NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 166 * Raw log
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• Previous call tries 1 • 45.52 of 350.00 AH used of 24V (86.99% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -79.3 deg, depth 1.04 m • Intended pitch -14.8 deg, speed -7.333 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 103 VBD -0.39 - - 87 - - - 1900 - -107.1 -67.95 - 3243 - - - - - - - - 14.52 - 14.54
109 5.2 -9.4 7 135 roll -0.39 13.60 0.356 3260 233.3 2.83 2.196 475 -503.5 -107.1 -2.05 - 3383 -68.3 - - - - - - - 14.04 13.22 14.35
373 57.7 -12.7 56 382 done -0.39 - - 3260 - 2.53 0.093 1898 562.5 -107.1 - - 3387 - - - - - - - - 14.42 14.33 14.45
564 81.3 -12.5 75 571 roll -0.39 - - 3260 - 2.55 0.109 486 -553.7 -107.1 - - 3388 - - - - - - - - 14.61 14.33 14.62
741 103.6 -11.4 108 749 done -0.39 - - 3260 - 2.50 0.095 1897 564.4 -107.1 - - 3390 - - - - - - - - 14.47 14.37 14.50
930 123.9 -10.8 127 938 roll -0.39 - - 3260 - 2.55 0.106 3321 558.4 -107.1 - - 3388 - - - - - - - - 14.64 14.35 14.66
1003 131.2 -9.1 140 1012 done -0.39 - - 3260 - 2.55 0.093 1887 -562.4 -107.1 - - 3388 - - - - - - - - 14.49 14.37 14.52
1193 150.0 -10.1 159 1201 roll -0.39 - - 3260 - 2.50 0.108 491 -558.4 -107.1 - - 3388 - - - - - - - - 14.66 14.38 14.67
1263 157.3 -10.6 171 1271 done -0.39 - - 3260 - 2.50 0.093 1912 568.4 -107.1 - - 3387 - - - - - - - - 14.49 14.40 14.52
1462 175.8 -9.5 191 1470 roll -0.39 - - 3258 - 2.50 0.109 3304 556.8 -107.1 - - 3388 - - - - - - - - 14.66 14.40 14.68
1512 180.3 -9.0 199 1520 done -0.39 - - 3260 - 2.50 0.096 1909 -558.0 -107.1 - - 3388 - - - - - - - - 14.52 14.42 14.54
1711 199.4 -9.6 219 1719 roll -0.39 - - 3260 - 2.55 0.110 475 -562.4 -107.1 - - 3387 - - - - - - - - 14.67 14.37 14.69
1761 204.7 -11.2 227 1768 done -0.39 - - 3260 - 2.50 0.093 1897 568.8 -107.1 - - 3387 - - - - - - - - 14.52 14.40 14.54
1959 223.7 -9.4 247 1966 roll -0.39 - - 3260 - 2.53 0.106 3321 562.8 -107.1 - - 3385 - - - - - - - - 14.68 14.39 14.70
2038 230.7 -8.5 261 2046 done -0.39 - - 3259 - 2.55 0.095 1888 -562.0 -107.1 - - 3386 - - - - - - - - 14.52 14.41 14.55
2237 247.7 -8.3 281 2246 roll -0.39 - - 3261 - 2.47 0.109 496 -563.6 -107.1 - - 3387 - - - - - - - - 14.69 14.38 14.71
2297 253.4 -9.8 291 2304 done -0.39 - - 3260 - 2.47 0.093 1901 568.8 -107.1 - - 3385 - - - - - - - - 14.54 14.43 14.56
2621 278.4 -7.6 303 2628 roll -0.39 - - 3260 - 2.53 0.107 3325 562.8 -107.1 - - 3384 - - - - - - - - 14.71 14.41 14.72
2678 283.1 -7.3 313 2686 done -0.39 - - 3257 - 2.55 0.096 1905 -556.9 -107.1 - - 3384 - - - - - - - - 14.55 14.45 14.58
3001 308.3 -8.2 325 3004 done -0.39 - - 3260 - - - 1904 - -107.1 - - 3384 - - - - - - - - 14.71 14.72 14.72
3298 332.2 -7.9 335 3305 roll -0.39 - - 3260 - 2.55 0.113 474 -560.8 -107.1 - - 3383 - - - - - - - - 14.71 14.39 14.73
3376 339.4 -9.0 349 3383 done -0.39 - - 3260 - 2.53 0.094 1910 567.6 -107.1 - - 3382 - - - - - - - - 14.56 14.45 14.58
3709 365.5 -7.9 363 3717 roll -0.39 - - 3260 - 2.50 0.109 3310 560.0 -107.1 - - 3382 - - - - - - - - 14.72 14.45 14.73
