SODA Aug19 * SG229 * Dive index * Mission links * Dive 189 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 130.32 of 575.00 AH used of 24V (77.33% remains)
• Surface angle -70.6 deg, depth 1.41 m • Intended pitch -22.3 deg, speed -8.049 cm/s
VBD pumped to 525.68 (SM_CC=525.92322)
• GPS1 time: 174 s
• GPS2 time: 3 s • Transponder ping count: 4
• 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
2.44 - - - 54.38 VBD -0.86 - - 106.94 - - - 2265.25 - -97.32 51.22 0.005 1538.84 - - - - - - - - - - 15.06
54.63 3.57 -4.90 10 116.79 -0.86 7.80 0.409 1723.12 207.2 4.53 0.053 720.19 -341.1 -97.32 45.18 0.005 3091.81 34.4 -4.246 - - - - - - 15.11 15.07 15.17
238.69 54.04 -20.32 47 244.58 roll -0.76 - - 1706.31 - 4.29 0.024 2243.12 355.0 -97.32 - - 3094.38 - - - - - - - - - 15.64 -
543.78 102.42 -14.94 108 545.26 pitch -0.69 0.21 0.253 1763.19 270.9 - - 2244.56 - -97.32 - - 3092.66 - - - - - - - - 15.44 - -
843.82 137.55 -11.44 168 845.15 no move -0.72 - - 1762.12 - - - 2244.69 - -97.32 - - 3093.38 - - - - - - - - - - -
1143.87 170.30 -10.81 228 1149.80 roll -0.76 - - 1780.75 - 4.45 0.053 721.50 -342.3 -97.32 - - 3094.62 - - - - - - - - - 15.70 -
1193.92 175.86 -11.41 238 1199.84 roll back -0.82 0.16 0.083 1686.06 -591.8 4.26 0.023 2249.25 358.6 -97.32 - - 3094.94 - - - - - - - - 15.64 15.77 -
1498.89 212.94 -11.23 288 1504.79 roll -0.82 - - 1666.25 - 4.28 0.061 3718.56 343.3 -97.32 - - 3095.28 - - - - - - - - - 15.76 -
1558.98 220.57 -12.64 300 1564.87 roll back -0.78 0.17 0.238 1731.69 384.9 4.26 0.021 2177.50 -361.8 -97.32 - - 3095.50 - - - - - - - - 15.55 15.83 -
1868.96 243.19 -6.57 332 1870.29 no move -0.87 - - 1731.69 - - - 2177.25 - -97.32 - - 3093.19 - - - - - - - - - - -
2169.06 261.55 -6.03 362 2170.51 pitch -0.96 0.19 0.063 1642.50 -469.4 - - 2176.75 - -97.32 - - 3092.94 - - - - - - - - 15.79 - -
2468.99 286.67 -8.61 392 2470.44 pitch -0.96 0.12 0.233 1674.56 267.2 - - 2174.88 - -97.32 - - 3096.59 - - - - - - - - 15.61 - -
2769.04 308.84 -7.36 422 2770.37 no move -0.99 - - 1675.19 - - - 2175.31 - -97.32 - - 3091.06 - - - - - - - - - - -
3069.13 330.26 -7.09 452 3076.17 roll -1.03 - - 1656.06 - 4.55 0.061 3718.25 339.1 -97.32 - - 3091.59 - - - - - - - - - 15.83 -
3169.05 338.52 -8.26 472 3174.99 roll -1.03 - - 1672.88 - 4.24 0.022 2187.88 -360.9 -97.32 - - 3094.03 - - - - - - - - - 15.88 -
3474.12 359.97 -6.88 503 3475.58 pitch -1.07 0.12 0.084 1611.62 -510.5 - - 2187.81 - -97.32 - - 3092.84 - - - - - - - - 15.84 - -
