SMODE Mar23 * SG219 * Dive index * Mission links * Dive 86 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 124.59 of 310.00 AH used of 24V (59.81% remains)
• Surface angle -67.8 deg, depth 1.47 m • Intended pitch -21.0 deg, speed -8.462 cm/s
• VBD pumped to 325.17 (SM_CC=325)
• GPS1 time: 20 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
16.06 - - - 69.98 VBD -0.65 - - 146.44 - - - 2757.00 - -97.32 49.35 0.005 2554.25 - - - - - - - - - - 14.86
70.42 2.15 -1.68 10 124.50 -0.65 8.65 0.354 2033.44 218.2 1.78 0.071 3851.62 615.0 -97.32 32.49 0.006 3362.97 24.9 -1.581 - - - - - - 14.81 14.90 15.03
307.10 34.35 -15.57 56 313.86 roll -0.65 - - 2034.69 - 1.58 0.019 2735.75 -706.2 -97.32 - - 3367.09 - - - - - - - - - 15.35 -
496.95 61.33 -12.37 94 504.38 roll -0.65 - - 2035.12 - 2.38 0.024 1397.88 -562.1 -97.32 - - 3366.75 - - - - - - - - - 15.37 -
521.96 64.39 -12.13 99 529.77 roll -0.65 - - 2024.81 - 2.76 0.042 2880.94 537.3 -97.32 - - 3366.41 - - - - - - - - - 15.41 -
712.27 86.50 -10.76 137 717.25 no move -0.65 - - 2025.12 - - - 2881.19 - -97.32 - - 3367.16 - - - - - - - - - - -
907.28 108.97 -11.98 169 914.69 roll -0.65 - - 2023.31 - 2.65 0.023 1398.81 -559.4 -97.32 - - 3367.53 - - - - - - - - - 15.18 -
997.30 119.54 -11.87 187 1004.83 roll -0.65 - - 2013.25 - 2.76 0.041 2879.75 536.6 -97.32 - - 3367.91 - - - - - - - - - 15.40 -
1307.33 158.38 -12.29 219 1315.04 roll -0.65 - - 2013.00 - 2.65 0.023 1399.81 -558.5 -97.32 - - 3367.50 - - - - - - - - - 15.44 -
1347.49 163.43 -12.53 227 1354.96 roll -0.65 - - 2000.25 - 2.74 0.042 2878.69 539.7 -97.32 - - 3368.72 - - - - - - - - - 15.68 -
1657.52 204.26 -13.27 259 1664.48 roll back -0.65 0.16 0.243 2044.75 278.1 2.62 0.023 1397.00 -565.5 -97.32 - - 3367.62 - - - - - - - - 15.33 15.42 -
1692.32 208.01 -10.72 266 1699.77 roll -0.65 - - 2036.19 - 2.73 0.042 2879.69 543.1 -97.32 - - 3368.19 - - - - - - - - - 15.72 -
2007.62 240.39 -10.15 298 2014.48 roll -0.65 - - 2035.75 - 2.61 0.023 1397.94 -567.7 -97.32 - - 3369.28 - - - - - - - - - 15.80 -
2042.37 243.94 -10.13 305 2049.83 roll -0.65 - - 2026.19 - 2.73 0.042 2880.62 543.1 -97.32 - - 3368.03 - - - - - - - - - 15.53 -
2357.68 276.26 -10.65 337 2364.54 roll -0.65 - - 2026.75 - 2.62 0.024 1398.50 -565.7 -97.32 - - 3367.16 - - - - - - - - - 15.79 -
2392.43 279.96 -10.58 344 2399.89 roll -0.65 - - 2014.12 - 2.71 0.042 2878.81 546.2 -97.32 - - 3367.41 - - - - - - - - - 15.73 -
2707.71 313.83 -10.39 376 2714.58 roll -0.65 - - 2015.00 - 2.62 0.023 1398.69 -564.9 -97.32 - - 3367.03 - - - - - - - - - 15.75 -
