SODA Aug19 * SG229 * Dive index * Mission links * Dive 138 * Raw log
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• Previous call tries 2 • 112.13 of 575.00 AH used of 24V (80.50% remains)
• Surface angle -72.7 deg, depth 1.66 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 578.5, SM_CC=525.92322)
• GPS1 time: 40 s
• GPS2 time: 2 s • Transponder ping count: 6
• 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
2.37 - - - 49.21 VBD -0.86 - - 125.25 - - - 2338.50 - -97.32 46.21 0.005 1448.69 - - - - - - - - - - 15.21
49.52 3.31 -4.18 9 111.71 -0.86 7.64 0.410 1687.19 204.4 4.20 0.058 3767.12 340.1 -97.32 47.17 0.005 3091.59 34.8 -3.928 - - - - - - 15.24 15.23 15.25
273.62 67.55 -21.59 54 279.56 roll back -0.74 0.14 0.258 1744.56 409.8 4.26 0.015 2227.19 -361.5 -97.32 - - 3093.94 - - - - - - - - 15.47 15.69 -
578.65 109.75 -12.81 115 584.58 roll -0.74 - - 1762.81 - 4.18 0.048 771.50 -348.3 -97.32 - - 3094.19 - - - - - - - - - 15.69 -
643.68 118.25 -12.91 128 649.60 roll -0.74 - - 1746.44 - 4.21 0.018 2294.31 361.7 -97.32 - - 3093.03 - - - - - - - - - 15.75 -
948.73 154.10 -11.30 189 950.06 no move -0.74 - - 1746.00 - - - 2296.12 - -97.32 - - 3093.78 - - - - - - - - - - -
1248.81 187.39 -10.70 249 1254.74 roll -0.78 - - 1762.19 - 4.39 0.047 770.62 -347.5 -97.32 - - 3095.59 - - - - - - - - - 15.78 -
1318.87 194.99 -10.59 263 1324.76 roll back -0.81 0.09 0.106 1694.00 -757.7 4.22 0.018 2300.12 362.4 -97.32 - - 3093.28 - - - - - - - - 15.70 15.82 -
1623.85 229.42 -10.28 298 1625.18 no move -0.81 - - 1693.25 - - - 2300.06 - -97.32 - - 3091.12 - - - - - - - - - - -
1923.94 253.73 -6.72 328 1925.27 no move -0.84 - - 1693.69 - - - 2300.88 - -97.32 - - 3091.34 - - - - - - - - - - -
2223.97 274.92 -6.81 358 2229.81 roll -0.88 - - 1708.81 - 4.38 0.046 770.88 -349.3 -97.32 - - 3091.88 - - - - - - - - - 15.88 -
2343.94 284.41 -7.74 382 2349.80 roll -0.90 - - 1693.06 - 4.18 0.017 2296.44 365.0 -97.32 - - 3092.66 - - - - - - - - - 15.88 -
2653.97 305.42 -6.62 414 2655.30 no move -0.96 - - 1692.50 - - - 2295.69 - -97.32 - - 3091.56 - - - - - - - - - - -
2954.33 324.87 -6.32 444 2955.78 pitch -1.01 0.12 0.088 1632.06 -503.7 - - 2295.44 - -97.32 - - 3092.31 - - - - - - - - 15.79 - -
3254.36 348.34 -7.85 474 3255.70 no move -1.01 - - 1632.31 - - - 2295.44 - -97.32 - - 3092.53 - - - - - - - - - - -
3554.48 372.93 -8.57 504 3555.81 no move -1.01 - - 1632.00 - - - 2295.56 - -97.32 - - 3091.00 - - - - - - - - - - -
3854.54 397.30 -7.97 534 3860.40 roll -1.01 - - 1649.19 - 4.40 0.046 771.00 -346.5 -97.32 - - 3092.19 - - - - - - - - - 15.79 -
