SMODE Apr23 * SG180 * Dive index * Mission links * Dive 104 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 124.40 of 350.00 AH used of 24V (64.46% remains)
• Surface angle -65.7 deg, depth 0.96 m • Intended pitch -21.6 deg, speed -8.250 cm/s
• VBD pumped to 500.04 (SM_CC=500)
• GPS1 time: 21 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
17.39 - - - 123.13 VBD -0.64 - - 166.38 - - - 3331.56 - -87.59 74.67 0.005 3267.09 - - - - - - - - - - 15.09
123.56 3.70 -2.87 20 148.87 -0.64 7.81 0.476 2016.81 236.9 0.66 0.098 3908.50 874.2 -87.59 2.81 0.011 3432.06 58.7 -3.455 - - - - - - 14.91 15.18 15.31
376.63 51.40 -15.50 70 382.88 roll -0.64 - - 2017.81 - 0.71 0.049 3242.50 -938.0 -87.59 - - 3432.06 - - - - - - - - - 15.69 -
566.69 77.76 -13.59 108 572.91 roll -0.64 - - 2015.56 - 0.80 0.103 3903.31 826.0 -87.59 - - 3433.28 - - - - - - - - - 15.63 -
736.72 98.89 -11.91 142 742.96 roll -0.64 - - 2014.31 - 0.71 0.050 3240.19 -934.0 -87.59 - - 3434.81 - - - - - - - - - 15.73 -
927.01 123.23 -13.27 180 933.36 roll -0.64 - - 2012.88 - 0.81 0.106 3903.19 818.5 -87.59 - - 3417.97 - - - - - - - - - 15.63 -
1096.87 146.62 -13.76 214 1103.35 roll -0.64 - - 2012.88 - 0.71 0.050 3242.56 -930.5 -87.59 - - 3435.03 - - - - - - - - - 15.76 -
1407.13 180.90 -10.76 276 1413.47 roll -0.64 - - 2009.62 - 0.81 0.105 3904.88 817.7 -87.59 - - 3363.44 - - - - - - - - - 15.64 -
1556.94 196.98 -10.52 306 1563.44 roll -0.64 - - 2009.62 - 0.71 0.051 3243.75 -931.2 -87.59 - - 3434.94 - - - - - - - - - 15.77 -
1867.28 228.58 -11.12 368 1872.63 roll -0.64 - - 2007.56 - 0.80 0.106 3902.75 823.8 -87.59 - - 3433.66 - - - - - - - - - 15.70 -
2012.34 245.50 -12.24 397 2017.92 roll -0.64 - - 2007.31 - 0.70 0.052 3246.75 -937.1 -87.59 - - 3433.25 - - - - - - - - - 15.87 -
2332.44 282.69 -11.58 419 2337.21 roll -0.64 - - 2003.06 - 0.80 0.107 3902.81 820.1 -87.59 - - 3434.62 - - - - - - - - - 15.72 -
2396.64 290.33 -11.87 432 2401.83 roll -0.64 - - 2003.81 - 0.70 0.054 3247.00 -936.9 -87.59 - - 3432.59 - - - - - - - - - 15.90 -
2712.41 323.07 -9.80 450 2717.26 roll -0.64 - - 2000.69 - 0.80 0.108 3903.12 820.1 -87.59 - - 3431.91 - - - - - - - - - 15.72 -
2766.69 328.78 -10.63 461 2772.61 roll -0.64 - - 2001.00 - 0.70 0.054 3247.00 -937.3 -87.59 - - 3431.25 - - - - - - - - - 15.93 -
3092.46 361.26 -10.35 478 3097.30 roll -0.64 - - 1995.81 - 0.80 0.107 3904.56 821.9 -87.59 - - 3403.12 - - - - - - - - - 15.74 -
