NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 2 • 6.28 of 350.00 AH used of 24V (98.21% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -79.9 deg, depth 1.16 m • Intended pitch -15.9 deg, speed -8.250 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 31 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
27 - - - 101 VBD -0.58 - - 95 - - - 1890 - -116.8 -66.40 - 3033 - - - - - - - - 14.57 - 14.58
108 3.1 -3.8 7 136 roll -0.58 13.55 0.377 3210 229.9 2.80 2.238 3310 507.1 -116.8 -2.40 - 3180 -61.2 - - - - - - - 14.22 13.61 14.45
307 54.2 -17.9 43 318 done -0.58 - - 3210 - 2.55 0.101 1898 -553.7 -116.8 - - 3183 - - - - - - - - 14.47 14.40 14.49
510 87.7 -14.4 63 521 roll -0.58 - - 3210 - 2.55 0.109 3311 554.1 -116.8 - - 3183 - - - - - - - - 14.63 14.42 14.65
606 101.0 -14.0 79 617 done -0.58 - - 3210 - 2.53 0.098 1896 -559.3 -116.8 - - 3184 - - - - - - - - 14.54 14.46 14.56
809 126.3 -12.4 99 820 done -0.58 - - 3210 - - - 1898 - -116.8 - - 3183 - - - - - - - - 14.67 14.69 14.69
1000 148.5 -10.8 118 1012 roll -0.58 - - 3210 - 2.53 0.111 488 -557.3 -116.8 - - 3185 - - - - - - - - 14.68 14.49 14.71
1067 157.3 -13.7 129 1079 done -0.58 - - 3210 - 2.47 0.092 1908 574.9 -116.8 - - 3185 - - - - - - - - 14.59 14.52 14.62
1260 178.3 -11.2 148 1271 done -0.58 - - 3210 - - - 1907 - -116.8 - - 3185 - - - - - - - - 14.71 14.73 14.73
1452 199.2 -10.8 167 1463 done -0.58 - - 3206 - - - 1908 - -116.8 - - 3185 - - - - - - - - 14.73 14.75 14.74
1644 220.3 -10.4 186 1655 done -0.58 - - 3209 - - - 1908 - -116.8 - - 3184 - - - - - - - - 14.73 14.76 14.76
1836 240.6 -10.5 205 1847 roll -0.58 - - 3210 - 2.47 0.109 3312 568.4 -116.8 - - 3184 - - - - - - - - 14.75 14.54 14.77
1882 245.4 -10.3 212 1894 done -0.58 - - 3210 - 2.50 0.099 1901 -564.4 -116.8 - - 3184 - - - - - - - - 14.64 14.57 14.66
2089 265.9 -10.2 222 2100 done -0.58 - - 3210 - - - 1901 - -116.8 - - 3184 - - - - - - - - 14.74 14.78 14.81
2389 296.8 -10.5 232 2399 done -0.58 - - 3210 - - - 1901 - -116.8 - - 3183 - - - - - - - - 14.78 14.80 14.79
2689 327.5 -10.3 242 2699 done -0.58 - - 3210 - - - 1898 - -116.8 - - 3183 - - - - - - - - 14.79 14.81 14.81
2989 358.6 -10.1 252 3000 roll -0.58 - - 3210 - 2.53 0.116 473 -563.2 -116.8 - - 3182 - - - - - - - - 14.80 14.57 14.81
3084 369.6 -11.8 268 3095 done -0.58 - - 3210 - 2.47 0.093 1894 575.3 -116.8 - - 3182 - - - - - - - - 14.69 14.62 14.70
3406 403.0 -10.2 280 3416 done -0.58 - - 3210 - - - 1893 - -116.8 - - 3181 - - - - - - - - 14.80 14.82 14.82
3710 432.4 -9.7 290 3721 done -0.58 - - 3210 - - - 1894 - -116.8 - - 3180 - - - - - - - - 14.81 14.83 14.83
4010 461.8 -9.7 300 4021 roll -0.58 - - 3210 - 2.53 0.116 475 -560.9 -116.8 - - 3180 - - - - - - - - 14.81 14.59 14.83
