NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 636 * Raw log
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• Previous call tries 1 • 182.24 of 350.00 AH used of 24V (47.93% remains)
• Previous NAKs 8, Timeouts 0
• Surface angle -69.0 deg, depth 0.69 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 33 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
31 - - - 144 done -0.39 - - 83 - - - 1966 - -107.1 -108.47 - 3378 - - - - - - - - 14.45 12.46 14.33
152 1.7 -1.3 3 174 roll -0.39 14.48 0.358 3246 218.4 2.62 0.091 3391 543.9 -107.1 - - 3381 - - - - - - - - 13.61 14.00 13.85
229 32.6 -13.2 17 238 done -0.39 - - 3247 - 2.62 0.085 1957 -547.3 -107.1 - - 3383 - - - - - - - - 14.08 13.95 14.13
591 73.3 -11.8 29 599 roll -0.39 - - 3247 - 2.58 0.098 565 -539.5 -107.1 - - 3383 - - - - - - - - 14.43 13.79 14.45
641 78.3 -9.6 37 649 done -0.39 - - 3247 - 2.58 0.086 1982 549.2 -107.1 - - 3383 - - - - - - - - 14.02 13.88 14.07
971 105.7 -8.1 46 979 roll -0.39 - - 3243 - 2.60 0.099 3379 537.3 -107.1 - - 3383 - - - - - - - - 14.43 13.76 14.45
1025 109.8 -7.5 55 1033 done -0.39 - - 3247 - 2.58 0.084 1973 -545.0 -107.1 - - 3383 - - - - - - - - 14.00 13.86 14.06
1349 139.7 -9.4 63 1356 roll -0.39 - - 3246 - 2.62 0.096 543 -545.8 -107.1 - - 3383 - - - - - - - - 14.47 13.78 14.48
1392 143.5 -8.9 70 1400 done -0.39 - - 3247 - 2.60 0.085 1965 546.9 -107.1 - - 3383 - - - - - - - - 13.93 13.78 13.97
1727 170.0 -7.9 80 1734 roll -0.39 - - 3247 - 2.65 0.100 3389 537.4 -107.1 - - 3382 - - - - - - - - 14.46 13.65 14.45
1760 172.7 -7.5 85 1768 done -0.39 - - 3246 - 2.60 0.083 1967 -546.9 -107.1 - - 3382 - - - - - - - - 14.00 13.85 14.04
2104 200.1 -7.9 97 2113 roll -0.39 - - 3249 - 2.60 0.096 557 -542.3 -107.1 - - 3382 - - - - - - - - 14.47 13.77 14.48
2144 203.2 -8.2 103 2152 done -0.39 - - 3247 - 2.60 0.087 1982 548.1 -107.1 - - 3382 - - - - - - - - 13.95 13.82 14.02
2483 228.5 -7.4 114 2486 done -0.39 - - 3247 - - - 1984 - -107.1 - - 3382 - - - - - - - - 14.45 14.46 14.46
2783 251.5 -7.7 119 2790 roll -0.39 - - 3246 - 2.62 0.102 3389 536.3 -107.1 - - 3382 - - - - - - - - 14.46 13.69 14.49
2837 255.4 -7.3 128 2845 done -0.39 - - 3246 - 2.62 0.083 1956 -546.9 -107.1 - - 3381 - - - - - - - - 13.86 13.72 13.92
3161 279.1 -7.2 136 3164 done -0.39 - - 3247 - - - 1956 - -107.1 - - 3381 - - - - - - - - 14.47 14.48 14.51
3462 302.0 -7.7 141 3465 done -0.39 - - 3246 - - - 1956 - -107.1 - - 3383 - - - - - - - - 14.42 14.45 14.45
3761 325.4 -7.8 146 3765 done -0.39 - - 3244 - - - 1956 - -107.1 - - 3380 - - - - - - - - 14.47 14.48 14.46
