NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 532 * Raw log
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• Previous call tries 5 • 150.70 of 350.00 AH used of 24V (56.94% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -64.7 deg, depth 0.97 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 50 s
• GPS2 time: 6 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
32 - - - 92 VBD -0.39 - - 56 - - - 1944 - -107.1 -56.47 - 2902 - - - - - - - - 14.47 - 14.50
100 3.9 -9.1 2 132 roll -0.39 14.85 0.368 3257 215.6 2.95 2.098 3385 488.5 -107.1 -7.93 - 3378 -60.0 - - - - - - - 13.64 12.88 14.06
343 40.7 -8.4 48 351 done -0.39 - - 3257 - 2.58 0.085 1972 -547.7 -107.1 - - 3381 - - - - - - - - 14.16 14.02 14.18
692 75.0 -10.0 57 700 roll -0.39 - - 3257 - 2.58 0.097 557 -548.4 -107.1 - - 3382 - - - - - - - - 14.51 13.92 14.50
736 79.4 -9.8 64 743 done -0.39 - - 3257 - 2.55 0.085 1972 554.9 -107.1 - - 3381 - - - - - - - - 14.15 14.02 14.21
1071 109.8 -9.0 74 1078 roll -0.39 - - 3257 - 2.60 0.099 3389 545.0 -107.1 - - 3385 - - - - - - - - 14.54 13.95 14.56
1154 116.7 -7.7 89 1162 done -0.39 - - 3257 - 2.58 0.084 1968 -550.8 -107.1 - - 3382 - - - - - - - - 14.15 14.01 14.19
1515 141.7 -7.1 103 1522 roll -0.39 - - 3257 - 2.60 0.096 556 -543.1 -107.1 - - 3382 - - - - - - - - 14.52 13.95 14.53
1592 149.0 -8.9 117 1601 done -0.39 - - 3257 - 2.58 0.086 1981 552.3 -107.1 - - 3381 - - - - - - - - 14.14 13.99 14.17
1953 180.0 -8.8 132 1960 roll -0.39 - - 3257 - 2.60 0.103 3387 540.8 -107.1 - - 3380 - - - - - - - - 14.53 13.91 14.57
2021 186.0 -8.5 144 2029 done -0.39 - - 3257 - 2.60 0.083 1980 -541.2 -107.1 - - 3381 - - - - - - - - 14.05 13.91 14.09
2396 216.2 -8.0 161 2404 roll -0.39 - - 3257 - 2.62 0.101 3378 533.6 -107.1 - - 3380 - - - - - - - - 14.52 13.91 14.53
2470 221.9 -6.9 174 2478 done -0.39 - - 3257 - 2.60 0.086 1952 -548.5 -107.1 - - 3380 - - - - - - - - 14.09 13.95 14.15
2840 244.9 -6.1 190 2843 done -0.39 - - 3257 - - - 1952 - -107.1 - - 3379 - - - - - - - - 14.52 14.54 14.53
3134 263.7 -6.3 195 3137 done -0.39 - - 3257 - - - 1952 - -107.1 - - 3379 - - - - - - - - 14.55 14.57 14.57
3434 281.5 -5.8 200 3442 roll -0.39 - - 3257 - 2.67 0.102 3376 533.3 -107.1 - - 3378 - - - - - - - - 14.54 13.89 14.58
3504 285.4 -5.7 212 3512 done -0.39 - - 3257 - 2.60 0.085 1959 -545.0 -107.1 - - 3378 - - - - - - - - 14.10 13.97 14.15
3877 304.8 -5.2 229 3886 roll -0.39 - - 3257 - 2.58 0.100 562 -541.5 -107.1 - - 3377 - - - - - - - - 14.52 13.87 14.53
