NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 376 * Raw log
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• Previous call tries 1 • 103.74 of 350.00 AH used of 24V (70.36% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -78.0 deg, depth 0.97 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 36 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
31 - - - 107 done -0.39 - - 85 - - - 1884 - -107.1 -71.38 - 3379 - - - - - - - - 14.44 12.58 14.42
114 2.8 -5.8 2 140 roll -0.39 14.07 0.359 3251 225.0 2.65 0.100 3309 537.7 -107.1 - - 3381 - - - - - - - - 13.83 14.12 14.17
373 60.5 -10.9 52 381 done -0.39 - - 3252 - 2.58 0.090 1892 -549.2 -107.1 - - 3384 - - - - - - - - 14.23 14.10 14.26
582 85.8 -12.6 62 591 roll -0.39 - - 3251 - 2.62 0.102 3306 539.7 -107.1 - - 3385 - - - - - - - - 14.52 14.09 14.52
678 96.8 -11.0 79 687 done -0.39 - - 3251 - 2.55 0.090 1908 -548.2 -107.1 - - 3385 - - - - - - - - 14.24 14.10 14.28
862 116.2 -9.7 86 866 done -0.39 - - 3251 - - - 1905 - -107.1 - - 3385 - - - - - - - - 14.54 14.55 14.56
1042 133.0 -9.2 92 1050 roll -0.39 - - 3251 - 2.60 0.100 3318 543.5 -107.1 - - 3384 - - - - - - - - 14.56 14.04 14.57
1115 139.6 -8.7 105 1123 done -0.39 - - 3251 - 2.58 0.088 1891 -553.1 -107.1 - - 3385 - - - - - - - - 14.26 14.14 14.31
1329 160.6 -9.9 116 1337 roll -0.39 - - 3251 - 2.55 0.103 481 -552.9 -107.1 - - 3387 - - - - - - - - 14.59 14.10 14.60
1383 166.1 -10.6 125 1390 done -0.39 - - 3251 - 2.55 0.087 1897 555.3 -107.1 - - 3385 - - - - - - - - 14.28 14.14 14.33
1587 185.5 -9.5 134 1595 roll -0.39 - - 3251 - 2.62 0.100 3322 543.9 -107.1 - - 3384 - - - - - - - - 14.55 14.02 14.58
1645 191.0 -9.0 144 1653 done -0.39 - - 3251 - 2.58 0.089 1901 -550.8 -107.1 - - 3383 - - - - - - - - 14.28 14.16 14.33
1845 208.6 -8.7 152 1853 roll -0.39 - - 3251 - 2.60 0.103 474 -548.8 -107.1 - - 3387 - - - - - - - - 14.57 14.07 14.59
1923 216.1 -9.9 166 1931 done -0.39 - - 3251 - 2.55 0.088 1902 560.0 -107.1 - - 3383 - - - - - - - - 14.28 14.15 14.33
2133 234.4 -8.8 176 2141 roll -0.39 - - 3250 - 2.60 0.103 3322 546.2 -107.1 - - 3382 - - - - - - - - 14.58 14.06 14.60
2247 243.7 -8.0 196 2254 done -0.39 - - 3257 - 2.60 0.091 1889 -551.2 -107.1 - - 3382 - - - - - - - - 14.20 14.06 14.24
2456 262.2 -8.9 204 2459 done -0.39 - - 3251 - - - 1885 - -107.1 - - 3381 - - - - - - - - 14.59 14.62 14.61
2755 288.4 -8.7 209 2758 done -0.39 - - 3251 - - - 1888 - -107.1 - - 3381 - - - - - - - - 14.61 14.63 14.62
3055 312.8 -8.0 214 3058 done -0.39 - - 3251 - - - 1888 - -107.1 - - 3380 - - - - - - - - 14.60 14.62 14.61
3356 337.3 -8.2 219 3359 done -0.39 - - 3251 - - - 1890 - -107.1 - - 3379 - - - - - - - - 14.59 14.61 14.61
3655 361.0 -7.9 224 3663 roll -0.39 - - 3251 - 2.67 0.104 3321 536.0 -107.1 - - 3381 - - - - - - - - 14.62 14.07 14.63
