SMODE Mar23 * SG219 * Dive index * Mission links * Dive 165 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 155.38 of 310.00 AH used of 24V (49.88% remains)
• Surface angle -67.5 deg, depth 1.42 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 325.44 (SM_CC=325)
• GPS1 time: 24 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
17.90 - - - 71.77 VBD -0.65 - - 200.75 - - - 2601.06 - -97.32 49.38 0.005 2570.72 - - - - - - - - - - 14.74
72.20 2.07 -1.31 10 125.44 -0.65 8.44 0.350 2042.56 218.2 2.44 0.027 1293.12 -536.0 -97.32 30.52 0.006 3364.50 26.0 -1.602 - - - - - - 14.73 14.87 14.98
127.80 6.89 -12.12 20 135.58 roll -0.65 - - 2032.19 - 2.89 0.043 2776.81 513.4 -97.32 - - 3367.38 - - - - - - - - - 15.37 -
317.98 38.02 -17.45 58 324.96 roll -0.65 - - 2026.50 - 1.72 0.065 3852.44 625.4 -97.32 - - 3366.84 - - - - - - - - - 15.28 -
377.99 48.88 -18.10 70 385.23 roll -0.65 - - 2026.62 - 1.72 0.015 2651.81 -698.0 -97.32 - - 3368.00 - - - - - - - - - 14.98 -
568.01 78.43 -12.93 108 575.15 roll -0.65 - - 2016.38 - 1.99 0.064 3849.19 601.7 -97.32 - - 3368.44 - - - - - - - - - 15.35 -
583.02 80.46 -13.26 111 590.33 roll -0.65 - - 2016.00 - 1.72 0.018 2646.00 -699.5 -97.32 - - 3368.38 - - - - - - - - - 15.33 -
773.03 106.83 -13.64 144 776.15 no move -0.65 - - 2017.62 - - - 2637.75 - -97.32 - - 3368.06 - - - - - - - - - - -
1083.07 143.22 -12.51 175 1086.22 no move -0.65 - - 2017.75 - - - 2638.12 - -97.32 - - 3367.25 - - - - - - - - - - -
1393.13 179.06 -10.64 206 1400.02 roll -0.65 - - 2009.62 - 1.98 0.064 3851.06 612.6 -97.32 - - 3368.81 - - - - - - - - - 15.67 -
1437.84 184.09 -11.35 215 1445.23 roll back -0.65 0.12 0.222 2043.19 279.8 1.70 0.018 2639.69 -712.6 -97.32 - - 3369.72 - - - - - - - - 15.49 15.81 -
1753.12 212.87 -8.61 247 1759.68 roll -0.65 - - 2043.88 - 2.45 0.024 1292.25 -550.0 -97.32 - - 3369.59 - - - - - - - - - 15.88 -
1793.12 216.28 -8.53 255 1799.99 roll -0.65 - - 2035.12 - 2.85 0.042 2780.88 522.3 -97.32 - - 3369.44 - - - - - - - - - 15.80 -
2103.18 246.59 -10.30 287 2110.14 roll -0.65 - - 2035.50 - 2.72 0.024 1294.81 -546.3 -97.32 - - 3368.72 - - - - - - - - - 14.97 -
2143.19 250.74 -10.38 295 2150.21 roll -0.65 - - 2024.31 - 2.83 0.043 2779.62 524.7 -97.32 - - 3368.44 - - - - - - - - - 15.82 -
2453.21 286.25 -11.98 327 2455.00 no move -0.65 - - 2023.75 - - - 2779.69 - -97.32 - - 3367.59 - - - - - - - - - - -
2763.24 322.81 -11.83 358 2770.21 roll -0.65 - - 2024.00 - 2.71 0.024 1295.31 -547.7 -97.32 - - 3367.88 - - - - - - - - - 14.96 -
