SODA Sep18 * SG199 * Dive index * Mission links * Dive 104 * Raw log
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• Previous call tries 3 • 51.50 of 350.00 AH used of 24V (85.29% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -15.6 deg, depth 13.94 m • Intended pitch -15.7 deg, speed -9.167 cm/s
• surface range 20.2 m at 19.4 m depth, ceiling -0.8 m
• GPS1 time: 9 s
• GPS2 time: 9 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
8 end surface: CONTROL_FINISHED_OK
8 begin dive
11 - - - 63 done -0.73 - - 2183 - - - 2749 - -146.0 -45.50 0.004 3542 - - - - - - - - 14.32 13.25 14.33
65 17.7 -7.3 5 71 roll -0.73 1.12 0.142 1841 -305.4 2.70 0.147 1331 -525.2 -146.0 - - 3543 - - - - - - - - 14.07 14.10 14.14
296 70.5 -19.1 51 302 done -0.73 - - 1828 - 2.90 0.184 2764 494.1 -146.0 - - 3543 - - - - - - - - 14.26 14.11 14.28
487 103.1 -15.9 71 492 roll -0.73 - - 1829 - 2.75 0.150 1327 -522.5 -146.0 - - 3543 - - - - - - - - 14.40 14.18 14.42
717 135.8 -13.6 117 722 done -0.73 - - 1829 - 2.88 0.186 2763 498.6 -146.0 - - 3543 - - - - - - - - 14.33 14.18 14.35
907 160.9 -13.0 137 908 done -0.73 - - 1828 - - - 2762 - -146.0 - - 3543 - - - - - - - - 14.46 14.49 14.49
1087 183.7 -12.5 155 1088 done -0.73 - - 1829 - - - 2764 - -146.0 - - 3543 - - - - - - - - 14.55 14.57 14.57
1267 206.2 -12.1 173 1268 done -0.73 - - 1829 - - - 2763 - -146.0 - - 3543 - - - - - - - - 14.59 14.61 14.60
1448 227.7 -11.7 191 1448 done -0.73 - - 1828 - - - 2763 - -146.0 - - 3543 - - - - - - - - 14.62 14.63 14.63
1627 247.2 -10.4 209 1628 done -0.73 - - 1829 - - - 2764 - -146.0 - - 3543 - - - - - - - - 14.64 14.66 14.65
1807 264.4 -9.3 217 1808 done -0.73 - - 1829 - - - 2763 - -146.0 - - 3543 - - - - - - - - 14.66 14.68 14.68
2107 290.9 -8.7 227 2112 roll -0.73 - - 1829 - 2.70 0.153 1326 -532.2 -146.0 - - 3543 - - - - - - - - 14.69 14.43 14.71
2198 298.7 -8.5 245 2203 done -0.73 - - 1818 - 2.80 0.184 2756 510.7 -146.0 - - 3543 - - - - - - - - 14.57 14.40 14.57
2528 326.8 -8.3 261 2533 roll -0.73 - - 1811 - 2.00 0.216 3769 506.5 -146.0 - - 3543 - - - - - - - - 14.71 14.41 14.73
2608 334.2 -9.5 277 2613 done -0.73 - - 1811 - 1.92 0.168 2744 -533.9 -146.0 - - 3544 - - - - - - - - 14.59 14.46 14.62
2919 360.7 -8.3 289 2919 done -0.73 - - 1808 - - - 2743 - -146.0 - - 3543 - - - - - - - - 14.73 14.75 14.75
3218 385.5 -8.3 299 3219 done -0.73 - - 1811 - - - 2744 - -146.0 - - 3542 - - - - - - - - 14.75 14.77 14.76
3519 409.8 -8.0 309 3519 done -0.73 - - 1811 - - - 2744 - -146.0 - - 3543 - - - - - - - - 14.76 14.78 14.78
3818 434.0 -8.1 319 3819 done -0.73 - - 1813 - - - 2744 - -146.0 - - 3543 - - - - - - - - 14.78 14.78 14.78
4119 458.1 -8.0 329 4119 done -0.73 - - 1811 - - - 2744 - -146.0 - - 3543 - - - - - - - - 14.77 14.79 14.79
4418 481.6 -7.8 339 4419 done -0.73 - - 1811 - - - 2744 - -146.0 - - 3543 - - - - - - - - 14.78 14.80 14.80
4719 505.0 -7.8 349 4719 done -0.73 - - 1811 - - - 2744 - -146.0 - - 3543 - - - - - - - - 14.79 14.81 14.81
