SMODE Mar23 * SG219 * Dive index * Mission links * Dive 129 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 141.35 of 310.00 AH used of 24V (54.40% remains)
• Surface angle -68.4 deg, depth 1.38 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 324.72 (SM_CC=325)
• GPS1 time: 21 s
• GPS2 time: 2 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
17.05 - - - 76.27 VBD -0.65 - - 169.62 - - - 2615.31 - -97.32 54.50 0.005 2647.41 - - - - - - - - - - 14.77
76.70 2.14 -1.46 11 124.83 -0.65 8.67 0.357 2040.81 215.8 2.46 0.027 1293.25 -537.4 -97.32 26.22 0.006 3364.84 27.4 -1.737 - - - - - - 14.70 14.89 15.03
137.18 8.29 -12.15 22 145.08 roll -0.65 - - 2033.00 - 2.88 0.041 2777.25 515.3 -97.32 - - 3365.28 - - - - - - - - - 15.25 -
328.68 37.38 -14.79 60 334.53 roll -0.65 - - 2024.44 - 1.72 0.064 3850.88 624.2 -97.32 - - 3367.41 - - - - - - - - - 15.45 -
427.50 53.05 -15.75 80 434.50 roll -0.65 - - 2024.38 - 1.73 0.018 2653.88 -691.9 -97.32 - - 3367.25 - - - - - - - - - 15.30 -
617.71 78.10 -13.29 118 622.64 no move -0.65 - - 2024.94 - - - 2645.56 - -97.32 - - 3367.44 - - - - - - - - - - -
807.56 100.44 -10.86 156 814.57 roll -0.65 - - 2015.69 - 2.00 0.064 3850.88 602.7 -97.32 - - 3367.91 - - - - - - - - - 15.23 -
837.56 104.10 -12.22 162 844.44 roll -0.65 - - 2015.25 - 1.74 0.018 2653.69 -688.0 -97.32 - - 3368.84 - - - - - - - - - 15.45 -
1147.60 140.23 -11.81 194 1150.70 no move -0.65 - - 2016.31 - - - 2644.88 - -97.32 - - 3367.16 - - - - - - - - - - -
1457.65 176.91 -12.08 225 1464.51 roll -0.65 - - 2006.25 - 1.99 0.063 3849.44 605.3 -97.32 - - 3368.56 - - - - - - - - - 15.56 -
1487.65 180.73 -12.71 231 1494.65 roll back -0.65 0.14 0.227 2044.44 272.8 1.73 0.019 2641.62 -698.2 -97.32 - - 3369.47 - - - - - - - - 15.37 15.54 -
1797.70 214.69 -10.82 263 1799.45 no move -0.65 - - 2044.12 - - - 2633.69 - -97.32 - - 3367.81 - - - - - - - - - - -
2107.73 246.48 -10.04 294 2113.81 roll -0.65 - - 2035.12 - 1.99 0.065 3850.06 611.2 -97.32 - - 3369.28 - - - - - - - - - 15.71 -
2157.77 251.61 -10.31 304 2163.77 roll -0.65 - - 2038.31 - 1.71 0.019 2653.31 -699.9 -97.32 - - 3368.50 - - - - - - - - - 15.91 -
2467.79 282.77 -10.15 336 2473.86 roll -0.65 - - 2028.44 - 1.95 0.064 3849.56 613.5 -97.32 - - 3368.41 - - - - - - - - - 15.72 -
2517.82 287.92 -10.31 346 2523.67 roll -0.65 - - 2028.56 - 1.70 0.019 2652.38 -704.2 -97.32 - - 3368.38 - - - - - - - - - 15.92 -
