SODA Sep18 * SG199 * Dive index * Mission links * Dive 48 * Raw log
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• Previous call tries 1 • 25.42 of 350.00 AH used of 24V (92.74% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.9 deg, depth 0.78 m • Intended pitch -13.8 deg, speed -8.462 cm/s
• No surface pump (final VBD was 546.53, SM_CC=525) • surface range 19.7 m at 19.2 m depth, ceiling -0.5 m
• GPS1 time: 29 s
• GPS2 time: 11 s • Transponder ping count: 1
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
9 - - - 114 VBD -0.66 - - 192 - - - 2653 - -146.0 -102.65 0.002 2371 - - - - - - - - 14.29 - 14.31
117 4.2 -6.7 10 162 roll -0.66 9.15 0.471 1848 181.0 2.70 0.169 1239 -523.7 -146.0 -28.02 0.005 3540 -41.7 6.995 - - - - - - 13.93 13.60 14.18
377 71.7 -19.5 61 384 done -0.66 - - 1840 - 2.75 0.176 2649 512.7 -146.0 - - 3541 - - - - 1 - - - 14.28 14.15 14.30
562 102.7 -15.9 80 567 roll -0.66 - - 1831 - 2.22 0.209 3767 503.6 -146.0 - - 3541 - - - - - - - - 14.45 14.18 14.47
673 120.4 -16.3 102 678 done -0.66 - - 1831 - 2.10 0.156 2652 -531.0 -146.0 - - 3541 - - - - - - - - 14.35 14.26 14.38
863 147.4 -14.0 122 864 done -0.66 - - 1831 - - - 2652 - -146.0 - - 3543 - - - - - - - - 14.52 14.54 14.54
1043 171.4 -13.0 140 1044 done -0.66 - - 1831 - - - 2652 - -146.0 - - 3541 - - - - - - - - 14.55 14.57 14.57
1223 193.8 -12.2 158 1224 done -0.66 - - 1831 - - - 2652 - -146.0 - - 3541 - - - - - - - - 14.57 14.60 14.59
1403 215.0 -11.6 176 1404 done -0.66 - - 1831 - - - 2652 - -146.0 - - 3541 - - - - - - - - 14.59 14.62 14.62
1583 235.3 -10.8 194 1584 done -0.66 - - 1831 - - - 2652 - -146.0 - - 3541 - - - - - - - - 14.62 14.64 14.63
1783 256.6 -10.6 210 1784 done -0.66 - - 1831 - - - 2652 - -146.0 - - 3541 - - - - - - - - 14.63 14.65 14.65
2083 285.3 -9.3 220 2088 roll -0.66 - - 1829 - 2.22 0.213 3768 502.7 -146.0 - - 3541 - - - - - - - - 14.67 14.39 14.69
2163 292.9 -9.2 236 2168 done -0.66 - - 1829 - 2.10 0.161 2645 -534.8 -146.0 - - 3541 - - - - - - - - 14.56 14.45 14.57
2473 319.5 -8.7 248 2478 roll -0.66 - - 1822 - 2.25 0.213 3773 501.3 -146.0 - - 3541 - - - - - - - - 14.70 14.42 14.71
2605 331.5 -9.3 274 2611 done -0.66 0.15 0.272 1855 220.0 2.10 0.160 2643 -538.1 -146.0 - - 3543 - - - - - - - - 14.42 14.47 14.57
2926 354.8 -7.0 288 2927 done -0.66 - - 1855 - - - 2643 - -146.0 - - 3541 - - - - - - - - 14.71 14.73 14.73
3226 375.3 -6.7 298 3227 done -0.66 - - 1855 - - - 2644 - -146.0 - - 3541 - - - - - - - - 14.73 14.75 14.74
3526 394.9 -6.5 308 3527 done -0.66 - - 1855 - - - 2644 - -146.0 - - 3541 - - - - - - - - 14.74 14.76 14.76
3826 414.1 -6.3 318 3827 done -0.66 - - 1855 - - - 2644 - -146.0 - - 3541 - - - - - - - - 14.74 14.77 14.76
4126 432.8 -6.3 328 4131 roll -0.66 - - 1848 - 2.22 0.209 3772 508.1 -146.0 - - 3541 - - - - - - - - 14.76 14.47 14.77
4211 438.7 -7.1 345 4218 done -0.66 - - 1847 - 2.08 0.156 2645 -541.8 -146.0 - - 3541 - - - - - - - - 14.64 14.53 14.66
4516 458.5 -6.4 356 4517 done -0.66 - - 1848 - - - 2646 - -146.0 - - 3541 - - - - - - - - 14.77 14.78 14.78
4816 478.1 -6.5 366 4817 done -0.66 - - 1847 - - - 2646 - -146.0 - - 3541 - - - - - - - - 14.76 14.78 14.78
