CABAGE Aug17 * SG198 * Dive index * Mission links * Dive 147 * Raw log
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• Previous call tries 2 • 119.10 of 350.00 AH used of 24V (65.97% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.9 deg, depth 0.88 m • Intended pitch -19.7 deg, speed -10.000 cm/s
VBD pumped to 639.99 (SM_CC=692.78448)
• GPS1 time: 29 s
• GPS2 time: 9 s • Transponder ping count: 49
• 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
44 end surface: CONTROL_FINISHED_OK
44 begin dive
47 - - - 174 VBD -0.65 - - 152 - - - 2511 - -145.9 -124.95 - 2229 - - - - - - - - 14.39 - 14.42
177 3.6 -8.5 20 227 roll -0.65 10.93 0.493 1980 167.2 2.83 2.134 1090 -502.1 -145.9 -33.80 - 3704 -43.6 - - - - - - - 13.57 12.69 14.09
347 54.7 -25.0 52 354 done -0.56 0.17 0.327 2011 182.4 2.50 0.086 2498 563.2 -145.9 - - 3705 - - - - - - - - 13.76 14.04 14.09
534 89.7 -16.0 89 541 roll -0.54 - - 2003 - 2.35 0.112 3786 548.1 -145.9 - - 3706 - - - - - - - - 14.50 13.99 14.52
576 96.7 -16.4 97 583 done -0.51 - - 2004 - 2.17 0.048 2485 -599.5 -145.9 - - 3705 - - - - - - - - 14.26 14.18 14.28
763 123.5 -13.6 134 768 done -0.51 - - 2004 - - - 2482 - -145.9 - - 3706 - - - - - - - - 14.54 14.57 14.56
948 147.1 -12.5 171 954 done -0.55 - - 2004 - - - 2484 - -145.9 - - 3706 - - - - - - - - 14.58 14.63 14.60
1134 169.8 -11.8 208 1139 done -0.61 - - 2004 - - - 2485 - -145.9 - - 3706 - - - - - - - - 14.59 14.61 14.61
1319 191.0 -11.1 245 1325 done -0.67 - - 2005 - - - 2484 - -145.9 - - 3706 - - - - - - - - 14.59 14.62 14.59
1506 211.0 -10.6 282 1511 done -0.75 0.15 0.118 1935 -466.7 - - 2484 - -145.9 - - 3706 - - - - - - - - 14.19 14.25 14.23
1691 237.8 -14.3 319 1697 done -0.72 0.12 0.291 1959 200.0 - - 2484 - -145.9 - - 3707 - - - - - - - - 13.98 14.32 14.26
1877 259.7 -10.7 356 1883 done -0.75 - - 1959 - - - 2485 - -145.9 - - 3706 - - - - - - - - 14.61 14.63 14.64
2063 279.2 -10.3 393 2069 done -0.79 - - 1959 - - - 2484 - -145.9 - - 3709 - - - - - - - - 14.62 14.64 14.64
2249 297.5 -9.8 430 2255 done -0.83 - - 1955 - - - 2483 - -145.9 - - 3706 - - - - - - - - 14.61 14.62 14.63
2435 315.5 -9.6 467 2441 done -0.89 0.12 0.140 1898 -475.0 - - 2485 - -145.9 - - 3705 - - - - - - - - 14.29 14.36 14.33
2621 338.6 -12.6 504 2627 roll -0.84 0.12 0.300 1920 183.3 2.40 0.112 3795 545.8 -145.9 - - 3706 - - - - - - - - 13.93 14.09 14.20
2677 345.6 -12.3 515 2683 done -0.82 - - 1914 - 2.17 0.048 2493 -600.0 -145.9 - - 3703 - - - - - - - - 14.37 14.31 14.40
2868 367.5 -11.3 528 2869 done -0.82 - - 1915 - - - 2488 - -145.9 - - 3705 - - - - - - - - 14.63 14.65 14.65
3048 387.5 -11.1 534 3049 done -0.82 - - 1914 - - - 2489 - -145.9 - - 3704 - - - - - - - - 14.64 14.66 14.66
3228 407.2 -10.9 540 3229 done -0.82 - - 1914 - - - 2490 - -145.9 - - 3704 - - - - - - - - 14.65 14.67 14.67