4061 346.5 -6.9 151 4064 done -0.39 - - 3246 - - - 1956 - -107.1 - - 3379 - - - - - - - - 14.46 14.48 14.47
4362 368.5 -7.4 156 4370 roll -0.39 - - 3247 - 2.72 0.102 3388 526.5 -107.1 - - 3379 - - - - - - - - 14.45 13.68 14.50
4410 372.2 -7.4 164 4418 done -0.39 - - 3247 - 2.60 0.084 1974 -543.8 -107.1 - - 3379 - - - - - - - - 13.93 13.78 13.98
4739 396.0 -7.2 173 4742 done -0.39 - - 3246 - - - 1974 - -107.1 - - 3379 - - - - - - - - 14.44 14.45 14.44
5041 416.3 -6.7 178 5049 roll -0.39 - - 3247 - 2.65 0.098 555 -535.5 -107.1 - - 3378 - - - - - - - - 14.42 13.69 14.45
5074 418.8 -7.9 183 5082 done -0.39 - - 3247 - 2.60 0.086 1966 542.7 -107.1 - - 3378 - - - - - - - - 13.90 13.74 13.95
5418 442.1 -6.8 195 5426 roll -0.39 - - 3246 - 2.67 0.102 3389 533.0 -107.1 - - 3378 - - - - - - - - 14.42 13.67 14.46
5463 444.9 -6.5 202 5471 done -0.39 - - 3247 - 2.65 0.083 1957 -540.4 -107.1 - - 3377 - - - - - - - - 13.93 13.78 13.97
5798 466.6 -6.5 212 5801 done -0.39 - - 3247 - - - 1957 - -107.1 - - 3374 - - - - - - - - 14.41 14.43 14.43
6098 486.9 -6.8 217 6102 done -0.39 - - 3243 - - - 1957 - -107.1 - - 3376 - - - - - - - - 14.45 14.47 14.49
6400 507.2 -6.7 222 6403 done -0.39 - - 3247 - - - 1957 - -107.1 - - 3377 - - - - - - - - 14.40 14.42 14.42
6698 527.6 -6.8 227 6701 done -0.39 - - 3247 - - - 1957 - -107.1 - - 3375 - - - - - - - - 14.42 14.47 14.45
6998 549.5 -7.3 232 7001 done -0.39 - - 3246 - - - 1957 - -107.1 - - 3374 - - - - - - - - 14.44 14.45 14.45
7300 570.4 -6.9 237 7303 done -0.39 - - 3246 - - - 1957 - -107.1 - - 3374 - - - - - - - - 14.42 14.44 14.42
7599 590.8 -6.8 242 7606 roll -0.39 - - 3252 - 2.75 0.105 3387 520.0 -107.1 - - 3374 - - - - - - - - 14.45 13.66 14.46
7648 594.1 -6.7 250 7655 done -0.39 - - 3247 - 2.62 0.086 1974 -539.3 -107.1 - - 3373 - - - - - - - - 13.88 13.73 13.94
7978 615.0 -6.3 259 7986 roll -0.39 - - 3246 - 2.67 0.101 561 -529.2 -107.1 - - 3371 - - - - - - - - 14.42 13.66 14.45
8022 618.0 -6.7 266 8030 done -0.39 - - 3247 - 2.60 0.088 1968 541.2 -107.1 - - 3373 - - - - - - - - 13.88 13.72 13.94
8356 636.2 -5.3 276 8364 roll -0.39 - - 3247 - 2.72 0.104 3389 522.4 -107.1 - - 3370 - - - - - - - - 14.38 13.62 14.40
8405 638.5 -4.9 284 8413 done -0.39 - - 3246 - 2.62 0.086 1973 -540.5 -107.1 - - 3374 - - - - - - - - 13.89 13.74 13.95
8735 653.6 -4.5 293 8738 done -0.39 - - 3247 - - - 1975 - -107.1 - - 3372 - - - - - - - - 14.41 14.43 14.41
9037 666.2 -4.2 298 9044 roll -0.39 - - 3247 - 2.67 0.099 545 -535.6 -107.1 - - 3371 - - - - - - - - 14.40 13.59 14.43
