SODA Aug19 * SG227 * Dive index * Mission links * Dive 23 * Raw log
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• Previous call tries 1 • 10.20 of 350.00 AH used of 24V (97.09% remains)
• Surface angle -69.4 deg, depth 1.87 m • Intended pitch -18.3 deg, speed -10.000 cm/s
• No surface pump (final VBD was 364.4, SM_CC=625.51501)
• GPS1 time: 68 s
• GPS2 time: 3 s • Transponder ping count: 46
• 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
4.37 - - - 56.73 VBD -0.95 - - 134.62 - - - 2272.12 - -145.99 51.87 0.005 1457.25 - - - - - - - - - - 15.49
57.03 3.59 -4.48 5 123.98 -0.95 7.90 0.394 1829.00 214.5 4.56 0.080 3817.12 338.8 -145.99 50.49 0.005 3231.62 35.1 -4.307 - - - - - - 15.33 15.47 15.49
256.01 59.99 -24.30 45 262.89 roll back -0.58 0.44 0.254 1965.00 309.1 4.30 0.037 2288.12 -355.6 -145.99 - - 3229.72 - - - - - - - - 15.53 15.62 -
441.11 86.60 -13.54 64 442.44 no move -0.58 - - 1965.25 - - - 2265.44 - -145.99 - - 3229.12 - - - - - - - - - - -
621.06 109.47 -12.38 82 622.39 no move -0.58 - - 1965.38 - - - 2265.75 - -145.99 - - 3229.53 - - - - - - - - - - -
801.13 131.56 -12.42 100 802.47 no move -0.58 - - 1965.19 - - - 2265.56 - -145.99 - - 3228.75 - - - - - - - - - - -
981.19 153.14 -11.58 118 982.53 no move -0.58 - - 1965.56 - - - 2265.75 - -145.99 - - 3229.19 - - - - - - - - - - -
1161.16 172.55 -10.33 136 1167.16 roll -0.63 - - 1947.94 - 4.55 0.085 3815.06 340.5 -145.99 - - 3231.66 - - - - - - - - - 15.74 -
1216.03 178.36 -10.62 147 1222.11 roll -0.70 - - 1962.25 - 4.26 0.038 2290.44 -357.9 -145.99 - - 3230.31 - - - - - - - - - 15.83 -
1401.27 195.70 -8.77 166 1407.98 roll back -0.79 0.22 0.101 1891.75 -320.5 4.22 0.072 821.81 -348.0 -145.99 - - 3229.44 - - - - - - - - 15.82 15.78 -
1461.00 202.43 -11.89 178 1467.10 roll -0.73 - - 1875.69 - 4.29 0.045 2338.88 353.6 -145.99 - - 3231.69 - - - - - - - - - 15.81 -
1646.34 223.18 -10.97 197 1647.79 pitch -0.73 0.16 0.237 1918.31 266.4 - - 2338.62 - -145.99 - - 3229.91 - - - - - - - - 15.80 - -
1826.33 238.86 -7.94 215 1827.67 no move -0.79 - - 1918.44 - - - 2338.81 - -145.99 - - 3229.12 - - - - - - - - - - -
2006.28 252.91 -7.78 231 2007.73 pitch -0.86 0.16 0.111 1856.62 -386.4 - - 2339.19 - -145.99 - - 3230.97 - - - - - - - - 15.89 - -
2306.42 283.06 -10.07 241 2307.75 no move -0.82 - - 1856.75 - - - 2338.69 - -145.99 - - 3228.97 - - - - - - - - - - -
2606.22 312.48 -9.73 251 2607.56 no move -0.82 - - 1856.25 - - - 2339.19 - -145.99 - - 3228.59 - - - - - - - - - - -
