SODA Aug19 * SG229 * Dive index * Mission links * Dive 133 * Raw log
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• Previous call tries 2 • 110.34 of 575.00 AH used of 24V (80.81% remains)
• Surface angle -71.0 deg, depth 1.57 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 574.5, SM_CC=525.92322)
• GPS1 time: 43 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
1 end surface: CONTROL_FINISHED_OK
2 begin dive
2.36 - - - 54.36 VBD -0.86 - - 107.12 - - - 2352.69 - -97.32 51.28 0.005 1552.66 - - - - - - - - - - 15.20
54.61 3.24 -3.50 10 110.75 -0.86 7.66 0.405 1702.25 208.2 - - 2352.94 - -97.32 45.16 0.005 3090.66 34.1 -3.778 - - - - - - 15.25 - 15.26
408.45 85.69 -14.64 81 415.24 roll -0.79 - - 1721.25 - 4.56 0.043 770.38 -347.1 -97.32 - - 3094.62 - - - - - - - - - 15.68 -
498.30 99.29 -14.87 99 504.21 roll -0.72 - - 1705.62 - 4.22 0.017 2294.88 361.3 -97.32 - - 3095.75 - - - - - - - - - 15.73 -
803.43 140.42 -13.27 160 804.90 pitch -0.68 0.22 0.243 1765.31 271.3 - - 2295.50 - -97.32 - - 3094.03 - - - - - - - - 15.57 - -
1103.56 172.20 -10.11 220 1109.46 roll -0.74 - - 1784.00 - 4.40 0.046 770.19 -346.7 -97.32 - - 3094.81 - - - - - - - - - 15.77 -
1188.57 181.09 -10.52 237 1194.51 roll back -0.80 0.15 0.082 1692.25 -611.7 4.20 0.017 2300.94 364.5 -97.32 - - 3094.88 - - - - - - - - 15.69 15.82 -
1493.69 216.58 -10.76 284 1495.03 no move -0.80 - - 1692.31 - - - 2302.12 - -97.32 - - 3093.03 - - - - - - - - - - -
1793.73 244.45 -7.94 314 1795.07 no move -0.83 - - 1692.75 - - - 2301.44 - -97.32 - - 3092.84 - - - - - - - - - - -
2093.77 267.25 -7.42 344 2099.59 roll -0.88 - - 1673.06 - 4.22 0.058 3766.25 347.1 -97.32 - - 3096.22 - - - - - - - - - 15.86 -
2123.72 269.67 -7.53 350 2129.83 roll -0.90 - - 1690.56 - 4.20 0.013 2229.94 -365.8 -97.32 - - 3093.84 - - - - - - - - - 15.88 -
2433.75 291.14 -7.27 382 2435.08 no move -0.95 - - 1689.69 - - - 2229.31 - -97.32 - - 3093.88 - - - - - - - - - - -
2733.85 311.70 -6.56 412 2739.68 roll -1.00 - - 1673.31 - 4.47 0.056 3766.06 343.8 -97.32 - - 3093.12 - - - - - - - - - 15.88 -
2848.75 320.82 -8.12 435 2854.94 roll -1.00 - - 1689.06 - 4.18 0.013 2231.44 -367.1 -97.32 - - 3093.03 - - - - - - - - - 15.92 -
3153.83 341.33 -6.94 466 3155.28 pitch -1.06 0.16 0.077 1617.06 -450.0 - - 2231.25 - -97.32 - - 3090.97 - - - - - - - - 15.88 - -
3453.86 367.10 -8.57 496 3459.78 roll back -1.03 0.13 0.239 1671.25 416.8 4.12 0.047 769.25 -354.9 -97.32 - - 3092.31 - - - - - - - - 15.72 15.77 -
3513.86 372.00 -8.28 508 3519.72 roll -1.01 - - 1653.69 - 4.17 0.017 2296.88 366.3 -97.32 - - 3093.66 - - - - - - - - - 15.94 -
