SODA Aug19 * SG229 * Dive index * Mission links * Dive 213 * Raw log
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• Previous call tries 3 • 138.78 of 575.00 AH used of 24V (75.86% remains)
• Surface angle -71.0 deg, depth 1.47 m • Intended pitch -22.6 deg, speed -8.049 cm/s
VBD pumped to 525.63 (SM_CC=525.92322)
• GPS1 time: 21 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
2.57 - - - 49.33 VBD -0.87 - - 127.62 - - - 2263.81 - -97.32 46.12 0.005 1462.81 - - - - - - - - - - 14.98
49.62 3.33 -4.31 9 111.84 -0.87 7.78 0.411 1683.94 200.0 4.30 0.057 3718.19 338.2 -97.32 46.76 0.005 3089.81 34.8 -4.017 - - - - - - 15.07 15.00 15.14
333.72 74.41 -19.72 66 339.69 roll back -0.75 0.15 0.259 1740.88 379.6 4.30 0.020 2182.06 -357.2 -97.32 - - 3094.25 - - - - - - - - 15.32 15.55 -
638.79 120.91 -14.35 113 644.72 roll -0.75 - - 1725.44 - 4.57 0.056 3717.31 335.9 -97.32 - - 3090.16 - - - - - - - - - 15.58 -
733.77 136.36 -15.94 132 739.70 roll -0.75 - - 1741.62 - 4.30 0.018 2189.19 -355.4 -97.32 - - 3093.88 - - - - - - - - - 15.67 -
1038.83 174.78 -11.69 163 1040.17 no move -0.78 - - 1742.19 - - - 2187.75 - -97.32 - - 3093.72 - - - - - - - - - - -
1348.92 209.00 -10.82 190 1354.79 roll -0.81 - - 1724.50 - 4.51 0.057 3717.94 339.3 -97.32 - - 3093.44 - - - - - - - - - 15.73 -
1383.90 213.07 -11.66 197 1389.77 roll -0.84 - - 1741.44 - 4.27 0.019 2187.81 -358.3 -97.32 - - 3094.78 - - - - - - - - - 15.77 -
1689.11 243.62 -9.24 213 1695.87 roll back -0.91 0.17 0.076 1637.69 -610.3 4.48 0.056 3716.50 341.2 -97.32 - - 3092.88 - - - - - - - - 15.76 15.72 -
1703.92 245.28 -8.98 216 1709.82 roll back -0.91 0.14 0.251 1692.25 389.7 4.24 0.019 2177.19 -363.0 -97.32 - - 3095.44 - - - - - - - - 15.52 15.83 -
2023.91 273.38 -7.94 235 2029.86 roll -0.94 - - 1675.50 - 4.53 0.056 3718.25 340.2 -97.32 - - 3093.31 - - - - - - - - - 15.78 -
2103.90 281.00 -9.78 251 2109.81 roll -0.94 - - 1692.38 - 4.25 0.019 2183.81 -361.0 -97.32 - - 3094.00 - - - - - - - - - 15.84 -
2423.94 303.32 -6.58 270 2429.87 roll -1.00 - - 1674.81 - 4.51 0.056 3717.31 340.0 -97.32 - - 3093.31 - - - - - - - - - 15.80 -
2438.93 304.48 -6.64 273 2444.84 roll -1.04 - - 1691.44 - 4.26 0.019 2185.06 -359.7 -97.32 - - 3092.69 - - - - - - - - - 15.85 -
2744.02 325.53 -7.00 289 2750.94 roll back -1.10 0.20 0.070 1582.62 -544.1 4.48 0.056 3718.38 342.3 -97.32 - - 3089.81 - - - - - - - - 15.82 15.78 -
2818.98 333.42 -11.11 304 2824.94 roll back -0.98 0.25 0.249 1669.12 346.0 4.23 0.019 2172.75 -365.4 -97.32 - - 3092.69 - - - - - - - - 15.53 15.89 -
3139.00 357.27 -7.19 323 3144.92 roll -1.02 - - 1650.56 - 4.53 0.056 3717.75 341.1 -97.32 - - 3093.34 - - - - - - - - - 15.81 -
3194.02 361.97 -8.68 334 3199.91 roll -1.02 - - 1667.69 - 4.24 0.019 2187.00 -361.0 -97.32 - - 3092.28 - - - - - - - - - 15.87 -
