NASCAR Mar17 * SG133 * Dive index * Mission links * Dive 426 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 146.90 of 350.00 AH used of 24V (58.03% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.9 deg, depth 1.37 m • Intended pitch -15.3 deg, speed -9.195 cm/s
• VBD pumped to 450.12 (SM_CC=450)
• GPS1 time: 29 s
• GPS2 time: 13 s • Transponder ping count: 0
• 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
8 - - - 78 done -1.45 - - 135 - - - 2413 - -146.0 -66.88 - 3591 - - - - - - - - 14.85 12.69 14.78
80 4.2 -9.7 11 100 roll -1.45 11.55 0.382 2726 224.3 2.22 0.041 3767 609.9 -146.0 - - 3597 - - - - - - - - 14.04 14.41 14.28
185 21.6 -9.9 30 191 done -1.38 - - 2728 - 2.08 0.020 2360 -676.4 -146.0 - - 3598 - - - - - - - - 14.68 14.66 14.69
500 56.7 -12.6 87 504 roll -1.31 - - 2738 - 2.00 0.028 1066 -647.0 -146.0 - - 3598 - - - - - - - - 14.97 14.63 14.99
511 58.0 -12.3 89 516 done -1.24 0.08 0.184 2652 -1075.0 2.05 0.029 2379 640.5 -146.0 - - 3597 - - - - - - - - 14.50 14.64 14.62
825 91.8 -9.0 121 830 roll -1.15 0.30 0.253 2743 303.3 2.05 0.025 1058 -644.4 -146.0 - - 3598 - - - - - - - - 14.16 14.48 14.35
897 98.1 -8.3 135 906 done -1.15 - - 2765 - 2.10 0.028 2410 643.8 -146.0 - - 3598 - - - - - - - - 14.73 14.67 14.75
1207 119.6 -7.9 167 1211 roll -1.15 - - 2764 - 2.10 0.028 1070 -638.1 -146.0 - - 3599 - - - - - - - - 15.04 14.69 15.07
1298 127.3 -8.3 185 1304 done -1.15 0.12 0.267 2730 -283.3 2.10 0.030 2404 635.2 -146.0 - - 3599 - - - - - - - - 14.31 14.69 14.59
1611 151.6 -7.4 217 1617 roll -1.15 0.05 0.372 2753 460.0 2.28 0.048 3793 609.2 -146.0 - - 3600 - - - - - - - - 14.66 14.62 14.71
1735 160.9 -7.8 241 1740 done -1.15 - - 2751 - 2.03 0.020 2384 -694.1 -146.0 - - 3600 - - - - - - - - 14.81 14.78 14.82
2047 182.7 -7.6 273 2053 roll -1.15 - - 2750 - 2.03 0.028 1066 -649.3 -146.0 - - 3601 - - - - - - - - 15.07 14.71 15.09
2123 188.8 -8.0 288 2130 done -1.15 - - 2777 - 2.08 0.029 2400 641.3 -146.0 - - 3601 - - - - - - - - 14.75 14.69 14.78
2430 208.2 -5.4 319 2439 roll -1.15 - - 2754 - 2.28 0.050 3790 609.6 -146.0 - - 3601 - - - - - - - - 15.07 14.64 15.08
2522 213.8 -6.2 337 2526 done -1.15 - - 2753 - 2.00 0.020 2408 -691.0 -146.0 - - 3602 - - - - - - - - 14.81 14.78 14.83
2834 232.9 -5.6 369 2839 roll -1.15 - - 2752 - 2.08 0.027 1053 -651.4 -146.0 - - 3601 - - - - - - - - 15.07 14.72 15.09
2906 237.7 -7.8 383 2915 done -1.15 - - 2754 - 2.10 0.029 2399 641.0 -146.0 - - 3601 - - - - - - - - 14.76 14.71 14.78
3229 263.1 -8.5 406 3235 roll -1.15 - - 2733 - 2.28 0.049 3794 611.8 -146.0 - - 3600 - - - - - - - - 15.07 14.61 15.09
3351 273.8 -7.7 431 3356 done -1.15 0.12 0.232 2778 375.0 2.03 0.020 2402 -685.7 -146.0 - - 3600 - - - - - - - - 14.37 14.78 14.59
3682 296.2 -6.9 446 3685 roll -1.19 - - 2777 - 2.08 0.027 1071 -639.9 -146.0 - - 3598 - - - - - - - - 15.07 14.72 15.09
3782 304.0 -7.8 466 3786 done -1.22 - - 2732 - 2.12 0.029 2411 632.1 -146.0 - - 3598 - - - - - - - - 14.77 14.71 14.79
