NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 29 * Raw log
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• Previous call tries 1 • 8.38 of 350.00 AH used of 24V (97.61% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -77.4 deg, depth 1.07 m • Intended pitch -15.9 deg, speed -8.250 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 36 s
• GPS2 time: 4 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 - - - 110 VBD -0.58 - - 86 - - - 1892 - -116.8 -75.35 - 3396 - - - - - - - - 14.58 - 14.60
116 5.3 -9.0 8 145 roll -0.58 13.62 0.379 3210 229.4 2.78 2.238 3315 511.9 -116.8 -0.32 - 3422 -81.2 - - - - - - - 14.23 13.62 14.45
284 61.7 -20.8 38 295 done -0.58 - - 3209 - 2.55 0.100 1899 -555.3 -116.8 - - 3424 - - - - - - - - 14.46 14.38 14.47
486 100.6 -17.1 58 497 done -0.58 - - 3209 - - - 1899 - -116.8 - - 3425 - - - - - - - - 14.62 14.64 14.64
678 131.0 -14.8 77 689 roll -0.58 - - 3210 - 2.55 0.113 475 -558.4 -116.8 - - 3426 - - - - - - - - 14.66 14.45 14.68
874 162.0 -15.5 113 885 done -0.58 - - 3210 - 2.50 0.095 1893 567.2 -116.8 - - 3427 - - - - - - - - 14.57 14.50 14.60
1076 191.2 -13.9 133 1087 roll -0.58 - - 3210 - 2.55 0.111 476 -555.7 -116.8 - - 3427 - - - - - - - - 14.73 14.48 14.72
1118 197.3 -15.0 139 1129 done -0.58 - - 3210 - 2.50 0.091 1913 574.8 -116.8 - - 3427 - - - - - - - - 14.60 14.50 14.62
1320 225.7 -13.6 159 1332 done -0.58 - - 3213 - - - 1913 - -116.8 - - 3426 - - - - - - - - 14.72 14.73 14.73
1513 250.9 -12.7 178 1523 done -0.58 - - 3210 - - - 1913 - -116.8 - - 3426 - - - - - - - - 14.73 14.76 14.76
1818 287.2 -11.8 188 1829 roll -0.58 - - 3209 - 2.55 0.111 475 -563.9 -116.8 - - 3425 - - - - - - - - 14.76 14.54 14.78
1874 295.1 -13.1 197 1885 done -0.58 - - 3209 - 2.47 0.091 1895 574.9 -116.8 - - 3425 - - - - - - - - 14.66 14.57 14.67
2201 332.6 -11.3 210 2211 done -0.58 - - 3210 - - - 1897 - -116.8 - - 3422 - - - - - - - - 14.78 14.80 14.79
2506 367.0 -11.5 220 2516 done -0.58 - - 3208 - - - 1895 - -116.8 - - 3424 - - - - - - - - 14.79 14.81 14.81
2805 401.4 -11.5 230 2815 done -0.58 - - 3210 - - - 1894 - -116.8 - - 3423 - - - - - - - - 14.79 14.81 14.82
3106 435.5 -11.3 240 3116 done -0.58 - - 3209 - - - 1894 - -116.8 - - 3422 - - - - - - - - 14.80 14.82 14.83
3405 470.7 -11.9 250 3415 done -0.58 - - 3214 - - - 1894 - -116.8 - - 3421 - - - - - - - - 14.83 14.83 14.82
3705 504.6 -11.2 260 3716 done -0.58 - - 3210 - - - 1894 - -116.8 - - 3420 - - - - - - - - 14.81 14.83 14.83
4005 537.0 -10.4 270 4015 done -0.58 - - 3210 - - - 1898 - -116.8 - - 3418 - - - - - - - - 14.81 14.83 14.83
