NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 85 * Raw log
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• Previous call tries 1 • 23.24 of 350.00 AH used of 24V (93.36% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -74.7 deg, depth 1.01 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 375.06 (SM_CC=375)
• GPS1 time: 48 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
28 - - - 101 VBD -0.44 - - 82 - - - 1898 - -107.1 -65.80 - 3239 - - - - - - - - 14.55 - 14.58
108 4.8 -8.2 7 136 roll -0.44 13.38 0.360 3236 235.7 2.80 2.225 478 -507.1 -107.1 -2.03 - 3382 -70.4 - - - - - - - 14.20 13.52 14.42
374 74.4 -17.4 56 386 done -0.44 - - 3236 - 2.50 0.093 1896 567.2 -107.1 - - 3384 - - - - - - - - 14.48 14.40 14.51
568 102.4 -13.1 75 579 roll -0.44 - - 3236 - 2.53 0.109 486 -557.3 -107.1 - - 3386 - - - - - - - - 14.64 14.42 14.66
704 123.0 -13.7 99 715 done -0.44 - - 3236 - 2.50 0.093 1910 569.6 -107.1 - - 3388 - - - - - - - - 14.54 14.47 14.57
907 149.0 -12.2 119 918 done -0.44 - - 3236 - - - 1910 - -107.1 - - 3386 - - - - - - - - 14.69 14.70 14.70
1099 172.7 -12.4 138 1111 done -0.44 - - 3236 - - - 1910 - -107.1 - - 3386 - - - - - - - - 14.70 14.72 14.72
1292 196.5 -12.1 157 1303 roll -0.44 - - 3236 - 2.55 0.112 482 -560.0 -107.1 - - 3386 - - - - - - - - 14.71 14.50 14.73
1400 211.0 -13.2 176 1412 done -0.44 - - 3237 - 2.50 0.096 1896 565.6 -107.1 - - 3386 - - - - - - - - 14.61 14.52 14.63
1594 233.8 -11.3 195 1605 done -0.44 - - 3232 - - - 1896 - -107.1 - - 3389 - - - - - - - - 14.73 14.76 14.75
1807 256.9 -10.9 212 1818 roll -0.44 - - 3237 - 2.53 0.112 474 -562.1 -107.1 - - 3385 - - - - - - - - 14.75 14.52 14.76
1874 265.0 -12.0 223 1886 done -0.44 - - 3236 - 2.53 0.093 1916 570.0 -107.1 - - 3385 - - - - - - - - 14.63 14.53 14.65
2185 298.6 -11.1 234 2195 done -0.44 - - 3236 - - - 1915 - -107.1 - - 3381 - - - - - - - - 14.75 14.78 14.78
2479 331.4 -11.0 244 2490 roll -0.44 - - 3236 - 2.45 0.108 3315 571.4 -107.1 - - 3383 - - - - - - - - 14.78 14.57 14.79
2526 336.6 -10.7 251 2538 done -0.44 - - 3236 - 2.50 0.096 1899 -566.4 -107.1 - - 3383 - - - - - - - - 14.66 14.57 14.66
2863 372.1 -10.6 266 2875 roll -0.44 - - 3237 - 2.53 0.112 474 -563.2 -107.1 - - 3381 - - - - - - - - 14.78 14.55 14.80
3029 391.5 -11.3 296 3040 done -0.44 - - 3236 - 2.47 0.095 1895 575.3 -107.1 - - 3379 - - - - - - - - 14.66 14.57 14.69
3371 424.1 -9.2 312 3383 roll -0.44 - - 3235 - 2.50 0.107 3314 567.6 -107.1 - - 3381 - - - - - - - - 14.79 14.59 14.81