3408 426.8 -10.9 546 3409 done -0.82 - - 1914 - - - 2488 - -145.9 - - 3704 - - - - - - - - 14.66 14.67 14.67
3588 446.0 -10.7 552 3589 done -0.82 - - 1914 - - - 2488 - -145.9 - - 3704 - - - - - - - - 14.66 14.68 14.66
3768 465.1 -10.6 558 3769 done -0.82 - - 1914 - - - 2488 - -145.9 - - 3704 - - - - - - - - 14.66 14.69 14.68
3948 484.1 -10.5 564 3949 done -0.82 - - 1914 - - - 2489 - -145.9 - - 3705 - - - - - - - - 14.62 14.66 14.64
4128 503.1 -10.6 570 4133 roll -0.82 - - 1905 - 2.38 0.111 3790 546.6 -145.9 - - 3705 - - - - - - - - 14.62 14.11 14.64
4188 510.1 -11.8 582 4193 done -0.82 0.12 0.291 1930 208.3 2.15 0.047 2483 -607.9 -145.9 - - 3704 - - - - - - - - 13.90 14.27 14.19
4399 530.7 -9.6 594 4400 done -0.85 - - 1931 - - - 2481 - -145.9 - - 3704 - - - - - - - - 14.62 14.64 14.64
4579 548.0 -9.6 600 4579 done -0.89 - - 1930 - - - 2482 - -145.9 - - 3703 - - - - - - - - 14.66 14.67 14.67
4759 565.3 -9.6 606 4760 done -0.94 - - 1930 - - - 2487 - -145.9 - - 3704 - - - - - - - - 14.62 14.64 14.64
4939 582.2 -9.4 612 4940 done -0.98 0.15 0.133 1868 -413.3 - - 2481 - -145.9 - - 3705 - - - - - - - - 14.33 14.45 14.42
5139 604.5 -12.6 618 5144 roll -0.92 0.12 0.314 1890 183.3 2.40 0.108 3785 543.3 -145.9 - - 3704 - - - - - - - - 13.82 14.00 14.00
5179 612.1 -12.6 626 5184 done -0.87 0.12 0.309 1913 191.7 2.12 0.047 2499 -606.6 -145.9 - - 3705 - - - - - - - - 13.83 14.23 14.14
5379 633.0 -10.2 636 5380 done -0.87 - - 1913 - - - 2498 - -145.9 - - 3705 - - - - - - - - 14.48 14.51 14.51
5559 651.3 -10.2 642 5560 done -0.87 - - 1913 - - - 2504 - -145.9 - - 3705 - - - - - - - - 14.47 14.49 14.50
5647 end dive: TARGET_DEPTH_EXCEEDED
5647 begin apogee
5652 660.5 -10.2 645 6075 done -0.14 0.90 0.247 2145 257.8 - - 2306 - - 418.80 1.193 3107 -1.4 0.155 - - - - - - 13.75 13.21 12.53
6080 end apogee: CONTROL_FINISHED_OK
6080 begin loiter
6249 669.4 2.2 665 6250 done -0.14 - - 2145 - - - 2305 - - - - 3103 - - - - - - - - 13.93 13.95 13.95
6429 666.1 1.8 671 6431 done -0.61 0.47 0.134 2002 -304.3 - - 2305 - - - - 3103 - - - - - - - - 13.87 14.04 14.00
6609 662.5 2.3 677 6610 done -0.72 - - 2002 - - - 2305 - - - - 3102 - - - - - - - - 14.42 14.41 14.41
6789 659.0 1.9 683 6790 done -0.82 0.20 0.096 1916 -430.0 - - 2305 - - - - 3101 - - - - - - - - 14.25 14.33 14.30
6969 654.2 2.8 689 6971 done -0.75 0.17 0.304 1953 217.6 - - 2305 - - - - 3102 - - - - - - - - 13.91 14.28 14.21
7149 650.1 2.3 695 7150 done -0.75 - - 1952 - - - 2305 - - - - 3102 - - - - - - - - 14.57 14.59 14.59
7329 646.0 2.3 701 7330 done -0.75 - - 1953 - - - 2305 - - - - 3102 - - - - - - - - 14.57 14.60 14.59
7509 641.9 2.2 707 7510 done -0.75 - - 1953 - - - 2305 - - - - 3102 - - - - - - - - 14.60 14.62 14.61
7689 637.9 2.2 713 7690 done -0.75 - - 1953 - - - 2305 - - - - 3102 - - - - - - - - 14.63 14.62 14.61
