NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 614 * Raw log
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• Previous call tries 1 • 175.84 of 350.00 AH used of 24V (49.76% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -78.1 deg, depth 0.84 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 33 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
32 - - - 112 done -0.39 - - 82 - - - 1952 - -107.1 -75.97 - 3380 - - - - - - - - 14.47 12.48 14.35
119 1.7 -2.5 2 145 roll -0.39 14.57 0.363 3250 217.4 2.65 0.095 3388 541.9 -107.1 - - 3382 - - - - - - - - 13.69 14.03 14.04
200 32.3 -11.9 17 208 done -0.39 - - 3250 - 2.60 0.090 1979 -541.9 -107.1 - - 3387 - - - - - - - - 14.07 13.92 14.13
556 72.4 -10.7 28 564 roll -0.39 - - 3250 - 2.65 0.101 3389 532.1 -107.1 - - 3384 - - - - - - - - 14.43 13.80 14.45
664 82.1 -8.2 48 672 done -0.39 - - 3250 - 2.62 0.085 1955 -547.3 -107.1 - - 3383 - - - - - - - - 14.01 13.88 14.07
993 110.4 -8.8 57 1000 roll -0.39 - - 3250 - 2.58 0.099 564 -539.1 -107.1 - - 3384 - - - - - - - - 14.45 13.74 14.47
1052 115.4 -8.6 67 1060 done -0.39 - - 3250 - 2.58 0.086 1966 543.4 -107.1 - - 3384 - - - - - - - - 13.93 13.79 13.98
1371 141.3 -8.0 74 1379 roll -0.39 - - 3250 - 2.65 0.101 3387 536.2 -107.1 - - 3385 - - - - - - - - 14.45 13.75 14.47
1476 149.7 -7.9 93 1484 done -0.39 - - 3250 - 2.60 0.083 1973 -543.8 -107.1 - - 3384 - - - - - - - - 14.00 13.88 14.05
1811 175.7 -7.5 103 1814 done -0.39 - - 3250 - - - 1973 - -107.1 - - 3384 - - - - - - - - 14.49 14.51 14.51
2110 197.2 -7.2 108 2113 done -0.39 - - 3250 - - - 1973 - -107.1 - - 3383 - - - - - - - - 14.50 14.50 14.49
2411 219.9 -7.6 113 2414 done -0.39 - - 3250 - - - 1973 - -107.1 - - 3385 - - - - - - - - 14.47 14.49 14.48
2710 243.9 -8.1 118 2718 roll -0.39 - - 3250 - 2.70 0.102 3388 524.1 -107.1 - - 3383 - - - - - - - - 14.48 13.72 14.50
2744 246.5 -7.5 123 2752 done -0.39 - - 3250 - 2.62 0.082 1972 -540.5 -107.1 - - 3382 - - - - - - - - 14.00 13.85 14.04
3090 271.3 -7.1 135 3098 roll -0.39 - - 3250 - 2.65 0.098 546 -538.1 -107.1 - - 3383 - - - - - - - - 14.48 13.71 14.48
3164 277.2 -8.1 148 3171 done -0.39 - - 3250 - 2.62 0.086 1968 542.7 -107.1 - - 3384 - - - - - - - - 13.95 13.83 14.01
3533 304.3 -7.5 164 3540 roll -0.39 - - 3250 - 2.70 0.104 3387 525.6 -107.1 - - 3382 - - - - - - - - 14.46 13.69 14.47
3611 310.2 -7.0 178 3619 done -0.39 - - 3250 - 2.65 0.084 1955 -540.4 -107.1 - - 3381 - - - - - - - - 13.93 13.78 13.99
3972 337.9 -7.8 193 3980 roll -0.39 - - 3250 - 2.62 0.099 562 -531.7 -107.1 - - 3381 - - - - - - - - 14.47 13.71 14.49
