SMODE Apr23 * SG180 * Dive index * Mission links * Dive 96 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 122.71 of 350.00 AH used of 24V (64.94% remains)
• Surface angle -66.6 deg, depth 0.97 m • Intended pitch -21.6 deg, speed -8.250 cm/s
VBD pumped to 503.56 (beyond SM_CC=500)
• GPS1 time: 18 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
17.32 - - - 122.90 VBD -0.64 - - 168.75 - - - 3220.00 - -87.59 74.62 0.005 3229.69 - - - - - - - - - - 15.08
123.33 3.06 -2.17 20 148.67 -0.64 7.77 0.474 2017.25 237.9 0.82 0.103 3906.06 836.7 -87.59 3.78 0.010 3429.41 52.8 -2.829 - - - - - - 14.91 15.17 15.32
341.46 42.17 -16.81 63 347.77 roll -0.64 - - 2017.25 - 0.71 0.051 3245.19 -930.8 -87.59 - - 3430.97 - - - - - - - - - 15.67 -
531.54 68.73 -12.71 101 537.84 roll -0.64 - - 2015.38 - 0.81 0.105 3905.56 815.3 -87.59 - - 3431.91 - - - - - - - - - 15.61 -
701.60 87.82 -10.54 135 707.83 roll -0.64 - - 2015.81 - 0.71 0.052 3245.88 -929.1 -87.59 - - 3431.88 - - - - - - - - - 15.73 -
891.69 108.56 -10.55 173 896.99 no move -0.64 - - 2015.31 - - - 3245.50 - -87.59 - - 3432.47 - - - - - - - - - - -
1201.74 144.87 -11.13 235 1208.00 roll -0.64 - - 2012.25 - 0.80 0.107 3904.81 824.1 -87.59 - - 3431.66 - - - - - - - - - 15.63 -
1261.99 151.57 -11.27 247 1268.01 roll -0.64 - - 2012.25 - 0.71 0.053 3245.12 -929.1 -87.59 - - 3431.44 - - - - - - - - - 15.75 -
1571.79 182.16 -10.50 309 1578.05 roll -0.64 - - 2008.44 - 0.80 0.105 3903.50 823.0 -87.59 - - 3432.31 - - - - - - - - - 15.62 -
1806.82 209.79 -12.34 356 1812.64 roll -0.64 - - 2007.25 - 0.71 0.053 3244.81 -927.7 -87.59 - - 3432.47 - - - - - - - - - 15.85 -
2117.11 245.23 -11.44 418 2121.02 no move -0.64 - - 2008.62 - - - 3244.75 - -87.59 - - 3431.78 - - - - - - - - - - -
2421.87 277.21 -9.91 440 2426.95 roll -0.64 - - 2003.50 - 0.80 0.107 3903.31 823.2 -87.59 - - 3413.19 - - - - - - - - - 15.72 -
2481.92 283.09 -9.93 452 2486.97 roll -0.64 - - 2004.62 - 0.70 0.054 3249.94 -933.4 -87.59 - - 3431.41 - - - - - - - - - 15.89 -
2801.92 316.62 -11.32 471 2806.99 roll -0.64 - - 2001.50 - 0.79 0.107 3903.19 826.9 -87.59 - - 3431.88 - - - - - - - - - 15.73 -
2936.47 333.73 -12.63 498 2942.38 roll -0.64 - - 2001.69 - 0.70 0.054 3248.94 -934.6 -87.59 - - 3430.94 - - - - - - - - - 15.91 -
3262.22 374.89 -12.71 515 3264.01 no move -0.64 - - 2001.81 - - - 3248.38 - -87.59 - - 3430.59 - - - - - - - - - - -