3478 433.1 -8.5 330 3489 done -0.44 - - 3237 - 2.50 0.099 1898 -566.4 -107.1 - - 3381 - - - - - - - - 14.68 14.59 14.69
3820 464.4 -9.1 346 3831 roll -0.44 - - 3236 - 2.50 0.113 486 -564.8 -107.1 - - 3379 - - - - - - - - 14.79 14.57 14.81
3921 474.4 -10.3 363 3933 done -0.44 - - 3233 - 2.47 0.097 1896 570.9 -107.1 - - 3380 - - - - - - - - 14.67 14.59 14.69
4227 503.1 -9.3 374 4237 done -0.44 - - 3241 - - - 1897 - -107.1 - - 3378 - - - - - - - - 14.81 14.81 14.81
4523 532.2 -9.9 384 4534 roll -0.44 - - 3236 - 2.53 0.115 478 -560.9 -107.1 - - 3378 - - - - - - - - 14.78 14.57 14.81
4610 541.4 -10.4 399 4621 done -0.44 - - 3236 - 2.50 0.098 1901 569.2 -107.1 - - 3378 - - - - - - - - 14.68 14.59 14.70
4937 571.8 -9.2 412 4947 done -0.44 - - 3237 - - - 1901 - -107.1 - - 3373 - - - - - - - - 14.78 14.81 14.81
5237 599.4 -9.1 422 5248 done -0.44 - - 3236 - - - 1901 - -107.1 - - 3376 - - - - - - - - 14.80 14.81 14.81
5537 624.8 -8.1 432 5547 done -0.44 - - 3237 - - - 1900 - -107.1 - - 3375 - - - - - - - - 14.80 14.82 14.81
5837 648.3 -7.9 442 5848 done -0.44 - - 3236 - - - 1901 - -107.1 - - 3375 - - - - - - - - 14.80 14.82 14.82
6137 672.7 -8.2 452 6147 done -0.44 - - 3238 - - - 1900 - -107.1 - - 3374 - - - - - - - - 14.82 14.82 14.82
6437 697.3 -8.2 462 6450 roll -0.44 - - 3236 - 2.50 0.112 3319 567.6 -107.1 - - 3374 - - - - - - - - 14.81 14.57 14.82
6511 703.2 -7.9 474 6523 done -0.44 - - 3236 - 2.55 0.102 1901 -556.1 -107.1 - - 3373 - - - - - - - - 14.70 14.60 14.70
6854 730.2 -7.6 490 6864 done -0.44 - - 3233 - - - 1901 - -107.1 - - 3373 - - - - - - - - 14.80 14.81 14.80
7154 753.3 -7.8 500 7165 roll -0.44 - - 3236 - 2.53 0.117 475 -563.6 -107.1 - - 3372 - - - - - - - - 14.81 14.56 14.81
7231 760.0 -8.9 513 7242 done -0.44 - - 3236 - 2.53 0.099 1916 569.6 -107.1 - - 3373 - - - - - - - - 14.67 14.58 14.69
7568 788.0 -8.8 528 7579 done -0.44 - - 3237 - - - 1916 - -107.1 - - 3371 - - - - - - - - 14.79 14.81 14.81
7868 814.9 -8.9 538 7878 done -0.44 - - 3242 - - - 1916 - -107.1 - - 3370 - - - - - - - - 14.80 14.81 14.81
8168 840.7 -8.6 548 8179 done -0.44 - - 3236 - - - 1916 - -107.1 - - 3370 - - - - - - - - 14.79 14.84 14.81
8468 867.5 -9.2 558 8479 roll -0.44 - - 3237 - 2.58 0.115 474 -558.9 -107.1 - - 3370 - - - - - - - - 14.79 14.55 14.81
8555 876.7 -9.8 573 8566 done -0.44 - - 3235 - 2.50 0.096 1897 569.2 -107.1 - - 3370 - - - - - - - - 14.67 14.59 14.69
8882 904.0 -8.3 586 8893 roll -0.44 - - 3236 - 2.53 0.112 3320 562.5 -107.1 - - 3370 - - - - - - - - 14.78 14.55 14.80