2827.83 319.80 -9.90 378 2834.53 roll -0.65 - - 2028.12 - 2.45 0.025 1294.00 -554.4 -97.32 - - 3368.75 - - - - - - - - - 15.81 -
2867.84 323.69 -9.71 386 2874.95 roll -0.65 - - 2018.38 - 2.83 0.041 2777.69 524.3 -97.32 - - 3368.50 - - - - - - - - - 15.72 -
3177.87 355.17 -10.21 418 3179.66 no move -0.65 - - 2016.94 - - - 2777.81 - -97.32 - - 3366.59 - - - - - - - - - - -
3487.89 386.85 -10.38 449 3494.98 roll -0.65 - - 2018.38 - 2.69 0.024 1293.19 -551.9 -97.32 - - 3367.66 - - - - - - - - - 15.85 -
3517.91 389.98 -10.38 455 3524.93 roll -0.65 - - 2005.94 - 2.81 0.041 2776.38 527.8 -97.32 - - 3367.25 - - - - - - - - - 15.83 -
3827.93 424.18 -11.25 487 3834.10 roll back -0.65 0.14 0.244 2040.44 246.4 1.69 0.066 3849.62 635.1 -97.32 - - 3367.38 - - - - - - - - 15.51 15.51 -
3872.69 428.78 -10.03 496 3878.85 roll -0.65 - - 2039.62 - 1.71 0.021 2648.06 -702.7 -97.32 - - 3367.59 - - - - - - - - - 15.86 -
4187.98 460.05 -10.25 528 4194.19 roll -0.65 - - 2032.81 - 1.97 0.065 3849.94 610.1 -97.32 - - 3367.31 - - - - - - - - - 15.47 -
4227.98 464.20 -10.54 536 4233.97 roll -0.65 - - 2032.56 - 1.72 0.020 2646.31 -699.8 -97.32 - - 3367.25 - - - - - - - - - 15.93 -
4538.00 496.21 -10.10 568 4539.80 no move -0.65 - - 2031.19 - - - 2645.44 - -97.32 - - 3364.47 - - - - - - - - - - -
4848.03 526.41 -9.10 599 4849.83 no move -0.65 - - 2031.50 - - - 2645.06 - -97.32 - - 3363.84 - - - - - - - - - - -
5158.07 553.90 -8.66 630 5164.21 roll -0.65 - - 2023.50 - 1.97 0.066 3849.12 611.2 -97.32 - - 3363.91 - - - - - - - - - 15.84 -
5228.09 560.30 -9.10 644 5234.01 roll -0.65 - - 2022.19 - 1.72 0.021 2644.88 -700.1 -97.32 - - 3363.94 - - - - - - - - - 15.91 -
5538.11 589.62 -9.43 676 5539.90 no move -0.65 - - 2022.50 - - - 2644.12 - -97.32 - - 3362.06 - - - - - - - - - - -
5848.14 618.58 -9.34 707 5854.22 roll -0.65 - - 2011.88 - 1.96 0.066 3850.62 615.6 -97.32 - - 3363.31 - - - - - - - - - 15.75 -
5882.88 621.97 -9.57 714 5889.06 roll -0.65 - - 2013.12 - 1.72 0.021 2647.88 -699.3 -97.32 - - 3362.88 - - - - - - - - - 15.90 -
6198.22 652.78 -9.58 746 6200.01 no move -0.65 - - 2013.12 - - - 2645.50 - -97.32 - - 3361.03 - - - - - - - - - - -
6508.20 681.65 -9.24 777 6509.99 no move -0.65 - - 2012.62 - - - 2645.50 - -97.32 - - 3360.59 - - - - - - - - - - -
6818.22 710.67 -9.28 808 6824.30 roll -0.65 - - 2004.31 - 1.98 0.066 3849.50 608.1 -97.32 - - 3361.78 - - - - - - - - - 15.81 -
6872.98 716.10 -9.98 819 6879.47 roll back -0.65 0.14 0.214 2043.94 283.1 1.73 0.021 2645.56 -695.9 -97.32 - - 3361.97 - - - - - - - - 15.43 15.86 -
