SODA Sep18 * SG198 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 1 • 10.98 of 350.00 AH used of 24V (96.86% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.2 deg, depth 0.71 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 9.1 m at 8.6 m depth, ceiling -0.5 m (m = 1.07, R^2 = 1.00)
• GPS1 time: 28 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 - - - 133 VBD -0.96 - - 230 - - - 2233 - -146.0 -122.55 0.004 2281 - - - - - - - - 14.23 - 14.26
135 5.3 -9.5 12 184 roll -0.96 10.57 0.477 2168 183.3 2.50 0.118 848 -554.0 -146.0 -32.95 0.006 3764 -45.0 7.777 - - - - - - 13.92 13.36 14.16
407 71.3 -19.0 65 415 done -0.96 - - 2165 - 2.58 0.115 2257 546.1 -146.0 - - 3764 - - - - - - - - 14.22 14.15 14.24
593 100.7 -15.0 84 599 roll -0.96 - - 2164 - 2.47 0.094 852 -568.8 -146.0 - - 3763 - - - - - - - - 14.40 14.21 14.42
697 116.3 -14.7 105 705 done -0.96 - - 2164 - 2.50 0.103 2252 560.0 -146.0 - - 3764 - - - - - - - - 14.27 14.22 14.33
883 141.6 -13.3 124 884 done -0.96 - - 2164 - - - 2252 - -146.0 - - 3763 - - - - - - - - 14.47 14.50 14.50
1062 164.7 -12.7 142 1063 done -0.96 - - 2164 - - - 2252 - -146.0 - - 3764 - - - - - - - - 14.50 14.54 14.53
1242 187.1 -12.1 160 1243 done -0.96 - - 2164 - - - 2251 - -146.0 - - 3764 - - - - - - - - 14.53 14.57 14.56
1422 208.7 -11.9 178 1428 roll -0.96 - - 2164 - 2.45 0.096 848 -572.7 -146.0 - - 3763 - - - - - - - - 14.55 14.35 14.58
1477 215.5 -12.2 189 1486 done -0.96 - - 2164 - 2.47 0.099 2255 569.6 -146.0 - - 3764 - - - - - - - - 14.42 14.35 14.45
1663 236.9 -11.3 208 1664 done -0.96 - - 2164 - - - 2254 - -146.0 - - 3764 - - - - - - - - 14.57 14.60 14.59
1843 256.5 -10.8 222 1844 done -0.96 - - 2164 - - - 2255 - -146.0 - - 3763 - - - - - - - - 14.54 14.57 14.57
2142 286.7 -9.9 232 2143 done -0.96 - - 2164 - - - 2255 - -146.0 - - 3763 - - - - - - - - 14.62 14.66 14.65
2444 314.0 -9.0 242 2444 done -0.96 - - 2164 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.62 14.65 14.65
2742 340.6 -8.8 252 2743 done -0.96 - - 2164 - - - 2255 - -146.0 - - 3763 - - - - - - - - 14.68 14.71 14.71
3043 366.2 -8.4 262 3044 done -0.96 - - 2164 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.66 14.69 14.68
3342 391.3 -8.3 272 3349 roll -0.96 - - 2164 - 2.58 0.146 3660 544.6 -146.0 - - 3763 - - - - - - - - 14.71 14.47 14.73
3407 396.9 -8.6 285 3414 done -0.96 - - 2164 - 2.33 0.055 2242 -608.6 -146.0 - - 3763 - - - - - - - - 14.58 14.54 14.60
3733 423.2 -8.0 300 3734 done -0.96 - - 2163 - - - 2242 - -146.0 - - 3763 - - - - - - - - 14.71 14.74 14.74