3813 373.8 -7.7 382 3822 done -0.39 - - 3257 - 2.53 0.099 1891 -560.9 -107.1 - - 3382 - - - - - - - - 14.55 14.43 14.60
4152 402.8 -9.0 397 4155 done -0.39 - - 3262 - - - 1890 - -107.1 - - 3381 - - - - - - - - 14.71 14.71 14.73
4448 432.0 -9.9 407 4456 roll -0.39 - - 3260 - 2.50 0.112 492 -559.2 -107.1 - - 3380 - - - - - - - - 14.75 14.43 14.74
4491 436.5 -10.3 414 4499 done -0.39 - - 3260 - 2.47 0.096 1898 569.2 -107.1 - - 3380 - - - - - - - - 14.57 14.44 14.59
4829 466.6 -9.0 429 4837 roll -0.39 - - 3266 - 2.53 0.109 3315 560.1 -107.1 - - 3379 - - - - - - - - 14.71 14.43 14.73
4908 473.9 -8.6 443 4916 done -0.39 - - 3260 - 2.53 0.098 1904 -557.7 -107.1 - - 3380 - - - - - - - - 14.56 14.45 14.58
5241 502.6 -8.6 457 5244 done -0.39 - - 3260 - - - 1904 - -107.1 - - 3381 - - - - - - - - 14.71 14.73 14.73
5538 526.8 -7.9 467 5546 roll -0.39 - - 3260 - 2.58 0.110 3322 549.6 -107.1 - - 3378 - - - - - - - - 14.71 14.40 14.75
5587 530.6 -7.5 475 5594 done -0.39 - - 3260 - 2.55 0.097 1887 -562.7 -107.1 - - 3382 - - - - - - - - 14.54 14.46 14.57
5920 556.7 -7.9 489 5923 done -0.39 - - 3260 - - - 1890 - -107.1 - - 3377 - - - - - - - - 14.71 14.73 14.73
6216 578.9 -6.9 499 6219 done -0.39 - - 3260 - - - 1890 - -107.1 - - 3376 - - - - - - - - 14.72 14.73 14.73
6516 597.4 -5.9 509 6523 roll -0.39 - - 3260 - 2.60 0.111 3322 550.8 -107.1 - - 3376 - - - - - - - - 14.72 14.42 14.73
6569 600.1 -5.0 518 6578 done -0.39 - - 3260 - 2.53 0.099 1910 -558.1 -107.1 - - 3375 - - - - - - - - 14.54 14.42 14.57
6899 622.0 -7.6 531 6907 roll -0.39 - - 3260 - 2.58 0.113 481 -553.9 -107.1 - - 3375 - - - - - - - - 14.71 14.39 14.76
6957 627.7 -8.9 541 6965 done -0.39 - - 3260 - 2.53 0.096 1899 560.5 -107.1 - - 3375 - - - - - - - - 14.54 14.43 14.57
7280 652.9 -8.0 553 7283 done -0.39 - - 3261 - - - 1899 - -107.1 - - 3375 - - - - - - - - 14.71 14.73 14.72
7576 679.0 -9.2 563 7579 done -0.39 - - 3260 - - - 1901 - -107.1 - - 3374 - - - - - - - - 14.71 14.73 14.72
7876 704.4 -7.7 573 7879 done -0.39 - - 3260 - - - 1906 - -107.1 - - 3374 - - - - - - - - 14.70 14.71 14.73
8176 725.5 -6.9 583 8179 done -0.39 - - 3260 - - - 1901 - -107.1 - - 3374 - - - - - - - - 14.69 14.73 14.73
8476 745.7 -6.8 593 8484 roll -0.39 - - 3260 - 2.55 0.110 3323 557.6 -107.1 - - 3369 - - - - - - - - 14.70 14.38 14.72
8564 751.5 -6.6 609 8572 done -0.39 - - 3260 - 2.55 0.099 1902 -557.3 -107.1 - - 3374 - - - - - - - - 14.56 14.42 14.59
8887 771.2 -6.2 621 8895 roll -0.39 - - 3260 - 2.55 0.115 484 -556.1 -107.1 - - 3372 - - - - - - - - 14.71 14.39 14.72
8966 777.1 -7.5 635 8973 done -0.39 - - 3260 - 2.53 0.099 1900 559.7 -107.1 - - 3371 - - - - - - - - 14.51 14.41 14.56
9049 end dive: TARGET_DEPTH_EXCEEDED
9049 begin apogee
9061 783.1 -6.8 641 9150 done -0.16 0.25 0.169 3339 316.0 - - 2265 - - 83.82 1.648 2942 -5.1 0.451 - - - - - - 14.35 14.01 13.44
9153 end apogee: CONTROL_FINISHED_OK
9153 begin climb
9158 785.9 - 644 9253 done 0.39 0.55 0.122 3521 330.9 - - 2265 - 107.1 85.45 1.624 2503 -5.1 0.461 - - - - - - 14.01 13.82 13.25
