SMODE Apr23 * SG180 * Dive index * Mission links * Dive 130 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 129.84 of 350.00 AH used of 24V (62.90% remains)
• Surface angle -67.5 deg, depth 1.06 m • Intended pitch -21.6 deg, speed -8.250 cm/s
• VBD pumped to 500.10 (SM_CC=500)
• GPS1 time: 20 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
16 begin dive
17.73 - - - 123.27 VBD -0.64 - - 169.44 - - - 3213.62 - -87.59 74.63 0.005 3272.88 - - - - - - - - - - 15.10
123.70 3.46 -2.59 20 149.57 -0.64 7.78 0.477 2019.50 237.8 1.62 0.040 1807.75 -867.8 -87.59 2.74 0.011 3430.88 57.7 -3.180 - - - - - - 14.91 15.15 15.28
162.22 13.85 -21.46 27 169.39 roll -0.64 - - 2019.38 - 1.87 0.100 3320.19 808.8 -87.59 - - 3433.06 - - - - - - - - - 15.47 -
352.37 49.20 -17.43 65 358.31 roll -0.64 - - 2015.31 - 0.69 0.112 3903.25 845.0 -87.59 - - 3375.09 - - - - - - - - - 15.59 -
412.39 59.80 -17.16 77 418.78 roll -0.64 - - 2016.12 - 0.71 0.053 3245.94 -925.8 -87.59 - - 3432.56 - - - - - - - - - 15.70 -
602.46 91.21 -14.43 115 608.86 roll -0.64 - - 2011.56 - 0.80 0.106 3903.00 821.3 -87.59 - - 3360.50 - - - - - - - - - 15.62 -
677.53 101.95 -13.32 130 683.73 roll -0.64 - - 2011.75 - 0.71 0.052 3240.19 -933.5 -87.59 - - 3432.97 - - - - - - - - - 15.75 -
987.83 141.59 -12.25 192 994.18 roll -0.64 - - 2008.69 - 0.81 0.107 3903.00 818.3 -87.59 - - 3433.22 - - - - - - - - - 15.62 -
1222.88 168.41 -10.69 239 1229.13 roll -0.64 - - 2008.50 - 0.70 0.051 3244.31 -941.0 -87.59 - - 3432.28 - - - - - - - - - 15.77 -
1534.15 200.10 -11.27 301 1538.52 roll -0.64 - - 2003.88 - 0.80 0.107 3903.50 824.0 -87.59 - - 3433.47 - - - - - - - - - 15.59 -
1747.98 228.07 -13.12 344 1753.58 roll -0.64 - - 2004.12 - 0.70 0.052 3240.19 -947.6 -87.59 - - 3432.97 - - - - - - - - - 15.87 -
2073.03 266.21 -11.27 388 2074.83 no move -0.64 - - 2003.94 - - - 3239.88 - -87.59 - - 3432.59 - - - - - - - - - - -
2393.04 302.46 -11.30 404 2394.83 no move -0.64 - - 2004.25 - - - 3239.88 - -87.59 - - 3432.25 - - - - - - - - - - -
2713.05 339.00 -11.36 420 2714.85 no move -0.64 - - 2003.94 - - - 3239.62 - -87.59 - - 3431.34 - - - - - - - - - - -
3033.07 374.36 -10.98 436 3034.86 no move -0.64 - - 2004.00 - - - 3240.25 - -87.59 - - 3430.75 - - - - - - - - - - -
3353.09 407.40 -10.02 452 3354.88 no move -0.64 - - 2004.31 - - - 3240.00 - -87.59 - - 3429.47 - - - - - - - - - - -
3673.10 438.27 -9.49 468 3678.03 roll -0.64 - - 1999.56 - 0.81 0.110 3902.50 817.9 -87.59 - - 3428.97 - - - - - - - - - 15.72 -
3713.11 442.25 -10.03 476 3717.98 roll -0.64 - - 2000.38 - 0.70 0.054 3244.00 -940.7 -87.59 - - 3428.91 - - - - - - - - - 15.95 -
4033.14 472.35 -9.24 495 4034.94 no move -0.64 - - 2000.56 - - - 3245.00 - -87.59 - - 3427.56 - - - - - - - - - - -