7869 633.9 2.2 719 7870 done -0.75 - - 1953 - - - 2305 - - - - 3102 - - - - - - - - 14.79 14.82 14.81
8049 629.9 2.3 725 8050 done -0.75 - - 1953 - - - 2305 - - - - 3102 - - - - - - - - 14.85 14.85 14.85
8229 625.8 2.3 731 8230 done -0.75 - - 1953 - - - 2304 - - - - 3102 - - - - - - - - 14.86 14.88 14.87
8409 621.7 2.3 737 8410 done -0.75 - - 1952 - - - 2305 - - - - 3102 - - - - - - - - 14.91 14.90 14.90
8589 617.6 2.3 743 8590 done -0.75 - - 1952 - - - 2305 - - - - 3102 - - - - - - - - 14.90 14.92 14.93
8769 613.5 2.3 749 8770 done -0.75 - - 1952 - - - 2305 - - - - 3102 - - - - - - - - 14.91 14.93 14.93
8949 609.3 2.4 755 8950 done -0.75 - - 1952 - - - 2305 - - - - 3102 - - - - - - - - 14.92 14.94 14.94
9129 604.9 2.5 761 9130 done -0.75 - - 1953 - - - 2305 - - - - 3102 - - - - - - - - 14.93 14.95 14.94
9309 600.4 2.5 767 9310 done -0.75 - - 1952 - - - 2305 - - - - 3101 - - - - - - - - 14.94 14.95 14.96
9489 595.7 2.6 773 9490 done -0.75 - - 1953 - - - 2305 - - - - 3102 - - - - - - - - 14.93 14.97 14.97
9667 end loiter: LOITER_COMPLETE
9667 begin climb
9669 591.0 - 779 9878 roll 0.65 1.62 0.250 2395 272.8 2.75 0.102 3727 517.1 145.9 181.73 1.486 2498 -3.3 0.259 - - - - - - 14.11 13.46 12.85
10054 543.2 16.7 815 10059 done 0.52 - - 2396 - 2.38 0.048 2342 -581.9 145.9 - - 2492 - - - - - - - - 14.09 14.00 14.12
10265 513.2 14.1 827 10266 done 0.44 0.22 0.281 2345 -231.8 - - 2341 - 145.9 - - 2487 - - - - - - - - 13.88 14.25 14.19
10445 493.5 10.7 833 10445 done 0.44 - - 2346 - - - 2341 - 145.9 - - 2485 - - - - - - - - 14.55 14.57 14.57
10624 474.2 10.7 839 10629 roll 0.44 - - 2344 - 2.53 0.104 3730 549.0 145.9 - - 2484 - - - - - - - - 14.61 14.19 14.62
10655 470.5 12.9 845 10661 done 0.41 - - 2351 - 2.38 0.049 2314 -595.0 145.9 - - 2484 - - - - - - - - 14.40 14.32 14.44
10866 446.8 11.1 857 10867 done 0.41 - - 2351 - - - 2312 - 145.9 - - 2483 - - - - - - - - 14.64 14.66 14.65
11046 427.1 10.9 863 11051 roll 0.41 - - 2351 - 2.58 0.103 3735 551.6 145.9 - - 2482 - - - - - - - - 14.65 14.21 14.66
11066 424.7 12.1 867 11071 done 0.38 0.15 0.277 2328 -153.3 2.38 0.048 2312 -597.9 145.9 - - 2482 - - - - - - - - 14.03 14.35 14.33
11256 406.5 9.3 875 11271 done 0.44 - - 2328 - - - 2310 - 162.1 13.45 1.583 2446 -2.7 0.135 - - - - - - 14.64 14.24 13.38
11436 389.8 9.3 881 11455 done 0.50 0.12 0.130 2406 650.0 - - 2310 - 176.8 17.45 1.523 2386 -3.4 0.172 - - - - - - 14.36 14.21 13.37
11616 365.0 14.1 887 11621 roll 0.43 0.20 0.254 2353 -265.0 2.55 0.099 3730 556.9 176.8 - - 2372 - - - - - - - - 13.97 14.17 14.14
11666 358.2 13.1 897 11672 done 0.43 - - 2360 - 2.38 0.048 2315 -594.5 176.8 - - 2373 - - - - - - - - 14.38 14.29 14.41
11854 337.6 10.9 919 11859 done 0.43 - - 2360 - - - 2315 - 176.8 - - 2371 - - - - - - - - 14.59 14.61 14.61
