NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 618 * Raw log
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• Previous call tries 1 • 176.94 of 350.00 AH used of 24V (49.45% remains)
• Previous NAKs 6, Timeouts 0
• Surface angle -77.8 deg, depth 0.73 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 47 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
33 - - - 113 done -0.39 - - 82 - - - 1956 - -107.1 -75.43 - 3378 - - - - - - - - 14.47 12.50 14.38
120 1.8 -3.1 2 142 roll -0.39 14.50 0.363 3251 218.6 2.67 0.099 3389 536.7 -107.1 - - 3382 - - - - - - - - 13.68 14.07 14.05
302 42.7 -10.5 36 310 done -0.39 - - 3250 - 2.60 0.087 1976 -543.5 -107.1 - - 3383 - - - - - - - - 13.99 13.86 14.04
621 73.7 -9.2 44 628 roll -0.39 - - 3251 - 2.60 0.096 559 -545.0 -107.1 - - 3384 - - - - - - - - 14.50 13.87 14.51
683 79.9 -9.7 55 693 done -0.39 - - 3250 - 2.62 0.089 1984 543.9 -107.1 - - 3383 - - - - - - - - 14.03 13.89 14.08
991 106.9 -8.7 61 999 roll -0.39 - - 3251 - 2.58 0.100 3382 541.9 -107.1 - - 3383 - - - - - - - - 14.47 13.81 14.49
1065 113.3 -8.5 74 1073 done -0.39 - - 3251 - 2.58 0.083 1974 -545.7 -107.1 - - 3386 - - - - - - - - 14.04 13.90 14.09
1432 145.1 -8.7 90 1435 done -0.39 - - 3250 - - - 1973 - -107.1 - - 3384 - - - - - - - - 14.47 14.49 14.50
1729 170.5 -8.5 95 1732 done -0.39 - - 3250 - - - 1972 - -107.1 - - 3384 - - - - - - - - 14.51 14.53 14.53
2029 192.0 -7.0 100 2037 roll -0.39 - - 3251 - 2.65 0.099 3376 529.8 -107.1 - - 3384 - - - - - - - - 14.49 13.79 14.52
2079 195.1 -6.3 108 2086 done -0.39 - - 3250 - 2.60 0.083 1954 -546.9 -107.1 - - 3382 - - - - - - - - 14.01 13.87 14.06
2407 216.5 -6.6 117 2411 done -0.39 - - 3250 - - - 1959 - -107.1 - - 3383 - - - - - - - - 14.52 14.52 14.52
2708 235.5 -6.3 122 2715 roll -0.39 - - 3253 - 2.70 0.098 3389 529.6 -107.1 - - 3383 - - - - - - - - 14.50 13.74 14.51
2781 240.2 -6.1 135 2789 done -0.39 - - 3251 - 2.60 0.083 1974 -544.2 -107.1 - - 3380 - - - - - - - - 13.97 13.83 14.02
3149 262.8 -6.1 151 3153 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3382 - - - - - - - - 14.47 14.48 14.48
3445 280.2 -5.8 156 3453 roll -0.39 - - 3250 - 2.65 0.099 3368 526.4 -107.1 - - 3382 - - - - - - - - 14.50 13.76 14.52
3479 282.2 -5.8 161 3488 done -0.39 - - 3251 - 2.60 0.083 1968 -538.5 -107.1 - - 3382 - - - - - - - - 14.00 13.85 14.04
3824 303.5 -6.2 173 3827 done -0.39 - - 3250 - - - 1968 - -107.1 - - 3382 - - - - - - - - 14.47 14.49 14.49
4126 323.6 -6.8 178 4129 done -0.39 - - 3251 - - - 1968 - -107.1 - - 3380 - - - - - - - - 14.47 14.50 14.50
4428 344.6 -7.0 183 4431 done -0.39 - - 3251 - - - 1968 - -107.1 - - 3384 - - - - - - - - 14.49 14.50 14.50