2747.73 317.81 -9.94 384 2754.74 roll -0.65 - - 2005.38 - 2.73 0.041 2879.44 542.4 -97.32 - - 3367.47 - - - - - - - - - 15.69 -
3057.75 351.06 -10.98 416 3064.87 roll back -0.65 0.14 0.237 2044.94 282.6 2.62 0.024 1398.12 -565.4 -97.32 - - 3366.75 - - - - - - - - 15.55 15.62 -
3077.76 353.01 -10.72 420 3084.70 roll -0.65 - - 2037.00 - 2.73 0.043 2878.94 542.4 -97.32 - - 3366.88 - - - - - - - - - 15.64 -
3387.78 380.97 -9.06 452 3394.65 roll -0.65 - - 2037.19 - 2.61 0.024 1398.75 -567.1 -97.32 - - 3366.47 - - - - - - - - - 15.91 -
3502.56 391.29 -8.94 475 3510.02 roll -0.65 - - 2026.31 - 2.73 0.043 2882.19 543.4 -97.32 - - 3366.34 - - - - - - - - - 15.74 -
3817.83 421.28 -9.37 507 3824.70 roll -0.65 - - 2026.06 - 2.61 0.024 1396.38 -569.3 -97.32 - - 3365.22 - - - - - - - - - 15.81 -
3882.60 427.44 -9.34 520 3890.14 roll -0.65 - - 2016.31 - 2.72 0.043 2882.50 546.4 -97.32 - - 3365.47 - - - - - - - - - 15.83 -
4197.88 458.81 -10.34 552 4204.76 roll -0.65 - - 2015.94 - 2.62 0.024 1398.88 -566.3 -97.32 - - 3364.81 - - - - - - - - - 15.93 -
4262.64 465.32 -9.74 565 4270.12 roll -0.65 - - 2004.31 - 2.73 0.042 2876.94 541.4 -97.32 - - 3364.19 - - - - - - - - - 15.59 -
4577.92 498.11 -10.67 597 4585.03 roll back -0.65 0.14 0.234 2045.56 294.6 2.63 0.024 1401.56 -561.0 -97.32 - - 3363.84 - - - - - - - - 15.53 14.93 -
4642.68 503.62 -8.18 610 4650.13 roll -0.65 - - 2036.31 - 2.71 0.043 2881.38 546.1 -97.32 - - 3364.19 - - - - - - - - - 15.74 -
4957.96 530.65 -8.68 642 4964.85 roll -0.65 - - 2036.75 - 2.61 0.024 1396.88 -568.8 -97.32 - - 3362.84 - - - - - - - - - 15.88 -
5017.97 535.99 -8.78 654 5025.00 roll -0.65 - - 2027.00 - 2.72 0.043 2881.75 545.9 -97.32 - - 3363.62 - - - - - - - - - 15.81 -
5328.00 564.40 -9.16 686 5334.87 roll -0.65 - - 2025.94 - 2.62 0.024 1398.69 -566.1 -97.32 - - 3362.25 - - - - - - - - - 15.67 -
5378.00 568.95 -9.01 696 5384.96 roll -0.65 - - 2015.56 - 2.72 0.043 2882.12 545.4 -97.32 - - 3361.88 - - - - - - - - - 15.81 -
5688.03 597.93 -9.31 728 5694.97 roll -0.65 - - 2015.75 - 2.62 0.024 1398.75 -566.2 -97.32 - - 3363.06 - - - - - - - - - 15.61 -
5722.78 601.22 -9.45 735 5730.26 roll -0.65 - - 2003.56 - 2.71 0.042 2881.25 547.0 -97.32 - - 3360.75 - - - - - - - - - 15.77 -
6038.05 632.52 -10.12 767 6045.19 roll back -0.65 0.14 0.235 2043.38 284.4 2.63 0.024 1397.81 -564.0 -97.32 - - 3360.91 - - - - - - - - 15.49 15.53 -
6112.82 638.68 -7.95 782 6120.35 roll -0.65 - - 2035.50 - 2.75 0.044 2881.00 539.3 -97.32 - - 3360.94 - - - - - - - - - 15.76 -
6428.10 664.18 -8.07 814 6434.98 roll -0.65 - - 2034.00 - 2.62 0.025 1400.00 -565.3 -97.32 - - 3360.62 - - - - - - - - - 15.87 -