5116 497.6 -6.5 376 5117 done -0.66 - - 1848 - - - 2646 - -146.0 - - 3540 - - - - - - - - 14.77 14.79 14.79
5416 516.9 -6.4 386 5417 done -0.66 - - 1848 - - - 2645 - -146.0 - - 3541 - - - - - - - - 14.78 14.81 14.80
5716 536.3 -6.5 396 5721 roll -0.66 - - 1841 - 2.20 0.207 3772 512.3 -146.0 - - 3541 - - - - - - - - 14.79 14.52 14.81
5786 541.3 -7.3 410 5792 done -0.66 - - 1840 - 2.05 0.154 2651 -546.8 -146.0 - - 3541 - - - - - - - - 14.66 14.56 14.69
6107 563.1 -6.8 424 6108 done -0.66 - - 1841 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.79 14.81 14.81
6407 583.3 -6.7 434 6408 done -0.66 - - 1841 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.80 14.81 14.81
6707 603.6 -6.8 444 6708 done -0.66 - - 1840 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.80 14.82 14.81
7007 623.7 -6.7 454 7008 done -0.66 - - 1841 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.80 14.82 14.82
7307 643.7 -6.7 464 7312 roll -0.66 - - 1833 - 2.17 0.206 3769 515.2 -146.0 - - 3542 - - - - - - - - 14.81 14.54 14.83
7397 650.4 -7.5 482 7402 done -0.66 - - 1833 - 2.05 0.154 2642 -549.8 -146.0 - - 3541 - - - - - - - - 14.69 14.57 14.70
7727 673.2 -6.8 498 7728 done -0.66 - - 1833 - - - 2642 - -146.0 - - 3541 - - - - - - - - 14.81 14.83 14.82
8027 693.6 -6.8 508 8032 roll -0.66 - - 1829 - 2.20 0.206 3769 512.3 -146.0 - - 3542 - - - - - - - - 14.81 14.54 14.83
8092 698.4 -7.7 521 8098 done -0.66 - - 1829 - 2.05 0.152 2649 -546.3 -146.0 - - 3541 - - - - - - - - 14.69 14.57 14.71
8418 721.1 -6.9 536 8419 done -0.66 - - 1828 - - - 2649 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
8718 741.8 -6.9 546 8724 roll -0.66 - - 1821 - 2.17 0.203 3769 516.1 -146.0 - - 3542 - - - - - - - - 14.81 14.54 14.83
8784 746.8 -7.8 559 8789 done -0.66 0.15 0.259 1855 226.7 2.05 0.153 2645 -548.3 -146.0 - - 3542 - - - - - - - - 14.53 14.58 14.68
9109 766.4 -5.9 574 9114 roll -0.66 - - 1848 - 2.20 0.204 3775 513.6 -146.0 - - 3541 - - - - - - - - 14.81 14.54 14.83
9149 769.0 -6.6 582 9154 done -0.66 - - 1848 - 2.05 0.151 2648 -549.8 -146.0 - - 3542 - - - - - - - - 14.69 14.57 14.71
9470 788.7 -6.2 596 9470 done -0.66 - - 1848 - - - 2648 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
9770 807.5 -6.2 606 9770 done -0.66 - - 1848 - - - 2648 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
10070 825.9 -6.1 616 10070 done -0.66 - - 1848 - - - 2648 - -146.0 - - 3542 - - - - - - - - 14.82 14.83 14.83
10370 844.2 -6.1 626 10375 roll -0.66 - - 1841 - 2.20 0.204 3773 511.4 -146.0 - - 3542 - - - - - - - - 14.74 14.49 14.76
10460 850.3 -6.8 644 10465 done -0.66 - - 1841 - 2.08 0.153 2644 -542.8 -146.0 - - 3541 - - - - - - - - 14.62 14.51 14.63
10791 871.1 -6.2 660 10792 done -0.66 - - 1841 - - - 2644 - -146.0 - - 3541 - - - - - - - - 14.69 14.71 14.70
11091 889.6 -6.2 670 11091 done -0.66 - - 1841 - - - 2644 - -146.0 - - 3542 - - - - - - - - 14.66 14.69 14.68
11391 907.7 -6.0 680 11391 done -0.66 - - 1840 - - - 2644 - -146.0 - - 3542 - - - - - - - - 14.65 14.66 14.66
11691 925.4 -5.9 690 11695 roll -0.66 - - 1832 - 2.22 0.203 3770 507.2 -146.0 - - 3542 - - - - - - - - 14.63 14.38 14.65
