SMODE Mar23 * SG219 * Dive index * Mission links * Dive 55 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 114.01 of 310.00 AH used of 24V (63.22% remains)
• Surface angle -67.7 deg, depth 1.28 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 325.38 (SM_CC=325)
• GPS1 time: 26 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7.07 - - - 76.88 VBD -0.65 - - 210.81 - - - 2715.38 - -97.32 66.00 0.005 2830.22 - - - - - - - - - - 14.87
77.31 2.13 -1.39 13 118.30 -0.65 8.35 0.355 2040.81 219.2 2.36 0.028 1396.19 -559.0 -97.32 19.30 0.006 3364.31 27.7 -1.740 - - - - - - 15.02 14.91 15.08
330.70 33.01 -12.59 63 337.52 roll -0.65 - - 2032.88 - 2.74 0.044 2876.31 540.2 -97.32 - - 3367.06 - - - - - - - - - 15.70 -
520.71 58.59 -12.38 101 522.38 no move -0.65 - - 2032.88 - - - 2876.38 - -97.32 - - 3365.72 - - - - - - - - - - -
705.81 82.86 -13.46 138 712.81 roll -0.65 - - 2033.00 - 2.62 0.023 1396.38 -564.9 -97.32 - - 3368.44 - - - - - - - - - 15.86 -
745.83 87.97 -12.49 146 752.89 roll -0.65 - - 2020.62 - 2.71 0.042 2876.94 546.3 -97.32 - - 3368.41 - - - - - - - - - 15.78 -
940.85 112.68 -12.50 175 942.61 no move -0.65 - - 2021.38 - - - 2878.19 - -97.32 - - 3366.66 - - - - - - - - - - -
1250.88 148.86 -11.53 206 1257.56 roll -0.65 - - 2021.38 - 2.58 0.023 1397.81 -573.8 -97.32 - - 3368.12 - - - - - - - - - 15.91 -
1295.63 154.10 -11.60 215 1302.94 roll -0.65 - - 2009.62 - 2.72 0.042 2879.88 544.9 -97.32 - - 3368.00 - - - - - - - - - 15.82 -
1610.91 193.97 -12.71 247 1617.80 roll back -0.65 0.12 0.251 2043.88 285.5 2.59 0.023 1394.75 -573.4 -97.32 - - 3369.53 - - - - - - - - 15.52 15.58 -
1685.68 201.52 -9.45 262 1693.06 roll -0.65 - - 2036.06 - 2.71 0.041 2878.12 547.4 -97.32 - - 3368.56 - - - - - - - - - 15.84 -
2000.95 231.93 -10.14 294 2002.70 no move -0.65 - - 2035.19 - - - 2877.94 - -97.32 - - 3367.97 - - - - - - - - - - -
2310.99 265.34 -11.40 325 2317.61 roll -0.65 - - 2034.38 - 2.60 0.023 1396.69 -569.7 -97.32 - - 3369.28 - - - - - - - - - 15.95 -
2365.76 271.40 -10.84 336 2373.22 roll -0.65 - - 2024.75 - 2.72 0.041 2876.38 544.0 -97.32 - - 3368.66 - - - - - - - - - 15.85 -
2681.05 306.74 -10.92 368 2687.91 roll -0.65 - - 2023.94 - 2.61 0.023 1396.62 -567.0 -97.32 - - 3369.31 - - - - - - - - - 15.97 -
2711.05 309.91 -10.57 374 2718.06 roll -0.65 - - 2014.81 - 2.72 0.041 2877.06 544.3 -97.32 - - 3368.62 - - - - - - - - - 15.85 -
