NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 629 * Raw log
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• Previous call tries 1 • 179.77 of 350.00 AH used of 24V (48.64% remains)
• Previous NAKs 24, Timeouts 0
• Surface angle -74.6 deg, depth 0.72 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• No surface pump (final VBD was 487.66, SM_CC=400)
• GPS1 time: 80 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
29 - - - 115 done -0.39 - - 82 - - - 1964 - -107.1 -77.30 - 3379 - - - - - - - - 14.48 12.47 14.39
122 1.6 -2.1 2 151 roll -0.39 15.43 0.395 3260 206.0 2.60 0.098 555 -541.9 -107.1 - - 3382 - - - - - - - - 13.69 14.04 14.07
281 42.8 -9.8 31 293 done -0.39 - - 3258 - 2.58 0.088 1966 546.9 -107.1 - - 3381 - - - - - - - - 14.09 13.96 14.14
618 71.3 -7.9 39 629 roll -0.39 - - 3255 - 2.65 0.099 3391 537.7 -107.1 - - 3383 - - - - - - - - 14.53 13.84 14.56
773 84.3 -8.0 67 785 done -0.39 - - 3258 - 2.60 0.083 1972 -545.8 -107.1 - - 3385 - - - - - - - - 14.05 13.90 14.10
1131 115.8 -9.1 80 1142 roll -0.39 - - 3258 - 2.62 0.097 560 -538.9 -107.1 - - 3383 - - - - - - - - 14.52 13.75 14.54
1193 122.5 -9.7 90 1205 done -0.39 - - 3257 - 2.58 0.086 1975 548.4 -107.1 - - 3383 - - - - - - - - 14.05 13.90 14.11
1516 149.3 -8.2 97 1527 roll -0.39 - - 3258 - 2.62 0.100 3383 537.4 -107.1 - - 3383 - - - - - - - - 14.54 13.74 14.57
1559 152.4 -7.0 103 1571 done -0.39 - - 3258 - 2.60 0.083 1958 -548.1 -107.1 - - 3383 - - - - - - - - 14.02 13.88 14.08
1906 176.0 -6.9 114 1917 done -0.39 - - 3258 - - - 1957 - -107.1 - - 3383 - - - - - - - - 14.52 14.54 14.53
2203 197.2 -7.1 119 2215 roll -0.39 - - 3263 - 2.62 0.099 560 -533.2 -107.1 - - 3382 - - - - - - - - 14.52 13.75 14.53
2230 199.4 -7.4 122 2242 done -0.39 - - 3258 - 2.60 0.085 1969 541.9 -107.1 - - 3382 - - - - - - - - 14.00 13.84 14.05
2594 224.0 -6.7 136 2605 roll -0.39 - - 3258 - 2.67 0.102 3391 532.6 -107.1 - - 3384 - - - - - - - - 14.52 13.71 14.52
2655 228.3 -6.4 146 2667 done -0.39 - - 3262 - 2.62 0.083 1964 -544.7 -107.1 - - 3382 - - - - - - - - 13.97 13.83 14.00
2978 248.9 -6.4 153 2990 roll -0.39 - - 3258 - 2.60 0.096 562 -539.2 -107.1 - - 3381 - - - - - - - - 14.57 13.75 14.59
3011 251.2 -6.9 157 3022 done -0.39 - - 3256 - 2.60 0.086 1985 547.3 -107.1 - - 3381 - - - - - - - - 13.97 13.83 14.04
3368 272.9 -6.0 170 3379 roll -0.39 - - 3258 - 2.62 0.103 3387 535.1 -107.1 - - 3381 - - - - - - - - 14.54 13.69 14.56
