SMODE Mar23 * SG219 * Dive index * Mission links * Dive 153 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 150.74 of 310.00 AH used of 24V (51.37% remains)
• Surface angle -66.2 deg, depth 1.36 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 325.30 (SM_CC=325)
• GPS1 time: 30 s
• GPS2 time: 3 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
17.36 - - - 71.25 VBD -0.65 - - 87.06 - - - 2643.62 - -97.32 49.38 0.005 2547.53 - - - - - - - - - - 14.77
71.68 2.12 -1.78 10 124.93 -0.65 8.95 0.352 2035.00 217.6 1.98 0.072 3845.56 607.0 -97.32 31.60 0.005 3365.75 25.9 -1.959 - - - - - - 14.71 14.87 15.04
288.24 32.25 -16.43 52 294.53 roll -0.65 - - 2034.81 - 1.73 0.017 2660.19 -685.2 -97.32 - - 3367.84 - - - - - - - - - 15.28 -
477.38 60.39 -13.37 90 482.36 no move -0.65 - - 2035.62 - - - 2654.31 - -97.32 - - 3368.09 - - - - - - - - - - -
667.42 86.15 -13.97 128 672.35 no move -0.65 - - 2034.12 - - - 2654.44 - -97.32 - - 3368.72 - - - - - - - - - - -
862.48 112.42 -13.46 158 865.88 no move -0.65 - - 2034.50 - - - 2654.19 - -97.32 - - 3367.59 - - - - - - - - - - -
1172.51 149.00 -10.28 189 1179.38 roll -0.65 - - 2025.88 - 1.96 0.064 3849.12 609.7 -97.32 - - 3369.69 - - - - - - - - - 15.41 -
1217.27 153.66 -10.26 198 1224.50 roll -0.65 - - 2025.81 - 1.71 0.019 2648.00 -702.4 -97.32 - - 3369.69 - - - - - - - - - 15.67 -
1532.56 184.45 -9.54 230 1539.42 roll -0.65 - - 2016.00 - 1.96 0.064 3850.00 613.3 -97.32 - - 3370.06 - - - - - - - - - 15.44 -
1567.30 188.00 -10.14 237 1574.51 roll -0.65 - - 2018.44 - 1.70 0.019 2645.00 -708.8 -97.32 - - 3369.84 - - - - - - - - - 15.76 -
1882.59 219.43 -10.21 269 1884.34 no move -0.65 - - 2017.12 - - - 2642.12 - -97.32 - - 3368.53 - - - - - - - - - - -
2192.62 253.70 -11.77 300 2194.37 no move -0.65 - - 2017.62 - - - 2641.50 - -97.32 - - 3368.09 - - - - - - - - - - -
2502.67 291.41 -12.34 331 2508.59 roll -0.65 - - 2007.62 - 1.95 0.065 3848.44 618.9 -97.32 - - 3369.81 - - - - - - - - - 15.75 -
2552.65 297.81 -12.92 341 2558.69 roll back -0.65 0.13 0.219 2045.88 294.3 1.70 0.019 2643.88 -708.6 -97.32 - - 3368.34 - - - - - - - - 15.50 15.88 -
2862.72 329.71 -9.65 373 2864.51 no move -0.65 - - 2045.06 - - - 2637.12 - -97.32 - - 3368.12 - - - - - - - - - - -
3172.75 357.83 -8.62 404 3174.54 no move -0.65 - - 2045.19 - - - 2636.50 - -97.32 - - 3367.53 - - - - - - - - - - -
3482.76 383.40 -8.07 435 3489.49 roll -0.65 - - 2044.38 - 2.48 0.024 1294.12 -541.3 -97.32 - - 3368.41 - - - - - - - - - 15.80 -
3527.52 387.07 -8.15 444 3535.05 roll -0.65 - - 2037.25 - 2.83 0.042 2776.81 523.9 -97.32 - - 3368.25 - - - - - - - - - 15.72 -
