CABAGE Aug16 * SG198 * Dive index * Mission links * Dive 74 * Raw log
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• Previous call tries 1 • 39.09 of 350.00 AH used of 24V (88.83% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.4 deg, depth 0.82 m • Intended pitch -17.5 deg, speed -10.000 cm/s
• VBD pumped to 646.37 (SM_CC=646.36548)
• GPS1 time: 36 s
• GPS2 time: 7 s • Transponder ping count: 26
• 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
11 begin dive
13 - - - 136 VBD -0.59 - - 189 - - - 3101 - -145.9 -120.78 - 2426 - - - - - - - - 14.35 - 14.38
139 3.5 -5.1 12 186 roll -0.59 11.25 0.462 2307 188.3 1.38 2.247 3786 496.4 -145.9 -29.67 - 3733 -44.1 - - - - - - - 13.98 13.30 14.27
326 46.8 -17.5 49 333 done -0.59 - - 2307 - 1.12 0.054 3114 -600.0 -145.9 - - 3735 - - - - - - - - 14.28 14.24 14.29
512 73.2 -13.3 68 516 roll -0.62 - - 2311 - 2.95 0.049 1345 -599.7 -145.9 - - 3735 - - - - - - - - 14.46 14.29 14.48
582 82.3 -12.1 82 587 done -0.67 - - 2300 - 3.12 0.087 3106 564.4 -145.9 - - 3736 - - - - - - - - 14.38 14.28 14.39
772 103.1 -10.5 101 778 roll -0.74 - - 2300 - 2.95 0.047 1336 -600.0 -145.9 - - 3735 - - - - - - - - 14.50 14.33 14.53
823 108.4 -10.1 111 829 done -0.82 0.17 0.103 2212 -517.6 3.10 0.086 3099 568.7 -145.9 - - 3736 - - - - - - - - 14.36 14.30 14.41
1014 134.8 -13.7 122 1019 roll -0.80 0.15 0.259 2249 246.7 2.92 0.046 1334 -604.5 -145.9 - - 3736 - - - - - - - - 14.26 14.39 14.38
1049 139.2 -11.4 129 1056 done -0.84 - - 2248 - 3.10 0.087 3100 569.7 -145.9 - - 3736 - - - - - - - - 14.43 14.33 14.45
1234 160.0 -11.0 139 1239 roll -0.87 - - 2248 - 2.90 0.047 1343 -605.9 -145.9 - - 3734 - - - - - - - - 14.59 14.40 14.61
1304 167.6 -10.9 153 1310 done -0.93 - - 2243 - 3.10 0.087 3102 567.4 -145.9 - - 3736 - - - - - - - - 14.47 14.38 14.50
1495 188.6 -11.0 164 1500 roll -0.96 0.15 0.115 2168 -500.0 2.90 0.044 1341 -607.2 -145.9 - - 3735 - - - - - - - - 14.45 14.45 14.50
1571 199.4 -15.2 179 1577 done -0.92 0.22 0.299 2210 190.9 3.08 0.085 3100 571.1 -145.9 - - 3736 - - - - - - - - 14.31 14.40 14.48
1756 221.7 -11.5 189 1762 roll -0.92 - - 2209 - 2.90 0.047 1339 -607.2 -145.9 - - 3735 - - - - - - - - 14.62 14.46 14.64
1827 229.8 -11.6 203 1832 done -0.94 - - 2203 - 3.08 0.086 3099 571.4 -145.9 - - 3736 - - - - - - - - 14.52 14.42 14.54
2017 251.6 -11.3 214 2022 roll -0.94 - - 2203 - 2.90 0.047 1335 -608.3 -145.9 - - 3735 - - - - - - - - 14.63 14.47 14.66
2067 256.9 -10.2 224 2072 done -0.96 - - 2195 - 3.08 0.085 3102 573.7 -145.9 - - 3736 - - - - - - - - 14.53 14.43 14.54
2257 277.4 -10.8 235 2262 roll -0.96 - - 2194 - 2.90 0.047 1336 -609.0 -145.9 - - 3735 - - - - - - - - 14.66 14.49 14.67
2327 284.6 -9.9 249 2333 done -0.96 - - 2191 - 3.08 0.085 3100 572.7 -145.9 - - 3736 - - - - - - - - 14.54 14.45 14.57
