SODA Aug19 * SG229 * Dive index * Mission links * Dive 192 * Raw log
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• Previous call tries 1 • 131.38 of 575.00 AH used of 24V (77.15% remains)
• Surface angle -66.9 deg, depth 1.41 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 553.6, SM_CC=525.92322)
• GPS1 time: 63 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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
2.43 - - - 54.37 VBD -0.86 - - 114.75 - - - 2283.62 - -97.32 51.21 0.005 1544.72 - - - - - - - - - - 15.06
54.62 3.34 -4.16 10 116.38 -0.86 7.76 0.409 1723.62 207.3 4.57 0.053 720.38 -342.1 -97.32 44.59 0.005 3088.47 34.6 -3.956 - - - - - - 15.14 15.05 15.13
298.35 65.44 -17.34 59 304.21 roll -0.77 - - 1706.12 - 4.28 0.023 2244.06 356.0 -97.32 - - 3090.97 - - - - - - - - - 15.63 -
603.47 111.12 -13.31 120 604.92 pitch -0.71 0.17 0.249 1754.06 282.0 - - 2244.25 - -97.32 - - 3092.22 - - - - - - - - 15.45 - -
903.50 144.35 -10.91 180 909.43 roll -0.74 - - 1772.75 - 4.46 0.052 720.50 -341.6 -97.32 - - 3092.59 - - - - - - - - - 15.68 -
943.56 148.91 -11.63 188 949.43 roll back -0.76 0.08 0.121 1713.25 -743.8 4.24 0.022 2249.50 360.6 -97.32 - - 3092.28 - - - - - - - - 15.62 15.74 -
1248.54 186.60 -11.46 249 1249.87 no move -0.76 - - 1713.38 - - - 2250.50 - -97.32 - - 3092.56 - - - - - - - - - - -
1548.60 218.26 -9.39 291 1549.93 no move -0.79 - - 1713.38 - - - 2250.31 - -97.32 - - 3092.75 - - - - - - - - - - -
1848.74 241.94 -7.47 321 1854.76 roll -0.85 - - 1695.31 - 4.26 0.060 3717.88 344.5 -97.32 - - 3092.50 - - - - - - - - - 15.79 -
1913.68 247.35 -8.30 334 1919.80 roll -0.88 - - 1711.06 - 4.24 0.020 2185.19 -361.5 -97.32 - - 3093.94 - - - - - - - - - 15.83 -
2218.68 268.26 -6.58 365 2224.91 roll back -0.95 0.12 0.084 1631.06 -666.7 4.51 0.058 3717.50 339.8 -97.32 - - 3092.78 - - - - - - - - 15.81 15.78 -
2273.66 273.32 -9.49 376 2279.64 roll back -0.89 0.17 0.233 1699.19 400.8 4.26 0.020 2175.75 -361.9 -97.32 - - 3092.81 - - - - - - - - 15.57 15.85 -
2578.72 293.60 -6.29 407 2580.05 no move -0.94 - - 1700.00 - - - 2174.56 - -97.32 - - 3091.22 - - - - - - - - - - -
2878.80 313.25 -6.38 437 2885.74 roll back -1.01 0.14 0.082 1614.69 -609.4 4.53 0.058 3714.56 340.0 -97.32 - - 3090.44 - - - - - - - - 15.83 15.79 -
2938.73 318.89 -9.78 449 2944.72 roll back -0.94 0.18 0.234 1682.88 378.8 4.25 0.021 2175.56 -362.1 -97.32 - - 3092.62 - - - - - - - - 15.58 15.87 -
