SODA Aug19 * SG229 * Dive index * Mission links * Dive 129 * Raw log
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• Previous call tries 1 • 108.94 of 575.00 AH used of 24V (81.05% remains)
• Surface angle -71.3 deg, depth 1.47 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 574.1, SM_CC=525.92322)
• GPS1 time: 47 s
• GPS2 time: 4 s • Transponder ping count: 2
• 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
1 begin dive
2.35 - - - 59.44 VBD -0.86 - - 127.62 - - - 2212.12 - -97.32 56.42 0.005 1644.19 - - - - - - - - - - 15.19
59.69 3.23 -3.66 11 118.58 -0.86 7.55 0.406 1721.50 211.1 4.16 0.046 771.94 -346.2 -97.32 44.04 0.005 3085.81 32.7 -3.600 - - - - - - 15.22 15.22 15.24
210.52 47.30 -24.72 41 216.41 roll -0.74 - - 1705.50 - 4.26 0.020 2289.88 356.3 -97.32 - - 3091.72 - - - - - - - - - 15.62 -
515.68 100.15 -13.87 102 522.80 roll back -0.67 0.23 0.242 1786.88 353.8 4.39 0.045 769.19 -346.4 -97.32 - - 3090.91 - - - - - - - - 15.51 15.61 -
600.66 110.79 -12.17 119 606.61 roll back -0.71 0.07 0.123 1728.75 -830.4 4.24 0.019 2298.25 360.6 -97.32 - - 3092.12 - - - - - - - - 15.60 15.72 -
905.70 147.90 -11.76 180 907.03 no move -0.71 - - 1729.44 - - - 2297.56 - -97.32 - - 3091.34 - - - - - - - - - - -
1205.77 182.65 -11.57 240 1211.70 roll -0.71 - - 1746.00 - 4.39 0.046 770.81 -347.8 -97.32 - - 3091.84 - - - - - - - - - 15.77 -
1240.78 186.51 -11.01 247 1246.68 roll -0.71 - - 1729.25 - 4.21 0.019 2295.12 362.1 -97.32 - - 3091.12 - - - - - - - - - 15.80 -
1550.84 218.49 -9.51 291 1556.73 roll -0.75 - - 1745.12 - 4.36 0.046 770.56 -349.7 -97.32 - - 3092.72 - - - - - - - - - 15.83 -
1570.84 220.59 -9.46 295 1576.72 roll -0.78 - - 1729.25 - 4.21 0.019 2296.31 362.4 -97.32 - - 3092.66 - - - - - - - - - 15.82 -
1880.88 245.72 -7.18 327 1886.76 roll -0.86 - - 1745.75 - 4.37 0.046 770.81 -349.1 -97.32 - - 3093.09 - - - - - - - - - 15.85 -
1905.85 247.64 -7.31 332 1911.81 roll back -0.94 0.16 0.074 1651.38 -589.8 4.20 0.018 2301.31 364.4 -97.32 - - 3091.50 - - - - - - - - 15.74 15.84 -
2210.88 272.98 -8.33 363 2216.76 roll -0.94 - - 1631.75 - 4.19 0.057 3766.50 349.7 -97.32 - - 3092.28 - - - - - - - - - 15.86 -
2235.89 275.39 -8.86 368 2241.84 roll back -0.90 0.16 0.239 1694.00 389.1 4.18 0.014 2215.56 -371.0 -97.32 - - 3091.88 - - - - - - - - 15.66 15.89 -
2540.93 295.49 -6.63 399 2546.86 roll -0.95 - - 1676.25 - 4.51 0.057 3766.94 344.0 -97.32 - - 3092.16 - - - - - - - - - 15.87 -
2555.92 296.65 -6.71 402 2561.81 roll -1.00 - - 1691.94 - 4.19 0.014 2229.56 -366.9 -97.32 - - 3092.53 - - - - - - - - - 15.88 -
2860.97 317.70 -6.77 433 2867.95 roll back -1.05 0.17 0.076 1595.81 -565.5 4.45 0.057 3768.62 345.9 -97.32 - - 3089.81 - - - - - - - - 15.84 15.86 -
2950.95 326.89 -10.64 451 2956.94 roll back -0.95 0.23 0.241 1679.56 364.1 4.20 0.014 2215.69 -369.7 -97.32 - - 3092.22 - - - - - - - - 15.66 15.92 -