2518 303.0 -9.5 260 2523 roll -0.96 - - 2191 - 2.90 0.046 1338 -607.6 -145.9 - - 3735 - - - - - - - - 14.67 14.50 14.69
2563 307.4 -9.9 269 2569 done -0.99 - - 2184 - 3.08 0.085 3107 574.4 -145.9 - - 3738 - - - - - - - - 14.56 14.46 14.57
2759 327.2 -10.1 281 2764 roll -0.99 - - 2181 - 2.90 0.047 1339 -609.7 -145.9 - - 3735 - - - - - - - - 14.68 14.51 14.70
2834 334.8 -9.8 296 2841 done -0.99 - - 2175 - 3.08 0.086 3107 574.0 -145.9 - - 3735 - - - - - - - - 14.57 14.47 14.58
3020 353.0 -9.6 306 3025 roll -0.99 - - 2177 - 2.92 0.046 1337 -606.2 -145.9 - - 3735 - - - - - - - - 14.69 14.52 14.70
3055 356.3 -9.2 313 3062 done -0.99 - - 2177 - 3.08 0.085 3106 574.4 -145.9 - - 3736 - - - - - - - - 14.57 14.47 14.59
3240 374.1 -9.6 323 3245 roll -0.99 - - 2177 - 2.90 0.046 1334 -611.0 -145.9 - - 3735 - - - - - - - - 14.69 14.51 14.71
3285 378.4 -9.7 332 3290 done -0.99 - - 2177 - 3.08 0.086 3103 574.4 -145.9 - - 3735 - - - - - - - - 14.57 14.47 14.59
3480 396.3 -9.1 344 3485 roll -0.99 - - 2177 - 2.90 0.046 1332 -610.7 -145.9 - - 3735 - - - - - - - - 14.69 14.52 14.71
3510 399.0 -9.0 350 3515 done -0.99 - - 2170 - 3.08 0.084 3107 576.3 -145.9 - - 3735 - - - - - - - - 14.58 14.48 14.59
3701 416.6 -9.2 361 3706 roll -0.99 - - 2170 - 2.90 0.046 1337 -610.3 -145.9 - - 3736 - - - - - - - - 14.69 14.52 14.71
3761 422.2 -9.2 373 3767 done -0.99 - - 2165 - 3.08 0.084 3106 574.4 -145.9 - - 3735 - - - - - - - - 14.58 14.48 14.60
3963 441.4 -9.6 386 3968 roll -0.99 - - 2165 - 2.90 0.046 1333 -611.4 -145.9 - - 3735 - - - - - - - - 14.70 14.52 14.71
4003 445.2 -9.5 394 4008 done -0.99 0.12 0.311 2183 150.0 3.05 0.084 3101 579.7 -145.9 - - 3735 - - - - - - - - 14.38 14.49 14.57
4203 462.5 -8.5 407 4208 roll -1.01 - - 2183 - 2.88 0.045 1343 -610.4 -145.9 - - 3733 - - - - - - - - 14.70 14.52 14.72
4269 468.0 -8.4 420 4273 done -1.05 - - 2178 - 3.05 0.085 3104 577.4 -145.9 - - 3734 - - - - - - - - 14.56 14.47 14.59
4464 484.9 -8.7 432 4469 roll -1.05 - - 2178 - 2.88 0.045 1341 -612.2 -145.9 - - 3736 - - - - - - - - 14.70 14.53 14.72
4519 489.7 -8.7 443 4525 done -1.08 - - 2178 - 3.05 0.085 3103 577.7 -145.9 - - 3735 - - - - - - - - 14.58 14.49 14.60
4704 505.5 -8.5 453 4709 roll -1.08 - - 2178 - 2.88 0.045 1341 -611.8 -145.9 - - 3736 - - - - - - - - 14.71 14.54 14.72
4730 507.7 -8.7 458 4735 done -1.10 - - 2177 - 3.05 0.085 3100 576.7 -145.9 - - 3735 - - - - - - - - 14.59 14.49 14.61
4925 524.3 -8.5 470 4930 roll -1.10 - - 2177 - 2.88 0.045 1339 -611.5 -145.9 - - 3735 - - - - - - - - 14.71 14.54 14.73
4975 528.6 -8.5 480 4980 done -1.13 - - 2177 - 3.05 0.085 3101 577.7 -145.9 - - 3736 - - - - - - - - 14.59 14.50 14.62
5165 544.7 -8.6 491 5170 roll -1.15 0.12 0.138 2111 -550.0 2.88 0.043 1340 -611.5 -145.9 - - 3736 - - - - - - - - 14.54 14.54 14.57
5211 549.5 -11.0 500 5216 done -1.09 0.22 0.313 2152 186.4 3.05 0.083 3111 580.7 -145.9 - - 3736 - - - - - - - - 14.40 14.50 14.57
