SODA Aug19 * SG229 * Dive index * Mission links * Dive 195 * Raw log
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• Previous call tries 1 • 132.45 of 575.00 AH used of 24V (76.97% remains)
• Surface angle -69.4 deg, depth 1.40 m • Intended pitch -22.3 deg, speed -8.049 cm/s
• No surface pump (final VBD was 556.6, SM_CC=525.92322)
• GPS1 time: 52 s
• GPS2 time: 3 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
2.44 - - - 54.38 VBD -0.86 - - 125.94 - - - 2266.00 - -97.32 51.25 0.005 1532.41 - - - - - - - - - - 15.06
54.62 3.26 -4.34 10 116.75 -0.86 7.55 0.398 1722.25 211.4 4.55 0.057 721.62 -339.4 -97.32 45.51 0.005 3090.38 34.2 -3.818 - - - - - - 15.12 15.04 15.14
163.62 38.13 -34.27 32 169.61 roll back -0.63 0.29 0.283 1781.38 203.9 4.30 0.028 2243.12 353.8 -97.32 - - 3093.44 - - - - - - - - 15.32 15.59 -
468.67 85.50 -12.58 93 470.00 no move -0.65 - - 1780.94 - - - 2242.94 - -97.32 - - 3092.94 - - - - - - - - - - -
773.43 121.22 -11.26 153 774.77 no move -0.70 - - 1781.31 - - - 2243.38 - -97.32 - - 3093.41 - - - - - - - - - - -
1073.51 152.33 -9.99 213 1079.49 roll back -0.76 0.16 0.079 1694.50 -542.6 4.31 0.062 3717.38 342.0 -97.32 - - 3094.00 - - - - - - - - 15.59 15.59 -
1093.49 154.90 -12.15 217 1099.47 roll back -0.76 0.10 0.244 1739.50 450.0 4.30 0.021 2182.06 -357.1 -97.32 - - 3094.09 - - - - - - - - 15.43 15.64 -
1398.61 190.02 -10.71 278 1404.57 roll -0.80 - - 1722.31 - 4.56 0.058 3716.62 336.5 -97.32 - - 3093.59 - - - - - - - - - 15.59 -
1448.67 195.91 -12.10 288 1454.53 roll -0.83 - - 1738.50 - 4.28 0.021 2185.62 -357.7 -97.32 - - 3094.72 - - - - - - - - - 15.66 -
1758.66 224.74 -8.05 323 1765.65 roll back -0.89 0.16 0.076 1641.44 -606.6 4.57 0.059 3719.38 335.6 -97.32 - - 3095.03 - - - - - - - - 15.61 15.61 -
1848.67 235.02 -11.22 341 1854.67 roll back -0.83 0.20 0.235 1717.19 378.8 4.30 0.020 2177.12 -358.7 -97.32 - - 3093.34 - - - - - - - - 15.42 15.67 -
2153.71 258.12 -7.25 372 2155.04 no move -0.90 - - 1717.69 - - - 2176.81 - -97.32 - - 3092.25 - - - - - - - - - - -
2453.78 278.55 -6.48 402 2460.74 roll back -0.98 0.17 0.069 1620.44 -572.1 4.58 0.058 3717.88 336.5 -97.32 - - 3091.78 - - - - - - - - 15.63 15.60 -
2593.74 292.34 -10.66 430 2599.72 roll back -0.90 0.19 0.231 1692.88 381.3 4.28 0.020 2177.00 -360.0 -97.32 - - 3094.31 - - - - - - - - 15.43 15.68 -
2898.80 313.90 -6.55 461 2900.13 no move -0.96 - - 1693.38 - - - 2175.56 - -97.32 - - 3093.00 - - - - - - - - - - -
