SODA Sep18 * SG199 * Dive index * Mission links * Dive 65 * Raw log
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• Previous call tries 1 • 33.90 of 350.00 AH used of 24V (90.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.0 deg, depth 0.79 m • Intended pitch -13.8 deg, speed -8.462 cm/s
• No surface pump (final VBD was 525.19, SM_CC=525) • surface range 21.5 m at 19.8 m depth, ceiling -1.7 m
• GPS1 time: 35 s
• GPS2 time: 7 s • Transponder ping count: 1
• 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 - - - 103 VBD -0.66 - - 179 - - - 2761 - -146.0 -91.53 0.002 2252 - - - - - - - - 14.29 - 14.31
106 5.1 -9.0 9 151 roll -0.66 9.38 0.479 1841 177.2 2.00 0.211 3769 504.0 -146.0 -28.75 0.005 3542 -44.9 9.157 - - - - - - 13.90 13.33 14.15
377 78.5 -19.8 62 383 done -0.66 - - 1841 - 1.90 0.142 2744 -539.5 -146.0 - - 3542 - - - - - - - - 14.31 14.21 14.33
562 108.0 -14.6 81 568 roll -0.66 - - 1834 - 2.03 0.190 3771 505.9 -146.0 - - 3543 - - - - - - - - 14.46 14.21 14.47
793 142.5 -14.6 127 798 done -0.66 - - 1834 - 1.90 0.142 2746 -539.5 -146.0 - - 3543 - - - - - - - - 14.40 14.29 14.41
983 168.1 -12.9 147 984 done -0.66 - - 1833 - - - 2746 - -146.0 - - 3542 - - - - - - - - 14.55 14.57 14.57
1163 190.8 -12.4 165 1169 roll -0.66 - - 1829 - 2.00 0.192 3769 511.5 -146.0 - - 3543 - - - - - - - - 14.58 14.31 14.59
1204 196.3 -13.5 173 1210 done -0.66 - - 1829 - 1.88 0.142 2747 -543.6 -146.0 - - 3542 - - - - - - - - 14.45 14.35 14.47
1395 219.5 -11.5 193 1396 done -0.66 - - 1829 - - - 2747 - -146.0 - - 3543 - - - - - - - - 14.59 14.62 14.61
1575 238.9 -10.3 211 1576 done -0.66 - - 1829 - - - 2747 - -146.0 - - 3542 - - - - - - - - 14.61 14.63 14.62
1755 256.3 -9.6 225 1756 done -0.66 - - 1829 - - - 2747 - -146.0 - - 3542 - - - - - - - - 14.63 14.65 14.64
2055 283.4 -9.0 235 2056 done -0.66 - - 1829 - - - 2747 - -146.0 - - 3542 - - - - - - - - 14.67 14.70 14.69
2355 309.0 -8.3 245 2356 done -0.66 - - 1829 - - - 2746 - -146.0 - - 3543 - - - - - - - - 14.71 14.72 14.72
2655 333.3 -8.1 255 2660 roll -0.66 - - 1821 - 2.00 0.197 3772 513.0 -146.0 - - 3543 - - - - - - - - 14.73 14.45 14.74
2735 340.2 -8.6 271 2740 done -0.66 0.15 0.269 1853 213.3 1.88 0.145 2744 -546.8 -146.0 - - 3542 - - - - - - - - 14.43 14.50 14.59
3046 361.7 -6.7 283 3046 done -0.66 - - 1853 - - - 2745 - -146.0 - - 3543 - - - - - - - - 14.73 14.76 14.76
3346 381.7 -6.6 293 3346 done -0.66 - - 1853 - - - 2744 - -146.0 - - 3542 - - - - - - - - 14.75 14.77 14.76
3646 401.0 -6.4 303 3651 roll -0.66 - - 1854 - 2.53 0.132 1333 -557.7 -146.0 - - 3542 - - - - - - - - 14.76 14.52 14.78
3711 405.3 -6.7 316 3716 done -0.66 - - 1845 - 2.67 0.161 2750 530.7 -146.0 - - 3542 - - - - - - - - 14.63 14.50 14.65
