NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 533 * Raw log
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• Previous call tries 1 • 150.97 of 350.00 AH used of 24V (56.87% remains)
• Previous NAKs 7, Timeouts 2
• Surface angle -73.8 deg, depth 0.85 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 116 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
23 end surface: CONTROL_FINISHED_OK
24 begin dive
29 - - - 110 done -0.39 - - 56 - - - 1964 - -107.1 -73.65 - 3377 - - - - - - - - 14.49 12.38 14.44
118 2.0 -3.1 2 143 roll -0.39 14.65 0.366 3251 218.1 2.65 0.099 3389 537.7 -107.1 - - 3383 - - - - - - - - 13.72 14.09 14.10
378 56.2 -10.7 51 390 done -0.39 - - 3251 - 2.60 0.089 1973 -544.6 -107.1 - - 3384 - - - - - - - - 14.16 14.02 14.19
752 91.1 -9.3 67 763 roll -0.39 - - 3251 - 2.62 0.100 3388 540.1 -107.1 - - 3387 - - - - - - - - 14.57 13.97 14.59
849 100.3 -8.3 84 860 done -0.39 - - 3256 - 2.58 0.084 1965 -551.6 -107.1 - - 3387 - - - - - - - - 14.17 14.05 14.23
1201 129.5 -8.4 96 1213 roll -0.39 - - 3251 - 2.58 0.098 560 -544.6 -107.1 - - 3385 - - - - - - - - 14.57 14.00 14.59
1258 135.2 -9.3 105 1270 done -0.39 - - 3256 - 2.58 0.087 1987 553.1 -107.1 - - 3385 - - - - - - - - 14.19 14.03 14.23
1587 161.2 -7.8 113 1598 done -0.39 - - 3251 - - - 1987 - -107.1 - - 3384 - - - - - - - - 14.60 14.62 14.62
1887 186.4 -8.4 118 1897 done -0.39 - - 3248 - - - 1986 - -107.1 - - 3384 - - - - - - - - 14.60 14.62 14.62
2187 209.9 -7.8 123 2198 roll -0.39 - - 3251 - 2.58 0.102 3386 542.6 -107.1 - - 3389 - - - - - - - - 14.62 13.95 14.64
2229 213.1 -7.8 129 2241 done -0.39 - - 3251 - 2.60 0.085 1961 -548.1 -107.1 - - 3383 - - - - - - - - 14.18 14.04 14.23
2573 238.4 -7.6 140 2584 roll -0.39 - - 3251 - 2.58 0.099 563 -541.9 -107.1 - - 3381 - - - - - - - - 14.61 13.94 14.63
2610 241.7 -8.9 145 2622 done -0.39 - - 3252 - 2.55 0.087 1967 550.6 -107.1 - - 3381 - - - - - - - - 14.16 13.98 14.19
2962 269.1 -7.8 157 2974 roll -0.39 - - 3256 - 2.62 0.101 3387 542.0 -107.1 - - 3381 - - - - - - - - 14.61 13.93 14.62
3070 277.3 -7.6 175 3081 done -0.39 - - 3247 - 2.60 0.086 1974 -543.5 -107.1 - - 3381 - - - - - - - - 14.13 13.98 14.18
3417 303.9 -7.7 186 3427 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3382 - - - - - - - - 14.59 14.59 14.60
3713 325.9 -7.3 191 3724 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3379 - - - - - - - - 14.62 14.62 14.64
4012 347.6 -7.3 196 4023 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3379 - - - - - - - - 14.60 14.62 14.62
4313 368.7 -7.0 201 4324 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3379 - - - - - - - - 14.62 14.64 14.64
4613 386.9 -6.0 206 4623 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3377 - - - - - - - - 14.63 14.64 14.64
