SMODE Aug22 * SG219 * Dive index * Mission links * Dive 166 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 52.41 of 310.00 AH used of 24V (83.09% remains)
• Surface angle -68.5 deg, depth 1.13 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 350.13 (SM_CC=350)
• GPS1 time: 33 s
• GPS2 time: 2 s • Transponder ping count: 49
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
15.39 - - - 74.02 VBD -0.65 - - 197.94 - - - 2584.44 - -97.32 56.73 0.005 2727.72 - - - - - - - - - - 15.34
74.27 2.25 -2.27 11 107.51 -0.65 8.35 0.360 2080.25 225.4 2.23 0.031 1295.00 -578.2 -97.32 18.41 0.006 3362.50 34.5 -2.216 - - - - - - 15.27 15.53 15.54
129.61 11.57 -17.05 22 135.81 roll -0.65 - - 2071.69 - 2.65 0.041 2773.12 557.8 -97.32 - - 3365.66 - - - - - - - - - 15.75 -
319.58 43.09 -15.65 60 325.83 roll -0.65 - - 2070.81 - 2.56 0.022 1292.56 -578.3 -97.32 - - 3368.44 - - - - - - - - - 15.63 -
414.60 57.24 -13.76 79 420.86 roll -0.65 - - 2060.50 - 2.66 0.040 2774.56 557.1 -97.32 - - 3367.03 - - - - - - - - - 15.81 -
604.62 84.56 -15.04 117 611.75 roll -0.65 - - 2051.88 - 1.75 0.067 3852.25 615.8 -97.32 - - 3370.84 - - - - - - - - - 15.62 -
739.38 103.42 -12.88 144 746.72 roll -0.65 - - 2051.38 - 1.77 0.016 2625.94 -692.8 -97.32 - - 3370.12 - - - - - - - - - 15.67 -
1054.66 142.71 -12.12 176 1060.60 roll -0.65 - - 2051.69 - 2.30 0.022 1292.06 -579.9 -97.32 - - 3371.38 - - - - - - - - - 15.69 -
1114.65 149.86 -11.74 188 1120.66 roll -0.65 - - 2041.19 - 2.65 0.040 2774.62 559.5 -97.32 - - 3370.50 - - - - - - - - - 15.68 -
1424.73 187.90 -12.22 220 1430.98 roll back -0.65 0.15 0.255 2082.69 276.7 2.55 0.023 1288.00 -583.0 -97.32 - - 3370.00 - - - - - - - - 15.80 15.89 -
1454.67 191.16 -11.36 226 1460.69 roll -0.65 - - 2073.75 - 2.65 0.041 2773.56 560.6 -97.32 - - 3369.25 - - - - - - - - - 15.94 -
1764.68 222.73 -9.85 258 1768.99 roll -0.65 - - 2064.56 - 1.74 0.068 3851.31 619.4 -97.32 - - 3368.91 - - - - - - - - - 15.95 -
1884.71 235.63 -10.62 282 1889.02 roll -0.65 - - 2066.19 - 1.74 0.017 2630.69 -701.5 -97.32 - - 3368.91 - - - - - - - - - 15.99 -
2194.73 267.50 -10.14 314 2199.87 roll -0.65 - - 2056.50 - 2.05 0.066 3847.06 593.4 -97.32 - - 3367.00 - - - - - - - - - 15.74 -
2279.47 276.72 -10.80 331 2282.22 roll -0.65 - - 2057.06 - 1.75 0.017 2643.56 -687.7 -97.32 - - 3366.47 - - - - - - - - - 16.05 -
2589.75 308.87 -10.44 362 2591.08 no move -0.65 - - 2057.38 - - - 2630.12 - -97.32 - - 3365.78 - - - - - - - - - - -
2899.75 341.86 -10.96 393 2904.90 roll -0.65 - - 2047.25 - 2.04 0.066 3849.00 597.5 -97.32 - - 3366.38 - - - - - - - - - 15.76 -