3582.24 412.63 -11.35 531 3587.09 roll -0.64 - - 1998.62 - 0.79 0.107 3902.94 828.6 -87.59 - - 3430.53 - - - - - - - - - 15.73 -
3631.52 418.48 -11.91 541 3636.70 roll -0.64 - - 1998.62 - 0.70 0.055 3250.50 -932.1 -87.59 - - 3429.56 - - - - - - - - - 15.94 -
3942.05 449.09 -9.58 558 3947.16 roll -0.64 - - 1993.94 - 0.79 0.107 3903.56 826.7 -87.59 - - 3429.38 - - - - - - - - - 15.73 -
4056.59 460.97 -10.46 581 4062.50 roll -0.64 - - 1993.38 - 0.71 0.055 3246.62 -925.3 -87.59 - - 3429.16 - - - - - - - - - 15.94 -
4382.11 493.40 -10.18 598 4383.90 no move -0.64 - - 1993.38 - - - 3246.50 - -87.59 - - 3428.22 - - - - - - - - - - -
4702.14 526.08 -10.40 614 4707.22 roll -0.64 - - 1989.44 - 0.80 0.107 3904.62 822.6 -87.59 - - 3427.34 - - - - - - - - - 15.72 -
4771.67 533.97 -11.25 628 4776.85 roll -0.64 - - 1987.94 - 0.71 0.056 3249.44 -922.8 -87.59 - - 3427.81 - - - - - - - - - 15.94 -
5082.18 567.84 -11.02 645 5084.16 pitch -0.64 0.10 0.337 2023.19 352.5 - - 3249.06 - -87.59 - - 3425.62 - - - - - - - - 15.17 - -
5402.45 597.39 -9.07 661 5407.95 roll -0.64 - - 2023.56 - 1.55 0.044 1802.50 -933.3 -87.59 - - 3426.44 - - - - - - - - - 15.95 -
5436.81 600.35 -9.05 668 5443.71 roll -0.64 - - 2022.44 - 1.86 0.100 3320.19 816.0 -87.59 - - 3427.69 - - - - - - - - - 15.68 -
5762.39 629.81 -8.93 685 5768.08 roll -0.64 - - 2022.19 - 1.65 0.045 1808.38 -916.2 -87.59 - - 3425.41 - - - - - - - - - 15.94 -
5796.76 632.86 -8.85 692 5803.77 roll -0.64 - - 2022.00 - 1.86 0.102 3320.44 812.9 -87.59 - - 3426.53 - - - - - - - - - 15.66 -
6122.52 660.15 -7.92 709 6124.31 no move -0.64 - - 2022.12 - - - 3321.50 - -87.59 - - 3424.28 - - - - - - - - - - -
6442.55 684.17 -7.40 725 6444.34 no move -0.64 - - 2022.38 - - - 3321.56 - -87.59 - - 3422.53 - - - - - - - - - - -
6762.59 708.53 -7.66 741 6768.17 roll -0.64 - - 2022.19 - 1.66 0.046 1807.19 -912.3 -87.59 - - 3423.25 - - - - - - - - - 15.93 -
6806.86 711.76 -7.51 750 6813.37 roll -0.64 - - 2021.44 - 1.86 0.101 3317.81 812.2 -87.59 - - 3424.03 - - - - - - - - - 15.65 -
7122.62 736.88 -8.24 768 7126.71 roll -0.64 - - 2016.56 - 0.69 0.116 3898.75 841.9 -87.59 - - 3394.03 - - - - - - - - - 15.65 -
7176.89 741.71 -8.89 779 7182.57 roll -0.64 - - 2017.56 - 0.71 0.062 3255.06 -906.6 -87.59 - - 3422.25 - - - - - - - - - 15.90 -
7502.66 768.61 -8.04 796 7508.16 roll -0.64 - - 2018.56 - 1.57 0.045 1799.75 -926.9 -87.59 - - 3421.84 - - - - - - - - - 15.93 -