3499.10 382.68 -6.72 350 3500.43 no move -1.06 - - 1667.75 - - - 2185.38 - -97.32 - - 3090.97 - - - - - - - - - - -
3799.04 403.06 -6.76 365 3806.01 roll back -1.11 0.14 0.086 1581.12 -618.8 4.49 0.057 3717.88 341.3 -97.32 - - 3092.34 - - - - - - - - 15.82 15.77 -
3839.02 406.76 -9.28 373 3844.99 roll back -1.03 0.20 0.247 1653.88 363.8 4.23 0.019 2172.81 -365.3 -97.32 - - 3093.16 - - - - - - - - 15.55 15.90 -
4154.06 428.95 -6.90 391 4155.39 no move -1.06 - - 1653.44 - - - 2171.19 - -97.32 - - 3092.59 - - - - - - - - - - -
4454.08 449.46 -6.96 406 4460.01 roll -1.09 - - 1634.75 - 4.53 0.056 3719.06 341.7 -97.32 - - 3092.78 - - - - - - - - - 15.84 -
4494.13 452.61 -7.30 414 4499.98 roll -1.09 - - 1652.88 - 4.24 0.019 2184.44 -361.9 -97.32 - - 3093.16 - - - - - - - - - 15.91 -
4814.11 475.17 -6.96 433 4815.56 pitch -1.13 0.12 0.097 1594.06 -490.2 - - 2183.62 - -97.32 - - 3091.03 - - - - - - - - 15.84 - -
5114.13 500.97 -8.72 448 5115.59 pitch -1.09 0.15 0.240 1634.06 266.7 - - 2181.75 - -97.32 - - 3089.94 - - - - - - - - 15.59 - -
5414.39 523.33 -7.40 458 5415.72 no move -1.09 - - 1634.06 - - - 2182.06 - -97.32 - - 3090.91 - - - - - - - - - - -
5714.14 544.92 -7.14 468 5720.09 roll -1.09 - - 1615.88 - 4.52 0.056 3717.44 339.7 -97.32 - - 3093.22 - - - - - - - - - 15.86 -
5739.14 546.99 -7.19 473 5745.08 roll -1.09 - - 1633.00 - 4.24 0.019 2184.00 -361.7 -97.32 - - 3092.84 - - - - - - - - - 15.92 -
6044.18 569.40 -7.27 484 6045.51 no move -1.09 - - 1633.62 - - - 2183.44 - -97.32 - - 3090.75 - - - - - - - - - - -
6344.20 591.08 -7.27 494 6350.14 roll -1.09 - - 1615.88 - 4.51 0.056 3717.75 340.2 -97.32 - - 3093.34 - - - - - - - - - 15.86 -
6374.20 593.60 -7.50 500 6380.09 roll -1.09 - - 1633.62 - 4.22 0.019 2180.00 -364.4 -97.32 - - 3092.28 - - - - - - - - - 15.96 -
6704.28 618.26 -7.42 516 6705.62 no move -1.09 - - 1633.44 - - - 2180.56 - -97.32 - - 3090.69 - - - - - - - - - - -
7004.24 639.80 -7.14 526 7005.58 no move -1.09 - - 1633.19 - - - 2180.19 - -97.32 - - 3090.19 - - - - - - - - - - -
7304.30 661.12 -7.09 536 7310.21 roll -1.11 - - 1615.94 - 4.49 0.057 3717.06 342.3 -97.32 - - 3092.81 - - - - - - - - - 15.86 -
7329.27 663.18 -7.03 541 7335.19 roll -1.11 - - 1633.38 - 4.21 0.019 2184.38 -364.1 -97.32 - - 3091.81 - - - - - - - - - 15.93 -
7634.38 684.71 -7.00 552 7635.72 no move -1.11 - - 1633.19 - - - 2184.31 - -97.32 - - 3090.25 - - - - - - - - - - -
7934.35 705.65 -7.07 562 7935.68 no move -1.11 - - 1633.31 - - - 2183.06 - -97.32 - - 3091.22 - - - - - - - - - - -
8234.40 726.69 -6.90 572 8240.30 roll -1.13 - - 1616.06 - 4.47 0.056 3715.38 342.8 -97.32 - - 3091.19 - - - - - - - - - 15.86 -
8269.38 729.44 -6.93 579 8275.28 roll -1.13 - - 1632.94 - 4.21 0.018 2183.81 -363.8 -97.32 - - 3091.09 - - - - - - - - - 15.94 -
