NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 9 * Raw log
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• Previous call tries 1 • 3.22 of 350.00 AH used of 24V (99.08% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -77.5 deg, depth 1.25 m • Intended pitch -16.9 deg, speed -10.000 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 5 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
27 - - - 111 VBD -0.57 - - 91 - - - 1895 - -146.6 -76.28 - 3082 - - - - - - - - 14.61 - 14.63
118 3.4 -4.1 8 147 roll -0.57 14.15 0.395 3250 223.3 2.85 2.235 3315 498.2 -146.6 -3.40 - 3301 -64.4 - - - - - - - 14.23 13.59 14.40
371 53.9 -12.7 54 382 done -0.49 0.15 0.233 3293 286.7 2.55 0.100 1887 -560.0 -146.6 - - 3300 - - - - - - - - 14.40 14.42 14.50
574 73.0 -8.8 74 585 roll -0.49 - - 3293 - 2.50 0.118 495 -556.8 -146.6 - - 3304 - - - - - - - - 14.68 14.46 14.69
702 85.7 -9.2 96 713 done -0.57 - - 3294 - 2.47 0.099 1897 567.6 -146.6 - - 3304 - - - - - - - - 14.58 14.50 14.60
905 101.8 -7.9 116 917 roll -0.64 0.10 0.142 3233 -610.0 2.53 0.108 3315 560.5 -146.6 - - 3304 - - - - - - - - 14.54 14.50 14.57
973 108.5 -11.2 126 984 done -0.56 0.12 0.246 3268 291.7 2.55 0.100 1902 -554.1 -146.6 - - 3304 - - - - - - - - 14.45 14.52 14.60
1175 128.5 -8.6 146 1187 roll -0.56 - - 3268 - 2.58 0.110 3319 549.2 -146.6 - - 3304 - - - - - - - - 14.73 14.52 14.76
1266 135.9 -7.9 161 1278 done -0.62 - - 3267 - 2.53 0.100 1902 -560.1 -146.6 - - 3304 - - - - - - - - 14.63 14.52 14.64
1460 151.9 -9.0 180 1472 roll -0.66 - - 3268 - 2.55 0.119 481 -557.3 -146.6 - - 3304 - - - - - - - - 14.75 14.51 14.75
1488 154.5 -9.0 183 1502 done -0.70 0.10 0.145 3214 -540.0 2.50 0.099 1903 568.8 -146.6 - - 3304 - - - - - - - - 14.58 14.56 14.64
1684 177.8 -12.1 202 1696 roll -0.59 0.15 0.246 3262 320.0 2.55 0.110 3317 554.5 -146.6 - - 3304 - - - - - - - - 14.50 14.55 14.58
1781 186.9 -8.1 218 1792 done -0.65 - - 3262 - 2.53 0.103 1901 -559.7 -146.6 - - 3304 - - - - - - - - 14.65 14.56 14.69
1984 203.6 -7.9 238 1995 roll -0.69 - - 3267 - 2.55 0.112 3316 554.9 -146.6 - - 3304 - - - - - - - - 14.77 14.55 14.79
2037 207.6 -7.4 246 2049 done -0.74 0.12 0.120 3199 -566.7 2.53 0.101 1891 -563.2 -146.6 - - 3304 - - - - - - - - 14.61 14.57 14.66
2240 230.7 -12.5 266 2252 roll -0.59 0.20 0.246 3263 320.0 2.50 0.117 493 -559.2 -146.6 - - 3304 - - - - - - - - 14.50 14.56 14.59
2284 235.6 -10.0 272 2295 done -0.59 - - 3258 - 2.47 0.101 1903 570.9 -146.6 - - 3304 - - - - - - - - 14.66 14.58 14.68