3021.08 343.16 -11.22 406 3027.85 roll -0.65 - - 2013.88 - 2.60 0.023 1395.50 -569.8 -97.32 - - 3369.53 - - - - - - - - - 15.97 -
3051.08 346.48 -11.18 412 3058.02 roll -0.65 - - 2003.38 - 2.72 0.042 2878.12 545.1 -97.32 - - 3368.03 - - - - - - - - - 15.85 -
3361.11 382.53 -11.81 444 3368.22 roll back -0.65 0.14 0.242 2043.81 288.8 2.59 0.023 1396.50 -572.1 -97.32 - - 3367.91 - - - - - - - - 15.53 15.57 -
3416.12 387.97 -9.50 455 3423.31 roll -0.65 - - 2034.12 - 2.72 0.043 2876.75 544.2 -97.32 - - 3368.31 - - - - - - - - - 15.85 -
3731.14 418.95 -9.72 487 3732.94 no move -0.65 - - 2034.94 - - - 2876.62 - -97.32 - - 3366.25 - - - - - - - - - - -
4041.18 448.03 -9.06 518 4042.97 no move -0.65 - - 2032.62 - - - 2876.00 - -97.32 - - 3367.69 - - - - - - - - - - -
4351.20 474.96 -9.03 549 4357.98 roll -0.65 - - 2035.12 - 2.58 0.023 1397.12 -573.2 -97.32 - - 3366.66 - - - - - - - - - 15.97 -
4441.22 482.91 -8.70 567 4448.16 roll -0.65 - - 2024.12 - 2.71 0.043 2874.88 545.3 -97.32 - - 3366.09 - - - - - - - - - 15.85 -
4751.24 513.24 -10.11 599 4758.02 roll -0.65 - - 2024.88 - 2.59 0.023 1397.06 -570.6 -97.32 - - 3365.94 - - - - - - - - - 15.97 -
4811.26 519.09 -9.62 611 4818.20 roll -0.65 - - 2013.50 - 2.73 0.042 2877.62 542.3 -97.32 - - 3365.84 - - - - - - - - - 15.84 -
5121.33 549.66 -9.69 643 5128.06 roll -0.65 - - 2014.12 - 2.59 0.024 1396.38 -571.9 -97.32 - - 3365.50 - - - - - - - - - 15.96 -
5186.04 556.04 -9.68 656 5193.50 roll -0.65 - - 2003.62 - 2.73 0.042 2876.44 542.1 -97.32 - - 3365.03 - - - - - - - - - 15.84 -
5501.32 588.90 -10.85 688 5508.41 roll back -0.65 0.14 0.237 2044.38 291.1 2.58 0.024 1398.38 -572.9 -97.32 - - 3364.31 - - - - - - - - 15.51 15.55 -
5531.33 591.81 -10.38 694 5538.28 roll -0.65 - - 2035.50 - 2.73 0.044 2878.31 542.1 -97.32 - - 3365.53 - - - - - - - - - 15.83 -
5841.35 622.48 -10.25 726 5848.20 roll -0.65 - - 2036.38 - 2.59 0.024 1395.88 -572.4 -97.32 - - 3364.41 - - - - - - - - - 15.96 -
5896.11 628.23 -10.31 737 5903.65 roll -0.65 - - 2025.88 - 2.73 0.043 2875.75 542.1 -97.32 - - 3364.09 - - - - - - - - - 15.83 -
6211.38 662.27 -10.60 769 6218.23 roll -0.65 - - 2025.00 - 2.58 0.024 1396.50 -573.4 -97.32 - - 3364.69 - - - - - - - - - 15.95 -
6241.39 665.48 -10.55 775 6248.46 roll -0.65 - - 2013.56 - 2.72 0.043 2877.44 544.5 -97.32 - - 3363.84 - - - - - - - - - 15.82 -
6551.41 698.11 -9.91 807 6558.24 roll -0.65 - - 2014.31 - 2.59 0.024 1395.75 -572.1 -97.32 - - 3363.28 - - - - - - - - - 15.95 -