4105 471.7 -10.4 316 4116 done -0.58 - - 3210 - 2.50 0.095 1912 574.8 -116.8 - - 3179 - - - - - - - - 14.69 14.61 14.71
4427 501.9 -9.1 328 4438 done -0.58 - - 3215 - - - 1913 - -116.8 - - 3178 - - - - - - - - 14.81 14.81 14.83
4732 530.6 -9.5 338 4742 done -0.58 - - 3211 - - - 1916 - -116.8 - - 3177 - - - - - - - - 14.81 14.83 14.81
5028 558.5 -9.0 348 5038 done -0.58 - - 3210 - - - 1912 - -116.8 - - 3177 - - - - - - - - 14.82 14.84 14.83
5332 585.1 -8.8 358 5342 done -0.58 - - 3210 - - - 1912 - -116.8 - - 3177 - - - - - - - - 14.81 14.83 14.83
5631 612.1 -9.1 368 5642 roll -0.58 - - 3210 - 2.55 0.116 479 -562.0 -116.8 - - 3178 - - - - - - - - 14.82 14.61 14.85
5674 616.7 -10.2 374 5685 done -0.58 - - 3209 - 2.47 0.099 1894 572.9 -116.8 - - 3175 - - - - - - - - 14.71 14.62 14.71
6016 648.6 -9.2 390 6027 roll -0.58 - - 3210 - 2.53 0.118 476 -560.5 -116.8 - - 3175 - - - - - - - - 14.81 14.59 14.83
6146 661.9 -10.1 413 6157 done -0.58 - - 3206 - 2.50 0.098 1910 573.6 -116.8 - - 3174 - - - - - - - - 14.70 14.62 14.71
6456 688.4 -8.6 424 6466 done -0.58 - - 3210 - - - 1909 - -116.8 - - 3175 - - - - - - - - 14.81 14.83 14.83
6752 713.5 -8.3 434 6762 done -0.58 - - 3210 - - - 1909 - -116.8 - - 3174 - - - - - - - - 14.81 14.83 14.83
7056 737.8 -7.9 444 7066 done -0.58 - - 3210 - - - 1908 - -116.8 - - 3173 - - - - - - - - 14.81 14.83 14.83
7356 761.3 -7.6 454 7366 done -0.58 - - 3206 - - - 1909 - -116.8 - - 3172 - - - - - - - - 14.81 14.85 14.83
7656 784.3 -7.6 464 7667 roll -0.58 - - 3210 - 2.50 0.116 3314 562.0 -116.8 - - 3172 - - - - - - - - 14.81 14.61 14.83
7733 790.1 -7.1 477 7744 done -0.58 - - 3211 - 2.53 0.104 1895 -560.9 -116.8 - - 3172 - - - - - - - - 14.70 14.62 14.72
8070 812.2 -6.5 492 8081 done -0.58 - - 3210 - - - 1894 - -116.8 - - 3173 - - - - - - - - 14.81 14.83 14.83
8375 831.7 -6.6 502 8386 roll -0.58 - - 3210 - 2.53 0.120 475 -560.9 -116.8 - - 3171 - - - - - - - - 14.81 14.59 14.81
8599 849.7 -8.1 544 8611 done -0.58 - - 3209 - 2.53 0.099 1896 561.7 -116.8 - - 3169 - - - - - - - - 14.69 14.61 14.71
8942 874.2 -7.8 560 8953 roll -0.58 - - 3211 - 2.55 0.120 474 -557.6 -116.8 - - 3171 - - - - - - - - 14.80 14.57 14.81
9023 882.1 -9.1 574 9034 done -0.58 - - 3209 - 2.53 0.099 1915 569.6 -116.8 - - 3171 - - - - - - - - 14.69 14.59 14.70
9356 907.9 -7.8 588 9366 done -0.58 - - 3210 - - - 1915 - -116.8 - - 3170 - - - - - - - - 14.79 14.82 14.81
9660 930.5 -7.4 598 9671 roll -0.58 - - 3210 - 2.58 0.119 477 -557.4 -116.8 - - 3168 - - - - - - - - 14.80 14.57 14.81
9756 938.2 -8.0 614 9767 done -0.58 - - 3210 - 2.50 0.099 1902 570.0 -116.8 - - 3169 - - - - - - - - 14.69 14.60 14.70
