SMODE Mar23 * SG219 * Dive index * Mission links * Dive 168 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 156.54 of 310.00 AH used of 24V (49.50% remains)
• Surface angle -67.7 deg, depth 1.41 m • Intended pitch -21.0 deg, speed -8.462 cm/s
• VBD pumped to 325.04 (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
17.81 - - - 66.38 VBD -0.65 - - 144.50 - - - 2857.50 - -97.32 44.26 0.005 2467.72 - - - - - - - - - - 14.77
66.81 2.02 -1.35 9 126.86 -0.65 8.56 0.344 2039.31 221.4 2.87 0.027 1296.81 -543.8 -97.32 36.74 0.005 3365.97 24.4 -1.763 - - - - - - 14.69 14.83 14.98
174.22 13.00 -15.95 29 182.31 roll -0.65 - - 2032.38 - 2.86 0.045 2775.94 517.2 -97.32 - - 3367.69 - - - - - - - - - 15.47 -
364.72 42.86 -15.61 67 369.64 no move -0.65 - - 2032.50 - - - 2776.31 - -97.32 - - 3367.75 - - - - - - - - - - -
554.74 71.96 -14.33 105 562.54 roll -0.65 - - 2032.31 - 2.73 0.024 1294.81 -542.7 -97.32 - - 3368.22 - - - - - - - - - 15.65 -
580.00 75.08 -12.59 110 587.97 roll -0.65 - - 2020.56 - 2.87 0.045 2775.94 516.1 -97.32 - - 3368.28 - - - - - - - - - 15.68 -
770.36 99.56 -13.61 148 775.27 no move -0.65 - - 2020.75 - - - 2776.00 - -97.32 - - 3368.56 - - - - - - - - - - -
965.36 125.39 -13.04 168 968.56 no move -0.65 - - 2020.75 - - - 2775.50 - -97.32 - - 3368.47 - - - - - - - - - - -
1275.39 161.11 -11.25 199 1282.91 roll -0.65 - - 2021.62 - 2.73 0.024 1296.19 -541.9 -97.32 - - 3369.16 - - - - - - - - - 15.76 -
1320.14 166.04 -10.75 208 1328.23 roll -0.65 - - 2010.06 - 2.85 0.043 2776.06 519.3 -97.32 - - 3370.28 - - - - - - - - - 15.67 -
1635.41 201.96 -11.49 240 1642.50 roll back -0.65 0.12 0.238 2045.75 297.4 2.70 0.024 1296.25 -548.1 -97.32 - - 3370.50 - - - - - - - - 15.53 15.58 -
1665.42 205.12 -11.05 246 1672.29 roll -0.65 - - 2036.56 - 2.83 0.043 2779.06 524.0 -97.32 - - 3370.69 - - - - - - - - - 15.79 -
1975.47 238.48 -10.93 278 1977.26 no move -0.65 - - 2036.38 - - - 2778.38 - -97.32 - - 3369.00 - - - - - - - - - - -
2285.49 272.37 -10.96 309 2287.28 no move -0.65 - - 2036.06 - - - 2778.75 - -97.32 - - 3368.72 - - - - - - - - - - -
2595.53 307.60 -11.65 340 2602.37 roll -0.65 - - 2036.50 - 2.69 0.025 1293.25 -552.2 -97.32 - - 3370.25 - - - - - - - - - 15.94 -
2685.54 317.64 -10.96 358 2692.57 roll -0.65 - - 2024.69 - 2.83 0.042 2778.56 524.8 -97.32 - - 3369.75 - - - - - - - - - 15.85 -
2995.56 353.01 -10.93 390 3002.43 roll -0.65 - - 2025.75 - 2.69 0.025 1295.56 -551.3 -97.32 - - 3368.56 - - - - - - - - - 15.94 -
