SODA Aug19 * SG229 * Dive index * Mission links * Dive 198 * Raw log
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• Previous call tries 1 • 133.51 of 575.00 AH used of 24V (76.78% remains)
• Surface angle -72.2 deg, depth 1.63 m • Intended pitch -22.6 deg, speed -8.049 cm/s
• No surface pump (final VBD was 562.5, SM_CC=525.92322)
• GPS1 time: 41 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
1 begin dive
2.44 - - - 54.37 VBD -0.87 - - 131.38 - - - 2267.06 - -97.32 51.22 0.005 1556.72 - - - - - - - - - - 15.00
54.62 3.62 -4.32 10 112.70 -0.87 7.76 0.411 1720.50 204.8 4.57 0.053 722.25 -338.0 -97.32 41.87 0.005 3089.53 36.6 -4.537 - - - - - - 15.06 15.02 15.14
159.57 36.31 -25.33 31 165.48 roll -0.73 - - 1703.56 - 4.32 0.024 2240.94 351.5 -97.32 - - 3093.56 - - - - - - - - - 15.50 -
464.71 91.59 -17.34 92 471.72 roll back -0.65 0.27 0.254 1792.50 329.4 4.47 0.051 721.06 -340.0 -97.32 - - 3092.81 - - - - - - - - 15.32 15.42 -
694.72 120.79 -11.80 138 700.67 roll back -0.70 0.08 0.115 1732.50 -750.0 4.26 0.022 2250.12 358.9 -97.32 - - 3093.56 - - - - - - - - 15.53 15.66 -
999.76 158.42 -12.15 199 1005.67 roll -0.70 - - 1714.25 - 4.28 0.059 3716.88 342.7 -97.32 - - 3093.31 - - - - - - - - - 15.64 -
1229.81 189.35 -13.32 245 1235.76 roll back -0.70 0.10 0.241 1760.06 458.1 4.26 0.020 2182.19 -360.3 -97.32 - - 3093.38 - - - - - - - - 15.51 15.74 -
1534.87 219.53 -9.24 286 1540.79 roll -0.77 - - 1741.38 - 4.51 0.057 3718.06 340.5 -97.32 - - 3094.41 - - - - - - - - - 15.75 -
1684.89 234.70 -9.78 316 1690.85 roll back -0.87 0.19 0.082 1667.19 -390.5 4.26 0.020 2183.00 -360.3 -97.32 - - 3092.91 - - - - - - - - 15.67 15.83 -
1994.91 264.44 -8.27 348 2001.90 roll back -0.87 0.14 0.234 1686.00 134.4 4.49 0.058 3717.44 341.7 -97.32 - - 3093.41 - - - - - - - - 15.57 15.62 -
2059.91 270.17 -9.04 361 2065.81 roll -0.87 - - 1704.31 - 4.25 0.020 2187.56 -360.0 -97.32 - - 3092.97 - - - - - - - - - 15.83 -
2370.12 291.41 -6.13 393 2371.46 no move -0.94 - - 1703.94 - - - 2186.69 - -97.32 - - 3091.22 - - - - - - - - - - -
2670.05 311.29 -6.58 423 2671.51 pitch -1.01 0.16 0.073 1631.44 -453.1 - - 2186.75 - -97.32 - - 3091.53 - - - - - - - - 15.81 - -
2970.00 335.33 -8.01 453 2975.93 roll -1.01 - - 1611.56 - 4.50 0.058 3718.12 340.3 -97.32 - - 3093.69 - - - - - - - - - 15.82 -
3010.09 339.14 -9.56 461 3015.97 roll back -0.94 0.19 0.241 1680.94 365.2 4.23 0.021 2174.75 -364.9 -97.32 - - 3093.56 - - - - - - - - 15.57 15.90 -