2906.33 341.62 -9.67 261 2912.09 roll -0.82 - - 1872.38 - 4.43 0.073 821.69 -342.6 -145.99 - - 3230.62 - - - - - - - - - 15.95 -
2966.36 347.70 -10.27 273 2972.05 roll -0.82 - - 1854.69 - 4.28 0.047 2338.81 354.5 -145.99 - - 3229.09 - - - - - - - - - 15.96 -
3296.43 379.75 -9.63 289 3297.77 no move -0.82 - - 1855.19 - - - 2339.88 - -145.99 - - 3227.38 - - - - - - - - - - -
3596.38 408.69 -9.60 299 3597.72 no move -0.82 - - 1855.19 - - - 2340.12 - -145.99 - - 3227.31 - - - - - - - - - - -
3896.38 437.23 -9.54 309 3902.16 roll -0.82 - - 1871.69 - 4.41 0.073 820.31 -344.6 -145.99 - - 3229.28 - - - - - - - - - 16.01 -
3961.24 443.69 -9.80 322 3967.15 roll -0.82 - - 1854.19 - 4.26 0.047 2338.94 356.5 -145.99 - - 3229.69 - - - - - - - - - 16.01 -
4286.60 473.92 -9.24 337 4288.05 pitch -0.82 0.12 0.243 1888.69 287.5 - - 2340.06 - -145.99 - - 3227.06 - - - - - - - - 15.94 - -
4586.52 498.24 -8.10 347 4587.86 no move -0.89 - - 1888.50 - - - 2339.94 - -145.99 - - 3227.38 - - - - - - - - - - -
4886.68 522.04 -7.89 357 4888.13 pitch -0.96 0.16 0.109 1824.31 -401.2 - - 2340.50 - -145.99 - - 3227.19 - - - - - - - - 16.01 - -
5186.64 551.95 -10.04 367 5193.38 roll back -0.91 0.14 0.241 1880.31 400.0 4.41 0.072 821.88 -344.4 -145.99 - - 3226.75 - - - - - - - - 15.98 16.03 -
5251.39 558.06 -9.20 380 5257.30 roll -0.91 - - 1863.56 - 4.26 0.047 2340.00 356.4 -145.99 - - 3228.75 - - - - - - - - - 16.04 -
5571.86 585.68 -8.56 394 5573.19 no move -0.91 - - 1863.75 - - - 2340.81 - -145.99 - - 3227.88 - - - - - - - - - - -
5871.70 611.55 -8.60 404 5873.03 no move -0.91 - - 1863.69 - - - 2340.38 - -145.99 - - 3227.47 - - - - - - - - - - -
6171.67 636.54 -8.38 414 6173.01 no move -0.91 - - 1863.25 - - - 2340.06 - -145.99 - - 3227.62 - - - - - - - - - - -
6471.69 661.42 -8.25 424 6477.41 roll -0.91 - - 1880.69 - 4.39 0.071 820.75 -346.1 -145.99 - - 3229.91 - - - - - - - - - 16.07 -
6536.58 667.22 -8.99 437 6542.68 roll -0.91 - - 1862.69 - 4.25 0.047 2339.81 357.4 -145.99 - - 3229.53 - - - - - - - - - 16.06 -
6861.97 693.93 -8.15 452 6863.30 no move -0.94 - - 1863.50 - - - 2339.94 - -145.99 - - 3227.56 - - - - - - - - - - -
7161.88 717.94 -8.04 462 7163.22 no move -0.94 - - 1863.25 - - - 2339.88 - -145.99 - - 3227.34 - - - - - - - - - - -
7461.97 741.81 -7.91 472 7463.30 no move -0.97 - - 1862.81 - - - 2340.00 - -145.99 - - 3227.84 - - - - - - - - - - -
7761.97 765.23 -7.83 482 7768.60 roll back -1.00 0.12 0.121 1827.31 -295.8 4.39 0.073 820.38 -346.2 -145.99 - - 3227.50 - - - - - - - - 16.07 16.07 -
