SMODE Aug22 * SG219 * Dive index * Mission links * Dive 194 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 62.70 of 310.00 AH used of 24V (79.78% remains)
• Surface angle -64.3 deg, depth 1.09 m • Intended pitch -19.2 deg, speed -9.167 cm/s
VBD pumped to 349.82 (SM_CC=350)
• GPS1 time: 27 s
• GPS2 time: 3 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
15.76 - - - 68.20 VBD -0.64 - - 147.50 - - - 2609.19 - -126.52 50.47 0.005 2572.75 - - - - - - - - - - 15.46
68.45 2.07 -2.02 10 115.17 -0.64 8.59 0.360 2083.38 225.4 2.33 0.031 1296.88 -563.2 -126.52 29.64 0.006 3483.06 30.7 -1.815 - - - - - - 15.19 15.49 15.50
147.32 12.93 -17.86 26 153.85 roll -0.64 - - 2074.44 - 2.69 0.042 2774.81 549.4 -126.52 - - 3484.31 - - - - - - - - - 15.59 -
337.30 51.56 -19.26 64 343.56 roll -0.64 - - 2074.94 - 2.59 0.022 1290.19 -573.2 -126.52 - - 3485.09 - - - - - - - - - 15.64 -
392.31 61.22 -15.47 75 398.61 roll -0.64 - - 2063.38 - 2.70 0.041 2775.06 550.0 -126.52 - - 3484.38 - - - - - - - - - 15.52 -
582.33 91.54 -15.16 113 588.37 roll -0.64 - - 2055.00 - 1.75 0.065 3850.88 614.8 -126.52 - - 3486.88 - - - - - - - - - 15.63 -
642.33 100.94 -14.41 125 648.12 roll -0.64 - - 2054.69 - 1.77 0.016 2649.00 -679.0 -126.52 - - 3486.31 - - - - - - - - - 15.65 -
952.37 144.04 -12.88 157 958.19 roll -0.64 - - 2045.81 - 2.03 0.063 3850.56 591.9 -126.52 - - 3488.50 - - - - - - - - - 15.73 -
1067.13 159.66 -13.15 180 1073.26 roll back -0.64 0.14 0.219 2085.62 284.4 1.76 0.017 2638.31 -688.8 -126.52 - - 3488.28 - - - - - - - - 15.73 15.89 -
1382.40 194.36 -11.21 212 1388.22 roll -0.64 - - 2077.88 - 2.04 0.065 3850.44 594.2 -126.52 - - 3489.78 - - - - - - - - - 15.85 -
1477.15 205.57 -11.87 231 1479.91 roll -0.64 - - 2077.75 - 1.76 0.017 2651.00 -681.5 -126.52 - - 3488.72 - - - - - - - - - 15.92 -
1787.43 241.29 -11.14 262 1791.76 roll -0.64 - - 2070.12 - 2.00 0.065 3850.69 599.8 -126.52 - - 3487.78 - - - - - - - - - 15.91 -
1817.42 244.77 -11.58 268 1821.73 roll -0.64 - - 2070.25 - 1.75 0.018 2650.19 -686.0 -126.52 - - 3487.12 - - - - - - - - - 16.01 -
2127.44 281.20 -11.40 300 2131.78 roll -0.64 - - 2060.38 - 1.99 0.066 3850.31 603.1 -126.52 - - 3486.00 - - - - - - - - - 16.00 -
2192.19 288.86 -11.83 313 2194.94 roll -0.64 - - 2060.69 - 1.75 0.018 2652.19 -684.6 -126.52 - - 3485.12 - - - - - - - - - 16.04 -
2502.47 325.71 -11.78 344 2506.81 roll -0.64 - - 2051.81 - 1.99 0.067 3850.12 602.0 -126.52 - - 3485.88 - - - - - - - - - 16.04 -
