SMODE Apr23 * SG180 * Dive index * Mission links * Dive 218 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 153.00 of 350.00 AH used of 24V (56.28% remains)
• Surface angle -68.5 deg, depth 0.96 m • Intended pitch -20.9 deg, speed -8.000 cm/s
VBD pumped to 500.24 (SM_CC=500)
• GPS1 time: 31 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
16.65 - - - 127.19 VBD -0.62 - - 167.19 - - - 3200.88 - -87.59 78.29 0.005 3363.94 - - - - - - - - - - 14.95
127.63 3.95 -2.87 21 150.03 -0.62 8.02 0.480 2022.50 231.3 0.92 0.098 3909.12 769.8 -87.59 1.09 0.021 3429.25 59.9 -1.989 - - - - - - 14.88 15.05 15.16
337.49 51.35 -18.17 62 343.66 roll -0.62 - - 2022.75 - 0.72 0.051 3241.06 -927.9 -87.59 - - 3432.53 - - - - - - - - - 15.61 -
527.52 81.04 -14.01 100 533.76 roll -0.62 - - 2019.81 - 0.81 0.113 3899.69 813.1 -87.59 - - 3431.94 - - - - - - - - - 15.52 -
732.63 110.45 -12.79 141 738.87 roll -0.62 - - 2020.25 - 0.71 0.052 3242.31 -925.9 -87.59 - - 3432.16 - - - - - - - - - 15.74 -
1042.69 148.39 -11.92 203 1049.01 roll -0.62 - - 2015.44 - 0.81 0.112 3901.81 814.2 -87.59 - - 3431.91 - - - - - - - - - 15.62 -
1157.70 163.87 -12.96 226 1163.94 roll -0.62 - - 2014.88 - 0.71 0.054 3245.56 -924.3 -87.59 - - 3432.78 - - - - - - - - - 15.73 -
1467.73 201.32 -11.31 288 1473.18 roll -0.62 - - 2012.38 - 0.81 0.113 3899.69 807.6 -87.59 - - 3431.81 - - - - - - - - - 15.65 -
1562.75 212.89 -11.97 307 1568.14 roll -0.62 - - 2013.19 - 0.70 0.054 3246.06 -933.8 -87.59 - - 3431.72 - - - - - - - - - 15.82 -
1872.79 243.22 -9.24 369 1878.96 roll -0.62 - - 2012.75 - 1.54 0.038 1777.62 -953.5 -87.59 - - 3431.72 - - - - - - - - - 15.82 -
1892.78 244.95 -8.88 373 1899.19 roll -0.62 - - 2010.50 - 1.89 0.100 3321.50 816.9 -87.59 - - 3431.72 - - - - - - - - - 15.56 -
2212.80 276.70 -10.36 398 2214.55 no move -0.62 - - 2010.44 - - - 3321.50 - -87.59 - - 3431.75 - - - - - - - - - - -
2532.80 312.42 -11.50 414 2534.55 no move -0.62 - - 2010.75 - - - 3321.25 - -87.59 - - 3431.31 - - - - - - - - - - -
2852.82 350.36 -12.07 430 2855.21 roll -0.62 - - 2006.06 - 0.69 0.116 3903.25 843.5 -87.59 - - 3430.53 - - - - - - - - - 15.68 -
2942.52 361.85 -12.64 448 2947.88 roll -0.62 - - 2006.31 - 0.71 0.057 3248.69 -921.9 -87.59 - - 3430.28 - - - - - - - - - 15.86 -
3267.89 398.79 -11.00 465 3273.82 roll -0.62 - - 2006.75 - 1.55 0.039 1792.12 -939.7 -87.59 - - 3428.28 - - - - - - - - - 15.87 -
3312.57 403.42 -10.13 474 3319.07 roll -0.62 - - 2006.69 - 1.88 0.100 3320.00 812.7 -87.59 - - 3429.06 - - - - - - - - - 15.68 -
3627.93 434.97 -9.76 492 3630.41 roll -0.62 - - 2002.50 - 0.69 0.117 3902.12 843.7 -87.59 - - 3429.31 - - - - - - - - - 15.67 -
3677.67 440.16 -10.45 502 3683.12 roll -0.62 - - 2002.62 - 0.71 0.057 3251.00 -917.1 -87.59 - - 3428.25 - - - - - - - - - 15.86 -
