SODA Aug19 * SG229 * Dive index * Mission links * Dive 117 * Raw log
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• Previous call tries 1 • 104.64 of 575.00 AH used of 24V (81.80% remains)
• Surface angle -71.3 deg, depth 1.71 m • Intended pitch -19.8 deg, speed -8.462 cm/s
• No surface pump (final VBD was 578.8, SM_CC=525.92322)
• GPS1 time: 42 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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
2.35 - - - 69.64 VBD -0.84 - - 90.75 - - - 2321.38 - -116.79 66.57 0.005 1811.34 - - - - - - - - - - 15.21
69.90 3.41 -3.48 13 126.57 -0.84 7.66 0.403 1719.75 212.7 4.49 0.047 771.00 -345.3 -116.79 39.66 0.005 3170.34 34.3 -4.037 - - - - - - 15.23 15.26 15.25
243.47 50.58 -20.92 48 249.37 roll -0.70 - - 1703.62 - 4.26 0.021 2290.75 356.7 -116.79 - - 3172.59 - - - - - - - - - 15.62 -
548.63 102.21 -15.32 109 555.57 roll back -0.59 0.29 0.241 1801.81 338.6 4.40 0.046 771.00 -345.4 -116.79 - - 3170.28 - - - - - - - - 15.50 15.59 -
613.58 109.95 -10.77 122 619.47 roll -0.62 - - 1784.69 - 4.24 0.019 2295.19 359.5 -116.79 - - 3172.03 - - - - - - - - - 15.72 -
918.62 141.07 -10.41 183 924.56 roll -0.65 - - 1801.81 - 4.41 0.047 769.44 -346.0 -116.79 - - 3173.91 - - - - - - - - - 15.73 -
958.70 145.28 -10.67 191 964.59 roll back -0.69 0.12 0.085 1722.75 -658.8 4.22 0.019 2298.94 362.4 -116.79 - - 3174.97 - - - - - - - - 15.68 15.77 -
1263.69 181.78 -11.99 252 1265.15 pitch -0.66 0.14 0.228 1762.06 280.8 - - 2297.94 - -116.79 - - 3173.56 - - - - - - - - 15.65 - -
1563.75 211.55 -9.63 300 1569.64 roll -0.71 - - 1780.81 - 4.40 0.048 770.88 -347.1 -116.79 - - 3173.78 - - - - - - - - - 15.83 -
1623.82 217.25 -9.49 312 1629.72 roll back -0.75 0.12 0.090 1699.62 -676.6 4.21 0.019 2301.88 363.7 -116.79 - - 3174.62 - - - - - - - - 15.76 15.82 -
1933.77 245.98 -7.87 344 1939.66 roll -0.75 - - 1681.00 - 4.22 0.058 3766.25 347.0 -116.79 - - 3173.75 - - - - - - - - - 15.85 -
2053.79 258.55 -10.17 368 2059.75 roll back -0.75 0.12 0.226 1731.38 419.8 4.21 0.014 2221.31 -367.0 -116.79 - - 3174.12 - - - - - - - - 15.70 15.86 -
2363.86 279.60 -6.42 400 2365.19 no move -0.82 - - 1732.31 - - - 2219.19 - -116.79 - - 3171.78 - - - - - - - - - - -
2663.95 297.89 -5.75 430 2670.87 roll back -0.88 0.15 0.072 1632.75 -663.7 4.51 0.057 3765.50 342.9 -116.79 - - 3171.16 - - - - - - - - 15.85 15.85 -
2743.86 305.36 -9.88 446 2749.88 roll back -0.80 0.22 0.227 1716.00 378.4 4.21 0.014 2216.19 -368.0 -116.79 - - 3173.00 - - - - - - - - 15.69 15.89 -
