NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 170 * Raw log
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• Previous call tries 2 • 46.41 of 350.00 AH used of 24V (86.74% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -76.5 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: 38 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 102 VBD -0.39 - - 82 - - - 1887 - -107.1 -67.03 - 3185 - - - - - - - - 14.54 - 14.58
108 4.4 -7.1 7 134 roll -0.39 13.62 0.358 3258 233.2 2.83 2.206 484 -495.8 -107.1 -3.03 - 3381 -64.7 - - - - - - - 14.09 13.24 14.38
372 56.3 -14.0 56 381 done -0.39 - - 3257 - 2.50 0.093 1898 565.6 -107.1 - - 3386 - - - - - - - - 14.42 14.33 14.45
563 78.0 -10.6 75 570 roll -0.39 - - 3257 - 2.55 0.107 490 -552.2 -107.1 - - 3386 - - - - - - - - 14.62 14.35 14.64
741 100.7 -13.0 108 750 done -0.39 - - 3258 - 2.50 0.093 1899 563.6 -107.1 - - 3387 - - - - - - - - 14.50 14.39 14.52
932 120.3 -9.2 127 940 roll -0.39 - - 3263 - 2.55 0.109 492 -551.8 -107.1 - - 3386 - - - - - - - - 14.66 14.35 14.67
962 123.0 -9.5 131 969 done -0.39 - - 3258 - 2.47 0.093 1899 569.6 -107.1 - - 3386 - - - - - - - - 14.52 14.41 14.54
1161 140.4 -8.8 151 1168 roll -0.39 - - 3258 - 2.53 0.106 3320 561.7 -107.1 - - 3387 - - - - - - - - 14.66 14.40 14.69
1231 146.2 -8.3 163 1239 done -0.39 - - 3258 - 2.53 0.094 1895 -563.2 -107.1 - - 3386 - - - - - - - - 14.52 14.42 14.55
1430 163.1 -8.7 183 1438 roll -0.39 - - 3254 - 2.53 0.112 485 -557.3 -107.1 - - 3386 - - - - - - - - 14.69 14.41 14.71
1482 168.1 -9.5 192 1491 done -0.39 - - 3258 - 2.50 0.095 1899 565.6 -107.1 - - 3386 - - - - - - - - 14.51 14.40 14.54
1672 184.4 -8.8 211 1680 roll -0.39 - - 3258 - 2.53 0.108 3322 562.5 -107.1 - - 3386 - - - - - - - - 14.69 14.40 14.71
1768 192.1 -8.0 228 1777 done -0.39 - - 3258 - 2.53 0.093 1900 -562.1 -107.1 - - 3385 - - - - - - - - 14.54 14.43 14.56
1958 208.4 -8.4 247 1966 done -0.39 - - 3258 - - - 1901 - -107.1 - - 3385 - - - - - - - - 14.69 14.71 14.71
2148 223.9 -8.0 266 2156 roll -0.39 - - 3258 - 2.55 0.109 3317 555.3 -107.1 - - 3385 - - - - - - - - 14.70 14.40 14.71
2197 227.8 -7.9 274 2206 done -0.39 - - 3256 - 2.53 0.094 1901 -559.7 -107.1 - - 3385 - - - - - - - - 14.54 14.43 14.57
2397 244.3 -8.4 294 2406 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3384 - - - - - - - - 14.71 14.72 14.72
2587 260.1 -8.3 305 2590 done -0.39 - - 3254 - - - 1902 - -107.1 - - 3384 - - - - - - - - 14.72 14.73 14.73
2888 284.4 -8.0 315 2895 roll -0.39 - - 3258 - 2.55 0.109 3320 556.1 -107.1 - - 3383 - - - - - - - - 14.73 14.43 14.74
2945 289.1 -7.7 325 2953 done -0.39 - - 3258 - 2.55 0.096 1896 -558.4 -107.1 - - 3382 - - - - - - - - 14.57 14.46 14.59
3268 313.9 -7.9 337 3276 roll -0.39 - - 3257 - 2.53 0.112 477 -560.9 -107.1 - - 3380 - - - - - - - - 14.73 14.42 14.76
