NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 99 * Raw log
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• Previous call tries 1 • 27.28 of 350.00 AH used of 24V (92.21% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.0 deg, depth 1.07 m • Intended pitch -17.0 deg, speed -8.049 cm/s
• VBD pumped to 450.12 (SM_CC=450)
• GPS1 time: 28 s
• GPS2 time: 7 s • Transponder ping count: 227
• 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 - - - 2404 - -116.8 -81.60 - 3194 - - - - - - - - 14.78 - 14.80
101 3.9 -6.5 14 127 roll -0.71 11.60 0.369 3065 248.2 2.72 2.165 995 -518.0 -116.8 -4.60 - 3448 -55.2 - - - - - - - 14.31 13.57 14.49
154 21.5 -26.9 23 161 done -0.71 - - 3064 - 2.42 0.075 2402 581.4 -116.8 - - 3448 - - - - - - - - 14.58 14.49 14.60
467 67.4 -11.2 70 472 roll -0.71 - - 3064 - 2.47 0.099 990 -571.7 -116.8 - - 3449 - - - - - - - - 14.90 14.60 14.91
624 86.3 -11.4 101 633 done -0.71 - - 3064 - 2.40 0.074 2404 589.2 -116.8 - - 3450 - - - - - - - - 14.75 14.65 14.77
934 121.8 -10.2 133 943 roll -0.71 - - 3064 - 2.47 0.099 983 -575.3 -116.8 - - 3452 - - - - - - - - 14.97 14.69 14.99
988 128.1 -11.1 144 996 done -0.71 - - 3064 - 2.42 0.077 2408 588.8 -116.8 - - 3453 - - - - - - - - 14.81 14.71 14.83
1294 159.8 -10.2 175 1299 roll -0.71 - - 3065 - 2.50 0.104 981 -570.8 -116.8 - - 3453 - - - - - - - - 15.02 14.72 15.04
1310 161.5 -10.0 178 1315 done -0.71 - - 3064 - 2.40 0.080 2400 591.2 -116.8 - - 3453 - - - - - - - - 14.83 14.74 14.86
1616 187.9 -9.0 209 1625 roll -0.71 - - 3064 - 2.45 0.120 3812 576.3 -116.8 - - 3454 - - - - - - - - 15.04 14.73 15.07
1740 200.1 -9.4 234 1747 done -0.71 - - 3064 - 2.38 0.076 2394 -595.8 -116.8 - - 3453 - - - - - - - - 14.86 14.76 14.88
2047 229.3 -8.9 265 2056 roll -0.71 - - 3064 - 2.50 0.118 3810 566.4 -116.8 - - 3453 - - - - - - - - 15.06 14.74 15.08
2118 235.1 -7.6 279 2122 done -0.71 - - 3064 - 2.38 0.077 2393 -595.4 -116.8 - - 3453 - - - - - - - - 14.88 14.77 14.90
2443 256.0 -6.3 306 2447 roll -0.71 - - 3065 - 2.38 0.103 993 -588.2 -116.8 - - 3453 - - - - - - - - 15.08 14.75 15.09
2527 262.6 -7.7 323 2535 done -0.71 - - 3064 - 2.40 0.080 2402 587.1 -116.8 - - 3453 - - - - - - - - 14.89 14.78 14.91
2834 289.6 -9.6 334 2839 roll -0.71 - - 3064 - 2.47 0.125 3817 572.9 -116.8 - - 3451 - - - - - - - - 15.09 14.77 15.11
2944 299.3 -7.9 356 2952 done -0.71 - - 3064 - 2.40 0.080 2392 -593.8 -116.8 - - 3450 - - - - - - - - 14.90 14.79 14.92
