SMODE Aug22 * SG219 * Dive index * Mission links * Dive 185 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 59.36 of 310.00 AH used of 24V (80.85% remains)
• Surface angle -68.4 deg, depth 1.15 m • Intended pitch -19.2 deg, speed -9.167 cm/s
VBD pumped to 350.17 (SM_CC=350)
• GPS1 time: 31 s
• GPS2 time: 2 s • Transponder ping count: 29
• 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
15.63 - - - 73.20 VBD -0.64 - - 196.12 - - - 2608.12 - -126.52 55.68 0.005 2644.72 - - - - - - - - - - 15.47
73.45 2.01 -1.63 11 114.98 -0.64 8.36 0.359 2075.94 224.9 2.09 0.068 3850.25 594.3 -126.52 26.81 0.006 3482.75 31.3 -1.794 - - - - - - 15.31 15.47 15.52
342.13 49.64 -15.73 65 348.05 roll -0.64 - - 2076.69 - 1.76 0.015 2647.94 -683.1 -126.52 - - 3485.00 - - - - - - - - - 15.69 -
532.21 78.76 -14.26 103 534.91 no move -0.64 - - 2076.69 - - - 2635.75 - -126.52 - - 3484.88 - - - - - - - - - - -
722.25 104.33 -13.59 138 725.14 no move -0.64 - - 2076.38 - - - 2636.38 - -126.52 - - 3486.25 - - - - - - - - - - -
1032.27 142.22 -12.02 169 1038.09 roll -0.64 - - 2066.50 - 2.01 0.064 3848.69 603.1 -126.52 - - 3489.06 - - - - - - - - - 15.64 -
1082.27 148.52 -12.81 179 1087.94 roll -0.64 - - 2065.75 - 1.76 0.017 2649.25 -681.5 -126.52 - - 3487.97 - - - - - - - - - 15.76 -
1392.34 189.25 -13.10 211 1398.06 roll -0.64 - - 2055.81 - 2.02 0.065 3849.00 593.9 -126.52 - - 3488.12 - - - - - - - - - 15.92 -
1467.04 199.48 -13.30 226 1472.83 roll -0.64 - - 2057.44 - 1.75 0.016 2639.94 -690.9 -126.52 - - 3486.81 - - - - - - - - - 15.95 -
1782.32 240.48 -12.77 258 1787.45 roll -0.64 - - 2048.44 - 2.03 0.064 3847.62 594.9 -126.52 - - 3486.38 - - - - - - - - - 15.98 -
1837.06 247.78 -13.26 269 1839.95 roll back -0.64 0.12 0.213 2086.38 316.2 1.76 0.017 2638.31 -687.1 -126.52 - - 3486.28 - - - - - - - - 15.89 15.96 -
2147.34 281.53 -10.70 300 2152.47 roll -0.64 - - 2079.62 - 2.05 0.066 3849.38 590.8 -126.52 - - 3485.50 - - - - - - - - - 15.91 -
2182.07 285.41 -11.08 307 2184.83 roll -0.64 - - 2078.94 - 1.75 0.018 2652.25 -684.1 -126.52 - - 3484.44 - - - - - - - - - 15.97 -
2492.35 318.37 -10.31 338 2496.71 roll -0.64 - - 2068.62 - 2.01 0.066 3849.56 595.7 -126.52 - - 3486.09 - - - - - - - - - 16.00 -
2522.35 321.69 -10.78 344 2526.66 roll -0.64 - - 2070.62 - 1.75 0.018 2649.44 -685.8 -126.52 - - 3485.22 - - - - - - - - - 16.06 -
2832.37 355.61 -10.95 376 2833.71 no move -0.64 - - 2070.12 - - - 2638.81 - -126.52 - - 3482.84 - - - - - - - - - - -