4036 427.5 -6.9 331 4037 done -0.66 - - 1845 - - - 2750 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.78
4336 448.1 -6.9 341 4337 done -0.66 - - 1845 - - - 2750 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.78
4636 469.0 -7.0 351 4637 done -0.66 - - 1845 - - - 2750 - -146.0 - - 3542 - - - - - - - - 14.77 14.78 14.79
4936 490.0 -7.0 361 4942 roll -0.66 - - 1845 - 2.55 0.131 1327 -558.0 -146.0 - - 3543 - - - - - - - - 14.78 14.54 14.79
5007 495.0 -7.1 375 5013 done -0.66 - - 1836 - 2.65 0.161 2750 537.0 -146.0 - - 3543 - - - - - - - - 14.59 14.52 14.64
5328 518.2 -7.1 389 5329 done -0.66 - - 1836 - - - 2751 - -146.0 - - 3543 - - - - - - - - 14.78 14.80 14.80
5628 539.0 -6.9 399 5629 done -0.66 - - 1835 - - - 2750 - -146.0 - - 3543 - - - - - - - - 14.79 14.81 14.81
5928 559.8 -7.0 409 5929 done -0.66 - - 1836 - - - 2750 - -146.0 - - 3543 - - - - - - - - 14.79 14.81 14.81
6228 581.1 -7.1 419 6229 done -0.66 - - 1835 - - - 2750 - -146.0 - - 3543 - - - - - - - - 14.73 14.76 14.76
6528 602.5 -7.1 429 6534 roll -0.66 - - 1835 - 2.55 0.129 1331 -556.5 -146.0 - - 3543 - - - - - - - - 14.69 14.46 14.71
6584 606.6 -7.4 440 6590 done -0.66 - - 1828 - 2.70 0.159 2755 527.4 -146.0 - - 3543 - - - - - - - - 14.57 14.44 14.59
6889 628.9 -7.3 451 6890 done -0.66 - - 1828 - - - 2756 - -146.0 - - 3544 - - - - - - - - 14.66 14.68 14.67
7189 650.7 -7.2 461 7190 done -0.66 - - 1829 - - - 2755 - -146.0 - - 3543 - - - - - - - - 14.64 14.66 14.66
7489 672.2 -7.1 471 7494 roll -0.66 - - 1829 - 2.58 0.129 1334 -550.8 -146.0 - - 3544 - - - - - - - - 14.63 14.40 14.65
7539 675.9 -7.3 481 7546 done -0.66 0.15 0.282 1852 153.3 2.67 0.158 2750 530.3 -146.0 - - 3544 - - - - - - - - 14.34 14.38 14.50
7851 695.2 -6.1 493 7852 done -0.66 - - 1850 - - - 2750 - -146.0 - - 3543 - - - - - - - - 14.62 14.64 14.63
8151 713.4 -6.0 503 8152 done -0.66 - - 1850 - - - 2749 - -146.0 - - 3543 - - - - - - - - 14.62 14.64 14.64
8451 731.4 -6.0 513 8452 done -0.66 - - 1850 - - - 2750 - -146.0 - - 3543 - - - - - - - - 14.67 14.69 14.69
8751 749.6 -6.1 523 8752 done -0.66 - - 1850 - - - 2750 - -146.0 - - 3547 - - - - - - - - 14.71 14.73 14.73
9051 768.3 -6.3 533 9057 roll -0.66 - - 1851 - 2.55 0.128 1329 -557.3 -146.0 - - 3544 - - - - - - - - 14.73 14.50 14.75
9107 772.0 -6.5 544 9113 done -0.66 - - 1843 - 2.67 0.159 2750 532.2 -146.0 - - 3544 - - - - - - - - 14.61 14.48 14.63
9412 791.7 -6.5 555 9413 done -0.66 - - 1843 - - - 2750 - -146.0 - - 3544 - - - - - - - - 14.74 14.76 14.76
9712 811.2 -6.5 565 9713 done -0.66 - - 1843 - - - 2748 - -146.0 - - 3544 - - - - - - - - 14.77 14.79 14.79
10012 830.9 -6.6 575 10013 done -0.66 - - 1843 - - - 2750 - -146.0 - - 3544 - - - - - - - - 14.77 14.79 14.78
