NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 220 * Raw log
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• Previous call tries 2 • 59.30 of 350.00 AH used of 24V (83.06% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -77.3 deg, depth 1.00 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 55 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
30 - - - 106 done -0.39 - - 82 - - - 1890 - -107.1 -71.75 - 3378 - - - - - - - - 14.48 13.01 14.49
113 2.5 -4.6 2 135 roll -0.39 13.68 0.355 3254 231.9 2.55 0.103 481 -552.5 -107.1 - - 3381 - - - - - - - - 13.99 14.21 14.19
358 62.5 -11.7 49 368 done -0.39 - - 3254 - 2.53 0.090 1898 560.1 -107.1 - - 3382 - - - - - - - - 14.36 14.25 14.39
544 84.0 -11.9 56 552 roll -0.39 - - 3254 - 2.53 0.105 483 -559.3 -107.1 - - 3385 - - - - - - - - 14.58 14.26 14.59
694 103.6 -13.3 84 702 done -0.39 - - 3253 - 2.53 0.090 1917 566.8 -107.1 - - 3385 - - - - - - - - 14.41 14.30 14.44
894 127.1 -11.8 92 902 roll -0.39 - - 3254 - 2.58 0.103 475 -558.9 -107.1 - - 3385 - - - - - - - - 14.62 14.26 14.64
1031 143.4 -11.1 117 1039 done -0.39 - - 3254 - 2.50 0.090 1895 568.0 -107.1 - - 3386 - - - - - - - - 14.44 14.31 14.47
1246 164.1 -9.4 128 1249 done -0.39 - - 3255 - - - 1895 - -107.1 - - 3385 - - - - - - - - 14.64 14.68 14.65
1426 180.4 -9.0 134 1429 done -0.39 - - 3254 - - - 1891 - -107.1 - - 3387 - - - - - - - - 14.64 14.66 14.66
1606 197.9 -9.9 140 1614 roll -0.39 - - 3254 - 2.53 0.104 480 -557.7 -107.1 - - 3383 - - - - - - - - 14.65 14.32 14.67
1689 206.7 -10.1 155 1696 done -0.39 - - 3254 - 2.50 0.091 1895 566.0 -107.1 - - 3381 - - - - - - - - 14.47 14.34 14.50
1893 225.0 -8.9 164 1896 done -0.39 - - 3254 - - - 1899 - -107.1 - - 3382 - - - - - - - - 14.67 14.69 14.69
2073 240.9 -8.8 170 2077 done -0.39 - - 3254 - - - 1903 - -107.1 - - 3382 - - - - - - - - 14.68 14.69 14.69
2252 256.6 -8.7 175 2260 roll -0.39 - - 3254 - 2.53 0.106 482 -561.7 -107.1 - - 3380 - - - - - - - - 14.68 14.33 14.70
2296 260.5 -9.4 182 2303 done -0.39 - - 3254 - 2.53 0.093 1916 566.8 -107.1 - - 3380 - - - - - - - - 14.50 14.37 14.52
2630 286.5 -7.6 192 2637 roll -0.39 - - 3255 - 2.58 0.108 475 -558.5 -107.1 - - 3379 - - - - - - - - 14.69 14.33 14.70
2653 288.4 -7.6 195 2660 done -0.39 - - 3254 - 2.50 0.093 1897 568.8 -107.1 - - 3379 - - - - - - - - 14.48 14.35 14.52
3007 319.2 -8.9 209 3010 done -0.39 - - 3254 - - - 1896 - -107.1 - - 3377 - - - - - - - - 14.69 14.73 14.71
3307 346.3 -9.0 214 3315 roll -0.39 - - 3254 - 2.53 0.108 477 -560.9 -107.1 - - 3376 - - - - - - - - 14.69 14.32 14.71
3360 351.3 -9.6 223 3367 done -0.39 - - 3251 - 2.53 0.093 1897 561.3 -107.1 - - 3377 - - - - - - - - 14.50 14.38 14.53
3684 378.1 -8.2 231 3687 done -0.39 - - 3254 - - - 1897 - -107.1 - - 3375 - - - - - - - - 14.69 14.71 14.71
3983 402.9 -8.3 236 3991 roll -0.39 - - 3254 - 2.55 0.112 480 -555.7 -107.1 - - 3377 - - - - - - - - 14.70 14.33 14.71
