NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 1 • 29.11 of 350.00 AH used of 24V (91.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth 1.08 m • Intended pitch -17.0 deg, speed -8.049 cm/s
• VBD pumped to 450.12 (SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 7 s • Transponder ping count: 230
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
15 - - - 106 VBD -0.71 - - 175 - - - 2402 - -116.8 -87.57 - 3343 - - - - - - - - 14.76 - 14.78
108 4.3 -6.7 15 129 roll -0.71 11.68 0.373 3049 246.1 2.75 2.174 3812 512.7 -116.8 -1.75 - 3446 -58.9 - - - - - - - 14.29 13.55 14.47
176 25.9 -19.4 27 183 done -0.71 - - 3049 - 2.38 0.070 2403 -592.0 -116.8 - - 3449 - - - - - - - - 14.60 14.52 14.62
485 72.0 -13.5 72 486 done -0.71 - - 3049 - - - 2403 - -116.8 - - 3450 - - - - - - - - 14.90 14.92 14.92
786 114.1 -14.2 102 794 roll -0.71 - - 3049 - 2.42 0.097 984 -586.4 -116.8 - - 3452 - - - - - - - - 14.97 14.66 14.98
1007 137.3 -7.4 146 1016 done -0.71 - - 3049 - 2.40 0.072 2410 594.2 -116.8 - - 3453 - - - - - - - - 14.80 14.71 14.82
1317 162.5 -9.4 178 1326 roll -0.71 - - 3049 - 2.45 0.093 989 -580.0 -116.8 - - 3454 - - - - - - - - 15.02 14.71 15.04
1360 167.1 -9.5 187 1368 done -0.71 - - 3049 - 2.42 0.073 2401 583.5 -116.8 - - 3454 - - - - - - - - 14.76 14.73 14.79
1668 195.1 -9.1 218 1677 roll -0.71 - - 3049 - 2.42 0.109 3816 584.7 -116.8 - - 3454 - - - - - - - - 15.04 14.72 15.06
1829 207.7 -7.8 250 1838 done -0.71 - - 3049 - 2.35 0.069 2391 -606.4 -116.8 - - 3454 - - - - - - - - 14.85 14.77 14.88
2139 235.4 -9.5 282 2140 done -0.71 - - 3049 - - - 2391 - -116.8 - - 3454 - - - - - - - - 15.06 15.08 15.08
2448 259.6 -7.5 305 2453 roll -0.71 - - 3049 - 2.40 0.099 985 -585.8 -116.8 - - 3454 - - - - - - - - 15.08 14.76 15.09
2510 264.6 -8.4 317 2514 done -0.71 - - 3048 - 2.40 0.074 2409 593.3 -116.8 - - 3454 - - - - - - - - 14.88 14.78 14.90
2841 296.6 -10.7 333 2845 roll -0.71 - - 3049 - 2.40 0.110 3810 583.8 -116.8 - - 3453 - - - - - - - - 15.07 14.76 15.09
2873 300.1 -11.3 339 2879 done -0.71 - - 3049 - 2.35 0.070 2388 -605.1 -116.8 - - 3453 - - - - - - - - 14.90 14.81 14.92
3202 331.7 -8.6 355 3206 roll -0.71 - - 3049 - 2.40 0.101 984 -585.0 -116.8 - - 3451 - - - - - - - - 15.11 14.77 15.12
3341 343.5 -8.2 383 3348 done -0.71 - - 3049 - 2.40 0.074 2401 590.4 -116.8 - - 3450 - - - - - - - - 14.90 14.79 14.92
3649 363.5 -6.1 394 3655 roll -0.71 - - 3048 - 2.42 0.110 3813 583.5 -116.8 - - 3449 - - - - - - - - 15.11 14.77 15.12
3727 368.1 -6.0 410 3731 done -0.71 - - 3049 - 2.35 0.070 2395 -603.4 -116.8 - - 3448 - - - - - - - - 14.90 14.81 14.92
4033 388.2 -7.2 421 4038 roll -0.71 - - 3049 - 2.40 0.100 995 -583.3 -116.8 - - 3446 - - - - - - - - 15.11 14.76 15.13
4058 390.2 -7.9 426 4065 done -0.71 - - 3049 - 2.38 0.075 2401 590.8 -116.8 - - 3446 - - - - - - - - 14.90 14.80 14.93
