SODA Sep18 * SG199 * Dive index * Mission links * Dive 73 * Raw log
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• Previous call tries 1 • 38.05 of 350.00 AH used of 24V (89.13% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.6 deg, depth 0.72 m • Intended pitch -13.8 deg, speed -8.462 cm/s
VBD pumped to 525.19 (SM_CC=525) • surface range 20.3 m at 19.8 m depth, ceiling -0.5 m
• GPS1 time: 47 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
6 begin dive
10 - - - 102 VBD -0.66 - - 144 - - - 2760 - -146.0 -91.15 0.002 2225 - - - - - - - - 14.27 - 14.29
105 4.6 -7.9 9 151 roll -0.66 9.48 0.474 1844 179.3 2.10 0.221 3769 480.5 -146.0 -31.30 0.004 3540 -42.0 9.819 1 - - - - - 13.84 13.27 14.14
376 76.0 -20.1 62 382 done -0.66 - - 1844 - 1.92 0.150 2750 -530.7 -146.0 - - 3542 - - - - - - - - 14.30 14.19 14.32
561 106.6 -15.0 81 567 roll -0.66 - - 1836 - 2.05 0.197 3778 501.5 -146.0 - - 3542 - - - - - - - - 14.45 14.18 14.47
792 141.6 -14.2 127 797 done -0.66 - - 1837 - 1.95 0.148 2742 -531.3 -146.0 - - 3542 - - - - - - - - 14.40 14.29 14.42
982 166.4 -12.9 147 987 roll -0.66 - - 1829 - 2.05 0.195 3777 504.9 -146.0 - - 3542 - - - - - - - - 14.56 14.26 14.57
1213 198.8 -13.5 193 1218 done -0.66 - - 1829 - 1.92 0.148 2742 -539.1 -146.0 - - 3542 - - - - - - - - 14.46 14.35 14.48
1403 222.3 -11.9 213 1409 roll -0.66 - - 1826 - 2.05 0.199 3773 502.9 -146.0 - - 3542 - - - - - - - - 14.59 14.31 14.62
1634 250.3 -11.6 259 1640 done -0.66 0.10 0.301 1851 250.0 1.95 0.149 2752 -523.6 -146.0 - - 3542 - - - - - - - - 14.30 14.38 14.42
1945 278.4 -8.4 271 1950 roll -0.66 - - 1845 - 2.03 0.199 3777 504.9 -146.0 - - 3545 - - - - - - - - 14.65 14.37 14.66
2135 294.8 -8.5 309 2141 done -0.66 - - 1846 - 1.92 0.148 2740 -540.1 -146.0 - - 3542 - - - - - - - - 14.55 14.44 14.57
2456 320.1 -7.9 323 2457 done -0.66 - - 1845 - - - 2740 - -146.0 - - 3540 - - - - - - - - 14.69 14.71 14.71
2756 342.9 -7.5 333 2762 roll -0.66 - - 1845 - 2.58 0.139 1327 -547.7 -146.0 - - 3542 - - - - - - - - 14.71 14.47 14.73
2842 349.6 -7.7 350 2849 done -0.66 - - 1836 - 2.75 0.171 2759 520.7 -146.0 - - 3542 - - - - - - - - 14.59 14.45 14.64
3148 373.3 -7.7 361 3149 done -0.66 - - 1835 - - - 2759 - -146.0 - - 3542 - - - - - - - - 14.73 14.76 14.75
3448 396.0 -7.5 371 3448 done -0.66 - - 1836 - - - 2759 - -146.0 - - 3542 - - - - - - - - 14.75 14.77 14.76
3747 418.3 -7.5 381 3748 done -0.66 - - 1836 - - - 2760 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.77
4047 440.3 -7.2 391 4053 roll -0.66 - - 1836 - 2.62 0.137 1324 -548.1 -146.0 - - 3542 - - - - - - - - 14.76 14.52 14.78
4098 443.9 -7.3 401 4104 done -0.66 - - 1828 - 2.72 0.168 2750 524.3 -146.0 - - 3542 - - - - - - - - 14.61 14.47 14.63
