SODA Sep18 * SG199 * Dive index * Mission links * Dive 84 * Raw log
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• Previous call tries 2 • 42.31 of 350.00 AH used of 24V (87.91% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.4 deg, depth 0.73 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: 37 s
• GPS2 time: 6 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 - - - 115 VBD -0.76 - - 191 - - - 2747 - -146.0 -102.97 0.002 2446 - - - - - - - - 14.20 - 14.21
118 6.0 -11.0 10 156 roll -0.76 9.23 0.477 1817 176.2 2.78 0.177 1335 -507.9 -146.0 -22.62 0.005 3540 -48.4 10.951 - - - - - - 13.81 13.15 14.09
381 79.1 -18.5 62 386 done -0.76 - - 1808 - 2.88 0.184 2752 492.0 -146.0 - - 3542 - - - - - - - - 14.19 14.04 14.21
571 112.4 -16.1 82 576 roll -0.76 - - 1808 - 2.75 0.154 1335 -515.3 -146.0 - - 3542 - - - - - - - - 14.33 14.09 14.35
726 137.0 -15.3 113 733 done -0.76 - - 1798 - 2.88 0.184 2759 494.4 -146.0 - - 3542 - - - - - - - - 14.24 14.09 14.26
911 165.9 -15.5 132 912 done -0.76 - - 1798 - - - 2759 - -146.0 - - 3542 - - - - - - - - 14.42 14.44 14.47
1092 192.3 -14.6 150 1092 done -0.76 - - 1798 - - - 2758 - -146.0 - - 3542 - - - - - - - - 14.47 14.50 14.50
1149 end dive: TARGET_DEPTH_EXCEEDED
1149 begin apogee
1155 200.8 -14.1 156 1276 done -0.19 0.82 0.279 2003 250.0 - - 2600 - - 117.55 1.699 2941 -5.1 0.114 - - - - - - 14.16 13.67 13.00
1277 end apogee: CONTROL_FINISHED_OK
1277 begin loiter
1452 212.5 -2.6 186 1463 done -0.17 - - 2003 - - - 2601 - 10.2 9.02 1.468 2896 -5.0 0.136 - - - - - - 14.22 13.97 13.26
1642 216.7 -2.1 205 1653 done -0.17 - - 2003 - - - 2601 - 18.3 7.85 1.453 2864 -4.1 0.115 - - - - - - 14.33 14.09 13.36
1832 220.3 -1.9 224 1843 done -0.16 - - 2002 - - - 2601 - 25.6 7.32 1.454 2834 -4.1 0.117 - - - - - - 14.40 14.16 13.42
2022 223.4 -1.6 243 2033 done -0.15 - - 2003 - - - 2601 - 31.7 6.65 1.429 2809 -3.8 0.111 - - - - - - 14.46 14.22 13.47
2212 225.3 -0.8 262 2213 done -0.13 - - 2003 - - - 2601 - 31.7 - - 2807 - - - - - - - - 14.50 14.52 14.52
2392 226.4 -0.6 280 2393 done -0.11 - - 2002 - - - 2601 - 31.7 - - 2807 - - - - - - - - 14.57 14.58 14.58
2572 227.4 -0.5 298 2573 done -0.10 0.12 0.269 2031 241.7 - - 2601 - 31.7 - - 2807 - - - - - - - - 14.33 14.49 14.47
2752 228.1 -0.4 316 2753 done -0.10 - - 2031 - - - 2601 - 31.7 - - 2807 - - - - - - - - 14.65 14.67 14.67
2932 228.9 -0.4 334 2933 done -0.10 - - 2031 - - - 2601 - 31.7 - - 2807 - - - - - - - - 14.68 14.71 14.70
3112 229.8 -0.6 352 3113 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2806 - - - - - - - - 14.71 14.73 14.73
3292 230.9 -0.4 370 3293 done -0.08 - - 2032 - - - 2601 - 31.7 - - 2806 - - - - - - - - 14.73 14.75 14.75
3472 231.2 -0.1 388 3473 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2806 - - - - - - - - 14.75 14.77 14.76
3652 231.1 - 406 3653 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2806 - - - - - - - - 14.76 14.78 14.78
3832 231.3 -0.2 424 3833 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.78 14.80 14.80
4012 231.7 -0.2 442 4013 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.79 14.81 14.81
4192 231.9 -0.1 460 4193 done -0.08 - - 2031 - - - 2600 - 31.7 - - 2805 - - - - - - - - 14.81 14.82 14.82
4372 232.2 -0.2 478 4373 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.81 14.83 14.83
4552 232.9 -0.4 496 4553 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.82 14.84 14.84
4732 233.3 -0.1 514 4733 done -0.08 - - 2031 - - - 2600 - 31.7 - - 2805 - - - - - - - - 14.83 14.85 14.85
4912 233.4 - 532 4913 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.83 14.85 14.85
5092 233.6 -0.2 550 5093 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.84 14.86 14.86
5272 233.8 - 568 5273 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.85 14.86 14.87
5452 233.6 0.1 586 5453 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.85 14.88 14.87
5632 233.7 -0.1 604 5633 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.85 14.87 14.88
