NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 243 * Raw log
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• Previous call tries 2 • 65.77 of 350.00 AH used of 24V (81.21% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -76.5 deg, depth 1.08 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 53 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
28 - - - 105 done -0.39 - - 73 - - - 1876 - -107.1 -69.75 - 3379 - - - - - - - - 14.47 12.95 14.49
112 3.0 -5.7 2 137 roll -0.39 13.77 0.353 3257 231.2 2.50 0.095 491 -554.0 -107.1 - - 3381 - - - - - - - - 13.95 14.19 14.16
371 67.6 -15.8 51 382 done -0.39 - - 3257 - 2.50 0.090 1910 567.6 -107.1 - - 3385 - - - - - - - - 14.33 14.23 14.38
590 93.9 -11.4 62 600 done -0.39 - - 3257 - - - 1910 - -107.1 - - 3385 - - - - - - - - 14.60 14.62 14.62
768 112.7 -10.4 68 779 roll -0.39 - - 3257 - 2.53 0.107 3309 553.0 -107.1 - - 3386 - - - - - - - - 14.62 14.29 14.64
800 116.2 -11.1 72 811 done -0.39 - - 3257 - 2.50 0.090 1904 -562.0 -107.1 - - 3386 - - - - - - - - 14.47 14.32 14.47
1002 137.7 -10.5 80 1013 roll -0.39 - - 3256 - 2.55 0.104 483 -557.3 -107.1 - - 3387 - - - - - - - - 14.64 14.30 14.66
1176 155.4 -9.5 112 1187 done -0.39 - - 3257 - 2.50 0.090 1899 566.4 -107.1 - - 3385 - - - - - - - - 14.42 14.30 14.45
1393 174.0 -8.9 122 1404 done -0.39 - - 3263 - - - 1898 - -107.1 - - 3384 - - - - - - - - 14.66 14.68 14.71
1569 191.8 -10.0 128 1580 roll -0.39 - - 3257 - 2.55 0.106 3324 559.2 -107.1 - - 3384 - - - - - - - - 14.67 14.31 14.69
1625 197.3 -9.2 137 1637 done -0.39 - - 3257 - 2.53 0.090 1904 -561.3 -107.1 - - 3383 - - - - - - - - 14.48 14.35 14.51
1834 215.1 -8.6 146 1845 roll -0.39 - - 3257 - 2.53 0.106 476 -564.4 -107.1 - - 3382 - - - - - - - - 14.69 14.31 14.70
1895 221.2 -10.0 156 1906 done -0.39 - - 3258 - 2.53 0.090 1911 567.2 -107.1 - - 3382 - - - - - - - - 14.49 14.36 14.51
2098 239.6 -9.1 164 2108 done -0.39 - - 3257 - - - 1910 - -107.1 - - 3381 - - - - - - - - 14.69 14.71 14.71
2277 255.7 -8.9 169 2288 done -0.39 - - 3257 - - - 1912 - -107.1 - - 3380 - - - - - - - - 14.71 14.72 14.72
2578 282.7 -9.0 174 2588 done -0.39 - - 3258 - - - 1912 - -107.1 - - 3377 - - - - - - - - 14.74 14.73 14.73
2878 310.5 -9.3 179 2888 done -0.39 - - 3257 - - - 1911 - -107.1 - - 3378 - - - - - - - - 14.71 14.73 14.72
3179 337.2 -8.8 184 3189 done -0.39 - - 3257 - - - 1911 - -107.1 - - 3377 - - - - - - - - 14.73 14.75 14.74
3478 361.3 -7.9 189 3488 done -0.39 - - 3257 - - - 1911 - -107.1 - - 3375 - - - - - - - - 14.71 14.74 14.74
3778 383.9 -7.5 194 3788 done -0.39 - - 3257 - - - 1911 - -107.1 - - 3374 - - - - - - - - 14.73 14.76 14.74
4077 407.1 -7.8 199 4089 roll -0.39 - - 3257 - 2.53 0.110 3304 550.6 -107.1 - - 3373 - - - - - - - - 14.73 14.35 14.76
4145 412.4 -7.7 210 4157 done -0.39 - - 3257 - 2.53 0.098 1890 -558.9 -107.1 - - 3373 - - - - - - - - 14.50 14.37 14.54
4450 437.7 -8.4 216 4461 roll -0.39 - - 3257 - 2.53 0.111 493 -552.2 -107.1 - - 3375 - - - - - - - - 14.73 14.34 14.75