3823.88 394.27 -6.81 540 3829.79 roll -1.01 - - 1670.19 - 4.34 0.046 770.56 -351.7 -97.32 - - 3092.12 - - - - - - - - - 15.93 -
3888.92 399.29 -7.85 553 3894.79 roll -1.01 - - 1654.06 - 4.16 0.017 2297.25 367.0 -97.32 - - 3093.91 - - - - - - - - - 15.92 -
4203.92 421.17 -6.90 570 4205.25 no move -1.03 - - 1653.38 - - - 2298.06 - -97.32 - - 3091.25 - - - - - - - - - - -
4503.96 441.51 -6.63 585 4505.29 no move -1.05 - - 1653.88 - - - 2297.44 - -97.32 - - 3090.84 - - - - - - - - - - -
4803.95 461.91 -6.75 600 4805.29 no move -1.08 - - 1653.88 - - - 2297.31 - -97.32 - - 3090.34 - - - - - - - - - - -
5103.97 482.22 -6.68 615 5109.85 roll -1.11 - - 1670.44 - 4.36 0.047 769.25 -350.5 -97.32 - - 3093.41 - - - - - - - - - 15.94 -
5143.96 485.04 -6.61 623 5149.87 roll back -1.11 0.10 0.103 1601.25 -691.9 4.18 0.018 2303.81 367.1 -97.32 - - 3092.38 - - - - - - - - 15.84 15.97 -
5463.99 509.93 -7.83 642 5465.44 pitch -1.07 0.14 0.241 1640.81 282.6 - - 2303.56 - -97.32 - - 3095.44 - - - - - - - - 15.74 - -
5764.05 530.32 -6.65 657 5769.90 roll -1.07 - - 1659.75 - 4.37 0.046 769.50 -351.0 -97.32 - - 3093.72 - - - - - - - - - 15.95 -
5814.05 533.92 -7.22 667 5819.88 roll -1.05 - - 1643.50 - 4.16 0.017 2297.69 367.4 -97.32 - - 3090.62 - - - - - - - - - 15.96 -
6124.08 553.95 -6.48 684 6125.41 no move -1.05 - - 1642.75 - - - 2299.31 - -97.32 - - 3092.56 - - - - - - - - - - -
6424.03 573.63 -6.56 699 6429.94 roll -1.05 - - 1660.19 - 4.34 0.045 769.31 -352.5 -97.32 - - 3092.91 - - - - - - - - - 15.96 -
6474.02 577.29 -7.33 709 6479.91 roll -1.05 - - 1642.56 - 4.16 0.017 2298.25 367.5 -97.32 - - 3093.69 - - - - - - - - - 15.99 -
6784.13 597.39 -6.45 726 6785.47 no move -1.05 - - 1643.06 - - - 2298.44 - -97.32 - - 3091.00 - - - - - - - - - - -
7084.10 616.99 -6.58 741 7085.43 no move -1.07 - - 1643.50 - - - 2297.88 - -97.32 - - 3090.88 - - - - - - - - - - -
7384.10 636.44 -6.36 756 7390.00 roll -1.09 - - 1660.19 - 4.35 0.046 769.31 -351.4 -97.32 - - 3091.25 - - - - - - - - - 15.96 -
7434.15 640.17 -7.38 766 7439.98 roll -1.07 - - 1642.69 - 4.16 0.018 2299.44 367.8 -97.32 - - 3090.84 - - - - - - - - - 15.96 -
7744.19 660.37 -6.54 783 7745.52 no move -1.09 - - 1643.38 - - - 2298.62 - -97.32 - - 3090.84 - - - - - - - - - - -
8044.15 680.00 -6.55 798 8045.48 no move -1.11 - - 1643.69 - - - 2299.00 - -97.32 - - 3091.41 - - - - - - - - - - -
8344.16 699.41 -6.40 813 8350.05 roll -1.14 - - 1660.81 - 4.36 0.046 769.56 -350.8 -97.32 - - 3092.84 - - - - - - - - - 15.97 -
