CABAGE Aug16 * SG198 * Dive index * Mission links * Dive 18 * Raw log
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• Previous call tries 1 • 9.64 of 350.00 AH used of 24V (97.25% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -63.9 deg, depth 0.96 m • Intended pitch -17.3 deg, speed -9.877 cm/s
• VBD pumped to 646.37 (SM_CC=692.78448)
• GPS1 time: 24 s
• GPS2 time: 8 s • Transponder ping count: 16
• 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 -0.58 - - 185 - - - 3106 - -145.9 -121.57 - 2456 - - - - - - - - 14.37 - 14.39
139 3.3 -4.2 12 186 roll -0.58 10.90 0.453 2308 194.8 1.35 2.275 3787 504.4 -145.9 -30.70 - 3732 -41.6 - - - - - - - 14.03 13.44 14.20
411 54.3 -14.3 66 417 done -0.61 - - 2308 - 1.12 0.060 3115 -600.0 -145.9 - - 3733 - - - - - - - - 14.33 14.29 14.34
602 76.0 -10.5 86 607 roll -0.66 - - 2306 - 1.23 0.116 3783 543.1 -145.9 - - 3733 - - - - - - - - 14.50 14.31 14.52
833 99.5 -9.6 132 838 done -0.75 0.08 0.078 2247 -737.5 1.12 0.060 3104 -606.2 -145.9 - - 3733 - - - - - - - - 14.38 14.39 14.41
1023 121.5 -11.4 143 1024 done -0.77 - - 2247 - - - 3102 - -145.9 - - 3733 - - - - - - - - 14.57 14.59 14.59
1203 141.9 -11.6 152 1203 done -0.80 - - 2247 - - - 3103 - -145.9 - - 3733 - - - - - - - - 14.60 14.63 14.62
1383 161.5 -10.6 161 1388 roll -0.84 - - 2246 - 2.92 0.054 1325 -608.9 -145.9 - - 3734 - - - - - - - - 14.62 14.46 14.64
1433 166.9 -10.6 171 1438 done -0.89 - - 2239 - 3.12 0.093 3106 570.8 -145.9 - - 3734 - - - - - - - - 14.52 14.43 14.54
1623 186.6 -10.0 182 1624 done -0.93 - - 2239 - - - 3107 - -145.9 - - 3734 - - - - - - - - 14.62 14.69 14.66
1803 205.2 -10.7 191 1808 roll -0.97 0.12 0.134 2178 -508.3 2.92 0.051 1325 -610.3 -145.9 - - 3733 - - - - - - - - 14.51 14.47 14.56
1859 212.3 -13.0 202 1866 done -0.95 0.15 0.298 2198 133.3 3.10 0.093 3103 573.5 -145.9 - - 3733 - - - - - - - - 14.36 14.45 14.52
2043 233.8 -11.2 212 2049 roll -0.95 - - 2199 - 2.90 0.054 1334 -610.0 -145.9 - - 3733 - - - - - - - - 14.66 14.48 14.68
2104 240.6 -11.0 224 2109 done -0.95 - - 2188 - 3.08 0.093 3100 573.4 -145.9 - - 3733 - - - - - - - - 14.54 14.45 14.57
2304 262.0 -10.2 237 2309 roll -0.95 - - 2188 - 2.90 0.053 1330 -610.3 -145.9 - - 3733 - - - - - - - - 14.67 14.51 14.69
2384 269.9 -9.7 253 2389 done -0.95 - - 2178 - 3.08 0.093 3101 575.0 -145.9 - - 3732 - - - - - - - - 14.59 14.47 14.59
2584 291.1 -10.5 266 2589 roll -0.95 - - 2178 - 2.90 0.052 1330 -610.7 -145.9 - - 3733 - - - - - - - - 14.69 14.51 14.71
2644 297.2 -9.9 278 2651 done -0.95 0.15 0.304 2199 140.0 3.08 0.092 3101 575.0 -145.9 - - 3733 - - - - - - - - 14.40 14.49 14.56
2846 315.2 -8.9 291 2847 done -0.98 - - 2200 - - - 3101 - -145.9 - - 3733 - - - - - - - - 14.70 14.72 14.72
