SMODE Apr23 * SG180 * Dive index * Mission links * Dive 164 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 136.91 of 350.00 AH used of 24V (60.88% remains)
• Surface angle -65.1 deg, depth 0.96 m • Intended pitch -20.9 deg, speed -8.000 cm/s
VBD pumped to 500.09 (SM_CC=500)
• GPS1 time: 31 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
18.23 - - - 123.72 VBD -0.62 - - 171.50 - - - 3219.00 - -87.59 74.44 0.005 3207.09 - - - - - - - - - - 15.04
124.18 3.15 -2.34 20 149.55 -0.62 7.72 0.475 2022.62 239.8 0.85 0.110 3903.19 804.9 -87.59 3.87 0.009 3431.66 58.0 -3.564 - - - - - - 14.66 14.95 15.27
372.01 52.20 -16.94 69 378.21 roll -0.62 - - 2023.00 - 0.71 0.052 3239.94 -934.2 -87.59 - - 3431.78 - - - - - - - - - 15.69 -
562.04 81.78 -12.53 107 567.29 no move -0.62 - - 2022.94 - - - 3239.62 - -87.59 - - 3432.56 - - - - - - - - - - -
752.12 108.57 -13.81 145 759.00 roll -0.62 - - 2022.69 - 1.55 0.036 1797.81 -930.2 -87.59 - - 3433.84 - - - - - - - - - 15.65 -
832.13 117.65 -10.69 161 839.25 roll -0.62 - - 2018.44 - 1.88 0.100 3319.69 809.5 -87.59 - - 3432.78 - - - - - - - - - 15.49 -
1142.18 152.34 -11.88 223 1147.21 no move -0.62 - - 2018.19 - - - 3319.75 - -87.59 - - 3433.31 - - - - - - - - - - -
1452.23 188.28 -11.30 285 1457.32 no move -0.62 - - 2018.75 - - - 3320.25 - -87.59 - - 3433.53 - - - - - - - - - - -
1762.25 222.46 -11.18 347 1768.56 roll -0.62 - - 2018.38 - 1.66 0.039 1799.62 -916.0 -87.59 - - 3433.16 - - - - - - - - - 15.71 -
1787.26 225.11 -10.72 352 1793.67 roll -0.62 - - 2015.19 - 1.88 0.100 3319.81 808.6 -87.59 - - 3434.38 - - - - - - - - - 15.56 -
2102.29 262.13 -11.86 400 2104.70 roll -0.62 - - 2012.81 - 0.69 0.114 3902.62 844.7 -87.59 - - 3433.69 - - - - - - - - - 15.68 -
2171.97 270.98 -12.59 414 2177.36 roll -0.62 - - 2011.12 - 0.71 0.055 3247.81 -922.3 -87.59 - - 3433.78 - - - - - - - - - 15.86 -
2497.31 307.92 -10.74 431 2499.06 no move -0.62 - - 2012.44 - - - 3248.81 - -87.59 - - 3432.53 - - - - - - - - - - -
2817.33 341.33 -10.33 447 2819.08 no move -0.62 - - 2012.06 - - - 3248.38 - -87.59 - - 3431.94 - - - - - - - - - - -
3137.35 374.63 -10.53 463 3143.22 roll -0.62 - - 2012.31 - 1.55 0.039 1798.12 -935.7 -87.59 - - 3430.94 - - - - - - - - - 15.83 -
3172.04 378.42 -10.83 470 3178.88 roll -0.62 - - 2012.38 - 1.88 0.101 3320.12 809.6 -87.59 - - 3431.62 - - - - - - - - - 15.57 -
3497.39 415.01 -11.33 487 3503.45 roll -0.62 - - 2011.69 - 1.66 0.041 1799.06 -916.3 -87.59 - - 3430.47 - - - - - - - - - 15.79 -
3532.06 418.80 -10.82 494 3538.90 roll -0.62 - - 2011.75 - 1.88 0.101 3319.88 808.9 -87.59 - - 3430.47 - - - - - - - - - 15.59 -
3857.50 452.73 -10.06 511 3859.29 no move -0.62 - - 2011.56 - - - 3319.69 - -87.59 - - 3429.56 - - - - - - - - - - -
