SODA Aug19 * SG229 * Dive index * Mission links * Dive 203 * Raw log
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• Previous call tries 1 • 135.26 of 575.00 AH used of 24V (76.48% remains)
• Surface angle -69.9 deg, depth 1.55 m • Intended pitch -22.6 deg, speed -8.049 cm/s
VBD pumped to 525.93 (SM_CC=525.92322)
• GPS1 time: 78 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
2 end surface: CONTROL_FINISHED_OK
2 begin dive
2.59 - - - 49.37 VBD -0.87 - - 123.44 - - - 2278.00 - -97.32 46.06 0.005 1455.22 - - - - - - - - - - 15.01
49.67 3.35 -4.77 9 111.89 -0.87 7.78 0.413 1684.56 200.7 4.28 0.060 3717.44 336.3 -97.32 46.97 0.005 3089.56 34.8 -4.010 - - - - - - 15.10 15.02 15.15
203.76 47.75 -22.18 40 209.74 roll back -0.76 0.13 0.254 1737.81 409.6 4.35 0.022 2185.06 -352.3 -97.32 - - 3091.28 - - - - - - - - 15.38 15.62 -
508.81 94.16 -14.95 101 514.75 roll -0.73 - - 1755.88 - 4.26 0.054 721.25 -343.6 -97.32 - - 3092.75 - - - - - - - - - 15.61 -
648.85 115.18 -14.75 129 654.76 roll -0.71 - - 1738.94 - 4.24 0.022 2243.25 359.0 -97.32 - - 3091.12 - - - - - - - - - 15.71 -
953.89 157.19 -12.42 190 959.82 roll -0.71 - - 1721.06 - 4.30 0.058 3715.62 342.4 -97.32 - - 3092.50 - - - - - - - - - 15.67 -
1068.91 173.05 -14.00 213 1074.88 roll back -0.71 0.06 0.256 1755.44 573.0 4.29 0.020 2182.00 -357.5 -97.32 - - 3093.28 - - - - - - - - 15.52 15.77 -
1378.98 206.24 -10.00 269 1384.92 roll -0.76 - - 1738.38 - 4.55 0.058 3716.06 337.2 -97.32 - - 3092.97 - - - - - - - - - 15.75 -
1448.99 214.12 -11.41 283 1454.88 roll -0.81 - - 1755.44 - 4.27 0.020 2188.69 -357.7 -97.32 - - 3093.72 - - - - - - - - - 15.79 -
1759.04 242.64 -8.22 315 1766.07 roll back -0.90 0.20 0.070 1638.81 -583.2 4.52 0.057 3718.06 338.4 -97.32 - - 3092.44 - - - - - - - - 15.76 15.75 -
1859.03 255.20 -12.48 335 1865.01 roll back -0.85 0.19 0.232 1711.19 380.9 4.26 0.020 2177.25 -361.7 -97.32 - - 3093.62 - - - - - - - - 15.54 15.83 -
2164.09 277.49 -6.47 366 2170.01 roll -0.92 - - 1695.38 - 4.55 0.058 3718.06 338.6 -97.32 - - 3091.97 - - - - - - - - - 15.80 -
2294.11 287.25 -7.22 392 2299.99 roll -0.96 - - 1711.31 - 4.26 0.020 2184.44 -360.0 -97.32 - - 3092.97 - - - - - - - - - 15.88 -
2604.14 305.42 -6.24 424 2605.62 pitch -1.05 0.20 0.065 1621.25 -450.3 - - 2184.38 - -97.32 - - 3091.19 - - - - - - - - 15.84 - -
2904.16 331.07 -8.71 454 2911.17 roll back -1.02 0.13 0.233 1637.38 124.1 4.53 0.057 3719.25 338.8 -97.32 - - 3093.66 - - - - - - - - 15.60 15.65 -
3024.17 341.82 -8.96 478 3030.15 roll -0.99 - - 1655.31 - 4.26 0.020 2184.94 -360.2 -97.32 - - 3090.91 - - - - - - - - - 15.88 -
3329.22 365.64 -7.83 509 3330.55 no move -1.01 - - 1655.75 - - - 2185.00 - -97.32 - - 3091.19 - - - - - - - - - - -
3629.30 387.92 -7.36 539 3635.13 roll -1.04 - - 1673.94 - 4.20 0.054 721.50 -348.5 -97.32 - - 3091.41 - - - - - - - - - 15.85 -