2964.51 349.47 -11.87 406 2967.40 roll back -0.65 0.12 0.224 2082.38 292.8 1.75 0.018 2637.56 -692.3 -97.32 - - 3364.53 - - - - - - - - 15.94 16.04 -
3274.78 380.99 -10.18 437 3279.92 roll -0.65 - - 2077.00 - 2.06 0.068 3849.12 588.1 -97.32 - - 3363.03 - - - - - - - - - 15.76 -
3339.53 387.83 -10.52 450 3342.28 roll -0.65 - - 2077.25 - 1.76 0.019 2648.38 -682.2 -97.32 - - 3361.34 - - - - - - - - - 16.07 -
3649.80 419.65 -10.29 481 3654.95 roll -0.65 - - 2067.44 - 2.03 0.067 3848.81 591.3 -97.32 - - 3361.84 - - - - - - - - - 15.76 -
3739.80 429.43 -10.87 499 3744.11 roll -0.65 - - 2067.62 - 1.76 0.018 2638.69 -687.6 -97.32 - - 3360.03 - - - - - - - - - 15.81 -
4049.82 461.74 -10.15 531 4054.96 roll -0.65 - - 2059.00 - 2.03 0.067 3848.81 596.1 -97.32 - - 3361.38 - - - - - - - - - 16.06 -
4134.57 470.84 -10.73 548 4137.32 roll -0.65 - - 2058.88 - 1.75 0.019 2647.00 -686.7 -97.32 - - 3358.62 - - - - - - - - - 16.09 -
4444.84 502.61 -10.06 579 4449.98 roll -0.65 - - 2049.25 - 2.04 0.067 3849.69 589.6 -97.32 - - 3358.88 - - - - - - - - - 15.75 -
4494.83 507.82 -10.59 589 4499.28 roll back -0.65 0.12 0.222 2082.19 274.5 1.75 0.019 2637.12 -692.9 -97.32 - - 3360.03 - - - - - - - - 15.95 16.09 -
4804.86 533.11 -7.83 621 4809.99 roll -0.65 - - 2076.75 - 2.05 0.069 3848.62 591.0 -97.32 - - 3358.69 - - - - - - - - - 15.75 -
4884.90 540.03 -8.67 637 4889.21 roll -0.65 - - 2076.00 - 1.75 0.019 2637.94 -691.8 -97.32 - - 3358.75 - - - - - - - - - 16.06 -
5194.87 565.97 -8.38 669 5200.00 roll -0.65 - - 2067.31 - 2.03 0.068 3849.38 596.8 -97.32 - - 3358.16 - - - - - - - - - 15.74 -
5254.87 571.32 -9.02 681 5259.18 roll -0.65 - - 2067.31 - 1.76 0.019 2636.62 -689.1 -97.32 - - 3357.31 - - - - - - - - - 15.80 -
5564.89 598.59 -8.67 713 5570.03 roll -0.65 - - 2058.69 - 2.02 0.068 3849.75 600.6 -97.32 - - 3355.62 - - - - - - - - - 16.04 -
5624.88 604.39 -9.75 725 5629.19 roll -0.65 - - 2058.75 - 1.75 0.019 2638.81 -692.0 -97.32 - - 3356.88 - - - - - - - - - 16.05 -
5934.90 633.86 -9.58 757 5939.26 roll -0.65 - - 2048.81 - 2.01 0.068 3849.50 602.3 -97.32 - - 3357.28 - - - - - - - - - 16.06 -
6009.65 641.64 -10.50 772 6012.54 roll back -0.65 0.12 0.224 2081.69 274.0 1.75 0.019 2642.12 -689.9 -97.32 - - 3355.34 - - - - - - - - 15.93 16.08 -
6319.93 669.06 -9.06 803 6325.06 roll -0.65 - - 2076.38 - 2.04 0.069 3849.75 592.0 -97.32 - - 3355.22 - - - - - - - - - 15.72 -
6364.70 673.34 -9.59 812 6367.45 roll -0.65 - - 2075.69 - 1.76 0.019 2650.38 -681.5 -97.32 - - 3354.62 - - - - - - - - - 15.77 -