3917 307.6 -6.5 235 3925 done -0.39 - - 3257 - 2.58 0.086 1967 544.6 -107.1 - - 3377 - - - - - - - - 14.09 13.95 14.14
4258 325.7 -5.2 246 4265 roll -0.39 - - 3257 - 2.65 0.103 3390 537.0 -107.1 - - 3376 - - - - - - - - 14.55 13.86 14.57
4371 330.8 -4.6 266 4378 done -0.39 - - 3257 - 2.60 0.086 1973 -545.0 -107.1 - - 3375 - - - - - - - - 14.09 13.94 14.14
4701 347.6 -5.2 275 4710 roll -0.39 - - 3257 - 2.60 0.099 561 -543.1 -107.1 - - 3375 - - - - - - - - 14.52 13.79 14.54
4766 352.0 -6.7 286 4775 done -0.39 - - 3257 - 2.58 0.086 1971 546.5 -107.1 - - 3375 - - - - - - - - 14.09 13.94 14.14
5073 370.4 -6.0 292 5080 roll -0.39 - - 3257 - 2.65 0.102 3388 534.7 -107.1 - - 3374 - - - - - - - - 14.52 13.83 14.54
5181 377.1 -6.2 312 5189 done -0.39 - - 3254 - 2.62 0.086 1955 -546.9 -107.1 - - 3373 - - - - - - - - 14.07 13.93 14.12
5510 397.8 -6.3 321 5513 done -0.39 - - 3257 - - - 1956 - -107.1 - - 3373 - - - - - - - - 14.54 14.57 14.57
5811 417.1 -6.5 326 5819 roll -0.39 - - 3257 - 2.70 0.102 3390 531.1 -107.1 - - 3367 - - - - - - - - 14.53 13.83 14.55
5870 421.0 -6.2 336 5878 done -0.39 - - 3257 - 2.62 0.085 1967 -543.1 -107.1 - - 3372 - - - - - - - - 14.08 13.93 14.13
6191 441.0 -6.3 343 6198 roll -0.39 - - 3257 - 2.60 0.099 562 -540.4 -107.1 - - 3374 - - - - - - - - 14.53 13.84 14.54
6239 444.4 -7.0 351 6246 done -0.39 - - 3257 - 2.58 0.088 1970 545.7 -107.1 - - 3371 - - - - - - - - 14.07 13.92 14.12
6568 463.4 -5.7 360 6575 roll -0.39 - - 3257 - 2.67 0.104 3389 531.5 -107.1 - - 3371 - - - - - - - - 14.52 13.79 14.54
6627 466.3 -4.9 370 6635 done -0.39 - - 3257 - 2.62 0.087 1973 -540.5 -107.1 - - 3370 - - - - - - - - 14.04 13.89 14.09
6947 480.8 -4.4 377 6950 done -0.39 - - 3262 - - - 1976 - -107.1 - - 3370 - - - - - - - - 14.52 14.54 14.54
7248 494.9 -4.8 382 7251 done -0.39 - - 3257 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.51 14.55 14.54
7548 509.7 -5.0 387 7551 done -0.39 - - 3257 - - - 1978 - -107.1 - - 3372 - - - - - - - - 14.52 14.54 14.56
7846 527.2 -5.9 392 7854 roll -0.39 - - 3258 - 2.70 0.104 3390 523.0 -107.1 - - 3368 - - - - - - - - 14.53 13.79 14.56
7910 531.0 -6.1 403 7919 done -0.39 - - 3257 - 2.62 0.087 1972 -541.2 -107.1 - - 3368 - - - - - - - - 14.04 13.89 14.09
8217 548.9 -5.8 409 8220 done -0.39 - - 3257 - - - 1972 - -107.1 - - 3368 - - - - - - - - 14.51 14.53 14.53
8516 565.8 -5.7 414 8519 done -0.39 - - 3257 - - - 1972 - -107.1 - - 3368 - - - - - - - - 14.53 14.55 14.55
8816 584.6 -6.4 419 8823 roll -0.39 - - 3257 - 2.70 0.105 3388 524.4 -107.1 - - 3367 - - - - - - - - 14.52 13.76 14.54