3050.32 358.87 -10.44 401 3057.90 roll -0.65 - - 2013.81 - 2.86 0.042 2778.12 518.4 -97.32 - - 3368.16 - - - - - - - - - 15.00 -
3365.60 392.55 -10.37 433 3367.39 no move -0.65 - - 2013.94 - - - 2778.50 - -97.32 - - 3366.75 - - - - - - - - - - -
3675.66 424.44 -9.97 464 3682.75 roll -0.65 - - 2013.81 - 2.71 0.024 1294.69 -547.5 -97.32 - - 3366.84 - - - - - - - - - 15.95 -
3745.69 431.38 -9.79 478 3752.71 roll -0.65 - - 2002.62 - 2.84 0.043 2776.62 521.8 -97.32 - - 3367.84 - - - - - - - - - 15.84 -
4055.73 464.93 -10.96 510 4063.03 roll back -0.65 0.16 0.228 2045.00 264.9 2.72 0.025 1294.12 -545.0 -97.32 - - 3366.25 - - - - - - - - 14.64 15.40 -
4085.74 467.80 -10.40 516 4092.85 roll -0.65 - - 2038.69 - 2.87 0.043 2777.31 516.8 -97.32 - - 3366.75 - - - - - - - - - 14.88 -
4395.76 496.79 -9.24 548 4402.70 roll -0.65 - - 2038.69 - 2.69 0.025 1294.19 -551.3 -97.32 - - 3366.34 - - - - - - - - - 15.95 -
4425.77 499.58 -9.26 554 4432.80 roll -0.65 - - 2027.62 - 2.84 0.042 2776.88 522.1 -97.32 - - 3365.69 - - - - - - - - - 15.84 -
4736.05 529.65 -9.60 586 4737.87 no move -0.65 - - 2027.75 - - - 2777.88 - -97.32 - - 3363.62 - - - - - - - - - - -
5045.82 558.86 -9.16 617 5052.77 roll -0.65 - - 2027.44 - 2.71 0.025 1296.31 -546.7 -97.32 - - 3365.03 - - - - - - - - - 15.47 -
5115.84 565.10 -8.70 631 5122.87 roll -0.65 - - 2016.19 - 2.84 0.043 2777.12 521.4 -97.32 - - 3364.03 - - - - - - - - - 15.83 -
5425.88 593.91 -9.26 663 5427.67 no move -0.65 - - 2016.56 - - - 2776.31 - -97.32 - - 3362.47 - - - - - - - - - - -
5735.90 622.69 -9.28 694 5742.86 roll -0.65 - - 2015.69 - 2.74 0.025 1295.31 -540.5 -97.32 - - 3363.91 - - - - - - - - - 15.62 -
5795.91 628.15 -8.90 706 5803.03 roll -0.65 - - 2006.31 - 2.87 0.043 2778.62 516.8 -97.32 - - 3363.47 - - - - - - - - - 15.67 -
6105.93 656.45 -9.10 738 6107.98 pitch -0.65 0.14 0.227 2045.00 276.4 - - 2778.06 - -97.32 - - 3361.28 - - - - - - - - 15.55 - -
6415.96 678.80 -7.32 769 6422.90 roll -0.65 - - 2044.44 - 2.72 0.025 1295.19 -545.2 -97.32 - - 3361.47 - - - - - - - - - 15.92 -
6465.98 682.47 -7.35 779 6473.00 roll -0.65 - - 2036.75 - 2.85 0.043 2775.69 519.5 -97.32 - - 3361.88 - - - - - - - - - 15.81 -
6776.00 708.13 -8.86 811 6782.94 roll -0.65 - - 2036.69 - 2.71 0.026 1297.12 -545.6 -97.32 - - 3361.28 - - - - - - - - - 15.92 -
6810.75 711.36 -9.10 818 6818.30 roll -0.65 - - 2025.81 - 2.85 0.043 2777.81 519.5 -97.32 - - 3361.31 - - - - - - - - - 15.81 -
7126.03 741.45 -9.23 850 7132.99 roll -0.65 - - 2024.75 - 2.70 0.025 1295.69 -548.9 -97.32 - - 3360.72 - - - - - - - - - 15.92 -
