SMODE Mar23 * SG219 * Dive index * Mission links * Dive 64 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 116.14 of 310.00 AH used of 24V (62.54% remains)
• Surface angle -65.2 deg, depth 1.24 m • Intended pitch -21.0 deg, speed -8.462 cm/s
VBD pumped to 324.98 (SM_CC=325)
• GPS1 time: 26 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7.03 - - - 60.83 VBD -0.65 - - 157.50 - - - 2704.88 - -97.32 50.65 0.005 2531.84 - - - - - - - - - - 14.91
61.26 2.07 -1.83 10 118.54 -0.65 8.62 0.357 2041.62 218.6 2.34 0.027 1393.25 -560.5 -97.32 34.31 0.005 3363.66 24.2 -1.779 - - - - - - 15.04 14.90 15.05
270.90 25.15 -13.40 51 277.65 roll -0.65 - - 2032.25 - 2.74 0.043 2876.50 541.3 -97.32 - - 3366.88 - - - - - - - - - 15.68 -
460.91 52.93 -14.55 89 467.88 roll -0.65 - - 2032.56 - 2.59 0.023 1396.50 -571.4 -97.32 - - 3366.47 - - - - - - - - - 15.83 -
531.00 62.69 -13.05 103 538.04 roll -0.65 - - 2020.69 - 2.73 0.042 2877.94 542.7 -97.32 - - 3367.09 - - - - - - - - - 15.76 -
721.02 85.42 -12.60 141 726.91 roll -0.65 - - 2014.44 - 1.53 0.066 3852.25 636.8 -97.32 - - 3367.22 - - - - - - - - - 15.80 -
781.04 93.30 -13.20 153 786.97 roll -0.65 - - 2014.44 - 1.57 0.020 2729.12 -715.4 -97.32 - - 3367.69 - - - - - - - - - 15.89 -
976.04 118.32 -12.39 178 982.60 roll -0.65 - - 2014.94 - 2.33 0.023 1396.06 -572.1 -97.32 - - 3367.75 - - - - - - - - - 15.91 -
1006.06 122.09 -12.55 184 1012.86 roll -0.65 - - 2002.94 - 2.71 0.041 2881.19 548.0 -97.32 - - 3367.59 - - - - - - - - - 15.81 -
1316.07 160.57 -12.62 216 1322.95 roll back -0.65 0.15 0.247 2044.00 273.7 2.59 0.023 1396.44 -573.3 -97.32 - - 3368.41 - - - - - - - - 15.51 15.58 -
1406.10 169.79 -9.78 234 1412.89 roll -0.65 - - 2035.38 - 2.72 0.041 2879.94 545.4 -97.32 - - 3368.75 - - - - - - - - - 15.83 -
1716.12 201.93 -10.37 266 1717.87 no move -0.65 - - 2035.56 - - - 2880.31 - -97.32 - - 3367.19 - - - - - - - - - - -
2026.16 235.73 -11.21 297 2027.91 no move -0.65 - - 2035.56 - - - 2880.25 - -97.32 - - 3367.53 - - - - - - - - - - -
2336.22 269.79 -10.66 328 2343.00 roll -0.65 - - 2035.69 - 2.60 0.023 1397.25 -570.4 -97.32 - - 3368.00 - - - - - - - - - 15.96 -
2386.22 275.06 -10.53 338 2393.25 roll -0.65 - - 2026.06 - 2.73 0.041 2879.56 543.0 -97.32 - - 3368.25 - - - - - - - - - 15.86 -
2696.25 308.40 -10.72 370 2703.03 roll -0.65 - - 2024.62 - 2.60 0.023 1394.88 -571.0 -97.32 - - 3368.56 - - - - - - - - - 15.97 -
2731.00 312.10 -10.56 377 2738.52 roll -0.65 - - 2014.75 - 2.73 0.041 2878.12 543.3 -97.32 - - 3367.72 - - - - - - - - - 15.87 -
