SODA Aug19 * SG227 * Dive index * Mission links * Dive 216 * Raw log
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• Previous call tries 2 • 84.81 of 575.00 AH used of 24V (85.25% remains)
• Surface angle -65.5 deg, depth 0.02 m • Intended pitch -17.4 deg, speed -9.524 cm/s
• No surface pump (final VBD was 347.6, SM_CC=511.6958)
• GPS1 time: 116 s
• GPS2 time: 2 s • Transponder ping count: 86
• 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
4.80 - - - 66.82 VBD -0.92 - - 143.88 - - - 2324.38 - -145.99 61.44 0.005 1655.84 - - - - - - - - - - 15.52
67.08 4.05 -7.86 6 118.86 -0.92 7.91 0.395 1870.81 218.3 3.87 0.054 990.50 -344.7 -145.99 36.49 0.005 3231.81 43.2 -5.918 - - - - - - 15.37 15.54 15.51
140.95 33.13 -46.25 18 146.94 roll back -0.25 0.84 0.294 2070.38 237.6 3.68 0.026 2298.69 355.5 -145.99 - - 3231.59 - - - - - - - - 15.41 15.70 -
326.00 62.97 -11.67 37 331.78 roll -0.32 - - 2055.38 - 3.61 0.063 3566.12 351.1 -145.99 - - 3232.16 - - - - - - - - - 15.72 -
385.95 69.27 -10.10 49 391.86 roll back -0.45 0.20 0.102 1987.31 -340.4 3.61 0.020 2250.19 -364.5 -145.99 - - 3233.91 - - - - - - - - 15.70 15.73 -
576.03 93.65 -12.54 69 577.37 no move -0.45 - - 1988.38 - - - 2244.31 - -145.99 - - 3232.09 - - - - - - - - - - -
756.11 116.03 -11.84 87 761.54 roll -0.45 - - 2001.19 - 3.58 0.058 992.44 -349.7 -145.99 - - 3234.16 - - - - - - - - - 15.81 -
836.16 125.41 -11.40 103 841.95 roll -0.48 - - 1987.88 - 3.65 0.027 2301.31 358.6 -145.99 - - 3232.06 - - - - - - - - - 15.82 -
1025.97 146.08 -10.10 123 1027.30 no move -0.48 - - 1987.56 - - - 2301.88 - -145.99 - - 3230.94 - - - - - - - - - - -
1206.04 165.18 -10.32 141 1207.38 no move -0.52 - - 1987.38 - - - 2302.19 - -145.99 - - 3231.69 - - - - - - - - - - -
1386.08 183.16 -9.69 159 1387.41 no move -0.56 - - 1987.44 - - - 2301.75 - -145.99 - - 3231.53 - - - - - - - - - - -
1566.19 201.01 -10.03 177 1571.76 roll back -0.63 0.13 0.110 1941.75 -351.5 3.79 0.058 993.69 -345.1 -145.99 - - 3233.16 - - - - - - - - 15.86 15.87 -
1631.21 208.51 -11.64 190 1636.97 roll -0.63 - - 1927.62 - 3.63 0.027 2300.75 360.1 -145.99 - - 3232.03 - - - - - - - - - 15.78 -
1816.22 227.73 -9.78 209 1817.55 no move -0.63 - - 1927.94 - - - 2301.88 - -145.99 - - 3231.06 - - - - - - - - - - -
1996.25 244.09 -8.88 227 1997.58 no move -0.66 - - 1927.88 - - - 2301.25 - -145.99 - - 3230.53 - - - - - - - - - - -
2186.34 265.00 -12.34 238 2187.67 no move -0.71 - - 1927.62 - - - 2301.75 - -145.99 - - 3230.34 - - - - - - - - - - -
2366.40 273.78 -4.32 244 2367.74 no move -0.76 - - 1928.06 - - - 2301.19 - -145.99 - - 3230.72 - - - - - - - - - - -
2546.13 283.44 -4.93 250 2547.59 pitch -0.82 0.14 0.106 1870.75 -409.4 - - 2301.88 - -145.99 - - 3230.16 - - - - - - - - 15.91 - -