3026 331.0 -8.7 300 3031 roll -1.02 - - 2200 - 2.90 0.053 1328 -611.4 -145.9 - - 3732 - - - - - - - - 14.71 14.54 14.73
3091 336.6 -8.1 313 3096 done -1.06 - - 2195 - 3.08 0.093 3102 576.0 -145.9 - - 3732 - - - - - - - - 14.60 14.51 14.62
3286 353.5 -8.6 325 3288 done -1.09 0.12 0.133 2139 -466.7 - - 3104 - -145.9 - - 3732 - - - - - - - - 14.57 14.64 14.62
3466 373.3 -11.3 334 3472 roll -1.05 0.12 0.280 2165 216.7 2.90 0.050 1327 -612.8 -145.9 - - 3732 - - - - - - - - 14.45 14.55 14.60
3568 383.4 -9.8 354 3574 done -1.05 - - 2155 - 3.08 0.093 3107 577.9 -145.9 - - 3732 - - - - - - - - 14.62 14.52 14.63
3770 404.2 -10.3 367 3770 done -1.03 - - 2155 - - - 3107 - -145.9 - - 3731 - - - - - - - - 14.75 14.74 14.74
3950 422.9 -10.4 376 3950 done -1.01 - - 2155 - - - 3107 - -145.9 - - 3732 - - - - - - - - 14.73 14.76 14.76
4129 441.2 -10.2 385 4134 roll -1.01 - - 2155 - 2.90 0.053 1327 -613.8 -145.9 - - 3732 - - - - - - - - 14.73 14.57 14.76
4229 451.3 -9.9 405 4235 done -1.01 0.15 0.314 2177 146.7 3.08 0.093 3104 576.9 -145.9 - - 3731 - - - - - - - - 14.45 14.53 14.61
4430 469.2 -8.8 418 4431 done -1.01 - - 2176 - - - 3104 - -145.9 - - 3731 - - - - - - - - 14.73 14.76 14.75
4610 485.3 -8.9 427 4615 roll -1.01 - - 2177 - 2.88 0.051 1337 -613.5 -145.9 - - 3732 - - - - - - - - 14.73 14.57 14.76
4712 494.2 -8.5 447 4717 done -1.04 - - 2169 - 3.05 0.092 3107 580.3 -145.9 - - 3731 - - - - - - - - 14.62 14.52 14.63
4912 513.1 -9.4 460 4913 done -1.04 - - 2169 - - - 3107 - -145.9 - - 3731 - - - - - - - - 14.73 14.76 14.78
5092 529.5 -9.1 469 5097 roll -1.04 - - 2168 - 2.83 0.051 1339 -624.7 -145.9 - - 3731 - - - - - - - - 14.74 14.57 14.76
5182 537.7 -9.1 487 5187 done -1.04 - - 2160 - 3.03 0.091 3100 581.2 -145.9 - - 3731 - - - - - - - - 14.64 14.54 14.65
5373 555.7 -9.4 498 5373 done -1.04 - - 2160 - - - 3097 - -145.9 - - 3731 - - - - - - - - 14.74 14.77 14.76
5553 572.6 -9.4 507 5558 roll -1.04 - - 2160 - 2.88 0.051 1326 -614.9 -145.9 - - 3731 - - - - - - - - 14.75 14.58 14.77
5623 579.1 -9.2 521 5628 done -1.04 - - 2152 - 3.05 0.091 3100 581.6 -145.9 - - 3732 - - - - - - - - 14.64 14.55 14.66
5813 597.2 -9.6 532 5813 done -1.04 - - 2151 - - - 3100 - -145.9 - - 3732 - - - - - - - - 14.74 14.78 14.78
5993 614.5 -9.6 541 5993 done -1.04 - - 2151 - - - 3100 - -145.9 - - 3732 - - - - - - - - 14.76 14.78 14.78
6173 631.9 -9.7 550 6179 roll -1.04 - - 2151 - 2.88 0.051 1328 -615.3 -145.9 - - 3732 - - - - - - - - 14.77 14.59 14.79
6269 641.1 -9.5 569 6275 done -1.04 0.15 0.316 2173 146.7 3.05 0.090 3100 581.0 -145.9 - - 3732 - - - - - - - - 14.47 14.56 14.64
6454 656.7 -8.3 579 6455 done -1.06 - - 2173 - - - 3100 - -145.9 - - 3732 - - - - - - - - 14.76 14.78 14.78
