NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 277 * Raw log
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• Previous call tries 1 • 75.80 of 350.00 AH used of 24V (78.34% remains)
• Previous NAKs 7, Timeouts 0
• Surface angle -79.0 deg, depth 1.01 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 32 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
29 - - - 108 done -0.39 - - 83 - - - 1900 - -107.1 -72.47 - 3379 - - - - - - - - 14.45 12.89 14.47
115 2.0 -2.7 2 144 roll -0.39 14.23 0.369 3256 223.0 2.58 0.091 480 -550.4 -107.1 - - 3381 - - - - - - - - 13.88 14.20 14.12
155 31.3 -55.0 8 166 done -0.39 - - 3256 - 2.53 0.090 1898 560.5 -107.1 - - 3382 - - - - - - - - 14.28 14.16 14.32
382 71.1 -16.2 20 393 roll -0.39 - - 3256 - 2.58 0.102 3316 549.6 -107.1 - - 3385 - - - - - - - - 14.52 14.17 14.54
626 101.3 -9.4 66 638 done -0.39 - - 3256 - 2.58 0.093 1895 -550.8 -107.1 - - 3386 - - - - - - - - 14.35 14.21 14.38
829 122.4 -11.0 74 840 roll -0.39 - - 3255 - 2.62 0.100 3318 543.1 -107.1 - - 3386 - - - - - - - - 14.59 14.22 14.62
896 130.1 -10.8 85 908 done -0.39 - - 3258 - 2.58 0.091 1887 -554.7 -107.1 - - 3386 - - - - - - - - 14.39 14.23 14.42
1081 150.3 -10.8 92 1093 roll -0.39 - - 3256 - 2.53 0.103 493 -551.0 -107.1 - - 3386 - - - - - - - - 14.62 14.23 14.64
1143 157.2 -11.3 102 1154 done -0.39 - - 3257 - 2.50 0.086 1903 564.0 -107.1 - - 3386 - - - - - - - - 14.40 14.28 14.45
1346 178.1 -10.3 110 1358 roll -0.39 - - 3261 - 2.58 0.102 3321 549.6 -107.1 - - 3385 - - - - - - - - 14.62 14.23 14.64
1498 193.0 -9.6 137 1509 done -0.39 - - 3260 - 2.55 0.090 1904 -555.7 -107.1 - - 3385 - - - - - - - - 14.42 14.29 14.45
1705 215.0 -11.0 146 1717 roll -0.39 - - 3256 - 2.58 0.105 475 -553.9 -107.1 - - 3382 - - - - - - - - 14.66 14.23 14.68
1813 227.7 -12.5 164 1824 done -0.39 - - 3253 - 2.53 0.088 1900 563.2 -107.1 - - 3384 - - - - - - - - 14.42 14.28 14.45
2039 253.0 -11.0 176 2050 roll -0.39 - - 3257 - 2.55 0.103 3324 558.4 -107.1 - - 3383 - - - - - - - - 14.66 14.26 14.68
2131 263.7 -10.6 192 2142 done -0.39 - - 3256 - 2.55 0.092 1892 -561.6 -107.1 - - 3383 - - - - - - - - 14.42 14.30 14.46
2488 301.9 -10.8 205 2498 done -0.39 - - 3256 - - - 1892 - -107.1 - - 3381 - - - - - - - - 14.67 14.69 14.69
2784 330.6 -9.4 210 2795 done -0.39 - - 3256 - - - 1892 - -107.1 - - 3381 - - - - - - - - 14.69 14.71 14.71
3084 355.2 -8.0 215 3095 roll -0.39 - - 3256 - 2.62 0.105 3321 545.4 -107.1 - - 3380 - - - - - - - - 14.69 14.26 14.69
3160 360.8 -7.0 228 3171 done -0.39 - - 3258 - 2.55 0.094 1908 -554.1 -107.1 - - 3379 - - - - - - - - 14.44 14.29 14.47
3532 385.2 -6.5 244 3543 done -0.39 - - 3256 - - - 1910 - -107.1 - - 3377 - - - - - - - - 14.70 14.73 14.71
3827 404.2 -6.4 249 3838 roll -0.39 - - 3256 - 2.60 0.106 3321 542.7 -107.1 - - 3375 - - - - - - - - 14.73 14.26 14.71
3894 408.6 -6.7 260 3906 done -0.39 - - 3257 - 2.58 0.093 1889 -555.0 -107.1 - - 3377 - - - - - - - - 14.45 14.29 14.47