3198.88 333.53 -6.59 491 3200.33 pitch -1.02 0.14 0.080 1629.44 -456.7 - - 2175.06 - -97.32 - - 3091.75 - - - - - - - - 15.73 - -
3498.83 357.79 -8.58 521 3504.78 roll -1.02 - - 1609.06 - 4.54 0.058 3717.50 339.7 -97.32 - - 3093.66 - - - - - - - - - 15.76 -
3538.91 361.59 -9.54 529 3544.82 roll back -0.96 0.17 0.234 1675.19 389.0 4.25 0.021 2173.69 -363.2 -97.32 - - 3092.22 - - - - - - - - 15.52 15.81 -
3848.89 383.46 -6.72 561 3854.82 roll -1.01 - - 1657.62 - 4.53 0.059 3715.06 340.3 -97.32 - - 3091.66 - - - - - - - - - 15.77 -
3883.93 386.18 -7.06 568 3890.05 roll -1.03 - - 1674.62 - 4.26 0.021 2186.94 -358.7 -97.32 - - 3092.59 - - - - - - - - - 15.82 -
4188.92 406.76 -6.54 594 4194.91 roll back -1.08 0.14 0.080 1588.38 -616.0 4.51 0.058 3718.44 339.6 -97.32 - - 3091.12 - - - - - - - - 15.79 15.76 -
4419.02 429.83 -10.41 640 4424.95 roll back -0.99 0.22 0.236 1664.94 348.0 4.24 0.020 2175.62 -363.9 -97.32 - - 3093.16 - - - - - - - - 15.53 15.87 -
4728.99 451.56 -6.91 657 4734.86 roll -1.03 - - 1683.50 - 4.18 0.055 721.38 -347.9 -97.32 - - 3093.22 - - - - - - - - - 15.81 -
4849.00 460.71 -7.90 681 4854.95 roll back -1.03 0.07 0.121 1626.50 -814.3 4.20 0.022 2252.38 364.5 -97.32 - - 3092.66 - - - - - - - - 15.73 15.86 -
5169.02 485.46 -7.67 700 5174.99 roll -1.03 - - 1642.38 - 4.43 0.051 721.62 -345.5 -97.32 - - 3092.12 - - - - - - - - - 15.82 -
5399.09 505.12 -8.56 746 5404.99 roll -0.98 - - 1625.25 - 4.21 0.022 2246.94 362.3 -97.32 - - 3092.44 - - - - - - - - - 15.89 -
5709.09 528.73 -7.66 763 5715.07 roll back -0.98 0.16 0.235 1652.44 169.9 4.24 0.059 3718.25 347.0 -97.32 - - 3091.84 - - - - - - - - 15.59 15.63 -
5929.17 545.53 -7.73 807 5935.06 roll -0.98 - - 1669.62 - 4.22 0.020 2182.19 -364.0 -97.32 - - 3092.72 - - - - - - - - - 15.91 -
6249.19 565.83 -6.23 826 6255.12 roll -1.04 - - 1650.75 - 4.50 0.057 3718.12 341.3 -97.32 - - 3093.62 - - - - - - - - - 15.83 -
6279.19 567.97 -6.32 832 6285.09 roll -1.06 - - 1668.25 - 4.23 0.019 2184.56 -362.5 -97.32 - - 3091.91 - - - - - - - - - 15.92 -
6589.25 586.45 -5.67 849 6596.23 roll back -1.12 0.16 0.078 1572.38 -599.2 4.48 0.058 3715.69 341.8 -97.32 - - 3090.38 - - - - - - - - 15.85 15.81 -
6629.23 589.90 -8.59 857 6635.21 roll back -1.02 0.24 0.247 1654.25 341.1 4.21 0.020 2174.00 -366.2 -97.32 - - 3094.59 - - - - - - - - 15.54 15.90 -
6944.29 609.74 -6.37 875 6950.22 roll -1.06 - - 1636.69 - 4.53 0.058 3717.75 340.8 -97.32 - - 3094.28 - - - - - - - - - 15.83 -
6964.28 611.04 -6.28 879 6970.17 roll -1.06 - - 1654.19 - 4.24 0.020 2184.44 -361.6 -97.32 - - 3093.03 - - - - - - - - - 15.94 -
