SMODE Apr23 * SG180 * Dive index * Mission links * Dive 281 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 172.26 of 350.00 AH used of 24V (50.78% remains)
• Surface angle -66.5 deg, depth 0.98 m • Intended pitch -20.2 deg, speed -9.167 cm/s
VBD pumped to 500.11 (SM_CC=500)
• GPS1 time: 14 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17.07 - - - 122.53 VBD -0.57 - - 169.75 - - - 3116.69 - -116.79 74.39 0.005 3230.41 - - - - - - - - - - 15.09
122.96 3.06 -2.15 20 153.67 -0.57 7.70 0.467 2043.25 243.3 1.54 0.041 1694.69 -923.4 -116.79 5.72 0.008 3550.69 56.0 -3.810 - - - - - - 14.77 15.11 15.14
211.10 18.39 -11.74 37 218.00 roll -0.57 - - 2042.00 - 1.89 0.100 3218.81 806.4 -116.79 - - 3552.06 - - - - - - - - - 15.43 -
401.13 43.50 -12.61 75 407.36 roll -0.57 - - 2037.25 - 0.82 0.115 3900.31 831.1 -116.79 - - 3552.28 - - - - - - - - - 15.63 -
636.23 73.39 -12.03 122 642.53 roll -0.57 - - 2037.75 - 0.83 0.053 3140.50 -915.4 -116.79 - - 3552.56 - - - - - - - - - 15.68 -
826.24 95.34 -11.25 160 832.63 roll -0.57 - - 2032.94 - 0.94 0.114 3900.81 808.8 -116.79 - - 3552.41 - - - - - - - - - 15.68 -
1061.26 124.01 -11.84 207 1067.56 roll -0.57 - - 2031.38 - 0.82 0.053 3139.44 -928.5 -116.79 - - 3552.75 - - - - - - - - - 15.78 -
1371.31 157.67 -10.66 269 1377.69 roll -0.57 - - 2028.19 - 0.94 0.114 3900.25 809.4 -116.79 - - 3552.97 - - - - - - - - - 15.59 -
1531.32 175.24 -11.07 301 1537.64 roll -0.57 - - 2028.38 - 0.82 0.053 3139.88 -927.3 -116.79 - - 3552.22 - - - - - - - - - 15.81 -
1841.36 206.60 -9.61 363 1846.87 roll -0.57 - - 2024.94 - 0.94 0.114 3903.19 812.0 -116.79 - - 3552.19 - - - - - - - - - 15.72 -
1966.37 220.13 -11.09 388 1971.82 roll -0.57 - - 2024.88 - 0.82 0.053 3137.50 -933.8 -116.79 - - 3551.88 - - - - - - - - - 15.84 -
2276.42 249.72 -8.75 450 2281.94 roll -0.57 - - 2020.25 - 0.94 0.114 3902.94 814.3 -116.79 - - 3552.47 - - - - - - - - - 15.74 -
2411.26 263.26 -9.77 477 2416.77 roll -0.57 - - 2020.62 - 0.82 0.053 3136.25 -935.0 -116.79 - - 3552.09 - - - - - - - - - 15.87 -
2736.48 294.90 -9.78 494 2741.76 roll -0.57 - - 2015.69 - 0.94 0.115 3899.81 812.3 -116.79 - - 3551.69 - - - - - - - - - 15.65 -
2836.50 305.34 -10.44 514 2841.70 roll -0.57 - - 2016.19 - 0.82 0.053 3138.81 -928.0 -116.79 - - 3552.28 - - - - - - - - - 15.89 -
3156.53 338.41 -10.71 533 3161.81 roll -0.57 - - 2009.50 - 0.94 0.115 3903.00 813.0 -116.79 - - 3509.66 - - - - - - - - - 15.65 -
