SMODE Apr23 * SG180 * Dive index * Mission links * Dive 68 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 114.95 of 350.00 AH used of 24V (67.16% remains)
• Surface angle -56.0 deg, depth 0.83 m • Intended pitch -20.2 deg, speed -9.167 cm/s
• VBD pumped to 500.53 (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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
16.80 - - - 132.87 VBD -0.57 - - 170.44 - - - 3255.19 - -116.79 82.23 0.005 3305.09 - - - - - - - - - - 15.11
133.30 3.45 -2.44 22 159.59 -0.57 7.84 0.470 2043.12 238.9 1.61 0.041 1831.94 -884.0 -116.79 3.06 0.011 3475.16 55.6 -3.061 - - - - - - 14.76 15.21 15.18
187.35 14.90 -15.20 32 194.75 roll -0.57 - - 2043.25 - 1.86 0.097 3321.50 800.8 -116.79 - - 3478.06 - - - - - - - - - 15.19 -
377.50 41.16 -14.62 70 382.97 no move -0.57 - - 2042.88 - - - 3321.94 - -116.79 - - 3476.88 - - - - - - - - - - -
567.53 66.70 -13.37 108 573.42 roll -0.57 - - 2039.06 - 0.69 0.113 3902.06 840.8 -116.79 - - 3476.44 - - - - - - - - - 15.43 -
637.54 76.35 -13.60 122 643.78 roll -0.57 - - 2039.19 - 0.72 0.054 3246.31 -910.8 -116.79 - - 3477.94 - - - - - - - - - 15.53 -
827.85 97.73 -11.62 160 833.36 no move -0.57 - - 2039.19 - - - 3246.31 - -116.79 - - 3476.59 - - - - - - - - - - -
1017.88 119.25 -10.94 198 1024.23 roll -0.57 - - 2036.19 - 0.81 0.110 3903.56 811.4 -116.79 - - 3477.03 - - - - - - - - - 15.45 -
1122.91 131.40 -11.65 219 1129.48 roll -0.57 - - 2035.38 - 0.71 0.054 3249.38 -921.4 -116.79 - - 3476.28 - - - - - - - - - 15.53 -
1433.00 163.93 -9.62 281 1438.52 no move -0.57 - - 2036.25 - - - 3249.56 - -116.79 - - 3476.72 - - - - - - - - - - -
1743.13 192.74 -8.90 343 1748.63 no move -0.57 - - 2036.00 - - - 3249.69 - -116.79 - - 3476.38 - - - - - - - - - - -
2053.25 222.05 -9.47 405 2058.91 roll -0.57 - - 2031.81 - 0.81 0.109 3903.62 807.3 -116.79 - - 3478.53 - - - - - - - - - 15.51 -
2104.23 227.25 -10.56 415 2108.84 roll -0.57 - - 2031.81 - 0.71 0.054 3246.75 -925.2 -116.79 - - 3476.84 - - - - - - - - - 15.58 -
2428.36 260.42 -10.29 465 2433.29 roll -0.57 - - 2028.94 - 0.81 0.109 3900.94 807.6 -116.79 - - 3477.31 - - - - - - - - - 15.53 -
2452.63 263.01 -10.31 470 2457.81 roll -0.57 - - 2029.50 - 0.71 0.054 3246.88 -921.2 -116.79 - - 3476.91 - - - - - - - - - 15.66 -
2768.40 294.77 -10.11 488 2773.33 roll -0.57 - - 2027.06 - 0.81 0.109 3903.31 810.4 -116.79 - - 3477.94 - - - - - - - - - 15.52 -
