SODA Aug19 * SG229 * Dive index * Mission links * Dive 132 * Raw log
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• Previous call tries 4 • 110.00 of 575.00 AH used of 24V (80.87% remains)
• Surface angle -70.5 deg, depth 1.53 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 569.8, SM_CC=525.92322)
• GPS1 time: 23 s
• GPS2 time: 2 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
2 end surface: CONTROL_FINISHED_OK
2 begin dive
2.36 - - - 59.45 VBD -0.86 - - 127.62 - - - 2324.50 - -97.32 56.39 0.005 1652.72 - - - - - - - - - - 15.22
59.70 3.23 -3.58 11 115.72 -0.86 7.54 0.404 1703.00 208.9 - - 2324.12 - -97.32 44.47 0.005 3085.25 32.2 -3.545 - - - - - - 15.25 - 15.25
413.36 85.39 -15.56 82 419.24 roll -0.80 - - 1722.38 - 4.47 0.045 769.50 -347.8 -97.32 - - 3091.06 - - - - - - - - - 15.68 -
498.33 98.37 -14.73 99 504.24 roll -0.73 - - 1706.12 - 4.24 0.019 2293.56 359.4 -97.32 - - 3089.78 - - - - - - - - - 15.73 -
803.45 140.63 -14.29 160 809.43 roll back -0.69 0.20 0.241 1780.06 369.7 4.38 0.046 770.81 -347.7 -97.32 - - 3089.62 - - - - - - - - 15.59 15.65 -
843.66 145.54 -12.20 168 849.36 roll -0.72 - - 1763.25 - 4.22 0.018 2293.88 360.9 -97.32 - - 3091.47 - - - - - - - - - 15.77 -
1148.51 176.82 -9.94 229 1149.85 no move -0.77 - - 1763.12 - - - 2294.69 - -97.32 - - 3090.81 - - - - - - - - - - -
1448.58 205.42 -8.89 283 1450.03 pitch -0.85 0.17 0.074 1677.88 -501.4 - - 2294.25 - -97.32 - - 3089.28 - - - - - - - - 15.77 - -
1748.58 237.67 -9.58 313 1754.56 roll back -0.85 0.13 0.232 1731.75 414.4 4.36 0.046 770.62 -349.5 -97.32 - - 3090.72 - - - - - - - - 15.68 15.74 -
1833.59 244.93 -8.18 330 1839.50 roll -0.87 - - 1715.06 - 4.20 0.018 2296.31 363.3 -97.32 - - 3090.84 - - - - - - - - - 15.87 -
2138.49 266.63 -7.13 361 2139.94 pitch -0.94 0.12 0.083 1649.31 -547.9 - - 2295.88 - -97.32 - - 3092.34 - - - - - - - - 15.84 - -
2438.66 290.56 -7.69 391 2444.57 roll -0.94 - - 1665.94 - 4.37 0.046 769.31 -349.3 -97.32 - - 3091.72 - - - - - - - - - 15.88 -
2478.75 294.19 -9.06 399 2484.54 roll -0.90 - - 1649.56 - 4.20 0.019 2297.38 363.8 -97.32 - - 3091.12 - - - - - - - - - 15.89 -
2788.69 319.61 -7.92 431 2790.14 pitch -0.90 0.17 0.237 1696.00 273.2 - - 2299.44 - -97.32 - - 3089.66 - - - - - - - - 15.69 - -
3088.74 339.04 -6.34 461 3090.07 no move -0.97 - - 1695.56 - - - 2299.00 - -97.32 - - 3089.06 - - - - - - - - - - -
3388.83 358.33 -6.48 491 3394.79 roll back -1.04 0.16 0.079 1642.19 -333.6 4.38 0.047 770.50 -349.0 -97.32 - - 3088.69 - - - - - - - - 15.87 15.87 -
3423.81 361.17 -7.35 498 3429.65 roll -1.02 - - 1625.31 - 4.18 0.019 2295.06 364.7 -97.32 - - 3088.66 - - - - - - - - - 15.93 -
