NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 648 * Raw log
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• Previous call tries 2 • 186.52 of 350.00 AH used of 24V (46.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -74.8 deg, depth 0.74 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 26 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
27 end surface: CONTROL_FINISHED_OK
27 begin dive
33 - - - 115 done -0.39 - - 85 - - - 1950 - -107.1 -77.95 - 3379 - - - - - - - - 14.45 12.51 14.32
122 1.5 -2.0 2 144 roll -0.39 14.38 0.356 3252 220.2 2.67 0.097 3385 537.5 -107.1 - - 3381 - - - - - - - - 13.67 14.04 14.01
289 37.2 -10.0 33 297 done -0.39 - - 3252 - 2.62 0.090 1974 -538.5 -107.1 - - 3381 - - - - - - - - 14.01 13.87 14.06
653 75.6 -9.7 45 657 done -0.39 - - 3250 - - - 1973 - -107.1 - - 3382 - - - - - - - - 14.41 14.43 14.42
955 100.3 -8.3 50 963 roll -0.39 - - 3253 - 2.67 0.096 545 -534.8 -107.1 - - 3384 - - - - - - - - 14.40 13.76 14.42
1008 105.2 -8.8 59 1016 done -0.39 - - 3249 - 2.60 0.086 1964 545.8 -107.1 - - 3383 - - - - - - - - 13.87 13.71 13.91
1333 131.2 -8.1 67 1336 done -0.39 - - 3253 - - - 1965 - -107.1 - - 3383 - - - - - - - - 14.42 14.44 14.44
1632 156.1 -8.3 72 1640 roll -0.39 - - 3252 - 2.67 0.100 3389 533.3 -107.1 - - 3383 - - - - - - - - 14.41 13.71 14.42
1691 160.5 -7.3 82 1699 done -0.39 - - 3252 - 2.62 0.082 1962 -544.7 -107.1 - - 3383 - - - - - - - - 13.95 13.81 14.00
2011 184.1 -7.5 89 2015 done -0.39 - - 3253 - - - 1961 - -107.1 - - 3384 - - - - - - - - 14.42 14.43 14.42
2311 208.1 -8.1 94 2314 done -0.39 - - 3249 - - - 1961 - -107.1 - - 3383 - - - - - - - - 14.44 14.45 14.45
2610 233.5 -8.4 99 2613 done -0.39 - - 3249 - - - 1961 - -107.1 - - 3383 - - - - - - - - 14.42 14.44 14.45
2911 257.2 -7.9 104 2915 done -0.39 - - 3252 - - - 1962 - -107.1 - - 3383 - - - - - - - - 14.42 14.44 14.43
3210 280.1 -7.6 109 3213 done -0.39 - - 3252 - - - 1961 - -107.1 - - 3382 - - - - - - - - 14.47 14.46 14.46
3511 301.0 -6.9 114 3514 done -0.39 - - 3253 - - - 1961 - -107.1 - - 3382 - - - - - - - - 14.44 14.46 14.46
3812 321.4 -6.8 119 3814 done -0.39 - - 3249 - - - 1961 - -107.1 - - 3381 - - - - - - - - 14.42 14.43 14.43
4110 342.1 -6.9 124 4113 done -0.39 - - 3249 - - - 1961 - -107.1 - - 3385 - - - - - - - - 14.42 14.45 14.44
4410 363.2 -7.1 129 4413 done -0.39 - - 3252 - - - 1960 - -107.1 - - 3380 - - - - - - - - 14.42 14.44 14.45
4711 383.4 -6.7 134 4714 done -0.39 - - 3252 - - - 1961 - -107.1 - - 3383 - - - - - - - - 14.42 14.45 14.44