6634 671.8 -8.4 588 6639 roll -1.08 - - 2173 - 2.88 0.050 1336 -612.5 -145.9 - - 3734 - - - - - - - - 14.76 14.60 14.78
6709 678.1 -8.3 603 6715 done -1.11 - - 2166 - 3.03 0.091 3101 582.5 -145.9 - - 3733 - - - - - - - - 14.65 14.56 14.67
6894 694.0 -8.6 613 6895 done -1.11 - - 2166 - - - 3101 - -145.9 - - 3732 - - - - - - - - 14.76 14.78 14.78
7074 709.3 -8.5 622 7075 done -1.11 - - 2167 - - - 3101 - -145.9 - - 3732 - - - - - - - - 14.76 14.78 14.78
7254 724.6 -8.5 631 7259 roll -1.11 - - 2167 - 2.88 0.050 1335 -613.2 -145.9 - - 3730 - - - - - - - - 14.76 14.60 14.78
7366 733.9 -7.8 653 7371 done -1.13 - - 2159 - 3.03 0.090 3100 582.5 -145.9 - - 3733 - - - - - - - - 14.65 14.56 14.67
7556 750.5 -8.7 664 7557 done -1.13 - - 2159 - - - 3100 - -145.9 - - 3731 - - - - - - - - 14.76 14.78 14.78
7736 766.1 -8.7 673 7741 roll -1.13 - - 2159 - 2.88 0.050 1320 -618.1 -145.9 - - 3733 - - - - - - - - 14.76 14.59 14.78
7811 772.3 -8.5 688 7817 done -1.13 - - 2148 - 3.08 0.090 3104 579.2 -145.9 - - 3732 - - - - - - - - 14.65 14.56 14.66
7996 789.1 -9.0 698 7997 done -1.13 - - 2149 - - - 3104 - -145.9 - - 3732 - - - - - - - - 14.76 14.78 14.78
8114 end dive: TARGET_DEPTH_EXCEEDED
8114 begin apogee
8120 800.0 -9.0 704 8283 done -0.14 1.10 0.235 2457 280.0 0.08 0.210 2404 -8750.0 - 155.15 2.247 3134 -3.9 0.263 - - - - 1 - 14.50 13.51 12.78
8285 end apogee: CONTROL_FINISHED_OK
8285 begin climb
8288 803.1 - 712 8515 roll 0.58 0.75 0.071 2710 337.3 2.62 0.103 3774 522.9 145.9 220.32 1.356 2533 -2.7 0.310 - - - - - - 13.64 13.47 13.08
8566 771.8 18.7 749 8571 done 0.39 0.32 0.286 2643 -209.4 2.30 0.044 2407 -594.3 145.9 - - 2519 - - - - - - - - 13.64 13.77 13.81
8757 748.3 11.9 760 8758 done 0.36 - - 2644 - - - 2406 - 145.9 - - 2515 - - - - - - - - 14.16 14.19 14.19
8936 727.0 11.9 769 8937 done 0.33 - - 2644 - - - 2406 - 145.9 - - 2514 - - - - - - - - 14.26 14.29 14.28
9116 705.6 11.8 778 9121 roll 0.29 0.15 0.278 2605 -260.0 2.47 0.103 3788 559.5 145.9 - - 2514 - - - - - - - - 14.09 14.14 14.19
9171 699.1 11.7 789 9178 done 0.26 - - 2612 - 2.28 0.045 2394 -611.4 145.9 - - 2514 - - - - - - - - 14.27 14.21 14.28
9357 680.6 9.8 799 9357 done 0.26 - - 2613 - - - 2394 - 147.3 - - 2514 - - - - - - - - 14.39 14.42 14.41
9537 662.7 9.9 808 9541 roll 0.26 - - 2612 - 2.50 0.106 3779 554.0 147.3 - - 2514 - - - - - - - - 14.42 14.22 14.45
9572 658.7 11.7 815 9579 done 0.23 0.15 0.274 2587 -166.7 2.25 0.046 2392 -616.4 147.3 - - 2514 - - - - - - - - 14.17 14.29 14.32
9757 642.3 8.7 825 9798 roll 0.30 - - 2587 - 2.53 0.103 3784 550.2 174.0 36.17 1.388 2421 -2.6 0.228 - - - - - - 14.45 13.99 13.59