3774.14 384.94 -8.53 533 3775.60 pitch -1.03 0.15 0.231 1652.56 272.9 - - 2185.88 - -97.32 - - 3092.22 - - - - - - - - 15.62 - -
4084.17 407.33 -7.16 559 4085.51 no move -1.05 - - 1652.62 - - - 2185.44 - -97.32 - - 3092.50 - - - - - - - - - - -
4384.20 428.86 -7.18 574 4390.19 roll -1.08 - - 1634.38 - 4.51 0.059 3716.44 339.5 -97.32 - - 3093.19 - - - - - - - - - 15.85 -
4459.19 435.17 -8.54 589 4465.13 roll -1.05 - - 1651.50 - 4.23 0.021 2183.69 -362.4 -97.32 - - 3093.84 - - - - - - - - - 15.90 -
4764.31 457.18 -7.13 605 4765.65 no move -1.08 - - 1651.88 - - - 2182.12 - -97.32 - - 3092.41 - - - - - - - - - - -
5064.34 478.17 -6.93 620 5070.23 roll -1.10 - - 1633.81 - 4.53 0.058 3718.88 339.2 -97.32 - - 3094.12 - - - - - - - - - 15.77 -
5124.27 483.12 -8.22 632 5130.18 roll -1.10 - - 1651.06 - 4.26 0.021 2182.62 -360.6 -97.32 - - 3094.56 - - - - - - - - - 15.81 -
5444.33 505.41 -6.84 651 5445.78 pitch -1.13 0.12 0.090 1591.31 -497.9 - - 2182.25 - -97.32 - - 3091.53 - - - - - - - - 15.73 - -
5744.38 530.43 -8.38 666 5745.83 pitch -1.08 0.17 0.235 1637.50 271.7 - - 2180.38 - -97.32 - - 3091.16 - - - - - - - - 15.50 - -
6044.38 551.92 -7.11 681 6045.72 no move -1.08 - - 1637.94 - - - 2180.50 - -97.32 - - 3092.19 - - - - - - - - - - -
6344.41 573.32 -7.09 696 6345.75 no move -1.08 - - 1638.19 - - - 2180.25 - -97.32 - - 3091.62 - - - - - - - - - - -
6644.44 594.45 -7.02 711 6645.78 no move -1.08 - - 1637.44 - - - 2181.00 - -97.32 - - 3093.03 - - - - - - - - - - -
6944.47 615.22 -6.90 726 6950.42 roll -1.08 - - 1620.38 - 4.55 0.057 3716.62 337.5 -97.32 - - 3092.88 - - - - - - - - - 15.68 -
7009.54 620.50 -8.30 739 7015.40 roll -1.04 - - 1638.12 - 4.28 0.020 2184.00 -358.1 -97.32 - - 3094.75 - - - - - - - - - 15.71 -
7324.51 642.45 -6.93 757 7325.85 no move -1.04 - - 1638.06 - - - 2184.25 - -97.32 - - 3092.06 - - - - - - - - - - -
7624.55 663.00 -6.83 772 7630.50 roll -1.04 - - 1620.69 - 4.52 0.057 3720.06 339.8 -97.32 - - 3094.72 - - - - - - - - - 15.76 -
7704.59 669.49 -8.30 788 7710.55 roll back -1.01 0.08 0.247 1661.69 512.5 4.25 0.020 2177.56 -362.9 -97.32 - - 3093.75 - - - - - - - - 15.54 15.82 -
8024.61 690.20 -6.34 807 8025.95 no move -1.05 - - 1661.00 - - - 2178.06 - -97.32 - - 3093.81 - - - - - - - - - - -
8324.64 709.55 -6.59 822 8326.09 pitch -1.10 0.12 0.089 1602.88 -484.3 - - 2177.94 - -97.32 - - 3092.03 - - - - - - - - 15.81 - -
8624.66 732.03 -7.47 837 8631.66 roll back -1.07 0.14 0.232 1622.88 142.9 4.55 0.058 3718.56 338.6 -97.32 - - 3091.19 - - - - - - - - 15.57 15.60 -
