NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 117 * Raw log
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• Previous call tries 1 • 31.31 of 350.00 AH used of 24V (91.05% remains)
• Previous NAKs 7, Timeouts 0
• Surface angle -79.6 deg, depth 1.00 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 63 s
• GPS2 time: 2 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
22 end surface: CONTROL_FINISHED_OK
23 begin dive
28 - - - 91 VBD -0.39 - - 91 - - - 1883 - -107.1 -55.67 - 3012 - - - - - - - - 14.53 - 14.55
98 3.3 -4.6 6 127 done -0.39 13.43 0.354 3257 235.7 - - 1886 - -107.1 -5.90 - 3380 -62.4 - - - - - - - 14.12 13.35 14.38
308 49.0 -14.7 28 319 roll -0.39 - - 3258 - 2.53 0.112 493 -550.6 -107.1 - - 3383 - - - - - - - - 14.58 14.34 14.59
374 59.0 -14.8 39 386 done -0.39 - - 3258 - 2.47 0.090 1895 567.6 -107.1 - - 3384 - - - - - - - - 14.45 14.37 14.49
567 83.8 -13.5 58 578 done -0.39 - - 3258 - - - 1895 - -107.1 - - 3384 - - - - - - - - 14.63 14.65 14.63
759 106.5 -10.8 77 770 roll -0.39 - - 3258 - 2.53 0.107 474 -561.7 -107.1 - - 3385 - - - - - - - - 14.66 14.44 14.67
856 117.7 -12.1 93 867 done -0.39 - - 3258 - 2.50 0.087 1899 570.0 -107.1 - - 3385 - - - - - - - - 14.54 14.45 14.57
1058 141.9 -11.7 113 1070 done -0.39 - - 3255 - - - 1899 - -107.1 - - 3386 - - - - - - - - 14.72 14.70 14.70
1251 163.1 -9.7 132 1262 roll -0.39 - - 3258 - 2.50 0.106 3321 568.8 -107.1 - - 3385 - - - - - - - - 14.70 14.45 14.71
1296 167.5 -9.9 139 1308 done -0.39 - - 3258 - 2.50 0.096 1905 -566.4 -107.1 - - 3385 - - - - - - - - 14.61 14.47 14.59
1490 186.0 -9.9 158 1501 roll -0.39 - - 3258 - 2.53 0.109 482 -562.5 -107.1 - - 3385 - - - - - - - - 14.71 14.47 14.72
1536 191.3 -11.0 165 1549 done -0.39 - - 3258 - 2.47 0.090 1898 573.3 -107.1 - - 3385 - - - - - - - - 14.57 14.47 14.59
1730 208.4 -8.7 184 1741 roll -0.39 - - 3257 - 2.53 0.110 485 -558.5 -107.1 - - 3385 - - - - - - - - 14.71 14.47 14.73
1777 212.9 -9.5 191 1789 done -0.39 - - 3258 - 2.47 0.091 1906 575.3 -107.1 - - 3385 - - - - - - - - 14.59 14.51 14.62
1970 228.4 -7.9 210 1981 done -0.39 - - 3258 - - - 1910 - -107.1 - - 3385 - - - - - - - - 14.73 14.75 14.75
2162 243.8 -8.3 229 2173 roll -0.39 - - 3258 - 2.55 0.110 477 -562.0 -107.1 - - 3382 - - - - - - - - 14.73 14.48 14.76
2224 249.4 -9.2 239 2235 done -0.39 - - 3258 - 2.50 0.093 1898 568.4 -107.1 - - 3384 - - - - - - - - 14.59 14.51 14.63
2427 266.2 -8.2 247 2437 done -0.39 - - 3258 - - - 1897 - -107.1 - - 3384 - - - - - - - - 14.75 14.76 14.76
2730 291.8 -8.6 257 2741 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3383 - - - - - - - - 14.76 14.80 14.78
3027 318.0 -8.7 267 3037 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3383 - - - - - - - - 14.77 14.79 14.79
3326 343.1 -8.2 277 3337 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3382 - - - - - - - - 14.78 14.80 14.80
