SMODE Apr23 * SG180 * Dive index * Mission links * Dive 140 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 131.95 of 350.00 AH used of 24V (62.30% remains)
• Surface angle -62.4 deg, depth 1.00 m • Intended pitch -21.6 deg, speed -8.250 cm/s
• VBD pumped to 500.15 (SM_CC=500)
• GPS1 time: 34 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
17.85 - - - 123.39 VBD -0.64 - - 169.75 - - - 3333.62 - -87.59 74.62 0.005 3251.53 - - - - - - - - - - 15.09
123.82 3.63 -2.73 20 149.09 -0.64 7.76 0.478 2017.81 238.2 0.71 0.111 3907.81 808.7 -87.59 2.40 0.012 3431.22 74.9 -3.974 - - - - - - 14.92 15.08 15.27
186.84 19.88 -20.82 32 193.05 roll -0.64 - - 2017.75 - 0.71 0.049 3239.12 -941.8 -87.59 - - 3430.84 - - - - - - - - - 15.67 -
376.89 53.97 -17.14 70 383.20 roll -0.64 - - 2014.12 - 0.81 0.106 3903.31 820.0 -87.59 - - 3385.47 - - - - - - - - - 15.60 -
451.92 67.66 -17.95 85 458.17 roll -0.64 - - 2014.62 - 0.71 0.051 3240.94 -932.9 -87.59 - - 3410.59 - - - - - - - - - 15.72 -
642.00 97.47 -13.97 123 648.30 roll -0.64 - - 2012.94 - 0.81 0.107 3904.31 819.0 -87.59 - - 3433.81 - - - - - - - - - 15.62 -
802.33 119.53 -13.50 155 808.59 roll -0.64 - - 2012.75 - 0.71 0.051 3240.31 -935.2 -87.59 - - 3433.41 - - - - - - - - - 15.76 -
1112.45 155.26 -10.86 217 1117.96 no move -0.64 - - 2013.19 - - - 3239.62 - -87.59 - - 3410.59 - - - - - - - - - - -
1422.57 188.55 -10.86 279 1429.26 roll -0.64 - - 2013.19 - 1.55 0.036 1781.62 -940.6 -87.59 - - 3432.44 - - - - - - - - - 15.74 -
1452.58 191.57 -10.20 285 1459.52 roll -0.64 - - 2009.00 - 1.89 0.097 3323.38 815.7 -87.59 - - 3433.03 - - - - - - - - - 15.56 -
1762.66 227.74 -11.86 347 1766.81 no move -0.64 - - 2008.25 - - - 3323.31 - -87.59 - - 3410.53 - - - - - - - - - - -
2067.71 265.54 -12.45 390 2073.30 roll -0.64 - - 2008.25 - 1.65 0.038 1801.88 -922.1 -87.59 - - 3432.97 - - - - - - - - - 15.88 -
2116.98 271.35 -11.24 400 2123.46 roll -0.64 - - 2008.38 - 1.85 0.097 3321.69 821.5 -87.59 - - 3431.62 - - - - - - - - - 15.71 -
2427.73 308.59 -11.92 417 2433.32 roll -0.64 - - 2008.31 - 1.65 0.039 1795.62 -924.9 -87.59 - - 3430.84 - - - - - - - - - 15.88 -
2462.00 312.33 -10.70 424 2469.03 roll -0.64 - - 2008.38 - 1.86 0.098 3318.25 818.6 -87.59 - - 3432.19 - - - - - - - - - 15.71 -
2787.76 346.27 -10.06 441 2789.55 no move -0.64 - - 2007.06 - - - 3318.81 - -87.59 - - 3408.31 - - - - - - - - - - -
3107.77 378.74 -10.03 457 3109.56 no move -0.64 - - 2007.25 - - - 3318.50 - -87.59 - - 3406.88 - - - - - - - - - - -
3427.79 409.23 -9.44 473 3433.37 roll -0.64 - - 2008.75 - 1.65 0.040 1791.31 -925.6 -87.59 - - 3428.78 - - - - - - - - - 15.85 -
3452.06 411.54 -9.43 478 3458.55 roll -0.64 - - 2008.56 - 1.87 0.099 3322.25 818.7 -87.59 - - 3406.66 - - - - - - - - - 15.71 -
3767.82 442.13 -9.86 496 3773.40 roll -0.64 - - 2007.75 - 1.65 0.040 1801.19 -921.9 -87.59 - - 3428.84 - - - - - - - - - 15.86 -