7176.05 746.05 -9.12 860 7183.16 roll -0.65 - - 2015.88 - 2.87 0.043 2777.44 516.3 -97.32 - - 3360.44 - - - - - - - - - 15.73 -
7486.06 774.94 -9.12 892 7493.01 roll -0.65 - - 2014.62 - 2.70 0.025 1293.50 -549.6 -97.32 - - 3359.41 - - - - - - - - - 15.91 -
7530.82 779.13 -9.39 901 7538.38 roll -0.65 - - 2003.19 - 2.85 0.043 2776.56 520.4 -97.32 - - 3359.75 - - - - - - - - - 15.79 -
7846.10 809.99 -9.86 933 7848.15 pitch -0.65 0.14 0.223 2044.06 291.9 - - 2777.50 - -97.32 - - 3357.34 - - - - - - - - 15.53 - -
8156.13 833.65 -7.54 964 8163.15 roll -0.65 - - 2043.75 - 2.71 0.026 1294.69 -547.2 -97.32 - - 3359.19 - - - - - - - - - 15.90 -
8206.14 837.43 -7.52 974 8213.16 roll -0.65 - - 2035.94 - 2.85 0.044 2776.94 520.1 -97.32 - - 3359.31 - - - - - - - - - 15.57 -
8516.17 860.54 -7.17 1006 8523.12 roll -0.65 - - 2036.88 - 2.71 0.026 1295.31 -546.7 -97.32 - - 3358.53 - - - - - - - - - 15.90 -
8560.92 863.84 -7.21 1015 8568.46 roll -0.65 - - 2025.94 - 2.86 0.043 2778.88 518.7 -97.32 - - 3357.00 - - - - - - - - - 15.78 -
8876.20 887.29 -7.38 1047 8883.36 roll -0.65 - - 2026.56 - 2.72 0.026 1294.19 -545.8 -97.32 - - 3357.78 - - - - - - - - - 15.89 -
8910.95 889.99 -7.55 1054 8918.48 roll -0.65 - - 2015.44 - 2.85 0.043 2779.00 521.0 -97.32 - - 3357.16 - - - - - - - - - 15.78 -
9226.24 914.98 -8.16 1086 9233.24 roll -0.65 - - 2015.88 - 2.72 0.025 1296.00 -545.2 -97.32 - - 3357.91 - - - - - - - - - 15.63 -
9256.24 917.50 -8.38 1092 9263.26 roll -0.65 - - 2003.81 - 2.87 0.043 2777.69 516.3 -97.32 - - 3356.28 - - - - - - - - - 15.51 -
9566.26 945.97 -9.56 1124 9573.46 roll back -0.65 0.14 0.222 2045.56 298.2 2.72 0.026 1294.62 -545.2 -97.32 - - 3356.44 - - - - - - - - 15.50 15.51 -
9616.27 949.95 -7.81 1134 9623.37 roll -0.65 - - 2038.62 - 2.87 0.044 2775.94 516.1 -97.32 - - 3356.19 - - - - - - - - - 15.65 -
9926.29 973.93 -7.75 1166 9933.25 roll -0.65 - - 2037.44 - 2.72 0.026 1295.25 -544.4 -97.32 - - 3355.53 - - - - - - - - - 15.71 -
9981.41 978.39 -7.99 1177 9988.60 roll -0.65 - - 2028.38 - 2.87 0.043 2778.06 516.7 -97.32 - - 3355.38 - - - - - - - - - 15.69 -
10136 end dive: TARGET_DEPTH_EXCEEDED
10136 begin apogee
10138.37 990.77 -7.89 1193 10238.98 -0.12 0.62 0.174 2210.50 293.7 0.22 0.107 2438.00 -1545.7 - 92.15 2.327 2968.31 -4.2 0.319 - - - - - - 15.45 14.81 10.08
10241 end apogee: CONTROL_FINISHED_OK
10241 begin climb
10241.59 992.90 - 1202 10354.75 0.65 0.77 0.093 2477.06 346.2 3.07 0.034 952.19 -484.0 97.32 97.65 2.276 2570.88 -4.1 0.317 - - - - - - 15.18 14.58 11.20