3271.20 351.11 -10.91 556 3276.92 roll back -0.57 0.09 0.296 2046.62 412.4 0.82 0.054 3142.81 -927.1 -116.79 - - 3551.03 - - - - - - - - 15.49 15.88 -
3596.56 381.06 -9.26 573 3601.87 roll -0.57 - - 2042.44 - 0.93 0.116 3900.44 814.7 -116.79 - - 3550.34 - - - - - - - - - 15.77 -
3691.24 390.45 -9.93 592 3696.77 roll -0.57 - - 2041.62 - 0.82 0.054 3138.25 -929.5 -116.79 - - 3550.44 - - - - - - - - - 15.89 -
4016.61 421.25 -9.29 609 4021.89 roll -0.57 - - 2037.44 - 0.94 0.115 3902.88 813.4 -116.79 - - 3549.62 - - - - - - - - - 15.77 -
4131.28 432.65 -9.85 632 4136.82 roll -0.57 - - 2037.31 - 0.83 0.054 3139.75 -919.4 -116.79 - - 3548.78 - - - - - - - - - 15.79 -
4456.64 464.22 -9.75 649 4458.43 no move -0.57 - - 2036.06 - - - 3139.88 - -116.79 - - 3533.31 - - - - - - - - - - -
4776.66 494.46 -9.22 665 4781.94 roll -0.57 - - 2031.19 - 0.94 0.115 3901.88 810.6 -116.79 - - 3548.81 - - - - - - - - - 15.65 -
4906.33 507.16 -9.75 691 4911.57 roll -0.57 - - 2033.00 - 0.82 0.054 3138.44 -931.0 -116.79 - - 3547.59 - - - - - - - - - 15.90 -
5216.70 535.15 -8.68 708 5221.99 roll -0.57 - - 2028.81 - 0.94 0.116 3898.62 808.7 -116.79 - - 3547.66 - - - - - - - - - 15.76 -
5266.36 539.91 -9.66 718 5271.56 roll -0.57 - - 2028.62 - 0.82 0.054 3138.38 -927.1 -116.79 - - 3548.19 - - - - - - - - - 15.90 -
5576.75 568.59 -9.22 735 5582.04 roll -0.57 - - 2026.25 - 0.94 0.116 3903.25 813.7 -116.79 - - 3546.94 - - - - - - - - - 15.76 -
5641.50 574.79 -9.56 748 5646.70 roll -0.57 - - 2026.62 - 0.82 0.054 3141.38 -929.1 -116.79 - - 3546.50 - - - - - - - - - 15.88 -
5956.78 603.60 -9.16 766 5958.57 no move -0.57 - - 2024.94 - - - 3140.12 - -116.79 - - 3528.97 - - - - - - - - - - -
6276.79 633.53 -9.40 782 6282.08 roll -0.57 - - 2022.94 - 0.94 0.116 3900.44 808.9 -116.79 - - 3545.16 - - - - - - - - - 15.64 -
6321.46 638.08 -10.19 791 6326.67 roll -0.57 - - 2022.50 - 0.83 0.055 3141.94 -913.9 -116.79 - - 3545.12 - - - - - - - - - 15.79 -
6636.83 669.15 -9.79 809 6642.11 roll -0.57 - - 2017.12 - 0.94 0.115 3899.06 805.4 -116.79 - - 3545.16 - - - - - - - - - 15.64 -
6716.85 677.79 -10.84 825 6722.09 roll -0.57 - - 2017.50 - 0.82 0.055 3141.62 -923.7 -116.79 - - 3544.62 - - - - - - - - - 15.88 -
7036.87 710.55 -10.15 844 7042.15 roll -0.57 - - 2012.69 - 0.94 0.116 3900.81 807.6 -116.79 - - 3543.97 - - - - - - - - - 15.75 -
7101.56 717.31 -10.35 857 7106.76 roll -0.57 - - 2012.50 - 0.83 0.055 3143.88 -912.0 -116.79 - - 3543.22 - - - - - - - - - 15.77 -