9534 764.7 7.0 662 9544 done 0.39 - - 3521 - - - 2265 - 107.1 - - 2496 - - - - - - - - 14.42 14.45 14.44
9834 744.0 6.9 672 9845 done 0.39 - - 3522 - - - 2270 - 107.1 - - 2499 - - - - - - - - 14.56 14.57 14.57
10139 723.3 6.9 682 10149 done 0.39 - - 3521 - - - 2265 - 107.1 - - 2497 - - - - - - - - 14.62 14.64 14.64
10438 701.1 7.5 692 10449 done 0.39 - - 3521 - - - 2265 - 107.1 - - 2497 - - - - - - - - 14.66 14.68 14.69
10739 679.0 7.2 702 10749 done 0.39 - - 3522 - - - 2265 - 107.1 - - 2495 - - - - - - - - 14.69 14.71 14.71
11039 658.5 6.7 712 11050 done 0.40 - - 3522 - - - 2265 - 107.1 - - 2497 - - - - - - - - 14.70 14.72 14.72
11339 639.8 6.5 722 11350 roll 0.42 - - 3527 - 2.60 0.112 820 -555.8 107.1 - - 2496 - - - - - - - - 14.70 14.42 14.73
11390 635.9 7.1 730 11402 done 0.42 - - 3527 - 2.53 0.099 2246 563.6 107.1 - - 2495 - - - - - - - - 14.56 14.43 14.59
11723 614.5 6.4 744 11734 done 0.44 - - 3528 - - - 2246 - 107.1 - - 2496 - - - - - - - - 14.73 14.76 14.76
12028 595.6 6.0 754 12038 done 0.46 - - 3527 - - - 2246 - 107.1 - - 2496 - - - - - - - - 14.73 14.76 14.75
12327 578.7 5.6 764 12338 roll 0.50 - - 3527 - 2.58 0.112 3663 549.2 107.1 - - 2496 - - - - - - - - 14.73 14.44 14.75
12380 575.3 6.4 772 12391 done 0.52 0.08 0.159 3585 725.0 2.55 0.099 2237 -559.2 107.1 - - 2496 - - - - - - - - 14.50 14.46 14.60
12712 551.3 7.1 786 12724 roll 0.52 - - 3584 - 2.62 0.111 3663 544.3 107.1 - - 2496 - - - - - - - - 14.73 14.43 14.76
12883 538.0 7.5 817 12894 done 0.52 0.10 0.258 3568 -160.0 2.55 0.098 2254 -552.5 107.1 - - 2495 - - - - - - - - 14.33 14.45 14.55
13221 519.6 5.4 832 13232 roll 0.56 - - 3566 - 2.60 0.112 3667 543.5 107.1 - - 2495 - - - - - - - - 14.73 14.45 14.75
13283 515.8 6.6 842 13295 done 0.57 - - 3573 - 2.58 0.099 2244 -551.6 107.1 - - 2496 - - - - - - - - 14.57 14.46 14.59
13607 496.1 6.2 854 13618 roll 0.60 - - 3573 - 2.62 0.112 3666 542.7 107.1 - - 2495 - - - - - - - - 14.73 14.45 14.75
13673 491.0 7.8 865 13686 done 0.60 - - 3582 - 2.55 0.099 2254 -553.7 107.1 - - 2495 - - - - - - - - 14.57 14.44 14.60
13984 466.7 8.5 876 13995 roll 0.60 - - 3582 - 2.58 0.112 3663 546.1 107.1 - - 2492 - - - - - - - - 14.75 14.44 14.75
14051 459.9 9.8 887 14063 done 0.60 - - 3586 - 2.55 0.099 2251 -553.7 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.60
14362 430.1 9.9 898 14373 done 0.60 - - 3584 - - - 2251 - 107.1 - - 2495 - - - - - - - - 14.73 14.75 14.75
14661 399.5 10.5 908 14672 roll 0.60 - - 3586 - 2.60 0.114 3659 541.5 107.1 - - 2495 - - - - - - - - 14.73 14.45 14.76
14817 381.6 10.9 936 14828 done 0.60 - - 3594 - 2.55 0.096 2237 -557.6 107.1 - - 2495 - - - - - - - - 14.56 14.45 14.60
15140 351.7 9.1 948 15151 roll 0.60 - - 3596 - 2.62 0.110 3663 544.3 107.1 - - 2494 - - - - - - - - 14.73 14.44 14.75
15182 347.6 9.8 954 15193 done 0.60 - - 3607 - 2.53 0.097 2252 -557.7 107.1 - - 2494 - - - - - - - - 14.56 14.43 14.60
15525 316.0 9.1 970 15536 roll 0.60 - - 3618 - 2.53 0.108 844 -556.5 107.1 - - 2494 - - - - - - - - 14.73 14.39 14.75