8399.19 703.26 -6.86 824 8405.09 roll back -1.14 0.09 0.104 1591.88 -765.9 4.16 0.018 2303.94 368.8 -97.32 - - 3092.31 - - - - - - - - 15.82 15.98 -
8704.18 726.17 -7.49 840 8705.63 pitch -1.09 0.16 0.240 1634.44 266.0 - - 2303.75 - -97.32 - - 3089.88 - - - - - - - - 15.73 - -
9004.19 746.21 -6.52 855 9005.53 no move -1.09 - - 1635.06 - - - 2304.94 - -97.32 - - 3091.41 - - - - - - - - - - -
9304.20 765.65 -6.34 870 9310.11 roll -1.09 - - 1655.25 - 4.36 0.046 770.81 -351.9 -97.32 - - 3091.56 - - - - - - - - - 15.97 -
9354.26 769.30 -7.28 880 9360.10 roll -1.06 - - 1637.56 - 4.16 0.018 2297.75 367.1 -97.32 - - 3093.09 - - - - - - - - - 15.97 -
9664.28 789.39 -6.45 897 9665.61 no move -1.06 - - 1636.38 - - - 2296.94 - -97.32 - - 3093.88 - - - - - - - - - - -
9964.26 808.20 -6.07 912 9970.29 roll -1.06 - - 1654.00 - 4.34 0.046 770.44 -351.7 -97.32 - - 3092.78 - - - - - - - - - 15.97 -
10024.35 812.31 -6.94 924 10030.15 roll -1.04 - - 1637.81 - 4.16 0.018 2297.38 367.1 -97.32 - - 3092.56 - - - - - - - - - 16.00 -
10344.30 832.35 -6.24 943 10345.64 no move -1.04 - - 1637.19 - - - 2296.94 - -97.32 - - 3091.75 - - - - - - - - - - -
10644.36 850.61 -6.03 958 10645.69 no move -1.04 - - 1636.81 - - - 2297.25 - -97.32 - - 3091.16 - - - - - - - - - - -
10944.44 868.28 -5.82 973 10945.78 no move -1.04 - - 1636.94 - - - 2297.25 - -97.32 - - 3091.19 - - - - - - - - - - -
11244.44 885.39 -5.73 988 11250.32 roll -1.06 - - 1654.38 - 4.38 0.047 771.69 -348.3 -97.32 - - 3092.47 - - - - - - - - - 15.87 -
11304.49 889.30 -6.52 1000 11310.30 roll -1.04 - - 1637.00 - 4.20 0.018 2298.19 363.5 -97.32 - - 3093.53 - - - - - - - - - 15.86 -
11624.48 907.76 -5.72 1019 11625.82 no move -1.06 - - 1637.44 - - - 2298.12 - -97.32 - - 3090.59 - - - - - - - - - - -
11924.53 925.26 -5.86 1034 11925.86 no move -1.08 - - 1637.56 - - - 2298.50 - -97.32 - - 3091.38 - - - - - - - - - - -
12224.55 942.41 -5.69 1049 12230.46 roll -1.10 - - 1654.69 - 4.41 0.046 770.69 -346.4 -97.32 - - 3094.66 - - - - - - - - - 15.80 -
12279.58 946.04 -6.60 1060 12285.46 roll -1.08 - - 1637.56 - 4.22 0.018 2297.12 361.7 -97.32 - - 3091.97 - - - - - - - - - 15.79 -
12584.59 963.45 -5.68 1076 12585.92 no move -1.11 - - 1636.88 - - - 2298.19 - -97.32 - - 3090.62 - - - - - - - - - - -
12884.63 980.08 -5.45 1091 12885.97 no move -1.13 - - 1637.19 - - - 2298.00 - -97.32 - - 3092.59 - - - - - - - - - - -
13085 end dive: TARGET_DEPTH_EXCEEDED
13085 begin apogee
13086.39 990.98 -5.36 1101 13171.99 -0.14 1.04 0.201 1938.75 290.0 0.14 0.106 2486.69 1347.8 - 83.53 2.373 2692.81 -4.8 0.342 - - - - - - 15.61 15.24 11.56
