SODA Sep18 * SG199 * Dive index * Mission links * Dive 70 * Raw log
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• Previous call tries 1 • 36.47 of 350.00 AH used of 24V (89.58% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.9 deg, depth 0.76 m • Intended pitch -13.8 deg, speed -8.462 cm/s
• No surface pump (final VBD was 547.26, SM_CC=525) • surface range 20.3 m at 19.7 m depth, ceiling -0.6 m
• GPS1 time: 23 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 - - 167 - - - 2762 - -146.0 -91.57 0.002 2244 - - - - - - - - 14.20 - 14.21
106 4.8 -7.8 9 151 roll -0.66 9.50 0.476 1842 176.3 2.08 0.233 3767 483.2 -146.0 -29.45 0.005 3539 -44.0 8.495 - - - - - - 13.81 13.45 14.07
377 78.6 -20.7 62 383 done -0.66 - - 1842 - 1.98 0.164 2746 -515.7 -146.0 - - 3541 - - - - - - - - 14.21 14.10 14.23
562 107.8 -14.1 81 567 roll -0.66 - - 1834 - 2.10 0.209 3770 487.6 -146.0 - - 3540 - - - - - - - - 14.35 14.10 14.37
793 143.0 -14.6 127 798 done -0.66 - - 1833 - 1.95 0.163 2749 -523.6 -146.0 - - 3540 - - - - - - - - 14.31 14.20 14.33
983 168.4 -12.9 147 988 roll -0.66 - - 1827 - 2.08 0.210 3769 490.4 -146.0 - - 3540 - - - - - - - - 14.50 14.21 14.51
1213 200.2 -13.7 193 1219 done -0.66 0.12 0.333 1850 191.7 1.95 0.164 2744 -525.6 -146.0 - - 3541 - - - - - - - - 14.23 14.30 14.39
1404 221.3 -10.6 213 1410 roll -0.66 - - 1844 - 2.10 0.213 3779 492.9 -146.0 - - 3540 - - - - - - - - 14.57 14.28 14.58
1626 245.0 -10.2 257 1631 done -0.66 - - 1844 - 1.98 0.166 2741 -524.2 -146.0 - - 3541 - - - - - - - - 14.47 14.35 14.49
1837 264.3 -8.9 269 1837 done -0.66 - - 1844 - - - 2741 - -146.0 - - 3540 - - - - - - - - 14.62 14.64 14.64
2137 289.7 -8.2 279 2141 roll -0.66 - - 1835 - 2.08 0.216 3770 494.7 -146.0 - - 3540 - - - - - - - - 14.66 14.38 14.69
2222 297.2 -8.9 296 2228 done -0.66 - - 1836 - 1.95 0.167 2743 -526.7 -146.0 - - 3540 - - - - - - - - 14.55 14.42 14.57
2527 322.7 -8.1 307 2528 done -0.66 - - 1836 - - - 2743 - -146.0 - - 3541 - - - - - - - - 14.69 14.71 14.71
2827 346.2 -7.7 317 2828 done -0.66 - - 1836 - - - 2743 - -146.0 - - 3540 - - - - - - - - 14.71 14.73 14.73
3127 369.6 -7.8 327 3128 done -0.66 - - 1836 - - - 2743 - -146.0 - - 3540 - - - - - - - - 14.73 14.76 14.75
3427 392.7 -7.6 337 3428 done -0.66 - - 1836 - - - 2743 - -146.0 - - 3540 - - - - - - - - 14.74 14.77 14.76
3727 415.1 -7.4 347 3732 roll -0.66 - - 1836 - 2.60 0.154 1334 -541.9 -146.0 - - 3540 - - - - - - - - 14.76 14.50 14.77
3787 419.7 -7.6 359 3792 done -0.66 - - 1829 - 2.75 0.184 2750 514.9 -146.0 - - 3540 - - - - - - - - 14.60 14.47 14.63
4117 444.3 -7.3 375 4118 done -0.66 - - 1828 - - - 2751 - -146.0 - - 3540 - - - - - - - - 14.75 14.78 14.78
