NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 700 * Raw log
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• Previous call tries 1 • 204.17 of 350.00 AH used of 24V (41.67% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -76.1 deg, depth 0.71 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 37 s
• GPS2 time: 4 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
28 end surface: CONTROL_FINISHED_OK
28 begin dive
34 - - - 116 done -0.39 - - 82 - - - 1974 - -107.1 -77.90 - 3379 - - - - - - - - 14.43 12.53 14.28
124 1.7 -2.4 2 145 done -0.39 14.40 0.358 3259 220.6 - - 1975 - -107.1 - - 3382 - - - - - - - - 13.69 14.12 14.04
463 56.8 -10.8 17 466 done -0.39 - - 3259 - - - 1975 - -107.1 - - 3383 - - - - - - - - 14.38 14.39 14.39
762 87.0 -9.9 22 765 done -0.39 - - 3259 - - - 1975 - -107.1 - - 3383 - - - - - - - - 14.37 14.38 14.38
1063 115.7 -9.6 27 1071 roll -0.39 - - 3262 - 2.65 0.103 3388 533.2 -107.1 - - 3383 - - - - - - - - 14.37 13.79 14.39
1161 124.4 -8.9 45 1170 done -0.39 - - 3259 - 2.62 0.084 1957 -546.2 -107.1 - - 3383 - - - - - - - - 13.98 13.87 14.03
1501 150.2 -6.9 56 1504 done -0.39 - - 3259 - - - 1957 - -107.1 - - 3386 - - - - - - - - 14.39 14.40 14.40
1802 172.2 -7.4 61 1811 roll -0.39 - - 3259 - 2.58 0.097 563 -540.3 -107.1 - - 3384 - - - - - - - - 14.35 13.78 14.35
1867 177.2 -7.8 72 1875 done -0.39 - - 3259 - 2.58 0.084 1973 546.5 -107.1 - - 3383 - - - - - - - - 13.97 13.83 14.02
2175 198.4 -6.9 78 2182 roll -0.39 - - 3259 - 2.67 0.103 3390 530.7 -107.1 - - 3384 - - - - - - - - 14.36 13.78 14.38
2245 203.1 -6.7 90 2253 done -0.39 - - 3259 - 2.60 0.080 1973 -545.0 -107.1 - - 3384 - - - - - - - - 13.96 13.83 14.00
2618 227.1 -6.4 107 2625 roll -0.39 - - 3259 - 2.65 0.095 551 -536.6 -107.1 - - 3384 - - - - - - - - 14.33 13.78 14.34
2668 230.9 -7.6 115 2675 done -0.39 - - 3259 - 2.60 0.083 1967 544.6 -107.1 - - 3385 - - - - - - - - 13.95 13.81 14.00
2997 253.8 -7.0 124 3005 roll -0.39 - - 3260 - 2.67 0.102 3391 533.3 -107.1 - - 3385 - - - - - - - - 14.35 13.76 14.36
3077 259.3 -7.4 138 3084 done -0.39 - - 3259 - 2.65 0.082 1956 -541.5 -107.1 - - 3382 - - - - - - - - 13.95 13.83 14.00
3435 282.4 -6.3 153 3444 roll -0.39 - - 3259 - 2.58 0.096 563 -539.9 -107.1 - - 3384 - - - - - - - - 14.38 13.80 14.38
3479 285.4 -7.0 160 3487 done -0.39 - - 3259 - 2.60 0.084 1984 546.5 -107.1 - - 3384 - - - - - - - - 13.95 13.81 14.02
3815 307.7 -6.8 170 3823 roll -0.39 - - 3259 - 2.62 0.101 3372 529.8 -107.1 - - 3383 - - - - - - - - 14.35 13.81 14.36
3914 314.8 -6.9 188 3922 done -0.39 - - 3259 - 2.58 0.083 1976 -541.1 -107.1 - - 3383 - - - - - - - - 13.93 13.81 14.00
