SODA Sep18 * SG199 * Dive index * Mission links * Dive 76 * Raw log
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• Previous call tries 1 • 39.56 of 350.00 AH used of 24V (88.70% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.3 deg, depth 0.66 m • Intended pitch -13.8 deg, speed -8.462 cm/s
• VBD pumped to 525.19 (SM_CC=525) • surface range 999.0 m at 19.6 m depth, ceiling -979.4 m
• GPS1 time: 29 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 - - - 103 VBD -0.66 - - 185 - - - 2755 - -146.0 -91.53 0.002 2199 - - - - - - - - 14.32 - 14.34
106 4.3 -7.1 9 152 roll -0.66 9.05 0.469 1846 183.5 2.75 0.158 1335 -516.4 -146.0 -32.10 0.004 3540 -41.8 9.104 - - - - - - 13.92 13.31 14.18
378 72.6 -18.9 62 384 done -0.66 - - 1837 - 2.78 0.164 2756 511.2 -146.0 - - 3541 - - - - - - - - 14.29 14.16 14.31
563 103.4 -15.6 81 568 roll -0.66 - - 1838 - 2.67 0.136 1331 -533.7 -146.0 - - 3541 - - - - - - - - 14.47 14.21 14.49
694 123.2 -14.6 107 699 done -0.66 - - 1828 - 2.78 0.162 2757 512.9 -146.0 - - 3541 - - - - - - - - 14.35 14.23 14.37
884 150.3 -14.0 127 885 done -0.66 - - 1829 - - - 2757 - -146.0 - - 3541 - - - - - - - - 14.54 14.57 14.57
1064 174.8 -13.5 145 1065 done -0.66 - - 1829 - - - 2757 - -146.0 - - 3541 - - - - - - - - 14.58 14.60 14.59
1244 198.5 -13.2 163 1249 roll -0.66 - - 1821 - 2.00 0.198 3777 510.0 -146.0 - - 3541 - - - - - - - - 14.60 14.28 14.62
1294 205.5 -13.8 173 1300 done -0.66 0.15 0.281 1852 206.7 1.92 0.148 2746 -537.0 -146.0 - - 3541 - - - - - - - - 14.27 14.33 14.43
1485 226.6 -10.6 193 1486 done -0.66 - - 1852 - - - 2746 - -146.0 - - 3541 - - - - - - - - 14.62 14.64 14.64
1665 245.0 -9.7 211 1666 done -0.66 - - 1852 - - - 2746 - -146.0 - - 3541 - - - - - - - - 14.64 14.66 14.65
1845 261.8 -9.3 221 1851 roll -0.66 - - 1846 - 2.03 0.200 3769 503.9 -146.0 - - 3541 - - - - - - - - 14.66 14.38 14.68
1978 274.0 -9.0 247 1983 done -0.66 - - 1846 - 1.90 0.151 2744 -539.5 -146.0 - - 3541 - - - - - - - - 14.54 14.43 14.57
2298 301.1 -8.5 261 2299 done -0.66 - - 1846 - - - 2744 - -146.0 - - 3541 - - - - - - - - 14.69 14.71 14.71
2598 325.9 -8.1 271 2599 done -0.66 - - 1846 - - - 2744 - -146.0 - - 3541 - - - - - - - - 14.71 14.73 14.73
2899 348.5 -7.5 281 2904 roll -0.66 - - 1846 - 2.58 0.140 1332 -547.3 -146.0 - - 3541 - - - - - - - - 14.73 14.49 14.74
2960 353.3 -8.0 293 2966 done -0.66 - - 1837 - 2.72 0.168 2750 521.3 -146.0 - - 3541 - - - - - - - - 14.60 14.46 14.62
3291 378.8 -7.9 309 3292 done -0.66 - - 1836 - - - 2749 - -146.0 - - 3541 - - - - - - - - 14.74 14.76 14.76
3591 401.7 -7.6 319 3596 roll -0.66 - - 1836 - 2.60 0.138 1327 -546.9 -146.0 - - 3541 - - - - - - - - 14.75 14.51 14.77
