SMODE Mar23 * SG219 * Dive index * Mission links * Dive 94 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 127.75 of 310.00 AH used of 24V (58.79% remains)
• Surface angle -64.9 deg, depth 1.33 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 325.55 (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
16.30 - - - 64.86 VBD -0.65 - - 94.62 - - - 2708.75 - -97.32 44.29 0.005 2437.28 - - - - - - - - - - 14.84
65.29 2.03 -1.92 9 126.09 -0.65 9.02 0.364 2034.75 215.1 1.88 0.072 3847.62 605.8 -97.32 38.43 0.005 3363.91 24.1 -1.736 - - - - - - 14.81 14.90 15.04
188.45 14.61 -13.17 32 195.46 roll -0.65 - - 2034.06 - 1.58 0.019 2730.81 -706.8 -97.32 - - 3367.31 - - - - - - - - - 15.50 -
378.53 44.14 -15.09 70 385.58 roll -0.65 - - 2025.06 - 1.87 0.064 3849.56 598.3 -97.32 - - 3369.72 - - - - - - - - - 14.95 -
483.55 60.40 -14.01 91 490.45 roll -0.65 - - 2025.56 - 1.61 0.018 2739.75 -689.3 -97.32 - - 3368.19 - - - - - - - - - 15.02 -
673.58 87.75 -13.66 129 678.69 no move -0.65 - - 2027.44 - - - 2737.69 - -97.32 - - 3368.25 - - - - - - - - - - -
863.57 112.00 -11.65 157 870.81 roll -0.65 - - 2026.50 - 2.41 0.023 1394.06 -557.5 -97.32 - - 3368.66 - - - - - - - - - 15.54 -
893.58 115.68 -12.25 163 901.30 roll -0.65 - - 2014.94 - 2.76 0.042 2880.94 538.7 -97.32 - - 3368.69 - - - - - - - - - 15.52 -
1203.72 150.96 -10.62 195 1211.10 roll -0.65 - - 2014.81 - 2.67 0.022 1398.31 -555.3 -97.32 - - 3369.03 - - - - - - - - - 14.99 -
1238.47 154.61 -10.44 202 1246.47 roll -0.65 - - 2002.25 - 2.74 0.041 2879.56 540.6 -97.32 - - 3369.81 - - - - - - - - - 15.66 -
1553.74 193.12 -12.77 234 1561.36 roll back -0.65 0.15 0.252 2043.00 271.7 2.63 0.023 1396.75 -563.8 -97.32 - - 3368.78 - - - - - - - - 15.35 15.43 -
1608.56 198.76 -9.88 245 1616.58 roll -0.65 - - 2034.38 - 2.76 0.041 2881.31 537.9 -97.32 - - 3369.31 - - - - - - - - - 14.96 -
1923.87 231.40 -9.69 277 1930.73 roll -0.65 - - 2033.69 - 2.66 0.023 1398.00 -557.6 -97.32 - - 3370.22 - - - - - - - - - 15.01 -
1978.65 236.72 -9.52 288 1986.09 roll -0.65 - - 2022.88 - 2.73 0.041 2883.62 544.2 -97.32 - - 3369.84 - - - - - - - - - 15.81 -
2293.99 271.34 -11.12 320 2295.79 no move -0.65 - - 2023.19 - - - 2883.88 - -97.32 - - 3368.34 - - - - - - - - - - -
2603.93 304.11 -10.04 351 2610.79 roll -0.65 - - 2022.75 - 2.63 0.023 1396.69 -565.5 -97.32 - - 3369.88 - - - - - - - - - 15.81 -
2643.95 308.03 -9.80 359 2650.95 roll -0.65 - - 2013.06 - 2.77 0.042 2881.25 535.9 -97.32 - - 3370.22 - - - - - - - - - 14.97 -
2953.97 340.09 -10.41 391 2960.86 roll -0.65 - - 2011.75 - 2.62 0.023 1397.69 -566.2 -97.32 - - 3368.75 - - - - - - - - - 15.90 -