4409 467.2 -7.5 413 4410 done -0.66 - - 1828 - - - 2750 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.78
4709 489.5 -7.4 423 4710 done -0.66 - - 1829 - - - 2750 - -146.0 - - 3541 - - - - - - - - 14.76 14.78 14.78
5009 512.3 -7.6 433 5015 roll -0.66 - - 1828 - 2.58 0.134 1330 -550.4 -146.0 - - 3542 - - - - - - - - 14.78 14.52 14.79
5075 517.5 -7.9 446 5080 done -0.66 0.15 0.284 1851 153.3 2.70 0.164 2751 526.3 -146.0 - - 3542 - - - - - - - - 14.47 14.50 14.63
5401 539.6 -6.7 461 5401 done -0.66 - - 1851 - - - 2751 - -146.0 - - 3542 - - - - - - - - 14.78 14.80 14.80
5701 559.5 -6.6 471 5701 done -0.66 - - 1851 - - - 2751 - -146.0 - - 3543 - - - - - - - - 14.79 14.81 14.81
6001 579.1 -6.5 481 6001 done -0.66 - - 1851 - - - 2750 - -146.0 - - 3543 - - - - - - - - 14.80 14.82 14.81
6301 598.6 -6.5 491 6306 roll -0.66 - - 1851 - 2.58 0.132 1330 -550.4 -146.0 - - 3543 - - - - - - - - 14.81 14.54 14.82
6361 602.6 -6.7 503 6366 done -0.66 - - 1843 - 2.70 0.163 2759 529.3 -146.0 - - 3543 - - - - - - - - 14.66 14.52 14.68
6691 624.9 -6.8 519 6692 done -0.66 - - 1844 - - - 2759 - -146.0 - - 3543 - - - - - - - - 14.80 14.82 14.81
6991 644.9 -6.7 529 6992 done -0.66 - - 1843 - - - 2759 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.82
7291 664.9 -6.7 539 7296 roll -0.66 - - 1843 - 2.60 0.132 1324 -551.9 -146.0 - - 3543 - - - - - - - - 14.81 14.57 14.82
7341 668.3 -6.9 549 7347 done -0.66 - - 1834 - 2.70 0.161 2755 530.0 -146.0 - - 3543 - - - - - - - - 14.67 14.54 14.69
7652 689.7 -6.9 561 7653 done -0.66 - - 1834 - - - 2755 - -146.0 - - 3543 - - - - - - - - 14.81 14.82 14.82
7953 710.4 -6.9 571 7958 roll -0.66 - - 1834 - 2.58 0.129 1329 -552.7 -146.0 - - 3543 - - - - - - - - 14.81 14.57 14.83
8008 714.4 -7.1 582 8015 done -0.66 0.12 0.283 1850 133.3 2.70 0.161 2761 530.4 -146.0 - - 3543 - - - - - - - - 14.50 14.54 14.66
8313 733.5 -6.3 593 8314 done -0.66 - - 1850 - - - 2761 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.83
8613 752.3 -6.3 603 8614 done -0.66 - - 1850 - - - 2761 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
8913 771.1 -6.3 613 8919 roll -0.66 - - 1850 - 2.60 0.130 1322 -553.5 -146.0 - - 3543 - - - - - - - - 14.81 14.57 14.83
8994 776.4 -6.5 629 9000 done -0.66 - - 1842 - 2.70 0.161 2750 528.9 -146.0 - - 3544 - - - - - - - - 14.68 14.54 14.70
9305 796.6 -6.5 641 9306 done -0.66 - - 1842 - - - 2750 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.83
9605 815.9 -6.4 651 9606 done -0.66 - - 1842 - - - 2750 - -146.0 - - 3544 - - - - - - - - 14.81 14.83 14.83
9905 835.0 -6.4 661 9906 done -0.66 - - 1842 - - - 2750 - -146.0 - - 3544 - - - - - - - - 14.81 14.83 14.83