6674.94 701.63 -9.02 843 6679.28 roll -0.65 - - 2066.00 - 2.00 0.068 3848.62 599.1 -97.32 - - 3355.78 - - - - - - - - - 16.05 -
6744.94 708.40 -9.72 857 6749.25 roll -0.65 - - 2066.75 - 1.75 0.020 2634.25 -693.9 -97.32 - - 3354.34 - - - - - - - - - 16.06 -
7054.96 737.19 -9.10 889 7060.09 roll -0.65 - - 2057.19 - 2.03 0.069 3849.00 598.4 -97.32 - - 3353.97 - - - - - - - - - 15.71 -
7119.70 743.62 -9.98 902 7122.45 roll -0.65 - - 2057.06 - 1.75 0.020 2648.94 -685.7 -97.32 - - 3353.34 - - - - - - - - - 16.08 -
7429.98 772.93 -9.41 933 7434.33 roll -0.65 - - 2048.00 - 2.01 0.069 3848.38 596.7 -97.32 - - 3352.12 - - - - - - - - - 15.70 -
7500.00 779.91 -10.12 947 7504.46 roll back -0.65 0.12 0.222 2083.81 298.4 1.75 0.020 2645.62 -687.3 -97.32 - - 3352.34 - - - - - - - - 15.93 16.07 -
7810.00 805.36 -7.99 979 7814.36 roll -0.65 - - 2076.81 - 2.01 0.070 3848.56 598.5 -97.32 - - 3351.81 - - - - - - - - - 16.06 -
7870.00 810.52 -8.65 991 7874.31 roll -0.65 - - 2076.50 - 1.76 0.020 2640.00 -686.7 -97.32 - - 3351.88 - - - - - - - - - 16.07 -
8180.03 836.76 -8.44 1023 8184.38 roll -0.65 - - 2067.25 - 2.01 0.069 3848.38 601.2 -97.32 - - 3352.28 - - - - - - - - - 15.69 -
8234.76 841.65 -9.11 1034 8237.52 roll -0.65 - - 2067.88 - 1.75 0.020 2649.62 -685.0 -97.32 - - 3351.41 - - - - - - - - - 16.05 -
8545.04 868.46 -8.56 1065 8546.38 no move -0.65 - - 2067.62 - - - 2637.00 - -97.32 - - 3350.34 - - - - - - - - - - -
8855.04 893.54 -8.09 1096 8859.40 roll -0.65 - - 2059.00 - 2.01 0.069 3848.62 602.8 -97.32 - - 3350.56 - - - - - - - - - 15.68 -
8905.05 897.80 -8.64 1106 8909.37 roll -0.65 - - 2056.94 - 1.75 0.020 2639.12 -691.1 -97.32 - - 3351.12 - - - - - - - - - 16.06 -
9215.07 922.79 -8.01 1138 9219.43 roll -0.65 - - 2048.75 - 2.01 0.069 3847.19 601.0 -97.32 - - 3349.22 - - - - - - - - - 15.68 -
9269.81 927.56 -8.77 1149 9272.70 roll back -0.65 0.12 0.223 2083.50 289.6 1.76 0.020 2650.12 -680.2 -97.32 - - 3349.81 - - - - - - - - 15.92 16.06 -
9580.11 948.94 -6.87 1180 9584.47 roll -0.65 - - 2076.56 - 2.02 0.070 3848.75 593.4 -97.32 - - 3349.69 - - - - - - - - - 16.05 -
9660.11 954.86 -7.48 1196 9664.42 roll -0.65 - - 2076.88 - 1.76 0.020 2641.81 -685.8 -97.32 - - 3348.66 - - - - - - - - - 16.06 -
9970.16 978.48 -7.80 1228 9974.52 roll -0.65 - - 2067.25 - 2.01 0.070 3849.06 600.6 -97.32 - - 3349.28 - - - - - - - - - 16.05 -
10030.17 983.40 -8.23 1240 10034.49 roll -0.65 - - 2068.25 - 1.76 0.020 2640.50 -686.7 -97.32 - - 3347.91 - - - - - - - - - 16.06 -
10110 end dive: TARGET_DEPTH_EXCEEDED
10110 begin apogee