13172 end apogee: CONTROL_FINISHED_OK
13172 begin climb
13172.47 990.69 - 1105 13267.17 0.86 0.94 0.065 2255.81 337.3 4.58 0.065 3957.25 321.1 97.32 84.89 2.303 2295.56 -4.7 0.345 - - - - - - 15.32 14.94 12.23
13319.60 974.60 14.43 1135 13325.43 roll 0.77 - - 2273.31 - 4.14 0.012 2501.50 -351.6 97.32 - - 2290.66 - - - - - - - - - 15.23 -
13629.83 934.86 12.52 1152 13636.56 0.74 0.23 0.230 2189.00 -366.6 4.36 0.063 3957.00 333.8 97.32 - - 2283.97 - - - - - - - - 15.31 15.40 -
13664.55 930.52 12.31 1159 13670.42 done 0.74 - - 2204.06 - 4.06 0.012 2488.75 -361.6 97.32 - - 2283.44 - - - - - - - - - 15.52 -
13984.84 898.66 9.82 1178 13991.51 done 0.80 - - 2188.25 - 4.37 0.064 3955.56 335.7 97.32 - - 2281.06 - - - - - - - - - 15.61 -
14014.58 895.45 10.01 1184 14020.52 0.80 0.09 0.117 2251.25 700.0 4.03 0.013 2487.00 -364.4 97.32 - - 2280.91 - - - - - - - - 15.53 15.65 -
14319.86 860.22 11.59 1200 14325.54 done 0.80 - - 2244.69 - 4.36 0.065 3954.75 336.6 97.32 - - 2282.03 - - - - - - - - - 15.67 -
14354.68 855.53 13.85 1207 14360.58 0.71 0.22 0.238 2199.88 -203.7 3.99 0.013 2491.06 -366.8 97.32 - - 2280.56 - - - - - - - - 15.48 15.69 -
14659.91 825.74 9.69 1223 14665.59 done 0.78 - - 2178.62 - 4.33 0.064 3954.12 337.9 97.32 - - 2278.25 - - - - - - - - - 15.73 -
14674.64 824.30 9.91 1226 14680.58 0.83 0.14 0.090 2266.44 627.3 3.99 0.013 2482.75 -368.8 97.32 - - 2278.59 - - - - - - - - 15.64 15.77 -
14979.91 788.07 11.92 1242 14985.57 done 0.83 - - 2251.19 - 4.36 0.065 3953.81 337.4 97.32 - - 2278.94 - - - - - - - - - 15.74 -
15009.67 783.90 13.83 1248 15015.57 0.74 0.20 0.241 2211.25 -199.7 3.98 0.013 2493.00 -367.0 97.32 - - 2277.75 - - - - - - - - 15.57 15.80 -
15319.95 752.49 10.02 1265 15325.59 done 0.80 - - 2193.81 - 4.32 0.065 3955.56 338.6 97.32 - - 2275.66 - - - - - - - - - 15.77 -
15344.69 749.77 10.15 1270 15350.57 0.82 0.10 0.109 2262.50 686.9 3.97 0.013 2483.50 -370.8 97.32 - - 2276.31 - - - - - - - - 15.73 15.82 -
15659.95 713.20 11.54 1288 15665.62 done 0.82 - - 2245.44 - 4.32 0.063 3954.62 340.5 97.32 - - 2276.38 - - - - - - - - - 15.80 -
15694.76 708.65 13.42 1295 15700.58 done 0.74 - - 2262.38 - 3.96 0.013 2494.75 -368.7 97.32 - - 2276.59 - - - - - - - - - 15.85 -
16000.04 673.77 11.33 1311 16006.71 0.74 0.19 0.234 2190.94 -376.0 4.29 0.064 3954.31 340.2 97.32 - - 2276.22 - - - - - - - - 15.65 15.72 -
16019.71 671.48 11.06 1315 16025.56 done 0.74 - - 2207.38 - 3.97 0.013 2493.38 -368.0 97.32 - - 2277.47 - - - - - - - - - 15.86 -
16335.07 642.28 9.30 1333 16341.65 done 0.81 - - 2190.94 - 4.30 0.064 3956.81 340.3 97.32 - - 2275.47 - - - - - - - - - 15.82 -