4307 567.2 -10.0 280 4317 done -0.58 - - 3209 - - - 1894 - -116.8 - - 3418 - - - - - - - - 14.82 14.83 14.83
4605 598.5 -10.7 290 4616 roll -0.58 - - 3209 - 2.55 0.120 473 -557.3 -116.8 - - 3418 - - - - - - - - 14.82 14.59 14.83
4631 601.9 -10.7 293 4642 done -0.58 - - 3209 - 2.50 0.099 1903 572.0 -116.8 - - 3417 - - - - - - - - 14.71 14.63 14.72
4958 637.5 -11.0 306 4969 done -0.58 - - 3210 - - - 1903 - -116.8 - - 3417 - - - - - - - - 14.81 14.83 14.83
5263 670.7 -11.0 316 5274 done -0.58 - - 3209 - - - 1903 - -116.8 - - 3416 - - - - - - - - 14.81 14.83 14.83
5562 702.7 -10.6 326 5573 done -0.58 - - 3209 - - - 1903 - -116.8 - - 3415 - - - - - - - - 14.81 14.83 14.83
5863 733.0 -9.7 336 5874 done -0.58 - - 3210 - - - 1903 - -116.8 - - 3414 - - - - - - - - 14.81 14.83 14.83
6158 761.2 -9.4 346 6169 done -0.58 - - 3209 - - - 1904 - -116.8 - - 3412 - - - - - - - - 14.82 14.83 14.83
6463 790.8 -9.9 356 6473 done -0.58 - - 3210 - - - 1904 - -116.8 - - 3413 - - - - - - - - 14.81 14.83 14.82
6758 820.1 -9.8 366 6769 done -0.58 - - 3210 - - - 1903 - -116.8 - - 3413 - - - - - - - - 14.81 14.83 14.83
7063 850.4 -10.2 376 7074 done -0.58 - - 3210 - - - 1903 - -116.8 - - 3412 - - - - - - - - 14.81 14.83 14.83
7362 880.1 -9.7 386 7373 done -0.58 - - 3210 - - - 1903 - -116.8 - - 3415 - - - - - - - - 14.81 14.83 14.83
7663 908.9 -9.6 396 7674 roll -0.58 - - 3215 - 2.58 0.123 474 -553.9 -116.8 - - 3413 - - - - - - - - 14.80 14.58 14.82
7715 915.0 -10.8 404 7726 done -0.58 - - 3214 - 2.50 0.102 1895 568.4 -116.8 - - 3410 - - - - - - - - 14.69 14.62 14.71
8047 945.9 -9.1 418 8058 roll -0.58 - - 3209 - 2.58 0.116 3319 551.9 -116.8 - - 3408 - - - - - - - - 14.80 14.60 14.82
8093 950.7 -8.7 425 8104 done -0.58 - - 3210 - 2.55 0.106 1884 -562.7 -116.8 - - 3408 - - - - - - - - 14.69 14.59 14.71
8430 980.7 -9.2 440 8441 done -0.58 - - 3209 - - - 1885 - -116.8 - - 3409 - - - - - - - - 14.80 14.82 14.82
8545 end dive: TARGET_DEPTH_EXCEEDED
8545 begin apogee
8557 991.6 -9.1 444 8658 done -0.23 0.43 0.190 3340 304.7 - - 2207 - - 92.53 1.903 2940 -5.1 0.496 - - - - - - 14.56 13.90 13.26
8660 end apogee: CONTROL_FINISHED_OK
8660 begin climb
8665 995.8 - 447 8782 roll 0.58 0.80 0.123 3603 328.8 2.78 0.116 3609 504.3 116.8 96.45 1.870 2460 -5.0 0.498 - - - - - - 13.90 13.62 13.05
8829 983.0 13.4 477 8840 done 0.58 - - 3610 - 2.67 0.103 2201 -527.3 116.8 - - 2456 - - - - - - - - 14.01 13.93 14.05
9172 936.9 13.3 493 9183 roll 0.58 - - 3611 - 2.60 0.115 3610 541.9 116.8 - - 2457 - - - - - - - - 14.48 14.26 14.50
9258 924.9 14.7 508 9269 done 0.58 - - 3621 - 2.58 0.102 2192 -549.6 116.8 - - 2457 - - - - - - - - 14.41 14.33 14.43