7416.91 747.22 -9.39 875 7422.20 roll -0.57 - - 2008.00 - 0.94 0.116 3900.00 804.4 -116.79 - - 3542.72 - - - - - - - - - 15.62 -
7461.60 751.63 -9.90 884 7467.06 roll back -0.57 0.10 0.296 2046.56 385.6 0.83 0.055 3148.88 -905.0 -116.79 - - 3543.25 - - - - - - - - 15.32 15.76 -
7776.95 773.34 -6.53 902 7782.38 roll -0.57 - - 2042.06 - 0.94 0.117 3898.69 797.7 -116.79 - - 3541.56 - - - - - - - - - 15.61 -
7816.96 776.05 -6.47 910 7822.16 roll -0.57 - - 2042.12 - 0.82 0.056 3143.38 -921.1 -116.79 - - 3542.72 - - - - - - - - - 15.88 -
8137.06 794.92 -5.80 929 8142.35 roll -0.57 - - 2037.50 - 0.94 0.116 3900.31 805.2 -116.79 - - 3541.25 - - - - - - - - - 15.62 -
8217.00 799.99 -6.40 945 8222.22 roll -0.57 - - 2037.75 - 0.83 0.056 3141.69 -914.0 -116.79 - - 3540.59 - - - - - - - - - 15.87 -
8537.03 820.13 -6.57 964 8538.82 no move -0.57 - - 2036.31 - - - 3141.56 - -116.79 - - 3522.97 - - - - - - - - - - -
8857.05 841.40 -6.67 980 8862.34 roll -0.57 - - 2033.75 - 0.94 0.115 3902.38 809.4 -116.79 - - 3540.22 - - - - - - - - - 15.62 -
8937.09 847.30 -7.47 996 8942.29 roll -0.57 - - 2033.19 - 0.83 0.056 3141.44 -916.8 -116.79 - - 3540.12 - - - - - - - - - 15.87 -
9257.10 870.77 -7.54 1015 9262.39 roll -0.57 - - 2029.88 - 0.94 0.115 3900.31 807.3 -116.79 - - 3539.44 - - - - - - - - - 15.72 -
9397.13 882.59 -8.69 1043 9402.32 roll -0.57 - - 2029.69 - 0.83 0.056 3144.06 -911.1 -116.79 - - 3539.47 - - - - - - - - - 15.76 -
9717.15 910.62 -9.15 1062 9722.43 roll -0.57 - - 2026.19 - 0.94 0.117 3900.25 804.5 -116.79 - - 3538.78 - - - - - - - - - 15.71 -
9741.80 913.01 -9.18 1067 9747.01 roll -0.57 - - 2025.88 - 0.83 0.056 3142.88 -912.5 -116.79 - - 3539.19 - - - - - - - - - 15.74 -
10057.25 943.17 -9.72 1085 10062.55 roll -0.57 - - 2022.94 - 0.94 0.117 3898.62 804.0 -116.79 - - 3538.03 - - - - - - - - - 15.61 -
10101.83 947.75 -10.24 1094 10107.05 roll -0.57 - - 2022.94 - 0.83 0.056 3142.31 -911.2 -116.79 - - 3538.81 - - - - - - - - - 15.75 -
10417.20 977.52 -9.48 1112 10422.49 roll -0.57 - - 2018.25 - 0.94 0.116 3898.75 804.7 -116.79 - - 3537.53 - - - - - - - - - 15.60 -
10491.87 985.02 -10.15 1127 10497.42 roll -0.57 - - 2018.12 - 0.83 0.056 3143.19 -910.3 -116.79 - - 3538.00 - - - - - - - - - 15.75 -
10557 end dive: TARGET_DEPTH_EXCEEDED
10557 begin apogee
10558.85 991.22 -9.47 1131 10668.79 -0.17 0.40 0.270 2173.44 388.3 0.08 0.224 3122.81 -254.8 - 71.61 2.157 3056.72 -6.7 0.549 - - - - - - 15.38 14.82 11.11
