CABAGE Aug16 * SG198 * Dive index * Mission links * Dive 70 * Raw log
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• Previous call tries 3 • 36.94 of 350.00 AH used of 24V (89.45% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.1 deg, depth 0.94 m • Intended pitch -17.5 deg, speed -10.000 cm/s
• VBD pumped to 646.61 (SM_CC=646.36548)
• GPS1 time: 39 s
• GPS2 time: 9 s • Transponder ping count: 24
• 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 136 VBD -0.59 - - 185 - - - 3097 - -145.9 -121.15 - 2492 - - - - - - - - 14.32 - 14.34
139 4.2 -6.4 12 184 roll -0.59 11.20 0.463 2308 189.6 3.20 2.176 1355 -544.4 -145.9 -26.95 - 3733 -46.0 - - - - - - - 13.93 13.28 14.18
409 57.7 -14.7 65 417 done -0.61 - - 2307 - 3.10 0.090 3095 561.3 -145.9 - - 3735 - - - - - - - - 14.28 14.18 14.30
595 82.0 -11.5 84 599 roll -0.66 - - 2301 - 2.92 0.050 1349 -597.9 -145.9 - - 3736 - - - - - - - - 14.45 14.27 14.47
790 102.1 -9.0 123 796 done -0.75 - - 2296 - 3.10 0.088 3100 564.8 -145.9 - - 3737 - - - - - - - - 14.38 14.28 14.40
975 119.6 -9.5 133 981 roll -0.84 0.15 0.111 2218 -520.0 2.92 0.047 1339 -603.1 -145.9 - - 3736 - - - - - - - - 14.39 14.36 14.42
1031 126.6 -13.3 144 1037 done -0.84 - - 2218 - 3.12 0.088 3102 565.1 -145.9 - - 3736 - - - - - - - - 14.42 14.31 14.44
1216 151.1 -12.9 154 1217 done -0.84 - - 2218 - - - 3102 - -145.9 - - 3736 - - - - - - - - 14.57 14.59 14.58
1396 174.1 -12.7 163 1401 roll -0.84 - - 2217 - 2.90 0.049 1345 -605.9 -145.9 - - 3736 - - - - - - - - 14.59 14.40 14.61
1436 179.1 -12.4 171 1441 done -0.84 - - 2216 - 3.08 0.089 3101 570.1 -145.9 - - 3736 - - - - - - - - 14.48 14.38 14.50
1636 204.1 -12.3 184 1641 roll -0.84 - - 2216 - 2.90 0.048 1348 -604.5 -145.9 - - 3736 - - - - - - - - 14.60 14.45 14.62
1686 210.2 -12.0 194 1692 done -0.84 - - 2212 - 3.10 0.089 3103 566.1 -145.9 - - 3736 - - - - - - - - 14.50 14.40 14.52
1877 233.1 -12.0 205 1882 roll -0.84 - - 2212 - 2.90 0.049 1339 -608.3 -145.9 - - 3735 - - - - - - - - 14.62 14.46 14.64
1947 241.5 -11.7 219 1952 done -0.84 - - 2211 - 3.08 0.088 3101 572.1 -145.9 - - 3736 - - - - - - - - 14.52 14.42 14.54
2138 263.4 -11.4 230 2142 roll -0.84 - - 2210 - 2.90 0.049 1338 -607.9 -145.9 - - 3736 - - - - - - - - 14.64 14.47 14.66
2212 271.8 -10.8 245 2220 done -0.86 - - 2206 - 3.08 0.087 3102 572.7 -145.9 - - 3736 - - - - - - - - 14.51 14.42 14.53
2397 290.7 -10.0 255 2403 roll -0.86 - - 2206 - 2.90 0.048 1339 -607.9 -145.9 - - 3736 - - - - - - - - 14.66 14.48 14.67
2500 300.1 -9.0 275 2504 done -0.90 - - 2205 - 3.08 0.088 3101 572.1 -145.9 - - 3736 - - - - - - - - 14.54 14.45 14.57
2700 317.3 -8.4 288 2705 roll -0.93 - - 2204 - 2.90 0.049 1339 -607.6 -145.9 - - 3735 - - - - - - - - 14.65 14.50 14.69
2775 323.5 -8.3 303 2781 done -0.97 - - 2200 - 3.08 0.088 3104 573.1 -145.9 - - 3736 - - - - - - - - 14.56 14.46 14.57