8880 589.0 -6.9 430 8889 done -0.39 - - 3256 - 2.65 0.088 1957 -540.0 -107.1 - - 3367 - - - - - - - - 14.02 13.88 14.07
9184 610.1 -7.0 436 9188 done -0.39 - - 3257 - - - 1953 - -107.1 - - 3367 - - - - - - - - 14.52 14.54 14.54
9486 628.7 -6.2 441 9489 done -0.39 - - 3257 - - - 1957 - -107.1 - - 3364 - - - - - - - - 14.49 14.50 14.50
9785 647.0 -6.0 446 9788 done -0.39 - - 3260 - - - 1960 - -107.1 - - 3363 - - - - - - - - 14.54 14.54 14.54
10085 666.1 -6.2 451 10087 done -0.39 - - 3257 - - - 1957 - -107.1 - - 3363 - - - - - - - - 14.52 14.54 14.54
10386 683.2 -5.6 456 10389 done -0.39 - - 3257 - - - 1957 - -107.1 - - 3365 - - - - - - - - 14.48 14.50 14.50
10685 699.8 -5.4 461 10688 done -0.39 - - 3257 - - - 1957 - -107.1 - - 3365 - - - - - - - - 14.48 14.50 14.50
10985 717.5 -6.0 466 10988 done -0.39 - - 3257 - - - 1957 - -107.1 - - 3365 - - - - - - - - 14.52 14.53 14.53
11286 733.3 -5.3 471 11294 roll -0.39 - - 3257 - 2.78 0.106 3389 515.1 -107.1 - - 3364 - - - - - - - - 14.47 13.73 14.49
11330 735.6 -5.2 478 11338 done -0.39 - - 3257 - 2.67 0.087 1968 -532.2 -107.1 - - 3362 - - - - - - - - 13.99 13.84 14.04
11665 751.7 -4.6 488 11668 done -0.39 - - 3257 - - - 1967 - -107.1 - - 3364 - - - - - - - - 14.50 14.52 14.51
11966 766.3 -4.8 493 11969 done -0.39 - - 3256 - - - 1968 - -107.1 - - 3364 - - - - - - - - 14.46 14.48 14.48
12265 783.9 -6.0 498 12273 roll -0.39 - - 3257 - 2.72 0.108 3388 522.1 -107.1 - - 3364 - - - - - - - - 14.50 13.71 14.52
12344 788.9 -4.9 512 12351 done -0.39 - - 3257 - 2.67 0.090 1955 -536.7 -107.1 - - 3363 - - - - - - - - 13.96 13.81 14.02
12710 798.6 -1.2 527 12717 roll -0.39 - - 3257 - 2.65 0.104 563 -525.3 -107.1 - - 3364 - - - - - - - - 14.45 13.73 14.47
12953 798.4 - 573 12961 done -0.39 - - 3257 - 2.62 0.090 1968 536.3 -107.1 - - 3363 - - - - - - - - 13.93 13.76 13.98
13028 end dive: NO_VERTICAL_VELOCITY
13028 begin apogee
13040 798.6 - 576 13131 done -0.16 0.25 0.083 3365 432.0 - - 2266 - - 86.43 1.702 2946 -4.8 0.438 - - - - - - 14.02 13.81 12.85
13135 end apogee: CONTROL_FINISHED_OK
13135 begin climb
13141 798.4 - 577 13249 roll 0.39 0.40 0.065 3541 440.0 2.67 0.104 3663 523.2 107.1 90.60 1.675 2505 -4.9 0.448 - - - - - - 13.97 13.41 12.69
13367 789.7 6.1 619 13378 done 0.41 - - 3538 - 2.62 0.091 2255 -537.4 107.1 - - 2499 - - - - - - - - 14.03 13.89 14.10
13714 768.1 5.9 630 13726 roll 0.44 - - 3541 - 2.67 0.107 3663 527.3 107.1 - - 2500 - - - - - - - - 14.51 13.97 14.52
13767 763.9 8.1 638 13779 done 0.44 - - 3544 - 2.60 0.089 2252 -542.7 107.1 - - 2500 - - - - - - - - 14.18 14.03 14.22
