NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 472 * Raw log
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• Previous call tries 2 • 130.61 of 350.00 AH used of 24V (62.68% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -78.6 deg, depth 1.05 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 23 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
31 - - - 109 done -0.39 - - 85 - - - 1882 - -107.1 -73.00 - 3380 - - - - - - - - 14.47 12.42 14.44
116 2.1 -2.5 2 143 roll -0.39 14.35 0.363 3257 221.0 2.62 0.093 3317 547.7 -107.1 - - 3382 - - - - - - - - 13.75 14.12 14.12
266 45.6 -11.0 30 274 done -0.39 - - 3256 - 2.55 0.086 1908 -552.5 -107.1 - - 3384 - - - - - - - - 14.21 14.07 14.25
466 70.4 -12.5 38 474 roll -0.39 - - 3257 - 2.58 0.099 3307 542.2 -107.1 - - 3385 - - - - - - - - 14.54 14.07 14.54
589 82.1 -7.9 60 597 done -0.39 - - 3257 - 2.55 0.085 1895 -553.7 -107.1 - - 3384 - - - - - - - - 14.23 14.10 14.26
789 99.1 -8.4 68 792 done -0.39 - - 3258 - - - 1894 - -107.1 - - 3385 - - - - - - - - 14.57 14.59 14.59
968 115.3 -9.0 74 971 done -0.39 - - 3256 - - - 1894 - -107.1 - - 3386 - - - - - - - - 14.59 14.57 14.59
1148 131.6 -9.1 80 1155 roll -0.39 - - 3257 - 2.65 0.100 3322 538.9 -107.1 - - 3384 - - - - - - - - 14.58 14.04 14.60
1181 134.6 -8.9 85 1190 done -0.39 - - 3257 - 2.58 0.083 1890 -555.0 -107.1 - - 3386 - - - - - - - - 14.23 14.11 14.29
1368 151.1 -9.0 92 1375 roll -0.39 - - 3256 - 2.55 0.102 493 -547.8 -107.1 - - 3386 - - - - - - - - 14.58 14.03 14.60
1420 156.5 -10.0 101 1428 done -0.39 - - 3256 - 2.53 0.085 1901 556.5 -107.1 - - 3386 - - - - - - - - 14.23 14.11 14.30
1625 173.5 -8.0 110 1634 roll -0.39 - - 3254 - 2.60 0.101 3322 546.5 -107.1 - - 3385 - - - - - - - - 14.58 14.02 14.59
1714 180.3 -7.1 126 1723 done -0.39 - - 3257 - 2.55 0.084 1907 -554.9 -107.1 - - 3387 - - - - - - - - 14.24 14.10 14.31
1915 194.5 -7.0 134 1924 roll -0.39 - - 3257 - 2.60 0.101 3321 543.8 -107.1 - - 3384 - - - - - - - - 14.60 14.05 14.62
1950 196.9 -6.9 139 1959 done -0.39 - - 3257 - 2.58 0.084 1895 -552.7 -107.1 - - 3384 - - - - - - - - 14.24 14.11 14.28
2135 209.1 -6.6 146 2138 done -0.39 - - 3256 - - - 1895 - -107.1 - - 3382 - - - - - - - - 14.59 14.61 14.59
2316 221.1 -6.7 152 2319 done -0.39 - - 3263 - - - 1895 - -107.1 - - 3387 - - - - - - - - 14.59 14.61 14.60
2495 233.6 -6.9 158 2503 roll -0.39 - - 3253 - 2.58 0.103 475 -550.4 -107.1 - - 3383 - - - - - - - - 14.60 14.04 14.63
2524 235.7 -7.7 162 2532 done -0.39 - - 3257 - 2.55 0.086 1899 558.4 -107.1 - - 3383 - - - - - - - - 14.26 14.12 14.30
2724 249.7 -7.0 170 2733 roll -0.39 - - 3257 - 2.60 0.103 3320 546.5 -107.1 - - 3382 - - - - - - - - 14.60 14.04 14.62
2805 255.1 -6.3 184 2812 done -0.39 - - 3257 - 2.58 0.087 1903 -549.2 -107.1 - - 3381 - - - - - - - - 14.23 14.07 14.27
