NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 175 * Raw log
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• Previous call tries 1 • 47.36 of 350.00 AH used of 24V (86.47% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -78.3 deg, depth 1.14 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 46 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
28 - - - 101 VBD -0.39 - - 96 - - - 1896 - -107.1 -65.82 - 3183 - - - - - - - - 14.58 - 14.60
108 5.0 -8.7 7 137 roll -0.39 13.62 0.360 3260 232.3 2.85 2.210 478 -497.5 -107.1 -2.83 - 3380 -69.6 - - - - - - - 14.11 13.26 14.42
375 55.9 -10.9 56 386 done -0.39 - - 3260 - 2.53 0.094 1906 564.4 -107.1 - - 3384 - - - - - - - - 14.49 14.38 14.51
568 76.8 -11.2 75 579 roll -0.39 - - 3260 - 2.55 0.107 484 -557.6 -107.1 - - 3385 - - - - - - - - 14.66 14.40 14.67
800 105.8 -12.1 118 813 done -0.39 - - 3260 - 2.53 0.094 1914 565.2 -107.1 - - 3386 - - - - - - - - 14.54 14.45 14.57
994 128.3 -12.2 137 1005 roll -0.39 - - 3260 - 2.50 0.108 3321 562.8 -107.1 - - 3385 - - - - - - - - 14.70 14.44 14.72
1114 143.7 -13.0 158 1127 done -0.39 - - 3260 - 2.53 0.094 1894 -564.0 -107.1 - - 3383 - - - - - - - - 14.57 14.47 14.60
1309 166.7 -11.2 177 1319 done -0.39 - - 3260 - - - 1894 - -107.1 - - 3385 - - - - - - - - 14.72 14.73 14.73
1500 186.2 -9.8 196 1511 done -0.39 - - 3257 - - - 1894 - -107.1 - - 3385 - - - - - - - - 14.76 14.75 14.77
1692 204.5 -9.5 215 1704 roll -0.39 - - 3259 - 2.50 0.110 491 -561.2 -107.1 - - 3384 - - - - - - - - 14.73 14.47 14.76
1759 211.3 -10.3 226 1772 done -0.39 - - 3260 - 2.47 0.096 1897 569.2 -107.1 - - 3384 - - - - - - - - 14.59 14.47 14.62
1953 227.1 -7.6 245 1964 roll -0.39 - - 3261 - 2.50 0.106 3307 564.0 -107.1 - - 3384 - - - - - - - - 14.74 14.48 14.76
2010 231.3 -7.4 254 2023 done -0.39 - - 3260 - 2.50 0.096 1904 -561.2 -107.1 - - 3384 - - - - - - - - 14.60 14.50 14.63
2204 245.4 -7.1 273 2215 roll -0.39 - - 3260 - 2.53 0.111 477 -564.0 -107.1 - - 3383 - - - - - - - - 14.74 14.47 14.76
2247 248.8 -8.2 279 2258 done -0.39 - - 3260 - 2.50 0.094 1898 568.4 -107.1 - - 3383 - - - - - - - - 14.60 14.49 14.62
2450 263.8 -7.4 287 2461 roll -0.39 - - 3260 - 2.50 0.106 3317 567.6 -107.1 - - 3383 - - - - - - - - 14.76 14.49 14.77
2502 267.9 -7.6 295 2513 done -0.39 - - 3260 - 2.53 0.096 1890 -564.0 -107.1 - - 3382 - - - - - - - - 14.61 14.50 14.63
2835 294.0 -8.2 309 2846 roll -0.39 - - 3260 - 2.58 0.110 3316 552.7 -107.1 - - 3381 - - - - - - - - 14.76 14.50 14.78
2886 298.2 -8.2 317 2897 done -0.39 - - 3260 - 2.50 0.096 1906 -564.0 -107.1 - - 3381 - - - - - - - - 14.62 14.50 14.64