3048.93 325.25 -6.15 477 3054.77 roll -0.86 - - 1734.56 - 4.11 0.050 770.50 -351.7 -116.79 - - 3173.12 - - - - - - - - - 15.90 -
3109.01 329.43 -6.89 489 3114.85 roll back -0.90 0.12 0.085 1653.38 -676.5 4.18 0.018 2301.38 366.2 -116.79 - - 3171.88 - - - - - - - - 15.82 15.92 -
3418.96 354.61 -8.40 521 3420.41 pitch -0.88 0.13 0.226 1688.94 273.5 - - 2303.06 - -116.79 - - 3172.09 - - - - - - - - 15.75 - -
3718.98 377.94 -7.88 551 3720.31 no move -0.92 - - 1690.69 - - - 2303.19 - -116.79 - - 3170.38 - - - - - - - - - - -
4029.07 401.62 -7.54 581 4030.41 no move -0.96 - - 1690.19 - - - 2303.44 - -116.79 - - 3171.72 - - - - - - - - - - -
4329.03 423.23 -7.05 596 4330.48 pitch -1.00 0.13 0.079 1624.56 -504.8 - - 2304.06 - -116.79 - - 3171.00 - - - - - - - - 15.88 - -
4629.05 449.51 -8.95 611 4630.51 pitch -0.95 0.15 0.222 1668.06 290.0 - - 2303.81 - -116.79 - - 3171.25 - - - - - - - - 15.77 - -
4929.05 471.53 -7.20 626 4934.96 roll -0.95 - - 1687.56 - 4.39 0.048 769.75 -349.4 -116.79 - - 3172.88 - - - - - - - - - 15.95 -
4974.04 474.98 -7.69 635 4979.93 roll -0.95 - - 1669.94 - 4.18 0.020 2297.56 365.5 -116.79 - - 3171.84 - - - - - - - - - 15.95 -
5289.06 497.84 -7.19 653 5290.39 no move -0.95 - - 1670.50 - - - 2298.25 - -116.79 - - 3171.88 - - - - - - - - - - -
5589.09 519.55 -7.05 668 5590.42 no move -0.95 - - 1671.12 - - - 2297.69 - -116.79 - - 3169.09 - - - - - - - - - - -
5889.10 540.35 -6.80 683 5895.01 roll -0.95 - - 1687.38 - 4.36 0.048 770.44 -350.3 -116.79 - - 3173.44 - - - - - - - - - 15.96 -
5949.16 544.98 -7.67 695 5955.01 roll -0.95 - - 1670.12 - 4.17 0.019 2301.06 367.1 -116.79 - - 3171.66 - - - - - - - - - 15.98 -
6269.15 565.71 -6.46 714 6270.48 no move -0.95 - - 1669.44 - - - 2300.12 - -116.79 - - 3169.91 - - - - - - - - - - -
6569.19 584.78 -6.34 729 6570.52 no move -0.95 - - 1669.44 - - - 2300.12 - -116.79 - - 3170.72 - - - - - - - - - - -
6869.23 603.49 -6.22 744 6870.57 no move -0.97 - - 1670.00 - - - 2300.94 - -116.79 - - 3171.25 - - - - - - - - - - -
7169.25 622.86 -6.51 759 7175.14 roll -0.99 - - 1686.88 - 4.35 0.047 770.44 -351.8 -116.79 - - 3173.72 - - - - - - - - - 15.97 -
7224.28 626.90 -7.41 770 7230.19 roll back -0.99 0.07 0.122 1627.62 -846.6 4.16 0.019 2301.94 368.1 -116.79 - - 3171.03 - - - - - - - - 15.84 15.96 -
7529.30 649.86 -7.61 786 7530.76 pitch -0.96 0.14 0.225 1667.06 281.7 - - 2302.31 - -116.79 - - 3171.16 - - - - - - - - 15.74 - -
7829.33 669.35 -6.48 801 7830.66 no move -0.98 - - 1666.31 - - - 2302.31 - -116.79 - - 3170.47 - - - - - - - - - - -
