SODA Aug19 * SG229 * Dive index * Mission links * Dive 166 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 122.05 of 575.00 AH used of 24V (78.77% remains)
• Surface angle -72.9 deg, depth 1.71 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 569.7, SM_CC=525.92322)
• GPS1 time: 68 s
• GPS2 time: 4 s • Transponder ping count: 5
• 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
2.41 - - - 49.22 VBD -0.86 - - 131.06 - - - 2327.00 - -97.32 46.19 0.005 1457.59 - - - - - - - - - - 15.11
49.51 3.41 -4.39 9 111.73 -0.86 7.57 0.405 1724.31 210.5 4.51 0.046 769.06 -345.4 -97.32 45.73 0.005 3093.34 35.8 -4.182 - - - - - - 15.16 15.10 15.18
333.62 75.96 -17.71 66 339.52 roll -0.77 - - 1707.31 - 4.25 0.019 2290.81 358.1 -97.32 - - 3094.66 - - - - - - - - - 15.67 -
638.72 121.93 -14.14 127 640.17 pitch -0.71 0.18 0.242 1757.38 278.2 - - 2291.94 - -97.32 - - 3092.81 - - - - - - - - 15.52 - -
938.75 156.56 -11.07 187 940.08 no move -0.74 - - 1757.12 - - - 2292.19 - -97.32 - - 3094.25 - - - - - - - - - - -
1238.80 188.43 -10.89 247 1244.74 roll -0.78 - - 1775.25 - 4.41 0.047 772.06 -344.7 -97.32 - - 3094.22 - - - - - - - - - 15.74 -
1293.87 194.35 -10.69 258 1299.77 roll back -0.84 0.16 0.077 1674.62 -628.9 4.22 0.020 2299.06 361.8 -97.32 - - 3093.91 - - - - - - - - 15.67 15.80 -
1603.84 231.79 -10.78 294 1609.78 roll back -0.84 0.14 0.239 1695.81 151.4 4.28 0.062 3768.44 343.3 -97.32 - - 3094.09 - - - - - - - - 15.60 15.65 -
1683.84 240.07 -10.33 310 1689.74 roll -0.84 - - 1712.69 - 4.22 0.015 2231.69 -364.2 -97.32 - - 3093.91 - - - - - - - - - 15.85 -
1993.89 263.41 -7.13 342 1995.22 no move -0.91 - - 1712.44 - - - 2230.31 - -97.32 - - 3094.31 - - - - - - - - - - -
2293.97 284.52 -7.07 372 2300.92 roll back -0.98 0.16 0.073 1616.50 -599.6 4.51 0.058 3767.31 340.8 -97.32 - - 3092.06 - - - - - - - - 15.82 15.79 -
2403.92 295.54 -10.23 394 2409.91 roll back -0.90 0.22 0.237 1694.81 356.0 4.22 0.014 2214.00 -368.1 -97.32 - - 3095.09 - - - - - - - - 15.60 15.87 -
2708.97 316.45 -6.40 425 2710.30 no move -0.96 - - 1694.56 - - - 2212.75 - -97.32 - - 3092.88 - - - - - - - - - - -
3009.06 336.38 -6.47 455 3010.51 pitch -1.02 0.14 0.077 1627.69 -477.6 - - 2211.75 - -97.32 - - 3091.81 - - - - - - - - 15.87 - -
3309.01 360.00 -7.87 485 3316.03 roll back -1.00 0.13 0.228 1645.94 140.4 4.55 0.059 3766.12 341.6 -97.32 - - 3095.69 - - - - - - - - 15.68 15.72 -
3399.00 367.62 -8.67 503 3404.94 roll -1.00 - - 1662.62 - 4.20 0.015 2230.56 -365.6 -97.32 - - 3092.25 - - - - - - - - - 15.90 -
3704.07 389.49 -7.16 534 3705.41 no move -1.03 - - 1661.81 - - - 2229.75 - -97.32 - - 3092.62 - - - - - - - - - - -