4199 430.3 -7.2 266 4211 roll -0.39 - - 3256 - 2.53 0.109 491 -552.6 -107.1 - - 3375 - - - - - - - - 14.69 14.24 14.70
4252 434.8 -8.7 274 4263 done -0.39 - - 3253 - 2.50 0.093 1900 563.6 -107.1 - - 3376 - - - - - - - - 14.45 14.31 14.49
4585 461.8 -8.2 283 4596 roll -0.39 - - 3257 - 2.58 0.106 3319 550.0 -107.1 - - 3375 - - - - - - - - 14.69 14.23 14.70
4652 467.1 -7.9 294 4665 done -0.39 - - 3256 - 2.55 0.094 1909 -552.9 -107.1 - - 3375 - - - - - - - - 14.42 14.28 14.47
4958 491.6 -8.1 300 4968 done -0.39 - - 3257 - - - 1909 - -107.1 - - 3374 - - - - - - - - 14.69 14.71 14.71
5258 516.3 -8.3 305 5268 done -0.39 - - 3255 - - - 1909 - -107.1 - - 3374 - - - - - - - - 14.69 14.71 14.72
5558 541.0 -8.3 310 5569 done -0.39 - - 3256 - - - 1909 - -107.1 - - 3373 - - - - - - - - 14.68 14.70 14.70
5858 564.9 -7.9 315 5869 done -0.39 - - 3256 - - - 1909 - -107.1 - - 3371 - - - - - - - - 14.70 14.72 14.72
6158 587.5 -7.5 320 6168 done -0.39 - - 3256 - - - 1910 - -107.1 - - 3369 - - - - - - - - 14.70 14.72 14.72
6458 610.0 -7.5 325 6469 roll -0.39 - - 3257 - 2.62 0.108 3323 539.3 -107.1 - - 3370 - - - - - - - - 14.69 14.23 14.71
6540 616.1 -7.1 339 6551 done -0.39 - - 3256 - 2.60 0.096 1890 -551.2 -107.1 - - 3372 - - - - - - - - 14.42 14.28 14.47
6907 643.0 -7.5 354 6918 done -0.39 - - 3257 - - - 1891 - -107.1 - - 3369 - - - - - - - - 14.67 14.69 14.69
7203 665.2 -7.4 359 7213 done -0.39 - - 3256 - - - 1891 - -107.1 - - 3369 - - - - - - - - 14.69 14.71 14.72
7503 687.0 -7.3 364 7514 roll -0.39 - - 3256 - 2.65 0.108 3319 538.9 -107.1 - - 3368 - - - - - - - - 14.69 14.23 14.70
7555 691.0 -7.0 372 7566 done -0.39 - - 3256 - 2.58 0.096 1906 -547.7 -107.1 - - 3371 - - - - - - - - 14.43 14.28 14.47
7888 715.7 -7.5 381 7898 done -0.39 - - 3256 - - - 1905 - -107.1 - - 3365 - - - - - - - - 14.67 14.69 14.69
8187 737.8 -7.3 386 8199 roll -0.39 - - 3256 - 2.60 0.112 477 -549.2 -107.1 - - 3367 - - - - - - - - 14.67 14.20 14.69
8244 742.4 -7.7 395 8256 done -0.39 - - 3256 - 2.58 0.094 1912 556.2 -107.1 - - 3367 - - - - - - - - 14.41 14.28 14.45
8573 765.0 -6.9 403 8584 roll -0.39 - - 3256 - 2.58 0.109 3321 546.1 -107.1 - - 3366 - - - - - - - - 14.68 14.21 14.69
8684 772.1 -6.9 422 8695 done -0.39 - - 3258 - 2.62 0.098 1890 -546.2 -107.1 - - 3366 - - - - - - - - 14.38 14.23 14.43
9022 794.4 -6.5 432 9033 roll -0.39 - - 3262 - 2.58 0.112 478 -547.3 -107.1 - - 3366 - - - - - - - - 14.66 14.20 14.69
9079 798.9 -8.3 441 9090 done -0.39 - - 3256 - 2.55 0.095 1896 556.1 -107.1 - - 3366 - - - - - - - - 14.40 14.25 14.45
9406 820.4 -6.5 449 9417 roll -0.39 - - 3256 - 2.60 0.110 3317 546.5 -107.1 - - 3365 - - - - - - - - 14.66 14.21 14.67
9513 826.5 -5.9 467 9524 done -0.39 - - 3256 - 2.60 0.096 1892 -548.1 -107.1 - - 3365 - - - - - - - - 14.38 14.24 14.43
9856 847.6 -6.1 478 9868 roll -0.39 - - 3256 - 2.58 0.111 478 -548.1 -107.1 - - 3365 - - - - - - - - 14.67 14.17 14.68
9934 852.5 -5.4 491 9945 done -0.39 - - 3256 - 2.58 0.095 1905 553.1 -107.1 - - 3367 - - - - - - - - 14.39 14.26 14.43