10397.07 988.22 6.34 1231 10404.76 roll 0.69 - - 2479.50 - 3.06 0.036 2431.06 483.3 97.32 - - 2565.72 - - - - - - - - - 14.83 -
10712.36 964.01 7.65 1263 10719.30 done 0.71 - - 2489.88 - 2.88 0.030 949.69 -514.4 97.32 - - 2558.88 - - - - - - - - - 15.10 -
10742.37 961.68 7.72 1269 10749.39 done 0.72 - - 2489.06 - 2.96 0.035 2432.12 500.8 97.32 - - 2559.94 - - - - - - - - - 15.09 -
11052.31 935.99 8.46 1301 11054.10 VBD 0.72 - - 2489.38 - - - 2431.62 - 97.32 - - 2555.16 - - - - - - - - - - -
11362.33 909.03 8.73 1332 11364.12 VBD 0.72 - - 2489.81 - - - 2431.81 - 97.32 - - 2553.34 - - - - - - - - - - -
11672.36 882.87 8.24 1363 11674.15 VBD 0.72 - - 2489.94 - - - 2431.56 - 97.32 - - 2552.28 - - - - - - - - - - -
11982.46 858.21 7.87 1394 11984.25 VBD 0.74 - - 2489.62 - - - 2431.62 - 97.32 - - 2552.06 - - - - - - - - - - -
12292.49 834.70 7.45 1425 12299.44 done 0.76 - - 2501.56 - 2.82 0.029 947.69 -526.2 97.32 - - 2552.50 - - - - - - - - - 15.90 -
12317.24 832.87 7.41 1430 12324.79 done 0.78 - - 2501.56 - 2.94 0.033 2433.25 505.3 97.32 - - 2552.50 - - - - - - - - - 14.99 -
12632.52 808.94 7.58 1462 12634.30 VBD 0.80 - - 2500.81 - - - 2434.25 - 97.32 - - 2550.81 - - - - - - - - - - -
12942.54 785.81 7.10 1493 12944.33 VBD 0.82 - - 2501.44 - - - 2434.00 - 97.32 - - 2550.88 - - - - - - - - - - -
13252.57 762.73 7.82 1524 13254.36 VBD 0.84 - - 2500.81 - - - 2433.69 - 97.32 - - 2550.69 - - - - - - - - - - -
13562.59 738.09 7.88 1555 13569.05 done 0.85 - - 2501.25 - 2.23 0.063 3839.44 630.4 97.32 - - 2550.25 - - - - - - - - - 14.81 -
13572.52 737.21 7.99 1557 13579.06 done 0.85 - - 2511.75 - 2.23 0.019 2329.81 -677.0 97.32 - - 2550.31 - - - - - - - - - 15.93 -
13882.86 711.97 7.83 1589 13889.23 done 0.86 - - 2511.94 - 2.46 0.062 3840.00 613.9 97.32 - - 2549.69 - - - - - - - - - 15.78 -
13917.29 708.84 8.46 1596 13924.35 done 0.86 - - 2521.69 - 2.24 0.019 2313.31 -681.6 97.32 - - 2549.97 - - - - - - - - - 15.93 -
14232.57 683.15 8.14 1628 14239.34 done 0.86 - - 2523.69 - 2.51 0.061 3841.50 608.8 97.32 - - 2550.09 - - - - - - - - - 15.76 -
14282.57 678.55 9.30 1638 14289.25 done 0.86 - - 2533.44 - 2.27 0.018 2328.25 -666.6 97.32 - - 2549.84 - - - - - - - - - 14.89 -
14592.60 653.13 8.10 1670 14599.30 done 0.86 - - 2533.56 - 2.47 0.061 3841.44 612.6 97.32 - - 2549.56 - - - - - - - - - 15.79 -
14632.61 649.44 9.22 1678 14639.16 done 0.86 - - 2543.81 - 2.24 0.018 2328.19 -675.6 97.32 - - 2549.91 - - - - - - - - - 15.92 -
14942.66 623.86 8.19 1710 14949.44 done 0.86 - - 2545.06 - 2.52 0.061 3840.00 599.9 97.32 - - 2549.31 - - - - - - - - - 14.77 -
