SODA Aug19 * SG229 * Dive index * Mission links * Dive 167 * Raw log
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• Previous call tries 1 • 122.41 of 575.00 AH used of 24V (78.71% remains)
• Surface angle -70.3 deg, depth 1.56 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 576.9, SM_CC=525.92322)
• GPS1 time: 52 s
• GPS2 time: 2 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
2.40 - - - 55.48 VBD -0.86 - - 124.62 - - - 2337.81 - -97.32 52.35 0.005 1567.72 - - - - - - - - - - 15.14
55.73 3.20 -3.00 9 117.41 -0.86 7.75 0.412 1688.19 201.8 4.23 0.059 3767.88 338.1 -97.32 44.28 0.005 3093.66 34.5 -3.807 - - - - - - 15.14 15.09 15.18
339.37 79.31 -19.68 66 345.33 roll back -0.75 0.14 0.252 1741.75 382.6 4.29 0.015 2231.31 -358.2 -97.32 - - 3095.72 - - - - - - - - 15.39 15.58 -
644.49 123.21 -12.90 127 650.47 roll -0.75 - - 1725.25 - 4.58 0.057 3765.81 335.0 -97.32 - - 3093.88 - - - - - - - - - 15.59 -
809.57 146.01 -13.79 160 815.46 roll -0.72 - - 1741.69 - 4.28 0.014 2234.62 -357.8 -97.32 - - 3095.62 - - - - - - - - - 15.64 -
1114.63 180.25 -10.71 221 1115.96 no move -0.75 - - 1741.56 - - - 2234.38 - -97.32 - - 3092.97 - - - - - - - - - - -
1414.69 211.56 -10.08 270 1416.03 no move -0.78 - - 1741.81 - - - 2234.56 - -97.32 - - 3094.53 - - - - - - - - - - -
1714.77 239.41 -8.52 300 1721.71 roll back -0.85 0.12 0.085 1650.19 -763.5 4.55 0.058 3765.06 336.4 -97.32 - - 3095.12 - - - - - - - - 15.62 15.63 -
1764.70 244.97 -11.66 310 1770.71 roll back -0.79 0.22 0.228 1728.88 357.7 4.26 0.014 2219.56 -362.8 -97.32 - - 3094.72 - - - - - - - - 15.47 15.69 -
2069.76 266.99 -6.47 341 2071.10 no move -0.88 - - 1729.12 - - - 2218.62 - -97.32 - - 3093.44 - - - - - - - - - - -
2369.86 285.21 -5.79 371 2371.31 pitch -0.97 0.19 0.062 1638.62 -476.3 - - 2218.56 - -97.32 - - 3094.03 - - - - - - - - 15.75 - -
2669.79 310.23 -8.09 401 2675.74 roll -0.97 - - 1619.88 - 4.55 0.057 3765.31 339.9 -97.32 - - 3096.19 - - - - - - - - - 15.79 -
2779.83 321.28 -10.29 423 2785.78 roll back -0.90 0.20 0.235 1695.38 377.5 4.22 0.014 2214.75 -367.4 -97.32 - - 3093.81 - - - - - - - - 15.59 15.85 -
3089.87 342.00 -6.33 455 3095.73 roll -0.96 - - 1712.56 - 4.11 0.048 769.50 -351.6 -97.32 - - 3093.34 - - - - - - - - - 15.83 -
3144.91 345.96 -7.49 466 3150.84 roll back -1.00 0.12 0.092 1634.62 -649.5 4.21 0.017 2305.06 364.7 -97.32 - - 3093.94 - - - - - - - - 15.70 15.83 -
3449.89 369.10 -7.40 497 3451.22 no move -1.00 - - 1634.38 - - - 2305.38 - -97.32 - - 3093.50 - - - - - - - - - - -
3749.98 391.11 -7.17 527 3751.31 no move -1.00 - - 1633.94 - - - 2305.00 - -97.32 - - 3092.91 - - - - - - - - - - -