3914.52 402.68 -9.26 546 3920.40 roll -0.96 - - 1631.69 - 4.22 0.018 2295.88 361.3 -97.32 - - 3091.44 - - - - - - - - - 15.78 -
4234.54 427.45 -7.76 565 4235.99 pitch -0.96 0.16 0.239 1675.25 272.2 - - 2295.81 - -97.32 - - 3091.38 - - - - - - - - 15.56 - -
4534.59 447.00 -6.42 580 4540.50 roll -1.02 - - 1694.31 - 4.41 0.046 769.69 -346.1 -97.32 - - 3092.38 - - - - - - - - - 15.77 -
4594.67 451.26 -7.18 592 4600.58 roll back -1.04 0.10 0.097 1623.00 -713.1 4.22 0.017 2303.88 363.6 -97.32 - - 3093.47 - - - - - - - - 15.66 15.75 -
4914.61 475.76 -7.59 611 4915.94 no move -1.04 - - 1623.62 - - - 2302.81 - -97.32 - - 3091.88 - - - - - - - - - - -
5214.64 498.26 -7.41 626 5220.57 roll -1.04 - - 1640.31 - 4.41 0.045 770.75 -347.4 -97.32 - - 3092.72 - - - - - - - - - 15.81 -
5264.71 502.51 -8.53 636 5270.54 roll -0.98 - - 1623.75 - 4.21 0.017 2297.00 362.5 -97.32 - - 3091.84 - - - - - - - - - 15.83 -
5574.65 525.74 -7.43 653 5576.10 pitch -0.98 0.17 0.235 1669.38 268.4 - - 2298.38 - -97.32 - - 3089.66 - - - - - - - - 15.61 - -
5874.70 544.85 -6.24 668 5880.59 roll -1.04 - - 1688.50 - 4.38 0.046 769.31 -349.1 -97.32 - - 3092.94 - - - - - - - - - 15.85 -
5924.74 548.41 -7.10 678 5930.62 roll back -1.06 0.10 0.095 1617.56 -709.4 4.20 0.017 2304.12 365.4 -97.32 - - 3092.75 - - - - - - - - 15.76 15.87 -
6234.70 571.50 -7.44 695 6236.03 no move -1.06 - - 1617.81 - - - 2305.38 - -97.32 - - 3089.91 - - - - - - - - - - -
6534.72 593.84 -7.42 710 6536.06 no move -1.06 - - 1618.25 - - - 2305.25 - -97.32 - - 3092.06 - - - - - - - - - - -
6834.73 616.26 -7.37 725 6836.07 no move -1.06 - - 1618.25 - - - 2305.44 - -97.32 - - 3092.56 - - - - - - - - - - -
7134.75 638.19 -7.27 740 7140.66 roll -1.06 - - 1634.31 - 4.39 0.045 769.50 -349.9 -97.32 - - 3092.84 - - - - - - - - - 15.90 -
7224.77 645.47 -8.00 758 7230.65 roll -1.00 - - 1617.81 - 4.18 0.017 2296.44 365.3 -97.32 - - 3092.12 - - - - - - - - - 15.91 -
7534.85 667.94 -7.12 775 7536.30 pitch -1.00 0.17 0.235 1664.19 272.8 - - 2297.38 - -97.32 - - 3090.34 - - - - - - - - 15.68 - -
7834.85 685.96 -5.91 790 7836.19 no move -1.05 - - 1664.25 - - - 2297.19 - -97.32 - - 3090.91 - - - - - - - - - - -
8134.86 703.65 -5.80 805 8136.31 pitch -1.10 0.13 0.083 1601.00 -486.5 - - 2298.88 - -97.32 - - 3093.38 - - - - - - - - 15.88 - -
8434.86 725.84 -7.58 820 8436.31 pitch -1.07 0.14 0.236 1640.38 281.3 - - 2297.31 - -97.32 - - 3090.41 - - - - - - - - 15.70 - -
8735.13 745.58 -6.54 835 8740.76 roll -1.10 - - 1660.44 - 4.36 0.046 769.62 -350.4 -97.32 - - 3093.06 - - - - - - - - - 15.93 -