4003.03 473.50 -10.45 519 4008.23 roll -0.62 - - 1999.25 - 0.81 0.116 3903.06 805.0 -87.59 - - 3426.88 - - - - - - - - - 15.65 -
4037.69 477.37 -11.06 526 4043.15 roll -0.62 - - 1998.31 - 0.71 0.057 3252.00 -917.0 -87.59 - - 3427.81 - - - - - - - - - 15.86 -
4363.05 511.45 -10.43 543 4364.84 no move -0.62 - - 1999.69 - - - 3251.81 - -87.59 - - 3426.03 - - - - - - - - - - -
4683.07 544.52 -10.39 559 4684.86 no move -0.62 - - 1999.38 - - - 3252.12 - -87.59 - - 3425.56 - - - - - - - - - - -
5003.08 576.87 -9.77 575 5004.87 no move -0.62 - - 1999.44 - - - 3251.81 - -87.59 - - 3424.78 - - - - - - - - - - -
5323.10 606.64 -9.26 591 5324.89 no move -0.62 - - 1999.06 - - - 3251.81 - -87.59 - - 3423.66 - - - - - - - - - - -
5643.12 635.50 -9.19 607 5644.91 no move -0.62 - - 1999.00 - - - 3251.69 - -87.59 - - 3423.12 - - - - - - - - - - -
5963.14 665.57 -9.67 623 5968.34 roll -0.62 - - 1994.81 - 0.81 0.116 3899.94 800.3 -87.59 - - 3422.69 - - - - - - - - - 15.62 -
6023.15 671.90 -10.76 635 6028.48 roll back -0.62 0.10 0.319 2030.38 355.7 0.71 0.058 3255.81 -907.2 -87.59 - - 3422.12 - - - - - - - - 15.16 15.80 -
6343.17 699.26 -8.63 654 6344.96 no move -0.62 - - 2029.94 - - - 3254.75 - -87.59 - - 3422.16 - - - - - - - - - - -
6663.19 726.75 -8.41 670 6668.39 roll -0.62 - - 2025.19 - 0.81 0.118 3902.25 799.4 -87.59 - - 3421.84 - - - - - - - - - 15.52 -
6707.87 730.72 -8.86 679 6712.99 roll -0.62 - - 2026.06 - 0.71 0.058 3250.31 -918.2 -87.59 - - 3420.34 - - - - - - - - - 15.86 -
7023.22 756.28 -7.81 697 7025.01 no move -0.62 - - 2026.19 - - - 3250.31 - -87.59 - - 3420.19 - - - - - - - - - - -
7343.23 779.75 -7.15 713 7345.02 no move -0.62 - - 2026.25 - - - 3250.69 - -87.59 - - 3419.69 - - - - - - - - - - -
7663.25 801.94 -6.98 729 7668.45 roll -0.62 - - 2021.56 - 0.81 0.117 3902.69 804.9 -87.59 - - 3419.91 - - - - - - - - - 15.58 -
7697.92 804.53 -7.01 736 7703.38 roll -0.62 - - 2020.88 - 0.71 0.059 3251.81 -916.7 -87.59 - - 3417.94 - - - - - - - - - 15.85 -
8023.27 827.72 -7.24 753 8025.06 no move -0.62 - - 2021.38 - - - 3251.00 - -87.59 - - 3418.22 - - - - - - - - - - -
8343.29 852.43 -7.91 769 8345.08 no move -0.62 - - 2021.44 - - - 3250.06 - -87.59 - - 3417.75 - - - - - - - - - - -
8663.31 878.42 -8.11 785 8665.09 no move -0.62 - - 2021.94 - - - 3250.12 - -87.59 - - 3417.69 - - - - - - - - - - -
8983.33 903.62 -7.74 801 8985.12 no move -0.62 - - 2021.62 - - - 3250.12 - -87.59 - - 3416.44 - - - - - - - - - - -
9303.34 927.17 -7.15 817 9305.13 no move -0.62 - - 2020.75 - - - 3249.69 - -87.59 - - 3416.22 - - - - - - - - - - -
9623.36 950.55 -7.39 833 9628.57 roll -0.62 - - 2017.25 - 0.81 0.117 3901.38 804.6 -87.59 - - 3415.56 - - - - - - - - - 15.54 -
