SMODE Apr23 * SG180 * Dive index * Mission links * Dive 72 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 116.34 of 350.00 AH used of 24V (66.76% remains)
• Surface angle -56.0 deg, depth 0.82 m • Intended pitch -20.2 deg, speed -9.167 cm/s
• VBD pumped to 500.24 (SM_CC=500)
• GPS1 time: 23 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
15 begin dive
17.05 - - - 127.83 VBD -0.57 - - 160.81 - - - 3334.19 - -116.79 78.30 0.005 3215.91 - - - - - - - - - - 14.88
128.30 3.38 -2.60 21 159.99 -0.57 8.06 0.479 2043.00 233.5 1.71 0.042 1817.69 -886.8 -116.79 4.57 0.009 3475.53 56.8 -3.749 - - - - - - 14.72 15.11 15.17
217.76 17.61 -11.11 38 224.83 roll -0.57 - - 2040.00 - 1.88 0.096 3322.38 800.4 -116.79 - - 3478.41 - - - - - - - - - 15.16 -
407.79 41.59 -14.08 76 413.85 roll -0.57 - - 2035.94 - 0.69 0.109 3900.25 837.5 -116.79 - - 3479.31 - - - - - - - - - 15.42 -
432.79 44.86 -13.34 81 439.03 roll -0.57 - - 2036.38 - 0.71 0.053 3247.75 -919.0 -116.79 - - 3477.62 - - - - - - - - - 15.51 -
622.89 68.50 -13.33 119 628.12 no move -0.57 - - 2036.25 - - - 3248.19 - -116.79 - - 3456.97 - - - - - - - - - - -
813.20 92.44 -12.65 157 819.88 roll -0.57 - - 2036.06 - 1.59 0.037 1799.25 -911.3 -116.79 - - 3479.19 - - - - - - - - - 15.24 -
868.22 98.28 -10.00 168 875.15 roll -0.57 - - 2034.31 - 1.90 0.095 3321.19 801.0 -116.79 - - 3439.78 - - - - - - - - - 15.14 -
1058.29 118.91 -11.04 206 1064.47 roll -0.57 - - 2031.00 - 0.69 0.110 3900.38 839.4 -116.79 - - 3477.97 - - - - - - - - - 15.40 -
1138.08 127.64 -11.08 222 1144.58 roll -0.57 - - 2030.38 - 0.71 0.052 3245.38 -922.5 -116.79 - - 3477.41 - - - - - - - - - 15.49 -
1448.45 160.02 -9.72 284 1454.79 roll -0.57 - - 2026.44 - 0.81 0.108 3900.38 808.6 -116.79 - - 3479.34 - - - - - - - - - 15.34 -
1473.45 162.57 -10.08 289 1479.73 roll -0.57 - - 2026.44 - 0.71 0.053 3248.06 -918.8 -116.79 - - 3479.66 - - - - - - - - - 15.55 -
1783.57 195.30 -11.14 351 1789.91 roll -0.57 - - 2023.00 - 0.81 0.107 3903.19 808.8 -116.79 - - 3478.03 - - - - - - - - - 15.41 -
1828.59 200.63 -11.91 360 1834.16 roll -0.57 - - 2023.31 - 0.71 0.052 3244.75 -927.4 -116.79 - - 3477.28 - - - - - - - - - 15.58 -
2138.68 236.01 -11.19 422 2144.68 roll -0.57 - - 2021.62 - 1.56 0.038 1790.69 -932.1 -116.79 - - 3432.62 - - - - - - - - - 15.62 -
2168.45 239.10 -10.42 428 2174.97 roll -0.57 - - 2022.88 - 1.88 0.096 3320.88 813.9 -116.79 - - 3478.38 - - - - - - - - - 15.46 -
2488.72 274.65 -10.96 459 2490.51 no move -0.57 - - 2021.75 - - - 3320.00 - -116.79 - - 3457.47 - - - - - - - - - - -
2808.74 308.96 -10.37 475 2814.48 roll -0.57 - - 2022.88 - 1.66 0.040 1794.88 -918.7 -116.79 - - 3477.31 - - - - - - - - - 15.80 -
2828.51 310.90 -10.26 479 2834.52 roll -0.57 - - 2022.31 - 1.87 0.097 3320.62 815.9 -116.79 - - 3476.66 - - - - - - - - - 15.59 -
3148.76 341.25 -9.28 498 3150.55 no move -0.57 - - 2021.31 - - - 3320.38 - -116.79 - - 3455.78 - - - - - - - - - - -