8799.91 750.25 -7.20 848 8805.74 roll -1.10 - - 1641.38 - 4.18 0.018 2298.19 365.7 -97.32 - - 3094.69 - - - - - - - - - 15.94 -
9114.92 770.02 -6.03 866 9116.25 no move -1.12 - - 1642.12 - - - 2298.88 - -97.32 - - 3092.78 - - - - - - - - - - -
9414.92 788.51 -6.14 881 9416.25 no move -1.15 - - 1642.38 - - - 2297.62 - -97.32 - - 3092.34 - - - - - - - - - - -
9714.95 806.56 -5.96 896 9720.89 roll back -1.17 0.12 0.089 1595.75 -388.6 4.36 0.046 769.69 -350.4 -97.32 - - 3093.50 - - - - - - - - 15.91 15.88 -
9759.92 810.03 -7.69 905 9765.88 roll back -1.07 0.23 0.260 1641.31 198.1 4.17 0.018 2299.00 366.7 -97.32 - - 3093.44 - - - - - - - - 15.65 15.96 -
10074.98 828.96 -5.86 923 10076.31 no move -1.09 - - 1641.25 - - - 2299.12 - -97.32 - - 3095.72 - - - - - - - - - - -
10374.99 846.70 -5.78 938 10376.33 no move -1.12 - - 1641.06 - - - 2299.25 - -97.32 - - 3092.34 - - - - - - - - - - -
10675.01 864.04 -5.76 953 10680.89 roll -1.15 - - 1660.75 - 4.36 0.046 770.56 -350.6 -97.32 - - 3093.19 - - - - - - - - - 15.95 -
10739.96 868.38 -6.51 966 10745.93 roll back -1.15 0.10 0.101 1588.62 -721.3 4.15 0.017 2304.00 369.5 -97.32 - - 3093.25 - - - - - - - - 15.84 15.96 -
11055.02 890.26 -6.94 984 11056.48 pitch -1.10 0.16 0.243 1630.75 263.3 - - 2304.44 - -97.32 - - 3093.53 - - - - - - - - 15.70 - -
11355.04 908.66 -5.91 999 11360.93 roll -1.10 - - 1648.88 - 4.36 0.046 772.06 -351.5 -97.32 - - 3093.38 - - - - - - - - - 15.95 -
11405.09 912.08 -6.85 1009 11410.91 roll -1.07 - - 1633.19 - 4.16 0.017 2299.00 367.1 -97.32 - - 3094.62 - - - - - - - - - 15.97 -
11715.05 930.72 -5.89 1026 11716.39 no move -1.07 - - 1632.56 - - - 2299.88 - -97.32 - - 3093.06 - - - - - - - - - - -
12015.08 948.79 -5.95 1041 12016.41 no move -1.07 - - 1632.06 - - - 2299.25 - -97.32 - - 3093.03 - - - - - - - - - - -
12315.10 966.71 -5.95 1056 12320.99 roll -1.07 - - 1649.81 - 4.36 0.045 770.38 -350.7 -97.32 - - 3093.69 - - - - - - - - - 15.95 -
12380.14 970.92 -6.67 1069 12386.00 roll -1.04 - - 1631.75 - 4.16 0.017 2299.12 367.5 -97.32 - - 3094.44 - - - - - - - - - 16.00 -
12695.11 989.48 -5.88 1087 12696.45 no move -1.04 - - 1631.88 - - - 2299.19 - -97.32 - - 3092.81 - - - - - - - - - - -
12715 end dive: TARGET_DEPTH_EXCEEDED
12715 begin apogee
12716.88 990.61 -5.87 1088 12801.46 -0.14 1.05 0.206 1937.06 290.6 0.14 0.110 2460.19 1150.0 - 82.29 2.378 2698.88 -4.8 0.340 - - - - - - 15.71 15.33 11.58
12802 end apogee: CONTROL_FINISHED_OK
12802 begin climb
12801.96 990.69 - 1092 12894.06 0.86 0.94 0.066 2256.31 339.6 4.59 0.064 3955.62 325.8 97.32 84.38 2.310 2294.78 -4.8 0.350 - - - - - - 15.44 14.96 12.24
