NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 257 * Raw log
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• Previous call tries 1 • 69.94 of 350.00 AH used of 24V (80.02% remains)
• Previous NAKs 13, Timeouts 0
• Surface angle -73.9 deg, depth 0.99 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 59 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
28 - - - 106 done -0.39 - - 75 - - - 1894 - -107.1 -71.22 - 3381 - - - - - - - - 14.45 12.96 14.47
113 2.5 -4.7 2 139 roll -0.39 14.30 0.375 3257 222.5 2.60 0.099 475 -545.8 -107.1 - - 3383 - - - - - - - - 13.96 14.20 14.25
372 65.9 -12.2 51 384 done -0.39 - - 3258 - 2.55 0.090 1906 561.2 -107.1 - - 3385 - - - - - - - - 14.34 14.23 14.36
591 90.5 -11.4 62 602 roll -0.39 - - 3258 - 2.58 0.106 3322 548.8 -107.1 - - 3387 - - - - - - - - 14.59 14.23 14.60
707 103.5 -11.0 82 718 done -0.39 - - 3254 - 2.55 0.089 1891 -561.2 -107.1 - - 3386 - - - - - - - - 14.40 14.28 14.43
920 126.1 -10.4 92 930 done -0.39 - - 3258 - - - 1891 - -107.1 - - 3386 - - - - - - - - 14.62 14.64 14.64
1100 145.2 -10.5 98 1110 done -0.39 - - 3258 - - - 1891 - -107.1 - - 3386 - - - - - - - - 14.66 14.67 14.67
1280 164.2 -10.7 104 1290 done -0.39 - - 3258 - - - 1890 - -107.1 - - 3385 - - - - - - - - 14.66 14.68 14.68
1460 182.9 -10.3 110 1470 done -0.39 - - 3258 - - - 1890 - -107.1 - - 3385 - - - - - - - - 14.66 14.69 14.69
1639 199.2 -8.8 116 1650 roll -0.39 - - 3258 - 2.60 0.106 3320 550.0 -107.1 - - 3384 - - - - - - - - 14.69 14.29 14.70
1716 205.3 -7.8 129 1728 done -0.39 - - 3258 - 2.53 0.091 1906 -558.9 -107.1 - - 3384 - - - - - - - - 14.45 14.33 14.50
1938 222.5 -8.0 140 1948 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3383 - - - - - - - - 14.69 14.71 14.71
2115 237.4 -8.3 146 2126 roll -0.39 - - 3258 - 2.58 0.104 3320 548.1 -107.1 - - 3383 - - - - - - - - 14.69 14.31 14.71
2171 242.1 -7.8 155 2182 done -0.39 - - 3257 - 2.55 0.091 1889 -561.2 -107.1 - - 3382 - - - - - - - - 14.47 14.34 14.51
2409 261.1 -8.0 163 2419 done -0.39 - - 3258 - - - 1889 - -107.1 - - 3381 - - - - - - - - 14.69 14.71 14.71
2708 285.1 -8.0 168 2719 roll -0.39 - - 3258 - 2.60 0.106 3319 550.0 -107.1 - - 3380 - - - - - - - - 14.71 14.31 14.71
2824 293.6 -7.5 188 2835 done -0.39 - - 3258 - 2.53 0.093 1906 -558.5 -107.1 - - 3379 - - - - - - - - 14.47 14.33 14.51
3156 320.1 -7.9 197 3167 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3378 - - - - - - - - 14.71 14.73 14.73
3457 344.8 -8.2 202 3469 roll -0.39 - - 3258 - 2.58 0.107 3316 546.5 -107.1 - - 3377 - - - - - - - - 14.72 14.33 14.73
