SODA Sep18 * SG199 * Dive index * Mission links * Dive 105 * Raw log
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• Previous call tries 3 • 51.95 of 350.00 AH used of 24V (85.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -14.3 deg, depth 14.81 m • Intended pitch -15.7 deg, speed -9.167 cm/s
• surface range 20.4 m at 19.8 m depth, ceiling -0.6 m
• GPS1 time: 0 s, HDOP was 8255.0 m
• GPS2 time: 0 s, HDOP was 8255.0 m • 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
11 - - - 55 done -0.73 - - 2176 - 0.08 1.050 2745 - -146.0 -42.85 0.003 3540 - - - - - - - - 14.40 13.31 14.42
58 17.7 -6.2 4 64 roll -0.73 1.08 0.128 1837 -313.9 2.10 0.212 3772 489.0 -146.0 - - 3541 - - - - - - - - 14.18 14.09 14.24
289 76.2 -19.7 50 294 done -0.73 - - 1836 - 1.98 0.162 2740 -521.2 -146.0 - - 3542 - - - - - - - - 14.31 14.19 14.33
479 108.1 -15.5 70 484 roll -0.73 - - 1828 - 2.10 0.211 3773 491.9 -146.0 - - 3542 - - - - - - - - 14.52 14.20 14.53
709 143.5 -14.9 116 714 done -0.73 - - 1828 - 1.95 0.163 2746 -526.7 -146.0 - - 3542 - - - - - - - - 14.40 14.28 14.43
899 168.7 -12.9 136 904 roll -0.73 - - 1821 - 2.08 0.212 3770 492.3 -146.0 - - 3542 - - - - - - - - 14.60 14.27 14.62
1036 187.2 -13.7 163 1042 done -0.73 - - 1821 - 1.95 0.164 2741 -527.7 -146.0 - - 3541 - - - - - - - - 14.49 14.35 14.51
1220 210.9 -12.7 182 1221 done -0.73 - - 1820 - - - 2741 - -146.0 - - 3541 - - - - - - - - 14.64 14.66 14.65
1400 232.3 -11.7 200 1400 done -0.73 - - 1820 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.66 14.65 14.67
1590 253.4 -10.4 217 1590 done -0.73 - - 1821 - - - 2741 - -146.0 - - 3543 - - - - - - - - 14.67 14.69 14.69
1890 282.4 -9.2 227 1890 done -0.73 - - 1820 - - - 2741 - -146.0 - - 3540 - - - - - - - - 14.71 14.73 14.72
2190 309.3 -9.0 237 2195 roll -0.73 - - 1813 - 2.08 0.215 3776 497.6 -146.0 - - 3542 - - - - - - - - 14.73 14.39 14.75
2317 321.2 -9.4 262 2322 done -0.73 - - 1813 - 1.95 0.168 2741 -530.8 -146.0 - - 3542 - - - - - - - - 14.60 14.47 14.62
2643 349.5 -8.6 277 2643 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.73 14.75 14.74
2943 375.3 -8.7 287 2943 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.73 14.76 14.76
3243 400.6 -8.3 297 3243 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.74 14.77 14.76
3543 425.0 -8.1 307 3543 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.77
3843 449.1 -8.0 317 3843 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.78
4143 473.1 -8.0 327 4143 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.78
4443 497.0 -7.9 337 4443 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3541 - - - - - - - - 14.76 14.78 14.78
4743 520.7 -7.9 347 4743 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.78 14.80 14.80
5043 543.9 -7.6 357 5043 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.80 14.82 14.81
5343 566.5 -7.5 367 5343 done -0.73 - - 1812 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.80 14.82 14.81
