SODA Aug19 * SG229 * Dive index * Mission links * Dive 177 * Raw log
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• Previous call tries 1 • 126.03 of 575.00 AH used of 24V (78.08% remains)
• Surface angle -67.2 deg, depth 1.37 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 558.2, SM_CC=525.92322)
• GPS1 time: 91 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
2.42 - - - 54.38 VBD -0.86 - - 120.44 - - - 2302.12 - -97.32 51.31 0.005 1537.72 - - - - - - - - - - 15.14
54.62 3.19 -3.38 10 116.75 -0.86 7.93 0.421 1687.56 197.6 4.34 0.060 3766.06 337.3 -97.32 44.99 0.005 3092.88 34.6 -3.786 - - - - - - 15.13 15.07 15.17
308.63 72.15 -20.09 61 314.60 roll back -0.74 0.15 0.252 1746.06 390.0 4.27 0.015 2227.44 -360.3 -97.32 - - 3095.12 - - - - - - - - 15.41 15.65 -
613.69 114.64 -13.19 122 619.60 roll -0.74 - - 1764.44 - 4.19 0.049 770.31 -347.8 -97.32 - - 3094.47 - - - - - - - - - 15.64 -
683.77 124.21 -13.69 136 689.62 roll -0.74 - - 1747.00 - 4.24 0.019 2293.44 359.2 -97.32 - - 3094.56 - - - - - - - - - 15.72 -
988.76 159.59 -11.47 197 990.09 no move -0.74 - - 1747.56 - - - 2294.19 - -97.32 - - 3093.38 - - - - - - - - - - -
1288.86 193.19 -10.96 257 1294.78 roll -0.77 - - 1764.62 - 4.41 0.048 770.75 -345.5 -97.32 - - 3095.12 - - - - - - - - - 15.73 -
1383.84 203.95 -10.67 276 1389.83 roll back -0.82 0.10 0.099 1689.81 -748.1 4.22 0.019 2298.81 362.1 -97.32 - - 3093.59 - - - - - - - - 15.64 15.79 -
1688.88 237.85 -10.11 307 1690.22 no move -0.82 - - 1690.00 - - - 2299.12 - -97.32 - - 3094.41 - - - - - - - - - - -
1988.97 263.25 -7.88 337 1994.95 roll -0.85 - - 1705.31 - 4.39 0.047 769.06 -348.5 -97.32 - - 3096.00 - - - - - - - - - 15.82 -
2068.91 270.27 -8.77 353 2074.84 roll -0.85 - - 1689.31 - 4.20 0.019 2298.00 364.0 -97.32 - - 3093.88 - - - - - - - - - 15.86 -
2378.97 292.85 -7.19 385 2380.30 no move -0.89 - - 1689.00 - - - 2296.44 - -97.32 - - 3093.31 - - - - - - - - - - -
2679.06 314.20 -6.87 415 2680.39 no move -0.94 - - 1688.81 - - - 2297.38 - -97.32 - - 3092.28 - - - - - - - - - - -
2979.08 335.41 -6.91 445 2980.41 no move -0.99 - - 1689.00 - - - 2296.50 - -97.32 - - 3093.25 - - - - - - - - - - -
3279.12 356.10 -6.56 475 3280.58 pitch -1.05 0.14 0.078 1622.31 -476.4 - - 2298.44 - -97.32 - - 3095.22 - - - - - - - - 15.86 - -
3579.11 381.04 -8.33 505 3585.01 roll -1.02 - - 1639.19 - 4.38 0.048 770.75 -348.8 -97.32 - - 3094.19 - - - - - - - - - 15.87 -
3654.11 387.86 -9.18 520 3660.09 roll back -0.96 0.19 0.240 1675.44 190.8 4.20 0.020 2296.50 363.3 -97.32 - - 3094.81 - - - - - - - - 15.57 15.88 -
3959.19 408.29 -6.39 545 3960.53 no move -1.01 - - 1676.56 - - - 2297.25 - -97.32 - - 3092.19 - - - - - - - - - - -
4259.23 427.95 -6.58 560 4260.68 pitch -1.06 0.12 0.085 1615.50 -508.8 - - 2297.50 - -97.32 - - 3093.09 - - - - - - - - 15.85 - -
