SODA Aug19 * SG229 * Dive index * Mission links * Dive 187 * Raw log
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• Previous call tries 3 • 129.60 of 575.00 AH used of 24V (77.46% remains)
• Surface angle -70.5 deg, depth 1.38 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 571.9, SM_CC=525.92322)
• GPS1 time: 42 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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
2.42 - - - 54.36 VBD -0.86 - - 125.44 - - - 2265.44 - -97.32 51.26 0.005 1534.03 - - - - - - - - - - 15.09
54.61 3.33 -4.58 10 116.34 -0.86 7.64 0.406 1723.50 209.2 4.53 0.052 720.12 -341.1 -97.32 44.26 0.005 3088.53 35.1 -4.046 - - - - - - 15.13 15.07 15.17
298.29 67.19 -17.63 59 304.15 roll -0.77 - - 1705.94 - 4.28 0.023 2243.56 355.9 -97.32 - - 3091.19 - - - - - - - - - 15.66 -
603.45 112.64 -13.98 120 604.91 pitch -0.71 0.19 0.261 1754.75 256.9 - - 2243.88 - -97.32 - - 3090.12 - - - - - - - - 15.43 - -
903.50 146.94 -11.09 180 909.42 roll -0.74 - - 1773.12 - 4.45 0.052 722.75 -341.8 -97.32 - - 3091.00 - - - - - - - - - 15.69 -
938.50 151.07 -11.78 187 944.39 roll -0.74 - - 1756.88 - 4.24 0.022 2248.88 359.9 -97.32 - - 3092.38 - - - - - - - - - 15.76 -
1243.60 182.66 -10.07 248 1244.94 no move -0.78 - - 1756.75 - - - 2247.75 - -97.32 - - 3091.44 - - - - - - - - - - -
1548.66 211.76 -8.80 296 1554.60 roll back -0.86 0.17 0.076 1652.62 -612.5 4.26 0.060 3715.44 344.5 -97.32 - - 3093.25 - - - - - - - - 15.76 15.75 -
1598.72 218.01 -12.92 306 1604.63 roll back -0.79 0.21 0.240 1727.56 356.9 4.26 0.020 2179.38 -360.6 -97.32 - - 3093.22 - - - - - - - - 15.55 15.82 -
1908.71 243.11 -6.97 338 1910.04 no move -0.87 - - 1729.12 - - - 2179.81 - -97.32 - - 3091.59 - - - - - - - - - - -
2208.79 262.87 -6.68 368 2210.25 pitch -0.96 0.18 0.069 1643.38 -476.3 - - 2179.12 - -97.32 - - 3090.06 - - - - - - - - 15.81 - -
2508.73 288.30 -8.42 398 2510.07 no move -0.96 - - 1643.00 - - - 2179.31 - -97.32 - - 3090.31 - - - - - - - - - - -
2808.84 312.46 -8.02 428 2810.18 no move -0.96 - - 1643.56 - - - 2179.88 - -97.32 - - 3091.28 - - - - - - - - - - -
3108.86 335.35 -7.73 458 3114.76 roll -0.96 - - 1624.06 - 4.53 0.058 3717.31 339.4 -97.32 - - 3089.66 - - - - - - - - - 15.84 -
3208.84 344.66 -9.83 478 3214.78 roll back -0.90 0.18 0.236 1692.56 380.6 4.24 0.020 2176.38 -363.4 -97.32 - - 3092.03 - - - - - - - - 15.60 15.89 -
3518.88 365.05 -6.47 510 3520.22 no move -0.97 - - 1692.62 - - - 2175.56 - -97.32 - - 3090.47 - - - - - - - - - - -
