SMODE Apr23 * SG180 * Dive index * Mission links * Dive 326 * Raw log
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• Previous call tries 1 • 185.81 of 350.00 AH used of 24V (46.91% remains)
• Surface angle -66.9 deg, depth 0.84 m • Intended pitch -20.2 deg, speed -9.167 cm/s
VBD pumped to 500.12 (SM_CC=500)
• GPS1 time: 22 s
• GPS2 time: 2 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
17.45 - - - 133.24 VBD -0.57 - - 171.62 - - - 3126.38 - -116.79 81.97 0.005 3395.41 - - - - - - - - - - 15.08
133.68 3.35 -2.36 22 159.44 -0.57 7.70 0.468 2043.12 243.1 1.55 0.041 1719.25 -907.8 -116.79 2.70 0.011 3551.25 57.7 -3.104 - - - - - - 14.67 15.15 15.15
231.92 18.30 -9.37 41 238.81 roll -0.57 - - 2043.62 - 1.86 0.100 3218.94 806.3 -116.79 - - 3534.94 - - - - - - - - - 15.54 -
421.96 39.08 -10.43 79 428.19 roll -0.57 - - 2038.50 - 0.82 0.117 3901.50 832.4 -116.79 - - 3552.22 - - - - - - - - - 15.67 -
612.04 62.11 -12.04 117 618.36 roll -0.57 - - 2038.38 - 0.83 0.054 3139.75 -917.8 -116.79 - - 3545.38 - - - - - - - - - 15.78 -
802.08 82.96 -10.42 155 808.46 roll -0.57 - - 2033.44 - 0.94 0.115 3898.81 807.5 -116.79 - - 3552.22 - - - - - - - - - 15.71 -
892.08 93.18 -11.72 173 898.39 roll -0.57 - - 2033.56 - 0.82 0.054 3141.75 -923.2 -116.79 - - 3552.16 - - - - - - - - - 15.80 -
1082.10 113.94 -10.91 211 1087.09 no move -0.57 - - 2033.25 - - - 3139.50 - -116.79 - - 3534.53 - - - - - - - - - - -
1392.15 148.12 -11.03 273 1398.53 roll -0.57 - - 2029.31 - 0.94 0.115 3898.81 807.8 -116.79 - - 3552.03 - - - - - - - - - 15.74 -
1442.14 153.79 -11.30 283 1448.45 roll -0.57 - - 2029.19 - 0.82 0.055 3141.81 -923.2 -116.79 - - 3552.09 - - - - - - - - - 15.82 -
1752.19 188.94 -11.21 345 1758.57 roll -0.57 - - 2025.94 - 0.94 0.115 3903.00 809.8 -116.79 - - 3552.31 - - - - - - - - - 15.73 -
1802.19 194.84 -11.98 355 1808.49 roll -0.57 - - 2025.88 - 0.83 0.055 3139.50 -919.9 -116.79 - - 3552.22 - - - - - - - - - 15.82 -
2112.25 232.95 -11.99 417 2117.78 roll -0.57 - - 2021.12 - 0.94 0.118 3898.31 807.2 -116.79 - - 3552.28 - - - - - - - - - 15.77 -
2336.92 261.27 -11.73 462 2342.04 roll -0.57 - - 2021.50 - 0.82 0.055 3137.06 -928.4 -116.79 - - 3551.31 - - - - - - - - - 15.88 -
2652.30 299.93 -12.42 480 2657.58 roll -0.57 - - 2017.25 - 0.94 0.116 3900.06 811.7 -116.79 - - 3551.16 - - - - - - - - - 15.80 -
2692.31 305.20 -13.40 488 2697.51 roll -0.57 - - 2016.88 - 0.82 0.055 3136.88 -930.7 -116.79 - - 3551.06 - - - - - - - - - 15.87 -
