SODA Aug19 * SG229 * Dive index * Mission links * Dive 170 * Raw log
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• Previous call tries 2 • 123.50 of 575.00 AH used of 24V (78.52% remains)
• Surface angle -71.6 deg, depth 1.51 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 572.1, SM_CC=525.92322)
• GPS1 time: 70 s
• GPS2 time: 3 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
2.39 - - - 54.35 VBD -0.86 - - 124.38 - - - 2334.69 - -97.32 51.22 0.005 1560.53 - - - - - - - - - - 15.03
54.60 3.18 -3.99 10 116.25 -0.86 7.72 0.409 1686.94 202.4 4.26 0.059 3767.06 336.2 -97.32 44.94 0.005 3090.41 34.0 -3.740 - - - - - - 15.08 15.06 15.15
338.23 75.49 -19.57 67 344.18 roll back -0.74 0.16 0.252 1746.31 371.1 4.28 0.015 2228.81 -359.4 -97.32 - - 3093.97 - - - - - - - - 15.38 15.63 -
643.33 119.41 -13.14 128 649.29 roll -0.74 - - 1727.94 - 4.57 0.057 3765.62 336.3 -97.32 - - 3095.09 - - - - - - - - - 15.64 -
758.37 136.18 -14.19 151 764.29 roll -0.74 - - 1746.38 - 4.25 0.014 2234.62 -360.2 -97.32 - - 3094.31 - - - - - - - - - 15.73 -
1063.51 172.22 -10.79 212 1064.84 no move -0.76 - - 1745.75 - - - 2234.25 - -97.32 - - 3094.41 - - - - - - - - - - -
1363.63 204.23 -10.18 268 1364.97 no move -0.80 - - 1746.12 - - - 2234.38 - -97.32 - - 3092.53 - - - - - - - - - - -
1663.71 232.02 -8.97 298 1665.17 pitch -0.85 0.14 0.082 1669.38 -548.1 - - 2234.06 - -97.32 - - 3093.28 - - - - - - - - 15.74 - -
1963.67 263.55 -9.53 328 1970.69 roll back -0.85 0.14 0.227 1691.94 161.1 4.51 0.056 3768.38 340.2 -97.32 - - 3093.34 - - - - - - - - 15.61 15.67 -
2063.67 272.72 -9.00 348 2069.60 roll -0.85 - - 1707.56 - 4.22 0.014 2231.62 -364.2 -97.32 - - 3094.31 - - - - - - - - - 15.85 -
2368.77 294.37 -6.69 379 2374.59 roll -0.92 - - 1726.06 - 4.16 0.048 770.50 -351.2 -97.32 - - 3092.66 - - - - - - - - - 15.84 -
2418.75 297.87 -7.00 389 2424.67 roll back -0.96 0.12 0.084 1644.19 -682.2 4.18 0.017 2301.81 366.3 -97.32 - - 3092.97 - - - - - - - - 15.75 15.87 -
2728.77 321.58 -7.66 421 2730.11 no move -0.96 - - 1644.00 - - - 2303.62 - -97.32 - - 3092.41 - - - - - - - - - - -
3028.85 344.07 -7.31 451 3030.18 no move -0.96 - - 1644.75 - - - 2303.38 - -97.32 - - 3091.03 - - - - - - - - - - -
3328.88 366.99 -7.57 481 3330.21 no move -0.96 - - 1644.06 - - - 2302.94 - -97.32 - - 3090.59 - - - - - - - - - - -
3628.91 389.18 -7.44 511 3634.78 roll -0.96 - - 1661.00 - 4.41 0.046 770.75 -347.4 -97.32 - - 3092.59 - - - - - - - - - 15.88 -