3728.78 385.81 -8.29 529 3730.11 no move -1.02 - - 1625.50 - - - 2295.38 - -97.32 - - 3087.91 - - - - - - - - - - -
4028.82 409.86 -8.06 553 4030.16 no move -1.02 - - 1625.19 - - - 2294.81 - -97.32 - - 3087.66 - - - - - - - - - - -
4328.84 433.68 -7.92 568 4334.74 roll -1.02 - - 1641.94 - 4.35 0.046 770.56 -350.4 -97.32 - - 3087.97 - - - - - - - - - 15.93 -
4383.90 438.30 -8.55 579 4389.76 roll -0.96 - - 1624.88 - 4.18 0.018 2297.31 365.3 -97.32 - - 3088.22 - - - - - - - - - 15.94 -
4688.92 461.87 -7.84 595 4690.37 pitch -0.96 0.18 0.224 1676.94 289.2 - - 2298.38 - -97.32 - - 3085.78 - - - - - - - - 15.74 - -
4988.91 480.33 -5.92 610 4994.78 roll -1.02 - - 1695.62 - 4.36 0.046 770.44 -350.4 -97.32 - - 3090.66 - - - - - - - - - 15.95 -
5048.97 484.37 -6.69 622 5054.83 roll back -1.05 0.12 0.094 1622.88 -606.2 4.16 0.018 2303.94 368.6 -97.32 - - 3088.91 - - - - - - - - 15.84 15.95 -
5368.90 507.57 -7.50 641 5370.23 no move -1.05 - - 1622.94 - - - 2303.75 - -97.32 - - 3087.94 - - - - - - - - - - -
5668.92 528.91 -6.97 656 5670.26 no move -1.05 - - 1621.75 - - - 2304.50 - -97.32 - - 3087.53 - - - - - - - - - - -
5968.94 549.98 -7.00 671 5974.84 roll -1.05 - - 1639.06 - 4.37 0.046 769.06 -351.4 -97.32 - - 3088.50 - - - - - - - - - 15.95 -
6034.00 555.11 -8.08 684 6039.83 roll -0.99 - - 1622.38 - 4.16 0.018 2296.00 367.1 -97.32 - - 3088.00 - - - - - - - - - 15.95 -
6348.97 577.20 -6.88 702 6350.42 pitch -0.99 0.16 0.231 1665.75 271.1 - - 2296.75 - -97.32 - - 3091.16 - - - - - - - - 15.75 - -
6649.01 595.15 -5.75 717 6654.89 roll -1.04 - - 1686.31 - 4.37 0.046 770.69 -349.2 -97.32 - - 3089.38 - - - - - - - - - 15.89 -
6704.05 598.73 -6.49 728 6709.93 roll back -1.04 0.08 0.115 1624.38 -774.1 4.18 0.017 2304.44 366.9 -97.32 - - 3088.88 - - - - - - - - 15.75 15.89 -
7009.00 619.37 -6.91 744 7010.34 no move -1.04 - - 1624.50 - - - 2304.50 - -97.32 - - 3088.78 - - - - - - - - - - -
7309.02 639.78 -6.71 759 7310.36 no move -1.04 - - 1623.94 - - - 2304.50 - -97.32 - - 3087.28 - - - - - - - - - - -
7609.05 660.20 -6.86 774 7614.97 roll -1.04 - - 1640.88 - 4.41 0.045 770.81 -347.8 -97.32 - - 3088.91 - - - - - - - - - 15.82 -
7669.14 664.83 -7.72 786 7674.94 roll -0.99 - - 1624.50 - 4.20 0.017 2298.69 363.8 -97.32 - - 3089.44 - - - - - - - - - 15.82 -
7989.10 686.67 -6.82 805 7990.55 pitch -0.99 0.14 0.230 1665.12 290.1 - - 2297.69 - -97.32 - - 3087.97 - - - - - - - - 15.59 - -
8289.17 703.81 -5.67 820 8295.11 roll -1.05 - - 1683.69 - 4.39 0.045 770.44 -347.9 -97.32 - - 3089.78 - - - - - - - - - 15.78 -