10307 872.5 -5.2 507 10318 roll -0.39 - - 3256 - 2.60 0.109 3317 543.1 -107.1 - - 3364 - - - - - - - - 14.64 14.19 14.66
10398 877.0 -5.0 522 10410 done -0.39 - - 3256 - 2.58 0.097 1908 -546.1 -107.1 - - 3364 - - - - - - - - 14.38 14.23 14.42
10761 895.4 -5.0 536 10772 roll -0.39 - - 3257 - 2.60 0.111 478 -550.0 -107.1 - - 3363 - - - - - - - - 14.68 14.18 14.66
10848 900.7 -5.8 551 10859 done -0.39 - - 3256 - 2.58 0.096 1899 550.8 -107.1 - - 3363 - - - - - - - - 14.38 14.23 14.42
11211 918.7 -5.1 565 11222 roll -0.39 - - 3256 - 2.60 0.109 3318 545.8 -107.1 - - 3363 - - - - - - - - 14.64 14.19 14.65
11312 924.0 -5.3 582 11324 done -0.39 - - 3257 - 2.60 0.096 1891 -548.8 -107.1 - - 3362 - - - - - - - - 14.34 14.23 14.40
11665 943.3 -5.5 594 11675 done -0.39 - - 3256 - - - 1891 - -107.1 - - 3360 - - - - - - - - 14.63 14.65 14.65
11961 960.0 -5.6 599 11972 roll -0.39 - - 3256 - 2.65 0.110 3315 537.4 -107.1 - - 3362 - - - - - - - - 14.66 14.20 14.67
12035 964.0 -5.5 611 12046 done -0.39 - - 3256 - 2.60 0.097 1892 -547.3 -107.1 - - 3363 - - - - - - - - 14.29 14.16 14.34
12408 983.5 -5.1 628 12419 done -0.39 - - 3256 - - - 1892 - -107.1 - - 3362 - - - - - - - - 14.64 14.66 14.66
12582 end dive: TARGET_DEPTH_EXCEEDED
12583 begin apogee
12594 992.7 -5.1 631 12688 done -0.16 0.30 0.156 3342 286.7 - - 2259 - - 85.43 1.907 2940 -4.9 0.489 - - - - - - 14.17 13.90 13.16
12690 end apogee: CONTROL_FINISHED_OK
12690 begin climb
12695 994.9 - 632 12802 roll 0.39 0.47 0.103 3517 372.3 2.72 0.111 3662 515.8 107.1 89.53 1.859 2502 -4.9 0.498 - - - - - - 13.93 13.54 12.95
12843 987.7 8.0 659 12854 done 0.39 - - 3517 - 2.67 0.099 2257 -526.2 107.1 - - 2499 - - - - - - - - 13.88 13.76 13.90
13206 959.7 8.1 673 13217 roll 0.39 - - 3527 - 2.62 0.109 843 -539.7 107.1 - - 2498 - - - - - - - - 14.38 14.03 14.40
13287 952.5 7.8 687 13299 done 0.39 - - 3527 - 2.58 0.096 2246 543.8 107.1 - - 2499 - - - - - - - - 14.21 14.07 14.25
13655 924.0 7.7 702 13666 roll 0.39 - - 3527 - 2.65 0.111 3664 535.1 107.1 - - 2498 - - - - - - - - 14.53 14.15 14.54
13716 918.3 9.6 712 13727 done 0.39 - - 3527 - 2.62 0.098 2237 -544.7 107.1 - - 2498 - - - - - - - - 14.31 14.17 14.35
14039 893.4 7.7 719 14050 roll 0.39 - - 3527 - 2.55 0.109 842 -547.1 107.1 - - 2498 - - - - - - - - 14.58 14.16 14.59
14071 890.8 8.3 723 14082 done 0.39 - - 3526 - 2.58 0.094 2266 551.9 107.1 - - 2497 - - - - - - - - 14.35 14.21 14.38
14428 861.8 8.3 736 14439 done 0.39 - - 3529 - - - 2266 - 107.1 - - 2499 - - - - - - - - 14.58 14.62 14.62
14723 836.1 8.6 741 14734 done 0.39 - - 3527 - - - 2266 - 107.1 - - 2498 - - - - - - - - 14.62 14.63 14.65
15023 810.8 8.4 746 15034 done 0.39 - - 3527 - - - 2269 - 107.1 - - 2497 - - - - - - - - 14.60 14.64 14.64
15324 786.7 7.9 751 15335 done 0.39 - - 3527 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.63 14.64 14.64
15623 763.7 7.6 756 15634 done 0.39 - - 3530 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.64 14.66 14.66
