - - 16.07 -
17582.45 361.35 9.52 2047 17583.91 0.81 0.18 0.260 2542.12 -268.1 - - 2302.81 - 97.32 - - 2545.22 - - - - - - - - 15.88 - -
17892.41 336.10 7.60 2078 17897.70 done 0.83 - - 2541.69 - 2.57 0.065 3838.38 597.5 97.32 - - 2545.88 - - - - - - - - - 16.05 -
17942.40 331.80 8.69 2088 17947.66 done 0.83 - - 2551.31 - 2.33 0.018 2315.31 -653.7 97.32 - - 2546.72 - - - - - - - - - 16.06 -
18252.54 308.76 7.31 2120 18257.70 done 0.85 - - 2553.06 - 2.58 0.064 3842.88 592.1 97.32 - - 2545.59 - - - - - - - - - 16.05 -
18282.43 306.32 7.69 2126 18287.67 done 0.87 - - 2563.00 - 2.33 0.018 2324.56 -651.6 97.32 - - 2548.53 - - - - - - - - - 16.04 -
18592.51 284.43 6.70 2158 18593.85 VBD 0.90 - - 2563.44 - - - 2309.94 - 97.32 - - 2545.41 - - - - - - - - - - -
18902.45 264.88 6.20 2189 18907.74 done 0.95 - - 2564.25 - 2.55 0.063 3839.94 600.0 97.32 - - 2546.72 - - - - - - - - - 16.05 -
18957.21 261.05 7.00 2200 18962.99 0.98 0.09 0.098 2625.94 685.4 2.33 0.018 2309.12 -657.0 97.32 - - 2547.84 - - - - - - - - 15.99 16.06 -
19272.46 237.00 8.16 2232 19273.80 VBD 0.98 - - 2625.75 - - - 2307.25 - 97.32 - - 2545.59 - - - - - - - - - - -
19582.47 211.30 8.09 2263 19587.75 done 0.98 - - 2635.81 - 2.38 0.031 944.12 -572.7 97.32 - - 2548.03 - - - - - - - - - 15.24 -
19632.51 207.51 7.64 2273 19637.81 done 0.99 - - 2636.38 - 2.64 0.032 2434.31 564.5 97.32 - - 2548.75 - - - - - - - - - 16.01 -
19942.51 183.13 6.97 2305 19943.85 VBD 1.02 - - 2636.25 - - - 2433.69 - 97.32 - - 2546.38 - - - - - - - - - - -
20252.50 159.51 8.59 2336 20257.76 done 1.02 - - 2636.06 - 2.28 0.064 3845.00 619.0 97.32 - - 2546.59 - - - - - - - - - 15.99 -
20292.51 155.65 9.66 2344 20297.77 done 1.02 - - 2647.00 - 2.32 0.018 2310.75 -661.3 97.32 - - 2547.34 - - - - - - - - - 15.32 -
20602.60 128.89 8.18 2376 20607.83 done 1.02 - - 2646.38 - 2.58 0.060 3842.12 593.6 97.32 - - 2548.25 - - - - - - - - - 15.67 -
20767.29 114.41 9.22 2409 20773.02 done 1.02 - - 2657.12 - 2.34 0.016 2325.69 -648.0 97.32 - - 2547.50 - - - - - - - - - 15.69 -
21077.59 91.85 7.50 2451 21083.19 1.04 0.17 0.280 2617.00 -236.0 2.53 0.060 3842.00 599.3 97.32 - - 2547.03 - - - - - - - - 15.70 15.79 -
21312.61 78.24 4.65 2498 21364.15 1.13 0.08 0.114 2682.88 823.5 2.32 0.016 2282.50 -672.2 162.08 47.62 1.183 2307.28 -5.0 0.057 - - - - - - 15.92 15.87 12.00
21547.61 55.40 10.23 2545 21553.24 1.13 0.16 0.288 2643.06 -248.9 2.63 0.059 3841.12 592.6 162.08 - - 2299.06 - - - - - - - - 15.60 15.59 -
21782.62 34.13 8.27 2592 21788.14 done 1.13 - - 2652.75 - 2.34 0.017 2327.81 -646.7 162.08 - - 2297.41 - - - - - - - - - 15.15 -
21972.64 25.86 2.98 2630 22045.60 1.25 0.10 0.070 2724.44 716.9 2.60 0.060 3840.50 581.8 255.18 68.82 1.083 1924.25 -5.4 0.022 - - - - - - 15.79 15.44 12.13
22047.97 22.64 4.49 2645 22104.12 done 1.34 - - 2736.44 - 2.39 0.018 2312.81 -639.2 322.60 50.19 1.037 1651.81 -5.4 0.020 - - - - - - - 15.09 12.25
22208 end climb: SURFACE_DEPTH_REACHED
22208 begin surface coast
22223 end surface coast: CONTROL_FINISHED_OK
22223 begin surface
SM 2.44 - - - - 228.4 19.40 1.043 1540.7 76.8 7.20 0.052 1529.8 212.5 - 0.77 0.046 1551.5 2011.8 -10.907 - - 12.07 15.66 15.69 -