SODA Aug19 * SG229 * Dive index * Mission links * Dive 185 * Raw log
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• Previous call tries 1 • 128.90 of 575.00 AH used of 24V (77.58% remains)
• Surface angle -70.9 deg, depth 1.44 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 562.2, SM_CC=525.92322)
• GPS1 time: 73 s
• GPS2 time: 3 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
2.55 - - - 54.49 VBD -0.86 - - 125.81 - - - 2273.38 - -97.32 51.19 0.005 1536.19 - - - - - - - - - - 15.06
54.74 3.43 -4.47 10 116.48 -0.86 7.69 0.408 1723.00 207.7 4.53 0.053 720.06 -342.9 -97.32 44.16 0.005 3088.22 35.1 -4.121 - - - - - - 15.15 15.10 15.19
293.45 66.97 -18.06 58 299.31 roll -0.75 - - 1707.12 - 4.28 0.024 2243.81 356.0 -97.32 - - 3089.81 - - - - - - - - - 15.64 -
598.53 112.76 -13.89 119 599.99 pitch -0.69 0.20 0.253 1760.75 268.2 - - 2244.75 - -97.32 - - 3090.53 - - - - - - - - 15.47 - -
898.56 146.48 -11.02 179 904.49 roll -0.73 - - 1778.25 - 4.45 0.052 721.69 -342.3 -97.32 - - 3091.09 - - - - - - - - - 15.68 -
953.61 152.72 -11.21 190 959.50 roll back -0.76 0.09 0.105 1711.06 -746.6 4.26 0.023 2249.94 358.7 -97.32 - - 3092.50 - - - - - - - - 15.63 15.75 -
1258.60 190.08 -11.98 251 1264.77 roll -0.76 - - 1692.50 - 4.28 0.059 3717.12 342.8 -97.32 - - 3091.41 - - - - - - - - - 15.71 -
1303.68 195.74 -12.84 260 1309.58 roll back -0.74 0.13 0.237 1745.38 406.8 4.26 0.020 2177.94 -361.3 -97.32 - - 3092.84 - - - - - - - - 15.56 15.79 -
1613.67 224.62 -8.36 295 1615.00 no move -0.82 - - 1746.50 - - - 2177.75 - -97.32 - - 3090.72 - - - - - - - - - - -
1913.75 246.83 -6.87 325 1919.95 roll back -0.92 0.20 0.066 1633.06 -567.2 4.53 0.058 3715.75 339.5 -97.32 - - 3091.12 - - - - - - - - 15.77 15.78 -
2028.70 258.51 -10.30 348 2034.70 roll back -0.86 0.20 0.239 1707.50 372.2 4.26 0.021 2175.38 -361.6 -97.32 - - 3092.84 - - - - - - - - 15.56 15.85 -
2333.76 278.82 -6.52 379 2335.10 no move -0.93 - - 1707.25 - - - 2175.12 - -97.32 - - 3089.12 - - - - - - - - - - -
2633.83 298.54 -6.67 409 2640.78 roll back -1.00 0.16 0.072 1613.56 -585.6 4.53 0.059 3717.81 340.5 -97.32 - - 3089.56 - - - - - - - - 15.81 15.80 -
2698.79 304.63 -9.74 422 2704.73 roll back -0.92 0.20 0.238 1687.56 370.0 4.22 0.021 2172.50 -366.2 -97.32 - - 3092.16 - - - - - - - - 15.59 15.86 -
3008.82 326.04 -6.64 454 3010.16 no move -0.97 - - 1687.00 - - - 2171.62 - -97.32 - - 3090.09 - - - - - - - - - - -