10671 end apogee: CONTROL_FINISHED_OK
10671 begin climb
10671.91 994.77 - 1136 10793.06 0.57 0.56 0.192 2420.12 440.5 1.78 0.038 1625.25 -841.3 116.79 75.93 2.123 2597.06 -6.1 0.505 - - - - - - 14.94 14.67 12.72
10830.39 985.70 8.28 1167 10837.23 roll 0.58 - - 2420.75 - 1.91 0.093 3121.94 783.6 116.79 - - 2593.62 - - - - - - - - - 15.08 -
11155.67 952.54 10.50 1184 11161.66 roll 0.58 - - 2426.88 - 1.67 0.033 1622.00 -898.2 116.79 - - 2583.59 - - - - - - - - - 15.29 -
11195.67 948.59 9.87 1192 11201.84 roll 0.58 - - 2424.81 - 1.84 0.094 3121.88 815.2 116.79 - - 2593.03 - - - - - - - - - 15.67 -
11515.70 912.58 11.59 1211 11521.70 roll 0.58 - - 2430.81 - 1.66 0.034 1629.31 -899.1 116.79 - - 2592.00 - - - - - - - - - 15.80 -
11585.37 905.10 10.44 1225 11591.87 roll 0.58 - - 2431.81 - 1.82 0.095 3120.62 819.4 116.79 - - 2592.19 - - - - - - - - - 15.75 -
11895.74 867.53 12.26 1242 11901.73 roll 0.58 - - 2440.62 - 1.65 0.034 1617.69 -910.9 116.79 - - 2591.28 - - - - - - - - - 15.81 -
11930.41 863.52 11.44 1249 11937.24 roll 0.58 - - 2441.88 - 1.83 0.094 3119.94 820.9 116.79 - - 2591.62 - - - - - - - - - 15.77 -
12255.76 820.93 13.28 1266 12261.76 done 0.58 - - 2449.56 - 1.65 0.035 1623.38 -907.0 116.79 - - 2590.56 - - - - - - - - - 15.83 -
12300.44 815.43 12.11 1275 12307.20 0.58 0.14 0.335 2404.12 -324.6 1.82 0.094 3122.56 823.7 116.79 - - 2589.94 - - - - - - - - 15.37 15.71 -
12615.80 780.95 10.91 1293 12621.80 done 0.58 - - 2413.88 - 1.65 0.033 1608.44 -917.6 116.79 - - 2589.06 - - - - - - - - - 15.85 -
12670.48 775.43 9.99 1304 12677.31 done 0.58 - - 2415.44 - 1.84 0.093 3120.62 821.8 116.79 - - 2589.53 - - - - - - - - - 15.69 -
12995.83 740.04 10.58 1321 13001.83 done 0.58 - - 2420.00 - 1.65 0.034 1621.50 -908.6 116.79 - - 2550.41 - - - - - - - - - 15.88 -
13050.52 735.03 9.03 1332 13057.34 done 0.58 - - 2422.38 - 1.82 0.092 3122.62 824.8 116.79 - - 2589.97 - - - - - - - - - 15.69 -
13375.88 702.55 9.84 1349 13377.66 VBD 0.58 - - 2421.31 - - - 3122.44 - 116.79 - - 2578.34 - - - - - - - - - - -
13695.89 670.78 10.05 1365 13701.88 done 0.58 - - 2430.19 - 1.65 0.033 1618.06 -911.7 116.79 - - 2587.50 - - - - - - - - - 15.85 -
13745.57 666.20 9.11 1375 13752.06 done 0.58 - - 2431.75 - 1.83 0.093 3121.12 821.3 116.79 - - 2590.75 - - - - - - - - - 15.75 -
14055.92 633.34 10.71 1392 14061.91 done 0.58 - - 2439.75 - 1.65 0.034 1620.94 -909.2 116.79 - - 2587.47 - - - - - - - - - 15.86 -