3468.78 369.17 -8.62 514 3470.56 no move -0.57 - - 2021.44 - - - 3320.31 - -116.79 - - 3455.19 - - - - - - - - - - -
3788.79 397.36 -9.04 530 3794.37 roll -0.57 - - 2022.31 - 1.64 0.040 1796.88 -928.9 -116.79 - - 3474.88 - - - - - - - - - 15.91 -
3813.06 399.53 -8.98 535 3819.57 roll -0.57 - - 2022.31 - 1.85 0.098 3320.19 823.4 -116.79 - - 3463.28 - - - - - - - - - 15.73 -
4128.81 429.20 -9.83 553 4130.60 no move -0.57 - - 2021.50 - - - 3320.44 - -116.79 - - 3454.06 - - - - - - - - - - -
4448.82 461.67 -10.45 569 4450.61 no move -0.57 - - 2021.44 - - - 3320.31 - -116.79 - - 3453.31 - - - - - - - - - - -
4768.85 496.24 -10.92 585 4774.42 roll -0.57 - - 2022.44 - 1.65 0.041 1796.75 -923.4 -116.79 - - 3473.16 - - - - - - - - - 15.94 -
4828.61 502.28 -9.87 597 4834.60 roll -0.57 - - 2022.50 - 1.85 0.097 3320.38 823.6 -116.79 - - 3473.47 - - - - - - - - - 15.68 -
5148.87 534.30 -9.82 616 5150.66 no move -0.57 - - 2021.69 - - - 3320.69 - -116.79 - - 3452.16 - - - - - - - - - - -
5468.89 566.29 -10.30 632 5474.46 roll -0.57 - - 2022.12 - 1.65 0.041 1797.38 -923.2 -116.79 - - 3472.75 - - - - - - - - - 15.94 -
5503.15 569.78 -10.26 639 5510.13 roll -0.57 - - 2022.12 - 1.85 0.098 3320.69 823.4 -116.79 - - 3471.84 - - - - - - - - - 15.73 -
5828.91 602.42 -10.03 656 5834.47 roll -0.57 - - 2021.56 - 1.65 0.041 1789.62 -927.9 -116.79 - - 3472.81 - - - - - - - - - 15.94 -
5843.17 603.94 -10.02 659 5850.14 roll -0.57 - - 2022.19 - 1.87 0.098 3321.94 819.4 -116.79 - - 3471.97 - - - - - - - - - 15.73 -
6168.92 635.79 -9.52 676 6170.71 no move -0.57 - - 2021.31 - - - 3322.31 - -116.79 - - 3449.16 - - - - - - - - - - -
6488.94 664.98 -8.86 692 6494.53 roll -0.57 - - 2022.75 - 1.66 0.042 1794.94 -920.1 -116.79 - - 3469.50 - - - - - - - - - 15.93 -
6523.21 667.80 -8.60 699 6530.19 roll -0.57 - - 2022.56 - 1.86 0.097 3320.19 820.0 -116.79 - - 3471.06 - - - - - - - - - 15.73 -
6848.96 693.59 -7.70 716 6854.55 roll -0.57 - - 2022.12 - 1.66 0.042 1792.81 -920.1 -116.79 - - 3470.22 - - - - - - - - - 15.93 -
6883.23 696.06 -7.42 723 6890.21 roll -0.57 - - 2022.56 - 1.86 0.098 3319.94 821.0 -116.79 - - 3469.44 - - - - - - - - - 15.71 -
7208.98 720.47 -7.81 740 7210.77 no move -0.57 - - 2021.38 - - - 3320.00 - -116.79 - - 3446.50 - - - - - - - - - - -
7529.00 746.36 -8.35 756 7534.59 roll -0.57 - - 2022.06 - 1.66 0.042 1795.62 -918.3 -116.79 - - 3467.47 - - - - - - - - - 15.92 -
7578.27 750.40 -8.01 766 7584.75 roll -0.57 - - 2022.38 - 1.86 0.098 3319.25 819.2 -116.79 - - 3468.97 - - - - - - - - - 15.71 -
7889.02 776.84 -8.71 783 7894.60 roll -0.57 - - 2022.31 - 1.65 0.042 1795.50 -923.5 -116.79 - - 3466.66 - - - - - - - - - 15.91 -
7908.79 778.58 -8.72 787 7914.77 roll -0.57 - - 2021.75 - 1.87 0.099 3319.19 814.8 -116.79 - - 3467.88 - - - - - - - - - 15.61 -
8229.04 806.84 -8.87 806 8233.13 roll -0.57 - - 2018.81 - 0.69 0.112 3902.62 845.6 -116.79 - - 3466.25 - - - - - - - - - 15.70 -