4026 406.8 -9.4 243 4034 done -0.39 - - 3254 - 2.53 0.095 1899 560.9 -107.1 - - 3373 - - - - - - - - 14.50 14.38 14.53
4360 434.6 -8.4 253 4364 done -0.39 - - 3254 - - - 1899 - -107.1 - - 3373 - - - - - - - - 14.69 14.71 14.70
4660 459.5 -8.3 258 4663 done -0.39 - - 3254 - - - 1904 - -107.1 - - 3371 - - - - - - - - 14.70 14.72 14.71
4960 483.7 -8.0 263 4967 roll -0.39 - - 3254 - 2.58 0.115 475 -553.9 -107.1 - - 3370 - - - - - - - - 14.71 14.31 14.72
5023 489.0 -8.5 274 5033 done -0.39 - - 3254 - 2.58 0.096 1917 558.9 -107.1 - - 3370 - - - - - - - - 14.47 14.34 14.51
5328 510.7 -7.1 280 5331 done -0.39 - - 3256 - - - 1917 - -107.1 - - 3369 - - - - - - - - 14.69 14.71 14.69
5628 531.8 -7.1 285 5632 done -0.39 - - 3255 - - - 1917 - -107.1 - - 3369 - - - - - - - - 14.70 14.72 14.71
5929 553.7 -7.3 290 5937 roll -0.39 - - 3254 - 2.60 0.112 483 -551.5 -107.1 - - 3367 - - - - - - - - 14.69 14.31 14.70
5982 558.2 -8.5 299 5990 done -0.39 - - 3254 - 2.53 0.096 1898 559.3 -107.1 - - 3370 - - - - - - - - 14.47 14.35 14.51
6307 582.1 -7.4 307 6310 done -0.39 - - 3254 - - - 1898 - -107.1 - - 3367 - - - - - - - - 14.68 14.70 14.70
6606 605.7 -7.9 312 6610 done -0.39 - - 3254 - - - 1898 - -107.1 - - 3365 - - - - - - - - 14.69 14.71 14.71
6906 629.8 -8.0 317 6915 roll -0.39 - - 3255 - 2.58 0.113 475 -551.6 -107.1 - - 3366 - - - - - - - - 14.68 14.28 14.69
6941 632.8 -9.4 322 6949 done -0.39 - - 3254 - 2.55 0.096 1908 562.0 -107.1 - - 3365 - - - - - - - - 14.48 14.35 14.51
7286 659.5 -7.7 334 7289 done -0.39 - - 3254 - - - 1910 - -107.1 - - 3364 - - - - - - - - 14.68 14.69 14.69
7585 681.9 -7.5 339 7592 roll -0.39 - - 3254 - 2.60 0.115 476 -551.5 -107.1 - - 3363 - - - - - - - - 14.69 14.28 14.69
7643 686.7 -8.2 349 7652 done -0.39 - - 3254 - 2.55 0.097 1898 557.6 -107.1 - - 3364 - - - - - - - - 14.47 14.33 14.50
7963 709.6 -7.2 356 7966 done -0.39 - - 3254 - - - 1898 - -107.1 - - 3362 - - - - - - - - 14.68 14.70 14.72
8263 731.3 -7.2 361 8266 done -0.39 - - 3254 - - - 1898 - -107.1 - - 3364 - - - - - - - - 14.67 14.70 14.70
8564 752.3 -7.0 366 8567 done -0.39 - - 3254 - - - 1898 - -107.1 - - 3362 - - - - - - - - 14.67 14.69 14.69
8863 772.2 -6.6 371 8871 roll -0.39 - - 3254 - 2.58 0.113 474 -551.9 -107.1 - - 3361 - - - - - - - - 14.67 14.28 14.69
8911 775.9 -7.8 379 8919 done -0.39 - - 3254 - 2.58 0.096 1919 560.1 -107.1 - - 3361 - - - - - - - - 14.44 14.28 14.50
9241 796.7 -6.4 388 9248 roll -0.39 - - 3254 - 2.60 0.113 484 -551.9 -107.1 - - 3361 - - - - - - - - 14.66 14.28 14.67
9288 800.0 -7.3 396 9296 done -0.39 - - 3254 - 2.53 0.097 1897 558.5 -107.1 - - 3361 - - - - - - - - 14.44 14.32 14.48
9617 820.3 -6.2 405 9620 done -0.39 - - 3254 - - - 1897 - -107.1 - - 3360 - - - - - - - - 14.69 14.69 14.69
9918 839.2 -6.3 410 9921 done -0.39 - - 3254 - - - 1896 - -107.1 - - 3360 - - - - - - - - 14.66 14.68 14.67
