SODA Aug19 * SG229 * Dive index * Mission links * Dive 127 * Raw log
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• Previous call tries 2 • 108.22 of 575.00 AH used of 24V (81.18% remains)
• Surface angle -69.6 deg, depth 1.39 m • Intended pitch -22.3 deg, speed -8.049 cm/s
VBD pumped to 525.97 (SM_CC=525.92322)
• GPS1 time: 31 s
• GPS2 time: 3 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
2.36 - - - 59.46 VBD -0.86 - - 127.12 - - - 2351.44 - -97.32 56.42 0.005 1631.00 - - - - - - - - - - 15.20
59.70 3.05 -3.12 11 121.60 -0.86 7.61 0.409 1687.19 205.0 4.12 0.056 3767.19 343.6 -97.32 45.81 0.005 3090.06 31.9 -3.326 - - - - - - 15.23 15.24 15.25
198.51 43.73 -27.65 39 204.49 roll back -0.69 0.20 0.259 1761.25 370.3 4.26 0.015 2229.81 -360.9 -97.32 - - 3093.66 - - - - - - - - 15.43 15.64 -
503.55 91.80 -12.74 100 509.47 roll -0.69 - - 1778.88 - 4.18 0.048 770.88 -349.0 -97.32 - - 3093.94 - - - - - - - - - 15.67 -
538.57 96.35 -13.08 107 544.48 roll -0.69 - - 1762.25 - 4.24 0.018 2294.31 359.3 -97.32 - - 3093.72 - - - - - - - - - 15.70 -
843.71 132.14 -11.46 168 845.04 no move -0.72 - - 1762.81 - - - 2293.25 - -97.32 - - 3092.50 - - - - - - - - - - -
1143.71 165.51 -10.49 228 1149.62 roll -0.77 - - 1778.44 - 4.37 0.046 771.00 -348.3 -97.32 - - 3095.41 - - - - - - - - - 15.76 -
1188.77 170.27 -10.65 237 1194.67 roll back -0.82 0.14 0.082 1687.06 -652.7 4.20 0.019 2298.06 363.6 -97.32 - - 3095.97 - - - - - - - - 15.69 15.79 -
1498.74 208.90 -12.00 292 1504.67 roll -0.82 - - 1702.69 - 4.37 0.046 770.62 -349.5 -97.32 - - 3096.00 - - - - - - - - - 15.83 -
1538.83 213.76 -12.54 300 1544.65 roll -0.78 - - 1686.12 - 4.21 0.018 2295.69 362.2 -97.32 - - 3095.06 - - - - - - - - - 15.83 -
1848.79 241.53 -8.18 332 1854.74 roll back -0.78 0.17 0.235 1718.69 191.6 4.24 0.059 3768.56 347.4 -97.32 - - 3094.94 - - - - - - - - 15.65 15.72 -
1868.86 243.23 -8.21 336 1874.67 roll -0.82 - - 1734.75 - 4.20 0.014 2230.94 -366.1 -97.32 - - 3093.69 - - - - - - - - - 15.85 -
2178.84 263.55 -6.41 368 2180.29 pitch -0.92 0.16 0.070 1649.94 -530.1 - - 2229.38 - -97.32 - - 3096.09 - - - - - - - - 15.82 - -
2478.85 287.23 -7.47 398 2484.84 roll back -0.92 0.13 0.222 1669.50 150.5 4.45 0.056 3766.88 345.5 -97.32 - - 3094.88 - - - - - - - - 15.71 15.76 -
2493.84 288.40 -7.57 401 2499.75 roll -0.92 - - 1686.50 - 4.19 0.014 2232.94 -366.1 -97.32 - - 3096.12 - - - - - - - - - 15.88 -
2798.91 309.08 -6.43 432 2804.81 roll -0.97 - - 1669.25 - 4.45 0.057 3766.62 344.6 -97.32 - - 3095.16 - - - - - - - - - 15.88 -
2813.89 310.16 -6.42 435 2819.80 roll -1.01 - - 1685.62 - 4.20 0.014 2231.12 -365.6 -97.32 - - 3093.06 - - - - - - - - - 15.90 -
3118.94 330.20 -6.44 466 3125.93 roll back -1.06 0.15 0.080 1595.25 -602.5 4.45 0.056 3768.31 345.4 -97.32 - - 3091.38 - - - - - - - - 15.88 15.85 -