11786 931.7 -6.7 709 11791 done -0.66 - - 1833 - 2.08 0.153 2650 -538.5 -146.0 - - 3542 - - - - - - - - 14.54 14.41 14.54
12112 951.7 -6.1 724 12112 done -0.66 - - 1832 - - - 2650 - -146.0 - - 3542 - - - - - - - - 14.62 14.64 14.64
12412 969.8 -6.0 734 12412 done -0.66 - - 1833 - - - 2650 - -146.0 - - 3542 - - - - - - - - 14.66 14.67 14.67
12712 987.8 -5.9 744 12712 done -0.66 - - 1832 - - - 2650 - -146.0 - - 3542 - - - - - - - - 14.70 14.72 14.71
12769 end dive: TARGET_DEPTH_EXCEEDED
12769 begin apogee
12775 991.4 -5.9 746 12912 done -0.19 0.62 0.233 2001 272.6 - - 2501 - - 134.27 2.619 2941 -4.5 0.338 - - - - - - 14.43 13.53 12.66
12913 end apogee: CONTROL_FINISHED_OK
12913 begin climb
12915 993.0 - 750 13059 done 0.66 0.98 0.168 2276 280.6 - - 2500 - 146.0 135.38 2.548 2345 -4.4 0.342 - - - - - - 13.51 13.12 12.29
13374 950.7 9.9 790 13375 done 0.66 - - 2276 - - - 2501 - 146.0 - - 2337 - - - - - - - - 14.06 14.07 14.07
13674 921.3 9.7 800 13675 done 0.66 - - 2276 - - - 2501 - 146.0 - - 2335 - - - - - - - - 14.28 14.31 14.31
13974 891.6 9.9 810 13975 done 0.66 - - 2276 - - - 2501 - 146.0 - - 2335 - - - - - - - - 14.42 14.45 14.45
14274 862.0 9.9 820 14275 done 0.66 - - 2275 - - - 2501 - 146.0 - - 2337 - - - - - - - - 14.52 14.54 14.54
14574 832.1 10.0 830 14575 done 0.66 - - 2276 - - - 2501 - 146.0 - - 2333 - - - - - - - - 14.59 14.61 14.61
14874 802.3 10.0 840 14875 done 0.66 - - 2276 - - - 2501 - 146.0 - - 2333 - - - - - - - - 14.64 14.66 14.66
15174 772.9 9.8 850 15179 roll 0.66 - - 2276 - 2.50 0.200 3773 508.8 146.0 - - 2333 - - - - - - - - 14.68 14.41 14.69
15224 767.3 11.2 860 15229 done 0.66 - - 2284 - 2.35 0.146 2498 -542.6 146.0 - - 2333 - - - - - - - - 14.57 14.47 14.59
15535 735.9 10.1 872 15535 done 0.66 - - 2283 - - - 2494 - 146.0 - - 2333 - - - - - - - - 14.71 14.73 14.73
15835 706.0 9.9 882 15836 done 0.66 - - 2284 - - - 2494 - 146.0 - - 2332 - - - - - - - - 14.73 14.75 14.76
16135 676.7 9.7 892 16136 done 0.66 - - 2284 - - - 2494 - 146.0 - - 2332 - - - - - - - - 14.75 14.77 14.76
16435 648.3 9.4 902 16436 done 0.66 - - 2284 - - - 2494 - 146.0 - - 2330 - - - - - - - - 14.76 14.78 14.78
16735 619.6 9.6 912 16740 roll 0.66 - - 2284 - 2.47 0.196 3770 516.6 146.0 - - 2332 - - - - - - - - 14.78 14.51 14.79
16790 613.6 11.1 923 16796 done 0.66 - - 2292 - 2.33 0.145 2495 -547.2 146.0 - - 2332 - - - - - - - - 14.65 14.56 14.68
17095 583.1 10.0 934 17096 done 0.66 - - 2292 - - - 2495 - 146.0 - - 2332 - - - - - - - - 14.78 14.80 14.80
17395 552.8 10.1 944 17396 done 0.66 - - 2292 - - - 2495 - 146.0 - - 2333 - - - - - - - - 14.79 14.81 14.81
17695 522.9 10.0 954 17696 done 0.66 - - 2292 - - - 2495 - 146.0 - - 2332 - - - - - - - - 14.79 14.82 14.81
17995 493.2 9.9 964 17996 done 0.66 - - 2292 - - - 2495 - 146.0 - - 2335 - - - - - - - - 14.80 14.81 14.81
18295 463.4 9.9 974 18300 roll 0.66 - - 2292 - 2.47 0.196 3776 518.6 146.0 - - 2330 - - - - - - - - 14.80 14.54 14.82
18345 457.7 11.7 984 18350 done 0.66 - - 2301 - 2.33 0.144 2495 -549.8 146.0 - - 2332 - - - - - - - - 14.68 14.59 14.70