3699.30 393.49 -8.06 553 3705.16 roll -1.04 - - 1656.50 - 4.21 0.022 2246.75 362.3 -97.32 - - 3093.41 - - - - - - - - - 15.90 -
4019.34 416.39 -7.14 575 4025.18 roll -1.07 - - 1638.31 - 4.26 0.059 3716.69 345.1 -97.32 - - 3091.66 - - - - - - - - - 15.84 -
4094.36 422.78 -8.74 590 4100.23 roll -1.07 - - 1653.88 - 4.24 0.020 2185.25 -361.2 -97.32 - - 3092.06 - - - - - - - - - 15.90 -
4399.42 444.94 -7.09 606 4405.30 roll -1.10 - - 1636.88 - 4.51 0.058 3716.81 339.6 -97.32 - - 3091.03 - - - - - - - - - 15.85 -
4464.35 450.55 -8.71 619 4470.27 roll -1.10 - - 1653.94 - 4.26 0.020 2185.31 -359.5 -97.32 - - 3090.62 - - - - - - - - - 15.93 -
4779.42 473.48 -7.11 637 4780.87 pitch -1.14 0.13 0.090 1588.44 -503.8 - - 2183.12 - -97.32 - - 3092.59 - - - - - - - - 15.85 - -
5079.49 498.78 -8.43 652 5080.94 pitch -1.09 0.17 0.237 1634.00 268.0 - - 2182.00 - -97.32 - - 3088.88 - - - - - - - - 15.59 - -
5379.47 519.71 -6.72 667 5380.80 no move -1.09 - - 1633.62 - - - 2182.88 - -97.32 - - 3090.03 - - - - - - - - - - -
5679.50 540.20 -6.92 682 5680.83 no move -1.09 - - 1634.56 - - - 2184.00 - -97.32 - - 3089.28 - - - - - - - - - - -
5979.53 560.78 -6.83 697 5980.86 no move -1.09 - - 1633.75 - - - 2182.69 - -97.32 - - 3090.19 - - - - - - - - - - -
6279.56 581.15 -6.73 712 6285.50 roll -1.09 - - 1616.31 - 4.51 0.057 3718.12 340.5 -97.32 - - 3092.16 - - - - - - - - - 15.86 -
6354.58 587.09 -8.24 727 6360.52 roll -1.05 - - 1633.62 - 4.25 0.020 2185.81 -360.5 -97.32 - - 3090.69 - - - - - - - - - 15.92 -
6659.67 608.03 -6.97 743 6661.01 no move -1.05 - - 1633.88 - - - 2185.88 - -97.32 - - 3088.88 - - - - - - - - - - -
6959.64 628.76 -6.89 758 6960.98 no move -1.05 - - 1633.94 - - - 2186.31 - -97.32 - - 3091.16 - - - - - - - - - - -
7259.66 649.37 -6.82 773 7260.99 no move -1.05 - - 1633.75 - - - 2186.06 - -97.32 - - 3090.16 - - - - - - - - - - -
7559.68 669.84 -6.89 788 7561.01 no move -1.05 - - 1633.50 - - - 2186.44 - -97.32 - - 3090.25 - - - - - - - - - - -
7859.68 690.02 -6.59 803 7861.02 no move -1.05 - - 1633.75 - - - 2185.50 - -97.32 - - 3090.75 - - - - - - - - - - -
8159.72 710.05 -6.79 818 8161.06 no move -1.07 - - 1634.25 - - - 2186.19 - -97.32 - - 3090.50 - - - - - - - - - - -
8459.72 729.93 -6.62 833 8465.67 roll -1.07 - - 1616.81 - 4.51 0.058 3718.31 339.7 -97.32 - - 3091.47 - - - - - - - - - 15.87 -
8539.74 736.42 -8.30 849 8545.68 roll back -1.04 0.06 0.260 1651.25 574.0 4.25 0.020 2174.69 -363.2 -97.32 - - 3090.91 - - - - - - - - 15.63 15.95 -
8859.78 756.25 -6.16 868 8861.12 no move -1.08 - - 1651.94 - - - 2175.06 - -97.32 - - 3090.56 - - - - - - - - - - -
9159.79 774.64 -6.20 883 9165.72 roll -1.13 - - 1632.69 - 4.52 0.057 3718.38 341.4 -97.32 - - 3091.09 - - - - - - - - - 15.87 -
9234.75 780.20 -7.34 898 9240.71 roll -1.13 - - 1650.12 - 4.24 0.019 2185.62 -361.5 -97.32 - - 3091.62 - - - - - - - - - 15.93 -
