SODA Sep18 * SG199 * Dive index * Mission links * Dive 50 * Raw log
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• Previous call tries 1 • 26.43 of 350.00 AH used of 24V (92.45% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.7 deg, depth 0.81 m • Intended pitch -13.8 deg, speed -8.462 cm/s
VBD pumped to 525.43 (SM_CC=525) • surface range 19.4 m at 18.6 m depth, ceiling -0.8 m
• GPS1 time: 37 s
• GPS2 time: 9 s • Transponder ping count: 1
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
10 - - - 114 VBD -0.66 - - 195 - - - 2653 - -146.0 -102.53 0.002 2406 - - - - - - - - 14.31 - 14.33
117 4.7 -7.7 10 162 roll -0.66 9.18 0.477 1847 180.0 2.70 0.163 1242 -522.6 -146.0 -26.17 0.005 3540 -43.3 8.084 - - - - - - 13.93 13.38 14.19
192 29.3 -30.1 24 198 done -0.66 - - 1839 - 2.72 0.160 2650 517.6 -146.0 - - 3541 - - - - - - - - 14.20 14.08 14.22
383 75.1 -21.3 44 384 done -0.66 - - 1838 - - - 2649 - -146.0 - - 3541 - - - - - - - - 14.41 14.43 14.43
563 105.8 -15.5 62 568 roll -0.66 - - 1829 - 2.20 0.196 3775 511.8 -146.0 - - 3541 - - - - - - - - 14.45 14.19 14.47
633 117.2 -16.2 76 638 done -0.66 0.12 0.322 1852 191.7 2.10 0.145 2641 -540.0 -146.0 - - 3541 - - - - - - - - 14.15 14.24 14.31
823 142.3 -12.8 96 824 done -0.66 - - 1852 - - - 2643 - -146.0 - - 3540 - - - - - - - - 14.52 14.54 14.54
1004 164.2 -12.2 114 1009 roll -0.66 - - 1845 - 2.22 0.197 3769 507.2 -146.0 - - 3542 - - - - - - - - 14.55 14.26 14.57
1044 169.5 -13.2 122 1049 done -0.66 - - 1845 - 2.08 0.146 2647 -539.4 -146.0 - - 3541 - - - - - - - - 14.40 14.30 14.41
1234 192.3 -11.5 142 1235 done -0.66 - - 1845 - - - 2647 - -146.0 - - 3541 - - - - - - - - 14.58 14.60 14.59
1414 212.1 -10.8 160 1415 done -0.66 - - 1845 - - - 2645 - -146.0 - - 3541 - - - - - - - - 14.60 14.62 14.62
1594 230.9 -10.1 178 1595 done -0.66 - - 1844 - - - 2647 - -146.0 - - 3541 - - - - - - - - 14.61 14.62 14.63
1774 247.9 -9.1 196 1779 roll -0.66 - - 1837 - 2.22 0.199 3773 507.2 -146.0 - - 3541 - - - - - - - - 14.62 14.33 14.64
2004 271.9 -10.1 242 2009 done -0.66 - - 1837 - 2.08 0.149 2647 -541.3 -146.0 - - 3541 - - - - - - - - 14.52 14.41 14.53
2314 298.0 -8.4 254 2319 roll -0.66 - - 1829 - 2.20 0.198 3769 510.0 -146.0 - - 3541 - - - - - - - - 14.68 14.39 14.70
2369 302.9 -8.6 265 2376 done -0.66 - - 1829 - 2.08 0.148 2643 -541.3 -146.0 - - 3541 - - - - - - - - 14.56 14.45 14.58
2675 327.7 -7.9 276 2675 done -0.66 - - 1829 - - - 2641 - -146.0 - - 3541 - - - - - - - - 14.71 14.72 14.72
2975 350.7 -7.6 286 2980 roll -0.66 - - 1828 - 2.22 0.202 3773 509.9 -146.0 - - 3541 - - - - - - - - 14.72 14.45 14.74
3030 355.3 -8.0 297 3037 done -0.66 - - 1829 - 2.05 0.148 2651 -547.3 -146.0 - - 3539 - - - - - - - - 14.60 14.50 14.62
3335 378.4 -7.5 308 3336 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.73 14.73 14.75
3635 400.8 -7.4 318 3636 done -0.66 - - 1829 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.70 14.72 14.72
3935 422.8 -7.3 328 3936 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.67 14.69 14.69
4235 444.8 -7.4 338 4236 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3544 - - - - - - - - 14.64 14.66 14.66
4535 466.6 -7.2 348 4536 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.62 14.64 14.64
