SODA Aug19 * SG229 * Dive index * Mission links * Dive 146 * Raw log
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• Previous call tries 1 • 114.98 of 575.00 AH used of 24V (80.00% remains)
• Surface angle -72.2 deg, depth 1.55 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 576.5, SM_CC=525.92322)
• GPS1 time: 48 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
2.38 - - - 54.37 VBD -0.86 - - 123.62 - - - 2328.81 - -97.32 51.38 0.005 1552.53 - - - - - - - - - - 15.14
54.62 3.42 -4.30 10 116.33 -0.86 7.70 0.411 1722.38 207.6 4.53 0.046 769.12 -344.3 -97.32 43.97 0.005 3090.69 35.0 -4.082 - - - - - - 15.20 15.20 15.21
338.27 73.53 -16.40 67 344.18 roll -0.77 - - 1706.56 - 4.26 0.020 2290.88 357.2 -97.32 - - 3093.88 - - - - - - - - - 15.66 -
643.48 118.15 -14.29 128 644.93 pitch -0.71 0.19 0.251 1758.00 270.7 - - 2291.69 - -97.32 - - 3092.78 - - - - - - - - 15.50 - -
943.67 152.87 -11.29 188 949.44 roll -0.74 - - 1775.38 - 4.39 0.047 769.12 -346.8 -97.32 - - 3096.16 - - - - - - - - - 15.72 -
1028.54 162.49 -11.06 205 1034.52 roll back -0.78 0.10 0.103 1704.94 -704.4 4.24 0.019 2298.12 360.6 -97.32 - - 3094.53 - - - - - - - - 15.64 15.78 -
1333.62 199.01 -11.28 266 1334.95 no move -0.78 - - 1704.56 - - - 2299.81 - -97.32 - - 3094.84 - - - - - - - - - - -
1633.72 229.55 -9.72 297 1639.56 roll -0.80 - - 1719.94 - 4.39 0.046 769.69 -348.5 -97.32 - - 3095.41 - - - - - - - - - 15.82 -
1708.63 236.62 -9.25 312 1714.58 roll -0.80 - - 1704.19 - 4.20 0.019 2296.69 363.6 -97.32 - - 3094.53 - - - - - - - - - 15.84 -
2013.71 259.75 -7.16 343 2015.04 no move -0.86 - - 1704.25 - - - 2297.12 - -97.32 - - 3093.81 - - - - - - - - - - -
2313.79 281.02 -7.16 373 2315.13 no move -0.92 - - 1703.69 - - - 2295.75 - -97.32 - - 3093.75 - - - - - - - - - - -
2613.82 300.72 -6.33 403 2619.72 roll back -0.99 0.13 0.080 1619.38 -648.5 4.24 0.059 3765.06 346.5 -97.32 - - 3094.22 - - - - - - - - 15.84 15.80 -
2673.76 306.15 -9.28 415 2679.69 roll back -0.92 0.19 0.233 1689.44 368.7 4.20 0.014 2213.56 -369.4 -97.32 - - 3096.06 - - - - - - - - 15.67 15.89 -
2983.81 326.64 -6.22 447 2985.14 no move -0.97 - - 1689.81 - - - 2212.38 - -97.32 - - 3093.75 - - - - - - - - - - -
3283.90 345.85 -6.56 477 3285.35 pitch -1.04 0.14 0.082 1625.19 -461.6 - - 2212.94 - -97.32 - - 3092.66 - - - - - - - - 15.85 - -
3583.84 370.23 -8.09 507 3585.17 no move -1.04 - - 1625.06 - - - 2213.31 - -97.32 - - 3093.22 - - - - - - - - - - -
3883.93 394.90 -8.30 537 3885.27 no move -1.04 - - 1625.31 - - - 2213.31 - -97.32 - - 3092.41 - - - - - - - - - - -
4193.91 419.58 -7.83 556 4199.77 roll -1.04 - - 1640.38 - 4.09 0.049 770.75 -352.7 -97.32 - - 3093.69 - - - - - - - - - 15.91 -
4258.96 425.37 -8.88 569 4264.79 roll -0.98 - - 1624.06 - 4.18 0.018 2298.88 365.6 -97.32 - - 3093.31 - - - - - - - - - 15.92 -
