SODA Sep18 * SG199 * Dive index * Mission links * Dive 103 * Raw log
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• Previous call tries 3 • 51.06 of 350.00 AH used of 24V (85.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.4 deg, depth 0.67 m • Intended pitch -15.7 deg, speed -9.167 cm/s
• surface range 20.5 m at 19.4 m depth, ceiling -1.1 m
• GPS1 time: 32 s
• GPS2 time: 9 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
10 - - - 115 VBD -0.73 - - 190 - - - 2763 - -146.0 -103.10 0.002 2312 - - - - - - - - 14.33 - 14.35
118 3.9 -6.4 10 163 done -0.73 9.15 0.474 1827 178.9 - - 2764 - -146.0 -30.77 0.004 3541 -39.9 7.908 - - - - - - 13.92 13.27 14.21
343 65.8 -22.8 35 344 done -0.73 - - 1827 - - - 2763 - -146.0 - - 3542 - - - - - - - - 14.45 14.47 14.46
521 99.8 -16.9 53 527 roll -0.73 - - 1828 - 2.72 0.149 1328 -527.6 -146.0 - - 3542 - - - - - - - - 14.50 14.24 14.51
577 108.8 -15.4 64 584 done -0.73 - - 1818 - 2.83 0.179 2756 504.6 -146.0 - - 3542 - - - - - - - - 14.35 14.20 14.38
763 137.1 -14.9 83 767 roll -0.73 - - 1810 - 2.03 0.210 3776 502.5 -146.0 - - 3542 - - - - - - - - 14.55 14.24 14.57
823 146.7 -16.2 95 828 done -0.73 - - 1810 - 1.95 0.161 2741 -530.8 -146.0 - - 3542 - - - - - - - - 14.43 14.31 14.45
1013 174.3 -14.0 115 1014 done -0.73 - - 1810 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.59 14.62 14.62
1193 198.6 -13.3 133 1194 done -0.73 - - 1810 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.62 14.64 14.64
1373 221.8 -12.8 151 1374 done -0.73 - - 1810 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.64 14.66 14.65
1553 243.8 -11.9 169 1554 done -0.73 - - 1810 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.65 14.67 14.67
1733 263.9 -10.9 179 1734 done -0.73 - - 1810 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.66 14.69 14.69
2033 293.5 -9.7 189 2039 roll -0.73 - - 1802 - 2.08 0.213 3779 499.0 -146.0 - - 3541 - - - - - - - - 14.71 14.38 14.72
2124 303.2 -10.9 207 2130 done -0.73 0.15 0.275 1833 206.7 1.98 0.166 2739 -525.3 -146.0 - - 3542 - - - - - - - - 14.38 14.45 14.56
2455 330.6 -8.1 223 2460 roll -0.73 - - 1828 - 2.08 0.211 3782 501.4 -146.0 - - 3545 - - - - - - - - 14.72 14.41 14.73
2505 334.9 -8.5 233 2511 done -0.73 - - 1828 - 1.95 0.164 2739 -534.9 -146.0 - - 3542 - - - - - - - - 14.59 14.46 14.62
2816 360.5 -8.3 245 2822 roll -0.73 - - 1821 - 2.05 0.209 3774 504.9 -146.0 - - 3542 - - - - - - - - 14.73 14.42 14.75
2872 365.5 -9.1 256 2878 done -0.73 - - 1821 - 1.92 0.163 2743 -537.0 -146.0 - - 3542 - - - - - - - - 14.61 14.47 14.62
3177 390.8 -8.1 267 3178 done -0.73 - - 1820 - - - 2743 - -146.0 - - 3541 - - - - - - - - 14.75 14.76 14.76
3477 414.6 -7.9 277 3478 done -0.73 - - 1821 - - - 2743 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.78
3777 438.0 -7.7 287 3778 done -0.73 - - 1818 - - - 2743 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.78
4077 461.1 -7.7 297 4078 done -0.73 - - 1821 - - - 2743 - -146.0 - - 3542 - - - - - - - - 14.77 14.79 14.79
