NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 172 * Raw log
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• Previous call tries 2 • 46.80 of 350.00 AH used of 24V (86.63% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -79.8 deg, depth 1.10 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 59 s
• GPS2 time: 2 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 -0.39 - - 82 - - - 1906 - -107.1 -67.43 - 3208 - - - - - - - - 14.57 - 14.59
108 4.7 -7.9 7 135 roll -0.39 13.75 0.365 3258 231.0 2.80 2.198 484 -507.9 -107.1 -2.55 - 3378 -66.7 - - - - - - - 14.09 13.27 14.40
372 59.3 -14.2 56 381 done -0.39 - - 3258 - 2.50 0.093 1898 565.6 -107.1 - - 3384 - - - - - - - - 14.46 14.35 14.48
563 81.2 -10.8 75 570 roll -0.39 - - 3257 - 2.53 0.107 490 -556.5 -107.1 - - 3385 - - - - - - - - 14.63 14.38 14.64
741 103.5 -13.3 108 749 done -0.39 - - 3258 - 2.50 0.093 1916 570.4 -107.1 - - 3386 - - - - - - - - 14.51 14.40 14.52
931 122.4 -9.9 127 938 roll -0.39 - - 3257 - 2.47 0.107 3303 561.5 -107.1 - - 3383 - - - - - - - - 14.67 14.41 14.67
1000 129.4 -9.9 139 1008 done -0.39 - - 3256 - 2.50 0.095 1890 -565.2 -107.1 - - 3385 - - - - - - - - 14.52 14.42 14.56
1199 150.6 -10.7 159 1207 roll -0.39 - - 3262 - 2.55 0.106 3303 554.1 -107.1 - - 3385 - - - - - - - - 14.69 14.42 14.70
1238 154.7 -11.1 165 1246 done -0.39 - - 3258 - 2.47 0.094 1907 -565.2 -107.1 - - 3385 - - - - - - - - 14.54 14.41 14.57
1438 175.8 -10.4 185 1446 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3385 - - - - - - - - 14.69 14.70 14.71
1627 195.7 -10.4 204 1634 roll -0.39 - - 3257 - 2.53 0.109 482 -563.2 -107.1 - - 3385 - - - - - - - - 14.70 14.45 14.71
1685 202.0 -10.8 214 1694 done -0.39 - - 3258 - 2.50 0.093 1901 567.6 -107.1 - - 3385 - - - - - - - - 14.55 14.45 14.59
1885 220.8 -9.0 234 1894 done -0.39 - - 3257 - - - 1901 - -107.1 - - 3384 - - - - - - - - 14.71 14.72 14.71
2075 237.7 -8.9 253 2083 roll -0.39 - - 3257 - 2.53 0.108 3318 560.1 -107.1 - - 3382 - - - - - - - - 14.70 14.43 14.71
2117 241.4 -8.4 260 2126 done -0.39 - - 3257 - 2.53 0.096 1898 -561.3 -107.1 - - 3384 - - - - - - - - 14.56 14.46 14.58
2321 258.5 -8.6 274 2325 done -0.39 - - 3258 - - - 1897 - -107.1 - - 3383 - - - - - - - - 14.71 14.73 14.73
2618 283.7 -8.4 284 2621 done -0.39 - - 3258 - - - 1897 - -107.1 - - 3383 - - - - - - - - 14.73 14.74 14.74
2918 309.4 -8.7 294 2926 roll -0.39 - - 3257 - 2.58 0.108 3323 552.7 -107.1 - - 3382 - - - - - - - - 14.73 14.44 14.75
2966 313.8 -8.7 302 2975 done -0.39 - - 3258 - 2.53 0.095 1904 -560.9 -107.1 - - 3382 - - - - - - - - 14.58 14.47 14.60
3300 343.2 -9.0 316 3303 done -0.39 - - 3257 - - - 1909 - -107.1 - - 3381 - - - - - - - - 14.73 14.75 14.75
3596 369.2 -8.4 326 3599 done -0.39 - - 3257 - - - 1904 - -107.1 - - 3379 - - - - - - - - 14.73 14.76 14.76
3896 393.9 -8.3 336 3904 roll -0.39 - - 3257 - 2.55 0.109 3319 554.9 -107.1 - - 3380 - - - - - - - - 14.74 14.45 14.76
3944 397.9 -8.3 344 3951 done -0.39 - - 3257 - 2.53 0.096 1895 -562.8 -107.1 - - 3380 - - - - - - - - 14.59 14.48 14.61
