SMODE Apr23 * SG180 * Dive index * Mission links * Dive 306 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 179.90 of 350.00 AH used of 24V (48.60% remains)
• Surface angle -63.2 deg, depth 0.89 m • Intended pitch -20.2 deg, speed -9.167 cm/s
VBD pumped to 500.41 (SM_CC=500)
• GPS1 time: 17 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17.27 - - - 127.88 VBD -0.57 - - 169.94 - - - 3102.44 - -116.79 78.19 0.005 3348.56 - - - - - - - - - - 15.09
128.31 3.82 -2.89 21 153.54 -0.57 7.67 0.466 2039.06 243.7 0.98 0.105 3904.00 817.9 -116.79 3.39 0.010 3550.53 59.6 -4.048 - - - - - - 14.99 15.10 15.13
155.97 12.82 -25.55 26 162.21 roll -0.57 - - 2038.94 - 0.84 0.052 3140.69 -908.7 -116.79 - - 3551.22 - - - - - - - - - 15.54 -
346.02 38.08 -12.90 64 352.70 roll -0.57 - - 2038.25 - 1.55 0.036 1691.62 -934.9 -116.79 - - 3553.06 - - - - - - - - - 15.74 -
366.02 40.56 -12.64 68 373.00 roll -0.57 - - 2037.44 - 1.89 0.102 3217.12 807.1 -116.79 - - 3552.75 - - - - - - - - - 15.58 -
556.12 65.80 -13.88 106 562.41 roll -0.57 - - 2033.06 - 0.82 0.116 3898.88 831.4 -116.79 - - 3552.81 - - - - - - - - - 15.69 -
636.12 76.79 -13.54 122 642.42 roll -0.57 - - 2032.62 - 0.83 0.053 3138.81 -915.7 -116.79 - - 3552.59 - - - - - - - - - 15.69 -
826.15 98.60 -11.35 160 831.13 no move -0.57 - - 2032.88 - - - 3137.62 - -116.79 - - 3552.12 - - - - - - - - - - -
1016.18 119.95 -11.44 198 1021.33 no move -0.57 - - 2032.81 - - - 3137.62 - -116.79 - - 3552.31 - - - - - - - - - - -
1326.20 154.57 -11.37 260 1332.59 roll -0.57 - - 2028.75 - 0.94 0.115 3898.31 809.2 -116.79 - - 3552.19 - - - - - - - - - 15.67 -
1476.22 173.53 -12.58 290 1482.53 roll -0.57 - - 2028.31 - 0.82 0.053 3137.81 -927.4 -116.79 - - 3552.28 - - - - - - - - - 15.73 -
1786.27 208.46 -10.99 352 1788.02 no move -0.57 - - 2028.31 - - - 3137.25 - -116.79 - - 3552.00 - - - - - - - - - - -
2091.31 244.00 -11.32 413 2096.83 roll -0.57 - - 2022.81 - 0.94 0.115 3899.00 810.4 -116.79 - - 3552.84 - - - - - - - - - 15.69 -
2141.33 249.88 -11.84 423 2146.77 roll -0.57 - - 2024.19 - 0.82 0.053 3136.12 -930.3 -116.79 - - 3552.09 - - - - - - - - - 15.87 -
2466.33 284.88 -10.53 440 2471.52 roll -0.57 - - 2019.19 - 0.94 0.113 3903.62 816.5 -116.79 - - 3552.19 - - - - - - - - - 15.72 -
2495.99 288.09 -10.24 446 2501.19 roll -0.57 - - 2018.94 - 0.83 0.054 3139.31 -920.9 -116.79 - - 3551.62 - - - - - - - - - 15.81 -
2806.38 322.02 -11.01 463 2811.67 roll -0.57 - - 2015.12 - 0.94 0.116 3901.56 810.9 -116.79 - - 3551.28 - - - - - - - - - 15.80 -
2876.05 330.35 -11.96 477 2881.26 roll -0.57 - - 2015.31 - 0.82 0.054 3137.62 -931.6 -116.79 - - 3551.19 - - - - - - - - - 15.91 -
3186.41 363.87 -10.50 494 3188.20 no move -0.57 - - 2014.75 - - - 3137.69 - -116.79 - - 3550.12 - - - - - - - - - - -
3506.43 398.05 -10.96 510 3508.21 no move -0.57 - - 2014.81 - - - 3136.81 - -116.79 - - 3549.16 - - - - - - - - - - -