3320.06 361.09 -6.80 493 3326.00 roll -1.00 - - 1663.56 - 4.52 0.058 3719.56 341.8 -97.32 - - 3092.56 - - - - - - - - - 15.83 -
3395.04 366.92 -7.86 508 3401.00 roll -1.00 - - 1680.38 - 4.24 0.021 2184.12 -362.1 -97.32 - - 3092.66 - - - - - - - - - 15.88 -
3700.11 386.23 -6.43 539 3707.09 roll back -1.06 0.14 0.085 1598.62 -584.0 4.49 0.058 3718.69 341.8 -97.32 - - 3092.41 - - - - - - - - 15.83 15.79 -
3735.10 389.25 -8.05 546 3741.06 roll back -1.01 0.15 0.243 1656.94 388.8 4.24 0.020 2177.69 -363.4 -97.32 - - 3090.47 - - - - - - - - 15.59 15.91 -
4045.14 411.43 -7.10 570 4051.06 roll -1.05 - - 1640.44 - 4.49 0.057 3717.19 342.9 -97.32 - - 3091.25 - - - - - - - - - 15.84 -
4075.11 413.91 -7.38 576 4081.02 roll -1.05 - - 1657.12 - 4.26 0.020 2185.12 -359.6 -97.32 - - 3091.12 - - - - - - - - - 15.92 -
4385.15 435.81 -6.90 593 4386.48 no move -1.08 - - 1657.38 - - - 2186.25 - -97.32 - - 3089.75 - - - - - - - - - - -
4685.18 455.98 -6.79 608 4692.16 roll back -1.12 0.12 0.091 1577.50 -665.7 4.49 0.058 3716.94 340.9 -97.32 - - 3090.34 - - - - - - - - 15.85 15.80 -
4725.15 459.53 -8.84 616 4731.14 roll back -1.03 0.21 0.250 1651.25 351.2 4.24 0.021 2172.19 -364.3 -97.32 - - 3090.12 - - - - - - - - 15.56 15.93 -
5040.19 481.56 -6.99 634 5046.14 roll -1.07 - - 1633.25 - 4.52 0.059 3717.81 342.0 -97.32 - - 3091.62 - - - - - - - - - 15.85 -
5060.20 483.12 -7.17 638 5066.08 roll -1.07 - - 1651.25 - 4.24 0.020 2186.50 -361.2 -97.32 - - 3090.78 - - - - - - - - - 15.94 -
5380.22 505.59 -6.93 657 5381.56 no move -1.10 - - 1650.69 - - - 2186.06 - -97.32 - - 3089.78 - - - - - - - - - - -
5680.25 526.18 -6.76 672 5687.22 roll back -1.13 0.12 0.093 1570.62 -667.3 4.49 0.058 3717.06 341.0 -97.32 - - 3091.06 - - - - - - - - 15.85 15.82 -
5720.22 529.97 -9.45 680 5726.20 roll back -1.04 0.23 0.251 1649.88 344.6 4.22 0.020 2173.31 -365.8 -97.32 - - 3091.47 - - - - - - - - 15.56 15.94 -
6035.25 551.56 -6.60 698 6041.19 roll -1.07 - - 1633.12 - 4.52 0.058 3716.69 341.5 -97.32 - - 3091.28 - - - - - - - - - 15.86 -
6060.23 553.47 -6.85 703 6066.14 roll -1.07 - - 1649.56 - 4.24 0.020 2187.12 -360.7 -97.32 - - 3090.97 - - - - - - - - - 15.93 -
6375.29 574.57 -6.71 721 6381.21 roll -1.11 - - 1631.56 - 4.48 0.058 3717.31 341.6 -97.32 - - 3090.06 - - - - - - - - - 15.86 -
6395.31 576.01 -6.80 725 6401.18 roll -1.11 - - 1649.62 - 4.22 0.020 2182.31 -363.7 -97.32 - - 3091.44 - - - - - - - - - 15.92 -
6715.33 597.62 -6.72 744 6716.78 pitch -1.14 0.12 0.089 1581.88 -564.5 - - 2181.56 - -97.32 - - 3090.09 - - - - - - - - 15.87 - -
