NASCAR Dec16 * SG528 * Dive index * Mission links * Dive 156 * Raw log
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• Previous call tries 1 • 42.01 of 350.00 AH used of 24V (88.00% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.5 deg, depth 0.89 m • Intended pitch -17.0 deg, speed -8.049 cm/s
• VBD pumped to 450.12 (SM_CC=450)
• GPS1 time: 27 s
• GPS2 time: 5 s • Transponder ping count: 224
• 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 - - - 98 VBD -0.71 - - 185 - - - 2381 - -116.8 -80.32 - 3158 - - - - - - - - 14.78 - 14.80
100 3.6 -6.0 14 126 roll -0.71 11.60 0.366 3048 246.8 2.67 2.150 994 -519.5 -116.8 -5.38 - 3447 -53.7 - - - - - - - 14.25 13.41 14.44
148 18.7 -26.5 22 154 done -0.71 - - 3048 - 2.45 0.077 2407 576.7 -116.8 - - 3448 - - - - - - - - 14.58 14.48 14.59
457 62.1 -12.0 73 466 roll -0.71 - - 3048 - 2.45 0.104 3819 576.3 -116.8 - - 3450 - - - - - - - - 14.88 14.53 14.90
531 71.3 -12.3 88 539 done -0.71 - - 3048 - 2.38 0.067 2405 -594.1 -116.8 - - 3450 - - - - - - - - 14.69 14.58 14.71
837 103.4 -10.2 119 842 roll -0.71 - - 3048 - 2.45 0.102 992 -576.7 -116.8 - - 3453 - - - - - - - - 14.97 14.59 14.98
1064 126.0 -9.5 164 1068 done -0.71 - - 3048 - 2.40 0.078 2401 587.1 -116.8 - - 3454 - - - - - - - - 14.76 14.64 14.78
1375 160.3 -11.6 196 1379 roll -0.71 - - 3048 - 2.45 0.107 3820 579.2 -116.8 - - 3454 - - - - - - - - 15.02 14.64 15.04
1466 170.5 -10.9 214 1471 done -0.71 - - 3048 - 2.38 0.070 2396 -598.3 -116.8 - - 3454 - - - - - - - - 14.78 14.68 14.81
1772 196.2 -6.4 245 1781 roll -0.71 - - 3048 - 2.45 0.104 983 -576.7 -116.8 - - 3455 - - - - - - - - 15.04 14.65 15.05
1853 202.1 -6.9 261 1862 done -0.71 - - 3048 - 2.40 0.073 2399 590.0 -116.8 - - 3455 - - - - - - - - 14.80 14.69 14.83
2163 227.3 -9.1 293 2172 roll -0.71 - - 3048 - 2.45 0.108 3818 579.2 -116.8 - - 3455 - - - - - - - - 15.05 14.66 15.07
2224 232.9 -9.2 305 2233 done -0.71 - - 3048 - 2.40 0.068 2387 -596.2 -116.8 - - 3455 - - - - - - - - 14.81 14.71 14.84
2554 260.5 -8.0 331 2556 done -0.71 - - 3048 - - - 2387 - -116.8 - - 3454 - - - - - - - - 15.07 15.09 15.08
2854 288.0 -9.3 341 2860 roll -0.71 - - 3048 - 2.42 0.103 988 -578.1 -116.8 - - 3453 - - - - - - - - 15.09 14.68 15.10
2884 290.7 -9.0 347 2888 done -0.71 - - 3048 - 2.40 0.073 2400 588.3 -116.8 - - 3453 - - - - - - - - 14.84 14.72 14.86
3210 318.4 -8.1 362 3214 roll -0.71 - - 3048 - 2.45 0.109 3817 578.4 -116.8 - - 3451 - - - - - - - - 15.09 14.68 15.11