6576.16 700.58 -9.73 812 6583.63 roll -0.65 - - 2003.00 - 2.73 0.043 2879.06 543.3 -97.32 - - 3363.34 - - - - - - - - - 15.82 -
6891.44 730.52 -9.09 844 6898.47 roll back -0.65 0.14 0.235 2042.81 284.4 2.59 0.025 1397.31 -572.1 -97.32 - - 3363.25 - - - - - - - - 15.49 15.51 -
6936.20 733.76 -7.71 853 6943.74 roll -0.65 - - 2036.88 - 2.73 0.044 2879.94 543.1 -97.32 - - 3363.78 - - - - - - - - - 15.81 -
7251.48 755.57 -7.24 885 7258.25 roll -0.65 - - 2035.44 - 2.59 0.025 1395.38 -573.2 -97.32 - - 3361.78 - - - - - - - - - 15.94 -
7276.22 757.47 -7.33 890 7283.73 roll -0.65 - - 2025.62 - 2.73 0.043 2878.88 543.4 -97.32 - - 3362.88 - - - - - - - - - 15.81 -
7591.51 781.81 -7.84 922 7598.35 roll -0.65 - - 2027.06 - 2.59 0.025 1397.75 -571.9 -97.32 - - 3362.56 - - - - - - - - - 15.94 -
7666.26 787.85 -7.99 937 7673.74 roll -0.65 - - 2014.69 - 2.73 0.043 2876.94 541.8 -97.32 - - 3360.88 - - - - - - - - - 15.81 -
7981.54 814.84 -8.71 969 7988.32 roll -0.65 - - 2015.12 - 2.59 0.025 1397.69 -571.1 -97.32 - - 3360.81 - - - - - - - - - 15.94 -
8021.55 818.38 -8.87 977 8028.51 roll -0.65 - - 2004.19 - 2.73 0.043 2876.31 541.6 -97.32 - - 3361.50 - - - - - - - - - 15.80 -
8331.58 847.14 -9.27 1009 8337.66 roll back -0.65 0.14 0.234 2040.38 258.5 1.54 0.071 3849.88 632.2 -97.32 - - 3360.78 - - - - - - - - 15.46 15.45 -
8366.32 849.98 -8.73 1016 8372.33 roll -0.65 - - 2039.94 - 1.55 0.023 2739.94 -716.1 -97.32 - - 3360.12 - - - - - - - - - 15.97 -
8681.61 874.28 -7.95 1048 8687.60 roll -0.65 - - 2032.06 - 1.82 0.069 3850.50 610.2 -97.32 - - 3359.06 - - - - - - - - - 15.79 -
8731.61 878.52 -8.50 1058 8737.37 roll -0.65 - - 2031.38 - 1.56 0.023 2743.69 -709.5 -97.32 - - 3360.22 - - - - - - - - - 15.98 -
9041.68 905.57 -8.73 1090 9043.47 no move -0.65 - - 2032.69 - - - 2742.12 - -97.32 - - 3359.22 - - - - - - - - - - -
9351.70 931.20 -8.16 1121 9353.49 no move -0.65 - - 2031.75 - - - 2741.44 - -97.32 - - 3357.62 - - - - - - - - - - -
9661.75 955.56 -7.62 1152 9663.56 no move -0.65 - - 2031.81 - - - 2741.44 - -97.32 - - 3357.41 - - - - - - - - - - -
9971.79 978.47 -7.24 1183 9973.59 no move -0.65 - - 2032.06 - - - 2741.75 - -97.32 - - 3357.31 - - - - - - - - - - -
10132 end dive: TARGET_DEPTH_EXCEEDED
10132 begin apogee
10133.77 990.27 -7.40 1199 10234.41 -0.12 0.61 0.178 2211.31 293.9 0.24 0.103 2440.56 -1255.0 - 91.93 2.345 2965.88 -4.3 0.318 - - - - - - 15.40 14.89 10.08
10236 end apogee: CONTROL_FINISHED_OK