4365 413.4 -7.7 437 4369 roll -0.71 - - 3049 - 2.42 0.111 3809 581.8 -116.8 - - 3445 - - - - - - - - 15.09 14.77 15.11
4409 417.0 -7.3 446 4414 done -0.71 - - 3049 - 2.35 0.070 2400 -599.6 -116.8 - - 3444 - - - - - - - - 14.91 14.82 14.93
4721 440.1 -7.3 458 4723 done -0.71 - - 3049 - - - 2401 - -116.8 - - 3443 - - - - - - - - 15.12 15.14 15.14
5021 462.0 -7.4 468 5025 roll -0.71 - - 3049 - 2.47 0.107 3819 574.1 -116.8 - - 3442 - - - - - - - - 15.12 14.78 15.14
5047 464.0 -7.9 473 5052 done -0.71 - - 3049 - 2.38 0.072 2390 -600.4 -116.8 - - 3442 - - - - - - - - 14.92 14.83 14.94
5378 490.4 -8.1 489 5383 roll -0.71 - - 3049 - 2.40 0.102 995 -581.2 -116.8 - - 3440 - - - - - - - - 15.10 14.77 15.12
5458 497.6 -9.2 505 5462 done -0.71 - - 3049 - 2.40 0.075 2409 589.2 -116.8 - - 3439 - - - - - - - - 14.91 14.81 14.93
5769 523.8 -8.4 517 5771 done -0.71 - - 3049 - - - 2409 - -116.8 - - 3438 - - - - - - - - 15.13 15.14 15.14
6069 546.3 -7.1 527 6074 roll -0.71 - - 3048 - 2.42 0.113 3812 579.8 -116.8 - - 3437 - - - - - - - - 15.13 14.76 15.15
6179 554.3 -7.0 549 6187 done -0.71 - - 3050 - 2.38 0.073 2395 -595.4 -116.8 - - 3437 - - - - - - - - 14.91 14.81 14.93
6486 576.1 -7.3 560 6490 roll -0.71 - - 3049 - 2.42 0.103 988 -581.4 -116.8 - - 3435 - - - - - - - - 15.13 14.76 15.14
6535 579.9 -7.6 570 6542 done -0.71 - - 3048 - 2.40 0.077 2400 588.3 -116.8 - - 3435 - - - - - - - - 14.90 14.79 14.93
6842 601.3 -6.7 581 6843 done -0.71 - - 3049 - - - 2400 - -116.8 - - 3434 - - - - - - - - 15.13 15.14 15.14
7142 621.1 -6.5 591 7143 done -0.71 - - 3048 - - - 2400 - -116.8 - - 3432 - - - - - - - - 15.13 15.15 15.15
7442 640.9 -6.8 601 7446 roll -0.71 - - 3049 - 2.45 0.113 3813 576.7 -116.8 - - 3431 - - - - - - - - 15.14 14.76 15.15
7507 645.6 -7.0 614 7511 done -0.71 - - 3049 - 2.38 0.073 2399 -594.1 -116.8 - - 3431 - - - - - - - - 14.91 14.81 14.93
7828 668.6 -7.3 628 7832 roll -0.71 - - 3049 - 2.45 0.103 988 -575.9 -116.8 - - 3430 - - - - - - - - 15.13 14.76 15.14
7884 673.0 -7.5 639 7888 done -0.71 - - 3049 - 2.42 0.078 2409 587.2 -116.8 - - 3430 - - - - - - - - 14.90 14.79 14.92
8210 697.9 -7.6 654 8217 roll -0.71 - - 3049 - 2.42 0.114 3809 578.5 -116.8 - - 3430 - - - - - - - - 15.12 14.73 15.14
8330 707.7 -8.2 678 8336 done -0.71 - - 3049 - 2.38 0.073 2390 -596.2 -116.8 - - 3429 - - - - - - - - 14.90 14.80 14.92
8660 732.0 -7.0 694 8667 roll -0.71 - - 3049 - 2.42 0.103 987 -579.8 -116.8 - - 3428 - - - - - - - - 15.11 14.73 15.14
8722 736.6 -7.1 707 8727 done -0.71 - - 3049 - 2.47 0.078 2404 573.7 -116.8 - - 3428 - - - - - - - - 14.81 14.74 14.85
9050 756.5 -5.9 722 9057 roll -0.71 - - 3049 - 2.47 0.099 994 -570.9 -116.8 - - 3427 - - - - - - - - 15.11 14.73 15.14
9093 759.3 -6.1 731 9097 done -0.71 - - 3049 - 2.42 0.077 2408 584.3 -116.8 - - 3426 - - - - - - - - 14.88 14.77 14.91
9410 777.7 -5.9 744 9411 done -0.71 - - 3049 - - - 2409 - -116.8 - - 3426 - - - - - - - - 15.09 15.11 15.11
