SODA Sep18 * SG198 * Dive index * Mission links * Dive 32 * Raw log
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• Previous call tries 1 • 16.68 of 350.00 AH used of 24V (95.23% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.3 deg, depth 0.80 m • Intended pitch -18.4 deg, speed -10.000 cm/s
• VBD pumped to 525.19 (SM_CC=525) • surface range 6.1 m at 5.5 m depth, ceiling -0.6 m (m = 1.02, R^2 = 1.00)
• GPS1 time: 77 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
8 end surface: CONTROL_FINISHED_OK
8 begin dive
10 - - - 135 VBD -1.17 - - 141 - - - 2239 - -146.0 -123.25 0.004 2287 - - - - - - - - 14.27 - 14.29
136 4.9 -7.7 12 178 done -1.17 11.00 0.481 2139 181.6 - - 2239 - -146.0 -27.12 0.007 3452 -43.0 5.877 - - - - - - 13.93 13.40 14.16
352 62.6 -22.8 37 359 roll -1.17 - - 2140 - 2.42 0.083 854 -572.3 -146.0 - - 3452 - - - - - - - - 14.38 14.18 14.40
368 65.9 -21.3 40 375 done -1.17 - - 2138 - 2.47 0.089 2253 566.4 -146.0 - - 3452 - - - - - - - - 14.23 14.16 14.26
553 99.2 -16.5 59 559 roll -1.17 - - 2132 - 2.60 0.141 3665 543.1 -146.0 - - 3452 - - - - - - - - 14.42 14.20 14.44
618 110.1 -16.8 72 625 done -1.17 - - 2130 - 2.38 0.057 2248 -595.4 -146.0 - - 3452 - - - - - - - - 14.32 14.27 14.33
802 138.5 -14.6 91 803 done -1.17 - - 2131 - - - 2248 - -146.0 - - 3451 - - - - - - - - 14.47 14.51 14.50
983 163.2 -13.6 109 990 roll -1.17 - - 2131 - 2.40 0.084 859 -578.8 -146.0 - - 3452 - - - - - - - - 14.51 14.31 14.53
1013 167.6 -14.3 115 1020 done -1.17 - - 2128 - 2.45 0.089 2256 570.2 -146.0 - - 3452 - - - - - - - - 14.38 14.31 14.38
1204 193.1 -13.2 135 1205 done -1.17 - - 2127 - - - 2256 - -146.0 - - 3451 - - - - - - - - 14.54 14.57 14.57
1383 216.8 -13.2 153 1384 done -1.17 - - 2127 - - - 2256 - -146.0 - - 3452 - - - - - - - - 14.56 14.59 14.59
1563 239.6 -12.5 171 1569 roll -1.17 - - 2127 - 2.42 0.086 850 -581.0 -146.0 - - 3452 - - - - - - - - 14.57 14.38 14.60
1618 246.4 -12.0 182 1626 done -1.17 - - 2126 - 2.45 0.090 2249 571.0 -146.0 - - 3451 - - - - - - - - 14.44 14.37 14.46
1803 267.3 -11.1 191 1810 roll -1.17 - - 2126 - 2.40 0.083 852 -582.1 -146.0 - - 3451 - - - - - - - - 14.60 14.40 14.63
1848 272.4 -11.4 200 1855 done -1.17 - - 2125 - 2.42 0.090 2248 576.9 -146.0 - - 3451 - - - - - - - - 14.46 14.40 14.49
2163 304.4 -9.9 213 2164 done -1.17 - - 2125 - - - 2248 - -146.0 - - 3451 - - - - - - - - 14.64 14.67 14.66
2464 333.2 -9.5 223 2464 done -1.17 - - 2126 - - - 2248 - -146.0 - - 3451 - - - - - - - - 14.66 14.69 14.69
2763 361.5 -9.3 233 2770 roll -1.17 - - 2126 - 2.38 0.085 857 -584.5 -146.0 - - 3451 - - - - - - - - 14.69 14.49 14.71
2814 366.4 -9.6 243 2820 done -1.17 - - 2126 - 2.42 0.090 2258 578.9 -146.0 - - 3451 - - - - - - - - 14.54 14.47 14.57
3124 393.9 -8.8 255 3125 done -1.17 - - 2126 - - - 2258 - -146.0 - - 3451 - - - - - - - - 14.70 14.73 14.72
3424 419.7 -8.5 265 3431 roll -1.17 - - 2126 - 2.40 0.084 848 -587.5 -146.0 - - 3451 - - - - - - - - 14.71 14.48 14.74
