SMODE Aug22 * SG219 * Dive index * Mission links * Dive 273 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 92.33 of 310.00 AH used of 24V (70.22% remains)
• Surface angle -69.6 deg, depth 1.18 m • Intended pitch -19.2 deg, speed -9.167 cm/s
VBD pumped to 349.81 (SM_CC=350)
• GPS1 time: 19 s
• GPS2 time: 3 s • Transponder ping count: 24
• 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
16.86 - - - 74.22 VBD -0.64 - - 199.94 - - - 2666.94 - -126.52 55.49 0.005 2718.34 - - - - - - - - - - 15.27
74.47 2.25 -2.16 11 111.62 -0.64 8.33 0.350 2076.44 225.3 1.97 0.071 3851.69 601.4 -126.52 22.60 0.006 3481.81 33.8 -2.191 - - - - - - 15.13 15.28 15.39
243.69 28.75 -16.56 45 249.61 roll -0.64 - - 2077.38 - 1.68 0.015 2694.88 -688.6 -126.52 - - 3486.06 - - - - - - - - - 15.53 -
433.70 59.04 -15.77 83 439.77 roll -0.64 - - 2068.56 - 1.94 0.066 3850.00 595.4 -126.52 - - 3486.38 - - - - - - - - - 15.66 -
508.70 71.77 -17.01 98 514.63 roll -0.64 - - 2068.56 - 1.67 0.016 2693.75 -692.4 -126.52 - - 3486.38 - - - - - - - - - 15.42 -
698.72 100.41 -13.91 136 704.54 roll -0.64 - - 2060.62 - 1.93 0.065 3851.75 600.0 -126.52 - - 3486.94 - - - - - - - - - 15.34 -
778.72 111.99 -14.66 152 784.39 roll -0.64 - - 2059.81 - 1.67 0.016 2694.38 -693.0 -126.52 - - 3488.44 - - - - - - - - - 15.60 -
1088.74 154.64 -13.80 184 1091.69 no move -0.64 - - 2059.75 - - - 2688.38 - -126.52 - - 3487.03 - - - - - - - - - - -
1398.75 195.02 -12.52 215 1404.47 roll -0.64 - - 2050.62 - 1.92 0.066 3847.94 603.9 -126.52 - - 3487.84 - - - - - - - - - 15.35 -
1478.76 205.47 -12.99 231 1483.12 roll back -0.64 0.12 0.214 2085.81 293.3 1.66 0.017 2696.88 -693.4 -126.52 - - 3487.25 - - - - - - - - 15.71 15.90 -
1788.78 239.57 -10.84 263 1793.13 roll -0.64 - - 2078.56 - 1.90 0.067 3849.81 606.8 -126.52 - - 3487.50 - - - - - - - - - 15.65 -
1813.52 242.39 -11.09 268 1816.25 roll -0.64 - - 2079.62 - 1.66 0.018 2695.75 -695.2 -126.52 - - 3485.66 - - - - - - - - - 15.97 -
2123.80 275.28 -9.99 299 2125.14 no move -0.64 - - 2079.94 - - - 2689.62 - -126.52 - - 3483.59 - - - - - - - - - - -
2433.80 305.88 -9.98 330 2438.14 roll -0.64 - - 2071.06 - 1.91 0.068 3849.75 607.4 -126.52 - - 3484.09 - - - - - - - - - 15.74 -
2458.55 308.51 -10.10 335 2461.28 roll -0.64 - - 2071.25 - 1.65 0.019 2696.62 -698.9 -126.52 - - 3482.81 - - - - - - - - - 16.00 -
2768.82 341.98 -10.62 366 2770.16 no move -0.64 - - 2071.19 - - - 2691.38 - -126.52 - - 3482.25 - - - - - - - - - - -
