SMODE Apr23 * SG180 * Dive index * Mission links * Dive 191 * Raw log
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• Previous call tries 1 • 145.08 of 350.00 AH used of 24V (58.55% remains)
• Surface angle -63.6 deg, depth 1.04 m • Intended pitch -20.9 deg, speed -8.000 cm/s
VBD pumped to 500.04 (SM_CC=500)
• GPS1 time: 29 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
18.52 - - - 118.57 VBD -0.62 - - 166.06 - - - 3208.06 - -87.59 70.66 0.005 3135.09 - - - - - - - - - - 14.94
119.00 3.03 -2.15 19 149.50 -0.62 8.01 0.478 2024.50 232.0 0.86 0.111 3904.81 810.2 -87.59 5.28 0.008 3431.09 56.1 -3.736 - - - - - - 14.67 15.13 15.21
376.96 54.60 -18.06 70 383.15 roll -0.62 - - 2024.06 - 0.71 0.053 3247.31 -926.1 -87.59 - - 3431.50 - - - - - - - - - 15.65 -
566.99 84.21 -14.20 108 573.73 roll -0.62 - - 2023.69 - 1.57 0.037 1796.56 -924.0 -87.59 - - 3432.66 - - - - - - - - - 15.62 -
622.05 91.19 -12.03 119 629.17 roll -0.62 - - 2019.62 - 1.89 0.100 3320.31 806.2 -87.59 - - 3433.16 - - - - - - - - - 15.46 -
812.08 114.74 -13.16 157 819.08 roll -0.62 - - 2019.06 - 1.68 0.038 1802.69 -903.3 -87.59 - - 3432.62 - - - - - - - - - 15.59 -
847.09 118.76 -11.47 164 854.17 roll -0.62 - - 2017.06 - 1.88 0.100 3320.25 807.2 -87.59 - - 3432.97 - - - - - - - - - 15.46 -
1157.11 158.84 -13.84 226 1162.80 roll -0.62 - - 2013.19 - 0.69 0.117 3900.25 840.6 -87.59 - - 3432.88 - - - - - - - - - 15.58 -
1392.15 189.21 -11.82 273 1398.41 roll -0.62 - - 2013.50 - 0.72 0.054 3244.88 -910.2 -87.59 - - 3432.81 - - - - - - - - - 15.72 -
1702.19 223.49 -9.87 335 1707.64 roll -0.62 - - 2008.81 - 0.81 0.113 3902.88 812.3 -87.59 - - 3382.69 - - - - - - - - - 15.52 -
1822.20 236.33 -10.60 359 1827.57 roll -0.62 - - 2009.50 - 0.71 0.054 3249.50 -920.3 -87.59 - - 3433.41 - - - - - - - - - 15.70 -
2142.23 268.24 -10.14 396 2147.34 roll -0.62 - - 2004.38 - 0.81 0.114 3902.56 806.2 -87.59 - - 3433.75 - - - - - - - - - 15.67 -
2171.88 271.28 -10.01 402 2176.93 roll -0.62 - - 2005.44 - 0.71 0.055 3247.56 -922.5 -87.59 - - 3432.25 - - - - - - - - - 15.87 -
2482.32 304.18 -10.54 419 2484.09 no move -0.62 - - 2004.19 - - - 3247.56 - -87.59 - - 3430.94 - - - - - - - - - - -
2802.25 339.25 -11.12 435 2804.04 no move -0.62 - - 2004.44 - - - 3247.25 - -87.59 - - 3429.78 - - - - - - - - - - -
3122.29 373.69 -10.56 451 3127.50 roll -0.62 - - 2001.19 - 0.81 0.115 3902.06 808.4 -87.59 - - 3430.66 - - - - - - - - - 15.69 -
3166.97 378.68 -11.20 460 3172.09 roll -0.62 - - 2001.75 - 0.70 0.055 3249.12 -932.8 -87.59 - - 3429.75 - - - - - - - - - 15.90 -
3482.33 410.23 -9.82 478 3484.12 no move -0.62 - - 2001.06 - - - 3248.56 - -87.59 - - 3427.84 - - - - - - - - - - -