3842.79 414.77 -8.71 476 3849.81 roll -0.65 - - 2037.69 - 2.71 0.025 1294.06 -547.1 -97.32 - - 3368.31 - - - - - - - - - 15.81 -
3872.80 417.50 -8.86 482 3879.84 roll -0.65 - - 2025.75 - 2.84 0.042 2776.75 522.1 -97.32 - - 3366.97 - - - - - - - - - 15.31 -
4182.83 447.56 -9.83 514 4189.72 roll -0.65 - - 2025.38 - 2.69 0.024 1292.75 -551.7 -97.32 - - 3366.19 - - - - - - - - - 15.92 -
4242.85 453.51 -9.73 526 4249.93 roll -0.65 - - 2015.56 - 2.85 0.042 2777.06 520.8 -97.32 - - 3366.22 - - - - - - - - - 15.83 -
4552.86 488.06 -11.74 558 4559.73 roll -0.65 - - 2014.12 - 2.69 0.025 1295.25 -550.9 -97.32 - - 3365.91 - - - - - - - - - 15.89 -
4597.62 493.29 -11.52 567 4605.16 roll -0.65 - - 2002.38 - 2.84 0.042 2776.81 521.7 -97.32 - - 3365.75 - - - - - - - - - 15.79 -
4912.90 531.95 -12.19 599 4920.27 roll back -0.65 0.14 0.234 2043.50 293.7 2.71 0.025 1293.19 -547.5 -97.32 - - 3365.84 - - - - - - - - 15.51 15.54 -
4947.65 535.58 -10.38 606 4955.25 roll -0.65 - - 2037.50 - 2.85 0.043 2778.31 521.1 -97.32 - - 3365.88 - - - - - - - - - 15.83 -
5262.94 566.10 -9.46 638 5269.92 roll -0.65 - - 2036.06 - 2.70 0.024 1294.19 -549.7 -97.32 - - 3364.09 - - - - - - - - - 15.90 -
5302.94 569.88 -9.43 646 5309.96 roll -0.65 - - 2025.31 - 2.85 0.042 2778.19 520.7 -97.32 - - 3364.22 - - - - - - - - - 15.81 -
5612.96 599.36 -9.07 678 5619.93 roll -0.65 - - 2025.19 - 2.73 0.025 1300.44 -541.3 -97.32 - - 3364.09 - - - - - - - - - 15.03 -
5642.97 602.09 -9.02 684 5650.07 roll -0.65 - - 2015.12 - 2.87 0.042 2778.44 515.0 -97.32 - - 3363.22 - - - - - - - - - 14.76 -
5952.99 630.49 -9.03 716 5960.00 roll -0.65 - - 2015.12 - 2.71 0.025 1297.12 -546.6 -97.32 - - 3362.97 - - - - - - - - - 15.92 -
6007.75 635.31 -8.66 727 6015.30 roll -0.65 - - 2003.50 - 2.87 0.042 2778.31 516.1 -97.32 - - 3362.94 - - - - - - - - - 15.81 -
6323.03 664.31 -9.28 759 6330.28 roll back -0.65 0.14 0.232 2043.75 287.5 2.72 0.025 1295.75 -545.1 -97.32 - - 3362.75 - - - - - - - - 15.51 15.54 -
6367.78 667.74 -8.07 768 6375.32 roll -0.65 - - 2035.56 - 2.86 0.043 2776.06 517.6 -97.32 - - 3362.50 - - - - - - - - - 15.80 -
6683.06 690.97 -7.59 800 6689.99 roll -0.65 - - 2036.69 - 2.69 0.025 1295.81 -550.3 -97.32 - - 3361.81 - - - - - - - - - 15.89 -
6707.81 692.89 -7.60 805 6715.36 roll -0.65 - - 2025.00 - 2.87 0.042 2774.12 515.1 -97.32 - - 3362.28 - - - - - - - - - 15.09 -
7023.10 718.53 -8.44 837 7030.02 roll -0.65 - - 2023.62 - 2.73 0.025 1298.50 -540.5 -97.32 - - 3362.38 - - - - - - - - - 14.77 -
