SMODE Mar23 * SG219 * Dive index * Mission links * Dive 101 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 130.47 of 310.00 AH used of 24V (57.91% remains)
• Surface angle -69.4 deg, depth 1.44 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 325.38 (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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
16.44 - - - 59.69 VBD -0.65 - - 195.62 - - - 2600.12 - -97.32 39.18 0.005 2360.47 - - - - - - - - - - 14.80
60.12 2.03 -1.60 8 129.13 -0.65 8.40 0.350 2041.19 219.7 2.43 0.028 1296.50 -536.5 -97.32 44.78 0.005 3364.41 22.4 -1.616 - - - - - - 14.75 14.90 15.03
131.49 6.08 -10.85 21 139.29 roll -0.65 - - 2031.69 - 2.83 0.042 2775.81 522.7 -97.32 - - 3365.88 - - - - - - - - - 15.33 -
321.71 38.08 -17.26 59 328.72 roll -0.65 - - 2023.00 - 1.73 0.064 3850.75 621.4 -97.32 - - 3367.12 - - - - - - - - - 15.37 -
406.81 53.36 -18.57 76 413.79 roll -0.65 - - 2024.94 - 1.74 0.018 2654.50 -687.5 -97.32 - - 3367.22 - - - - - - - - - 15.43 -
596.75 80.68 -15.26 114 603.93 roll -0.65 - - 2015.62 - 1.98 0.063 3850.44 604.0 -97.32 - - 3369.38 - - - - - - - - - 15.33 -
666.76 90.54 -14.25 128 673.87 roll -0.65 - - 2014.75 - 1.73 0.018 2650.56 -693.6 -97.32 - - 3369.69 - - - - - - - - - 15.34 -
861.79 116.27 -13.46 155 864.95 no move -0.65 - - 2014.31 - - - 2642.00 - -97.32 - - 3367.44 - - - - - - - - - - -
1171.82 153.75 -10.80 186 1175.32 no move -0.65 - - 2015.25 - - - 2640.81 - -97.32 - - 3367.62 - - - - - - - - - - -
1481.84 186.94 -11.17 217 1488.70 roll -0.65 - - 2006.00 - 1.98 0.064 3851.75 611.6 -97.32 - - 3368.88 - - - - - - - - - 15.66 -
1556.59 195.85 -11.91 232 1564.06 roll back -0.65 0.14 0.226 2043.38 267.0 1.72 0.019 2640.56 -704.2 -97.32 - - 3369.84 - - - - - - - - 15.42 15.78 -
1871.88 227.79 -10.17 264 1873.63 no move -0.65 - - 2043.25 - - - 2631.56 - -97.32 - - 3368.25 - - - - - - - - - - -
2181.92 259.54 -10.13 295 2187.94 roll -0.65 - - 2036.56 - 2.01 0.065 3851.50 606.9 -97.32 - - 3368.62 - - - - - - - - - 15.73 -
2256.71 267.23 -10.05 310 2262.89 roll -0.65 - - 2035.75 - 1.73 0.020 2646.38 -696.6 -97.32 - - 3369.03 - - - - - - - - - 15.81 -
2571.99 297.63 -9.16 342 2578.06 roll -0.65 - - 2027.75 - 1.97 0.065 3849.75 610.8 -97.32 - - 3368.22 - - - - - - - - - 15.74 -
2601.99 300.51 -9.34 348 2607.91 roll -0.65 - - 2027.19 - 1.73 0.020 2653.12 -691.7 -97.32 - - 3369.06 - - - - - - - - - 15.82 -
2912.02 330.31 -9.70 380 2918.10 roll -0.65 - - 2018.31 - 1.97 0.065 3848.69 606.9 -97.32 - - 3368.75 - - - - - - - - - 15.64 -