14095.93 629.55 9.47 1400 14102.09 done 0.58 - - 2440.31 - 1.84 0.094 3120.50 815.0 116.79 - - 2588.66 - - - - - - - - - 15.09 -
14415.95 593.96 11.29 1419 14421.95 done 0.58 - - 2447.62 - 1.65 0.034 1627.12 -905.1 116.79 - - 2587.31 - - - - - - - - - 15.85 -
14445.62 590.96 10.95 1425 14452.39 0.58 0.13 0.335 2403.62 -338.5 1.82 0.093 3124.44 822.7 116.79 - - 2589.66 - - - - - - - - 15.30 15.74 -
14755.99 561.92 9.21 1442 14761.99 done 0.58 - - 2413.69 - 1.65 0.032 1612.81 -916.1 116.79 - - 2589.47 - - - - - - - - - 15.27 -
14796.07 558.69 8.59 1450 14802.15 done 0.59 - - 2414.00 - 1.83 0.092 3124.00 825.8 116.79 - - 2588.34 - - - - - - - - - 15.73 -
15116.01 525.82 11.18 1469 15122.00 done 0.59 - - 2420.69 - 1.66 0.034 1626.31 -902.2 116.79 - - 2578.91 - - - - - - - - - 15.17 -
15145.69 522.72 11.12 1475 15152.17 done 0.59 - - 2422.19 - 1.82 0.092 3120.75 821.1 116.79 - - 2579.00 - - - - - - - - - 15.55 -
15456.04 487.67 11.07 1492 15462.02 done 0.59 - - 2428.69 - 1.65 0.032 1611.38 -914.8 116.79 - - 2589.03 - - - - - - - - - 15.87 -
15490.72 484.23 10.36 1499 15497.55 done 0.59 - - 2431.25 - 1.84 0.092 3120.31 820.1 116.79 - - 2588.59 - - - - - - - - - 15.16 -
15816.07 451.33 9.48 1516 15817.86 VBD 0.59 - - 2430.00 - - - 3120.19 - 116.79 - - 2576.97 - - - - - - - - - - -
16136.08 419.45 9.91 1532 16142.07 done 0.59 - - 2438.31 - 1.66 0.032 1614.94 -906.8 116.79 - - 2589.88 - - - - - - - - - 15.16 -
16216.18 412.56 8.43 1548 16222.26 done 0.61 - - 2440.56 - 1.83 0.090 3124.00 824.6 116.79 - - 2588.97 - - - - - - - - - 15.73 -
16536.11 380.05 10.27 1567 16537.90 VBD 0.61 - - 2439.56 - - - 3123.69 - 116.79 - - 2577.12 - - - - - - - - - - -
16856.13 348.05 10.13 1583 16862.14 done 0.61 - - 2448.75 - 1.66 0.033 1622.75 -904.2 116.79 - - 2590.34 - - - - - - - - - 15.15 -
16936.14 340.79 8.93 1599 16942.31 done 0.61 - - 2449.88 - 1.81 0.091 3120.50 827.5 116.79 - - 2587.56 - - - - - - - - - 15.73 -
17256.16 309.13 10.04 1618 17257.96 VBD 0.61 - - 2448.88 - - - 3119.94 - 116.79 - - 2577.31 - - - - - - - - - - -
17576.17 275.69 10.47 1634 17577.97 VBD 0.61 - - 2448.69 - - - 3119.94 - 116.79 - - 2577.25 - - - - - - - - - - -
17881.19 243.76 9.59 1659 17887.53 done 0.61 - - 2459.44 - 1.64 0.032 1611.75 -919.6 116.79 - - 2579.00 - - - - - - - - - 15.86 -
17916.19 240.61 9.04 1666 17922.93 0.61 0.14 0.333 2412.56 -334.9 1.83 0.089 3126.44 827.7 116.79 - - 2590.28 - - - - - - - - 15.29 15.73 -