3245 321.4 -8.5 369 3249 done -0.71 - - 3048 - 2.38 0.069 2394 -597.9 -116.8 - - 3451 - - - - - - - - 14.85 14.73 14.88
3561 345.2 -7.6 382 3565 roll -0.71 - - 3048 - 2.40 0.103 998 -581.7 -116.8 - - 3449 - - - - - - - - 15.10 14.64 15.11
3640 352.4 -9.0 398 3644 done -0.71 - - 3048 - 2.40 0.073 2408 587.5 -116.8 - - 3448 - - - - - - - - 14.85 14.73 14.88
3952 380.6 -9.3 410 3956 roll -0.71 - - 3048 - 2.42 0.109 3809 578.9 -116.8 - - 3447 - - - - - - - - 15.10 14.68 15.12
4008 385.7 -8.8 421 4015 done -0.71 - - 3048 - 2.35 0.069 2401 -599.1 -116.8 - - 3447 - - - - - - - - 14.85 14.74 14.88
4339 412.6 -7.9 437 4345 roll -0.71 - - 3048 - 2.45 0.104 990 -575.9 -116.8 - - 3445 - - - - - - - - 15.10 14.68 15.12
4446 421.7 -8.0 459 4450 done -0.71 - - 3048 - 2.42 0.073 2408 586.0 -116.8 - - 3444 - - - - - - - - 14.84 14.72 14.88
4758 443.7 -7.0 471 4762 roll -0.71 - - 3048 - 2.42 0.109 3809 578.9 -116.8 - - 3443 - - - - - - - - 15.11 14.67 15.12
4832 449.2 -7.3 486 4836 done -0.71 - - 3048 - 2.38 0.069 2392 -595.4 -116.8 - - 3442 - - - - - - - - 14.85 14.74 14.88
5144 472.7 -7.9 498 5148 roll -0.71 - - 3047 - 2.42 0.104 997 -576.4 -116.8 - - 3440 - - - - - - - - 15.11 14.66 15.12
5163 474.5 -8.4 502 5170 done -0.71 - - 3047 - 2.40 0.073 2402 585.4 -116.8 - - 3440 - - - - - - - - 14.84 14.72 14.88
5471 498.5 -7.6 513 5477 roll -0.71 - - 3048 - 2.45 0.109 3812 575.5 -116.8 - - 3439 - - - - - - - - 15.08 14.67 15.10
5549 504.6 -7.7 529 5553 done -0.71 - - 3048 - 2.38 0.070 2394 -595.8 -116.8 - - 3439 - - - - - - - - 14.85 14.73 14.88
5855 526.7 -7.2 540 5860 roll -0.71 - - 3047 - 2.45 0.104 987 -574.3 -116.8 - - 3437 - - - - - - - - 15.11 14.66 15.12
5889 529.5 -7.5 547 5894 done -0.71 - - 3048 - 2.47 0.073 2403 573.3 -116.8 - - 3437 - - - - - - - - 14.74 14.67 14.79
6217 553.8 -7.6 562 6218 done -0.71 - - 3048 - - - 2403 - -116.8 - - 3436 - - - - - - - - 15.10 15.12 15.12
6517 576.5 -7.5 572 6518 done -0.71 - - 3048 - - - 2403 - -116.8 - - 3435 - - - - - - - - 15.11 15.13 15.13
6816 600.0 -8.0 582 6823 roll -0.71 - - 3048 - 2.50 0.099 988 -566.0 -116.8 - - 3433 - - - - - - - - 15.11 14.66 15.13
6870 604.5 -8.4 593 6877 done -0.71 - - 3048 - 2.42 0.073 2403 584.7 -116.8 - - 3433 - - - - - - - - 14.83 14.72 14.88
7177 626.6 -7.0 604 7181 roll -0.71 - - 3048 - 2.45 0.112 3808 573.5 -116.8 - - 3432 - - - - - - - - 15.11 14.66 15.12
7241 631.2 -6.8 617 7246 done -0.71 - - 3048 - 2.38 0.071 2399 -592.0 -116.8 - - 3432 - - - - - - - - 14.85 14.73 14.88
7563 651.8 -6.4 631 7570 roll -0.71 - - 3048 - 2.45 0.104 995 -573.1 -116.8 - - 3431 - - - - - - - - 15.11 14.65 15.12