8955 910.7 -8.3 598 8966 done -0.44 - - 3237 - 2.55 0.101 1885 -562.7 -107.1 - - 3368 - - - - - - - - 14.66 14.55 14.69
9297 936.9 -7.7 614 9308 done -0.44 - - 3236 - - - 1885 - -107.1 - - 3370 - - - - - - - - 14.78 14.80 14.81
9598 960.3 -7.6 624 9609 roll -0.44 - - 3236 - 2.47 0.116 494 -563.2 -107.1 - - 3369 - - - - - - - - 14.78 14.57 14.80
9698 969.4 -8.5 641 9710 done -0.44 - - 3237 - 2.47 0.097 1900 569.2 -107.1 - - 3369 - - - - - - - - 14.69 14.58 14.69
9970 end dive: NO_VERTICAL_VELOCITY
9970 begin apogee
9981 972.6 - 651 10074 done -0.16 0.30 0.123 3345 360.0 - - 2359 - - 84.93 1.879 2938 -5.1 0.491 - - - - - - 14.58 13.96 13.31
10077 end apogee: CONTROL_FINISHED_OK
10077 begin climb
10082 973.2 - 654 10187 roll 0.44 0.52 0.109 3531 357.7 2.78 0.111 940 -510.4 107.1 87.05 1.845 2502 -5.0 0.494 - - - - - - 13.97 13.71 13.13
10197 968.8 7.5 674 10208 done 0.44 - - 3531 - 2.62 0.096 2354 539.7 107.1 - - 2502 - - - - - - - - 13.95 13.85 13.97
10534 942.8 7.8 689 10545 done 0.44 - - 3531 - - - 2354 - 107.1 - - 2500 - - - - - - - - 14.47 14.50 14.49
10838 918.9 8.0 699 10848 done 0.44 - - 3531 - - - 2354 - 107.1 - - 2498 - - - - - - - - 14.58 14.60 14.59
11139 896.1 7.9 709 11149 done 0.44 - - 3531 - - - 2353 - 107.1 - - 2500 - - - - - - - - 14.64 14.66 14.66
11438 873.0 7.7 719 11448 done 0.44 - - 3531 - - - 2354 - 107.1 - - 2497 - - - - - - - - 14.69 14.70 14.70
11739 848.9 8.1 729 11749 done 0.44 - - 3531 - - - 2353 - 107.1 - - 2499 - - - - - - - - 14.71 14.73 14.73
12039 824.4 8.3 739 12050 done 0.44 - - 3531 - - - 2353 - 107.1 - - 2498 - - - - - - - - 14.73 14.75 14.75
12339 800.4 8.0 749 12350 roll 0.44 - - 3541 - 2.55 0.112 934 -556.5 107.1 - - 2498 - - - - - - - - 14.74 14.54 14.76
12390 795.7 8.6 757 12402 done 0.44 - - 3541 - 2.50 0.099 2351 566.8 107.1 - - 2501 - - - - - - - - 14.63 14.54 14.65
12723 767.5 8.3 771 12733 done 0.44 - - 3541 - - - 2351 - 107.1 - - 2498 - - - - - - - - 14.75 14.77 14.76
13027 742.7 8.0 781 13038 done 0.44 - - 3541 - - - 2349 - 107.1 - - 2497 - - - - - - - - 14.76 14.76 14.78
13327 718.5 8.2 791 13337 done 0.44 - - 3541 - - - 2350 - 107.1 - - 2497 - - - - - - - - 14.77 14.76 14.78
13627 695.6 7.7 801 13638 done 0.44 - - 3541 - - - 2350 - 107.1 - - 2498 - - - - - - - - 14.76 14.79 14.78
13927 675.4 6.6 811 13939 roll 0.46 - - 3541 - 2.55 0.116 3770 556.9 107.1 - - 2498 - - - - - - - - 14.77 14.56 14.78
13954 673.2 6.7 814 13965 done 0.47 - - 3543 - 2.53 0.103 2349 -561.7 107.1 - - 2498 - - - - - - - - 14.65 14.56 14.66
14281 649.3 7.2 827 14292 done 0.47 - - 3543 - - - 2349 - 107.1 - - 2497 - - - - - - - - 14.78 14.79 14.79