2952.02 334.28 -9.93 388 2957.95 roll -0.65 - - 2018.75 - 1.72 0.019 2651.12 -696.3 -97.32 - - 3368.75 - - - - - - - - - 15.94 -
3262.05 365.48 -10.06 420 3263.84 no move -0.65 - - 2018.75 - - - 2641.56 - -97.32 - - 3366.41 - - - - - - - - - - -
3572.08 397.91 -10.68 451 3573.87 no move -0.65 - - 2018.56 - - - 2640.94 - -97.32 - - 3365.69 - - - - - - - - - - -
3882.11 433.19 -11.66 482 3888.19 roll -0.65 - - 2009.38 - 1.96 0.066 3851.62 617.7 -97.32 - - 3366.53 - - - - - - - - - 15.85 -
3916.85 437.41 -12.15 489 3923.30 roll back -0.65 0.12 0.219 2044.81 295.2 1.73 0.020 2647.44 -696.1 -97.32 - - 3365.94 - - - - - - - - 15.58 15.96 -
4232.13 466.16 -8.71 521 4233.92 no move -0.65 - - 2044.75 - - - 2638.81 - -97.32 - - 3364.84 - - - - - - - - - - -
4542.15 492.03 -8.06 552 4548.25 roll -0.65 - - 2038.44 - 1.98 0.067 3851.62 612.5 -97.32 - - 3364.78 - - - - - - - - - 15.83 -
4582.17 495.27 -8.09 560 4588.09 roll -0.65 - - 2037.12 - 1.73 0.020 2645.50 -697.2 -97.32 - - 3366.72 - - - - - - - - - 15.79 -
4892.20 518.91 -7.43 592 4893.99 no move -0.65 - - 2038.06 - - - 2643.00 - -97.32 - - 3363.34 - - - - - - - - - - -
5202.22 542.41 -7.60 623 5208.38 roll -0.65 - - 2030.19 - 1.98 0.067 3851.56 610.4 -97.32 - - 3364.62 - - - - - - - - - 15.83 -
5262.23 547.26 -8.16 635 5268.15 roll -0.65 - - 2028.69 - 1.72 0.020 2648.44 -699.5 -97.32 - - 3364.25 - - - - - - - - - 15.95 -
5572.25 573.03 -8.47 667 5578.40 roll -0.65 - - 2021.12 - 1.98 0.066 3850.00 606.8 -97.32 - - 3364.53 - - - - - - - - - 15.68 -
5597.00 575.17 -8.46 672 5603.19 roll -0.65 - - 2019.69 - 1.72 0.021 2651.00 -697.1 -97.32 - - 3363.62 - - - - - - - - - 15.94 -
5912.37 603.06 -8.91 704 5914.16 no move -0.65 - - 2019.75 - - - 2648.62 - -97.32 - - 3361.47 - - - - - - - - - - -
6222.31 631.02 -9.11 735 6228.68 roll -0.65 - - 2011.38 - 1.96 0.067 3850.00 612.9 -97.32 - - 3362.50 - - - - - - - - - 15.82 -
6257.05 634.39 -9.42 742 6263.23 roll -0.65 - - 2010.25 - 1.72 0.021 2650.50 -697.4 -97.32 - - 3362.59 - - - - - - - - - 15.94 -
6572.34 665.09 -9.94 774 6574.13 no move -0.65 - - 2011.38 - - - 2647.31 - -97.32 - - 3360.53 - - - - - - - - - - -
6882.36 694.97 -9.74 805 6888.46 roll -0.65 - - 2002.44 - 1.95 0.067 3849.75 616.6 -97.32 - - 3359.59 - - - - - - - - - 15.81 -
6932.38 699.97 -10.14 815 6938.63 roll back -0.65 0.14 0.215 2044.12 297.7 1.72 0.021 2647.88 -698.8 -97.32 - - 3362.06 - - - - - - - - 15.35 15.62 -