3012.32 346.00 -12.58 507 3014.11 no move -0.57 - - 2016.31 - - - 3136.44 - -116.79 - - 3531.94 - - - - - - - - - - -
3332.35 386.67 -12.30 523 3337.64 roll -0.57 - - 2012.00 - 0.94 0.115 3901.62 814.0 -116.79 - - 3550.19 - - - - - - - - - 15.82 -
3557.04 414.41 -12.19 568 3562.42 roll back -0.57 0.09 0.296 2047.56 395.1 0.82 0.054 3145.81 -921.7 -116.79 - - 3549.88 - - - - - - - - 15.55 15.91 -
3872.40 441.10 -8.14 586 3877.67 roll -0.57 - - 2042.25 - 0.93 0.118 3903.75 815.0 -116.79 - - 3510.34 - - - - - - - - - 15.81 -
3932.40 446.18 -8.50 598 3937.60 roll -0.57 - - 2043.38 - 0.82 0.056 3143.38 -927.3 -116.79 - - 3548.88 - - - - - - - - - 15.92 -
4252.42 472.67 -8.83 617 4257.70 roll -0.57 - - 2037.25 - 0.93 0.116 3899.75 813.3 -116.79 - - 3548.56 - - - - - - - - - 15.81 -
4332.43 480.63 -9.78 633 4337.63 roll -0.57 - - 2038.12 - 0.82 0.055 3139.50 -927.1 -116.79 - - 3547.50 - - - - - - - - - 15.91 -
4652.46 513.22 -10.19 652 4657.78 roll -0.57 - - 2033.31 - 0.94 0.116 3902.81 812.0 -116.79 - - 3547.38 - - - - - - - - - 15.81 -
4792.48 527.39 -9.84 680 4797.67 roll -0.57 - - 2033.38 - 0.82 0.055 3141.62 -928.3 -116.79 - - 3547.06 - - - - - - - - - 15.89 -
5112.50 555.28 -8.25 699 5114.29 no move -0.57 - - 2032.06 - - - 3140.69 - -116.79 - - 3527.75 - - - - - - - - - - -
5432.52 583.53 -9.05 715 5437.80 roll -0.57 - - 2029.00 - 0.93 0.116 3899.75 816.2 -116.79 - - 3546.81 - - - - - - - - - 15.81 -
5582.20 599.10 -10.82 745 5587.40 roll -0.57 - - 2029.06 - 0.82 0.055 3144.06 -921.6 -116.79 - - 3546.50 - - - - - - - - - 15.91 -
5892.57 632.43 -10.85 762 5894.38 no move -0.57 - - 2028.06 - - - 3143.00 - -116.79 - - 3526.12 - - - - - - - - - - -
6212.59 669.45 -11.57 778 6217.89 roll -0.57 - - 2025.38 - 0.93 0.117 3900.44 814.5 -116.79 - - 3544.53 - - - - - - - - - 15.80 -
6447.29 697.84 -11.38 825 6452.82 roll -0.57 - - 2025.31 - 0.83 0.055 3138.81 -917.6 -116.79 - - 3544.31 - - - - - - - - - 15.91 -
6772.64 730.78 -9.82 842 6777.94 roll -0.57 - - 2022.25 - 0.94 0.119 3899.31 809.0 -116.79 - - 3544.53 - - - - - - - - - 15.78 -
6892.67 744.07 -11.10 866 6897.87 roll -0.57 - - 2022.25 - 0.82 0.056 3142.88 -922.5 -116.79 - - 3543.97 - - - - - - - - - 15.89 -
7212.70 777.54 -10.11 885 7217.98 roll -0.57 - - 2017.06 - 0.94 0.117 3901.38 806.9 -116.79 - - 3542.81 - - - - - - - - - 15.78 -
7327.38 789.30 -10.29 908 7332.91 roll -0.57 - - 2017.38 - 0.83 0.057 3142.94 -913.8 -116.79 - - 3542.66 - - - - - - - - - 15.87 -