3251.23 340.43 -6.74 480 3252.56 no move -0.99 - - 1683.25 - - - 2174.31 - -97.32 - - 3090.28 - - - - - - - - - - -
3551.29 360.93 -6.71 510 3552.74 pitch -1.04 0.13 0.089 1623.75 -457.7 - - 2174.25 - -97.32 - - 3090.88 - - - - - - - - 15.71 - -
3851.28 385.41 -8.03 540 3852.61 no move -1.02 - - 1623.62 - - - 2173.19 - -97.32 - - 3091.66 - - - - - - - - - - -
4151.33 409.90 -8.29 564 4157.26 roll -1.02 - - 1604.56 - 4.57 0.057 3717.25 337.9 -97.32 - - 3089.69 - - - - - - - - - 15.70 -
4206.39 415.14 -9.77 575 4212.35 roll back -0.95 0.20 0.229 1679.50 374.7 4.28 0.020 2173.75 -360.6 -97.32 - - 3092.28 - - - - - - - - 15.48 15.73 -
4511.39 435.68 -6.52 591 4512.72 no move -1.00 - - 1680.06 - - - 2172.75 - -97.32 - - 3090.00 - - - - - - - - - - -
4811.41 454.98 -6.33 606 4818.41 roll back -1.06 0.14 0.082 1596.62 -596.0 4.59 0.058 3715.69 336.2 -97.32 - - 3089.81 - - - - - - - - 15.66 15.64 -
4886.43 461.66 -9.35 621 4892.38 roll back -0.98 0.19 0.232 1667.75 374.4 4.30 0.020 2172.81 -358.8 -97.32 - - 3092.41 - - - - - - - - 15.45 15.71 -
5206.45 482.93 -6.53 640 5207.79 no move -1.03 - - 1667.94 - - - 2172.38 - -97.32 - - 3088.97 - - - - - - - - - - -
5506.48 502.70 -6.55 655 5507.93 pitch -1.08 0.12 0.092 1610.19 -481.2 - - 2171.00 - -97.32 - - 3089.56 - - - - - - - - 15.75 - -
5806.49 526.38 -7.86 670 5807.95 pitch -1.05 0.14 0.227 1648.81 275.9 - - 2170.25 - -97.32 - - 3089.91 - - - - - - - - 15.55 - -
6106.52 547.03 -6.90 685 6112.44 roll -1.07 - - 1630.50 - 4.55 0.057 3715.19 339.5 -97.32 - - 3091.66 - - - - - - - - - 15.78 -
6201.50 554.63 -8.21 704 6207.43 roll -1.05 - - 1648.44 - 4.22 0.020 2185.50 -362.5 -97.32 - - 3091.66 - - - - - - - - - 15.84 -
6506.60 575.88 -6.98 720 6507.94 no move -1.08 - - 1648.62 - - - 2185.69 - -97.32 - - 3091.22 - - - - - - - - - - -
6806.56 596.37 -6.75 735 6807.89 no move -1.11 - - 1648.12 - - - 2186.56 - -97.32 - - 3091.03 - - - - - - - - - - -
7106.59 616.88 -6.87 750 7107.93 no move -1.13 - - 1648.38 - - - 2186.12 - -97.32 - - 3091.00 - - - - - - - - - - -
7406.59 636.90 -6.67 765 7413.59 roll back -1.16 0.14 0.088 1562.69 -612.1 4.51 0.058 3719.38 340.0 -97.32 - - 3091.00 - - - - - - - - 15.84 15.77 -
7476.58 643.41 -9.35 779 7482.58 roll back -1.04 0.26 0.247 1651.31 340.8 4.24 0.020 2173.69 -364.5 -97.32 - - 3091.72 - - - - - - - - 15.51 15.88 -
7781.62 663.88 -6.53 795 7782.95 no move -1.07 - - 1650.75 - - - 2174.56 - -97.32 - - 3090.72 - - - - - - - - - - -
8081.64 683.50 -6.53 810 8082.97 no move -1.10 - - 1652.56 - - - 2173.12 - -97.32 - - 3092.03 - - - - - - - - - - -
