SMODE Mar23 * SG219 * Dive index * Mission links * Dive 109 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 133.62 of 310.00 AH used of 24V (56.90% remains)
• Surface angle -67.0 deg, depth 1.39 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 324.74 (SM_CC=325)
• GPS1 time: 29 s
• GPS2 time: 3 s • Transponder ping count: 0
• 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
16.67 - - - 75.92 VBD -0.65 - - 195.62 - - - 2605.75 - -97.32 54.42 0.005 2659.25 - - - - - - - - - - 14.82
76.35 2.15 -1.59 11 124.19 -0.65 8.41 0.351 2032.69 218.4 2.07 0.069 3851.12 601.6 -97.32 25.44 0.006 3364.09 27.7 -1.765 - - - - - - 14.65 14.89 15.06
351.63 42.05 -15.33 65 358.60 roll -0.65 - - 2033.81 - 1.74 0.018 2646.94 -692.1 -97.32 - - 3367.62 - - - - - - - - - 15.38 -
541.68 68.30 -13.61 103 548.88 roll -0.65 - - 2025.62 - 1.99 0.064 3850.38 604.7 -97.32 - - 3366.28 - - - - - - - - - 15.26 -
666.72 85.03 -13.36 128 673.71 roll -0.65 - - 2025.50 - 1.74 0.018 2650.94 -689.3 -97.32 - - 3367.09 - - - - - - - - - 15.34 -
861.77 110.77 -12.51 159 868.65 roll -0.65 - - 2016.12 - 2.00 0.063 3850.31 599.7 -97.32 - - 3367.41 - - - - - - - - - 15.35 -
881.76 113.30 -12.18 163 888.59 roll -0.65 - - 2015.81 - 1.73 0.018 2650.00 -693.8 -97.32 - - 3368.00 - - - - - - - - - 15.31 -
1191.82 150.25 -12.07 195 1198.73 roll -0.65 - - 2007.38 - 1.99 0.063 3850.94 603.5 -97.32 - - 3367.78 - - - - - - - - - 15.33 -
1316.57 165.86 -12.08 220 1324.04 roll back -0.65 0.14 0.230 2043.31 256.6 1.72 0.018 2637.50 -705.5 -97.32 - - 3369.97 - - - - - - - - 15.37 15.76 -
1631.87 196.38 -9.59 252 1638.72 roll -0.65 - - 2036.88 - 2.00 0.064 3851.69 607.1 -97.32 - - 3368.06 - - - - - - - - - 15.57 -
1661.86 199.23 -9.52 258 1668.64 roll -0.65 - - 2037.81 - 1.72 0.019 2652.06 -697.5 -97.32 - - 3367.97 - - - - - - - - - 15.78 -
1971.89 227.82 -9.53 290 1978.00 roll -0.65 - - 2028.06 - 1.97 0.064 3851.31 608.8 -97.32 - - 3370.09 - - - - - - - - - 15.69 -
2031.93 233.97 -10.30 302 2037.86 roll -0.65 - - 2028.31 - 1.73 0.019 2647.19 -696.0 -97.32 - - 3369.06 - - - - - - - - - 15.78 -
2341.97 267.08 -10.82 334 2348.13 roll -0.65 - - 2020.69 - 1.96 0.064 3851.69 614.5 -97.32 - - 3369.50 - - - - - - - - - 15.72 -
2391.97 272.52 -10.85 344 2397.97 roll -0.65 - - 2020.88 - 1.72 0.019 2649.75 -698.8 -97.32 - - 3367.66 - - - - - - - - - 15.81 -
2702.00 304.47 -9.75 376 2708.15 roll -0.65 - - 2010.62 - 1.95 0.064 3851.50 616.3 -97.32 - - 3367.16 - - - - - - - - - 15.59 -
2732.01 307.57 -10.11 382 2737.93 roll -0.65 - - 2010.25 - 1.71 0.019 2651.12 -702.0 -97.32 - - 3368.53 - - - - - - - - - 15.93 -