5406 568.8 -9.7 512 5411 roll -1.09 - - 2152 - 2.90 0.045 1333 -613.1 -145.9 - - 3736 - - - - - - - - 14.71 14.54 14.73
5466 574.6 -9.6 524 5471 done -1.09 - - 2143 - 3.05 0.083 3100 579.3 -145.9 - - 3736 - - - - - - - - 14.60 14.50 14.62
5666 594.7 -10.1 537 5672 roll -1.06 - - 2143 - 2.88 0.044 1334 -613.2 -145.9 - - 3736 - - - - - - - - 14.72 14.55 14.74
5682 596.3 -10.3 540 5688 done -1.03 0.17 0.294 2170 158.8 3.05 0.083 3100 579.0 -145.9 - - 3738 - - - - - - - - 14.40 14.49 14.57
5867 613.0 -9.0 550 5872 roll -1.03 - - 2171 - 2.88 0.044 1343 -610.1 -145.9 - - 3736 - - - - - - - - 14.71 14.53 14.73
5917 617.6 -8.9 560 5922 done -1.05 - - 2165 - 3.05 0.084 3102 576.7 -145.9 - - 3736 - - - - - - - - 14.60 14.50 14.62
6108 634.8 -9.1 571 6112 roll -1.05 - - 2164 - 2.88 0.044 1339 -612.2 -145.9 - - 3736 - - - - - - - - 14.72 14.56 14.73
6173 640.8 -9.0 584 6178 done -1.05 - - 2155 - 3.05 0.083 3104 578.7 -145.9 - - 3736 - - - - - - - - 14.61 14.51 14.62
6368 658.9 -9.4 596 6373 roll -1.05 - - 2157 - 2.88 0.044 1337 -613.5 -145.9 - - 3736 - - - - - - - - 14.72 14.54 14.74
6423 664.1 -9.3 607 6429 done -1.05 - - 2150 - 3.05 0.083 3103 579.0 -145.9 - - 3736 - - - - - - - - 14.60 14.51 14.62
6608 681.8 -9.6 617 6614 roll -1.05 - - 2150 - 2.88 0.044 1333 -614.6 -145.9 - - 3736 - - - - - - - - 14.72 14.54 14.74
6649 685.8 -9.5 625 6655 done -1.05 - - 2141 - 3.05 0.082 3100 579.3 -145.9 - - 3736 - - - - - - - - 14.60 14.51 14.62
6850 705.5 -10.0 638 6855 roll -1.03 0.12 0.317 2170 241.7 2.88 0.042 1333 -613.5 -145.9 - - 3736 - - - - - - - - 14.42 14.55 14.54
6881 708.6 -9.1 644 6885 done -1.05 - - 2165 - 3.05 0.083 3100 579.3 -145.9 - - 3736 - - - - - - - - 14.61 14.51 14.63
7071 725.0 -8.7 655 7076 roll -1.05 - - 2165 - 2.88 0.044 1336 -612.5 -145.9 - - 3736 - - - - - - - - 14.72 14.57 14.74
7126 729.8 -8.7 666 7132 done -1.05 - - 2161 - 3.05 0.083 3101 578.7 -145.9 - - 3736 - - - - - - - - 14.61 14.51 14.63
7311 746.0 -8.8 676 7316 roll -1.05 - - 2161 - 2.88 0.044 1331 -614.6 -145.9 - - 3736 - - - - - - - - 14.72 14.55 14.74
7346 749.1 -8.8 683 7352 done -1.05 - - 2151 - 3.05 0.082 3101 580.3 -145.9 - - 3736 - - - - - - - - 14.61 14.52 14.63
7368 end dive: TARGET_DEPTH_EXCEEDED
7368 begin apogee
7374 751.3 -8.9 685 7541 done -0.14 1.10 0.234 2457 278.2 0.08 0.198 2406 -8687.5 - 157.75 2.369 3137 -3.8 0.235 - - - - 1 - 14.43 13.45 12.59
7543 end apogee: CONTROL_FINISHED_OK
7543 begin climb
7545 754.7 - 693 7775 done 0.59 0.73 0.053 2724 365.8 - - 2405 - 145.9 219.62 1.409 2530 -2.8 0.288 - - - - - - 13.58 13.05 12.64
7959 701.9 15.9 732 7961 done 0.45 0.28 0.262 2661 -225.0 - - 2405 - 145.9 - - 2518 - - - - - - - - 13.55 13.73 13.71
8139 679.0 12.5 741 8144 roll 0.40 - - 2662 - 2.55 0.099 3786 541.6 145.9 - - 2518 - - - - - - - - 14.00 13.81 14.02