8381.65 702.75 -6.30 825 8388.65 roll back -1.13 0.12 0.091 1568.50 -700.5 4.53 0.059 3716.69 340.7 -97.32 - - 3088.66 - - - - - - - - 15.85 15.81 -
8451.64 709.20 -9.76 839 8457.65 roll back -1.02 0.25 0.241 1655.44 347.8 4.22 0.020 2173.88 -365.6 -97.32 - - 3092.12 - - - - - - - - 15.53 15.90 -
8756.67 728.45 -6.06 855 8758.00 no move -1.06 - - 1655.62 - - - 2174.50 - -97.32 - - 3091.28 - - - - - - - - - - -
9056.70 746.74 -6.14 870 9058.03 no move -1.10 - - 1655.19 - - - 2173.94 - -97.32 - - 3090.47 - - - - - - - - - - -
9356.74 764.90 -6.02 885 9363.72 roll back -1.14 0.14 0.087 1566.31 -634.9 4.53 0.058 3718.25 340.9 -97.32 - - 3093.88 - - - - - - - - 15.86 15.80 -
9441.73 772.57 -9.13 902 9447.82 roll back -1.02 0.26 0.242 1655.88 344.5 4.22 0.020 2171.19 -366.6 -97.32 - - 3092.25 - - - - - - - - 15.55 15.93 -
9751.75 791.32 -5.92 919 9753.09 no move -1.06 - - 1654.50 - - - 2171.31 - -97.32 - - 3090.19 - - - - - - - - - - -
10051.79 808.66 -5.68 934 10053.12 no move -1.11 - - 1654.81 - - - 2171.75 - -97.32 - - 3090.28 - - - - - - - - - - -
10351.80 825.55 -5.69 949 10358.78 roll back -1.15 0.14 0.083 1562.19 -661.6 4.51 0.058 3716.88 342.6 -97.32 - - 3092.00 - - - - - - - - 15.87 15.82 -
10431.77 832.46 -8.82 965 10437.76 roll back -1.02 0.28 0.243 1654.56 329.9 4.22 0.019 2171.19 -366.3 -97.32 - - 3092.59 - - - - - - - - 15.54 15.93 -
10746.82 850.85 -5.61 983 10748.16 no move -1.06 - - 1654.75 - - - 2170.62 - -97.32 - - 3093.47 - - - - - - - - - - -
11046.85 867.75 -5.58 998 11052.76 roll -1.10 - - 1635.69 - 4.53 0.057 3718.50 341.7 -97.32 - - 3092.47 - - - - - - - - - 15.86 -
11111.80 872.12 -6.97 1011 11117.72 roll -1.10 - - 1654.06 - 4.22 0.019 2184.19 -363.6 -97.32 - - 3090.62 - - - - - - - - - 15.95 -
11426.87 890.46 -5.88 1029 11428.32 pitch -1.15 0.14 0.087 1581.62 -517.4 - - 2183.75 - -97.32 - - 3090.59 - - - - - - - - 15.89 - -
11726.88 911.98 -7.24 1044 11728.33 pitch -1.10 0.19 0.237 1632.56 268.1 - - 2181.38 - -97.32 - - 3089.78 - - - - - - - - 15.57 - -
12026.91 930.24 -6.04 1059 12032.80 roll -1.10 - - 1614.94 - 4.49 0.057 3717.06 342.0 -97.32 - - 3092.66 - - - - - - - - - 15.85 -
12096.88 935.18 -7.11 1073 12102.78 roll -1.06 - - 1632.94 - 4.24 0.019 2182.44 -361.9 -97.32 - - 3092.66 - - - - - - - - - 15.93 -
12406.91 953.56 -5.79 1090 12408.25 no move -1.06 - - 1632.88 - - - 2182.50 - -97.32 - - 3092.75 - - - - - - - - - - -
