SMODE Apr23 * SG180 * Dive index * Mission links * Dive 297 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 177.23 of 350.00 AH used of 24V (49.36% remains)
• Surface angle -63.2 deg, depth 0.90 m • Intended pitch -20.2 deg, speed -9.167 cm/s
VBD pumped to 500.08 (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
17.22 - - - 127.82 VBD -0.57 - - 164.88 - - - 3096.00 - -116.79 78.17 0.005 3325.66 - - - - - - - - - - 15.07
128.25 3.73 -2.77 21 155.00 -0.57 7.79 0.471 2043.06 241.1 1.62 0.041 1689.62 -868.1 -116.79 3.79 0.009 3550.44 59.3 -4.382 - - - - - - 14.95 15.05 15.14
257.44 25.56 -11.26 46 264.55 roll -0.57 - - 2040.56 - 1.90 0.100 3219.50 805.2 -116.79 - - 3552.62 - - - - - - - - - 15.07 -
447.48 50.96 -12.23 84 453.70 roll -0.57 - - 2036.50 - 0.82 0.118 3899.00 828.7 -116.79 - - 3552.72 - - - - - - - - - 15.65 -
572.55 68.20 -14.02 109 578.86 roll -0.57 - - 2036.25 - 0.83 0.054 3139.88 -914.6 -116.79 - - 3553.16 - - - - - - - - - 15.72 -
762.59 92.87 -11.59 147 769.42 roll -0.57 - - 2036.31 - 1.54 0.036 1692.75 -939.7 -116.79 - - 3553.88 - - - - - - - - - 15.78 -
792.58 96.17 -11.10 153 799.65 roll -0.57 - - 2035.25 - 1.88 0.100 3218.38 811.5 -116.79 - - 3554.66 - - - - - - - - - 15.59 -
982.59 116.17 -9.84 191 988.91 roll -0.57 - - 2030.69 - 0.82 0.117 3900.56 831.9 -116.79 - - 3553.59 - - - - - - - - - 15.68 -
1042.60 122.65 -10.83 203 1048.91 roll -0.57 - - 2030.06 - 0.82 0.054 3143.50 -923.2 -116.79 - - 3552.50 - - - - - - - - - 15.78 -
1352.65 156.19 -11.41 265 1359.03 roll -0.57 - - 2025.50 - 0.94 0.114 3898.62 803.3 -116.79 - - 3553.31 - - - - - - - - - 15.61 -
1372.65 158.68 -12.19 269 1378.95 roll -0.57 - - 2025.44 - 0.82 0.053 3137.38 -928.3 -116.79 - - 3552.78 - - - - - - - - - 15.80 -
1682.72 197.07 -12.43 331 1689.55 roll -0.57 - - 2025.50 - 1.55 0.037 1697.00 -929.3 -116.79 - - 3554.00 - - - - - - - - - 15.19 -
1707.71 199.95 -11.77 336 1714.67 roll -0.57 - - 2025.31 - 1.88 0.102 3220.19 810.2 -116.79 - - 3553.53 - - - - - - - - - 15.59 -
2017.76 235.38 -11.54 398 2024.07 roll -0.57 - - 2025.06 - 1.65 0.039 1703.44 -919.2 -116.79 - - 3553.81 - - - - - - - - - 15.84 -
2042.81 238.17 -11.21 403 2049.30 roll -0.57 - - 2025.00 - 1.87 0.101 3218.25 810.1 -116.79 - - 3553.69 - - - - - - - - - 15.07 -
2352.83 272.95 -11.51 435 2358.05 roll -0.57 - - 2021.19 - 0.82 0.118 3900.31 831.8 -116.79 - - 3552.59 - - - - - - - - - 15.75 -
2377.51 276.05 -12.04 440 2382.71 roll -0.57 - - 2021.00 - 0.83 0.056 3140.62 -915.3 -116.79 - - 3552.41 - - - - - - - - - 15.85 -
