NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 27 * Raw log
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• Previous call tries 2 • 7.86 of 350.00 AH used of 24V (97.75% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -77.8 deg, depth 1.12 m • Intended pitch -15.9 deg, speed -8.250 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 18 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 101 VBD -0.58 - - 89 - - - 1890 - -116.8 -66.28 - 3104 - - - - - - - - 14.51 - 14.51
108 3.5 -4.5 7 140 roll -0.58 13.60 0.374 3210 229.5 2.78 2.221 3294 505.0 -116.8 -4.88 - 3421 -65.0 - - - - - - - 14.20 13.58 14.39
376 71.0 -18.0 57 387 done -0.58 - - 3211 - 2.50 0.101 1902 -556.8 -116.8 - - 3422 - - - - - - - - 14.46 14.38 14.48
578 107.5 -16.7 77 589 roll -0.58 - - 3210 - 2.53 0.106 3312 557.3 -116.8 - - 3420 - - - - - - - - 14.62 14.42 14.64
600 111.1 -16.6 79 611 done -0.58 - - 3210 - 2.50 0.096 1900 -564.8 -116.8 - - 3423 - - - - - - - - 14.50 14.42 14.53
803 142.2 -14.2 99 814 done -0.58 - - 3210 - - - 1900 - -116.8 - - 3424 - - - - - - - - 14.66 14.69 14.68
995 169.7 -14.6 118 1007 roll -0.58 - - 3207 - 2.53 0.106 3313 558.5 -116.8 - - 3424 - - - - - - - - 14.69 14.50 14.71
1048 177.1 -13.6 126 1059 done -0.58 - - 3212 - 2.50 0.096 1901 -564.8 -116.8 - - 3424 - - - - - - - - 14.59 14.48 14.60
1250 203.7 -13.2 146 1262 done -0.58 - - 3209 - - - 1901 - -116.8 - - 3423 - - - - - - - - 14.71 14.73 14.73
1443 229.0 -13.5 165 1454 done -0.58 - - 3210 - - - 1901 - -116.8 - - 3423 - - - - - - - - 14.73 14.75 14.73
1635 254.1 -13.1 182 1646 roll -0.58 - - 3210 - 2.53 0.114 474 -564.0 -116.8 - - 3424 - - - - - - - - 14.75 14.52 14.77
1692 262.2 -14.1 191 1703 done -0.58 - - 3209 - 2.47 0.091 1894 574.9 -116.8 - - 3424 - - - - - - - - 14.64 14.55 14.66
2019 301.9 -12.1 204 2031 roll -0.58 - - 3210 - 2.50 0.111 478 -566.4 -116.8 - - 3422 - - - - - - - - 14.77 14.56 14.79
2066 308.0 -13.0 211 2077 done -0.58 - - 3210 - 2.47 0.093 1906 578.1 -116.8 - - 3423 - - - - - - - - 14.66 14.59 14.68
2404 347.1 -11.4 226 2414 done -0.58 - - 3210 - - - 1901 - -116.8 - - 3421 - - - - - - - - 14.78 14.81 14.80
2708 380.2 -11.0 236 2719 done -0.58 - - 3209 - - - 1905 - -116.8 - - 3420 - - - - - - - - 14.80 14.82 14.82
3008 414.5 -11.7 246 3019 roll -0.58 - - 3209 - 2.50 0.112 3315 564.0 -116.8 - - 3419 - - - - - - - - 14.81 14.59 14.82
3050 419.9 -11.4 252 3061 done -0.58 - - 3210 - 2.53 0.101 1889 -563.6 -116.8 - - 3419 - - - - - - - - 14.69 14.59 14.71
3392 457.9 -10.6 268 3403 roll -0.58 - - 3210 - 2.47 0.116 493 -565.2 -116.8 - - 3418 - - - - - - - - 14.81 14.60 14.83
3439 463.4 -11.9 275 3450 done -0.58 - - 3209 - 2.45 0.099 1893 571.4 -116.8 - - 3418 - - - - - - - - 14.70 14.62 14.71
