NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 41 * Raw log
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• Previous call tries 1 • 11.88 of 350.00 AH used of 24V (96.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.1 deg, depth 1.46 m • Intended pitch -17.0 deg, speed -8.049 cm/s
• VBD pumped to 450.12 (SM_CC=450)
• GPS1 time: 44 s
• GPS2 time: 5 s • Transponder ping count: 219
• 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 - - - 93 VBD -0.71 - - 232 - - - 2277 - -116.8 -75.45 - 2965 - - - - - - - - 14.76 - 14.78
95 3.0 -3.2 13 127 roll -0.71 11.55 0.374 3061 244.9 2.78 2.199 3701 512.2 -116.8 -9.90 - 3447 -48.7 - - - - - - - 14.35 13.74 14.53
139 15.4 -27.3 20 146 done -0.71 - - 3061 - 2.40 0.083 2304 -582.1 -116.8 - - 3448 - - - - - - - - 14.56 14.47 14.58
453 74.1 -18.3 68 462 roll -0.71 - - 3062 - 2.47 0.109 883 -575.3 -116.8 - - 3451 - - - - - - - - 14.87 14.60 14.89
683 112.9 -12.7 114 688 done -0.71 - - 3061 - 2.40 0.079 2304 592.1 -116.8 - - 3453 - - - - - - - - 14.76 14.68 14.78
988 133.7 -6.0 145 993 roll -0.71 - - 3061 - 2.47 0.105 884 -574.9 -116.8 - - 3455 - - - - - - - - 14.98 14.71 15.00
1057 138.6 -7.0 159 1065 done -0.71 - - 3061 - 2.40 0.079 2308 593.3 -116.8 - - 3456 - - - - - - - - 14.82 14.73 14.84
1365 155.9 -5.0 190 1369 roll -0.71 - - 3061 - 2.40 0.112 3707 582.9 -116.8 - - 3456 - - - - - - - - 15.00 14.75 15.02
1434 160.6 -7.0 204 1441 done -0.71 - - 3061 - 2.38 0.080 2287 -596.6 -116.8 - - 3456 - - - - - - - - 14.86 14.78 14.88
1740 184.7 -8.3 235 1745 roll -0.71 - - 3061 - 2.47 0.107 3716 578.5 -116.8 - - 3456 - - - - - - - - 15.04 14.77 15.06
1805 190.6 -9.0 248 1812 done -0.71 - - 3061 - 2.38 0.080 2292 -598.3 -116.8 - - 3455 - - - - - - - - 14.88 14.81 14.90
2112 214.4 -8.2 279 2116 roll -0.71 - - 3061 - 2.42 0.112 888 -580.2 -116.8 - - 3455 - - - - - - - - 15.07 14.78 15.08
2176 220.5 -9.6 292 2183 done -0.71 - - 3061 - 2.40 0.080 2308 591.7 -116.8 - - 3455 - - - - - - - - 14.90 14.81 14.92
2483 248.7 -8.7 323 2484 done -0.71 - - 3060 - - - 2308 - -116.8 - - 3455 - - - - - - - - 15.07 15.09 15.09
2803 275.4 -8.1 335 2807 roll -0.71 - - 3061 - 2.42 0.117 3717 582.2 -116.8 - - 3454 - - - - - - - - 15.09 14.81 15.11
2928 285.3 -8.3 360 2932 done -0.71 - - 3061 - 2.38 0.085 2302 -594.5 -116.8 - - 3454 - - - - - - - - 14.93 14.85 14.95
3249 308.6 -7.1 374 3253 roll -0.71 - - 3061 - 2.45 0.117 894 -574.7 -116.8 - - 3452 - - - - - - - - 15.10 14.83 15.13
3313 313.9 -8.6 387 3318 done -0.71 - - 3061 - 2.40 0.086 2304 587.5 -116.8 - - 3451 - - - - - - - - 14.94 14.85 14.96
3635 340.6 -8.5 401 3639 roll -0.71 - - 3061 - 2.42 0.119 3710 581.0 -116.8 - - 3450 - - - - - - - - 15.11 14.83 15.14
3752 351.9 -9.9 424 3758 done -0.71 - - 3061 - 2.38 0.087 2301 -592.0 -116.8 - - 3449 - - - - - - - - 14.95 14.86 14.97