2833.26 331.16 -11.77 372 2840.37 roll -0.65 - - 2013.12 - 2.83 0.043 2777.12 523.6 -97.32 - - 3367.47 - - - - - - - - - 15.84 -
3143.28 369.48 -12.00 404 3150.14 roll -0.65 - - 2012.06 - 2.68 0.025 1291.75 -554.2 -97.32 - - 3368.06 - - - - - - - - - 15.89 -
3188.04 374.70 -11.44 413 3195.57 roll -0.65 - - 2000.88 - 2.84 0.042 2778.25 523.4 -97.32 - - 3367.88 - - - - - - - - - 15.81 -
3503.34 410.49 -10.67 445 3510.42 roll back -0.65 0.16 0.230 2044.81 274.6 2.70 0.024 1291.38 -550.7 -97.32 - - 3366.38 - - - - - - - - 15.56 15.60 -
3533.32 413.14 -9.90 451 3540.36 roll -0.65 - - 2037.12 - 2.84 0.043 2777.62 523.3 -97.32 - - 3366.62 - - - - - - - - - 15.84 -
3843.35 437.59 -7.56 483 3845.14 no move -0.65 - - 2037.00 - - - 2778.69 - -97.32 - - 3364.97 - - - - - - - - - - -
4153.38 461.97 -8.21 514 4160.31 roll -0.65 - - 2036.94 - 2.70 0.025 1294.56 -549.7 -97.32 - - 3366.44 - - - - - - - - - 15.95 -
4218.13 467.28 -8.07 527 4225.74 roll -0.65 - - 2027.25 - 2.87 0.043 2776.44 516.3 -97.32 - - 3365.38 - - - - - - - - - 14.84 -
4533.41 495.96 -9.53 559 4535.28 no move -0.65 - - 2025.69 - - - 2776.62 - -97.32 - - 3363.31 - - - - - - - - - - -
4843.45 526.75 -10.35 590 4850.30 roll -0.65 - - 2025.69 - 2.69 0.025 1295.44 -550.6 -97.32 - - 3364.72 - - - - - - - - - 15.86 -
4903.45 532.77 -9.89 602 4910.47 roll -0.65 - - 2014.94 - 2.85 0.043 2779.62 520.8 -97.32 - - 3364.03 - - - - - - - - - 15.83 -
5213.47 566.55 -11.26 634 5215.27 no move -0.65 - - 2014.62 - - - 2779.81 - -97.32 - - 3361.88 - - - - - - - - - - -
5523.50 601.02 -10.91 665 5530.52 roll -0.65 - - 2015.38 - 2.75 0.025 1295.12 -539.9 -97.32 - - 3363.31 - - - - - - - - - 14.87 -
5578.25 607.03 -10.78 676 5585.79 roll -0.65 - - 2003.44 - 2.85 0.043 2779.44 520.8 -97.32 - - 3363.84 - - - - - - - - - 15.82 -
5893.53 641.71 -11.01 708 5900.74 roll back -0.65 0.14 0.229 2045.50 300.4 2.71 0.025 1293.75 -548.2 -97.32 - - 3361.84 - - - - - - - - 15.55 15.59 -
5923.54 644.47 -10.23 714 5930.58 roll -0.65 - - 2037.56 - 2.86 0.044 2779.19 519.4 -97.32 - - 3362.38 - - - - - - - - - 15.81 -
6233.56 670.73 -8.23 746 6235.35 no move -0.65 - - 2037.62 - - - 2779.19 - -97.32 - - 3359.12 - - - - - - - - - - -
6543.59 695.23 -7.83 777 6550.54 roll -0.65 - - 2036.75 - 2.76 0.025 1296.69 -537.1 -97.32 - - 3361.00 - - - - - - - - - 14.84 -
6593.60 699.21 -7.96 787 6600.63 roll -0.65 - - 2025.94 - 2.86 0.043 2778.38 518.1 -97.32 - - 3360.72 - - - - - - - - - 15.80 -
