SMODE Apr23 * SG180 * Dive index * Mission links * Dive 165 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 137.22 of 350.00 AH used of 24V (60.79% remains)
• Surface angle -64.9 deg, depth 0.93 m • Intended pitch -20.9 deg, speed -8.000 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18.24 - - - 123.58 VBD -0.62 - - 167.38 - - - 3178.38 - -87.59 74.47 0.005 3223.94 - - - - - - - - - - 15.04
124.01 3.17 -2.43 20 149.35 -0.62 7.74 0.475 2023.88 239.9 0.89 0.106 3903.25 814.5 -87.59 3.77 0.009 3432.03 55.2 -3.411 - - - - - - 14.68 14.96 15.30
376.82 53.78 -18.39 70 383.01 roll -0.62 - - 2023.81 - 0.71 0.053 3248.94 -921.6 -87.59 - - 3431.75 - - - - - - - - - 15.71 -
566.89 84.12 -15.50 108 573.11 roll -0.62 - - 2018.69 - 0.81 0.109 3904.75 809.6 -87.59 - - 3430.75 - - - - - - - - - 15.62 -
801.95 118.48 -13.91 155 808.26 roll -0.62 - - 2019.12 - 0.71 0.051 3244.19 -930.4 -87.59 - - 3432.50 - - - - - - - - - 15.61 -
1111.99 154.52 -10.45 217 1118.32 roll -0.62 - - 2014.94 - 0.81 0.107 3903.25 813.7 -87.59 - - 3432.81 - - - - - - - - - 15.62 -
1337.02 182.34 -11.97 262 1343.27 roll -0.62 - - 2014.62 - 0.71 0.051 3240.50 -933.5 -87.59 - - 3432.84 - - - - - - - - - 15.75 -
1647.06 216.58 -9.97 324 1652.51 roll -0.62 - - 2011.56 - 0.81 0.108 3900.44 814.7 -87.59 - - 3432.62 - - - - - - - - - 15.68 -
1737.08 225.80 -10.43 342 1742.45 roll -0.62 - - 2011.44 - 0.70 0.053 3247.06 -933.4 -87.59 - - 3432.34 - - - - - - - - - 15.85 -
2062.11 258.03 -9.78 395 2067.23 roll -0.62 - - 2007.44 - 0.81 0.108 3903.50 810.4 -87.59 - - 3432.69 - - - - - - - - - 15.52 -
2162.13 268.22 -10.13 415 2167.22 roll -0.62 - - 2007.50 - 0.70 0.053 3247.25 -937.5 -87.59 - - 3432.34 - - - - - - - - - 15.86 -
2482.14 299.70 -10.15 434 2483.89 no move -0.62 - - 2007.69 - - - 3247.25 - -87.59 - - 3432.22 - - - - - - - - - - -
2802.16 334.60 -11.19 450 2807.21 roll -0.62 - - 2003.50 - 0.80 0.109 3903.19 819.9 -87.59 - - 3431.59 - - - - - - - - - 15.69 -
2866.84 342.36 -12.02 463 2871.88 roll -0.62 - - 2003.56 - 0.71 0.054 3245.69 -926.1 -87.59 - - 3432.25 - - - - - - - - - 15.87 -
3182.18 378.09 -11.26 481 3188.12 roll -0.62 - - 2004.19 - 1.55 0.039 1791.44 -938.2 -87.59 - - 3431.03 - - - - - - - - - 15.83 -
3202.22 380.25 -11.22 485 3208.38 roll -0.62 - - 2002.12 - 1.89 0.100 3319.56 808.5 -87.59 - - 3432.00 - - - - - - - - - 15.61 -
3522.24 414.40 -10.32 504 3524.74 roll -0.62 - - 1997.88 - 0.69 0.117 3898.56 839.1 -87.59 - - 3430.78 - - - - - - - - - 15.67 -