4082 384.0 -9.4 440 4083 done -0.71 - - 3061 - - - 2301 - -116.8 - - 3447 - - - - - - - - 15.12 15.14 15.14
4381 409.1 -7.8 450 4385 roll -0.71 - - 3061 - 2.47 0.117 3714 572.1 -116.8 - - 3445 - - - - - - - - 15.11 14.84 15.13
4475 416.2 -6.7 469 4480 done -0.71 - - 3061 - 2.40 0.086 2293 -592.1 -116.8 - - 3445 - - - - - - - - 14.96 14.88 14.98
4797 438.8 -7.0 483 4802 roll -0.71 - - 3061 - 2.45 0.119 886 -574.3 -116.8 - - 3443 - - - - - - - - 15.13 14.85 15.15
4847 442.7 -7.3 493 4851 done -0.71 - - 3061 - 2.40 0.086 2300 589.2 -116.8 - - 3443 - - - - - - - - 14.96 14.88 14.98
5158 465.0 -7.2 505 5163 roll -0.71 - - 3061 - 2.45 0.120 3715 577.6 -116.8 - - 3442 - - - - - - - - 15.14 14.85 15.15
5215 469.3 -7.3 516 5221 done -0.71 - - 3061 - 2.40 0.089 2294 -592.1 -116.8 - - 3442 - - - - - - - - 14.97 14.88 14.99
5545 495.9 -8.2 532 5551 roll -0.71 - - 3061 - 2.45 0.120 890 -573.1 -116.8 - - 3440 - - - - - - - - 15.14 14.86 15.15
5668 507.2 -8.7 557 5672 done -0.71 - - 3061 - 2.42 0.088 2310 586.8 -116.8 - - 3439 - - - - - - - - 14.96 14.87 14.98
5989 535.0 -8.7 571 5994 roll -0.71 - - 3061 - 2.42 0.122 3708 577.7 -116.8 - - 3438 - - - - - - - - 15.14 14.85 15.16
6084 543.2 -8.4 590 6088 done -0.71 - - 3061 - 2.42 0.090 2276 -591.7 -116.8 - - 3438 - - - - - - - - 14.96 14.88 14.98
6411 565.9 -6.4 605 6415 roll -0.71 - - 3061 - 2.53 0.119 3712 567.6 -116.8 - - 3436 - - - - - - - - 15.14 14.85 15.16
6450 568.4 -6.9 613 6454 done -0.71 - - 3061 - 2.40 0.090 2300 -588.3 -116.8 - - 3436 - - - - - - - - 14.97 14.88 14.98
6767 586.3 -5.7 626 6771 roll -0.71 - - 3061 - 2.47 0.120 3706 569.2 -116.8 - - 3435 - - - - - - - - 15.14 14.85 15.16
6796 588.2 -6.2 632 6801 done -0.71 - - 3061 - 2.40 0.091 2292 -589.2 -116.8 - - 3435 - - - - - - - - 14.97 14.88 14.98
7118 606.0 -5.6 646 7119 done -0.71 - - 3061 - - - 2292 - -116.8 - - 3434 - - - - - - - - 15.14 15.16 15.15
7418 624.4 -6.3 656 7424 roll -0.71 - - 3061 - 2.45 0.122 893 -571.0 -116.8 - - 3432 - - - - - - - - 15.14 14.86 15.16
7461 627.8 -7.4 665 7465 done -0.71 - - 3061 - 2.42 0.090 2309 585.1 -116.8 - - 3432 - - - - - - - - 14.97 14.88 14.99
7778 652.5 -8.4 678 7782 roll -0.71 - - 3061 - 2.45 0.125 3714 573.5 -116.8 - - 3431 - - - - - - - - 15.14 14.85 15.16
7877 661.5 -9.3 698 7881 done -0.71 - - 3061 - 2.40 0.092 2300 -589.2 -116.8 - - 3431 - - - - - - - - 14.97 14.88 14.98
8194 689.0 -8.7 711 8195 done -0.71 - - 3061 - - - 2300 - -116.8 - - 3430 - - - - - - - - 15.14 15.16 15.16
8494 713.5 -7.7 721 8495 done -0.71 - - 3061 - - - 2301 - -116.8 - - 3429 - - - - - - - - 15.14 15.16 15.16
8794 734.1 -6.5 731 8795 done -0.71 - - 3061 - - - 2301 - -116.8 - - 3428 - - - - - - - - 15.14 15.16 15.16
9094 752.1 -5.9 741 9098 roll -0.71 - - 3060 - 2.50 0.122 3715 565.6 -116.8 - - 3428 - - - - - - - - 15.15 14.85 15.16