4016 341.7 -8.5 200 4024 done -0.39 - - 3250 - 2.62 0.088 1980 541.2 -107.1 - - 3381 - - - - - - - - 13.95 13.81 14.00
4350 367.0 -7.5 210 4358 roll -0.39 - - 3246 - 2.65 0.104 3378 527.5 -107.1 - - 3384 - - - - - - - - 14.49 13.69 14.51
4421 371.6 -6.9 222 4430 done -0.39 - - 3250 - 2.62 0.084 1974 -535.9 -107.1 - - 3383 - - - - - - - - 13.94 13.75 13.97
4796 397.3 -6.9 239 4803 roll -0.39 - - 3250 - 2.65 0.098 553 -536.2 -107.1 - - 3380 - - - - - - - - 14.45 13.71 14.47
4835 400.6 -8.0 245 4843 done -0.39 - - 3253 - 2.62 0.086 1970 540.8 -107.1 - - 3380 - - - - - - - - 13.95 13.79 14.00
5174 423.9 -6.9 256 5181 roll -0.39 - - 3250 - 2.67 0.103 3389 531.5 -107.1 - - 3378 - - - - - - - - 14.47 13.66 14.49
5227 427.4 -6.5 265 5234 done -0.39 - - 3250 - 2.65 0.086 1957 -540.4 -107.1 - - 3379 - - - - - - - - 13.93 13.78 13.98
5552 448.2 -6.4 273 5559 roll -0.39 - - 3250 - 2.62 0.101 560 -533.2 -107.1 - - 3379 - - - - - - - - 14.46 13.69 14.47
5593 451.2 -7.2 279 5601 done -0.39 - - 3255 - 2.62 0.090 1977 540.8 -107.1 - - 3379 - - - - - - - - 13.93 13.78 13.99
5933 473.6 -6.7 290 5941 roll -0.39 - - 3250 - 2.67 0.104 3386 527.7 -107.1 - - 3380 - - - - - - - - 14.42 13.64 14.44
5992 477.7 -6.7 300 6000 done -0.39 - - 3250 - 2.65 0.087 1973 -533.2 -107.1 - - 3378 - - - - - - - - 13.93 13.76 13.98
6312 499.1 -6.7 307 6319 roll -0.39 - - 3250 - 2.67 0.099 542 -536.0 -107.1 - - 3378 - - - - - - - - 14.43 13.66 14.45
6345 501.5 -7.4 312 6353 done -0.39 - - 3250 - 2.65 0.089 1967 537.7 -107.1 - - 3378 - - - - - - - - 13.91 13.74 13.96
6689 524.3 -6.6 324 6696 roll -0.39 - - 3250 - 2.70 0.103 3390 527.0 -107.1 - - 3378 - - - - - - - - 14.46 13.64 14.47
6767 529.5 -6.8 338 6775 done -0.39 - - 3250 - 2.65 0.086 1967 -537.0 -107.1 - - 3377 - - - - - - - - 13.90 13.75 13.95
7128 554.8 -7.1 353 7136 roll -0.39 - - 3250 - 2.67 0.101 546 -532.2 -107.1 - - 3376 - - - - - - - - 14.42 13.65 14.44
7167 558.0 -7.6 359 7174 done -0.39 - - 3250 - 2.67 0.090 1983 538.2 -107.1 - - 3377 - - - - - - - - 13.88 13.75 13.93
7506 582.1 -7.1 370 7514 roll -0.39 - - 3250 - 2.67 0.104 3388 526.2 -107.1 - - 3376 - - - - - - - - 14.43 13.63 14.44
7590 587.8 -6.8 385 7598 done -0.39 - - 3250 - 2.67 0.088 1959 -535.2 -107.1 - - 3376 - - - - - - - - 13.89 13.74 13.95
7946 611.4 -6.7 399 7953 roll -0.39 - - 3250 - 2.65 0.101 544 -534.0 -107.1 - - 3373 - - - - - - - - 14.43 13.62 14.43
7989 614.7 -7.8 406 7997 done -0.39 - - 3251 - 2.65 0.087 1967 537.0 -107.1 - - 3375 - - - - - - - - 13.88 13.75 13.94