4255 337.5 -6.7 199 4262 roll -0.39 - - 3263 - 2.65 0.097 547 -539.2 -107.1 - - 3382 - - - - - - - - 14.34 13.78 14.38
4302 341.2 -7.6 207 4310 done -0.39 - - 3262 - 2.62 0.085 1968 542.4 -107.1 - - 3383 - - - - - - - - 13.95 13.79 13.99
4631 361.7 -6.1 216 4639 roll -0.39 - - 3259 - 2.70 0.103 3391 527.0 -107.1 - - 3382 - - - - - - - - 14.34 13.77 14.35
4731 367.7 -6.1 234 4739 done -0.39 - - 3259 - 2.62 0.083 1974 -540.8 -107.1 - - 3382 - - - - - - - - 13.94 13.80 13.99
5070 389.0 -6.3 245 5079 roll -0.39 - - 3259 - 2.65 0.097 545 -539.2 -107.1 - - 3381 - - - - - - - - 14.37 13.77 14.38
5115 391.8 -6.5 252 5123 done -0.39 - - 3259 - 2.65 0.086 1984 543.0 -107.1 - - 3379 - - - - - - - - 13.95 13.81 14.00
5450 412.2 -6.2 262 5457 roll -0.39 - - 3259 - 2.65 0.103 3385 528.7 -107.1 - - 3380 - - - - - - - - 14.33 13.78 14.33
5524 416.9 -6.4 275 5532 done -0.39 - - 3259 - 2.62 0.083 1962 -543.1 -107.1 - - 3380 - - - - - - - - 13.95 13.81 13.99
5894 439.5 -6.1 291 5901 roll -0.39 - - 3259 - 2.62 0.098 560 -535.1 -107.1 - - 3379 - - - - - - - - 14.33 13.76 14.35
5942 443.0 -7.0 299 5950 done -0.39 - - 3259 - 2.60 0.088 1965 540.4 -107.1 - - 3379 - - - - - - - - 13.91 13.77 13.97
6272 463.1 -6.1 308 6280 roll -0.39 - - 3259 - 2.67 0.103 3388 533.0 -107.1 - - 3379 - - - - - - - - 14.33 13.77 14.35
6344 467.8 -6.3 321 6353 done -0.39 - - 3259 - 2.62 0.083 1973 -540.1 -107.1 - - 3379 - - - - - - - - 13.93 13.78 13.98
6715 490.9 -6.3 337 6723 roll -0.39 - - 3259 - 2.65 0.097 558 -534.0 -107.1 - - 3378 - - - - - - - - 14.29 13.81 14.31
6769 495.0 -7.1 346 6777 done -0.39 - - 3259 - 2.62 0.087 1979 542.4 -107.1 - - 3379 - - - - - - - - 13.96 13.79 13.99
7094 516.5 -6.7 354 7101 roll -0.39 - - 3259 - 2.65 0.103 3378 527.9 -107.1 - - 3381 - - - - - - - - 14.35 13.80 14.35
7164 521.0 -6.4 366 7172 done -0.39 - - 3259 - 2.65 0.086 1958 -535.8 -107.1 - - 3377 - - - - - - - - 13.96 13.80 13.99
7538 541.3 -5.2 383 7545 roll -0.39 - - 3260 - 2.62 0.101 560 -533.6 -107.1 - - 3377 - - - - - - - - 14.33 13.78 14.34
7572 543.6 -6.5 388 7580 done -0.39 - - 3259 - 2.62 0.087 1980 542.0 -107.1 - - 3374 - - - - - - - - 13.93 13.79 14.00
7916 564.2 -6.0 400 7923 roll -0.39 - - 3259 - 2.67 0.103 3389 527.7 -107.1 - - 3374 - - - - - - - - 14.33 13.77 14.35
8054 572.4 -6.0 425 8062 done -0.39 - - 3259 - 2.65 0.086 1966 -537.0 -107.1 - - 3376 - - - - - - - - 13.93 13.78 13.98
8423 594.6 -6.0 441 8432 roll -0.39 - - 3259 - 2.65 0.099 559 -530.9 -107.1 - - 3375 - - - - - - - - 14.31 13.78 14.33
8469 597.8 -6.5 448 8477 done -0.39 - - 3260 - 2.65 0.090 1975 534.3 -107.1 - - 3376 - - - - - - - - 13.92 13.78 13.98
