NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 77 * Raw log
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• Previous call tries 2 • 21.46 of 350.00 AH used of 24V (93.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.1 deg, depth 1.13 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: 6 s • Transponder ping count: 223
• 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
16 - - - 95 VBD -0.71 - - 181 - - - 2420 - -116.8 -77.30 - 3048 - - - - - - - - 14.78 - 14.80
98 3.0 -4.1 13 124 roll -0.71 11.55 0.370 3061 249.4 2.70 2.166 986 -531.1 -116.8 -7.80 - 3445 -50.9 - - - - - - - 14.34 13.76 14.51
172 23.4 -21.9 26 179 done -0.71 - - 3060 - 2.45 0.082 2406 579.6 -116.8 - - 3447 - - - - - - - - 14.63 14.54 14.64
480 71.5 -10.1 69 485 roll -0.71 - - 3060 - 2.47 0.099 989 -573.7 -116.8 - - 3448 - - - - - - - - 14.92 14.62 14.93
620 84.7 -9.8 97 627 done -0.71 - - 3060 - 2.40 0.082 2402 588.8 -116.8 - - 3449 - - - - - - - - 14.77 14.68 14.79
927 118.9 -14.4 128 936 roll -0.71 - - 3060 - 2.42 0.112 3813 583.1 -116.8 - - 3452 - - - - - - - - 15.00 14.71 15.02
1001 130.9 -14.7 143 1009 done -0.71 - - 3060 - 2.38 0.074 2390 -597.9 -116.8 - - 3452 - - - - - - - - 14.83 14.74 14.85
1308 168.4 -9.4 174 1312 roll -0.71 - - 3060 - 2.42 0.107 988 -579.3 -116.8 - - 3452 - - - - - - - - 15.04 14.73 15.05
1398 177.2 -8.9 192 1404 done -0.71 - - 3060 - 2.40 0.083 2406 590.8 -116.8 - - 3453 - - - - - - - - 14.86 14.77 14.88
1704 198.6 -6.5 223 1708 roll -0.71 - - 3060 - 2.42 0.118 3813 581.4 -116.8 - - 3453 - - - - - - - - 15.06 14.76 15.07
1738 201.1 -7.1 230 1745 done -0.71 - - 3060 - 2.40 0.076 2407 -585.8 -116.8 - - 3453 - - - - - - - - 14.83 14.76 14.85
2045 228.4 -10.1 261 2049 roll -0.71 - - 3060 - 2.45 0.106 978 -583.3 -116.8 - - 3452 - - - - - - - - 15.07 14.77 15.09
2121 236.3 -10.3 276 2130 done -0.71 - - 3060 - 2.42 0.083 2409 591.3 -116.8 - - 3452 - - - - - - - - 14.89 14.80 14.91
2441 267.3 -9.2 297 2445 roll -0.71 - - 3059 - 2.42 0.119 3813 580.2 -116.8 - - 3452 - - - - - - - - 15.09 14.78 15.11
2560 278.0 -9.2 321 2565 done -0.71 - - 3060 - 2.38 0.079 2395 -595.8 -116.8 - - 3452 - - - - - - - - 14.90 14.81 14.92
2887 303.8 -7.7 336 2889 done -0.71 - - 3060 - - - 2395 - -116.8 - - 3450 - - - - - - - - 15.11 15.13 15.12
3187 328.4 -8.9 346 3191 roll -0.71 - - 3060 - 2.45 0.114 980 -577.6 -116.8 - - 3448 - - - - - - - - 15.10 14.81 15.12
