NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 616 * Raw log
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• Previous call tries 1 • 176.44 of 350.00 AH used of 24V (49.59% remains)
• Previous NAKs 6, Timeouts 2
• Surface angle -71.8 deg, depth 0.75 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 34 s
• GPS2 time: 5 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
32 - - - 112 done -0.39 - - 73 - - - 1961 - -107.1 -75.85 - 3379 - - - - - - - - 14.48 12.50 14.36
119 1.8 -3.2 2 141 roll -0.39 14.50 0.363 3252 219.2 2.65 0.099 3384 537.0 -107.1 - - 3382 - - - - - - - - 13.72 14.09 14.09
372 48.3 -10.0 50 380 done -0.39 - - 3252 - 2.62 0.090 1957 -544.7 -107.1 - - 3385 - - - - - - - - 14.00 13.85 14.04
712 83.2 -10.1 61 720 roll -0.39 - - 3257 - 2.67 0.100 3370 529.2 -107.1 - - 3384 - - - - - - - - 14.46 13.76 14.47
776 89.3 -8.8 72 785 done -0.39 - - 3252 - 2.58 0.084 1974 -541.1 -107.1 - - 3388 - - - - - - - - 14.04 13.89 14.10
1082 116.5 -9.0 78 1090 roll -0.39 - - 3252 - 2.62 0.098 550 -543.5 -107.1 - - 3385 - - - - - - - - 14.46 13.75 14.48
1121 120.3 -10.0 84 1129 done -0.39 - - 3252 - 2.60 0.086 1969 545.8 -107.1 - - 3384 - - - - - - - - 14.04 13.89 14.08
1460 149.4 -8.5 95 1464 done -0.39 - - 3252 - - - 1970 - -107.1 - - 3382 - - - - - - - - 14.48 14.50 14.50
1760 174.6 -8.3 100 1763 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3384 - - - - - - - - 14.47 14.49 14.49
2062 195.8 -6.9 105 2070 roll -0.39 - - 3252 - 2.67 0.101 3389 531.8 -107.1 - - 3384 - - - - - - - - 14.49 13.68 14.48
2121 199.6 -6.2 115 2129 done -0.39 - - 3252 - 2.62 0.084 1956 -546.9 -107.1 - - 3384 - - - - - - - - 14.00 13.86 14.05
2440 221.2 -6.9 122 2443 done -0.39 - - 3251 - - - 1957 - -107.1 - - 3382 - - - - - - - - 14.51 14.52 14.52
2741 240.1 -6.2 127 2749 roll -0.39 - - 3252 - 2.75 0.102 3390 521.1 -107.1 - - 3383 - - - - - - - - 14.46 13.74 14.48
2779 242.6 -6.1 133 2789 done -0.39 - - 3252 - 2.62 0.083 1974 -540.5 -107.1 - - 3383 - - - - - - - - 13.98 13.83 14.03
3120 263.8 -6.3 144 3123 done -0.39 - - 3252 - - - 1974 - -107.1 - - 3382 - - - - - - - - 14.48 14.50 14.50
3421 283.6 -6.7 149 3430 roll -0.39 - - 3252 - 2.70 0.102 3392 525.2 -107.1 - - 3383 - - - - - - - - 14.46 13.70 14.47
3467 286.7 -6.6 156 3474 done -0.39 - - 3252 - 2.62 0.083 1959 -546.9 -107.1 - - 3382 - - - - - - - - 13.95 13.83 14.04
3803 308.4 -6.5 166 3810 roll -0.39 - - 3252 - 2.60 0.098 563 -536.9 -107.1 - - 3382 - - - - - - - - 14.47 13.74 14.49
3861 312.8 -7.3 176 3868 done -0.39 - - 3252 - 2.60 0.087 1969 540.8 -107.1 - - 3382 - - - - - - - - 13.97 13.81 14.02