3802.08 445.40 -9.76 503 3809.30 roll -0.64 - - 2007.94 - 1.86 0.099 3322.75 818.0 -87.59 - - 3427.62 - - - - - - - - - 15.71 -
4127.84 477.80 -9.95 520 4133.41 roll -0.64 - - 2008.31 - 1.65 0.040 1797.62 -924.3 -87.59 - - 3427.75 - - - - - - - - - 15.85 -
4177.11 482.60 -9.42 530 4183.59 roll -0.64 - - 2007.62 - 1.86 0.098 3319.75 818.3 -87.59 - - 3404.09 - - - - - - - - - 15.71 -
4487.86 513.92 -10.01 547 4489.65 no move -0.64 - - 2007.38 - - - 3319.75 - -87.59 - - 3402.62 - - - - - - - - - - -
4807.88 545.43 -9.96 563 4809.68 no move -0.64 - - 2006.81 - - - 3319.19 - -87.59 - - 3401.66 - - - - - - - - - - -
5127.89 576.29 -9.54 579 5129.69 no move -0.64 - - 2007.00 - - - 3319.50 - -87.59 - - 3400.88 - - - - - - - - - - -
5447.92 605.76 -8.80 595 5453.49 roll -0.64 - - 2008.00 - 1.65 0.041 1799.94 -920.9 -87.59 - - 3423.66 - - - - - - - - - 15.85 -
5502.18 610.15 -7.82 606 5509.17 roll -0.64 - - 2008.19 - 1.87 0.099 3322.56 814.2 -87.59 - - 3422.72 - - - - - - - - - 15.68 -
5827.93 636.15 -7.86 623 5832.03 roll -0.64 - - 2004.25 - 0.68 0.112 3900.31 849.6 -87.59 - - 3371.81 - - - - - - - - - 15.70 -
5887.95 640.99 -8.18 635 5892.82 roll -0.64 - - 2003.56 - 0.71 0.056 3246.19 -921.3 -87.59 - - 3423.22 - - - - - - - - - 15.95 -
6208.11 666.70 -8.30 654 6213.46 roll -0.64 - - 2004.31 - 1.55 0.041 1791.12 -938.8 -87.59 - - 3421.00 - - - - - - - - - 15.85 -
6247.73 669.96 -8.27 662 6253.72 roll -0.64 - - 2004.38 - 1.88 0.099 3319.50 813.0 -87.59 - - 3421.31 - - - - - - - - - 15.56 -
6567.99 698.54 -9.30 681 6573.57 roll -0.64 - - 2003.88 - 1.65 0.042 1799.00 -921.5 -87.59 - - 3421.19 - - - - - - - - - 15.84 -
6612.25 702.44 -8.66 690 6618.74 roll -0.64 - - 2003.81 - 1.87 0.099 3319.56 813.1 -87.59 - - 3420.62 - - - - - - - - - 15.65 -
6928.00 730.62 -8.98 708 6929.79 no move -0.64 - - 2002.62 - - - 3323.12 - -87.59 - - 3395.69 - - - - - - - - - - -
7248.02 759.07 -8.76 724 7253.62 roll -0.64 - - 2003.38 - 1.66 0.042 1798.06 -918.7 -87.59 - - 3418.62 - - - - - - - - - 15.84 -
7297.29 763.22 -8.26 734 7303.77 roll -0.64 - - 2003.88 - 1.87 0.098 3319.38 813.5 -87.59 - - 3419.31 - - - - - - - - - 15.65 -
7608.04 790.29 -8.73 751 7612.13 roll -0.64 - - 2000.50 - 0.69 0.112 3900.19 841.8 -87.59 - - 3418.03 - - - - - - - - - 15.66 -
7637.31 792.98 -8.73 757 7642.49 roll -0.64 - - 2000.25 - 0.71 0.056 3245.44 -922.2 -87.59 - - 3420.12 - - - - - - - - - 15.92 -
7948.06 819.86 -8.67 774 7952.99 roll -0.64 - - 1997.12 - 0.81 0.109 3903.25 812.1 -87.59 - - 3417.31 - - - - - - - - - 15.65 -
7988.08 823.43 -8.92 782 7992.91 roll -0.64 - - 1996.25 - 0.71 0.056 3247.38 -923.8 -87.59 - - 3418.91 - - - - - - - - - 15.92 -
8308.11 850.87 -8.43 801 8309.90 no move -0.64 - - 1996.25 - - - 3247.94 - -87.59 - - 3393.59 - - - - - - - - - - -
8628.15 877.45 -8.32 817 8629.94 no move -0.64 - - 1996.12 - - - 3247.25 - -87.59 - - 3392.84 - - - - - - - - - - -