12706.94 971.35 -5.87 1105 12708.27 no move -1.06 - - 1633.06 - - - 2182.50 - -97.32 - - 3091.09 - - - - - - - - - - -
13006.95 989.12 -5.86 1120 13008.29 no move -1.06 - - 1632.88 - - - 2182.81 - -97.32 - - 3090.94 - - - - - - - - - - -
13027 end dive: TARGET_DEPTH_EXCEEDED
13027 begin apogee
13029.31 990.30 -5.87 1121 13114.28 -0.14 1.07 0.207 1939.38 286.4 0.13 0.119 2515.62 2560.1 - 82.49 2.376 2694.34 -4.8 0.343 - - - - - - 15.57 15.33 11.18
13115 end apogee: CONTROL_FINISHED_OK
13115 begin climb
13114.84 990.47 - 1125 13203.99 0.86 0.94 0.066 2274.12 356.1 - - 2516.44 - 97.32 85.39 2.304 2297.88 -4.6 0.341 - - - - - - 15.43 - 12.28
13506.96 945.93 12.35 1157 13513.02 done 0.83 - - 2257.88 - 4.34 0.067 3956.69 331.9 97.32 - - 2284.31 - - - - - - - - - 15.42 -
13562.15 938.08 14.19 1168 13567.90 0.74 0.25 0.241 2208.75 -196.5 3.98 0.019 2535.38 -357.1 97.32 - - 2283.75 - - - - - - - - 15.22 15.48 -
13866.99 907.11 10.04 1184 13872.87 done 0.80 - - 2190.81 - 4.28 0.068 3954.25 331.5 97.32 - - 2282.12 - - - - - - - - - 15.56 -
13887.00 905.01 10.19 1188 13892.88 0.82 0.12 0.098 2264.50 614.1 3.95 0.018 2526.88 -361.4 97.32 - - 2280.69 - - - - - - - - 15.51 15.60 -
14206.99 866.69 12.05 1207 14212.89 done 0.82 - - 2249.75 - 4.26 0.068 3958.06 336.0 97.32 - - 2279.44 - - - - - - - - - 15.63 -
14232.00 863.31 12.26 1212 14237.84 done 0.76 - - 2264.31 - 3.92 0.019 2537.25 -362.5 97.32 - - 2280.66 - - - - - - - - - 15.68 -
14547.07 825.49 12.01 1230 14552.96 0.76 0.18 0.233 2196.38 -377.4 4.20 0.068 3955.06 337.6 97.32 - - 2279.31 - - - - - - - - 15.47 15.53 -
14572.01 822.52 11.82 1235 14577.85 done 0.76 - - 2212.12 - 3.87 0.019 2536.25 -366.6 97.32 - - 2278.72 - - - - - - - - - 15.75 -
14887.15 791.79 9.80 1253 14888.49 VBD 0.81 - - 2213.44 - - - 2520.25 - 97.32 - - 2276.72 - - - - - - - - - - -
15187.10 763.01 9.55 1268 15193.02 0.87 0.13 0.084 2269.88 434.2 4.20 0.069 3955.69 341.8 97.32 - - 2276.69 - - - - - - - - 15.76 15.69 -
15217.15 759.19 12.61 1274 15223.00 0.79 0.22 0.249 2223.38 -211.4 3.84 0.018 2535.88 -369.7 97.32 - - 2276.97 - - - - - - - - 15.48 15.79 -
15527.13 727.88 9.99 1291 15528.47 VBD 0.83 - - 2221.75 - - - 2518.69 - 97.32 - - 2277.00 - - - - - - - - - - -
15827.17 698.58 9.70 1306 15828.63 0.87 0.12 0.095 2284.88 526.1 - - 2519.12 - 97.32 - - 2276.47 - - - - - - - - 15.80 - -
16127.21 662.43 12.21 1321 16133.13 0.84 0.16 0.236 2224.44 -377.8 4.16 0.068 3954.94 345.1 97.32 - - 2275.91 - - - - - - - - 15.56 15.61 -