4724 364.9 -6.9 188 4727 done -0.39 - - 3250 - - - 1967 - -107.1 - - 3381 - - - - - - - - 14.49 14.50 14.50
5026 384.3 -6.4 193 5029 done -0.39 - - 3253 - - - 1967 - -107.1 - - 3380 - - - - - - - - 14.50 14.52 14.50
5325 403.8 -6.6 198 5333 roll -0.39 - - 3250 - 2.70 0.103 3378 522.6 -107.1 - - 3379 - - - - - - - - 14.50 13.72 14.52
5358 406.0 -6.5 203 5366 done -0.39 - - 3250 - 2.62 0.085 1972 -536.6 -107.1 - - 3379 - - - - - - - - 13.95 13.81 14.01
5704 428.1 -6.5 215 5712 roll -0.39 - - 3250 - 2.67 0.099 546 -534.1 -107.1 - - 3379 - - - - - - - - 14.47 13.71 14.49
5737 430.7 -7.5 220 5745 done -0.39 - - 3251 - 2.65 0.086 1971 537.7 -107.1 - - 3379 - - - - - - - - 13.87 13.72 13.93
6082 455.4 -7.5 232 6090 roll -0.39 - - 3251 - 2.70 0.106 3389 525.2 -107.1 - - 3378 - - - - - - - - 14.49 13.66 14.50
6208 461.4 -4.6 254 6216 done -0.39 - - 3254 - 2.62 0.084 1972 -540.8 -107.1 - - 3378 - - - - - - - - 13.93 13.78 13.98
6527 484.0 -6.9 261 6535 roll -0.39 - - 3253 - 2.65 0.099 552 -535.8 -107.1 - - 3378 - - - - - - - - 14.47 13.69 14.48
6598 489.9 -8.8 273 6609 done -0.39 - - 3251 - 2.62 0.087 1966 539.7 -107.1 - - 3377 - - - - - - - - 13.79 13.69 13.85
6905 end dive: TARGET_DEPTH_EXCEEDED
6905 begin apogee
6917 513.6 -7.5 289 7012 done -0.16 0.32 0.150 3343 287.5 - - 2266 - - 90.53 1.341 2940 -4.8 0.363 - - - - - - 13.69 13.90 13.04
7016 end apogee: CONTROL_FINISHED_OK
7016 begin climb
7022 516.3 - 290 7133 roll 0.39 0.47 0.102 3522 380.9 2.67 0.104 3662 522.8 107.1 90.07 1.336 2501 -4.9 0.370 - - - - - - 13.99 13.82 12.97
7159 515.7 3.9 314 7234 done 0.43 - - 3517 - 2.60 0.084 2236 -548.5 181.7 62.30 1.340 2197 -4.9 0.369 - - - - - - 14.07 13.95 13.00
7597 495.6 5.0 344 7652 roll 0.45 - - 3517 - 2.55 0.103 844 -545.9 233.3 43.12 1.302 1986 -4.9 0.366 - - - - - - 14.54 14.07 13.21
7748 487.6 5.5 372 7760 done 0.49 0.08 0.142 3583 825.0 2.58 0.089 2249 544.6 233.3 - - 1985 - - - - - - - - 14.07 14.04 14.21
8107 454.8 9.8 385 8119 roll 0.49 0.08 0.230 3555 -350.0 2.65 0.101 3665 534.3 233.3 - - 1984 - - - - - - - - 14.00 13.97 14.04
8159 449.0 10.0 393 8171 done 0.49 - - 3562 - 2.58 0.088 2255 -546.5 233.3 - - 1984 - - - - - - - - 14.16 14.02 14.22
8493 421.6 8.2 402 8504 roll 0.49 - - 3558 - 2.60 0.101 838 -545.0 233.3 - - 1983 - - - - - - - - 14.62 13.95 14.62
8560 416.1 8.2 413 8574 done 0.49 - - 3556 - 2.60 0.091 2264 548.5 233.3 - - 1983 - - - - - - - - 14.13 14.00 14.19
8865 390.5 8.5 419 8876 roll 0.49 - - 3557 - 2.60 0.103 3660 536.9 233.3 - - 1983 - - - - - - - - 14.57 13.90 14.59
