NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 178 * Raw log
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• Previous call tries 1 • 47.90 of 350.00 AH used of 24V (86.32% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -77.6 deg, depth 1.08 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 73 s
• GPS2 time: 3 s • Transponder ping count: 0
• 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 102 VBD -0.39 - - 84 - - - 1889 - -107.1 -67.00 - 3197 - - - - - - - - 14.59 - 14.62
108 4.8 -8.0 7 134 roll -0.39 13.68 0.363 3250 231.4 2.85 2.202 3311 498.9 -107.1 -2.72 - 3382 -68.0 - - - 1 - - - 14.11 13.28 14.41
372 55.8 -10.6 56 380 done -0.39 - - 3250 - 2.53 0.096 1905 -555.7 -107.1 - - 3386 - - - - - - - - 14.50 14.37 14.50
562 76.5 -11.6 75 570 roll -0.39 - - 3249 - 2.55 0.107 3305 549.0 -107.1 - - 3386 - - - - - - - - 14.64 14.38 14.66
727 93.6 -9.8 105 734 done -0.39 - - 3249 - 2.55 0.097 1888 -555.7 -107.1 - - 3387 - - - - - - - - 14.51 14.40 14.57
926 116.1 -12.3 125 933 roll -0.39 - - 3248 - 2.58 0.106 3306 549.6 -107.1 - - 3387 - - - - - - - - 14.68 14.42 14.68
974 122.2 -12.1 133 982 done -0.39 - - 3249 - 2.50 0.094 1906 -560.0 -107.1 - - 3385 - - - - - - - - 14.53 14.42 14.56
1174 147.1 -12.1 153 1181 roll -0.39 - - 3247 - 2.55 0.108 474 -561.6 -107.1 - - 3389 - - - - - - - - 14.69 14.40 14.71
1216 152.6 -12.6 160 1225 done -0.39 - - 3248 - 2.50 0.093 1898 569.6 -107.1 - - 3387 - - - - - - - - 14.54 14.43 14.57
1407 176.4 -12.8 179 1414 roll -0.39 - - 3250 - 2.53 0.105 3316 560.5 -107.1 - - 3387 - - - - - - - - 14.69 14.43 14.70
1437 179.9 -12.1 183 1445 done -0.39 - - 3248 - 2.53 0.093 1889 -564.0 -107.1 - - 3387 - - - - - - - - 14.53 14.42 14.59
1637 202.7 -10.7 203 1644 done -0.39 - - 3248 - - - 1890 - -107.1 - - 3387 - - - - - - - - 14.70 14.72 14.71
1826 221.3 -8.8 222 1834 done -0.39 - - 3248 - - - 1889 - -107.1 - - 3386 - - - - - - - - 14.71 14.73 14.72
2016 238.0 -9.0 241 2024 roll -0.39 - - 3248 - 2.58 0.107 3320 554.7 -107.1 - - 3385 - - - - - - - - 14.71 14.43 14.73
2065 242.4 -8.7 249 2072 done -0.39 - - 3248 - 2.53 0.095 1903 -560.1 -107.1 - - 3385 - - - - - - - - 14.56 14.44 14.58
2278 261.3 -9.2 262 2282 done -0.39 - - 3248 - - - 1903 - -107.1 - - 3385 - - - - - - - - 14.71 14.73 14.73
2573 287.8 -8.5 272 2581 roll -0.39 - - 3248 - 2.55 0.108 3317 554.5 -107.1 - - 3385 - - - - - - - - 14.73 14.45 14.74
2627 292.3 -8.3 281 2634 done -0.39 - - 3248 - 2.53 0.096 1899 -560.5 -107.1 - - 3384 - - - - - - - - 14.59 14.47 14.60