3251 334.6 -9.4 359 3256 done -0.71 - - 3060 - 2.42 0.086 2400 586.8 -116.8 - - 3448 - - - - - - - - 14.93 14.83 14.95
3573 361.5 -8.1 373 3577 roll -0.71 - - 3061 - 2.45 0.118 3822 580.4 -116.8 - - 3446 - - - - - - - - 15.12 14.83 15.14
3672 370.1 -8.4 393 3677 done -0.71 - - 3060 - 2.38 0.076 2394 -600.0 -116.8 - - 3445 - - - - - - - - 14.94 14.85 14.96
3989 395.3 -7.8 406 3990 done -0.71 - - 3060 - - - 2393 - -116.8 - - 3443 - - - - - - - - 15.13 15.15 15.14
4290 417.8 -7.2 416 4296 roll -0.71 - - 3060 - 2.50 0.116 3818 570.0 -116.8 - - 3442 - - - - - - - - 15.14 14.83 15.15
4337 421.4 -6.7 426 4342 done -0.71 - - 3061 - 2.38 0.076 2396 -597.5 -116.8 - - 3441 - - - - - - - - 14.95 14.85 14.97
4649 441.5 -6.6 438 4653 roll -0.71 - - 3060 - 2.50 0.116 3823 570.8 -116.8 - - 3439 - - - - - - - - 15.14 14.83 15.16
4683 444.1 -7.2 445 4688 done -0.71 - - 3060 - 2.38 0.076 2401 -597.5 -116.8 - - 3440 - - - - - - - - 14.95 14.85 14.97
5005 466.5 -7.2 459 5010 roll -0.71 - - 3060 - 2.45 0.111 984 -578.4 -116.8 - - 3437 - - - - - - - - 15.14 14.82 15.16
5030 468.6 -8.1 464 5037 done -0.71 - - 3060 - 2.45 0.090 2409 581.6 -116.8 - - 3436 - - - - - - - - 14.95 14.85 14.97
5337 491.0 -7.2 475 5341 roll -0.71 - - 3060 - 2.42 0.119 3811 579.3 -116.8 - - 3435 - - - - - - - - 15.14 14.82 15.16
5466 501.0 -7.5 501 5471 done -0.71 - - 3060 - 2.38 0.077 2394 -595.4 -116.8 - - 3435 - - - - - - - - 14.95 14.85 14.97
5783 523.9 -7.2 514 5787 roll -0.71 - - 3060 - 2.50 0.115 3818 569.6 -116.8 - - 3432 - - - - - - - - 15.14 14.82 15.15
5812 526.2 -8.0 520 5817 done -0.71 - - 3060 - 2.40 0.077 2387 -596.2 -116.8 - - 3433 - - - - - - - - 14.95 14.85 14.97
6134 550.4 -7.7 534 6135 done -0.71 - - 3060 - - - 2387 - -116.8 - - 3431 - - - - - - - - 15.14 15.16 15.16
6434 572.5 -7.3 544 6440 roll -0.71 - - 3060 - 2.50 0.116 3810 569.2 -116.8 - - 3429 - - - - - - - - 15.14 14.82 15.16
6517 579.0 -8.0 561 6524 done -0.71 - - 3060 - 2.38 0.078 2397 -593.7 -116.8 - - 3429 - - - - - - - - 14.95 14.85 14.97
6824 601.1 -7.2 572 6830 roll -0.71 - - 3060 - 2.50 0.116 3818 568.4 -116.8 - - 3427 - - - - - - - - 15.14 14.81 15.16
6903 607.3 -8.1 588 6907 done -0.71 - - 3060 - 2.38 0.079 2401 -595.4 -116.8 - - 3427 - - - - - - - - 14.94 14.85 14.97
7209 631.2 -8.0 599 7210 done -0.71 - - 3060 - - - 2401 - -116.8 - - 3426 - - - - - - - - 15.14 15.16 15.15
7509 654.5 -7.7 609 7510 done -0.71 - - 3060 - - - 2400 - -116.8 - - 3425 - - - - - - - - 15.14 15.16 15.16
