NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 24 * Raw log
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• Previous call tries 1 • 7.06 of 350.00 AH used of 24V (97.98% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -77.2 deg, depth 1.11 m • Intended pitch -15.9 deg, speed -8.250 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 27 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
30 - - - 111 done -0.58 - - 93 - - - 1889 - -116.8 -76.88 - 3181 - - - - - - - - 14.57 13.70 14.59
118 4.5 -7.4 8 142 roll -0.58 13.48 0.372 3212 231.4 2.58 0.104 3319 554.3 -116.8 - - 3183 - - - - - - - - 14.21 14.37 14.42
377 72.2 -16.3 57 386 done -0.58 - - 3213 - 2.55 0.100 1900 -556.5 -116.8 - - 3185 - - - - - - - - 14.50 14.40 14.51
568 101.3 -13.7 76 576 roll -0.58 - - 3212 - 2.58 0.106 3321 550.8 -116.8 - - 3186 - - - - - - - - 14.64 14.45 14.66
665 114.4 -13.8 93 673 done -0.58 - - 3215 - 2.55 0.099 1888 -562.0 -116.8 - - 3187 - - - - - - - - 14.54 14.46 14.56
855 137.7 -11.8 112 862 roll -0.58 - - 3211 - 2.58 0.105 3315 553.1 -116.8 - - 3187 - - - - - - - - 14.66 14.46 14.69
958 149.0 -11.4 130 966 done -0.58 - - 3211 - 2.53 0.097 1901 -558.9 -116.8 - - 3188 - - - - - - - - 14.55 14.46 14.56
1157 171.5 -11.6 150 1164 done -0.58 - - 3211 - - - 1901 - -116.8 - - 3187 - - - - - - - - 14.69 14.71 14.71
1347 192.4 -11.0 169 1355 done -0.58 - - 3211 - - - 1901 - -116.8 - - 3187 - - - - - - - - 14.69 14.71 14.71
1537 211.9 -10.5 188 1545 done -0.58 - - 3215 - - - 1901 - -116.8 - - 3187 - - - - - - - - 14.71 14.73 14.72
1726 231.3 -10.1 207 1735 done -0.58 - - 3212 - - - 1901 - -116.8 - - 3186 - - - - - - - - 14.71 14.73 14.73
1917 249.6 -9.6 226 1924 roll -0.58 - - 3211 - 2.53 0.115 474 -564.0 -116.8 - - 3187 - - - - - - - - 14.72 14.50 14.74
1969 255.3 -10.7 235 1977 done -0.58 - - 3211 - 2.50 0.093 1911 574.8 -116.8 - - 3186 - - - - - - - - 14.61 14.54 14.63
2298 288.4 -10.5 248 2301 done -0.58 - - 3211 - - - 1908 - -116.8 - - 3186 - - - - - - - - 14.73 14.76 14.75
2593 319.2 -10.1 258 2601 roll -0.58 - - 3211 - 2.55 0.113 488 -556.9 -116.8 - - 3185 - - - - - - - - 14.75 14.54 14.77
2652 325.8 -11.9 268 2660 done -0.58 - - 3211 - 2.47 0.096 1894 569.2 -116.8 - - 3185 - - - - - - - - 14.64 14.56 14.65
2976 359.1 -10.4 280 2979 done -0.58 - - 3211 - - - 1893 - -116.8 - - 3184 - - - - - - - - 14.76 14.77 14.80
3271 389.9 -10.1 290 3274 done -0.58 - - 3211 - - - 1893 - -116.8 - - 3183 - - - - - - - - 14.79 14.78 14.78
3571 419.6 -9.8 300 3579 roll -0.58 - - 3211 - 2.53 0.116 475 -560.5 -116.8 - - 3183 - - - - - - - - 14.78 14.54 14.78
3688 432.3 -11.4 321 3696 done -0.58 - - 3211 - 2.53 0.097 1909 566.8 -116.8 - - 3182 - - - - - - - - 14.68 14.57 14.66