9075 668.3 -5.3 304 9083 done -0.39 - - 3247 - 2.65 0.086 1968 537.0 -107.1 - - 3371 - - - - - - - - 13.88 13.72 13.93
9415 684.1 -4.7 315 9419 done -0.39 - - 3247 - - - 1969 - -107.1 - - 3371 - - - - - - - - 14.40 14.42 14.47
9714 699.2 -5.0 320 9717 done -0.39 - - 3246 - - - 1969 - -107.1 - - 3371 - - - - - - - - 14.38 14.40 14.40
10014 715.5 -5.4 325 10017 done -0.39 - - 3247 - - - 1969 - -107.1 - - 3371 - - - - - - - - 14.41 14.43 14.43
10316 731.9 -5.5 330 10319 done -0.39 - - 3247 - - - 1969 - -107.1 - - 3370 - - - - - - - - 14.37 14.39 14.38
10614 748.0 -5.4 335 10622 roll -0.39 - - 3247 - 2.70 0.108 3389 525.9 -107.1 - - 3369 - - - - - - - - 14.40 13.64 14.41
10652 750.1 -5.6 341 10661 done -0.39 - - 3247 - 2.65 0.086 1972 -534.7 -107.1 - - 3371 - - - - - - - - 13.87 13.72 13.93
10994 768.2 -5.4 352 11002 roll -0.39 - - 3248 - 2.67 0.101 553 -531.5 -107.1 - - 3369 - - - - - - - - 14.38 13.67 14.40
11033 770.8 -6.4 358 11040 done -0.39 - - 3247 - 2.65 0.090 1986 540.8 -107.1 - - 3369 - - - - - - - - 13.86 13.71 13.92
11372 788.0 -5.0 369 11380 roll -0.39 - - 3247 - 2.67 0.107 3372 519.1 -107.1 - - 3368 - - - - - - - - 14.40 13.66 14.41
11412 790.3 -5.1 375 11420 done -0.39 - - 3246 - 2.65 0.089 1954 -535.1 -107.1 - - 3368 - - - - - - - - 13.86 13.71 13.92
11752 810.7 -6.5 386 11755 done -0.39 - - 3245 - - - 1954 - -107.1 - - 3365 - - - - - - - - 14.35 14.39 14.40
12053 831.2 -6.8 391 12056 done -0.39 - - 3246 - - - 1954 - -107.1 - - 3366 - - - - - - - - 14.39 14.40 14.40
12352 851.6 -6.8 396 12355 done -0.39 - - 3247 - - - 1954 - -107.1 - - 3368 - - - - - - - - 14.39 14.40 14.40
12652 871.3 -6.5 401 12655 done -0.39 - - 3245 - - - 1954 - -107.1 - - 3367 - - - - - - - - 14.37 14.40 14.39
12954 890.6 -6.4 406 12956 done -0.39 - - 3246 - - - 1954 - -107.1 - - 3367 - - - - - - - - 14.39 14.40 14.40
13252 908.5 -5.9 411 13255 done -0.39 - - 3246 - - - 1954 - -107.1 - - 3371 - - - - - - - - 14.38 14.40 14.40
13552 925.1 -5.5 416 13555 done -0.39 - - 3247 - - - 1954 - -107.1 - - 3366 - - - - - - - - 14.35 14.35 14.38
13853 937.5 -3.9 421 13857 done -0.39 - - 3247 - - - 1954 - -107.1 - - 3366 - - - - - - - - 14.35 14.38 14.38
14153 946.9 -3.0 426 14156 done -0.39 - - 3247 - - - 1954 - -107.1 - - 3365 - - - - - - - - 14.40 14.41 14.41
14452 955.5 -2.9 431 14455 done -0.39 - - 3248 - - - 1950 - -107.1 - - 3369 - - - - - - - - 14.38 14.40 14.40
14753 966.9 -4.0 436 14757 done -0.39 - - 3246 - - - 1954 - -107.1 - - 3366 - - - - - - - - 14.34 14.35 14.38
15052 980.0 -4.3 441 15055 done -0.39 - - 3246 - - - 1956 - -107.1 - - 3365 - - - - - - - - 14.38 14.39 14.40