5018 528.2 -7.7 359 5023 roll -0.73 - - 1803 - 2.03 0.208 3772 506.4 -146.0 - - 3543 - - - - - - - - 14.79 14.48 14.81
5073 532.8 -8.6 370 5080 done -0.73 0.15 0.264 1835 213.3 1.90 0.161 2746 -540.0 -146.0 - - 3543 - - - - - - - - 14.45 14.51 14.63
5379 553.8 -6.7 381 5380 done -0.73 - - 1835 - - - 2746 - -146.0 - - 3546 - - - - - - - - 14.79 14.81 14.81
5679 574.2 -6.8 391 5679 done -0.73 - - 1835 - - - 2746 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.82
5979 594.7 -6.8 401 5984 roll -0.73 - - 1829 - 2.05 0.208 3776 502.4 -146.0 - - 3543 - - - - - - - - 14.81 14.50 14.82
6044 599.6 -7.6 414 6049 done -0.73 - - 1829 - 1.92 0.161 2736 -541.7 -146.0 - - 3543 - - - - - - - - 14.66 14.54 14.69
6369 622.4 -7.0 429 6370 done -0.73 - - 1829 - - - 2736 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.83
6669 643.3 -7.0 439 6674 roll -0.73 - - 1823 - 2.05 0.208 3777 507.8 -146.0 - - 3543 - - - - - - - - 14.81 14.50 14.83
6764 650.6 -7.8 458 6769 done -0.73 - - 1821 - 1.92 0.161 2743 -538.5 -146.0 - - 3544 - - - - - - - - 14.67 14.54 14.69
7089 673.8 -7.1 473 7090 done -0.73 - - 1823 - - - 2743 - -146.0 - - 3544 - - - - - - - - 14.81 14.83 14.83
7389 694.8 -7.0 483 7390 done -0.73 - - 1823 - - - 2743 - -146.0 - - 3544 - - - - - - - - 14.82 14.82 14.83
7690 715.8 -7.0 493 7690 done -0.73 - - 1823 - - - 2743 - -146.0 - - 3544 - - - - - - - - 14.82 14.84 14.84
7989 736.9 -7.1 503 7994 roll -0.73 - - 1816 - 2.03 0.209 3772 506.9 -146.0 - - 3544 - - - - - - - - 14.83 14.51 14.84
8084 744.3 -7.9 522 8089 done -0.73 - - 1816 - 1.90 0.161 2743 -541.6 -146.0 - - 3544 - - - - - - - - 14.68 14.54 14.71
8410 768.2 -7.4 537 8410 done -0.73 - - 1816 - - - 2743 - -146.0 - - 3544 - - - - - - - - 14.82 14.84 14.83
8710 790.2 -7.3 547 8710 done -0.73 - - 1816 - - - 2743 - -146.0 - - 3544 - - - - - - - - 14.83 14.84 14.84
9010 812.0 -7.3 557 9011 done -0.73 - - 1816 - - - 2743 - -146.0 - - 3544 - - - - - - - - 14.83 14.85 14.87
9310 833.6 -7.1 567 9310 done -0.73 - - 1816 - - - 2743 - -146.0 - - 3544 - - - - - - - - 14.83 14.85 14.85
9610 854.8 -7.0 577 9610 done -0.73 - - 1816 - - - 2743 - -146.0 - - 3544 - - - - - - - - 14.83 14.85 14.85
9910 875.7 -7.0 587 9910 done -0.73 - - 1816 - - - 2743 - -146.0 - - 3544 - - - - - - - - 14.83 14.85 14.85
10210 896.8 -7.0 597 10215 roll -0.73 - - 1808 - 2.03 0.210 3772 506.9 -146.0 - - 3544 - - - - - - - - 14.83 14.51 14.85
10310 904.6 -7.8 617 10315 done -0.73 - - 1808 - 1.90 0.161 2742 -542.1 -146.0 - - 3544 - - - - - - - - 14.69 14.55 14.71
10630 927.8 -7.1 631 10631 done -0.73 - - 1808 - - - 2741 - -146.0 - - 3544 - - - - - - - - 14.83 14.85 14.84
10930 949.2 -7.1 641 10931 done -0.73 - - 1808 - - - 2741 - -146.0 - - 3544 - - - - - - - - 14.83 14.85 14.84
11230 970.3 -7.0 651 11235 roll -0.73 - - 1801 - 2.03 0.211 3769 506.4 -146.0 - - 3544 - - - - - - - - 14.85 14.51 14.85
11305 976.0 -8.1 666 11311 done -0.73 0.15 0.267 1834 220.0 1.90 0.162 2746 -538.4 -146.0 - - 3544 - - - - - - - - 14.47 14.55 14.66
11528 end dive: TARGET_DEPTH_EXCEEDED