2692.86 311.75 -10.98 458 2694.65 no move -0.57 - - 2020.25 - - - 3140.12 - -116.79 - - 3552.50 - - - - - - - - - - -
3012.88 346.08 -10.73 474 3014.67 no move -0.57 - - 2020.62 - - - 3140.12 - -116.79 - - 3551.81 - - - - - - - - - - -
3332.89 381.31 -10.72 490 3338.80 roll -0.57 - - 2020.25 - 1.54 0.037 1697.56 -936.7 -116.79 - - 3551.97 - - - - - - - - - 15.86 -
3362.57 384.38 -10.77 496 3369.05 roll -0.57 - - 2020.12 - 1.87 0.101 3218.19 813.2 -116.79 - - 3551.62 - - - - - - - - - 15.09 -
3673.00 417.88 -10.98 513 3678.21 roll -0.57 - - 2016.38 - 0.81 0.118 3898.50 839.9 -116.79 - - 3550.66 - - - - - - - - - 15.77 -
3707.59 422.03 -11.83 520 3713.14 roll -0.57 - - 2015.94 - 0.82 0.056 3142.12 -922.4 -116.79 - - 3550.41 - - - - - - - - - 15.91 -
4032.94 457.92 -10.73 537 4034.73 no move -0.57 - - 2015.62 - - - 3142.00 - -116.79 - - 3549.62 - - - - - - - - - - -
4352.96 489.28 -9.25 553 4354.75 no move -0.57 - - 2015.44 - - - 3141.88 - -116.79 - - 3549.50 - - - - - - - - - - -
4672.98 518.38 -8.83 569 4674.77 no move -0.57 - - 2015.94 - - - 3142.38 - -116.79 - - 3548.91 - - - - - - - - - - -
4993.09 544.89 -8.40 585 4998.38 roll -0.57 - - 2011.62 - 0.94 0.117 3900.19 806.2 -116.79 - - 3549.19 - - - - - - - - - 15.75 -
5033.01 548.43 -8.86 593 5038.39 roll back -0.57 0.09 0.292 2047.38 397.3 0.83 0.056 3146.12 -908.5 -116.79 - - 3548.19 - - - - - - - - 15.45 15.89 -
5353.04 568.94 -6.17 612 5354.85 no move -0.57 - - 2047.00 - - - 3145.69 - -116.79 - - 3547.91 - - - - - - - - - - -
5673.13 585.32 -5.02 628 5678.97 roll -0.57 - - 2048.25 - 1.55 0.039 1703.69 -930.3 -116.79 - - 3547.25 - - - - - - - - - 15.16 -
5693.14 586.31 -5.04 632 5699.21 roll -0.57 - - 2047.38 - 1.87 0.102 3219.56 810.6 -116.79 - - 3547.66 - - - - - - - - - 15.74 -
6013.15 602.01 -4.90 651 6014.94 no move -0.57 - - 2047.12 - - - 3219.50 - -116.79 - - 3546.53 - - - - - - - - - - -
6333.17 619.77 -6.02 667 6339.09 roll -0.57 - - 2047.69 - 1.66 0.039 1701.56 -914.4 -116.79 - - 3545.28 - - - - - - - - - 15.17 -
6353.09 621.00 -6.21 671 6359.24 roll -0.57 - - 2047.25 - 1.87 0.102 3219.62 811.8 -116.79 - - 3545.56 - - - - - - - - - 15.73 -
6673.11 643.95 -7.71 690 6679.10 roll -0.57 - - 2047.12 - 1.65 0.040 1700.38 -920.8 -116.79 - - 3546.28 - - - - - - - - - 15.89 -
6707.78 646.58 -7.70 697 6714.62 roll -0.57 - - 2047.12 - 1.88 0.102 3218.25 807.4 -116.79 - - 3544.88 - - - - - - - - - 15.01 -
