SMODE Apr23 * SG180 * Dive index * Mission links * Dive 236 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 158.43 of 350.00 AH used of 24V (54.73% remains)
• Surface angle -66.1 deg, depth 1.03 m • Intended pitch -20.9 deg, speed -8.000 cm/s
VBD pumped to 500.33 (SM_CC=500)
• GPS1 time: 26 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
15 begin dive
16.65 - - - 121.98 VBD -0.62 - - 166.44 - - - 3326.19 - -87.59 74.49 0.005 3277.81 - - - - - - - - - - 14.98
122.41 3.59 -2.65 20 148.33 -0.62 8.11 0.482 2027.62 229.5 1.73 0.041 1807.38 -877.9 -87.59 2.61 0.012 3431.94 59.1 -3.120 - - - - - - 14.54 15.14 15.19
205.75 20.90 -13.52 36 212.67 roll -0.62 - - 2022.44 - 1.88 0.103 3318.25 803.7 -87.59 - - 3434.28 - - - - - - - - - 15.44 -
395.80 54.78 -16.31 74 400.69 no move -0.62 - - 2022.25 - - - 3318.38 - -87.59 - - 3433.25 - - - - - - - - - - -
585.90 83.93 -12.96 112 592.84 roll -0.62 - - 2021.75 - 1.66 0.038 1805.50 -911.4 -87.59 - - 3434.91 - - - - - - - - - 15.64 -
680.91 95.32 -11.54 131 688.01 roll -0.62 - - 2022.00 - 1.89 0.104 3320.00 801.3 -87.59 - - 3434.28 - - - - - - - - - 15.50 -
870.94 119.48 -12.58 169 877.87 roll -0.62 - - 2022.25 - 1.66 0.039 1796.50 -917.8 -87.59 - - 3433.44 - - - - - - - - - 15.71 -
900.94 122.74 -11.09 175 908.03 roll -0.62 - - 2022.00 - 1.89 0.104 3319.25 805.7 -87.59 - - 3434.47 - - - - - - - - - 15.47 -
1210.98 160.27 -12.40 237 1217.92 roll -0.62 - - 2022.12 - 1.66 0.038 1792.25 -919.9 -87.59 - - 3434.09 - - - - - - - - - 15.71 -
1290.99 169.21 -10.95 253 1298.07 roll -0.62 - - 2021.50 - 1.89 0.102 3320.00 808.3 -87.59 - - 3435.59 - - - - - - - - - 15.47 -
1601.03 207.15 -11.99 315 1603.43 roll -0.62 - - 2018.00 - 0.69 0.120 3903.12 845.1 -87.59 - - 3433.53 - - - - - - - - - 15.65 -
1656.04 213.75 -11.89 326 1661.43 roll -0.62 - - 2018.06 - 0.71 0.056 3252.06 -917.0 -87.59 - - 3433.50 - - - - - - - - - 15.62 -
1966.07 249.20 -11.27 388 1972.25 roll -0.62 - - 2018.31 - 1.55 0.037 1788.88 -944.0 -87.59 - - 3434.09 - - - - - - - - - 15.84 -
2020.75 254.94 -10.06 399 2027.60 roll -0.62 - - 2014.69 - 1.89 0.103 3321.75 811.0 -87.59 - - 3433.81 - - - - - - - - - 15.67 -
2346.12 290.67 -11.05 416 2352.13 roll -0.62 - - 2015.69 - 1.67 0.039 1798.25 -912.3 -87.59 - - 3432.97 - - - - - - - - - 15.71 -
2410.80 297.22 -9.75 429 2417.32 roll -0.62 - - 2014.06 - 1.88 0.104 3320.69 809.8 -87.59 - - 3433.53 - - - - - - - - - 15.68 -
2726.15 330.57 -10.35 447 2732.14 roll -0.62 - - 2014.81 - 1.66 0.040 1796.75 -918.0 -87.59 - - 3431.50 - - - - - - - - - 15.86 -
