NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 168 * Raw log
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• Previous call tries 1 • 45.98 of 350.00 AH used of 24V (86.86% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -78.0 deg, depth 1.11 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 52 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 102 VBD -0.39 - - 74 - - - 1882 - -107.1 -66.93 - 3169 - - - - - - - - 14.54 - 14.56
108 4.2 -7.0 7 134 roll -0.39 13.68 0.356 3259 232.8 2.80 2.205 494 -495.7 -107.1 -3.20 - 3382 -66.6 - - - - - - - 14.04 13.23 14.39
144 23.9 -51.3 12 153 done -0.39 - - 3259 - 2.50 0.093 1900 562.4 -107.1 - - 3382 - - - - - - - - 14.37 14.28 14.40
334 53.9 -12.8 31 342 roll -0.39 - - 3261 - 2.55 0.109 487 -554.1 -107.1 - - 3385 - - - - - - - - 14.56 14.32 14.59
577 87.2 -13.3 77 585 done -0.39 - - 3264 - 2.53 0.095 1903 559.7 -107.1 - - 3388 - - - - - - - - 14.45 14.35 14.45
776 111.0 -11.1 97 784 roll -0.39 - - 3264 - 2.55 0.109 482 -557.3 -107.1 - - 3387 - - - - - - - - 14.64 14.35 14.65
1022 139.9 -11.7 143 1030 done -0.39 - - 3259 - 2.53 0.096 1917 567.2 -107.1 - - 3387 - - - - - - - - 14.51 14.40 14.54
1221 161.5 -10.1 163 1229 done -0.39 - - 3259 - - - 1917 - -107.1 - - 3387 - - - - - - - - 14.66 14.66 14.68
1411 179.9 -9.5 182 1419 roll -0.39 - - 3258 - 2.55 0.109 495 -557.6 -107.1 - - 3387 - - - - - - - - 14.67 14.40 14.69
1449 183.9 -10.8 188 1457 done -0.39 - - 3259 - 2.47 0.094 1903 570.0 -107.1 - - 3387 - - - - - - - - 14.52 14.42 14.54
1648 202.8 -9.4 208 1656 roll -0.39 - - 3259 - 2.53 0.106 3322 560.9 -107.1 - - 3384 - - - - - - - - 14.68 14.39 14.69
1722 209.7 -9.3 221 1730 done -0.39 - - 3259 - 2.53 0.093 1892 -565.2 -107.1 - - 3386 - - - - - - - - 14.53 14.42 14.54
1911 228.7 -10.1 240 1919 done -0.39 - - 3259 - - - 1892 - -107.1 - - 3386 - - - - - - - - 14.69 14.71 14.71
2101 247.6 -10.0 259 2110 done -0.39 - - 3259 - - - 1892 - -107.1 - - 3385 - - - - - - - - 14.70 14.71 14.71
2311 267.8 -9.4 268 2319 roll -0.39 - - 3259 - 2.58 0.109 3317 552.3 -107.1 - - 3384 - - - - - - - - 14.71 14.42 14.72
2364 272.5 -8.6 277 2372 done -0.39 - - 3259 - 2.53 0.096 1894 -562.5 -107.1 - - 3384 - - - - - - - - 14.54 14.45 14.57
2693 299.3 -8.0 290 2696 done -0.39 - - 3259 - - - 1894 - -107.1 - - 3384 - - - - - - - - 14.71 14.73 14.73
2988 323.5 -8.1 300 2991 done -0.39 - - 3255 - - - 1894 - -107.1 - - 3383 - - - - - - - - 14.72 14.73 14.73
3289 348.1 -7.9 310 3292 done -0.39 - - 3262 - - - 1894 - -107.1 - - 3382 - - - - - - - - 14.72 14.74 14.74
3588 372.7 -8.2 320 3592 done -0.39 - - 3259 - - - 1894 - -107.1 - - 3382 - - - - - - - - 14.73 14.74 14.74