10312 850.5 -6.6 585 10318 roll -0.66 - - 1843 - 2.55 0.129 1326 -558.4 -146.0 - - 3544 - - - - - - - - 14.79 14.54 14.81
10363 854.0 -6.9 595 10368 done -0.66 - - 1834 - 2.67 0.158 2753 534.5 -146.0 - - 3544 - - - - - - - - 14.64 14.51 14.66
10673 875.0 -6.8 607 10674 done -0.66 - - 1834 - - - 2753 - -146.0 - - 3543 - - - - - - - - 14.79 14.81 14.81
10973 895.1 -6.6 617 10974 done -0.66 - - 1834 - - - 2753 - -146.0 - - 3544 - - - - - - - - 14.78 14.81 14.81
11274 914.8 -6.6 627 11274 done -0.66 - - 1832 - - - 2754 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.82
11573 934.1 -6.4 637 11574 done -0.66 - - 1834 - - - 2753 - -146.0 - - 3544 - - - - - - - - 14.80 14.82 14.82
11873 953.1 -6.3 647 11874 done -0.66 - - 1834 - - - 2753 - -146.0 - - 3547 - - - - - - - - 14.81 14.83 14.83
12173 971.8 -6.2 657 12180 roll -0.66 - - 1834 - 2.53 0.129 1310 -570.4 -146.0 - - 3544 - - - - - - - - 14.81 14.58 14.83
12230 975.4 -6.7 668 12236 done -0.66 - - 1829 - 2.70 0.160 2754 534.8 -146.0 - - 3544 - - - - - - - - 14.68 14.55 14.71
12472 end dive: TARGET_DEPTH_EXCEEDED
12472 begin apogee
12478 990.9 -6.3 677 12614 done -0.19 0.65 0.235 2005 270.8 - - 2597 - - 133.48 2.593 2942 -4.5 0.345 - - - - - - 14.53 13.59 12.73
12615 end apogee: CONTROL_FINISHED_OK
12615 begin climb
12618 992.7 - 681 12758 done 0.66 0.98 0.164 2277 277.6 - - 2597 - 146.0 136.93 2.518 2345 -4.4 0.344 - - - - - - 13.57 13.09 12.26
13047 953.2 10.2 696 13052 roll 0.66 - - 2287 - 2.70 0.128 1184 -523.3 146.0 - - 2336 - - - - - - - - 14.01 13.79 14.02
13072 950.5 9.8 701 13078 done 0.66 - - 2287 - 2.80 0.145 2605 507.5 146.0 - - 2335 - - - - - - - - 13.93 13.80 13.94
13377 918.4 10.5 712 13378 done 0.66 - - 2287 - - - 2605 - 146.0 - - 2334 - - - - - - - - 14.29 14.31 14.31
13677 887.0 10.5 722 13683 roll 0.66 - - 2297 - 2.65 0.128 1177 -538.9 146.0 - - 2333 - - - - - - - - 14.44 14.21 14.46
13713 883.3 10.5 729 13718 done 0.66 - - 2295 - 2.72 0.147 2604 524.6 146.0 - - 2333 - - - - - - - - 14.33 14.20 14.35
14038 848.0 10.8 744 14039 done 0.66 - - 2297 - - - 2604 - 146.0 - - 2333 - - - - - - - - 14.55 14.57 14.57
14338 815.5 10.8 754 14344 roll 0.66 - - 2307 - 2.60 0.128 1178 -548.5 146.0 - - 2333 - - - - - - - - 14.62 14.38 14.64
14374 811.7 10.8 761 14380 done 0.66 - - 2307 - 2.67 0.147 2604 534.1 146.0 - - 2333 - - - - - - - - 14.50 14.37 14.52
14700 775.0 11.3 776 14701 done 0.66 - - 2307 - - - 2604 - 146.0 - - 2332 - - - - - - - - 14.66 14.69 14.69
15000 741.3 11.2 786 15005 roll 0.66 - - 2317 - 2.58 0.129 1184 -550.4 146.0 - - 2332 - - - - - - - - 14.70 14.47 14.71
15026 738.5 11.3 791 15032 done 0.66 0.15 0.260 2284 -220.0 2.65 0.147 2602 535.1 146.0 - - 2332 - - - - - - - - 14.40 14.45 14.57
15331 707.9 9.9 802 15332 done 0.66 - - 2284 - - - 2602 - 146.0 - - 2332 - - - - - - - - 14.72 14.74 14.74