3666 407.5 -7.7 334 3671 done -0.66 - - 1828 - 2.72 0.166 2755 525.0 -146.0 - - 3541 - - - - - - - - 14.62 14.50 14.64
3982 432.5 -8.0 347 3982 done -0.66 - - 1829 - - - 2754 - -146.0 - - 3541 - - - - - - - - 14.76 14.77 14.77
4281 456.4 -7.9 357 4282 done -0.66 - - 1828 - - - 2755 - -146.0 - - 3541 - - - - - - - - 14.76 14.78 14.78
4581 479.8 -7.7 367 4586 roll -0.66 - - 1829 - 2.60 0.137 1332 -547.3 -146.0 - - 3541 - - - - - - - - 14.77 14.53 14.78
4642 484.5 -7.7 379 4647 done -0.66 0.15 0.287 1851 146.7 2.70 0.164 2756 527.4 -146.0 - - 3541 - - - - - - - - 14.46 14.50 14.63
4972 506.7 -6.7 395 4973 done -0.66 - - 1851 - - - 2756 - -146.0 - - 3541 - - - - - - - - 14.77 14.79 14.79
5272 526.7 -6.7 405 5273 done -0.66 - - 1851 - - - 2756 - -146.0 - - 3541 - - - - - - - - 14.78 14.80 14.79
5572 546.3 -6.5 415 5577 roll -0.66 - - 1851 - 2.60 0.133 1328 -549.2 -146.0 - - 3541 - - - - - - - - 14.79 14.54 14.81
5617 549.3 -6.6 424 5623 done -0.66 - - 1844 - 2.70 0.161 2753 527.8 -146.0 - - 3541 - - - - - - - - 14.66 14.52 14.68
5933 570.2 -6.7 437 5934 done -0.66 - - 1843 - - - 2753 - -146.0 - - 3541 - - - - - - - - 14.79 14.81 14.81
6233 590.4 -6.8 447 6234 done -0.66 - - 1843 - - - 2754 - -146.0 - - 3541 - - - - - - - - 14.80 14.81 14.81
6533 610.7 -6.8 457 6539 roll -0.66 - - 1843 - 2.60 0.133 1323 -550.4 -146.0 - - 3542 - - - - - - - - 14.81 14.56 14.82
6589 614.7 -7.2 468 6595 done -0.66 - - 1832 - 2.72 0.162 2759 527.9 -146.0 - - 3542 - - - - - - - - 14.66 14.52 14.69
6894 635.5 -6.9 479 6895 done -0.66 - - 1834 - - - 2759 - -146.0 - - 3542 - - - - - - - - 14.80 14.82 14.82
7194 655.8 -6.7 489 7200 roll -0.66 - - 1834 - 2.60 0.132 1326 -551.2 -146.0 - - 3542 - - - - - - - - 14.83 14.56 14.82
7245 659.3 -6.9 499 7250 done -0.66 0.12 0.288 1851 141.7 2.70 0.161 2756 529.6 -146.0 - - 3542 - - - - - - - - 14.50 14.53 14.66
7556 678.4 -6.0 511 7556 done -0.66 - - 1851 - - - 2756 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.82
7856 696.2 -5.9 521 7856 done -0.66 - - 1851 - - - 2756 - -146.0 - - 3542 - - - - - - - - 14.79 14.83 14.83
8156 714.0 -5.9 531 8157 done -0.66 - - 1851 - - - 2756 - -146.0 - - 3546 - - - - - - - - 14.81 14.83 14.83
8456 731.5 -5.8 541 8461 roll -0.66 - - 1856 - 2.60 0.133 1323 -551.2 -146.0 - - 3542 - - - - - - - - 14.82 14.57 14.83
8527 735.7 -6.0 555 8532 done -0.66 - - 1843 - 2.70 0.161 2752 529.3 -146.0 - - 3542 - - - - - - - - 14.68 14.54 14.70
8847 755.2 -6.1 569 8848 done -0.66 - - 1843 - - - 2752 - -146.0 - - 3543 - - - - - - - - 14.81 14.83 14.83
9147 773.9 -6.2 579 9148 done -0.66 - - 1843 - - - 2752 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
9447 792.4 -6.2 589 9448 done -0.66 - - 1844 - - - 2752 - -146.0 - - 3542 - - - - - - - - 14.81 14.83 14.83