4004.12 410.74 -7.26 557 4009.96 roll -1.07 - - 1681.50 - 4.14 0.048 770.38 -352.5 -97.32 - - 3094.69 - - - - - - - - - 15.89 -
4059.08 414.96 -8.16 568 4065.03 roll back -1.07 0.09 0.106 1617.44 -711.8 4.18 0.017 2302.12 366.4 -97.32 - - 3092.31 - - - - - - - - 15.75 15.90 -
4364.12 439.37 -8.00 584 4370.02 roll -1.05 - - 1633.62 - 4.38 0.045 770.75 -349.6 -97.32 - - 3095.12 - - - - - - - - - 15.90 -
4409.16 443.18 -8.48 593 4415.05 roll back -0.98 0.19 0.240 1669.38 188.2 4.18 0.017 2299.56 365.7 -97.32 - - 3092.25 - - - - - - - - 15.63 15.92 -
4724.15 463.97 -6.39 611 4725.48 no move -1.03 - - 1668.94 - - - 2301.31 - -97.32 - - 3092.50 - - - - - - - - - - -
5024.17 483.48 -6.51 626 5025.62 pitch -1.08 0.12 0.089 1608.88 -500.5 - - 2300.00 - -97.32 - - 3091.56 - - - - - - - - 15.88 - -
5324.18 507.42 -8.11 641 5330.14 roll back -1.05 0.14 0.227 1666.75 413.4 4.38 0.045 770.75 -349.1 -97.32 - - 3092.69 - - - - - - - - 15.68 15.73 -
5389.15 512.71 -8.30 654 5395.05 roll -1.05 - - 1648.88 - 4.16 0.017 2296.06 366.7 -97.32 - - 3093.59 - - - - - - - - - 15.94 -
5704.21 534.67 -6.93 672 5705.54 no move -1.08 - - 1649.25 - - - 2295.75 - -97.32 - - 3092.41 - - - - - - - - - - -
6004.25 555.30 -6.83 687 6005.59 no move -1.11 - - 1649.44 - - - 2295.44 - -97.32 - - 3091.25 - - - - - - - - - - -
6304.27 576.10 -6.88 702 6305.73 pitch -1.14 0.12 0.093 1590.25 -493.3 - - 2297.06 - -97.32 - - 3090.16 - - - - - - - - 15.89 - -
6604.30 600.50 -8.25 717 6605.76 pitch -1.09 0.17 0.234 1634.88 262.5 - - 2296.81 - -97.32 - - 3092.34 - - - - - - - - 15.67 - -
6904.31 621.66 -6.98 732 6910.22 roll -1.09 - - 1653.75 - 4.36 0.046 770.69 -350.0 -97.32 - - 3095.22 - - - - - - - - - 15.92 -
6964.43 626.22 -7.66 744 6970.21 roll -1.06 - - 1637.38 - 4.16 0.018 2297.81 367.1 -97.32 - - 3093.16 - - - - - - - - - 15.95 -
7284.37 648.32 -6.84 763 7285.70 no move -1.06 - - 1636.62 - - - 2299.81 - -97.32 - - 3092.53 - - - - - - - - - - -
7584.40 668.52 -6.68 778 7590.31 roll -1.06 - - 1654.06 - 4.37 0.046 770.62 -349.9 -97.32 - - 3092.94 - - - - - - - - - 15.92 -
7629.41 671.73 -6.70 787 7635.30 roll -1.06 - - 1636.94 - 4.18 0.018 2296.62 365.1 -97.32 - - 3094.81 - - - - - - - - - 15.94 -
7944.44 692.38 -6.43 805 7945.78 no move -1.06 - - 1636.25 - - - 2297.19 - -97.32 - - 3090.56 - - - - - - - - - - -
8244.49 712.22 -6.66 820 8245.83 no move -1.06 - - 1636.62 - - - 2296.38 - -97.32 - - 3091.62 - - - - - - - - - - -
8544.51 732.13 -6.53 835 8550.42 roll -1.06 - - 1654.12 - 4.36 0.046 770.50 -350.0 -97.32 - - 3093.31 - - - - - - - - - 15.92 -
