SODA Aug19 * SG229 * Dive index * Mission links * Dive 158 * Raw log
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• Previous call tries 2 • 119.23 of 575.00 AH used of 24V (79.26% remains)
• Surface angle -71.9 deg, depth 1.50 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 559.1, SM_CC=525.92322)
• GPS1 time: 43 s
• GPS2 time: 4 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
2.39 - - - 54.38 VBD -0.86 - - 126.31 - - - 2345.50 - -97.32 51.26 0.005 1550.19 - - - - - - - - - - 15.17
54.62 3.35 -4.18 10 116.75 -0.86 7.64 0.409 1722.69 209.0 4.56 0.046 769.25 -345.7 -97.32 45.53 0.005 3091.22 33.8 -3.866 - - - - - - 15.18 15.12 15.21
338.64 72.19 -17.27 67 344.54 roll -0.77 - - 1706.31 - 4.26 0.020 2293.50 357.8 -97.32 - - 3094.38 - - - - - - - - - 15.68 -
650.23 118.52 -14.29 128 656.20 roll back -0.71 0.19 0.248 1739.38 174.1 4.30 0.058 3766.88 342.6 -97.32 - - 3094.44 - - - - - - - - 15.46 15.53 -
880.31 148.74 -12.76 174 886.21 roll -0.71 - - 1757.19 - 4.26 0.014 2236.81 -359.2 -97.32 - - 3094.97 - - - - - - - - - 15.67 -
1185.56 180.92 -10.04 235 1186.89 no move -0.75 - - 1757.12 - - - 2236.38 - -97.32 - - 3094.38 - - - - - - - - - - -
1490.51 210.47 -9.19 285 1497.51 roll back -0.82 0.14 0.083 1666.38 -648.1 4.53 0.057 3766.62 337.8 -97.32 - - 3094.03 - - - - - - - - 15.63 15.64 -
1535.50 216.04 -12.85 294 1541.45 roll back -0.77 0.19 0.239 1736.00 366.4 4.26 0.014 2219.62 -363.1 -97.32 - - 3097.19 - - - - - - - - 15.49 15.70 -
1845.55 242.77 -7.21 326 1851.48 roll -0.85 - - 1718.31 - 4.57 0.057 3768.62 338.9 -97.32 - - 3096.69 - - - - - - - - - 15.69 -
2075.62 261.61 -7.92 372 2081.47 roll -0.92 - - 1735.75 - 4.26 0.014 2229.88 -361.2 -97.32 - - 3095.72 - - - - - - - - - 15.70 -
2385.65 279.79 -5.68 404 2391.58 roll back -1.02 0.25 0.059 1644.62 -364.5 4.18 0.048 770.38 -349.2 -97.32 - - 3095.22 - - - - - - - - 15.64 15.66 -
2575.68 298.08 -9.80 442 2581.61 roll back -0.94 0.19 0.239 1681.75 195.4 4.24 0.018 2297.31 360.1 -97.32 - - 3094.34 - - - - - - - - 15.49 15.71 -
2885.71 319.82 -6.76 474 2887.04 no move -0.98 - - 1681.31 - - - 2299.62 - -97.32 - - 3092.75 - - - - - - - - - - -
3185.80 340.83 -6.88 504 3187.13 no move -1.03 - - 1680.75 - - - 2298.62 - -97.32 - - 3093.25 - - - - - - - - - - -
3485.83 361.61 -6.87 534 3487.28 pitch -1.08 0.16 0.078 1609.62 -444.6 - - 2298.38 - -97.32 - - 3092.22 - - - - - - - - 15.78 - -