3046.28 346.14 -10.80 409 3048.07 no move -0.65 - - 2013.44 - - - 2877.94 - -97.32 - - 3366.50 - - - - - - - - - - -
3356.31 379.18 -10.65 440 3358.10 no move -0.65 - - 2013.69 - - - 2878.25 - -97.32 - - 3365.88 - - - - - - - - - - -
3666.33 411.38 -9.81 471 3673.11 roll -0.65 - - 2013.12 - 2.60 0.024 1399.31 -568.8 -97.32 - - 3366.44 - - - - - - - - - 15.98 -
3741.08 418.92 -9.92 486 3748.61 roll -0.65 - - 2003.19 - 2.74 0.042 2879.56 540.2 -97.32 - - 3367.09 - - - - - - - - - 15.86 -
4056.37 452.61 -10.95 518 4063.40 roll back -0.65 0.14 0.238 2044.00 291.5 2.60 0.024 1397.75 -569.9 -97.32 - - 3365.91 - - - - - - - - 15.54 15.57 -
4096.38 456.43 -9.55 526 4103.33 roll -0.65 - - 2035.00 - 2.73 0.043 2877.19 541.9 -97.32 - - 3366.19 - - - - - - - - - 15.86 -
4406.40 486.48 -9.96 558 4408.19 no move -0.65 - - 2035.06 - - - 2877.38 - -97.32 - - 3364.62 - - - - - - - - - - -
4716.43 516.00 -9.43 589 4723.21 roll -0.65 - - 2034.44 - 2.60 0.024 1398.50 -568.8 -97.32 - - 3365.97 - - - - - - - - - 15.98 -
4801.19 523.95 -9.25 606 4808.68 roll -0.65 - - 2024.69 - 2.76 0.043 2880.38 536.9 -97.32 - - 3365.28 - - - - - - - - - 15.86 -
5116.46 552.92 -8.94 638 5123.30 roll -0.65 - - 2024.19 - 2.60 0.024 1397.81 -570.2 -97.32 - - 3363.66 - - - - - - - - - 15.97 -
5151.21 556.10 -9.09 645 5158.68 roll -0.65 - - 2013.88 - 2.74 0.042 2877.69 540.1 -97.32 - - 3364.69 - - - - - - - - - 15.85 -
5466.50 585.47 -9.11 677 5473.28 roll -0.65 - - 2013.38 - 2.60 0.024 1396.88 -569.5 -97.32 - - 3363.81 - - - - - - - - - 15.97 -
5526.51 590.93 -8.98 689 5533.45 roll -0.65 - - 2003.62 - 2.74 0.042 2877.88 540.5 -97.32 - - 3363.50 - - - - - - - - - 15.85 -
5836.54 620.27 -9.39 721 5843.63 roll back -0.65 0.14 0.236 2044.00 288.4 2.60 0.025 1397.88 -569.2 -97.32 - - 3363.28 - - - - - - - - 15.51 15.53 -
5891.30 624.49 -7.56 732 5898.87 roll -0.65 - - 2033.88 - 2.75 0.043 2877.88 538.2 -97.32 - - 3363.88 - - - - - - - - - 15.84 -
6206.57 650.41 -8.45 764 6213.36 roll -0.65 - - 2034.06 - 2.59 0.024 1396.44 -572.0 -97.32 - - 3363.56 - - - - - - - - - 15.96 -
6271.33 656.05 -8.53 777 6278.80 roll -0.65 - - 2025.69 - 2.75 0.042 2879.19 539.2 -97.32 - - 3362.16 - - - - - - - - - 15.80 -
6586.60 686.03 -9.82 809 6593.38 roll -0.65 - - 2024.12 - 2.60 0.024 1398.31 -569.6 -97.32 - - 3362.75 - - - - - - - - - 15.96 -
6646.63 691.91 -9.72 821 6653.58 roll -0.65 - - 2014.06 - 2.75 0.042 2878.81 538.4 -97.32 - - 3361.91 - - - - - - - - - 15.84 -
6956.68 724.68 -10.50 853 6963.52 roll -0.65 - - 2014.19 - 2.60 0.024 1399.00 -569.2 -97.32 - - 3360.12 - - - - - - - - - 15.95 -