15924 741.5 7.3 761 15934 done 0.39 - - 3527 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.65 14.65 14.66
16223 720.4 7.0 766 16234 done 0.39 - - 3527 - - - 2265 - 107.1 - - 2500 - - - - - - - - 14.65 14.67 14.67
16524 700.1 6.8 771 16535 done 0.40 - - 3527 - - - 2262 - 107.1 - - 2496 - - - - - - - - 14.66 14.67 14.67
16824 680.1 6.7 776 16835 done 0.41 - - 3532 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.65 14.67 14.67
17124 661.1 6.3 781 17134 done 0.43 - - 3527 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.66 14.68 14.67
17424 642.4 6.3 786 17436 roll 0.46 - - 3527 - 2.65 0.108 840 -538.1 107.1 - - 2497 - - - - - - - - 14.64 14.19 14.66
17497 637.8 6.3 798 17509 done 0.48 - - 3526 - 2.55 0.097 2247 551.8 107.1 - - 2497 - - - - - - - - 14.37 14.23 14.41
17872 614.2 6.4 815 17883 roll 0.49 - - 3527 - 2.62 0.110 3663 540.5 107.1 - - 2494 - - - - - - - - 14.63 14.17 14.65
17925 610.3 7.3 823 17936 done 0.49 - - 3527 - 2.58 0.096 2254 -546.1 107.1 - - 2497 - - - - - - - - 14.35 14.21 14.40
18262 589.0 6.4 832 18272 done 0.51 - - 3527 - - - 2256 - 107.1 - - 2497 - - - - - - - - 14.62 14.64 14.62
18557 569.1 6.6 837 18569 roll 0.53 0.08 0.157 3596 862.5 2.60 0.106 838 -545.4 107.1 - - 2497 - - - - - - - - 14.33 14.19 14.36
18673 558.9 9.4 857 18685 done 0.53 0.10 0.239 3569 -270.0 2.55 0.097 2248 552.9 107.1 - - 2498 - - - - - - - - 14.04 14.21 14.28
19010 530.4 8.5 866 19021 roll 0.53 - - 3570 - 2.65 0.111 3671 537.0 107.1 - - 2497 - - - - - - - - 14.62 14.19 14.64
19032 528.2 8.4 868 19043 done 0.53 - - 3575 - 2.60 0.095 2252 -545.8 107.1 - - 2497 - - - - - - - - 14.37 14.23 14.42
19399 498.0 8.2 883 19410 done 0.53 - - 3574 - - - 2252 - 107.1 - - 2497 - - - - - - - - 14.62 14.64 14.64
19695 474.3 7.8 888 19706 done 0.53 - - 3576 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.62 14.65 14.64
19994 449.9 8.1 893 20005 done 0.53 - - 3576 - - - 2252 - 107.1 - - 2496 - - - - - - - - 14.63 14.65 14.64
20294 426.4 7.8 898 20305 done 0.53 - - 3581 - - - 2252 - 107.1 - - 2497 - - - - - - - - 14.64 14.66 14.66
20596 403.5 7.6 903 20606 done 0.53 - - 3581 - - - 2252 - 107.1 - - 2496 - - - - - - - - 14.65 14.67 14.64
20895 383.7 6.5 908 20905 done 0.54 - - 3575 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.65 14.67 14.66
21196 365.9 5.9 913 21206 done 0.57 - - 3575 - - - 2249 - 107.1 - - 2497 - - - - - - - - 14.62 14.65 14.66
21495 350.8 4.9 918 21548 roll 0.60 - - 3582 - 2.62 0.109 831 -541.2 159.1 40.15 1.133 2289 -5.2 0.305 - - - - - - 14.64 14.25 13.74
21597 344.0 7.9 936 21608 done 0.60 - - 3582 - 2.60 0.096 2264 551.2 159.1 - - 2289 - - - - - - - - 14.28 14.16 14.31
21945 315.6 8.3 947 21955 done 0.60 - - 3579 - - - 2265 - 159.1 - - 2290 - - - - - - - - 14.54 14.57 14.56
22239 290.2 8.5 952 22250 done 0.60 - - 3582 - - - 2264 - 159.1 - - 2293 - - - - - - - - 14.57 14.58 14.58
