SODA Aug19 * SG229 * Dive index * Mission links * Dive 124 * Raw log
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• Previous call tries 3 • 107.17 of 575.00 AH used of 24V (81.36% remains)
• Surface angle -64.1 deg, depth 1.31 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 563.8, SM_CC=525.92322)
• GPS1 time: 50 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
2 end surface: CONTROL_FINISHED_OK
2 begin dive
2.35 - - - 64.55 VBD -0.86 - - 127.50 - - - 2328.94 - -97.32 61.51 0.005 1712.34 - - - - - - - - - - 15.17
64.82 3.41 -3.82 12 121.54 -0.86 7.65 0.411 1687.75 204.0 4.21 0.058 3765.00 341.1 -97.32 40.08 0.005 3090.47 34.4 -4.006 - - - - - - 15.20 15.20 15.24
178.41 40.74 -34.53 35 184.39 roll back -0.63 0.28 0.261 1778.44 323.9 4.25 0.015 2231.25 -360.9 -97.32 - - 3093.91 - - - - - - - - 15.41 15.61 -
483.52 86.34 -12.57 96 484.85 no move -0.66 - - 1779.25 - - - 2229.88 - -97.32 - - 3091.91 - - - - - - - - - - -
783.56 121.33 -11.41 156 789.44 roll -0.71 - - 1797.31 - 4.15 0.048 770.50 -351.7 -97.32 - - 3095.06 - - - - - - - - - 15.71 -
1013.61 146.04 -10.10 202 1019.55 roll back -0.77 0.15 0.080 1708.25 -593.7 4.20 0.017 2299.12 364.0 -97.32 - - 3094.81 - - - - - - - - 15.67 15.77 -
1318.78 183.27 -12.70 263 1324.55 roll -0.77 - - 1688.38 - 4.22 0.057 3766.81 347.8 -97.32 - - 3096.69 - - - - - - - - - 15.76 -
1543.70 212.94 -12.51 308 1549.65 roll back -0.74 0.14 0.233 1745.31 406.6 4.20 0.014 2222.06 -367.8 -97.32 - - 3095.28 - - - - - - - - 15.63 15.85 -
1848.74 236.81 -6.80 339 1855.72 roll back -0.84 0.12 0.090 1658.88 -720.2 4.47 0.055 3767.75 345.8 -97.32 - - 3093.06 - - - - - - - - 15.80 15.80 -
1878.77 239.46 -7.85 345 1884.70 roll back -0.84 0.13 0.240 1713.38 419.2 4.20 0.013 2218.69 -368.8 -97.32 - - 3093.59 - - - - - - - - 15.64 15.86 -
2183.78 261.72 -6.86 376 2185.11 no move -0.90 - - 1713.81 - - - 2217.12 - -97.32 - - 3094.19 - - - - - - - - - - -
2483.86 281.84 -6.77 406 2485.31 pitch -0.98 0.16 0.074 1636.12 -485.6 - - 2217.12 - -97.32 - - 3094.50 - - - - - - - - 15.82 - -
2783.81 307.17 -8.11 436 2789.74 roll -0.98 - - 1616.50 - 4.49 0.055 3770.00 345.9 -97.32 - - 3094.00 - - - - - - - - - 15.89 -
2823.89 310.91 -9.33 444 2829.78 roll back -0.91 0.19 0.240 1691.62 395.4 4.20 0.013 2212.69 -370.8 -97.32 - - 3093.41 - - - - - - - - 15.70 15.90 -
3133.88 332.13 -6.56 476 3135.21 no move -0.97 - - 1690.69 - - - 2211.19 - -97.32 - - 3092.88 - - - - - - - - - - -
3433.96 352.43 -6.79 506 3440.88 roll back -1.03 0.14 0.083 1603.12 -625.5 4.49 0.054 3768.38 346.8 -97.32 - - 3091.91 - - - - - - - - 15.88 15.86 -
3468.90 355.70 -8.20 513 3474.83 roll back -0.98 0.17 0.240 1668.81 386.4 4.18 0.013 2214.25 -371.8 -97.32 - - 3091.56 - - - - - - - - 15.71 15.93 -
3778.94 378.11 -7.05 545 3784.87 roll -1.02 - - 1650.75 - 4.49 0.055 3767.38 345.9 -97.32 - - 3092.53 - - - - - - - - - 15.91 -