5812 234.2 -0.3 622 5813 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.86 14.88 14.88
5992 234.6 - 640 5993 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.86 14.88 14.88
6172 234.3 0.1 658 6173 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2805 - - - - - - - - 14.87 14.89 14.88
6352 234.6 -0.4 676 6353 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.88 14.89 14.89
6532 235.5 -0.4 694 6533 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.88 14.90 14.89
6712 235.7 0.2 712 6713 done -0.08 - - 2030 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.88 14.90 14.90
6892 235.1 0.3 730 6893 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.88 14.90 14.90
7072 235.2 -0.3 748 7073 done -0.08 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.88 14.90 14.90
7252 236.1 -0.6 766 7253 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.88 14.90 14.90
7432 236.7 -0.1 784 7433 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.88 14.90 14.90
7612 236.4 0.1 802 7613 done -0.06 - - 2031 - - - 2602 - 31.7 - - 2803 - - - - - - - - 14.89 14.90 14.90
7792 236.5 -0.2 820 7793 done -0.06 - - 2031 - - - 2600 - 31.7 - - 2804 - - - - - - - - 14.88 14.91 14.90
7972 236.8 - 838 7973 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.89 14.91 14.91
8152 236.6 0.1 856 8153 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.89 14.91 14.91
8332 236.7 -0.2 874 8333 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.89 14.91 14.91
8512 237.0 -0.1 892 8513 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.89 14.91 14.91
8692 237.0 0.1 910 8693 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.89 14.91 14.91
8872 237.0 -0.1 928 8873 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.90 14.91 14.92
9052 237.3 -0.2 946 9053 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.91
9232 237.1 0.2 964 9233 done -0.06 - - 2031 - - - 2602 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.93
9412 237.0 -0.1 982 9413 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.90 14.92 14.92
9592 237.7 -0.5 1000 9593 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.90 14.92 14.92
9772 238.1 -0.1 1018 9773 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.90 14.92 14.92
9952 237.9 0.2 1036 9953 done -0.06 - - 2032 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.90 14.92 14.92
10132 237.5 0.1 1054 10133 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.90 14.92 14.92
10312 237.6 -0.1 1072 10313 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2804 - - - - - - - - 14.90 14.92 14.92
10492 237.6 0.1 1090 10493 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
10672 237.5 - 1108 10673 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
10852 237.6 - 1126 10853 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
11032 237.3 0.2 1144 11033 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
11212 237.2 -0.2 1162 11213 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
11392 237.9 -0.4 1180 11393 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
11572 238.1 0.1 1198 11573 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
11752 237.6 0.2 1216 11753 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
11932 237.6 -0.2 1234 11933 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
12112 238.0 -0.2 1252 12113 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
12292 238.0 0.1 1270 12293 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
12472 237.9 0.1 1288 12473 done -0.06 - - 2031 - - - 2600 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
12652 237.9 - 1306 12653 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.92 14.92
12832 238.0 -0.1 1324 12833 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.90 14.93 14.92
13012 237.9 0.1 1342 13013 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2802 - - - - - - - - 14.90 14.92 14.92
13197 237.7 0.1 1360 13198 done -0.06 - - 2031 - - - 2600 - 31.7 - - 2803 - - - - - - - - 14.82 14.85 14.85