7033.14 672.32 -8.29 714 7039.13 roll -0.57 - - 2045.44 - 1.66 0.040 1700.38 -914.4 -116.79 - - 3544.69 - - - - - - - - - 15.89 -
7077.81 676.04 -8.28 723 7084.30 roll -0.57 - - 2046.06 - 1.87 0.102 3219.75 812.5 -116.79 - - 3544.56 - - - - - - - - - 15.73 -
7393.17 701.23 -7.70 741 7398.37 roll -0.57 - - 2041.00 - 0.82 0.118 3899.38 828.8 -116.79 - - 3544.06 - - - - - - - - - 15.73 -
7437.84 704.71 -7.73 750 7443.04 roll -0.57 - - 2041.44 - 0.83 0.058 3146.19 -907.5 -116.79 - - 3543.66 - - - - - - - - - 15.88 -
7753.20 726.45 -7.07 768 7754.99 no move -0.57 - - 2041.00 - - - 3146.56 - -116.79 - - 3543.00 - - - - - - - - - - -
8073.22 752.54 -8.52 784 8079.12 roll -0.57 - - 2041.06 - 1.57 0.041 1701.88 -920.2 -116.79 - - 3542.16 - - - - - - - - - 15.12 -
8107.89 755.63 -8.78 791 8114.71 roll -0.57 - - 2040.38 - 1.87 0.103 3219.44 811.5 -116.79 - - 3542.09 - - - - - - - - - 15.72 -
8433.24 783.82 -8.81 808 8435.03 no move -0.57 - - 2040.25 - - - 3219.31 - -116.79 - - 3541.56 - - - - - - - - - - -
8753.26 810.19 -8.00 824 8755.05 no move -0.57 - - 2040.25 - - - 3219.25 - -116.79 - - 3541.50 - - - - - - - - - - -
9073.27 834.29 -7.10 840 9079.26 roll -0.57 - - 2041.25 - 1.66 0.041 1701.94 -914.0 -116.79 - - 3540.47 - - - - - - - - - 15.88 -
9093.28 835.66 -7.06 844 9099.60 roll -0.57 - - 2040.19 - 1.89 0.103 3216.81 801.5 -116.79 - - 3540.41 - - - - - - - - - 14.96 -
9413.29 856.15 -6.21 863 9419.28 roll -0.57 - - 2040.25 - 1.66 0.041 1692.31 -918.4 -116.79 - - 3541.06 - - - - - - - - - 15.87 -
9443.04 858.05 -6.11 869 9449.46 roll -0.57 - - 2040.50 - 1.88 0.102 3219.25 812.2 -116.79 - - 3540.34 - - - - - - - - - 15.70 -
9753.32 876.45 -6.27 886 9759.31 roll -0.57 - - 2040.06 - 1.68 0.041 1700.94 -903.8 -116.79 - - 3540.16 - - - - - - - - - 15.09 -
9777.98 877.88 -6.25 891 9784.47 roll -0.57 - - 2039.62 - 1.88 0.103 3219.12 807.5 -116.79 - - 3540.72 - - - - - - - - - 15.70 -
10093.42 896.24 -6.01 909 10095.20 no move -0.57 - - 2041.00 - - - 3219.44 - -116.79 - - 3539.28 - - - - - - - - - - -
10413.36 916.70 -6.52 925 10415.17 no move -0.57 - - 2040.19 - - - 3220.19 - -116.79 - - 3539.03 - - - - - - - - - - -
10733.37 939.10 -6.97 941 10739.36 roll -0.57 - - 2040.00 - 1.66 0.042 1696.38 -918.0 -116.79 - - 3538.25 - - - - - - - - - 15.85 -
10783.04 942.42 -6.83 951 10789.53 roll -0.57 - - 2040.19 - 1.88 0.101 3219.31 810.1 -116.79 - - 3538.84 - - - - - - - - - 15.69 -
11093.40 964.80 -7.83 968 11099.38 roll -0.57 - - 2040.62 - 1.66 0.041 1703.06 -913.4 -116.79 - - 3538.44 - - - - - - - - - 15.85 -