4016 465.6 -9.9 334 4024 roll -0.58 - - 3212 - 2.55 0.114 492 -555.7 -116.8 - - 3182 - - - - - - - - 14.76 14.56 14.78
4085 473.2 -10.5 346 4092 done -0.58 - - 3211 - 2.47 0.098 1893 567.2 -116.8 - - 3181 - - - - - - - - 14.64 14.56 14.66
4427 505.2 -9.2 362 4431 done -0.58 - - 3211 - - - 1894 - -116.8 - - 3184 - - - - - - - - 14.76 14.78 14.78
4724 531.7 -8.7 372 4727 done -0.58 - - 3211 - - - 1892 - -116.8 - - 3179 - - - - - - - - 14.76 14.78 14.81
5023 556.7 -8.5 382 5026 done -0.58 - - 3211 - - - 1894 - -116.8 - - 3180 - - - - - - - - 14.77 14.79 14.78
5324 581.3 -8.1 392 5332 roll -0.58 - - 3211 - 2.55 0.112 3316 557.6 -116.8 - - 3179 - - - - - - - - 14.77 14.57 14.78
5366 584.9 -8.5 399 5375 done -0.58 - - 3211 - 2.53 0.102 1901 -559.3 -116.8 - - 3176 - - - - - - - - 14.66 14.57 14.67
5705 613.3 -8.7 414 5713 roll -0.58 - - 3211 - 2.55 0.116 478 -558.0 -116.8 - - 3181 - - - - - - - - 14.77 14.54 14.78
5754 618.4 -9.7 422 5762 done -0.58 - - 3211 - 2.50 0.099 1902 569.6 -116.8 - - 3178 - - - - - - - - 14.67 14.57 14.66
6087 647.0 -8.8 436 6095 roll -0.58 - - 3211 - 2.55 0.118 484 -556.1 -116.8 - - 3176 - - - - - - - - 14.76 14.56 14.78
6129 651.4 -9.8 443 6138 done -0.58 - - 3211 - 2.50 0.100 1907 569.2 -116.8 - - 3176 - - - - - - - - 14.65 14.57 14.66
6468 678.9 -7.9 458 6476 roll -0.58 - - 3211 - 2.53 0.115 3314 556.1 -116.8 - - 3176 - - - - - - - - 14.76 14.57 14.78
6512 682.6 -8.1 465 6520 done -0.58 - - 3211 - 2.53 0.101 1898 -559.7 -116.8 - - 3175 - - - - - - - - 14.64 14.57 14.66
6851 708.5 -7.8 480 6854 done -0.58 - - 3211 - - - 1898 - -116.8 - - 3175 - - - - - - - - 14.76 14.78 14.78
7146 732.4 -7.9 490 7153 roll -0.58 - - 3212 - 2.55 0.118 472 -559.2 -116.8 - - 3173 - - - - - - - - 14.76 14.54 14.78
7302 746.7 -9.5 519 7312 done -0.58 - - 3211 - 2.53 0.099 1911 568.8 -116.8 - - 3175 - - - - - - - - 14.65 14.57 14.66
7612 770.9 -7.8 530 7616 done -0.58 - - 3211 - - - 1909 - -116.8 - - 3174 - - - - - - - - 14.75 14.77 14.79
7909 792.5 -7.2 540 7912 done -0.58 - - 3215 - - - 1909 - -116.8 - - 3174 - - - - - - - - 14.76 14.77 14.77
8208 814.4 -7.4 550 8211 done -0.58 - - 3211 - - - 1909 - -116.8 - - 3174 - - - - - - - - 14.76 14.80 14.75
8509 836.1 -7.3 560 8512 done -0.58 - - 3211 - - - 1909 - -116.8 - - 3173 - - - - - - - - 14.76 14.78 14.77
8809 858.2 -7.3 570 8812 done -0.58 - - 3211 - - - 1909 - -116.8 - - 3173 - - - - - - - - 14.73 14.78 14.77
9109 881.3 -7.9 580 9117 roll -0.58 - - 3211 - 2.58 0.119 476 -555.4 -116.8 - - 3173 - - - - - - - - 14.76 14.53 14.77
9187 888.8 -8.9 594 9195 done -0.58 - - 3211 - 2.50 0.103 1894 567.2 -116.8 - - 3173 - - - - - - - - 14.64 14.54 14.66