3256.01 348.11 -6.75 482 3257.34 no move -0.99 - - 1679.81 - - - 2215.75 - -97.32 - - 3089.53 - - - - - - - - - - -
3556.10 368.64 -6.81 512 3557.55 pitch -1.05 0.12 0.089 1619.69 -501.0 - - 2214.44 - -97.32 - - 3088.72 - - - - - - - - 15.90 - -
3856.06 393.56 -8.44 542 3857.39 no move -1.03 - - 1622.06 - - - 2214.94 - -97.32 - - 3089.56 - - - - - - - - - - -
4156.08 418.26 -8.12 561 4157.41 no move -1.03 - - 1621.94 - - - 2216.12 - -97.32 - - 3090.09 - - - - - - - - - - -
4456.09 442.23 -8.06 576 4457.42 no move -1.03 - - 1621.38 - - - 2215.44 - -97.32 - - 3089.16 - - - - - - - - - - -
4756.11 466.55 -8.15 591 4757.45 no move -1.03 - - 1620.81 - - - 2215.06 - -97.32 - - 3088.88 - - - - - - - - - - -
5056.12 490.63 -8.01 606 5062.04 roll -1.03 - - 1602.19 - 4.49 0.056 3766.19 345.5 -97.32 - - 3090.56 - - - - - - - - - 15.93 -
5081.12 492.86 -8.16 611 5087.06 roll back -0.98 0.17 0.234 1670.56 402.2 4.18 0.014 2214.38 -371.2 -97.32 - - 3091.56 - - - - - - - - 15.74 15.99 -
5396.15 513.82 -6.57 629 5397.49 no move -1.03 - - 1670.75 - - - 2214.44 - -97.32 - - 3089.88 - - - - - - - - - - -
5696.23 532.71 -6.32 644 5703.15 roll back -1.08 0.12 0.091 1593.75 -641.7 4.49 0.056 3766.94 345.8 -97.32 - - 3090.31 - - - - - - - - 15.83 15.83 -
5726.21 535.35 -6.66 650 5732.15 roll back -1.04 0.14 0.244 1650.44 404.9 4.21 0.014 2214.88 -368.7 -97.32 - - 3090.38 - - - - - - - - 15.66 15.89 -
6031.19 555.88 -6.69 666 6037.13 roll -1.07 - - 1632.50 - 4.51 0.056 3767.94 344.4 -97.32 - - 3091.50 - - - - - - - - - 15.84 -
6261.24 574.54 -8.14 712 6267.13 roll -1.04 - - 1649.88 - 4.21 0.013 2230.81 -365.1 -97.32 - - 3091.16 - - - - - - - - - 15.83 -
6571.27 594.78 -6.33 729 6577.13 roll -1.07 - - 1668.56 - 4.14 0.047 769.69 -352.9 -97.32 - - 3090.41 - - - - - - - - - 15.81 -
6691.30 603.29 -6.96 753 6697.19 roll -1.07 - - 1650.81 - 4.20 0.016 2297.31 363.7 -97.32 - - 3090.59 - - - - - - - - - 15.81 -
7011.36 623.21 -6.13 772 7012.69 no move -1.10 - - 1650.94 - - - 2297.44 - -97.32 - - 3090.38 - - - - - - - - - - -
7311.40 641.13 -6.09 787 7317.35 roll back -1.13 0.12 0.093 1608.25 -355.8 4.39 0.045 769.69 -348.0 -97.32 - - 3092.25 - - - - - - - - 15.73 15.74 -
7341.44 643.50 -6.49 793 7347.28 roll -1.08 - - 1591.44 - 4.22 0.017 2300.50 362.8 -97.32 - - 3091.31 - - - - - - - - - 15.77 -
7651.43 666.32 -7.39 810 7658.42 roll back -1.03 0.22 0.246 1672.06 366.5 4.39 0.045 770.88 -348.4 -97.32 - - 3092.09 - - - - - - - - 15.54 15.64 -
7881.49 682.01 -6.53 856 7887.41 roll -1.03 - - 1655.44 - 4.20 0.017 2300.69 364.2 -97.32 - - 3090.03 - - - - - - - - - 15.84 -
8186.64 699.81 -5.88 872 8192.43 roll -1.07 - - 1636.19 - 4.22 0.058 3767.62 347.6 -97.32 - - 3091.69 - - - - - - - - - 15.84 -
8416.63 716.21 -7.23 918 8422.65 roll -1.07 - - 1653.56 - 4.20 0.013 2228.94 -366.4 -97.32 - - 3089.19 - - - - - - - - - 15.87 -