3818.93 381.40 -7.84 553 3824.80 roll -1.02 - - 1667.12 - 4.19 0.013 2229.56 -367.0 -97.32 - - 3091.16 - - - - - - - - - 15.95 -
4128.98 403.12 -6.87 583 4130.31 no move -1.06 - - 1666.94 - - - 2228.00 - -97.32 - - 3093.19 - - - - - - - - - - -
4428.99 423.62 -6.77 598 4430.45 pitch -1.10 0.13 0.089 1604.50 -480.3 - - 2228.00 - -97.32 - - 3091.22 - - - - - - - - 15.87 - -
4729.01 448.99 -8.47 613 4736.00 roll back -1.06 0.14 0.234 1626.06 154.0 4.45 0.056 3768.62 346.2 -97.32 - - 3090.38 - - - - - - - - 15.74 15.79 -
4959.10 469.62 -8.89 659 4964.94 roll -1.02 - - 1643.44 - 4.18 0.014 2231.56 -367.7 -97.32 - - 3092.06 - - - - - - - - - 15.96 -
5264.12 491.76 -7.09 675 5269.91 roll -1.02 - - 1662.56 - 4.09 0.048 769.06 -357.6 -97.32 - - 3093.78 - - - - - - - - - 15.95 -
5414.10 503.50 -7.81 705 5419.99 roll -0.99 - - 1645.50 - 4.14 0.016 2297.06 369.1 -97.32 - - 3091.78 - - - - - - - - - 15.95 -
5724.19 525.03 -7.12 722 5725.53 no move -0.99 - - 1644.38 - - - 2296.94 - -97.32 - - 3092.03 - - - - - - - - - - -
6024.19 545.52 -6.81 737 6030.08 roll -0.99 - - 1661.69 - 4.32 0.045 769.94 -353.5 -97.32 - - 3092.56 - - - - - - - - - 15.96 -
6049.16 547.41 -6.88 742 6055.06 roll -0.99 - - 1644.19 - 4.14 0.017 2298.50 369.2 -97.32 - - 3090.78 - - - - - - - - - 15.98 -
6364.20 569.47 -6.88 760 6370.12 roll -0.99 - - 1662.19 - 4.32 0.046 769.38 -354.0 -97.32 - - 3093.12 - - - - - - - - - 15.96 -
6379.20 570.59 -6.96 763 6385.11 roll -0.99 - - 1645.19 - 4.15 0.017 2298.44 368.4 -97.32 - - 3092.91 - - - - - - - - - 15.95 -
6684.30 592.04 -7.01 779 6690.15 roll -0.99 - - 1661.62 - 4.31 0.045 770.75 -354.5 -97.32 - - 3093.00 - - - - - - - - - 15.96 -
6704.26 593.51 -7.11 783 6710.12 roll -0.99 - - 1644.25 - 4.13 0.017 2297.81 369.7 -97.32 - - 3093.12 - - - - - - - - - 15.97 -
7024.30 615.43 -6.83 802 7030.20 roll -1.01 - - 1661.56 - 4.32 0.045 769.12 -353.9 -97.32 - - 3092.09 - - - - - - - - - 15.96 -
7049.29 617.30 -7.00 807 7055.18 roll -1.01 - - 1643.94 - 4.14 0.017 2301.69 370.2 -97.32 - - 3091.47 - - - - - - - - - 15.96 -
7364.32 638.48 -6.65 825 7370.24 roll -1.01 - - 1661.56 - 4.33 0.046 769.50 -353.9 -97.32 - - 3092.19 - - - - - - - - - 15.96 -
7389.34 640.27 -6.65 830 7395.22 roll -1.01 - - 1643.75 - 4.13 0.017 2296.75 369.8 -97.32 - - 3091.66 - - - - - - - - - 15.99 -
7704.39 661.63 -6.77 848 7705.72 no move -1.03 - - 1643.88 - - - 2297.00 - -97.32 - - 3090.66 - - - - - - - - - - -
8004.43 681.58 -6.64 863 8010.32 roll -1.05 - - 1661.62 - 4.31 0.046 769.50 -354.4 -97.32 - - 3094.22 - - - - - - - - - 15.97 -
8044.43 684.52 -6.74 871 8050.30 roll -1.05 - - 1643.44 - 4.14 0.018 2297.44 369.1 -97.32 - - 3092.97 - - - - - - - - - 15.98 -
8364.46 705.19 -6.49 890 8370.63 roll -1.08 - - 1661.38 - 4.31 0.046 769.38 -354.5 -97.32 - - 3091.91 - - - - - - - - - 15.97 -
