CABAGE Aug16 * SG198 * Dive index * Mission links * Dive 55 * Raw log
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• Previous call tries 1 • 29.64 of 350.00 AH used of 24V (91.53% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.0 deg, depth 0.91 m • Intended pitch -17.3 deg, speed -9.877 cm/s
• VBD pumped to 646.37 (SM_CC=692.78448)
• GPS1 time: 34 s
• GPS2 time: 5 s • Transponder ping count: 20
• 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 - - 186 - - - 3099 - -145.9 -121.68 - 2496 - - - - - - - - 14.37 - 14.39
139 4.3 -7.1 12 182 roll -0.58 11.23 0.464 2308 189.0 1.40 2.264 3790 493.6 -145.9 -26.90 - 3731 -45.9 - - - - - - - 14.02 13.38 14.27
407 60.8 -15.3 65 414 done -0.58 - - 2308 - 1.12 0.054 3112 -605.4 -145.9 - - 3733 - - - - - - - - 14.33 14.31 14.35
593 85.0 -12.5 84 597 roll -0.63 - - 2304 - 1.23 0.111 3778 541.5 -145.9 - - 3733 - - - - - - - - 14.49 14.28 14.50
822 110.2 -10.1 130 827 done -0.71 - - 2303 - 1.12 0.054 3099 -606.2 -145.9 - - 3733 - - - - - - - - 14.41 14.39 14.43
1013 127.6 -9.1 141 1014 done -0.80 0.17 0.096 2218 -500.0 - - 3100 - -145.9 - - 3733 - - - - - - - - 14.44 14.49 14.47
1192 151.2 -13.3 150 1194 done -0.80 0.10 0.288 2242 240.0 - - 3099 - -145.9 - - 3731 - - - - - - - - 14.30 14.50 14.47
1372 171.7 -11.1 159 1378 roll -0.84 - - 2242 - 2.90 0.048 1340 -606.6 -145.9 - - 3733 - - - - - - - - 14.62 14.45 14.63
1428 177.9 -11.1 170 1434 done -0.88 - - 2235 - 3.08 0.086 3102 572.1 -145.9 - - 3733 - - - - - - - - 14.50 14.40 14.51
1613 198.2 -10.7 180 1618 roll -0.91 - - 2235 - 2.90 0.048 1338 -608.3 -145.9 - - 3734 - - - - - - - - 14.62 14.47 14.64
1648 202.0 -10.8 187 1654 done -0.94 - - 2230 - 3.08 0.087 3104 573.4 -145.9 - - 3733 - - - - - - - - 14.51 14.41 14.52
1833 221.4 -10.4 197 1838 roll -0.96 - - 2230 - 2.90 0.048 1337 -609.3 -145.9 - - 3733 - - - - - - - - 14.64 14.46 14.66
1854 223.7 -10.9 201 1860 done -0.99 0.12 0.134 2165 -541.7 3.08 0.087 3098 571.8 -145.9 - - 3733 - - - - - - - - 14.49 14.43 14.54
2055 250.3 -13.3 214 2056 done -0.93 0.17 0.282 2204 229.4 - - 3099 - -145.9 - - 3734 - - - - - - - - 14.36 14.55 14.52
2235 269.6 -10.4 223 2240 roll -0.93 - - 2204 - 2.90 0.048 1338 -607.2 -145.9 - - 3733 - - - - - - - - 14.66 14.52 14.68
2265 272.7 -10.3 229 2271 done -0.93 - - 2198 - 3.08 0.086 3103 573.1 -145.9 - - 3733 - - - - - - - - 14.55 14.46 14.57
2457 291.8 -9.7 240 2461 roll -0.93 - - 2198 - 2.90 0.048 1335 -609.7 -145.9 - - 3732 - - - - - - - - 14.67 14.51 14.69
2542 300.0 -9.6 257 2547 done -0.96 - - 2193 - 3.08 0.087 3102 573.7 -145.9 - - 3733 - - - - - - - - 14.55 14.46 14.57
2738 319.0 -9.5 269 2738 done -0.96 - - 2193 - - - 3103 - -145.9 - - 3732 - - - - - - - - 14.67 14.70 14.70
2918 335.4 -9.1 278 2922 roll -0.96 - - 2195 - 2.90 0.047 1331 -611.0 -145.9 - - 3732 - - - - - - - - 14.69 14.52 14.71