3142.37 389.31 -11.03 407 3147.52 roll -0.64 - - 2059.62 - 2.01 0.066 3850.19 602.7 -126.52 - - 3483.75 - - - - - - - - - 16.02 -
3232.39 399.54 -11.22 425 3236.70 roll -0.64 - - 2060.94 - 1.75 0.018 2646.06 -688.1 -126.52 - - 3483.19 - - - - - - - - - 16.04 -
3542.41 432.36 -10.12 457 3546.77 roll -0.64 - - 2051.12 - 2.01 0.066 3849.31 598.6 -126.52 - - 3480.72 - - - - - - - - - 16.02 -
3557.15 433.93 -10.18 460 3560.04 roll back -0.64 0.12 0.220 2085.69 288.1 1.74 0.018 2642.69 -693.5 -126.52 - - 3480.31 - - - - - - - - 15.94 16.08 -
3867.43 460.50 -8.32 491 3871.79 roll -0.64 - - 2078.50 - 2.02 0.068 3849.50 597.4 -126.52 - - 3480.66 - - - - - - - - - 16.07 -
3922.18 465.49 -9.24 502 3924.93 roll -0.64 - - 2078.25 - 1.75 0.019 2649.12 -685.9 -126.52 - - 3478.16 - - - - - - - - - 16.01 -
4232.45 493.66 -8.83 533 4237.58 roll -0.64 - - 2067.94 - 2.02 0.067 3847.44 593.2 -126.52 - - 3478.81 - - - - - - - - - 15.97 -
4252.44 495.56 -8.99 537 4256.75 roll -0.64 - - 2069.12 - 1.75 0.019 2644.94 -687.1 -126.52 - - 3478.16 - - - - - - - - - 16.04 -
4562.46 525.25 -9.93 569 4566.82 roll -0.64 - - 2060.38 - 2.01 0.068 3848.94 599.0 -126.52 - - 3477.34 - - - - - - - - - 16.03 -
4577.20 526.82 -10.12 572 4579.95 roll -0.64 - - 2060.75 - 1.75 0.019 2648.62 -685.9 -126.52 - - 3476.16 - - - - - - - - - 16.08 -
4887.48 559.02 -10.67 603 4888.81 no move -0.64 - - 2060.50 - - - 2636.44 - -126.52 - - 3475.28 - - - - - - - - - - -
5197.48 592.26 -10.75 634 5202.66 roll -0.64 - - 2050.50 - 2.00 0.068 3848.75 606.2 -126.52 - - 3475.41 - - - - - - - - - 16.04 -
5242.23 597.40 -11.53 643 5245.12 roll back -0.64 0.12 0.218 2083.81 277.6 1.74 0.018 2643.69 -692.6 -126.52 - - 3475.66 - - - - - - - - 15.94 16.04 -
5552.51 626.26 -9.20 674 5556.87 roll -0.64 - - 2077.75 - 2.01 0.069 3849.44 599.9 -126.52 - - 3474.66 - - - - - - - - - 16.00 -
5627.26 633.40 -9.44 689 5630.01 roll -0.64 - - 2078.38 - 1.75 0.019 2648.88 -686.0 -126.52 - - 3472.91 - - - - - - - - - 16.08 -
5937.53 661.35 -8.60 720 5942.65 roll -0.64 - - 2070.19 - 2.00 0.069 3849.12 600.1 -126.52 - - 3472.81 - - - - - - - - - 16.03 -
5967.52 664.02 -8.69 726 5971.83 roll -0.64 - - 2070.25 - 1.75 0.019 2638.19 -692.0 -126.52 - - 3472.78 - - - - - - - - - 16.08 -
6277.56 690.37 -8.48 758 6281.92 roll -0.64 - - 2060.62 - 2.01 0.068 3848.00 601.9 -126.52 - - 3473.19 - - - - - - - - - 16.03 -
6312.28 693.48 -8.74 765 6315.03 roll -0.64 - - 2060.50 - 1.75 0.019 2653.81 -682.4 -126.52 - - 3471.81 - - - - - - - - - 16.08 -
6622.56 720.72 -8.73 796 6626.90 roll -0.64 - - 2051.19 - 2.00 0.068 3849.00 597.6 -126.52 - - 3471.22 - - - - - - - - - 16.04 -
