SMODE Aug22 * SG219 * Dive index * Mission links * Dive 238 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 79.05 of 310.00 AH used of 24V (74.50% remains)
• Surface angle -70.2 deg, depth 1.03 m • Intended pitch -19.2 deg, speed -9.167 cm/s
VBD pumped to 350.23 (SM_CC=350)
• GPS1 time: 29 s
• GPS2 time: 2 s • Transponder ping count: 34
• 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
16.48 - - - 79.08 VBD -0.64 - - 209.94 - - - 2647.12 - -126.52 60.61 0.005 2794.62 - - - - - - - - - - 15.39
79.34 2.40 -2.47 12 115.42 -0.64 8.27 0.353 2077.19 225.8 2.02 0.070 3848.88 594.9 -126.52 19.40 0.006 3483.72 35.5 -2.449 - - - - - - 15.09 15.40 15.42
322.50 47.88 -16.92 61 328.42 roll -0.64 - - 2077.50 - 1.68 0.016 2702.88 -682.1 -126.52 - - 3486.25 - - - - - - - - - 15.54 -
512.52 78.99 -14.65 99 518.49 roll -0.64 - - 2066.88 - 1.94 0.066 3848.06 590.3 -126.52 - - 3488.09 - - - - - - - - - 15.50 -
572.50 87.91 -15.15 111 578.51 roll -0.64 - - 2068.88 - 1.68 0.017 2693.75 -687.1 -126.52 - - 3486.75 - - - - - - - - - 15.60 -
767.51 114.46 -12.04 139 773.48 roll -0.64 - - 2068.38 - 2.35 0.022 1342.75 -574.9 -126.52 - - 3487.81 - - - - - - - - - 15.68 -
842.27 123.85 -12.61 154 849.10 roll -0.64 - - 2057.44 - 2.71 0.042 2825.44 547.1 -126.52 - - 3487.66 - - - - - - - - - 15.39 -
1157.60 166.96 -13.37 186 1163.27 roll -0.64 - - 2049.75 - 1.66 0.066 3849.75 617.1 -126.52 - - 3487.47 - - - - - - - - - 15.72 -
1202.28 172.77 -12.77 195 1208.27 roll back -0.64 0.12 0.212 2086.94 309.9 1.67 0.017 2692.81 -692.8 -126.52 - - 3487.25 - - - - - - - - 15.67 15.73 -
1517.56 205.28 -9.75 227 1521.91 roll -0.64 - - 2080.06 - 1.94 0.067 3850.12 596.6 -126.52 - - 3486.75 - - - - - - - - - 15.67 -
1542.30 207.84 -9.86 232 1545.03 roll -0.64 - - 2079.25 - 1.67 0.018 2691.38 -693.9 -126.52 - - 3486.75 - - - - - - - - - 15.96 -
1852.58 241.13 -11.43 263 1856.92 roll -0.64 - - 2070.69 - 1.95 0.067 3848.88 593.6 -126.52 - - 3486.34 - - - - - - - - - 15.85 -
1912.58 248.28 -11.84 275 1916.87 roll -0.64 - - 2071.56 - 1.67 0.018 2688.44 -694.9 -126.52 - - 3485.62 - - - - - - - - - 15.94 -
2222.60 284.53 -11.43 307 2226.95 roll -0.64 - - 2061.69 - 1.94 0.067 3847.69 597.6 -126.52 - - 3485.53 - - - - - - - - - 15.78 -
2267.34 289.96 -12.07 316 2270.08 roll -0.64 - - 2062.62 - 1.65 0.018 2694.06 -699.2 -126.52 - - 3484.06 - - - - - - - - - 16.03 -
2577.62 325.48 -10.87 347 2582.90 roll -0.64 - - 2062.44 - 2.31 0.023 1342.31 -585.2 -126.52 - - 3484.59 - - - - - - - - - 16.04 -