9710 796.5 -6.6 754 9717 roll -0.71 - - 3049 - 2.45 0.116 3813 573.1 -116.8 - - 3426 - - - - - - - - 15.11 14.73 15.14
9740 798.6 -7.3 760 9744 done -0.71 - - 3049 - 2.38 0.076 2400 -593.7 -116.8 - - 3426 - - - - - - - - 14.89 14.79 14.92
10066 820.3 -6.5 775 10070 roll -0.71 - - 3048 - 2.50 0.110 3817 566.8 -116.8 - - 3425 - - - - - - - - 15.11 14.72 15.14
10101 822.8 -6.9 782 10105 done -0.71 - - 3049 - 2.40 0.075 2394 -592.9 -116.8 - - 3425 - - - - - - - - 14.89 14.79 14.91
10417 844.2 -7.1 795 10421 roll -0.71 - - 3049 - 2.50 0.111 3809 566.0 -116.8 - - 3425 - - - - - - - - 15.11 14.71 15.13
10456 847.2 -6.4 803 10460 done -0.71 - - 3049 - 2.38 0.073 2396 -593.7 -116.8 - - 3425 - - - - - - - - 14.89 14.79 14.91
10773 869.9 -7.2 816 10774 done -0.71 - - 3049 - - - 2396 - -116.8 - - 3424 - - - - - - - - 15.11 15.14 15.13
11074 890.6 -6.8 826 11075 done -0.71 - - 3049 - - - 2395 - -116.8 - - 3424 - - - - - - - - 15.11 15.14 15.14
11373 910.9 -6.6 836 11377 roll -0.71 - - 3049 - 2.45 0.106 988 -574.3 -116.8 - - 3422 - - - - - - - - 15.11 14.72 15.14
11399 912.7 -7.2 841 11404 done -0.71 - - 3049 - 2.42 0.080 2402 584.3 -116.8 - - 3423 - - - - - - - - 14.88 14.76 14.91
11731 934.2 -6.3 857 11735 roll -0.71 - - 3049 - 2.47 0.119 3813 571.3 -116.8 - - 3422 - - - - - - - - 15.12 14.71 15.14
11800 938.7 -6.5 871 11805 done -0.71 - - 3049 - 2.40 0.076 2393 -591.7 -116.8 - - 3423 - - - - - - - - 14.88 14.77 14.90
12117 956.2 -5.4 884 12118 done -0.71 - - 3050 - - - 2394 - -116.8 - - 3422 - - - - - - - - 15.11 15.14 15.13
12418 970.8 -4.7 894 12419 done -0.71 - - 3049 - - - 2393 - -116.8 - - 3421 - - - - - - - - 15.11 15.13 15.13
12717 985.2 -4.8 904 12724 roll -0.71 - - 3049 - 2.53 0.115 3813 561.3 -116.8 - - 3421 - - - - - - - - 15.11 14.70 15.14
12748 986.7 -5.8 910 12754 done -0.71 - - 3049 - 2.40 0.076 2397 -590.0 -116.8 - - 3420 - - - - - - - - 14.88 14.78 14.90
12836 end dive: TARGET_DEPTH_EXCEEDED
12836 begin apogee
12840 990.8 -4.6 918 12950 done -0.17 0.60 0.206 3241 320.0 - - 2333 - - 106.03 2.016 2966 -4.3 0.388 - - - - - - 14.64 14.10 13.42
12951 end apogee: CONTROL_FINISHED_OK
12951 begin climb
12952 991.2 - 921 13066 done 0.71 0.85 0.152 3518 325.9 - - 2333 - 116.8 110.40 2.033 2490 -4.3 0.388 - - - - - - 14.04 13.93 13.29
13348 956.5 9.9 935 13354 roll 0.71 - - 3518 - 2.60 0.117 3758 548.1 116.8 - - 2477 - - - - - - - - 14.70 14.40 14.72
13390 951.7 10.8 944 13395 done 0.71 - - 3519 - 2.45 0.082 2354 -573.1 116.8 - - 2477 - - - - - - - - 14.54 14.43 14.58
13707 920.3 9.8 957 13711 roll 0.71 - - 3519 - 2.58 0.125 939 -548.4 116.8 - - 2475 - - - - - - - - 14.84 14.52 14.86
13796 911.4 9.7 975 13801 done 0.71 - - 3519 - 2.47 0.081 2354 572.9 116.8 - - 2475 - - - - - - - - 14.68 14.57 14.71
