SODA Aug19 * SG229 * Dive index * Mission links * Dive 172 * Raw log
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• Previous call tries 1 • 124.22 of 575.00 AH used of 24V (78.40% remains)
• Surface angle -70.4 deg, depth 1.52 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 561.8, SM_CC=525.92322)
• GPS1 time: 120 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
2.41 - - - 49.21 VBD -0.86 - - 105.75 - - - 2323.44 - -97.32 46.14 0.005 1465.84 - - - - - - - - - - 15.10
49.51 3.07 -3.96 9 113.82 -0.86 7.72 0.404 1723.38 209.5 4.51 0.044 769.00 -344.7 -97.32 48.59 0.005 3086.31 33.3 -3.498 - - - - - - 15.15 15.12 15.16
335.71 74.69 -18.06 66 341.60 roll -0.76 - - 1706.50 - 4.26 0.020 2289.75 357.0 -97.32 - - 3091.03 - - - - - - - - - 15.65 -
640.85 123.71 -14.59 127 647.80 roll back -0.69 0.20 0.250 1779.56 365.3 4.41 0.046 770.44 -344.5 -97.32 - - 3090.78 - - - - - - - - 15.47 15.56 -
730.77 135.17 -12.05 145 736.70 roll -0.69 - - 1763.38 - 4.24 0.020 2294.25 359.4 -97.32 - - 3091.06 - - - - - - - - - 15.71 -
1035.85 168.46 -10.67 206 1041.75 roll -0.73 - - 1745.00 - 4.30 0.058 3766.56 342.4 -97.32 - - 3090.94 - - - - - - - - - 15.70 -
1085.92 174.31 -11.99 216 1091.76 roll -0.76 - - 1762.50 - 4.24 0.014 2232.62 -361.8 -97.32 - - 3092.28 - - - - - - - - - 15.77 -
1390.98 206.33 -10.45 271 1392.43 pitch -0.82 0.15 0.081 1682.00 -536.7 - - 2231.75 - -97.32 - - 3089.44 - - - - - - - - 15.74 - -
1690.92 242.19 -11.01 301 1697.95 roll back -0.82 0.14 0.229 1703.06 150.4 4.52 0.057 3770.19 340.4 -97.32 - - 3089.28 - - - - - - - - 15.61 15.65 -
1750.91 248.38 -10.58 313 1756.85 roll -0.82 - - 1718.50 - 4.22 0.014 2232.25 -364.4 -97.32 - - 3093.78 - - - - - - - - - 15.84 -
2055.99 272.05 -6.88 344 2061.97 roll -0.90 - - 1737.56 - 4.17 0.048 769.69 -350.7 -97.32 - - 3090.94 - - - - - - - - - 15.83 -
2100.98 275.49 -7.17 353 2106.94 roll back -0.96 0.16 0.077 1646.94 -566.4 4.20 0.018 2300.94 364.6 -97.32 - - 3092.78 - - - - - - - - 15.70 15.84 -
2406.01 299.84 -7.73 384 2407.34 no move -0.96 - - 1647.94 - - - 2302.12 - -97.32 - - 3090.69 - - - - - - - - - - -
2706.09 323.44 -7.83 414 2711.96 roll -0.96 - - 1664.06 - 4.41 0.045 769.38 -347.6 -97.32 - - 3091.66 - - - - - - - - - 15.86 -
2761.11 328.12 -8.57 425 2766.97 roll -0.91 - - 1646.62 - 4.21 0.019 2297.12 362.9 -97.32 - - 3092.41 - - - - - - - - - 15.87 -
3066.08 352.06 -7.82 456 3067.53 pitch -0.91 0.16 0.238 1690.44 273.9 - - 2297.69 - -97.32 - - 3089.28 - - - - - - - - 15.63 - -
3366.12 371.95 -6.64 486 3367.45 no move -0.97 - - 1689.06 - - - 2297.19 - -97.32 - - 3090.91 - - - - - - - - - - -