11133.41 967.86 -7.76 976 11139.57 roll -0.57 - - 2039.25 - 1.89 0.101 3219.19 802.2 -116.79 - - 3539.16 - - - - - - - - - 14.91 -
11413 end dive: TARGET_DEPTH_EXCEEDED
11413 begin apogee
11415.16 990.08 -7.70 993 11525.35 -0.17 0.34 0.260 2174.88 398.9 0.08 0.226 3122.88 -1203.9 - 72.10 2.159 3073.69 -6.5 0.528 - - - - - - 15.36 14.79 10.99
11527 end apogee: CONTROL_FINISHED_OK
11527 begin climb
11528.45 992.62 - 998 11647.42 0.57 0.56 0.190 2410.19 420.2 1.01 0.115 3898.50 767.9 116.79 75.96 2.129 2594.94 -6.3 0.524 - - - - - - 14.93 14.59 12.65
11649.75 985.40 7.42 1010 11655.03 roll 0.60 - - 2416.75 - 1.00 0.040 3012.94 -885.6 116.79 - - 2594.94 - - - - - - - - - 14.87 -
11965.02 950.23 11.29 1028 11970.92 roll 0.60 - - 2425.00 - 1.53 0.034 1629.94 -903.9 116.79 - - 2592.72 - - - - - - - - - 15.70 -
12029.70 943.71 9.55 1041 12036.19 roll 0.60 - - 2426.06 - 1.84 0.097 3120.69 810.2 116.79 - - 2593.53 - - - - - - - - - 15.61 -
12345.07 909.41 10.71 1059 12351.05 roll 0.60 - - 2432.12 - 1.67 0.034 1619.69 -898.8 116.79 - - 2593.53 - - - - - - - - - 15.75 -
12389.74 905.05 9.63 1068 12396.47 roll 0.60 - - 2433.56 - 1.84 0.095 3120.25 815.5 116.79 - - 2591.44 - - - - - - - - - 15.69 -
12705.10 872.11 10.44 1086 12711.09 roll 0.60 - - 2441.69 - 1.66 0.034 1624.25 -901.2 116.79 - - 2590.31 - - - - - - - - - 15.78 -
12749.77 867.94 9.21 1095 12756.26 roll 0.60 - - 2443.00 - 1.83 0.096 3121.94 818.4 116.79 - - 2591.44 - - - - - - - - - 15.70 -
13065.13 832.78 12.12 1113 13071.12 done 0.60 - - 2451.31 - 1.67 0.036 1622.81 -897.7 116.79 - - 2589.91 - - - - - - - - - 15.79 -
13125.13 826.05 11.05 1125 13131.55 roll back 0.60 0.12 0.332 2409.88 -345.2 1.83 0.096 3124.69 820.7 116.79 - - 2590.34 - - - - - - - - 15.34 15.72 -
13445.16 791.44 10.54 1144 13450.45 done 0.60 - - 2409.88 - 0.93 0.108 3903.25 837.2 116.79 - - 2588.34 - - - - - - - - - 15.77 -
13474.83 787.75 12.32 1150 13480.11 done 0.60 - - 2413.88 - 0.94 0.042 2991.44 -970.0 116.79 - - 2590.19 - - - - - - - - - 15.87 -
13785.18 751.60 12.01 1167 13791.00 done 0.60 - - 2421.06 - 1.50 0.033 1625.69 -910.5 116.79 - - 2589.34 - - - - - - - - - 15.80 -
13819.84 747.67 11.24 1174 13826.68 done 0.60 - - 2422.19 - 1.82 0.094 3123.00 822.7 116.79 - - 2588.06 - - - - - - - - - 15.77 -
14145.20 706.66 12.42 1191 14151.18 done 0.60 - - 2429.44 - 1.66 0.034 1615.88 -907.9 116.79 - - 2589.22 - - - - - - - - - 15.79 -
14194.87 701.08 11.00 1201 14201.36 done 0.60 - - 2430.94 - 1.83 0.094 3121.38 822.7 116.79 - - 2589.00 - - - - - - - - - 15.76 -