9119 753.6 -5.6 746 9124 done -0.71 - - 3061 - 2.42 0.095 2291 -588.4 -116.8 - - 3428 - - - - - - - - 14.97 14.88 15.00
9446 772.4 -5.6 761 9450 roll -0.71 - - 3061 - 2.47 0.125 885 -569.2 -116.8 - - 3427 - - - - - - - - 15.14 14.85 15.16
9475 774.2 -6.4 767 9480 done -0.71 - - 3061 - 2.45 0.091 2308 580.8 -116.8 - - 3427 - - - - - - - - 14.97 14.88 14.99
9802 793.9 -6.3 782 9806 roll -0.71 - - 3061 - 2.45 0.128 3707 571.0 -116.8 - - 3426 - - - - - - - - 15.14 14.84 15.16
9906 801.3 -6.8 803 9911 done -0.71 - - 3061 - 2.40 0.095 2301 -585.8 -116.8 - - 3426 - - - - - - - - 14.96 14.87 14.98
10218 823.2 -7.2 815 10222 roll -0.71 - - 3061 - 2.50 0.128 887 -565.6 -116.8 - - 3425 - - - - - - - - 15.14 14.84 15.15
10303 830.0 -8.0 832 10309 done -0.71 - - 3061 - 2.45 0.094 2305 578.8 -116.8 - - 3424 - - - - - - - - 14.96 14.85 14.97
10609 851.8 -7.0 843 10614 roll -0.71 - - 3061 - 2.47 0.129 3715 570.9 -116.8 - - 3424 - - - - - - - - 15.12 14.83 15.15
10718 859.7 -6.6 865 10723 done -0.71 - - 3061 - 2.42 0.095 2301 -584.3 -116.8 - - 3424 - - - - - - - - 14.95 14.86 14.97
11030 879.3 -6.0 877 11031 done -0.71 - - 3061 - - - 2301 - -116.8 - - 3424 - - - - - - - - 15.12 15.15 15.14
11330 895.7 -5.4 887 11335 roll -0.71 - - 3061 - 2.53 0.128 3717 559.7 -116.8 - - 3423 - - - - - - - - 15.13 14.82 15.15
11350 896.9 -5.8 891 11355 done -0.71 - - 3061 - 2.42 0.096 2300 -585.5 -116.8 - - 3423 - - - - - - - - 14.96 14.86 14.97
11662 912.6 -4.9 903 11667 roll -0.71 - - 3061 - 2.53 0.128 3716 559.7 -116.8 - - 3423 - - - - - - - - 15.13 14.83 15.15
11697 914.7 -5.2 910 11701 done -0.71 - - 3061 - 2.42 0.095 2299 -585.5 -116.8 - - 3423 - - - - - - - - 14.95 14.87 14.97
12024 930.7 -5.0 925 12025 done -0.71 - - 3061 - - - 2299 - -116.8 - - 3422 - - - - - - - - 15.13 15.15 15.14
12324 947.3 -5.6 935 12325 done -0.71 - - 3061 - - - 2299 - -116.8 - - 3421 - - - - - - - - 15.13 15.16 15.15
12624 966.4 -6.7 945 12628 roll -0.71 - - 3061 - 2.53 0.130 3710 557.7 -116.8 - - 3421 - - - - - - - - 15.14 14.83 15.16
12663 969.5 -8.1 953 12667 done -0.71 - - 3061 - 2.42 0.097 2297 -583.9 -116.8 - - 3421 - - - - - - - - 14.96 14.86 14.98
12948 end dive: TARGET_DEPTH_EXCEEDED
12948 begin apogee
12952 991.1 -7.6 965 13071 done -0.17 0.55 0.220 3238 321.8 - - 2349 - - 111.97 1.954 2961 -4.1 0.385 - - - - - - 14.78 14.07 13.43
13072 end apogee: CONTROL_FINISHED_OK
13072 begin climb
13073 995.4 - 969 13199 roll 0.71 0.90 0.163 3524 317.8 2.78 0.134 3760 507.6 116.8 115.70 1.967 2482 -4.1 0.388 - - - - - - 14.04 13.85 13.26
13221 989.7 7.1 999 13226 done 0.77 - - 3524 - 2.60 0.103 2352 -541.5 116.8 - - 2478 - - - - - - - - 14.14 14.03 14.16
13553 961.3 9.2 1015 13558 roll 0.77 - - 3525 - 2.65 0.146 940 -532.8 116.8 - - 2473 - - - - - - - - 14.74 14.47 14.76