12935.99 977.04 14.06 1119 12941.87 roll back 0.77 0.20 0.240 2219.19 -185.6 4.12 0.013 2493.75 -354.8 97.32 - - 2290.91 - - - - - - - - 15.11 15.22 -
13255.95 943.10 10.38 1138 13261.87 done 0.81 - - 2200.12 - 4.40 0.064 3957.81 332.7 97.32 - - 2283.28 - - - - - - - - - 15.49 -
13286.00 939.60 11.62 1144 13291.85 0.81 0.07 0.132 2256.19 801.0 4.04 0.013 2484.31 -364.7 97.32 - - 2282.47 - - - - - - - - 15.44 15.51 -
13595.95 902.65 12.05 1161 13601.88 done 0.81 - - 2239.25 - 4.38 0.062 3957.25 336.3 97.32 - - 2280.69 - - - - - - - - - 15.62 -
13641.01 896.56 14.00 1170 13646.83 done 0.73 - - 2256.06 - 4.01 0.013 2495.75 -364.5 97.32 - - 2279.31 - - - - - - - - - 15.64 -
13956.23 859.94 11.46 1188 13962.96 0.73 0.17 0.234 2188.94 -394.8 4.34 0.064 3955.19 336.3 97.32 - - 2278.59 - - - - - - - - 15.52 15.59 -
13986.02 856.43 11.32 1194 13991.85 done 0.73 - - 2205.00 - 3.99 0.013 2488.31 -367.6 97.32 - - 2279.41 - - - - - - - - - 15.72 -
14291.33 827.14 9.70 1210 14297.93 done 0.79 - - 2187.19 - 4.34 0.065 3952.81 337.4 97.32 - - 2278.62 - - - - - - - - - 15.71 -
14320.99 823.98 10.21 1216 14326.91 0.79 0.09 0.114 2253.50 736.8 3.98 0.013 2481.75 -369.6 97.32 - - 2279.75 - - - - - - - - 15.64 15.76 -
14626.01 789.56 11.22 1232 14631.95 done 0.79 - - 2244.00 - 4.36 0.065 3955.19 337.9 97.32 - - 2277.78 - - - - - - - - - 15.75 -
14661.08 785.09 13.49 1239 14666.97 0.72 0.22 0.238 2200.56 -197.5 3.98 0.013 2489.44 -368.3 97.32 - - 2278.25 - - - - - - - - 15.55 15.82 -
14966.31 756.57 9.05 1255 14971.95 done 0.79 - - 2182.56 - 4.33 0.066 3953.31 338.1 97.32 - - 2274.22 - - - - - - - - - 15.77 -
14991.05 754.01 9.32 1260 14996.95 0.82 0.14 0.092 2265.88 595.1 3.97 0.014 2481.75 -370.7 97.32 - - 2278.53 - - - - - - - - 15.73 15.81 -
15306.05 718.09 11.61 1278 15311.98 done 0.82 - - 2250.94 - 4.34 0.064 3955.69 339.6 97.32 - - 2275.50 - - - - - - - - - 15.79 -
15346.15 712.74 13.79 1286 15351.99 0.74 0.21 0.237 2207.44 -207.1 3.96 0.014 2491.88 -369.6 97.32 - - 2275.66 - - - - - - - - 15.62 15.86 -
15666.10 682.79 9.10 1305 15672.01 done 0.80 - - 2188.44 - 4.32 0.065 3954.69 338.6 97.32 - - 2275.44 - - - - - - - - - 15.79 -
15696.10 679.60 9.28 1311 15702.03 0.82 0.11 0.101 2264.38 690.4 3.96 0.014 2481.69 -372.0 97.32 - - 2275.25 - - - - - - - - 15.76 15.86 -
16006.10 645.11 11.30 1328 16012.02 done 0.82 - - 2248.75 - 4.34 0.065 3954.19 339.3 97.32 - - 2275.44 - - - - - - - - - 15.81 -
16046.19 639.96 13.18 1336 16051.96 done 0.74 - - 2265.06 - 3.96 0.014 2490.38 -369.6 97.32 - - 2275.34 - - - - - - - - - 15.88 -