3818.96 384.06 -6.50 540 3820.42 pitch -1.04 0.15 0.078 1622.75 -465.8 - - 2175.50 - -97.32 - - 3090.06 - - - - - - - - 15.85 - -
4118.96 408.60 -8.22 565 4124.86 roll -1.04 - - 1604.19 - 4.53 0.058 3718.38 340.6 -97.32 - - 3089.66 - - - - - - - - - 15.85 -
4193.92 415.71 -9.81 580 4199.97 roll back -0.97 0.19 0.236 1673.88 366.8 4.24 0.021 2176.00 -363.8 -97.32 - - 3089.12 - - - - - - - - 15.58 15.90 -
4498.96 436.86 -6.86 596 4500.29 no move -1.02 - - 1673.31 - - - 2175.88 - -97.32 - - 3088.81 - - - - - - - - - - -
4798.99 457.04 -6.72 611 4800.44 pitch -1.07 0.12 0.090 1614.50 -490.1 - - 2174.75 - -97.32 - - 3088.50 - - - - - - - - 15.86 - -
5099.02 481.01 -8.02 626 5104.93 roll -1.05 - - 1595.06 - 4.52 0.058 3717.12 341.2 -97.32 - - 3090.47 - - - - - - - - - 15.87 -
5163.98 487.09 -9.45 639 5169.97 roll back -0.96 0.22 0.234 1673.44 356.3 4.21 0.020 2176.12 -366.0 -97.32 - - 3090.25 - - - - - - - - 15.61 15.92 -
5479.02 508.58 -6.75 657 5480.36 no move -1.02 - - 1674.31 - - - 2175.50 - -97.32 - - 3089.06 - - - - - - - - - - -
5779.05 528.19 -6.42 672 5780.50 pitch -1.07 0.12 0.087 1611.81 -520.8 - - 2174.62 - -97.32 - - 3091.47 - - - - - - - - 15.88 - -
6079.06 551.92 -7.99 687 6084.98 roll -1.05 - - 1594.25 - 4.49 0.058 3717.38 343.6 -97.32 - - 3090.41 - - - - - - - - - 15.88 -
6159.07 559.37 -9.38 703 6165.04 roll back -0.97 0.22 0.232 1673.00 358.0 4.22 0.020 2176.00 -365.3 -97.32 - - 3091.09 - - - - - - - - 15.62 15.94 -
6479.11 579.32 -5.88 722 6480.44 no move -1.03 - - 1674.25 - - - 2174.69 - -97.32 - - 3090.09 - - - - - - - - - - -
6779.12 596.87 -5.88 737 6780.58 pitch -1.08 0.14 0.083 1605.94 -487.9 - - 2175.12 - -97.32 - - 3089.78 - - - - - - - - 15.87 - -
7079.13 619.36 -7.63 752 7086.11 roll back -1.05 0.14 0.232 1627.62 154.9 4.49 0.057 3715.50 343.1 -97.32 - - 3092.16 - - - - - - - - 15.64 15.68 -
7164.12 626.08 -7.88 769 7170.03 roll -1.03 - - 1645.00 - 4.22 0.020 2183.88 -362.9 -97.32 - - 3091.34 - - - - - - - - - 15.96 -
7474.15 646.02 -6.38 786 7475.48 no move -1.05 - - 1645.50 - - - 2184.81 - -97.32 - - 3089.34 - - - - - - - - - - -
7774.17 665.23 -6.36 801 7780.09 roll -1.08 - - 1628.00 - 4.49 0.057 3716.56 341.1 -97.32 - - 3089.75 - - - - - - - - - 15.88 -
7839.16 670.03 -7.50 814 7845.07 roll -1.06 - - 1644.69 - 4.22 0.020 2185.00 -362.9 -97.32 - - 3090.97 - - - - - - - - - 15.97 -