2960 339.5 -8.7 313 2961 done -1.00 - - 2200 - - - 3104 - -145.9 - - 3736 - - - - - - - - 14.67 14.69 14.69
3140 354.7 -8.4 322 3145 roll -1.04 - - 2201 - 2.90 0.048 1345 -606.6 -145.9 - - 3736 - - - - - - - - 14.69 14.51 14.70
3267 365.3 -8.3 347 3272 done -1.08 - - 2194 - 3.08 0.087 3110 573.1 -145.9 - - 3736 - - - - - - - - 14.57 14.47 14.59
3462 382.4 -8.7 359 3464 done -1.12 0.15 0.125 2128 -440.0 - - 3111 - -145.9 - - 3735 - - - - - - - - 14.54 14.61 14.59
3642 402.4 -11.2 368 3647 roll -1.05 0.15 0.277 2165 246.7 2.90 0.047 1344 -609.3 -145.9 - - 3736 - - - - - - - - 14.39 14.52 14.52
3707 408.6 -9.4 381 3713 done -1.05 - - 2164 - 3.05 0.087 3098 575.1 -145.9 - - 3736 - - - - - - - - 14.58 14.48 14.60
3904 427.0 -9.5 393 3909 roll -1.05 - - 2170 - 2.88 0.048 1345 -608.7 -145.9 - - 3735 - - - - - - - - 14.73 14.52 14.70
3944 430.9 -9.5 401 3950 done -1.05 - - 2158 - 3.08 0.087 3108 572.4 -145.9 - - 3735 - - - - - - - - 14.59 14.49 14.60
4145 451.0 -10.1 414 4150 roll -1.05 - - 2158 - 2.90 0.047 1342 -609.0 -145.9 - - 3735 - - - - - - - - 14.70 14.51 14.72
4186 455.0 -9.8 422 4191 done -1.05 - - 2150 - 3.05 0.086 3099 576.1 -145.9 - - 3736 - - - - - - - - 14.57 14.48 14.59
4386 475.8 -10.4 435 4387 done -1.03 - - 2150 - - - 3099 - -145.9 - - 3736 - - - - - - - - 14.70 14.70 14.71
4566 494.5 -10.3 444 4571 roll -1.01 0.12 0.308 2176 216.7 2.88 0.046 1342 -610.1 -145.9 - - 3736 - - - - - - - - 14.39 14.52 14.55
4606 498.3 -9.3 452 4611 done -1.04 - - 2167 - 3.05 0.086 3098 575.7 -145.9 - - 3735 - - - - - - - - 14.59 14.49 14.61
4806 517.2 -9.5 465 4807 done -1.04 - - 2167 - - - 3099 - -145.9 - - 3736 - - - - - - - - 14.71 14.73 14.73
4986 534.0 -9.3 474 4991 roll -1.04 - - 2166 - 2.88 0.047 1343 -609.7 -145.9 - - 3736 - - - - - - - - 14.72 14.54 14.73
5056 540.5 -9.2 488 5062 done -1.04 - - 2163 - 3.08 0.086 3110 573.7 -145.9 - - 3736 - - - - - - - - 14.60 14.51 14.62
5247 558.4 -9.4 499 5248 done -1.04 - - 2163 - - - 3110 - -145.9 - - 3736 - - - - - - - - 14.71 14.73 14.71
5427 575.3 -9.3 508 5432 roll -1.04 - - 2163 - 2.88 0.047 1345 -612.8 -145.9 - - 3736 - - - - - - - - 14.73 14.54 14.74
5502 582.2 -9.2 523 5508 done -1.04 - - 2156 - 3.05 0.086 3106 577.4 -145.9 - - 3736 - - - - - - - - 14.61 14.51 14.62
5687 600.0 -9.7 533 5688 done -1.04 - - 2156 - - - 3106 - -145.9 - - 3736 - - - - - - - - 14.73 14.74 14.74
5867 617.2 -9.5 542 5868 done -1.04 - - 2156 - - - 3106 - -145.9 - - 3736 - - - - - - - - 14.73 14.75 14.75
6047 634.2 -9.4 551 6052 roll -1.04 - - 2156 - 2.88 0.047 1343 -612.2 -145.9 - - 3736 - - - - - - - - 14.73 14.55 14.76
6142 643.1 -9.2 570 6148 done -1.04 - - 2152 - 3.05 0.085 3106 578.0 -145.9 - - 3737 - - - - - - - - 14.62 14.52 14.63
6327 660.6 -9.5 580 6328 done -1.04 - - 2151 - - - 3106 - -145.9 - - 3737 - - - - - - - - 14.72 14.74 14.74
6507 677.7 -9.5 589 6513 roll -1.04 - - 2152 - 2.90 0.047 1339 -609.3 -145.9 - - 3737 - - - - - - - - 14.73 14.55 14.75
