SODA Sep18 * SG198 * Dive index * Mission links * Dive 16 * Raw log
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• Previous call tries 1 • 8.29 of 350.00 AH used of 24V (97.63% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.5 deg, depth 0.73 m • Intended pitch -18.3 deg, speed -10.000 cm/s
• No surface pump (final VBD was 654.71, SM_CC=653.96979) • surface range 15.6 m at 14.7 m depth, ceiling -0.9 m (m = 1.05, R^2 = 1.00)
• GPS1 time: 31 s
• GPS2 time: 7 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
9 - - - 134 VBD -0.96 - - 228 - - - 2118 - -146.0 -122.90 0.004 2195 - - - - - - - - 14.26 - 14.29
135 4.2 -6.7 12 192 roll -0.96 10.43 0.472 2166 185.8 2.53 0.128 694 -562.8 -146.0 -38.30 0.005 3764 -41.0 6.731 - - - - - - 13.92 13.59 14.16
281 42.2 -23.5 40 287 done -0.96 - - 2162 - 2.45 0.095 2098 573.1 -146.0 - - 3764 - - - - - - - - 14.23 14.14 14.26
471 79.9 -17.3 60 472 done -0.96 - - 2162 - - - 2096 - -146.0 - - 3764 - - - - - - - - 14.40 14.43 14.43
651 107.7 -14.7 78 652 done -0.96 - - 2162 - - - 2096 - -146.0 - - 3764 - - - - - - - - 14.44 14.47 14.47
831 132.6 -13.4 96 832 done -0.96 - - 2162 - - - 2097 - -146.0 - - 3764 - - - - - - - - 14.50 14.51 14.50
1011 156.3 -13.1 114 1012 done -0.96 - - 2162 - - - 2096 - -146.0 - - 3764 - - - - - - - - 14.51 14.54 14.54
1191 179.2 -12.5 132 1192 done -0.96 - - 2162 - - - 2096 - -146.0 - - 3764 - - - - - - - - 14.53 14.57 14.56
1371 201.0 -12.0 150 1372 done -0.96 - - 2162 - - - 2096 - -146.0 - - 3764 - - - - - - - - 14.55 14.58 14.57
1551 222.0 -11.4 168 1552 done -0.96 - - 2162 - - - 2096 - -146.0 - - 3764 - - - - - - - - 14.57 14.60 14.59
1731 242.1 -11.2 186 1737 roll -0.96 - - 2153 - 2.55 0.140 3510 554.5 -146.0 - - 3764 - - - - - - - - 14.58 14.35 14.61
1771 246.8 -11.7 194 1777 done -0.96 - - 2153 - 2.38 0.060 2086 -598.3 -146.0 - - 3764 - - - - - - - - 14.46 14.40 14.48
1982 268.6 -10.1 204 1987 roll -0.96 - - 2148 - 2.58 0.142 3511 552.3 -146.0 - - 3764 - - - - - - - - 14.57 14.38 14.59
2021 272.8 -10.4 212 2027 done -0.96 0.08 0.250 2168 250.0 2.35 0.061 2098 -601.3 -146.0 - - 3764 - - - - - - - - 14.34 14.44 14.45
2342 301.8 -8.8 226 2348 roll -0.96 - - 2163 - 2.55 0.143 3510 553.7 -146.0 - - 3764 - - - - - - - - 14.60 14.42 14.62
2366 304.0 -9.0 231 2374 done -0.96 - - 2163 - 2.35 0.062 2097 -601.3 -146.0 - - 3764 - - - - - - - - 14.52 14.47 14.57
2671 330.2 -8.5 242 2678 roll -0.96 - - 2157 - 2.58 0.141 3502 544.6 -146.0 - - 3764 - - - - - - - - 14.67 14.43 14.69
2721 334.7 -9.1 252 2728 done -0.96 - - 2156 - 2.35 0.063 2094 -599.1 -146.0 - - 3764 - - - - - - - - 14.54 14.49 14.57
3031 362.2 -8.9 264 3037 roll -0.96 - - 2152 - 2.58 0.142 3504 546.5 -146.0 - - 3764 - - - - - - - - 14.69 14.45 14.71
