SMODE Aug22 * SG219 * Dive index * Mission links * Dive 131 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 39.50 of 310.00 AH used of 24V (87.26% remains)
• Surface angle -69.0 deg, depth 0.99 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 350.39 (SM_CC=350)
• GPS1 time: 21 s
• GPS2 time: 2 s • Transponder ping count: 33
• 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
14.77 - - - 77.58 VBD -0.65 - - 110.31 - - - 2617.56 - -97.32 60.83 0.005 2758.75 - - - - - - - - - - 15.49
77.83 2.34 -2.49 12 111.02 -0.65 8.69 0.360 2081.12 226.8 2.31 0.027 1289.12 -575.1 -97.32 18.14 0.006 3362.47 33.3 -2.213 - - - - - - 15.41 15.54 15.56
328.18 40.10 -12.74 62 334.38 roll -0.65 - - 2072.56 - 2.69 0.042 2773.56 551.8 -97.32 - - 3367.38 - - - - - - - - - 15.77 -
518.20 68.31 -13.34 100 524.41 roll -0.65 - - 2072.06 - 2.58 0.022 1289.88 -575.1 -97.32 - - 3368.25 - - - - - - - - - 15.68 -
563.20 75.08 -14.77 109 569.46 roll -0.65 - - 2060.44 - 2.67 0.041 2775.62 556.5 -97.32 - - 3368.53 - - - - - - - - - 15.76 -
753.23 101.81 -12.89 146 758.88 roll -0.65 - - 2052.75 - 1.76 0.064 3848.94 609.8 -97.32 - - 3370.41 - - - - - - - - - 15.66 -
813.24 110.21 -14.19 158 818.91 roll -0.65 - - 2053.31 - 1.78 0.017 2650.31 -673.4 -97.32 - - 3368.50 - - - - - - - - - 15.83 -
1123.27 149.56 -11.72 190 1125.96 no move -0.65 - - 2053.00 - - - 2637.38 - -97.32 - - 3368.62 - - - - - - - - - - -
1433.27 186.13 -11.36 221 1439.09 roll -0.65 - - 2043.69 - 2.04 0.066 3850.19 594.5 -97.32 - - 3369.97 - - - - - - - - - 15.94 -
1518.04 196.45 -12.21 238 1524.16 roll back -0.65 0.14 0.226 2083.44 283.9 1.77 0.017 2642.38 -682.4 -97.32 - - 3369.16 - - - - - - - - 15.83 15.94 -
1833.38 227.49 -9.91 270 1834.71 no move -0.65 - - 2084.38 - - - 2629.31 - -97.32 - - 3368.06 - - - - - - - - - - -
2143.32 256.78 -9.46 301 2148.46 roll -0.65 - - 2076.19 - 2.04 0.068 3847.00 596.9 -97.32 - - 3370.84 - - - - - - - - - 16.03 -
2208.08 263.02 -9.55 314 2210.83 roll -0.65 - - 2077.88 - 1.76 0.018 2652.62 -678.6 -97.32 - - 3366.84 - - - - - - - - - 16.05 -
2518.37 291.29 -9.22 345 2519.71 no move -0.65 - - 2076.62 - - - 2640.31 - -97.32 - - 3366.53 - - - - - - - - - - -
2828.36 320.52 -9.41 376 2833.51 roll -0.65 - - 2067.31 - 2.03 0.068 3851.12 596.5 -97.32 - - 3366.28 - - - - - - - - - 16.06 -
2873.11 325.10 -10.32 385 2875.85 roll -0.65 - - 2066.62 - 1.77 0.019 2653.69 -676.5 -97.32 - - 3368.06 - - - - - - - - - 16.08 -
