SODA Aug19 * SG229 * Dive index * Mission links * Dive 190 * Raw log
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• Previous call tries 1 • 130.69 of 575.00 AH used of 24V (77.27% remains)
• Surface angle -69.4 deg, depth 1.46 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 571.8, SM_CC=525.92322)
• GPS1 time: 63 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
2 begin dive
2.45 - - - 49.23 VBD -0.86 - - 128.62 - - - 2259.00 - -97.32 46.13 0.005 1438.22 - - - - - - - - - - 15.04
49.53 3.08 -3.77 9 113.82 -0.86 7.64 0.406 1722.06 208.6 4.53 0.053 719.62 -339.8 -97.32 48.24 0.005 3091.56 34.3 -3.657 - - - - - - 15.14 15.07 15.22
260.75 60.08 -18.42 51 266.60 roll -0.77 - - 1706.12 - 4.29 0.024 2242.25 354.9 -97.32 - - 3094.50 - - - - - - - - - 15.64 -
565.80 107.30 -14.41 112 567.25 pitch -0.71 0.19 0.254 1757.25 269.1 - - 2243.88 - -97.32 - - 3091.09 - - - - - - - - 15.45 - -
865.84 142.30 -11.04 172 871.77 roll -0.73 - - 1775.00 - 4.47 0.053 721.94 -340.5 -97.32 - - 3093.19 - - - - - - - - - 15.69 -
915.89 148.04 -11.39 182 921.79 roll back -0.75 0.08 0.120 1716.56 -730.5 4.26 0.023 2249.31 358.5 -97.32 - - 3095.25 - - - - - - - - 15.60 15.75 -
1220.88 184.08 -11.30 243 1222.21 no move -0.75 - - 1716.56 - - - 2248.50 - -97.32 - - 3092.66 - - - - - - - - - - -
1525.95 216.82 -9.60 288 1527.29 no move -0.78 - - 1716.12 - - - 2248.94 - -97.32 - - 3093.34 - - - - - - - - - - -
1826.03 241.52 -7.30 318 1831.85 roll -0.85 - - 1698.19 - 4.29 0.061 3718.00 342.4 -97.32 - - 3093.69 - - - - - - - - - 15.79 -
1891.03 247.03 -8.73 331 1896.88 roll -0.87 - - 1713.94 - 4.26 0.021 2183.81 -360.1 -97.32 - - 3094.50 - - - - - - - - - 15.83 -
2196.02 267.60 -6.18 362 2197.47 pitch -0.95 0.13 0.081 1648.31 -504.8 - - 2182.38 - -97.32 - - 3096.66 - - - - - - - - 15.81 - -
2496.02 291.80 -8.00 392 2501.99 roll -0.95 - - 1628.06 - 4.51 0.058 3718.12 340.5 -97.32 - - 3094.25 - - - - - - - - - 15.82 -
2551.09 296.86 -9.51 403 2557.07 roll back -0.89 0.19 0.232 1698.62 371.4 4.24 0.021 2175.12 -363.9 -97.32 - - 3094.25 - - - - - - - - 15.59 15.86 -
2856.09 317.12 -6.42 434 2857.42 no move -0.95 - - 1699.31 - - - 2174.69 - -97.32 - - 3090.50 - - - - - - - - - - -
3156.19 336.04 -6.02 464 3157.65 pitch -1.02 0.16 0.076 1629.06 -439.1 - - 2174.31 - -97.32 - - 3092.06 - - - - - - - - 15.85 - -
3456.11 359.93 -8.06 494 3457.45 no move -1.02 - - 1629.12 - - - 2173.56 - -97.32 - - 3091.50 - - - - - - - - - - -
3756.21 383.60 -7.90 524 3762.10 roll -1.02 - - 1608.81 - 4.53 0.058 3718.69 341.1 -97.32 - - 3093.38 - - - - - - - - - 15.85 -
3821.15 389.63 -9.52 537 3827.13 roll back -0.96 0.17 0.234 1676.50 398.2 4.24 0.021 2175.56 -363.9 -97.32 - - 3094.72 - - - - - - - - 15.59 15.89 -
