SODA Sep18 * SG199 * Dive index * Mission links * Dive 19 * Raw log
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• Previous call tries 2 • 10.54 of 350.00 AH used of 24V (96.99% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -59.2 deg, depth 0.55 m • Intended pitch -18.8 deg, speed -10.000 cm/s
VBD pumped to 653.97 (SM_CC=653.96979) • surface range 22.5 m at 21.5 m depth, ceiling -1.0 m (m = 1.06, R^2 = 1.00)
• GPS1 time: 39 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
6 end surface: CONTROL_FINISHED_OK
7 begin dive
10 - - - 133 VBD -0.84 - - 196 - - - 2663 - -146.0 -121.22 0.002 2297 - - - - - - - - 14.28 - 14.30
136 4.0 -6.5 12 187 roll -0.84 8.60 0.468 1772 183.3 2.28 0.234 3769 485.1 -146.0 -35.78 0.004 3764 -41.0 8.091 - - - - - - 13.94 13.39 14.19
412 87.2 -24.0 66 417 done -0.84 - - 1772 - 2.15 0.162 2657 -517.2 -146.0 - - 3765 - - - - - - - - 14.28 14.18 14.31
604 125.4 -18.9 86 609 roll -0.84 - - 1764 - 2.28 0.213 3769 487.7 -146.0 - - 3765 - - - - - - - - 14.44 14.18 14.46
834 170.9 -18.4 132 839 done -0.84 - - 1764 - 2.15 0.163 2649 -520.9 -146.0 - - 3765 - - - - - - - - 14.37 14.26 14.38
1026 203.0 -16.5 152 1033 roll -0.84 - - 1756 - 2.28 0.213 3767 490.4 -146.0 - - 3765 - - - - - - - - 14.52 14.26 14.53
1258 242.7 -16.0 198 1263 done -0.84 0.15 0.314 1784 186.7 2.12 0.164 2650 -526.9 -146.0 - - 3766 - - - - - - - - 14.26 14.32 14.41
1471 269.9 -12.4 210 1476 roll -0.84 - - 1778 - 2.28 0.216 3773 492.5 -146.0 - - 3766 - - - - - - - - 14.57 14.32 14.59
1701 299.8 -12.6 256 1706 done -0.84 - - 1778 - 2.15 0.164 2642 -526.0 -146.0 - - 3765 - - - - - - - - 14.49 14.38 14.51
2012 335.5 -11.3 268 2017 roll -0.84 - - 1770 - 2.28 0.217 3769 494.3 -146.0 - - 3766 - - - - - - - - 14.64 14.38 14.66
2242 364.3 -12.4 314 2247 done -0.84 - - 1770 - 2.12 0.163 2642 -531.6 -146.0 - - 3765 - - - - - - - - 14.54 14.43 14.56
2552 399.8 -11.3 326 2557 roll -0.84 - - 1762 - 2.28 0.215 3769 494.3 -146.0 - - 3765 - - - - - - - - 14.68 14.42 14.69
2762 425.9 -12.5 368 2767 done -0.84 - - 1762 - 2.10 0.162 2649 -533.3 -146.0 - - 3765 - - - - - - - - 14.57 14.44 14.59
3092 463.5 -11.3 384 3097 roll -0.84 - - 1754 - 2.22 0.213 3769 504.5 -146.0 - - 3765 - - - - - - - - 14.70 14.44 14.72
3143 469.7 -12.5 394 3148 done -0.84 0.15 0.301 1784 200.0 2.10 0.161 2647 -534.3 -146.0 - - 3765 - - - - - - - - 14.42 14.48 14.58
3454 501.4 -10.1 406 3455 done -0.84 - - 1784 - - - 2647 - -146.0 - - 3765 - - - - - - - - 14.70 14.72 14.72
3753 531.1 -9.8 416 3758 roll -0.84 - - 1778 - 2.22 0.213 3769 505.4 -146.0 - - 3765 - - - - - - - - 14.73 14.47 14.76
3893 546.3 -10.9 444 3898 done -0.84 - - 1778 - 2.10 0.159 2647 -534.3 -146.0 - - 3765 - - - - - - - - 14.62 14.51 14.64