3777 497.9 -10.0 290 3787 done -0.58 - - 3210 - - - 1892 - -116.8 - - 3417 - - - - - - - - 14.81 14.83 14.83
4081 526.7 -9.6 300 4091 done -0.58 - - 3210 - - - 1893 - -116.8 - - 3414 - - - - - - - - 14.82 14.85 14.83
4377 556.8 -10.3 310 4388 roll -0.58 - - 3210 - 2.53 0.111 3317 562.8 -116.8 - - 3414 - - - - - - - - 14.82 14.62 14.83
4438 562.9 -9.9 320 4449 done -0.58 - - 3210 - 2.53 0.101 1899 -560.5 -116.8 - - 3414 - - - - - - - - 14.71 14.62 14.72
4764 594.6 -9.8 332 4775 done -0.58 - - 3210 - - - 1900 - -116.8 - - 3416 - - - - - - - - 14.81 14.84 14.84
5065 625.5 -10.5 342 5075 done -0.58 - - 3210 - - - 1900 - -116.8 - - 3410 - - - - - - - - 14.82 14.84 14.84
5364 656.5 -10.2 352 5375 roll -0.58 - - 3209 - 2.53 0.119 474 -563.6 -116.8 - - 3412 - - - - - - - - 14.85 14.60 14.83
5411 662.3 -11.8 359 5422 done -0.58 - - 3210 - 2.50 0.100 1905 572.4 -116.8 - - 3411 - - - - - - - - 14.71 14.64 14.73
5749 695.2 -9.4 374 5759 done -0.58 - - 3209 - - - 1901 - -116.8 - - 3410 - - - - - - - - 14.81 14.83 14.83
6053 720.6 -8.3 384 6064 done -0.58 - - 3209 - - - 1905 - -116.8 - - 3412 - - - - - - - - 14.82 14.83 14.83
6352 745.2 -8.3 394 6364 roll -0.58 - - 3210 - 2.55 0.118 482 -558.0 -116.8 - - 3412 - - - - - - - - 14.83 14.61 14.84
6399 750.0 -10.0 401 6410 done -0.58 - - 3209 - 2.50 0.102 1905 569.2 -116.8 - - 3409 - - - - - - - - 14.71 14.63 14.72
6736 780.7 -9.6 416 6746 done -0.58 - - 3210 - - - 1907 - -116.8 - - 3408 - - - - - - - - 14.81 14.83 14.83
7040 809.7 -9.7 426 7051 done -0.58 - - 3210 - - - 1907 - -116.8 - - 3407 - - - - - - - - 14.82 14.84 14.83
7340 837.7 -9.4 436 7351 roll -0.58 - - 3213 - 2.55 0.119 492 -554.9 -116.8 - - 3406 - - - - - - - - 14.81 14.61 14.81
7412 845.9 -10.9 448 7423 done -0.58 - - 3209 - 2.53 0.105 1914 562.1 -116.8 - - 3406 - - - - - - - - 14.69 14.62 14.71
7754 877.7 -9.0 464 7764 done -0.58 - - 3209 - - - 1911 - -116.8 - - 3406 - - - - - - - - 14.81 14.83 14.83
8059 902.7 -8.1 474 8070 roll -0.58 - - 3210 - 2.50 0.116 3314 561.2 -116.8 - - 3405 - - - - - - - - 14.81 14.59 14.83
8179 912.6 -7.8 495 8190 done -0.58 - - 3210 - 2.53 0.104 1902 -558.1 -116.8 - - 3405 - - - - - - - - 14.69 14.60 14.71
8507 938.4 -7.7 508 8518 roll -0.58 - - 3210 - 2.53 0.121 485 -560.1 -116.8 - - 3402 - - - - - - - - 14.80 14.59 14.82
8563 943.9 -8.7 517 8574 done -0.58 - - 3209 - 2.50 0.102 1894 563.6 -116.8 - - 3404 - - - - - - - - 14.69 14.61 14.69
8891 967.5 -7.3 530 8901 done -0.58 - - 3210 - - - 1893 - -116.8 - - 3404 - - - - - - - - 14.80 14.82 14.82
9196 988.9 -7.1 540 9207 roll -0.58 - - 3209 - 2.53 0.115 3316 562.5 -116.8 - - 3404 - - - - - - - - 14.81 14.57 14.83
9212 end dive: TARGET_DEPTH_EXCEEDED
9212 begin apogee