5643 588.9 -7.5 377 5643 done -0.73 - - 1813 - - - 2741 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
5943 611.3 -7.4 387 5948 roll -0.73 - - 1802 - 2.05 0.207 3777 505.4 -146.0 - - 3543 - - - - - - - - 14.73 14.44 14.73
6003 616.2 -8.3 399 6008 done -0.73 0.12 0.273 1831 241.7 1.92 0.161 2746 -537.0 -146.0 - - 3542 - - - - - - - - 14.40 14.47 14.59
6333 638.7 -6.7 415 6334 done -0.73 - - 1831 - - - 2746 - -146.0 - - 3543 - - - - - - - - 14.69 14.71 14.71
6633 659.0 -6.8 425 6634 done -0.73 - - 1830 - - - 2746 - -146.0 - - 3543 - - - - - - - - 14.67 14.69 14.69
6933 679.3 -6.8 435 6934 done -0.73 - - 1831 - - - 2746 - -146.0 - - 3543 - - - - - - - - 14.65 14.67 14.66
7233 699.5 -6.7 445 7234 done -0.73 - - 1831 - - - 2746 - -146.0 - - 3543 - - - - - - - - 14.65 14.66 14.66
7533 719.5 -6.6 455 7534 done -0.73 - - 1831 - - - 2747 - -146.0 - - 3543 - - - - - - - - 14.64 14.64 14.66
7833 739.3 -6.6 465 7834 done -0.73 - - 1830 - - - 2746 - -146.0 - - 3543 - - - - - - - - 14.63 14.66 14.65
8135 758.8 -6.5 475 8136 done -0.73 - - 1830 - - - 2747 - -146.0 - - 3543 - - - - - - - - 14.69 14.71 14.71
8433 778.4 -6.5 485 8434 done -0.73 - - 1827 - - - 2747 - -146.0 - - 3543 - - - - - - - - 14.73 14.76 14.75
8733 797.8 -6.5 495 8738 roll -0.73 - - 1825 - 2.05 0.210 3779 503.4 -146.0 - - 3543 - - - - - - - - 14.76 14.43 14.77
8789 801.8 -7.3 506 8795 done -0.73 - - 1825 - 1.92 0.161 2747 -537.5 -146.0 - - 3544 - - - - - - - - 14.62 14.49 14.64
9094 822.4 -6.7 517 9094 done -0.73 - - 1825 - - - 2749 - -146.0 - - 3543 - - - - - - - - 14.77 14.79 14.78
9394 842.7 -6.8 527 9394 done -0.73 - - 1825 - - - 2747 - -146.0 - - 3543 - - - - - - - - 14.78 14.81 14.81
9694 863.2 -6.9 537 9703 roll -0.73 - - 1818 - 2.05 0.211 3781 504.4 -146.0 - - 3543 - - - - - - - - 14.79 14.47 14.81
9773 869.2 -7.6 552 9778 done -0.73 - - 1816 - 1.95 0.162 2738 -534.9 -146.0 - - 3543 - - - - - - - - 14.66 14.52 14.68
10088 891.5 -7.0 565 10089 done -0.73 - - 1818 - - - 2738 - -146.0 - - 3543 - - - - - - - - 14.80 14.82 14.81
10388 912.4 -6.9 575 10393 roll -0.73 - - 1811 - 2.08 0.211 3784 502.9 -146.0 - - 3543 - - - - - - - - 14.80 14.48 14.81
10479 919.4 -7.8 593 10484 done -0.73 - - 1811 - 1.95 0.164 2737 -536.9 -146.0 - - 3543 - - - - - - - - 14.66 14.53 14.69
10810 943.2 -7.1 609 10810 done -0.73 - - 1811 - - - 2737 - -146.0 - - 3543 - - - - - - - - 14.81 14.82 14.82
11110 964.5 -7.1 619 11110 done -0.73 - - 1811 - - - 2737 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.83
11410 985.5 -7.0 629 11415 roll -0.73 - - 1803 - 2.05 0.210 3773 505.4 -146.0 - - 3543 - - - - - - - - 14.82 14.49 14.83
11468 end dive: TARGET_DEPTH_EXCEEDED
11468 begin apogee
11476 990.2 -7.8 641 11612 done -0.19 0.75 0.246 2005 269.3 - - 2597 - - 133.43 2.603 2942 -4.5 0.348 - - - - - - 14.49 13.61 12.74
11613 end apogee: CONTROL_FINISHED_OK
11613 begin climb