6522.86 671.79 -7.89 833 6530.33 roll -0.65 - - 2023.25 - 2.73 0.043 2881.81 542.8 -97.32 - - 3360.06 - - - - - - - - - 15.80 -
6838.14 698.24 -8.51 865 6845.01 roll -0.65 - - 2024.31 - 2.62 0.025 1399.56 -565.7 -97.32 - - 3358.56 - - - - - - - - - 15.90 -
6882.89 702.06 -8.49 874 6890.42 roll -0.65 - - 2013.44 - 2.74 0.043 2880.50 540.5 -97.32 - - 3360.53 - - - - - - - - - 15.79 -
7198.17 730.28 -9.16 906 7205.05 roll -0.65 - - 2013.06 - 2.62 0.025 1398.69 -565.6 -97.32 - - 3358.28 - - - - - - - - - 15.90 -
7262.93 736.10 -8.74 919 7270.46 roll -0.65 - - 2003.75 - 2.74 0.043 2878.12 539.9 -97.32 - - 3358.16 - - - - - - - - - 15.44 -
7578.21 766.22 -9.74 951 7585.33 roll back -0.65 0.15 0.232 2044.88 274.2 2.65 0.025 1399.25 -558.1 -97.32 - - 3358.19 - - - - - - - - 15.48 14.75 -
7632.96 770.50 -7.57 962 7640.42 roll -0.65 - - 2036.81 - 2.74 0.044 2880.38 540.6 -97.32 - - 3358.31 - - - - - - - - - 15.77 -
7948.24 794.18 -7.51 994 7955.13 roll -0.65 - - 2036.94 - 2.62 0.025 1399.56 -565.2 -97.32 - - 3357.19 - - - - - - - - - 15.88 -
8058.27 802.61 -7.63 1016 8065.22 roll -0.65 - - 2026.06 - 2.78 0.043 2880.06 532.6 -97.32 - - 3358.12 - - - - - - - - - 14.67 -
8368.28 827.88 -8.10 1048 8375.22 roll -0.65 - - 2026.31 - 2.62 0.025 1399.75 -565.0 -97.32 - - 3358.41 - - - - - - - - - 15.85 -
8448.35 834.39 -7.99 1064 8455.28 roll -0.65 - - 2015.06 - 2.79 0.043 2880.88 530.9 -97.32 - - 3357.00 - - - - - - - - - 14.66 -
8758.33 860.04 -8.28 1096 8765.20 roll -0.65 - - 2015.69 - 2.62 0.025 1399.25 -565.5 -97.32 - - 3356.66 - - - - - - - - - 15.88 -
8813.08 864.65 -8.29 1107 8820.55 roll -0.65 - - 2004.62 - 2.74 0.043 2882.00 541.1 -97.32 - - 3357.09 - - - - - - - - - 15.76 -
9128.53 892.79 -8.86 1139 9135.55 roll back -0.65 0.14 0.230 2044.81 287.1 2.63 0.025 1397.50 -564.4 -97.32 - - 3355.81 - - - - - - - - 15.45 15.48 -
9193.11 897.51 -7.01 1152 9200.59 roll -0.65 - - 2035.12 - 2.73 0.044 2880.44 543.2 -97.32 - - 3355.50 - - - - - - - - - 15.75 -
9508.40 920.66 -7.47 1184 9515.28 roll -0.65 - - 2035.19 - 2.62 0.025 1399.38 -565.3 -97.32 - - 3356.41 - - - - - - - - - 15.87 -
9588.42 926.67 -7.46 1200 9595.38 roll -0.65 - - 2026.12 - 2.77 0.043 2880.19 534.6 -97.32 - - 3355.09 - - - - - - - - - 14.63 -
9898.44 951.59 -8.34 1232 9905.31 roll -0.65 - - 2026.19 - 2.62 0.025 1397.62 -565.9 -97.32 - - 3355.06 - - - - - - - - - 15.87 -
9978.46 958.43 -8.40 1248 9985.42 roll -0.65 - - 2015.62 - 2.77 0.043 2878.75 534.7 -97.32 - - 3354.25 - - - - - - - - - 14.62 -
10288.47 986.00 -8.85 1280 10295.35 roll -0.65 - - 2014.88 - 2.62 0.025 1398.56 -565.0 -97.32 - - 3354.16 - - - - - - - - - 15.86 -
