CABAGE Aug16 * SG196 * Dive index * Mission links * Dive 51 * Raw log
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• Previous call tries 1 • 27.45 of 350.00 AH used of 24V (92.16% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.2 deg, depth 1.15 m • Intended pitch -17.7 deg, speed -9.877 cm/s
• VBD pumped to 657.16 (SM_CC=692.78448)
• GPS1 time: 35 s
• GPS2 time: 6 s • Transponder ping count: 17
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 138 VBD -0.57 - - 158 - - - 3099 - -145.9 -121.05 - 2574 - - - - - - - - 14.19 - 14.21
143 4.3 -5.8 12 186 roll -0.57 13.12 0.409 2787 200.4 2.62 2.186 1693 -536.6 -145.9 -23.52 - 3775 -51.1 - - - - - - - 13.90 13.24 14.13
411 61.2 -15.9 65 417 done -0.57 - - 2785 - 2.55 0.094 3109 555.3 -145.9 - - 3779 - - - - - - - - 14.21 14.12 14.23
596 86.1 -12.1 84 601 roll -0.61 - - 2785 - 2.42 0.061 1694 -584.7 -145.9 - - 3779 - - - - - - - - 14.37 14.17 14.39
786 106.4 -9.3 122 791 done -0.68 - - 2784 - 2.53 0.099 3099 555.3 -145.9 - - 3779 - - - - - - - - 14.31 14.21 14.32
977 124.0 -8.8 133 982 roll -0.77 0.15 0.133 2725 -393.3 2.40 0.060 1688 -587.9 -145.9 - - 3779 - - - - - - - - 14.25 14.24 14.29
1002 126.9 -11.3 138 1008 done -0.79 - - 2715 - 2.53 0.103 3099 557.7 -145.9 - - 3779 - - - - - - - - 14.33 14.23 14.35
1198 152.4 -13.0 150 1199 done -0.79 - - 2716 - - - 3099 - -145.9 - - 3779 - - - - - - - - 14.47 14.50 14.50
1378 174.3 -12.1 159 1379 done -0.79 - - 2716 - - - 3099 - -145.9 - - 3779 - - - - - - - - 14.50 14.53 14.52
1558 194.8 -11.2 168 1559 done -0.79 - - 2716 - - - 3099 - -145.9 - - 3779 - - - - - - - - 14.52 14.54 14.54
1738 214.3 -10.8 177 1743 roll -0.82 - - 2716 - 2.40 0.063 1688 -587.9 -145.9 - - 3779 - - - - - - - - 14.54 14.35 14.55
1779 218.7 -10.3 185 1784 done -0.85 - - 2716 - 2.53 0.103 3104 559.7 -145.9 - - 3779 - - - - - - - - 14.43 14.34 14.45
1979 238.2 -9.6 198 1980 done -0.89 - - 2716 - - - 3104 - -145.9 - - 3779 - - - - - - - - 14.55 14.58 14.57
2159 254.6 -9.0 207 2164 roll -0.94 0.12 0.145 2663 -441.7 2.38 0.062 1695 -592.0 -145.9 - - 3779 - - - - - - - - 14.38 14.38 14.43
2229 262.1 -10.8 221 2234 done -0.90 - - 2663 - 2.53 0.105 3107 558.1 -145.9 - - 3779 - - - - - - - - 14.46 14.36 14.47
2420 283.3 -11.5 232 2421 done -0.88 0.15 0.278 2697 226.7 - - 3107 - -145.9 - - 3779 - - - - - - - - 14.31 14.49 14.47
2600 299.0 -8.6 241 2604 roll -0.91 - - 2693 - 2.38 0.063 1694 -593.7 -145.9 - - 3778 - - - - - - - - 14.59 14.40 14.62
2665 304.5 -8.5 254 2670 done -0.95 - - 2689 - 2.50 0.103 3103 563.6 -145.9 - - 3779 - - - - - - - - 14.49 14.39 14.50
2861 321.7 -8.6 266 2861 done -0.98 - - 2689 - - - 3103 - -145.9 - - 3778 - - - - - - - - 14.60 14.63 14.62
