SODA Sep18 * SG199 * Dive index * Mission links * Dive 83 * Raw log
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• Previous call tries 2 • 41.95 of 350.00 AH used of 24V (88.01% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -61.6 deg, depth 0.65 m • Intended pitch -16.5 deg, speed -9.524 cm/s
VBD pumped to 525.19 (SM_CC=525) • surface range 20.9 m at 20.0 m depth, ceiling -0.9 m
• GPS1 time: 35 s
• GPS2 time: 7 s • Transponder ping count: 6
• 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 - - - 102 VBD -0.76 - - 195 - - - 2755 - -146.0 -90.97 0.002 2169 - - - - - - - - 14.31 - 14.33
105 4.0 -6.1 9 156 roll -0.76 9.05 0.474 1821 179.7 2.78 0.177 1330 -512.6 -146.0 -33.97 0.004 3540 -40.4 7.586 - - - - - - 13.93 13.25 14.17
382 76.6 -20.7 63 387 done -0.76 - - 1812 - 2.85 0.182 2750 498.2 -146.0 - - 3541 - - - - - - - - 14.26 14.12 14.28
572 110.9 -16.8 83 577 roll -0.76 - - 1812 - 2.72 0.153 1328 -522.8 -146.0 - - 3542 - - - - - - - - 14.45 14.18 14.47
729 135.0 -15.2 114 735 done -0.76 - - 1802 - 2.85 0.183 2754 500.4 -146.0 - - 3542 - - - - - - - - 14.35 14.21 14.38
912 163.4 -14.9 133 913 done -0.76 - - 1802 - - - 2754 - -146.0 - - 3541 - - - - - - - - 14.52 14.54 14.54
1092 189.5 -14.0 151 1093 done -0.76 - - 1802 - - - 2754 - -146.0 - - 3541 - - - - - - - - 14.54 14.57 14.56
1170 end dive: TARGET_DEPTH_EXCEEDED
1170 begin apogee
1176 200.6 -13.7 159 1296 done -0.19 0.80 0.278 2003 251.2 - - 2596 - - 116.95 1.697 2939 -5.1 0.114 - - - - - - 14.26 13.72 13.05
1297 end apogee: CONTROL_FINISHED_OK
1298 begin loiter
1473 212.2 -2.7 189 1484 done -0.17 - - 2003 - - - 2595 - 10.5 9.25 1.472 2896 -4.6 0.126 - - - - - - 14.26 14.01 13.30
1663 216.8 -2.3 208 1674 done -0.17 - - 2003 - - - 2595 - 19.3 8.50 1.479 2859 -4.4 0.120 - - - - - - 14.36 14.11 13.38
1853 220.3 -1.7 227 1863 done -0.16 - - 2003 - - - 2595 - 26.1 7.00 1.441 2832 -3.9 0.111 - - - - - - 14.42 14.19 13.44
2043 222.6 -1.1 246 2053 done -0.15 - - 2003 - - - 2595 - 30.2 4.82 1.270 2816 -3.3 0.109 - - - - - - 14.47 14.25 13.48
2233 224.2 -0.9 265 2234 done -0.13 - - 2003 - - - 2595 - 30.2 - - 2815 - - - - - - - - 14.53 14.54 14.54
2413 226.1 -1.1 283 2423 done -0.12 - - 2003 - - - 2595 - 34.6 5.40 1.362 2796 -3.5 0.110 - - - - - - 14.59 14.19 13.56
2603 227.1 -0.3 302 2603 done -0.12 - - 2003 - - - 2595 - 34.6 - - 2796 - - - - - - - - 14.60 14.62 14.62
2783 227.1 0.2 320 2784 done -0.12 - - 2003 - - - 2595 - 34.6 - - 2795 - - - - - - - - 14.64 14.66 14.66
2963 226.4 0.5 338 2963 done -0.12 - - 2003 - - - 2595 - 34.6 - - 2795 - - - - - - - - 14.68 14.70 14.70
3143 226.1 -0.1 356 3143 done -0.12 - - 2003 - - - 2595 - 34.6 - - 2795 - - - - - - - - 14.71 14.73 14.73
3323 227.0 -0.6 374 3324 done -0.11 0.12 0.266 2031 233.3 - - 2595 - 34.6 - - 2794 - - - - - - - - 14.44 14.61 14.58
3503 227.5 -0.1 392 3503 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2795 - - - - - - - - 14.75 14.77 14.77
3683 227.4 0.1 410 3684 done -0.11 - - 2030 - - - 2595 - 34.6 - - 2794 - - - - - - - - 14.77 14.78 14.78
3866 227.5 -0.1 428 3867 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2794 - - - - - - - - 14.72 14.74 14.73
4044 227.8 -0.2 446 4045 done -0.11 - - 2031 - - - 2594 - 34.6 - - 2794 - - - - - - - - 14.71 14.73 14.72
4224 228.1 -0.2 464 4225 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2794 - - - - - - - - 14.69 14.71 14.71
4404 228.2 - 482 4405 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2794 - - - - - - - - 14.68 14.70 14.69
4584 228.3 -0.2 500 4585 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2794 - - - - - - - - 14.66 14.69 14.69
4764 229.0 -0.5 518 4765 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2794 - - - - - - - - 14.66 14.68 14.68
4944 229.4 - 536 4945 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2794 - - - - - - - - 14.65 14.67 14.66
5124 228.9 0.3 554 5125 done -0.11 - - 2030 - - - 2595 - 34.6 - - 2794 - - - - - - - - 14.64 14.68 14.66
5304 228.7 - 572 5305 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2794 - - - - - - - - 14.64 14.66 14.68
5484 228.6 0.1 590 5485 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2793 - - - - - - - - 14.64 14.66 14.66
