SODA Aug19 * SG229 * Dive index * Mission links * Dive 126 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 107.89 of 575.00 AH used of 24V (81.24% remains)
• Surface angle -65.9 deg, depth 1.34 m • Intended pitch -22.3 deg, speed -8.049 cm/s
VBD pumped to 525.95 (SM_CC=525.92322)
• GPS1 time: 20 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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 - - - 59.44 VBD -0.86 - - 118.31 - - - 2353.75 - -97.32 56.44 0.005 1621.75 - - - - - - - - - - 15.23
59.69 3.06 -3.46 11 121.59 -0.86 7.70 0.413 1686.25 203.6 4.14 0.058 3766.06 341.1 -97.32 45.60 0.005 3091.94 32.2 -3.359 - - - - - - 15.21 15.19 15.25
248.52 58.26 -22.10 49 254.48 roll back -0.74 0.16 0.262 1745.75 371.9 4.25 0.015 2227.44 -362.0 -97.32 - - 3094.78 - - - - - - - - 15.43 15.65 -
553.55 101.51 -13.04 110 554.88 no move -0.74 - - 1745.56 - - - 2226.31 - -97.32 - - 3092.28 - - - - - - - - - - -
853.63 137.41 -11.11 170 854.97 no move -0.74 - - 1745.88 - - - 2225.62 - -97.32 - - 3094.34 - - - - - - - - - - -
1153.71 169.98 -10.49 230 1155.04 no move -0.77 - - 1746.12 - - - 2226.12 - -97.32 - - 3093.09 - - - - - - - - - - -
1458.77 201.16 -9.56 290 1460.10 no move -0.82 - - 1743.94 - - - 2225.69 - -97.32 - - 3095.78 - - - - - - - - - - -
1758.84 226.71 -8.42 320 1760.29 pitch -0.91 0.18 0.075 1660.00 -466.3 - - 2225.25 - -97.32 - - 3095.16 - - - - - - - - 15.79 - -
2058.80 255.32 -9.00 350 2060.13 no move -0.91 - - 1659.50 - - - 2224.69 - -97.32 - - 3094.06 - - - - - - - - - - -
2358.88 279.40 -7.39 380 2364.70 roll -0.91 - - 1675.50 - 4.11 0.048 770.38 -353.8 -97.32 - - 3095.12 - - - - - - - - - 15.88 -
2398.86 282.84 -8.63 388 2404.71 roll -0.87 - - 1658.31 - 4.18 0.017 2296.19 365.0 -97.32 - - 3094.03 - - - - - - - - - 15.87 -
2708.86 305.90 -7.28 420 2714.84 roll back -0.87 0.17 0.238 1726.06 398.5 4.36 0.046 769.25 -350.2 -97.32 - - 3093.28 - - - - - - - - 15.69 15.79 -
2743.92 308.29 -7.04 427 2749.81 roll back -0.91 0.08 0.113 1661.00 -813.2 4.16 0.017 2301.94 368.4 -97.32 - - 3093.75 - - - - - - - - 15.77 15.91 -
3048.92 330.88 -7.66 458 3050.25 no move -0.93 - - 1661.62 - - - 2303.69 - -97.32 - - 3092.19 - - - - - - - - - - -
3349.00 353.28 -7.32 488 3350.33 no move -0.95 - - 1661.19 - - - 2304.25 - -97.32 - - 3092.16 - - - - - - - - - - -
3649.03 375.19 -7.25 518 3654.88 roll -0.98 - - 1677.56 - 4.36 0.047 769.25 -352.1 -97.32 - - 3095.06 - - - - - - - - - 15.92 -