10217 858.7 -6.6 415 10224 roll -0.39 - - 3254 - 2.58 0.113 476 -550.4 -107.1 - - 3360 - - - - - - - - 14.66 14.26 14.69
10295 864.6 -7.5 429 10304 done -0.39 - - 3254 - 2.55 0.096 1897 557.3 -107.1 - - 3360 - - - - - - - - 14.44 14.30 14.46
10659 887.6 -6.2 444 10667 roll -0.39 - - 3254 - 2.60 0.113 475 -546.9 -107.1 - - 3359 - - - - - - - - 14.64 14.24 14.66
10732 892.6 -7.0 457 10740 done -0.39 - - 3254 - 2.55 0.096 1898 558.0 -107.1 - - 3359 - - - - - - - - 14.43 14.30 14.47
11102 914.0 -5.7 473 11110 roll -0.39 - - 3254 - 2.58 0.112 482 -548.8 -107.1 - - 3359 - - - - - - - - 14.64 14.25 14.66
11140 916.7 -6.6 479 11148 done -0.39 - - 3254 - 2.55 0.096 1899 555.7 -107.1 - - 3358 - - - - - - - - 14.43 14.31 14.47
11480 934.2 -5.1 490 11488 roll -0.39 - - 3254 - 2.58 0.114 488 -546.9 -107.1 - - 3357 - - - - - - - - 14.65 14.26 14.66
11530 937.7 -7.8 498 11538 done -0.39 - - 3254 - 2.55 0.097 1914 559.2 -107.1 - - 3358 - - - - - - - - 14.43 14.31 14.47
11859 956.7 -5.7 507 11862 done -0.39 - - 3254 - - - 1914 - -107.1 - - 3356 - - - - - - - - 14.63 14.66 14.66
12159 974.3 -5.9 512 12166 roll -0.39 - - 3254 - 2.60 0.113 481 -551.2 -107.1 - - 3358 - - - - - - - - 14.65 14.26 14.67
12217 977.6 -7.4 522 12225 done -0.39 - - 3254 - 2.55 0.097 1896 554.9 -107.1 - - 3358 - - - - - - - - 14.43 14.30 14.47
12412 end dive: TARGET_DEPTH_EXCEEDED
12412 begin apogee
12424 990.4 -6.2 527 12513 done -0.16 0.28 0.164 3342 314.3 - - 2258 - - 84.28 1.922 2942 -4.9 0.480 - - - - - - 14.22 13.91 13.19
12517 end apogee: CONTROL_FINISHED_OK
12517 begin climb
12522 993.5 - 528 12628 roll 0.39 0.50 0.108 3518 352.0 2.70 0.112 3665 521.1 107.1 88.75 1.860 2501 -5.0 0.500 - - - - - - 13.93 13.59 13.03
12715 985.7 7.3 564 12726 done 0.39 - - 3527 - 2.65 0.098 2250 -534.0 107.1 - - 2499 - - - - - - - - 14.01 13.93 14.04
13087 958.8 7.3 581 13097 done 0.39 - - 3527 - - - 2250 - 107.1 - - 2498 - - - - - - - - 14.44 14.47 14.47
13387 936.9 7.3 586 13398 roll 0.39 - - 3527 - 2.62 0.112 3663 539.3 107.1 - - 2498 - - - - - - - - 14.54 14.21 14.56
13526 925.4 8.1 611 13537 done 0.39 - - 3527 - 2.60 0.099 2250 -543.5 107.1 - - 2498 - - - - - - - - 14.38 14.26 14.42
13898 898.3 7.4 627 13908 done 0.39 - - 3527 - - - 2249 - 107.1 - - 2498 - - - - - - - - 14.62 14.64 14.62
14194 876.3 7.3 632 14205 done 0.39 - - 3527 - - - 2249 - 107.1 - - 2497 - - - - - - - - 14.64 14.66 14.66
14494 855.2 7.0 637 14505 roll 0.39 - - 3527 - 2.62 0.113 3663 539.7 107.1 - - 2497 - - - - - - - - 14.66 14.30 14.68
14587 848.0 7.9 653 14599 done 0.39 - - 3527 - 2.60 0.099 2234 -549.6 107.1 - - 2497 - - - - - - - - 14.45 14.31 14.49
14945 822.8 7.1 666 14956 done 0.39 - - 3524 - - - 2234 - 107.1 - - 2497 - - - - - - - - 14.67 14.69 14.69
15240 801.5 7.1 671 15251 roll 0.39 - - 3527 - 2.65 0.111 3664 539.6 107.1 - - 2497 - - - - - - - - 14.67 14.33 14.69