7284.32 631.22 -6.31 898 7285.66 no move -1.10 - - 1653.88 - - - 2183.69 - -97.32 - - 3091.69 - - - - - - - - - - -
7584.38 649.91 -6.18 913 7591.48 roll back -1.14 0.14 0.089 1567.50 -617.0 4.49 0.057 3718.19 341.8 -97.32 - - 3091.91 - - - - - - - - 15.88 15.81 -
7629.35 653.87 -8.78 922 7635.35 roll back -1.02 0.25 0.242 1656.44 355.8 4.22 0.019 2174.56 -365.8 -97.32 - - 3091.56 - - - - - - - - 15.55 15.91 -
7939.42 672.86 -5.97 939 7945.35 roll -1.06 - - 1638.12 - 4.51 0.057 3717.62 342.1 -97.32 - - 3093.16 - - - - - - - - - 15.85 -
7959.42 674.25 -5.94 943 7965.30 roll -1.06 - - 1654.69 - 4.22 0.020 2181.81 -363.9 -97.32 - - 3094.06 - - - - - - - - - 15.92 -
8279.45 693.54 -6.12 962 8285.37 roll -1.10 - - 1637.25 - 4.49 0.057 3719.31 342.4 -97.32 - - 3093.47 - - - - - - - - - 15.85 -
8314.44 696.05 -6.27 969 8320.36 roll -1.10 - - 1655.19 - 4.21 0.019 2185.94 -364.2 -97.32 - - 3093.81 - - - - - - - - - 15.91 -
8619.57 714.67 -6.01 985 8626.47 roll back -1.14 0.14 0.086 1563.94 -651.8 4.49 0.057 3721.12 341.9 -97.32 - - 3093.81 - - - - - - - - 15.86 15.82 -
8639.54 716.32 -6.35 989 8645.44 roll back -1.11 0.17 0.259 1627.81 375.7 4.22 0.019 2172.12 -367.1 -97.32 - - 3094.22 - - - - - - - - 15.54 15.92 -
8954.51 737.66 -6.59 1007 8960.47 roll -1.11 - - 1611.25 - 4.53 0.057 3717.56 341.2 -97.32 - - 3094.00 - - - - - - - - - 15.85 -
8969.50 738.89 -6.78 1010 8975.43 roll -1.11 - - 1627.94 - 4.23 0.020 2185.81 -362.1 -97.32 - - 3093.78 - - - - - - - - - 15.91 -
9274.60 759.56 -6.65 1026 9280.48 roll -1.11 - - 1609.69 - 4.49 0.057 3716.25 340.9 -97.32 - - 3093.94 - - - - - - - - - 15.85 -
9299.56 761.47 -6.87 1031 9305.47 roll -1.09 - - 1627.50 - 4.24 0.019 2184.94 -361.2 -97.32 - - 3093.69 - - - - - - - - - 15.93 -
9614.58 783.15 -6.88 1049 9615.91 no move -1.09 - - 1628.38 - - - 2182.75 - -97.32 - - 3091.38 - - - - - - - - - - -
9914.60 803.02 -6.63 1064 9920.53 roll -1.09 - - 1610.06 - 4.49 0.057 3717.38 341.8 -97.32 - - 3094.03 - - - - - - - - - 15.85 -
9929.60 804.14 -6.72 1067 9935.53 roll -1.09 - - 1627.00 - 4.24 0.019 2184.38 -361.6 -97.32 - - 3093.09 - - - - - - - - - 15.92 -
10234.61 824.30 -6.49 1083 10235.94 no move -1.09 - - 1627.88 - - - 2183.88 - -97.32 - - 3094.03 - - - - - - - - - - -
10534.64 843.51 -6.24 1098 10540.57 roll -1.09 - - 1609.81 - 4.50 0.057 3717.06 340.7 -97.32 - - 3093.41 - - - - - - - - - 15.85 -
10549.62 844.64 -6.19 1101 10555.55 roll -1.09 - - 1627.06 - 4.23 0.019 2183.88 -362.5 -97.32 - - 3094.06 - - - - - - - - - 15.91 -