2602.37 328.11 -10.69 352 2608.16 roll -0.64 - - 2052.06 - 2.68 0.042 2829.25 554.8 -126.52 - - 3485.19 - - - - - - - - - 15.96 -
2917.70 363.36 -11.14 384 2919.17 pitch -0.64 0.12 0.233 2086.56 287.5 - - 2829.81 - -126.52 - - 3482.78 - - - - - - - - 15.74 - -
3227.64 392.17 -9.57 415 3232.95 roll -0.64 - - 2085.69 - 2.58 0.025 1343.62 -576.0 -126.52 - - 3484.19 - - - - - - - - - 15.16 -
3282.39 397.38 -9.34 426 3288.19 roll -0.64 - - 2077.56 - 2.68 0.042 2828.81 554.2 -126.52 - - 3483.28 - - - - - - - - - 16.01 -
3597.72 430.61 -10.98 458 3602.01 roll -0.64 - - 2069.31 - 1.64 0.069 3849.19 622.2 -126.52 - - 3482.00 - - - - - - - - - 15.99 -
3627.66 433.99 -11.03 464 3631.95 roll -0.64 - - 2068.62 - 1.67 0.019 2687.75 -695.5 -126.52 - - 3482.91 - - - - - - - - - 16.03 -
3937.68 470.62 -12.39 496 3939.02 no move -0.64 - - 2069.81 - - - 2685.25 - -126.52 - - 3480.12 - - - - - - - - - - -
4247.69 507.42 -11.52 527 4252.04 roll -0.64 - - 2061.12 - 1.93 0.069 3847.62 602.3 -126.52 - - 3480.38 - - - - - - - - - 15.89 -
4292.44 512.68 -11.73 536 4295.18 roll -0.64 - - 2061.62 - 1.67 0.019 2695.25 -690.0 -126.52 - - 3478.81 - - - - - - - - - 16.03 -
4602.72 546.05 -10.32 567 4604.06 no move -0.64 - - 2061.31 - - - 2686.50 - -126.52 - - 3477.62 - - - - - - - - - - -
4912.74 578.66 -10.39 598 4914.07 no move -0.64 - - 2061.00 - - - 2686.69 - -126.52 - - 3476.94 - - - - - - - - - - -
5222.74 609.93 -10.41 629 5227.89 roll -0.64 - - 2053.94 - 1.95 0.070 3848.69 595.9 -126.52 - - 3477.00 - - - - - - - - - 15.83 -
5267.51 614.83 -10.98 638 5270.24 roll -0.64 - - 2052.62 - 1.67 0.019 2697.06 -689.6 -126.52 - - 3476.50 - - - - - - - - - 16.03 -
5577.78 647.56 -10.28 669 5579.12 no move -0.64 - - 2052.38 - - - 2688.69 - -126.52 - - 3474.78 - - - - - - - - - - -
5887.80 679.92 -10.40 700 5893.07 roll back -0.64 0.12 0.225 2080.50 234.3 1.95 0.070 3847.50 594.3 -126.52 - - 3474.56 - - - - - - - - 15.71 15.71 -
5942.56 684.96 -9.01 711 5945.29 roll -0.64 - - 2080.81 - 1.68 0.021 2696.50 -685.1 -126.52 - - 3473.19 - - - - - - - - - 16.02 -
6252.83 713.11 -9.13 742 6258.11 roll -0.64 - - 2079.31 - 2.35 0.026 1344.94 -575.1 -126.52 - - 3475.50 - - - - - - - - - 15.09 -
6297.57 717.20 -9.06 751 6303.38 roll -0.64 - - 2070.31 - 2.68 0.044 2825.56 552.5 -126.52 - - 3474.47 - - - - - - - - - 15.99 -
6612.91 747.23 -9.47 783 6618.15 roll -0.64 - - 2070.62 - 2.58 0.024 1346.06 -573.4 -126.52 - - 3474.09 - - - - - - - - - 16.00 -
6652.85 750.98 -9.38 791 6658.17 roll -0.64 - - 2059.94 - 2.69 0.043 2826.69 550.4 -126.52 - - 3473.03 - - - - - - - - - 15.94 -