8599.58 736.28 -7.74 846 8605.43 roll -1.04 - - 1636.38 - 4.17 0.018 2297.81 366.3 -97.32 - - 3092.78 - - - - - - - - - 15.93 -
8904.61 756.31 -6.56 862 8905.94 no move -1.04 - - 1636.31 - - - 2298.19 - -97.32 - - 3093.56 - - - - - - - - - - -
9204.59 775.70 -6.38 877 9205.92 no move -1.04 - - 1636.81 - - - 2298.00 - -97.32 - - 3093.94 - - - - - - - - - - -
9504.62 794.81 -6.30 892 9510.51 roll -1.06 - - 1653.94 - 4.36 0.046 770.19 -350.4 -97.32 - - 3094.56 - - - - - - - - - 15.93 -
9559.82 798.77 -6.95 903 9565.51 roll -1.04 - - 1636.44 - 4.18 0.019 2298.69 365.7 -97.32 - - 3094.78 - - - - - - - - - 15.95 -
9864.66 817.22 -6.01 919 9866.00 no move -1.06 - - 1637.06 - - - 2299.62 - -97.32 - - 3092.34 - - - - - - - - - - -
10164.69 834.85 -5.83 934 10166.02 no move -1.08 - - 1636.50 - - - 2300.19 - -97.32 - - 3094.31 - - - - - - - - - - -
10464.69 852.71 -5.69 949 10466.03 no move -1.10 - - 1636.94 - - - 2299.44 - -97.32 - - 3092.72 - - - - - - - - - - -
10764.71 870.40 -5.90 964 10766.05 no move -1.12 - - 1636.50 - - - 2299.25 - -97.32 - - 3091.84 - - - - - - - - - - -
11064.72 888.03 -5.83 979 11070.70 roll -1.15 - - 1653.81 - 4.43 0.046 771.69 -344.8 -97.32 - - 3095.31 - - - - - - - - - 15.76 -
11124.78 892.16 -6.74 991 11130.64 roll back -1.13 0.07 0.125 1594.56 -846.4 4.22 0.018 2303.00 362.9 -97.32 - - 3094.19 - - - - - - - - 15.65 15.77 -
11444.74 914.28 -6.88 1010 11446.19 pitch -1.09 0.15 0.233 1634.06 263.3 - - 2303.75 - -97.32 - - 3095.81 - - - - - - - - 15.51 - -
11744.76 932.27 -6.12 1025 11746.10 no move -1.12 - - 1634.19 - - - 2303.69 - -97.32 - - 3091.78 - - - - - - - - - - -
12044.84 949.94 -5.85 1040 12050.69 roll -1.14 - - 1652.75 - 4.43 0.046 769.75 -346.3 -97.32 - - 3093.34 - - - - - - - - - 15.79 -
12109.76 954.12 -6.53 1053 12115.68 roll -1.12 - - 1635.94 - 4.20 0.018 2297.94 363.9 -97.32 - - 3094.34 - - - - - - - - - 15.81 -
12424.81 972.58 -5.82 1071 12426.14 no move -1.14 - - 1635.56 - - - 2297.56 - -97.32 - - 3096.50 - - - - - - - - - - -
12724.84 989.39 -5.70 1086 12726.18 no move -1.16 - - 1635.50 - - - 2297.69 - -97.32 - - 3093.00 - - - - - - - - - - -
12745 end dive: TARGET_DEPTH_EXCEEDED
12745 begin apogee
12746.57 990.50 -5.62 1087 12832.17 -0.14 1.05 0.200 1939.19 289.2 0.14 0.108 2465.75 1200.4 - 83.01 2.377 2698.06 -4.8 0.340 - - - - - - 15.56 15.24 11.27
12833 end apogee: CONTROL_FINISHED_OK
12833 begin climb
12832.69 990.56 - 1091 12927.68 0.86 0.94 0.065 2255.75 336.8 4.61 0.068 3955.00 323.0 97.32 85.41 2.306 2297.84 -4.7 0.345 - - - - - - 15.34 14.96 10.89
