SMODE Mar23 * SG219 * Dive index * Mission links * Dive 226 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 176.79 of 310.00 AH used of 24V (42.97% remains)
• Surface angle -66.3 deg, depth 1.36 m • Intended pitch -20.4 deg, speed -9.167 cm/s
VBD pumped to 324.70 (SM_CC=325)
• GPS1 time: 25 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
19.02 - - - 72.87 VBD -0.66 - - 190.62 - - - 2579.81 - -116.79 49.38 0.005 2562.59 - - - - - - - - - - 14.75
73.30 2.07 -1.48 10 127.73 -0.66 8.47 0.348 2038.00 218.1 2.49 0.027 1296.56 -515.4 -116.79 32.70 0.005 3441.66 26.9 -1.994 - - - - - - 14.63 14.81 14.96
140.09 8.33 -11.60 22 148.10 roll -0.66 - - 2029.12 - 2.93 0.045 2776.56 505.1 -116.79 - - 3445.19 - - - - - - - - - 15.47 -
330.50 38.25 -15.56 60 335.41 no move -0.66 - - 2029.25 - - - 2776.44 - -116.79 - - 3445.44 - - - - - - - - - - -
520.51 66.11 -14.14 98 525.50 no move -0.66 - - 2030.00 - - - 2776.25 - -116.79 - - 3446.19 - - - - - - - - - - -
710.55 92.20 -13.70 136 717.45 roll -0.66 - - 2020.62 - 1.69 0.066 3852.62 636.9 -116.79 - - 3446.41 - - - - - - - - - 15.55 -
750.57 97.60 -13.55 144 757.48 roll -0.66 - - 2022.06 - 1.68 0.018 2635.00 -724.8 -116.79 - - 3446.03 - - - - - - - - - 15.76 -
940.60 123.66 -13.79 165 943.71 no move -0.66 - - 2021.56 - - - 2629.44 - -116.79 - - 3445.97 - - - - - - - - - - -
1250.66 166.13 -12.57 196 1257.64 roll -0.66 - - 2013.50 - 1.98 0.065 3851.25 617.1 -116.79 - - 3447.88 - - - - - - - - - 15.57 -
1335.41 177.01 -12.76 213 1342.81 roll -0.66 - - 2012.69 - 1.67 0.018 2635.50 -728.0 -116.79 - - 3447.44 - - - - - - - - - 15.80 -
1650.69 216.61 -12.21 245 1652.44 no move -0.66 - - 2012.75 - - - 2629.88 - -116.79 - - 3446.56 - - - - - - - - - - -
1960.72 252.32 -11.54 276 1966.62 roll -0.66 - - 2003.44 - 1.95 0.065 3853.94 627.7 -116.79 - - 3447.44 - - - - - - - - - 15.82 -
2030.73 260.72 -11.67 290 2036.72 roll back -0.66 0.13 0.215 2041.50 292.8 1.68 0.018 2640.75 -722.1 -116.79 - - 3448.66 - - - - - - - - 15.43 15.68 -
2340.79 288.86 -9.17 322 2342.53 no move -0.66 - - 2041.31 - - - 2636.00 - -116.79 - - 3446.25 - - - - - - - - - - -
2650.80 317.53 -9.50 353 2657.48 roll -0.66 - - 2040.12 - 2.48 0.024 1297.44 -539.7 -116.79 - - 3447.50 - - - - - - - - - 15.95 -
2675.56 319.87 -9.57 358 2683.08 roll -0.66 - - 2030.88 - 2.88 0.043 2779.38 514.6 -116.79 - - 3447.59 - - - - - - - - - 14.90 -
2990.83 351.65 -10.36 390 2992.62 no move -0.66 - - 2032.00 - - - 2780.19 - -116.79 - - 3445.56 - - - - - - - - - - -