3826.44 429.56 -9.85 526 3828.23 no move -0.57 - - 2015.31 - - - 3137.44 - -116.79 - - 3549.03 - - - - - - - - - - -
4146.46 459.82 -9.45 542 4152.37 roll -0.57 - - 2014.88 - 1.53 0.037 1701.31 -938.6 -116.79 - - 3548.28 - - - - - - - - - 15.84 -
4161.12 461.25 -9.65 545 4167.94 roll -0.57 - - 2014.56 - 1.87 0.102 3217.94 811.0 -116.79 - - 3548.59 - - - - - - - - - 15.74 -
4486.47 495.99 -10.98 562 4488.25 no move -0.57 - - 2014.88 - - - 3218.38 - -116.79 - - 3548.19 - - - - - - - - - - -
4806.48 532.26 -11.42 578 4812.46 roll -0.57 - - 2014.69 - 1.65 0.039 1705.94 -916.6 -116.79 - - 3547.59 - - - - - - - - - 15.82 -
4836.17 535.35 -10.84 584 4842.63 roll -0.57 - - 2014.38 - 1.86 0.102 3216.88 812.3 -116.79 - - 3547.56 - - - - - - - - - 15.75 -
5146.50 568.24 -10.22 601 5152.49 roll -0.57 - - 2014.50 - 1.65 0.040 1703.31 -917.3 -116.79 - - 3547.66 - - - - - - - - - 15.91 -
5161.16 569.81 -10.24 604 5167.99 roll -0.57 - - 2014.38 - 1.86 0.102 3220.00 815.4 -116.79 - - 3547.91 - - - - - - - - - 15.79 -
5486.50 604.53 -10.57 621 5492.49 roll -0.57 - - 2014.62 - 1.65 0.040 1709.06 -915.7 -116.79 - - 3547.59 - - - - - - - - - 15.91 -
5506.52 606.63 -10.69 625 5512.67 roll -0.57 - - 2014.62 - 1.86 0.102 3218.00 811.3 -116.79 - - 3546.00 - - - - - - - - - 15.69 -
5826.52 640.44 -10.28 644 5828.31 no move -0.57 - - 2014.56 - - - 3217.69 - -116.79 - - 3545.78 - - - - - - - - - - -
6146.53 673.23 -9.95 660 6152.52 roll -0.57 - - 2014.44 - 1.65 0.040 1705.25 -916.6 -116.79 - - 3545.09 - - - - - - - - - 15.90 -
6191.21 677.23 -8.74 669 6197.70 roll -0.57 - - 2014.50 - 1.86 0.101 3219.44 814.1 -116.79 - - 3544.44 - - - - - - - - - 15.78 -
6506.55 705.05 -8.65 687 6508.34 no move -0.57 - - 2014.50 - - - 3219.06 - -116.79 - - 3544.34 - - - - - - - - - - -
6826.56 731.68 -8.17 703 6832.56 roll -0.57 - - 2014.38 - 1.65 0.040 1709.06 -915.2 -116.79 - - 3543.69 - - - - - - - - - 15.90 -
6866.58 734.83 -8.12 711 6872.73 roll -0.57 - - 2014.25 - 1.86 0.101 3220.56 812.6 -116.79 - - 3543.28 - - - - - - - - - 15.77 -
7186.58 760.57 -7.92 730 7192.58 roll -0.57 - - 2014.38 - 1.66 0.041 1707.31 -911.6 -116.79 - - 3542.59 - - - - - - - - - 15.90 -
7206.59 762.09 -7.83 734 7212.74 roll -0.57 - - 2014.69 - 1.87 0.102 3217.69 807.7 -116.79 - - 3543.31 - - - - - - - - - 15.75 -
7526.61 786.79 -7.76 753 7531.81 roll -0.57 - - 2010.25 - 0.82 0.118 3899.94 832.0 -116.79 - - 3541.88 - - - - - - - - - 15.76 -
7551.27 788.92 -7.93 758 7556.65 roll back -0.57 0.10 0.285 2048.12 378.7 0.83 0.058 3148.38 -905.5 -116.79 - - 3543.03 - - - - - - - - 15.46 15.79 -
7866.63 811.44 -7.28 776 7872.54 roll -0.57 - - 2048.69 - 1.56 0.040 1693.50 -932.6 -116.79 - - 3541.56 - - - - - - - - - 15.80 -
7906.65 814.22 -7.13 784 7912.79 roll -0.57 - - 2048.31 - 1.87 0.100 3219.00 815.8 -116.79 - - 3541.78 - - - - - - - - - 15.62 -