7015.37 622.47 -8.24 759 7016.82 pitch -1.09 0.19 0.238 1634.75 278.3 - - 2181.50 - -97.32 - - 3089.69 - - - - - - - - 15.59 - -
7315.38 643.80 -7.08 774 7316.72 no move -1.09 - - 1633.62 - - - 2179.50 - -97.32 - - 3091.59 - - - - - - - - - - -
7615.41 664.35 -6.63 789 7621.33 roll -1.09 - - 1617.56 - 4.50 0.057 3718.06 341.9 -97.32 - - 3089.84 - - - - - - - - - 15.87 -
7650.40 666.91 -6.76 796 7656.33 roll -1.09 - - 1634.81 - 4.24 0.020 2182.19 -362.2 -97.32 - - 3090.62 - - - - - - - - - 15.93 -
7955.51 686.66 -6.41 812 7956.85 no move -1.09 - - 1635.06 - - - 2182.25 - -97.32 - - 3090.50 - - - - - - - - - - -
8255.50 705.94 -6.33 827 8261.41 roll -1.11 - - 1617.69 - 4.49 0.057 3719.56 342.4 -97.32 - - 3090.56 - - - - - - - - - 15.87 -
8270.47 707.04 -6.26 830 8276.40 roll -1.11 - - 1634.62 - 4.24 0.020 2184.12 -362.1 -97.32 - - 3091.50 - - - - - - - - - 15.93 -
8575.59 726.22 -6.16 846 8581.44 roll -1.13 - - 1617.12 - 4.48 0.057 3717.56 342.3 -97.32 - - 3090.97 - - - - - - - - - 15.87 -
8590.52 727.26 -6.07 849 8596.42 roll -1.13 - - 1634.31 - 4.21 0.020 2182.56 -364.6 -97.32 - - 3091.59 - - - - - - - - - 15.93 -
8895.62 746.69 -6.32 865 8896.96 no move -1.15 - - 1634.25 - - - 2182.56 - -97.32 - - 3089.66 - - - - - - - - - - -
9195.59 765.77 -6.38 880 9196.93 no move -1.17 - - 1634.25 - - - 2181.31 - -97.32 - - 3091.12 - - - - - - - - - - -
9495.62 784.89 -6.40 895 9502.73 roll back -1.19 0.13 0.085 1547.62 -666.4 4.47 0.058 3719.31 344.1 -97.32 - - 3092.03 - - - - - - - - 15.90 15.85 -
9540.60 788.84 -8.94 904 9546.59 roll back -1.05 0.30 0.262 1645.06 324.8 4.22 0.019 2171.75 -366.7 -97.32 - - 3090.69 - - - - - - - - 15.51 15.97 -
9850.66 808.22 -6.14 921 9852.00 no move -1.09 - - 1645.25 - - - 2170.06 - -97.32 - - 3090.28 - - - - - - - - - - -
10150.68 826.88 -6.20 936 10156.60 roll -1.13 - - 1627.12 - 4.52 0.057 3720.50 343.0 -97.32 - - 3091.81 - - - - - - - - - 15.87 -
10190.72 829.49 -6.40 944 10196.57 roll -1.13 - - 1644.94 - 4.22 0.019 2183.25 -364.3 -97.32 - - 3092.66 - - - - - - - - - 15.94 -
10510.72 848.34 -5.67 963 10517.70 roll back -1.17 0.14 0.087 1555.31 -640.2 4.49 0.057 3719.38 342.1 -97.32 - - 3091.81 - - - - - - - - 15.90 15.85 -
10530.83 849.97 -5.98 967 10536.68 roll back -1.13 0.19 0.267 1621.19 346.7 4.22 0.019 2172.44 -366.6 -97.32 - - 3089.16 - - - - - - - - 15.53 15.97 -
10845.72 869.26 -6.00 985 10851.64 roll -1.13 - - 1604.88 - 4.50 0.057 3716.50 343.1 -97.32 - - 3090.91 - - - - - - - - - 15.86 -