3724 366.0 -7.2 236 3732 done -0.39 - - 3251 - 2.60 0.093 1892 -549.6 -107.1 - - 3379 - - - - - - - - 14.26 14.12 14.31
4098 392.7 -7.2 253 4106 roll -0.39 - - 3251 - 2.67 0.104 3323 536.0 -107.1 - - 3375 - - - - - - - - 14.57 14.03 14.59
4137 395.8 -7.0 259 4144 done -0.39 - - 3251 - 2.58 0.091 1911 -547.3 -107.1 - - 3377 - - - - - - - - 14.26 14.11 14.29
4476 421.0 -7.5 270 4485 roll -0.39 - - 3251 - 2.65 0.105 3323 532.8 -107.1 - - 3376 - - - - - - - - 14.60 14.04 14.59
4521 424.4 -7.2 277 4528 done -0.39 - - 3251 - 2.60 0.091 1890 -551.2 -107.1 - - 3376 - - - - - - - - 14.25 14.12 14.30
4856 449.3 -7.5 287 4863 roll -0.39 - - 3251 - 2.65 0.103 3320 539.6 -107.1 - - 3375 - - - - - - - - 14.58 14.07 14.61
4915 453.7 -7.3 297 4923 done -0.39 - - 3251 - 2.58 0.092 1905 -548.4 -107.1 - - 3373 - - - - - - - - 14.26 14.12 14.31
5234 478.0 -7.7 304 5242 roll -0.39 - - 3251 - 2.62 0.104 3319 539.7 -107.1 - - 3375 - - - - - - - - 14.59 14.04 14.60
5287 482.2 -7.7 313 5295 done -0.39 - - 3251 - 2.60 0.092 1890 -549.6 -107.1 - - 3373 - - - - - - - - 14.19 14.06 14.23
5612 508.1 -8.1 321 5614 done -0.39 - - 3251 - - - 1890 - -107.1 - - 3374 - - - - - - - - 14.58 14.60 14.59
5911 532.1 -8.0 326 5919 roll -0.39 - - 3251 - 2.65 0.104 3318 538.9 -107.1 - - 3373 - - - - - - - - 14.59 14.06 14.61
5990 538.2 -7.5 340 5998 done -0.39 - - 3251 - 2.58 0.094 1907 -546.9 -107.1 - - 3373 - - - - - - - - 14.25 14.10 14.29
6350 565.7 -7.7 355 6357 roll -0.39 - - 3251 - 2.65 0.106 3322 534.0 -107.1 - - 3373 - - - - - - - - 14.60 14.03 14.59
6403 569.7 -7.3 364 6410 done -0.39 - - 3251 - 2.60 0.092 1891 -550.4 -107.1 - - 3373 - - - - - - - - 14.25 14.11 14.30
6727 593.9 -7.5 372 6735 roll -0.39 - - 3248 - 2.65 0.104 3320 539.2 -107.1 - - 3372 - - - - - - - - 14.58 14.04 14.59
6780 597.9 -7.3 381 6788 done -0.39 - - 3251 - 2.60 0.094 1904 -544.6 -107.1 - - 3372 - - - - - - - - 14.25 14.11 14.30
7105 621.4 -7.2 389 7112 roll -0.39 - - 3251 - 2.65 0.106 3322 535.1 -107.1 - - 3371 - - - - - - - - 14.59 14.04 14.60
7152 625.0 -7.1 397 7160 done -0.39 - - 3251 - 2.62 0.093 1885 -548.5 -107.1 - - 3370 - - - - - - - - 14.23 14.08 14.28
7481 647.3 -6.6 406 7484 done -0.39 - - 3251 - - - 1882 - -107.1 - - 3370 - - - - - - - - 14.57 14.58 14.59
7782 667.1 -6.7 411 7785 done -0.39 - - 3251 - - - 1885 - -107.1 - - 3374 - - - - - - - - 14.57 14.59 14.59
8076 end dive: TARGET_DEPTH_EXCEEDED
8076 begin apogee
8088 686.5 -6.4 416 8176 done -0.16 0.30 0.155 3345 313.3 - - 2267 - - 83.90 1.538 2941 -5.2 0.449 - - - - - - 14.02 13.97 13.23
8180 end apogee: CONTROL_FINISHED_OK
8180 begin climb
8185 688.3 - 417 8289 roll 0.39 0.47 0.105 3516 363.8 2.65 0.103 3660 525.7 107.1 85.62 1.519 2497 -5.2 0.458 - - - - - - 13.96 13.61 13.04