4912 403.5 -5.5 211 4923 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3377 - - - - - - - - 14.62 14.63 14.63
5214 419.5 -5.3 216 5224 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3377 - - - - - - - - 14.62 14.64 14.64
5512 435.8 -5.5 221 5523 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3377 - - - - - - - - 14.59 14.62 14.61
5814 454.4 -6.3 226 5824 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3375 - - - - - - - - 14.60 14.62 14.62
6112 474.1 -6.6 231 6123 done -0.39 - - 3251 - - - 1972 - -107.1 - - 3375 - - - - - - - - 14.61 14.63 14.63
6412 495.6 -7.2 236 6423 roll -0.39 - - 3251 - 2.65 0.103 549 -537.0 -107.1 - - 3372 - - - - - - - - 14.60 13.85 14.62
6480 501.2 -8.6 247 6492 done -0.39 - - 3251 - 2.60 0.089 1970 546.5 -107.1 - - 3371 - - - - - - - - 14.06 13.93 14.11
6785 525.3 -7.9 253 6796 roll -0.39 - - 3251 - 2.65 0.105 3388 535.1 -107.1 - - 3373 - - - - - - - - 14.61 13.81 14.62
6868 531.7 -7.8 267 6879 done -0.39 - - 3251 - 2.62 0.087 1970 -541.2 -107.1 - - 3373 - - - - - - - - 14.08 13.93 14.13
7236 558.7 -7.3 282 7246 done -0.39 - - 3251 - - - 1968 - -107.1 - - 3373 - - - - - - - - 14.59 14.61 14.59
7532 579.9 -7.1 287 7543 done -0.39 - - 3251 - - - 1970 - -107.1 - - 3372 - - - - - - - - 14.60 14.62 14.62
7831 601.9 -7.4 292 7842 roll -0.39 - - 3251 - 2.70 0.108 3386 524.4 -107.1 - - 3372 - - - - - - - - 14.61 13.81 14.62
7883 605.6 -6.8 300 7894 done -0.39 - - 3251 - 2.62 0.087 1959 -544.7 -107.1 - - 3372 - - - - - - - - 14.05 13.92 14.12
8216 626.9 -6.4 309 8228 roll -0.39 - - 3248 - 2.60 0.103 564 -536.5 -107.1 - - 3371 - - - - - - - - 14.59 13.79 14.62
8283 631.9 -7.6 320 8295 done -0.39 - - 3251 - 2.60 0.088 1968 540.0 -107.1 - - 3372 - - - - - - - - 14.02 13.84 14.08
8591 651.6 -6.4 326 8602 roll -0.39 - - 3251 - 2.67 0.107 3389 532.2 -107.1 - - 3369 - - - - - - - - 14.59 13.77 14.61
8657 655.3 -5.4 337 8670 done -0.39 - - 3251 - 2.65 0.089 1973 -534.3 -107.1 - - 3370 - - - - - - - - 14.03 13.88 14.08
8964 671.9 -5.5 343 8975 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.59 14.62 14.61
9263 688.2 -5.5 348 9274 done -0.39 - - 3250 - - - 1973 - -107.1 - - 3369 - - - - - - - - 14.61 14.62 14.62
9563 705.4 -5.7 353 9574 done -0.39 - - 3251 - - - 1972 - -107.1 - - 3369 - - - - - - - - 14.61 14.62 14.62
9865 722.4 -5.4 358 9875 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.57 14.59 14.59
9978 end dive: TARGET_DEPTH_EXCEEDED
9978 begin apogee
9990 728.5 -5.3 360 10085 done -0.16 0.30 0.152 3338 286.7 - - 2253 - - 86.80 1.611 2940 -5.0 0.444 - - - - - - 13.85 13.87 12.90
10087 end apogee: CONTROL_FINISHED_OK
10087 begin climb
10094 730.2 - 361 10201 roll 0.39 0.50 0.096 3519 362.0 2.72 0.108 3665 519.1 107.1 88.82 1.590 2504 -4.9 0.447 - - - - - - 13.95 13.73 12.78
10223 727.7 4.7 383 10284 done 0.42 - - 3527 - 2.67 0.092 2236 -535.2 165.0 48.47 1.581 2267 -4.9 0.446 - - - - - - 13.93 13.81 12.80