4033 447.1 -8.0 310 4034 done -0.96 - - 2164 - - - 2242 - -146.0 - - 3763 - - - - - - - - 14.73 14.75 14.75
4333 471.2 -8.0 320 4334 done -0.96 - - 2164 - - - 2240 - -146.0 - - 3763 - - - - - - - - 14.73 14.76 14.76
4633 494.7 -7.8 330 4634 done -0.96 - - 2164 - - - 2242 - -146.0 - - 3763 - - - - - - - - 14.74 14.77 14.76
4933 517.9 -7.8 340 4939 roll -0.96 - - 2164 - 2.38 0.091 850 -584.9 -146.0 - - 3763 - - - - - - - - 14.76 14.54 14.78
4978 521.6 -8.3 349 4985 done -0.96 - - 2164 - 2.40 0.092 2249 582.9 -146.0 - - 3763 - - - - - - - - 14.61 14.54 14.64
5294 546.2 -7.8 362 5295 done -0.96 - - 2169 - - - 2249 - -146.0 - - 3766 - - - - - - - - 14.76 14.79 14.78
5594 570.0 -8.0 372 5595 done -0.96 - - 2164 - - - 2249 - -146.0 - - 3763 - - - - - - - - 14.76 14.79 14.79
5894 593.7 -7.8 382 5895 done -0.96 - - 2164 - - - 2249 - -146.0 - - 3763 - - - - - - - - 14.77 14.81 14.80
6194 617.0 -7.8 392 6195 done -0.96 - - 2163 - - - 2249 - -146.0 - - 3764 - - - - - - - - 14.77 14.81 14.80
6494 640.6 -7.9 402 6495 done -0.96 - - 2164 - - - 2249 - -146.0 - - 3763 - - - - - - - - 14.78 14.81 14.81
6794 664.2 -7.8 412 6800 roll -0.96 - - 2163 - 2.58 0.147 3660 546.9 -146.0 - - 3764 - - - - - - - - 14.78 14.57 14.81
6835 667.4 -8.1 420 6840 done -0.96 - - 2164 - 2.35 0.085 2242 -603.4 -146.0 - - 3764 - - - - - - - - 14.68 14.62 14.69
7154 692.1 -7.7 434 7155 done -0.96 - - 2164 - - - 2242 - -146.0 - - 3764 - - - - - - - - 14.78 14.81 14.81
7454 714.9 -7.6 444 7455 done -0.96 - - 2164 - - - 2242 - -146.0 - - 3764 - - - - - - - - 14.78 14.82 14.81
7754 737.6 -7.6 454 7755 done -0.96 - - 2164 - - - 2242 - -146.0 - - 3764 - - - - - - - - 14.78 14.81 14.81
8054 760.3 -7.6 464 8055 done -0.96 - - 2164 - - - 2241 - -146.0 - - 3764 - - - - - - - - 14.79 14.83 14.82
8354 782.5 -7.3 474 8355 done -0.96 - - 2164 - - - 2242 - -146.0 - - 3764 - - - - - - - - 14.79 14.82 14.81
8654 804.4 -7.3 484 8655 done -0.96 - - 2164 - - - 2242 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.82
8954 826.4 -7.3 494 8955 done -0.96 - - 2164 - - - 2241 - -146.0 - - 3764 - - - - - - - - 14.79 14.83 14.82
9254 848.5 -7.4 504 9255 done -0.96 - - 2164 - - - 2241 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.83
9554 870.6 -7.3 514 9555 done -0.96 - - 2164 - - - 2241 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.83
9854 892.7 -7.4 524 9855 done -0.96 - - 2164 - - - 2241 - -146.0 - - 3764 - - - - - - - - 14.81 14.83 14.83
10154 914.6 -7.3 534 10155 done -0.96 - - 2164 - - - 2241 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.83