9225 991.4 -7.8 542 9324 done -0.23 0.43 0.197 3332 286.0 - - 2196 - - 91.35 1.911 2942 -5.1 0.493 - - - - - - 14.56 13.90 13.26
9327 end apogee: CONTROL_FINISHED_OK
9327 begin climb
9332 993.6 - 545 9438 done 0.58 0.80 0.125 3595 328.8 - - 2194 - 116.8 97.45 1.855 2464 -4.9 0.493 - - - - - - 13.90 13.66 13.06
9728 948.4 13.2 559 9739 roll 0.58 - - 3595 - 2.65 0.115 3613 535.5 116.8 - - 2459 - - - - - - - - 14.45 14.22 14.43
9785 941.2 13.8 568 9796 done 0.58 - - 3603 - 2.62 0.104 2187 -544.3 116.8 - - 2458 - - - - - - - - 14.35 14.26 14.36
10112 896.9 13.4 581 10123 roll 0.58 - - 3603 - 2.62 0.114 3612 543.9 116.8 - - 2458 - - - - - - - - 14.59 14.38 14.60
10207 884.2 14.4 597 10218 done 0.58 - - 3614 - 2.55 0.105 2202 -552.9 116.8 - - 2457 - - - - - - - - 14.50 14.43 14.52
10529 841.3 12.3 609 10540 roll 0.58 - - 3613 - 2.60 0.116 3612 542.3 116.8 - - 2457 - - - - - - - - 14.66 14.46 14.68
10605 831.5 13.4 622 10617 done 0.58 - - 3623 - 2.55 0.103 2203 -552.5 116.8 - - 2456 - - - - - - - - 14.57 14.47 14.59
10943 787.4 13.1 637 10953 done 0.58 - - 3623 - - - 2200 - 116.8 - - 2456 - - - - - - - - 14.71 14.72 14.73
11248 749.5 12.6 647 11259 roll 0.58 - - 3629 - 2.60 0.116 3622 546.9 116.8 - - 2456 - - - - - - - - 14.73 14.52 14.75
11393 729.4 13.3 673 11404 done 0.58 - - 3625 - 2.58 0.106 2183 -557.8 116.8 - - 2456 - - - - - - - - 14.62 14.53 14.65
11725 688.4 12.2 687 11736 done 0.58 - - 3625 - - - 2178 - 116.8 - - 2453 - - - - - - - - 14.75 14.80 14.75
12029 650.9 12.5 697 12040 roll 0.58 - - 3625 - 2.62 0.115 3624 551.9 116.8 - - 2455 - - - - - - - - 14.77 14.56 14.76
12136 636.4 14.0 715 12148 done 0.58 0.10 0.278 3606 -190.0 2.55 0.104 2203 -557.3 116.8 - - 2455 - - - - - - - - 14.50 14.55 14.64
12479 595.7 11.4 731 12490 roll 0.58 - - 3606 - 2.58 0.114 3612 546.1 116.8 - - 2455 - - - - - - - - 14.77 14.56 14.78
12625 577.4 12.5 757 12636 done 0.58 - - 3614 - 2.55 0.103 2197 -554.9 116.8 - - 2454 - - - - - - - - 14.66 14.60 14.68
12958 537.3 12.1 771 12968 done 0.58 - - 3618 - - - 2197 - 116.8 - - 2455 - - - - - - - - 14.77 14.79 14.79
13261 500.4 12.5 781 13272 roll 0.58 - - 3614 - 2.58 0.114 3614 549.2 116.8 - - 2455 - - - - - - - - 14.78 14.57 14.80
13451 474.3 12.7 816 13463 done 0.58 - - 3624 - 2.53 0.105 2199 -559.3 116.8 - - 2458 - - - - - - - - 14.66 14.57 14.69
13762 437.5 12.0 827 13773 roll 0.58 - - 3636 - 2.53 0.114 773 -563.6 116.8 - - 2455 - - - - - - - - 14.76 14.56 14.79
13828 428.2 13.2 838 13842 done 0.58 0.12 0.260 3602 -283.3 2.53 0.099 2208 567.2 116.8 - - 2455 - - - - - - - - 14.50 14.59 14.66
14134 397.2 9.6 849 14145 roll 0.58 - - 3602 - 2.53 0.115 3613 555.3 116.8 - - 2455 - - - - - - - - 14.77 14.57 14.80