3416 275.8 -5.7 177 3427 done -0.39 - - 3255 - 2.60 0.082 1973 -543.8 -107.1 - - 3381 - - - - - - - - 13.89 13.74 13.95
3755 295.2 -5.8 187 3766 roll -0.39 - - 3257 - 2.62 0.096 553 -542.0 -107.1 - - 3381 - - - - - - - - 14.52 13.74 14.55
3802 298.4 -6.9 194 3814 done -0.39 - - 3258 - 2.58 0.085 1964 546.9 -107.1 - - 3381 - - - - - - - - 13.96 13.80 14.03
4140 318.7 -6.0 204 4151 done -0.39 - - 3257 - - - 1964 - -107.1 - - 3378 - - - - - - - - 14.55 14.57 14.57
4440 336.6 -6.0 209 4451 done -0.39 - - 3257 - - - 1964 - -107.1 - - 3379 - - - - - - - - 14.56 14.60 14.57
4742 352.6 -5.3 214 4752 done -0.39 - - 3258 - - - 1964 - -107.1 - - 3379 - - - - - - - - 14.54 14.56 14.56
5041 369.3 -5.6 219 5051 done -0.39 - - 3257 - - - 1965 - -107.1 - - 3382 - - - - - - - - 14.55 14.57 14.57
5341 386.4 -5.7 224 5353 roll -0.39 - - 3257 - 2.70 0.103 3388 527.0 -107.1 - - 3379 - - - - - - - - 14.54 13.66 14.56
5378 388.6 -5.9 229 5389 done -0.39 - - 3257 - 2.65 0.084 1956 -540.4 -107.1 - - 3376 - - - - - - - - 13.93 13.78 13.98
5731 406.9 -5.1 241 5742 done -0.39 - - 3257 - - - 1956 - -107.1 - - 3378 - - - - - - - - 14.52 14.54 14.54
6025 423.1 -5.5 246 6037 roll -0.39 - - 3258 - 2.75 0.103 3390 521.5 -107.1 - - 3378 - - - - - - - - 14.52 13.61 14.54
6098 427.2 -5.6 258 6110 done -0.39 - - 3258 - 2.62 0.084 1976 -539.7 -107.1 - - 3377 - - - - - - - - 13.91 13.76 13.97
6476 447.8 -5.4 275 6487 done -0.39 - - 3257 - - - 1976 - -107.1 - - 3377 - - - - - - - - 14.54 14.56 14.55
6771 463.8 -5.3 280 6782 done -0.39 - - 3258 - - - 1976 - -107.1 - - 3375 - - - - - - - - 14.54 14.55 14.54
7073 476.2 -4.1 285 7084 roll -0.39 - - 3257 - 2.70 0.103 3386 522.2 -107.1 - - 3377 - - - - - - - - 14.52 13.65 14.54
7130 478.5 -3.6 294 7142 done -0.39 - - 3258 - 2.62 0.084 1973 -539.3 -107.1 - - 3376 - - - - - - - - 13.92 13.74 13.96
7460 494.3 -5.0 302 7470 done -0.39 - - 3257 - - - 1973 - -107.1 - - 3376 - - - - - - - - 14.54 14.56 14.55
7758 513.7 -6.5 307 7770 roll -0.39 - - 3258 - 2.67 0.099 546 -534.5 -107.1 - - 3374 - - - - - - - - 14.50 13.64 14.52
7795 516.0 -6.4 312 7806 done -0.39 - - 3258 - 2.65 0.086 1970 537.4 -107.1 - - 3373 - - - - - - - - 13.88 13.73 13.95
8149 533.3 -4.8 324 8160 roll -0.39 - - 3258 - 2.70 0.104 3389 525.6 -107.1 - - 3374 - - - - - - - - 14.50 13.61 14.51
8186 535.8 -6.0 329 8197 done -0.39 - - 3258 - 2.65 0.084 1957 -540.4 -107.1 - - 3374 - - - - - - - - 13.90 13.76 13.95
8539 554.4 -4.7 341 8550 roll -0.39 - - 3258 - 2.65 0.100 560 -527.2 -107.1 - - 3374 - - - - - - - - 14.48 13.65 14.50
