NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 30 * Raw log
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• Previous call tries 1 • 8.64 of 350.00 AH used of 24V (97.53% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -77.6 deg, depth 1.06 m • Intended pitch -15.9 deg, speed -8.250 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 49 s
• GPS2 time: 3 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
30 - - - 101 VBD -0.58 - - 86 - - - 1890 - -116.8 -67.62 - 3117 - - - - - - - - 14.56 - 14.57
108 3.6 -5.3 7 138 roll -0.58 13.57 0.373 3213 230.4 2.80 2.235 3305 505.4 -116.8 -4.82 - 3421 -63.1 - - - - - - - 14.21 13.59 14.42
304 58.3 -20.5 43 312 done -0.58 - - 3214 - 2.53 0.099 1898 -556.1 -116.8 - - 3424 - - - - - - - - 14.44 14.35 14.45
503 98.3 -18.8 63 512 done -0.58 - - 3213 - - - 1900 - -116.8 - - 3425 - - - - - - - - 14.59 14.62 14.62
693 127.3 -14.4 82 701 roll -0.58 - - 3217 - 2.53 0.114 490 -557.3 -116.8 - - 3423 - - - - - - - - 14.63 14.42 14.67
791 141.7 -14.7 99 799 done -0.58 - - 3213 - 2.47 0.095 1896 569.2 -116.8 - - 3426 - - - - - - - - 14.54 14.45 14.55
980 167.5 -13.4 118 989 done -0.58 - - 3214 - - - 1896 - -116.8 - - 3425 - - - - - - - - 14.66 14.68 14.68
1170 192.2 -12.4 137 1178 done -0.58 - - 3213 - - - 1896 - -116.8 - - 3426 - - - - - - - - 14.68 14.69 14.69
1360 215.9 -12.8 156 1368 roll -0.58 - - 3213 - 2.53 0.112 489 -556.1 -116.8 - - 3428 - - - - - - - - 14.69 14.50 14.71
1399 221.3 -14.6 162 1408 done -0.58 - - 3213 - 2.47 0.095 1906 573.7 -116.8 - - 3426 - - - - - - - - 14.62 14.51 14.60
1599 246.8 -12.4 182 1608 roll -0.58 - - 3212 - 2.47 0.109 3311 568.8 -116.8 - - 3426 - - - - - - - - 14.71 14.50 14.75
1639 251.8 -12.2 188 1647 done -0.58 - - 3212 - 2.50 0.097 1900 -564.4 -116.8 - - 3424 - - - - - - - - 14.59 14.50 14.61
1983 294.2 -12.6 204 1986 done -0.58 - - 3212 - - - 1901 - -116.8 - - 3425 - - - - - - - - 14.72 14.73 14.74
2278 330.1 -11.7 214 2286 roll -0.58 - - 3210 - 2.53 0.113 474 -564.0 -116.8 - - 3424 - - - - - - - - 14.73 14.52 14.76
2406 345.8 -12.6 237 2414 done -0.58 - - 3213 - 2.50 0.093 1910 574.4 -116.8 - - 3424 - - - - - - - - 14.63 14.55 14.64
2708 380.0 -10.8 248 2711 done -0.58 - - 3212 - - - 1910 - -116.8 - - 3424 - - - - - - - - 14.73 14.77 14.77
3008 413.6 -11.5 258 3011 done -0.58 - - 3209 - - - 1910 - -116.8 - - 3423 - - - - - - - - 14.76 14.77 14.77
3308 449.5 -12.0 268 3311 done -0.58 - - 3213 - - - 1910 - -116.8 - - 3421 - - - - - - - - 14.76 14.78 14.78
3609 483.7 -11.1 278 3612 done -0.58 - - 3212 - - - 1911 - -116.8 - - 3421 - - - - - - - - 14.76 14.78 14.78
