SMODE Aug22 * SG219 * Dive index * Mission links * Dive 196 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 63.43 of 310.00 AH used of 24V (79.54% remains)
• Surface angle -71.5 deg, depth 1.19 m • Intended pitch -19.2 deg, speed -9.167 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 31 s
• GPS2 time: 3 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
15.73 - - - 68.18 VBD -0.64 - - 115.81 - - - 2825.56 - -126.52 50.48 0.005 2563.59 - - - - - - - - - - 15.31
68.43 2.06 -2.31 10 114.75 -0.64 8.71 0.359 2081.56 225.7 2.67 0.028 1294.81 -573.3 -126.52 28.69 0.006 3483.31 32.1 -1.885 - - - - - - 15.34 15.50 15.49
146.79 13.92 -18.30 26 153.21 roll -0.64 - - 2074.31 - 2.72 0.045 2773.12 543.5 -126.52 - - 3484.06 - - - - - - - - - 15.57 -
336.81 51.40 -17.51 64 342.74 roll -0.64 - - 2065.25 - 1.75 0.066 3850.69 615.8 -126.52 - - 3484.28 - - - - - - - - - 15.76 -
391.82 61.65 -18.73 75 397.87 roll -0.64 - - 2065.31 - 1.77 0.017 2648.69 -679.1 -126.52 - - 3485.34 - - - - - - - - - 15.67 -
581.85 91.34 -14.65 113 588.26 roll -0.64 - - 2057.44 - 2.03 0.065 3848.62 591.1 -126.52 - - 3486.25 - - - - - - - - - 15.52 -
726.61 112.39 -12.68 142 732.54 roll -0.64 - - 2057.19 - 1.76 0.016 2647.50 -682.5 -126.52 - - 3487.06 - - - - - - - - - 15.86 -
1041.88 153.58 -14.01 174 1047.71 roll -0.64 - - 2047.38 - 2.03 0.065 3849.12 591.9 -126.52 - - 3488.25 - - - - - - - - - 15.85 -
1156.63 169.93 -13.91 197 1162.71 roll back -0.64 0.13 0.215 2086.06 297.5 1.76 0.017 2639.38 -687.4 -126.52 - - 3487.88 - - - - - - - - 15.79 15.95 -
1471.97 204.17 -10.28 229 1477.05 roll -0.64 - - 2078.31 - 2.03 0.066 3849.50 596.1 -126.52 - - 3488.16 - - - - - - - - - 15.97 -
1521.91 209.31 -10.30 239 1526.39 roll -0.64 - - 2079.19 - 1.77 0.018 2648.69 -678.4 -126.52 - - 3487.75 - - - - - - - - - 15.94 -
1832.16 241.52 -10.17 271 1837.07 roll -0.64 - - 2070.12 - 2.02 0.067 3850.81 595.1 -126.52 - - 3486.16 - - - - - - - - - 16.01 -
1876.67 246.36 -10.89 280 1879.42 roll -0.64 - - 2070.12 - 1.76 0.018 2657.69 -677.9 -126.52 - - 3485.78 - - - - - - - - - 16.02 -
2186.94 278.88 -10.61 311 2191.30 roll -0.64 - - 2060.38 - 2.01 0.066 3848.88 592.6 -126.52 - - 3487.69 - - - - - - - - - 16.02 -
2256.94 286.80 -11.44 325 2261.25 roll -0.64 - - 2059.81 - 1.76 0.018 2651.69 -680.2 -126.52 - - 3486.22 - - - - - - - - - 15.99 -
2566.97 323.69 -11.78 357 2571.32 roll -0.64 - - 2051.19 - 2.01 0.067 3848.50 595.4 -126.52 - - 3486.38 - - - - - - - - - 16.04 -