8571 557.0 -6.7 345 8582 done -0.39 - - 3258 - 2.62 0.086 1971 538.5 -107.1 - - 3374 - - - - - - - - 13.88 13.72 13.94
8929 579.1 -6.4 358 8941 roll -0.39 - - 3258 - 2.70 0.104 3389 525.2 -107.1 - - 3373 - - - - - - - - 14.50 13.60 14.51
8983 582.9 -7.6 366 8995 done -0.39 - - 3257 - 2.65 0.084 1964 -537.7 -107.1 - - 3373 - - - - - - - - 13.90 13.75 13.95
9318 603.9 -6.0 375 9329 roll -0.39 - - 3262 - 2.65 0.098 560 -529.8 -107.1 - - 3373 - - - - - - - - 14.51 13.65 14.52
9350 605.9 -6.1 379 9361 done -0.39 - - 3253 - 2.62 0.087 1970 538.2 -107.1 - - 3370 - - - - - - - - 13.87 13.71 13.93
9708 625.9 -5.6 392 9720 roll -0.39 - - 3257 - 2.72 0.104 3389 521.7 -107.1 - - 3372 - - - - - - - - 14.47 13.62 14.49
9730 625.7 -2.0 394 9743 done -0.39 - - 3257 - 2.65 0.086 1974 -534.0 -107.1 - - 3372 - - - - - - - - 13.88 13.72 13.93
10099 630.0 -1.0 409 10110 roll -0.39 - - 3257 - 2.75 0.106 3390 514.9 -107.1 - - 3371 - - - - - - - - 14.46 13.62 14.49
10225 638.3 -8.1 431 10236 done -0.39 - - 3258 - 2.65 0.085 1973 -534.7 -107.1 - - 3371 - - - - - - - - 13.87 13.71 13.93
10549 665.4 -7.5 438 10561 roll -0.39 - - 3258 - 2.70 0.100 543 -529.6 -107.1 - - 3370 - - - - - - - - 14.45 13.62 14.48
10628 673.1 -11.3 451 10640 done -0.39 - - 3258 - 2.67 0.089 1986 540.4 -107.1 - - 3373 - - - - - - - - 13.85 13.67 13.91
10997 685.1 -1.7 467 11008 roll -0.39 - - 3257 - 2.67 0.105 3371 518.7 -107.1 - - 3371 - - - - - - - - 14.52 13.69 14.53
11083 687.3 -4.0 481 11095 done -0.39 - - 3258 - 2.65 0.086 1955 -534.3 -107.1 - - 3370 - - - - - - - - 13.85 13.70 13.91
11452 715.1 -8.3 496 11463 roll -0.39 - - 3258 - 2.62 0.099 563 -531.3 -107.1 - - 3372 - - - - - - - - 14.45 13.62 14.47
11473 717.1 -7.6 498 11485 done -0.39 - - 3258 - 2.60 0.087 1966 539.6 -107.1 - - 3370 - - - - - - - - 13.84 13.68 13.90
11713 end dive: TARGET_DEPTH_EXCEEDED
11719 begin apogee
11731 755.9 -18.2 511 11837 done -0.16 0.25 0.141 3338 320.0 - - 2251 - - 95.35 1.654 2937 -4.5 0.408 - - - - - - 13.69 13.76 12.80
11839 end apogee: CONTROL_FINISHED_OK
11840 begin climb
11845 795.8 - 513 11962 roll 0.39 0.50 0.096 3526 376.0 2.65 0.099 843 -531.3 107.1 97.50 1.683 2500 -4.5 0.417 - - - - - - 13.88 13.43 12.69
12196 815.3 6.7 581 12207 done 0.40 - - 3527 - 2.58 0.091 2247 544.2 107.1 - - 2498 - - - - - - - - 14.12 13.98 14.17
12533 795.3 4.2 590 12608 roll 0.44 - - 3527 - 2.65 0.103 845 -529.1 176.5 60.25 1.656 2219 -4.6 0.437 - - - - - - 14.51 13.93 12.95