3908 515.7 -10.3 288 3911 done -0.58 - - 3212 - - - 1910 - -116.8 - - 3419 - - - - - - - - 14.76 14.78 14.78
4208 545.6 -9.9 298 4216 roll -0.58 - - 3212 - 2.58 0.116 475 -556.2 -116.8 - - 3420 - - - - - - - - 14.76 14.54 14.78
4277 553.0 -10.6 310 4286 done -0.58 - - 3214 - 2.50 0.097 1897 568.8 -116.8 - - 3420 - - - - - - - - 14.65 14.57 14.67
4621 585.6 -9.8 326 4625 done -0.58 - - 3212 - - - 1897 - -116.8 - - 3418 - - - - - - - - 14.76 14.78 14.78
4917 616.8 -10.7 336 4920 done -0.58 - - 3212 - - - 1897 - -116.8 - - 3416 - - - - - - - - 14.76 14.78 14.78
5217 650.2 -11.2 346 5220 done -0.58 - - 3212 - - - 1897 - -116.8 - - 3416 - - - - - - - - 14.77 14.79 14.79
5518 683.1 -11.0 356 5521 done -0.58 - - 3212 - - - 1897 - -116.8 - - 3417 - - - - - - - - 14.77 14.78 14.78
5817 715.0 -10.6 366 5826 roll -0.58 - - 3212 - 2.55 0.119 490 -551.8 -116.8 - - 3416 - - - - - - - - 14.77 14.57 14.78
5897 724.4 -11.7 380 5905 done -0.58 - - 3212 - 2.47 0.100 1909 574.5 -116.8 - - 3416 - - - - - - - - 14.66 14.57 14.67
6230 757.6 -10.0 394 6234 done -0.58 - - 3212 - - - 1908 - -116.8 - - 3415 - - - - - - - - 14.76 14.78 14.78
6526 786.0 -9.2 404 6529 done -0.58 - - 3212 - - - 1908 - -116.8 - - 3415 - - - - - - - - 14.76 14.78 14.78
6826 812.9 -9.0 414 6829 done -0.58 - - 3212 - - - 1908 - -116.8 - - 3415 - - - - - - - - 14.76 14.79 14.78
7126 838.3 -8.1 424 7129 done -0.58 - - 3208 - - - 1908 - -116.8 - - 3413 - - - - - - - - 14.76 14.78 14.78
7426 864.3 -8.6 434 7429 done -0.58 - - 3209 - - - 1909 - -116.8 - - 3413 - - - - - - - - 14.76 14.78 14.78
7726 890.6 -8.8 444 7729 done -0.58 - - 3210 - - - 1908 - -116.8 - - 3410 - - - - - - - - 14.76 14.78 14.77
8026 917.5 -8.9 454 8035 roll -0.58 - - 3212 - 2.53 0.119 3312 554.9 -116.8 - - 3410 - - - - - - - - 14.76 14.54 14.78
8071 921.9 -8.7 461 8078 done -0.58 - - 3212 - 2.53 0.104 1902 -557.3 -116.8 - - 3414 - - - - - - - - 14.64 14.55 14.66
8408 950.4 -8.7 476 8415 roll -0.58 - - 3212 - 2.58 0.120 474 -553.5 -116.8 - - 3411 - - - - - - - - 14.75 14.52 14.76
8466 956.6 -10.3 486 8474 done -0.58 - - 3209 - 2.50 0.098 1897 569.2 -116.8 - - 3414 - - - - - - - - 14.64 14.54 14.65
8789 984.5 -8.4 498 8793 done -0.58 - - 3212 - - - 1894 - -116.8 - - 3411 - - - - - - - - 14.74 14.76 14.76
8870 end dive: TARGET_DEPTH_EXCEEDED
8871 begin apogee
8882 992.0 -8.3 501 8981 done -0.23 0.40 0.187 3335 307.5 - - 2200 - - 93.32 1.893 2941 -5.0 0.496 - - - - - - 14.51 13.85 13.23
8984 end apogee: CONTROL_FINISHED_OK
8984 begin climb
8989 995.7 - 504 9095 done 0.58 0.77 0.125 3593 335.1 - - 2197 - 116.8 97.75 1.864 2462 -4.9 0.492 - - - - - - 13.86 13.65 13.04