7083.10 723.71 -8.56 849 7090.13 roll -0.65 - - 2013.94 - 2.88 0.042 2775.44 512.8 -97.32 - - 3361.31 - - - - - - - - - 14.71 -
7393.12 752.07 -9.21 881 7400.06 roll -0.65 - - 2014.19 - 2.71 0.025 1295.88 -546.0 -97.32 - - 3359.88 - - - - - - - - - 15.91 -
7433.13 755.73 -9.14 889 7440.31 roll -0.65 - - 2002.94 - 2.86 0.042 2777.81 518.2 -97.32 - - 3359.88 - - - - - - - - - 15.79 -
7743.15 786.46 -9.75 921 7750.42 roll back -0.65 0.14 0.230 2045.69 305.4 2.76 0.026 1295.75 -537.0 -97.32 - - 3359.94 - - - - - - - - 15.51 14.76 -
7803.17 791.37 -7.85 933 7810.20 roll -0.65 - - 2034.62 - 2.89 0.043 2777.88 512.8 -97.32 - - 3360.09 - - - - - - - - - 14.70 -
8113.19 815.66 -7.92 965 8114.98 no move -0.65 - - 2036.06 - - - 2779.19 - -97.32 - - 3358.44 - - - - - - - - - - -
8423.23 839.73 -7.82 996 8430.17 roll -0.65 - - 2036.62 - 2.71 0.026 1295.75 -547.4 -97.32 - - 3358.84 - - - - - - - - - 15.90 -
8467.97 843.30 -7.92 1005 8475.59 roll -0.65 - - 2026.62 - 2.86 0.042 2776.19 517.6 -97.32 - - 3359.00 - - - - - - - - - 15.78 -
8783.25 869.52 -8.26 1037 8790.19 roll -0.65 - - 2025.31 - 2.71 0.026 1295.88 -546.2 -97.32 - - 3359.12 - - - - - - - - - 15.89 -
8808.00 871.62 -8.29 1042 8815.53 roll -0.65 - - 2014.56 - 2.88 0.042 2775.06 513.6 -97.32 - - 3358.16 - - - - - - - - - 14.62 -
9123.28 898.26 -8.14 1074 9130.22 roll -0.65 - - 2014.75 - 2.74 0.025 1296.50 -539.6 -97.32 - - 3357.84 - - - - - - - - - 14.71 -
9168.03 901.98 -8.28 1083 9175.58 roll -0.65 - - 2003.56 - 2.89 0.042 2777.69 512.5 -97.32 - - 3357.84 - - - - - - - - - 14.62 -
9483.31 930.32 -9.09 1115 9490.50 roll back -0.65 0.14 0.229 2045.56 300.0 2.78 0.025 1297.38 -532.5 -97.32 - - 3358.22 - - - - - - - - 15.48 14.71 -
9528.06 933.71 -8.04 1124 9535.59 roll -0.65 - - 2037.00 - 2.89 0.043 2776.44 511.8 -97.32 - - 3358.00 - - - - - - - - - 14.61 -
9843.34 956.74 -7.33 1156 9850.29 roll -0.65 - - 2036.75 - 2.74 0.025 1292.50 -541.6 -97.32 - - 3357.41 - - - - - - - - - 14.68 -
9873.36 959.04 -7.47 1162 9880.45 roll -0.65 - - 2027.44 - 2.90 0.043 2777.69 512.1 -97.32 - - 3356.97 - - - - - - - - - 14.63 -
10183.36 984.85 -8.68 1194 10190.31 roll -0.65 - - 2027.69 - 2.72 0.026 1295.62 -544.9 -97.32 - - 3356.88 - - - - - - - - - 15.88 -
10233.38 989.23 -8.70 1204 10240.50 roll -0.65 - - 2016.75 - 2.90 0.042 2777.75 511.1 -97.32 - - 3356.22 - - - - - - - - - 14.62 -
10243 end dive: TARGET_DEPTH_EXCEEDED
10244 begin apogee
10245.83 990.10 -8.70 1206 10346.96 -0.12 0.68 0.183 2212.06 287.2 0.20 0.114 2434.69 -1715.3 - 92.57 2.334 2965.25 -4.2 0.320 - - - - - - 15.37 14.82 10.09
10349 end apogee: CONTROL_FINISHED_OK