10455 936.6 -7.4 544 10456 done -0.96 - - 2164 - - - 2240 - -146.0 - - 3764 - - - - - - - - 14.74 14.78 14.77
10754 958.9 -7.4 554 10755 done -0.96 - - 2164 - - - 2240 - -146.0 - - 3764 - - - - - - - - 14.70 14.73 14.73
11054 981.3 -7.5 564 11055 done -0.96 - - 2164 - - - 2240 - -146.0 - - 3764 - - - - - - - - 14.66 14.70 14.70
11174 end dive: TARGET_DEPTH_EXCEEDED
11174 begin apogee
11177 990.2 -7.5 568 11316 done -0.25 0.62 0.221 2343 288.7 - - 2403 - - 136.32 2.399 3165 -4.4 0.355 - - - - - - 14.42 13.50 12.69
11317 end apogee: CONTROL_FINISHED_OK
11317 begin climb
11318 994.1 - 572 11471 roll 0.96 0.98 0.145 2627 289.8 3.00 0.183 3796 464.3 146.0 141.82 2.329 2568 -4.2 0.351 - - - - - - 13.47 13.24 12.54
11619 975.8 10.0 631 11626 done 0.96 - - 2632 - 2.53 0.081 2398 -552.6 146.0 - - 2562 - - - - - - - - 13.83 13.77 13.85
11931 948.2 8.9 643 11936 roll 0.98 - - 2632 - 2.72 0.161 3807 518.0 146.0 - - 2563 - - - - - - - - 14.17 13.97 14.21
12010 940.1 10.4 659 12016 done 0.98 - - 2642 - 2.47 0.079 2407 -566.8 146.0 - - 2559 - - - - - - - - 14.10 14.05 14.13
12320 911.7 9.1 671 12326 roll 1.00 - - 2642 - 2.67 0.159 3808 524.7 146.0 - - 2558 - - - - - - - - 14.33 14.11 14.35
12395 903.9 10.7 686 12401 done 1.00 - - 2652 - 2.45 0.071 2398 -575.5 146.0 - - 2558 - - - - - - - - 14.21 14.16 14.24
12710 874.0 9.5 699 12716 roll 1.00 - - 2652 - 2.70 0.158 3801 519.6 146.0 - - 2558 - - - - - - - - 14.45 14.24 14.48
12805 863.4 11.2 718 12812 done 1.00 - - 2661 - 2.40 0.068 2400 -583.8 146.0 - - 2558 - - - - - - - - 14.33 14.28 14.36
13132 831.3 9.8 733 13138 roll 1.00 - - 2661 - 2.65 0.164 3804 529.8 146.0 - - 2558 - - - - - - - - 14.55 14.31 14.57
13242 818.7 11.5 755 13248 done 1.00 0.12 0.298 2638 -191.7 2.42 0.070 2385 -586.4 146.0 - - 2562 - - - - - - - - 14.27 14.36 14.39
13553 790.8 8.8 767 13558 roll 1.02 - - 2636 - 2.62 0.153 3803 541.2 146.0 - - 2557 - - - - - - - - 14.62 14.38 14.64
13652 780.7 10.2 787 13658 done 1.02 - - 2646 - 2.40 0.070 2392 -587.9 146.0 - - 2558 - - - - - - - - 14.49 14.43 14.51
13972 751.7 9.0 801 13979 roll 1.04 - - 2647 - 2.58 0.147 3803 546.9 146.0 - - 2558 - - - - - - - - 14.65 14.42 14.68
14073 741.3 10.5 821 14080 done 1.04 - - 2656 - 2.38 0.069 2393 -592.4 146.0 - - 2561 - - - - - - - - 14.52 14.47 14.54
14394 711.1 9.4 835 14400 roll 1.05 - - 2656 - 2.60 0.154 3809 544.6 146.0 - - 2557 - - - - - - - - 14.69 14.45 14.71
14489 700.8 11.1 854 14495 done 1.05 - - 2665 - 2.38 0.069 2397 -593.3 146.0 - - 2557 - - - - - - - - 14.55 14.50 14.57
14815 669.0 9.7 869 14821 roll 1.05 - - 2665 - 2.58 0.146 3809 547.3 146.0 - - 2557 - - - - - - - - 14.70 14.47 14.73