4353.17 503.13 -9.69 511 4354.97 no move -0.64 - - 2000.75 - - - 3244.88 - -87.59 - - 3426.56 - - - - - - - - - - -
4673.21 535.34 -10.42 527 4678.71 roll -0.64 - - 2000.19 - 1.54 0.040 1802.00 -936.9 -87.59 - - 3425.47 - - - - - - - - - 15.87 -
4693.22 537.41 -10.63 531 4698.97 roll -0.64 - - 1999.69 - 1.86 0.100 3321.38 816.9 -87.59 - - 3427.31 - - - - - - - - - 15.57 -
5013.24 571.46 -10.66 550 5017.34 roll -0.64 - - 1996.69 - 0.69 0.114 3903.31 843.4 -87.59 - - 3426.25 - - - - - - - - - 15.71 -
5077.54 578.79 -11.43 563 5082.72 roll -0.64 - - 1997.06 - 0.70 0.056 3249.06 -934.6 -87.59 - - 3424.69 - - - - - - - - - 15.95 -
5393.30 611.85 -10.36 581 5395.09 no move -0.64 - - 1997.19 - - - 3249.06 - -87.59 - - 3424.00 - - - - - - - - - - -
5713.33 643.35 -9.82 597 5718.85 roll -0.64 - - 1996.94 - 1.55 0.041 1799.38 -935.3 -87.59 - - 3423.47 - - - - - - - - - 15.86 -
5782.63 649.60 -8.56 611 5789.11 roll -0.64 - - 1995.19 - 1.86 0.099 3318.44 816.7 -87.59 - - 3424.09 - - - - - - - - - 15.67 -
6093.39 677.68 -8.93 628 6095.18 no move -0.64 - - 1996.06 - - - 3318.94 - -87.59 - - 3421.56 - - - - - - - - - - -
6413.42 706.29 -8.82 644 6415.22 no move -0.64 - - 1995.94 - - - 3318.06 - -87.59 - - 3421.09 - - - - - - - - - - -
6733.45 736.18 -9.62 660 6735.25 no move -0.64 - - 1995.56 - - - 3318.56 - -87.59 - - 3420.31 - - - - - - - - - - -
7053.50 767.59 -9.85 676 7059.11 roll -0.64 - - 1994.94 - 1.65 0.042 1805.50 -917.0 -87.59 - - 3420.16 - - - - - - - - - 15.84 -
7073.50 769.53 -9.73 680 7079.25 roll -0.64 - - 1995.50 - 1.86 0.100 3318.44 813.4 -87.59 - - 3420.25 - - - - - - - - - 15.55 -
7393.52 799.96 -9.29 699 7399.11 roll -0.64 - - 1995.31 - 1.66 0.043 1800.00 -914.7 -87.59 - - 3419.50 - - - - - - - - - 15.83 -
7433.53 803.47 -8.79 707 7439.32 roll -0.64 - - 1995.00 - 1.87 0.099 3322.75 814.3 -87.59 - - 3419.25 - - - - - - - - - 15.55 -
7753.56 832.00 -8.86 726 7757.66 roll -0.64 - - 1991.25 - 0.69 0.112 3902.62 840.4 -87.59 - - 3418.28 - - - - - - - - - 15.66 -
7827.83 838.84 -9.18 741 7833.76 roll -0.64 - - 1990.31 - 0.71 0.057 3251.38 -917.2 -87.59 - - 3419.12 - - - - - - - - - 15.92 -
8153.60 866.07 -8.07 758 8155.39 no move -0.64 - - 1991.62 - - - 3252.19 - -87.59 - - 3417.97 - - - - - - - - - - -
8473.63 891.21 -7.79 774 8478.48 roll -0.64 - - 1986.94 - 0.80 0.111 3901.50 811.6 -87.59 - - 3417.84 - - - - - - - - - 15.62 -
8533.66 896.26 -8.52 786 8538.74 roll back -0.64 0.10 0.328 2021.94 350.0 0.71 0.057 3251.00 -916.2 -87.59 - - 3372.75 - - - - - - - - 15.04 15.91 -
8853.82 917.07 -6.51 805 8855.62 no move -0.64 - - 2022.81 - - - 3250.75 - -87.59 - - 3416.75 - - - - - - - - - - -
9173.70 938.34 -6.91 821 9175.50 no move -0.64 - - 2023.19 - - - 3251.06 - -87.59 - - 3415.94 - - - - - - - - - - -
9493.71 961.75 -7.52 837 9495.50 no move -0.64 - - 2023.19 - - - 3250.38 - -87.59 - - 3415.78 - - - - - - - - - - -
