SODA Aug19 * SG229 * Dive index * Mission links * Dive 204 * Raw log
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• Previous call tries 2 • 135.63 of 575.00 AH used of 24V (76.41% remains)
• Surface angle -67.0 deg, depth 1.46 m • Intended pitch -22.6 deg, speed -8.049 cm/s
VBD pumped to 525.67 (SM_CC=525.92322)
• GPS1 time: 80 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
2.45 - - - 49.22 VBD -0.87 - - 123.50 - - - 2260.19 - -97.32 46.12 0.005 1457.12 - - - - - - - - - - 15.03
49.52 3.27 -4.33 9 107.84 -0.87 7.68 0.408 1700.75 205.4 - - 2248.81 - -97.32 48.06 0.005 3086.16 33.9 -3.843 - - - - - - 15.12 - 15.17
404.74 77.85 -16.46 80 410.67 roll -0.79 - - 1719.56 - 4.49 0.053 721.75 -340.1 -97.32 - - 3092.53 - - - - - - - - - 15.60 -
477.40 90.48 -17.47 92 483.38 roll back -0.70 0.22 0.259 1758.62 177.5 4.28 0.023 2242.56 355.3 -97.32 - - 3092.06 - - - - - - - - 15.37 15.62 -
782.51 133.59 -13.21 153 783.84 no move -0.70 - - 1759.25 - - - 2244.19 - -97.32 - - 3090.06 - - - - - - - - - - -
1082.65 172.62 -12.53 213 1083.99 no move -0.73 - - 1759.12 - - - 2244.25 - -97.32 - - 3090.31 - - - - - - - - - - -
1387.70 207.22 -11.15 268 1389.03 no move -0.79 - - 1758.94 - - - 2244.56 - -97.32 - - 3089.75 - - - - - - - - - - -
1687.79 236.65 -9.14 298 1693.70 roll back -0.86 0.19 0.074 1652.56 -559.9 4.36 0.061 3717.06 337.7 -97.32 - - 3092.22 - - - - - - - - 15.62 15.61 -
1847.77 257.61 -12.18 330 1853.71 roll back -0.80 0.20 0.233 1726.19 368.2 4.30 0.020 2179.25 -357.6 -97.32 - - 3092.47 - - - - - - - - 15.44 15.67 -
2157.80 280.80 -6.46 362 2164.80 roll back -0.90 0.12 0.084 1640.81 -711.5 4.60 0.057 3717.38 334.4 -97.32 - - 3093.06 - - - - - - - - 15.62 15.61 -
2322.84 294.66 -8.94 395 2328.79 roll back -0.84 0.19 0.236 1713.69 383.6 4.31 0.019 2171.19 -358.7 -97.32 - - 3092.44 - - - - - - - - 15.43 15.67 -
2632.86 314.88 -6.45 427 2638.79 roll -0.93 - - 1694.69 - 4.59 0.057 3717.06 336.8 -97.32 - - 3092.53 - - - - - - - - - 15.65 -
2717.85 321.32 -7.88 444 2723.77 roll -0.98 - - 1713.25 - 4.30 0.020 2185.62 -356.1 -97.32 - - 3091.38 - - - - - - - - - 15.68 -
3022.92 341.09 -6.44 475 3028.86 roll back -1.07 0.23 0.064 1627.19 -374.2 4.25 0.054 720.38 -344.8 -97.32 - - 3090.75 - - - - - - - - 15.73 15.68 -
3102.92 348.62 -9.61 491 3108.89 roll back -0.98 0.22 0.256 1668.69 188.6 4.24 0.021 2249.69 360.7 -97.32 - - 3092.31 - - - - - - - - 15.45 15.77 -
3413.09 370.70 -7.05 523 3418.83 roll -1.02 - - 1651.50 - 4.29 0.058 3718.62 342.4 -97.32 - - 3090.34 - - - - - - - - - 15.74 -
3527.93 380.38 -8.65 546 3533.88 roll -1.02 - - 1667.62 - 4.26 0.019 2187.44 -359.4 -97.32 - - 3092.00 - - - - - - - - - 15.81 -
3833.00 402.96 -7.20 575 3838.88 roll -1.06 - - 1686.75 - 4.21 0.054 721.69 -348.2 -97.32 - - 3092.62 - - - - - - - - - 15.77 -
