SODA Sep18 * SG199 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 1 • 11.08 of 350.00 AH used of 24V (96.84% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -59.2 deg, depth 0.57 m • Intended pitch -18.8 deg, speed -10.000 cm/s
VBD pumped to 653.97 (SM_CC=653.96979) • surface range 141.3 m at 135.9 m depth, ceiling -5.4 m (m = 1.04, R^2 = 1.00)
• GPS1 time: 40 s • bottom range 2.2 m at 140.2 m, depth 142 m (990 m grid)(m = -0.88, R^2 = 0.98)
• GPS2 time: 10 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 - - - 132 VBD -0.84 - - 197 - - - 2658 - -146.0 -120.78 0.002 2281 - - - - - - - - 14.26 - 14.28
136 3.7 -6.1 12 188 roll -0.84 8.60 0.469 1771 183.0 2.33 0.229 3767 476.0 -146.0 -36.62 0.004 3765 -40.5 7.374 - - - - - - 13.93 13.38 14.17
415 86.5 -23.7 66 420 done -0.84 - - 1771 - 2.12 0.155 2653 -525.5 -146.0 - - 3767 - - - - - - - - 14.26 14.15 14.27
607 124.6 -18.8 86 612 roll -0.84 - - 1763 - 2.28 0.204 3770 489.9 -146.0 - - 3766 - - - - - - - - 14.43 14.18 14.45
837 170.0 -19.0 132 842 done -0.84 - - 1763 - 2.15 0.155 2641 -525.1 -146.0 - - 3766 - - - - - - - - 14.38 14.26 14.39
1029 202.6 -16.3 152 1035 roll -0.84 - - 1754 - 2.28 0.205 3769 494.7 -146.0 - - 3767 - - - - - - - - 14.50 14.25 14.53
1261 242.1 -16.3 198 1266 done -0.84 0.15 0.304 1784 200.0 2.12 0.155 2643 -531.1 -146.0 - - 3766 - - - - - - - - 14.26 14.32 14.40
1474 269.0 -12.4 210 1479 roll -0.84 - - 1778 - 2.28 0.208 3769 493.9 -146.0 - - 3766 - - - - - - - - 14.57 14.29 14.59
1669 295.1 -13.0 249 1675 done -0.84 - - 1778 - 2.10 0.156 2648 -533.8 -146.0 - - 3766 - - - - - - - - 14.48 14.38 14.50
1988 332.1 -11.4 262 1993 roll -0.84 - - 1769 - 2.25 0.207 3776 501.3 -146.0 - - 3766 - - - - - - - - 14.62 14.38 14.64
2053 340.2 -12.1 275 2058 done -0.84 - - 1769 - 2.10 0.155 2653 -534.8 -146.0 - - 3767 - - - - - - - - 14.53 14.42 14.54
2379 376.7 -11.2 290 2383 roll -0.84 - - 1761 - 2.25 0.208 3773 497.8 -146.0 - - 3767 - - - - - - - - 14.60 14.35 14.62
2424 382.2 -12.4 299 2429 done -0.84 - - 1761 - 2.10 0.154 2650 -534.8 -146.0 - - 3766 - - - - - - - - 14.49 14.38 14.51
2739 418.3 -11.4 312 2740 done -0.84 - - 1761 - - - 2650 - -146.0 - - 3766 - - - - - - - - 14.58 14.60 14.59
3039 452.0 -11.2 322 3044 roll -0.84 - - 1753 - 2.22 0.203 3769 504.1 -146.0 - - 3766 - - - - - - - - 14.57 14.33 14.58
3156 466.2 -12.5 345 3163 done -0.84 0.15 0.295 1783 200.0 2.10 0.152 2650 -532.9 -146.0 - - 3766 - - - - - - - - 14.29 14.35 14.45
3459 497.6 -10.2 356 3464 roll -0.84 - - 1777 - 2.22 0.202 3769 504.1 -146.0 - - 3766 - - - - - - - - 14.57 14.31 14.58
3524 504.8 -11.3 369 3530 done -0.84 - - 1777 - 2.10 0.151 2649 -533.3 -146.0 - - 3766 - - - - - - - - 14.46 14.35 14.47
