NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 17 * Raw log
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• Previous call tries 1 • 5.55 of 350.00 AH used of 24V (98.41% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.3 deg, depth 1.41 m • Intended pitch -17.0 deg, speed -8.049 cm/s
• VBD pumped to 450.12 (SM_CC=450)
• GPS1 time: 38 s
• GPS2 time: 5 s • Transponder ping count: 257
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 99 VBD -0.71 - - 186 - - - 2318 - -116.8 -81.30 - 3177 - - - - - - - - 14.75 - 14.77
101 4.0 -5.3 14 127 roll -0.71 11.57 0.376 3050 247.5 2.83 2.202 896 -502.5 -116.8 -4.95 - 3447 -54.5 - - - - - - - 14.38 13.72 14.59
204 34.9 -25.4 33 210 done -0.71 - - 3051 - 2.45 0.096 2299 572.7 -116.8 - - 3448 - - - - - - - - 14.59 14.50 14.61
517 82.2 -12.8 71 521 roll -0.71 - - 3051 - 2.47 0.122 3715 573.3 -116.8 - - 3451 - - - - - - - - 14.89 14.61 14.90
708 102.4 -8.1 109 712 done -0.71 - - 3050 - 2.40 0.086 2291 -593.3 -116.8 - - 3453 - - - - - - - - 14.77 14.69 14.78
1013 132.9 -12.3 140 1022 roll -0.71 - - 3051 - 2.42 0.119 893 -577.7 -116.8 - - 3454 - - - - - - - - 14.98 14.71 15.00
1177 150.1 -8.5 173 1184 done -0.71 - - 3051 - 2.45 0.093 2293 571.4 -116.8 - - 3454 - - - - - - - - 14.79 14.73 14.81
1484 173.9 -8.8 204 1493 roll -0.71 - - 3050 - 2.45 0.120 3712 579.2 -116.8 - - 3454 - - - - - - - - 15.02 14.75 15.04
1618 186.6 -9.4 231 1626 done -0.71 - - 3050 - 2.40 0.092 2298 -589.2 -116.8 - - 3455 - - - - - - - - 14.86 14.78 14.88
1925 212.8 -8.0 262 1929 roll -0.71 - - 3050 - 2.50 0.129 3709 564.4 -116.8 - - 3454 - - - - - - - - 15.05 14.77 15.07
1954 215.3 -8.5 268 1961 done -0.71 - - 3051 - 2.40 0.096 2301 -586.7 -116.8 - - 3454 - - - - - - - - 14.88 14.79 14.90
2261 235.2 -6.5 299 2265 roll -0.71 - - 3050 - 2.50 0.132 3708 562.8 -116.8 - - 3454 - - - - - - - - 15.07 14.78 15.08
2294 237.5 -6.9 306 2302 done -0.71 - - 3051 - 2.45 0.098 2298 -575.5 -116.8 - - 3454 - - - - - - - - 14.86 14.80 14.90
2612 265.9 -10.4 328 2618 roll -0.71 - - 3050 - 2.47 0.128 886 -571.7 -116.8 - - 3452 - - - - - - - - 15.08 14.81 15.10
2685 273.8 -10.5 343 2690 done -0.71 - - 3051 - 2.42 0.095 2300 584.3 -116.8 - - 3452 - - - - - - - - 14.92 14.82 14.93
3002 300.3 -7.8 356 3008 roll -0.71 - - 3050 - 2.45 0.127 3711 575.9 -116.8 - - 3450 - - - - - - - - 15.09 14.81 15.11
3141 311.4 -7.9 384 3146 done -0.71 - - 3050 - 2.40 0.096 2294 -590.4 -116.8 - - 3449 - - - - - - - - 14.93 14.84 14.95