9663.37 953.69 -7.62 841 9668.50 roll -0.62 - - 2017.44 - 0.71 0.059 3253.94 -911.9 -87.59 - - 3416.16 - - - - - - - - - 15.72 -
9763 end dive: TARGET_DEPTH_EXCEEDED
9763 begin apogee
9765.28 961.21 -7.47 849 9848.38 -0.17 0.41 0.271 2173.00 379.4 0.09 0.211 3020.19 -2597.2 - 52.67 2.125 3073.88 -6.5 0.519 - - - - - - 15.07 14.98 10.75
9851 end apogee: CONTROL_FINISHED_OK
9851 begin climb
9852.53 962.98 - 853 9944.16 0.62 0.60 0.200 2433.00 433.3 1.76 0.039 1531.12 -846.1 87.59 56.96 2.101 2715.78 -6.3 0.509 - - - - - - 15.10 14.66 12.81
9961.42 956.39 8.09 874 9968.00 roll 0.62 - - 2435.12 - 1.91 0.091 3017.62 778.3 87.59 - - 2714.56 - - - - - - - - - 14.72 -
10271.77 923.45 10.68 891 10277.77 roll 0.62 - - 2443.19 - 1.66 0.034 1530.00 -896.2 87.59 - - 2713.25 - - - - - - - - - 15.64 -
10316.45 919.01 9.83 900 10322.94 roll 0.62 - - 2444.38 - 1.83 0.093 3020.31 814.4 87.59 - - 2710.38 - - - - - - - - - 15.59 -
10631.81 884.20 11.11 918 10637.80 roll 0.62 - - 2453.06 - 1.65 0.035 1532.19 -901.9 87.59 - - 2712.56 - - - - - - - - - 15.76 -
10686.48 878.76 9.78 929 10693.57 roll back 0.62 0.12 0.340 2415.00 -317.2 1.82 0.092 3026.44 821.0 87.59 - - 2712.03 - - - - - - - - 15.14 15.64 -
11011.85 847.08 9.92 946 11017.84 done 0.62 - - 2422.81 - 1.67 0.035 1526.94 -897.9 87.59 - - 2709.06 - - - - - - - - - 15.00 -
11041.51 844.34 9.86 952 11048.03 done 0.62 - - 2424.25 - 1.83 0.091 3019.50 815.6 87.59 - - 2708.56 - - - - - - - - - 14.89 -
11351.87 812.48 10.37 969 11353.66 VBD 0.62 - - 2424.31 - - - 3019.38 - 87.59 - - 2707.41 - - - - - - - - - - -
11671.89 780.03 10.13 985 11677.88 done 0.62 - - 2430.94 - 1.66 0.034 1529.94 -897.3 87.59 - - 2708.06 - - - - - - - - - 14.96 -
11736.56 774.30 8.61 998 11743.06 done 0.62 - - 2432.19 - 1.81 0.090 3019.62 823.0 87.59 - - 2708.25 - - - - - - - - - 15.67 -
12052.00 743.08 9.78 1016 12057.91 done 0.62 - - 2438.94 - 1.64 0.034 1523.62 -912.2 87.59 - - 2706.69 - - - - - - - - - 15.83 -
12076.60 740.91 9.56 1021 12083.10 done 0.62 - - 2441.38 - 1.84 0.091 3021.94 814.3 87.59 - - 2706.22 - - - - - - - - - 14.78 -
12391.95 710.46 9.50 1039 12397.94 done 0.62 - - 2448.44 - 1.66 0.034 1532.81 -897.1 87.59 - - 2706.56 - - - - - - - - - 14.91 -
12421.62 707.78 9.51 1045 12428.12 done 0.62 - - 2449.81 - 1.83 0.091 3019.75 812.5 87.59 - - 2706.84 - - - - - - - - - 14.75 -
12731.98 677.42 9.88 1062 12737.99 done 0.62 - - 2458.56 - 1.64 0.033 1527.00 -910.2 87.59 - - 2707.25 - - - - - - - - - 15.85 -
12781.66 673.05 8.64 1072 12788.40 0.62 0.14 0.349 2413.62 -321.0 1.84 0.091 3022.94 813.0 87.59 - - 2707.03 - - - - - - - - 14.92 14.73 -
13092.01 647.60 8.16 1089 13097.38 done 0.62 - - 2414.38 - 1.05 0.105 3902.88 838.0 87.59 - - 2707.22 - - - - - - - - - 15.63 -
