NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 47 * Raw log
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• Previous call tries 1 • 11.91 of 350.00 AH used of 24V (96.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -79.4 deg, depth 1.12 m • Intended pitch -14.0 deg, speed -7.333 cm/s
• No surface pump (final VBD was 375.06, SM_CC=375)
• GPS1 time: 50 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 - - - 101 VBD -0.49 - - 90 - - - 1792 - -116.8 -65.97 - 3243 - - - - - - - - 14.53 - 14.55
107 4.7 -7.7 7 137 roll -0.49 13.32 0.360 3235 236.1 2.65 2.232 448 -507.2 -116.8 -2.58 - 3420 -68.6 - - - - - - - 14.19 13.57 14.41
153 29.2 -44.0 13 164 done -0.49 - - 3234 - 2.40 0.096 1798 562.5 -116.8 - - 3422 - - - - - - - - 14.37 14.31 14.38
355 68.5 -17.3 33 366 done -0.49 - - 3234 - - - 1798 - -116.8 - - 3423 - - - - - - - - 14.57 14.58 14.58
547 99.9 -15.2 52 558 done -0.49 - - 3234 - - - 1799 - -116.8 - - 3424 - - - - - - - - 14.62 14.64 14.63
739 126.0 -13.3 71 750 done -0.49 - - 3234 - - - 1798 - -116.8 - - 3426 - - - - - - - - 14.64 14.66 14.66
931 152.0 -13.7 90 943 roll -0.49 - - 3234 - 2.47 0.106 3206 570.0 -116.8 - - 3424 - - - - - - - - 14.70 14.47 14.69
1061 169.6 -12.9 113 1073 done -0.49 - - 3234 - 2.47 0.098 1807 -566.4 -116.8 - - 3426 - - - - - - - - 14.57 14.48 14.58
1254 193.7 -11.9 132 1265 roll -0.49 - - 3234 - 2.42 0.112 434 -567.4 -116.8 - - 3424 - - - - - - - - 14.70 14.48 14.71
1321 202.3 -12.7 143 1333 done -0.49 - - 3233 - 2.40 0.093 1805 571.2 -116.8 - - 3425 - - - - - - - - 14.60 14.50 14.61
1514 224.3 -11.4 162 1526 done -0.49 - - 3234 - - - 1800 - -116.8 - - 3424 - - - - - - - - 14.72 14.73 14.73
1707 245.5 -10.6 181 1718 roll -0.49 - - 3234 - 2.47 0.105 3204 568.4 -116.8 - - 3422 - - - - - - - - 14.73 14.52 14.76
1774 252.4 -10.1 192 1786 done -0.49 - - 3234 - 2.47 0.096 1791 -572.1 -116.8 - - 3424 - - - - - - - - 14.62 14.54 14.64
2085 282.6 -9.9 203 2096 done -0.49 - - 3234 - - - 1791 - -116.8 - - 3423 - - - - - - - - 14.76 14.77 14.77
2384 311.7 -10.1 213 2395 roll -0.49 - - 3234 - 2.53 0.106 3204 558.5 -116.8 - - 3422 - - - - - - - - 14.76 14.57 14.78
2429 316.8 -10.0 220 2440 done -0.49 - - 3234 - 2.47 0.098 1795 -570.4 -116.8 - - 3422 - - - - - - - - 14.66 14.57 14.67
2767 352.4 -10.9 235 2777 done -0.49 - - 3234 - - - 1795 - -116.8 - - 3422 - - - - - - - - 14.78 14.79 14.81
3070 384.0 -10.4 245 3081 roll -0.49 - - 3234 - 2.53 0.106 3206 557.7 -116.8 - - 3420 - - - - - - - - 14.78 14.61 14.81
3147 391.9 -9.5 258 3158 done -0.49 - - 3233 - 2.47 0.102 1808 -566.0 -116.8 - - 3418 - - - - - - - - 14.67 14.59 14.70