6667.31 725.01 -9.66 805 6670.20 roll back -0.64 0.12 0.219 2084.94 281.2 1.76 0.019 2647.50 -682.7 -126.52 - - 3469.91 - - - - - - - - 15.93 16.00 -
6977.59 750.11 -8.18 836 6982.73 roll -0.64 - - 2077.44 - 2.03 0.070 3849.56 592.1 -126.52 - - 3471.12 - - - - - - - - - 15.95 -
7002.33 752.31 -8.37 841 7005.07 roll -0.64 - - 2078.38 - 1.75 0.020 2654.00 -683.2 -126.52 - - 3469.44 - - - - - - - - - 16.08 -
7312.60 780.27 -9.31 872 7316.94 roll -0.64 - - 2069.88 - 2.00 0.069 3847.56 596.8 -126.52 - - 3468.94 - - - - - - - - - 16.05 -
7347.35 783.69 -9.76 879 7350.09 roll -0.64 - - 2068.44 - 1.75 0.020 2652.88 -682.7 -126.52 - - 3470.06 - - - - - - - - - 16.07 -
7657.62 814.36 -9.76 910 7662.76 roll -0.64 - - 2060.25 - 2.03 0.069 3846.94 588.2 -126.52 - - 3469.09 - - - - - - - - - 16.01 -
7682.36 816.88 -9.81 915 7685.11 roll -0.64 - - 2061.19 - 1.76 0.020 2651.62 -679.2 -126.52 - - 3468.19 - - - - - - - - - 16.07 -
7992.63 847.28 -9.71 946 7996.99 roll -0.64 - - 2052.06 - 2.01 0.069 3848.50 595.5 -126.52 - - 3468.44 - - - - - - - - - 16.05 -
8037.37 851.79 -10.09 955 8040.26 roll back -0.64 0.12 0.218 2085.69 280.3 1.75 0.020 2652.31 -683.5 -126.52 - - 3467.75 - - - - - - - - 15.86 16.06 -
8347.65 876.70 -7.85 986 8348.99 no move -0.64 - - 2085.31 - - - 2640.12 - -126.52 - - 3467.03 - - - - - - - - - - -
8657.66 899.85 -7.29 1017 8662.80 roll -0.64 - - 2078.69 - 2.04 0.070 3848.75 592.5 -126.52 - - 3467.88 - - - - - - - - - 15.92 -
8732.40 905.63 -7.66 1032 8735.15 roll -0.64 - - 2077.88 - 1.76 0.021 2661.62 -674.5 -126.52 - - 3466.88 - - - - - - - - - 16.07 -
9042.68 929.73 -8.02 1063 9047.04 roll -0.64 - - 2070.19 - 2.02 0.070 3847.25 586.9 -126.52 - - 3465.78 - - - - - - - - - 16.04 -
9087.42 933.59 -8.69 1072 9090.18 roll -0.64 - - 2069.81 - 1.76 0.021 2653.94 -678.0 -126.52 - - 3465.69 - - - - - - - - - 16.07 -
9397.70 960.78 -8.97 1103 9402.05 roll -0.64 - - 2060.94 - 2.01 0.069 3848.25 594.2 -126.52 - - 3466.94 - - - - - - - - - 15.98 -
9432.43 964.12 -9.40 1110 9435.18 roll -0.64 - - 2061.44 - 1.76 0.020 2651.19 -680.1 -126.52 - - 3465.84 - - - - - - - - - 16.06 -
9713 end dive: TARGET_DEPTH_EXCEEDED
9713 begin apogee
9713.94 990.61 -9.47 1138 9825.15 -0.12 0.63 0.192 2252.69 303.6 0.22 0.104 2432.75 -992.9 - 109.72 2.372 2967.78 -4.5 0.325 - - - - - - 15.88 15.12 11.75
9826 end apogee: CONTROL_FINISHED_OK
9826 begin climb
9826.75 994.35 - 1149 9950.58 0.64 0.77 0.105 2513.94 339.3 2.87 0.035 952.44 -515.8 126.52 116.53 2.306 2451.69 -4.4 0.327 - - - - - - 15.21 14.55 12.05