2497 252.9 -7.8 291 2509 roll -0.62 - - 3258 - 2.50 0.113 3314 564.4 -146.6 - - 3304 - - - - - - - - 14.79 14.56 14.81
2540 256.2 -7.4 297 2551 done -0.69 - - 3258 - 2.53 0.102 1899 -559.3 -146.6 - - 3304 - - - - - - - - 14.67 14.59 14.69
2883 284.1 -8.6 313 2894 done -0.73 0.10 0.144 3204 -540.0 - - 1901 - -146.6 - - 3304 - - - - - - - - 14.64 14.71 14.69
3187 319.4 -11.8 323 3199 roll -0.62 0.12 0.252 3245 341.7 2.55 0.113 3315 554.5 -146.6 - - 3303 - - - - - - - - 14.53 14.59 14.64
3297 330.0 -8.3 342 3308 done -0.66 - - 3245 - 2.53 0.101 1901 -558.9 -146.6 - - 3303 - - - - - - - - 14.71 14.60 14.71
3635 359.2 -9.1 357 3645 done -0.66 - - 3243 - - - 1901 - -146.6 - - 3303 - - - - - - - - 14.81 14.83 14.83
3939 386.5 -9.0 367 3951 roll -0.66 - - 3246 - 2.50 0.112 3314 565.2 -146.6 - - 3306 - - - - - - - - 14.83 14.59 14.84
3992 391.5 -8.5 375 4004 done -0.71 - - 3246 - 2.53 0.103 1885 -564.8 -146.6 - - 3303 - - - - - - - - 14.71 14.60 14.71
4325 420.7 -8.8 389 4336 roll -0.71 - - 3246 - 2.58 0.112 3317 555.0 -146.6 - - 3301 - - - - - - - - 14.81 14.60 14.83
4357 423.6 -8.8 393 4368 done -0.74 - - 3245 - 2.53 0.102 1905 -558.1 -146.6 - - 3301 - - - - - - - - 14.70 14.62 14.71
4681 452.3 -9.3 405 4692 roll -0.77 0.08 0.171 3193 -650.0 2.53 0.116 484 -561.7 -146.6 - - 3301 - - - - - - - - 14.64 14.59 14.68
4747 460.0 -12.9 415 4760 done -0.65 0.17 0.237 3242 288.2 2.50 0.102 1898 565.6 -146.6 - - 3301 - - - - - - - - 14.53 14.62 14.69
5071 492.0 -9.4 427 5082 roll -0.65 - - 3242 - 2.53 0.114 3315 560.1 -146.6 - - 3300 - - - - - - - - 14.82 14.59 14.84
5178 501.2 -8.7 445 5189 done -0.70 - - 3242 - 2.53 0.103 1897 -560.5 -146.6 - - 3300 - - - - - - - - 14.69 14.62 14.72
5521 530.2 -8.1 461 5531 done -0.70 - - 3242 - - - 1897 - -146.6 - - 3299 - - - - - - - - 14.83 14.83 14.84
5825 554.2 -8.0 471 5836 done -0.73 - - 3242 - - - 1898 - -146.6 - - 3299 - - - - - - - - 14.82 14.84 14.84
6125 575.8 -6.9 481 6136 done -0.76 - - 3242 - - - 1896 - -146.6 - - 3299 - - - - - - - - 14.81 14.85 14.83
6425 597.8 -7.3 491 6437 roll -0.79 0.10 0.148 3179 -630.0 2.58 0.112 3316 550.4 -146.6 - - 3298 - - - - - - - - 14.64 14.62 14.70
6503 605.3 -10.6 503 6515 done -0.66 0.20 0.243 3235 280.0 2.55 0.107 1901 -554.9 -146.6 - - 3298 - - - - - - - - 14.53 14.62 14.69
6846 632.9 -7.8 519 6858 roll -0.66 - - 3235 - 2.55 0.114 3314 554.1 -146.6 - - 3297 - - - - - - - - 14.82 14.59 14.84
6884 635.7 -7.6 524 6896 done -0.70 - - 3235 - 2.55 0.106 1884 -560.8 -146.6 - - 3298 - - - - - - - - 14.69 14.59 14.71