3785.79 387.19 -8.67 564 3791.75 roll back -1.05 0.14 0.234 1667.44 413.0 4.39 0.047 770.44 -348.1 -97.32 - - 3094.69 - - - - - - - - 15.62 15.68 -
3830.77 391.09 -8.54 573 3836.70 roll -1.02 - - 1650.19 - 4.21 0.019 2295.56 362.3 -97.32 - - 3095.28 - - - - - - - - - 15.85 -
4135.80 413.77 -7.42 595 4141.71 roll -1.02 - - 1667.25 - 4.36 0.046 769.50 -350.0 -97.32 - - 3093.38 - - - - - - - - - 15.85 -
4165.80 416.15 -7.49 601 4171.69 roll -1.02 - - 1649.31 - 4.20 0.019 2296.50 363.6 -97.32 - - 3093.12 - - - - - - - - - 15.85 -
4475.90 439.12 -7.38 618 4481.74 roll -1.04 - - 1667.50 - 4.36 0.046 771.56 -349.8 -97.32 - - 3092.41 - - - - - - - - - 15.86 -
4490.82 440.28 -7.36 621 4496.73 roll -1.04 - - 1649.75 - 4.19 0.018 2295.81 363.8 -97.32 - - 3092.28 - - - - - - - - - 15.87 -
4795.91 462.57 -7.27 637 4801.75 roll -1.07 - - 1666.50 - 4.36 0.046 770.69 -349.8 -97.32 - - 3094.50 - - - - - - - - - 15.87 -
4825.84 465.01 -7.34 643 4831.73 roll -1.07 - - 1649.31 - 4.18 0.018 2298.88 365.6 -97.32 - - 3093.44 - - - - - - - - - 15.89 -
5135.95 487.27 -7.22 660 5141.78 roll -1.09 - - 1666.88 - 4.35 0.045 771.12 -351.2 -97.32 - - 3093.78 - - - - - - - - - 15.88 -
5170.86 490.04 -7.06 667 5176.83 roll back -1.09 0.07 0.125 1611.06 -797.4 4.19 0.018 2301.81 365.3 -97.32 - - 3092.44 - - - - - - - - 15.74 15.90 -
5475.90 513.95 -7.71 683 5477.23 no move -1.06 - - 1611.38 - - - 2301.81 - -97.32 - - 3091.31 - - - - - - - - - - -
5775.93 536.85 -7.57 698 5781.88 roll back -1.04 0.14 0.235 1669.38 414.3 4.38 0.046 770.62 -349.6 -97.32 - - 3091.56 - - - - - - - - 15.67 15.72 -
5815.96 539.68 -7.42 706 5821.79 roll -1.04 - - 1652.75 - 4.18 0.018 2295.75 364.9 -97.32 - - 3092.84 - - - - - - - - - 15.90 -
6135.94 560.56 -6.43 725 6141.85 roll -1.07 - - 1668.88 - 4.36 0.046 770.50 -349.8 -97.32 - - 3094.62 - - - - - - - - - 15.90 -
6176.01 563.48 -6.47 733 6181.82 roll -1.07 - - 1652.38 - 4.18 0.018 2296.00 365.0 -97.32 - - 3093.78 - - - - - - - - - 15.93 -
6495.97 584.65 -6.59 752 6501.87 roll -1.10 - - 1669.75 - 4.36 0.046 770.50 -349.9 -97.32 - - 3091.75 - - - - - - - - - 15.90 -
6510.95 585.79 -6.56 755 6516.89 roll back -1.10 0.09 0.110 1605.62 -712.6 4.19 0.018 2303.00 365.8 -97.32 - - 3094.62 - - - - - - - - 15.75 15.92 -
6815.99 609.30 -7.70 771 6821.89 roll -1.07 - - 1621.56 - 4.36 0.045 770.44 -351.5 -97.32 - - 3091.78 - - - - - - - - - 15.91 -
6841.00 611.40 -7.73 776 6846.92 roll back -1.01 0.19 0.244 1658.50 194.4 4.18 0.018 2299.56 365.8 -97.32 - - 3093.72 - - - - - - - - 15.64 15.93 -