4180 333.8 -6.7 183 4187 roll -0.39 - - 3249 - 2.67 0.103 3387 531.1 -107.1 - - 3381 - - - - - - - - 14.47 13.68 14.49
4264 339.4 -6.5 198 4272 done -0.39 - - 3256 - 2.65 0.085 1971 -534.3 -107.1 - - 3381 - - - - - - - - 13.97 13.80 14.00
4618 362.3 -6.4 212 4626 roll -0.39 - - 3252 - 2.65 0.099 552 -535.5 -107.1 - - 3384 - - - - - - - - 14.48 13.71 14.50
4673 366.2 -7.4 221 4681 done -0.39 - - 3252 - 2.62 0.089 1969 540.8 -107.1 - - 3380 - - - - - - - - 13.95 13.78 14.00
4997 388.0 -6.7 229 5006 roll -0.39 - - 3252 - 2.70 0.105 3389 525.9 -107.1 - - 3381 - - - - - - - - 14.45 13.66 14.47
5067 392.4 -6.2 241 5077 done -0.39 - - 3252 - 2.67 0.085 1955 -537.1 -107.1 - - 3380 - - - - - - - - 13.92 13.78 13.97
5444 414.1 -5.7 258 5451 roll -0.39 - - 3252 - 2.60 0.100 563 -535.4 -107.1 - - 3383 - - - - - - - - 14.42 13.67 14.43
5486 417.0 -6.3 265 5495 done -0.39 - - 3254 - 2.60 0.086 1970 541.2 -107.1 - - 3380 - - - - - - - - 13.95 13.79 14.00
5824 434.4 -5.1 275 5832 roll -0.39 - - 3253 - 2.70 0.103 3390 525.9 -107.1 - - 3378 - - - - - - - - 14.46 13.67 14.47
5878 437.2 -5.0 284 5885 done -0.39 - - 3252 - 2.62 0.085 1975 -540.1 -107.1 - - 3379 - - - - - - - - 13.93 13.78 13.98
6202 454.8 -5.5 292 6209 roll -0.39 - - 3257 - 2.67 0.099 544 -536.0 -107.1 - - 3379 - - - - - - - - 14.44 13.66 14.45
6236 456.9 -6.7 297 6244 done -0.39 - - 3251 - 2.65 0.087 1974 539.6 -107.1 - - 3378 - - - - - - - - 13.90 13.78 13.98
6580 476.5 -5.6 309 6589 roll -0.39 - - 3252 - 2.70 0.103 3390 524.4 -107.1 - - 3380 - - - - - - - - 14.45 13.64 14.46
6656 480.4 -5.3 322 6664 done -0.39 - - 3252 - 2.65 0.086 1955 -541.5 -107.1 - - 3375 - - - - - - - - 13.92 13.78 13.97
7024 501.2 -5.7 338 7027 done -0.39 - - 3252 - - - 1957 - -107.1 - - 3377 - - - - - - - - 14.42 14.47 14.45
7320 519.7 -6.2 343 7328 roll -0.39 - - 3252 - 2.78 0.106 3389 515.1 -107.1 - - 3377 - - - - - - - - 14.47 13.64 14.47
7367 522.6 -6.6 350 7375 done -0.39 - - 3252 - 2.62 0.085 1976 -539.3 -107.1 - - 3378 - - - - - - - - 13.90 13.74 13.95
7701 544.8 -6.7 360 7709 roll -0.39 - - 3251 - 2.65 0.101 563 -533.2 -107.1 - - 3376 - - - - - - - - 14.47 13.66 14.49
7737 547.3 -7.5 365 7745 done -0.39 - - 3252 - 2.62 0.089 1980 540.8 -107.1 - - 3376 - - - - - - - - 13.90 13.75 13.95
8083 570.0 -6.5 377 8091 roll -0.39 - - 3252 - 2.67 0.106 3385 526.2 -107.1 - - 3376 - - - - - - - - 14.45 13.66 14.47
8141 573.8 -6.1 387 8149 done -0.39 - - 3252 - 2.65 0.087 1970 -534.0 -107.1 - - 3374 - - - - - - - - 13.92 13.76 14.00
8463 592.3 -5.8 394 8466 done -0.39 - - 3248 - - - 1970 - -107.1 - - 3375 - - - - - - - - 14.45 14.47 14.46