8204 669.5 14.9 754 8210 done 0.30 0.25 0.249 2608 -216.0 2.28 0.039 2418 -600.0 145.9 - - 2517 - - - - - - - - 13.80 13.92 13.95
8401 649.6 9.7 766 8402 done 0.32 - - 2608 - - - 2418 - 151.6 - - 2517 - - - - - - - - 14.17 14.19 14.19
8581 632.0 9.8 775 8586 done 0.32 - - 2608 - - - 2418 - 156.0 4.35 1.283 2500 -3.9 0.375 - - - - - - 14.25 14.07 13.36
8761 614.3 9.8 784 8770 roll 0.35 - - 2609 - 2.53 0.099 3780 538.3 159.4 3.05 0.970 2488 -3.9 0.485 - - - - - - 14.29 14.07 13.30
8840 605.2 11.6 800 8846 done 0.35 - - 2613 - 2.28 0.040 2396 -607.0 159.4 1.95 0.229 2484 -2.1 1.056 - - - - - - 14.21 14.18 14.05
9041 585.1 9.8 813 9048 done 0.35 - - 2614 - - - 2396 - 163.7 6.10 1.506 2472 -2.0 0.149 - - - - - - 14.35 14.16 13.45
9221 567.1 10.0 822 9228 roll 0.37 - - 2613 - 2.50 0.096 3786 556.0 163.7 1.65 0.239 2466 -3.6 1.681 - - - - - - 14.36 14.16 14.11
9273 561.2 11.9 832 9277 done 0.35 - - 2620 - 2.28 0.040 2393 -611.0 163.7 - - 2475 - - - - - - - - 14.28 14.23 14.30
9463 541.6 10.1 843 9463 done 0.35 - - 2620 - - - 2392 - 163.7 - - 2478 - - - - - - - - 14.41 14.43 14.42
9643 523.2 10.2 852 9648 roll 0.35 - - 2620 - 2.50 0.096 3785 557.2 163.7 1.65 0.241 2465 -7.9 3.333 - - - - - - 14.42 14.23 14.16
9728 512.9 12.2 869 9733 done 0.32 - - 2626 - 2.25 0.040 2393 -618.7 163.7 - - 2479 - - - - - - - - 14.35 14.29 14.37
9924 492.2 10.5 881 9926 done 0.32 - - 2627 - - - 2393 - 163.7 1.50 0.246 2466 -8.7 3.379 - - - - - - 14.46 14.35 14.21
10103 473.3 10.5 890 10110 roll 0.32 - - 2627 - 2.47 0.096 3781 561.9 163.7 1.38 0.254 2466 - - - - - - - - 14.47 14.28 14.22
10161 466.4 12.5 901 10168 done 0.28 0.12 0.256 2604 -191.7 2.25 0.040 2389 -618.7 163.7 - - 2474 - - - - - - - - 14.22 14.33 14.35
10348 449.1 9.1 911 10387 done 0.33 - - 2604 - - - 2389 - 183.0 36.05 1.307 2384 -2.5 0.167 - - - - - - 14.47 14.11 13.59
10568 428.8 9.1 922 10598 roll 0.40 0.12 0.132 2670 550.0 2.58 0.098 3781 539.5 201.8 23.12 1.339 2307 -3.3 0.208 - - - - - - 14.21 14.04 13.62
10650 417.8 15.2 938 10656 done 0.33 0.22 0.255 2622 -218.2 2.28 0.040 2395 -607.9 201.8 - - 2297 - - - - - - - - 14.03 14.16 14.20
10851 396.0 10.4 951 10852 done 0.37 - - 2622 - - - 2394 - 201.8 - - 2295 - - - - - - - - 14.44 14.46 14.46
11031 377.0 10.6 960 11036 roll 0.41 - - 2622 - 2.47 0.099 3783 562.3 201.8 - - 2294 - - - - - - - - 14.51 14.30 14.53
11091 369.7 12.3 972 11096 done 0.41 - - 2633 - 2.25 0.040 2394 -617.3 201.8 - - 2293 - - - - - - - - 14.42 14.38 14.44
11291 348.4 10.4 985 11292 done 0.44 - - 2628 - - - 2394 - 201.8 - - 2292 - - - - - - - - 14.57 14.59 14.59
11471 330.1 9.9 994 11477 roll 0.48 0.12 0.129 2710 683.3 2.45 0.096 3785 567.8 203.8 - - 2293 - - - - - - - - 14.44 14.39 14.47
11527 321.5 16.8 1005 11534 done 0.35 0.35 0.261 2628 -234.3 2.22 0.041 2397 -625.2 203.8 - - 2293 - - - - - - - - 14.32 14.46 14.49