2686.97 338.73 -12.69 381 2691.43 roll back -0.64 0.12 0.216 2086.12 291.1 1.75 0.018 2640.50 -690.3 -126.52 - - 3485.53 - - - - - - - - 15.92 16.07 -
2997.00 371.68 -10.37 413 3002.13 roll -0.64 - - 2078.62 - 2.03 0.068 3849.12 595.4 -126.52 - - 3484.78 - - - - - - - - - 16.05 -
3051.73 377.61 -10.82 424 3054.48 roll -0.64 - - 2078.56 - 1.75 0.019 2653.19 -683.4 -126.52 - - 3483.72 - - - - - - - - - 16.01 -
3362.02 409.75 -10.12 455 3363.36 no move -0.64 - - 2078.56 - - - 2640.81 - -126.52 - - 3482.88 - - - - - - - - - - -
3672.06 439.63 -9.48 486 3676.41 roll -0.64 - - 2069.00 - 2.00 0.068 3850.50 604.8 -126.52 - - 3483.19 - - - - - - - - - 16.06 -
3762.09 448.37 -9.67 504 3766.39 roll -0.64 - - 2068.25 - 1.75 0.019 2653.94 -683.7 -126.52 - - 3482.91 - - - - - - - - - 16.08 -
4072.15 478.60 -9.79 536 4076.49 roll -0.64 - - 2061.38 - 2.00 0.068 3848.94 597.5 -126.52 - - 3480.44 - - - - - - - - - 16.01 -
4156.90 487.11 -9.95 553 4159.64 roll -0.64 - - 2061.00 - 1.76 0.019 2656.56 -677.5 -126.52 - - 3479.59 - - - - - - - - - 16.08 -
4467.19 518.12 -9.94 584 4471.54 roll -0.64 - - 2052.25 - 1.99 0.069 3848.88 599.2 -126.52 - - 3480.03 - - - - - - - - - 16.04 -
4577.21 529.40 -10.29 606 4581.65 roll back -0.64 0.12 0.216 2085.56 277.6 1.75 0.019 2644.94 -688.0 -126.52 - - 3479.62 - - - - - - - - 15.93 16.07 -
4887.22 557.02 -9.13 638 4891.58 roll -0.64 - - 2079.12 - 2.01 0.068 3846.94 598.0 -126.52 - - 3478.44 - - - - - - - - - 16.06 -
4937.22 561.74 -9.55 648 4941.53 roll -0.64 - - 2078.88 - 1.75 0.019 2649.38 -684.3 -126.52 - - 3477.50 - - - - - - - - - 16.07 -
5247.25 590.16 -9.19 680 5252.38 roll -0.64 - - 2070.25 - 1.99 0.069 3850.56 603.6 -126.52 - - 3478.28 - - - - - - - - - 16.06 -
5297.25 594.84 -9.37 690 5301.56 roll -0.64 - - 2070.62 - 1.75 0.020 2647.00 -687.7 -126.52 - - 3476.69 - - - - - - - - - 16.08 -
5607.27 624.27 -9.93 722 5611.62 roll -0.64 - - 2061.62 - 1.99 0.068 3849.12 604.1 -126.52 - - 3475.97 - - - - - - - - - 16.06 -
5692.02 633.48 -10.98 739 5694.78 roll -0.64 - - 2061.00 - 1.75 0.020 2654.81 -682.5 -126.52 - - 3475.59 - - - - - - - - - 16.02 -
6002.30 667.36 -11.05 770 6007.42 roll -0.64 - - 2052.62 - 1.99 0.069 3848.25 599.7 -126.52 - - 3474.91 - - - - - - - - - 15.91 -
6047.04 672.56 -11.63 779 6049.80 roll -0.64 - - 2052.38 - 1.75 0.020 2656.12 -681.2 -126.52 - - 3474.72 - - - - - - - - - 16.07 -
6357.32 707.88 -11.36 810 6361.67 roll -0.64 - - 2044.06 - 1.99 0.069 3848.25 599.1 -126.52 - - 3474.50 - - - - - - - - - 16.02 -