4559.32 451.59 -7.98 575 4560.77 pitch -1.04 0.12 0.234 1650.06 288.0 - - 2297.69 - -97.32 - - 3094.97 - - - - - - - - 15.66 - -
4859.28 472.84 -6.99 590 4860.62 no move -1.06 - - 1650.06 - - - 2299.00 - -97.32 - - 3092.03 - - - - - - - - - - -
5159.31 494.01 -6.95 605 5165.20 roll -1.08 - - 1669.88 - 4.39 0.047 772.19 -347.8 -97.32 - - 3093.34 - - - - - - - - - 15.89 -
5239.31 500.33 -7.80 621 5245.24 roll back -1.08 0.08 0.121 1609.00 -761.0 4.17 0.020 2302.12 366.9 -97.32 - - 3094.72 - - - - - - - - 15.80 15.92 -
5559.37 526.43 -8.36 640 5560.82 pitch -1.06 0.13 0.233 1645.88 283.7 - - 2302.19 - -97.32 - - 3094.06 - - - - - - - - 15.67 - -
5859.41 548.46 -7.08 655 5860.74 no move -1.08 - - 1646.12 - - - 2302.94 - -97.32 - - 3092.94 - - - - - - - - - - -
6159.44 569.52 -6.85 670 6160.77 no move -1.10 - - 1646.00 - - - 2303.31 - -97.32 - - 3091.75 - - - - - - - - - - -
6459.45 589.97 -6.81 685 6465.35 roll -1.12 - - 1665.50 - 4.39 0.047 770.50 -349.2 -97.32 - - 3092.09 - - - - - - - - - 15.90 -
6534.43 595.53 -7.53 700 6540.39 roll back -1.12 0.10 0.103 1591.81 -736.9 4.17 0.019 2301.19 367.1 -97.32 - - 3093.41 - - - - - - - - 15.75 15.91 -
6839.48 619.48 -7.95 716 6840.93 pitch -1.08 0.17 0.235 1639.06 277.9 - - 2302.31 - -97.32 - - 3095.41 - - - - - - - - 15.64 - -
7139.49 639.08 -6.45 731 7140.82 no move -1.08 - - 1638.56 - - - 2301.88 - -97.32 - - 3092.47 - - - - - - - - - - -
7439.51 658.60 -6.62 746 7440.84 no move -1.08 - - 1638.75 - - - 2301.81 - -97.32 - - 3091.84 - - - - - - - - - - -
7739.52 678.38 -6.56 761 7745.43 roll -1.08 - - 1658.56 - 4.38 0.047 770.69 -349.6 -97.32 - - 3092.88 - - - - - - - - - 15.91 -
7819.54 684.27 -7.56 777 7825.42 roll -1.05 - - 1640.69 - 4.16 0.019 2296.31 366.7 -97.32 - - 3093.91 - - - - - - - - - 15.96 -
8139.54 705.12 -6.57 796 8140.88 no move -1.05 - - 1640.50 - - - 2297.50 - -97.32 - - 3093.78 - - - - - - - - - - -
8439.57 725.11 -6.75 811 8440.91 no move -1.05 - - 1640.75 - - - 2297.19 - -97.32 - - 3094.09 - - - - - - - - - - -
8739.61 745.13 -6.67 826 8740.94 no move -1.07 - - 1640.69 - - - 2297.19 - -97.32 - - 3095.88 - - - - - - - - - - -
9039.63 764.93 -6.57 841 9040.96 no move -1.09 - - 1641.00 - - - 2297.00 - -97.32 - - 3092.22 - - - - - - - - - - -
9339.64 784.31 -6.47 856 9345.53 roll -1.11 - - 1657.50 - 4.36 0.047 770.81 -350.0 -97.32 - - 3095.56 - - - - - - - - - 15.91 -
9434.63 791.18 -7.43 875 9440.53 roll -1.09 - - 1639.50 - 4.18 0.019 2300.25 365.9 -97.32 - - 3095.69 - - - - - - - - - 15.93 -
9739.73 810.85 -6.27 891 9741.06 no move -1.12 - - 1640.81 - - - 2301.00 - -97.32 - - 3093.66 - - - - - - - - - - -
10039.70 830.07 -6.22 906 10041.03 no move -1.14 - - 1640.69 - - - 2300.94 - -97.32 - - 3093.19 - - - - - - - - - - -
10339.70 848.85 -6.25 921 10341.16 pitch -1.16 0.12 0.093 1581.12 -496.4 - - 2301.25 - -97.32 - - 3093.19 - - - - - - - - 15.90 - -