7652.75 822.11 -10.39 925 7658.03 roll -0.57 - - 2013.06 - 0.94 0.118 3900.00 805.4 -116.79 - - 3542.34 - - - - - - - - - 15.68 -
7777.44 834.80 -9.65 950 7782.64 roll -0.57 - - 2013.38 - 0.83 0.056 3141.31 -914.1 -116.79 - - 3542.34 - - - - - - - - - 15.87 -
8092.80 860.68 -7.70 968 8094.59 no move -0.57 - - 2012.25 - - - 3140.19 - -116.79 - - 3520.72 - - - - - - - - - - -
8333 end dive: TARGET_DEPTH_EXCEEDED
8333 begin apogee
8334.47 877.05 -6.59 980 8442.52 -0.17 0.41 0.277 2173.25 392.7 0.09 0.211 3123.19 -188.9 - 70.36 2.001 3071.81 -6.4 0.494 - - - - - - 15.44 14.82 11.10
8444 end apogee: CONTROL_FINISHED_OK
8444 begin climb
8445.62 878.57 - 985 8562.64 0.57 0.56 0.195 2417.88 436.8 1.77 0.037 1621.62 -848.3 116.79 73.76 1.975 2597.06 -6.4 0.506 - - - - - - 14.99 14.75 12.76
8569.94 871.59 7.66 1009 8576.43 roll 0.60 - - 2419.00 - 1.92 0.093 3118.25 779.5 116.79 - - 2582.78 - - - - - - - - - 14.74 -
8885.23 839.84 9.83 1027 8891.22 roll 0.60 - - 2426.06 - 1.67 0.032 1618.62 -898.0 116.79 - - 2592.84 - - - - - - - - - 15.32 -
8954.92 833.51 8.88 1041 8961.39 roll 0.60 - - 2426.75 - 1.84 0.094 3123.25 817.7 116.79 - - 2593.22 - - - - - - - - - 15.71 -
9265.34 805.36 8.29 1058 9271.26 roll 0.61 - - 2431.94 - 1.66 0.033 1616.06 -907.9 116.79 - - 2593.59 - - - - - - - - - 15.85 -
9295.00 803.08 8.27 1064 9301.41 roll 0.63 - - 2434.81 - 1.83 0.093 3120.50 822.1 116.79 - - 2590.91 - - - - - - - - - 15.77 -
9605.29 773.19 9.88 1081 9611.27 roll 0.63 - - 2442.12 - 1.66 0.033 1616.06 -906.3 116.79 - - 2592.00 - - - - - - - - - 15.38 -
9654.96 768.58 9.17 1091 9661.45 roll 0.63 - - 2443.50 - 1.83 0.093 3122.94 823.4 116.79 - - 2591.00 - - - - - - - - - 15.80 -
9965.32 734.63 10.23 1108 9971.31 roll 0.63 - - 2451.44 - 1.66 0.033 1618.62 -906.2 116.79 - - 2590.56 - - - - - - - - - 15.38 -
10039.99 728.10 8.67 1123 10046.83 roll 0.63 - - 2452.94 - 1.83 0.093 3122.88 822.0 116.79 - - 2590.72 - - - - - - - - - 15.25 -
10365.35 692.68 11.80 1140 10371.33 done 0.63 - - 2461.62 - 1.65 0.033 1617.38 -912.4 116.79 - - 2590.31 - - - - - - - - - 15.90 -
10470.11 682.11 9.91 1161 10476.76 0.63 0.12 0.339 2420.12 -345.8 1.82 0.093 3124.94 828.3 116.79 - - 2590.81 - - - - - - - - 15.40 15.81 -
10785.39 652.43 9.01 1179 10791.37 done 0.63 - - 2427.81 - 1.65 0.033 1618.06 -913.3 116.79 - - 2587.84 - - - - - - - - - 15.91 -
10855.13 646.79 7.88 1193 10861.58 done 0.66 - - 2428.81 - 1.82 0.092 3121.00 825.8 116.79 - - 2576.22 - - - - - - - - - 15.81 -
11165.42 616.91 9.73 1210 11171.41 done 0.66 - - 2437.50 - 1.66 0.034 1610.81 -909.8 116.79 - - 2588.66 - - - - - - - - - 15.33 -