4177.43 482.25 -9.19 527 4183.44 roll -0.62 - - 2012.00 - 1.67 0.041 1798.06 -911.2 -87.59 - - 3428.56 - - - - - - - - - 15.67 -
4212.10 485.24 -8.98 534 4218.94 roll -0.62 - - 2011.81 - 1.88 0.101 3321.12 810.1 -87.59 - - 3429.34 - - - - - - - - - 15.65 -
4537.46 514.99 -9.37 551 4543.46 roll -0.62 - - 2012.06 - 1.67 0.042 1794.62 -914.1 -87.59 - - 3427.41 - - - - - - - - - 15.66 -
4577.47 518.44 -8.64 559 4583.64 roll -0.62 - - 2011.69 - 1.89 0.102 3319.56 806.8 -87.59 - - 3427.72 - - - - - - - - - 15.52 -
4897.48 548.73 -9.68 578 4902.53 roll -0.62 - - 2009.50 - 0.70 0.117 3901.56 831.4 -87.59 - - 3427.44 - - - - - - - - - 15.53 -
4952.17 554.50 -10.62 589 4957.63 roll -0.62 - - 2007.94 - 0.71 0.058 3251.81 -915.1 -87.59 - - 3426.38 - - - - - - - - - 15.88 -
5277.52 586.69 -9.99 606 5279.30 no move -0.62 - - 2009.50 - - - 3252.12 - -87.59 - - 3425.97 - - - - - - - - - - -
5597.54 618.96 -10.09 622 5599.33 no move -0.62 - - 2009.25 - - - 3251.94 - -87.59 - - 3425.22 - - - - - - - - - - -
5917.55 649.66 -9.22 638 5919.34 no move -0.62 - - 2009.38 - - - 3251.31 - -87.59 - - 3423.44 - - - - - - - - - - -
6237.56 676.96 -8.14 654 6239.35 no move -0.62 - - 2009.44 - - - 3251.31 - -87.59 - - 3423.47 - - - - - - - - - - -
6557.63 701.95 -7.47 670 6559.41 no move -0.62 - - 2009.81 - - - 3251.06 - -87.59 - - 3422.81 - - - - - - - - - - -
6877.60 726.71 -7.94 686 6879.39 no move -0.62 - - 2009.44 - - - 3251.50 - -87.59 - - 3422.41 - - - - - - - - - - -
7197.62 753.59 -8.65 702 7202.83 roll -0.62 - - 2005.38 - 0.81 0.115 3900.00 800.6 -87.59 - - 3421.56 - - - - - - - - - 15.59 -
7252.28 758.67 -9.37 713 7257.76 roll -0.62 - - 2004.44 - 0.72 0.059 3251.81 -900.3 -87.59 - - 3421.62 - - - - - - - - - 15.63 -
7577.65 788.72 -9.51 730 7579.43 no move -0.62 - - 2005.12 - - - 3251.81 - -87.59 - - 3421.31 - - - - - - - - - - -
7897.67 818.31 -9.07 746 7899.46 no move -0.62 - - 2004.88 - - - 3251.75 - -87.59 - - 3420.59 - - - - - - - - - - -
8217.69 846.78 -8.88 762 8219.48 no move -0.62 - - 2005.56 - - - 3252.19 - -87.59 - - 3420.00 - - - - - - - - - - -
8537.71 874.89 -8.62 778 8542.93 roll -0.62 - - 2000.25 - 0.81 0.115 3900.69 800.6 -87.59 - - 3419.22 - - - - - - - - - 15.57 -
8612.41 881.41 -8.61 793 8617.88 roll -0.62 - - 2001.69 - 0.71 0.058 3251.69 -914.1 -87.59 - - 3418.12 - - - - - - - - - 15.84 -
8937.76 907.21 -7.80 810 8939.55 no move -0.62 - - 2001.62 - - - 3251.56 - -87.59 - - 3418.88 - - - - - - - - - - -
9257.81 931.71 -7.63 826 9259.71 no move -0.62 - - 2001.25 - - - 3251.50 - -87.59 - - 3418.31 - - - - - - - - - - -
9577.80 956.25 -7.87 842 9583.72 roll -0.62 - - 2001.50 - 1.58 0.043 1797.88 -920.0 -87.59 - - 3418.75 - - - - - - - - - 15.63 -
