SODA Sep18 * SG198 * Dive index * Mission links * Dive 17 * Raw log
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• Previous call tries 1 • 8.85 of 350.00 AH used of 24V (97.47% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.4 deg, depth 0.73 m • Intended pitch -18.3 deg, speed -10.000 cm/s
• No surface pump (final VBD was 655.20, SM_CC=653.96979) • surface range 15.9 m at 15.3 m depth, ceiling -0.6 m (m = 1.07, R^2 = 1.00)
• GPS1 time: 40 s
• GPS2 time: 6 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
8 - - - 134 VBD -0.96 - - 235 - - - 2111 - -146.0 -123.32 0.004 2252 - - - - - - - - 14.21 - 14.24
135 4.8 -8.1 12 186 roll -0.96 10.43 0.471 2165 185.0 2.50 0.127 704 -562.8 -146.0 -35.17 0.005 3761 -42.9 8.038 - - - - - - 13.89 13.54 14.12
224 30.1 -25.3 29 233 done -0.96 - - 2161 - 2.50 0.093 2103 559.6 -146.0 - - 3761 - - - - - - - - 14.14 14.08 14.17
409 70.5 -19.6 48 410 done -0.96 - - 2161 - - - 2103 - -146.0 - - 3761 - - - - - - - - 14.35 14.38 14.38
590 99.8 -15.4 66 591 done -0.96 - - 2161 - - - 2108 - -146.0 - - 3762 - - - - - - - - 14.37 14.40 14.40
769 125.5 -13.7 84 770 done -0.96 - - 2161 - - - 2103 - -146.0 - - 3761 - - - - - - - - 14.44 14.47 14.47
950 149.4 -13.1 102 950 done -0.96 - - 2160 - - - 2103 - -146.0 - - 3762 - - - - - - - - 14.47 14.51 14.50
1129 172.5 -12.9 120 1130 done -0.96 - - 2161 - - - 2104 - -146.0 - - 3762 - - - - - - - - 14.50 14.54 14.52
1310 195.1 -12.3 138 1311 done -0.96 - - 2166 - - - 2103 - -146.0 - - 3761 - - - - - - - - 14.50 14.52 14.52
1490 216.5 -11.9 156 1491 done -0.96 - - 2161 - - - 2103 - -146.0 - - 3761 - - - - - - - - 14.52 14.54 14.54
1670 237.2 -11.1 174 1671 done -0.96 - - 2161 - - - 2104 - -146.0 - - 3761 - - - - - - - - 14.53 14.56 14.56
1853 257.1 -10.6 188 1853 done -0.96 - - 2161 - - - 2104 - -146.0 - - 3761 - - - - - - - - 14.52 14.56 14.55
2153 286.8 -9.6 198 2159 roll -0.96 - - 2160 - 2.60 0.145 3504 538.5 -146.0 - - 3761 - - - - - - - - 14.53 14.31 14.56
2228 294.0 -9.6 213 2235 done -0.96 - - 2159 - 2.35 0.063 2104 -595.7 -146.0 - - 3761 - - - - - - - - 14.45 14.36 14.46
2544 321.8 -8.7 226 2549 roll -0.96 - - 2159 - 2.60 0.140 3507 539.6 -146.0 - - 3761 - - - - - - - - 14.53 14.28 14.58
2593 326.3 -9.1 236 2601 done -0.96 - - 2159 - 2.38 0.061 2090 -595.4 -146.0 - - 3761 - - - - - - - - 14.41 14.36 14.42
2904 353.4 -8.5 248 2910 roll -0.96 - - 2158 - 2.62 0.140 3510 542.0 -146.0 - - 3761 - - - - - - - - 14.53 14.33 14.56
2949 357.3 -8.9 257 2956 done -0.96 - - 2159 - 2.38 0.061 2090 -596.6 -146.0 - - 3760 - - - - - - - - 14.40 14.36 14.42
3265 384.1 -8.5 270 3271 roll -0.96 - - 2159 - 2.62 0.140 3510 542.0 -146.0 - - 3761 - - - - - - - - 14.52 14.31 14.55