4059.95 414.06 -7.55 549 4065.87 roll -1.00 - - 1651.50 - 4.41 0.045 769.06 -348.3 -97.32 - - 3093.09 - - - - - - - - - 15.87 -
4120.02 419.23 -8.76 561 4125.83 roll -0.96 - - 1633.69 - 4.20 0.017 2295.56 363.5 -97.32 - - 3094.94 - - - - - - - - - 15.89 -
4439.96 444.13 -7.73 580 4441.41 pitch -0.96 0.15 0.234 1676.94 288.3 - - 2296.94 - -97.32 - - 3091.94 - - - - - - - - 15.65 - -
4740.01 464.01 -6.46 595 4741.35 no move -1.02 - - 1677.12 - - - 2297.00 - -97.32 - - 3092.34 - - - - - - - - - - -
5040.02 483.13 -6.40 610 5041.47 pitch -1.08 0.14 0.074 1603.75 -524.1 - - 2297.38 - -97.32 - - 3091.78 - - - - - - - - 15.86 - -
5340.04 507.46 -8.12 625 5341.49 pitch -1.05 0.16 0.223 1649.25 284.4 - - 2297.75 - -97.32 - - 3094.25 - - - - - - - - 15.67 - -
5640.05 528.44 -6.95 640 5645.94 roll -1.08 - - 1668.69 - 4.39 0.047 768.00 -348.5 -97.32 - - 3091.72 - - - - - - - - - 15.90 -
5705.08 533.62 -7.65 653 5711.02 roll back -1.08 0.06 0.128 1609.94 -979.2 4.18 0.018 2302.62 367.1 -97.32 - - 3093.53 - - - - - - - - 15.81 15.93 -
6020.08 558.77 -7.96 671 6021.53 pitch -1.06 0.13 0.226 1646.12 278.3 - - 2302.06 - -97.32 - - 3091.97 - - - - - - - - 15.70 - -
6320.10 579.84 -6.92 686 6326.00 roll -1.08 - - 1666.25 - 4.39 0.045 770.69 -348.8 -97.32 - - 3093.53 - - - - - - - - - 15.91 -
6410.07 586.91 -7.82 704 6415.97 roll -1.08 - - 1648.00 - 4.18 0.018 2296.69 365.1 -97.32 - - 3092.66 - - - - - - - - - 15.93 -
6720.18 608.25 -7.05 721 6721.52 no move -1.11 - - 1649.00 - - - 2296.81 - -97.32 - - 3091.19 - - - - - - - - - - -
7020.15 629.08 -6.94 736 7021.60 pitch -1.14 0.12 0.088 1582.00 -558.3 - - 2299.25 - -97.32 - - 3094.34 - - - - - - - - 15.91 - -
7320.17 654.07 -8.32 751 7326.28 roll back -1.08 0.20 0.227 1656.62 373.1 4.36 0.045 770.94 -350.5 -97.32 - - 3094.62 - - - - - - - - 15.67 15.72 -
7380.17 658.83 -8.02 763 7386.03 roll -1.06 - - 1637.94 - 4.17 0.018 2295.19 365.5 -97.32 - - 3095.72 - - - - - - - - - 15.97 -
7700.17 681.21 -6.94 782 7701.51 no move -1.06 - - 1639.06 - - - 2296.81 - -97.32 - - 3093.06 - - - - - - - - - - -
8000.21 701.72 -6.75 797 8006.11 roll -1.08 - - 1656.06 - 4.36 0.045 770.25 -350.1 -97.32 - - 3093.03 - - - - - - - - - 15.92 -
8060.29 706.26 -7.55 809 8066.10 roll -1.06 - - 1638.50 - 4.18 0.018 2298.31 365.6 -97.32 - - 3093.94 - - - - - - - - - 15.96 -
8380.26 727.65 -6.71 828 8381.60 no move -1.08 - - 1638.62 - - - 2298.38 - -97.32 - - 3092.72 - - - - - - - - - - -
8680.30 747.50 -6.55 843 8681.64 no move -1.10 - - 1638.56 - - - 2298.69 - -97.32 - - 3092.50 - - - - - - - - - - -