10236 begin climb
10236.99 991.77 - 1208 10349.96 0.65 0.77 0.098 2476.00 343.8 3.03 0.037 955.12 -490.2 97.32 96.89 2.287 2569.69 -4.1 0.314 - - - - - - 15.18 14.63 11.41
10392.29 984.84 7.01 1237 10399.88 roll 0.68 - - 2477.50 - 2.97 0.036 2433.88 497.9 97.32 - - 2565.19 - - - - - - - - - 15.24 -
10707.49 958.71 8.19 1269 10709.29 VBD 0.68 - - 2476.00 - - - 2433.88 - 97.32 - - 2555.78 - - - - - - - - - - -
11017.52 933.06 8.07 1300 11019.31 VBD 0.68 - - 2475.88 - - - 2434.00 - 97.32 - - 2553.59 - - - - - - - - - - -
11327.55 907.50 8.34 1331 11334.49 done 0.68 - - 2487.69 - 2.80 0.030 950.00 -530.0 97.32 - - 2554.81 - - - - - - - - - 15.86 -
11352.29 905.41 8.38 1336 11359.84 done 0.68 - - 2488.00 - 2.83 0.033 2434.50 524.6 97.32 - - 2554.28 - - - - - - - - - 15.86 -
11667.58 877.68 8.98 1368 11669.37 VBD 0.68 - - 2488.12 - - - 2435.25 - 97.32 - - 2551.53 - - - - - - - - - - -
11977.61 849.81 8.97 1399 11984.15 done 0.68 - - 2486.38 - 2.26 0.064 3838.81 621.0 97.32 - - 2552.78 - - - - - - - - - 15.83 -
12057.62 841.84 9.94 1415 12064.16 done 0.68 - - 2497.69 - 2.28 0.020 2322.00 -665.3 97.32 - - 2551.91 - - - - - - - - - 15.93 -
12367.65 814.10 8.85 1447 12374.49 done 0.68 - - 2498.44 - 2.52 0.061 3839.12 602.0 97.32 - - 2551.31 - - - - - - - - - 15.84 -
12442.41 806.76 9.90 1462 12449.44 done 0.68 - - 2508.44 - 2.28 0.020 2318.75 -666.8 97.32 - - 2550.66 - - - - - - - - - 15.86 -
12757.73 778.78 8.69 1494 12759.77 0.68 0.19 0.228 2458.81 -261.2 - - 2303.56 - 97.32 - - 2548.34 - - - - - - - - 15.50 - -
13067.85 758.67 6.29 1525 13074.55 done 0.72 - - 2469.56 - 2.53 0.030 946.50 -536.4 97.32 - - 2550.78 - - - - - - - - - 15.93 -
13097.85 756.71 6.39 1531 13104.72 done 0.77 - - 2469.38 - 2.80 0.030 2434.19 531.3 97.32 - - 2548.91 - - - - - - - - - 15.93 -
13407.90 736.74 6.46 1563 13409.95 0.81 0.11 0.079 2525.75 512.5 - - 2435.62 - 97.32 - - 2547.53 - - - - - - - - 15.90 - -
13717.84 710.61 8.48 1594 13719.64 VBD 0.81 - - 2526.12 - - - 2435.50 - 97.32 - - 2548.03 - - - - - - - - - - -
14027.87 683.05 8.93 1625 14034.82 done 0.81 - - 2537.81 - 2.76 0.030 946.62 -539.4 97.32 - - 2550.09 - - - - - - - - - 15.94 -
14062.61 679.95 8.83 1632 14070.17 done 0.81 - - 2538.31 - 2.82 0.031 2437.50 528.7 97.32 - - 2548.84 - - - - - - - - - 15.88 -
14377.91 650.61 9.57 1664 14384.43 done 0.81 - - 2537.31 - 2.25 0.063 3839.56 623.1 97.32 - - 2549.56 - - - - - - - - - 15.84 -