5664 228.3 0.2 608 5665 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2793 - - - - - - - - 14.64 14.66 14.66
5844 228.3 -0.1 626 5845 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2793 - - - - - - - - 14.64 14.66 14.66
6024 228.6 -0.2 644 6025 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2793 - - - - - - - - 14.64 14.65 14.65
6206 228.6 - 662 6207 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2793 - - - - - - - - 14.69 14.71 14.71
6384 228.9 -0.3 680 6385 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2793 - - - - - - - - 14.73 14.75 14.75
6564 229.7 -0.4 698 6565 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2793 - - - - - - - - 14.75 14.77 14.77
6744 230.1 - 716 6745 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2793 - - - - - - - - 14.76 14.79 14.78
6924 229.9 0.1 734 6925 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2793 - - - - - - - - 14.78 14.81 14.80
7104 229.9 - 752 7105 done -0.11 - - 2031 - - - 2594 - 34.6 - - 2793 - - - - - - - - 14.79 14.81 14.81
7284 230.0 -0.1 770 7285 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.81 14.83 14.82
7464 230.1 -0.1 788 7465 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.81 14.83 14.83
7644 230.5 -0.2 806 7645 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.82 14.84 14.84
7824 230.8 -0.1 824 7825 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.83 14.85 14.85
8004 230.8 -0.1 842 8005 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.83 14.85 14.85
8184 231.3 -0.3 860 8185 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.84 14.86 14.86
8364 231.6 -0.1 878 8365 done -0.11 - - 2030 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.85 14.87 14.86
8544 231.7 -0.2 896 8545 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.85 14.87 14.87
8724 232.5 -0.5 914 8725 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.85 14.88 14.88
8904 233.0 -0.1 932 8905 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.85 14.88 14.88
9084 232.9 0.1 950 9085 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.85 14.88 14.88
9264 233.1 -0.3 968 9265 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.86 14.88 14.88
9444 233.4 - 986 9445 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.87 14.89 14.88
9624 232.8 0.4 1004 9625 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.87 14.89 14.89
9804 232.5 - 1022 9805 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.87 14.89 14.89
9984 232.5 - 1040 9985 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.88 14.90 14.90
10164 232.4 0.1 1058 10165 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.88 14.90 14.90
10344 232.3 - 1076 10345 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.88 14.90 14.90
10524 232.4 -0.1 1094 10525 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.88 14.90 14.90
10704 232.5 - 1112 10705 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.88 14.90 14.90
10884 232.7 -0.2 1130 10885 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.88 14.90 14.90
11064 233.2 -0.3 1148 11065 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.88 14.90 14.90
11244 233.3 - 1166 11245 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.88 14.90 14.90
11424 232.9 0.3 1184 11425 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.89 14.91 14.90
11604 232.5 0.1 1202 11605 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.89 14.91 14.91
11784 232.8 -0.2 1220 11785 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.89 14.91 14.91
11964 233.2 -0.1 1238 11965 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.89 14.91 14.91
12144 233.3 -0.1 1256 12145 done -0.11 - - 2030 - - - 2596 - 34.6 - - 2791 - - - - - - - - 14.89 14.91 14.91
12324 233.5 -0.2 1274 12325 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.89 14.91 14.91
12504 233.6 0.1 1292 12505 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.89 14.91 14.91
12684 233.2 0.3 1310 12685 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.89 14.92 14.91
12864 232.7 0.1 1328 12865 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.91