2795.83 337.34 -9.50 461 2802.32 roll -0.62 - - 2013.94 - 1.90 0.103 3319.75 801.6 -87.59 - - 3432.62 - - - - - - - - - 14.90 -
3106.16 370.70 -10.74 478 3112.16 roll -0.62 - - 2013.94 - 1.66 0.040 1797.25 -917.2 -87.59 - - 3431.12 - - - - - - - - - 15.88 -
3140.84 374.32 -10.35 485 3147.67 roll -0.62 - - 2014.75 - 1.90 0.104 3319.50 801.2 -87.59 - - 3431.50 - - - - - - - - - 14.87 -
3466.19 408.60 -10.57 502 3472.18 roll -0.62 - - 2014.56 - 1.66 0.041 1794.75 -918.5 -87.59 - - 3429.12 - - - - - - - - - 15.88 -
3506.21 412.38 -9.44 510 3512.35 roll -0.62 - - 2013.88 - 1.88 0.104 3320.06 811.3 -87.59 - - 3429.72 - - - - - - - - - 15.67 -
3826.21 443.69 -9.62 529 3832.21 roll -0.62 - - 2014.81 - 1.66 0.041 1801.56 -914.8 -87.59 - - 3428.38 - - - - - - - - - 15.87 -
3906.23 450.66 -8.41 545 3912.38 roll -0.62 - - 2014.44 - 1.89 0.103 3321.50 804.2 -87.59 - - 3428.66 - - - - - - - - - 15.55 -
4226.24 481.89 -9.91 564 4228.03 no move -0.62 - - 2013.25 - - - 3321.31 - -87.59 - - 3395.97 - - - - - - - - - - -
4546.29 513.98 -9.97 580 4552.25 roll -0.62 - - 2014.69 - 1.66 0.041 1799.25 -916.9 -87.59 - - 3427.19 - - - - - - - - - 15.89 -
4586.27 517.62 -9.10 588 4592.45 roll -0.62 - - 2013.81 - 1.88 0.103 3318.06 807.9 -87.59 - - 3428.16 - - - - - - - - - 15.65 -
4906.29 549.16 -9.74 607 4908.08 no move -0.62 - - 2013.56 - - - 3318.31 - -87.59 - - 3393.75 - - - - - - - - - - -
5226.40 579.13 -9.14 623 5232.29 roll -0.62 - - 2014.25 - 1.68 0.042 1795.38 -906.5 -87.59 - - 3424.59 - - - - - - - - - 15.71 -
5260.98 581.98 -8.98 630 5267.80 roll -0.62 - - 2014.19 - 1.88 0.103 3320.12 811.0 -87.59 - - 3424.97 - - - - - - - - - 15.64 -
5586.38 610.66 -9.15 647 5592.32 roll -0.62 - - 2014.88 - 1.68 0.042 1798.06 -906.0 -87.59 - - 3423.50 - - - - - - - - - 15.72 -
5621.00 613.71 -9.28 654 5627.83 roll -0.62 - - 2014.38 - 1.88 0.104 3319.19 809.1 -87.59 - - 3422.88 - - - - - - - - - 15.63 -
5946.38 643.01 -8.97 671 5951.50 roll -0.62 - - 2011.12 - 0.70 0.119 3899.94 829.6 -87.59 - - 3421.16 - - - - - - - - - 15.52 -
5991.02 647.25 -9.45 680 5996.14 roll -0.62 - - 2011.31 - 0.73 0.060 3251.50 -888.3 -87.59 - - 3421.66 - - - - - - - - - 15.55 -
6306.42 674.48 -8.68 698 6312.28 roll -0.62 - - 2011.06 - 1.59 0.041 1792.00 -917.9 -87.59 - - 3421.25 - - - - - - - - - 15.70 -
6361.05 679.06 -8.14 709 6367.89 roll -0.62 - - 2010.25 - 1.89 0.104 3319.50 808.2 -87.59 - - 3420.88 - - - - - - - - - 15.62 -
6686.41 706.92 -8.41 726 6692.41 roll -0.62 - - 2009.81 - 1.67 0.043 1796.31 -912.1 -87.59 - - 3421.12 - - - - - - - - - 15.86 -