3172.22 370.27 -11.58 494 3177.32 roll -0.64 - - 1996.75 - 0.71 0.054 3244.50 -929.7 -87.59 - - 3432.59 - - - - - - - - - 15.94 -
3492.59 403.80 -10.52 513 3497.38 roll -0.64 - - 1992.44 - 0.80 0.108 3903.25 823.4 -87.59 - - 3431.19 - - - - - - - - - 15.73 -
3606.79 416.84 -11.46 536 3612.70 roll -0.64 - - 1991.56 - 0.71 0.054 3241.81 -931.6 -87.59 - - 3346.88 - - - - - - - - - 15.94 -
3932.30 450.24 -9.93 553 3937.49 roll -0.64 - - 1988.44 - 0.81 0.107 3904.31 817.9 -87.59 - - 3428.84 - - - - - - - - - 15.72 -
4072.33 465.47 -10.93 581 4077.58 roll back -0.64 0.10 0.335 2022.50 340.6 0.71 0.054 3248.25 -924.0 -87.59 - - 3428.66 - - - - - - - - 15.16 15.95 -
4392.59 494.19 -8.88 600 4397.43 roll -0.64 - - 2018.12 - 0.80 0.109 3903.19 818.7 -87.59 - - 3428.31 - - - - - - - - - 15.71 -
4506.87 505.29 -9.71 623 4512.78 roll -0.64 - - 2017.75 - 0.71 0.055 3245.62 -926.2 -87.59 - - 3430.12 - - - - - - - - - 15.94 -
4832.64 536.63 -9.81 640 4837.47 roll -0.64 - - 2015.31 - 0.80 0.110 3903.19 822.0 -87.59 - - 3427.19 - - - - - - - - - 15.70 -
4966.91 550.13 -9.96 667 4972.85 roll -0.64 - - 2014.69 - 0.71 0.056 3246.94 -924.3 -87.59 - - 3428.59 - - - - - - - - - 15.94 -
5292.67 580.29 -9.18 684 5297.51 roll -0.64 - - 2012.44 - 0.80 0.111 3903.06 820.1 -87.59 - - 3426.62 - - - - - - - - - 15.70 -
5376.94 588.46 -9.58 701 5382.13 roll -0.64 - - 2011.75 - 0.71 0.056 3247.88 -922.8 -87.59 - - 3427.72 - - - - - - - - - 15.95 -
5692.69 616.92 -9.09 719 5697.55 roll -0.64 - - 2008.19 - 0.80 0.109 3900.50 815.8 -87.59 - - 3427.09 - - - - - - - - - 15.70 -
5736.97 621.16 -9.53 728 5742.15 roll -0.64 - - 2009.44 - 0.70 0.056 3251.19 -927.6 -87.59 - - 3424.75 - - - - - - - - - 15.94 -
6052.48 648.08 -8.35 746 6058.23 roll -0.64 - - 2008.19 - 1.55 0.042 1799.44 -936.6 -87.59 - - 3420.41 - - - - - - - - - 15.95 -
6081.99 650.56 -8.39 752 6088.47 roll -0.64 - - 2008.06 - 1.86 0.098 3320.75 817.9 -87.59 - - 3424.41 - - - - - - - - - 15.67 -
6392.74 676.54 -8.17 769 6396.84 roll -0.64 - - 2004.75 - 0.69 0.111 3902.94 843.8 -87.59 - - 3423.81 - - - - - - - - - 15.69 -
6472.55 683.18 -8.32 785 6477.60 roll -0.64 - - 2004.62 - 0.71 0.057 3251.25 -917.9 -87.59 - - 3425.28 - - - - - - - - - 15.93 -
6792.77 707.89 -7.50 804 6797.62 roll -0.64 - - 2000.56 - 0.80 0.110 3902.69 814.3 -87.59 - - 3424.91 - - - - - - - - - 15.67 -
6847.04 712.07 -7.65 815 6852.96 roll -0.64 - - 2001.00 - 0.71 0.057 3252.12 -916.3 -87.59 - - 3424.84 - - - - - - - - - 15.93 -