8980.34 767.00 -6.41 858 8986.23 roll -1.12 - - 1655.94 - 4.37 0.046 770.44 -349.7 -97.32 - - 3092.66 - - - - - - - - - 15.92 -
9045.40 771.84 -7.42 871 9051.22 roll -1.10 - - 1638.75 - 4.18 0.018 2298.38 365.5 -97.32 - - 3095.44 - - - - - - - - - 15.95 -
9360.39 792.67 -6.54 889 9361.72 no move -1.12 - - 1638.25 - - - 2299.94 - -97.32 - - 3093.19 - - - - - - - - - - -
9660.43 811.58 -6.27 904 9661.77 no move -1.15 - - 1638.12 - - - 2298.88 - -97.32 - - 3094.75 - - - - - - - - - - -
9960.48 830.50 -6.25 919 9966.56 roll back -1.17 0.11 0.090 1586.94 -465.3 4.38 0.045 771.81 -348.6 -97.32 - - 3092.97 - - - - - - - - 15.92 15.89 -
10015.45 835.08 -8.60 930 10021.44 roll back -1.05 0.28 0.246 1646.31 212.0 4.18 0.019 2299.38 365.4 -97.32 - - 3093.50 - - - - - - - - 15.58 15.94 -
10320.51 853.63 -5.96 946 10321.85 no move -1.08 - - 1646.19 - - - 2300.75 - -97.32 - - 3091.97 - - - - - - - - - - -
10620.55 871.31 -5.75 961 10621.89 no move -1.12 - - 1646.25 - - - 2299.00 - -97.32 - - 3093.75 - - - - - - - - - - -
10920.58 888.97 -5.76 976 10926.52 roll back -1.16 0.13 0.081 1588.00 -448.1 4.38 0.046 769.56 -349.2 -97.32 - - 3093.66 - - - - - - - - 15.91 15.88 -
10960.63 892.10 -6.55 984 10966.51 roll back -1.06 0.26 0.251 1642.75 210.6 4.17 0.019 2298.25 366.6 -97.32 - - 3093.09 - - - - - - - - 15.60 15.97 -
11280.61 911.41 -5.84 1003 11281.95 no move -1.10 - - 1642.06 - - - 2299.44 - -97.32 - - 3093.22 - - - - - - - - - - -
11580.64 928.68 -5.73 1018 11581.97 no move -1.13 - - 1643.00 - - - 2298.31 - -97.32 - - 3091.75 - - - - - - - - - - -
11880.65 945.95 -5.78 1033 11886.60 roll back -1.16 0.12 0.083 1589.06 -449.5 4.38 0.047 770.94 -348.7 -97.32 - - 3095.28 - - - - - - - - 15.91 15.87 -
11920.70 949.08 -6.28 1041 11926.60 roll back -1.07 0.25 0.246 1638.06 196.0 4.17 0.019 2298.12 366.2 -97.32 - - 3094.34 - - - - - - - - 15.62 15.95 -
12240.67 967.78 -5.86 1060 12242.01 no move -1.10 - - 1638.12 - - - 2297.81 - -97.32 - - 3092.56 - - - - - - - - - - -
12540.69 984.31 -5.35 1075 12546.57 roll -1.13 - - 1656.88 - 4.38 0.047 770.50 -348.7 -97.32 - - 3092.88 - - - - - - - - - 15.93 -
12605.71 988.59 -6.34 1088 12611.59 roll back -1.13 0.09 0.109 1586.81 -778.6 4.17 0.018 2304.50 367.9 -97.32 - - 3093.44 - - - - - - - - 15.83 15.98 -
12641 end dive: TARGET_DEPTH_EXCEEDED
12641 begin apogee
12642.46 990.79 -6.55 1092 12727.07 -0.14 1.24 0.217 1935.69 281.4 0.15 0.105 2478.62 1160.8 - 82.39 2.381 2696.53 -4.8 0.346 - - - - - - 15.62 15.31 11.36
12727 end apogee: CONTROL_FINISHED_OK
12727 begin climb