15322 794.9 8.2 685 15334 done 0.39 - - 3527 - 2.58 0.101 2254 -546.5 107.1 - - 2497 - - - - - - - - 14.47 14.32 14.50
15689 768.0 7.5 700 15700 roll 0.39 - - 3527 - 2.60 0.111 3663 541.9 107.1 - - 2497 - - - - - - - - 14.69 14.33 14.70
15766 761.1 8.8 713 15778 done 0.39 - - 3528 - 2.58 0.099 2248 -548.4 107.1 - - 2497 - - - - - - - - 14.47 14.36 14.50
16139 732.5 7.7 729 16149 done 0.39 - - 3527 - - - 2248 - 107.1 - - 2496 - - - - - - - - 14.68 14.70 14.70
16435 709.9 7.5 734 16445 done 0.39 - - 3528 - - - 2248 - 107.1 - - 2496 - - - - - - - - 14.69 14.71 14.71
16734 689.1 6.9 739 16745 roll 0.39 - - 3527 - 2.62 0.113 3662 539.7 107.1 - - 2496 - - - - - - - - 14.69 14.31 14.71
16874 678.6 7.3 764 16885 done 0.39 - - 3527 - 2.58 0.099 2250 -547.3 107.1 - - 2496 - - - - - - - - 14.47 14.34 14.52
17247 656.6 5.8 780 17257 done 0.42 - - 3527 - - - 2251 - 107.1 - - 2496 - - - - - - - - 14.69 14.71 14.71
17542 638.2 6.2 785 17554 roll 0.44 - - 3527 - 2.62 0.113 3660 537.8 107.1 - - 2496 - - - - - - - - 14.69 14.31 14.70
17630 631.7 7.5 800 17641 done 0.44 - - 3527 - 2.60 0.097 2232 -549.2 107.1 - - 2496 - - - - - - - - 14.46 14.30 14.50
17992 607.2 6.9 814 18003 done 0.44 - - 3527 - - - 2232 - 107.1 - - 2496 - - - - - - - - 14.69 14.71 14.71
18287 585.8 7.1 819 18298 done 0.44 - - 3527 - - - 2232 - 107.1 - - 2495 - - - - - - - - 14.69 14.71 14.71
18588 566.1 6.6 824 18599 roll 0.46 - - 3528 - 2.65 0.109 3662 539.6 107.1 - - 2496 - - - - - - - - 14.68 14.31 14.71
18733 555.8 6.9 850 18744 done 0.46 - - 3528 - 2.58 0.096 2251 -546.9 107.1 - - 2496 - - - - - - - - 14.42 14.28 14.47
19100 534.7 5.7 865 19110 done 0.49 - - 3527 - - - 2251 - 107.1 - - 2496 - - - - - - - - 14.69 14.72 14.71
19397 517.9 5.6 870 19408 done 0.53 0.10 0.131 3594 670.0 - - 2251 - 107.1 - - 2496 - - - - - - - - 14.43 14.54 14.51
19695 492.8 8.7 875 19706 roll 0.53 - - 3594 - 2.62 0.112 3662 538.5 107.1 - - 2496 - - - - - - - - 14.69 14.29 14.71
19821 480.3 9.8 897 19833 done 0.53 0.15 0.254 3571 -153.3 2.58 0.096 2233 -553.9 107.1 - - 2496 - - - - - - - - 14.16 14.33 14.43
20149 453.4 8.3 904 20160 roll 0.53 - - 3577 - 2.50 0.108 836 -558.8 107.1 - - 2496 - - - - - - - - 14.69 14.30 14.70
20200 448.7 8.6 912 20212 done 0.53 - - 3578 - 2.53 0.095 2263 564.0 107.1 - - 2497 - - - - - - - - 14.47 14.37 14.50
20533 421.6 8.1 921 20544 roll 0.53 - - 3577 - 2.55 0.111 3660 547.8 107.1 - - 2500 - - - - - - - - 14.69 14.30 14.71
20688 408.0 8.7 949 20700 done 0.53 - - 3584 - 2.55 0.096 2253 -551.8 107.1 - - 2496 - - - - - - - - 14.46 14.31 14.51
21045 381.2 7.4 962 21057 roll 0.53 - - 3587 - 2.60 0.109 3661 541.5 107.1 - - 2497 - - - - - - - - 14.68 14.29 14.69
21175 370.4 8.3 985 21189 done 0.53 0.10 0.252 3570 -170.0 2.58 0.093 2241 -550.4 107.1 - - 2496 - - - - - - - - 14.16 14.31 14.41
21486 351.2 6.2 991 21497 roll 0.55 - - 3568 - 2.62 0.109 3663 542.7 107.1 - - 2496 - - - - - - - - 14.66 14.28 14.68