4835 488.7 -7.4 358 4836 done -0.66 - - 1829 - - - 2648 - -146.0 - - 3540 - - - - - - - - 14.61 14.63 14.63
5135 510.8 -7.3 368 5136 done -0.66 - - 1829 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.60 14.62 14.62
5435 532.6 -7.3 378 5436 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.60 14.62 14.62
5735 554.2 -7.2 388 5736 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.60 14.62 14.62
6035 575.9 -7.2 398 6036 done -0.66 - - 1829 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.66 14.69 14.68
6335 597.4 -7.2 408 6336 done -0.66 - - 1829 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.70 14.72 14.71
6635 618.8 -7.1 418 6636 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.72 14.75 14.74
6935 639.9 -7.0 428 6936 done -0.66 - - 1829 - - - 2651 - -146.0 - - 3541 - - - - - - - - 14.74 14.76 14.76
7235 660.6 -6.9 438 7236 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.78
7535 681.3 -6.9 448 7536 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3542 - - - - - - - - 14.77 14.79 14.78
7835 702.2 -7.0 458 7836 done -0.66 - - 1828 - - - 2651 - -146.0 - - 3542 - - - - - - - - 14.78 14.81 14.80
8135 722.7 -6.8 468 8136 done -0.66 - - 1829 - - - 2651 - -146.0 - - 3542 - - - - - - - - 14.79 14.81 14.81
8435 742.8 -6.7 478 8440 roll -0.66 - - 1820 - 2.15 0.194 3769 520.0 -146.0 - - 3542 - - - - - - - - 14.80 14.53 14.81
8525 749.5 -7.6 496 8531 done -0.66 0.15 0.261 1854 226.7 2.03 0.143 2648 -552.2 -146.0 - - 3542 - - - - - - - - 14.52 14.57 14.66
8856 768.7 -5.7 512 8857 done -0.66 - - 1854 - - - 2649 - -146.0 - - 3542 - - - - - - - - 14.79 14.81 14.81
9156 785.6 -5.7 522 9157 done -0.66 - - 1854 - - - 2648 - -146.0 - - 3542 - - - - - - - - 14.80 14.82 14.81
9456 802.5 -5.6 532 9461 roll -0.66 - - 1847 - 2.17 0.195 3776 519.8 -146.0 - - 3542 - - - - - - - - 14.80 14.54 14.81
9521 806.6 -6.4 545 9527 done -0.66 - - 1847 - 2.05 0.143 2642 -553.2 -146.0 - - 3541 - - - - - - - - 14.68 14.58 14.70
9847 825.6 -5.7 560 9848 done -0.66 - - 1847 - - - 2643 - -146.0 - - 3542 - - - - - - - - 14.80 14.82 14.82
10147 842.7 -5.7 570 10148 done -0.66 - - 1847 - - - 2643 - -146.0 - - 3542 - - - - - - - - 14.82 14.83 14.82
10447 860.0 -5.8 580 10452 roll -0.66 - - 1839 - 2.17 0.196 3770 519.4 -146.0 - - 3542 - - - - - - - - 14.81 14.54 14.83
10502 863.5 -6.4 591 10508 done -0.66 - - 1839 - 2.03 0.145 2651 -551.2 -146.0 - - 3542 - - - - - - - - 14.69 14.58 14.71
10807 881.9 -6.0 602 10808 done -0.66 - - 1840 - - - 2651 - -146.0 - - 3545 - - - - - - - - 14.81 14.83 14.83
11107 900.1 -6.1 612 11108 done -0.66 - - 1840 - - - 2651 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.82
11407 918.1 -6.0 622 11413 roll -0.66 - - 1832 - 2.17 0.197 3771 516.1 -146.0 - - 3542 - - - - - - - - 14.81 14.54 14.83
11498 924.2 -6.8 640 11503 done -0.66 - - 1832 - 2.03 0.145 2649 -552.7 -146.0 - - 3543 - - - - - - - - 14.68 14.58 14.71
11828 944.8 -6.2 656 11829 done -0.66 - - 1832 - - - 2650 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.82
12128 963.1 -6.1 666 12133 roll -0.66 - - 1828 - 2.15 0.195 3769 520.5 -146.0 - - 3542 - - - - - - - - 14.81 14.54 14.83