5011 403.1 -6.6 139 5019 roll -0.39 - - 3252 - 2.75 0.104 3389 519.3 -107.1 - - 3380 - - - - - - - - 14.38 13.69 14.38
5044 405.4 -6.6 144 5052 done -0.39 - - 3252 - 2.67 0.085 1963 -534.1 -107.1 - - 3379 - - - - - - - - 13.93 13.78 13.97
5389 428.0 -6.6 156 5393 done -0.39 - - 3252 - - - 1963 - -107.1 - - 3379 - - - - - - - - 14.40 14.42 14.42
5688 447.6 -6.5 161 5691 done -0.39 - - 3253 - - - 1963 - -107.1 - - 3378 - - - - - - - - 14.40 14.42 14.41
5989 467.4 -6.6 166 5992 done -0.39 - - 3252 - - - 1966 - -107.1 - - 3378 - - - - - - - - 14.42 14.45 14.44
6289 487.5 -6.7 171 6292 done -0.39 - - 3253 - - - 1963 - -107.1 - - 3376 - - - - - - - - 14.38 14.39 14.39
6588 507.3 -6.6 176 6591 done -0.39 - - 3249 - - - 1962 - -107.1 - - 3377 - - - - - - - - 14.41 14.42 14.42
6888 526.6 -6.4 181 6891 done -0.39 - - 3247 - - - 1962 - -107.1 - - 3377 - - - - - - - - 14.42 14.43 14.43
7189 546.1 -6.6 186 7192 done -0.39 - - 3255 - - - 1963 - -107.1 - - 3377 - - - - - - - - 14.38 14.40 14.40
7489 564.9 -6.2 191 7492 done -0.39 - - 3253 - - - 1963 - -107.1 - - 3377 - - - - - - - - 14.40 14.41 14.42
7788 582.6 -5.9 196 7791 done -0.39 - - 3253 - - - 1963 - -107.1 - - 3377 - - - - - - - - 14.40 14.41 14.42
8088 599.9 -5.8 201 8091 done -0.39 - - 3252 - - - 1963 - -107.1 - - 3376 - - - - - - - - 14.40 14.42 14.44
8390 617.3 -5.8 206 8393 done -0.39 - - 3252 - - - 1963 - -107.1 - - 3376 - - - - - - - - 14.40 14.41 14.42
8688 635.3 -6.0 211 8692 done -0.39 - - 3258 - - - 1962 - -107.1 - - 3378 - - - - - - - - 14.39 14.40 14.40
8988 653.0 -5.9 216 8991 done -0.39 - - 3252 - - - 1966 - -107.1 - - 3375 - - - - - - - - 14.41 14.40 14.41
9290 669.9 -5.6 221 9293 done -0.39 - - 3252 - - - 1963 - -107.1 - - 3374 - - - - - - - - 14.38 14.39 14.39
9589 685.8 -5.3 226 9593 done -0.39 - - 3253 - - - 1963 - -107.1 - - 3374 - - - - - - - - 14.36 14.40 14.38
9889 701.3 -5.1 231 9896 roll -0.39 - - 3253 - 2.67 0.104 561 -525.1 -107.1 - - 3372 - - - - - - - - 14.36 13.71 14.37
9918 703.0 -5.7 235 9926 done -0.39 - - 3252 - 2.65 0.091 1969 531.3 -107.1 - - 3373 - - - - - - - - 13.89 13.76 13.94
10268 721.2 -5.3 248 10275 roll -0.39 - - 3252 - 2.72 0.108 3390 522.4 -107.1 - - 3373 - - - - - - - - 14.38 13.66 14.40
10312 723.6 -5.3 255 10320 done -0.39 - - 3252 - 2.65 0.088 1974 -534.3 -107.1 - - 3373 - - - - - - - - 13.88 13.73 13.94
10646 741.3 -5.4 265 10649 done -0.39 - - 3252 - - - 1974 - -107.1 - - 3372 - - - - - - - - 14.38 14.39 14.40
10947 758.2 -5.7 270 10950 done -0.39 - - 3252 - - - 1974 - -107.1 - - 3375 - - - - - - - - 14.35 14.39 14.35