7831.62 772.12 -10.07 496 7837.53 roll -0.92 - - 1810.31 - 4.25 0.047 2339.00 357.3 -145.99 - - 3229.28 - - - - - - - - - 16.08 -
8147.12 802.75 -9.76 509 8148.59 pitch -0.85 0.25 0.238 1881.44 284.5 - - 2340.19 - -145.99 - - 3229.25 - - - - - - - - 16.01 - -
8446.89 824.85 -7.24 519 8448.22 no move -0.92 - - 1881.62 - - - 2340.12 - -145.99 - - 3228.50 - - - - - - - - - - -
8746.87 846.06 -6.98 529 8753.68 roll back -1.00 0.17 0.107 1826.81 -322.4 4.39 0.072 820.44 -346.2 -145.99 - - 3228.91 - - - - - - - - 16.07 16.08 -
8816.99 852.86 -9.90 543 8822.93 roll back -0.91 0.19 0.251 1863.56 193.4 4.25 0.047 2339.75 357.5 -145.99 - - 3228.91 - - - - - - - - 16.00 16.10 -
9131.95 877.59 -7.72 556 9133.29 no move -0.95 - - 1863.31 - - - 2341.69 - -145.99 - - 3228.16 - - - - - - - - - - -
9432 end dive: TARGET_DEPTH_EXCEEDED
9432 begin apogee
9433.12 900.69 -7.73 566 9548.74 -0.14 0.80 0.194 2110.00 308.4 0.17 0.136 2269.25 -426.1 - 113.31 2.339 2636.44 -5.2 0.343 - - - - - - 16.03 15.21 12.88
9550 end apogee: CONTROL_FINISHED_OK
9550 begin climb
9549.69 902.00 - 569 9671.88 0.95 1.10 0.125 2459.81 318.0 - - 2269.88 - 145.99 120.13 2.239 2039.59 -5.0 0.342 - - - - - - 15.30 - 12.49
9967.09 853.87 12.80 598 9972.99 done 0.89 - - 2479.50 - 4.59 0.077 754.00 -330.3 145.99 - - 2028.78 - - - - - - - - - 15.49 -
9992.11 850.54 12.85 603 9999.00 0.82 0.20 0.228 2405.81 -368.5 4.40 0.045 2271.75 344.9 145.99 - - 2026.88 - - - - - - - - 15.43 15.50 -
10322.15 814.96 10.72 619 10323.49 VBD 0.82 - - 2405.75 - - - 2271.44 - 145.99 - - 2023.00 - - - - - - - - - - -
10622.07 783.16 10.66 629 10627.99 done 0.85 - - 2388.81 - 4.30 0.085 3746.00 342.9 145.99 - - 2024.16 - - - - - - - - - 15.76 -
10637.08 781.54 10.77 632 10643.04 0.85 0.06 0.158 2435.12 771.8 4.27 0.039 2221.94 -356.9 145.99 - - 2022.31 - - - - - - - - 15.74 15.74 -
10951.99 744.43 11.67 645 10958.06 done 0.85 - - 2430.94 - 4.50 0.080 3743.81 338.2 145.99 - - 2022.19 - - - - - - - - - 15.83 -
10972.14 741.82 11.76 649 10978.03 done 0.79 - - 2447.75 - 4.26 0.039 2223.56 -356.9 145.99 - - 2021.25 - - - - - - - - - 15.84 -
11282.35 703.63 12.40 661 11289.18 0.75 0.22 0.235 2366.06 -371.3 4.47 0.079 3746.62 340.7 145.99 - - 2019.19 - - - - - - - - 15.81 15.87 -
11301.95 701.32 12.30 665 11308.09 done 0.75 - - 2384.94 - 4.24 0.038 2223.25 -359.3 145.99 - - 2022.12 - - - - - - - - - 15.89 -
11607.16 671.49 9.70 676 11613.93 roll back 0.84 0.10 0.115 2429.81 448.7 4.49 0.081 3745.94 339.1 152.38 - - 2018.91 - - - - - - - - 15.90 15.91 -