3460 422.9 -9.0 272 3466 done -1.17 - - 2125 - 2.42 0.088 2249 578.9 -146.0 - - 3452 - - - - - - - - 14.54 14.47 14.57
3785 450.5 -8.5 287 3786 done -1.17 - - 2126 - - - 2250 - -146.0 - - 3451 - - - - - - - - 14.64 14.67 14.67
4085 476.1 -8.6 297 4086 done -1.17 - - 2125 - - - 2250 - -146.0 - - 3450 - - - - - - - - 14.62 14.64 14.64
4385 501.9 -8.6 307 4391 roll -1.17 - - 2125 - 2.40 0.083 850 -583.3 -146.0 - - 3448 - - - - - - - - 14.60 14.41 14.62
4455 508.1 -8.9 321 4462 done -1.17 - - 2125 - 2.42 0.086 2249 578.1 -146.0 - - 3451 - - - - - - - - 14.46 14.40 14.49
4776 535.0 -8.4 335 4777 done -1.17 - - 2125 - - - 2249 - -146.0 - - 3451 - - - - - - - - 14.59 14.61 14.60
5076 559.4 -8.0 345 5077 done -1.17 0.10 0.369 2143 180.0 - - 2249 - -146.0 - - 3451 - - - - - - - - 14.30 14.49 14.46
5376 581.7 -7.4 355 5377 done -1.17 - - 2143 - - - 2249 - -146.0 - - 3451 - - - - - - - - 14.57 14.59 14.59
5676 603.6 -7.3 365 5677 done -1.17 - - 2143 - - - 2249 - -146.0 - - 3452 - - - - - - - - 14.57 14.59 14.59
5976 625.7 -7.3 375 5982 roll -1.17 - - 2143 - 2.40 0.086 853 -581.7 -146.0 - - 3451 - - - - - - - - 14.64 14.44 14.66
6021 629.2 -7.8 384 6027 done -1.17 - - 2143 - 2.42 0.090 2250 577.3 -146.0 - - 3451 - - - - - - - - 14.50 14.42 14.52
6336 652.6 -7.5 397 6337 done -1.17 - - 2143 - - - 2251 - -146.0 - - 3452 - - - - - - - - 14.67 14.70 14.69
6636 675.2 -7.6 407 6637 done -1.17 - - 2143 - - - 2251 - -146.0 - - 3452 - - - - - - - - 14.69 14.72 14.71
6936 698.4 -7.7 417 6937 done -1.17 - - 2142 - - - 2251 - -146.0 - - 3452 - - - - - - - - 14.71 14.74 14.73
7236 721.3 -7.6 427 7236 done -1.17 - - 2143 - - - 2250 - -146.0 - - 3452 - - - - - - - - 14.73 14.76 14.75
7536 743.9 -7.5 437 7536 done -1.17 - - 2143 - - - 2251 - -146.0 - - 3452 - - - - - - - - 14.74 14.76 14.76
7836 766.0 -7.4 447 7837 done -1.17 - - 2143 - - - 2251 - -146.0 - - 3452 - - - - - - - - 14.75 14.78 14.77
8136 788.0 -7.3 457 8136 done -1.17 - - 2143 - - - 2251 - -146.0 - - 3452 - - - - - - - - 14.76 14.78 14.78
8436 809.8 -7.2 467 8436 done -1.17 - - 2143 - - - 2250 - -146.0 - - 3453 - - - - - - - - 14.76 14.79 14.78
8736 830.9 -7.0 477 8737 done -1.17 - - 2143 - - - 2250 - -146.0 - - 3452 - - - - - - - - 14.76 14.80 14.79
9036 852.0 -7.0 487 9036 done -1.17 - - 2143 - - - 2251 - -146.0 - - 3453 - - - - - - - - 14.77 14.80 14.79
9336 873.3 -7.1 497 9337 done -1.17 - - 2143 - - - 2251 - -146.0 - - 3452 - - - - - - - - 14.77 14.83 14.80
9636 894.9 -7.2 507 9636 done -1.17 - - 2143 - - - 2251 - -146.0 - - 3452 - - - - - - - - 14.78 14.81 14.81
9936 916.4 -7.1 517 9943 roll -1.17 - - 2143 - 2.55 0.139 3656 551.0 -146.0 - - 3452 - - - - - - - - 14.78 14.54 14.81
10012 922.1 -7.6 532 10018 done -1.17 - - 2143 - 2.33 0.059 2240 -607.7 -146.0 - - 3452 - - - - - - - - 14.64 14.61 14.67
10327 944.4 -7.0 545 10333 roll -1.17 - - 2143 - 2.58 0.138 3653 547.7 -146.0 - - 3452 - - - - - - - - 14.78 14.54 14.81