3889 397.2 -8.2 330 3892 done -0.39 - - 3256 - - - 1894 - -107.1 - - 3384 - - - - - - - - 14.73 14.77 14.77
4189 423.6 -8.9 340 4192 done -0.39 - - 3259 - - - 1894 - -107.1 - - 3380 - - - - - - - - 14.73 14.74 14.74
4488 449.7 -8.8 350 4492 done -0.39 - - 3260 - - - 1895 - -107.1 - - 3383 - - - - - - - - 14.73 14.75 14.75
4789 476.0 -8.5 360 4796 roll -0.39 - - 3265 - 2.50 0.114 496 -559.6 -107.1 - - 3379 - - - - - - - - 14.73 14.42 14.74
4878 484.3 -9.4 376 4885 done -0.39 - - 3259 - 2.47 0.097 1899 568.0 -107.1 - - 3379 - - - - - - - - 14.56 14.44 14.61
5197 511.4 -8.3 388 5204 roll -0.39 - - 3259 - 2.53 0.110 3316 560.1 -107.1 - - 3378 - - - - - - - - 14.72 14.42 14.73
5314 520.3 -7.6 409 5321 done -0.39 - - 3259 - 2.55 0.100 1901 -554.9 -107.1 - - 3377 - - - - - - - - 14.55 14.44 14.57
5643 544.0 -6.8 422 5652 roll -0.39 - - 3259 - 2.53 0.112 475 -563.6 -107.1 - - 3377 - - - - - - - - 14.72 14.40 14.74
5707 549.5 -8.3 433 5716 done -0.39 - - 3259 - 2.53 0.097 1904 564.8 -107.1 - - 3377 - - - - - - - - 14.55 14.44 14.57
6013 572.7 -7.8 444 6021 roll -0.39 - - 3259 - 2.53 0.111 3318 558.9 -107.1 - - 3376 - - - - - - - - 14.72 14.42 14.73
6101 579.5 -7.6 460 6109 done -0.39 - - 3259 - 2.55 0.099 1897 -557.3 -107.1 - - 3375 - - - - - - - - 14.54 14.44 14.57
6425 607.5 -9.2 472 6428 done -0.39 - - 3259 - - - 1896 - -107.1 - - 3374 - - - - - - - - 14.72 14.73 14.73
6720 632.6 -8.0 482 6729 roll -0.39 - - 3259 - 2.58 0.111 3318 551.2 -107.1 - - 3374 - - - - - - - - 14.71 14.42 14.73
6765 636.1 -7.5 489 6773 done -0.39 - - 3259 - 2.55 0.100 1891 -559.6 -107.1 - - 3374 - - - - - - - - 14.54 14.42 14.57
7103 659.7 -6.8 504 7111 roll -0.39 - - 3259 - 2.50 0.114 493 -559.2 -107.1 - - 3374 - - - - - - - - 14.71 14.40 14.73
7239 671.3 -8.4 529 7247 done -0.39 - - 3262 - 2.50 0.097 1901 563.2 -107.1 - - 3374 - - - - - - - - 14.54 14.43 14.57
7299 end dive: TARGET_DEPTH_EXCEEDED
7299 begin apogee
7311 675.9 -7.1 535 7399 done -0.16 0.28 0.177 3338 271.4 - - 2266 - - 82.47 1.522 2942 -5.2 0.431 - - - - - - 14.35 14.05 13.47
7402 end apogee: CONTROL_FINISHED_OK
7402 begin climb
7407 679.6 - 538 7513 roll 0.39 0.55 0.119 3522 334.5 2.70 0.112 3658 515.6 107.1 83.80 1.486 2499 -5.3 0.448 - - - - - - 14.05 13.82 13.32
7539 675.5 5.9 560 7550 done 0.42 - - 3527 - 2.60 0.098 2253 -540.4 107.1 - - 2499 - - - - - - - - 14.05 14.02 14.07
7867 654.4 6.2 573 7878 roll 0.44 - - 3527 - 2.58 0.112 832 -550.8 107.1 - - 2498 - - - - - - - - 14.50 14.24 14.50
7991 646.7 6.4 595 8002 done 0.46 - - 3527 - 2.53 0.101 2246 558.9 107.1 - - 2498 - - - - - - - - 14.40 14.28 14.42