3447 334.1 -7.3 395 3451 roll -0.71 - - 3050 - 2.50 0.125 3715 568.4 -116.8 - - 3447 - - - - - - - - 15.09 14.83 15.11
3478 336.5 -7.3 401 3482 done -0.71 - - 3051 - 2.42 0.097 2292 -588.0 -116.8 - - 3447 - - - - - - - - 14.94 14.85 14.96
3804 361.2 -7.7 416 3805 done -0.71 - - 3050 - - - 2291 - -116.8 - - 3444 - - - - - - - - 15.11 15.14 15.14
4104 384.8 -7.9 426 4108 roll -0.71 - - 3050 - 2.50 0.125 3714 569.2 -116.8 - - 3443 - - - - - - - - 15.13 14.84 15.14
4178 391.2 -9.0 441 4182 done -0.71 - - 3051 - 2.40 0.097 2300 -589.2 -116.8 - - 3443 - - - - - - - - 14.95 14.87 14.97
4490 416.4 -8.2 453 4494 roll -0.71 - - 3050 - 2.47 0.132 893 -569.6 -116.8 - - 3441 - - - - - - - - 15.13 14.85 15.15
4548 421.7 -9.3 465 4553 done -0.71 - - 3051 - 2.45 0.101 2292 571.0 -116.8 - - 3440 - - - - - - - - 14.91 14.84 14.94
4876 448.6 -8.1 480 4882 roll -0.71 - - 3050 - 2.47 0.133 3710 574.1 -116.8 - - 3439 - - - - - - - - 15.13 14.85 15.15
4979 457.4 -8.1 501 4983 done -0.71 - - 3051 - 2.40 0.099 2299 -587.9 -116.8 - - 3438 - - - - - - - - 14.96 14.87 14.98
5296 480.7 -7.0 514 5297 done -0.71 - - 3050 - - - 2299 - -116.8 - - 3437 - - - - - - - - 15.13 15.16 15.15
5596 502.0 -7.4 524 5602 roll -0.71 - - 3051 - 2.53 0.136 3718 560.9 -116.8 - - 3436 - - - - - - - - 15.14 14.85 15.16
5656 506.7 -8.1 536 5662 done -0.71 - - 3050 - 2.42 0.102 2296 -587.6 -116.8 - - 3436 - - - - - - - - 14.97 14.88 14.99
5986 533.1 -8.2 552 5987 done -0.71 - - 3051 - - - 2296 - -116.8 - - 3434 - - - - - - - - 15.14 15.16 15.16
6286 555.7 -7.0 562 6290 roll -0.71 - - 3050 - 2.50 0.137 886 -564.0 -116.8 - - 3432 - - - - - - - - 15.14 14.85 15.16
6330 559.2 -7.5 571 6335 done -0.71 - - 3049 - 2.47 0.108 2308 575.7 -116.8 - - 3432 - - - - - - - - 14.97 14.87 14.99
6642 580.4 -6.8 583 6646 roll -0.71 - - 3050 - 2.47 0.139 3714 569.2 -116.8 - - 3431 - - - - - - - - 15.14 14.85 15.16
6756 588.7 -7.0 606 6763 done -0.71 - - 3051 - 2.42 0.102 2293 -587.2 -116.8 - - 3430 - - - - - - - - 14.97 14.88 14.99
7063 611.4 -7.6 617 7064 done -0.71 - - 3051 - - - 2293 - -116.8 - - 3430 - - - - - - - - 15.14 15.16 15.16
7363 634.6 -7.8 627 7367 roll -0.71 - - 3051 - 2.53 0.136 3710 560.1 -116.8 - - 3429 - - - - - - - - 15.14 14.85 15.16
7397 637.5 -7.8 634 7401 done -0.71 - - 3051 - 2.42 0.103 2295 -584.7 -116.8 - - 3429 - - - - - - - - 14.97 14.88 15.00
7724 662.1 -7.4 649 7728 roll -0.71 - - 3050 - 2.53 0.138 3708 558.5 -116.8 - - 3428 - - - - - - - - 15.14 14.85 15.16