11248 774.4 -5.3 275 11255 roll -0.39 - - 3253 - 2.75 0.106 3391 515.3 -107.1 - - 3372 - - - - - - - - 14.37 13.68 14.38
11281 776.6 -5.3 280 11289 done -0.39 - - 3253 - 2.67 0.086 1966 -533.7 -107.1 - - 3372 - - - - - - - - 13.89 13.75 13.94
11626 792.0 -4.4 292 11634 roll -0.39 - - 3252 - 2.75 0.104 3390 517.8 -107.1 - - 3371 - - - - - - - - 14.38 13.67 14.40
11672 793.7 -3.2 299 11680 done -0.39 - - 3253 - 2.67 0.088 1957 -536.7 -107.1 - - 3374 - - - - - - - - 13.87 13.73 13.93
12006 809.1 -4.5 309 12009 done -0.39 - - 3252 - - - 1957 - -107.1 - - 3371 - - - - - - - - 14.40 14.40 14.39
12308 823.9 -5.1 314 12312 done -0.39 - - 3253 - - - 1957 - -107.1 - - 3371 - - - - - - - - 14.35 14.36 14.35
12606 840.2 -5.5 319 12609 done -0.39 - - 3252 - - - 1956 - -107.1 - - 3371 - - - - - - - - 14.33 14.35 14.35
12906 856.4 -5.4 324 12914 roll -0.39 - - 3252 - 2.78 0.106 3390 515.8 -107.1 - - 3373 - - - - - - - - 14.38 13.68 14.40
12941 857.9 -4.7 329 12950 done -0.39 - - 3252 - 2.67 0.086 1973 -530.7 -107.1 - - 3370 - - - - - - - - 13.88 13.74 13.93
13287 875.1 -4.9 341 13290 done -0.39 - - 3253 - - - 1972 - -107.1 - - 3370 - - - - - - - - 14.36 14.38 14.38
13588 889.7 -4.9 346 13590 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.33 14.35 14.34
13888 903.8 -4.7 351 13892 done -0.39 - - 3252 - - - 1970 - -107.1 - - 3369 - - - - - - - - 14.35 14.36 14.36
14187 917.9 -4.7 356 14195 roll -0.39 - - 3253 - 2.70 0.103 545 -527.8 -107.1 - - 3369 - - - - - - - - 14.37 13.71 14.38
14215 919.8 -7.2 360 14222 done -0.39 - - 3252 - 2.67 0.091 1978 536.7 -107.1 - - 3369 - - - - - - - - 13.88 13.73 13.93
14569 935.4 -4.5 373 14572 done -0.39 - - 3253 - - - 1978 - -107.1 - - 3369 - - - - - - - - 14.33 14.33 14.32
14865 948.9 -4.5 378 14873 roll -0.39 - - 3253 - 2.70 0.107 3386 521.5 -107.1 - - 3367 - - - - - - - - 14.35 13.68 14.37
14896 950.1 -4.0 382 14903 done -0.39 - - 3246 - 2.67 0.088 1970 -530.3 -107.1 - - 3368 - - - - - - - - 13.88 13.73 13.93
15245 965.1 -4.2 395 15248 done -0.39 - - 3253 - - - 1970 - -107.1 - - 3368 - - - - - - - - 14.34 14.35 14.35
15545 977.7 -4.3 400 15552 roll -0.39 - - 3252 - 2.67 0.103 561 -527.7 -107.1 - - 3368 - - - - - - - - 14.36 13.69 14.38
15579 979.4 -4.7 405 15588 done -0.39 - - 3252 - 2.65 0.092 1971 532.1 -107.1 - - 3368 - - - - - - - - 13.87 13.71 13.93
15799 end dive: TARGET_DEPTH_EXCEEDED
15799 begin apogee
15811 990.6 -4.9 415 15915 done -0.16 0.30 0.133 3351 330.0 - - 2262 - - 98.45 1.905 2941 -4.3 0.443 - - - - - - 13.60 13.69 12.74
15918 end apogee: CONTROL_FINISHED_OK