15347 end dive: TARGET_DEPTH_EXCEEDED
15347 begin apogee
15359 992.2 -4.1 446 15462 done -0.16 0.30 0.141 3339 310.0 - - 2245 - - 97.78 1.894 2942 -4.3 0.446 - - - - - - 13.57 13.69 12.70
15465 end apogee: CONTROL_FINISHED_OK
15465 begin climb
15472 994.3 - 447 15591 done 0.39 0.50 0.093 3519 360.0 - - 2243 - 107.1 101.97 1.897 2503 -4.3 0.444 - - - - - - 13.83 13.26 12.49
15913 974.4 5.6 477 15924 done 0.42 - - 3515 - - - 2245 - 107.1 - - 2495 - - - - - - - - 14.42 14.44 14.44
16213 957.0 5.8 482 16223 done 0.46 - - 3519 - - - 2245 - 107.1 - - 2495 - - - - - - - - 14.51 14.53 14.53
16513 939.5 5.9 487 16525 roll 0.49 - - 3527 - 2.65 0.102 841 -529.8 107.1 - - 2495 - - - - - - - - 14.53 13.90 14.54
16555 936.5 9.6 493 16567 done 0.49 - - 3527 - 2.60 0.092 2261 546.2 107.1 - - 2495 - - - - - - - - 14.02 13.87 14.10
16903 915.5 6.1 504 16914 roll 0.51 - - 3527 - 2.65 0.108 3662 528.7 107.1 - - 2494 - - - - - - - - 14.52 13.84 14.54
16977 910.3 7.5 516 16988 done 0.51 - - 3532 - 2.62 0.090 2254 -537.4 107.1 - - 2494 - - - - - - - - 14.07 13.89 14.14
17351 887.8 6.0 533 17363 roll 0.54 0.12 0.129 3601 575.0 2.62 0.099 839 -540.1 107.1 - - 2494 - - - - - - - - 14.12 13.83 14.12
17448 879.5 7.7 549 17460 done 0.54 0.15 0.228 3567 -226.7 2.60 0.092 2255 544.6 107.1 - - 2497 - - - - - - - - 13.66 13.90 13.93
17802 853.7 7.0 562 17813 roll 0.54 - - 3567 - 2.70 0.106 3664 521.9 107.1 - - 2494 - - - - - - - - 14.53 13.79 14.54
17849 850.1 10.4 569 17860 done 0.54 - - 3567 - 2.65 0.092 2235 -539.2 107.1 - - 2497 - - - - - - - - 14.02 13.87 14.09
18188 826.9 6.9 579 18199 roll 0.54 - - 3571 - 2.60 0.103 844 -535.0 107.1 - - 2493 - - - - - - - - 14.51 13.77 14.53
18255 822.2 7.2 590 18267 done 0.54 - - 3571 - 2.60 0.091 2246 539.2 107.1 - - 2494 - - - - - - - - 14.00 13.83 14.07
18560 801.4 6.9 596 18572 roll 0.54 - - 3571 - 2.70 0.105 3664 525.2 107.1 - - 2493 - - - - - - - - 14.51 13.75 14.54
18638 795.3 7.5 609 18650 done 0.54 - - 3580 - 2.62 0.088 2253 -538.5 107.1 - - 2493 - - - - - - - - 14.00 13.85 14.08
19013 770.2 6.8 625 19025 roll 0.54 - - 3582 - 2.65 0.102 842 -532.5 107.1 - - 2493 - - - - - - - - 14.47 13.74 14.49
19055 766.9 7.2 631 19066 done 0.54 - - 3582 - 2.60 0.091 2252 542.3 107.1 - - 2494 - - - - - - - - 14.00 13.84 14.07
19402 743.2 7.0 642 19413 roll 0.54 - - 3582 - 2.70 0.106 3663 522.6 107.1 - - 2493 - - - - - - - - 14.45 13.73 14.49
19470 737.7 8.0 653 19483 done 0.54 - - 3582 - 2.65 0.091 2252 -532.5 107.1 - - 2493 - - - - - - - - 13.96 13.81 14.04