4105 324.8 -5.9 480 4112 roll -1.26 - - 2726 - 2.25 0.050 3785 610.7 -146.0 - - 3596 - - - - - - - - 15.08 14.62 15.10
4227 331.5 -5.8 504 4235 done -1.26 0.12 0.241 2771 375.0 2.03 0.020 2407 -678.8 -146.0 - - 3596 - - - - - - - - 14.33 14.79 14.57
4560 346.9 -4.9 520 4568 roll -1.31 0.10 0.153 2796 250.0 2.10 0.024 1051 -645.7 -146.0 - - 3594 - - - - - - - - 14.75 14.71 14.78
4630 351.4 -6.5 534 4634 done -1.31 - - 2769 - 2.12 0.029 2408 640.1 -146.0 - - 3594 - - - - - - - - 14.76 14.70 14.78
4952 372.3 -6.9 548 4960 roll -1.31 0.08 0.183 2654 -1437.5 2.25 0.047 3783 611.1 -146.0 - - 3591 - - - - - - - - 14.78 14.58 14.81
4996 375.8 -8.2 557 5002 done -1.24 0.35 0.239 2750 274.3 2.05 0.021 2381 -683.9 -146.0 - - 3591 - - - - - - - - 14.17 14.78 14.48
5316 396.5 -6.5 570 5322 roll -1.24 - - 2728 - 2.30 0.048 3782 609.1 -146.0 - - 3590 - - - - - - - - 15.08 14.59 15.10
5378 400.9 -6.6 583 5383 done -1.24 0.08 0.249 2742 175.0 2.03 0.021 2418 -671.9 -146.0 - - 3589 - - - - - - - - 14.49 14.77 14.63
5709 422.7 -6.7 598 5715 roll -1.28 - - 2741 - 2.12 0.028 1046 -647.2 -146.0 - - 3587 - - - - - - - - 15.07 14.70 15.09
5791 428.7 -7.7 615 5798 done -1.31 0.10 0.142 2663 -780.0 2.15 0.028 2411 634.9 -146.0 - - 3587 - - - - - - - - 14.59 14.69 14.69
6098 450.8 -7.4 626 6105 roll -1.31 0.08 0.259 2760 1212.5 2.28 0.047 3793 606.1 -146.0 - - 3584 - - - - - - - - 14.66 14.58 14.72
6222 460.3 -7.1 651 6227 done -1.31 0.05 0.244 2650 -2200.0 2.10 0.021 2384 -671.0 -146.0 - - 3584 - - - - - - - - 14.56 14.76 14.67
6552 483.5 -7.0 666 6559 roll -1.27 0.28 0.235 2738 314.3 2.05 0.025 1054 -648.8 -146.0 - - 3582 - - - - - - - - 14.14 14.45 14.32
6642 489.2 -5.9 684 6649 done -1.27 - - 2735 - 2.12 0.030 2401 635.4 -146.0 - - 3582 - - - - - - - - 14.74 14.68 14.76
6972 508.4 -5.8 700 6976 roll -1.27 - - 2684 - 2.30 0.050 3787 602.6 -146.0 - - 3579 - - - - - - - - 15.08 14.59 15.11
7114 517.5 -6.6 728 7125 done -1.27 0.08 0.246 2736 650.0 2.08 0.021 2393 -670.2 -146.0 - - 3579 - - - - - - - - 14.46 14.74 14.60
7425 538.6 -7.2 740 7428 roll -1.31 - - 2750 - 2.10 0.029 1074 -628.1 -146.0 - - 3578 - - - - - - - - 15.08 14.66 15.10
7490 543.8 -8.4 753 7495 done -1.35 0.17 0.099 2664 -505.9 2.12 0.031 2403 626.9 -146.0 - - 3578 - - - - - - - - 14.60 14.66 14.69
7818 571.7 -8.7 768 7823 roll -1.31 0.20 0.235 2694 150.0 2.12 0.026 1057 -634.9 -146.0 - - 3576 - - - - - - - - 14.16 14.45 14.32
7914 579.7 -7.8 787 7919 done -1.31 0.08 0.175 2664 -375.0 2.12 0.030 2401 634.0 -146.0 - - 3576 - - - - - - - - 14.52 14.66 14.64
8237 605.5 -7.6 801 8242 roll -1.28 0.30 0.228 2747 276.7 2.33 0.049 3783 593.1 -146.0 - - 3574 - - - - - - - - 14.09 14.39 14.26
8254 606.7 -7.4 804 8258 done -1.28 - - 2744 - 2.08 0.021 2397 -666.3 -146.0 - - 3574 - - - - - - - - 14.76 14.73 14.77
8566 626.1 -6.1 816 8572 roll -1.31 - - 2741 - 2.12 0.029 1041 -639.6 -146.0 - - 3573 - - - - - - - - 15.08 14.65 15.10