6387.31 711.44 -11.89 816 6391.76 roll back -0.64 0.14 0.211 2087.06 307.1 1.75 0.021 2645.19 -687.5 -126.52 - - 3475.03 - - - - - - - - 15.91 16.07 -
6697.35 739.54 -8.97 848 6701.71 roll -0.64 - - 2079.62 - 2.01 0.070 3848.19 598.5 -126.52 - - 3473.81 - - - - - - - - - 15.96 -
6797.36 748.94 -9.43 868 6801.66 roll -0.64 - - 2079.25 - 1.75 0.021 2647.69 -686.0 -126.52 - - 3475.41 - - - - - - - - - 16.07 -
7107.38 777.96 -9.32 900 7111.72 roll -0.64 - - 2070.81 - 1.99 0.070 3850.12 604.2 -126.52 - - 3474.78 - - - - - - - - - 16.05 -
7192.13 786.40 -9.97 917 7194.88 roll -0.64 - - 2071.50 - 1.76 0.021 2656.44 -678.2 -126.52 - - 3473.44 - - - - - - - - - 15.97 -
7502.42 817.33 -10.06 948 7506.76 roll -0.64 - - 2062.31 - 1.99 0.070 3847.00 598.3 -126.52 - - 3472.50 - - - - - - - - - 15.96 -
7562.42 823.72 -10.68 960 7566.73 roll -0.64 - - 2063.12 - 1.76 0.021 2650.75 -679.7 -126.52 - - 3472.16 - - - - - - - - - 16.06 -
7872.44 855.31 -10.15 992 7876.77 roll -0.64 - - 2054.00 - 1.99 0.070 3846.94 601.1 -126.52 - - 3472.22 - - - - - - - - - 16.04 -
7927.18 861.23 -10.90 1003 7929.93 roll -0.64 - - 2054.06 - 1.76 0.021 2654.31 -677.6 -126.52 - - 3470.16 - - - - - - - - - 15.99 -
8237.47 892.88 -10.08 1034 8241.80 roll -0.64 - - 2044.75 - 1.99 0.070 3846.00 598.8 -126.52 - - 3472.06 - - - - - - - - - 15.85 -
8322.21 901.87 -10.55 1051 8325.11 roll back -0.64 0.14 0.212 2084.81 286.1 1.75 0.020 2649.75 -683.6 -126.52 - - 3470.47 - - - - - - - - 15.88 16.05 -
8632.49 926.88 -7.89 1082 8636.83 roll -0.64 - - 2077.56 - 2.00 0.070 3849.25 599.8 -126.52 - - 3471.06 - - - - - - - - - 15.94 -
8682.48 930.97 -8.19 1092 8686.79 roll -0.64 - - 2078.56 - 1.75 0.020 2646.69 -687.2 -126.52 - - 3470.25 - - - - - - - - - 16.05 -
8992.50 956.05 -8.32 1124 8996.84 roll -0.64 - - 2069.81 - 1.99 0.070 3849.12 604.2 -126.52 - - 3470.84 - - - - - - - - - 15.95 -
9042.50 960.31 -8.55 1134 9046.81 roll -0.64 - - 2069.69 - 1.75 0.020 2646.19 -687.4 -126.52 - - 3470.97 - - - - - - - - - 16.05 -
9352.52 985.49 -7.76 1166 9356.86 roll -0.64 - - 2060.19 - 1.99 0.069 3849.69 604.8 -126.52 - - 3468.66 - - - - - - - - - 15.96 -
9408 end dive: TARGET_DEPTH_EXCEEDED
9408 begin apogee
9410.88 990.00 -8.26 1177 9525.41 -0.12 0.64 0.186 2252.25 300.1 0.19 0.113 2435.06 -7445.4 - 110.46 2.343 2966.69 -4.5 0.329 - - - - - - 15.81 15.11 11.61
9527 end apogee: CONTROL_FINISHED_OK
9527 begin climb
9527.08 992.01 - 1189 9650.80 0.64 0.77 0.104 2516.00 342.5 2.86 0.036 954.44 -517.7 126.52 116.82 2.279 2449.59 -4.4 0.330 - - - - - - 15.23 14.51 12.06