2802.68 298.44 -10.47 495 2808.59 roll -0.57 - - 2027.75 - 0.71 0.054 3247.38 -923.8 -116.79 - - 3476.69 - - - - - - - - - 15.67 -
3128.44 330.80 -9.63 512 3133.28 roll -0.57 - - 2023.38 - 0.80 0.108 3898.75 814.2 -116.79 - - 3477.47 - - - - - - - - - 15.71 -
3208.46 339.01 -10.37 528 3213.30 roll -0.57 - - 2023.56 - 0.70 0.054 3245.50 -933.2 -116.79 - - 3476.56 - - - - - - - - - 15.87 -
3528.49 370.22 -9.62 547 3530.32 no move -0.57 - - 2023.12 - - - 3244.81 - -116.79 - - 3476.06 - - - - - - - - - - -
3848.51 401.73 -9.59 563 3853.36 roll -0.57 - - 2019.38 - 0.80 0.109 3903.12 822.9 -116.79 - - 3475.88 - - - - - - - - - 15.75 -
3922.79 409.28 -10.05 578 3928.70 roll -0.57 - - 2019.19 - 0.70 0.055 3246.38 -938.2 -116.79 - - 3476.03 - - - - - - - - - 15.92 -
4248.55 439.64 -9.15 595 4250.35 no move -0.57 - - 2019.31 - - - 3246.81 - -116.79 - - 3474.25 - - - - - - - - - - -
4568.56 468.33 -8.95 611 4573.40 roll -0.57 - - 2015.56 - 0.80 0.110 3903.62 821.0 -116.79 - - 3475.28 - - - - - - - - - 15.77 -
4662.84 477.55 -9.68 630 4668.76 roll -0.57 - - 2016.12 - 0.70 0.055 3246.56 -938.7 -116.79 - - 3473.69 - - - - - - - - - 15.93 -
4988.60 506.46 -8.91 647 4990.38 no move -0.57 - - 2015.75 - - - 3246.94 - -116.79 - - 3473.25 - - - - - - - - - - -
5308.61 535.74 -9.68 663 5313.45 roll -0.57 - - 2011.69 - 0.80 0.110 3903.25 820.4 -116.79 - - 3463.94 - - - - - - - - - 15.77 -
5397.88 545.35 -10.71 681 5403.07 roll -0.57 - - 2012.50 - 0.70 0.055 3247.50 -936.8 -116.79 - - 3472.50 - - - - - - - - - 15.96 -
5708.64 577.09 -9.94 698 5710.62 pitch -0.57 0.09 0.303 2047.62 390.2 - - 3246.25 - -116.79 - - 3473.53 - - - - - - - - 15.34 - -
6028.65 602.19 -7.59 714 6033.51 roll -0.57 - - 2044.06 - 0.80 0.111 3903.00 820.9 -116.79 - - 3471.59 - - - - - - - - - 15.75 -
6162.94 612.90 -7.89 741 6168.86 roll -0.57 - - 2043.94 - 0.70 0.055 3246.25 -938.2 -116.79 - - 3471.19 - - - - - - - - - 15.95 -
6488.69 637.69 -7.84 758 6493.54 roll -0.57 - - 2039.81 - 0.80 0.110 3902.50 820.3 -116.79 - - 3470.81 - - - - - - - - - 15.75 -
6532.96 641.48 -8.40 767 6538.15 roll -0.57 - - 2040.12 - 0.70 0.055 3246.69 -936.9 -116.79 - - 3470.78 - - - - - - - - - 15.96 -
6848.73 667.55 -8.30 785 6850.53 no move -0.57 - - 2040.44 - - - 3246.50 - -116.79 - - 3470.03 - - - - - - - - - - -
7168.74 694.98 -8.55 801 7173.58 roll -0.57 - - 2035.81 - 0.80 0.110 3902.81 820.4 -116.79 - - 3469.75 - - - - - - - - - 15.74 -
7248.75 702.00 -8.72 817 7253.58 roll -0.57 - - 2036.38 - 0.70 0.055 3249.12 -933.8 -116.79 - - 3468.53 - - - - - - - - - 15.96 -