4277 424.3 -8.0 358 4285 roll -0.39 - - 3257 - 2.58 0.109 3320 552.3 -107.1 - - 3379 - - - - - - - - 14.73 14.44 14.75
4326 428.6 -7.8 366 4335 done -0.39 - - 3257 - 2.53 0.096 1905 -559.3 -107.1 - - 3378 - - - - - - - - 14.58 14.47 14.60
4660 454.0 -7.5 380 4668 roll -0.39 - - 3258 - 2.55 0.113 475 -560.8 -107.1 - - 3376 - - - - - - - - 14.73 14.42 14.72
4724 459.8 -8.7 391 4733 done -0.39 - - 3257 - 2.53 0.096 1906 565.6 -107.1 - - 3377 - - - - - - - - 14.57 14.47 14.59
5030 482.1 -7.3 402 5033 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3377 - - - - - - - - 14.73 14.74 14.74
5330 505.0 -7.6 412 5337 roll -0.39 - - 3256 - 2.55 0.110 3320 554.5 -107.1 - - 3376 - - - - - - - - 14.73 14.42 14.74
5418 511.7 -7.6 428 5426 done -0.39 - - 3258 - 2.55 0.097 1890 -560.8 -107.1 - - 3378 - - - - - - - - 14.56 14.45 14.59
5522 end dive: TARGET_DEPTH_EXCEEDED
5522 begin apogee
5533 520.0 -7.6 433 5620 done -0.16 0.25 0.175 3337 316.0 - - 2254 - - 80.85 1.333 2940 -5.4 0.391 - - - - - - 14.38 14.13 13.62
5623 end apogee: CONTROL_FINISHED_OK
5623 begin climb
5629 523.7 - 436 5727 roll 0.39 0.50 0.127 3513 352.0 2.65 0.109 3662 531.3 107.1 81.10 1.303 2499 -5.4 0.404 - - - - - - 14.10 13.85 13.45
5783 518.5 6.2 464 5796 done 0.41 - - 3515 - 2.58 0.096 2256 -545.0 107.1 - - 2497 - - - - - - - - 14.13 14.07 14.16
6112 502.4 4.3 476 6174 roll 0.45 - - 3514 - 2.60 0.107 839 -545.0 172.9 49.33 1.281 2233 -5.4 0.388 - - - - - - 14.54 14.03 13.61
6214 496.4 6.4 494 6225 done 0.46 - - 3513 - 2.55 0.097 2246 551.8 172.9 - - 2229 - - - - - - - - 14.25 14.15 14.26
6556 472.9 7.1 510 6568 roll 0.46 - - 3514 - 2.60 0.111 3673 548.8 172.9 - - 2234 - - - - - - - - 14.57 14.35 14.59
6599 469.5 8.3 516 6610 done 0.46 - - 3514 - 2.58 0.099 2252 -550.8 172.9 - - 2232 - - - - - - - - 14.46 14.35 14.48
6942 447.1 6.1 532 6953 roll 0.49 0.12 0.125 3595 675.0 2.55 0.110 820 -561.6 172.9 - - 2235 - - - - - - - - 14.49 14.39 14.52
7004 441.6 10.2 542 7017 done 0.49 0.15 0.210 3551 -293.3 2.55 0.097 2262 565.5 172.9 - - 2234 - - - - - - - - 14.36 14.44 14.52
7328 414.7 8.4 554 7340 roll 0.49 - - 3547 - 2.50 0.112 3661 559.6 172.9 - - 2233 - - - - - - - - 14.71 14.42 14.72
7386 409.1 9.8 563 7397 done 0.49 - - 3555 - 2.55 0.098 2244 -555.7 172.9 - - 2235 - - - - - - - - 14.57 14.46 14.59
7713 379.2 9.0 576 7724 done 0.49 - - 3555 - - - 2241 - 172.9 - - 2236 - - - - - - - - 14.73 14.75 14.75
8014 351.3 9.3 586 8025 roll 0.49 - - 3555 - 2.58 0.112 3663 551.2 172.9 - - 2235 - - - - - - - - 14.74 14.45 14.76
8086 343.6 10.7 598 8098 done 0.49 - - 3558 - 2.55 0.098 2253 -552.9 172.9 - - 2235 - - - - - - - - 14.60 14.47 14.62
8429 310.3 9.6 614 8441 roll 0.49 - - 3557 - 2.53 0.112 828 -563.2 172.9 - - 2236 - - - - - - - - 14.76 14.48 14.77
8491 304.5 9.4 624 8502 done 0.49 - - 3557 - 2.50 0.099 2245 566.8 172.9 - - 2235 - - - - - - - - 14.58 14.46 14.60
8813 276.2 8.5 636 8824 roll 0.49 - - 3557 - 2.55 0.109 3663 556.1 172.9 - - 2235 - - - - - - - - 14.76 14.48 14.77
8895 268.5 9.7 650 8906 done 0.49 - - 3557 - 2.55 0.098 2233 -560.8 172.9 - - 2235 - - - - - - - - 14.60 14.47 14.62