4204 577.8 -10.1 456 4209 roll -0.84 - - 1769 - 2.22 0.212 3769 505.4 -146.0 - - 3765 - - - - - - - - 14.75 14.49 14.77
4264 584.4 -11.3 468 4269 done -0.84 - - 1769 - 2.10 0.158 2641 -537.1 -146.0 - - 3765 - - - - - - - - 14.64 14.52 14.65
4596 619.1 -10.5 484 4601 roll -0.84 - - 1761 - 2.25 0.211 3769 501.3 -146.0 - - 3765 - - - - - - - - 14.76 14.49 14.78
4666 627.3 -11.6 498 4671 done -0.84 - - 1761 - 2.08 0.158 2651 -537.5 -146.0 - - 3765 - - - - - - - - 14.64 14.53 14.66
4987 661.7 -10.7 512 4993 roll -0.84 - - 1753 - 2.22 0.209 3773 505.4 -146.0 - - 3765 - - - - - - - - 14.77 14.50 14.79
5073 671.8 -12.0 529 5081 done -0.84 0.15 0.297 1784 206.7 2.08 0.156 2651 -539.4 -146.0 - - 3765 - - - - - - - - 14.47 14.54 14.63
5378 701.6 -9.6 540 5379 done -0.84 - - 1784 - - - 2651 - -146.0 - - 3765 - - - - - - - - 14.77 14.79 14.79
5679 730.4 -9.5 550 5684 roll -0.84 - - 1777 - 2.22 0.210 3775 506.3 -146.0 - - 3765 - - - - - - - - 14.77 14.51 14.78
5779 741.0 -10.6 570 5784 done -0.84 - - 1777 - 2.08 0.156 2651 -540.4 -146.0 - - 3765 - - - - - - - - 14.66 14.54 14.68
6099 772.9 -9.9 584 6104 roll -0.84 - - 1769 - 2.22 0.209 3773 505.4 -146.0 - - 3765 - - - - - - - - 14.78 14.52 14.81
6169 780.5 -11.0 598 6174 done -0.84 - - 1769 - 2.08 0.155 2651 -539.4 -146.0 - - 3765 - - - - - - - - 14.66 14.55 14.67
6503 813.2 -10.2 612 6508 roll -0.84 - - 1760 - 2.22 0.209 3769 503.6 -146.0 - - 3765 - - - - - - - - 14.76 14.50 14.78
6568 821.7 -11.2 625 6574 done -0.84 - - 1761 - 2.08 0.156 2651 -537.5 -146.0 - - 3765 - - - - - - - - 14.63 14.52 14.65
6895 855.6 -10.4 640 6900 roll -0.84 - - 1753 - 2.22 0.209 3769 503.6 -146.0 - - 3765 - - - - - - - - 14.69 14.44 14.70
6960 863.1 -11.7 653 6966 done -0.84 0.15 0.295 1784 206.7 2.10 0.156 2647 -534.3 -146.0 - - 3765 - - - - - - - - 14.40 14.47 14.56
7289 893.8 -9.3 668 7294 roll -0.84 - - 1777 - 2.25 0.208 3772 500.0 -146.0 - - 3765 - - - - - - - - 14.65 14.38 14.67
7354 900.6 -10.3 681 7360 done -0.84 - - 1777 - 2.10 0.155 2650 -534.3 -146.0 - - 3765 - - - - - - - - 14.54 14.44 14.55
7681 931.7 -9.5 696 7682 done -0.84 - - 1777 - - - 2650 - -146.0 - - 3765 - - - - - - - - 14.62 14.64 14.64
7980 960.1 -9.5 706 7985 roll -0.84 - - 1769 - 2.22 0.207 3769 504.1 -146.0 - - 3765 - - - - - - - - 14.62 14.37 14.64
8070 969.7 -10.7 724 8075 done -0.84 - - 1769 - 2.10 0.155 2649 -533.3 -146.0 - - 3765 - - - - - - - - 14.50 14.40 14.52
8277 end dive: TARGET_DEPTH_EXCEEDED
8278 begin apogee
8283 990.2 -9.8 736 8421 done -0.19 0.85 0.264 1990 260.0 - - 2503 - - 134.45 2.624 3164 -4.5 0.333 - - - - - - 14.34 13.43 12.58
8422 end apogee: CONTROL_FINISHED_OK
8422 begin climb
8425 993.5 - 740 8571 roll 0.84 1.20 0.185 2333 285.8 2.90 0.145 1089 -487.6 146.0 136.40 2.553 2568 -4.4 0.336 - - - - - - 13.42 13.12 12.43