2955 321.6 -9.3 294 2963 roll -0.39 - - 3248 - 2.55 0.111 478 -557.3 -107.1 - - 3384 - - - - - - - - 14.73 14.44 14.74
3014 328.2 -10.5 304 3021 done -0.39 - - 3248 - 2.50 0.096 1898 568.0 -107.1 - - 3384 - - - - - - - - 14.58 14.47 14.60
3336 357.4 -9.0 316 3339 done -0.39 - - 3248 - - - 1899 - -107.1 - - 3381 - - - - - - - - 14.73 14.75 14.75
3633 383.7 -8.6 326 3636 done -0.39 - - 3248 - - - 1898 - -107.1 - - 3382 - - - - - - - - 14.75 14.76 14.75
3932 409.2 -8.4 336 3935 done -0.39 - - 3248 - - - 1898 - -107.1 - - 3382 - - - - - - - - 14.73 14.76 14.76
4232 435.3 -8.6 346 4241 roll -0.39 - - 3248 - 2.53 0.109 3320 562.1 -107.1 - - 3379 - - - - - - - - 14.73 14.45 14.75
4351 444.9 -8.1 367 4359 done -0.39 - - 3248 - 2.55 0.096 1894 -559.2 -107.1 - - 3381 - - - - - - - - 14.58 14.47 14.60
4490 end dive: TARGET_DEPTH_EXCEEDED
4490 begin apogee
4502 458.1 -8.9 374 4587 done -0.16 0.30 0.182 3339 303.3 - - 2253 - - 80.57 1.254 2939 -5.5 0.370 - - - - - - 14.40 14.16 13.68
4591 end apogee: CONTROL_FINISHED_OK
4591 begin climb
4596 462.4 - 377 4694 roll 0.39 0.50 0.132 3514 350.0 2.72 0.109 3663 518.4 107.1 80.32 1.225 2499 -5.5 0.382 - - - - - - 14.12 13.93 13.50
4741 458.8 5.3 403 4789 done 0.41 - - 3514 - 2.60 0.096 2252 -542.7 152.1 34.85 1.216 2316 -5.3 0.366 - - - - - - 14.19 14.09 13.54
5101 439.9 5.4 423 5112 done 0.45 - - 3516 - - - 2254 - 152.1 - - 2313 - - - - - - - - 14.53 14.55 14.55
5405 423.0 5.9 433 5417 done 0.48 0.08 0.151 3580 800.0 - - 2254 - 152.1 - - 2316 - - - - - - - - 14.46 14.53 14.51
5706 394.1 9.8 443 5717 roll 0.48 - - 3581 - 2.58 0.110 3663 546.1 152.1 - - 2316 - - - - - - - - 14.69 14.43 14.73
5778 385.7 11.3 455 5790 done 0.48 0.12 0.231 3550 -258.3 2.58 0.097 2234 -553.9 152.1 - - 2315 - - - - - - - - 14.35 14.44 14.52
6121 357.2 8.1 471 6132 done 0.48 - - 3550 - - - 2236 - 152.1 - - 2317 - - - - - - - - 14.72 14.74 14.74
6421 334.1 7.8 481 6432 roll 0.48 - - 3558 - 2.47 0.109 842 -564.4 152.1 - - 2312 - - - - - - - - 14.74 14.43 14.75
6517 326.8 7.9 497 6528 done 0.48 - - 3554 - 2.47 0.097 2248 569.2 152.1 - - 2314 - - - - - - - - 14.60 14.49 14.62
6839 298.9 8.9 509 6850 roll 0.48 - - 3556 - 2.55 0.111 3663 554.9 152.1 - - 2314 - - - - - - - - 14.76 14.47 14.77
6946 288.3 10.4 527 6957 done 0.48 - - 3560 - 2.53 0.097 2255 -556.5 152.1 - - 2316 - - - - - - - - 14.59 14.45 14.62
7289 255.4 9.7 543 7300 roll 0.48 - - 3556 - 2.55 0.109 3663 552.2 152.1 - - 2314 - - - - - - - - 14.76 14.47 14.77
7341 249.8 10.2 551 7352 done 0.48 - - 3559 - 2.53 0.095 2248 -559.3 152.1 - - 2313 - - - - - - - - 14.61 14.50 14.62