3018.73 346.68 -9.94 404 3026.19 roll -0.65 - - 2000.69 - 2.77 0.042 2880.44 535.3 -97.32 - - 3368.88 - - - - - - - - - 14.95 -
3334.02 382.18 -11.46 436 3341.14 roll back -0.65 0.16 0.244 2045.69 281.2 2.65 0.023 1397.44 -559.6 -97.32 - - 3367.31 - - - - - - - - 15.44 14.99 -
3404.03 388.58 -8.81 450 3411.05 roll -0.65 - - 2037.06 - 2.76 0.044 2881.75 537.8 -97.32 - - 3369.03 - - - - - - - - - 15.83 -
3714.30 418.77 -9.64 482 3720.94 roll -0.65 - - 2035.31 - 2.63 0.024 1398.31 -564.0 -97.32 - - 3366.88 - - - - - - - - - 15.94 -
3774.08 424.59 -9.62 494 3781.08 roll -0.65 - - 2026.31 - 2.74 0.043 2882.81 541.8 -97.32 - - 3367.03 - - - - - - - - - 15.83 -
4084.11 456.09 -10.02 526 4091.00 roll -0.65 - - 2025.38 - 2.67 0.024 1400.25 -555.3 -97.32 - - 3366.50 - - - - - - - - - 14.96 -
4124.11 460.05 -9.90 534 4131.13 roll -0.65 - - 2014.81 - 2.74 0.042 2882.50 541.0 -97.32 - - 3366.12 - - - - - - - - - 15.83 -
4434.13 493.22 -10.85 566 4440.99 roll -0.65 - - 2013.88 - 2.62 0.023 1397.50 -566.8 -97.32 - - 3366.59 - - - - - - - - - 15.94 -
4494.15 499.74 -10.72 578 4501.08 roll -0.65 - - 2002.50 - 2.74 0.042 2881.50 541.6 -97.32 - - 3366.03 - - - - - - - - - 15.83 -
4804.17 534.33 -10.99 610 4811.28 roll back -0.65 0.15 0.241 2043.94 276.3 2.67 0.024 1397.50 -555.8 -97.32 - - 3365.44 - - - - - - - - 15.36 14.93 -
4918.93 544.34 -8.28 633 4926.47 roll -0.65 - - 2037.12 - 2.75 0.044 2880.88 539.4 -97.32 - - 3365.59 - - - - - - - - - 15.82 -
5234.21 571.09 -8.38 665 5241.08 roll -0.65 - - 2036.12 - 2.63 0.024 1398.12 -563.8 -97.32 - - 3364.22 - - - - - - - - - 15.93 -
5304.23 576.91 -8.25 679 5311.17 roll -0.65 - - 2024.88 - 2.76 0.043 2882.06 537.7 -97.32 - - 3364.94 - - - - - - - - - 15.82 -
5614.25 603.61 -8.81 711 5621.11 roll -0.65 - - 2024.69 - 2.66 0.024 1399.38 -557.4 -97.32 - - 3363.75 - - - - - - - - - 14.88 -
5689.01 610.24 -8.66 726 5696.54 roll -0.65 - - 2015.31 - 2.79 0.043 2880.31 530.8 -97.32 - - 3363.41 - - - - - - - - - 14.83 -
6004.28 641.35 -10.16 758 6011.14 roll -0.65 - - 2013.88 - 2.66 0.024 1398.94 -556.9 -97.32 - - 3362.56 - - - - - - - - - 14.87 -
6059.04 646.94 -10.11 769 6066.50 roll -0.65 - - 2002.06 - 2.74 0.043 2881.94 541.2 -97.32 - - 3364.25 - - - - - - - - - 15.81 -
6374.31 680.08 -10.31 801 6381.45 roll back -0.65 0.14 0.237 2043.81 298.2 2.64 0.024 1397.25 -562.4 -97.32 - - 3361.81 - - - - - - - - 15.50 15.53 -
6469.08 687.87 -7.93 820 6476.53 roll -0.65 - - 2035.25 - 2.80 0.044 2880.62 529.8 -97.32 - - 3362.28 - - - - - - - - - 14.80 -