3042.03 341.04 -11.23 414 3048.12 roll -0.65 - - 2002.06 - 1.93 0.064 3851.00 621.7 -97.32 - - 3367.62 - - - - - - - - - 15.85 -
3066.78 344.06 -11.70 419 3073.24 roll back -0.65 0.16 0.223 2044.25 263.7 1.72 0.019 2638.75 -704.8 -97.32 - - 3367.88 - - - - - - - - 15.54 15.82 -
3382.07 375.00 -9.57 451 3383.86 no move -0.65 - - 2045.12 - - - 2628.75 - -97.32 - - 3366.00 - - - - - - - - - - -
3692.10 404.50 -9.31 482 3693.89 no move -0.65 - - 2044.94 - - - 2628.81 - -97.32 - - 3365.09 - - - - - - - - - - -
4002.13 431.85 -8.40 513 4008.22 roll -0.65 - - 2037.56 - 2.00 0.067 3849.50 610.3 -97.32 - - 3366.41 - - - - - - - - - 15.81 -
4036.86 434.90 -8.59 520 4043.05 roll -0.65 - - 2038.81 - 1.72 0.020 2644.81 -700.4 -97.32 - - 3365.00 - - - - - - - - - 15.95 -
4352.16 463.06 -8.85 552 4353.95 no move -0.65 - - 2038.62 - - - 2645.00 - -97.32 - - 3363.81 - - - - - - - - - - -
4662.18 488.44 -8.04 583 4668.27 roll -0.65 - - 2029.75 - 1.97 0.066 3851.62 612.5 -97.32 - - 3364.72 - - - - - - - - - 15.83 -
4686.92 490.52 -8.11 588 4693.10 roll -0.65 - - 2029.06 - 1.73 0.021 2646.81 -696.4 -97.32 - - 3365.78 - - - - - - - - - 15.82 -
5002.23 517.86 -8.82 620 5004.02 no move -0.65 - - 2029.19 - - - 2644.94 - -97.32 - - 3363.09 - - - - - - - - - - -
5312.24 544.68 -8.47 651 5318.94 roll -0.65 - - 2029.12 - 2.46 0.026 1296.19 -548.3 -97.32 - - 3363.09 - - - - - - - - - 15.54 -
5342.25 547.25 -8.47 657 5349.21 roll -0.65 - - 2017.88 - 2.77 0.041 2783.94 537.1 -97.32 - - 3363.41 - - - - - - - - - 15.71 -
5652.27 574.59 -8.59 689 5659.14 roll -0.65 - - 2018.19 - 2.68 0.025 1293.69 -556.1 -97.32 - - 3362.72 - - - - - - - - - 15.84 -
5682.28 577.23 -8.74 695 5689.25 roll -0.65 - - 2006.25 - 2.78 0.041 2777.06 533.6 -97.32 - - 3363.59 - - - - - - - - - 15.82 -
5992.30 605.88 -9.57 727 5999.42 roll back -0.65 0.14 0.245 2045.69 281.7 2.68 0.025 1296.81 -552.3 -97.32 - - 3362.06 - - - - - - - - 15.34 15.43 -
6022.31 608.39 -9.15 733 6029.26 roll -0.65 - - 2036.81 - 2.79 0.042 2777.50 530.7 -97.32 - - 3363.31 - - - - - - - - - 15.76 -
6332.33 634.20 -8.71 765 6339.20 roll -0.65 - - 2036.56 - 2.67 0.025 1295.06 -555.2 -97.32 - - 3362.50 - - - - - - - - - 15.72 -
6377.08 638.35 -9.23 774 6384.56 roll -0.65 - - 2026.38 - 2.79 0.041 2779.81 532.2 -97.32 - - 3361.72 - - - - - - - - - 15.70 -
6692.36 669.00 -9.81 806 6699.23 roll -0.65 - - 2026.19 - 2.68 0.025 1293.50 -554.6 -97.32 - - 3360.31 - - - - - - - - - 15.73 -
6742.37 674.01 -10.00 816 6749.33 roll -0.65 - - 2014.88 - 2.80 0.041 2778.81 530.5 -97.32 - - 3360.25 - - - - - - - - - 15.79 -