3549 352.3 -8.1 218 3560 done -0.39 - - 3258 - 2.58 0.096 1888 -553.5 -107.1 - - 3375 - - - - - - - - 14.47 14.33 14.51
3907 381.2 -8.2 231 3918 roll -0.39 - - 3258 - 2.60 0.108 3316 549.2 -107.1 - - 3374 - - - - - - - - 14.70 14.31 14.71
3993 388.8 -8.1 246 4004 done -0.39 - - 3258 - 2.53 0.096 1907 -556.9 -107.1 - - 3375 - - - - - - - - 14.45 14.33 14.51
4355 417.5 -8.0 260 4366 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3374 - - - - - - - - 14.71 14.73 14.72
4650 440.5 -7.7 265 4661 done -0.39 - - 3257 - - - 1904 - -107.1 - - 3373 - - - - - - - - 14.71 14.72 14.72
4951 464.8 -8.2 270 4962 roll -0.39 - - 3258 - 2.60 0.109 3322 545.4 -107.1 - - 3372 - - - - - - - - 14.71 14.28 14.73
5013 470.0 -8.5 280 5024 done -0.39 - - 3258 - 2.55 0.093 1899 -558.0 -107.1 - - 3372 - - - - - - - - 14.48 14.35 14.52
5336 497.3 -8.6 287 5346 done -0.39 - - 3258 - - - 1899 - -107.1 - - 3371 - - - - - - - - 14.70 14.72 14.71
5636 521.5 -8.0 292 5646 done -0.39 - - 3258 - - - 1896 - -107.1 - - 3371 - - - - - - - - 14.71 14.73 14.73
5935 544.5 -7.6 297 5947 roll -0.39 - - 3258 - 2.60 0.109 3308 543.1 -107.1 - - 3369 - - - - - - - - 14.71 14.31 14.73
6033 551.2 -6.6 314 6044 done -0.39 - - 3258 - 2.55 0.097 1901 -551.8 -107.1 - - 3369 - - - - - - - - 14.47 14.33 14.50
6386 573.9 -6.5 326 6397 roll -0.39 - - 3258 - 2.60 0.109 3321 546.2 -107.1 - - 3372 - - - - - - - - 14.69 14.28 14.71
6442 577.7 -6.1 335 6453 done -0.39 - - 3258 - 2.60 0.095 1888 -551.2 -107.1 - - 3368 - - - - - - - - 14.45 14.31 14.50
6770 598.2 -6.3 343 6780 done -0.39 - - 3258 - - - 1887 - -107.1 - - 3368 - - - - - - - - 14.69 14.71 14.71
7069 617.9 -6.6 348 7080 done -0.39 - - 3258 - - - 1887 - -107.1 - - 3367 - - - - - - - - 14.70 14.72 14.72
7370 638.1 -6.8 353 7381 roll -0.39 - - 3258 - 2.62 0.108 3313 544.3 -107.1 - - 3367 - - - - - - - - 14.70 14.25 14.72
7462 644.3 -6.6 369 7473 done -0.39 - - 3258 - 2.55 0.096 1904 -552.5 -107.1 - - 3367 - - - - - - - - 14.46 14.32 14.50
7820 667.2 -6.4 382 7831 roll -0.39 - - 3258 - 2.60 0.109 3315 542.7 -107.1 - - 3366 - - - - - - - - 14.69 14.23 14.70
7881 671.3 -6.1 392 7892 done -0.39 - - 3255 - 2.58 0.097 1893 -551.2 -107.1 - - 3368 - - - - - - - - 14.45 14.32 14.49
8204 691.2 -6.1 399 8215 roll -0.39 - - 3258 - 2.62 0.109 3317 543.5 -107.1 - - 3365 - - - - - - - - 14.70 14.28 14.71
8260 694.6 -5.8 408 8271 done -0.39 - - 3258 - 2.55 0.097 1908 -552.5 -107.1 - - 3366 - - - - - - - - 14.45 14.31 14.50
8588 712.2 -5.3 416 8598 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3367 - - - - - - - - 14.70 14.72 14.72