3183.39 356.95 -10.18 416 3188.65 roll -0.65 - - 2065.81 - 2.33 0.025 1293.31 -583.9 -97.32 - - 3366.03 - - - - - - - - - 15.91 -
3218.13 360.56 -10.31 423 3223.93 roll -0.65 - - 2056.69 - 2.65 0.043 2773.06 558.4 -97.32 - - 3365.47 - - - - - - - - - 16.09 -
3533.48 393.73 -10.26 455 3537.78 roll -0.65 - - 2048.31 - 1.76 0.068 3847.38 610.4 -97.32 - - 3366.56 - - - - - - - - - 16.07 -
3563.42 397.01 -10.71 461 3567.86 roll back -0.65 0.12 0.222 2084.62 302.6 1.75 0.018 2642.44 -688.5 -97.32 - - 3364.53 - - - - - - - - 15.98 16.10 -
3873.48 424.32 -8.59 493 3878.57 roll -0.65 - - 2076.38 - 2.05 0.068 3846.94 587.6 -97.32 - - 3363.56 - - - - - - - - - 15.99 -
3908.19 427.51 -8.92 500 3910.93 roll -0.65 - - 2076.94 - 1.76 0.019 2653.69 -678.0 -97.32 - - 3362.62 - - - - - - - - - 16.09 -
4218.46 456.16 -9.29 531 4223.73 roll -0.65 - - 2076.88 - 2.31 0.025 1291.94 -589.5 -97.32 - - 3362.75 - - - - - - - - - 16.00 -
4263.21 460.49 -9.56 540 4269.00 roll -0.65 - - 2065.94 - 2.65 0.042 2773.25 559.0 -97.32 - - 3361.25 - - - - - - - - - 15.86 -
4578.55 492.93 -10.29 572 4582.84 roll -0.65 - - 2058.00 - 1.75 0.069 3850.50 615.6 -97.32 - - 3362.12 - - - - - - - - - 16.07 -
4643.24 499.86 -10.66 585 4645.98 roll -0.65 - - 2057.31 - 1.76 0.019 2653.62 -680.0 -97.32 - - 3360.69 - - - - - - - - - 16.11 -
4953.51 530.73 -9.81 616 4958.77 roll -0.65 - - 2057.94 - 2.31 0.026 1293.06 -589.0 -97.32 - - 3359.31 - - - - - - - - - 15.43 -
4988.26 534.10 -9.71 623 4994.04 roll -0.65 - - 2046.62 - 2.64 0.042 2773.06 560.6 -97.32 - - 3359.66 - - - - - - - - - 16.11 -
5303.60 565.01 -9.67 655 5308.89 roll back -0.65 0.12 0.240 2083.31 305.8 2.54 0.025 1290.88 -583.5 -97.32 - - 3358.81 - - - - - - - - 15.97 16.05 -
5368.29 570.27 -7.78 668 5374.08 roll -0.65 - - 2074.56 - 2.66 0.043 2773.00 557.2 -97.32 - - 3358.81 - - - - - - - - - 16.11 -
5683.66 597.20 -8.72 700 5684.99 no move -0.65 - - 2074.56 - - - 2773.69 - -97.32 - - 3356.94 - - - - - - - - - - -
5993.60 625.13 -9.28 731 5998.91 roll -0.65 - - 2073.69 - 2.53 0.025 1290.44 -586.3 -97.32 - - 3357.72 - - - - - - - - - 16.10 -
6058.37 631.17 -9.22 744 6064.18 roll -0.65 - - 2063.81 - 2.66 0.044 2772.75 557.3 -97.32 - - 3357.28 - - - - - - - - - 16.10 -
6373.70 661.54 -9.62 776 6378.95 roll -0.65 - - 2063.00 - 2.55 0.024 1288.62 -582.0 -97.32 - - 3356.16 - - - - - - - - - 16.10 -
6408.40 664.95 -9.61 783 6414.19 roll -0.65 - - 2053.50 - 2.69 0.044 2773.38 552.0 -97.32 - - 3356.53 - - - - - - - - - 15.84 -