4573.92 449.99 -7.63 587 4575.38 pitch -0.98 0.16 0.239 1668.06 275.0 - - 2297.50 - -97.32 - - 3093.03 - - - - - - - - 15.69 - -
4873.97 469.22 -6.29 602 4875.30 no move -1.03 - - 1669.44 - - - 2298.12 - -97.32 - - 3093.03 - - - - - - - - - - -
5173.98 488.31 -6.27 617 5179.93 roll back -1.08 0.13 0.088 1624.00 -349.5 4.36 0.046 769.88 -350.5 -97.32 - - 3093.84 - - - - - - - - 15.88 15.86 -
5268.97 496.43 -8.59 636 5274.94 roll back -1.00 0.20 0.248 1662.19 191.0 4.17 0.018 2297.44 366.3 -97.32 - - 3093.28 - - - - - - - - 15.65 15.95 -
5574.01 516.15 -6.35 652 5575.34 no move -1.05 - - 1661.50 - - - 2297.06 - -97.32 - - 3093.19 - - - - - - - - - - -
5874.03 535.50 -6.43 667 5875.36 no move -1.09 - - 1661.88 - - - 2297.12 - -97.32 - - 3091.66 - - - - - - - - - - -
6174.05 554.23 -6.17 682 6175.50 pitch -1.14 0.16 0.078 1586.06 -473.9 - - 2297.88 - -97.32 - - 3096.25 - - - - - - - - 15.92 - -
6474.06 578.36 -8.12 697 6480.01 roll back -1.08 0.19 0.238 1655.56 365.8 4.36 0.047 770.56 -350.3 -97.32 - - 3093.59 - - - - - - - - 15.70 15.77 -
6554.06 584.67 -7.91 713 6559.93 roll -1.05 - - 1638.69 - 4.16 0.018 2295.62 366.6 -97.32 - - 3094.38 - - - - - - - - - 15.96 -
6874.08 606.76 -6.79 732 6875.41 no move -1.05 - - 1638.75 - - - 2295.69 - -97.32 - - 3093.62 - - - - - - - - - - -
7174.10 627.47 -6.86 747 7180.00 roll -1.05 - - 1656.31 - 4.37 0.046 769.81 -349.2 -97.32 - - 3092.88 - - - - - - - - - 15.85 -
7239.16 632.57 -8.15 760 7244.99 roll -1.02 - - 1638.88 - 4.20 0.018 2296.25 363.4 -97.32 - - 3095.06 - - - - - - - - - 15.85 -
7554.11 654.65 -6.94 778 7555.45 no move -1.02 - - 1639.62 - - - 2297.19 - -97.32 - - 3090.69 - - - - - - - - - - -
7854.16 675.43 -6.89 793 7860.05 roll -1.02 - - 1656.31 - 4.39 0.046 771.00 -347.7 -97.32 - - 3093.12 - - - - - - - - - 15.80 -
7914.22 679.83 -7.51 805 7920.04 roll -1.00 - - 1638.75 - 4.20 0.017 2295.88 363.1 -97.32 - - 3095.31 - - - - - - - - - 15.81 -
8234.16 700.92 -6.39 824 8235.50 no move -1.00 - - 1638.81 - - - 2297.06 - -97.32 - - 3092.31 - - - - - - - - - - -
8534.19 720.56 -6.58 839 8535.53 no move -1.00 - - 1638.62 - - - 2296.69 - -97.32 - - 3093.16 - - - - - - - - - - -
8834.24 740.02 -6.24 854 8840.14 roll -1.02 - - 1656.00 - 4.41 0.046 770.44 -346.1 -97.32 - - 3093.91 - - - - - - - - - 15.76 -
8914.25 745.78 -7.10 870 8920.14 roll -0.99 - - 1638.31 - 4.23 0.018 2296.00 360.7 -97.32 - - 3095.72 - - - - - - - - - 15.76 -
9234.28 765.61 -6.25 889 9235.62 no move -0.99 - - 1638.12 - - - 2296.19 - -97.32 - - 3092.62 - - - - - - - - - - -
9534.33 783.94 -6.22 904 9535.67 no move -1.01 - - 1638.50 - - - 2296.56 - -97.32 - - 3092.44 - - - - - - - - - - -
9834.39 802.02 -6.01 919 9840.39 roll -1.03 - - 1655.25 - 4.39 0.046 770.31 -347.7 -97.32 - - 3096.16 - - - - - - - - - 15.85 -