14586 627.8 7.4 837 14597 roll 0.47 - - 3544 - 2.53 0.116 936 -558.5 107.1 - - 2497 - - - - - - - - 14.77 14.55 14.81
14652 622.7 7.0 848 14665 done 0.47 - - 3544 - 2.50 0.099 2355 567.6 107.1 - - 2498 - - - - - - - - 14.64 14.57 14.66
14963 602.7 6.3 859 14974 done 0.49 - - 3544 - - - 2350 - 107.1 - - 2497 - - - - - - - - 14.76 14.78 14.78
15263 583.2 6.3 869 15274 done 0.51 - - 3544 - - - 2350 - 107.1 - - 2498 - - - - - - - - 14.77 14.79 14.79
15563 563.5 6.8 879 15574 roll 0.52 - - 3550 - 2.53 0.111 938 -558.1 107.1 - - 2500 - - - - - - - - 14.77 14.54 14.79
15614 559.5 7.2 887 15625 done 0.52 - - 3550 - 2.47 0.097 2343 568.8 107.1 - - 2501 - - - - - - - - 14.64 14.57 14.68
15947 536.4 6.9 901 15957 done 0.52 - - 3550 - - - 2340 - 107.1 - - 2498 - - - - - - - - 14.77 14.79 14.78
16251 516.2 6.6 911 16261 done 0.53 - - 3550 - - - 2343 - 107.1 - - 2498 - - - - - - - - 14.78 14.79 14.79
16551 495.9 6.7 921 16562 done 0.55 - - 3551 - - - 2340 - 107.1 - - 2498 - - - - - - - - 14.77 14.79 14.78
16851 475.7 6.8 931 16862 roll 0.56 - - 3554 - 2.53 0.112 936 -554.9 107.1 - - 2498 - - - - - - - - 14.78 14.56 14.79
16908 471.5 6.8 940 16919 done 0.57 - - 3554 - 2.53 0.099 2358 562.1 107.1 - - 2498 - - - - - - - - 14.65 14.56 14.67
17236 450.4 6.1 953 17247 roll 0.60 - - 3554 - 2.53 0.114 3764 555.7 107.1 - - 2498 - - - - - - - - 14.77 14.56 14.81
17264 448.6 6.1 956 17275 done 0.62 - - 3554 - 2.53 0.102 2347 -560.1 107.1 - - 2497 - - - - - - - - 14.64 14.54 14.66
17592 428.8 6.2 969 17604 roll 0.64 0.08 0.166 3622 850.0 2.50 0.108 936 -564.4 107.1 - - 2495 - - - - - - - - 14.60 14.54 14.66
17629 425.9 7.9 974 17641 done 0.64 - - 3622 - 2.50 0.099 2358 568.8 107.1 - - 2498 - - - - - - - - 14.64 14.54 14.66
17939 397.2 9.7 985 17951 roll 0.64 - - 3623 - 2.50 0.112 3756 559.2 107.1 - - 2498 - - - - - - - - 14.76 14.55 14.78
18001 390.3 10.3 995 18012 done 0.64 - - 3625 - 2.50 0.099 2353 -561.2 107.1 - - 2501 - - - - - - - - 14.64 14.55 14.66
18324 359.5 9.6 1007 18335 roll 0.64 - - 3626 - 2.50 0.112 938 -566.0 107.1 - - 2498 - - - - - - - - 14.76 14.52 14.78
18415 351.3 9.4 1022 18427 done 0.64 0.10 0.260 3599 -270.0 2.47 0.096 2350 571.7 107.1 - - 2498 - - - - - - - - 14.48 14.56 14.62
18743 325.0 7.6 1035 18754 done 0.64 - - 3596 - - - 2350 - 107.1 - - 2498 - - - - - - - - 14.76 14.78 14.78
19048 301.7 7.8 1045 19059 roll 0.64 - - 3607 - 2.53 0.108 935 -559.3 107.1 - - 2498 - - - - - - - - 14.76 14.55 14.78
19074 299.2 7.7 1048 19086 done 0.64 - - 3607 - 2.47 0.096 2350 572.9 107.1 - - 2495 - - - - - - - - 14.65 14.57 14.66