8154.20 689.79 -6.29 832 8155.54 no move -1.08 - - 1645.44 - - - 2184.81 - -97.32 - - 3090.22 - - - - - - - - - - -
8454.22 708.48 -6.13 847 8455.56 no move -1.11 - - 1645.75 - - - 2184.44 - -97.32 - - 3089.62 - - - - - - - - - - -
8754.25 727.15 -6.20 862 8755.59 no move -1.14 - - 1645.69 - - - 2184.44 - -97.32 - - 3091.38 - - - - - - - - - - -
9054.28 745.70 -6.15 877 9061.26 roll back -1.16 0.14 0.088 1559.19 -617.9 4.49 0.057 3714.94 340.9 -97.32 - - 3090.78 - - - - - - - - 15.90 15.84 -
9144.29 753.61 -9.27 895 9150.27 roll back -1.04 0.28 0.255 1651.88 331.0 4.20 0.019 2174.94 -366.7 -97.32 - - 3091.41 - - - - - - - - 15.53 15.93 -
9449.36 771.92 -5.87 911 9450.70 no move -1.07 - - 1651.75 - - - 2175.62 - -97.32 - - 3089.50 - - - - - - - - - - -
9749.40 789.58 -5.81 926 9750.73 no move -1.11 - - 1651.19 - - - 2175.19 - -97.32 - - 3089.62 - - - - - - - - - - -
10049.42 807.45 -5.89 941 10055.56 roll back -1.14 0.12 0.092 1568.62 -688.1 4.51 0.057 3718.06 342.1 -97.32 - - 3091.19 - - - - - - - - 15.91 15.85 -
10124.41 813.79 -8.54 956 10130.42 roll back -1.03 0.25 0.245 1653.88 341.0 4.22 0.020 2173.81 -365.9 -97.32 - - 3090.78 - - - - - - - - 15.55 15.94 -
10429.48 831.94 -5.93 972 10430.81 no move -1.07 - - 1653.56 - - - 2172.44 - -97.32 - - 3089.06 - - - - - - - - - - -
10729.51 849.31 -5.66 987 10730.85 no move -1.11 - - 1653.81 - - - 2172.12 - -97.32 - - 3089.38 - - - - - - - - - - -
11029.55 866.73 -5.89 1002 11036.52 roll back -1.15 0.14 0.086 1563.19 -647.3 4.52 0.059 3716.69 341.7 -97.32 - - 3090.62 - - - - - - - - 15.90 15.84 -
11129.31 875.18 -8.55 1021 11135.26 roll back -1.03 0.26 0.246 1653.00 345.4 4.26 0.020 2175.50 -361.8 -97.32 - - 3092.47 - - - - - - - - 15.49 15.86 -
11449.35 894.30 -5.71 1040 11450.69 no move -1.07 - - 1653.50 - - - 2174.31 - -97.32 - - 3088.97 - - - - - - - - - - -
11749.39 911.26 -5.54 1055 11755.30 roll -1.11 - - 1634.75 - 4.55 0.057 3715.75 338.8 -97.32 - - 3088.03 - - - - - - - - - 15.75 -
11834.36 916.90 -6.70 1072 11840.28 roll -1.11 - - 1652.75 - 4.27 0.020 2183.25 -358.9 -97.32 - - 3090.69 - - - - - - - - - 15.79 -
12149.45 934.57 -5.50 1090 12150.90 pitch -1.15 0.14 0.084 1579.56 -522.8 - - 2183.00 - -97.32 - - 3090.66 - - - - - - - - 15.71 - -
12449.47 955.40 -7.01 1105 12450.92 pitch -1.10 0.19 0.240 1630.88 270.1 - - 2181.12 - -97.32 - - 3088.72 - - - - - - - - 15.43 - -
12749.49 972.84 -5.91 1120 12750.83 no move -1.10 - - 1631.56 - - - 2182.06 - -97.32 - - 3090.91 - - - - - - - - - - -