6903.62 725.26 -8.38 819 6910.64 roll -0.65 - - 2028.12 - 2.76 0.025 1290.69 -539.0 -97.32 - - 3359.38 - - - - - - - - - 14.81 -
6933.63 727.83 -8.55 825 6940.66 roll -0.65 - - 2015.56 - 2.89 0.043 2775.88 513.9 -97.32 - - 3358.97 - - - - - - - - - 14.77 -
7243.65 756.36 -9.57 857 7250.61 roll -0.65 - - 2016.00 - 2.72 0.026 1296.44 -543.9 -97.32 - - 3358.47 - - - - - - - - - 15.91 -
7278.40 759.78 -9.72 864 7285.93 roll -0.65 - - 2004.12 - 2.88 0.043 2776.62 514.0 -97.32 - - 3358.88 - - - - - - - - - 14.76 -
7593.71 792.38 -10.47 896 7595.76 pitch -0.65 0.14 0.229 2043.62 282.1 - - 2777.06 - -97.32 - - 3357.16 - - - - - - - - 15.25 - -
7903.77 819.37 -8.50 927 7910.80 roll -0.65 - - 2044.19 - 2.71 0.026 1294.31 -547.1 -97.32 - - 3358.25 - - - - - - - - - 15.86 -
7968.53 824.92 -8.47 940 7976.09 roll -0.65 - - 2036.38 - 2.88 0.044 2775.94 514.5 -97.32 - - 3358.25 - - - - - - - - - 14.72 -
8283.81 851.39 -8.12 972 8285.60 no move -0.65 - - 2036.69 - - - 2775.50 - -97.32 - - 3356.31 - - - - - - - - - - -
8593.84 874.60 -7.05 1003 8600.77 roll -0.65 - - 2037.81 - 2.69 0.026 1294.50 -550.6 -97.32 - - 3356.66 - - - - - - - - - 15.90 -
8633.85 877.45 -6.99 1011 8640.88 roll -0.65 - - 2026.06 - 2.86 0.044 2778.06 518.7 -97.32 - - 3356.72 - - - - - - - - - 15.77 -
8943.87 900.34 -7.45 1043 8950.82 roll -0.65 - - 2025.88 - 2.76 0.025 1297.06 -536.6 -97.32 - - 3356.47 - - - - - - - - - 14.76 -
8978.62 903.01 -7.50 1050 8986.16 roll -0.65 - - 2014.69 - 2.86 0.043 2777.31 517.6 -97.32 - - 3356.41 - - - - - - - - - 15.78 -
9293.91 927.86 -7.82 1082 9300.93 roll -0.65 - - 2014.69 - 2.72 0.026 1294.38 -545.2 -97.32 - - 3357.34 - - - - - - - - - 15.89 -
9358.67 933.10 -7.92 1095 9366.26 roll -0.65 - - 2005.19 - 2.86 0.043 2778.38 518.9 -97.32 - - 3355.22 - - - - - - - - - 15.77 -
9673.95 959.18 -8.09 1127 9681.21 roll back -0.65 0.14 0.225 2045.69 289.3 2.72 0.026 1294.56 -545.5 -97.32 - - 3355.91 - - - - - - - - 15.49 15.52 -
9723.96 962.58 -7.18 1137 9731.07 roll -0.65 - - 2037.19 - 2.90 0.044 2778.25 511.6 -97.32 - - 3355.75 - - - - - - - - - 14.66 -
10034.00 982.63 -6.42 1169 10041.01 roll -0.65 - - 2037.50 - 2.71 0.026 1295.31 -547.2 -97.32 - - 3356.25 - - - - - - - - - 15.84 -
10068.75 984.99 -6.52 1176 10076.64 roll -0.65 - - 2028.69 - 2.88 0.043 2775.25 513.9 -97.32 - - 3354.84 - - - - - - - - - 14.66 -
10144 end dive: TARGET_DEPTH_EXCEEDED
10144 begin apogee
10146.49 990.10 -6.89 1184 10247.85 -0.12 0.63 0.173 2211.69 290.5 0.20 0.113 2435.38 -1699.3 - 92.01 2.331 2966.66 -4.2 0.320 - - - - - - 15.33 14.80 10.11