9672.88 983.73 9.12 1218 9678.71 roll 0.64 - - 2515.81 - 2.84 0.037 2427.88 518.8 126.52 - - 2445.12 - - - - - - - - - 15.16 -
9988.17 948.43 11.44 1250 9989.51 VBD 0.64 - - 2515.38 - - - 2427.88 - 126.52 - - 2436.28 - - - - - - - - - - -
10298.19 913.38 11.14 1281 10303.54 done 0.64 - - 2525.19 - 2.67 0.030 948.44 -554.1 126.52 - - 2437.00 - - - - - - - - - 15.14 -
10332.96 909.52 11.04 1288 10338.78 done 0.64 - - 2526.00 - 2.72 0.035 2430.75 545.0 126.52 - - 2435.16 - - - - - - - - - 15.87 -
10648.22 873.90 10.93 1320 10653.55 done 0.64 - - 2536.00 - 2.62 0.031 948.62 -565.7 126.52 - - 2434.88 - - - - - - - - - 15.18 -
10662.97 872.30 10.71 1323 10668.84 0.64 0.17 0.191 2485.62 -296.4 2.68 0.034 2434.50 554.4 126.52 - - 2435.47 - - - - - - - - 15.79 15.93 -
10978.48 844.11 9.11 1355 10983.49 done 0.64 - - 2485.69 - 2.27 0.066 3841.31 619.7 126.52 - - 2435.84 - - - - - - - - - 15.96 -
11003.04 841.59 9.53 1360 11009.00 done 0.64 - - 2494.94 - 2.32 0.019 2319.12 -656.1 126.52 - - 2434.06 - - - - - - - - - 15.97 -
11318.34 812.70 8.75 1392 11323.57 done 0.64 - - 2495.81 - 2.58 0.065 3838.25 588.8 126.52 - - 2432.75 - - - - - - - - - 15.62 -
11328.26 811.76 8.78 1394 11333.54 done 0.64 - - 2504.50 - 2.32 0.021 2320.12 -654.4 126.52 - - 2432.16 - - - - - - - - - 15.27 -
11638.60 784.01 8.87 1426 11643.59 done 0.64 - - 2506.56 - 2.58 0.064 3839.12 588.8 126.52 - - 2434.28 - - - - - - - - - 15.98 -
11693.05 778.47 10.15 1437 11699.04 done 0.64 - - 2517.75 - 2.33 0.019 2320.31 -651.8 126.52 - - 2431.16 - - - - - - - - - 15.92 -
12008.40 751.91 8.13 1469 12013.62 done 0.66 - - 2518.94 - 2.57 0.064 3840.25 591.4 126.52 - - 2430.50 - - - - - - - - - 15.62 -
12073.07 745.71 9.70 1482 12078.81 done 0.66 - - 2529.06 - 2.33 0.020 2320.94 -652.1 126.52 - - 2432.44 - - - - - - - - - 15.30 -
12388.42 719.27 8.33 1514 12393.64 done 0.68 - - 2527.94 - 2.56 0.063 3839.50 593.2 126.52 - - 2431.22 - - - - - - - - - 16.01 -
12458.36 712.18 10.34 1528 12463.62 done 0.68 - - 2538.38 - 2.33 0.020 2322.56 -651.0 126.52 - - 2430.34 - - - - - - - - - 15.08 -
12768.44 682.88 9.86 1560 12773.73 0.68 0.14 0.208 2507.44 -221.0 2.42 0.032 948.12 -568.0 126.52 - - 2432.50 - - - - - - - - 15.90 15.27 -
12803.12 679.91 9.21 1567 12809.17 done 0.68 - - 2507.31 - 2.69 0.035 2432.38 551.8 126.52 - - 2431.22 - - - - - - - - - 15.64 -
13118.38 651.69 9.33 1599 13119.72 VBD 0.68 - - 2507.62 - - - 2432.50 - 126.52 - - 2428.47 - - - - - - - - - - -