10205 853.9 -6.3 671 10206 done -0.66 - - 1842 - - - 2750 - -146.0 - - 3544 - - - - - - - - 14.81 14.83 14.83
10505 872.9 -6.3 681 10506 done -0.66 - - 1842 - - - 2750 - -146.0 - - 3541 - - - - - - - - 14.82 14.84 14.83
10805 892.1 -6.4 691 10810 roll -0.66 - - 1842 - 2.55 0.131 1333 -555.7 -146.0 - - 3544 - - - - - - - - 14.82 14.58 14.86
10880 897.1 -6.6 706 10885 done -0.66 - - 1833 - 2.67 0.161 2751 531.1 -146.0 - - 3544 - - - - - - - - 14.67 14.54 14.69
11196 917.7 -6.5 719 11196 done -0.66 - - 1833 - - - 2751 - -146.0 - - 3547 - - - - - - - - 14.82 14.84 14.83
11496 937.5 -6.6 729 11496 done -0.66 - - 1833 - - - 2751 - -146.0 - - 3546 - - - - - - - - 14.75 14.76 14.76
11796 957.0 -6.3 739 11796 done -0.66 - - 1833 - - - 2751 - -146.0 - - 3544 - - - - - - - - 14.71 14.73 14.73
12096 976.5 -6.5 749 12097 done -0.66 - - 1833 - - - 2751 - -146.0 - - 3544 - - - - - - - - 14.68 14.70 14.70
12333 end dive: TARGET_DEPTH_EXCEEDED
12333 begin apogee
12339 991.6 -6.4 757 12477 done -0.19 0.62 0.230 2002 272.6 - - 2597 - - 134.80 2.636 2941 -4.5 0.342 - - - - - - 14.40 13.52 12.65
12478 end apogee: CONTROL_FINISHED_OK
12478 begin climb
12481 993.2 - 761 12623 done 0.66 0.95 0.158 2275 287.4 - - 2597 - 146.0 137.93 2.553 2349 -4.3 0.339 - - - - - - 13.51 12.89 12.07
12906 954.6 10.0 791 12906 done 0.66 - - 2275 - - - 2597 - 146.0 - - 2337 - - - - - - - - 13.89 13.90 13.90
13206 925.1 9.8 801 13206 done 0.66 - - 2275 - - - 2597 - 146.0 - - 2336 - - - - - - - - 14.16 14.19 14.18
13506 895.9 9.7 811 13511 roll 0.66 - - 2285 - 2.65 0.131 1177 -535.8 146.0 - - 2334 - - - - - - - - 14.35 14.12 14.38
13531 893.5 9.6 816 13537 done 0.66 - - 2285 - 2.75 0.147 2601 517.8 146.0 - - 2334 - - - - - - - - 14.24 14.12 14.27
13836 862.9 10.0 827 13837 done 0.66 - - 2284 - - - 2601 - 146.0 - - 2334 - - - - - - - - 14.50 14.52 14.52
14136 832.8 10.0 837 14141 roll 0.66 - - 2294 - 2.62 0.131 1180 -542.4 146.0 - - 2333 - - - - - - - - 14.58 14.35 14.60
14176 828.7 10.0 845 14182 done 0.66 - - 2294 - 2.70 0.147 2607 528.5 146.0 - - 2333 - - - - - - - - 14.46 14.33 14.49
14497 795.1 10.5 859 14498 done 0.66 - - 2294 - - - 2607 - 146.0 - - 2333 - - - - - - - - 14.64 14.66 14.66
14797 763.7 10.4 869 14802 roll 0.66 - - 2304 - 2.60 0.130 1185 -546.9 146.0 - - 2333 - - - - - - - - 14.68 14.45 14.70
14832 760.1 10.4 876 14837 done 0.66 - - 2304 - 2.65 0.146 2602 534.7 146.0 - - 2333 - - - - - - - - 14.56 14.42 14.59
15157 725.0 10.8 891 15158 done 0.66 - - 2304 - - - 2602 - 146.0 - - 2331 - - - - - - - - 14.72 14.73 14.73
15457 692.8 10.7 901 15458 done 0.66 - - 2304 - - - 2602 - 146.0 - - 2332 - - - - - - - - 14.73 14.76 14.76
