SMODE Mar23 * SG219 * Dive index * Mission links * Dive 164 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 154.99 of 310.00 AH used of 24V (50.00% remains)
• Surface angle -66.9 deg, depth 1.43 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 325.38 (SM_CC=325)
• GPS1 time: 39 s
• GPS2 time: 4 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
17.79 - - - 61.04 VBD -0.65 - - 179.12 - - - 2604.06 - -97.32 39.18 0.005 2377.78 - - - - - - - - - - 14.73
61.47 2.09 -1.69 8 125.34 -0.65 8.48 0.347 2041.50 219.6 2.45 0.028 1292.62 -535.3 -97.32 40.62 0.005 3364.28 24.3 -1.812 - - - - - - 14.70 14.85 14.99
127.70 6.76 -12.18 20 135.81 roll -0.65 - - 2032.50 - 2.84 0.038 2780.00 523.7 -97.32 - - 3365.00 - - - - - - - - - 15.41 -
318.21 36.60 -16.60 58 325.26 roll -0.65 - - 2025.94 - 1.72 0.066 3849.25 621.7 -97.32 - - 3365.69 - - - - - - - - - 14.81 -
373.22 45.68 -16.38 69 380.28 roll -0.65 - - 2025.69 - 1.72 0.016 2639.00 -703.6 -97.32 - - 3366.94 - - - - - - - - - 15.52 -
563.44 73.79 -12.94 107 570.75 roll -0.65 - - 2025.69 - 2.49 0.024 1293.12 -540.5 -97.32 - - 3366.72 - - - - - - - - - 15.54 -
603.25 78.89 -12.55 115 611.13 roll -0.65 - - 2012.31 - 2.90 0.043 2779.19 512.4 -97.32 - - 3367.44 - - - - - - - - - 14.84 -
798.53 104.43 -12.78 151 805.30 roll -0.65 - - 2005.25 - 1.73 0.065 3850.88 619.5 -97.32 - - 3368.59 - - - - - - - - - 14.81 -
893.29 118.20 -13.82 170 900.78 roll back -0.65 0.14 0.225 2044.25 278.6 1.71 0.017 2634.56 -711.3 -97.32 - - 3367.84 - - - - - - - - 15.44 15.56 -
1208.57 152.64 -10.84 202 1215.45 roll -0.65 - - 2038.00 - 2.00 0.065 3850.25 607.8 -97.32 - - 3368.09 - - - - - - - - - 15.68 -
1243.32 156.61 -11.34 209 1250.60 roll -0.65 - - 2037.56 - 1.71 0.018 2640.38 -707.5 -97.32 - - 3369.53 - - - - - - - - - 15.71 -
1558.59 190.42 -10.63 241 1565.90 roll -0.65 - - 2037.75 - 2.47 0.024 1292.38 -545.7 -97.32 - - 3369.75 - - - - - - - - - 15.77 -
1588.63 193.55 -10.50 247 1597.66 roll -0.65 - - 2025.94 - 2.84 0.044 2778.81 523.4 -97.32 - - 3369.25 - - - - - - - - - 15.73 -
1903.64 226.45 -10.16 279 1910.50 roll -0.65 - - 2026.25 - 2.69 0.024 1292.81 -552.4 -97.32 - - 3369.97 - - - - - - - - - 15.91 -
1928.39 229.06 -10.37 284 1935.93 roll -0.65 - - 2015.81 - 2.83 0.043 2777.25 524.5 -97.32 - - 3368.16 - - - - - - - - - 15.81 -
2243.91 263.51 -10.90 316 2250.66 roll -0.65 - - 2015.94 - 2.70 0.024 1293.00 -549.7 -97.32 - - 3368.09 - - - - - - - - - 15.84 -
2288.43 268.39 -10.73 325 2296.11 roll -0.65 - - 2004.38 - 2.83 0.043 2779.62 525.3 -97.32 - - 3368.25 - - - - - - - - - 15.84 -
2603.73 305.64 -11.95 357 2605.78 pitch -0.65 0.14 0.244 2044.69 287.9 - - 2779.94 - -97.32 - - 3366.47 - - - - - - - - 15.46 - -
2913.78 335.53 -9.45 388 2920.72 roll -0.65 - - 2044.31 - 2.74 0.025 1296.25 -541.5 -97.32 - - 3366.50 - - - - - - - - - 15.00 -