6573 683.8 -9.3 602 6578 done -1.04 0.12 0.314 2169 141.7 3.05 0.086 3103 578.4 -145.9 - - 3736 - - - - - - - - 14.41 14.52 14.59
6646 end dive: TARGET_DEPTH_EXCEEDED
6646 begin apogee
6652 690.5 -8.6 608 6955 done -0.14 1.02 0.224 2460 285.3 - - 2373 - - 294.15 1.253 3134 -2.0 0.218 - - - - 1 - 14.45 13.68 12.92
6957 end apogee: CONTROL_FINISHED_OK
6957 begin climb
6959 696.9 - 623 7260 roll 0.59 0.73 0.054 2740 383.6 3.12 0.059 686 -540.7 145.9 290.23 1.189 2531 -2.1 0.235 - - - - - - 13.72 13.09 12.70
7486 626.9 16.3 728 7492 done 0.44 0.35 0.257 2658 -234.3 3.05 0.063 2400 562.0 145.9 - - 2514 - - - - - - - - 13.62 13.71 13.79
7682 603.0 11.9 740 7683 done 0.40 - - 2658 - - - 2400 - 145.9 - - 2513 - - - - - - - - 14.11 14.13 14.13
7862 581.7 11.8 749 7868 roll 0.35 0.12 0.269 2630 -233.3 2.53 0.098 3796 551.8 145.9 - - 2513 - - - - - - - - 13.97 14.00 14.11
7913 575.4 12.3 759 7918 done 0.30 - - 2634 - 2.28 0.042 2420 -603.5 145.9 - - 2513 - - - - - - - - 14.17 14.12 14.19
8103 555.4 10.4 770 8104 done 0.30 - - 2634 - - - 2418 - 145.9 - - 2514 - - - - - - - - 14.36 14.38 14.38
8283 536.6 10.5 779 8284 done 0.30 - - 2634 - - - 2419 - 145.9 - - 2513 - - - - - - - - 14.44 14.46 14.45
8463 517.6 10.6 788 8468 roll 0.30 - - 2634 - 2.45 0.101 3792 560.4 145.9 - - 2513 - - - - - - - - 14.49 14.28 14.51
8523 510.2 12.8 800 8529 done 0.24 0.20 0.243 2594 -200.0 2.28 0.042 2392 -614.0 145.9 - - 2513 - - - - - - - - 14.20 14.31 14.35
8724 492.5 8.5 813 8765 done 0.32 - - 2593 - - - 2391 - 178.9 34.30 1.315 2403 -3.2 0.232 - - - - 1 - 14.54 14.16 13.46
8944 473.3 8.8 824 8990 roll 0.40 0.12 0.129 2656 525.0 2.55 0.097 3789 548.2 205.6 36.28 1.318 2293 -3.0 0.210 - - - - 1 - 14.29 13.94 13.35
9060 457.9 15.1 847 9067 done 0.34 0.17 0.250 2622 -200.0 2.30 0.041 2394 -606.5 205.6 2.15 0.401 2293 - - - - - - - - 14.03 14.15 13.24
9245 438.1 10.4 857 9248 done 0.37 - - 2621 - - - 2395 - 205.6 1.62 0.236 2296 1.9 -0.664 - - - - - - 14.41 14.30 14.16
9425 419.6 10.3 866 9431 roll 0.41 - - 2621 - 2.55 0.099 3787 545.9 205.6 1.77 0.233 2293 -1.7 0.590 - - - - - - 14.48 14.28 14.22
9481 413.0 12.2 877 9489 done 0.41 - - 2626 - 2.25 0.042 2402 -615.6 205.6 1.50 0.243 2293 - - - - - - - - 14.40 14.35 14.21
9666 392.8 11.0 887 9669 done 0.44 - - 2626 - - - 2402 - 205.6 1.62 0.237 2293 - - - - - - - - 14.54 14.42 14.28
9846 373.0 11.0 896 9852 roll 0.47 0.12 0.130 2696 583.3 2.45 0.096 3787 565.3 205.6 1.58 0.222 2296 1.9 -0.616 - - - - - - 14.41 14.37 14.31
9902 364.0 17.3 907 9909 done 0.36 0.28 0.260 2632 -228.6 2.22 0.042 2401 -624.3 205.6 - - 2302 - - - - - - - - 14.29 14.43 14.42
10088 342.8 10.8 917 10090 done 0.38 - - 2632 - - - 2401 - 205.6 1.08 0.266 2297 -4.6 1.152 - - - - - - 14.61 14.49 14.35
10268 324.0 10.3 926 10270 done 0.42 - - 2632 - - - 2401 - 205.6 1.27 0.257 2294 -2.4 0.575 - - - - - - 14.63 14.51 14.36