6962.92 780.29 -9.48 823 6968.17 roll -0.64 - - 2059.75 - 2.58 0.024 1345.62 -574.1 -126.52 - - 3472.81 - - - - - - - - - 15.96 -
7012.86 784.87 -9.07 833 7018.18 roll -0.64 - - 2049.75 - 2.69 0.043 2827.69 551.0 -126.52 - - 3472.94 - - - - - - - - - 15.94 -
7322.93 813.47 -9.34 865 7328.23 roll back -0.64 0.12 0.226 2087.31 313.0 2.59 0.025 1346.44 -571.9 -126.52 - - 3471.31 - - - - - - - - 15.77 15.79 -
7362.88 816.59 -8.26 873 7368.20 roll -0.64 - - 2079.81 - 2.69 0.043 2825.81 550.0 -126.52 - - 3471.09 - - - - - - - - - 15.98 -
7672.94 840.65 -8.03 905 7678.20 roll -0.64 - - 2079.62 - 2.58 0.026 1343.50 -574.5 -126.52 - - 3471.06 - - - - - - - - - 15.10 -
7717.63 844.29 -8.08 914 7723.43 roll -0.64 - - 2069.00 - 2.70 0.043 2825.75 549.0 -126.52 - - 3472.53 - - - - - - - - - 15.90 -
8032.96 870.47 -7.94 946 8038.20 roll -0.64 - - 2070.94 - 2.58 0.024 1342.44 -574.9 -126.52 - - 3469.91 - - - - - - - - - 15.89 -
8082.90 874.52 -8.07 956 8088.24 roll -0.64 - - 2059.12 - 2.70 0.043 2826.44 549.6 -126.52 - - 3471.09 - - - - - - - - - 15.97 -
8392.90 903.13 -9.53 988 8398.22 roll -0.64 - - 2060.31 - 2.58 0.024 1344.62 -574.3 -126.52 - - 3470.47 - - - - - - - - - 15.88 -
8437.65 907.35 -9.36 997 8443.47 roll -0.64 - - 2049.88 - 2.70 0.043 2826.62 548.9 -126.52 - - 3469.69 - - - - - - - - - 15.91 -
8752.98 936.70 -9.64 1029 8754.46 pitch -0.64 0.13 0.235 2086.19 279.3 - - 2827.00 - -126.52 - - 3468.41 - - - - - - - - 15.67 - -
9062.93 960.99 -8.13 1060 9068.29 roll -0.64 - - 2087.44 - 2.58 0.025 1344.88 -574.5 -126.52 - - 3468.41 - - - - - - - - - 15.95 -
9142.94 967.62 -8.25 1076 9148.28 roll -0.64 - - 2077.25 - 2.70 0.043 2826.62 548.8 -126.52 - - 3469.91 - - - - - - - - - 15.88 -
9413 end dive: TARGET_DEPTH_EXCEEDED
9413 begin apogee
9414.80 990.51 -8.46 1104 9527.43 -0.12 0.58 0.178 2252.06 301.4 0.24 0.101 2439.25 -1614.0 - 110.89 2.371 2968.41 -4.5 0.326 - - - - - - 15.70 15.07 11.34
9529 end apogee: CONTROL_FINISHED_OK
9529 begin climb
9529.33 993.79 - 1115 9653.31 0.64 0.76 0.097 2515.94 347.2 2.92 0.034 952.69 -509.1 126.52 117.57 2.296 2449.94 -4.4 0.329 - - - - - - 15.17 14.42 12.00
9680.38 987.58 7.57 1145 9685.72 roll 0.68 - - 2515.56 - 2.89 0.035 2424.94 509.4 126.52 - - 2447.59 - - - - - - - - - 15.11 -
9990.37 959.25 9.15 1177 9995.72 done 0.68 - - 2526.31 - 2.71 0.029 950.94 -543.9 126.52 - - 2437.75 - - - - - - - - - 15.69 -
10005.11 957.89 9.08 1180 10010.93 done 0.68 - - 2526.31 - 2.79 0.034 2428.62 529.6 126.52 - - 2437.53 - - - - - - - - - 15.71 -