10349 begin climb
10349.55 992.93 - 1215 10462.61 0.65 0.77 0.093 2477.06 344.2 3.07 0.033 953.06 -482.6 97.32 97.54 2.277 2569.91 -4.1 0.315 - - - - - - 15.18 14.58 11.31
10510.19 989.24 5.52 1245 10517.30 roll 0.71 - - 2477.06 - 3.04 0.035 2430.06 485.9 97.32 - - 2567.44 - - - - - - - - - 15.26 -
10820.22 967.00 7.41 1277 10822.01 VBD 0.73 - - 2477.00 - - - 2429.50 - 97.32 - - 2557.78 - - - - - - - - - - -
11130.25 943.30 7.62 1308 11137.27 done 0.75 - - 2490.94 - 2.87 0.029 947.38 -516.4 97.32 - - 2556.12 - - - - - - - - - 15.83 -
11180.25 939.60 7.41 1318 11187.28 done 0.77 - - 2488.81 - 2.95 0.033 2429.88 502.5 97.32 - - 2555.75 - - - - - - - - - 15.10 -
11490.27 915.60 7.56 1350 11492.07 VBD 0.79 - - 2489.44 - - - 2429.94 - 97.32 - - 2552.97 - - - - - - - - - - -
11800.31 891.95 7.56 1381 11806.75 done 0.81 - - 2489.25 - 2.21 0.063 3839.62 637.9 97.32 - - 2552.25 - - - - - - - - - 15.81 -
11840.25 888.42 8.83 1389 11846.76 done 0.81 - - 2498.25 - 2.28 0.020 2327.25 -663.3 97.32 - - 2552.09 - - - - - - - - - 15.09 -
12150.26 863.34 8.09 1421 12157.18 done 0.81 - - 2510.62 - 2.61 0.029 948.06 -528.4 97.32 - - 2554.06 - - - - - - - - - 15.90 -
12200.28 859.37 7.98 1431 12207.38 done 0.81 - - 2510.75 - 2.93 0.032 2430.62 506.0 97.32 - - 2551.97 - - - - - - - - - 15.03 -
12510.29 832.99 8.57 1463 12516.82 done 0.81 - - 2509.75 - 2.22 0.062 3840.88 635.3 97.32 - - 2552.72 - - - - - - - - - 15.82 -
12540.29 830.13 8.90 1469 12546.83 done 0.81 - - 2520.31 - 2.24 0.020 2314.75 -681.3 97.32 - - 2551.44 - - - - - - - - - 15.93 -
12850.32 803.09 8.65 1501 12857.08 done 0.81 - - 2521.81 - 2.49 0.060 3840.06 612.6 97.32 - - 2552.50 - - - - - - - - - 15.81 -
12905.07 797.53 10.09 1512 12912.21 done 0.81 - - 2530.81 - 2.27 0.019 2318.88 -670.1 97.32 - - 2551.31 - - - - - - - - - 15.01 -
13220.36 770.38 8.38 1544 13222.15 VBD 0.81 - - 2532.62 - - - 2302.31 - 97.32 - - 2549.75 - - - - - - - - - - -
13530.39 744.84 8.03 1575 13537.18 done 0.81 - - 2542.75 - 2.58 0.029 948.12 -524.9 97.32 - - 2550.66 - - - - - - - - - 15.90 -
13600.63 739.23 8.03 1589 13607.67 0.81 0.17 0.258 2501.06 -245.2 2.89 0.032 2437.38 515.3 97.32 - - 2550.56 - - - - - - - - 15.33 15.83 -
13910.50 717.31 6.93 1621 13917.44 done 0.84 - - 2511.38 - 2.87 0.028 949.56 -518.4 97.32 - - 2549.84 - - - - - - - - - 14.94 -
13965.26 713.41 7.12 1632 13972.70 done 0.86 - - 2511.25 - 2.90 0.032 2431.50 511.0 97.32 - - 2549.84 - - - - - - - - - 15.88 -
14280.56 690.56 7.03 1664 14287.51 done 0.89 - - 2522.81 - 2.81 0.028 947.12 -528.2 97.32 - - 2550.16 - - - - - - - - - 15.90 -