3631 367.7 -8.1 287 3641 done -0.39 - - 3258 - - - 1897 - -107.1 - - 3381 - - - - - - - - 14.78 14.81 14.79
3931 391.9 -8.3 297 3941 done -0.39 - - 3258 - - - 1897 - -107.1 - - 3380 - - - - - - - - 14.78 14.80 14.80
4227 415.8 -7.9 307 4237 done -0.39 - - 3258 - - - 1897 - -107.1 - - 3379 - - - - - - - - 14.79 14.81 14.83
4531 439.2 -7.6 317 4541 done -0.39 - - 3257 - - - 1897 - -107.1 - - 3378 - - - - - - - - 14.79 14.81 14.80
4826 461.7 -7.5 327 4837 done -0.39 - - 3257 - - - 1899 - -107.1 - - 3377 - - - - - - - - 14.79 14.81 14.81
5131 483.4 -7.1 337 5141 done -0.39 - - 3258 - - - 1897 - -107.1 - - 3377 - - - - - - - - 14.79 14.81 14.81
5430 504.2 -6.9 347 5441 done -0.39 - - 3258 - - - 1897 - -107.1 - - 3376 - - - - - - - - 14.81 14.81 14.81
5731 525.5 -7.2 357 5741 done -0.39 - - 3257 - - - 1897 - -107.1 - - 3376 - - - - - - - - 14.79 14.82 14.81
6026 546.7 -7.2 367 6037 done -0.39 - - 3260 - - - 1897 - -107.1 - - 3374 - - - - - - - - 14.78 14.81 14.81
6328 568.8 -7.5 377 6339 roll -0.39 - - 3257 - 2.53 0.112 3316 560.9 -107.1 - - 3374 - - - - - - - - 14.80 14.54 14.81
6365 571.7 -7.5 382 6377 done -0.39 - - 3258 - 2.53 0.101 1894 -562.1 -107.1 - - 3373 - - - - - - - - 14.65 14.55 14.67
6674 595.2 -7.9 393 6685 done -0.39 - - 3258 - - - 1895 - -107.1 - - 3373 - - - - - - - - 14.76 14.80 14.80
6975 618.8 -7.8 403 6986 roll -0.39 - - 3257 - 2.53 0.118 485 -557.3 -107.1 - - 3373 - - - - - - - - 14.78 14.52 14.80
7011 622.3 -8.8 408 7023 done -0.39 - - 3258 - 2.50 0.099 1899 565.6 -107.1 - - 3373 - - - - - - - - 14.65 14.54 14.66
7321 644.8 -7.1 419 7332 done -0.39 - - 3256 - - - 1903 - -107.1 - - 3372 - - - - - - - - 14.78 14.81 14.83
7617 665.1 -6.5 429 7627 done -0.39 - - 3257 - - - 1898 - -107.1 - - 3371 - - - - - - - - 14.78 14.81 14.81
7917 683.6 -6.1 439 7928 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3370 - - - - - - - - 14.78 14.81 14.81
8221 702.3 -6.3 449 8231 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3370 - - - - - - - - 14.78 14.82 14.80
8521 721.6 -6.5 459 8532 done -0.39 - - 3257 - - - 1897 - -107.1 - - 3367 - - - - - - - - 14.78 14.83 14.80
8821 741.0 -6.5 469 8831 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3369 - - - - - - - - 14.78 14.80 14.80
9121 761.2 -6.6 479 9132 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3369 - - - - - - - - 14.78 14.80 14.79
9417 780.9 -6.6 489 9428 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3369 - - - - - - - - 14.78 14.80 14.79
9717 800.1 -6.3 499 9728 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3368 - - - - - - - - 14.78 14.80 14.79
10021 818.6 -6.2 509 10031 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3371 - - - - - - - - 14.78 14.80 14.80
10321 836.4 -6.0 519 10332 roll -0.39 - - 3258 - 2.55 0.113 3320 557.6 -107.1 - - 3367 - - - - - - - - 14.77 14.50 14.79
