SMODE Apr23 * SG180 * Dive index * Mission links * Dive 193 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 145.67 of 350.00 AH used of 24V (58.38% remains)
• Surface angle -61.5 deg, depth 0.91 m • Intended pitch -20.9 deg, speed -8.000 cm/s
VBD pumped to 500.19 (SM_CC=500)
• GPS1 time: 30 s
• GPS2 time: 3 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
18.38 - - - 118.45 VBD -0.62 - - 171.06 - - - 3337.06 - -87.59 70.54 0.005 3108.81 - - - - - - - - - - 14.93
118.88 3.14 -2.47 19 149.17 -0.62 7.99 0.478 2025.00 232.0 0.67 0.111 3904.94 847.6 -87.59 5.87 0.008 3431.62 55.0 -3.804 - - - - - - 14.65 15.11 15.23
201.60 19.13 -18.19 35 207.80 roll -0.62 - - 2025.12 - 0.73 0.051 3244.88 -904.2 -87.59 - - 3431.81 - - - - - - - - - 15.52 -
391.64 51.46 -16.82 73 397.90 roll -0.62 - - 2021.00 - 0.82 0.113 3902.81 802.4 -87.59 - - 3433.16 - - - - - - - - - 15.51 -
591.67 84.38 -15.19 113 598.03 roll -0.62 - - 2021.31 - 0.72 0.055 3248.88 -908.2 -87.59 - - 3432.19 - - - - - - - - - 15.56 -
781.75 111.27 -13.14 151 786.79 no move -0.62 - - 2021.06 - - - 3249.50 - -87.59 - - 3431.88 - - - - - - - - - - -
1091.79 145.56 -10.81 213 1098.12 roll -0.62 - - 2017.12 - 0.81 0.114 3903.06 806.9 -87.59 - - 3431.75 - - - - - - - - - 15.54 -
1166.81 154.39 -11.18 228 1173.08 roll -0.62 - - 2017.69 - 0.72 0.055 3246.31 -912.2 -87.59 - - 3432.41 - - - - - - - - - 15.71 -
1476.86 187.69 -10.46 290 1483.18 roll -0.62 - - 2014.69 - 0.82 0.114 3901.25 798.7 -87.59 - - 3431.44 - - - - - - - - - 15.48 -
1541.85 194.90 -11.26 303 1548.11 roll -0.62 - - 2015.12 - 0.71 0.055 3249.19 -918.4 -87.59 - - 3432.22 - - - - - - - - - 15.70 -
1851.90 225.05 -10.34 365 1858.09 roll -0.62 - - 2014.62 - 1.57 0.038 1790.06 -929.4 -87.59 - - 3432.38 - - - - - - - - - 15.70 -
1872.05 227.05 -10.18 369 1878.30 roll -0.62 - - 2014.38 - 1.88 0.102 3316.81 812.1 -87.59 - - 3432.56 - - - - - - - - - 15.62 -
2191.95 261.21 -11.09 418 2193.69 no move -0.62 - - 2012.69 - - - 3317.31 - -87.59 - - 3431.06 - - - - - - - - - - -
2511.95 296.97 -11.06 434 2513.69 no move -0.62 - - 2013.31 - - - 3316.56 - -87.59 - - 3431.69 - - - - - - - - - - -
2831.96 330.91 -10.46 450 2837.87 roll -0.62 - - 2014.62 - 1.66 0.040 1790.94 -919.0 -87.59 - - 3431.19 - - - - - - - - - 15.85 -
2866.65 334.39 -10.40 457 2873.51 roll -0.62 - - 2013.69 - 1.89 0.102 3320.88 809.5 -87.59 - - 3432.03 - - - - - - - - - 15.52 -
3192.01 367.31 -10.20 474 3198.01 roll -0.62 - - 2013.69 - 1.67 0.041 1789.00 -917.3 -87.59 - - 3430.41 - - - - - - - - - 15.87 -
3226.68 370.66 -9.91 481 3233.51 roll -0.62 - - 2013.06 - 1.89 0.103 3318.81 809.4 -87.59 - - 3431.81 - - - - - - - - - 15.56 -
3552.03 403.61 -10.19 498 3553.83 no move -0.62 - - 2013.12 - - - 3318.50 - -87.59 - - 3429.34 - - - - - - - - - - -