8709.65 738.88 -7.84 854 8715.55 roll -1.04 - - 1638.94 - 4.25 0.020 2183.38 -361.2 -97.32 - - 3095.19 - - - - - - - - - 15.89 -
9019.68 759.16 -6.46 871 9021.02 no move -1.06 - - 1639.06 - - - 2182.50 - -97.32 - - 3094.38 - - - - - - - - - - -
9319.70 778.00 -6.24 886 9321.04 no move -1.08 - - 1639.69 - - - 2182.25 - -97.32 - - 3094.12 - - - - - - - - - - -
9619.72 796.80 -6.30 901 9621.05 no move -1.11 - - 1639.19 - - - 2183.00 - -97.32 - - 3092.31 - - - - - - - - - - -
9919.76 815.24 -6.01 916 9925.78 roll -1.13 - - 1622.31 - 4.50 0.058 3716.75 340.8 -97.32 - - 3094.62 - - - - - - - - - 15.83 -
9999.74 821.32 -7.68 932 10005.63 roll -1.10 - - 1639.12 - 4.22 0.020 2182.94 -363.5 -97.32 - - 3093.78 - - - - - - - - - 15.90 -
10319.76 841.52 -6.29 951 10321.09 no move -1.12 - - 1639.12 - - - 2183.06 - -97.32 - - 3094.28 - - - - - - - - - - -
10619.80 859.90 -6.08 966 10621.13 no move -1.15 - - 1639.81 - - - 2182.94 - -97.32 - - 3093.25 - - - - - - - - - - -
10919.82 878.43 -6.15 981 10926.78 roll back -1.17 0.12 0.091 1556.81 -691.7 4.49 0.058 3715.25 341.3 -97.32 - - 3093.59 - - - - - - - - 15.86 15.82 -
11009.81 886.45 -9.11 999 11015.81 roll back -1.04 0.28 0.262 1649.88 332.4 4.21 0.020 2170.94 -366.8 -97.32 - - 3094.59 - - - - - - - - 15.49 15.91 -
11314.84 905.55 -6.00 1015 11316.18 no move -1.08 - - 1649.19 - - - 2171.69 - -97.32 - - 3092.31 - - - - - - - - - - -
11614.87 923.54 -5.90 1030 11616.21 no move -1.11 - - 1649.12 - - - 2171.44 - -97.32 - - 3093.72 - - - - - - - - - - -
11914.89 941.70 -5.98 1045 11921.87 roll back -1.15 0.13 0.089 1564.31 -652.4 4.55 0.059 3718.38 340.0 -97.32 - - 3094.31 - - - - - - - - 15.87 15.83 -
12009.89 949.91 -8.94 1064 12015.86 roll back -1.04 0.25 0.251 1651.31 348.0 4.22 0.020 2171.25 -366.6 -97.32 - - 3095.38 - - - - - - - - 15.53 15.92 -
12329.93 969.46 -5.95 1083 12331.26 no move -1.08 - - 1650.81 - - - 2171.75 - -97.32 - - 3093.69 - - - - - - - - - - -
12629.95 987.03 -5.85 1098 12635.86 roll -1.12 - - 1633.12 - 4.53 0.059 3720.62 341.9 -97.32 - - 3092.62 - - - - - - - - - 15.85 -
12675 end dive: TARGET_DEPTH_EXCEEDED
12675 begin apogee
12679.82 990.12 -6.08 1107 12765.25 -0.14 1.01 0.212 1938.12 302.0 0.25 0.101 2601.94 -4474.7 - 83.04 2.382 2693.88 -4.8 0.345 - - - - - - 15.56 15.29 11.18
12766 end apogee: CONTROL_FINISHED_OK
12766 begin climb
12765.81 990.80 - 1113 12857.87 0.86 0.94 0.069 2256.19 338.4 4.18 0.072 3954.25 323.5 97.32 85.09 2.309 2296.28 -4.7 0.347 - - - - - - 15.40 14.96 11.25