10368 839.5 -5.8 526 10379 done -0.39 - - 3258 - 2.53 0.101 1906 -558.9 -107.1 - - 3367 - - - - - - - - 14.64 14.52 14.66
10705 859.2 -5.9 541 10717 roll -0.39 - - 3258 - 2.55 0.118 477 -560.4 -107.1 - - 3366 - - - - - - - - 14.78 14.50 14.79
10737 861.9 -8.7 545 10749 done -0.39 - - 3258 - 2.53 0.097 1901 562.8 -107.1 - - 3364 - - - - - - - - 14.64 14.54 14.66
11065 881.3 -6.3 557 11076 roll -0.39 - - 3254 - 2.55 0.113 3322 557.3 -107.1 - - 3366 - - - - - - - - 14.76 14.49 14.78
11111 884.8 -6.2 564 11123 done -0.39 - - 3257 - 2.53 0.100 1907 -559.3 -107.1 - - 3364 - - - - - - - - 14.56 14.51 14.61
11449 905.2 -6.0 579 11460 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3369 - - - - - - - - 14.74 14.78 14.78
11754 923.0 -5.7 589 11764 done -0.39 - - 3259 - - - 1902 - -107.1 - - 3366 - - - - - - - - 14.76 14.78 14.78
12054 940.2 -5.8 599 12064 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3366 - - - - - - - - 14.76 14.78 14.78
12354 956.5 -5.3 609 12364 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3366 - - - - - - - - 14.76 14.78 14.78
12653 973.1 -5.5 619 12664 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3366 - - - - - - - - 14.76 14.78 14.78
12949 end dive: TARGET_DEPTH_EXCEEDED
12949 begin apogee
12960 990.3 -5.8 629 13054 done -0.16 0.25 0.168 3339 324.0 0.08 0.215 2228 4075.0 - 84.53 1.916 2940 -5.0 0.487 - - - - - - 14.47 13.89 13.32
13056 end apogee: CONTROL_FINISHED_OK
13056 begin climb
13065 993.9 - 632 13173 roll 0.39 0.50 0.118 3514 350.0 2.83 0.115 3659 505.7 107.1 88.47 1.880 2500 -5.0 0.491 - - - - - - 13.98 13.69 13.13
13210 987.5 7.7 658 13222 done 0.39 - - 3514 - 2.65 0.103 2252 -530.9 107.1 - - 2499 - - - - - - - - 14.04 13.93 14.04
13543 963.8 7.0 672 13553 done 0.39 - - 3514 - - - 2251 - 107.1 - - 2499 - - - - - - - - 14.46 14.48 14.47
13848 943.5 6.7 682 13858 done 0.40 - - 3514 - - - 2248 - 107.1 - - 2502 - - - - - - - - 14.57 14.57 14.58
14147 924.1 6.5 692 14158 roll 0.42 - - 3514 - 2.58 0.115 3660 547.3 107.1 - - 2498 - - - - - - - - 14.63 14.37 14.64
14243 917.2 7.1 708 14254 done 0.42 - - 3514 - 2.58 0.103 2233 -553.1 107.1 - - 2498 - - - - - - - - 14.51 14.40 14.53
14565 897.0 6.0 720 14576 done 0.45 - - 3514 - - - 2230 - 107.1 - - 2498 - - - - - - - - 14.67 14.69 14.67
14870 879.5 5.9 730 14882 roll 0.48 0.10 0.153 3570 560.0 2.60 0.112 3661 550.4 107.1 - - 2496 - - - - - - - - 14.50 14.45 14.56
14956 872.0 9.8 744 14968 done 0.48 0.12 0.243 3545 -208.3 2.53 0.102 2253 -556.5 107.1 - - 2498 - - - - - - - - 14.39 14.45 14.56
15289 846.4 7.5 758 15301 roll 0.48 - - 3554 - 2.53 0.112 840 -558.5 107.1 - - 2498 - - - - - - - - 14.71 14.47 14.72
15335 843.1 8.4 765 15347 done 0.48 - - 3554 - 2.50 0.098 2258 567.2 107.1 - - 2497 - - - - - - - - 14.59 14.52 14.60