11615 992.4 - 645 11766 roll 0.73 1.02 0.152 2312 301.0 3.05 0.144 1181 -464.3 146.0 137.35 2.525 2342 -4.4 0.348 - - - - - - 13.58 12.86 12.09
11781 978.5 10.4 676 11787 done 0.73 - - 2312 - 3.10 0.163 2609 460.6 146.0 - - 2340 - - - - - - - - 13.14 13.00 13.17
12107 940.5 11.7 691 12108 done 0.73 - - 2312 - - - 2610 - 146.0 - - 2335 - - - - - - - - 14.06 14.08 14.08
12407 905.8 11.5 701 12408 done 0.73 - - 2312 - - - 2610 - 146.0 - - 2334 - - - - - - - - 14.34 14.36 14.36
12707 871.4 11.5 711 12712 roll 0.73 - - 2322 - 2.72 0.151 1183 -524.6 146.0 - - 2332 - - - - - - - - 14.50 14.23 14.51
12747 866.8 11.3 719 12752 done 0.73 - - 2322 - 2.78 0.169 2604 511.2 146.0 - - 2333 - - - - - - - - 14.38 14.22 14.40
13068 829.0 11.9 733 13068 done 0.73 - - 2322 - - - 2604 - 146.0 - - 2332 - - - - - - - - 14.60 14.62 14.62
13368 793.6 11.8 743 13368 done 0.73 - - 2322 - - - 2603 - 146.0 - - 2332 - - - - - - - - 14.66 14.68 14.68
13668 758.4 11.8 753 13673 roll 0.73 - - 2332 - 2.67 0.151 1182 -532.2 146.0 - - 2331 - - - - - - - - 14.70 14.43 14.71
13708 753.7 11.6 761 13713 done 0.73 - - 2332 - 2.75 0.171 2611 519.6 146.0 - - 2331 - - - - - - - - 14.54 14.41 14.59
14028 714.6 12.2 775 14029 done 0.73 - - 2332 - - - 2611 - 146.0 - - 2331 - - - - - - - - 14.73 14.75 14.74
14328 678.0 12.2 785 14333 roll 0.73 - - 2342 - 2.67 0.151 1184 -534.5 146.0 - - 2331 - - - - - - - - 14.76 14.48 14.77
14378 671.9 12.1 795 14384 done 0.73 0.17 0.281 2303 -229.4 2.72 0.171 2605 522.4 146.0 - - 2331 - - - - - - - - 14.38 14.42 14.57
14689 638.2 10.8 807 14690 done 0.73 - - 2303 - - - 2605 - 146.0 - - 2331 - - - - - - - - 14.76 14.78 14.78
14989 606.4 10.6 817 14990 done 0.73 - - 2303 - - - 2605 - 146.0 - - 2331 - - - - - - - - 14.78 14.80 14.79
15289 574.8 10.5 827 15295 roll 0.73 - - 2312 - 2.67 0.151 1174 -536.0 146.0 - - 2331 - - - - - - - - 14.79 14.52 14.81
15345 569.1 10.4 838 15352 done 0.73 - - 2312 - 2.72 0.171 2605 526.1 146.0 - - 2331 - - - - - - - - 14.64 14.49 14.68
15650 535.8 10.9 849 15651 done 0.73 - - 2312 - - - 2605 - 146.0 - - 2330 - - - - - - - - 14.79 14.81 14.81
15950 503.1 10.9 859 15951 done 0.73 - - 2312 - - - 2605 - 146.0 - - 2330 - - - - - - - - 14.80 14.82 14.82
16250 470.7 10.8 869 16255 roll 0.73 - - 2322 - 2.67 0.151 1176 -535.2 146.0 - - 2332 - - - - - - - - 14.80 14.54 14.82
16300 465.3 10.8 879 16305 done 0.73 - - 2322 - 2.72 0.169 2608 526.5 146.0 - - 2332 - - - - - - - - 14.66 14.51 14.69
16611 430.5 11.2 891 16612 done 0.73 - - 2322 - - - 2608 - 146.0 - - 2331 - - - - - - - - 14.80 14.82 14.82
16911 397.3 11.0 901 16911 done 0.73 - - 2322 - - - 2608 - 146.0 - - 2330 - - - - - - - - 14.81 14.83 14.82
17211 364.1 11.1 911 17216 roll 0.73 - - 2333 - 2.67 0.151 1179 -535.2 146.0 - - 2334 - - - - - - - - 14.81 14.54 14.83
17246 360.2 10.9 918 17253 done 0.73 - - 2333 - 2.72 0.168 2606 524.6 146.0 - - 2330 - - - - - - - - 14.66 14.51 14.69