9385 952.2 13.0 518 9397 roll 0.58 - - 3593 - 2.62 0.116 3612 540.1 116.8 - - 2456 - - - - - - - - 14.41 14.20 14.42
9447 944.1 14.3 528 9458 done 0.58 - - 3602 - 2.60 0.104 2199 -543.5 116.8 - - 2455 - - - - - - - - 14.35 14.26 14.37
9774 899.9 13.8 540 9785 roll 0.58 - - 3602 - 2.60 0.115 3612 543.5 116.8 - - 2456 - - - - - - - - 14.58 14.37 14.60
9840 889.7 14.6 551 9852 done 0.58 - - 3613 - 2.58 0.103 2199 -547.7 116.8 - - 2455 - - - - - - - - 14.48 14.40 14.51
10151 846.5 13.9 562 10162 done 0.58 - - 3613 - - - 2199 - 116.8 - - 2455 - - - - - - - - 14.68 14.67 14.67
10450 806.6 13.0 572 10461 roll 0.58 - - 3613 - 2.60 0.115 3616 545.0 116.8 - - 2456 - - - - - - - - 14.69 14.49 14.71
10565 789.7 13.8 592 10576 done 0.58 - - 3623 - 2.58 0.105 2199 -549.2 116.8 - - 2455 - - - - - - - - 14.59 14.50 14.61
10897 745.5 12.8 606 10909 roll 0.58 - - 3623 - 2.58 0.115 3612 547.7 116.8 - - 2455 - - - - - - - - 14.72 14.51 14.73
10979 734.5 13.6 620 10990 done 0.58 - - 3628 - 2.55 0.103 2182 -560.8 116.8 - - 2454 - - - - - - - - 14.61 14.52 14.63
11311 690.6 13.5 634 11321 done 0.58 - - 3627 - - - 2181 - 116.8 - - 2456 - - - - - - - - 14.74 14.76 14.75
11615 652.2 12.7 644 11625 done 0.58 - - 3630 - - - 2182 - 116.8 - - 2454 - - - - - - - - 14.73 14.78 14.76
11915 615.8 11.9 654 11927 roll 0.58 - - 3631 - 2.60 0.114 3613 550.4 116.8 - - 2452 - - - - - - - - 14.76 14.58 14.78
12076 595.2 12.5 683 12088 done 0.58 0.12 0.278 3605 -216.7 2.53 0.103 2201 -558.1 116.8 - - 2454 - - - - - - - - 14.50 14.56 14.64
12381 563.9 10.1 694 12392 done 0.58 - - 3605 - - - 2201 - 116.8 - - 2453 - - - - - - - - 14.77 14.78 14.78
12686 532.9 10.6 704 12696 done 0.58 - - 3605 - - - 2201 - 116.8 - - 2452 - - - - - - - - 14.77 14.79 14.79
12985 501.3 10.6 714 12996 done 0.58 - - 3605 - - - 2201 - 116.8 - - 2452 - - - - - - - - 14.77 14.79 14.79
13286 470.5 10.2 724 13297 roll 0.58 - - 3605 - 2.55 0.115 3616 554.9 116.8 - - 2454 - - - - - - - - 14.78 14.57 14.80
13416 455.7 11.4 747 13428 done 0.58 - - 3614 - 2.53 0.101 2197 -560.9 116.8 - - 2453 - - - - - - - - 14.67 14.59 14.69
13726 422.7 10.6 758 13737 roll 0.58 - - 3614 - 2.58 0.114 3613 548.8 116.8 - - 2453 - - - - - - - - 14.78 14.57 14.79
13803 413.8 10.9 771 13814 done 0.58 - - 3624 - 2.53 0.101 2197 -559.7 116.8 - - 2453 - - - - - - - - 14.66 14.59 14.69
14140 379.9 9.9 786 14151 done 0.58 - - 3625 - - - 2195 - 116.8 - - 2453 - - - - - - - - 14.78 14.80 14.80
14444 350.0 10.1 796 14455 done 0.58 - - 3624 - - - 2197 - 116.8 - - 2453 - - - - - - - - 14.78 14.80 14.80
14744 319.5 10.2 806 14756 roll 0.58 - - 3625 - 2.58 0.115 3615 549.6 116.8 - - 2454 - - - - - - - - 14.77 14.58 14.80