21568 345.2 7.1 1005 21579 done 0.55 - - 3570 - 2.55 0.095 2253 -552.9 107.1 - - 2497 - - - - - - - - 14.45 14.31 14.50
21935 322.7 6.2 1020 21946 roll 0.57 - - 3573 - 2.60 0.109 3661 541.5 107.1 - - 2497 - - - - - - - - 14.67 14.28 14.69
22090 311.9 6.9 1048 22101 done 0.57 - - 3582 - 2.55 0.093 2252 -552.5 107.1 - - 2496 - - - - - - - - 14.45 14.31 14.48
22447 290.2 6.2 1061 22458 done 0.59 - - 3582 - - - 2252 - 107.1 - - 2497 - - - - - - - - 14.66 14.66 14.69
22743 271.6 6.2 1066 22754 roll 0.62 - - 3582 - 2.60 0.109 3663 542.7 107.1 - - 2497 - - - - - - - - 14.69 14.29 14.71
22988 252.7 8.1 1112 22999 done 0.62 - - 3587 - 2.58 0.094 2236 -553.1 107.1 - - 2497 - - - - - - - - 14.45 14.33 14.49
23315 229.1 7.3 1123 23326 done 0.62 - - 3590 - - - 2236 - 107.1 - - 2500 - - - - - - - - 14.67 14.69 14.69
23490 217.2 6.5 1129 23501 done 0.64 - - 3589 - - - 2236 - 107.1 - - 2497 - - - - - - - - 14.68 14.69 14.69
23671 205.2 6.7 1135 23681 done 0.65 - - 3589 - - - 2236 - 107.1 - - 2497 - - - - - - - - 14.68 14.69 14.69
23850 194.0 6.1 1141 23861 done 0.67 - - 3589 - - - 2235 - 107.1 - - 2498 - - - - - - - - 14.67 14.69 14.71
24030 183.4 5.8 1147 24041 roll 0.70 - - 3589 - 2.62 0.109 3661 544.3 107.1 - - 2497 - - - - - - - - 14.67 14.29 14.69
24271 167.0 7.2 1192 24282 done 0.70 - - 3596 - 2.55 0.093 2250 -553.3 107.1 - - 2498 - - - - - - - - 14.44 14.32 14.50
24485 154.8 5.5 1201 24496 done 0.74 0.10 0.128 3657 610.0 - - 2250 - 107.1 - - 2498 - - - - - - - - 14.41 14.51 14.49
24659 144.5 5.7 1207 24670 done 0.77 - - 3656 - - - 2250 - 107.1 - - 2497 - - - - - - - - 14.62 14.68 14.67
24839 136.7 3.7 1213 24911 roll 0.81 - - 3656 - 2.65 0.110 3660 532.1 185.7 57.75 0.890 2178 -5.5 0.160 - - - - - - 14.66 14.19 13.83
25062 114.7 11.8 1255 25073 done 0.81 - - 3667 - 2.58 0.095 2251 -546.1 185.7 - - 2178 - - - - - - - - 14.33 14.19 14.35
25289 90.5 10.8 1267 25300 roll 0.81 - - 3666 - 2.60 0.107 3661 542.3 185.7 - - 2179 - - - - - - - - 14.55 14.20 14.56
25331 85.3 11.8 1273 25343 done 0.81 - - 3677 - 2.58 0.093 2247 -548.1 185.7 - - 2179 - - - - - - - - 14.37 14.24 14.40
25558 63.0 8.8 1285 25570 roll 0.81 - - 3677 - 2.60 0.104 3663 544.6 185.7 - - 2179 - - - - - - - - 14.58 14.21 14.59
25804 41.4 6.9 1331 25815 done 0.81 - - 3685 - 2.55 0.091 2251 -553.7 185.7 - - 2179 - - - - - - - - 14.41 14.27 14.45
26007 30.3 4.9 1339 26059 roll 0.84 - - 3685 - 2.62 0.105 3661 538.2 238.5 38.67 0.762 1964 -5.6 0.042 - - - - - - 14.62 14.27 13.93
26298 13.9 3.3 1394 26350 done 0.88 - - 3691 - 2.55 0.090 2250 -553.3 326.0 39.80 0.142 1611 -8.9 0.164 - - - - - - 14.39 14.26 14.17
26476 end climb: SURFACE_DEPTH_REACHED
26476 begin surface coast
26508 end surface coast: CONTROL_FINISHED_OK
26508 begin surface
SM 0.76 - - - - -10.25 10.12 0.050 92 9.1 0.65 0.103 1887 -11284.6 400.08 32.40 0.089 1309 40.4 -0.035 - - - - - -