SMODE Apr23 * SG180 * Dive index * Mission links * Dive 78 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 118.36 of 350.00 AH used of 24V (66.18% remains)
• Surface angle -61.3 deg, depth 0.70 m • Intended pitch -20.8 deg, speed -8.462 cm/s
• VBD pumped to 499.85 (SM_CC=500)
• GPS1 time: 32 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
16.98 - - - 138.25 VBD -0.60 - - 166.81 - - - 3222.38 - -97.32 86.00 0.005 3362.25 - - - - - - - - - - 15.05
138.69 3.40 -2.54 23 163.97 -0.60 7.80 0.471 2031.62 239.1 1.65 0.042 1801.19 -861.3 -97.32 0.57 0.035 3396.31 59.8 -1.018 - - - - - - 14.70 15.12 15.31
296.77 25.73 -10.25 54 304.03 roll -0.60 - - 2029.44 - 1.89 0.097 3320.69 804.0 -97.32 - - 3397.81 - - - - - - - - - 15.44 -
486.86 47.87 -11.87 92 492.72 roll -0.60 - - 2026.62 - 0.69 0.111 3903.19 844.2 -97.32 - - 3397.53 - - - - - - - - - 15.47 -
561.88 57.14 -12.30 107 568.11 roll -0.60 - - 2026.25 - 0.72 0.052 3244.94 -914.2 -97.32 - - 3387.31 - - - - - - - - - 15.55 -
751.99 79.39 -11.33 145 758.33 roll -0.60 - - 2022.38 - 0.81 0.108 3900.12 808.9 -97.32 - - 3397.78 - - - - - - - - - 15.42 -
857.02 92.10 -11.55 166 863.27 roll -0.60 - - 2022.56 - 0.71 0.053 3246.88 -920.1 -97.32 - - 3397.28 - - - - - - - - - 15.57 -
1047.33 112.66 -10.28 204 1052.81 no move -0.60 - - 2022.19 - - - 3246.44 - -97.32 - - 3377.66 - - - - - - - - - - -
1357.46 141.06 -8.71 266 1363.80 roll -0.60 - - 2018.62 - 0.81 0.107 3900.31 807.2 -97.32 - - 3388.62 - - - - - - - - - 15.47 -
1592.54 164.50 -10.02 313 1598.54 roll -0.60 - - 2019.31 - 0.71 0.052 3246.44 -920.9 -97.32 - - 3397.38 - - - - - - - - - 15.56 -
1902.60 194.97 -10.28 375 1909.33 roll -0.60 - - 2019.44 - 1.57 0.038 1793.06 -925.7 -97.32 - - 3397.47 - - - - - - - - - 15.57 -
1937.37 198.35 -9.69 382 1944.55 roll -0.60 - - 2019.50 - 1.89 0.096 3320.94 808.4 -97.32 - - 3397.25 - - - - - - - - - 15.36 -
2247.67 232.10 -12.10 444 2252.49 roll -0.60 - - 2014.25 - 0.69 0.109 3900.25 839.6 -97.32 - - 3398.78 - - - - - - - - - 15.46 -
2272.45 235.13 -12.05 449 2278.01 roll -0.60 - - 2015.50 - 0.71 0.053 3246.75 -920.4 -97.32 - - 3396.50 - - - - - - - - - 15.63 -
2597.72 275.47 -12.57 484 2602.64 roll -0.60 - - 2011.75 - 0.81 0.108 3903.00 810.2 -97.32 - - 3398.28 - - - - - - - - - 15.46 -
2717.75 291.09 -13.08 508 2722.61 roll -0.60 - - 2011.81 - 0.72 0.052 3244.56 -914.5 -97.32 - - 3398.72 - - - - - - - - - 15.63 -
3037.75 328.35 -11.18 527 3039.55 no move -0.60 - - 2011.88 - - - 3244.19 - -97.32 - - 3375.72 - - - - - - - - - - -