3872.05 435.63 -9.85 514 3878.04 roll -0.62 - - 2014.25 - 1.66 0.041 1793.38 -918.7 -87.59 - - 3429.56 - - - - - - - - - 15.81 -
3896.72 438.00 -9.94 519 3903.20 roll -0.62 - - 2014.06 - 1.89 0.103 3320.06 807.8 -87.59 - - 3429.38 - - - - - - - - - 15.65 -
4212.07 468.43 -9.51 537 4217.11 roll -0.62 - - 2010.56 - 0.70 0.120 3903.25 833.1 -87.59 - - 3428.53 - - - - - - - - - 15.64 -
4286.75 476.18 -10.44 552 4292.20 roll -0.62 - - 2010.88 - 0.71 0.059 3253.38 -915.3 -87.59 - - 3427.91 - - - - - - - - - 15.86 -
4612.10 507.93 -9.92 569 4613.89 no move -0.62 - - 2009.94 - - - 3252.31 - -87.59 - - 3426.53 - - - - - - - - - - -
4932.12 540.06 -10.05 585 4937.32 roll -0.62 - - 2006.94 - 0.81 0.118 3902.06 802.2 -87.59 - - 3427.56 - - - - - - - - - 15.62 -
5012.13 548.66 -10.91 601 5017.24 roll -0.62 - - 2006.75 - 0.71 0.059 3251.62 -916.1 -87.59 - - 3426.09 - - - - - - - - - 15.87 -
5332.16 581.13 -10.03 620 5333.94 no move -0.62 - - 2005.75 - - - 3250.69 - -87.59 - - 3425.19 - - - - - - - - - - -
5652.17 612.47 -9.58 636 5653.96 no move -0.62 - - 2006.25 - - - 3250.62 - -87.59 - - 3424.09 - - - - - - - - - - -
5972.19 643.30 -9.46 652 5978.10 roll -0.62 - - 2006.94 - 1.57 0.041 1788.88 -931.0 -87.59 - - 3424.53 - - - - - - - - - 15.80 -
6001.86 646.06 -9.41 658 6008.35 roll -0.62 - - 2005.56 - 1.90 0.104 3318.50 805.1 -87.59 - - 3425.84 - - - - - - - - - 15.52 -
6312.21 674.29 -8.93 675 6314.00 no move -0.62 - - 2005.31 - - - 3318.19 - -87.59 - - 3422.88 - - - - - - - - - - -
6632.23 701.81 -8.56 691 6638.23 roll -0.62 - - 2006.44 - 1.67 0.042 1795.06 -912.1 -87.59 - - 3424.09 - - - - - - - - - 15.78 -
6661.90 704.21 -8.47 697 6668.40 roll -0.62 - - 2005.62 - 1.89 0.103 3319.12 806.4 -87.59 - - 3423.75 - - - - - - - - - 15.50 -
6972.25 730.78 -8.74 714 6978.24 roll -0.62 - - 2006.25 - 1.67 0.043 1790.44 -915.4 -87.59 - - 3422.78 - - - - - - - - - 15.87 -
6996.92 732.84 -8.60 719 7003.49 roll -0.62 - - 2005.69 - 1.91 0.103 3319.75 800.7 -87.59 - - 3422.41 - - - - - - - - - 15.49 -
7312.28 760.61 -8.91 737 7314.06 no move -0.62 - - 2005.38 - - - 3324.56 - -87.59 - - 3420.94 - - - - - - - - - - -
7632.41 788.62 -8.71 753 7637.45 roll -0.62 - - 2002.44 - 0.70 0.119 3900.06 822.1 -87.59 - - 3421.22 - - - - - - - - - 15.59 -
7681.96 793.33 -9.54 763 7687.09 roll -0.62 - - 2002.94 - 0.71 0.060 3252.81 -911.6 -87.59 - - 3421.00 - - - - - - - - - 15.85 -
7992.33 820.33 -8.63 780 7994.11 no move -0.62 - - 2002.19 - - - 3253.50 - -87.59 - - 3420.03 - - - - - - - - - - -
8312.33 847.53 -8.39 796 8314.12 no move -0.62 - - 2001.62 - - - 3253.12 - -87.59 - - 3419.56 - - - - - - - - - - -
8632.35 873.81 -8.11 812 8634.14 no move -0.62 - - 2001.75 - - - 3253.75 - -87.59 - - 3418.91 - - - - - - - - - - -