3484 425.0 -9.8 273 3495 done -0.49 - - 3234 - - - 1805 - -116.8 - - 3420 - - - - - - - - 14.79 14.81 14.78
3785 455.4 -10.1 283 3796 roll -0.49 - - 3234 - 2.50 0.109 3205 560.0 -116.8 - - 3418 - - - - - - - - 14.79 14.59 14.81
3841 461.1 -9.7 292 3852 done -0.49 - - 3235 - 2.50 0.100 1790 -566.0 -116.8 - - 3416 - - - - - - - - 14.66 14.59 14.70
4168 493.3 -9.8 305 4179 roll -0.49 - - 3234 - 2.53 0.108 3204 558.9 -116.8 - - 3420 - - - - - - - - 14.80 14.59 14.81
4235 499.8 -9.9 316 4247 done -0.49 - - 3234 - 2.47 0.099 1802 -567.6 -116.8 - - 3417 - - - - - - - - 14.69 14.60 14.71
4547 529.5 -9.5 327 4557 done -0.49 - - 3235 - - - 1801 - -116.8 - - 3415 - - - - - - - - 14.80 14.82 14.81
4841 557.7 -9.3 337 4852 roll -0.49 - - 3234 - 2.50 0.110 3203 560.8 -116.8 - - 3416 - - - - - - - - 14.80 14.59 14.81
4913 564.2 -8.8 349 4924 done -0.49 - - 3234 - 2.50 0.102 1788 -566.0 -116.8 - - 3415 - - - - - - - - 14.69 14.59 14.70
5255 594.8 -8.9 365 5266 roll -0.49 - - 3234 - 2.53 0.106 3204 559.7 -116.8 - - 3414 - - - - - - - - 14.80 14.59 14.82
5302 599.0 -8.4 372 5313 done -0.49 - - 3234 - 2.47 0.099 1794 -570.9 -116.8 - - 3414 - - - - - - - - 14.69 14.61 14.70
5640 627.9 -8.5 387 5650 done -0.49 - - 3234 - - - 1797 - -116.8 - - 3413 - - - - - - - - 14.80 14.82 14.81
5940 652.5 -8.1 397 5950 done -0.49 - - 3234 - - - 1797 - -116.8 - - 3415 - - - - - - - - 14.80 14.82 14.82
6240 676.9 -8.3 407 6251 roll -0.49 - - 3234 - 2.53 0.109 3204 556.1 -116.8 - - 3411 - - - - - - - - 14.81 14.60 14.82
6306 682.6 -8.2 418 6319 done -0.49 - - 3234 - 2.50 0.103 1807 -558.8 -116.8 - - 3411 - - - - - - - - 14.69 14.60 14.70
6618 708.8 -8.7 429 6629 roll -0.49 - - 3234 - 2.50 0.109 3204 558.8 -116.8 - - 3410 - - - - - - - - 14.81 14.59 14.83
6713 716.9 -8.2 445 6724 done -0.49 - - 3234 - 2.50 0.102 1787 -566.8 -116.8 - - 3411 - - - - - - - - 14.68 14.58 14.70
7035 745.0 -8.7 457 7046 roll -0.49 - - 3237 - 2.53 0.106 3204 560.1 -116.8 - - 3413 - - - - - - - - 14.79 14.59 14.81
7117 752.2 -8.7 471 7128 done -0.49 - - 3230 - 2.47 0.099 1806 -566.0 -116.8 - - 3410 - - - - - - - - 14.66 14.60 14.70
7449 782.4 -9.1 485 7460 roll -0.49 - - 3238 - 2.50 0.108 3203 558.8 -116.8 - - 3409 - - - - - - - - 14.79 14.58 14.81
7500 787.0 -8.8 493 7511 done -0.49 - - 3234 - 2.50 0.102 1788 -566.0 -116.8 - - 3410 - - - - - - - - 14.68 14.58 14.69
7833 815.1 -8.2 507 7843 done -0.49 - - 3235 - - - 1788 - -116.8 - - 3411 - - - - - - - - 14.78 14.82 14.81
8137 836.8 -7.0 517 8148 roll -0.49 - - 3234 - 2.53 0.109 3203 559.3 -116.8 - - 3408 - - - - - - - - 14.79 14.58 14.81
8228 842.6 -6.0 532 8239 done -0.49 - - 3234 - 2.47 0.101 1806 -565.6 -116.8 - - 3411 - - - - - - - - 14.68 14.59 14.69