4136.20 410.93 -6.68 561 4137.54 no move -1.01 - - 1677.44 - - - 2173.88 - -97.32 - - 3090.91 - - - - - - - - - - -
4436.22 430.46 -6.52 576 4437.67 pitch -1.06 0.13 0.088 1614.19 -486.5 - - 2173.19 - -97.32 - - 3094.69 - - - - - - - - 15.85 - -
4736.24 454.70 -8.13 591 4737.58 no move -1.04 - - 1616.75 - - - 2173.94 - -97.32 - - 3092.88 - - - - - - - - - - -
5036.25 478.81 -7.99 606 5037.70 pitch -1.02 0.15 0.228 1657.88 274.2 - - 2171.75 - -97.32 - - 3091.78 - - - - - - - - 15.65 - -
5336.25 500.11 -7.07 621 5342.20 roll -1.05 - - 1639.50 - 4.54 0.058 3717.94 340.6 -97.32 - - 3093.56 - - - - - - - - - 15.87 -
5406.23 505.73 -8.21 635 5412.16 roll -1.05 - - 1656.31 - 4.24 0.021 2184.12 -361.8 -97.32 - - 3091.03 - - - - - - - - - 15.94 -
5716.30 527.39 -6.91 652 5717.64 no move -1.09 - - 1657.06 - - - 2184.75 - -97.32 - - 3092.34 - - - - - - - - - - -
6016.35 547.32 -6.66 667 6023.32 roll back -1.12 0.12 0.090 1574.00 -692.2 4.50 0.058 3715.94 340.3 -97.32 - - 3092.75 - - - - - - - - 15.87 15.83 -
6091.37 554.34 -9.98 682 6097.33 roll back -1.01 0.25 0.246 1658.81 339.2 4.24 0.020 2172.94 -363.9 -97.32 - - 3092.44 - - - - - - - - 15.58 15.94 -
6411.41 575.28 -6.21 701 6412.74 no move -1.05 - - 1659.38 - - - 2171.69 - -97.32 - - 3090.78 - - - - - - - - - - -
6711.44 594.27 -6.34 716 6712.77 no move -1.09 - - 1658.94 - - - 2172.00 - -97.32 - - 3091.69 - - - - - - - - - - -
7011.47 613.45 -6.54 731 7018.47 roll back -1.13 0.14 0.087 1570.81 -629.5 4.51 0.058 3714.06 341.9 -97.32 - - 3094.28 - - - - - - - - 15.88 15.83 -
7081.47 619.70 -9.29 745 7087.47 roll back -1.02 0.25 0.241 1657.69 347.5 4.23 0.020 2174.12 -364.1 -97.32 - - 3094.03 - - - - - - - - 15.56 15.93 -
7386.53 639.60 -6.29 761 7387.86 no move -1.05 - - 1657.31 - - - 2174.69 - -97.32 - - 3093.50 - - - - - - - - - - -
7686.55 658.35 -6.27 776 7687.89 no move -1.09 - - 1657.69 - - - 2173.88 - -97.32 - - 3091.88 - - - - - - - - - - -
7986.58 677.08 -6.34 791 7993.58 roll back -1.13 0.14 0.084 1570.75 -621.0 4.51 0.060 3717.00 342.2 -97.32 - - 3091.22 - - - - - - - - 15.88 15.85 -
8066.59 684.24 -9.58 807 8072.56 roll back -1.02 0.25 0.241 1657.88 348.5 4.21 0.020 2174.25 -366.4 -97.32 - - 3094.03 - - - - - - - - 15.58 15.94 -
8381.63 704.47 -6.27 825 8382.97 no move -1.06 - - 1657.50 - - - 2174.69 - -97.32 - - 3093.38 - - - - - - - - - - -
8681.66 722.99 -6.18 840 8687.60 roll -1.10 - - 1639.12 - 4.53 0.060 3718.94 340.9 -97.32 - - 3094.16 - - - - - - - - - 15.87 -
8771.64 729.67 -7.52 858 8777.81 roll -1.10 - - 1656.75 - 4.24 0.020 2184.06 -362.0 -97.32 - - 3093.75 - - - - - - - - - 15.94 -
9081.73 748.47 -5.91 875 9083.18 pitch -1.14 0.14 0.085 1586.00 -505.4 - - 2184.69 - -97.32 - - 3092.00 - - - - - - - - 15.78 - -