10606 702.6 6.8 403 10617 roll 0.43 - - 3527 - 2.58 0.106 838 -541.9 165.0 - - 2266 - - - - - - - - 14.48 14.00 14.47
10673 697.9 7.3 414 10686 done 0.43 - - 3527 - 2.60 0.094 2261 547.3 165.0 - - 2265 - - - - - - - - 14.17 14.03 14.21
10980 675.9 7.1 420 10991 roll 0.43 - - 3527 - 2.62 0.106 3664 535.5 165.0 - - 2265 - - - - - - - - 14.55 13.98 14.57
11016 672.9 7.8 425 11028 done 0.43 - - 3527 - 2.60 0.091 2254 -542.3 165.0 - - 2265 - - - - - - - - 14.19 14.04 14.23
11369 648.6 6.9 437 11380 done 0.43 - - 3527 - - - 2255 - 165.0 - - 2264 - - - - - - - - 14.57 14.59 14.59
11664 628.2 6.8 442 11676 roll 0.43 - - 3527 - 2.62 0.104 826 -545.4 165.0 - - 2264 - - - - - - - - 14.61 13.98 14.63
11713 625.1 6.6 449 11724 done 0.44 - - 3527 - 2.58 0.093 2244 549.6 165.0 - - 2264 - - - - - - - - 14.16 14.01 14.22
12056 602.7 6.6 459 12066 done 0.46 - - 3527 - - - 2244 - 165.0 - - 2264 - - - - - - - - 14.59 14.61 14.61
12352 582.9 6.7 464 12362 done 0.47 - - 3527 - - - 2243 - 165.0 - - 2263 - - - - - - - - 14.59 14.62 14.61
12651 563.3 6.4 469 12662 roll 0.49 - - 3528 - 2.67 0.106 3663 531.8 165.0 - - 2263 - - - - - - - - 14.59 13.88 14.61
12678 561.4 6.4 472 12689 done 0.51 - - 3527 - 2.62 0.090 2252 -538.5 165.0 - - 2262 - - - - - - - - 14.13 13.97 14.18
13041 535.6 7.3 486 13051 done 0.51 - - 3528 - - - 2252 - 165.0 - - 2263 - - - - - - - - 14.58 14.59 14.59
13336 514.0 7.1 491 13347 roll 0.51 - - 3527 - 2.65 0.104 830 -536.6 165.0 - - 2260 - - - - - - - - 14.59 13.88 14.61
13384 510.7 7.2 498 13395 done 0.51 - - 3530 - 2.60 0.093 2245 544.2 165.0 - - 2263 - - - - - - - - 14.10 13.94 14.15
13722 487.3 7.0 508 13733 roll 0.51 - - 3527 - 2.67 0.106 3664 531.5 165.0 - - 2262 - - - - - - - - 14.57 13.88 14.59
13755 484.8 7.7 512 13766 done 0.51 - - 3527 - 2.62 0.090 2251 -539.3 165.0 - - 2262 - - - - - - - - 14.10 13.95 14.16
14111 459.0 7.3 525 14122 roll 0.51 - - 3528 - 2.65 0.103 823 -538.9 165.0 - - 2262 - - - - - - - - 14.56 13.85 14.57
14174 454.5 7.0 535 14186 done 0.51 - - 3527 - 2.65 0.093 2266 544.5 165.0 - - 2263 - - - - - - - - 14.07 13.91 14.12
14498 434.1 6.2 542 14510 roll 0.53 0.08 0.151 3596 862.5 2.65 0.103 3664 527.5 165.0 - - 2262 - - - - - - - - 14.21 13.85 14.22
14567 427.6 10.4 553 14580 done 0.53 0.17 0.213 3565 -182.4 2.65 0.090 2238 -538.1 165.0 - - 2262 - - - - - - - - 13.63 13.83 13.88
14872 404.5 7.3 559 14883 roll 0.53 - - 3570 - 2.58 0.103 843 -540.7 165.0 - - 2262 - - - - - - - - 14.59 13.85 14.62
14960 398.1 7.4 574 14972 done 0.53 - - 3566 - 2.58 0.092 2245 543.4 165.0 - - 2262 - - - - - - - - 14.07 13.90 14.13
15322 372.1 7.2 588 15333 roll 0.53 - - 3570 - 2.70 0.105 3664 525.6 165.0 - - 2262 - - - - - - - - 14.56 13.85 14.57