3802.35 441.62 -9.80 494 3808.26 roll -0.62 - - 2001.38 - 1.57 0.039 1785.88 -931.6 -87.59 - - 3428.25 - - - - - - - - - 15.75 -
3832.01 444.43 -9.72 500 3838.52 roll -0.62 - - 2001.62 - 1.90 0.101 3321.50 808.2 -87.59 - - 3428.19 - - - - - - - - - 15.57 -
4142.36 475.88 -10.13 517 4144.17 no move -0.62 - - 2000.75 - - - 3321.88 - -87.59 - - 3426.16 - - - - - - - - - - -
4462.39 508.77 -10.33 533 4464.17 no move -0.62 - - 2000.88 - - - 3322.19 - -87.59 - - 3425.91 - - - - - - - - - - -
4782.41 541.43 -9.91 549 4788.40 roll -0.62 - - 2001.44 - 1.67 0.041 1791.88 -916.4 -87.59 - - 3425.41 - - - - - - - - - 15.89 -
4822.42 545.14 -9.28 557 4828.57 roll -0.62 - - 2000.38 - 1.89 0.101 3323.50 810.4 -87.59 - - 3427.81 - - - - - - - - - 15.64 -
5142.44 576.94 -10.07 576 5144.23 no move -0.62 - - 2000.19 - - - 3322.56 - -87.59 - - 3423.50 - - - - - - - - - - -
5462.45 609.09 -9.99 592 5464.24 no move -0.62 - - 1999.94 - - - 3322.56 - -87.59 - - 3422.75 - - - - - - - - - - -
5782.47 639.33 -9.15 608 5784.26 no move -0.62 - - 2000.12 - - - 3322.38 - -87.59 - - 3421.69 - - - - - - - - - - -
6102.49 667.92 -8.78 624 6108.48 roll -0.62 - - 2001.00 - 1.67 0.042 1792.69 -916.0 -87.59 - - 3422.12 - - - - - - - - - 15.89 -
6127.15 670.05 -8.68 629 6133.67 roll -0.62 - - 2000.06 - 1.89 0.101 3319.62 807.9 -87.59 - - 3423.66 - - - - - - - - - 15.60 -
6442.50 698.35 -9.17 647 6448.52 roll -0.62 - - 2000.94 - 1.68 0.042 1791.88 -909.4 -87.59 - - 3421.81 - - - - - - - - - 15.68 -
6497.18 703.12 -8.53 658 6504.01 roll -0.62 - - 1999.88 - 1.89 0.101 3317.62 807.3 -87.59 - - 3421.84 - - - - - - - - - 15.52 -
6822.53 732.89 -9.37 675 6824.32 no move -0.62 - - 1999.75 - - - 3317.69 - -87.59 - - 3419.47 - - - - - - - - - - -
7142.56 763.96 -9.76 691 7144.34 no move -0.62 - - 1999.69 - - - 3321.12 - -87.59 - - 3418.38 - - - - - - - - - - -
7462.57 795.41 -9.66 707 7464.38 no move -0.62 - - 2000.31 - - - 3321.56 - -87.59 - - 3417.94 - - - - - - - - - - -
7782.82 826.35 -9.63 723 7788.59 roll -0.62 - - 2000.94 - 1.67 0.043 1794.25 -914.6 -87.59 - - 3418.31 - - - - - - - - - 15.87 -
7827.25 830.39 -8.90 732 7833.75 roll -0.62 - - 2001.00 - 1.88 0.101 3318.69 810.9 -87.59 - - 3419.09 - - - - - - - - - 15.61 -
8142.61 858.83 -9.12 750 8144.40 no move -0.62 - - 1999.69 - - - 3318.38 - -87.59 - - 3416.53 - - - - - - - - - - -
8462.64 887.41 -8.96 766 8468.64 roll -0.62 - - 2000.81 - 1.68 0.043 1796.75 -905.7 -87.59 - - 3418.72 - - - - - - - - - 15.75 -
8492.31 889.97 -8.95 772 8498.81 roll -0.62 - - 2000.81 - 1.89 0.102 3319.81 805.9 -87.59 - - 3417.00 - - - - - - - - - 15.48 -