2547.20 331.18 -12.15 353 2550.10 roll back -0.64 0.12 0.214 2086.50 289.1 1.75 0.018 2640.19 -691.4 -126.52 - - 3484.38 - - - - - - - - 15.92 16.04 -
2857.48 362.35 -9.95 384 2861.84 roll -0.64 - - 2078.81 - 2.01 0.067 3848.75 601.3 -126.52 - - 3484.84 - - - - - - - - - 15.97 -
2942.22 371.14 -10.27 401 2944.97 roll -0.64 - - 2078.56 - 1.74 0.019 2657.19 -684.8 -126.52 - - 3485.62 - - - - - - - - - 16.06 -
3252.50 403.07 -10.19 432 3256.83 roll -0.64 - - 2070.44 - 1.98 0.067 3849.94 602.4 -126.52 - - 3484.50 - - - - - - - - - 16.05 -
3307.24 408.86 -10.51 443 3309.99 roll -0.64 - - 2067.81 - 1.75 0.018 2653.19 -683.9 -126.52 - - 3483.59 - - - - - - - - - 16.00 -
3617.51 441.95 -10.56 474 3621.86 roll -0.64 - - 2060.88 - 1.99 0.068 3850.25 601.5 -126.52 - - 3481.28 - - - - - - - - - 16.01 -
3682.27 449.14 -11.07 487 3685.02 roll -0.64 - - 2061.25 - 1.75 0.019 2655.88 -682.5 -126.52 - - 3481.19 - - - - - - - - - 15.99 -
3992.53 481.56 -10.24 518 3997.67 roll -0.64 - - 2052.69 - 2.01 0.068 3847.62 592.9 -126.52 - - 3480.88 - - - - - - - - - 16.00 -
4047.27 487.40 -10.65 529 4050.17 roll back -0.64 0.12 0.217 2086.00 277.6 1.75 0.019 2646.31 -686.5 -126.52 - - 3479.53 - - - - - - - - 15.93 16.05 -
4357.56 513.80 -8.48 560 4361.92 roll -0.64 - - 2078.81 - 2.02 0.068 3850.31 596.0 -126.52 - - 3477.94 - - - - - - - - - 16.00 -
4402.29 517.89 -9.17 569 4405.04 roll -0.64 - - 2079.38 - 1.76 0.020 2657.50 -677.7 -126.52 - - 3477.44 - - - - - - - - - 16.00 -
4712.57 547.16 -9.65 600 4716.91 roll -0.64 - - 2068.81 - 2.00 0.067 3850.00 596.2 -126.52 - - 3477.50 - - - - - - - - - 15.99 -
4772.57 553.28 -10.15 612 4776.88 roll -0.64 - - 2071.19 - 1.75 0.020 2652.31 -684.4 -126.52 - - 3477.28 - - - - - - - - - 16.07 -
5082.59 585.81 -10.62 644 5086.94 roll -0.64 - - 2061.25 - 1.99 0.068 3848.38 601.0 -126.52 - - 3476.97 - - - - - - - - - 16.06 -
5127.33 590.76 -11.02 653 5130.08 roll -0.64 - - 2062.00 - 1.75 0.020 2657.38 -680.6 -126.52 - - 3477.00 - - - - - - - - - 16.07 -
5437.61 624.90 -11.52 684 5441.95 roll -0.64 - - 2052.69 - 1.99 0.068 3850.00 599.3 -126.52 - - 3475.38 - - - - - - - - - 16.01 -
5472.36 629.08 -11.98 691 5475.11 roll -0.64 - - 2052.25 - 1.75 0.020 2651.81 -684.7 -126.52 - - 3475.16 - - - - - - - - - 16.07 -
5782.62 665.32 -11.52 722 5786.96 roll -0.64 - - 2043.81 - 1.99 0.068 3849.19 601.7 -126.52 - - 3475.81 - - - - - - - - - 16.00 -
5822.62 670.19 -12.37 730 5827.06 roll back -0.64 0.14 0.212 2085.94 300.9 1.75 0.020 2645.69 -687.7 -126.52 - - 3475.44 - - - - - - - - 15.88 16.07 -