13049 end dive: TARGET_DEPTH_EXCEEDED
13049 begin apogee
13051.89 990.06 -5.77 1135 13138.87 -0.14 1.09 0.209 1938.06 281.2 0.13 0.125 2517.31 2578.8 - 83.97 2.366 2692.75 -4.7 0.343 - - - - - - 15.41 15.20 11.27
13139 end apogee: CONTROL_FINISHED_OK
13139 begin climb
13139.42 990.17 - 1139 13227.56 0.86 0.95 0.069 2272.50 352.0 - - 2516.88 - 97.32 85.89 2.297 2297.19 -4.6 0.343 - - - - - - 15.27 - 12.22
13524.80 945.70 12.68 1170 13531.45 done 0.84 - - 2254.75 - 4.36 0.068 3953.06 329.4 97.32 - - 2283.06 - - - - - - - - - 15.39 -
13569.59 939.40 14.27 1179 13575.47 0.75 0.22 0.241 2210.12 -202.9 3.98 0.019 2537.38 -355.7 97.32 - - 2283.31 - - - - - - - - 15.23 15.44 -
13879.82 908.08 9.88 1196 13881.15 VBD 0.80 - - 2209.88 - - - 2520.69 - 97.32 - - 2281.81 - - - - - - - - - - -
14179.84 878.56 9.76 1211 14186.53 0.86 0.14 0.089 2263.62 383.9 4.26 0.068 3956.88 337.1 97.32 - - 2276.94 - - - - - - - - 15.63 15.58 -
14199.63 875.98 9.82 1215 14205.41 done 0.83 - - 2279.94 - 3.93 0.018 2530.31 -363.0 97.32 - - 2278.72 - - - - - - - - - 15.69 -
14514.92 836.47 12.60 1233 14521.56 0.80 0.19 0.243 2210.06 -367.8 4.25 0.067 3951.56 334.4 97.32 - - 2275.69 - - - - - - - - 15.45 15.54 -
14544.66 832.54 13.09 1239 14550.46 done 0.77 - - 2226.31 - 3.90 0.019 2536.75 -362.8 97.32 - - 2278.31 - - - - - - - - - 15.71 -
14849.94 800.74 10.38 1255 14855.51 done 0.80 - - 2210.06 - 4.24 0.067 3955.88 334.7 97.32 - - 2275.81 - - - - - - - - - 15.70 -
14869.63 798.58 10.41 1259 14875.46 done 0.80 - - 2226.38 - 3.91 0.019 2536.69 -363.0 97.32 - - 2276.81 - - - - - - - - - 15.77 -
15189.97 765.32 10.39 1278 15191.31 VBD 0.84 - - 2226.81 - - - 2521.00 - 97.32 - - 2274.53 - - - - - - - - - - -
15489.93 734.79 10.08 1293 15496.66 0.88 0.11 0.096 2273.19 421.6 4.25 0.068 3958.94 338.3 97.32 - - 2275.31 - - - - - - - - 15.77 15.72 -
15524.86 730.12 14.09 1300 15530.57 0.78 0.25 0.246 2219.94 -213.0 3.90 0.017 2527.81 -367.0 97.32 - - 2275.75 - - - - - - - - 15.50 15.80 -
15844.95 698.56 9.56 1319 15846.29 VBD 0.83 - - 2220.56 - - - 2511.19 - 97.32 - - 2274.25 - - - - - - - - - - -
16144.98 669.89 9.56 1334 16150.66 0.88 0.12 0.088 2271.94 428.2 4.24 0.069 3952.62 340.0 97.32 - - 2270.56 - - - - - - - - 15.80 15.73 -
16169.76 666.82 10.33 1339 16175.53 done 0.82 - - 2288.88 - 3.88 0.018 2537.88 -364.6 97.32 - - 2275.66 - - - - - - - - - 15.86 -