3309.17 346.03 -6.35 484 3310.62 pitch -1.03 0.13 0.083 1626.56 -464.9 - - 2171.62 - -97.32 - - 3087.28 - - - - - - - - 15.73 - -
3609.20 369.72 -8.08 514 3615.17 roll -1.03 - - 1606.75 - 4.57 0.058 3716.94 338.1 -97.32 - - 3089.59 - - - - - - - - - 15.75 -
3689.25 377.26 -9.75 530 3695.20 roll back -0.96 0.18 0.233 1674.62 377.1 4.27 0.020 2176.19 -360.8 -97.32 - - 3090.38 - - - - - - - - 15.53 15.77 -
3999.34 397.37 -6.49 562 4000.68 no move -1.01 - - 1675.75 - - - 2175.88 - -97.32 - - 3090.41 - - - - - - - - - - -
4309.37 417.26 -6.50 580 4310.82 pitch -1.06 0.12 0.089 1616.56 -493.3 - - 2175.50 - -97.32 - - 3090.41 - - - - - - - - 15.69 - -
4609.39 440.74 -8.17 595 4610.72 no move -1.04 - - 1617.75 - - - 2175.38 - -97.32 - - 3089.69 - - - - - - - - - - -
4909.42 464.88 -8.05 610 4916.42 roll back -1.02 0.14 0.227 1638.50 148.2 4.56 0.057 3717.25 338.1 -97.32 - - 3090.00 - - - - - - - - 15.50 15.53 -
4979.40 470.65 -8.29 624 4985.34 roll -1.02 - - 1656.94 - 4.28 0.020 2188.06 -357.3 -97.32 - - 3089.38 - - - - - - - - - 15.72 -
5284.51 491.42 -6.69 640 5285.85 no move -1.05 - - 1657.25 - - - 2188.31 - -97.32 - - 3087.91 - - - - - - - - - - -
5584.48 512.02 -6.92 655 5585.81 no move -1.09 - - 1656.44 - - - 2187.69 - -97.32 - - 3089.91 - - - - - - - - - - -
5884.49 532.41 -6.74 670 5891.48 roll back -1.12 0.12 0.092 1577.06 -661.5 4.51 0.058 3719.44 339.6 -97.32 - - 3090.69 - - - - - - - - 15.79 15.72 -
5954.48 539.04 -9.62 684 5960.48 roll back -1.02 0.23 0.252 1655.88 342.7 4.24 0.020 2175.25 -364.2 -97.32 - - 3089.50 - - - - - - - - 15.49 15.83 -
6259.51 559.32 -6.33 700 6260.84 no move -1.05 - - 1655.94 - - - 2174.12 - -97.32 - - 3088.69 - - - - - - - - - - -
6559.53 578.88 -6.63 715 6560.86 no move -1.09 - - 1655.56 - - - 2174.75 - -97.32 - - 3092.06 - - - - - - - - - - -
6859.55 598.52 -6.64 730 6861.00 pitch -1.13 0.13 0.091 1593.00 -481.2 - - 2174.06 - -97.32 - - 3090.19 - - - - - - - - 15.83 - -
7159.58 621.89 -7.96 745 7166.56 roll back -1.08 0.17 0.237 1620.00 158.8 4.52 0.057 3718.50 341.7 -97.32 - - 3089.38 - - - - - - - - 15.58 15.64 -
7229.55 627.65 -8.14 759 7235.47 roll -1.04 - - 1637.19 - 4.23 0.020 2185.56 -362.4 -97.32 - - 3090.31 - - - - - - - - - 15.88 -
7534.63 648.87 -6.86 775 7535.96 no move -1.04 - - 1637.88 - - - 2185.31 - -97.32 - - 3089.12 - - - - - - - - - - -
7834.59 669.21 -6.90 790 7835.92 no move -1.04 - - 1636.88 - - - 2185.44 - -97.32 - - 3089.56 - - - - - - - - - - -
8134.60 689.52 -6.80 805 8135.94 no move -1.04 - - 1637.06 - - - 2185.94 - -97.32 - - 3090.69 - - - - - - - - - - -