6132.64 701.29 -9.94 762 6136.98 roll -0.64 - - 2079.00 - 2.00 0.069 3849.00 601.7 -126.52 - - 3474.22 - - - - - - - - - 16.05 -
6172.63 705.44 -10.42 770 6176.94 roll -0.64 - - 2079.06 - 1.75 0.020 2648.81 -685.8 -126.52 - - 3475.25 - - - - - - - - - 16.01 -
6482.66 736.13 -9.62 802 6483.99 no move -0.64 - - 2079.56 - - - 2641.75 - -126.52 - - 3472.50 - - - - - - - - - - -
6792.66 764.80 -9.05 833 6797.00 roll -0.64 - - 2071.31 - 1.98 0.069 3847.19 608.8 -126.52 - - 3472.72 - - - - - - - - - 16.05 -
6822.66 767.62 -9.17 839 6826.97 roll -0.64 - - 2071.50 - 1.75 0.020 2654.00 -681.8 -126.52 - - 3472.62 - - - - - - - - - 16.06 -
7132.69 796.49 -9.01 871 7137.03 roll -0.64 - - 2062.62 - 1.98 0.069 3847.75 602.9 -126.52 - - 3472.00 - - - - - - - - - 16.01 -
7182.69 801.21 -9.53 881 7186.99 roll -0.64 - - 2062.12 - 1.75 0.020 2652.31 -683.1 -126.52 - - 3472.78 - - - - - - - - - 16.06 -
7492.71 831.21 -9.86 913 7497.06 roll -0.64 - - 2053.12 - 1.99 0.069 3847.94 600.8 -126.52 - - 3471.25 - - - - - - - - - 16.01 -
7597.45 842.35 -10.70 934 7600.20 roll -0.64 - - 2053.00 - 1.75 0.020 2656.69 -680.7 -126.52 - - 3469.81 - - - - - - - - - 16.00 -
7907.73 874.42 -10.10 965 7913.00 roll -0.64 - - 2053.38 - 2.38 0.027 1297.00 -571.3 -126.52 - - 3471.66 - - - - - - - - - 15.91 -
7972.48 881.16 -10.30 978 7978.27 roll -0.64 - - 2043.12 - 2.67 0.044 2774.31 553.3 -126.52 - - 3471.84 - - - - - - - - - 15.98 -
8287.82 915.08 -10.94 1010 8292.26 roll back -0.64 0.15 0.230 2080.19 247.1 1.74 0.070 3849.94 618.2 -126.52 - - 3471.03 - - - - - - - - 15.86 15.88 -
8352.50 921.09 -9.04 1023 8355.25 roll -0.64 - - 2080.25 - 1.76 0.020 2653.31 -679.9 -126.52 - - 3468.28 - - - - - - - - - 16.05 -
8662.77 948.30 -8.74 1054 8667.12 roll -0.64 - - 2071.69 - 2.00 0.070 3847.88 597.3 -126.52 - - 3468.31 - - - - - - - - - 16.02 -
8692.76 951.04 -8.92 1060 8697.07 roll -0.64 - - 2071.00 - 1.75 0.021 2646.62 -686.4 -126.52 - - 3469.16 - - - - - - - - - 16.03 -
9002.79 978.71 -8.70 1092 9007.15 roll -0.64 - - 2063.50 - 2.01 0.070 3849.06 598.2 -126.52 - - 3467.88 - - - - - - - - - 15.95 -
9047.53 982.82 -9.27 1101 9050.28 roll -0.64 - - 2063.44 - 1.77 0.021 2655.38 -674.4 -126.52 - - 3467.72 - - - - - - - - - 16.05 -
9128 end dive: TARGET_DEPTH_EXCEEDED
9128 begin apogee
9129.04 990.06 -9.06 1109 9241.27 -0.12 0.63 0.189 2251.88 299.1 0.24 0.102 2434.75 -919.3 - 110.26 2.367 2969.06 -4.5 0.324 - - - - - - 15.82 15.11 11.70
9243 end apogee: CONTROL_FINISHED_OK
9243 begin climb
9242.93 992.77 - 1120 9366.75 0.64 0.77 0.104 2515.06 341.8 2.88 0.036 953.75 -514.2 126.52 116.57 2.291 2449.28 -4.5 0.331 - - - - - - 15.21 14.56 12.14