8226.65 837.60 -7.47 803 8232.65 roll -0.57 - - 2048.25 - 1.66 0.040 1698.88 -915.7 -116.79 - - 3540.62 - - - - - - - - - 15.76 -
8261.32 840.13 -7.41 810 8268.17 roll -0.57 - - 2048.38 - 1.87 0.100 3220.75 813.8 -116.79 - - 3541.44 - - - - - - - - - 15.75 -
8586.67 864.29 -7.40 827 8588.46 no move -0.57 - - 2048.38 - - - 3221.12 - -116.79 - - 3539.47 - - - - - - - - - - -
8906.69 888.48 -7.36 843 8912.68 roll -0.57 - - 2048.56 - 1.66 0.040 1701.94 -915.2 -116.79 - - 3539.53 - - - - - - - - - 15.88 -
8926.71 889.93 -7.38 847 8932.85 roll -0.57 - - 2048.50 - 1.87 0.100 3218.00 810.7 -116.79 - - 3538.88 - - - - - - - - - 15.64 -
9246.71 913.68 -7.63 866 9252.70 roll -0.57 - - 2048.12 - 1.66 0.040 1697.06 -916.2 -116.79 - - 3538.91 - - - - - - - - - 15.73 -
9271.38 915.65 -7.81 871 9277.87 roll -0.57 - - 2047.38 - 1.87 0.101 3220.19 814.5 -116.79 - - 3539.38 - - - - - - - - - 15.64 -
9586.75 941.30 -8.01 889 9592.75 roll -0.57 - - 2047.81 - 1.66 0.041 1701.56 -914.8 -116.79 - - 3537.66 - - - - - - - - - 15.79 -
9626.77 944.39 -8.04 897 9632.92 roll -0.57 - - 2047.75 - 1.87 0.099 3220.69 812.4 -116.79 - - 3537.94 - - - - - - - - - 15.73 -
9946.78 968.34 -7.43 916 9948.57 no move -0.57 - - 2047.81 - - - 3220.81 - -116.79 - - 3537.34 - - - - - - - - - - -
10187 end dive: TARGET_DEPTH_EXCEEDED
10187 begin apogee
10188.52 984.15 -5.82 928 10298.29 -0.17 0.28 0.182 2178.38 466.3 0.09 0.217 3120.06 -1119.4 - 71.74 2.139 3072.06 -6.5 0.531 - - - - - - 15.60 14.79 11.00
10300 end apogee: CONTROL_FINISHED_OK
10300 begin climb
10301.38 984.11 - 933 10419.03 0.57 0.54 0.175 2409.25 427.5 1.01 0.115 3901.25 773.5 116.79 75.39 2.112 2595.62 -6.3 0.524 - - - - - - 14.94 14.61 12.70
10481.63 972.44 11.04 968 10486.92 roll 0.57 - - 2416.25 - 0.98 0.039 2993.00 -926.8 116.79 - - 2594.53 - - - - - - - - - 15.26 -
10801.65 940.10 10.03 987 10807.55 roll 0.57 - - 2423.25 - 1.51 0.033 1620.50 -908.9 116.79 - - 2593.81 - - - - - - - - - 15.34 -
10826.32 937.88 9.77 992 10832.80 roll 0.57 - - 2424.12 - 1.84 0.095 3120.88 815.4 116.79 - - 2594.06 - - - - - - - - - 15.69 -
11141.68 906.04 10.24 1010 11147.67 roll 0.57 - - 2430.88 - 1.66 0.035 1626.81 -900.0 116.79 - - 2593.00 - - - - - - - - - 15.85 -
11171.34 903.07 10.30 1016 11177.83 roll 0.57 - - 2432.56 - 1.82 0.095 3119.81 820.3 116.79 - - 2594.66 - - - - - - - - - 15.77 -
11481.70 867.30 11.94 1033 11483.49 no move 0.57 - - 2432.25 - - - 3119.44 - 116.79 - - 2590.97 - - - - - - - - - - -
11801.70 831.81 10.99 1049 11807.71 roll 0.57 - - 2440.75 - 1.65 0.035 1620.25 -908.6 116.79 - - 2590.47 - - - - - - - - - 15.89 -
11896.39 822.78 9.20 1068 11903.48 roll back 0.57 0.12 0.315 2400.00 -339.6 1.84 0.095 3122.62 816.5 116.79 - - 2591.06 - - - - - - - - 15.33 15.27 -
12221.78 792.19 9.24 1085 12223.57 no move 0.57 - - 2399.50 - - - 3123.12 - 116.79 - - 2589.84 - - - - - - - - - - -