19775 716.3 6.9 659 19785 done 0.54 - - 3583 - - - 2252 - 107.1 - - 2493 - - - - - - - - 14.51 14.52 14.52
20076 693.8 7.6 664 20087 roll 0.54 - - 3583 - 2.75 0.108 3665 513.8 107.1 - - 2493 - - - - - - - - 14.49 13.72 14.50
20142 688.2 8.5 675 20154 done 0.54 - - 3591 - 2.65 0.090 2244 -536.2 107.1 - - 2493 - - - - - - - - 13.97 13.81 14.03
20450 666.0 7.2 681 20460 done 0.54 - - 3587 - - - 2244 - 107.1 - - 2495 - - - - - - - - 14.50 14.52 14.50
20749 644.4 7.2 686 20759 done 0.54 - - 3586 - - - 2245 - 107.1 - - 2493 - - - - - - - - 14.50 14.52 14.52
21049 623.7 6.8 691 21060 roll 0.55 - - 3587 - 2.78 0.106 3666 511.2 107.1 - - 2493 - - - - - - - - 14.50 13.72 14.51
21112 619.1 7.4 701 21123 done 0.55 - - 3587 - 2.65 0.092 2254 -532.8 107.1 - - 2491 - - - - - - - - 13.95 13.78 14.02
21435 598.1 6.5 708 21446 roll 0.57 - - 3593 - 2.67 0.100 822 -536.3 107.1 - - 2493 - - - - - - - - 14.48 13.69 14.52
21473 595.6 6.5 713 21485 done 0.58 - - 3592 - 2.65 0.092 2254 540.4 107.1 - - 2494 - - - - - - - - 13.95 13.80 14.03
21826 571.3 7.0 725 21836 done 0.58 - - 3592 - - - 2254 - 107.1 - - 2493 - - - - - - - - 14.42 14.44 14.44
22122 552.4 6.2 730 22133 done 0.61 - - 3590 - - - 2258 - 107.1 - - 2492 - - - - - - - - 14.49 14.51 14.50
22422 534.3 6.0 735 22433 roll 0.63 - - 3593 - 2.72 0.106 3664 516.9 107.1 - - 2493 - - - - - - - - 14.45 13.68 14.47
22534 526.9 7.3 754 22546 done 0.63 - - 3595 - 2.65 0.090 2252 -532.8 107.1 - - 2493 - - - - - - - - 13.93 13.77 14.00
22877 505.9 6.0 764 22888 roll 0.66 - - 3601 - 2.67 0.100 822 -535.6 107.1 - - 2493 - - - - - - - - 14.45 13.69 14.46
22959 500.7 6.1 777 22971 done 0.68 - - 3602 - 2.65 0.091 2246 537.4 107.1 - - 2493 - - - - - - - - 13.93 13.76 14.00
23332 477.1 6.3 793 23343 roll 0.70 - - 3602 - 2.72 0.104 3665 521.7 107.1 - - 2493 - - - - - - - - 14.47 13.68 14.48
23468 467.1 6.9 817 23480 done 0.70 - - 3610 - 2.67 0.089 2235 -535.6 107.1 - - 2493 - - - - - - - - 13.90 13.76 13.97
23844 443.5 6.3 834 23855 done 0.72 - - 3608 - - - 2235 - 107.1 - - 2492 - - - - - - - - 14.47 14.48 14.48
24142 424.2 6.4 839 24153 done 0.74 - - 3609 - - - 2235 - 107.1 - - 2497 - - - - - - - - 14.49 14.50 14.50
24442 406.3 5.9 844 24454 roll 0.77 0.08 0.152 3678 862.5 2.62 0.096 839 -532.8 107.1 - - 2493 - - - - - - - - 14.07 13.69 14.07
24619 392.7 7.8 876 24630 done 0.77 0.12 0.239 3646 -266.7 2.65 0.092 2266 538.5 107.1 - - 2494 - - - - - - - - 13.53 13.73 13.78
24958 368.9 7.0 885 24969 roll 0.77 - - 3646 - 2.67 0.103 3663 523.2 107.1 - - 2493 - - - - - - - - 14.44 13.66 14.46