11190.09 614.74 9.41 1215 11196.57 done 0.66 - - 2438.50 - 1.83 0.092 3124.81 827.3 116.79 - - 2588.31 - - - - - - - - - 15.81 -
11505.45 583.22 10.12 1233 11511.43 done 0.66 - - 2446.44 - 1.66 0.033 1609.00 -913.1 116.79 - - 2590.16 - - - - - - - - - 15.90 -
11590.12 575.44 8.87 1250 11596.73 done 0.66 - - 2446.94 - 1.83 0.092 3120.38 825.9 116.79 - - 2587.31 - - - - - - - - - 15.81 -
11905.48 542.89 10.15 1268 11911.46 done 0.66 - - 2451.94 - 1.65 0.032 1607.25 -917.0 116.79 - - 2589.09 - - - - - - - - - 15.90 -
11975.16 536.47 9.09 1282 11981.65 done 0.66 - - 2453.44 - 1.84 0.090 3122.06 823.3 116.79 - - 2589.00 - - - - - - - - - 15.18 -
12285.52 501.36 11.54 1299 12291.51 done 0.66 - - 2462.50 - 1.65 0.033 1616.31 -912.6 116.79 - - 2587.53 - - - - - - - - - 15.91 -
12325.52 497.18 10.36 1307 12331.67 done 0.66 - - 2463.50 - 1.82 0.090 3122.06 827.3 116.79 - - 2588.97 - - - - - - - - - 15.79 -
12645.55 458.62 12.10 1326 12651.53 done 0.66 - - 2474.31 - 1.65 0.033 1608.81 -917.1 116.79 - - 2589.03 - - - - - - - - - 15.90 -
12700.21 452.73 10.44 1337 12707.29 0.66 0.14 0.327 2427.88 -331.6 1.83 0.090 3125.00 828.5 116.79 - - 2588.19 - - - - - - - - 15.37 15.80 -
13025.57 417.86 11.39 1354 13031.56 done 0.66 - - 2435.44 - 1.66 0.033 1615.50 -909.3 116.79 - - 2588.03 - - - - - - - - - 15.29 -
13050.24 415.18 11.37 1359 13056.73 done 0.66 - - 2435.81 - 1.82 0.091 3121.50 827.5 116.79 - - 2589.00 - - - - - - - - - 15.81 -
13365.59 381.00 10.00 1377 13371.58 done 0.66 - - 2445.25 - 1.65 0.032 1599.19 -922.6 116.79 - - 2588.81 - - - - - - - - - 15.90 -
13440.34 374.56 8.45 1392 13447.17 done 0.67 - - 2446.81 - 1.83 0.089 3124.44 833.5 116.79 - - 2588.56 - - - - - - - - - 15.80 -
13765.62 344.30 9.05 1409 13771.60 done 0.67 - - 2452.50 - 1.64 0.031 1603.62 -927.3 116.79 - - 2589.28 - - - - - - - - - 15.90 -
13790.28 342.28 8.83 1414 13796.77 done 0.67 - - 2452.31 - 1.84 0.088 3121.81 825.1 116.79 - - 2545.38 - - - - - - - - - 15.15 -
14105.64 310.85 10.65 1432 14107.44 VBD 0.67 - - 2452.62 - - - 3121.88 - 116.79 - - 2573.78 - - - - - - - - - - -
14425.66 276.27 11.03 1448 14431.65 done 0.67 - - 2462.38 - 1.64 0.032 1616.62 -917.8 116.79 - - 2575.38 - - - - - - - - - 15.91 -
14540.40 264.92 9.69 1471 14547.18 done 0.67 - - 2463.25 - 1.83 0.089 3122.38 822.8 116.79 - - 2588.22 - - - - - - - - - 15.15 -
14850.72 232.51 9.83 1512 14857.04 done 0.67 - - 2472.81 - 1.65 0.032 1598.50 -923.6 116.79 - - 2590.22 - - - - - - - - - 15.89 -