3357.76 361.16 -9.98 543 3362.61 roll -0.60 - - 2009.06 - 0.80 0.107 3902.94 823.4 -97.32 - - 3396.72 - - - - - - - - - 15.69 -
3447.04 371.02 -11.02 561 3452.22 roll -0.60 - - 2008.06 - 0.71 0.053 3243.31 -929.1 -97.32 - - 3397.81 - - - - - - - - - 15.88 -
3757.56 402.42 -10.18 578 3763.30 roll -0.60 - - 2008.50 - 1.54 0.039 1780.00 -950.2 -97.32 - - 3395.66 - - - - - - - - - 15.90 -
3807.06 407.18 -9.31 588 3813.55 roll -0.60 - - 2008.69 - 1.87 0.097 3323.56 825.4 -97.32 - - 3395.69 - - - - - - - - - 15.69 -
4117.83 437.66 -9.62 605 4123.40 roll -0.60 - - 2008.44 - 1.65 0.040 1797.00 -925.2 -97.32 - - 3394.91 - - - - - - - - - 15.89 -
4152.08 440.89 -9.63 612 4159.07 roll -0.60 - - 2008.19 - 1.86 0.098 3319.12 818.3 -97.32 - - 3374.66 - - - - - - - - - 15.70 -
4477.84 472.63 -10.00 629 4479.63 no move -0.60 - - 2007.62 - - - 3319.62 - -97.32 - - 3373.53 - - - - - - - - - - -
4797.85 506.35 -10.65 645 4803.44 roll -0.60 - - 2008.00 - 1.65 0.040 1796.69 -923.0 -97.32 - - 3393.69 - - - - - - - - - 15.89 -
4862.12 512.64 -9.45 658 4868.60 roll -0.60 - - 2007.94 - 1.86 0.097 3320.75 819.4 -97.32 - - 3394.31 - - - - - - - - - 15.72 -
5177.88 542.07 -8.74 676 5181.98 roll -0.60 - - 2003.94 - 0.68 0.110 3900.38 852.4 -97.32 - - 3393.72 - - - - - - - - - 15.73 -
5232.16 546.97 -8.92 687 5237.82 roll -0.60 - - 2004.31 - 0.70 0.055 3247.69 -932.4 -97.32 - - 3393.06 - - - - - - - - - 15.93 -
5557.94 571.29 -7.38 704 5562.73 roll -0.60 - - 1998.75 - 0.80 0.109 3902.88 819.0 -97.32 - - 3394.66 - - - - - - - - - 15.72 -
5587.17 573.60 -7.48 710 5592.53 roll back -0.60 0.10 0.321 2033.69 349.4 0.70 0.055 3250.44 -932.1 -97.32 - - 3395.00 - - - - - - - - 15.20 15.94 -
5897.92 591.59 -5.83 727 5902.76 roll -0.60 - - 2030.94 - 0.79 0.109 3900.88 823.3 -97.32 - - 3392.56 - - - - - - - - - 15.72 -
5977.93 596.82 -6.67 743 5982.77 roll -0.60 - - 2030.75 - 0.70 0.055 3246.88 -934.3 -97.32 - - 3391.88 - - - - - - - - - 15.94 -
6297.95 619.11 -7.31 762 6302.80 roll -0.60 - - 2025.94 - 0.80 0.109 3898.06 814.0 -97.32 - - 3391.75 - - - - - - - - - 15.71 -
6332.23 621.86 -7.40 769 6338.13 roll -0.60 - - 2026.62 - 0.70 0.055 3244.56 -933.6 -97.32 - - 3390.56 - - - - - - - - - 15.95 -
6657.99 647.99 -8.28 786 6663.49 roll -0.60 - - 2026.50 - 1.54 0.041 1784.88 -947.8 -97.32 - - 3390.78 - - - - - - - - - 15.87 -
6692.27 650.83 -8.25 793 6699.27 roll -0.60 - - 2026.69 - 1.87 0.097 3319.94 820.9 -97.32 - - 3390.88 - - - - - - - - - 15.69 -