10111.43 990.00 -8.19 1249 10198.14 -0.12 0.62 0.192 2251.00 294.8 0.23 0.103 2434.88 -894.0 - 84.83 2.361 2966.75 -4.5 0.323 - - - - - - 15.91 15.19 11.78
10199 end apogee: CONTROL_FINISHED_OK
10199 begin climb
10199.63 991.85 - 1257 10298.05 0.65 0.78 0.109 2516.31 340.1 2.82 0.035 953.25 -525.4 97.32 91.54 2.304 2568.97 -4.3 0.321 - - - - - - 15.27 14.65 12.15
10301.11 988.21 4.53 1277 10367.48 done 0.74 - - 2516.75 - 2.80 0.035 2426.94 526.3 164.12 62.19 2.246 2298.16 -4.4 0.328 - - - - - - - 15.17 12.19
10670.88 950.68 10.37 1321 10672.22 VBD 0.74 - - 2516.38 - - - 2427.38 - 164.12 - - 2284.94 - - - - - - - - - - -
10980.88 918.07 10.58 1352 10986.20 done 0.74 - - 2526.94 - 2.64 0.030 950.69 -559.4 164.12 - - 2284.31 - - - - - - - - - 15.17 -
10995.63 916.47 10.57 1355 11001.42 done 0.74 - - 2527.69 - 2.66 0.034 2429.19 555.8 164.12 - - 2284.50 - - - - - - - - - 15.87 -
11310.96 882.55 10.65 1387 11316.28 done 0.74 - - 2538.00 - 2.65 0.030 949.44 -558.4 164.12 - - 2282.31 - - - - - - - - - 15.30 -
11365.65 876.66 10.75 1398 11371.44 done 0.74 - - 2536.44 - 2.67 0.034 2431.00 554.9 164.12 - - 2283.34 - - - - - - - - - 15.94 -
11680.99 840.18 11.81 1430 11686.24 done 0.74 - - 2549.19 - 2.61 0.031 948.56 -568.0 164.12 - - 2281.50 - - - - - - - - - 15.28 -
11720.92 835.43 11.99 1438 11726.25 done 0.74 - - 2548.50 - 2.67 0.033 2431.62 555.5 164.12 - - 2281.69 - - - - - - - - - 15.73 -
12031.00 796.97 12.46 1470 12036.25 done 0.74 - - 2560.62 - 2.62 0.031 948.19 -566.2 164.12 - - 2279.94 - - - - - - - - - 15.31 -
12055.68 793.87 12.41 1475 12061.54 0.74 0.14 0.197 2516.81 -312.9 2.65 0.032 2433.25 560.4 164.12 - - 2281.03 - - - - - - - - 15.88 16.01 -
12370.94 761.08 10.18 1507 12376.27 done 0.74 - - 2526.38 - 2.64 0.030 946.75 -563.1 164.12 - - 2280.03 - - - - - - - - - 15.34 -
12395.69 758.51 10.15 1512 12401.49 done 0.74 - - 2525.81 - 2.68 0.032 2428.38 552.8 164.12 - - 2281.56 - - - - - - - - - 15.75 -
12710.95 724.69 10.79 1544 12716.29 done 0.74 - - 2536.81 - 2.64 0.029 947.06 -561.1 164.12 - - 2279.72 - - - - - - - - - 15.33 -
12720.96 723.66 10.70 1546 12726.28 done 0.74 - - 2536.88 - 2.66 0.032 2431.38 558.0 164.12 - - 2279.44 - - - - - - - - - 16.04 -
13031.03 687.83 11.60 1578 13036.30 done 0.74 - - 2548.00 - 2.64 0.030 947.94 -561.9 164.12 - - 2279.31 - - - - - - - - - 15.33 -
13065.72 683.87 11.32 1585 13071.51 done 0.74 - - 2548.38 - 2.67 0.034 2431.75 555.7 164.12 - - 2280.47 - - - - - - - - - 16.04 -
13381.06 648.34 10.76 1617 13382.40 VBD 0.74 - - 2547.81 - - - 2430.75 - 164.12 - - 2277.84 - - - - - - - - - - -