3040 337.3 -8.5 275 3045 roll -1.02 0.12 0.147 2639 -416.7 2.38 0.063 1693 -592.4 -145.9 - - 3781 - - - - - - - - 14.43 14.42 14.48
3131 346.7 -10.2 293 3136 done -0.98 0.12 0.285 2661 183.3 2.50 0.104 3101 563.2 -145.9 - - 3778 - - - - - - - - 14.34 14.40 14.49
3321 365.2 -9.7 304 3322 done -0.98 - - 2660 - - - 3102 - -145.9 - - 3778 - - - - - - - - 14.62 14.64 14.63
3501 382.6 -9.7 313 3502 done -0.98 - - 2660 - - - 3102 - -145.9 - - 3777 - - - - - - - - 14.62 14.64 14.64
3681 399.7 -9.5 322 3687 roll -0.98 - - 2661 - 2.35 0.062 1692 -600.0 -145.9 - - 3777 - - - - - - - - 14.62 14.44 14.64
3722 403.3 -9.0 330 3727 done -0.98 - - 2660 - 2.50 0.104 3099 562.8 -145.9 - - 3777 - - - - - - - - 14.52 14.42 14.53
3923 421.5 -9.0 343 3923 done -0.98 - - 2661 - - - 3099 - -145.9 - - 3775 - - - - - - - - 14.62 14.64 14.64
4102 438.3 -9.4 352 4103 done -0.98 - - 2657 - - - 3099 - -145.9 - - 3777 - - - - - - - - 14.63 14.65 14.65
4282 455.2 -9.4 361 4287 roll -0.98 - - 2660 - 2.35 0.061 1693 -598.3 -145.9 - - 3777 - - - - - - - - 14.64 14.45 14.66
4333 459.8 -9.0 371 4338 done -0.98 - - 2661 - 2.50 0.103 3100 562.8 -145.9 - - 3776 - - - - - - - - 14.52 14.43 14.54
4523 477.2 -9.1 382 4524 done -0.98 - - 2667 - - - 3100 - -145.9 - - 3776 - - - - - - - - 14.64 14.65 14.66
4703 493.0 -8.7 391 4704 done -0.98 - - 2660 - - - 3100 - -145.9 - - 3776 - - - - - - - - 14.64 14.66 14.66
4883 508.7 -8.7 400 4888 roll -0.98 - - 2660 - 2.35 0.061 1689 -600.4 -145.9 - - 3777 - - - - - - - - 14.65 14.45 14.66
4913 511.3 -8.7 406 4918 done -0.98 - - 2661 - 2.50 0.103 3102 565.2 -145.9 - - 3777 - - - - - - - - 14.53 14.43 14.55
5104 527.6 -8.5 417 5104 done -0.98 - - 2661 - - - 3102 - -145.9 - - 3776 - - - - - - - - 14.65 14.67 14.66
5284 542.8 -8.4 426 5289 roll -0.98 - - 2661 - 2.35 0.061 1693 -599.6 -145.9 - - 3776 - - - - - - - - 14.66 14.46 14.67
5335 547.0 -8.2 436 5340 done -0.98 - - 2661 - 2.50 0.102 3107 565.6 -145.9 - - 3776 - - - - - - - - 14.54 14.44 14.56
5525 563.0 -8.5 447 5526 done -0.98 - - 2661 - - - 3107 - -145.9 - - 3776 - - - - - - - - 14.66 14.68 14.68
5705 578.5 -8.6 456 5706 done -0.98 - - 2661 - - - 3108 - -145.9 - - 3777 - - - - - - - - 14.66 14.68 14.68
5885 594.0 -8.6 465 5890 roll -0.98 - - 2660 - 2.38 0.061 1687 -597.1 -145.9 - - 3777 - - - - - - - - 14.66 14.47 14.68
5925 597.5 -8.5 473 5930 done -1.00 - - 2661 - 2.50 0.103 3100 565.2 -145.9 - - 3776 - - - - - - - - 14.54 14.45 14.57
6125 614.5 -8.5 486 6126 done -1.00 - - 2661 - - - 3101 - -145.9 - - 3777 - - - - - - - - 14.66 14.69 14.68
6305 629.6 -8.4 495 6306 done -1.00 - - 2661 - - - 3105 - -145.9 - - 3777 - - - - - - - - 14.66 14.69 14.68