6981.43 727.28 -10.32 858 6988.90 roll -0.65 - - 2003.94 - 2.74 0.042 2878.56 540.0 -97.32 - - 3360.06 - - - - - - - - - 15.83 -
7296.74 760.65 -10.33 890 7303.77 roll back -0.65 0.14 0.237 2044.81 291.9 2.60 0.025 1399.00 -569.1 -97.32 - - 3359.81 - - - - - - - - 15.49 15.50 -
7386.76 767.98 -7.85 908 7393.73 roll -0.65 - - 2036.25 - 2.75 0.043 2877.81 537.7 -97.32 - - 3360.25 - - - - - - - - - 15.82 -
7696.79 792.19 -7.42 940 7703.57 roll -0.65 - - 2035.88 - 2.60 0.024 1397.38 -569.4 -97.32 - - 3359.94 - - - - - - - - - 15.95 -
7731.54 794.78 -7.39 947 7739.01 roll -0.65 - - 2026.06 - 2.75 0.043 2879.25 538.9 -97.32 - - 3358.91 - - - - - - - - - 15.82 -
8046.82 818.10 -7.18 979 8053.60 roll -0.65 - - 2025.25 - 2.60 0.024 1397.94 -569.7 -97.32 - - 3358.59 - - - - - - - - - 15.95 -
8066.83 819.56 -7.22 983 8073.86 roll -0.65 - - 2016.31 - 2.75 0.042 2879.62 538.8 -97.32 - - 3359.94 - - - - - - - - - 15.81 -
8376.86 843.27 -7.47 1015 8383.73 roll -0.65 - - 2015.25 - 2.61 0.025 1400.31 -566.8 -97.32 - - 3359.28 - - - - - - - - - 15.83 -
8431.61 847.42 -7.55 1026 8439.07 roll -0.65 - - 2004.75 - 2.75 0.042 2879.75 538.0 -97.32 - - 3358.38 - - - - - - - - - 15.81 -
8746.90 872.40 -8.04 1058 8754.01 roll back -0.65 0.14 0.235 2044.94 287.1 2.63 0.025 1398.31 -563.3 -97.32 - - 3358.34 - - - - - - - - 15.47 15.48 -
8796.92 875.70 -7.13 1068 8803.87 roll -0.65 - - 2036.19 - 2.74 0.043 2876.69 539.6 -97.32 - - 3358.94 - - - - - - - - - 15.70 -
9106.94 896.23 -6.88 1100 9113.97 roll -0.65 - - 2037.31 - 2.62 0.025 1396.88 -564.8 -97.32 - - 3357.25 - - - - - - - - - 15.93 -
9156.96 899.77 -7.08 1110 9163.97 roll -0.65 - - 2027.31 - 2.75 0.043 2879.25 539.0 -97.32 - - 3358.53 - - - - - - - - - 15.70 -
9466.97 923.49 -7.69 1142 9473.84 roll -0.65 - - 2026.62 - 2.62 0.025 1399.75 -564.7 -97.32 - - 3356.72 - - - - - - - - - 15.93 -
9506.99 926.72 -7.91 1150 9513.95 roll -0.65 - - 2015.25 - 2.76 0.042 2881.00 536.7 -97.32 - - 3357.31 - - - - - - - - - 15.79 -
9817.00 953.81 -9.13 1182 9823.92 roll -0.65 - - 2015.00 - 2.61 0.025 1397.25 -568.5 -97.32 - - 3358.00 - - - - - - - - - 15.82 -
9851.75 957.01 -9.25 1189 9859.28 roll -0.65 - - 2005.94 - 2.76 0.042 2879.50 537.0 -97.32 - - 3358.09 - - - - - - - - - 15.79 -
10167.04 986.95 -9.35 1221 10174.15 roll back -0.65 0.14 0.238 2042.81 263.4 2.62 0.025 1397.69 -565.6 -97.32 - - 3357.34 - - - - - - - - 15.45 15.45 -
10207 end dive: TARGET_DEPTH_EXCEEDED
10207 begin apogee
10211.75 990.19 -8.44 1229 10311.50 -0.12 0.58 0.176 2210.75 289.6 0.13 0.128 2312.38 7036.1 - 91.09 2.338 2965.09 -4.3 0.323 - - - - - - 15.42 14.90 10.17
10313 end apogee: CONTROL_FINISHED_OK