9394.07 985.22 8.62 1150 9399.41 roll 0.65 - - 2514.00 - 2.84 0.038 2428.56 519.3 126.52 - - 2445.88 - - - - - - - - - 15.19 -
9704.09 954.69 10.11 1182 9709.37 done 0.65 - - 2514.62 - 2.35 0.066 3839.12 600.2 126.52 - - 2438.09 - - - - - - - - - 15.70 -
9734.10 951.34 10.75 1188 9739.38 done 0.65 - - 2523.38 - 2.38 0.018 2321.50 -637.7 126.52 - - 2437.06 - - - - - - - - - 15.74 -
10044.15 919.28 10.28 1220 10045.49 VBD 0.65 - - 2526.38 - - - 2308.00 - 126.52 - - 2434.22 - - - - - - - - - - -
10354.19 888.43 9.89 1251 10359.49 done 0.65 - - 2526.25 - 2.57 0.063 3839.50 595.9 126.52 - - 2433.00 - - - - - - - - - 15.93 -
10469.13 874.90 12.01 1274 10474.75 done 0.65 - - 2536.44 - 2.35 0.021 2324.69 -644.6 126.52 - - 2432.66 - - - - - - - - - 15.29 -
10784.29 842.25 10.30 1306 10785.76 0.65 0.16 0.207 2490.31 -288.3 - - 2310.00 - 126.52 - - 2431.25 - - - - - - - - 15.87 - -
11094.25 815.80 8.55 1337 11099.55 done 0.67 - - 2489.44 - 2.58 0.064 3840.56 593.2 126.52 - - 2431.00 - - - - - - - - - 15.65 -
11174.25 807.79 10.09 1353 11179.52 done 0.67 - - 2499.00 - 2.35 0.019 2314.81 -649.3 126.52 - - 2431.78 - - - - - - - - - 15.99 -
11484.33 778.89 9.30 1385 11489.57 done 0.67 - - 2500.75 - 2.60 0.064 3838.56 586.1 126.52 - - 2432.00 - - - - - - - - - 15.65 -
11519.01 775.17 10.63 1392 11524.75 done 0.67 - - 2511.38 - 2.35 0.019 2317.50 -647.3 126.52 - - 2430.12 - - - - - - - - - 16.03 -
11834.35 743.63 9.95 1424 11839.61 done 0.67 - - 2512.44 - 2.58 0.064 3838.75 589.6 126.52 - - 2429.84 - - - - - - - - - 16.01 -
11869.03 739.77 11.04 1431 11874.77 done 0.67 - - 2522.19 - 2.35 0.021 2318.69 -646.8 126.52 - - 2431.06 - - - - - - - - - 15.32 -
12184.37 707.74 9.79 1463 12189.61 done 0.67 - - 2522.56 - 2.57 0.064 3839.94 591.9 126.52 - - 2430.88 - - - - - - - - - 16.02 -
12224.31 703.29 11.26 1471 12229.58 done 0.67 - - 2534.81 - 2.34 0.019 2324.56 -647.6 126.52 - - 2431.88 - - - - - - - - - 16.04 -
12534.39 673.68 9.01 1503 12535.73 VBD 0.67 - - 2535.12 - - - 2309.62 - 126.52 - - 2429.06 - - - - - - - - - - -
12844.34 646.14 8.59 1534 12849.63 done 0.68 - - 2535.56 - 2.57 0.063 3839.00 595.1 126.52 - - 2429.34 - - - - - - - - - 16.03 -
12914.35 639.14 10.04 1548 12919.62 done 0.68 - - 2545.25 - 2.34 0.019 2319.12 -649.5 126.52 - - 2431.62 - - - - - - - - - 16.04 -
13224.42 611.74 8.85 1580 13229.72 0.68 0.16 0.204 2497.69 -297.2 2.58 0.064 3837.88 588.7 126.52 - - 2430.66 - - - - - - - - 15.88 15.63 -
