SODA Sep18 * SG199 * Dive index * Mission links * Dive 101 * Raw log
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• Previous call tries 3 • 49.98 of 350.00 AH used of 24V (85.72% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.2 deg, depth 0.66 m • Intended pitch -15.7 deg, speed -9.167 cm/s
• VBD pumped to 525.19 (SM_CC=525) • surface range 21.0 m at 20.0 m depth, ceiling -1.0 m
• GPS1 time: 40 s
• GPS2 time: 8 s • Transponder ping count: 0
• 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
10 - - - 115 VBD -0.73 - - 192 - - - 2749 - -146.0 -102.70 0.002 2400 - - - - - - - - 14.55 - 14.57
118 4.8 -8.6 10 163 roll -0.73 8.90 0.475 1829 183.9 2.70 0.162 1325 -527.4 -146.0 -26.40 0.005 3541 -43.2 8.481 - - - - - - 14.06 13.39 14.38
383 74.9 -19.6 62 388 done -0.73 - - 1820 - 2.78 0.168 2756 514.7 -146.0 - - 3542 - - - - - - - - 14.39 14.25 14.42
574 109.1 -16.3 82 575 done -0.73 - - 1820 - - - 2756 - -146.0 - - 3542 - - - - - - - - 14.57 14.59 14.58
754 136.7 -15.0 100 755 done -0.73 - - 1818 - - - 2756 - -146.0 - - 3542 - - - - - - - - 14.60 14.62 14.62
934 162.4 -13.8 118 935 done -0.73 - - 1820 - - - 2756 - -146.0 - - 3542 - - - - - - - - 14.62 14.63 14.64
1114 186.5 -13.4 136 1115 done -0.73 - - 1821 - - - 2756 - -146.0 - - 3542 - - - - - - - - 14.64 14.66 14.66
1294 209.9 -12.5 154 1295 done -0.73 - - 1820 - - - 2756 - -146.0 - - 3542 - - - - - - - - 14.66 14.68 14.67
1474 232.0 -12.0 172 1475 done -0.73 - - 1820 - - - 2756 - -146.0 - - 3546 - - - - - - - - 14.66 14.69 14.69
1664 254.1 -11.1 189 1665 done -0.73 - - 1820 - - - 2756 - -146.0 - - 3542 - - - - - - - - 14.68 14.70 14.70
1964 283.6 -9.3 199 1969 roll -0.73 - - 1813 - 2.00 0.206 3780 512.0 -146.0 - - 3542 - - - - - - - - 14.71 14.37 14.73
2019 289.0 -9.4 210 2025 done -0.73 - - 1813 - 1.92 0.156 2742 -540.6 -146.0 - - 3542 - - - - - - - - 14.57 14.45 14.59
2324 316.7 -8.9 221 2325 done -0.73 - - 1813 - - - 2742 - -146.0 - - 3542 - - - - - - - - 14.73 14.73 14.75
2624 343.4 -8.9 231 2625 done -0.73 - - 1812 - - - 2742 - -146.0 - - 3542 - - - - - - - - 14.75 14.77 14.77
2924 369.6 -8.7 241 2925 done -0.73 - - 1813 - - - 2742 - -146.0 - - 3543 - - - - - - - - 14.76 14.78 14.78
3224 394.9 -8.3 251 3225 done -0.73 - - 1813 - - - 2742 - -146.0 - - 3542 - - - - - - - - 14.77 14.79 14.79
3524 419.6 -8.3 261 3525 done -0.73 - - 1812 - - - 2742 - -146.0 - - 3542 - - - - - - - - 14.78 14.80 14.79
3824 444.7 -8.4 271 3825 done -0.73 - - 1813 - - - 2742 - -146.0 - - 3542 - - - - - - - - 14.78 14.81 14.80
4124 469.8 -8.4 281 4125 done -0.73 - - 1813 - - - 2742 - -146.0 - - 3542 - - - - - - - - 14.79 14.81 14.81
4424 495.0 -8.4 291 4425 done -0.73 - - 1812 - - - 2742 - -146.0 - - 3543 - - - - - - - - 14.79 14.81 14.81
4724 519.7 -8.2 301 4725 done -0.73 - - 1812 - - - 2742 - -146.0 - - 3542 - - - - - - - - 14.80 14.82 14.81
5024 544.1 -8.1 311 5025 done -0.73 - - 1813 - - - 2742 - -146.0 - - 3542 - - - - - - - - 14.81 14.82 14.82