6485 644.6 -8.3 504 6490 roll -1.00 - - 2660 - 2.35 0.061 1692 -601.3 -145.9 - - 3776 - - - - - - - - 14.67 14.47 14.69
6545 649.6 -8.2 516 6550 done -1.02 - - 2660 - 2.50 0.101 3104 564.8 -145.9 - - 3777 - - - - - - - - 14.55 14.45 14.57
6745 666.4 -8.5 529 6746 done -1.02 - - 2659 - - - 3112 - -145.9 - - 3776 - - - - - - - - 14.66 14.69 14.68
6925 681.6 -8.5 538 6926 done -1.02 - - 2661 - - - 3105 - -145.9 - - 3776 - - - - - - - - 14.67 14.69 14.69
7105 697.0 -8.6 547 7110 roll -1.02 - - 2661 - 2.35 0.060 1694 -600.4 -145.9 - - 3776 - - - - - - - - 14.66 14.48 14.69
7166 702.1 -8.1 559 7170 done -1.04 - - 2660 - 2.47 0.100 3104 570.9 -145.9 - - 3777 - - - - - - - - 14.56 14.46 14.57
7365 719.3 -8.6 572 7366 done -1.04 - - 2660 - - - 3104 - -145.9 - - 3775 - - - - - - - - 14.67 14.69 14.69
7546 734.6 -8.5 581 7550 roll -1.04 - - 2661 - 2.35 0.060 1694 -600.0 -145.9 - - 3777 - - - - - - - - 14.68 14.48 14.69
7596 738.8 -8.0 591 7600 done -1.07 - - 2661 - 2.47 0.101 3101 569.6 -145.9 - - 3776 - - - - - - - - 14.56 14.46 14.57
7786 754.8 -8.4 602 7786 done -1.07 - - 2660 - - - 3102 - -145.9 - - 3777 - - - - - - - - 14.67 14.69 14.69
7966 769.6 -8.2 611 7971 roll -1.09 - - 2661 - 2.38 0.062 1685 -595.4 -145.9 - - 3776 - - - - - - - - 14.68 14.48 14.69
8011 773.4 -7.9 620 8016 done -1.11 0.12 0.158 2616 -375.0 2.50 0.102 3106 568.4 -145.9 - - 3777 - - - - - - - - 14.49 14.46 14.56
8207 793.1 -10.3 632 8207 done -1.06 - - 2616 - - - 3106 - -145.9 - - 3776 - - - - - - - - 14.67 14.70 14.69
8284 end dive: TARGET_DEPTH_EXCEEDED
8284 begin apogee
8291 801.3 -10.3 636 8488 done -0.13 1.15 0.231 2928 271.3 - - 2179 - - 193.35 1.683 3176 -3.1 0.284 - - - - - - 14.40 13.59 12.99
8490 end apogee: CONTROL_FINISHED_OK
8490 begin climb
8493 803.7 - 646 8687 roll 0.57 0.73 0.078 3172 334.2 2.80 0.093 3613 512.1 145.9 186.75 1.609 2580 -3.2 0.306 - - - - - - 13.63 13.30 12.76
8717 776.1 19.6 690 8723 done 0.34 0.38 0.301 3099 -192.1 2.50 0.053 2216 -558.8 145.9 - - 2572 - - - - - - - - 13.34 13.46 13.52
8918 749.3 12.7 703 8924 roll 0.29 - - 3108 - 2.58 0.086 796 -550.4 145.9 - - 2569 - - - - - - - - 13.99 13.80 14.00
8984 740.4 13.0 716 8989 done 0.24 0.20 0.243 3064 -220.0 2.55 0.083 2211 554.9 145.9 - - 2569 - - - - - - - - 13.78 13.86 13.97
9180 719.2 10.6 728 9180 done 0.24 - - 3064 - - - 2211 - 145.9 - - 2569 - - - - - - - - 14.19 14.21 14.21
9359 700.4 10.4 737 9360 done 0.24 - - 3064 - - - 2211 - 145.9 - - 2568 - - - - - - - - 14.28 14.31 14.29
9539 682.3 10.0 746 9544 roll 0.24 - - 3067 - 2.50 0.085 793 -567.2 145.9 - - 2568 - - - - - - - - 14.35 14.15 14.38
9599 676.2 10.1 758 9604 done 0.24 - - 3067 - 2.47 0.083 2203 570.9 145.9 - - 2571 - - - - - - - - 14.26 14.17 14.28