10249 end apogee: CONTROL_FINISHED_OK
10250 begin climb
10250.47 991.30 - 1193 10363.55 0.65 0.77 0.095 2475.50 342.6 3.04 0.034 951.50 -488.1 97.32 97.82 2.281 2571.50 -4.0 0.313 - - - - - - 15.18 14.58 11.22
10415.89 984.11 7.64 1224 10423.60 roll 0.67 - - 2478.75 - 3.02 0.036 2431.38 490.0 97.32 - - 2564.16 - - - - - - - - - 15.28 -
10731.17 957.27 8.29 1256 10732.97 VBD 0.67 - - 2476.50 - - - 2430.50 - 97.32 - - 2557.25 - - - - - - - - - - -
11041.11 931.48 8.34 1287 11048.16 done 0.67 - - 2489.44 - 2.83 0.030 950.00 -523.1 97.32 - - 2556.72 - - - - - - - - - 15.84 -
11081.12 928.22 8.20 1295 11088.24 done 0.67 - - 2488.38 - 2.94 0.034 2432.12 504.1 97.32 - - 2557.03 - - - - - - - - - 15.09 -
11391.22 903.45 7.91 1327 11398.18 done 0.68 - - 2500.25 - 2.82 0.029 949.00 -525.9 97.32 - - 2554.12 - - - - - - - - - 15.84 -
11471.24 897.33 7.62 1343 11478.31 done 0.70 - - 2500.56 - 2.94 0.034 2434.12 505.1 97.32 - - 2555.06 - - - - - - - - - 15.07 -
11781.18 872.62 8.16 1375 11788.23 done 0.70 - - 2512.88 - 2.81 0.030 947.56 -529.0 97.32 - - 2552.66 - - - - - - - - - 15.88 -
11805.93 870.65 8.06 1380 11813.74 0.70 0.17 0.233 2464.56 -284.2 2.89 0.034 2437.62 515.6 97.32 - - 2553.12 - - - - - - - - 15.43 15.87 -
12121.30 848.55 6.93 1412 12123.09 VBD 0.73 - - 2464.75 - - - 2436.94 - 97.32 - - 2551.16 - - - - - - - - - - -
12431.33 826.79 7.24 1443 12437.80 done 0.75 - - 2464.94 - 2.22 0.065 3841.94 632.9 97.32 - - 2552.03 - - - - - - - - - 14.92 -
12471.33 823.53 7.86 1451 12477.94 done 0.76 - - 2473.69 - 2.21 0.019 2318.94 -689.1 97.32 - - 2550.91 - - - - - - - - - 15.93 -
12781.60 799.87 7.65 1483 12788.00 done 0.78 - - 2475.31 - 2.47 0.063 3842.81 617.0 97.32 - - 2550.28 - - - - - - - - - 15.79 -
12816.03 796.81 8.35 1490 12823.10 done 0.78 - - 2485.31 - 2.23 0.020 2316.62 -684.4 97.32 - - 2550.34 - - - - - - - - - 15.85 -
13131.32 770.48 8.18 1522 13138.10 done 0.78 - - 2487.38 - 2.45 0.063 3841.00 622.2 97.32 - - 2549.69 - - - - - - - - - 15.81 -
13201.35 763.74 9.70 1536 13207.88 done 0.78 - - 2495.00 - 2.23 0.019 2313.69 -684.9 97.32 - - 2551.16 - - - - - - - - - 15.92 -
13511.36 735.70 9.10 1568 13518.15 done 0.78 - - 2496.69 - 2.51 0.062 3840.12 608.1 97.32 - - 2549.59 - - - - - - - - - 14.84 -
13556.11 731.14 10.25 1577 13563.17 done 0.78 - - 2506.31 - 2.25 0.019 2309.06 -680.5 97.32 - - 2549.47 - - - - - - - - - 14.94 -
13871.39 701.91 9.17 1609 13873.19 VBD 0.78 - - 2507.31 - - - 2292.19 - 97.32 - - 2548.12 - - - - - - - - - - -