8948.17 903.15 -7.99 833 8953.10 roll -0.64 - - 1992.25 - 0.81 0.111 3904.12 811.0 -87.59 - - 3418.12 - - - - - - - - - 15.63 -
9052.47 912.34 -8.85 854 9057.66 roll -0.64 - - 1992.62 - 0.71 0.056 3245.88 -927.1 -87.59 - - 3415.09 - - - - - - - - - 15.91 -
9368.24 938.02 -8.23 872 9370.04 no move -0.64 - - 1991.56 - - - 3245.50 - -87.59 - - 3391.78 - - - - - - - - - - -
9688.28 964.21 -8.17 888 9690.07 no move -0.64 - - 1991.75 - - - 3245.12 - -87.59 - - 3391.50 - - - - - - - - - - -
10008.31 989.75 -7.94 904 10010.10 no move -0.64 - - 1991.19 - - - 3244.19 - -87.59 - - 3390.56 - - - - - - - - - - -
10028 end dive: TARGET_DEPTH_EXCEEDED
10028 begin apogee
10030.11 991.31 -7.94 905 10112.70 -0.17 0.50 0.290 2172.19 362.0 0.09 0.210 3022.81 -2459.8 - 51.92 2.167 3063.06 -6.3 0.506 - - - - - - 14.87 15.09 10.37
10115 end apogee: CONTROL_FINISHED_OK
10115 begin climb
10116.37 992.71 - 909 10203.42 0.64 0.62 0.203 2430.44 416.5 - - 3023.19 - 87.59 56.38 2.141 2718.03 -6.1 0.498 - - - - - - 15.20 - 12.82
10511.43 952.58 11.12 938 10517.03 roll 0.64 - - 2441.31 - 1.67 0.036 1531.19 -893.4 87.59 - - 2710.28 - - - - - - - - - 15.63 -
10605.72 943.36 9.32 957 10612.99 roll 0.64 - - 2442.56 - 1.82 0.091 3022.31 819.3 87.59 - - 2710.50 - - - - - - - - - 15.65 -
10931.50 908.16 10.63 974 10937.07 done 0.64 - - 2450.38 - 1.65 0.035 1531.81 -903.3 87.59 - - 2671.09 - - - - - - - - - 15.77 -
10975.76 903.87 9.38 983 10982.25 done 0.64 - - 2452.94 - 1.80 0.090 3020.06 826.8 87.59 - - 2708.78 - - - - - - - - - 15.70 -
11291.53 870.40 10.55 1001 11297.15 done 0.64 - - 2460.69 - 1.64 0.035 1530.81 -908.1 87.59 - - 2700.62 - - - - - - - - - 15.81 -
11325.80 866.92 10.42 1008 11333.28 0.64 0.12 0.343 2423.44 -310.4 1.80 0.091 3024.31 829.7 87.59 - - 2697.44 - - - - - - - - 15.15 15.71 -
11651.57 836.22 9.56 1025 11657.16 done 0.64 - - 2430.31 - 1.64 0.036 1536.44 -907.2 87.59 - - 2711.56 - - - - - - - - - 15.85 -
11680.83 833.56 9.47 1031 11687.24 done 0.64 - - 2431.69 - 1.79 0.088 3022.25 830.1 87.59 - - 2706.69 - - - - - - - - - 15.72 -
11991.61 801.33 10.85 1048 11997.20 done 0.64 - - 2439.81 - 1.64 0.035 1523.62 -913.8 87.59 - - 2706.41 - - - - - - - - - 15.86 -
12031.61 797.31 10.05 1056 12037.45 done 0.64 - - 2440.31 - 1.80 0.088 3021.12 831.9 87.59 - - 2710.38 - - - - - - - - - 15.66 -
12351.64 761.36 11.55 1075 12357.24 done 0.64 - - 2447.94 - 1.64 0.036 1533.00 -907.4 87.59 - - 2707.09 - - - - - - - - - 15.89 -
12395.90 756.51 10.54 1084 12402.32 done 0.64 - - 2449.19 - 1.79 0.088 3020.50 831.0 87.59 - - 2709.03 - - - - - - - - - 15.71 -
12711.67 719.18 12.03 1102 12717.25 done 0.64 - - 2458.56 - 1.63 0.035 1535.44 -911.1 87.59 - - 2705.50 - - - - - - - - - 15.89 -
12765.93 713.33 10.44 1113 12772.84 done 0.64 - - 2459.94 - 1.80 0.090 3024.12 827.0 87.59 - - 2706.28 - - - - - - - - - 15.69 -