13152.03 641.81 9.83 1101 13157.42 done 0.62 - - 2419.94 - 1.04 0.039 2890.75 -973.2 87.59 - - 2705.59 - - - - - - - - - 15.84 -
13472.05 615.17 8.33 1120 13473.84 VBD 0.62 - - 2419.44 - - - 2890.44 - 87.59 - - 2705.03 - - - - - - - - - - -
13792.07 587.99 8.47 1136 13797.61 done 0.62 - - 2419.75 - 1.24 0.104 3902.94 816.5 87.59 - - 2706.19 - - - - - - - - - 15.61 -
13832.08 584.07 9.99 1144 13837.45 done 0.62 - - 2424.50 - 1.05 0.038 2869.69 -984.0 87.59 - - 2705.56 - - - - - - - - - 15.72 -
14152.10 556.78 8.60 1163 14157.64 done 0.62 - - 2425.00 - 1.27 0.104 3902.31 813.1 87.59 - - 2707.88 - - - - - - - - - 15.60 -
14186.76 553.26 10.06 1170 14192.47 done 0.62 - - 2431.19 - 1.04 0.039 2872.56 -990.1 87.59 - - 2706.22 - - - - - - - - - 15.84 -
14512.12 523.89 9.06 1187 14517.66 done 0.62 - - 2429.44 - 1.26 0.105 3900.88 816.1 87.59 - - 2705.00 - - - - - - - - - 15.59 -
14536.80 521.32 9.21 1192 14542.18 done 0.62 - - 2436.00 - 1.05 0.037 2868.88 -982.9 87.59 - - 2705.97 - - - - - - - - - 15.80 -
14852.15 492.21 9.33 1210 14853.94 VBD 0.62 - - 2435.50 - - - 2868.31 - 87.59 - - 2705.00 - - - - - - - - - - -
15172.17 463.86 8.66 1226 15177.72 done 0.62 - - 2435.88 - 1.27 0.105 3902.38 814.2 87.59 - - 2706.22 - - - - - - - - - 15.58 -
15221.83 458.81 10.29 1236 15227.21 done 0.62 - - 2443.31 - 1.04 0.038 2894.00 -969.6 87.59 - - 2705.88 - - - - - - - - - 15.85 -
15532.18 432.46 8.22 1253 15537.72 done 0.62 - - 2443.00 - 1.24 0.105 3900.81 811.9 87.59 - - 2707.38 - - - - - - - - - 15.58 -
15572.19 428.73 9.34 1261 15577.56 done 0.62 - - 2448.88 - 1.05 0.036 2865.00 -986.5 87.59 - - 2705.25 - - - - - - - - - 15.74 -
15892.31 401.16 8.91 1280 15894.10 VBD 0.62 - - 2449.31 - - - 2864.94 - 87.59 - - 2704.59 - - - - - - - - - - -
16212.23 373.06 8.54 1296 16217.77 done 0.62 - - 2449.31 - 1.27 0.104 3902.31 816.8 87.59 - - 2705.44 - - - - - - - - - 15.58 -
16256.91 368.58 10.13 1305 16262.28 done 0.62 - - 2456.50 - 1.04 0.037 2894.88 -968.7 87.59 - - 2706.00 - - - - - - - - - 15.86 -
16572.26 340.17 9.27 1323 16578.34 0.62 0.13 0.366 2423.12 -256.8 1.50 0.033 1511.69 -922.1 87.59 - - 2706.25 - - - - - - - - 14.92 15.19 -
16592.27 338.61 9.16 1327 16598.42 done 0.62 - - 2425.19 - 1.86 0.087 3020.06 811.0 87.59 - - 2705.91 - - - - - - - - - 14.61 -
16912.28 312.86 8.15 1346 16918.27 done 0.62 - - 2432.56 - 1.65 0.033 1514.81 -912.3 87.59 - - 2706.38 - - - - - - - - - 15.83 -
16941.95 310.63 7.94 1352 16948.46 done 0.62 - - 2433.25 - 1.83 0.087 3024.88 825.2 87.59 - - 2707.00 - - - - - - - - - 15.60 -
17252.29 285.60 8.09 1369 17258.31 done 0.62 - - 2441.44 - 1.67 0.032 1518.12 -902.3 87.59 - - 2704.41 - - - - - - - - - 14.75 -
17286.97 283.05 7.93 1376 17293.81 done 0.62 - - 2443.06 - 1.83 0.087 3024.56 823.2 87.59 - - 2705.75 - - - - - - - - - 15.60 -