7172.79 735.83 -7.45 832 7177.64 roll -0.64 - - 1997.06 - 0.80 0.111 3902.69 813.2 -87.59 - - 3423.84 - - - - - - - - - 15.65 -
7287.07 744.99 -8.11 855 7293.00 roll -0.64 - - 1996.94 - 0.71 0.057 3251.81 -916.7 -87.59 - - 3422.88 - - - - - - - - - 15.92 -
7612.83 770.31 -7.97 872 7614.62 no move -0.64 - - 1997.31 - - - 3252.31 - -87.59 - - 3390.03 - - - - - - - - - - -
7932.85 797.75 -8.77 888 7937.72 roll -0.64 - - 1994.00 - 0.80 0.110 3902.88 813.2 -87.59 - - 3420.81 - - - - - - - - - 15.65 -
8142.14 818.42 -10.19 930 8147.32 roll -0.64 - - 1993.44 - 0.71 0.057 3252.12 -916.6 -87.59 - - 3422.00 - - - - - - - - - 15.91 -
8452.89 848.43 -9.75 947 8454.68 no move -0.64 - - 1993.12 - - - 3250.88 - -87.59 - - 3388.88 - - - - - - - - - - -
8772.91 878.60 -8.93 963 8777.75 roll -0.64 - - 1988.06 - 0.80 0.110 3902.56 814.6 -87.59 - - 3380.12 - - - - - - - - - 15.63 -
8872.92 887.86 -9.31 983 8877.77 roll -0.64 - - 1989.06 - 0.71 0.057 3252.31 -915.8 -87.59 - - 3420.12 - - - - - - - - - 15.91 -
9192.93 915.40 -8.46 1002 9194.92 pitch -0.64 0.10 0.338 2022.94 338.8 - - 3250.88 - -87.59 - - 3417.81 - - - - - - - - 15.05 - -
9512.95 937.42 -6.76 1018 9517.80 roll -0.64 - - 2019.12 - 0.80 0.111 3903.25 815.5 -87.59 - - 3419.31 - - - - - - - - - 15.60 -
9587.23 942.99 -7.43 1033 9593.15 roll -0.64 - - 2019.19 - 0.71 0.057 3249.38 -920.9 -87.59 - - 3418.16 - - - - - - - - - 15.89 -
9912.98 966.35 -7.28 1050 9914.77 no move -0.64 - - 2018.50 - - - 3249.25 - -87.59 - - 3386.78 - - - - - - - - - - -
10233 end dive: TARGET_DEPTH_EXCEEDED
10233 begin apogee
10234.87 990.01 -7.44 1066 10317.51 -0.17 0.41 0.273 2174.69 381.0 0.09 0.218 3022.00 -2525.0 - 52.08 2.162 3074.81 -6.0 0.480 - - - - - - 14.90 15.11 10.40
10320 end apogee: CONTROL_FINISHED_OK
10320 begin climb
10321.17 991.70 - 1070 10411.45 0.64 0.61 0.199 2443.69 441.0 1.75 0.041 1538.75 -847.6 87.59 55.88 2.137 2716.25 -6.4 0.521 - - - - - - 15.21 14.89 12.89
10458.78 981.57 9.55 1097 10466.01 roll 0.64 - - 2444.88 - 1.86 0.087 3021.25 797.0 87.59 - - 2715.62 - - - - - - - - - 15.28 -
10784.56 942.48 12.25 1114 10790.15 roll 0.64 - - 2454.31 - 1.66 0.036 1536.44 -894.5 87.59 - - 2710.84 - - - - - - - - - 15.72 -
10844.56 935.80 10.88 1126 10850.31 roll 0.64 - - 2454.88 - 1.81 0.088 3021.44 820.4 87.59 - - 2713.62 - - - - - - - - - 15.60 -
11164.60 895.71 12.45 1145 11170.19 roll 0.64 - - 2465.56 - 1.65 0.036 1533.75 -901.6 87.59 - - 2708.69 - - - - - - - - - 15.81 -