3703.86 395.33 -8.09 526 3709.76 roll -0.93 - - 1643.44 - 4.19 0.019 2294.75 363.7 -97.32 - - 3091.78 - - - - - - - - - 15.89 -
4008.89 417.56 -7.35 545 4010.34 pitch -0.93 0.14 0.234 1686.44 307.1 - - 2295.69 - -97.32 - - 3089.28 - - - - - - - - 15.67 - -
4308.94 435.87 -5.95 560 4310.28 no move -1.00 - - 1686.06 - - - 2294.56 - -97.32 - - 3090.75 - - - - - - - - - - -
4608.95 453.51 -5.73 575 4614.89 roll back -1.07 0.16 0.074 1627.38 -366.7 4.37 0.046 769.31 -349.0 -97.32 - - 3092.72 - - - - - - - - 15.89 15.86 -
4658.92 457.79 -8.54 585 4664.88 roll back -0.99 0.19 0.233 1666.38 205.3 4.18 0.019 2296.44 365.3 -97.32 - - 3091.31 - - - - - - - - 15.65 15.92 -
4968.96 477.74 -6.34 602 4970.29 no move -1.04 - - 1665.69 - - - 2297.31 - -97.32 - - 3089.75 - - - - - - - - - - -
5268.98 496.97 -6.42 617 5274.87 roll -1.08 - - 1685.00 - 4.38 0.046 769.56 -348.8 -97.32 - - 3092.72 - - - - - - - - - 15.90 -
5329.03 501.25 -7.27 629 5334.91 roll back -1.08 0.12 0.093 1608.12 -640.7 4.18 0.018 2302.69 366.8 -97.32 - - 3090.81 - - - - - - - - 15.81 15.92 -
5649.00 525.50 -7.64 648 5650.46 pitch -1.05 0.14 0.229 1647.25 279.5 - - 2302.88 - -97.32 - - 3090.22 - - - - - - - - 15.69 - -
5949.03 545.30 -6.63 663 5950.36 no move -1.08 - - 1647.31 - - - 2303.19 - -97.32 - - 3089.22 - - - - - - - - - - -
6249.05 564.49 -6.23 678 6254.95 roll -1.10 - - 1666.94 - 4.41 0.046 769.88 -347.7 -97.32 - - 3092.25 - - - - - - - - - 15.92 -
6309.09 568.79 -7.21 690 6314.96 roll back -1.10 0.08 0.116 1603.56 -792.3 4.18 0.019 2302.12 366.6 -97.32 - - 3090.97 - - - - - - - - 15.82 15.95 -
6629.07 592.85 -7.53 709 6630.52 pitch -1.07 0.14 0.227 1642.25 276.4 - - 2303.31 - -97.32 - - 3089.59 - - - - - - - - 15.70 - -
6929.09 612.72 -6.47 724 6930.43 no move -1.09 - - 1642.19 - - - 2303.19 - -97.32 - - 3089.84 - - - - - - - - - - -
7229.10 632.68 -6.64 739 7230.44 no move -1.11 - - 1643.25 - - - 2303.19 - -97.32 - - 3089.94 - - - - - - - - - - -
7529.14 652.39 -6.70 754 7530.48 no move -1.13 - - 1642.75 - - - 2302.56 - -97.32 - - 3089.31 - - - - - - - - - - -
7829.13 671.90 -6.49 769 7830.59 pitch -1.16 0.12 0.092 1580.69 -517.2 - - 2303.62 - -97.32 - - 3092.12 - - - - - - - - 15.91 - -
8129.15 696.11 -8.03 784 8135.11 roll back -1.10 0.19 0.236 1652.44 377.6 4.39 0.046 770.19 -349.3 -97.32 - - 3092.38 - - - - - - - - 15.65 15.72 -
8189.15 700.80 -7.80 796 8195.01 roll -1.06 - - 1635.00 - 4.18 0.019 2296.00 365.0 -97.32 - - 3093.06 - - - - - - - - - 15.95 -