17612.32 257.55 7.57 1393 17614.21 VBD 0.62 - - 2442.94 - - - 3025.00 - 87.59 - - 2705.16 - - - - - - - - - - -
17917.61 234.32 7.66 1436 17923.19 done 0.62 - - 2442.88 - 1.05 0.102 3904.44 837.6 87.59 - - 2706.56 - - - - - - - - - 15.59 -
17982.38 228.44 9.13 1449 17988.08 done 0.62 - - 2447.25 - 1.04 0.039 2894.19 -971.4 87.59 - - 2705.22 - - - - - - - - - 15.84 -
18292.69 205.16 7.52 1511 18298.61 done 0.62 - - 2458.50 - 1.48 0.031 1506.69 -937.5 87.59 - - 2706.34 - - - - - - - - - 15.83 -
18327.54 202.71 7.19 1518 18334.20 0.63 0.12 0.330 2420.00 -320.8 1.83 0.085 3027.06 830.8 87.59 - - 2706.28 - - - - - - - - 14.82 15.59 -
18637.57 183.01 6.48 1580 18643.29 done 0.66 - - 2418.75 - 1.05 0.102 3904.19 835.4 87.59 - - 2705.16 - - - - - - - - - 15.57 -
18712.75 177.33 7.62 1595 18718.36 done 0.66 - - 2421.69 - 1.04 0.039 2902.06 -963.6 87.59 - - 2706.41 - - - - - - - - - 15.81 -
19022.63 156.14 6.67 1657 19028.89 done 0.69 - - 2420.69 - 1.25 0.101 3904.25 801.8 87.59 - - 2706.84 - - - - - - - - - 14.55 -
19062.63 153.29 6.94 1665 19068.33 done 0.71 - - 2426.00 - 1.04 0.040 2913.69 -952.5 87.59 - - 2706.72 - - - - - - - - - 15.82 -
19372.67 135.13 5.84 1727 19379.00 0.75 0.09 0.109 2504.50 872.2 1.50 0.031 1496.12 -945.0 87.59 - - 2706.34 - - - - - - - - 15.74 15.64 -
19437.70 130.68 7.02 1740 19444.35 0.77 0.11 0.315 2466.62 -344.4 1.84 0.083 3024.50 830.6 87.59 - - 2708.81 - - - - - - - - 14.84 15.59 -
19747.72 108.05 7.24 1802 19753.97 done 0.79 - - 2476.62 - 1.63 0.030 1496.00 -937.7 87.59 - - 2707.19 - - - - - - - - - 15.81 -
19852.73 102.63 4.87 1823 19901.65 done 0.74 - - 2477.19 - 1.84 0.082 3023.19 830.0 138.68 28.57 1.081 2506.84 -7.0 0.117 - - - - - - - 15.60 12.04
20204.28 76.05 8.27 1893 20209.98 roll 0.74 - - 2477.44 - 1.05 0.101 3904.25 839.1 138.68 - - 2505.59 - - - - - - - - - 15.56 -
20439.38 59.59 6.80 1940 20445.09 roll 0.76 - - 2482.94 - 1.04 0.038 2906.25 -959.6 138.68 - - 2505.12 - - - - - - - - - 15.76 -
20629.42 50.36 4.74 1978 20676.71 VBD 0.72 - - 2482.94 - - - 2906.44 - 191.89 29.81 0.999 2290.91 -7.2 0.064 - - - - - - - - 12.86
20859.37 31.44 8.93 2024 20865.22 roll 0.72 - - 2481.75 - 1.23 0.100 3902.44 809.8 191.89 - - 2287.81 - - - - - - - - - 15.55 -
20969.37 20.59 9.94 2046 20975.07 roll 0.72 - - 2487.44 - 1.05 0.036 2848.19 -1004.0 191.89 - - 2287.47 - - - - - - - - - 15.72 -
21159.39 4.33 8.89 2084 21161.47 pitch 0.72 0.12 0.322 2446.06 -344.8 - - 2847.69 - 191.89 - - 2286.31 - - - - - - - - 15.14 - -
21199 end climb: SURFACE_DEPTH_REACHED
21199 begin surface coast
21235 end surface coast: CONTROL_FINISHED_OK
21235 begin surface
SM 1.03 - - - - 169.8 248.90 0.807 1035.7 4.2 4.70 0.116 1041.5 221.6 - 0.57 0.116 1029.9 1806.8 -1.640 - - 12.74 15.43 15.59 -