SMODE Aug22 * SG219 * Dive index * Mission links * Dive 119 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 35.16 of 310.00 AH used of 24V (88.66% remains)
• Surface angle -69.1 deg, depth 1.26 m • Intended pitch -21.0 deg, speed -8.462 cm/s
• VBD pumped to 350.02 (SM_CC=350)
• GPS1 time: 22 s
• GPS2 time: 2 s • Transponder ping count: 31
• 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
14.69 - - - 62.27 VBD -0.65 - - 128.38 - - - 2708.44 - -97.32 45.65 0.005 2502.28 - - - - - - - - - - 15.54
62.51 2.07 -2.02 9 105.98 -0.65 8.65 0.364 2074.19 224.9 1.91 0.066 3851.44 598.4 -97.32 28.70 0.006 3365.41 30.1 -1.766 - - - - - - 15.39 15.56 15.58
293.08 43.89 -15.76 55 298.98 roll -0.65 - - 2074.62 - 1.63 0.016 2753.25 -673.7 -97.32 - - 3366.56 - - - - - - - - - 15.75 -
483.04 70.81 -14.60 93 489.34 roll -0.65 - - 2074.88 - 2.31 0.022 1389.44 -590.4 -97.32 - - 3368.44 - - - - - - - - - 15.72 -
563.06 81.48 -12.43 109 569.31 roll -0.65 - - 2064.19 - 2.66 0.039 2881.50 560.9 -97.32 - - 3368.06 - - - - - - - - - 15.71 -
753.07 105.08 -11.83 143 759.04 roll -0.65 - - 2062.69 - 2.54 0.021 1387.81 -588.1 -97.32 - - 3371.12 - - - - - - - - - 15.75 -
817.82 112.41 -11.03 156 824.33 roll -0.65 - - 2053.19 - 2.65 0.040 2878.31 562.5 -97.32 - - 3370.34 - - - - - - - - - 15.77 -
1133.16 154.68 -13.43 188 1139.06 roll -0.65 - - 2053.38 - 2.52 0.021 1385.75 -592.3 -97.32 - - 3370.09 - - - - - - - - - 15.95 -
1143.09 156.04 -13.29 190 1149.20 roll -0.65 - - 2042.56 - 2.66 0.039 2879.06 561.4 -97.32 - - 3369.66 - - - - - - - - - 15.78 -
1453.19 198.93 -13.65 222 1459.15 roll back -0.65 0.14 0.249 2086.69 315.2 2.53 0.022 1388.38 -589.2 -97.32 - - 3369.06 - - - - - - - - 15.83 15.94 -
1523.15 206.56 -10.17 236 1528.46 roll -0.65 - - 2078.38 - 2.64 0.040 2878.56 564.5 -97.32 - - 3368.31 - - - - - - - - - 16.01 -
1833.25 239.81 -10.91 268 1837.52 roll -0.65 - - 2071.00 - 1.57 0.064 3848.94 618.1 -97.32 - - 3368.09 - - - - - - - - - 15.96 -
1863.18 243.26 -11.31 274 1867.45 roll -0.65 - - 2071.00 - 1.60 0.018 2746.75 -688.9 -97.32 - - 3368.06 - - - - - - - - - 16.04 -
2173.24 278.28 -11.40 306 2174.58 no move -0.65 - - 2071.06 - - - 2740.94 - -97.32 - - 3366.28 - - - - - - - - - - -
2483.28 312.68 -10.78 337 2484.62 no move -0.65 - - 2071.44 - - - 2740.81 - -97.32 - - 3364.69 - - - - - - - - - - -
2793.29 344.85 -10.38 368 2794.63 no move -0.65 - - 2070.88 - - - 2740.38 - -97.32 - - 3363.56 - - - - - - - - - - -