3673.95 377.11 -7.43 523 3679.85 roll -0.98 - - 1660.69 - 4.18 0.018 2296.06 365.3 -97.32 - - 3092.16 - - - - - - - - - 15.92 -
3979.01 398.97 -7.12 554 3980.35 no move -1.01 - - 1660.88 - - - 2295.56 - -97.32 - - 3091.25 - - - - - - - - - - -
4279.03 419.87 -6.84 570 4284.92 roll -1.04 - - 1677.19 - 4.34 0.047 770.50 -351.4 -97.32 - - 3092.84 - - - - - - - - - 15.92 -
4304.00 421.68 -6.98 575 4309.88 roll -1.04 - - 1660.38 - 4.16 0.018 2297.31 367.0 -97.32 - - 3094.38 - - - - - - - - - 15.93 -
4619.04 443.11 -6.91 593 4620.37 no move -1.08 - - 1659.50 - - - 2297.81 - -97.32 - - 3091.09 - - - - - - - - - - -
4919.07 463.07 -6.68 608 4920.52 pitch -1.11 0.12 0.095 1602.31 -476.6 - - 2297.50 - -97.32 - - 3095.03 - - - - - - - - 15.88 - -
5219.07 487.27 -8.19 623 5225.03 roll back -1.07 0.14 0.239 1659.62 409.4 4.32 0.047 769.44 -353.7 -97.32 - - 3093.22 - - - - - - - - 15.74 15.80 -
5239.15 488.86 -8.12 627 5244.93 roll -1.04 - - 1641.12 - 4.16 0.018 2295.81 366.9 -97.32 - - 3094.53 - - - - - - - - - 15.95 -
5559.07 511.54 -7.01 646 5564.98 roll -1.04 - - 1658.06 - 4.32 0.046 770.56 -353.1 -97.32 - - 3093.97 - - - - - - - - - 15.96 -
5589.07 513.82 -6.91 652 5594.95 roll -1.04 - - 1641.31 - 4.15 0.018 2295.12 367.4 -97.32 - - 3092.34 - - - - - - - - - 15.94 -
5899.16 535.41 -6.97 669 5900.49 no move -1.04 - - 1641.81 - - - 2295.50 - -97.32 - - 3092.12 - - - - - - - - - - -
6199.14 556.05 -6.75 684 6205.06 roll -1.04 - - 1658.25 - 4.33 0.046 771.00 -352.1 -97.32 - - 3093.44 - - - - - - - - - 15.96 -
6244.20 559.48 -7.60 693 6250.02 roll -1.01 - - 1641.69 - 4.15 0.018 2296.25 367.5 -97.32 - - 3093.69 - - - - - - - - - 15.97 -
6559.19 580.79 -6.83 711 6560.53 no move -1.01 - - 1641.88 - - - 2297.00 - -97.32 - - 3091.75 - - - - - - - - - - -
6859.22 600.97 -6.77 726 6865.12 roll -1.01 - - 1658.88 - 4.34 0.046 771.81 -351.4 -97.32 - - 3093.97 - - - - - - - - - 15.85 -
6909.29 604.61 -7.28 736 6915.11 roll -0.99 - - 1642.38 - 4.18 0.018 2295.50 364.5 -97.32 - - 3093.12 - - - - - - - - - 15.86 -
7219.34 625.06 -6.65 753 7220.68 no move -0.99 - - 1641.56 - - - 2296.12 - -97.32 - - 3091.09 - - - - - - - - - - -
7519.30 644.74 -6.53 768 7520.64 no move -0.99 - - 1641.75 - - - 2295.81 - -97.32 - - 3091.62 - - - - - - - - - - -
7819.32 664.08 -6.42 783 7825.24 roll -0.99 - - 1659.06 - 4.36 0.045 770.81 -349.8 -97.32 - - 3093.41 - - - - - - - - - 15.80 -
7864.33 667.18 -6.96 792 7870.22 roll -0.99 - - 1641.44 - 4.20 0.018 2295.50 363.0 -97.32 - - 3093.81 - - - - - - - - - 15.79 -
