NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 628 * Raw log
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• Previous call tries 2 • 179.41 of 350.00 AH used of 24V (48.74% remains)
• Previous NAKs 6, Timeouts 0
• Surface angle -67.2 deg, depth 0.51 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 30 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
33 - - - 152 done -0.39 - - 82 - - - 1965 - -107.1 -109.97 - 3379 - - - - - - - - 14.46 12.50 14.36
160 6.5 -6.1 4 186 roll -0.39 15.20 0.396 3249 208.4 2.60 0.094 3387 546.9 -107.1 - - 3382 - - - - - - - - 13.76 14.08 14.13
301 37.8 -8.4 30 309 done -0.39 - - 3249 - 2.60 0.086 1953 -551.5 -107.1 - - 3383 - - - - - - - - 14.15 14.02 14.19
660 75.3 -10.0 41 668 roll -0.39 - - 3249 - 2.55 0.098 554 -548.6 -107.1 - - 3383 - - - - - - - - 14.47 13.95 14.50
769 86.3 -10.3 61 777 done -0.39 - - 3249 - 2.58 0.086 1980 552.7 -107.1 - - 3383 - - - - - - - - 14.12 13.99 14.17
1099 117.7 -9.5 70 1107 roll -0.39 - - 3249 - 2.58 0.099 3380 542.6 -107.1 - - 3383 - - - - - - - - 14.49 13.90 14.50
1132 120.6 -8.2 75 1140 done -0.39 - - 3249 - 2.55 0.083 1974 -551.4 -107.1 - - 3382 - - - - - - - - 14.04 13.90 14.09
1477 149.5 -8.3 87 1485 roll -0.39 - - 3249 - 2.60 0.099 3369 536.5 -107.1 - - 3384 - - - - - - - - 14.48 13.71 14.50
1517 152.9 -8.1 93 1524 done -0.39 - - 3249 - 2.55 0.082 1971 -548.2 -107.1 - - 3382 - - - - - - - - 14.07 13.93 14.12
1855 182.0 -8.6 104 1858 done -0.39 - - 3249 - - - 1971 - -107.1 - - 3382 - - - - - - - - 14.47 14.48 14.52
2157 206.3 -8.1 109 2160 done -0.39 - - 3249 - - - 1971 - -107.1 - - 3383 - - - - - - - - 14.51 14.52 14.50
2455 230.0 -7.9 114 2458 done -0.39 - - 3249 - - - 1971 - -107.1 - - 3383 - - - - - - - - 14.50 14.52 14.52
2755 253.0 -7.8 119 2763 roll -0.39 - - 3249 - 2.62 0.097 546 -543.9 -107.1 - - 3382 - - - - - - - - 14.48 13.81 14.50
2784 255.3 -8.1 123 2792 done -0.39 - - 3245 - 2.58 0.086 1965 550.0 -107.1 - - 3379 - - - - - - - - 14.02 13.87 14.07
3133 282.6 -7.9 136 3136 done -0.39 - - 3246 - - - 1965 - -107.1 - - 3381 - - - - - - - - 14.50 14.52 14.52
3434 305.3 -7.6 141 3442 roll -0.39 - - 3249 - 2.67 0.102 3388 533.0 -107.1 - - 3381 - - - - - - - - 14.47 13.74 14.49
3464 307.4 -7.3 145 3471 done -0.39 - - 3249 - 2.60 0.083 1972 -544.6 -107.1 - - 3381 - - - - - - - - 14.00 13.85 14.04
3812 332.0 -7.0 158 3816 done -0.39 - - 3245 - - - 1972 - -107.1 - - 3380 - - - - - - - - 14.47 14.48 14.48