7809 676.9 -7.3 619 7814 roll -0.71 - - 3060 - 2.45 0.114 992 -574.7 -116.8 - - 3424 - - - - - - - - 15.14 14.81 15.16
7843 679.5 -7.4 626 7848 done -0.71 - - 3060 - 2.47 0.088 2403 571.3 -116.8 - - 3423 - - - - - - - - 14.88 14.81 14.92
8170 699.9 -5.9 641 8175 roll -0.71 - - 3060 - 2.45 0.119 3813 575.5 -116.8 - - 3423 - - - - - - - - 15.11 14.81 15.14
8245 704.5 -5.6 656 8249 done -0.71 - - 3060 - 2.38 0.077 2401 -593.3 -116.8 - - 3423 - - - - - - - - 14.94 14.85 14.96
8551 722.4 -5.8 667 8556 roll -0.71 - - 3060 - 2.45 0.113 994 -574.3 -116.8 - - 3422 - - - - - - - - 15.14 14.80 15.15
8642 728.4 -6.4 685 8647 done -0.71 - - 3061 - 2.42 0.086 2407 583.9 -116.8 - - 3421 - - - - - - - - 14.93 14.83 14.96
8969 749.3 -6.6 700 8975 roll -0.71 - - 3060 - 2.45 0.120 3816 575.1 -116.8 - - 3421 - - - - - - - - 15.13 14.80 15.15
9077 757.0 -7.3 722 9081 done -0.71 - - 3060 - 2.40 0.080 2395 -592.1 -116.8 - - 3421 - - - - - - - - 14.92 14.82 14.95
9388 777.3 -6.5 734 9390 done -0.71 - - 3060 - - - 2395 - -116.8 - - 3420 - - - - - - - - 15.11 15.13 15.12
9689 795.3 -5.9 744 9690 done -0.71 - - 3060 - - - 2395 - -116.8 - - 3420 - - - - - - - - 15.13 15.15 15.15
9988 812.1 -5.6 754 9993 roll -0.71 - - 3060 - 2.50 0.118 3812 566.8 -116.8 - - 3418 - - - - - - - - 15.14 14.79 15.16
10048 815.7 -6.0 766 10052 done -0.71 - - 3060 - 2.38 0.081 2400 -593.3 -116.8 - - 3418 - - - - - - - - 14.93 14.83 14.95
10375 834.6 -5.8 781 10376 done -0.71 - - 3060 - - - 2401 - -116.8 - - 3418 - - - - - - - - 15.13 15.15 15.15
10675 851.8 -5.8 791 10679 roll -0.71 - - 3060 - 2.50 0.117 3816 566.0 -116.8 - - 3417 - - - - - - - - 15.14 14.79 15.15
10729 855.2 -6.2 802 10736 done -0.71 - - 3060 - 2.40 0.080 2395 -592.1 -116.8 - - 3417 - - - - - - - - 14.92 14.83 14.95
11036 871.5 -5.3 813 11040 roll -0.71 - - 3060 - 2.47 0.119 988 -569.6 -116.8 - - 3417 - - - - - - - - 15.13 14.78 15.15
11085 874.3 -5.7 823 11093 done -0.71 - - 3060 - 2.45 0.085 2411 580.8 -116.8 - - 3416 - - - - - - - - 14.92 14.81 14.95
11392 888.7 -4.7 834 11399 roll -0.71 - - 3060 - 2.45 0.121 3819 574.7 -116.8 - - 3416 - - - - - - - - 15.11 14.78 15.12
11490 893.8 -5.1 854 11495 done -0.71 - - 3060 - 2.40 0.083 2402 -590.4 -116.8 - - 3415 - - - - - - - - 14.92 14.81 14.94
11807 909.9 -5.4 867 11808 done -0.71 - - 3060 - - - 2401 - -116.8 - - 3415 - - - - - - - - 15.12 15.14 15.14
12107 928.1 -6.4 877 12108 done -0.71 - - 3060 - - - 2401 - -116.8 - - 3414 - - - - - - - - 15.12 15.15 15.14