8350 683.0 6.5 447 8361 done 0.41 - - 3517 - 2.65 0.092 2252 -531.3 107.1 - - 2497 - - - - - - - - 13.97 13.85 14.00
8699 663.0 5.8 458 8711 roll 0.44 - - 3523 - 2.62 0.103 822 -545.8 107.1 - - 2496 - - - - - - - - 14.47 14.05 14.51
8860 654.0 5.4 487 8871 done 0.48 - - 3517 - 2.58 0.092 2245 551.6 107.1 - - 2497 - - - - - - - - 14.25 14.12 14.29
9213 637.0 4.8 499 9267 done 0.50 0.10 0.124 3585 680.0 - - 2245 - 162.2 43.33 1.459 2276 -5.1 0.434 - - - - - - 14.31 14.16 13.44
9568 602.8 10.2 505 9579 roll 0.50 - - 3586 - 2.65 0.106 3665 535.8 162.2 - - 2277 - - - - - - - - 14.51 14.11 14.52
9625 596.2 12.1 514 9637 done 0.50 0.17 0.225 3552 -200.0 2.60 0.093 2236 -549.6 162.2 - - 2277 - - - - - - - - 14.00 14.14 14.22
9957 567.8 8.4 522 9968 done 0.50 - - 3555 - - - 2236 - 162.2 - - 2277 - - - - - - - - 14.56 14.59 14.59
10255 542.5 8.4 527 10265 done 0.50 - - 3555 - - - 2236 - 162.2 - - 2280 - - - - - - - - 14.64 14.64 14.63
10553 516.9 8.5 532 10564 roll 0.50 - - 3556 - 2.67 0.106 3663 534.5 162.2 - - 2279 - - - - - - - - 14.64 14.13 14.65
10606 511.9 9.7 540 10617 done 0.50 - - 3553 - 2.58 0.092 2254 -546.1 162.2 - - 2276 - - - - - - - - 14.32 14.16 14.36
10939 481.7 9.0 549 10950 roll 0.50 - - 3557 - 2.58 0.104 840 -548.1 162.2 - - 2277 - - - - - - - - 14.62 14.13 14.63
10991 476.9 9.2 557 11002 done 0.50 - - 3557 - 2.55 0.091 2262 557.6 162.2 - - 2278 - - - - - - - - 14.33 14.19 14.35
11324 447.0 9.0 566 11335 roll 0.50 - - 3557 - 2.60 0.106 3663 538.8 162.2 - - 2275 - - - - - - - - 14.62 14.11 14.64
11426 437.4 10.0 583 11437 done 0.50 - - 3557 - 2.58 0.093 2252 -546.9 162.2 - - 2276 - - - - - - - - 14.31 14.16 14.35
11778 405.5 9.0 595 11789 roll 0.50 - - 3568 - 2.58 0.103 835 -549.2 162.2 - - 2277 - - - - - - - - 14.62 14.11 14.63
11852 398.6 9.2 607 11863 done 0.50 - - 3568 - 2.58 0.093 2245 546.5 162.2 - - 2276 - - - - - - - - 14.28 14.13 14.33
12224 363.5 9.3 624 12235 roll 0.50 - - 3568 - 2.62 0.106 3663 541.2 162.2 - - 2276 - - - - - - - - 14.65 14.09 14.66
12272 358.7 10.5 631 12283 done 0.50 - - 3570 - 2.60 0.092 2237 -548.5 162.2 - - 2276 - - - - - - - - 14.28 14.14 14.36
12613 326.7 9.4 641 12624 roll 0.50 - - 3570 - 2.53 0.105 842 -551.4 162.2 - - 2277 - - - - - - - - 14.59 14.08 14.65
12670 321.1 9.0 650 12681 done 0.50 - - 3571 - 2.55 0.090 2246 550.6 162.2 - - 2276 - - - - - - - - 14.29 14.14 14.33
12998 292.7 8.7 658 13010 roll 0.50 - - 3570 - 2.65 0.105 3666 535.8 162.2 - - 2276 - - - - - - - - 14.62 14.08 14.64
13086 284.2 9.7 673 13097 done 0.50 - - 3572 - 2.60 0.092 2254 -543.1 162.2 - - 2276 - - - - - - - - 14.30 14.11 14.32
13448 254.6 8.2 687 13459 done 0.50 - - 3567 - - - 2253 - 162.2 - - 2276 - - - - - - - - 14.61 14.63 14.62