8509.16 722.88 -6.85 815 8510.49 no move -1.06 - - 1635.31 - - - 2297.69 - -97.32 - - 3090.62 - - - - - - - - - - -
8809.18 743.11 -6.87 830 8810.52 no move -1.06 - - 1634.69 - - - 2296.62 - -97.32 - - 3090.44 - - - - - - - - - - -
9109.19 763.14 -6.52 845 9115.10 roll -1.06 - - 1652.38 - 4.38 0.046 770.44 -348.4 -97.32 - - 3093.34 - - - - - - - - - 15.92 -
9174.26 768.00 -7.22 858 9180.08 roll -1.03 - - 1634.56 - 4.18 0.019 2298.38 365.5 -97.32 - - 3092.44 - - - - - - - - - 15.96 -
9489.22 788.37 -6.50 876 9490.55 no move -1.03 - - 1635.38 - - - 2298.50 - -97.32 - - 3090.38 - - - - - - - - - - -
9789.24 808.12 -6.69 891 9795.14 roll -1.03 - - 1651.88 - 4.37 0.046 770.19 -349.7 -97.32 - - 3092.78 - - - - - - - - - 15.92 -
9839.45 811.58 -6.92 901 9845.15 roll -1.01 - - 1633.56 - 4.18 0.019 2297.81 365.5 -97.32 - - 3092.69 - - - - - - - - - 15.99 -
10149.34 831.67 -6.40 918 10150.68 no move -1.01 - - 1634.88 - - - 2297.69 - -97.32 - - 3090.28 - - - - - - - - - - -
10449.32 850.52 -6.33 933 10450.66 no move -1.01 - - 1634.69 - - - 2298.12 - -97.32 - - 3088.81 - - - - - - - - - - -
10749.35 869.26 -6.17 948 10755.25 roll -1.01 - - 1652.56 - 4.38 0.047 770.44 -348.8 -97.32 - - 3092.47 - - - - - - - - - 15.92 -
10804.42 873.03 -6.76 959 10810.27 roll -0.98 - - 1634.44 - 4.18 0.020 2298.25 365.5 -97.32 - - 3091.56 - - - - - - - - - 15.94 -
11109.46 891.61 -6.06 975 11110.91 pitch -0.98 0.12 0.235 1670.56 301.0 - - 2299.06 - -97.32 - - 3092.59 - - - - - - - - 15.69 - -
11409.47 907.88 -5.46 990 11410.81 no move -1.05 - - 1671.38 - - - 2298.94 - -97.32 - - 3089.84 - - - - - - - - - - -
11709.50 923.64 -5.22 1005 11710.95 pitch -1.11 0.16 0.074 1589.38 -512.5 - - 2300.06 - -97.32 - - 3090.25 - - - - - - - - 15.94 - -
12009.51 944.24 -6.97 1020 12010.97 pitch -1.07 0.19 0.227 1640.94 271.4 - - 2299.31 - -97.32 - - 3089.59 - - - - - - - - 15.66 - -
12309.54 961.71 -5.67 1035 12315.45 roll -1.10 - - 1660.75 - 4.41 0.047 771.81 -346.4 -97.32 - - 3091.22 - - - - - - - - - 15.83 -
12374.51 966.08 -6.64 1048 12380.46 roll back -1.10 0.06 0.131 1602.50 -970.8 4.20 0.020 2301.88 364.3 -97.32 - - 3093.38 - - - - - - - - 15.72 15.85 -
12689.59 986.71 -6.57 1066 12690.92 no move -1.08 - - 1603.56 - - - 2303.06 - -97.32 - - 3089.00 - - - - - - - - - - -
12749 end dive: TARGET_DEPTH_EXCEEDED
12750 begin apogee
12751.36 990.69 -6.44 1069 12836.95 -0.14 1.19 0.215 1938.56 281.5 0.14 0.111 2461.06 1128.6 - 82.71 2.386 2694.69 -4.8 0.342 - - - - - - 15.52 15.27 11.35