12189 967.0 -6.6 678 12194 done -0.66 - - 1828 - 2.03 0.144 2648 -552.2 -146.0 - - 3542 - - - - - - - - 14.69 14.58 14.71
12519 987.4 -6.1 694 12520 done -0.66 - - 1829 - - - 2648 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
12576 end dive: TARGET_DEPTH_EXCEEDED
12576 begin apogee
12582 991.2 -6.2 696 12718 done -0.19 0.65 0.234 2006 272.3 - - 2497 - - 132.85 2.603 2943 -4.5 0.341 - - - - - - 14.53 13.57 12.71
12719 end apogee: CONTROL_FINISHED_OK
12719 begin climb
12721 992.9 - 700 12861 done 0.66 0.98 0.162 2279 278.6 - - 2497 - 146.0 137.00 2.530 2346 -4.4 0.339 - - - - - - 13.55 13.17 12.36
13151 953.6 10.1 715 13152 done 0.66 - - 2279 - - - 2497 - 146.0 - - 2335 - - - - - - - - 14.04 14.07 14.06
13449 923.2 10.1 725 13455 roll 0.66 - - 2279 - 2.58 0.188 3774 495.0 146.0 - - 2333 - - - - - - - - 14.28 14.02 14.31
13500 917.3 11.7 735 13505 done 0.66 - - 2287 - 2.40 0.135 2489 -535.4 146.0 - - 2333 - - - - - - - - 14.20 14.11 14.22
13810 885.0 10.4 747 13811 done 0.66 - - 2287 - - - 2489 - 146.0 - - 2332 - - - - - - - - 14.45 14.47 14.47
14110 854.0 10.3 757 14111 done 0.66 - - 2287 - - - 2489 - 146.0 - - 2332 - - - - - - - - 14.54 14.56 14.55
14411 823.2 10.3 767 14411 done 0.66 - - 2287 - - - 2489 - 146.0 - - 2331 - - - - - - - - 14.60 14.62 14.62
14710 792.5 10.2 777 14711 done 0.66 - - 2287 - - - 2489 - 146.0 - - 2331 - - - - - - - - 14.65 14.67 14.67
15010 762.5 10.0 787 15011 done 0.66 - - 2287 - - - 2489 - 146.0 - - 2331 - - - - - - - - 14.69 14.71 14.71
15310 732.8 9.8 797 15316 roll 0.66 - - 2287 - 2.47 0.188 3770 518.6 146.0 - - 2331 - - - - - - - - 14.71 14.46 14.73
15356 727.6 11.4 806 15362 done 0.66 - - 2295 - 2.30 0.138 2501 -551.7 146.0 - - 2331 - - - - - - - - 14.60 14.51 14.62
15672 695.4 10.2 819 15673 done 0.66 - - 2295 - - - 2501 - 146.0 - - 2330 - - - - - - - - 14.73 14.75 14.75
15972 664.5 10.3 829 15973 done 0.66 - - 2295 - - - 2501 - 146.0 - - 2330 - - - - - - - - 14.74 14.76 14.76
16272 633.8 10.1 839 16277 roll 0.66 - - 2295 - 2.45 0.189 3772 518.8 146.0 - - 2330 - - - - - - - - 14.76 14.50 14.78
16317 628.6 11.8 848 16323 done 0.66 - - 2304 - 2.28 0.138 2504 -556.1 146.0 - - 2330 - - - - - - - - 14.62 14.56 14.64
16633 595.4 10.4 861 16634 done 0.66 - - 2304 - - - 2504 - 146.0 - - 2330 - - - - - - - - 14.77 14.79 14.79
16933 564.3 10.3 871 16934 done 0.66 - - 2304 - - - 2504 - 146.0 - - 2330 - - - - - - - - 14.78 14.79 14.79
17233 533.6 10.2 881 17234 done 0.66 - - 2304 - - - 2503 - 146.0 - - 2330 - - - - - - - - 14.79 14.81 14.81
17533 503.3 10.1 891 17534 done 0.66 - - 2304 - - - 2504 - 146.0 - - 2330 - - - - - - - - 14.79 14.81 14.81
17833 473.1 10.0 901 17834 done 0.66 - - 2304 - - - 2504 - 146.0 - - 2330 - - - - - - - - 14.79 14.81 14.81
18133 443.2 10.0 911 18134 done 0.66 - - 2304 - - - 2504 - 146.0 - - 2330 - - - - - - - - 14.73 14.76 14.76
18433 413.0 10.1 921 18439 roll 0.66 - - 2304 - 2.45 0.186 3773 518.0 146.0 - - 2330 - - - - - - - - 14.69 14.45 14.71
18474 408.3 11.7 929 18480 done 0.66 - - 2311 - 2.30 0.135 2495 -555.7 146.0 - - 2330 - - - - - - - - 14.59 14.50 14.61
18796 374.8 10.4 943 18796 done 0.66 - - 2312 - - - 2495 - 146.0 - - 2330 - - - - - - - - 14.66 14.67 14.67