7018.04 678.93 -8.58 810 7019.83 no move -0.60 - - 2026.06 - - - 3320.56 - -97.32 - - 3390.25 - - - - - - - - - - -
7338.06 707.07 -8.57 826 7339.85 no move -0.60 - - 2025.88 - - - 3319.94 - -97.32 - - 3389.47 - - - - - - - - - - -
7658.10 732.85 -7.78 842 7663.67 roll -0.60 - - 2026.25 - 1.66 0.042 1793.12 -919.8 -97.32 - - 3390.44 - - - - - - - - - 15.85 -
7697.88 735.85 -7.60 850 7703.86 roll -0.60 - - 2025.50 - 1.87 0.097 3319.62 816.3 -97.32 - - 3390.16 - - - - - - - - - 15.58 -
8018.14 759.72 -7.32 869 8019.94 no move -0.60 - - 2025.88 - - - 3320.38 - -97.32 - - 3388.38 - - - - - - - - - - -
8338.18 782.91 -7.29 885 8339.97 no move -0.60 - - 2025.88 - - - 3320.12 - -97.32 - - 3388.25 - - - - - - - - - - -
8658.21 807.63 -7.90 901 8660.00 no move -0.60 - - 2026.31 - - - 3320.00 - -97.32 - - 3388.06 - - - - - - - - - - -
8978.24 832.32 -7.57 917 8983.97 roll -0.60 - - 2025.81 - 1.66 0.042 1794.69 -918.9 -97.32 - - 3387.94 - - - - - - - - - 15.84 -
9067.51 838.57 -6.78 935 9074.00 roll -0.60 - - 2025.81 - 1.87 0.098 3321.94 816.7 -97.32 - - 3387.88 - - - - - - - - - 15.66 -
9378.28 859.86 -6.66 952 9383.86 roll -0.60 - - 2025.38 - 1.66 0.043 1794.81 -920.0 -97.32 - - 3387.88 - - - - - - - - - 15.83 -
9402.55 861.36 -6.52 957 9409.03 roll -0.60 - - 2025.38 - 1.87 0.098 3320.62 815.9 -97.32 - - 3387.31 - - - - - - - - - 15.65 -
9718.31 879.73 -5.67 975 9722.40 roll -0.60 - - 2023.75 - 0.69 0.113 3902.56 843.4 -97.32 - - 3388.56 - - - - - - - - - 15.65 -
9818.34 885.91 -6.21 995 9823.18 roll -0.60 - - 2023.75 - 0.71 0.056 3249.62 -919.6 -97.32 - - 3388.22 - - - - - - - - - 15.92 -
10138.37 904.54 -5.94 1014 10140.16 no move -0.60 - - 2023.94 - - - 3249.62 - -97.32 - - 3386.03 - - - - - - - - - - -
10458.40 924.21 -6.33 1030 10463.24 roll -0.60 - - 2018.56 - 0.80 0.109 3899.25 812.0 -97.32 - - 3387.75 - - - - - - - - - 15.64 -
10498.17 926.91 -6.47 1038 10503.25 roll -0.60 - - 2017.75 - 0.71 0.056 3248.06 -917.2 -97.32 - - 3322.72 - - - - - - - - - 15.92 -
10818.44 947.04 -6.28 1057 10824.13 roll -0.60 - - 2018.69 - 1.56 0.042 1788.62 -935.5 -97.32 - - 3384.94 - - - - - - - - - 15.81 -
10847.71 948.89 -6.23 1063 10854.20 roll -0.60 - - 2018.94 - 1.88 0.099 3320.69 814.9 -97.32 - - 3385.22 - - - - - - - - - 15.61 -
11158.48 968.44 -6.45 1080 11160.27 no move -0.60 - - 2018.69 - - - 3321.12 - -97.32 - - 3384.72 - - - - - - - - - - -
11479 end dive: TARGET_DEPTH_EXCEEDED
11479 begin apogee
11480.46 990.33 -7.06 1096 11573.28 -0.17 0.41 0.278 2173.81 378.3 0.10 0.196 3027.81 -2933.1 - 60.07 2.171 2996.66 -6.5 0.517 - - - - - - 14.94 15.06 10.17