14274 382.5 10.6 874 14286 done 0.58 - - 3610 - 2.53 0.102 2198 -559.3 116.8 - - 2455 - - - - - - - - 14.66 14.58 14.68
14612 349.5 9.8 889 14623 roll 0.58 - - 3610 - 2.58 0.115 3611 547.7 116.8 - - 2456 - - - - - - - - 14.78 14.56 14.79
14732 336.3 11.5 910 14744 done 0.58 - - 3621 - 2.53 0.100 2190 -561.7 116.8 - - 2455 - - - - - - - - 14.66 14.59 14.68
15060 302.1 10.5 923 15071 done 0.58 - - 3621 - - - 2191 - 116.8 - - 2455 - - - - - - - - 14.77 14.80 14.80
15364 271.0 10.2 933 15375 done 0.58 - - 3621 - - - 2190 - 116.8 - - 2458 - - - - - - - - 14.78 14.79 14.83
15660 239.8 10.4 949 15671 roll 0.58 - - 3621 - 2.58 0.115 3611 550.8 116.8 - - 2455 - - - - - - - - 14.78 14.56 14.80
15830 221.0 10.7 980 15842 done 0.58 - - 3626 - 2.53 0.103 2198 -558.5 116.8 - - 2455 - - - - - - - - 14.66 14.59 14.68
16024 202.4 9.3 999 16035 roll 0.58 - - 3628 - 2.55 0.115 774 -558.4 116.8 - - 2455 - - - - - - - - 14.77 14.55 14.79
16104 195.3 9.0 1012 16116 done 0.58 - - 3628 - 2.50 0.097 2193 567.6 116.8 - - 2455 - - - - - - - - 14.66 14.57 14.68
16297 178.0 8.3 1031 16308 roll 0.58 - - 3628 - 2.55 0.109 3613 556.9 116.8 - - 2455 - - - - - - - - 14.76 14.56 14.78
16403 168.0 8.8 1049 16415 done 0.58 0.12 0.270 3601 -225.0 2.53 0.099 2193 -561.3 116.8 - - 2455 - - - - - - - - 14.50 14.57 14.64
16606 154.3 6.1 1069 16648 done 0.59 - - 3604 - - - 2193 - 161.9 32.78 0.922 2278 -5.4 0.170 - - - - - - 14.76 14.45 14.07
16839 135.3 9.2 1095 16851 roll 0.59 - - 3601 - 2.60 0.111 3618 548.1 161.9 - - 2280 - - - - - - - - 14.64 14.44 14.66
16895 129.5 10.0 1104 16907 done 0.59 - - 3610 - 2.55 0.103 2199 -556.5 161.9 - - 2280 - - - - - - - - 14.53 14.45 14.54
17089 113.2 7.9 1123 17107 done 0.60 - - 3610 - - - 2199 - 170.0 8.20 0.879 2245 -4.3 0.103 - - - - - - 14.67 14.38 14.09
17290 98.2 6.6 1143 17327 roll 0.61 - - 3609 - 2.67 0.110 3615 530.3 204.6 26.65 0.851 2103 -5.3 0.115 - - - - - - 14.66 14.35 14.04
17564 74.4 8.6 1194 17577 done 0.61 - - 3621 - 2.55 0.100 2199 -555.3 204.6 - - 2099 - - - - - - - - 14.51 14.42 14.52
17759 59.3 6.8 1213 17788 done 0.62 - - 3620 - - - 2199 - 234.5 22.05 0.809 1983 -5.3 0.072 - - - - - - 14.64 14.41 14.07
17970 44.4 6.7 1234 18001 done 0.64 - - 3621 - - - 2199 - 267.6 24.38 0.783 1849 -5.5 0.059 - - - - - - 14.61 14.38 14.04
18183 27.8 8.7 1255 18194 roll 0.64 - - 3622 - 2.55 0.113 775 -558.4 267.6 - - 1846 - - - - - - - - 14.59 14.36 14.60
18407 13.2 6.0 1295 18439 done 0.66 - - 3627 - 2.53 0.093 2214 568.8 315.3 20.92 0.133 1655 -9.1 0.170 - - - - - - 14.52 14.42 14.40
18565 end climb: SURFACE_DEPTH_REACHED
18565 begin surface coast
18617 end surface coast: CONTROL_FINISHED_OK
18617 begin surface
SM 1.47 - - - - -10.32 9.75 0.044 96 9.8 0.60 0.099 1882 -12233.3 400.08 35.50 0.084 1309 36.9 -0.066 - - - - - -