9381.72 771.18 -7.72 890 9383.17 pitch -1.09 0.17 0.237 1632.31 272.4 - - 2181.94 - -97.32 - - 3093.53 - - - - - - - - 15.51 - -
9681.73 790.80 -6.42 905 9683.06 no move -1.09 - - 1632.56 - - - 2181.69 - -97.32 - - 3092.75 - - - - - - - - - - -
9981.73 810.14 -6.46 920 9983.06 no move -1.09 - - 1632.75 - - - 2181.31 - -97.32 - - 3091.84 - - - - - - - - - - -
10281.75 828.84 -6.22 935 10287.84 roll -1.09 - - 1614.94 - 4.55 0.056 3717.12 337.5 -97.32 - - 3095.38 - - - - - - - - - 15.71 -
10376.76 836.03 -7.49 954 10382.68 roll -1.05 - - 1632.38 - 4.29 0.019 2185.12 -357.1 -97.32 - - 3095.00 - - - - - - - - - 15.74 -
10681.78 855.38 -6.17 970 10683.11 no move -1.05 - - 1632.69 - - - 2184.44 - -97.32 - - 3091.44 - - - - - - - - - - -
10981.80 874.06 -6.29 985 10983.14 no move -1.05 - - 1632.31 - - - 2184.25 - -97.32 - - 3091.59 - - - - - - - - - - -
11281.84 892.48 -5.98 1000 11283.17 no move -1.05 - - 1632.44 - - - 2184.31 - -97.32 - - 3092.16 - - - - - - - - - - -
11581.85 910.32 -5.77 1015 11587.78 roll -1.05 - - 1614.12 - 4.53 0.057 3718.25 338.6 -97.32 - - 3094.72 - - - - - - - - - 15.76 -
11681.87 917.46 -7.13 1035 11687.79 roll back -1.01 0.09 0.246 1659.56 504.9 4.25 0.019 2175.12 -363.1 -97.32 - - 3095.00 - - - - - - - - 15.51 15.87 -
12001.91 934.99 -5.30 1054 12003.24 no move -1.06 - - 1660.38 - - - 2175.25 - -97.32 - - 3094.31 - - - - - - - - - - -
12302.00 951.13 -5.28 1069 12308.90 roll back -1.12 0.13 0.086 1576.25 -647.2 4.55 0.057 3714.25 338.2 -97.32 - - 3094.81 - - - - - - - - 15.80 15.74 -
12371.90 956.59 -7.99 1083 12377.91 roll back -1.02 0.23 0.243 1655.06 342.7 4.25 0.019 2172.56 -362.8 -97.32 - - 3095.22 - - - - - - - - 15.48 15.84 -
12676.95 973.39 -5.39 1099 12678.28 no move -1.07 - - 1654.88 - - - 2171.81 - -97.32 - - 3093.06 - - - - - - - - - - -
12976.98 989.56 -5.46 1114 12982.89 roll -1.11 - - 1636.69 - 4.56 0.058 3715.44 338.5 -97.32 - - 3093.41 - - - - - - - - - 15.79 -
12987 end dive: TARGET_DEPTH_EXCEEDED
12987 begin apogee
12991.76 990.10 -5.47 1116 13077.17 -0.14 1.00 0.212 1936.50 299.8 0.25 0.098 2599.38 -4464.2 - 83.33 2.377 2693.97 -4.8 0.346 - - - - - - 15.51 15.24 11.17
13078 end apogee: CONTROL_FINISHED_OK
13078 begin climb
13077.73 990.39 - 1121 13166.69 0.86 0.94 0.071 2273.06 358.0 - - 2603.38 - 97.32 85.48 2.304 2299.88 -4.6 0.343 - - - - - - 15.35 - 12.22
13479.80 942.90 12.84 1154 13481.14 VBD 0.83 - - 2272.31 - - - 2602.19 - 97.32 - - 2284.91 - - - - - - - - - - -
13779.82 905.04 12.56 1169 13781.27 0.81 0.15 0.247 2231.31 -273.3 - - 2603.69 - 97.32 - - 2279.72 - - - - - - - - 15.34 - -
14080.09 872.27 10.69 1184 14081.43 VBD 0.84 - - 2232.69 - - - 2603.62 - 97.32 - - 2279.56 - - - - - - - - - - -