9813.73 986.51 -7.91 853 9815.53 no move -0.64 - - 2023.31 - - - 3250.62 - -87.59 - - 3415.28 - - - - - - - - - - -
9874 end dive: TARGET_DEPTH_EXCEEDED
9874 begin apogee
9875.63 991.31 -7.99 856 9958.10 -0.17 0.40 0.268 2174.69 378.5 0.09 0.203 3023.31 -2525.7 - 51.99 2.168 3073.03 -6.6 0.528 - - - - - - 15.01 15.09 10.15
9961 end apogee: CONTROL_FINISHED_OK
9961 begin climb
9961.77 993.70 - 860 10053.07 0.64 0.61 0.200 2442.81 439.5 1.75 0.040 1531.75 -852.3 87.59 56.27 2.136 2712.91 -6.4 0.522 - - - - - - 15.20 14.87 12.85
10070.39 987.68 7.79 881 10076.93 roll 0.64 - - 2444.00 - 1.88 0.089 3018.44 790.8 87.59 - - 2714.69 - - - - - - - - - 15.17 -
10381.16 955.20 10.67 898 10386.74 roll 0.64 - - 2451.81 - 1.65 0.036 1532.38 -900.6 87.59 - - 2709.28 - - - - - - - - - 15.72 -
10415.43 951.83 10.24 905 10422.65 roll 0.64 - - 2453.62 - 1.81 0.089 3022.00 823.0 87.59 - - 2709.19 - - - - - - - - - 15.64 -
10741.20 915.98 11.12 922 10746.79 done 0.64 - - 2461.06 - 1.64 0.035 1534.06 -907.3 87.59 - - 2709.69 - - - - - - - - - 15.81 -
10805.49 909.76 9.36 935 10812.15 0.64 0.12 0.336 2421.25 -331.7 1.80 0.090 3027.06 829.4 87.59 - - 2649.12 - - - - - - - - 15.14 15.63 -
11121.31 880.25 9.49 953 11123.11 VBD 0.64 - - 2423.38 - - - 3027.62 - 87.59 - - 2707.41 - - - - - - - - - - -
11441.29 848.35 10.35 969 11446.88 done 0.64 - - 2429.69 - 1.64 0.036 1535.62 -909.8 87.59 - - 2708.31 - - - - - - - - - 15.89 -
11475.56 844.99 10.16 976 11482.71 done 0.64 - - 2432.62 - 1.79 0.087 3022.88 830.9 87.59 - - 2706.56 - - - - - - - - - 15.73 -
11801.33 809.05 11.40 993 11806.92 done 0.64 - - 2440.31 - 1.63 0.035 1520.75 -921.6 87.59 - - 2706.62 - - - - - - - - - 15.91 -
11835.60 805.39 10.43 1000 11842.87 done 0.64 - - 2440.69 - 1.80 0.087 3023.50 834.9 87.59 - - 2707.62 - - - - - - - - - 15.72 -
12161.38 767.85 11.71 1017 12166.99 done 0.64 - - 2448.94 - 1.63 0.035 1530.94 -915.7 87.59 - - 2706.97 - - - - - - - - - 15.91 -
12230.67 760.52 10.19 1031 12237.11 done 0.64 - - 2449.31 - 1.79 0.087 3022.94 833.5 87.59 - - 2707.94 - - - - - - - - - 15.71 -
12541.43 723.42 12.26 1048 12547.03 done 0.64 - - 2458.88 - 1.63 0.035 1532.25 -914.5 87.59 - - 2707.00 - - - - - - - - - 15.92 -
12561.48 721.23 11.96 1052 12567.13 done 0.64 - - 2460.56 - 1.79 0.088 3021.62 832.1 87.59 - - 2707.28 - - - - - - - - - 15.64 -
12881.47 683.23 11.70 1071 12887.07 done 0.64 - - 2469.56 - 1.63 0.034 1524.12 -918.7 87.59 - - 2705.84 - - - - - - - - - 15.92 -
12921.48 679.11 10.15 1079 12927.49 0.64 0.14 0.342 2422.75 -334.4 1.80 0.089 3025.00 833.8 87.59 - - 2706.50 - - - - - - - - 14.98 15.63 -
13241.52 649.26 9.05 1098 13246.60 done 0.64 - - 2421.94 - 1.04 0.100 3905.56 846.7 87.59 - - 2706.16 - - - - - - - - - 15.69 -