4377 484.0 -7.6 307 4378 done -0.73 - - 1821 - - - 2743 - -146.0 - - 3542 - - - - - - - - 14.78 14.80 14.79
4677 506.8 -7.6 317 4678 done -0.73 - - 1821 - - - 2743 - -146.0 - - 3542 - - - - - - - - 14.78 14.81 14.81
4977 529.7 -7.7 327 4978 done -0.73 - - 1821 - - - 2742 - -146.0 - - 3542 - - - - - - - - 14.80 14.81 14.81
5277 552.7 -7.7 337 5278 done -0.73 - - 1821 - - - 2743 - -146.0 - - 3543 - - - - - - - - 14.80 14.82 14.82
5577 575.6 -7.7 347 5578 done -0.73 - - 1821 - - - 2743 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.82
5877 598.7 -7.7 357 5883 roll -0.73 - - 1821 - 2.58 0.147 1332 -546.9 -146.0 - - 3543 - - - - - - - - 14.81 14.53 14.83
5938 603.5 -7.9 369 5944 done -0.73 - - 1811 - 2.75 0.175 2760 519.3 -146.0 - - 3542 - - - - - - - - 14.65 14.49 14.67
6271 629.6 -7.8 385 6272 done -0.73 - - 1811 - - - 2760 - -146.0 - - 3543 - - - - - - - - 14.73 14.76 14.76
6569 652.9 -7.8 395 6570 done -0.73 - - 1811 - - - 2760 - -146.0 - - 3543 - - - - - - - - 14.70 14.72 14.72
6869 676.0 -7.7 405 6870 done -0.73 - - 1809 - - - 2760 - -146.0 - - 3543 - - - - - - - - 14.68 14.69 14.69
7169 699.0 -7.6 415 7175 roll -0.73 - - 1811 - 2.70 0.145 1322 -532.6 -146.0 - - 3543 - - - - - - - - 14.66 14.40 14.68
7215 702.5 -7.7 424 7221 done -0.73 0.15 0.284 1831 133.3 2.80 0.176 2762 514.3 -146.0 - - 3544 - - - - - - - - 14.31 14.37 14.51
7531 724.0 -6.8 437 7532 done -0.73 - - 1831 - - - 2762 - -146.0 - - 3543 - - - - - - - - 14.62 14.66 14.65
7831 744.4 -6.7 447 7832 done -0.73 - - 1831 - - - 2763 - -146.0 - - 3543 - - - - - - - - 14.64 14.65 14.65
8131 764.4 -6.7 457 8132 done -0.73 - - 1831 - - - 2763 - -146.0 - - 3544 - - - - - - - - 14.63 14.64 14.64
8431 784.4 -6.6 467 8432 done -0.73 - - 1831 - - - 2763 - -146.0 - - 3544 - - - - - - - - 14.69 14.70 14.70
8731 804.0 -6.5 477 8732 done -0.73 - - 1831 - - - 2763 - -146.0 - - 3544 - - - - - - - - 14.71 14.74 14.74
9031 823.3 -6.5 487 9032 done -0.73 - - 1831 - - - 2763 - -146.0 - - 3544 - - - - - - - - 14.75 14.77 14.77
9331 842.5 -6.4 497 9337 roll -0.73 - - 1826 - 1.98 0.209 3776 511.6 -146.0 - - 3544 - - - - - - - - 14.77 14.45 14.77
9387 846.4 -7.1 508 9393 done -0.73 - - 1826 - 1.92 0.158 2737 -541.1 -146.0 - - 3544 - - - - - - - - 14.63 14.50 14.65
9692 866.2 -6.4 519 9693 done -0.73 - - 1825 - - - 2737 - -146.0 - - 3543 - - - - - - - - 14.78 14.80 14.80
9992 885.9 -6.7 529 9998 roll -0.73 - - 1818 - 2.05 0.207 3778 507.8 -146.0 - - 3544 - - - - - - - - 14.79 14.47 14.81
10073 891.8 -7.5 545 10079 done -0.73 - - 1818 - 1.92 0.159 2738 -541.7 -146.0 - - 3544 - - - - - - - - 14.65 14.52 14.67
10384 913.0 -6.7 557 10385 done -0.73 - - 1818 - - - 2738 - -146.0 - - 3544 - - - - - - - - 14.79 14.81 14.81
10684 933.6 -6.9 567 10685 done -0.73 - - 1818 - - - 2735 - -146.0 - - 3544 - - - - - - - - 14.80 14.82 14.82
10984 954.4 -7.0 577 10985 done -0.73 - - 1818 - - - 2739 - -146.0 - - 3544 - - - - - - - - 14.81 14.83 14.82
11284 975.5 -7.0 587 11285 done -0.73 - - 1818 - - - 2738 - -146.0 - - 3544 - - - - - - - - 14.81 14.83 14.83
11492 end dive: TARGET_DEPTH_EXCEEDED