10032.74 984.09 8.28 1190 10038.53 done 0.66 - - 2513.12 - 2.81 0.036 2427.44 524.9 126.52 - - 2444.22 - - - - - - - - - 15.38 -
10347.92 955.02 9.34 1222 10353.20 done 0.66 - - 2512.75 - 2.36 0.066 3838.38 597.9 126.52 - - 2436.91 - - - - - - - - - 15.74 -
10402.68 949.07 10.83 1233 10408.67 done 0.66 - - 2524.19 - 2.37 0.019 2315.62 -642.5 126.52 - - 2435.50 - - - - - - - - - 15.56 -
10718.02 917.00 10.44 1265 10723.26 done 0.66 - - 2523.75 - 2.62 0.064 3837.06 580.7 126.52 - - 2434.84 - - - - - - - - - 15.61 -
10767.95 911.02 12.14 1275 10773.22 done 0.66 - - 2535.44 - 2.33 0.019 2318.75 -651.6 126.52 - - 2433.59 - - - - - - - - - 15.92 -
11078.02 877.10 11.07 1307 11083.33 0.66 0.15 0.222 2491.94 -290.0 2.62 0.064 3835.44 578.9 126.52 - - 2434.50 - - - - - - - - 15.84 15.65 -
11167.98 867.47 10.64 1325 11173.24 done 0.66 - - 2501.69 - 2.35 0.019 2317.19 -646.1 126.52 - - 2433.66 - - - - - - - - - 15.70 -
11478.05 837.66 9.41 1357 11483.31 done 0.66 - - 2501.69 - 2.61 0.064 3838.69 583.0 126.52 - - 2431.94 - - - - - - - - - 15.99 -
11527.99 832.18 11.14 1367 11533.26 done 0.66 - - 2513.25 - 2.35 0.019 2318.62 -646.8 126.52 - - 2432.75 - - - - - - - - - 15.72 -
11838.07 800.82 9.86 1399 11843.29 done 0.66 - - 2525.25 - 2.41 0.031 947.12 -569.1 126.52 - - 2433.03 - - - - - - - - - 15.33 -
11878.00 796.84 9.94 1407 11883.33 done 0.66 - - 2524.62 - 2.69 0.033 2431.81 551.9 126.52 - - 2432.53 - - - - - - - - - 16.02 -
12188.08 764.87 10.40 1439 12193.28 done 0.66 - - 2525.31 - 2.30 0.066 3838.44 611.6 126.52 - - 2432.34 - - - - - - - - - 15.67 -
12288.04 753.15 11.89 1459 12293.30 done 0.66 - - 2535.69 - 2.32 0.019 2322.12 -653.6 126.52 - - 2431.94 - - - - - - - - - 16.03 -
12598.11 720.64 10.00 1491 12603.37 0.66 0.15 0.211 2499.38 -242.1 2.40 0.031 947.62 -572.7 126.52 - - 2430.94 - - - - - - - - 15.91 15.27 -
12638.05 717.23 9.00 1499 12643.37 done 0.66 - - 2499.31 - 2.69 0.033 2431.56 551.7 126.52 - - 2431.50 - - - - - - - - - 15.70 -
12948.06 692.62 7.53 1531 12953.31 done 0.69 - - 2500.50 - 2.29 0.066 3840.75 615.4 126.52 - - 2429.34 - - - - - - - - - 16.02 -
13042.81 684.19 8.77 1550 13048.54 done 0.69 - - 2510.62 - 2.33 0.020 2312.88 -655.7 126.52 - - 2429.47 - - - - - - - - - 15.13 -
13358.16 659.72 7.63 1582 13363.37 done 0.72 - - 2509.81 - 2.59 0.064 3840.06 589.6 126.52 - - 2430.03 - - - - - - - - - 15.66 -
13428.09 653.36 9.23 1596 13433.37 done 0.72 - - 2521.25 - 2.31 0.018 2318.25 -658.8 126.52 - - 2428.50 - - - - - - - - - 16.03 -