3081 366.8 -9.2 274 3088 done -0.96 - - 2152 - 2.33 0.063 2101 -602.1 -146.0 - - 3764 - - - - - - - - 14.56 14.51 14.58
3391 394.4 -8.9 286 3397 roll -0.96 - - 2145 - 2.55 0.139 3502 549.4 -146.0 - - 3764 - - - - - - - - 14.70 14.46 14.73
3421 397.1 -9.5 292 3428 done -0.96 0.08 0.249 2166 262.5 2.33 0.063 2098 -602.6 -146.0 - - 3764 - - - - - - - - 14.42 14.52 14.53
3752 423.8 -8.0 308 3758 roll -0.96 - - 2159 - 2.58 0.142 3506 545.7 -146.0 - - 3764 - - - - - - - - 14.71 14.48 14.73
3797 427.6 -8.5 317 3804 done -0.96 - - 2158 - 2.33 0.062 2097 -604.7 -146.0 - - 3764 - - - - - - - - 14.58 14.54 14.60
4112 453.6 -8.2 330 4120 roll -0.96 - - 2153 - 2.55 0.141 3503 551.4 -146.0 - - 3764 - - - - - - - - 14.71 14.49 14.74
4158 457.5 -8.6 339 4165 done -0.96 - - 2152 - 2.33 0.061 2097 -603.4 -146.0 - - 3764 - - - - - - - - 14.59 14.54 14.61
4474 484.3 -8.5 352 4480 roll -0.96 - - 2147 - 2.53 0.140 3509 558.1 -146.0 - - 3764 - - - - - - - - 14.70 14.51 14.72
4504 486.9 -9.0 358 4510 done -0.96 0.08 0.249 2168 262.5 2.33 0.061 2100 -604.7 -146.0 - - 3764 - - - - - - - - 14.44 14.53 14.54
4835 513.0 -7.8 374 4840 roll -0.96 - - 2163 - 2.53 0.144 3507 556.1 -146.0 - - 3764 - - - - - - - - 14.73 14.50 14.76
4900 518.4 -8.4 387 4906 done -0.96 - - 2162 - 2.33 0.061 2093 -606.9 -146.0 - - 3764 - - - - - - - - 14.60 14.55 14.62
5224 544.8 -8.2 402 5230 roll -0.96 - - 2155 - 2.55 0.140 3503 552.9 -146.0 - - 3764 - - - - - - - - 14.74 14.50 14.77
5279 549.6 -8.8 413 5287 done -0.96 - - 2153 - 2.33 0.061 2088 -607.3 -146.0 - - 3763 - - - - - - - - 14.61 14.56 14.63
5584 575.4 -8.5 424 5590 roll -0.96 - - 2150 - 2.58 0.137 3511 551.6 -146.0 - - 3764 - - - - - - - - 14.75 14.52 14.77
5649 581.2 -9.0 437 5656 done -0.96 - - 2149 - 2.33 0.063 2102 -604.7 -146.0 - - 3764 - - - - - - - - 14.61 14.57 14.63
5975 609.2 -8.6 452 5981 roll -0.96 - - 2150 - 2.55 0.143 3504 549.8 -146.0 - - 3764 - - - - - - - - 14.76 14.51 14.78
6015 612.8 -8.8 460 6022 done -0.96 - - 2148 - 2.33 0.063 2094 -605.2 -146.0 - - 3764 - - - - - - - - 14.62 14.57 14.64
6335 640.0 -8.4 474 6342 roll -0.96 0.10 0.301 2162 140.0 2.55 0.138 3509 554.9 -146.0 - - 3764 - - - - - - - - 14.50 14.52 14.64
6390 644.5 -8.2 485 6399 done -0.96 - - 2162 - 2.33 0.061 2094 -607.3 -146.0 - - 3764 - - - - - - - - 14.62 14.58 14.64
6696 668.0 -7.7 496 6702 roll -0.96 - - 2154 - 2.55 0.138 3503 552.5 -146.0 - - 3764 - - - - - - - - 14.76 14.52 14.78
6756 672.9 -8.1 508 6762 done -0.96 - - 2152 - 2.30 0.059 2097 -611.3 -146.0 - - 3764 - - - - - - - - 14.63 14.58 14.65
7086 698.8 -7.8 524 7092 roll -0.96 - - 2150 - 2.55 0.137 3507 552.9 -146.0 - - 3764 - - - - - - - - 14.76 14.53 14.79
7131 702.5 -8.2 533 7138 done -0.96 - - 2149 - 2.33 0.062 2094 -606.4 -146.0 - - 3764 - - - - - - - - 14.63 14.59 14.65