8761 610.5 -6.1 399 8764 done -0.39 - - 3251 - - - 1969 - -107.1 - - 3374 - - - - - - - - 14.45 14.46 14.47
9061 629.8 -6.5 404 9064 done -0.39 - - 3252 - - - 1971 - -107.1 - - 3374 - - - - - - - - 14.46 14.47 14.47
9362 646.8 -5.5 409 9371 roll -0.39 - - 3252 - 2.67 0.103 559 -528.8 -107.1 - - 3373 - - - - - - - - 14.45 13.67 14.46
9411 649.9 -6.4 417 9420 done -0.39 - - 3252 - 2.62 0.093 1966 537.0 -107.1 - - 3372 - - - - - - - - 13.78 13.62 13.84
9742 669.1 -6.0 426 9750 roll -0.39 - - 3252 - 2.72 0.106 3389 523.2 -107.1 - - 3371 - - - - - - - - 14.43 13.62 14.45
9801 672.6 -5.8 436 9809 done -0.39 - - 3252 - 2.65 0.086 1972 -534.7 -107.1 - - 3373 - - - - - - - - 13.82 13.75 13.85
10121 691.2 -5.8 443 10128 roll -0.39 - - 3252 - 2.70 0.102 542 -529.6 -107.1 - - 3375 - - - - - - - - 14.43 13.62 14.45
10178 695.2 -7.1 453 10187 done -0.39 - - 3252 - 2.67 0.090 1970 534.8 -107.1 - - 3372 - - - - - - - - 13.88 13.71 13.93
10499 712.9 -5.5 460 10507 roll -0.39 - - 3251 - 2.72 0.106 3389 521.7 -107.1 - - 3372 - - - - - - - - 14.41 13.61 14.43
10552 715.9 -5.5 469 10561 done -0.39 - - 3249 - 2.67 0.087 1957 -536.3 -107.1 - - 3370 - - - - - - - - 13.88 13.72 13.92
10879 732.6 -5.1 477 10887 roll -0.39 - - 3252 - 2.65 0.103 560 -527.2 -107.1 - - 3372 - - - - - - - - 14.44 13.64 14.45
10938 736.3 -6.3 487 10945 done -0.39 - - 3248 - 2.65 0.090 1969 531.7 -107.1 - - 3372 - - - - - - - - 13.88 13.72 13.94
11257 740.1 0.1 494 11260 done -0.39 - - 3253 - - - 1970 - -107.1 - - 3371 - - - - - - - - 14.43 14.45 14.45
11312 end dive: NO_VERTICAL_VELOCITY
11312 begin apogee
11325 740.0 - 495 11423 done -0.16 0.28 0.112 3346 332.1 - - 2259 - - 93.62 1.620 2941 -4.6 0.412 - - - - - - 13.81 13.80 12.86
11427 end apogee: CONTROL_FINISHED_OK
11427 begin climb
11432 739.6 - 496 11545 roll 0.39 0.47 0.092 3522 374.5 2.67 0.106 3663 525.8 107.1 95.05 1.609 2501 -4.6 0.418 - - - - - - 13.93 13.45 12.74
11694 730.7 6.4 545 11705 done 0.41 - - 3527 - 2.60 0.090 2255 -541.5 107.1 - - 2500 - - - - - - - - 14.09 13.95 14.14
12062 711.5 5.1 561 12117 roll 0.43 - - 3527 - 2.60 0.105 842 -543.5 155.2 42.25 1.568 2305 -4.6 0.411 - - - - - - 14.56 14.04 13.07
12193 704.0 6.2 585 12204 done 0.46 - - 3528 - 2.60 0.094 2259 545.0 155.2 - - 2305 - - - - - - - - 14.16 14.03 14.20
12566 681.7 5.9 602 12577 roll 0.48 - - 3527 - 2.65 0.102 823 -541.9 155.2 - - 2308 - - - - - - - - 14.54 13.95 14.54
12599 679.7 5.8 606 12610 done 0.51 - - 3524 - 2.62 0.094 2257 547.3 155.2 - - 2305 - - - - - - - - 14.16 14.02 14.21
12957 657.8 6.3 619 12968 roll 0.54 0.08 0.148 3596 900.0 2.67 0.106 3663 526.6 155.2 - - 2305 - - - - - - - - 14.21 13.91 14.25
