SODA Sep18 * SG199 * Dive index * Mission links * Dive 16 * Raw log
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• Previous call tries 1 • 8.97 of 350.00 AH used of 24V (97.44% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -60.2 deg, depth 0.57 m • Intended pitch -18.8 deg, speed -10.000 cm/s
VBD pumped to 653.97 (SM_CC=653.96979) • surface range 6.3 m at 8.7 m depth, ceiling 2.4 m (m = 1.21, R^2 = 1.00)
• GPS1 time: 38 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
10 - - - 133 VBD -0.84 - - 196 - - - 2656 - -146.0 -121.07 0.002 2273 - - - - - - - - 14.26 - 14.28
136 3.7 -6.1 12 187 roll -0.84 8.85 0.470 1811 182.5 2.35 0.249 3770 474.0 -146.0 -36.12 0.004 3764 -41.3 7.523 - - - - - - 13.93 13.37 14.18
412 81.4 -21.9 66 417 done -0.84 - - 1811 - 2.20 0.173 2648 -510.0 -146.0 - - 3766 - - - - - - - - 14.28 14.16 14.30
604 116.0 -16.8 86 609 roll -0.84 - - 1802 - 2.35 0.225 3773 478.7 -146.0 - - 3766 - - - - - - - - 14.43 14.14 14.45
835 156.1 -16.5 132 839 done -0.84 - - 1803 - 2.17 0.174 2651 -517.1 -146.0 - - 3770 - - - - - - - - 14.35 14.23 14.36
1027 185.0 -14.9 152 1032 roll -0.84 - - 1794 - 2.35 0.226 3776 478.7 -146.0 - - 3766 - - - - - - - - 14.51 14.24 14.52
1257 221.4 -14.9 198 1262 done -0.84 0.15 0.296 1825 206.7 2.17 0.176 2651 -518.4 -146.0 - - 3766 - - - - - - - - 14.26 14.31 14.40
1447 245.0 -11.8 218 1454 roll -0.84 - - 1817 - 2.33 0.230 3770 480.3 -146.0 - - 3766 - - - - - - - - 14.57 14.29 14.59
1584 261.7 -12.1 245 1590 done -0.84 - - 1818 - 2.17 0.177 2648 -517.1 -146.0 - - 3766 - - - - - - - - 14.44 14.32 14.45
1900 294.5 -10.1 258 1901 done -0.84 - - 1824 - - - 2648 - -146.0 - - 3766 - - - - - - - - 14.64 14.66 14.66
2200 324.0 -9.6 268 2205 roll -0.84 - - 1809 - 2.33 0.230 3776 484.1 -146.0 - - 3766 - - - - - - - - 14.67 14.39 14.69
2245 328.6 -10.4 277 2251 done -0.84 - - 1809 - 2.17 0.177 2650 -518.9 -146.0 - - 3766 - - - - - - - - 14.53 14.41 14.54
2562 358.8 -9.4 290 2563 done -0.84 - - 1809 - - - 2650 - -146.0 - - 3766 - - - - - - - - 14.68 14.70 14.70
2861 387.0 -9.4 300 2866 roll -0.84 - - 1801 - 2.28 0.229 3770 491.2 -146.0 - - 3766 - - - - - - - - 14.71 14.43 14.73
2956 396.9 -10.3 319 2961 done -0.84 - - 1801 - 2.15 0.176 2647 -522.3 -146.0 - - 3765 - - - - - - - - 14.59 14.47 14.62
3282 428.4 -9.6 334 3283 done -0.84 - - 1801 - - - 2647 - -146.0 - - 3765 - - - - - - - - 14.73 14.75 14.74
3582 457.3 -9.5 344 3587 roll -0.84 - - 1793 - 2.28 0.226 3769 492.1 -146.0 - - 3765 - - - - - - - - 14.74 14.46 14.76
3682 467.7 -10.5 364 3687 done -0.84 0.15 0.276 1825 213.3 2.12 0.175 2651 -527.4 -146.0 - - 3765 - - - - - - - - 14.45 14.50 14.60