3666.22 391.91 -6.60 516 3672.11 roll back -1.04 0.14 0.077 1639.19 -356.2 4.39 0.047 771.88 -347.5 -97.32 - - 3089.75 - - - - - - - - 15.84 15.84 -
3726.16 397.22 -9.19 528 3732.05 roll -0.98 - - 1622.81 - 4.20 0.019 2295.88 362.9 -97.32 - - 3088.91 - - - - - - - - - 15.91 -
4046.16 423.19 -8.04 547 4047.62 pitch -0.98 0.17 0.229 1668.69 269.9 - - 2296.00 - -97.32 - - 3088.31 - - - - - - - - 15.66 - -
4346.20 442.66 -6.38 562 4352.09 roll -1.02 - - 1687.81 - 4.39 0.047 769.25 -347.8 -97.32 - - 3090.28 - - - - - - - - - 15.89 -
4411.23 447.40 -7.32 575 4417.12 roll back -1.02 0.07 0.121 1629.50 -833.0 4.19 0.019 2301.12 365.6 -97.32 - - 3088.75 - - - - - - - - 15.78 15.91 -
4726.23 470.64 -7.35 593 4727.56 no move -1.02 - - 1629.75 - - - 2303.06 - -97.32 - - 3089.09 - - - - - - - - - - -
5026.27 491.89 -7.10 608 5027.60 no move -1.02 - - 1629.44 - - - 2302.62 - -97.32 - - 3088.69 - - - - - - - - - - -
5326.31 512.67 -6.84 623 5332.22 roll -1.02 - - 1646.88 - 4.41 0.046 769.81 -347.6 -97.32 - - 3089.81 - - - - - - - - - 15.91 -
5396.32 517.93 -7.51 637 5402.20 roll -0.98 - - 1630.00 - 4.18 0.020 2294.38 364.7 -97.32 - - 3089.78 - - - - - - - - - 15.95 -
5706.41 538.58 -6.61 654 5707.86 pitch -0.98 0.14 0.236 1669.56 282.6 - - 2295.12 - -97.32 - - 3087.44 - - - - - - - - 15.67 - -
6006.43 555.18 -5.38 669 6012.30 roll -1.03 - - 1689.00 - 4.38 0.046 770.69 -348.0 -97.32 - - 3090.44 - - - - - - - - - 15.90 -
6061.48 558.57 -6.15 680 6067.34 roll back -1.05 0.09 0.101 1621.81 -746.6 4.18 0.018 2301.94 366.3 -97.32 - - 3089.28 - - - - - - - - 15.76 15.92 -
6366.45 578.75 -6.68 696 6367.79 no move -1.05 - - 1620.88 - - - 2302.12 - -97.32 - - 3088.94 - - - - - - - - - - -
6666.47 599.10 -6.84 711 6667.80 no move -1.05 - - 1621.31 - - - 2302.81 - -97.32 - - 3088.28 - - - - - - - - - - -
6966.50 619.72 -6.89 726 6967.84 no move -1.05 - - 1620.88 - - - 2301.94 - -97.32 - - 3088.03 - - - - - - - - - - -
7266.53 640.55 -6.97 741 7272.45 roll -1.05 - - 1637.94 - 4.44 0.046 771.75 -344.6 -97.32 - - 3089.72 - - - - - - - - - 15.76 -
7326.62 645.28 -8.05 753 7332.45 roll -1.00 - - 1621.31 - 4.24 0.020 2294.94 359.2 -97.32 - - 3090.59 - - - - - - - - - 15.77 -
7646.58 667.19 -6.75 772 7648.03 pitch -1.00 0.16 0.237 1663.31 262.5 - - 2295.88 - -97.32 - - 3087.72 - - - - - - - - 15.49 - -
7946.64 684.50 -5.78 787 7947.97 no move -1.05 - - 1663.19 - - - 2296.06 - -97.32 - - 3089.91 - - - - - - - - - - -
8246.65 701.85 -5.86 802 8252.61 roll back -1.10 0.13 0.085 1617.12 -354.4 4.43 0.046 770.81 -344.3 -97.32 - - 3088.72 - - - - - - - - 15.68 15.66 -