8344.19 707.24 -6.24 831 8350.11 roll back -1.05 0.08 0.112 1623.06 -757.9 4.20 0.017 2302.31 364.7 -97.32 - - 3088.19 - - - - - - - - 15.65 15.77 -
8649.18 727.26 -6.76 847 8650.52 no move -1.05 - - 1623.50 - - - 2303.62 - -97.32 - - 3088.22 - - - - - - - - - - -
8949.22 747.24 -6.59 862 8950.55 no move -1.05 - - 1623.19 - - - 2303.31 - -97.32 - - 3087.81 - - - - - - - - - - -
9249.25 766.71 -6.55 877 9255.17 roll -1.05 - - 1640.31 - 4.39 0.046 770.69 -349.1 -97.32 - - 3090.06 - - - - - - - - - 15.85 -
9309.34 771.12 -7.49 889 9315.15 roll -1.00 - - 1623.12 - 4.18 0.018 2298.81 365.6 -97.32 - - 3088.78 - - - - - - - - - 15.86 -
9629.29 792.37 -6.67 908 9630.75 pitch -1.00 0.14 0.233 1661.94 277.3 - - 2298.00 - -97.32 - - 3090.66 - - - - - - - - 15.65 - -
9929.38 809.44 -5.63 923 9930.72 no move -1.05 - - 1663.56 - - - 2299.06 - -97.32 - - 3088.09 - - - - - - - - - - -
10229.41 826.17 -5.58 938 10235.33 roll back -1.11 0.13 0.087 1618.75 -344.7 4.36 0.045 770.38 -350.6 -97.32 - - 3088.00 - - - - - - - - 15.86 15.84 -
10274.37 829.48 -6.23 947 10280.26 roll -1.05 - - 1601.88 - 4.17 0.018 2299.25 366.6 -97.32 - - 3090.66 - - - - - - - - - 15.91 -
10589.42 851.27 -6.79 965 10590.88 pitch -1.02 0.19 0.236 1656.81 289.1 - - 2301.38 - -97.32 - - 3087.88 - - - - - - - - 15.67 - -
10889.48 868.30 -5.56 980 10890.81 no move -1.07 - - 1656.56 - - - 2300.00 - -97.32 - - 3089.06 - - - - - - - - - - -
11189.49 884.69 -5.33 995 11195.36 roll -1.11 - - 1676.06 - 4.36 0.046 770.75 -350.7 -97.32 - - 3089.69 - - - - - - - - - 15.92 -
11239.51 887.87 -5.59 1005 11245.40 roll back -1.11 0.12 0.096 1601.06 -625.0 4.16 0.018 2305.25 368.9 -97.32 - - 3089.53 - - - - - - - - 15.82 15.93 -
11549.49 908.66 -6.75 1022 11550.94 pitch -1.08 0.12 0.240 1634.69 280.3 - - 2306.38 - -97.32 - - 3086.97 - - - - - - - - 15.70 - -
11849.56 926.50 -5.98 1037 11850.89 no move -1.11 - - 1634.00 - - - 2305.25 - -97.32 - - 3089.56 - - - - - - - - - - -
12149.54 943.82 -5.66 1052 12155.42 roll -1.13 - - 1653.56 - 4.37 0.045 770.31 -351.2 -97.32 - - 3090.00 - - - - - - - - - 15.94 -
12189.58 946.40 -5.69 1060 12195.43 roll back -1.13 0.08 0.122 1594.31 -740.6 4.18 0.018 2305.06 367.2 -97.32 - - 3089.50 - - - - - - - - 15.83 15.95 -
12509.55 967.58 -6.63 1079 12511.00 pitch -1.09 0.14 0.238 1633.12 277.2 - - 2305.31 - -97.32 - - 3089.31 - - - - - - - - 15.71 - -
12809.60 985.15 -5.87 1094 12815.47 roll -1.11 - - 1653.19 - 4.36 0.045 770.81 -351.9 -97.32 - - 3089.34 - - - - - - - - - 15.94 -
12859.60 988.47 -6.21 1104 12865.44 roll -1.11 - - 1635.81 - 4.16 0.018 2298.31 367.2 -97.32 - - 3088.81 - - - - - - - - - 15.95 -