4004 494.8 -8.4 378 4005 done -0.84 - - 1825 - - - 2651 - -146.0 - - 3763 - - - - - - - - 14.75 14.76 14.76
4302 520.0 -8.5 388 4307 roll -0.84 - - 1819 - 2.28 0.226 3773 492.1 -146.0 - - 3765 - - - - - - - - 14.76 14.48 14.78
4398 528.8 -9.4 407 4403 done -0.84 - - 1818 - 2.12 0.174 2650 -529.7 -146.0 - - 3765 - - - - - - - - 14.64 14.52 14.66
4723 557.2 -8.7 422 4724 done -0.84 - - 1818 - - - 2651 - -146.0 - - 3765 - - - - - - - - 14.77 14.79 14.78
5023 582.8 -8.5 432 5028 roll -0.84 - - 1810 - 2.28 0.226 3776 493.4 -146.0 - - 3766 - - - - - - - - 14.78 14.50 14.80
5103 590.2 -9.4 448 5108 done -0.84 - - 1810 - 2.15 0.173 2644 -526.5 -146.0 - - 3765 - - - - - - - - 14.65 14.54 14.67
5414 617.4 -8.8 460 5419 roll -0.84 - - 1802 - 2.28 0.224 3770 493.9 -146.0 - - 3765 - - - - - - - - 14.77 14.50 14.78
5454 621.2 -9.7 468 5459 done -0.84 - - 1802 - 2.12 0.171 2642 -532.1 -146.0 - - 3765 - - - - - - - - 14.66 14.54 14.67
5776 650.4 -9.1 482 5776 done -0.84 - - 1802 - - - 2646 - -146.0 - - 3765 - - - - - - - - 14.77 14.79 14.79
6074 677.6 -9.0 492 6079 roll -0.84 - - 1796 - 2.28 0.223 3770 493.0 -146.0 - - 3765 - - - - - - - - 14.79 14.51 14.81
6160 686.0 -10.1 509 6167 done -0.84 0.12 0.275 1820 200.0 2.10 0.171 2654 -531.4 -146.0 - - 3765 - - - - - - - - 14.50 14.54 14.66
6465 711.6 -8.3 520 6466 done -0.84 - - 1820 - - - 2654 - -146.0 - - 3765 - - - - - - - - 14.79 14.82 14.81
6765 736.4 -8.3 530 6770 roll -0.84 - - 1813 - 2.25 0.224 3770 496.0 -146.0 - - 3766 - - - - - - - - 14.80 14.52 14.82
6835 742.8 -9.2 544 6840 done -0.84 - - 1813 - 2.12 0.171 2647 -529.7 -146.0 - - 3765 - - - - - - - - 14.67 14.55 14.69
7155 770.1 -8.4 558 7160 roll -0.84 - - 1805 - 2.28 0.223 3776 495.2 -146.0 - - 3765 - - - - - - - - 14.80 14.52 14.81
7205 774.6 -9.2 568 7211 done -0.84 - - 1805 - 2.12 0.171 2650 -531.1 -146.0 - - 3765 - - - - - - - - 14.67 14.55 14.69
7516 801.5 -8.6 580 7517 done -0.84 - - 1805 - - - 2650 - -146.0 - - 3766 - - - - - - - - 14.80 14.82 14.82
7827 826.9 -8.4 590 7832 roll -0.84 - - 1797 - 2.25 0.224 3770 497.8 -146.0 - - 3766 - - - - - - - - 14.76 14.50 14.78
7897 834.3 -9.4 604 7905 done -0.84 0.12 0.275 1822 208.3 2.12 0.171 2644 -531.1 -146.0 - - 3766 - - - - - - - - 14.50 14.53 14.64
8223 859.0 -7.6 618 8223 done -0.84 - - 1822 - - - 2644 - -146.0 - - 3766 - - - - - - - - 14.71 14.72 14.71
8521 881.2 -7.4 628 8526 roll -0.84 - - 1816 - 2.30 0.224 3776 492.2 -146.0 - - 3765 - - - - - - - - 14.68 14.41 14.69
8591 887.0 -8.1 642 8596 done -0.84 - - 1816 - 2.15 0.171 2645 -526.0 -146.0 - - 3766 - - - - - - - - 14.54 14.45 14.57
8911 911.6 -7.7 656 8912 done -0.84 - - 1816 - - - 2645 - -146.0 - - 3765 - - - - - - - - 14.64 14.66 14.66