8291.61 705.37 -7.82 811 8297.58 roll back -1.03 0.19 0.245 1652.44 185.9 4.24 0.019 2297.00 360.0 -97.32 - - 3090.84 - - - - - - - - 15.44 15.72 -
8606.67 724.53 -5.98 829 8608.01 no move -1.07 - - 1652.62 - - - 2298.69 - -97.32 - - 3088.56 - - - - - - - - - - -
8906.71 742.54 -6.02 844 8908.04 no move -1.11 - - 1653.38 - - - 2297.19 - -97.32 - - 3089.38 - - - - - - - - - - -
9206.70 760.44 -6.01 859 9208.15 pitch -1.14 0.14 0.082 1583.31 -500.5 - - 2298.31 - -97.32 - - 3087.47 - - - - - - - - 15.83 - -
9506.71 782.75 -7.50 874 9513.66 roll back -1.09 0.19 0.237 1652.50 364.2 4.39 0.046 772.19 -347.6 -97.32 - - 3090.44 - - - - - - - - 15.56 15.63 -
9586.70 788.40 -7.06 890 9592.58 roll -1.06 - - 1634.31 - 4.20 0.019 2297.00 363.0 -97.32 - - 3091.44 - - - - - - - - - 15.88 -
9901.73 807.49 -5.98 908 9903.06 no move -1.06 - - 1634.88 - - - 2296.25 - -97.32 - - 3087.81 - - - - - - - - - - -
10201.74 826.12 -6.14 923 10207.65 roll -1.06 - - 1651.69 - 4.39 0.046 771.00 -347.4 -97.32 - - 3090.53 - - - - - - - - - 15.85 -
10256.81 829.80 -6.72 934 10262.64 roll -1.03 - - 1634.38 - 4.20 0.019 2297.81 363.5 -97.32 - - 3090.88 - - - - - - - - - 15.87 -
10561.84 848.32 -6.04 950 10563.17 no move -1.03 - - 1634.88 - - - 2298.19 - -97.32 - - 3088.78 - - - - - - - - - - -
10861.80 866.35 -5.89 965 10863.14 no move -1.03 - - 1635.38 - - - 2298.25 - -97.32 - - 3088.78 - - - - - - - - - - -
11161.82 884.16 -5.94 980 11167.71 roll -1.03 - - 1652.06 - 4.39 0.047 770.81 -347.9 -97.32 - - 3091.31 - - - - - - - - - 15.86 -
11236.81 889.24 -6.88 995 11242.73 roll -1.00 - - 1634.75 - 4.20 0.020 2296.75 363.3 -97.32 - - 3089.72 - - - - - - - - - 15.88 -
11541.90 907.23 -5.86 1011 11543.23 no move -1.00 - - 1634.62 - - - 2298.00 - -97.32 - - 3090.06 - - - - - - - - - - -
11841.86 925.31 -5.85 1026 11843.19 no move -1.00 - - 1634.69 - - - 2298.12 - -97.32 - - 3089.75 - - - - - - - - - - -
12141.88 942.92 -5.72 1041 12147.77 roll -1.00 - - 1651.69 - 4.40 0.047 770.88 -347.1 -97.32 - - 3090.31 - - - - - - - - - 15.88 -
12191.94 946.20 -5.69 1051 12197.74 roll -0.98 - - 1634.44 - 4.18 0.019 2296.94 365.1 -97.32 - - 3089.94 - - - - - - - - - 15.94 -
12501.89 964.46 -5.76 1068 12503.34 pitch -0.98 0.12 0.236 1668.81 286.4 - - 2297.38 - -97.32 - - 3088.22 - - - - - - - - 15.65 - -
12801.94 979.32 -4.95 1083 12803.27 no move -1.05 - - 1669.75 - - - 2296.94 - -97.32 - - 3089.72 - - - - - - - - - - -
13022 end dive: TARGET_DEPTH_EXCEEDED
13022 begin apogee
13023.68 990.17 -4.83 1094 13108.22 -0.14 0.91 0.191 1936.50 293.1 0.14 0.117 2466.19 1208.9 - 81.85 2.384 2696.50 -4.8 0.341 - - - - - - 15.63 15.33 11.33