19095 344.2 10.2 953 19097 done 0.66 0.12 0.304 2286 -216.7 - - 2495 - 146.0 - - 2330 - - - - - - - - 14.37 14.55 14.52
19395 317.2 9.0 963 19396 done 0.66 - - 2286 - - - 2501 - 146.0 - - 2330 - - - - - - - - 14.61 14.63 14.63
19695 291.7 8.1 973 19701 roll 0.66 - - 2286 - 2.50 0.188 3773 508.8 146.0 - - 2330 - - - - - - - - 14.60 14.36 14.63
19766 284.8 9.7 987 19771 done 0.66 - - 2293 - 2.33 0.138 2504 -544.6 146.0 - - 2329 - - - - - - - - 14.50 14.41 14.52
20087 257.7 8.2 1001 20087 done 0.66 - - 2293 - - - 2504 - 146.0 - - 2329 - - - - - - - - 14.60 14.62 14.62
20387 236.1 6.9 1023 20392 roll 0.70 - - 2304 - 2.55 0.133 1086 -556.1 146.0 - - 2330 - - - - - - - - 14.64 14.42 14.66
20432 233.0 6.9 1032 20439 done 0.75 - - 2304 - 2.62 0.148 2501 540.1 146.0 - - 2329 - - - - - - - - 14.52 14.40 14.55
20617 220.2 6.8 1051 20622 roll 0.80 - - 2304 - 2.42 0.189 3768 523.6 146.0 - - 2329 - - - - - - - - 14.65 14.39 14.66
20693 214.5 7.7 1066 20699 done 0.82 - - 2310 - 2.30 0.139 2501 -550.9 146.0 - - 2329 - - - - - - - - 14.53 14.44 14.55
20878 202.2 6.6 1085 20879 done 0.88 0.12 0.142 2358 400.0 - - 2506 - 146.0 - - 2329 - - - - - - - - 14.49 14.58 14.57
21058 188.8 7.2 1103 21063 roll 0.92 - - 2357 - 2.47 0.190 3776 514.2 146.0 - - 2329 - - - - - - - - 14.67 14.39 14.69
21123 183.4 8.5 1116 21129 done 0.92 - - 2367 - 2.33 0.139 2498 -548.5 146.0 - - 2329 - - - - - - - - 14.54 14.45 14.57
21309 170.1 7.0 1135 21309 done 0.97 - - 2367 - - - 2498 - 146.0 - - 2329 - - - - - - - - 14.67 14.69 14.69
21488 157.8 6.7 1153 21489 done 1.02 - - 2367 - - - 2498 - 146.0 - - 2329 - - - - - - - - 14.67 14.70 14.69
21668 146.2 6.3 1171 21670 done 1.08 0.15 0.130 2421 360.0 - - 2498 - 146.0 - - 2329 - - - - - - - - 14.51 14.60 14.58
21848 132.6 7.2 1189 21854 roll 1.12 - - 2421 - 2.47 0.189 3773 516.2 146.0 - - 2329 - - - - - - - - 14.69 14.40 14.70
21909 127.8 8.2 1201 21915 done 1.12 - - 2431 - 2.33 0.141 2501 -545.9 146.0 - - 2329 - - - - - - - - 14.54 14.45 14.57
22101 114.4 6.4 1221 22102 done 1.18 - - 2431 - - - 2501 - 146.0 - - 2329 - - - - - - - - 14.66 14.68 14.68
22281 104.8 4.6 1239 22282 done 1.30 0.17 0.130 2494 370.6 - - 2501 - 146.0 - - 2329 - - - - - - - - 14.46 14.54 14.53
22461 94.6 5.9 1257 22467 roll 1.37 - - 2505 - 2.55 0.134 1089 -553.7 146.0 - - 2329 - - - - - - - - 14.64 14.42 14.66
22533 90.9 4.9 1271 22538 done 1.48 0.12 0.159 2547 350.0 2.65 0.148 2509 535.8 146.0 - - 2329 - - - - - - - - 14.44 14.38 14.52
22725 84.3 2.3 1291 22854 roll 1.64 0.12 0.155 2595 400.0 2.65 0.186 3773 477.0 305.5 122.75 1.501 1692 -5.2 0.058 - - - - - - 14.44 13.69 13.23
23081 45.8 8.7 1359 23086 done 1.64 - - 2605 - 2.40 0.139 2501 -530.0 305.5 - - 1682 - - - - - - - - 14.19 14.10 14.21
23273 33.9 4.7 1379 23278 roll 1.75 - - 2604 - 2.53 0.186 3775 503.6 305.5 - - 1680 - - - - - - - - 14.38 14.12 14.40
23504 32.7 0.9 1425 23664 done 1.95 0.25 0.113 2696 368.0 2.38 0.141 2499 -536.1 501.3 151.65 1.390 896 -5.2 0.024 - - - - - - 14.24 14.21 13.14
23767 end climb: SURFACE_DEPTH_REACHED
23767 begin surface coast
23777 end surface coast: CONTROL_FINISHED_OK
23777 begin surface
SM 1.12 - - - - -5.80 7.93 0.100 200 25.0 0.35 0.210 2655 -24705.7 525.43 32.70 0.223 800 24.5 -0.013 - - 1 - - -