8323 636.8 -6.6 416 8331 roll -0.39 - - 3249 - 2.72 0.103 3390 523.2 -107.1 - - 3375 - - - - - - - - 14.46 13.63 14.46
8402 641.8 -6.4 430 8411 done -0.39 - - 3256 - 2.67 0.086 1956 -537.1 -107.1 - - 3374 - - - - - - - - 13.88 13.74 13.94
8762 664.1 -6.2 445 8770 roll -0.39 - - 3250 - 2.62 0.101 563 -531.7 -107.1 - - 3372 - - - - - - - - 14.43 13.64 14.45
8797 666.3 -6.8 450 8805 done -0.39 - - 3250 - 2.62 0.088 1973 538.2 -107.1 - - 3373 - - - - - - - - 13.90 13.74 13.95
9141 685.9 -5.7 462 9150 roll -0.39 - - 3250 - 2.70 0.105 3389 524.4 -107.1 - - 3373 - - - - - - - - 14.44 13.62 14.45
9205 689.7 -5.8 473 9214 done -0.39 - - 3250 - 2.67 0.088 1974 -530.0 -107.1 - - 3373 - - - - - - - - 13.88 13.73 13.93
9513 707.4 -5.8 479 9521 roll -0.39 - - 3256 - 2.67 0.100 553 -532.2 -107.1 - - 3370 - - - - - - - - 14.45 13.65 14.43
9556 710.3 -6.5 486 9564 done -0.39 - - 3251 - 2.65 0.090 1968 534.0 -107.1 - - 3373 - - - - - - - - 13.88 13.73 13.94
9892 729.7 -5.9 496 9900 roll -0.39 - - 3250 - 2.72 0.107 3389 522.4 -107.1 - - 3372 - - - - - - - - 14.42 13.54 14.44
9945 733.2 -6.2 505 9953 done -0.39 - - 3250 - 2.67 0.087 1958 -536.0 -107.1 - - 3372 - - - - - - - - 13.88 13.74 13.95
10269 753.4 -6.3 513 10276 roll -0.39 - - 3250 - 2.65 0.103 561 -527.2 -107.1 - - 3371 - - - - - - - - 14.43 13.64 14.45
10333 758.1 -7.6 524 10343 done -0.39 - - 3250 - 2.65 0.091 1972 532.5 -107.1 - - 3371 - - - - - - - - 13.88 13.71 13.93
10638 778.0 -6.5 530 10646 roll -0.39 - - 3250 - 2.72 0.106 3389 521.0 -107.1 - - 3373 - - - - - - - - 14.40 13.60 14.42
10712 783.1 -6.6 543 10720 done -0.39 - - 3246 - 2.67 0.088 1968 -532.2 -107.1 - - 3370 - - - - - - - - 13.88 13.72 13.93
11084 804.4 -5.6 559 11092 roll -0.39 - - 3250 - 2.70 0.103 553 -524.1 -107.1 - - 3368 - - - - - - - - 14.36 13.64 14.37
11143 808.5 -6.4 569 11150 done -0.39 - - 3250 - 2.67 0.092 1984 536.0 -107.1 - - 3370 - - - - - - - - 13.86 13.71 13.92
11463 825.9 -5.3 576 11471 roll -0.39 - - 3250 - 2.72 0.108 3388 516.2 -107.1 - - 3373 - - - - - - - - 14.40 13.62 14.42
11511 828.4 -4.0 584 11519 done -0.39 - - 3250 - 2.67 0.088 1969 -531.5 -107.1 - - 3370 - - - - - - - - 13.88 13.74 13.93
11841 847.0 -5.6 593 11849 roll -0.39 - - 3250 - 2.70 0.101 559 -522.2 -107.1 - - 3370 - - - - - - - - 14.40 13.64 14.42
11885 849.9 -7.4 600 11892 done -0.39 - - 3250 - 2.65 0.093 1965 530.6 -107.1 - - 3370 - - - - - - - - 13.86 13.69 13.90
12219 870.7 -6.2 610 12227 roll -0.39 - - 3250 - 2.75 0.106 3390 518.2 -107.1 - - 3370 - - - - - - - - 14.40 13.62 14.42
12270 873.1 -5.1 618 12278 done -0.39 - - 3250 - 2.67 0.088 1972 -531.1 -107.1 - - 3369 - - - - - - - - 13.88 13.73 13.94