9899.43 806.55 -6.83 932 9905.25 roll -1.01 - - 1639.00 - 4.20 0.017 2297.81 363.7 -97.32 - - 3093.22 - - - - - - - - - 15.87 -
10214.42 825.51 -6.17 950 10215.75 no move -1.03 - - 1638.62 - - - 2298.56 - -97.32 - - 3092.19 - - - - - - - - - - -
10514.45 843.77 -6.21 965 10520.34 roll -1.06 - - 1655.88 - 4.37 0.046 770.25 -349.7 -97.32 - - 3093.16 - - - - - - - - - 15.88 -
10584.45 848.55 -7.13 979 10590.34 roll -1.03 - - 1638.25 - 4.19 0.018 2295.69 364.1 -97.32 - - 3095.78 - - - - - - - - - 15.89 -
10894.52 867.61 -5.97 996 10895.85 no move -1.06 - - 1638.81 - - - 2296.62 - -97.32 - - 3093.03 - - - - - - - - - - -
11194.54 885.90 -6.16 1011 11195.88 no move -1.08 - - 1638.38 - - - 2296.75 - -97.32 - - 3093.03 - - - - - - - - - - -
11494.60 904.09 -6.03 1026 11500.46 roll -1.10 - - 1655.06 - 4.36 0.046 770.94 -350.0 -97.32 - - 3094.28 - - - - - - - - - 15.90 -
11574.60 909.55 -6.90 1042 11580.45 roll -1.08 - - 1638.50 - 4.18 0.018 2297.12 365.1 -97.32 - - 3093.72 - - - - - - - - - 15.93 -
11894.63 928.72 -5.97 1061 11895.97 no move -1.10 - - 1637.88 - - - 2298.62 - -97.32 - - 3093.12 - - - - - - - - - - -
12194.65 946.51 -5.98 1076 12195.99 no move -1.13 - - 1638.31 - - - 2297.81 - -97.32 - - 3094.03 - - - - - - - - - - -
12494.65 964.29 -6.05 1091 12500.54 roll -1.15 - - 1654.69 - 4.36 0.046 769.00 -350.6 -97.32 - - 3095.59 - - - - - - - - - 15.91 -
12584.62 970.25 -6.62 1109 12590.62 roll back -1.15 0.10 0.104 1583.69 -710.0 4.19 0.018 2304.88 366.6 -97.32 - - 3093.50 - - - - - - - - 15.81 15.93 -
12875 end dive: TARGET_DEPTH_EXCEEDED
12875 begin apogee
12876.43 990.11 -6.91 1125 12961.04 -0.14 1.25 0.220 1939.69 284.8 0.16 0.102 2476.31 1071.4 - 82.25 2.389 2694.81 -4.8 0.343 - - - - - - 15.64 15.32 11.52
12961 end apogee: CONTROL_FINISHED_OK
12961 begin climb
12961.57 990.24 - 1129 13048.74 0.86 0.93 0.066 2271.12 356.4 - - 2443.75 - 97.32 84.61 2.310 2296.06 -4.7 0.345 - - - - - - 15.42 - 12.26
13334.95 947.78 12.44 1157 13341.62 done 0.84 - - 2254.56 - 4.49 0.064 3956.56 336.9 97.32 - - 2284.97 - - - - - - - - - 15.43 -
13384.74 940.54 15.13 1167 13390.90 0.74 0.22 0.240 2208.81 -208.0 4.03 0.013 2495.38 -362.6 97.32 - - 2286.28 - - - - - - - - 15.27 15.49 -
13689.97 908.97 10.21 1183 13691.31 VBD 0.80 - - 2209.62 - - - 2479.62 - 97.32 - - 2279.25 - - - - - - - - - - -
13990.02 879.01 9.91 1198 13996.85 0.85 0.14 0.089 2263.25 383.1 4.32 0.064 3953.38 341.1 97.32 - - 2279.03 - - - - - - - - 15.66 15.63 -
14054.74 869.98 14.66 1211 14060.67 0.75 0.25 0.243 2212.31 -203.8 3.97 0.012 2493.88 -367.6 97.32 - - 2279.00 - - - - - - - - 15.48 15.72 -
14365.03 838.73 9.79 1228 14366.37 VBD 0.80 - - 2211.81 - - - 2478.25 - 97.32 - - 2277.41 - - - - - - - - - - -
14665.05 809.22 9.87 1243 14671.00 0.86 0.14 0.088 2265.06 380.4 4.30 0.063 3955.38 343.5 97.32 - - 2280.31 - - - - - - - - 15.73 15.71 -