13743 232.7 7.2 695 13754 roll 0.50 - - 3577 - 2.58 0.103 839 -548.1 162.2 - - 2276 - - - - - - - - 14.64 14.12 14.65
13791 229.3 7.4 702 13802 done 0.50 - - 3578 - 2.55 0.091 2252 554.1 162.2 - - 2277 - - - - - - - - 14.28 14.14 14.33
14013 213.6 7.2 713 14023 done 0.50 - - 3578 - - - 2252 - 162.2 - - 2276 - - - - - - - - 14.59 14.62 14.61
14190 199.9 7.8 719 14201 roll 0.50 - - 3577 - 2.65 0.105 3666 533.6 162.2 - - 2276 - - - - - - - - 14.62 14.07 14.63
14256 193.5 9.8 730 14269 done 0.50 - - 3582 - 2.60 0.094 2252 -543.8 162.2 - - 2276 - - - - - - - - 14.27 14.12 14.32
14443 178.1 8.1 737 14454 done 0.50 - - 3588 - - - 2252 - 162.2 - - 2279 - - - - - - - - 14.62 14.64 14.64
14623 163.4 8.1 743 14634 done 0.50 - - 3582 - - - 2252 - 162.2 - - 2276 - - - - - - - - 14.62 14.64 14.64
14803 148.2 8.5 749 14815 roll 0.50 - - 3582 - 2.60 0.103 838 -543.8 162.2 - - 2278 - - - - - - - - 14.59 14.08 14.62
14865 142.5 9.1 759 14877 done 0.50 - - 3575 - 2.58 0.093 2265 553.1 162.2 - - 2278 - - - - - - - - 14.26 14.12 14.31
15068 125.2 8.4 767 15080 roll 0.50 - - 3583 - 2.65 0.103 821 -544.9 162.2 - - 2277 - - - - - - - - 14.62 14.06 14.63
15126 120.7 7.7 776 15137 done 0.50 - - 3583 - 2.58 0.089 2245 551.9 162.2 - - 2277 - - - - - - - - 14.26 14.12 14.31
15338 106.5 6.6 785 15349 done 0.52 - - 3580 - - - 2247 - 162.2 - - 2276 - - - - - - - - 14.58 14.60 14.60
15515 93.7 7.1 791 15526 roll 0.52 - - 3583 - 2.65 0.105 3666 535.5 162.2 - - 2277 - - - - - - - - 14.59 14.08 14.61
15611 86.9 6.8 807 15622 done 0.53 - - 3584 - 2.62 0.090 2233 -546.9 162.2 - - 2277 - - - - - - - - 14.24 14.10 14.27
15816 76.1 5.2 815 15859 done 0.55 - - 3584 - - - 2232 - 209.1 35.75 0.815 2087 -5.3 0.097 - - - - - - 14.59 14.32 13.78
16029 63.1 6.6 822 16039 done 0.57 - - 3580 - - - 2232 - 209.1 - - 2084 - - - - - - - - 14.52 14.53 14.53
16205 52.2 5.9 828 16216 done 0.60 - - 3583 - - - 2232 - 209.1 - - 2085 - - - - - - - - 14.54 14.57 14.56
16385 42.7 5.3 834 16426 done 0.62 - - 3584 - - - 2232 - 254.1 33.85 0.774 1901 -5.4 0.058 - - - - - - 14.57 14.29 13.79
16595 28.6 7.3 841 16606 roll 0.62 - - 3589 - 2.70 0.104 3672 533.3 254.1 - - 1899 - - - - - - - - 14.51 14.10 14.52
16691 21.4 6.6 857 16702 done 0.63 - - 3586 - 2.60 0.089 2253 -545.8 254.1 - - 1898 - - - - - - - - 14.21 14.08 14.25
16895 17.3 1.3 865 16968 roll 0.70 0.08 0.148 3656 875.0 2.55 0.099 840 -554.1 386.3 62.35 0.156 1367 -8.5 0.184 - - - - - - 14.29 14.16 14.03
16998 11.9 7.9 874 17011 done 0.70 0.10 0.194 3621 -350.0 2.55 0.089 2262 557.6 386.3 - - 1368 - - - - - - - - 14.05 14.15 14.23
17122 end climb: SURFACE_DEPTH_REACHED
17122 begin surface coast
17159 end surface coast: CONTROL_FINISHED_OK
17160 begin surface
SM 2.48 - - - - -10.27 9.82 0.035 87 8.9 0.68 0.096 1901 -4742.6 400.08 5.95 0.086 1310 220.1 -0.649 - - - - - -