8952.37 900.52 -8.60 828 8958.27 roll -0.62 - - 2002.38 - 1.58 0.042 1793.94 -923.9 -87.59 - - 3420.34 - - - - - - - - - 15.86 -
8972.37 902.17 -8.64 832 8978.59 roll -0.62 - - 2002.00 - 1.91 0.103 3319.94 799.0 -87.59 - - 3419.59 - - - - - - - - - 15.44 -
9292.40 930.12 -8.67 851 9294.18 no move -0.62 - - 2001.56 - - - 3319.44 - -87.59 - - 3417.91 - - - - - - - - - - -
9612.40 957.52 -8.24 867 9614.18 no move -0.62 - - 2001.00 - - - 3319.94 - -87.59 - - 3417.78 - - - - - - - - - - -
9653 end dive: TARGET_DEPTH_EXCEEDED
9653 begin apogee
9654.32 960.79 -8.20 869 9737.50 -0.17 0.47 0.287 2173.38 366.8 0.09 0.209 3021.12 -3320.2 - 53.47 2.121 3073.91 -6.4 0.513 - - - - - - 15.00 14.97 11.02
9740 end apogee: CONTROL_FINISHED_OK
9740 begin climb
9740.61 962.36 - 873 9828.47 0.62 0.60 0.200 2425.50 420.2 - - 3021.81 - 87.59 57.13 2.096 2713.56 -6.3 0.510 - - - - - - 15.13 - 12.94
10131.02 924.95 10.62 904 10137.00 roll 0.62 - - 2433.38 - 1.69 0.035 1527.88 -884.0 87.59 - - 2712.69 - - - - - - - - - 15.54 -
10180.67 920.11 9.56 914 10187.16 roll 0.62 - - 2434.75 - 1.84 0.090 3021.06 811.5 87.59 - - 2712.28 - - - - - - - - - 15.56 -
10491.03 886.06 11.13 931 10497.01 roll 0.62 - - 2442.19 - 1.68 0.034 1529.94 -887.6 87.59 - - 2710.03 - - - - - - - - - 15.65 -
10531.04 881.96 10.21 939 10537.18 roll 0.62 - - 2443.38 - 1.83 0.091 3019.88 814.2 87.59 - - 2710.88 - - - - - - - - - 15.64 -
10851.05 846.24 10.70 958 10857.04 done 0.62 - - 2452.12 - 1.67 0.035 1533.31 -890.2 87.59 - - 2710.19 - - - - - - - - - 15.68 -
10900.72 841.68 9.03 968 10907.47 0.62 0.12 0.356 2414.88 -310.3 1.82 0.090 3022.81 818.4 87.59 - - 2710.28 - - - - - - - - 15.09 15.66 -
11211.09 814.97 8.66 985 11212.89 VBD 0.62 - - 2415.12 - - - 3022.69 - 87.59 - - 2706.19 - - - - - - - - - - -
11531.10 787.40 8.76 1001 11537.09 done 0.62 - - 2423.88 - 1.66 0.036 1524.69 -902.4 87.59 - - 2707.72 - - - - - - - - - 15.84 -
11560.76 784.92 8.84 1007 11567.25 done 0.62 - - 2424.75 - 1.82 0.089 3020.12 821.7 87.59 - - 2708.34 - - - - - - - - - 15.67 -
11871.12 755.56 9.68 1024 11872.91 VBD 0.62 - - 2424.06 - - - 3019.81 - 87.59 - - 2705.31 - - - - - - - - - - -
12191.14 722.18 10.73 1040 12197.15 done 0.62 - - 2431.69 - 1.66 0.036 1529.75 -897.6 87.59 - - 2706.03 - - - - - - - - - 15.85 -
12240.81 717.14 9.94 1050 12247.45 done 0.62 - - 2432.56 - 1.82 0.089 3022.81 820.4 87.59 - - 2706.62 - - - - - - - - - 15.66 -
12551.17 681.49 11.62 1067 12557.16 done 0.62 - - 2440.50 - 1.66 0.035 1530.12 -899.2 87.59 - - 2706.41 - - - - - - - - - 15.85 -
12575.83 678.67 11.64 1072 12582.33 done 0.62 - - 2442.00 - 1.83 0.089 3021.50 815.0 87.59 - - 2706.78 - - - - - - - - - 15.51 -
12891.19 640.32 12.00 1090 12897.19 done 0.62 - - 2450.00 - 1.67 0.035 1525.00 -896.1 87.59 - - 2708.94 - - - - - - - - - 15.67 -
