SODA Sep18 * SG199 * Dive index * Mission links * Dive 81 * Raw log
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• Previous call tries 4 • 41.22 of 350.00 AH used of 24V (88.22% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.2 deg, depth 0.66 m • Intended pitch -16.5 deg, speed -9.524 cm/s
• VBD pumped to 525.19 (SM_CC=525) • surface range 20.4 m at 19.5 m depth, ceiling -0.9 m
• GPS1 time: 17 s
• GPS2 time: 16 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
7 end surface: CONTROL_FINISHED_OK
7 begin dive
10 - - - 99 VBD -0.76 - - 195 - - - 2759 - -146.0 -87.60 0.003 2091 - - - - - - - - 14.36 - 14.38
102 4.1 -6.9 9 158 roll -0.76 9.12 0.480 1811 177.2 2.12 0.236 3765 474.5 -146.0 -38.17 0.004 3540 -38.0 7.359 - - - - - - 13.90 13.26 14.17
383 82.3 -21.4 64 390 done -0.76 - - 1811 - 1.98 0.164 2749 -513.1 -146.0 - - 3540 - - - - - - - - 14.21 14.11 14.26
569 115.0 -16.6 83 573 roll -0.76 - - 1803 - 2.10 0.212 3775 488.6 -146.0 - - 3541 - - - - - - - - 14.38 14.09 14.40
799 154.2 -16.3 129 804 done -0.76 - - 1805 - 2.00 0.164 2741 -517.0 -146.0 - - 3541 - - - - - - - - 14.28 14.16 14.30
989 182.9 -14.4 149 995 roll -0.76 - - 1796 - 2.12 0.212 3776 488.2 -146.0 - - 3541 - - - - - - - - 14.45 14.14 14.47
1103 end dive: TARGET_DEPTH_EXCEEDED
1103 begin apogee
1112 200.5 -15.3 172 1237 done -0.19 0.82 0.294 1998 246.3 - - 2599 - - 117.38 1.689 2938 -5.1 0.115 - - - - - - 14.14 13.51 12.97
1238 end apogee: CONTROL_FINISHED_OK
1238 begin loiter
1415 213.5 -2.9 203 1427 done -0.17 - - 1999 - - - 2599 - 11.1 9.55 1.474 2895 -4.5 0.123 - - - - - - 14.16 13.94 13.24
1606 218.1 -2.3 222 1616 done -0.17 - - 1999 - - - 2599 - 20.2 8.65 1.471 2855 -4.6 0.130 - - - - - - 14.25 14.03 13.33
1796 221.9 -1.9 241 1806 done -0.16 - - 1999 - - - 2599 - 27.7 7.62 1.459 2825 -3.9 0.113 - - - - - - 14.31 14.09 13.37
1987 224.5 -1.1 260 1996 done -0.15 - - 1999 - - - 2598 - 32.1 5.00 1.291 2808 -3.4 0.112 - - - - - - 14.40 14.17 13.41
2175 225.6 -0.4 279 2176 done -0.15 - - 1999 - - - 2599 - 32.1 - - 2807 - - - - - - - - 14.47 14.50 14.50
2356 226.2 -0.3 297 2357 done -0.15 - - 1999 - - - 2599 - 32.1 - - 2807 - - - - - - - - 14.54 14.57 14.56
2535 226.9 -0.4 315 2536 done -0.15 - - 1999 - - - 2599 - 32.1 - - 2806 - - - - - - - - 14.60 14.62 14.62
2715 227.5 -0.3 333 2716 done -0.15 - - 1999 - - - 2599 - 32.1 - - 2806 - - - - - - - - 14.64 14.66 14.66
2895 228.2 -0.5 351 2896 done -0.15 - - 1999 - - - 2598 - 32.1 - - 2806 - - - - - - - - 14.68 14.69 14.69
3076 229.2 -0.6 369 3076 done -0.14 - - 1999 - - - 2598 - 32.1 - - 2805 - - - - - - - - 14.71 14.73 14.72