12969.83 976.23 14.69 1119 12975.62 roll 0.77 - - 2271.50 - 4.16 0.013 2497.44 -350.4 97.32 - - 2293.50 - - - - - - - - - 15.21 -
13290.04 935.46 12.79 1138 13296.82 0.75 0.22 0.235 2192.44 -359.4 4.41 0.064 3957.38 331.1 97.32 - - 2285.81 - - - - - - - - 15.28 15.35 -
13324.76 931.20 12.64 1145 13330.65 done 0.75 - - 2208.50 - 4.06 0.013 2498.88 -359.2 97.32 - - 2283.12 - - - - - - - - - 15.49 -
13645.06 898.48 10.04 1164 13651.72 done 0.80 - - 2193.06 - 4.38 0.065 3955.19 332.5 97.32 - - 2278.38 - - - - - - - - - 15.58 -
13679.82 894.47 11.50 1171 13685.70 0.80 0.08 0.119 2253.88 760.3 4.03 0.013 2483.25 -365.2 97.32 - - 2283.06 - - - - - - - - 15.53 15.61 -
13999.62 856.69 11.95 1190 14005.76 done 0.80 - - 2244.94 - 4.41 0.065 3957.69 334.3 97.32 - - 2279.50 - - - - - - - - - 15.66 -
14044.89 850.56 14.14 1199 14050.78 0.72 0.20 0.233 2203.00 -209.7 4.01 0.013 2493.88 -365.0 97.32 - - 2279.53 - - - - - - - - 15.48 15.69 -
14360.12 819.65 9.57 1217 14366.78 done 0.79 - - 2185.06 - 4.36 0.066 3955.75 335.3 97.32 - - 2275.69 - - - - - - - - - 15.69 -
14374.87 818.11 9.50 1220 14380.76 0.82 0.13 0.095 2268.81 644.2 3.99 0.013 2485.00 -368.6 97.32 - - 2277.84 - - - - - - - - 15.64 15.76 -
14695.11 779.44 12.28 1239 14701.79 done 0.82 - - 2252.31 - 4.37 0.065 3955.75 336.6 97.32 - - 2278.75 - - - - - - - - - 15.72 -
14739.93 773.31 14.29 1248 14745.81 0.73 0.22 0.238 2207.50 -203.7 3.98 0.013 2493.00 -367.5 97.32 - - 2277.88 - - - - - - - - 15.53 15.78 -
15049.90 742.68 9.62 1265 15055.81 done 0.80 - - 2188.69 - 4.35 0.066 3957.50 336.7 97.32 - - 2275.75 - - - - - - - - - 15.74 -
15069.92 740.40 9.57 1269 15075.80 0.83 0.12 0.095 2271.06 686.4 3.99 0.013 2485.06 -369.0 97.32 - - 2277.28 - - - - - - - - 15.71 15.80 -
15389.90 702.27 12.04 1288 15395.83 done 0.83 - - 2253.94 - 4.36 0.066 3958.50 337.9 97.32 - - 2277.66 - - - - - - - - - 15.76 -
15419.92 698.28 13.35 1294 15425.85 0.74 0.22 0.238 2211.06 -194.9 3.97 0.013 2493.62 -369.0 97.32 - - 2275.59 - - - - - - - - 15.57 15.83 -
15730.20 667.62 9.69 1311 15735.86 done 0.80 - - 2191.88 - 4.34 0.066 3956.69 337.1 97.32 - - 2271.94 - - - - - - - - - 15.77 -
15759.94 664.36 9.94 1317 15765.85 0.80 0.09 0.114 2259.75 754.1 3.97 0.013 2484.62 -370.8 97.32 - - 2278.06 - - - - - - - - 15.74 15.85 -
16069.96 629.17 11.41 1334 16075.87 done 0.80 - - 2243.81 - 4.36 0.065 3954.06 337.0 97.32 - - 2278.09 - - - - - - - - - 15.78 -
16105.02 624.56 13.46 1341 16110.83 done 0.73 - - 2259.94 - 3.96 0.014 2498.06 -367.7 97.32 - - 2274.38 - - - - - - - - - 15.88 -
16410.29 589.73 11.39 1357 16416.97 0.73 0.19 0.229 2186.50 -386.5 4.32 0.065 3954.31 337.1 97.32 - - 2272.78 - - - - - - - - 15.63 15.67 -