7188.26 741.34 -7.95 851 7190.05 no move -0.65 - - 2044.56 - - - 2641.38 - -97.32 - - 3359.38 - - - - - - - - - - -
7498.28 765.89 -7.77 882 7500.09 no move -0.65 - - 2044.56 - - - 2640.94 - -97.32 - - 3358.34 - - - - - - - - - - -
7808.31 790.00 -7.69 913 7810.10 no move -0.65 - - 2044.25 - - - 2640.56 - -97.32 - - 3358.12 - - - - - - - - - - -
8118.34 813.40 -7.36 944 8124.48 roll -0.65 - - 2038.56 - 1.98 0.067 3847.38 609.5 -97.32 - - 3358.62 - - - - - - - - - 15.68 -
8163.08 816.90 -7.79 953 8169.26 roll -0.65 - - 2036.19 - 1.73 0.021 2647.31 -693.7 -97.32 - - 3358.47 - - - - - - - - - 15.89 -
8478.36 841.33 -7.82 985 8485.22 roll -0.65 - - 2038.62 - 2.51 0.026 1297.75 -537.7 -97.32 - - 3358.16 - - - - - - - - - 14.72 -
8518.37 844.61 -8.08 993 8525.41 roll -0.65 - - 2026.25 - 2.83 0.042 2775.75 522.3 -97.32 - - 3358.66 - - - - - - - - - 15.78 -
8828.40 870.30 -8.12 1025 8830.18 no move -0.65 - - 2027.12 - - - 2775.50 - -97.32 - - 3356.47 - - - - - - - - - - -
9138.43 895.15 -7.89 1056 9145.47 roll -0.65 - - 2028.50 - 2.72 0.026 1296.50 -543.8 -97.32 - - 3359.72 - - - - - - - - - 14.70 -
9188.44 899.11 -7.93 1066 9195.47 roll -0.65 - - 2016.81 - 2.85 0.041 2777.88 519.8 -97.32 - - 3357.44 - - - - - - - - - 15.77 -
9498.46 923.14 -7.47 1098 9500.25 no move -0.65 - - 2016.56 - - - 2778.00 - -97.32 - - 3356.12 - - - - - - - - - - -
9808.49 946.14 -7.54 1129 9815.35 roll -0.65 - - 2015.75 - 2.70 0.026 1295.38 -549.1 -97.32 - - 3356.91 - - - - - - - - - 15.88 -
9858.50 949.93 -7.59 1139 9865.53 roll -0.65 - - 2005.25 - 2.88 0.042 2776.38 514.2 -97.32 - - 3358.12 - - - - - - - - - 14.63 -
10168.52 974.54 -8.19 1171 10170.57 pitch -0.65 0.14 0.233 2045.31 286.1 - - 2776.69 - -97.32 - - 3355.16 - - - - - - - - 15.46 - -
10418 end dive: TARGET_DEPTH_EXCEEDED
10419 begin apogee
10420.60 990.33 -6.21 1196 10521.02 -0.12 0.55 0.167 2212.00 303.1 0.25 0.098 2437.75 -1355.8 - 91.74 2.317 2965.59 -4.2 0.323 - - - - - - 15.46 14.84 10.06
10523 end apogee: CONTROL_FINISHED_OK
10523 begin climb
10523.61 991.91 - 1205 10636.71 0.65 0.77 0.095 2478.00 345.5 3.05 0.034 952.56 -486.9 97.32 96.85 2.264 2568.78 -4.1 0.320 - - - - - - 15.18 14.58 11.30
10689.03 985.68 7.14 1236 10696.64 roll 0.68 - - 2478.50 - 3.00 0.034 2428.06 491.8 97.32 - - 2564.62 - - - - - - - - - 15.25 -
11004.31 961.25 7.38 1268 11010.78 done 0.70 - - 2477.50 - 2.27 0.065 3838.62 621.4 97.32 - - 2558.69 - - - - - - - - - 15.68 -