8658 631.6 -6.1 834 8664 done -1.31 - - 2745 - 2.15 0.030 2395 629.8 -146.0 - - 3573 - - - - - - - - 14.70 14.64 14.72
8987 651.9 -6.3 850 8993 roll -1.31 - - 2760 - 2.30 0.050 3785 604.3 -146.0 - - 3572 - - - - - - - - 15.08 14.51 15.09
9122 661.1 -6.5 877 9128 done -1.31 0.12 0.125 2675 -708.3 2.08 0.021 2394 -668.8 -146.0 - - 3572 - - - - - - - - 14.56 14.71 14.65
9441 684.9 -7.6 890 9447 roll -1.31 0.30 0.231 2758 276.7 2.12 0.026 1049 -634.4 -146.0 - - 3571 - - - - - - - - 14.03 14.35 14.22
9534 691.9 -8.2 909 9540 done -1.35 0.20 0.091 2665 -465.0 2.15 0.030 2406 631.2 -146.0 - - 3570 - - - - - - - - 14.57 14.62 14.66
9863 717.7 -7.9 924 9871 roll -1.32 0.32 0.226 2780 359.4 2.30 0.047 3786 600.0 -146.0 - - 3569 - - - - - - - - 14.04 14.35 14.21
9903 720.8 -7.8 932 9907 done -1.32 0.05 0.236 2711 -1380.0 2.08 0.022 2406 -663.5 -146.0 - - 3569 - - - - - - - - 14.51 14.70 14.62
10220 744.3 -7.5 945 10226 roll -1.32 0.08 0.249 2702 -112.5 2.33 0.047 3786 592.3 -146.0 - - 3569 - - - - - - - - 14.64 14.52 14.68
10288 749.7 -7.4 958 10295 done -1.32 0.08 0.244 2706 50.0 2.10 0.022 2394 -662.9 -146.0 - - 3568 - - - - - - - - 14.38 14.69 14.54
10614 774.0 -7.4 973 10620 roll -1.32 0.12 0.265 2748 350.0 2.12 0.026 1049 -634.4 -146.0 - - 3568 - - - - - - - - 14.26 14.47 14.37
10709 781.0 -7.4 991 10716 done -1.36 0.17 0.103 2681 -394.1 2.15 0.030 2403 629.8 -146.0 - - 3567 - - - - - - - - 14.49 14.60 14.53
10976 end dive: TARGET_DEPTH_EXCEEDED
10976 begin apogee
10983 802.3 -8.0 1005 11173 done -0.42 0.88 0.220 2921 272.7 - - 2228 - - 186.15 1.578 2994 -3.1 0.303 - - - - - - 13.95 14.08 13.24
11174 end apogee: CONTROL_FINISHED_OK
11174 begin loiter
11518 812.5 - 1014 11520 done -0.42 - - 2920 - - - 2228 - - - - 2978 - - - - - - - - 14.90 14.92 14.92
12119 812.9 -0.1 1019 12121 done -0.53 - - 2920 - - - 2228 - - - - 2976 - - - - - - - - 15.02 15.04 15.04
12719 810.8 0.4 1024 12721 done -0.65 0.17 0.108 2840 -470.6 - - 2228 - - - - 2973 - - - - - - - - 14.66 14.77 14.74
13319 809.5 0.1 1029 13321 done -0.69 0.17 0.206 2868 164.7 - - 2228 - - - - 2972 - - - - - - - - 14.33 14.65 14.57
13919 817.0 -1.4 1034 13920 done -0.78 - - 2859 - - - 2228 - - - - 2971 - - - - - - - - 15.08 15.10 15.10
14519 823.6 -1.0 1039 14522 done -0.87 0.28 0.081 2786 -260.7 - - 2228 - - - - 2970 - - - - - - - - 14.64 14.74 14.72
15118 823.4 0.1 1044 15120 done -0.87 0.22 0.226 2830 200.0 - - 2228 - - - - 2969 - - - - - - - - 14.14 14.54 14.45
15719 826.0 -0.6 1049 15720 done -0.91 - - 2821 - - - 2228 - - - - 2968 - - - - - - - - 15.08 15.10 15.10
16321 840.2 -2.6 1054 16396 done -0.88 - - 2819 - - - 2227 - 49.8 67.60 1.691 2791 -2.6 0.251 - - - - 1 - 15.06 14.21 12.98
16919 830.7 2.0 1059 16920 done -0.91 - - 2818 - - - 2227 - 49.8 - - 2792 - - - - - - - - 14.95 14.97 14.97
17519 810.2 3.6 1064 17520 done -0.95 - - 2818 - - - 2227 - 49.8 - - 2791 - - - - - - - - 15.02 15.05 15.04