3308 317.6 -9.2 343 3316 done -0.39 - - 3258 - 2.55 0.094 1915 563.9 -107.1 - - 3382 - - - - - - - - 14.57 14.46 14.59
3652 344.2 -8.1 359 3659 roll -0.39 - - 3258 - 2.50 0.109 3316 560.4 -107.1 - - 3381 - - - - - - - - 14.72 14.44 14.74
3709 349.0 -7.5 369 3717 done -0.39 - - 3257 - 2.55 0.098 1889 -559.6 -107.1 - - 3379 - - - - - - - - 14.56 14.45 14.59
4033 373.5 -7.5 381 4040 roll -0.39 - - 3257 - 2.50 0.113 493 -558.4 -107.1 - - 3380 - - - - - - - - 14.73 14.43 14.75
4101 379.3 -8.0 393 4109 done -0.39 - - 3258 - 2.47 0.096 1897 568.4 -107.1 - - 3380 - - - - - - - - 14.56 14.43 14.59
4444 404.7 -7.6 409 4452 roll -0.39 - - 3258 - 2.53 0.109 3315 560.5 -107.1 - - 3377 - - - - - - - - 14.72 14.44 14.73
4533 411.9 -7.6 425 4541 done -0.39 - - 3258 - 2.53 0.097 1901 -558.9 -107.1 - - 3378 - - - - - - - - 14.56 14.45 14.59
4856 438.4 -8.7 437 4859 done -0.39 - - 3258 - - - 1901 - -107.1 - - 3377 - - - - - - - - 14.72 14.74 14.76
5153 466.3 -9.4 447 5156 done -0.39 - - 3258 - - - 1901 - -107.1 - - 3377 - - - - - - - - 14.72 14.74 14.71
5452 496.1 -10.1 457 5459 roll -0.39 - - 3258 - 2.58 0.112 3320 550.0 -107.1 - - 3377 - - - - - - - - 14.70 14.42 14.74
5491 500.0 -9.7 463 5498 done -0.39 - - 3258 - 2.55 0.098 1889 -561.2 -107.1 - - 3377 - - - - - - - - 14.58 14.43 14.59
5834 533.8 -9.8 479 5838 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3376 - - - - - - - - 14.76 14.74 14.76
6034 end dive: TARGET_DEPTH_EXCEEDED
6034 begin apogee
6046 555.5 -10.5 486 6133 done -0.16 0.25 0.176 3337 316.0 - - 2245 - - 81.45 1.375 2942 -5.3 0.399 - - - - - - 14.38 14.12 13.58
6136 end apogee: CONTROL_FINISHED_OK
6136 begin climb
6142 562.4 - 489 6242 roll 0.39 0.55 0.126 3521 334.5 2.70 0.110 3663 525.2 107.1 81.97 1.347 2499 -5.4 0.418 - - - - - - 14.09 13.90 13.42
6278 564.4 1.9 512 6383 done 0.45 - - 3527 - 2.60 0.097 2254 -541.9 225.8 89.32 1.337 2019 -5.4 0.420 - - - - - - 14.13 14.04 13.36
6679 548.4 5.1 542 6731 roll 0.47 - - 3527 - 2.67 0.111 839 -530.0 275.5 38.72 1.320 1813 -5.3 0.410 - - - - - - 14.45 14.04 13.58
6786 542.8 5.4 561 6797 done 0.51 - - 3527 - 2.58 0.097 2262 551.6 275.5 - - 1810 - - - - - - - - 14.24 14.16 14.26
7123 524.7 5.9 576 7135 roll 0.54 0.12 0.125 3608 675.0 2.55 0.109 3661 548.6 275.5 - - 1812 - - - - - - - - 14.39 14.31 14.42
7166 520.5 13.0 582 7178 done 0.54 0.17 0.230 3566 -247.1 2.58 0.101 2240 -550.8 275.5 - - 1811 - - - - - - - - 14.26 14.33 14.42
7509 484.9 10.5 598 7520 roll 0.54 - - 3570 - 2.53 0.113 839 -553.8 275.5 - - 1811 - - - - - - - - 14.65 14.39 14.66
7561 479.0 10.8 606 7572 done 0.54 - - 3570 - 2.50 0.096 2247 563.2 275.5 - - 1812 - - - - - - - - 14.52 14.41 14.54
7893 439.0 11.8 620 7904 roll 0.54 - - 3570 - 2.60 0.111 3664 545.0 275.5 - - 1812 - - - - - - - - 14.69 14.45 14.71
7949 431.6 13.5 629 7960 done 0.54 - - 3575 - 2.55 0.101 2253 -553.3 275.5 - - 1811 - - - - - - - - 14.54 14.45 14.58