8898 387.4 9.7 423 8909 done 0.49 - - 3557 - 2.60 0.086 2240 -546.2 233.3 - - 1985 - - - - - - - - 14.13 13.98 14.18
9255 358.2 8.0 436 9266 roll 0.49 - - 3557 - 2.60 0.101 842 -537.7 233.3 - - 1981 - - - - - - - - 14.56 13.88 14.57
9322 352.6 8.0 447 9334 done 0.49 - - 3557 - 2.58 0.090 2245 543.8 233.3 - - 1982 - - - - - - - - 14.09 13.93 14.13
9627 328.7 7.9 453 9638 done 0.49 - - 3557 - - - 2245 - 233.3 - - 1982 - - - - - - - - 14.55 14.57 14.57
9928 304.1 8.2 458 9938 done 0.49 - - 3554 - - - 2245 - 233.3 - - 1982 - - - - - - - - 14.59 14.59 14.61
10228 282.2 7.2 463 10239 done 0.49 - - 3557 - - - 2245 - 233.3 - - 1982 - - - - - - - - 14.57 14.59 14.58
10527 259.8 7.5 468 10538 done 0.49 - - 3557 - - - 2245 - 233.3 - - 1982 - - - - - - - - 14.55 14.58 14.57
10829 240.2 6.3 473 10839 done 0.51 - - 3554 - - - 2246 - 233.3 - - 1984 - - - - - - - - 14.57 14.58 14.58
11128 221.2 6.5 478 11138 done 0.53 - - 3557 - - - 2243 - 233.3 - - 1983 - - - - - - - - 14.59 14.60 14.60
11427 199.4 7.2 483 11438 done 0.53 - - 3557 - - - 2245 - 233.3 - - 1982 - - - - - - - - 14.56 14.58 14.58
11729 180.7 6.1 488 11739 done 0.55 - - 3557 - - - 2245 - 233.3 - - 1982 - - - - - - - - 14.54 14.57 14.56
12027 161.2 6.6 493 12039 roll 0.57 - - 3557 - 2.67 0.103 3664 531.5 233.3 - - 1982 - - - - - - - - 14.58 13.79 14.57
12076 157.7 7.7 500 12088 done 0.57 - - 3562 - 2.60 0.084 2254 -542.3 233.3 - - 1983 - - - - - - - - 14.04 13.88 14.09
12420 134.6 6.9 510 12431 roll 0.57 - - 3557 - 2.62 0.098 833 -542.4 233.3 - - 1982 - - - - - - - - 14.53 13.75 14.55
12498 128.8 7.2 523 12509 done 0.57 - - 3557 - 2.60 0.086 2251 545.4 233.3 - - 1982 - - - - - - - - 14.01 13.87 14.09
12870 103.4 6.6 539 12880 done 0.58 - - 3557 - - - 2250 - 233.3 - - 1982 - - - - - - - - 14.53 14.54 14.54
13167 87.1 5.2 544 13213 roll 0.60 - - 3559 - 2.58 0.103 3664 548.1 280.2 35.58 0.842 1793 -5.3 0.108 - - - - - - 14.54 13.93 13.46
13242 82.9 6.6 557 13255 done 0.62 0.10 0.114 3637 780.0 2.58 0.085 2237 -553.1 280.2 - - 1793 - - - - - - - - 14.23 14.12 14.29
13611 49.5 8.6 573 13624 roll 0.62 0.12 0.199 3601 -300.0 2.55 0.094 843 -546.7 280.2 - - 1794 - - - - - - - - 13.85 13.92 13.93
13859 39.1 4.4 619 13920 done 0.65 - - 3602 - 2.55 0.087 2250 551.8 345.2 48.47 0.771 1531 -5.4 0.054 - - - - - - 14.12 13.98 13.50
14243 17.0 5.5 643 14254 done 0.68 - - 3601 - - - 2250 - 345.2 - - 1528 - - - - - - - - 14.51 14.53 14.52
14447 end climb: SURFACE_DEPTH_REACHED
14447 begin surface coast
14512 end surface coast: CONTROL_FINISHED_OK
14512 begin surface
SM 0.80 - - - - -10.26 9.90 0.040 88 8.9 0.52 0.098 1972 3780.8 400.08 22.77 0.078 1310 57.5 -0.060 - - - - - -