11213.90 890.05 11.18 1155 11220.61 roll back 0.64 0.14 0.349 2422.00 -311.1 1.80 0.088 3027.88 830.1 87.59 - - 2710.31 - - - - - - - - 15.16 15.69 -
11524.63 857.13 10.33 1172 11530.22 done 0.64 - - 2429.69 - 1.64 0.035 1528.00 -914.6 87.59 - - 2707.19 - - - - - - - - - 15.86 -
11564.63 853.37 9.41 1180 11570.34 done 0.64 - - 2431.00 - 1.80 0.086 3024.69 831.5 87.59 - - 2707.78 - - - - - - - - - 15.66 -
11884.65 820.20 10.38 1199 11890.25 done 0.64 - - 2437.00 - 1.64 0.035 1529.81 -911.5 87.59 - - 2709.34 - - - - - - - - - 15.89 -
11944.66 814.66 9.13 1211 11950.33 done 0.64 - - 2438.44 - 1.79 0.085 3022.75 834.0 87.59 - - 2710.81 - - - - - - - - - 15.67 -
12264.67 780.93 10.58 1230 12270.27 done 0.64 - - 2446.06 - 1.64 0.035 1525.00 -913.3 87.59 - - 2707.28 - - - - - - - - - 15.90 -
12284.68 778.98 10.42 1234 12290.44 done 0.64 - - 2446.38 - 1.80 0.086 3021.06 831.1 87.59 - - 2691.72 - - - - - - - - - 15.63 -
12604.69 742.72 11.67 1253 12610.28 done 0.64 - - 2455.88 - 1.64 0.035 1524.38 -912.6 87.59 - - 2708.88 - - - - - - - - - 15.91 -
12633.97 739.46 11.54 1259 12640.47 done 0.64 - - 2457.88 - 1.80 0.087 3023.69 832.9 87.59 - - 2705.16 - - - - - - - - - 15.71 -
12944.71 702.05 12.22 1276 12950.31 done 0.64 - - 2466.94 - 1.65 0.036 1523.75 -909.1 87.59 - - 2649.28 - - - - - - - - - 15.93 -
12964.72 699.77 12.14 1280 12970.73 0.64 0.14 0.348 2421.62 -323.7 1.80 0.087 3025.31 834.2 87.59 - - 2690.53 - - - - - - - - 14.98 15.58 -
13284.78 667.32 9.97 1299 13290.33 done 0.64 - - 2428.94 - 1.64 0.034 1520.31 -917.7 87.59 - - 2708.88 - - - - - - - - - 15.92 -
13329.01 663.29 8.84 1308 13335.42 done 0.64 - - 2430.69 - 1.80 0.084 3023.31 835.0 87.59 - - 2705.25 - - - - - - - - - 15.72 -
13644.77 632.76 9.64 1326 13650.53 done 0.64 - - 2437.38 - 1.64 0.034 1520.06 -916.6 87.59 - - 2708.19 - - - - - - - - - 15.94 -
13674.03 630.17 9.16 1332 13680.51 done 0.64 - - 2439.75 - 1.80 0.084 3022.75 834.8 87.59 - - 2706.53 - - - - - - - - - 15.71 -
13984.79 598.47 10.25 1349 13990.37 done 0.64 - - 2448.12 - 1.64 0.035 1524.19 -913.8 87.59 - - 2706.75 - - - - - - - - - 15.93 -
14059.06 591.56 9.06 1364 14066.29 done 0.64 - - 2448.88 - 1.80 0.084 3024.44 833.5 87.59 - - 2708.81 - - - - - - - - - 15.70 -
14384.81 556.62 10.89 1381 14390.43 done 0.64 - - 2458.75 - 1.64 0.034 1521.88 -916.2 87.59 - - 2706.44 - - - - - - - - - 15.95 -