7242.40 725.39 -8.15 847 7248.61 roll -0.65 - - 2035.19 - 1.97 0.068 3849.31 609.9 -97.32 - - 3359.84 - - - - - - - - - 15.77 -
7272.41 727.93 -8.30 853 7278.39 roll -0.65 - - 2038.19 - 1.73 0.021 2648.44 -694.1 -97.32 - - 3361.09 - - - - - - - - - 15.90 -
7582.43 753.66 -8.23 885 7584.22 no move -0.65 - - 2036.50 - - - 2645.50 - -97.32 - - 3358.25 - - - - - - - - - - -
7892.46 778.65 -7.74 916 7894.25 no move -0.65 - - 2036.75 - - - 2644.31 - -97.32 - - 3357.56 - - - - - - - - - - -
8202.49 803.19 -8.12 947 8208.58 roll -0.65 - - 2027.50 - 1.96 0.068 3850.50 615.4 -97.32 - - 3358.31 - - - - - - - - - 15.76 -
8262.49 808.46 -8.90 959 8268.42 roll -0.65 - - 2028.25 - 1.72 0.022 2649.69 -698.1 -97.32 - - 3358.44 - - - - - - - - - 15.93 -
8572.52 836.20 -8.85 991 8578.59 roll -0.65 - - 2019.25 - 1.97 0.067 3848.44 608.5 -97.32 - - 3359.47 - - - - - - - - - 15.60 -
8607.26 839.41 -8.99 998 8613.44 roll -0.65 - - 2018.50 - 1.72 0.021 2650.19 -696.7 -97.32 - - 3357.62 - - - - - - - - - 15.93 -
8922.56 868.36 -9.12 1030 8924.35 no move -0.65 - - 2019.00 - - - 2647.56 - -97.32 - - 3356.03 - - - - - - - - - - -
9232.58 896.47 -9.11 1061 9238.68 roll -0.65 - - 2009.31 - 1.99 0.067 3849.75 604.1 -97.32 - - 3356.56 - - - - - - - - - 15.67 -
9277.34 900.73 -9.55 1070 9283.53 roll -0.65 - - 2010.56 - 1.74 0.021 2652.19 -688.3 -97.32 - - 3357.47 - - - - - - - - - 15.71 -
9592.62 930.74 -9.51 1102 9594.42 no move -0.65 - - 2010.81 - - - 2648.56 - -97.32 - - 3355.19 - - - - - - - - - - -
9902.68 960.05 -9.36 1133 9908.77 roll -0.65 - - 2001.94 - 1.98 0.068 3848.00 605.8 -97.32 - - 3355.69 - - - - - - - - - 15.50 -
9942.69 963.99 -9.92 1141 9948.95 roll back -0.65 0.14 0.210 2044.75 305.8 1.73 0.022 2648.50 -693.4 -97.32 - - 3355.78 - - - - - - - - 15.47 15.92 -
10252.73 987.05 -7.05 1173 10254.52 no move -0.65 - - 2043.88 - - - 2639.56 - -97.32 - - 3355.16 - - - - - - - - - - -
10303 end dive: TARGET_DEPTH_EXCEEDED
10303 begin apogee
10304.62 990.45 -6.86 1178 10404.26 -0.12 0.55 0.165 2210.94 303.7 0.23 0.103 2440.44 -865.7 - 91.13 2.316 2968.09 -4.2 0.322 - - - - - - 15.47 14.85 10.13
10406 end apogee: CONTROL_FINISHED_OK
10406 begin climb
10406.89 992.28 - 1187 10519.88 0.65 0.77 0.092 2478.19 347.1 3.02 0.035 951.38 -493.1 97.32 96.66 2.265 2568.62 -4.1 0.321 - - - - - - 15.16 14.60 11.37
10552.20 987.01 6.87 1214 10559.80 roll 0.68 - - 2477.69 - 2.94 0.035 2431.19 503.3 97.32 - - 2565.44 - - - - - - - - - 15.15 -
