SODA Sep18 * SG199 * Dive index * Mission links * Dive 79 * Raw log
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• Previous call tries 2 • 40.57 of 350.00 AH used of 24V (88.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.3 deg, depth 0.69 m • Intended pitch -16.5 deg, speed -9.524 cm/s
• VBD pumped to 525.19 (SM_CC=525) • surface range 20.5 m at 19.6 m depth, ceiling -0.9 m
• GPS1 time: 26 s
• GPS2 time: 6 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 -0.76 - - 192 - - - 2748 - -146.0 -91.18 0.002 2200 - - - - - - - - 14.31 - 14.33
106 4.5 -7.7 9 152 roll -0.76 9.02 0.476 1817 180.2 2.80 0.171 1327 -507.5 -146.0 -31.55 0.004 3542 -42.5 8.995 - - - - - - 13.90 13.26 14.17
378 78.2 -19.3 62 384 done -0.76 - - 1808 - 2.85 0.177 2759 502.5 -146.0 - - 3543 - - - - - - - - 14.28 14.14 14.30
563 111.4 -16.9 81 569 roll -0.76 - - 1808 - 2.72 0.148 1325 -527.2 -146.0 - - 3543 - - - - - - - - 14.45 14.19 14.47
779 145.2 -14.7 124 785 done -0.76 - - 1798 - 2.83 0.178 2753 504.6 -146.0 - - 3543 - - - - - - - - 14.38 14.23 14.40
964 173.3 -14.8 143 965 done -0.76 - - 1798 - - - 2753 - -146.0 - - 3543 - - - - - - - - 14.54 14.57 14.56
1144 199.6 -14.7 161 1150 roll -0.76 - - 1790 - 2.05 0.212 3777 499.5 -146.0 - - 3543 - - - - - - - - 14.57 14.25 14.59
1152 end dive: TARGET_DEPTH_EXCEEDED
1152 begin apogee
1160 201.1 -14.1 163 1279 done -0.19 0.82 0.291 1998 253.7 - - 2598 - - 116.45 1.699 2942 -5.2 0.115 - - - - - - 14.23 13.72 13.05
1280 end apogee: CONTROL_FINISHED_OK
1280 begin loiter
1455 213.6 -2.8 193 1467 done -0.17 - - 1998 - - - 2599 - 11.0 9.52 1.471 2895 -4.9 0.135 - - - - - - 14.26 14.02 13.32
1646 218.4 -2.4 212 1657 done -0.16 - - 1998 - - - 2599 - 20.5 8.95 1.480 2855 -4.5 0.124 - - - - - - 14.37 14.12 13.40
1836 222.2 -1.9 231 1846 done -0.16 - - 1998 - - - 2598 - 28.1 7.65 1.454 2824 -4.1 0.116 - - - - - - 14.43 14.19 13.46
2026 225.4 -1.6 250 2036 done -0.15 - - 1998 - - - 2598 - 34.3 6.28 1.397 2800 -3.8 0.116 - - - - - - 14.48 14.10 13.50
2215 227.0 -0.5 269 2216 done -0.15 - - 1998 - - - 2598 - 34.3 - - 2799 - - - - - - - - 14.52 14.54 14.54
2396 227.2 -0.1 287 2396 done -0.15 - - 1998 - - - 2599 - 34.3 - - 2798 - - - - - - - - 14.58 14.60 14.60
2575 227.7 -0.5 305 2576 done -0.15 - - 1998 - - - 2599 - 34.3 - - 2798 - - - - - - - - 14.64 14.65 14.65
2756 228.8 -0.6 323 2756 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2797 - - - - - - - - 14.67 14.69 14.69
2935 229.5 -0.2 341 2936 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2797 - - - - - - - - 14.70 14.72 14.72
3115 229.7 -0.1 359 3116 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2797 - - - - - - - - 14.73 14.74 14.74
3295 229.9 - 377 3296 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2797 - - - - - - - - 14.75 14.77 14.76
3475 229.6 0.2 395 3476 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2797 - - - - - - - - 14.76 14.78 14.78
3656 229.4 - 413 3656 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2797 - - - - - - - - 14.78 14.81 14.80
3835 229.8 -0.3 431 3836 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2797 - - - - - - - - 14.80 14.81 14.81
4015 230.5 -0.4 449 4016 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2796 - - - - - - - - 14.81 14.83 14.83
4195 231.4 -0.4 467 4196 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2796 - - - - - - - - 14.81 14.84 14.84
4375 231.8 -0.1 485 4376 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2796 - - - - - - - - 14.83 14.85 14.85
4555 231.7 - 503 4556 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2796 - - - - - - - - 14.83 14.85 14.85
4735 232.0 -0.1 521 4736 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2796 - - - - - - - - 14.84 14.86 14.86
4916 232.0 - 539 4916 done -0.13 - - 1997 - - - 2599 - 34.3 - - 2796 - - - - - - - - 14.85 14.87 14.87
5095 232.2 -0.3 557 5096 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2796 - - - - - - - - 14.85 14.88 14.88
5275 233.0 -0.4 575 5276 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2796 - - - - - - - - 14.86 14.88 14.88
5455 233.3 - 593 5456 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2796 - - - - - - - - 14.86 14.89 14.88