9539.89 798.77 -5.98 914 9541.35 pitch -1.17 0.16 0.079 1570.69 -496.4 - - 2184.25 - -97.32 - - 3090.97 - - - - - - - - 15.88 - -
9839.84 821.75 -7.91 929 9841.31 pitch -1.11 0.22 0.237 1627.81 259.6 - - 2182.94 - -97.32 - - 3089.03 - - - - - - - - 15.57 - -
10139.83 841.13 -6.46 944 10141.17 no move -1.11 - - 1628.31 - - - 2182.44 - -97.32 - - 3089.53 - - - - - - - - - - -
10439.91 860.03 -6.38 959 10441.24 no move -1.11 - - 1628.19 - - - 2182.44 - -97.32 - - 3092.16 - - - - - - - - - - -
10739.93 878.80 -6.35 974 10741.27 no move -1.11 - - 1628.25 - - - 2182.50 - -97.32 - - 3091.12 - - - - - - - - - - -
11039.88 897.30 -6.16 989 11045.83 roll -1.11 - - 1611.38 - 4.55 0.057 3718.31 337.5 -97.32 - - 3091.59 - - - - - - - - - 15.73 -
11134.89 904.27 -7.44 1008 11140.82 roll -1.07 - - 1628.38 - 4.28 0.019 2182.44 -358.8 -97.32 - - 3090.94 - - - - - - - - - 15.78 -
11439.90 923.43 -6.25 1024 11441.24 no move -1.07 - - 1628.81 - - - 2182.75 - -97.32 - - 3090.91 - - - - - - - - - - -
11739.93 941.93 -6.18 1039 11741.27 no move -1.07 - - 1627.94 - - - 2182.62 - -97.32 - - 3089.16 - - - - - - - - - - -
12039.95 960.38 -6.14 1054 12041.29 no move -1.07 - - 1628.00 - - - 2182.12 - -97.32 - - 3091.38 - - - - - - - - - - -
12340.00 978.65 -6.11 1069 12341.33 no move -1.09 - - 1628.06 - - - 2182.62 - -97.32 - - 3090.28 - - - - - - - - - - -
12540 end dive: TARGET_DEPTH_EXCEEDED
12540 begin apogee
12542.35 991.05 -6.24 1079 12628.34 -0.14 1.10 0.206 1938.12 281.9 0.14 0.125 2518.69 2400.5 - 83.28 2.373 2695.81 -4.7 0.340 - - - - - - 15.38 15.19 11.16
12629 end apogee: CONTROL_FINISHED_OK
12629 begin climb
12628.93 991.40 - 1083 12717.03 0.87 0.95 0.067 2276.19 355.9 - - 2518.44 - 97.32 85.92 2.301 2296.81 -4.6 0.344 - - - - - - 15.27 - 12.18
13020.24 947.89 12.15 1115 13026.91 done 0.87 - - 2260.00 - 4.34 0.067 3955.75 331.2 97.32 - - 2282.59 - - - - - - - - - 15.38 -
13070.05 940.92 14.39 1125 13075.87 done 0.78 - - 2276.88 - 3.99 0.018 2533.00 -356.6 97.32 - - 2282.19 - - - - - - - - - 15.44 -
13375.08 903.18 12.44 1141 13381.99 0.76 0.22 0.235 2198.56 -356.0 4.30 0.067 3955.25 330.8 97.32 - - 2280.69 - - - - - - - - 15.34 15.40 -
13405.07 899.57 12.10 1147 13410.88 done 0.76 - - 2212.00 - 3.96 0.018 2538.19 -357.8 97.32 - - 2281.34 - - - - - - - - - 15.60 -
13710.36 868.82 10.18 1163 13716.94 done 0.82 - - 2197.62 - 4.28 0.068 3956.50 331.4 97.32 - - 2274.78 - - - - - - - - - 15.61 -
13725.05 867.21 10.40 1166 13730.94 0.86 0.12 0.096 2275.94 652.7 3.95 0.018 2530.44 -361.0 97.32 - - 2276.59 - - - - - - - - 15.56 15.69 -
14045.30 828.04 12.23 1185 14050.94 done 0.86 - - 2260.00 - 4.30 0.068 3958.12 332.0 97.32 - - 2277.75 - - - - - - - - - 15.64 -
14060.05 826.03 12.40 1188 14065.92 done 0.81 - - 2277.06 - 3.93 0.019 2536.50 -361.7 97.32 - - 2275.44 - - - - - - - - - 15.73 -
14365.38 788.83 12.21 1204 14372.04 0.81 0.16 0.243 2215.19 -386.7 4.24 0.067 3954.00 334.3 97.32 - - 2273.38 - - - - - - - - 15.49 15.53 -