3078.82 373.84 -10.09 397 3083.14 roll -0.64 - - 2062.06 - 1.89 0.069 3849.94 613.0 -126.52 - - 3483.50 - - - - - - - - - 15.86 -
3103.56 376.46 -10.23 402 3106.30 roll -0.64 - - 2063.06 - 1.66 0.018 2695.50 -695.4 -126.52 - - 3481.19 - - - - - - - - - 16.01 -
3413.83 408.68 -10.30 433 3418.17 roll -0.64 - - 2053.88 - 1.90 0.069 3850.25 607.8 -126.52 - - 3481.84 - - - - - - - - - 15.95 -
3438.57 411.31 -10.38 438 3441.32 roll -0.64 - - 2054.75 - 1.66 0.018 2695.06 -695.9 -126.52 - - 3479.56 - - - - - - - - - 15.96 -
3748.85 444.15 -10.45 469 3753.18 roll -0.64 - - 2045.88 - 1.90 0.069 3850.38 608.1 -126.52 - - 3479.19 - - - - - - - - - 15.94 -
3778.84 447.51 -10.96 475 3783.21 roll back -0.64 0.14 0.206 2085.00 279.4 1.66 0.019 2698.69 -693.8 -126.52 - - 3479.09 - - - - - - - - 15.75 16.01 -
4088.86 476.35 -9.31 507 4093.21 roll -0.64 - - 2079.06 - 1.90 0.070 3851.62 606.8 -126.52 - - 3478.97 - - - - - - - - - 15.94 -
4108.86 478.33 -9.49 511 4113.15 roll -0.64 - - 2079.25 - 1.65 0.020 2693.50 -701.9 -126.52 - - 3478.44 - - - - - - - - - 16.01 -
4418.88 509.44 -10.05 543 4423.23 roll -0.64 - - 2070.56 - 1.90 0.069 3850.12 608.7 -126.52 - - 3476.81 - - - - - - - - - 15.94 -
4438.89 511.56 -10.35 547 4443.18 roll -0.64 - - 2069.88 - 1.65 0.019 2693.88 -700.8 -126.52 - - 3477.97 - - - - - - - - - 16.01 -
4748.89 544.05 -10.27 579 4753.22 roll -0.64 - - 2061.56 - 1.89 0.069 3847.50 610.4 -126.52 - - 3476.50 - - - - - - - - - 15.94 -
4768.89 546.22 -10.54 583 4773.19 roll -0.64 - - 2061.69 - 1.65 0.020 2694.25 -698.9 -126.52 - - 3474.94 - - - - - - - - - 16.01 -
5078.91 579.05 -10.01 615 5083.24 roll -0.64 - - 2054.00 - 1.89 0.070 3849.62 611.3 -126.52 - - 3475.84 - - - - - - - - - 15.93 -
5108.91 582.14 -10.28 621 5113.21 roll -0.64 - - 2052.62 - 1.64 0.020 2694.19 -704.5 -126.52 - - 3475.47 - - - - - - - - - 16.01 -
5418.93 613.63 -10.00 653 5423.28 roll -0.64 - - 2044.81 - 1.91 0.069 3850.19 605.2 -126.52 - - 3473.41 - - - - - - - - - 15.86 -
5458.93 617.73 -10.35 661 5463.29 roll back -0.64 0.14 0.203 2087.00 301.4 1.66 0.019 2702.38 -691.5 -126.52 - - 3473.03 - - - - - - - - 15.73 16.01 -
5768.95 641.18 -7.21 693 5770.29 no move -0.64 - - 2086.69 - - - 2697.50 - -126.52 - - 3471.94 - - - - - - - - - - -
6078.96 665.07 -7.95 724 6080.29 no move -0.64 - - 2087.00 - - - 2697.12 - -126.52 - - 3470.66 - - - - - - - - - - -
6388.97 690.75 -8.35 755 6393.30 roll -0.64 - - 2081.25 - 1.90 0.071 3849.69 606.6 -126.52 - - 3470.22 - - - - - - - - - 15.92 -