12991 654.7 8.1 623 13002 done 0.54 0.17 0.220 3572 -141.2 2.62 0.090 2254 -537.8 155.2 - - 2304 - - - - - - - - 13.78 13.99 14.02
13344 624.5 8.3 636 13357 roll 0.54 - - 3570 - 2.60 0.102 844 -542.3 155.2 - - 2304 - - - - - - - - 14.61 13.83 14.59
13414 618.6 9.1 647 13426 done 0.54 - - 3573 - 2.60 0.091 2246 539.2 155.2 - - 2304 - - - - - - - - 14.04 13.87 14.08
13718 593.3 8.3 653 13729 roll 0.54 - - 3574 - 2.70 0.106 3667 526.3 155.2 - - 2304 - - - - - - - - 14.57 13.88 14.59
13780 587.8 9.2 663 13791 done 0.54 - - 3574 - 2.67 0.092 2236 -536.0 155.2 - - 2305 - - - - - - - - 14.08 13.93 14.14
14103 562.1 7.9 670 14115 roll 0.54 - - 3582 - 2.58 0.101 844 -539.5 155.2 - - 2303 - - - - - - - - 14.54 13.80 14.54
14155 557.8 8.2 678 14167 done 0.54 - - 3582 - 2.60 0.091 2266 546.9 155.2 - - 2303 - - - - - - - - 14.08 13.93 14.14
14490 532.1 7.7 687 14501 roll 0.54 - - 3582 - 2.65 0.106 3663 527.2 155.2 - - 2302 - - - - - - - - 14.56 13.80 14.58
14586 523.7 9.0 703 14597 done 0.54 - - 3582 - 2.62 0.089 2255 -537.4 155.2 - - 2303 - - - - - - - - 14.04 13.87 14.09
14944 495.4 7.9 716 14954 done 0.54 - - 3582 - - - 2255 - 155.2 - - 2303 - - - - - - - - 14.53 14.54 14.57
15238 472.1 7.8 721 15250 roll 0.54 - - 3588 - 2.67 0.101 822 -536.7 155.2 - - 2303 - - - - - - - - 14.53 13.78 14.54
15271 469.5 7.9 725 15285 done 0.54 - - 3588 - 2.60 0.091 2241 545.8 155.2 - - 2303 - - - - - - - - 13.88 13.80 13.95
15630 440.5 8.1 738 15641 roll 0.54 - - 3588 - 2.70 0.105 3664 527.0 155.2 - - 2301 - - - - - - - - 14.52 13.76 14.53
15678 436.0 9.4 745 15689 done 0.54 - - 3595 - 2.62 0.087 2253 -538.5 155.2 - - 2303 - - - - - - - - 14.03 13.88 14.08
16020 407.6 8.2 755 16031 done 0.54 - - 3595 - - - 2253 - 155.2 - - 2303 - - - - - - - - 14.49 14.51 14.50
16315 382.8 8.2 760 16326 roll 0.54 - - 3596 - 2.65 0.101 840 -533.2 155.2 - - 2303 - - - - - - - - 14.55 13.77 14.56
16368 378.6 8.1 768 16379 done 0.54 - - 3596 - 2.62 0.090 2265 543.9 155.2 - - 2302 - - - - - - - - 14.01 13.83 14.06
16700 352.9 7.6 777 16711 roll 0.54 - - 3596 - 2.65 0.105 3662 527.2 155.2 - - 2303 - - - - - - - - 14.54 13.73 14.55
16779 346.3 8.7 790 16791 done 0.54 - - 3601 - 2.65 0.088 2236 -538.1 155.2 - - 2302 - - - - - - - - 13.96 13.82 14.03
17151 318.7 7.4 806 17163 roll 0.54 - - 3596 - 2.75 0.103 3661 518.2 155.2 - - 2303 - - - - - - - - 14.53 13.73 14.53
17216 312.8 9.4 816 17227 done 0.54 0.15 0.239 3567 -193.3 2.62 0.086 2260 -534.7 155.2 - - 2301 - - - - - - - - 13.59 13.82 13.85
17544 289.1 7.2 823 17555 roll 0.54 - - 3569 - 2.67 0.099 821 -539.0 155.2 - - 2303 - - - - - - - - 14.48 13.67 14.50