14181.44 674.83 8.46 1640 14188.15 done 0.78 - - 2506.81 - 2.49 0.062 3840.69 621.9 97.32 - - 2550.88 - - - - - - - - - 15.79 -
14236.18 669.68 9.33 1651 14243.23 done 0.78 - - 2517.06 - 2.22 0.019 2324.62 -682.9 97.32 - - 2550.12 - - - - - - - - - 15.79 -
14551.55 644.84 7.37 1683 14553.34 VBD 0.80 - - 2518.19 - - - 2308.69 - 97.32 - - 2548.25 - - - - - - - - - - -
14861.57 622.48 7.08 1714 14863.36 VBD 0.83 - - 2518.12 - - - 2308.56 - 97.32 - - 2548.34 - - - - - - - - - - -
15171.59 600.62 7.38 1745 15178.23 done 0.85 - - 2518.44 - 2.45 0.062 3839.88 625.0 97.32 - - 2550.50 - - - - - - - - - 15.79 -
15241.52 594.58 8.75 1759 15248.06 done 0.85 - - 2528.62 - 2.22 0.018 2322.00 -683.7 97.32 - - 2548.31 - - - - - - - - - 15.92 -
15551.63 570.75 7.67 1791 15558.25 done 0.87 - - 2529.12 - 2.50 0.061 3840.25 607.3 97.32 - - 2549.31 - - - - - - - - - 14.74 -
15611.55 565.54 8.79 1803 15618.10 done 0.87 - - 2539.69 - 2.25 0.018 2323.88 -673.9 97.32 - - 2548.75 - - - - - - - - - 14.84 -
15921.59 540.75 8.19 1835 15928.31 done 0.87 - - 2537.88 - 2.44 0.061 3841.88 622.1 97.32 - - 2550.72 - - - - - - - - - 15.78 -
15951.58 538.05 8.54 1841 15958.14 done 0.87 - - 2549.44 - 2.21 0.018 2318.81 -689.2 97.32 - - 2548.62 - - - - - - - - - 15.94 -
16261.69 513.92 7.49 1873 16268.32 done 0.89 - - 2550.44 - 2.45 0.061 3840.88 621.3 97.32 - - 2548.84 - - - - - - - - - 15.77 -
16291.70 511.36 7.94 1879 16298.17 done 0.90 - - 2561.19 - 2.22 0.018 2321.06 -684.6 97.32 - - 2548.97 - - - - - - - - - 15.92 -
16601.72 487.70 7.74 1911 16603.52 VBD 0.91 - - 2561.56 - - - 2306.50 - 97.32 - - 2547.66 - - - - - - - - - - -
16911.76 463.88 7.81 1942 16918.56 done 0.92 - - 2574.44 - 2.57 0.030 947.81 -528.7 97.32 - - 2548.09 - - - - - - - - - 15.88 -
16981.79 458.46 7.74 1956 16988.74 done 0.94 - - 2573.38 - 2.86 0.034 2436.69 520.6 97.32 - - 2548.28 - - - - - - - - - 15.85 -
17291.76 433.64 8.04 1988 17293.56 VBD 0.94 - - 2572.38 - - - 2437.12 - 97.32 - - 2547.38 - - - - - - - - - - -
17601.88 410.81 6.97 2019 17603.67 VBD 0.97 - - 2572.56 - - - 2437.69 - 97.32 - - 2547.16 - - - - - - - - - - -
17911.90 389.18 7.19 2050 17913.79 VBD 0.99 - - 2573.19 - - - 2437.50 - 97.32 - - 2547.34 - - - - - - - - - - -
18221.94 366.78 7.17 2081 18223.74 VBD 1.02 - - 2572.38 - - - 2437.56 - 97.32 - - 2547.12 - - - - - - - - - - -
18531.96 344.47 7.13 2112 18538.83 done 1.05 - - 2584.44 - 2.80 0.031 947.75 -532.1 97.32 - - 2548.22 - - - - - - - - - 15.87 -
18626.72 337.95 6.92 2131 18634.28 done 1.08 - - 2584.94 - 2.92 0.034 2433.81 508.9 97.32 - - 2549.19 - - - - - - - - - 14.79 -