7568.76 727.74 -8.03 836 7574.28 roll -0.57 - - 2035.75 - 1.55 0.041 1793.69 -939.0 -116.79 - - 3467.91 - - - - - - - - - 15.88 -
7613.03 731.24 -7.79 845 7619.53 roll -0.57 - - 2035.56 - 1.86 0.098 3321.44 821.4 -116.79 - - 3468.72 - - - - - - - - - 15.71 -
7928.79 756.43 -7.94 863 7932.89 roll -0.57 - - 2031.00 - 0.69 0.113 3902.69 842.4 -116.79 - - 3467.94 - - - - - - - - - 15.72 -
7978.06 760.62 -8.44 873 7983.24 roll -0.57 - - 2030.88 - 0.71 0.057 3249.56 -919.9 -116.79 - - 3469.50 - - - - - - - - - 15.96 -
8288.81 785.85 -8.28 890 8290.60 no move -0.57 - - 2031.81 - - - 3249.88 - -116.79 - - 3466.91 - - - - - - - - - - -
8608.83 812.59 -8.49 906 8610.62 no move -0.57 - - 2031.25 - - - 3249.81 - -116.79 - - 3466.50 - - - - - - - - - - -
8928.84 838.38 -7.72 922 8933.70 roll -0.57 - - 2028.50 - 0.80 0.112 3900.44 813.3 -116.79 - - 3466.47 - - - - - - - - - 15.69 -
8988.61 843.21 -8.11 934 8993.70 roll -0.57 - - 2028.25 - 0.70 0.057 3252.88 -925.1 -116.79 - - 3465.91 - - - - - - - - - 15.95 -
9308.87 866.54 -6.99 953 9314.38 roll -0.57 - - 2028.00 - 1.56 0.042 1794.19 -935.1 -116.79 - - 3465.66 - - - - - - - - - 15.90 -
9333.14 868.25 -6.89 958 9339.80 roll -0.57 - - 2028.00 - 1.87 0.100 3320.50 816.2 -116.79 - - 3465.50 - - - - - - - - - 15.67 -
9648.88 891.66 -7.77 976 9652.98 roll -0.57 - - 2024.69 - 0.69 0.115 3900.00 839.9 -116.79 - - 3465.44 - - - - - - - - - 15.67 -
9738.16 899.36 -8.63 994 9743.38 roll -0.57 - - 2023.88 - 0.71 0.058 3249.75 -915.8 -116.79 - - 3466.66 - - - - - - - - - 15.94 -
10048.92 924.50 -8.07 1011 10050.71 no move -0.57 - - 2024.50 - - - 3248.94 - -116.79 - - 3464.88 - - - - - - - - - - -
10368.93 949.84 -7.66 1027 10373.77 roll -0.57 - - 2021.25 - 0.80 0.111 3898.56 812.0 -116.79 - - 3463.88 - - - - - - - - - 15.67 -
10418.20 953.91 -8.19 1037 10423.39 roll -0.57 - - 2020.62 - 0.70 0.058 3249.69 -927.0 -116.79 - - 3463.41 - - - - - - - - - 15.93 -
10728.96 976.71 -7.24 1054 10730.75 no move -0.57 - - 2020.94 - - - 3249.75 - -116.79 - - 3464.28 - - - - - - - - - - -
10929 end dive: TARGET_DEPTH_EXCEEDED
10929 begin apogee
10930.78 991.18 -7.25 1064 11039.65 -0.17 0.41 0.272 2175.06 375.9 0.09 0.207 3022.56 -2524.3 - 71.22 2.178 2997.28 -6.6 0.524 - - - - - - 15.09 15.01 10.33
11042 end apogee: CONTROL_FINISHED_OK
11042 begin climb
11043.32 992.57 - 1069 11161.18 0.57 0.56 0.201 2417.81 433.5 1.75 0.040 1536.62 -849.1 116.79 74.23 2.144 2519.94 -6.4 0.523 - - - - - - 15.12 14.78 12.89