5324 568.7 -8.2 321 5330 roll -0.73 - - 1813 - 2.55 0.138 1325 -555.7 -146.0 - - 3542 - - - - - - - - 14.81 14.54 14.83
5415 576.2 -8.2 339 5421 done -0.73 0.15 0.285 1833 133.3 2.72 0.167 2763 528.7 -146.0 - - 3542 - - - - - - - - 14.46 14.51 14.65
5746 600.3 -7.3 355 5747 done -0.73 - - 1833 - - - 2763 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.82
6046 621.9 -7.2 365 6047 done -0.73 - - 1834 - - - 2763 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
6346 643.3 -7.1 375 6351 roll -0.73 - - 1834 - 2.60 0.135 1328 -551.9 -146.0 - - 3542 - - - - - - - - 14.81 14.55 14.83
6396 647.0 -7.4 385 6402 done -0.73 - - 1825 - 2.70 0.166 2759 530.0 -146.0 - - 3542 - - - - - - - - 14.67 14.52 14.69
6707 669.9 -7.3 397 6708 done -0.73 - - 1825 - - - 2759 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
7007 691.5 -7.1 407 7008 done -0.73 - - 1825 - - - 2759 - -146.0 - - 3543 - - - - - - - - 14.81 14.84 14.83
7307 712.8 -7.1 417 7308 done -0.73 - - 1825 - - - 2759 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.83
7607 734.0 -7.1 427 7612 roll -0.73 - - 1825 - 2.60 0.135 1324 -551.9 -146.0 - - 3543 - - - - - - - - 14.82 14.56 14.83
7668 738.4 -7.2 439 7673 done -0.73 - - 1815 - 2.70 0.164 2757 530.7 -146.0 - - 3543 - - - - - - - - 14.67 14.52 14.70
7998 762.7 -7.3 455 7999 done -0.73 - - 1814 - - - 2756 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.84
8298 784.4 -7.2 465 8299 done -0.73 - - 1815 - - - 2756 - -146.0 - - 3543 - - - - - - - - 14.82 14.84 14.83
8598 805.7 -7.1 475 8599 done -0.73 - - 1815 - - - 2756 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.83
8898 827.0 -7.1 485 8904 roll -0.73 - - 1815 - 2.60 0.136 1322 -551.5 -146.0 - - 3543 - - - - - - - - 14.82 14.56 14.84
8954 831.1 -7.3 496 8960 done -0.73 0.15 0.284 1836 140.0 2.70 0.165 2752 529.6 -146.0 - - 3543 - - - - - - - - 14.47 14.53 14.66
9259 850.6 -6.4 507 9260 done -0.73 - - 1836 - - - 2752 - -146.0 - - 3543 - - - - - - - - 14.82 14.84 14.83
9559 869.6 -6.3 517 9560 done -0.73 - - 1836 - - - 2752 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.83
9859 888.4 -6.3 527 9864 roll -0.73 - - 1837 - 2.60 0.138 1322 -550.0 -146.0 - - 3543 - - - - - - - - 14.82 14.56 14.83
9899 891.0 -6.6 535 9905 done -0.73 - - 1829 - 2.72 0.167 2756 527.2 -146.0 - - 3542 - - - - - - - - 14.68 14.52 14.70
10222 911.3 -6.4 549 10223 done -0.73 - - 1829 - - - 2756 - -146.0 - - 3542 - - - - - - - - 14.75 14.77 14.77
10520 930.8 -6.5 559 10521 done -0.73 - - 1828 - - - 2756 - -146.0 - - 3543 - - - - - - - - 14.71 14.73 14.73
10820 950.2 -6.5 569 10821 done -0.73 - - 1828 - - - 2756 - -146.0 - - 3543 - - - - - - - - 14.69 14.71 14.70
11120 969.4 -6.4 579 11125 roll -0.73 - - 1829 - 2.62 0.138 1329 -544.7 -146.0 - - 3543 - - - - - - - - 14.66 14.42 14.68
11185 973.6 -6.5 592 11190 done -0.73 - - 1818 - 2.75 0.167 2762 521.1 -146.0 - - 3543 - - - - - - - - 14.53 14.38 14.55
11448 end dive: TARGET_DEPTH_EXCEEDED
11448 begin apogee