8179.39 687.66 -6.44 810 8185.28 roll -1.01 - - 1658.12 - 4.38 0.045 770.75 -348.1 -97.32 - - 3093.47 - - - - - - - - - 15.79 -
8209.38 689.83 -6.44 816 8215.27 roll -1.01 - - 1641.12 - 4.20 0.017 2299.56 364.0 -97.32 - - 3094.69 - - - - - - - - - 15.78 -
8519.50 709.93 -6.43 833 8520.83 no move -1.03 - - 1641.25 - - - 2299.44 - -97.32 - - 3090.69 - - - - - - - - - - -
8819.48 729.44 -6.36 848 8825.36 roll -1.05 - - 1658.06 - 4.36 0.045 770.62 -350.6 -97.32 - - 3092.38 - - - - - - - - - 15.84 -
8844.44 731.31 -6.55 853 8850.33 roll -1.05 - - 1641.44 - 4.17 0.017 2297.56 366.2 -97.32 - - 3093.56 - - - - - - - - - 15.87 -
9159.49 751.56 -6.46 871 9165.41 roll -1.07 - - 1658.00 - 4.38 0.046 769.31 -348.9 -97.32 - - 3093.66 - - - - - - - - - 15.85 -
9184.47 753.30 -6.44 876 9190.37 roll -1.07 - - 1641.06 - 4.16 0.017 2296.50 367.1 -97.32 - - 3095.09 - - - - - - - - - 15.87 -
9499.52 773.56 -6.51 894 9505.41 roll -1.10 - - 1658.19 - 4.35 0.046 769.75 -351.0 -97.32 - - 3094.25 - - - - - - - - - 15.87 -
9519.51 774.92 -6.45 898 9525.39 roll -1.10 - - 1640.75 - 4.16 0.017 2296.31 367.0 -97.32 - - 3093.22 - - - - - - - - - 15.87 -
9839.55 795.44 -6.42 917 9845.44 roll -1.12 - - 1657.88 - 4.35 0.045 769.44 -351.0 -97.32 - - 3094.97 - - - - - - - - - 15.88 -
9859.54 796.89 -6.30 921 9865.45 roll back -1.12 0.08 0.126 1600.56 -716.5 4.18 0.018 2305.19 367.4 -97.32 - - 3094.69 - - - - - - - - 15.78 15.90 -
10179.57 819.92 -7.29 940 10185.53 roll back -1.09 0.13 0.243 1655.62 423.5 4.37 0.044 769.19 -351.5 -97.32 - - 3094.00 - - - - - - - - 15.68 15.73 -
10209.61 822.11 -7.14 946 10215.44 roll -1.06 - - 1637.69 - 4.16 0.017 2297.19 367.3 -97.32 - - 3095.53 - - - - - - - - - 15.89 -
10519.66 842.20 -6.33 963 10520.99 no move -1.06 - - 1638.12 - - - 2296.25 - -97.32 - - 3093.19 - - - - - - - - - - -
10819.61 860.99 -6.44 978 10825.51 roll -1.08 - - 1654.06 - 4.33 0.045 770.50 -352.4 -97.32 - - 3094.84 - - - - - - - - - 15.91 -
10864.59 864.04 -6.57 987 10870.49 roll -1.08 - - 1637.50 - 4.15 0.017 2297.25 367.9 -97.32 - - 3092.50 - - - - - - - - - 15.91 -
11179.65 882.99 -5.89 1005 11180.99 no move -1.10 - - 1637.38 - - - 2297.25 - -97.32 - - 3093.28 - - - - - - - - - - -
11479.67 900.50 -5.81 1020 11485.55 roll -1.10 - - 1654.12 - 4.34 0.046 770.62 -351.8 -97.32 - - 3095.53 - - - - - - - - - 15.93 -
11499.67 901.77 -5.87 1024 11505.52 roll -1.10 - - 1637.62 - 4.16 0.018 2297.69 367.1 -97.32 - - 3093.75 - - - - - - - - - 15.94 -
11819.69 920.76 -5.77 1043 11825.57 roll -1.12 - - 1654.69 - 4.34 0.045 769.62 -352.1 -97.32 - - 3094.28 - - - - - - - - - 15.93 -