7612 655.3 -7.5 641 7616 done -0.71 - - 3048 - 2.42 0.074 2409 584.3 -116.8 - - 3431 - - - - - - - - 14.83 14.71 14.86
7918 675.9 -6.7 652 7923 roll -0.71 - - 3048 - 2.45 0.112 3811 572.2 -116.8 - - 3430 - - - - - - - - 15.11 14.64 15.12
7988 680.8 -6.9 666 7992 done -0.71 - - 3048 - 2.38 0.071 2400 -592.9 -116.8 - - 3430 - - - - - - - - 14.84 14.73 14.87
8310 700.8 -6.1 680 8314 roll -0.71 - - 3048 - 2.45 0.103 996 -573.1 -116.8 - - 3428 - - - - - - - - 15.11 14.64 15.12
8380 705.2 -5.5 694 8384 done -0.71 - - 3048 - 2.42 0.074 2407 583.1 -116.8 - - 3428 - - - - - - - - 14.83 14.70 14.85
8696 725.2 -6.4 707 8701 roll -0.71 - - 3048 - 2.47 0.113 3817 570.9 -116.8 - - 3427 - - - - - - - - 15.10 14.64 15.12
8736 728.0 -6.8 715 8740 done -0.71 - - 3047 - 2.40 0.071 2399 -590.8 -116.8 - - 3427 - - - - - - - - 14.83 14.72 14.86
9052 749.6 -7.1 728 9057 roll -0.71 - - 3048 - 2.47 0.105 984 -572.9 -116.8 - - 3426 - - - - - - - - 15.10 14.64 15.11
9084 752.0 -7.9 734 9088 done -0.71 - - 3048 - 2.45 0.076 2409 581.6 -116.8 - - 3426 - - - - - - - - 14.82 14.69 14.85
9410 777.3 -7.9 749 9416 roll -0.71 - - 3048 - 2.47 0.113 3820 571.3 -116.8 - - 3425 - - - - - - - - 15.10 14.63 15.12
9433 779.3 -7.9 754 9440 done -0.71 - - 3048 - 2.40 0.071 2401 -591.2 -116.8 - - 3425 - - - - - - - - 14.83 14.72 14.86
9740 802.6 -7.4 765 9747 roll -0.71 - - 3048 - 2.47 0.105 989 -571.7 -116.8 - - 3425 - - - - - - - - 15.10 14.63 15.11
9783 806.2 -8.5 774 9787 done -0.71 - - 3048 - 2.45 0.075 2408 579.2 -116.8 - - 3425 - - - - - - - - 14.82 14.69 14.85
10100 827.4 -6.6 787 10107 roll -0.71 - - 3048 - 2.47 0.114 3816 570.0 -116.8 - - 3424 - - - - - - - - 15.10 14.62 15.11
10133 829.7 -6.7 794 10137 done -0.71 - - 3048 - 2.45 0.073 2399 -578.4 -116.8 - - 3424 - - - - - - - - 14.71 14.66 14.77
10460 850.0 -6.1 809 10467 roll -0.71 - - 3048 - 2.47 0.105 989 -570.9 -116.8 - - 3423 - - - - - - - - 15.09 14.62 15.11
10508 853.5 -7.0 819 10512 done -0.71 - - 3048 - 2.45 0.076 2406 578.4 -116.8 - - 3423 - - - - - - - - 14.81 14.68 14.85
10820 873.4 -6.5 831 10821 done -0.71 - - 3048 - - - 2406 - -116.8 - - 3423 - - - - - - - - 15.09 15.11 15.11
11121 894.9 -7.4 841 11127 roll -0.71 - - 3047 - 2.47 0.116 3810 568.4 -116.8 - - 3422 - - - - - - - - 15.09 14.61 15.11
11164 898.3 -8.1 850 11168 done -0.71 - - 3048 - 2.42 0.073 2386 -588.4 -116.8 - - 3422 - - - - - - - - 14.82 14.70 14.85
11475 920.9 -7.2 862 11479 roll -0.71 - - 3048 - 2.45 0.106 995 -567.8 -116.8 - - 3422 - - - - - - - - 15.09 14.62 15.11