8288.81 812.38 -9.26 818 8293.88 roll -0.57 - - 2017.94 - 0.71 0.057 3247.69 -922.4 -116.79 - - 3467.72 - - - - - - - - - 15.94 -
8609.07 840.39 -8.73 837 8610.85 no move -0.57 - - 2017.56 - - - 3247.12 - -116.79 - - 3444.19 - - - - - - - - - - -
8929.13 866.59 -8.00 853 8933.92 roll -0.57 - - 2014.94 - 0.80 0.110 3899.69 815.7 -116.79 - - 3465.81 - - - - - - - - - 15.57 -
8998.38 872.60 -8.60 867 9003.55 roll -0.57 - - 2015.12 - 0.70 0.057 3249.69 -928.6 -116.79 - - 3464.97 - - - - - - - - - 15.95 -
9309.13 897.27 -7.86 884 9310.92 no move -0.57 - - 2014.12 - - - 3249.12 - -116.79 - - 3442.91 - - - - - - - - - - -
9629.16 922.65 -8.02 900 9634.68 roll -0.57 - - 2015.44 - 1.57 0.042 1794.81 -926.3 -116.79 - - 3464.59 - - - - - - - - - 15.89 -
9683.45 926.91 -7.59 911 9690.67 roll -0.57 - - 2014.19 - 1.87 0.099 3319.69 815.4 -116.79 - - 3465.34 - - - - - - - - - 15.65 -
10008.97 953.77 -8.37 928 10010.76 no move -0.57 - - 2013.88 - - - 3319.62 - -116.79 - - 3441.53 - - - - - - - - - - -
10329.24 980.97 -8.52 944 10334.86 roll -0.57 - - 2012.88 - 1.66 0.043 1791.19 -920.7 -116.79 - - 3466.06 - - - - - - - - - 15.88 -
10349.25 982.61 -8.41 948 10355.00 roll -0.57 - - 2014.69 - 1.88 0.099 3321.44 814.0 -116.79 - - 3463.94 - - - - - - - - - 15.59 -
10449 end dive: TARGET_DEPTH_EXCEEDED
10449 begin apogee
10451.14 991.01 -8.44 956 10560.95 -0.17 0.43 0.278 2175.38 373.7 0.09 0.200 3023.94 -3305.6 - 71.46 2.173 2996.69 -6.5 0.524 - - - - - - 15.07 15.00 10.29
10563 end apogee: CONTROL_FINISHED_OK
10564 begin climb
10564.62 993.44 - 961 10682.33 0.57 0.56 0.206 2418.69 434.5 1.75 0.040 1536.75 -849.8 116.79 74.24 2.146 2520.41 -6.4 0.522 - - - - - - 15.11 14.78 12.88
10709.66 982.52 9.56 989 10716.15 roll 0.57 - - 2419.38 - 1.88 0.085 3020.25 789.1 116.79 - - 2520.72 - - - - - - - - - 15.11 -
11025.42 946.08 11.80 1007 11031.01 roll 0.57 - - 2427.56 - 1.66 0.035 1528.00 -898.9 116.79 - - 2516.50 - - - - - - - - - 15.67 -
11054.69 942.86 11.44 1013 11061.17 roll 0.57 - - 2427.56 - 1.82 0.085 3021.44 820.6 116.79 - - 2518.56 - - - - - - - - - 15.60 -
11365.46 904.69 12.41 1030 11371.05 roll 0.57 - - 2432.94 - 1.65 0.035 1528.00 -905.1 116.79 - - 2517.00 - - - - - - - - - 15.79 -
11409.73 899.72 10.78 1039 11416.22 roll 0.57 - - 2434.44 - 1.81 0.085 3023.19 826.1 116.79 - - 2516.91 - - - - - - - - - 15.67 -
11725.50 859.60 12.86 1057 11731.13 roll 0.57 - - 2442.75 - 1.65 0.034 1525.69 -907.6 116.79 - - 2515.91 - - - - - - - - - 15.85 -
11749.77 856.57 12.68 1062 11756.50 roll back 0.57 0.13 0.301 2397.75 -346.2 1.80 0.085 3025.81 833.4 116.79 - - 2516.94 - - - - - - - - 15.26 15.72 -
12065.57 822.78 10.79 1080 12071.13 roll 0.57 - - 2406.56 - 1.65 0.035 1523.81 -910.3 116.79 - - 2515.66 - - - - - - - - - 15.89 -
12089.81 820.28 10.48 1085 12096.20 done 0.57 - - 2406.69 - 1.80 0.083 3024.31 833.6 116.79 - - 2505.47 - - - - - - - - - 15.74 -