8606 980.3 12.0 775 8612 done 0.84 - - 2333 - 2.92 0.162 2500 483.2 146.0 - - 2562 - - - - 1 - - - 13.57 13.44 13.57
8911 944.5 11.7 786 8912 done 0.84 - - 2333 - - - 2500 - 146.0 - - 2557 - - - - - - - - 14.18 14.19 14.19
9211 909.2 11.7 796 9212 done 0.84 - - 2333 - - - 2501 - 146.0 - - 2555 - - - - - - - - 14.35 14.38 14.38
9512 873.9 11.8 806 9517 roll 0.84 - - 2333 - 2.55 0.203 3776 500.0 146.0 - - 2555 - - - - - - - - 14.45 14.21 14.46
9547 869.1 13.7 813 9553 done 0.84 - - 2342 - 2.42 0.148 2491 -531.0 146.0 - - 2555 - - - - - - - - 14.36 14.26 14.38
9876 829.8 12.0 828 9877 done 0.84 - - 2342 - - - 2490 - 146.0 - - 2554 - - - - - - - - 14.54 14.57 14.57
10174 793.4 12.0 838 10175 done 0.84 - - 2342 - - - 2490 - 146.0 - - 2554 - - - - - - - - 14.61 14.63 14.63
10474 757.7 11.8 848 10479 roll 0.84 - - 2342 - 2.55 0.202 3772 502.7 146.0 - - 2554 - - - - - - - - 14.65 14.38 14.66
10509 753.0 13.7 855 10514 done 0.84 - - 2352 - 2.38 0.148 2493 -537.4 146.0 - - 2554 - - - - - - - - 14.54 14.44 14.56
10836 713.2 12.2 870 10837 done 0.84 - - 2355 - - - 2493 - 146.0 - - 2553 - - - - - - - - 14.69 14.70 14.70
11135 677.0 12.0 880 11136 done 0.84 - - 2350 - - - 2493 - 146.0 - - 2553 - - - - - - - - 14.70 14.72 14.72
11434 640.8 12.1 890 11435 done 0.84 - - 2352 - - - 2493 - 146.0 - - 2553 - - - - - - - - 14.73 14.75 14.75
11734 604.7 12.0 900 11735 done 0.84 - - 2351 - - - 2493 - 146.0 - - 2553 - - - - - - - - 14.75 14.77 14.77
12035 568.9 11.9 910 12036 done 0.84 - - 2351 - - - 2494 - 146.0 - - 2552 - - - - - - - - 14.75 14.77 14.77
12334 533.3 11.7 920 12335 done 0.84 - - 2352 - - - 2493 - 146.0 - - 2552 - - - - - - - - 14.77 14.79 14.79
12634 498.3 11.7 930 12639 roll 0.84 - - 2352 - 2.53 0.202 3777 507.5 146.0 - - 2552 - - - - - - - - 14.78 14.52 14.80
12689 490.9 13.6 941 12697 done 0.84 0.12 0.293 2336 -133.3 2.35 0.149 2507 -540.4 146.0 - - 2552 - - - - - - - - 14.50 14.57 14.65
12997 457.4 10.9 952 12998 done 0.84 - - 2337 - - - 2503 - 146.0 - - 2552 - - - - - - - - 14.77 14.80 14.79
13295 425.0 10.7 962 13296 done 0.84 - - 2337 - - - 2503 - 146.0 - - 2552 - - - - - - - - 14.78 14.81 14.80
13595 393.7 10.3 972 13600 roll 0.84 - - 2346 - 2.60 0.150 1082 -546.5 146.0 - - 2553 - - - - - - - - 14.77 14.55 14.80
13646 388.2 10.8 982 13651 done 0.84 - - 2346 - 2.67 0.163 2503 532.2 146.0 - - 2552 - - - - - - - - 14.66 14.53 14.69
13959 354.7 10.9 994 13959 done 0.84 - - 2345 - - - 2502 - 146.0 - - 2552 - - - - - - - - 14.78 14.80 14.80
14256 322.7 10.6 1004 14257 done 0.84 - - 2346 - - - 2502 - 146.0 - - 2552 - - - - - - - - 14.78 14.80 14.80
14557 292.8 9.9 1014 14558 done 0.84 - - 2346 - - - 2502 - 146.0 - - 2552 - - - - - - - - 14.78 14.80 14.79