11864.72 923.80 -5.81 1052 11870.58 roll back -1.12 0.06 0.131 1598.44 -937.5 4.18 0.018 2303.56 367.0 -97.32 - - 3096.16 - - - - - - - - 15.83 15.96 -
12179.70 944.45 -6.59 1070 12185.67 roll back -1.09 0.13 0.241 1654.38 430.3 4.34 0.045 769.69 -353.4 -97.32 - - 3093.84 - - - - - - - - 15.71 15.78 -
12199.79 945.88 -6.57 1074 12205.57 roll -1.06 - - 1637.12 - 4.16 0.018 2298.06 367.4 -97.32 - - 3094.19 - - - - - - - - - 15.95 -
12519.74 964.37 -5.58 1093 12525.64 roll -1.08 - - 1654.06 - 4.34 0.045 769.31 -352.2 -97.32 - - 3094.03 - - - - - - - - - 15.94 -
12549.72 966.26 -5.77 1099 12555.60 roll -1.08 - - 1637.81 - 4.17 0.017 2297.38 366.4 -97.32 - - 3094.25 - - - - - - - - - 15.94 -
12859.76 983.95 -5.61 1116 12865.65 roll -1.11 - - 1653.25 - 4.35 0.045 769.50 -351.2 -97.32 - - 3093.38 - - - - - - - - - 15.94 -
12879.76 985.27 -5.65 1120 12885.61 roll -1.11 - - 1636.25 - 4.16 0.017 2296.81 367.1 -97.32 - - 3095.34 - - - - - - - - - 15.98 -
12980 end dive: TARGET_DEPTH_EXCEEDED
12980 begin apogee
12981.52 991.05 -5.76 1128 13066.08 -0.14 1.03 0.205 1938.81 293.7 0.16 0.100 2459.19 1014.9 - 81.79 2.382 2694.06 -4.9 0.347 - - - - - - 15.71 15.34 11.59
13067 end apogee: CONTROL_FINISHED_OK
13067 begin climb
13066.55 990.87 - 1132 13153.07 0.86 0.93 0.069 2268.88 354.9 - - 2450.62 - 97.32 83.98 2.307 2298.97 -4.7 0.344 - - - - - - 15.43 - 12.30
13440.03 947.83 12.68 1160 13441.37 VBD 0.84 - - 2270.88 - - - 2450.31 - 97.32 - - 2283.78 - - - - - - - - - - -
13740.05 910.28 12.71 1175 13746.71 done 0.82 - - 2253.44 - 4.44 0.065 3957.94 339.6 97.32 - - 2280.66 - - - - - - - - - 15.59 -
13844.79 895.21 14.50 1196 13850.72 0.73 0.23 0.244 2204.31 -213.6 3.98 0.013 2493.88 -367.9 97.32 - - 2282.50 - - - - - - - - 15.43 15.64 -
14155.08 864.39 9.62 1213 14156.42 VBD 0.79 - - 2204.81 - - - 2479.56 - 97.32 - - 2276.16 - - - - - - - - - - -
14455.11 835.16 9.76 1228 14456.57 0.86 0.16 0.083 2283.88 494.2 - - 2478.88 - 97.32 - - 2276.56 - - - - - - - - 15.71 - -
14754.87 797.74 12.57 1243 14760.80 0.83 0.17 0.234 2217.50 -390.5 4.30 0.064 3957.00 343.7 97.32 - - 2278.78 - - - - - - - - 15.60 15.64 -
14849.86 785.52 12.75 1262 14855.74 done 0.79 - - 2234.44 - 3.96 0.013 2493.50 -369.6 97.32 - - 2276.72 - - - - - - - - - 15.82 -
15155.21 752.88 10.72 1278 15156.55 VBD 0.82 - - 2234.62 - - - 2479.19 - 97.32 - - 2274.19 - - - - - - - - - - -