13091.68 675.02 11.94 1130 13097.28 done 0.64 - - 2469.00 - 1.64 0.035 1529.12 -911.6 87.59 - - 2706.78 - - - - - - - - - 15.90 -
13171.70 666.41 10.45 1146 13177.71 0.64 0.14 0.350 2422.75 -330.4 1.81 0.089 3027.00 827.6 87.59 - - 2707.62 - - - - - - - - 14.97 15.63 -
13491.72 633.68 10.14 1165 13497.30 done 0.64 - - 2429.56 - 1.64 0.035 1529.50 -913.1 87.59 - - 2708.50 - - - - - - - - - 15.91 -
13520.98 630.81 10.11 1171 13527.39 done 0.64 - - 2431.88 - 1.80 0.087 3023.38 829.9 87.59 - - 2705.34 - - - - - - - - - 15.69 -
13831.74 599.26 9.95 1188 13837.32 done 0.64 - - 2438.44 - 1.64 0.034 1526.25 -912.9 87.59 - - 2698.88 - - - - - - - - - 15.92 -
13876.00 595.37 8.57 1197 13882.42 done 0.64 - - 2441.06 - 1.80 0.086 3019.75 829.7 87.59 - - 2706.16 - - - - - - - - - 15.69 -
14191.76 564.11 9.97 1215 14197.35 done 0.64 - - 2446.94 - 1.64 0.035 1531.12 -907.7 87.59 - - 2705.62 - - - - - - - - - 15.89 -
14261.03 558.00 8.58 1229 14267.52 done 0.64 - - 2447.94 - 1.80 0.087 3022.19 828.4 87.59 - - 2708.00 - - - - - - - - - 15.68 -
14571.79 526.57 10.46 1246 14577.38 done 0.64 - - 2457.50 - 1.64 0.034 1522.19 -914.6 87.59 - - 2706.19 - - - - - - - - - 15.92 -
14591.78 524.61 10.41 1250 14597.55 done 0.64 - - 2458.62 - 1.82 0.088 3021.38 823.7 87.59 - - 2704.81 - - - - - - - - - 15.60 -
14911.81 488.98 11.24 1269 14917.43 done 0.64 - - 2467.69 - 1.64 0.034 1523.81 -913.2 87.59 - - 2706.22 - - - - - - - - - 15.91 -
14946.07 485.33 10.43 1276 14953.31 0.64 0.14 0.344 2422.56 -322.4 1.82 0.089 3025.25 825.0 87.59 - - 2694.19 - - - - - - - - 14.89 15.65 -
15271.82 454.46 9.45 1293 15277.41 done 0.64 - - 2431.25 - 1.64 0.034 1528.88 -912.4 87.59 - - 2705.41 - - - - - - - - - 15.92 -
15316.09 450.71 8.33 1302 15322.50 done 0.64 - - 2431.56 - 1.80 0.085 3022.75 829.9 87.59 - - 2707.00 - - - - - - - - - 15.67 -
15631.88 422.39 8.76 1320 15637.54 done 0.64 - - 2440.44 - 1.64 0.033 1512.81 -920.7 87.59 - - 2705.56 - - - - - - - - - 15.92 -
15681.23 418.66 7.45 1330 15687.76 done 0.65 - - 2440.81 - 1.82 0.085 3021.75 829.1 87.59 - - 2708.03 - - - - - - - - - 15.66 -
15991.89 391.99 8.74 1347 15993.73 VBD 0.65 - - 2440.44 - - - 3020.69 - 87.59 - - 2692.50 - - - - - - - - - - -
16311.90 362.91 9.36 1363 16317.57 done 0.65 - - 2448.62 - 1.64 0.034 1525.06 -912.0 87.59 - - 2694.06 - - - - - - - - - 15.91 -
16361.17 358.56 8.66 1373 16367.67 done 0.65 - - 2449.75 - 1.80 0.085 3021.19 831.2 87.59 - - 2693.72 - - - - - - - - - 15.66 -
16671.92 329.37 9.22 1390 16673.79 VBD 0.65 - - 2449.25 - - - 3021.25 - 87.59 - - 2691.97 - - - - - - - - - - -
16991.95 301.18 8.63 1406 16997.60 done 0.65 - - 2460.00 - 1.63 0.033 1520.25 -920.9 87.59 - - 2706.16 - - - - - - - - - 15.91 -
17066.31 295.74 7.13 1421 17073.53 done 0.68 - - 2460.38 - 1.80 0.084 3022.44 834.5 87.59 - - 2708.09 - - - - - - - - - 15.65 -
17391.95 267.68 8.96 1438 17397.08 done 0.68 - - 2460.12 - 1.05 0.102 3904.38 839.9 87.59 - - 2673.78 - - - - - - - - - 15.62 -