10447 305.4 10.2 935 10450 done 0.45 - - 2632 - - - 2401 - 205.6 1.45 0.248 2294 - - - - - - - - 14.64 14.53 14.39
10628 287.9 9.6 944 10661 done 0.50 0.12 0.129 2704 600.0 - - 2402 - 214.9 32.08 1.134 2259 -1.1 0.054 - - - - - - 14.52 14.33 13.86
10828 263.6 12.1 954 10829 done 0.47 0.17 0.234 2662 -247.1 - - 2401 - 214.9 - - 2245 - - - - - - - - 14.27 14.45 14.43
11008 246.9 9.1 963 11049 roll 0.50 - - 2672 - 3.00 0.064 669 -577.3 234.0 27.35 1.095 2176 -2.5 0.110 - - - - 1 - 14.59 14.23 13.59
11096 238.8 9.6 980 11131 done 0.55 - - 2669 - 2.95 0.062 2405 588.5 243.4 24.25 1.102 2138 -1.6 0.066 - - - - 1 - 14.35 14.27 13.72
11312 218.6 9.2 996 11350 done 0.59 - - 2672 - - - 2405 - 260.3 27.12 1.069 2071 -2.5 0.098 - - - - 1 - 14.45 14.16 13.51
11530 199.0 9.0 1010 11571 done 0.65 0.15 0.111 2741 460.0 - - 2406 - 282.2 31.90 1.120 1981 -2.8 0.097 - - - - 1 - 14.28 14.12 13.51
11750 171.7 12.5 1021 11755 roll 0.62 - - 2739 - 2.47 0.101 3787 559.1 282.2 - - 1985 - - - - - - - - 14.42 14.21 14.43
11811 163.0 14.4 1033 11816 done 0.54 0.25 0.246 2685 -216.0 2.25 0.042 2399 -616.9 282.2 - - 1985 - - - - - - - - 14.17 14.30 14.32
12034 144.6 8.6 1046 12082 roll 0.61 - - 2686 - 2.53 0.099 3786 548.2 313.2 39.10 1.156 1856 -3.3 0.080 - - - - 1 - 14.47 14.00 13.51
12123 133.9 10.9 1059 12127 done 0.64 - - 2689 - 2.30 0.043 2401 -602.2 313.2 - - 1864 - - - - - - - - 14.19 14.14 14.21
12313 116.5 9.0 1070 12358 roll 0.72 0.15 0.110 2757 453.3 2.53 0.100 3781 545.5 335.3 34.60 1.100 1764 -2.9 0.059 - - - - 1 - 14.23 13.97 13.47
12404 104.8 14.8 1082 12409 done 0.66 0.17 0.247 2726 -182.4 2.30 0.042 2394 -603.0 335.3 - - 1770 - - - - - - - - 13.96 14.07 14.11
12596 84.8 10.0 1100 12600 roll 0.70 - - 2726 - 2.53 0.102 3786 550.2 335.3 - - 1769 - - - - - - - - 14.32 14.12 14.34
12705 72.8 10.2 1122 12710 done 0.70 - - 2730 - 2.28 0.042 2398 -608.8 335.3 - - 1771 - - - - - - - - 14.25 14.20 14.26
12897 58.3 6.6 1142 12957 roll 0.82 0.12 0.127 2800 583.3 2.60 0.102 3789 535.0 410.1 49.78 0.355 1463 -6.2 0.196 - - - - - - 14.23 14.08 13.95
13013 46.8 11.4 1160 13020 done 0.78 0.20 0.256 2763 -185.0 2.30 0.043 2386 -610.0 410.1 2.38 0.226 1462 - - - - - - - - 14.03 14.15 14.06
13199 32.6 7.1 1179 13248 done 0.89 0.10 0.148 2822 590.0 - - 2384 - 472.9 44.05 0.285 1203 -5.9 0.130 - - - - - - 14.21 14.13 14.00
13429 14.3 6.2 1203 13491 roll 1.01 - - 2825 - 3.03 0.066 671 -565.3 555.0 57.50 0.233 870 -5.8 0.069 - - - - - - 14.35 14.09 14.01
13523 7.6 7.9 1221 13565 done 1.15 0.17 0.098 2908 488.2 2.97 0.063 2398 581.5 601.1 33.03 0.214 681 -5.7 0.039 - - - - - - 14.15 14.11 14.02
13577 end climb: SURFACE_DEPTH_REACHED
13578 begin surface coast
13588 end surface coast: CONTROL_FINISHED_OK
13588 begin surface
SM 0.97 - - - - -7.14 8.00 0.066 190 23.7 1.27 0.096 3098 -6560.6 646.61 32.85 0.202 499 15.2 -0.007 - - - - - -