15918 begin climb
15925 993.0 - 416 16045 roll 0.39 0.47 0.084 3530 380.9 2.72 0.108 3664 515.4 107.1 101.50 1.900 2500 -4.3 0.446 - - - - - - 13.83 13.29 12.50
16062 993.0 5.2 441 16119 done 0.41 - - 3527 - 2.67 0.090 2240 -533.3 154.4 44.20 1.887 2310 -4.3 0.444 - - - - - - 13.85 13.75 12.55
16417 970.5 6.3 457 16428 roll 0.43 - - 3528 - 2.58 0.103 843 -541.5 154.4 - - 2307 - - - - - - - - 14.40 13.91 14.43
16521 963.9 6.0 474 16533 done 0.46 - - 3527 - 2.58 0.093 2244 543.0 154.4 - - 2307 - - - - - - - - 14.09 13.93 14.14
16874 941.5 6.2 486 16885 roll 0.48 - - 3528 - 2.67 0.106 3664 531.8 154.4 - - 2310 - - - - - - - - 14.45 13.88 14.48
16922 937.7 9.5 493 16933 done 0.48 - - 3533 - 2.60 0.090 2255 -541.9 154.4 - - 2306 - - - - - - - - 14.10 13.93 14.13
17264 915.1 6.7 503 17276 roll 0.49 - - 3527 - 2.62 0.101 839 -540.5 154.4 - - 2306 - - - - - - - - 14.48 13.86 14.50
17377 907.3 7.7 522 17388 done 0.49 - - 3527 - 2.60 0.091 2258 545.8 154.4 - - 2309 - - - - - - - - 14.09 13.94 14.14
17719 883.7 6.9 532 17730 roll 0.49 - - 3527 - 2.67 0.107 3665 527.0 154.4 - - 2303 - - - - - - - - 14.47 13.81 14.48
17762 880.1 10.0 538 17773 done 0.49 - - 3528 - 2.65 0.091 2236 -539.2 154.4 - - 2306 - - - - - - - - 14.06 13.91 14.12
18111 855.3 7.2 549 18123 roll 0.49 - - 3527 - 2.60 0.103 842 -536.2 154.4 - - 2306 - - - - - - - - 14.50 13.81 14.52
18170 850.7 7.3 558 18181 done 0.49 - - 3527 - 2.60 0.092 2246 540.0 154.4 - - 2305 - - - - - - - - 14.03 13.88 14.10
18503 828.2 6.8 566 18513 done 0.50 - - 3528 - - - 2246 - 154.4 - - 2306 - - - - - - - - 14.46 14.47 14.47
18799 808.6 6.5 571 18811 roll 0.52 0.08 0.151 3604 950.0 2.65 0.099 838 -531.3 154.4 - - 2306 - - - - - - - - 14.12 13.80 14.12
18856 803.3 10.0 580 18868 done 0.52 0.15 0.213 3568 -240.0 2.62 0.093 2263 543.9 154.4 - - 2306 - - - - - - - - 13.66 13.88 13.92
19190 777.0 7.9 588 19201 done 0.52 - - 3563 - - - 2263 - 154.4 - - 2306 - - - - - - - - 14.45 14.47 14.47
19484 752.4 8.2 593 19496 roll 0.52 - - 3563 - 2.67 0.107 3664 524.7 154.4 - - 2306 - - - - - - - - 14.50 13.74 14.51
19548 746.5 9.3 603 19559 done 0.52 - - 3565 - 2.62 0.088 2255 -537.8 154.4 - - 2305 - - - - - - - - 14.00 13.83 14.05
19873 718.0 8.9 610 19883 done 0.52 - - 3569 - - - 2255 - 154.4 - - 2305 - - - - - - - - 14.48 14.48 14.50
20170 691.9 8.6 615 20182 roll 0.52 - - 3569 - 2.72 0.106 3664 518.0 154.4 - - 2305 - - - - - - - - 14.49 13.75 14.51
20219 687.6 9.5 622 20230 done 0.52 - - 3566 - 2.65 0.088 2240 -537.4 154.4 - - 2306 - - - - - - - - 14.00 13.85 14.08