12837 end apogee: CONTROL_FINISHED_OK
12837 begin climb
12837.48 990.89 - 1073 12932.18 0.86 0.94 0.067 2254.75 336.4 4.64 0.070 3955.12 322.0 97.32 84.96 2.309 2297.03 -4.7 0.347 - - - - - - 15.35 14.94 12.21
12959.59 979.41 13.51 1098 12965.42 roll 0.77 - - 2272.06 - 4.18 0.013 2498.94 -348.4 97.32 - - 2291.28 - - - - - - - - - 15.14 -
13274.58 940.30 12.50 1116 13281.59 0.74 0.23 0.238 2188.94 -361.4 4.43 0.065 3954.25 328.5 97.32 - - 2282.88 - - - - - - - - 15.21 15.29 -
13314.55 935.53 12.35 1124 13320.44 done 0.74 - - 2206.25 - 4.09 0.013 2493.62 -357.1 97.32 - - 2282.12 - - - - - - - - - 15.42 -
13629.62 904.33 9.74 1142 13635.54 done 0.80 - - 2189.88 - 4.43 0.065 3956.62 330.2 97.32 - - 2280.62 - - - - - - - - - 15.50 -
13664.61 900.56 10.81 1149 13670.54 0.80 0.09 0.118 2252.62 697.1 4.06 0.013 2483.31 -362.9 97.32 - - 2278.84 - - - - - - - - 15.41 15.52 -
13969.63 865.78 11.57 1165 13975.57 done 0.80 - - 2236.94 - 4.45 0.065 3955.00 330.7 97.32 - - 2280.34 - - - - - - - - - 15.56 -
14004.70 861.16 13.45 1172 14010.54 done 0.73 - - 2253.38 - 4.05 0.013 2494.94 -360.5 97.32 - - 2277.81 - - - - - - - - - 15.59 -
14309.72 825.81 11.46 1188 14316.65 0.73 0.17 0.232 2187.56 -387.2 4.39 0.065 3954.62 332.5 97.32 - - 2275.47 - - - - - - - - 15.42 15.46 -
14344.73 821.86 11.33 1195 14350.54 done 0.73 - - 2204.44 - 4.03 0.013 2486.62 -364.3 97.32 - - 2276.56 - - - - - - - - - 15.61 -
14664.96 791.74 9.20 1214 14671.61 done 0.80 - - 2187.50 - 4.40 0.068 3955.06 333.7 97.32 - - 2275.16 - - - - - - - - - 15.66 -
14684.70 789.64 9.30 1218 14690.64 0.83 0.13 0.096 2268.00 619.2 4.01 0.014 2485.38 -366.5 97.32 - - 2278.09 - - - - - - - - 15.63 15.73 -
14999.96 753.46 11.70 1236 15005.63 done 0.83 - - 2251.62 - 4.37 0.066 3956.00 336.5 97.32 - - 2278.28 - - - - - - - - - 15.69 -
15034.77 748.93 13.92 1243 15040.67 0.75 0.20 0.243 2211.75 -199.3 3.97 0.014 2492.50 -368.6 97.32 - - 2275.97 - - - - - - - - 15.47 15.76 -
15340.00 719.74 9.32 1259 15346.66 done 0.81 - - 2193.75 - 4.35 0.066 3955.44 336.3 97.32 - - 2274.31 - - - - - - - - - 15.71 -
15364.75 717.22 9.36 1264 15370.90 0.83 0.12 0.098 2272.06 652.6 3.97 0.014 2483.50 -370.8 97.32 - - 2274.72 - - - - - - - - 15.69 15.82 -
15675.01 681.46 11.68 1281 15681.69 done 0.83 - - 2253.69 - 4.36 0.064 3956.00 337.7 97.32 - - 2274.28 - - - - - - - - - 15.75 -