9586 876.2 15.2 521 9596 done 0.58 - - 3621 - - - 2192 - 116.8 - - 2457 - - - - - - - - 14.60 14.64 14.64
9886 832.6 14.6 531 9897 roll 0.58 - - 3621 - 2.60 0.116 3607 544.2 116.8 - - 2456 - - - - - - - - 14.67 14.45 14.69
9967 820.4 15.4 545 9978 done 0.58 - - 3626 - 2.55 0.106 2199 -552.2 116.8 - - 2455 - - - - - - - - 14.57 14.49 14.59
10299 774.2 13.7 559 10310 roll 0.58 - - 3625 - 2.58 0.116 3610 546.9 116.8 - - 2455 - - - - - - - - 14.71 14.49 14.73
10381 761.8 15.3 573 10392 done 0.58 - - 3632 - 2.55 0.103 2195 -554.9 116.8 - - 2455 - - - - - - - - 14.60 14.52 14.63
10713 717.0 13.5 587 10725 roll 0.58 0.08 0.323 3608 -300.0 2.58 0.111 3613 549.6 116.8 - - 2455 - - - - - - - - 14.45 14.52 14.57
10808 704.6 13.3 603 10819 done 0.58 - - 3616 - 2.53 0.103 2199 -558.9 116.8 - - 2453 - - - - - - - - 14.62 14.54 14.64
11130 666.2 11.9 615 11141 roll 0.58 - - 3616 - 2.58 0.115 3613 548.1 116.8 - - 2455 - - - - - - - - 14.74 14.54 14.76
11202 656.8 13.2 627 11213 done 0.58 - - 3626 - 2.55 0.103 2188 -558.8 116.8 - - 2454 - - - - - - - - 14.64 14.55 14.66
11544 613.0 12.4 643 11556 roll 0.58 - - 3626 - 2.58 0.114 3610 551.2 116.8 - - 2455 - - - - - - - - 14.77 14.54 14.78
11635 601.5 13.3 658 11646 done 0.58 - - 3626 - 2.53 0.104 2201 -556.9 116.8 - - 2454 - - - - - - - - 14.64 14.55 14.66
11962 561.3 11.7 671 11973 roll 0.58 - - 3626 - 2.58 0.115 3611 546.5 116.8 - - 2454 - - - - - - - - 14.76 14.54 14.78
12052 550.0 12.9 686 12064 done 0.58 - - 3626 - 2.55 0.104 2189 -557.6 116.8 - - 2455 - - - - - - - - 14.65 14.59 14.67
12379 511.2 11.7 699 12390 done 0.58 - - 3626 - - - 2184 - 116.8 - - 2456 - - - - - - - - 14.77 14.78 14.78
12684 475.1 12.1 709 12695 roll 0.58 - - 3626 - 2.58 0.115 3610 552.7 116.8 - - 2454 - - - - - - - - 14.78 14.56 14.79
12775 463.0 13.6 724 12787 done 0.58 0.12 0.268 3603 -191.7 2.53 0.102 2196 -558.9 116.8 - - 2456 - - - - - - - - 14.52 14.58 14.66
13104 427.1 10.3 737 13116 roll 0.58 - - 3611 - 2.55 0.115 773 -558.0 116.8 - - 2454 - - - - - - - - 14.77 14.53 14.79
13150 422.2 10.3 744 13162 done 0.58 - - 3611 - 2.50 0.099 2194 568.4 116.8 - - 2454 - - - - - - - - 14.67 14.58 14.69
13488 388.4 9.7 759 13499 roll 0.58 - - 3611 - 2.58 0.114 3631 557.0 116.8 - - 2456 - - - - - - - - 14.78 14.56 14.79
13694 366.1 10.9 797 13705 done 0.58 - - 3622 - 2.55 0.102 2200 -561.2 116.8 - - 2454 - - - - - - - - 14.66 14.57 14.68
14026 332.8 9.7 811 14037 done 0.58 - - 3622 - - - 2199 - 116.8 - - 2454 - - - - - - - - 14.78 14.80 14.79
14331 300.7 10.7 821 14342 done 0.58 - - 3622 - - - 2199 - 116.8 - - 2454 - - - - - - - - 14.78 14.80 14.79