7768 665.8 -8.0 658 7773 done -0.71 - - 3051 - 2.40 0.104 2302 -585.8 -116.8 - - 3428 - - - - - - - - 14.97 14.88 14.98
8080 688.3 -7.3 670 8084 roll -0.71 - - 3051 - 2.53 0.140 885 -560.1 -116.8 - - 3427 - - - - - - - - 15.14 14.85 15.16
8114 691.1 -7.9 677 8118 done -0.71 - - 3050 - 2.45 0.106 2301 578.0 -116.8 - - 3426 - - - - - - - - 14.97 14.87 14.99
8436 713.1 -6.7 691 8440 roll -0.71 - - 3050 - 2.50 0.140 3717 566.4 -116.8 - - 3426 - - - - - - - - 15.14 14.83 15.16
8545 720.4 -6.6 713 8550 done -0.71 - - 3051 - 2.45 0.104 2290 -582.4 -116.8 - - 3426 - - - - - - - - 14.96 14.87 14.98
8857 739.2 -6.0 725 8858 done -0.71 - - 3050 - - - 2290 - -116.8 - - 3425 - - - - - - - - 15.14 15.16 15.15
9157 757.6 -6.4 735 9162 roll -0.71 - - 3050 - 2.55 0.138 3717 559.6 -116.8 - - 3425 - - - - - - - - 15.14 14.83 15.16
9188 759.5 -6.4 741 9193 done -0.71 - - 3050 - 2.42 0.105 2302 -584.7 -116.8 - - 3425 - - - - - - - - 14.96 14.87 14.99
9515 779.6 -6.3 756 9521 roll -0.71 - - 3050 - 2.53 0.139 3708 555.7 -116.8 - - 3424 - - - - - - - - 15.14 14.84 15.15
9618 786.4 -6.9 777 9622 done -0.71 - - 3050 - 2.42 0.105 2297 -583.1 -116.8 - - 3424 - - - - - - - - 14.96 14.86 14.98
9929 805.9 -6.2 789 9934 roll -0.71 - - 3050 - 2.55 0.142 3716 556.5 -116.8 - - 3423 - - - - - - - - 15.13 14.83 15.15
9973 808.8 -6.6 798 9978 done -0.71 - - 3051 - 2.45 0.108 2297 -579.2 -116.8 - - 3423 - - - - - - - - 14.96 14.85 14.97
10285 828.5 -6.5 810 10286 done -0.71 - - 3050 - - - 2297 - -116.8 - - 3422 - - - - - - - - 15.13 15.15 15.14
10586 849.9 -7.3 820 10592 roll -0.71 - - 3050 - 2.55 0.145 3708 553.3 -116.8 - - 3421 - - - - - - - - 15.13 14.83 15.15
10688 858.0 -7.8 841 10693 done -0.71 - - 3051 - 2.45 0.109 2295 -576.7 -116.8 - - 3421 - - - - - - - - 14.95 14.85 14.97
11005 880.8 -7.4 854 11006 done -0.71 - - 3050 - - - 2295 - -116.8 - - 3420 - - - - - - - - 15.11 15.14 15.13
11306 903.3 -7.5 864 11312 roll -0.71 - - 3051 - 2.55 0.146 3708 554.1 -116.8 - - 3420 - - - - - - - - 15.13 14.83 15.15
11338 905.8 -7.5 871 11344 done -0.71 - - 3050 - 2.50 0.110 2296 -564.8 -116.8 - - 3419 - - - - - - - - 14.91 14.84 14.94
11665 928.9 -6.9 886 11670 roll -0.71 - - 3050 - 2.58 0.147 3715 550.0 -116.8 - - 3419 - - - - - - - - 15.13 14.81 15.15
11701 931.4 -7.2 893 11705 done -0.71 - - 3051 - 2.45 0.111 2300 -577.6 -116.8 - - 3419 - - - - - - - - 14.95 14.85 14.97
12017 951.1 -6.1 906 12018 done -0.71 - - 3050 - - - 2301 - -116.8 - - 3419 - - - - - - - - 15.13 15.15 15.14