10867.41 960.01 8.53 1246 10869.20 VBD 0.68 - - 2476.88 - - - 2431.19 - 97.32 - - 2557.03 - - - - - - - - - - -
11177.51 934.74 7.87 1277 11179.31 VBD 0.70 - - 2477.12 - - - 2430.50 - 97.32 - - 2554.22 - - - - - - - - - - -
11487.80 910.33 7.76 1308 11494.01 done 0.71 - - 2477.44 - 2.24 0.063 3839.19 628.9 97.32 - - 2552.91 - - - - - - - - - 15.79 -
11497.54 909.51 7.85 1310 11504.00 done 0.72 - - 2487.56 - 2.28 0.020 2326.62 -663.4 97.32 - - 2555.59 - - - - - - - - - 15.83 -
11807.57 885.33 7.67 1342 11814.26 done 0.74 - - 2488.56 - 2.56 0.062 3840.69 591.4 97.32 - - 2552.25 - - - - - - - - - 15.04 -
11847.49 881.91 8.55 1350 11854.04 done 0.74 - - 2497.25 - 2.28 0.021 2316.38 -668.6 97.32 - - 2552.62 - - - - - - - - - 15.88 -
12157.60 857.88 7.46 1382 12159.39 VBD 0.76 - - 2498.38 - - - 2300.00 - 97.32 - - 2551.66 - - - - - - - - - - -
12467.62 834.58 7.48 1413 12469.43 VBD 0.78 - - 2498.88 - - - 2300.19 - 97.32 - - 2550.78 - - - - - - - - - - -
12777.66 811.63 7.28 1444 12784.43 done 0.80 - - 2499.88 - 2.54 0.061 3840.81 606.5 97.32 - - 2551.19 - - - - - - - - - 15.80 -
12837.58 806.66 8.40 1456 12844.13 done 0.80 - - 2509.69 - 2.28 0.020 2317.38 -668.2 97.32 - - 2550.72 - - - - - - - - - 15.91 -
13147.87 782.37 7.98 1488 13154.41 done 0.80 - - 2509.50 - 2.54 0.060 3839.62 599.3 97.32 - - 2551.56 - - - - - - - - - 15.79 -
13212.39 776.29 9.49 1501 13219.45 done 0.80 - - 2519.88 - 2.27 0.020 2315.19 -671.6 97.32 - - 2550.22 - - - - - - - - - 15.83 -
13527.70 749.98 8.42 1533 13534.48 done 0.80 - - 2521.00 - 2.54 0.060 3838.69 599.8 97.32 - - 2550.06 - - - - - - - - - 15.80 -
13557.71 747.15 8.98 1539 13564.25 done 0.80 - - 2530.62 - 2.28 0.020 2316.81 -667.5 97.32 - - 2550.16 - - - - - - - - - 15.92 -
13867.74 720.01 8.82 1571 13874.75 done 0.80 - - 2543.25 - 2.54 0.031 948.31 -538.8 97.32 - - 2550.31 - - - - - - - - - 15.89 -
13897.75 717.39 8.83 1577 13905.05 0.80 0.17 0.244 2497.38 -269.8 2.81 0.032 2442.12 531.6 97.32 - - 2552.62 - - - - - - - - 15.36 15.88 -
14207.86 693.41 7.67 1609 14214.32 done 0.82 - - 2496.81 - 2.27 0.062 3840.06 615.8 97.32 - - 2549.28 - - - - - - - - - 14.86 -
14237.78 690.76 8.22 1615 14244.41 done 0.82 - - 2504.81 - 2.31 0.020 2316.38 -659.6 97.32 - - 2548.91 - - - - - - - - - 14.94 -
14547.89 665.85 7.83 1647 14549.68 VBD 0.83 - - 2506.38 - - - 2300.25 - 97.32 - - 2548.12 - - - - - - - - - - -
14857.92 641.38 7.79 1678 14864.62 done 0.84 - - 2507.31 - 2.56 0.061 3841.00 601.9 97.32 - - 2548.41 - - - - - - - - - 15.77 -