3850 539.4 -10.5 384 3855 roll -0.84 - - 1769 - 2.25 0.202 3776 500.9 -146.0 - - 3765 - - - - - - - - 14.57 14.32 14.59
3895 544.5 -11.4 393 3901 done -0.84 - - 1768 - 2.10 0.149 2648 -537.1 -146.0 - - 3766 - - - - - - - - 14.46 14.35 14.47
4211 579.1 -10.9 406 4216 roll -0.84 - - 1764 - 2.22 0.200 3768 504.5 -146.0 - - 3766 - - - - - - - - 14.57 14.32 14.59
4296 589.3 -12.2 423 4303 done -0.84 - - 1760 - 2.10 0.148 2644 -535.2 -146.0 - - 3766 - - - - - - - - 14.48 14.38 14.50
4603 623.7 -11.1 434 4607 roll -0.84 - - 1752 - 2.22 0.202 3769 506.8 -146.0 - - 3766 - - - - - - - - 14.64 14.38 14.66
4663 631.0 -12.3 446 4668 done -0.84 0.15 0.297 1783 206.7 2.08 0.148 2648 -538.9 -146.0 - - 3766 - - - - - - - - 14.37 14.44 14.52
4995 664.3 -9.9 462 4996 done -0.84 - - 1783 - - - 2648 - -146.0 - - 3766 - - - - - - - - 14.69 14.71 14.71
5294 693.6 -9.7 472 5299 roll -0.84 - - 1776 - 2.20 0.200 3766 508.2 -146.0 - - 3766 - - - - - - - - 14.71 14.45 14.72
5411 705.9 -10.7 495 5417 done -0.84 - - 1776 - 2.05 0.149 2651 -543.9 -146.0 - - 3766 - - - - - - - - 14.59 14.50 14.62
5715 736.2 -9.9 506 5715 done -0.84 - - 1777 - - - 2651 - -146.0 - - 3766 - - - - - - - - 14.73 14.76 14.76
6015 765.7 -9.8 516 6020 roll -0.84 - - 1769 - 2.20 0.199 3775 510.9 -146.0 - - 3767 - - - - - - - - 14.76 14.49 14.77
6110 776.0 -10.9 535 6115 done -0.84 - - 1768 - 2.08 0.147 2643 -544.2 -146.0 - - 3766 - - - - - - - - 14.62 14.52 14.64
6436 808.6 -10.0 550 6437 done -0.84 - - 1768 - - - 2643 - -146.0 - - 3766 - - - - - - - - 14.76 14.77 14.77
6735 838.4 -9.8 560 6740 roll -0.84 - - 1760 - 2.20 0.201 3770 512.3 -146.0 - - 3766 - - - - - - - - 14.78 14.51 14.79
6840 849.9 -11.1 581 6846 done -0.84 - - 1760 - 2.05 0.149 2651 -545.9 -146.0 - - 3766 - - - - - - - - 14.66 14.55 14.67
7156 882.5 -10.3 594 7161 roll -0.84 - - 1752 - 2.20 0.200 3776 511.4 -146.0 - - 3767 - - - - - - - - 14.78 14.52 14.80
7222 889.8 -11.5 607 7228 done -0.84 0.15 0.298 1783 206.7 2.08 0.148 2643 -544.7 -146.0 - - 3767 - - - - - - - - 14.49 14.55 14.64
7550 920.4 -9.3 622 7555 roll -0.84 - - 1777 - 2.22 0.203 3776 510.4 -146.0 - - 3766 - - - - - - - - 14.78 14.52 14.80
7615 927.2 -10.2 635 7620 done -0.84 - - 1777 - 2.08 0.148 2642 -545.2 -146.0 - - 3766 - - - - - - - - 14.66 14.56 14.68
7940 958.5 -9.6 650 7941 done -0.84 - - 1777 - - - 2642 - -146.0 - - 3766 - - - - - - - - 14.78 14.81 14.80
8241 987.0 -9.5 660 8246 roll -0.84 - - 1768 - 2.22 0.203 3777 511.3 -146.0 - - 3767 - - - - - - - - 14.82 14.52 14.81
8268 end dive: TARGET_DEPTH_EXCEEDED
8268 begin apogee
8276 990.1 -10.5 666 8412 done -0.19 0.85 0.261 1993 264.7 - - 2500 - - 133.27 2.652 3166 -4.5 0.331 - - - - - - 14.50 13.51 12.62