2726.37 299.40 -8.91 256 2731.82 roll -0.78 - - 1883.94 - 3.78 0.058 992.94 -346.3 -145.99 - - 3231.28 - - - - - - - - - 15.93 -
2796.04 306.07 -9.63 270 2801.88 roll back -0.73 0.17 0.226 1917.88 199.6 3.62 0.028 2301.62 361.5 -145.99 - - 3230.78 - - - - - - - - 15.80 15.94 -
2996.37 325.24 -8.65 280 2997.70 no move -0.79 - - 1918.12 - - - 2302.25 - -145.99 - - 3229.66 - - - - - - - - - - -
3176.41 338.14 -7.18 286 3177.86 pitch -0.86 0.16 0.104 1855.50 -391.4 - - 2303.44 - -145.99 - - 3230.25 - - - - - - - - 15.93 - -
3356.27 354.96 -9.51 292 3357.72 pitch -0.81 0.14 0.229 1893.19 269.2 - - 2303.00 - -145.99 - - 3228.84 - - - - - - - - 15.88 - -
3536.26 369.69 -8.08 298 3537.60 no move -0.81 - - 1892.81 - - - 2302.88 - -145.99 - - 3229.66 - - - - - - - - - - -
3716.43 384.24 -8.06 304 3717.77 no move -0.84 - - 1892.62 - - - 2303.00 - -145.99 - - 3229.09 - - - - - - - - - - -
3896.49 398.62 -7.99 310 3897.82 no move -0.88 - - 1893.12 - - - 2303.31 - -145.99 - - 3229.28 - - - - - - - - - - -
4076.48 412.85 -7.84 316 4081.99 roll back -0.91 0.13 0.115 1855.00 -293.2 3.76 0.057 992.56 -348.6 -145.99 - - 3230.72 - - - - - - - - 15.95 15.97 -
4156.19 420.64 -9.91 332 4162.18 roll -0.84 - - 1840.12 - 3.62 0.028 2301.94 361.7 -145.99 - - 3232.09 - - - - - - - - - 15.98 -
4346.31 439.36 -9.94 340 4347.78 pitch -0.78 0.22 0.232 1903.25 287.0 - - 2303.31 - -145.99 - - 3229.84 - - - - - - - - 15.87 - -
4526.54 452.35 -7.08 346 4527.88 no move -0.84 - - 1903.88 - - - 2303.00 - -145.99 - - 3229.06 - - - - - - - - - - -
4706.54 465.04 -7.04 352 4708.00 pitch -0.90 0.15 0.110 1844.44 -396.3 - - 2303.62 - -145.99 - - 3228.81 - - - - - - - - 15.97 - -
4886.59 480.68 -8.75 358 4888.04 pitch -0.86 0.12 0.234 1878.31 282.2 - - 2302.75 - -145.99 - - 3228.16 - - - - - - - - 15.92 - -
5066.56 494.77 -8.02 364 5067.89 no move -0.86 - - 1879.56 - - - 2303.38 - -145.99 - - 3229.25 - - - - - - - - - - -
5246.47 508.46 -7.61 370 5247.80 no move -0.86 - - 1878.62 - - - 2302.69 - -145.99 - - 3228.66 - - - - - - - - - - -
5426.41 522.02 -7.56 376 5432.03 roll -0.86 - - 1894.81 - 3.74 0.056 992.44 -350.3 -145.99 - - 3229.25 - - - - - - - - - 16.00 -
5496.25 527.56 -7.80 390 5502.03 roll -0.86 - - 1881.25 - 3.61 0.029 2304.44 363.4 -145.99 - - 3231.19 - - - - - - - - - 16.01 -
5696.47 535.38 3.19 400 5697.80 no move -0.86 - - 1881.69 - - - 2304.19 - -145.99 - - 3228.75 - - - - - - - - - - -
5876.64 548.26 -7.06 406 5877.97 no move -0.86 - - 1881.12 - - - 2304.69 - -145.99 - - 3228.72 - - - - - - - - - - -
6056.47 561.56 -7.38 412 6057.80 no move -0.86 - - 1881.19 - - - 2304.69 - -145.99 - - 3228.50 - - - - - - - - - - -