13690.99 615.98 10.20 1648 13696.31 done 0.74 - - 2560.25 - 2.63 0.029 946.56 -564.3 164.12 - - 2279.72 - - - - - - - - - 15.38 -
13731.00 611.85 10.39 1656 13736.38 0.74 0.14 0.180 2515.31 -321.0 2.66 0.033 2434.50 559.4 164.12 - - 2279.97 - - - - - - - - 15.89 15.74 -
14041.00 583.57 9.35 1688 14046.33 done 0.74 - - 2525.31 - 2.64 0.030 948.62 -562.8 164.12 - - 2280.69 - - - - - - - - - 15.31 -
14061.02 581.72 9.34 1692 14066.33 done 0.74 - - 2525.25 - 2.65 0.032 2430.25 559.1 164.12 - - 2278.53 - - - - - - - - - 15.74 -
14371.08 551.32 9.98 1724 14372.43 VBD 0.74 - - 2524.81 - - - 2430.44 - 164.12 - - 2276.81 - - - - - - - - - - -
14681.03 519.58 10.20 1755 14682.37 VBD 0.74 - - 2524.62 - - - 2430.50 - 164.12 - - 2276.91 - - - - - - - - - - -
14991.04 488.44 9.76 1786 14996.37 done 0.74 - - 2535.88 - 2.65 0.030 948.06 -559.4 164.12 - - 2278.25 - - - - - - - - - 15.30 -
15031.05 484.53 9.78 1794 15036.38 done 0.74 - - 2535.75 - 2.65 0.033 2431.12 559.6 164.12 - - 2278.16 - - - - - - - - - 16.06 -
15341.12 452.44 10.68 1826 15346.39 done 0.74 - - 2546.50 - 2.63 0.030 950.06 -563.1 164.12 - - 2278.03 - - - - - - - - - 15.28 -
15355.80 450.84 10.71 1829 15361.59 done 0.74 - - 2546.50 - 2.64 0.033 2431.75 561.2 164.12 - - 2278.72 - - - - - - - - - 16.04 -
15671.30 414.40 11.90 1861 15676.39 done 0.74 - - 2559.00 - 2.64 0.030 946.94 -562.4 164.12 - - 2277.66 - - - - - - - - - 15.28 -
15685.81 412.62 11.92 1864 15691.68 0.74 0.14 0.182 2514.88 -315.1 2.64 0.033 2434.00 563.3 164.12 - - 2279.41 - - - - - - - - 15.92 16.07 -
16001.33 380.12 10.08 1896 16002.67 VBD 0.74 - - 2514.69 - - - 2434.12 - 164.12 - - 2277.09 - - - - - - - - - - -
16311.13 348.53 9.86 1927 16316.46 done 0.74 - - 2524.44 - 2.67 0.030 946.94 -557.0 164.12 - - 2278.19 - - - - - - - - - 15.26 -
16341.14 345.54 9.91 1933 16346.47 done 0.74 - - 2524.56 - 2.66 0.035 2429.94 557.5 164.12 - - 2277.78 - - - - - - - - - 15.72 -
16651.25 314.49 9.93 1965 16652.59 VBD 0.74 - - 2524.12 - - - 2429.69 - 164.12 - - 2276.78 - - - - - - - - - - -
16961.22 284.47 9.48 1996 16966.55 done 0.74 - - 2535.00 - 2.64 0.031 948.12 -561.2 164.12 - - 2278.56 - - - - - - - - - 15.27 -
16971.23 283.54 9.46 1998 16976.55 done 0.74 - - 2534.19 - 2.66 0.034 2431.38 557.6 164.12 - - 2278.16 - - - - - - - - - 15.71 -
17281.27 253.28 9.39 2030 17286.59 done 0.74 - - 2545.94 - 2.65 0.030 947.25 -560.0 164.12 - - 2278.31 - - - - - - - - - 15.35 -
17296.01 251.90 9.34 2033 17301.81 done 0.74 - - 2546.19 - 2.64 0.034 2429.56 561.5 164.12 - - 2278.41 - - - - - - - - - 16.06 -