3219 326.6 -8.7 331 3230 done -0.39 - - 3260 - - - 1909 - -107.1 - - 3381 - - - - - - - - 14.77 14.79 14.79
3518 353.0 -8.7 341 3529 done -0.39 - - 3260 - - - 1906 - -107.1 - - 3380 - - - - - - - - 14.78 14.79 14.79
3823 378.7 -8.4 351 3834 done -0.39 - - 3260 - - - 1906 - -107.1 - - 3380 - - - - - - - - 14.78 14.80 14.80
4118 403.2 -8.2 361 4129 done -0.39 - - 3260 - - - 1910 - -107.1 - - 3379 - - - - - - - - 14.78 14.80 14.80
4423 427.3 -7.8 371 4434 done -0.39 - - 3260 - - - 1906 - -107.1 - - 3378 - - - - - - - - 14.78 14.80 14.80
4718 451.8 -8.1 381 4729 done -0.39 - - 3260 - - - 1906 - -107.1 - - 3376 - - - - - - - - 14.79 14.81 14.81
4803 end dive: TARGET_DEPTH_EXCEEDED
4803 begin apogee
4815 459.3 -8.3 384 4903 done -0.16 0.28 0.184 3338 278.6 - - 2257 - - 79.22 1.264 2944 -5.5 0.367 - - - - - - 14.43 14.20 13.70
4905 end apogee: CONTROL_FINISHED_OK
4905 begin climb
4910 463.4 - 387 5003 roll 0.39 0.55 0.128 3522 334.5 2.65 0.109 3662 530.2 107.1 80.88 1.225 2503 -5.5 0.382 - - - - - - 14.17 13.90 13.51
5043 459.3 6.0 399 5055 done 0.42 - - 3527 - 2.62 0.095 2234 -545.0 107.1 - - 2499 - - - - - - - - 14.17 14.07 14.19
5371 439.3 5.8 412 5382 roll 0.45 - - 3527 - 2.62 0.109 3663 545.4 107.1 - - 2498 - - - - - - - - 14.56 14.31 14.57
5463 433.9 5.8 427 5474 done 0.48 - - 3527 - 2.55 0.094 2254 -552.5 107.1 - - 2498 - - - - - - - - 14.45 14.34 14.47
5790 416.2 5.5 440 5802 roll 0.51 0.08 0.156 3595 850.0 2.55 0.106 819 -562.7 107.1 - - 2497 - - - - - - - - 14.48 14.39 14.51
5996 398.3 8.9 478 6008 done 0.51 0.12 0.226 3560 -291.7 2.53 0.094 2257 568.4 107.1 - - 2501 - - - - - - - - 14.35 14.45 14.52
6329 374.2 7.2 492 6340 roll 0.51 - - 3560 - 2.55 0.110 3663 551.4 107.1 - - 2496 - - - - - - - - 14.72 14.45 14.73
6474 362.2 8.6 518 6486 done 0.51 - - 3568 - 2.55 0.095 2235 -560.0 107.1 - - 2497 - - - - - - - - 14.57 14.46 14.61
6806 336.3 7.7 532 6817 done 0.51 - - 3569 - - - 2235 - 107.1 - - 2496 - - - - - - - - 14.73 14.76 14.77
7107 314.0 7.3 542 7117 done 0.51 - - 3568 - - - 2235 - 107.1 - - 2496 - - - - - - - - 14.75 14.77 14.77
7411 294.6 6.1 552 7422 roll 0.54 - - 3577 - 2.47 0.108 842 -564.0 107.1 - - 2495 - - - - - - - - 14.76 14.47 14.78
7512 287.5 7.2 569 7524 done 0.54 - - 3576 - 2.47 0.094 2246 568.4 107.1 - - 2495 - - - - - - - - 14.60 14.49 14.64
7819 266.8 6.6 580 7830 roll 0.55 - - 3576 - 2.58 0.108 3667 550.8 107.1 - - 2495 - - - - - - - - 14.76 14.48 14.78
8004 253.9 6.8 614 8016 done 0.57 - - 3583 - 2.55 0.097 2253 -554.5 107.1 - - 2494 - - - - - - - - 14.60 14.49 14.64
8328 234.1 6.2 642 8340 done 0.59 - - 3583 - - - 2253 - 107.1 - - 2494 - - - - - - - - 14.76 14.78 14.77