22539 265.9 8.1 957 22550 roll 0.60 - - 3582 - 2.60 0.109 3662 537.7 159.1 - - 2294 - - - - - - - - 14.60 14.15 14.62
22575 262.9 8.6 962 22587 done 0.60 - - 3582 - 2.62 0.095 2235 -544.7 159.1 - - 2290 - - - - - - - - 14.33 14.19 14.38
22899 239.0 7.5 975 22910 roll 0.60 - - 3582 - 2.65 0.108 3661 538.1 159.1 - - 2290 - - - - - - - - 14.59 14.16 14.61
22920 236.9 7.6 977 22931 done 0.60 - - 3582 - 2.58 0.092 2253 -545.7 159.1 - - 2290 - - - - - - - - 14.36 14.22 14.39
23138 221.0 7.5 987 23149 roll 0.60 - - 3583 - 2.58 0.106 843 -546.5 159.1 - - 2290 - - - - - - - - 14.60 14.18 14.62
23159 218.7 7.9 989 23170 done 0.60 - - 3583 - 2.53 0.093 2246 554.5 159.1 - - 2290 - - - - - - - - 14.35 14.21 14.40
23377 200.1 9.1 999 23388 roll 0.60 - - 3583 - 2.62 0.107 3664 541.2 159.1 - - 2291 - - - - - - - - 14.60 14.19 14.62
23409 196.4 9.5 1003 23420 done 0.60 - - 3583 - 2.60 0.093 2235 -549.6 159.1 - - 2291 - - - - - - - - 14.36 14.20 14.40
23615 176.0 10.3 1011 23625 done 0.60 - - 3583 - - - 2235 - 159.1 - - 2291 - - - - - - - - 14.62 14.64 14.64
23792 158.6 9.5 1017 23802 done 0.60 - - 3583 - - - 2235 - 159.1 - - 2290 - - - - - - - - 14.61 14.63 14.62
23972 144.7 7.4 1023 23983 roll 0.60 - - 3583 - 2.67 0.107 3663 534.8 159.1 - - 2291 - - - - - - - - 14.62 14.15 14.63
24093 135.0 7.7 1044 24104 done 0.60 - - 3583 - 2.58 0.092 2253 -546.5 159.1 - - 2291 - - - - - - - - 14.36 14.22 14.40
24305 120.3 7.0 1053 24315 done 0.60 - - 3583 - - - 2254 - 159.1 - - 2291 - - - - - - - - 14.59 14.62 14.62
24482 108.8 6.3 1059 24493 roll 0.62 - - 3585 - 2.58 0.104 840 -548.1 159.1 - - 2291 - - - - - - - - 14.61 14.14 14.62
24558 102.7 7.7 1072 24569 done 0.62 - - 3587 - 2.55 0.093 2264 558.4 159.1 - - 2292 - - - - - - - - 14.37 14.23 14.40
24780 83.5 8.4 1083 24791 roll 0.62 - - 3586 - 2.60 0.103 840 -547.7 159.1 - - 2292 - - - - - - - - 14.60 14.19 14.60
24833 79.8 6.4 1091 24844 done 0.64 - - 3586 - 2.53 0.093 2246 555.7 159.1 - - 2292 - - - - - - - - 14.35 14.21 14.40
25052 68.7 4.6 1101 25109 roll 0.67 - - 3586 - 2.62 0.104 3662 540.5 218.0 44.20 0.806 2048 -5.5 0.090 - - - - - - 14.60 14.23 13.88
25345 52.8 4.6 1157 25403 done 0.70 - - 3590 - 2.58 0.091 2251 -546.9 277.5 43.78 0.770 1805 -5.6 0.072 - - - - - - 14.30 14.16 13.78
25616 37.2 6.7 1179 25627 roll 0.71 0.08 0.153 3651 762.5 2.65 0.106 3664 533.2 277.5 - - 1804 - - - - - - - - 14.23 14.11 14.26
25653 33.6 10.1 1184 25665 done 0.71 0.15 0.215 3621 -200.0 2.60 0.092 2241 -547.3 277.5 - - 1805 - - - - - - - - 14.01 14.15 14.23
25846 20.5 6.3 1191 25857 roll 0.73 - - 3620 - 2.65 0.106 3663 536.6 277.5 - - 1805 - - - - - - - - 14.52 14.14 14.57
26092 4.7 6.8 1237 26103 done 0.74 - - 3622 - 2.58 0.089 2245 -549.6 277.5 - - 1804 - - - - - - - - 14.36 14.20 14.36
26110 end climb: SURFACE_DEPTH_REACHED
26110 begin surface coast
26171 end surface coast: CONTROL_FINISHED_OK
26171 begin surface
SM 1.91 - - - - -10.26 9.85 0.040 89 9.0 0.62 0.102 1905 1411.3 400.08 51.67 0.088 1310 25.4 -0.056 - - - - - -