13632 953.4 10.2 1031 13638 done 0.77 - - 3525 - 2.55 0.105 2353 554.1 116.8 - - 2472 - - - - - - - - 14.62 14.52 14.64
13944 921.0 10.9 1043 13949 roll 0.77 - - 3525 - 2.55 0.138 3759 551.4 116.8 - - 2472 - - - - - - - - 14.88 14.60 14.90
13984 916.2 12.1 1051 13989 done 0.77 - - 3525 - 2.47 0.100 2348 -571.3 116.8 - - 2471 - - - - - - - - 14.73 14.63 14.75
14306 880.5 10.9 1065 14310 roll 0.77 - - 3525 - 2.58 0.135 936 -547.3 116.8 - - 2470 - - - - - - - - 14.93 14.66 14.95
14362 874.3 11.3 1076 14369 done 0.77 - - 3525 - 2.50 0.102 2350 565.6 116.8 - - 2470 - - - - - - - - 14.78 14.68 14.81
14692 841.8 9.3 1092 14699 roll 0.77 - - 3525 - 2.55 0.139 3762 553.7 116.8 - - 2469 - - - - - - - - 14.99 14.70 15.01
14791 831.9 10.2 1112 14795 done 0.77 - - 3525 - 2.47 0.099 2341 -575.3 116.8 - - 2469 - - - - - - - - 14.83 14.73 14.85
15107 806.1 7.8 1125 15111 roll 0.77 - - 3525 - 2.55 0.137 938 -550.2 116.8 - - 2467 - - - - - - - - 15.00 14.72 15.02
15187 800.1 7.1 1141 15194 done 0.84 0.15 0.142 3576 340.0 2.50 0.100 2355 566.8 116.8 - - 2467 - - - - - - - - 14.78 14.73 14.86
15494 772.2 9.1 1152 15500 roll 0.84 - - 3576 - 2.53 0.138 3761 555.7 116.8 - - 2467 - - - - - - - - 15.02 14.74 15.04
15572 764.0 10.7 1168 15576 done 0.84 - - 3577 - 2.47 0.099 2343 -574.1 116.8 - - 2467 - - - - - - - - 14.87 14.76 14.89
15878 734.2 9.7 1179 15883 roll 0.84 - - 3576 - 2.55 0.138 936 -551.8 116.8 - - 2467 - - - - - - - - 15.02 14.75 15.04
15928 729.0 10.2 1189 15932 done 0.84 - - 3579 - 2.50 0.101 2359 569.2 116.8 - - 2467 - - - - - - - - 14.88 14.77 14.90
16239 697.1 10.1 1201 16244 roll 0.84 - - 3580 - 2.50 0.135 3761 560.8 116.8 - - 2467 - - - - - - - - 15.06 14.76 15.07
16284 692.0 11.9 1210 16288 done 0.84 - - 3577 - 2.45 0.099 2349 -576.3 116.8 - - 2467 - - - - - - - - 14.88 14.79 14.91
16595 659.1 10.6 1222 16600 roll 0.84 - - 3576 - 2.55 0.133 932 -555.7 116.8 - - 2467 - - - - - - - - 15.07 14.77 15.09
16645 653.7 10.8 1232 16652 done 0.84 - - 3577 - 2.50 0.101 2354 568.8 116.8 - - 2466 - - - - - - - - 14.89 14.78 14.92
16952 621.1 10.9 1243 16956 roll 0.84 - - 3580 - 2.53 0.135 3767 558.5 116.8 - - 2466 - - - - - - - - 15.07 14.78 15.09
16986 616.8 12.4 1250 16991 done 0.84 - - 3576 - 2.50 0.099 2351 -566.4 116.8 - - 2466 - - - - - - - - 14.85 14.78 14.88
17313 580.5 11.2 1265 17317 roll 0.84 - - 3575 - 2.55 0.132 934 -555.7 116.8 - - 2466 - - - - - - - - 15.07 14.78 15.09
17348 576.3 10.8 1272 17352 done 0.84 - - 3580 - 2.47 0.097 2350 573.3 116.8 - - 2466 - - - - - - - - 14.90 14.80 14.93
17664 541.1 11.0 1285 17668 roll 0.84 - - 3580 - 2.50 0.133 3764 565.6 116.8 - - 2466 - - - - - - - - 15.08 14.78 15.09
17753 529.7 12.4 1303 17758 done 0.84 - - 3577 - 2.47 0.097 2355 -570.4 116.8 - - 2466 - - - - - - - - 14.85 14.78 14.89
18080 493.7 10.6 1318 18081 done 0.84 - - 3576 - - - 2355 - 116.8 - - 2466 - - - - - - - - 15.08 15.11 15.10
