NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 19 * Raw log
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• Previous call tries 1 • 5.77 of 350.00 AH used of 24V (98.35% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -78.2 deg, depth 1.15 m • Intended pitch -15.9 deg, speed -8.250 cm/s
• VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 38 s
• GPS2 time: 2 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
28 - - - 101 VBD -0.58 - - 93 - - - 1886 - -116.8 -66.07 - 3009 - - - - - - - - 14.58 - 14.58
108 3.0 -3.9 7 137 roll -0.58 13.60 0.377 3209 229.1 2.85 2.240 3313 500.7 -116.8 -2.83 - 3180 -60.4 - - - - - - - 14.21 13.62 14.44
270 46.9 -17.9 36 281 done -0.58 - - 3206 - 2.55 0.100 1905 -552.2 -116.8 - - 3183 - - - - - - - - 14.46 14.37 14.47
463 77.7 -14.2 55 474 roll -0.58 - - 3214 - 2.55 0.107 3313 552.2 -116.8 - - 3184 - - - - - - - - 14.62 14.40 14.65
603 97.7 -12.7 80 614 done -0.58 - - 3209 - 2.55 0.098 1881 -561.6 -116.8 - - 3184 - - - - - - - - 14.53 14.43 14.54
796 120.9 -12.1 99 807 done -0.58 - - 3209 - - - 1880 - -116.8 - - 3185 - - - - - - - - 14.67 14.69 14.69
988 146.9 -12.6 118 1000 done -0.58 - - 3210 - - - 1881 - -116.8 - - 3185 - - - - - - - - 14.69 14.71 14.71
1180 171.7 -13.6 137 1191 done -0.58 - - 3209 - - - 1881 - -116.8 - - 3185 - - - - - - - - 14.71 14.73 14.72
1372 195.7 -12.3 156 1383 done -0.58 - - 3209 - - - 1881 - -116.8 - - 3185 - - - - - - - - 14.72 14.74 14.74
1564 216.3 -10.7 175 1575 done -0.58 - - 3209 - - - 1880 - -116.8 - - 3186 - - - - - - - - 14.73 14.76 14.76
1756 237.7 -11.2 194 1768 done -0.58 - - 3208 - - - 1881 - -116.8 - - 3185 - - - - - - - - 14.77 14.76 14.76
1968 260.8 -11.3 209 1979 done -0.58 - - 3209 - - - 1881 - -116.8 - - 3184 - - - - - - - - 14.76 14.78 14.78
2273 293.9 -11.5 219 2284 roll -0.58 - - 3209 - 2.58 0.108 3315 555.8 -116.8 - - 3184 - - - - - - - - 14.77 14.57 14.79
2320 300.0 -11.8 226 2331 done -0.58 - - 3210 - 2.50 0.099 1902 -565.2 -116.8 - - 3184 - - - - - - - - 14.66 14.55 14.68
2657 337.1 -10.7 241 2668 roll -0.58 - - 3209 - 2.55 0.116 474 -560.0 -116.8 - - 3184 - - - - - - - - 14.78 14.57 14.81
2719 344.4 -12.0 251 2730 done -0.58 - - 3209 - 2.50 0.093 1913 575.6 -116.8 - - 3184 - - - - - - - - 14.67 14.59 14.69
3042 376.3 -9.7 263 3053 roll -0.58 - - 3208 - 2.55 0.112 473 -564.7 -116.8 - - 3183 - - - - - - - - 14.80 14.58 14.82
3128 385.4 -10.6 278 3139 done -0.58 - - 3211 - 2.47 0.096 1893 574.9 -116.8 - - 3182 - - - - - - - - 14.70 14.60 14.70
3456 414.5 -8.8 291 3466 done -0.58 - - 3209 - - - 1890 - -116.8 - - 3181 - - - - - - - - 14.80 14.82 14.82