13375 237.6 - 1378 13376 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.80 14.81 14.81
13555 237.6 - 1396 13556 done -0.06 - - 2031 - - - 2600 - 31.7 - - 2803 - - - - - - - - 14.77 14.79 14.79
13735 237.6 0.1 1414 13736 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.75 14.77 14.77
13915 237.3 0.1 1432 13916 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.73 14.75 14.75
14095 237.3 -0.1 1450 14096 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.71 14.73 14.73
14275 237.3 0.1 1468 14276 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.70 14.72 14.72
14455 236.9 0.2 1486 14456 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.69 14.71 14.71
14635 236.8 -0.1 1504 14636 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.67 14.70 14.70
14815 237.3 -0.3 1522 14816 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.67 14.69 14.69
14995 237.5 - 1540 14996 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.66 14.69 14.68
15175 237.4 - 1558 15176 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.65 14.68 14.68
15355 237.4 - 1576 15356 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2803 - - - - - - - - 14.72 14.74 14.73
15536 237.2 0.2 1594 15536 done -0.06 - - 2031 - - - 2601 - 31.7 - - 2802 - - - - - - - - 14.74 14.76 14.76
15672 end loiter: LOITER_COMPLETE
15672 begin climb
15675 237.0 - 1608 15777 roll 0.76 0.90 0.181 2312 312.2 2.88 0.158 1186 -491.3 146.0 93.12 1.766 2341 -5.0 0.125 - - - - - - 14.47 13.78 13.18
15904 225.8 6.2 1650 15910 done 0.86 - - 2313 - 2.88 0.178 2608 493.8 146.0 - - 2336 - - - - - - - - 14.14 13.99 14.18
16095 214.0 6.2 1670 16096 done 0.96 0.20 0.109 2390 385.0 - - 2608 - 146.0 - - 2337 - - - - - - - - 14.21 14.30 14.28
16275 198.7 8.3 1688 16280 roll 0.99 - - 2401 - 2.75 0.159 1187 -516.7 146.0 - - 2332 - - - - - - - - 14.47 14.21 14.49
16345 192.9 8.1 1702 16350 done 1.03 - - 2401 - 2.80 0.177 2600 504.6 146.0 - - 2332 - - - - - - - - 14.35 14.19 14.38
16536 177.2 7.8 1722 16537 done 1.09 - - 2401 - - - 2600 - 146.0 - - 2332 - - - - - - - - 14.51 14.53 14.53
16716 163.4 7.9 1740 16721 roll 1.14 0.10 0.160 2438 370.0 2.38 0.215 3774 493.3 146.0 - - 2331 - - - - - - - - 14.37 14.25 14.43
16766 158.4 10.0 1750 16771 done 1.14 - - 2446 - 2.28 0.168 2592 -518.4 146.0 - - 2331 - - - - - - - - 14.42 14.30 14.45
16957 141.5 8.4 1770 16958 done 1.17 - - 2446 - - - 2592 - 146.0 - - 2331 - - - - - - - - 14.57 14.59 14.59
17137 126.8 8.1 1788 17142 roll 1.21 - - 2447 - 2.42 0.216 3778 490.1 146.0 - - 2330 - - - - - - - - 14.59 14.29 14.61
17182 122.8 8.7 1797 17189 done 1.23 - - 2455 - 2.28 0.169 2597 -518.0 146.0 - - 2330 - - - - - - - - 14.47 14.33 14.50
17367 109.6 6.9 1816 17373 roll 1.31 0.12 0.154 2516 508.3 2.67 0.156 1183 -529.6 146.0 - - 2330 - - - - - - - - 14.40 14.29 14.43
17418 105.9 7.2 1826 17423 done 1.38 - - 2516 - 2.80 0.177 2605 507.9 146.0 - - 2330 - - - - - - - - 14.41 14.26 14.44
17609 93.8 5.8 1846 17614 roll 1.50 0.10 0.174 2560 440.0 2.72 0.153 1178 -524.6 146.0 - - 2330 - - - - - - - - 14.39 14.29 14.47
17670 90.5 5.2 1858 17758 done 1.60 - - 2560 - 2.83 0.179 2608 505.3 246.0 78.50 1.540 1935 -5.0 0.056 - - - - - - 14.44 14.28 13.26
17933 65.5 9.3 1892 17938 roll 1.60 - - 2560 - 2.42 0.210 3780 484.3 246.0 - - 1930 - - - - - - - - 14.28 13.98 14.30
18163 54.1 2.6 1938 18297 done 1.76 0.20 0.116 2633 365.0 2.30 0.165 2599 -513.5 405.2 124.40 1.444 1286 -5.2 0.037 - - - - - - 14.17 14.11 13.08
18473 24.1 8.6 1980 18478 roll 1.78 - - 2631 - 2.47 0.207 3777 476.9 405.2 - - 1278 - - - - - - - - 14.14 13.85 14.16
18603 11.7 8.8 2006 18608 done 1.80 - - 2641 - 2.35 0.163 2593 -503.8 405.2 - - 1276 - - - - - - - - 14.07 13.97 14.11
18731 end climb: SURFACE_DEPTH_REACHED
18731 begin surface coast
18752 end surface coast: CONTROL_FINISHED_OK
18752 begin surface
SM 0.72 - - - - -5.80 7.50 0.091 197 26.3 0.38 0.232 2750 4357.9 525.19 176.12 0.216 801 4.5 -0.002 - - - - - -