SODA Aug19 * SG229 * Dive index * Mission links * Dive 202 * Raw log
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• Previous call tries 2 • 134.92 of 575.00 AH used of 24V (76.54% remains)
• Surface angle -69.8 deg, depth 1.38 m • Intended pitch -22.6 deg, speed -8.049 cm/s
• No surface pump (final VBD was 570.1, SM_CC=525.92322)
• GPS1 time: 89 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
1 end surface: CONTROL_FINISHED_OK
1 begin dive
2.44 - - - 49.21 VBD -0.87 - - 132.06 - - - 2277.38 - -97.32 46.21 0.005 1452.69 - - - - - - - - - - 14.99
49.51 3.19 -4.31 9 112.75 -0.87 7.68 0.409 1684.50 202.1 4.26 0.060 3715.25 337.5 -97.32 48.10 0.005 3090.91 34.1 -3.767 - - - - - - 15.10 15.02 15.18
314.66 72.35 -19.81 62 320.63 roll back -0.76 0.14 0.252 1739.19 390.6 4.31 0.022 2182.25 -355.7 -97.32 - - 3094.03 - - - - - - - - 15.41 15.64 -
619.72 119.07 -14.02 123 625.63 roll -0.76 - - 1758.50 - 4.24 0.054 721.12 -344.6 -97.32 - - 3092.16 - - - - - - - - - 15.64 -
669.73 126.30 -14.12 133 675.64 roll -0.76 - - 1741.69 - 4.25 0.023 2244.81 358.5 -97.32 - - 3092.03 - - - - - - - - - 15.72 -
974.80 164.33 -11.52 194 980.68 roll -0.78 - - 1723.88 - 4.30 0.059 3718.31 342.7 -97.32 - - 3092.56 - - - - - - - - - 15.67 -
1064.79 176.05 -13.31 212 1070.96 roll -0.78 - - 1739.88 - 4.27 0.020 2188.94 -358.2 -97.32 - - 3093.66 - - - - - - - - - 15.77 -
1369.92 209.62 -10.30 264 1375.79 roll -0.82 - - 1722.62 - 4.52 0.058 3718.94 338.5 -97.32 - - 3091.47 - - - - - - - - - 15.75 -
1429.87 216.07 -11.07 276 1435.76 roll -0.85 - - 1739.50 - 4.28 0.020 2188.62 -357.6 -97.32 - - 3094.06 - - - - - - - - - 15.80 -
1739.91 243.43 -8.48 308 1741.36 pitch -0.92 0.18 0.072 1654.69 -471.2 - - 2187.50 - -97.32 - - 3093.38 - - - - - - - - 15.76 - -
2039.91 272.61 -8.14 338 2046.12 roll -0.92 - - 1634.25 - 4.51 0.057 3717.06 339.1 -97.32 - - 3094.19 - - - - - - - - - 15.80 -
2209.97 289.03 -10.03 372 2215.91 roll back -0.86 0.19 0.230 1706.56 380.6 4.25 0.021 2176.38 -362.5 -97.32 - - 3093.59 - - - - - - - - 15.57 15.85 -
2520.01 309.88 -6.34 404 2521.34 no move -0.94 - - 1707.12 - - - 2175.25 - -97.32 - - 3092.06 - - - - - - - - - - -
2820.11 327.22 -5.54 434 2821.57 pitch -1.02 0.17 0.071 1629.06 -459.2 - - 2175.12 - -97.32 - - 3090.81 - - - - - - - - 15.81 - -
3120.04 351.37 -8.31 464 3121.37 no move -1.02 - - 1630.06 - - - 2175.50 - -97.32 - - 3090.41 - - - - - - - - - - -
3420.13 375.74 -8.03 494 3426.03 roll -1.02 - - 1609.38 - 4.56 0.059 3717.44 338.1 -97.32 - - 3092.97 - - - - - - - - - 15.83 -
3525.10 385.51 -9.27 515 3531.20 roll back -0.96 0.17 0.232 1678.12 404.4 4.26 0.021 2175.31 -362.0 -97.32 - - 3091.00 - - - - - - - - 15.58 15.88 -