13738.22 628.30 8.38 1628 13743.43 done 0.74 - - 2524.12 - 2.57 0.064 3839.19 591.8 126.52 - - 2428.59 - - - - - - - - - 16.04 -
13778.16 624.30 10.12 1636 13783.41 done 0.74 - - 2534.12 - 2.33 0.020 2319.75 -652.1 126.52 - - 2429.62 - - - - - - - - - 15.31 -
14088.25 594.98 10.10 1668 14093.48 done 0.74 - - 2532.88 - 2.55 0.064 3840.81 596.5 126.52 - - 2429.25 - - - - - - - - - 16.04 -
14188.22 583.03 12.00 1688 14193.48 done 0.74 - - 2546.00 - 2.32 0.020 2320.12 -655.5 126.52 - - 2428.66 - - - - - - - - - 15.29 -
14498.32 547.61 11.53 1720 14503.56 done 0.74 - - 2545.62 - 2.58 0.064 3837.94 588.3 126.52 - - 2429.59 - - - - - - - - - 15.65 -
14578.28 537.37 13.00 1736 14583.54 done 0.74 - - 2556.25 - 2.34 0.020 2325.31 -646.4 126.52 - - 2429.19 - - - - - - - - - 15.33 -
14888.36 500.83 11.64 1768 14893.58 done 0.74 - - 2567.06 - 2.40 0.032 945.81 -574.8 126.52 - - 2429.59 - - - - - - - - - 15.22 -
14983.04 489.85 11.48 1787 14988.91 0.74 0.17 0.215 2517.06 -294.1 2.67 0.034 2435.06 557.8 126.52 - - 2429.25 - - - - - - - - 15.16 16.05 -
15298.33 460.71 8.34 1819 15303.56 done 0.76 - - 2516.75 - 2.30 0.068 3838.56 610.2 126.52 - - 2428.12 - - - - - - - - - 16.03 -
15343.06 456.47 9.54 1828 15348.81 done 0.76 - - 2523.88 - 2.31 0.018 2318.88 -657.9 126.52 - - 2428.94 - - - - - - - - - 16.05 -
15658.41 430.54 7.86 1860 15663.64 done 0.78 - - 2524.94 - 2.59 0.066 3837.38 586.3 126.52 - - 2429.47 - - - - - - - - - 16.04 -
15733.09 423.43 9.52 1875 15738.84 done 0.78 - - 2536.62 - 2.34 0.019 2320.69 -648.2 126.52 - - 2429.47 - - - - - - - - - 16.06 -
16048.44 397.02 8.33 1907 16053.66 done 0.80 - - 2537.19 - 2.58 0.065 3839.88 588.8 126.52 - - 2428.22 - - - - - - - - - 16.04 -
16093.11 392.77 9.58 1916 16098.85 done 0.80 - - 2546.25 - 2.33 0.019 2318.69 -652.9 126.52 - - 2428.75 - - - - - - - - - 16.05 -
16408.45 365.26 9.02 1948 16413.69 done 0.80 - - 2548.31 - 2.58 0.064 3840.25 589.8 126.52 - - 2428.22 - - - - - - - - - 16.04 -
16468.39 359.02 10.42 1960 16473.66 done 0.80 - - 2559.12 - 2.33 0.020 2319.69 -652.6 126.52 - - 2429.22 - - - - - - - - - 15.23 -
16778.47 329.16 10.20 1992 16783.70 done 0.80 - - 2559.69 - 2.58 0.063 3840.00 589.3 126.52 - - 2428.94 - - - - - - - - - 15.62 -
16848.42 320.94 12.11 2006 16853.69 done 0.80 - - 2570.50 - 2.33 0.020 2322.94 -651.1 126.52 - - 2428.00 - - - - - - - - - 15.32 -
17158.52 287.76 10.48 2038 17159.86 VBD 0.80 - - 2571.19 - - - 2310.00 - 126.52 - - 2427.34 - - - - - - - - - - -