14952.60 632.99 8.81 1697 14959.65 done 0.84 - - 2516.81 - 2.29 0.020 2313.69 -666.9 97.32 - - 2548.91 - - - - - - - - - 15.82 -
15267.97 608.02 7.80 1729 15269.77 VBD 0.86 - - 2518.25 - - - 2297.12 - 97.32 - - 2547.78 - - - - - - - - - - -
15578.00 584.44 7.23 1760 15584.72 done 0.88 - - 2517.50 - 2.53 0.060 3841.62 610.5 97.32 - - 2550.81 - - - - - - - - - 15.76 -
15647.93 578.72 8.18 1774 15654.56 done 0.88 - - 2527.38 - 2.31 0.020 2314.00 -661.3 97.32 - - 2547.78 - - - - - - - - - 14.87 -
15958.04 556.61 7.23 1806 15964.73 done 0.90 - - 2529.75 - 2.50 0.060 3840.62 610.6 97.32 - - 2550.09 - - - - - - - - - 15.76 -
16037.98 549.91 8.51 1822 16044.62 done 0.90 - - 2539.38 - 2.32 0.019 2312.81 -658.5 97.32 - - 2547.62 - - - - - - - - - 14.85 -
16348.02 525.62 8.30 1854 16354.80 done 0.90 - - 2550.81 - 2.51 0.030 947.31 -544.0 97.32 - - 2549.22 - - - - - - - - - 15.87 -
16402.76 520.90 8.63 1865 16410.21 done 0.90 - - 2549.56 - 2.79 0.032 2436.81 533.9 97.32 - - 2548.88 - - - - - - - - - 15.86 -
16718.04 492.80 9.05 1897 16725.06 done 0.90 - - 2564.06 - 2.78 0.028 944.44 -536.8 97.32 - - 2548.12 - - - - - - - - - 15.87 -
16752.79 489.60 9.12 1904 16760.32 done 0.90 - - 2562.38 - 2.84 0.033 2437.00 525.5 97.32 - - 2547.97 - - - - - - - - - 15.82 -
17068.07 461.34 9.08 1936 17075.09 done 0.90 - - 2575.38 - 2.76 0.028 943.81 -541.0 97.32 - - 2549.53 - - - - - - - - - 15.88 -
17128.08 455.89 9.12 1948 17135.43 0.90 0.16 0.231 2531.81 -272.3 2.85 0.033 2439.31 524.7 97.32 - - 2550.50 - - - - - - - - 15.32 15.85 -
17438.20 432.68 7.06 1980 17440.00 VBD 0.93 - - 2530.12 - - - 2438.94 - 97.32 - - 2546.88 - - - - - - - - - - -
17748.22 410.92 6.86 2011 17754.67 done 0.96 - - 2530.25 - 2.22 0.063 3840.94 631.5 97.32 - - 2548.84 - - - - - - - - - 14.73 -
17788.23 407.86 7.30 2019 17794.96 0.99 0.08 0.101 2604.44 927.4 2.24 0.019 2320.38 -678.8 97.32 - - 2548.34 - - - - - - - - 15.67 15.90 -
18098.17 381.72 8.32 2051 18105.21 0.99 0.18 0.271 2568.31 -200.7 2.53 0.030 945.31 -543.5 97.32 - - 2548.12 - - - - - - - - 15.23 15.34 -
18118.17 380.14 8.28 2055 18125.22 done 0.99 - - 2568.00 - 2.82 0.033 2435.44 528.4 97.32 - - 2548.50 - - - - - - - - - 15.85 -
18428.28 357.05 7.27 2087 18435.15 done 1.01 - - 2579.44 - 2.79 0.029 947.00 -533.5 97.32 - - 2547.53 - - - - - - - - - 15.87 -
18543.04 348.41 7.41 2110 18550.51 done 1.03 - - 2579.62 - 2.88 0.033 2435.69 516.9 97.32 - - 2547.84 - - - - - - - - - 14.80 -
18858.25 323.07 8.45 2142 18860.04 VBD 1.03 - - 2579.56 - - - 2435.44 - 97.32 - - 2547.09 - - - - - - - - - - -