9800 655.4 10.3 771 9800 done 0.24 - - 3067 - - - 2202 - 145.9 - - 2567 - - - - - - - - 14.42 14.44 14.45
9980 636.7 10.5 780 9980 done 0.24 - - 3067 - - - 2201 - 145.9 - - 2568 - - - - - - - - 14.47 14.49 14.49
10159 617.7 10.5 789 10164 roll 0.24 - - 3068 - 2.45 0.085 793 -574.7 145.9 - - 2567 - - - - - - - - 14.50 14.31 14.52
10209 612.5 10.5 799 10215 done 0.24 - - 3067 - 2.45 0.081 2208 577.6 145.9 - - 2567 - - - - - - - - 14.40 14.32 14.42
10400 592.4 10.5 810 10401 done 0.24 - - 3067 - - - 2208 - 145.9 - - 2567 - - - - - - - - 14.53 14.55 14.54
10580 573.4 10.6 819 10581 done 0.24 - - 3067 - - - 2208 - 145.9 - - 2567 - - - - - - - - 14.55 14.57 14.57
10760 554.3 10.6 828 10765 roll 0.24 - - 3067 - 2.47 0.085 786 -575.7 145.9 - - 2567 - - - - - - - - 14.57 14.38 14.61
10805 549.5 10.6 837 10810 done 0.26 - - 3067 - 2.45 0.084 2200 577.1 145.9 - - 2567 - - - - - - - - 14.47 14.38 14.49
11000 529.0 10.4 849 11001 done 0.26 - - 3067 - - - 2200 - 145.9 - - 2567 - - - - - - - - 14.59 14.61 14.59
11180 510.4 10.3 858 11181 done 0.26 - - 3067 - - - 2200 - 145.9 - - 2566 - - - - - - - - 14.61 14.63 14.63
11360 492.1 10.1 867 11361 done 0.26 - - 3067 - - - 2200 - 145.9 - - 2567 - - - - - - - - 14.62 14.64 14.64
11541 474.2 9.9 876 11545 roll 0.26 - - 3063 - 2.42 0.084 786 -584.3 146.4 - - 2566 - - - - - - - - 14.62 14.43 14.64
11596 468.9 9.7 887 11602 done 0.29 - - 3067 - 2.42 0.083 2200 584.3 149.2 - - 2566 - - - - - - - - 14.52 14.43 14.53
11781 450.7 9.8 897 11781 done 0.29 - - 3067 - - - 2200 - 151.1 - - 2566 - - - - - - - - 14.58 14.60 14.61
11961 433.0 9.9 906 11961 done 0.29 - - 3067 - - - 2200 - 151.1 - - 2566 - - - - - - - - 14.56 14.57 14.57
12140 415.2 9.9 915 12141 done 0.29 - - 3067 - - - 2200 - 151.1 - - 2566 - - - - - - - - 14.54 14.56 14.55
12320 397.3 9.9 924 12326 roll 0.29 - - 3067 - 2.40 0.083 797 -584.6 151.1 - - 2566 - - - - - - - - 14.52 14.33 14.54
12371 392.4 9.7 934 12383 done 0.33 - - 3067 - 2.42 0.081 2204 581.4 154.6 4.45 1.646 2549 -3.8 0.175 - - - - - - 14.40 14.33 13.59
12561 373.9 9.7 945 12571 done 0.34 - - 3067 - - - 2203 - 159.0 9.20 1.656 2530 -2.1 0.090 - - - - - - 14.47 14.26 13.69
12741 356.4 9.8 954 12742 done 0.36 - - 3067 - - - 2204 - 160.8 - - 2524 - - - - - - - - 14.42 14.43 14.42
12921 338.9 9.7 963 12928 done 0.40 0.12 0.148 3112 375.0 - - 2204 - 164.9 5.10 1.707 2508 -3.1 0.120 - - - - - - 14.28 14.25 13.57
13101 317.3 12.1 972 13106 roll 0.36 - - 3112 - 2.47 0.081 784 -574.9 164.9 - - 2508 - - - - - - - - 14.41 14.23 14.43
13162 309.9 12.2 984 13166 done 0.34 - - 3112 - 2.45 0.079 2201 578.4 164.9 - - 2508 - - - - - - - - 14.31 14.22 14.33
13361 285.8 11.7 997 13363 done 0.31 0.12 0.252 3085 -225.0 - - 2202 - 164.9 - - 2507 - - - - - - - - 14.18 14.34 14.32