16354.75 640.22 9.49 1337 16360.65 0.84 0.12 0.099 2267.06 634.3 3.97 0.013 2481.06 -371.7 97.32 - - 2277.75 - - - - - - - - 15.78 15.88 -
16670.02 604.00 11.56 1355 16675.68 done 0.84 - - 2250.75 - 4.32 0.063 3952.75 340.7 97.32 - - 2275.56 - - - - - - - - - 15.84 -
16699.78 600.09 13.11 1361 16705.62 done 0.76 - - 2270.12 - 3.95 0.013 2488.50 -370.7 97.32 - - 2274.97 - - - - - - - - - 15.88 -
17010.10 563.86 11.51 1378 17016.75 0.76 0.20 0.236 2192.69 -387.1 4.30 0.065 3955.62 341.2 97.32 - - 2275.06 - - - - - - - - 15.67 15.75 -
17039.83 560.55 11.29 1384 17045.66 done 0.76 - - 2209.50 - 3.95 0.013 2488.06 -371.5 97.32 - - 2275.84 - - - - - - - - - 15.90 -
17345.16 532.08 9.08 1400 17351.84 done 0.82 - - 2194.38 - 4.30 0.065 3954.75 341.1 97.32 - - 2272.88 - - - - - - - - - 15.83 -
17364.81 530.04 9.36 1404 17370.72 0.85 0.12 0.098 2274.88 670.8 3.94 0.013 2479.88 -374.3 97.32 - - 2274.16 - - - - - - - - 15.81 15.92 -
17680.08 494.16 11.47 1422 17685.74 done 0.85 - - 2256.81 - 4.32 0.063 3956.44 341.8 97.32 - - 2276.31 - - - - - - - - - 15.86 -
17719.91 488.91 13.42 1430 17725.76 0.75 0.22 0.244 2213.12 -198.6 3.93 0.012 2487.12 -373.9 97.32 - - 2274.25 - - - - - - - - 15.66 15.90 -
18040.12 459.44 8.95 1449 18041.46 VBD 0.82 - - 2212.44 - - - 2472.19 - 97.32 - - 2272.88 - - - - - - - - - - -
18340.15 432.88 8.83 1464 18346.29 0.89 0.15 0.087 2274.75 415.4 4.30 0.065 3953.00 344.4 97.32 - - 2275.88 - - - - - - - - 15.89 15.85 -
18379.95 427.91 13.37 1472 18385.80 0.77 0.26 0.257 2220.19 -209.8 3.95 0.013 2488.94 -370.6 97.32 - - 2275.97 - - - - - - - - 15.66 15.94 -
18690.17 399.14 9.08 1491 18695.79 done 0.83 - - 2202.25 - 4.28 0.065 3955.38 342.6 97.32 - - 2276.25 - - - - - - - - - 15.85 -
18744.96 393.27 10.60 1502 18750.82 0.83 0.09 0.123 2266.19 710.4 3.95 0.013 2481.00 -373.3 97.32 - - 2273.78 - - - - - - - - 15.79 15.94 -
19049.94 360.30 10.94 1533 19055.84 done 0.83 - - 2248.62 - 4.30 0.063 3956.25 343.1 97.32 - - 2274.59 - - - - - - - - - 15.89 -
19069.97 357.89 11.16 1537 19075.79 done 0.79 - - 2265.81 - 3.94 0.013 2488.19 -372.6 97.32 - - 2274.09 - - - - - - - - - 15.96 -
19379.97 325.46 10.25 1569 19385.94 0.79 0.14 0.245 2207.19 -418.7 4.30 0.064 3955.19 341.2 97.32 - - 2275.44 - - - - - - - - 15.71 15.76 -
19404.97 322.92 10.30 1574 19410.84 done 0.79 - - 2223.19 - 3.94 0.013 2487.31 -372.6 97.32 - - 2274.62 - - - - - - - - - 15.95 -
19710.28 296.99 8.17 1605 19711.62 VBD 0.85 - - 2224.62 - - - 2471.50 - 97.32 - - 2272.12 - - - - - - - - - - -