10639.72 871.31 -7.44 936 10645.80 roll back -1.11 0.18 0.237 1648.19 372.6 4.39 0.046 770.56 -348.7 -97.32 - - 3090.69 - - - - - - - - 15.62 15.68 -
10739.73 878.73 -7.46 956 10745.60 roll -1.07 - - 1631.25 - 4.18 0.019 2299.00 365.7 -97.32 - - 3094.88 - - - - - - - - - 15.96 -
11059.75 899.19 -6.43 975 11061.08 no move -1.07 - - 1630.94 - - - 2298.75 - -97.32 - - 3092.31 - - - - - - - - - - -
11359.77 918.17 -6.28 990 11361.10 no move -1.07 - - 1630.88 - - - 2299.38 - -97.32 - - 3093.03 - - - - - - - - - - -
11659.81 936.35 -5.96 1005 11665.70 roll -1.07 - - 1648.38 - 4.41 0.047 772.06 -346.3 -97.32 - - 3094.22 - - - - - - - - - 15.77 -
11734.78 941.42 -6.73 1020 11740.71 roll -1.04 - - 1631.44 - 4.21 0.019 2297.62 362.4 -97.32 - - 3094.16 - - - - - - - - - 15.78 -
12039.82 959.26 -5.72 1036 12041.15 no move -1.04 - - 1630.50 - - - 2298.00 - -97.32 - - 3093.94 - - - - - - - - - - -
12339.84 976.94 -5.85 1051 12341.17 no move -1.04 - - 1630.75 - - - 2298.56 - -97.32 - - 3091.88 - - - - - - - - - - -
12580 end dive: TARGET_DEPTH_EXCEEDED
12580 begin apogee
12581.61 990.86 -5.91 1063 12667.96 -0.14 1.07 0.203 1937.50 286.7 0.14 0.109 2476.81 1273.2 - 84.12 2.371 2690.50 -4.8 0.342 - - - - - - 15.46 15.21 11.29
12669 end apogee: CONTROL_FINISHED_OK
12669 begin climb
12668.50 990.80 - 1067 12755.90 0.86 0.95 0.068 2272.56 352.7 - - 2447.25 - 97.32 85.36 2.304 2297.16 -4.6 0.340 - - - - - - 15.29 - 12.20
13039.86 948.27 12.50 1086 13045.82 done 0.84 - - 2255.00 - 4.57 0.067 3954.81 329.9 97.32 - - 2282.06 - - - - - - - - - 15.34 -
13114.85 937.35 14.64 1101 13120.83 0.75 0.22 0.241 2213.50 -188.6 4.09 0.013 2495.75 -356.7 97.32 - - 2281.50 - - - - - - - - 15.17 15.39 -
13420.14 905.67 10.11 1117 13426.82 done 0.81 - - 2194.62 - 4.41 0.068 3953.06 330.5 97.32 - - 2278.84 - - - - - - - - - 15.54 -
13439.88 903.33 10.19 1121 13445.81 0.83 0.10 0.103 2265.25 706.3 4.03 0.013 2484.94 -364.3 97.32 - - 2281.19 - - - - - - - - 15.48 15.61 -
13754.89 864.95 12.24 1139 13760.81 done 0.83 - - 2249.06 - 4.39 0.065 3954.25 334.7 97.32 - - 2279.88 - - - - - - - - - 15.63 -
13799.96 858.70 14.71 1148 13805.78 done 0.75 - - 2266.88 - 4.02 0.013 2494.88 -363.0 97.32 - - 2277.41 - - - - - - - - - 15.67 -
14115.17 820.26 11.88 1166 14121.91 0.75 0.20 0.233 2192.12 -373.8 4.36 0.064 3956.00 335.1 97.32 - - 2275.25 - - - - - - - - 15.48 15.53 -
14149.99 816.05 12.04 1173 14155.79 done 0.75 - - 2209.62 - 4.01 0.013 2490.38 -365.5 97.32 - - 2276.91 - - - - - - - - - 15.72 -
14470.23 784.93 9.51 1192 14476.88 done 0.81 - - 2192.12 - 4.36 0.067 3955.88 336.1 97.32 - - 2275.28 - - - - - - - - - 15.69 -
14494.96 782.14 9.85 1197 14500.88 0.84 0.12 0.094 2272.62 670.8 4.00 0.013 2485.50 -367.6 97.32 - - 2275.47 - - - - - - - - 15.67 15.76 -
14804.96 744.88 12.15 1214 14810.89 done 0.84 - - 2256.44 - 4.37 0.067 3955.94 336.5 97.32 - - 2276.78 - - - - - - - - - 15.70 -