2943.79 338.35 -9.38 394 2950.82 roll -0.65 - - 2035.31 - 2.88 0.044 2777.75 514.4 -97.32 - - 3366.78 - - - - - - - - - 14.94 -
3253.82 368.67 -9.82 426 3255.62 no move -0.65 - - 2035.75 - - - 2778.44 - -97.32 - - 3364.78 - - - - - - - - - - -
3563.84 398.33 -9.67 457 3570.79 roll -0.65 - - 2036.12 - 2.71 0.025 1293.50 -547.9 -97.32 - - 3365.47 - - - - - - - - - 15.86 -
3628.59 404.50 -9.31 470 3636.15 roll -0.65 - - 2024.12 - 2.83 0.042 2776.25 523.9 -97.32 - - 3365.97 - - - - - - - - - 15.85 -
3943.88 436.54 -10.16 502 3950.83 roll -0.65 - - 2025.00 - 2.70 0.025 1292.81 -549.4 -97.32 - - 3364.44 - - - - - - - - - 15.88 -
3993.89 441.61 -10.06 512 4000.93 roll -0.65 - - 2013.31 - 2.88 0.043 2778.19 515.8 -97.32 - - 3364.34 - - - - - - - - - 14.90 -
4303.91 473.69 -10.26 544 4310.86 roll -0.65 - - 2012.31 - 2.72 0.025 1294.31 -545.5 -97.32 - - 3363.81 - - - - - - - - - 15.88 -
4333.92 476.71 -10.11 550 4341.03 roll -0.65 - - 2003.12 - 2.83 0.043 2776.62 523.8 -97.32 - - 3363.22 - - - - - - - - - 15.84 -
4643.94 509.58 -11.02 582 4650.05 roll back -0.65 0.15 0.227 2039.50 242.5 1.68 0.068 3850.19 639.0 -97.32 - - 3362.69 - - - - - - - - 15.50 15.49 -
4693.96 514.31 -9.33 592 4699.87 roll -0.65 - - 2039.00 - 1.68 0.020 2641.31 -719.6 -97.32 - - 3363.75 - - - - - - - - - 15.96 -
5003.99 542.57 -9.23 624 5010.13 roll -0.65 - - 2031.62 - 1.98 0.068 3851.00 611.0 -97.32 - - 3361.75 - - - - - - - - - 15.81 -
5084.01 550.31 -9.62 640 5089.83 roll -0.65 - - 2030.31 - 1.70 0.020 2638.69 -713.1 -97.32 - - 3361.69 - - - - - - - - - 15.87 -
5394.03 578.81 -8.81 672 5400.12 roll -0.65 - - 2020.81 - 1.98 0.067 3848.06 610.8 -97.32 - - 3360.34 - - - - - - - - - 15.83 -
5458.79 584.84 -9.30 685 5465.02 roll -0.65 - - 2021.62 - 1.68 0.020 2640.38 -718.9 -97.32 - - 3361.00 - - - - - - - - - 15.96 -
5774.07 613.73 -8.97 717 5780.14 roll -0.65 - - 2011.56 - 1.98 0.067 3848.00 609.9 -97.32 - - 3360.53 - - - - - - - - - 15.83 -
5828.82 618.83 -9.29 728 5834.91 roll -0.65 - - 2012.69 - 1.69 0.021 2643.50 -712.7 -97.32 - - 3359.78 - - - - - - - - - 15.95 -
6144.10 647.55 -8.94 760 6145.91 no move -0.65 - - 2012.69 - - - 2640.19 - -97.32 - - 3357.94 - - - - - - - - - - -
6454.13 674.68 -8.46 791 6460.21 roll -0.65 - - 2004.31 - 1.98 0.067 3848.38 610.2 -97.32 - - 3358.66 - - - - - - - - - 14.74 -
6508.88 679.54 -8.92 802 6515.23 roll back -0.65 0.14 0.210 2044.25 285.3 1.70 0.021 2651.06 -704.3 -97.32 - - 3358.69 - - - - - - - - 15.55 15.96 -
6824.14 700.64 -6.71 834 6825.94 no move -0.65 - - 2044.94 - - - 2644.38 - -97.32 - - 3356.88 - - - - - - - - - - -
7134.18 721.41 -6.58 865 7140.26 roll -0.65 - - 2038.88 - 1.96 0.069 3851.44 615.8 -97.32 - - 3356.81 - - - - - - - - - 15.80 -
7174.19 724.21 -6.76 873 7180.21 roll -0.65 - - 2039.44 - 1.73 0.021 2644.12 -697.9 -97.32 - - 3356.91 - - - - - - - - - 14.86 -
7484.21 746.05 -7.10 905 7486.00 no move -0.65 - - 2037.81 - - - 2641.62 - -97.32 - - 3355.78 - - - - - - - - - - -