8802.68 917.20 -8.67 789 8808.68 roll -0.62 - - 2001.12 - 1.67 0.043 1797.25 -911.7 -87.59 - - 3417.03 - - - - - - - - - 15.87 -
8822.67 918.86 -8.59 793 8828.84 roll -0.62 - - 2000.44 - 1.90 0.102 3317.62 800.2 -87.59 - - 3389.25 - - - - - - - - - 15.45 -
9142.70 945.62 -8.28 812 9144.48 no move -0.62 - - 2000.12 - - - 3317.19 - -87.59 - - 3415.12 - - - - - - - - - - -
9323 end dive: TARGET_DEPTH_EXCEEDED
9323 begin apogee
9324.60 960.50 -8.25 821 9407.75 -0.17 0.47 0.286 2173.06 368.0 0.09 0.209 3022.75 -3271.6 - 52.93 2.120 3051.44 -6.9 0.548 - - - - - - 15.03 15.01 11.05
9410 end apogee: CONTROL_FINISHED_OK
9410 begin climb
9410.87 962.08 - 825 9498.83 0.62 0.60 0.200 2424.50 419.1 - - 3023.19 - 87.59 57.15 2.092 2715.31 -5.9 0.476 - - - - - - 15.13 - 12.87
9801.37 923.48 11.00 850 9807.36 roll 0.62 - - 2432.62 - 1.69 0.036 1529.94 -883.6 87.59 - - 2712.47 - - - - - - - - - 15.55 -
9866.03 917.09 9.65 863 9872.53 roll 0.62 - - 2434.94 - 1.84 0.090 3019.50 809.5 87.59 - - 2710.50 - - - - - - - - - 15.58 -
10181.40 881.44 11.43 881 10187.39 roll 0.62 - - 2441.75 - 1.66 0.034 1528.19 -898.4 87.59 - - 2709.25 - - - - - - - - - 15.78 -
10236.07 875.71 10.30 892 10242.91 roll 0.62 - - 2443.94 - 1.84 0.091 3020.19 810.9 87.59 - - 2710.94 - - - - - - - - - 15.54 -
10561.44 837.77 11.57 909 10567.57 done 0.62 - - 2450.88 - 1.66 0.034 1528.62 -898.5 87.59 - - 2711.06 - - - - - - - - - 15.82 -
10581.43 835.60 11.49 913 10587.59 done 0.62 - - 2453.12 - 1.83 0.090 3020.81 815.4 87.59 - - 2708.06 - - - - - - - - - 15.57 -
10901.44 798.57 11.28 932 10907.44 done 0.62 - - 2461.75 - 1.65 0.035 1533.75 -901.2 87.59 - - 2707.00 - - - - - - - - - 15.84 -
10956.11 792.94 10.08 943 10963.21 0.62 0.14 0.348 2415.81 -328.1 1.83 0.091 3024.50 814.6 87.59 - - 2707.69 - - - - - - - - 15.06 15.55 -
11281.47 762.23 9.42 960 11287.47 done 0.62 - - 2424.06 - 1.65 0.034 1518.25 -912.9 87.59 - - 2706.06 - - - - - - - - - 15.85 -
11321.48 758.81 9.09 968 11327.67 done 0.62 - - 2424.69 - 1.83 0.089 3019.62 820.4 87.59 - - 2707.41 - - - - - - - - - 15.68 -
11641.49 728.07 9.71 987 11647.48 done 0.62 - - 2430.31 - 1.65 0.035 1532.12 -901.5 87.59 - - 2706.53 - - - - - - - - - 15.85 -
11661.50 726.26 9.67 991 11667.66 done 0.62 - - 2433.00 - 1.82 0.088 3020.38 817.7 87.59 - - 2705.47 - - - - - - - - - 15.56 -
11981.52 694.61 9.67 1010 11987.51 done 0.62 - - 2439.88 - 1.65 0.034 1521.12 -908.6 87.59 - - 2707.72 - - - - - - - - - 15.85 -
12026.18 690.70 8.67 1019 12032.67 done 0.62 - - 2442.12 - 1.83 0.089 3021.44 819.8 87.59 - - 2705.91 - - - - - - - - - 15.67 -