16435.02 586.78 11.46 1362 16440.83 done 0.73 - - 2203.06 - 3.96 0.014 2492.38 -369.2 97.32 - - 2274.19 - - - - - - - - - 15.90 -
16745.14 558.18 9.35 1379 16750.92 done 0.80 - - 2186.81 - 4.32 0.065 3954.88 338.5 97.32 - - 2276.47 - - - - - - - - - 15.81 -
16760.01 556.72 9.28 1382 16765.93 0.84 0.14 0.089 2273.56 619.6 3.94 0.013 2481.81 -373.9 97.32 - - 2274.56 - - - - - - - - 15.73 15.91 -
17065.01 521.40 11.62 1398 17070.94 done 0.84 - - 2256.62 - 4.34 0.064 3954.44 339.3 97.32 - - 2275.75 - - - - - - - - - 15.82 -
17120.11 513.94 13.71 1409 17125.98 0.75 0.22 0.238 2214.69 -190.6 3.94 0.013 2490.31 -371.6 97.32 - - 2274.97 - - - - - - - - 15.57 15.93 -
17425.07 484.93 9.15 1425 17430.97 done 0.82 - - 2195.69 - 4.33 0.066 3957.19 338.8 97.32 - - 2274.66 - - - - - - - - - 15.80 -
17440.05 483.42 9.24 1428 17445.98 0.85 0.12 0.091 2276.75 675.5 3.96 0.013 2480.88 -372.8 97.32 - - 2277.00 - - - - - - - - 15.75 15.91 -
17745.06 448.39 11.68 1444 17750.99 done 0.85 - - 2259.50 - 4.33 0.064 3955.00 340.4 97.32 - - 2273.66 - - - - - - - - - 15.84 -
17795.13 441.75 13.71 1454 17801.01 0.76 0.22 0.240 2214.38 -205.1 3.95 0.013 2492.44 -370.3 97.32 - - 2273.81 - - - - - - - - 15.61 15.93 -
18105.36 412.46 9.26 1471 18111.01 done 0.82 - - 2195.25 - 4.31 0.065 3958.19 340.1 97.32 - - 2273.72 - - - - - - - - - 15.83 -
18135.10 409.47 9.38 1477 18141.00 0.85 0.12 0.091 2280.06 706.7 3.94 0.013 2482.38 -374.6 97.32 - - 2274.84 - - - - - - - - 15.80 15.94 -
18445.14 375.68 10.71 1505 18451.04 done 0.85 - - 2262.81 - 4.34 0.064 3957.62 339.9 97.32 - - 2273.44 - - - - - - - - - 15.83 -
18460.13 373.86 10.80 1508 18466.00 done 0.81 - - 2280.81 - 3.94 0.013 2493.38 -371.6 97.32 - - 2275.00 - - - - - - - - - 15.93 -
18765.15 341.43 10.52 1539 18766.61 0.81 0.17 0.242 2231.81 -288.2 - - 2478.50 - 97.32 - - 2272.66 - - - - - - - - 15.64 - -
19065.21 316.07 8.73 1569 19071.10 done 0.87 - - 2213.88 - 4.32 0.065 3955.31 341.9 97.32 - - 2276.16 - - - - - - - - - 15.83 -
19105.21 312.30 9.42 1577 19111.09 0.87 0.09 0.114 2280.62 741.6 3.94 0.013 2478.81 -374.7 97.32 - - 2273.69 - - - - - - - - 15.81 15.96 -
19415.26 282.85 9.30 1609 19421.18 done 0.87 - - 2265.56 - 4.34 0.063 3953.38 339.8 97.32 - - 2273.94 - - - - - - - - - 15.84 -
19455.35 278.64 10.69 1617 19461.20 0.78 0.20 0.245 2223.94 -208.1 3.94 0.013 2489.94 -371.4 97.32 - - 2275.19 - - - - - - - - 15.62 15.94 -
19765.60 256.47 6.31 1649 19767.06 0.88 0.11 0.096 2285.00 555.1 - - 2474.19 - 97.32 - - 2277.31 - - - - - - - - 15.88 - -