3622.00 424.87 -10.32 524 3627.13 roll -0.62 - - 1999.44 - 0.71 0.055 3248.06 -916.2 -87.59 - - 3429.19 - - - - - - - - - 15.71 -
3937.35 455.87 -9.71 542 3943.26 roll -0.62 - - 1999.50 - 1.56 0.040 1798.31 -929.3 -87.59 - - 3428.66 - - - - - - - - - 15.74 -
3997.36 461.24 -8.70 554 4003.52 roll -0.62 - - 1997.81 - 1.88 0.100 3322.25 810.6 -87.59 - - 3429.88 - - - - - - - - - 15.62 -
4317.38 492.87 -9.81 573 4319.17 no move -0.62 - - 1998.81 - - - 3321.94 - -87.59 - - 3427.53 - - - - - - - - - - -
4637.41 524.88 -9.89 589 4643.40 roll -0.62 - - 1999.31 - 1.67 0.041 1799.12 -911.9 -87.59 - - 3427.00 - - - - - - - - - 15.78 -
4677.42 528.38 -8.76 597 4683.59 roll -0.62 - - 1998.75 - 1.88 0.100 3321.38 809.7 -87.59 - - 3427.12 - - - - - - - - - 15.64 -
4997.44 559.20 -9.84 616 5003.43 roll -0.62 - - 1998.75 - 1.67 0.041 1792.94 -915.2 -87.59 - - 3426.72 - - - - - - - - - 15.78 -
5032.10 562.42 -9.53 623 5038.93 roll -0.62 - - 1999.50 - 1.90 0.101 3321.25 804.4 -87.59 - - 3427.47 - - - - - - - - - 15.54 -
5357.45 593.87 -9.70 640 5359.98 roll -0.62 - - 1995.62 - 0.69 0.114 3899.94 838.7 -87.59 - - 3424.38 - - - - - - - - - 15.65 -
5392.57 597.46 -10.20 647 5397.88 roll back -0.62 0.10 0.318 2028.38 327.6 0.71 0.057 3253.75 -910.1 -87.59 - - 3425.88 - - - - - - - - 15.15 15.65 -
5712.59 621.88 -7.23 666 5714.38 no move -0.62 - - 2029.50 - - - 3253.62 - -87.59 - - 3425.03 - - - - - - - - - - -
6032.61 645.11 -7.18 682 6038.52 roll -0.62 - - 2030.12 - 1.58 0.041 1789.25 -926.8 -87.59 - - 3423.81 - - - - - - - - - 15.78 -
6067.28 647.55 -7.13 689 6074.11 roll -0.62 - - 2028.00 - 1.89 0.099 3319.19 809.5 -87.59 - - 3424.09 - - - - - - - - - 15.59 -
6392.63 671.02 -7.14 706 6398.63 roll -0.62 - - 2027.75 - 1.67 0.042 1799.25 -910.1 -87.59 - - 3423.06 - - - - - - - - - 15.75 -
6422.30 672.99 -6.96 712 6428.80 roll -0.62 - - 2027.19 - 1.88 0.099 3317.88 807.8 -87.59 - - 3422.91 - - - - - - - - - 15.49 -
6732.66 694.78 -7.26 729 6734.45 no move -0.62 - - 2027.00 - - - 3317.75 - -87.59 - - 3422.31 - - - - - - - - - - -
7052.70 717.73 -7.14 745 7055.18 roll -0.62 - - 2022.50 - 0.69 0.113 3901.25 845.7 -87.59 - - 3421.16 - - - - - - - - - 15.62 -
7107.78 721.88 -7.61 756 7112.91 roll -0.62 - - 2023.81 - 0.71 0.057 3250.62 -916.4 -87.59 - - 3420.97 - - - - - - - - - 15.86 -
7427.81 745.23 -7.29 775 7432.95 roll -0.62 - - 2018.25 - 0.80 0.112 3899.62 811.2 -87.59 - - 3420.75 - - - - - - - - - 15.48 -