12727.60 990.74 - 1096 12814.99 0.86 0.94 0.067 2272.88 358.7 - - 2453.69 - 97.32 85.14 2.307 2298.12 -4.7 0.347 - - - - - - 15.44 - 12.29
13116.86 945.49 12.71 1127 13122.80 done 0.84 - - 2254.81 - 4.50 0.066 3954.81 333.6 97.32 - - 2283.88 - - - - - - - - - 15.44 -
13206.93 932.32 14.96 1145 13212.81 0.75 0.22 0.235 2212.19 -193.7 4.05 0.013 2494.12 -360.7 97.32 - - 2282.53 - - - - - - - - 15.31 15.51 -
13517.15 900.12 10.19 1162 13523.81 done 0.80 - - 2195.25 - 4.38 0.065 3952.94 333.1 97.32 - - 2280.44 - - - - - - - - - 15.59 -
13546.88 896.75 10.20 1168 13552.81 0.80 0.08 0.120 2255.69 755.5 4.01 0.013 2486.75 -365.6 97.32 - - 2280.12 - - - - - - - - 15.49 15.63 -
13852.15 861.22 11.65 1184 13858.83 done 0.80 - - 2244.38 - 4.38 0.065 3957.38 335.8 97.32 - - 2280.62 - - - - - - - - - 15.66 -
13886.98 856.54 13.75 1191 13892.84 0.72 0.20 0.229 2203.62 -203.8 4.00 0.013 2493.25 -366.0 97.32 - - 2280.25 - - - - - - - - 15.48 15.69 -
14206.95 825.41 9.46 1210 14212.85 done 0.79 - - 2185.38 - 4.38 0.065 3954.50 333.6 97.32 - - 2277.44 - - - - - - - - - 15.64 -
14226.95 823.34 9.68 1214 14232.88 0.82 0.12 0.098 2266.75 678.1 4.01 0.013 2485.19 -366.4 97.32 - - 2280.12 - - - - - - - - 15.59 15.68 -
14546.94 785.81 11.75 1233 14552.87 done 0.82 - - 2249.94 - 4.39 0.065 3954.38 334.7 97.32 - - 2277.25 - - - - - - - - - 15.64 -
14592.02 779.69 13.95 1242 14597.90 0.74 0.20 0.228 2206.88 -215.3 4.01 0.013 2492.19 -364.6 97.32 - - 2277.88 - - - - - - - - 15.47 15.68 -
14907.00 749.39 9.47 1260 14912.91 done 0.80 - - 2188.62 - 4.38 0.066 3955.81 334.2 97.32 - - 2276.44 - - - - - - - - - 15.62 -
14927.01 747.39 9.60 1264 14932.91 0.83 0.12 0.092 2272.12 695.8 4.01 0.013 2479.81 -368.1 97.32 - - 2276.88 - - - - - - - - 15.59 15.69 -
15247.00 709.63 11.85 1283 15252.94 done 0.83 - - 2255.62 - 4.41 0.064 3955.69 334.7 97.32 - - 2275.62 - - - - - - - - - 15.62 -
15292.07 703.50 13.94 1292 15297.94 0.74 0.22 0.230 2209.00 -211.9 3.98 0.013 2490.62 -368.1 97.32 - - 2276.78 - - - - - - - - 15.46 15.69 -
15607.05 673.21 9.29 1310 15612.95 done 0.80 - - 2190.50 - 4.39 0.066 3954.50 333.5 97.32 - - 2277.41 - - - - - - - - - 15.61 -
15627.08 671.15 9.27 1314 15632.95 0.83 0.12 0.094 2271.50 675.0 4.01 0.013 2484.12 -366.7 97.32 - - 2275.53 - - - - - - - - 15.60 15.68 -
15947.05 634.22 11.59 1333 15952.97 done 0.83 - - 2255.12 - 4.39 0.064 3954.38 334.9 97.32 - - 2275.56 - - - - - - - - - 15.64 -
15987.14 629.07 13.40 1341 15993.01 0.74 0.22 0.230 2210.44 -203.1 4.01 0.013 2490.81 -365.0 97.32 - - 2274.16 - - - - - - - - 15.47 15.68 -