9622.47 959.64 -7.73 851 9629.01 roll -0.62 - - 2000.06 - 1.90 0.102 3319.06 800.6 -87.59 - - 3419.09 - - - - - - - - - 15.54 -
9632 end dive: TARGET_DEPTH_EXCEEDED
9633 begin apogee
9634.37 960.37 -7.45 853 9715.93 -0.17 0.48 0.294 2173.56 361.5 0.08 0.227 3020.06 -3737.5 - 52.87 2.127 3073.62 -6.5 0.518 - - - - - - 14.88 15.01 11.61
9718 end apogee: CONTROL_FINISHED_OK
9718 begin climb
9719.05 961.76 - 857 9810.76 0.62 0.60 0.201 2433.19 432.7 1.76 0.039 1528.25 -847.6 87.59 56.88 2.098 2713.44 -6.3 0.509 - - - - - - 15.16 14.72 12.87
9833.00 954.42 8.40 879 9839.85 roll 0.62 - - 2434.75 - 1.89 0.090 3021.62 790.1 87.59 - - 2714.94 - - - - - - - - - 15.16 -
10158.37 920.45 10.53 896 10164.36 roll 0.62 - - 2442.81 - 1.68 0.034 1531.25 -887.1 87.59 - - 2712.12 - - - - - - - - - 15.09 -
10208.03 915.73 9.37 906 10214.53 roll 0.62 - - 2443.25 - 1.83 0.091 3019.69 813.4 87.59 - - 2710.59 - - - - - - - - - 15.62 -
10518.39 881.81 11.26 923 10524.43 roll 0.62 - - 2453.19 - 1.67 0.035 1534.19 -889.5 87.59 - - 2710.16 - - - - - - - - - 15.08 -
10543.05 879.22 11.32 928 10549.56 roll 0.62 - - 2453.06 - 1.82 0.091 3021.31 817.1 87.59 - - 2711.19 - - - - - - - - - 15.67 -
10858.41 842.31 12.18 946 10864.67 0.62 0.12 0.364 2424.31 -239.6 1.66 0.036 1527.38 -900.0 87.59 - - 2708.16 - - - - - - - - 15.12 15.40 -
10903.08 837.92 9.50 955 10909.58 done 0.62 - - 2425.06 - 1.82 0.089 3021.75 821.1 87.59 - - 2708.41 - - - - - - - - - 15.69 -
11218.45 805.28 10.35 973 11224.43 done 0.62 - - 2429.69 - 1.65 0.035 1526.69 -906.1 87.59 - - 2707.44 - - - - - - - - - 15.84 -
11238.43 803.38 10.09 977 11244.59 done 0.62 - - 2430.56 - 1.84 0.089 3021.31 812.3 87.59 - - 2709.50 - - - - - - - - - 14.89 -
11558.46 770.54 10.15 996 11560.26 VBD 0.62 - - 2430.56 - - - 3020.88 - 87.59 - - 2706.31 - - - - - - - - - - -
11878.47 738.95 9.59 1012 11884.47 done 0.62 - - 2435.31 - 1.65 0.034 1521.75 -908.6 87.59 - - 2707.41 - - - - - - - - - 15.85 -
11918.48 735.55 9.09 1020 11924.63 done 0.62 - - 2436.50 - 1.83 0.089 3020.81 819.2 87.59 - - 2688.84 - - - - - - - - - 15.66 -
12238.50 706.00 9.64 1039 12244.49 done 0.62 - - 2445.44 - 1.65 0.034 1523.25 -907.6 87.59 - - 2706.56 - - - - - - - - - 15.85 -
12253.30 704.66 9.77 1042 12260.00 done 0.62 - - 2446.94 - 1.83 0.090 3024.56 820.4 87.59 - - 2707.75 - - - - - - - - - 15.65 -
12578.52 671.97 10.42 1059 12584.52 done 0.62 - - 2456.19 - 1.65 0.034 1525.12 -908.8 87.59 - - 2706.25 - - - - - - - - - 15.86 -
12643.18 665.92 9.19 1072 12649.96 0.62 0.13 0.353 2416.12 -308.2 1.83 0.090 3024.56 819.4 87.59 - - 2706.69 - - - - - - - - 14.95 15.64 -
12958.54 636.45 9.50 1090 12964.54 done 0.62 - - 2424.25 - 1.65 0.035 1523.50 -909.7 87.59 - - 2705.41 - - - - - - - - - 15.86 -