10854.65 863.54 -6.15 1117 10855.98 no move -1.09 - - 1627.56 - - - 2183.94 - -97.32 - - 3092.78 - - - - - - - - - - -
11154.68 881.36 -5.70 1132 11160.59 roll -1.09 - - 1610.19 - 4.49 0.057 3717.75 341.6 -97.32 - - 3094.50 - - - - - - - - - 15.85 -
11174.69 882.83 -5.78 1136 11180.57 roll -1.09 - - 1627.12 - 4.21 0.019 2181.69 -364.9 -97.32 - - 3094.28 - - - - - - - - - 15.94 -
11494.70 902.07 -5.94 1155 11496.04 no move -1.09 - - 1627.31 - - - 2183.00 - -97.32 - - 3092.56 - - - - - - - - - - -
11794.72 919.86 -5.92 1170 11800.67 roll -1.09 - - 1609.12 - 4.51 0.058 3718.12 340.4 -97.32 - - 3093.53 - - - - - - - - - 15.85 -
11829.76 922.36 -6.34 1177 11835.63 roll -1.06 - - 1626.88 - 4.22 0.019 2184.06 -363.5 -97.32 - - 3095.00 - - - - - - - - - 15.92 -
12134.74 940.27 -5.76 1193 12136.07 no move -1.06 - - 1627.38 - - - 2184.62 - -97.32 - - 3093.59 - - - - - - - - - - -
12434.76 957.38 -5.59 1208 12440.67 roll -1.06 - - 1609.25 - 4.50 0.057 3719.94 341.2 -97.32 - - 3093.31 - - - - - - - - - 15.85 -
12469.82 959.70 -5.80 1215 12475.70 roll back -1.03 0.09 0.252 1652.00 475.0 4.24 0.019 2174.31 -364.5 -97.32 - - 3096.09 - - - - - - - - 15.58 15.92 -
12774.80 976.27 -5.32 1231 12776.13 no move -1.08 - - 1652.19 - - - 2174.69 - -97.32 - - 3093.69 - - - - - - - - - - -
13035 end dive: TARGET_DEPTH_EXCEEDED
13035 begin apogee
13037.17 990.57 -5.46 1244 13122.11 -0.14 0.99 0.198 1939.19 289.9 0.13 0.124 2530.38 2736.1 - 82.89 2.378 2696.22 -4.8 0.342 - - - - - - 15.58 15.32 11.15
13123 end apogee: CONTROL_FINISHED_OK
13123 begin climb
13122.67 990.81 - 1248 13211.85 0.86 0.94 0.068 2274.12 356.3 - - 2517.62 - 97.32 85.45 2.304 2297.75 -4.7 0.343 - - - - - - 15.42 - 12.24
13515.06 946.20 12.40 1280 13516.40 VBD 0.84 - - 2274.00 - - - 2516.88 - 97.32 - - 2284.16 - - - - - - - - - - -
13815.09 909.21 12.31 1295 13816.54 0.81 0.15 0.238 2232.62 -275.9 - - 2517.12 - 97.32 - - 2282.44 - - - - - - - - 15.35 - -
14115.09 877.48 10.43 1310 14120.98 done 0.85 - - 2214.62 - 4.30 0.069 3954.94 334.4 97.32 - - 2281.28 - - - - - - - - - 15.61 -
14169.87 870.87 12.40 1321 14176.00 0.85 0.07 0.130 2272.00 819.7 3.94 0.019 2525.62 -362.8 97.32 - - 2280.72 - - - - - - - - 15.51 15.68 -
14475.12 833.67 12.28 1337 14476.45 VBD 0.83 - - 2272.88 - - - 2509.75 - 97.32 - - 2278.28 - - - - - - - - - - -
14775.13 797.35 12.18 1352 14776.47 VBD 0.83 - - 2272.00 - - - 2509.62 - 97.32 - - 2277.44 - - - - - - - - - - -