3143.99 332.47 -7.13 471 3149.85 roll back -1.03 0.14 0.254 1651.81 404.0 4.19 0.014 2217.00 -370.2 -97.32 - - 3093.38 - - - - - - - - 15.68 15.92 -
3453.95 355.76 -7.23 503 3455.28 no move -1.03 - - 1652.31 - - - 2215.25 - -97.32 - - 3091.06 - - - - - - - - - - -
3754.03 377.65 -7.13 533 3755.37 no move -1.03 - - 1652.44 - - - 2216.38 - -97.32 - - 3093.28 - - - - - - - - - - -
4054.07 399.09 -7.34 563 4055.40 no move -1.05 - - 1652.69 - - - 2216.00 - -97.32 - - 3092.00 - - - - - - - - - - -
4354.04 420.98 -7.37 579 4355.37 no move -1.08 - - 1652.31 - - - 2214.75 - -97.32 - - 3091.84 - - - - - - - - - - -
4654.05 441.87 -6.94 594 4655.39 no move -1.10 - - 1652.00 - - - 2215.38 - -97.32 - - 3090.94 - - - - - - - - - - -
4954.06 462.28 -6.80 609 4955.51 pitch -1.13 0.12 0.092 1593.00 -491.7 - - 2215.25 - -97.32 - - 3092.06 - - - - - - - - 15.90 - -
5254.08 487.04 -8.45 624 5255.53 pitch -1.07 0.17 0.235 1639.56 273.9 - - 2213.69 - -97.32 - - 3094.75 - - - - - - - - 15.73 - -
5554.07 508.35 -7.08 639 5555.41 no move -1.07 - - 1639.75 - - - 2214.38 - -97.32 - - 3091.41 - - - - - - - - - - -
5854.09 529.21 -7.11 654 5860.02 roll -1.07 - - 1622.00 - 4.49 0.056 3769.56 346.4 -97.32 - - 3093.84 - - - - - - - - - 15.94 -
5869.07 530.40 -7.07 657 5875.04 roll -1.07 - - 1638.81 - 4.19 0.014 2228.62 -367.8 -97.32 - - 3092.38 - - - - - - - - - 15.98 -
6174.18 552.06 -7.07 673 6175.51 no move -1.07 - - 1639.69 - - - 2227.94 - -97.32 - - 3090.53 - - - - - - - - - - -
6474.15 572.95 -6.97 688 6480.09 roll -1.07 - - 1620.88 - 4.43 0.056 3767.19 347.5 -97.32 - - 3093.62 - - - - - - - - - 15.95 -
6504.16 575.43 -7.16 694 6510.03 roll -1.05 - - 1638.38 - 4.16 0.014 2230.50 -369.4 -97.32 - - 3091.53 - - - - - - - - - 15.96 -
6814.25 596.73 -6.75 711 6815.58 no move -1.05 - - 1639.56 - - - 2229.56 - -97.32 - - 3090.66 - - - - - - - - - - -
7114.22 616.76 -6.66 726 7115.56 no move -1.05 - - 1638.56 - - - 2229.81 - -97.32 - - 3091.50 - - - - - - - - - - -
7414.25 636.80 -6.58 741 7415.58 no move -1.05 - - 1638.81 - - - 2229.00 - -97.32 - - 3092.12 - - - - - - - - - - -
7714.28 656.81 -6.58 756 7715.62 no move -1.05 - - 1639.38 - - - 2229.81 - -97.32 - - 3093.16 - - - - - - - - - - -
8014.32 676.67 -6.58 771 8015.65 no move -1.05 - - 1639.50 - - - 2228.75 - -97.32 - - 3090.97 - - - - - - - - - - -
8314.34 696.37 -6.59 786 8315.67 no move -1.05 - - 1639.06 - - - 2229.38 - -97.32 - - 3091.81 - - - - - - - - - - -
8614.37 715.46 -6.34 801 8615.70 no move -1.05 - - 1639.38 - - - 2228.94 - -97.32 - - 3093.50 - - - - - - - - - - -
8914.41 734.75 -6.47 816 8915.75 no move -1.07 - - 1639.44 - - - 2230.12 - -97.32 - - 3092.72 - - - - - - - - - - -
9214.45 754.52 -6.62 831 9215.78 no move -1.09 - - 1639.44 - - - 2228.88 - -97.32 - - 3092.44 - - - - - - - - - - -