4112 351.9 -6.7 163 4120 roll -0.39 - - 3248 - 2.67 0.102 3389 530.7 -107.1 - - 3380 - - - - - - - - 14.50 13.73 14.51
4146 354.2 -7.0 168 4156 done -0.39 - - 3249 - 2.62 0.083 1971 -541.2 -107.1 - - 3379 - - - - - - - - 13.89 13.76 13.94
4494 379.6 -7.4 180 4503 roll -0.39 - - 3245 - 2.65 0.096 545 -538.1 -107.1 - - 3381 - - - - - - - - 14.46 13.73 14.48
4518 381.7 -7.3 183 4526 done -0.39 - - 3249 - 2.62 0.086 1980 547.7 -107.1 - - 3379 - - - - - - - - 13.97 13.81 14.02
4873 406.3 -6.8 197 4881 roll -0.39 - - 3249 - 2.65 0.103 3389 531.7 -107.1 - - 3381 - - - - - - - - 14.46 13.69 14.48
4931 410.2 -6.4 207 4939 done -0.39 - - 3251 - 2.62 0.084 1971 -541.2 -107.1 - - 3379 - - - - - - - - 13.96 13.81 14.01
5252 430.4 -6.4 214 5259 roll -0.39 - - 3252 - 2.62 0.097 565 -536.6 -107.1 - - 3380 - - - - - - - - 14.47 13.72 14.49
5295 433.5 -6.9 221 5303 done -0.39 - - 3249 - 2.60 0.087 1971 540.8 -107.1 - - 3378 - - - - - - - - 13.96 13.81 14.01
5629 455.2 -6.4 231 5632 done -0.39 - - 3249 - - - 1973 - -107.1 - - 3378 - - - - - - - - 14.45 14.47 14.47
5930 475.0 -6.6 236 5933 done -0.39 - - 3255 - - - 1970 - -107.1 - - 3377 - - - - - - - - 14.47 14.49 14.49
6230 496.1 -7.1 241 6233 done -0.39 - - 3249 - - - 1970 - -107.1 - - 3377 - - - - - - - - 14.47 14.48 14.48
6529 516.3 -6.8 246 6532 done -0.39 - - 3249 - - - 1970 - -107.1 - - 3376 - - - - - - - - 14.48 14.50 14.50
6830 536.8 -6.9 251 6838 roll -0.39 - - 3251 - 2.70 0.104 3389 525.6 -107.1 - - 3379 - - - - - - - - 14.43 13.68 14.45
6879 540.3 -6.9 259 6886 done -0.39 - - 3248 - 2.65 0.086 1958 -540.0 -107.1 - - 3376 - - - - - - - - 13.94 13.78 14.00
7208 563.4 -7.0 268 7216 roll -0.39 - - 3249 - 2.62 0.101 570 -529.8 -107.1 - - 3374 - - - - - - - - 14.47 13.68 14.48
7234 565.3 -7.3 271 7242 done -0.39 - - 3249 - 2.60 0.088 1967 537.3 -107.1 - - 3375 - - - - - - - - 13.93 13.77 13.98
7589 590.5 -6.9 285 7596 roll -0.39 - - 3249 - 2.70 0.105 3390 527.0 -107.1 - - 3374 - - - - - - - - 14.46 13.65 14.45
7628 593.2 -6.8 291 7636 done -0.39 - - 3249 - 2.62 0.085 1975 -540.1 -107.1 - - 3374 - - - - - - - - 13.90 13.76 13.96
7967 614.0 -6.0 302 7970 done -0.39 - - 3249 - - - 1977 - -107.1 - - 3374 - - - - - - - - 14.46 14.47 14.48
8267 630.9 -5.6 307 8275 roll -0.39 - - 3249 - 2.72 0.104 3390 519.5 -107.1 - - 3375 - - - - - - - - 14.45 13.66 14.43
8316 633.5 -5.5 315 8324 done -0.39 - - 3250 - 2.65 0.086 1970 -535.8 -107.1 - - 3373 - - - - - - - - 13.95 13.78 13.98