17611.28 223.04 8.96 2065 17616.60 done 0.74 - - 2557.50 - 2.65 0.030 946.75 -559.6 164.12 - - 2279.59 - - - - - - - - - 15.29 -
17666.04 218.10 9.03 2076 17671.83 done 0.74 - - 2557.81 - 2.64 0.034 2433.50 563.2 164.12 - - 2279.09 - - - - - - - - - 16.06 -
17981.37 187.55 10.14 2108 17986.69 0.74 0.14 0.191 2523.69 -243.7 2.66 0.030 947.81 -558.5 164.12 - - 2278.44 - - - - - - - - 15.90 15.33 -
18031.32 183.14 8.79 2118 18036.64 done 0.74 - - 2523.56 - 2.64 0.035 2429.00 561.1 164.12 - - 2278.53 - - - - - - - - - 15.99 -
18341.40 156.81 8.24 2150 18346.58 done 0.74 - - 2521.75 - 2.26 0.069 3839.12 623.9 164.12 - - 2278.66 - - - - - - - - - 15.98 -
18386.08 152.50 9.65 2159 18391.80 done 0.74 - - 2532.50 - 2.30 0.020 2326.25 -657.8 164.12 - - 2278.09 - - - - - - - - - 15.27 -
18701.42 124.60 9.22 2191 18706.64 done 0.74 - - 2543.81 - 2.38 0.031 945.75 -580.0 164.12 - - 2278.69 - - - - - - - - - 15.22 -
18726.10 122.39 9.05 2196 18731.90 done 0.74 - - 2544.81 - 2.68 0.034 2430.12 553.9 164.12 - - 2280.16 - - - - - - - - - 15.67 -
19041.45 99.83 5.63 2228 19046.95 done 0.79 - - 2556.06 - 2.63 0.030 946.75 -564.0 164.12 - - 2277.97 - - - - - - - - - 15.24 -
19121.39 95.51 5.42 2244 19163.74 done 0.86 - - 2555.62 - 2.66 0.032 2431.69 558.2 215.83 38.49 1.203 2088.41 -4.9 0.067 - - - - - - - 15.87 11.95
19346.39 75.34 10.23 2289 19351.96 roll 0.86 - - 2564.50 - 2.64 0.030 947.69 -562.1 215.83 - - 2082.09 - - - - - - - - - 15.18 -
19381.39 72.08 9.35 2296 19386.97 roll 0.86 - - 2565.06 - 2.69 0.034 2428.94 550.7 215.83 - - 2080.94 - - - - - - - - - 15.77 -
19571.40 54.40 8.74 2334 19576.93 done 0.86 - - 2566.81 - 2.31 0.066 3839.50 610.6 215.83 - - 2079.19 - - - - - - - - - 15.78 -
19581.46 53.48 8.84 2336 19586.94 done 0.86 - - 2576.38 - 2.34 0.019 2330.81 -644.7 215.83 - - 2078.72 - - - - - - - - - 14.94 -
19771.44 40.30 6.61 2374 19776.98 done 0.90 - - 2588.25 - 2.42 0.031 948.06 -571.4 215.83 - - 2079.38 - - - - - - - - - 15.17 -
19856.43 33.61 8.06 2391 19862.01 done 0.90 - - 2587.25 - 2.68 0.032 2430.81 553.3 215.83 - - 2078.97 - - - - - - - - - 15.83 -
20046.46 22.50 4.66 2429 20099.00 done 0.98 - - 2587.38 - 2.34 0.069 3837.00 600.9 280.41 48.67 1.076 1823.62 -5.2 0.019 - - - - - - - 15.52 12.02
20326.47 4.10 7.47 2485 20331.99 roll 1.00 - - 2598.62 - 2.36 0.018 2326.06 -640.2 280.41 - - 1817.88 - - - - - - - - - 15.14 -
20357 end climb: SURFACE_DEPTH_REACHED
20357 begin surface coast
20387 end surface coast: CONTROL_FINISHED_OK
20387 begin surface
SM 1.45 - - - - 216.4 49.33 1.059 1540.7 31.2 6.78 0.061 1527.6 225.3 - 0.78 0.062 1553.7 1988.9 -4.754 - - 12.13 15.83 15.85 -