4512 443.7 -9.9 226 4523 done -0.39 - - 3257 - 2.47 0.095 1898 568.8 -107.1 - - 3372 - - - - - - - - 14.50 14.39 14.54
4835 472.0 -8.7 233 4846 roll -0.39 - - 3257 - 2.53 0.108 3309 557.7 -107.1 - - 3370 - - - - - - - - 14.73 14.34 14.73
4946 481.2 -8.4 252 4957 done -0.39 - - 3257 - 2.53 0.096 1898 -557.7 -107.1 - - 3371 - - - - - - - - 14.50 14.37 14.53
5284 509.1 -8.1 262 5295 roll -0.39 - - 3258 - 2.55 0.112 476 -557.6 -107.1 - - 3369 - - - - - - - - 14.72 14.31 14.74
5341 514.3 -9.2 271 5352 done -0.39 - - 3257 - 2.53 0.096 1899 562.5 -107.1 - - 3369 - - - - - - - - 14.49 14.35 14.53
5668 540.0 -7.7 279 5679 roll -0.39 - - 3258 - 2.55 0.108 3316 555.7 -107.1 - - 3371 - - - - - - - - 14.72 14.33 14.74
5729 544.3 -6.8 289 5741 done -0.39 - - 3257 - 2.55 0.096 1892 -558.4 -107.1 - - 3368 - - - - - - - - 14.50 14.36 14.53
6053 565.3 -6.5 296 6063 done -0.39 - - 3257 - - - 1891 - -107.1 - - 3367 - - - - - - - - 14.72 14.73 14.73
6352 584.6 -6.4 301 6362 done -0.39 - - 3257 - - - 1892 - -107.1 - - 3366 - - - - - - - - 14.71 14.73 14.71
6653 603.7 -6.3 306 6663 done -0.39 - - 3257 - - - 1891 - -107.1 - - 3366 - - - - - - - - 14.71 14.73 14.73
6952 620.9 -5.6 311 6962 done -0.39 - - 3257 - - - 1891 - -107.1 - - 3366 - - - - - - - - 14.74 14.75 14.74
7252 635.4 -4.7 316 7263 roll -0.39 - - 3258 - 2.62 0.112 3323 546.6 -107.1 - - 3365 - - - - - - - - 14.71 14.30 14.73
7305 637.7 -4.3 324 7316 done -0.39 - - 3257 - 2.55 0.096 1907 -555.3 -107.1 - - 3363 - - - - - - - - 14.49 14.35 14.53
7641 653.5 -4.9 333 7652 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3364 - - - - - - - - 14.70 14.72 14.71
7938 671.3 -6.0 338 7948 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3363 - - - - - - - - 14.73 14.74 14.73
8237 692.0 -7.0 343 8247 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3363 - - - - - - - - 14.71 14.73 14.73
8537 714.4 -7.5 348 8547 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3362 - - - - - - - - 14.72 14.73 14.73
8837 735.6 -7.0 353 8848 done -0.39 - - 3263 - - - 1906 - -107.1 - - 3362 - - - - - - - - 14.71 14.73 14.73
9137 754.8 -6.4 358 9148 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3361 - - - - - - - - 14.71 14.73 14.73
9437 774.2 -6.5 363 9448 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3361 - - - - - - - - 14.71 14.73 14.72
9737 792.5 -6.1 368 9747 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3360 - - - - - - - - 14.69 14.72 14.72
10037 811.6 -6.4 373 10047 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3360 - - - - - - - - 14.71 14.71 14.72
10338 831.5 -6.7 378 10348 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3360 - - - - - - - - 14.71 14.73 14.73
10637 850.6 -6.4 383 10647 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3359 - - - - - - - - 14.69 14.71 14.71
10937 869.3 -6.2 388 10948 done -0.39 - - 3257 - - - 1906 - -107.1 - - 3357 - - - - - - - - 14.69 14.71 14.71