7794.48 769.16 -7.65 936 7796.27 no move -0.65 - - 2038.62 - - - 2641.06 - -97.32 - - 3355.50 - - - - - - - - - - -
8104.41 792.96 -7.78 967 8106.20 no move -0.65 - - 2038.25 - - - 2641.06 - -97.32 - - 3354.50 - - - - - - - - - - -
8414.31 817.18 -7.85 998 8416.10 no move -0.65 - - 2038.31 - - - 2640.62 - -97.32 - - 3354.53 - - - - - - - - - - -
8724.33 841.68 -7.94 1029 8726.19 no move -0.65 - - 2038.94 - - - 2640.44 - -97.32 - - 3354.22 - - - - - - - - - - -
9034.36 866.54 -8.00 1060 9040.45 roll -0.65 - - 2028.88 - 2.00 0.070 3849.81 604.7 -97.32 - - 3354.84 - - - - - - - - - 14.64 -
9094.37 871.61 -8.43 1072 9100.29 roll -0.65 - - 2029.75 - 1.73 0.022 2650.12 -693.5 -97.32 - - 3354.12 - - - - - - - - - 14.77 -
9404.39 897.27 -8.41 1104 9406.19 no move -0.65 - - 2029.81 - - - 2644.69 - -97.32 - - 3352.75 - - - - - - - - - - -
9714.42 922.22 -7.74 1135 9720.50 roll -0.65 - - 2020.12 - 1.95 0.069 3849.81 618.0 -97.32 - - 3354.34 - - - - - - - - - 15.77 -
9779.17 927.56 -8.19 1148 9785.34 roll -0.65 - - 2022.50 - 1.70 0.022 2648.00 -706.9 -97.32 - - 3353.06 - - - - - - - - - 15.94 -
10094.44 952.02 -7.47 1180 10096.24 no move -0.65 - - 2021.31 - - - 2644.19 - -97.32 - - 3352.19 - - - - - - - - - - -
10404.48 975.82 -7.77 1211 10406.27 no move -0.65 - - 2021.25 - - - 2643.50 - -97.32 - - 3351.75 - - - - - - - - - - -
10594 end dive: TARGET_DEPTH_EXCEEDED
10594 begin apogee
10596.38 990.41 -7.64 1230 10697.08 -0.12 0.65 0.173 2210.75 291.5 0.24 0.096 2435.69 -865.9 - 91.46 2.327 2966.91 -4.2 0.320 - - - - - - 15.29 14.83 10.20
10699 end apogee: CONTROL_FINISHED_OK
10699 begin climb
10699.69 992.24 - 1239 10812.74 0.65 0.77 0.095 2479.88 349.5 3.08 0.035 954.06 -481.0 97.32 97.63 2.279 2569.88 -4.1 0.316 - - - - - - 15.18 14.58 11.23
10870.33 986.50 6.60 1271 10877.54 roll 0.69 - - 2478.12 - 3.02 0.036 2428.94 488.4 97.32 - - 2565.62 - - - - - - - - - 14.87 -
11180.35 964.03 6.99 1303 11182.14 VBD 0.72 - - 2478.12 - - - 2428.81 - 97.32 - - 2557.56 - - - - - - - - - - -
11490.39 943.05 6.68 1334 11492.19 VBD 0.75 - - 2477.69 - - - 2429.12 - 97.32 - - 2554.78 - - - - - - - - - - -
11800.41 922.64 6.55 1365 11802.20 VBD 0.79 - - 2477.56 - - - 2428.75 - 97.32 - - 2552.69 - - - - - - - - - - -
12110.44 901.07 7.15 1396 12117.07 0.82 0.09 0.080 2538.69 679.2 2.22 0.066 3842.19 636.7 97.32 - - 2553.91 - - - - - - - - 15.86 15.78 -
12145.12 897.61 9.90 1403 12152.15 done 0.82 - - 2548.19 - 2.26 0.019 2309.75 -678.1 97.32 - - 2553.47 - - - - - - - - - 15.08 -
12460.39 867.08 9.91 1435 12467.42 0.82 0.17 0.250 2504.06 -259.6 2.55 0.061 3840.50 600.3 97.32 - - 2552.59 - - - - - - - - 15.36 14.96 -
12480.39 865.10 10.00 1439 12487.00 done 0.82 - - 2513.06 - 2.24 0.020 2325.94 -676.1 97.32 - - 2552.91 - - - - - - - - - 15.91 -
12790.43 837.39 8.94 1471 12797.20 done 0.82 - - 2513.69 - 2.51 0.062 3840.75 603.5 97.32 - - 2553.09 - - - - - - - - - 14.93 -