18655 426.8 9.9 996 18656 done 0.66 - - 2301 - - - 2495 - 146.0 - - 2332 - - - - - - - - 14.78 14.81 14.81
18955 397.5 9.8 1006 18956 done 0.66 - - 2301 - - - 2495 - 146.0 - - 2332 - - - - - - - - 14.79 14.81 14.81
19256 368.8 9.6 1016 19257 done 0.66 - - 2300 - - - 2495 - 146.0 - - 2332 - - - - - - - - 14.80 14.81 14.82
19555 339.7 9.6 1026 19556 done 0.66 - - 2301 - - - 2495 - 146.0 - - 2332 - - - - - - - - 14.80 14.82 14.82
19855 311.5 9.3 1036 19856 done 0.66 - - 2301 - - - 2495 - 146.0 - - 2332 - - - - - - - - 14.81 14.82 14.80
20155 284.6 8.9 1046 20161 roll 0.66 - - 2301 - 2.45 0.194 3769 520.0 146.0 - - 2332 - - - - - - - - 14.80 14.54 14.83
20201 280.1 9.9 1055 20206 done 0.66 0.12 0.284 2284 -141.7 2.30 0.145 2500 -551.7 146.0 - - 2332 - - - - - - - - 14.53 14.59 14.69
20516 256.2 7.4 1068 20517 done 0.69 - - 2284 - - - 2499 - 146.0 - - 2331 - - - - - - - - 14.79 14.81 14.81
20818 236.9 6.1 1090 20819 done 0.76 - - 2284 - - - 2500 - 146.0 - - 2332 - - - - - - - - 14.77 14.79 14.79
20996 226.1 5.9 1108 21002 roll 0.84 0.15 0.134 2345 406.7 2.47 0.196 3771 514.6 146.0 - - 2331 - - - - - - - - 14.59 14.50 14.63
21147 212.7 9.1 1138 21152 done 0.84 - - 2354 - 2.33 0.148 2498 -546.4 146.0 - - 2332 - - - - - - - - 14.63 14.53 14.65
21337 198.1 7.4 1158 21338 done 0.87 - - 2353 - - - 2498 - 146.0 - - 2332 - - - - - - - - 14.72 14.74 14.74
21517 185.3 7.0 1176 21518 done 0.92 - - 2354 - - - 2497 - 146.0 - - 2331 - - - - - - - - 14.72 14.74 14.73
21697 172.7 7.0 1194 21698 done 0.96 - - 2353 - - - 2497 - 146.0 - - 2331 - - - - - - - - 14.71 14.73 14.73
21877 160.5 6.4 1212 21883 roll 1.02 0.12 0.148 2404 425.0 2.50 0.197 3776 511.6 146.0 - - 2331 - - - - - - - - 14.54 14.45 14.59
21958 153.6 9.0 1228 21963 done 1.02 - - 2414 - 2.35 0.148 2497 -544.3 146.0 - - 2331 - - - - - - - - 14.59 14.50 14.62
22151 138.9 7.5 1248 22151 done 1.06 - - 2414 - - - 2495 - 146.0 - - 2331 - - - - - - - - 14.71 14.73 14.73
22329 125.7 7.4 1266 22329 done 1.09 - - 2413 - - - 2495 - 146.0 - - 2331 - - - - - - - - 14.71 14.73 14.73
22509 113.6 6.0 1284 22509 done 1.16 - - 2414 - - - 2495 - 146.0 - - 2331 - - - - - - - - 14.69 14.71 14.71
22689 103.9 5.1 1302 22690 done 1.26 0.20 0.124 2487 365.0 - - 2495 - 146.0 - - 2331 - - - - - - - - 14.52 14.60 14.59
22868 93.6 5.0 1320 22873 roll 1.37 - - 2487 - 2.50 0.198 3770 510.0 146.0 - - 2331 - - - - - - - - 14.67 14.40 14.69
23099 85.8 1.6 1366 23245 done 1.54 0.20 0.113 2566 395.0 2.35 0.152 2499 -540.9 321.6 134.80 1.529 1626 -5.2 0.059 - - - - - - 14.45 14.42 13.21
23420 53.0 11.4 1410 23425 roll 1.54 - - 2576 - 2.67 0.146 1088 -528.5 321.6 - - 1616 - - - - - - - - 14.25 14.02 14.26
23651 35.8 6.5 1456 23656 done 1.60 - - 2576 - 2.72 0.159 2499 518.8 321.6 - - 1613 - - - - - - - - 14.24 14.13 14.26
23841 31.7 -0.2 1476 24025 roll 1.82 0.22 0.122 2669 422.7 2.80 0.145 1088 -503.9 544.0 172.48 1.395 720 -5.2 0.023 - - - - - - 14.22 13.55 13.09
24097 end climb: SURFACE_DEPTH_REACHED
24097 begin surface coast
24109 end surface coast: CONTROL_FINISHED_OK
24109 begin surface
SM 0.84 - - - - -5.80 7.82 0.095 199 25.3 3.17 0.159 2652 -2566.6 546.53 - - 715 - - - - - - - -