6784.36 714.88 -8.77 852 6791.23 roll -0.65 - - 2035.50 - 2.66 0.024 1400.19 -556.6 -97.32 - - 3360.62 - - - - - - - - - 14.85 -
6874.39 722.75 -8.61 870 6881.32 roll -0.65 - - 2024.75 - 2.79 0.043 2880.62 530.6 -97.32 - - 3360.12 - - - - - - - - - 14.78 -
7184.40 752.86 -10.07 902 7191.27 roll -0.65 - - 2024.62 - 2.64 0.024 1397.44 -561.8 -97.32 - - 3360.00 - - - - - - - - - 15.84 -
7264.42 760.83 -9.79 918 7271.37 roll -0.65 - - 2013.69 - 2.80 0.043 2880.81 529.8 -97.32 - - 3359.94 - - - - - - - - - 14.77 -
7574.44 793.09 -10.33 950 7581.31 roll -0.65 - - 2012.88 - 2.63 0.024 1399.00 -563.4 -97.32 - - 3360.34 - - - - - - - - - 15.91 -
7654.46 801.20 -10.02 966 7661.41 roll -0.65 - - 2003.12 - 2.80 0.043 2880.88 529.2 -97.32 - - 3359.22 - - - - - - - - - 14.75 -
7964.48 832.18 -9.77 998 7971.59 roll back -0.65 0.15 0.232 2044.81 277.9 2.64 0.024 1398.81 -561.4 -97.32 - - 3358.84 - - - - - - - - 15.39 15.42 -
8014.49 836.12 -7.71 1008 8021.52 roll -0.65 - - 2038.62 - 2.79 0.044 2877.75 530.1 -97.32 - - 3359.94 - - - - - - - - - 14.73 -
8324.51 859.02 -7.26 1040 8331.38 roll -0.65 - - 2035.94 - 2.63 0.025 1397.12 -563.0 -97.32 - - 3358.78 - - - - - - - - - 15.82 -
8384.53 863.45 -7.30 1052 8391.49 roll -0.65 - - 2026.12 - 2.74 0.043 2879.56 541.0 -97.32 - - 3358.03 - - - - - - - - - 15.77 -
8694.54 887.76 -7.96 1084 8701.40 roll -0.65 - - 2026.25 - 2.65 0.025 1399.38 -558.6 -97.32 - - 3358.81 - - - - - - - - - 15.89 -
8779.31 894.64 -8.02 1101 8786.78 roll -0.65 - - 2015.44 - 2.79 0.043 2880.50 530.9 -97.32 - - 3357.62 - - - - - - - - - 14.72 -
9094.58 921.55 -8.34 1133 9101.43 roll -0.65 - - 2015.00 - 2.66 0.024 1398.69 -557.1 -97.32 - - 3357.03 - - - - - - - - - 14.77 -
9184.60 929.11 -8.31 1151 9191.61 roll -0.65 - - 2004.25 - 2.80 0.043 2879.69 528.9 -97.32 - - 3358.91 - - - - - - - - - 14.71 -
9494.63 956.70 -8.97 1183 9501.74 roll back -0.65 0.14 0.233 2044.69 288.9 2.63 0.025 1397.19 -563.7 -97.32 - - 3356.62 - - - - - - - - 15.44 15.46 -
9584.67 963.35 -7.19 1201 9591.60 roll -0.65 - - 2036.44 - 2.76 0.044 2881.88 537.9 -97.32 - - 3357.12 - - - - - - - - - 15.76 -
9894.71 987.43 -8.06 1233 9901.65 roll -0.65 - - 2037.94 - 2.62 0.025 1399.25 -565.9 -97.32 - - 3355.84 - - - - - - - - - 15.88 -
9929 end dive: TARGET_DEPTH_EXCEEDED
9930 begin apogee
9934.16 990.34 -8.18 1240 10035.48 -0.12 0.62 0.178 2210.56 278.4 0.13 0.129 2314.75 7042.3 - 91.71 2.321 2968.31 -4.2 0.320 - - - - - - 15.29 14.85 10.13
10037 end apogee: CONTROL_FINISHED_OK
10037 begin climb
10038.07 993.51 - 1250 10150.34 0.65 0.77 0.094 2465.25 330.8 2.68 0.066 3835.50 567.4 97.32 96.93 2.272 2569.41 -4.1 0.319 - - - - - - 15.18 14.59 11.38