3103.30 375.66 -9.53 399 3104.64 no move -0.65 - - 2071.25 - - - 2740.75 - -97.32 - - 3362.41 - - - - - - - - - - -
3413.31 404.18 -8.92 430 3414.65 no move -0.65 - - 2071.44 - - - 2740.38 - -97.32 - - 3360.97 - - - - - - - - - - -
3723.33 432.15 -9.28 461 3727.64 roll -0.65 - - 2063.25 - 1.85 0.067 3848.69 599.1 -97.32 - - 3362.19 - - - - - - - - - 16.07 -
3758.08 435.60 -9.87 468 3760.78 roll -0.65 - - 2062.94 - 1.60 0.018 2751.31 -685.9 -97.32 - - 3361.34 - - - - - - - - - 16.12 -
4068.36 467.38 -10.30 499 4069.70 no move -0.65 - - 2063.81 - - - 2743.75 - -97.32 - - 3358.06 - - - - - - - - - - -
4378.36 498.41 -9.79 530 4382.72 roll -0.65 - - 2055.62 - 1.85 0.067 3849.12 597.5 -97.32 - - 3357.88 - - - - - - - - - 16.11 -
4408.37 501.53 -10.17 536 4412.65 roll -0.65 - - 2055.81 - 1.61 0.019 2746.88 -684.6 -97.32 - - 3359.75 - - - - - - - - - 16.13 -
4718.39 534.34 -10.83 568 4722.71 roll -0.65 - - 2046.19 - 1.84 0.067 3847.56 598.2 -97.32 - - 3358.84 - - - - - - - - - 16.12 -
4753.13 538.27 -11.26 575 4755.91 roll back -0.65 0.12 0.228 2083.19 308.3 1.60 0.019 2744.06 -689.7 -97.32 - - 3356.19 - - - - - - - - 16.01 16.13 -
5063.41 567.52 -9.61 606 5064.75 no move -0.65 - - 2083.56 - - - 2737.81 - -97.32 - - 3354.97 - - - - - - - - - - -
5373.43 596.33 -8.87 637 5377.73 roll -0.65 - - 2076.50 - 1.86 0.068 3850.81 598.4 -97.32 - - 3356.44 - - - - - - - - - 16.05 -
5393.67 598.17 -8.96 641 5397.95 roll -0.65 - - 2076.88 - 1.61 0.020 2746.50 -685.9 -97.32 - - 3356.03 - - - - - - - - - 16.12 -
5703.46 624.75 -8.09 673 5707.77 roll -0.65 - - 2068.94 - 1.83 0.067 3850.56 603.3 -97.32 - - 3354.94 - - - - - - - - - 16.07 -
5743.46 628.11 -8.44 681 5747.74 roll -0.65 - - 2069.62 - 1.61 0.019 2745.31 -686.5 -97.32 - - 3353.34 - - - - - - - - - 16.12 -
6053.49 653.91 -8.46 713 6058.74 roll -0.65 - - 2069.06 - 2.28 0.024 1390.25 -594.3 -97.32 - - 3353.53 - - - - - - - - - 16.13 -
6078.23 656.08 -8.50 718 6084.26 roll -0.65 - - 2058.62 - 2.63 0.042 2877.19 565.4 -97.32 - - 3353.12 - - - - - - - - - 15.89 -
6393.56 684.15 -8.71 750 6398.79 roll -0.65 - - 2058.19 - 2.52 0.025 1390.12 -590.1 -97.32 - - 3351.91 - - - - - - - - - 15.43 -
6423.51 686.81 -8.77 756 6428.82 roll -0.65 - - 2048.94 - 2.66 0.044 2875.75 558.5 -97.32 - - 3352.91 - - - - - - - - - 15.90 -
6733.57 714.99 -9.10 788 6738.87 roll back -0.65 0.12 0.253 2087.31 319.7 2.52 0.024 1389.38 -589.8 -97.32 - - 3351.66 - - - - - - - - 15.98 16.06 -
6753.53 716.64 -8.83 792 6758.82 roll -0.65 - - 2078.25 - 2.65 0.043 2877.06 561.4 -97.32 - - 3350.94 - - - - - - - - - 15.89 -