10083 960.4 -6.6 626 10093 done -0.58 - - 3210 - - - 1902 - -116.8 - - 3172 - - - - - - - - 14.81 14.81 14.81
10383 979.5 -6.3 636 10394 roll -0.58 - - 3209 - 2.55 0.120 482 -556.9 -116.8 - - 3169 - - - - - - - - 14.79 14.59 14.81
10444 985.1 -7.4 646 10456 done -0.58 - - 3210 - 2.53 0.102 1913 565.6 -116.8 - - 3169 - - - - - - - - 14.70 14.59 14.69
10522 end dive: TARGET_DEPTH_EXCEEDED
10522 begin apogee
10533 990.0 -5.9 650 10635 done -0.23 0.43 0.205 3338 297.7 - - 2203 - - 93.28 1.899 2699 -5.0 0.495 - - - - - - 14.54 13.88 13.24
10637 end apogee: CONTROL_FINISHED_OK
10637 begin climb
10642 993.1 - 653 10749 done 0.58 0.80 0.140 3597 323.8 - - 2203 - 116.8 98.00 1.869 2222 -4.9 0.487 - - - - - - 13.88 13.65 13.03
11038 941.5 14.7 667 11049 roll 0.58 - - 3597 - 2.60 0.117 3607 540.0 116.8 - - 2219 - - - - - - - - 14.41 14.19 14.42
11177 919.4 15.8 692 11188 done 0.58 - - 3598 - 2.60 0.109 2199 -541.5 116.8 - - 2220 - - - - - - - - 14.38 14.30 14.40
11514 870.3 14.1 707 11525 roll 0.58 - - 3597 - 2.62 0.115 3612 539.3 116.8 - - 2220 - - - - - - - - 14.60 14.42 14.62
11566 863.1 15.2 715 11577 done 0.58 - - 3604 - 2.58 0.106 2196 -548.8 116.8 - - 2218 - - - - - - - - 14.50 14.42 14.52
11898 814.8 14.6 729 11909 roll 0.58 - - 3605 - 2.60 0.116 3609 543.5 116.8 - - 2220 - - - - - - - - 14.66 14.45 14.69
11974 802.8 16.3 742 11986 done 0.58 - - 3614 - 2.58 0.106 2183 -552.7 116.8 - - 2220 - - - - - - - - 14.57 14.47 14.58
12312 752.7 14.6 757 12323 roll 0.58 - - 3609 - 2.62 0.116 3608 543.9 116.8 - - 2218 - - - - - - - - 14.71 14.52 14.73
12467 727.5 16.3 785 12478 done 0.58 - - 3610 - 2.53 0.106 2206 -554.2 116.8 - - 2220 - - - - - - - - 14.60 14.50 14.62
12789 680.9 14.3 797 12800 roll 0.58 - - 3609 - 2.58 0.114 3612 545.0 116.8 - - 2220 - - - - - - - - 14.73 14.52 14.75
12885 666.9 15.3 813 12896 done 0.58 - - 3616 - 2.55 0.103 2199 -554.1 116.8 - - 2218 - - - - - - - - 14.62 14.54 14.64
13207 620.6 14.2 825 13218 roll 0.58 - - 3615 - 2.55 0.116 3610 553.3 116.8 - - 2220 - - - - - - - - 14.75 14.53 14.77
13303 606.0 15.7 841 13314 done 0.58 - - 3625 - 2.53 0.103 2200 -557.3 116.8 - - 2220 - - - - - - - - 14.64 14.54 14.65
13625 556.9 14.7 853 13636 done 0.58 - - 3625 - - - 2197 - 116.8 - - 2216 - - - - - - - - 14.76 14.78 14.78
13930 514.0 14.2 863 13941 roll 0.58 - - 3625 - 2.55 0.116 3610 554.1 116.8 - - 2220 - - - - - - - - 14.77 14.54 14.78
14066 492.1 15.8 887 14077 done 0.58 - - 3625 - 2.53 0.105 2205 -555.3 116.8 - - 2220 - - - - - - - - 14.66 14.56 14.67
14409 443.1 14.4 903 14420 roll 0.58 - - 3625 - 2.55 0.114 3613 552.2 116.8 - - 2220 - - - - - - - - 14.77 14.54 14.78
14465 434.3 15.5 912 14476 done 0.58 - - 3625 - 2.55 0.103 2185 -560.0 116.8 - - 2220 - - - - - - - - 14.66 14.57 14.67