16177.27 656.20 12.16 1331 16183.03 done 0.81 - - 2239.31 - 3.85 0.018 2536.06 -368.5 97.32 - - 2276.88 - - - - - - - - - 15.85 -
16487.31 623.46 10.35 1348 16488.65 VBD 0.83 - - 2238.94 - - - 2519.44 - 97.32 - - 2274.75 - - - - - - - - - - -
16787.54 591.80 10.58 1363 16793.14 done 0.86 - - 2223.12 - 4.18 0.069 3956.62 343.8 97.32 - - 2275.91 - - - - - - - - - 15.79 -
16812.26 588.86 10.87 1368 16818.09 done 0.86 - - 2237.88 - 3.86 0.018 2532.50 -368.9 97.32 - - 2276.47 - - - - - - - - - 15.88 -
17127.39 555.43 10.53 1386 17133.25 done 0.89 - - 2223.50 - 4.20 0.069 3953.94 338.4 97.32 - - 2275.22 - - - - - - - - - 15.78 -
17147.32 553.03 10.55 1390 17153.18 0.89 0.08 0.126 2282.56 738.2 3.86 0.019 2525.12 -370.2 97.32 - - 2275.53 - - - - - - - - 15.75 15.87 -
17476.62 514.11 12.07 1409 17484.12 done 0.86 - - 2266.62 - 4.22 0.069 3955.19 338.9 97.32 - - 2274.59 - - - - - - - - - 15.72 -
17503.69 509.27 12.92 1415 17509.54 0.78 0.22 0.248 2220.44 -209.9 3.87 0.018 2535.06 -367.0 97.32 - - 2276.19 - - - - - - - - 15.47 15.79 -
17813.92 479.09 9.51 1432 17815.26 VBD 0.83 - - 2220.62 - - - 2519.56 - 97.32 - - 2273.72 - - - - - - - - - - -
18113.69 451.43 9.07 1447 18119.63 0.89 0.14 0.090 2271.81 365.6 4.22 0.068 3953.88 339.9 97.32 - - 2274.50 - - - - - - - - 15.71 15.66 -
18133.74 449.08 9.34 1451 18139.49 done 0.86 - - 2286.81 - 3.88 0.018 2535.50 -365.6 97.32 - - 2275.09 - - - - - - - - - 15.74 -
18453.76 412.30 11.53 1470 18455.21 0.83 0.18 0.246 2238.69 -267.3 - - 2519.44 - 97.32 - - 2274.16 - - - - - - - - 15.45 - -
18753.78 383.85 9.13 1493 18759.63 done 0.87 - - 2220.62 - 4.22 0.068 3955.88 340.4 97.32 - - 2274.53 - - - - - - - - - 15.66 -
18788.77 380.04 10.88 1500 18794.57 done 0.85 - - 2236.19 - 3.88 0.018 2536.94 -365.7 97.32 - - 2275.06 - - - - - - - - - 15.73 -
19093.76 351.77 9.10 1531 19099.64 done 0.89 - - 2220.00 - 4.23 0.068 3954.00 335.0 97.32 - - 2275.12 - - - - - - - - - 15.64 -
19108.73 350.24 9.35 1534 19114.65 0.89 0.09 0.114 2283.88 709.8 3.88 0.018 2524.06 -368.5 97.32 - - 2274.00 - - - - - - - - 15.55 15.72 -
19413.77 317.54 10.71 1565 19419.67 done 0.89 - - 2266.94 - 4.26 0.067 3955.50 336.0 97.32 - - 2273.66 - - - - - - - - - 15.63 -
19433.80 315.14 10.87 1569 19439.61 done 0.83 - - 2283.50 - 3.89 0.018 2535.06 -365.2 97.32 - - 2273.81 - - - - - - - - - 15.71 -
19743.80 283.08 10.06 1601 19745.26 0.83 0.17 0.241 2236.88 -274.2 - - 2518.38 - 97.32 - - 2271.12 - - - - - - - - 15.47 - -