16366.19 604.21 11.02 1355 16372.12 0.74 0.19 0.234 2190.62 -391.8 4.32 0.066 3953.12 338.6 97.32 - - 2274.91 - - - - - - - - 15.67 15.71 -
16396.18 600.94 11.20 1361 16401.99 done 0.74 - - 2207.31 - 3.95 0.014 2490.25 -370.3 97.32 - - 2275.31 - - - - - - - - - 15.91 -
16706.24 573.18 8.81 1378 16712.15 done 0.81 - - 2190.50 - 4.31 0.067 3953.75 339.6 97.32 - - 2273.94 - - - - - - - - - 15.80 -
16736.17 570.05 9.18 1384 16742.08 0.83 0.12 0.098 2268.75 652.1 3.95 0.014 2480.25 -373.0 97.32 - - 2274.69 - - - - - - - - 15.80 15.90 -
17046.43 535.69 11.11 1401 17052.10 done 0.83 - - 2253.50 - 4.32 0.064 3956.94 341.8 97.32 - - 2273.66 - - - - - - - - - 15.84 -
17086.26 530.54 13.21 1409 17092.13 0.74 0.21 0.241 2208.94 -212.2 3.95 0.013 2489.88 -371.4 97.32 - - 2273.84 - - - - - - - - 15.66 15.91 -
17406.24 501.23 8.93 1428 17412.13 done 0.81 - - 2190.56 - 4.34 0.067 3954.62 337.5 97.32 - - 2274.19 - - - - - - - - - 15.74 -
17436.23 497.98 9.04 1434 17442.12 0.84 0.12 0.099 2267.62 642.2 3.97 0.013 2482.62 -370.8 97.32 - - 2274.41 - - - - - - - - 15.74 15.83 -
17746.25 464.52 10.89 1451 17752.17 done 0.84 - - 2253.12 - 4.34 0.065 3955.06 339.3 97.32 - - 2273.25 - - - - - - - - - 15.75 -
17781.32 460.01 13.04 1458 17787.22 0.75 0.20 0.238 2211.25 -209.3 3.97 0.014 2490.00 -369.0 97.32 - - 2272.66 - - - - - - - - 15.56 15.81 -
18086.31 432.45 8.86 1474 18092.21 done 0.82 - - 2193.38 - 4.35 0.066 3954.00 336.6 97.32 - - 2273.28 - - - - - - - - - 15.74 -
18101.31 431.04 9.10 1477 18107.22 0.86 0.14 0.090 2278.94 611.1 3.97 0.014 2482.50 -370.7 97.32 - - 2273.78 - - - - - - - - 15.66 15.78 -
18406.33 397.53 11.06 1494 18412.27 done 0.86 - - 2262.31 - 4.36 0.064 3953.62 337.4 97.32 - - 2273.59 - - - - - - - - - 15.73 -
18431.34 394.29 12.10 1499 18437.21 done 0.79 - - 2278.62 - 3.99 0.014 2488.12 -367.3 97.32 - - 2273.94 - - - - - - - - - 15.78 -
18736.39 360.32 10.54 1530 18742.37 0.79 0.19 0.244 2206.44 -379.9 4.34 0.064 3953.31 337.6 97.32 - - 2273.00 - - - - - - - - 15.54 15.60 -
18751.39 358.66 10.75 1533 18757.27 done 0.79 - - 2222.06 - 3.98 0.014 2496.12 -366.1 97.32 - - 2273.53 - - - - - - - - - 15.76 -
19056.48 331.48 9.01 1564 19062.37 done 0.85 - - 2206.38 - 4.34 0.065 3954.25 336.0 97.32 - - 2274.72 - - - - - - - - - 15.71 -
19071.47 330.08 8.87 1567 19077.39 0.89 0.12 0.093 2287.25 673.9 3.99 0.013 2479.88 -369.5 97.32 - - 2274.72 - - - - - - - - 15.63 15.74 -
19376.52 297.83 10.19 1598 19382.44 done 0.89 - - 2269.81 - 4.38 0.064 3955.44 336.9 97.32 - - 2272.81 - - - - - - - - - 15.68 -