8726.75 733.99 -5.61 935 8732.60 roll -1.11 - - 1636.25 - 4.46 0.056 3769.19 345.3 -97.32 - - 3089.94 - - - - - - - - - 15.86 -
8761.71 736.37 -5.69 942 8767.56 roll -1.11 - - 1652.88 - 4.19 0.013 2230.62 -367.2 -97.32 - - 3090.03 - - - - - - - - - 15.91 -
9066.77 753.82 -5.60 958 9068.22 pitch -1.14 0.14 0.089 1587.06 -470.1 - - 2229.62 - -97.32 - - 3093.59 - - - - - - - - 15.84 - -
9366.73 774.43 -6.89 973 9368.18 pitch -1.09 0.17 0.239 1633.50 273.2 - - 2228.12 - -97.32 - - 3091.12 - - - - - - - - 15.68 - -
9666.73 791.87 -5.79 988 9668.06 no move -1.09 - - 1632.81 - - - 2227.56 - -97.32 - - 3088.47 - - - - - - - - - - -
9966.74 808.90 -5.71 1003 9968.08 no move -1.09 - - 1633.00 - - - 2227.81 - -97.32 - - 3089.19 - - - - - - - - - - -
10266.75 826.79 -6.15 1018 10268.08 no move -1.09 - - 1633.25 - - - 2227.50 - -97.32 - - 3089.53 - - - - - - - - - - -
10566.76 845.07 -6.12 1033 10568.09 no move -1.09 - - 1632.94 - - - 2227.69 - -97.32 - - 3089.06 - - - - - - - - - - -
10866.79 863.53 -6.03 1048 10868.12 no move -1.09 - - 1632.25 - - - 2228.12 - -97.32 - - 3090.31 - - - - - - - - - - -
11166.79 882.03 -6.15 1063 11168.12 no move -1.09 - - 1632.75 - - - 2227.62 - -97.32 - - 3089.81 - - - - - - - - - - -
11466.83 900.43 -6.03 1078 11468.16 no move -1.09 - - 1633.50 - - - 2228.62 - -97.32 - - 3090.09 - - - - - - - - - - -
11766.82 918.91 -6.25 1093 11772.75 roll -1.09 - - 1615.50 - 4.46 0.056 3768.62 345.3 -97.32 - - 3091.69 - - - - - - - - - 15.94 -
11781.81 919.93 -6.21 1096 11787.72 roll -1.09 - - 1633.25 - 4.18 0.014 2224.25 -369.5 -97.32 - - 3091.62 - - - - - - - - - 15.96 -
12086.89 938.73 -6.24 1112 12088.23 no move -1.09 - - 1631.25 - - - 2224.75 - -97.32 - - 3094.16 - - - - - - - - - - -
12386.85 957.51 -6.41 1127 12388.19 no move -1.09 - - 1632.56 - - - 2224.31 - -97.32 - - 3089.81 - - - - - - - - - - -
12686.87 976.81 -6.67 1142 12688.20 no move -1.09 - - 1633.06 - - - 2224.31 - -97.32 - - 3090.22 - - - - - - - - - - -
12907 end dive: TARGET_DEPTH_EXCEEDED
12907 begin apogee
12908.71 991.03 -6.35 1153 12993.23 -0.14 1.04 0.205 1938.06 293.3 0.15 0.103 2465.50 1607.9 - 81.69 2.382 2695.00 -4.8 0.343 - - - - - - 15.72 15.35 11.63
12994 end apogee: CONTROL_FINISHED_OK
12994 begin climb
12993.72 991.55 - 1157 13080.20 0.86 0.93 0.068 2273.75 361.0 - - 2451.62 - 97.32 84.36 2.312 2299.84 -4.7 0.342 - - - - - - 15.44 - 12.38
13367.22 950.20 12.27 1176 13373.83 done 0.83 - - 2258.94 - 4.47 0.064 3956.81 336.7 97.32 - - 2283.41 - - - - - - - - - 15.45 -
13416.96 943.20 14.19 1186 13422.86 0.73 0.25 0.243 2206.44 -210.0 4.06 0.013 2495.06 -360.0 97.32 - - 2283.22 - - - - - - - - 15.29 15.50 -
13722.18 913.28 9.51 1202 13723.52 VBD 0.79 - - 2206.56 - - - 2480.12 - 97.32 - - 2279.56 - - - - - - - - - - -