15385 366.9 8.3 598 15396 done 0.53 - - 3570 - 2.62 0.090 2252 -538.9 165.0 - - 2262 - - - - - - - - 14.07 13.90 14.12
15708 345.1 6.6 605 15720 roll 0.55 - - 3581 - 2.62 0.100 840 -538.9 165.0 - - 2261 - - - - - - - - 14.57 13.83 14.57
15755 341.9 7.2 612 15766 done 0.55 - - 3581 - 2.60 0.090 2250 542.3 165.0 - - 2269 - - - - - - - - 14.07 13.92 14.13
16098 318.5 6.9 622 16109 roll 0.55 - - 3581 - 2.67 0.104 3664 529.6 165.0 - - 2263 - - - - - - - - 14.56 13.82 14.57
16211 309.2 8.6 641 16222 done 0.55 - - 3582 - 2.65 0.090 2251 -533.2 165.0 - - 2265 - - - - - - - - 14.05 13.90 14.11
16550 281.2 8.4 651 16561 roll 0.55 - - 3583 - 2.65 0.103 838 -533.2 165.0 - - 2266 - - - - - - - - 14.57 13.81 14.58
16651 272.5 9.2 668 16662 done 0.55 - - 3582 - 2.62 0.093 2255 540.8 165.0 - - 2263 - - - - - - - - 14.03 13.88 14.09
17004 241.1 8.9 680 17015 roll 0.55 - - 3581 - 2.65 0.105 3663 531.3 165.0 - - 2263 - - - - - - - - 14.50 13.78 14.54
17056 235.5 9.9 688 17067 done 0.55 - - 3582 - 2.62 0.090 2249 -539.7 165.0 - - 2263 - - - - - - - - 14.06 13.90 14.12
17389 204.9 9.2 697 17400 done 0.55 - - 3582 - - - 2249 - 165.0 - - 2263 - - - - - - - - 14.57 14.58 14.59
17688 181.0 7.7 702 17700 roll 0.55 - - 3586 - 2.65 0.101 834 -534.0 165.0 - - 2263 - - - - - - - - 14.57 13.82 14.58
17722 178.7 7.0 706 17734 done 0.55 - - 3586 - 2.62 0.092 2246 538.9 165.0 - - 2263 - - - - - - - - 13.96 13.81 14.01
18080 152.9 7.4 719 18091 roll 0.55 - - 3586 - 2.67 0.105 3662 530.3 165.0 - - 2263 - - - - - - - - 14.53 13.78 14.57
18148 146.8 8.5 730 18161 done 0.55 - - 3586 - 2.67 0.087 2234 -534.8 165.0 - - 2264 - - - - - - - - 14.00 13.86 14.07
18454 124.6 7.2 736 18465 done 0.55 - - 3587 - - - 2234 - 165.0 - - 2263 - - - - - - - - 14.56 14.58 14.57
18754 105.2 6.3 741 18766 roll 0.57 - - 3589 - 2.60 0.100 842 -535.4 165.0 - - 2267 - - - - - - - - 14.57 13.82 14.57
18842 100.2 6.1 755 18854 done 0.59 - - 3592 - 2.62 0.090 2263 542.4 165.0 - - 2265 - - - - - - - - 14.02 13.88 14.08
19211 77.8 6.3 770 19222 roll 0.61 - - 3586 - 2.62 0.103 3660 533.2 165.0 - - 2265 - - - - - - - - 14.54 13.80 14.54
19376 69.2 5.2 800 19424 done 0.64 - - 3586 - 2.62 0.085 2246 -539.7 210.9 35.15 0.826 2077 -5.3 0.089 - - - - - - 14.04 13.90 13.49
19781 48.3 4.8 823 19836 roll 0.66 - - 3589 - 2.60 0.103 842 -540.0 267.3 41.85 0.786 1847 -5.5 0.067 - - - - - - 14.56 14.12 13.53
19871 43.1 6.6 839 19882 done 0.68 - - 3592 - 2.55 0.091 2245 550.2 267.3 - - 1844 - - - - - - - - 14.19 14.05 14.23
20195 28.7 4.5 851 20247 done 0.71 0.08 0.146 3662 875.0 - - 2245 - 329.0 44.25 0.756 1598 -5.6 0.042 - - - - - - 14.19 14.11 13.53
20463 end climb: SURFACE_DEPTH_REACHED
20463 begin surface coast
20494 end surface coast: CONTROL_FINISHED_OK
20494 begin surface
SM 1.41 - - - - -10.26 10.07 0.040 89 8.8 0.52 0.099 1955 -16436.5 400.08 29.73 0.083 1309 44.0 -0.076 - - - - - -