12317 970.6 -6.4 916 12323 roll -0.71 - - 3050 - 2.55 0.148 3708 551.8 -116.8 - - 3418 - - - - - - - - 15.13 14.82 15.15
12351 972.9 -7.2 923 12356 done -0.71 - - 3051 - 2.45 0.112 2298 -575.5 -116.8 - - 3418 - - - - - - - - 14.95 14.85 14.97
12646 end dive: TARGET_DEPTH_EXCEEDED
12646 begin apogee
12650 990.7 -5.9 937 12768 done -0.17 0.60 0.224 3243 320.0 - - 2348 - - 110.18 1.968 2961 -4.1 0.387 - - - - - - 14.79 14.03 13.37
12769 end apogee: CONTROL_FINISHED_OK
12769 begin climb
12771 991.7 - 941 12891 done 0.71 0.88 0.164 3521 315.9 - - 2349 - 116.8 116.45 1.959 2489 -4.1 0.381 - - - - - - 14.02 13.85 13.22
13187 954.5 10.0 965 13192 roll 0.71 - - 3521 - 2.65 0.153 3758 531.7 116.8 - - 2475 - - - - - - - - 14.69 14.40 14.71
13217 951.2 11.2 971 13222 done 0.71 - - 3522 - 2.55 0.113 2344 -554.5 116.8 - - 2474 - - - - - - - - 14.54 14.45 14.57
13544 920.3 9.5 986 13548 roll 0.71 - - 3522 - 2.60 0.145 938 -540.8 116.8 - - 2473 - - - - - - - - 14.85 14.57 14.87
13638 911.2 9.2 1005 13643 done 0.71 - - 3522 - 2.55 0.114 2357 556.5 116.8 - - 2472 - - - - - - - - 14.71 14.60 14.73
13955 881.1 9.7 1018 13959 roll 0.71 - - 3523 - 2.58 0.153 3761 544.2 116.8 - - 2471 - - - - - - - - 14.93 14.64 14.95
14011 875.1 11.2 1029 14015 done 0.71 - - 3522 - 2.47 0.112 2352 -570.4 116.8 - - 2470 - - - - - - - - 14.76 14.66 14.80
14337 842.2 10.0 1044 14344 roll 0.71 - - 3522 - 2.58 0.142 939 -547.7 116.8 - - 2470 - - - - - - - - 14.97 14.69 15.00
14399 835.8 10.3 1057 14404 done 0.71 - - 3522 - 2.55 0.114 2346 551.8 116.8 - - 2469 - - - - - - - - 14.75 14.70 14.79
14727 803.5 10.0 1072 14734 roll 0.71 - - 3522 - 2.58 0.151 3761 548.4 116.8 - - 2469 - - - - - - - - 15.00 14.71 15.03
14766 799.1 11.5 1080 14770 done 0.71 - - 3522 - 2.47 0.112 2350 -571.3 116.8 - - 2469 - - - - - - - - 14.84 14.73 14.86
15082 768.1 9.5 1093 15086 roll 0.71 - - 3522 - 2.55 0.141 934 -555.3 116.8 - - 2469 - - - - - - - - 15.01 14.73 15.02
15117 764.7 9.9 1100 15121 done 0.71 - - 3522 - 2.50 0.110 2352 567.2 116.8 - - 2469 - - - - - - - - 14.85 14.75 14.88
15433 736.3 8.7 1113 15437 roll 0.71 - - 3522 - 2.55 0.151 3761 552.5 116.8 - - 2468 - - - - - - - - 15.04 14.74 15.06
15489 730.9 10.2 1124 15496 done 0.71 - - 3522 - 2.47 0.112 2343 -574.1 116.8 - - 2468 - - - - - - - - 14.87 14.76 14.90
15819 703.7 7.9 1140 15826 roll 0.71 - - 3522 - 2.55 0.144 937 -551.4 116.8 - - 2468 - - - - - - - - 15.04 14.76 15.06