7052.40 704.30 -9.41 848 7054.19 no move -0.65 - - 2014.88 - - - 2779.56 - -97.32 - - 3359.19 - - - - - - - - - - -
7362.42 732.11 -8.89 879 7369.29 roll -0.65 - - 2013.62 - 2.66 0.025 1293.62 -558.6 -97.32 - - 3359.94 - - - - - - - - - 15.90 -
7397.32 735.23 -8.79 886 7404.64 roll -0.65 - - 2003.31 - 2.79 0.041 2780.31 532.9 -97.32 - - 3360.22 - - - - - - - - - 15.68 -
7712.45 764.45 -9.32 918 7719.58 roll back -0.65 0.14 0.233 2043.94 290.2 2.70 0.025 1295.69 -549.9 -97.32 - - 3359.38 - - - - - - - - 15.49 15.51 -
7742.47 766.87 -8.72 924 7749.50 roll -0.65 - - 2034.19 - 2.82 0.042 2778.75 525.9 -97.32 - - 3359.38 - - - - - - - - - 15.67 -
8052.49 790.55 -7.82 956 8059.37 roll -0.65 - - 2035.19 - 2.68 0.025 1295.19 -553.6 -97.32 - - 3358.53 - - - - - - - - - 15.85 -
8092.51 793.79 -8.00 964 8099.54 roll -0.65 - - 2025.00 - 2.82 0.041 2778.19 525.9 -97.32 - - 3358.22 - - - - - - - - - 15.74 -
8402.52 820.66 -9.00 996 8404.32 no move -0.65 - - 2024.19 - - - 2778.94 - -97.32 - - 3356.47 - - - - - - - - - - -
8712.54 848.64 -8.82 1027 8719.48 roll -0.65 - - 2025.50 - 2.67 0.025 1294.38 -556.0 -97.32 - - 3357.62 - - - - - - - - - 15.85 -
8762.55 853.04 -8.74 1037 8769.60 roll -0.65 - - 2013.19 - 2.82 0.041 2776.88 525.7 -97.32 - - 3357.22 - - - - - - - - - 15.61 -
9072.57 879.49 -8.19 1069 9079.51 roll -0.65 - - 2014.44 - 2.67 0.025 1295.56 -554.8 -97.32 - - 3358.66 - - - - - - - - - 15.85 -
9127.33 884.02 -8.17 1080 9135.00 roll -0.65 - - 2003.75 - 2.81 0.041 2778.19 527.6 -97.32 - - 3357.34 - - - - - - - - - 15.75 -
9442.60 912.09 -8.94 1112 9444.66 pitch -0.65 0.15 0.234 2043.00 261.7 - - 2779.06 - -97.32 - - 3355.62 - - - - - - - - 15.28 - -
9752.63 933.78 -6.94 1143 9759.51 roll -0.65 - - 2043.75 - 2.69 0.026 1294.88 -551.7 -97.32 - - 3358.28 - - - - - - - - - 15.72 -
9812.64 937.97 -6.94 1155 9819.69 roll -0.65 - - 2035.94 - 2.83 0.043 2777.75 524.0 -97.32 - - 3357.84 - - - - - - - - - 15.61 -
10122.66 959.49 -6.95 1187 10129.55 roll -0.65 - - 2036.50 - 2.69 0.025 1292.69 -552.1 -97.32 - - 3356.47 - - - - - - - - - 15.88 -
10157.42 961.92 -6.93 1194 10165.04 roll -0.65 - - 2025.62 - 2.82 0.042 2778.25 526.8 -97.32 - - 3356.25 - - - - - - - - - 15.63 -
10472.74 985.01 -7.44 1226 10479.62 roll -0.65 - - 2026.75 - 2.70 0.026 1296.00 -549.0 -97.32 - - 3355.44 - - - - - - - - - 15.71 -
10507.50 987.74 -7.55 1233 10515.20 roll -0.65 - - 2013.62 - 2.81 0.042 2778.56 527.6 -97.32 - - 3355.66 - - - - - - - - - 15.75 -
10543 end dive: TARGET_DEPTH_EXCEEDED
10543 begin apogee
10545.32 990.46 -7.82 1237 10646.35 -0.12 0.68 0.185 2210.31 289.3 0.21 0.111 2433.75 -1642.0 - 91.65 2.321 2967.88 -4.2 0.321 - - - - - - 15.39 14.84 10.13