12541.78 762.16 9.21 1101 12547.09 roll 0.57 - - 2399.25 - 0.94 0.105 3904.50 831.3 116.79 - - 2592.44 - - - - - - - - - 15.21 -
12556.45 760.69 9.08 1104 12562.08 done 0.57 - - 2402.62 - 0.94 0.042 3015.12 -946.1 116.79 - - 2588.91 - - - - - - - - - 15.30 -
12881.81 731.12 8.94 1121 12887.18 done 0.57 - - 2402.88 - 1.09 0.107 3903.06 814.6 116.79 - - 2588.75 - - - - - - - - - 15.79 -
12911.47 728.11 8.75 1127 12916.76 done 0.57 - - 2408.00 - 0.94 0.041 3002.50 -958.0 116.79 - - 2589.91 - - - - - - - - - 15.90 -
13221.83 699.43 9.27 1144 13227.19 done 0.57 - - 2408.06 - 1.10 0.105 3902.88 818.5 116.79 - - 2588.41 - - - - - - - - - 15.79 -
13251.50 696.19 9.79 1150 13256.79 done 0.57 - - 2414.00 - 0.94 0.041 2994.94 -965.9 116.79 - - 2588.47 - - - - - - - - - 15.89 -
13561.86 666.59 9.30 1167 13567.77 done 0.57 - - 2420.44 - 1.50 0.033 1624.75 -913.5 116.79 - - 2590.41 - - - - - - - - - 15.27 -
13646.62 659.21 8.54 1184 13653.13 done 0.58 - - 2421.50 - 1.82 0.094 3122.06 822.7 116.79 - - 2589.75 - - - - - - - - - 15.78 -
13961.91 627.70 9.89 1202 13967.20 done 0.58 - - 2421.31 - 0.93 0.110 3900.19 836.7 116.79 - - 2588.84 - - - - - - - - - 15.77 -
14001.92 623.19 11.38 1210 14007.20 done 0.58 - - 2424.56 - 0.93 0.039 3003.12 -964.6 116.79 - - 2588.84 - - - - - - - - - 15.88 -
14321.94 589.55 11.25 1229 14327.31 done 0.58 - - 2425.31 - 1.10 0.106 3902.75 817.8 116.79 - - 2589.25 - - - - - - - - - 15.78 -
14346.61 586.17 12.38 1234 14351.90 done 0.58 - - 2431.12 - 0.94 0.040 2994.00 -966.8 116.79 - - 2588.56 - - - - - - - - - 15.88 -
14661.96 546.77 12.51 1252 14663.76 VBD 0.58 - - 2430.94 - - - 2993.19 - 116.79 - - 2588.22 - - - - - - - - - - -
14982.00 508.51 11.51 1268 14983.79 VBD 0.58 - - 2430.50 - - - 2993.56 - 116.79 - - 2588.28 - - - - - - - - - - -
15302.02 474.29 10.46 1284 15307.48 done 0.58 - - 2431.06 - 1.12 0.107 3901.25 810.4 116.79 - - 2587.84 - - - - - - - - - 15.10 -
15342.01 469.77 11.43 1292 15347.30 done 0.58 - - 2435.50 - 0.93 0.039 2991.19 -978.6 116.79 - - 2587.91 - - - - - - - - - 15.88 -
15662.12 441.13 8.32 1311 15663.91 VBD 0.59 - - 2435.25 - - - 2990.44 - 116.79 - - 2588.31 - - - - - - - - - - -
15982.14 416.63 7.42 1327 15987.59 done 0.63 - - 2435.75 - 1.11 0.106 3899.94 819.4 116.79 - - 2588.81 - - - - - - - - - 15.76 -
16046.74 411.06 8.67 1340 16052.03 done 0.63 - - 2441.31 - 0.93 0.039 3002.62 -964.9 116.79 - - 2589.16 - - - - - - - - - 15.88 -
16362.18 389.00 6.95 1358 16367.55 done 0.67 - - 2441.50 - 1.10 0.105 3900.25 816.0 116.79 - - 2590.31 - - - - - - - - - 15.76 -
16402.17 385.65 8.35 1366 16407.46 done 0.69 - - 2446.88 - 0.93 0.039 2991.69 -976.9 116.79 - - 2589.31 - - - - - - - - - 15.88 -
16722.12 358.69 8.83 1385 16723.91 VBD 0.69 - - 2447.69 - - - 2990.88 - 116.79 - - 2588.00 - - - - - - - - - - -
