SODA Aug19 * SG229 * Dive index * Mission links * Dive 176 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 125.69 of 575.00 AH used of 24V (78.14% remains)
• Surface angle -65.0 deg, depth 1.45 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 573.6, SM_CC=525.92322)
• GPS1 time: 146 s
• GPS2 time: 3 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
2.42 - - - 49.22 VBD -0.86 - - 119.25 - - - 2304.25 - -97.32 46.11 0.005 1455.22 - - - - - - - - - - 15.07
49.52 3.24 -4.66 9 111.72 -0.86 7.66 0.405 1686.94 204.7 4.33 0.061 3766.69 337.7 -97.32 46.58 0.005 3088.09 35.1 -3.930 - - - - - - 15.14 15.04 15.20
293.65 69.85 -19.87 58 299.57 roll back -0.73 0.16 0.250 1748.12 382.4 4.28 0.015 2227.50 -359.6 -97.32 - - 3090.16 - - - - - - - - 15.42 15.67 -
598.66 112.50 -12.50 119 604.57 roll -0.73 - - 1765.62 - 4.20 0.048 770.81 -346.8 -97.32 - - 3091.59 - - - - - - - - - 15.65 -
688.67 123.82 -11.95 137 694.59 roll -0.73 - - 1749.38 - 4.24 0.019 2295.50 359.6 -97.32 - - 3091.28 - - - - - - - - - 15.73 -
993.73 159.65 -11.49 198 999.69 roll -0.73 - - 1766.62 - 4.41 0.046 770.81 -345.7 -97.32 - - 3090.66 - - - - - - - - - 15.71 -
1053.82 166.76 -11.64 210 1059.66 roll -0.75 - - 1749.50 - 4.22 0.019 2294.38 361.0 -97.32 - - 3090.22 - - - - - - - - - 15.77 -
1358.81 199.64 -10.66 271 1364.75 roll -0.79 - - 1766.19 - 4.41 0.046 768.88 -345.9 -97.32 - - 3090.16 - - - - - - - - - 15.74 -
1408.88 205.34 -11.31 281 1414.81 roll back -0.85 0.14 0.086 1677.31 -634.9 4.21 0.019 2298.81 363.4 -97.32 - - 3090.69 - - - - - - - - 15.68 15.83 -
1718.85 240.25 -10.55 313 1724.76 roll -0.85 - - 1693.06 - 4.39 0.045 771.50 -347.9 -97.32 - - 3090.06 - - - - - - - - - 15.81 -
1843.86 253.79 -10.29 338 1849.79 roll -0.82 - - 1676.44 - 4.21 0.018 2296.88 362.3 -97.32 - - 3091.09 - - - - - - - - - 15.83 -
2148.89 277.97 -7.45 369 2154.86 roll back -0.82 0.16 0.251 1703.75 170.7 4.26 0.059 3767.75 345.3 -97.32 - - 3090.03 - - - - - - - - 15.57 15.64 -
2258.93 286.98 -8.10 391 2264.81 roll -0.87 - - 1720.56 - 4.22 0.014 2230.31 -364.3 -97.32 - - 3089.75 - - - - - - - - - 15.89 -
2568.99 306.31 -5.72 423 2570.44 pitch -0.96 0.16 0.072 1643.88 -479.2 - - 2231.12 - -97.32 - - 3087.69 - - - - - - - - 15.81 - -
2868.97 329.17 -8.10 453 2874.86 roll -0.96 - - 1660.50 - 4.14 0.048 771.62 -352.5 -97.32 - - 3087.84 - - - - - - - - - 15.86 -
2964.00 337.70 -9.03 472 2969.98 roll back -0.90 0.18 0.240 1693.00 180.6 4.19 0.018 2295.81 363.8 -97.32 - - 3088.44 - - - - - - - - 15.57 15.88 -