8555 862.8 -6.2 545 8566 roll -0.49 - - 3234 - 2.53 0.107 3206 553.4 -116.8 - - 3407 - - - - - - - - 14.78 14.59 14.81
8601 866.2 -6.1 552 8612 done -0.49 - - 3234 - 2.50 0.103 1791 -566.0 -116.8 - - 3407 - - - - - - - - 14.67 14.59 14.71
8940 887.7 -6.8 567 8951 roll -0.49 - - 3234 - 2.53 0.110 3204 558.5 -116.8 - - 3407 - - - - - - - - 14.78 14.57 14.80
8996 892.2 -6.9 576 9007 done -0.49 - - 3234 - 2.47 0.102 1807 -565.6 -116.8 - - 3407 - - - - - - - - 14.67 14.58 14.69
9323 915.7 -7.5 589 9334 roll -0.49 - - 3234 - 2.53 0.112 3204 552.2 -116.8 - - 3406 - - - - - - - - 14.78 14.57 14.80
9419 922.9 -7.0 605 9430 done -0.49 - - 3234 - 2.50 0.101 1795 -563.6 -116.8 - - 3407 - - - - - - - - 14.66 14.57 14.68
9741 946.0 -7.4 617 9751 done -0.49 - - 3234 - - - 1795 - -116.8 - - 3404 - - - - - - - - 14.78 14.80 14.80
10045 969.3 -7.8 627 10057 roll -0.49 - - 3234 - 2.55 0.112 3207 553.7 -116.8 - - 3406 - - - - - - - - 14.79 14.57 14.78
10112 974.8 -7.7 638 10125 done -0.49 - - 3234 - 2.53 0.106 1792 -559.3 -116.8 - - 3405 - - - - - - - - 14.67 14.58 14.69
10323 end dive: TARGET_DEPTH_EXCEEDED
10323 begin apogee
10339 991.4 -7.7 646 10439 done -0.20 0.32 0.184 3335 315.6 - - 2351 - - 92.10 1.912 2939 -5.1 0.493 - - - - - - 14.54 13.88 13.24
10442 end apogee: CONTROL_FINISHED_OK
10442 begin climb
10447 995.9 - 649 10553 done 0.49 0.65 0.123 3555 338.5 - - 2350 - 116.8 97.25 1.874 2463 -4.9 0.489 - - - - - - 13.88 13.66 13.05
10838 965.3 9.7 663 10849 roll 0.49 - - 3557 - 2.62 0.115 937 -539.3 116.8 - - 2460 - - - - - - - - 14.40 14.20 14.42
10911 958.8 9.8 675 10922 done 0.49 - - 3557 - 2.55 0.099 2350 554.1 116.8 - - 2460 - - - - - - - - 14.33 14.25 14.35
11253 923.6 10.5 691 11264 done 0.49 - - 3556 - - - 2349 - 116.8 - - 2458 - - - - - - - - 14.57 14.59 14.59
11557 891.6 10.6 701 11568 roll 0.49 - - 3556 - 2.58 0.118 3771 551.2 116.8 - - 2458 - - - - - - - - 14.64 14.42 14.65
11614 885.0 12.2 710 11625 done 0.49 - - 3561 - 2.55 0.103 2356 -554.9 116.8 - - 2457 - - - - - - - - 14.54 14.46 14.55
11942 848.3 10.9 723 11952 done 0.49 - - 3561 - - - 2355 - 116.8 - - 2458 - - - - - - - - 14.68 14.70 14.70
12246 816.8 10.3 733 12256 done 0.49 - - 3561 - - - 2356 - 116.8 - - 2457 - - - - - - - - 14.71 14.71 14.72
12546 788.4 9.3 743 12557 roll 0.49 - - 3570 - 2.55 0.113 933 -558.0 116.8 - - 2457 - - - - - - - - 14.73 14.53 14.74
12607 782.2 9.3 753 12618 done 0.49 - - 3570 - 2.53 0.099 2360 564.0 116.8 - - 2458 - - - - - - - - 14.60 14.52 14.63
12929 753.1 8.9 765 12940 roll 0.49 - - 3569 - 2.53 0.117 3755 551.4 116.8 - - 2457 - - - - - - - - 14.73 14.54 14.73
12991 747.1 10.2 775 13002 done 0.49 - - 3578 - 2.53 0.104 2344 -557.7 116.8 - - 2457 - - - - - - - - 14.62 14.53 14.65