15704.82 677.44 13.47 1287 15710.71 0.75 0.22 0.241 2211.44 -192.0 3.97 0.013 2494.25 -368.2 97.32 - - 2275.38 - - - - - - - - 15.50 15.85 -
16010.04 648.38 9.18 1303 16015.69 done 0.82 - - 2192.69 - 4.33 0.066 3957.12 337.8 97.32 - - 2272.62 - - - - - - - - - 15.77 -
16239.83 624.15 10.53 1349 16245.98 0.82 0.09 0.110 2262.44 775.0 3.97 0.013 2481.25 -371.8 97.32 - - 2274.53 - - - - - - - - 15.73 15.86 -
16550.11 590.02 11.14 1366 16555.72 done 0.82 - - 2281.94 - 4.03 0.041 1039.19 -357.8 97.32 - - 2273.47 - - - - - - - - - 15.85 -
16734.90 568.72 11.68 1403 16740.83 0.84 0.09 0.255 2240.06 -465.3 4.19 0.022 2562.19 363.5 97.32 - - 2273.28 - - - - - - - - 15.58 15.90 -
17050.19 536.56 10.33 1421 17051.53 VBD 0.86 - - 2240.50 - - - 2562.56 - 97.32 - - 2273.50 - - - - - - - - - - -
17350.21 505.03 10.45 1436 17355.79 done 0.89 - - 2222.25 - 4.05 0.068 3953.50 343.4 97.32 - - 2272.06 - - - - - - - - - 15.78 -
17579.99 477.59 12.03 1482 17585.82 done 0.86 - - 2239.31 - 3.95 0.013 2487.00 -371.3 97.32 - - 2273.41 - - - - - - - - - 15.89 -
17890.33 446.02 10.05 1499 17895.87 done 0.89 - - 2256.25 - 4.04 0.041 1037.19 -358.9 97.32 - - 2273.72 - - - - - - - - - 15.89 -
18055.03 428.94 10.38 1532 18060.91 done 0.94 - - 2239.94 - 4.20 0.023 2559.12 362.4 97.32 - - 2274.50 - - - - - - - - - 15.92 -
18360.06 398.78 9.91 1550 18361.51 0.97 0.16 0.083 2312.19 451.6 - - 2560.06 - 97.32 - - 2272.28 - - - - - - - - 15.85 - -
18660.09 362.00 12.33 1580 18661.55 0.91 0.17 0.251 2265.62 -273.9 - - 2559.19 - 97.32 - - 2269.19 - - - - - - - - 15.60 - -
18960.10 331.29 9.81 1610 18961.44 VBD 0.91 - - 2264.06 - - - 2560.38 - 97.32 - - 2271.38 - - - - - - - - - - -
19260.45 302.57 9.38 1640 19261.79 VBD 0.91 - - 2264.25 - - - 2559.38 - 97.32 - - 2270.78 - - - - - - - - - - -
19560.23 278.09 7.53 1670 19561.57 VBD 0.94 - - 2264.88 - - - 2559.50 - 97.32 - - 2270.31 - - - - - - - - - - -
19860.27 256.61 6.75 1700 19866.10 done 0.98 - - 2282.94 - 4.32 0.039 1039.62 -351.8 97.32 - - 2273.00 - - - - - - - - - 15.92 -
19900.26 253.97 6.54 1708 19906.08 done 1.03 - - 2265.12 - 4.19 0.023 2563.62 363.7 97.32 - - 2271.47 - - - - - - - - - 15.94 -
20210.52 238.91 4.35 1740 20269.40 1.25 0.34 0.063 2424.31 468.2 4.37 0.039 1038.06 -349.1 164.20 51.60 1.501 2024.19 -4.8 0.132 - - - - - - 15.91 15.64 11.35
20411.37 221.52 9.73 1780 20417.37 roll back 1.19 0.20 0.261 2352.56 -358.8 4.24 0.023 2563.94 359.9 164.20 - - 2019.66 - - - - - - - - 15.50 15.74 -