3269.05 358.43 -6.70 503 3270.39 no move -0.96 - - 1693.75 - - - 2297.50 - -97.32 - - 3087.22 - - - - - - - - - - -
3569.16 376.85 -6.07 533 3570.62 pitch -1.03 0.14 0.077 1624.81 -492.4 - - 2298.75 - -97.32 - - 3086.31 - - - - - - - - 15.87 - -
3869.16 400.11 -7.94 563 3870.63 pitch -1.01 0.13 0.231 1660.50 274.5 - - 2297.75 - -97.32 - - 3085.12 - - - - - - - - 15.66 - -
4169.20 421.05 -6.83 578 4175.09 roll -1.04 - - 1679.31 - 4.38 0.046 770.06 -348.8 -97.32 - - 3087.81 - - - - - - - - - 15.88 -
4244.18 426.61 -7.43 593 4250.11 roll -1.04 - - 1662.25 - 4.17 0.018 2295.06 365.7 -97.32 - - 3087.44 - - - - - - - - - 15.90 -
4549.31 447.36 -6.77 609 4550.65 no move -1.07 - - 1663.00 - - - 2295.31 - -97.32 - - 3085.88 - - - - - - - - - - -
4849.30 467.13 -6.45 624 4850.75 pitch -1.11 0.12 0.088 1599.12 -532.3 - - 2296.81 - -97.32 - - 3087.09 - - - - - - - - 15.88 - -
5149.45 490.52 -7.96 639 5150.91 pitch -1.06 0.16 0.235 1643.56 277.8 - - 2296.94 - -97.32 - - 3086.97 - - - - - - - - 15.64 - -
5449.39 511.04 -6.81 654 5455.25 roll -1.06 - - 1663.06 - 4.38 0.046 770.62 -348.5 -97.32 - - 3086.16 - - - - - - - - - 15.90 -
5534.35 517.59 -7.69 671 5540.24 roll -1.04 - - 1646.19 - 4.18 0.018 2296.12 365.0 -97.32 - - 3086.94 - - - - - - - - - 15.94 -
5849.39 538.88 -6.68 689 5850.72 no move -1.04 - - 1646.81 - - - 2296.88 - -97.32 - - 3085.88 - - - - - - - - - - -
6149.42 559.05 -6.80 704 6150.76 no move -1.04 - - 1645.62 - - - 2297.69 - -97.32 - - 3086.97 - - - - - - - - - - -
6449.45 578.89 -6.54 719 6450.78 no move -1.04 - - 1646.06 - - - 2297.19 - -97.32 - - 3085.16 - - - - - - - - - - -
6749.53 598.81 -6.67 734 6755.37 roll -1.06 - - 1663.19 - 4.40 0.046 771.75 -346.7 -97.32 - - 3087.19 - - - - - - - - - 15.83 -
6834.46 605.12 -7.43 751 6840.35 roll -1.04 - - 1646.44 - 4.19 0.018 2297.44 364.1 -97.32 - - 3086.19 - - - - - - - - - 15.84 -
7149.50 626.41 -6.77 769 7150.83 no move -1.06 - - 1645.69 - - - 2297.06 - -97.32 - - 3086.50 - - - - - - - - - - -
7449.53 646.59 -6.84 784 7450.86 no move -1.08 - - 1646.19 - - - 2296.88 - -97.32 - - 3086.66 - - - - - - - - - - -
7749.54 666.93 -6.84 799 7750.88 no move -1.10 - - 1645.81 - - - 2296.94 - -97.32 - - 3086.66 - - - - - - - - - - -
8049.56 687.08 -6.67 814 8055.47 roll -1.12 - - 1662.81 - 4.41 0.046 769.38 -346.4 -97.32 - - 3087.16 - - - - - - - - - 15.74 -
8134.55 693.48 -7.68 831 8140.50 roll back -1.10 0.08 0.118 1603.25 -744.5 4.23 0.018 2303.31 362.6 -97.32 - - 3087.31 - - - - - - - - 15.64 15.75 -