7194 658.0 -7.5 535 7205 roll -0.73 - - 3235 - 2.58 0.113 3316 555.0 -146.6 - - 3298 - - - - - - - - 14.81 14.59 14.83
7276 664.2 -7.7 548 7287 done -0.78 - - 3235 - 2.53 0.104 1902 -558.9 -146.6 - - 3297 - - - - - - - - 14.69 14.59 14.71
7614 691.6 -8.2 563 7625 done -0.81 0.12 0.130 3173 -516.7 - - 1902 - -146.6 - - 3297 - - - - - - - - 14.64 14.72 14.71
7698 end dive: TARGET_DEPTH_EXCEEDED
7698 begin apogee
7710 701.3 -10.2 566 7835 done -0.19 0.73 0.219 3385 290.4 - - 2109 - - 116.30 1.536 2698 -5.2 0.437 - - - - - - 14.54 13.93 13.37
7837 end apogee: CONTROL_FINISHED_OK
7837 begin climb
7842 705.3 - 570 7977 done 0.57 0.73 0.120 3632 338.4 - - 2109 - 146.6 117.10 1.506 2097 -5.1 0.447 - - - - - - 13.93 13.64 13.19
8274 646.7 15.8 600 8286 roll 0.40 0.12 0.252 3592 -333.3 2.60 0.112 3515 540.8 146.6 - - 2096 - - - - - - - - 14.23 14.26 14.32
8400 628.1 14.4 622 8412 done 0.33 0.15 0.259 3565 -180.0 2.60 0.106 2089 -548.5 146.6 - - 2096 - - - - - - - - 14.28 14.33 14.42
8723 591.9 10.5 634 8734 roll 0.33 - - 3565 - 2.60 0.113 3516 548.8 146.6 - - 2098 - - - - - - - - 14.65 14.42 14.67
8769 586.6 11.8 641 8780 done 0.33 - - 3570 - 2.55 0.105 2105 -553.3 146.6 - - 2098 - - - - - - - - 14.55 14.45 14.57
9108 550.5 10.7 656 9119 roll 0.33 - - 3570 - 2.55 0.112 3512 551.8 146.6 - - 2098 - - - - - - - - 14.73 14.50 14.73
9169 543.0 11.9 666 9180 done 0.33 - - 3570 - 2.58 0.106 2087 -552.3 146.6 - - 2098 - - - - - - - - 14.60 14.50 14.62
9491 507.0 10.8 678 9502 done 0.33 - - 3570 - - - 2087 - 146.6 - - 2098 - - - - - - - - 14.75 14.77 14.77
9792 472.8 11.7 688 9803 done 0.33 - - 3570 - - - 2087 - 146.6 - - 2098 - - - - - - - - 14.77 14.78 14.78
10096 439.3 10.9 698 10107 roll 0.33 - - 3570 - 2.58 0.112 3516 553.9 146.6 - - 2098 - - - - - - - - 14.78 14.57 14.80
10152 432.2 11.9 707 10164 done 0.33 - - 3570 - 2.55 0.105 2100 -555.3 146.6 - - 2098 - - - - - - - - 14.66 14.58 14.69
10481 400.2 9.2 720 10503 done 0.34 - - 3570 - - - 2100 - 163.5 15.57 1.161 2034 -4.1 0.264 - - - - - - 14.80 14.54 14.07
10789 372.6 9.1 730 10820 roll 0.36 - - 3570 - 2.62 0.115 3498 533.6 183.3 16.60 1.152 1944 -5.4 0.326 - - - - - - 14.74 14.44 14.02
10840 367.1 10.0 735 10852 done 0.40 - - 3570 - 2.55 0.107 2088 -552.9 183.3 - - 1941 - - - - - - - - 14.53 14.42 14.56
11164 336.1 9.7 747 11176 roll 0.44 - - 3566 - 2.65 0.111 3514 538.1 189.5 1.50 0.097 1925 -10.7 6.874 - - - - - - 14.71 14.51 14.45
11202 331.8 10.8 752 11215 done 0.50 0.15 0.127 3638 480.0 2.55 0.104 2096 -556.1 189.5 - - 1932 - - - - - - - - 14.55 14.52 14.61