15074.94 761.07 12.17 1367 15080.81 done 0.83 - - 2254.94 - 4.30 0.067 3955.12 336.2 97.32 - - 2278.19 - - - - - - - - - 15.65 -
15134.97 752.76 14.29 1379 15140.82 0.74 0.22 0.237 2209.88 -204.8 3.93 0.018 2533.75 -361.7 97.32 - - 2277.41 - - - - - - - - 15.42 15.69 -
15455.17 721.57 9.31 1398 15456.51 VBD 0.81 - - 2209.56 - - - 2519.31 - 97.32 - - 2276.81 - - - - - - - - - - -
15755.20 694.27 9.04 1413 15756.66 0.88 0.16 0.081 2289.50 499.6 - - 2517.88 - 97.32 - - 2274.94 - - - - - - - - 15.63 - -
16054.97 658.07 12.23 1428 16056.42 0.84 0.18 0.234 2239.69 -276.7 - - 2517.88 - 97.32 - - 2276.62 - - - - - - - - 15.43 - -
16355.23 627.13 10.17 1443 16360.86 done 0.87 - - 2221.75 - 4.28 0.067 3955.00 335.8 97.32 - - 2276.97 - - - - - - - - - 15.64 -
16405.02 621.39 11.89 1453 16410.80 done 0.84 - - 2236.69 - 3.91 0.018 2536.44 -362.8 97.32 - - 2277.31 - - - - - - - - - 15.69 -
16715.05 590.03 10.12 1470 16716.39 VBD 0.88 - - 2237.25 - - - 2521.50 - 97.32 - - 2273.84 - - - - - - - - - - -
17015.03 560.09 9.93 1485 17016.46 0.91 0.10 0.098 2295.44 581.9 - - 2519.06 - 97.32 - - 2275.44 - - - - - - - - 15.62 - -
17315.08 524.32 12.14 1500 17320.97 0.87 0.17 0.236 2232.38 -370.9 4.24 0.066 3956.06 338.9 97.32 - - 2275.94 - - - - - - - - 15.47 15.51 -
17375.03 517.02 12.38 1512 17380.89 done 0.82 - - 2247.81 - 3.91 0.018 2534.69 -363.5 97.32 - - 2275.72 - - - - - - - - - 15.79 -
17695.12 484.09 10.12 1531 17696.46 VBD 0.84 - - 2248.62 - - - 2518.50 - 97.32 - - 2273.75 - - - - - - - - - - -
17995.33 453.77 10.02 1546 17996.67 VBD 0.87 - - 2248.69 - - - 2519.12 - 97.32 - - 2274.34 - - - - - - - - - - -
18295.36 423.54 10.05 1561 18296.69 VBD 0.89 - - 2249.38 - - - 2520.31 - 97.32 - - 2275.62 - - - - - - - - - - -
18595.37 393.46 10.16 1579 18601.26 done 0.92 - - 2232.56 - 4.23 0.067 3954.00 338.9 97.32 - - 2275.66 - - - - - - - - - 15.78 -
18645.17 387.63 12.05 1589 18650.93 done 0.88 - - 2249.75 - 3.87 0.018 2533.38 -367.1 97.32 - - 2275.25 - - - - - - - - - 15.86 -
18955.40 356.62 9.90 1621 18956.74 VBD 0.90 - - 2250.12 - - - 2516.50 - 97.32 - - 2274.41 - - - - - - - - - - -
19255.49 327.82 9.48 1651 19256.83 VBD 0.94 - - 2249.12 - - - 2516.62 - 97.32 - - 2272.62 - - - - - - - - - - -
19555.51 300.18 8.86 1681 19562.15 0.97 0.12 0.088 2297.38 402.2 4.22 0.068 3956.12 341.1 97.32 - - 2274.56 - - - - - - - - 15.86 15.76 -
19620.22 291.91 13.23 1694 19626.11 0.83 0.28 0.248 2237.06 -215.4 3.87 0.018 2534.75 -367.3 97.32 - - 2274.38 - - - - - - - - 15.51 15.90 -