14834.98 740.83 13.53 1220 14840.90 0.75 0.21 0.245 2214.00 -202.1 3.98 0.013 2493.06 -367.6 97.32 - - 2275.59 - - - - - - - - 15.51 15.81 -
15145.26 710.50 9.41 1237 15146.60 VBD 0.82 - - 2214.62 - - - 2478.00 - 97.32 - - 2275.25 - - - - - - - - - - -
15445.28 682.35 9.30 1252 15451.98 0.88 0.14 0.087 2269.81 394.2 4.34 0.066 3956.62 340.7 97.32 - - 2272.00 - - - - - - - - 15.78 15.75 -
15495.01 675.87 13.91 1262 15500.97 0.77 0.24 0.246 2220.25 -206.5 3.97 0.013 2493.06 -368.7 97.32 - - 2274.34 - - - - - - - - 15.50 15.85 -
15800.31 646.28 9.41 1278 15801.65 VBD 0.83 - - 2220.88 - - - 2476.19 - 97.32 - - 2273.44 - - - - - - - - - - -
16100.08 617.76 9.55 1293 16106.06 0.89 0.14 0.088 2283.50 447.3 4.34 0.067 3955.69 340.9 97.32 - - 2274.28 - - - - - - - - 15.81 15.76 -
16150.08 611.12 14.15 1303 16156.01 0.76 0.30 0.244 2217.69 -219.4 3.96 0.013 2492.81 -369.4 97.32 - - 2274.06 - - - - - - - - 15.55 15.87 -
16460.13 581.44 9.34 1320 16466.03 done 0.82 - - 2199.94 - 4.32 0.065 3957.69 339.1 97.32 - - 2273.34 - - - - - - - - - 15.79 -
16485.13 578.69 9.35 1325 16491.03 0.85 0.10 0.103 2274.62 746.8 3.95 0.013 2480.44 -374.0 97.32 - - 2274.22 - - - - - - - - 15.76 15.90 -
16800.15 542.35 11.61 1343 16806.08 done 0.85 - - 2257.50 - 4.36 0.064 3957.12 338.7 97.32 - - 2272.75 - - - - - - - - - 15.79 -
16835.22 537.74 13.46 1350 16841.12 0.76 0.22 0.243 2213.62 -199.5 3.95 0.013 2491.44 -371.1 97.32 - - 2272.78 - - - - - - - - 15.54 15.89 -
17140.46 508.79 9.17 1366 17141.80 VBD 0.82 - - 2213.12 - - - 2475.88 - 97.32 - - 2271.31 - - - - - - - - - - -
17440.23 481.11 9.11 1381 17446.19 0.90 0.17 0.079 2280.50 396.4 4.33 0.066 3954.12 341.4 97.32 - - 2272.34 - - - - - - - - 15.84 15.78 -
17485.22 475.18 13.83 1390 17491.18 0.78 0.28 0.246 2220.81 -213.2 3.95 0.013 2493.19 -369.9 97.32 - - 2272.81 - - - - - - - - 15.57 15.91 -
17800.26 445.35 9.14 1408 17801.60 VBD 0.84 - - 2222.00 - - - 2477.94 - 97.32 - - 2273.34 - - - - - - - - - - -
18100.56 418.36 8.98 1423 18107.27 0.90 0.14 0.087 2283.56 439.7 4.32 0.066 3954.19 341.7 97.32 - - 2272.25 - - - - - - - - 15.86 15.81 -
18150.29 411.98 13.80 1433 18156.24 0.78 0.28 0.247 2220.75 -224.3 3.94 0.013 2490.88 -371.4 97.32 - - 2275.09 - - - - - - - - 15.53 15.91 -
18455.60 384.14 8.81 1457 18456.94 VBD 0.84 - - 2221.00 - - - 2475.38 - 97.32 - - 2271.97 - - - - - - - - - - -
18755.68 357.67 8.70 1487 18761.59 0.91 0.16 0.083 2283.50 390.6 4.30 0.066 3953.81 343.8 97.32 - - 2274.16 - - - - - - - - 15.88 15.80 -
18800.36 352.02 13.29 1496 18806.32 0.78 0.28 0.246 2222.06 -219.4 3.95 0.013 2488.81 -370.9 97.32 - - 2273.62 - - - - - - - - 15.53 15.93 -
19105.67 325.73 8.18 1527 19107.01 VBD 0.85 - - 2222.88 - - - 2473.19 - 97.32 - - 2271.50 - - - - - - - - - - -
19405.76 301.30 8.14 1557 19411.68 0.93 0.16 0.083 2286.88 400.0 4.34 0.067 3955.31 341.5 97.32 - - 2272.47 - - - - - - - - 15.89 15.79 -
