NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 26 * Raw log
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• Previous call tries 1 • 7.59 of 350.00 AH used of 24V (97.83% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -77.0 deg, depth 1.10 m • Intended pitch -15.9 deg, speed -8.250 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
30 - - - 112 VBD -0.58 - - 90 - - - 1913 - -116.8 -77.57 - 3190 - - - - - - - - 14.52 - 14.53
119 4.1 -6.4 8 145 roll -0.58 13.50 0.371 3209 231.0 2.80 2.232 3313 500.0 -116.8 -3.45 - 3419 -66.4 - - - - - - - 14.17 13.56 14.39
335 64.6 -20.5 48 343 done -0.58 - - 3209 - 2.53 0.099 1902 -557.7 -116.8 - - 3424 - - - - - - - - 14.44 14.35 14.45
534 101.1 -17.4 68 542 done -0.58 - - 3210 - - - 1901 - -116.8 - - 3424 - - - - - - - - 14.60 14.62 14.62
724 131.5 -17.6 87 733 done -0.58 - - 3209 - - - 1904 - -116.8 - - 3424 - - - - - - - - 14.64 14.64 14.65
914 161.9 -14.9 106 921 roll -0.58 - - 3209 - 2.53 0.114 492 -558.1 -116.8 - - 3425 - - - - - - - - 14.66 14.45 14.67
993 173.2 -14.4 120 1000 done -0.58 - - 3211 - 2.47 0.095 1905 572.1 -116.8 - - 3425 - - - - - - - - 14.55 14.48 14.57
1192 195.8 -10.8 140 1200 roll -0.58 - - 3210 - 2.53 0.109 493 -558.1 -116.8 - - 3425 - - - - - - - - 14.68 14.47 14.69
1378 219.1 -13.2 175 1388 done -0.58 - - 3210 - 2.47 0.094 1913 574.9 -116.8 - - 3425 - - - - - - - - 14.58 14.50 14.59
1569 241.5 -11.7 194 1577 done -0.58 - - 3209 - - - 1913 - -116.8 - - 3425 - - - - - - - - 14.73 14.73 14.72
1759 265.3 -12.7 205 1762 done -0.58 - - 3210 - - - 1909 - -116.8 - - 3425 - - - - - - - - 14.72 14.73 14.73
2059 305.1 -13.0 215 2062 done -0.58 - - 3209 - - - 1912 - -116.8 - - 3424 - - - - - - - - 14.76 14.76 14.75
2359 341.0 -11.7 225 2362 done -0.58 - - 3210 - - - 1912 - -116.8 - - 3423 - - - - - - - - 14.74 14.76 14.76
2659 375.2 -11.0 235 2663 done -0.58 - - 3209 - - - 1912 - -116.8 - - 3421 - - - - - - - - 14.76 14.78 14.77
2959 407.0 -10.7 245 2967 roll -0.58 - - 3214 - 2.55 0.114 488 -558.4 -116.8 - - 3422 - - - - - - - - 14.76 14.55 14.78
3007 412.7 -12.3 253 3015 done -0.58 - - 3210 - 2.47 0.097 1898 570.9 -116.8 - - 3423 - - - - - - - - 14.65 14.57 14.66
3340 448.0 -10.7 267 3348 roll -0.58 - - 3210 - 2.55 0.115 481 -555.7 -116.8 - - 3420 - - - - - - - - 14.73 14.55 14.78
3394 455.0 -12.2 276 3401 done -0.58 - - 3210 - 2.50 0.097 1913 572.8 -116.8 - - 3420 - - - - - - - - 14.64 14.56 14.66
3722 491.2 -11.4 289 3725 done -0.58 - - 3207 - - - 1913 - -116.8 - - 3419 - - - - - - - - 14.76 14.78 14.81
4017 525.8 -11.4 299 4026 roll -0.58 - - 3210 - 2.55 0.115 479 -562.4 -116.8 - - 3418 - - - - - - - - 14.76 14.55 14.78