8559 end dive: TARGET_DEPTH_EXCEEDED
8559 begin apogee
8571 602.9 -5.2 454 8666 done -0.16 0.25 0.145 3338 312.0 - - 2246 - - 89.82 1.471 2941 -4.8 0.389 - - - - - - 13.64 13.90 13.16
8669 end apogee: CONTROL_FINISHED_OK
8669 begin climb
8674 604.8 - 455 8788 roll 0.39 0.50 0.101 3517 358.0 2.72 0.100 830 -520.6 107.1 90.95 1.458 2500 -4.8 0.394 - - - - - - 13.83 13.79 13.00
8804 603.2 4.2 478 8875 done 0.42 - - 3516 - 2.62 0.090 2257 544.7 175.4 57.22 1.450 2222 -4.9 0.396 - - - - - - 13.98 13.86 12.97
9241 578.2 5.8 508 9252 done 0.45 - - 3517 - - - 2256 - 175.4 - - 2222 - - - - - - - - 14.45 14.47 14.46
9541 561.0 5.7 513 9554 roll 0.49 0.08 0.149 3586 862.5 2.65 0.098 832 -537.4 175.4 - - 2223 - - - - - - - - 14.16 13.95 14.18
9585 557.6 9.0 519 9597 done 0.49 0.12 0.200 3549 -308.3 2.62 0.093 2263 546.2 175.4 - - 2224 - - - - - - - - 13.87 14.00 14.08
9934 531.1 7.6 530 9946 roll 0.49 - - 3550 - 2.65 0.106 3665 529.1 175.4 - - 2226 - - - - - - - - 14.50 13.91 14.52
9968 528.2 7.2 534 9979 done 0.49 - - 3554 - 2.62 0.088 2237 -545.0 175.4 - - 2224 - - - - - - - - 14.13 13.98 14.18
10325 505.1 6.3 547 10336 roll 0.51 - - 3557 - 2.60 0.102 840 -537.3 175.4 - - 2224 - - - - - - - - 14.49 13.90 14.50
10441 497.6 5.9 567 10452 done 0.54 - - 3557 - 2.58 0.091 2246 545.0 175.4 - - 2224 - - - - - - - - 14.10 13.94 14.15
10778 477.8 6.0 576 10789 done 0.56 - - 3557 - - - 2245 - 175.4 - - 2224 - - - - - - - - 14.45 14.46 14.46
11075 459.1 6.3 581 11086 done 0.58 - - 3557 - - - 2250 - 175.4 - - 2224 - - - - - - - - 14.48 14.50 14.50
11375 438.8 6.7 586 11386 roll 0.60 - - 3566 - 2.62 0.098 840 -538.2 175.4 - - 2224 - - - - - - - - 14.49 13.88 14.50
11423 435.5 7.3 593 11435 done 0.60 - - 3566 - 2.60 0.090 2261 546.5 175.4 - - 2224 - - - - - - - - 14.09 13.95 14.14
11766 413.3 6.4 603 11776 done 0.62 - - 3567 - - - 2259 - 175.4 - - 2224 - - - - - - - - 14.42 14.44 14.43
12063 394.4 6.3 608 12074 roll 0.64 - - 3568 - 2.67 0.099 844 -530.0 175.4 - - 2224 - - - - - - - - 14.46 13.85 14.48
12105 391.5 6.7 614 12117 done 0.65 0.10 0.118 3637 690.0 2.60 0.090 2245 538.8 175.4 - - 2224 - - - - - - - - 14.01 13.91 14.12
12456 359.2 9.6 625 12468 roll 0.65 0.10 0.237 3604 -330.0 2.70 0.100 3665 525.9 175.4 - - 2224 - - - - - - - - 13.67 13.76 13.76
12503 354.3 8.6 632 12516 done 0.65 - - 3611 - 2.60 0.086 2254 -542.7 175.4 - - 2223 - - - - - - - - 13.94 13.85 13.99
12843 327.8 7.9 642 12855 roll 0.65 - - 3622 - 2.62 0.097 831 -543.1 175.4 - - 2224 - - - - - - - - 14.47 13.82 14.47