7063.58 740.73 -7.98 824 7068.82 roll -0.65 - - 2081.44 - 2.52 0.024 1388.62 -590.7 -97.32 - - 3350.28 - - - - - - - - - 16.12 -
7123.54 745.43 -7.81 836 7128.85 roll -0.65 - - 2072.25 - 2.65 0.043 2877.44 561.8 -97.32 - - 3350.81 - - - - - - - - - 16.12 -
7433.62 771.94 -8.96 868 7438.85 roll -0.65 - - 2071.81 - 2.53 0.024 1387.81 -588.8 -97.32 - - 3352.34 - - - - - - - - - 16.11 -
7493.56 777.43 -9.10 880 7498.88 roll -0.65 - - 2063.19 - 2.66 0.044 2879.50 560.8 -97.32 - - 3350.31 - - - - - - - - - 16.11 -
7803.63 808.91 -10.37 912 7808.87 roll -0.65 - - 2062.44 - 2.53 0.023 1389.19 -589.1 -97.32 - - 3349.47 - - - - - - - - - 15.89 -
7828.31 811.49 -10.35 917 7834.10 roll -0.65 - - 2053.69 - 2.65 0.044 2876.88 561.4 -97.32 - - 3349.75 - - - - - - - - - 16.12 -
8143.64 845.05 -10.93 949 8148.88 roll -0.65 - - 2051.81 - 2.52 0.023 1387.50 -591.0 -97.32 - - 3350.41 - - - - - - - - - 16.11 -
8203.62 851.36 -10.29 961 8208.90 roll -0.65 - - 2041.81 - 2.66 0.043 2876.31 559.7 -97.32 - - 3350.06 - - - - - - - - - 16.11 -
8513.65 882.93 -9.78 993 8518.94 roll back -0.65 0.14 0.248 2087.00 322.8 2.52 0.024 1390.00 -589.8 -97.32 - - 3348.72 - - - - - - - - 15.96 16.05 -
8548.33 885.82 -9.15 1000 8554.13 roll -0.65 - - 2077.44 - 2.65 0.043 2878.25 561.6 -97.32 - - 3348.53 - - - - - - - - - 16.11 -
8863.59 910.03 -7.56 1032 8868.90 roll -0.65 - - 2080.56 - 2.53 0.024 1386.75 -589.5 -97.32 - - 3346.81 - - - - - - - - - 16.11 -
8918.35 914.06 -7.32 1043 8924.13 roll -0.65 - - 2072.44 - 2.66 0.043 2877.56 560.5 -97.32 - - 3349.62 - - - - - - - - - 16.11 -
9233.68 938.07 -7.92 1075 9238.91 roll -0.65 - - 2071.69 - 2.52 0.024 1388.00 -591.1 -97.32 - - 3347.56 - - - - - - - - - 16.11 -
9308.37 944.03 -7.94 1090 9314.16 roll -0.65 - - 2061.75 - 2.66 0.044 2877.88 560.1 -97.32 - - 3348.38 - - - - - - - - - 16.11 -
9623.69 971.77 -9.12 1122 9628.93 roll -0.65 - - 2062.31 - 2.52 0.023 1386.06 -592.0 -97.32 - - 3347.31 - - - - - - - - - 16.11 -
9703.64 979.24 -9.34 1138 9708.96 roll -0.65 - - 2051.38 - 2.66 0.044 2877.56 560.7 -97.32 - - 3347.53 - - - - - - - - - 16.10 -
9824 end dive: TARGET_DEPTH_EXCEEDED
9824 begin apogee
9825.42 990.87 -9.90 1151 9911.58 -0.12 0.68 0.215 2251.56 294.4 0.25 0.100 2437.56 -1760.0 - 84.12 2.376 2967.22 -4.5 0.321 - - - - - - 15.98 15.20 11.97
9913 end apogee: CONTROL_FINISHED_OK
9913 begin climb
9912.80 993.38 - 1159 10005.99 0.65 0.79 0.117 2504.00 319.5 - - 2437.94 - 97.32 91.28 2.308 2570.66 -4.3 0.318 - - - - - - 15.28 - 12.03