20044.10 258.73 7.94 1631 20045.44 VBD 0.90 - - 2234.94 - - - 2519.19 - 97.32 - - 2272.06 - - - - - - - - - - -
20344.18 237.53 6.57 1661 20345.64 0.97 0.17 0.078 2313.81 463.9 - - 2518.06 - 97.32 - - 2272.25 - - - - - - - - 15.79 - -
20644.14 218.42 5.22 1691 20690.83 done 1.10 - - 2298.81 - 4.23 0.069 3954.56 339.6 148.45 40.08 1.471 2085.09 -4.7 0.119 - - - - - - - 15.57 11.24
20912.74 198.11 7.74 1741 20918.56 roll 1.06 - - 2313.56 - 3.89 0.017 2518.88 -369.1 148.45 - - 2082.38 - - - - - - - - - 15.74 -
21218.06 181.87 5.04 1802 21269.73 1.25 0.20 0.080 2422.62 545.3 4.08 0.045 1078.94 -352.9 202.82 44.94 1.410 1866.66 -4.8 0.106 - - - - - - 15.71 15.50 11.59
21492.83 156.75 9.53 1857 21498.80 1.25 0.13 0.254 2371.44 -393.7 4.26 0.026 2601.25 357.3 202.82 - - 1860.03 - - - - - - - - 15.37 15.64 -
21797.89 133.64 6.92 1918 21803.81 done 1.29 - - 2390.94 - 4.36 0.041 1079.75 -349.0 202.82 - - 1857.44 - - - - - - - - - 15.65 -
21887.91 127.20 7.16 1936 21893.82 done 1.34 - - 2373.06 - 4.25 0.028 2596.75 356.9 202.82 - - 1855.41 - - - - - - - - - 15.70 -
22192.98 108.45 5.77 1997 22234.75 1.51 0.26 0.066 2507.75 518.0 4.38 0.045 1078.56 -346.6 243.96 33.71 1.342 1697.00 -4.7 0.065 - - - - - - 15.70 15.53 11.52
22272.98 101.42 9.79 2013 22278.94 roll back 1.45 0.20 0.249 2436.50 -356.2 4.26 0.027 2603.94 358.1 243.96 - - 1695.00 - - - - - - - - 15.48 15.66 -
22578.03 78.45 6.60 2074 22583.95 done 1.49 - - 2454.19 - 4.39 0.042 1079.31 -347.3 243.96 - - 1690.09 - - - - - - - - - 15.65 -
22653.29 73.52 6.50 2089 22658.97 done 1.53 - - 2437.25 - 4.25 0.027 2597.19 357.1 243.96 - - 1690.38 - - - - - - - - - 15.69 -
22958.17 59.22 3.98 2150 23025.37 1.78 0.32 0.058 2586.25 465.6 4.40 0.043 1078.62 -345.1 317.42 58.54 1.291 1399.72 -5.0 0.039 - - - - - - 15.70 15.46 11.57
23118.21 47.31 8.35 2182 23124.16 roll back 1.75 0.14 0.242 2532.31 -385.3 4.30 0.026 2604.19 354.8 317.42 - - 1394.66 - - - - - - - - 15.42 15.60 -
23423.31 35.52 2.48 2243 23504.72 2.05 0.31 0.059 2655.31 396.8 - - 2604.75 - 418.05 78.17 1.238 989.81 -5.2 0.025 - - - - - - 15.62 - 11.56
23803.72 20.55 0.26 2319 23896.28 2.45 0.31 0.058 2804.56 481.5 4.48 0.042 1079.38 -340.5 558.73 84.56 1.193 547.88 -5.2 0.015 - - - - - - 15.55 15.24 11.73
24084 end climb: SURFACE_DEPTH_REACHED
24084 begin surface coast
24099 end surface coast: CONTROL_FINISHED_OK
24099 begin surface
SM 0.87 - - - - 126.2 - - 537.3 - 7.74 0.062 521.1 67.3 - 3.26 0.022 553.6 168.4 -0.681 - - 30.00 15.45 15.51 -