8888 727.0 -4.9 421 8899 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3364 - - - - - - - - 14.69 14.71 14.71
9188 743.2 -5.5 426 9199 roll -0.39 - - 3258 - 2.60 0.109 3314 541.2 -107.1 - - 3366 - - - - - - - - 14.69 14.28 14.71
9281 748.2 -5.5 442 9292 done -0.39 - - 3258 - 2.60 0.098 1888 -548.5 -107.1 - - 3363 - - - - - - - - 14.43 14.28 14.47
9637 769.8 -6.3 455 9648 roll -0.39 - - 3262 - 2.62 0.109 3321 546.9 -107.1 - - 3363 - - - - - - - - 14.67 14.24 14.69
9704 774.6 -6.8 466 9716 done -0.39 - - 3258 - 2.58 0.096 1906 -548.4 -107.1 - - 3363 - - - - - - - - 14.43 14.29 14.47
10009 796.1 -7.1 472 10020 done -0.39 - - 3258 - - - 1910 - -107.1 - - 3363 - - - - - - - - 14.69 14.71 14.71
10310 817.9 -7.3 477 10322 roll -0.39 - - 3258 - 2.60 0.109 3321 542.7 -107.1 - - 3365 - - - - - - - - 14.71 14.22 14.71
10362 821.6 -7.2 485 10373 done -0.39 - - 3258 - 2.58 0.097 1890 -554.7 -107.1 - - 3362 - - - - - - - - 14.44 14.31 14.48
10695 845.4 -7.0 494 10706 roll -0.39 - - 3258 - 2.62 0.109 3320 545.8 -107.1 - - 3362 - - - - - - - - 14.69 14.25 14.69
10757 849.4 -7.0 504 10768 done -0.39 - - 3258 - 2.60 0.096 1890 -550.0 -107.1 - - 3362 - - - - - - - - 14.44 14.31 14.48
11079 871.6 -6.9 511 11090 roll -0.39 - - 3258 - 2.62 0.109 3318 545.0 -107.1 - - 3361 - - - - - - - - 14.69 14.26 14.70
11175 877.3 -6.1 527 11186 done -0.39 - - 3258 - 2.58 0.097 1905 -547.7 -107.1 - - 3362 - - - - - - - - 14.43 14.28 14.47
11531 898.5 -5.9 540 11543 roll -0.39 - - 3258 - 2.60 0.109 3320 544.2 -107.1 - - 3364 - - - - - - - - 14.66 14.26 14.68
11610 903.0 -5.3 553 11621 done -0.39 - - 3258 - 2.58 0.097 1890 -554.3 -107.1 - - 3361 - - - - - - - - 14.41 14.28 14.46
11982 923.3 -5.6 569 11994 roll -0.39 - - 3258 - 2.62 0.109 3317 544.7 -107.1 - - 3360 - - - - - - - - 14.68 14.26 14.69
12034 926.9 -6.8 577 12046 done -0.39 - - 3258 - 2.58 0.098 1894 -551.6 -107.1 - - 3360 - - - - - - - - 14.42 14.29 14.47
12367 947.5 -6.2 586 12379 roll -0.39 - - 3258 - 2.62 0.109 3321 544.7 -107.1 - - 3360 - - - - - - - - 14.67 14.23 14.69
12445 952.2 -4.1 599 12456 done -0.39 - - 3259 - 2.58 0.099 1906 -548.4 -107.1 - - 3360 - - - - - - - - 14.44 14.26 14.45
12813 972.4 -5.3 615 12824 roll -0.39 - - 3258 - 2.60 0.109 3322 544.6 -107.1 - - 3360 - - - - - - - - 14.67 14.22 14.69
12899 976.6 -2.9 629 12911 done -0.39 - - 3258 - 2.60 0.096 1895 -548.8 -107.1 - - 3360 - - - - - - - - 14.42 14.28 14.45
13137 end dive: TARGET_DEPTH_EXCEEDED
13142 begin apogee
13154 990.4 -5.8 642 13247 done -0.16 0.25 0.164 3338 320.0 - - 2245 - - 84.80 1.903 2942 -4.9 0.486 - - - - - - 14.20 13.93 13.19