13541 268.7 9.5 1006 13556 done 0.31 - - 3085 - - - 2201 - 173.3 13.75 1.506 2472 -2.5 0.087 - - - - - - 14.44 14.19 13.66
13722 252.7 8.3 1015 13774 done 0.36 - - 3086 - - - 2202 - 208.6 51.35 1.323 2329 -2.8 0.102 - - - - - - 14.40 13.95 13.45
13942 234.2 8.6 1026 13988 done 0.44 0.12 0.148 3134 400.0 - - 2202 - 237.5 41.47 1.300 2209 -2.9 0.100 - - - - - - 14.07 13.88 13.39
14162 210.5 10.8 1040 14167 roll 0.44 - - 3138 - 2.53 0.083 790 -558.1 237.5 - - 2199 - - - - - - - - 14.19 14.00 14.21
14252 201.1 10.2 1058 14257 done 0.44 - - 3137 - 2.50 0.078 2208 567.2 237.5 - - 2198 - - - - - - - - 14.12 14.02 14.14
14443 182.4 9.8 1069 14447 roll 0.44 - - 3138 - 2.50 0.083 786 -568.8 239.6 - - 2198 - - - - - - - - 14.31 14.13 14.33
14508 176.1 9.4 1082 14528 done 0.48 - - 3138 - 2.47 0.081 2200 572.5 249.1 13.52 1.417 2161 -2.7 0.065 - - - - - - 14.22 14.14 13.59
14725 155.6 9.4 1098 14750 roll 0.52 - - 3138 - 2.58 0.096 3602 543.4 260.4 16.52 1.389 2113 -2.9 0.063 - - - - - - 14.36 14.04 13.61
14770 150.7 11.6 1104 14775 done 0.52 - - 3138 - 2.40 0.057 2195 -586.2 260.4 - - 2111 - - - - - - - - 14.17 14.10 14.19
14965 133.1 8.6 1116 15016 roll 0.58 - - 3138 - 2.50 0.086 799 -558.4 289.4 45.17 1.255 1995 -2.6 0.052 - - - - - - 14.37 13.93 13.50
15073 123.6 8.6 1137 15122 done 0.68 0.20 0.113 3206 340.0 2.50 0.082 2205 562.4 317.9 40.88 1.219 1878 -2.9 0.056 - - - - - - 14.03 14.00 13.39
15307 94.9 11.5 1159 15312 roll 0.66 - - 3208 - 2.50 0.084 798 -562.8 317.9 - - 1869 - - - - - - - - 14.20 14.00 14.23
15332 92.0 11.2 1164 15339 done 0.66 - - 3208 - 2.50 0.083 2204 562.4 317.9 - - 1868 - - - - - - - - 14.11 14.03 14.13
15518 72.1 9.7 1183 15523 roll 0.66 - - 3208 - 2.50 0.083 797 -562.8 321.8 - - 1867 - - - - - - - - 14.32 14.09 14.32
15589 66.5 8.1 1197 15615 done 0.73 - - 3208 - 2.47 0.080 2208 571.3 359.8 21.12 0.415 1710 -7.4 0.229 - - - - - - 14.23 14.16 13.95
15800 50.2 6.5 1221 15847 roll 0.83 0.12 0.149 3260 433.3 2.58 0.096 3609 543.0 434.9 39.88 0.363 1403 -7.7 0.205 - - - - - - 14.19 14.12 13.97
15868 44.2 11.3 1233 15874 done 0.79 - - 3260 - 2.42 0.057 2188 -587.2 434.9 - - 1402 - - - - - - - - 14.16 14.10 14.19
16055 25.8 9.1 1252 16069 roll 0.83 - - 3260 - 2.50 0.088 797 -556.4 451.1 8.55 0.303 1336 -7.7 0.126 - - - - - - 14.35 14.14 14.06
16295 11.9 5.4 1300 16353 done 0.98 0.12 0.143 3304 366.7 2.45 0.081 2202 573.5 549.0 51.85 0.243 936 -7.7 0.073 - - - - - - 14.23 14.21 14.04
16445 end climb: SURFACE_DEPTH_REACHED
16445 begin surface coast
16476 end surface coast: CONTROL_FINISHED_OK
16476 begin surface
SM 1.08 - - - - -8.61 9.52 0.083 207 21.7 1.65 0.099 3097 -5050.3 657.16 0.35 0.438 498 1422.4 -0.358 - - - - - -