19426.69 291.98 11.94 1608 19432.49 0.79 0.22 0.245 2225.75 -200.3 3.98 0.013 2490.19 -368.2 97.32 - - 2273.22 - - - - - - - - 15.51 15.75 -
19736.86 266.88 7.65 1640 19738.32 0.87 0.10 0.104 2282.50 567.5 - - 2473.62 - 97.32 - - 2271.78 - - - - - - - - 15.78 - -
20036.86 241.94 7.52 1670 20042.53 done 0.87 - - 2266.38 - 4.34 0.068 3954.31 341.2 97.32 - - 2273.06 - - - - - - - - - 15.73 -
20136.65 234.56 6.96 1690 20142.81 0.79 0.21 0.240 2224.06 -201.5 3.95 0.013 2478.94 -373.5 97.32 - - 2273.16 - - - - - - - - 15.60 15.84 -
20446.96 222.86 3.31 1722 20520.21 1.11 0.32 0.058 2338.12 356.4 4.41 0.065 3957.38 335.2 182.92 66.25 1.480 1948.03 -4.9 0.126 - - - - - - 15.83 15.53 11.48
20742.13 197.82 8.93 1780 20747.99 roll 1.05 - - 2354.19 - 4.01 0.013 2493.06 -365.2 182.92 - - 1941.12 - - - - - - - - - 15.67 -
21047.44 175.87 6.73 1841 21053.03 done 1.08 - - 2372.06 - 4.09 0.037 1037.38 -355.9 182.92 - - 1939.72 - - - - - - - - - 15.70 -
21277.24 160.01 6.61 1887 21283.16 1.12 0.09 0.246 2329.44 -473.6 4.23 0.021 2566.44 361.5 182.92 - - 1936.72 - - - - - - - - 15.53 15.75 -
21582.34 143.24 5.20 1948 21630.28 1.33 0.22 0.064 2447.88 538.4 4.39 0.038 1037.31 -348.3 234.42 41.69 1.389 1735.94 -4.8 0.085 - - - - - - 15.77 15.54 11.72
21797.39 123.28 9.99 1991 21803.35 roll back 1.33 0.12 0.245 2396.00 -432.3 4.25 0.021 2564.69 359.4 234.42 - - 1732.84 - - - - - - - - 15.49 15.67 -
22102.53 100.97 6.66 2052 22108.43 done 1.39 - - 2414.88 - 4.36 0.038 1038.88 -350.0 234.42 - - 1730.22 - - - - - - - - - 15.69 -
22172.53 96.59 6.26 2066 22178.50 1.47 0.16 0.090 2467.94 331.6 4.24 0.021 2561.56 359.1 234.42 - - 1731.03 - - - - - - - - 15.61 15.73 -
22477.86 77.44 5.35 2127 22518.71 VBD 1.59 - - 2468.19 - - - 2561.31 - 283.14 39.77 1.322 1538.81 -4.8 0.048 - - - - - - - - 11.75
22817.93 56.91 4.94 2195 22869.70 1.79 0.24 0.064 2594.56 526.5 4.41 0.040 1038.94 -345.2 339.39 45.17 1.278 1310.66 -5.1 0.038 - - - - - - 15.67 15.46 11.80
22952.67 46.81 7.68 2222 22958.66 roll back 1.77 0.14 0.240 2538.81 -398.2 4.29 0.021 2565.56 355.9 339.39 - - 1305.19 - - - - - - - - 15.45 15.60 -
23258.01 33.20 3.10 2283 23335.28 2.06 0.29 0.058 2676.00 473.1 4.45 0.039 1037.31 -343.4 428.89 69.97 1.238 945.00 -5.1 0.024 - - - - - - 15.65 15.36 11.78
23557.80 25.91 -0.86 2343 23630.26 2.50 0.34 0.062 2804.25 377.2 4.27 0.017 2569.25 358.8 589.85 66.25 1.203 596.47 -5.3 0.019 - - - - - - 15.50 15.59 11.92
23630 end climb: NO_VERTICAL_VELOCITY
23630 begin surface
SM 1.76 - - - - 126.8 - - 540.4 - 8.46 0.137 513.8 60.7 - 0.90 0.017 567.1 625.4 -6.617 - - 30.00 15.38 15.55 -