7668 221.1 8.1 584 7679 done 0.48 - - 3559 - - - 2247 - 152.1 - - 2312 - - - - - - - - 14.75 14.77 14.76
7861 205.3 8.2 603 7872 roll 0.48 - - 3562 - 2.58 0.109 3663 548.8 152.1 - - 2313 - - - - - - - - 14.76 14.48 14.77
7917 200.3 8.7 612 7929 done 0.48 - - 3569 - 2.53 0.094 2251 -558.1 152.1 - - 2313 - - - - - - - - 14.59 14.52 14.62
8110 184.6 8.2 631 8121 done 0.48 - - 3570 - - - 2256 - 152.1 - - 2312 - - - - - - - - 14.74 14.74 14.76
8303 168.5 8.9 650 8314 roll 0.48 - - 3570 - 2.53 0.111 834 -562.1 152.1 - - 2313 - - - - - - - - 14.74 14.45 14.78
8412 159.3 7.9 669 8424 done 0.48 - - 3568 - 2.53 0.097 2261 564.0 152.1 - - 2313 - - - - - - - - 14.59 14.49 14.62
8605 144.2 7.8 688 8616 roll 0.48 - - 3570 - 2.53 0.109 3663 554.2 152.1 - - 2313 - - - - - - - - 14.73 14.45 14.75
8672 138.6 8.5 699 8684 done 0.48 - - 3576 - 2.53 0.093 2243 -561.3 152.1 - - 2312 - - - - - - - - 14.58 14.48 14.62
8865 122.3 8.4 718 8877 done 0.48 - - 3576 - - - 2246 - 152.1 - - 2312 - - - - - - - - 14.73 14.76 14.75
9058 107.8 6.5 737 9069 done 0.50 - - 3576 - - - 2246 - 152.1 - - 2312 - - - - - - - - 14.73 14.75 14.75
9251 96.5 5.2 756 9295 roll 0.52 - - 3576 - 2.60 0.108 3661 544.2 197.6 32.88 0.835 2131 -5.5 0.118 - - - - - - 14.76 14.35 14.03
9330 91.3 8.3 768 9341 done 0.52 - - 3582 - 2.53 0.095 2255 -555.7 197.6 - - 2127 - - - - - - - - 14.49 14.38 14.51
9532 74.7 7.7 788 9543 done 0.52 - - 3581 - - - 2255 - 197.6 - - 2132 - - - - - - - - 14.65 14.67 14.67
9725 61.2 6.3 807 9737 roll 0.54 - - 3582 - 2.55 0.108 3662 551.8 197.6 - - 2132 - - - - - - - - 14.68 14.41 14.69
9821 54.1 7.1 823 9832 done 0.54 - - 3582 - 2.53 0.094 2253 -556.9 197.6 - - 2132 - - - - - - - - 14.54 14.42 14.56
10024 43.5 4.6 843 10081 roll 0.57 - - 3581 - 2.55 0.109 844 -552.5 256.9 43.40 0.766 1888 -5.6 0.059 - - - - - - 14.70 14.33 14.00
10151 36.3 7.0 865 10162 done 0.57 - - 3582 - 2.50 0.093 2250 562.4 256.9 - - 1889 - - - - - - - - 14.45 14.35 14.47
10354 21.8 7.0 885 10365 roll 0.57 - - 3582 - 2.55 0.107 3663 554.1 256.9 - - 1888 - - - - - - - - 14.63 14.37 14.64
10444 16.0 6.4 900 10456 done 0.59 - - 3582 - 2.55 0.094 2236 -559.6 256.9 - - 1888 - - - - - - - - 14.50 14.40 14.52
10640 11.1 1.3 919 10710 roll 0.65 - - 3584 - 2.58 0.108 835 -543.0 387.6 57.15 0.129 1360 -9.2 0.147 - - - - - - 14.67 14.40 14.35
10797 end climb: SURFACE_DEPTH_REACHED
10797 begin surface coast
10833 end surface coast: CONTROL_FINISHED_OK
10833 begin surface
SM 0.89 - - - - -10.26 9.88 0.061 93 9.4 1.95 0.096 1900 -3491.3 400.08 5.22 0.084 1309 250.8 -0.272 - - - - - -