12407 948.6 -6.9 887 12411 roll -0.71 - - 3060 - 2.50 0.117 3815 565.6 -116.8 - - 3414 - - - - - - - - 15.13 14.77 15.14
12468 952.9 -7.1 899 12472 done -0.71 - - 3060 - 2.40 0.084 2398 -590.4 -116.8 - - 3414 - - - - - - - - 14.92 14.81 14.94
12799 975.3 -6.7 915 12800 done -0.71 - - 3060 - - - 2398 - -116.8 - - 3413 - - - - - - - - 15.12 15.14 15.14
13038 end dive: TARGET_DEPTH_EXCEEDED
13038 begin apogee
13042 990.8 -6.5 923 13151 done -0.17 0.55 0.202 3240 327.3 - - 2346 - - 105.55 1.994 2966 -4.2 0.388 - - - - - - 14.72 14.11 13.45
13152 end apogee: CONTROL_FINISHED_OK
13152 begin climb
13153 992.9 - 926 13273 roll 0.71 0.85 0.150 3518 327.1 2.80 0.136 939 -502.5 116.8 108.93 2.030 2483 -4.4 0.399 - - - - - - 14.06 13.90 13.32
13303 985.2 8.0 961 13310 done 0.71 - - 3519 - 2.60 0.089 2358 545.8 116.8 - - 2480 - - - - - - - - 14.20 14.10 14.22
13610 959.1 8.6 972 13616 roll 0.71 - - 3519 - 2.55 0.125 3765 551.8 116.8 - - 2476 - - - - - - - - 14.73 14.47 14.75
13653 954.8 9.4 981 13657 done 0.71 - - 3519 - 2.50 0.093 2345 -568.0 116.8 - - 2475 - - - - - - - - 14.60 14.50 14.62
13970 925.9 9.3 994 13974 roll 0.71 - - 3519 - 2.58 0.135 941 -544.2 116.8 - - 2474 - - - - - - - - 14.87 14.57 14.88
14029 920.2 9.3 1006 14034 done 0.71 - - 3518 - 2.50 0.090 2359 567.2 116.8 - - 2474 - - - - - - - - 14.71 14.61 14.74
14356 890.2 9.1 1021 14360 roll 0.71 - - 3518 - 2.50 0.126 3759 560.0 116.8 - - 2473 - - - - - - - - 14.95 14.64 14.97
14391 886.4 11.0 1028 14395 done 0.71 - - 3519 - 2.45 0.088 2342 -578.4 116.8 - - 2473 - - - - - - - - 14.77 14.66 14.80
14707 856.2 9.7 1041 14711 roll 0.71 - - 3519 - 2.53 0.129 942 -553.4 116.8 - - 2472 - - - - - - - - 14.97 14.67 14.99
14776 849.3 9.6 1055 14781 done 0.71 - - 3519 - 2.47 0.091 2354 571.7 116.8 - - 2472 - - - - - - - - 14.81 14.70 14.83
15094 819.6 9.2 1068 15095 done 0.71 - - 3519 - - - 2355 - 116.8 - - 2472 - - - - - - - - 15.02 15.04 15.04
15393 792.2 9.0 1078 15397 roll 0.71 - - 3519 - 2.53 0.129 3768 558.5 116.8 - - 2471 - - - - - - - - 15.02 14.71 15.03
15423 789.4 9.7 1084 15427 done 0.71 - - 3519 - 2.45 0.086 2345 -580.8 116.8 - - 2471 - - - - - - - - 14.85 14.75 14.88
15744 759.7 9.3 1098 15749 roll 0.71 - - 3519 - 2.53 0.126 936 -556.9 116.8 - - 2471 - - - - - - - - 15.02 14.72 15.04
15808 753.7 9.1 1111 15814 done 0.71 - - 3519 - 2.47 0.089 2353 573.7 116.8 - - 2471 - - - - - - - - 14.85 14.75 14.88