11024.32 959.57 7.68 1272 11030.87 done 0.72 - - 2487.25 - 2.31 0.020 2318.56 -658.0 97.32 - - 2558.34 - - - - - - - - - 15.12 -
11334.34 935.34 7.70 1304 11341.05 done 0.73 - - 2488.88 - 2.54 0.062 3839.75 598.9 97.32 - - 2557.91 - - - - - - - - - 15.75 -
11374.27 931.76 8.96 1312 11380.81 done 0.73 - - 2497.75 - 2.27 0.019 2318.88 -670.0 97.32 - - 2554.56 - - - - - - - - - 15.83 -
11684.30 906.47 8.06 1344 11686.09 VBD 0.73 - - 2498.62 - - - 2302.31 - 97.32 - - 2552.84 - - - - - - - - - - -
11994.33 880.71 8.40 1375 11996.12 VBD 0.73 - - 2498.75 - - - 2302.38 - 97.32 - - 2551.94 - - - - - - - - - - -
12304.35 854.38 8.62 1406 12311.14 done 0.73 - - 2499.81 - 2.52 0.060 3838.00 609.4 97.32 - - 2552.69 - - - - - - - - - 15.78 -
12369.10 848.08 9.83 1419 12376.15 done 0.73 - - 2509.81 - 2.26 0.020 2312.62 -674.9 97.32 - - 2552.66 - - - - - - - - - 15.82 -
12684.39 820.17 8.69 1451 12691.17 done 0.73 - - 2510.81 - 2.53 0.060 3839.88 603.7 97.32 - - 2551.94 - - - - - - - - - 15.81 -
12699.14 818.70 8.88 1454 12706.19 done 0.73 - - 2520.38 - 2.26 0.020 2317.50 -673.6 97.32 - - 2553.22 - - - - - - - - - 15.91 -
13014.42 790.26 8.76 1486 13021.44 0.73 0.17 0.222 2473.31 -276.9 2.51 0.060 3840.56 606.8 97.32 - - 2552.41 - - - - - - - - 15.52 15.53 -
13029.16 788.92 8.77 1489 13036.20 done 0.73 - - 2484.75 - 2.27 0.020 2310.44 -674.1 97.32 - - 2551.53 - - - - - - - - - 15.83 -
13344.53 764.74 7.53 1521 13351.24 done 0.75 - - 2485.75 - 2.53 0.061 3841.12 605.0 97.32 - - 2550.31 - - - - - - - - - 15.80 -
13394.47 760.40 8.68 1531 13401.07 done 0.75 - - 2494.31 - 2.29 0.020 2319.50 -664.5 97.32 - - 2551.34 - - - - - - - - - 14.97 -
13704.57 737.28 7.20 1563 13706.36 VBD 0.77 - - 2496.69 - - - 2302.56 - 97.32 - - 2549.72 - - - - - - - - - - -
14014.60 716.51 6.51 1594 14021.30 done 0.81 - - 2497.06 - 2.54 0.061 3838.94 604.9 97.32 - - 2550.91 - - - - - - - - - 15.74 -
14044.84 714.32 6.75 1600 14051.06 done 0.85 - - 2504.94 - 2.28 0.020 2312.62 -669.4 97.32 - - 2551.06 - - - - - - - - - 15.92 -
14354.63 693.59 6.77 1632 14361.39 done 0.88 - - 2508.62 - 2.56 0.060 3840.31 596.8 97.32 - - 2551.03 - - - - - - - - - 14.81 -
14404.63 689.69 7.89 1642 14411.09 done 0.89 - - 2517.06 - 2.26 0.020 2314.50 -675.1 97.32 - - 2549.69 - - - - - - - - - 15.87 -
14714.66 667.21 7.41 1674 14716.45 VBD 0.91 - - 2518.19 - - - 2297.94 - 97.32 - - 2548.56 - - - - - - - - - - -