3255 230.1 -0.4 387 3256 done -0.14 - - 1999 - - - 2599 - 32.1 - - 2805 - - - - - - - - 14.73 14.75 14.75
3435 230.6 -0.1 405 3436 done -0.14 - - 1999 - - - 2599 - 32.1 - - 2805 - - - - - - - - 14.75 14.77 14.76
3616 230.6 - 423 3616 done -0.14 - - 1999 - - - 2599 - 32.1 - - 2805 - - - - - - - - 14.76 14.78 14.78
3795 231.0 -0.4 441 3796 done -0.14 - - 1999 - - - 2599 - 32.1 - - 2805 - - - - - - - - 14.78 14.80 14.80
3975 231.7 -0.3 459 3976 done -0.14 - - 1999 - - - 2599 - 32.1 - - 2805 - - - - - - - - 14.79 14.81 14.81
4155 231.8 - 477 4156 done -0.14 - - 1999 - - - 2599 - 32.1 - - 2805 - - - - - - - - 14.81 14.83 14.83
4336 232.4 -0.6 495 4337 done -0.12 0.12 0.256 2029 250.0 - - 2599 - 32.1 - - 2805 - - - - - - - - 14.52 14.69 14.66
4516 233.7 -0.7 513 4517 done -0.10 - - 2029 - - - 2598 - 32.1 - - 2805 - - - - - - - - 14.83 14.85 14.84
4695 234.2 - 531 4696 done -0.10 - - 2028 - - - 2598 - 32.1 - - 2805 - - - - - - - - 14.83 14.85 14.85
4875 233.9 0.2 549 4876 done -0.10 - - 2029 - - - 2599 - 32.1 - - 2804 - - - - - - - - 14.84 14.86 14.86
5055 233.9 -0.2 567 5056 done -0.10 - - 2028 - - - 2598 - 32.1 - - 2804 - - - - - - - - 14.85 14.87 14.86
5235 234.6 -0.4 585 5236 done -0.10 - - 2029 - - - 2598 - 32.1 - - 2804 - - - - - - - - 14.85 14.88 14.87
5415 234.9 0.1 603 5416 done -0.10 - - 2028 - - - 2599 - 32.1 - - 2804 - - - - - - - - 14.86 14.88 14.88
5595 234.4 0.3 621 5596 done -0.10 - - 2029 - - - 2599 - 32.1 - - 2804 - - - - - - - - 14.86 14.88 14.88
5776 234.3 -0.2 639 5776 done -0.10 - - 2029 - - - 2599 - 32.1 - - 2804 - - - - - - - - 14.87 14.89 14.89
5956 235.2 -0.6 657 5956 done -0.08 - - 2028 - - - 2599 - 32.1 - - 2803 - - - - - - - - 14.88 14.89 14.89
6135 235.9 -0.2 675 6136 done -0.08 - - 2029 - - - 2599 - 32.1 - - 2804 - - - - - - - - 14.88 14.90 14.90
6315 236.0 - 693 6316 done -0.08 - - 2029 - - - 2599 - 32.1 - - 2804 - - - - - - - - 14.88 14.90 14.90
6495 236.2 -0.2 711 6496 done -0.08 - - 2029 - - - 2598 - 32.1 - - 2804 - - - - - - - - 14.88 14.90 14.90
6675 236.4 - 729 6676 done -0.08 - - 2029 - - - 2598 - 32.1 - - 2803 - - - - - - - - 14.89 14.90 14.90
6855 236.3 0.1 747 6856 done -0.08 - - 2028 - - - 2598 - 32.1 - - 2804 - - - - - - - - 14.89 14.90 14.90
7036 236.4 -0.1 765 7036 done -0.08 - - 2028 - - - 2599 - 32.1 - - 2804 - - - - - - - - 14.90 14.90 14.91
7215 236.5 - 783 7216 done -0.08 - - 2029 - - - 2599 - 32.1 - - 2804 - - - - - - - - 14.90 14.91 14.91
7395 236.0 0.4 801 7396 done -0.08 - - 2028 - - - 2599 - 32.1 - - 2804 - - - - - - - - 14.90 14.91 14.91
7575 235.8 - 819 7576 done -0.08 - - 2029 - - - 2599 - 32.1 - - 2803 - - - - - - - - 14.90 14.92 14.92