14890.73 229.02 8.71 1520 14897.47 0.67 0.12 0.302 2433.44 -328.1 1.84 0.089 3125.44 829.9 116.79 - - 2589.16 - - - - - - - - 15.38 15.77 -
15200.87 204.83 7.93 1582 15207.14 done 0.70 - - 2441.88 - 1.66 0.031 1604.94 -916.0 116.79 - - 2587.34 - - - - - - - - - 15.23 -
15230.87 202.52 7.70 1588 15237.28 done 0.72 - - 2443.19 - 1.84 0.087 3122.38 824.7 116.79 - - 2587.88 - - - - - - - - - 15.16 -
15540.91 177.42 8.51 1650 15547.15 done 0.74 - - 2447.38 - 1.65 0.032 1607.06 -918.4 116.79 - - 2587.00 - - - - - - - - - 15.87 -
15580.91 174.44 7.67 1658 15587.33 done 0.77 - - 2448.50 - 1.82 0.087 3123.25 833.1 116.79 - - 2589.03 - - - - - - - - - 15.76 -
15891.24 149.47 8.32 1720 15894.94 VBD 0.78 - - 2448.69 - - - 3122.94 - 116.79 - - 2575.16 - - - - - - - - - - -
16195.92 123.61 8.80 1781 16202.24 done 0.78 - - 2457.00 - 1.64 0.031 1591.44 -933.8 116.79 - - 2576.62 - - - - - - - - - 15.86 -
16316.00 113.89 7.95 1805 16322.42 done 0.81 - - 2458.50 - 1.84 0.087 3123.38 832.6 116.79 - - 2588.34 - - - - - - - - - 15.76 -
16625.98 82.23 10.81 1867 16632.31 done 0.81 - - 2466.31 - 1.66 0.030 1597.12 -919.4 116.79 - - 2590.12 - - - - - - - - - 15.21 -
16716.06 74.17 8.56 1885 16722.48 done 0.82 - - 2467.88 - 1.85 0.087 3121.81 824.2 116.79 - - 2588.47 - - - - - - - - - 15.15 -
16906.08 57.21 8.51 1923 16912.33 done 0.83 - - 2476.06 - 1.64 0.030 1596.19 -930.3 116.79 - - 2575.84 - - - - - - - - - 15.86 -
16936.08 55.04 7.58 1929 16942.50 done 0.87 - - 2478.00 - 1.84 0.088 3122.94 829.8 116.79 - - 2590.38 - - - - - - - - - 15.76 -
17126.10 40.20 7.39 1967 17132.51 0.90 0.08 0.115 2538.56 757.0 1.65 0.031 1590.75 -928.6 116.79 - - 2587.78 - - - - - - - - 15.81 15.77 -
17166.11 37.14 7.64 1975 17172.53 done 0.93 - - 2539.38 - 1.86 0.085 3125.06 824.9 116.79 - - 2589.53 - - - - - - - - - 15.15 -
17356.05 20.09 9.15 2013 17357.84 VBD 0.93 - - 2538.94 - - - 3125.12 - 116.79 - - 2574.09 - - - - - - - - - - -
17541.15 5.74 6.30 2050 17547.39 done 0.99 - - 2549.81 - 1.66 0.030 1571.31 -936.0 116.79 - - 2589.41 - - - - - - - - - 15.23 -
17636.17 3.01 3.23 2069 17685.45 0.88 0.14 0.327 2501.00 -348.6 1.84 0.081 3129.81 847.0 229.47 29.25 0.957 2382.25 -7.1 0.004 - - - - - - 15.24 15.78 11.80
17686 end climb: SURFACE_DEPTH_REACHED
17686 begin surface coast
17688 end surface coast: CONTROL_FINISHED_OK
17688 begin surface
SM 0.87 - - - - 169.2 178.54 0.910 1036.2 5.6 5.30 0.182 1055.2 199.1 - 0.09 0.112 1017.1 11280.7 -8.956 - - 13.16 15.28 15.50 -