3893.05 407.93 -8.43 587 3898.96 roll back -1.06 0.10 0.098 1617.25 -695.0 4.22 0.021 2253.50 363.0 -97.32 - - 3092.16 - - - - - - - - 15.69 15.85 -
4213.01 434.68 -8.30 606 4214.35 no move -1.06 - - 1617.88 - - - 2255.75 - -97.32 - - 3089.69 - - - - - - - - - - -
4513.04 458.93 -8.01 621 4514.37 no move -1.06 - - 1617.69 - - - 2254.75 - -97.32 - - 3088.78 - - - - - - - - - - -
4813.06 483.22 -8.18 636 4814.39 no move -1.06 - - 1617.56 - - - 2253.81 - -97.32 - - 3089.78 - - - - - - - - - - -
5113.06 506.46 -7.63 651 5114.40 no move -1.06 - - 1617.50 - - - 2254.06 - -97.32 - - 3089.09 - - - - - - - - - - -
5413.08 528.86 -7.39 666 5414.42 no move -1.06 - - 1617.50 - - - 2254.25 - -97.32 - - 3089.31 - - - - - - - - - - -
5713.09 550.92 -7.40 681 5714.43 no move -1.06 - - 1617.44 - - - 2253.62 - -97.32 - - 3088.75 - - - - - - - - - - -
6013.11 573.07 -7.42 696 6014.44 no move -1.06 - - 1618.00 - - - 2255.00 - -97.32 - - 3090.31 - - - - - - - - - - -
6313.12 594.73 -7.27 711 6319.04 roll -1.06 - - 1634.00 - 4.43 0.052 721.19 -346.2 -97.32 - - 3089.56 - - - - - - - - - 15.85 -
6363.19 598.87 -8.16 721 6369.01 roll -1.01 - - 1617.69 - 4.20 0.022 2247.75 363.5 -97.32 - - 3091.69 - - - - - - - - - 15.90 -
6673.20 621.02 -7.15 738 6679.10 roll back -1.01 0.16 0.235 1644.56 167.9 4.25 0.058 3718.62 346.1 -97.32 - - 3089.97 - - - - - - - - 15.60 15.63 -
6743.14 626.10 -7.45 752 6749.06 roll -1.01 - - 1661.25 - 4.23 0.020 2186.44 -362.2 -97.32 - - 3090.03 - - - - - - - - - 15.91 -
7053.20 645.15 -6.16 769 7054.53 no move -1.06 - - 1661.94 - - - 2184.50 - -97.32 - - 3089.78 - - - - - - - - - - -
7353.23 663.35 -5.94 784 7354.68 pitch -1.12 0.14 0.083 1592.19 -498.2 - - 2183.25 - -97.32 - - 3089.97 - - - - - - - - 15.87 - -
7653.23 686.09 -7.68 799 7659.20 roll back -1.08 0.17 0.233 1619.69 161.8 4.49 0.057 3717.94 341.8 -97.32 - - 3088.66 - - - - - - - - 15.60 15.62 -
7723.22 691.68 -8.03 813 7729.18 roll -1.05 - - 1636.31 - 4.24 0.019 2183.44 -361.9 -97.32 - - 3091.66 - - - - - - - - - 15.96 -
8033.25 712.52 -6.81 830 8034.59 no move -1.07 - - 1636.12 - - - 2181.31 - -97.32 - - 3089.41 - - - - - - - - - - -
8333.30 732.64 -6.75 845 8334.64 no move -1.10 - - 1637.12 - - - 2180.88 - -97.32 - - 3089.47 - - - - - - - - - - -
8633.32 752.51 -6.69 860 8634.65 no move -1.12 - - 1637.44 - - - 2182.00 - -97.32 - - 3089.38 - - - - - - - - - - -
8933.35 772.74 -6.83 875 8934.68 no move -1.15 - - 1636.62 - - - 2182.06 - -97.32 - - 3090.03 - - - - - - - - - - -
9233.38 792.83 -6.68 890 9240.36 roll back -1.18 0.12 0.093 1556.25 -669.7 4.50 0.057 3717.44 341.2 -97.32 - - 3089.28 - - - - - - - - 15.89 15.82 -
9318.38 800.61 -9.37 907 9324.37 roll back -1.05 0.27 0.260 1645.00 328.7 4.23 0.019 2173.12 -365.1 -97.32 - - 3090.16 - - - - - - - - 15.51 15.94 -
9628.43 820.74 -6.33 924 9629.77 no move -1.09 - - 1645.69 - - - 2172.62 - -97.32 - - 3089.84 - - - - - - - - - - -