10333 end dive: TARGET_DEPTH_EXCEEDED
10333 begin apogee
10337.93 990.02 -8.94 1289 10439.32 -0.12 0.71 0.188 2211.19 276.5 0.13 0.129 2310.44 7014.5 - 90.86 2.333 2966.38 -4.3 0.321 - - - - - - 15.35 14.88 10.27
10441 end apogee: CONTROL_FINISHED_OK
10441 begin climb
10441.92 992.47 - 1299 10547.69 0.65 0.77 0.094 2465.19 329.9 - - 2310.56 - 97.32 96.40 2.281 2569.69 -4.1 0.317 - - - - - - 15.18 - 11.40
10850.23 967.82 7.81 1340 10856.87 done 0.66 - - 2465.75 - 2.50 0.064 3839.44 611.6 97.32 - - 2557.62 - - - - - - - - - 15.40 -
10904.90 963.01 8.82 1351 10911.96 done 0.66 - - 2475.62 - 2.28 0.020 2330.62 -661.8 97.32 - - 2557.81 - - - - - - - - - 15.68 -
11220.27 939.12 7.56 1383 11226.89 done 0.68 - - 2476.81 - 2.48 0.063 3839.88 608.6 97.32 - - 2554.84 - - - - - - - - - 15.74 -
11270.19 934.80 8.70 1393 11276.73 done 0.68 - - 2486.31 - 2.26 0.019 2318.50 -673.2 97.32 - - 2554.38 - - - - - - - - - 15.79 -
11580.29 911.81 7.25 1425 11582.10 VBD 0.71 - - 2488.25 - - - 2302.62 - 97.32 - - 2552.22 - - - - - - - - - - -
11890.25 888.73 8.04 1456 11892.06 VBD 0.71 - - 2487.56 - - - 2302.25 - 97.32 - - 2552.03 - - - - - - - - - - -
12200.27 863.23 8.42 1487 12207.04 done 0.71 - - 2487.81 - 2.50 0.062 3841.19 615.6 97.32 - - 2554.88 - - - - - - - - - 15.63 -
12270.29 856.45 9.80 1501 12276.83 done 0.71 - - 2497.62 - 2.25 0.020 2321.44 -675.4 97.32 - - 2551.56 - - - - - - - - - 15.88 -
12580.33 829.12 8.67 1533 12582.12 VBD 0.71 - - 2498.06 - - - 2306.88 - 97.32 - - 2550.78 - - - - - - - - - - -
12890.43 803.90 7.78 1564 12892.22 VBD 0.72 - - 2499.06 - - - 2306.69 - 97.32 - - 2550.47 - - - - - - - - - - -
13200.45 780.29 7.54 1595 13202.25 VBD 0.74 - - 2499.38 - - - 2306.38 - 97.32 - - 2550.03 - - - - - - - - - - -
13510.48 756.40 7.78 1626 13512.28 VBD 0.75 - - 2498.81 - - - 2306.75 - 97.32 - - 2549.47 - - - - - - - - - - -
13820.43 731.93 8.27 1657 13827.34 done 0.75 - - 2501.00 - 2.51 0.061 3840.81 611.2 97.32 - - 2550.09 - - - - - - - - - 15.57 -
13885.19 725.76 9.57 1670 13892.28 done 0.75 - - 2508.81 - 2.29 0.020 2321.38 -663.5 97.32 - - 2549.94 - - - - - - - - - 15.76 -
14200.47 698.99 8.73 1702 14207.33 done 0.75 - - 2509.62 - 2.52 0.060 3839.81 602.6 97.32 - - 2549.94 - - - - - - - - - 15.74 -
14225.21 696.61 8.98 1707 14232.32 done 0.75 - - 2519.81 - 2.28 0.020 2316.19 -668.3 97.32 - - 2549.12 - - - - - - - - - 15.68 -
14540.50 669.37 8.38 1739 14547.40 done 0.75 - - 2522.50 - 2.52 0.060 3840.75 605.0 97.32 - - 2550.31 - - - - - - - - - 15.57 -
14590.50 664.57 9.74 1749 14597.08 done 0.75 - - 2530.62 - 2.29 0.020 2316.12 -665.8 97.32 - - 2550.16 - - - - - - - - - 15.71 -