3759 443.4 -9.7 301 3770 done -0.58 - - 3209 - - - 1893 - -116.8 - - 3178 - - - - - - - - 14.81 14.83 14.82
4060 471.5 -9.3 311 4070 done -0.58 - - 3209 - - - 1893 - -116.8 - - 3179 - - - - - - - - 14.81 14.83 14.83
4355 498.8 -8.9 321 4366 done -0.58 - - 3209 - - - 1893 - -116.8 - - 3180 - - - - - - - - 14.81 14.83 14.85
4660 525.4 -8.7 331 4670 done -0.58 - - 3209 - - - 1893 - -116.8 - - 3181 - - - - - - - - 14.81 14.83 14.83
4959 552.0 -9.3 341 4970 done -0.58 - - 3209 - - - 1894 - -116.8 - - 3179 - - - - - - - - 14.82 14.84 14.83
5256 580.4 -9.7 351 5267 done -0.58 - - 3210 - - - 1893 - -116.8 - - 3178 - - - - - - - - 14.83 14.84 14.83
5555 608.9 -9.3 361 5566 roll -0.58 - - 3210 - 2.53 0.112 3314 561.7 -116.8 - - 3177 - - - - - - - - 14.82 14.59 14.83
5612 614.3 -9.6 370 5623 done -0.58 - - 3209 - 2.53 0.101 1901 -558.5 -116.8 - - 3177 - - - - - - - - 14.70 14.62 14.72
5944 643.3 -8.6 383 5955 roll -0.58 - - 3210 - 2.53 0.118 478 -562.5 -116.8 - - 3176 - - - - - - - - 14.81 14.59 14.83
6154 663.5 -9.4 422 6165 done -0.58 - - 3209 - 2.50 0.101 1908 572.0 -116.8 - - 3174 - - - - - - - - 14.70 14.62 14.71
6482 688.3 -7.2 435 6492 done -0.58 - - 3212 - - - 1908 - -116.8 - - 3175 - - - - - - - - 14.81 14.83 14.82
6785 707.5 -6.0 445 6796 done -0.58 - - 3209 - - - 1907 - -116.8 - - 3174 - - - - - - - - 14.81 14.83 14.83
7086 724.6 -5.7 455 7096 done -0.58 - - 3205 - - - 1907 - -116.8 - - 3174 - - - - - - - - 14.83 14.83 14.83
7385 745.6 -7.4 465 7396 done -0.58 - - 3209 - - - 1912 - -116.8 - - 3174 - - - - - - - - 14.81 14.83 14.83
7682 771.1 -8.8 475 7692 done -0.58 - - 3209 - - - 1907 - -116.8 - - 3173 - - - - - - - - 14.84 14.84 14.83
7985 795.6 -7.9 485 7996 done -0.58 - - 3209 - - - 1907 - -116.8 - - 3173 - - - - - - - - 14.80 14.83 14.83
8286 818.6 -7.4 495 8297 done -0.58 - - 3209 - - - 1905 - -116.8 - - 3172 - - - - - - - - 14.81 14.83 14.83
8585 839.8 -7.1 505 8596 done -0.58 - - 3209 - - - 1907 - -116.8 - - 3171 - - - - - - - - 14.81 14.83 14.83
8886 860.9 -7.1 515 8897 roll -0.58 - - 3209 - 2.55 0.121 494 -554.1 -116.8 - - 3170 - - - - - - - - 14.81 14.60 14.83
9002 870.7 -7.8 535 9013 done -0.58 - - 3209 - 2.50 0.106 1894 560.0 -116.8 - - 3171 - - - - - - - - 14.69 14.60 14.71
9334 893.0 -6.7 549 9344 done -0.58 - - 3209 - - - 1894 - -116.8 - - 3171 - - - - - - - - 14.81 14.83 14.83
9639 912.6 -6.6 559 9649 done -0.58 - - 3209 - - - 1894 - -116.8 - - 3171 - - - - - - - - 14.80 14.82 14.81
9938 932.4 -6.6 569 9949 done -0.58 - - 3209 - - - 1894 - -116.8 - - 3170 - - - - - - - - 14.80 14.82 14.82
10239 954.0 -7.5 579 10249 done -0.58 - - 3209 - - - 1894 - -116.8 - - 3171 - - - - - - - - 14.80 14.82 14.82