10860.70 870.23 -6.10 988 10866.63 roll -1.13 - - 1621.12 - 4.22 0.020 2184.44 -363.0 -97.32 - - 3091.72 - - - - - - - - - 15.93 -
11165.74 888.89 -5.98 1004 11171.66 roll -1.13 - - 1603.56 - 4.47 0.057 3716.44 342.7 -97.32 - - 3093.28 - - - - - - - - - 15.86 -
11185.75 890.26 -5.98 1008 11191.63 roll -1.13 - - 1620.75 - 4.23 0.019 2183.69 -362.4 -97.32 - - 3090.06 - - - - - - - - - 15.96 -
11505.76 909.63 -6.00 1027 11511.67 roll -1.13 - - 1603.38 - 4.49 0.057 3720.19 342.2 -97.32 - - 3091.78 - - - - - - - - - 15.86 -
11520.76 910.67 -5.93 1030 11526.68 roll -1.13 - - 1621.00 - 4.24 0.019 2183.88 -362.3 -97.32 - - 3090.84 - - - - - - - - - 15.93 -
11825.76 929.74 -6.40 1046 11827.09 no move -1.13 - - 1621.12 - - - 2183.56 - -97.32 - - 3090.16 - - - - - - - - - - -
12125.79 948.88 -6.42 1061 12131.73 roll -1.13 - - 1603.44 - 4.47 0.057 3718.31 343.3 -97.32 - - 3091.84 - - - - - - - - - 15.86 -
12140.77 949.83 -6.44 1064 12146.71 roll -1.13 - - 1619.94 - 4.23 0.020 2185.38 -362.4 -97.32 - - 3090.47 - - - - - - - - - 15.93 -
12445.79 968.80 -6.07 1080 12451.73 roll -1.13 - - 1603.50 - 4.47 0.057 3717.62 342.8 -97.32 - - 3090.31 - - - - - - - - - 15.86 -
12465.83 970.18 -6.00 1084 12471.70 roll -1.13 - - 1620.50 - 4.21 0.019 2182.94 -364.5 -97.32 - - 3091.28 - - - - - - - - - 15.95 -
12786 end dive: TARGET_DEPTH_EXCEEDED
12786 begin apogee
12788.22 990.11 -6.27 1103 12873.93 -0.14 1.12 0.211 1938.38 283.8 0.13 0.122 2515.69 2559.6 - 82.80 2.375 2693.41 -4.8 0.343 - - - - - - 15.48 15.30 11.07
12874 end apogee: CONTROL_FINISHED_OK
12874 begin climb
12874.50 990.23 - 1107 12962.88 0.87 0.95 0.070 2275.00 354.3 - - 2514.62 - 97.32 85.63 2.302 2297.00 -4.6 0.341 - - - - - - 15.39 - 12.19
13266.09 945.15 12.67 1139 13267.43 VBD 0.87 - - 2276.44 - - - 2514.25 - 97.32 - - 2281.22 - - - - - - - - - - -
13566.11 907.38 12.50 1154 13567.45 VBD 0.87 - - 2276.25 - - - 2515.19 - 97.32 - - 2279.22 - - - - - - - - - - -
13866.13 869.20 12.71 1169 13872.04 done 0.87 - - 2259.88 - 4.32 0.068 3956.06 333.5 97.32 - - 2278.00 - - - - - - - - - 15.52 -
13925.95 860.60 15.02 1181 13931.73 done 0.79 - - 2276.31 - 3.97 0.018 2539.50 -356.8 97.32 - - 2277.53 - - - - - - - - - 15.56 -
14246.21 819.90 12.54 1200 14247.67 0.79 0.19 0.243 2225.12 -269.4 - - 2523.44 - 97.32 - - 2274.84 - - - - - - - - 15.35 - -
14546.19 788.69 10.02 1215 14551.81 done 0.84 - - 2207.38 - 4.28 0.067 3954.38 334.3 97.32 - - 2276.03 - - - - - - - - - 15.58 -