4101 536.3 -12.5 314 4109 done -0.58 - - 3209 - 2.47 0.098 1895 573.3 -116.8 - - 3418 - - - - - - - - 14.65 14.57 14.66
4429 572.3 -10.7 327 4432 done -0.58 - - 3210 - - - 1894 - -116.8 - - 3415 - - - - - - - - 14.77 14.80 14.78
4725 603.4 -10.3 337 4733 roll -0.58 - - 3210 - 2.53 0.117 477 -560.1 -116.8 - - 3415 - - - - - - - - 14.77 14.55 14.78
4803 612.3 -11.4 351 4811 done -0.58 - - 3210 - 2.50 0.099 1905 571.2 -116.8 - - 3416 - - - - - - - - 14.65 14.57 14.67
5136 645.9 -10.3 365 5140 done -0.58 - - 3210 - - - 1904 - -116.8 - - 3412 - - - - - - - - 14.76 14.78 14.78
5433 676.3 -10.3 375 5436 done -0.58 - - 3210 - - - 1904 - -116.8 - - 3414 - - - - - - - - 14.76 14.78 14.78
5733 706.7 -10.2 385 5736 done -0.58 - - 3210 - - - 1904 - -116.8 - - 3413 - - - - - - - - 14.77 14.79 14.78
6032 735.9 -9.7 395 6041 roll -0.58 - - 3215 - 2.53 0.118 3310 555.7 -116.8 - - 3413 - - - - - - - - 14.77 14.56 14.78
6077 740.1 -9.4 402 6084 done -0.58 - - 3210 - 2.50 0.103 1904 -562.4 -116.8 - - 3413 - - - - - - - - 14.65 14.56 14.66
6414 770.5 -9.1 417 6418 done -0.58 - - 3210 - - - 1903 - -116.8 - - 3412 - - - - - - - - 14.76 14.78 14.78
6710 798.1 -9.2 427 6718 roll -0.58 - - 3206 - 2.53 0.119 490 -558.5 -116.8 - - 3416 - - - - - - - - 14.75 14.56 14.78
6769 803.8 -10.3 437 6776 done -0.58 - - 3210 - 2.50 0.099 1904 565.6 -116.8 - - 3412 - - - - - - - - 14.65 14.57 14.66
7092 832.2 -8.5 449 7094 done -0.58 - - 3209 - - - 1904 - -116.8 - - 3410 - - - - - - - - 14.76 14.80 14.77
7388 857.9 -8.6 459 7391 done -0.58 - - 3209 - - - 1909 - -116.8 - - 3409 - - - - - - - - 14.76 14.78 14.77
7688 885.8 -9.6 469 7695 roll -0.58 - - 3209 - 2.55 0.119 489 -556.9 -116.8 - - 3409 - - - - - - - - 14.76 14.55 14.78
7726 890.6 -10.9 475 7735 done -0.58 - - 3210 - 2.50 0.101 1913 569.6 -116.8 - - 3409 - - - - - - - - 14.64 14.56 14.66
8070 924.0 -9.9 491 8073 done -0.58 - - 3210 - - - 1911 - -116.8 - - 3411 - - - - - - - - 14.75 14.79 14.79
8366 953.3 -9.7 501 8369 done -0.58 - - 3214 - - - 1912 - -116.8 - - 3408 - - - - - - - - 14.75 14.77 14.77
8666 981.4 -9.0 511 8669 done -0.58 - - 3210 - - - 1911 - -116.8 - - 3408 - - - - - - - - 14.76 14.78 14.77
8781 end dive: TARGET_DEPTH_EXCEEDED
8781 begin apogee
8792 992.1 -8.9 515 8890 done -0.23 0.43 0.194 3339 300.0 - - 2203 - - 92.50 1.900 2942 -5.0 0.495 - - - - - - 14.51 13.86 13.22
8893 end apogee: CONTROL_FINISHED_OK
8893 begin climb
8898 996.4 - 518 9015 roll 0.58 0.80 0.127 3597 322.5 2.72 0.117 3609 516.9 116.8 96.40 1.859 2459 -5.0 0.505 - - - - - - 13.87 13.61 13.04
9050 985.6 12.9 546 9061 done 0.58 - - 3606 - 2.67 0.103 2195 -529.6 116.8 - - 2455 - - - - - - - - 13.96 13.88 13.97