14404.82 554.59 10.76 1385 14410.86 0.64 0.12 0.350 2423.12 -296.9 1.81 0.085 3029.00 832.7 87.59 - - 2706.38 - - - - - - - - 14.90 15.52 -
14724.83 524.61 9.03 1404 14730.42 done 0.64 - - 2431.19 - 1.65 0.034 1524.94 -911.6 87.59 - - 2705.84 - - - - - - - - - 15.93 -
14764.84 521.30 8.70 1412 14770.51 done 0.64 - - 2432.31 - 1.80 0.082 3023.56 832.6 87.59 - - 2706.03 - - - - - - - - - 15.53 -
15084.86 490.33 9.78 1431 15090.48 done 0.64 - - 2439.81 - 1.64 0.033 1512.88 -921.1 87.59 - - 2707.47 - - - - - - - - - 15.93 -
15119.13 487.24 9.54 1438 15126.36 done 0.64 - - 2441.62 - 1.81 0.083 3021.00 833.2 87.59 - - 2705.97 - - - - - - - - - 15.69 -
15444.89 456.29 9.39 1455 15450.47 done 0.64 - - 2446.75 - 1.64 0.033 1521.44 -914.4 87.59 - - 2707.47 - - - - - - - - - 15.93 -
15489.15 452.44 8.55 1464 15495.58 done 0.64 - - 2449.94 - 1.80 0.083 3021.69 833.5 87.59 - - 2704.56 - - - - - - - - - 15.69 -
15804.91 421.35 10.08 1482 15810.50 done 0.64 - - 2457.94 - 1.64 0.033 1520.31 -915.5 87.59 - - 2708.12 - - - - - - - - - 15.88 -
15839.17 417.99 10.18 1489 15846.40 done 0.64 - - 2459.44 - 1.80 0.083 3024.62 835.7 87.59 - - 2708.75 - - - - - - - - - 15.68 -
16164.92 381.37 11.33 1506 16170.51 done 0.64 - - 2469.75 - 1.64 0.033 1514.69 -920.7 87.59 - - 2706.25 - - - - - - - - - 15.84 -
16194.19 378.30 10.79 1512 16200.94 0.64 0.15 0.341 2421.62 -320.9 1.82 0.084 3028.50 831.8 87.59 - - 2705.00 - - - - - - - - 14.90 15.66 -
16504.95 350.24 8.60 1529 16506.78 VBD 0.64 - - 2420.75 - - - 3027.81 - 87.59 - - 2687.91 - - - - - - - - - - -
16825.04 325.24 7.66 1545 16830.55 done 0.65 - - 2429.19 - 1.64 0.033 1511.31 -924.7 87.59 - - 2707.19 - - - - - - - - - 15.82 -
16859.31 322.79 7.51 1552 16866.45 done 0.66 - - 2430.44 - 1.82 0.082 3024.38 831.4 87.59 - - 2706.66 - - - - - - - - - 15.67 -
17184.98 296.76 8.06 1569 17190.57 done 0.66 - - 2434.44 - 1.64 0.033 1526.81 -913.2 87.59 - - 2707.34 - - - - - - - - - 15.79 -
17254.33 291.79 7.00 1583 17260.66 done 0.69 - - 2434.88 - 1.79 0.081 3025.62 837.3 87.59 - - 2653.28 - - - - - - - - - 15.67 -
17565.09 267.51 7.65 1600 17570.61 done 0.70 - - 2442.69 - 1.64 0.032 1508.12 -925.3 87.59 - - 2706.75 - - - - - - - - - 15.80 -
17629.36 262.93 7.07 1613 17635.77 done 0.73 - - 2444.00 - 1.82 0.082 3021.62 831.6 87.59 - - 2708.34 - - - - - - - - - 15.67 -
17940.06 237.49 8.39 1651 17945.88 done 0.73 - - 2443.88 - 1.04 0.097 3904.75 849.2 87.59 - - 2705.00 - - - - - - - - - 15.65 -