8434.68 709.55 -6.63 820 8436.01 no move -1.04 - - 1637.56 - - - 2185.50 - -97.32 - - 3090.16 - - - - - - - - - - -
8734.63 729.50 -6.66 835 8740.56 roll -1.04 - - 1619.31 - 4.49 0.058 3716.44 341.0 -97.32 - - 3091.44 - - - - - - - - - 15.85 -
8829.64 736.90 -7.91 854 8835.62 roll back -1.01 0.08 0.250 1660.75 518.0 4.23 0.020 2176.12 -364.1 -97.32 - - 3091.22 - - - - - - - - 15.59 15.91 -
9134.70 755.14 -5.86 870 9136.03 no move -1.05 - - 1660.50 - - - 2175.62 - -97.32 - - 3088.53 - - - - - - - - - - -
9434.72 772.88 -5.86 885 9436.17 pitch -1.10 0.12 0.090 1601.00 -495.8 - - 2175.00 - -97.32 - - 3089.75 - - - - - - - - 15.89 - -
9734.72 794.12 -7.06 900 9741.72 roll back -1.07 0.14 0.234 1621.44 146.0 4.51 0.057 3718.88 342.3 -97.32 - - 3090.44 - - - - - - - - 15.63 15.67 -
9789.74 798.31 -7.74 911 9795.61 roll -1.04 - - 1639.06 - 4.22 0.019 2183.00 -364.0 -97.32 - - 3091.62 - - - - - - - - - 15.95 -
10109.75 817.74 -5.98 930 10111.09 no move -1.06 - - 1639.00 - - - 2184.06 - -97.32 - - 3088.25 - - - - - - - - - - -
10409.79 835.32 -6.03 945 10411.12 no move -1.09 - - 1639.19 - - - 2183.75 - -97.32 - - 3090.12 - - - - - - - - - - -
10709.80 852.80 -5.92 960 10711.14 no move -1.11 - - 1638.69 - - - 2183.62 - -97.32 - - 3091.06 - - - - - - - - - - -
11009.82 870.12 -5.78 975 11015.71 roll -1.13 - - 1621.38 - 4.49 0.058 3716.44 341.4 -97.32 - - 3090.25 - - - - - - - - - 15.87 -
11079.78 875.16 -7.25 989 11085.69 roll -1.10 - - 1638.44 - 4.21 0.020 2185.56 -363.6 -97.32 - - 3090.84 - - - - - - - - - 15.93 -
11389.83 893.81 -5.87 1006 11391.17 no move -1.13 - - 1638.94 - - - 2184.31 - -97.32 - - 3090.53 - - - - - - - - - - -
11689.86 911.23 -5.71 1021 11691.20 no move -1.15 - - 1638.81 - - - 2184.31 - -97.32 - - 3089.44 - - - - - - - - - - -
11989.88 928.51 -5.76 1036 11991.33 pitch -1.18 0.13 0.092 1574.56 -494.2 - - 2183.38 - -97.32 - - 3088.84 - - - - - - - - 15.88 - -
12289.88 949.73 -7.26 1051 12296.86 roll back -1.12 0.19 0.241 1608.31 177.6 4.47 0.057 3715.38 342.7 -97.32 - - 3088.09 - - - - - - - - 15.58 15.62 -
12339.86 953.50 -7.58 1061 12345.78 roll -1.07 - - 1625.50 - 4.20 0.020 2184.75 -364.4 -97.32 - - 3091.06 - - - - - - - - - 15.93 -
12644.87 972.22 -6.10 1077 12646.20 no move -1.07 - - 1625.25 - - - 2185.69 - -97.32 - - 3090.44 - - - - - - - - - - -
12945 end dive: TARGET_DEPTH_EXCEEDED
12945 begin apogee
