NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 626 * Raw log
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• Previous call tries 1 • 178.74 of 350.00 AH used of 24V (48.93% remains)
• Previous NAKs 7, Timeouts 0
• Surface angle -69.9 deg, depth 0.53 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 51 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
32 - - - 114 done -0.39 - - 83 - - - 1951 - -107.1 -78.03 - 3379 - - - - - - - - 14.49 12.50 14.38
121 1.5 -3.1 2 143 roll -0.39 14.32 0.360 3258 221.7 2.58 0.099 561 -538.8 -107.1 - - 3382 - - - - - - - - 13.72 14.09 14.09
244 36.0 -10.0 24 251 done -0.39 - - 3258 - 2.60 0.090 1982 546.5 -107.1 - - 3383 - - - - - - - - 14.09 13.95 14.14
562 68.6 -10.0 33 571 roll -0.39 - - 3258 - 2.60 0.103 3374 535.4 -107.1 - - 3384 - - - - - - - - 14.49 13.79 14.50
641 75.3 -8.5 47 648 done -0.39 - - 3257 - 2.55 0.085 1976 -548.2 -107.1 - - 3381 - - - - - - - - 14.04 13.90 14.09
1001 107.7 -9.2 62 1004 done -0.39 - - 3258 - - - 1976 - -107.1 - - 3384 - - - - - - - - 14.50 14.52 14.50
1300 132.8 -8.3 67 1302 done -0.39 - - 3258 - - - 1979 - -107.1 - - 3384 - - - - - - - - 14.49 14.50 14.50
1601 157.9 -8.4 72 1604 done -0.39 - - 3259 - - - 1976 - -107.1 - - 3384 - - - - - - - - 14.49 14.50 14.50
1900 181.9 -8.0 77 1903 done -0.39 - - 3258 - - - 1975 - -107.1 - - 3384 - - - - - - - - 14.50 14.52 14.52
2200 203.9 -7.3 82 2208 roll -0.39 - - 3257 - 2.62 0.096 561 -539.7 -107.1 - - 3385 - - - - - - - - 14.48 13.79 14.50
2238 206.8 -8.1 88 2246 done -0.39 - - 3256 - 2.58 0.083 1966 544.6 -107.1 - - 3384 - - - - - - - - 14.00 13.85 14.06
2578 229.2 -6.5 99 2586 roll -0.39 - - 3258 - 2.65 0.101 3389 537.0 -107.1 - - 3384 - - - - - - - - 14.47 13.72 14.49
2701 236.2 -4.8 121 2710 done -0.39 - - 3258 - 2.60 0.083 1972 -545.0 -107.1 - - 3384 - - - - - - - - 14.02 13.84 14.05
3022 257.4 -6.7 128 3030 roll -0.39 - - 3262 - 2.67 0.100 3395 533.0 -107.1 - - 3383 - - - - - - - - 14.47 13.71 14.48
3055 259.5 -5.9 133 3064 done -0.39 - - 3258 - 2.60 0.081 1971 -547.7 -107.1 - - 3384 - - - - - - - - 13.99 13.85 14.04
3402 283.0 -7.2 145 3410 roll -0.39 - - 3258 - 2.62 0.098 556 -540.1 -107.1 - - 3383 - - - - - - - - 14.47 13.74 14.48
3430 285.3 -7.6 149 3439 done -0.39 - - 3258 - 2.60 0.086 1982 548.5 -107.1 - - 3383 - - - - - - - - 13.97 13.82 14.02
3780 308.0 -6.5 162 3788 roll -0.39 - - 3259 - 2.62 0.103 3388 536.6 -107.1 - - 3380 - - - - - - - - 14.50 13.69 14.52
3810 309.9 -6.8 166 3818 done -0.39 - - 3258 - 2.60 0.082 1964 -547.7 -107.1 - - 3382 - - - - - - - - 13.99 13.83 14.04
4159 333.6 -6.8 179 4166 roll -0.39 - - 3258 - 2.60 0.096 563 -538.8 -107.1 - - 3381 - - - - - - - - 14.50 13.73 14.50
4207 337.3 -7.9 187 4214 done -0.39 - - 3257 - 2.58 0.087 1965 543.4 -107.1 - - 3381 - - - - - - - - 13.95 13.79 14.01