15867 699.9 7.7 1150 15872 done 0.71 - - 3522 - 2.50 0.111 2353 566.4 116.8 - - 2467 - - - - - - - - 14.88 14.77 14.90
16179 677.6 7.3 1162 16181 done 0.77 - - 3522 - - - 2353 - 116.8 - - 2467 - - - - - - - - 15.04 15.07 15.06
16480 654.6 8.1 1172 16486 roll 0.77 - - 3522 - 2.55 0.149 3767 554.5 116.8 - - 2467 - - - - - - - - 15.07 14.78 15.09
16518 651.0 9.5 1180 16522 done 0.77 - - 3522 - 2.47 0.112 2348 -574.5 116.8 - - 2466 - - - - - - - - 14.90 14.80 14.92
16834 623.0 9.1 1193 16838 roll 0.77 - - 3522 - 2.55 0.139 929 -556.5 116.8 - - 2467 - - - - - - - - 15.06 14.78 15.08
16873 619.1 9.4 1201 16878 done 0.77 - - 3523 - 2.50 0.109 2357 571.2 116.8 - - 2466 - - - - - - - - 14.90 14.80 14.93
17190 589.4 9.5 1214 17194 roll 0.77 - - 3522 - 2.53 0.149 3760 554.5 116.8 - - 2467 - - - - - - - - 15.06 14.78 15.08
17246 583.4 11.4 1225 17250 done 0.77 - - 3522 - 2.45 0.108 2348 -576.3 116.8 - - 2467 - - - - - - - - 14.91 14.81 14.93
17572 551.0 9.8 1240 17579 roll 0.77 - - 3522 - 2.53 0.136 938 -557.3 116.8 - - 2467 - - - - - - - - 15.08 14.79 15.10
17640 544.4 9.4 1254 17644 done 0.77 - - 3522 - 2.47 0.109 2351 572.1 116.8 - - 2466 - - - - - - - - 14.90 14.80 14.93
17962 517.1 8.1 1268 17969 roll 0.77 - - 3522 - 2.55 0.146 3765 554.5 116.8 - - 2467 - - - - - - - - 15.09 14.79 15.10
18005 513.3 8.6 1277 18010 done 0.77 - - 3522 - 2.47 0.106 2340 -576.9 116.8 - - 2466 - - - - - - - - 14.91 14.81 14.93
18322 491.7 6.6 1290 18330 roll 0.86 0.15 0.141 3580 386.7 2.50 0.135 938 -560.8 116.8 - - 2466 - - - - - - - - 14.85 14.78 14.88
18405 484.6 9.0 1307 18413 done 0.86 - - 3584 - 2.47 0.109 2350 571.7 116.8 - - 2466 - - - - - - - - 14.91 14.81 14.93
18712 460.1 8.0 1318 18716 roll 0.86 - - 3583 - 2.53 0.146 3764 558.9 116.8 - - 2466 - - - - - - - - 15.07 14.79 15.09
18756 455.8 9.7 1327 18761 done 0.86 - - 3581 - 2.45 0.108 2349 -577.6 116.8 - - 2467 - - - - - - - - 14.91 14.81 14.94
19068 425.1 10.5 1339 19073 roll 0.86 - - 3581 - 2.53 0.137 939 -557.3 116.8 - - 2467 - - - - - - - - 15.09 14.79 15.11
19147 416.4 10.6 1355 19153 done 0.86 - - 3584 - 2.47 0.109 2351 571.7 116.8 - - 2466 - - - - - - - - 14.91 14.81 14.94
19459 382.5 10.8 1367 19464 roll 0.86 - - 3581 - 2.55 0.132 939 -553.7 116.8 - - 2466 - - - - - - - - 15.09 14.79 15.11
19504 377.8 10.6 1376 19509 done 0.86 - - 3584 - 2.47 0.110 2350 571.3 116.8 - - 2466 - - - - - - - - 14.91 14.81 14.94
19816 345.2 10.7 1388 19822 roll 0.86 - - 3584 - 2.53 0.145 3765 559.3 116.8 - - 2467 - - - - - - - - 15.09 14.79 15.11