19168.35 298.24 7.78 2173 19170.16 VBD 1.05 - - 2579.62 - - - 2435.31 - 97.32 - - 2548.25 - - - - - - - - - - -
19478.38 274.56 7.41 2204 19484.84 done 1.07 - - 2579.19 - 2.25 0.063 3840.62 624.6 97.32 - - 2548.12 - - - - - - - - - 15.72 -
19523.05 270.95 8.02 2213 19530.11 done 1.07 - - 2590.19 - 2.28 0.019 2321.81 -666.1 97.32 - - 2547.97 - - - - - - - - - 15.89 -
19838.42 248.86 6.29 2245 19840.21 VBD 1.11 - - 2590.62 - - - 2304.81 - 97.32 - - 2547.00 - - - - - - - - - - -
20148.44 228.19 6.76 2276 20155.25 done 1.15 - - 2602.06 - 2.62 0.030 947.12 -518.2 97.32 - - 2548.31 - - - - - - - - - 14.78 -
20283.21 219.07 6.69 2303 20290.68 done 1.18 - - 2601.25 - 2.89 0.032 2438.38 516.0 97.32 - - 2550.44 - - - - - - - - - 14.78 -
20595.38 199.58 6.28 2334 20604.05 1.22 0.12 0.079 2698.81 813.0 2.84 0.028 944.62 -526.0 97.32 - - 2547.78 - - - - - - - - 15.74 14.70 -
20751.65 186.98 7.81 2365 20760.70 1.24 0.26 0.296 2639.19 -229.3 2.85 0.032 2446.69 527.0 97.32 - - 2548.38 - - - - - - - - 15.01 15.71 -
21066.68 167.49 5.12 2397 21123.46 done 1.31 - - 2650.06 - 2.85 0.029 946.81 -526.3 154.12 44.84 1.276 2336.56 -4.7 0.110 - - - - - - - 15.31 10.70
21245.72 149.17 11.45 2432 21254.02 roll 1.31 - - 2649.12 - 2.87 0.033 2436.44 519.0 154.12 - - 2332.44 - - - - - - - - - 15.59 -
21561.01 110.64 10.20 2464 21564.18 VBD 1.31 - - 2648.25 - - - 2436.31 - 154.12 - - 2328.66 - - - - - - - - - - -
21866.05 80.88 10.10 2513 21874.02 done 1.31 - - 2658.00 - 2.82 0.027 946.75 -528.2 154.12 - - 2329.69 - - - - - - - - - 15.68 -
22101.64 65.30 5.81 2560 22109.53 done 1.36 - - 2658.94 - 2.84 0.032 2435.81 524.3 154.12 - - 2326.56 - - - - - - - - - 15.42 -
22292.08 54.74 5.99 2598 22297.56 1.41 0.12 0.070 2720.88 516.2 - - 2438.31 - 154.12 - - 2328.88 - - - - - - - - 15.56 - -
22482.10 41.88 6.83 2636 22487.14 VBD 1.45 - - 2723.62 - - - 2437.50 - 154.12 - - 2328.50 - - - - - - - - - - -
22672.39 33.72 4.61 2674 22735.50 done 1.53 - - 2732.88 - 2.83 0.029 947.31 -526.6 219.44 51.47 1.060 2069.69 -5.0 0.028 - - - - - - - 15.28 11.25
22738.24 28.55 10.03 2686 22745.99 roll 1.53 - - 2732.94 - 2.87 0.032 2434.94 518.3 219.44 - - 2069.62 - - - - - - - - - 15.36 -
22913 end climb: SURFACE_DEPTH_REACHED
22913 begin surface coast
22929 end surface coast: CONTROL_FINISHED_OK
22929 begin surface
SM 1.60 - - - - 215.7 76.81 1.030 1641.6 21.4 7.51 0.085 1628.8 216.9 - 0.50 0.058 1654.3 3302.9 -9.312 - - 11.06 15.53 15.67 -