6731.08 710.43 -7.81 735 6737.57 roll -0.62 - - 2009.38 - 1.89 0.105 3319.88 806.1 -87.59 - - 3420.47 - - - - - - - - - 15.61 -
7046.44 737.04 -8.62 753 7048.23 no move -0.62 - - 2008.25 - - - 3318.94 - -87.59 - - 3388.28 - - - - - - - - - - -
7366.45 764.53 -8.68 769 7372.45 roll -0.62 - - 2008.44 - 1.67 0.043 1799.50 -909.8 -87.59 - - 3421.00 - - - - - - - - - 15.86 -
7441.12 770.39 -7.49 784 7447.96 roll -0.62 - - 2009.00 - 1.89 0.104 3320.44 804.7 -87.59 - - 3418.88 - - - - - - - - - 15.60 -
7766.48 797.68 -8.68 801 7768.27 no move -0.62 - - 2008.19 - - - 3320.44 - -87.59 - - 3386.91 - - - - - - - - - - -
8086.50 824.89 -8.39 817 8092.50 roll -0.62 - - 2008.50 - 1.67 0.043 1801.44 -909.6 -87.59 - - 3413.91 - - - - - - - - - 15.86 -
8156.17 830.27 -7.52 831 8162.69 roll -0.62 - - 2008.06 - 1.88 0.103 3318.25 806.8 -87.59 - - 3417.69 - - - - - - - - - 15.59 -
8466.54 856.35 -8.78 848 8472.53 roll -0.62 - - 2007.31 - 1.69 0.043 1795.19 -901.2 -87.59 - - 3321.03 - - - - - - - - - 15.68 -
8506.54 859.78 -8.80 856 8512.70 roll -0.62 - - 2008.56 - 1.90 0.105 3318.12 801.5 -87.59 - - 3416.88 - - - - - - - - - 15.39 -
8826.56 889.08 -9.23 875 8832.54 roll -0.62 - - 2008.00 - 1.68 0.043 1798.19 -904.7 -87.59 - - 3416.28 - - - - - - - - - 15.67 -
8861.22 892.17 -9.13 882 8868.06 roll -0.62 - - 2008.12 - 1.89 0.104 3320.12 805.3 -87.59 - - 3416.16 - - - - - - - - - 15.57 -
9186.58 919.57 -8.30 899 9192.57 roll -0.62 - - 2007.75 - 1.69 0.043 1795.50 -902.1 -87.59 - - 3416.06 - - - - - - - - - 15.67 -
9261.25 925.30 -7.51 914 9268.17 roll -0.62 - - 2008.38 - 1.91 0.104 3317.06 796.6 -87.59 - - 3415.72 - - - - - - - - - 15.43 -
9586.63 951.10 -7.99 931 9592.63 roll -0.62 - - 2008.06 - 1.67 0.044 1794.94 -911.4 -87.59 - - 3414.97 - - - - - - - - - 15.84 -
9636.30 954.90 -7.61 941 9642.88 roll -0.62 - - 2008.38 - 1.91 0.103 3319.19 798.0 -87.59 - - 3414.47 - - - - - - - - - 15.44 -
9707 end dive: TARGET_DEPTH_EXCEEDED
9707 begin apogee
9708.54 960.52 -8.11 946 9791.76 -0.17 0.45 0.285 2174.56 369.3 0.09 0.220 3021.19 -3311.1 - 53.08 2.124 3074.31 -6.4 0.512 - - - - - - 14.95 14.96 10.96
9794 end apogee: CONTROL_FINISHED_OK
9794 begin climb
9794.87 962.27 - 950 9889.32 0.62 0.60 0.198 2433.00 430.7 1.77 0.039 1527.06 -844.1 87.59 57.42 2.093 2715.44 -6.2 0.507 - - - - - - 15.07 14.76 12.80
9911.57 955.20 8.09 973 9918.48 roll 0.62 - - 2434.12 - 1.90 0.091 3017.94 784.7 87.59 - - 2714.59 - - - - - - - - - 15.10 -
10236.93 921.39 10.26 990 10242.31 roll 0.62 - - 2433.38 - 1.08 0.108 3899.88 816.6 87.59 - - 2710.41 - - - - - - - - - 15.49 -