7447 727.8 -8.0 546 7453 roll -0.96 0.10 0.301 2163 140.0 2.50 0.137 3507 565.2 -146.0 - - 3764 - - - - - - - - 14.50 14.56 14.64
7502 732.1 -7.8 557 7510 done -0.96 - - 2163 - 2.33 0.060 2088 -609.0 -146.0 - - 3764 - - - - - - - - 14.64 14.59 14.66
7807 754.7 -7.4 568 7813 roll -0.96 - - 2156 - 2.58 0.139 3509 550.8 -146.0 - - 3764 - - - - - - - - 14.76 14.52 14.79
7862 759.0 -7.9 579 7869 done -0.96 - - 2155 - 2.33 0.062 2097 -606.0 -146.0 - - 3764 - - - - - - - - 14.63 14.59 14.66
8167 782.4 -7.6 590 8173 roll -0.96 - - 2152 - 2.55 0.137 3507 552.9 -146.0 - - 3764 - - - - - - - - 14.77 14.54 14.80
8217 786.4 -8.1 600 8223 done -0.96 - - 2152 - 2.30 0.059 2100 -611.7 -146.0 - - 3762 - - - - - - - - 14.64 14.59 14.66
8527 810.3 -7.7 612 8533 roll -0.96 - - 2145 - 2.55 0.138 3508 552.2 -146.0 - - 3764 - - - - - - - - 14.77 14.53 14.80
8582 814.8 -8.3 623 8590 done -0.96 0.08 0.252 2165 250.0 2.33 0.060 2089 -609.0 -146.0 - - 3764 - - - - - - - - 14.50 14.59 14.60
8887 836.9 -7.2 634 8893 roll -0.96 - - 2158 - 2.53 0.138 3511 562.1 -146.0 - - 3764 - - - - - - - - 14.77 14.55 14.82
8967 843.1 -7.7 650 8973 done -0.96 - - 2158 - 2.33 0.058 2093 -608.6 -146.0 - - 3764 - - - - - - - - 14.64 14.59 14.66
9277 866.4 -7.5 662 9283 roll -0.96 - - 2151 - 2.55 0.136 3505 553.7 -146.0 - - 3764 - - - - - - - - 14.80 14.54 14.81
9332 870.8 -8.0 673 9340 done -0.96 - - 2152 - 2.30 0.059 2099 -611.3 -146.0 - - 3764 - - - - - - - - 14.64 14.60 14.66
9637 894.6 -7.8 684 9643 roll -0.96 - - 2146 - 2.55 0.138 3509 552.9 -146.0 - - 3764 - - - - - - - - 14.78 14.54 14.80
9692 899.2 -8.5 695 9700 done -0.96 0.08 0.249 2167 262.5 2.33 0.059 2088 -609.9 -146.0 - - 3764 - - - - - - - - 14.50 14.60 14.61
9997 921.5 -7.3 706 10003 roll -0.96 - - 2160 - 2.58 0.139 3510 551.2 -146.0 - - 3765 - - - - - - - - 14.78 14.54 14.81
10062 926.4 -7.4 719 10069 done -0.96 - - 2160 - 2.33 0.062 2093 -608.2 -146.0 - - 3764 - - - - - - - - 14.64 14.60 14.66
10399 950.9 -7.5 734 10404 roll -0.96 - - 2154 - 2.53 0.138 3512 560.9 -146.0 - - 3764 - - - - - - - - 14.74 14.51 14.77
10453 956.1 -8.0 745 10461 done -0.96 - - 2153 - 2.33 0.059 2097 -607.3 -146.0 - - 3765 - - - - - - - - 14.62 14.57 14.63
10758 979.6 -7.7 756 10764 roll -0.96 - - 2150 - 2.55 0.136 3505 552.2 -146.0 - - 3765 - - - - - - - - 14.69 14.47 14.71
10813 984.1 -8.1 767 10821 done -0.96 - - 2150 - 2.33 0.062 2100 -603.0 -146.0 - - 3764 - - - - - - - - 14.56 14.52 14.59
10908 end dive: TARGET_DEPTH_EXCEEDED
10908 begin apogee
10911 991.4 -7.9 771 11051 done -0.25 0.68 0.226 2340 279.4 - - 2502 - - 137.10 2.404 3164 -4.4 0.353 - - - - - - 14.42 13.47 12.66
11052 end apogee: CONTROL_FINISHED_OK
11052 begin climb