3250 320.6 -6.5 367 3255 roll -0.71 - - 3064 - 2.45 0.110 976 -578.0 -116.8 - - 3449 - - - - - - - - 15.10 14.79 15.12
3381 329.7 -7.2 393 3385 done -0.71 - - 3064 - 2.42 0.080 2401 588.8 -116.8 - - 3448 - - - - - - - - 14.90 14.80 14.93
3692 352.1 -7.6 405 3698 roll -0.71 - - 3064 - 2.47 0.125 3812 571.3 -116.8 - - 3446 - - - - - - - - 15.11 14.77 15.13
3770 358.2 -7.9 421 3775 done -0.71 - - 3064 - 2.40 0.080 2394 -590.8 -116.8 - - 3446 - - - - - - - - 14.91 14.80 14.93
4077 382.9 -8.3 432 4078 done -0.71 - - 3064 - - - 2394 - -116.8 - - 3444 - - - - - - - - 15.11 15.14 15.14
4377 408.1 -8.2 442 4381 roll -0.71 - - 3065 - 2.45 0.109 977 -578.4 -116.8 - - 3443 - - - - - - - - 15.12 14.80 15.14
4433 412.8 -8.2 453 4439 done -0.71 - - 3064 - 2.42 0.080 2404 589.7 -116.8 - - 3442 - - - - - - - - 14.92 14.81 14.95
4763 436.5 -7.1 469 4769 roll -0.71 - - 3064 - 2.45 0.120 3813 575.1 -116.8 - - 3439 - - - - - - - - 15.12 14.78 15.14
4861 443.8 -7.2 489 4866 done -0.71 - - 3064 - 2.38 0.078 2396 -595.4 -116.8 - - 3440 - - - - - - - - 14.92 14.82 14.94
5178 467.5 -7.9 502 5182 roll -0.71 - - 3064 - 2.47 0.112 980 -573.3 -116.8 - - 3438 - - - - - - - - 15.12 14.78 15.14
5217 470.9 -8.3 510 5221 done -0.71 - - 3064 - 2.45 0.085 2404 581.2 -116.8 - - 3438 - - - - - - - - 14.92 14.81 14.94
5534 497.1 -8.3 523 5538 roll -0.71 - - 3064 - 2.47 0.123 3819 572.9 -116.8 - - 3436 - - - - - - - - 15.12 14.78 15.14
5608 503.6 -8.3 538 5613 done -0.71 - - 3064 - 2.40 0.079 2398 -592.1 -116.8 - - 3436 - - - - - - - - 14.92 14.81 14.94
5920 529.2 -8.5 550 5924 roll -0.71 - - 3064 - 2.47 0.117 983 -572.9 -116.8 - - 3434 - - - - - - - - 15.12 14.78 15.14
6015 538.0 -8.7 569 6019 done -0.71 - - 3064 - 2.45 0.085 2404 580.0 -116.8 - - 3434 - - - - - - - - 14.91 14.80 14.94
6331 564.8 -8.4 582 6336 roll -0.71 - - 3064 - 2.47 0.123 3817 572.1 -116.8 - - 3433 - - - - - - - - 15.12 14.77 15.14
6486 577.9 -8.4 613 6490 done -0.71 - - 3064 - 2.40 0.080 2398 -591.2 -116.8 - - 3432 - - - - - - - - 14.90 14.79 14.93
6802 602.1 -7.1 626 6807 roll -0.71 - - 3064 - 2.47 0.116 985 -572.1 -116.8 - - 3430 - - - - - - - - 15.12 14.76 15.14
6867 606.9 -7.6 639 6871 done -0.71 - - 3064 - 2.45 0.085 2402 578.4 -116.8 - - 3430 - - - - - - - - 14.90 14.79 14.93
7183 627.8 -6.7 652 7188 roll -0.71 - - 3064 - 2.47 0.120 3818 573.3 -116.8 - - 3429 - - - - - - - - 15.12 14.76 15.14