15631 678.0 9.9 812 15636 roll 0.66 - - 2293 - 2.58 0.129 1183 -550.0 146.0 - - 2331 - - - - - - - - 14.74 14.51 14.76
15661 675.0 9.5 818 15667 done 0.66 - - 2293 - 2.65 0.149 2602 535.5 146.0 - - 2331 - - - - - - - - 14.62 14.49 14.64
15992 640.8 10.3 834 15993 done 0.66 - - 2293 - - - 2603 - 146.0 - - 2331 - - - - - - - - 14.76 14.77 14.77
16292 609.9 10.4 844 16298 roll 0.66 - - 2304 - 2.60 0.131 1175 -549.2 146.0 - - 2331 - - - - - - - - 14.77 14.54 14.79
16313 607.8 10.4 848 16318 done 0.66 - - 2304 - 2.65 0.149 2601 538.1 146.0 - - 2331 - - - - - - - - 14.64 14.51 14.67
16623 574.3 10.8 860 16624 done 0.66 - - 2304 - - - 2601 - 146.0 - - 2331 - - - - - - - - 14.78 14.80 14.80
16923 542.5 10.5 870 16929 roll 0.66 - - 2313 - 2.58 0.131 1181 -550.4 146.0 - - 2331 - - - - - - - - 14.78 14.54 14.81
16954 539.3 10.1 876 16960 done 0.66 0.12 0.262 2287 -216.7 2.65 0.150 2603 536.6 146.0 - - 2331 - - - - - - - - 14.50 14.52 14.66
17285 506.9 9.8 892 17286 done 0.66 - - 2287 - - - 2602 - 146.0 - - 2331 - - - - - - - - 14.79 14.81 14.81
17585 477.4 9.9 902 17591 roll 0.66 - - 2296 - 2.58 0.131 1180 -551.2 146.0 - - 2331 - - - - - - - - 14.79 14.56 14.81
17611 474.9 9.4 907 17617 done 0.66 - - 2296 - 2.65 0.151 2605 537.7 146.0 - - 2331 - - - - - - - - 14.66 14.53 14.68
17916 443.6 10.2 918 17917 done 0.66 - - 2296 - - - 2605 - 146.0 - - 2331 - - - - - - - - 14.79 14.81 14.81
18216 413.5 10.0 928 18221 roll 0.66 - - 2306 - 2.58 0.130 1184 -550.8 146.0 - - 2331 - - - - - - - - 14.79 14.57 14.81
18246 410.5 9.4 934 18252 done 0.66 - - 2306 - 2.62 0.148 2601 540.8 146.0 - - 2331 - - - - - - - - 14.66 14.53 14.69
18578 376.3 10.4 950 18578 done 0.66 - - 2306 - - - 2600 - 146.0 - - 2331 - - - - - - - - 14.79 14.81 14.81
18878 345.7 10.0 960 18883 roll 0.66 - - 2316 - 2.55 0.131 1184 -555.3 146.0 - - 2331 - - - - - - - - 14.80 14.57 14.81
18913 342.2 9.8 967 18918 done 0.66 0.12 0.256 2289 -225.0 2.62 0.148 2602 541.2 146.0 - - 2331 - - - - - - - - 14.50 14.52 14.66
19239 312.7 9.0 982 19239 done 0.66 - - 2289 - - - 2602 - 146.0 - - 2330 - - - - - - - - 14.79 14.81 14.81
19539 286.4 8.6 992 19544 roll 0.66 - - 2298 - 2.58 0.130 1178 -551.9 146.0 - - 2330 - - - - - - - - 14.80 14.57 14.82
19589 282.2 8.3 1002 19595 done 0.66 - - 2298 - 2.65 0.150 2605 538.5 146.0 - - 2330 - - - - - - - - 14.66 14.53 14.69
19901 256.0 8.2 1014 19907 roll 0.66 - - 2298 - 2.22 0.191 3777 527.9 146.0 - - 2330 - - - - - - - - 14.80 14.53 14.82
19962 250.4 9.2 1026 19968 done 0.66 - - 2306 - 2.15 0.143 2594 -550.2 146.0 - - 2330 - - - - - - - - 14.67 14.57 14.69
20273 226.6 7.6 1060 20274 done 0.69 - - 2306 - - - 2594 - 146.0 - - 2330 - - - - - - - - 14.76 14.78 14.78
