NANOOS Sep12 * SG187 * Dive index * Mission links * Dive 821 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 114.85 of 150.00 AH used of 24V (23.43% remains)
• Previous NAKs 0, Timeouts 0 • 85.51 of 100.00 AH used of 10V (14.49% remains)
• Surface angle -78.2 deg, depth 2.10 m • Intended pitch -26.8 deg, speed -7.021 cm/s
• VBD pumped to 300.00 (SM_CC=300)
• GPS1 time: 12 s, HDOP was 3.0 m
• GPS2 time: 11 s • Transponder ping count: 1
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 80 VBD -0.85 - - 106 - - - 2185 - -36.8 -60.40 - 2690 - - - - - - - - - - -
84 3.4 -3.4 11 110 roll -0.86 11.25 0.218 2912 249.4 2.28 0.061 793 -610.5 -64.4 -7.95 - 3058 -46.3 - - - - - - - 24.58 25.41 26.17
340 65.6 -20.8 60 347 done -0.86 - - 2903 - 2.22 0.050 2207 636.9 -64.4 - - 3060 - - - - - - - - - 25.22 -
663 129.1 -18.6 117 671 roll -0.86 - - 2903 - 2.28 0.048 794 -619.7 -64.4 - - 3061 - - - - - - - - - 25.19 -
852 163.7 -17.8 136 861 done -0.86 - - 2892 - 2.28 0.049 2200 616.7 -64.4 - - 3061 - - - - - - - - - 25.18 -
1174 219.2 -17.3 156 1178 roll -0.86 - - 2892 - 2.28 0.048 790 -618.4 -64.4 - - 3061 - - - - - - - - - 25.15 -
1300 240.3 -17.7 162 1305 done -0.86 0.15 0.172 2917 166.7 2.30 0.048 2207 616.1 -64.4 - - 3061 - - - - - - - - 24.76 25.15 -
1602 288.3 -15.0 177 1608 roll -0.86 - - 2917 - 2.30 0.048 791 -615.7 -64.4 - - 3062 - - - - - - - - - 25.12 -
1671 297.5 -15.4 180 1680 done -0.86 - - 2909 - 2.30 0.049 2202 613.5 -64.4 - - 3061 - - - - - - - - - 25.10 -
1982 345.0 -14.1 196 1983 done -0.86 - - 2909 - - - 2202 - -64.4 - - 3061 - - - - - - - - - - -
2283 385.7 -13.3 211 2288 roll -0.86 - - 2898 - 2.33 0.061 3604 601.7 -64.4 - - 3061 - - - - - - - - - 24.87 -
2391 400.2 -14.7 216 2400 done -0.86 - - 2898 - 2.28 0.042 2188 -621.1 -64.4 - - 3061 - - - - - - - - - 25.30 -
2703 446.6 -14.5 227 2708 roll -0.86 - - 2898 - 2.22 0.050 808 -621.6 -64.4 - - 3061 - - - - - - - - - 25.06 -
2792 459.4 -14.2 230 2798 done -0.86 - - 2887 - 2.28 0.050 2199 610.1 -64.4 - - 3061 - - - - - - - - - 25.05 -
2969 end dive: TARGET_DEPTH_EXCEEDED
2970 begin apogee
2978 485.4 -14.6 236 3039 done -0.22 0.77 0.138 3118 300.0 - - 2339 - - 57.70 0.843 2794 -4.6 0.279 - - - - - - 24.19 - 23.62
3040 end apogee: CONTROL_FINISHED_OK
3040 begin climb
3043 489.3 - 238 3111 done 0.86 1.02 0.076 3470 345.1 - - 2339 - 64.4 59.70 0.806 2530 -4.4 0.281 - - - - - - 24.85 - 23.39
3412 465.5 7.6 251 3418 roll 0.86 - - 3470 - 2.30 0.063 3724 602.2 64.4 - - 2524 - - - - - - - - - 25.30 -
3451 463.0 7.9 252 3457 done 0.86 - - 3481 - 2.25 0.046 2334 -617.8 64.4 - - 2523 - - - - - - - - - 25.51 -
3772 436.2 8.0 263 3773 done 0.86 - - 3481 - - - 2333 - 64.4 - - 2522 - - - - - - - - - - -
4072 413.2 7.7 273 4078 roll 0.86 - - 3481 - 2.35 0.064 3735 596.6 64.4 - - 2521 - - - - - - - - - 25.09 -
4274 395.6 9.0 280 4278 done 0.86 - - 3493 - 2.28 0.047 2322 -619.7 64.4 - - 2519 - - - - - - - - - 25.38 -