7492.49 750.30 -7.85 788 7497.80 roll -0.62 - - 2018.56 - 0.72 0.058 3252.06 -899.4 -87.59 - - 3421.38 - - - - - - - - - 15.63 -
7807.84 773.50 -7.42 806 7813.06 roll -0.62 - - 2014.94 - 0.81 0.113 3902.94 803.6 -87.59 - - 3420.81 - - - - - - - - - 15.53 -
7887.88 779.99 -8.04 822 7893.00 roll -0.62 - - 2015.00 - 0.71 0.059 3252.25 -916.5 -87.59 - - 3420.12 - - - - - - - - - 15.85 -
8207.90 804.68 -7.85 841 8213.03 roll -0.62 - - 2012.19 - 0.80 0.114 3899.25 808.8 -87.59 - - 3419.06 - - - - - - - - - 15.46 -
8307.93 812.97 -8.28 861 8313.05 roll -0.62 - - 2012.25 - 0.71 0.059 3250.81 -913.3 -87.59 - - 3418.88 - - - - - - - - - 15.84 -
8627.95 838.73 -8.16 880 8629.74 no move -0.62 - - 2012.75 - - - 3250.88 - -87.59 - - 3418.38 - - - - - - - - - - -
8947.97 864.95 -8.28 896 8953.19 roll -0.62 - - 2009.00 - 0.81 0.113 3903.00 805.1 -87.59 - - 3418.16 - - - - - - - - - 15.53 -
8997.65 869.41 -9.03 906 9002.77 roll -0.62 - - 2009.12 - 0.71 0.058 3252.44 -916.3 -87.59 - - 3418.16 - - - - - - - - - 15.84 -
9308.00 895.84 -8.52 923 9313.21 roll -0.62 - - 2004.06 - 0.81 0.114 3899.62 799.0 -87.59 - - 3419.03 - - - - - - - - - 15.55 -
9372.68 901.67 -9.02 936 9377.81 roll -0.62 - - 2004.75 - 0.71 0.058 3251.69 -912.6 -87.59 - - 3417.62 - - - - - - - - - 15.83 -
9688.05 927.45 -7.98 954 9693.96 roll -0.62 - - 2004.62 - 1.58 0.042 1791.25 -924.3 -87.59 - - 3417.44 - - - - - - - - - 15.86 -
9717.71 929.77 -7.96 960 9724.28 roll -0.62 - - 2004.00 - 1.90 0.102 3319.00 804.1 -87.59 - - 3417.19 - - - - - - - - - 15.54 -
10028.06 954.79 -8.09 977 10029.87 no move -0.62 - - 2003.81 - - - 3324.56 - -87.59 - - 3416.03 - - - - - - - - - - -
10108 end dive: TARGET_DEPTH_EXCEEDED
10108 begin apogee
10109.98 961.33 -8.15 981 10193.09 -0.17 0.46 0.281 2173.44 368.8 0.09 0.211 3023.25 -3347.9 - 52.24 2.127 3072.75 -6.6 0.521 - - - - - - 14.99 15.04 11.22
10195 end apogee: CONTROL_FINISHED_OK
10195 begin climb
10196.22 962.99 - 985 10287.89 0.62 0.60 0.199 2434.50 435.1 1.76 0.038 1533.56 -846.4 87.59 56.53 2.101 2713.88 -6.3 0.511 - - - - - - 15.16 14.75 12.85
10295.48 956.74 8.46 1001 10301.67 roll 0.62 - - 2435.44 - 1.89 0.089 3021.50 787.3 87.59 - - 2714.28 - - - - - - - - - 15.10 -
10615.50 920.50 11.69 1020 10621.49 roll 0.62 - - 2444.56 - 1.67 0.034 1531.62 -892.1 87.59 - - 2711.59 - - - - - - - - - 15.69 -
10680.17 913.62 10.38 1033 10686.66 roll 0.62 - - 2445.75 - 1.84 0.091 3021.62 809.8 87.59 - - 2710.38 - - - - - - - - - 15.03 -