19894 335.5 12.2 1404 19899 done 0.86 - - 3580 - 2.45 0.108 2343 -580.4 116.8 - - 2466 - - - - 1 - - - 14.92 14.81 14.95
20201 299.5 12.4 1415 20205 roll 0.86 - - 3581 - 2.53 0.138 934 -556.9 116.8 - - 2466 - - - - - - - - 15.09 14.80 15.11
20226 296.2 12.2 1420 20233 done 0.86 - - 3584 - 2.47 0.106 2352 574.1 116.8 - - 2467 - - - - - - - - 14.92 14.82 14.95
20532 259.1 12.2 1431 20536 roll 0.86 - - 3583 - 2.53 0.144 3764 558.1 116.8 - - 2466 - - - - - - - - 15.09 14.80 15.11
20601 250.3 12.9 1445 20606 done 0.86 - - 3580 - 2.42 0.105 2348 -585.1 116.8 - - 2467 - - - - 1 - - - 14.92 14.81 14.95
20913 221.7 7.7 1478 20914 done 0.86 - - 3580 - - - 2349 - 116.8 - - 2466 - - - - - - - - 15.08 15.10 15.10
21214 199.6 9.6 1508 21223 roll 0.86 - - 3581 - 2.50 0.132 942 -562.8 116.8 - - 2466 - - - - - - - - 15.08 14.79 15.10
21275 193.0 11.4 1520 21284 done 0.86 - - 3580 - 2.45 0.106 2348 573.9 116.8 - - 2466 - - - - - - - - 14.90 14.80 14.93
21585 155.0 11.5 1552 21594 roll 0.86 - - 3584 - 2.50 0.135 3762 565.6 116.8 - - 2467 - - - - - - - - 15.07 14.78 15.09
21646 147.9 11.7 1564 21655 done 0.86 - - 3581 - 2.42 0.102 2350 -583.5 116.8 - - 2467 - - - - - - - - 14.90 14.80 14.92
21956 116.0 9.8 1596 21965 roll 0.86 - - 3580 - 2.50 0.128 3762 564.8 116.8 - - 2467 - - - - - - - - 15.07 14.78 15.08
21979 113.8 8.5 1601 21987 done 0.86 - - 3581 - 2.47 0.099 2352 -570.9 116.8 - - 2466 - - - - - - - - 14.85 14.78 14.85
22287 94.4 5.0 1632 22352 roll 0.94 - - 3580 - 2.60 0.126 942 -542.3 182.1 57.38 0.959 2218 -4.3 0.079 - - - - - - 15.06 14.47 14.15
22469 80.4 10.4 1668 22478 done 0.94 - - 3580 - 2.50 0.103 2355 565.2 182.1 - - 2214 - - - - - - - - 14.66 14.55 14.69
22779 46.8 6.3 1704 22786 roll 1.07 0.12 0.145 3647 558.3 2.50 0.128 3765 564.0 182.1 - - 2211 - - - - - - - - 14.66 14.62 14.70
22824 44.1 6.2 1712 22832 done 1.20 0.12 0.137 3700 441.7 2.45 0.097 2346 -579.2 182.1 - - 2211 - - - - - - - - 14.68 14.65 14.76
23133 30.5 5.1 1773 23141 roll 1.40 0.12 0.145 3754 450.0 2.47 0.116 938 -570.0 182.1 - - 2210 - - - - - - - - 14.69 14.66 14.73
23255 25.1 3.6 1796 23338 done 1.52 0.10 0.168 3792 380.0 2.45 0.093 2357 579.2 278.3 73.93 0.812 1825 -5.2 0.030 - - - - - - 14.70 14.69 14.08
23438 end climb: SURFACE_DEPTH_REACHED
23438 begin surface coast
23455 end surface coast: CONTROL_FINISHED_OK
23455 begin surface
SM 1.21 - - - - -9.64 9.55 0.078 238 24.8 0.15 0.142 2291 -59860.0 450.12 73.78 0.080 1131 15.3 -0.024 - - - - - -