12764 771.5 4.1 634 12840 done 0.47 - - 3526 - 2.58 0.090 2260 548.4 246.0 61.80 1.630 1935 -4.6 0.428 - - - - - - 14.15 14.02 12.90
13158 755.8 3.4 655 13250 roll 0.52 0.08 0.154 3591 812.5 2.65 0.108 3663 529.4 332.3 74.03 1.623 1583 -4.8 0.436 - - - - - - 14.16 13.88 12.92
13270 746.8 9.8 676 13282 done 0.52 0.12 0.220 3566 -208.3 2.62 0.093 2253 -538.2 332.3 - - 1582 - - - - - - - - 13.83 13.95 14.04
13605 736.0 4.8 684 13661 done 0.54 - - 3560 - - - 2247 - 387.5 48.75 1.596 1359 -4.6 0.415 - - - - - - 14.48 13.95 13.00
13959 680.5 17.1 690 13969 done 0.54 - - 3562 - - - 2246 - 387.5 - - 1356 - - - - - - - - 14.51 14.50 14.52
14261 639.8 13.3 695 14272 roll 0.54 - - 3567 - 2.65 0.104 821 -537.7 387.5 - - 1355 - - - - - - - - 14.55 13.95 14.57
14308 634.6 11.9 702 14320 done 0.54 - - 3572 - 2.60 0.090 2247 548.5 387.5 - - 1355 - - - - - - - - 14.17 14.02 14.20
14648 598.8 10.4 712 14659 done 0.54 - - 3568 - - - 2245 - 387.5 - - 1354 - - - - - - - - 14.55 14.57 14.57
14947 566.3 11.0 717 14958 roll 0.54 - - 3569 - 2.65 0.104 823 -536.6 387.5 - - 1355 - - - - - - - - 14.57 13.90 14.59
14994 561.3 11.2 724 15005 done 0.54 - - 3569 - 2.60 0.090 2246 547.3 387.5 - - 1354 - - - - - - - - 14.16 13.99 14.19
15337 522.2 11.5 734 15348 done 0.54 - - 3569 - - - 2246 - 387.5 - - 1354 - - - - - - - - 14.54 14.56 14.56
15632 490.1 10.5 739 15643 roll 0.54 - - 3569 - 2.67 0.106 822 -533.3 387.5 - - 1354 - - - - - - - - 14.57 13.83 14.58
15675 485.8 10.0 745 15686 done 0.54 - - 3569 - 2.65 0.089 2261 543.0 387.5 - - 1353 - - - - - - - - 14.10 13.93 14.15
16023 453.0 9.5 756 16034 roll 0.54 - - 3569 - 2.67 0.103 831 -535.6 387.5 - - 1357 - - - - - - - - 14.53 13.84 14.54
16072 447.9 10.0 763 16083 done 0.54 - - 3569 - 2.60 0.090 2245 543.8 387.5 - - 1357 - - - - - - - - 14.09 13.92 14.13
16414 415.2 9.6 773 16425 roll 0.54 - - 3570 - 2.70 0.103 3665 525.9 387.5 - - 1357 - - - - - - - - 14.51 13.83 14.52
16447 411.2 10.5 777 16458 done 0.54 - - 3569 - 2.65 0.091 2235 -539.6 387.5 - - 1353 - - - - - - - - 13.97 13.83 14.03
16803 373.4 10.7 790 16815 roll 0.54 - - 3569 - 2.60 0.103 843 -535.4 387.5 - - 1355 - - - - - - - - 14.50 13.81 14.52
16912 361.2 11.3 808 16923 done 0.54 - - 3569 - 2.60 0.090 2261 545.4 387.5 - - 1356 - - - - - - - - 14.07 13.90 14.10
17260 324.1 10.5 819 17271 roll 0.54 - - 3569 - 2.67 0.099 844 -530.7 387.5 - - 1353 - - - - - - - - 14.51 13.76 14.53