8645 651.9 -5.6 324 8648 done -0.39 - - 3249 - - - 1964 - -107.1 - - 3372 - - - - - - - - 14.43 14.45 14.45
8946 667.2 -5.1 329 8953 roll -0.39 - - 3249 - 2.75 0.104 3396 520.7 -107.1 - - 3372 - - - - - - - - 14.45 13.66 14.46
8990 669.5 -5.3 336 8999 done -0.39 - - 3244 - 2.67 0.089 1955 -539.7 -107.1 - - 3374 - - - - - - - - 13.89 13.74 13.95
9325 685.7 -4.7 346 9329 done -0.39 - - 3249 - - - 1955 - -107.1 - - 3371 - - - - - - - - 14.44 14.45 14.45
9626 701.7 -5.6 351 9629 done -0.39 - - 3249 - - - 1955 - -107.1 - - 3371 - - - - - - - - 14.42 14.47 14.45
9925 719.2 -5.8 356 9928 done -0.39 - - 3249 - - - 1955 - -107.1 - - 3371 - - - - - - - - 14.43 14.42 14.42
10226 739.8 -7.0 361 10229 done -0.39 - - 3249 - - - 1955 - -107.1 - - 3370 - - - - - - - - 14.42 14.44 14.44
10525 761.8 -7.2 366 10533 roll -0.39 - - 3249 - 2.62 0.099 562 -531.7 -107.1 - - 3369 - - - - - - - - 14.42 13.69 14.44
10585 765.5 -6.3 376 10593 done -0.39 - - 3250 - 2.62 0.087 1984 542.7 -107.1 - - 3369 - - - - - - - - 13.88 13.73 13.93
10905 779.1 -3.7 383 10913 roll -0.39 - - 3248 - 2.67 0.105 3389 526.2 -107.1 - - 3368 - - - - - - - - 14.42 13.64 14.44
10959 782.4 -5.7 392 10969 done -0.39 - - 3249 - 2.65 0.086 1973 -534.3 -107.1 - - 3372 - - - - - - - - 13.89 13.74 13.94
11286 797.4 -4.2 400 11289 done -0.39 - - 3248 - - - 1973 - -107.1 - - 3368 - - - - - - - - 14.42 14.44 14.43
11586 815.8 -5.2 405 11594 roll -0.39 - - 3249 - 2.70 0.103 3386 523.3 -107.1 - - 3368 - - - - - - - - 14.39 13.69 14.40
11667 817.5 -1.1 419 11674 done -0.39 - - 3248 - 2.72 0.105 1975 -518.8 -107.1 - - 3366 - - - - - - - - 13.83 13.64 13.91
11841 end dive: NO_VERTICAL_VELOCITY
11841 begin apogee
11853 818.1 - 431 11952 done -0.16 0.30 0.137 3344 320.0 - - 2251 - - 94.28 1.708 2944 -4.5 0.421 - - - - - - 13.66 13.77 12.81
11956 end apogee: CONTROL_FINISHED_OK
11957 begin climb
11962 817.8 - 432 12075 roll 0.39 0.50 0.110 3519 350.0 2.67 0.093 3664 529.2 107.1 96.35 1.694 2503 -4.6 0.434 - - - - - - 13.87 13.43 12.69
12311 817.7 -0.2 499 12476 done 0.47 - - 3525 - 2.65 0.095 2235 -539.2 272.4 145.57 1.685 1827 -4.6 0.442 - - - - - - 14.10 13.95 12.76
12832 790.8 8.2 545 12843 roll 0.47 - - 3527 - 2.60 0.116 843 -535.4 272.4 - - 1827 - - - - - - - - 14.47 13.92 14.48
13007 777.4 7.8 577 13019 done 0.47 - - 3527 - 2.55 0.086 2254 553.3 272.4 - - 1827 - - - - - - - - 14.16 14.03 14.21
13340 749.2 8.9 586 13351 roll 0.47 - - 3527 - 2.70 0.119 842 -523.0 272.4 - - 1827 - - - - - - - - 14.55 13.86 14.57