12890 end dive: TARGET_DEPTH_EXCEEDED
12890 begin apogee
12891.35 990.17 -6.01 1107 12975.90 -0.14 1.04 0.205 1936.94 289.5 0.14 0.113 2451.12 1091.5 - 81.74 2.377 2695.56 -4.8 0.341 - - - - - - 15.71 15.34 11.57
12976 end apogee: CONTROL_FINISHED_OK
12976 begin climb
12976.38 990.35 - 1111 13068.52 0.86 0.94 0.068 2254.31 337.6 4.61 0.065 3953.56 325.9 97.32 84.31 2.309 2295.31 -4.7 0.347 - - - - - - 15.43 14.97 12.30
13100.44 978.33 13.99 1136 13106.35 roll back 0.76 0.21 0.241 2214.25 -190.8 4.13 0.012 2495.94 -352.9 97.32 - - 2290.91 - - - - - - - - 15.09 15.23 -
13410.67 946.64 10.04 1153 13417.33 done 0.81 - - 2196.00 - 4.38 0.064 3955.56 333.2 97.32 - - 2280.88 - - - - - - - - - 15.48 -
13430.39 944.42 9.96 1157 13436.31 0.81 0.09 0.119 2256.19 668.8 4.05 0.012 2484.12 -363.3 97.32 - - 2282.50 - - - - - - - - 15.43 15.51 -
13745.68 907.28 11.85 1175 13752.35 done 0.81 - - 2249.44 - 4.39 0.063 3955.69 335.2 97.32 - - 2279.19 - - - - - - - - - 15.61 -
13785.49 901.77 14.10 1183 13791.38 0.72 0.22 0.235 2202.62 -212.8 4.02 0.013 2492.81 -363.9 97.32 - - 2279.94 - - - - - - - - 15.45 15.65 -
14100.74 870.50 9.62 1201 14107.38 done 0.79 - - 2183.56 - 4.34 0.063 3955.62 337.1 97.32 - - 2276.28 - - - - - - - - - 15.69 -
14130.51 867.19 9.54 1207 14136.39 0.81 0.12 0.102 2257.62 617.2 4.00 0.013 2484.88 -367.7 97.32 - - 2278.06 - - - - - - - - 15.60 15.72 -
14435.72 831.97 11.48 1223 14441.41 done 0.81 - - 2239.38 - 4.35 0.063 3956.88 338.4 97.32 - - 2276.66 - - - - - - - - - 15.73 -
14475.56 826.58 13.97 1231 14481.33 done 0.73 - - 2259.62 - 4.00 0.013 2494.75 -365.5 97.32 - - 2276.69 - - - - - - - - - 15.77 -
14795.82 789.02 11.70 1250 14802.47 0.73 0.19 0.234 2187.31 -380.6 4.30 0.063 3955.44 339.7 97.32 - - 2274.47 - - - - - - - - 15.60 15.67 -
14820.54 786.13 11.53 1255 14826.36 done 0.73 - - 2204.56 - 3.97 0.013 2486.81 -369.9 97.32 - - 2275.84 - - - - - - - - - 15.81 -
15130.85 756.20 9.51 1272 15137.45 done 0.80 - - 2188.94 - 4.32 0.066 3954.00 339.6 97.32 - - 2274.09 - - - - - - - - - 15.77 -
15175.57 751.31 11.18 1281 15181.44 0.80 0.09 0.110 2254.44 727.8 3.97 0.013 2481.94 -370.8 97.32 - - 2274.53 - - - - - - - - 15.73 15.83 -
15485.79 716.59 11.26 1298 15491.71 done 0.80 - - 2237.69 - 4.34 0.064 3956.62 339.8 97.32 - - 2275.53 - - - - - - - - - 15.82 -
15510.56 713.44 11.19 1303 15516.40 done 0.75 - - 2255.19 - 3.96 0.013 2492.56 -369.7 97.32 - - 2274.12 - - - - - - - - - 15.85 -
15825.63 678.48 10.99 1321 15831.52 0.75 0.15 0.237 2193.50 -411.3 4.30 0.064 3954.56 340.0 97.32 - - 2275.75 - - - - - - - - 15.67 15.75 -