13109 end apogee: CONTROL_FINISHED_OK
13109 begin climb
13108.76 990.18 - 1098 13200.89 0.86 0.94 0.067 2254.88 338.7 4.62 0.067 3955.12 322.3 97.32 84.71 2.306 2296.84 -4.7 0.346 - - - - - - 15.43 14.96 12.28
13252.81 974.90 14.62 1127 13258.63 roll 0.77 - - 2273.31 - 4.15 0.013 2503.38 -349.8 97.32 - - 2291.09 - - - - - - - - - 15.23 -
13563.04 935.47 12.57 1144 13569.79 0.75 0.22 0.234 2192.50 -367.3 4.41 0.066 3959.81 330.3 97.32 - - 2283.59 - - - - - - - - 15.28 15.36 -
13602.75 930.43 12.39 1152 13608.63 done 0.75 - - 2208.50 - 4.07 0.013 2496.75 -359.5 97.32 - - 2284.69 - - - - - - - - - 15.51 -
13918.05 898.03 10.17 1170 13924.71 done 0.80 - - 2193.12 - 4.36 0.065 3952.56 333.9 97.32 - - 2280.75 - - - - - - - - - 15.59 -
13952.81 894.07 11.37 1177 13958.70 0.80 0.09 0.118 2255.94 698.0 4.03 0.014 2484.31 -364.3 97.32 - - 2281.75 - - - - - - - - 15.54 15.63 -
14273.07 856.41 11.76 1196 14278.74 done 0.80 - - 2239.44 - 4.39 0.065 3954.06 334.8 97.32 - - 2280.50 - - - - - - - - - 15.64 -
14317.90 850.44 14.05 1205 14323.69 done 0.73 - - 2256.75 - 4.01 0.014 2497.00 -363.4 97.32 - - 2280.56 - - - - - - - - - 15.72 -
14633.09 813.50 11.53 1223 14639.83 0.73 0.18 0.226 2186.50 -390.3 4.34 0.065 3956.06 336.2 97.32 - - 2278.03 - - - - - - - - 15.53 15.57 -
14672.83 808.79 11.84 1231 14678.69 done 0.73 - - 2203.06 - 3.99 0.013 2486.69 -368.3 97.32 - - 2279.69 - - - - - - - - - 15.75 -
14988.21 779.31 9.18 1249 14994.80 done 0.80 - - 2186.88 - 4.38 0.067 3954.50 335.1 97.32 - - 2278.12 - - - - - - - - - 15.69 -
15007.88 777.27 9.09 1253 15013.78 0.83 0.13 0.092 2271.69 652.4 3.99 0.013 2483.06 -368.8 97.32 - - 2277.16 - - - - - - - - 15.68 15.80 -
15322.89 741.16 11.35 1271 15328.81 done 0.83 - - 2254.56 - 4.36 0.064 3955.25 337.7 97.32 - - 2278.56 - - - - - - - - - 15.75 -
15372.96 734.59 13.58 1281 15378.83 0.75 0.21 0.237 2212.94 -198.2 3.98 0.013 2490.31 -368.1 97.32 - - 2277.97 - - - - - - - - 15.55 15.82 -
15683.19 705.75 9.08 1298 15689.87 done 0.81 - - 2193.19 - 4.36 0.066 3955.25 336.0 97.32 - - 2274.56 - - - - - - - - - 15.73 -
15707.93 703.20 9.03 1303 15713.83 0.83 0.11 0.097 2271.81 714.7 3.97 0.013 2479.94 -371.6 97.32 - - 2277.50 - - - - - - - - 15.72 15.86 -
16017.94 667.85 11.66 1320 16023.86 done 0.83 - - 2253.44 - 4.36 0.065 3953.38 337.9 97.32 - - 2278.56 - - - - - - - - - 15.77 -
16063.01 661.94 13.84 1329 16068.88 0.74 0.22 0.233 2210.62 -194.6 3.96 0.014 2490.25 -369.5 97.32 - - 2276.38 - - - - - - - - 15.58 15.86 -
16377.99 632.48 9.00 1347 16383.89 done 0.81 - - 2192.00 - 4.34 0.066 3954.38 337.4 97.32 - - 2276.06 - - - - - - - - - 15.75 -