8318 627.7 5.7 607 8329 done 0.49 - - 3527 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.62 14.64 14.62
8618 610.0 5.9 617 8630 roll 0.52 0.08 0.156 3594 837.5 2.58 0.108 3663 549.2 107.1 - - 2496 - - - - - - - - 14.45 14.41 14.50
8666 605.9 8.9 624 8678 done 0.52 0.17 0.244 3561 -194.1 2.55 0.098 2238 -558.8 107.1 - - 2497 - - - - - - - - 14.31 14.40 14.50
9004 579.9 7.8 639 9014 done 0.52 - - 3561 - - - 2238 - 107.1 - - 2498 - - - - - - - - 14.70 14.72 14.71
9304 556.3 8.0 649 9315 roll 0.52 - - 3562 - 2.62 0.111 3663 543.9 107.1 - - 2497 - - - - - - - - 14.72 14.43 14.75
9425 546.1 8.3 670 9436 done 0.52 - - 3569 - 2.55 0.098 2251 -553.7 107.1 - - 2496 - - - - - - - - 14.57 14.45 14.59
9752 520.4 8.0 683 9762 done 0.52 - - 3570 - - - 2251 - 107.1 - - 2496 - - - - - - - - 14.73 14.75 14.74
10052 497.0 8.2 693 10063 roll 0.52 - - 3570 - 2.58 0.114 3662 546.9 107.1 - - 2495 - - - - - - - - 14.72 14.44 14.75
10129 489.9 9.4 706 10140 done 0.52 - - 3573 - 2.53 0.098 2249 -558.5 107.1 - - 2498 - - - - - - - - 14.58 14.47 14.64
10466 461.8 8.5 721 10476 done 0.52 - - 3573 - - - 2249 - 107.1 - - 2501 - - - - - - - - 14.74 14.76 14.76
10770 435.2 8.7 731 10782 roll 0.52 - - 3582 - 2.53 0.110 839 -557.3 107.1 - - 2495 - - - - - - - - 14.74 14.45 14.76
10837 428.6 9.2 742 10849 done 0.52 - - 3582 - 2.50 0.100 2247 563.2 107.1 - - 2494 - - - - - - - - 14.58 14.46 14.62
11148 402.5 8.4 753 11158 done 0.52 - - 3583 - - - 2247 - 107.1 - - 2495 - - - - - - - - 14.73 14.76 14.76
11447 378.3 8.2 763 11459 roll 0.52 - - 3582 - 2.58 0.111 3663 548.8 107.1 - - 2495 - - - - - - - - 14.74 14.49 14.76
11574 366.5 9.8 785 11585 done 0.52 - - 3585 - 2.55 0.098 2235 -560.0 107.1 - - 2494 - - - - - - - - 14.57 14.45 14.61
11896 339.6 8.6 797 11907 roll 0.52 - - 3586 - 2.62 0.109 3674 549.2 107.1 - - 2494 - - - - - - - - 14.74 14.46 14.76
12077 322.6 9.2 830 12088 done 0.52 - - 3588 - 2.55 0.099 2254 -556.9 107.1 - - 2493 - - - - - - - - 14.57 14.45 14.61
12404 295.6 8.3 843 12414 done 0.52 - - 3586 - - - 2254 - 107.1 - - 2494 - - - - - - - - 14.72 14.76 14.76
12708 271.2 7.9 853 12719 roll 0.52 - - 3586 - 2.58 0.110 3662 545.7 107.1 - - 2498 - - - - - - - - 14.73 14.45 14.76
12839 258.9 9.1 876 12851 done 0.52 - - 3586 - 2.53 0.096 2253 -556.9 107.1 - - 2494 - - - - - - - - 14.57 14.44 14.61
13145 236.5 6.9 899 13157 done 0.52 - - 3586 - - - 2253 - 107.1 - - 2493 - - - - - - - - 14.73 14.75 14.76
13338 224.3 5.8 918 13349 roll 0.55 - - 3596 - 2.53 0.107 838 -559.3 107.1 - - 2495 - - - - - - - - 14.73 14.43 14.73
13391 221.2 5.9 926 13402 done 0.58 - - 3596 - 2.50 0.099 2256 567.2 107.1 - - 2494 - - - - - - - - 14.57 14.46 14.60