10648 end apogee: CONTROL_FINISHED_OK
10648 begin climb
10648.96 992.29 - 1246 10762.15 0.65 0.78 0.097 2478.38 343.7 3.01 0.034 952.31 -492.2 97.32 97.47 2.273 2569.88 -4.1 0.317 - - - - - - 15.16 14.58 11.34
10784.48 987.72 6.03 1271 10792.03 roll 0.70 - - 2477.56 - 2.97 0.034 2430.69 497.8 97.32 - - 2566.44 - - - - - - - - - 15.15 -
11099.78 963.20 7.47 1303 11106.31 done 0.72 - - 2478.38 - 2.26 0.065 3839.50 623.4 97.32 - - 2558.09 - - - - - - - - - 15.66 -
11144.46 959.27 8.84 1312 11151.61 done 0.72 - - 2488.88 - 2.29 0.019 2331.38 -658.6 97.32 - - 2556.09 - - - - - - - - - 15.71 -
11459.77 934.26 7.97 1344 11461.56 VBD 0.72 - - 2488.12 - - - 2314.81 - 97.32 - - 2554.72 - - - - - - - - - - -
11769.88 910.29 7.86 1375 11776.58 done 0.73 - - 2488.75 - 2.51 0.062 3841.94 608.4 97.32 - - 2554.50 - - - - - - - - - 15.79 -
11854.56 902.62 9.06 1392 11861.61 done 0.73 - - 2496.38 - 2.30 0.020 2319.69 -661.8 97.32 - - 2553.97 - - - - - - - - - 15.12 -
12169.84 876.44 8.46 1424 12176.66 done 0.73 - - 2499.81 - 2.54 0.061 3839.75 598.4 97.32 - - 2552.47 - - - - - - - - - 15.03 -
12204.59 872.98 9.37 1431 12211.65 done 0.73 - - 2508.81 - 2.27 0.020 2320.50 -669.3 97.32 - - 2553.38 - - - - - - - - - 15.89 -
12519.88 845.56 8.50 1463 12521.68 VBD 0.73 - - 2510.50 - - - 2303.94 - 97.32 - - 2551.31 - - - - - - - - - - -
12829.91 819.70 8.25 1494 12836.70 done 0.73 - - 2510.00 - 2.54 0.060 3841.62 605.4 97.32 - - 2552.00 - - - - - - - - - 14.97 -
12894.67 813.60 9.41 1507 12901.72 done 0.73 - - 2519.19 - 2.25 0.020 2317.75 -677.3 97.32 - - 2552.12 - - - - - - - - - 15.82 -
13209.96 785.90 8.79 1539 13217.05 0.73 0.17 0.232 2476.94 -248.5 2.51 0.060 3842.00 607.3 97.32 - - 2550.97 - - - - - - - - 15.48 15.53 -
13259.96 781.66 8.47 1549 13266.50 done 0.73 - - 2484.25 - 2.29 0.020 2314.50 -667.0 97.32 - - 2551.56 - - - - - - - - - 15.92 -
13570.08 757.88 7.83 1581 13576.84 done 0.74 - - 2487.50 - 2.53 0.061 3841.69 603.6 97.32 - - 2550.03 - - - - - - - - - 15.79 -
13620.00 753.48 8.90 1591 13626.54 done 0.74 - - 2494.19 - 2.28 0.020 2322.50 -666.3 97.32 - - 2550.91 - - - - - - - - - 15.92 -
13930.05 727.95 8.10 1623 13931.85 VBD 0.74 - - 2496.19 - - - 2306.44 - 97.32 - - 2549.28 - - - - - - - - - - -
14240.13 703.26 7.80 1654 14246.84 done 0.76 - - 2496.50 - 2.54 0.061 3839.38 603.5 97.32 - - 2549.84 - - - - - - - - - 14.88 -
14360.08 692.83 8.69 1678 14366.62 done 0.76 - - 2506.00 - 2.30 0.020 2317.69 -661.6 97.32 - - 2550.62 - - - - - - - - - 14.93 -
14670.18 669.00 7.69 1710 14676.90 done 0.77 - - 2507.75 - 2.51 0.060 3841.38 607.0 97.32 - - 2551.66 - - - - - - - - - 15.79 -