14595.91 782.93 11.64 1225 14602.07 0.84 0.09 0.119 2268.75 681.9 3.93 0.018 2527.31 -363.1 97.32 - - 2276.50 - - - - - - - - 15.51 15.62 -
14906.19 746.80 11.65 1242 14907.53 VBD 0.84 - - 2269.56 - - - 2511.75 - 97.32 - - 2273.59 - - - - - - - - - - -
15206.22 711.99 11.69 1257 15207.55 VBD 0.84 - - 2268.75 - - - 2511.56 - 97.32 - - 2273.19 - - - - - - - - - - -
15506.23 677.12 11.65 1272 15511.86 done 0.84 - - 2253.12 - 4.28 0.068 3957.19 337.8 97.32 - - 2275.31 - - - - - - - - - 15.71 -
15561.03 669.86 13.68 1283 15566.87 done 0.77 - - 2270.12 - 3.92 0.019 2537.62 -362.1 97.32 - - 2273.56 - - - - - - - - - 15.78 -
15866.31 633.61 11.77 1299 15867.77 0.77 0.18 0.234 2220.56 -275.3 - - 2519.50 - 97.32 - - 2271.19 - - - - - - - - 15.52 - -
16166.29 604.32 9.47 1314 16167.63 VBD 0.84 - - 2220.81 - - - 2521.44 - 97.32 - - 2272.25 - - - - - - - - - - -
16466.30 575.21 9.80 1329 16467.76 0.91 0.16 0.082 2295.75 468.4 - - 2520.06 - 97.32 - - 2270.28 - - - - - - - - 15.78 - -
16766.31 537.81 12.65 1344 16772.25 0.87 0.16 0.238 2232.50 -395.3 4.23 0.067 3957.19 339.7 97.32 - - 2273.28 - - - - - - - - 15.56 15.60 -
16841.05 528.20 12.71 1359 16846.90 done 0.84 - - 2249.44 - 3.89 0.018 2535.19 -365.6 97.32 - - 2273.41 - - - - - - - - - 15.85 -
17146.40 496.11 10.29 1375 17147.75 VBD 0.86 - - 2249.00 - - - 2519.38 - 97.32 - - 2272.53 - - - - - - - - - - -
17446.36 466.97 9.54 1390 17447.70 VBD 0.89 - - 2249.81 - - - 2518.62 - 97.32 - - 2270.47 - - - - - - - - - - -
17746.38 437.33 9.96 1405 17747.71 VBD 0.92 - - 2249.69 - - - 2519.81 - 97.32 - - 2270.41 - - - - - - - - - - -
18046.39 406.20 10.47 1420 18047.84 0.96 0.11 0.095 2305.31 505.6 - - 2517.69 - 97.32 - - 2272.69 - - - - - - - - 15.87 - -
18346.15 370.07 11.72 1447 18352.10 0.92 0.15 0.243 2246.69 -390.8 4.20 0.067 3957.69 342.9 97.32 - - 2271.53 - - - - - - - - 15.58 15.62 -
18411.14 362.10 12.15 1460 18416.99 done 0.86 - - 2262.25 - 3.88 0.018 2533.19 -367.1 97.32 - - 2273.88 - - - - - - - - - 15.90 -
18716.43 331.01 9.80 1491 18722.04 done 0.86 - - 2281.25 - 4.09 0.043 1077.88 -355.8 97.32 - - 2274.12 - - - - - - - - - 15.87 -
18771.24 325.30 10.41 1502 18777.11 done 0.90 - - 2265.75 - 4.22 0.027 2599.12 360.5 97.32 - - 2271.59 - - - - - - - - - 15.86 -
19076.50 295.44 9.04 1533 19077.83 VBD 0.92 - - 2265.50 - - - 2600.38 - 97.32 - - 2271.22 - - - - - - - - - - -
19376.58 268.74 8.16 1563 19377.91 VBD 0.95 - - 2265.44 - - - 2599.50 - 97.32 - - 2269.12 - - - - - - - - - - -