13595 209.8 5.5 946 13606 roll 0.62 - - 3596 - 2.55 0.111 3663 551.8 107.1 - - 2495 - - - - - - - - 14.72 14.42 14.74
13685 204.1 6.6 961 13697 done 0.63 - - 3598 - 2.55 0.096 2235 -560.0 107.1 - - 2495 - - - - - - - - 14.55 14.46 14.61
13879 192.7 6.1 980 13890 done 0.66 - - 3598 - - - 2235 - 107.1 - - 2494 - - - - - - - - 14.72 14.74 14.76
14071 179.8 6.8 999 14082 roll 0.66 - - 3609 - 2.47 0.106 841 -564.4 107.1 - - 2495 - - - - - - - - 14.72 14.41 14.73
14197 170.5 7.3 1021 14209 done 0.66 - - 3609 - 2.47 0.096 2254 572.1 107.1 - - 2495 - - - - - - - - 14.49 14.42 14.53
14400 156.3 6.9 1041 14411 roll 0.66 - - 3620 - 2.55 0.109 839 -554.9 107.1 - - 2493 - - - - - - - - 14.71 14.42 14.72
14457 152.3 7.1 1050 14469 done 0.66 - - 3619 - 2.50 0.096 2248 563.6 107.1 - - 2495 - - - - - - - - 14.56 14.43 14.59
14651 139.8 5.8 1069 14662 roll 0.69 - - 3620 - 2.58 0.109 3663 548.4 107.1 - - 2495 - - - - - - - - 14.71 14.41 14.73
14901 123.5 6.3 1115 14914 done 0.71 - - 3625 - 2.53 0.094 2239 -562.8 107.1 - - 2496 - - - - - - - - 14.49 14.42 14.53
15106 112.6 6.3 1135 15118 roll 0.73 - - 3636 - 2.50 0.109 840 -559.6 107.1 - - 2495 - - - - - - - - 14.71 14.43 14.72
15196 105.6 8.0 1150 15208 done 0.73 - - 3635 - 2.50 0.096 2263 569.2 107.1 - - 2495 - - - - - - - - 14.54 14.44 14.58
15389 92.2 6.2 1169 15400 roll 0.75 - - 3636 - 2.53 0.109 3661 552.6 107.1 - - 2494 - - - - - - - - 14.70 14.41 14.71
15638 76.7 4.0 1215 15706 done 0.79 - - 3639 - 2.53 0.094 2253 -556.5 180.1 52.70 0.812 2201 -5.6 0.097 - - - - - - 14.53 14.45 13.95
15892 59.0 8.2 1245 15903 roll 0.79 - - 3639 - 2.58 0.106 3663 546.5 180.1 - - 2204 - - - - - - - - 14.59 14.33 14.60
15929 55.6 9.6 1250 15941 done 0.79 - - 3648 - 2.55 0.094 2250 -554.1 180.1 - - 2202 - - - - - - - - 14.42 14.31 14.45
16122 37.6 9.1 1269 16133 done 0.79 - - 3648 - - - 2251 - 180.1 - - 2203 - - - - - - - - 14.62 14.64 14.64
16315 25.0 6.1 1288 16326 roll 0.81 - - 3654 - 2.53 0.106 822 -564.8 180.1 - - 2203 - - - - - - - - 14.65 14.38 14.66
16351 22.8 5.6 1293 16363 done 0.85 - - 3655 - 2.53 0.093 2258 567.6 180.1 - - 2203 - - - - - - - - 14.51 14.40 14.54
16545 12.8 5.1 1312 16582 roll 0.87 - - 3664 - 2.62 0.106 828 -545.8 228.6 21.62 0.135 2009 -9.0 0.158 - - - - - - 14.66 14.38 14.35
16821 5.5 0.5 1363 16881 VBD 0.95 0.08 0.161 3714 625.0 2.50 0.096 2249 568.4 378.1 48.83 0.099 1540 -9.6 0.099 - - - - - - 14.43 14.40 14.53
16888 end climb: SURFACE_DEPTH_REACHED
16888 begin surface coast
16960 end surface coast: CONTROL_FINISHED_OK
16960 begin surface
SM 0.79 - - - - -10.25 10.02 0.041 90 9.0 0.65 0.105 1889 -14426.2 400.08 23.92 0.087 1309 54.7 -0.051 - - - - - -