9373 942.7 13.6 558 9384 roll 0.58 - - 3605 - 2.65 0.115 3613 535.1 116.8 - - 2456 - - - - - - - - 14.47 14.26 14.48
9469 929.7 15.0 574 9480 done 0.58 - - 3609 - 2.60 0.106 2200 -543.5 116.8 - - 2456 - - - - - - - - 14.41 14.35 14.42
9795 883.4 13.9 586 9806 roll 0.58 - - 3609 - 2.60 0.114 3613 543.5 116.8 - - 2452 - - - - - - - - 14.60 14.40 14.62
9878 870.3 15.2 600 9889 done 0.58 - - 3620 - 2.55 0.103 2200 -554.1 116.8 - - 2453 - - - - - - - - 14.52 14.43 14.54
10210 823.0 13.8 614 10221 roll 0.58 - - 3619 - 2.60 0.115 3611 542.7 116.8 - - 2458 - - - - - - - - 14.68 14.46 14.69
10292 810.9 14.9 628 10303 done 0.58 - - 3625 - 2.55 0.103 2198 -554.1 116.8 - - 2454 - - - - - - - - 14.57 14.50 14.59
10624 764.1 14.4 642 10635 roll 0.58 - - 3625 - 2.58 0.113 3611 547.7 116.8 - - 2454 - - - - - - - - 14.71 14.50 14.73
10680 755.4 15.1 651 10693 done 0.58 0.12 0.269 3602 -191.7 2.55 0.102 2187 -558.4 116.8 - - 2454 - - - - - - - - 14.45 14.52 14.60
11009 714.9 11.9 664 11020 roll 0.58 - - 3602 - 2.58 0.114 3610 551.6 116.8 - - 2457 - - - - - - - - 14.74 14.52 14.76
11105 703.1 13.0 680 11116 done 0.58 - - 3610 - 2.53 0.103 2200 -557.3 116.8 - - 2454 - - - - - - - - 14.63 14.54 14.65
11428 665.7 11.2 692 11439 roll 0.58 - - 3610 - 2.55 0.116 3611 553.3 116.8 - - 2454 - - - - - - - - 14.76 14.52 14.76
11528 653.6 12.9 709 11540 done 0.58 - - 3618 - 2.53 0.101 2197 -558.9 116.8 - - 2453 - - - - - - - - 14.64 14.57 14.67
11835 617.3 11.9 720 11846 roll 0.58 - - 3621 - 2.58 0.113 3611 548.1 116.8 - - 2454 - - - - - - - - 14.76 14.54 14.78
11916 606.1 13.0 734 11927 done 0.58 - - 3631 - 2.53 0.105 2201 -557.3 116.8 - - 2453 - - - - - - - - 14.65 14.56 14.67
12249 564.3 12.5 748 12260 done 0.58 0.10 0.293 3605 -260.0 - - 2201 - 116.8 - - 2453 - - - - - - - - 14.50 14.68 14.64
12553 531.8 10.4 758 12563 done 0.58 - - 3606 - - - 2201 - 116.8 - - 2453 - - - - - - - - 14.77 14.78 14.79
12853 501.0 10.2 768 12864 roll 0.58 - - 3605 - 2.55 0.116 3611 552.9 116.8 - - 2456 - - - - - - - - 14.78 14.57 14.80
13022 481.5 11.5 799 13034 done 0.58 - - 3609 - 2.55 0.103 2186 -558.8 116.8 - - 2453 - - - - - - - - 14.66 14.58 14.69
13360 445.6 10.8 814 13371 roll 0.58 - - 3613 - 2.58 0.114 3612 552.7 116.8 - - 2453 - - - - - - - - 14.78 14.56 14.80
13416 439.0 12.0 823 13428 done 0.58 - - 3624 - 2.53 0.102 2202 -557.3 116.8 - - 2453 - - - - - - - - 14.66 14.57 14.69
13745 403.0 11.0 836 13755 done 0.58 - - 3624 - - - 2202 - 116.8 - - 2453 - - - - - - - - 14.78 14.80 14.82
14049 371.2 10.5 846 14059 done 0.58 - - 3624 - - - 2202 - 116.8 - - 2453 - - - - - - - - 14.78 14.81 14.78