14505.29 665.32 11.13 1218 14507.07 VBD 0.60 - - 2430.69 - - - 3121.31 - 116.79 - - 2588.53 - - - - - - - - - - -
14825.25 629.44 11.07 1234 14831.23 done 0.60 - - 2436.81 - 1.65 0.034 1618.50 -910.8 116.79 - - 2589.66 - - - - - - - - - 15.88 -
14925.25 619.66 9.61 1254 14931.43 done 0.60 - - 2437.12 - 1.84 0.094 3121.88 817.1 116.79 - - 2591.00 - - - - - - - - - 15.71 -
15245.28 585.51 10.42 1273 15250.58 done 0.60 - - 2437.81 - 0.94 0.109 3903.38 831.4 116.79 - - 2589.25 - - - - - - - - - 15.74 -
15294.95 579.88 11.46 1283 15300.23 done 0.60 - - 2443.81 - 0.94 0.041 3009.69 -950.7 116.79 - - 2589.72 - - - - - - - - - 15.88 -
15605.30 550.09 9.32 1300 15611.22 done 0.60 - - 2451.19 - 1.51 0.034 1616.00 -923.0 116.79 - - 2589.22 - - - - - - - - - 15.88 -
15634.97 547.64 9.01 1306 15641.72 0.60 0.12 0.335 2410.56 -338.6 1.84 0.094 3126.06 820.7 116.79 - - 2588.16 - - - - - - - - 15.23 15.74 -
15945.41 523.54 7.93 1323 15950.70 done 0.62 - - 2410.06 - 0.94 0.108 3903.38 826.9 116.79 - - 2588.84 - - - - - - - - - 15.65 -
15975.09 520.82 8.16 1329 15980.38 done 0.64 - - 2413.94 - 0.94 0.043 3009.12 -951.3 116.79 - - 2588.88 - - - - - - - - - 15.76 -
16285.43 495.50 8.24 1346 16291.26 done 0.66 - - 2419.31 - 1.50 0.033 1614.38 -929.8 116.79 - - 2587.59 - - - - - - - - - 15.88 -
16310.09 493.63 8.07 1351 16316.50 done 0.69 - - 2420.56 - 1.83 0.093 3123.00 824.4 116.79 - - 2589.12 - - - - - - - - - 15.73 -
16625.37 464.19 9.94 1369 16630.66 done 0.69 - - 2420.56 - 0.93 0.106 3903.31 839.0 116.79 - - 2589.38 - - - - - - - - - 15.74 -
16655.04 460.82 10.47 1375 16660.33 done 0.69 - - 2425.50 - 0.94 0.041 3005.56 -955.1 116.79 - - 2587.31 - - - - - - - - - 15.87 -
16965.39 429.13 10.15 1392 16967.19 VBD 0.69 - - 2425.38 - - - 3004.44 - 116.79 - - 2587.62 - - - - - - - - - - -
17285.41 397.02 10.16 1408 17291.26 done 0.69 - - 2434.00 - 1.50 0.032 1615.06 -926.3 116.79 - - 2588.19 - - - - - - - - - 15.89 -
17325.42 393.34 9.19 1416 17331.58 done 0.69 - - 2435.12 - 1.84 0.092 3122.31 819.2 116.79 - - 2588.22 - - - - - - - - - 15.71 -
17645.44 360.85 10.75 1435 17650.73 done 0.69 - - 2434.75 - 0.93 0.106 3903.12 839.6 116.79 - - 2589.09 - - - - - - - - - 15.74 -
17665.44 358.52 10.87 1439 17670.72 done 0.69 - - 2441.44 - 0.93 0.041 3012.75 -957.4 116.79 - - 2588.44 - - - - - - - - - 15.88 -
17985.46 323.26 10.73 1458 17991.38 done 0.69 - - 2449.44 - 1.51 0.032 1607.75 -930.5 116.79 - - 2588.25 - - - - - - - - - 15.77 -