11053 995.4 - 775 11204 roll 0.96 1.00 0.150 2638 298.0 2.62 0.093 1100 -535.1 146.0 141.50 2.330 2569 -4.2 0.351 - - - - - - 13.45 13.30 12.54
11427 971.7 8.6 849 11434 done 0.98 - - 2638 - 2.62 0.116 2497 533.2 146.0 - - 2561 - - - - - - - - 13.91 13.84 13.95
11754 942.5 8.9 864 11759 roll 1.01 - - 2647 - 2.50 0.103 1093 -561.6 146.0 - - 2559 - - - - - - - - 14.25 14.07 14.28
11983 921.8 9.0 910 11989 done 1.03 - - 2646 - 2.60 0.114 2510 545.0 146.0 - - 2558 - - - - - - - - 14.19 14.09 14.22
12294 893.3 9.3 922 12299 roll 1.04 - - 2655 - 2.50 0.098 1104 -562.4 146.0 - - 2558 - - - - - - - - 14.39 14.19 14.42
12523 871.7 9.5 968 12529 done 1.05 - - 2655 - 2.55 0.116 2500 547.5 146.0 - - 2558 - - - - - - - - 14.28 14.21 14.31
12834 842.0 9.6 980 12839 roll 1.05 - - 2663 - 2.42 0.097 1097 -579.8 146.0 - - 2558 - - - - - - - - 14.49 14.32 14.52
13063 820.1 9.5 1026 13070 done 1.06 - - 2664 - 2.50 0.106 2500 561.2 146.0 - - 2557 - - - - - - - - 14.41 14.34 14.45
13373 789.8 9.8 1038 13380 roll 1.06 - - 2664 - 2.45 0.096 1097 -572.7 146.0 - - 2557 - - - - - - - - 14.62 14.40 14.64
13603 767.8 9.5 1084 13610 done 1.07 - - 2660 - 2.50 0.104 2509 564.8 146.0 - - 2557 - - - - - - - - 14.49 14.41 14.50
13913 737.5 9.7 1096 13920 roll 1.07 - - 2665 - 2.45 0.092 1090 -579.2 146.0 - - 2557 - - - - - - - - 14.66 14.47 14.69
14143 715.7 9.5 1142 14151 done 1.08 - - 2665 - 2.47 0.105 2496 569.2 146.0 - - 2557 - - - - - - - - 14.53 14.46 14.57
14454 685.6 9.7 1154 14461 roll 1.08 - - 2675 - 2.42 0.094 1096 -578.5 146.0 - - 2557 - - - - - - - - 14.70 14.50 14.73
14684 663.3 9.9 1200 14691 done 1.08 - - 2675 - 2.47 0.103 2506 570.9 146.0 - - 2557 - - - - - - - - 14.56 14.49 14.59
14994 632.5 9.9 1212 15001 roll 1.08 - - 2677 - 2.42 0.092 1096 -582.6 146.0 - - 2558 - - - - - - - - 14.72 14.52 14.75
15224 610.2 9.7 1258 15231 done 1.08 - - 2677 - 2.47 0.105 2504 570.0 146.0 - - 2557 - - - - - - - - 14.58 14.51 14.61
15535 579.3 10.0 1270 15541 roll 1.08 - - 2677 - 2.38 0.093 1099 -590.3 146.0 - - 2557 - - - - - - - - 14.71 14.55 14.74
15765 557.0 9.8 1316 15771 done 1.08 - - 2677 - 2.47 0.105 2505 569.2 146.0 - - 2556 - - - - - - - - 14.59 14.51 14.62
16074 526.9 9.7 1328 16081 roll 1.08 - - 2677 - 2.42 0.092 1095 -582.6 146.0 - - 2556 - - - - - - - - 14.74 14.55 14.78
16305 505.4 9.4 1374 16312 done 1.10 - - 2677 - 2.47 0.104 2508 572.1 146.0 - - 2557 - - - - - - - - 14.59 14.53 14.64
16616 475.2 9.7 1386 16622 roll 1.10 - - 2677 - 2.42 0.091 1097 -583.1 146.0 - - 2556 - - - - - - - - 14.74 14.55 14.77
16846 453.6 9.4 1432 16852 done 1.11 - - 2677 - 2.47 0.104 2508 571.3 146.0 - - 2557 - - - - - - - - 14.59 14.52 14.62
17156 423.7 9.6 1444 17162 roll 1.11 - - 2673 - 2.42 0.091 1091 -585.5 146.0 - - 2556 - - - - - - - - 14.74 14.54 14.77