15672 814.8 8.3 780 15684 roll 0.48 - - 3554 - 2.55 0.116 3666 552.2 107.1 - - 2497 - - - - - - - - 14.72 14.47 14.73
15828 800.6 9.4 808 15839 done 0.48 - - 3556 - 2.55 0.102 2250 -555.3 107.1 - - 2495 - - - - - - - - 14.59 14.49 14.61
16150 772.9 8.6 820 16161 done 0.48 - - 3560 - - - 2250 - 107.1 - - 2497 - - - - - - - - 14.73 14.75 14.74
16455 745.9 9.4 830 16466 done 0.48 - - 3563 - - - 2250 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.75
16754 718.2 9.0 840 16766 roll 0.48 - - 3560 - 2.53 0.114 3651 553.8 107.1 - - 2497 - - - - - - - - 14.74 14.50 14.76
16915 701.4 10.0 869 16928 done 0.48 - - 3570 - 2.53 0.103 2251 -553.4 107.1 - - 2497 - - - - - - - - 14.61 14.50 14.63
17226 672.6 9.4 880 17236 done 0.48 - - 3570 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.78
17526 644.7 9.4 890 17537 done 0.48 - - 3570 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
17826 619.4 8.1 900 17836 done 0.48 - - 3570 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.75 14.76 14.76
18126 595.5 7.8 910 18137 roll 0.48 - - 3570 - 2.55 0.114 3660 552.5 107.1 - - 2494 - - - - - - - - 14.76 14.50 14.77
18222 587.2 9.0 926 18233 done 0.48 - - 3570 - 2.55 0.103 2234 -559.2 107.1 - - 2498 - - - - - - - - 14.59 14.50 14.63
18545 561.6 7.5 938 18556 roll 0.48 - - 3570 - 2.60 0.113 3661 548.8 107.1 - - 2497 - - - - - - - - 14.75 14.49 14.76
18652 552.6 9.1 956 18663 done 0.48 0.10 0.255 3552 -180.0 2.53 0.100 2253 -556.5 107.1 - - 2497 - - - - - - - - 14.42 14.50 14.60
18994 526.4 7.5 972 19005 done 0.48 - - 3552 - - - 2253 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
19299 502.9 7.8 982 19310 roll 0.48 - - 3552 - 2.55 0.112 3660 551.8 107.1 - - 2497 - - - - - - - - 14.74 14.49 14.76
19439 490.2 9.0 1007 19450 done 0.48 - - 3554 - 2.53 0.101 2254 -555.7 107.1 - - 2497 - - - - - - - - 14.60 14.49 14.63
19776 464.0 7.6 1022 19787 roll 0.48 - - 3554 - 2.55 0.112 3660 551.4 107.1 - - 2497 - - - - - - - - 14.75 14.46 14.76
19838 458.8 8.6 1032 19849 done 0.48 - - 3554 - 2.53 0.099 2247 -558.5 107.1 - - 2497 - - - - - - - - 14.61 14.50 14.64
20160 435.0 7.2 1044 20170 done 0.48 - - 3557 - - - 2250 - 107.1 - - 2497 - - - - - - - - 14.73 14.76 14.76
20465 413.4 6.9 1054 20476 roll 0.48 - - 3557 - 2.55 0.112 3660 552.9 107.1 - - 2497 - - - - - - - - 14.74 14.49 14.76
20574 404.4 7.7 1073 20586 done 0.48 - - 3567 - 2.55 0.099 2249 -553.3 107.1 - - 2497 - - - - - - - - 14.61 14.50 14.63
20912 379.6 7.2 1088 20923 done 0.48 - - 3568 - - - 2249 - 107.1 - - 2497 - - - - - - - - 14.73 14.76 14.76
21217 358.9 6.9 1098 21227 done 0.48 - - 3568 - - - 2249 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
21517 338.6 6.8 1108 21528 done 0.49 - - 3568 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
21819 319.1 6.3 1118 21830 roll 0.51 - - 3569 - 2.58 0.115 3660 548.1 107.1 - - 2497 - - - - - - - - 14.75 14.48 14.76