14900.52 636.85 8.69 1781 14902.60 0.75 0.18 0.228 2482.31 -268.4 - - 2299.19 - 97.32 - - 2549.84 - - - - - - - - 15.44 - -
15210.64 613.76 7.46 1812 15212.45 VBD 0.77 - - 2482.88 - - - 2299.94 - 97.32 - - 2547.34 - - - - - - - - - - -
15520.69 590.90 7.15 1843 15527.44 done 0.80 - - 2482.44 - 2.53 0.061 3840.81 609.0 97.32 - - 2548.22 - - - - - - - - - 15.72 -
15595.37 584.96 7.97 1858 15602.47 done 0.80 - - 2492.38 - 2.28 0.020 2316.25 -668.7 97.32 - - 2548.25 - - - - - - - - - 15.73 -
15910.75 563.92 6.23 1890 15917.43 done 0.84 - - 2492.38 - 2.50 0.060 3842.62 610.5 97.32 - - 2547.78 - - - - - - - - - 15.67 -
15965.51 559.93 7.32 1901 15972.71 0.87 0.08 0.099 2577.19 1060.1 2.29 0.020 2313.12 -667.9 97.32 - - 2550.50 - - - - - - - - 15.60 15.73 -
16280.71 531.98 9.07 1933 16287.90 0.87 0.23 0.252 2518.75 -254.1 2.54 0.058 3841.06 601.6 97.32 - - 2548.09 - - - - - - - - 15.32 15.40 -
16330.72 527.63 8.59 1943 16337.31 done 0.87 - - 2526.19 - 2.29 0.020 2321.69 -663.5 97.32 - - 2548.91 - - - - - - - - - 15.76 -
16640.84 504.28 7.54 1975 16647.59 done 0.88 - - 2528.06 - 2.53 0.059 3840.75 600.4 97.32 - - 2548.09 - - - - - - - - - 15.63 -
16730.79 496.15 9.34 1993 16737.37 done 0.88 - - 2538.56 - 2.29 0.019 2309.81 -668.5 97.32 - - 2547.75 - - - - - - - - - 15.80 -
17040.80 469.84 8.20 2025 17042.62 VBD 0.88 - - 2539.00 - - - 2293.69 - 97.32 - - 2547.22 - - - - - - - - - - -
17350.83 443.86 8.19 2056 17357.65 done 0.88 - - 2549.44 - 2.52 0.030 946.94 -534.4 97.32 - - 2548.62 - - - - - - - - - 15.70 -
17395.58 440.20 8.14 2065 17403.20 done 0.88 - - 2550.06 - 2.82 0.032 2437.38 528.5 97.32 - - 2547.81 - - - - - - - - - 15.67 -
17710.96 415.99 7.29 2097 17717.50 done 0.91 - - 2550.94 - 2.23 0.062 3840.62 629.3 97.32 - - 2548.47 - - - - - - - - - 15.75 -
17765.69 411.69 7.86 2108 17772.72 done 0.92 - - 2559.69 - 2.29 0.019 2324.00 -662.3 97.32 - - 2547.38 - - - - - - - - - 15.77 -
18080.98 389.97 6.63 2140 18087.81 done 0.96 - - 2562.56 - 2.54 0.060 3839.62 596.7 97.32 - - 2547.59 - - - - - - - - - 15.63 -
18160.92 383.55 8.19 2156 18167.58 done 0.96 - - 2572.12 - 2.29 0.019 2310.69 -667.7 97.32 - - 2548.00 - - - - - - - - - 15.80 -
18471.03 360.16 7.40 2188 18477.79 done 0.98 - - 2582.94 - 2.55 0.029 943.88 -536.0 97.32 - - 2548.66 - - - - - - - - - 15.69 -
18571.04 353.10 7.01 2208 18578.06 done 1.01 - - 2580.69 - 2.82 0.031 2438.88 530.1 97.32 - - 2550.00 - - - - - - - - - 15.83 -
18881.07 329.72 7.59 2240 18882.89 VBD 1.02 - - 2581.56 - - - 2438.38 - 97.32 - - 2546.56 - - - - - - - - - - -