7156.01 631.42 -6.14 794 7157.35 no move -1.06 - - 1659.12 - - - 2298.69 - -97.32 - - 3091.88 - - - - - - - - - - -
7456.04 650.27 -6.33 809 7461.93 roll -1.10 - - 1678.38 - 4.36 0.045 769.19 -350.8 -97.32 - - 3093.78 - - - - - - - - - 15.92 -
7476.03 651.61 -6.41 813 7482.00 roll back -1.13 0.14 0.088 1593.50 -606.3 4.19 0.018 2303.50 366.2 -97.32 - - 3094.38 - - - - - - - - 15.81 15.93 -
7796.05 675.98 -7.70 832 7802.00 roll back -1.08 0.17 0.233 1656.38 369.9 4.36 0.044 770.44 -351.6 -97.32 - - 3094.66 - - - - - - - - 15.67 15.76 -
8026.16 693.10 -7.30 878 8031.98 roll -1.06 - - 1640.19 - 4.18 0.018 2296.38 365.1 -97.32 - - 3093.22 - - - - - - - - - 15.95 -
8336.21 713.51 -6.69 895 8342.03 roll -1.08 - - 1620.81 - 4.22 0.059 3766.12 348.3 -97.32 - - 3094.38 - - - - - - - - - 15.90 -
8546.25 730.15 -8.11 937 8552.11 roll -1.04 - - 1638.94 - 4.18 0.013 2229.94 -367.5 -97.32 - - 3092.56 - - - - - - - - - 15.97 -
8856.33 750.51 -6.32 954 8857.67 no move -1.07 - - 1639.12 - - - 2229.06 - -97.32 - - 3091.28 - - - - - - - - - - -
9156.31 769.95 -6.39 969 9157.64 no move -1.09 - - 1639.06 - - - 2229.50 - -97.32 - - 3092.19 - - - - - - - - - - -
9456.34 789.27 -6.43 984 9457.68 no move -1.11 - - 1638.81 - - - 2228.25 - -97.32 - - 3092.72 - - - - - - - - - - -
9756.36 808.45 -6.53 999 9757.70 no move -1.13 - - 1639.12 - - - 2229.50 - -97.32 - - 3093.19 - - - - - - - - - - -
10056.39 827.22 -6.15 1014 10062.29 roll -1.16 - - 1620.62 - 4.48 0.057 3770.50 344.0 -97.32 - - 3094.38 - - - - - - - - - 15.90 -
10071.36 828.31 -6.32 1017 10077.27 roll -1.16 - - 1638.56 - 4.19 0.014 2226.12 -368.6 -97.32 - - 3095.38 - - - - - - - - - 15.97 -
10376.47 847.45 -6.25 1033 10377.92 pitch -1.18 0.13 0.095 1574.88 -489.8 - - 2226.56 - -97.32 - - 3091.34 - - - - - - - - 15.89 - -
10676.45 869.88 -7.48 1048 10677.91 pitch -1.12 0.19 0.241 1625.12 264.4 - - 2222.38 - -97.32 - - 3093.53 - - - - - - - - 15.65 - -
10976.46 888.92 -6.20 1063 10977.80 no move -1.12 - - 1624.31 - - - 2222.75 - -97.32 - - 3093.41 - - - - - - - - - - -
11276.48 907.40 -6.10 1078 11277.81 no move -1.12 - - 1625.12 - - - 2223.88 - -97.32 - - 3092.91 - - - - - - - - - - -
11576.50 925.93 -6.15 1093 11577.83 no move -1.12 - - 1624.81 - - - 2223.25 - -97.32 - - 3092.03 - - - - - - - - - - -
11876.50 944.58 -6.32 1108 11877.84 no move -1.12 - - 1624.88 - - - 2223.25 - -97.32 - - 3092.34 - - - - - - - - - - -
12176.53 963.21 -6.19 1123 12177.86 no move -1.12 - - 1625.06 - - - 2223.44 - -97.32 - - 3091.59 - - - - - - - - - - -