3165 279.2 -6.7 199 3168 done -0.39 - - 3257 - - - 1903 - -107.1 - - 3382 - - - - - - - - 14.59 14.62 14.62
3464 299.8 -6.8 204 3471 roll -0.39 - - 3257 - 2.60 0.103 476 -548.8 -107.1 - - 3380 - - - - - - - - 14.59 14.00 14.61
3512 303.5 -7.8 212 3519 done -0.39 - - 3257 - 2.58 0.088 1901 552.3 -107.1 - - 3379 - - - - - - - - 14.21 14.07 14.26
3842 325.3 -6.6 221 3850 roll -0.39 - - 3256 - 2.60 0.103 3319 545.4 -107.1 - - 3378 - - - - - - - - 14.59 14.01 14.60
3895 328.5 -5.7 230 3903 done -0.39 - - 3257 - 2.58 0.088 1901 -549.6 -107.1 - - 3378 - - - - - - - - 14.23 14.09 14.30
4220 348.7 -6.3 238 4223 done -0.39 - - 3256 - - - 1901 - -107.1 - - 3378 - - - - - - - - 14.62 14.63 14.62
4521 371.0 -7.6 243 4529 roll -0.39 - - 3256 - 2.65 0.104 3318 534.7 -107.1 - - 3377 - - - - - - - - 14.59 14.00 14.61
4579 375.4 -7.6 253 4587 done -0.39 - - 3257 - 2.60 0.089 1888 -550.0 -107.1 - - 3377 - - - - - - - - 14.19 14.07 14.24
4898 399.1 -7.3 260 4901 done -0.39 - - 3255 - - - 1888 - -107.1 - - 3376 - - - - - - - - 14.57 14.60 14.60
5199 420.0 -6.9 265 5202 done -0.39 - - 3260 - - - 1888 - -107.1 - - 3376 - - - - - - - - 14.60 14.63 14.62
5498 440.9 -7.0 270 5507 roll -0.39 - - 3256 - 2.67 0.105 3322 537.1 -107.1 - - 3377 - - - - - - - - 14.59 13.97 14.62
5574 446.0 -6.6 283 5582 done -0.39 - - 3257 - 2.60 0.088 1898 -547.7 -107.1 - - 3375 - - - - - - - - 14.19 14.04 14.23
5943 471.0 -6.9 299 5946 done -0.39 - - 3253 - - - 1898 - -107.1 - - 3374 - - - - - - - - 14.58 14.60 14.60
6238 492.9 -7.3 304 6241 done -0.39 - - 3257 - - - 1898 - -107.1 - - 3374 - - - - - - - - 14.59 14.62 14.61
6539 513.0 -6.6 309 6542 done -0.39 - - 3257 - - - 1899 - -107.1 - - 3372 - - - - - - - - 14.59 14.60 14.59
6838 533.2 -6.8 314 6841 done -0.39 - - 3257 - - - 1898 - -107.1 - - 3375 - - - - - - - - 14.62 14.61 14.60
7139 552.2 -6.3 319 7142 done -0.39 - - 3257 - - - 1898 - -107.1 - - 3372 - - - - - - - - 14.57 14.59 14.59
7439 569.4 -5.6 324 7447 roll -0.39 - - 3258 - 2.67 0.106 3318 531.8 -107.1 - - 3370 - - - - - - - - 14.57 13.93 14.59
7488 572.2 -5.6 332 7496 done -0.39 - - 3257 - 2.62 0.091 1891 -544.7 -107.1 - - 3371 - - - - - - - - 14.14 14.00 14.19
7817 591.6 -6.0 341 7820 done -0.39 - - 3257 - - - 1891 - -107.1 - - 3367 - - - - - - - - 14.59 14.61 14.60
8118 609.6 -5.9 346 8121 done -0.39 - - 3256 - - - 1890 - -107.1 - - 3369 - - - - - - - - 14.57 14.58 14.58
8418 624.8 -5.0 351 8425 roll -0.39 - - 3257 - 2.70 0.105 3318 528.9 -107.1 - - 3366 - - - - - - - - 14.59 13.93 14.61
8501 629.1 -5.0 366 8510 done -0.39 - - 3256 - 2.60 0.091 1907 -542.7 -107.1 - - 3369 - - - - - - - - 14.12 13.97 14.18
8857 648.6 -5.8 380 8865 roll -0.39 - - 3259 - 2.65 0.106 3320 533.2 -107.1 - - 3370 - - - - - - - - 14.56 13.90 14.57
8915 652.4 -6.3 390 8924 done -0.39 - - 3256 - 2.62 0.090 1896 -543.5 -107.1 - - 3368 - - - - - - - - 14.13 13.98 14.17
9111 end dive: TARGET_DEPTH_EXCEEDED