6448.97 695.93 -8.65 767 6453.27 roll -0.64 - - 2080.50 - 1.66 0.021 2694.81 -695.7 -126.52 - - 3471.62 - - - - - - - - - 16.00 -
6758.99 722.76 -8.58 799 6763.34 roll -0.64 - - 2071.56 - 1.90 0.071 3849.25 607.6 -126.52 - - 3471.06 - - - - - - - - - 15.90 -
6783.73 724.98 -8.64 804 6786.46 roll -0.64 - - 2071.50 - 1.66 0.021 2705.38 -689.1 -126.52 - - 3471.47 - - - - - - - - - 15.88 -
7094.24 752.19 -8.80 835 7098.57 roll -0.64 - - 2064.19 - 1.89 0.071 3848.69 604.9 -126.52 - - 3469.03 - - - - - - - - - 15.90 -
7138.74 756.31 -9.20 844 7141.48 roll -0.64 - - 2064.00 - 1.66 0.021 2703.88 -689.6 -126.52 - - 3468.22 - - - - - - - - - 16.00 -
7449.02 783.60 -8.64 875 7450.36 no move -0.64 - - 2064.19 - - - 2697.94 - -126.52 - - 3467.84 - - - - - - - - - - -
7759.05 811.20 -9.00 906 7763.41 roll -0.64 - - 2054.62 - 1.92 0.071 3849.38 599.7 -126.52 - - 3468.41 - - - - - - - - - 15.72 -
7793.81 814.49 -9.27 913 7796.55 roll -0.64 - - 2055.88 - 1.65 0.021 2699.75 -696.7 -126.52 - - 3469.47 - - - - - - - - - 15.98 -
8104.12 842.96 -9.02 944 8108.46 roll -0.64 - - 2047.62 - 1.90 0.071 3848.38 604.5 -126.52 - - 3468.41 - - - - - - - - - 15.63 -
8134.12 845.75 -9.17 950 8138.49 roll back -0.64 0.14 0.207 2085.88 273.3 1.67 0.021 2707.62 -683.1 -126.52 - - 3466.72 - - - - - - - - 15.59 15.93 -
8444.17 868.32 -7.32 982 8448.50 roll -0.64 - - 2080.12 - 1.88 0.071 3849.31 607.3 -126.52 - - 3465.91 - - - - - - - - - 15.83 -
8464.17 869.88 -7.55 986 8468.47 roll -0.64 - - 2080.00 - 1.66 0.021 2701.94 -691.2 -126.52 - - 3466.91 - - - - - - - - - 15.86 -
8774.21 894.20 -7.85 1018 8775.55 no move -0.64 - - 2080.31 - - - 2699.75 - -126.52 - - 3464.88 - - - - - - - - - - -
9084.22 919.73 -8.45 1049 9088.54 roll -0.64 - - 2070.50 - 1.88 0.070 3848.44 611.0 -126.52 - - 3467.16 - - - - - - - - - 15.83 -
9124.22 923.27 -8.87 1057 9128.52 roll -0.64 - - 2071.69 - 1.67 0.021 2700.12 -687.6 -126.52 - - 3467.03 - - - - - - - - - 15.83 -
9434.24 950.87 -8.56 1089 9438.57 roll -0.64 - - 2064.31 - 1.89 0.070 3850.81 608.8 -126.52 - - 3464.84 - - - - - - - - - 15.87 -
9454.24 952.66 -8.63 1093 9458.53 roll -0.64 - - 2063.62 - 1.67 0.022 2705.19 -686.0 -126.52 - - 3464.25 - - - - - - - - - 15.93 -
9764.25 979.53 -8.60 1125 9765.59 no move -0.64 - - 2063.69 - - - 2702.75 - -126.52 - - 3463.53 - - - - - - - - - - -
9895 end dive: TARGET_DEPTH_EXCEEDED
9895 begin apogee
9895.51 990.47 -8.46 1138 10008.78 -0.12 0.63 0.181 2252.25 299.3 0.22 0.106 2438.50 -1201.1 - 111.09 2.347 2969.25 -4.4 0.325 - - - - - - 15.61 15.04 11.06