6236.62 574.80 -7.34 418 6237.96 no move -0.86 - - 1881.62 - - - 2305.06 - -145.99 - - 3228.75 - - - - - - - - - - -
6416.61 588.09 -7.39 424 6417.94 no move -0.86 - - 1880.75 - - - 2304.75 - -145.99 - - 3229.28 - - - - - - - - - - -
6597 end dive: TARGET_DEPTH_EXCEEDED
6597 begin apogee
6597.85 601.36 -7.40 430 6713.25 -0.14 0.75 0.195 2107.81 302.7 0.23 0.081 2275.94 -125.3 - 113.56 1.973 2634.38 -5.2 0.270 - - - - - - 15.86 15.24 12.59
6714 end apogee: CONTROL_FINISHED_OK
6714 begin climb
6714.58 602.94 - 433 6835.62 0.92 1.10 0.135 2451.62 312.6 - - 2276.81 - 145.99 119.16 1.883 2039.56 -5.0 0.270 - - - - - - 15.27 - 12.41
6987.80 576.79 11.26 443 6989.14 VBD 0.92 - - 2451.38 - - - 2275.94 - 145.99 - - 2029.34 - - - - - - - - - - -
7167.80 556.35 11.35 449 7169.13 VBD 0.92 - - 2451.44 - - - 2275.50 - 145.99 - - 2025.81 - - - - - - - - - - -
7347.78 536.17 11.21 455 7349.12 VBD 0.92 - - 2450.81 - - - 2276.38 - 145.99 - - 2024.41 - - - - - - - - - - -
7527.84 516.39 10.98 461 7529.18 VBD 0.92 - - 2451.62 - - - 2275.88 - 145.99 - - 2023.16 - - - - - - - - - - -
7707.76 496.51 11.04 467 7713.59 done 0.92 - - 2468.69 - 3.87 0.058 963.00 -339.2 145.99 - - 2024.12 - - - - - - - - - 15.67 -
7732.85 493.59 11.11 472 7738.69 done 0.92 - - 2454.25 - 3.67 0.026 2271.88 356.6 145.99 - - 2022.94 - - - - - - - - - 15.66 -
7917.91 473.17 10.97 479 7919.25 VBD 0.92 - - 2454.06 - - - 2272.75 - 145.99 - - 2021.53 - - - - - - - - - - -
8097.88 453.48 10.96 485 8099.21 VBD 0.92 - - 2453.88 - - - 2273.19 - 145.99 - - 2020.94 - - - - - - - - - - -
8277.94 438.99 7.41 491 8315.66 1.06 0.12 0.123 2503.38 412.5 - - 2273.19 - 193.41 36.77 1.712 1846.56 -4.7 0.206 - - - - - - 15.76 - 12.53
8487.94 409.19 12.71 498 8489.27 no move 1.00 - - 2503.50 - - - 2272.62 - 193.41 - - 1839.72 - - - - - - - - - - -
8667.94 387.61 11.69 504 8669.42 0.94 0.20 0.227 2445.31 -291.0 - - 2274.44 - 193.41 - - 1838.31 - - - - - - - - 15.61 - -
8847.88 368.04 10.77 510 8849.22 VBD 0.98 - - 2445.50 - - - 2274.56 - 193.41 - - 1837.03 - - - - - - - - - - -
9027.86 349.40 10.37 516 9029.20 VBD 1.02 - - 2445.50 - - - 2274.81 - 193.41 - - 1836.47 - - - - - - - - - - -
9208.10 331.22 10.03 522 9209.55 1.07 0.14 0.114 2506.00 432.1 - - 2274.69 - 193.41 - - 1836.19 - - - - - - - - 15.79 - -
9387.96 308.22 12.93 528 9389.29 VBD 1.02 - - 2505.69 - - - 2274.75 - 193.41 - - 1836.28 - - - - - - - - - - -
9567.96 285.68 12.42 534 9569.42 0.98 0.17 0.227 2455.75 -293.8 - - 2275.94 - 193.41 - - 1835.78 - - - - - - - - 15.76 - -
9747.96 267.83 9.90 540 9753.75 done 1.03 - - 2471.56 - 3.82 0.062 962.94 -343.7 193.41 - - 1837.19 - - - - - - - - - 15.88 -
9782.96 264.32 10.02 547 9788.72 done 1.10 - - 2456.31 - 3.65 0.031 2272.00 358.6 193.41 - - 1835.91 - - - - - - - - - 15.87 -