12341.54 658.61 10.33 1037 12347.53 done 0.62 - - 2448.00 - 1.66 0.035 1527.19 -900.2 87.59 - - 2706.81 - - - - - - - - - 15.87 -
12406.23 652.64 8.97 1050 12412.71 done 0.62 - - 2449.00 - 1.82 0.089 3024.69 822.8 87.59 - - 2707.03 - - - - - - - - - 15.66 -
12721.57 618.87 10.85 1068 12723.36 VBD 0.62 - - 2448.00 - - - 3024.06 - 87.59 - - 2704.47 - - - - - - - - - - -
13041.58 584.44 10.82 1084 13047.58 done 0.62 - - 2459.06 - 1.67 0.034 1524.19 -898.1 87.59 - - 2707.72 - - - - - - - - - 15.71 -
13096.25 578.95 9.95 1095 13103.35 0.62 0.14 0.348 2415.00 -314.7 1.82 0.089 3023.06 823.6 87.59 - - 2705.31 - - - - - - - - 14.96 15.65 -
13421.61 547.66 9.74 1112 13423.41 VBD 0.62 - - 2414.31 - - - 3022.12 - 87.59 - - 2704.31 - - - - - - - - - - -
13741.63 517.38 9.19 1128 13747.63 done 0.62 - - 2421.94 - 1.65 0.034 1521.50 -909.5 87.59 - - 2706.53 - - - - - - - - - 15.87 -
13771.39 514.86 9.00 1134 13777.80 done 0.62 - - 2424.62 - 1.82 0.087 3022.94 825.0 87.59 - - 2705.09 - - - - - - - - - 15.65 -
14081.66 486.55 9.07 1151 14087.66 done 0.62 - - 2431.56 - 1.65 0.033 1518.50 -911.8 87.59 - - 2705.09 - - - - - - - - - 15.87 -
14131.34 482.51 8.05 1161 14137.84 done 0.62 - - 2432.62 - 1.82 0.087 3020.50 825.3 87.59 - - 2705.69 - - - - - - - - - 15.65 -
14441.70 454.30 9.37 1178 14447.72 done 0.62 - - 2440.38 - 1.65 0.033 1513.31 -913.4 87.59 - - 2706.44 - - - - - - - - - 15.86 -
14471.37 451.73 9.33 1184 14477.87 done 0.62 - - 2441.56 - 1.84 0.088 3024.81 821.5 87.59 - - 2704.84 - - - - - - - - - 15.63 -
14781.73 422.64 9.39 1201 14787.89 done 0.62 - - 2447.00 - 1.67 0.034 1525.06 -898.1 87.59 - - 2707.06 - - - - - - - - - 15.70 -
14841.75 417.72 8.07 1213 14847.91 done 0.62 - - 2449.12 - 1.83 0.086 3021.31 817.6 87.59 - - 2705.53 - - - - - - - - - 15.50 -
15161.77 388.27 9.24 1232 15163.57 VBD 0.62 - - 2447.88 - - - 3021.44 - 87.59 - - 2703.66 - - - - - - - - - - -
15481.79 359.83 8.62 1248 15487.79 done 0.62 - - 2458.62 - 1.65 0.033 1519.94 -910.0 87.59 - - 2705.50 - - - - - - - - - 15.87 -
15536.63 355.65 7.49 1259 15543.55 0.63 0.12 0.339 2420.06 -321.3 1.82 0.086 3024.81 826.9 87.59 - - 2705.47 - - - - - - - - 14.91 15.63 -
15861.90 333.50 6.66 1276 15863.69 VBD 0.65 - - 2419.19 - - - 3025.00 - 87.59 - - 2703.88 - - - - - - - - - - -
16181.93 311.60 7.06 1292 16183.75 VBD 0.67 - - 2419.06 - - - 3024.31 - 87.59 - - 2703.66 - - - - - - - - - - -
16501.87 287.30 7.86 1308 16507.85 done 0.67 - - 2427.94 - 1.65 0.032 1512.31 -916.4 87.59 - - 2706.38 - - - - - - - - - 15.87 -
16531.52 285.09 7.86 1314 16538.03 done 0.67 - - 2429.50 - 1.83 0.085 3023.56 825.8 87.59 - - 2704.94 - - - - - - - - - 15.63 -