12911 322.2 8.5 653 12924 done 0.65 - - 3619 - 2.62 0.090 2252 542.4 175.4 - - 2224 - - - - - - - - 14.04 13.89 14.09
13216 297.3 8.2 659 13227 roll 0.65 - - 3622 - 2.67 0.103 3664 528.8 175.4 - - 2224 - - - - - - - - 14.40 13.71 14.44
13259 293.3 10.3 665 13270 done 0.65 - - 3625 - 2.62 0.087 2248 -540.5 175.4 - - 2224 - - - - - - - - 14.04 13.88 14.08
13602 261.2 9.2 676 13613 roll 0.65 - - 3636 - 2.62 0.096 825 -543.1 175.4 - - 2224 - - - - - - - - 14.45 13.78 14.47
13655 256.3 9.9 684 13667 done 0.65 0.12 0.212 3601 -291.7 2.65 0.090 2266 543.8 175.4 - - 2224 - - - - - - - - 13.69 13.86 13.93
13992 228.8 8.3 693 14004 roll 0.65 - - 3610 - 2.67 0.096 831 -537.5 175.4 - - 2224 - - - - - - - - 14.42 13.78 14.44
14030 225.5 8.0 698 14041 done 0.65 - - 3610 - 2.60 0.090 2245 543.8 175.4 - - 2224 - - - - - - - - 13.99 13.83 14.06
14383 196.9 8.0 710 14395 roll 0.65 - - 3610 - 2.70 0.101 3665 525.9 175.4 - - 2224 - - - - - - - - 14.36 13.79 14.40
14445 190.8 9.3 720 14458 done 0.65 - - 3610 - 2.60 0.085 2250 -544.2 175.4 - - 2224 - - - - - - - - 13.90 13.81 13.96
14771 165.7 7.7 727 14782 roll 0.65 - - 3610 - 2.62 0.097 841 -537.8 175.4 - - 2224 - - - - - - - - 14.40 13.74 14.42
14886 157.5 6.7 747 14897 done 0.66 - - 3610 - 2.60 0.088 2246 540.4 175.4 - - 2224 - - - - - - - - 13.93 13.79 13.97
15224 136.1 6.5 756 15236 roll 0.68 - - 3610 - 2.70 0.101 3665 525.6 175.4 - - 2224 - - - - - - - - 14.38 13.78 14.40
15351 127.2 6.0 778 15362 done 0.70 - - 3610 - 2.62 0.083 2236 -545.4 175.4 - - 2228 - - - - - - - - 13.91 13.81 13.97
15674 113.9 3.7 785 15748 roll 0.74 - - 3609 - 2.58 0.099 842 -540.3 255.6 61.20 0.869 1896 -5.4 0.139 - - - - - - 14.42 14.07 13.50
15804 107.2 6.9 809 15816 done 0.74 - - 3610 - 2.58 0.086 2260 549.6 255.6 - - 1894 - - - - - - - - 14.10 13.97 14.14
16178 82.9 6.8 826 16189 roll 0.75 - - 3610 - 2.62 0.100 3662 535.1 255.6 - - 1891 - - - - - - - - 14.46 13.88 14.47
16252 77.3 7.7 838 16264 done 0.75 - - 3609 - 2.60 0.084 2255 -541.2 255.6 - - 1894 - - - - - - - - 14.06 13.93 14.11
16625 52.7 6.8 855 16636 roll 0.77 - - 3610 - 2.60 0.096 839 -544.6 255.6 - - 1894 - - - - - - - - 14.46 13.87 14.47
16704 47.8 6.4 868 16716 done 0.78 0.10 0.117 3679 690.0 2.58 0.086 2253 548.1 255.6 - - 1892 - - - - - - - - 14.03 13.95 14.12
17044 18.2 8.8 883 17055 done 0.78 0.12 0.208 3645 -283.3 - - 2254 - 255.6 - - 1895 - - - - - - - - 13.72 14.00 13.95
17278 end climb: SURFACE_DEPTH_REACHED
17278 begin surface coast
17310 end surface coast: CONTROL_FINISHED_OK
17310 begin surface
SM 0.57 - - - - -10.27 10.20 0.047 87 8.5 0.55 0.094 1963 -3889.1 400.08 61.05 0.076 1309 21.4 -0.016 - - - - - -