11508 287.4 15.0 763 11521 roll 0.37 0.17 0.230 3586 -305.9 2.65 0.114 3516 535.8 189.5 1.40 0.093 1925 -5.0 2.874 - - - - - - 14.47 14.52 14.49
11582 278.0 12.3 774 11594 done 0.40 - - 3582 - 2.55 0.106 2094 -557.6 189.5 - - 1934 - - - - - - - - 14.62 14.54 14.65
11882 243.1 11.2 789 11894 roll 0.40 - - 3583 - 2.55 0.122 678 -555.3 189.5 1.40 0.093 1926 -5.7 2.778 - - - - - - 14.76 14.53 14.50
11959 235.1 10.7 801 11970 done 0.43 - - 3582 - 2.50 0.099 2100 568.8 189.5 - - 1934 - - - - - - - - 14.64 14.57 14.66
12162 214.5 9.8 821 12184 roll 0.47 - - 3582 - 2.58 0.112 3496 541.1 194.8 8.68 0.989 1900 -3.9 0.158 - - - - - - 14.77 14.51 14.12
12224 208.2 11.4 830 12237 done 0.51 0.08 0.167 3634 650.0 2.53 0.106 2092 -554.9 194.8 - - 1898 - - - - - - - - 14.53 14.51 14.61
12418 180.6 14.9 849 12430 roll 0.42 0.12 0.243 3600 -283.3 2.53 0.119 681 -557.7 194.8 - - 1897 - - - - - - - - 14.47 14.51 14.59
12461 174.7 12.8 855 12473 done 0.42 - - 3601 - 2.50 0.099 2100 567.6 194.8 - - 1898 - - - - - - - - 14.62 14.51 14.63
12664 151.3 10.8 875 12676 roll 0.42 - - 3601 - 2.55 0.111 3517 555.7 194.8 - - 1898 - - - - - - - - 14.74 14.52 14.76
12741 142.5 12.5 887 12753 done 0.42 - - 3608 - 2.55 0.105 2096 -557.3 194.8 - - 1901 - - - - - - - - 14.63 14.55 14.66
12944 115.7 13.1 907 12955 roll 0.42 - - 3612 - 2.55 0.121 678 -556.1 194.8 - - 1898 - - - - - - - - 14.76 14.51 14.77
13001 108.6 12.2 916 13013 done 0.42 - - 3612 - 2.50 0.098 2101 569.2 194.8 - - 1898 - - - - - - - - 14.62 14.54 14.65
13194 87.1 10.3 935 13205 roll 0.42 - - 3612 - 2.53 0.110 3516 559.3 194.8 - - 1898 - - - - - - - - 14.75 14.52 14.77
13241 81.9 11.5 942 13252 done 0.42 - - 3610 - 2.53 0.103 2107 -556.9 194.8 - - 1898 - - - - - - - - 14.64 14.54 14.66
13434 64.0 8.2 961 13476 roll 0.45 - - 3612 - 2.58 0.108 3517 546.5 235.0 30.62 0.835 1736 -5.3 0.075 - - - - - - 14.76 14.40 14.12
13546 53.1 11.0 980 13557 done 0.49 - - 3612 - 2.58 0.103 2088 -553.9 235.0 - - 1734 - - - - - - - - 14.52 14.42 14.54
13739 36.0 8.4 999 13777 roll 0.57 - - 3613 - 2.62 0.118 678 -538.2 270.6 27.05 0.791 1591 -5.3 0.045 - - - - - - 14.67 14.34 14.07
13838 27.4 9.0 1015 13866 done 0.68 0.17 0.111 3690 452.9 2.53 0.093 2107 564.8 291.6 14.18 0.794 1506 -6.0 0.038 - - - - - - 14.43 14.40 14.04
14022 end climb: SURFACE_DEPTH_REACHED
14022 begin surface coast
14043 end surface coast: CONTROL_FINISHED_OK
14043 begin surface
SM 1.32 - - - - -10.46 10.20 0.063 92 8.9 0.40 0.118 1900 -23425.0 400.08 46.40 0.086 1068 23.0 -0.036 - - - - - -