17573 323.1 11.3 933 17574 done 0.73 - - 2333 - - - 2607 - 146.0 - - 2330 - - - - - - - - 14.80 14.82 14.82
17873 290.1 10.7 943 17878 roll 0.73 - - 2343 - 2.65 0.150 1180 -538.5 146.0 - - 2330 - - - - - - - - 14.81 14.54 14.83
17953 281.8 10.0 959 17959 done 0.73 0.17 0.270 2303 -235.3 2.72 0.168 2613 526.8 146.0 - - 2330 - - - - - - - - 14.47 14.50 14.66
18264 255.4 8.0 971 18269 roll 0.76 - - 2302 - 2.28 0.208 3783 513.2 146.0 - - 2330 - - - - - - - - 14.80 14.49 14.82
18309 251.2 9.4 980 18315 done 0.76 - - 2310 - 2.20 0.160 2597 -539.1 146.0 - - 2330 - - - - - - - - 14.62 14.51 14.65
18615 228.3 7.3 1012 18616 done 0.82 - - 2310 - - - 2597 - 146.0 - - 2330 - - - - - - - - 14.78 14.79 14.78
18795 215.5 6.6 1030 18801 roll 0.90 0.12 0.144 2377 558.3 2.60 0.149 1181 -544.6 146.0 - - 2330 - - - - - - - - 14.59 14.49 14.63
18893 208.0 8.0 1049 18900 done 0.93 - - 2377 - 2.72 0.171 2607 524.3 146.0 - - 2330 - - - - - - - - 14.61 14.45 14.63
19077 192.5 8.7 1068 19082 roll 0.93 - - 2377 - 2.30 0.210 3779 509.6 146.0 - - 2330 - - - - - - - - 14.73 14.43 14.76
19147 185.7 9.5 1082 19153 done 0.93 - - 2386 - 2.22 0.161 2588 -536.5 146.0 - - 2330 - - - - - - - - 14.61 14.48 14.64
19339 170.9 7.2 1102 19344 roll 0.99 - - 2396 - 2.60 0.153 1181 -541.2 146.0 - - 2330 - - - - - - - - 14.72 14.42 14.74
19380 168.0 7.0 1110 19386 done 1.06 - - 2396 - 2.75 0.174 2607 518.5 146.0 - - 2330 - - - - - - - - 14.57 14.40 14.60
19571 153.7 7.0 1130 19572 done 1.12 0.12 0.137 2443 391.7 - - 2606 - 146.0 - - 2330 - - - - - - - - 14.49 14.57 14.56
19751 138.3 8.8 1148 19756 roll 1.12 - - 2443 - 2.33 0.210 3782 504.7 146.0 - - 2330 - - - - - - - - 14.71 14.40 14.73
19926 122.2 8.5 1183 19932 done 1.14 - - 2452 - 2.22 0.163 2598 -533.3 146.0 - - 2330 - - - - - - - - 14.57 14.46 14.59
20111 109.1 6.4 1202 20112 done 1.22 - - 2452 - - - 2598 - 146.0 - - 2330 - - - - - - - - 14.69 14.70 14.70
20296 98.3 5.6 1220 20302 roll 1.33 0.12 0.151 2500 400.0 2.35 0.207 3776 501.3 146.0 - - 2330 - - - - - - - - 14.44 14.31 14.48
20527 84.1 4.4 1266 20621 done 1.44 - - 2508 - 2.25 0.164 2594 -525.3 259.6 88.28 1.525 1880 -5.1 0.057 - - - - - - 14.42 14.31 13.28
20806 62.2 6.4 1302 20813 roll 1.53 0.15 0.132 2576 453.3 2.70 0.149 1179 -524.1 259.6 - - 1872 - - - - - - - - 14.10 14.04 14.14
20818 61.4 6.7 1304 20823 done 1.60 - - 2576 - 2.83 0.170 2604 503.5 259.6 - - 1872 - - - - - - - - 14.18 14.03 14.21
21008 53.3 1.8 1324 21157 roll 1.78 0.20 0.128 2645 345.0 2.50 0.204 3781 470.8 435.2 137.80 1.422 1162 -5.2 0.039 - - - - - - 14.18 13.57 13.10
21382 11.1 13.3 1396 21387 done 1.78 - - 2657 - 2.33 0.158 2597 -508.2 435.2 - - 1155 - - - - - - - - 14.06 13.95 14.08
21390 end climb: FINISH_DEPTH_REACHED
21390 begin subsurface finish
21396 9.9 12.3 1398 21419 roll 0.34 1.88 0.285 2177 -255.3 2.53 0.236 3771 464.0 339.1 -12.80 0.008 1563 -31.9 8.003 - - - - - - 13.85 13.16 14.02
21419 end subsurface finish: CONTROL_FINISHED_OK
21419 begin surface