11550 926.7 -7.9 877 11554 done -0.71 - - 3048 - 2.42 0.077 2399 580.2 -116.8 - - 3421 - - - - - - - - 14.80 14.66 14.83
11856 947.2 -6.7 888 11861 roll -0.71 - - 3048 - 2.50 0.116 3813 565.6 -116.8 - - 3421 - - - - - - - - 15.09 14.60 15.11
11917 951.4 -6.7 900 11922 done -0.71 - - 3048 - 2.40 0.075 2401 -588.3 -116.8 - - 3421 - - - - - - - - 14.81 14.68 14.83
12249 973.4 -6.6 916 12253 roll -0.71 - - 3048 - 2.50 0.109 987 -565.6 -116.8 - - 3421 - - - - - - - - 15.09 14.60 15.11
12323 979.0 -7.5 931 12328 done -0.71 - - 3048 - 2.47 0.081 2407 574.9 -116.8 - - 3421 - - - - - - - - 14.79 14.66 14.83
12519 end dive: TARGET_DEPTH_EXCEEDED
12519 begin apogee
12523 991.6 -6.5 940 12632 done -0.17 0.62 0.203 3241 311.3 - - 2337 - - 105.43 2.032 2966 -4.3 0.390 - - - - - - 14.57 14.08 13.37
12633 end apogee: CONTROL_FINISHED_OK
12633 begin climb
12635 993.5 - 943 12754 roll 0.71 0.82 0.140 3522 342.7 2.72 0.124 954 -508.5 116.8 108.55 2.056 2486 -4.4 0.396 - - - - - - 14.04 13.88 13.23
12770 986.9 6.9 975 12775 done 0.79 0.10 0.171 3554 320.0 2.58 0.080 2358 544.2 116.8 - - 2482 - - - - - - - - 14.04 14.04 14.12
13087 954.1 10.7 988 13092 roll 0.79 - - 3554 - 2.55 0.114 3766 552.2 116.8 - - 2478 - - - - - - - - 14.73 14.35 14.75
13152 946.0 12.5 1001 13157 done 0.79 - - 3555 - 2.47 0.080 2358 -570.0 116.8 - - 2476 - - - - - - - - 14.54 14.42 14.57
13474 909.7 11.4 1015 13481 roll 0.79 - - 3554 - 2.60 0.121 934 -547.7 116.8 - - 2475 - - - - - - - - 14.85 14.47 14.87
13517 904.4 11.7 1024 13522 done 0.79 - - 3554 - 2.50 0.080 2351 566.8 116.8 - - 2475 - - - - - - - - 14.64 14.52 14.68
13834 867.9 11.3 1037 13840 roll 0.79 - - 3554 - 2.53 0.117 3760 556.9 116.8 - - 2474 - - - - - - - - 14.93 14.52 14.95
13912 857.8 12.7 1053 13917 done 0.79 - - 3554 - 2.45 0.076 2345 -577.6 116.8 - - 2474 - - - - - - - - 14.70 14.59 14.73
14219 823.9 10.9 1064 14223 roll 0.79 - - 3555 - 2.53 0.114 940 -555.3 116.8 - - 2473 - - - - - - - - 14.95 14.54 14.97
14253 820.1 10.0 1071 14258 done 0.79 - - 3555 - 2.53 0.082 2349 556.9 116.8 - - 2473 - - - - - - - - 14.62 14.54 14.76
14580 786.9 10.0 1086 14587 roll 0.79 - - 3554 - 2.53 0.118 3762 558.5 116.8 - - 2473 - - - - - - - - 14.97 14.56 15.00
14658 778.3 10.7 1102 14663 done 0.79 - - 3555 - 2.45 0.075 2338 -581.2 116.8 - - 2473 - - - - - - - - 14.74 14.63 14.78
14970 748.2 9.4 1114 14977 roll 0.79 - - 3555 - 2.50 0.112 939 -559.6 116.8 - - 2472 - - - - - - - - 15.01 14.57 15.03