4537 359.5 -6.7 196 4544 roll -0.39 - - 3258 - 2.65 0.101 3387 536.6 -107.1 - - 3381 - - - - - - - - 14.48 13.69 14.50
4565 361.4 -6.4 200 4572 done -0.39 - - 3258 - 2.60 0.084 1972 -544.2 -107.1 - - 3381 - - - - - - - - 13.97 13.82 14.04
4914 382.2 -5.9 213 4923 roll -0.39 - - 3257 - 2.62 0.096 561 -538.5 -107.1 - - 3381 - - - - - - - - 14.47 13.71 14.49
4949 384.4 -6.4 218 4956 done -0.39 - - 3258 - 2.60 0.086 1979 545.4 -107.1 - - 3381 - - - - - - - - 13.94 13.79 13.99
5293 404.9 -6.0 230 5301 roll -0.39 - - 3257 - 2.65 0.103 3384 530.2 -107.1 - - 3383 - - - - - - - - 14.50 13.70 14.52
5327 406.9 -6.1 235 5335 done -0.39 - - 3258 - 2.62 0.086 1957 -544.7 -107.1 - - 3380 - - - - - - - - 13.95 13.81 14.00
5672 429.1 -6.5 247 5680 roll -0.39 - - 3258 - 2.62 0.100 558 -534.0 -107.1 - - 3379 - - - - - - - - 14.48 13.71 14.50
5725 433.0 -7.4 256 5733 done -0.39 - - 3258 - 2.60 0.090 1965 541.2 -107.1 - - 3382 - - - - - - - - 13.93 13.76 13.98
6051 454.1 -6.6 264 6058 roll -0.39 - - 3258 - 2.67 0.103 3388 533.0 -107.1 - - 3379 - - - - - - - - 14.46 13.65 14.47
6111 458.0 -6.7 274 6119 done -0.39 - - 3258 - 2.62 0.086 1974 -539.7 -107.1 - - 3378 - - - - - - - - 13.92 13.76 13.97
6432 477.8 -6.1 281 6435 done -0.39 - - 3257 - - - 1973 - -107.1 - - 3378 - - - - - - - - 14.45 14.46 14.46
6731 497.0 -6.5 286 6734 done -0.39 - - 3257 - - - 1974 - -107.1 - - 3378 - - - - - - - - 14.50 14.49 14.49
7030 519.3 -7.5 291 7038 roll -0.39 - - 3257 - 2.70 0.103 3387 523.3 -107.1 - - 3378 - - - - - - - - 14.50 13.65 14.49
7089 523.2 -6.3 301 7098 done -0.39 - - 3258 - 2.62 0.085 1972 -540.1 -107.1 - - 3377 - - - - - - - - 13.90 13.77 13.97
7409 541.9 -5.7 308 7417 roll -0.39 - - 3259 - 2.65 0.098 553 -535.5 -107.1 - - 3377 - - - - - - - - 14.47 13.69 14.48
7448 544.3 -6.6 314 7456 done -0.39 - - 3258 - 2.62 0.088 1972 541.6 -107.1 - - 3378 - - - - - - - - 13.92 13.76 13.97
7788 563.5 -5.6 325 7796 roll -0.39 - - 3257 - 2.70 0.104 3389 524.8 -107.1 - - 3376 - - - - - - - - 14.46 13.64 14.47
7817 565.1 -5.2 329 7826 done -0.39 - - 3258 - 2.65 0.086 1964 -537.7 -107.1 - - 3376 - - - - - - - - 13.92 13.77 13.97
8169 584.9 -5.9 342 8173 done -0.39 - - 3254 - - - 1964 - -107.1 - - 3375 - - - - - - - - 14.47 14.48 14.47
8467 601.9 -5.5 347 8471 done -0.39 - - 3257 - - - 1964 - -107.1 - - 3375 - - - - - - - - 14.45 14.47 14.47
8767 618.0 -5.4 352 8771 done -0.39 - - 3257 - - - 1964 - -107.1 - - 3373 - - - - - - - - 14.45 14.47 14.47
9069 632.8 -4.8 357 9072 done -0.39 - - 3258 - - - 1964 - -107.1 - - 3374 - - - - - - - - 14.44 14.46 14.45
9368 649.0 -5.4 362 9371 done -0.39 - - 3261 - - - 1963 - -107.1 - - 3373 - - - - - - - - 14.48 14.47 14.47
9668 664.0 -5.0 367 9676 roll -0.39 - - 3258 - 2.78 0.106 3390 513.3 -107.1 - - 3373 - - - - - - - - 14.46 13.64 14.47
9717 666.7 -5.5 375 9725 done -0.39 - - 3258 - 2.65 0.088 1976 -533.6 -107.1 - - 3372 - - - - - - - - 13.87 13.71 13.93