6723.73 696.38 -9.74 815 6725.07 no move -0.65 - - 2054.00 - - - 2773.69 - -97.32 - - 3354.97 - - - - - - - - - - -
7033.68 726.78 -9.81 846 7038.99 roll -0.65 - - 2053.69 - 2.55 0.024 1289.81 -581.9 -97.32 - - 3356.00 - - - - - - - - - 16.10 -
7088.45 732.18 -9.79 857 7094.23 roll -0.65 - - 2043.75 - 2.68 0.044 2775.25 554.3 -97.32 - - 3356.09 - - - - - - - - - 16.11 -
7403.78 764.15 -10.26 889 7409.07 roll back -0.65 0.14 0.241 2083.94 287.1 2.55 0.025 1289.06 -582.8 -97.32 - - 3355.59 - - - - - - - - 15.96 16.03 -
7433.72 766.79 -9.53 895 7439.04 roll -0.65 - - 2074.75 - 2.68 0.044 2774.00 554.1 -97.32 - - 3355.72 - - - - - - - - - 16.09 -
7743.80 792.98 -8.41 927 7748.10 roll -0.65 - - 2066.88 - 1.74 0.071 3846.56 616.4 -97.32 - - 3355.12 - - - - - - - - - 16.01 -
7788.49 796.94 -8.88 936 7791.23 roll -0.65 - - 2067.00 - 1.76 0.021 2656.31 -676.3 -97.32 - - 3352.97 - - - - - - - - - 16.10 -
8098.78 823.54 -8.38 967 8100.12 no move -0.65 - - 2066.50 - - - 2642.44 - -97.32 - - 3352.84 - - - - - - - - - - -
8408.77 850.11 -8.72 998 8413.12 roll -0.65 - - 2058.12 - 2.01 0.070 3848.75 600.2 -97.32 - - 3352.34 - - - - - - - - - 16.08 -
8448.77 853.83 -9.33 1006 8453.08 roll -0.65 - - 2059.25 - 1.77 0.020 2641.81 -681.9 -97.32 - - 3352.34 - - - - - - - - - 16.10 -
8758.80 882.19 -9.05 1038 8760.13 no move -0.65 - - 2058.25 - - - 2640.12 - -97.32 - - 3351.34 - - - - - - - - - - -
9068.79 911.49 -9.76 1069 9073.94 roll -0.65 - - 2049.06 - 2.04 0.070 3848.44 592.3 -97.32 - - 3352.25 - - - - - - - - - 16.08 -
9123.55 917.14 -10.32 1080 9126.43 roll back -0.65 0.12 0.222 2082.69 280.3 1.78 0.020 2644.56 -676.3 -97.32 - - 3351.66 - - - - - - - - 15.93 16.09 -
9433.83 944.14 -8.77 1111 9438.95 roll -0.65 - - 2075.19 - 2.06 0.071 3846.56 583.5 -97.32 - - 3352.91 - - - - - - - - - 16.08 -
9483.82 948.89 -9.68 1121 9488.12 roll -0.65 - - 2075.56 - 1.78 0.021 2644.81 -675.1 -97.32 - - 3351.47 - - - - - - - - - 16.08 -
9793.85 977.02 -8.86 1153 9795.19 no move -0.65 - - 2075.69 - - - 2643.19 - -97.32 - - 3350.06 - - - - - - - - - - -
9954 end dive: TARGET_DEPTH_EXCEEDED
9954 begin apogee
9955.11 990.70 -8.48 1169 10041.79 -0.12 0.59 0.197 2252.38 299.5 0.26 0.098 2435.06 -800.5 - 84.94 2.388 2965.47 -4.5 0.320 - - - - - - 15.97 15.19 12.07
10043 end apogee: CONTROL_FINISHED_OK
10043 begin climb
10043.07 992.70 - 1177 10141.66 0.65 0.78 0.110 2515.62 337.5 2.84 0.036 953.75 -521.6 97.32 91.44 2.314 2569.28 -4.3 0.317 - - - - - - 15.27 14.68 12.12