13279.13 606.98 8.61 1591 13284.86 done 0.69 - - 2506.81 - 2.34 0.019 2320.50 -648.5 126.52 - - 2429.91 - - - - - - - - - 16.05 -
13594.46 582.94 7.47 1623 13599.70 done 0.72 - - 2507.69 - 2.58 0.064 3839.44 588.7 126.52 - - 2428.78 - - - - - - - - - 16.03 -
13619.13 580.75 7.89 1628 13624.88 done 0.75 - - 2519.12 - 2.34 0.020 2319.06 -649.7 126.52 - - 2428.47 - - - - - - - - - 15.28 -
13934.46 554.20 8.69 1660 13939.70 done 0.75 - - 2519.56 - 2.57 0.065 3838.69 591.3 126.52 - - 2428.19 - - - - - - - - - 16.03 -
13979.15 549.65 10.25 1669 13984.88 done 0.75 - - 2529.75 - 2.32 0.019 2320.62 -654.3 126.52 - - 2429.12 - - - - - - - - - 16.05 -
14294.48 518.79 9.66 1701 14299.72 done 0.75 - - 2529.12 - 2.57 0.064 3840.12 591.2 126.52 - - 2428.09 - - - - - - - - - 16.00 -
14314.42 516.63 10.00 1705 14319.69 done 0.75 - - 2542.31 - 2.34 0.020 2315.50 -651.5 126.52 - - 2427.19 - - - - - - - - - 15.24 -
14624.50 485.16 10.19 1737 14629.74 done 0.75 - - 2542.00 - 2.57 0.065 3839.06 592.8 126.52 - - 2428.69 - - - - - - - - - 16.03 -
14659.18 481.12 11.53 1744 14664.92 done 0.75 - - 2551.38 - 2.34 0.020 2318.94 -649.6 126.52 - - 2427.91 - - - - - - - - - 15.31 -
14974.51 449.38 9.74 1776 14979.75 done 0.75 - - 2553.69 - 2.57 0.064 3838.88 591.4 126.52 - - 2428.97 - - - - - - - - - 16.02 -
15024.45 443.84 11.10 1786 15029.74 done 0.75 - - 2564.56 - 2.35 0.018 2319.44 -646.6 126.52 - - 2427.50 - - - - - - - - - 15.65 -
15334.53 413.53 9.30 1818 15336.00 0.75 0.15 0.220 2520.31 -295.0 - - 2305.88 - 126.52 - - 2428.78 - - - - - - - - 15.87 - -
15644.49 389.86 7.81 1849 15649.78 done 0.78 - - 2520.88 - 2.59 0.066 3840.19 592.4 126.52 - - 2429.91 - - - - - - - - - 16.02 -
15684.49 386.24 9.04 1857 15689.75 done 0.78 - - 2528.81 - 2.35 0.019 2321.56 -646.2 126.52 - - 2428.00 - - - - - - - - - 15.64 -
15994.58 360.13 8.38 1889 15999.79 done 0.79 - - 2530.19 - 2.58 0.065 3840.38 588.7 126.52 - - 2428.47 - - - - - - - - - 16.02 -
16044.50 355.50 9.35 1899 16049.77 done 0.79 - - 2540.94 - 2.33 0.020 2319.12 -652.9 126.52 - - 2427.69 - - - - - - - - - 15.20 -
16354.59 329.55 8.09 1931 16359.81 done 0.81 - - 2541.12 - 2.57 0.065 3838.38 591.2 126.52 - - 2430.16 - - - - - - - - - 16.02 -
16399.29 325.31 9.50 1940 16405.09 done 0.81 - - 2551.62 - 2.34 0.019 2320.75 -648.6 126.52 - - 2428.59 - - - - - - - - - 15.28 -
16714.61 299.75 8.20 1972 16719.84 done 0.83 - - 2552.69 - 2.57 0.064 3839.25 590.9 126.52 - - 2428.72 - - - - - - - - - 16.02 -
16764.54 294.96 9.65 1982 16769.82 done 0.83 - - 2564.50 - 2.34 0.018 2327.12 -646.2 126.52 - - 2429.97 - - - - - - - - - 15.63 -