13314 716.3 9.6 787 13324 done 0.49 - - 3578 - - - 2345 - 116.8 - - 2454 - - - - - - - - 14.73 14.77 14.76
13618 686.1 10.2 797 13628 done 0.49 - - 3578 - - - 2344 - 116.8 - - 2457 - - - - - - - - 14.76 14.77 14.77
13918 656.0 10.0 807 13929 roll 0.49 - - 3587 - 2.50 0.113 938 -562.4 116.8 - - 2457 - - - - - - - - 14.76 14.54 14.78
13964 650.5 10.7 814 13976 done 0.49 0.10 0.252 3560 -270.0 2.47 0.098 2350 571.7 116.8 - - 2457 - - - - - - - - 14.51 14.57 14.62
14303 620.7 8.6 829 14313 done 0.49 - - 3565 - - - 2349 - 116.8 - - 2457 - - - - - - - - 14.76 14.81 14.78
14608 595.5 8.3 839 14618 done 0.49 - - 3559 - - - 2349 - 116.8 - - 2457 - - - - - - - - 14.76 14.78 14.78
14907 571.1 8.2 849 14917 done 0.49 - - 3560 - - - 2349 - 116.8 - - 2455 - - - - - - - - 14.77 14.78 14.78
15207 546.5 8.3 859 15217 done 0.49 - - 3560 - - - 2349 - 116.8 - - 2457 - - - - - - - - 14.77 14.81 14.79
15507 521.3 8.5 869 15517 done 0.49 - - 3559 - - - 2349 - 116.8 - - 2457 - - - - - - - - 14.78 14.80 14.79
15807 497.1 8.0 879 15817 done 0.49 - - 3560 - - - 2349 - 116.8 - - 2457 - - - - - - - - 14.77 14.79 14.79
16107 473.8 7.5 889 16118 roll 0.49 - - 3568 - 2.53 0.110 937 -558.1 116.8 - - 2457 - - - - - - - - 14.77 14.57 14.79
16158 469.5 7.6 897 16169 done 0.49 - - 3567 - 2.47 0.099 2350 572.1 116.8 - - 2457 - - - - - - - - 14.66 14.58 14.69
16491 443.3 8.2 911 16502 roll 0.49 - - 3570 - 2.55 0.112 938 -553.7 116.8 - - 2457 - - - - - - - - 14.78 14.55 14.79
16566 436.8 8.5 924 16577 done 0.49 - - 3575 - 2.47 0.097 2351 572.1 116.8 - - 2457 - - - - - - - - 14.66 14.57 14.67
16904 408.7 8.3 939 16915 roll 0.49 - - 3570 - 2.53 0.114 3756 555.3 116.8 - - 2457 - - - - - - - - 14.77 14.57 14.78
16960 403.3 9.5 948 16971 done 0.49 - - 3570 - 2.50 0.101 2345 -564.4 116.8 - - 2457 - - - - - - - - 14.67 14.55 14.66
17287 376.7 8.0 961 17298 roll 0.49 - - 3581 - 2.50 0.110 939 -562.4 116.8 - - 2457 - - - - - - - - 14.77 14.55 14.78
17394 368.0 8.8 979 17405 done 0.49 - - 3581 - 2.47 0.096 2354 572.9 116.8 - - 2457 - - - - - - - - 14.65 14.56 14.67
17737 336.5 9.5 995 17747 done 0.49 - - 3580 - - - 2354 - 116.8 - - 2457 - - - - - - - - 14.77 14.79 14.78
18041 308.2 9.5 1005 18052 roll 0.49 - - 3581 - 2.50 0.115 3755 560.4 116.8 - - 2459 - - - - - - - - 14.77 14.57 14.79
18114 300.6 10.0 1017 18125 done 0.49 - - 3585 - 2.50 0.100 2341 -565.6 116.8 - - 2457 - - - - - - - - 14.65 14.56 14.67
18456 271.4 8.0 1033 18466 done 0.49 - - 3582 - - - 2340 - 116.8 - - 2460 - - - - - - - - 14.77 14.79 14.78
18761 248.2 7.8 1043 18772 done 0.49 - - 3582 - - - 2343 - 116.8 - - 2455 - - - - - - - - 14.77 14.79 14.78