9967.86 247.06 9.26 558 9974.49 1.19 0.22 0.092 2546.56 410.2 - - 2273.50 - 199.31 5.34 0.972 1824.34 -2.2 0.093 - - - - - - 15.86 - 12.59
10147.89 227.58 10.34 576 10149.22 no move 1.14 - - 2545.88 - - - 2272.25 - 199.31 - - 1821.50 - - - - - - - - - - -
10328.08 211.07 9.24 594 10338.08 VBD 1.16 - - 2545.94 - - - 2273.06 - 205.76 8.02 1.216 1797.06 -3.0 0.089 - - - - - - - - 12.56
10517.93 194.92 8.18 613 10544.63 VBD 1.25 - - 2545.56 - - - 2273.00 - 235.82 25.66 1.445 1674.72 -4.8 0.109 - - - - - - - - 12.61
10718.13 178.29 8.25 633 10742.47 VBD 1.34 - - 2546.00 - - - 2273.31 - 264.35 23.61 1.401 1557.16 -5.0 0.107 - - - - - - - - 12.60
10918.00 161.59 8.30 653 10941.69 1.49 0.23 0.093 2640.19 409.5 - - 2273.00 - 291.70 22.87 1.370 1446.66 -4.8 0.096 - - - - - - 15.68 - 12.50
11118.07 139.42 11.07 673 11123.96 roll back 1.43 0.16 0.230 2613.44 -167.2 3.86 0.062 964.06 -339.1 291.70 - - 1442.12 - - - - - - - - 15.62 15.69 -
11158.01 135.40 10.07 681 11163.87 roll 1.43 - - 2599.19 - 3.68 0.032 2270.00 354.9 291.70 - - 1441.59 - - - - - - - - - 15.68 -
11348.29 118.64 8.60 701 11368.46 1.52 0.12 0.113 2649.44 418.8 - - 2270.75 - 312.50 17.68 1.316 1361.41 -4.5 0.069 - - - - - - 15.74 - 12.55
11548.14 98.73 9.84 721 11553.94 roll 1.52 - - 2666.19 - 3.84 0.062 962.75 -340.6 312.50 - - 1358.53 - - - - - - - - - 15.71 -
11593.13 94.22 10.09 730 11599.02 roll 1.52 - - 2652.62 - 3.68 0.031 2271.62 355.7 312.50 - - 1358.91 - - - - - - - - - 15.74 -
11778.10 78.80 7.83 749 11809.86 VBD 1.64 - - 2652.50 - - - 2272.31 - 350.44 30.87 1.329 1206.59 -4.9 0.049 - - - - - - - - 12.56
11988.42 63.07 6.99 770 12034.20 1.89 0.31 0.085 2769.88 378.6 - - 2271.81 - 407.27 44.90 1.299 976.47 -5.1 0.042 - - - - - - 15.65 - 12.51
12218.31 41.90 8.26 795 12246.58 done 1.98 - - 2786.44 - 3.90 0.066 964.19 -335.3 435.51 23.06 1.233 860.00 -5.1 0.029 - - - - - - - 15.47 12.48
12308.83 35.37 6.88 813 12361.61 2.23 0.28 0.090 2876.69 322.3 3.71 0.030 2273.62 352.9 494.63 46.92 1.229 620.22 -5.1 0.025 - - - - - - 15.53 15.57 12.44
12538.77 22.29 4.59 841 12559.87 2.56 0.28 0.092 2966.38 320.3 3.64 0.065 3537.00 347.1 605.07 14.85 1.141 550.28 -4.7 0.016 - - - - - - 15.52 15.44 12.43
12568.69 20.20 5.72 846 12574.55 2.69 0.09 0.145 3019.38 588.9 3.67 0.022 2218.19 -359.3 690.32 - - 549.31 - - - - - - - - 15.47 15.52 -
12758.76 2.20 9.05 866 12764.40 2.46 0.34 0.266 2913.75 -310.7 3.87 0.060 3537.12 340.8 700.95 - - 546.59 - - - - - - - - 15.51 15.59 -
12769 end climb: SURFACE_DEPTH_REACHED
12769 begin surface coast
12789 end surface coast: CONTROL_FINISHED_OK
12789 begin surface
SM 2.59 - - - - 146.6 - - 545.8 - 8.92 0.154 744.1 83.4 - 3.54 0.019 347.6 97.1 -1.353 - - 30.00 15.53 15.65 -