3840.15 406.72 -6.63 542 3841.48 no move -1.01 - - 1678.25 - - - 2173.38 - -97.32 - - 3090.88 - - - - - - - - - - -
4140.16 425.79 -6.34 557 4147.18 roll back -1.08 0.14 0.083 1592.00 -616.1 4.53 0.058 3717.81 340.9 -97.32 - - 3091.94 - - - - - - - - 15.86 15.81 -
4205.15 431.70 -9.40 570 4211.10 roll back -1.00 0.19 0.237 1663.44 376.0 4.25 0.020 2174.44 -363.1 -97.32 - - 3091.44 - - - - - - - - 15.58 15.93 -
4515.18 452.98 -6.57 587 4516.52 no move -1.04 - - 1662.62 - - - 2171.75 - -97.32 - - 3092.00 - - - - - - - - - - -
4815.21 472.40 -6.43 602 4816.66 pitch -1.09 0.12 0.093 1606.44 -468.2 - - 2173.56 - -97.32 - - 3093.44 - - - - - - - - 15.85 - -
5115.23 496.02 -7.84 617 5116.68 pitch -1.07 0.13 0.233 1642.56 277.8 - - 2170.88 - -97.32 - - 3089.31 - - - - - - - - 15.62 - -
5415.23 516.83 -6.86 632 5421.16 roll -1.09 - - 1624.00 - 4.55 0.058 3717.94 340.0 -97.32 - - 3091.06 - - - - - - - - - 15.85 -
5500.23 523.76 -8.40 649 5506.12 roll -1.06 - - 1641.94 - 4.25 0.021 2184.75 -360.8 -97.32 - - 3091.06 - - - - - - - - - 15.93 -
5815.28 545.60 -6.80 667 5816.61 no move -1.09 - - 1641.88 - - - 2185.31 - -97.32 - - 3090.12 - - - - - - - - - - -
6115.30 566.50 -6.99 682 6116.64 no move -1.11 - - 1641.94 - - - 2185.12 - -97.32 - - 3091.84 - - - - - - - - - - -
6415.33 587.24 -7.06 697 6421.25 roll -1.13 - - 1624.31 - 4.54 0.058 3716.88 337.4 -97.32 - - 3091.66 - - - - - - - - - 15.72 -
6495.34 593.85 -8.57 713 6501.25 roll -1.11 - - 1641.00 - 4.26 0.020 2186.12 -359.3 -97.32 - - 3091.16 - - - - - - - - - 15.76 -
6815.38 615.32 -6.55 732 6816.72 no move -1.14 - - 1641.38 - - - 2185.25 - -97.32 - - 3091.06 - - - - - - - - - - -
7115.43 634.57 -6.22 747 7116.88 pitch -1.16 0.12 0.092 1577.38 -533.3 - - 2184.88 - -97.32 - - 3091.66 - - - - - - - - 15.66 - -
7415.45 658.12 -7.95 762 7416.91 pitch -1.10 0.19 0.237 1628.94 271.4 - - 2183.25 - -97.32 - - 3090.25 - - - - - - - - 15.42 - -
7715.46 678.07 -6.36 777 7716.80 no move -1.10 - - 1629.25 - - - 2183.88 - -97.32 - - 3090.34 - - - - - - - - - - -
8015.49 697.00 -6.23 792 8016.83 no move -1.10 - - 1629.38 - - - 2183.38 - -97.32 - - 3089.72 - - - - - - - - - - -
8315.53 715.47 -6.39 807 8321.47 roll -1.10 - - 1611.62 - 4.53 0.058 3718.38 338.9 -97.32 - - 3091.12 - - - - - - - - - 15.76 -
8415.57 723.08 -7.91 827 8421.46 roll -1.07 - - 1628.62 - 4.26 0.020 2185.69 -359.8 -97.32 - - 3091.03 - - - - - - - - - 15.84 -
8735.59 742.99 -6.13 846 8736.92 no move -1.07 - - 1629.69 - - - 2184.56 - -97.32 - - 3089.97 - - - - - - - - - - -
9035.63 761.74 -6.25 861 9036.97 no move -1.07 - - 1629.31 - - - 2185.25 - -97.32 - - 3090.59 - - - - - - - - - - -