19676.63 248.53 6.26 1593 19683.28 1.01 0.12 0.088 2338.38 607.8 4.33 0.041 1077.50 -351.5 97.32 - - 2269.50 - - - - - - - - 15.89 15.83 -
19876.38 236.00 5.76 1633 19914.26 done 1.11 - - 2323.38 - 4.21 0.026 2599.50 361.5 138.66 31.31 1.485 2126.06 -4.6 0.125 - - - - - - - 15.87 11.25
20216.71 214.31 5.26 1671 20260.40 1.27 0.19 0.081 2407.00 440.1 - - 2599.25 - 189.07 42.27 1.440 1923.50 -4.8 0.122 - - - - - - 15.79 - 11.65
20556.51 186.46 8.92 1723 20562.50 roll back 1.24 0.15 0.246 2387.75 -128.3 4.41 0.041 1077.56 -345.1 189.07 - - 1914.75 - - - - - - - - 15.46 15.55 -
20671.80 177.21 7.74 1746 20677.45 done 1.27 - - 2369.62 - 4.27 0.026 2599.00 356.3 189.07 - - 1915.59 - - - - - - - - - 15.71 -
20976.87 158.83 6.19 1807 20982.78 done 1.31 - - 2386.81 - 4.36 0.041 1077.31 -349.0 189.07 - - 1914.19 - - - - - - - - - 15.71 -
21061.88 153.13 6.78 1824 21067.79 done 1.37 - - 2371.06 - 4.25 0.026 2599.81 358.2 189.07 - - 1913.19 - - - - - - - - - 15.75 -
21366.95 136.21 5.08 1885 21418.72 1.55 0.31 0.061 2524.06 493.5 4.38 0.042 1079.94 -347.0 242.83 44.01 1.379 1703.62 -4.8 0.081 - - - - - - 15.76 15.53 11.46
21556.72 118.14 10.15 1923 21562.70 roll back 1.49 0.21 0.251 2448.19 -361.3 4.28 0.027 2603.75 356.0 242.83 - - 1698.53 - - - - - - - - 15.42 15.66 -
21862.03 95.48 7.09 1984 21867.94 done 1.52 - - 2467.31 - 4.40 0.041 1078.50 -346.6 242.83 - - 1694.62 - - - - - - - - - 15.67 -
21952.04 89.35 6.74 2002 21957.95 done 1.55 - - 2449.62 - 4.26 0.026 2601.00 357.4 242.83 - - 1692.69 - - - - - - - - - 15.71 -
22257.12 72.09 5.05 2063 22308.62 1.73 0.23 0.064 2531.56 356.3 3.98 0.071 3955.81 340.4 297.11 43.70 1.305 1482.59 -4.8 0.045 - - - - - - 15.72 15.52 11.50
22376.88 60.41 11.46 2087 22382.80 roll back 1.60 0.24 0.250 2483.56 -200.0 3.91 0.019 2535.31 -363.3 297.11 - - 1478.22 - - - - - - - - 15.43 15.64 -
22682.18 38.64 4.94 2148 22734.15 1.82 0.23 0.067 2569.25 372.6 4.28 0.069 3955.94 331.9 353.33 44.97 1.242 1252.41 -5.0 0.027 - - - - - - 15.66 15.43 11.61
22957.00 27.85 1.17 2203 23059.80 2.09 0.19 0.076 2659.88 477.0 3.88 0.018 2522.50 -369.4 477.72 94.56 1.199 747.72 -5.3 0.021 - - - - - - 15.51 15.63 11.72
23357.10 16.46 2.75 2283 23403.54 2.42 0.25 0.057 2752.12 369.0 4.30 0.067 3955.56 333.3 573.52 38.21 1.156 549.41 -5.2 0.013 - - - - - - 15.54 15.33 11.78
23537 end climb: SURFACE_DEPTH_REACHED
23537 begin surface coast
23552 end surface coast: CONTROL_FINISHED_OK
23552 begin surface
SM 1.07 - - - - 127.8 - - 542.9 - 7.45 0.041 523.2 70.2 - 4.97 0.019 562.5 112.3 -0.646 - - 30.00 15.47 15.55 -