14739.78 798.96 14.04 1258 14745.73 0.75 0.26 0.244 2210.50 -209.8 3.96 0.012 2493.44 -369.2 97.32 - - 2280.62 - - - - - - - - 15.52 15.78 -
15045.08 768.79 9.65 1274 15046.41 VBD 0.81 - - 2211.12 - - - 2478.00 - 97.32 - - 2275.53 - - - - - - - - - - -
15345.10 740.10 9.62 1289 15351.79 0.87 0.14 0.085 2274.19 450.5 4.29 0.064 3955.06 344.3 97.32 - - 2274.75 - - - - - - - - 15.79 15.77 -
15419.85 729.84 14.33 1304 15425.77 0.75 0.28 0.243 2210.75 -226.6 3.93 0.012 2491.56 -372.4 97.32 - - 2276.69 - - - - - - - - 15.59 15.83 -
15740.14 698.77 9.43 1323 15746.14 done 0.81 - - 2193.56 - 4.30 0.064 3954.44 340.2 97.32 - - 2275.66 - - - - - - - - - 15.81 -
15785.11 693.84 11.43 1332 15791.00 0.81 0.09 0.117 2257.25 707.7 3.95 0.013 2483.44 -372.4 97.32 - - 2277.38 - - - - - - - - 15.76 15.85 -
16099.88 658.70 11.12 1350 16101.22 VBD 0.81 - - 2258.25 - - - 2468.88 - 97.32 - - 2274.62 - - - - - - - - - - -
16399.90 625.48 11.03 1365 16405.80 done 0.81 - - 2243.44 - 4.30 0.063 3954.12 345.4 97.32 - - 2278.25 - - - - - - - - - 15.83 -
16469.98 616.48 13.24 1379 16475.76 done 0.74 - - 2261.75 - 3.93 0.013 2493.94 -371.5 97.32 - - 2276.59 - - - - - - - - - 15.90 -
16779.99 581.94 10.99 1396 16785.89 0.74 0.19 0.234 2189.25 -381.6 4.28 0.063 3954.25 341.2 97.32 - - 2275.22 - - - - - - - - 15.66 15.70 -
16820.00 577.68 10.90 1404 16825.78 done 0.74 - - 2204.69 - 3.93 0.013 2484.81 -373.9 97.32 - - 2275.03 - - - - - - - - - 15.89 -
17140.29 549.00 9.00 1423 17141.63 VBD 0.81 - - 2207.19 - - - 2470.25 - 97.32 - - 2274.34 - - - - - - - - - - -
17440.24 522.70 8.82 1438 17446.95 0.88 0.16 0.079 2273.25 412.9 4.30 0.064 3955.50 345.4 97.32 - - 2272.72 - - - - - - - - 15.87 15.83 -
17504.97 514.30 13.19 1451 17510.90 0.76 0.26 0.248 2216.88 -216.8 3.93 0.013 2491.38 -372.5 97.32 - - 2275.50 - - - - - - - - 15.63 15.91 -
17815.27 485.21 9.15 1468 17816.61 VBD 0.83 - - 2216.62 - - - 2477.88 - 97.32 - - 2274.53 - - - - - - - - - - -
18115.29 458.26 8.94 1483 18121.97 0.89 0.14 0.086 2275.62 421.4 4.28 0.064 3952.38 344.5 97.32 - - 2272.72 - - - - - - - - 15.89 15.84 -
18180.02 450.09 13.22 1496 18185.96 0.77 0.26 0.248 2220.12 -213.5 3.94 0.013 2489.94 -371.2 97.32 - - 2274.84 - - - - - - - - 15.64 15.96 -
18490.31 421.59 8.97 1513 18491.65 VBD 0.83 - - 2220.06 - - - 2476.38 - 97.32 - - 2272.88 - - - - - - - - - - -
18790.34 394.12 9.40 1531 18797.04 0.89 0.14 0.091 2275.94 399.1 4.30 0.066 3954.19 343.7 97.32 - - 2270.75 - - - - - - - - 15.89 15.85 -
18860.07 384.88 14.22 1545 18866.02 0.77 0.25 0.245 2221.50 -217.8 3.92 0.013 2489.31 -373.7 97.32 - - 2274.22 - - - - - - - - 15.62 15.93 -
19165.38 356.95 8.98 1576 19166.72 VBD 0.84 - - 2220.69 - - - 2474.75 - 97.32 - - 2271.44 - - - - - - - - - - -
19465.47 330.82 8.75 1606 19472.12 0.90 0.14 0.089 2277.62 406.6 4.28 0.066 3953.69 345.5 97.32 - - 2278.28 - - - - - - - - 15.88 15.84 -