14390.12 785.86 11.95 1209 14395.92 done 0.79 - - 2230.62 - 3.90 0.018 2537.56 -363.2 97.32 - - 2276.22 - - - - - - - - - 15.76 -
14700.16 753.26 10.46 1226 14705.99 done 0.83 - - 2215.81 - 4.24 0.068 3955.81 334.5 97.32 - - 2274.19 - - - - - - - - - 15.71 -
14720.11 750.92 10.39 1230 14725.92 done 0.83 - - 2230.75 - 3.89 0.018 2535.75 -365.1 97.32 - - 2274.88 - - - - - - - - - 15.79 -
15040.44 718.11 10.15 1249 15046.01 done 0.88 - - 2214.31 - 4.24 0.068 3955.38 334.8 97.32 - - 2274.81 - - - - - - - - - 15.73 -
15060.12 716.04 9.99 1253 15065.99 0.88 0.09 0.111 2281.44 745.9 3.90 0.018 2525.00 -366.8 97.32 - - 2274.44 - - - - - - - - 15.68 15.81 -
15380.27 678.25 11.78 1272 15386.03 done 0.88 - - 2265.25 - 4.26 0.068 3954.94 335.7 97.32 - - 2275.22 - - - - - - - - - 15.72 -
15410.15 674.11 13.74 1278 15416.05 0.79 0.20 0.254 2225.50 -198.8 3.90 0.019 2536.12 -363.8 97.32 - - 2274.88 - - - - - - - - 15.49 15.85 -
15720.16 643.47 9.54 1295 15721.50 VBD 0.85 - - 2225.19 - - - 2519.44 - 97.32 - - 2272.41 - - - - - - - - - - -
16020.19 614.85 9.50 1310 16021.65 0.91 0.14 0.089 2294.19 492.9 - - 2519.88 - 97.32 - - 2272.69 - - - - - - - - 15.79 - -
16320.21 578.48 12.23 1325 16326.14 0.87 0.16 0.241 2234.44 -373.4 4.24 0.068 3956.94 338.9 97.32 - - 2273.44 - - - - - - - - 15.56 15.60 -
16350.24 574.81 12.29 1331 16356.02 done 0.83 - - 2250.75 - 3.88 0.018 2530.69 -367.6 97.32 - - 2274.25 - - - - - - - - - 15.90 -
16660.56 541.18 10.79 1348 16666.10 done 0.85 - - 2234.19 - 4.24 0.069 3957.31 336.5 97.32 - - 2269.25 - - - - - - - - - 15.75 -
16685.19 538.24 10.81 1353 16691.03 done 0.85 - - 2249.38 - 3.88 0.018 2534.75 -366.6 97.32 - - 2275.38 - - - - - - - - - 15.89 -
17000.56 503.69 11.00 1371 17006.12 done 0.88 - - 2244.25 - 4.22 0.068 3954.62 336.5 97.32 - - 2273.50 - - - - - - - - - 15.78 -
17025.24 500.50 11.25 1376 17031.07 done 0.84 - - 2260.25 - 3.87 0.018 2535.44 -366.7 97.32 - - 2272.56 - - - - - - - - - 15.89 -
17340.56 464.87 11.19 1394 17341.90 VBD 0.84 - - 2261.06 - - - 2520.25 - 97.32 - - 2271.47 - - - - - - - - - - -
17640.28 432.33 10.81 1409 17646.19 done 0.84 - - 2244.25 - 4.22 0.067 3955.38 340.1 97.32 - - 2272.47 - - - - - - - - - 15.80 -
17660.31 429.88 11.01 1413 17666.11 done 0.82 - - 2261.31 - 3.86 0.016 2528.12 -369.8 97.32 - - 2273.50 - - - - - - - - - 15.92 -
17970.31 396.47 10.55 1433 17976.22 done 0.82 - - 2245.00 - 4.24 0.068 3953.50 336.2 97.32 - - 2272.66 - - - - - - - - - 15.76 -
17990.36 394.15 10.91 1437 17996.19 done 0.80 - - 2260.88 - 3.88 0.018 2535.12 -365.6 97.32 - - 2272.31 - - - - - - - - - 15.92 -
18300.41 362.03 10.11 1469 18306.29 done 0.82 - - 2244.81 - 4.22 0.067 3957.50 337.1 97.32 - - 2272.62 - - - - - - - - - 15.81 -
18315.38 360.27 10.05 1472 18321.24 done 0.82 - - 2261.75 - 3.88 0.018 2533.44 -367.0 97.32 - - 2272.66 - - - - - - - - - 15.91 -
