NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 18 * Raw log
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• Previous call tries 1 • 5.53 of 350.00 AH used of 24V (98.42% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -78.6 deg, depth 1.18 m • Intended pitch -15.9 deg, speed -8.250 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 30 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
29 - - - 101 VBD -0.58 - - 90 - - - 1890 - -116.8 -67.68 - 3050 - - - - - - - - 14.57 - 14.59
108 3.2 -4.3 7 134 roll -0.58 13.70 0.381 3209 227.7 2.80 2.241 3310 507.1 -116.8 -2.25 - 3180 -57.8 - - - 1 - - - 14.21 13.57 14.43
267 44.4 -17.9 36 275 done -0.58 - - 3214 - 2.55 0.103 1900 -552.9 -116.8 - - 3182 - - - - - - - - 14.42 14.34 14.45
457 75.4 -14.2 55 465 done -0.58 - - 3210 - - - 1900 - -116.8 - - 3183 - - - - - - - - 14.60 14.62 14.62
646 103.6 -14.3 74 655 roll -0.58 - - 3210 - 2.55 0.116 476 -558.4 -116.8 - - 3182 - - - - - - - - 14.63 14.40 14.65
696 111.0 -15.6 82 704 done -0.58 - - 3210 - 2.50 0.096 1893 566.8 -116.8 - - 3184 - - - - - - - - 14.52 14.44 14.54
895 136.3 -12.1 102 903 done -0.58 - - 3206 - - - 1893 - -116.8 - - 3185 - - - - - - - - 14.66 14.68 14.68
1085 160.7 -12.2 121 1092 roll -0.58 - - 3210 - 2.55 0.116 481 -553.7 -116.8 - - 3185 - - - - - - - - 14.68 14.46 14.69
1164 170.6 -12.8 135 1172 done -0.58 - - 3210 - 2.53 0.096 1911 565.2 -116.8 - - 3185 - - - - - - - - 14.57 14.48 14.59
1363 193.3 -11.3 155 1371 done -0.58 - - 3210 - - - 1910 - -116.8 - - 3185 - - - - - - - - 14.69 14.71 14.71
1553 216.1 -11.4 174 1561 roll -0.58 - - 3210 - 2.58 0.116 479 -554.7 -116.8 - - 3185 - - - - - - - - 14.71 14.48 14.72
1699 235.1 -12.5 201 1708 done -0.58 - - 3211 - 2.50 0.096 1895 566.4 -116.8 - - 3185 - - - - - - - - 14.59 14.51 14.61
1899 257.6 -11.1 217 1907 roll -0.58 - - 3210 - 2.55 0.117 474 -557.3 -116.8 - - 3184 - - - - - - - - 14.71 14.49 14.73
1992 268.9 -12.0 234 2001 done -0.58 - - 3210 - 2.53 0.096 1911 568.0 -116.8 - - 3184 - - - - - - - - 14.59 14.52 14.61
2298 300.8 -10.2 245 2301 done -0.58 - - 3210 - - - 1913 - -116.8 - - 3184 - - - - - - - - 14.73 14.74 14.75
2599 330.7 -10.2 255 2606 roll -0.58 - - 3210 - 2.50 0.109 3316 561.2 -116.8 - - 3186 - - - - - - - - 14.75 14.54 14.76
2687 339.5 -9.6 271 2694 done -0.58 - - 3210 - 2.53 0.100 1896 -561.3 -116.8 - - 3183 - - - - - - - - 14.63 14.54 14.64
3010 371.2 -9.9 283 3013 done -0.58 - - 3210 - - - 1898 - -116.8 - - 3183 - - - - - - - - 14.74 14.78 14.76
3306 402.4 -10.7 293 3308 done -0.58 - - 3215 - - - 1898 - -116.8 - - 3180 - - - - - - - - 14.75 14.77 14.77
3606 433.0 -10.1 303 3609 done -0.58 - - 3210 - - - 1898 - -116.8 - - 3182 - - - - - - - - 14.76 14.78 14.78