19540.16 321.61 12.51 1621 19546.07 0.78 0.26 0.245 2222.69 -211.3 3.91 0.013 2487.38 -375.0 97.32 - - 2274.59 - - - - - - - - 15.66 15.98 -
19850.45 294.50 8.35 1653 19851.79 VBD 0.85 - - 2221.94 - - - 2472.75 - 97.32 - - 2272.12 - - - - - - - - - - -
20150.57 272.00 7.42 1683 20152.02 0.93 0.17 0.077 2305.25 490.1 - - 2471.81 - 97.32 - - 2274.38 - - - - - - - - 15.89 - -
20450.30 245.64 7.96 1713 20451.75 0.91 0.16 0.242 2261.81 -271.5 - - 2472.31 - 97.32 - - 2273.38 - - - - - - - - 15.68 - -
20750.62 226.49 5.31 1743 20791.49 1.08 0.19 0.076 2338.75 404.9 - - 2471.50 - 146.86 38.12 1.491 2097.47 -4.6 0.120 - - - - - - 15.92 - 11.53
21090.62 201.77 6.55 1778 21096.29 roll 1.08 - - 2321.88 - 4.32 0.064 3955.62 343.5 146.86 - - 2090.19 - - - - - - - - - 15.76 -
21220.57 191.65 7.67 1803 21226.13 roll 0.98 - - 2339.00 - 3.97 0.012 2479.31 -371.9 146.86 - - 2087.50 - - - - - - - - - 15.78 -
21525.39 175.72 5.01 1864 21572.36 VBD 1.12 - - 2338.88 - - - 2466.31 - 201.83 45.81 1.423 1869.28 -4.8 0.100 - - - - - - - - 11.80
21870.76 152.13 6.89 1933 21876.36 done 1.20 - - 2357.69 - 4.09 0.039 1037.25 -349.4 201.83 - - 1862.84 - - - - - - - - - 15.61 -
22010.54 142.59 6.48 1961 22016.51 1.29 0.15 0.087 2414.25 377.1 4.26 0.019 2561.31 357.8 201.83 - - 1861.31 - - - - - - - - 15.53 15.64 -
22315.61 118.71 7.63 2022 22321.50 done 1.29 - - 2399.31 - 4.05 0.066 3954.62 344.0 201.83 - - 1860.16 - - - - - - - - - 15.58 -
22380.70 113.30 8.55 2035 22386.62 1.19 0.24 0.249 2352.62 -194.5 3.98 0.013 2484.25 -369.4 201.83 - - 1860.03 - - - - - - - - 15.43 15.66 -
22685.96 98.09 4.37 2096 22747.97 1.45 0.26 0.060 2477.75 481.3 4.12 0.041 1038.69 -350.9 268.31 53.67 1.353 1596.69 -4.9 0.061 - - - - - - 15.62 15.44 11.67
22855.72 84.54 8.43 2130 22861.62 done 1.47 - - 2462.19 - 4.30 0.020 2559.94 353.8 268.31 - - 1591.78 - - - - - - - - - 15.55 -
23160.78 63.00 5.37 2191 23207.62 1.64 0.14 0.080 2514.88 376.4 4.11 0.068 3954.38 339.3 316.70 39.13 1.291 1402.28 -4.8 0.040 - - - - - - 15.54 15.39 11.78
23235.78 57.50 8.05 2206 23241.65 roll 1.58 - - 2532.00 - 4.04 0.012 2491.62 -362.1 316.70 - - 1400.38 - - - - - - - - - 15.51 -
23541.13 40.89 3.65 2267 23604.44 VBD 1.81 - - 2530.50 - - - 2480.44 - 396.17 62.73 1.256 1080.56 -5.1 0.028 - - - - - - - - 11.74
23901.66 25.84 2.63 2339 23984.04 2.23 0.46 0.044 2747.88 472.6 4.20 0.041 1039.50 -343.1 494.01 75.84 1.219 680.31 -5.3 0.019 - - - - - - 15.56 15.27 11.73
24206.53 10.79 5.81 2400 24238.96 done 2.33 - - 2732.00 - 4.28 0.019 2563.69 356.1 534.52 26.73 1.162 551.19 -4.8 0.008 - - - - - - - 15.53 11.85
24341 end climb: SURFACE_DEPTH_REACHED
24341 begin surface coast
24367 end surface coast: CONTROL_FINISHED_OK
24367 begin surface
SM 1.02 - - - - 127.9 - - 544.4 - 7.36 0.043 512.2 69.6 - 0.89 0.017 576.5 642.9 -3.943 - - 30.00 15.48 15.54 -