15024.69 643.13 7.66 1705 15031.46 done 0.93 - - 2530.25 - 2.55 0.030 948.69 -529.1 97.32 - - 2549.72 - - - - - - - - - 15.85 -
15049.44 641.13 7.79 1710 15056.90 done 0.94 - - 2529.38 - 2.86 0.032 2434.31 519.4 97.32 - - 2551.56 - - - - - - - - - 15.83 -
15364.66 613.73 9.15 1742 15366.45 VBD 0.94 - - 2528.69 - - - 2433.81 - 97.32 - - 2548.22 - - - - - - - - - - -
15674.71 585.70 8.89 1773 15676.50 VBD 0.94 - - 2528.62 - - - 2434.25 - 97.32 - - 2548.44 - - - - - - - - - - -
15984.75 558.27 8.65 1804 15991.70 done 0.94 - - 2540.69 - 2.79 0.029 943.88 -534.2 97.32 - - 2550.38 - - - - - - - - - 15.88 -
16084.78 549.64 8.40 1824 16091.82 done 0.94 - - 2540.44 - 2.88 0.034 2431.44 516.5 97.32 - - 2548.88 - - - - - - - - - 15.85 -
16394.80 523.91 8.19 1856 16401.90 done 0.94 - - 2552.75 - 2.83 0.029 947.25 -524.4 97.32 - - 2549.62 - - - - - - - - - 14.84 -
16429.56 521.19 7.97 1863 16437.09 done 0.94 - - 2550.31 - 2.89 0.033 2436.19 515.2 97.32 - - 2550.19 - - - - - - - - - 15.84 -
16744.91 496.52 7.78 1895 16751.78 done 0.96 - - 2562.62 - 2.79 0.030 949.69 -532.8 97.32 - - 2549.88 - - - - - - - - - 15.87 -
16804.93 492.08 7.40 1907 16811.88 done 0.98 - - 2563.69 - 2.88 0.033 2435.94 516.1 97.32 - - 2549.69 - - - - - - - - - 15.84 -
17114.96 468.54 7.40 1939 17121.92 done 1.00 - - 2574.88 - 2.83 0.029 943.19 -527.5 97.32 - - 2548.47 - - - - - - - - - 14.81 -
17149.73 465.91 7.41 1946 17157.24 done 1.02 - - 2576.31 - 2.89 0.033 2433.44 515.7 97.32 - - 2551.06 - - - - - - - - - 15.85 -
17465.00 440.79 7.86 1978 17471.95 done 1.03 - - 2586.75 - 2.81 0.029 945.31 -529.6 97.32 - - 2548.81 - - - - - - - - - 15.87 -
17505.02 437.73 7.70 1986 17512.06 done 1.05 - - 2587.31 - 2.92 0.033 2436.94 510.8 97.32 - - 2550.03 - - - - - - - - - 14.79 -
17815.03 413.20 7.94 2018 17821.99 done 1.06 - - 2598.38 - 2.81 0.028 947.38 -530.1 97.32 - - 2549.12 - - - - - - - - - 15.86 -
17835.03 411.67 7.89 2022 17841.99 done 1.07 - - 2598.69 - 2.90 0.032 2435.56 513.2 97.32 - - 2551.47 - - - - - - - - - 14.79 -
18144.98 385.75 8.41 2054 18146.78 VBD 1.07 - - 2598.88 - - - 2435.94 - 97.32 - - 2547.34 - - - - - - - - - - -
18455.08 360.71 7.72 2085 18461.54 done 1.08 - - 2600.75 - 2.20 0.062 3841.69 639.0 97.32 - - 2548.03 - - - - - - - - - 15.76 -
18635.04 344.82 8.86 2121 18641.59 done 1.08 - - 2608.88 - 2.23 0.018 2321.25 -681.8 97.32 - - 2548.47 - - - - - - - - - 15.90 -
18945.15 322.54 6.72 2153 18951.85 done 1.12 - - 2610.25 - 2.55 0.058 3842.94 596.7 97.32 - - 2548.97 - - - - - - - - - 14.70 -