14107 741.0 6.6 647 14118 roll 0.46 - - 3553 - 2.62 0.101 822 -545.8 107.1 - - 2498 - - - - - - - - 14.57 13.97 14.58
14175 736.4 6.4 658 14188 done 0.48 - - 3553 - 2.62 0.093 2242 542.0 107.1 - - 2498 - - - - - - - - 14.15 14.00 14.20
14480 716.8 6.4 664 14491 roll 0.49 - - 3553 - 2.67 0.106 3670 534.8 107.1 - - 2497 - - - - - - - - 14.57 13.97 14.58
14529 713.6 5.9 671 14540 done 0.52 - - 3557 - 2.62 0.091 2246 -543.5 107.1 - - 2500 - - - - - - - - 14.17 14.04 14.21
14871 692.4 6.4 681 14882 roll 0.54 - - 3567 - 2.60 0.102 840 -540.8 107.1 - - 2495 - - - - - - - - 14.55 13.95 14.57
14922 688.5 7.2 689 14934 done 0.54 - - 3568 - 2.60 0.094 2261 546.5 107.1 - - 2498 - - - - - - - - 14.16 14.00 14.21
15256 663.3 7.7 698 15267 done 0.54 - - 3565 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.59 14.60 14.59
15555 641.2 7.4 703 15566 done 0.54 - - 3570 - - - 2260 - 107.1 - - 2497 - - - - - - - - 14.61 14.61 14.62
15856 619.5 7.1 708 15867 done 0.54 - - 3567 - - - 2260 - 107.1 - - 2497 - - - - - - - - 14.57 14.58 14.58
16155 597.9 7.1 713 16166 roll 0.54 - - 3568 - 2.67 0.103 842 -531.1 107.1 - - 2498 - - - - - - - - 14.59 13.87 14.60
16257 591.2 6.6 730 16269 done 0.56 - - 3569 - 2.60 0.093 2245 539.6 107.1 - - 2494 - - - - - - - - 14.08 13.92 14.14
16611 570.3 5.8 742 16623 roll 0.59 - - 3568 - 2.70 0.106 3670 527.8 107.1 - - 2497 - - - - - - - - 14.54 13.86 14.54
16757 561.2 6.0 768 16769 done 0.62 - - 3570 - 2.65 0.091 2252 -535.1 107.1 - - 2497 - - - - - - - - 14.09 13.92 14.15
17126 543.0 5.0 783 17179 done 0.64 - - 3569 - - - 2253 - 157.6 41.00 1.376 2295 -4.9 0.376 - - - - - - 14.57 14.09 13.23
17480 519.2 7.0 789 17490 done 0.64 - - 3570 - - - 2252 - 157.6 - - 2297 - - - - - - - - 14.52 14.54 14.54
17780 496.3 7.8 794 17790 done 0.64 - - 3569 - - - 2250 - 157.6 - - 2297 - - - - - - - - 14.56 14.58 14.58
18081 473.6 7.5 799 18092 done 0.64 - - 3569 - - - 2252 - 157.6 - - 2298 - - - - - - - - 14.57 14.58 14.57
18380 451.2 7.5 804 18390 done 0.64 - - 3570 - - - 2252 - 157.6 - - 2297 - - - - - - - - 14.59 14.60 14.60
18681 428.8 7.4 809 18692 done 0.64 0.08 0.155 3626 700.0 - - 2252 - 157.6 - - 2299 - - - - - - - - 14.24 14.32 14.29
18980 398.7 10.3 814 18992 roll 0.64 - - 3626 - 2.70 0.106 3664 523.0 157.6 - - 2298 - - - - - - - - 14.59 13.91 14.61
19018 394.3 11.9 819 19029 done 0.64 - - 3626 - 2.62 0.090 2252 -538.9 157.6 - - 2297 - - - - - - - - 14.15 14.00 14.20
19372 356.1 11.2 831 19383 roll 0.64 - - 3626 - 2.70 0.105 3664 523.0 157.6 - - 2300 - - - - - - - - 14.54 13.88 14.55