15455.19 721.29 10.50 1293 15460.79 done 0.85 - - 2217.38 - 4.28 0.063 3954.88 344.8 97.32 - - 2275.66 - - - - - - - - - 15.82 -
15529.90 712.26 11.98 1308 15535.77 done 0.82 - - 2233.94 - 3.94 0.013 2493.25 -371.0 97.32 - - 2276.34 - - - - - - - - - 15.87 -
15835.25 680.50 10.33 1324 15836.59 VBD 0.85 - - 2234.31 - - - 2477.88 - 97.32 - - 2273.75 - - - - - - - - - - -
16135.22 649.92 10.14 1339 16140.84 done 0.88 - - 2216.44 - 4.28 0.065 3955.69 345.3 97.32 - - 2275.75 - - - - - - - - - 15.85 -
16205.01 641.66 11.95 1353 16210.84 0.86 0.06 0.149 2271.81 922.8 3.94 0.013 2481.44 -374.2 97.32 - - 2274.91 - - - - - - - - 15.78 15.90 -
16515.30 606.13 11.51 1370 16516.64 VBD 0.86 - - 2272.31 - - - 2468.12 - 97.32 - - 2272.50 - - - - - - - - - - -
16815.24 571.37 11.61 1385 16820.88 done 0.86 - - 2254.56 - 4.30 0.063 3954.12 345.6 97.32 - - 2274.44 - - - - - - - - - 15.87 -
16885.06 561.97 13.28 1399 16890.86 done 0.77 - - 2271.69 - 3.94 0.013 2494.44 -370.5 97.32 - - 2274.53 - - - - - - - - - 15.89 -
17195.33 525.84 11.53 1416 17196.78 0.77 0.19 0.242 2218.38 -280.6 - - 2479.62 - 97.32 - - 2273.00 - - - - - - - - 15.69 - -
17495.34 497.81 9.33 1431 17501.18 done 0.83 - - 2199.81 - 4.26 0.063 3956.12 346.6 97.32 - - 2273.88 - - - - - - - - - 15.88 -
17565.08 490.48 10.62 1445 17570.92 0.83 0.09 0.117 2265.56 730.6 3.94 0.013 2481.38 -374.3 97.32 - - 2275.78 - - - - - - - - 15.82 15.92 -
17875.31 456.66 10.80 1462 17876.65 VBD 0.83 - - 2267.12 - - - 2467.25 - 97.32 - - 2273.06 - - - - - - - - - - -
18175.08 424.29 10.84 1477 18181.23 done 0.83 - - 2251.50 - 4.29 0.063 3953.81 346.5 97.32 - - 2275.47 - - - - - - - - - 15.89 -
18235.17 416.73 12.91 1489 18240.94 done 0.75 - - 2265.88 - 3.93 0.013 2493.38 -371.6 97.32 - - 2274.41 - - - - - - - - - 15.95 -
18545.40 382.76 10.81 1515 18546.85 0.75 0.19 0.233 2211.75 -284.9 - - 2478.62 - 97.32 - - 2271.84 - - - - - - - - 15.71 - -
18845.47 356.59 8.84 1545 18846.92 0.83 0.11 0.100 2269.62 526.1 - - 2477.62 - 97.32 - - 2273.88 - - - - - - - - 15.89 - -
19145.50 324.84 10.67 1575 19151.13 done 0.83 - - 2254.50 - 4.26 0.063 3957.50 347.4 97.32 - - 2273.41 - - - - - - - - - 15.90 -
19215.34 316.20 12.37 1589 19221.20 0.75 0.20 0.244 2212.75 -208.8 3.92 0.013 2487.06 -375.1 97.32 - - 2272.56 - - - - - - - - 15.71 15.95 -
19525.58 291.03 7.66 1621 19527.04 0.83 0.10 0.100 2269.38 566.3 - - 2472.00 - 97.32 - - 2270.88 - - - - - - - - 15.89 - -
19825.60 262.99 9.05 1651 19831.49 done 0.83 - - 2252.88 - 4.28 0.065 3956.00 346.7 97.32 - - 2273.28 - - - - - - - - - 15.89 -