4417 465.8 -7.1 385 4418 done -0.66 - - 1829 - - - 2750 - -146.0 - - 3540 - - - - - - - - 14.76 14.78 14.78
4717 487.3 -7.2 395 4722 roll -0.66 - - 1828 - 2.65 0.151 1325 -537.7 -146.0 - - 3540 - - - - - - - - 14.77 14.50 14.78
4773 491.4 -7.4 406 4779 done -0.66 0.12 0.294 1849 175.0 2.78 0.181 2757 515.1 -146.0 - - 3541 - - - - - - - - 14.45 14.47 14.62
5078 511.0 -6.4 417 5078 done -0.66 - - 1849 - - - 2757 - -146.0 - - 3541 - - - - - - - - 14.78 14.79 14.79
5378 530.3 -6.5 427 5378 done -0.66 - - 1849 - - - 2758 - -146.0 - - 3540 - - - - - - - - 14.81 14.81 14.83
5678 549.7 -6.5 437 5678 done -0.66 - - 1848 - - - 2757 - -146.0 - - 3540 - - - - - - - - 14.79 14.81 14.81
5978 569.0 -6.4 447 5983 roll -0.66 - - 1849 - 2.65 0.151 1326 -540.0 -146.0 - - 3541 - - - - - - - - 14.80 14.54 14.82
6033 572.7 -6.6 458 6039 done -0.66 - - 1841 - 2.75 0.181 2750 517.8 -146.0 - - 3541 - - - - - - - - 14.66 14.52 14.69
6338 593.5 -6.8 469 6339 done -0.66 - - 1841 - - - 2750 - -146.0 - - 3541 - - - - - - - - 14.80 14.82 14.81
6638 613.8 -6.7 479 6639 done -0.66 - - 1841 - - - 2750 - -146.0 - - 3541 - - - - - - - - 14.80 14.82 14.82
6938 634.0 -6.7 489 6939 done -0.66 - - 1842 - - - 2750 - -146.0 - - 3541 - - - - - - - - 14.81 14.83 14.83
7238 654.1 -6.7 499 7239 done -0.66 - - 1842 - - - 2750 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
7538 673.9 -6.6 509 7544 roll -0.66 - - 1841 - 2.62 0.151 1327 -543.1 -146.0 - - 3541 - - - - - - - - 14.81 14.56 14.83
7594 677.8 -6.8 520 7600 done -0.66 - - 1832 - 2.75 0.181 2751 517.8 -146.0 - - 3542 - - - - - - - - 14.67 14.53 14.69
7899 698.6 -6.8 531 7900 done -0.66 - - 1832 - - - 2752 - -146.0 - - 3541 - - - - - - - - 14.81 14.83 14.83
8199 718.7 -6.7 541 8205 roll -0.66 - - 1832 - 2.62 0.151 1334 -541.2 -146.0 - - 3542 - - - - - - - - 14.81 14.56 14.83
8255 722.6 -6.9 552 8261 done -0.66 - - 1829 - 2.75 0.182 2756 517.1 -146.0 - - 3542 - - - - - - - - 14.67 14.52 14.70
8560 743.0 -6.7 563 8561 done -0.66 - - 1829 - - - 2755 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.82
8860 763.2 -6.7 573 8861 done -0.66 - - 1828 - - - 2755 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
9160 783.1 -6.6 583 9161 done -0.66 - - 1828 - - - 2755 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
9460 803.0 -6.6 593 9461 done -0.66 - - 1828 - - - 2755 - -146.0 - - 3542 - - - - - - - - 14.82 14.84 14.83
9760 823.1 -6.7 603 9761 done -0.66 - - 1829 - - - 2755 - -146.0 - - 3542 - - - - - - - - 14.82 14.84 14.83
10060 843.4 -6.8 613 10066 roll -0.66 - - 1828 - 2.65 0.151 1324 -540.0 -146.0 - - 3542 - - - - - - - - 14.82 14.57 14.83