10256.93 919.13 10.20 994 10262.31 roll 0.62 - - 2439.50 - 1.05 0.037 2880.75 -970.6 87.59 - - 2661.88 - - - - - - - - - 15.68 -
10576.98 886.19 10.19 1013 10582.52 roll 0.62 - - 2440.44 - 1.26 0.107 3901.50 810.1 87.59 - - 2709.38 - - - - - - - - - 15.65 -
10621.63 881.12 11.44 1022 10627.00 done 0.62 - - 2447.81 - 1.05 0.037 2867.25 -985.0 87.59 - - 2709.06 - - - - - - - - - 15.79 -
10937.01 849.46 10.24 1040 10942.55 done 0.62 - - 2447.69 - 1.27 0.107 3900.00 813.2 87.59 - - 2708.81 - - - - - - - - - 15.66 -
10997.00 842.15 12.44 1052 11002.38 done 0.62 - - 2454.69 - 1.04 0.036 2860.88 -999.2 87.59 - - 2708.59 - - - - - - - - - 15.83 -
11317.03 806.55 11.14 1071 11322.93 0.62 0.13 0.379 2414.25 -311.1 1.29 0.105 3904.50 809.0 87.59 - - 2710.03 - - - - - - - - 15.04 15.27 -
11386.69 798.85 10.96 1085 11392.07 done 0.62 - - 2419.31 - 1.06 0.037 2840.56 -1003.7 87.59 - - 2707.97 - - - - - - - - - 15.85 -
11697.05 769.77 9.44 1102 11702.67 done 0.62 - - 2417.75 - 1.30 0.105 3902.94 817.2 87.59 - - 2709.16 - - - - - - - - - 15.66 -
11781.73 760.15 11.58 1119 11787.10 done 0.62 - - 2423.69 - 1.05 0.038 2864.38 -989.1 87.59 - - 2668.22 - - - - - - - - - 15.71 -
12097.09 728.29 10.00 1137 12102.63 done 0.62 - - 2423.25 - 1.28 0.105 3902.81 811.3 87.59 - - 2701.12 - - - - - - - - - 15.51 -
12146.76 722.61 11.54 1147 12152.13 done 0.62 - - 2431.19 - 1.05 0.039 2856.00 -997.0 87.59 - - 2708.12 - - - - - - - - - 15.85 -
12457.12 690.96 10.26 1164 12462.75 done 0.62 - - 2430.50 - 1.30 0.106 3902.62 805.1 87.59 - - 2707.53 - - - - - - - - - 15.48 -
12546.79 680.31 12.05 1182 12552.18 done 0.62 - - 2435.19 - 1.07 0.037 2859.69 -974.7 87.59 - - 2668.22 - - - - - - - - - 15.71 -
12857.15 648.70 10.16 1199 12862.69 done 0.62 - - 2436.50 - 1.28 0.106 3903.00 815.1 87.59 - - 2706.12 - - - - - - - - - 15.63 -
12926.83 640.67 11.69 1213 12932.20 done 0.62 - - 2444.12 - 1.04 0.037 2872.00 -991.3 87.59 - - 2706.72 - - - - - - - - - 15.86 -
13237.18 609.43 9.81 1230 13242.73 done 0.62 - - 2442.44 - 1.28 0.107 3898.50 802.0 87.59 - - 2683.38 - - - - - - - - - 15.48 -
13311.86 601.02 11.30 1245 13317.56 done 0.62 - - 2449.50 - 1.05 0.036 2883.56 -966.6 87.59 - - 2691.50 - - - - - - - - - 15.71 -
13637.22 570.03 9.32 1262 13642.76 done 0.62 - - 2450.75 - 1.26 0.107 3904.25 810.1 87.59 - - 2705.59 - - - - - - - - - 15.61 -
13731.90 559.85 10.95 1281 13737.63 done 0.62 - - 2458.12 - 1.06 0.036 2870.69 -975.1 87.59 - - 2704.59 - - - - - - - - - 15.69 -
