SODA Sep18 * SG199 * Dive index * Mission links * Dive 82 * Raw log
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• Previous call tries 1 • 41.56 of 350.00 AH used of 24V (88.13% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -64.2 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 20.6 m at 19.3 m depth, ceiling -1.3 m
• GPS1 time: 40 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
11 - - - 103 VBD -0.76 - - 198 - - - 2755 - -146.0 -91.07 0.002 2190 - - - - - - - - 14.33 - 14.34
106 4.3 -6.9 9 158 roll -0.76 9.23 0.486 1818 175.5 2.80 0.176 1338 -506.1 -146.0 -32.45 0.004 3541 -41.6 8.413 - - - - - - 13.90 13.26 14.17
383 77.4 -19.0 63 388 done -0.76 - - 1809 - 2.85 0.184 2756 497.5 -146.0 - - 3542 - - - - - - - - 14.25 14.12 14.27
573 112.3 -17.3 83 578 roll -0.76 - - 1809 - 2.72 0.153 1334 -522.8 -146.0 - - 3542 - - - - - - - - 14.45 14.17 14.47
693 131.5 -15.0 107 698 done -0.76 - - 1799 - 2.83 0.182 2747 499.3 -146.0 - - 3542 - - - - - - - - 14.35 14.20 14.37
884 161.4 -15.6 127 884 done -0.76 - - 1799 - - - 2747 - -146.0 - - 3542 - - - - - - - - 14.53 14.55 14.54
1064 188.2 -14.5 145 1069 roll -0.76 - - 1791 - 2.08 0.213 3780 496.6 -146.0 - - 3543 - - - - - - - - 14.56 14.25 14.58
1135 199.3 -15.8 159 1140 done -0.76 0.15 0.291 1821 200.0 2.00 0.165 2740 -520.0 -146.0 - - 3542 - - - - - - - - 14.23 14.31 14.42
1142 end dive: TARGET_DEPTH_EXCEEDED
1143 begin apogee
1149 200.9 -15.9 161 1269 done -0.19 0.70 0.274 2000 255.7 - - 2593 - - 117.22 1.694 2939 -5.1 0.115 - - - - - - 14.26 13.72 13.05
1270 end apogee: CONTROL_FINISHED_OK
1270 begin loiter
1446 212.7 -2.9 191 1457 done -0.17 - - 2001 - - - 2593 - 11.3 9.70 1.481 2895 -4.5 0.122 - - - - - - 14.26 14.00 13.29
1636 217.7 -2.5 210 1647 done -0.16 - - 2000 - - - 2593 - 21.0 9.25 1.499 2854 -4.4 0.121 - - - - - - 14.35 14.11 13.38
1826 221.7 -2.0 229 1836 done -0.16 - - 2000 - - - 2593 - 28.7 7.68 1.454 2821 -4.3 0.123 - - - - - - 14.42 14.17 13.45
2020 224.5 -1.3 248 2029 done -0.15 - - 2000 - - - 2593 - 33.6 5.62 1.343 2801 -3.6 0.112 - - - - - - 14.40 14.20 13.46
2208 226.0 -0.7 267 2209 done -0.13 - - 2000 - - - 2593 - 33.6 - - 2800 - - - - - - - - 14.42 14.45 14.44
2389 227.5 -0.9 285 2390 done -0.10 0.12 0.256 2029 241.7 - - 2593 - 33.6 - - 2800 - - - - - - - - 14.21 14.37 14.35
2568 228.5 -0.5 303 2569 done -0.10 - - 2029 - - - 2593 - 33.6 - - 2799 - - - - - - - - 14.50 14.52 14.52
2748 229.3 -0.4 321 2749 done -0.10 - - 2029 - - - 2593 - 33.6 - - 2799 - - - - - - - - 14.52 14.54 14.54
2928 230.1 -0.5 339 2929 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2799 - - - - - - - - 14.55 14.57 14.55
3108 230.9 -0.4 357 3109 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2798 - - - - - - - - 14.56 14.57 14.57
3288 231.3 -0.2 375 3289 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2798 - - - - - - - - 14.57 14.59 14.59
3468 231.6 -0.2 393 3469 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2798 - - - - - - - - 14.58 14.60 14.59
3648 232.0 -0.2 411 3649 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2798 - - - - - - - - 14.59 14.61 14.61
3828 232.3 -0.2 429 3829 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2798 - - - - - - - - 14.60 14.62 14.61
4008 232.4 - 447 4009 done -0.09 - - 2029 - - - 2592 - 33.6 - - 2797 - - - - - - - - 14.60 14.62 14.62
4190 232.6 -0.3 465 4191 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.65 14.67 14.67
4368 233.1 -0.2 483 4369 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.69 14.71 14.71
4548 233.2 0.1 501 4549 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.72 14.74 14.74
4728 233.1 -0.1 519 4729 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.74 14.76 14.76
4908 233.5 -0.3 537 4909 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.76 14.78 14.78
5088 233.8 - 555 5089 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.77 14.80 14.79
5268 233.7 - 573 5269 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.78 14.81 14.81