8384.47 706.58 -6.51 894 8390.35 roll -1.08 - - 1644.56 - 4.14 0.017 2300.81 369.9 -97.32 - - 3090.78 - - - - - - - - - 15.96 -
8704.50 726.77 -6.27 913 8710.41 roll -1.10 - - 1661.12 - 4.32 0.045 769.50 -354.5 -97.32 - - 3091.41 - - - - - - - - - 15.97 -
8934.54 742.68 -6.97 959 8940.47 roll back -1.10 0.07 0.129 1603.88 -817.7 4.16 0.017 2303.06 368.6 -97.32 - - 3091.53 - - - - - - - - 15.87 16.00 -
9244.56 763.85 -6.81 976 9250.49 roll back -1.07 0.14 0.242 1624.19 145.1 4.16 0.057 3769.00 352.4 -97.32 - - 3092.25 - - - - - - - - 15.75 15.80 -
9464.63 780.50 -7.54 1020 9470.49 roll -1.03 - - 1640.88 - 4.14 0.013 2230.81 -371.5 -97.32 - - 3092.28 - - - - - - - - - 15.99 -
9784.63 800.27 -6.20 1039 9785.97 no move -1.06 - - 1642.19 - - - 2230.94 - -97.32 - - 3091.69 - - - - - - - - - - -
10084.66 818.65 -6.05 1054 10086.00 no move -1.08 - - 1641.44 - - - 2230.56 - -97.32 - - 3090.69 - - - - - - - - - - -
10384.68 836.96 -6.07 1069 10386.01 no move -1.11 - - 1641.12 - - - 2230.25 - -97.32 - - 3091.41 - - - - - - - - - - -
10684.69 855.34 -6.14 1084 10686.02 no move -1.13 - - 1641.06 - - - 2230.25 - -97.32 - - 3090.88 - - - - - - - - - - -
10984.72 873.32 -6.01 1099 10986.06 no move -1.16 - - 1641.69 - - - 2230.62 - -97.32 - - 3090.56 - - - - - - - - - - -
11284.74 891.02 -5.85 1114 11286.19 pitch -1.18 0.14 0.090 1576.00 -469.2 - - 2230.19 - -97.32 - - 3090.84 - - - - - - - - 15.94 - -
11584.74 913.04 -7.36 1129 11590.63 roll back -1.12 0.18 0.243 1640.88 360.4 4.09 0.048 770.31 -356.9 -97.32 - - 3092.19 - - - - - - - - 15.72 15.80 -
11604.74 914.42 -7.36 1133 11610.60 roll -1.06 - - 1623.19 - 4.14 0.017 2299.62 369.4 -97.32 - - 3092.12 - - - - - - - - - 15.99 -
11924.73 934.92 -6.45 1152 11926.06 no move -1.06 - - 1623.19 - - - 2300.00 - -97.32 - - 3092.41 - - - - - - - - - - -
12224.81 954.11 -6.28 1167 12230.67 roll -1.06 - - 1641.19 - 4.34 0.045 770.50 -352.4 -97.32 - - 3092.75 - - - - - - - - - 15.89 -
12264.83 957.01 -6.55 1175 12270.65 roll -1.03 - - 1623.75 - 4.16 0.017 2298.06 367.2 -97.32 - - 3092.22 - - - - - - - - - 15.89 -
12584.77 977.42 -6.27 1194 12590.69 roll -1.03 - - 1641.25 - 4.34 0.045 770.69 -351.9 -97.32 - - 3092.16 - - - - - - - - - 15.86 -
12619.79 979.84 -6.29 1201 12625.69 roll -1.00 - - 1623.94 - 4.17 0.017 2295.62 365.7 -97.32 - - 3092.38 - - - - - - - - - 15.86 -
12805 end dive: TARGET_DEPTH_EXCEEDED
12805 begin apogee
12806.62 991.18 -6.07 1211 12891.89 -0.14 1.10 0.214 1938.25 285.7 0.14 0.108 2450.00 1102.7 - 82.71 2.375 2691.56 -4.8 0.345 - - - - - - 15.63 15.28 11.64
12892 end apogee: CONTROL_FINISHED_OK
12892 begin climb
12892.37 991.21 - 1215 12978.86 0.86 0.94 0.069 2269.62 352.5 - - 2449.00 - 97.32 84.26 2.308 2296.38 -4.7 0.344 - - - - - - 15.35 - 12.23
13280.95 946.78 12.43 1237 13287.65 done 0.86 - - 2260.56 - 4.49 0.064 3955.44 335.5 97.32 - - 2282.50 - - - - - - - - - 15.38 -