8129.38 688.59 -6.38 816 8130.71 no move -1.00 - - 1666.81 - - - 2301.69 - -116.79 - - 3169.22 - - - - - - - - - - -
8429.39 708.18 -6.67 831 8435.28 roll -1.02 - - 1686.19 - 4.40 0.047 769.56 -348.2 -116.79 - - 3172.00 - - - - - - - - - 15.84 -
8474.37 711.27 -7.10 840 8480.33 roll back -1.02 0.09 0.105 1620.81 -726.4 4.20 0.019 2303.06 365.1 -116.79 - - 3172.16 - - - - - - - - 15.75 15.84 -
8789.42 735.17 -7.64 858 8790.88 pitch -0.98 0.14 0.222 1660.44 283.1 - - 2303.25 - -116.79 - - 3171.25 - - - - - - - - 15.65 - -
9089.47 754.65 -6.41 873 9090.80 no move -0.98 - - 1659.56 - - - 2303.69 - -116.79 - - 3172.19 - - - - - - - - - - -
9389.51 773.58 -6.36 888 9390.84 no move -0.98 - - 1660.44 - - - 2303.56 - -116.79 - - 3172.03 - - - - - - - - - - -
9689.55 792.74 -6.31 903 9695.57 roll -0.98 - - 1679.94 - 4.42 0.047 772.00 -346.5 -116.79 - - 3172.94 - - - - - - - - - 15.79 -
9749.51 797.25 -7.51 915 9755.41 roll -0.98 - - 1662.75 - 4.20 0.019 2301.25 364.1 -116.79 - - 3171.78 - - - - - - - - - 15.85 -
10069.53 817.89 -6.51 934 10070.87 no move -0.98 - - 1662.19 - - - 2300.62 - -116.79 - - 3170.72 - - - - - - - - - - -
10369.56 837.61 -6.54 949 10370.90 no move -0.98 - - 1662.44 - - - 2300.19 - -116.79 - - 3170.47 - - - - - - - - - - -
10669.57 857.45 -6.60 964 10670.91 no move -0.98 - - 1662.06 - - - 2301.00 - -116.79 - - 3173.03 - - - - - - - - - - -
10969.61 877.19 -6.62 979 10975.75 roll -1.00 - - 1679.38 - 4.38 0.047 770.75 -349.4 -116.79 - - 3174.16 - - - - - - - - - 15.90 -
11024.64 881.01 -7.15 990 11030.49 roll -1.00 - - 1662.19 - 4.18 0.019 2297.19 365.2 -116.79 - - 3173.09 - - - - - - - - - 15.90 -
11329.69 900.24 -6.28 1006 11331.02 no move -1.00 - - 1662.44 - - - 2298.75 - -116.79 - - 3171.09 - - - - - - - - - - -
11629.67 919.03 -6.34 1021 11631.00 no move -1.02 - - 1662.06 - - - 2297.62 - -116.79 - - 3171.53 - - - - - - - - - - -
11929.68 937.70 -6.14 1036 11931.01 no move -1.04 - - 1662.19 - - - 2298.06 - -116.79 - - 3171.66 - - - - - - - - - - -
12229.69 956.66 -6.27 1051 12235.63 roll back -1.07 0.11 0.096 1623.19 -354.5 4.36 0.047 770.12 -350.4 -116.79 - - 3172.94 - - - - - - - - 15.89 15.85 -
12274.66 960.32 -8.13 1060 12280.61 roll back -0.98 0.19 0.242 1660.25 195.1 4.17 0.019 2297.94 366.4 -116.79 - - 3173.84 - - - - - - - - 15.69 15.93 -
12589.71 980.06 -6.09 1078 12591.05 no move -1.00 - - 1660.00 - - - 2298.50 - -116.79 - - 3171.16 - - - - - - - - - - -
12770 end dive: TARGET_DEPTH_EXCEEDED
12770 begin apogee
12771.48 991.00 -6.12 1087 12872.36 -0.14 0.90 0.192 1931.38 301.5 0.14 0.108 2464.88 1188.4 - 97.05 2.386 2693.94 -4.9 0.353 - - - - - - 15.74 15.23 11.71