14057.41 528.02 9.57 1298 14063.17 0.62 0.14 0.372 2415.62 -303.6 1.27 0.104 3903.19 813.0 87.59 - - 2705.09 - - - - - - - - 15.00 15.21 -
14091.92 524.70 9.26 1305 14097.63 done 0.62 - - 2420.50 - 1.05 0.039 2861.12 -992.4 87.59 - - 2706.09 - - - - - - - - - 15.69 -
14417.28 498.64 7.94 1322 14422.81 done 0.62 - - 2420.69 - 1.28 0.104 3904.06 814.8 87.59 - - 2705.47 - - - - - - - - - 15.61 -
14477.28 492.95 9.56 1334 14482.66 done 0.62 - - 2426.06 - 1.05 0.038 2895.75 -960.3 87.59 - - 2706.41 - - - - - - - - - 15.85 -
14797.31 466.42 8.48 1353 14802.85 done 0.62 - - 2425.88 - 1.25 0.104 3903.88 806.5 87.59 - - 2705.00 - - - - - - - - - 15.49 -
14962.00 448.97 10.59 1386 14967.37 done 0.62 - - 2431.88 - 1.06 0.038 2899.75 -947.3 87.59 - - 2705.50 - - - - - - - - - 15.68 -
15277.36 421.31 8.67 1404 15283.27 done 0.62 - - 2440.38 - 1.50 0.032 1511.06 -925.8 87.59 - - 2705.38 - - - - - - - - - 15.69 -
15307.01 418.85 8.66 1410 15313.52 done 0.62 - - 2441.00 - 1.85 0.088 3020.94 816.2 87.59 - - 2699.16 - - - - - - - - - 15.49 -
15617.38 392.50 8.62 1427 15622.75 done 0.62 - - 2440.75 - 1.06 0.103 3902.88 832.0 87.59 - - 2698.72 - - - - - - - - - 15.62 -
15732.06 380.69 10.66 1450 15737.77 done 0.62 - - 2447.81 - 1.05 0.040 2871.94 -981.8 87.59 - - 2704.97 - - - - - - - - - 15.85 -
16057.42 350.91 8.92 1467 16062.98 done 0.62 - - 2447.06 - 1.27 0.103 3903.12 812.0 87.59 - - 2660.94 - - - - - - - - - 15.46 -
16112.09 345.56 9.80 1478 16117.80 done 0.62 - - 2454.38 - 1.05 0.039 2891.94 -963.0 87.59 - - 2705.16 - - - - - - - - - 15.85 -
16437.45 318.09 8.39 1495 16443.53 0.62 0.12 0.356 2422.25 -267.8 1.50 0.033 1514.94 -918.0 87.59 - - 2704.94 - - - - - - - - 14.99 15.23 -
16467.20 316.10 8.26 1501 16473.61 done 0.62 - - 2423.81 - 1.83 0.087 3021.88 823.5 87.59 - - 2689.34 - - - - - - - - - 15.62 -
16777.47 293.96 7.72 1518 16782.84 done 0.62 - - 2423.75 - 1.07 0.104 3903.25 823.7 87.59 - - 2704.78 - - - - - - - - - 15.44 -
16812.13 290.74 8.29 1525 16817.84 done 0.62 - - 2427.56 - 1.05 0.040 2912.19 -943.9 87.59 - - 2705.56 - - - - - - - - - 15.84 -
17137.49 263.38 8.66 1542 17143.06 done 0.62 - - 2427.88 - 1.23 0.104 3902.50 805.1 87.59 - - 2705.44 - - - - - - - - - 15.46 -
17187.16 258.88 9.05 1552 17192.62 done 0.62 - - 2430.56 - 1.04 0.040 2912.44 -952.0 87.59 - - 2698.25 - - - - - - - - - 15.86 -
17497.71 235.83 6.56 1596 17503.55 done 0.64 - - 2432.19 - 1.23 0.104 3904.75 806.8 87.59 - - 2705.38 - - - - - - - - - 15.49 -
17537.56 232.78 7.56 1604 17543.26 done 0.64 - - 2436.12 - 1.05 0.039 2912.75 -944.8 87.59 - - 2705.94 - - - - - - - - - 15.84 -