9335.65 780.44 -6.24 876 9336.98 no move -1.07 - - 1629.06 - - - 2185.81 - -97.32 - - 3089.91 - - - - - - - - - - -
9635.67 798.78 -6.12 891 9641.61 roll -1.07 - - 1612.19 - 4.53 0.057 3717.25 338.1 -97.32 - - 3091.53 - - - - - - - - - 15.81 -
9715.69 804.71 -7.54 907 9721.61 roll back -1.03 0.09 0.250 1652.38 446.6 4.26 0.020 2175.38 -361.9 -97.32 - - 3092.22 - - - - - - - - 15.56 15.88 -
10035.73 823.10 -5.66 926 10037.06 no move -1.08 - - 1653.56 - - - 2173.44 - -97.32 - - 3090.84 - - - - - - - - - - -
10335.75 840.37 -5.71 941 10342.72 roll back -1.13 0.12 0.091 1575.62 -649.5 4.54 0.057 3716.56 339.9 -97.32 - - 3090.81 - - - - - - - - 15.86 15.78 -
10410.74 846.57 -8.64 956 10416.70 roll back -1.03 0.22 0.239 1651.38 344.4 4.24 0.020 2173.94 -363.8 -97.32 - - 3092.41 - - - - - - - - 15.52 15.91 -
10730.77 865.36 -5.64 975 10732.11 no move -1.08 - - 1650.94 - - - 2172.31 - -97.32 - - 3091.00 - - - - - - - - - - -
11030.80 882.57 -5.74 990 11032.14 no move -1.13 - - 1651.81 - - - 2172.50 - -97.32 - - 3091.38 - - - - - - - - - - -
11330.81 899.66 -5.60 1005 11332.27 pitch -1.17 0.16 0.082 1576.94 -467.9 - - 2174.56 - -97.32 - - 3089.94 - - - - - - - - 15.86 - -
11630.81 921.30 -7.25 1020 11637.81 roll back -1.12 0.18 0.240 1607.69 170.8 4.53 0.058 3716.50 340.4 -97.32 - - 3091.09 - - - - - - - - 15.54 15.61 -
11715.81 927.76 -7.75 1037 11721.70 roll -1.07 - - 1623.94 - 4.24 0.020 2183.19 -361.6 -97.32 - - 3092.00 - - - - - - - - - 15.92 -
12026.07 947.25 -6.27 1054 12027.41 no move -1.07 - - 1624.75 - - - 2181.69 - -97.32 - - 3090.38 - - - - - - - - - - -
12325.85 966.14 -6.32 1069 12327.18 no move -1.07 - - 1623.69 - - - 2182.06 - -97.32 - - 3091.44 - - - - - - - - - - -
12625.87 984.73 -6.20 1084 12627.21 no move -1.07 - - 1624.00 - - - 2182.44 - -97.32 - - 3090.56 - - - - - - - - - - -
12726 end dive: TARGET_DEPTH_EXCEEDED
12726 begin apogee
12728.26 990.96 -6.22 1089 12813.22 -0.14 1.11 0.210 1938.19 283.1 0.14 0.118 2517.06 2390.1 - 82.25 2.377 2695.72 -4.8 0.347 - - - - - - 15.55 15.31 11.04
12814 end apogee: CONTROL_FINISHED_OK
12814 begin climb
12813.80 991.31 - 1093 12903.03 0.87 0.94 0.070 2274.62 357.9 - - 2517.25 - 97.32 85.22 2.304 2298.47 -4.7 0.348 - - - - - - 15.42 - 12.17
13206.13 946.68 12.46 1125 13212.80 done 0.87 - - 2259.12 - 4.36 0.069 3955.50 329.9 97.32 - - 2283.25 - - - - - - - - - 15.42 -
13275.88 936.50 14.67 1139 13281.75 done 0.79 - - 2275.69 - 3.98 0.018 2539.62 -355.7 97.32 - - 2284.28 - - - - - - - - - 15.49 -
13581.24 898.13 12.53 1155 13587.90 0.76 0.22 0.233 2197.25 -356.5 4.27 0.068 3954.50 331.4 97.32 - - 2279.50 - - - - - - - - 15.36 15.43 -