2963 339.6 -9.0 287 2968 done -0.99 - - 2186 - 3.08 0.086 3102 575.0 -145.9 - - 3732 - - - - - - - - 14.58 14.49 14.60
3158 357.2 -8.9 299 3158 done -0.99 - - 2185 - - - 3101 - -145.9 - - 3732 - - - - - - - - 14.69 14.71 14.71
3338 373.3 -8.9 308 3343 roll -0.99 - - 2186 - 2.90 0.047 1322 -613.4 -145.9 - - 3732 - - - - - - - - 14.69 14.53 14.71
3412 379.7 -8.8 319 3418 done -1.01 - - 2180 - 3.10 0.087 3107 575.8 -145.9 - - 3732 - - - - - - - - 14.56 14.46 14.58
3595 396.2 -9.0 329 3596 done -1.01 - - 2180 - - - 3107 - -145.9 - - 3732 - - - - - - - - 14.63 14.64 14.64
3776 412.3 -9.0 338 3780 roll -1.01 - - 2180 - 2.92 0.047 1325 -610.3 -145.9 - - 3735 - - - - - - - - 14.60 14.45 14.62
3800 414.5 -9.0 343 3805 done -1.01 - - 2178 - 3.10 0.086 3101 572.9 -145.9 - - 3732 - - - - - - - - 14.50 14.40 14.51
3995 432.2 -9.1 355 4001 roll -1.01 - - 2178 - 2.92 0.046 1329 -606.8 -145.9 - - 3732 - - - - - - - - 14.57 14.41 14.59
4041 436.3 -9.0 364 4046 done -1.04 - - 2178 - 3.10 0.087 3099 571.0 -145.9 - - 3733 - - - - - - - - 14.47 14.37 14.49
4236 453.9 -9.1 376 4237 done -1.04 - - 2178 - - - 3099 - -145.9 - - 3732 - - - - - - - - 14.55 14.57 14.57
4416 470.4 -9.1 385 4421 roll -1.04 - - 2178 - 2.90 0.046 1342 -605.9 -145.9 - - 3732 - - - - - - - - 14.54 14.40 14.57
4457 474.1 -9.0 393 4463 done -1.06 - - 2177 - 3.08 0.086 3098 570.1 -145.9 - - 3731 - - - - - - - - 14.45 14.35 14.46
4658 492.1 -8.9 406 4663 roll -1.06 - - 2178 - 2.90 0.046 1341 -605.9 -145.9 - - 3732 - - - - - - - - 14.54 14.38 14.56
4703 496.1 -8.8 415 4708 done -1.08 - - 2171 - 3.08 0.086 3103 572.1 -145.9 - - 3732 - - - - - - - - 14.43 14.34 14.45
4898 514.0 -9.2 427 4903 roll -1.08 - - 2171 - 2.92 0.046 1335 -605.5 -145.9 - - 3732 - - - - - - - - 14.53 14.38 14.55
4933 517.2 -9.1 434 4939 done -1.08 - - 2165 - 3.10 0.085 3104 570.6 -145.9 - - 3732 - - - - - - - - 14.43 14.34 14.45
5118 534.7 -9.4 444 5123 roll -1.08 - - 2165 - 2.95 0.046 1322 -604.1 -145.9 - - 3732 - - - - - - - - 14.53 14.35 14.55
5158 538.5 -9.4 452 5163 done -1.08 - - 2158 - 3.10 0.085 3099 573.2 -145.9 - - 3732 - - - - - - - - 14.42 14.33 14.45
5358 557.7 -9.6 465 5364 roll -1.08 - - 2158 - 2.92 0.046 1321 -608.9 -145.9 - - 3733 - - - - - - - - 14.52 14.35 14.54
5368 558.8 -9.7 467 5374 done -1.08 - - 2150 - 3.12 0.084 3109 573.1 -145.9 - - 3732 - - - - - - - - 14.42 14.33 14.44
5559 577.2 -9.7 478 5564 roll -1.06 - - 2150 - 2.92 0.046 1332 -608.6 -145.9 - - 3732 - - - - - - - - 14.53 14.36 14.55
5604 581.6 -9.6 487 5609 done -1.06 - - 2143 - 3.10 0.085 3100 570.3 -145.9 - - 3732 - - - - - - - - 14.42 14.33 14.44
5800 601.0 -9.9 499 5805 roll -1.02 0.12 0.323 2171 233.3 2.88 0.043 1335 -612.8 -145.9 - - 3733 - - - - - - - - 14.23 14.36 14.35
5840 604.6 -8.7 507 5845 done -1.05 - - 2166 - 3.05 0.084 3101 579.0 -145.9 - - 3733 - - - - - - - - 14.39 14.32 14.43