10313 begin climb
10314.08 992.69 - 1238 10426.49 0.65 0.77 0.094 2476.62 345.3 2.71 0.038 953.62 -501.4 97.32 96.85 2.287 2568.16 -4.1 0.315 - - - - - - 15.20 14.63 11.36
10454.08 988.90 6.24 1264 10461.11 roll 0.70 - - 2476.44 - 2.97 0.036 2430.44 497.2 97.32 - - 2565.25 - - - - - - - - - 15.15 -
10764.11 962.98 8.60 1296 10765.91 VBD 0.70 - - 2476.25 - - - 2429.69 - 97.32 - - 2556.75 - - - - - - - - - - -
11074.06 936.49 8.36 1327 11080.59 done 0.70 - - 2476.62 - 2.28 0.065 3839.81 618.5 97.32 - - 2555.03 - - - - - - - - - 15.75 -
11118.81 932.06 9.85 1336 11125.98 done 0.70 - - 2485.75 - 2.30 0.020 2329.62 -656.6 97.32 - - 2554.12 - - - - - - - - - 15.81 -
11434.11 903.80 8.97 1368 11440.95 done 0.70 - - 2487.69 - 2.55 0.062 3837.38 591.3 97.32 - - 2554.00 - - - - - - - - - 15.80 -
11514.11 896.06 9.70 1384 11520.65 done 0.70 - - 2497.56 - 2.28 0.020 2328.38 -661.8 97.32 - - 2551.72 - - - - - - - - - 15.88 -
11824.13 869.05 8.47 1416 11825.93 VBD 0.70 - - 2498.38 - - - 2312.12 - 97.32 - - 2551.16 - - - - - - - - - - -
12134.17 843.53 8.11 1447 12140.94 done 0.70 - - 2497.38 - 2.54 0.061 3839.88 601.5 97.32 - - 2552.31 - - - - - - - - - 15.84 -
12164.17 840.85 8.47 1453 12170.73 done 0.70 - - 2508.00 - 2.30 0.020 2316.75 -662.2 97.32 - - 2550.59 - - - - - - - - - 15.90 -
12474.20 815.15 8.01 1485 12481.22 0.70 0.17 0.238 2463.75 -260.3 2.56 0.060 3840.62 595.3 97.32 - - 2550.22 - - - - - - - - 15.49 15.54 -
12494.19 813.55 8.07 1489 12500.86 done 0.70 - - 2472.00 - 2.29 0.020 2314.50 -666.4 97.32 - - 2551.31 - - - - - - - - - 15.94 -
12804.30 791.49 7.32 1521 12811.00 done 0.72 - - 2473.81 - 2.57 0.061 3839.50 593.4 97.32 - - 2549.66 - - - - - - - - - 15.83 -
12888.98 784.29 8.55 1538 12896.03 done 0.72 - - 2483.81 - 2.26 0.020 2314.00 -675.0 97.32 - - 2549.41 - - - - - - - - - 15.95 -
13204.27 758.81 8.09 1570 13211.05 done 0.72 - - 2485.38 - 2.55 0.061 3839.00 598.0 97.32 - - 2549.19 - - - - - - - - - 15.84 -
13314.27 748.59 9.49 1592 13320.95 done 0.72 - - 2495.62 - 2.28 0.020 2319.81 -666.3 97.32 - - 2549.50 - - - - - - - - - 15.93 -
13624.39 723.84 7.73 1624 13631.10 done 0.73 - - 2495.50 - 2.54 0.060 3839.00 598.1 97.32 - - 2550.16 - - - - - - - - - 15.83 -
13659.07 720.76 8.32 1631 13666.17 done 0.73 - - 2506.44 - 2.27 0.020 2320.69 -668.9 97.32 - - 2548.62 - - - - - - - - - 15.89 -
13974.42 696.44 7.75 1663 13981.11 done 0.75 - - 2506.69 - 2.53 0.060 3840.94 600.9 97.32 - - 2548.84 - - - - - - - - - 15.83 -
14139.20 681.64 8.88 1696 14146.15 done 0.75 - - 2517.06 - 2.28 0.019 2320.56 -666.8 97.32 - - 2548.19 - - - - - - - - - 15.87 -