12405.57 785.29 10.96 1103 12407.36 VBD 0.57 - - 2406.69 - - - 3023.94 - 116.79 - - 2502.69 - - - - - - - - - - -
12725.60 751.88 10.27 1119 12727.39 VBD 0.57 - - 2406.75 - - - 3024.50 - 116.79 - - 2502.50 - - - - - - - - - - -
13045.63 720.74 9.43 1135 13051.21 done 0.57 - - 2415.06 - 1.64 0.035 1525.25 -914.2 116.79 - - 2503.00 - - - - - - - - - 15.93 -
13094.98 716.61 8.24 1145 13101.30 done 0.58 - - 2416.31 - 1.79 0.083 3024.75 837.7 116.79 - - 2513.97 - - - - - - - - - 15.76 -
13405.67 686.29 9.90 1162 13410.75 done 0.58 - - 2416.19 - 1.04 0.100 3905.31 846.7 116.79 - - 2514.00 - - - - - - - - - 15.75 -
13425.67 684.13 9.90 1166 13430.76 done 0.58 - - 2420.56 - 1.04 0.037 2848.50 -1016.2 116.79 - - 2502.38 - - - - - - - - - 15.94 -
13745.69 650.59 10.59 1185 13751.14 done 0.58 - - 2427.62 - 1.42 0.032 1518.56 -936.6 116.79 - - 2513.72 - - - - - - - - - 15.95 -
13765.69 648.60 10.61 1189 13771.35 done 0.58 - - 2428.81 - 1.80 0.083 3024.56 836.7 116.79 - - 2511.75 - - - - - - - - - 15.70 -
14085.70 612.54 11.53 1208 14087.50 VBD 0.58 - - 2428.19 - - - 3025.38 - 116.79 - - 2501.06 - - - - - - - - - - -
14405.72 573.93 12.10 1224 14411.32 done 0.58 - - 2435.12 - 1.64 0.035 1522.25 -916.5 116.79 - - 2515.28 - - - - - - - - - 15.95 -
14439.99 570.03 11.16 1231 14447.13 done 0.58 - - 2436.38 - 1.79 0.083 3024.31 839.1 116.79 - - 2517.03 - - - - - - - - - 15.75 -
14765.75 527.98 12.93 1248 14771.33 done 0.58 - - 2444.81 - 1.63 0.033 1523.00 -921.0 116.79 - - 2513.31 - - - - - - - - - 15.95 -
14785.74 525.54 12.83 1252 14791.67 0.58 0.12 0.291 2403.94 -340.6 1.79 0.082 3027.25 840.4 116.79 - - 2513.50 - - - - - - - - 15.18 15.69 -
15105.76 492.88 9.53 1271 15107.55 VBD 0.58 - - 2403.25 - - - 3027.19 - 116.79 - - 2500.84 - - - - - - - - - - -
15425.78 463.76 8.81 1287 15431.40 done 0.58 - - 2413.31 - 1.63 0.033 1516.06 -927.1 116.79 - - 2513.50 - - - - - - - - - 15.96 -
15460.12 461.00 8.60 1294 15467.18 done 0.60 - - 2413.69 - 1.79 0.081 3023.62 842.2 116.79 - - 2515.12 - - - - - - - - - 15.74 -
15785.87 433.59 8.13 1311 15791.38 done 0.62 - - 2416.50 - 1.62 0.033 1521.44 -927.3 116.79 - - 2502.47 - - - - - - - - - 15.95 -
15825.88 430.84 7.80 1319 15831.47 done 0.64 - - 2417.00 - 1.78 0.081 3024.00 844.1 116.79 - - 2516.72 - - - - - - - - - 15.69 -
16145.90 405.47 8.41 1338 16151.41 done 0.66 - - 2417.94 - 1.63 0.034 1524.75 -919.8 116.79 - - 2513.56 - - - - - - - - - 15.94 -
16165.89 403.93 8.39 1342 16171.50 done 0.67 - - 2417.38 - 1.78 0.081 3022.12 841.2 116.79 - - 2513.19 - - - - - - - - - 15.69 -
16485.84 375.34 9.09 1361 16487.64 VBD 0.67 - - 2416.38 - - - 3021.62 - 116.79 - - 2500.75 - - - - - - - - - - -
16805.85 345.19 9.49 1377 16811.45 done 0.67 - - 2418.06 - 1.62 0.033 1522.62 -925.3 116.79 - - 2507.81 - - - - - - - - - 15.95 -
16840.12 342.26 9.33 1384 16847.01 done 0.67 - - 2417.19 - 1.78 0.080 3027.88 845.7 116.79 - - 2515.91 - - - - - - - - - 15.73 -