17587 285.4 7.9 829 17598 done 0.54 - - 3570 - 2.62 0.090 2245 543.5 155.2 - - 2302 - - - - - - - - 13.99 13.83 14.04
17933 260.4 7.2 840 17945 roll 0.54 - - 3569 - 2.70 0.103 3664 525.6 155.2 - - 2303 - - - - - - - - 14.50 13.70 14.51
17976 257.1 7.3 846 17988 done 0.54 - - 3570 - 2.65 0.085 2235 -539.2 155.2 - - 2303 - - - - - - - - 13.96 13.81 14.02
18324 235.5 6.3 857 18335 roll 0.56 - - 3573 - 2.60 0.098 842 -535.8 155.2 - - 2302 - - - - - - - - 14.47 13.64 14.49
18426 228.9 6.6 874 18438 done 0.57 - - 3573 - 2.62 0.089 2262 542.0 155.2 - - 2304 - - - - - - - - 13.97 13.82 14.02
18778 207.2 6.1 886 18790 roll 0.60 - - 3574 - 2.65 0.102 3661 527.9 155.2 - - 2304 - - - - - - - - 14.50 13.68 14.51
18846 202.3 7.3 897 18859 done 0.60 - - 3582 - 2.62 0.083 2251 -538.2 155.2 - - 2304 - - - - - - - - 13.96 13.81 14.04
19151 181.5 6.9 903 19163 roll 0.60 - - 3582 - 2.65 0.099 822 -539.2 155.2 - - 2306 - - - - - - - - 14.53 13.71 14.54
19235 175.5 7.0 917 19246 done 0.60 - - 3582 - 2.65 0.090 2246 537.4 155.2 - - 2304 - - - - - - - - 13.95 13.79 14.01
19602 151.6 6.4 932 19613 roll 0.62 - - 3582 - 2.72 0.101 3665 521.7 155.2 - - 2305 - - - - - - - - 14.48 13.71 14.48
19758 140.9 6.5 960 19769 done 0.63 - - 3583 - 2.65 0.086 2239 -538.1 155.2 - - 2304 - - - - - - - - 13.93 13.80 14.00
20116 120.1 5.9 973 20127 roll 0.66 - - 3582 - 2.75 0.099 3669 520.0 155.2 - - 2305 - - - - - - - - 14.48 13.71 14.50
20168 116.2 7.2 981 20179 done 0.66 - - 3583 - 2.62 0.083 2247 -542.7 155.2 - - 2305 - - - - - - - - 13.97 13.83 14.02
20505 97.2 5.5 990 20517 roll 0.70 0.08 0.149 3654 887.5 2.62 0.093 842 -536.3 155.2 - - 2306 - - - - - - - - 14.12 13.73 14.12
20617 90.2 5.4 1009 20628 done 0.73 - - 3654 - 2.62 0.089 2261 541.6 155.2 - - 2307 - - - - - - - - 13.94 13.78 14.00
20961 72.7 5.2 1019 21011 roll 0.76 - - 3654 - 2.60 0.104 3657 536.9 202.4 36.97 0.829 2109 -5.4 0.092 - - - - - - 14.47 14.09 13.45
21140 60.2 8.6 1053 21151 done 0.76 0.10 0.236 3638 -160.0 2.58 0.086 2254 -543.8 202.4 - - 2110 - - - - - - - - 13.83 13.99 14.06
21468 46.5 3.9 1061 21532 done 0.80 - - 3638 - - - 2254 - 277.2 56.70 0.781 1815 -5.2 0.061 - - - - - - 14.49 14.08 13.47
21824 22.0 7.5 1073 21835 roll 0.80 - - 3638 - 2.65 0.101 3664 532.1 277.2 - - 1805 - - - - - - - - 14.50 13.90 14.51
21860 18.8 8.2 1078 21873 done 0.80 - - 3638 - 2.60 0.081 2241 -547.3 277.2 - - 1806 - - - - - - - - 14.11 13.98 14.16
22071 end climb: SURFACE_DEPTH_REACHED
22072 begin surface coast
22107 end surface coast: CONTROL_FINISHED_OK
22107 begin surface
SM 0.94 - - - - -10.27 9.95 0.034 81 8.1 0.50 0.102 1955 1850.0 400.08 52.00 0.080 1309 25.2 -0.030 - - - - - -