12947.28 990.78 -6.19 1092 13031.98 -0.14 1.09 0.209 1936.69 285.7 0.13 0.125 2525.12 2611.0 - 82.51 2.379 2694.41 -4.8 0.342 - - - - - - 15.58 15.32 11.28
13033 end apogee: CONTROL_FINISHED_OK
13033 begin climb
13032.54 991.05 - 1096 13127.26 0.86 0.94 0.069 2256.88 340.6 4.43 0.069 3954.31 322.6 97.32 85.32 2.305 2296.50 -4.7 0.343 - - - - - - 15.42 14.95 12.22
13159.60 978.75 13.85 1122 13165.46 roll 0.77 - - 2273.56 - 4.03 0.018 2539.56 -351.1 97.32 - - 2292.88 - - - - - - - - - 15.22 -
13469.95 940.02 12.40 1139 13476.60 0.74 0.23 0.228 2193.44 -348.3 4.28 0.067 3955.12 330.7 97.32 - - 2283.53 - - - - - - - - 15.27 15.32 -
13494.67 937.02 12.47 1144 13500.46 done 0.74 - - 2209.44 - 3.97 0.018 2539.81 -356.5 97.32 - - 2283.12 - - - - - - - - - 15.51 -
13804.96 906.64 9.55 1161 13806.30 VBD 0.80 - - 2209.12 - - - 2524.31 - 97.32 - - 2280.22 - - - - - - - - - - -
14104.92 876.98 9.95 1176 14111.62 0.86 0.14 0.086 2265.75 404.5 4.22 0.069 3954.12 338.8 97.32 - - 2279.06 - - - - - - - - 15.62 15.60 -
14139.73 872.47 13.60 1183 14145.58 0.76 0.24 0.242 2216.19 -206.5 3.92 0.019 2536.75 -361.6 97.32 - - 2279.84 - - - - - - - - 15.42 15.68 -
14459.94 840.29 9.67 1202 14461.28 VBD 0.82 - - 2215.44 - - - 2520.94 - 97.32 - - 2276.72 - - - - - - - - - - -
14759.97 810.96 9.73 1217 14766.66 0.87 0.13 0.086 2268.44 407.7 4.24 0.069 3955.56 338.4 97.32 - - 2278.38 - - - - - - - - 15.73 15.68 -
14784.74 807.77 10.80 1222 14790.52 done 0.81 - - 2286.25 - 3.89 0.019 2538.75 -364.2 97.32 - - 2279.44 - - - - - - - - - 15.79 -
15095.04 768.66 12.57 1239 15101.69 0.77 0.23 0.239 2204.50 -355.4 4.21 0.068 3949.31 335.0 97.32 - - 2276.41 - - - - - - - - 15.51 15.58 -
15124.76 764.97 12.35 1245 15130.56 done 0.75 - - 2219.44 - 3.87 0.019 2536.25 -365.1 97.32 - - 2277.03 - - - - - - - - - 15.81 -
15429.82 733.82 10.09 1261 15435.63 done 0.80 - - 2204.31 - 4.22 0.069 3953.81 335.9 97.32 - - 2277.47 - - - - - - - - - 15.74 -
15444.71 732.19 10.15 1264 15450.57 done 0.80 - - 2218.75 - 3.89 0.019 2534.88 -364.8 97.32 - - 2277.50 - - - - - - - - - 15.81 -
15749.82 702.00 9.71 1280 15751.15 VBD 0.85 - - 2220.38 - - - 2520.62 - 97.32 - - 2274.88 - - - - - - - - - - -
16049.78 672.80 9.64 1295 16055.71 0.90 0.14 0.086 2277.44 407.6 4.22 0.069 3958.31 340.7 97.32 - - 2277.81 - - - - - - - - 15.79 15.75 -
16079.82 668.93 12.99 1301 16085.67 0.81 0.23 0.246 2229.94 -206.5 3.88 0.019 2533.75 -367.2 97.32 - - 2276.47 - - - - - - - - 15.54 15.86 -