18985.15 319.42 7.40 2161 18991.62 done 1.14 - - 2618.50 - 2.26 0.018 2318.12 -674.7 97.32 - - 2548.91 - - - - - - - - - 15.91 -
19295.20 296.27 7.79 2193 19301.88 done 1.15 - - 2621.19 - 2.51 0.058 3840.50 606.5 97.32 - - 2548.41 - - - - - - - - - 15.76 -
19385.12 288.70 8.55 2211 19391.73 done 1.15 - - 2631.94 - 2.26 0.018 2306.38 -678.8 97.32 - - 2548.06 - - - - - - - - - 15.91 -
19695.22 265.01 7.74 2243 19697.02 VBD 1.17 - - 2631.69 - - - 2289.12 - 97.32 - - 2547.56 - - - - - - - - - - -
20005.26 242.25 7.02 2274 20011.96 done 1.20 - - 2641.75 - 2.56 0.030 946.88 -524.3 97.32 - - 2548.75 - - - - - - - - - 15.87 -
20075.26 237.48 6.83 2288 20082.21 done 1.23 - - 2641.81 - 2.88 0.032 2436.81 517.3 97.32 - - 2550.75 - - - - - - - - - 15.78 -
20385.29 214.47 7.40 2320 20387.08 VBD 1.25 - - 2641.50 - - - 2435.88 - 97.32 - - 2547.72 - - - - - - - - - - -
20695.32 193.10 6.47 2351 20703.03 done 1.29 - - 2654.69 - 2.82 0.027 947.62 -527.8 97.32 - - 2548.84 - - - - - - - - - 15.43 -
20840.38 184.39 5.74 2380 20848.52 done 1.35 - - 2652.19 - 2.89 0.031 2438.31 515.8 97.32 - - 2550.56 - - - - - - - - - 15.66 -
21155.66 166.55 5.45 2412 21201.88 1.41 0.14 0.070 2724.69 517.9 - - 2438.31 - 148.45 40.52 1.260 2359.22 -4.7 0.111 - - - - - - 15.72 - 10.54
21505.61 119.02 15.13 2447 21513.33 done 1.41 - - 2735.56 - 2.85 0.026 945.75 -523.7 148.45 - - 2354.31 - - - - - - - - - 15.53 -
21705.87 91.08 13.12 2487 21714.33 1.41 0.17 0.292 2696.31 -230.9 2.92 0.033 2439.19 511.5 148.45 - - 2353.56 - - - - - - - - 15.01 15.35 -
21896.80 69.15 10.20 2525 21904.83 done 1.41 - - 2707.94 - 2.85 0.027 946.62 -523.7 148.45 - - 2352.59 - - - - - - - - - 15.39 -
21912.32 67.82 9.40 2528 21920.37 done 1.41 - - 2706.44 - 2.94 0.031 2434.94 506.2 148.45 - - 2353.16 - - - - - - - - - 14.77 -
22102.90 52.43 7.02 2566 22110.71 done 1.44 - - 2717.31 - 2.80 0.028 943.31 -532.7 148.45 - - 2351.84 - - - - - - - - - 15.47 -
22338.33 41.89 3.41 2613 22418.06 done 1.55 - - 2717.88 - 2.91 0.030 2440.88 514.6 234.20 67.22 1.082 2010.62 -5.1 0.035 - - - - - - - 15.46 10.94
22600.52 9.83 15.60 2664 22605.58 VBD 1.55 - - 2718.12 - - - 2441.12 - 234.20 - - 2004.53 - - - - - - - - - - -
22660 end climb: SURFACE_DEPTH_REACHED
22661 begin surface coast
22681 end surface coast: CONTROL_FINISHED_OK
22681 begin surface
SM 1.48 - - - - 221.4 66.08 1.031 1644.2 24.9 7.24 0.060 1636.4 226.0 - 0.50 0.052 1652.1 3304.2 -9.612 - - 11.07 15.63 15.69 -