11237 886.4 -5.7 393 11248 roll -0.39 - - 3258 - 2.60 0.112 3317 542.7 -107.1 - - 3359 - - - - - - - - 14.69 14.28 14.74
11299 889.6 -4.1 403 11310 done -0.39 - - 3257 - 2.58 0.098 1895 -551.2 -107.1 - - 3358 - - - - - - - - 14.45 14.31 14.49
11623 905.6 -4.9 410 11634 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3358 - - - - - - - - 14.71 14.70 14.70
11922 919.9 -4.7 415 11932 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3358 - - - - - - - - 14.69 14.71 14.70
12222 933.9 -4.7 420 12233 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3358 - - - - - - - - 14.70 14.71 14.71
12522 948.9 -5.0 425 12532 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3358 - - - - - - - - 14.70 14.71 14.71
12822 964.8 -5.3 430 12833 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3357 - - - - - - - - 14.68 14.71 14.70
13121 981.9 -5.8 435 13132 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3357 - - - - - - - - 14.69 14.70 14.70
13297 end dive: TARGET_DEPTH_EXCEEDED
13297 begin apogee
13309 993.0 -6.1 438 13402 done -0.16 0.25 0.159 3338 324.0 - - 2263 - - 84.82 1.903 2941 -4.9 0.485 - - - - - - 14.23 13.96 13.21
13404 end apogee: CONTROL_FINISHED_OK
13404 begin climb
13410 996.1 - 439 13509 done 0.39 0.50 0.108 3516 356.0 - - 2263 - 107.1 90.40 1.860 2504 -4.8 0.490 - - - - - - 13.95 13.69 13.01
13788 979.1 6.0 446 13799 done 0.42 - - 3516 - - - 2263 - 107.1 - - 2499 - - - - - - - - 14.32 14.34 14.34
14082 960.7 6.2 451 14093 done 0.44 - - 3516 - - - 2263 - 107.1 - - 2498 - - - - - - - - 14.48 14.50 14.50
14382 940.5 6.8 456 14392 done 0.45 - - 3513 - - - 2268 - 107.1 - - 2498 - - - - - - - - 14.55 14.57 14.57
14682 919.3 7.1 461 14692 done 0.45 - - 3517 - - - 2262 - 107.1 - - 2498 - - - - - - - - 14.58 14.61 14.61
14982 896.8 7.5 466 14992 done 0.45 - - 3516 - - - 2263 - 107.1 - - 2495 - - - - - - - - 14.63 14.65 14.64
15281 874.6 7.4 471 15292 done 0.45 - - 3513 - - - 2263 - 107.1 - - 2498 - - - - - - - - 14.65 14.66 14.66
15582 853.2 7.1 476 15593 roll 0.45 - - 3521 - 2.58 0.112 3661 541.9 107.1 - - 2497 - - - - - - - - 14.65 14.25 14.67
15624 849.7 10.7 482 15635 done 0.45 - - 3517 - 2.60 0.099 2234 -548.8 107.1 - - 2496 - - - - - - - - 14.42 14.29 14.47
15973 826.5 6.8 493 15984 roll 0.46 - - 3517 - 2.53 0.112 841 -550.6 107.1 - - 2495 - - - - - - - - 14.62 14.24 14.66
16005 824.2 5.6 497 16017 done 0.50 0.10 0.129 3582 650.0 2.53 0.096 2255 558.9 107.1 - - 2497 - - - - - - - - 14.36 14.30 14.47
16358 791.2 9.4 510 16369 roll 0.50 - - 3581 - 2.60 0.115 3660 540.4 107.1 - - 2496 - - - - - - - - 14.66 14.25 14.69
16420 785.0 10.3 520 16431 done 0.50 0.10 0.259 3564 -170.0 2.58 0.099 2254 -545.0 107.1 - - 2496 - - - - - - - - 14.13 14.28 14.40
16748 758.3 8.1 527 16758 done 0.50 - - 3560 - - - 2254 - 107.1 - - 2496 - - - - - - - - 14.66 14.68 14.67
17043 734.0 8.1 532 17054 roll 0.50 - - 3559 - 2.62 0.112 3663 537.8 107.1 - - 2499 - - - - - - - - 14.66 14.19 14.68