10538 976.4 -7.5 589 10549 roll -0.58 - - 3209 - 2.53 0.120 495 -553.0 -116.8 - - 3170 - - - - - - - - 14.81 14.59 14.82
10615 983.8 -8.5 602 10626 done -0.58 - - 3209 - 2.50 0.105 1910 566.0 -116.8 - - 3170 - - - - - - - - 14.69 14.60 14.70
10707 end dive: TARGET_DEPTH_EXCEEDED
10707 begin apogee
10719 990.3 -6.1 609 10820 done -0.23 0.43 0.206 3337 297.7 - - 2194 - - 93.20 1.901 2699 -5.1 0.496 - - - - - - 14.54 13.87 13.24
10823 end apogee: CONTROL_FINISHED_OK
10823 begin climb
10828 994.0 - 612 10934 done 0.58 0.80 0.145 3594 321.2 - - 2194 - 116.8 97.45 1.858 2221 -4.9 0.494 - - - - - - 13.87 13.65 13.03
11222 945.2 14.2 626 11234 roll 0.58 - - 3594 - 2.65 0.118 3614 535.8 116.8 - - 2219 - - - - - - - - 14.41 14.21 14.42
11289 935.5 15.4 637 11301 done 0.58 - - 3601 - 2.60 0.106 2202 -543.1 116.8 - - 2220 - - - - - - - - 14.35 14.26 14.36
11599 888.7 15.3 648 11611 roll 0.58 - - 3601 - 2.62 0.118 3622 542.0 116.8 - - 2221 - - - - - - - - 14.58 14.36 14.62
11655 878.9 17.4 657 11666 done 0.58 - - 3607 - 2.62 0.107 2182 -549.6 116.8 - - 2221 - - - - - - - - 14.48 14.38 14.50
11982 825.5 16.2 670 11993 done 0.58 - - 3609 - - - 2186 - 116.8 - - 2221 - - - - - - - - 14.66 14.68 14.70
12286 778.0 15.7 680 12297 roll 0.58 - - 3609 - 2.62 0.117 3611 543.9 116.8 - - 2221 - - - - - - - - 14.69 14.47 14.71
12368 763.6 17.0 694 12379 done 0.58 - - 3613 - 2.55 0.106 2200 -553.3 116.8 - - 2221 - - - - - - - - 14.59 14.50 14.63
12700 711.5 15.7 708 12711 done 0.58 - - 3615 - - - 2199 - 116.8 - - 2221 - - - - - - - - 14.72 14.74 14.74
13005 664.3 15.5 718 13016 roll 0.58 - - 3613 - 2.58 0.116 3611 547.3 116.8 - - 2221 - - - - - - - - 14.72 14.53 14.76
13140 642.2 15.7 742 13152 done 0.58 - - 3619 - 2.55 0.105 2183 -560.0 116.8 - - 2221 - - - - - - - - 14.64 14.53 14.65
13483 591.6 14.5 758 13494 done 0.58 - - 3619 - - - 2182 - 116.8 - - 2220 - - - - - - - - 14.75 14.78 14.77
13788 548.6 14.1 768 13799 roll 0.58 - - 3616 - 2.60 0.116 3612 550.0 116.8 - - 2221 - - - - - - - - 14.76 14.55 14.78
13894 532.4 15.3 786 13905 done 0.58 - - 3625 - 2.55 0.105 2203 -552.5 116.8 - - 2222 - - - - - - - - 14.65 14.54 14.66
14236 482.6 14.3 802 14248 roll 0.58 - - 3625 - 2.58 0.115 3626 551.6 116.8 - - 2221 - - - - - - - - 14.76 14.55 14.78
14343 466.1 16.4 820 14354 done 0.58 - - 3629 - 2.58 0.108 2200 -552.7 116.8 - - 2221 - - - - - - - - 14.65 14.57 14.69
14685 415.9 14.1 836 14696 roll 0.58 - - 3637 - 2.53 0.116 774 -563.6 116.8 - - 2221 - - - - - - - - 14.77 14.54 14.78
14731 409.2 14.5 843 14743 done 0.58 0.12 0.256 3602 -291.7 2.53 0.102 2214 569.2 116.8 - - 2222 - - - - - - - - 14.50 14.54 14.63