20561 660.3 7.9 632 20572 roll 0.52 - - 3570 - 2.62 0.101 840 -534.4 154.4 - - 2305 - - - - - - - - 14.45 13.74 14.46
20618 655.3 7.9 641 20630 done 0.52 - - 3570 - 2.62 0.092 2244 535.9 154.4 - - 2305 - - - - - - - - 13.97 13.80 14.03
20947 630.7 7.4 649 20958 roll 0.52 - - 3570 - 2.72 0.105 3664 522.1 154.4 - - 2306 - - - - - - - - 14.48 13.69 14.50
20990 627.2 8.4 655 21002 done 0.52 - - 3570 - 2.65 0.088 2246 -535.1 154.4 - - 2305 - - - - - - - - 13.96 13.82 14.02
21339 601.8 7.4 666 21350 roll 0.52 - - 3577 - 2.65 0.100 825 -536.2 154.4 - - 2305 - - - - - - - - 14.45 13.71 14.47
21412 595.8 7.9 678 21423 done 0.52 - - 3577 - 2.70 0.093 2270 535.2 154.4 - - 2306 - - - - - - - - 13.94 13.78 14.00
21784 566.0 8.1 695 21795 roll 0.52 - - 3575 - 2.67 0.106 3663 521.7 154.4 - - 2306 - - - - - - - - 14.47 13.69 14.47
21862 559.1 9.0 708 21874 done 0.52 - - 3582 - 2.65 0.088 2255 -531.3 154.4 - - 2306 - - - - - - - - 13.94 13.78 13.99
22230 527.4 8.7 724 22241 roll 0.52 - - 3582 - 2.67 0.101 837 -531.1 154.4 - - 2306 - - - - - - - - 14.48 13.70 14.50
22284 522.8 8.8 732 22295 done 0.52 - - 3582 - 2.62 0.091 2245 537.4 154.4 - - 2306 - - - - - - - - 13.94 13.77 14.00
22616 494.7 8.4 741 22628 roll 0.52 - - 3582 - 2.72 0.104 3665 522.1 154.4 - - 2305 - - - - - - - - 14.44 13.63 14.45
22698 487.5 8.5 755 22709 done 0.52 - - 3582 - 2.67 0.089 2235 -535.6 154.4 - - 2306 - - - - - - - - 13.93 13.77 13.98
23067 460.4 7.4 770 23078 roll 0.52 - - 3583 - 2.62 0.101 840 -532.4 154.4 - - 2306 - - - - - - - - 14.46 13.70 14.47
23119 456.0 7.8 778 23130 done 0.52 - - 3583 - 2.62 0.090 2248 537.4 154.4 - - 2309 - - - - - - - - 13.95 13.78 13.99
23453 430.8 7.6 787 23463 done 0.52 - - 3579 - - - 2248 - 154.4 - - 2309 - - - - - - - - 14.45 14.46 14.46
23751 406.9 8.0 792 23762 done 0.52 - - 3583 - - - 2247 - 154.4 - - 2306 - - - - - - - - 14.42 14.47 14.45
24052 383.1 7.9 797 24064 roll 0.52 - - 3583 - 2.72 0.106 3661 519.9 154.4 - - 2304 - - - - - - - - 14.45 13.70 14.47
24115 377.4 8.9 807 24126 done 0.52 - - 3586 - 2.65 0.088 2252 -531.7 154.4 - - 2304 - - - - - - - - 13.94 13.78 13.99
24439 352.1 7.8 814 24450 roll 0.52 - - 3586 - 2.67 0.099 821 -536.0 154.4 - - 2305 - - - - - - - - 14.45 13.67 14.46
24506 346.5 8.0 825 24519 done 0.52 - - 3586 - 2.67 0.091 2258 538.2 154.4 - - 2308 - - - - - - - - 13.92 13.77 13.97
24814 323.9 7.4 831 24824 done 0.52 - - 3586 - - - 2258 - 154.4 - - 2306 - - - - - - - - 14.42 14.42 14.42
25112 303.2 6.9 836 25123 done 0.52 - - 3586 - - - 2258 - 154.4 - - 2306 - - - - - - - - 14.46 14.47 14.49