16484.81 628.17 12.33 1357 16490.70 0.78 0.25 0.241 2203.44 -341.8 4.21 0.068 3954.62 336.5 97.32 - - 2273.31 - - - - - - - - 15.55 15.59 -
16504.79 625.95 12.28 1361 16510.56 done 0.75 - - 2219.25 - 3.89 0.019 2536.75 -364.5 97.32 - - 2274.88 - - - - - - - - - 15.86 -
16825.07 595.42 9.50 1380 16830.64 done 0.80 - - 2202.88 - 4.22 0.068 3955.62 336.2 97.32 - - 2273.25 - - - - - - - - - 15.78 -
17055.06 570.45 10.83 1426 17060.88 done 0.80 - - 2219.19 - 3.87 0.018 2535.31 -367.0 97.32 - - 2274.78 - - - - - - - - - 15.87 -
17365.14 541.62 9.12 1443 17370.98 0.85 0.10 0.100 2293.62 744.3 4.09 0.043 1078.62 -356.2 97.32 - - 2273.66 - - - - - - - - 15.86 15.79 -
17579.86 516.66 11.79 1486 17585.86 0.85 0.12 0.254 2246.19 -395.2 4.23 0.028 2600.88 359.9 97.32 - - 2274.53 - - - - - - - - 15.53 15.84 -
17884.90 485.55 10.10 1502 17886.24 VBD 0.88 - - 2245.56 - - - 2602.50 - 97.32 - - 2271.47 - - - - - - - - - - -
18184.92 455.11 10.18 1517 18190.82 done 0.90 - - 2262.19 - 4.34 0.043 1078.50 -351.2 97.32 - - 2274.47 - - - - - - - - - 15.87 -
18214.91 451.93 10.32 1523 18220.81 done 0.94 - - 2246.69 - 4.22 0.028 2596.94 359.8 97.32 - - 2272.38 - - - - - - - - - 15.90 -
18524.93 420.80 9.89 1540 18526.39 0.96 0.12 0.089 2309.31 521.8 - - 2597.38 - 97.32 - - 2271.47 - - - - - - - - 15.87 - -
18825.02 383.76 12.47 1561 18826.48 0.90 0.18 0.250 2260.06 -273.6 - - 2598.44 - 97.32 - - 2271.16 - - - - - - - - 15.58 - -
19124.96 352.08 10.43 1591 19126.30 VBD 0.90 - - 2256.94 - - - 2597.44 - 97.32 - - 2273.16 - - - - - - - - - - -
19425.06 321.67 9.63 1621 19426.40 VBD 0.90 - - 2259.94 - - - 2598.00 - 97.32 - - 2271.62 - - - - - - - - - - -
19725.11 292.93 9.60 1651 19730.94 done 0.90 - - 2277.62 - 4.34 0.043 1078.81 -350.0 97.32 - - 2273.09 - - - - - - - - - 15.89 -
19745.06 290.94 9.25 1655 19750.93 done 0.93 - - 2259.44 - 4.22 0.028 2595.19 359.3 97.32 - - 2273.81 - - - - - - - - - 15.93 -
20055.08 262.84 8.65 1687 20060.98 done 0.95 - - 2278.50 - 4.33 0.042 1079.88 -350.0 97.32 - - 2272.03 - - - - - - - - - 15.89 -
20070.07 261.49 8.51 1690 20075.98 done 0.98 - - 2261.94 - 4.21 0.026 2598.00 360.6 97.32 - - 2273.53 - - - - - - - - - 15.87 -
20375.12 237.86 7.21 1721 20381.07 1.03 0.14 0.079 2343.94 585.7 4.31 0.041 1078.81 -352.5 97.32 - - 2273.06 - - - - - - - - 15.88 15.85 -
20455.12 231.18 8.10 1737 20461.08 0.99 0.14 0.252 2288.19 -398.2 4.21 0.026 2603.56 362.2 97.32 - - 2271.72 - - - - - - - - 15.57 15.95 -