9521 912.6 -7.1 608 9524 done -0.58 - - 3216 - - - 1894 - -116.8 - - 3172 - - - - - - - - 14.73 14.75 14.76
9816 933.6 -7.0 618 9823 roll -0.58 - - 3208 - 2.55 0.119 478 -555.3 -116.8 - - 3173 - - - - - - - - 14.75 14.52 14.77
9968 945.4 -5.2 646 9975 done -0.58 - - 3211 - 2.53 0.100 1911 566.4 -116.8 - - 3170 - - - - - - - - 14.63 14.55 14.64
10291 966.8 -6.6 658 10294 done -0.58 - - 3211 - - - 1914 - -116.8 - - 3171 - - - - - - - - 14.74 14.76 14.76
10587 985.8 -6.4 668 10591 done -0.58 - - 3211 - - - 1910 - -116.8 - - 3171 - - - - - - - - 14.74 14.76 14.76
10671 end dive: TARGET_DEPTH_EXCEEDED
10671 begin apogee
10683 991.6 -6.4 671 10782 done -0.23 0.40 0.205 3332 302.5 - - 2195 - - 93.70 1.902 2701 -5.0 0.493 - - - - - - 14.50 13.85 13.21
10786 end apogee: CONTROL_FINISHED_OK
10786 begin climb
10791 994.5 - 674 10897 done 0.58 0.80 0.138 3592 325.0 - - 2194 - 116.8 96.93 1.863 2222 -4.9 0.497 - - - - - - 13.85 13.64 13.02
11186 945.2 13.8 698 11197 roll 0.58 - - 3592 - 2.65 0.117 3618 537.4 116.8 - - 2219 - - - - - - - - 14.40 14.20 14.42
11287 931.1 15.2 715 11300 done 0.58 - - 3600 - 2.62 0.106 2184 -547.3 116.8 - - 2217 - - - - - - - - 14.35 14.28 14.38
11593 885.6 14.8 726 11603 done 0.58 - - 3600 - - - 2183 - 116.8 - - 2220 - - - - - - - - 14.58 14.60 14.58
11893 840.8 15.2 736 11904 roll 0.58 - - 3602 - 2.62 0.116 3611 545.0 116.8 - - 2220 - - - - - - - - 14.64 14.43 14.66
11993 824.2 16.5 753 12005 done 0.58 - - 3611 - 2.55 0.104 2200 -553.3 116.8 - - 2220 - - - - - - - - 14.54 14.46 14.57
12300 774.5 16.3 764 12310 done 0.58 - - 3611 - - - 2199 - 116.8 - - 2219 - - - - - - - - 14.69 14.71 14.71
12600 724.7 16.7 774 12611 roll 0.58 - - 3611 - 2.58 0.116 3608 546.1 116.8 - - 2219 - - - - - - - - 14.71 14.50 14.73
12695 707.9 17.8 790 12706 done 0.58 - - 3622 - 2.53 0.104 2200 -556.5 116.8 - - 2221 - - - - - - - - 14.61 14.52 14.62
13017 658.2 14.8 802 13027 done 0.58 - - 3622 - - - 2199 - 116.8 - - 2221 - - - - - - - - 14.76 14.76 14.76
13321 614.6 14.3 812 13332 roll 0.58 - - 3622 - 2.58 0.116 3620 550.8 116.8 - - 2221 - - - - - - - - 14.75 14.54 14.77
13506 584.6 15.7 846 13517 done 0.58 - - 3625 - 2.55 0.107 2200 -556.9 116.8 - - 2221 - - - - - - - - 14.64 14.55 14.66
13828 538.2 14.5 858 13839 roll 0.58 - - 3625 - 2.58 0.115 3626 552.7 116.8 - - 2221 - - - - - - - - 14.76 14.53 14.78
13900 526.9 15.9 870 13911 done 0.58 - - 3626 - 2.58 0.106 2200 -552.7 116.8 - - 2221 - - - - - - - - 14.63 14.55 14.66
14242 476.8 14.4 886 14253 roll 0.58 - - 3626 - 2.58 0.115 3621 550.8 116.8 - - 2221 - - - - - - - - 14.77 14.56 14.78
14338 462.2 16.2 902 14349 done 0.58 - - 3626 - 2.55 0.106 2199 -557.6 116.8 - - 2221 - - - - - - - - 14.64 14.54 14.66