3905 461.3 -9.4 313 3913 roll -0.58 - - 3210 - 2.53 0.116 476 -562.1 -116.8 - - 3181 - - - - - - - - 14.76 14.54 14.78
4022 472.4 -9.5 334 4031 done -0.58 - - 3210 - 2.53 0.099 1912 567.6 -116.8 - - 3181 - - - - - - - - 14.64 14.54 14.66
4352 502.2 -8.9 347 4355 done -0.58 - - 3210 - - - 1908 - -116.8 - - 3183 - - - - - - - - 14.76 14.78 14.78
4648 526.3 -8.2 357 4655 roll -0.58 - - 3210 - 2.50 0.113 3309 560.4 -116.8 - - 3179 - - - - - - - - 14.76 14.56 14.78
4765 535.9 -8.5 378 4773 done -0.58 - - 3211 - 2.53 0.103 1897 -558.1 -116.8 - - 3179 - - - - - - - - 14.64 14.57 14.66
5094 562.9 -8.2 391 5097 done -0.58 - - 3210 - - - 1896 - -116.8 - - 3178 - - - - - - - - 14.74 14.78 14.78
5390 587.2 -8.1 401 5398 roll -0.58 - - 3210 - 2.53 0.117 480 -559.7 -116.8 - - 3176 - - - - - - - - 14.76 14.54 14.78
5459 593.5 -9.4 413 5467 done -0.58 - - 3210 - 2.53 0.097 1893 558.5 -116.8 - - 3177 - - - - - - - - 14.64 14.57 14.66
5802 620.6 -7.7 429 5805 done -0.58 - - 3210 - - - 1894 - -116.8 - - 3178 - - - - - - - - 14.75 14.78 14.78
6099 641.8 -7.0 439 6106 roll -0.58 - - 3210 - 2.55 0.112 3316 557.6 -116.8 - - 3177 - - - - - - - - 14.76 14.56 14.78
6187 648.0 -7.0 455 6195 done -0.58 - - 3207 - 2.53 0.105 1900 -559.7 -116.8 - - 3177 - - - - - - - - 14.64 14.56 14.66
6511 669.3 -6.7 467 6514 done -0.58 - - 3210 - - - 1904 - -116.8 - - 3176 - - - - - - - - 14.76 14.78 14.77
6806 689.5 -6.9 477 6809 done -0.58 - - 3209 - - - 1899 - -116.8 - - 3176 - - - - - - - - 14.76 14.78 14.77
7107 711.7 -7.7 487 7114 roll -0.58 - - 3210 - 2.53 0.118 479 -561.3 -116.8 - - 3176 - - - - - - - - 14.76 14.54 14.78
7210 721.0 -9.0 506 7218 done -0.58 - - 3210 - 2.53 0.100 1914 567.2 -116.8 - - 3175 - - - - - - - - 14.64 14.54 14.66
7549 747.5 -8.2 521 7551 done -0.58 - - 3210 - - - 1917 - -116.8 - - 3174 - - - - - - - - 14.76 14.77 14.77
7845 772.0 -8.2 531 7848 done -0.58 - - 3212 - - - 1914 - -116.8 - - 3172 - - - - - - - - 14.76 14.77 14.77
8145 796.1 -7.9 541 8148 done -0.58 - - 3210 - - - 1914 - -116.8 - - 3174 - - - - - - - - 14.75 14.78 14.77
8445 818.6 -7.8 551 8448 done -0.58 - - 3210 - - - 1914 - -116.8 - - 3174 - - - - - - - - 14.76 14.78 14.78
8744 841.3 -7.2 561 8747 done -0.58 - - 3210 - - - 1913 - -116.8 - - 3173 - - - - - - - - 14.76 14.78 14.77
9045 863.1 -7.4 571 9048 done -0.58 - - 3210 - - - 1913 - -116.8 - - 3173 - - - - - - - - 14.75 14.77 14.77
9344 885.2 -7.4 581 9347 done -0.58 - - 3209 - - - 1914 - -116.8 - - 3173 - - - - - - - - 14.75 14.77 14.78
9645 905.5 -6.6 591 9648 done -0.58 - - 3209 - - - 1913 - -116.8 - - 3172 - - - - - - - - 14.75 14.77 14.77
9945 924.4 -6.3 601 9952 roll -0.58 - - 3210 - 2.50 0.112 3314 560.4 -116.8 - - 3172 - - - - - - - - 14.78 14.53 14.76