7542.43 771.73 -8.00 804 7548.42 roll -0.64 - - 2017.88 - 1.87 0.102 3319.88 812.9 -87.59 - - 3421.59 - - - - - - - - - 15.61 -
7862.69 797.52 -8.00 823 7868.28 roll -0.64 - - 2017.88 - 1.66 0.046 1802.50 -914.1 -87.59 - - 3421.91 - - - - - - - - - 15.91 -
7902.70 800.63 -7.96 831 7908.45 roll -0.64 - - 2017.25 - 1.87 0.103 3316.88 809.8 -87.59 - - 3421.00 - - - - - - - - - 15.46 -
8222.72 827.72 -8.65 850 8226.82 roll -0.64 - - 2013.62 - 0.69 0.117 3900.38 845.7 -87.59 - - 3420.25 - - - - - - - - - 15.62 -
8287.00 833.73 -9.29 863 8292.18 roll -0.64 - - 2012.50 - 0.71 0.062 3255.94 -907.7 -87.59 - - 3420.56 - - - - - - - - - 15.89 -
8602.75 861.55 -8.78 881 8607.63 roll -0.64 - - 2010.06 - 0.80 0.114 3903.06 808.9 -87.59 - - 3371.00 - - - - - - - - - 15.61 -
8652.02 866.13 -9.17 891 8657.20 roll -0.64 - - 2012.00 - 0.71 0.062 3253.56 -914.8 -87.59 - - 3419.03 - - - - - - - - - 15.89 -
8962.78 891.67 -8.11 908 8968.27 roll -0.64 - - 2011.50 - 1.57 0.046 1801.25 -925.0 -87.59 - - 3419.47 - - - - - - - - - 15.91 -
9012.08 895.39 -7.42 918 9018.54 roll -0.64 - - 2011.31 - 1.88 0.103 3318.81 807.2 -87.59 - - 3418.41 - - - - - - - - - 15.59 -
9322.80 918.43 -7.24 935 9324.59 no move -0.64 - - 2010.50 - - - 3318.88 - -87.59 - - 3418.28 - - - - - - - - - - -
9642.82 940.02 -6.58 951 9644.61 no move -0.64 - - 2010.56 - - - 3319.25 - -87.59 - - 3417.94 - - - - - - - - - - -
9962.83 962.05 -7.07 967 9968.41 roll -0.64 - - 2011.00 - 1.66 0.046 1804.94 -912.2 -87.59 - - 3417.59 - - - - - - - - - 15.82 -
10022.61 966.11 -6.70 979 10028.61 roll -0.64 - - 2010.62 - 1.88 0.103 3319.81 805.8 -87.59 - - 3417.81 - - - - - - - - - 15.40 -
10342.86 989.46 -7.34 998 10344.65 no move -0.64 - - 2010.81 - - - 3320.00 - -87.59 - - 3417.22 - - - - - - - - - - -
10363 end dive: TARGET_DEPTH_EXCEEDED
10363 begin apogee
10364.74 990.92 -7.35 999 10447.92 -0.17 0.44 0.282 2175.00 373.2 0.09 0.219 3020.81 -3324.3 - 52.30 2.168 3073.97 -6.6 0.525 - - - - - - 14.87 15.12 10.26
10450 end apogee: CONTROL_FINISHED_OK
10450 begin climb
10451.59 992.34 - 1003 10542.94 0.64 0.61 0.203 2443.25 439.8 1.74 0.039 1528.62 -857.6 87.59 56.19 2.143 2714.34 -6.4 0.519 - - - - - - 15.21 14.89 12.90
10555.25 985.09 9.24 1023 10561.74 roll 0.64 - - 2443.38 - 1.88 0.087 3019.38 793.0 87.59 - - 2714.88 - - - - - - - - - 15.11 -
10870.77 947.60 11.79 1041 10876.58 roll 0.64 - - 2450.81 - 1.66 0.035 1532.62 -895.6 87.59 - - 2711.41 - - - - - - - - - 15.69 -