10141 849.0 -6.9 629 10148 done -0.66 0.15 0.282 1851 153.3 2.78 0.182 2758 515.8 -146.0 - - 3545 - - - - - - - - 14.51 14.53 14.67
10453 867.6 -5.9 641 10454 done -0.66 - - 1851 - - - 2758 - -146.0 - - 3541 - - - - - - - - 14.81 14.83 14.83
10753 885.0 -5.8 651 10754 done -0.66 - - 1851 - - - 2758 - -146.0 - - 3542 - - - - - - - - 14.82 14.84 14.83
11053 902.1 -5.6 661 11054 done -0.66 - - 1851 - - - 2758 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
11353 918.8 -5.6 671 11354 done -0.66 - - 1851 - - - 2758 - -146.0 - - 3542 - - - - - - - - 14.82 14.84 14.84
11653 935.4 -5.6 681 11654 done -0.66 - - 1850 - - - 2759 - -146.0 - - 3542 - - - - - - - - 14.82 14.83 14.83
11953 952.2 -5.6 691 11958 roll -0.66 - - 1851 - 2.65 0.151 1328 -540.0 -146.0 - - 3542 - - - - - - - - 14.83 14.57 14.84
12023 956.3 -6.1 705 12029 done -0.66 - - 1843 - 2.75 0.183 2749 516.7 -146.0 - - 3542 - - - - - - - - 14.69 14.54 14.71
12344 975.3 -5.9 719 12345 done -0.66 - - 1843 - - - 2749 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
12612 end dive: TARGET_DEPTH_EXCEEDED
12612 begin apogee
12618 991.1 -5.9 728 12753 done -0.19 0.60 0.227 2008 275.0 - - 2597 - - 133.40 2.634 2942 -4.5 0.341 - - - - - - 14.54 13.59 12.71
12754 end apogee: CONTROL_FINISHED_OK
12754 begin climb
12757 992.8 - 732 12898 done 0.66 0.95 0.154 2276 282.1 - - 2597 - 146.0 138.50 2.560 2346 -4.3 0.336 - - - - - - 13.57 13.02 12.19
13184 954.1 9.9 747 13185 done 0.66 - - 2276 - - - 2597 - 146.0 - - 2333 - - - - - - - - 13.93 13.97 13.95
13484 924.3 9.9 757 13485 done 0.66 - - 2277 - - - 2597 - 146.0 - - 2332 - - - - - - - - 14.19 14.20 14.20
13784 894.5 10.0 767 13789 roll 0.66 - - 2287 - 2.72 0.151 1181 -520.6 146.0 - - 2332 - - - - - - - - 14.33 14.09 14.35
13829 890.0 10.0 776 13834 done 0.66 - - 2287 - 2.80 0.169 2598 506.1 146.0 - - 2331 - - - - - - - - 14.23 14.09 14.25
14145 857.4 10.3 789 14146 done 0.66 - - 2287 - - - 2598 - 146.0 - - 2331 - - - - - - - - 14.43 14.45 14.45
14445 826.4 10.3 799 14446 done 0.66 - - 2287 - - - 2596 - 146.0 - - 2330 - - - - - - - - 14.49 14.50 14.50
14745 795.6 10.3 809 14751 roll 0.66 - - 2296 - 2.70 0.153 1185 -522.6 146.0 - - 2330 - - - - - - - - 14.52 14.29 14.54
14781 791.9 10.2 816 14786 done 0.66 - - 2296 - 2.78 0.171 2603 510.1 146.0 - - 2334 - - - - - - - - 14.40 14.27 14.43
15106 757.3 10.7 831 15107 done 0.66 - - 2296 - - - 2603 - 146.0 - - 2328 - - - - - - - - 14.54 14.56 14.57
15406 725.2 10.7 841 15412 roll 0.66 - - 2306 - 2.67 0.152 1186 -530.7 146.0 - - 2332 - - - - - - - - 14.63 14.38 14.65
15442 721.3 10.6 848 15447 done 0.66 - - 2306 - 2.75 0.170 2604 515.6 146.0 - - 2330 - - - - - - - - 14.50 14.36 14.53