12983.21 634.19 9.54 1095 12989.75 done 0.62 - - 2424.12 - 1.82 0.088 3019.44 821.9 87.59 - - 2703.12 - - - - - - - - - 15.64 -
13298.57 601.50 10.68 1113 13304.56 done 0.62 - - 2430.12 - 1.65 0.034 1529.25 -903.1 87.59 - - 2669.84 - - - - - - - - - 15.84 -
13323.22 599.07 10.59 1118 13329.73 done 0.62 - - 2432.38 - 1.84 0.088 3022.00 811.3 87.59 - - 2708.06 - - - - - - - - - 14.69 -
13638.59 565.94 10.47 1136 13644.60 done 0.62 - - 2440.62 - 1.67 0.033 1520.50 -899.1 87.59 - - 2704.91 - - - - - - - - - 14.76 -
13678.61 562.17 9.42 1144 13684.76 done 0.62 - - 2441.31 - 1.83 0.088 3021.56 820.3 87.59 - - 2707.12 - - - - - - - - - 15.62 -
13998.75 529.91 9.94 1163 14000.54 VBD 0.62 - - 2440.94 - - - 3020.94 - 87.59 - - 2705.06 - - - - - - - - - - -
14318.63 500.24 9.16 1179 14320.42 VBD 0.62 - - 2441.25 - - - 3020.94 - 87.59 - - 2705.12 - - - - - - - - - - -
14638.66 470.11 9.31 1195 14644.65 done 0.62 - - 2448.12 - 1.65 0.034 1524.88 -906.7 87.59 - - 2705.66 - - - - - - - - - 15.85 -
14698.67 465.03 8.31 1207 14704.83 done 0.62 - - 2450.00 - 1.82 0.087 3022.81 823.0 87.59 - - 2706.69 - - - - - - - - - 15.61 -
15018.69 435.03 9.59 1226 15024.70 done 0.62 - - 2459.25 - 1.68 0.033 1519.00 -895.1 87.59 - - 2706.66 - - - - - - - - - 14.72 -
15048.36 432.45 9.35 1232 15055.16 0.62 0.14 0.345 2415.94 -309.4 1.85 0.087 3023.88 813.4 87.59 - - 2705.69 - - - - - - - - 14.85 14.62 -
15358.73 406.94 8.47 1249 15360.52 VBD 0.62 - - 2415.69 - - - 3024.62 - 87.59 - - 2705.50 - - - - - - - - - - -
15678.74 379.06 8.89 1265 15680.53 VBD 0.62 - - 2415.75 - - - 3024.44 - 87.59 - - 2705.41 - - - - - - - - - - -
15998.85 353.74 7.43 1281 16004.76 done 0.63 - - 2423.94 - 1.65 0.033 1520.69 -911.4 87.59 - - 2705.84 - - - - - - - - - 15.84 -
16028.51 351.80 7.15 1287 16034.99 done 0.64 - - 2425.69 - 1.82 0.086 3021.44 824.6 87.59 - - 2706.31 - - - - - - - - - 15.61 -
16338.86 330.71 6.47 1304 16344.82 done 0.67 - - 2433.31 - 1.68 0.032 1516.44 -895.8 87.59 - - 2706.34 - - - - - - - - - 14.73 -
16373.53 328.68 6.43 1311 16380.31 done 0.71 - - 2433.69 - 1.83 0.085 3021.38 822.4 87.59 - - 2706.81 - - - - - - - - - 15.60 -
16698.88 306.77 7.13 1328 16704.26 done 0.72 - - 2433.50 - 1.08 0.102 3899.62 813.2 87.59 - - 2707.03 - - - - - - - - - 14.55 -
16758.83 301.24 9.40 1340 16764.20 done 0.72 - - 2436.75 - 1.05 0.037 2920.94 -932.1 87.59 - - 2706.38 - - - - - - - - - 14.78 -
17078.85 275.64 7.95 1359 17084.77 done 0.72 - - 2444.12 - 1.51 0.031 1511.12 -933.7 87.59 - - 2698.34 - - - - - - - - - 15.85 -
17159.00 270.18 6.72 1375 17165.04 done 0.75 - - 2446.44 - 1.83 0.085 3020.81 825.0 87.59 - - 2702.94 - - - - - - - - - 15.60 -
17469.15 246.37 8.02 1398 17472.84 VBD 0.75 - - 2447.00 - - - 3021.00 - 87.59 - - 2705.97 - - - - - - - - - - -