9211 934.4 -7.6 666 9216 roll -0.84 - - 1807 - 2.30 0.223 3770 489.1 -146.0 - - 3766 - - - - - - - - 14.63 14.37 14.64
9266 939.1 -8.6 677 9274 done -0.84 - - 1807 - 2.15 0.171 2649 -521.4 -146.0 - - 3766 - - - - - - - - 14.51 14.40 14.54
9572 963.6 -8.0 688 9573 done -0.84 - - 1807 - - - 2650 - -146.0 - - 3766 - - - - - - - - 14.62 14.64 14.64
9872 987.5 -8.0 698 9877 roll -0.84 - - 1799 - 2.30 0.225 3776 489.6 -146.0 - - 3766 - - - - - - - - 14.61 14.35 14.62
9899 end dive: TARGET_DEPTH_EXCEEDED
9899 begin apogee
9908 990.0 -9.1 704 10046 done -0.19 0.88 0.251 2031 263.6 - - 2498 - - 135.35 2.621 3163 -4.5 0.332 - - - - - - 14.34 13.43 12.57
10047 end apogee: CONTROL_FINISHED_OK
10047 begin climb
10050 992.5 - 708 10197 roll 0.84 1.15 0.149 2376 300.0 2.92 0.158 1090 -482.2 146.0 136.23 2.551 2567 -4.4 0.335 - - - - - - 13.43 13.24 12.45
10263 973.1 13.3 749 10270 done 0.84 - - 2376 - 2.95 0.177 2502 478.6 146.0 - - 2562 - - - - - - - - 13.71 13.58 13.74
10568 930.7 13.9 760 10569 done 0.84 - - 2376 - - - 2503 - 146.0 - - 2558 - - - - - - - - 14.23 14.25 14.25
10868 889.1 13.8 770 10868 done 0.84 - - 2376 - - - 2502 - 146.0 - - 2556 - - - - - - - - 14.40 14.42 14.42
11167 847.9 13.7 780 11168 done 0.84 - - 2376 - - - 2503 - 146.0 - - 2555 - - - - - - - - 14.50 14.52 14.52
11468 807.2 13.5 790 11473 roll 0.84 - - 2376 - 2.58 0.219 3776 493.4 146.0 - - 2556 - - - - - - - - 14.56 14.30 14.58
11529 797.9 15.6 802 11534 done 0.84 - - 2386 - 2.45 0.164 2490 -524.9 146.0 - - 2555 - - - - - - - - 14.46 14.36 14.48
11859 752.0 13.8 818 11860 done 0.84 - - 2386 - - - 2491 - 146.0 - - 2554 - - - - - - - - 14.62 14.65 14.64
12160 710.8 13.7 828 12161 done 0.84 - - 2386 - - - 2490 - 146.0 - - 2554 - - - - - - - - 14.66 14.68 14.68
12459 669.8 13.7 838 12460 done 0.84 - - 2386 - - - 2491 - 146.0 - - 2554 - - - - - - - - 14.69 14.71 14.71
12759 628.9 13.6 848 12760 done 0.84 - - 2386 - - - 2491 - 146.0 - - 2554 - - - - - - - - 14.72 14.74 14.74
13060 588.1 13.6 858 13065 roll 0.84 - - 2386 - 2.58 0.216 3770 495.7 146.0 - - 2553 - - - - - - - - 14.73 14.47 14.75
13145 574.7 15.9 875 13152 done 0.84 - - 2395 - 2.40 0.164 2497 -530.4 146.0 - - 2554 - - - - - - - - 14.62 14.52 14.64
13451 532.3 13.7 886 13451 done 0.84 - - 2395 - - - 2497 - 146.0 - - 2553 - - - - - - - - 14.76 14.78 14.78
13751 491.4 13.6 896 13752 done 0.84 - - 2396 - - - 2497 - 146.0 - - 2553 - - - - - - - - 14.76 14.78 14.77
14051 451.0 13.5 906 14051 done 0.84 - - 2396 - - - 2497 - 146.0 - - 2553 - - - - - - - - 14.76 14.79 14.78
14351 410.6 13.4 916 14351 done 0.84 - - 2395 - - - 2497 - 146.0 - - 2553 - - - - - - - - 14.76 14.79 14.78
14651 371.1 13.1 926 14656 roll 0.84 - - 2396 - 2.55 0.215 3771 499.6 146.0 - - 2553 - - - - - - - - 14.76 14.51 14.78