17074.62 268.35 8.67 2014 17079.84 done 0.83 - - 2575.88 - 2.41 0.031 947.62 -572.4 126.52 - - 2429.31 - - - - - - - - - 15.26 -
17159.32 261.11 8.37 2031 17165.12 done 0.85 - - 2575.00 - 2.66 0.034 2431.81 558.0 126.52 - - 2429.44 - - - - - - - - - 16.04 -
17474.64 233.47 8.85 2063 17475.98 VBD 0.85 - - 2574.81 - - - 2432.06 - 126.52 - - 2427.69 - - - - - - - - - - -
17784.60 206.35 8.66 2094 17789.91 done 0.86 - - 2586.12 - 2.64 0.030 947.81 -562.2 126.52 - - 2429.78 - - - - - - - - - 15.11 -
17839.35 201.76 8.30 2105 17845.15 done 0.88 - - 2586.88 - 2.66 0.034 2432.50 558.2 126.52 - - 2429.00 - - - - - - - - - 16.01 -
18154.67 173.93 8.86 2137 18159.92 done 0.88 - - 2598.06 - 2.64 0.030 947.25 -562.6 126.52 - - 2431.41 - - - - - - - - - 15.16 -
18184.61 171.37 8.74 2143 18189.93 done 0.88 - - 2597.50 - 2.67 0.034 2431.94 556.1 126.52 - - 2431.47 - - - - - - - - - 15.97 -
18494.61 143.18 8.99 2175 18499.87 done 0.88 - - 2598.56 - 2.28 0.066 3839.56 617.4 126.52 - - 2428.72 - - - - - - - - - 15.83 -
18669.46 125.80 9.80 2210 18675.15 done 0.88 - - 2608.62 - 2.34 0.018 2329.81 -645.2 126.52 - - 2430.34 - - - - - - - - - 15.17 -
18984.72 105.34 6.10 2242 19035.65 done 0.96 - - 2618.81 - 2.48 0.033 947.56 -557.4 188.88 45.62 1.216 2198.38 -5.1 0.075 - - - - - - - 15.20 11.82
19094.65 95.68 10.24 2264 19100.25 roll 0.96 - - 2619.69 - 2.74 0.035 2430.31 541.1 188.88 - - 2193.38 - - - - - - - - - 15.70 -
19284.66 74.71 10.44 2302 19290.19 done 0.96 - - 2619.06 - 2.35 0.064 3838.19 599.1 188.88 - - 2189.50 - - - - - - - - - 15.50 -
19304.67 72.32 11.31 2306 19310.20 done 0.96 - - 2629.38 - 2.37 0.017 2326.75 -637.7 188.88 - - 2189.09 - - - - - - - - - 15.73 -
19494.67 54.17 9.36 2344 19496.15 0.96 0.16 0.245 2588.56 -255.1 - - 2311.81 - 188.88 - - 2186.28 - - - - - - - - 15.60 - -
19679.71 44.50 4.56 2381 19753.80 1.08 0.14 0.063 2669.75 579.9 2.64 0.062 3840.00 578.9 282.57 69.65 1.096 1812.09 -5.4 0.037 - - - - - - 15.75 15.43 11.92
19805.85 32.76 12.31 2406 19811.46 roll back 1.08 0.20 0.279 2629.25 -202.5 2.39 0.018 2338.44 -628.3 282.57 - - 1810.44 - - - - - - - - 15.53 15.68 -
19995.87 13.15 10.20 2444 20001.42 done 1.08 - - 2638.38 - 2.47 0.032 950.06 -562.1 282.57 - - 1806.91 - - - - - - - - - 15.14 -
20131 end climb: SURFACE_DEPTH_REACHED
20131 begin surface coast
20156 end surface coast: CONTROL_FINISHED_OK
20156 begin surface
SM 1.34 - - - - 214.4 47.07 1.026 1541.9 32.8 6.90 0.064 1531.3 221.9 - 3.27 0.039 1552.5 474.0 -1.665 - - 12.06 15.82 15.84 -