8449.59 716.98 -7.43 849 8451.05 pitch -1.07 0.14 0.235 1641.25 271.4 - - 2304.50 - -97.32 - - 3084.84 - - - - - - - - 15.49 - -
8749.61 736.72 -6.47 864 8750.95 no move -1.09 - - 1640.88 - - - 2304.81 - -97.32 - - 3086.81 - - - - - - - - - - -
9049.63 755.82 -6.37 879 9050.97 no move -1.11 - - 1641.19 - - - 2304.44 - -97.32 - - 3085.22 - - - - - - - - - - -
9349.66 774.68 -6.23 894 9355.56 roll -1.13 - - 1659.12 - 4.42 0.046 770.44 -347.1 -97.32 - - 3087.47 - - - - - - - - - 15.80 -
9429.65 780.34 -7.09 910 9435.58 roll back -1.11 0.08 0.118 1598.25 -760.9 4.20 0.019 2302.69 364.8 -97.32 - - 3088.53 - - - - - - - - 15.71 15.85 -
9749.67 803.33 -7.23 929 9751.12 pitch -1.07 0.16 0.231 1640.62 264.8 - - 2303.69 - -97.32 - - 3088.28 - - - - - - - - 15.56 - -
10049.71 821.60 -6.14 944 10051.04 no move -1.10 - - 1639.69 - - - 2304.12 - -97.32 - - 3086.22 - - - - - - - - - - -
10349.71 840.21 -6.31 959 10351.05 no move -1.12 - - 1639.94 - - - 2302.56 - -97.32 - - 3085.94 - - - - - - - - - - -
10649.73 858.92 -6.25 974 10651.06 no move -1.14 - - 1639.62 - - - 2303.69 - -97.32 - - 3086.09 - - - - - - - - - - -
10949.75 877.48 -6.20 989 10955.72 roll back -1.17 0.12 0.088 1593.50 -384.3 4.41 0.046 770.25 -347.7 -97.32 - - 3087.03 - - - - - - - - 15.87 15.82 -
11039.74 884.82 -8.50 1007 11045.70 roll back -1.05 0.27 0.256 1648.19 202.6 4.20 0.020 2297.81 363.7 -97.32 - - 3087.75 - - - - - - - - 15.51 15.93 -
11349.79 903.55 -6.01 1024 11351.12 no move -1.08 - - 1648.25 - - - 2298.62 - -97.32 - - 3086.28 - - - - - - - - - - -
11649.82 921.25 -5.80 1039 11651.15 no move -1.11 - - 1647.81 - - - 2299.00 - -97.32 - - 3086.41 - - - - - - - - - - -
11949.83 938.58 -5.75 1054 11951.29 pitch -1.15 0.12 0.085 1584.12 -530.8 - - 2299.44 - -97.32 - - 3085.06 - - - - - - - - 15.89 - -
12249.83 959.34 -6.80 1069 12255.81 roll back -1.09 0.18 0.241 1652.06 377.4 4.39 0.047 770.62 -348.3 -97.32 - - 3088.09 - - - - - - - - 15.58 15.65 -
12324.82 964.36 -6.89 1084 12330.71 roll -1.06 - - 1633.94 - 4.20 0.020 2296.88 363.4 -97.32 - - 3089.50 - - - - - - - - - 15.88 -
12629.91 982.11 -5.79 1100 12631.24 no move -1.06 - - 1633.62 - - - 2296.44 - -97.32 - - 3086.28 - - - - - - - - - - -
12770 end dive: TARGET_DEPTH_EXCEEDED
12770 begin apogee
12771.63 990.03 -5.67 1107 12855.95 -0.14 1.06 0.206 1936.75 286.0 0.15 0.107 2468.00 1143.7 - 82.06 2.374 2695.97 -4.8 0.343 - - - - - - 15.59 15.31 11.27
12856 end apogee: CONTROL_FINISHED_OK
12857 begin climb