14340.58 686.45 6.89 1676 14347.62 done 0.92 - - 2523.38 - 2.91 0.032 2431.50 510.1 97.32 - - 2549.59 - - - - - - - - - 15.87 -
14650.54 663.49 7.98 1708 14656.99 done 0.92 - - 2522.75 - 2.17 0.062 3842.50 650.2 97.32 - - 2550.16 - - - - - - - - - 15.79 -
14790.58 650.92 9.06 1736 14797.13 done 0.92 - - 2532.81 - 2.21 0.019 2323.25 -687.4 97.32 - - 2550.78 - - - - - - - - - 15.92 -
15100.61 624.95 8.43 1768 15107.30 done 0.92 - - 2532.88 - 2.44 0.059 3841.81 622.4 97.32 - - 2550.03 - - - - - - - - - 15.79 -
15150.61 620.28 9.46 1778 15157.16 done 0.92 - - 2544.88 - 2.23 0.019 2319.56 -682.6 97.32 - - 2548.44 - - - - - - - - - 15.94 -
15460.73 594.37 7.58 1810 15462.51 VBD 0.94 - - 2544.94 - - - 2304.19 - 97.32 - - 2548.25 - - - - - - - - - - -
15770.75 571.47 7.04 1841 15777.47 done 0.97 - - 2545.81 - 2.53 0.059 3841.38 607.6 97.32 - - 2548.06 - - - - - - - - - 14.76 -
15940.72 557.31 8.47 1875 15947.25 done 0.97 - - 2553.62 - 2.24 0.019 2311.88 -682.8 97.32 - - 2549.09 - - - - - - - - - 15.93 -
16250.83 535.02 7.23 1907 16257.63 done 0.99 - - 2567.44 - 2.62 0.028 945.38 -521.6 97.32 - - 2549.16 - - - - - - - - - 14.82 -
16310.85 530.51 7.49 1919 16317.88 done 1.01 - - 2567.44 - 2.96 0.031 2433.81 502.8 97.32 - - 2548.62 - - - - - - - - - 14.84 -
16620.80 505.07 8.55 1951 16627.81 done 1.01 - - 2578.00 - 2.82 0.028 944.69 -528.1 97.32 - - 2548.59 - - - - - - - - - 15.88 -
16730.81 495.56 8.75 1973 16738.00 done 1.01 - - 2579.62 - 2.95 0.032 2436.00 505.5 97.32 - - 2549.03 - - - - - - - - - 14.82 -
17040.84 468.42 8.69 2005 17042.63 VBD 1.01 - - 2578.25 - - - 2435.94 - 97.32 - - 2547.72 - - - - - - - - - - -
17350.87 441.86 8.27 2036 17357.91 done 1.01 - - 2589.38 - 2.84 0.028 946.75 -524.4 97.32 - - 2549.22 - - - - - - - - - 15.87 -
17380.88 439.37 8.32 2042 17388.15 done 1.01 - - 2589.88 - 2.91 0.033 2432.69 510.6 97.32 - - 2549.84 - - - - - - - - - 15.80 -
17690.90 412.91 8.77 2074 17697.42 done 1.01 - - 2590.38 - 2.27 0.061 3841.75 620.7 97.32 - - 2549.19 - - - - - - - - - 14.70 -
17715.64 410.51 9.14 2079 17722.67 done 1.01 - - 2598.94 - 2.24 0.018 2313.50 -682.3 97.32 - - 2547.81 - - - - - - - - - 15.92 -
18030.92 384.24 8.16 2111 18032.72 VBD 1.01 - - 2602.06 - - - 2297.50 - 97.32 - - 2547.59 - - - - - - - - - - -
18340.95 359.33 8.05 2142 18347.74 done 1.01 - - 2611.94 - 2.57 0.029 947.00 -525.5 97.32 - - 2548.72 - - - - - - - - - 15.87 -
18395.79 355.10 7.68 2153 18403.58 1.03 0.17 0.272 2571.62 -237.2 2.95 0.032 2439.62 506.0 97.32 - - 2548.84 - - - - - - - - 15.17 14.77 -