13330.77 939.60 14.52 1247 13336.69 0.76 0.22 0.242 2214.31 -210.2 4.05 0.013 2493.25 -361.0 97.32 - - 2281.75 - - - - - - - - 15.24 15.42 -
13636.00 907.95 10.20 1263 13637.34 VBD 0.81 - - 2216.00 - - - 2477.50 - 97.32 - - 2276.50 - - - - - - - - - - -
13936.03 877.44 10.13 1278 13941.98 0.87 0.13 0.086 2266.56 388.9 4.36 0.064 3956.19 339.1 97.32 - - 2277.22 - - - - - - - - 15.55 15.55 -
13985.75 870.42 14.76 1288 13991.68 0.75 0.26 0.250 2212.50 -207.9 4.00 0.012 2493.69 -365.6 97.32 - - 2277.78 - - - - - - - - 15.41 15.61 -
14295.79 838.79 9.98 1305 14297.13 VBD 0.81 - - 2212.81 - - - 2478.88 - 97.32 - - 2274.16 - - - - - - - - - - -
14596.07 809.22 9.81 1320 14602.77 0.87 0.14 0.082 2270.00 408.5 4.32 0.064 3960.06 342.9 97.32 - - 2277.19 - - - - - - - - 15.72 15.69 -
14645.78 802.52 14.29 1330 14651.76 0.75 0.26 0.250 2214.94 -211.8 3.95 0.012 2492.94 -371.4 97.32 - - 2277.09 - - - - - - - - 15.51 15.74 -
14951.08 771.98 9.76 1346 14952.42 VBD 0.81 - - 2213.81 - - - 2478.12 - 97.32 - - 2273.16 - - - - - - - - - - -
15251.12 742.41 9.82 1361 15257.81 0.87 0.14 0.087 2266.12 373.6 4.29 0.064 3955.94 344.5 97.32 - - 2273.34 - - - - - - - - 15.76 15.77 -
15295.83 736.36 14.52 1370 15301.76 0.76 0.25 0.247 2214.50 -206.5 3.95 0.013 2491.44 -370.8 97.32 - - 2275.03 - - - - - - - - 15.59 15.82 -
15606.12 704.93 9.85 1387 15607.46 VBD 0.82 - - 2213.75 - - - 2476.06 - 97.32 - - 2271.97 - - - - - - - - - - -
15906.15 675.67 9.54 1402 15907.60 0.88 0.14 0.082 2291.00 551.8 - - 2474.06 - 97.32 - - 2275.19 - - - - - - - - 15.80 - -
16206.16 638.27 12.68 1417 16212.85 0.84 0.19 0.239 2221.94 -363.5 4.30 0.064 3957.81 345.1 97.32 - - 2271.50 - - - - - - - - 15.66 15.73 -
16295.90 626.74 12.62 1435 16301.77 done 0.81 - - 2238.25 - 3.94 0.013 2492.50 -371.9 97.32 - - 2274.22 - - - - - - - - - 15.89 -
16601.25 594.34 10.51 1451 16602.59 VBD 0.84 - - 2237.94 - - - 2478.25 - 97.32 - - 2271.69 - - - - - - - - - - -
16901.21 562.91 10.32 1466 16906.82 done 0.87 - - 2220.19 - 4.27 0.064 3955.12 345.9 97.32 - - 2274.16 - - - - - - - - - 15.87 -
16961.04 555.72 12.19 1478 16966.79 done 0.84 - - 2237.62 - 3.93 0.013 2492.69 -372.1 97.32 - - 2273.91 - - - - - - - - - 15.92 -
17281.29 522.60 10.35 1497 17282.63 VBD 0.87 - - 2236.81 - - - 2478.31 - 97.32 - - 2270.91 - - - - - - - - - - -
17581.25 491.82 10.19 1512 17586.87 done 0.90 - - 2220.81 - 4.27 0.064 3953.25 345.4 97.32 - - 2272.00 - - - - - - - - - 15.88 -
17641.07 484.61 12.08 1524 17646.88 0.87 0.07 0.133 2280.25 849.1 3.93 0.013 2481.88 -374.4 97.32 - - 2274.91 - - - - - - - - 15.83 15.91 -
17961.26 446.92 11.72 1543 17962.60 VBD 0.87 - - 2279.12 - - - 2468.19 - 97.32 - - 2271.38 - - - - - - - - - - -
18261.28 412.09 11.59 1558 18267.17 done 0.87 - - 2262.06 - 4.30 0.063 3958.69 346.6 97.32 - - 2273.97 - - - - - - - - - 15.90 -