12856.49 989.97 - 1111 12949.67 0.86 0.94 0.071 2255.19 338.8 4.64 0.069 3956.94 320.9 97.32 85.24 2.301 2298.53 -4.7 0.347 - - - - - - 15.41 14.96 12.19
13171.59 950.03 14.63 1166 13177.44 done 0.77 - - 2273.00 - 4.08 0.013 2500.88 -356.9 97.32 - - 2286.06 - - - - - - - - - 15.40 -
13486.92 910.37 12.45 1184 13492.80 0.75 0.22 0.233 2227.81 -205.4 4.20 0.042 1039.75 -347.9 97.32 - - 2282.66 - - - - - - - - 15.35 15.42 -
13626.65 895.88 10.22 1212 13632.53 done 0.84 - - 2210.44 - 4.28 0.024 2557.06 354.5 97.32 - - 2281.34 - - - - - - - - - 15.63 -
13946.91 864.55 9.72 1231 13948.37 0.89 0.17 0.079 2289.56 465.4 - - 2558.12 - 97.32 - - 2279.28 - - - - - - - - 15.65 - -
14246.95 827.21 12.59 1246 14252.58 0.85 0.17 0.238 2225.62 -376.1 4.09 0.065 3955.50 341.7 97.32 - - 2278.62 - - - - - - - - 15.48 15.51 -
14271.67 824.04 12.33 1251 14277.53 done 0.79 - - 2243.12 - 4.01 0.013 2494.00 -364.5 97.32 - - 2278.81 - - - - - - - - - 15.74 -
14586.93 790.34 10.50 1269 14592.85 done 0.79 - - 2226.12 - 4.36 0.065 3955.31 335.2 97.32 - - 2278.03 - - - - - - - - - 15.72 -
14641.75 783.57 12.30 1280 14647.56 done 0.75 - - 2241.62 - 4.00 0.013 2487.31 -367.0 97.32 - - 2277.16 - - - - - - - - - 15.78 -
14947.05 751.00 10.62 1296 14952.89 done 0.75 - - 2225.81 - 4.38 0.065 3956.94 335.5 97.32 - - 2276.03 - - - - - - - - - 15.73 -
14986.80 746.28 12.36 1304 14992.58 done 0.70 - - 2242.88 - 3.98 0.013 2490.25 -368.5 97.32 - - 2276.66 - - - - - - - - - 15.83 -
15306.81 712.36 10.34 1323 15312.72 0.70 0.16 0.226 2178.50 -402.4 4.36 0.066 3954.94 335.9 97.32 - - 2273.34 - - - - - - - - 15.59 15.64 -
15341.81 708.72 10.44 1330 15347.66 0.73 0.06 0.137 2229.19 844.8 3.97 0.013 2483.69 -370.6 97.32 - - 2276.62 - - - - - - - - 15.67 15.82 -
15646.77 678.65 9.89 1346 15652.68 done 0.77 - - 2213.81 - 4.38 0.065 3955.88 336.1 97.32 - - 2276.44 - - - - - - - - - 15.77 -
15671.76 676.01 10.07 1351 15677.61 done 0.77 - - 2230.56 - 3.99 0.013 2489.50 -367.5 97.32 - - 2276.34 - - - - - - - - - 15.85 -
15986.87 644.97 9.84 1369 15992.71 done 0.80 - - 2214.94 - 4.36 0.068 3954.50 336.0 97.32 - - 2275.84 - - - - - - - - - 15.73 -
16021.85 641.13 10.94 1376 16027.68 done 0.78 - - 2230.62 - 3.97 0.014 2489.50 -369.0 97.32 - - 2275.34 - - - - - - - - - 15.87 -
16326.89 610.86 9.83 1392 16332.74 done 0.82 - - 2214.44 - 4.36 0.067 3954.19 335.9 97.32 - - 2274.78 - - - - - - - - - 15.75 -
16371.88 605.70 11.62 1401 16377.67 done 0.80 - - 2230.19 - 3.96 0.013 2488.88 -370.0 97.32 - - 2276.28 - - - - - - - - - 15.89 -