15018 743.7 8.4 1124 15024 done 0.79 - - 3555 - 2.47 0.080 2354 572.9 116.8 - - 2472 - - - - - - - - 14.74 14.62 14.78
15330 717.3 8.2 1136 15335 roll 0.79 - - 3554 - 2.50 0.116 3758 561.6 116.8 - - 2472 - - - - - - - - 15.02 14.58 15.04
15405 710.4 8.8 1151 15409 done 0.79 - - 3555 - 2.42 0.076 2344 -584.3 116.8 - - 2472 - - - - - - - - 14.76 14.65 14.80
15722 684.1 8.6 1164 15727 roll 0.79 - - 3555 - 2.53 0.112 933 -557.7 116.8 - - 2472 - - - - - - - - 15.01 14.58 15.02
15771 679.6 8.7 1174 15776 done 0.79 - - 3555 - 2.47 0.078 2353 574.9 116.8 - - 2472 - - - - - - - - 14.76 14.64 14.80
16083 649.8 10.0 1186 16090 roll 0.79 - - 3554 - 2.50 0.116 3760 562.8 116.8 - - 2471 - - - - - - - - 15.04 14.59 15.06
16162 640.5 12.2 1202 16166 done 0.79 - - 3555 - 2.42 0.074 2344 -585.1 116.8 - - 2471 - - - - - - - - 14.77 14.66 14.81
16473 607.5 10.2 1214 16480 roll 0.79 - - 3555 - 2.50 0.110 941 -561.2 116.8 - - 2472 - - - - - - - - 15.04 14.58 15.07
16497 605.0 9.8 1219 16504 done 0.79 - - 3555 - 2.47 0.079 2361 574.9 116.8 - - 2471 - - - - - - - - 14.78 14.65 14.81
16803 574.1 10.3 1230 16810 roll 0.79 - - 3555 - 2.55 0.103 941 -556.9 116.8 - - 2471 - - - - - - - - 15.05 14.59 15.07
16857 568.4 10.8 1241 16864 done 0.79 - - 3555 - 2.45 0.079 2349 574.7 116.8 - - 2471 - - - - - - - - 14.77 14.64 14.81
17163 536.5 10.7 1252 17168 roll 0.79 - - 3554 - 2.53 0.116 3767 560.5 116.8 - - 2471 - - - - - - - - 15.02 14.59 15.04
17233 528.3 11.6 1266 17237 done 0.79 - - 3555 - 2.45 0.074 2338 -583.3 116.8 - - 2470 - - - - - - - - 14.78 14.66 14.81
17555 496.1 9.8 1280 17559 roll 0.79 - - 3555 - 2.47 0.108 941 -565.6 116.8 - - 2471 - - - - - - - - 15.03 14.59 15.05
17605 491.3 9.6 1290 17609 done 0.79 - - 3555 - 2.45 0.076 2353 576.3 116.8 - - 2471 - - - - - - - - 14.77 14.65 14.82
17916 464.4 8.0 1302 17923 roll 0.79 - - 3555 - 2.50 0.113 3761 563.2 116.8 - - 2471 - - - - - - - - 15.06 14.59 15.07
18037 454.7 8.2 1326 18043 done 0.79 - - 3555 - 2.42 0.073 2345 -585.1 116.8 - - 2471 - - - - - - - - 14.78 14.66 14.82
18366 430.6 7.6 1342 18372 roll 0.79 - - 3555 - 2.50 0.108 939 -562.4 116.8 - - 2471 - - - - - - - - 15.06 14.59 15.08
18404 427.1 8.3 1350 18409 done 0.79 - - 3555 - 2.45 0.076 2352 576.7 116.8 - - 2471 - - - - - - - - 14.78 14.66 14.82
18726 397.0 9.4 1364 18731 roll 0.79 - - 3554 - 2.50 0.112 3762 564.0 116.8 - - 2471 - - - - - - - - 15.03 14.59 15.05
18781 391.7 9.5 1375 18788 done 0.79 - - 3555 - 2.42 0.072 2342 -586.8 116.8 - - 2471 - - - - - - - - 14.78 14.67 14.82