8521 222.5 5.6 661 8532 done 0.62 - - 3583 - - - 2253 - 107.1 - - 2494 - - - - - - - - 14.76 14.77 14.77
8713 210.7 6.4 680 8724 done 0.64 - - 3583 - - - 2253 - 107.1 - - 2494 - - - - - - - - 14.75 14.77 14.77
8906 197.0 7.4 699 8917 done 0.64 - - 3584 - - - 2258 - 107.1 - - 2494 - - - - - - - - 14.75 14.77 14.77
9098 182.4 7.9 718 9109 roll 0.64 - - 3595 - 2.53 0.106 838 -561.3 107.1 - - 2494 - - - - - - - - 14.74 14.47 14.76
9164 176.8 8.2 729 9176 done 0.64 - - 3595 - 2.53 0.096 2267 564.8 107.1 - - 2494 - - - - - - - - 14.57 14.45 14.61
9358 162.8 6.8 748 9369 roll 0.65 - - 3594 - 2.53 0.107 3663 551.8 107.1 - - 2496 - - - - - - - - 14.73 14.46 14.78
9467 155.0 6.1 767 9480 done 0.68 - - 3602 - 2.55 0.094 2236 -559.6 107.1 - - 2493 - - - - - - - - 14.58 14.47 14.62
9661 142.8 6.5 786 9673 roll 0.69 - - 3614 - 2.45 0.106 843 -568.6 107.1 - - 2496 - - - - - - - - 14.73 14.45 14.75
9796 133.5 6.8 810 9807 done 0.69 - - 3612 - 2.47 0.093 2246 568.0 107.1 - - 2494 - - - - - - - - 14.58 14.45 14.59
9998 118.9 7.0 830 10010 roll 0.69 - - 3613 - 2.55 0.106 3663 555.7 107.1 - - 2494 - - - - - - - - 14.73 14.43 14.75
10247 101.4 6.7 876 10258 done 0.71 - - 3624 - 2.53 0.093 2252 -557.7 107.1 - - 2493 - - - - - - - - 14.58 14.47 14.62
10450 91.2 3.9 896 10511 done 0.74 - - 3624 - - - 2252 - 183.0 54.08 0.825 2193 -5.5 0.113 - - - - - - 14.73 14.38 13.95
10693 73.4 9.7 921 10704 done 0.74 - - 3624 - - - 2252 - 183.0 - - 2192 - - - - - - - - 14.60 14.62 14.62
10885 57.6 7.2 940 10896 roll 0.74 - - 3626 - 2.53 0.109 839 -558.5 183.0 - - 2193 - - - - - - - - 14.64 14.38 14.66
10927 54.4 7.8 946 10939 done 0.74 - - 3625 - 2.50 0.093 2262 569.2 183.0 - - 2193 - - - - - - - - 14.52 14.42 14.53
11130 37.9 7.0 966 11141 done 0.74 - - 3626 - - - 2261 - 183.0 - - 2193 - - - - - - - - 14.66 14.71 14.69
11323 26.4 5.1 985 11370 roll 0.77 - - 3626 - 2.55 0.109 3663 549.8 232.1 33.78 0.748 1989 -6.0 0.039 - - - - - - 14.69 14.35 14.02
11431 20.2 6.6 1003 11442 done 0.78 - - 3626 - 2.55 0.095 2245 -556.1 232.1 - - 1991 - - - - - - - - 14.47 14.37 14.49
11635 8.5 5.4 1023 11646 roll 0.82 - - 3626 - 2.58 0.106 3662 549.2 232.1 - - 1988 - - - - - - - - 14.64 14.38 14.66
11668 7.2 3.8 1027 11716 done 0.86 0.12 0.127 3694 566.7 2.53 0.093 2250 -558.1 309.0 32.33 0.106 1680 -9.5 0.120 - - - - - - 14.43 14.40 14.35
11732 end climb: SURFACE_DEPTH_REACHED
11732 begin surface coast
11794 end surface coast: CONTROL_FINISHED_OK
11795 begin surface
SM 1.26 - - - - -10.27 9.98 0.041 86 8.6 0.62 0.101 1901 -15111.3 400.08 38.40 0.091 1310 34.1 -0.048 - - - - - -