10182.67 989.69 6.22 1277 10189.73 roll 0.70 - - 2475.06 - 2.37 0.019 2335.88 -632.8 97.32 - - 2563.28 - - - - - - - - - 15.20 -
10497.96 966.89 7.47 1309 10499.76 VBD 0.72 - - 2476.50 - - - 2319.56 - 97.32 - - 2556.69 - - - - - - - - - - -
10807.98 943.19 7.91 1340 10809.78 VBD 0.73 - - 2476.19 - - - 2319.06 - 97.32 - - 2554.44 - - - - - - - - - - -
11117.93 917.66 8.57 1371 11124.69 done 0.73 - - 2477.50 - 2.49 0.062 3838.75 610.3 97.32 - - 2553.53 - - - - - - - - - 15.79 -
11207.95 908.78 9.84 1389 11214.74 done 0.73 - - 2485.94 - 2.28 0.020 2326.31 -663.4 97.32 - - 2552.28 - - - - - - - - - 15.86 -
11517.98 879.84 9.40 1421 11519.77 VBD 0.73 - - 2487.62 - - - 2310.25 - 97.32 - - 2551.81 - - - - - - - - - - -
11828.01 851.52 8.79 1452 11834.86 done 0.73 - - 2489.31 - 2.51 0.061 3839.00 609.1 97.32 - - 2551.50 - - - - - - - - - 14.99 -
11892.76 845.16 9.84 1465 11899.88 done 0.73 - - 2499.38 - 2.26 0.020 2326.25 -669.4 97.32 - - 2551.31 - - - - - - - - - 15.89 -
12208.13 818.70 7.96 1497 12214.82 done 0.74 - - 2498.44 - 2.49 0.060 3841.06 608.4 97.32 - - 2552.38 - - - - - - - - - 15.81 -
12298.05 810.59 8.95 1515 12304.61 done 0.74 - - 2508.56 - 2.28 0.020 2312.19 -670.6 97.32 - - 2551.00 - - - - - - - - - 15.91 -
12608.17 787.98 6.79 1547 12614.95 done 0.77 - - 2511.75 - 2.54 0.060 3840.69 601.8 97.32 - - 2550.91 - - - - - - - - - 14.93 -
12698.10 780.64 8.21 1565 12704.64 done 0.77 - - 2519.62 - 2.30 0.020 2322.25 -660.2 97.32 - - 2550.19 - - - - - - - - - 15.03 -
13008.14 756.35 8.13 1597 13014.91 done 0.77 - - 2520.50 - 2.51 0.059 3841.69 605.4 97.32 - - 2550.72 - - - - - - - - - 15.81 -
13048.14 752.64 9.27 1605 13054.69 done 0.77 - - 2529.94 - 2.27 0.020 2317.38 -671.5 97.32 - - 2552.38 - - - - - - - - - 15.91 -
13358.17 725.25 9.10 1637 13360.23 0.77 0.16 0.241 2487.31 -266.4 - - 2300.38 - 97.32 - - 2549.50 - - - - - - - - 15.38 - -
13668.28 701.59 7.54 1668 13670.07 VBD 0.79 - - 2488.19 - - - 2300.81 - 97.32 - - 2548.84 - - - - - - - - - - -
13978.46 676.84 8.15 1699 13985.10 done 0.79 - - 2487.94 - 2.51 0.061 3838.38 612.6 97.32 - - 2551.91 - - - - - - - - - 15.78 -
14088.25 666.71 9.35 1721 14094.89 done 0.79 - - 2498.25 - 2.28 0.020 2330.38 -661.4 97.32 - - 2549.72 - - - - - - - - - 15.91 -
14398.28 640.53 8.71 1753 14404.97 done 0.79 - - 2496.75 - 2.46 0.060 3838.88 613.2 97.32 - - 2549.94 - - - - - - - - - 15.78 -
14443.03 636.04 10.09 1762 14450.07 done 0.79 - - 2507.44 - 2.29 0.020 2313.38 -666.2 97.32 - - 2548.41 - - - - - - - - - 15.83 -