10174.52 986.53 7.44 1203 10179.86 roll 0.67 - - 2515.88 - 2.81 0.037 2426.25 524.0 97.32 - - 2563.78 - - - - - - - - - 15.33 -
10484.51 958.83 8.94 1235 10489.84 done 0.67 - - 2527.19 - 2.66 0.031 948.12 -555.7 97.32 - - 2557.66 - - - - - - - - - 15.18 -
10509.35 956.57 8.97 1240 10515.10 done 0.67 - - 2527.38 - 2.73 0.037 2426.88 541.7 97.32 - - 2557.50 - - - - - - - - - 15.78 -
10824.52 926.53 9.77 1272 10829.84 done 0.67 - - 2537.00 - 2.64 0.030 946.31 -560.8 97.32 - - 2555.34 - - - - - - - - - 15.28 -
10854.53 923.57 9.86 1278 10859.92 0.67 0.14 0.205 2496.88 -286.6 2.70 0.036 2431.75 550.2 97.32 - - 2554.41 - - - - - - - - 15.80 15.92 -
11164.55 896.74 8.52 1310 11165.89 VBD 0.67 - - 2496.88 - - - 2432.06 - 97.32 - - 2551.53 - - - - - - - - - - -
11474.55 870.72 8.04 1341 11475.89 VBD 0.67 - - 2496.88 - - - 2431.62 - 97.32 - - 2550.75 - - - - - - - - - - -
11784.58 846.52 7.72 1372 11785.92 VBD 0.69 - - 2496.12 - - - 2431.12 - 97.32 - - 2550.28 - - - - - - - - - - -
12094.60 823.02 7.51 1403 12095.94 VBD 0.71 - - 2496.69 - - - 2431.25 - 97.32 - - 2549.56 - - - - - - - - - - -
12404.61 801.14 6.88 1434 12409.92 done 0.74 - - 2507.06 - 2.64 0.029 947.38 -562.1 97.32 - - 2550.09 - - - - - - - - - 15.44 -
12429.36 799.42 6.81 1439 12435.14 done 0.77 - - 2507.12 - 2.67 0.033 2433.38 556.6 97.32 - - 2550.00 - - - - - - - - - 16.05 -
12744.62 776.85 7.19 1471 12746.08 0.80 0.11 0.087 2599.12 836.4 - - 2433.06 - 97.32 - - 2547.66 - - - - - - - - 16.02 - -
13054.62 743.65 11.19 1502 13060.01 0.80 0.23 0.268 2544.75 -236.4 2.63 0.027 944.50 -566.0 97.32 - - 2549.44 - - - - - - - - 15.29 16.01 -
13084.63 740.85 10.39 1508 13089.94 done 0.80 - - 2543.94 - 2.67 0.032 2432.06 557.1 97.32 - - 2550.34 - - - - - - - - - 16.06 -
13394.70 713.05 8.88 1540 13399.96 done 0.80 - - 2556.25 - 2.63 0.029 948.00 -564.3 97.32 - - 2549.28 - - - - - - - - - 15.40 -
13434.64 709.52 8.81 1548 13439.95 done 0.80 - - 2555.81 - 2.65 0.032 2433.81 560.7 97.32 - - 2548.75 - - - - - - - - - 16.07 -
13744.72 681.10 9.29 1580 13749.97 done 0.80 - - 2566.88 - 2.64 0.029 944.88 -564.0 97.32 - - 2551.03 - - - - - - - - - 15.42 -
13794.66 676.44 9.29 1590 13800.00 done 0.80 - - 2567.06 - 2.66 0.032 2432.31 559.2 97.32 - - 2548.66 - - - - - - - - - 16.07 -
14104.66 646.44 10.06 1622 14106.00 VBD 0.80 - - 2567.12 - - - 2433.38 - 97.32 - - 2547.19 - - - - - - - - - - -
14414.67 615.22 10.20 1653 14420.00 done 0.80 - - 2577.44 - 2.64 0.028 946.19 -563.3 97.32 - - 2547.75 - - - - - - - - - 15.35 -