16130 724.9 8.9 1125 16135 roll 0.71 - - 3519 - 2.50 0.122 3768 566.0 116.8 - - 2471 - - - - - - - - 15.05 14.73 15.07
16156 722.3 9.5 1130 16161 done 0.71 - - 3519 - 2.42 0.086 2348 -586.8 116.8 - - 2471 - - - - - - - - 14.87 14.77 14.90
16483 692.5 9.1 1145 16487 roll 0.71 - - 3519 - 2.53 0.123 934 -558.9 116.8 - - 2471 - - - - - - - - 15.04 14.73 15.07
16617 680.7 8.7 1172 16621 done 0.71 - - 3519 - 2.47 0.090 2357 576.1 116.8 - - 2471 - - - - - - - - 14.87 14.76 14.90
16924 655.4 8.2 1183 16928 roll 0.71 - - 3519 - 2.55 0.117 940 -555.7 116.8 - - 2470 - - - - - - - - 15.07 14.73 15.09
16969 651.5 8.0 1192 16973 done 0.71 - - 3518 - 2.45 0.090 2350 575.5 116.8 - - 2470 - - - - - - - - 14.87 14.76 14.90
17280 625.1 8.7 1204 17287 roll 0.71 - - 3519 - 2.53 0.116 939 -557.7 116.8 - - 2470 - - - - - - - - 15.07 14.74 15.09
17319 621.6 8.7 1212 17323 done 0.71 - - 3519 - 2.47 0.090 2358 574.5 116.8 - - 2470 - - - - - - - - 14.88 14.76 14.90
17635 591.1 9.9 1225 17636 done 0.71 - - 3518 - - - 2358 - 116.8 - - 2470 - - - - - - - - 15.08 15.10 15.09
17935 562.6 9.3 1235 17939 roll 0.71 - - 3519 - 2.55 0.116 940 -556.1 116.8 - - 2470 - - - - - - - - 15.09 14.75 15.11
17954 560.8 8.4 1239 17959 done 0.71 - - 3518 - 2.42 0.084 2352 583.5 116.8 - - 2470 - - - - - - - - 14.88 14.78 14.92
18266 535.7 7.7 1251 18271 roll 0.71 - - 3519 - 2.47 0.121 3761 570.4 116.8 - - 2470 - - - - - - - - 15.07 14.76 15.09
18361 527.2 9.0 1270 18365 done 0.71 - - 3519 - 2.42 0.083 2334 -589.7 116.8 - - 2470 - - - - - - - - 14.89 14.79 14.92
18688 501.8 8.0 1285 18692 roll 0.71 - - 3518 - 2.45 0.114 942 -568.2 116.8 - - 2470 - - - - - - - - 15.09 14.75 15.11
18773 494.7 8.1 1302 18778 done 0.71 - - 3519 - 2.42 0.085 2352 582.6 116.8 - - 2469 - - - - - - - - 14.88 14.78 14.92
19099 468.7 7.8 1317 19104 roll 0.71 - - 3519 - 2.47 0.119 3761 570.4 116.8 - - 2469 - - - - - - - - 15.09 14.76 15.11
19139 465.3 8.8 1325 19143 done 0.71 - - 3518 - 2.40 0.081 2348 -588.8 116.8 - - 2469 - - - - - - - - 14.89 14.78 14.92
19456 443.1 6.6 1338 19464 roll 0.81 0.12 0.142 3576 483.3 2.47 0.111 935 -572.1 116.8 - - 2469 - - - - - - - - 14.82 14.74 14.85
19546 435.8 8.3 1356 19552 done 0.81 - - 3577 - 2.45 0.083 2361 582.0 116.8 - - 2469 - - - - - - - - 14.88 14.78 14.92
19876 407.1 9.5 1372 19877 done 0.81 - - 3576 - - - 2361 - 116.8 - - 2469 - - - - - - - - 15.09 15.11 15.11
20176 374.6 11.1 1382 20180 roll 0.81 - - 3576 - 2.45 0.118 3760 571.0 116.8 - - 2469 - - - - - - - - 15.09 14.76 15.11