8594.52 751.59 -6.77 594 8595.85 no move -1.15 - - 1633.50 - - - 2182.56 - -97.32 - - 3091.06 - - - - - - - - - - -
8894.48 772.07 -6.77 604 8895.81 no move -1.17 - - 1633.75 - - - 2182.88 - -97.32 - - 3090.62 - - - - - - - - - - -
9194.50 791.73 -6.60 614 9201.49 roll back -1.20 0.13 0.090 1547.75 -661.5 4.47 0.056 3718.56 343.6 -97.32 - - 3094.19 - - - - - - - - 15.89 15.82 -
9214.54 793.41 -6.58 618 9220.49 roll back -1.13 0.22 0.276 1620.06 328.7 4.21 0.018 2170.81 -367.6 -97.32 - - 3092.34 - - - - - - - - 15.48 15.92 -
9519.52 814.12 -6.58 629 9520.86 no move -1.13 - - 1619.88 - - - 2170.19 - -97.32 - - 3091.59 - - - - - - - - - - -
9819.56 833.80 -6.49 639 9825.50 roll -1.13 - - 1602.38 - 4.51 0.056 3718.25 343.3 -97.32 - - 3092.75 - - - - - - - - - 15.86 -
9844.61 835.74 -6.61 644 9850.47 roll -1.10 - - 1620.00 - 4.21 0.019 2182.75 -364.7 -97.32 - - 3091.22 - - - - - - - - - 15.93 -
10149.60 855.80 -6.61 655 10150.93 no move -1.10 - - 1619.25 - - - 2182.94 - -97.32 - - 3090.69 - - - - - - - - - - -
10449.62 874.82 -6.28 665 10455.55 roll -1.10 - - 1602.44 - 4.47 0.056 3717.44 343.3 -97.32 - - 3091.62 - - - - - - - - - 15.86 -
10474.64 876.75 -6.32 670 10480.59 roll back -1.08 0.06 0.274 1637.69 587.5 4.20 0.019 2173.62 -367.6 -97.32 - - 3091.81 - - - - - - - - 15.54 15.93 -
10779.75 894.89 -5.78 681 10781.08 no move -1.11 - - 1637.69 - - - 2173.62 - -97.32 - - 3091.25 - - - - - - - - - - -
11079.72 912.19 -5.57 691 11081.05 no move -1.14 - - 1637.31 - - - 2172.75 - -97.32 - - 3091.84 - - - - - - - - - - -
11379.73 929.00 -5.57 701 11385.64 roll -1.17 - - 1620.56 - 4.52 0.057 3715.88 341.4 -97.32 - - 3092.00 - - - - - - - - - 15.85 -
11399.69 930.29 -5.68 705 11405.58 roll -1.17 - - 1637.00 - 4.20 0.019 2181.44 -365.3 -97.32 - - 3092.94 - - - - - - - - - 15.96 -
11709.80 947.55 -5.54 717 11711.25 pitch -1.21 0.15 0.083 1563.75 -488.3 - - 2182.50 - -97.32 - - 3090.78 - - - - - - - - 15.88 - -
12009.75 968.42 -6.92 727 12011.22 pitch -1.14 0.21 0.255 1616.81 252.7 - - 2179.50 - -97.32 - - 3090.19 - - - - - - - - 15.51 - -
12309.77 986.35 -5.93 737 12311.11 no move -1.14 - - 1618.31 - - - 2178.94 - -97.32 - - 3091.09 - - - - - - - - - - -
12400 end dive: TARGET_DEPTH_EXCEEDED
12400 begin apogee
12402.13 991.60 -5.82 740 12488.14 -0.14 1.13 0.214 1937.50 282.5 0.14 0.119 2514.25 2395.1 - 83.00 2.380 2695.00 -4.8 0.345 - - - - - - 15.53 15.32 11.04
12488 end apogee: CONTROL_FINISHED_OK
12489 begin climb
12488.71 991.65 - 742 12583.94 0.87 0.95 0.072 2295.00 376.3 4.32 0.046 1079.62 -332.1 97.32 85.93 2.306 2293.91 -4.7 0.348 - - - - - - 15.42 14.95 12.20
12661.37 972.88 13.03 776 12667.36 0.87 0.09 0.251 2253.44 -461.8 4.43 0.026 2599.19 343.0 97.32 - - 2287.09 - - - - - - - - 15.07 15.21 -