14454.39 655.75 8.18 1728 14456.19 VBD 0.75 - - 2517.44 - - - 2305.06 - 97.32 - - 2547.50 - - - - - - - - - - -
14764.50 630.54 7.81 1759 14771.20 done 0.76 - - 2517.81 - 2.53 0.060 3840.75 607.0 97.32 - - 2548.41 - - - - - - - - - 15.83 -
14839.17 623.95 8.74 1774 14846.28 done 0.76 - - 2528.81 - 2.29 0.020 2316.38 -665.7 97.32 - - 2548.88 - - - - - - - - - 15.87 -
15154.45 598.60 8.02 1806 15161.49 0.76 0.16 0.229 2485.38 -271.4 2.55 0.059 3838.56 596.9 97.32 - - 2547.56 - - - - - - - - 15.50 15.51 -
15234.55 592.50 7.56 1822 15241.00 done 0.78 - - 2492.19 - 2.28 0.020 2318.25 -666.8 97.32 - - 2548.69 - - - - - - - - - 15.98 -
15544.58 572.61 6.57 1854 15551.35 done 0.82 - - 2496.19 - 2.56 0.060 3838.38 593.8 97.32 - - 2549.34 - - - - - - - - - 15.81 -
15579.32 569.92 7.17 1861 15586.36 done 0.84 - - 2506.31 - 2.28 0.019 2320.06 -665.9 97.32 - - 2547.84 - - - - - - - - - 15.87 -
15894.61 547.84 6.90 1893 15901.30 done 0.87 - - 2505.38 - 2.55 0.060 3840.62 596.3 97.32 - - 2548.62 - - - - - - - - - 15.81 -
15954.53 543.01 8.12 1905 15961.07 done 0.87 - - 2517.31 - 2.27 0.020 2314.81 -672.2 97.32 - - 2547.09 - - - - - - - - - 15.97 -
16264.64 519.69 7.70 1937 16271.42 done 0.89 - - 2518.88 - 2.57 0.060 3839.00 593.1 97.32 - - 2548.91 - - - - - - - - - 15.80 -
16339.32 513.16 8.70 1952 16346.44 done 0.89 - - 2528.81 - 2.27 0.019 2310.75 -673.2 97.32 - - 2548.56 - - - - - - - - - 15.87 -
16654.68 488.47 7.88 1984 16661.38 done 0.90 - - 2527.69 - 2.58 0.060 3839.75 592.6 97.32 - - 2548.81 - - - - - - - - - 15.81 -
16849.39 471.53 8.79 2023 16856.46 done 0.90 - - 2538.25 - 2.28 0.018 2320.44 -666.4 97.32 - - 2547.72 - - - - - - - - - 15.98 -
17164.79 447.13 7.39 2055 17171.49 done 0.92 - - 2539.44 - 2.54 0.059 3840.31 598.4 97.32 - - 2547.22 - - - - - - - - - 15.80 -
17224.76 442.08 8.42 2067 17231.26 done 0.92 - - 2550.12 - 2.29 0.019 2321.50 -663.2 97.32 - - 2548.69 - - - - - - - - - 15.93 -
17534.75 417.79 8.17 2099 17541.53 done 0.92 - - 2550.81 - 2.54 0.060 3839.50 597.6 97.32 - - 2548.19 - - - - - - - - - 15.81 -
17664.78 405.70 9.16 2125 17671.33 done 0.92 - - 2561.31 - 2.27 0.019 2327.44 -666.1 97.32 - - 2547.69 - - - - - - - - - 15.97 -
17974.81 379.78 8.51 2157 17981.60 done 0.92 - - 2562.75 - 2.54 0.060 3839.44 595.3 97.32 - - 2547.50 - - - - - - - - - 15.80 -
18074.84 370.08 9.66 2177 18081.38 done 0.92 - - 2572.94 - 2.28 0.019 2326.25 -663.7 97.32 - - 2547.00 - - - - - - - - - 15.97 -
18384.95 344.12 7.92 2209 18391.83 done 0.93 - - 2573.88 - 2.52 0.060 3840.12 600.7 97.32 - - 2548.84 - - - - - - - - - 15.75 -