14022.21 884.98 9.46 1217 14028.16 0.85 0.14 0.084 2262.69 400.9 4.33 0.064 3955.12 340.6 97.32 - - 2280.12 - - - - - - - - 15.65 15.65 -
14081.95 876.85 14.05 1229 14087.96 0.74 0.25 0.246 2211.44 -205.0 4.01 0.013 2493.19 -364.6 97.32 - - 2278.78 - - - - - - - - 15.50 15.72 -
14401.97 845.27 9.72 1248 14403.31 VBD 0.80 - - 2210.75 - - - 2478.56 - 97.32 - - 2277.47 - - - - - - - - - - -
14702.25 816.74 9.59 1263 14708.96 0.86 0.13 0.085 2263.56 406.2 4.30 0.063 3953.44 343.0 97.32 - - 2280.22 - - - - - - - - 15.74 15.73 -
14766.98 807.90 13.97 1276 14772.92 0.75 0.25 0.241 2213.75 -199.2 3.98 0.013 2491.94 -367.2 97.32 - - 2276.44 - - - - - - - - 15.58 15.82 -
15077.27 777.11 9.49 1293 15078.61 VBD 0.81 - - 2213.38 - - - 2476.50 - 97.32 - - 2275.19 - - - - - - - - - - -
15377.30 748.22 9.49 1308 15383.98 0.87 0.14 0.083 2272.38 421.4 4.30 0.064 3953.88 343.6 97.32 - - 2274.78 - - - - - - - - 15.81 15.79 -
15432.04 740.74 14.22 1319 15437.96 0.75 0.28 0.245 2211.12 -218.8 3.95 0.012 2493.88 -369.6 97.32 - - 2277.16 - - - - - - - - 15.61 15.87 -
15752.32 709.57 9.52 1338 15753.66 VBD 0.81 - - 2211.06 - - - 2478.56 - 97.32 - - 2274.12 - - - - - - - - - - -
16052.34 681.38 9.27 1353 16059.03 0.87 0.14 0.080 2272.12 436.1 4.28 0.065 3955.62 345.1 97.32 - - 2273.50 - - - - - - - - 15.84 15.81 -
16112.08 673.10 14.59 1365 16118.00 0.75 0.28 0.242 2211.81 -215.4 3.95 0.013 2490.69 -370.9 97.32 - - 2277.22 - - - - - - - - 15.65 15.89 -
16427.37 642.86 9.19 1383 16428.71 VBD 0.81 - - 2212.00 - - - 2474.75 - 97.32 - - 2273.53 - - - - - - - - - - -
16727.44 614.49 9.46 1398 16734.08 0.88 0.15 0.079 2274.31 415.4 4.29 0.065 3957.56 345.6 97.32 - - 2273.94 - - - - - - - - 15.86 15.86 -
16787.12 606.44 14.41 1410 16793.05 0.76 0.28 0.246 2215.62 -209.6 3.95 0.013 2491.38 -371.2 97.32 - - 2274.84 - - - - - - - - 15.66 15.90 -
17102.41 576.27 9.18 1428 17103.75 VBD 0.82 - - 2214.50 - - - 2476.38 - 97.32 - - 2272.03 - - - - - - - - - - -
17402.43 548.51 9.25 1443 17403.89 0.88 0.14 0.082 2290.06 539.7 - - 2476.38 - 97.32 - - 2271.88 - - - - - - - - 15.87 - -
17702.19 512.92 11.94 1458 17708.13 0.85 0.17 0.245 2224.00 -388.6 4.28 0.063 3955.50 345.6 97.32 - - 2273.78 - - - - - - - - 15.70 15.78 -
17787.18 502.48 12.07 1475 17793.03 done 0.81 - - 2240.06 - 3.94 0.013 2493.81 -371.0 97.32 - - 2273.22 - - - - - - - - - 15.94 -
18102.53 470.60 10.01 1493 18103.87 VBD 0.84 - - 2240.12 - - - 2479.94 - 97.32 - - 2271.84 - - - - - - - - - - -
18402.50 440.12 10.22 1508 18408.12 done 0.87 - - 2224.25 - 4.26 0.063 3957.00 346.7 97.32 - - 2274.31 - - - - - - - - - 15.89 -
18477.23 430.98 12.47 1523 18483.11 done 0.83 - - 2240.88 - 3.93 0.013 2493.06 -372.5 97.32 - - 2272.78 - - - - - - - - - 15.94 -
18782.61 399.59 10.14 1539 18783.96 VBD 0.87 - - 2240.62 - - - 2478.44 - 97.32 - - 2272.28 - - - - - - - - - - -