10028 930.0 -5.7 616 10036 done -0.58 - - 3211 - 2.55 0.103 1883 -561.2 -116.8 - - 3172 - - - - - - - - 14.63 14.54 14.65
10357 946.5 -5.2 629 10364 roll -0.58 - - 3210 - 2.50 0.119 491 -556.8 -116.8 - - 3171 - - - - - - - - 14.74 14.54 14.76
10420 950.8 -6.6 640 10429 done -0.58 - - 3210 - 2.50 0.099 1897 562.4 -116.8 - - 3169 - - - - - - - - 14.64 14.55 14.64
10731 966.0 -5.5 651 10734 done -0.58 - - 3209 - - - 1902 - -116.8 - - 3171 - - - - - - - - 14.73 14.76 14.76
11026 984.4 -6.5 661 11029 done -0.58 - - 3210 - - - 1897 - -116.8 - - 3171 - - - - - - - - 14.74 14.76 14.76
11111 end dive: TARGET_DEPTH_EXCEEDED
11111 begin apogee
11123 990.5 -6.7 664 11221 done -0.23 0.43 0.207 3336 293.0 - - 2214 - - 93.62 1.903 2699 -5.0 0.494 - - - - - - 14.49 13.84 13.19
11225 end apogee: CONTROL_FINISHED_OK
11225 begin climb
11229 993.8 - 667 11335 done 0.58 0.80 0.148 3593 321.2 - - 2217 - 116.8 97.30 1.866 2223 -4.9 0.491 - - - - - - 13.82 13.66 13.02
11625 945.5 13.8 681 11636 roll 0.58 - - 3592 - 2.58 0.114 3608 539.1 116.8 - - 2221 - - - - - - - - 14.40 14.19 14.42
11735 928.9 17.4 700 11746 done 0.58 - - 3601 - 2.60 0.106 2201 -541.2 116.8 - - 2222 - - - - - - - - 14.36 14.27 14.38
12072 879.1 14.9 715 12083 done 0.58 - - 3601 - - - 2198 - 116.8 - - 2222 - - - - - - - - 14.59 14.62 14.62
12376 834.3 15.1 725 12387 roll 0.58 - - 3601 - 2.58 0.117 3607 546.1 116.8 - - 2222 - - - - - - - - 14.65 14.42 14.67
12504 812.2 16.8 747 12515 done 0.58 - - 3609 - 2.55 0.106 2201 -551.4 116.8 - - 2222 - - - - - - - - 14.55 14.46 14.57
12826 760.3 15.4 759 12836 done 0.58 - - 3609 - - - 2201 - 116.8 - - 2220 - - - - - - - - 14.69 14.71 14.71
13130 715.4 14.4 769 13141 roll 0.58 - - 3610 - 2.55 0.116 3604 550.2 116.8 - - 2223 - - - - - - - - 14.72 14.50 14.74
13230 700.3 14.9 786 13243 done 0.58 - - 3617 - 2.53 0.106 2199 -555.3 116.8 - - 2222 - - - - - - - - 14.62 14.52 14.63
13536 656.4 14.4 797 13547 roll 0.58 - - 3626 - 2.53 0.116 789 -557.3 116.8 - - 2225 - - - - - - - - 14.74 14.53 14.76
13572 650.3 14.9 802 13585 done 0.58 - - 3626 - 2.47 0.100 2191 567.6 116.8 - - 2222 - - - - - - - - 14.63 14.53 14.65
13882 607.1 13.9 813 13893 roll 0.58 - - 3626 - 2.55 0.114 3613 557.6 116.8 - - 2222 - - - - - - - - 14.75 14.54 14.77
14011 585.6 16.7 836 14024 done 0.58 - - 3626 - 2.55 0.106 2184 -560.4 116.8 - - 2222 - - - - - - - - 14.64 14.54 14.65
14322 539.2 14.9 847 14333 roll 0.58 - - 3626 - 2.60 0.114 3617 551.2 116.8 - - 2222 - - - - - - - - 14.76 14.57 14.78
14429 522.6 16.1 865 14440 done 0.58 - - 3626 - 2.58 0.107 2200 -549.2 116.8 - - 2222 - - - - - - - - 14.64 14.55 14.66
14771 471.4 14.6 881 14782 roll 0.58 - - 3626 - 2.58 0.116 3620 550.4 116.8 - - 2222 - - - - - - - - 14.76 14.56 14.78