12476.54 981.72 -6.05 1138 12482.41 roll -1.12 - - 1642.69 - 4.14 0.050 770.56 -350.9 -97.32 - - 3094.47 - - - - - - - - - 15.92 -
12501.54 983.43 -6.09 1143 12507.42 roll -1.12 - - 1624.81 - 4.18 0.019 2300.56 366.0 -97.32 - - 3092.75 - - - - - - - - - 15.97 -
12617 end dive: TARGET_DEPTH_EXCEEDED
12617 begin apogee
12618.33 990.68 -6.21 1151 12703.89 -0.14 1.08 0.207 1939.81 291.7 0.14 0.113 2466.12 1182.6 - 82.85 2.383 2696.47 -4.8 0.339 - - - - - - 15.66 15.36 11.43
12704 end apogee: CONTROL_FINISHED_OK
12704 begin climb
12704.41 990.75 - 1155 12791.88 0.86 0.93 0.065 2273.00 358.3 - - 2461.06 - 97.32 84.79 2.312 2296.84 -4.7 0.344 - - - - - - 15.43 - 12.32
13076.83 948.92 12.22 1177 13083.51 done 0.84 - - 2257.50 - 4.49 0.065 3956.44 333.0 97.32 - - 2282.97 - - - - - - - - - 15.43 -
13131.59 941.15 14.45 1188 13137.77 0.74 0.23 0.239 2210.19 -205.7 4.07 0.013 2491.19 -360.0 97.32 - - 2284.91 - - - - - - - - 15.28 15.48 -
13451.86 909.40 9.58 1207 13453.20 VBD 0.80 - - 2209.00 - - - 2477.12 - 97.32 - - 2278.97 - - - - - - - - - - -
13751.90 880.75 9.59 1222 13757.83 0.85 0.14 0.089 2264.19 394.2 4.38 0.064 3955.31 337.5 97.32 - - 2279.12 - - - - - - - - 15.65 15.62 -
13821.62 871.18 14.43 1236 13827.57 0.75 0.25 0.237 2211.75 -209.8 4.01 0.013 2495.69 -364.0 97.32 - - 2281.28 - - - - - - - - 15.47 15.69 -
14131.92 840.47 9.69 1253 14133.25 VBD 0.81 - - 2212.88 - - - 2481.12 - 97.32 - - 2277.12 - - - - - - - - - - -
14431.93 811.24 9.75 1268 14437.89 0.86 0.13 0.094 2267.88 423.1 4.34 0.064 3956.56 340.0 97.32 - - 2278.88 - - - - - - - - 15.73 15.70 -
14491.69 803.23 14.42 1280 14497.60 0.76 0.25 0.234 2213.62 -217.0 3.99 0.013 2491.19 -367.3 97.32 - - 2278.09 - - - - - - - - 15.54 15.78 -
14811.96 772.37 9.29 1299 14813.30 VBD 0.81 - - 2213.50 - - - 2475.62 - 97.32 - - 2275.06 - - - - - - - - - - -
15112.02 743.93 9.49 1314 15117.94 0.87 0.14 0.088 2272.88 424.1 4.35 0.065 3956.62 340.5 97.32 - - 2275.09 - - - - - - - - 15.69 15.67 -
15166.72 736.53 14.30 1325 15172.66 0.75 0.28 0.243 2211.75 -218.3 3.99 0.012 2492.50 -366.9 97.32 - - 2278.66 - - - - - - - - 15.48 15.75 -
15472.00 706.83 9.41 1341 15473.34 VBD 0.81 - - 2212.75 - - - 2476.62 - 97.32 - - 2275.06 - - - - - - - - - - -
15772.03 678.27 9.49 1356 15778.12 0.87 0.14 0.087 2274.12 438.4 4.36 0.065 3955.19 339.1 97.32 - - 2275.16 - - - - - - - - 15.68 15.66 -