14123 880.5 9.3 990 14128 roll 0.71 - - 3519 - 2.50 0.117 3759 562.0 116.8 - - 2474 - - - - - - - - 14.92 14.59 14.94
14158 876.7 10.8 997 14163 done 0.71 - - 3519 - 2.42 0.079 2345 -584.3 116.8 - - 2474 - - - - - - - - 14.74 14.63 14.77
14485 847.7 8.7 1012 14489 roll 0.71 - - 3519 - 2.45 0.112 934 -575.9 116.8 - - 2473 - - - - - - - - 14.98 14.62 15.00
14595 837.8 8.3 1034 14602 done 0.71 - - 3519 - 2.47 0.080 2360 577.3 116.8 - - 2473 - - - - - - - - 14.78 14.67 14.81
14901 811.2 8.7 1045 14905 roll 0.71 - - 3519 - 2.47 0.117 3757 565.6 116.8 - - 2473 - - - - - - - - 14.99 14.65 15.01
14930 808.1 9.7 1051 14935 done 0.71 - - 3519 - 2.40 0.077 2352 -585.4 116.8 - - 2472 - - - - - - - - 14.80 14.69 14.83
15257 777.6 9.3 1066 15262 roll 0.71 - - 3519 - 2.53 0.111 3764 558.1 116.8 - - 2472 - - - - - - - - 15.01 14.66 15.02
15307 772.4 10.0 1076 15311 done 0.71 - - 3519 - 2.42 0.078 2347 -585.5 116.8 - - 2472 - - - - - - - - 14.81 14.70 14.85
15619 743.7 9.3 1088 15626 roll 0.71 - - 3519 - 2.50 0.109 932 -566.0 116.8 - - 2471 - - - - - - - - 15.04 14.67 15.06
15739 732.6 9.2 1112 15745 done 0.71 - - 3519 - 2.45 0.079 2356 581.2 116.8 - - 2471 - - - - - - - - 14.82 14.71 14.85
16069 702.8 9.1 1128 16073 roll 0.71 - - 3519 - 2.53 0.104 941 -559.3 116.8 - - 2470 - - - - - - - - 15.04 14.68 15.07
16133 696.7 9.4 1141 16138 done 0.71 - - 3519 - 2.42 0.080 2349 581.8 116.8 - - 2470 - - - - - - - - 14.83 14.71 14.86
16450 668.2 8.9 1154 16454 roll 0.71 - - 3518 - 2.47 0.117 3757 570.0 116.8 - - 2470 - - - - - - - - 15.03 14.68 15.05
16475 665.7 9.8 1159 16482 done 0.71 - - 3519 - 2.40 0.077 2344 -588.8 116.8 - - 2470 - - - - - - - - 14.83 14.73 14.87
16781 638.1 9.0 1170 16785 roll 0.71 - - 3519 - 2.47 0.109 939 -568.8 116.8 - - 2470 - - - - - - - - 15.06 14.69 15.08
16830 633.5 8.6 1180 16835 done 0.71 - - 3518 - 2.45 0.079 2360 580.0 116.8 - - 2470 - - - - - - - - 14.84 14.73 14.87
17142 608.1 8.0 1192 17147 roll 0.71 - - 3518 - 2.47 0.116 3766 569.2 116.8 - - 2470 - - - - - - - - 15.07 14.69 15.09
17199 603.0 9.4 1203 17205 done 0.71 - - 3519 - 2.40 0.078 2350 -590.0 116.8 - - 2469 - - - - - - - - 14.84 14.73 14.88
17529 576.2 8.0 1219 17535 roll 0.71 - - 3519 - 2.47 0.106 934 -573.3 116.8 - - 2469 - - - - - - - - 15.07 14.69 15.09
17721 561.1 7.7 1258 17727 done 0.71 - - 3518 - 2.42 0.077 2352 586.0 116.8 - - 2469 - - - - - - - - 14.83 14.73 14.87
18039 538.0 7.3 1271 18045 roll 0.76 - - 3519 - 2.47 0.116 3761 570.4 116.8 - - 2470 - - - - - - - - 15.05 14.69 15.07
18086 533.8 9.1 1281 18091 done 0.76 - - 3519 - 2.40 0.076 2347 -589.2 116.8 - - 2469 - - - - - - - - 14.85 14.75 14.88
18398 509.5 7.9 1293 18403 roll 0.76 - - 3519 - 2.47 0.105 936 -571.3 116.8 - - 2469 - - - - - - - - 15.07 14.69 15.09
18454 505.1 8.3 1304 18459 done 0.76 - - 3519 - 2.42 0.077 2353 585.5 116.8 - - 2470 - - - - - - - - 14.83 14.73 14.88