13428.40 622.72 9.44 1630 13433.68 done 0.68 - - 2507.19 - 2.31 0.066 3841.56 610.0 126.52 - - 2430.38 - - - - - - - - - 16.01 -
13468.41 618.28 11.16 1638 13473.69 done 0.68 - - 2517.19 - 2.33 0.019 2320.12 -653.0 126.52 - - 2430.12 - - - - - - - - - 16.03 -
13778.49 586.11 9.98 1670 13783.71 done 0.68 - - 2529.88 - 2.42 0.032 947.31 -567.3 126.52 - - 2429.19 - - - - - - - - - 15.25 -
13788.42 585.12 9.93 1672 13793.75 done 0.68 - - 2529.06 - 2.70 0.034 2431.81 549.8 126.52 - - 2430.31 - - - - - - - - - 16.04 -
14098.51 552.84 10.46 1704 14099.85 VBD 0.68 - - 2529.44 - - - 2432.25 - 126.52 - - 2427.97 - - - - - - - - - - -
14408.46 521.37 9.78 1735 14413.78 done 0.68 - - 2539.25 - 2.66 0.030 948.25 -557.9 126.52 - - 2431.72 - - - - - - - - - 15.22 -
14483.21 514.32 9.28 1750 14489.04 done 0.68 - - 2540.06 - 2.70 0.035 2430.44 549.0 126.52 - - 2429.22 - - - - - - - - - 15.61 -
14798.48 486.07 8.70 1782 14803.80 0.68 0.14 0.188 2497.25 -305.8 2.31 0.068 3837.44 609.1 126.52 - - 2428.22 - - - - - - - - 15.91 15.57 -
14818.47 484.35 8.68 1786 14823.75 done 0.68 - - 2503.50 - 2.33 0.019 2325.69 -648.8 126.52 - - 2429.00 - - - - - - - - - 16.04 -
15128.58 462.18 6.93 1818 15129.92 VBD 0.73 - - 2506.88 - - - 2311.44 - 126.52 - - 2426.91 - - - - - - - - - - -
15438.52 441.69 6.49 1849 15443.87 0.78 0.09 0.088 2575.00 756.9 2.57 0.066 3837.94 594.0 126.52 - - 2428.00 - - - - - - - - 15.99 15.97 -
15543.27 431.21 10.25 1870 15549.08 0.78 0.20 0.261 2530.62 -221.9 2.33 0.020 2336.38 -644.4 126.52 - - 2429.50 - - - - - - - - 15.78 15.23 -
15858.55 407.90 7.43 1902 15859.89 VBD 0.81 - - 2530.88 - - - 2321.38 - 126.52 - - 2426.78 - - - - - - - - - - -
16168.55 382.57 8.64 1933 16173.85 done 0.82 - - 2529.88 - 2.55 0.065 3839.94 595.5 126.52 - - 2428.22 - - - - - - - - - 16.01 -
16218.54 377.58 10.07 1943 16223.82 done 0.82 - - 2540.00 - 2.33 0.018 2326.62 -649.5 126.52 - - 2427.75 - - - - - - - - - 16.04 -
16528.63 347.88 9.88 1975 16529.97 VBD 0.82 - - 2541.88 - - - 2311.25 - 126.52 - - 2426.88 - - - - - - - - - - -
16838.56 319.36 8.79 2006 16839.99 VBD 0.82 - - 2541.69 - - - 2310.94 - 126.52 - - 2426.75 - - - - - - - - - - -
17148.59 293.20 8.18 2037 17153.88 done 0.84 - - 2540.75 - 2.56 0.066 3840.25 597.4 126.52 - - 2429.31 - - - - - - - - - 16.02 -
17178.58 290.36 8.81 2043 17183.85 done 0.84 - - 2551.12 - 2.33 0.019 2325.62 -650.1 126.52 - - 2427.47 - - - - - - - - - 16.03 -
17488.67 262.38 9.28 2075 17493.91 done 0.84 - - 2552.62 - 2.56 0.064 3837.94 590.8 126.52 - - 2430.19 - - - - - - - - - 16.00 -