13270.78 646.16 9.45 1104 13276.22 done 0.64 - - 2427.56 - 1.03 0.037 2895.94 -980.2 87.59 - - 2705.09 - - - - - - - - - 15.93 -
13581.55 620.17 7.94 1121 13586.84 done 0.64 - - 2426.94 - 1.22 0.100 3904.50 826.7 87.59 - - 2706.44 - - - - - - - - - 15.68 -
13601.55 618.41 7.97 1125 13606.64 done 0.64 - - 2432.25 - 1.04 0.036 2851.75 -1012.3 87.59 - - 2704.50 - - - - - - - - - 15.93 -
13921.67 593.25 7.66 1144 13923.46 VBD 0.65 - - 2432.06 - - - 2851.88 - 87.59 - - 2704.22 - - - - - - - - - - -
14241.69 569.81 7.16 1160 14243.50 VBD 0.67 - - 2432.31 - - - 2851.44 - 87.59 - - 2704.84 - - - - - - - - - - -
14561.72 545.62 7.70 1176 14566.89 done 0.68 - - 2430.94 - 1.27 0.100 3904.38 829.1 87.59 - - 2674.16 - - - - - - - - - 15.65 -
14635.90 538.21 10.26 1191 14642.07 done 0.68 - - 2437.75 - 1.03 0.036 2849.31 -1024.3 87.59 - - 2705.25 - - - - - - - - - 15.93 -
14961.68 508.84 9.48 1208 14966.93 done 0.68 - - 2436.56 - 1.27 0.101 3902.38 829.2 87.59 - - 2663.97 - - - - - - - - - 15.64 -
15010.95 503.28 11.44 1218 15016.42 done 0.68 - - 2445.44 - 1.03 0.037 2865.19 -1007.0 87.59 - - 2704.28 - - - - - - - - - 15.93 -
15321.71 471.80 10.29 1235 15326.97 done 0.68 - - 2445.00 - 1.26 0.101 3902.88 823.6 87.59 - - 2704.59 - - - - - - - - - 15.63 -
15375.97 465.22 12.12 1246 15382.14 done 0.68 - - 2452.06 - 1.03 0.036 2857.12 -1015.3 87.59 - - 2705.34 - - - - - - - - - 15.93 -
15701.72 431.12 10.67 1263 15706.98 done 0.68 - - 2451.69 - 1.27 0.101 3902.62 823.2 87.59 - - 2704.94 - - - - - - - - - 15.63 -
15761.73 423.92 12.22 1275 15766.82 done 0.68 - - 2459.56 - 1.03 0.036 2877.69 -995.1 87.59 - - 2705.31 - - - - - - - - - 15.94 -
16081.76 390.40 10.53 1294 16087.01 done 0.68 - - 2459.38 - 1.25 0.101 3900.31 818.1 87.59 - - 2703.53 - - - - - - - - - 15.62 -
16136.02 383.82 12.17 1305 16142.18 done 0.68 - - 2467.31 - 1.03 0.036 2884.19 -986.5 87.59 - - 2706.00 - - - - - - - - - 15.93 -
16461.78 350.89 9.73 1322 16467.03 done 0.68 - - 2467.31 - 1.24 0.100 3904.50 822.8 87.59 - - 2706.00 - - - - - - - - - 15.63 -
16486.03 348.13 9.88 1327 16491.47 done 0.68 - - 2474.25 - 1.03 0.036 2888.50 -986.4 87.59 - - 2705.34 - - - - - - - - - 15.94 -
16801.79 320.92 8.03 1345 16807.05 done 0.68 - - 2474.00 - 1.24 0.100 3904.62 819.5 87.59 - - 2704.56 - - - - - - - - - 15.63 -
16831.05 318.14 8.18 1351 16836.56 done 0.68 - - 2480.38 - 1.03 0.036 2892.06 -983.1 87.59 - - 2705.34 - - - - - - - - - 15.94 -
17141.81 291.25 8.87 1368 17147.48 0.68 0.14 0.377 2443.94 -260.3 1.48 0.032 1511.12 -933.1 87.59 - - 2704.69 - - - - - - - - 14.85 15.12 -
17191.15 287.63 7.24 1378 17197.60 done 0.70 - - 2444.56 - 1.81 0.083 3024.56 836.2 87.59 - - 2705.41 - - - - - - - - - 15.65 -
17501.82 261.12 8.91 1395 17507.42 done 0.70 - - 2454.12 - 1.63 0.032 1513.25 -927.2 87.59 - - 2704.97 - - - - - - - - - 15.94 -