19402 272.3 8.4 1061 19413 done 0.64 - - 3607 - - - 2350 - 107.1 - - 2498 - - - - - - - - 14.77 14.78 14.78
19706 246.6 8.9 1073 19717 done 0.64 - - 3607 - - - 2350 - 107.1 - - 2498 - - - - - - - - 14.77 14.79 14.78
19898 230.4 7.9 1092 19910 done 0.64 - - 3607 - - - 2350 - 107.1 - - 2499 - - - - - - - - 14.76 14.78 14.81
20091 215.5 8.0 1111 20102 done 0.64 - - 3607 - - - 2350 - 107.1 - - 2498 - - - - - - - - 14.76 14.80 14.78
20284 202.4 6.6 1130 20295 roll 0.66 - - 3607 - 2.53 0.112 3756 555.7 107.1 - - 2498 - - - - - - - - 14.76 14.55 14.78
20419 191.0 8.6 1154 20430 done 0.66 - - 3616 - 2.50 0.099 2346 -564.0 107.1 - - 2498 - - - - - - - - 14.64 14.53 14.64
20622 175.1 7.8 1174 20633 done 0.66 - - 3616 - - - 2345 - 107.1 - - 2498 - - - - - - - - 14.75 14.76 14.76
20816 160.6 6.8 1193 20827 done 0.67 - - 3616 - - - 2345 - 107.1 - - 2498 - - - - - - - - 14.76 14.76 14.76
21008 148.9 5.4 1212 21020 done 0.71 - - 3616 - - - 2345 - 107.1 - - 2496 - - - - - - - - 14.74 14.76 14.76
21202 138.7 5.3 1231 21213 roll 0.75 - - 3622 - 2.50 0.109 934 -564.4 107.1 - - 2499 - - - - - - - - 14.74 14.53 14.76
21234 137.0 5.0 1235 21286 done 0.80 - - 3622 - 2.47 0.095 2347 572.1 158.6 38.65 0.902 2288 -5.5 0.155 - - - - - - 14.61 14.52 14.00
21477 117.8 8.8 1263 21488 roll 0.80 - - 3625 - 2.55 0.108 938 -552.5 158.6 - - 2290 - - - - - - - - 14.62 14.38 14.63
21573 108.7 9.4 1279 21584 done 0.80 - - 3625 - 2.50 0.096 2356 567.2 158.6 - - 2291 - - - - - - - - 14.52 14.43 14.54
21776 89.9 8.1 1299 21787 roll 0.80 - - 3626 - 2.53 0.109 3754 552.6 158.6 - - 2288 - - - - - - - - 14.66 14.45 14.68
21832 85.1 8.5 1308 21845 done 0.80 - - 3635 - 2.53 0.096 2346 -556.5 158.6 - - 2291 - - - - - - - - 14.54 14.45 14.57
22026 71.4 7.7 1327 22037 roll 0.80 - - 3635 - 2.53 0.109 936 -557.3 158.6 - - 2292 - - - - - - - - 14.68 14.46 14.69
22278 54.2 4.7 1373 22331 done 0.86 - - 3635 - 2.47 0.096 2348 571.7 216.2 42.55 0.798 2059 -5.5 0.069 - - - - - - 14.58 14.50 13.98
22524 37.9 6.5 1401 22535 roll 0.87 - - 3638 - 2.55 0.106 936 -553.7 216.2 - - 2058 - - - - - - - - 14.59 14.38 14.60
22774 25.6 2.6 1447 22862 done 0.98 0.20 0.095 3727 445.0 2.50 0.096 2352 566.4 319.9 71.15 0.729 1633 -6.0 0.039 - - - - - - 14.47 14.42 13.90
22988 end climb: SURFACE_DEPTH_REACHED
22988 begin surface coast
23010 end surface coast: CONTROL_FINISHED_OK
23010 begin surface
SM 0.63 - - - - -10.23 10.23 0.049 97 9.4 0.82 0.101 1904 -11422.0 375.06 22.30 0.086 1411 63.3 -0.047 - - - - - -