20716.43 201.16 5.81 1811 20758.20 1.29 0.12 0.093 2430.88 652.7 4.38 0.039 1039.94 -347.9 204.66 33.86 1.421 1856.91 -4.8 0.118 - - - - - - 15.74 15.56 11.73
20851.47 189.24 9.74 1838 20857.43 roll back 1.27 0.13 0.249 2378.75 -401.0 4.26 0.023 2564.31 357.8 204.66 - - 1853.59 - - - - - - - - 15.49 15.68 -
21156.83 165.21 7.62 1899 21163.49 done 1.30 - - 2396.12 - 4.38 0.039 1039.44 -348.1 204.66 - - 1850.22 - - - - - - - - - 15.69 -
21186.62 162.86 7.68 1905 21192.75 done 1.33 - - 2379.69 - 4.24 0.023 2559.50 358.5 204.66 - - 1850.62 - - - - - - - - - 15.72 -
21491.64 140.96 6.95 1966 21497.62 1.38 0.12 0.088 2452.31 605.2 4.35 0.039 1038.88 -349.6 204.66 - - 1849.38 - - - - - - - - 15.70 15.71 -
21516.69 138.97 7.31 1971 21522.55 done 1.38 - - 2435.62 - 4.24 0.022 2560.44 358.9 204.66 - - 1849.03 - - - - - - - - - 15.76 -
21821.94 118.52 6.27 2032 21827.62 done 1.38 - - 2451.44 - 4.34 0.038 1037.31 -351.0 204.66 - - 1850.16 - - - - - - - - - 15.75 -
22001.73 107.67 5.78 2068 22042.99 done 1.48 - - 2436.25 - 4.24 0.022 2560.81 359.3 245.74 33.27 1.351 1693.22 -4.7 0.065 - - - - - - - 15.79 11.58
22342.07 86.06 6.10 2136 22347.71 roll 1.52 - - 2453.12 - 4.38 0.039 1037.38 -347.8 245.74 - - 1686.00 - - - - - - - - - 15.70 -
22366.80 84.47 6.08 2141 22372.70 roll 1.57 - - 2436.69 - 4.26 0.022 2559.19 357.2 245.74 - - 1686.09 - - - - - - - - - 15.72 -
22672.12 68.11 5.28 2202 22719.78 1.75 0.30 0.066 2573.44 455.8 4.39 0.040 1038.81 -346.3 295.83 40.96 1.296 1489.19 -4.8 0.044 - - - - - - 15.74 15.54 11.68
22756.88 60.99 9.35 2219 22762.83 roll back 1.69 0.17 0.250 2513.06 -355.2 4.30 0.023 2563.56 354.6 295.83 - - 1485.06 - - - - - - - - 15.50 15.66 -
23061.93 41.65 3.67 2280 23125.59 1.92 0.23 0.074 2614.81 442.4 - - 2563.88 - 375.00 62.11 1.240 1166.81 -5.1 0.030 - - - - - - 15.67 - 11.72
23422.83 26.17 1.94 2352 23509.68 2.22 0.22 0.074 2719.25 474.7 - - 2563.88 - 485.39 83.94 1.194 715.22 -5.4 0.020 - - - - - - 15.58 - 11.66
23807.61 6.64 5.95 2429 23845.22 done 2.31 - - 2737.88 - 4.47 0.042 1041.12 -340.7 523.30 30.86 1.138 559.78 -5.0 0.005 - - - - - - - 15.38 11.77
23857.63 3.07 7.15 2439 23863.55 roll 2.35 - - 2722.31 - 4.32 0.023 2560.12 351.6 523.30 - - 557.38 - - - - - - - - - 15.51 -
23872 end climb: SURFACE_DEPTH_REACHED
23873 begin surface coast
23903 end surface coast: CONTROL_FINISHED_OK
23903 begin surface
SM 2.40 - - - - 125.1 - 0.021 550.9 - 7.65 0.079 529.8 69.3 - 0.88 0.019 572.1 645.2 -8.330 - - 30.36 15.41 15.54 -