19900.36 254.98 10.75 1666 19906.24 done 0.77 - - 2268.94 - 3.92 0.013 2483.94 -375.5 97.32 - - 2273.75 - - - - - - - - - 15.99 -
20205.69 233.37 5.64 1697 20240.41 VBD 0.91 - - 2269.81 - - - 2469.25 - 140.81 33.33 1.480 2121.16 -4.6 0.123 - - - - - - - - 11.72
20535.70 212.00 6.08 1730 20537.03 no move 1.00 - - 2269.44 - - - 2469.38 - 140.81 - - 2112.34 - - - - - - - - - - -
20835.76 198.08 3.98 1764 20902.84 1.27 0.34 0.059 2395.88 371.9 4.37 0.065 3954.19 339.8 214.40 59.87 1.438 1817.19 -4.9 0.116 - - - - - - 15.77 15.52 11.92
20950.58 186.93 12.41 1787 20956.46 roll back 1.17 0.25 0.258 2346.75 -196.5 4.03 0.013 2491.38 -363.0 214.40 - - 1814.16 - - - - - - - - 15.45 15.62 -
21255.81 162.32 7.21 1848 21261.43 done 1.24 - - 2362.19 - 4.11 0.039 1039.12 -353.3 214.40 - - 1810.22 - - - - - - - - - 15.62 -
21305.62 158.42 7.68 1858 21311.52 1.33 0.18 0.077 2428.06 365.9 4.26 0.019 2563.38 357.8 214.40 - - 1808.59 - - - - - - - - 15.55 15.63 -
21610.87 129.70 9.03 1919 21612.21 VBD 1.31 - - 2428.44 - - - 2562.88 - 214.40 - - 1806.06 - - - - - - - - - - -
21910.68 105.95 6.95 1979 21916.59 done 1.31 - - 2447.00 - 4.36 0.037 1037.38 -349.9 214.40 - - 1806.69 - - - - - - - - - 15.66 -
21975.72 101.72 6.46 1992 21981.64 1.31 0.14 0.245 2389.69 -409.4 4.26 0.020 2569.56 359.7 214.40 - - 1805.50 - - - - - - - - 15.49 15.68 -
22281.02 85.27 5.03 2053 22332.29 1.50 0.21 0.073 2471.00 387.2 4.06 0.067 3954.12 341.0 268.92 43.74 1.337 1596.75 -4.8 0.052 - - - - - - 15.64 15.48 11.79
22375.76 77.59 10.17 2072 22381.68 roll back 1.41 0.24 0.254 2422.88 -200.5 4.03 0.012 2488.06 -363.8 268.92 - - 1593.88 - - - - - - - - 15.41 15.59 -
22681.07 62.01 3.05 2133 22758.35 1.73 0.32 0.056 2570.44 461.1 4.17 0.042 1038.31 -347.7 359.29 71.31 1.286 1228.59 -5.1 0.042 - - - - - - 15.56 15.33 11.82
22810.89 51.25 10.59 2159 22816.73 roll 1.76 - - 2554.44 - 4.32 0.020 2559.44 352.1 359.29 - - 1223.47 - - - - - - - - - 15.44 -
23116.17 31.95 4.51 2220 23172.90 1.98 0.18 0.072 2621.31 371.5 4.13 0.066 3955.00 337.9 423.15 49.93 1.229 967.97 -5.1 0.023 - - - - - - 15.56 15.34 11.85
23366.00 22.30 4.04 2270 23428.23 done 2.10 - - 2638.25 - 4.01 0.012 2457.19 -373.5 495.51 56.53 1.198 675.06 -5.2 0.016 - - - - - - - 15.58 11.95
23691 end climb: SURFACE_DEPTH_REACHED
23691 begin surface coast
23716 end surface coast: CONTROL_FINISHED_OK
23716 begin surface
SM 3.39 - - - - 130.0 - 0.010 549.9 - 7.03 0.042 531.3 75.6 - 0.52 0.022 568.4 1085.4 -17.094 - - 30.36 15.52 15.59 -