14904 659.0 11.2 887 14911 done 1.05 0.10 0.306 2651 -140.0 2.38 0.070 2403 -590.8 146.0 - - 2557 - - - - - - - - 14.41 14.52 14.52
15236 629.2 8.8 903 15241 roll 1.07 - - 2650 - 2.58 0.152 3810 545.3 146.0 - - 2557 - - - - - - - - 14.70 14.49 14.73
15315 621.1 10.2 919 15321 done 1.07 - - 2659 - 2.38 0.069 2397 -593.7 146.0 - - 2557 - - - - - - - - 14.59 14.54 14.62
15626 592.8 9.1 931 15631 roll 1.09 - - 2659 - 2.55 0.144 3800 550.2 146.0 - - 2557 - - - - - - - - 14.73 14.50 14.76
15720 582.7 10.8 950 15726 done 1.09 - - 2669 - 2.35 0.067 2400 -595.7 146.0 - - 2557 - - - - - - - - 14.60 14.55 14.62
16046 551.5 9.5 965 16052 roll 1.09 - - 2670 - 2.55 0.142 3809 552.5 146.0 - - 2557 - - - - - - - - 14.72 14.51 14.75
16161 538.9 10.9 988 16169 done 1.09 - - 2677 - 2.38 0.067 2393 -595.0 146.0 - - 2556 - - - - - - - - 14.61 14.57 14.64
16466 509.5 9.6 999 16472 roll 1.09 - - 2676 - 2.60 0.145 3803 542.3 146.0 - - 2557 - - - - - - - - 14.76 14.52 14.78
16576 497.3 11.4 1021 16583 done 1.09 - - 2682 - 2.38 0.068 2390 -593.7 146.0 - - 2558 - - - - - - - - 14.65 14.57 14.64
16887 466.9 9.7 1033 16894 roll 1.09 - - 2677 - 2.62 0.149 3802 538.9 146.0 - - 2556 - - - - - - - - 14.76 14.52 14.78
16988 455.6 11.3 1053 16996 done 1.09 - - 2677 - 2.35 0.068 2397 -597.9 146.0 - - 2556 - - - - - - - - 14.62 14.57 14.64
17309 424.4 9.7 1067 17316 roll 1.09 - - 2678 - 2.60 0.151 3799 539.2 146.0 - - 2557 - - - - - - - - 14.76 14.52 14.78
17440 409.9 10.8 1093 17446 done 1.09 - - 2684 - 2.35 0.067 2391 -599.1 146.0 - - 2557 - - - - - - - - 14.62 14.57 14.64
17762 379.2 9.4 1107 17767 roll 1.11 - - 2683 - 2.60 0.155 3809 545.4 146.0 - - 2557 - - - - - - - - 14.74 14.52 14.77
17845 370.1 10.9 1124 17853 done 1.11 - - 2684 - 2.38 0.072 2401 -591.6 146.0 - - 2557 - - - - - - - - 14.62 14.57 14.64
18151 342.5 8.9 1135 18151 done 1.13 - - 2684 - - - 2401 - 146.0 - - 2556 - - - - - - - - 14.76 14.78 14.78
18451 316.5 8.4 1145 18457 roll 1.16 - - 2684 - 2.58 0.154 3804 543.8 146.0 - - 2556 - - - - - - - - 14.76 14.53 14.79
18572 305.2 9.1 1169 18578 done 1.18 - - 2691 - 2.38 0.067 2385 -596.2 146.0 - - 2556 - - - - - - - - 14.62 14.58 14.69
18903 279.5 7.4 1185 18955 roll 1.19 - - 2691 - 2.67 0.154 3805 531.8 202.7 45.42 1.554 2336 -4.8 0.170 - - - - - - 14.76 14.19 13.69
19078 263.1 9.6 1220 19086 done 1.19 - - 2696 - 2.40 0.067 2398 -586.2 202.7 - - 2333 - - - - - - - - 14.35 14.29 14.37
19384 239.4 7.1 1239 19443 roll 1.21 - - 2696 - 2.72 0.151 3794 513.2 265.1 51.15 1.486 2082 -4.9 0.155 - - - - - - 14.57 13.98 13.50