19191.10 306.23 7.62 2271 19197.59 done 1.04 - - 2581.44 - 2.26 0.063 3839.31 619.9 97.32 - - 2548.78 - - - - - - - - - 15.64 -
19235.76 302.21 9.03 2280 19242.88 done 1.04 - - 2592.31 - 2.28 0.019 2318.56 -667.0 97.32 - - 2547.53 - - - - - - - - - 15.81 -
19551.13 277.90 7.06 2312 19557.89 done 1.07 - - 2603.75 - 2.55 0.030 946.94 -537.9 97.32 - - 2547.66 - - - - - - - - - 15.71 -
19595.89 274.88 6.84 2321 19603.41 done 1.10 - - 2604.06 - 2.81 0.031 2439.50 531.2 97.32 - - 2549.19 - - - - - - - - - 15.71 -
19911.17 254.16 6.28 2353 19918.09 done 1.15 - - 2614.94 - 2.78 0.027 948.44 -536.4 97.32 - - 2548.84 - - - - - - - - - 14.72 -
19951.17 251.77 6.10 2361 19958.12 done 1.19 - - 2614.38 - 2.79 0.031 2438.56 534.1 97.32 - - 2549.28 - - - - - - - - - 15.86 -
20261.19 230.38 7.07 2393 20268.13 done 1.22 - - 2626.31 - 2.76 0.027 946.94 -540.4 97.32 - - 2548.06 - - - - - - - - - 15.81 -
20495.98 213.45 7.22 2440 20503.51 done 1.25 - - 2627.50 - 2.81 0.031 2433.31 529.0 97.32 - - 2548.12 - - - - - - - - - 14.74 -
20811.26 191.64 6.79 2472 20814.61 1.28 0.09 0.085 2724.00 1072.2 - - 2433.62 - 97.32 - - 2548.06 - - - - - - - - 15.54 - -
21121.29 166.82 7.77 2503 21130.31 1.29 0.30 0.310 2667.25 -189.2 2.78 0.027 944.25 -535.7 97.32 - - 2548.91 - - - - - - - - 14.95 15.12 -
21297.97 154.04 7.23 2538 21305.68 done 1.32 - - 2666.69 - 2.82 0.032 2438.81 530.0 97.32 - - 2550.53 - - - - - - - - - 15.68 -
21608.24 130.81 6.31 2570 21615.44 done 1.36 - - 2667.94 - 2.22 0.060 3841.50 631.8 97.32 - - 2548.19 - - - - - - - - - 15.36 -
21628.24 129.46 6.36 2574 21635.66 done 1.40 - - 2677.12 - 2.24 0.017 2301.25 -687.6 97.32 - - 2549.62 - - - - - - - - - 15.72 -
21938.27 112.35 5.45 2606 21989.56 1.47 0.12 0.077 2736.38 493.8 2.55 0.059 3841.44 604.0 148.53 40.22 1.201 2359.59 -4.7 0.078 - - - - - - 15.55 15.28 10.92
22217.11 71.48 14.93 2661 22224.66 done 1.47 - - 2746.12 - 2.29 0.017 2314.38 -666.8 148.53 - - 2355.47 - - - - - - - - - 15.44 -
22407.15 50.25 8.39 2699 22414.92 done 1.47 - - 2747.44 - 2.53 0.054 3843.50 604.4 148.53 - - 2352.84 - - - - - - - - - 15.46 -
22597.54 36.81 5.11 2737 22654.08 done 1.54 - - 2758.81 - 2.31 0.016 2287.06 -673.8 205.41 45.35 1.082 2128.66 -4.9 0.030 - - - - - - - 14.96 11.09
22836.59 6.18 16.77 2784 22844.35 done 1.54 - - 2768.19 - 2.55 0.028 946.38 -525.8 205.41 - - 2122.94 - - - - - - - - - 14.99 -
22862 end climb: SURFACE_DEPTH_REACHED
22862 begin surface coast
22877 end surface coast: CONTROL_FINISHED_OK
22877 begin surface
SM 1.48 - - - - 218.3 87.21 1.049 1642.4 18.8 7.41 0.066 1630.1 220.0 - 3.56 0.046 1654.8 464.1 -1.526 - - 11.15 15.52 15.63 -