12971.41 935.41 12.06 788 12972.75 VBD 0.87 - - 2252.25 - - - 2600.19 - 97.32 - - 2280.03 - - - - - - - - - - -
13271.45 899.09 12.12 798 13272.79 VBD 0.87 - - 2252.94 - - - 2599.50 - 97.32 - - 2278.81 - - - - - - - - - - -
13571.49 862.89 12.06 808 13577.33 done 0.87 - - 2243.88 - 4.04 0.069 3953.31 335.1 97.32 - - 2278.94 - - - - - - - - - 15.52 -
13626.50 855.16 14.54 819 13632.37 done 0.81 - - 2260.88 - 3.95 0.017 2537.94 -358.3 97.32 - - 2277.03 - - - - - - - - - 15.56 -
13931.54 817.67 12.24 830 13932.87 VBD 0.81 - - 2261.06 - - - 2521.44 - 97.32 - - 2275.16 - - - - - - - - - - -
14231.80 781.53 12.03 840 14233.14 VBD 0.81 - - 2261.38 - - - 2521.94 - 97.32 - - 2273.72 - - - - - - - - - - -
14531.83 745.55 11.97 850 14537.46 done 0.81 - - 2245.06 - 4.28 0.067 3954.88 334.8 97.32 - - 2275.34 - - - - - - - - - 15.60 -
14596.65 736.77 13.99 863 14602.44 done 0.75 - - 2261.31 - 3.93 0.018 2532.81 -361.8 97.32 - - 2274.91 - - - - - - - - - 15.63 -
14922.02 698.74 11.66 878 14923.47 0.75 0.18 0.243 2212.62 -270.5 - - 2515.56 - 97.32 - - 2273.47 - - - - - - - - 15.39 - -
15221.92 669.91 9.46 888 15223.37 0.83 0.11 0.098 2270.00 521.6 - - 2515.62 - 97.32 - - 2275.69 - - - - - - - - 15.71 - -
15521.94 635.68 11.55 898 15527.81 done 0.83 - - 2253.50 - 4.26 0.067 3954.94 337.9 97.32 - - 2275.00 - - - - - - - - - 15.70 -
15576.73 628.29 13.83 909 15582.60 0.76 0.20 0.250 2214.62 -194.4 3.90 0.018 2534.19 -364.3 97.32 - - 2273.47 - - - - - - - - 15.41 15.79 -
15882.03 599.57 9.05 920 15883.36 VBD 0.83 - - 2214.44 - - - 2518.75 - 97.32 - - 2271.94 - - - - - - - - - - -
16181.99 571.76 9.25 930 16183.44 0.91 0.17 0.078 2296.94 485.3 - - 2516.56 - 97.32 - - 2271.25 - - - - - - - - 15.77 - -
16482.02 535.30 12.31 940 16483.47 0.87 0.17 0.240 2252.88 -259.2 - - 2516.12 - 97.32 - - 2273.69 - - - - - - - - 15.51 - -
16782.04 503.34 10.60 950 16787.92 done 0.90 - - 2233.88 - 4.24 0.066 3956.12 339.6 97.32 - - 2273.22 - - - - - - - - - 15.77 -
16842.11 496.09 12.60 962 16847.86 done 0.86 - - 2250.19 - 3.87 0.018 2535.88 -367.0 97.32 - - 2272.88 - - - - - - - - - 15.87 -
17162.12 462.50 10.32 981 17163.46 VBD 0.89 - - 2251.44 - - - 2518.94 - 97.32 - - 2270.94 - - - - - - - - - - -
17462.09 431.24 10.28 996 17463.43 VBD 0.92 - - 2250.19 - - - 2519.38 - 97.32 - - 2270.78 - - - - - - - - - - -
17762.11 400.71 10.05 1011 17768.03 0.95 0.10 0.098 2291.75 415.6 4.24 0.068 3955.50 338.7 97.32 - - 2274.16 - - - - - - - - 15.85 15.78 -
17811.83 393.86 14.47 1021 17817.74 0.83 0.26 0.259 2236.75 -211.5 3.87 0.018 2536.44 -366.7 97.32 - - 2272.50 - - - - - - - - 15.49 15.91 -
18122.12 364.60 8.93 1038 18123.46 VBD 0.88 - - 2237.12 - - - 2519.69 - 97.32 - - 2270.78 - - - - - - - - - - -