14474.69 609.14 10.04 1665 14480.06 0.80 0.14 0.218 2534.50 -306.7 2.67 0.031 2438.38 558.9 97.32 - - 2549.91 - - - - - - - - 15.92 15.83 -
14784.69 582.47 8.18 1697 14786.03 VBD 0.80 - - 2534.44 - - - 2438.00 - 97.32 - - 2546.22 - - - - - - - - - - -
15094.72 557.35 7.73 1728 15096.06 VBD 0.81 - - 2535.38 - - - 2437.81 - 97.32 - - 2545.94 - - - - - - - - - - -
15404.74 534.31 7.27 1759 15410.05 done 0.83 - - 2545.00 - 2.65 0.029 945.75 -563.0 97.32 - - 2547.88 - - - - - - - - - 15.38 -
15444.74 531.55 7.08 1767 15450.04 done 0.86 - - 2544.50 - 2.66 0.031 2436.06 560.3 97.32 - - 2547.16 - - - - - - - - - 16.08 -
15754.82 508.32 7.73 1799 15760.05 done 0.88 - - 2556.62 - 2.64 0.028 946.88 -564.1 97.32 - - 2547.03 - - - - - - - - - 15.37 -
15779.49 506.33 7.85 1804 15785.28 done 0.89 - - 2555.25 - 2.66 0.031 2432.44 558.5 97.32 - - 2548.06 - - - - - - - - - 15.82 -
16094.74 480.71 8.14 1836 16100.06 done 0.89 - - 2568.31 - 2.64 0.028 944.31 -563.7 97.32 - - 2546.72 - - - - - - - - - 15.35 -
16164.77 475.22 7.75 1850 16170.06 done 0.90 - - 2568.19 - 2.66 0.031 2434.38 560.2 97.32 - - 2548.06 - - - - - - - - - 16.08 -
16474.75 449.77 8.51 1882 16480.07 done 0.90 - - 2579.19 - 2.62 0.029 944.31 -568.7 97.32 - - 2546.97 - - - - - - - - - 15.41 -
16514.76 446.31 8.64 1890 16520.08 done 0.90 - - 2576.62 - 2.67 0.031 2433.94 557.9 97.32 - - 2546.94 - - - - - - - - - 15.82 -
16824.77 418.56 9.24 1922 16830.08 done 0.90 - - 2590.81 - 2.63 0.028 946.06 -565.7 97.32 - - 2546.59 - - - - - - - - - 15.36 -
16869.52 414.58 8.88 1931 16875.32 done 0.90 - - 2589.88 - 2.65 0.031 2433.62 561.3 97.32 - - 2547.25 - - - - - - - - - 16.08 -
17184.79 387.55 8.58 1963 17190.11 done 0.90 - - 2601.44 - 2.63 0.028 945.62 -565.8 97.32 - - 2546.88 - - - - - - - - - 15.36 -
17244.80 382.41 8.55 1975 17250.10 done 0.90 - - 2600.31 - 2.64 0.031 2434.00 563.8 97.32 - - 2547.75 - - - - - - - - - 16.07 -
17554.87 354.94 9.44 2007 17560.12 done 0.90 - - 2612.56 - 2.62 0.028 944.12 -568.7 97.32 - - 2546.00 - - - - - - - - - 15.37 -
17614.88 349.49 9.13 2019 17620.20 0.90 0.16 0.281 2570.12 -265.3 2.66 0.031 2438.88 561.9 97.32 - - 2547.59 - - - - - - - - 15.89 16.08 -
17924.82 323.27 8.46 2051 17930.13 done 0.90 - - 2581.56 - 2.63 0.028 944.38 -568.3 97.32 - - 2548.97 - - - - - - - - - 15.40 -
17994.83 317.13 8.81 2065 18000.13 done 0.90 - - 2580.38 - 2.65 0.031 2433.88 562.1 97.32 - - 2547.41 - - - - - - - - - 16.08 -
18304.83 289.62 8.73 2097 18310.14 done 0.90 - - 2593.25 - 2.62 0.028 942.75 -569.1 97.32 - - 2548.62 - - - - - - - - - 15.42 -
