SODA Sep18 * SG198 * Dive index * Mission links * Dive 22 * Raw log
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• Previous call tries 1 • 11.53 of 350.00 AH used of 24V (96.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.5 deg, depth 0.74 m • Intended pitch -18.3 deg, speed -10.000 cm/s
• No surface pump (final VBD was 654.95, SM_CC=653.96979) • surface range 10.5 m at 10.1 m depth, ceiling -0.4 m (m = 1.07, R^2 = 1.00)
• GPS1 time: 23 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
8 end surface: CONTROL_FINISHED_OK
8 begin dive
9 - - - 135 VBD -0.96 - - 228 - - - 2234 - -146.0 -123.55 0.004 2309 - - - - - - - - 14.23 - 14.26
136 5.3 -9.6 12 183 roll -0.96 10.52 0.473 2168 184.4 2.47 0.121 866 -553.8 -146.0 -31.95 0.006 3763 -45.5 7.845 - - - - - - 13.89 13.36 14.12
407 70.4 -18.0 65 415 done -0.96 - - 2165 - 2.53 0.113 2249 546.6 -146.0 - - 3763 - - - - - - - - 14.22 14.16 14.25
592 99.9 -14.9 84 598 roll -0.96 - - 2164 - 2.45 0.093 863 -565.7 -146.0 - - 3763 - - - - - - - - 14.40 14.19 14.42
727 119.8 -14.4 111 734 done -0.96 - - 2163 - 2.53 0.112 2258 551.4 -146.0 - - 3764 - - - - - - - - 14.29 14.23 14.32
912 144.8 -13.2 130 913 done -0.96 - - 2163 - - - 2259 - -146.0 - - 3764 - - - - - - - - 14.47 14.51 14.50
1092 167.9 -12.4 148 1092 done -0.96 - - 2163 - - - 2259 - -146.0 - - 3763 - - - - - - - - 14.50 14.53 14.52
1272 190.3 -12.5 166 1273 done -0.96 - - 2163 - - - 2259 - -146.0 - - 3764 - - - - - - - - 14.53 14.56 14.55
1452 211.8 -11.7 184 1458 roll -0.96 - - 2163 - 2.42 0.093 871 -573.6 -146.0 - - 3763 - - - - - - - - 14.55 14.35 14.57
1497 217.2 -11.9 193 1505 done -0.96 - - 2163 - 2.45 0.106 2248 562.0 -146.0 - - 3763 - - - - - - - - 14.41 14.35 14.44
1685 239.1 -11.4 212 1686 done -0.96 - - 2163 - - - 2248 - -146.0 - - 3763 - - - - - - - - 14.50 14.54 14.54
1877 260.0 -10.8 225 1877 done -0.96 - - 2163 - - - 2248 - -146.0 - - 3763 - - - - - - - - 14.48 14.51 14.50
2176 290.8 -9.8 235 2176 done -0.96 - - 2163 - - - 2248 - -146.0 - - 3763 - - - - - - - - 14.52 14.54 14.54
2476 318.9 -9.3 245 2477 done -0.96 - - 2162 - - - 2247 - -146.0 - - 3763 - - - - - - - - 14.50 14.55 14.52
2776 345.7 -8.7 255 2777 done -0.96 - - 2163 - - - 2247 - -146.0 - - 3763 - - - - - - - - 14.52 14.55 14.55
3077 371.7 -8.5 265 3077 done -0.96 - - 2163 - - - 2247 - -146.0 - - 3761 - - - - - - - - 14.50 14.54 14.53
3376 397.2 -8.6 275 3376 done -0.96 - - 2163 - - - 2248 - -146.0 - - 3763 - - - - - - - - 14.53 14.56 14.56
3676 422.2 -8.2 285 3676 done -0.96 - - 2163 - - - 2248 - -146.0 - - 3763 - - - - - - - - 14.54 14.57 14.56
3976 446.8 -8.2 295 3977 done -0.96 - - 2160 - - - 2248 - -146.0 - - 3761 - - - - - - - - 14.59 14.62 14.62
4276 471.7 -8.3 305 4285 roll -0.96 - - 2163 - 2.60 0.143 3661 543.5 -146.0 - - 3763 - - - - - - - - 14.64 14.40 14.66
4319 475.4 -8.7 313 4326 done -0.96 - - 2163 - 2.33 0.056 2255 -603.4 -146.0 - - 3763 - - - - - - - - 14.51 14.47 14.53
4640 501.4 -8.1 327 4641 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3763 - - - - - - - - 14.66 14.69 14.69
4940 525.6 -8.0 337 4941 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3763 - - - - - - - - 14.68 14.72 14.71