18953 233.1 7.9 1062 18964 done 0.49 - - 3582 - - - 2344 - 116.8 - - 2457 - - - - - - - - 14.77 14.79 14.78
19145 218.0 7.4 1081 19156 roll 0.49 - - 3588 - 2.50 0.112 936 -563.2 116.8 - - 2458 - - - - - - - - 14.76 14.57 14.78
19232 212.2 6.9 1095 19253 done 0.50 - - 3586 - 2.47 0.099 2350 572.5 127.6 9.20 0.987 2416 -4.6 0.184 - - - - - - 14.65 14.57 14.13
19444 196.8 6.8 1117 19464 done 0.51 - - 3586 - - - 2349 - 139.6 10.65 0.982 2366 -4.7 0.177 - - - - - - 14.72 14.51 14.09
19645 180.8 8.4 1137 19656 done 0.51 - - 3586 - - - 2349 - 139.6 - - 2368 - - - - - - - - 14.69 14.70 14.70
19838 165.2 7.9 1156 19848 done 0.51 - - 3583 - - - 2349 - 139.6 - - 2368 - - - - - - - - 14.69 14.71 14.71
20031 151.2 6.4 1175 20063 roll 0.53 - - 3586 - 2.62 0.110 937 -538.9 161.8 17.38 0.931 2279 -5.1 0.156 - - - - - - 14.71 14.42 14.08
20098 146.7 7.9 1185 20110 done 0.53 - - 3586 - 2.50 0.096 2353 566.4 161.8 - - 2279 - - - - - - - - 14.52 14.42 14.53
20291 132.6 6.5 1204 20320 done 0.54 - - 3586 - - - 2353 - 181.0 15.88 0.910 2200 -5.0 0.136 - - - - - - 14.66 14.43 14.04
20501 117.0 7.6 1225 20512 done 0.54 - - 3586 - - - 2357 - 181.0 - - 2200 - - - - - - - - 14.63 14.64 14.64
20693 101.6 7.6 1244 20704 done 0.54 - - 3586 - - - 2352 - 181.0 - - 2201 - - - - - - - - 14.65 14.67 14.66
20886 88.6 6.7 1263 20912 roll 0.56 - - 3593 - 2.60 0.109 939 -543.5 195.0 12.12 0.866 2142 -4.9 0.094 - - - - - - 14.67 14.39 14.09
21017 79.0 7.1 1286 21035 done 0.56 - - 3593 - 2.50 0.096 2350 564.4 200.7 5.25 0.821 2121 -4.0 0.072 - - - - - - 14.52 14.45 14.06
21227 67.2 4.3 1307 21291 roll 0.62 - - 3593 - 2.58 0.109 3754 544.2 271.7 52.28 0.796 1829 -5.6 0.089 - - - - - - 14.64 14.21 13.95
21325 62.1 6.7 1320 21348 done 0.63 - - 3595 - 2.55 0.098 2342 -553.7 286.1 11.18 0.803 1773 -5.0 0.073 - - - - - - 14.35 14.26 13.93
21539 47.7 7.1 1342 21556 roll 0.63 - - 3595 - 2.55 0.109 936 -551.4 291.1 4.38 0.745 1754 -4.3 0.052 - - - - - - 14.53 14.31 13.90
21597 44.0 6.7 1350 21624 done 0.65 - - 3595 - 2.53 0.093 2353 560.1 306.3 13.73 0.798 1688 -4.8 0.050 - - - - - - 14.42 14.33 13.98
21806 29.7 7.4 1372 21816 done 0.65 - - 3595 - - - 2353 - 306.3 - - 1684 - - - - - - - - 14.55 14.57 14.57
21998 16.0 6.1 1391 22018 done 0.67 - - 3595 - - - 2353 - 335.4 12.62 0.150 1569 -9.1 0.183 - - - - - - 14.61 14.48 14.37
22200 5.2 5.5 1411 22221 VBD 0.70 - - 3595 - - - 2352 - 380.2 13.23 0.097 1451 -8.9 0.090 - - - - - - 14.63 - 14.64
22222 end climb: SURFACE_DEPTH_REACHED
22222 begin surface coast
22303 end surface coast: CONTROL_FINISHED_OK
22303 begin surface
SM 2.80 - - - - -10.27 9.75 0.050 95 9.7 1.02 0.107 1791 -6779.4 375.06 3.80 0.087 1411 371.3 -1.221 - - - - - -