3300.86 385.22 -10.84 421 3307.86 roll -0.66 - - 2033.25 - 2.71 0.024 1295.50 -547.9 -116.79 - - 3446.78 - - - - - - - - - 15.95 -
3360.88 391.65 -10.46 433 3367.90 roll -0.66 - - 2020.62 - 2.87 0.044 2779.25 517.0 -116.79 - - 3446.22 - - - - - - - - - 15.83 -
3670.90 426.04 -10.87 465 3672.70 no move -0.66 - - 2020.62 - - - 2779.38 - -116.79 - - 3444.41 - - - - - - - - - - -
3980.93 459.54 -10.33 496 3987.88 roll -0.66 - - 2020.81 - 2.76 0.024 1299.50 -536.2 -116.79 - - 3446.50 - - - - - - - - - 15.81 -
4025.67 464.16 -10.12 505 4033.20 roll -0.66 - - 2008.06 - 2.89 0.045 2777.56 511.4 -116.79 - - 3445.00 - - - - - - - - - 15.59 -
4340.95 498.02 -10.44 537 4347.89 roll -0.66 - - 2008.62 - 2.75 0.024 1298.44 -537.9 -116.79 - - 3444.66 - - - - - - - - - 15.80 -
4375.72 501.63 -10.33 544 4383.32 roll -0.66 - - 1998.38 - 2.88 0.045 2778.69 514.0 -116.79 - - 3445.25 - - - - - - - - - 15.82 -
4690.99 536.79 -11.52 576 4698.19 roll back -0.66 0.15 0.222 2041.12 284.9 2.73 0.024 1297.81 -542.4 -116.79 - - 3443.22 - - - - - - - - 15.56 15.58 -
4735.74 540.88 -8.83 585 4743.35 roll -0.66 - - 2032.94 - 2.88 0.045 2776.56 513.5 -116.79 - - 3444.50 - - - - - - - - - 15.81 -
5051.02 568.50 -8.60 617 5057.98 roll -0.66 - - 2031.94 - 2.74 0.024 1297.56 -539.8 -116.79 - - 3444.41 - - - - - - - - - 15.93 -
5091.04 571.85 -8.38 625 5098.15 roll -0.66 - - 2020.00 - 2.91 0.044 2780.44 509.6 -116.79 - - 3443.88 - - - - - - - - - 15.74 -
5401.07 599.42 -9.18 657 5408.07 roll -0.66 - - 2021.69 - 2.73 0.025 1299.25 -542.6 -116.79 - - 3441.91 - - - - - - - - - 15.93 -
5455.81 604.52 -9.11 668 5463.35 roll -0.66 - - 2008.44 - 2.87 0.044 2777.38 515.0 -116.79 - - 3441.41 - - - - - - - - - 15.81 -
5771.10 637.82 -11.04 700 5772.89 no move -0.66 - - 2009.00 - - - 2778.00 - -116.79 - - 3440.06 - - - - - - - - - - -
6081.12 672.13 -11.03 731 6088.06 roll -0.66 - - 2007.69 - 2.74 0.025 1298.06 -540.1 -116.79 - - 3441.41 - - - - - - - - - 15.79 -
6115.87 676.09 -11.31 738 6123.41 roll -0.66 - - 1997.75 - 2.89 0.045 2778.19 512.2 -116.79 - - 3441.34 - - - - - - - - - 15.80 -
6431.15 713.10 -11.81 770 6433.20 pitch -0.66 0.15 0.219 2041.00 288.3 - - 2779.94 - -116.79 - - 3438.31 - - - - - - - - 15.55 - -
6741.18 741.23 -8.42 801 6748.15 roll -0.66 - - 2041.25 - 2.74 0.026 1299.50 -540.3 -116.79 - - 3439.25 - - - - - - - - - 15.77 -
6805.94 746.56 -8.09 814 6813.49 roll -0.66 - - 2032.88 - 2.89 0.045 2777.94 511.6 -116.79 - - 3438.50 - - - - - - - - - 15.79 -