17042.15 327.98 10.24 1401 17047.60 done 0.69 - - 2447.44 - 1.12 0.103 3903.31 814.7 116.79 - - 2588.12 - - - - - - - - - 15.07 -
17071.81 324.47 10.79 1407 17077.09 done 0.69 - - 2450.06 - 0.94 0.037 3010.88 -949.4 116.79 - - 2588.78 - - - - - - - - - 15.17 -
17382.16 292.98 9.92 1424 17383.96 VBD 0.69 - - 2449.81 - - - 3010.50 - 116.79 - - 2587.97 - - - - - - - - - - -
17702.26 255.76 12.41 1440 17708.10 done 0.69 - - 2460.00 - 1.51 0.031 1600.38 -933.9 116.79 - - 2589.31 - - - - - - - - - 15.08 -
17722.18 253.40 12.27 1444 17728.34 done 0.69 - - 2460.81 - 1.83 0.086 3126.12 833.7 116.79 - - 2588.75 - - - - - - - - - 15.77 -
18032.24 210.67 14.56 1503 18038.59 done 0.69 - - 2471.38 - 1.67 0.032 1608.81 -908.6 116.79 - - 2589.50 - - - - - - - - - 15.08 -
18092.25 202.73 12.98 1515 18098.74 done 0.69 - - 2472.50 - 1.84 0.088 3122.44 822.6 116.79 - - 2588.09 - - - - - - - - - 15.04 -
18402.29 166.09 8.69 1577 18408.62 done 0.69 - - 2482.38 - 1.65 0.030 1578.31 -935.8 116.79 - - 2589.81 - - - - - - - - - 15.86 -
18432.38 163.88 7.78 1583 18438.81 done 0.72 - - 2482.88 - 1.84 0.085 3123.12 839.6 116.79 - - 2590.03 - - - - - - - - - 15.75 -
18742.43 143.42 5.39 1645 18806.82 0.65 0.17 0.357 2425.75 -336.1 0.95 0.105 3901.75 819.6 188.56 40.35 1.126 2304.00 -7.1 0.161 - - - - - - 15.25 15.21 11.80
18889.50 134.71 6.74 1674 18895.12 roll 0.70 - - 2427.31 - 0.94 0.039 3015.62 -942.7 188.56 - - 2303.19 - - - - - - - - - 15.60 -
19199.52 116.67 5.99 1736 19252.17 VBD 0.64 - - 2427.81 - - - 3016.06 - 248.89 33.86 1.076 2059.44 -7.2 0.139 - - - - - - - - 12.86
19554.78 90.90 8.10 1807 19560.95 roll 0.66 - - 2427.25 - 1.52 0.031 1617.06 -920.4 248.89 - - 2056.53 - - - - - - - - - 15.73 -
19614.79 86.35 7.59 1819 19621.21 roll 0.70 - - 2427.94 - 1.82 0.085 3125.31 828.7 248.89 - - 2055.09 - - - - - - - - - 15.67 -
19804.77 69.87 8.91 1857 19810.38 roll 0.70 - - 2427.75 - 0.92 0.100 3905.00 847.5 248.89 - - 2055.00 - - - - - - - - - 15.71 -
19859.78 64.08 10.70 1868 19865.38 roll 0.70 - - 2428.19 - 0.94 0.038 2991.69 -971.6 248.89 - - 2054.81 - - - - - - - - - 15.79 -
20049.81 45.57 9.85 1906 20055.59 roll 0.70 - - 2428.50 - 1.11 0.097 3904.69 822.5 248.89 - - 2054.66 - - - - - - - - - 15.74 -
20124.81 37.29 10.97 1921 20130.43 roll 0.70 - - 2427.88 - 0.94 0.038 2993.94 -968.9 248.89 - - 2054.81 - - - - - - - - - 15.82 -
20314.92 21.44 7.21 1959 20320.88 roll back 0.74 0.08 0.134 2492.69 810.1 1.11 0.103 3905.31 821.1 248.89 - - 2054.50 - - - - - - - - 15.78 15.70 -
20394.86 14.39 9.14 1975 20400.74 roll back 0.74 0.12 0.319 2452.75 -332.8 0.94 0.036 2971.00 -993.9 248.89 - - 2056.12 - - - - - - - - 15.40 15.84 -
20565 end climb: SURFACE_DEPTH_REACHED
20565 begin surface coast
20595 end surface coast: CONTROL_FINISHED_OK
20595 begin surface
SM 0.84 - - - - 168.9 238.95 0.797 1035.0 4.3 4.53 0.096 1052.1 232.2 - 0.31 0.101 1017.9 3280.5 -2.789 - - 12.29 15.63 15.77 -