13605.95 895.05 12.38 1160 13611.77 done 0.76 - - 2213.56 - 3.96 0.018 2537.81 -357.8 97.32 - - 2281.47 - - - - - - - - - 15.61 -
13916.25 864.29 9.93 1177 13921.82 done 0.83 - - 2198.31 - 4.28 0.068 3955.31 331.2 97.32 - - 2278.78 - - - - - - - - - 15.63 -
14145.97 839.03 11.08 1223 14151.87 0.83 0.10 0.103 2268.38 700.7 3.92 0.018 2526.75 -364.4 97.32 - - 2279.44 - - - - - - - - 15.61 15.72 -
14456.25 803.40 11.60 1240 14461.87 done 0.83 - - 2286.25 - 4.13 0.045 1078.75 -350.6 97.32 - - 2279.91 - - - - - - - - - 15.74 -
14661.03 779.07 11.61 1281 14667.01 0.83 0.12 0.253 2237.75 -404.2 4.26 0.028 2602.62 357.7 97.32 - - 2277.38 - - - - - - - - 15.48 15.80 -
14976.08 745.64 10.43 1299 14977.41 VBD 0.86 - - 2237.75 - - - 2601.44 - 97.32 - - 2274.94 - - - - - - - - - - -
15276.10 714.36 10.51 1314 15277.44 VBD 0.90 - - 2238.06 - - - 2601.56 - 97.32 - - 2274.53 - - - - - - - - - - -
15576.12 682.44 10.55 1329 15582.07 0.93 0.12 0.085 2318.62 671.3 4.38 0.043 1077.06 -348.1 97.32 - - 2275.94 - - - - - - - - 15.81 15.73 -
15806.23 652.33 12.90 1375 15812.10 0.91 0.14 0.254 2262.62 -400.0 4.24 0.029 2602.94 359.9 97.32 - - 2277.22 - - - - - - - - 15.51 15.84 -
16116.16 617.09 11.28 1392 16122.00 done 0.91 - - 2246.88 - 3.94 0.071 3952.69 342.6 97.32 - - 2275.66 - - - - - - - - - 15.74 -
16326.22 590.23 12.74 1434 16332.04 done 0.85 - - 2262.88 - 3.89 0.018 2527.94 -366.3 97.32 - - 2276.19 - - - - - - - - - 15.86 -
16636.29 556.74 10.56 1451 16642.13 done 0.85 - - 2247.81 - 4.25 0.071 3952.62 335.2 97.32 - - 2276.06 - - - - - - - - - 15.75 -
16866.33 527.66 12.86 1497 16872.15 done 0.79 - - 2263.38 - 3.88 0.019 2528.81 -367.0 97.32 - - 2276.03 - - - - - - - - - 15.89 -
17176.42 493.65 11.05 1514 17182.22 done 0.79 - - 2281.94 - 4.09 0.045 1077.56 -354.8 97.32 - - 2274.94 - - - - - - - - - 15.85 -
17346.44 474.06 11.30 1548 17352.42 0.82 0.10 0.245 2233.25 -486.9 4.23 0.027 2600.31 360.0 97.32 - - 2275.41 - - - - - - - - 15.57 15.91 -
17656.49 442.61 9.99 1565 17662.38 done 0.87 - - 2250.75 - 4.34 0.042 1079.50 -350.4 97.32 - - 2274.72 - - - - - - - - - 15.87 -
17681.48 440.00 10.04 1570 17687.37 done 0.92 - - 2235.25 - 4.22 0.027 2599.19 360.1 97.32 - - 2274.41 - - - - - - - - - 15.90 -
17996.52 409.71 9.42 1588 18002.49 0.97 0.17 0.074 2331.50 566.2 4.31 0.042 1078.75 -352.8 97.32 - - 2272.84 - - - - - - - - 15.88 15.82 -
18226.62 381.28 12.28 1634 18232.57 0.94 0.16 0.248 2273.38 -363.2 4.22 0.028 2603.12 361.2 97.32 - - 2272.38 - - - - - - - - 15.54 15.92 -
18536.64 348.03 10.21 1666 18542.48 done 0.94 - - 2255.50 - 3.94 0.072 3955.12 343.1 97.32 - - 2273.16 - - - - - - - - - 15.77 -