9514.47 774.20 -6.55 846 9515.80 no move -1.12 - - 1639.44 - - - 2229.25 - -97.32 - - 3091.75 - - - - - - - - - - -
9814.50 793.33 -6.54 861 9815.83 no move -1.14 - - 1639.00 - - - 2228.94 - -97.32 - - 3091.81 - - - - - - - - - - -
10114.51 812.33 -6.28 876 10115.85 no move -1.16 - - 1639.12 - - - 2228.38 - -97.32 - - 3091.69 - - - - - - - - - - -
10414.53 831.65 -6.47 891 10415.99 pitch -1.18 0.14 0.087 1572.25 -477.6 - - 2228.44 - -97.32 - - 3091.78 - - - - - - - - 15.95 - -
10714.55 855.04 -7.78 906 10716.00 pitch -1.12 0.20 0.238 1626.81 272.8 - - 2225.12 - -97.32 - - 3090.34 - - - - - - - - 15.73 - -
11014.54 874.87 -6.47 921 11015.87 no move -1.12 - - 1626.88 - - - 2225.50 - -97.32 - - 3093.09 - - - - - - - - - - -
11314.56 894.42 -6.55 936 11315.90 no move -1.12 - - 1626.94 - - - 2225.56 - -97.32 - - 3092.00 - - - - - - - - - - -
11614.58 913.42 -6.39 951 11615.91 no move -1.12 - - 1626.62 - - - 2225.50 - -97.32 - - 3093.06 - - - - - - - - - - -
11914.60 932.13 -6.06 966 11915.94 no move -1.12 - - 1627.06 - - - 2225.56 - -97.32 - - 3093.19 - - - - - - - - - - -
12214.60 951.00 -6.23 981 12215.94 no move -1.12 - - 1627.19 - - - 2225.56 - -97.32 - - 3093.38 - - - - - - - - - - -
12514.63 969.41 -5.91 996 12520.48 roll -1.12 - - 1644.62 - 4.14 0.045 770.50 -351.5 -97.32 - - 3094.97 - - - - - - - - - 15.80 -
12534.62 970.79 -6.07 1000 12540.50 roll -1.12 - - 1627.62 - 4.19 0.016 2302.06 365.5 -97.32 - - 3093.06 - - - - - - - - - 15.80 -
12854.65 989.99 -5.98 1019 12855.98 no move -1.12 - - 1627.81 - - - 2302.88 - -97.32 - - 3091.75 - - - - - - - - - - -
12875 end dive: TARGET_DEPTH_EXCEEDED
12875 begin apogee
12876.41 991.18 -5.99 1020 12961.99 -0.14 1.08 0.206 1939.00 288.1 0.15 0.103 2462.25 1062.5 - 82.96 2.381 2691.97 -4.8 0.343 - - - - - - 15.58 15.23 11.59
12962 end apogee: CONTROL_FINISHED_OK
12962 begin climb
12962.47 991.23 - 1024 13049.70 0.86 0.94 0.069 2272.12 354.4 - - 2451.06 - 97.32 84.64 2.307 2294.00 -4.7 0.346 - - - - - - 15.30 - 12.18
13334.93 948.69 12.38 1043 13340.84 done 0.84 - - 2256.50 - 4.49 0.064 3958.25 335.7 97.32 - - 2282.75 - - - - - - - - - 15.44 -
13399.66 939.43 14.39 1056 13405.61 0.74 0.22 0.239 2210.62 -208.5 4.04 0.013 2494.31 -362.4 97.32 - - 2281.62 - - - - - - - - 15.30 15.46 -
13714.97 907.20 10.05 1074 13716.30 VBD 0.80 - - 2211.69 - - - 2479.69 - 97.32 - - 2277.56 - - - - - - - - - - -
14014.98 877.13 9.93 1089 14020.93 0.86 0.13 0.087 2262.75 392.8 4.34 0.064 3959.31 340.9 97.32 - - 2278.84 - - - - - - - - 15.64 15.63 -
14064.71 870.19 14.53 1099 14070.67 0.76 0.23 0.247 2215.00 -207.6 4.01 0.013 2493.19 -365.6 97.32 - - 2277.66 - - - - - - - - 15.49 15.69 -
14375.00 838.21 10.17 1116 14376.34 VBD 0.81 - - 2214.00 - - - 2477.25 - 97.32 - - 2275.81 - - - - - - - - - - -
14675.03 808.44 9.84 1131 14680.98 0.87 0.13 0.088 2267.44 411.1 4.32 0.065 3958.56 342.9 97.32 - - 2275.50 - - - - - - - - 15.74 15.71 -