12601 888.7 -4.6 627 12608 roll -0.39 - - 3250 - 2.67 0.101 560 -528.8 -107.1 - - 3369 - - - - - - - - 14.40 13.65 14.42
12659 891.7 -5.9 637 12667 done -0.39 - - 3250 - 2.65 0.091 1968 531.3 -107.1 - - 3369 - - - - - - - - 13.86 13.70 13.92
12981 907.8 -4.9 644 12989 roll -0.39 - - 3250 - 2.75 0.106 3391 517.5 -107.1 - - 3369 - - - - - - - - 14.38 13.55 14.40
12999 908.6 -4.9 646 13008 done -0.39 - - 3250 - 2.70 0.088 1964 -528.5 -107.1 - - 3369 - - - - - - - - 13.88 13.74 13.94
13365 926.3 -4.9 661 13373 roll -0.39 - - 3250 - 2.67 0.103 553 -528.5 -107.1 - - 3369 - - - - - - - - 14.40 13.66 14.39
13609 926.7 0.2 707 13617 done -0.39 - - 3250 - 2.85 0.135 1964 495.1 -107.1 - - 3368 - - - - - - - - 13.84 13.62 13.91
13623 end dive: NO_VERTICAL_VELOCITY
13623 begin apogee
13635 926.7 - 709 13737 done -0.16 0.30 0.141 3338 293.3 - - 2266 - - 97.62 1.841 2945 -4.3 0.429 - - - - - - 13.70 13.72 12.71
13741 end apogee: CONTROL_FINISHED_OK
13741 begin climb
13746 926.8 - 710 13865 roll 0.39 0.50 0.068 3530 384.0 2.72 0.107 3660 512.5 107.1 98.93 1.834 2503 -4.5 0.444 - - - - - - 13.91 13.34 12.56
14096 914.2 6.6 776 14107 done 0.40 - - 3540 - 2.62 0.093 2253 -537.0 107.1 - - 2500 - - - - - - - - 14.11 13.96 14.16
14443 891.3 6.6 787 14454 roll 0.42 - - 3540 - 2.62 0.102 830 -543.1 107.1 - - 2500 - - - - - - - - 14.47 13.91 14.50
14521 885.5 6.9 800 14533 done 0.42 - - 3541 - 2.62 0.094 2257 544.7 107.1 - - 2500 - - - - - - - - 14.12 13.97 14.17
14896 862.0 6.3 816 14907 done 0.44 - - 3540 - - - 2260 - 107.1 - - 2500 - - - - - - - - 14.54 14.57 14.56
15190 844.3 5.9 821 15201 done 0.47 - - 3541 - - - 2264 - 107.1 - - 2499 - - - - - - - - 14.54 14.56 14.56
15489 827.8 5.5 826 15500 roll 0.50 - - 3543 - 2.70 0.103 822 -534.1 107.1 - - 2500 - - - - - - - - 14.54 13.80 14.57
15533 825.2 5.9 832 15544 done 0.53 - - 3543 - 2.67 0.096 2246 533.3 107.1 - - 2497 - - - - - - - - 14.05 13.87 14.11
15881 803.7 6.3 843 15893 roll 0.55 - - 3543 - 2.72 0.108 3667 522.4 107.1 - - 2499 - - - - - - - - 14.52 13.80 14.54
15920 800.5 7.3 848 15931 done 0.55 - - 3543 - 2.65 0.091 2253 -533.6 107.1 - - 2499 - - - - - - - - 14.05 13.88 14.09
16274 778.7 6.2 860 16285 roll 0.58 0.08 0.157 3609 825.0 2.65 0.101 833 -535.8 107.1 - - 2499 - - - - - - - - 14.14 13.78 14.15
16328 774.6 8.6 868 16339 done 0.58 - - 3609 - 2.65 0.096 2268 541.5 107.1 - - 2502 - - - - - - - - 13.94 13.78 13.98
16660 746.8 8.3 877 16671 done 0.58 - - 3614 - - - 2262 - 107.1 - - 2499 - - - - - - - - 14.52 14.53 14.53