11576 end apogee: CONTROL_FINISHED_OK
11576 begin climb
11576.95 992.06 - 1100 11677.67 0.60 0.59 0.207 2429.69 433.7 1.75 0.039 1532.56 -854.4 97.32 62.26 2.150 2599.22 -6.4 0.516 - - - - - - 15.16 14.84 12.92
11695.00 983.69 9.32 1123 11701.97 roll 0.60 - - 2429.81 - 1.88 0.086 3018.69 790.5 97.32 - - 2599.38 - - - - - - - - - 15.13 -
12020.74 947.42 11.13 1140 12026.34 roll 0.60 - - 2436.62 - 1.67 0.035 1529.38 -891.8 97.32 - - 2599.75 - - - - - - - - - 15.62 -
12060.75 943.28 10.23 1148 12066.51 roll 0.60 - - 2438.25 - 1.82 0.087 3019.81 818.9 97.32 - - 2597.69 - - - - - - - - - 15.50 -
12380.85 906.03 11.70 1167 12386.50 roll 0.60 - - 2445.88 - 1.66 0.035 1526.62 -899.5 97.32 - - 2585.50 - - - - - - - - - 15.73 -
12450.05 898.79 9.97 1181 12456.53 roll 0.60 - - 2448.88 - 1.81 0.086 3022.88 826.7 97.32 - - 2596.34 - - - - - - - - - 15.68 -
12760.56 861.46 12.35 1198 12765.87 roll 0.60 - - 2447.56 - 1.04 0.101 3903.94 847.2 97.32 - - 2597.44 - - - - - - - - - 15.70 -
12780.79 858.69 12.54 1202 12785.89 done 0.60 - - 2454.75 - 1.04 0.035 2852.56 -1010.9 97.32 - - 2593.59 - - - - - - - - - 15.85 -
13100.61 818.76 12.46 1221 13106.48 0.60 0.14 0.348 2417.19 -268.3 1.44 0.035 1521.38 -924.4 97.32 - - 2593.25 - - - - - - - - 15.17 15.43 -
13135.07 815.29 11.69 1228 13141.97 done 0.60 - - 2417.75 - 1.80 0.084 3021.56 833.4 97.32 - - 2593.81 - - - - - - - - - 15.73 -
13460.83 782.26 10.03 1245 13466.46 done 0.60 - - 2420.44 - 1.65 0.035 1526.75 -905.9 97.32 - - 2594.53 - - - - - - - - - 15.83 -
13485.09 780.03 9.77 1250 13491.51 done 0.60 - - 2422.06 - 1.79 0.083 3026.06 837.6 97.32 - - 2594.72 - - - - - - - - - 15.74 -
13800.85 747.07 10.92 1268 13806.49 done 0.60 - - 2431.06 - 1.65 0.035 1529.75 -906.9 97.32 - - 2596.47 - - - - - - - - - 15.83 -
13820.85 745.00 11.07 1272 13826.55 done 0.60 - - 2431.81 - 1.79 0.084 3023.50 834.5 97.32 - - 2597.12 - - - - - - - - - 15.61 -
14140.86 707.71 11.65 1291 14146.44 done 0.60 - - 2439.56 - 1.64 0.034 1520.75 -916.3 97.32 - - 2593.22 - - - - - - - - - 15.85 -
14200.87 701.30 10.47 1303 14206.62 done 0.60 - - 2440.75 - 1.81 0.085 3025.25 831.2 97.32 - - 2592.19 - - - - - - - - - 15.60 -
14520.88 662.80 11.85 1322 14526.47 done 0.60 - - 2448.88 - 1.65 0.034 1519.19 -912.8 97.32 - - 2574.16 - - - - - - - - - 15.83 -
14555.15 658.97 10.96 1329 14562.63 0.60 0.12 0.310 2410.94 -316.2 1.80 0.085 3024.94 836.5 97.32 - - 2592.88 - - - - - - - - 15.11 15.73 -