18226.34 216.29 7.95 1728 18231.96 done 0.63 - - 2413.06 - 0.93 0.104 3903.19 835.2 116.79 - - 2586.94 - - - - - - - - - 15.70 -
18256.24 213.50 8.99 1734 18261.86 done 0.63 - - 2415.19 - 0.94 0.042 3011.69 -948.4 116.79 - - 2588.19 - - - - - - - - - 15.84 -
18566.29 186.24 8.89 1796 18571.99 done 0.63 - - 2414.94 - 1.09 0.102 3902.75 817.5 116.79 - - 2588.62 - - - - - - - - - 15.62 -
18581.29 184.81 9.05 1799 18586.91 done 0.63 - - 2417.69 - 0.94 0.041 3006.12 -953.9 116.79 - - 2588.03 - - - - - - - - - 15.75 -
18891.41 160.83 7.62 1861 18897.49 done 0.66 - - 2424.06 - 1.49 0.030 1611.88 -935.7 116.79 - - 2589.41 - - - - - - - - - 15.84 -
18936.41 157.76 6.93 1870 18942.95 done 0.71 - - 2425.94 - 1.82 0.088 3126.38 832.1 116.79 - - 2589.62 - - - - - - - - - 15.70 -
19246.46 135.34 7.59 1932 19252.26 0.74 0.08 0.116 2492.81 835.9 0.93 0.104 3903.44 835.5 116.79 - - 2588.19 - - - - - - - - 15.75 15.66 -
19271.38 132.64 9.90 1937 19276.99 done 0.74 - - 2498.94 - 0.94 0.039 3004.19 -956.6 116.79 - - 2589.16 - - - - - - - - - 15.79 -
19581.43 98.85 11.20 1999 19583.50 0.74 0.13 0.347 2454.62 -340.9 - - 3004.00 - 116.79 - - 2586.69 - - - - - - - - 15.27 - -
19766.45 81.45 9.12 2036 19768.24 VBD 0.74 - - 2452.94 - - - 3003.50 - 116.79 - - 2577.81 - - - - - - - - - - -
19951.55 65.04 8.17 2073 19957.26 done 0.76 - - 2455.31 - 1.09 0.099 3903.00 825.2 116.79 - - 2590.25 - - - - - - - - - 15.71 -
20001.49 59.70 10.94 2083 20007.10 done 0.76 - - 2462.06 - 0.93 0.039 2993.50 -978.0 116.79 - - 2588.59 - - - - - - - - - 15.84 -
20191.59 45.93 6.42 2121 20197.69 done 0.82 - - 2469.75 - 1.48 0.028 1590.62 -947.9 116.79 - - 2588.47 - - - - - - - - - 15.84 -
20426.62 35.02 5.61 2168 20488.34 done 0.75 - - 2468.88 - 1.85 0.083 3125.38 829.6 184.40 37.39 0.973 2305.97 -7.6 0.048 - - - - - - - 15.06 11.98
20670.94 17.27 7.26 2216 20677.19 roll 0.79 - - 2477.06 - 1.66 0.030 1609.56 -913.1 184.40 - - 2316.91 - - - - - - - - - 15.69 -
20680.94 16.64 6.98 2218 20687.37 roll 0.83 - - 2478.12 - 1.84 0.087 3123.06 822.6 184.40 - - 2317.78 - - - - - - - - - 15.04 -
20870.97 3.62 8.05 2256 20872.75 no move 0.86 - - 2476.62 - - - 3123.19 - 184.40 - - 2303.12 - - - - - - - - - - -
20896 end climb: SURFACE_DEPTH_REACHED
20896 begin surface coast
20926 end surface coast: CONTROL_FINISHED_OK
20926 begin surface
SM 1.02 - - - - 167.1 225.71 0.830 1036.2 4.6 4.68 0.108 1054.5 225.3 - 0.10 0.110 1018.0 10180.0 -9.648 - - 12.71 15.53 15.70 -