3315 388.4 -8.7 280 3321 done -0.96 - - 2159 - 2.38 0.061 2092 -595.8 -146.0 - - 3761 - - - - - - - - 14.41 14.37 14.43
3626 414.0 -8.2 292 3631 roll -0.96 - - 2159 - 2.58 0.138 3511 550.0 -146.0 - - 3761 - - - - - - - - 14.50 14.32 14.53
3680 418.5 -8.4 303 3687 done -0.96 - - 2159 - 2.38 0.060 2090 -597.1 -146.0 - - 3761 - - - - - - - - 14.40 14.37 14.43
3985 443.3 -8.1 314 3991 roll -0.96 - - 2159 - 2.60 0.139 3507 545.0 -146.0 - - 3761 - - - - - - - - 14.58 14.34 14.61
4020 446.2 -8.3 321 4027 done -0.96 - - 2158 - 2.35 0.061 2101 -598.3 -146.0 - - 3761 - - - - - - - - 14.44 14.40 14.47
4345 472.7 -8.1 336 4353 roll -0.96 - - 2159 - 2.58 0.139 3506 544.6 -146.0 - - 3761 - - - - - - - - 14.63 14.39 14.65
4391 476.5 -8.3 345 4398 done -0.96 - - 2159 - 2.35 0.061 2096 -600.0 -146.0 - - 3761 - - - - - - - - 14.50 14.45 14.52
4707 502.1 -8.1 358 4713 roll -0.96 - - 2159 - 2.58 0.139 3507 546.9 -146.0 - - 3761 - - - - - - - - 14.66 14.42 14.69
4757 506.3 -8.5 368 4763 done -0.96 - - 2159 - 2.35 0.061 2089 -603.4 -146.0 - - 3761 - - - - - - - - 14.53 14.48 14.55
5067 531.3 -8.0 380 5073 roll -0.96 - - 2159 - 2.58 0.138 3505 548.8 -146.0 - - 3761 - - - - - - - - 14.69 14.45 14.71
5132 536.6 -8.1 393 5139 done -0.96 - - 2159 - 2.35 0.060 2088 -603.0 -146.0 - - 3761 - - - - - - - - 14.54 14.50 14.57
5459 562.4 -7.9 408 5464 roll -0.96 - - 2159 - 2.55 0.138 3513 558.8 -146.0 - - 3761 - - - - - - - - 14.70 14.48 14.73
5528 568.1 -8.2 422 5534 done -0.96 - - 2159 - 2.35 0.060 2091 -605.1 -146.0 - - 3761 - - - - - - - - 14.57 14.53 14.59
5848 593.3 -7.9 436 5854 roll -0.96 - - 2159 - 2.58 0.138 3532 558.5 -146.0 - - 3761 - - - - - - - - 14.72 14.47 14.75
5893 597.0 -8.2 445 5900 done -0.96 - - 2159 - 2.38 0.060 2091 -605.5 -146.0 - - 3761 - - - - - - - - 14.59 14.54 14.61
6209 621.8 -7.8 458 6215 roll -0.96 - - 2159 - 2.58 0.138 3509 549.6 -146.0 - - 3762 - - - - - - - - 14.73 14.50 14.76
6284 627.8 -8.0 473 6291 done -0.96 - - 2159 - 2.33 0.059 2097 -606.0 -146.0 - - 3761 - - - - - - - - 14.60 14.55 14.62
6600 652.3 -7.7 486 6606 roll -0.96 - - 2159 - 2.55 0.137 3508 553.3 -146.0 - - 3761 - - - - - - - - 14.74 14.51 14.76
6641 655.4 -8.0 494 6646 done -0.96 - - 2159 - 2.28 0.060 2091 -621.5 -146.0 - - 3761 - - - - - - - - 14.64 14.57 14.66
6960 680.5 -7.8 508 6966 roll -0.96 - - 2158 - 2.58 0.137 3516 552.3 -146.0 - - 3761 - - - - - - - - 14.75 14.52 14.77
7010 684.5 -8.1 518 7016 done -0.96 - - 2159 - 2.33 0.060 2100 -607.7 -146.0 - - 3761 - - - - - - - - 14.61 14.57 14.64
7320 708.7 -7.8 530 7326 roll -0.96 - - 2159 - 2.55 0.137 3508 552.2 -146.0 - - 3762 - - - - - - - - 14.75 14.55 14.78