18741.69 323.76 12.43 1707 18747.53 done 0.87 - - 2272.06 - 3.87 0.018 2534.31 -367.1 97.32 - - 2273.53 - - - - - - - - - 15.91 -
19046.97 292.45 9.56 1738 19048.31 VBD 0.87 - - 2271.94 - - - 2517.94 - 97.32 - - 2272.78 - - - - - - - - - - -
19347.08 267.92 7.69 1768 19352.65 done 0.90 - - 2256.00 - 4.23 0.068 3956.81 340.2 97.32 - - 2273.19 - - - - - - - - - 15.81 -
19401.82 262.99 8.96 1779 19407.60 done 0.84 - - 2273.38 - 3.88 0.018 2523.94 -369.3 97.32 - - 2272.00 - - - - - - - - - 15.91 -
19707.08 244.96 4.64 1810 19758.03 1.04 0.11 0.092 2330.44 518.7 - - 2507.56 - 158.95 47.99 1.501 2046.38 -4.7 0.133 - - - - - - 15.89 - 11.17
20058.43 220.65 6.43 1846 20064.32 roll 1.08 - - 2312.81 - 4.32 0.069 3955.19 335.1 158.95 - - 2039.62 - - - - - - - - - 15.64 -
20153.44 213.38 7.42 1865 20159.31 done 1.04 - - 2328.62 - 3.93 0.018 2529.25 -362.8 158.95 - - 2038.44 - - - - - - - - - 15.69 -
20458.56 197.63 4.48 1901 20517.69 1.25 0.15 0.087 2385.62 380.0 4.32 0.071 3954.38 329.9 223.40 52.44 1.429 1779.97 -4.9 0.118 - - - - - - 15.62 15.45 11.64
20609.66 184.34 11.11 1931 20615.50 roll 1.20 - - 2401.31 - 3.99 0.019 2535.50 -355.6 223.40 - - 1777.56 - - - - - - - - - 15.53 -
20914.71 156.75 8.52 1992 20920.64 done 1.23 - - 2386.19 - 4.32 0.068 3954.19 328.4 223.40 - - 1773.97 - - - - - - - - - 15.49 -
21069.74 142.31 9.01 2023 21075.58 done 1.19 - - 2401.94 - 3.95 0.018 2533.00 -359.8 223.40 - - 1773.81 - - - - - - - - - 15.58 -
21375.06 123.98 5.47 2084 21421.22 done 1.36 - - 2385.94 - 4.32 0.070 3955.88 329.4 270.04 37.90 1.351 1593.09 -4.8 0.076 - - - - - - - 15.43 11.57
21644.83 103.38 7.66 2138 21650.72 roll back 1.42 0.09 0.106 2445.94 666.7 3.97 0.019 2524.06 -360.7 270.04 - - 1588.22 - - - - - - - - 15.43 15.54 -
21950.15 80.31 7.75 2199 21955.77 done 1.47 - - 2466.38 - 4.16 0.045 1079.69 -347.2 270.04 - - 1584.31 - - - - - - - - - 15.53 -
22179.95 63.02 6.80 2245 22185.84 done 1.53 - - 2449.38 - 4.30 0.025 2597.19 352.9 270.04 - - 1582.75 - - - - - - - - - 15.60 -
22485.26 45.28 5.20 2306 22533.95 1.74 0.26 0.060 2574.56 481.5 4.41 0.044 1079.81 -344.1 321.52 41.56 1.270 1381.00 -4.9 0.030 - - - - - - 15.68 15.47 11.51
22745.88 27.80 4.65 2358 22802.96 done 1.92 - - 2559.06 - 4.28 0.023 2601.25 355.5 382.93 48.82 1.219 1134.34 -5.1 0.020 - - - - - - - 15.64 11.70
23101.19 20.23 0.02 2429 23157.25 2.43 0.56 0.043 2777.94 390.9 - - 2601.62 - 528.10 54.76 1.192 849.06 -5.2 0.015 - - - - - - 15.57 - 11.65
23157 end climb: NO_VERTICAL_VELOCITY
23157 begin surface
SM 1.73 - - - - 126.1 - - 542.6 - 8.37 0.134 525.4 62.7 - 1.16 0.026 559.9 482.7 -3.283 - - 30.00 15.33 15.51 -