16687.17 574.05 10.09 1419 16693.76 done 0.84 - - 2213.62 - 4.34 0.067 3955.12 337.8 97.32 - - 2274.44 - - - - - - - - - 15.74 -
16706.83 571.81 10.15 1423 16712.73 0.84 0.05 0.152 2267.88 1085.2 3.96 0.014 2481.81 -372.0 97.32 - - 2274.66 - - - - - - - - 15.76 15.90 -
17021.86 536.31 11.25 1441 17027.77 done 0.84 - - 2250.06 - 4.35 0.064 3956.31 339.0 97.32 - - 2275.00 - - - - - - - - - 15.81 -
17071.93 529.70 13.37 1451 17077.71 done 0.76 - - 2266.94 - 3.97 0.013 2492.31 -368.8 97.32 - - 2274.19 - - - - - - - - - 15.91 -
17382.20 494.38 11.10 1468 17388.87 0.76 0.19 0.233 2193.88 -384.5 4.31 0.064 3954.00 339.1 97.32 - - 2273.66 - - - - - - - - 15.61 15.66 -
17416.97 490.48 11.17 1475 17422.74 done 0.76 - - 2210.50 - 3.95 0.013 2487.06 -371.4 97.32 - - 2273.44 - - - - - - - - - 15.91 -
17737.25 462.10 8.56 1494 17738.69 0.83 0.10 0.103 2265.88 553.8 - - 2472.25 - 97.32 - - 2271.59 - - - - - - - - 15.86 - -
18036.93 429.99 10.95 1509 18042.87 done 0.83 - - 2248.62 - 4.34 0.066 3953.56 341.3 97.32 - - 2273.62 - - - - - - - - - 15.78 -
18106.93 421.24 12.85 1523 18112.79 done 0.76 - - 2265.19 - 3.96 0.013 2490.81 -369.4 97.32 - - 2273.31 - - - - - - - - - 15.94 -
18417.21 387.48 10.76 1545 18423.95 0.76 0.18 0.226 2193.62 -397.6 4.31 0.065 3954.19 339.5 97.32 - - 2275.19 - - - - - - - - 15.63 15.67 -
18452.02 383.68 10.89 1552 18457.82 done 0.76 - - 2211.44 - 3.95 0.013 2484.00 -372.2 97.32 - - 2273.62 - - - - - - - - - 15.94 -
18762.27 356.31 8.49 1584 18768.97 0.83 0.10 0.100 2253.44 420.0 4.34 0.064 3952.75 338.4 97.32 - - 2271.56 - - - - - - - - 15.89 15.82 -
18792.06 352.92 10.33 1590 18797.87 done 0.79 - - 2270.62 - 3.95 0.013 2486.88 -371.1 97.32 - - 2273.66 - - - - - - - - - 15.91 -
19097.11 320.44 10.64 1621 19103.01 0.79 0.16 0.237 2206.88 -398.4 4.35 0.066 3956.00 337.7 97.32 - - 2270.81 - - - - - - - - 15.63 15.68 -
19132.09 316.80 10.42 1628 19137.92 done 0.79 - - 2222.31 - 3.95 0.013 2487.69 -371.7 97.32 - - 2273.97 - - - - - - - - - 15.94 -
19437.13 290.92 7.60 1659 19443.07 0.87 0.10 0.103 2266.25 439.4 4.33 0.066 3953.94 338.6 97.32 - - 2274.19 - - - - - - - - 15.87 15.80 -
19462.17 288.22 8.55 1664 19467.98 done 0.84 - - 2284.00 - 3.94 0.013 2481.38 -373.7 97.32 - - 2273.56 - - - - - - - - - 15.92 -
19767.17 260.44 7.91 1695 19768.62 0.84 0.15 0.247 2241.19 -285.4 - - 2467.81 - 97.32 - - 2269.81 - - - - - - - - 15.61 - -
20067.48 241.95 5.52 1725 20108.97 1.03 0.20 0.073 2345.50 521.5 4.04 0.041 1037.38 -354.1 143.09 35.22 1.491 2112.47 -4.5 0.125 - - - - - - 15.87 15.71 11.30