12874.73 981.06 11.73 1135 12880.60 roll 0.78 - - 2274.62 - 4.09 0.018 2538.75 -346.1 97.32 - - 2293.16 - - - - - - - - - 15.15 -
13180.07 943.36 12.30 1151 13186.75 0.75 0.22 0.235 2194.44 -364.5 4.32 0.067 3955.06 327.8 97.32 - - 2283.56 - - - - - - - - 15.22 15.31 -
13204.79 940.16 12.36 1156 13210.59 done 0.73 - - 2211.00 - 3.98 0.018 2538.06 -356.0 97.32 - - 2284.47 - - - - - - - - - 15.48 -
13515.10 909.94 9.76 1173 13516.44 VBD 0.78 - - 2211.38 - - - 2520.81 - 97.32 - - 2280.19 - - - - - - - - - - -
13815.05 880.70 9.66 1188 13821.74 0.84 0.11 0.094 2259.12 434.0 4.28 0.068 3958.62 335.9 97.32 - - 2279.44 - - - - - - - - 15.62 15.60 -
13839.83 877.57 10.25 1193 13845.63 done 0.79 - - 2275.81 - 3.94 0.019 2536.44 -361.0 97.32 - - 2279.94 - - - - - - - - - 15.69 -
14150.12 839.69 12.10 1210 14156.78 0.76 0.21 0.230 2198.75 -367.0 4.24 0.068 3955.12 334.6 97.32 - - 2277.91 - - - - - - - - 15.47 15.55 -
14174.85 836.79 12.10 1215 14180.89 done 0.74 - - 2213.62 - 3.91 0.019 2536.62 -362.8 97.32 - - 2279.97 - - - - - - - - - 15.75 -
14485.14 806.94 9.50 1232 14490.71 done 0.79 - - 2196.94 - 4.25 0.068 3956.12 334.0 97.32 - - 2280.38 - - - - - - - - - 15.70 -
14499.81 805.37 9.61 1235 14505.70 0.82 0.09 0.114 2263.88 743.8 3.90 0.018 2526.12 -366.7 97.32 - - 2278.66 - - - - - - - - 15.61 15.77 -
14805.14 770.83 11.42 1251 14806.48 VBD 0.82 - - 2264.19 - - - 2511.00 - 97.32 - - 2276.16 - - - - - - - - - - -
15105.10 737.47 11.11 1266 15110.76 done 0.82 - - 2247.50 - 4.26 0.069 3953.81 338.7 97.32 - - 2279.12 - - - - - - - - - 15.70 -
15139.85 732.91 13.58 1273 15145.71 done 0.74 - - 2264.19 - 3.90 0.019 2533.81 -364.1 97.32 - - 2277.94 - - - - - - - - - 15.80 -
15445.17 698.61 11.06 1289 15451.08 0.74 0.19 0.229 2191.12 -384.6 4.24 0.068 3955.88 335.4 97.32 - - 2278.03 - - - - - - - - 15.56 15.61 -
15464.87 696.37 11.12 1293 15470.69 done 0.74 - - 2207.12 - 3.90 0.019 2534.94 -364.3 97.32 - - 2277.19 - - - - - - - - - 15.81 -
15785.21 667.01 9.09 1312 15786.55 VBD 0.81 - - 2207.19 - - - 2518.94 - 97.32 - - 2275.03 - - - - - - - - - - -
16084.92 639.52 8.99 1327 16086.38 0.87 0.15 0.080 2286.19 526.7 - - 2519.62 - 97.32 - - 2274.31 - - - - - - - - 15.82 - -
16384.93 604.09 11.90 1342 16390.87 0.84 0.17 0.241 2221.75 -379.1 4.20 0.068 3956.44 342.1 97.32 - - 2276.41 - - - - - - - - 15.56 15.60 -
16424.99 599.22 12.41 1350 16430.75 done 0.80 - - 2237.69 - 3.89 0.019 2536.75 -365.0 97.32 - - 2274.88 - - - - - - - - - 15.88 -