14380.10 840.56 10.38 1199 14381.44 VBD 0.87 - - 2231.69 - - - 2604.19 - 97.32 - - 2278.75 - - - - - - - - - - -
14680.14 809.50 10.25 1214 14681.59 0.90 0.11 0.096 2290.62 535.7 - - 2602.81 - 97.32 - - 2279.97 - - - - - - - - 15.70 - -
14979.88 772.30 12.45 1229 14981.34 0.85 0.17 0.236 2245.69 -264.3 - - 2603.06 - 97.32 - - 2278.09 - - - - - - - - 15.50 - -
15279.88 740.54 10.28 1244 15285.81 done 0.85 - - 2262.06 - 4.41 0.044 1078.62 -345.7 97.32 - - 2277.91 - - - - - - - - - 15.78 -
15305.14 737.91 10.49 1249 15310.78 done 0.88 - - 2244.94 - 4.26 0.028 2597.00 356.4 97.32 - - 2277.66 - - - - - - - - - 15.81 -
15619.88 704.90 10.50 1267 15621.22 VBD 0.88 - - 2246.12 - - - 2598.38 - 97.32 - - 2275.75 - - - - - - - - - - -
15920.17 673.75 10.34 1282 15921.51 VBD 0.88 - - 2244.62 - - - 2598.69 - 97.32 - - 2275.69 - - - - - - - - - - -
16219.93 642.58 10.42 1297 16221.26 VBD 0.88 - - 2243.06 - - - 2596.81 - 97.32 - - 2277.12 - - - - - - - - - - -
16519.94 611.39 10.42 1312 16525.85 done 0.88 - - 2261.56 - 4.35 0.044 1079.44 -348.8 97.32 - - 2276.25 - - - - - - - - - 15.83 -
16544.95 608.80 10.58 1317 16550.85 done 0.91 - - 2244.69 - 4.24 0.028 2596.12 357.7 97.32 - - 2275.78 - - - - - - - - - 15.87 -
16859.97 576.15 10.30 1335 16861.31 VBD 0.93 - - 2245.38 - - - 2595.00 - 97.32 - - 2275.09 - - - - - - - - - - -
17159.99 544.98 10.38 1350 17161.45 0.95 0.12 0.086 2306.50 509.3 - - 2595.94 - 97.32 - - 2273.75 - - - - - - - - 15.83 - -
17460.01 507.06 12.67 1365 17461.46 0.89 0.17 0.241 2259.12 -278.7 - - 2597.00 - 97.32 - - 2277.16 - - - - - - - - 15.57 - -
17760.01 474.04 10.97 1380 17761.35 VBD 0.89 - - 2258.25 - - - 2598.12 - 97.32 - - 2275.69 - - - - - - - - - - -
18060.10 441.77 10.72 1395 18065.94 done 0.89 - - 2277.69 - 4.36 0.043 1079.88 -348.2 97.32 - - 2274.94 - - - - - - - - - 15.87 -
18090.02 438.37 10.97 1401 18095.92 done 0.91 - - 2258.56 - 4.22 0.028 2597.56 359.6 97.32 - - 2275.00 - - - - - - - - - 15.91 -
18400.03 404.77 10.85 1418 18401.37 VBD 0.91 - - 2258.62 - - - 2597.69 - 97.32 - - 2273.16 - - - - - - - - - - -
18700.12 373.01 10.49 1445 18701.45 VBD 0.91 - - 2258.94 - - - 2597.69 - 97.32 - - 2273.44 - - - - - - - - - - -
19000.14 341.98 10.23 1475 19006.01 done 0.91 - - 2275.50 - 4.35 0.043 1079.25 -349.1 97.32 - - 2275.69 - - - - - - - - - 15.88 -
19025.11 339.35 10.27 1480 19031.01 done 0.94 - - 2258.38 - 4.22 0.028 2596.12 359.4 97.32 - - 2274.91 - - - - - - - - - 15.87 -
19330.12 309.38 9.72 1511 19336.04 done 0.94 - - 2276.44 - 4.35 0.042 1078.31 -348.9 97.32 - - 2275.06 - - - - - - - - - 15.89 -
19355.13 306.97 9.70 1516 19361.04 done 0.96 - - 2258.44 - 4.22 0.027 2596.62 359.8 97.32 - - 2274.62 - - - - - - - - - 15.87 -