11713 302.8 9.4 1015 11735 roll 0.40 - - 2628 - 2.53 0.099 3779 546.2 216.5 17.98 1.272 2249 -2.4 0.114 - - - - - - 14.63 14.31 13.85
11759 298.0 11.0 1021 11765 done 0.40 - - 2634 - 2.22 0.040 2395 -623.4 216.5 - - 2241 - - - - - - - - 14.42 14.37 14.43
11955 279.4 9.3 1033 11976 done 0.46 - - 2634 - - - 2394 - 231.2 19.83 1.225 2192 -2.5 0.110 - - - - - - 14.57 14.30 13.80
12155 260.9 9.1 1043 12192 roll 0.54 0.15 0.115 2717 553.3 2.58 0.097 3788 540.3 251.8 31.88 1.167 2107 -2.7 0.116 - - - - - - 14.39 14.15 13.72
12254 247.3 15.1 1059 12260 done 0.45 0.28 0.249 2658 -210.7 2.28 0.040 2394 -611.4 251.8 - - 2087 - - - - - - - - 14.10 14.26 14.27
12437 228.5 9.7 1069 12438 done 0.51 - - 2658 - - - 2393 - 259.1 - - 2085 - - - - - - - - 14.48 14.50 14.51
12617 211.7 9.3 1078 12658 done 0.58 0.12 0.128 2727 575.0 - - 2393 - 274.3 34.58 1.128 2008 -2.2 0.081 - - - - - - 14.40 14.18 13.71
12837 184.6 12.2 1089 12842 roll 0.56 0.15 0.233 2689 -253.3 2.95 0.064 665 -585.8 274.3 - - 1991 - - - - - - - - 14.19 14.26 14.29
12878 180.4 10.1 1097 12883 done 0.61 - - 2689 - 2.95 0.061 2400 588.1 274.3 - - 1989 - - - - - - - - 14.37 14.28 14.38
13078 160.6 9.8 1110 13084 roll 0.65 - - 2689 - 2.45 0.102 3787 566.1 279.5 - - 1991 - - - - - - - - 14.53 14.33 14.54
13168 150.5 11.2 1128 13173 done 0.65 - - 2694 - 2.25 0.041 2394 -619.1 279.5 - - 1989 - - - - - - - - 14.46 14.40 14.47
13359 133.2 8.9 1139 13411 done 0.72 0.15 0.115 2755 406.7 - - 2393 - 304.3 50.58 1.067 1894 -1.9 0.046 - - - - - - 14.44 14.17 13.71
13579 107.4 11.6 1150 13585 roll 0.72 - - 2755 - 2.50 0.101 3782 555.6 304.3 - - 1868 - - - - - - - - 14.43 14.21 14.46
13686 93.3 13.5 1171 13693 done 0.65 0.15 0.279 2724 -206.7 2.25 0.041 2394 -616.9 304.3 - - 1867 - - - - - - - - 14.20 14.33 14.36
13872 76.0 8.0 1190 13903 roll 0.72 - - 2729 - 2.92 0.061 669 -590.8 347.5 24.67 0.386 1716 -6.1 0.235 - - - - - - 14.50 14.26 14.07
13924 72.2 6.7 1199 13981 done 0.83 0.15 0.112 2809 533.3 2.95 0.061 2407 589.2 420.6 49.20 0.404 1418 -6.1 0.211 - - - - - - 14.30 14.26 14.00
14166 45.9 10.0 1229 14171 roll 0.83 - - 2808 - 2.45 0.103 3794 566.1 420.6 - - 1423 - - - - - - - - 14.45 14.25 14.47
14278 33.8 11.0 1251 14283 done 0.81 0.20 0.248 2771 -185.0 2.25 0.040 2392 -623.1 420.6 - - 1425 - - - - - - - - 14.21 14.35 14.36
14470 23.4 3.0 1271 14577 roll 1.03 0.20 0.094 2863 460.0 2.58 0.102 3783 539.1 572.8 100.72 0.260 795 -6.3 0.110 - - - - - - 14.38 14.19 14.09
14659 6.3 11.5 1307 14664 done 1.03 0.12 0.262 2845 -150.0 2.25 0.040 2403 -613.3 572.8 - - 799 - - - - - - - - 14.15 14.28 14.28
14697 end climb: SURFACE_DEPTH_REACHED
14697 begin surface coast
14707 end surface coast: CONTROL_FINISHED_OK
14707 begin surface
SM 0.98 - - - - -7.14 7.95 0.090 186 23.4 1.25 0.094 3095 -1624.8 646.37 52.25 0.203 498 9.5 -0.005 - - - - - -