12925.85 636.49 10.95 1097 12932.71 done 0.62 - - 2451.44 - 1.83 0.089 3023.25 818.7 87.59 - - 2706.56 - - - - - - - - - 15.64 -
13251.21 599.69 10.64 1114 13257.21 done 0.62 - - 2459.69 - 1.67 0.034 1528.19 -895.2 87.59 - - 2705.50 - - - - - - - - - 15.70 -
13325.91 592.84 8.93 1129 13332.97 0.62 0.14 0.346 2416.06 -311.6 1.84 0.089 3025.69 813.9 87.59 - - 2706.41 - - - - - - - - 14.94 15.51 -
13651.25 566.67 7.81 1146 13656.63 done 0.62 - - 2415.44 - 1.06 0.104 3904.12 828.7 87.59 - - 2707.00 - - - - - - - - - 15.62 -
13691.25 563.07 9.01 1154 13696.62 done 0.62 - - 2420.56 - 1.05 0.039 2894.69 -961.4 87.59 - - 2705.69 - - - - - - - - - 15.84 -
14011.29 537.84 7.83 1173 14016.83 done 0.62 - - 2420.56 - 1.24 0.103 3904.00 814.0 87.59 - - 2706.06 - - - - - - - - - 15.61 -
14051.27 534.05 9.49 1181 14056.64 done 0.62 - - 2421.69 - 1.05 0.037 2880.94 -974.3 87.59 - - 2706.62 - - - - - - - - - 15.85 -
14371.30 507.29 8.48 1200 14376.83 done 0.62 - - 2422.62 - 1.25 0.103 3901.00 816.0 87.59 - - 2705.22 - - - - - - - - - 15.61 -
14411.30 503.18 10.44 1208 14416.69 done 0.62 - - 2427.56 - 1.04 0.040 2889.50 -972.6 87.59 - - 2705.94 - - - - - - - - - 15.85 -
14731.32 473.97 9.36 1227 14736.85 done 0.62 - - 2428.12 - 1.25 0.103 3904.31 811.8 87.59 - - 2706.03 - - - - - - - - - 15.60 -
14760.98 470.79 9.73 1233 14766.36 done 0.62 - - 2433.69 - 1.05 0.039 2884.69 -971.1 87.59 - - 2705.19 - - - - - - - - - 15.87 -
15071.35 441.05 9.45 1250 15073.14 VBD 0.62 - - 2432.88 - - - 2883.44 - 87.59 - - 2703.94 - - - - - - - - - - -
15391.36 412.70 9.08 1266 15396.90 done 0.62 - - 2433.12 - 1.25 0.103 3905.81 817.9 87.59 - - 2706.06 - - - - - - - - - 15.59 -
15516.04 399.41 10.88 1291 15521.41 done 0.62 - - 2434.19 - 1.06 0.036 2855.06 -991.3 87.59 - - 2704.00 - - - - - - - - - 15.66 -
15831.41 371.93 8.47 1309 15836.95 done 0.62 - - 2433.38 - 1.30 0.101 3902.69 805.9 87.59 - - 2704.91 - - - - - - - - - 15.40 -
15896.07 365.53 10.01 1322 15901.44 done 0.62 - - 2440.44 - 1.04 0.038 2910.94 -953.6 87.59 - - 2705.94 - - - - - - - - - 15.85 -
16211.43 340.15 7.84 1340 16217.35 done 0.62 - - 2447.81 - 1.51 0.033 1516.88 -923.2 87.59 - - 2706.06 - - - - - - - - - 15.86 -
16236.11 338.36 7.55 1345 16242.59 done 0.62 - - 2449.25 - 1.84 0.086 3022.75 818.4 87.59 - - 2706.50 - - - - - - - - - 15.48 -
16551.46 312.41 8.46 1363 16557.45 done 0.62 - - 2459.75 - 1.67 0.033 1516.19 -902.1 87.59 - - 2705.47 - - - - - - - - - 15.68 -
16581.12 310.03 8.44 1369 16587.87 0.62 0.14 0.342 2414.75 -321.4 1.85 0.086 3028.00 817.2 87.59 - - 2706.38 - - - - - - - - 14.88 15.47 -
16891.55 287.60 7.05 1386 16897.47 done 0.63 - - 2422.38 - 1.66 0.034 1516.06 -910.8 87.59 - - 2705.59 - - - - - - - - - 15.73 -