13587 723.7 11.3 632 13598 done 0.47 - - 3527 - 2.58 0.088 2256 548.1 272.4 - - 1827 - - - - - - - - 14.13 13.98 14.17
13911 692.6 9.4 639 13923 roll 0.47 - - 3527 - 2.60 0.098 3663 541.2 272.4 - - 1825 - - - - - - - - 14.57 13.88 14.58
14031 679.6 9.4 660 14042 done 0.47 - - 3526 - 2.70 0.105 2253 -522.2 272.4 - - 1826 - - - - - - - - 14.05 13.90 14.12
14360 654.1 7.8 668 14371 roll 0.47 - - 3527 - 2.65 0.099 3664 532.5 272.4 - - 1825 - - - - - - - - 14.54 13.83 14.56
14501 641.8 8.6 693 14512 done 0.47 - - 3527 - 2.70 0.101 2237 -528.5 272.4 - - 1825 - - - - - - - - 14.02 13.85 14.09
14872 611.8 8.3 709 14883 roll 0.47 - - 3527 - 2.70 0.098 3665 528.9 272.4 - - 1825 - - - - - - - - 14.54 13.83 14.57
14977 602.3 9.3 726 14988 done 0.47 - - 3527 - 2.67 0.100 2254 -528.5 272.4 - - 1826 - - - - - - - - 14.02 13.85 14.07
15329 571.2 8.8 738 15340 roll 0.47 - - 3527 - 2.67 0.099 3664 528.1 272.4 - - 1826 - - - - - - - - 14.53 13.78 14.54
15432 562.3 8.7 755 15443 done 0.47 - - 3528 - 2.70 0.101 2236 -528.9 272.4 - - 1824 - - - - - - - - 13.97 13.79 14.03
15785 538.3 6.5 767 15796 roll 0.49 - - 3527 - 2.70 0.097 3663 528.5 272.4 - - 1823 - - - - - - - - 14.52 13.76 14.51
15886 530.9 7.5 784 15898 done 0.49 - - 3527 - 2.65 0.092 2253 -532.1 272.4 - - 1824 - - - - - - - - 14.00 13.83 14.04
16239 509.6 6.0 796 16250 roll 0.52 0.10 0.148 3595 680.0 2.67 0.103 822 -536.0 272.4 - - 1824 - - - - - - - - 14.17 13.75 14.22
16396 492.2 11.8 824 16408 done 0.52 0.15 0.206 3560 -233.3 2.65 0.089 2245 537.0 272.4 - - 1826 - - - - - - - - 13.64 13.81 13.86
16749 459.5 9.2 837 16761 roll 0.52 - - 3560 - 2.70 0.106 3664 525.6 272.4 - - 1826 - - - - - - - - 14.53 13.71 14.54
16786 455.6 10.6 842 16797 done 0.52 - - 3560 - 2.65 0.089 2247 -534.7 272.4 - - 1827 - - - - - - - - 13.99 13.83 14.04
17139 421.0 10.0 854 17151 roll 0.52 - - 3566 - 2.65 0.102 840 -530.9 272.4 - - 1826 - - - - - - - - 14.48 13.71 14.50
17256 408.5 10.4 874 17268 done 0.52 - - 3568 - 2.62 0.092 2246 536.6 272.4 - - 1826 - - - - - - - - 13.95 13.79 14.04
17591 375.6 9.5 883 17602 roll 0.52 - - 3568 - 2.67 0.103 841 -526.2 272.4 - - 1828 - - - - - - - - 14.49 13.69 14.50
17632 371.6 9.3 889 17644 done 0.52 - - 3568 - 2.62 0.091 2261 542.0 272.4 - - 1827 - - - - - - - - 13.95 13.79 14.00
17982 342.5 8.4 900 17992 done 0.52 - - 3568 - - - 2263 - 272.4 - - 1826 - - - - - - - - 14.50 14.51 14.51
18276 318.0 8.1 905 18287 roll 0.52 - - 3568 - 2.72 0.101 820 -530.5 272.4 - - 1827 - - - - - - - - 14.54 13.66 14.55