14758.31 608.38 8.33 1794 14765.35 done 0.79 - - 2506.94 - 2.52 0.060 3841.94 606.6 97.32 - - 2551.28 - - - - - - - - - 15.78 -
14808.32 603.76 9.22 1804 14814.87 done 0.79 - - 2518.19 - 2.28 0.020 2324.31 -665.6 97.32 - - 2548.75 - - - - - - - - - 15.92 -
15118.43 579.72 7.20 1836 15125.05 done 0.81 - - 2519.19 - 2.48 0.059 3841.56 611.8 97.32 - - 2547.97 - - - - - - - - - 15.75 -
15218.45 571.93 7.74 1856 15224.98 done 0.83 - - 2528.75 - 2.31 0.019 2312.88 -661.8 97.32 - - 2548.94 - - - - - - - - - 14.90 -
15528.48 551.46 6.29 1888 15530.28 VBD 0.87 - - 2529.88 - - - 2297.94 - 97.32 - - 2547.69 - - - - - - - - - - -
15838.50 531.44 6.60 1919 15845.20 done 0.91 - - 2529.69 - 2.51 0.059 3840.94 614.7 97.32 - - 2548.16 - - - - - - - - - 15.77 -
15898.42 526.67 8.00 1931 15904.96 done 0.91 - - 2540.12 - 2.28 0.019 2324.12 -665.3 97.32 - - 2547.59 - - - - - - - - - 15.91 -
16208.54 503.27 7.61 1963 16215.25 done 0.93 - - 2552.00 - 2.59 0.030 949.81 -530.6 97.32 - - 2549.00 - - - - - - - - - 14.82 -
16258.55 499.35 7.89 1973 16265.49 done 0.94 - - 2553.19 - 2.80 0.032 2436.38 530.9 97.32 - - 2547.62 - - - - - - - - - 15.85 -
16568.50 473.19 8.55 2005 16575.43 done 0.94 - - 2563.69 - 2.80 0.027 947.31 -531.8 97.32 - - 2548.03 - - - - - - - - - 14.81 -
16598.50 470.62 8.44 2011 16605.59 done 0.94 - - 2564.62 - 2.85 0.031 2437.56 522.9 97.32 - - 2548.88 - - - - - - - - - 14.81 -
16908.51 443.42 8.34 2043 16914.96 done 0.94 - - 2562.62 - 2.20 0.061 3840.88 637.9 97.32 - - 2547.28 - - - - - - - - - 15.77 -
16993.27 435.51 9.45 2060 17000.33 done 0.94 - - 2573.94 - 2.26 0.019 2328.19 -669.3 97.32 - - 2548.91 - - - - - - - - - 15.90 -
17308.56 409.61 8.14 2092 17310.35 VBD 0.94 - - 2573.88 - - - 2314.62 - 97.32 - - 2546.81 - - - - - - - - - - -
17618.58 384.89 8.00 2123 17625.46 done 0.94 - - 2575.12 - 2.54 0.060 3841.25 601.0 97.32 - - 2547.50 - - - - - - - - - 14.69 -
17678.58 379.28 9.38 2135 17685.12 done 0.94 - - 2583.50 - 2.30 0.018 2311.31 -665.2 97.32 - - 2547.31 - - - - - - - - - 14.82 -
17988.71 355.24 7.80 2167 17995.63 done 0.95 - - 2596.31 - 2.52 0.030 947.38 -541.2 97.32 - - 2549.00 - - - - - - - - - 15.86 -
18038.72 351.51 7.47 2177 18045.94 0.97 0.17 0.265 2552.56 -257.4 2.85 0.032 2440.00 523.7 97.32 - - 2549.03 - - - - - - - - 15.07 14.77 -
18348.79 331.06 6.66 2209 18355.29 done 1.01 - - 2553.25 - 2.20 0.062 3840.69 636.7 97.32 - - 2547.09 - - - - - - - - - 15.76 -
18483.57 320.53 7.78 2236 18490.61 done 1.02 - - 2565.31 - 2.27 0.019 2307.50 -675.4 97.32 - - 2547.22 - - - - - - - - - 15.81 -