12873 end apogee: CONTROL_FINISHED_OK
12873 begin climb
12872.82 991.24 - 1092 12974.10 0.84 0.93 0.075 2251.50 344.2 - - 2456.31 - 116.79 99.08 2.315 2216.38 -4.8 0.357 - - - - - - 15.32 - 12.25
13286.05 945.86 12.12 1127 13291.90 done 0.81 - - 2244.38 - 4.50 0.067 3955.88 333.2 116.79 - - 2206.03 - - - - - - - - - 15.45 -
13370.99 934.13 14.39 1144 13376.92 0.71 0.25 0.226 2190.38 -216.0 4.05 0.013 2495.31 -360.6 116.79 - - 2202.53 - - - - - - - - 15.33 15.49 -
13686.01 904.22 9.29 1162 13687.35 VBD 0.76 - - 2190.44 - - - 2478.75 - 116.79 - - 2199.53 - - - - - - - - - - -
13986.29 875.87 9.39 1177 13993.00 0.82 0.14 0.085 2243.00 375.4 4.34 0.064 3957.81 340.8 116.79 - - 2200.44 - - - - - - - - 15.68 15.65 -
14016.07 872.12 12.57 1183 14021.98 0.74 0.21 0.224 2199.62 -206.6 4.01 0.013 2491.88 -365.6 116.79 - - 2200.94 - - - - - - - - 15.50 15.73 -
14321.04 842.33 9.52 1199 14322.38 VBD 0.78 - - 2199.81 - - - 2476.62 - 116.79 - - 2199.06 - - - - - - - - - - -
14621.07 814.09 9.34 1214 14627.03 0.82 0.10 0.093 2244.69 448.8 4.32 0.064 3955.31 342.3 116.79 - - 2199.06 - - - - - - - - 15.73 15.76 -
14646.11 811.12 9.76 1219 14651.90 done 0.78 - - 2261.56 - 3.98 0.013 2495.38 -366.8 116.79 - - 2198.38 - - - - - - - - - 15.78 -
14961.14 774.06 11.66 1237 14967.07 0.74 0.22 0.222 2181.06 -365.9 4.30 0.064 3957.75 340.1 116.79 - - 2198.62 - - - - - - - - 15.64 15.71 -
14986.13 771.29 11.71 1242 14991.94 done 0.71 - - 2198.00 - 3.98 0.013 2489.56 -368.9 116.79 - - 2198.06 - - - - - - - - - 15.85 -
15301.17 741.96 9.31 1260 15302.50 VBD 0.75 - - 2198.38 - - - 2475.88 - 116.79 - - 2196.81 - - - - - - - - - - -
15601.12 714.01 9.40 1275 15607.02 done 0.80 - - 2181.06 - 4.32 0.066 3953.56 342.1 116.79 - - 2199.38 - - - - - - - - - 15.81 -
15631.09 710.92 9.33 1281 15637.00 0.80 0.09 0.114 2244.31 702.8 3.97 0.014 2484.81 -370.0 116.79 - - 2199.16 - - - - - - - - 15.78 15.87 -
15941.20 676.70 11.11 1298 15947.04 done 0.80 - - 2243.56 - 4.34 0.066 3955.31 338.8 116.79 - - 2197.72 - - - - - - - - - 15.85 -
15961.17 674.09 11.32 1302 15967.07 0.74 0.22 0.229 2199.56 -200.0 3.96 0.013 2490.25 -370.0 116.79 - - 2197.84 - - - - - - - - 15.68 15.88 -
16281.45 643.28 9.37 1321 16282.79 VBD 0.79 - - 2199.50 - - - 2476.25 - 116.79 - - 2194.84 - - - - - - - - - - -
16581.48 615.40 9.19 1336 16588.19 0.84 0.12 0.085 2253.94 453.7 4.30 0.066 3957.94 344.6 116.79 - - 2192.72 - - - - - - - - 15.85 15.84 -