11626.98 669.16 9.73 680 11643.34 done 0.86 - - 2446.62 - 4.24 0.037 2217.31 -360.5 158.17 8.94 1.616 1989.56 -3.3 0.232 - - - - - - - 15.92 12.88
11962.34 628.26 12.22 697 11968.14 roll 0.86 - - 2435.69 - 4.48 0.078 3744.38 340.9 158.17 - - 1989.38 - - - - - - - - - 15.91 -
11976.97 626.33 12.27 700 11982.88 roll 0.80 - - 2454.56 - 4.24 0.037 2224.62 -358.4 158.17 - - 1988.84 - - - - - - - - - 15.91 -
12292.20 586.63 12.50 713 12298.25 roll back 0.76 0.23 0.226 2367.62 -378.0 4.47 0.078 3745.50 340.2 158.17 - - 1988.94 - - - - - - - - 15.86 15.94 -
12312.03 584.28 12.38 717 12317.89 roll 0.76 - - 2386.12 - 4.23 0.038 2224.50 -359.6 158.17 - - 1987.97 - - - - - - - - - 15.94 -
12622.46 554.68 9.43 729 12640.61 0.88 0.13 0.096 2439.06 407.2 4.50 0.082 3745.12 337.9 170.41 12.10 1.660 1941.00 -3.9 0.221 - - - - - - 15.94 15.80 12.88
12657.48 550.55 11.75 736 12663.36 roll 0.83 - - 2456.75 - 4.25 0.038 2224.50 -357.8 170.41 - - 1939.59 - - - - - - - - - 15.88 -
12977.78 510.80 12.42 750 12979.23 pitch 0.83 0.17 0.231 2408.19 -285.6 - - 2201.06 - 170.41 - - 1937.03 - - - - - - - - 15.82 - -
13277.70 480.05 10.19 760 13283.69 roll 0.89 - - 2391.62 - 4.49 0.079 3745.69 344.0 170.41 - - 1938.16 - - - - - - - - - 15.89 -
13317.83 475.62 11.09 768 13323.73 roll back 0.95 0.14 0.106 2469.94 559.4 4.26 0.038 2219.19 -358.3 170.41 - - 1938.16 - - - - - - - - 15.86 15.89 -
13637.65 435.68 12.58 782 13643.73 roll 0.91 - - 2455.62 - 4.49 0.076 3746.19 340.1 170.41 - - 1935.09 - - - - - - - - - 15.89 -
13652.55 433.67 12.65 785 13658.79 roll back 0.84 0.22 0.233 2410.38 -205.6 4.26 0.037 2221.31 -358.0 170.41 - - 1936.16 - - - - - - - - 15.82 15.90 -
13967.78 401.51 9.85 798 13973.76 roll 0.91 - - 2392.81 - 4.49 0.078 3746.00 339.6 173.66 - - 1935.81 - - - - - - - - - 15.90 -
13992.91 398.90 9.82 803 14008.90 0.97 0.15 0.112 2473.38 537.1 4.26 0.038 2206.62 -361.4 177.61 7.82 1.342 1911.50 -3.1 0.158 - - - - - - 15.85 15.90 12.87
14327.89 357.91 12.35 820 14333.81 roll 0.93 - - 2458.75 - 4.51 0.077 3745.56 341.2 177.61 - - 1910.03 - - - - - - - - - 15.85 -
14342.62 355.90 12.39 823 14348.76 roll 0.87 - - 2476.75 - 4.26 0.037 2223.00 -357.4 177.61 - - 1909.81 - - - - - - - - - 15.87 -
14657.98 316.97 12.25 836 14664.91 roll back 0.83 0.24 0.226 2389.44 -363.8 4.49 0.077 3746.75 339.4 177.61 - - 1908.09 - - - - - - - - 15.78 15.85 -
14682.81 314.17 12.12 841 14688.79 roll 0.83 - - 2406.69 - 4.26 0.037 2223.50 -357.6 177.61 - - 1909.22 - - - - - - - - - 15.87 -