14997.42 618.86 9.07 1721 15004.47 done 0.86 - - 2555.25 - 2.24 0.018 2324.25 -676.7 97.32 - - 2550.44 - - - - - - - - - 15.93 -
15312.81 593.43 7.93 1753 15319.42 done 0.87 - - 2556.62 - 2.48 0.060 3839.62 611.0 97.32 - - 2548.91 - - - - - - - - - 15.78 -
15377.49 587.69 8.93 1766 15384.55 done 0.87 - - 2564.62 - 2.26 0.018 2321.19 -671.9 97.32 - - 2548.78 - - - - - - - - - 14.86 -
15692.85 563.08 7.62 1798 15694.90 0.89 0.16 0.244 2525.81 -242.6 - - 2306.19 - 97.32 - - 2548.06 - - - - - - - - 15.31 - -
16002.88 542.96 6.52 1829 16009.50 done 0.93 - - 2524.56 - 2.48 0.061 3839.69 618.3 97.32 - - 2549.97 - - - - - - - - - 15.78 -
16087.56 536.35 8.00 1846 16094.62 done 0.93 - - 2534.06 - 2.21 0.019 2319.62 -687.8 97.32 - - 2549.09 - - - - - - - - - 15.88 -
16402.93 513.06 7.54 1878 16404.73 VBD 0.94 - - 2534.38 - - - 2304.88 - 97.32 - - 2548.09 - - - - - - - - - - -
16712.96 490.09 7.40 1909 16719.74 done 0.97 - - 2546.06 - 2.62 0.029 946.94 -518.3 97.32 - - 2549.78 - - - - - - - - - 14.81 -
16737.71 488.25 7.36 1914 16745.17 done 0.99 - - 2545.62 - 2.88 0.033 2434.75 516.6 97.32 - - 2550.06 - - - - - - - - - 15.85 -
17052.99 464.59 7.33 1946 17054.78 VBD 1.01 - - 2545.38 - - - 2434.19 - 97.32 - - 2547.31 - - - - - - - - - - -
17363.01 442.08 7.44 1977 17369.56 1.03 0.10 0.077 2619.88 745.0 2.19 0.064 3839.81 641.8 97.32 - - 2548.59 - - - - - - - - 15.85 15.76 -
17377.76 440.63 7.85 1980 17385.06 1.04 0.22 0.295 2576.88 -195.5 2.22 0.017 2324.75 -682.5 97.32 - - 2548.59 - - - - - - - - 15.14 15.93 -
17693.04 416.84 7.38 2012 17699.66 done 1.06 - - 2578.81 - 2.47 0.059 3842.06 614.3 97.32 - - 2548.12 - - - - - - - - - 15.77 -
17762.98 411.06 8.24 2026 17769.50 done 1.06 - - 2588.56 - 2.24 0.018 2326.31 -676.7 97.32 - - 2548.12 - - - - - - - - - 14.76 -
18073.09 388.17 7.26 2058 18079.71 done 1.09 - - 2590.12 - 2.47 0.060 3840.19 612.9 97.32 - - 2548.16 - - - - - - - - - 15.75 -
18137.75 382.85 8.23 2071 18144.80 done 1.09 - - 2599.25 - 2.27 0.018 2317.75 -670.7 97.32 - - 2548.44 - - - - - - - - - 14.77 -
18453.04 358.52 8.11 2103 18459.82 done 1.09 - - 2599.75 - 2.54 0.060 3840.25 599.4 97.32 - - 2548.56 - - - - - - - - - 14.70 -
18507.79 353.44 9.31 2114 18514.83 done 1.09 - - 2609.44 - 2.23 0.017 2315.88 -683.6 97.32 - - 2548.69 - - - - - - - - - 15.91 -
18823.07 327.10 8.35 2146 18829.87 done 1.09 - - 2621.31 - 2.59 0.030 944.50 -529.5 97.32 - - 2549.94 - - - - - - - - - 15.87 -
18987.85 313.17 8.44 2179 18995.48 done 1.09 - - 2620.88 - 2.90 0.035 2434.94 513.9 97.32 - - 2549.50 - - - - - - - - - 15.84 -