12039 317.8 10.7 956 12045 done 0.43 - - 2360 - - - 2315 - 176.8 - - 2370 - - - - - - - - 14.60 14.62 14.62
12224 298.8 10.1 993 12231 done 0.43 - - 2360 - - - 2314 - 176.8 - - 2369 - - - - - - - - 14.62 14.64 14.66
12411 280.5 9.7 1030 12418 roll 0.47 - - 2360 - 2.62 0.102 3730 540.5 184.2 1.58 0.252 2360 -5.7 1.241 - - - - - - 14.62 14.17 13.97
12438 277.5 11.1 1035 12445 done 0.47 - - 2364 - 2.35 0.048 2318 -600.9 184.2 1.70 0.270 2357 -1.8 0.355 - - - - - - 14.41 14.32 13.88
12625 259.7 9.1 1072 12666 done 0.50 - - 2366 - - - 2319 - 204.9 36.08 1.335 2264 -2.6 0.098 - - - - - - 14.62 13.95 13.38
12847 239.4 8.8 1115 12882 done 0.57 - - 2366 - - - 2319 - 230.4 32.72 1.304 2165 -3.0 0.109 - - - - - - 14.51 14.08 13.33
13062 221.2 8.3 1157 13118 roll 0.67 0.12 0.127 2444 650.0 2.53 0.073 915 -554.9 267.2 49.25 1.231 2012 -3.1 0.109 - - - - - - 14.24 13.95 13.27
13123 214.2 12.1 1167 13129 done 0.63 0.15 0.247 2410 -226.7 2.47 0.070 2331 573.3 267.2 - - 2005 - - - - - - - - 13.81 13.95 14.02
13310 193.7 10.8 1204 13315 done 0.67 - - 2410 - - - 2331 - 267.2 - - 2000 - - - - - - - - 14.43 14.47 14.45
13495 174.5 9.8 1241 13502 done 0.71 - - 2410 - - - 2331 - 271.3 - - 1998 - - - - - - - - 14.51 14.53 14.53
13682 156.5 9.5 1278 13706 done 0.76 0.12 0.138 2473 525.0 - - 2331 - 283.2 18.20 1.307 1947 -2.8 0.066 - - - - - - 14.30 14.17 13.43
13886 130.0 12.9 1318 13892 done 0.72 0.15 0.241 2434 -260.0 - - 2331 - 283.2 - - 1939 - - - - - - - - 14.00 14.24 14.16
14072 111.0 9.6 1355 14078 done 0.76 - - 2433 - - - 2331 - 291.9 3.00 0.939 1921 -6.0 0.139 - - - - - - 14.56 14.16 12.97
14258 93.8 9.1 1392 14277 done 0.82 - - 2440 - - - 2331 - 312.5 13.93 0.447 1831 -6.5 0.265 - - - - - - 14.57 14.00 13.70
14457 77.3 7.5 1431 14494 roll 0.92 0.17 0.109 2529 523.5 2.60 0.102 3733 539.2 366.1 31.45 0.414 1619 -6.7 0.246 - - - - - - 14.25 14.13 13.72
14531 68.1 15.6 1444 14538 done 0.82 0.28 0.277 2469 -214.3 2.38 0.052 2320 -593.7 366.1 1.52 0.249 1613 -3.9 0.211 - - - - - - 13.90 14.19 13.88
14718 53.1 6.3 1481 14774 roll 0.95 0.12 0.126 2539 583.3 2.45 0.073 913 -574.3 447.0 47.95 0.346 1288 -6.8 0.204 - - - - - - 14.21 13.98 13.74
14826 44.2 9.2 1500 14844 done 1.01 - - 2539 - 2.42 0.071 2321 581.8 464.3 11.35 0.315 1217 -6.3 0.172 - - - - - - 14.18 14.05 13.74
15024 25.6 9.0 1539 15043 done 1.08 - - 2539 - - - 2321 - 486.3 14.18 0.271 1123 -6.6 0.123 - - - - - - 14.50 14.14 13.83
15223 12.2 5.8 1578 15283 done 1.23 0.15 0.116 2619 533.3 - - 2321 - 578.0 53.50 0.225 747 -7.0 0.075 - - - - - - 14.26 14.03 13.86
15311 end climb: SURFACE_DEPTH_REACHED
15311 begin surface coast
15323 end surface coast: CONTROL_FINISHED_OK
15323 begin surface
SM 0.74 - - - - -6.18 7.07 0.066 183 25.9 0.32 0.106 2509 -25478.1 639.99 0.05 1.623 500 9997.7 -0.466 - - - - - -