14660 414.9 14.4 914 14670 done 0.58 - - 3625 - - - 2199 - 116.8 - - 2222 - - - - - - - - 14.76 14.78 14.78
14965 371.4 14.4 924 14976 roll 0.58 - - 3626 - 2.58 0.114 3626 553.1 116.8 - - 2221 - - - - - - - - 14.77 14.57 14.81
15022 362.1 15.8 933 15033 done 0.58 - - 3626 - 2.58 0.106 2197 -553.9 116.8 - - 2221 - - - - - - - - 14.66 14.57 14.68
15349 315.9 14.1 946 15360 done 0.58 - - 3626 - - - 2196 - 116.8 - - 2221 - - - - - - - - 14.78 14.79 14.77
15654 273.2 13.9 956 15665 roll 0.58 - - 3626 - 2.58 0.114 3622 552.7 116.8 - - 2221 - - - - - - - - 14.78 14.57 14.80
15726 261.8 15.4 968 15737 done 0.58 - - 3626 - 2.58 0.103 2197 -552.3 116.8 - - 2221 - - - - - - - - 14.67 14.58 14.68
16048 219.2 13.7 998 16060 done 0.58 - - 3625 - - - 2197 - 116.8 - - 2222 - - - - - - - - 14.77 14.79 14.82
16240 192.8 12.8 1017 16252 roll 0.58 - - 3626 - 2.58 0.113 3631 555.8 116.8 - - 2222 - - - - - - - - 14.77 14.56 14.78
16327 181.6 13.7 1031 16338 done 0.58 - - 3626 - 2.58 0.103 2183 -561.2 116.8 - - 2222 - - - - - - - - 14.65 14.57 14.66
16530 156.9 11.3 1051 16541 done 0.58 - - 3626 - - - 2183 - 116.8 - - 2221 - - - - - - - - 14.76 14.78 14.78
16722 136.1 10.2 1070 16734 done 0.58 - - 3625 - - - 2184 - 116.8 - - 2221 - - - - - - - - 14.76 14.78 14.77
16914 116.4 10.6 1089 16925 roll 0.58 - - 3626 - 2.58 0.112 3612 553.5 116.8 - - 2222 - - - - - - - - 14.73 14.54 14.77
17070 102.1 7.6 1117 17092 done 0.58 - - 3625 - 2.53 0.103 2202 -557.3 129.5 11.30 0.881 2169 -4.7 0.102 - - - - - - 14.64 14.54 14.17
17284 85.4 7.3 1139 17311 roll 0.59 - - 3626 - 2.58 0.108 3618 548.8 148.9 15.88 0.866 2087 -5.2 0.096 - - - - - - 14.71 14.42 14.13
17405 76.6 7.1 1160 17438 done 0.60 - - 3622 - 2.58 0.102 2183 -556.2 172.8 18.12 0.848 1994 -5.1 0.087 - - - - - - 14.52 14.45 14.06
17619 60.7 8.2 1183 17631 roll 0.60 - - 3626 - 2.50 0.115 795 -555.2 173.2 - - 1989 - - - - - - - - 14.62 14.40 14.64
17715 53.4 7.2 1199 17743 done 0.61 - - 3629 - 2.47 0.096 2204 570.4 194.6 16.38 0.826 1903 -5.3 0.064 - - - - - - 14.53 14.45 14.08
17924 37.6 8.0 1221 17941 roll 0.61 - - 3626 - 2.55 0.110 3612 552.2 199.6 3.97 0.711 1888 -3.8 0.038 - - - - - - 14.62 14.39 14.00
18035 28.1 7.4 1240 18063 done 0.62 - - 3626 - 2.53 0.099 2203 -556.9 216.6 12.52 0.802 1813 -6.0 0.040 - - - - - - 14.51 14.41 14.09
18254 13.5 6.6 1263 18277 done 0.63 - - 3626 - - - 2203 - 251.7 15.27 0.138 1674 -9.1 0.168 - - - - - - 14.62 14.50 14.41
18393 end climb: SURFACE_DEPTH_REACHED
18393 begin surface coast
18444 end surface coast: CONTROL_FINISHED_OK
18444 begin surface
SM 0.97 - - - - -10.33 9.82 0.048 87 8.8 0.55 0.106 1899 -11452.7 400.08 62.58 0.086 1068 17.1 -0.020 - - - - - -