17553.36 255.65 10.40 2088 17559.11 done 0.84 - - 2563.50 - 2.34 0.018 2326.88 -645.8 126.52 - - 2429.38 - - - - - - - - - 16.03 -
17868.71 229.92 7.71 2120 17873.93 done 0.87 - - 2564.38 - 2.56 0.063 3839.12 590.7 126.52 - - 2430.78 - - - - - - - - - 15.96 -
17928.63 224.58 8.99 2132 17933.90 done 0.87 - - 2574.06 - 2.34 0.020 2326.94 -646.2 126.52 - - 2430.47 - - - - - - - - - 15.22 -
18238.73 199.45 8.35 2164 18240.07 VBD 0.89 - - 2575.75 - - - 2311.75 - 126.52 - - 2427.91 - - - - - - - - - - -
18548.66 174.35 7.65 2195 18553.96 done 0.92 - - 2576.00 - 2.58 0.062 3839.50 592.2 126.52 - - 2428.88 - - - - - - - - - 15.54 -
18628.71 167.39 8.66 2211 18633.93 done 0.93 - - 2586.44 - 2.34 0.019 2324.12 -647.6 126.52 - - 2429.47 - - - - - - - - - 15.22 -
18938.74 142.15 8.84 2243 18943.96 done 0.93 - - 2597.69 - 2.43 0.031 947.19 -566.6 126.52 - - 2430.81 - - - - - - - - - 15.09 -
19028.69 134.33 8.57 2261 19034.00 done 0.94 - - 2598.19 - 2.69 0.034 2433.75 552.6 126.52 - - 2432.47 - - - - - - - - - 15.56 -
19338.69 114.04 5.30 2293 19400.41 done 1.04 - - 2597.62 - 2.35 0.067 3839.62 598.2 205.08 57.78 1.220 2131.00 -5.2 0.084 - - - - - - - 15.56 11.78
19573.69 89.94 11.36 2340 19579.22 done 1.04 - - 2607.06 - 2.37 0.020 2334.38 -635.1 205.08 - - 2124.81 - - - - - - - - - 15.06 -
19763.72 72.50 8.12 2378 19769.26 done 1.06 - - 2618.56 - 2.48 0.031 946.81 -559.5 205.08 - - 2122.59 - - - - - - - - - 15.05 -
19828.97 67.33 8.16 2391 19834.31 done 1.09 - - 2618.12 - 2.71 0.034 2434.12 548.8 205.08 - - 2122.34 - - - - - - - - - 15.74 -
20018.74 52.70 7.79 2429 20020.08 VBD 1.11 - - 2618.75 - - - 2435.00 - 205.08 - - 2120.66 - - - - - - - - - - -
20203.75 39.40 6.51 2466 20209.38 1.17 0.12 0.063 2721.06 852.6 2.67 0.030 947.50 -557.1 205.08 - - 2121.12 - - - - - - - - 15.76 15.09 -
20353.77 28.92 7.01 2496 20359.39 1.21 0.20 0.280 2668.12 -264.7 2.70 0.032 2440.12 552.8 205.08 - - 2121.38 - - - - - - - - 15.69 15.79 -
20543.80 18.69 4.13 2534 20623.00 1.34 0.14 0.065 2750.81 590.6 2.74 0.029 949.75 -543.9 307.55 75.18 1.043 1711.19 -5.5 0.017 - - - - - - 15.75 15.04 11.85
20625.06 12.24 10.81 2550 20630.66 roll 1.34 - - 2749.50 - 2.76 0.035 2432.56 537.2 307.55 - - 1712.19 - - - - - - - - - 15.62 -
20695 end climb: SURFACE_DEPTH_REACHED
20695 begin surface coast
20710 end surface coast: CONTROL_FINISHED_OK
20710 begin surface
SM 0.82 - - - - 219.7 30.40 1.028 1541.0 50.7 7.13 0.042 1537.8 215.7 - 0.52 0.061 1544.2 2964.3 -4.073 - - 11.98 15.69 15.72 -