10010 end apogee: CONTROL_FINISHED_OK
10010 begin climb
10010.85 992.99 - 1149 10134.75 0.64 0.77 0.098 2515.62 342.0 2.96 0.033 952.62 -502.0 126.52 118.50 2.278 2449.72 -4.4 0.331 - - - - - - 15.16 14.73 11.87
10221.89 980.30 9.21 1191 10227.18 done 0.64 - - 2514.44 - 2.86 0.036 2429.06 516.2 126.52 - - 2441.59 - - - - - - - - - 15.28 -
10531.82 948.98 10.18 1223 10533.16 VBD 0.64 - - 2515.56 - - - 2429.88 - 126.52 - - 2435.94 - - - - - - - - - - -
10841.83 917.18 10.31 1254 10847.18 done 0.64 - - 2526.50 - 2.74 0.030 950.00 -540.1 126.52 - - 2435.53 - - - - - - - - - 15.02 -
10871.84 914.10 10.20 1260 10877.18 done 0.64 - - 2526.06 - 2.79 0.034 2433.12 531.6 126.52 - - 2438.09 - - - - - - - - - 15.35 -
11181.84 881.27 10.52 1292 11183.18 VBD 0.64 - - 2526.44 - - - 2432.75 - 126.52 - - 2432.72 - - - - - - - - - - -
11491.85 849.39 10.08 1323 11497.20 done 0.64 - - 2536.75 - 2.72 0.029 947.81 -545.9 126.52 - - 2436.25 - - - - - - - - - 15.06 -
11526.60 845.84 10.15 1330 11532.49 0.64 0.17 0.192 2487.19 -291.5 2.77 0.033 2436.06 537.3 126.52 - - 2433.72 - - - - - - - - 15.71 15.93 -
11841.88 819.48 8.00 1362 11843.22 VBD 0.67 - - 2487.25 - - - 2436.50 - 126.52 - - 2431.22 - - - - - - - - - - -
12152.14 794.91 8.01 1393 12157.14 done 0.69 - - 2487.12 - 2.23 0.068 3838.69 628.8 126.52 - - 2432.03 - - - - - - - - - 15.90 -
12191.89 791.29 9.05 1401 12197.14 done 0.69 - - 2495.19 - 2.29 0.019 2333.56 -657.3 126.52 - - 2431.62 - - - - - - - - - 15.37 -
12501.93 765.28 8.70 1433 12507.22 done 0.69 - - 2506.75 - 2.53 0.031 947.50 -547.8 126.52 - - 2432.19 - - - - - - - - - 15.11 -
12536.67 762.24 8.72 1440 12542.74 done 0.69 - - 2506.62 - 2.79 0.034 2432.38 532.2 126.52 - - 2433.16 - - - - - - - - - 15.32 -
12851.94 734.22 8.81 1472 12853.28 VBD 0.69 - - 2506.62 - - - 2433.62 - 126.52 - - 2428.91 - - - - - - - - - - -
13161.96 707.16 8.93 1503 13167.32 done 0.69 - - 2518.50 - 2.73 0.029 947.44 -544.4 126.52 - - 2431.78 - - - - - - - - - 15.01 -
13191.97 704.49 8.94 1509 13197.31 done 0.69 - - 2518.00 - 2.78 0.033 2432.12 534.1 126.52 - - 2431.66 - - - - - - - - - 15.96 -
13501.97 676.01 9.27 1541 13503.31 VBD 0.69 - - 2518.56 - - - 2432.44 - 126.52 - - 2428.66 - - - - - - - - - - -
13811.99 646.39 9.56 1572 13817.34 done 0.69 - - 2529.50 - 2.74 0.029 950.12 -541.0 126.52 - - 2431.31 - - - - - - - - - 14.93 -
13876.75 640.17 9.56 1585 13882.58 done 0.69 - - 2530.38 - 2.77 0.033 2434.06 535.7 126.52 - - 2430.38 - - - - - - - - - 15.95 -