11184.24 981.24 9.88 1096 11190.04 roll 0.57 - - 2419.12 - 1.87 0.085 3022.44 794.6 116.79 - - 2519.25 - - - - - - - - - 15.08 -
11504.29 944.85 11.27 1115 11509.88 roll 0.57 - - 2426.38 - 1.66 0.035 1526.50 -901.2 116.79 - - 2517.06 - - - - - - - - - 15.68 -
11558.54 939.33 9.85 1126 11565.77 roll 0.57 - - 2422.88 - 1.82 0.085 3023.00 822.3 116.79 - - 2519.88 - - - - - - - - - 15.61 -
11884.31 903.69 10.97 1143 11889.91 roll 0.57 - - 2427.50 - 1.65 0.035 1531.38 -904.0 116.79 - - 2516.19 - - - - - - - - - 15.80 -
11918.58 900.17 10.73 1150 11925.73 roll 0.57 - - 2427.88 - 1.79 0.085 3020.12 831.7 116.79 - - 2474.72 - - - - - - - - - 15.70 -
12244.35 863.85 11.27 1167 12249.94 roll 0.57 - - 2437.19 - 1.64 0.035 1528.00 -909.8 116.79 - - 2515.94 - - - - - - - - - 15.85 -
12278.69 860.08 10.79 1174 12286.02 roll back 0.57 0.10 0.285 2398.94 -382.5 1.80 0.086 3026.62 832.6 116.79 - - 2514.25 - - - - - - - - 15.31 15.73 -
12604.39 827.68 9.90 1191 12609.98 done 0.57 - - 2407.81 - 1.65 0.035 1524.94 -910.1 116.79 - - 2515.47 - - - - - - - - - 15.88 -
12633.66 824.94 9.71 1197 12640.08 done 0.57 - - 2408.50 - 1.79 0.082 3023.56 837.2 116.79 - - 2514.16 - - - - - - - - - 15.76 -
12944.42 792.46 10.30 1214 12950.02 done 0.57 - - 2414.44 - 1.64 0.036 1532.25 -909.3 116.79 - - 2515.00 - - - - - - - - - 15.91 -
12993.70 787.92 8.90 1224 13000.10 done 0.57 - - 2415.19 - 1.78 0.082 3023.31 837.7 116.79 - - 2514.25 - - - - - - - - - 15.77 -
13304.46 755.81 10.66 1241 13310.06 done 0.57 - - 2421.00 - 1.64 0.034 1523.81 -914.3 116.79 - - 2513.84 - - - - - - - - - 15.92 -
13333.75 752.91 10.43 1247 13340.14 done 0.57 - - 2421.88 - 1.79 0.084 3023.44 837.8 116.79 - - 2516.66 - - - - - - - - - 15.77 -
13644.50 718.89 10.96 1264 13650.09 done 0.57 - - 2427.94 - 1.64 0.034 1521.69 -915.7 116.79 - - 2507.50 - - - - - - - - - 15.93 -
13693.78 713.83 10.00 1274 13700.18 done 0.57 - - 2429.25 - 1.79 0.084 3023.38 838.9 116.79 - - 2516.19 - - - - - - - - - 15.76 -
14004.53 678.10 11.59 1291 14010.13 done 0.57 - - 2433.56 - 1.64 0.034 1528.12 -911.7 116.79 - - 2514.44 - - - - - - - - - 15.94 -
14053.85 672.81 10.35 1301 14060.21 done 0.57 - - 2435.69 - 1.78 0.083 3023.25 840.0 116.79 - - 2516.31 - - - - - - - - - 15.76 -
14364.56 633.99 12.72 1318 14370.14 done 0.57 - - 2442.44 - 1.64 0.033 1520.69 -916.2 116.79 - - 2516.16 - - - - - - - - - 15.94 -