16606.27 612.37 9.88 1341 16612.14 0.78 0.22 0.236 2208.56 -206.3 3.95 0.014 2489.81 -371.7 116.79 - - 2195.81 - - - - - - - - 15.69 15.90 -
16916.26 582.63 9.36 1358 16917.60 VBD 0.81 - - 2208.50 - - - 2475.38 - 116.79 - - 2194.75 - - - - - - - - - - -
17216.30 554.56 9.31 1373 17222.16 done 0.85 - - 2191.88 - 4.30 0.065 3955.38 344.2 116.79 - - 2196.62 - - - - - - - - - 15.88 -
17236.28 552.47 9.26 1377 17242.24 0.85 0.10 0.104 2263.44 715.6 3.96 0.013 2480.31 -372.5 116.79 - - 2195.25 - - - - - - - - 15.83 15.92 -
17556.57 515.53 11.60 1396 17563.28 0.81 0.14 0.236 2201.75 -440.6 4.32 0.063 3957.75 342.0 116.79 - - 2196.44 - - - - - - - - 15.73 15.79 -
17596.30 510.79 11.86 1404 17602.16 done 0.78 - - 2219.19 - 3.95 0.013 2494.38 -370.5 116.79 - - 2197.06 - - - - - - - - - 15.92 -
17911.41 479.83 9.60 1422 17917.23 done 0.81 - - 2202.69 - 4.28 0.065 3954.12 341.1 116.79 - - 2195.84 - - - - - - - - - 15.89 -
17936.33 477.11 9.77 1427 17942.19 done 0.81 - - 2219.50 - 3.95 0.014 2494.56 -369.5 116.79 - - 2194.03 - - - - - - - - - 15.94 -
18251.70 446.53 9.52 1445 18257.26 done 0.83 - - 2204.00 - 4.28 0.064 3954.81 341.2 116.79 - - 2193.50 - - - - - - - - - 15.91 -
18266.36 444.93 9.64 1448 18272.28 done 0.83 - - 2221.88 - 3.93 0.013 2491.56 -372.3 116.79 - - 2194.75 - - - - - - - - - 15.93 -
18571.47 416.52 9.19 1464 18577.30 done 0.86 - - 2205.00 - 4.28 0.064 3953.50 341.6 116.79 - - 2194.12 - - - - - - - - - 15.90 -
18591.41 414.45 9.39 1468 18597.30 0.86 0.08 0.124 2265.50 756.2 3.95 0.013 2483.12 -372.2 116.79 - - 2196.81 - - - - - - - - 15.85 15.96 -
18901.71 381.43 10.26 1495 18907.34 done 0.83 - - 2248.75 - 4.31 0.063 3954.62 341.4 116.79 - - 2196.94 - - - - - - - - - 15.91 -
18926.44 378.36 11.43 1500 18932.38 0.75 0.22 0.227 2201.69 -213.9 3.95 0.013 2488.19 -371.2 116.79 - - 2194.53 - - - - - - - - 15.70 15.96 -
19231.74 353.44 7.79 1531 19233.08 VBD 0.81 - - 2202.19 - - - 2473.44 - 116.79 - - 2192.75 - - - - - - - - - - -
19531.83 329.09 8.37 1561 19538.46 0.87 0.14 0.086 2258.62 403.1 4.30 0.066 3953.25 344.1 116.79 - - 2194.62 - - - - - - - - 15.92 15.90 -
19556.57 326.29 9.39 1566 19562.35 done 0.83 - - 2276.94 - 3.94 0.013 2492.75 -370.7 116.79 - - 2194.03 - - - - - - - - - 15.95 -
19866.83 291.75 10.33 1598 19873.51 0.80 0.21 0.233 2196.06 -385.1 4.27 0.063 3954.75 342.4 116.79 - - 2195.38 - - - - - - - - 15.74 15.80 -
20096.81 270.24 8.76 1644 20102.71 done 0.80 - - 2213.38 - 3.94 0.012 2489.44 -371.9 116.79 - - 2193.94 - - - - - - - - - 15.97 -