9928.48 838.88 -6.08 939 9929.81 no move -1.13 - - 1645.75 - - - 2172.12 - -97.32 - - 3089.19 - - - - - - - - - - -
10228.52 856.56 -5.87 954 10229.97 pitch -1.17 0.14 0.087 1577.44 -487.9 - - 2171.56 - -97.32 - - 3091.50 - - - - - - - - 15.88 - -
10528.53 878.09 -7.29 969 10529.98 pitch -1.12 0.18 0.240 1625.81 268.7 - - 2170.56 - -97.32 - - 3090.81 - - - - - - - - 15.57 - -
10828.55 896.75 -6.24 984 10834.49 roll -1.12 - - 1607.88 - 4.55 0.058 3716.00 339.7 -97.32 - - 3091.84 - - - - - - - - - 15.85 -
10903.56 902.24 -7.45 999 10909.48 roll -1.07 - - 1625.25 - 4.25 0.020 2183.88 -360.5 -97.32 - - 3090.94 - - - - - - - - - 15.91 -
11208.60 920.73 -5.83 1015 11209.94 no move -1.07 - - 1625.88 - - - 2182.81 - -97.32 - - 3088.62 - - - - - - - - - - -
11508.90 938.53 -5.85 1030 11510.23 no move -1.07 - - 1625.81 - - - 2182.62 - -97.32 - - 3090.00 - - - - - - - - - - -
11808.67 955.84 -5.60 1045 11810.00 no move -1.07 - - 1625.81 - - - 2182.44 - -97.32 - - 3090.19 - - - - - - - - - - -
12108.75 973.04 -5.85 1060 12114.61 roll -1.07 - - 1608.88 - 4.53 0.057 3718.44 339.1 -97.32 - - 3092.03 - - - - - - - - - 15.86 -
12193.67 979.04 -7.23 1077 12199.62 roll back -1.03 0.09 0.244 1652.88 488.9 4.25 0.019 2176.38 -362.8 -97.32 - - 3091.41 - - - - - - - - 15.60 15.97 -
12409 end dive: TARGET_DEPTH_EXCEEDED
12409 begin apogee
12411.07 990.45 -5.26 1090 12496.05 -0.14 0.99 0.198 1938.69 288.7 0.14 0.120 2516.88 2432.1 - 82.22 2.380 2696.66 -4.8 0.346 - - - - - - 15.58 15.32 10.95
12496 end apogee: CONTROL_FINISHED_OK
12496 begin climb
12496.63 990.46 - 1094 12591.33 0.87 0.94 0.068 2260.38 342.2 4.45 0.069 3955.25 323.2 97.32 85.38 2.306 2296.56 -4.7 0.349 - - - - - - 15.43 14.98 10.98
12628.74 976.99 14.39 1121 12634.57 roll 0.78 - - 2277.50 - 4.07 0.017 2541.38 -347.4 97.32 - - 2292.56 - - - - - - - - - 15.21 -
12934.03 937.98 12.57 1137 12939.95 0.76 0.22 0.238 2198.69 -358.2 4.33 0.068 3956.19 326.7 97.32 - - 2284.19 - - - - - - - - 15.26 15.32 -
12958.74 934.91 12.67 1142 12964.80 done 0.76 - - 2215.75 - 3.98 0.018 2540.06 -355.8 97.32 - - 2283.84 - - - - - - - - - 15.50 -
13274.08 902.76 10.00 1160 13280.63 done 0.82 - - 2199.19 - 4.30 0.068 3954.75 329.0 97.32 - - 2280.91 - - - - - - - - - 15.57 -
13288.75 901.20 9.96 1163 13294.89 0.85 0.12 0.096 2273.12 616.1 3.96 0.018 2528.12 -360.3 97.32 - - 2281.09 - - - - - - - - 15.51 15.61 -
13609.00 862.19 12.51 1182 13614.66 done 0.85 - - 2256.56 - 4.31 0.068 3954.12 330.9 97.32 - - 2280.81 - - - - - - - - - 15.62 -
13638.76 857.98 13.97 1188 13644.59 done 0.78 - - 2273.94 - 3.93 0.019 2537.38 -360.5 97.32 - - 2281.16 - - - - - - - - - 15.72 -
13949.08 819.77 12.18 1205 13955.74 0.78 0.19 0.234 2202.31 -377.0 4.26 0.068 3951.94 332.1 97.32 - - 2275.88 - - - - - - - - 15.47 15.50 -