11492 begin apogee
11498 990.2 -7.0 594 11635 done -0.19 0.70 0.236 2007 270.0 0.08 0.315 2602 -1700.0 - 134.35 2.608 2942 -4.5 0.345 - - - - - - 14.50 13.47 12.74
11636 end apogee: CONTROL_FINISHED_OK
11636 begin climb
11638 992.4 - 598 11788 roll 0.73 1.00 0.153 2308 301.0 3.05 0.143 1173 -468.5 146.0 137.57 2.533 2344 -4.3 0.346 - - - - - - 13.57 12.85 12.08
11823 977.1 11.3 633 11830 done 0.73 - - 2308 - 3.08 0.162 2612 467.2 146.0 - - 2340 - - - - - - - - 13.24 13.11 13.26
12128 943.0 11.2 644 12129 done 0.73 - - 2308 - - - 2612 - 146.0 - - 2335 - - - - - - - - 14.05 14.07 14.07
12428 909.3 11.2 654 12429 done 0.73 - - 2308 - - - 2612 - 146.0 - - 2334 - - - - - - - - 14.33 14.35 14.35
12728 875.7 11.3 664 12733 roll 0.73 - - 2318 - 2.75 0.148 1172 -523.6 146.0 - - 2334 - - - - - - - - 14.48 14.23 14.50
12774 870.6 11.1 673 12780 done 0.73 - - 2317 - 2.80 0.166 2611 513.9 146.0 - - 2333 - - - - - - - - 14.37 14.22 14.40
13090 833.5 11.8 686 13091 done 0.73 - - 2317 - - - 2611 - 146.0 - - 2333 - - - - - - - - 14.59 14.61 14.61
13390 798.0 11.8 696 13391 done 0.73 - - 2317 - - - 2611 - 146.0 - - 2333 - - - - - - - - 14.64 14.67 14.67
13690 762.5 11.8 706 13696 roll 0.73 - - 2327 - 2.70 0.149 1173 -532.6 146.0 - - 2333 - - - - - - - - 14.69 14.43 14.71
13741 756.7 11.6 716 13746 done 0.73 - - 2327 - 2.75 0.168 2607 521.5 146.0 - - 2333 - - - - - - - - 14.56 14.41 14.57
14051 719.1 12.2 728 14052 done 0.73 - - 2327 - - - 2607 - 146.0 - - 2333 - - - - - - - - 14.72 14.74 14.73
14351 682.6 12.1 738 14352 done 0.73 - - 2327 - - - 2607 - 146.0 - - 2332 - - - - - - - - 14.75 14.76 14.76
14651 646.6 12.0 748 14657 roll 0.73 - - 2337 - 2.67 0.149 1172 -537.5 146.0 - - 2332 - - - - - - - - 14.76 14.48 14.78
14702 640.5 11.8 758 14707 done 0.73 0.15 0.281 2305 -213.3 2.75 0.167 2613 524.0 146.0 - - 2332 - - - - - - - - 14.43 14.47 14.62
15013 606.6 10.9 770 15014 done 0.73 - - 2304 - - - 2614 - 146.0 - - 2332 - - - - - - - - 14.77 14.78 14.79
15313 573.9 10.9 780 15318 roll 0.73 - - 2314 - 2.67 0.149 1177 -538.2 146.0 - - 2332 - - - - - - - - 14.79 14.52 14.81
15373 567.4 10.6 792 15378 done 0.73 - - 2314 - 2.72 0.168 2604 524.6 146.0 - - 2332 - - - - - - - - 14.64 14.49 14.67
15703 530.4 11.2 808 15704 done 0.73 - - 2314 - - - 2605 - 146.0 - - 2331 - - - - - - - - 14.78 14.81 14.81
16004 496.8 11.1 818 16004 done 0.73 - - 2314 - - - 2605 - 146.0 - - 2332 - - - - - - - - 14.80 14.82 14.82
16303 464.0 11.0 828 16309 roll 0.73 - - 2324 - 2.65 0.148 1179 -538.1 146.0 - - 2332 - - - - - - - - 14.80 14.54 14.82
16349 459.1 11.1 837 16355 done 0.73 - - 2324 - 2.72 0.167 2616 528.3 146.0 - - 2331 - - - - - - - - 14.66 14.50 14.69
16665 423.6 11.2 850 16666 done 0.73 - - 2324 - - - 2614 - 146.0 - - 2331 - - - - - - - - 14.78 14.81 14.80
16965 390.3 11.0 860 16966 done 0.73 - - 2324 - - - 2614 - 146.0 - - 2331 - - - - - - - - 14.78 14.81 14.80
17265 357.3 11.0 870 17270 roll 0.73 - - 2334 - 2.67 0.148 1170 -540.8 146.0 - - 2331 - - - - - - - - 14.78 14.52 14.80