18040.13 317.90 9.64 1469 18046.96 done 0.69 - - 2449.94 - 1.84 0.091 3124.44 824.3 116.79 - - 2588.03 - - - - - - - - - 15.74 -
18365.49 285.16 9.51 1486 18367.30 VBD 0.69 - - 2450.25 - - - 3124.25 - 116.79 - - 2587.75 - - - - - - - - - - -
18685.50 251.62 10.65 1502 18687.30 VBD 0.69 - - 2451.38 - - - 3124.31 - 116.79 - - 2587.53 - - - - - - - - - - -
18990.55 217.87 11.98 1560 18996.87 done 0.69 - - 2459.31 - 1.66 0.032 1607.56 -913.7 116.79 - - 2589.09 - - - - - - - - - 15.75 -
19055.56 210.68 10.90 1573 19062.07 done 0.69 - - 2461.75 - 1.84 0.090 3123.12 823.7 116.79 - - 2587.84 - - - - - - - - - 15.71 -
19365.64 173.48 11.10 1635 19371.26 done 0.69 - - 2461.88 - 0.94 0.106 3903.81 830.5 116.79 - - 2588.25 - - - - - - - - - 15.63 -
19415.62 167.17 13.00 1645 19421.26 done 0.69 - - 2467.38 - 0.94 0.038 3006.81 -954.3 116.79 - - 2589.94 - - - - - - - - - 15.84 -
19725.69 133.37 9.44 1707 19731.49 done 0.69 - - 2467.38 - 1.10 0.103 3904.31 815.9 116.79 - - 2588.50 - - - - - - - - - 15.62 -
19755.69 129.74 12.08 1713 19761.31 done 0.69 - - 2473.56 - 0.94 0.040 3008.00 -953.5 116.79 - - 2587.22 - - - - - - - - - 15.74 -
20065.86 100.39 8.36 1775 20071.92 done 0.70 - - 2483.19 - 1.50 0.030 1592.56 -943.6 116.79 - - 2590.25 - - - - - - - - - 15.85 -
20140.84 94.97 7.04 1790 20147.26 done 0.74 - - 2485.00 - 1.85 0.088 3121.31 826.4 116.79 - - 2587.59 - - - - - - - - - 15.60 -
20330.88 81.09 7.87 1828 20337.12 done 0.77 - - 2491.56 - 1.65 0.031 1607.44 -917.5 116.79 - - 2590.16 - - - - - - - - - 15.85 -
20350.88 79.59 7.76 1832 20357.30 done 0.80 - - 2492.50 - 1.83 0.086 3124.75 829.1 116.79 - - 2590.72 - - - - - - - - - 15.63 -
20540.83 59.58 11.04 1870 20546.47 done 0.80 - - 2492.25 - 0.93 0.103 3905.00 839.0 116.79 - - 2591.72 - - - - - - - - - 15.71 -
20725.93 39.89 7.95 1907 20731.54 done 0.82 - - 2497.19 - 0.93 0.040 3026.69 -944.4 116.79 - - 2589.72 - - - - - - - - - 15.84 -
20915.96 27.58 6.14 1945 20969.85 done 0.77 - - 2505.38 - 1.55 0.031 1599.50 -920.8 174.35 31.94 0.982 2360.84 -7.2 0.036 - - - - - - - 15.34 11.84
21127.44 12.16 8.77 1987 21134.20 roll back 0.77 0.12 0.305 2463.19 -351.6 1.86 0.092 3125.00 820.2 174.35 - - 2362.88 - - - - - - - - 15.29 15.63 -
21262 end climb: SURFACE_DEPTH_REACHED
21262 begin surface coast
21293 end surface coast: CONTROL_FINISHED_OK
21293 begin surface
SM 0.83 - - - - 172.1 296.15 0.789 1036.3 3.5 4.53 0.087 1064.2 234.9 - 0.10 0.117 1008.4 10065.4 -7.298 - - 12.76 15.56 15.69 -