6042 622.3 -8.8 520 6043 done -1.05 - - 2166 - - - 3100 - -145.9 - - 3735 - - - - - - - - 14.51 14.53 14.53
6220 638.0 -8.7 529 6226 roll -1.05 - - 2166 - 2.90 0.045 1337 -607.9 -145.9 - - 3732 - - - - - - - - 14.57 14.41 14.59
6281 643.2 -8.6 541 6287 done -1.05 - - 2165 - 3.08 0.085 3100 572.4 -145.9 - - 3732 - - - - - - - - 14.47 14.37 14.48
6482 660.8 -8.7 554 6483 done -1.05 - - 2165 - - - 3096 - -145.9 - - 3732 - - - - - - - - 14.62 14.64 14.64
6662 676.4 -8.6 563 6667 roll -1.05 - - 2165 - 2.90 0.045 1337 -606.6 -145.9 - - 3733 - - - - - - - - 14.64 14.48 14.66
6717 681.2 -8.6 574 6723 done -1.05 - - 2160 - 3.08 0.085 3104 573.7 -145.9 - - 3733 - - - - - - - - 14.54 14.44 14.55
6902 697.5 -8.8 584 6907 roll -1.05 - - 2157 - 2.88 0.044 1339 -612.8 -145.9 - - 3733 - - - - - - - - 14.66 14.50 14.68
6932 700.2 -9.0 590 6937 done -1.05 - - 2153 - 3.05 0.085 3100 577.4 -145.9 - - 3735 - - - - - - - - 14.54 14.45 14.56
7122 717.4 -9.1 601 7123 done -1.05 - - 2153 - - - 3100 - -145.9 - - 3733 - - - - - - - - 14.67 14.69 14.69
7302 733.9 -9.2 610 7307 roll -1.05 - - 2153 - 2.90 0.045 1325 -612.1 -145.9 - - 3734 - - - - - - - - 14.69 14.52 14.71
7352 738.5 -9.2 620 7357 done -1.05 - - 2145 - 3.08 0.083 3104 577.6 -145.9 - - 3734 - - - - - - - - 14.57 14.47 14.58
7543 756.5 -9.5 631 7548 roll -1.02 0.12 0.325 2173 233.3 2.90 0.043 1327 -612.8 -145.9 - - 3733 - - - - - - - - 14.40 14.53 14.54
7603 761.7 -8.1 643 7608 done -1.05 - - 2169 - 3.05 0.085 3100 581.3 -145.9 - - 3734 - - - - - - - - 14.59 14.49 14.60
7803 778.5 -8.4 656 7804 done -1.05 - - 2169 - - - 3097 - -145.9 - - 3734 - - - - - - - - 14.70 14.73 14.72
7983 793.7 -8.4 665 7989 roll -1.05 - - 2169 - 2.88 0.044 1338 -610.8 -145.9 - - 3734 - - - - - - - - 14.71 14.55 14.73
8049 798.9 -8.3 678 8054 done -1.08 - - 2165 - 3.05 0.085 3104 579.0 -145.9 - - 3734 - - - - - - - - 14.60 14.51 14.62
8062 end dive: TARGET_DEPTH_EXCEEDED
8062 begin apogee
8068 800.0 -8.0 681 8259 done -0.14 1.05 0.230 2458 279.0 0.10 0.179 2410 -6940.0 - 182.85 2.101 3134 -3.3 0.243 - - - - 1 - 14.44 13.45 12.59
8261 end apogee: CONTROL_FINISHED_OK
8261 begin climb
8264 804.6 - 690 8491 roll 0.58 0.73 0.057 2731 374.0 3.17 0.060 693 -541.6 145.9 217.82 1.434 2532 -2.8 0.302 - - - - - - 13.57 13.19 12.71
8561 769.4 16.7 749 8569 done 0.44 0.32 0.260 2658 -228.1 3.08 0.061 2397 553.2 145.9 - - 2521 - - - - - - - - 13.37 13.46 13.54
8746 745.4 12.7 759 8751 roll 0.39 - - 2658 - 2.58 0.099 3785 538.0 145.9 - - 2520 - - - - - - - - 13.97 13.77 13.99
8791 739.0 14.9 768 8796 done 0.28 0.25 0.257 2607 -204.0 2.28 0.040 2422 -597.8 145.9 - - 2519 - - - - - - - - 13.75 13.88 13.90
8987 719.1 9.8 780 8988 done 0.28 - - 2606 - - - 2421 - 148.1 - - 2519 - - - - - - - - 14.19 14.21 14.21
9166 701.3 9.9 789 9172 roll 0.28 - - 2609 - 2.47 0.099 3787 553.0 148.1 - - 2519 - - - - - - - - 14.29 14.09 14.31