16960 720.8 8.7 882 16971 roll 0.58 - - 3610 - 2.67 0.107 3650 519.9 107.1 - - 2499 - - - - - - - - 14.52 13.75 14.53
17038 713.8 9.7 895 17049 done 0.58 - - 3609 - 2.65 0.093 2237 -533.2 107.1 - - 2499 - - - - - - - - 13.98 13.81 14.02
17411 682.7 8.4 911 17422 done 0.58 - - 3609 - - - 2235 - 107.1 - - 2498 - - - - - - - - 14.50 14.52 14.51
17706 658.8 8.0 916 17717 roll 0.58 - - 3609 - 2.75 0.107 3650 514.5 107.1 - - 2501 - - - - - - - - 14.51 13.74 14.52
17758 654.2 9.0 924 17770 done 0.58 0.12 0.240 3576 -275.0 2.62 0.090 2255 -532.4 107.1 - - 2498 - - - - - - - - 13.57 13.81 13.84
18097 630.7 7.0 933 18108 roll 0.58 - - 3582 - 2.67 0.101 820 -537.5 107.1 - - 2498 - - - - - - - - 14.49 13.69 14.50
18128 628.2 6.8 937 18139 done 0.59 - - 3582 - 2.65 0.093 2245 537.7 107.1 - - 2501 - - - - - - - - 13.88 13.72 13.95
18486 604.2 6.7 950 18498 roll 0.60 - - 3582 - 2.72 0.106 3662 521.0 107.1 - - 2499 - - - - - - - - 14.50 13.69 14.52
18559 598.5 7.5 962 18570 done 0.60 - - 3582 - 2.65 0.088 2247 -534.0 107.1 - - 2498 - - - - - - - - 13.95 13.79 14.03
18932 575.1 6.3 979 18942 done 0.62 - - 3579 - - - 2249 - 107.1 - - 2498 - - - - - - - - 14.51 14.53 14.53
19232 558.2 5.6 984 19243 done 0.66 - - 3582 - - - 2251 - 107.1 - - 2501 - - - - - - - - 14.52 14.53 14.52
19533 542.7 5.1 989 19581 done 0.68 - - 3583 - - - 2251 - 155.9 41.72 1.407 2305 -4.7 0.356 - - - - - - 14.51 14.02 13.12
19833 521.1 7.6 994 19843 done 0.68 - - 3583 - - - 2250 - 155.9 - - 2303 - - - - - - - - 14.47 14.50 14.50
20134 499.7 7.1 999 20146 roll 0.68 - - 3582 - 2.62 0.103 841 -537.8 155.9 - - 2305 - - - - - - - - 14.52 13.94 14.54
20166 497.4 6.6 1003 20179 done 0.70 0.12 0.122 3648 550.0 2.60 0.094 2247 540.8 155.9 - - 2304 - - - - - - - - 14.07 13.97 14.17
20522 462.7 10.2 1016 20533 roll 0.70 - - 3648 - 2.70 0.106 3668 526.3 155.9 - - 2306 - - - - - - - - 14.54 13.89 14.54
20588 455.1 11.3 1027 20602 done 0.70 0.12 0.249 3624 -200.0 2.65 0.092 2239 -539.2 155.9 - - 2305 - - - - - - - - 13.69 13.93 13.95
20894 425.5 9.7 1033 20906 roll 0.70 - - 3624 - 2.72 0.106 3664 523.9 155.9 - - 2309 - - - - - - - - 14.53 13.83 14.55
20932 421.5 10.5 1038 20943 done 0.70 - - 3625 - 2.62 0.089 2253 -538.5 155.9 - - 2302 - - - - - - - - 14.08 13.93 14.13
21284 387.5 9.5 1050 21294 done 0.70 - - 3625 - - - 2253 - 155.9 - - 2305 - - - - - - - - 14.49 14.50 14.50
21581 358.5 9.7 1055 21593 roll 0.70 - - 3625 - 2.70 0.106 3663 522.2 155.9 - - 2305 - - - - - - - - 14.49 13.81 14.52
21618 354.4 10.4 1060 21630 done 0.70 - - 3635 - 2.65 0.089 2237 -538.1 155.9 - - 2305 - - - - - - - - 14.09 13.92 14.12