11528 begin apogee
11535 990.0 -6.1 676 11670 done -0.19 0.62 0.228 2004 274.2 - - 2596 - - 133.60 2.608 2942 -4.5 0.347 - - - - - - 14.50 13.61 12.73
11671 end apogee: CONTROL_FINISHED_OK
11671 begin climb
11674 991.8 - 680 11815 done 0.73 1.02 0.147 2305 295.1 - - 2595 - 146.0 138.20 2.525 2347 -4.3 0.343 - - - - - - 13.58 12.92 12.10
12101 948.3 11.2 700 12101 done 0.73 - - 2305 - - - 2596 - 146.0 - - 2336 - - - - - - - - 13.96 14.00 14.00
12401 914.8 11.1 710 12406 roll 0.73 - - 2315 - 2.72 0.151 1175 -522.4 146.0 - - 2337 - - - - - - - - 14.29 14.04 14.31
12441 910.4 10.9 718 12446 done 0.73 - - 2315 - 2.83 0.168 2605 505.3 146.0 - - 2334 - - - - - - - - 14.19 14.04 14.22
12761 873.5 11.5 732 12762 done 0.73 - - 2315 - - - 2605 - 146.0 - - 2333 - - - - - - - - 14.47 14.50 14.50
13062 839.1 11.4 742 13062 done 0.73 - - 2315 - - - 2605 - 146.0 - - 2333 - - - - - - - - 14.59 14.60 14.60
13361 804.8 11.4 752 13367 roll 0.73 - - 2325 - 2.70 0.151 1176 -529.3 146.0 - - 2332 - - - - - - - - 14.57 14.31 14.59
13407 799.7 11.4 761 13413 done 0.73 - - 2331 - 2.78 0.170 2607 514.7 146.0 - - 2334 - - - - - - - - 14.45 14.31 14.48
13724 761.8 12.0 774 13724 done 0.73 - - 2325 - - - 2607 - 146.0 - - 2332 - - - - - - - - 14.58 14.60 14.60
14024 726.0 11.9 784 14029 roll 0.73 - - 2334 - 2.70 0.150 1178 -529.3 146.0 - - 2332 - - - - - - - - 14.60 14.35 14.62
14064 721.3 11.7 792 14069 done 0.73 0.15 0.275 2302 -213.3 2.78 0.168 2613 516.2 146.0 - - 2332 - - - - - - - - 14.29 14.32 14.47
14384 686.9 10.6 806 14385 done 0.73 - - 2302 - - - 2613 - 146.0 - - 2332 - - - - - - - - 14.60 14.62 14.62
14684 655.2 10.6 816 14689 roll 0.73 - - 2311 - 2.70 0.148 1180 -530.7 146.0 - - 2331 - - - - - - - - 14.61 14.36 14.62
14720 651.4 10.4 823 14725 done 0.73 - - 2312 - 2.78 0.168 2611 514.7 146.0 - - 2331 - - - - - - - - 14.50 14.33 14.51
15045 616.1 10.9 838 15046 done 0.73 - - 2311 - - - 2611 - 146.0 - - 2331 - - - - - - - - 14.61 14.63 14.62
15345 583.2 10.9 848 15350 roll 0.73 - - 2322 - 2.70 0.149 1183 -528.9 146.0 - - 2332 - - - - - - - - 14.62 14.37 14.64
15380 579.4 10.8 855 15386 done 0.73 - - 2322 - 2.78 0.168 2608 512.6 146.0 - - 2331 - - - - - - - - 14.51 14.35 14.54
15706 542.7 11.3 870 15707 done 0.73 - - 2321 - - - 2608 - 146.0 - - 2331 - - - - - - - - 14.70 14.72 14.71
16006 508.9 11.3 880 16011 roll 0.73 - - 2332 - 2.67 0.149 1178 -535.6 146.0 - - 2331 - - - - - - - - 14.73 14.46 14.75
16051 503.8 11.2 889 16057 done 0.73 - - 2332 - 2.75 0.168 2614 522.2 146.0 - - 2331 - - - - - - - - 14.59 14.44 14.62
16367 467.1 11.6 902 16368 done 0.73 - - 2332 - - - 2615 - 146.0 - - 2331 - - - - - - - - 14.74 14.76 14.76
16667 432.2 11.7 912 16672 roll 0.73 - - 2342 - 2.67 0.148 1173 -540.1 146.0 - - 2331 - - - - - - - - 14.76 14.48 14.78
16692 429.3 11.5 917 16700 done 0.73 0.17 0.270 2302 -235.3 2.75 0.167 2612 523.3 146.0 - - 2332 - - - - - - - - 14.42 14.46 14.62
16998 397.0 10.6 928 16998 done 0.73 - - 2301 - - - 2611 - 146.0 - - 2331 - - - - - - - - 14.77 14.79 14.81