16745.01 567.29 9.74 1369 16750.84 done 0.83 - - 2221.94 - 4.20 0.069 3954.81 337.6 97.32 - - 2276.19 - - - - - - - - - 15.79 -
16774.95 563.89 10.14 1375 16780.79 done 0.81 - - 2237.25 - 3.88 0.019 2530.44 -367.1 97.32 - - 2276.53 - - - - - - - - - 15.90 -
17085.03 533.50 9.83 1392 17090.86 done 0.84 - - 2223.06 - 4.22 0.069 3954.50 337.5 97.32 - - 2276.94 - - - - - - - - - 15.78 -
17104.97 531.30 9.99 1396 17110.79 done 0.84 - - 2238.25 - 3.89 0.019 2536.00 -364.7 97.32 - - 2275.78 - - - - - - - - - 15.90 -
17425.31 500.04 9.56 1415 17430.88 done 0.87 - - 2222.25 - 4.22 0.068 3957.06 336.7 97.32 - - 2276.53 - - - - - - - - - 15.80 -
17439.97 498.51 9.78 1418 17445.88 0.87 0.06 0.138 2276.56 905.2 3.88 0.019 2526.56 -368.7 97.32 - - 2276.00 - - - - - - - - 15.70 15.90 -
17745.05 464.83 10.89 1434 17746.39 VBD 0.87 - - 2277.81 - - - 2509.75 - 97.32 - - 2275.22 - - - - - - - - - - -
18045.02 431.28 11.19 1449 18050.90 done 0.87 - - 2261.44 - 4.24 0.069 3954.00 340.6 97.32 - - 2275.56 - - - - - - - - - 15.79 -
18075.02 427.54 12.42 1455 18080.84 done 0.79 - - 2277.00 - 3.87 0.019 2534.31 -366.8 97.32 - - 2276.38 - - - - - - - - - 15.91 -
18385.28 393.28 10.80 1475 18391.99 0.79 0.19 0.234 2206.94 -368.7 4.20 0.068 3957.25 338.8 97.32 - - 2274.66 - - - - - - - - 15.61 15.62 -
18400.06 391.71 10.81 1478 18405.87 done 0.79 - - 2221.31 - 3.88 0.019 2535.19 -366.5 97.32 - - 2273.94 - - - - - - - - - 15.92 -
18710.34 364.45 8.71 1510 18715.97 done 0.85 - - 2204.69 - 4.22 0.069 3954.38 336.3 97.32 - - 2275.62 - - - - - - - - - 15.82 -
18730.09 362.43 8.80 1514 18735.96 0.87 0.12 0.100 2283.06 653.1 3.87 0.019 2521.38 -370.3 97.32 - - 2274.44 - - - - - - - - 15.79 15.91 -
19040.36 329.63 10.75 1546 19041.70 VBD 0.87 - - 2282.38 - - - 2506.38 - 97.32 - - 2272.88 - - - - - - - - - - -
19341.28 297.30 10.64 1576 19347.19 done 0.87 - - 2266.44 - 4.27 0.067 3954.75 339.2 97.32 - - 2274.88 - - - - - - - - - 15.74 -
19391.38 291.40 12.30 1586 19397.21 0.79 0.21 0.247 2224.62 -199.1 3.89 0.018 2531.50 -365.9 97.32 - - 2275.50 - - - - - - - - 15.49 15.81 -
19701.38 266.40 7.66 1618 19702.72 VBD 0.86 - - 2224.25 - - - 2516.44 - 97.32 - - 2271.94 - - - - - - - - - - -
20001.49 245.54 6.41 1648 20007.36 0.95 0.17 0.074 2325.56 595.9 4.12 0.042 1079.56 -348.8 97.32 - - 2274.62 - - - - - - - - 15.72 15.70 -
20041.50 242.35 7.99 1656 20047.40 0.95 0.12 0.256 2276.69 -407.2 4.24 0.026 2604.19 359.6 97.32 - - 2273.94 - - - - - - - - 15.45 15.76 -