5240 549.4 -7.9 347 5241 done -0.96 - - 2163 - - - 2256 - -146.0 - - 3763 - - - - - - - - 14.71 14.74 14.73
5540 572.9 -7.8 357 5541 done -0.96 - - 2163 - - - 2256 - -146.0 - - 3763 - - - - - - - - 14.73 14.76 14.75
5840 596.5 -7.9 367 5841 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.74 14.77 14.76
6141 620.1 -7.8 377 6141 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.75 14.78 14.77
6441 643.1 -7.7 387 6441 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.76 14.78 14.78
6740 666.1 -7.7 397 6741 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.76 14.79 14.79
7040 689.6 -7.9 407 7041 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.77 14.80 14.80
7341 713.2 -7.9 417 7341 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.78 14.81 14.80
7640 736.8 -7.8 427 7641 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.78 14.81 14.81
7940 759.9 -7.7 437 7941 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.78 14.81 14.81
8241 783.0 -7.6 447 8241 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3765 - - - - - - - - 14.78 14.82 14.81
8540 806.2 -7.7 457 8541 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3765 - - - - - - - - 14.79 14.82 14.81
8840 829.2 -7.6 467 8841 done -0.96 - - 2165 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.79 14.83 14.82
9140 852.0 -7.5 477 9141 done -0.96 - - 2163 - - - 2256 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.82
9440 874.0 -7.4 487 9441 done -0.96 - - 2164 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.82
9740 896.0 -7.3 497 9741 done -0.96 - - 2163 - - - 2259 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.82
10040 917.7 -7.2 507 10041 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.83
10340 939.3 -7.2 517 10341 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.83
10640 961.0 -7.3 527 10641 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3764 - - - - - - - - 14.80 14.83 14.83
10940 982.7 -7.3 537 10941 done -0.96 - - 2163 - - - 2255 - -146.0 - - 3765 - - - - - - - - 14.80 14.83 14.83
11059 end dive: TARGET_DEPTH_EXCEEDED
11059 begin apogee
11062 991.3 -7.2 541 11199 done -0.25 0.62 0.221 2342 288.7 - - 2415 - - 134.82 2.401 3166 -4.4 0.358 - - - - - - 14.54 13.54 12.74
11200 end apogee: CONTROL_FINISHED_OK
11201 begin climb
11201 995.1 - 545 11353 roll 0.96 0.95 0.143 2633 306.3 2.70 0.097 987 -528.9 146.0 141.38 2.327 2567 -4.2 0.354 - - - - - - 13.51 13.31 12.57
11457 982.4 8.1 595 11464 done 0.99 - - 2634 - 2.62 0.103 2393 536.6 146.0 - - 2561 - - - - - - - - 13.78 13.72 13.85
11778 954.7 8.6 609 11784 roll 1.02 - - 2634 - 2.67 0.155 3803 528.1 146.0 - - 2559 - - - - - - - - 14.26 14.03 14.28
11862 946.3 10.2 626 11871 done 1.02 - - 2641 - 2.42 0.067 2402 -578.9 146.0 - - 2559 - - - - - - - - 14.17 14.12 14.19
12168 918.7 9.1 637 12174 roll 1.04 - - 2641 - 2.70 0.161 3819 524.8 146.0 - - 2558 - - - - - - - - 14.42 14.20 14.47
12262 908.7 10.7 656 12269 done 1.04 - - 2649 - 2.45 0.068 2396 -580.8 146.0 - - 2558 - - - - - - - - 14.31 14.26 14.34
12588 877.8 9.5 671 12594 roll 1.04 - - 2651 - 2.62 0.155 3800 535.9 146.0 - - 2557 - - - - - - - - 14.53 14.29 14.55
12692 866.4 10.9 692 12699 done 1.04 - - 2658 - 2.40 0.070 2390 -587.5 146.0 - - 2558 - - - - - - - - 14.41 14.36 14.44