13963.77 818.02 12.36 1208 13969.61 done 0.78 - - 2219.19 - 3.91 0.019 2537.94 -361.6 97.32 - - 2279.28 - - - - - - - - - 15.74 -
14284.12 786.40 9.61 1227 14285.45 VBD 0.84 - - 2218.56 - - - 2520.56 - 97.32 - - 2276.56 - - - - - - - - - - -
14584.08 757.68 9.41 1242 14590.77 0.90 0.14 0.083 2277.62 421.9 4.25 0.068 3958.00 338.2 97.32 - - 2278.00 - - - - - - - - 15.75 15.70 -
14618.88 753.13 13.92 1249 14624.75 0.79 0.25 0.251 2224.75 -211.5 3.90 0.018 2535.69 -364.7 97.32 - - 2276.66 - - - - - - - - 15.47 15.79 -
14938.85 721.65 9.45 1268 14940.19 VBD 0.85 - - 2225.19 - - - 2518.88 - 97.32 - - 2276.88 - - - - - - - - - - -
15238.86 692.61 9.67 1283 15244.81 0.90 0.14 0.084 2283.75 418.3 4.26 0.068 3954.75 337.1 97.32 - - 2276.75 - - - - - - - - 15.67 15.64 -
15253.83 690.78 10.10 1286 15259.71 done 0.90 - - 2300.31 - 3.91 0.018 2538.19 -362.3 97.32 - - 2275.91 - - - - - - - - - 15.71 -
15558.93 652.10 12.78 1302 15564.83 0.86 0.19 0.252 2230.50 -367.4 4.26 0.067 3954.25 332.4 97.32 - - 2277.72 - - - - - - - - 15.42 15.48 -
15578.93 649.52 12.85 1306 15584.71 done 0.81 - - 2245.19 - 3.91 0.018 2536.88 -362.5 97.32 - - 2277.12 - - - - - - - - - 15.70 -
15899.21 615.08 10.59 1325 15900.55 VBD 0.84 - - 2245.62 - - - 2521.06 - 97.32 - - 2273.81 - - - - - - - - - - -
16198.92 583.49 10.57 1340 16204.80 done 0.87 - - 2230.19 - 4.28 0.067 3956.38 335.4 97.32 - - 2275.50 - - - - - - - - - 15.63 -
16228.91 579.97 11.73 1346 16234.75 done 0.84 - - 2245.50 - 3.91 0.016 2528.88 -365.1 97.32 - - 2276.03 - - - - - - - - - 15.69 -
16539.02 546.74 10.60 1363 16544.84 done 0.87 - - 2229.38 - 4.31 0.067 3955.00 330.9 97.32 - - 2276.47 - - - - - - - - - 15.59 -
16563.91 543.81 10.61 1368 16569.77 done 0.87 - - 2246.25 - 3.91 0.018 2536.12 -362.9 97.32 - - 2275.97 - - - - - - - - - 15.69 -
16879.03 510.48 10.49 1386 16884.84 done 0.90 - - 2230.38 - 4.28 0.066 3955.25 331.6 97.32 - - 2276.25 - - - - - - - - - 15.62 -
17109.01 482.20 12.16 1432 17114.85 done 0.87 - - 2245.50 - 3.91 0.017 2528.25 -365.0 97.32 - - 2274.41 - - - - - - - - - 15.68 -
17419.03 449.42 10.44 1449 17424.88 done 0.90 - - 2265.12 - 4.09 0.043 1077.50 -354.7 97.32 - - 2274.44 - - - - - - - - - 15.74 -
17594.07 430.42 11.02 1484 17599.99 done 0.96 - - 2247.94 - 4.24 0.026 2598.81 358.8 97.32 - - 2273.62 - - - - - - - - - 15.73 -
17899.09 398.59 10.35 1500 17900.56 0.99 0.15 0.080 2317.31 462.5 - - 2598.25 - 97.32 - - 2271.88 - - - - - - - - 15.76 - -
18199.14 361.55 12.24 1530 18200.59 0.93 0.17 0.249 2270.88 -273.1 - - 2599.56 - 97.32 - - 2272.69 - - - - - - - - 15.48 - -
18499.13 330.37 10.41 1560 18504.99 done 0.93 - - 2254.75 - 3.98 0.071 3955.69 340.7 97.32 - - 2273.09 - - - - - - - - - 15.70 -
18529.16 326.86 11.21 1566 18534.97 done 0.88 - - 2270.44 - 3.88 0.018 2527.94 -368.0 97.32 - - 2273.91 - - - - - - - - - 15.84 -