10047 683.7 -5.1 384 10049 done -0.39 - - 3258 - - - 1974 - -107.1 - - 3373 - - - - - - - - 14.44 14.46 14.48
10161 end dive: TARGET_DEPTH_EXCEEDED
10161 begin apogee
10173 689.2 -4.7 386 10270 done -0.16 0.25 0.145 3338 320.0 - - 2251 - - 92.18 1.561 2941 -4.7 0.406 - - - - - - 13.66 13.82 12.90
10274 end apogee: CONTROL_FINISHED_OK
10274 begin climb
10280 690.7 - 387 10391 roll 0.39 0.50 0.099 3517 358.0 2.70 0.105 3664 523.3 107.1 94.05 1.545 2501 -4.7 0.410 - - - - - - 13.93 13.50 12.80
10409 688.1 4.7 410 10475 done 0.42 - - 3517 - 2.65 0.090 2235 -539.2 165.2 50.58 1.546 2265 -4.7 0.408 - - - - - - 14.00 13.88 12.88
10773 665.4 6.4 428 10784 roll 0.44 - - 3517 - 2.58 0.102 843 -539.5 165.2 - - 2267 - - - - - - - - 14.47 13.93 14.49
10831 661.0 7.7 437 10843 done 0.44 - - 3518 - 2.58 0.090 2259 548.8 165.2 - - 2267 - - - - - - - - 14.14 14.00 14.18
11159 637.5 7.2 445 11170 roll 0.44 - - 3518 - 2.62 0.107 3662 535.5 165.2 - - 2266 - - - - - - - - 14.56 13.90 14.57
11220 632.9 8.3 454 11231 done 0.44 - - 3518 - 2.60 0.090 2257 -540.4 165.2 - - 2266 - - - - - - - - 14.12 13.97 14.17
11552 610.2 6.8 462 11563 roll 0.45 - - 3517 - 2.65 0.102 822 -541.5 165.2 - - 2264 - - - - - - - - 14.54 13.87 14.57
11673 601.8 6.5 483 11684 done 0.47 - - 3517 - 2.62 0.090 2258 548.1 165.2 - - 2266 - - - - - - - - 14.09 13.93 14.14
12001 582.6 5.8 491 12013 roll 0.50 0.08 0.155 3584 837.5 2.65 0.106 3662 529.8 165.2 - - 2265 - - - - - - - - 14.16 13.81 14.19
12044 579.1 9.6 497 12057 done 0.50 0.12 0.224 3553 -258.3 2.62 0.091 2250 -538.9 165.2 - - 2264 - - - - - - - - 13.69 13.91 13.95
12392 551.0 8.5 508 12403 roll 0.50 - - 3557 - 2.62 0.103 840 -538.2 165.2 - - 2264 - - - - - - - - 14.53 13.83 14.55
12507 540.5 8.7 528 12518 done 0.50 - - 3557 - 2.62 0.093 2245 536.3 165.2 - - 2265 - - - - - - - - 14.04 13.88 14.09
12840 514.5 7.6 537 12851 roll 0.50 - - 3557 - 2.67 0.103 838 -527.0 165.2 - - 2264 - - - - - - - - 14.60 13.78 14.59
12893 510.7 7.3 545 12904 done 0.50 - - 3557 - 2.62 0.093 2261 543.1 165.2 - - 2264 - - - - - - - - 14.02 13.87 14.09
13231 489.6 6.2 554 13242 roll 0.52 - - 3562 - 2.65 0.106 3662 528.7 165.2 - - 2264 - - - - - - - - 14.50 13.74 14.52
13284 485.6 7.5 562 13295 done 0.52 - - 3557 - 2.65 0.090 2236 -538.1 165.2 - - 2265 - - - - - - - - 14.02 13.86 14.07
13621 466.3 5.6 571 13632 roll 0.55 - - 3557 - 2.60 0.103 843 -535.8 165.2 - - 2265 - - - - - - - - 14.53 13.74 14.54
13690 462.2 5.7 582 13702 done 0.59 - - 3557 - 2.60 0.090 2249 540.8 165.2 - - 2266 - - - - - - - - 14.00 13.84 14.05
13994 444.6 5.9 588 14006 roll 0.62 0.08 0.146 3626 862.5 2.70 0.103 3664 524.1 165.2 - - 2265 - - - - - - - - 14.19 13.71 14.16
14031 441.2 10.3 593 14044 done 0.62 0.17 0.232 3597 -170.6 2.62 0.089 2252 -538.9 165.2 - - 2263 - - - - - - - - 13.57 13.81 13.84