17561.83 256.33 7.91 1407 17567.62 done 0.70 - - 2453.44 - 1.80 0.082 3022.06 838.2 87.59 - - 2705.88 - - - - - - - - - 15.59 -
17871.89 228.76 8.51 1460 17878.22 done 0.70 - - 2462.31 - 1.63 0.031 1517.88 -922.8 87.59 - - 2705.00 - - - - - - - - - 15.89 -
17947.06 223.00 7.63 1475 17953.39 done 0.71 - - 2463.31 - 1.81 0.082 3026.31 833.4 87.59 - - 2704.16 - - - - - - - - - 15.60 -
18256.97 196.15 8.94 1537 18263.35 done 0.71 - - 2473.62 - 1.64 0.032 1510.62 -924.2 87.59 - - 2705.81 - - - - - - - - - 15.90 -
18307.05 192.31 7.61 1547 18313.48 done 0.73 - - 2474.56 - 1.82 0.082 3022.50 830.7 87.59 - - 2705.97 - - - - - - - - - 15.59 -
18617.05 165.38 8.49 1609 18622.87 done 0.73 - - 2474.62 - 1.05 0.100 3903.00 838.6 87.59 - - 2705.44 - - - - - - - - - 15.52 -
18812.08 145.79 10.06 1648 18817.91 done 0.73 - - 2479.06 - 1.03 0.036 2895.38 -978.3 87.59 - - 2706.09 - - - - - - - - - 15.86 -
19122.24 123.91 6.67 1710 19128.31 done 0.76 - - 2488.38 - 1.47 0.030 1511.81 -941.2 87.59 - - 2708.06 - - - - - - - - - 15.87 -
19172.24 120.98 5.99 1720 19178.66 done 0.80 - - 2488.94 - 1.80 0.080 3024.81 840.6 87.59 - - 2701.03 - - - - - - - - - 15.59 -
19482.38 101.41 5.77 1782 19488.12 done 0.85 - - 2489.88 - 1.04 0.097 3904.38 845.7 87.59 - - 2705.78 - - - - - - - - - 15.54 -
19717.45 90.64 3.34 1829 19786.22 done 0.78 - - 2495.19 - 1.04 0.036 2921.88 -944.7 165.29 41.85 1.066 2399.34 -7.3 0.109 - - - - - - - 15.83 11.48
19969.34 68.79 9.52 1879 19975.22 roll 0.78 - - 2495.06 - 1.19 0.097 3903.00 824.5 165.29 - - 2395.06 - - - - - - - - - 15.61 -
20034.30 62.24 9.79 1892 20040.12 roll 0.78 - - 2500.94 - 1.03 0.036 2899.88 -973.9 165.29 - - 2394.78 - - - - - - - - - 15.78 -
20224.38 45.91 8.62 1930 20230.54 roll 0.78 - - 2507.31 - 1.49 0.031 1506.81 -934.9 165.29 - - 2395.44 - - - - - - - - - 15.82 -
20264.46 43.17 7.15 1938 20270.92 roll 0.80 - - 2508.38 - 1.81 0.080 3024.88 838.7 165.29 - - 2393.56 - - - - - - - - - 15.61 -
20454.54 28.98 7.66 1976 20460.29 roll 0.82 - - 2507.56 - 1.04 0.098 3904.88 846.2 165.29 - - 2395.00 - - - - - - - - - 15.65 -
20484.47 26.35 8.49 1982 20490.30 roll 0.82 - - 2515.06 - 1.04 0.036 2890.12 -975.7 165.29 - - 2395.62 - - - - - - - - - 15.84 -
20674.63 12.35 7.36 2020 20680.70 roll 0.83 - - 2516.06 - 1.48 0.032 1515.19 -929.0 165.29 - - 2393.38 - - - - - - - - - 15.87 -
20719.72 9.34 6.79 2029 20725.97 roll 0.86 - - 2516.19 - 1.80 0.080 3024.69 838.6 165.29 - - 2394.88 - - - - - - - - - 15.62 -
20820 end climb: SURFACE_DEPTH_REACHED
20820 begin surface coast
20850 end surface coast: CONTROL_FINISHED_OK
20850 begin surface
SM 1.04 - - - - 164.1 299.05 0.789 1036.3 3.5 4.81 0.114 1050.6 218.4 - 0.34 0.101 1021.9 3000.3 -3.158 - - 12.65 15.40 15.73 -