16398.00 630.42 9.06 1351 16403.87 0.85 0.12 0.092 2275.75 697.9 3.95 0.013 2478.25 -373.7 97.32 - - 2277.56 - - - - - - - - 15.75 15.87 -
16717.99 594.03 11.64 1370 16723.91 done 0.85 - - 2257.75 - 4.36 0.064 3956.62 339.1 97.32 - - 2275.97 - - - - - - - - - 15.79 -
16768.06 587.42 13.85 1380 16773.93 0.76 0.22 0.236 2214.75 -195.5 3.97 0.013 2489.25 -369.6 97.32 - - 2276.34 - - - - - - - - 15.59 15.87 -
17078.03 558.02 9.24 1397 17083.94 done 0.82 - - 2195.12 - 4.34 0.067 3956.50 338.1 97.32 - - 2276.72 - - - - - - - - - 15.76 -
17098.05 555.88 9.39 1401 17103.95 0.85 0.12 0.095 2277.31 684.9 3.97 0.013 2481.00 -371.7 97.32 - - 2275.44 - - - - - - - - 15.77 15.88 -
17418.03 519.08 11.43 1420 17423.95 done 0.85 - - 2259.38 - 4.34 0.064 3954.88 339.6 97.32 - - 2275.97 - - - - - - - - - 15.82 -
17463.11 513.09 13.98 1429 17468.98 0.76 0.22 0.237 2214.62 -203.5 3.95 0.013 2490.19 -370.8 97.32 - - 2276.31 - - - - - - - - 15.60 15.93 -
17778.08 483.79 8.97 1447 17783.98 done 0.82 - - 2195.62 - 4.33 0.066 3955.94 338.5 97.32 - - 2275.81 - - - - - - - - - 15.79 -
17803.08 481.19 9.02 1452 17808.97 0.85 0.12 0.095 2275.88 668.8 3.95 0.013 2477.12 -374.4 97.32 - - 2276.34 - - - - - - - - 15.78 15.90 -
18118.08 446.20 11.19 1470 18124.00 done 0.85 - - 2258.75 - 4.35 0.063 3955.94 340.0 97.32 - - 2276.91 - - - - - - - - - 15.82 -
18168.17 439.74 13.13 1480 18174.02 0.76 0.22 0.236 2215.88 -194.9 3.96 0.013 2489.25 -370.4 97.32 - - 2275.03 - - - - - - - - 15.61 15.91 -
18478.12 412.23 8.48 1497 18484.03 done 0.83 - - 2196.94 - 4.34 0.066 3956.44 338.1 97.32 - - 2274.47 - - - - - - - - - 15.80 -
18493.12 410.81 8.47 1500 18499.13 0.88 0.14 0.087 2283.25 616.5 3.96 0.013 2477.88 -373.4 97.32 - - 2274.44 - - - - - - - - 15.75 15.94 -
18798.40 377.87 10.90 1526 18804.06 done 0.88 - - 2265.00 - 4.35 0.063 3954.25 339.4 97.32 - - 2274.47 - - - - - - - - - 15.82 -
18848.22 371.44 13.11 1536 18854.08 0.78 0.22 0.243 2222.00 -195.5 3.95 0.013 2488.38 -371.1 97.32 - - 2274.44 - - - - - - - - 15.59 15.93 -
19158.46 344.76 8.15 1568 19164.10 done 0.85 - - 2204.00 - 4.34 0.066 3954.94 337.9 97.32 - - 2276.66 - - - - - - - - - 15.80 -
19188.22 341.87 8.94 1574 19194.09 0.87 0.12 0.096 2281.69 647.4 3.94 0.013 2477.50 -375.0 97.32 - - 2274.84 - - - - - - - - 15.80 15.94 -
19498.28 309.89 10.46 1606 19504.23 done 0.87 - - 2264.00 - 4.35 0.064 3954.25 339.5 97.32 - - 2274.78 - - - - - - - - - 15.81 -
19548.35 304.11 11.71 1616 19554.19 0.78 0.20 0.239 2223.81 -201.0 3.95 0.013 2487.69 -371.3 97.32 - - 2274.38 - - - - - - - - 15.61 15.96 -
19858.60 279.88 6.99 1648 19860.06 0.87 0.10 0.105 2278.81 550.0 - - 2471.50 - 97.32 - - 2276.34 - - - - - - - - 15.88 - -