11454 991.3 -6.7 605 11592 done -0.19 0.70 0.232 2006 268.6 - - 2595 - - 135.27 2.609 2942 -4.4 0.345 - - - - - - 14.35 13.52 12.66
11593 end apogee: CONTROL_FINISHED_OK
11593 begin climb
11596 993.1 - 609 11739 done 0.73 1.00 0.151 2296 290.0 - - 2596 - 146.0 140.12 2.534 2351 -4.2 0.338 - - - - - - 13.48 12.81 12.00
12023 950.6 10.9 624 12023 done 0.73 - - 2296 - - - 2595 - 146.0 - - 2338 - - - - - - - - 13.88 13.90 13.90
12321 917.9 10.9 634 12327 roll 0.73 - - 2307 - 2.70 0.138 1180 -524.1 146.0 - - 2336 - - - - - - - - 14.22 13.95 14.24
12367 913.0 10.8 643 12372 done 0.73 - - 2307 - 2.80 0.155 2610 510.7 146.0 - - 2336 - - - - - - - - 14.13 14.00 14.16
12682 877.5 11.2 656 12683 done 0.73 - - 2307 - - - 2610 - 146.0 - - 2335 - - - - - - - - 14.45 14.47 14.47
12982 843.9 11.1 666 12983 done 0.73 - - 2307 - - - 2610 - 146.0 - - 2335 - - - - - - - - 14.56 14.58 14.58
13282 810.9 11.0 676 13287 roll 0.73 - - 2316 - 2.67 0.139 1175 -537.5 146.0 - - 2335 - - - - - - - - 14.62 14.38 14.65
13338 804.9 10.9 687 13344 done 0.73 - - 2316 - 2.72 0.158 2609 527.2 146.0 - - 2337 - - - - - - - - 14.50 14.36 14.53
13643 770.2 11.4 698 13644 done 0.73 - - 2316 - - - 2608 - 146.0 - - 2334 - - - - - - - - 14.66 14.70 14.70
13943 736.5 11.2 708 13944 done 0.73 - - 2316 - - - 2608 - 146.0 - - 2334 - - - - - - - - 14.71 14.73 14.73
14243 702.8 11.2 718 14249 roll 0.73 - - 2326 - 2.62 0.141 1181 -544.7 146.0 - - 2334 - - - - - - - - 14.74 14.49 14.76
14294 697.0 11.1 728 14299 done 0.73 - - 2326 - 2.70 0.159 2612 530.0 146.0 - - 2334 - - - - - - - - 14.60 14.46 14.64
14605 660.7 11.7 740 14606 done 0.73 - - 2326 - - - 2612 - 146.0 - - 2334 - - - - - - - - 14.75 14.77 14.77
14905 625.5 11.8 750 14910 roll 0.73 - - 2336 - 2.62 0.140 1179 -546.9 146.0 - - 2334 - - - - - - - - 14.78 14.51 14.79
14950 620.1 11.7 759 14956 done 0.73 - - 2335 - 2.70 0.159 2609 529.6 146.0 - - 2333 - - - - - - - - 14.64 14.49 14.66
15266 581.3 12.4 772 15267 done 0.73 0.15 0.280 2302 -220.0 - - 2608 - 146.0 - - 2334 - - - - - - - - 14.46 14.68 14.66
15566 549.0 10.6 782 15567 done 0.73 - - 2302 - - - 2608 - 146.0 - - 2333 - - - - - - - - 14.78 14.81 14.81
15866 517.1 10.7 792 15871 roll 0.73 - - 2312 - 2.62 0.140 1179 -545.4 146.0 - - 2333 - - - - - - - - 14.80 14.54 14.82
15936 509.7 10.4 806 15942 done 0.73 - - 2312 - 2.67 0.158 2602 533.0 146.0 - - 2333 - - - - - - - - 14.66 14.51 14.69
16257 475.0 10.8 820 16258 done 0.73 - - 2312 - - - 2602 - 146.0 - - 2333 - - - - - - - - 14.79 14.81 14.81
16557 442.7 10.7 830 16558 done 0.73 - - 2312 - - - 2603 - 146.0 - - 2333 - - - - - - - - 14.79 14.81 14.81
16857 410.5 10.7 840 16862 roll 0.73 - - 2322 - 2.60 0.139 1179 -547.7 146.0 - - 2333 - - - - - - - - 14.80 14.54 14.81
16907 405.1 10.9 850 16913 done 0.73 - - 2322 - 2.70 0.158 2612 530.7 146.0 - - 2333 - - - - - - - - 14.66 14.51 14.69
17219 371.4 10.7 862 17220 done 0.73 - - 2322 - - - 2613 - 146.0 - - 2333 - - - - - - - - 14.78 14.81 14.80