10320.38 926.95 10.12 1212 10325.71 done 0.68 - - 2537.31 - 2.70 0.029 948.69 -548.1 126.52 - - 2436.34 - - - - - - - - - 15.06 -
10340.39 924.95 10.00 1216 10345.74 done 0.68 - - 2537.06 - 2.74 0.033 2430.88 540.9 126.52 - - 2435.34 - - - - - - - - - 15.85 -
10650.40 891.43 10.94 1248 10655.73 done 0.68 - - 2547.94 - 2.70 0.027 946.19 -549.9 126.52 - - 2434.00 - - - - - - - - - 15.91 -
10675.15 888.66 10.91 1253 10681.03 0.68 0.18 0.213 2495.88 -289.2 2.77 0.033 2433.56 537.0 126.52 - - 2435.38 - - - - - - - - 15.69 15.49 -
10990.42 858.32 9.38 1285 10991.76 VBD 0.68 - - 2497.00 - - - 2433.69 - 126.52 - - 2432.09 - - - - - - - - - - -
11300.43 829.59 9.04 1316 11305.77 done 0.68 - - 2505.94 - 2.71 0.029 949.38 -547.7 126.52 - - 2432.88 - - - - - - - - - 15.14 -
11315.18 828.30 8.86 1319 11321.00 done 0.68 - - 2506.38 - 2.73 0.033 2430.69 542.6 126.52 - - 2433.28 - - - - - - - - - 15.95 -
11630.46 800.22 8.61 1351 11635.71 done 0.69 - - 2505.19 - 2.26 0.067 3839.94 623.6 126.52 - - 2431.47 - - - - - - - - - 15.95 -
11645.19 798.83 8.77 1354 11650.94 done 0.69 - - 2517.50 - 2.31 0.020 2316.88 -659.3 126.52 - - 2431.03 - - - - - - - - - 15.16 -
11960.55 772.13 8.44 1386 11965.78 done 0.70 - - 2517.75 - 2.59 0.064 3840.81 588.4 126.52 - - 2431.41 - - - - - - - - - 15.95 -
12005.22 767.65 10.08 1395 12010.96 done 0.70 - - 2528.31 - 2.32 0.020 2315.62 -657.4 126.52 - - 2431.00 - - - - - - - - - 15.13 -
12320.57 738.72 9.21 1427 12325.80 done 0.70 - - 2529.38 - 2.59 0.064 3839.31 588.3 126.52 - - 2431.38 - - - - - - - - - 15.95 -
12340.49 736.61 9.48 1431 12345.77 done 0.70 - - 2539.25 - 2.34 0.020 2314.69 -651.5 126.52 - - 2430.94 - - - - - - - - - 15.12 -
12650.83 704.87 10.37 1463 12652.17 VBD 0.70 - - 2540.19 - - - 2299.56 - 126.52 - - 2429.47 - - - - - - - - - - -
12960.51 673.03 10.37 1494 12965.83 done 0.70 - - 2541.06 - 2.58 0.064 3838.56 596.5 126.52 - - 2429.69 - - - - - - - - - 15.96 -
13000.53 668.39 11.78 1502 13005.80 done 0.70 - - 2550.56 - 2.34 0.020 2320.75 -648.6 126.52 - - 2431.59 - - - - - - - - - 15.06 -
13310.61 634.88 10.75 1534 13312.08 0.70 0.16 0.214 2505.50 -281.6 - - 2306.19 - 126.52 - - 2428.72 - - - - - - - - 15.76 - -
13620.56 607.29 8.78 1565 13625.87 done 0.70 - - 2504.06 - 2.58 0.067 3838.75 594.0 126.52 - - 2430.22 - - - - - - - - - 15.95 -
13665.30 602.81 10.10 1574 13671.05 done 0.70 - - 2514.19 - 2.32 0.018 2328.88 -650.8 126.52 - - 2428.34 - - - - - - - - - 15.99 -
