NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 57 * Raw log
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• Previous call tries 1 • 14.85 of 350.00 AH used of 24V (95.76% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -76.2 deg, depth 1.13 m • Intended pitch -26.5 deg, speed -7.333 cm/s
• VBD pumped to 375.06 (SM_CC=375)
• GPS1 time: 36 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 - - - 100 done -0.70 - - 83 - - - 1891 - -38.7 -61.38 - 3100 - - - - - - - - 14.54 13.87 14.56
107 5.3 -9.5 7 134 roll -0.70 13.10 0.361 3151 234.2 2.58 0.096 3312 550.8 -38.7 - - 3103 - - - - - - - - 14.15 14.29 14.35
349 73.4 -19.4 51 360 done -0.70 - - 3150 - 2.53 0.099 1902 -557.3 -38.7 - - 3104 - - - - - - - - 14.52 14.38 14.49
552 107.3 -15.4 71 563 done -0.70 - - 3150 - - - 1901 - -38.7 - - 3105 - - - - - - - - 14.64 14.64 14.65
744 137.2 -15.0 90 756 done -0.70 - - 3150 - - - 1901 - -38.7 - - 3105 - - - - - - - - 14.66 14.68 14.68
937 163.0 -12.6 109 948 roll -0.70 - - 3151 - 2.53 0.112 475 -563.6 -38.7 - - 3106 - - - - - - - - 14.71 14.47 14.69
1027 174.8 -14.2 124 1038 done -0.70 - - 3149 - 2.50 0.093 1906 572.4 -38.7 - - 3106 - - - - - - - - 14.58 14.51 14.62
1220 202.4 -13.5 143 1231 done -0.70 - - 3149 - - - 1906 - -38.7 - - 3106 - - - - - - - - 14.71 14.73 14.72
1412 227.7 -13.4 162 1423 roll -0.70 - - 3149 - 2.55 0.110 474 -561.6 -38.7 - - 3106 - - - - - - - - 14.72 14.50 14.73
1439 231.5 -14.0 165 1450 done -0.70 - - 3149 - 2.47 0.091 1892 574.1 -38.7 - - 3106 - - - - - - - - 14.61 14.53 14.63
1651 258.0 -12.0 182 1664 roll -0.70 - - 3149 - 2.50 0.111 493 -559.6 -38.7 - - 3106 - - - - - - - - 14.73 14.53 14.76
1848 284.8 -13.9 218 1860 done -0.70 - - 3150 - 2.50 0.095 1908 566.0 -38.7 - - 3105 - - - - - - - - 14.64 14.56 14.65
2191 329.0 -12.8 234 2202 roll -0.70 - - 3149 - 2.55 0.110 474 -562.4 -38.7 - - 3105 - - - - - - - - 14.76 14.54 14.78
2434 362.1 -14.1 280 2445 done -0.70 - - 3149 - 2.47 0.093 1892 574.1 -38.7 - - 3104 - - - - - - - - 14.66 14.58 14.68
2756 402.0 -12.2 292 2767 done -0.70 - - 3149 - - - 1892 - -38.7 - - 3103 - - - - - - - - 14.78 14.80 14.78
3056 437.7 -11.5 302 3067 done -0.70 - - 3151 - - - 1892 - -38.7 - - 3102 - - - - - - - - 14.81 14.81 14.81
3357 469.8 -10.4 312 3367 done -0.70 - - 3149 - - - 1892 - -38.7 - - 3101 - - - - - - - - 14.79 14.81 14.81
3660 501.3 -10.8 322 3672 roll -0.70 - - 3149 - 2.53 0.115 474 -560.5 -38.7 - - 3100 - - - - - - - - 14.80 14.57 14.81
3799 519.5 -13.3 347 3810 done -0.70 - - 3149 - 2.50 0.096 1907 573.2 -38.7 - - 3100 - - - - - - - - 14.68 14.61 14.69
4136 559.7 -12.4 362 4147 done -0.70 - - 3149 - - - 1907 - -38.7 - - 3099 - - - - - - - - 14.82 14.82 14.82
4440 597.6 -12.5 372 4451 done -0.70 - - 3149 - - - 1907 - -38.7 - - 3100 - - - - - - - - 14.80 14.82 14.82
4736 632.4 -11.0 382 4747 done -0.70 - - 3149 - - - 1906 - -38.7 - - 3098 - - - - - - - - 14.81 14.82 14.82