14792 388.3 13.8 925 14803 roll 0.58 - - 3625 - 2.58 0.114 3611 552.7 116.8 - - 2220 - - - - - - - - 14.78 14.54 14.79
14889 374.7 15.0 941 14900 done 0.58 - - 3625 - 2.50 0.105 2202 -563.6 116.8 - - 2220 - - - - - - - - 14.65 14.56 14.67
15211 331.5 13.4 953 15221 done 0.58 - - 3625 - - - 2202 - 116.8 - - 2220 - - - - - - - - 14.77 14.79 14.79
15516 290.0 13.9 963 15527 roll 0.58 - - 3625 - 2.53 0.114 3610 556.5 116.8 - - 2220 - - - - - - - - 14.78 14.54 14.80
15665 266.6 15.3 990 15677 done 0.58 - - 3626 - 2.53 0.104 2199 -557.7 116.8 - - 2218 - - - - - - - - 14.66 14.57 14.68
15983 222.5 13.7 1016 15994 roll 0.58 - - 3629 - 2.55 0.113 3612 554.1 116.8 - - 2217 - - - - - - - - 14.78 14.57 14.79
16040 214.7 13.6 1025 16052 done 0.58 - - 3626 - 2.55 0.103 2197 -554.9 116.8 - - 2220 - - - - - - - - 14.66 14.57 14.68
16233 190.1 13.2 1044 16244 done 0.58 - - 3626 - - - 2196 - 116.8 - - 2220 - - - - - - - - 14.76 14.76 14.78
16425 164.5 13.7 1063 16436 roll 0.58 - - 3626 - 2.55 0.112 3611 554.9 116.8 - - 2220 - - - - - - - - 14.76 14.54 14.78
16506 153.6 14.2 1076 16517 done 0.58 - - 3626 - 2.53 0.103 2199 -558.1 116.8 - - 2220 - - - - - - - - 14.64 14.55 14.66
16699 130.0 11.9 1095 16710 roll 0.58 - - 3626 - 2.55 0.112 3612 554.1 116.8 - - 2218 - - - - - - - - 14.75 14.57 14.77
16766 122.3 10.9 1106 16778 done 0.58 - - 3626 - 2.53 0.101 2197 -559.3 116.8 - - 2220 - - - - - - - - 14.63 14.54 14.64
16960 106.4 7.2 1125 16991 roll 0.59 - - 3626 - 2.62 0.110 3610 539.3 139.0 17.75 0.883 2127 -5.2 0.119 - - - - - - 14.74 14.45 14.14
17174 87.0 10.0 1164 17186 done 0.59 - - 3626 - 2.55 0.102 2182 -560.0 139.0 - - 2128 - - - - - - - - 14.57 14.48 14.59
17367 68.7 9.2 1183 17379 roll 0.59 - - 3626 - 2.50 0.114 793 -555.6 139.0 - - 2128 - - - - - - - - 14.70 14.49 14.71
17454 61.1 9.0 1197 17465 done 0.59 - - 3625 - 2.47 0.095 2210 573.7 139.0 - - 2126 - - - - - - - - 14.59 14.52 14.61
17656 47.9 4.7 1217 17724 roll 0.62 - - 3625 - 2.58 0.112 3611 543.0 213.5 53.72 0.780 1823 -5.6 0.065 - - - - - - 14.71 14.28 14.02
17795 38.6 8.4 1241 17806 done 0.62 - - 3626 - 2.55 0.100 2202 -552.5 213.5 - - 1823 - - - - - - - - 14.42 14.33 14.44
17997 24.1 7.6 1261 18017 done 0.62 - - 3626 - - - 2201 - 228.1 8.45 0.772 1767 -6.6 0.039 - - - - - - 14.60 14.42 14.07
18198 8.3 7.5 1281 18216 roll 0.63 - - 3626 - 2.65 0.109 3612 532.5 244.7 6.80 0.110 1701 -9.7 0.138 - - - - - - 14.62 14.40 14.41
18247 end climb: SURFACE_DEPTH_REACHED
18248 begin surface coast
18293 end surface coast: CONTROL_FINISHED_OK
18293 begin surface
SM 0.99 - - - - -10.32 9.88 0.053 92 9.3 3.12 0.095 1899 -2100.3 400.08 65.62 0.084 1068 16.3 -0.020 - - - - - -