15870.61 673.45 11.08 1330 15876.42 done 0.75 - - 2210.81 - 3.96 0.013 2494.38 -368.7 97.32 - - 2274.53 - - - - - - - - - 15.87 -
16185.92 644.30 8.94 1348 16192.50 done 0.81 - - 2194.50 - 4.28 0.065 3955.25 341.3 97.32 - - 2276.12 - - - - - - - - - 15.84 -
16205.60 642.20 9.07 1352 16211.50 0.84 0.12 0.099 2267.50 608.3 3.96 0.013 2478.00 -373.0 97.32 - - 2275.78 - - - - - - - - 15.78 15.89 -
16520.86 606.87 11.25 1370 16526.53 done 0.84 - - 2252.38 - 4.33 0.063 3956.56 341.5 97.32 - - 2273.72 - - - - - - - - - 15.86 -
16570.68 600.37 13.33 1380 16576.49 done 0.75 - - 2270.00 - 3.94 0.012 2494.38 -371.1 97.32 - - 2274.84 - - - - - - - - - 15.90 -
16880.96 565.71 11.04 1397 16887.61 0.75 0.19 0.241 2195.12 -394.1 4.25 0.062 3952.81 343.2 97.32 - - 2271.19 - - - - - - - - 15.68 15.74 -
16905.68 562.91 11.04 1402 16911.49 done 0.75 - - 2212.62 - 3.94 0.012 2497.25 -369.4 97.32 - - 2274.59 - - - - - - - - - 15.91 -
17215.99 534.82 8.83 1419 17221.56 done 0.82 - - 2196.12 - 4.26 0.063 3956.00 342.4 97.32 - - 2270.94 - - - - - - - - - 15.87 -
17250.66 531.01 10.82 1426 17256.58 0.82 0.09 0.115 2263.12 744.4 3.94 0.013 2481.94 -374.1 97.32 - - 2273.09 - - - - - - - - 15.78 15.95 -
17555.93 497.99 10.93 1442 17561.60 done 0.82 - - 2246.94 - 4.31 0.063 3957.19 342.3 97.32 - - 2272.75 - - - - - - - - - 15.89 -
17585.70 494.27 12.38 1448 17591.53 done 0.75 - - 2262.12 - 3.95 0.012 2494.12 -370.4 97.32 - - 2275.38 - - - - - - - - - 15.94 -
17896.02 459.80 11.03 1465 17902.68 0.75 0.18 0.235 2191.88 -390.2 4.28 0.063 3959.69 342.4 97.32 - - 2270.50 - - - - - - - - 15.70 15.77 -
17935.77 455.47 10.97 1473 17941.56 done 0.75 - - 2208.88 - 3.94 0.013 2486.12 -374.0 97.32 - - 2273.47 - - - - - - - - - 15.94 -
18250.82 426.54 9.03 1491 18256.67 0.82 0.10 0.103 2252.38 435.0 4.30 0.065 3954.44 341.5 97.32 - - 2272.19 - - - - - - - - 15.90 15.87 -
18280.79 423.01 11.83 1497 18286.58 done 0.77 - - 2269.12 - 3.93 0.013 2487.69 -373.2 97.32 - - 2272.44 - - - - - - - - - 15.96 -
18591.02 389.06 10.88 1519 18592.47 0.77 0.19 0.238 2216.31 -277.9 - - 2471.75 - 97.32 - - 2271.47 - - - - - - - - 15.69 - -
18890.80 362.92 8.55 1549 18896.68 done 0.83 - - 2196.19 - 4.29 0.064 3952.94 345.3 97.32 - - 2273.59 - - - - - - - - - 15.88 -
18910.83 361.05 8.71 1553 18916.69 0.87 0.13 0.097 2280.94 651.9 3.93 0.013 2478.88 -375.1 97.32 - - 2273.62 - - - - - - - - 15.84 15.98 -
19220.83 327.59 10.67 1585 19226.72 done 0.87 - - 2265.31 - 4.30 0.063 3957.00 343.7 97.32 - - 2273.97 - - - - - - - - - 15.89 -
19295.83 317.68 13.38 1600 19301.81 0.77 0.23 0.250 2217.19 -209.2 3.93 0.012 2486.44 -374.2 97.32 - - 2273.41 - - - - - - - - 15.65 15.95 -