25413 283.0 6.7 841 25423 done 0.53 - - 3583 - - - 2257 - 154.4 - - 2306 - - - - - - - - 14.45 14.49 14.45
25714 263.1 6.7 846 25725 done 0.55 - - 3586 - - - 2257 - 154.4 - - 2306 - - - - - - - - 14.44 14.46 14.45
26013 242.8 6.7 851 26024 roll 0.56 - - 3586 - 2.67 0.104 3660 525.5 154.4 - - 2306 - - - - - - - - 14.45 13.71 14.47
26071 238.3 8.2 860 26082 done 0.56 - - 3586 - 2.65 0.086 2236 -537.4 154.4 - - 2306 - - - - - - - - 13.93 13.78 13.97
26398 215.5 7.0 868 26409 roll 0.56 - - 3586 - 2.62 0.099 840 -532.8 154.4 - - 2307 - - - - - - - - 14.42 13.71 14.45
26472 210.6 7.0 880 26483 done 0.56 - - 3586 - 2.62 0.089 2245 536.3 154.4 - - 2305 - - - - - - - - 13.92 13.74 13.97
26845 185.4 6.7 897 26856 roll 0.57 - - 3587 - 2.70 0.102 3665 525.9 154.4 - - 2307 - - - - - - - - 14.47 13.70 14.48
26938 178.4 7.6 913 26950 done 0.57 - - 3586 - 2.62 0.083 2255 -538.2 154.4 - - 2307 - - - - - - - - 13.92 13.76 13.97
27297 155.3 6.6 926 27308 roll 0.59 - - 3582 - 2.65 0.097 840 -534.0 154.4 - - 2307 - - - - - - - - 14.38 13.71 14.40
27413 147.8 5.9 946 27424 done 0.61 - - 3586 - 2.62 0.086 2260 542.0 154.4 - - 2308 - - - - - - - - 13.96 13.79 13.99
27750 129.2 5.6 955 27762 roll 0.65 - - 3586 - 2.67 0.102 3664 525.8 154.4 - - 2308 - - - - - - - - 14.39 13.69 14.40
27809 125.5 6.1 964 27820 done 0.68 - - 3587 - 2.62 0.082 2252 -538.9 154.4 - - 2308 - - - - - - - - 13.94 13.79 14.00
28141 108.6 5.2 972 28192 roll 0.70 - - 3586 - 2.67 0.103 3660 527.3 200.3 36.20 0.878 2118 -5.2 0.127 - - - - - - 14.39 14.04 13.40
28233 102.9 7.7 988 28244 done 0.70 - - 3587 - 2.60 0.083 2233 -548.8 200.3 - - 2119 - - - - - - - - 14.17 14.04 14.22
28590 76.5 7.5 1001 28602 roll 0.70 - - 3587 - 2.55 0.096 843 -545.1 200.3 - - 2121 - - - - - - - - 14.46 13.87 14.48
28716 67.2 6.9 1023 28728 done 0.70 - - 3586 - 2.55 0.085 2245 549.8 200.3 - - 2121 - - - - - - - - 13.98 13.83 14.02
29041 47.7 6.0 1030 29053 roll 0.73 0.10 0.119 3663 770.0 2.62 0.092 837 -537.4 200.3 - - 2121 - - - - - - - - 14.10 13.78 14.10
29142 45.1 2.5 1047 29244 done 0.78 - - 3664 - 2.60 0.088 2264 548.8 306.9 79.20 0.776 1686 -5.5 0.063 - - - - - - 14.04 13.90 13.40
29538 11.6 9.9 1076 29549 roll 0.78 - - 3664 - 2.60 0.101 3662 537.7 306.9 - - 1685 - - - - - - - - 14.45 13.85 14.46
29596 end climb: SURFACE_DEPTH_REACHED
29596 begin surface coast
29630 end surface coast: CONTROL_FINISHED_OK
29630 begin surface
SM 0.61 - - - - -10.25 10.05 0.032 92 9.2 3.12 0.080 1976 550.0 400.08 39.47 0.080 1308 33.1 -0.026 - - - - - -