20202 371.6 11.5 1387 20207 done 0.81 - - 3574 - 2.38 0.082 2349 -592.9 116.8 - - 2469 - - - - - - - - 14.84 14.78 14.88
20533 334.1 11.1 1403 20538 roll 0.81 - - 3574 - 2.47 0.113 943 -569.2 116.8 - - 2469 - - - - - - - - 15.09 14.75 15.11
20655 321.2 10.7 1427 20660 done 0.81 - - 3577 - 2.42 0.085 2353 582.6 116.8 - - 2469 - - - - - - - - 14.89 14.78 14.92
20987 288.8 9.6 1443 20991 roll 0.81 - - 3574 - 2.53 0.111 938 -559.3 116.8 - - 2469 - - - - - - - - 15.09 14.75 15.11
21052 282.8 9.2 1456 21056 done 0.81 - - 3574 - 2.42 0.084 2351 583.9 116.8 - - 2469 - - - - - - - - 14.88 14.78 14.92
21373 251.0 10.2 1470 21377 roll 0.81 - - 3574 - 2.47 0.117 3764 572.1 116.8 - - 2469 - - - - - - - - 15.09 14.76 15.11
21439 243.2 12.4 1483 21444 done 0.81 - - 3570 - 2.40 0.081 2344 -591.7 116.8 - - 2469 - - - - - - - - 14.89 14.79 14.92
21750 209.6 9.9 1515 21755 roll 0.81 - - 3573 - 2.53 0.112 3769 563.2 116.8 - - 2470 - - - - - - - - 15.08 14.75 15.10
21816 202.9 10.6 1528 21823 done 0.81 - - 3571 - 2.40 0.081 2351 -590.8 116.8 - - 2469 - - - - - - - - 14.88 14.78 14.91
22122 180.6 7.1 1559 22126 roll 0.87 - - 3571 - 2.45 0.108 944 -574.3 116.8 - - 2469 - - - - - - - - 15.07 14.74 15.09
22353 161.7 8.4 1605 22358 done 0.87 - - 3574 - 2.40 0.081 2353 587.1 116.8 - - 2469 - - - - - - - - 14.86 14.76 14.89
22659 138.1 8.2 1636 22660 done 0.87 - - 3573 - - - 2354 - 116.8 - - 2469 - - - - - - - - 15.06 15.08 15.08
22959 118.1 5.1 1666 22970 roll 1.08 0.17 0.112 3657 494.1 2.47 0.101 942 -571.7 116.8 - - 2469 - - - - - - - - 14.78 14.73 14.84
23112 111.0 4.6 1696 23181 done 1.17 - - 3656 - 2.40 0.079 2354 588.3 190.3 59.05 0.955 2187 -4.8 0.102 - - - - - - 14.86 14.76 14.14
23482 68.8 14.8 1740 23491 roll 1.17 - - 3656 - 2.47 0.112 3763 570.4 190.3 - - 2182 - - - - - - - - 14.89 14.59 14.90
23516 63.8 13.1 1747 23524 done 1.17 - - 3657 - 2.40 0.076 2345 -590.8 190.3 - - 2182 - - - - - - - - 14.72 14.64 14.74
23823 41.8 4.9 1793 23882 done 1.25 0.12 0.132 3717 500.0 - - 2346 - 258.1 52.60 0.848 1909 -5.2 0.047 - - - - - - 14.69 14.42 14.13
24183 6.2 13.1 1863 24190 roll 1.25 - - 3717 - 2.45 0.101 945 -571.8 258.1 - - 1904 - - - - - - - - 14.84 14.57 14.87
24211 end climb: SURFACE_DEPTH_REACHED
24211 begin surface coast
24233 end surface coast: CONTROL_FINISHED_OK
24233 begin surface
SM 1.00 - - - - -9.64 9.10 0.062 190 20.9 2.55 0.070 2410 742.7 450.12 83.88 0.083 1131 13.5 -0.017 - - - - - -