20765.17 214.43 4.76 1769 20813.22 1.16 0.19 0.077 2371.81 440.1 - - 2603.44 - 156.74 46.24 1.470 2056.19 -4.7 0.118 - - - - - - 15.87 - 11.24
21105.19 190.28 6.87 1816 21111.11 roll 1.13 - - 2391.12 - 4.38 0.041 1077.38 -348.4 156.74 - - 2049.09 - - - - - - - - - 15.72 -
21235.21 180.68 7.15 1842 21241.19 1.13 0.14 0.250 2334.75 -402.6 4.26 0.025 2604.94 358.6 156.74 - - 2048.06 - - - - - - - - 15.49 15.76 -
21540.36 163.56 5.29 1903 21588.29 1.29 0.18 0.073 2437.94 573.3 4.41 0.042 1077.19 -346.4 206.55 41.18 1.399 1851.00 -4.8 0.097 - - - - - - 15.75 15.59 11.62
21665.41 153.14 9.59 1928 21671.33 roll back 1.29 0.12 0.249 2387.31 -421.9 4.30 0.026 2602.75 354.8 206.55 - - 1847.00 - - - - - - - - 15.50 15.68 -
21970.48 129.40 7.28 1989 21976.40 done 1.32 - - 2404.31 - 4.37 0.042 1077.69 -349.0 206.55 - - 1844.50 - - - - - - - - - 15.67 -
21995.49 127.60 7.21 1994 22001.39 done 1.35 - - 2387.75 - 4.27 0.026 2597.81 356.0 206.55 - - 1844.69 - - - - - - - - - 15.71 -
22300.83 107.77 5.96 2055 22339.32 1.49 0.21 0.073 2499.00 529.8 4.39 0.044 1079.62 -345.8 244.31 31.41 1.339 1695.72 -4.7 0.066 - - - - - - 15.73 15.56 11.61
22381.21 101.26 9.07 2071 22387.15 roll back 1.45 0.17 0.247 2435.31 -374.6 4.29 0.027 2601.06 354.6 244.31 - - 1694.34 - - - - - - - - 15.50 15.68 -
22686.54 79.14 6.37 2132 22693.22 roll 1.49 - - 2451.62 - 4.39 0.041 1077.75 -347.0 244.31 - - 1689.53 - - - - - - - - - 15.67 -
22736.36 75.94 6.56 2142 22742.23 roll 1.53 - - 2436.12 - 4.27 0.026 2598.12 356.1 244.31 - - 1690.09 - - - - - - - - - 15.70 -
23041.43 61.49 3.84 2203 23108.81 1.78 0.33 0.056 2591.19 469.9 4.43 0.042 1079.69 -342.8 320.32 60.94 1.295 1386.94 -5.0 0.041 - - - - - - 15.71 15.46 11.44
23171.45 51.66 8.97 2229 23177.43 roll back 1.75 0.16 0.241 2530.62 -378.6 4.31 0.026 2603.19 353.5 320.32 - - 1382.69 - - - - - - - - 15.43 15.59 -
23476.81 36.93 3.68 2290 23545.96 1.99 0.25 0.060 2658.25 510.5 4.47 0.042 1078.06 -341.2 399.30 62.06 1.242 1066.38 -5.1 0.026 - - - - - - 15.63 15.38 11.68
23587.82 30.81 6.95 2312 23593.82 roll back 1.99 0.12 0.246 2611.00 -393.8 4.33 0.025 2602.81 352.1 399.30 - - 1061.81 - - - - - - - - 15.37 15.52 -
23893.16 25.28 -0.19 2373 23933.85 2.45 0.44 0.050 2786.56 399.0 - - 2602.38 - 548.21 39.62 1.210 864.28 -5.0 0.018 - - - - - - 15.60 - 11.65
23934 end climb: NO_VERTICAL_VELOCITY
23934 begin surface
SM 1.15 - - - - 126.1 - - 543.8 - 8.52 0.144 525.4 61.6 - 1.15 0.022 562.2 488.9 -2.612 - - 30.00 15.33 15.53 -