9747 811.0 -6.2 599 9748 done -0.66 - - 1843 - - - 2751 - -146.0 - - 3542 - - - - - - - - 14.76 14.78 14.78
10047 829.6 -6.2 609 10048 done -0.66 - - 1843 - - - 2752 - -146.0 - - 3544 - - - - - - - - 14.71 14.73 14.73
10347 848.2 -6.2 619 10352 roll -0.66 - - 1843 - 2.62 0.134 1322 -545.8 -146.0 - - 3542 - - - - - - - - 14.69 14.45 14.71
10397 851.4 -6.5 629 10403 done -0.66 - - 1835 - 2.75 0.162 2758 522.2 -146.0 - - 3543 - - - - - - - - 14.56 14.42 14.57
10708 871.8 -6.6 641 10709 done -0.66 - - 1835 - - - 2758 - -146.0 - - 3543 - - - - - - - - 14.66 14.68 14.67
11008 891.5 -6.5 651 11009 done -0.66 - - 1835 - - - 2757 - -146.0 - - 3543 - - - - - - - - 14.64 14.66 14.66
11308 910.9 -6.5 661 11314 roll -0.66 - - 1835 - 2.62 0.133 1330 -544.7 -146.0 - - 3543 - - - - - - - - 14.63 14.40 14.65
11379 915.6 -6.6 675 11384 done -0.66 - - 1828 - 2.75 0.164 2758 519.3 -146.0 - - 3543 - - - - - - - - 14.51 14.36 14.53
11699 936.9 -6.7 689 11700 done -0.66 - - 1828 - - - 2758 - -146.0 - - 3543 - - - - - - - - 14.62 14.64 14.64
11999 957.3 -6.8 699 12000 done -0.66 - - 1828 - - - 2758 - -146.0 - - 3543 - - - - - - - - 14.69 14.70 14.70
12300 977.4 -6.7 709 12300 done -0.66 - - 1828 - - - 2758 - -146.0 - - 3543 - - - - - - - - 14.72 14.74 14.74
12507 end dive: TARGET_DEPTH_EXCEEDED
12507 begin apogee
12513 991.4 -6.5 716 12650 done -0.19 0.65 0.232 2005 272.3 - - 2592 - - 134.10 2.633 2942 -4.5 0.342 - - - - - - 14.45 13.56 12.68
12651 end apogee: CONTROL_FINISHED_OK
12651 begin climb
12653 993.4 - 720 12796 done 0.66 0.95 0.159 2274 283.2 - - 2591 - 146.0 138.77 2.551 2345 -4.3 0.340 - - - - - - 13.54 12.93 12.10
13079 956.7 9.5 740 13080 done 0.66 - - 2274 - - - 2591 - 146.0 - - 2336 - - - - - - - - 13.96 13.98 13.98
13380 928.6 9.4 750 13380 done 0.66 - - 2274 - - - 2592 - 146.0 - - 2334 - - - - - - - - 14.26 14.28 14.28
13680 900.2 9.5 760 13680 done 0.66 - - 2274 - - - 2592 - 146.0 - - 2335 - - - - - - - - 14.42 14.45 14.45
13980 871.7 9.5 770 13985 roll 0.66 - - 2284 - 2.62 0.136 1178 -539.7 146.0 - - 2333 - - - - - - - - 14.54 14.28 14.55
14025 867.4 9.7 779 14030 done 0.66 - - 2285 - 2.75 0.155 2608 520.0 146.0 - - 2333 - - - - - - - - 14.42 14.28 14.45
14340 835.8 10.0 792 14341 done 0.66 - - 2284 - - - 2608 - 146.0 - - 2332 - - - - - - - - 14.62 14.63 14.63
14640 806.0 9.9 802 14645 roll 0.66 - - 2294 - 2.65 0.137 1176 -540.4 146.0 - - 2332 - - - - - - - - 14.66 14.42 14.68
14660 804.0 9.8 806 14665 done 0.66 - - 2294 - 2.70 0.154 2600 527.4 146.0 - - 2332 - - - - - - - - 14.54 14.39 14.56
14971 772.0 10.3 818 14972 done 0.66 - - 2294 - - - 2600 - 146.0 - - 2332 - - - - - - - - 14.70 14.72 14.71