20401.90 249.77 6.11 1675 20445.43 0.97 0.19 0.068 2327.81 602.3 4.06 0.042 1038.25 -357.4 164.69 37.01 1.504 2019.62 -4.7 0.135 - - - - - - 15.91 15.73 11.76
20642.33 226.08 9.54 1723 20648.33 roll back 0.97 0.13 0.238 2273.69 -416.3 4.22 0.022 2563.75 361.5 164.69 - - 2017.16 - - - - - - - - 15.64 15.83 -
20947.68 206.83 5.28 1754 21006.64 1.20 0.23 0.067 2397.88 540.0 4.39 0.040 1039.94 -347.1 229.51 52.53 1.438 1756.31 -5.0 0.123 - - - - - - 15.80 15.57 11.97
21073.56 195.31 10.04 1779 21079.54 roll back 1.20 0.13 0.242 2343.75 -416.4 4.24 0.021 2564.75 359.6 229.51 - - 1753.34 - - - - - - - - 15.53 15.69 -
21378.89 171.29 7.41 1840 21385.56 done 1.23 - - 2361.62 - 4.37 0.039 1038.75 -349.2 229.51 - - 1748.44 - - - - - - - - - 15.71 -
21413.77 168.44 8.06 1847 21419.54 done 1.28 - - 2345.94 - 4.24 0.021 2558.00 358.3 229.51 - - 1748.91 - - - - - - - - - 15.73 -
21718.96 146.97 6.99 1908 21725.69 1.33 0.16 0.073 2438.19 576.6 4.34 0.039 1038.44 -350.1 229.51 - - 1747.50 - - - - - - - - 15.73 15.75 -
21768.71 142.35 9.51 1918 21774.69 1.29 0.17 0.237 2375.00 -371.7 4.24 0.022 2565.38 360.1 229.51 - - 1747.78 - - - - - - - - 15.58 15.79 -
22079.32 120.16 6.44 1979 22120.71 1.39 0.12 0.088 2450.81 631.7 4.39 0.040 1038.81 -347.7 270.81 33.71 1.356 1589.78 -4.7 0.072 - - - - - - 15.69 15.57 11.93
22159.32 113.26 9.73 1995 22165.27 roll back 1.39 0.09 0.241 2407.62 -479.9 4.27 0.022 2563.31 357.0 270.81 - - 1585.47 - - - - - - - - 15.52 15.65 -
22464.44 89.99 7.23 2056 22470.36 done 1.42 - - 2424.00 - 4.39 0.039 1038.50 -347.3 270.81 - - 1581.53 - - - - - - - - - 15.64 -
22524.52 85.50 7.66 2068 22530.37 done 1.48 - - 2407.50 - 4.27 0.022 2559.38 356.2 270.81 - - 1580.56 - - - - - - - - - 15.67 -
22829.80 66.65 6.48 2129 22836.54 1.53 0.16 0.080 2505.25 610.9 4.38 0.039 1038.56 -347.2 270.81 - - 1578.91 - - - - - - - - 15.64 15.65 -
22864.59 63.71 8.25 2136 22870.54 1.53 0.13 0.246 2451.19 -415.8 4.26 0.021 2564.50 358.2 270.81 - - 1581.16 - - - - - - - - 15.52 15.68 -
23169.88 49.82 3.58 2197 23256.95 1.81 0.28 0.061 2586.88 484.6 4.45 0.039 1039.62 -342.7 370.39 78.64 1.283 1181.94 -5.1 0.034 - - - - - - 15.65 15.38 11.82
23379.65 33.90 8.38 2239 23385.63 1.79 0.13 0.234 2533.12 -413.5 4.32 0.021 2563.06 352.6 370.39 - - 1175.19 - - - - - - - - 15.38 15.51 -
23684.97 24.62 0.63 2300 23802.33 2.29 0.49 0.044 2733.88 409.7 - - 2562.94 - 530.06 116.18 1.216 569.31 -5.2 0.018 - - - - - - 15.55 - 11.90
23803 end climb: NO_VERTICAL_VELOCITY
23803 begin surface
SM 1.13 - - - - 123.5 - - 541.6 - 7.95 0.105 516.6 64.9 - 0.89 0.016 566.6 636.6 -4.595 - - 30.00 15.35 15.47 -