8276 392.5 11.6 642 8288 roll 0.54 - - 3582 - 2.55 0.113 834 -556.5 275.5 - - 1811 - - - - - - - - 14.71 14.45 14.73
8334 385.7 11.9 651 8345 done 0.54 - - 3582 - 2.53 0.098 2267 566.4 275.5 - - 1809 - - - - - - - - 14.57 14.45 14.60
8661 346.7 12.2 664 8671 done 0.54 - - 3582 - - - 2267 - 275.5 - - 1811 - - - - - - - - 14.73 14.75 14.74
8961 309.7 12.2 674 8972 roll 0.54 - - 3582 - 2.50 0.110 3661 557.6 275.5 - - 1811 - - - - - - - - 14.75 14.47 14.76
9013 303.0 13.2 682 9024 done 0.54 - - 3582 - 2.55 0.099 2235 -559.2 275.5 - - 1810 - - - - - - - - 14.59 14.47 14.65
9345 263.4 11.8 696 9356 done 0.54 - - 3582 - - - 2234 - 275.5 - - 1810 - - - - - - - - 14.76 14.77 14.77
9645 228.1 11.5 718 9657 done 0.54 - - 3582 - - - 2234 - 275.5 - - 1810 - - - - - - - - 14.76 14.78 14.77
9840 206.1 11.6 737 9850 done 0.54 - - 3582 - - - 2234 - 275.5 - - 1810 - - - - - - - - 14.75 14.76 14.75
10031 184.2 11.3 756 10042 roll 0.54 - - 3583 - 2.50 0.113 841 -557.2 275.5 - - 1810 - - - - - - - - 14.73 14.44 14.76
10064 180.5 11.5 760 10075 done 0.54 - - 3583 - 2.47 0.097 2245 568.4 275.5 - - 1814 - - - - - - - - 14.59 14.47 14.62
10267 155.4 12.6 780 10278 roll 0.54 - - 3580 - 2.58 0.108 3665 550.4 275.5 - - 1810 - - - - - - - - 14.73 14.47 14.75
10309 149.6 13.9 786 10321 done 0.54 - - 3582 - 2.53 0.099 2255 -557.3 275.5 - - 1810 - - - - - - - - 14.58 14.45 14.61
10512 125.3 11.3 806 10523 roll 0.54 - - 3590 - 2.53 0.109 831 -562.8 275.5 - - 1810 - - - - - - - - 14.73 14.45 14.74
10590 116.3 12.7 818 10601 done 0.54 - - 3589 - 2.53 0.097 2269 568.4 275.5 - - 1810 - - - - - - - - 14.54 14.44 14.57
10792 89.5 12.5 838 10804 roll 0.54 - - 3590 - 2.50 0.109 3661 556.8 275.5 - - 1810 - - - - - - - - 14.73 14.44 14.74
10849 81.2 15.4 847 10861 done 0.54 - - 3595 - 2.55 0.096 2241 -556.9 275.5 - - 1810 - - - - - - - - 14.57 14.46 14.59
11043 54.8 11.6 866 11054 roll 0.54 - - 3595 - 2.50 0.112 839 -560.8 275.5 - - 1810 - - - - - - - - 14.72 14.43 14.73
11080 51.1 10.0 871 11092 done 0.54 - - 3600 - 2.47 0.096 2244 568.8 275.5 - - 1810 - - - - - - - - 14.54 14.42 14.56
11274 35.5 9.0 890 11285 roll 0.54 - - 3596 - 2.55 0.107 3662 556.1 275.5 - - 1810 - - - - - - - - 14.72 14.44 14.73
11336 28.6 10.9 900 11347 done 0.54 - - 3596 - 2.55 0.095 2253 -552.5 275.5 - - 1812 - - - - - - - - 14.57 14.45 14.60
11539 12.1 5.6 920 11550 roll 0.58 - - 3595 - 2.55 0.108 833 -556.9 275.5 - - 1810 - - - - - - - - 14.71 14.45 14.74
11730 5.4 2.8 955 11783 done 0.63 - - 3596 - 2.50 0.096 2252 567.6 375.4 41.42 0.100 1411 -9.6 0.096 - - - - - - 14.54 14.44 14.43
11793 end climb: SURFACE_DEPTH_REACHED
11793 begin surface coast
11911 end surface coast: CONTROL_FINISHED_OK
11911 begin surface
SM 2.10 - - - - -10.25 9.65 0.041 89 9.2 0.65 0.107 1903 -11260.0 400.08 10.45 0.090 1309 125.3 -0.299 - - - - - -