14719.75 802.28 14.57 1140 14725.68 0.76 0.25 0.242 2214.19 -213.0 3.98 0.013 2492.25 -368.4 97.32 - - 2276.00 - - - - - - - - 15.57 15.78 -
15035.04 771.19 9.47 1158 15036.38 VBD 0.81 - - 2214.31 - - - 2478.06 - 97.32 - - 2273.81 - - - - - - - - - - -
15335.07 742.70 9.36 1173 15336.52 0.87 0.14 0.085 2286.44 515.2 - - 2477.19 - 97.32 - - 2274.31 - - - - - - - - 15.82 - -
15635.08 706.34 12.19 1188 15641.79 0.83 0.17 0.239 2221.12 -384.2 4.30 0.064 3959.38 344.7 97.32 - - 2274.94 - - - - - - - - 15.66 15.71 -
15734.82 693.91 12.28 1208 15740.67 done 0.80 - - 2238.19 - 3.94 0.013 2494.19 -371.9 97.32 - - 2276.12 - - - - - - - - - 15.87 -
16050.18 661.03 10.29 1226 16051.52 VBD 0.82 - - 2237.81 - - - 2479.31 - 97.32 - - 2271.19 - - - - - - - - - - -
16350.14 630.16 10.20 1241 16355.75 done 0.85 - - 2222.50 - 4.28 0.064 3953.00 344.3 97.32 - - 2272.50 - - - - - - - - - 15.86 -
16424.86 621.17 12.22 1256 16430.74 done 0.82 - - 2237.75 - 3.93 0.013 2492.94 -371.5 97.32 - - 2274.97 - - - - - - - - - 15.91 -
16730.21 589.50 10.27 1272 16731.55 VBD 0.85 - - 2238.00 - - - 2480.25 - 97.32 - - 2271.88 - - - - - - - - - - -
17030.17 558.71 10.25 1287 17035.79 done 0.88 - - 2221.00 - 4.28 0.063 3956.31 344.9 97.32 - - 2274.84 - - - - - - - - - 15.88 -
17094.97 551.09 11.90 1300 17100.76 done 0.85 - - 2238.12 - 3.92 0.013 2494.38 -372.9 97.32 - - 2274.31 - - - - - - - - - 15.90 -
17410.26 518.49 10.39 1318 17411.60 VBD 0.88 - - 2238.38 - - - 2480.31 - 97.32 - - 2271.50 - - - - - - - - - - -
17710.22 487.92 10.31 1333 17716.91 0.91 0.10 0.103 2281.50 431.2 4.26 0.064 3954.44 346.0 97.32 - - 2272.69 - - - - - - - - 15.87 15.86 -
17764.96 480.39 14.44 1344 17770.88 0.78 0.28 0.252 2221.69 -213.6 3.92 0.013 2489.44 -373.7 97.32 - - 2274.44 - - - - - - - - 15.67 15.93 -
18085.24 449.23 9.33 1363 18086.58 VBD 0.84 - - 2220.31 - - - 2475.00 - 97.32 - - 2271.31 - - - - - - - - - - -
18385.26 421.60 9.20 1378 18391.95 0.89 0.14 0.089 2280.25 428.1 4.28 0.066 3955.75 346.0 97.32 - - 2269.78 - - - - - - - - 15.90 15.88 -
18444.99 413.65 13.73 1390 18450.92 0.77 0.28 0.247 2217.81 -223.0 3.94 0.014 2491.38 -371.7 97.32 - - 2272.06 - - - - - - - - 15.68 15.93 -
18750.30 385.00 9.07 1415 18751.63 VBD 0.84 - - 2217.19 - - - 2476.88 - 97.32 - - 2272.09 - - - - - - - - - - -
19050.38 358.01 9.17 1445 19051.83 0.90 0.15 0.085 2296.75 530.4 - - 2474.81 - 97.32 - - 2269.50 - - - - - - - - 15.89 - -
19350.35 323.92 11.26 1475 19357.04 0.87 0.17 0.242 2227.19 -409.2 4.26 0.063 3953.94 347.2 97.32 - - 2273.34 - - - - - - - - 15.71 15.76 -
19450.11 312.22 11.77 1495 19455.97 done 0.83 - - 2246.31 - 3.91 0.013 2490.56 -374.3 97.32 - - 2272.00 - - - - - - - - - 15.96 -
19755.45 283.98 8.52 1526 19761.28 done 0.86 - - 2265.69 - 4.01 0.039 1037.62 -362.3 97.32 - - 2271.41 - - - - - - - - - 15.97 -