14192.01 609.05 9.84 1617 14197.27 done 0.69 - - 2529.56 - 2.25 0.066 3840.88 625.3 126.52 - - 2430.75 - - - - - - - - - 15.89 -
14216.76 606.35 10.14 1622 14222.49 done 0.69 - - 2540.00 - 2.30 0.020 2323.81 -659.6 126.52 - - 2430.62 - - - - - - - - - 14.94 -
14532.07 575.86 9.50 1654 14537.37 done 0.69 - - 2551.94 - 2.51 0.031 947.31 -548.4 126.52 - - 2430.03 - - - - - - - - - 15.01 -
14562.06 573.05 9.42 1660 14567.47 0.69 0.17 0.180 2501.38 -297.4 2.79 0.033 2434.88 533.2 126.52 - - 2428.69 - - - - - - - - 15.64 15.23 -
14872.12 548.64 7.68 1692 14877.37 done 0.72 - - 2501.44 - 2.29 0.067 3838.31 612.9 126.52 - - 2428.41 - - - - - - - - - 15.86 -
14932.13 543.30 8.93 1704 14937.38 done 0.72 - - 2510.62 - 2.30 0.018 2322.44 -659.1 126.52 - - 2428.25 - - - - - - - - - 15.95 -
15242.25 519.75 7.21 1736 15243.59 VBD 0.76 - - 2511.38 - - - 2306.81 - 126.52 - - 2427.03 - - - - - - - - - - -
15552.22 495.83 8.06 1767 15557.52 done 0.78 - - 2511.38 - 2.58 0.065 3838.06 593.5 126.52 - - 2428.16 - - - - - - - - - 15.16 -
15592.21 492.14 9.23 1775 15597.49 done 0.78 - - 2521.06 - 2.32 0.019 2312.69 -657.5 126.52 - - 2428.62 - - - - - - - - - 15.96 -
15902.31 465.85 8.36 1807 15907.54 done 0.80 - - 2521.69 - 2.60 0.064 3838.12 586.7 126.52 - - 2428.47 - - - - - - - - - 15.87 -
15966.98 459.65 9.65 1820 15972.73 done 0.80 - - 2532.56 - 2.31 0.018 2316.19 -658.8 126.52 - - 2427.56 - - - - - - - - - 15.97 -
16282.33 434.20 7.66 1852 16287.55 done 0.83 - - 2533.75 - 2.57 0.064 3838.31 592.3 126.52 - - 2430.44 - - - - - - - - - 15.87 -
16327.00 430.22 8.95 1861 16332.75 done 0.83 - - 2543.81 - 2.31 0.018 2313.56 -660.1 126.52 - - 2429.31 - - - - - - - - - 15.95 -
16642.36 404.68 8.35 1893 16647.59 done 0.84 - - 2545.44 - 2.58 0.064 3839.00 591.3 126.52 - - 2428.16 - - - - - - - - - 15.86 -
16672.28 401.86 8.72 1899 16677.56 done 0.84 - - 2554.69 - 2.31 0.018 2313.50 -660.4 126.52 - - 2430.25 - - - - - - - - - 15.95 -
16982.38 375.61 8.36 1931 16987.60 done 0.86 - - 2556.94 - 2.58 0.064 3841.12 592.1 126.52 - - 2427.56 - - - - - - - - - 15.86 -
17017.03 372.25 9.19 1938 17022.90 done 0.86 - - 2565.94 - 2.32 0.018 2317.69 -656.7 126.52 - - 2428.84 - - - - - - - - - 15.94 -
17332.38 344.31 9.16 1970 17337.61 done 0.86 - - 2568.06 - 2.57 0.064 3840.25 592.4 126.52 - - 2427.91 - - - - - - - - - 15.86 -
17362.30 341.27 9.63 1976 17367.58 done 0.86 - - 2577.38 - 2.31 0.018 2315.94 -659.9 126.52 - - 2429.03 - - - - - - - - - 15.95 -