13044 233.1 -0.3 1346 13045 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.91
13224 233.8 -0.3 1364 13225 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2792 - - - - - - - - 14.90 14.92 14.91
13404 233.8 0.1 1382 13405 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.89 14.92 14.91
13584 233.7 - 1400 13585 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
13764 233.9 -0.2 1418 13765 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2790 - - - - - - - - 14.90 14.92 14.91
13944 233.9 0.1 1436 13945 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.91
14124 233.7 0.1 1454 14125 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
14304 233.7 -0.1 1472 14305 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
14484 233.9 - 1490 14485 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
14664 233.7 0.2 1508 14665 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
14844 233.4 - 1526 14845 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
15024 233.7 -0.3 1544 15025 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
15204 234.0 -0.1 1562 15205 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
15384 233.9 0.1 1580 15385 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
15564 234.0 - 1598 15565 done -0.11 - - 2031 - - - 2595 - 34.6 - - 2791 - - - - - - - - 14.90 14.92 14.92
15692 end loiter: LOITER_COMPLETE
15692 begin climb
15694 234.0 - 1611 15791 roll 0.76 0.90 0.183 2305 304.4 2.58 0.216 3776 457.8 146.0 89.82 1.751 2342 -5.0 0.126 - - - - - - 14.60 13.85 13.27
15834 227.8 6.8 1635 15838 done 0.84 - - 2312 - 2.33 0.167 2599 -505.2 146.0 - - 2339 - - - - - - - - 14.12 14.00 14.14
16024 215.4 6.4 1655 16029 roll 0.93 0.15 0.133 2385 486.7 2.72 0.156 1185 -519.9 146.0 - - 2335 - - - - - - - - 14.22 14.15 14.26
16075 211.5 8.0 1665 16080 done 0.98 - - 2385 - 2.83 0.178 2601 500.4 146.0 - - 2334 - - - - - - - - 14.29 14.14 14.33
16265 195.8 8.5 1685 16270 roll 1.01 - - 2385 - 2.40 0.216 3778 490.4 146.0 - - 2331 - - - - - - - - 14.48 14.19 14.50
16306 191.9 9.8 1693 16311 done 1.01 - - 2393 - 2.30 0.168 2589 -517.0 146.0 - - 2333 - - - - - - - - 14.37 14.24 14.40
16496 175.6 8.3 1713 16497 done 1.05 - - 2393 - - - 2590 - 146.0 - - 2332 - - - - - - - - 14.54 14.55 14.55
16676 161.2 7.7 1731 16681 roll 1.10 - - 2404 - 2.67 0.159 1182 -527.3 146.0 - - 2332 - - - - - - - - 14.57 14.30 14.58
16737 156.8 7.2 1743 16742 done 1.17 0.12 0.149 2450 383.3 2.80 0.178 2601 506.8 146.0 - - 2332 - - - - - - - - 14.33 14.24 14.40
16929 140.6 8.4 1763 16934 roll 1.20 - - 2451 - 2.38 0.216 3770 491.2 146.0 - - 2331 - - - - - - - - 14.59 14.28 14.60
17045 129.7 9.3 1786 17051 done 1.20 - - 2460 - 2.25 0.167 2599 -520.4 146.0 - - 2332 - - - - - - - - 14.46 14.33 14.49
17230 115.6 7.4 1805 17235 roll 1.27 - - 2458 - 2.40 0.213 3773 489.2 146.0 - - 2331 - - - - - - - - 14.59 14.29 14.61
17367 105.1 7.5 1832 17374 done 1.33 - - 2469 - 2.28 0.168 2592 -518.0 146.0 - - 2331 - - - - - - - - 14.42 14.29 14.45
17550 94.3 5.5 1851 17635 roll 1.42 0.15 0.131 2526 380.0 2.55 0.212 3766 460.4 239.5 74.35 1.543 1959 -5.0 0.057 - - - - - - 14.37 13.79 13.26
17662 84.4 13.5 1870 17668 done 1.42 - - 2535 - 2.33 0.164 2595 -502.6 239.5 - - 1956 - - - - - - - - 14.02 13.91 14.05
17845 65.0 7.3 1889 17850 roll 1.49 - - 2545 - 2.72 0.155 1183 -519.1 239.5 - - 1952 - - - - - - - - 14.32 14.07 14.33
17896 62.2 5.1 1899 17984 done 1.59 0.12 0.155 2592 391.7 2.85 0.176 2606 499.3 342.3 79.85 1.450 1540 -5.2 0.042 - - - - - - 14.16 14.07 13.15
18160 38.2 7.9 1933 18165 roll 1.64 - - 2592 - 2.42 0.208 3776 483.5 342.3 - - 1532 - - - - - - - - 14.21 13.93 14.22
18399 23.8 4.4 1979 18500 done 1.76 - - 2601 - 2.33 0.164 2592 -508.2 460.2 95.03 1.400 1062 -4.9 0.016 - - - - - - 14.15 14.03 13.10
18675 2.3 8.8 2015 18681 roll 1.78 0.12 0.148 2648 391.7 2.50 0.203 3777 474.0 460.2 - - 1055 - - - - - - - - 13.90 13.82 13.94
18683 end climb: SURFACE_DEPTH_REACHED
18683 begin surface coast
18704 end surface coast: CONTROL_FINISHED_OK
18704 begin surface
SM 0.86 - - - - -5.80 7.70 0.096 194 25.2 2.10 0.159 2746 178.1 525.19 94.55 0.219 802 8.5 -0.003 - - - - - -