18119 786.3 4.0 1069 18121 done -0.98 - - 2818 - - - 2228 - 49.8 - - 2790 - - - - - - - - 15.05 15.07 15.07
18719 771.1 2.4 1074 18720 done -1.01 - - 2818 - - - 2228 - 49.8 - - 2790 - - - - - - - - 15.07 15.09 15.08
19319 755.3 2.8 1079 19321 done -1.04 0.17 0.102 2737 -476.5 - - 2228 - 49.8 - - 2789 - - - - - - - - 14.66 14.73 14.71
19919 726.6 5.0 1084 19921 done -1.01 0.22 0.241 2803 300.0 - - 2227 - 49.8 - - 2788 - - - - - - - - 14.02 14.45 14.33
20519 705.5 3.3 1089 20520 done -1.01 - - 2796 - - - 2227 - 49.8 - - 2788 - - - - - - - - 15.07 15.09 15.09
21119 695.2 1.6 1094 21120 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
21718 678.5 2.9 1099 21719 done -1.01 - - 2796 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
22318 660.0 3.1 1104 22319 done -1.01 - - 2796 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
22919 645.6 2.3 1109 22920 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2786 - - - - - - - - 15.07 15.09 15.08
23519 625.4 3.6 1114 23520 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
24118 601.9 3.9 1119 24119 done -1.01 - - 2795 - - - 2228 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
24718 582.6 3.2 1124 24719 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
25319 561.4 3.6 1129 25320 done -1.01 - - 2794 - - - 2226 - 49.8 - - 2787 - - - - - - - - 15.06 15.09 15.08
25919 534.2 4.7 1134 25920 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.08
26518 512.0 3.5 1139 26519 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
27118 501.0 1.7 1144 27119 done -1.01 - - 2794 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
27719 487.4 2.4 1149 27720 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.06 15.08 15.08
28319 466.9 3.4 1154 28320 done -1.01 - - 2796 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.08
28918 453.5 2.0 1159 28919 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.08
29518 444.3 1.5 1164 29519 done -1.01 - - 2794 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
30119 428.3 2.9 1169 30120 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.06 15.08 15.08
30719 407.0 3.4 1174 30720 done -1.01 - - 2794 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
31318 395.4 1.7 1179 31319 done -1.01 - - 2792 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
31918 390.2 1.0 1184 31919 done -1.01 - - 2794 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
32519 374.5 2.7 1189 32520 done -1.01 - - 2794 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.06 15.08 15.08
33119 361.9 2.0 1194 33120 done -1.01 - - 2794 - - - 2227 - 49.8 - - 2786 - - - - - - - - 15.07 15.09 15.08
33718 354.3 1.3 1199 33719 done -1.01 - - 2794 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
34318 339.1 2.6 1204 34319 done -1.01 - - 2792 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
34919 328.7 1.6 1209 34920 done -1.01 - - 2792 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.06 15.09 15.08