5635 233.4 -0.1 611 5636 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2796 - - - - - - - - 14.88 14.89 14.89
5815 233.9 -0.3 629 5816 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2795 - - - - - - - - 14.88 14.90 14.89
5995 234.3 -0.1 647 5996 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2795 - - - - - - - - 14.88 14.90 14.90
6176 234.0 0.3 665 6176 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2795 - - - - - - - - 14.88 14.90 14.90
6355 233.8 -0.1 683 6356 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2795 - - - - - - - - 14.89 14.90 14.90
6535 234.5 -0.3 701 6536 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2794 - - - - - - - - 14.89 14.91 14.90
6715 234.4 0.3 719 6716 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2795 - - - - - - - - 14.89 14.91 14.91
6895 233.8 0.1 737 6896 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2795 - - - - - - - - 14.90 14.91 14.91
7075 234.0 -0.2 755 7076 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2795 - - - - - - - - 14.90 14.92 14.91
7255 234.2 -0.1 773 7256 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2795 - - - - - - - - 14.90 14.92 14.92
7436 234.4 -0.1 791 7436 done -0.13 - - 1997 - - - 2599 - 34.3 - - 2794 - - - - - - - - 14.90 14.92 14.92
7615 234.3 0.1 809 7616 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2794 - - - - - - - - 14.90 14.92 14.92
7795 234.3 -0.1 827 7796 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2794 - - - - - - - - 14.90 14.92 14.92
7975 234.4 - 845 7976 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2794 - - - - - - - - 14.90 14.92 14.92
8155 234.1 0.2 863 8156 done -0.13 - - 1998 - - - 2599 - 34.3 - - 2794 - - - - - - - - 14.90 14.92 14.92
8335 233.8 0.1 881 8336 done -0.13 - - 1998 - - - 2598 - 34.3 - - 2794 - - - - - - - - 14.90 14.92 14.93
8473 end loiter: LOITER_COMPLETE
8473 begin climb
8475 233.9 - 895 8573 roll 0.76 1.02 0.200 2304 300.0 2.47 0.206 3776 476.9 146.0 89.78 1.744 2341 -5.0 0.127 - - - - - - 14.62 13.85 13.30
8800 215.3 6.7 956 8807 done 0.84 - - 2310 - 2.30 0.162 2591 -515.2 146.0 - - 2334 - - - - - - - - 14.26 14.14 14.28
8985 204.2 6.1 975 8990 roll 0.95 0.17 0.124 2380 411.8 2.42 0.210 3775 489.3 146.0 - - 2333 - - - - - - - - 14.28 14.19 14.33
9103 193.2 9.6 998 9109 done 0.95 - - 2390 - 2.28 0.163 2591 -519.3 146.0 - - 2333 - - - - - - - - 14.38 14.26 14.40
9286 177.9 7.8 1017 9287 done 1.00 - - 2390 - - - 2590 - 146.0 - - 2331 - - - - - - - - 14.54 14.55 14.55
9466 164.6 7.3 1035 9467 done 1.07 - - 2390 - - - 2591 - 146.0 - - 2331 - - - - - - - - 14.56 14.58 14.57
9646 151.6 7.1 1053 9651 roll 1.14 0.12 0.140 2453 525.0 2.65 0.153 1186 -530.2 146.0 - - 2331 - - - - - - - - 14.40 14.33 14.42
9707 146.6 8.1 1065 9712 done 1.18 - - 2453 - 2.78 0.172 2607 511.2 146.0 - - 2330 - - - - - - - - 14.46 14.31 14.49
9897 130.7 8.7 1085 9898 done 1.20 - - 2453 - - - 2607 - 146.0 - - 2330 - - - - - - - - 14.60 14.62 14.62
10077 117.3 7.0 1103 10082 roll 1.28 - - 2453 - 2.33 0.210 3770 499.1 146.0 - - 2330 - - - - - - - - 14.60 14.33 14.62
10194 108.5 7.2 1126 10201 done 1.35 0.12 0.140 2509 466.7 2.25 0.163 2589 -524.9 146.0 - - 2330 - - - - - - - - 14.40 14.34 14.47
10379 95.9 6.5 1145 10380 done 1.44 - - 2508 - - - 2589 - 146.0 - - 2329 - - - - - - - - 14.54 14.56 14.56
10559 88.2 3.6 1163 10670 roll 1.58 0.20 0.129 2593 425.0 2.88 0.151 1181 -488.9 281.0 104.62 1.519 1793 -5.1 0.056 - - - - - - 14.34 13.69 13.16
10818 61.2 8.9 1212 10825 done 1.60 - - 2593 - 2.88 0.170 2604 494.1 281.0 - - 1785 - - - - - - - - 14.06 13.92 14.09
11002 48.1 6.1 1231 11003 done 1.70 - - 2593 - - - 2607 - 281.0 - - 1782 - - - - - - - - 14.27 14.28 14.28
11183 40.6 3.6 1249 11299 roll 1.83 0.20 0.132 2660 335.0 2.50 0.203 3777 468.0 417.5 108.12 1.419 1234 -5.1 0.027 - - - - - - 14.13 13.56 13.07
11524 6.1 9.9 1311 11530 done 1.83 - - 2669 - 2.33 0.160 2600 -505.2 417.5 - - 1228 - - - - - - - - 14.00 13.89 14.02
11567 end climb: SURFACE_DEPTH_REACHED
11567 begin surface coast
11587 end surface coast: CONTROL_FINISHED_OK
11587 begin surface
SM 0.64 - - - - -5.80 7.72 0.099 197 25.5 0.38 0.217 2761 4555.3 525.19 165.93 0.220 803 4.8 -0.001 - - - - - -