13980.66 572.96 9.62 1606 13985.89 done 0.70 - - 2516.00 - 2.58 0.067 3836.62 584.4 126.52 - - 2429.69 - - - - - - - - - 15.95 -
14025.33 568.18 10.75 1615 14031.06 done 0.70 - - 2524.81 - 2.32 0.018 2321.19 -653.2 126.52 - - 2429.31 - - - - - - - - - 15.99 -
14340.66 537.78 9.57 1647 14345.91 done 0.70 - - 2526.81 - 2.59 0.065 3838.69 585.9 126.52 - - 2427.88 - - - - - - - - - 15.94 -
14350.59 536.75 9.64 1649 14355.88 done 0.70 - - 2536.62 - 2.32 0.018 2319.69 -654.7 126.52 - - 2427.97 - - - - - - - - - 15.45 -
14660.67 506.84 9.19 1681 14665.91 done 0.70 - - 2537.94 - 2.55 0.065 3839.44 596.0 126.52 - - 2430.72 - - - - - - - - - 15.95 -
14685.36 504.30 9.50 1686 14691.10 done 0.70 - - 2548.44 - 2.32 0.018 2319.62 -655.1 126.52 - - 2427.69 - - - - - - - - - 15.99 -
15000.71 477.72 7.44 1718 15002.05 VBD 0.74 - - 2549.88 - - - 2306.06 - 126.52 - - 2427.44 - - - - - - - - - - -
15310.65 454.25 7.90 1749 15315.94 done 0.76 - - 2549.19 - 2.58 0.065 3840.56 594.8 126.52 - - 2428.19 - - - - - - - - - 15.36 -
15335.40 452.00 8.32 1754 15341.15 done 0.78 - - 2560.00 - 2.33 0.018 2314.38 -655.0 126.52 - - 2427.88 - - - - - - - - - 15.99 -
15650.73 425.18 8.73 1786 15655.97 done 0.78 - - 2561.56 - 2.55 0.064 3839.94 598.3 126.52 - - 2428.66 - - - - - - - - - 15.92 -
15660.66 424.20 8.80 1788 15665.94 done 0.78 - - 2571.06 - 2.31 0.019 2315.62 -659.9 126.52 - - 2428.69 - - - - - - - - - 15.13 -
15970.74 394.42 9.46 1820 15976.02 0.78 0.15 0.219 2538.12 -219.6 2.42 0.031 948.19 -565.1 126.52 - - 2428.44 - - - - - - - - 15.74 14.68 -
16000.68 391.98 8.89 1826 16006.02 done 0.78 - - 2537.75 - 2.70 0.034 2429.69 548.7 126.52 - - 2429.09 - - - - - - - - - 15.38 -
16310.69 366.46 8.19 1858 16315.96 done 0.80 - - 2537.94 - 2.31 0.068 3838.94 610.1 126.52 - - 2428.28 - - - - - - - - - 15.94 -
16320.70 365.53 8.38 1860 16325.96 done 0.81 - - 2547.12 - 2.33 0.018 2324.12 -650.1 126.52 - - 2427.88 - - - - - - - - - 15.99 -
16630.76 337.30 9.14 1892 16636.07 done 0.81 - - 2547.00 - 2.58 0.064 3837.56 586.6 126.52 - - 2430.12 - - - - - - - - - 15.33 -
16655.45 334.67 9.61 1897 16661.19 done 0.81 - - 2559.75 - 2.32 0.018 2315.38 -656.1 126.52 - - 2429.28 - - - - - - - - - 15.96 -
16970.78 304.68 9.42 1929 16972.12 VBD 0.81 - - 2560.38 - - - 2300.56 - 126.52 - - 2427.75 - - - - - - - - - - -
17280.72 274.53 9.96 1960 17286.06 done 0.81 - - 2558.50 - 2.61 0.064 3839.25 589.5 126.52 - - 2428.88 - - - - - - - - - 15.92 -
17410.79 260.44 10.60 1986 17416.00 done 0.81 - - 2571.38 - 2.35 0.017 2317.06 -647.7 126.52 - - 2428.22 - - - - - - - - - 15.40 -