14687 365.8 14.9 933 14693 done 0.84 0.15 0.304 2374 -146.7 2.40 0.163 2495 -531.7 146.0 - - 2553 - - - - - - - - 14.48 14.55 14.65
15016 326.5 11.7 948 15017 done 0.84 - - 2374 - - - 2495 - 146.0 - - 2553 - - - - - - - - 14.77 14.79 14.78
15313 292.3 11.3 958 15314 done 0.84 - - 2374 - - - 2496 - 146.0 - - 2552 - - - - - - - - 14.79 14.81 14.81
15613 261.3 9.8 968 15614 done 0.84 - - 2374 - - - 2495 - 146.0 - - 2553 - - - - - - - - 14.79 14.81 14.81
15915 235.1 7.4 988 15964 done 0.90 - - 2373 - - - 2495 - 203.0 45.08 1.722 2334 -4.9 0.131 - - - - - - 14.78 14.22 13.61
16143 214.1 8.9 1011 16144 done 0.92 - - 2370 - - - 2495 - 203.0 - - 2329 - - - - - - - - 14.49 14.51 14.50
16323 198.1 8.8 1029 16324 done 0.94 - - 2374 - - - 2495 - 203.0 - - 2326 - - - - - - - - 14.54 14.57 14.57
16505 182.8 8.6 1047 16507 done 0.97 0.15 0.152 2422 320.0 - - 2496 - 203.0 - - 2328 - - - - - - - - 14.37 14.47 14.45
16685 165.5 9.4 1065 16686 done 0.98 - - 2422 - - - 2495 - 203.0 - - 2327 - - - - - - - - 14.62 14.63 14.63
16865 148.9 9.1 1083 16866 done 1.00 - - 2422 - - - 2496 - 203.0 - - 2327 - - - - - - - - 14.63 14.65 14.65
17044 133.1 8.5 1101 17049 roll 1.03 - - 2422 - 2.62 0.223 3773 487.4 203.0 - - 2326 - - - - - - - - 14.65 14.36 14.66
17180 120.5 9.7 1128 17186 done 1.03 - - 2432 - 2.45 0.172 2498 -520.4 203.0 - - 2326 - - - - - - - - 14.54 14.42 14.56
17367 106.3 6.8 1147 17426 done 1.10 - - 2432 - - - 2498 - 272.3 54.97 1.577 2049 -5.0 0.067 - - - - - - 14.66 14.05 13.48
17605 85.8 8.7 1173 17611 roll 1.13 - - 2442 - 2.75 0.166 1087 -513.1 272.3 - - 2043 - - - - - - - - 14.35 14.13 14.38
17631 83.6 8.5 1178 17638 done 1.16 - - 2442 - 2.83 0.180 2501 499.6 272.3 - - 2043 - - - - - - - - 14.26 14.12 14.28
17818 69.2 6.6 1197 17884 roll 1.23 0.15 0.138 2511 460.0 2.88 0.162 1085 -491.7 345.9 56.88 1.504 1751 -5.1 0.047 - - 1 - - - 14.27 13.81 13.34
17965 57.2 8.4 1225 17970 done 1.26 - - 2511 - 2.88 0.181 2501 491.7 345.9 - - 1746 - - - - - - - - 14.07 13.93 14.09
18158 42.0 6.4 1245 18225 roll 1.34 - - 2521 - 2.85 0.161 1088 -495.8 424.1 59.35 1.455 1432 -5.3 0.030 - - 1 - - - 14.32 13.74 13.28
18316 30.9 7.0 1275 18374 done 1.41 - - 2521 - 2.88 0.179 2499 489.9 488.6 50.22 1.408 1169 -5.2 0.023 - - - - - - 14.04 13.90 13.22
18549 15.4 6.7 1303 18611 done 1.48 0.17 0.137 2583 364.7 - - 2499 - 561.4 57.62 1.362 873 -5.1 0.011 - - - - - - 14.03 13.74 13.24
18687 end climb: SURFACE_DEPTH_REACHED
18687 begin surface coast
18697 end surface coast: CONTROL_FINISHED_OK
18697 begin surface
SM 0.54 - - - - -5.91 7.50 0.100 194 25.7 0.35 0.237 2653 -21785.7 653.97 123.45 0.220 500 4.0 -0.001 - - - - - -