5040 663.0 -10.1 392 5050 done -0.70 - - 3149 - - - 1907 - -38.7 - - 3097 - - - - - - - - 14.81 14.83 14.83
5336 690.4 -9.0 402 5347 done -0.70 - - 3149 - - - 1907 - -38.7 - - 3095 - - - - - - - - 14.83 14.83 14.82
5636 716.8 -8.7 412 5647 roll -0.70 - - 3149 - 2.55 0.116 477 -560.8 -38.7 - - 3096 - - - - - - - - 14.83 14.59 14.83
5668 719.8 -9.5 416 5679 done -0.70 - - 3149 - 2.50 0.100 1893 566.4 -38.7 - - 3095 - - - - - - - - 14.69 14.62 14.71
5989 747.7 -8.7 428 6000 done -0.70 - - 3149 - - - 1892 - -38.7 - - 3094 - - - - - - - - 14.81 14.82 14.82
6290 776.2 -9.3 438 6300 done -0.70 - - 3149 - - - 1892 - -38.7 - - 3094 - - - - - - - - 14.83 14.82 14.82
6590 805.3 -9.8 448 6600 done -0.70 - - 3149 - - - 1893 - -38.7 - - 3094 - - - - - - - - 14.81 14.83 14.83
6890 834.9 -9.5 458 6900 done -0.70 - - 3149 - - - 1892 - -38.7 - - 3093 - - - - - - - - 14.81 14.83 14.83
7190 864.4 -10.0 468 7200 done -0.70 - - 3149 - - - 1888 - -38.7 - - 3092 - - - - - - - - 14.81 14.83 14.83
7490 892.5 -9.0 478 7500 done -0.70 - - 3148 - - - 1892 - -38.7 - - 3094 - - - - - - - - 14.80 14.83 14.82
7790 919.1 -8.8 488 7801 roll -0.70 - - 3149 - 2.53 0.119 489 -554.5 -38.7 - - 3092 - - - - - - - - 14.81 14.60 14.83
7821 922.7 -11.3 492 7832 done -0.70 - - 3149 - 2.50 0.103 1912 569.2 -38.7 - - 3091 - - - - - - - - 14.69 14.58 14.71
8143 950.4 -8.9 504 8154 done -0.70 - - 3146 - - - 1912 - -38.7 - - 3091 - - - - - - - - 14.81 14.82 14.82
8444 976.7 -8.7 514 8454 done -0.70 - - 3149 - - - 1911 - -38.7 - - 3088 - - - - - - - - 14.81 14.81 14.82
8618 end dive: TARGET_DEPTH_EXCEEDED
8618 begin apogee
8630 991.8 -8.2 520 8669 done -0.17 0.62 0.228 3330 291.9 - - 2353 - - 30.95 1.872 2940 -4.8 0.462 - - - - - - 14.52 14.35 13.68
8671 end apogee: CONTROL_FINISHED_OK
8671 begin climb
8676 994.3 - 521 8718 done 0.70 0.82 0.129 3610 341.5 - - 2349 - 38.7 32.85 1.852 2785 -4.7 0.462 - - - - - - 14.31 14.08 13.44
9013 972.7 7.2 533 9024 roll 0.70 - - 3610 - 2.58 0.116 3754 544.6 40.0 - - 2777 - - - - - - - - 14.55 14.33 14.54
9134 963.5 11.3 554 9145 done 0.70 - - 3611 - 2.58 0.105 2339 -548.4 40.0 - - 2777 - - - - - - - - 14.45 14.36 14.47
9462 940.7 6.9 567 9473 done 0.71 - - 3612 - - - 2339 - 43.6 3.38 1.045 2764 -3.8 0.632 - - - - - - 14.64 14.47 13.69
9766 920.4 6.6 577 9787 roll 0.71 - - 3612 - 2.65 0.115 3754 534.0 49.6 7.50 1.582 2739 -3.3 0.354 - - - - - - 14.68 14.41 13.78
9861 913.3 8.0 593 9872 done 0.71 - - 3621 - 2.53 0.101 2340 -558.9 49.6 - - 2739 - - - - - - - - 14.52 14.42 14.54
10183 889.7 7.1 605 10194 done 0.71 - - 3621 - - - 2342 - 51.7 - - 2739 - - - - - - - - 14.69 14.70 14.69
10488 869.0 6.6 615 10503 done 0.72 - - 3621 - - - 2342 - 57.6 8.12 1.568 2708 -3.8 0.386 - - - - - - 14.71 14.49 13.82
10788 846.1 8.1 625 10799 done 0.72 - - 3621 - - - 2341 - 57.6 - - 2706 - - - - - - - - 14.69 14.71 14.71
11089 822.2 7.7 635 11100 done 0.72 - - 3622 - - - 2342 - 57.6 - - 2705 - - - - - - - - 14.71 14.73 14.76