18798.86 300.64 5.96 2268 18805.46 done 1.07 - - 2574.81 - 2.49 0.029 948.50 -545.8 97.32 - - 2548.47 - - - - - - - - - 15.87 -
18929.13 292.46 6.50 2294 18935.84 done 1.11 - - 2575.88 - 2.82 0.032 2438.44 528.3 97.32 - - 2548.09 - - - - - - - - - 15.80 -
19238.92 270.09 7.25 2326 19240.97 1.13 0.11 0.074 2630.44 496.0 - - 2437.69 - 97.32 - - 2546.97 - - - - - - - - 15.72 - -
19548.96 245.52 7.26 2357 19555.83 done 1.16 - - 2642.94 - 2.77 0.028 945.50 -538.7 97.32 - - 2548.84 - - - - - - - - - 15.87 -
19643.73 238.72 6.94 2376 19651.27 done 1.19 - - 2643.69 - 2.86 0.032 2436.31 521.3 97.32 - - 2548.03 - - - - - - - - - 14.74 -
19959.01 217.69 6.46 2408 19965.46 done 1.23 - - 2641.75 - 2.24 0.059 3839.19 626.3 97.32 - - 2550.19 - - - - - - - - - 14.69 -
20123.78 205.63 6.99 2441 20130.76 done 1.26 - - 2653.19 - 2.29 0.017 2326.44 -660.6 97.32 - - 2548.12 - - - - - - - - - 14.78 -
20439.08 185.32 6.61 2473 20446.45 done 1.29 - - 2653.50 - 2.54 0.056 3840.81 596.2 97.32 - - 2548.16 - - - - - - - - - 14.72 -
20549.01 176.76 8.20 2495 20556.23 done 1.29 - - 2663.06 - 2.29 0.017 2307.69 -669.5 97.32 - - 2547.91 - - - - - - - - - 15.79 -
20859.12 153.77 7.36 2527 20866.68 done 1.32 - - 2663.19 - 2.58 0.056 3842.25 594.8 97.32 - - 2549.81 - - - - - - - - - 14.72 -
21073.95 135.19 8.51 2570 21081.90 done 1.32 - - 2673.31 - 2.30 0.017 2311.50 -665.5 97.32 - - 2549.16 - - - - - - - - - 15.61 -
21389.32 115.12 5.81 2602 21396.71 done 1.37 - - 2684.88 - 2.56 0.028 943.62 -534.3 97.32 - - 2548.44 - - - - - - - - - 15.68 -
21434.06 112.76 5.45 2611 21485.73 done 1.44 - - 2685.75 - 2.86 0.029 2440.56 523.4 148.53 40.24 1.190 2362.22 -4.6 0.078 - - - - - - - 15.68 10.96
21789.29 75.43 10.35 2673 21794.26 VBD 1.44 - - 2684.50 - - - 2440.00 - 148.53 - - 2353.72 - - - - - - - - - - -
21979.40 60.51 7.31 2711 21986.78 done 1.46 - - 2685.81 - 2.27 0.058 3840.25 616.9 148.53 - - 2352.78 - - - - - - - - - 15.60 -
22139.42 48.44 7.15 2743 22147.06 1.49 0.09 0.106 2741.12 614.6 2.31 0.017 2303.69 -665.2 148.53 - - 2351.91 - - - - - - - - 15.56 15.70 -
22329.60 40.34 4.43 2781 22396.81 done 1.57 - - 2743.50 - 2.60 0.056 3841.25 591.4 216.94 54.01 1.066 2081.78 -5.0 0.034 - - - - - - - 15.20 11.08
22474.32 24.98 14.46 2809 22481.88 roll 1.57 - - 2750.12 - 2.32 0.017 2312.19 -659.1 216.94 - - 2079.16 - - - - - - - - - 15.59 -
22619 end climb: SURFACE_DEPTH_REACHED
22619 begin surface coast
22634 end surface coast: CONTROL_FINISHED_OK
22635 begin surface
SM 1.12 - - - - 215.8 78.75 1.028 1640.8 20.8 7.39 0.073 1634.1 221.1 - 0.99 0.064 1647.6 1661.9 -2.973 - - 11.07 15.57 15.64 -