9823 636.1 10.6 835 9829 done 0.32 - - 2593 - 2.28 0.045 2403 -605.7 174.0 - - 2411 - - - - - - - - 14.14 14.09 14.16
10019 617.9 9.2 847 10042 done 0.39 0.15 0.118 2658 433.3 - - 2402 - 188.9 17.83 1.433 2359 -2.9 0.241 - - - - - - 14.21 14.09 13.61
10219 593.1 12.6 857 10224 roll 0.37 - - 2658 - 2.50 0.104 3784 552.8 188.9 - - 2349 - - - - - - - - 14.33 14.15 14.35
10275 585.0 15.1 868 10281 done 0.29 0.22 0.251 2611 -213.6 2.25 0.045 2394 -617.8 188.9 - - 2349 - - - - - - - - 14.11 14.22 14.26
10459 565.5 10.2 878 10460 done 0.33 - - 2612 - - - 2396 - 188.9 - - 2348 - - - - - - - - 14.40 14.42 14.42
10640 547.2 10.2 887 10640 done 0.37 - - 2611 - - - 2396 - 188.9 - - 2348 - - - - - - - - 14.43 14.46 14.45
10820 529.2 9.9 896 10825 roll 0.42 0.10 0.152 2655 440.0 2.42 0.103 3781 572.3 188.9 - - 2348 - - - - - - - - 14.30 14.27 14.35
10865 523.1 14.3 905 10870 done 0.35 0.15 0.273 2629 -173.3 2.22 0.045 2401 -621.6 188.9 - - 2352 - - - - - - - - 14.21 14.33 14.36
11062 501.5 10.7 917 11063 done 0.35 - - 2632 - - - 2400 - 188.9 - - 2348 - - - - - - - - 14.50 14.53 14.53
11240 482.5 10.5 926 11241 done 0.35 - - 2629 - - - 2400 - 188.9 - - 2350 - - - - - - - - 14.56 14.58 14.58
11420 463.5 10.5 935 11426 roll 0.35 - - 2629 - 2.45 0.105 3790 567.3 188.9 - - 2348 - - - - - - - - 14.59 14.40 14.62
11471 457.4 12.6 945 11476 done 0.32 - - 2636 - 2.22 0.046 2399 -626.6 188.9 - - 2348 - - - - - - - - 14.51 14.46 14.53
11661 436.2 11.1 956 11662 done 0.32 - - 2635 - - - 2399 - 188.9 - - 2347 - - - - - - - - 14.63 14.65 14.66
11841 416.3 11.1 965 11846 roll 0.32 - - 2632 - 2.45 0.105 3787 566.5 188.9 - - 2348 - - - - - - - - 14.65 14.45 14.68
11876 411.8 13.2 972 11883 done 0.29 0.15 0.266 2608 -160.0 2.22 0.046 2394 -627.5 188.9 - - 2347 - - - - - - - - 14.40 14.50 14.53
12061 393.2 9.8 982 12062 done 0.34 - - 2608 - - - 2394 - 190.7 - - 2347 - - - - - - - - 14.68 14.69 14.69
12241 376.0 9.5 991 12246 done 0.40 - - 2608 - - - 2394 - 198.6 3.92 1.112 2325 -5.6 0.364 - - - - - - 14.68 14.51 13.85
12421 358.8 9.6 1000 12444 roll 0.46 0.12 0.137 2671 525.0 2.45 0.103 3783 566.9 205.0 15.90 1.285 2294 -1.9 0.104 - - - - - - 14.52 14.35 13.98
12491 349.7 14.9 1013 12496 done 0.38 0.17 0.267 2639 -188.2 2.22 0.045 2393 -626.1 205.0 - - 2286 - - - - - - - - 14.32 14.43 14.47
12686 327.9 10.7 1025 12687 done 0.40 - - 2640 - - - 2392 - 205.0 - - 2284 - - - - - - - - 14.62 14.64 14.64
12866 309.3 10.2 1034 12871 roll 0.43 - - 2639 - 2.45 0.106 3783 567.8 205.0 - - 2283 - - - - - - - - 14.65 14.44 14.66
12911 304.0 12.4 1043 12917 done 0.43 - - 2647 - 2.22 0.045 2392 -626.6 205.0 - - 2284 - - - - - - - - 14.56 14.52 14.58
13106 283.1 10.5 1055 13107 done 0.43 - - 2647 - - - 2391 - 205.0 - - 2284 - - - - - - - - 14.68 14.70 14.70