15271 740.8 10.4 828 15272 done 0.66 - - 2294 - - - 2600 - 146.0 - - 2332 - - - - - - - - 14.73 14.74 14.75
15571 709.9 10.3 838 15576 roll 0.66 - - 2304 - 2.58 0.137 1186 -548.1 146.0 - - 2331 - - - - - - - - 14.74 14.50 14.76
15611 705.7 10.2 846 15617 done 0.66 - - 2304 - 2.67 0.153 2608 532.6 146.0 - - 2332 - - - - - - - - 14.62 14.48 14.64
15932 671.4 10.7 860 15933 done 0.66 - - 2304 - - - 2608 - 146.0 - - 2332 - - - - - - - - 14.76 14.78 14.78
16232 639.2 10.7 870 16237 roll 0.66 - - 2313 - 2.62 0.137 1176 -546.6 146.0 - - 2331 - - - - - - - - 14.77 14.52 14.79
16252 637.1 10.6 874 16257 done 0.66 - - 2313 - 2.67 0.155 2600 533.3 146.0 - - 2331 - - - - - - - - 14.64 14.50 14.67
16563 603.0 10.9 886 16564 done 0.66 0.12 0.272 2287 -216.7 - - 2600 - 146.0 - - 2332 - - - - - - - - 14.48 14.67 14.66
16863 573.8 9.8 896 16868 roll 0.66 - - 2295 - 2.60 0.137 1180 -546.2 146.0 - - 2331 - - - - - - - - 14.78 14.54 14.80
16908 569.3 9.8 905 16914 done 0.66 - - 2296 - 2.67 0.155 2600 531.8 146.0 - - 2331 - - - - - - - - 14.66 14.51 14.67
17224 537.1 10.2 918 17225 done 0.66 - - 2296 - - - 2600 - 146.0 - - 2331 - - - - - - - - 14.78 14.81 14.81
17524 506.7 10.1 928 17529 roll 0.66 - - 2306 - 2.55 0.137 1173 -559.6 146.0 - - 2331 - - - - - - - - 14.80 14.55 14.81
17559 503.2 9.9 935 17564 done 0.66 - - 2306 - 2.70 0.154 2608 531.5 146.0 - - 2329 - - - - - - - - 14.67 14.53 14.69
17885 469.3 10.5 950 17886 done 0.66 - - 2306 - - - 2608 - 146.0 - - 2331 - - - - - - - - 14.79 14.81 14.81
18185 438.1 10.3 960 18190 roll 0.66 - - 2316 - 2.60 0.137 1185 -547.3 146.0 - - 2330 - - - - - - - - 14.80 14.55 14.81
18220 434.4 10.2 967 18226 done 0.66 0.12 0.259 2288 -233.3 2.67 0.155 2608 533.0 146.0 - - 2331 - - - - - - - - 14.50 14.53 14.66
18546 403.6 9.5 982 18551 roll 0.66 - - 2297 - 2.62 0.137 1175 -546.9 146.0 - - 2331 - - - - - - - - 14.78 14.54 14.81
18601 398.3 9.5 993 18609 done 0.66 - - 2297 - 2.70 0.155 2608 530.7 146.0 - - 2331 - - - - - - - - 14.66 14.52 14.69
18906 368.5 9.7 1004 18907 done 0.66 - - 2296 - - - 2608 - 146.0 - - 2331 - - - - - - - - 14.78 14.80 14.80
19206 339.7 9.5 1014 19207 done 0.66 - - 2297 - - - 2608 - 146.0 - - 2330 - - - - - - - - 14.78 14.80 14.80
19507 311.5 9.4 1024 19507 done 0.66 - - 2297 - - - 2608 - 146.0 - - 2331 - - - - - - - - 14.78 14.81 14.80
19807 284.6 8.8 1034 19812 roll 0.66 - - 2307 - 2.62 0.138 1178 -545.8 146.0 - - 2330 - - - - - - - - 14.78 14.54 14.80
19847 281.0 9.0 1042 19852 done 0.66 - - 2307 - 2.70 0.155 2606 528.9 146.0 - - 2330 - - - - - - - - 14.66 14.52 14.69
20167 253.9 8.0 1056 20168 done 0.66 - - 2307 - - - 2606 - 146.0 - - 2331 - - - - - - - - 14.78 14.81 14.81