18839.43 299.47 8.56 1598 18840.76 VBD 0.88 - - 2268.81 - - - 2512.81 - 97.32 - - 2275.44 - - - - - - - - - - -
19139.28 274.94 8.45 1628 19145.11 done 0.91 - - 2255.25 - 4.25 0.068 3955.19 339.4 97.32 - - 2273.03 - - - - - - - - - 15.72 -
19239.24 264.93 9.49 1648 19245.05 done 0.89 - - 2271.12 - 3.88 0.017 2529.62 -367.4 97.32 - - 2273.53 - - - - - - - - - 15.90 -
19549.57 250.59 3.43 1680 19621.75 1.14 0.22 0.074 2344.06 331.5 4.31 0.069 3954.25 330.5 180.78 65.26 1.506 1955.41 -4.9 0.141 - - - - - - 15.83 15.52 11.18
19739.34 235.27 9.72 1718 19745.16 roll 1.08 - - 2361.00 - 3.93 0.017 2533.38 -361.5 180.78 - - 1951.75 - - - - - - - - - 15.68 -
20049.41 215.25 5.90 1750 20086.98 done 1.22 - - 2344.00 - 4.28 0.069 3954.75 332.1 219.63 31.85 1.423 1797.38 -4.8 0.127 - - - - - - - 15.48 11.53
20159.39 206.75 8.91 1772 20165.28 roll 1.22 - - 2361.25 - 3.95 0.018 2531.81 -360.2 219.63 - - 1795.06 - - - - - - - - - 15.63 -
20464.84 184.24 7.36 1824 20470.40 roll 1.29 - - 2379.62 - 4.12 0.044 1079.88 -352.4 219.63 - - 1792.03 - - - - - - - - - 15.63 -
20479.53 183.11 7.22 1827 20485.49 roll back 1.36 0.16 0.080 2435.62 350.0 4.27 0.026 2598.56 355.7 219.63 - - 1791.47 - - - - - - - - 15.54 15.66 -
20784.86 157.31 7.83 1888 20790.56 done 1.36 - - 2455.12 - 4.36 0.042 1079.31 -348.5 219.63 - - 1791.00 - - - - - - - - - 15.67 -
20824.62 154.10 8.05 1896 20830.59 1.36 0.12 0.244 2406.31 -406.7 4.26 0.025 2604.50 358.0 219.63 - - 1792.00 - - - - - - - - 15.46 15.71 -
21129.95 133.79 6.50 1957 21136.62 done 1.39 - - 2424.25 - 4.38 0.042 1078.00 -348.5 219.63 - - 1787.91 - - - - - - - - - 15.71 -
21224.71 127.21 6.76 1976 21230.61 done 1.44 - - 2406.19 - 4.26 0.026 2600.62 357.4 219.63 - - 1789.66 - - - - - - - - - 15.75 -
21530.03 110.45 5.21 2037 21578.72 1.62 0.27 0.063 2543.75 509.5 4.40 0.044 1078.44 -345.9 270.98 41.71 1.357 1589.44 -4.8 0.068 - - - - - - 15.75 15.54 11.42
21715.62 91.74 11.37 2074 21721.60 roll back 1.58 0.18 0.247 2478.94 -360.1 4.26 0.026 2602.44 357.7 270.98 - - 1583.34 - - - - - - - - 15.44 15.66 -
22020.92 63.78 8.84 2135 22026.61 done 1.58 - - 2494.69 - 4.39 0.042 1079.75 -346.9 270.98 - - 1582.44 - - - - - - - - - 15.67 -
22050.70 60.93 9.34 2141 22056.60 done 1.60 - - 2478.38 - 4.26 0.027 2597.38 356.3 270.98 - - 1580.53 - - - - - - - - - 15.70 -
22356.01 36.25 7.13 2202 22362.68 done 1.64 - - 2496.25 - 4.37 0.042 1078.69 -347.5 270.98 - - 1577.41 - - - - - - - - - 15.70 -
22420.75 31.46 7.27 2215 22426.92 done 1.69 - - 2479.81 - 4.26 0.025 2599.81 357.1 270.98 - - 1578.94 - - - - - - - - - 15.74 -
22726.10 21.78 1.13 2276 22825.35 2.09 0.48 0.050 2666.75 389.5 - - 2599.12 - 396.14 97.42 1.234 1081.69 -5.1 0.016 - - - - - - 15.76 - 11.49
23082 end climb: NO_VERTICAL_VELOCITY
23082 begin surface
SM 0.96 - - - - 128.9 - - 542.2 - 7.79 0.109 524.1 67.2 - 1.15 0.023 560.3 487.2 -2.078 - - 30.00 15.39 15.55 -