20351.53 221.84 6.02 1688 20388.10 1.08 0.14 0.082 2356.88 572.8 4.40 0.042 1077.44 -347.0 133.97 28.67 1.464 2146.12 -4.5 0.117 - - - - - - 15.70 15.61 11.36
20411.51 217.55 7.19 1700 20417.46 roll back 1.05 0.11 0.250 2309.62 -429.6 4.28 0.025 2602.75 356.4 133.97 - - 2144.56 - - - - - - - - 15.54 15.72 -
20716.59 199.37 5.10 1732 20768.56 1.22 0.19 0.078 2414.12 550.0 4.44 0.042 1078.25 -343.4 187.31 44.58 1.425 1928.31 -4.9 0.117 - - - - - - 15.62 15.46 11.72
20841.58 188.73 9.46 1757 20847.57 roll back 1.20 0.16 0.258 2356.00 -363.2 4.32 0.026 2601.12 352.5 187.31 - - 1924.97 - - - - - - - - 15.37 15.55 -
21146.65 165.32 7.28 1818 21152.59 done 1.23 - - 2373.25 - 4.45 0.041 1078.56 -342.1 187.31 - - 1921.69 - - - - - - - - - 15.54 -
21206.71 160.61 8.06 1830 21212.59 done 1.27 - - 2356.81 - 4.31 0.026 2597.00 352.3 187.31 - - 1919.53 - - - - - - - - - 15.57 -
21511.72 139.85 6.41 1891 21518.35 1.32 0.14 0.080 2439.06 587.5 4.41 0.041 1078.44 -344.3 187.31 - - 1919.31 - - - - - - - - 15.55 15.56 -
21541.69 137.61 6.88 1897 21547.68 1.32 0.10 0.260 2394.81 -442.5 4.28 0.026 2606.50 357.0 187.31 - - 1918.56 - - - - - - - - 15.40 15.67 -
21847.02 117.93 5.57 1958 21890.66 1.43 0.14 0.091 2471.38 546.9 4.41 0.043 1078.94 -346.4 232.12 36.60 1.354 1747.38 -4.7 0.070 - - - - - - 15.70 15.51 11.55
21937.81 111.04 8.24 1976 21944.53 roll back 1.40 0.12 0.252 2419.81 -429.8 4.30 0.026 2600.69 353.9 232.12 - - 1744.06 - - - - - - - - 15.46 15.63 -
22242.86 88.70 6.72 2037 22249.53 roll 1.43 - - 2437.50 - 4.40 0.041 1079.56 -345.7 232.12 - - 1738.41 - - - - - - - - - 15.65 -
22292.67 85.35 6.71 2047 22298.51 done 1.48 - - 2421.56 - 4.28 0.026 2596.00 354.3 232.12 - - 1740.66 - - - - - - - - - 15.67 -
22597.68 70.18 4.18 2108 22661.01 1.71 0.31 0.061 2562.69 455.3 4.43 0.043 1078.25 -342.6 301.94 56.31 1.303 1462.50 -4.9 0.046 - - - - - - 15.69 15.48 11.51
22737.89 59.70 8.52 2136 22743.88 roll back 1.68 0.14 0.249 2507.19 -396.4 4.32 0.026 2603.19 353.0 301.94 - - 1456.94 - - - - - - - - 15.41 15.59 -
23042.96 43.31 3.98 2197 23107.28 1.91 0.25 0.067 2639.19 528.0 4.47 0.042 1079.56 -340.9 375.42 57.93 1.251 1162.66 -5.1 0.030 - - - - - - 15.62 15.39 11.66
23329.17 24.92 4.63 2254 23385.79 done 2.07 - - 2620.88 - 4.30 0.023 2600.75 353.8 437.10 48.77 1.207 912.75 -5.1 0.018 - - - - - - - 15.58 11.69
23675 end climb: NO_VERTICAL_VELOCITY
23675 begin surface
SM 1.46 - - - - 130.8 - - 542.0 - 7.29 0.073 515.0 70.6 - 1.15 0.023 569.0 491.0 -3.186 - - 30.00 15.50 15.62 -