9217 695.5 11.8 799 9222 done 0.25 - - 2612 - 2.28 0.040 2397 -609.6 148.1 - - 2519 - - - - - - - - 14.23 14.17 14.23
9407 676.0 10.1 810 9408 done 0.25 - - 2612 - - - 2396 - 148.1 - - 2519 - - - - - - - - 14.39 14.42 14.41
9587 657.7 10.1 819 9592 roll 0.25 - - 2617 - 2.47 0.100 3785 562.3 148.1 - - 2519 - - - - - - - - 14.45 14.24 14.46
9637 651.8 12.1 829 9643 done 0.21 0.15 0.267 2585 -213.3 2.25 0.041 2394 -618.2 148.1 - - 2519 - - - - - - - - 14.20 14.33 14.35
9829 634.5 8.7 840 9870 done 0.28 - - 2585 - - - 2399 - 173.0 36.53 1.402 2422 -2.7 0.234 - - - - - - 14.52 14.12 13.61
10048 615.0 8.9 851 10084 roll 0.35 0.12 0.125 2641 466.7 2.58 0.099 3783 536.4 193.8 28.25 1.388 2336 -3.0 0.263 - - - - - - 14.26 14.02 13.58
10114 606.9 13.9 861 10121 done 0.30 0.15 0.262 2614 -180.0 2.28 0.041 2403 -605.3 193.8 - - 2328 - - - - - - - - 14.00 14.12 14.16
10311 585.9 10.5 873 10312 done 0.33 - - 2614 - - - 2401 - 193.8 - - 2325 - - - - - - - - 14.40 14.42 14.42
10491 566.9 10.6 882 10492 done 0.36 - - 2614 - - - 2402 - 193.8 - - 2324 - - - - - - - - 14.45 14.50 14.50
10671 547.7 10.7 891 10676 roll 0.40 - - 2614 - 2.47 0.099 3788 561.1 193.8 - - 2327 - - - - - - - - 14.52 14.33 14.54
10726 540.9 12.7 902 10732 done 0.40 - - 2620 - 2.25 0.041 2399 -617.3 193.8 - - 2324 - - - - - - - - 14.45 14.40 14.46
10911 520.6 10.8 912 10912 done 0.42 - - 2620 - - - 2399 - 193.8 - - 2324 - - - - - - - - 14.57 14.59 14.59
11091 501.3 10.7 921 11092 done 0.45 0.12 0.137 2681 508.3 - - 2399 - 193.8 - - 2324 - - - - - - - - 14.45 14.53 14.52
11271 476.2 14.2 930 11276 roll 0.40 0.15 0.242 2641 -266.7 2.42 0.096 3781 571.1 193.8 - - 2323 - - - - - - - - 14.35 14.43 14.46
11326 468.4 14.1 941 11333 done 0.36 - - 2648 - 2.22 0.041 2396 -623.9 193.8 - - 2323 - - - - - - - - 14.54 14.48 14.55
11511 445.7 12.0 951 11512 done 0.36 - - 2646 - - - 2395 - 193.8 - - 2323 - - - - - - - - 14.64 14.66 14.66
11691 424.1 12.1 960 11696 roll 0.36 - - 2648 - 2.42 0.099 3780 572.3 193.8 - - 2324 - - - - - - - - 14.66 14.46 14.68
11741 417.2 14.4 970 11747 done 0.30 0.17 0.263 2614 -200.0 2.22 0.041 2394 -624.3 193.8 - - 2323 - - - - - - - - 14.40 14.52 14.55
11932 397.5 9.9 981 11933 done 0.34 - - 2614 - - - 2393 - 193.8 - - 2323 - - - - - - - - 14.66 14.69 14.69
12112 379.8 9.8 990 12113 done 0.39 - - 2614 - - - 2393 - 195.2 - - 2323 - - - - - - - - 14.68 14.71 14.70
12292 362.3 9.7 999 12297 roll 0.43 0.12 0.132 2680 550.0 2.42 0.097 3782 574.0 199.8 - - 2323 - - - - - - - - 14.54 14.49 14.57
12379 349.5 16.1 1016 12384 done 0.34 0.28 0.262 2620 -214.3 2.20 0.041 2404 -626.4 199.8 - - 2323 - - - - - - - - 14.42 14.54 14.57
12574 329.9 9.3 1028 12598 done 0.38 - - 2620 - - - 2400 - 211.7 22.42 1.226 2272 -2.3 0.119 - - - - - - 14.69 14.40 13.93