14734.85 663.26 8.88 1723 14741.99 done 0.77 - - 2518.06 - 2.31 0.019 2317.94 -659.5 97.32 - - 2550.34 - - - - - - - - - 14.92 -
15050.22 639.44 7.23 1755 15052.02 VBD 0.80 - - 2519.19 - - - 2300.31 - 97.32 - - 2548.47 - - - - - - - - - - -
15360.51 617.91 6.89 1786 15362.31 VBD 0.83 - - 2519.00 - - - 2300.56 - 97.32 - - 2548.53 - - - - - - - - - - -
15670.27 597.33 6.47 1817 15677.04 done 0.87 - - 2519.38 - 2.52 0.060 3839.88 610.8 97.32 - - 2549.19 - - - - - - - - - 15.78 -
15720.28 593.53 7.71 1827 15726.77 done 0.88 - - 2529.12 - 2.27 0.020 2316.00 -671.3 97.32 - - 2548.62 - - - - - - - - - 15.92 -
16030.32 571.49 7.33 1859 16036.94 done 0.91 - - 2530.81 - 2.49 0.060 3841.88 612.8 97.32 - - 2549.06 - - - - - - - - - 15.77 -
16080.23 567.18 8.70 1869 16086.80 done 0.91 - - 2539.25 - 2.27 0.019 2312.12 -673.9 97.32 - - 2550.97 - - - - - - - - - 15.92 -
16390.26 542.70 8.18 1901 16397.13 done 0.91 - - 2552.94 - 2.53 0.031 947.25 -539.5 97.32 - - 2550.16 - - - - - - - - - 15.87 -
16430.28 539.39 8.24 1909 16437.33 done 0.91 - - 2551.81 - 2.85 0.033 2437.00 522.7 97.32 - - 2548.62 - - - - - - - - - 14.86 -
16740.29 512.68 8.68 1941 16742.09 VBD 0.91 - - 2551.88 - - - 2436.94 - 97.32 - - 2547.50 - - - - - - - - - - -
17050.32 485.26 8.70 1972 17056.87 done 0.91 - - 2551.81 - 2.22 0.063 3840.19 632.1 97.32 - - 2548.34 - - - - - - - - - 15.77 -
17075.07 482.87 9.05 1977 17082.13 done 0.91 - - 2561.81 - 2.30 0.019 2320.25 -660.8 97.32 - - 2548.84 - - - - - - - - - 14.81 -
17390.44 456.38 7.84 2009 17392.24 VBD 0.92 - - 2562.75 - - - 2303.56 - 97.32 - - 2547.41 - - - - - - - - - - -
17700.47 433.73 7.31 2040 17707.17 done 0.94 - - 2562.50 - 2.54 0.062 3839.69 604.8 97.32 - - 2548.34 - - - - - - - - - 15.75 -
17770.40 427.95 8.34 2054 17777.01 done 0.94 - - 2574.56 - 2.28 0.019 2315.81 -668.4 97.32 - - 2548.12 - - - - - - - - - 15.91 -
18080.50 405.12 7.23 2086 18087.21 done 0.97 - - 2573.75 - 2.57 0.060 3842.06 593.9 97.32 - - 2549.38 - - - - - - - - - 14.75 -
18130.43 400.99 8.37 2096 18136.99 done 0.97 - - 2583.62 - 2.28 0.019 2317.38 -668.7 97.32 - - 2547.44 - - - - - - - - - 15.91 -
18440.46 376.47 8.13 2128 18447.25 done 0.97 - - 2584.62 - 2.55 0.060 3838.69 596.6 97.32 - - 2548.59 - - - - - - - - - 14.74 -
18495.20 371.58 8.87 2139 18502.25 done 0.97 - - 2595.19 - 2.26 0.018 2315.94 -673.8 97.32 - - 2548.47 - - - - - - - - - 15.91 -
18810.57 347.32 7.50 2171 18812.36 VBD 0.99 - - 2596.44 - - - 2298.19 - 97.32 - - 2547.28 - - - - - - - - - - -
19120.60 324.07 7.75 2202 19122.39 VBD 1.00 - - 2595.94 - - - 2298.06 - 97.32 - - 2547.25 - - - - - - - - - - -