15757 660.3 10.9 911 15762 roll 0.66 - - 2313 - 2.58 0.131 1185 -549.2 146.0 - - 2336 - - - - - - - - 14.76 14.52 14.78
15813 654.4 10.7 922 15820 done 0.66 0.12 0.259 2287 -216.7 2.65 0.148 2606 536.2 146.0 - - 2332 - - - - - - - - 14.47 14.50 14.63
16118 623.9 10.0 933 16118 done 0.66 - - 2287 - - - 2607 - 146.0 - - 2332 - - - - - - - - 14.75 14.79 14.78
16418 594.0 9.9 943 16423 roll 0.66 - - 2295 - 2.60 0.131 1181 -548.5 146.0 - - 2332 - - - - - - - - 14.78 14.54 14.80
16443 591.5 9.9 948 16449 done 0.66 - - 2296 - 2.65 0.147 2606 537.7 146.0 - - 2332 - - - - - - - - 14.65 14.52 14.68
16748 559.9 10.3 959 16749 done 0.66 - - 2295 - - - 2606 - 146.0 - - 2332 - - - - - - - - 14.78 14.81 14.80
17048 529.1 10.3 969 17053 roll 0.66 - - 2306 - 2.60 0.129 1176 -550.0 146.0 - - 2332 - - - - - - - - 14.78 14.55 14.80
17088 525.0 10.3 977 17093 done 0.66 - - 2306 - 2.65 0.147 2604 538.9 146.0 - - 2332 - - - - - - - - 14.66 14.53 14.69
17409 490.8 10.7 991 17409 done 0.66 - - 2306 - - - 2603 - 146.0 - - 2332 - - - - - - - - 14.79 14.81 14.81
17708 458.9 10.6 1001 17709 done 0.66 - - 2306 - - - 2603 - 146.0 - - 2333 - - - - - - - - 14.79 14.81 14.81
18009 427.2 10.6 1011 18014 roll 0.66 - - 2316 - 2.58 0.129 1179 -551.9 146.0 - - 2332 - - - - - - - - 14.79 14.57 14.81
18049 422.9 10.5 1019 18054 done 0.66 0.15 0.256 2283 -220.0 2.65 0.145 2608 539.2 146.0 - - 2332 - - - - - - - - 14.50 14.54 14.67
18369 392.9 9.2 1033 18370 done 0.66 - - 2283 - - - 2608 - 146.0 - - 2332 - - - - - - - - 14.79 14.81 14.81
18669 366.0 8.9 1043 18674 roll 0.66 - - 2291 - 2.58 0.127 1182 -552.7 146.0 - - 2332 - - - - - - - - 14.79 14.57 14.81
18710 362.5 8.9 1051 18715 done 0.66 - - 2292 - 2.62 0.144 2601 541.6 146.0 - - 2331 - - - - - - - - 14.66 14.54 14.69
19030 333.1 9.1 1065 19031 done 0.66 - - 2292 - - - 2601 - 146.0 - - 2332 - - - - - - - - 14.81 14.81 14.81
19330 306.3 8.8 1075 19331 done 0.66 - - 2291 - - - 2601 - 146.0 - - 2332 - - - - - - - - 14.79 14.82 14.81
19630 281.1 8.4 1085 19635 roll 0.66 - - 2301 - 2.58 0.129 1176 -552.3 146.0 - - 2332 - - - - - - - - 14.80 14.57 14.82
19661 278.7 7.8 1091 19666 done 0.68 - - 2302 - 2.65 0.145 2605 539.2 146.0 - - 2332 - - - - - - - - 14.67 14.54 14.70
19991 251.1 8.4 1107 19996 roll 0.68 - - 2311 - 2.58 0.128 1181 -551.9 146.0 - - 2332 - - - - - - - - 14.80 14.57 14.81
20046 246.6 7.9 1118 20053 done 0.70 - - 2309 - 2.65 0.145 2605 537.4 146.0 - - 2331 - - - - - - - - 14.66 14.53 14.69
20231 232.9 7.1 1137 20236 roll 0.74 - - 2311 - 2.22 0.187 3772 525.7 146.0 - - 2332 - - - - - - - - 14.77 14.50 14.80
20256 230.8 8.1 1142 20264 done 0.74 - - 2318 - 2.15 0.135 2587 -551.2 146.0 - - 2332 - - - - - - - - 14.65 14.54 14.68