14880.91 627.47 9.32 1346 14886.49 done 0.60 - - 2417.31 - 1.63 0.034 1522.25 -921.9 97.32 - - 2557.84 - - - - - - - - - 15.85 -
14930.18 623.38 8.06 1356 14936.58 done 0.60 - - 2420.25 - 1.79 0.083 3021.81 837.7 97.32 - - 2591.47 - - - - - - - - - 15.74 -
15240.93 595.26 9.03 1373 15246.01 done 0.60 - - 2419.06 - 1.03 0.097 3903.06 855.6 97.32 - - 2594.97 - - - - - - - - - 15.73 -
15265.19 592.66 9.14 1378 15270.62 done 0.60 - - 2423.38 - 1.03 0.036 2889.62 -983.9 97.32 - - 2592.69 - - - - - - - - - 15.94 -
15581.00 564.40 8.90 1396 15582.78 VBD 0.60 - - 2423.25 - - - 2888.38 - 97.32 - - 2591.28 - - - - - - - - - - -
15900.98 533.83 9.57 1412 15906.23 done 0.60 - - 2422.88 - 1.22 0.097 3903.12 831.8 97.32 - - 2593.12 - - - - - - - - - 15.71 -
15945.26 528.65 11.65 1421 15950.71 done 0.60 - - 2428.06 - 1.03 0.037 2878.06 -995.2 97.32 - - 2591.00 - - - - - - - - - 15.95 -
16260.80 497.00 9.90 1439 16262.60 VBD 0.60 - - 2427.81 - - - 2877.94 - 97.32 - - 2591.66 - - - - - - - - - - -
16580.83 464.80 9.86 1455 16586.32 done 0.60 - - 2427.88 - 1.24 0.097 3906.00 829.1 97.32 - - 2592.06 - - - - - - - - - 15.71 -
16621.07 460.22 11.59 1463 16626.16 done 0.60 - - 2433.62 - 1.03 0.037 2886.25 -990.0 97.32 - - 2592.09 - - - - - - - - - 15.96 -
16940.87 426.73 10.21 1482 16942.67 VBD 0.60 - - 2433.69 - - - 2885.38 - 97.32 - - 2591.16 - - - - - - - - - - -
17261.14 393.36 10.44 1498 17266.39 done 0.60 - - 2433.31 - 1.23 0.097 3904.62 828.7 97.32 - - 2590.97 - - - - - - - - - 15.70 -
17305.41 388.05 12.12 1507 17310.84 done 0.60 - - 2437.75 - 1.03 0.036 2868.25 -1006.2 97.32 - - 2592.03 - - - - - - - - - 15.97 -
17621.17 355.64 9.93 1525 17622.97 VBD 0.60 - - 2437.00 - - - 2868.06 - 97.32 - - 2591.44 - - - - - - - - - - -
17940.97 324.95 9.16 1541 17946.45 done 0.60 - - 2437.62 - 1.25 0.095 3904.69 829.3 97.32 - - 2592.06 - - - - - - - - - 15.70 -
18020.99 316.49 10.79 1557 18026.35 done 0.60 - - 2444.25 - 1.03 0.037 2883.12 -991.8 97.32 - - 2592.06 - - - - - - - - - 15.96 -
18342.36 286.61 9.41 1576 18346.51 done 0.60 - - 2444.38 - 1.25 0.095 3904.62 817.2 97.32 - - 2592.16 - - - - - - - - - 15.38 -
18370.52 283.28 9.98 1582 18375.96 done 0.60 - - 2449.25 - 1.05 0.035 2858.88 -995.9 97.32 - - 2592.97 - - - - - - - - - 14.86 -
18682.25 250.94 10.01 1599 18686.97 0.60 0.12 0.330 2418.12 -259.4 1.46 0.032 1514.19 -921.0 97.32 - - 2590.50 - - - - - - - - 15.00 15.23 -
18706.28 248.84 9.72 1604 18712.79 done 0.60 - - 2419.56 - 1.84 0.080 3023.88 820.5 97.32 - - 2591.47 - - - - - - - - - 14.83 -