10313.21 967.24 7.95 1207 10318.50 done 0.66 - - 2515.88 - 2.68 0.030 947.31 -556.2 97.32 - - 2557.44 - - - - - - - - - 15.22 -
10367.95 962.73 8.23 1218 10373.75 done 0.66 - - 2515.06 - 2.73 0.034 2429.38 542.9 97.32 - - 2557.38 - - - - - - - - - 15.71 -
10683.25 934.88 9.13 1250 10688.57 done 0.66 - - 2526.06 - 2.62 0.030 947.88 -565.5 97.32 - - 2554.12 - - - - - - - - - 15.28 -
10708.01 932.68 9.04 1255 10713.80 done 0.66 - - 2525.75 - 2.69 0.033 2430.12 551.0 97.32 - - 2554.41 - - - - - - - - - 15.92 -
11023.28 902.70 9.50 1287 11028.52 done 0.66 - - 2525.88 - 2.30 0.065 3839.56 612.8 97.32 - - 2553.38 - - - - - - - - - 15.96 -
11048.03 900.00 9.95 1292 11053.77 done 0.66 - - 2536.25 - 2.35 0.020 2325.00 -644.5 97.32 - - 2551.28 - - - - - - - - - 15.42 -
11363.36 868.92 9.45 1324 11364.83 0.66 0.16 0.251 2492.62 -272.7 - - 2308.81 - 97.32 - - 2551.59 - - - - - - - - 15.89 - -
11673.32 846.30 6.94 1355 11678.59 done 0.69 - - 2492.88 - 2.59 0.064 3838.19 590.5 97.32 - - 2549.03 - - - - - - - - - 16.01 -
11743.34 841.00 7.67 1369 11748.58 done 0.71 - - 2502.69 - 2.34 0.021 2313.31 -651.7 97.32 - - 2549.97 - - - - - - - - - 15.42 -
12053.42 817.94 7.54 1401 12054.76 VBD 0.73 - - 2503.50 - - - 2298.56 - 97.32 - - 2547.44 - - - - - - - - - - -
12363.36 794.53 7.53 1432 12368.64 done 0.74 - - 2503.06 - 2.60 0.062 3839.94 592.8 97.32 - - 2550.44 - - - - - - - - - 16.04 -
12413.36 790.22 8.71 1442 12418.63 done 0.74 - - 2514.50 - 2.34 0.019 2314.06 -652.1 97.32 - - 2548.50 - - - - - - - - - 16.05 -
12723.45 763.87 8.72 1474 12724.79 VBD 0.74 - - 2515.25 - - - 2299.94 - 97.32 - - 2547.09 - - - - - - - - - - -
13033.39 736.29 9.06 1505 13038.70 done 0.74 - - 2514.69 - 2.61 0.061 3841.19 590.5 97.32 - - 2547.50 - - - - - - - - - 16.08 -
13078.14 731.73 10.21 1514 13083.88 done 0.74 - - 2525.12 - 2.35 0.020 2307.44 -652.7 97.32 - - 2549.81 - - - - - - - - - 15.43 -
13393.47 702.22 8.79 1546 13398.71 done 0.74 - - 2526.62 - 2.61 0.060 3838.38 586.6 97.32 - - 2547.69 - - - - - - - - - 16.07 -
13443.42 697.20 10.14 1556 13448.68 done 0.74 - - 2537.00 - 2.35 0.020 2310.94 -650.0 97.32 - - 2547.16 - - - - - - - - - 15.39 -
13753.50 668.89 8.93 1588 13758.73 done 0.74 - - 2537.75 - 2.60 0.060 3842.31 589.0 97.32 - - 2547.56 - - - - - - - - - 16.09 -
13783.44 665.88 9.60 1594 13788.69 done 0.74 - - 2547.88 - 2.35 0.020 2311.75 -651.3 97.32 - - 2547.00 - - - - - - - - - 15.44 -
14093.51 636.48 9.55 1626 14098.74 done 0.74 - - 2549.44 - 2.60 0.059 3841.31 588.3 97.32 - - 2546.91 - - - - - - - - - 16.07 -