17519 339.3 10.6 872 17524 roll 0.73 - - 2332 - 2.62 0.140 1178 -547.7 146.0 - - 2337 - - - - - - - - 14.78 14.53 14.81
17589 332.0 10.3 886 17595 done 0.73 - - 2332 - 2.67 0.158 2602 533.3 146.0 - - 2333 - - - - - - - - 14.66 14.49 14.69
17911 298.2 10.5 900 17912 done 0.73 - - 2332 - - - 2603 - 146.0 - - 2333 - - - - - - - - 14.78 14.81 14.81
18210 267.7 10.0 910 18216 roll 0.73 - - 2341 - 2.60 0.141 1182 -546.5 146.0 - - 2333 - - - - - - - - 14.80 14.54 14.82
18267 262.3 9.3 921 18273 done 0.73 0.17 0.260 2300 -241.2 2.67 0.159 2604 532.6 146.0 - - 2333 - - - - - - - - 14.47 14.51 14.66
18574 239.8 6.9 940 18579 roll 0.79 - - 2309 - 2.62 0.141 1174 -545.8 146.0 - - 2333 - - - - - - - - 14.78 14.52 14.80
18654 234.2 6.7 956 18660 done 0.87 0.15 0.125 2374 433.3 2.72 0.161 2613 529.0 146.0 - - 2336 - - - - - - - - 14.58 14.49 14.65
18847 216.7 9.3 976 18852 roll 0.87 - - 2374 - 2.25 0.199 3778 517.8 146.0 - - 2333 - - - - - - - - 14.76 14.46 14.78
18937 207.5 10.0 994 18943 done 0.87 0.15 0.285 2352 -146.7 2.17 0.151 2597 -544.2 146.0 - - 2333 - - - - - - - - 14.43 14.51 14.62
19130 193.1 6.8 1014 19131 done 0.94 - - 2352 - - - 2595 - 146.0 - - 2333 - - - - - - - - 14.73 14.76 14.75
19309 180.7 6.9 1032 19314 roll 1.01 0.12 0.145 2417 541.7 2.60 0.141 1174 -546.5 146.0 - - 2333 - - - - - - - - 14.54 14.47 14.59
19396 173.8 8.0 1049 19403 done 1.04 - - 2417 - 2.72 0.162 2607 526.8 146.0 - - 2333 - - - - - - - - 14.59 14.44 14.62
19580 158.5 8.6 1068 19585 roll 1.06 - - 2417 - 2.28 0.200 3774 511.8 146.0 - - 2333 - - - - - - - - 14.71 14.42 14.73
19640 152.7 9.8 1080 19645 done 1.06 - - 2425 - 2.20 0.151 2589 -538.6 146.0 - - 2333 - - - - - - - - 14.55 14.43 14.57
19830 137.2 7.6 1100 19831 done 1.11 - - 2425 - - - 2589 - 146.0 - - 2332 - - - - - - - - 14.71 14.73 14.73
20010 124.2 7.1 1118 20011 done 1.17 - - 2425 - - - 2589 - 146.0 - - 2332 - - - - - - - - 14.71 14.73 14.73
20190 112.3 6.7 1136 20196 roll 1.25 0.12 0.151 2490 541.7 2.60 0.142 1176 -543.5 146.0 - - 2332 - - - - - - - - 14.50 14.41 14.54
20311 104.8 5.9 1160 20316 done 1.35 - - 2490 - 2.72 0.163 2603 524.6 146.0 - - 2332 - - - - - - - - 14.53 14.38 14.56
20502 94.7 4.6 1180 20594 roll 1.45 0.15 0.137 2542 346.7 2.40 0.196 3778 489.6 255.5 85.88 1.543 1895 -5.1 0.064 - - - - - - 14.49 13.82 13.33
20816 61.3 7.3 1238 20823 done 1.51 - - 2551 - 2.25 0.155 2598 -524.4 255.5 - - 1888 - - - - - - - - 14.23 14.13 14.26
20999 52.5 3.6 1257 21110 done 1.64 0.12 0.141 2601 416.7 - - 2598 - 388.6 103.22 1.431 1352 -5.2 0.039 - - - - - - 14.28 13.79 13.23
21289 26.9 7.8 1290 21295 roll 1.68 - - 2601 - 2.40 0.196 3777 491.2 388.6 - - 1345 - - - - - - - - 14.25 14.00 14.27
21410 17.2 8.1 1314 21416 done 1.72 - - 2610 - 2.25 0.152 2596 -524.9 388.6 - - 1343 - - - - - - - - 14.21 14.08 14.21
21599 end climb: SURFACE_DEPTH_REACHED
21599 begin surface coast
21619 end surface coast: CONTROL_FINISHED_OK
21619 begin surface
SM 0.70 - - - - -5.82 7.45 0.096 189 25.4 0.38 0.225 2760 4384.2 525.19 185.43 0.216 798 4.3 -0.001 - - - - - -