9217 242.5 8.1 669 9228 roll 0.49 - - 3556 - 2.47 0.111 839 -564.4 172.9 - - 2235 - - - - - - - - 14.75 14.47 14.78
9283 237.1 8.1 680 9295 done 0.49 - - 3557 - 2.50 0.096 2253 565.6 172.9 - - 2235 - - - - - - - - 14.60 14.50 14.62
9476 222.3 7.4 699 9488 roll 0.49 - - 3557 - 2.55 0.109 3663 552.9 172.9 - - 2235 - - - - - - - - 14.74 14.47 14.76
9569 214.8 8.6 714 9581 done 0.49 - - 3557 - 2.53 0.096 2253 -557.3 172.9 - - 2235 - - - - - - - - 14.57 14.47 14.60
9763 199.4 7.7 733 9774 done 0.49 - - 3557 - - - 2253 - 172.9 - - 2236 - - - - - - - - 14.75 14.76 14.76
9956 185.0 7.4 752 9967 roll 0.49 - - 3567 - 2.53 0.108 821 -566.0 172.9 - - 2235 - - - - - - - - 14.75 14.44 14.76
10012 180.7 7.7 761 10024 done 0.49 - - 3568 - 2.53 0.096 2246 563.2 172.9 - - 2235 - - - - - - - - 14.59 14.48 14.62
10206 165.8 7.9 780 10217 roll 0.49 - - 3568 - 2.58 0.110 3672 552.7 172.9 - - 2236 - - - - - - - - 14.73 14.45 14.76
10292 158.1 9.6 794 10304 done 0.49 - - 3569 - 2.55 0.097 2252 -556.9 172.9 - - 2233 - - - - - - - - 14.59 14.47 14.63
10495 139.1 9.2 814 10507 done 0.49 - - 3569 - - - 2251 - 172.9 - - 2235 - - - - - - - - 14.73 14.75 14.76
10688 121.3 9.4 833 10699 roll 0.49 - - 3566 - 2.53 0.111 830 -561.7 172.9 - - 2235 - - - - - - - - 14.74 14.45 14.76
10744 116.4 8.4 842 10757 done 0.49 - - 3570 - 2.53 0.098 2255 563.2 172.9 - - 2235 - - - - - - - - 14.58 14.47 14.60
10938 101.9 7.4 861 10949 roll 0.49 - - 3570 - 2.55 0.109 3664 552.5 172.9 - - 2236 - - - - - - - - 14.73 14.46 14.74
11059 92.1 8.2 882 11072 done 0.49 - - 3570 - 2.53 0.096 2249 -559.3 172.9 - - 2235 - - - - - - - - 14.57 14.46 14.59
11253 80.7 5.5 901 11264 done 0.52 - - 3570 - - - 2249 - 172.9 - - 2235 - - - - - - - - 14.73 14.74 14.74
11445 69.5 6.1 920 11457 roll 0.55 - - 3581 - 2.53 0.109 820 -564.8 172.9 - - 2234 - - - - - - - - 14.71 14.41 14.75
11493 66.6 6.4 927 11505 done 0.57 - - 3581 - 2.53 0.096 2260 569.2 172.9 - - 2239 - - - - - - - - 14.57 14.47 14.60
11687 54.2 6.5 946 11698 roll 0.58 - - 3580 - 2.53 0.109 3663 554.5 172.9 - - 2233 - - - - - - - - 14.73 14.45 14.74
11754 49.4 7.4 957 11766 done 0.58 - - 3582 - 2.55 0.095 2233 -560.8 172.9 - - 2235 - - - - - - - - 14.57 14.44 14.59
11948 38.7 4.4 976 12006 roll 0.61 - - 3580 - 2.58 0.109 839 -540.3 236.0 46.60 0.767 1973 -5.6 0.052 - - - - - - 14.73 14.34 14.02
12100 29.2 7.4 1003 12112 done 0.61 - - 3582 - 2.50 0.096 2245 562.4 236.0 - - 1973 - - - - - - - - 14.45 14.34 14.46
12294 16.9 5.5 1022 12305 roll 0.65 - - 3582 - 2.55 0.108 3663 556.1 236.0 - - 1973 - - - - - - - - 14.64 14.38 14.66
12387 11.0 7.0 1037 12399 done 0.65 - - 3582 - 2.53 0.093 2252 -557.7 236.0 - - 1973 - - - - - - - - 14.51 14.39 14.53
12581 4.6 1.4 1056 12613 VBD 0.72 0.08 0.153 3655 912.5 - - 2252 - 366.0 24.35 0.096 1737 -9.7 0.086 - - - - - - 14.50 - 14.52
12615 end climb: SURFACE_DEPTH_REACHED
12615 begin surface coast
12821 end surface coast: CONTROL_FINISHED_OK
12821 begin surface
SM 1.86 - - - - -10.26 9.85 0.043 87 8.8 0.65 0.109 1889 -13638.5 400.08 43.97 0.088 1309 29.8 -0.064 - - - - - -