14845 308.4 11.1 823 14857 done 0.58 - - 3626 - 2.53 0.103 2199 -559.7 116.8 - - 2453 - - - - - - - - 14.66 14.56 14.69
15151 277.6 9.9 834 15162 done 0.58 - - 3626 - - - 2199 - 116.8 - - 2454 - - - - - - - - 14.78 14.80 14.81
15451 248.9 9.7 844 15462 roll 0.58 - - 3626 - 2.55 0.113 3613 554.5 116.8 - - 2454 - - - - - - - - 14.78 14.57 14.79
15590 232.7 10.9 869 15602 done 0.58 - - 3627 - 2.53 0.101 2195 -560.5 116.8 - - 2454 - - - - - - - - 14.67 14.59 14.69
15783 213.5 10.2 888 15794 done 0.58 - - 3627 - - - 2194 - 116.8 - - 2456 - - - - - - - - 14.77 14.79 14.79
15976 194.5 10.4 907 15986 done 0.58 - - 3627 - - - 2194 - 116.8 - - 2454 - - - - - - - - 14.76 14.78 14.78
16168 176.2 8.9 926 16179 roll 0.58 - - 3627 - 2.58 0.113 3613 550.0 116.8 - - 2454 - - - - - - - - 14.76 14.56 14.78
16254 168.5 9.5 940 16266 done 0.58 0.12 0.261 3604 -191.7 2.53 0.100 2195 -560.5 116.8 - - 2454 - - - - - - - - 14.50 14.57 14.65
16458 152.2 7.3 960 16480 done 0.59 - - 3604 - - - 2195 - 137.5 15.43 0.933 2379 -4.9 0.149 - - - - - - 14.76 14.54 14.14
16662 137.9 7.2 980 16694 roll 0.59 - - 3604 - 2.65 0.112 3613 535.1 159.7 17.35 0.921 2285 -5.4 0.153 - - - - - - 14.70 14.41 14.09
16809 126.6 7.7 1006 16830 done 0.60 - - 3611 - 2.55 0.100 2199 -554.5 170.8 9.95 0.900 2241 -4.4 0.117 - - - - - - 14.56 14.45 14.06
17021 110.1 8.5 1028 17032 done 0.60 - - 3612 - - - 2198 - 170.8 - - 2239 - - - - - - - - 14.64 14.67 14.65
17214 93.5 8.6 1047 17225 roll 0.60 - - 3612 - 2.58 0.111 3612 548.1 170.8 - - 2242 - - - - - - - - 14.66 14.46 14.68
17380 80.6 6.2 1077 17427 done 0.62 - - 3622 - 2.53 0.097 2198 -558.9 214.9 33.22 0.832 2060 -5.5 0.100 - - - - - - 14.60 14.47 14.04
17609 66.9 5.7 1103 17659 roll 0.64 - - 3626 - 2.65 0.113 781 -534.7 269.0 38.75 0.799 1841 -5.7 0.089 - - - - - - 14.59 14.23 13.97
17720 59.3 7.8 1121 17741 done 0.64 - - 3625 - 2.53 0.094 2197 559.7 279.1 9.10 0.828 1798 -4.7 0.064 - - - - - - 14.38 14.30 13.95
17933 40.7 9.4 1143 17945 roll 0.64 - - 3626 - 2.58 0.109 3614 549.2 279.1 - - 1797 - - - - - - - - 14.54 14.35 14.57
17996 34.0 11.4 1153 18007 done 0.64 - - 3625 - 2.58 0.101 2182 -555.0 279.1 - - 1797 - - - - - - - - 14.45 14.38 14.47
18198 17.2 6.9 1173 18218 done 0.65 - - 3625 - - - 2185 - 308.4 13.02 0.155 1684 -8.7 0.181 - - - - - - 14.62 14.49 14.38
18400 4.9 6.9 1193 18420 done 0.66 - - 3625 - - - 2185 - 336.0 11.70 0.093 1572 -9.6 0.095 - - - - - - 14.64 14.53 14.45
18426 end climb: SURFACE_DEPTH_REACHED
18426 begin surface coast
18491 end surface coast: CONTROL_FINISHED_OK
18492 begin surface
SM 1.52 - - - - -10.33 9.90 0.056 94 9.5 0.50 0.110 1897 -12602.0 400.08 27.83 0.083 1309 47.0 -0.088 - - - - - -