17298 366.2 10.1 938 17303 roll 0.73 - - 2311 - 2.67 0.148 1176 -537.5 146.0 - - 2333 - - - - - - - - 14.77 14.50 14.80
17343 361.7 10.0 947 17348 done 0.73 - - 2311 - 2.72 0.167 2604 525.0 146.0 - - 2331 - - - - - - - - 14.64 14.48 14.67
17658 329.0 10.3 960 17659 done 0.73 - - 2311 - - - 2604 - 146.0 - - 2331 - - - - - - - - 14.79 14.81 14.81
17958 299.2 9.9 970 17964 roll 0.73 - - 2321 - 2.65 0.148 1173 -540.0 146.0 - - 2331 - - - - - - - - 14.79 14.52 14.81
18004 294.7 9.8 979 18009 done 0.73 - - 2321 - 2.72 0.167 2604 526.1 146.0 - - 2331 - - - - - - - - 14.65 14.50 14.69
18319 263.9 9.6 992 18320 done 0.73 - - 2320 - - - 2604 - 146.0 - - 2331 - - - - - - - - 14.78 14.81 14.80
18619 238.5 7.9 1010 18620 done 0.76 - - 2320 - - - 2604 - 146.0 - - 2331 - - - - - - - - 14.77 14.80 14.78
18799 224.8 7.4 1028 18800 done 0.82 - - 2324 - - - 2607 - 146.0 - - 2331 - - - - - - - - 14.76 14.78 14.78
18979 212.1 7.1 1046 18980 done 0.88 - - 2320 - - - 2604 - 146.0 - - 2331 - - - - - - - - 14.75 14.77 14.76
19159 199.9 6.6 1064 19160 done 0.96 0.17 0.118 2390 411.8 - - 2604 - 146.0 - - 2331 - - - - - - - - 14.57 14.65 14.64
19339 184.8 8.8 1082 19340 done 0.96 - - 2390 - - - 2604 - 146.0 - - 2331 - - - - - - - - 14.73 14.76 14.76
19519 169.8 8.1 1100 19520 done 0.99 - - 2390 - - - 2604 - 146.0 - - 2331 - - - - - - - - 14.73 14.75 14.75
19699 156.1 7.7 1118 19700 done 1.03 - - 2390 - - - 2604 - 146.0 - - 2331 - - - - - - - - 14.73 14.75 14.75
19879 142.8 7.1 1136 19884 roll 1.09 - - 2400 - 2.67 0.151 1176 -534.8 146.0 - - 2331 - - - - - - - - 14.72 14.45 14.73
19935 139.1 6.6 1147 19941 done 1.17 0.15 0.129 2455 366.7 2.75 0.171 2605 519.6 146.0 - - 2330 - - - - - - - - 14.53 14.42 14.61
20122 124.9 7.7 1166 20122 done 1.21 - - 2455 - - - 2604 - 146.0 - - 2330 - - - - - - - - 14.70 14.72 14.71
20300 111.9 6.9 1184 20301 done 1.28 - - 2456 - - - 2605 - 146.0 - - 2330 - - - - - - - - 14.71 14.72 14.72
20480 100.8 5.7 1202 20481 done 1.39 0.20 0.107 2525 345.0 - - 2605 - 146.0 - - 2330 - - - - - - - - 14.47 14.54 14.53
20660 90.6 4.7 1220 20750 roll 1.49 - - 2536 - 2.80 0.149 1184 -507.5 252.6 82.62 1.526 1908 -5.1 0.061 - - - - - - 14.68 13.87 13.36
20850 74.1 10.2 1256 20855 done 1.49 - - 2536 - 2.83 0.170 2601 500.7 252.6 - - 1902 - - - - - - - - 14.19 14.04 14.21
21040 58.4 6.3 1276 21046 roll 1.58 0.12 0.149 2584 400.0 2.35 0.206 3769 497.0 252.6 - - 1899 - - - - - - - - 14.20 14.15 14.25
21216 51.5 1.7 1311 21363 done 1.76 0.15 0.132 2644 400.0 2.25 0.163 2596 -521.3 430.5 138.82 1.424 1181 -5.2 0.038 - - - - - - 14.30 14.23 13.18
21549 16.9 11.7 1356 21554 roll 1.76 - - 2654 - 2.75 0.152 1175 -516.7 430.5 - - 1174 - - - - - - - - 14.21 13.95 14.23
21612 end climb: FINISH_DEPTH_REACHED
21612 begin subsurface finish
21620 9.9 10.2 1369 21643 roll 0.33 1.92 0.298 2178 -247.9 2.78 0.172 1178 1.1 333.4 -13.25 0.008 1587 -31.2 7.820 - - - - - - 13.95 13.19 14.14
21644 end subsurface finish: CONTROL_FINISHED_OK
21644 begin surface