7375 713.1 -8.0 541 7383 done -0.96 - - 2159 - 2.33 0.059 2089 -609.0 -146.0 - - 3762 - - - - - - - - 14.62 14.57 14.64
7680 736.6 -7.7 552 7686 roll -0.96 - - 2158 - 2.53 0.136 3510 561.7 -146.0 - - 3762 - - - - - - - - 14.76 14.53 14.78
7740 741.3 -7.9 564 7746 done -0.96 - - 2159 - 2.33 0.060 2094 -607.7 -146.0 - - 3761 - - - - - - - - 14.62 14.57 14.64
8070 766.6 -7.7 580 8076 roll -0.96 - - 2159 - 2.55 0.136 3507 554.1 -146.0 - - 3762 - - - - - - - - 14.76 14.52 14.78
8130 771.3 -7.9 592 8136 done -0.96 - - 2159 - 2.30 0.060 2101 -611.3 -146.0 - - 3761 - - - - - - - - 14.63 14.59 14.65
8460 796.7 -7.7 608 8466 roll -0.96 - - 2159 - 2.55 0.136 3513 553.7 -146.0 - - 3762 - - - - - - - - 14.76 14.53 14.78
8510 800.6 -7.9 618 8516 done -0.96 - - 2158 - 2.33 0.059 2094 -609.0 -146.0 - - 3762 - - - - - - - - 14.63 14.59 14.66
8820 823.9 -7.5 630 8826 roll -0.96 - - 2158 - 2.55 0.135 3507 554.1 -146.0 - - 3762 - - - - - - - - 14.76 14.54 14.79
8890 829.2 -7.7 644 8896 done -0.96 - - 2159 - 2.33 0.059 2085 -610.3 -146.0 - - 3761 - - - - - - - - 14.64 14.59 14.66
9210 853.0 -7.5 658 9216 roll -0.96 - - 2159 - 2.58 0.137 3511 552.7 -146.0 - - 3762 - - - - - - - - 14.77 14.54 14.80
9275 858.0 -7.7 671 9281 done -0.96 - - 2159 - 2.30 0.059 2102 -612.6 -146.0 - - 3761 - - - - - - - - 14.64 14.59 14.66
9600 882.1 -7.4 686 9606 roll -0.96 - - 2159 - 2.55 0.136 3516 554.5 -146.0 - - 3762 - - - - - - - - 14.77 14.54 14.80
9670 887.4 -7.6 700 9676 done -0.96 - - 2158 - 2.33 0.060 2097 -609.0 -146.0 - - 3762 - - - - - - - - 14.64 14.59 14.66
9990 911.2 -7.4 714 9996 roll -0.96 - - 2158 - 2.55 0.136 3509 553.7 -146.0 - - 3762 - - - - - - - - 14.77 14.54 14.80
10035 914.6 -7.7 723 10041 done -0.96 - - 2159 - 2.30 0.059 2100 -612.6 -146.0 - - 3762 - - - - - - - - 14.64 14.60 14.66
10351 938.0 -7.5 736 10356 roll -0.96 - - 2159 - 2.53 0.136 3503 554.5 -146.0 - - 3762 - - - - - - - - 14.77 14.54 14.80
10410 942.6 -7.7 748 10417 done -0.96 - - 2159 - 2.30 0.060 2100 -610.0 -146.0 - - 3762 - - - - - - - - 14.64 14.60 14.67
10741 967.4 -7.5 764 10747 roll -0.96 - - 2159 - 2.55 0.137 3538 563.9 -146.0 - - 3762 - - - - - - - - 14.77 14.54 14.80
10811 972.8 -7.7 778 10817 done -0.96 - - 2159 - 2.38 0.060 2096 -605.9 -146.0 - - 3762 - - - - - - - - 14.64 14.59 14.66
11071 end dive: TARGET_DEPTH_EXCEEDED
11071 begin apogee
11074 992.2 -7.4 790 11211 done -0.25 0.65 0.230 2344 284.6 - - 2511 - - 135.40 2.404 3165 -4.4 0.355 - - - - - - 14.50 13.51 12.71
11213 end apogee: CONTROL_FINISHED_OK
11213 begin climb
11214 996.0 - 794 11365 roll 0.96 0.98 0.147 2637 299.0 2.65 0.091 1093 -535.1 146.0 141.52 2.329 2566 -4.2 0.353 - - - - - - 13.49 13.33 12.57