8413 end apogee: CONTROL_FINISHED_OK
8413 begin climb
8415 993.6 - 670 8563 roll 0.84 1.15 0.171 2330 293.0 2.85 0.135 1087 -495.8 146.0 135.95 2.570 2565 -4.4 0.336 - - - - - - 13.45 13.16 12.47
8608 979.4 10.9 707 8613 done 0.84 - - 2330 - 2.88 0.154 2500 490.6 146.0 - - 2561 - - - - 1 - - - 13.66 13.53 13.69
8934 941.7 11.7 722 8934 done 0.84 - - 2330 - - - 2501 - 146.0 - - 2556 - - - - - - - - 14.23 14.26 14.23
9234 906.9 11.6 732 9239 roll 0.84 - - 2330 - 2.53 0.195 3770 501.6 146.0 - - 2555 - - - - - - - - 14.42 14.14 14.40
9285 900.3 13.5 742 9290 done 0.84 - - 2338 - 2.40 0.142 2493 -532.1 146.0 - - 2555 - - - - - - - - 14.30 14.21 14.32
9598 862.9 12.0 754 9599 done 0.84 - - 2338 - - - 2492 - 146.0 - - 2555 - - - - - - - - 14.51 14.52 14.52
9895 827.0 12.0 764 9896 done 0.84 - - 2339 - - - 2493 - 146.0 - - 2554 - - - - - - - - 14.58 14.60 14.59
10195 791.6 11.8 774 10196 done 0.84 - - 2338 - - - 2493 - 146.0 - - 2553 - - - - - - - - 14.63 14.65 14.65
10496 756.3 11.7 784 10497 done 0.84 - - 2339 - - - 2493 - 146.0 - - 2553 - - - - - - - - 14.65 14.68 14.66
10795 721.0 11.7 794 10796 done 0.84 - - 2339 - - - 2493 - 146.0 - - 2552 - - - - - - - - 14.70 14.72 14.71
11095 686.3 11.6 804 11100 roll 0.84 - - 2339 - 2.53 0.194 3776 507.1 146.0 - - 2552 - - - - - - - - 14.72 14.46 14.74
11135 681.1 13.3 812 11140 done 0.84 - - 2348 - 2.35 0.142 2500 -543.0 146.0 - - 2552 - - - - - - - - 14.61 14.51 14.62
11458 642.8 11.9 826 11458 done 0.84 - - 2348 - - - 2500 - 146.0 - - 2552 - - - - - - - - 14.73 14.76 14.76
11757 607.4 11.8 836 11757 done 0.84 - - 2348 - - - 2500 - 146.0 - - 2552 - - - - - - - - 14.74 14.76 14.76
12056 572.0 11.7 846 12056 done 0.84 - - 2346 - - - 2501 - 146.0 - - 2552 - - - - - - - - 14.77 14.79 14.78
12356 536.9 11.7 856 12361 roll 0.84 - - 2348 - 2.47 0.195 3770 513.8 146.0 - - 2552 - - - - - - - - 14.78 14.52 14.80
12406 530.3 13.8 866 12411 done 0.84 - - 2358 - 2.33 0.142 2500 -545.1 146.0 - - 2552 - - - - - - - - 14.66 14.57 14.69
12718 493.1 11.9 878 12719 done 0.84 - - 2358 - - - 2500 - 146.0 - - 2552 - - - - - - - - 14.77 14.80 14.79
13017 457.7 11.9 888 13018 done 0.84 - - 2358 - - - 2500 - 146.0 - - 2552 - - - - - - - - 14.77 14.78 14.78
13316 422.7 11.6 898 13317 done 0.84 - - 2355 - - - 2500 - 146.0 - - 2552 - - - - - - - - 14.78 14.80 14.80
13616 388.1 11.5 908 13617 done 0.84 - - 2358 - - - 2500 - 146.0 - - 2552 - - - - - - - - 14.78 14.79 14.79
13917 354.1 11.3 918 13918 done 0.84 - - 2358 - - - 2500 - 146.0 - - 2552 - - - - - - - - 14.77 14.79 14.79
14216 320.4 11.2 928 14217 done 0.84 - - 2358 - - - 2500 - 146.0 - - 2552 - - - - - - - - 14.78 14.81 14.80