14632 269.6 10.2 831 14642 done 0.58 - - 3622 - - - 2199 - 116.8 - - 2453 - - - - - - - - 14.78 14.80 14.80
14926 239.5 10.2 847 14937 done 0.58 - - 3622 - - - 2198 - 116.8 - - 2457 - - - - - - - - 14.78 14.80 14.83
15118 219.4 9.7 866 15129 roll 0.58 - - 3622 - 2.58 0.115 3614 548.8 116.8 - - 2454 - - - - - - - - 14.78 14.58 14.78
15234 207.4 10.3 886 15245 done 0.58 - - 3626 - 2.53 0.103 2199 -559.3 116.8 - - 2455 - - - - - - - - 14.66 14.58 14.68
15436 187.1 9.8 906 15447 roll 0.58 - - 3637 - 2.55 0.114 773 -559.2 116.8 - - 2454 - - - - - - - - 14.77 14.55 14.78
15488 182.1 9.8 914 15500 done 0.58 0.12 0.261 3602 -291.7 2.53 0.098 2214 569.6 116.8 - - 2455 - - - - - - - - 14.50 14.57 14.65
15691 168.0 6.3 934 15733 roll 0.59 - - 3602 - 2.53 0.109 3613 553.0 158.1 30.48 0.940 2291 -5.4 0.181 - - - - - - 14.76 14.37 14.06
15788 160.1 9.4 950 15799 done 0.59 - - 3610 - 2.55 0.099 2186 -559.6 158.1 - - 2291 - - - - - - - - 14.51 14.43 14.53
15991 142.5 9.3 970 16002 roll 0.59 - - 3611 - 2.60 0.110 3614 549.2 158.1 - - 2295 - - - - - - - - 14.65 14.45 14.67
16077 133.8 10.7 984 16089 done 0.59 - - 3622 - 2.53 0.100 2202 -558.1 158.1 - - 2294 - - - - - - - - 14.54 14.45 14.57
16280 115.5 7.5 1004 16307 roll 0.60 - - 3629 - 2.58 0.112 794 -545.7 174.9 13.77 0.890 2223 -5.2 0.126 - - - - - - 14.69 14.41 14.10
16417 103.3 9.4 1028 16429 done 0.60 - - 3629 - 2.47 0.094 2198 568.4 174.9 - - 2223 - - - - - - - - 14.52 14.45 14.54
16611 87.5 6.4 1047 16651 roll 0.62 - - 3629 - 2.65 0.110 3613 534.0 213.4 29.27 0.845 2066 -5.4 0.104 - - - - - - 14.66 14.34 14.04
16877 64.9 9.3 1095 16889 done 0.62 - - 3635 - 2.55 0.102 2199 -554.5 213.4 - - 2064 - - - - - - - - 14.50 14.42 14.52
17071 50.3 7.5 1114 17093 roll 0.62 - - 3635 - 2.65 0.111 3613 533.6 229.2 12.00 0.821 2003 -5.1 0.059 - - - - - - 14.64 14.38 14.09
17138 45.0 8.5 1124 17150 done 0.62 - - 3636 - 2.55 0.098 2196 -555.7 229.2 - - 2002 - - - - - - - - 14.50 14.41 14.51
17341 32.9 2.9 1144 17439 roll 0.67 - - 3638 - 2.65 0.113 776 -535.8 342.8 79.38 0.737 1541 -5.8 0.049 - - - - - - 14.64 14.14 13.91
17474 25.2 8.8 1167 17486 done 0.67 - - 3638 - 2.55 0.094 2203 559.6 342.8 - - 1540 - - - - - - - - 14.31 14.23 14.32
17667 9.0 8.3 1186 17678 roll 0.67 - - 3638 - 2.55 0.109 3611 552.2 342.8 - - 1541 - - - - - - - - 14.52 14.31 14.54
17715 end climb: SURFACE_DEPTH_REACHED
17715 begin surface coast
17735 end surface coast: CONTROL_FINISHED_OK
17735 begin surface
SM 1.16 - - - - -10.33 9.93 0.048 90 9.1 3.15 0.096 1899 520.3 400.08 24.02 0.084 1309 54.5 -0.077 - - - - - -