15831.78 670.10 14.28 1368 15837.70 0.76 0.27 0.241 2215.44 -217.3 3.99 0.012 2490.44 -367.1 97.32 - - 2278.06 - - - - - - - - 15.48 15.72 -
16151.80 637.84 9.82 1387 16153.13 VBD 0.82 - - 2216.31 - - - 2475.38 - 97.32 - - 2273.19 - - - - - - - - - - -
16451.82 608.79 9.71 1402 16457.79 0.87 0.14 0.088 2270.81 389.3 4.37 0.066 3954.62 338.5 97.32 - - 2275.41 - - - - - - - - 15.66 15.65 -
16521.81 599.38 13.97 1416 16527.77 0.77 0.25 0.241 2219.25 -206.2 4.01 0.013 2492.12 -364.7 97.32 - - 2274.47 - - - - - - - - 15.47 15.72 -
16831.84 568.86 9.72 1433 16833.18 VBD 0.82 - - 2219.38 - - - 2476.81 - 97.32 - - 2272.69 - - - - - - - - - - -
17131.88 540.22 9.50 1448 17137.83 0.88 0.13 0.092 2284.31 499.5 4.38 0.067 3955.56 337.6 97.32 - - 2276.56 - - - - - - - - 15.66 15.63 -
17186.86 532.69 14.36 1459 17192.82 0.75 0.31 0.247 2213.00 -230.0 3.97 0.013 2490.06 -369.1 97.32 - - 2274.19 - - - - - - - - 15.47 15.78 -
17492.14 503.55 9.26 1475 17493.48 VBD 0.82 - - 2214.12 - - - 2475.62 - 97.32 - - 2272.69 - - - - - - - - - - -
17792.16 476.15 9.13 1490 17798.87 0.88 0.15 0.085 2276.19 413.8 4.34 0.066 3956.69 341.3 97.32 - - 2272.12 - - - - - - - - 15.77 15.74 -
17846.92 468.89 14.03 1501 17852.83 0.77 0.27 0.242 2217.88 -216.0 3.96 0.013 2489.62 -370.5 97.32 - - 2275.28 - - - - - - - - 15.55 15.83 -
18167.19 438.62 9.20 1520 18168.53 VBD 0.83 - - 2217.94 - - - 2475.69 - 97.32 - - 2271.88 - - - - - - - - - - -
18467.21 411.21 9.07 1535 18468.67 0.89 0.14 0.088 2291.38 524.6 - - 2475.25 - 97.32 - - 2273.59 - - - - - - - - 15.81 - -
18767.23 376.70 11.61 1560 18773.95 0.86 0.16 0.241 2229.62 -386.0 4.32 0.064 3955.44 342.6 97.32 - - 2272.94 - - - - - - - - 15.59 15.64 -
18866.97 364.70 11.77 1580 18872.83 done 0.82 - - 2246.88 - 3.96 0.013 2493.19 -369.3 97.32 - - 2274.53 - - - - - - - - - 15.89 -
19172.28 334.86 9.31 1611 19173.62 VBD 0.85 - - 2247.44 - - - 2477.56 - 97.32 - - 2272.00 - - - - - - - - - - -
19472.37 306.35 9.16 1641 19478.97 done 0.88 - - 2230.38 - 4.30 0.064 3955.69 343.8 97.32 - - 2273.81 - - - - - - - - - 15.81 -
19527.14 300.48 10.72 1652 19532.89 done 0.85 - - 2248.06 - 3.95 0.013 2487.62 -371.7 97.32 - - 2273.28 - - - - - - - - - 15.93 -
19837.36 273.63 8.49 1684 19838.70 VBD 0.89 - - 2248.00 - - - 2472.62 - 97.32 - - 2271.53 - - - - - - - - - - -
20137.49 250.51 7.04 1714 20143.04 0.95 0.10 0.098 2321.81 738.1 4.03 0.039 1036.81 -356.3 97.32 - - 2275.09 - - - - - - - - 15.87 15.84 -