18422.14 338.34 8.59 1053 18423.60 0.94 0.13 0.088 2303.00 506.8 - - 2519.31 - 97.32 - - 2270.12 - - - - - - - - 15.86 - -
18722.17 307.60 10.17 1068 18728.09 0.91 0.14 0.244 2247.44 -396.9 4.22 0.066 3954.62 340.1 97.32 - - 2271.84 - - - - - - - - 15.56 15.61 -
18806.90 298.17 10.76 1085 18812.98 done 0.86 - - 2264.00 - 3.87 0.017 2529.00 -368.4 97.32 - - 2272.22 - - - - - - - - - 15.92 -
19122.25 272.11 7.72 1103 19128.03 done 0.90 - - 2282.12 - 4.07 0.042 1077.88 -356.5 97.32 - - 2271.94 - - - - - - - - - 15.87 -
19226.94 263.90 7.41 1124 19232.85 done 0.97 - - 2264.88 - 4.20 0.025 2600.12 362.4 97.32 - - 2271.69 - - - - - - - - - 15.92 -
19541.98 246.13 4.64 1142 19595.93 1.19 0.28 0.064 2364.56 356.0 3.96 0.070 3956.62 342.6 158.97 47.60 1.512 2044.88 -4.8 0.134 - - - - - - 15.88 15.62 11.18
19667.86 235.20 11.07 1164 19673.68 roll back 1.06 0.26 0.262 2311.88 -202.6 3.90 0.017 2531.50 -365.4 158.97 - - 2043.97 - - - - - - - - 15.49 15.76 -
19978.08 215.21 5.54 1181 20024.49 1.25 0.20 0.075 2385.69 369.0 4.28 0.067 3952.19 331.9 204.38 37.99 1.446 1861.12 -4.8 0.124 - - - - - - 15.75 15.53 11.54
20102.83 203.81 11.05 1206 20108.74 roll back 1.15 0.23 0.248 2339.12 -202.5 3.91 0.018 2536.19 -362.1 204.38 - - 1856.88 - - - - - - - - 15.45 15.68 -
20408.14 183.66 5.78 1236 20443.92 1.34 0.21 0.065 2432.12 442.9 - - 2519.81 - 245.45 34.21 1.404 1692.91 -4.8 0.109 - - - - - - 15.68 - 11.54
20748.13 153.56 8.80 1272 20749.47 VBD 1.34 - - 2431.94 - - - 2519.38 - 245.45 - - 1683.16 - - - - - - - - - - -
21048.24 128.02 8.31 1302 21049.58 VBD 1.37 - - 2431.56 - - - 2518.12 - 245.45 - - 1682.97 - - - - - - - - - - -
21348.26 104.69 6.59 1332 21353.80 done 1.41 - - 2449.69 - 4.14 0.044 1078.81 -347.7 245.45 - - 1681.22 - - - - - - - - - 15.75 -
21413.02 100.31 6.65 1345 21418.86 done 1.46 - - 2434.12 - 4.26 0.025 2600.50 357.2 245.45 - - 1680.59 - - - - - - - - - 15.74 -
21718.02 80.86 6.80 1406 21719.36 VBD 1.52 - - 2433.56 - - - 2599.31 - 245.45 - - 1679.47 - - - - - - - - - - -
22018.10 61.91 5.87 1466 22056.82 1.66 0.23 0.068 2551.44 512.5 4.38 0.043 1078.31 -347.3 284.89 31.84 1.322 1533.38 -4.6 0.037 - - - - - - 15.77 15.60 11.47
22128.70 52.52 9.18 1488 22134.65 roll back 1.63 0.16 0.254 2493.44 -362.5 4.26 0.025 2602.44 357.8 284.89 - - 1528.66 - - - - - - - - 15.50 15.72 -
22434.01 33.05 4.38 1549 22495.79 1.85 0.23 0.070 2617.38 538.9 4.44 0.042 1078.94 -343.1 351.23 53.52 1.249 1261.69 -5.0 0.023 - - - - - - 15.72 15.48 11.58
22619.03 23.83 4.44 1586 22677.04 done 2.01 - - 2598.50 - 4.28 0.022 2601.50 355.7 416.47 51.58 1.200 997.16 -5.1 0.018 - - - - - - - 15.62 11.87
22959 end climb: NO_VERTICAL_VELOCITY
22959 begin surface
SM 2.10 - - - - 129.6 - - 541.9 - 7.29 0.080 517.4 71.0 - 1.16 0.022 566.4 484.6 -4.728 - - 30.00 15.48 15.62 -