14437.91 644.30 10.50 1676 14444.45 done 0.81 - - 2546.81 - 2.29 0.020 2320.25 -663.5 97.32 - - 2548.16 - - - - - - - - - 15.98 -
14747.94 615.69 8.77 1708 14755.04 0.81 0.18 0.230 2509.00 -210.1 2.51 0.031 948.56 -546.5 97.32 - - 2549.41 - - - - - - - - 15.45 15.53 -
14822.79 610.19 7.19 1723 14830.17 done 0.83 - - 2507.75 - 2.80 0.029 2439.75 532.6 97.32 - - 2547.81 - - - - - - - - - 15.92 -
15138.07 586.56 7.59 1755 15139.86 VBD 0.85 - - 2507.62 - - - 2439.88 - 97.32 - - 2547.19 - - - - - - - - - - -
15448.10 564.64 6.78 1786 15449.90 VBD 0.88 - - 2507.00 - - - 2439.94 - 97.32 - - 2546.84 - - - - - - - - - - -
15758.05 541.72 8.33 1817 15764.63 done 0.88 - - 2507.56 - 2.24 0.063 3841.75 625.8 97.32 - - 2548.88 - - - - - - - - - 15.83 -
15862.80 531.75 9.43 1838 15869.85 done 0.88 - - 2517.94 - 2.28 0.020 2317.19 -668.7 97.32 - - 2547.44 - - - - - - - - - 15.92 -
16178.09 503.59 9.10 1870 16184.86 done 0.88 - - 2519.50 - 2.56 0.060 3839.62 594.7 97.32 - - 2547.25 - - - - - - - - - 15.82 -
16322.97 488.81 10.24 1899 16329.90 done 0.88 - - 2529.56 - 2.28 0.020 2320.31 -666.4 97.32 - - 2547.22 - - - - - - - - - 15.96 -
16638.14 460.80 8.26 1931 16644.90 done 0.88 - - 2542.00 - 2.49 0.030 947.50 -551.3 97.32 - - 2548.66 - - - - - - - - - 15.92 -
16708.22 455.33 7.79 1945 16715.18 done 0.90 - - 2540.88 - 2.81 0.030 2438.19 530.5 97.32 - - 2547.56 - - - - - - - - - 15.91 -
17018.25 431.25 7.14 1977 17025.12 done 0.92 - - 2551.31 - 2.77 0.029 945.69 -538.8 97.32 - - 2547.59 - - - - - - - - - 15.91 -
17118.27 424.30 6.98 1997 17125.21 done 0.95 - - 2551.00 - 2.81 0.030 2439.75 531.7 97.32 - - 2548.34 - - - - - - - - - 15.91 -
17428.30 404.06 5.98 2029 17430.09 VBD 1.00 - - 2551.31 - - - 2439.38 - 97.32 - - 2546.81 - - - - - - - - - - -
17738.33 385.52 6.37 2060 17744.78 done 1.04 - - 2550.88 - 2.21 0.061 3842.81 635.0 97.32 - - 2548.56 - - - - - - - - - 15.82 -
17893.01 373.08 8.24 2091 17900.07 done 1.04 - - 2561.38 - 2.28 0.020 2322.00 -667.0 97.32 - - 2547.19 - - - - - - - - - 15.98 -
18208.31 347.40 8.67 2123 18210.11 VBD 1.04 - - 2563.12 - - - 2306.44 - 97.32 - - 2545.25 - - - - - - - - - - -
18518.34 320.20 8.71 2154 18525.19 done 1.04 - - 2573.50 - 2.53 0.029 946.75 -537.4 97.32 - - 2548.59 - - - - - - - - - 15.92 -
18573.08 315.50 8.60 2165 18580.62 done 1.04 - - 2574.00 - 2.83 0.030 2436.94 526.6 97.32 - - 2548.59 - - - - - - - - - 15.90 -