10900.26 944.33 11.58 1047 10906.79 roll 0.64 - - 2452.25 - 1.82 0.088 3024.06 819.5 87.59 - - 2710.84 - - - - - - - - - 15.61 -
11210.79 907.32 11.98 1064 11216.59 roll 0.64 - - 2460.81 - 1.66 0.036 1534.06 -897.6 87.59 - - 2645.06 - - - - - - - - - 15.80 -
11271.02 901.01 10.13 1076 11277.05 roll back 0.64 0.12 0.332 2420.19 -338.5 1.80 0.088 3028.19 830.1 87.59 - - 2710.22 - - - - - - - - 15.17 15.63 -
11590.80 869.70 9.74 1095 11596.62 done 0.64 - - 2429.00 - 1.64 0.035 1527.75 -914.9 87.59 - - 2708.91 - - - - - - - - - 15.85 -
11620.31 867.04 9.66 1101 11626.71 done 0.64 - - 2430.75 - 1.80 0.086 3024.88 831.7 87.59 - - 2708.34 - - - - - - - - - 15.71 -
11930.82 836.80 9.59 1118 11936.66 done 0.64 - - 2433.69 - 1.64 0.035 1526.44 -913.7 87.59 - - 2648.91 - - - - - - - - - 15.88 -
11960.31 834.30 9.21 1124 11966.72 done 0.64 - - 2435.38 - 1.79 0.085 3022.50 835.8 87.59 - - 2708.50 - - - - - - - - - 15.72 -
12271.07 805.54 9.27 1141 12272.86 VBD 0.64 - - 2436.38 - - - 3022.50 - 87.59 - - 2706.84 - - - - - - - - - - -
12591.08 775.92 9.47 1157 12596.67 done 0.64 - - 2444.38 - 1.63 0.035 1532.00 -914.4 87.59 - - 2708.41 - - - - - - - - - 15.91 -
12651.09 770.63 8.79 1169 12656.78 done 0.64 - - 2445.56 - 1.79 0.086 3022.75 832.8 87.59 - - 2706.44 - - - - - - - - - 15.67 -
12971.11 734.33 12.19 1188 12976.71 done 0.64 - - 2454.38 - 1.63 0.033 1526.12 -918.2 87.59 - - 2707.12 - - - - - - - - - 15.92 -
13015.38 729.11 11.47 1197 13021.82 done 0.64 - - 2455.88 - 1.80 0.087 3021.81 830.9 87.59 - - 2707.34 - - - - - - - - - 15.65 -
13331.12 687.18 13.71 1215 13336.71 done 0.64 - - 2465.81 - 1.63 0.034 1525.12 -918.2 87.59 - - 2707.00 - - - - - - - - - 15.92 -
13360.40 683.37 12.68 1221 13367.07 0.64 0.14 0.333 2422.06 -312.5 1.80 0.087 3024.81 833.2 87.59 - - 2706.31 - - - - - - - - 15.04 15.71 -
13670.93 648.31 11.03 1238 13676.77 done 0.64 - - 2429.50 - 1.63 0.034 1520.00 -923.2 87.59 - - 2707.19 - - - - - - - - - 15.94 -
13700.43 645.35 10.84 1244 13706.84 done 0.64 - - 2431.38 - 1.80 0.084 3022.88 834.9 87.59 - - 2705.44 - - - - - - - - - 15.73 -
14011.21 613.71 9.71 1261 14016.79 done 0.64 - - 2439.38 - 1.63 0.034 1517.06 -923.8 87.59 - - 2706.75 - - - - - - - - - 15.93 -
14040.47 611.04 9.42 1267 14046.97 done 0.64 - - 2440.19 - 1.80 0.084 3023.38 836.8 87.59 - - 2707.91 - - - - - - - - - 15.71 -
14351.25 580.88 9.63 1284 14356.84 done 0.64 - - 2447.38 - 1.63 0.033 1524.31 -919.7 87.59 - - 2706.91 - - - - - - - - - 15.94 -