10337 945.1 -7.0 547 10344 done -1.17 - - 2143 - 2.30 0.058 2247 -611.3 -146.0 - - 3452 - - - - - - - - 14.65 14.61 14.69
10658 967.8 -7.1 561 10658 done -1.17 - - 2143 - - - 2248 - -146.0 - - 3455 - - - - - - - - 14.78 14.81 14.81
10957 989.0 -7.0 571 10964 roll -1.17 - - 2143 - 2.58 0.140 3654 545.0 -146.0 - - 3452 - - - - - - - - 14.81 14.54 14.81
10971 end dive: TARGET_DEPTH_EXCEEDED
10971 begin apogee
10976 990.1 -7.0 574 11118 done -0.25 0.77 0.233 2363 285.7 - - 2378 - - 138.80 2.376 2854 -4.3 0.351 - - - - - - 14.52 13.55 12.75
11119 end apogee: CONTROL_FINISHED_OK
11119 begin climb
11120 992.0 - 578 11266 done 1.17 1.15 0.148 2702 294.8 - - 2377 - 146.0 142.02 2.311 2258 -4.2 0.352 - - - - - - 13.52 13.32 12.55
11543 943.5 12.9 593 11550 roll 1.17 - - 2702 - 2.72 0.146 3794 521.0 146.0 - - 2251 - - - - - - - - 14.08 13.88 14.10
11659 925.8 15.2 616 11666 done 1.17 - - 2712 - 2.42 0.066 2409 -572.3 146.0 - - 2250 - - - - - - - - 14.07 14.01 14.09
11965 883.3 13.8 627 11970 roll 1.17 - - 2712 - 2.62 0.149 3797 529.8 146.0 - - 2250 - - - - - - - - 14.33 14.12 14.36
12089 863.5 16.0 652 12099 done 1.17 - - 2719 - 2.47 0.090 2407 -562.8 146.0 - - 2250 - - - - - - - - 14.26 14.19 14.28
12418 816.9 14.1 667 12424 roll 1.17 - - 2720 - 2.67 0.175 3792 518.7 146.0 - - 2249 - - - - - - - - 14.49 14.24 14.52
12523 799.9 16.4 688 12529 done 1.17 0.10 0.315 2705 -150.0 2.40 0.067 2387 -585.4 146.0 - - 2250 - - - - - - - - 14.21 14.33 14.34
12840 757.6 13.2 701 12846 roll 1.17 - - 2704 - 2.58 0.137 3799 547.3 146.0 - - 2250 - - - - - - - - 14.55 14.34 14.58
12940 742.3 15.3 721 12946 done 1.17 - - 2714 - 2.38 0.067 2401 -587.4 146.0 - - 2250 - - - - - - - - 14.45 14.39 14.47
13262 698.4 13.7 735 13267 roll 1.17 - - 2715 - 2.58 0.143 3802 543.0 146.0 - - 2250 - - - - - - - - 14.61 14.40 14.63
13371 681.0 16.0 757 13378 done 1.17 - - 2725 - 2.38 0.065 2395 -591.2 146.0 - - 2250 - - - - - - - - 14.50 14.45 14.52
13683 636.1 14.3 769 13689 roll 1.17 - - 2725 - 2.55 0.141 3791 547.5 146.0 - - 2249 - - - - - - - - 14.64 14.42 14.66
13804 616.5 16.5 793 13810 done 1.17 0.12 0.356 2703 -183.3 2.33 0.064 2387 -602.6 146.0 - - 2250 - - - - - - - - 14.35 14.50 14.56
14134 572.6 13.1 809 14141 roll 1.17 - - 2703 - 2.60 0.142 3793 540.8 146.0 - - 2250 - - - - - - - - 14.69 14.45 14.71
14255 554.5 14.9 833 14262 done 1.17 - - 2712 - 2.35 0.065 2397 -594.0 146.0 - - 2250 - - - - - - - - 14.56 14.52 14.59
14587 509.9 13.5 849 14593 roll 1.17 - - 2711 - 2.53 0.136 3794 552.2 146.0 - - 2250 - - - - - - - - 14.69 14.48 14.72
14708 491.3 15.5 873 14714 done 1.17 - - 2720 - 2.35 0.064 2361 -609.8 146.0 - - 2250 - - - - - - - - 14.62 14.54 14.64
15039 446.1 13.6 889 15045 roll 1.17 - - 2721 - 2.60 0.136 3800 553.5 146.0 - - 2250 - - - - - - - - 14.72 14.50 14.75
15169 425.7 15.7 915 15176 done 1.17 - - 2725 - 2.35 0.065 2399 -596.2 146.0 - - 2250 - - - - - - - - 14.59 14.54 14.62