19303.22 288.02 7.52 2211 19309.74 done 1.11 - - 2622.38 - 2.22 0.062 3841.62 633.6 97.32 - - 2548.91 - - - - - - - - - 15.77 -
19383.15 280.98 9.04 2227 19389.77 done 1.11 - - 2632.56 - 2.27 0.017 2316.69 -671.8 97.32 - - 2548.22 - - - - - - - - - 14.75 -
19693.25 257.79 7.35 2259 19699.96 done 1.13 - - 2642.56 - 2.56 0.029 945.56 -535.6 97.32 - - 2548.34 - - - - - - - - - 15.87 -
19848.03 246.28 7.15 2290 19855.58 done 1.16 - - 2642.56 - 2.95 0.033 2434.06 504.6 97.32 - - 2548.72 - - - - - - - - - 14.76 -
20163.31 224.17 6.68 2322 20170.25 done 1.19 - - 2654.31 - 2.86 0.028 942.81 -521.4 97.32 - - 2548.94 - - - - - - - - - 14.77 -
20223.32 220.36 6.34 2334 20230.37 done 1.23 - - 2654.06 - 2.95 0.032 2436.44 506.3 97.32 - - 2548.88 - - - - - - - - - 14.74 -
20533.34 200.32 6.50 2366 20535.12 VBD 1.27 - - 2653.38 - - - 2436.62 - 97.32 - - 2548.06 - - - - - - - - - - -
20843.37 179.64 6.79 2397 20850.63 done 1.31 - - 2653.44 - 2.22 0.060 3843.44 633.7 97.32 - - 2548.72 - - - - - - - - - 15.64 -
20863.37 178.11 6.94 2401 20870.74 done 1.34 - - 2663.00 - 2.23 0.016 2317.19 -684.4 97.32 - - 2549.94 - - - - - - - - - 15.80 -
21173.40 156.11 6.51 2433 21176.97 VBD 1.38 - - 2665.00 - - - 2302.19 - 97.32 - - 2548.12 - - - - - - - - - - -
21483.50 138.68 5.10 2464 21540.34 1.45 0.14 0.056 2747.88 592.0 2.67 0.032 946.12 -507.9 154.31 45.53 1.252 2338.06 -4.6 0.091 - - - - - - 15.55 15.21 10.60
21737.90 109.08 14.22 2514 21745.94 roll back 1.45 0.17 0.311 2704.69 -254.1 2.99 0.033 2441.56 500.1 154.31 - - 2331.34 - - - - - - - - 15.03 14.80 -
22048.41 74.03 10.35 2570 22056.50 done 1.45 - - 2719.56 - 2.87 0.027 948.06 -520.4 154.31 - - 2329.38 - - - - - - - - - 15.49 -
22094.01 69.04 11.02 2579 22102.06 done 1.45 - - 2718.50 - 2.95 0.033 2434.75 504.0 154.31 - - 2329.69 - - - - - - - - - 15.14 -
22284.53 51.22 7.97 2617 22292.49 done 1.45 - - 2730.69 - 2.85 0.026 944.25 -523.0 154.31 - - 2328.12 - - - - - - - - - 15.28 -
22520.11 40.52 3.44 2664 22599.82 done 1.56 - - 2728.75 - 2.95 0.032 2436.62 505.9 239.55 67.19 1.101 1990.97 -5.0 0.033 - - - - - - - 15.45 11.12
22782.27 6.64 16.40 2715 22790.23 done 1.56 - - 2742.06 - 2.87 0.030 950.06 -518.0 239.55 - - 1983.53 - - - - - - - - - 15.47 -
22813 end climb: SURFACE_DEPTH_REACHED
22813 begin surface coast
22828 end surface coast: CONTROL_FINISHED_OK
22828 begin surface
SM 1.48 - - - - 215.4 62.82 1.053 1642.9 26.2 7.24 0.059 1639.1 226.4 - 3.48 0.040 1646.8 472.4 -1.786 - - 10.96 15.61 15.64 -