16307.09 599.53 8.91 1360 16313.00 done 0.81 - - 2192.38 - 4.39 0.066 3953.56 333.2 97.32 - - 2274.94 - - - - - - - - - 15.60 -
16337.08 596.40 9.12 1366 16342.99 0.81 0.09 0.107 2263.81 793.7 4.01 0.013 2485.31 -366.1 97.32 - - 2274.00 - - - - - - - - 15.60 15.69 -
16647.10 562.59 11.05 1383 16653.02 done 0.81 - - 2246.94 - 4.38 0.065 3953.94 335.3 97.32 - - 2276.28 - - - - - - - - - 15.70 -
16677.12 558.78 12.77 1389 16683.01 0.74 0.20 0.234 2207.75 -196.0 3.98 0.014 2490.19 -367.8 97.32 - - 2273.69 - - - - - - - - 15.53 15.82 -
16987.14 530.55 8.90 1406 16988.48 VBD 0.80 - - 2207.69 - - - 2474.06 - 97.32 - - 2271.19 - - - - - - - - - - -
17287.41 504.53 8.73 1421 17294.12 0.88 0.16 0.082 2273.75 412.9 4.35 0.068 3952.19 339.8 97.32 - - 2272.03 - - - - - - - - 15.81 15.70 -
17317.20 500.93 12.01 1427 17323.08 0.79 0.23 0.251 2226.00 -207.6 3.97 0.014 2494.94 -367.1 97.32 - - 2273.91 - - - - - - - - 15.49 15.83 -
17622.17 472.56 8.98 1443 17623.51 VBD 0.84 - - 2225.75 - - - 2477.88 - 97.32 - - 2272.06 - - - - - - - - - - -
17922.19 445.22 9.11 1458 17928.22 0.89 0.12 0.095 2277.25 429.2 4.34 0.065 3954.12 340.1 97.32 - - 2271.88 - - - - - - - - 15.81 15.77 -
17957.24 440.97 12.43 1465 17963.13 0.77 0.27 0.246 2220.00 -212.0 3.95 0.013 2492.06 -370.1 97.32 - - 2272.56 - - - - - - - - 15.52 15.90 -
18262.22 414.08 8.69 1481 18263.56 VBD 0.83 - - 2219.69 - - - 2477.50 - 97.32 - - 2271.91 - - - - - - - - - - -
18562.52 388.92 8.33 1502 18569.23 0.90 0.15 0.085 2281.69 413.3 4.32 0.066 3955.31 342.1 97.32 - - 2271.50 - - - - - - - - 15.83 15.77 -
18627.28 380.82 13.11 1515 18633.19 0.77 0.28 0.244 2218.94 -224.1 3.94 0.013 2489.38 -372.1 97.32 - - 2275.53 - - - - - - - - 15.58 15.91 -
18937.60 353.41 8.47 1547 18938.94 VBD 0.84 - - 2219.75 - - - 2475.00 - 97.32 - - 2271.44 - - - - - - - - - - -
19237.69 328.73 7.83 1577 19244.34 0.91 0.16 0.081 2281.12 383.6 4.34 0.067 3955.50 341.1 97.32 - - 2274.12 - - - - - - - - 15.87 15.78 -
19267.43 325.36 9.68 1583 19273.29 0.84 0.20 0.247 2242.75 -191.8 3.95 0.013 2489.62 -371.1 97.32 - - 2275.28 - - - - - - - - 15.56 15.93 -
19572.68 298.96 8.37 1614 19578.40 done 0.89 - - 2223.88 - 4.32 0.066 3954.88 339.2 97.32 - - 2270.84 - - - - - - - - - 15.78 -
19592.42 297.03 8.69 1618 19598.29 0.89 0.08 0.124 2282.19 728.9 3.94 0.014 2478.06 -374.8 97.32 - - 2274.84 - - - - - - - - 15.79 15.94 -
19902.70 268.96 8.24 1650 19908.37 done 0.89 - - 2266.56 - 4.34 0.063 3953.12 339.9 97.32 - - 2270.84 - - - - - - - - - 15.80 -
19947.52 264.51 10.05 1659 19953.33 done 0.80 - - 2283.44 - 3.93 0.013 2489.00 -372.5 97.32 - - 2271.94 - - - - - - - - - 15.92 -