19404 351.5 12.0 835 19416 done 0.64 0.12 0.236 3603 -191.7 2.65 0.090 2233 -540.0 157.6 - - 2299 - - - - - - - - 13.75 13.95 14.00
19757 314.4 10.5 848 19768 roll 0.64 - - 3613 - 2.60 0.101 840 -535.8 157.6 - - 2297 - - - - - - - - 14.59 13.90 14.61
19798 309.9 10.7 854 19810 done 0.64 - - 3612 - 2.60 0.091 2260 546.2 157.6 - - 2298 - - - - - - - - 14.12 13.97 14.15
20147 275.1 10.1 865 20158 done 0.64 - - 3610 - - - 2259 - 157.6 - - 2298 - - - - - - - - 14.53 14.57 14.56
20442 248.9 8.7 870 20453 roll 0.64 - - 3611 - 2.65 0.106 3662 529.4 157.6 - - 2298 - - - - - - - - 14.59 13.85 14.62
20554 238.5 10.0 889 20565 done 0.64 - - 3613 - 2.62 0.090 2254 -537.4 157.6 - - 2298 - - - - - - - - 14.09 13.91 14.12
20896 209.8 8.3 899 20907 roll 0.64 - - 3613 - 2.67 0.104 3661 527.0 157.6 - - 2301 - - - - - - - - 14.53 13.83 14.54
20924 206.9 8.6 902 20936 done 0.64 - - 3622 - 2.62 0.087 2243 -541.2 157.6 - - 2297 - - - - - - - - 14.09 13.95 14.14
21286 177.1 8.0 916 21297 done 0.64 - - 3622 - - - 2243 - 157.6 - - 2298 - - - - - - - - 14.54 14.57 14.57
21582 154.5 7.5 921 21593 done 0.64 - - 3622 - - - 2243 - 157.6 - - 2301 - - - - - - - - 14.57 14.59 14.59
21883 131.6 7.8 926 21894 done 0.64 - - 3622 - - - 2242 - 157.6 - - 2298 - - - - - - - - 14.54 14.59 14.59
22182 109.9 7.2 931 22194 roll 0.64 - - 3622 - 2.72 0.103 3662 522.1 157.6 - - 2299 - - - - - - - - 14.57 13.74 14.58
22284 101.0 9.4 948 22296 done 0.64 - - 3622 - 2.65 0.090 2242 -535.8 157.6 - - 2298 - - - - - - - - 14.06 13.90 14.11
22637 79.0 5.7 960 22648 done 0.67 - - 3622 - - - 2245 - 157.6 - - 2297 - - - - - - - - 14.54 14.57 14.57
22933 64.2 4.9 965 22985 roll 0.70 - - 3622 - 2.60 0.103 842 -539.6 209.8 40.35 0.818 2081 -5.4 0.081 - - - - - - 14.57 14.20 13.54
23038 57.9 7.8 984 23049 done 0.70 - - 3622 - 2.55 0.090 2245 550.2 209.8 - - 2083 - - - - - - - - 14.19 14.06 14.25
23381 42.0 3.8 997 23449 roll 0.74 - - 3622 - 2.58 0.097 834 -546.9 287.4 56.75 0.777 1766 -5.6 0.058 - - - - - - 14.52 13.95 13.52
23579 31.1 5.1 1034 23628 done 0.76 - - 3623 - 2.58 0.089 2246 547.3 336.2 35.85 0.760 1566 -5.6 0.044 - - - - - - 14.14 14.00 13.50
23946 7.8 6.9 1055 23956 done 0.76 - - 3627 - - - 2246 - 336.2 - - 1563 - - - - - - - - 14.50 14.51 14.50
24059 end climb: SURFACE_DEPTH_REACHED
24060 begin surface coast
24120 end surface coast: CONTROL_FINISHED_OK
24120 begin surface
SM 1.04 - - - - -10.26 9.95 0.040 81 8.1 0.52 0.104 1972 3780.8 400.08 26.42 0.083 1309 49.5 -0.063 - - - - - -