11589 972.6 9.0 867 11596 done 0.98 - - 2637 - 2.62 0.112 2498 536.3 146.0 - - 2559 - - - - - - - - 13.96 13.89 13.99
11920 943.2 8.9 883 11927 roll 1.00 - - 2646 - 2.53 0.103 1094 -554.9 146.0 - - 2558 - - - - - - - - 14.34 14.14 14.37
12150 922.5 8.9 929 12157 done 1.02 - - 2646 - 2.55 0.109 2499 551.0 146.0 - - 2557 - - - - - - - - 14.28 14.21 14.31
12461 894.0 9.2 941 12467 roll 1.04 - - 2654 - 2.47 0.097 1094 -568.8 146.0 - - 2558 - - - - - - - - 14.51 14.31 14.54
12690 872.6 9.4 987 12698 done 1.05 - - 2654 - 2.53 0.115 2496 554.2 146.0 - - 2557 - - - - - - - - 14.40 14.33 14.43
13002 842.6 9.6 999 13008 roll 1.05 - - 2663 - 2.42 0.097 1086 -582.6 146.0 - - 2557 - - - - - - - - 14.57 14.40 14.60
13232 820.3 9.5 1045 13238 done 1.05 - - 2664 - 2.53 0.105 2507 561.7 146.0 - - 2556 - - - - - - - - 14.47 14.40 14.50
13542 789.6 9.8 1057 13548 roll 1.05 - - 2668 - 2.45 0.092 1094 -576.7 146.0 - - 2556 - - - - - - - - 14.66 14.45 14.69
13772 767.2 9.7 1103 13779 done 1.05 - - 2668 - 2.50 0.112 2496 560.8 146.0 - - 2556 - - - - - - - - 14.52 14.45 14.55
14083 736.1 10.1 1115 14090 roll 1.05 - - 2677 - 2.42 0.095 1094 -579.3 146.0 - - 2556 - - - - - - - - 14.69 14.50 14.72
14314 712.9 10.0 1161 14320 done 1.05 0.10 0.285 2650 -270.0 2.50 0.105 2509 566.0 146.0 - - 2556 - - - - - - - - 14.42 14.49 14.54
14625 683.9 9.3 1173 14630 roll 1.06 - - 2658 - 2.42 0.099 1086 -588.0 146.0 - - 2556 - - - - - - - - 14.72 14.52 14.75
14854 662.8 9.2 1219 14861 done 1.08 - - 2659 - 2.47 0.102 2502 573.3 146.0 - - 2556 - - - - - - - - 14.57 14.51 14.61
15165 633.5 9.5 1231 15172 roll 1.09 - - 2663 - 2.42 0.093 1094 -581.8 146.0 - - 2556 - - - - - - - - 14.74 14.53 14.76
15396 612.0 9.4 1277 15402 done 1.10 - - 2664 - 2.45 0.100 2497 572.7 146.0 - - 2556 - - - - - - - - 14.59 14.52 14.62
15706 582.6 9.5 1289 15712 roll 1.11 - - 2664 - 2.42 0.093 1092 -580.6 146.0 - - 2555 - - - - - - - - 14.74 14.54 14.77
15936 561.6 9.0 1335 15943 done 1.13 - - 2664 - 2.47 0.100 2507 572.9 146.0 - - 2556 - - - - - - - - 14.59 14.52 14.63
16248 532.7 9.3 1347 16254 roll 1.15 - - 2664 - 2.40 0.090 1090 -590.4 146.0 - - 2557 - - - - - - - - 14.67 14.51 14.70
16478 512.1 8.9 1393 16484 done 1.17 - - 2664 - 2.50 0.099 2510 568.0 146.0 - - 2555 - - - - - - - - 14.53 14.46 14.56
16788 483.5 9.2 1405 16795 roll 1.19 - - 2670 - 2.45 0.089 1090 -579.6 146.0 - - 2555 - - - - - - - - 14.62 14.45 14.65
17019 462.6 8.8 1451 17025 done 1.21 - - 2670 - 2.47 0.099 2499 570.4 146.0 - - 2559 - - - - - - - - 14.47 14.40 14.50
17329 434.1 9.2 1463 17336 roll 1.23 - - 2677 - 2.42 0.090 1097 -579.3 146.0 - - 2555 - - - - - - - - 14.59 14.40 14.62
17560 413.1 9.1 1509 17566 done 1.24 - - 2677 - 2.50 0.106 2502 562.0 146.0 - - 2556 - - - - - - - - 14.45 14.38 14.47