17100 729.1 9.0 541 17111 done 0.50 - - 3567 - 2.58 0.098 2246 -549.2 107.1 - - 2496 - - - - - - - - 14.44 14.31 14.49
17427 702.6 8.1 549 17438 done 0.50 - - 3567 - - - 2246 - 107.1 - - 2499 - - - - - - - - 14.67 14.69 14.69
17728 679.2 7.7 554 17739 roll 0.50 - - 3567 - 2.65 0.113 3662 534.3 107.1 - - 2496 - - - - - - - - 14.66 14.23 14.69
17764 676.0 8.8 559 17775 done 0.50 - - 3573 - 2.58 0.098 2253 -546.1 107.1 - - 2493 - - - - - - - - 14.45 14.29 14.48
18116 646.2 8.7 571 18126 done 0.50 - - 3573 - - - 2254 - 107.1 - - 2496 - - - - - - - - 14.65 14.67 14.67
18412 619.5 8.9 576 18422 done 0.50 - - 3574 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.67 14.69 14.69
18711 593.1 8.8 581 18723 roll 0.50 - - 3573 - 2.62 0.113 3662 537.8 107.1 - - 2495 - - - - - - - - 14.67 14.25 14.69
18769 587.5 9.9 590 18780 done 0.50 - - 3579 - 2.58 0.098 2246 -548.8 107.1 - - 2493 - - - - - - - - 14.43 14.29 14.47
19098 559.1 8.6 598 19108 done 0.50 - - 3582 - - - 2246 - 107.1 - - 2496 - - - - - - - - 14.66 14.68 14.70
19397 533.2 8.7 603 19408 roll 0.50 - - 3583 - 2.65 0.112 3663 534.7 107.1 - - 2495 - - - - - - - - 14.66 14.24 14.69
19440 529.1 9.5 609 19452 done 0.50 0.10 0.261 3559 -240.0 2.58 0.099 2254 -546.1 107.1 - - 2496 - - - - - - - - 14.10 14.28 14.38
19788 501.5 7.8 620 19798 done 0.50 - - 3559 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.65 14.67 14.67
20084 479.3 7.4 625 20095 done 0.50 - - 3559 - - - 2257 - 107.1 - - 2496 - - - - - - - - 14.66 14.69 14.69
20385 460.5 6.1 630 20396 roll 0.52 - - 3559 - 2.65 0.112 3668 532.5 107.1 - - 2496 - - - - - - - - 14.67 14.27 14.69
20437 457.1 6.8 638 20449 done 0.53 - - 3563 - 2.60 0.098 2236 -550.8 107.1 - - 2496 - - - - - - - - 14.42 14.28 14.50
20774 435.7 6.5 647 20785 done 0.55 - - 3563 - - - 2236 - 107.1 - - 2497 - - - - - - - - 14.66 14.69 14.68
21070 414.9 6.9 652 21081 roll 0.55 - - 3563 - 2.65 0.110 3663 538.5 107.1 - - 2494 - - - - - - - - 14.66 14.24 14.69
21136 409.5 8.3 663 21148 done 0.55 - - 3575 - 2.55 0.096 2259 -550.6 107.1 - - 2496 - - - - - - - - 14.41 14.26 14.46
21442 387.0 7.2 669 21453 done 0.55 - - 3569 - - - 2256 - 107.1 - - 2496 - - - - - - - - 14.66 14.68 14.68
21744 367.5 6.4 674 21755 roll 0.57 - - 3570 - 2.60 0.108 824 -550.8 107.1 - - 2496 - - - - - - - - 14.66 14.24 14.66
21800 363.8 6.5 683 21811 done 0.58 - - 3570 - 2.55 0.095 2253 560.4 107.1 - - 2497 - - - - - - - - 14.43 14.29 14.47
22133 342.9 6.4 691 22143 done 0.60 - - 3570 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.64 14.66 14.66
22428 321.6 7.2 696 22439 roll 0.60 - - 3570 - 2.60 0.110 3667 543.8 107.1 - - 2496 - - - - - - - - 14.70 14.25 14.69
22529 313.4 8.3 713 22541 done 0.60 - - 3580 - 2.58 0.095 2253 -548.1 107.1 - - 2496 - - - - - - - - 14.42 14.28 14.48
22882 288.7 6.8 725 22893 roll 0.61 - - 3582 - 2.58 0.109 821 -555.0 107.1 - - 2497 - - - - - - - - 14.65 14.23 14.66