10995.53 874.38 12.62 1051 11001.52 done 0.62 - - 2454.19 - 1.68 0.034 1531.00 -887.3 87.59 - - 2708.31 - - - - - - - - - 15.08 -
11030.19 870.32 11.58 1058 11037.28 0.62 0.12 0.349 2415.38 -323.4 1.82 0.091 3024.62 820.7 87.59 - - 2709.78 - - - - - - - - 15.17 15.67 -
11355.56 835.93 10.20 1075 11361.55 done 0.62 - - 2423.06 - 1.68 0.036 1530.31 -889.5 87.59 - - 2708.06 - - - - - - - - - 15.02 -
11385.21 833.22 9.85 1081 11391.71 done 0.62 - - 2424.44 - 1.83 0.089 3020.25 814.2 87.59 - - 2709.47 - - - - - - - - - 14.94 -
11695.57 802.40 10.20 1098 11701.57 done 0.62 - - 2430.50 - 1.65 0.035 1532.25 -901.8 87.59 - - 2705.88 - - - - - - - - - 15.84 -
11730.23 799.12 9.94 1105 11737.08 done 0.62 - - 2431.56 - 1.83 0.089 3021.19 813.6 87.59 - - 2708.19 - - - - - - - - - 14.88 -
12055.83 765.85 10.12 1122 12057.62 VBD 0.62 - - 2431.56 - - - 3021.25 - 87.59 - - 2706.06 - - - - - - - - - - -
12375.61 732.93 10.41 1138 12377.41 VBD 0.62 - - 2431.44 - - - 3021.62 - 87.59 - - 2705.72 - - - - - - - - - - -
12695.62 700.80 10.03 1154 12701.62 done 0.62 - - 2439.38 - 1.65 0.035 1523.75 -907.8 87.59 - - 2705.56 - - - - - - - - - 15.85 -
12715.64 698.99 9.92 1158 12721.84 done 0.62 - - 2440.50 - 1.82 0.089 3021.75 823.1 87.59 - - 2706.50 - - - - - - - - - 15.66 -
13035.66 665.77 10.43 1177 13041.64 done 0.62 - - 2447.12 - 1.68 0.035 1534.00 -885.6 87.59 - - 2707.56 - - - - - - - - - 14.84 -
13085.32 661.02 9.41 1187 13091.83 done 0.62 - - 2448.25 - 1.81 0.090 3019.69 820.8 87.59 - - 2705.38 - - - - - - - - - 15.65 -
13395.69 627.52 10.98 1204 13401.69 done 0.62 - - 2457.88 - 1.67 0.034 1523.50 -895.9 87.59 - - 2705.25 - - - - - - - - - 14.83 -
13470.38 620.29 9.45 1219 13477.47 0.62 0.14 0.345 2415.44 -303.1 1.84 0.090 3020.50 813.6 87.59 - - 2706.72 - - - - - - - - 14.91 14.71 -
13795.74 591.51 8.57 1236 13801.75 done 0.62 - - 2423.12 - 1.65 0.035 1521.56 -908.4 87.59 - - 2706.09 - - - - - - - - - 15.85 -
13835.74 588.37 8.37 1244 13841.91 done 0.62 - - 2424.38 - 1.83 0.088 3022.69 820.3 87.59 - - 2704.75 - - - - - - - - - 15.63 -
14155.78 560.07 8.69 1263 14157.57 VBD 0.62 - - 2424.56 - - - 3023.19 - 87.59 - - 2705.09 - - - - - - - - - - -
14475.80 531.72 8.91 1279 14481.78 done 0.62 - - 2430.56 - 1.67 0.034 1528.94 -894.8 87.59 - - 2704.72 - - - - - - - - - 14.73 -
14490.45 530.48 8.94 1282 14497.28 done 0.62 - - 2432.75 - 1.84 0.088 3020.12 810.4 87.59 - - 2706.38 - - - - - - - - - 14.65 -