13287 264.8 10.2 1064 13288 done 0.45 - - 2647 - - - 2391 - 205.0 - - 2283 - - - - - - - - 14.69 14.71 14.71
13467 246.7 9.8 1073 13468 done 0.48 - - 2647 - - - 2391 - 207.3 - - 2283 - - - - - - - - 14.71 14.76 14.72
13647 230.1 8.9 1082 13693 roll 0.52 - - 2647 - 2.55 0.109 3786 547.1 229.3 39.17 1.120 2192 -2.3 0.092 - - - - - - 14.71 14.26 13.93
13744 220.9 10.8 1101 13750 done 0.52 - - 2657 - 2.25 0.045 2390 -620.4 229.3 - - 2180 - - - - - - - - 14.41 14.36 14.42
13928 203.7 9.1 1111 13954 done 0.58 0.12 0.129 2723 550.0 - - 2390 - 247.1 24.58 1.108 2129 -2.1 0.073 - - - - - - 14.42 14.29 13.88
14128 180.2 11.7 1121 14133 roll 0.54 0.15 0.248 2689 -226.7 2.47 0.105 3781 563.2 247.1 - - 2108 - - - - - - - - 14.26 14.32 14.41
14168 175.1 12.6 1129 14173 done 0.51 - - 2698 - 2.25 0.045 2392 -617.3 247.1 - - 2108 - - - - - - - - 14.45 14.40 14.46
14368 154.3 10.0 1142 14369 done 0.51 - - 2695 - - - 2392 - 247.1 - - 2107 - - - - - - - - 14.58 14.61 14.61
14548 137.1 9.5 1151 14551 done 0.51 - - 2697 - - - 2392 - 254.6 1.98 0.231 2097 -5.1 0.575 - - - - - - 14.62 14.51 14.38
14728 120.0 9.2 1160 14770 roll 0.53 - - 2698 - 2.50 0.111 3781 555.6 270.4 28.83 1.045 2031 -2.3 0.050 - - - - 1 - 14.64 14.28 13.83
14855 107.4 10.4 1185 14860 done 0.53 - - 2706 - 2.22 0.045 2400 -622.1 270.4 - - 2031 - - - - - - - - 14.42 14.38 14.43
15041 92.3 7.6 1201 15079 roll 0.58 - - 2707 - 2.55 0.110 3782 542.0 320.8 32.83 0.456 1824 -6.3 0.245 - - - - - - 14.54 14.27 14.09
15160 81.0 10.0 1224 15167 done 0.58 - - 2714 - 2.22 0.045 2401 -622.1 320.8 2.00 0.239 1826 - - - - - - - - 14.40 14.35 14.24
15346 65.0 8.0 1243 15380 roll 0.67 - - 2722 - 2.50 0.109 3789 555.2 363.3 29.27 0.379 1654 -5.9 0.193 - - - - - - 14.57 14.28 14.15
15425 58.2 9.6 1256 15437 done 0.73 - - 2722 - 2.25 0.047 2397 -618.7 370.3 7.30 0.311 1627 -3.7 0.133 - - - - - - 14.40 14.35 14.16
15617 44.6 6.1 1276 15681 roll 0.87 0.17 0.104 2813 535.3 2.55 0.109 3781 542.7 453.6 57.22 0.318 1283 -6.0 0.162 - - - - - - 14.40 14.24 14.14
15731 32.1 12.7 1298 15736 done 0.84 0.17 0.258 2779 -200.0 2.25 0.045 2397 -615.1 453.6 - - 1289 - - - - - - - - 14.19 14.31 14.29
15923 18.3 5.4 1318 15996 roll 1.00 0.17 0.103 2873 552.9 3.03 0.070 661 -572.9 553.5 66.78 0.247 875 -6.2 0.088 - - - - - - 14.37 14.23 14.18
16033 8.4 9.9 1337 16039 done 1.00 0.15 0.216 2836 -246.7 2.95 0.068 2399 589.2 553.5 - - 881 - - - - - - - - 14.21 14.27 14.33
16104 end climb: SURFACE_DEPTH_REACHED
16104 begin surface coast
16124 end surface coast: CONTROL_FINISHED_OK
16124 begin surface
SM 1.00 - - - - -7.15 7.90 0.091 189 23.9 1.25 0.103 3095 -1624.8 646.37 - - 501 - - - - - - - -