18321.11 404.07 13.62 1570 18326.96 0.78 0.20 0.255 2221.06 -205.0 3.93 0.012 2488.25 -374.2 97.32 - - 2272.22 - - - - - - - - 15.67 15.95 -
18631.35 374.97 9.22 1602 18632.69 VBD 0.84 - - 2221.81 - - - 2473.44 - 97.32 - - 2270.72 - - - - - - - - - - -
18931.54 347.79 8.82 1632 18932.99 0.90 0.14 0.090 2290.25 488.9 - - 2471.88 - 97.32 - - 2273.19 - - - - - - - - 15.91 - -
19231.22 314.23 11.12 1662 19237.40 0.88 0.14 0.241 2232.81 -410.3 4.27 0.063 3957.44 347.9 97.32 - - 2274.00 - - - - - - - - 15.72 15.77 -
19281.22 308.53 11.44 1672 19287.05 done 0.83 - - 2250.94 - 3.91 0.013 2491.12 -375.0 97.32 - - 2271.00 - - - - - - - - - 15.96 -
19591.51 280.04 8.42 1704 19592.85 VBD 0.87 - - 2250.81 - - - 2475.94 - 97.32 - - 2269.47 - - - - - - - - - - -
19891.60 254.70 8.01 1734 19897.16 done 0.91 - - 2232.81 - 4.26 0.063 3953.50 346.8 97.32 - - 2270.78 - - - - - - - - - 15.92 -
19941.35 249.85 9.83 1744 19947.13 done 0.88 - - 2251.69 - 3.92 0.013 2487.19 -374.1 97.32 - - 2271.47 - - - - - - - - - 15.97 -
20251.60 229.04 5.50 1776 20288.40 1.05 0.19 0.071 2332.75 426.6 - - 2474.44 - 143.30 35.06 1.477 2111.34 -4.6 0.121 - - - - - - 15.90 - 11.72
20586.60 204.03 6.33 1810 20587.93 no move 1.05 - - 2332.81 - - - 2472.50 - 143.30 - - 2102.41 - - - - - - - - - - -
20886.67 186.12 5.68 1863 20923.44 VBD 1.16 - - 2333.12 - - - 2472.50 - 186.03 35.71 1.418 1937.81 -4.6 0.103 - - - - - - - - 11.86
21221.72 163.55 6.74 1930 21223.18 1.22 0.11 0.107 2392.12 536.4 - - 2473.00 - 186.03 - - 1925.31 - - - - - - - - 15.73 - -
21521.78 142.24 6.85 1990 21523.12 VBD 1.22 - - 2391.44 - - - 2473.19 - 186.03 - - 1924.22 - - - - - - - - - - -
21821.83 123.93 6.10 2050 21823.17 VBD 1.22 - - 2392.19 - - - 2473.00 - 186.03 - - 1924.06 - - - - - - - - - - -
22121.92 107.39 5.22 2110 22169.46 done 1.37 - - 2409.25 - 4.09 0.042 1038.69 -350.7 237.14 41.74 1.361 1726.75 -4.7 0.064 - - - - - - - 15.61 11.81
22181.74 104.14 5.29 2122 22229.84 1.54 0.22 0.076 2493.56 383.2 4.24 0.020 2563.38 359.6 287.07 41.22 1.302 1523.16 -4.9 0.067 - - - - - - 15.66 15.72 12.33
22526.98 70.36 8.76 2191 22528.32 VBD 1.54 - - 2493.94 - - - 2563.94 - 287.07 - - 1513.66 - - - - - - - - - - -
22826.83 48.70 5.20 2251 22868.70 VBD 1.70 - - 2493.88 - - - 2563.69 - 338.60 41.13 1.272 1313.72 -4.9 0.032 - - - - - - - - 11.82
23167.13 34.60 3.35 2319 23234.40 2.03 0.39 0.050 2651.25 403.5 - - 2564.94 - 423.55 66.04 1.235 967.81 -5.2 0.025 - - - - - - 15.65 - 11.87
23532.19 24.66 2.01 2392 23613.69 2.30 0.19 0.076 2734.69 439.2 - - 2563.62 - 532.71 78.85 1.198 549.56 -5.3 0.019 - - - - - - 15.57 - 11.87
23762 end climb: SURFACE_DEPTH_REACHED
23762 begin surface coast
23777 end surface coast: CONTROL_FINISHED_OK
23777 begin surface
SM 1.84 - - - - 132.2 - - 540.0 - 7.49 0.058 516.2 68.9 - 0.88 0.018 563.8 640.7 -6.694 - - 30.00 15.44 15.53 -