17990.07 232.71 9.68 1661 17995.90 done 0.73 - - 2449.56 - 1.04 0.037 2885.75 -979.8 87.59 - - 2705.56 - - - - - - - - - 15.92 -
18300.28 207.60 7.37 1723 18306.12 done 0.74 - - 2458.62 - 1.46 0.031 1506.81 -944.5 87.59 - - 2689.66 - - - - - - - - - 15.82 -
18320.37 206.29 6.94 1727 18326.70 done 0.77 - - 2460.25 - 1.82 0.081 3026.38 834.9 87.59 - - 2706.97 - - - - - - - - - 15.53 -
18630.41 184.39 6.68 1789 18636.21 done 0.80 - - 2460.06 - 1.04 0.097 3905.69 845.5 87.59 - - 2707.34 - - - - - - - - - 15.65 -
18665.33 181.46 8.06 1796 18671.15 done 0.80 - - 2466.75 - 1.04 0.036 2897.12 -969.8 87.59 - - 2701.91 - - - - - - - - - 15.93 -
18975.21 156.11 8.89 1858 18979.37 VBD 0.80 - - 2466.69 - - - 2897.81 - 87.59 - - 2689.09 - - - - - - - - - - -
19280.31 130.34 8.20 1919 19286.47 done 0.80 - - 2476.50 - 1.48 0.031 1501.62 -943.4 87.59 - - 2705.47 - - - - - - - - - 15.81 -
19340.65 126.41 6.49 1931 19347.09 done 0.84 - - 2476.31 - 1.82 0.080 3022.00 835.4 87.59 - - 2709.06 - - - - - - - - - 15.50 -
19650.75 105.33 6.81 1993 19654.90 VBD 0.86 - - 2477.12 - - - 3022.50 - 87.59 - - 2689.34 - - - - - - - - - - -
19955.82 85.62 5.83 2054 19962.33 0.91 0.08 0.107 2542.50 817.3 1.64 0.031 1497.31 -930.0 87.59 - - 2706.72 - - - - - - - - 15.85 15.69 -
20005.58 82.27 6.70 2064 20012.23 done 0.94 - - 2544.06 - 1.82 0.078 3025.50 839.7 87.59 - - 2705.62 - - - - - - - - - 15.57 -
20195.85 72.15 3.42 2102 20261.53 0.87 0.14 0.366 2497.25 -334.4 1.03 0.097 3905.50 854.4 163.92 40.89 1.052 2402.62 -7.4 0.089 - - - - - - 14.86 15.45 11.76
20409.63 53.57 9.62 2144 20415.46 roll 0.87 - - 2501.06 - 1.05 0.036 2891.12 -966.1 163.92 - - 2402.00 - - - - - - - - - 15.76 -
20599.54 38.30 7.14 2182 20605.66 roll 0.90 - - 2501.31 - 1.23 0.093 3907.62 826.4 163.92 - - 2400.28 - - - - - - - - - 15.64 -
20704.74 29.65 8.62 2203 20710.53 roll 0.90 - - 2505.62 - 1.04 0.036 2868.06 -999.6 163.92 - - 2401.38 - - - - - - - - - 15.81 -
20894.88 16.66 6.76 2241 20900.85 roll 0.92 - - 2506.06 - 1.25 0.093 3906.38 830.7 163.92 - - 2400.31 - - - - - - - - - 15.65 -
20984.80 9.04 8.79 2259 20990.67 roll 0.92 - - 2505.69 - 1.04 0.035 2859.00 -1007.1 163.92 - - 2400.22 - - - - - - - - - 15.84 -
21095 end climb: SURFACE_DEPTH_REACHED
21095 begin surface coast
21135 end surface coast: CONTROL_FINISHED_OK
21135 begin surface
SM 0.99 - - - - 172.1 293.14 0.794 1036.5 3.5 4.75 0.108 1055.1 222.1 - 0.55 0.102 1018.0 1849.0 -1.834 - - 12.75 15.41 15.70 -