14404.56 629.24 11.72 1326 14410.52 0.57 0.12 0.298 2399.38 -358.8 1.80 0.083 3027.75 837.3 116.79 - - 2513.19 - - - - - - - - 15.21 15.70 -
14724.58 595.31 10.39 1345 14726.37 VBD 0.57 - - 2398.75 - - - 3028.06 - 116.79 - - 2512.66 - - - - - - - - - - -
15044.59 564.61 9.21 1361 15050.19 done 0.57 - - 2407.44 - 1.63 0.032 1521.62 -924.2 116.79 - - 2512.88 - - - - - - - - - 15.95 -
15088.94 560.91 8.23 1370 15095.28 done 0.58 - - 2408.69 - 1.79 0.081 3024.69 839.7 116.79 - - 2513.19 - - - - - - - - - 15.77 -
15404.62 532.93 8.79 1388 15406.42 VBD 0.58 - - 2408.50 - - - 3024.88 - 116.79 - - 2512.19 - - - - - - - - - - -
15724.71 506.19 8.22 1404 15730.24 done 0.60 - - 2414.56 - 1.64 0.034 1523.75 -915.3 116.79 - - 2514.19 - - - - - - - - - 15.95 -
15773.99 502.52 7.33 1414 15780.32 done 0.64 - - 2414.81 - 1.78 0.080 3025.56 843.7 116.79 - - 2515.62 - - - - - - - - - 15.76 -
16084.74 476.77 8.18 1431 16090.26 done 0.66 - - 2418.25 - 1.64 0.034 1523.62 -915.8 116.79 - - 2514.16 - - - - - - - - - 15.94 -
16124.75 473.81 7.99 1439 16130.35 done 0.68 - - 2418.25 - 1.78 0.081 3023.19 842.5 116.79 - - 2514.19 - - - - - - - - - 15.69 -
16444.77 446.86 8.60 1458 16450.28 done 0.69 - - 2418.50 - 1.63 0.034 1527.00 -917.9 116.79 - - 2512.62 - - - - - - - - - 15.95 -
16474.04 444.48 8.61 1464 16480.43 done 0.70 - - 2419.38 - 1.78 0.080 3024.38 841.2 116.79 - - 2512.16 - - - - - - - - - 15.75 -
16784.71 415.85 9.55 1481 16789.81 done 0.70 - - 2418.75 - 1.03 0.098 3903.50 853.5 116.79 - - 2513.34 - - - - - - - - - 15.73 -
16798.99 414.28 9.52 1484 16805.16 done 0.70 - - 2421.44 - 1.03 0.036 2856.50 -1016.5 116.79 - - 2512.94 - - - - - - - - - 15.95 -
17124.74 379.62 11.31 1501 17129.99 done 0.70 - - 2421.44 - 1.25 0.096 3903.12 837.3 116.79 - - 2512.72 - - - - - - - - - 15.71 -
17174.01 373.19 12.99 1511 17179.44 done 0.70 - - 2426.31 - 1.03 0.036 2888.69 -984.9 116.79 - - 2514.16 - - - - - - - - - 15.96 -
17484.76 339.04 10.66 1528 17490.00 done 0.70 - - 2426.25 - 1.22 0.095 3904.06 832.3 116.79 - - 2513.88 - - - - - - - - - 15.72 -
17529.03 333.77 11.88 1537 17534.50 done 0.70 - - 2430.69 - 1.03 0.036 2856.56 -1017.0 116.79 - - 2513.69 - - - - - - - - - 15.88 -
17844.79 302.58 9.83 1555 17850.04 done 0.70 - - 2430.62 - 1.25 0.095 3904.44 838.3 116.79 - - 2513.66 - - - - - - - - - 15.71 -
17864.78 300.24 10.27 1559 17869.88 done 0.70 - - 2431.56 - 1.03 0.035 2836.94 -1036.4 116.79 - - 2512.88 - - - - - - - - - 15.96 -