14815.81 498.98 10.09 1299 14817.60 VBD 0.62 - - 2432.31 - - - 3020.25 - 87.59 - - 2704.94 - - - - - - - - - - -
15135.83 468.32 9.43 1315 15141.21 done 0.62 - - 2433.06 - 1.07 0.103 3904.38 826.3 87.59 - - 2704.84 - - - - - - - - - 15.47 -
15170.51 464.48 10.99 1322 15176.22 done 0.62 - - 2438.81 - 1.05 0.037 2867.69 -987.3 87.59 - - 2705.47 - - - - - - - - - 15.84 -
15495.87 434.40 8.77 1339 15501.41 done 0.62 - - 2438.00 - 1.29 0.103 3902.94 802.5 87.59 - - 2705.97 - - - - - - - - - 14.59 -
15545.53 429.23 10.46 1349 15550.92 done 0.62 - - 2445.44 - 1.04 0.037 2891.00 -973.0 87.59 - - 2705.69 - - - - - - - - - 15.84 -
15855.89 402.08 8.59 1366 15862.02 done 0.62 - - 2453.25 - 1.50 0.032 1518.81 -914.8 87.59 - - 2706.00 - - - - - - - - - 14.71 -
15880.55 400.07 8.56 1371 15887.30 0.62 0.12 0.341 2414.50 -322.9 1.83 0.087 3023.62 822.3 87.59 - - 2698.34 - - - - - - - - 14.89 15.61 -
16196.00 377.07 7.36 1389 16201.91 done 0.63 - - 2422.81 - 1.65 0.035 1521.75 -910.2 87.59 - - 2705.50 - - - - - - - - - 15.85 -
16225.66 375.02 7.22 1395 16232.07 done 0.64 - - 2424.31 - 1.82 0.086 3023.50 825.1 87.59 - - 2705.53 - - - - - - - - - 15.61 -
16535.94 350.65 8.12 1412 16541.94 done 0.64 - - 2431.75 - 1.65 0.033 1517.75 -912.6 87.59 - - 2704.56 - - - - - - - - - 15.84 -
16555.99 349.17 8.01 1416 16562.10 done 0.64 - - 2432.38 - 1.83 0.086 3023.38 822.7 87.59 - - 2706.19 - - - - - - - - - 15.60 -
16875.97 322.53 8.14 1435 16881.34 done 0.64 - - 2432.44 - 1.07 0.101 3899.88 819.2 87.59 - - 2704.97 - - - - - - - - - 14.62 -
16905.63 319.77 8.02 1441 16911.01 done 0.64 - - 2437.56 - 1.05 0.037 2887.00 -964.6 87.59 - - 2706.12 - - - - - - - - - 15.77 -
17216.00 295.01 7.96 1458 17217.79 VBD 0.64 - - 2438.25 - - - 2886.25 - 87.59 - - 2704.44 - - - - - - - - - - -
17536.01 270.20 7.55 1474 17541.56 done 0.64 - - 2437.12 - 1.26 0.101 3902.75 806.7 87.59 - - 2681.75 - - - - - - - - - 14.55 -
17610.69 263.63 9.09 1489 17616.53 done 0.64 - - 2443.50 - 1.05 0.039 2901.31 -953.8 87.59 - - 2676.31 - - - - - - - - - 15.76 -
17921.06 239.17 8.10 1524 17922.86 VBD 0.64 - - 2444.38 - - - 2901.38 - 87.59 - - 2704.53 - - - - - - - - - - -
18226.15 214.90 7.69 1585 18232.40 done 0.64 - - 2452.50 - 1.52 0.031 1507.38 -917.1 87.59 - - 2705.50 - - - - - - - - - 14.73 -
18271.23 211.70 7.13 1594 18277.65 done 0.66 - - 2454.12 - 1.86 0.084 3021.56 814.1 87.59 - - 2706.66 - - - - - - - - - 14.60 -