17720.83 232.85 8.55 2018 17726.04 done 0.83 - - 2571.25 - 2.60 0.063 3839.25 585.5 126.52 - - 2429.62 - - - - - - - - - 15.91 -
17795.49 225.48 9.84 2033 17801.24 done 0.83 - - 2581.31 - 2.33 0.019 2321.31 -651.5 126.52 - - 2428.88 - - - - - - - - - 15.10 -
18110.84 200.74 7.32 2065 18116.05 done 0.86 - - 2592.31 - 2.44 0.030 945.88 -563.7 126.52 - - 2430.50 - - - - - - - - - 15.09 -
18120.78 200.04 7.26 2067 18126.09 done 0.90 - - 2594.06 - 2.70 0.032 2432.62 550.6 126.52 - - 2430.09 - - - - - - - - - 15.98 -
18430.79 174.67 8.35 2099 18432.12 VBD 0.92 - - 2593.94 - - - 2433.50 - 126.52 - - 2428.41 - - - - - - - - - - -
18740.81 145.08 9.91 2130 18746.06 done 0.92 - - 2593.31 - 2.30 0.066 3839.38 611.3 126.52 - - 2429.38 - - - - - - - - - 15.74 -
18781.05 140.78 10.81 2138 18786.08 done 0.92 - - 2603.81 - 2.32 0.018 2324.19 -653.1 126.52 - - 2429.41 - - - - - - - - - 15.02 -
19090.92 114.06 7.83 2170 19096.18 done 0.94 - - 2605.62 - 2.62 0.062 3838.75 578.1 126.52 - - 2429.16 - - - - - - - - - 15.32 -
19120.86 111.47 8.00 2176 19126.12 done 0.97 - - 2615.62 - 2.36 0.018 2323.69 -642.0 126.52 - - 2430.44 - - - - - - - - - 14.91 -
19427.09 93.04 4.97 2221 19493.71 done 1.08 - - 2626.06 - 2.52 0.032 951.38 -544.6 211.83 62.87 1.204 2102.12 -5.2 0.070 - - - - - - - 15.10 11.66
19505.90 87.27 8.62 2237 19511.48 roll 1.09 - - 2625.81 - 2.79 0.034 2428.75 529.5 211.83 - - 2099.88 - - - - - - - - - 15.56 -
19695.90 63.77 13.40 2275 19701.50 done 1.09 - - 2636.62 - 2.73 0.030 949.44 -541.9 211.83 - - 2094.88 - - - - - - - - - 14.94 -
19805.92 50.97 10.94 2297 19811.51 done 1.09 - - 2636.25 - 2.76 0.034 2430.19 536.5 211.83 - - 2095.62 - - - - - - - - - 15.63 -
19995.93 32.37 9.07 2335 20001.53 done 1.09 - - 2647.44 - 2.71 0.028 945.31 -547.9 211.83 - - 2093.69 - - - - - - - - - 14.96 -
20045.96 28.67 7.41 2345 20051.53 done 1.12 - - 2647.00 - 2.74 0.032 2433.81 543.2 211.83 - - 2093.62 - - - - - - - - - 15.67 -
20235.97 14.05 7.78 2383 20241.53 done 1.15 - - 2658.12 - 2.70 0.027 948.06 -550.3 211.83 - - 2093.66 - - - - - - - - - 15.03 -
20295.97 9.88 6.94 2395 20301.56 done 1.20 - - 2659.19 - 2.73 0.031 2434.00 544.3 211.83 - - 2092.62 - - - - - - - - - 15.70 -
20441 end climb: SURFACE_DEPTH_REACHED
20441 begin surface coast
20491 end surface coast: CONTROL_FINISHED_OK
20491 begin surface
SM 1.09 - - - - 222.4 96.56 1.071 1540.2 16.0 7.51 0.125 1530.4 203.8 - 0.59 0.051 1550.1 2622.7 -5.729 - - 11.71 14.79 15.88 -