15606 308.2 9.7 984 15618 done 0.60 0.10 0.252 3591 -270.0 2.50 0.097 2260 566.4 107.1 - - 2495 - - - - - - - - 14.35 14.46 14.54
15939 279.9 8.3 998 15951 roll 0.60 - - 3591 - 2.58 0.113 3663 543.8 107.1 - - 2495 - - - - - - - - 14.73 14.43 14.75
16035 271.2 9.3 1014 16047 done 0.60 - - 3596 - 2.55 0.096 2248 -554.9 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.60
16358 243.8 8.4 1030 16369 done 0.60 - - 3596 - - - 2247 - 107.1 - - 2495 - - - - - - - - 14.73 14.76 14.75
16551 228.4 7.6 1049 16562 done 0.60 - - 3596 - - - 2247 - 107.1 - - 2495 - - - - - - - - 14.73 14.74 14.74
16743 214.3 7.1 1068 16754 done 0.60 - - 3596 - - - 2247 - 107.1 - - 2497 - - - - - - - - 14.73 14.74 14.74
16936 200.1 7.6 1087 16947 roll 0.60 - - 3596 - 2.60 0.112 3663 544.6 107.1 - - 2495 - - - - - - - - 14.72 14.42 14.74
17062 189.3 9.2 1109 17073 done 0.60 - - 3599 - 2.55 0.097 2253 -552.9 107.1 - - 2494 - - - - - - - - 14.55 14.43 14.58
17265 172.7 8.1 1129 17276 roll 0.60 - - 3600 - 2.60 0.112 3663 542.3 107.1 - - 2496 - - - - - - - - 14.71 14.42 14.73
17355 164.5 9.4 1144 17366 done 0.60 - - 3609 - 2.55 0.096 2236 -559.6 107.1 - - 2495 - - - - - - - - 14.50 14.39 14.54
17548 147.3 8.5 1163 17559 roll 0.60 - - 3614 - 2.62 0.109 3663 544.7 107.1 - - 2495 - - - - - - - - 14.71 14.38 14.72
17635 140.3 8.6 1177 17646 done 0.60 - - 3610 - 2.53 0.096 2255 -556.5 107.1 - - 2496 - - - - - - - - 14.51 14.38 14.56
17838 126.3 6.2 1197 17849 roll 0.62 - - 3621 - 2.55 0.107 822 -562.0 107.1 - - 2496 - - - - - - - - 14.70 14.40 14.71
18044 114.7 4.6 1234 18098 done 0.65 - - 3621 - 2.55 0.098 2264 565.5 166.6 43.47 0.869 2259 -5.5 0.134 - - - - - - 14.53 14.43 13.95
18279 95.5 9.4 1261 18291 roll 0.65 - - 3623 - 2.58 0.108 841 -551.6 166.6 - - 2258 - - - - - - - - 14.58 14.30 14.60
18323 91.4 10.3 1267 18334 done 0.65 - - 3622 - 2.53 0.098 2248 556.1 166.6 - - 2257 - - - - - - - - 14.45 14.34 14.47
18526 70.8 9.3 1287 18537 roll 0.65 - - 3622 - 2.58 0.110 3663 548.4 166.6 - - 2258 - - - - - - - - 14.62 14.35 14.64
18776 45.8 7.4 1333 18787 done 0.65 - - 3625 - 2.55 0.095 2239 -558.4 166.6 - - 2256 - - - - - - - - 14.50 14.39 14.52
18979 34.3 4.9 1353 19031 roll 0.67 - - 3626 - 2.53 0.109 839 -553.4 220.1 39.67 0.770 2039 -5.5 0.045 - - - - - - 14.66 14.27 13.97
19166 24.2 6.5 1387 19177 done 0.69 - - 3626 - 2.55 0.097 2268 560.4 220.1 - - 2038 - - - - - - - - 14.42 14.32 14.45
19369 13.4 6.6 1407 19380 roll 0.71 - - 3626 - 2.58 0.109 842 -552.7 220.1 - - 2038 - - - - - - - - 14.62 14.31 14.63
19423 9.7 6.7 1415 19434 done 0.72 - - 3626 - 2.50 0.097 2243 560.4 220.1 - - 2038 - - - - - - - - 14.47 14.36 14.50
19627 4.1 0.1 1435 19643 VBD 0.80 - - 3626 - - - 2247 - 377.1 9.30 0.095 1949 -9.6 0.077 - - - - - - 14.64 - 14.66
19645 end climb: SURFACE_DEPTH_REACHED
19645 begin surface coast
19961 end surface coast: NO_VERTICAL_VELOCITY
19961 begin surface
SM 0.82 - - - - -10.25 9.75 0.041 94 9.6 0.65 0.118 1906 -10461.5 400.08 65.38 0.086 1309 20.0 -0.020 - - - - - -