24996 365.6 7.8 890 25008 done 0.77 - - 3658 - 2.62 0.086 2254 -537.8 107.1 - - 2494 - - - - - - - - 13.93 13.78 13.99
25350 340.6 7.1 902 25361 done 0.77 - - 3654 - - - 2254 - 107.1 - - 2494 - - - - - - - - 14.42 14.46 14.46
25644 321.3 6.3 907 25655 roll 0.79 - - 3664 - 2.65 0.095 842 -532.8 107.1 - - 2494 - - - - - - - - 14.45 13.68 14.46
25696 318.0 6.3 915 25707 done 0.81 - - 3666 - 2.62 0.090 2258 540.5 107.1 - - 2496 - - - - - - - - 13.93 13.78 14.00
26035 296.4 6.4 924 26046 roll 0.83 - - 3664 - 2.67 0.105 3658 524.3 107.1 - - 2495 - - - - - - - - 14.42 13.59 14.44
26142 288.8 7.2 942 26154 done 0.83 - - 3671 - 2.65 0.084 2251 -530.9 107.1 - - 2494 - - - - - - - - 13.90 13.76 13.97
26489 264.1 7.2 953 26501 roll 0.83 - - 3677 - 2.75 0.103 3663 513.5 107.1 - - 2494 - - - - - - - - 14.43 13.66 14.45
26583 256.9 7.4 969 26595 done 0.83 - - 3679 - 2.67 0.086 2234 -535.2 107.1 - - 2494 - - - - - - - - 13.88 13.75 13.97
26942 232.2 7.0 982 26952 done 0.83 - - 3679 - - - 2234 - 107.1 - - 2495 - - - - - - - - 14.40 14.42 14.42
27238 211.3 7.0 987 27249 done 0.83 - - 3681 - - - 2231 - 107.1 - - 2494 - - - - - - - - 14.45 14.47 14.47
27537 190.0 7.1 992 27548 roll 0.83 - - 3679 - 2.75 0.099 3661 520.0 107.1 - - 2495 - - - - - - - - 14.47 13.71 14.47
27723 176.7 7.5 1026 27734 done 0.83 - - 3690 - 2.62 0.083 2252 -537.8 107.1 - - 2495 - - - - - - - - 13.91 13.76 13.98
28050 156.1 6.2 1033 28062 roll 0.85 - - 3686 - 2.70 0.102 3661 521.9 107.1 - - 2496 - - - - - - - - 14.42 13.69 14.43
28297 139.1 6.0 1079 28308 done 0.88 - - 3695 - 2.62 0.083 2249 -538.9 107.1 - - 2496 - - - - - - - - 13.90 13.76 13.97
28622 121.5 5.5 1086 28633 roll 0.92 - - 3695 - 2.72 0.101 3663 519.9 107.1 - - 2496 - - - - - - - - 14.41 13.67 14.43
28730 115.6 5.9 1104 28742 done 0.94 - - 3706 - 2.65 0.083 2245 -535.1 107.1 - - 2494 - - - - - - - - 13.93 13.76 13.99
29079 98.2 4.6 1115 29140 roll 0.97 - - 3713 - 2.58 0.094 842 -543.8 166.9 45.70 0.848 2256 -5.2 0.119 - - - - - - 14.43 14.07 13.38
29249 82.9 12.2 1147 29260 done 0.97 - - 3717 - 2.55 0.090 2244 549.8 166.9 - - 2257 - - - - - - - - 14.11 13.95 14.14
29586 57.0 6.7 1156 29598 roll 0.99 - - 3720 - 2.60 0.093 841 -539.6 166.9 - - 2258 - - - - - - - - 14.44 13.88 14.47
29773 55.3 -1.0 1190 29927 done 1.08 - - 3720 - 2.60 0.087 2267 548.5 348.1 134.70 0.773 1516 -5.5 0.078 - - - - - - 14.04 13.90 13.30
30238 end climb: SURFACE_DEPTH_REACHED
30238 begin surface coast
30270 end surface coast: CONTROL_FINISHED_OK
30270 begin surface
SM 0.96 - - - - -10.25 10.38 0.044 93 8.9 0.55 0.091 1971 -13183.6 400.08 21.60 0.081 1311 60.7 -0.074 - - - - - -