13249 end apogee: CONTROL_FINISHED_OK
13249 begin climb
13254 993.6 - 643 13360 roll 0.39 0.50 0.109 3515 354.0 2.75 0.110 3663 515.6 107.1 91.05 1.864 2497 -4.9 0.493 - - - - - - 13.93 13.57 12.98
13379 991.0 8.0 655 13390 done 0.39 - - 3515 - 2.67 0.096 2252 -528.5 107.1 - - 2496 - - - - - - - - 13.87 13.77 13.87
13702 970.4 6.6 662 13713 roll 0.40 - - 3516 - 2.62 0.109 838 -539.7 107.1 - - 2497 - - - - - - - - 14.38 14.04 14.40
13765 966.2 6.8 672 13776 done 0.42 - - 3515 - 2.60 0.095 2260 546.9 107.1 - - 2497 - - - - - - - - 14.23 14.11 14.26
14087 946.0 6.3 679 14098 done 0.44 - - 3515 - - - 2260 - 107.1 - - 2496 - - - - - - - - 14.50 14.54 14.53
14388 926.8 6.4 684 14399 roll 0.45 - - 3515 - 2.60 0.114 3661 538.8 107.1 - - 2496 - - - - - - - - 14.58 14.20 14.60
14424 924.1 10.2 689 14436 done 0.45 - - 3517 - 2.60 0.099 2247 -543.8 107.1 - - 2495 - - - - - - - - 14.38 14.24 14.42
14777 901.0 6.8 701 14788 roll 0.46 - - 3517 - 2.60 0.111 822 -548.1 107.1 - - 2496 - - - - - - - - 14.60 14.18 14.62
14829 896.8 7.2 709 14841 done 0.46 - - 3517 - 2.55 0.096 2245 558.0 107.1 - - 2496 - - - - - - - - 14.38 14.24 14.44
15162 873.3 7.1 718 15173 done 0.46 - - 3517 - - - 2245 - 107.1 - - 2495 - - - - - - - - 14.62 14.64 14.64
15462 850.7 7.6 723 15473 done 0.46 - - 3518 - - - 2245 - 107.1 - - 2495 - - - - - - - - 14.64 14.65 14.65
15762 826.5 8.1 728 15772 done 0.46 - - 3518 - - - 2245 - 107.1 - - 2495 - - - - - - - - 14.65 14.68 14.68
16062 803.7 7.5 733 16073 done 0.46 - - 3519 - - - 2242 - 107.1 - - 2495 - - - - - - - - 14.65 14.66 14.66
16364 782.2 7.1 738 16374 done 0.46 - - 3518 - - - 2245 - 107.1 - - 2494 - - - - - - - - 14.66 14.69 14.69
16662 763.0 6.3 743 16673 done 0.49 - - 3518 - - - 2245 - 107.1 - - 2493 - - - - - - - - 14.66 14.69 14.68
16963 743.1 6.7 748 16974 done 0.50 0.12 0.135 3581 525.0 - - 2245 - 107.1 - - 2494 - - - - - - - - 14.39 14.50 14.47
17262 717.5 8.7 753 17272 done 0.50 - - 3582 - - - 2245 - 107.1 - - 2494 - - - - - - - - 14.66 14.68 14.68
17563 693.0 8.1 758 17573 done 0.50 - - 3578 - - - 2245 - 107.1 - - 2494 - - - - - - - - 14.67 14.69 14.69
17862 668.3 8.3 763 17873 roll 0.50 - - 3582 - 2.60 0.109 840 -540.4 107.1 - - 2496 - - - - - - - - 14.66 14.24 14.68
17934 662.2 8.9 775 17945 done 0.50 - - 3582 - 2.53 0.095 2246 555.7 107.1 - - 2494 - - - - - - - - 14.42 14.28 14.47
18306 632.0 7.8 792 18317 done 0.50 - - 3582 - - - 2247 - 107.1 - - 2494 - - - - - - - - 14.66 14.69 14.69
18606 609.4 7.6 797 18618 roll 0.50 - - 3582 - 2.65 0.109 3663 534.3 107.1 - - 2494 - - - - - - - - 14.65 14.23 14.67