20442 217.5 6.8 1161 20447 roll 0.79 - - 2329 - 2.53 0.128 1177 -557.3 146.0 - - 2332 - - - - - - - - 14.76 14.53 14.78
20482 214.9 6.6 1169 20487 done 0.84 - - 2329 - 2.67 0.148 2610 536.7 146.0 - - 2332 - - - - - - - - 14.63 14.50 14.66
20672 202.0 6.7 1189 20673 done 0.90 - - 2329 - - - 2609 - 146.0 - - 2331 - - - - - - - - 14.74 14.76 14.76
20852 190.3 6.4 1207 20854 done 0.96 0.15 0.127 2388 393.3 - - 2610 - 146.0 - - 2331 - - - - - - - - 14.57 14.66 14.64
21032 175.8 8.0 1225 21033 done 0.96 - - 2388 - - - 2610 - 146.0 - - 2329 - - - - - - - - 14.73 14.76 14.76
21212 162.5 7.0 1243 21213 done 1.01 - - 2388 - - - 2610 - 146.0 - - 2331 - - - - - - - - 14.73 14.76 14.75
21392 149.7 7.2 1261 21393 done 1.04 - - 2388 - - - 2613 - 146.0 - - 2331 - - - - - - - - 14.73 14.75 14.75
21572 137.3 6.4 1279 21578 roll 1.11 0.12 0.145 2453 541.7 2.60 0.129 1183 -550.0 146.0 - - 2331 - - - - - - - - 14.55 14.49 14.59
21598 135.5 7.3 1284 21604 done 1.14 - - 2453 - 2.65 0.147 2601 535.1 146.0 - - 2331 - - - - - - - - 14.59 14.45 14.62
21783 121.7 7.5 1303 21784 done 1.17 - - 2453 - - - 2601 - 146.0 - - 2331 - - - - - - - - 14.72 14.74 14.73
21963 109.2 6.9 1321 21968 roll 1.22 - - 2464 - 2.60 0.130 1184 -545.0 146.0 - - 2331 - - - - - - - - 14.69 14.44 14.71
21978 108.2 6.9 1324 21985 done 1.26 - - 2463 - 2.67 0.148 2608 533.3 146.0 - - 2331 - - - - - - - - 14.54 14.42 14.57
22164 97.3 5.2 1343 22169 roll 1.36 0.12 0.145 2525 516.7 2.62 0.129 1176 -546.6 146.0 - - 2331 - - - - - - - - 14.52 14.41 14.55
22205 95.0 5.7 1351 22210 done 1.44 - - 2523 - 2.70 0.150 2605 529.3 146.0 - - 2331 - - - - - - - - 14.53 14.40 14.56
22395 85.7 3.8 1371 22498 roll 1.56 0.15 0.145 2578 366.7 2.42 0.186 3774 483.1 267.1 94.40 1.557 1847 -5.1 0.057 - - - - - - 14.46 13.79 13.28
22714 53.6 7.8 1426 22719 done 1.58 - - 2587 - 2.20 0.137 2600 -533.6 267.1 - - 1840 - - - - - - - - 14.21 14.12 14.23
22905 43.9 3.9 1446 23004 roll 1.70 - - 2598 - 2.78 0.129 1182 -510.1 384.9 90.40 1.454 1367 -5.2 0.032 - - - - - - 14.43 13.74 13.21
23232 20.1 6.0 1509 23239 done 1.77 0.12 0.145 2647 408.3 2.75 0.147 2601 516.0 384.9 - - 1360 - - - - - - - - 14.12 14.04 14.18
23417 9.5 4.6 1528 23422 roll 1.89 - - 2658 - 2.65 0.129 1185 -534.3 384.9 - - 1358 - - - - - - - - 14.39 14.15 14.38
23427 9.1 4.1 1530 23516 VBD 2.00 0.17 0.124 2716 341.2 2.72 0.147 2604 521.7 498.0 82.95 1.399 946 -5.0 0.007 - - - - - - 14.20 14.13 14.28
23516 end climb: SURFACE_DEPTH_REACHED
23516 begin surface coast
23524 end surface coast: CONTROL_FINISHED_OK
23524 begin surface
SM 0.49 - - - - -5.80 7.65 0.064 189 24.5 0.32 0.211 2749 -26715.6 525.19 61.62 0.217 802 13.0 -0.003 - - - - - -