7233 631.4 -7.1 662 7237 done -0.71 - - 3065 - 2.40 0.077 2390 -595.0 -116.8 - - 3428 - - - - - - - - 14.91 14.81 14.93
7545 653.3 -7.1 674 7546 done -0.71 - - 3064 - - - 2390 - -116.8 - - 3428 - - - - - - - - 15.12 15.14 15.14
7845 675.0 -7.3 684 7846 done -0.71 - - 3064 - - - 2389 - -116.8 - - 3427 - - - - - - - - 15.13 15.15 15.14
8145 696.7 -7.2 694 8146 done -0.71 - - 3064 - - - 2390 - -116.8 - - 3426 - - - - - - - - 15.13 15.15 15.15
8445 718.3 -7.3 704 8446 done -0.71 - - 3064 - - - 2390 - -116.8 - - 3426 - - - - - - - - 15.11 15.13 15.13
8745 740.2 -7.2 714 8749 roll -0.71 - - 3064 - 2.45 0.112 987 -572.7 -116.8 - - 3424 - - - - - - - - 15.14 14.77 15.15
8789 743.7 -7.2 723 8793 done -0.71 - - 3064 - 2.45 0.086 2402 577.6 -116.8 - - 3424 - - - - - - - - 14.91 14.79 14.94
9101 766.6 -7.3 735 9105 roll -0.71 - - 3064 - 2.47 0.120 3817 572.9 -116.8 - - 3424 - - - - - - - - 15.13 14.76 15.15
9145 770.0 -7.5 744 9150 done -0.71 - - 3064 - 2.40 0.078 2393 -593.3 -116.8 - - 3423 - - - - - - - - 14.91 14.80 14.93
9457 791.5 -6.6 756 9461 roll -0.71 - - 3064 - 2.45 0.112 991 -572.2 -116.8 - - 3423 - - - - - - - - 15.13 14.76 15.15
9491 794.1 -7.8 763 9495 done -0.71 - - 3064 - 2.47 0.081 2403 571.7 -116.8 - - 3423 - - - - - - - - 14.83 14.76 14.86
9818 814.3 -6.1 778 9823 roll -0.71 - - 3064 - 2.45 0.119 3809 573.9 -116.8 - - 3423 - - - - - - - - 15.12 14.72 15.14
9879 818.3 -6.7 790 9884 done -0.71 - - 3065 - 2.40 0.078 2391 -590.8 -116.8 - - 3423 - - - - - - - - 14.90 14.79 14.92
10206 836.6 -5.4 805 10212 roll -0.71 - - 3064 - 2.55 0.122 3816 558.8 -116.8 - - 3422 - - - - - - - - 15.11 14.73 15.14
10244 838.9 -6.2 813 10249 done -0.71 - - 3065 - 2.40 0.076 2390 -594.2 -116.8 - - 3422 - - - - - - - - 14.90 14.79 14.92
10560 855.8 -5.4 826 10562 done -0.71 - - 3064 - - - 2390 - -116.8 - - 3422 - - - - - - - - 15.12 15.14 15.14
10861 872.2 -5.6 836 10865 roll -0.71 - - 3065 - 2.45 0.111 989 -571.8 -116.8 - - 3421 - - - - - - - - 15.12 14.73 15.14
10900 874.9 -6.4 844 10905 done -0.71 - - 3064 - 2.42 0.081 2400 583.1 -116.8 - - 3421 - - - - - - - - 14.89 14.77 14.92
11222 894.7 -6.4 858 11224 done -0.71 - - 3064 - - - 2400 - -116.8 - - 3420 - - - - - - - - 15.12 15.14 15.14
11522 915.2 -6.9 868 11527 roll -0.71 - - 3064 - 2.47 0.122 3810 570.9 -116.8 - - 3420 - - - - - - - - 15.12 14.73 15.14
11596 921.0 -8.0 883 11601 done -0.71 - - 3064 - 2.38 0.075 2400 -592.4 -116.8 - - 3419 - - - - - - - - 14.89 14.78 14.92