15767 685.0 11.2 863 15768 done 0.66 - - 2307 - - - 2604 - 146.0 - - 2330 - - - - - - - - 14.67 14.69 14.69
16067 651.7 11.0 873 16073 roll 0.66 - - 2317 - 2.67 0.151 1179 -533.7 146.0 - - 2329 - - - - - - - - 14.71 14.46 14.73
16103 647.7 10.9 880 16109 done 0.66 0.15 0.259 2283 -226.7 2.75 0.170 2606 518.9 146.0 - - 2329 - - - - - - - - 14.41 14.43 14.59
16429 615.2 9.9 895 16430 done 0.66 - - 2283 - - - 2606 - 146.0 - - 2329 - - - - - - - - 14.73 14.76 14.75
16729 585.9 9.7 905 16735 roll 0.66 - - 2292 - 2.65 0.151 1184 -536.6 146.0 - - 2329 - - - - - - - - 14.75 14.50 14.76
16770 581.9 9.8 913 16776 done 0.66 - - 2292 - 2.72 0.169 2606 522.8 146.0 - - 2329 - - - - - - - - 14.62 14.47 14.64
17091 549.5 10.1 927 17092 done 0.66 - - 2292 - - - 2606 - 146.0 - - 2329 - - - - - - - - 14.76 14.78 14.78
17392 519.8 9.8 937 17393 done 0.66 - - 2291 - - - 2606 - 146.0 - - 2329 - - - - - - - - 14.78 14.80 14.80
17691 490.5 9.8 947 17696 roll 0.66 - - 2302 - 2.65 0.151 1178 -538.9 146.0 - - 2329 - - - - - - - - 14.81 14.53 14.80
17732 486.5 9.8 955 17737 done 0.66 - - 2302 - 2.72 0.168 2605 524.6 146.0 - - 2329 - - - - - - - - 14.65 14.51 14.68
18052 453.4 10.4 969 18053 done 0.66 - - 2302 - - - 2605 - 146.0 - - 2328 - - - - - - - - 14.77 14.79 14.78
18352 422.5 10.3 979 18353 done 0.66 - - 2302 - - - 2605 - 146.0 - - 2329 - - - - - - - - 14.77 14.79 14.78
18652 391.8 10.2 989 18658 roll 0.66 - - 2312 - 2.65 0.151 1178 -538.5 146.0 - - 2330 - - - - - - - - 14.75 14.53 14.78
18688 388.1 10.1 996 18693 done 0.66 - - 2312 - 2.72 0.167 2608 525.7 146.0 - - 2329 - - - - - - - - 14.65 14.51 14.68
19013 354.3 10.4 1011 19014 done 0.66 0.12 0.270 2286 -216.7 - - 2608 - 146.0 - - 2329 - - - - - - - - 14.49 14.68 14.66
19313 326.8 9.1 1021 19319 roll 0.66 - - 2295 - 2.65 0.149 1185 -537.0 146.0 - - 2329 - - - - - - - - 14.77 14.52 14.78
19349 323.6 8.9 1028 19354 done 0.66 - - 2295 - 2.70 0.168 2603 525.2 146.0 - - 2328 - - - - - - - - 14.64 14.50 14.67
19675 293.9 8.9 1043 19675 done 0.66 - - 2295 - - - 2603 - 146.0 - - 2329 - - - - - - - - 14.78 14.80 14.80
19975 268.8 8.1 1053 19981 roll 0.66 - - 2305 - 2.65 0.151 1172 -540.0 146.0 - - 2328 - - - - - - - - 14.79 14.54 14.81
20036 263.9 8.0 1065 20042 done 0.66 - - 2305 - 2.72 0.168 2601 525.4 146.0 - - 2329 - - - - - - - - 14.66 14.52 14.69
20349 238.9 7.9 1089 20356 roll 0.68 - - 2305 - 2.30 0.207 3776 510.9 146.0 - - 2329 - - - - - - - - 14.76 14.49 14.78
20411 233.4 8.7 1101 20417 done 0.68 - - 2312 - 2.20 0.158 2587 -540.5 146.0 - - 2328 - - - - - - - - 14.64 14.53 14.67