11388 800.0 7.5 645 11400 roll 0.72 - - 3626 - 2.50 0.113 939 -561.2 57.6 - - 2705 - - - - - - - - 14.73 14.51 14.75
11440 795.8 7.6 653 11451 done 0.72 - - 3626 - 2.50 0.096 2355 566.4 57.6 - - 2705 - - - - - - - - 14.61 14.52 14.64
11773 770.5 7.6 667 11783 done 0.72 - - 3625 - - - 2355 - 57.6 - - 2705 - - - - - - - - 14.74 14.76 14.77
12077 749.3 6.9 677 12093 roll 0.72 - - 3625 - 2.53 0.112 3758 554.5 60.7 3.15 0.902 2696 -2.9 0.433 - - - - - - 14.76 14.54 13.82
12202 738.9 8.1 699 12213 done 0.72 - - 3635 - 2.53 0.100 2345 -558.5 60.7 - - 2695 - - - - - - - - 14.62 14.54 14.67
12525 716.3 6.8 711 12539 done 0.73 - - 3636 - - - 2344 - 65.3 6.88 1.401 2673 -3.2 0.298 - - - - - - 14.74 14.54 13.90
12828 693.1 8.0 721 12838 done 0.73 - - 3636 - - - 2346 - 65.3 - - 2672 - - - - - - - - 14.74 14.74 14.73
13128 668.8 8.2 731 13138 done 0.73 - - 3635 - - - 2341 - 65.3 - - 2672 - - - - - - - - 14.74 14.76 14.76
13428 641.9 9.0 741 13438 done 0.73 - - 3635 - - - 2345 - 65.3 - - 2672 - - - - - - - - 14.75 14.76 14.76
13728 616.2 8.1 751 13739 roll 0.73 - - 3635 - 2.58 0.115 3772 553.1 65.3 - - 2669 - - - - - - - - 14.76 14.54 14.77
13904 601.8 7.9 783 13915 done 0.73 - - 3642 - 2.55 0.102 2342 -560.8 65.3 - - 2671 - - - - - - - - 14.64 14.56 14.66
14236 579.4 6.4 797 14250 done 0.73 - - 3642 - - - 2345 - 72.6 7.30 1.304 2644 -3.7 0.300 - - - - - - 14.76 14.55 13.96
14540 556.8 7.9 807 14551 roll 0.73 - - 3653 - 2.50 0.112 939 -562.4 72.6 - - 2643 - - - - - - - - 14.73 14.51 14.74
14680 545.5 8.0 832 14691 done 0.73 - - 3653 - 2.50 0.097 2356 566.8 72.6 - - 2642 - - - - - - - - 14.60 14.51 14.62
15018 517.6 8.6 847 15028 done 0.73 - - 3653 - - - 2355 - 72.6 - - 2642 - - - - - - - - 14.74 14.76 14.76
15321 492.1 8.4 857 15332 roll 0.73 - - 3664 - 2.53 0.109 939 -559.7 72.6 - - 2642 - - - - - - - - 14.75 14.53 14.77
15417 483.9 8.5 873 15429 done 0.73 0.12 0.269 3631 -275.0 2.50 0.096 2358 567.6 72.6 - - 2642 - - - - - - - - 14.47 14.54 14.62
15740 460.2 7.1 885 15750 done 0.74 - - 3631 - - - 2357 - 74.7 - - 2642 - - - - - - - - 14.75 14.77 14.77
16045 439.0 7.0 895 16056 done 0.74 - - 3631 - - - 2357 - 77.4 4.38 1.026 2626 -3.7 0.285 - - - - - - 14.76 14.57 13.93
16344 418.7 6.6 905 16365 roll 0.75 - - 3630 - 2.58 0.113 3756 542.2 83.3 7.30 1.161 2599 -3.7 0.243 - - - - - - 14.74 14.50 14.01
16434 412.4 7.7 920 16446 done 0.75 - - 3638 - 2.50 0.099 2347 -563.6 83.3 - - 2597 - - - - - - - - 14.59 14.51 14.61
16762 389.9 6.3 933 16777 done 0.75 - - 3634 - - - 2347 - 91.1 7.70 1.140 2569 -3.6 0.227 - - - - - - 14.72 14.52 14.00
17066 367.7 7.8 943 17077 done 0.75 - - 3638 - - - 2347 - 91.1 - - 2565 - - - - - - - - 14.71 14.73 14.72
17366 343.0 8.4 953 17377 roll 0.75 - - 3649 - 2.50 0.110 939 -563.2 91.1 - - 2568 - - - - - - - - 14.72 14.50 14.74
17432 336.9 8.5 964 17444 done 0.75 - - 3649 - 2.50 0.097 2356 566.8 91.1 - - 2568 - - - - - - - - 14.59 14.52 14.63