11913 943.2 -7.1 896 11914 done -0.71 - - 3064 - - - 2400 - -116.8 - - 3419 - - - - - - - - 15.11 15.14 15.14
12213 963.7 -6.7 906 12215 done -0.71 - - 3064 - - - 2400 - -116.8 - - 3419 - - - - - - - - 15.12 15.14 15.14
12513 982.5 -5.9 916 12515 done -0.71 - - 3064 - - - 2400 - -116.8 - - 3418 - - - - - - - - 15.12 15.14 15.14
12662 end dive: TARGET_DEPTH_EXCEEDED
12662 begin apogee
12667 991.0 -5.6 921 12775 done -0.17 0.55 0.197 3240 320.0 - - 2347 - - 104.68 2.013 2966 -4.3 0.392 - - - - - - 14.69 14.11 13.44
12776 end apogee: CONTROL_FINISHED_OK
12776 begin climb
12777 992.2 - 924 12891 done 0.71 0.85 0.142 3523 332.9 - - 2347 - 116.8 109.72 2.037 2490 -4.3 0.390 - - - - - - 14.06 13.94 13.30
13174 959.3 9.5 938 13180 roll 0.71 - - 3524 - 2.60 0.130 942 -540.4 116.8 - - 2478 - - - - - - - - 14.71 14.41 14.73
13212 955.3 10.0 946 13216 done 0.71 - - 3524 - 2.50 0.085 2349 562.8 116.8 - - 2477 - - - - - - - - 14.55 14.45 14.58
13528 925.8 9.2 959 13535 roll 0.71 - - 3524 - 2.55 0.123 3766 555.7 116.8 - - 2476 - - - - - - - - 14.85 14.54 14.87
13566 921.7 10.7 967 13571 done 0.71 - - 3525 - 2.47 0.090 2355 -571.3 116.8 - - 2475 - - - - - - - - 14.68 14.54 14.71
13888 892.5 8.9 981 13893 roll 0.71 - - 3525 - 2.58 0.129 938 -549.2 116.8 - - 2475 - - - - - - - - 14.92 14.60 14.94
14011 881.9 9.0 1005 14015 done 0.71 - - 3524 - 2.47 0.085 2353 572.9 116.8 - - 2474 - - - - - - - - 14.75 14.64 14.78
14342 853.0 8.6 1021 14343 done 0.71 - - 3524 - - - 2353 - 116.8 - - 2474 - - - - - - - - 14.99 15.01 15.00
14642 827.2 8.6 1031 14646 roll 0.71 - - 3524 - 2.50 0.124 3760 562.8 116.8 - - 2474 - - - - - - - - 15.00 14.66 15.02
14698 821.9 9.5 1042 14705 done 0.71 - - 3525 - 2.42 0.083 2345 -584.7 116.8 - - 2474 - - - - - - - - 14.81 14.69 14.83
15028 794.3 8.4 1058 15035 roll 0.71 - - 3524 - 2.53 0.122 938 -556.1 116.8 - - 2473 - - - - - - - - 15.03 14.68 15.04
15171 782.6 8.3 1087 15178 done 0.71 - - 3524 - 2.47 0.085 2357 574.5 116.8 - - 2472 - - - - - - - - 14.82 14.71 14.85
15478 757.7 8.3 1098 15480 done 0.71 - - 3524 - - - 2357 - 116.8 - - 2472 - - - - - - - - 15.04 15.06 15.06
15778 731.2 9.0 1108 15782 roll 0.71 - - 3524 - 2.55 0.113 939 -556.1 116.8 - - 2472 - - - - - - - - 15.03 14.70 15.05
15848 724.5 9.6 1122 15852 done 0.71 - - 3524 - 2.45 0.086 2355 578.0 116.8 - - 2471 - - - - - - - - 14.84 14.72 14.87
16160 695.8 9.2 1134 16161 done 0.71 - - 3524 - - - 2355 - 116.8 - - 2471 - - - - - - - - 15.06 15.08 15.08