17386 403.0 8.9 1490 17392 done 1.13 - - 2678 - 2.47 0.104 2505 572.5 146.0 - - 2557 - - - - - - - - 14.59 14.52 14.62
17696 374.6 9.2 1502 17702 roll 1.15 - - 2677 - 2.42 0.091 1091 -584.3 146.0 - - 2557 - - - - - - - - 14.73 14.54 14.76
17926 354.3 8.7 1548 17932 done 1.17 - - 2677 - 2.47 0.103 2505 572.5 146.0 - - 2559 - - - - - - - - 14.59 14.52 14.62
18236 326.9 8.7 1560 18242 roll 1.20 - - 2677 - 2.42 0.091 1094 -583.1 146.0 - - 2557 - - - - - - - - 14.73 14.54 14.76
18466 307.6 8.1 1606 18472 done 1.23 - - 2677 - 2.47 0.104 2508 572.5 146.0 - - 2556 - - - - - - - - 14.59 14.52 14.62
18776 282.3 7.9 1618 18819 roll 1.25 - - 2677 - 2.42 0.093 1100 -581.8 190.7 35.75 1.554 2385 -4.8 0.170 - - - - - - 14.73 14.28 13.75
19043 260.3 7.9 1671 19086 done 1.26 - - 2677 - 2.50 0.103 2503 561.2 237.4 38.88 1.506 2198 -4.8 0.163 - - - - - - 14.39 14.33 13.56
19390 230.5 8.5 1708 19396 roll 1.29 0.12 0.148 2744 558.3 2.40 0.086 1096 -586.2 237.4 - - 2192 - - - - - - - - 14.31 14.27 14.36
19620 207.8 9.7 1754 19627 done 1.29 0.12 0.252 2710 -283.3 2.50 0.096 2508 564.8 237.4 - - 2191 - - - - - - - - 14.24 14.31 14.35
19811 191.5 8.2 1774 19817 roll 1.33 - - 2718 - 2.42 0.090 1094 -584.3 237.4 - - 2190 - - - - - - - - 14.55 14.35 14.58
20041 173.3 7.6 1820 20091 done 1.34 - - 2718 - 2.53 0.109 2503 556.9 289.3 42.75 1.428 1983 -4.8 0.115 - - - - - - 14.43 14.36 13.60
20275 152.3 9.1 1848 20281 roll 1.36 - - 2724 - 2.47 0.092 1100 -568.0 289.3 - - 1978 - - - - - - - - 14.38 14.19 14.41
20505 132.4 8.4 1894 20511 done 1.39 - - 2725 - 2.53 0.107 2501 553.8 289.3 - - 1977 - - - - - - - - 14.33 14.26 14.35
20696 116.6 8.0 1914 20740 roll 1.41 - - 2732 - 2.50 0.093 1102 -559.6 333.2 35.00 1.362 1804 -4.9 0.083 - - - - - - 14.47 14.08 13.60
20965 94.0 7.9 1967 21006 done 1.42 - - 2733 - 2.50 0.097 2502 560.0 377.9 35.72 1.317 1625 -5.0 0.070 - - - - - - 14.23 14.17 13.52
21179 76.6 7.8 1992 21223 roll 1.43 - - 2733 - 2.50 0.090 1093 -563.6 426.5 38.80 1.290 1423 -5.2 0.060 - - - - - - 14.31 13.85 13.45
21447 58.8 5.4 2044 21531 done 1.46 - - 2733 - 2.55 0.099 2503 552.9 525.7 77.03 1.255 1020 -5.2 0.048 - - - - - - 14.15 14.09 13.30
21705 43.3 5.9 2076 21784 roll 1.49 - - 2733 - 2.58 0.092 1106 -541.5 615.0 69.45 1.216 656 -5.2 0.037 - - - - - - 14.19 13.70 13.26
22009 24.8 6.9 2135 22049 done 1.51 0.12 0.146 2770 308.3 2.50 0.096 2507 560.4 681.9 32.05 1.196 499 -4.9 0.020 - - - - - - 14.01 13.98 13.43
22213 9.5 9.0 2159 22219 roll 1.52 - - 2770 - 2.50 0.086 1098 -563.6 654.0 - - 497 - - - - - - - - 14.21 14.02 14.23
22292 end climb: SURFACE_DEPTH_REACHED
22292 begin surface coast
22303 end surface coast: CONTROL_FINISHED_OK
22303 begin surface
SM 0.65 - - - - -8.98 7.47 0.071 235 31.5 1.83 0.092 2109 835.5 654.71 - - 497 - - - - - - - -