20010.11 272.90 7.69 1635 20011.56 0.92 0.14 0.086 2299.62 535.7 - - 2472.38 - 97.32 - - 2277.59 - - - - - - - - 15.91 - -
20310.32 245.98 8.07 1665 20315.97 done 0.92 - - 2285.31 - 4.29 0.064 3953.31 345.2 97.32 - - 2275.28 - - - - - - - - - 15.88 -
20355.15 241.99 9.12 1674 20361.01 0.81 0.25 0.251 2231.31 -216.0 3.93 0.012 2482.62 -374.2 97.32 - - 2275.19 - - - - - - - - 15.64 15.99 -
20660.40 226.56 4.68 1705 20714.13 1.06 0.25 0.065 2354.38 492.3 4.05 0.039 1038.81 -356.5 158.26 47.13 1.488 2048.44 -4.8 0.125 - - - - - - 15.90 15.69 11.60
20831.00 213.28 8.68 1739 20836.93 roll 1.08 - - 2338.81 - 4.23 0.021 2560.31 359.7 158.26 - - 2043.97 - - - - - - - - - 15.79 -
21136.05 192.28 6.48 1781 21137.39 VBD 1.08 - - 2338.50 - - - 2561.00 - 158.26 - - 2039.69 - - - - - - - - - - -
21436.14 174.50 5.45 1841 21482.99 1.23 0.10 0.106 2415.62 771.2 4.36 0.039 1038.62 -349.2 205.20 38.87 1.416 1855.34 -4.7 0.100 - - - - - - 15.81 15.60 11.78
21551.14 165.02 9.20 1864 21557.10 roll back 1.23 0.12 0.262 2366.12 -412.5 4.26 0.022 2564.69 358.2 205.20 - - 1850.72 - - - - - - - - 15.54 15.72 -
21856.20 141.21 7.01 1925 21857.54 VBD 1.27 - - 2366.56 - - - 2563.81 - 205.20 - - 1846.75 - - - - - - - - - - -
22156.28 121.90 5.89 1985 22189.04 1.43 0.21 0.071 2451.25 403.3 - - 2564.81 - 244.13 31.91 1.360 1701.00 -4.6 0.070 - - - - - - 15.75 - 11.80
22486.61 94.12 7.92 2051 22492.29 roll 1.43 - - 2471.75 - 4.38 0.038 1038.62 -348.4 244.13 - - 1693.06 - - - - - - - - - 15.70 -
22501.37 92.85 7.96 2054 22507.32 roll back 1.43 0.09 0.256 2428.81 -477.1 4.26 0.021 2567.56 358.9 244.13 - - 1691.34 - - - - - - - - 15.52 15.73 -
22806.51 74.45 5.51 2115 22850.37 1.60 0.19 0.078 2536.12 564.8 4.39 0.039 1038.38 -348.3 290.05 37.75 1.315 1509.78 -4.8 0.047 - - - - - - 15.72 15.55 11.89
22857.23 71.15 6.52 2125 22863.19 roll back 1.55 0.18 0.252 2470.00 -367.3 4.27 0.020 2568.75 358.4 290.05 - - 1510.88 - - - - - - - - 15.52 15.66 -
23162.34 52.41 4.58 2186 23214.53 1.79 0.24 0.062 2571.31 422.1 - - 2570.44 - 352.72 50.39 1.278 1256.47 -5.0 0.035 - - - - - - 15.67 - 11.96
23512.51 33.01 4.23 2256 23574.56 1.99 0.14 0.076 2623.12 370.1 4.10 0.067 3954.88 337.7 421.70 54.40 1.239 973.91 -5.2 0.024 - - - - - - 15.60 15.37 11.90
23797.54 29.12 0.17 2313 23829.38 2.33 0.25 0.071 2742.38 477.0 4.03 0.012 2440.19 -375.9 564.04 26.10 1.201 846.16 -4.9 0.020 - - - - - - 15.51 15.60 11.95
23830 end climb: NO_VERTICAL_VELOCITY
23830 begin surface
SM 1.06 - - - - 124.8 - - 537.3 - 7.51 0.064 514.8 68.5 - 0.50 0.022 559.9 1111.7 -5.475 - - 30.00 15.47 15.58 -