17165.88 312.53 8.71 1401 17171.47 done 0.67 - - 2418.38 - 1.63 0.033 1522.00 -923.9 116.79 - - 2513.69 - - - - - - - - - 15.95 -
17195.22 310.31 8.36 1407 17201.56 done 0.69 - - 2418.56 - 1.78 0.079 3025.06 844.4 116.79 - - 2513.00 - - - - - - - - - 15.74 -
17507.17 284.65 8.53 1424 17508.97 VBD 0.70 - - 2416.94 - - - 3024.75 - 116.79 - - 2500.66 - - - - - - - - - - -
17826.98 256.79 8.64 1440 17832.88 0.71 0.08 0.130 2491.50 932.0 1.65 0.033 1523.31 -910.0 116.79 - - 2513.00 - - - - - - - - 15.57 15.54 -
17860.98 253.22 10.18 1447 17867.09 0.71 0.13 0.309 2445.88 -350.9 1.82 0.078 3027.25 826.3 116.79 - - 2514.97 - - - - - - - - 15.04 14.82 -
18171.03 221.26 10.13 1506 18177.43 done 0.71 - - 2455.75 - 1.66 0.031 1518.75 -908.7 116.79 - - 2513.91 - - - - - - - - - 14.80 -
18221.04 216.68 8.98 1516 18227.61 done 0.71 - - 2457.62 - 1.82 0.078 3022.94 826.5 116.79 - - 2514.03 - - - - - - - - - 14.80 -
18531.52 184.69 10.34 1577 18537.06 VBD 0.71 - - 2457.38 - - - 3023.25 - 116.79 - - 2502.09 - - - - - - - - - - -
18841.65 149.67 12.20 1639 18848.73 done 0.71 - - 2465.75 - 1.66 0.032 1523.06 -903.7 116.79 - - 2516.97 - - - - - - - - - 15.55 -
18921.83 141.20 10.16 1655 18929.11 done 0.71 - - 2468.12 - 1.82 0.080 3023.25 824.3 116.79 - - 2515.53 - - - - - - - - - 15.25 -
19232.24 108.28 11.25 1717 19239.08 done 0.71 - - 2466.81 - 1.06 0.097 3906.44 833.2 116.79 - - 2515.62 - - - - - - - - - 15.39 -
19302.25 98.82 13.93 1731 19308.83 done 0.71 - - 2474.50 - 1.05 0.034 2862.88 -993.9 116.79 - - 2514.06 - - - - - - - - - 15.48 -
19492.31 79.75 9.98 1769 19499.49 done 0.71 - - 2482.44 - 1.46 0.030 1513.19 -924.4 116.79 - - 2502.47 - - - - - - - - - 15.27 -
19587.62 71.12 8.94 1788 19595.17 0.71 0.12 0.311 2444.69 -314.6 1.85 0.080 3023.75 816.5 116.79 - - 2514.44 - - - - - - - - 14.63 15.06 -
19778.25 53.02 9.64 1826 19784.81 done 0.71 - - 2445.00 - 1.05 0.093 3903.88 838.2 116.79 - - 2513.97 - - - - - - - - - 15.11 -
19848.27 46.39 9.31 1840 19854.83 done 0.71 - - 2448.19 - 1.06 0.036 2888.62 -957.8 116.79 - - 2514.09 - - - - - - - - - 15.24 -
20038.34 31.25 8.91 1878 20045.07 done 0.71 - - 2448.44 - 1.25 0.092 3906.06 814.0 116.79 - - 2514.19 - - - - - - - - - 15.05 -
20073.35 27.64 10.32 1885 20079.90 done 0.71 - - 2453.38 - 1.06 0.034 2889.81 -958.7 116.79 - - 2514.19 - - - - - - - - - 15.24 -
20263.50 16.91 4.71 1923 20339.40 done 0.63 - - 2453.69 - 1.26 0.100 3903.31 804.4 201.51 46.40 0.977 2175.84 -7.3 0.022 - - - - - - - 14.94 13.19
20347.58 11.52 6.98 1939 20354.06 roll 0.68 - - 2454.25 - 1.07 0.032 2856.38 -978.4 201.51 - - 2177.81 - - - - - - - - - 15.35 -
20488 end climb: SURFACE_DEPTH_REACHED
20488 begin surface coast
20533 end surface coast: CONTROL_FINISHED_OK
20533 begin surface
SM 0.77 - - - - 173.3 161.99 0.913 960.7 5.9 4.82 0.129 994.9 206.4 - 0.56 0.098 926.5 1652.6 -1.327 - - 13.10 15.37 15.49 -