14516 288.4 10.5 938 14517 done 0.84 - - 2358 - - - 2500 - 146.0 - - 2551 - - - - - - - - 14.77 14.80 14.79
14816 258.6 9.6 948 14817 done 0.84 - - 2358 - - - 2500 - 146.0 - - 2552 - - - - - - - - 14.78 14.81 14.81
15118 232.6 8.2 970 15123 roll 0.88 - - 2358 - 2.47 0.196 3770 514.2 146.0 - - 2552 - - - - - - - - 14.79 14.50 14.78
15208 224.8 8.5 988 15214 done 0.91 - - 2367 - 2.33 0.145 2502 -544.2 146.0 - - 2552 - - - - - - - - 14.62 14.54 14.64
15401 211.4 6.4 1008 15469 roll 0.99 - - 2378 - 2.70 0.137 1080 -526.7 225.0 61.72 1.701 2245 -5.0 0.122 - - - - - - 14.75 13.97 13.47
15509 202.6 9.3 1028 15514 done 1.00 - - 2378 - 2.78 0.155 2503 511.9 225.0 - - 2241 - - - - - - - - 14.16 14.03 14.17
15702 184.6 9.4 1048 15707 roll 1.01 - - 2379 - 2.53 0.196 3771 501.2 225.0 - - 2238 - - - - - - - - 14.42 14.16 14.45
15772 176.9 10.7 1062 15777 done 1.01 - - 2388 - 2.40 0.145 2500 -529.6 225.0 - - 2238 - - - - - - - - 14.34 14.25 14.39
15965 158.9 9.1 1082 15970 roll 1.03 - - 2398 - 2.62 0.140 1088 -538.9 225.0 - - 2237 - - - - - - - - 14.51 14.29 14.53
16025 153.5 8.7 1094 16030 done 1.05 - - 2398 - 2.70 0.156 2499 522.6 225.0 - - 2236 - - - - - - - - 14.42 14.28 14.44
16218 136.8 9.0 1114 16218 done 1.08 - - 2398 - - - 2498 - 225.0 - - 2236 - - - - - - - - 14.57 14.59 14.59
16398 121.6 8.0 1132 16398 done 1.11 - - 2398 - - - 2499 - 225.0 - - 2235 - - - - - - - - 14.59 14.62 14.62
16578 107.5 7.1 1150 16631 done 1.18 0.12 0.154 2446 400.0 - - 2499 - 289.5 51.20 1.577 1984 -4.9 0.066 - - - - - - 14.36 14.00 13.44
16808 84.7 10.1 1177 16814 roll 1.18 - - 2456 - 2.70 0.140 1090 -521.9 289.5 - - 1973 - - - - - - - - 14.28 14.07 14.30
16889 77.3 8.8 1193 16895 done 1.20 - - 2456 - 2.75 0.157 2501 513.1 289.5 - - 1972 - - - - - - - - 14.18 14.07 14.21
17082 63.3 5.8 1213 17161 roll 1.30 - - 2456 - 2.65 0.195 3771 479.2 381.8 70.82 1.509 1603 -5.2 0.043 - - - - - - 14.35 13.68 13.23
17202 54.4 9.6 1234 17207 done 1.30 - - 2465 - 2.47 0.145 2501 -514.2 381.8 - - 1600 - - - - - - - - 13.92 13.83 13.94
17394 40.0 6.9 1254 17453 done 1.36 - - 2465 - - - 2501 - 449.5 52.42 1.450 1328 -5.2 0.028 - - - - - - 14.23 13.76 13.23
17632 24.6 5.4 1278 17715 done 1.46 0.20 0.119 2531 330.0 - - 2501 - 550.7 79.45 1.418 915 -5.2 0.018 - - - - - - 13.98 13.62 13.11
17892 3.7 9.0 1304 17893 done 1.49 - - 2531 - - - 2501 - 550.7 - - 912 - - - - - - - - 14.09 14.11 14.11
17910 end climb: SURFACE_DEPTH_REACHED
17910 begin surface coast
17931 end surface coast: CONTROL_FINISHED_OK
17931 begin surface
SM 0.64 - - - - -5.79 7.32 0.103 196 26.8 0.35 0.230 2650 7371.4 653.97 134.48 0.222 500 3.7 -0.001 - - 1 - - -