16459 669.2 8.7 1144 16464 roll 0.71 - - 3524 - 2.53 0.125 3764 556.9 116.8 - - 2471 - - - - - - - - 15.07 14.71 15.09
16499 665.2 10.0 1152 16503 done 0.71 - - 3524 - 2.42 0.080 2346 -586.0 116.8 - - 2471 - - - - - - - - 14.85 14.75 14.88
16810 638.3 8.5 1164 16815 roll 0.71 - - 3524 - 2.47 0.118 930 -573.3 116.8 - - 2471 - - - - - - - - 15.07 14.70 15.09
16845 635.2 9.0 1171 16849 done 0.71 - - 3524 - 2.45 0.083 2351 580.0 116.8 - - 2470 - - - - - - - - 14.85 14.74 14.89
17167 608.2 8.3 1185 17168 done 0.71 - - 3524 - - - 2350 - 116.8 - - 2471 - - - - - - - - 15.08 15.10 15.10
17467 584.1 7.5 1195 17468 done 0.75 - - 3524 - - - 2350 - 116.8 - - 2471 - - - - - - - - 15.08 15.11 15.11
17767 561.4 7.8 1205 17771 roll 0.75 - - 3524 - 2.50 0.124 3769 567.6 116.8 - - 2470 - - - - - - - - 15.09 14.71 15.11
17832 555.6 9.0 1218 17836 done 0.75 - - 3524 - 2.42 0.081 2343 -589.3 116.8 - - 2470 - - - - - - - - 14.87 14.76 14.90
18153 529.2 8.1 1232 18157 roll 0.75 - - 3524 - 2.50 0.117 934 -563.6 116.8 - - 2471 - - - - - - - - 15.09 14.71 15.11
18209 524.5 8.2 1243 18214 done 0.75 - - 3524 - 2.47 0.084 2361 577.7 116.8 - - 2471 - - - - - - - - 14.86 14.75 14.90
18536 498.0 8.0 1258 18542 roll 0.75 - - 3523 - 2.55 0.109 934 -559.6 116.8 - - 2470 - - - - - - - - 15.09 14.71 15.11
18558 495.8 8.5 1263 18566 done 0.75 - - 3524 - 2.45 0.083 2348 577.1 116.8 - - 2470 - - - - - - - - 14.86 14.74 14.90
18866 470.4 8.4 1274 18872 roll 0.75 - - 3524 - 2.50 0.125 3758 564.0 116.8 - - 2470 - - - - - - - - 15.09 14.71 15.11
18934 463.9 9.6 1288 18938 done 0.75 - - 3524 - 2.40 0.079 2347 -587.9 116.8 - - 2470 - - - - - - - - 14.87 14.76 14.90
19256 436.0 8.8 1302 19262 roll 0.75 - - 3524 - 2.50 0.114 935 -564.8 116.8 - - 2470 - - - - - - - - 15.09 14.71 15.11
19324 429.9 8.4 1316 19328 done 0.75 - - 3524 - 2.45 0.083 2352 578.4 116.8 - - 2470 - - - - - - - - 14.86 14.74 14.90
19640 403.0 8.4 1329 19645 roll 0.75 - - 3524 - 2.50 0.123 3762 564.0 116.8 - - 2470 - - - - - - - - 15.09 14.70 15.11
19705 397.1 9.2 1342 19709 done 0.75 - - 3524 - 2.40 0.079 2350 -588.3 116.8 - - 2471 - - - - - - - - 14.86 14.76 14.90
20027 371.4 7.8 1356 20031 roll 0.75 - - 3523 - 2.53 0.116 3761 557.7 116.8 - - 2470 - - - - - - - - 15.09 14.71 15.11
20053 369.2 8.5 1361 20057 done 0.75 - - 3524 - 2.40 0.080 2348 -588.8 116.8 - - 2470 - - - - - - - - 14.87 14.76 14.90