20158.39 257.14 7.12 1678 20159.73 VBD 0.90 - - 2280.06 - - - 2471.12 - 97.32 - - 2272.28 - - - - - - - - - - -
20458.77 241.81 4.05 1708 20523.11 1.12 0.17 0.081 2369.62 526.8 4.09 0.040 1038.69 -350.2 169.63 56.26 1.502 2000.09 -4.8 0.133 - - - - - - 15.90 15.60 11.33
20651.39 227.17 8.90 1744 20657.27 roll back 1.12 0.09 0.253 2329.81 -442.3 4.26 0.021 2563.62 358.0 169.63 - - 1995.53 - - - - - - - - 15.48 15.65 -
20961.43 207.22 5.56 1776 21005.29 1.28 0.18 0.074 2431.00 562.2 4.39 0.040 1039.06 -347.3 214.62 37.02 1.423 1816.59 -4.8 0.120 - - - - - - 15.61 15.49 11.82
21107.21 193.93 10.02 1805 21113.13 roll back 1.28 0.16 0.240 2381.06 -312.1 4.30 0.022 2561.94 354.2 214.62 - - 1813.47 - - - - - - - - 15.40 15.57 -
21412.25 169.43 7.57 1866 21418.18 done 1.32 - - 2399.62 - 4.43 0.038 1038.19 -344.0 214.62 - - 1810.41 - - - - - - - - - 15.57 -
21527.29 160.18 8.06 1889 21533.20 done 1.37 - - 2381.62 - 4.30 0.022 2560.38 354.0 214.62 - - 1808.50 - - - - - - - - - 15.61 -
21832.40 139.60 6.46 1950 21838.38 1.43 0.17 0.076 2471.62 529.4 4.40 0.038 1038.44 -345.9 214.62 - - 1808.50 - - - - - - - - 15.59 15.58 -
22002.50 125.77 8.03 1984 22008.44 1.40 0.12 0.251 2420.38 -427.0 4.28 0.021 2564.94 356.7 214.62 - - 1807.50 - - - - - - - - 15.41 15.64 -
22307.60 107.49 5.26 2045 22355.50 1.55 0.17 0.079 2521.62 595.5 4.43 0.039 1038.50 -344.6 265.04 40.96 1.350 1611.34 -4.8 0.065 - - - - - - 15.59 15.47 11.59
22462.61 93.97 10.10 2076 22468.58 roll back 1.52 0.17 0.248 2458.81 -369.5 4.31 0.022 2563.12 353.7 265.04 - - 1606.38 - - - - - - - - 15.38 15.55 -
22767.67 71.13 6.66 2137 22769.01 VBD 1.54 - - 2459.19 - - - 2563.12 - 265.04 - - 1603.53 - - - - - - - - - - -
23067.99 52.71 5.53 2197 23108.19 1.70 0.19 0.066 2540.81 429.6 - - 2564.25 - 310.51 36.85 1.277 1428.59 -4.7 0.033 - - - - - - 15.67 - 11.49
23408.05 31.00 3.78 2265 23475.08 1.93 0.16 0.078 2606.38 409.8 4.16 0.069 3954.62 334.2 387.62 60.67 1.227 1113.50 -5.2 0.022 - - - - - - 15.62 15.37 11.71
23492.79 28.11 3.37 2282 23565.40 2.09 0.09 0.120 2661.38 611.1 4.07 0.012 2465.25 -365.9 472.17 65.02 1.175 770.53 -5.3 0.022 - - - - - - 15.44 15.51 12.04
23863.17 13.18 3.24 2356 23912.01 2.38 0.22 0.060 2774.88 515.9 4.16 0.042 1038.44 -343.0 559.11 42.80 1.154 548.91 -5.2 0.010 - - - - - - 15.52 15.33 11.80
24024 end climb: SURFACE_DEPTH_REACHED
24024 begin surface coast
24039 end surface coast: CONTROL_FINISHED_OK
24039 begin surface
SM 1.26 - - - - 127.1 - - 541.5 - 7.57 0.056 521.1 68.8 - 3.48 0.016 561.8 160.2 -1.290 - - 30.00 15.42 15.53 -