19660.17 278.36 9.48 1547 19661.63 0.98 0.10 0.094 2314.56 561.2 - - 2598.44 - 97.32 - - 2272.16 - - - - - - - - 15.87 - -
19960.19 248.44 9.20 1577 19961.65 0.94 0.15 0.245 2276.75 -252.1 - - 2597.62 - 97.32 - - 2271.44 - - - - - - - - 15.60 - -
20260.22 227.54 6.32 1607 20266.13 done 0.98 - - 2293.44 - 4.33 0.041 1078.62 -350.8 97.32 - - 2274.16 - - - - - - - - - 15.90 -
20380.26 220.80 5.52 1631 20423.08 1.14 0.20 0.078 2365.38 359.7 4.21 0.025 2601.62 361.8 143.10 35.88 1.470 2109.59 -4.6 0.119 - - - - - - 15.77 15.94 11.21
20720.32 195.61 6.67 1675 20721.78 1.10 0.15 0.245 2326.06 -262.1 - - 2603.75 - 143.10 - - 2101.56 - - - - - - - - 15.53 - -
21020.50 179.52 5.13 1735 21072.02 1.26 0.17 0.076 2427.31 595.6 4.41 0.043 1079.00 -345.7 195.79 43.15 1.410 1896.56 -4.8 0.105 - - - - - - 15.80 15.59 11.62
21170.46 166.59 9.50 1765 21176.45 roll back 1.24 0.16 0.248 2368.00 -370.7 4.28 0.027 2603.62 356.2 195.79 - - 1891.91 - - - - - - - - 15.48 15.69 -
21475.82 143.75 7.16 1826 21482.49 roll 1.27 - - 2386.56 - 4.39 0.041 1079.50 -347.2 195.79 - - 1887.84 - - - - - - - - - 15.69 -
21555.58 137.86 7.35 1842 21561.49 done 1.32 - - 2370.31 - 4.28 0.027 2598.62 354.9 195.79 - - 1888.81 - - - - - - - - - 15.72 -
21860.92 119.05 5.60 1903 21904.51 1.48 0.25 0.064 2497.56 509.0 4.39 0.043 1078.38 -346.3 240.04 36.50 1.350 1712.88 -4.8 0.074 - - - - - - 15.74 15.55 11.58
21946.40 111.49 10.10 1920 21952.35 roll back 1.43 0.17 0.247 2431.25 -390.1 4.30 0.027 2602.75 354.5 240.04 - - 1711.16 - - - - - - - - 15.49 15.67 -
22251.51 86.27 7.75 1981 22257.42 done 1.47 - - 2448.75 - 4.41 0.042 1078.69 -345.6 240.04 - - 1707.47 - - - - - - - - - 15.66 -
22281.55 83.89 7.75 1987 22287.40 done 1.50 - - 2430.94 - 4.30 0.027 2596.88 353.1 240.04 - - 1707.00 - - - - - - - - - 15.70 -
22586.85 67.26 5.03 2048 22638.57 1.69 0.26 0.058 2561.12 500.7 4.40 0.043 1078.25 -345.1 294.50 44.47 1.299 1491.09 -4.9 0.044 - - - - - - 15.72 15.51 11.57
22711.85 57.42 8.75 2073 22718.59 roll back 1.66 0.14 0.235 2504.44 -404.9 4.31 0.026 2602.38 353.6 294.50 - - 1484.97 - - - - - - - - 15.46 15.63 -
23016.94 43.76 2.89 2134 23096.31 1.94 0.28 0.059 2646.12 506.0 4.47 0.044 1079.88 -340.6 387.66 72.61 1.253 1112.72 -5.1 0.031 - - - - - - 15.64 15.37 11.63
23193.16 31.74 7.77 2169 23199.17 roll back 1.94 0.13 0.245 2593.94 -401.4 4.34 0.028 2603.44 351.1 387.66 - - 1107.12 - - - - - - - - 15.36 15.53 -
23504.47 25.03 -0.17 2230 23560.78 2.40 0.44 0.049 2765.69 390.3 - - 2603.56 - 536.13 55.07 1.214 827.50 -5.1 0.018 - - - - - - 15.51 - 11.63
23561 end climb: NO_VERTICAL_VELOCITY
23561 begin surface
SM 0.96 - - - - 134.6 - - 541.7 - 8.14 0.109 522.4 64.1 - 1.16 0.023 560.9 483.5 -2.063 - - 30.00 15.32 15.44 -