19430.62 301.25 7.53 2233 19437.34 done 1.02 - - 2595.56 - 2.55 0.060 3841.69 605.3 97.32 - - 2548.38 - - - - - - - - - 14.72 -
19450.62 299.58 7.72 2237 19457.08 done 1.03 - - 2605.88 - 2.28 0.019 2325.75 -664.9 97.32 - - 2547.69 - - - - - - - - - 15.91 -
19760.64 277.07 7.04 2269 19767.35 done 1.06 - - 2607.56 - 2.52 0.059 3841.44 601.5 97.32 - - 2550.38 - - - - - - - - - 14.74 -
19820.57 272.24 8.05 2281 19827.18 done 1.06 - - 2618.12 - 2.30 0.018 2317.00 -662.8 97.32 - - 2550.12 - - - - - - - - - 14.78 -
20130.68 249.86 6.88 2313 20132.48 VBD 1.09 - - 2618.12 - - - 2299.38 - 97.32 - - 2547.34 - - - - - - - - - - -
20440.70 228.36 6.97 2344 20447.41 done 1.12 - - 2618.94 - 2.51 0.059 3841.69 614.5 97.32 - - 2548.72 - - - - - - - - - 15.72 -
20510.63 222.73 8.14 2358 20517.17 done 1.12 - - 2628.38 - 2.30 0.018 2314.25 -664.1 97.32 - - 2550.78 - - - - - - - - - 14.75 -
20820.73 199.18 7.58 2390 20828.19 done 1.14 - - 2630.69 - 2.53 0.058 3841.88 603.8 97.32 - - 2548.94 - - - - - - - - - 15.62 -
20860.77 195.93 7.93 2398 20867.92 done 1.15 - - 2638.69 - 2.28 0.018 2310.75 -671.5 97.32 - - 2549.00 - - - - - - - - - 15.78 -
21170.84 174.43 6.52 2430 21173.99 VBD 1.19 - - 2640.62 - - - 2293.12 - 97.32 - - 2548.06 - - - - - - - - - - -
21480.88 153.76 6.40 2461 21484.33 VBD 1.23 - - 2640.31 - - - 2293.44 - 97.32 - - 2547.84 - - - - - - - - - - -
21790.90 133.49 6.58 2492 21798.29 done 1.27 - - 2650.75 - 2.55 0.030 943.31 -529.5 97.32 - - 2549.03 - - - - - - - - - 15.62 -
21990.97 121.53 5.68 2532 21998.60 done 1.32 - - 2650.81 - 2.85 0.032 2438.94 524.8 97.32 - - 2549.12 - - - - - - - - - 15.46 -
22301.14 106.60 4.23 2564 22368.85 1.42 0.16 0.062 2728.38 484.8 2.26 0.059 3843.50 621.5 169.19 56.43 1.185 2275.53 -4.8 0.078 - - - - - - 15.65 15.18 10.92
22596.39 66.75 14.60 2622 22604.21 done 1.42 - - 2736.81 - 2.31 0.017 2331.81 -654.4 169.19 - - 2270.31 - - - - - - - - - 15.55 -
22786.67 45.34 10.18 2660 22794.65 1.42 0.18 0.303 2696.88 -221.8 2.52 0.056 3841.81 599.2 169.19 - - 2269.56 - - - - - - - - 15.18 15.10 -
22992.33 31.61 7.12 2701 22999.67 done 1.45 - - 2703.44 - 2.30 0.017 2324.19 -659.8 169.19 - - 2268.47 - - - - - - - - - 15.38 -
23182.22 17.18 8.64 2739 23187.19 VBD 1.45 - - 2706.25 - - - 2307.50 - 169.19 - - 2267.25 - - - - - - - - - - -
23367 end climb: SURFACE_DEPTH_REACHED
23367 begin surface coast
23397 end surface coast: CONTROL_FINISHED_OK
23397 begin surface
SM 1.53 - - - - 218.8 114.32 1.035 1644.2 14.4 7.18 0.063 1632.8 227.4 - 0.77 0.066 1655.5 2150.0 -5.094 - - 11.04 15.58 15.71 -