4593 369.8 7.9 296 4598 roll 0.86 - - 3504 - 2.28 0.053 922 -614.0 64.4 - - 2519 - - - - - - - - - 25.15 -
4612 368.4 7.8 297 4619 done 0.86 0.12 0.184 3476 -233.3 2.30 0.054 2320 607.8 64.4 - - 2519 - - - - - - - - 24.85 25.14 -
4934 347.9 6.1 313 4944 roll 0.87 - - 3476 - 2.40 0.064 3742 592.5 71.2 5.47 0.589 2503 -2.9 0.181 - - - - - - - 25.29 24.05
5144 332.7 7.2 323 5148 done 0.87 - - 3485 - 2.25 0.047 2320 -632.0 71.2 - - 2500 - - - - - - - - - 25.40 -
5454 311.5 6.7 338 5458 roll 0.87 - - 3485 - 2.33 0.064 3738 608.6 73.4 - - 2500 - - - - - - - - - 24.96 -
5692 293.7 7.6 350 5698 done 0.87 - - 3496 - 2.30 0.046 2324 -614.8 73.4 - - 2500 - - - - - - - - - 25.28 -
6015 273.2 6.1 366 6032 roll 0.87 - - 3497 - 2.33 0.063 3736 606.0 80.3 9.75 0.656 2464 -3.7 0.161 - - - - - - - 25.25 24.04
6262 253.9 8.3 378 6272 done 0.87 0.12 0.187 3480 -141.7 2.30 0.046 2319 -616.1 80.3 - - 2462 - - - - - - - - 25.02 25.39 -
6575 231.9 6.7 394 6580 roll 0.87 - - 3480 - 2.33 0.064 3734 607.3 82.6 - - 2462 - - - - - - - - - 24.94 -
6703 221.1 8.4 400 6708 done 0.87 - - 3490 - 2.28 0.046 2328 -616.7 82.6 - - 2462 - - - - - - - - - 25.28 -
7019 198.2 7.0 416 7020 done 0.87 - - 3489 - - - 2327 - 82.6 - - 2462 - - - - - - - - - - -
7318 176.7 7.0 436 7319 done 0.87 - - 3489 - - - 2327 - 82.8 - - 2462 - - - - - - - - - - -
7618 155.6 7.0 456 7626 roll 0.87 - - 3500 - 2.30 0.053 915 -613.9 82.8 - - 2462 - - - - - - - - - 24.98 -
7659 152.7 7.1 460 7666 done 0.87 - - 3500 - 2.30 0.054 2320 610.9 82.8 - - 2462 - - - - - - - - - 24.98 -
7968 131.7 6.8 481 7978 roll 0.87 - - 3511 - 2.33 0.052 921 -600.4 84.4 4.75 0.477 2449 -2.7 0.079 - - - - - - - 25.21 24.07
8108 123.2 6.3 495 8120 done 0.87 0.10 0.161 3482 -290.0 2.30 0.052 2331 613.0 90.2 7.03 0.538 2426 -3.3 0.079 - - - - - - 24.77 25.13 24.08
8422 104.2 6.0 548 8440 roll 0.88 - - 3482 - 2.38 0.064 3746 594.5 98.3 8.82 0.555 2392 -3.9 0.076 - - - - - - - 25.31 24.10
8671 87.6 6.9 596 8678 done 0.88 - - 3492 - 2.25 0.046 2319 -634.2 99.3 - - 2390 - - - - - - - - - 25.37 -
8986 71.0 3.7 657 9017 roll 0.89 - - 3492 - 2.33 0.062 3734 607.3 124.9 24.70 0.591 2283 -4.3 0.055 - - - - - - - 25.25 24.10
9096 66.5 4.3 677 9122 done 0.90 - - 3503 - 2.22 0.046 2320 -636.9 145.6 18.88 0.573 2199 -4.4 0.054 - - - - - - - 25.48 23.99
9429 44.8 6.6 741 9436 roll 0.90 - - 3503 - 2.33 0.063 3737 608.2 148.7 - - 2194 - - - - - - - - - 25.10 -
9544 35.9 8.0 763 9551 done 0.90 - - 3514 - 2.22 0.046 2322 -637.4 148.7 - - 2193 - - - - - - - - - 25.37 -
9860 22.5 2.3 824 9897 done 0.91 - - 3514 - - - 2321 - 184.7 33.38 0.560 2040 -4.6 0.019 - - - - - - - - 24.04
10201 end climb: SURFACE_DEPTH_REACHED
10203 begin surface coast
10279 end surface coast: CONTROL_FINISHED_OK
10280 begin surface
SM 2.21 - - - - -9.48 8.95 0.037 108 -380.6 0.17 0.076 2203 -694.1 300.00 81.30 0.460 1570 -5.8 0.003 - - - - 5 -