20152.21 235.13 9.03 1740 20158.20 roll back 1.03 0.09 0.253 2302.56 -477.1 4.23 0.021 2566.19 361.4 143.09 - - 2109.81 - - - - - - - - 15.62 15.82 -
20457.54 215.71 5.08 1771 20509.25 1.22 0.20 0.076 2414.50 559.7 4.40 0.038 1037.38 -347.5 196.77 44.85 1.441 1889.16 -4.9 0.127 - - - - - - 15.78 15.57 11.61
20552.26 207.91 9.57 1790 20558.26 roll back 1.22 0.12 0.254 2362.88 -430.2 4.26 0.021 2563.88 358.3 196.77 - - 1886.78 - - - - - - - - 15.50 15.69 -
20857.61 182.26 8.19 1842 20863.29 done 1.25 - - 2380.19 - 4.36 0.037 1038.31 -349.9 196.77 - - 1883.06 - - - - - - - - - 15.68 -
20907.69 178.23 8.03 1852 20913.41 done 1.29 - - 2363.56 - 4.25 0.021 2558.75 357.8 196.77 - - 1879.22 - - - - - - - - - 15.72 -
21218.18 156.75 7.02 1913 21219.64 1.33 0.14 0.080 2426.62 450.4 - - 2559.25 - 196.77 - - 1879.56 - - - - - - - - 15.63 - -
21518.35 133.56 7.00 1973 21524.21 done 1.30 - - 2446.69 - 4.36 0.037 1037.00 -349.1 196.77 - - 1879.72 - - - - - - - - - 15.64 -
21638.33 124.68 7.39 1997 21644.30 1.28 0.17 0.243 2379.56 -394.9 4.28 0.021 2565.00 357.0 196.77 - - 1880.91 - - - - - - - - 15.44 15.68 -
21943.69 109.40 4.61 2058 22000.54 1.48 0.22 0.070 2494.31 521.6 4.41 0.040 1039.00 -346.0 258.84 49.90 1.352 1636.53 -4.9 0.069 - - - - - - 15.64 15.47 11.58
22073.42 99.60 8.52 2084 22079.42 roll back 1.48 0.10 0.253 2447.94 -463.7 4.31 0.022 2562.75 353.5 258.84 - - 1632.47 - - - - - - - - 15.40 15.55 -
22378.75 77.13 6.92 2145 22385.46 done 1.53 - - 2465.12 - 4.41 0.038 1039.88 -345.3 258.84 - - 1629.66 - - - - - - - - - 15.56 -
22468.51 71.12 6.59 2163 22474.41 done 1.58 - - 2448.38 - 4.29 0.021 2558.25 353.9 258.84 - - 1628.84 - - - - - - - - - 15.58 -
22773.83 58.70 3.38 2224 22842.09 1.86 0.37 0.055 2603.56 419.4 - - 2557.06 - 343.20 66.61 1.284 1296.88 -5.0 0.039 - - - - - - 15.56 - 11.64
23139.09 34.71 4.76 2297 23192.04 done 2.01 - - 2587.94 - 4.19 0.070 3955.25 333.7 402.60 47.26 1.227 1052.03 -5.2 0.025 - - - - - - - 15.32 11.72
23249.18 29.01 5.55 2319 23291.92 2.10 0.14 0.088 2664.31 545.5 4.07 0.012 2457.12 -368.1 447.72 36.29 1.185 869.50 -5.0 0.021 - - - - - - 15.37 15.43 11.90
23589.30 23.56 0.36 2387 23635.34 2.51 0.34 0.060 2808.06 422.8 - - 2456.75 - 586.68 44.97 1.196 637.31 -5.2 0.018 - - - - - - 15.52 - 11.67
23636 end climb: NO_VERTICAL_VELOCITY
23636 begin surface
SM 1.48 - - - - 126.7 - - 543.6 - 8.49 0.135 521.8 61.4 - 0.56 0.022 565.4 1009.6 -6.942 - - 30.00 15.34 15.54 -