35519 320.8 1.2 1214 35520 done -1.01 - - 2792 - - - 2227 - 49.8 - - 2786 - - - - - - - - 15.07 15.09 15.09
36118 308.4 2.1 1219 36119 done -1.01 - - 2793 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
36718 297.2 1.7 1224 36719 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
37319 282.2 2.6 1229 37320 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.08
37919 272.2 1.6 1234 37920 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
38518 267.7 0.9 1239 38519 done -1.01 - - 2795 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
39118 255.4 1.9 1244 39119 done -1.01 - - 2793 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.09
39719 250.0 0.8 1249 39720 done -1.01 - - 2793 - - - 2227 - 49.8 - - 2787 - - - - - - - - 15.07 15.09 15.08
39956 end loiter: LOITER_COMPLETE
39956 begin climb
39958 246.2 - 1251 40071 roll 1.45 1.92 0.213 3343 286.5 2.15 0.033 916 -609.8 146.0 101.05 1.216 2390 -3.9 0.154 - - - - - - 13.60 13.97 13.39
40124 237.7 6.3 1283 40184 done 1.52 - - 3342 - 2.17 0.030 2249 614.3 203.2 54.55 1.180 2166 -4.1 0.160 - - - - - - 14.43 14.38 13.41
40484 218.8 6.1 1325 40548 roll 1.60 0.05 0.246 3341 - 2.22 0.036 923 -597.3 263.4 56.15 1.151 1914 -4.5 0.165 - - - - - - 14.56 14.28 13.53
40660 204.7 8.1 1360 40667 done 1.60 0.25 0.085 3420 316.0 2.15 0.029 2264 623.7 263.4 - - 1907 - - - - - - - - 14.42 14.45 14.50
40967 176.5 8.7 1391 40969 done 1.49 0.17 0.288 3381 -229.4 - - 2264 - 263.4 - - 1906 - - - - - - - - 14.07 14.50 14.42
41267 149.1 8.3 1421 41273 roll 1.44 0.08 0.332 3299 -1025.0 2.30 0.048 3635 596.1 263.4 - - 1904 - - - - - - - - 14.43 14.50 14.54
41291 147.2 8.1 1425 41297 done 1.37 - - 3341 - 2.08 0.024 2271 -655.8 263.4 - - 1902 - - - - - - - - 14.68 14.64 14.69
41605 124.6 9.7 1457 41610 roll 1.33 0.10 0.304 3300 -410.0 2.20 0.031 900 -623.2 263.4 - - 1902 - - - - - - - - 14.31 14.52 14.47
41720 115.1 8.1 1479 41729 done 1.30 - - 3302 - 2.12 0.028 2248 635.8 263.4 - - 1901 - - - - - - - - 14.65 14.59 14.68
42028 94.0 5.8 1511 42092 roll 1.38 - - 3304 - 2.40 0.049 3639 579.6 328.6 55.47 1.017 1648 -4.6 0.081 - - - - - - 15.00 14.45 13.76
42144 84.9 8.8 1532 42151 done 1.38 - - 3349 - 2.12 0.021 2242 -659.0 328.6 - - 1645 - - - - - - - - 14.59 14.56 14.60
42449 59.3 7.2 1563 42459 roll 1.38 0.10 0.291 3335 -140.0 2.12 0.030 905 -630.7 328.6 - - 1643 - - - - - - - - 14.31 14.52 14.47
42534 52.9 7.6 1580 42541 done 1.38 - - 3333 - 2.12 0.027 2255 636.8 328.6 - - 1642 - - - - - - - - 14.64 14.59 14.66
42844 33.2 5.1 1637 42912 roll 1.48 - - 3357 - 2.17 0.036 911 -619.4 408.2 60.12 0.913 1322 -5.3 0.037 - - - - - - 14.95 14.45 13.82
42972 23.7 9.4 1659 42979 done 1.52 - - 3344 - 2.12 0.027 2257 634.9 408.2 - - 1318 - - - - - - - - 14.57 14.52 14.59
43257 end climb: SURFACE_DEPTH_REACHED
43257 begin surface coast
43287 end surface coast: CONTROL_FINISHED_OK
43287 begin surface
SM 1.27 - - - - -13.19 9.10 0.057 120 13.2 0.17 0.085 2393 7264.7 450.12 17.38 0.078 1159 66.7 -0.111 - - - - - -