14856 263.7 9.4 1024 14857 done 0.85 - - 2346 - - - 2502 - 146.0 - - 2552 - - - - - - - - 14.78 14.81 14.80
15158 238.2 8.3 1042 15159 done 0.89 - - 2345 - - - 2503 - 146.0 - - 2552 - - - - - - - - 14.77 14.79 14.80
15336 225.4 6.5 1060 15402 roll 0.96 - - 2356 - 2.75 0.145 1076 -518.9 221.4 59.30 1.693 2259 -4.9 0.130 - - - - - - 14.76 14.00 13.50
15488 213.5 8.7 1089 15495 done 0.99 - - 2356 - 2.80 0.163 2506 510.7 221.4 - - 2255 - - - - - - - - 14.19 14.08 14.23
15675 197.2 8.8 1108 15683 roll 1.01 - - 2356 - 2.50 0.203 3763 502.8 221.4 - - 2253 - - - - - - - - 14.46 14.20 14.48
15728 191.7 10.2 1118 15733 done 1.01 - - 2366 - 2.40 0.151 2493 -529.2 221.4 - - 2252 - - - - - - - - 14.33 14.24 14.35
15921 175.1 8.5 1138 15921 done 1.04 - - 2366 - - - 2494 - 221.4 - - 2251 - - - - - - - - 14.53 14.55 14.55
16099 160.3 8.2 1156 16104 roll 1.08 0.12 0.153 2425 491.7 2.62 0.145 1082 -538.9 221.4 - - 2250 - - - - - - - - 14.40 14.33 14.44
16164 154.1 9.7 1169 16171 done 1.08 - - 2425 - 2.72 0.164 2499 521.0 221.4 - - 2250 - - - - - - - - 14.46 14.33 14.48
16351 135.8 9.6 1188 16356 roll 1.08 - - 2425 - 2.53 0.203 3774 504.0 221.4 - - 2250 - - - - - - - - 14.59 14.34 14.61
16441 125.8 10.8 1206 16446 done 1.08 - - 2435 - 2.40 0.151 2494 -533.3 221.4 - - 2250 - - - - - - - - 14.49 14.39 14.51
16632 108.5 8.3 1226 16637 roll 1.11 - - 2445 - 2.60 0.146 1090 -540.0 221.4 - - 2250 - - - - - - - - 14.59 14.38 14.62
16662 105.9 8.5 1232 16667 done 1.14 - - 2445 - 2.70 0.163 2500 522.2 221.4 - - 2250 - - - - - - - - 14.47 14.34 14.49
16855 91.5 7.3 1252 16908 roll 1.20 - - 2445 - 2.67 0.203 3774 477.2 281.2 47.47 1.545 2014 -5.0 0.058 - - - - - - 14.59 13.97 13.51
17003 77.8 10.5 1279 17009 done 1.20 - - 2454 - 2.45 0.149 2498 -520.8 281.2 - - 2010 - - - - - - - - 14.21 14.11 14.22
17190 64.2 6.0 1298 17262 roll 1.29 - - 2465 - 2.83 0.145 1088 -498.2 367.7 66.60 1.491 1663 -5.2 0.044 - - - - - - 14.41 13.76 13.29
17307 56.2 7.4 1319 17356 done 1.34 - - 2465 - 2.83 0.161 2498 498.2 423.7 43.42 1.424 1435 -5.3 0.041 - - 1 - - - 14.00 13.87 13.21
17541 37.3 7.0 1347 17598 roll 1.41 0.12 0.153 2512 391.7 2.75 0.201 3773 463.6 489.2 51.35 1.395 1166 -5.2 0.028 - - - - - - 14.04 13.66 13.26
17638 28.3 11.1 1365 17644 done 1.41 - - 2521 - 2.50 0.147 2501 -508.8 489.2 - - 1164 - - - - - - - - 13.90 13.81 13.92
17831 12.7 6.9 1385 17890 done 1.48 - - 2521 - - - 2501 - 556.4 53.38 1.378 892 -5.1 0.009 - - - - - - 14.23 13.70 13.28
17968 end climb: SURFACE_DEPTH_REACHED
17968 begin surface coast
17989 end surface coast: CONTROL_FINISHED_OK
17989 begin surface
SM 0.55 - - - - -5.77 7.30 0.104 197 26.8 0.35 0.220 2653 -15934.3 653.97 128.52 0.220 498 3.9 -0.001 - - 1 - - -