17672.39 312.90 9.28 2008 17677.61 done 0.86 - - 2589.31 - 2.49 0.031 948.56 -549.1 126.52 - - 2429.69 - - - - - - - - - 14.94 -
17737.07 307.06 8.98 2021 17742.90 done 0.86 - - 2589.62 - 2.75 0.033 2431.88 539.4 126.52 - - 2429.69 - - - - - - - - - 15.94 -
18052.33 278.29 9.06 2053 18053.67 VBD 0.86 - - 2589.31 - - - 2431.69 - 126.52 - - 2428.06 - - - - - - - - - - -
18362.35 249.84 9.46 2084 18363.69 VBD 0.86 - - 2589.12 - - - 2432.12 - 126.52 - - 2428.06 - - - - - - - - - - -
18672.36 220.84 9.50 2115 18677.71 done 0.86 - - 2601.25 - 2.74 0.030 948.81 -541.4 126.52 - - 2429.97 - - - - - - - - - 14.92 -
18747.19 214.22 8.79 2130 18753.04 0.86 0.17 0.238 2556.19 -265.1 2.79 0.034 2435.81 533.0 126.52 - - 2429.25 - - - - - - - - 15.46 15.15 -
19062.40 188.70 8.52 2162 19067.75 done 0.87 - - 2567.38 - 2.76 0.029 946.81 -539.5 126.52 - - 2430.56 - - - - - - - - - 14.91 -
19097.16 185.75 8.49 2169 19102.98 done 0.89 - - 2567.31 - 2.77 0.034 2433.38 536.7 126.52 - - 2430.59 - - - - - - - - - 15.90 -
19412.42 162.18 6.37 2201 19417.67 done 0.94 - - 2568.00 - 2.23 0.067 3842.12 631.7 126.52 - - 2429.84 - - - - - - - - - 15.82 -
19532.45 153.93 6.64 2225 19537.73 0.99 0.09 0.085 2634.25 736.1 2.28 0.019 2317.31 -668.8 126.52 - - 2431.25 - - - - - - - - 15.84 14.98 -
19842.46 129.62 8.61 2257 19843.80 VBD 1.00 - - 2634.88 - - - 2304.94 - 126.52 - - 2428.53 - - - - - - - - - - -
20152.47 104.50 7.18 2288 20153.81 VBD 1.04 - - 2634.38 - - - 2304.56 - 126.52 - - 2428.66 - - - - - - - - - - -
20457.50 85.45 6.19 2341 20463.05 done 1.10 - - 2634.44 - 2.58 0.062 3839.62 595.0 126.52 - - 2430.91 - - - - - - - - - 15.15 -
20692.51 68.97 6.42 2388 20698.03 done 1.16 - - 2645.00 - 2.32 0.016 2306.88 -660.7 126.52 - - 2431.41 - - - - - - - - - 15.63 -
20883.74 62.39 2.73 2426 20985.15 1.33 0.19 0.045 2748.62 545.4 2.57 0.032 951.00 -527.6 257.50 96.32 1.125 1917.06 -5.3 0.051 - - - - - - 15.83 14.92 11.48
21092.80 35.53 16.11 2468 21098.22 1.33 0.17 0.282 2708.88 -233.8 2.81 0.036 2433.62 527.6 257.50 - - 1909.97 - - - - - - - - 15.33 15.48 -
21282.57 13.11 6.94 2506 21289.28 done 1.37 - - 2708.94 - 2.33 0.062 3840.88 604.0 257.50 - - 1906.81 - - - - - - - - - 15.20 -
21409 end climb: SURFACE_DEPTH_REACHED
21409 begin surface coast
21433 end surface coast: CONTROL_FINISHED_OK
21433 begin surface
SM 1.49 - - - - 218.9 64.71 1.037 1541.9 23.8 7.10 0.052 1525.8 214.9 - 1.63 0.019 1558.1 954.5 -7.650 - - 11.74 15.74 15.81 -