19088 370.1 6.7 1386 19094 roll 0.89 - - 3555 - 2.47 0.106 944 -566.0 116.8 - - 2471 - - - - - - - - 15.06 14.59 15.08
19186 363.1 7.5 1406 19192 done 0.92 0.12 0.141 3605 416.7 2.45 0.076 2361 578.4 116.8 - - 2471 - - - - - - - - 14.68 14.65 14.80
19503 331.3 10.6 1419 19510 roll 0.92 - - 3605 - 2.47 0.112 3758 565.6 116.8 - - 2471 - - - - - - - - 15.06 14.59 15.08
19594 318.5 14.6 1437 19600 done 0.92 - - 3606 - 2.40 0.073 2345 -588.8 116.8 - - 2471 - - - - - - - - 14.77 14.64 14.81
19924 281.3 10.5 1453 19928 roll 0.92 - - 3605 - 2.47 0.106 947 -566.0 116.8 - - 2471 - - - - - - - - 15.06 14.57 15.08
20004 272.2 11.2 1469 20008 done 0.92 - - 3604 - 2.45 0.076 2361 577.1 116.8 - - 2471 - - - - - - - - 14.77 14.64 14.82
20312 241.4 9.8 1484 20316 roll 0.92 - - 3605 - 2.47 0.110 3763 567.6 116.8 - - 2471 - - - - - - - - 15.05 14.59 15.07
20417 229.3 11.2 1505 20423 done 0.92 - - 3605 - 2.42 0.070 2341 -587.6 116.8 - - 2471 - - - - - - - - 14.78 14.67 14.82
20723 202.1 7.0 1536 20728 roll 1.00 - - 3605 - 2.53 0.103 3759 560.5 116.8 - - 2471 - - - - - - - - 15.04 14.59 15.06
20955 184.3 8.5 1582 20959 done 1.00 - - 3605 - 2.40 0.070 2344 -589.6 116.8 - - 2471 - - - - - - - - 14.76 14.66 14.81
21261 158.8 7.1 1613 21263 done 1.06 0.12 0.134 3655 416.7 - - 2343 - 116.8 - - 2471 - - - - - - - - 14.72 14.82 14.80
21560 137.9 7.4 1643 21570 roll 1.11 - - 3655 - 2.53 0.102 3763 561.3 116.8 - - 2471 - - - - - - - - 15.04 14.59 15.06
21726 125.7 6.3 1676 21734 done 1.23 0.12 0.142 3705 416.7 2.40 0.070 2346 -590.4 116.8 - - 2471 - - - - - - - - 14.65 14.66 14.77
22032 107.4 5.0 1707 22093 roll 1.31 - - 3707 - 2.47 0.099 941 -568.8 182.6 52.65 0.956 2219 -4.8 0.100 - - - - - - 15.03 14.51 14.12
22138 99.9 9.1 1724 22146 done 1.31 - - 3707 - 2.45 0.072 2359 578.8 182.6 - - 2215 - - - - - - - - 14.62 14.54 14.64
22445 63.0 13.9 1755 22449 roll 1.31 - - 3707 - 2.47 0.104 3764 568.8 182.6 - - 2214 - - - - - - - - 14.90 14.50 14.91
22531 53.3 8.9 1772 22536 done 1.31 - - 3707 - 2.40 0.068 2346 -590.8 182.6 - - 2213 - - - - - - - - 14.66 14.57 14.70
22838 37.3 4.9 1829 22898 roll 1.39 0.12 0.135 3765 483.3 2.53 0.097 3762 559.7 250.2 50.90 0.838 1942 -5.3 0.044 - - - - - - 14.59 14.46 14.12
23126 6.0 13.4 1884 23134 done 1.39 - - 3766 - 2.40 0.068 2347 -589.6 250.2 - - 1938 - - - - - - - - 14.62 14.52 14.66
23149 end climb: SURFACE_DEPTH_REACHED
23149 begin surface coast
23171 end surface coast: CONTROL_FINISHED_OK
23171 begin surface
SM 0.78 - - - - -9.66 9.30 0.060 184 19.8 0.15 0.137 2413 9220.0 450.12 88.43 0.081 1131 12.8 -0.013 - - - - - -