20604 219.4 7.2 1121 20605 done 0.71 - - 2312 - - - 2587 - 146.0 - - 2328 - - - - - - - - 14.75 14.76 14.76
20782 207.1 6.6 1139 20787 roll 0.77 - - 2312 - 2.35 0.205 3771 503.8 146.0 - - 2328 - - - - - - - - 14.73 14.46 14.75
20817 204.5 7.5 1146 20823 done 0.80 - - 2320 - 2.20 0.158 2589 -537.3 146.0 - - 2328 - - - - - - - - 14.60 14.49 14.63
21002 192.9 6.1 1165 21003 done 0.87 - - 2316 - - - 2589 - 146.0 - - 2328 - - - - - - - - 14.71 14.76 14.73
21182 181.8 6.3 1183 21188 roll 0.93 0.12 0.142 2374 483.3 2.35 0.204 3774 504.3 146.0 - - 2328 - - - - - - - - 14.54 14.44 14.59
21223 178.4 8.7 1191 21228 done 0.93 - - 2384 - 2.20 0.159 2597 -535.0 146.0 - - 2329 - - - - - - - - 14.59 14.48 14.62
21413 163.7 7.6 1211 21418 roll 0.96 - - 2394 - 2.62 0.151 1180 -540.8 146.0 - - 2328 - - - - - - - - 14.70 14.43 14.72
21489 158.1 7.1 1226 21495 done 1.00 - - 2394 - 2.75 0.173 2603 517.5 146.0 - - 2328 - - - - - - - - 14.58 14.43 14.60
21674 144.6 7.2 1245 21679 roll 1.04 - - 2394 - 2.30 0.209 3770 507.4 146.0 - - 2328 - - - - - - - - 14.70 14.38 14.71
21690 143.4 7.6 1248 21696 done 1.07 - - 2403 - 2.20 0.158 2595 -534.1 146.0 - - 2328 - - - - - - - - 14.57 14.46 14.60
21875 129.7 7.0 1267 21880 roll 1.11 - - 2413 - 2.62 0.151 1185 -538.2 146.0 - - 2328 - - - - - - - - 14.70 14.44 14.72
21925 126.1 7.2 1277 21931 done 1.15 - - 2413 - 2.75 0.174 2604 516.0 146.0 - - 2327 - - - - - - - - 14.57 14.42 14.59
22116 112.7 6.4 1297 22123 roll 1.21 0.12 0.141 2477 533.3 2.67 0.149 1178 -534.1 146.0 - - 2328 - - - - - - - - 14.47 14.43 14.52
22153 110.2 6.7 1304 22159 done 1.26 - - 2477 - 2.75 0.172 2601 517.5 146.0 - - 2327 - - - - - - - - 14.51 14.37 14.53
22338 98.6 5.9 1323 22343 roll 1.34 - - 2487 - 2.67 0.151 1178 -533.0 146.0 - - 2327 - - - - - - - - 14.64 14.40 14.66
22439 93.3 5.1 1343 22444 done 1.44 0.15 0.133 2541 360.0 2.78 0.171 2610 515.1 146.0 - - 2327 - - - - - - - - 14.45 14.36 14.54
22631 83.4 4.7 1363 22632 done 1.55 - - 2541 - - - 2609 - 146.0 - - 2327 - - - - - - - - 14.62 14.64 14.64
22809 78.7 1.1 1381 22964 roll 1.74 0.25 0.116 2629 352.0 2.53 0.203 3777 461.7 335.9 146.20 1.509 1566 -5.2 0.055 - - - - - - 14.43 13.65 13.18
23189 32.2 8.4 1453 23195 done 1.74 - - 2638 - 2.33 0.158 2583 -512.4 335.9 - - 1556 - - - - - - - - 14.14 14.04 14.16
23380 27.4 0.4 1473 23555 roll 1.95 0.15 0.136 2694 373.3 2.55 0.199 3771 465.9 544.6 163.40 1.384 716 -5.1 0.020 - - - - - - 14.19 13.50 13.06
23607 end climb: SURFACE_DEPTH_REACHED
23607 begin surface coast
23617 end surface coast: CONTROL_FINISHED_OK
23617 begin surface
SM 0.81 - - - - -5.81 7.82 0.086 194 24.6 2.10 0.155 2740 -3710.5 547.26 - - 712 - - - - - - - -