16961.23 283.02 6.57 1400 16967.64 done 0.66 - - 2424.12 - 1.83 0.086 3023.12 823.5 87.59 - - 2706.78 - - - - - - - - - 15.61 -
17271.59 261.43 6.81 1417 17276.96 done 0.69 - - 2423.69 - 1.07 0.102 3902.69 822.0 87.59 - - 2706.50 - - - - - - - - - 15.39 -
17386.20 252.02 8.16 1440 17391.99 done 0.69 - - 2425.62 - 1.04 0.040 2918.31 -946.5 87.59 - - 2706.09 - - - - - - - - - 15.85 -
17696.69 231.38 6.29 1496 17702.58 done 0.72 - - 2427.31 - 1.21 0.102 3902.94 813.7 87.59 - - 2706.16 - - - - - - - - - 15.58 -
17771.62 225.66 7.88 1511 17777.32 done 0.72 - - 2430.69 - 1.04 0.039 2908.75 -956.0 87.59 - - 2706.06 - - - - - - - - - 15.83 -
18081.69 202.78 7.94 1573 18087.57 done 0.72 - - 2430.94 - 1.23 0.101 3902.94 808.3 87.59 - - 2705.50 - - - - - - - - - 15.44 -
18131.93 198.10 9.48 1583 18137.77 done 0.72 - - 2433.81 - 1.04 0.038 2886.00 -977.8 87.59 - - 2706.31 - - - - - - - - - 15.83 -
18441.85 176.94 5.47 1645 18448.10 0.77 0.08 0.098 2505.50 896.1 1.49 0.031 1509.31 -924.0 87.59 - - 2705.47 - - - - - - - - 15.60 15.52 -
18501.86 173.12 6.48 1657 18508.27 done 0.80 - - 2506.69 - 1.84 0.083 3023.06 822.7 87.59 - - 2706.66 - - - - - - - - - 15.53 -
18811.87 144.97 8.39 1719 18817.61 done 0.80 - - 2506.31 - 1.05 0.099 3902.94 838.0 87.59 - - 2706.34 - - - - - - - - - 15.60 -
18891.86 137.24 9.84 1735 18897.58 done 0.80 - - 2512.75 - 1.06 0.038 2906.38 -940.2 87.59 - - 2706.56 - - - - - - - - - 15.66 -
19201.92 108.92 8.91 1797 19208.06 0.80 0.12 0.350 2473.81 -324.5 1.22 0.097 3902.88 816.8 87.59 - - 2705.31 - - - - - - - - 14.95 15.12 -
19437.03 91.51 5.28 1844 19442.73 done 0.86 - - 2478.94 - 1.04 0.038 2914.31 -950.5 87.59 - - 2705.91 - - - - - - - - - 15.83 -
19627.08 86.59 2.31 1882 19707.30 done 0.77 - - 2478.00 - 1.23 0.101 3903.31 804.1 180.35 50.54 1.060 2339.00 -7.3 0.105 - - - - - - - 15.29 12.00
19794.88 72.64 12.59 1915 19800.58 roll 0.77 - - 2484.44 - 1.06 0.038 2906.12 -940.7 180.35 - - 2334.81 - - - - - - - - - 15.60 -
19984.92 55.84 7.76 1953 19991.02 roll 0.77 - - 2483.69 - 1.24 0.097 3903.19 804.1 180.35 - - 2334.81 - - - - - - - - - 14.78 -
20184.94 37.59 8.72 1993 20190.64 roll 0.77 - - 2488.19 - 1.05 0.037 2883.12 -971.5 180.35 - - 2334.00 - - - - - - - - - 15.75 -
20375.04 25.09 6.43 2031 20380.91 roll 0.80 - - 2486.81 - 1.26 0.098 3902.94 809.4 180.35 - - 2334.59 - - - - - - - - - 14.74 -
20479.97 15.54 10.10 2052 20485.90 roll 0.80 - - 2488.12 - 1.07 0.036 2894.50 -942.5 180.35 - - 2333.84 - - - - - - - - - 14.85 -
20620 end climb: SURFACE_DEPTH_REACHED
20620 begin surface coast
20645 end surface coast: CONTROL_FINISHED_OK
20645 begin surface
SM 0.92 - - - - 174.5 241.88 0.832 1035.9 4.3 4.47 0.066 1062.3 237.7 - 0.53 0.130 1009.5 1902.7 -1.376 - - 12.56 15.66 15.55 -