17318 317.8 10.4 828 17329 done 0.54 - - 3570 - 2.60 0.090 2244 538.5 387.5 - - 1356 - - - - - - - - 14.02 13.85 14.07
17646 285.4 9.8 836 17658 roll 0.54 - - 3569 - 2.70 0.101 3664 525.9 387.5 - - 1353 - - - - - - - - 14.54 13.70 14.57
17674 282.5 9.9 839 17685 done 0.54 - - 3576 - 2.60 0.086 2256 -541.5 387.5 - - 1353 - - - - - - - - 14.03 13.88 14.11
18037 247.5 9.7 853 18048 roll 0.54 - - 3569 - 2.65 0.101 823 -540.8 387.5 - - 1353 - - - - - - - - 14.54 13.74 14.55
18145 237.2 9.6 871 18156 done 0.54 - - 3569 - 2.62 0.086 2245 542.7 387.5 - - 1354 - - - - - - - - 14.00 13.85 14.08
18492 206.5 8.7 882 18503 roll 0.54 - - 3570 - 2.67 0.100 823 -532.6 387.5 - - 1353 - - - - - - - - 14.52 13.76 14.54
18530 202.9 8.6 887 18541 done 0.54 - - 3570 - 2.65 0.086 2264 543.8 387.5 - - 1354 - - - - - - - - 14.00 13.85 14.07
18884 173.1 8.6 899 18894 done 0.54 - - 3570 - - - 2263 - 387.5 - - 1354 - - - - - - - - 14.50 14.52 14.52
19177 149.1 7.9 904 19188 roll 0.54 - - 3570 - 2.70 0.099 836 -528.5 387.5 - - 1354 - - - - - - - - 14.55 13.80 14.55
19240 144.5 7.6 914 19252 done 0.54 - - 3570 - 2.60 0.088 2244 541.5 387.5 - - 1354 - - - - - - - - 14.00 13.83 14.06
19563 120.8 7.3 921 19574 roll 0.54 - - 3570 - 2.65 0.100 840 -529.8 387.5 - - 1355 - - - - - - - - 14.52 13.74 14.52
19601 118.0 7.2 926 19613 done 0.54 - - 3570 - 2.60 0.088 2253 543.5 387.5 - - 1355 - - - - - - - - 13.92 13.77 13.96
19953 90.3 8.2 938 19965 roll 0.54 - - 3570 - 2.65 0.098 839 -533.6 387.5 - - 1353 - - - - - - - - 14.50 13.75 14.51
20000 86.3 8.3 945 20012 done 0.54 - - 3570 - 2.60 0.089 2250 542.7 387.5 - - 1354 - - - - - - - - 13.99 13.85 14.06
20345 63.8 6.5 955 20355 done 0.56 - - 3569 - - - 2250 - 387.5 - - 1356 - - - - - - - - 14.50 14.51 14.52
20640 45.9 6.3 961 20651 roll 0.58 - - 3569 - 2.67 0.100 822 -534.8 387.5 - - 1356 - - - - - - - - 14.50 13.72 14.52
20693 42.7 6.3 969 20704 done 0.60 - - 3570 - 2.65 0.090 2264 544.2 387.5 - - 1356 - - - - - - - - 13.99 13.84 14.08
21028 26.7 4.5 983 21084 done 0.63 - - 3570 - - - 2265 - 448.6 44.70 0.754 1110 -5.5 0.038 - - - - - - 14.53 14.11 13.50
21387 6.1 3.9 995 21412 VBD 0.67 0.12 0.123 3652 683.3 - - 2264 - 523.1 17.65 0.099 952 -9.0 0.109 - - - - - - 14.14 - 14.15
21414 end climb: SURFACE_DEPTH_REACHED
21414 begin surface coast
21455 end surface coast: CONTROL_FINISHED_OK
21455 begin surface
SM 0.67 - - - - -10.26 10.02 0.038 90 9.0 0.57 0.096 1955 -15436.8 487.66 - - 952 - - - - - - - -