19810.25 278.82 9.29 1537 19816.08 done 0.92 - - 2247.44 - 4.17 0.020 2561.00 365.3 97.32 - - 2272.59 - - - - - - - - - 15.95 -
20115.51 252.27 7.90 1568 20121.13 0.96 0.12 0.091 2295.88 403.7 3.98 0.066 3953.56 349.9 97.32 - - 2270.81 - - - - - - - - 15.90 15.87 -
20180.32 245.47 11.06 1581 20186.20 0.82 0.28 0.252 2233.12 -224.1 3.92 0.012 2486.00 -374.4 97.32 - - 2272.72 - - - - - - - - 15.65 15.96 -
20485.58 227.73 5.00 1612 20533.25 1.04 0.22 0.066 2349.12 527.3 4.03 0.040 1037.19 -359.5 152.43 41.96 1.482 2070.88 -4.8 0.127 - - - - - - 15.90 15.70 11.64
20590.32 219.87 8.38 1633 20596.51 roll back 1.04 0.10 0.251 2305.12 -440.0 4.22 0.020 2565.56 362.2 152.43 - - 2068.34 - - - - - - - - 15.66 15.82 -
20895.63 199.23 5.91 1665 20934.11 1.19 0.17 0.089 2398.00 546.4 4.36 0.038 1038.62 -350.2 191.08 32.28 1.419 1914.94 -4.8 0.114 - - - - - - 15.78 15.63 11.96
20990.97 190.53 10.11 1684 20996.94 roll back 1.19 0.12 0.260 2352.81 -376.6 4.22 0.021 2566.25 362.0 191.08 - - 1914.19 - - - - - - - - 15.56 15.73 -
21296.29 166.70 7.31 1745 21297.63 no move 1.22 - - 2353.56 - - - 2566.62 - 191.08 - - 1906.62 - - - - - - - - - - -
21596.36 146.49 6.42 1805 21601.95 roll 1.27 - - 2335.06 - 4.01 0.064 3957.25 346.8 191.08 - - 1908.72 - - - - - - - - - 15.73 -
21671.17 140.71 7.75 1820 21677.01 1.23 0.06 0.151 2388.88 897.0 3.95 0.012 2468.50 -376.9 191.08 - - 1907.16 - - - - - - - - 15.68 15.83 -
21976.48 120.52 5.89 1881 22014.81 done 1.32 - - 2406.75 - 4.01 0.042 1038.44 -356.6 230.08 32.54 1.364 1756.16 -4.6 0.070 - - - - - - - 15.61 11.76
22141.70 108.97 7.64 1914 22147.85 roll 1.39 - - 2388.12 - 4.23 0.021 2563.62 360.6 230.08 - - 1752.00 - - - - - - - - - 15.74 -
22447.01 88.59 6.21 1975 22448.46 pitch 1.46 0.18 0.076 2470.69 458.7 - - 2563.75 - 230.08 - - 1747.28 - - - - - - - - 15.73 - -
22747.14 70.47 5.72 2035 22788.43 done 1.55 - - 2454.88 - 4.06 0.066 3958.25 343.5 272.12 35.03 1.310 1582.19 -4.7 0.043 - - - - - - - 15.58 11.84
22846.83 63.77 7.26 2055 22852.67 roll 1.48 - - 2471.56 - 3.99 0.012 2486.88 -368.8 272.12 - - 1579.22 - - - - - - - - - 15.69 -
23152.14 49.43 3.69 2116 23215.55 1.74 0.18 0.071 2551.69 445.2 - - 2471.38 - 350.80 62.41 1.269 1265.97 -5.0 0.033 - - - - - - 15.72 - 11.91
23512.74 30.23 2.91 2188 23591.01 2.04 0.22 0.063 2666.69 522.7 4.14 0.041 1039.12 -346.0 443.68 71.59 1.218 884.31 -5.3 0.023 - - - - - - 15.60 15.33 11.93
23802.92 19.50 5.59 2246 23844.62 done 2.18 - - 2648.25 - 4.28 0.020 2560.94 355.6 488.12 35.21 1.172 705.34 -5.1 0.014 - - - - - - - 15.58 11.88
24043 end climb: SURFACE_DEPTH_REACHED
24043 begin surface coast
24068 end surface coast: CONTROL_FINISHED_OK
24068 begin surface
SM 2.38 - - - - 132.2 - 0.010 549.8 - 7.16 0.051 529.2 73.9 - 0.88 0.017 570.4 643.3 -9.205 - - 30.36 15.48 15.59 -