21972 322.2 9.2 1072 21983 roll 0.70 - - 3635 - 2.72 0.104 3664 524.6 155.9 - - 2306 - - - - - - - - 14.54 13.81 14.53
22034 315.4 10.5 1082 22047 done 0.70 - - 3635 - 2.60 0.088 2256 -541.5 155.9 - - 2306 - - - - - - - - 13.90 13.82 13.97
22360 285.4 9.2 1089 22371 roll 0.70 - - 3639 - 2.65 0.099 842 -533.6 155.9 - - 2306 - - - - - - - - 14.53 13.79 14.54
22396 282.0 8.7 1094 22407 done 0.70 - - 3639 - 2.60 0.090 2256 543.8 155.9 - - 2306 - - - - - - - - 14.05 13.90 14.10
22748 253.1 8.2 1106 22759 roll 0.70 - - 3638 - 2.67 0.103 3660 525.8 155.9 - - 2309 - - - - - - - - 14.50 13.77 14.51
22856 243.3 9.5 1124 22867 done 0.70 - - 3648 - 2.65 0.087 2237 -537.0 155.9 - - 2304 - - - - - - - - 14.01 13.87 14.07
23205 213.2 8.6 1135 23216 done 0.70 - - 3648 - - - 2236 - 155.9 - - 2309 - - - - - - - - 14.51 14.51 14.54
23499 187.6 8.5 1140 23511 roll 0.70 0.08 0.285 3625 -287.5 2.75 0.101 3664 519.3 155.9 - - 2306 - - - - - - - - 13.74 13.78 13.81
23546 183.5 8.8 1147 23558 done 0.70 - - 3625 - 2.62 0.085 2244 -542.0 155.9 - - 2306 - - - - - - - - 14.07 13.89 14.09
23886 158.9 7.1 1157 23896 done 0.70 - - 3625 - - - 2246 - 155.9 - - 2306 - - - - - - - - 14.48 14.50 14.50
24184 135.6 7.8 1162 24196 roll 0.70 - - 3626 - 2.75 0.101 3664 515.6 155.9 - - 2311 - - - - - - - - 14.51 13.81 14.52
24262 128.7 9.4 1175 24273 done 0.70 - - 3626 - 2.65 0.086 2250 -533.6 155.9 - - 2305 - - - - - - - - 14.02 13.86 14.07
24634 99.9 7.9 1191 24645 roll 0.70 - - 3636 - 2.62 0.096 840 -538.2 155.9 - - 2308 - - - - - - - - 14.50 13.78 14.54
24687 96.3 6.6 1199 24699 done 0.71 - - 3636 - 2.60 0.090 2248 541.5 155.9 - - 2307 - - - - - - - - 13.93 13.78 13.97
25021 78.4 5.2 1208 25071 roll 0.73 - - 3634 - 2.67 0.103 3664 530.3 202.1 36.85 0.839 2115 -5.2 0.096 - - - - - - 14.53 14.12 13.45
25176 65.5 11.0 1237 25187 done 0.73 - - 3635 - 2.60 0.087 2251 -543.5 202.1 - - 2111 - - - - - - - - 14.16 14.00 14.20
25499 44.2 4.3 1250 25565 roll 0.77 - - 3635 - 2.58 0.099 822 -553.9 267.4 49.00 0.785 1849 -5.3 0.059 - - - - - - 14.48 14.15 13.48
25667 35.2 6.9 1281 25678 done 0.77 - - 3635 - 2.60 0.088 2250 549.2 267.4 - - 1844 - - - - - - - - 14.05 13.91 14.08
26005 10.9 7.9 1296 26016 done 0.77 - - 3636 - - - 2250 - 267.4 - - 1847 - - - - - - - - 14.50 14.51 14.51
26120 end climb: SURFACE_DEPTH_REACHED
26120 begin surface coast
26151 end surface coast: CONTROL_FINISHED_OK
26151 begin surface
SM 0.89 - - - - -10.26 10.52 0.076 86 8.2 0.55 0.101 1958 3549.1 400.08 56.60 0.082 1309 23.1 -0.026 - - - - - -