16390.05 638.11 9.72 1318 16391.39 VBD 0.85 - - 2230.06 - - - 2518.75 - 97.32 - - 2274.62 - - - - - - - - - - -
16689.81 609.15 9.62 1333 16695.76 0.89 0.12 0.098 2276.00 382.8 4.22 0.069 3953.19 339.9 97.32 - - 2276.94 - - - - - - - - 15.83 15.77 -
16724.86 604.62 13.48 1340 16730.73 0.78 0.26 0.240 2219.25 -218.3 3.86 0.016 2528.62 -369.1 97.32 - - 2277.28 - - - - - - - - 15.52 15.89 -
17029.83 575.31 9.34 1356 17031.16 VBD 0.83 - - 2221.38 - - - 2512.94 - 97.32 - - 2274.62 - - - - - - - - - - -
17329.85 547.83 9.13 1371 17335.81 0.89 0.14 0.091 2274.94 382.6 4.22 0.070 3953.00 341.2 97.32 - - 2276.03 - - - - - - - - 15.84 15.77 -
17349.90 545.58 9.10 1375 17355.66 done 0.85 - - 2292.19 - 3.87 0.019 2536.38 -366.1 97.32 - - 2274.44 - - - - - - - - - 15.89 -
17669.88 508.91 11.52 1394 17675.84 0.81 0.23 0.246 2210.31 -356.0 4.22 0.067 3954.75 336.1 97.32 - - 2276.06 - - - - - - - - 15.50 15.57 -
17689.93 506.77 11.53 1398 17695.69 done 0.77 - - 2225.81 - 3.88 0.018 2536.19 -365.6 97.32 - - 2274.94 - - - - - - - - - 15.81 -
18009.95 477.03 9.25 1417 18011.29 VBD 0.82 - - 2226.12 - - - 2520.75 - 97.32 - - 2272.94 - - - - - - - - - - -
18309.91 449.70 9.01 1432 18311.25 VBD 0.87 - - 2227.06 - - - 2521.25 - 97.32 - - 2272.72 - - - - - - - - - - -
18609.92 422.29 9.09 1447 18611.38 0.91 0.14 0.087 2294.62 482.6 - - 2519.38 - 97.32 - - 2271.78 - - - - - - - - 15.70 - -
18910.07 388.83 11.32 1467 18911.52 0.88 0.14 0.243 2254.69 -285.2 - - 2519.69 - 97.32 - - 2274.19 - - - - - - - - 15.47 - -
19209.96 358.91 10.00 1497 19211.30 VBD 0.90 - - 2254.31 - - - 2519.31 - 97.32 - - 2273.38 - - - - - - - - - - -
19510.06 329.39 9.72 1527 19511.40 VBD 0.92 - - 2254.88 - - - 2519.19 - 97.32 - - 2273.47 - - - - - - - - - - -
19810.39 300.73 9.46 1557 19811.73 VBD 0.95 - - 2254.25 - - - 2519.12 - 97.32 - - 2272.84 - - - - - - - - - - -
20110.39 273.51 8.95 1587 20117.02 0.99 0.14 0.087 2302.31 343.3 4.23 0.069 3952.69 338.9 97.32 - - 2273.22 - - - - - - - - 15.76 15.72 -
20130.10 271.25 9.73 1591 20135.90 done 0.94 - - 2319.06 - 3.88 0.018 2531.75 -366.2 97.32 - - 2274.38 - - - - - - - - - 15.82 -
20435.12 241.28 9.00 1622 20436.58 0.91 0.20 0.247 2265.69 -266.8 - - 2515.19 - 97.32 - - 2272.97 - - - - - - - - 15.50 - -
20735.19 223.81 5.00 1652 20784.09 1.10 0.20 0.075 2366.06 501.8 4.12 0.044 1077.38 -349.0 152.40 42.81 1.483 2071.53 -4.7 0.121 - - - - - - 15.82 15.58 11.25
20825.94 217.02 8.67 1670 20831.92 roll back 1.10 0.09 0.254 2324.88 -457.6 4.28 0.026 2601.94 356.2 152.40 - - 2068.72 - - - - - - - - 15.51 15.70 -