18184.80 268.14 9.97 1578 18190.06 done 0.70 - - 2430.62 - 1.30 0.093 3904.44 821.2 116.79 - - 2513.53 - - - - - - - - - 14.83 -
18224.81 263.44 12.02 1586 18229.91 done 0.70 - - 2431.31 - 1.05 0.035 2842.62 -1011.3 116.79 - - 2513.81 - - - - - - - - - 14.85 -
18534.85 232.69 9.48 1630 18540.88 done 0.70 - - 2430.88 - 1.29 0.093 3902.50 821.6 116.79 - - 2511.81 - - - - - - - - - 14.74 -
18584.86 227.12 11.28 1640 18590.69 done 0.70 - - 2431.12 - 1.05 0.035 2863.38 -989.6 116.79 - - 2513.88 - - - - - - - - - 14.83 -
18901.82 199.98 8.33 1702 18907.79 done 0.72 - - 2430.88 - 1.27 0.093 3902.88 818.5 116.79 - - 2516.75 - - - - - - - - - 15.37 -
18966.04 192.95 10.29 1715 18972.56 done 0.72 - - 2431.94 - 1.05 0.035 2849.44 -1003.3 116.79 - - 2514.75 - - - - - - - - - 15.52 -
19276.17 163.41 9.57 1777 19282.84 done 0.72 - - 2431.06 - 1.28 0.093 3901.62 822.0 116.79 - - 2513.88 - - - - - - - - - 15.39 -
19311.22 159.68 10.65 1784 19317.69 done 0.72 - - 2433.56 - 1.05 0.035 2888.62 -964.8 116.79 - - 2513.75 - - - - - - - - - 15.52 -
19621.31 131.76 9.59 1846 19626.82 VBD 0.72 - - 2432.69 - - - 2886.38 - 116.79 - - 2513.09 - - - - - - - - - - -
19931.51 100.82 8.38 1908 19938.11 done 0.74 - - 2432.94 - 1.24 0.093 3902.88 819.8 116.79 - - 2513.19 - - - - - - - - - 15.40 -
20061.49 89.46 8.98 1934 20068.13 done 0.74 - - 2435.31 - 1.05 0.034 2836.56 -1015.5 116.79 - - 2514.28 - - - - - - - - - 15.54 -
20251.62 75.34 7.47 1972 20258.59 0.77 0.08 0.104 2514.62 991.4 1.44 0.029 1502.00 -926.8 116.79 - - 2513.69 - - - - - - - - 15.49 15.51 -
20316.63 69.32 9.51 1985 20324.08 0.77 0.14 0.298 2465.62 -350.0 1.85 0.078 3023.81 822.6 116.79 - - 2514.09 - - - - - - - - 14.67 14.71 -
20507.21 53.35 7.71 2023 20513.64 done 0.80 - - 2464.94 - 1.05 0.091 3906.00 840.2 116.79 - - 2517.03 - - - - - - - - - 15.36 -
20556.99 49.09 8.55 2033 20564.00 done 0.81 - - 2470.94 - 1.06 0.034 2891.31 -957.3 116.79 - - 2514.56 - - - - - - - - - 15.52 -
20747.06 35.46 6.04 2071 20801.82 done 0.76 - - 2471.00 - 1.25 0.094 3904.81 810.8 176.22 33.17 1.001 2274.97 -7.2 0.045 - - - - - - - 15.02 13.13
21029.91 8.99 10.77 2127 21036.42 roll 0.76 - - 2476.12 - 1.07 0.034 2859.19 -977.2 176.22 - - 2278.09 - - - - - - - - - 15.21 -
21110 end climb: SURFACE_DEPTH_REACHED
21110 begin surface coast
21140 end surface coast: CONTROL_FINISHED_OK
21140 begin surface
SM 0.82 - - - - 175.1 172.91 0.917 959.5 5.5 4.55 0.066 980.2 215.4 - 0.52 0.060 938.9 1803.5 -2.519 - - 13.14 15.51 15.60 -