21880 314.1 7.3 1128 21891 done 0.51 - - 3575 - 2.55 0.099 2236 -558.4 107.1 - - 2497 - - - - - - - - 14.61 14.51 14.64
22203 292.8 6.7 1140 22213 done 0.52 - - 3575 - - - 2235 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
22507 273.5 6.3 1150 22518 done 0.54 - - 3575 - - - 2235 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
22807 255.6 5.9 1160 22818 roll 0.57 - - 3575 - 2.58 0.112 3660 552.3 107.1 - - 2497 - - - - - - - - 14.75 14.49 14.76
22988 243.7 6.1 1193 23000 done 0.59 - - 3583 - 2.53 0.098 2251 -556.9 107.1 - - 2497 - - - - - - - - 14.59 14.50 14.64
23183 231.9 6.0 1212 23194 roll 0.62 - - 3593 - 2.53 0.109 838 -558.5 107.1 - - 2498 - - - - - - - - 14.76 14.47 14.75
23281 225.5 6.4 1228 23292 done 0.64 - - 3593 - 2.47 0.098 2244 569.2 107.1 - - 2498 - - - - - - - - 14.59 14.48 14.62
23483 211.8 7.2 1248 23494 roll 0.64 - - 3594 - 2.55 0.110 3662 556.1 107.1 - - 2498 - - - - - - - - 14.73 14.47 14.74
23664 197.0 8.2 1281 23676 done 0.64 - - 3604 - 2.53 0.096 2250 -558.1 107.1 - - 2498 - - - - - - - - 14.59 14.48 14.61
23858 181.6 7.9 1300 23869 roll 0.64 - - 3604 - 2.58 0.109 3663 547.7 107.1 - - 2498 - - - - - - - - 14.71 14.48 14.73
24005 169.8 7.9 1326 24016 done 0.64 - - 3620 - 2.55 0.098 2236 -559.6 107.1 - - 2498 - - - - - - - - 14.58 14.48 14.60
24208 156.5 6.2 1346 24219 done 0.66 - - 3611 - - - 2235 - 107.1 - - 2498 - - - - - - - - 14.71 14.73 14.73
24400 144.2 5.7 1365 24412 roll 0.69 - - 3623 - 2.47 0.110 842 -564.0 107.1 - - 2498 - - - - - - - - 14.71 14.45 14.73
24562 135.9 4.9 1394 24611 done 0.72 - - 3623 - 2.50 0.097 2257 566.0 159.1 38.50 0.909 2290 -5.4 0.151 - - - - - - 14.56 14.48 13.97
24803 119.0 7.1 1421 24814 done 0.72 - - 3623 - - - 2257 - 159.1 - - 2291 - - - - - - - - 14.60 14.62 14.62
24996 108.0 5.3 1440 25044 roll 0.74 - - 3623 - 2.58 0.112 3661 544.2 203.6 33.90 0.860 2107 -5.4 0.127 - - - - - - 14.63 14.26 13.93
25280 78.5 12.9 1493 25293 done 0.74 - - 3625 - 2.53 0.096 2254 -556.1 203.6 - - 2107 - - - - - - - - 14.45 14.34 14.47
25475 63.2 5.8 1512 25486 done 0.77 - - 3625 - - - 2254 - 203.6 - - 2107 - - - - - - - - 14.61 14.63 14.63
25667 52.4 4.2 1531 25730 roll 0.81 - - 3630 - 2.60 0.105 3662 541.5 272.4 50.28 0.789 1826 -5.6 0.069 - - - - - - 14.64 14.19 13.90
25883 35.7 9.8 1570 25895 done 0.81 - - 3625 - 2.58 0.096 2242 -550.4 272.4 - - 1824 - - - - - - - - 14.41 14.32 14.43
26076 21.6 7.4 1589 26087 roll 0.81 - - 3626 - 2.53 0.109 838 -554.9 272.4 - - 1824 - - - - - - - - 14.58 14.36 14.60
26182 14.1 6.8 1607 26193 done 0.82 - - 3625 - 2.53 0.096 2255 560.1 272.4 - - 1825 - - - - - - - - 14.47 14.38 14.48
26370 end climb: SURFACE_DEPTH_REACHED
26370 begin surface coast
26440 end surface coast: CONTROL_FINISHED_OK
26445 begin surface
SM 2.73 - - - - -10.26 9.88 0.050 89 9.0 0.65 0.099 1900 1338.5 350.04 31.85 0.091 1513 47.5 -0.146 - - - - - -