18781 481.1 7.4 1319 18783 done 0.81 0.12 0.142 3570 425.0 - - 2354 - 116.8 - - 2469 - - - - - - - - 14.78 14.89 14.88
19080 452.2 9.9 1329 19085 roll 0.81 - - 3569 - 2.47 0.115 3761 569.6 116.8 - - 2469 - - - - - - - - 15.08 14.69 15.09
19265 431.5 11.7 1366 19270 done 0.81 - - 3570 - 2.40 0.076 2343 -590.8 116.8 - - 2469 - - - - - - - - 14.85 14.75 14.88
19587 397.6 10.4 1380 19591 roll 0.81 - - 3570 - 2.47 0.109 938 -568.8 116.8 - - 2469 - - - - - - - - 15.08 14.68 15.10
19643 391.9 10.5 1391 19649 done 0.81 - - 3570 - 2.42 0.077 2356 586.0 116.8 - - 2470 - - - - - - - - 14.85 14.73 14.88
19973 360.9 9.0 1407 19979 roll 0.81 - - 3570 - 2.45 0.113 3757 571.8 116.8 - - 2469 - - - - - - - - 15.08 14.69 15.10
20111 346.4 10.0 1435 20116 done 0.81 - - 3570 - 2.38 0.075 2348 -592.0 116.8 - - 2469 - - - - - - - - 14.84 14.74 14.88
20418 315.9 10.0 1446 20422 roll 0.81 - - 3570 - 2.47 0.107 938 -570.9 116.8 - - 2469 - - - - - - - - 15.08 14.69 15.10
20563 301.9 9.7 1475 20570 done 0.81 - - 3570 - 2.42 0.077 2352 584.3 116.8 - - 2469 - - - - - - - - 14.84 14.73 14.88
20869 270.7 11.1 1486 20870 done 0.81 - - 3570 - - - 2351 - 116.8 - - 2469 - - - - - - - - 15.08 15.10 15.10
21169 241.6 8.0 1502 21174 roll 0.81 - - 3570 - 2.47 0.113 3763 571.7 116.8 - - 2469 - - - - - - - - 15.07 14.69 15.09
21210 238.1 8.9 1510 21215 done 0.81 - - 3570 - 2.38 0.074 2349 -594.1 116.8 - - 2469 - - - - - - - - 14.85 14.73 14.88
21522 211.5 8.9 1542 21526 roll 0.81 - - 3570 - 2.47 0.106 3758 570.4 116.8 - - 2469 - - - - - - - - 15.07 14.69 15.09
21687 194.8 9.4 1575 21693 done 0.81 - - 3570 - 2.38 0.073 2351 -591.2 116.8 - - 2469 - - - - - - - - 14.83 14.73 14.87
21993 174.4 4.6 1606 22064 roll 0.90 - - 3569 - 2.53 0.103 3762 557.7 191.2 62.67 1.043 2182 -4.6 0.141 - - - - - - 15.06 14.46 14.09
22156 162.9 9.7 1638 22160 done 0.90 - - 3570 - 2.42 0.073 2343 -586.4 191.2 - - 2178 - - - - - - - - 14.62 14.54 14.64
22467 127.8 13.6 1670 22472 roll 0.90 - - 3569 - 2.47 0.103 938 -568.8 191.2 - - 2175 - - - - - - - - 14.89 14.56 14.91
22642 105.4 10.7 1705 22649 done 0.90 - - 3569 - 2.45 0.074 2359 580.0 191.2 - - 2174 - - - - - - - - 14.71 14.62 14.74
22949 87.7 4.5 1736 23020 roll 0.99 0.12 0.133 3635 550.0 2.55 0.096 938 -557.3 268.2 61.78 0.929 1868 -5.0 0.086 - - - - - - 14.69 14.41 14.07
23112 73.1 11.1 1768 23121 done 0.99 - - 3635 - 2.45 0.073 2357 579.2 268.2 - - 1864 - - - - - - - - 14.59 14.50 14.61
23421 37.6 9.2 1812 23428 roll 0.99 - - 3635 - 2.45 0.106 3757 571.4 268.2 - - 1860 - - - - - - - - 14.85 14.56 14.88
23515 27.6 11.6 1830 23522 done 0.99 - - 3634 - 2.38 0.070 2348 -592.0 268.2 - - 1859 - - - - - - - - 14.70 14.61 14.73
23764 end climb: SURFACE_DEPTH_REACHED
23764 begin surface coast
23791 end surface coast: CONTROL_FINISHED_OK
23791 begin surface
SM 0.95 - - - - -9.65 8.93 0.068 188 21.1 0.12 0.133 2418 11566.7 450.12 79.88 0.083 1131 14.2 -0.017 - - - - - -