14395.52 577.08 8.42 1293 14401.93 done 0.64 - - 2448.50 - 1.79 0.084 3020.50 835.9 87.59 - - 2666.75 - - - - - - - - - 15.63 -
14711.30 545.75 10.34 1311 14716.92 done 0.64 - - 2460.62 - 1.63 0.032 1517.62 -922.0 87.59 - - 2705.88 - - - - - - - - - 15.94 -
14751.31 541.85 9.76 1319 14757.31 0.64 0.12 0.320 2421.88 -322.8 1.80 0.084 3024.44 837.1 87.59 - - 2707.66 - - - - - - - - 15.00 15.63 -
15071.34 510.76 9.77 1338 15076.43 done 0.64 - - 2420.62 - 1.03 0.098 3903.12 853.1 87.59 - - 2683.53 - - - - - - - - - 15.69 -
15115.62 505.97 10.77 1347 15121.05 done 0.64 - - 2426.25 - 1.03 0.038 2900.50 -973.4 87.59 - - 2705.03 - - - - - - - - - 15.94 -
15431.15 476.81 9.01 1365 15432.94 VBD 0.64 - - 2425.88 - - - 2899.75 - 87.59 - - 2704.84 - - - - - - - - - - -
15751.50 450.94 7.68 1381 15756.65 done 0.65 - - 2425.19 - 1.21 0.098 3904.69 830.5 87.59 - - 2704.38 - - - - - - - - - 15.67 -
15795.68 447.01 8.84 1390 15801.11 done 0.65 - - 2430.75 - 1.03 0.038 2881.00 -993.9 87.59 - - 2705.16 - - - - - - - - - 15.95 -
16111.46 422.93 7.82 1408 16113.25 VBD 0.65 - - 2431.00 - - - 2880.94 - 87.59 - - 2704.47 - - - - - - - - - - -
16431.24 396.18 8.64 1424 16433.04 VBD 0.65 - - 2430.94 - - - 2880.81 - 87.59 - - 2704.75 - - - - - - - - - - -
16751.27 368.19 8.81 1440 16756.79 done 0.65 - - 2430.25 - 1.24 0.097 3905.12 826.1 87.59 - - 2705.00 - - - - - - - - - 15.66 -
16785.77 364.79 9.10 1447 16791.94 done 0.65 - - 2433.44 - 1.04 0.038 2864.12 -1001.0 87.59 - - 2705.22 - - - - - - - - - 15.93 -
17111.31 338.00 7.98 1464 17116.96 done 0.65 - - 2442.94 - 1.43 0.031 1505.00 -950.4 87.59 - - 2704.62 - - - - - - - - - 15.95 -
17131.54 336.46 7.96 1468 17137.29 done 0.65 - - 2443.81 - 1.81 0.081 3021.88 838.1 87.59 - - 2704.50 - - - - - - - - - 15.62 -
17451.57 309.52 8.40 1487 17457.14 done 0.65 - - 2448.50 - 1.63 0.032 1514.75 -924.6 87.59 - - 2673.84 - - - - - - - - - 15.93 -
17495.92 306.07 7.67 1496 17502.37 done 0.66 - - 2450.50 - 1.80 0.081 3022.44 837.6 87.59 - - 2705.78 - - - - - - - - - 15.59 -
17811.62 277.79 9.13 1514 17813.41 VBD 0.66 - - 2450.62 - - - 3022.31 - 87.59 - - 2705.03 - - - - - - - - - - -
18116.65 248.57 10.07 1530 18122.46 done 0.66 - - 2451.12 - 1.04 0.096 3902.88 846.7 87.59 - - 2705.78 - - - - - - - - - 15.57 -
18256.70 232.99 11.28 1558 18262.51 done 0.66 - - 2456.00 - 1.04 0.036 2896.94 -967.2 87.59 - - 2705.25 - - - - - - - - - 15.89 -