17421.21 264.50 9.40 1444 17426.74 done 0.68 - - 2467.44 - 1.03 0.037 2893.31 -981.6 87.59 - - 2706.12 - - - - - - - - - 15.92 -
17731.98 236.72 8.31 1482 17738.21 done 0.68 - - 2476.06 - 1.47 0.032 1515.94 -937.0 87.59 - - 2707.72 - - - - - - - - - 15.91 -
17761.98 234.42 7.83 1488 17768.82 0.68 0.13 0.341 2435.56 -311.5 1.80 0.083 3025.94 838.9 87.59 - - 2707.81 - - - - - - - - 14.80 15.59 -
18072.10 213.94 6.44 1550 18077.88 done 0.71 - - 2435.94 - 1.04 0.097 3902.94 843.3 87.59 - - 2704.56 - - - - - - - - - 15.63 -
18097.11 212.10 6.88 1555 18102.89 done 0.74 - - 2439.94 - 1.03 0.038 2895.12 -978.5 87.59 - - 2706.03 - - - - - - - - - 15.91 -
18407.17 191.05 7.44 1617 18413.28 done 0.76 - - 2447.00 - 1.48 0.032 1511.31 -935.0 87.59 - - 2708.00 - - - - - - - - - 15.90 -
18502.14 184.09 7.42 1636 18508.64 done 0.77 - - 2449.12 - 1.82 0.082 3024.56 831.5 87.59 - - 2705.97 - - - - - - - - - 15.59 -
18812.22 158.72 7.53 1698 18818.00 done 0.79 - - 2448.38 - 1.04 0.098 3903.25 844.9 87.59 - - 2706.16 - - - - - - - - - 15.62 -
18887.15 152.79 7.90 1713 18893.04 done 0.79 - - 2453.69 - 1.04 0.038 2903.69 -961.1 87.59 - - 2693.62 - - - - - - - - - 15.90 -
19197.35 133.40 5.82 1775 19203.67 0.84 0.08 0.097 2519.25 819.5 1.49 0.031 1508.19 -936.6 87.59 - - 2706.28 - - - - - - - - 15.85 15.71 -
19317.38 125.94 5.95 1799 19323.87 done 0.88 - - 2519.56 - 1.81 0.080 3022.94 836.9 87.59 - - 2708.94 - - - - - - - - - 15.60 -
19627.47 107.24 6.02 1861 19633.78 done 0.93 - - 2526.62 - 1.63 0.029 1501.06 -933.7 87.59 - - 2709.09 - - - - - - - - - 15.88 -
19812.53 100.35 3.15 1898 19883.16 done 0.85 - - 2526.94 - 1.83 0.079 3027.62 834.2 168.25 43.32 1.081 2389.31 -7.4 0.120 - - - - - - - 15.61 11.54
20066.25 78.46 10.24 1948 20072.12 roll 0.85 - - 2528.38 - 1.04 0.097 3903.12 841.8 168.25 - - 2383.94 - - - - - - - - - 15.57 -
20106.26 73.88 11.67 1956 20112.12 roll 0.85 - - 2531.62 - 1.04 0.035 2865.12 -998.1 168.25 - - 2385.56 - - - - - - - - - 15.68 -
20296.32 54.73 9.76 1994 20300.81 pitch 0.85 0.12 0.331 2489.56 -350.5 - - 2865.38 - 168.25 - - 2383.91 - - - - - - - - 15.10 - -
20486.47 40.82 6.90 2032 20490.67 no move 0.88 - - 2489.50 - - - 2865.00 - 168.25 - - 2369.53 - - - - - - - - - - -
20671.53 29.01 5.90 2069 20677.48 roll 0.93 - - 2489.25 - 1.25 0.094 3905.12 832.1 168.25 - - 2382.84 - - - - - - - - - 15.66 -
20786.56 20.68 7.67 2092 20792.51 roll back 0.94 0.07 0.121 2541.00 739.3 1.04 0.036 2894.31 -971.9 168.25 - - 2383.81 - - - - - - - - 15.74 15.82 -
20976.53 3.94 9.73 2130 20982.76 roll 0.94 - - 2546.50 - 1.47 0.030 1514.75 -938.5 168.25 - - 2384.00 - - - - - - - - - 15.81 -
21002 end climb: SURFACE_DEPTH_REACHED
21002 begin surface coast
21012 end surface coast: CONTROL_FINISHED_OK
21012 begin surface
SM 1.00 - - - - 165.8 311.77 0.775 1036.1 3.3 4.95 0.126 1050.9 212.3 - 2.16 0.089 1021.2 472.1 -0.542 - - 12.61 15.45 15.62 -