14138.20 631.76 10.59 1635 14143.94 done 0.74 - - 2560.81 - 2.35 0.020 2314.38 -649.8 97.32 - - 2546.62 - - - - - - - - - 15.48 -
14453.55 601.31 9.60 1667 14458.83 0.74 0.15 0.254 2520.00 -272.1 2.60 0.060 3839.94 586.8 97.32 - - 2546.53 - - - - - - - - 15.96 16.02 -
14498.22 596.93 9.67 1676 14503.95 done 0.74 - - 2527.81 - 2.35 0.020 2310.62 -650.8 97.32 - - 2546.34 - - - - - - - - - 15.47 -
14813.55 570.62 8.19 1708 14814.89 VBD 0.74 - - 2528.69 - - - 2296.19 - 97.32 - - 2545.31 - - - - - - - - - - -
15123.50 545.40 8.02 1739 15128.81 done 0.74 - - 2529.31 - 2.61 0.060 3841.75 592.2 97.32 - - 2545.47 - - - - - - - - - 15.98 -
15183.51 539.74 9.52 1751 15188.77 done 0.74 - - 2540.19 - 2.34 0.020 2308.12 -655.4 97.32 - - 2545.78 - - - - - - - - - 15.42 -
15493.59 512.92 8.60 1783 15494.93 VBD 0.74 - - 2540.31 - - - 2293.94 - 97.32 - - 2545.09 - - - - - - - - - - -
15803.55 487.63 7.75 1814 15804.89 VBD 0.76 - - 2540.31 - - - 2294.12 - 97.32 - - 2545.06 - - - - - - - - - - -
16113.56 465.49 6.82 1845 16118.84 done 0.79 - - 2540.50 - 2.60 0.060 3840.12 594.6 97.32 - - 2545.19 - - - - - - - - - 16.06 -
16238.31 455.58 8.16 1870 16244.03 done 0.79 - - 2551.44 - 2.36 0.020 2312.44 -647.3 97.32 - - 2546.84 - - - - - - - - - 15.39 -
16553.65 433.20 7.10 1902 16554.99 VBD 0.82 - - 2552.31 - - - 2301.06 - 97.32 - - 2544.81 - - - - - - - - - - -
16863.58 409.25 8.21 1933 16864.92 VBD 0.82 - - 2552.19 - - - 2300.44 - 97.32 - - 2544.72 - - - - - - - - - - -
17173.60 381.99 8.94 1964 17178.87 done 0.82 - - 2563.44 - 2.35 0.032 945.19 -576.7 97.32 - - 2545.91 - - - - - - - - - 15.44 -
17198.34 379.79 8.84 1969 17204.13 done 0.82 - - 2562.56 - 2.64 0.032 2434.88 564.3 97.32 - - 2546.19 - - - - - - - - - 16.05 -
17513.60 352.87 8.16 2001 17518.87 done 0.82 - - 2562.31 - 2.31 0.064 3842.06 609.2 97.32 - - 2544.94 - - - - - - - - - 16.08 -
17548.36 349.51 9.11 2008 17554.09 done 0.82 - - 2573.25 - 2.34 0.019 2322.44 -649.4 97.32 - - 2545.12 - - - - - - - - - 15.49 -
17863.71 324.01 7.41 2040 17868.89 done 0.84 - - 2582.94 - 2.34 0.031 944.88 -588.7 97.32 - - 2547.06 - - - - - - - - - 15.47 -
17923.66 319.79 6.96 2052 17928.96 done 0.87 - - 2583.00 - 2.63 0.032 2436.31 567.1 97.32 - - 2545.84 - - - - - - - - - 16.08 -
18233.67 297.95 7.29 2084 18238.89 done 0.89 - - 2583.69 - 2.29 0.063 3840.69 613.3 97.32 - - 2548.19 - - - - - - - - - 16.07 -
18288.41 293.24 8.70 2095 18294.17 done 0.89 - - 2594.25 - 2.34 0.018 2325.75 -647.4 97.32 - - 2545.91 - - - - - - - - - 16.08 -