7121.25 773.13 -8.65 846 7128.16 roll -0.66 - - 2032.50 - 2.72 0.025 1299.19 -543.7 -116.79 - - 3439.28 - - - - - - - - - 15.80 -
7156.02 776.18 -8.63 853 7163.51 roll -0.66 - - 2021.56 - 2.88 0.045 2776.44 512.9 -116.79 - - 3439.47 - - - - - - - - - 15.77 -
7471.25 805.20 -9.23 885 7478.21 roll -0.66 - - 2021.00 - 2.72 0.025 1297.06 -543.9 -116.79 - - 3438.09 - - - - - - - - - 15.78 -
7506.00 808.47 -9.27 892 7513.70 roll -0.66 - - 2011.25 - 2.90 0.045 2777.56 510.5 -116.79 - - 3437.47 - - - - - - - - - 15.69 -
7821.27 838.97 -9.80 924 7828.23 roll -0.66 - - 2010.00 - 2.74 0.025 1298.19 -539.9 -116.79 - - 3438.12 - - - - - - - - - 15.77 -
7851.28 841.87 -9.80 930 7858.39 roll -0.66 - - 1999.00 - 2.90 0.045 2779.06 510.6 -116.79 - - 3438.72 - - - - - - - - - 15.72 -
8161.31 873.45 -10.17 962 8168.50 roll back -0.66 0.14 0.216 2040.56 296.9 2.73 0.025 1294.25 -543.9 -116.79 - - 3438.03 - - - - - - - - 15.54 15.57 -
8201.31 876.86 -9.15 970 8208.42 roll -0.66 - - 2033.50 - 2.89 0.045 2776.06 512.7 -116.79 - - 3436.66 - - - - - - - - - 15.68 -
8511.34 902.65 -8.37 1002 8518.26 roll -0.66 - - 2031.94 - 2.76 0.025 1298.75 -535.3 -116.79 - - 3436.69 - - - - - - - - - 15.75 -
8556.08 906.37 -8.27 1011 8563.71 roll -0.66 - - 2019.94 - 2.91 0.045 2778.06 508.4 -116.79 - - 3436.44 - - - - - - - - - 15.69 -
8871.37 932.89 -8.11 1043 8878.31 roll -0.66 - - 2020.81 - 2.76 0.025 1298.31 -536.1 -116.79 - - 3435.78 - - - - - - - - - 15.78 -
8926.13 937.28 -7.95 1054 8933.68 roll -0.66 - - 2010.00 - 2.89 0.044 2778.44 512.2 -116.79 - - 3435.66 - - - - - - - - - 15.59 -
9241.41 963.56 -8.47 1086 9248.35 roll -0.66 - - 2009.69 - 2.74 0.025 1296.06 -541.0 -116.79 - - 3435.16 - - - - - - - - - 15.64 -
9291.42 967.87 -8.62 1096 9298.55 roll -0.66 - - 1998.06 - 2.91 0.044 2779.94 509.9 -116.79 - - 3437.09 - - - - - - - - - 15.72 -
9531 end dive: TARGET_DEPTH_EXCEEDED
9532 begin apogee
9533.90 990.32 -9.71 1121 9654.66 -0.12 0.73 0.184 2210.88 291.5 0.21 0.112 2436.44 -1635.7 - 110.93 2.311 2968.06 -4.2 0.325 - - - - - - 15.40 14.75 10.05
9656 end apogee: CONTROL_FINISHED_OK
9656 begin climb
9657.24 992.92 - 1132 9788.52 0.66 0.79 0.093 2481.81 342.9 3.15 0.034 953.75 -470.7 116.79 114.98 2.257 2488.56 -4.2 0.329 - - - - - - 15.15 14.54 11.33
9826.10 987.19 7.29 1163 9833.29 roll 0.70 - - 2481.56 - 3.11 0.036 2427.81 474.0 116.79 - - 2486.25 - - - - - - - - - 14.90 -
10136.05 959.09 9.17 1195 10143.08 done 0.70 - - 2494.81 - 2.90 0.029 954.38 -508.1 116.79 - - 2479.06 - - - - - - - - - 15.77 -