20252.79 243.75 5.94 1690 20289.06 done 0.92 - - 2267.69 - 4.32 0.066 3954.44 339.2 135.39 29.48 1.491 2140.00 -4.5 0.126 - - - - - - - 15.69 11.37
20317.48 239.58 6.38 1703 20323.37 roll 0.92 - - 2284.06 - 3.96 0.013 2484.50 -371.2 135.39 - - 2138.16 - - - - - - - - - 15.82 -
20622.82 222.88 5.07 1734 20674.53 1.13 0.17 0.080 2340.06 329.4 4.38 0.063 3954.38 335.6 189.24 44.68 1.460 1921.72 -4.8 0.128 - - - - - - 15.77 15.56 11.70
20707.56 216.41 8.69 1751 20713.40 roll 1.06 - - 2355.69 - 4.00 0.012 2489.31 -366.3 189.24 - - 1919.16 - - - - - - - - - 15.70 -
21012.87 192.28 7.42 1792 21014.21 VBD 1.09 - - 2356.00 - - - 2473.81 - 189.24 - - 1913.22 - - - - - - - - - - -
21312.93 172.09 6.17 1852 21314.26 VBD 1.13 - - 2357.19 - - - 2473.50 - 189.24 - - 1910.75 - - - - - - - - - - -
21613.01 153.17 6.45 1912 21618.72 done 1.18 - - 2374.31 - 4.07 0.039 1038.69 -352.5 189.24 - - 1911.00 - - - - - - - - - 15.74 -
21652.99 150.39 6.92 1920 21658.63 done 1.24 - - 2358.00 - 4.22 0.020 2561.50 360.9 189.24 - - 1910.59 - - - - - - - - - 15.78 -
21958.06 132.05 5.22 1981 22001.01 1.43 0.23 0.066 2453.88 416.9 - - 2562.38 - 240.36 41.39 1.383 1716.88 -4.7 0.077 - - - - - - 15.76 - 11.61
22298.24 104.51 7.21 2049 22304.92 roll 1.43 - - 2473.12 - 4.38 0.037 1039.62 -347.7 240.36 - - 1707.03 - - - - - - - - - 15.68 -
22407.99 96.85 6.87 2071 22413.95 1.43 0.10 0.243 2429.00 -441.2 4.24 0.020 2564.75 359.7 240.36 - - 1706.59 - - - - - - - - 15.48 15.72 -
22713.08 79.28 5.53 2132 22756.92 1.60 0.19 0.074 2535.19 558.9 4.40 0.039 1036.88 -347.2 285.80 36.87 1.318 1527.81 -4.8 0.050 - - - - - - 15.74 15.56 11.65
22783.79 73.81 8.23 2146 22789.75 roll back 1.57 0.16 0.244 2472.88 -389.4 4.28 0.021 2564.56 356.9 285.80 - - 1525.94 - - - - - - - - 15.51 15.67 -
23089.11 53.26 6.01 2207 23126.58 1.71 0.16 0.074 2561.62 554.6 4.41 0.039 1036.81 -346.4 322.58 30.60 1.262 1380.31 -4.8 0.035 - - - - - - 15.66 15.50 11.74
23158.84 47.89 8.44 2221 23164.79 roll back 1.71 0.09 0.241 2517.81 -486.8 4.26 0.020 2562.81 358.2 322.58 - - 1375.16 - - - - - - - - 15.47 15.64 -
23464.18 33.57 3.13 2282 23541.47 2.00 0.29 0.059 2660.12 490.7 4.45 0.039 1037.12 -342.9 411.41 69.18 1.231 1015.47 -5.2 0.024 - - - - - - 15.64 15.39 11.70
23763.97 28.47 0.25 2342 23805.77 2.39 0.29 0.063 2760.75 347.0 4.28 0.017 2568.12 357.7 552.39 35.69 1.187 831.06 -5.2 0.021 - - - - - - 15.49 15.60 11.83
23806 end climb: NO_VERTICAL_VELOCITY
23806 begin surface
SM 1.23 - - - - 132.4 - - 541.7 - 8.12 0.117 518.2 63.8 - 0.90 0.016 565.2 623.2 -4.897 - - 30.00 15.41 15.55 -