19016.49 223.80 7.57 1666 19020.87 VBD 0.62 - - 2419.06 - - - 3023.88 - 97.32 - - 2592.28 - - - - - - - - - - -
19323.46 199.90 8.61 1726 19329.64 done 0.62 - - 2421.56 - 1.67 0.032 1526.81 -896.4 97.32 - - 2593.50 - - - - - - - - - 14.86 -
19357.68 196.62 8.09 1733 19364.85 done 0.62 - - 2422.00 - 1.82 0.080 3022.44 821.8 97.32 - - 2591.69 - - - - - - - - - 15.36 -
19667.91 169.44 8.43 1795 19674.67 done 0.62 - - 2421.12 - 1.67 0.032 1519.25 -900.1 97.32 - - 2558.06 - - - - - - - - - 15.45 -
19698.01 167.15 7.93 1801 19705.08 done 0.63 - - 2422.00 - 1.83 0.079 3025.00 822.8 97.32 - - 2592.97 - - - - - - - - - 15.35 -
20008.18 141.12 8.65 1863 20013.68 VBD 0.63 - - 2422.12 - - - 3025.19 - 97.32 - - 2593.19 - - - - - - - - - - -
20318.31 115.03 8.16 1925 20323.81 VBD 0.63 - - 2421.94 - - - 3025.62 - 97.32 - - 2593.78 - - - - - - - - - - -
20628.52 91.86 7.39 1987 20635.21 done 0.65 - - 2425.94 - 1.67 0.031 1524.88 -898.6 97.32 - - 2596.47 - - - - - - - - - 14.77 -
20703.53 86.13 7.71 2002 20710.95 done 0.67 - - 2425.88 - 1.83 0.079 3023.50 818.9 97.32 - - 2594.97 - - - - - - - - - 14.71 -
20894.04 70.55 7.54 2040 20900.49 done 0.69 - - 2425.69 - 1.07 0.096 3906.12 824.9 97.32 - - 2598.00 - - - - - - - - - 15.36 -
20974.01 64.13 7.97 2056 20980.56 done 0.69 - - 2428.75 - 1.06 0.035 2892.75 -956.0 97.32 - - 2594.28 - - - - - - - - - 15.54 -
21164.15 51.61 6.70 2094 21170.83 roll 0.72 - - 2429.25 - 1.25 0.096 3902.88 808.1 97.32 - - 2595.69 - - - - - - - - - 14.66 -
21219.09 46.90 8.83 2105 21225.36 done 0.72 - - 2432.12 - 1.07 0.034 2888.25 -948.3 97.32 - - 2594.75 - - - - - - - - - 14.78 -
21408.99 33.09 6.91 2143 21416.04 roll back 0.75 0.08 0.113 2502.19 875.9 1.25 0.095 3899.88 809.3 97.32 - - 2595.34 - - - - - - - - 15.51 14.69 -
21524.19 21.01 10.80 2166 21530.73 roll back 0.75 0.15 0.342 2459.44 -285.0 1.05 0.033 2873.06 -977.9 97.32 - - 2595.03 - - - - - - - - 14.49 15.54 -
21714.09 11.14 4.22 2204 21779.25 done 0.68 - - 2467.38 - 1.50 0.032 1507.00 -910.7 169.91 39.66 0.974 2305.28 -7.3 0.015 - - - - - - - 15.21 12.97
21842.17 2.62 7.79 2229 21849.52 roll 0.70 - - 2468.81 - 1.84 0.078 3022.12 823.4 169.91 - - 2302.34 - - - - - - - - - 15.38 -
21852 end climb: SURFACE_DEPTH_REACHED
21852 begin surface coast
21883 end surface coast: CONTROL_FINISHED_OK
21883 begin surface
SM 0.76 - - - - 171.8 175.63 0.922 962.3 5.5 4.65 0.095 978.1 210.3 - 0.35 0.091 946.4 2698.7 -2.304 - - 13.13 15.33 15.54 -