18747 597.4 8.4 822 18758 done 0.50 0.10 0.259 3559 -230.0 2.60 0.096 2253 -542.3 107.1 - - 2494 - - - - - - - - 14.05 14.21 14.31
19116 574.5 6.1 838 19127 roll 0.52 - - 3568 - 2.58 0.107 831 -551.2 107.1 - - 2494 - - - - - - - - 14.65 14.22 14.67
19193 569.0 7.0 851 19204 done 0.52 - - 3564 - 2.58 0.097 2264 555.4 107.1 - - 2494 - - - - - - - - 14.39 14.26 14.44
19560 543.3 7.2 867 19571 roll 0.52 - - 3568 - 2.60 0.109 3662 537.7 107.1 - - 2494 - - - - - - - - 14.64 14.21 14.66
19695 531.6 8.6 891 19706 done 0.52 - - 3570 - 2.60 0.096 2238 -547.7 107.1 - - 2494 - - - - - - - - 14.39 14.25 14.44
20067 502.8 7.7 908 20078 done 0.52 - - 3570 - - - 2238 - 107.1 - - 2494 - - - - - - - - 14.66 14.67 14.67
20367 480.0 7.5 913 20379 roll 0.52 - - 3580 - 2.58 0.109 837 -543.0 107.1 - - 2494 - - - - - - - - 14.66 14.23 14.68
20441 474.3 7.8 925 20452 done 0.52 - - 3580 - 2.55 0.097 2250 554.1 107.1 - - 2494 - - - - - - - - 14.39 14.24 14.46
20814 447.3 7.1 942 20825 roll 0.52 - - 3580 - 2.62 0.107 3663 539.3 107.1 - - 2494 - - - - - - - - 14.66 14.23 14.68
20929 438.4 7.6 962 20940 done 0.52 - - 3585 - 2.58 0.093 2254 -546.1 107.1 - - 2494 - - - - - - - - 14.39 14.24 14.45
21261 415.5 6.9 971 21272 done 0.52 - - 3585 - - - 2253 - 107.1 - - 2494 - - - - - - - - 14.65 14.67 14.66
21562 395.4 6.7 976 21573 roll 0.53 - - 3595 - 2.58 0.105 840 -547.7 107.1 - - 2494 - - - - - - - - 14.66 14.23 14.67
21634 390.4 7.0 988 21645 done 0.53 - - 3596 - 2.53 0.093 2247 556.1 107.1 - - 2496 - - - - - - - - 14.41 14.26 14.46
22007 364.8 6.9 1005 22018 roll 0.53 - - 3596 - 2.60 0.109 829 -545.4 107.1 - - 2495 - - - - - - - - 14.66 14.17 14.67
22058 360.9 7.5 1013 22071 done 0.53 - - 3595 - 2.55 0.096 2263 562.4 107.1 - - 2495 - - - - - - - - 14.31 14.23 14.39
22393 337.3 7.0 1022 22403 done 0.53 - - 3595 - - - 2263 - 107.1 - - 2495 - - - - - - - - 14.64 14.66 14.66
22692 316.2 7.1 1027 22703 roll 0.53 - - 3592 - 2.60 0.108 3663 538.5 107.1 - - 2495 - - - - - - - - 14.66 14.23 14.67
22769 309.8 8.2 1040 22780 done 0.53 - - 3595 - 2.58 0.093 2247 -548.8 107.1 - - 2495 - - - - - - - - 14.40 14.26 14.45
23140 282.2 7.6 1056 23152 roll 0.53 - - 3596 - 2.62 0.109 3661 539.7 107.1 - - 2495 - - - - - - - - 14.64 14.21 14.66
23197 277.3 8.2 1065 23209 done 0.53 - - 3595 - 2.58 0.093 2235 -552.7 107.1 - - 2492 - - - - - - - - 14.39 14.26 14.45
23525 254.7 6.8 1073 23535 done 0.53 - - 3596 - - - 2236 - 107.1 - - 2495 - - - - - - - - 14.66 14.68 14.68
23826 233.7 7.1 1081 23837 roll 0.53 - - 3605 - 2.53 0.108 843 -550.6 107.1 - - 2496 - - - - - - - - 14.66 14.22 14.69