14822 463.4 15.9 889 14833 done 0.58 - - 3626 - 2.55 0.108 2200 -556.9 116.8 - - 2222 - - - - - - - - 14.66 14.56 14.67
15154 416.6 14.1 903 15165 roll 0.58 - - 3625 - 2.58 0.114 3611 546.9 116.8 - - 2222 - - - - - - - - 14.76 14.54 14.78
15263 399.1 15.6 922 15275 done 0.58 - - 3626 - 2.53 0.106 2199 -558.1 116.8 - - 2222 - - - - - - - - 14.65 14.57 14.67
15601 351.0 14.2 937 15611 done 0.58 - - 3625 - - - 2199 - 116.8 - - 2222 - - - - - - - - 14.77 14.79 14.78
15905 308.8 13.8 947 15917 roll 0.58 - - 3622 - 2.55 0.115 3611 553.7 116.8 - - 2222 - - - - - - - - 14.77 14.57 14.79
15987 296.1 15.2 961 15998 done 0.58 - - 3626 - 2.53 0.104 2200 -557.7 116.8 - - 2222 - - - - - - - - 14.66 14.57 14.68
16320 251.2 13.6 975 16331 roll 0.58 - - 3625 - 2.58 0.112 3613 547.7 116.8 - - 2221 - - - - - - - - 14.76 14.57 14.80
16424 236.2 14.6 993 16435 done 0.58 - - 3625 - 2.53 0.105 2199 -558.9 116.8 - - 2222 - - - - - - - - 14.66 14.55 14.68
16626 209.3 13.0 1013 16637 roll 0.58 - - 3626 - 2.58 0.112 3627 553.5 116.8 - - 2222 - - - - - - - - 14.79 14.57 14.78
16682 201.6 13.6 1022 16695 done 0.58 - - 3629 - 2.55 0.103 2199 -560.0 116.8 - - 2222 - - - - - - - - 14.66 14.56 14.70
16876 178.0 11.3 1041 16886 done 0.58 - - 3629 - - - 2199 - 116.8 - - 2222 - - - - - - - - 14.76 14.78 14.78
17068 154.6 11.9 1060 17079 roll 0.58 - - 3629 - 2.55 0.112 3611 553.7 116.8 - - 2222 - - - - - - - - 14.76 14.54 14.78
17154 144.5 13.1 1074 17166 done 0.58 0.12 0.268 3601 -233.3 2.53 0.102 2203 -556.5 116.8 - - 2222 - - - - - - - - 14.50 14.56 14.66
17357 124.0 9.2 1094 17369 done 0.58 - - 3601 - - - 2198 - 116.8 - - 2220 - - - - - - - - 14.75 14.78 14.77
17550 106.5 8.8 1113 17561 done 0.58 - - 3601 - - - 2203 - 116.8 - - 2222 - - - - - - - - 14.75 14.77 14.77
17742 90.0 7.4 1132 17765 done 0.58 - - 3601 - - - 2198 - 134.5 14.93 0.874 2148 -5.0 0.096 - - - - - - 14.76 14.54 14.16
17947 75.2 7.1 1153 17973 done 0.59 - - 3601 - - - 2198 - 158.0 18.65 0.842 2050 -5.3 0.088 - - - - - - 14.70 14.47 14.12
18155 58.8 7.0 1175 18187 roll 0.60 - - 3601 - 2.62 0.112 3617 541.6 184.3 19.98 0.813 1943 -5.4 0.073 - - - - - - 14.65 14.35 14.08
18367 42.5 7.6 1213 18389 done 0.61 - - 3610 - 2.58 0.103 2183 -555.8 198.5 11.48 0.822 1890 -4.6 0.045 - - - - - - 14.51 14.42 14.08
18581 26.1 7.5 1235 18602 roll 0.62 - - 3610 - 2.62 0.110 3609 544.3 215.4 10.15 0.792 1818 -7.1 0.044 - - - - - - 14.62 14.36 14.09
18738 15.2 6.4 1263 18766 done 0.63 - - 3610 - 2.55 0.103 2199 -552.9 254.3 17.12 0.145 1664 -9.0 0.178 - - - - - - 14.50 14.41 14.38
18912 end climb: SURFACE_DEPTH_REACHED
18912 begin surface coast
18973 end surface coast: CONTROL_FINISHED_OK
18978 begin surface
SM 1.05 - - - - -10.32 9.82 0.053 93 9.5 0.55 0.104 1893 -13325.5 350.04 40.28 0.084 1271 31.6 -0.040 - - - - - -