15069 370.1 11.3 858 15080 roll 0.58 - - 3602 - 2.53 0.116 3612 552.6 116.8 - - 2221 - - - - - - - - 14.77 14.55 14.78
15259 344.8 13.6 893 15271 done 0.58 - - 3611 - 2.55 0.103 2178 -562.4 116.8 - - 2221 - - - - - - - - 14.65 14.56 14.70
15569 306.4 12.5 904 15580 done 0.58 - - 3610 - - - 2181 - 116.8 - - 2221 - - - - - - - - 14.77 14.79 14.79
15869 268.7 12.4 914 15881 roll 0.58 - - 3611 - 2.58 0.114 3609 553.5 116.8 - - 2221 - - - - - - - - 14.78 14.55 14.79
15995 251.2 13.3 936 16006 done 0.58 - - 3617 - 2.50 0.103 2203 -562.4 116.8 - - 2221 - - - - - - - - 14.66 14.57 14.69
16316 211.3 11.8 968 16327 roll 0.58 - - 3621 - 2.53 0.112 3609 555.7 116.8 - - 2221 - - - - - - - - 14.76 14.54 14.78
16368 204.5 13.8 976 16379 done 0.58 - - 3625 - 2.53 0.103 2198 -557.7 116.8 - - 2221 - - - - - - - - 14.66 14.57 14.67
16571 179.8 11.4 996 16581 done 0.58 - - 3625 - - - 2198 - 116.8 - - 2222 - - - - - - - - 14.78 14.78 14.78
16763 157.6 12.4 1015 16774 done 0.58 - - 3625 - - - 2198 - 116.8 - - 2221 - - - - - - - - 14.76 14.78 14.78
16955 136.3 10.6 1034 16966 roll 0.58 - - 3626 - 2.55 0.113 3609 553.3 116.8 - - 2220 - - - - - - - - 14.76 14.54 14.77
17045 125.7 12.1 1049 17056 done 0.58 - - 3625 - 2.53 0.102 2199 -557.3 116.8 - - 2221 - - - - - - - - 14.64 14.55 14.66
17237 106.6 8.7 1068 17249 roll 0.58 - - 3625 - 2.55 0.111 3611 553.7 116.8 - - 2221 - - - - - - - - 14.76 14.54 14.78
17324 98.6 10.3 1082 17335 done 0.58 - - 3625 - 2.53 0.100 2198 -558.5 116.8 - - 2221 - - - - - - - - 14.64 14.55 14.66
17526 79.4 8.1 1102 17544 roll 0.58 - - 3642 - 2.55 0.112 775 -558.0 120.3 3.33 0.638 2211 -3.0 0.070 - - - - - - 14.75 14.54 14.10
17664 68.9 6.5 1126 17707 done 0.59 0.10 0.255 3609 -330.0 2.50 0.097 2193 567.2 158.3 30.10 0.833 2048 -5.4 0.084 - - - - - - 14.47 14.54 14.10
17903 54.0 6.6 1152 17940 roll 0.61 - - 3610 - 2.67 0.110 3627 537.1 193.8 26.35 0.803 1905 -5.4 0.069 - - - - - - 14.64 14.33 14.05
18023 44.3 8.6 1173 18035 done 0.61 - - 3615 - 2.60 0.103 2192 -551.9 193.8 - - 1903 - - - - - - - - 14.46 14.38 14.48
18217 30.3 6.4 1192 18258 roll 0.62 - - 3621 - 2.60 0.113 794 -537.7 232.5 27.88 0.763 1748 -5.6 0.042 - - - - - - 14.64 14.29 14.04
18399 16.5 7.0 1225 18422 done 0.63 - - 3621 - 2.53 0.099 2214 561.3 259.1 11.73 0.148 1643 -9.0 0.188 - - - - - - 14.45 14.36 14.34
18579 end climb: SURFACE_DEPTH_REACHED
18579 begin surface coast
18630 end surface coast: CONTROL_FINISHED_OK
18630 begin surface
SM 1.59 - - - - -10.32 9.82 0.048 90 9.1 0.60 0.104 1887 -12225.0 350.04 38.30 0.085 1272 33.2 -0.063 - - - - - -