10170.79 955.87 9.22 1202 10178.49 done 0.70 - - 2495.69 - 2.99 0.036 2432.38 494.3 116.79 - - 2478.06 - - - - - - - - - 15.69 -
10486.07 926.07 9.47 1234 10493.09 done 0.70 - - 2504.81 - 2.89 0.029 952.19 -512.2 116.79 - - 2478.38 - - - - - - - - - 15.75 -
10516.08 923.27 9.35 1240 10523.20 done 0.70 - - 2504.19 - 2.97 0.035 2433.38 498.7 116.79 - - 2477.56 - - - - - - - - - 15.73 -
10826.11 892.19 9.81 1272 10833.38 0.70 0.14 0.204 2474.12 -214.8 2.87 0.028 950.00 -516.9 116.79 - - 2476.56 - - - - - - - - 15.60 15.62 -
10876.20 887.98 8.36 1282 10883.25 done 0.71 - - 2475.38 - 2.97 0.035 2433.44 499.5 116.79 - - 2475.62 - - - - - - - - - 15.58 -
11186.22 861.58 8.57 1314 11193.16 done 0.73 - - 2486.25 - 2.87 0.029 949.38 -517.1 116.79 - - 2474.50 - - - - - - - - - 15.89 -
11196.23 860.75 8.53 1316 11203.33 done 0.74 - - 2487.81 - 2.96 0.034 2433.56 501.4 116.79 - - 2477.16 - - - - - - - - - 15.78 -
11506.16 832.85 8.94 1348 11513.19 done 0.74 - - 2498.25 - 2.87 0.028 948.19 -517.6 116.79 - - 2473.62 - - - - - - - - - 15.78 -
11526.17 831.08 8.90 1352 11533.29 done 0.74 - - 2498.56 - 2.96 0.034 2434.12 502.0 116.79 - - 2474.59 - - - - - - - - - 15.79 -
11836.19 800.94 9.93 1384 11842.71 done 0.74 - - 2499.81 - 2.13 0.064 3842.88 661.4 116.79 - - 2475.25 - - - - - - - - - 15.60 -
11850.95 799.30 10.13 1387 11857.92 done 0.74 - - 2507.69 - 2.19 0.019 2305.81 -701.9 116.79 - - 2472.19 - - - - - - - - - 15.88 -
12166.23 766.77 10.43 1419 12172.92 done 0.74 - - 2508.75 - 2.49 0.062 3838.94 615.7 116.79 - - 2473.28 - - - - - - - - - 15.68 -
12190.98 763.83 10.97 1424 12198.03 done 0.74 - - 2518.19 - 2.21 0.019 2311.25 -691.3 116.79 - - 2473.28 - - - - - - - - - 15.93 -
12506.27 730.11 10.60 1456 12513.21 0.74 0.15 0.218 2477.06 -274.2 2.48 0.062 3840.12 616.5 116.79 - - 2472.06 - - - - - - - - 15.53 15.55 -
12586.27 721.61 10.41 1472 12592.82 done 0.74 - - 2485.94 - 2.21 0.019 2306.69 -693.9 116.79 - - 2472.44 - - - - - - - - - 15.88 -
12896.38 695.08 8.10 1504 12902.98 done 0.76 - - 2487.19 - 2.47 0.063 3840.50 621.0 116.79 - - 2472.50 - - - - - - - - - 15.80 -
12931.04 691.88 8.75 1511 12938.16 done 0.76 - - 2499.19 - 2.20 0.019 2307.44 -696.8 116.79 - - 2470.81 - - - - - - - - - 15.74 -
13246.41 666.99 7.74 1543 13253.02 done 0.79 - - 2497.81 - 2.50 0.063 3839.75 612.9 116.79 - - 2471.34 - - - - - - - - - 15.64 -
13271.16 664.84 8.00 1548 13278.14 done 0.81 - - 2507.81 - 2.22 0.019 2306.06 -690.9 116.79 - - 2470.50 - - - - - - - - - 15.93 -