7755 236.3 -0.3 837 7756 done -0.08 - - 2028 - - - 2599 - 32.1 - - 2803 - - - - - - - - 14.90 14.92 14.92
7935 236.2 0.2 855 7936 done -0.08 - - 2028 - - - 2599 - 32.1 - - 2803 - - - - - - - - 14.90 14.92 14.92
8115 235.9 - 873 8116 done -0.08 - - 2028 - - - 2599 - 32.1 - - 2803 - - - - - - - - 14.90 14.92 14.92
8296 236.6 -0.5 891 8297 done -0.06 - - 2029 - - - 2598 - 32.1 - - 2803 - - - - - - - - 14.90 14.92 14.92
8433 end loiter: LOITER_COMPLETE
8433 begin climb
8435 237.1 - 905 8533 roll 0.76 0.93 0.190 2309 301.1 2.58 0.212 3778 457.4 146.0 91.78 1.749 2342 -5.0 0.129 - - - - - - 14.62 13.83 13.28
8761 216.5 7.7 966 8768 done 0.81 - - 2315 - 2.33 0.166 2592 -509.0 146.0 - - 2335 - - - - - - - - 14.26 14.15 14.29
8946 204.2 6.5 985 8947 done 0.90 0.15 0.134 2368 353.3 - - 2593 - 146.0 - - 2333 - - - - - - - - 14.28 14.38 14.35
9126 190.6 7.6 1003 9127 done 0.96 - - 2368 - - - 2593 - 146.0 - - 2333 - - - - - - - - 14.52 14.54 14.54
9306 177.6 7.1 1021 9311 roll 1.04 0.10 0.161 2418 500.0 2.67 0.155 1182 -528.5 146.0 - - 2332 - - - - - - - - 14.37 14.30 14.43
9356 173.4 8.3 1031 9361 done 1.07 - - 2418 - 2.80 0.177 2605 508.2 146.0 - - 2332 - - - - - - - - 14.42 14.28 14.45
9547 157.7 8.1 1051 9548 done 1.11 - - 2418 - - - 2605 - 146.0 - - 2332 - - - - - - - - 14.58 14.60 14.60
9727 143.7 7.8 1069 9728 done 1.17 - - 2418 - - - 2605 - 146.0 - - 2331 - - - - - - - - 14.60 14.62 14.62
9907 130.5 7.0 1087 9912 roll 1.24 0.12 0.151 2469 425.0 2.35 0.212 3777 498.7 146.0 - - 2329 - - - - - - - - 14.43 14.32 14.47
10008 121.0 9.2 1107 10013 done 1.24 - - 2478 - 2.25 0.167 2599 -523.6 146.0 - - 2331 - - - - - - - - 14.49 14.37 14.52
10199 106.7 6.9 1127 10199 done 1.32 - - 2478 - - - 2600 - 146.0 - - 2331 - - - - - - - - 14.60 14.62 14.62
10378 96.1 5.4 1145 10461 roll 1.41 0.12 0.142 2527 408.3 2.53 0.209 3767 461.3 240.5 74.47 1.548 1956 -5.0 0.059 - - - - - - 14.44 13.80 13.29
10688 64.6 7.9 1205 10693 done 1.46 - - 2536 - 2.28 0.163 2599 -512.3 240.5 - - 1949 - - - - - - - - 14.22 14.08 14.23
10879 58.1 1.9 1225 11027 roll 1.64 0.17 0.130 2610 435.3 2.85 0.151 1186 -495.8 416.8 137.93 1.437 1239 -5.1 0.039 - - - - - - 14.23 13.56 13.08
11189 26.8 9.1 1283 11194 done 1.64 - - 2610 - 2.88 0.171 2604 492.4 416.8 - - 1234 - - - - - - - - 13.98 13.84 14.00
11382 10.2 7.3 1303 11382 done 1.71 - - 2610 - - - 2604 - 416.8 - - 1231 - - - - - - - - 14.25 14.26 14.26
11497 end climb: SURFACE_DEPTH_REACHED
11497 begin surface coast
11517 end surface coast: CONTROL_FINISHED_OK
11517 begin surface
SM 0.67 - - - - -5.81 7.50 0.101 198 26.4 0.32 0.240 2749 8371.9 525.19 165.80 0.219 801 4.8 -0.002 - - - - - -