19600.89 291.52 8.00 1631 19606.77 done 0.84 - - 2199.31 - 4.29 0.063 3954.94 342.3 97.32 - - 2273.03 - - - - - - - - - 15.89 -
19625.88 289.22 8.57 1636 19631.81 0.87 0.12 0.097 2283.31 700.0 3.93 0.012 2476.38 -376.2 97.32 - - 2271.88 - - - - - - - - 15.81 15.94 -
19930.90 259.95 8.73 1667 19932.24 VBD 0.87 - - 2283.12 - - - 2461.56 - 97.32 - - 2271.00 - - - - - - - - - - -
20231.26 235.17 7.21 1697 20232.59 VBD 0.87 - - 2284.12 - - - 2461.75 - 97.32 - - 2270.12 - - - - - - - - - - -
20531.31 219.31 4.07 1727 20593.16 1.08 0.12 0.090 2322.75 321.9 4.36 0.064 3954.00 342.3 169.18 55.23 1.483 2003.34 -4.8 0.122 - - - - - - 15.91 15.64 11.63
20635.97 211.76 8.81 1748 20641.82 roll 1.00 - - 2337.12 - 3.98 0.012 2490.12 -367.8 169.18 - - 2000.81 - - - - - - - - - 15.78 -
20946.14 188.37 7.49 1794 20952.01 done 1.03 - - 2355.25 - 4.07 0.039 1038.62 -356.6 169.18 - - 1997.19 - - - - - - - - - 15.70 -
21016.23 182.92 7.97 1808 21022.12 1.07 0.09 0.243 2314.19 -456.2 4.23 0.020 2565.81 361.0 169.18 - - 1995.22 - - - - - - - - 15.54 15.72 -
21321.30 165.67 4.95 1869 21373.30 1.28 0.23 0.069 2436.94 533.7 4.39 0.039 1038.62 -347.9 225.18 45.72 1.404 1773.66 -4.8 0.097 - - - - - - 15.66 15.51 11.83
21596.37 139.80 9.88 1924 21602.34 1.28 0.14 0.244 2383.31 -383.1 4.28 0.021 2563.44 356.3 225.18 - - 1767.19 - - - - - - - - 15.45 15.61 -
21901.46 117.14 7.05 1985 21907.32 done 1.34 - - 2365.69 - 4.07 0.065 3955.81 342.1 225.18 - - 1765.75 - - - - - - - - - 15.59 -
22116.49 99.77 7.42 2028 22122.41 1.34 0.08 0.116 2422.12 705.4 4.01 0.012 2473.94 -369.5 225.18 - - 1764.59 - - - - - - - - 15.55 15.65 -
22421.83 80.47 5.85 2089 22456.90 VBD 1.48 - - 2422.62 - - - 2459.00 - 264.82 32.38 1.325 1612.56 -4.7 0.049 - - - - - - - - 11.77
22756.89 62.07 5.33 2156 22804.56 1.70 0.28 0.058 2537.94 411.9 4.47 0.065 3956.50 335.0 313.96 40.37 1.291 1412.94 -4.9 0.040 - - - - - - 15.57 15.41 11.81
23026.68 41.68 5.39 2210 23073.04 done 1.70 - - 2556.06 - 4.03 0.011 2469.50 -369.0 361.98 39.06 1.245 1220.31 -4.9 0.028 - - - - - - - 15.56 11.98
23372.05 31.57 1.34 2279 23470.71 2.11 0.28 0.057 2693.56 491.1 4.16 0.040 1037.50 -344.2 483.10 92.43 1.222 723.59 -5.4 0.024 - - - - - - 15.58 15.25 11.94
23547.91 26.34 4.19 2314 23589.55 done 2.33 - - 2675.31 - 4.30 0.017 2563.31 354.8 552.88 34.54 1.160 549.66 -5.0 0.019 - - - - - - - 15.44 12.07
23883 end climb: SURFACE_DEPTH_REACHED
23883 begin surface coast
23908 end surface coast: CONTROL_FINISHED_OK
23908 begin surface
SM 2.03 - - - - 132.2 - - 540.3 - 7.11 0.035 510.8 71.8 - 0.89 0.018 569.8 635.4 -7.324 - - 30.00 15.50 15.58 -