18509.64 332.81 8.81 2234 18516.69 done 0.93 - - 2582.25 - 2.27 0.019 2325.94 -667.0 97.32 - - 2548.50 - - - - - - - - - 15.96 -
18824.92 307.82 8.34 2266 18831.96 0.93 0.17 0.249 2540.94 -243.0 2.54 0.060 3840.56 596.3 97.32 - - 2547.78 - - - - - - - - 15.36 15.41 -
18879.67 303.33 8.14 2277 18886.72 done 0.93 - - 2548.38 - 2.27 0.019 2323.25 -668.4 97.32 - - 2547.66 - - - - - - - - - 15.86 -
19195.03 281.72 6.89 2309 19201.73 done 0.96 - - 2558.75 - 2.51 0.031 946.25 -548.6 97.32 - - 2548.81 - - - - - - - - - 15.91 -
19265.05 277.00 6.72 2323 19271.91 done 1.00 - - 2559.19 - 2.78 0.030 2438.88 536.9 97.32 - - 2549.00 - - - - - - - - - 15.91 -
19575.08 256.69 6.74 2355 19581.51 done 1.03 - - 2558.94 - 2.26 0.062 3840.50 620.2 97.32 - - 2548.66 - - - - - - - - - 15.80 -
19809.85 239.22 7.64 2402 19816.83 done 1.05 - - 2570.19 - 2.27 0.018 2317.88 -670.8 97.32 - - 2546.75 - - - - - - - - - 15.92 -
20125.23 218.61 6.53 2434 20131.86 done 1.09 - - 2571.81 - 2.55 0.060 3839.62 596.8 97.32 - - 2546.94 - - - - - - - - - 15.77 -
20359.93 200.18 7.46 2481 20367.07 1.11 0.07 0.125 2634.62 897.3 2.27 0.018 2322.12 -668.5 97.32 - - 2547.81 - - - - - - - - 15.79 15.91 -
20675.21 177.93 7.04 2513 20681.98 done 1.14 - - 2637.19 - 2.53 0.057 3841.44 600.5 97.32 - - 2547.12 - - - - - - - - - 15.79 -
20785.23 169.14 7.94 2535 20791.69 done 1.15 - - 2644.94 - 2.28 0.018 2318.00 -668.2 97.32 - - 2547.34 - - - - - - - - - 15.95 -
21095.26 150.09 5.65 2567 21101.96 done 1.20 - - 2644.50 - 2.56 0.056 3842.06 595.3 97.32 - - 2548.38 - - - - - - - - - 15.79 -
21230.02 142.12 6.31 2594 21237.06 done 1.25 - - 2657.38 - 2.30 0.017 2315.06 -663.9 97.32 - - 2548.06 - - - - - - - - - 15.93 -
21545.31 118.76 7.72 2626 21552.06 done 1.26 - - 2654.69 - 2.55 0.056 3841.94 598.8 97.32 - - 2549.09 - - - - - - - - - 15.79 -
21780.08 101.54 7.25 2673 21787.06 done 1.29 - - 2666.62 - 2.29 0.017 2321.94 -663.8 97.32 - - 2549.22 - - - - - - - - - 15.95 -
22090.39 93.39 2.16 2732 22184.52 1.42 0.10 0.076 2725.38 587.6 2.60 0.057 3842.94 585.0 204.37 81.54 1.182 2134.00 -5.1 0.071 - - - - - - 15.92 15.30 10.33
22412.06 44.51 16.02 2795 22419.01 done 1.42 - - 2735.69 - 2.31 0.017 2325.62 -656.8 204.37 - - 2126.56 - - - - - - - - - 15.69 -
22602.10 15.12 14.96 2833 22603.90 VBD 1.42 - - 2736.31 - - - 2309.69 - 204.37 - - 2122.09 - - - - - - - - - - -
22697 end climb: SURFACE_DEPTH_REACHED
22697 begin surface coast
22717 end surface coast: CONTROL_FINISHED_OK
22717 begin surface
SM 1.03 - - - - 216.8 86.91 1.055 1643.2 18.9 7.42 0.081 1631.2 219.8 - 0.95 0.055 1655.1 1742.2 -3.335 - - 11.02 15.57 15.73 -