20182.15 246.77 8.30 1723 20188.12 0.95 0.10 0.251 2277.44 -443.7 4.18 0.021 2564.31 365.4 97.32 - - 2272.47 - - - - - - - - 15.58 15.89 -
20487.50 228.07 5.49 1754 20528.99 1.10 0.16 0.082 2326.75 308.2 4.03 0.066 3954.12 344.9 143.52 35.56 1.491 2110.59 -4.6 0.119 - - - - - - 15.87 15.66 11.38
20597.27 219.12 9.40 1776 20603.16 roll back 0.98 0.20 0.252 2286.44 -201.5 3.97 0.012 2486.50 -369.7 143.52 - - 2106.56 - - - - - - - - 15.59 15.82 -
20907.56 201.25 4.96 1808 20960.31 1.20 0.23 0.073 2404.44 513.0 4.11 0.042 1037.69 -352.5 199.34 46.29 1.441 1881.12 -4.9 0.116 - - - - - - 15.76 15.55 11.77
21032.30 190.52 10.20 1833 21038.27 roll back 1.20 0.12 0.254 2357.62 -390.2 4.26 0.021 2565.69 358.7 199.34 - - 1875.66 - - - - - - - - 15.49 15.67 -
21337.64 166.93 7.61 1894 21338.98 VBD 1.24 - - 2358.06 - - - 2565.44 - 199.34 - - 1872.31 - - - - - - - - - - -
21637.71 146.22 6.64 1954 21639.16 1.29 0.11 0.090 2414.25 510.8 - - 2565.88 - 199.34 - - 1875.31 - - - - - - - - 15.71 - -
21937.75 123.50 7.18 2014 21943.68 done 1.29 - - 2433.31 - 4.38 0.038 1037.75 -348.9 199.34 - - 1870.97 - - - - - - - - - 15.74 -
22032.51 116.67 7.19 2033 22038.48 1.29 0.11 0.247 2385.56 -434.1 4.23 0.021 2566.81 361.5 199.34 - - 1869.94 - - - - - - - - 15.52 15.79 -
22337.84 100.74 4.68 2094 22388.74 1.48 0.21 0.077 2474.06 421.4 - - 2566.38 - 260.20 49.17 1.357 1635.62 -4.8 0.060 - - - - - - 15.75 - 11.60
22687.88 73.31 6.81 2164 22693.76 done 1.48 - - 2459.25 - 4.07 0.067 3955.88 341.4 260.20 - - 1624.16 - - - - - - - - - 15.63 -
22752.71 68.41 7.51 2177 22758.51 done 1.41 - - 2474.38 - 4.01 0.012 2484.56 -366.9 260.20 - - 1624.19 - - - - - - - - - 15.74 -
23057.97 55.38 3.05 2238 23135.19 1.67 0.10 0.091 2551.56 771.8 4.14 0.042 1037.44 -349.5 350.49 70.90 1.287 1263.62 -5.1 0.037 - - - - - - 15.73 15.43 11.64
23322.76 38.87 6.19 2291 23328.90 done 1.74 - - 2534.75 - 4.29 0.020 2561.94 355.4 350.49 - - 1254.47 - - - - - - - - - 15.60 -
23627.82 27.21 2.79 2352 23707.37 2.07 0.32 0.055 2647.44 352.2 4.16 0.070 3950.88 333.9 445.54 72.96 1.227 877.88 -5.2 0.020 - - - - - - 15.64 15.36 11.71
23929.64 18.36 0.95 2412 24001.78 2.35 0.19 0.071 2747.94 528.9 4.03 0.014 2437.94 -375.4 573.73 63.66 1.187 550.81 -5.1 0.014 - - - - - - 15.51 15.59 11.74
24250 end climb: SURFACE_DEPTH_REACHED
24250 begin surface coast
24284 end surface coast: CONTROL_FINISHED_OK
24285 begin surface
SM 1.07 - - - - 133.1 - - 538.6 - 7.36 0.041 518.0 70.4 - 0.48 0.021 559.1 1156.4 -6.022 - - 30.00 15.55 15.57 -