15013.00 284.44 9.00 857 15039.37 0.99 0.17 0.098 2465.38 345.2 4.53 0.079 3745.19 335.9 198.92 18.80 1.497 1823.94 -4.5 0.147 - - - - - - 15.86 15.69 12.82
15047.91 280.45 11.39 864 15053.92 roll 0.99 - - 2483.62 - 4.28 0.036 2223.56 -355.5 198.92 - - 1824.75 - - - - - - - - - 15.74 -
15352.96 244.32 11.71 881 15354.29 no move 0.99 - - 2483.81 - - - 2211.25 - 198.92 - - 1819.25 - - - - - - - - - - -
15533.03 225.16 10.33 899 15538.92 roll 0.99 - - 2473.62 - 4.49 0.079 3745.75 341.8 198.92 - - 1821.25 - - - - - - - - - 15.85 -
15557.97 222.30 10.41 904 15563.90 roll 0.99 - - 2491.56 - 4.26 0.037 2223.50 -357.3 198.92 - - 1819.00 - - - - - - - - - 15.86 -
15742.94 203.50 9.68 923 15753.19 VBD 1.05 - - 2491.69 - - - 2212.44 - 205.70 7.18 1.144 1796.75 -3.1 0.094 - - - - - - - - 12.86
15933.01 187.51 8.04 942 15974.78 1.24 0.16 0.106 2550.19 365.6 4.55 0.080 3747.56 337.4 247.67 34.06 1.423 1623.88 -5.1 0.114 - - - - - - 15.86 15.63 12.86
16197.83 158.88 10.82 992 16204.09 roll 1.18 - - 2567.88 - 4.28 0.037 2222.81 -356.2 247.67 - - 1620.91 - - - - - - - - - 15.78 -
16383.24 141.58 8.90 1011 16409.46 done 1.25 - - 2586.50 - 4.30 0.076 752.12 -342.0 271.28 19.40 1.322 1529.59 -4.7 0.086 - - - - - - - 15.66 12.78
16617.92 118.99 9.35 1058 16636.32 done 1.32 - - 2573.69 - 4.31 0.044 2272.94 352.9 285.22 12.31 1.228 1471.84 -4.7 0.078 - - - - - - - 15.79 12.73
16818.38 102.64 7.76 1080 16858.96 1.53 0.20 0.099 2654.31 403.1 - - 2273.12 - 333.06 37.89 1.319 1278.28 -5.1 0.068 - - - - - - 15.73 - 12.72
17038.43 79.63 10.46 1102 17039.77 no move 1.53 - - 2653.75 - - - 2272.75 - 333.06 - - 1271.66 - - - - - - - - - - -
17218.36 63.00 8.51 1120 17243.96 VBD 1.66 - - 2653.19 - - - 2273.12 - 365.00 25.08 1.262 1148.72 -4.9 0.042 - - - - - - - - 12.72
17418.47 48.26 7.02 1140 17469.59 1.94 0.34 0.091 2782.81 381.2 - - 2272.56 - 428.69 48.93 1.252 888.88 -5.3 0.035 - - - - - - 15.66 - 12.70
17648.66 28.82 6.68 1164 17710.71 2.15 0.17 0.111 2840.75 340.8 4.40 0.084 3745.25 334.7 499.77 55.19 1.208 597.78 -5.3 0.021 - - - - - - 15.57 15.35 12.68
17858.56 11.93 7.66 1206 17875.86 done 2.25 - - 2856.75 - 4.34 0.039 2214.00 -352.8 549.82 11.02 1.051 550.81 -4.3 0.008 - - - - - - - 15.52 12.61
18044 end climb: SURFACE_DEPTH_REACHED
18044 begin surface coast
18074 end surface coast: CONTROL_FINISHED_OK
18074 begin surface
SM 2.00 - - - - 144.5 - - 545.0 - 8.70 0.158 725.6 83.4 - 0.38 0.064 364.4 947.5 -3.026 - - 30.00 15.55 15.64 -