17743 311.9 8.1 975 17754 done 0.75 - - 3649 - - - 2355 - 91.1 - - 2568 - - - - - - - - 14.73 14.78 14.75
18043 287.4 8.4 985 18054 roll 0.75 - - 3659 - 2.53 0.109 938 -560.1 91.1 - - 2568 - - - - - - - - 14.74 14.52 14.75
18179 275.3 9.0 1009 18190 done 0.75 - - 3659 - 2.50 0.096 2356 567.2 91.1 - - 2568 - - - - - - - - 14.63 14.54 14.64
18502 246.7 7.8 1027 18512 done 0.75 - - 3659 - - - 2355 - 91.1 - - 2567 - - - - - - - - 14.75 14.76 14.76
18693 231.9 7.4 1046 18705 done 0.75 - - 3658 - - - 2355 - 91.1 - - 2568 - - - - - - - - 14.74 14.76 14.76
18886 219.2 6.6 1065 18904 roll 0.76 - - 3659 - 2.60 0.110 3774 545.8 96.6 5.80 0.965 2546 -3.8 0.157 - - - - - - 14.78 14.50 14.09
19142 197.8 9.0 1112 19155 done 0.76 0.10 0.291 3641 -180.0 2.53 0.098 2344 -565.2 96.6 - - 2545 - - - - - - - - 14.44 14.52 14.59
19337 182.1 7.4 1131 19347 done 0.76 - - 3642 - - - 2345 - 96.6 - - 2546 - - - - - - - - 14.72 14.74 14.73
19529 169.8 5.5 1150 19556 roll 0.77 - - 3641 - 2.62 0.109 3754 537.8 110.9 12.40 0.958 2486 -4.8 0.157 - - - - - - 14.73 14.45 14.09
19794 149.5 7.2 1199 19806 done 0.77 - - 3648 - 2.50 0.096 2343 -564.4 112.2 - - 2487 - - - - - - - - 14.53 14.47 14.57
19987 136.1 7.5 1218 19999 roll 0.77 - - 3648 - 2.55 0.108 3755 553.7 112.2 - - 2487 - - - - - - - - 14.69 14.50 14.71
20054 130.8 7.5 1229 20066 done 0.77 - - 3658 - 2.50 0.095 2354 -560.4 112.2 - - 2487 - - - - - - - - 14.59 14.50 14.60
20247 121.5 3.0 1248 20289 roll 0.81 - - 3668 - 2.60 0.108 937 -545.0 146.6 27.60 0.890 2340 -5.3 0.133 - - - - - - 14.69 14.35 14.04
20528 104.9 6.7 1300 20547 done 0.81 - - 3673 - 2.50 0.095 2354 566.8 151.8 4.75 0.816 2325 -3.2 0.074 - - - - - - 14.51 14.42 13.94
20728 91.6 6.9 1320 20744 done 0.82 - - 3668 - - - 2354 - 155.2 4.97 0.831 2307 -3.6 0.073 - - - - - - 14.64 14.35 13.96
20925 81.1 3.1 1340 20962 roll 0.85 - - 3667 - 2.62 0.109 3758 535.9 188.4 25.75 0.838 2170 -5.3 0.094 - - - - - - 14.64 14.33 14.02
21097 70.1 8.0 1371 21109 done 0.85 - - 3678 - 2.53 0.096 2344 -558.9 188.4 - - 2171 - - - - - - - - 14.46 14.36 14.48
21290 56.9 6.3 1390 21308 roll 0.86 - - 3689 - 2.58 0.106 939 -544.6 196.3 7.68 0.813 2141 -3.9 0.050 - - - - - - 14.59 14.37 14.06
21545 40.0 6.6 1437 21563 done 0.86 - - 3689 - 2.50 0.095 2354 566.0 202.0 5.40 0.793 2118 -4.3 0.039 - - - - - - 14.52 14.43 14.05
21755 27.0 5.9 1458 21773 roll 0.88 - - 3697 - 2.60 0.103 934 -546.2 213.2 7.62 0.782 2070 -6.3 0.040 - - - - - - 14.64 14.41 14.09
21877 19.4 6.9 1479 21890 done 0.88 - - 3696 - 2.50 0.093 2347 565.2 216.8 1.60 0.156 2057 -8.1 0.184 - - - - - - 14.51 14.44 14.36
22072 6.3 6.7 1498 22085 roll 0.88 - - 3696 - 2.60 0.107 3754 541.2 221.7 2.20 0.104 2038 -8.6 0.095 - - - - - - 14.65 14.45 14.45
22111 end climb: SURFACE_DEPTH_REACHED
22111 begin surface coast
22186 end surface coast: CONTROL_FINISHED_OK
22186 begin surface
SM 1.92 - - - - -10.26 10.07 0.053 89 8.8 3.33 0.091 1902 -1967.0 375.06 64.85 0.094 1411 21.8 -0.045 - - - - - -