21131.29 196.02 6.02 1707 21168.76 1.22 0.14 0.085 2413.88 635.7 4.39 0.042 1077.38 -347.3 189.09 30.89 1.412 1922.75 -4.7 0.112 - - - - - - 15.71 15.52 11.66
21201.01 190.37 8.45 1721 21206.97 roll back 1.20 0.15 0.249 2356.31 -383.8 4.30 0.026 2603.38 354.9 189.09 - - 1921.91 - - - - - - - - 15.49 15.66 -
21506.34 167.35 7.17 1782 21512.08 roll 1.23 - - 2373.19 - 4.39 0.041 1078.56 -347.3 189.09 - - 1915.12 - - - - - - - - - 15.65 -
21596.11 160.53 7.69 1800 21602.02 roll 1.28 - - 2356.94 - 4.28 0.026 2600.81 355.7 189.09 - - 1916.81 - - - - - - - - - 15.70 -
21901.22 140.94 6.19 1861 21907.21 roll back 1.32 0.14 0.079 2440.25 595.1 4.36 0.041 1078.88 -349.1 189.09 - - 1916.16 - - - - - - - - 15.69 15.69 -
21926.28 139.09 6.73 1866 21932.19 1.32 0.10 0.257 2396.75 -435.0 4.26 0.026 2604.38 358.1 189.09 - - 1916.59 - - - - - - - - 15.48 15.73 -
22231.59 118.69 6.18 1927 22237.29 done 1.32 - - 2413.50 - 4.38 0.041 1079.44 -348.2 189.09 - - 1915.62 - - - - - - - - - 15.73 -
22256.61 117.22 6.02 1932 22294.19 done 1.41 - - 2395.31 - 4.26 0.025 2598.38 356.6 225.71 30.98 1.357 1774.75 -4.5 0.067 - - - - - - - 15.75 11.60
22591.70 95.27 5.90 1999 22632.81 1.57 0.25 0.070 2530.81 542.0 4.40 0.043 1078.44 -345.4 264.54 32.58 1.320 1614.34 -4.9 0.061 - - - - - - 15.67 15.52 11.66
22666.43 88.57 9.44 2014 22672.42 roll back 1.52 0.20 0.249 2457.25 -367.8 4.29 0.026 2601.88 355.1 264.54 - - 1612.66 - - - - - - - - 15.47 15.64 -
22971.49 66.18 6.55 2075 22977.42 roll 1.56 - - 2475.56 - 4.41 0.041 1077.00 -345.8 264.54 - - 1608.53 - - - - - - - - - 15.64 -
23031.82 62.76 5.70 2087 23073.59 1.72 0.21 0.070 2548.50 347.3 4.28 0.024 2600.62 356.0 307.04 35.13 1.281 1442.72 -4.7 0.040 - - - - - - 15.60 15.70 11.61
23371.81 42.08 4.27 2155 23427.79 1.89 0.09 0.105 2606.25 641.7 - - 2601.75 - 375.30 54.57 1.250 1163.69 -5.1 0.029 - - - - - - 15.62 - 11.64
23726.94 27.06 2.41 2226 23814.18 2.17 0.20 0.073 2717.25 555.0 4.48 0.042 1078.50 -340.0 477.18 78.77 1.214 747.88 -5.3 0.020 - - - - - - 15.57 15.30 11.68
23976.72 19.20 2.59 2276 24023.80 2.46 0.19 0.080 2780.31 331.9 4.32 0.023 2602.19 352.7 575.83 39.57 1.173 550.59 -5.0 0.014 - - - - - - 15.43 15.51 11.84
24222 end climb: SURFACE_DEPTH_REACHED
24222 begin surface coast
24247 end surface coast: CONTROL_FINISHED_OK
24247 begin surface
SM 1.14 - - - - 130.8 - - 539.6 - 7.53 0.044 517.0 68.6 - 1.15 0.023 562.2 485.1 -2.458 - - 30.00 15.47 15.55 -