16841.88 259.99 8.26 1331 16843.67 VBD 0.67 - - 2428.50 - - - 3023.12 - 87.59 - - 2703.91 - - - - - - - - - - -
17147.01 236.82 7.17 1371 17153.26 done 0.69 - - 2436.06 - 1.65 0.032 1509.56 -917.3 87.59 - - 2705.53 - - - - - - - - - 15.78 -
17172.00 235.23 6.82 1376 17178.43 done 0.71 - - 2437.56 - 1.83 0.085 3022.06 826.5 87.59 - - 2706.56 - - - - - - - - - 15.62 -
17482.08 214.40 6.48 1438 17488.34 done 0.74 - - 2443.81 - 1.66 0.031 1515.00 -907.9 87.59 - - 2705.81 - - - - - - - - - 15.68 -
17517.08 212.38 6.06 1445 17523.57 done 0.78 - - 2445.31 - 1.83 0.086 3024.19 824.7 87.59 - - 2706.25 - - - - - - - - - 15.61 -
17827.15 192.15 6.99 1507 17833.04 0.80 0.08 0.097 2503.56 728.1 1.07 0.102 3902.81 821.1 87.59 - - 2706.81 - - - - - - - - 15.61 15.46 -
18042.10 168.71 11.57 1550 18047.82 done 0.80 - - 2508.88 - 1.04 0.036 2901.06 -963.2 87.59 - - 2705.97 - - - - - - - - - 15.84 -
18352.17 139.44 8.04 1612 18358.44 done 0.80 - - 2519.38 - 1.50 0.030 1492.81 -938.8 87.59 - - 2706.72 - - - - - - - - - 15.69 -
18487.28 131.78 5.13 1639 18493.70 done 0.86 - - 2519.88 - 1.85 0.081 3026.19 828.9 87.59 - - 2705.78 - - - - - - - - - 15.58 -
18797.31 110.26 7.59 1701 18803.07 done 0.86 - - 2519.94 - 1.05 0.099 3903.62 835.6 87.59 - - 2704.88 - - - - - - - - - 15.62 -
18837.26 107.22 7.52 1709 18842.97 done 0.86 - - 2526.44 - 1.04 0.038 2897.44 -967.5 87.59 - - 2706.28 - - - - - - - - - 15.85 -
19147.41 87.20 5.37 1771 19153.29 done 0.91 - - 2526.56 - 1.24 0.098 3907.12 814.3 87.59 - - 2705.66 - - - - - - - - - 15.49 -
19382.44 77.39 2.91 1818 19454.42 0.83 0.15 0.370 2484.44 -280.8 1.05 0.037 2888.00 -970.6 170.62 45.26 1.043 2376.16 -7.3 0.095 - - - - - - 14.89 15.85 11.90
19636.95 60.61 9.27 1868 19643.13 roll 0.83 - - 2491.12 - 1.50 0.031 1519.56 -912.3 170.62 - - 2375.09 - - - - - - - - - 15.70 -
19827.04 46.68 6.79 1906 19833.47 roll 0.86 - - 2492.12 - 1.83 0.083 3025.25 822.8 170.62 - - 2374.22 - - - - - - - - - 15.59 -
20017.00 32.23 8.06 1944 20022.71 roll 0.86 - - 2491.88 - 1.07 0.100 3904.50 821.7 170.62 - - 2373.34 - - - - - - - - - 15.44 -
20167.01 18.99 9.00 1974 20172.72 roll 0.86 - - 2491.12 - 1.06 0.036 2878.00 -968.4 170.62 - - 2373.44 - - - - - - - - - 15.66 -
20357.12 3.58 7.46 2012 20363.00 roll 0.87 - - 2491.75 - 1.25 0.096 3904.81 821.4 170.62 - - 2372.09 - - - - - - - - - 15.63 -
20382 end climb: SURFACE_DEPTH_REACHED
20382 begin surface coast
20412 end surface coast: CONTROL_FINISHED_OK
20412 begin surface
SM 0.94 - - - - 171.7 179.20 0.904 1036.5 5.8 4.78 0.114 1058.2 221.4 - 0.69 0.044 1014.9 1469.1 -3.208 - - 12.71 15.42 15.83 -