23868 230.5 7.5 1087 23880 done 0.53 0.12 0.232 3571 -283.3 2.53 0.093 2254 557.7 107.1 - - 2496 - - - - - - - - 14.11 14.29 14.37
24092 215.7 6.6 1099 24102 done 0.55 - - 3571 - - - 2252 - 107.1 - - 2493 - - - - - - - - 14.65 14.67 14.67
24273 203.8 6.6 1105 24285 roll 0.57 - - 3571 - 2.60 0.109 3663 542.7 107.1 - - 2496 - - - - - - - - 14.64 14.22 14.66
24361 197.1 7.9 1120 24372 done 0.57 - - 3571 - 2.58 0.093 2252 -546.9 107.1 - - 2496 - - - - - - - - 14.40 14.29 14.46
24573 183.0 6.6 1129 24584 roll 0.58 - - 3572 - 2.58 0.106 834 -549.6 107.1 - - 2496 - - - - - - - - 14.66 14.24 14.67
24683 175.6 6.5 1148 24694 done 0.60 - - 3572 - 2.58 0.095 2259 552.3 107.1 - - 2494 - - - - - - - - 14.40 14.27 14.45
24905 162.3 6.3 1159 24916 roll 0.62 - - 3575 - 2.60 0.109 3664 540.4 107.1 - - 2497 - - - - - - - - 14.64 14.23 14.66
24978 156.9 6.9 1171 24989 done 0.62 - - 3581 - 2.58 0.091 2236 -553.5 107.1 - - 2496 - - - - - - - - 14.39 14.26 14.44
25205 142.8 6.3 1183 25215 done 0.64 - - 3582 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.64 14.65 14.66
25381 132.5 5.5 1189 25393 roll 0.67 - - 3582 - 2.53 0.106 842 -551.0 107.1 - - 2497 - - - - - - - - 14.63 14.21 14.64
25491 126.9 4.9 1208 25545 done 0.70 0.10 0.130 3643 610.0 2.50 0.093 2245 561.2 160.0 39.03 0.880 2283 -5.5 0.150 - - - - - - 14.28 14.22 13.86
25736 105.2 9.5 1225 25747 roll 0.70 - - 3648 - 2.55 0.103 841 -550.6 160.0 - - 2285 - - - - - - - - 14.54 14.16 14.56
25768 102.1 9.3 1229 25781 done 0.70 0.10 0.239 3625 -230.0 2.55 0.094 2263 557.6 160.0 - - 2287 - - - - - - - - 14.06 14.22 14.28
25977 83.9 8.6 1237 25988 done 0.70 - - 3625 - - - 2262 - 160.0 - - 2287 - - - - - - - - 14.55 14.56 14.57
26152 71.3 6.8 1243 26163 roll 0.71 - - 3625 - 2.60 0.103 835 -548.8 160.0 - - 2289 - - - - - - - - 14.57 14.20 14.59
26263 63.3 5.8 1262 26274 done 0.74 - - 3625 - 2.58 0.095 2264 553.9 160.0 - - 2287 - - - - - - - - 14.36 14.23 14.40
26487 55.5 3.0 1273 26568 roll 0.79 - - 3621 - 2.60 0.106 842 -546.9 254.7 69.28 0.782 1898 -5.6 0.075 - - - - - - 14.61 14.17 13.82
26772 33.9 6.9 1327 26784 done 0.79 - - 3625 - 2.55 0.093 2252 552.9 254.7 - - 1897 - - - - - - - - 14.28 14.16 14.33
26999 25.2 2.7 1339 27083 roll 0.84 0.08 0.155 3687 775.0 2.60 0.103 3661 541.9 356.7 69.70 0.719 1481 -6.0 0.040 - - - - - - 14.23 14.13 13.81
27196 end climb: SURFACE_DEPTH_REACHED
27197 begin surface coast
27203 end surface coast: CONTROL_FINISHED_OK
27203 begin surface
SM 0.83 - - - - -10.27 10.05 0.034 85 8.4 3.30 0.099 1906 -2604.2 400.08 17.65 0.086 1309 74.2 -0.073 - - - - - -