19487 230.2 10.6 1257 19494 done 1.21 - - 2701 - 2.40 0.065 2383 -587.9 265.1 - - 2081 - - - - - - - - 14.16 14.09 14.18
19678 212.8 8.9 1277 19679 done 1.23 - - 2701 - - - 2382 - 265.1 - - 2078 - - - - - - - - 14.39 14.40 14.41
19858 197.1 8.6 1295 19864 roll 1.26 - - 2701 - 2.65 0.151 3799 534.7 265.1 - - 2077 - - - - - - - - 14.46 14.23 14.49
19912 191.7 9.9 1306 19920 done 1.26 - - 2709 - 2.38 0.067 2401 -587.4 265.1 - - 2077 - - - - - - - - 14.35 14.30 14.36
20098 175.4 8.7 1325 20104 roll 1.29 - - 2710 - 2.58 0.142 3801 542.6 265.1 - - 2076 - - - - - - - - 14.52 14.30 14.54
20128 172.5 9.7 1331 20134 done 1.29 - - 2718 - 2.40 0.067 2392 -587.1 265.1 - - 2076 - - - - - - - - 14.39 14.35 14.42
20319 156.7 8.2 1351 20320 done 1.33 - - 2718 - - - 2392 - 265.1 - - 2075 - - - - - - - - 14.54 14.57 14.57
20499 142.4 8.0 1369 20543 roll 1.34 - - 2718 - 2.72 0.155 3799 517.3 309.4 35.47 1.392 1902 -4.9 0.098 - - - - - - 14.57 14.07 13.65
20612 131.8 9.9 1391 20618 done 1.34 - - 2726 - 2.42 0.069 2394 -580.6 309.4 - - 1899 - - - - - - - - 14.23 14.19 14.26
20803 115.3 8.7 1411 20803 done 1.37 - - 2726 - - - 2394 - 309.4 - - 1898 - - - - - - - - 14.42 14.45 14.45
20982 100.2 8.1 1429 20983 done 1.40 - - 2725 - - - 2394 - 309.4 - - 1897 - - - - - - - - 14.47 14.50 14.50
21162 86.7 7.0 1447 21215 done 1.42 - - 2726 - - - 2394 - 373.9 50.95 1.330 1639 -5.1 0.065 - - - - - - 14.49 14.03 13.54
21392 69.6 7.3 1473 21443 roll 1.44 - - 2727 - 2.78 0.145 3802 506.5 432.1 45.70 1.276 1401 -5.2 0.056 - - - - - - 14.31 13.85 13.44
21487 62.5 8.0 1491 21494 done 1.48 0.12 0.142 2784 475.0 2.45 0.062 2363 -587.3 432.1 - - 1403 - - - - - - - - 13.97 13.96 14.03
21677 47.9 6.8 1511 21734 done 1.50 0.12 0.243 2757 -225.0 - - 2362 - 501.9 54.67 1.240 1118 -5.2 0.039 - - - - - - 14.04 13.86 13.39
21908 34.0 5.9 1535 21983 roll 1.53 - - 2757 - 2.55 0.096 994 -536.5 591.7 69.62 1.207 751 -5.3 0.029 - - - - - - 14.20 13.73 13.30
22012 27.9 6.1 1548 22069 done 1.55 - - 2756 - 2.60 0.090 2413 545.8 677.6 50.40 1.170 499 -5.0 0.023 - - - - - - 13.85 13.78 13.23
22243 14.2 6.0 1576 22249 roll 1.58 - - 2756 - 2.55 0.091 1001 -553.7 764.3 - - 496 - - - - - - - - 14.12 13.93 14.15
22263 12.9 6.5 1580 22269 done 1.60 0.08 0.103 2790 425.0 2.53 0.090 2398 552.2 840.4 - - 496 - - - - - - - - 13.97 13.95 14.02
22413 end climb: SURFACE_DEPTH_REACHED
22413 begin surface coast
22432 end surface coast: CONTROL_FINISHED_OK
22433 begin surface
SM 0.74 - - - - -8.98 7.45 0.061 228 30.6 0.25 0.110 2235 -3500.0 655.20 - - 496 - - - - - - - -