9111 begin apogee
9124 664.7 -6.1 395 9213 done -0.16 0.28 0.147 3340 300.0 - - 2263 - - 84.40 1.510 2941 -5.1 0.440 - - - - - - 13.95 13.92 13.04
9217 end apogee: CONTROL_FINISHED_OK
9217 begin climb
9222 666.8 - 396 9327 roll 0.39 0.47 0.098 3517 376.6 2.72 0.108 3661 514.0 107.1 86.28 1.483 2499 -5.1 0.455 - - - - - - 13.96 13.75 12.90
9368 663.6 5.6 422 9379 done 0.43 - - 3517 - 2.65 0.090 2230 -540.0 107.1 - - 2497 - - - - - - - - 13.99 13.90 14.02
9736 644.1 5.5 437 9747 roll 0.46 - - 3525 - 2.55 0.102 842 -544.3 107.1 - - 2496 - - - - - - - - 14.49 14.06 14.50
9843 637.4 6.5 455 9854 done 0.48 - - 3525 - 2.55 0.091 2246 550.6 107.1 - - 2496 - - - - - - - - 14.26 14.10 14.28
10192 615.4 6.3 466 10204 roll 0.50 - - 3525 - 2.65 0.106 3665 535.5 107.1 - - 2495 - - - - - - - - 14.58 14.09 14.59
10312 606.2 7.5 487 10323 done 0.50 - - 3526 - 2.58 0.091 2255 -546.5 107.1 - - 2494 - - - - - - - - 14.26 14.11 14.32
10647 584.9 6.4 495 10658 roll 0.52 0.08 0.153 3596 875.0 2.58 0.099 841 -548.1 107.1 - - 2495 - - - - - - - - 14.29 14.07 14.31
10738 576.7 9.4 510 10750 done 0.52 0.12 0.215 3561 -291.7 2.55 0.090 2252 553.3 107.1 - - 2495 - - - - - - - - 13.95 14.12 14.20
11096 550.1 6.9 524 11108 roll 0.52 - - 3561 - 2.65 0.107 3665 533.2 107.1 - - 2494 - - - - - - - - 14.62 14.06 14.64
11211 541.9 7.2 544 11222 done 0.52 - - 3569 - 2.60 0.090 2243 -546.9 107.1 - - 2494 - - - - - - - - 14.26 14.12 14.31
11549 521.4 6.3 553 11560 roll 0.54 - - 3570 - 2.58 0.104 841 -543.4 107.1 - - 2494 - - - - - - - - 14.60 14.04 14.62
11661 514.4 6.2 572 11672 done 0.56 - - 3570 - 2.58 0.093 2255 548.1 107.1 - - 2499 - - - - - - - - 14.25 14.09 14.31
12003 492.9 6.2 582 12015 roll 0.58 - - 3570 - 2.65 0.106 3664 531.7 107.1 - - 2494 - - - - - - - - 14.60 14.02 14.64
12129 483.4 7.4 604 12140 done 0.58 - - 3570 - 2.60 0.091 2247 -545.0 107.1 - - 2494 - - - - - - - - 14.26 14.09 14.30
12453 463.5 6.0 611 12464 roll 0.61 - - 3578 - 2.58 0.100 842 -544.6 107.1 - - 2494 - - - - - - - - 14.64 14.04 14.66
12565 457.0 6.0 630 12577 done 0.63 - - 3581 - 2.58 0.093 2256 548.1 107.1 - - 2491 - - - - - - - - 14.23 14.08 14.28
12910 435.6 6.2 640 12921 roll 0.66 - - 3581 - 2.65 0.107 3664 531.3 107.1 - - 2493 - - - - - - - - 14.59 14.00 14.61
13046 425.4 7.3 664 13058 done 0.66 - - 3582 - 2.62 0.092 2252 -538.9 107.1 - - 2493 - - - - - - - - 14.20 14.04 14.26
13420 400.9 6.6 681 13431 roll 0.67 - - 3582 - 2.60 0.102 839 -543.5 107.1 - - 2493 - - - - - - - - 14.62 14.02 14.64
13482 396.3 7.7 691 13493 done 0.67 - - 3582 - 2.60 0.091 2264 548.1 107.1 - - 2490 - - - - - - - - 14.21 14.07 14.27
13805 374.8 6.5 698 13817 roll 0.69 - - 3582 - 2.60 0.106 3661 537.3 107.1 - - 2491 - - - - - - - - 14.62 14.00 14.64
13864 370.9 6.8 707 13876 done 0.70 0.10 0.122 3646 640.0 2.60 0.087 2235 -548.5 107.1 - - 2493 - - - - - - - - 14.14 14.07 14.27