15490 381.8 13.5 929 15496 roll 1.17 - - 2726 - 2.53 0.136 3798 553.0 146.0 - - 2250 - - - - - - - - 14.72 14.50 14.75
15601 365.1 15.1 951 15607 done 1.17 - - 2726 - 2.30 0.060 2386 -613.9 146.0 - - 2250 - - - - - - - - 14.63 14.55 14.64
15911 324.5 13.1 963 15917 roll 1.17 0.12 0.323 2699 -225.0 2.55 0.134 3802 555.3 146.0 - - 2251 - - - - - - - - 14.47 14.51 14.62
16006 311.5 13.7 982 16012 done 1.17 - - 2708 - 2.35 0.063 2391 -600.4 146.0 - - 2250 - - - - - - - - 14.60 14.54 14.62
16331 274.2 11.0 997 16341 roll 1.17 - - 2709 - 2.55 0.142 3800 552.5 146.0 - - 2250 - - - - - - - - 14.73 14.51 14.76
16425 262.8 12.0 1015 16431 done 1.17 - - 2717 - 2.35 0.063 2394 -598.3 146.0 - - 2250 - - - - - - - - 14.59 14.55 14.62
16735 233.7 8.6 1041 16736 done 1.22 - - 2716 - - - 2391 - 146.0 - - 2250 - - - - - - - - 14.73 14.76 14.75
16915 218.9 8.4 1059 16921 roll 1.29 - - 2716 - 2.60 0.135 3800 541.9 146.0 - - 2250 - - - - - - - - 14.72 14.47 14.75
16970 213.8 9.3 1070 16977 done 1.31 - - 2723 - 2.35 0.064 2397 -597.0 146.0 - - 2250 - - - - - - - - 14.57 14.53 14.59
17155 198.9 7.8 1089 17162 roll 1.40 0.12 0.141 2796 608.3 2.53 0.132 3800 554.5 146.0 - - 2250 - - - - - - - - 14.55 14.45 14.61
17226 191.6 10.6 1103 17233 done 1.40 0.17 0.309 2762 -200.0 2.35 0.060 2390 -600.0 146.0 - - 2250 - - - - - - - - 14.39 14.51 14.52
17417 175.7 8.4 1123 17418 done 1.47 - - 2761 - - - 2390 - 146.0 - - 2250 - - - - - - - - 14.68 14.71 14.71
17597 161.2 7.7 1141 17598 done 1.56 0.12 0.140 2823 516.7 - - 2390 - 146.0 - - 2250 - - - - - - - - 14.50 14.57 14.56
17777 145.0 8.7 1159 17783 roll 1.61 - - 2824 - 2.55 0.129 3803 554.1 146.0 - - 2250 - - - - - - - - 14.67 14.49 14.70
17880 135.3 9.9 1178 17888 done 1.61 0.10 0.323 2808 -160.0 2.35 0.057 2395 -599.1 146.0 - - 2250 - - - - - - - - 14.36 14.49 14.49
18066 120.6 7.4 1197 18073 roll 1.71 0.10 0.175 2853 450.0 2.55 0.129 3805 552.9 146.0 - - 2250 - - - - - - - - 14.45 14.38 14.52
18107 117.0 8.9 1205 18114 done 1.76 - - 2862 - 2.35 0.059 2397 -599.1 146.0 - - 2250 - - - - - - - - 14.47 14.43 14.50
18298 103.3 6.0 1225 18305 roll 1.92 - - 2863 - 2.55 0.128 3805 552.2 146.0 - - 2249 - - - - - - - - 14.56 14.35 14.58
18529 90.6 4.7 1271 18632 done 2.11 0.15 0.072 2941 520.0 2.35 0.056 2401 -597.4 262.7 93.57 1.323 1781 -5.0 0.067 - - - - - - 14.37 14.37 13.37
18806 61.8 8.5 1307 18812 roll 2.17 - - 2941 - 2.62 0.129 3813 538.9 262.7 - - 1777 - - - - - - - - 14.21 14.00 14.23
19036 46.2 4.4 1353 19138 done 2.38 0.10 0.073 3012 710.0 2.42 0.055 2389 -588.4 384.5 93.50 1.229 1285 -5.3 0.039 - - - - - - 14.16 14.14 13.28
19313 20.4 9.7 1389 19320 roll 2.38 0.12 0.340 2994 -150.0 2.62 0.125 3798 537.8 384.5 - - 1282 - - - - - - - - 13.85 13.95 14.02
19523 end climb: SURFACE_DEPTH_REACHED
19523 begin surface coast
19553 end surface coast: CONTROL_FINISHED_OK
19553 begin surface
SM 0.86 - - - - -9.11 8.20 0.076 228 27.8 2.67 0.056 2240 -792.5 525.19 124.45 0.207 710 5.7 -0.002 - - - - - -