18329.58 287.55 8.49 2102 18335.37 done 0.90 - - 2594.25 - 2.65 0.032 2434.69 563.0 97.32 - - 2546.66 - - - - - - - - - 15.80 -
18644.84 261.40 8.28 2134 18650.09 done 0.90 - - 2593.38 - 2.22 0.063 3842.38 634.1 97.32 - - 2548.03 - - - - - - - - - 15.79 -
18724.85 254.15 9.02 2150 18730.09 done 0.90 - - 2604.19 - 2.29 0.019 2318.50 -665.4 97.32 - - 2546.34 - - - - - - - - - 15.42 -
19034.87 228.57 8.24 2182 19036.21 VBD 0.90 - - 2605.00 - - - 2302.75 - 97.32 - - 2545.56 - - - - - - - - - - -
19344.87 202.80 8.37 2213 19346.21 VBD 0.90 - - 2604.94 - - - 2302.94 - 97.32 - - 2545.56 - - - - - - - - - - -
19654.90 176.61 7.95 2244 19660.15 done 0.91 - - 2614.69 - 2.35 0.032 942.81 -578.8 97.32 - - 2546.84 - - - - - - - - - 15.33 -
19684.91 174.39 7.72 2250 19690.20 done 0.93 - - 2615.06 - 2.65 0.033 2434.50 562.9 97.32 - - 2548.00 - - - - - - - - - 16.02 -
19994.90 154.92 6.12 2282 19996.25 VBD 0.97 - - 2615.69 - - - 2434.81 - 97.32 - - 2546.25 - - - - - - - - - - -
20304.92 130.86 7.52 2313 20306.26 VBD 0.99 - - 2615.19 - - - 2434.88 - 97.32 - - 2546.19 - - - - - - - - - - -
20614.93 112.38 4.37 2344 20671.33 done 1.08 - - 2624.50 - 2.65 0.033 946.56 -561.6 166.75 51.08 1.260 2286.81 -5.1 0.077 - - - - - - - 15.14 11.97
20739.68 102.39 10.55 2369 20745.50 roll 1.08 - - 2625.50 - 2.72 0.033 2432.12 546.2 166.75 - - 2284.12 - - - - - - - - - 15.73 -
21049.97 70.62 8.06 2429 21055.54 done 1.08 - - 2637.25 - 2.62 0.030 946.44 -567.1 166.75 - - 2279.78 - - - - - - - - - 15.26 -
21239.98 52.51 8.51 2467 21245.55 done 1.08 - - 2637.44 - 2.68 0.033 2432.88 554.6 166.75 - - 2276.75 - - - - - - - - - 15.70 -
21430.01 37.81 7.15 2505 21435.49 done 1.11 - - 2637.19 - 2.30 0.062 3839.94 611.8 166.75 - - 2276.69 - - - - - - - - - 15.84 -
21500.01 32.24 7.65 2519 21505.51 done 1.13 - - 2646.94 - 2.33 0.018 2308.31 -657.4 166.75 - - 2276.41 - - - - - - - - - 15.30 -
21690.03 24.14 3.28 2557 21760.93 1.24 0.11 0.072 2725.62 715.3 2.44 0.032 948.12 -557.5 254.70 64.63 1.095 1927.47 -5.4 0.020 - - - - - - 15.82 15.09 12.21
21805.02 15.45 11.14 2580 21810.67 roll back 1.24 0.19 0.278 2679.44 -243.1 2.74 0.032 2438.62 544.0 254.70 - - 1924.34 - - - - - - - - 15.58 15.64 -
21940 end climb: SURFACE_DEPTH_REACHED
21940 begin surface coast
21967 end surface coast: CONTROL_FINISHED_OK
21967 begin surface
SM 0.77 - - - - 221.4 66.25 1.063 1539.6 23.2 7.05 0.064 1522.3 215.9 - 0.51 0.060 1556.9 3047.4 -3.997 - - 12.15 15.78 15.79 -