13008 836.0 9.6 705 13014 roll 1.04 - - 2658 - 2.62 0.144 3796 536.6 146.0 - - 2557 - - - - - - - - 14.59 14.36 14.62
13098 826.0 11.2 723 13104 done 1.04 - - 2668 - 2.38 0.069 2393 -589.5 146.0 - - 2557 - - - - - - - - 14.47 14.42 14.50
13429 793.6 9.8 739 13434 roll 1.04 - - 2670 - 2.58 0.145 3801 545.7 146.0 - - 2557 - - - - - - - - 14.62 14.41 14.64
13528 782.3 11.4 759 13535 done 1.04 0.10 0.319 2653 -170.0 2.38 0.067 2394 -591.2 146.0 - - 2557 - - - - - - - - 14.35 14.47 14.48
13849 752.3 9.4 773 13855 roll 1.05 - - 2653 - 2.55 0.142 3799 551.0 146.0 - - 2557 - - - - - - - - 14.66 14.45 14.70
13964 739.7 11.2 796 13971 done 1.05 - - 2663 - 2.38 0.067 2387 -593.3 146.0 - - 2557 - - - - - - - - 14.54 14.50 14.57
14269 709.7 9.7 807 14275 roll 1.05 - - 2662 - 2.60 0.148 3805 545.4 146.0 - - 2556 - - - - - - - - 14.70 14.47 14.72
14363 699.2 11.3 826 14370 done 1.05 - - 2670 - 2.38 0.067 2394 -592.9 146.0 - - 2556 - - - - - - - - 14.57 14.52 14.59
14690 666.9 9.8 841 14695 roll 1.05 - - 2670 - 2.55 0.138 3805 553.3 146.0 - - 2556 - - - - - - - - 14.71 14.49 14.73
14795 655.2 11.3 862 14802 done 1.05 0.15 0.339 2648 -146.7 2.33 0.069 2395 -605.2 146.0 - - 2556 - - - - - - - - 14.43 14.54 14.60
15111 627.0 8.9 875 15117 roll 1.08 - - 2648 - 2.53 0.138 3796 553.8 146.0 - - 2556 - - - - - - - - 14.73 14.50 14.76
15221 615.6 10.4 897 15227 done 1.08 - - 2656 - 2.35 0.067 2392 -597.4 146.0 - - 2556 - - - - - - - - 14.59 14.54 14.62
15531 586.9 9.2 909 15537 roll 1.09 - - 2656 - 2.55 0.146 3796 550.6 146.0 - - 2556 - - - - - - - - 14.73 14.50 14.76
15636 575.6 10.9 930 15643 done 1.09 - - 2666 - 2.35 0.066 2387 -599.6 146.0 - - 2556 - - - - - - - - 14.61 14.57 14.63
15971 545.5 9.3 943 15976 roll 1.10 - - 2666 - 2.60 0.154 3803 544.6 146.0 - - 2556 - - - - - - - - 14.71 14.50 14.74
16074 532.7 10.8 964 16081 done 1.10 - - 2676 - 2.35 0.067 2401 -596.6 146.0 - - 2555 - - - - - - - - 14.57 14.52 14.60
16390 502.3 9.6 977 16395 roll 1.10 - - 2677 - 2.58 0.139 3799 541.9 146.0 - - 2556 - - - - - - - - 14.66 14.45 14.69
16464 494.1 11.2 992 16471 done 1.10 0.08 0.317 2668 -112.5 2.38 0.067 2388 -592.9 146.0 - - 2556 - - - - - - - - 14.37 14.49 14.50
16780 464.4 9.3 1005 16786 roll 1.12 - - 2668 - 2.62 0.154 3806 541.2 146.0 - - 2558 - - - - - - - - 14.62 14.40 14.64
16885 453.0 11.0 1026 16891 done 1.12 - - 2676 - 2.38 0.067 2399 -591.2 146.0 - - 2556 - - - - - - - - 14.49 14.45 14.52
17201 422.5 9.6 1039 17207 roll 1.12 - - 2676 - 2.65 0.169 3803 529.8 146.0 - - 2556 - - - - - - - - 14.57 14.38 14.60
17296 412.1 11.0 1058 17302 done 1.12 - - 2682 - 2.33 0.063 2390 -606.4 146.0 - - 2556 - - - - - - - - 14.50 14.43 14.50
17621 380.5 9.8 1073 17627 roll 1.12 - - 2682 - 2.62 0.144 3795 536.3 146.0 - - 2556 - - - - - - - - 14.57 14.35 14.60
17791 362.1 10.9 1107 17798 done 1.12 0.08 0.312 2673 -112.5 2.35 0.064 2402 -592.8 146.0 - - 2556 - - - - - - - - 14.28 14.42 14.42
18102 335.3 8.5 1119 18108 roll 1.15 - - 2672 - 2.58 0.150 3797 540.7 146.0 - - 2556 - - - - - - - - 14.56 14.35 14.59
18161 329.5 9.8 1131 18168 done 1.15 - - 2677 - 2.38 0.063 2388 -592.0 146.0 - - 2556 - - - - - - - - 14.45 14.40 14.46