18620.45 330.72 9.22 1503 18621.79 VBD 0.84 - - 2261.88 - - - 2518.81 - 97.32 - - 2271.28 - - - - - - - - - - -
18920.81 303.92 8.42 1533 18926.38 done 0.86 - - 2245.75 - 4.21 0.066 3954.75 341.1 97.32 - - 2272.62 - - - - - - - - - 15.81 -
18965.55 299.36 10.64 1542 18971.34 done 0.80 - - 2261.12 - 3.86 0.018 2527.62 -369.7 97.32 - - 2273.50 - - - - - - - - - 15.92 -
19270.54 275.25 6.51 1573 19276.39 done 0.84 - - 2280.25 - 4.05 0.042 1077.19 -358.1 97.32 - - 2272.28 - - - - - - - - - 15.88 -
19310.57 272.48 6.74 1581 19316.43 done 0.88 - - 2262.88 - 4.20 0.025 2600.56 362.7 97.32 - - 2271.97 - - - - - - - - - 15.93 -
19620.87 254.90 5.12 1613 19667.41 1.07 0.17 0.073 2325.69 369.5 3.93 0.071 3955.44 344.8 150.32 40.88 1.509 2081.34 -4.7 0.135 - - - - - - 15.87 15.63 11.18
19890.67 232.44 6.70 1667 19896.74 roll 0.99 - - 2341.31 - 3.88 0.017 2523.94 -368.9 150.32 - - 2076.31 - - - - - - - - - 15.80 -
20200.97 215.50 5.23 1699 20249.56 done 1.14 - - 2325.50 - 4.30 0.067 3953.38 332.4 201.22 42.17 1.450 1871.28 -4.9 0.124 - - - - - - - 15.56 11.58
20296.43 208.93 8.13 1718 20302.26 roll 1.14 - - 2341.75 - 3.93 0.018 2526.75 -363.0 201.22 - - 1870.56 - - - - - - - - - 15.67 -
20601.58 188.77 6.49 1767 20607.45 roll 1.22 - - 2326.31 - 4.29 0.067 3955.75 333.1 201.22 - - 1866.59 - - - - - - - - - 15.60 -
20706.54 180.17 8.43 1788 20712.45 1.22 0.09 0.118 2388.81 694.4 3.91 0.018 2518.88 -367.5 201.22 - - 1865.97 - - - - - - - - 15.58 15.74 -
21011.88 159.62 5.74 1849 21047.63 VBD 1.37 - - 2387.56 - - - 2503.38 - 242.97 34.63 1.392 1704.34 -4.7 0.092 - - - - - - - - 11.52
21346.93 138.56 6.69 1916 21348.39 1.45 0.17 0.080 2462.00 437.9 - - 2503.88 - 242.97 - - 1693.94 - - - - - - - - 15.69 - -
21646.99 113.68 8.01 1976 21648.33 VBD 1.45 - - 2462.44 - - - 2503.38 - 242.97 - - 1692.66 - - - - - - - - - - -
21947.05 90.43 7.75 2036 21948.39 VBD 1.45 - - 2463.00 - - - 2502.19 - 242.97 - - 1692.59 - - - - - - - - - - -
22247.10 68.93 7.07 2096 22248.44 VBD 1.45 - - 2462.31 - - - 2503.06 - 242.97 - - 1690.81 - - - - - - - - - - -
22547.16 48.49 6.42 2156 22552.79 done 1.45 - - 2480.50 - 4.07 0.044 1079.44 -349.8 242.97 - - 1690.78 - - - - - - - - - 15.73 -
22656.93 42.25 5.44 2178 22700.72 done 1.60 - - 2464.31 - 4.24 0.025 2602.81 359.3 290.18 38.04 1.284 1511.62 -4.7 0.027 - - - - - - - 15.79 11.55
22997.92 25.43 3.35 2246 23072.19 1.93 0.39 0.050 2646.06 466.0 4.45 0.042 1078.00 -342.7 375.06 67.53 1.231 1164.66 -5.1 0.018 - - - - - - 15.68 15.43 11.62
23294.09 21.74 0.37 2305 23351.24 2.28 0.24 0.075 2731.25 355.0 4.28 0.023 2606.56 357.1 513.89 51.06 1.195 898.97 -5.2 0.016 - - - - - - 15.49 15.61 11.77
23351 end climb: NO_VERTICAL_VELOCITY
23351 begin surface
SM 2.32 - - - - 128.3 - - 538.3 - 8.10 0.121 521.4 64.3 - 1.16 0.021 555.2 474.9 -5.363 - - 30.00 15.35 15.53 -