20458 213.6 6.4 1078 20464 roll 0.75 - - 2316 - 2.55 0.132 1179 -554.9 146.0 - - 2330 - - - - - - - - 14.71 14.50 14.73
20479 212.0 6.9 1082 20485 done 0.79 - - 2316 - 2.65 0.151 2601 536.6 146.0 - - 2330 - - - - - - - - 14.59 14.47 14.62
20671 199.2 6.5 1102 20672 done 0.85 - - 2312 - - - 2600 - 146.0 - - 2331 - - - - - - - - 14.67 14.69 14.69
20851 187.9 6.0 1120 20856 roll 0.93 0.12 0.137 2387 625.0 2.58 0.129 1187 -547.7 146.0 - - 2330 - - - - - - - - 14.47 14.42 14.51
20907 183.8 7.3 1131 20913 done 0.96 - - 2386 - 2.67 0.151 2604 530.7 146.0 - - 2330 - - - - - - - - 14.52 14.39 14.54
21092 169.6 7.9 1150 21093 done 0.98 - - 2386 - - - 2606 - 146.0 - - 2330 - - - - - - - - 14.60 14.62 14.62
21272 155.9 7.3 1168 21273 done 1.01 - - 2385 - - - 2605 - 146.0 - - 2330 - - - - - - - - 14.59 14.61 14.61
21452 143.0 6.9 1186 21453 done 1.06 - - 2386 - - - 2605 - 146.0 - - 2330 - - - - - - - - 14.57 14.60 14.59
21632 131.0 6.8 1204 21637 roll 1.11 0.12 0.138 2440 450.0 2.28 0.193 3776 513.6 146.0 - - 2330 - - - - - - - - 14.40 14.31 14.44
21753 120.4 9.0 1228 21757 done 1.11 - - 2449 - 2.17 0.146 2601 -541.5 146.0 - - 2332 - - - - - - - - 14.45 14.35 14.47
21943 106.0 7.2 1248 21944 done 1.15 - - 2449 - - - 2602 - 146.0 - - 2330 - - - - - - - - 14.53 14.55 14.54
22123 95.1 5.3 1266 22129 roll 1.24 - - 2459 - 2.60 0.135 1186 -544.6 146.0 - - 2330 - - - - - - - - 14.52 14.31 14.54
22184 92.1 4.9 1278 22190 done 1.35 0.15 0.126 2513 360.0 2.70 0.153 2607 526.3 146.0 - - 2330 - - - - - - - - 14.33 14.25 14.38
22378 83.6 3.8 1298 22477 roll 1.47 - - 2523 - 2.80 0.131 1184 -508.2 266.6 94.07 1.509 1852 -5.1 0.056 - - - - - - 14.49 13.75 13.23
22493 75.3 9.6 1311 22499 done 1.47 - - 2523 - 2.80 0.152 2598 505.0 266.6 - - 1850 - - - - - - - - 13.91 13.78 13.93
22678 56.4 8.7 1330 22683 roll 1.47 - - 2533 - 2.67 0.131 1183 -530.0 266.6 - - 1844 - - - - - - - - 14.27 14.06 14.28
22764 50.9 5.5 1347 22770 done 1.56 0.12 0.155 2577 366.7 2.75 0.154 2602 516.0 266.6 - - 1843 - - - - - - - - 14.12 14.06 14.20
22951 42.8 3.8 1366 23046 done 1.68 - - 2577 - - - 2602 - 385.7 91.47 1.423 1365 -5.2 0.031 - - - - - - 14.40 13.74 13.21
23231 21.8 6.2 1399 23236 roll 1.75 0.15 0.133 2633 373.3 2.33 0.190 3768 500.4 385.7 - - 1357 - - - - - - - - 14.03 13.96 14.08
23267 19.0 8.0 1406 23274 done 1.75 - - 2641 - 2.20 0.142 2601 -530.5 385.7 - - 1357 - - - - - - - - 14.14 14.04 14.17
23452 8.7 3.0 1425 23553 VBD 1.89 - - 2641 - - - 2601 - 525.7 98.68 1.347 863 -5.0 0.006 - - - - - - 14.35 - 14.37
23554 end climb: SURFACE_DEPTH_REACHED
23554 begin surface coast
23568 end surface coast: CONTROL_FINISHED_OK
23568 begin surface
SM 0.38 - - - - -5.80 7.75 0.096 196 25.1 0.35 0.220 2754 -16365.7 525.19 27.75 0.223 801 28.9 -0.005 - - 1 - - -