12810.45 835.41 9.11 1475 12817.05 done 0.82 - - 2524.44 - 2.25 0.019 2314.81 -678.2 97.32 - - 2552.12 - - - - - - - - - 15.92 -
13120.46 807.23 9.07 1507 13122.25 VBD 0.82 - - 2524.12 - - - 2298.12 - 97.32 - - 2550.62 - - - - - - - - - - -
13430.49 780.29 8.53 1538 13437.27 done 0.82 - - 2534.50 - 2.60 0.029 948.69 -519.0 97.32 - - 2551.78 - - - - - - - - - 15.91 -
13450.49 778.58 8.54 1542 13457.60 done 0.82 - - 2534.44 - 2.92 0.032 2433.69 508.6 97.32 - - 2550.78 - - - - - - - - - 14.94 -
13760.53 750.00 9.17 1574 13767.57 done 0.82 - - 2546.19 - 2.83 0.028 945.62 -525.8 97.32 - - 2550.59 - - - - - - - - - 15.90 -
13800.53 746.33 9.17 1582 13807.81 0.82 0.16 0.229 2503.62 -266.1 2.89 0.033 2439.50 516.9 97.32 - - 2550.19 - - - - - - - - 15.36 15.88 -
14110.55 721.13 7.99 1614 14117.58 done 0.82 - - 2514.62 - 2.88 0.029 948.88 -517.6 97.32 - - 2550.09 - - - - - - - - - 14.93 -
14150.64 718.00 7.86 1622 14157.66 done 0.83 - - 2516.62 - 2.89 0.033 2435.25 514.3 97.32 - - 2550.12 - - - - - - - - - 15.87 -
14460.58 692.84 8.04 1654 14462.38 VBD 0.83 - - 2514.06 - - - 2434.81 - 97.32 - - 2548.59 - - - - - - - - - - -
14770.69 668.71 7.60 1685 14772.49 VBD 0.85 - - 2514.50 - - - 2435.19 - 97.32 - - 2548.84 - - - - - - - - - - -
15080.71 645.63 7.40 1716 15087.08 done 0.87 - - 2513.38 - 2.18 0.063 3840.62 644.7 97.32 - - 2550.47 - - - - - - - - - 15.79 -
15105.45 643.62 7.59 1721 15112.42 done 0.89 - - 2523.81 - 2.23 0.019 2325.38 -679.5 97.32 - - 2549.12 - - - - - - - - - 15.80 -
15420.75 620.57 7.37 1753 15427.38 done 0.91 - - 2525.00 - 2.49 0.062 3841.69 609.0 97.32 - - 2549.06 - - - - - - - - - 15.78 -
15500.69 614.08 8.17 1769 15507.24 done 0.91 - - 2534.62 - 2.23 0.019 2310.25 -686.7 97.32 - - 2549.88 - - - - - - - - - 15.93 -
15810.82 591.10 7.22 1801 15812.62 VBD 0.93 - - 2535.94 - - - 2293.00 - 97.32 - - 2547.72 - - - - - - - - - - -
16120.87 568.76 7.37 1832 16122.66 VBD 0.95 - - 2535.44 - - - 2293.12 - 97.32 - - 2548.06 - - - - - - - - - - -
16430.90 545.99 7.47 1863 16437.67 done 0.97 - - 2537.56 - 2.51 0.061 3841.81 617.0 97.32 - - 2549.88 - - - - - - - - - 15.77 -
16485.57 541.21 8.71 1874 16492.62 done 0.97 - - 2545.56 - 2.23 0.018 2332.75 -676.7 97.32 - - 2549.16 - - - - - - - - - 15.88 -
16800.86 516.48 8.24 1906 16802.65 VBD 0.97 - - 2546.31 - - - 2316.75 - 97.32 - - 2547.72 - - - - - - - - - - -
17110.96 491.27 7.57 1937 17112.76 VBD 0.99 - - 2546.69 - - - 2316.44 - 97.32 - - 2547.66 - - - - - - - - - - -
17420.99 467.97 7.46 1968 17422.78 VBD 1.01 - - 2545.94 - - - 2316.31 - 97.32 - - 2547.69 - - - - - - - - - - -
17731.01 445.27 7.06 1999 17737.97 1.04 0.10 0.072 2618.25 723.1 2.48 0.063 3840.19 614.5 97.32 - - 2549.56 - - - - - - - - 15.86 15.75 -
17780.94 440.62 9.49 2009 17787.84 1.04 0.21 0.291 2575.44 -203.9 2.25 0.018 2326.38 -672.8 97.32 - - 2549.03 - - - - - - - - 15.14 15.93 -