18942.01 317.06 6.75 2163 18948.99 done 1.11 - - 2596.00 - 2.83 0.029 945.62 -525.9 97.32 - - 2549.72 - - - - - - - - - 14.78 -
19122.06 305.06 6.47 2199 19129.09 done 1.15 - - 2596.38 - 2.91 0.034 2435.12 511.9 97.32 - - 2548.91 - - - - - - - - - 14.75 -
19432.09 284.35 6.82 2231 19439.03 done 1.18 - - 2608.06 - 2.81 0.028 944.75 -530.4 97.32 - - 2549.88 - - - - - - - - - 15.88 -
19536.85 277.15 7.10 2252 19544.48 done 1.21 - - 2609.56 - 2.92 0.033 2435.31 510.5 97.32 - - 2549.59 - - - - - - - - - 15.85 -
19852.05 251.88 8.30 2284 19859.18 done 1.21 - - 2621.12 - 2.84 0.028 945.56 -524.6 97.32 - - 2549.41 - - - - - - - - - 15.88 -
19972.16 242.69 7.48 2308 19979.21 done 1.23 - - 2620.06 - 2.90 0.033 2434.00 513.3 97.32 - - 2549.00 - - - - - - - - - 15.84 -
20282.19 221.84 5.90 2340 20289.39 1.28 0.12 0.068 2741.06 1008.3 2.85 0.028 946.06 -522.1 97.32 - - 2549.00 - - - - - - - - 15.85 15.80 -
20516.89 203.90 8.52 2387 20525.02 1.28 0.38 0.309 2655.44 -225.3 2.95 0.032 2444.06 507.8 97.32 - - 2550.56 - - - - - - - - 14.94 14.77 -
20832.17 179.18 8.56 2419 20835.32 VBD 1.28 - - 2654.00 - - - 2443.69 - 97.32 - - 2548.06 - - - - - - - - - - -
21142.27 156.27 5.96 2450 21150.03 done 1.33 - - 2665.56 - 2.87 0.027 944.69 -522.3 97.32 - - 2550.19 - - - - - - - - - 15.52 -
21222.63 151.79 5.60 2466 21230.47 done 1.39 - - 2667.25 - 2.96 0.032 2435.31 503.6 97.32 - - 2550.59 - - - - - - - - - 15.57 -
21533.01 140.56 3.07 2498 21617.58 1.51 0.19 0.054 2754.38 458.6 2.29 0.061 3843.00 614.7 188.88 72.12 1.256 2196.25 -4.9 0.098 - - - - - - 15.69 15.11 10.65
21800.11 97.76 17.75 2550 21807.61 done 1.51 - - 2764.06 - 2.30 0.016 2314.94 -664.4 188.88 - - 2189.22 - - - - - - - - - 15.38 -
21990.15 68.20 13.71 2588 21995.39 1.51 0.17 0.315 2725.50 -226.8 - - 2298.12 - 188.88 - - 2187.97 - - - - - - - - 15.10 - -
22180.17 47.35 9.49 2626 22188.21 done 1.51 - - 2734.62 - 2.67 0.029 947.38 -505.9 188.88 - - 2186.22 - - - - - - - - - 14.78 -
22366.01 29.20 9.85 2663 22373.83 done 1.51 - - 2732.75 - 2.95 0.033 2433.94 503.9 188.88 - - 2186.88 - - - - - - - - - 15.57 -
22556.30 9.51 11.00 2701 22565.49 done 1.51 - - 2746.69 - 2.88 0.027 948.62 -515.7 188.88 - - 2184.88 - - - - - - - - - 14.80 -
22623 end climb: SURFACE_DEPTH_REACHED
22623 begin surface coast
22643 end surface coast: CONTROL_FINISHED_OK
22643 begin surface
SM 1.33 - - - - 221.2 99.63 1.063 1641.3 16.5 7.32 0.068 1630.4 222.7 - 3.49 0.045 1652.1 472.6 -1.427 - - 10.99 15.60 15.75 -