17468.45 257.50 9.07 2069 17473.73 done 0.80 - - 2582.06 - 2.40 0.031 947.69 -567.6 126.52 - - 2428.94 - - - - - - - - - 15.25 -
17548.48 250.77 8.16 2085 17553.78 done 0.82 - - 2582.00 - 2.64 0.033 2431.38 562.0 126.52 - - 2429.34 - - - - - - - - - 16.05 -
17858.49 225.07 8.31 2117 17863.73 done 0.84 - - 2582.69 - 2.30 0.066 3838.56 611.8 126.52 - - 2428.34 - - - - - - - - - 15.61 -
17933.23 217.80 9.79 2132 17938.97 done 0.84 - - 2590.81 - 2.32 0.017 2327.00 -651.5 126.52 - - 2428.78 - - - - - - - - - 15.66 -
18248.57 188.15 10.02 2164 18253.85 0.84 0.16 0.239 2557.38 -208.9 2.40 0.030 944.44 -576.1 126.52 - - 2428.97 - - - - - - - - 15.79 15.20 -
18293.25 183.99 9.23 2173 18299.04 done 0.84 - - 2555.81 - 2.66 0.033 2431.69 559.1 126.52 - - 2430.09 - - - - - - - - - 15.64 -
18608.56 157.31 7.88 2205 18613.87 done 0.86 - - 2568.69 - 2.62 0.029 944.62 -567.6 126.52 - - 2429.00 - - - - - - - - - 15.21 -
18698.54 150.47 7.51 2223 18703.86 done 0.90 - - 2567.62 - 2.69 0.033 2432.12 553.0 126.52 - - 2430.53 - - - - - - - - - 15.64 -
19008.55 127.75 7.09 2255 19013.80 done 0.94 - - 2567.06 - 2.26 0.066 3839.88 622.9 126.52 - - 2428.22 - - - - - - - - - 15.85 -
19113.31 118.92 8.18 2276 19119.05 done 0.96 - - 2578.25 - 2.31 0.017 2323.38 -656.5 126.52 - - 2428.69 - - - - - - - - - 15.84 -
19423.58 97.95 6.26 2310 19429.17 1.02 0.10 0.071 2641.38 631.3 2.55 0.062 3841.50 595.3 126.52 - - 2429.72 - - - - - - - - 15.81 15.82 -
19658.59 77.99 7.39 2357 19664.10 done 1.05 - - 2652.88 - 2.34 0.016 2312.94 -653.2 126.52 - - 2430.69 - - - - - - - - - 15.57 -
19848.60 66.90 5.25 2395 19910.35 done 1.15 - - 2651.06 - 2.62 0.062 3838.56 582.3 206.27 58.15 1.152 2125.56 -5.2 0.052 - - - - - - - 15.56 11.83
20033.60 51.97 10.11 2432 20039.13 done 1.15 - - 2662.44 - 2.38 0.018 2327.56 -634.9 206.27 - - 2119.03 - - - - - - - - - 15.08 -
20223.64 35.71 6.61 2470 20229.17 done 1.21 - - 2675.12 - 2.44 0.031 944.12 -567.0 206.27 - - 2118.16 - - - - - - - - - 15.08 -
20458.72 25.37 6.36 2517 20464.22 done 1.26 - - 2674.12 - 2.68 0.032 2434.94 556.3 206.27 - - 2115.53 - - - - - - - - - 15.78 -
20648.67 12.98 5.08 2555 20715.35 1.37 0.16 0.065 2756.75 516.4 2.70 0.029 946.38 -551.3 289.37 60.62 1.008 1786.47 -5.4 0.012 - - - - - - 15.75 15.06 11.97
20759 end climb: SURFACE_DEPTH_REACHED
20759 begin surface coast
20774 end surface coast: CONTROL_FINISHED_OK
20774 begin surface
SM 1.39 - - - - 222.2 42.41 1.001 1540.5 34.9 7.40 0.070 1524.6 206.0 - 3.35 0.052 1556.4 463.8 -1.267 - - 12.06 15.70 15.74 -