13586.44 641.66 7.15 1580 13593.04 done 0.85 - - 2509.12 - 2.47 0.062 3840.25 621.1 116.79 - - 2470.47 - - - - - - - - - 15.79 -
13626.44 638.28 8.46 1588 13632.88 done 0.87 - - 2519.00 - 2.21 0.019 2306.88 -693.8 116.79 - - 2472.91 - - - - - - - - - 15.86 -
13936.46 614.50 7.72 1620 13943.08 done 0.90 - - 2520.38 - 2.48 0.062 3841.94 619.0 116.79 - - 2470.06 - - - - - - - - - 15.56 -
14026.40 606.36 9.20 1638 14032.94 done 0.90 - - 2528.50 - 2.22 0.019 2305.25 -692.2 116.79 - - 2471.19 - - - - - - - - - 15.85 -
14336.51 582.81 7.32 1670 14338.30 VBD 0.93 - - 2530.38 - - - 2290.06 - 116.79 - - 2469.22 - - - - - - - - - - -
14646.54 559.95 7.57 1701 14653.24 done 0.96 - - 2541.56 - 2.59 0.029 947.12 -518.5 116.79 - - 2469.56 - - - - - - - - - 15.88 -
14671.28 558.01 7.69 1706 14678.86 done 0.99 - - 2541.75 - 2.94 0.035 2433.31 505.5 116.79 - - 2469.94 - - - - - - - - - 15.12 -
14986.49 530.95 8.98 1738 14993.58 done 0.99 - - 2554.56 - 2.89 0.028 951.31 -512.8 116.79 - - 2470.00 - - - - - - - - - 14.75 -
15046.50 525.50 9.12 1750 15053.60 done 0.99 - - 2553.44 - 2.97 0.035 2432.38 498.7 116.79 - - 2471.06 - - - - - - - - - 14.72 -
15356.52 494.07 10.71 1782 15363.54 done 0.99 - - 2565.62 - 2.88 0.028 948.25 -515.3 116.79 - - 2469.53 - - - - - - - - - 15.88 -
15401.26 489.41 10.42 1791 15408.90 done 0.99 - - 2565.19 - 2.97 0.035 2435.50 500.8 116.79 - - 2470.97 - - - - - - - - - 15.83 -
15716.55 455.60 10.61 1823 15723.57 done 0.99 - - 2576.62 - 2.87 0.028 948.50 -518.1 116.79 - - 2470.12 - - - - - - - - - 15.89 -
15731.29 454.07 10.57 1826 15738.92 done 0.99 - - 2577.31 - 2.97 0.035 2436.56 501.0 116.79 - - 2469.69 - - - - - - - - - 15.83 -
16046.60 419.81 10.42 1858 16053.05 done 0.99 - - 2576.88 - 2.14 0.064 3842.25 656.9 116.79 - - 2472.25 - - - - - - - - - 15.77 -
16056.60 418.68 10.51 1860 16063.14 done 0.99 - - 2588.12 - 2.18 0.018 2308.75 -703.4 116.79 - - 2469.22 - - - - - - - - - 15.89 -
16366.67 386.99 9.73 1892 16368.46 VBD 0.99 - - 2587.56 - - - 2291.50 - 116.79 - - 2468.59 - - - - - - - - - - -
16676.70 357.53 9.53 1923 16683.62 done 0.99 - - 2600.00 - 2.65 0.030 950.12 -506.2 116.79 - - 2472.16 - - - - - - - - - 15.88 -
16706.70 354.71 9.39 1929 16713.82 done 0.99 - - 2598.94 - 2.97 0.035 2434.62 499.8 116.79 - - 2469.41 - - - - - - - - - 15.84 -
17016.73 326.50 8.69 1961 17023.75 done 0.99 - - 2610.56 - 2.88 0.028 948.12 -516.1 116.79 - - 2469.44 - - - - - - - - - 15.87 -