19930.54 266.19 7.52 1726 19931.88 VBD 0.89 - - 2237.94 - - - 2518.62 - 97.32 - - 2272.81 - - - - - - - - - - -
20230.65 246.80 6.14 1756 20232.10 0.97 0.15 0.079 2312.38 496.3 - - 2518.94 - 97.32 - - 2272.25 - - - - - - - - 15.85 - -
20530.61 226.44 5.22 1786 20571.48 VBD 1.09 - - 2311.69 - - - 2518.25 - 148.41 40.29 1.472 2088.47 -4.6 0.120 - - - - - - - - 11.25
20870.67 206.33 6.05 1820 20906.98 1.23 0.19 0.080 2415.12 544.4 4.12 0.044 1077.62 -349.7 184.59 30.28 1.413 1942.94 -4.8 0.120 - - - - - - 15.73 15.56 11.62
20980.43 197.12 9.52 1842 20986.40 roll back 1.21 0.14 0.253 2359.62 -396.4 4.26 0.026 2603.19 358.1 184.59 - - 1938.03 - - - - - - - - 15.48 15.69 -
21285.78 175.25 7.10 1903 21287.12 no move 1.24 - - 2359.69 - - - 2602.94 - 184.59 - - 1935.66 - - - - - - - - - - -
21585.84 154.86 6.33 1963 21591.75 roll 1.27 - - 2377.38 - 4.38 0.042 1078.62 -348.0 184.59 - - 1933.91 - - - - - - - - - 15.71 -
21650.65 150.64 6.58 1976 21656.75 roll 1.32 - - 2360.25 - 4.25 0.025 2600.94 358.2 184.59 - - 1933.91 - - - - - - - - - 15.74 -
21955.92 133.20 5.50 2037 21996.83 1.48 0.28 0.064 2478.75 423.2 - - 2600.94 - 230.57 38.63 1.372 1752.75 -4.7 0.078 - - - - - - 15.77 - 11.48
22295.97 102.48 8.15 2105 22297.42 1.44 0.17 0.240 2431.81 -276.1 - - 2601.69 - 230.57 - - 1747.44 - - - - - - - - 15.46 - -
22596.10 84.66 5.30 2165 22642.62 1.59 0.17 0.079 2495.50 374.6 4.01 0.074 3956.06 337.7 280.29 40.41 1.316 1551.06 -4.9 0.053 - - - - - - 15.70 15.50 11.59
22705.79 74.81 10.79 2187 22711.96 roll back 1.48 0.24 0.248 2445.31 -209.1 3.93 0.020 2532.75 -362.2 280.29 - - 1548.47 - - - - - - - - 15.42 15.66 -
23011.10 55.93 5.62 2248 23053.66 1.68 0.21 0.064 2555.38 524.1 4.16 0.047 1079.56 -349.3 324.11 36.02 1.265 1373.25 -4.9 0.037 - - - - - - 15.64 15.49 11.64
23255.89 39.80 5.45 2297 23299.93 done 1.83 - - 2538.81 - 4.28 0.025 2601.00 355.5 371.00 38.01 1.228 1183.16 -5.0 0.028 - - - - - - - 15.63 11.73
23597.12 26.14 2.67 2365 23679.48 2.20 0.41 0.049 2703.00 400.5 4.05 0.070 3954.81 334.3 468.17 75.54 1.206 784.56 -5.3 0.020 - - - - - - 15.59 15.30 11.70
23901.97 20.56 0.32 2426 23954.10 2.44 0.12 0.104 2771.56 571.3 3.94 0.018 2502.25 -368.7 607.88 46.52 1.173 550.81 -5.0 0.015 - - - - - - 15.43 15.56 11.77
24157 end climb: SURFACE_DEPTH_REACHED
24157 begin surface coast
24177 end surface coast: CONTROL_FINISHED_OK
24177 begin surface
SM 0.77 - - - - 121.2 - - 539.1 - 7.47 0.041 521.6 69.8 - 0.84 0.031 556.6 657.9 -1.670 - - 30.00 15.47 15.56 -