18888.46 290.07 7.42 2197 18894.98 done 1.06 - - 2574.69 - 2.28 0.062 3839.25 615.0 97.32 - - 2548.31 - - - - - - - - - 15.81 -
18978.38 282.43 8.66 2215 18984.94 done 1.06 - - 2584.00 - 2.29 0.019 2328.62 -659.7 97.32 - - 2546.56 - - - - - - - - - 15.98 -
19288.49 260.65 6.35 2247 19295.28 done 1.11 - - 2596.12 - 2.52 0.031 945.62 -548.8 97.32 - - 2547.59 - - - - - - - - - 15.91 -
19503.27 247.01 6.48 2290 19510.80 done 1.15 - - 2596.69 - 2.81 0.030 2439.38 531.6 97.32 - - 2547.59 - - - - - - - - - 15.90 -
19818.56 224.57 7.13 2322 19825.43 done 1.17 - - 2606.38 - 2.75 0.028 945.31 -543.3 97.32 - - 2547.47 - - - - - - - - - 15.91 -
19843.30 222.83 7.08 2327 19850.83 done 1.20 - - 2608.31 - 2.81 0.030 2437.31 531.0 97.32 - - 2549.09 - - - - - - - - - 15.89 -
20158.60 201.92 6.65 2359 20165.29 1.24 0.11 0.077 2699.25 826.7 2.27 0.062 3842.06 618.8 97.32 - - 2547.41 - - - - - - - - 15.90 15.79 -
20393.28 179.94 9.25 2406 20400.76 1.24 0.31 0.324 2639.12 -194.0 2.28 0.018 2309.81 -672.0 97.32 - - 2547.72 - - - - - - - - 14.99 15.96 -
20708.65 157.66 6.70 2438 20715.41 done 1.27 - - 2639.19 - 2.55 0.059 3841.12 600.5 97.32 - - 2548.41 - - - - - - - - - 15.78 -
20943.44 140.64 7.43 2485 20950.40 done 1.29 - - 2647.25 - 2.28 0.018 2321.25 -666.6 97.32 - - 2548.91 - - - - - - - - - 15.96 -
21258.71 121.90 5.98 2517 21265.35 done 1.34 - - 2659.88 - 2.49 0.029 942.44 -553.7 97.32 - - 2548.91 - - - - - - - - - 15.91 -
21493.55 108.12 6.31 2564 21501.16 1.38 0.09 0.078 2719.56 663.1 2.80 0.030 2441.69 535.4 97.32 - - 2549.78 - - - - - - - - 15.68 15.89 -
21803.86 91.27 5.18 2613 21856.78 done 1.46 - - 2730.50 - 2.78 0.029 944.19 -538.7 152.99 43.04 1.174 2339.62 -4.9 0.067 - - - - - - - 15.47 10.29
21944.29 74.47 16.11 2640 21951.59 roll 1.46 - - 2729.00 - 2.85 0.033 2436.00 523.4 152.99 - - 2337.75 - - - - - - - - - 15.69 -
22134.32 48.42 10.07 2678 22141.18 done 1.46 - - 2731.44 - 2.26 0.060 3843.88 623.0 152.99 - - 2334.78 - - - - - - - - - 15.74 -
22219.33 38.26 12.65 2695 22226.13 done 1.46 - - 2739.94 - 2.29 0.017 2326.75 -662.5 152.99 - - 2333.97 - - - - - - - - - 15.84 -
22409.36 16.09 11.07 2733 22416.38 done 1.46 - - 2752.44 - 2.50 0.030 945.94 -552.3 152.99 - - 2334.31 - - - - - - - - - 15.84 -
22539 end climb: SURFACE_DEPTH_REACHED
22539 begin surface coast
22564 end surface coast: CONTROL_FINISHED_OK
22564 begin surface
SM 1.14 - - - - 221.6 124.26 1.067 1641.5 13.2 7.38 0.077 1631.7 221.1 - 3.60 0.049 1651.4 458.0 -1.089 - - 11.06 15.54 15.72 -