20065.39 237.61 5.42 1679 20103.56 VBD 1.02 - - 2286.44 - - - 2474.31 - 144.75 36.62 1.502 2102.84 -4.8 0.129 - - - - - - - - 11.37
20395.73 218.49 5.52 1712 20436.35 1.22 0.24 0.071 2395.50 454.4 - - 2473.44 - 190.40 38.06 1.445 1918.22 -4.9 0.126 - - - - - - 15.77 - 11.79
20735.81 188.22 8.70 1759 20737.15 no move 1.22 - - 2394.88 - - - 2472.62 - 190.40 - - 1909.78 - - - - - - - - - - -
21035.82 164.76 7.26 1819 21037.16 VBD 1.22 - - 2395.81 - - - 2473.00 - 190.40 - - 1908.53 - - - - - - - - - - -
21335.88 144.03 6.70 1879 21341.56 done 1.22 - - 2379.31 - 4.37 0.066 3951.50 338.3 190.40 - - 1910.16 - - - - - - - - - 15.70 -
21415.64 137.89 7.76 1895 21421.57 1.10 0.25 0.244 2326.38 -211.7 3.98 0.014 2486.19 -368.2 190.40 - - 1907.69 - - - - - - - - 15.50 15.81 -
21720.97 124.39 4.18 1956 21783.89 1.40 0.29 0.055 2465.00 478.0 4.10 0.042 1039.50 -352.9 260.29 56.22 1.379 1633.25 -4.9 0.075 - - - - - - 15.80 15.54 11.52
21810.80 117.68 8.93 1974 21816.77 roll back 1.40 0.11 0.231 2416.00 -445.5 4.26 0.021 2562.75 357.6 260.29 - - 1631.12 - - - - - - - - 15.50 15.65 -
22115.88 95.19 6.44 2035 22117.33 1.47 0.12 0.092 2475.06 492.2 - - 2563.75 - 260.29 - - 1625.91 - - - - - - - - 15.65 - -
22415.95 74.11 5.84 2095 22454.57 done 1.57 - - 2496.56 - 4.38 0.040 1039.00 -348.1 300.15 32.56 1.301 1469.09 -4.8 0.047 - - - - - - - 15.54 11.71
22476.50 70.13 6.49 2107 22482.40 roll 1.62 - - 2479.19 - 4.26 0.021 2558.88 356.8 300.15 - - 1467.62 - - - - - - - - - 15.66 -
22781.83 51.56 4.65 2168 22838.66 1.84 0.26 0.065 2617.50 532.0 4.38 0.039 1039.75 -346.8 361.52 49.14 1.266 1219.47 -5.0 0.035 - - - - - - 15.66 15.44 11.68
22886.58 44.24 7.79 2189 22892.54 roll back 1.81 0.18 0.241 2550.44 -372.6 4.30 0.021 2563.81 354.4 361.52 - - 1214.44 - - - - - - - - 15.42 15.58 -
23191.91 31.12 3.29 2250 23265.13 2.10 0.29 0.057 2689.06 478.0 4.45 0.039 1037.12 -343.1 447.46 66.11 1.222 869.34 -5.2 0.023 - - - - - - 15.59 15.36 11.69
23311.99 24.65 6.67 2274 23317.97 roll back 2.10 0.10 0.231 2641.62 -474.4 4.32 0.020 2565.12 353.7 447.46 - - 866.12 - - - - - - - - 15.37 15.50 -
23617.07 14.39 2.89 2335 23685.41 2.42 0.32 0.053 2756.88 360.2 4.12 0.066 3954.44 337.2 540.69 61.88 1.183 550.12 -5.1 0.011 - - - - - - 15.57 15.33 11.77
23717.30 7.65 9.67 2355 23723.22 2.32 0.22 0.257 2713.25 -198.3 4.07 0.012 2490.00 -359.8 540.69 - - 546.22 - - - - - - - - 15.31 15.49 -
23792 end climb: SURFACE_DEPTH_REACHED
23792 begin surface coast
23818 end surface coast: CONTROL_FINISHED_OK
23818 begin surface
SM 1.54 - - - - 127.6 - - 543.0 - 7.14 0.029 516.3 72.3 - 0.58 0.017 569.7 975.2 -9.029 - - 30.00 15.51 15.54 -