18329 313.9 7.9 913 18340 done 0.52 - - 3568 - 2.65 0.090 2256 541.9 272.4 - - 1827 - - - - - - - - 13.93 13.79 14.01
18663 289.7 7.3 922 18673 done 0.52 - - 3568 - - - 2256 - 272.4 - - 1829 - - - - - - - - 14.49 14.50 14.50
18962 267.1 7.5 927 18972 done 0.52 - - 3568 - - - 2256 - 272.4 - - 1827 - - - - - - - - 14.53 14.54 14.54
19263 244.0 7.7 932 19274 roll 0.52 - - 3568 - 2.70 0.101 840 -524.4 272.4 - - 1827 - - - - - - - - 14.51 13.68 14.52
19335 238.1 8.5 944 19346 done 0.52 - - 3568 - 2.62 0.092 2251 538.5 272.4 - - 1828 - - - - - - - - 13.93 13.77 13.97
19708 207.9 8.2 961 19719 roll 0.52 - - 3569 - 2.70 0.103 3665 523.7 272.4 - - 1830 - - - - - - - - 14.50 13.65 14.51
19764 202.5 9.8 970 19776 done 0.52 - - 3568 - 2.65 0.086 2245 -535.8 272.4 - - 1828 - - - - - - - - 13.93 13.78 14.00
20094 175.3 8.3 978 20105 roll 0.52 - - 3569 - 2.65 0.101 839 -530.6 272.4 - - 1828 - - - - - - - - 14.49 13.65 14.52
20205 166.2 8.1 997 20216 done 0.52 - - 3565 - 2.65 0.092 2265 538.1 272.4 - - 1828 - - - - - - - - 13.93 13.77 13.99
20545 140.8 7.4 1007 20555 done 0.52 - - 3566 - - - 2266 - 272.4 - - 1829 - - - - - - - - 14.50 14.49 14.49
20843 119.9 6.9 1012 20854 roll 0.52 - - 3569 - 2.70 0.101 843 -527.0 272.4 - - 1830 - - - - - - - - 14.52 13.69 14.54
20890 116.4 7.3 1019 20901 done 0.52 - - 3569 - 2.62 0.089 2265 542.7 272.4 - - 1830 - - - - - - - - 13.93 13.81 13.99
21234 91.4 7.6 1029 21245 roll 0.52 - - 3569 - 2.67 0.099 842 -533.0 272.4 - - 1830 - - - - - - - - 14.47 13.57 14.48
21300 85.6 7.6 1040 21312 done 0.52 - - 3568 - 2.60 0.089 2245 539.6 272.4 - - 1831 - - - - - - - - 13.93 13.77 13.98
21608 66.1 6.2 1046 21619 roll 0.54 - - 3565 - 2.67 0.100 3663 531.1 272.4 - - 1830 - - - - - - - - 14.45 13.64 14.49
21681 62.3 5.3 1058 21732 done 0.56 - - 3569 - 2.65 0.083 2235 -538.9 316.9 35.70 0.806 1642 -5.3 0.080 - - - - - - 13.93 13.80 13.47
22053 43.1 5.5 1077 22065 roll 0.60 - - 3569 - 2.58 0.099 842 -539.9 316.9 - - 1644 - - - - - - - - 14.55 13.83 14.54
22117 39.5 6.0 1087 22129 done 0.63 - - 3569 - 2.58 0.086 2262 550.4 316.9 - - 1645 - - - - - - - - 14.09 13.96 14.14
22440 22.0 5.4 1099 22452 done 0.67 0.10 0.120 3649 800.0 - - 2262 - 316.9 - - 1645 - - - - - - - - 14.14 14.16 14.14
22645 end climb: SURFACE_DEPTH_REACHED
22645 begin surface coast
22683 end surface coast: CONTROL_FINISHED_OK
22683 begin surface
SM 0.49 - - - - -10.25 10.15 0.047 94 9.3 0.55 0.096 1974 -145.5 400.08 34.83 0.077 1310 37.6 -0.024 - - - - - -