19425.50 299.11 8.84 1561 19431.28 done 0.90 - - 2303.38 - 3.96 0.013 2483.56 -371.7 97.32 - - 2272.88 - - - - - - - - - 15.95 -
19735.74 267.48 9.58 1593 19737.20 0.88 0.19 0.250 2252.31 -268.8 - - 2468.62 - 97.32 - - 2271.12 - - - - - - - - 15.60 - -
20035.76 245.48 6.47 1623 20041.41 done 0.93 - - 2233.06 - 4.33 0.063 3952.94 342.8 97.32 - - 2274.91 - - - - - - - - - 15.84 -
20060.49 243.60 6.68 1628 20066.67 0.93 0.09 0.112 2297.31 713.9 3.95 0.012 2470.00 -375.4 97.32 - - 2271.22 - - - - - - - - 15.76 15.93 -
20365.80 224.86 4.94 1659 20417.33 done 1.07 - - 2281.81 - 4.39 0.065 3952.50 337.7 153.45 43.23 1.472 2069.72 -4.7 0.122 - - - - - - - 15.66 11.23
20640.56 206.81 6.48 1711 20646.73 roll back 1.07 0.09 0.123 2335.62 597.9 3.97 0.013 2474.12 -372.4 153.45 - - 2063.50 - - - - - - - - 15.65 15.81 -
20945.97 189.17 5.45 1761 20992.71 1.22 0.10 0.109 2409.38 737.6 4.05 0.042 1038.88 -354.4 200.43 39.44 1.416 1875.78 -4.8 0.109 - - - - - - 15.78 15.57 11.62
21215.67 164.78 9.21 1815 21221.65 roll back 1.22 0.11 0.260 2362.50 -426.2 4.24 0.022 2565.38 360.0 200.43 - - 1869.56 - - - - - - - - 15.45 15.70 -
21520.99 142.28 7.04 1876 21526.67 done 1.27 - - 2380.00 - 4.36 0.038 1038.06 -350.3 200.43 - - 1865.94 - - - - - - - - - 15.70 -
21630.75 134.73 6.50 1898 21636.66 done 1.33 - - 2363.81 - 4.24 0.021 2560.06 359.0 200.43 - - 1866.78 - - - - - - - - - 15.74 -
21936.08 117.32 5.37 1959 21982.76 1.52 0.31 0.061 2513.81 483.9 4.39 0.039 1038.88 -346.5 248.82 39.27 1.361 1678.69 -4.8 0.071 - - - - - - 15.75 15.55 11.47
22035.84 108.63 9.65 1979 22041.81 roll back 1.46 0.21 0.262 2439.56 -353.6 4.28 0.022 2564.06 356.4 248.82 - - 1675.00 - - - - - - - - 15.49 15.68 -
22341.15 85.48 5.96 2040 22378.64 1.60 0.15 0.081 2531.50 612.9 4.41 0.040 1038.62 -345.9 286.53 31.07 1.306 1526.53 -4.8 0.054 - - - - - - 15.65 15.52 11.71
22440.87 77.19 8.72 2060 22446.86 roll back 1.60 0.12 0.256 2481.88 -413.5 4.29 0.022 2566.81 356.2 286.53 - - 1522.81 - - - - - - - - 15.46 15.64 -
22745.97 56.88 5.71 2121 22782.78 1.75 0.17 0.073 2555.50 433.1 - - 2564.88 - 328.84 35.02 1.269 1355.62 -4.8 0.037 - - - - - - 15.67 - 11.69
23081.00 39.80 4.70 2188 23132.01 1.91 0.10 0.098 2613.88 583.8 - - 2566.38 - 389.27 48.13 1.239 1106.75 -5.2 0.029 - - - - - - 15.64 - 11.68
23431.12 28.58 1.80 2258 23523.96 2.23 0.23 0.070 2710.75 421.2 4.18 0.070 3953.00 331.7 502.08 86.46 1.206 647.16 -5.3 0.022 - - - - - - 15.58 15.28 11.74
23531.11 24.74 4.41 2278 23558.72 done 2.37 - - 2728.81 - 4.10 0.013 2475.25 -360.4 567.75 21.44 1.106 550.50 -4.5 0.017 - - - - - - - 15.44 12.10
23837 end climb: SURFACE_DEPTH_REACHED
23837 begin surface coast
23861 end surface coast: CONTROL_FINISHED_OK
23861 begin surface
SM 1.68 - - - - 130.2 - - 538.2 - 7.33 0.043 518.2 70.7 - 0.61 0.034 558.2 908.4 -4.587 - - 30.00 15.50 15.56 -