17773.98 221.39 8.07 1459 17779.79 done 0.75 - - 2446.62 - 1.06 0.101 3903.12 832.2 87.59 - - 2707.75 - - - - - - - - - 15.59 -
17823.99 216.76 9.32 1469 17829.71 done 0.75 - - 2450.56 - 1.07 0.037 2908.62 -929.4 87.59 - - 2679.31 - - - - - - - - - 14.71 -
18134.14 194.43 6.64 1531 18140.02 done 0.78 - - 2451.56 - 1.22 0.100 3900.00 812.6 87.59 - - 2706.25 - - - - - - - - - 15.57 -
18239.08 184.99 9.84 1552 18244.79 done 0.78 - - 2457.12 - 1.04 0.039 2913.12 -948.9 87.59 - - 2705.28 - - - - - - - - - 15.83 -
18549.15 158.55 7.81 1614 18555.45 done 0.78 - - 2467.50 - 1.50 0.031 1501.00 -941.4 87.59 - - 2705.44 - - - - - - - - - 15.82 -
18619.24 154.01 6.38 1628 18625.65 done 0.81 - - 2467.81 - 1.87 0.083 3023.06 813.9 87.59 - - 2706.59 - - - - - - - - - 14.63 -
18929.21 131.55 8.16 1690 18934.93 done 0.81 - - 2468.69 - 1.06 0.101 3903.19 830.3 87.59 - - 2705.62 - - - - - - - - - 15.57 -
19164.36 114.98 5.90 1737 19170.07 done 0.85 - - 2474.44 - 1.05 0.037 2905.88 -949.8 87.59 - - 2706.38 - - - - - - - - - 15.83 -
19474.40 102.31 3.72 1799 19538.83 done 0.79 - - 2485.31 - 1.51 0.031 1489.69 -937.9 157.41 38.31 1.083 2430.72 -7.2 0.119 - - - - - - - 15.42 12.01
19626.50 92.42 7.20 1829 19633.11 roll 0.80 - - 2485.00 - 1.86 0.082 3023.25 824.5 157.41 - - 2428.12 - - - - - - - - - 15.51 -
19816.53 79.12 6.89 1867 19818.31 no move 0.82 - - 2485.31 - - - 3022.94 - 157.41 - - 2427.41 - - - - - - - - - - -
20001.56 67.47 6.98 1904 20007.83 roll 0.84 - - 2491.50 - 1.66 0.031 1519.31 -905.8 157.41 - - 2427.88 - - - - - - - - - 15.64 -
20026.56 65.79 6.91 1909 20032.98 roll 0.87 - - 2491.75 - 1.82 0.084 3021.38 825.3 157.41 - - 2428.66 - - - - - - - - - 15.53 -
20216.59 52.09 6.38 1947 20222.29 roll 0.90 - - 2491.94 - 1.05 0.100 3902.88 839.5 157.41 - - 2426.78 - - - - - - - - - 15.61 -
20291.60 47.06 6.82 1962 20297.31 roll 0.92 - - 2494.44 - 1.04 0.037 2910.50 -954.2 157.41 - - 2426.78 - - - - - - - - - 15.80 -
20481.63 33.23 7.02 2000 20483.43 no move 0.94 - - 2494.56 - - - 2910.25 - 157.41 - - 2426.59 - - - - - - - - - - -
20666.71 21.03 7.44 2037 20672.99 roll back 0.95 0.08 0.119 2561.19 832.9 1.50 0.031 1506.19 -936.0 157.41 - - 2426.34 - - - - - - - - 15.76 15.65 -
20691.58 19.14 7.59 2042 20698.33 roll back 0.95 0.12 0.340 2522.75 -320.3 1.83 0.079 3028.00 831.6 157.41 - - 2428.00 - - - - - - - - 15.01 15.59 -
20881.59 2.16 8.52 2080 20883.38 no move 0.95 - - 2522.19 - - - 3027.38 - 157.41 - - 2426.84 - - - - - - - - - - -
20887 end climb: SURFACE_DEPTH_REACHED
20887 begin surface coast
20917 end surface coast: CONTROL_FINISHED_OK
20917 begin surface
SM 0.87 - - - - 168.2 265.15 0.814 1036.3 3.9 4.84 0.114 1058.8 218.8 - 0.34 0.100 1013.8 2981.8 -2.651 - - 12.81 15.36 15.71 -