12774 311.5 9.2 1038 12801 roll 0.45 0.12 0.132 2688 566.7 2.45 0.096 3780 563.3 227.7 21.90 1.219 2202 -3.2 0.159 - - - - - - 14.45 14.22 13.85
12853 300.7 15.5 1053 12860 done 0.37 0.25 0.262 2635 -212.0 2.22 0.041 2397 -623.0 227.7 - - 2190 - - - - - - - - 14.23 14.33 14.37
13037 281.9 9.6 1063 13038 done 0.42 - - 2635 - - - 2396 - 234.3 - - 2186 - - - - - - - - 14.56 14.58 14.57
13217 264.3 9.5 1072 13244 roll 0.48 - - 2635 - 2.50 0.101 3774 551.2 241.6 18.60 1.193 2142 -2.4 0.102 - - - - - - 14.59 14.28 13.88
13279 257.9 11.2 1081 13285 done 0.51 0.10 0.150 2691 560.0 2.22 0.041 2393 -622.1 241.6 - - 2134 - - - - - - - - 14.34 14.33 14.40
13480 234.1 11.9 1094 13481 done 0.51 - - 2689 - - - 2393 - 241.6 - - 2131 - - - - - - - - 14.56 14.58 14.57
13660 214.6 10.5 1103 13665 roll 0.51 - - 2689 - 2.45 0.101 3780 566.1 241.6 - - 2130 - - - - - - - - 14.59 14.39 14.62
13735 205.7 12.0 1118 13741 done 0.47 0.15 0.268 2664 -166.7 2.20 0.041 2400 -627.3 241.6 - - 2130 - - - - - - - - 14.33 14.46 14.49
13920 189.3 8.5 1128 13971 done 0.53 - - 2664 - - - 2399 - 271.1 50.05 1.082 2029 -2.0 0.069 - - - - - - 14.62 14.18 13.76
14140 170.6 8.5 1139 14202 roll 0.62 0.12 0.127 2732 566.7 2.55 0.100 3774 539.2 302.4 53.28 1.052 1895 -2.5 0.079 - - - - - - 14.31 14.01 13.64
14247 156.6 15.3 1160 14252 done 0.56 0.20 0.255 2695 -185.0 2.25 0.041 2400 -610.7 302.4 - - 1883 - - - - - - - - 14.00 14.14 14.15
14443 136.8 9.6 1172 14444 done 0.61 - - 2695 - - - 2400 - 307.6 - - 1880 - - - - - - - - 14.42 14.45 14.45
14623 120.0 9.3 1181 14646 done 0.66 - - 2695 - - - 2400 - 319.3 22.33 1.070 1834 -2.1 0.045 - - - - - - 14.50 14.21 13.78
14823 100.8 9.5 1191 14828 done 0.74 0.12 0.128 2760 541.7 - - 2400 - 327.9 2.90 0.724 1795 -13.4 0.365 - - - - - - 14.32 14.28 13.64
15015 79.1 10.8 1212 15020 roll 0.74 - - 2770 - 2.92 0.064 670 -592.5 327.9 - - 1801 - - - - - - - - 14.50 14.31 14.52
15045 76.0 10.2 1218 15050 done 0.74 - - 2770 - 2.95 0.063 2405 588.1 327.9 - - 1801 - - - - - - - - 14.40 14.32 14.42
15235 58.4 8.3 1238 15266 done 0.76 - - 2770 - - - 2405 - 363.6 24.92 0.347 1650 -6.1 0.199 - - - - - - 14.52 14.33 14.14
15447 42.7 6.8 1259 15496 done 0.84 - - 2770 - - - 2405 - 432.0 47.50 0.315 1370 -5.9 0.156 - - - - - - 14.51 14.31 14.12
15677 27.6 5.8 1282 15740 done 0.99 0.15 0.110 2848 520.0 - - 2405 - 521.9 61.08 0.274 1006 -6.0 0.117 - - - - - - 14.35 14.29 14.12
15915 7.8 9.0 1309 15935 roll 1.04 - - 2850 - 2.47 0.105 3786 559.1 542.2 15.60 0.222 919 -5.6 0.038 - - - - - - 14.47 14.26 14.20
15965 2.8 11.3 1318 15971 done 1.04 - - 2858 - 2.25 0.042 2403 -614.7 542.2 - - 921 - - - - - - - - 14.38 14.33 14.39
15978 end climb: SURFACE_DEPTH_REACHED
15978 begin surface coast
15988 end surface coast: CONTROL_FINISHED_OK
15988 begin surface
SM 0.82 - - - - -7.16 7.85 0.074 182 23.2 1.27 0.107 3098 1628.3 646.37 1.12 0.265 499 445.5 -0.141 - - - - - -