17870 384.6 9.2 1521 17876 roll 1.26 - - 2684 - 2.45 0.092 1096 -573.9 146.0 - - 2555 - - - - - - - - 14.57 14.38 14.59
18100 363.7 9.1 1567 18107 done 1.28 - - 2684 - 2.53 0.108 2508 558.1 146.0 - - 2555 - - - - - - - - 14.43 14.35 14.46
18411 335.3 9.2 1579 18418 roll 1.29 0.10 0.170 2738 540.0 2.40 0.085 1085 -592.9 146.0 - - 2555 - - - - - - - - 14.45 14.42 14.52
18642 311.8 10.0 1625 18648 done 1.29 0.10 0.269 2711 -270.0 2.47 0.093 2504 574.5 146.0 - - 2555 - - - - - - - - 14.34 14.42 14.46
18953 284.5 8.5 1637 18958 roll 1.32 - - 2721 - 2.40 0.089 1083 -592.1 146.0 - - 2555 - - - - - - - - 14.65 14.48 14.68
19182 266.3 7.5 1683 19233 done 1.34 - - 2721 - 2.47 0.096 2503 574.9 200.8 43.88 1.540 2344 -4.8 0.162 - - - - - - 14.53 14.47 13.64
19537 234.9 8.0 1717 19543 roll 1.38 - - 2728 - 2.45 0.089 1093 -575.5 200.8 - - 2340 - - - - - - - - 14.50 14.29 14.52
19767 217.1 7.7 1763 19813 done 1.40 - - 2728 - 2.50 0.097 2504 564.4 250.0 40.83 1.465 2144 -4.8 0.139 - - - - - - 14.39 14.32 13.56
19987 196.7 9.7 1789 19993 roll 1.40 - - 2737 - 2.47 0.087 1089 -572.9 250.0 - - 2140 - - - - - - - - 14.38 14.18 14.40
20217 175.6 8.9 1835 20224 done 1.42 - - 2737 - 2.50 0.094 2501 564.8 250.0 - - 2138 - - - - - - - - 14.31 14.26 14.35
20410 158.7 8.6 1855 20415 roll 1.45 - - 2739 - 2.40 0.087 1093 -586.7 250.0 - - 2137 - - - - - - - - 14.48 14.32 14.51
20639 139.6 8.1 1901 20646 done 1.48 - - 2739 - 2.50 0.096 2509 566.4 250.0 - - 2137 - - - - - - - - 14.40 14.33 14.42
20830 124.7 7.5 1921 20880 roll 1.50 - - 2748 - 2.47 0.087 1090 -574.5 304.1 43.55 1.379 1922 -4.9 0.087 - - - - - - 14.55 14.07 13.61
21104 101.0 8.2 1975 21111 done 1.53 - - 2749 - 2.50 0.099 2508 567.2 304.1 - - 1916 - - - - - - - - 14.28 14.18 14.29
21295 85.8 7.3 1995 21347 roll 1.55 - - 2752 - 2.58 0.090 1088 -550.4 362.8 46.35 1.324 1686 -5.0 0.063 - - - - - - 14.43 13.95 13.51
21572 66.0 5.9 2049 21650 done 1.58 0.10 0.161 2803 510.0 2.53 0.099 2510 562.1 452.8 70.40 1.271 1316 -5.3 0.053 - - - - - - 14.14 14.10 13.33
21824 46.3 7.7 2081 21868 roll 1.59 - - 2806 - 2.53 0.088 1091 -560.9 501.9 38.40 1.226 1114 -5.3 0.039 - - - - - - 14.20 13.78 13.39
22093 26.4 6.9 2133 22151 done 1.61 - - 2807 - 2.50 0.093 2505 565.6 569.9 52.60 1.206 839 -5.2 0.022 - - - - - - 14.13 14.04 13.38
22204 18.4 6.9 2149 22276 roll 1.66 - - 2807 - 2.62 0.090 1092 -539.3 722.3 66.60 1.175 498 -5.1 0.016 - - - - - - 14.07 13.63 13.24
22449 end climb: SURFACE_DEPTH_REACHED
22449 begin surface coast
22469 end surface coast: CONTROL_FINISHED_OK
22469 begin surface
SM 0.73 - - - - -8.99 7.60 0.065 229 30.0 1.85 0.087 2116 -3580.5 655.20 - - 495 - - - - - - - -