20469 233.1 6.7 1082 20474 roll 0.71 - - 2317 - 2.62 0.138 1180 -544.3 146.0 - - 2330 - - - - - - - - 14.77 14.50 14.79
20495 231.4 5.9 1087 20501 done 0.79 - - 2317 - 2.70 0.157 2610 529.6 146.0 - - 2330 - - - - - - - - 14.64 14.50 14.66
20680 218.8 6.7 1106 20681 done 0.84 - - 2317 - - - 2610 - 146.0 - - 2330 - - - - - - - - 14.76 14.78 14.78
20860 207.6 6.0 1124 20861 done 0.92 0.15 0.124 2379 413.3 - - 2610 - 146.0 - - 2330 - - - - - - - - 14.59 14.67 14.66
21040 193.9 7.6 1142 21041 done 0.94 - - 2380 - - - 2610 - 146.0 - - 2333 - - - - - - - - 14.75 14.77 14.77
21220 179.8 7.7 1160 21221 done 0.96 - - 2379 - - - 2610 - 146.0 - - 2330 - - - - - - - - 14.74 14.77 14.76
21400 166.9 7.1 1178 21401 done 1.01 - - 2380 - - - 2610 - 146.0 - - 2330 - - - - - - - - 14.74 14.76 14.76
21580 154.3 6.9 1196 21581 done 1.05 - - 2379 - - - 2610 - 146.0 - - 2330 - - - - - - - - 14.73 14.76 14.76
21760 142.4 6.4 1214 21761 done 1.12 0.15 0.132 2437 386.7 - - 2610 - 146.0 - - 2330 - - - - - - - - 14.56 14.64 14.64
21940 129.3 6.8 1232 21941 done 1.17 - - 2437 - - - 2610 - 146.0 - - 2330 - - - - - - - - 14.73 14.76 14.75
22120 116.9 6.9 1250 22125 roll 1.21 - - 2437 - 2.28 0.199 3779 512.7 146.0 - - 2330 - - - - - - - - 14.72 14.42 14.73
22140 115.3 7.5 1254 22145 done 1.24 - - 2446 - 2.20 0.154 2597 -537.3 146.0 - - 2330 - - - - - - - - 14.59 14.47 14.62
22333 104.1 5.3 1274 22334 done 1.34 0.17 0.121 2510 376.5 - - 2597 - 146.0 - - 2330 - - - - - - - - 14.52 14.60 14.59
22511 93.6 5.2 1292 22512 done 1.44 - - 2510 - - - 2597 - 146.0 - - 2330 - - - - - - - - 14.67 14.69 14.69
22691 85.9 3.9 1310 22789 roll 1.56 0.15 0.142 2581 473.3 2.72 0.138 1188 -518.0 264.6 91.55 1.551 1857 -5.2 0.058 - - - - - - 14.44 13.80 13.30
22834 73.6 11.6 1337 22842 done 1.56 - - 2581 - 2.83 0.159 2605 500.7 264.6 - - 1854 - - - - - - - - 14.05 13.92 14.08
23020 54.6 7.6 1356 23025 roll 1.58 - - 2581 - 2.35 0.197 3777 498.7 264.6 - - 1849 - - - - - - - - 14.35 14.07 14.38
23035 53.7 6.1 1359 23041 done 1.65 - - 2590 - 2.28 0.152 2593 -519.3 264.6 - - 1849 - - - - - - - - 14.23 14.12 14.26
23220 47.3 3.1 1378 23331 roll 1.79 0.15 0.134 2646 373.3 2.55 0.194 3772 462.4 402.6 105.47 1.442 1297 -5.2 0.035 - - - - - - 14.23 13.67 13.19
23411 27.9 12.2 1412 23418 done 1.79 - - 2656 - 2.30 0.149 2593 -512.6 402.6 - - 1291 - - - - - - - - 14.02 13.92 14.04
23599 11.8 6.6 1431 23604 roll 1.85 - - 2667 - 2.70 0.142 1178 -524.1 402.6 - - 1288 - - - - - - - - 14.28 14.04 14.30
23742 end climb: SURFACE_DEPTH_REACHED
23742 begin surface coast
23761 end surface coast: CONTROL_FINISHED_OK
23761 begin surface
SM 0.75 - - - - -5.81 7.62 0.101 192 25.2 3.17 0.166 2757 686.8 525.19 183.75 0.217 802 4.4 -0.002 - - - - - -