22949 284.0 6.5 736 22961 done 0.63 - - 3582 - 2.58 0.095 2264 559.3 107.1 - - 2495 - - - - - - - - 14.42 14.29 14.46
23255 264.4 6.5 742 23266 roll 0.65 - - 3582 - 2.55 0.109 3658 546.7 107.1 - - 2496 - - - - - - - - 14.66 14.23 14.67
23367 256.9 6.8 761 23379 done 0.66 - - 3581 - 2.58 0.096 2247 -546.9 107.1 - - 2497 - - - - - - - - 14.42 14.29 14.46
23710 237.3 5.8 774 23721 roll 0.69 - - 3585 - 2.62 0.110 3661 539.7 107.1 - - 2497 - - - - - - - - 14.65 14.26 14.67
23837 228.2 7.3 796 23848 done 0.69 - - 3586 - 2.58 0.096 2247 -548.1 107.1 - - 2500 - - - - - - - - 14.41 14.28 14.45
24039 213.9 7.1 804 24050 done 0.69 - - 3586 - - - 2249 - 107.1 - - 2495 - - - - - - - - 14.64 14.66 14.66
24220 201.5 6.8 810 24231 done 0.69 - - 3586 - - - 2247 - 107.1 - - 2497 - - - - - - - - 14.65 14.66 14.66
24399 189.9 6.4 816 24411 roll 0.71 0.10 0.156 3641 550.0 2.62 0.108 3661 539.7 107.1 - - 2497 - - - - - - - - 14.37 14.24 14.42
24437 187.0 8.5 821 24450 done 0.71 - - 3650 - 2.58 0.095 2253 -545.7 107.1 - - 2496 - - - - - - - - 14.42 14.28 14.45
24622 171.1 8.5 828 24633 done 0.71 - - 3651 - - - 2253 - 107.1 - - 2497 - - - - - - - - 14.66 14.67 14.67
24804 156.8 7.4 834 24815 roll 0.71 - - 3661 - 2.58 0.106 823 -554.3 107.1 - - 2501 - - - - - - - - 14.64 14.25 14.67
24870 151.8 7.2 845 24883 done 0.71 0.15 0.250 3628 -220.0 2.55 0.096 2247 558.4 107.1 - - 2497 - - - - - - - - 14.10 14.27 14.31
25063 141.2 5.5 852 25074 roll 0.74 - - 3628 - 2.60 0.107 3667 546.2 107.1 - - 2498 - - - - - - - - 14.65 14.23 14.66
25143 136.4 5.9 865 25155 done 0.77 - - 3627 - 2.60 0.096 2238 -549.6 107.1 - - 2498 - - - - - - - - 14.40 14.26 14.45
25368 124.4 5.7 876 25379 roll 0.81 - - 3638 - 2.50 0.105 846 -556.8 107.1 - - 2500 - - - - - - - - 14.65 14.19 14.66
25615 113.7 4.2 922 25678 done 0.84 - - 3638 - 2.53 0.093 2264 560.5 175.0 50.05 0.855 2223 -5.5 0.139 - - - - - - 14.40 14.28 13.84
25874 91.1 10.3 942 25885 roll 0.84 - - 3643 - 2.60 0.105 841 -547.3 175.0 - - 2226 - - - - - - - - 14.51 14.16 14.53
26000 80.0 7.8 964 26011 done 0.84 - - 3638 - 2.53 0.095 2246 555.3 175.0 - - 2226 - - - - - - - - 14.33 14.20 14.37
26208 66.9 6.2 972 26219 roll 0.86 - - 3639 - 2.60 0.106 3663 545.0 175.0 - - 2226 - - - - - - - - 14.56 14.16 14.57
26270 62.0 7.1 982 26281 done 0.86 - - 3645 - 2.55 0.091 2255 -552.2 175.0 - - 2227 - - - - - - - - 14.35 14.22 14.39
26477 50.8 5.2 990 26521 done 0.89 0.10 0.154 3695 500.0 - - 2256 - 221.9 36.33 0.780 2033 -5.3 0.066 - - - - - - 14.32 14.33 13.90
26689 33.8 9.2 997 26700 roll 0.89 - - 3695 - 2.62 0.106 3666 538.2 221.9 - - 2029 - - - - - - - - 14.52 14.21 14.54
26858 23.8 3.9 1028 26921 done 0.92 - - 3706 - 2.58 0.091 2252 -548.1 296.0 49.65 0.730 1727 -6.1 0.038 - - - - - - 14.35 14.23 13.85
27130 end climb: SURFACE_DEPTH_REACHED
27130 begin surface coast
27161 end surface coast: CONTROL_FINISHED_OK
27161 begin surface
SM 0.63 - - - - -10.27 10.20 0.047 87 8.5 0.65 0.106 1892 -11276.9 400.08 43.92 0.093 1309 29.8 -0.021 - - - - - -