20384 341.9 8.4 1377 20389 roll 0.75 - - 3524 - 2.50 0.113 934 -565.6 116.8 - - 2470 - - - - - - - - 15.07 14.71 15.09
20453 336.3 7.6 1391 20458 done 0.75 - - 3524 - 2.45 0.082 2357 580.8 116.8 - - 2470 - - - - - - - - 14.86 14.75 14.90
20776 312.7 7.5 1405 20780 roll 0.79 - - 3524 - 2.55 0.107 939 -556.1 116.8 - - 2470 - - - - - - - - 15.09 14.71 15.10
20810 310.0 7.3 1412 20816 done 0.84 0.10 0.094 3577 530.0 2.47 0.083 2348 570.4 116.8 - - 2470 - - - - - - - - 14.76 14.72 14.81
21137 279.4 9.5 1427 21142 roll 0.84 - - 3577 - 2.50 0.122 3764 566.4 116.8 - - 2471 - - - - - - - - 15.09 14.71 15.11
21196 272.9 11.3 1439 21201 done 0.84 - - 3580 - 2.45 0.078 2346 -578.8 116.8 - - 2470 - - - - - - - - 14.78 14.71 14.81
21504 243.6 8.7 1458 21513 roll 0.84 - - 3580 - 2.47 0.112 942 -568.4 116.8 - - 2470 - - - - - - - - 15.08 14.71 15.10
21618 234.1 7.8 1481 21626 done 0.84 - - 3580 - 2.45 0.083 2358 578.0 116.8 - - 2471 - - - - - - - - 14.85 14.73 14.88
21925 207.6 8.5 1512 21929 roll 0.84 - - 3580 - 2.47 0.119 3763 568.8 116.8 - - 2470 - - - - - - - - 15.07 14.69 15.09
22081 192.3 10.0 1543 22085 done 0.84 - - 3580 - 2.40 0.078 2348 -589.6 116.8 - - 2470 - - - - - - - - 14.85 14.73 14.88
22386 161.8 9.4 1574 22395 roll 0.84 - - 3580 - 2.47 0.109 940 -570.0 116.8 - - 2471 - - - - - - - - 15.07 14.69 15.08
22450 156.2 8.1 1587 22457 done 0.84 - - 3580 - 2.42 0.078 2354 584.3 116.8 - - 2470 - - - - - - - - 14.83 14.72 14.87
22758 138.2 5.3 1618 22760 done 1.03 0.15 0.120 3644 426.7 - - 2355 - 116.8 - - 2470 - - - - - - - - 14.79 14.88 14.87
23057 112.5 9.5 1648 23061 roll 1.03 - - 3645 - 2.50 0.101 939 -566.4 116.8 - - 2470 - - - - - - - - 15.04 14.70 15.06
23283 93.4 7.0 1693 23288 done 1.10 - - 3644 - 2.42 0.075 2364 588.8 116.8 - - 2470 - - - - - - - - 14.83 14.73 14.87
23595 75.8 5.0 1725 23656 roll 1.18 0.12 0.134 3706 516.7 2.55 0.098 930 -562.4 183.2 52.35 0.915 2216 -4.9 0.074 - - - - - - 14.76 14.54 14.19
23808 56.3 11.4 1767 23813 done 1.18 - - 3705 - 2.45 0.073 2356 582.0 183.2 - - 2213 - - - - - - - - 14.69 14.60 14.71
24113 39.0 0.6 1823 24244 roll 1.38 0.12 0.139 3763 483.3 2.58 0.096 934 -551.2 343.2 121.72 0.832 1562 -5.3 0.046 - - - - - - 14.64 14.23 13.95
24382 end climb: SURFACE_DEPTH_REACHED
24382 begin surface coast
24398 end surface coast: CONTROL_FINISHED_OK
24398 begin surface
SM 0.85 - - - - -9.64 9.35 0.065 191 20.3 2.60 0.070 2406 -3310.0 450.12 47.10 0.083 1131 24.0 -0.025 - - - - - -