18566.88 206.41 7.94 1620 18573.12 done 0.66 - - 2465.88 - 1.48 0.031 1500.75 -943.4 87.59 - - 2705.69 - - - - - - - - - 15.92 -
18636.87 201.25 7.35 1634 18643.05 done 0.68 - - 2467.50 - 1.82 0.080 3027.06 838.6 87.59 - - 2705.75 - - - - - - - - - 15.62 -
18946.86 173.96 9.56 1696 18953.18 done 0.68 - - 2476.62 - 1.65 0.032 1513.69 -917.2 87.59 - - 2704.69 - - - - - - - - - 15.90 -
18986.88 170.54 8.66 1704 18993.61 0.68 0.13 0.343 2433.75 -329.8 1.81 0.081 3025.19 835.1 87.59 - - 2706.69 - - - - - - - - 14.83 15.60 -
19297.01 147.34 7.07 1766 19301.17 VBD 0.70 - - 2435.31 - - - 3025.44 - 87.59 - - 2706.06 - - - - - - - - - - -
19602.07 128.21 6.04 1827 19608.08 done 0.75 - - 2435.44 - 1.64 0.032 1515.06 -921.0 87.59 - - 2706.81 - - - - - - - - - 15.89 -
19627.08 126.95 5.65 1832 19633.66 0.80 0.09 0.095 2506.50 789.6 1.81 0.080 3025.38 834.4 87.59 - - 2707.50 - - - - - - - - 15.46 15.59 -
19937.05 97.04 11.06 1894 19942.87 done 0.80 - - 2506.75 - 1.04 0.094 3905.69 846.5 87.59 - - 2706.34 - - - - - - - - - 15.56 -
19992.07 90.46 11.84 1905 19997.94 done 0.80 - - 2514.12 - 1.04 0.036 2889.25 -977.3 87.59 - - 2707.44 - - - - - - - - - 15.84 -
20182.10 72.11 8.62 1943 20188.27 0.80 0.12 0.344 2482.62 -262.5 1.47 0.031 1483.38 -956.4 87.59 - - 2704.97 - - - - - - - - 14.94 15.16 -
20232.18 69.02 6.34 1953 20238.37 done 0.84 - - 2483.75 - 1.83 0.077 3025.31 842.6 87.59 - - 2707.12 - - - - - - - - - 15.61 -
20422.24 60.79 3.37 1991 20487.62 done 0.76 - - 2483.81 - 1.04 0.098 3904.81 845.7 164.70 41.31 1.040 2399.97 -7.4 0.076 - - - - - - - 15.45 11.56
20595.70 47.91 8.99 2025 20601.68 roll 0.76 - - 2488.00 - 1.04 0.036 2869.25 -995.7 164.70 - - 2399.06 - - - - - - - - - 15.73 -
20785.53 31.71 9.54 2063 20791.75 roll 0.76 - - 2488.06 - 1.25 0.094 3903.38 827.3 164.70 - - 2398.12 - - - - - - - - - 15.62 -
20800.76 30.22 9.64 2066 20806.59 roll 0.76 - - 2489.69 - 1.04 0.034 2867.69 -995.9 164.70 - - 2398.88 - - - - - - - - - 15.79 -
20990.67 15.24 7.16 2104 20996.75 roll 0.79 - - 2490.88 - 1.45 0.030 1515.81 -932.3 164.70 - - 2398.41 - - - - - - - - - 15.75 -
21025.94 12.90 6.91 2111 21032.30 roll 0.81 - - 2491.62 - 1.80 0.078 3025.00 838.4 164.70 - - 2398.28 - - - - - - - - - 15.54 -
21186 end climb: SURFACE_DEPTH_REACHED
21186 begin surface coast
21226 end surface coast: CONTROL_FINISHED_OK
21226 begin surface
SM 0.91 - - - - 168.6 206.30 0.877 1022.2 5.0 4.81 0.120 1018.7 211.8 - 0.35 0.105 1025.6 2925.1 -2.591 - - 12.72 15.36 15.69 -