18091.06 415.97 7.58 2041 18097.92 done 1.06 - - 2588.62 - 2.62 0.029 945.69 -527.0 97.32 - - 2548.06 - - - - - - - - - 15.87 -
18175.83 409.50 7.54 2058 18183.37 done 1.08 - - 2587.62 - 2.93 0.033 2434.62 508.2 97.32 - - 2549.03 - - - - - - - - - 14.78 -
18491.11 384.90 7.35 2090 18492.90 VBD 1.10 - - 2587.62 - - - 2433.69 - 97.32 - - 2547.16 - - - - - - - - - - -
18801.14 363.30 6.43 2121 18808.17 done 1.14 - - 2598.94 - 2.83 0.028 944.50 -526.2 97.32 - - 2550.31 - - - - - - - - - 15.86 -
18985.92 351.80 6.03 2158 18993.54 done 1.19 - - 2600.31 - 2.94 0.034 2432.31 506.1 97.32 - - 2548.81 - - - - - - - - - 14.76 -
19301.19 334.34 5.23 2190 19357.11 1.26 0.16 0.059 2712.56 701.6 2.26 0.062 3841.25 623.4 152.22 45.26 1.521 2345.25 -4.5 0.177 - - - - - - 15.70 15.19 10.31
19379.36 326.16 13.64 2205 19386.84 roll back 1.26 0.32 0.324 2646.81 -205.5 2.26 0.017 2330.31 -668.6 152.22 - - 2344.50 - - - - - - - - 15.19 15.65 -
19694.73 287.37 12.54 2237 19701.58 done 1.26 - - 2658.62 - 2.62 0.029 947.25 -527.9 152.22 - - 2338.81 - - - - - - - - - 15.78 -
19729.40 282.76 13.23 2244 19737.08 done 1.26 - - 2657.12 - 2.90 0.033 2434.06 512.7 152.22 - - 2339.09 - - - - - - - - - 15.77 -
20044.70 238.38 13.96 2276 20046.49 VBD 1.26 - - 2657.62 - - - 2434.62 - 152.22 - - 2336.50 - - - - - - - - - - -
20354.76 195.16 13.17 2307 20362.48 done 1.26 - - 2668.81 - 2.83 0.028 947.31 -525.6 152.22 - - 2337.56 - - - - - - - - - 15.73 -
20404.98 188.31 13.45 2317 20412.78 done 1.26 - - 2668.94 - 2.91 0.034 2431.12 509.9 152.22 - - 2338.09 - - - - - - - - - 15.72 -
20715.23 146.00 12.15 2349 20722.97 done 1.26 - - 2679.75 - 2.83 0.028 948.44 -523.9 152.22 - - 2336.75 - - - - - - - - - 15.74 -
20790.22 137.75 10.27 2364 20798.60 done 1.26 - - 2681.31 - 2.91 0.032 2435.50 511.0 152.22 - - 2336.62 - - - - - - - - - 15.71 -
21105.76 102.79 9.56 2396 21113.24 done 1.26 - - 2692.25 - 2.84 0.028 945.50 -524.6 152.22 - - 2336.62 - - - - - - - - - 15.27 -
21335.79 81.47 8.47 2442 21344.18 1.26 0.19 0.281 2647.94 -233.2 2.92 0.033 2438.31 511.2 152.22 - - 2337.59 - - - - - - - - 14.98 15.21 -
21526.71 69.27 5.30 2480 21583.93 done 1.33 - - 2656.75 - 2.85 0.029 945.25 -523.9 205.85 43.47 1.148 2126.91 -4.8 0.052 - - - - - - - 15.18 10.98
21811.46 47.04 9.35 2536 21819.54 roll 1.33 - - 2657.31 - 2.94 0.034 2431.69 505.6 205.85 - - 2121.28 - - - - - - - - - 15.41 -
22002.00 28.21 10.15 2574 22009.97 done 1.33 - - 2667.44 - 2.87 0.028 948.31 -516.9 205.85 - - 2121.03 - - - - - - - - - 15.33 -
22062.46 22.01 10.09 2586 22070.54 done 1.33 - - 2668.19 - 2.94 0.034 2431.62 504.5 205.85 - - 2119.62 - - - - - - - - - 15.38 -
22238 end climb: SURFACE_DEPTH_REACHED
22238 begin surface coast
22263 end surface coast: CONTROL_FINISHED_OK
22263 begin surface
SM 1.41 - - - - 222.2 88.11 1.061 1641.5 18.6 6.99 0.054 1633.2 233.6 - 0.50 0.064 1649.8 3293.7 -7.417 - - 11.01 15.59 15.74 -