18492 302.1 7.9 1147 18535 roll 1.16 - - 2677 - 2.65 0.144 3803 534.0 191.1 36.50 1.567 2385 -4.7 0.176 - - - - - - 14.63 14.09 13.62
18584 293.7 10.4 1165 18590 done 1.16 - - 2677 - 2.40 0.063 2399 -585.0 191.1 - - 2383 - - - - - - - - 14.26 14.21 14.28
18914 265.5 7.9 1181 18957 roll 1.17 - - 2677 - 2.72 0.145 3806 517.3 236.6 38.10 1.502 2198 -4.9 0.167 - - - - - - 14.53 14.04 13.55
18991 258.7 9.9 1196 18997 done 1.17 - - 2677 - 2.42 0.064 2397 -582.2 236.6 - - 2197 - - - - - - - - 14.16 14.12 14.19
19296 233.8 7.9 1222 19338 done 1.19 - - 2677 - - - 2397 - 282.9 38.83 1.468 2009 -4.8 0.150 - - - - - - 14.45 14.04 13.50
19516 215.1 8.5 1246 19523 roll 1.22 - - 2677 - 2.67 0.145 3800 525.5 282.9 - - 2005 - - - - - - - - 14.34 14.09 14.37
19562 210.8 10.0 1255 19569 done 1.22 - - 2677 - 2.40 0.064 2396 -585.0 282.9 - - 2005 - - - - - - - - 14.23 14.19 14.25
19747 195.0 8.4 1274 19748 done 1.25 - - 2677 - - - 2396 - 282.9 - - 2004 - - - - - - - - 14.45 14.47 14.47
19927 180.7 7.9 1292 19966 done 1.27 - - 2677 - - - 2396 - 329.2 37.03 1.423 1822 -4.9 0.122 - - - - - - 14.49 14.09 13.57
20150 162.3 8.2 1318 20158 roll 1.30 0.12 0.139 2740 525.0 2.65 0.138 3802 530.6 329.2 - - 1816 - - - - - - - - 14.21 14.14 14.27
20186 158.2 12.1 1325 20194 done 1.30 0.12 0.260 2712 -233.3 2.40 0.060 2395 -586.2 329.2 - - 1818 - - - - - - - - 14.08 14.18 14.18
20371 140.7 9.2 1344 20372 done 1.32 - - 2712 - - - 2395 - 329.2 - - 1817 - - - - - - - - 14.44 14.47 14.46
20551 124.5 8.8 1362 20561 roll 1.34 - - 2711 - 2.62 0.142 3796 534.7 329.2 - - 1816 - - - - - - - - 14.48 14.25 14.51
20585 121.0 10.4 1368 20591 done 1.34 - - 2718 - 2.38 0.063 2399 -587.0 329.2 - - 1816 - - - - - - - - 14.36 14.31 14.38
20776 104.9 8.1 1388 20781 roll 1.38 - - 2718 - 2.60 0.151 3799 538.5 329.2 - - 1815 - - - - - - - - 14.51 14.25 14.54
20820 100.6 9.6 1397 20828 done 1.38 - - 2718 - 2.40 0.070 2394 -585.4 329.2 - - 1815 - - - - - - - - 14.38 14.33 14.41
21006 86.2 7.4 1416 21059 done 1.40 - - 2719 - - - 2393 - 385.6 44.67 1.326 1589 -5.1 0.064 - - - - - - 14.52 14.09 13.59
21236 69.5 6.7 1439 21297 roll 1.42 - - 2718 - 2.72 0.150 3800 517.3 457.0 56.33 1.274 1300 -5.1 0.055 - - - - - - 14.33 13.81 13.40
21356 60.9 7.5 1462 21408 done 1.44 - - 2718 - 2.45 0.067 2400 -571.4 511.3 43.12 1.236 1078 -5.1 0.050 - - - - - - 13.96 13.93 13.33
21582 47.1 5.8 1489 21656 done 1.46 0.12 0.139 2778 500.0 - - 2400 - 602.7 71.85 1.216 708 -5.1 0.039 - - - - - - 14.07 13.73 13.27
21832 28.7 6.6 1514 21881 roll 1.48 0.12 0.221 2750 -233.3 2.72 0.138 3793 512.1 677.5 41.35 1.188 498 -5.1 0.024 - - - - - - 13.93 13.75 13.36
21890 24.9 6.4 1522 21899 done 1.51 - - 2750 - 2.45 0.060 2393 -571.4 755.4 - - 497 - - - - - - - - 13.88 13.83 13.90
22076 15.0 5.2 1541 22081 roll 1.54 - - 2750 - 2.45 0.088 991 -572.2 860.4 - - 496 - - - - - - - - 14.19 13.99 14.22
22150 10.8 5.0 1556 22158 done 1.57 - - 2750 - 2.53 0.085 2403 558.1 969.1 - - 496 - - - - - - - - 14.09 14.03 14.12
22284 end climb: SURFACE_DEPTH_REACHED
22284 begin surface coast
22306 end surface coast: CONTROL_FINISHED_OK
22306 begin surface
SM 0.68 - - - - -9.01 7.47 0.080 226 30.3 0.28 0.099 2226 4157.1 654.95 - - 495 - - - - - - - -