14349 340.2 10.1 856 14360 roll 0.58 - - 3624 - 2.55 0.113 3611 552.5 116.8 - - 2453 - - - - - - - - 14.81 14.57 14.81
14485 324.7 11.5 880 14496 done 0.58 - - 3626 - 2.53 0.103 2197 -558.9 116.8 - - 2453 - - - - - - - - 14.67 14.59 14.69
14827 290.4 9.7 896 14838 done 0.58 - - 3625 - - - 2197 - 116.8 - - 2456 - - - - - - - - 14.78 14.81 14.80
15131 260.2 10.3 906 15142 done 0.58 - - 3625 - - - 2198 - 116.8 - - 2453 - - - - - - - - 14.78 14.81 14.83
15428 228.7 10.2 928 15439 done 0.58 - - 3625 - - - 2200 - 116.8 - - 2454 - - - - - - - - 14.78 14.81 14.81
15620 211.0 8.5 947 15631 done 0.58 - - 3625 - - - 2197 - 116.8 - - 2453 - - - - - - - - 14.78 14.81 14.80
15813 193.0 9.6 966 15824 roll 0.58 - - 3625 - 2.58 0.115 3613 548.8 116.8 - - 2453 - - - - - - - - 14.78 14.57 14.79
15980 174.8 10.7 996 15991 done 0.58 0.12 0.257 3600 -208.3 2.53 0.102 2194 -560.9 116.8 - - 2451 - - - - - - - - 14.51 14.58 14.64
16183 158.9 6.5 1016 16221 roll 0.59 - - 3600 - 2.65 0.112 3611 534.7 153.3 26.75 0.923 2311 -5.2 0.169 - - - - - - 14.76 14.41 14.14
16446 135.3 8.6 1064 16457 done 0.59 - - 3608 - 2.53 0.099 2198 -558.5 153.3 - - 2311 - - - - - - - - 14.54 14.47 14.57
16648 116.9 8.3 1084 16660 roll 0.59 - - 3609 - 2.55 0.112 3611 554.1 153.3 - - 2313 - - - - - - - - 14.69 14.47 14.70
16704 111.9 8.8 1093 16716 done 0.59 - - 3620 - 2.55 0.097 2181 -560.8 153.3 - - 2313 - - - - - - - - 14.58 14.50 14.59
16898 97.8 6.2 1112 16946 roll 0.61 - - 3626 - 2.53 0.112 795 -547.8 196.1 32.15 0.848 2137 -5.5 0.119 - - - - - - 14.71 14.33 14.07
17101 83.7 8.0 1148 17117 done 0.61 - - 3623 - 2.47 0.093 2194 566.4 200.5 3.35 0.633 2124 -3.9 0.097 - - - - - - 14.50 14.42 13.98
17300 68.0 8.0 1168 17320 roll 0.61 - - 3626 - 2.58 0.112 791 -543.8 206.5 7.53 0.842 2096 -3.7 0.056 - - - - - - 14.63 14.40 14.08
17336 65.2 7.2 1173 17364 done 0.62 - - 3626 - 2.50 0.093 2212 568.4 227.7 16.48 0.821 2011 -5.2 0.077 - - - - - - 14.49 14.40 14.04
17556 47.7 7.5 1196 17583 roll 0.63 - - 3626 - 2.58 0.109 3611 542.2 242.6 11.82 0.807 1947 -5.4 0.060 - - - - - - 14.60 14.33 14.07
17667 39.0 7.9 1215 17685 done 0.63 - - 3626 - 2.53 0.099 2203 -556.5 250.2 6.60 0.786 1919 -4.2 0.040 - - - - - - 14.47 14.38 14.05
17877 27.8 5.0 1236 17935 done 0.66 - - 3626 - - - 2203 - 318.4 46.40 0.734 1639 -6.0 0.043 - - - - - - 14.62 14.28 14.00
18117 11.1 7.5 1260 18135 done 0.66 - - 3626 - - - 2203 - 334.2 6.12 0.123 1581 -9.5 0.161 - - - - - - 14.54 14.41 14.33
18215 end climb: SURFACE_DEPTH_REACHED
18216 begin surface coast
18262 end surface coast: CONTROL_FINISHED_OK
18263 begin surface
SM 1.53 - - - - -10.33 9.90 0.053 92 9.3 0.55 0.105 1897 -11456.4 400.08 28.23 0.083 1309 46.4 -0.087 - - - - - -