14385 410.4 8.8 605 14397 roll 0.62 - - 3604 - 2.65 0.099 840 -532.8 165.2 - - 2265 - - - - - - - - 14.53 13.74 14.54
14472 401.7 9.8 620 14484 done 0.62 - - 3609 - 2.62 0.090 2260 542.0 165.2 - - 2266 - - - - - - - - 13.98 13.81 14.02
14836 368.7 9.0 634 14847 roll 0.62 - - 3611 - 2.67 0.098 840 -531.8 165.2 - - 2266 - - - - - - - - 14.51 13.71 14.52
14892 362.2 10.0 643 14904 done 0.62 - - 3611 - 2.62 0.090 2245 536.3 165.2 - - 2269 - - - - - - - - 13.95 13.78 14.01
15221 331.8 9.1 651 15232 done 0.62 - - 3611 - - - 2244 - 165.2 - - 2266 - - - - - - - - 14.52 14.54 14.54
15520 306.6 8.4 656 15531 roll 0.62 - - 3621 - 2.65 0.098 843 -528.7 165.2 - - 2266 - - - - - - - - 14.51 13.69 14.52
15598 299.7 9.0 669 15609 done 0.62 - - 3621 - 2.62 0.090 2262 541.6 165.2 - - 2267 - - - - - - - - 13.93 13.78 13.99
15970 270.1 8.0 685 15981 done 0.62 - - 3621 - - - 2262 - 165.2 - - 2266 - - - - - - - - 14.50 14.52 14.52
16267 247.5 7.5 690 16278 done 0.62 0.10 0.232 3596 -250.0 - - 2262 - 165.2 - - 2266 - - - - - - - - 13.79 14.00 13.93
16566 227.2 6.7 695 16577 done 0.63 - - 3594 - - - 2262 - 165.2 - - 2266 - - - - - - - - 14.51 14.53 14.53
16867 206.7 6.8 700 16878 roll 0.64 - - 3596 - 2.67 0.099 843 -531.5 165.2 - - 2266 - - - - - - - - 14.52 13.68 14.56
16919 203.3 6.6 708 16930 done 0.66 - - 3594 - 2.60 0.089 2245 539.2 165.2 - - 2270 - - - - - - - - 13.95 13.78 14.00
17255 179.8 7.3 717 17267 roll 0.66 - - 3596 - 2.70 0.103 3665 525.9 165.2 - - 2267 - - - - - - - - 14.54 13.69 14.52
17491 161.9 7.9 761 17503 done 0.66 - - 3595 - 2.65 0.086 2253 -532.8 165.2 - - 2266 - - - - - - - - 13.91 13.75 13.97
17829 140.0 6.4 770 17841 roll 0.67 - - 3606 - 2.65 0.096 839 -533.6 165.2 - - 2268 - - - - - - - - 14.50 13.71 14.50
17932 133.2 7.2 787 17943 done 0.67 - - 3606 - 2.65 0.088 2267 538.9 165.2 - - 2268 - - - - - - - - 13.81 13.66 13.87
18284 110.1 6.3 799 18295 roll 0.70 - - 3606 - 2.65 0.101 3668 528.7 165.2 - - 2266 - - - - - - - - 14.47 13.66 14.49
18367 104.2 7.2 813 18379 done 0.70 - - 3608 - 2.62 0.083 2250 -541.2 165.2 - - 2267 - - - - - - - - 13.93 13.78 13.98
18734 87.3 4.3 828 18800 roll 0.73 - - 3606 - 2.65 0.103 3666 534.3 230.7 51.10 0.836 1997 -5.3 0.108 - - - - - - 14.48 14.07 13.42
18875 77.0 7.8 854 18886 done 0.73 - - 3609 - 2.58 0.086 2251 -548.4 230.7 - - 1994 - - - - - - - - 14.15 14.01 14.20
19242 54.5 5.8 869 19254 roll 0.76 - - 3609 - 2.62 0.097 823 -545.0 230.7 - - 1995 - - - - - - - - 14.52 13.83 14.54
19490 42.3 5.2 915 19540 done 0.78 0.10 0.115 3678 690.0 2.60 0.088 2244 546.5 278.1 35.92 0.779 1805 -5.3 0.056 - - - - - - 14.03 13.93 13.47
19872 end climb: SURFACE_DEPTH_REACHED
19872 begin surface coast
19902 end surface coast: CONTROL_FINISHED_OK
19903 begin surface
SM 0.59 - - - - -10.28 10.15 0.040 90 8.8 0.52 0.098 1962 -17900.0 400.08 51.78 0.081 1309 25.3 -0.019 - - - - - -