18603.76 268.29 7.65 2127 18605.10 VBD 0.91 - - 2595.44 - - - 2309.56 - 97.32 - - 2544.84 - - - - - - - - - - -
18913.69 241.87 8.74 2158 18918.99 done 0.91 - - 2595.12 - 2.58 0.061 3841.69 593.8 97.32 - - 2544.84 - - - - - - - - - 16.08 -
19088.44 224.33 9.53 2193 19094.18 done 0.91 - - 2605.31 - 2.35 0.018 2323.31 -646.1 97.32 - - 2547.72 - - - - - - - - - 16.06 -
19403.80 199.00 7.53 2225 19408.99 done 0.93 - - 2617.19 - 2.36 0.031 943.12 -584.8 97.32 - - 2547.25 - - - - - - - - - 15.41 -
19438.48 196.53 7.27 2232 19444.27 done 0.95 - - 2616.50 - 2.63 0.032 2435.31 567.4 97.32 - - 2548.47 - - - - - - - - - 16.08 -
19753.74 174.59 7.02 2264 19758.98 done 0.98 - - 2617.19 - 2.30 0.061 3841.75 611.5 97.32 - - 2546.62 - - - - - - - - - 16.07 -
19803.75 170.73 7.83 2274 19809.00 done 0.99 - - 2626.19 - 2.33 0.017 2318.44 -653.8 97.32 - - 2546.12 - - - - - - - - - 16.06 -
20113.83 148.65 7.29 2306 20119.01 done 1.02 - - 2637.81 - 2.38 0.030 943.00 -577.9 97.32 - - 2548.75 - - - - - - - - - 15.38 -
20188.52 143.03 7.46 2321 20194.30 done 1.04 - - 2636.75 - 2.66 0.031 2437.50 561.8 97.32 - - 2549.94 - - - - - - - - - 16.00 -
20503.79 117.94 7.88 2353 20509.08 done 1.05 - - 2648.06 - 2.61 0.027 943.12 -572.6 97.32 - - 2548.00 - - - - - - - - - 15.36 -
20583.80 112.48 6.52 2369 20589.09 done 1.09 - - 2648.06 - 2.66 0.030 2438.69 562.2 97.32 - - 2550.53 - - - - - - - - - 15.80 -
20893.81 96.97 4.08 2408 20951.44 done 1.18 - - 2648.81 - 2.32 0.062 3840.81 604.4 171.74 54.28 1.222 2263.66 -5.3 0.071 - - - - - - - 15.57 12.09
21108.80 72.48 12.43 2451 21114.32 done 1.18 - - 2658.56 - 2.38 0.018 2324.31 -637.2 171.74 - - 2259.94 - - - - - - - - - 15.20 -
21298.82 51.72 9.13 2489 21300.16 VBD 1.18 - - 2659.94 - - - 2308.38 - 171.74 - - 2256.06 - - - - - - - - - - -
21483.85 37.96 6.64 2526 21489.41 done 1.22 - - 2659.94 - 2.61 0.057 3840.19 586.9 171.74 - - 2255.66 - - - - - - - - - 15.71 -
21583.86 37.69 2.16 2546 21666.03 1.36 0.16 0.080 2740.75 505.1 2.38 0.017 2287.19 -652.5 278.70 78.26 1.092 1830.59 -5.4 0.032 - - - - - - 15.88 15.26 12.17
21848.86 7.99 15.92 2599 21854.37 done 1.36 - - 2750.50 - 2.37 0.031 947.19 -565.4 278.70 - - 1823.69 - - - - - - - - - 15.11 -
21889 end climb: SURFACE_DEPTH_REACHED
21889 begin surface coast
21904 end surface coast: CONTROL_FINISHED_OK
21904 begin surface
SM 1.31 - - - - 222.1 49.49 1.041 1541.1 31.1 7.22 0.059 1533.9 212.5 - 3.45 0.044 1548.2 448.1 -1.363 - - 12.14 15.78 15.80 -