17026.75 325.63 8.69 1963 17034.19 0.99 0.20 0.267 2561.88 -243.4 3.01 0.035 2439.00 495.3 116.79 - - 2472.06 - - - - - - - - 15.09 14.68 -
17336.83 301.47 8.00 1995 17343.78 done 1.02 - - 2571.25 - 2.89 0.028 948.62 -515.7 116.79 - - 2470.56 - - - - - - - - - 15.87 -
17446.86 292.58 8.16 2017 17453.89 done 1.04 - - 2572.50 - 3.00 0.036 2433.75 495.0 116.79 - - 2470.06 - - - - - - - - - 14.69 -
17756.88 267.12 8.02 2049 17758.68 VBD 1.06 - - 2572.75 - - - 2434.31 - 116.79 - - 2468.47 - - - - - - - - - - -
18066.91 240.65 8.46 2080 18073.28 done 1.07 - - 2571.88 - 2.19 0.065 3841.62 642.6 116.79 - - 2470.03 - - - - - - - - - 15.71 -
18171.60 230.60 9.46 2101 18178.64 done 1.07 - - 2582.62 - 2.20 0.018 2312.31 -695.1 116.79 - - 2469.34 - - - - - - - - - 15.88 -
18486.96 207.76 6.32 2133 18493.65 done 1.13 - - 2584.25 - 2.49 0.062 3842.75 614.6 116.79 - - 2469.31 - - - - - - - - - 15.72 -
18571.64 200.63 8.72 2150 18578.71 done 1.13 - - 2592.62 - 2.21 0.017 2309.25 -693.9 116.79 - - 2470.50 - - - - - - - - - 15.78 -
18888.29 178.25 7.26 2182 18891.44 VBD 1.17 - - 2594.38 - - - 2294.69 - 116.79 - - 2469.16 - - - - - - - - - - -
19198.31 155.24 6.88 2213 19205.87 1.22 0.12 0.067 2672.06 647.3 2.50 0.062 3842.50 619.1 116.79 - - 2471.53 - - - - - - - - 15.76 15.57 -
19433.23 134.33 8.62 2260 19440.89 done 1.23 - - 2682.44 - 2.23 0.017 2313.31 -685.7 116.79 - - 2469.66 - - - - - - - - - 15.75 -
19748.52 110.31 8.60 2292 19756.06 1.24 0.19 0.292 2640.75 -219.4 2.49 0.058 3841.62 613.8 116.79 - - 2470.56 - - - - - - - - 15.05 15.17 -
19818.74 105.12 7.30 2306 19825.80 done 1.27 - - 2647.94 - 2.26 0.016 2303.62 -680.5 116.79 - - 2470.56 - - - - - - - - - 15.44 -
20128.76 88.29 4.35 2360 20212.59 1.39 0.13 0.057 2717.62 536.0 2.54 0.059 3842.38 605.8 207.35 70.85 1.160 2122.25 -4.9 0.067 - - - - - - 15.68 15.12 10.51
20370.13 57.03 17.51 2407 20377.71 roll 1.39 - - 2728.31 - 2.28 0.017 2320.69 -667.4 207.35 - - 2115.72 - - - - - - - - - 15.39 -
20560.18 32.56 11.62 2445 20568.14 1.39 0.17 0.298 2689.81 -226.5 2.51 0.058 3842.31 606.2 207.35 - - 2113.81 - - - - - - - - 15.16 15.29 -
20795.69 7.27 11.28 2492 20803.18 done 1.39 - - 2697.94 - 2.27 0.016 2315.19 -672.7 207.35 - - 2112.81 - - - - - - - - - 15.50 -
20851 end climb: SURFACE_DEPTH_REACHED
20851 begin surface coast
20876 end surface coast: CONTROL_FINISHED_OK
20876 begin surface
SM 1.51 - - - - 217.0 87.44 1.070 1644.3 18.8 7.06 0.055 1632.4 231.2 - 0.75 0.060 1656.2 2205.2 -5.672 - - 10.99 15.67 15.70 -