19082.58 369.36 9.94 1569 19088.21 done 0.90 - - 2224.94 - 4.27 0.063 3957.81 346.5 97.32 - - 2273.97 - - - - - - - - - 15.90 -
19162.36 360.15 11.75 1585 19168.19 done 0.86 - - 2240.81 - 3.94 0.013 2491.75 -372.1 97.32 - - 2273.34 - - - - - - - - - 15.97 -
19472.67 329.69 9.53 1617 19474.01 VBD 0.90 - - 2238.94 - - - 2477.06 - 97.32 - - 2275.66 - - - - - - - - - - -
19772.76 301.86 9.13 1647 19774.22 0.94 0.11 0.093 2301.88 572.2 - - 2476.31 - 97.32 - - 2272.88 - - - - - - - - 15.91 - -
20072.51 269.13 10.87 1677 20078.45 0.91 0.14 0.252 2245.06 -405.9 4.27 0.062 3955.31 346.4 97.32 - - 2273.81 - - - - - - - - 15.66 15.71 -
20162.54 259.15 10.65 1695 20168.37 done 0.86 - - 2262.12 - 3.94 0.012 2485.19 -373.1 97.32 - - 2273.22 - - - - - - - - - 15.87 -
20472.59 236.69 6.74 1727 20473.93 VBD 0.91 - - 2263.12 - - - 2470.19 - 97.32 - - 2271.06 - - - - - - - - - - -
20772.95 219.85 5.04 1757 20816.58 1.09 0.19 0.072 2345.50 433.6 - - 2469.56 - 151.62 42.25 1.479 2072.22 -4.7 0.119 - - - - - - 15.79 - 11.57
21112.97 195.01 7.16 1797 21118.53 done 1.09 - - 2362.88 - 4.07 0.039 1038.25 -351.7 151.62 - - 2068.56 - - - - - - - - - 15.67 -
21182.73 189.98 7.19 1811 21188.63 1.09 0.09 0.251 2323.06 -442.4 4.26 0.019 2567.25 358.9 151.62 - - 2067.41 - - - - - - - - 15.51 15.68 -
21488.01 174.70 5.05 1872 21533.81 1.27 0.19 0.075 2408.25 448.4 - - 2567.31 - 205.87 44.76 1.417 1854.69 -4.8 0.100 - - - - - - 15.64 - 11.80
21832.78 143.16 8.89 1941 21834.12 VBD 1.27 - - 2409.44 - - - 2568.75 - 205.87 - - 1845.09 - - - - - - - - - - -
22132.84 119.52 7.48 2001 22138.79 done 1.27 - - 2428.06 - 4.41 0.037 1040.00 -346.7 205.87 - - 1845.16 - - - - - - - - - 15.62 -
22252.94 110.13 7.73 2025 22258.84 1.27 0.12 0.242 2380.44 -396.8 4.24 0.021 2567.44 360.2 205.87 - - 1843.22 - - - - - - - - 15.52 15.71 -
22558.20 96.08 3.74 2086 22621.34 1.53 0.26 0.069 2495.12 441.1 - - 2567.50 - 283.80 61.95 1.343 1537.16 -4.9 0.060 - - - - - - 15.70 - 11.74
22918.24 65.19 6.90 2158 22924.20 done 1.53 - - 2515.50 - 4.41 0.039 1038.69 -346.7 283.80 - - 1528.62 - - - - - - - - - 15.62 -
23033.30 58.06 5.92 2181 23070.89 done 1.65 - - 2498.25 - 4.25 0.019 2561.06 358.2 322.28 31.55 1.271 1379.12 -4.7 0.037 - - - - - - - 15.66 11.82
23368.67 41.13 4.86 2248 23421.41 1.88 0.23 0.069 2590.56 401.3 4.09 0.066 3952.81 340.3 379.92 46.23 1.252 1143.56 -5.1 0.028 - - - - - - 15.63 15.40 11.77
23483.50 32.53 9.45 2271 23489.37 roll back 1.79 0.22 0.248 2545.88 -203.1 4.04 0.013 2486.31 -363.0 379.92 - - 1141.22 - - - - - - - - 15.38 15.57 -
23788.50 27.07 -0.32 2332 23829.48 2.33 0.51 0.043 2750.25 400.7 - - 2472.44 - 531.19 39.78 1.223 942.06 -5.0 0.019 - - - - - - 15.64 - 11.79
23830 end climb: NO_VERTICAL_VELOCITY
23830 begin surface
SM 1.19 - - - - 130.6 - - 538.3 - 8.20 0.129 516.5 62.9 - 0.60 0.021 560.1 933.5 -5.407 - - 30.00 15.39 15.52 -