18581.22 185.22 9.11 1656 18586.94 done 0.66 - - 2454.44 - 1.05 0.100 3903.50 839.9 87.59 - - 2705.19 - - - - - - - - - 15.58 -
18616.22 181.61 10.32 1663 18622.17 done 0.66 - - 2460.75 - 1.07 0.037 2913.38 -925.3 87.59 - - 2704.03 - - - - - - - - - 14.72 -
18926.29 155.34 8.60 1725 18932.22 done 0.66 - - 2460.62 - 1.21 0.100 3902.88 817.8 87.59 - - 2704.50 - - - - - - - - - 15.57 -
19001.30 147.77 10.35 1740 19007.00 done 0.66 - - 2467.44 - 1.04 0.037 2908.25 -956.4 87.59 - - 2706.19 - - - - - - - - - 15.83 -
19311.46 123.78 7.16 1802 19317.34 done 0.68 - - 2467.94 - 1.22 0.099 3902.69 815.1 87.59 - - 2704.81 - - - - - - - - - 15.57 -
19461.39 112.24 7.60 1832 19467.10 done 0.68 - - 2473.56 - 1.04 0.037 2905.56 -958.8 87.59 - - 2693.69 - - - - - - - - - 15.82 -
19771.55 96.57 4.05 1894 19826.70 0.62 0.18 0.344 2416.50 -317.0 - - 2906.19 - 152.05 35.33 1.075 2451.75 -6.8 0.108 - - - - - - 14.83 - 12.08
20009.31 85.80 4.45 1941 20063.08 done 0.56 - - 2415.88 - 1.24 0.104 3903.00 803.9 209.95 32.40 1.041 2215.44 -7.3 0.105 - - - - - - - 15.30 13.15
20100.74 80.34 6.94 1959 20106.44 roll 0.59 - - 2417.38 - 1.07 0.038 2892.00 -944.9 209.95 - - 2214.69 - - - - - - - - - 15.51 -
20290.78 69.21 5.63 1997 20292.57 no move 0.63 - - 2417.81 - - - 2891.81 - 209.95 - - 2213.03 - - - - - - - - - - -
20476.04 57.60 6.98 2034 20481.72 roll 0.65 - - 2417.94 - 1.25 0.100 3901.88 808.1 209.95 - - 2214.28 - - - - - - - - - 14.95 -
20525.73 53.64 8.02 2044 20531.47 roll 0.65 - - 2415.75 - 1.04 0.037 2889.25 -973.7 209.95 - - 2182.69 - - - - - - - - - 15.78 -
20715.84 39.79 7.29 2082 20721.71 roll 0.67 - - 2416.38 - 1.25 0.100 3901.44 809.8 209.95 - - 2213.47 - - - - - - - - - 14.91 -
20735.84 38.27 7.39 2086 20741.55 roll 0.68 - - 2416.12 - 1.04 0.037 2890.69 -971.9 209.95 - - 2206.75 - - - - - - - - - 15.80 -
20925.87 27.87 5.20 2124 20932.13 roll back 0.74 0.09 0.125 2498.94 920.2 1.50 0.029 1514.62 -917.4 209.95 - - 2213.47 - - - - - - - - 15.61 14.97 -
20975.85 24.15 7.65 2134 20982.60 roll back 0.74 0.12 0.276 2452.44 -387.5 1.82 0.083 3025.75 830.3 209.95 - - 2213.09 - - - - - - - - 15.19 15.65 -
21165.82 10.15 7.81 2172 21167.60 no move 0.74 - - 2452.50 - - - 3026.75 - 209.95 - - 2211.75 - - - - - - - - - - -
21266 end climb: SURFACE_DEPTH_REACHED
21266 begin surface coast
21296 end surface coast: CONTROL_FINISHED_OK
21296 begin surface
SM 0.93 - - - - 169.4 306.13 0.765 1036.2 3.4 4.66 0.109 1053.8 226.1 - 0.34 0.087 1018.6 2995.9 -3.273 - - 12.62 15.47 15.74 -