17341 349.2 10.7 885 17347 done 0.73 - - 2333 - 2.72 0.166 2603 526.8 146.0 - - 2332 - - - - - - - - 14.65 14.50 14.69
17657 314.5 11.0 898 17658 done 0.73 - - 2333 - - - 2603 - 146.0 - - 2331 - - - - - - - - 14.79 14.81 14.81
17957 282.9 10.2 908 17958 done 0.73 0.15 0.275 2300 -220.0 - - 2603 - 146.0 - - 2331 - - - - - - - - 14.48 14.69 14.67
18257 258.2 7.7 918 18262 roll 0.77 - - 2310 - 2.65 0.148 1172 -540.0 146.0 - - 2331 - - - - - - - - 14.80 14.53 14.82
18318 253.6 7.7 930 18323 done 0.81 - - 2310 - 2.72 0.166 2605 526.8 146.0 - - 2332 - - - - - - - - 14.66 14.51 14.69
18628 230.6 7.0 962 18633 roll 0.88 0.12 0.139 2384 616.7 2.65 0.146 1178 -538.5 146.0 - - 2331 - - - - - - - - 14.60 14.50 14.64
18689 225.5 8.6 974 18694 done 0.89 - - 2384 - 2.72 0.168 2604 524.3 146.0 - - 2331 - - - - - - - - 14.62 14.47 14.65
18879 208.1 9.0 994 18880 done 0.89 - - 2384 - - - 2604 - 146.0 - - 2331 - - - - - - - - 14.74 14.76 14.76
19059 192.1 8.8 1012 19060 done 0.89 - - 2384 - - - 2604 - 146.0 - - 2331 - - - - - - - - 14.73 14.76 14.76
19240 177.6 7.7 1030 19245 roll 0.94 - - 2384 - 2.30 0.209 3777 510.0 146.0 - - 2331 - - - - - - - - 14.73 14.42 14.75
19285 173.7 8.7 1039 19291 done 0.94 - - 2392 - 2.22 0.160 2588 -535.6 146.0 - - 2331 - - - - - - - - 14.60 14.47 14.63
19470 159.5 7.5 1058 19471 done 0.99 - - 2392 - - - 2589 - 146.0 - - 2331 - - - - - - - - 14.72 14.73 14.73
19650 146.2 7.2 1076 19656 roll 1.05 - - 2402 - 2.60 0.151 1184 -540.4 146.0 - - 2331 - - - - - - - - 14.71 14.45 14.73
19731 140.5 7.1 1092 19736 done 1.11 - - 2402 - 2.75 0.171 2613 519.6 146.0 - - 2331 - - - - - - - - 14.52 14.38 14.55
19921 126.9 7.1 1112 19927 roll 1.17 0.12 0.141 2467 541.7 2.70 0.148 1172 -533.7 146.0 - - 2331 - - - - - - - - 14.52 14.41 14.55
20019 119.4 7.8 1131 20025 done 1.21 - - 2467 - 2.78 0.171 2608 516.5 146.0 - - 2330 - - - - - - - - 14.56 14.40 14.59
20202 106.3 6.3 1150 20207 roll 1.30 - - 2477 - 2.70 0.151 1176 -530.4 146.0 - - 2330 - - - - - - - - 14.68 14.40 14.70
20243 103.9 6.0 1158 20248 done 1.39 0.15 0.129 2528 340.0 2.78 0.171 2608 515.1 146.0 - - 2330 - - - - - - - - 14.50 14.39 14.57
20436 91.9 5.6 1178 20441 roll 1.50 - - 2528 - 2.30 0.207 3777 508.3 146.0 - - 2330 - - - - - - - - 14.65 14.36 14.66
20672 82.5 2.4 1224 20806 done 1.66 0.22 0.106 2611 377.3 2.25 0.161 2588 -528.4 308.0 125.28 1.500 1683 -5.2 0.058 - - - - - - 14.36 14.30 13.20
20981 49.2 10.1 1266 20986 roll 1.66 - - 2611 - 2.45 0.204 3778 485.7 308.0 - - 1671 - - - - - - - - 14.22 13.97 14.23
21211 32.1 4.6 1312 21302 done 1.77 - - 2620 - 2.28 0.161 2599 -517.1 417.7 85.62 1.396 1236 -5.1 0.024 - - - - - - 14.23 14.12 13.21
21478 14.3 9.8 1346 21483 roll 1.77 - - 2620 - 2.45 0.204 3777 480.8 417.7 - - 1228 - - - - - - - - 14.18 13.90 14.19
21520 end climb: FINISH_DEPTH_REACHED
21521 begin subsurface finish
21528 9.8 10.0 1355 21546 roll 0.34 1.77 0.281 2181 -248.0 2.55 0.233 3777 - 344.4 -10.00 0.012 1542 -31.4 5.207 - - - - - - 13.90 13.16 14.02
21547 end subsurface finish: CONTROL_FINISHED_OK
21547 begin surface