18711.06 333.54 6.45 2185 18712.86 VBD 1.07 - - 2571.75 - - - 2439.50 - 97.32 - - 2547.56 - - - - - - - - - - -
19021.09 312.70 6.91 2216 19022.89 VBD 1.10 - - 2572.12 - - - 2438.81 - 97.32 - - 2547.72 - - - - - - - - - - -
19331.12 291.42 6.91 2247 19337.86 1.13 0.12 0.079 2630.69 488.1 2.21 0.063 3840.00 634.0 97.32 - - 2548.25 - - - - - - - - 15.86 15.74 -
19455.80 280.38 8.89 2272 19462.85 done 1.13 - - 2639.50 - 2.23 0.018 2318.62 -682.2 97.32 - - 2548.47 - - - - - - - - - 15.92 -
19771.17 255.60 7.76 2304 19772.97 VBD 1.14 - - 2639.56 - - - 2301.88 - 97.32 - - 2547.75 - - - - - - - - - - -
20081.20 234.20 6.65 2335 20087.83 done 1.18 - - 2639.75 - 2.50 0.059 3841.62 615.9 97.32 - - 2548.09 - - - - - - - - - 15.77 -
20125.95 230.77 7.62 2344 20132.92 done 1.20 - - 2649.50 - 2.26 0.018 2306.50 -679.3 97.32 - - 2548.38 - - - - - - - - - 15.91 -
20441.24 208.11 7.20 2376 20448.01 done 1.22 - - 2662.38 - 2.55 0.028 945.44 -533.7 97.32 - - 2550.09 - - - - - - - - - 15.87 -
20545.99 200.49 7.21 2397 20553.47 done 1.25 - - 2661.50 - 2.90 0.032 2437.75 514.6 97.32 - - 2551.25 - - - - - - - - - 15.85 -
20861.27 176.57 7.91 2429 20868.43 done 1.26 - - 2661.19 - 2.22 0.058 3845.19 634.0 97.32 - - 2549.12 - - - - - - - - - 15.66 -
21035.97 161.22 8.15 2464 21043.69 done 1.26 - - 2669.12 - 2.27 0.017 2298.88 -681.2 97.32 - - 2549.31 - - - - - - - - - 15.45 -
21351.33 143.36 5.09 2496 21407.92 done 1.33 - - 2682.31 - 2.65 0.030 947.06 -510.1 154.59 45.38 1.237 2337.25 -4.7 0.097 - - - - - - - 15.21 10.84
21440.17 135.80 10.76 2513 21448.83 roll 1.33 - - 2681.56 - 3.02 0.033 2432.12 491.7 154.59 - - 2333.19 - - - - - - - - - 14.99 -
21750.49 93.84 13.73 2549 21757.96 done 1.33 - - 2682.56 - 2.27 0.059 3841.81 621.0 154.59 - - 2328.91 - - - - - - - - - 15.49 -
21815.51 85.09 13.31 2562 21823.94 done 1.33 - - 2691.81 - 2.30 0.017 2325.12 -659.4 154.59 - - 2328.06 - - - - - - - - - 14.80 -
22006.41 65.20 10.28 2600 22014.19 done 1.33 - - 2692.31 - 2.52 0.057 3841.94 601.9 154.59 - - 2328.00 - - - - - - - - - 15.46 -
22201.93 48.76 6.13 2639 22209.26 done 1.38 - - 2701.56 - 2.28 0.017 2303.12 -674.9 154.59 - - 2326.97 - - - - - - - - - 15.55 -
22391.83 42.71 2.86 2677 22477.79 done 1.50 - - 2704.44 - 2.59 0.058 3840.19 593.5 249.67 74.09 1.087 1947.31 -5.1 0.036 - - - - - - - 15.12 11.19
22685 end climb: SURFACE_DEPTH_REACHED
22686 begin surface coast
22701 end surface coast: CONTROL_FINISHED_OK
22701 begin surface
SM 1.35 - - - - 217.8 55.24 1.055 1641.9 28.4 7.35 0.077 1633.9 222.3 - 1.60 0.019 1649.9 1029.6 -7.477 - - 11.01 15.54 15.72 -