18381 460.4 11.3 1328 18387 roll 0.84 - - 3576 - 2.53 0.129 941 -558.9 116.8 - - 2466 - - - - - - - - 15.09 14.79 15.11
18463 450.5 11.9 1345 18470 done 0.84 - - 3576 - 2.47 0.099 2358 573.7 116.8 - - 2466 - - - - - - - - 14.91 14.81 14.94
18771 414.5 11.6 1356 18777 roll 0.84 - - 3577 - 2.58 0.125 932 -552.7 116.8 - - 2466 - - - - - - - - 15.09 14.80 15.11
18800 410.9 11.3 1362 18804 done 0.84 - - 3580 - 2.47 0.097 2355 576.1 116.8 - - 2466 - - - - - - - - 14.92 14.81 14.95
19126 375.3 10.4 1377 19130 roll 0.84 - - 3580 - 2.50 0.132 3765 564.0 116.8 - - 2466 - - - - - - - - 15.09 14.80 15.11
19236 362.1 12.8 1399 19243 done 0.84 - - 3576 - 2.45 0.096 2341 -581.2 116.8 - - 2466 - - - - - - - - 14.91 14.82 14.94
19542 330.1 10.3 1410 19547 roll 0.84 - - 3580 - 2.55 0.127 3763 557.6 116.8 - - 2466 - - - - - - - - 15.09 14.79 15.11
19607 322.9 10.9 1423 19612 done 0.84 - - 3576 - 2.45 0.094 2342 -580.0 116.8 - - 2466 - - - - - - - - 14.92 14.82 14.94
19928 289.4 10.7 1437 19933 roll 0.84 - - 3576 - 2.50 0.129 940 -560.8 116.8 - - 2466 - - - - - - - - 15.07 14.79 15.09
20018 279.4 11.2 1455 20023 done 0.84 - - 3580 - 2.47 0.097 2360 574.9 116.8 - - 2465 - - - - - - - - 14.92 14.81 14.94
20325 245.0 11.1 1472 20334 roll 0.84 - - 3580 - 2.47 0.129 3761 567.2 116.8 - - 2466 - - - - - - - - 15.09 14.80 15.11
20496 223.7 11.7 1506 20500 done 0.84 - - 3576 - 2.42 0.093 2347 -584.3 116.8 - - 2466 - - - - - - - - 14.91 14.82 14.93
20801 198.0 6.0 1537 20811 roll 0.98 0.12 0.147 3638 516.7 2.50 0.122 934 -565.2 116.8 - - 2466 - - - - - - - - 14.83 14.78 14.88
20953 186.5 7.1 1567 20957 done 1.05 - - 3637 - 2.47 0.094 2356 575.7 116.8 - - 2466 - - - - - - - - 14.90 14.79 14.92
21264 154.4 13.2 1599 21268 roll 1.05 - - 3637 - 2.45 0.121 3759 572.7 116.8 - - 2465 - - - - - - - - 15.07 14.78 15.09
21465 122.9 15.0 1639 21469 done 1.05 - - 3637 - 2.40 0.088 2346 -588.8 116.8 - - 2466 - - - - - - - - 14.89 14.80 14.92
21776 84.1 5.8 1671 21782 roll 1.20 0.12 0.138 3696 491.7 2.45 0.112 940 -573.9 116.8 - - 2466 - - - - - - - - 14.83 14.78 14.87
21962 73.6 6.6 1708 21969 done 1.30 - - 3694 - 2.42 0.090 2351 583.1 116.8 - - 2466 - - - - - - - - 14.89 14.79 14.91
22269 55.3 2.2 1739 22382 roll 1.46 0.20 0.116 3778 420.0 2.60 0.111 932 -545.8 242.2 104.05 0.874 1973 -4.7 0.055 - - - - - - 14.83 14.35 14.04
22409 42.8 17.0 1762 22416 done 1.46 - - 3778 - 2.50 0.089 2349 566.8 242.2 - - 1970 - - - - - - - - 14.50 14.41 14.52
22717 9.8 13.0 1823 22724 roll 1.46 - - 3778 - 2.53 0.108 939 -557.3 242.2 - - 1964 - - - - - - - - 14.82 14.56 14.84
22770 end climb: SURFACE_DEPTH_REACHED
22770 begin surface coast
22790 end surface coast: CONTROL_FINISHED_OK
22791 begin surface
SM 1.42 - - - - -9.66 9.45 0.076 182 19.3 2.42 0.087 2302 738.0 450.12 89.38 0.081 1131 12.7 -0.023 - - - - - -