5448 233.6 0.1 591 5449 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.80 14.81 14.81
5628 233.3 0.1 609 5629 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.81 14.83 14.83
5808 233.6 -0.2 627 5809 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.81 14.83 14.83
5988 233.6 0.1 645 5989 done -0.09 - - 2029 - - - 2594 - 33.6 - - 2797 - - - - - - - - 14.83 14.85 14.84
6168 233.5 -0.1 663 6169 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.83 14.85 14.85
6348 233.7 - 681 6349 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.84 14.85 14.85
6528 233.3 0.3 699 6529 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.84 14.86 14.86
6708 233.4 -0.3 717 6709 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.85 14.87 14.87
6888 233.8 0.1 735 6889 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.85 14.88 14.87
7068 233.1 0.4 753 7069 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2797 - - - - - - - - 14.85 14.88 14.88
7248 232.9 -0.1 771 7249 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.86 14.88 14.88
7428 233.2 -0.2 789 7429 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.86 14.88 14.88
7608 233.5 -0.1 807 7609 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.87 14.88 14.88
7788 233.5 0.1 825 7789 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.87 14.89 14.89
7968 233.6 -0.1 843 7969 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.87 14.89 14.89
8148 233.7 0.1 861 8149 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.88 14.90 14.89
8328 233.6 - 879 8329 done -0.09 - - 2029 - - - 2593 - 33.6 - - 2796 - - - - - - - - 14.88 14.90 14.90
8465 end loiter: LOITER_COMPLETE
8465 begin climb
8468 233.8 - 893 8566 roll 0.76 0.93 0.193 2316 308.6 2.85 0.156 1181 -495.4 146.0 90.28 1.755 2343 -5.0 0.126 - - - - - - 14.59 13.84 13.26
8793 216.8 6.2 954 8800 done 0.86 - - 2317 - 2.85 0.175 2601 498.2 146.0 - - 2335 - - - - - - - - 14.26 14.11 14.28
8978 205.3 6.3 973 8984 roll 0.96 0.15 0.127 2392 500.0 2.75 0.155 1178 -517.5 146.0 - - 2334 - - - - - - - - 14.27 14.21 14.31
9209 187.2 7.6 1019 9214 done 1.01 - - 2392 - 2.83 0.177 2605 504.2 146.0 - - 2333 - - - - - - - - 14.38 14.23 14.41
9400 171.8 7.8 1039 9405 roll 1.07 - - 2402 - 2.72 0.158 1184 -522.4 146.0 - - 2332 - - - - - - - - 14.54 14.28 14.56
9537 161.7 7.2 1066 9544 done 1.14 - - 2402 - 2.80 0.177 2603 506.8 146.0 - - 2332 - - - - - - - - 14.43 14.28 14.46
9720 148.2 7.2 1085 9722 done 1.21 0.17 0.125 2464 364.7 - - 2603 - 146.0 - - 2332 - - - - - - - - 14.40 14.50 14.47
9900 133.1 8.1 1103 9901 done 1.25 - - 2464 - - - 2603 - 146.0 - - 2332 - - - - - - - - 14.59 14.62 14.61
10080 118.3 7.8 1121 10085 roll 1.30 - - 2474 - 2.72 0.157 1175 -525.0 146.0 - - 2331 - - - - - - - - 14.59 14.31 14.62
10136 114.1 7.5 1132 10142 done 1.36 - - 2474 - 2.80 0.175 2602 509.6 146.0 - - 2331 - - - - - - - - 14.44 14.29 14.47
10321 101.4 6.3 1151 10322 done 1.46 0.20 0.124 2541 335.0 - - 2603 - 146.0 - - 2331 - - - - - - - - 14.42 14.52 14.50
10501 90.7 4.8 1169 10594 roll 1.57 - - 2552 - 2.85 0.155 1184 -497.9 254.7 85.32 1.542 1898 -5.1 0.056 - - - - - - 14.59 13.77 13.25
10674 75.6 10.8 1202 10681 done 1.57 - - 2552 - 2.88 0.174 2600 491.7 254.7 - - 1892 - - - - - - - - 14.07 13.92 14.09
10859 59.3 7.0 1221 10864 roll 1.64 0.12 0.150 2601 408.3 2.40 0.209 3771 487.9 254.7 - - 1888 - - - - - - - - 14.14 14.06 14.19
11090 50.3 1.9 1267 11235 done 1.82 0.15 0.138 2664 420.0 2.28 0.164 2599 -514.0 429.1 137.07 1.424 1191 -5.1 0.034 - - - - - - 14.23 14.16 13.09
11410 15.1 10.6 1311 11415 roll 1.82 - - 2663 - 2.45 0.203 3769 477.6 429.1 - - 1181 - - - - - - - - 14.14 13.86 14.15
11420 13.8 11.7 1313 11425 done 1.82 - - 2673 - 2.33 0.157 2590 -506.0 429.1 - - 1181 - - - - - - - - 14.02 13.92 14.05
11538 end climb: SURFACE_DEPTH_REACHED
11538 begin surface coast
11558 end surface coast: CONTROL_FINISHED_OK
11558 begin surface
SM 0.70 - - - - -5.80 7.65 0.091 195 25.5 0.38 0.221 2751 4528.9 525.19 144.77 0.218 801 5.5 -0.002 - - - - - -