14197 344.6 8.3 715 14208 roll 0.70 - - 3656 - 2.55 0.101 843 -545.9 107.1 - - 2493 - - - - - - - - 14.59 13.97 14.62
14254 339.5 8.3 724 14266 done 0.70 0.12 0.240 3623 -275.0 2.58 0.090 2245 543.4 107.1 - - 2493 - - - - - - - - 13.79 14.02 14.09
14587 315.0 7.5 732 14597 done 0.70 - - 3623 - - - 2245 - 107.1 - - 2493 - - - - - - - - 14.61 14.63 14.65
14884 292.7 7.4 737 14894 done 0.70 - - 3623 - - - 2245 - 107.1 - - 2493 - - - - - - - - 14.63 14.63 14.65
15183 271.1 7.2 742 15194 roll 0.70 - - 3623 - 2.67 0.105 3666 532.2 107.1 - - 2493 - - - - - - - - 14.63 13.97 14.64
15369 256.2 7.9 776 15380 done 0.70 - - 3629 - 2.60 0.090 2255 -542.7 107.1 - - 2493 - - - - - - - - 14.17 14.02 14.23
15698 235.1 6.6 786 15710 roll 0.71 - - 3636 - 2.60 0.098 839 -544.6 107.1 - - 2493 - - - - - - - - 14.59 13.97 14.61
15864 223.0 6.9 816 15876 done 0.71 - - 3632 - 2.58 0.091 2257 549.6 107.1 - - 2493 - - - - - - - - 14.18 14.02 14.24
16093 208.4 6.1 828 16103 done 0.74 - - 3641 - - - 2257 - 107.1 - - 2493 - - - - - - - - 14.60 14.62 14.62
16267 198.6 5.4 834 16279 roll 0.78 - - 3636 - 2.65 0.106 3663 530.6 107.1 - - 2493 - - - - - - - - 14.62 13.96 14.64
16444 187.6 5.8 866 16456 done 0.81 - - 3638 - 2.60 0.087 2253 -542.3 107.1 - - 2494 - - - - - - - - 14.14 14.02 14.21
16664 176.2 5.4 876 16675 done 0.85 - - 3638 - - - 2252 - 107.1 - - 2492 - - - - - - - - 14.57 14.59 14.59
16839 165.8 6.0 882 16851 roll 0.87 0.12 0.130 3704 550.0 2.65 0.102 3662 532.1 107.1 - - 2496 - - - - - - - - 14.23 13.88 14.27
17091 148.6 5.8 928 17102 done 0.90 - - 3715 - 2.60 0.086 2245 -545.0 107.1 - - 2493 - - - - - - - - 14.15 14.01 14.21
17299 138.3 5.2 936 17341 done 0.93 - - 3714 - - - 2244 - 154.3 35.30 0.877 2310 -5.2 0.161 - - - - - - 14.56 14.19 13.54
17504 117.1 11.5 943 17515 roll 0.93 - - 3714 - 2.65 0.102 3662 535.1 154.3 - - 2309 - - - - - - - - 14.53 13.97 14.52
17750 91.9 8.1 989 17762 done 0.93 0.12 0.282 3695 -158.3 2.58 0.086 2253 -546.1 154.3 - - 2309 - - - - - - - - 13.74 14.05 14.03
17960 78.2 6.5 997 17972 roll 0.94 - - 3695 - 2.62 0.103 3662 537.8 154.3 - - 2310 - - - - - - - - 14.55 14.01 14.57
18209 68.7 2.3 1043 18307 done 1.00 - - 3703 - 2.58 0.084 2247 -548.4 264.5 80.07 0.775 1857 -5.7 0.099 - - - - - - 14.19 14.03 13.54
18498 43.6 10.2 1069 18510 roll 1.00 - - 3703 - 2.65 0.101 3664 534.7 264.5 - - 1856 - - - - - - - - 14.47 13.97 14.50
18746 21.6 8.4 1115 18757 done 1.00 - - 3714 - 2.58 0.086 2254 -546.5 264.5 - - 1855 - - - - - - - - 14.21 14.07 14.26
18950 5.6 8.1 1123 18961 roll 1.00 - - 3715 - 2.60 0.099 3661 541.2 264.5 - - 1856 - - - - - - - - 14.56 14.07 14.57
18966 end climb: SURFACE_DEPTH_REACHED
18966 begin surface coast
18998 end surface coast: CONTROL_FINISHED_OK
18998 begin surface
SM 1.33 - - - - -10.25 10.20 0.044 94 9.2 3.22 0.080 1899 509.0 400.08 57.60 0.086 1309 22.7 -0.036 - - - - - -