17847.73 212.56 6.28 1666 17853.62 done 0.68 - - 2436.62 - 1.22 0.102 3902.69 811.4 87.59 - - 2705.38 - - - - - - - - - 15.59 -
17907.64 207.95 7.83 1678 17913.35 done 0.68 - - 2441.50 - 1.05 0.040 2908.06 -947.3 87.59 - - 2706.03 - - - - - - - - - 15.82 -
18217.79 185.75 6.67 1740 18219.59 VBD 0.71 - - 2440.75 - - - 2908.31 - 87.59 - - 2688.25 - - - - - - - - - - -
18522.86 164.61 6.54 1801 18528.95 done 0.73 - - 2450.19 - 1.50 0.032 1509.44 -932.6 87.59 - - 2705.22 - - - - - - - - - 15.84 -
18557.87 162.62 5.97 1808 18564.30 done 0.78 - - 2451.12 - 1.84 0.086 3021.38 821.7 87.59 - - 2708.12 - - - - - - - - - 15.49 -
18867.93 142.45 6.15 1870 18873.82 0.81 0.07 0.097 2507.81 809.9 1.06 0.103 3902.81 831.5 87.59 - - 2706.91 - - - - - - - - 15.77 15.59 -
19102.88 122.63 8.15 1917 19108.58 done 0.81 - - 2515.50 - 1.05 0.038 2908.12 -947.3 87.59 - - 2706.81 - - - - - - - - - 15.67 -
19413.02 104.83 4.29 1979 19468.45 0.76 0.16 0.341 2469.88 -285.1 1.53 0.033 1517.06 -909.2 148.12 33.79 1.080 2467.97 -7.1 0.121 - - - - - - 14.97 15.21 11.91
19501.10 99.53 6.94 1996 19507.53 roll 0.78 - - 2471.56 - 1.85 0.085 3022.88 814.0 148.12 - - 2467.53 - - - - - - - - - 15.54 -
19691.05 83.27 7.74 2034 19696.79 roll 0.78 - - 2470.88 - 1.07 0.102 3903.38 822.9 148.12 - - 2449.94 - - - - - - - - - 15.55 -
19821.06 72.26 8.00 2060 19826.76 roll 0.78 - - 2476.44 - 1.07 0.038 2891.75 -945.4 148.12 - - 2467.25 - - - - - - - - - 14.86 -
20011.19 60.34 6.06 2098 20017.05 roll 0.82 - - 2476.19 - 1.24 0.100 3902.75 815.3 148.12 - - 2466.03 - - - - - - - - - 15.58 -
20041.19 58.43 6.11 2104 20046.88 roll 0.85 - - 2475.75 - 1.04 0.037 2884.25 -979.3 148.12 - - 2466.69 - - - - - - - - - 15.75 -
20231.21 49.12 4.83 2142 20279.85 done 0.81 - - 2475.38 - 1.26 0.103 3903.38 808.8 199.84 29.22 0.991 2258.41 -7.1 0.062 - - - - - - - 15.32 12.79
20417.43 34.02 9.44 2179 20423.14 roll 0.81 - - 2475.12 - 1.05 0.036 2855.69 -997.8 199.84 - - 2248.28 - - - - - - - - - 15.67 -
20607.45 18.76 7.70 2217 20613.32 roll 0.81 - - 2475.75 - 1.28 0.098 3903.19 818.4 199.84 - - 2254.31 - - - - - - - - - 15.58 -
20632.45 16.67 8.08 2222 20638.15 roll 0.81 - - 2475.75 - 1.05 0.036 2852.38 -1000.8 199.84 - - 2255.69 - - - - - - - - - 15.61 -
20823 end climb: SURFACE_DEPTH_REACHED
20823 begin surface coast
20853 end surface coast: CONTROL_FINISHED_OK
20853 begin surface
SM 1.09 - - - - 152.4 207.38 0.831 1035.3 5.0 4.71 0.106 1048.0 222.5 - 0.55 0.087 1022.7 1857.5 -2.379 - - 12.77 15.41 15.68 -