NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 125 * Raw log
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• Previous call tries 1 • 33.60 of 350.00 AH used of 24V (90.40% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -79.1 deg, depth 1.10 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 86 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
28 - - - 91 VBD -0.39 - - 86 - - - 1917 - -107.1 -56.10 - 3074 - - - - - - - - 14.53 - 14.54
97 3.9 -6.1 6 130 roll -0.39 13.68 0.363 3258 231.9 2.83 2.204 496 -502.1 -107.1 -4.65 - 3382 -66.2 - - - - - - - 14.11 13.32 14.38
366 61.7 -14.5 56 377 done -0.39 - - 3258 - 2.45 0.090 1894 570.6 -107.1 - - 3383 - - - - - - - - 14.45 14.35 14.48
568 86.8 -12.0 76 579 roll -0.39 - - 3258 - 2.50 0.107 493 -560.4 -107.1 - - 3385 - - - - - - - - 14.63 14.42 14.64
819 116.4 -11.0 122 830 done -0.39 - - 3258 - 2.47 0.092 1914 575.3 -107.1 - - 3386 - - - - - - - - 14.54 14.45 14.56
1022 137.2 -11.0 142 1033 roll -0.39 - - 3258 - 2.53 0.106 491 -562.5 -107.1 - - 3387 - - - - - - - - 14.68 14.45 14.71
1074 143.2 -11.4 150 1085 done -0.39 - - 3258 - 2.45 0.091 1897 573.9 -107.1 - - 3386 - - - - - - - - 14.56 14.45 14.59
1277 165.3 -10.6 170 1288 done -0.39 - - 3258 - - - 1896 - -107.1 - - 3385 - - - - - - - - 14.69 14.71 14.71
1469 184.6 -9.6 189 1482 roll -0.39 - - 3258 - 2.47 0.106 3300 568.4 -107.1 - - 3385 - - - - - - - - 14.71 14.47 14.72
1557 192.1 -8.5 203 1568 done -0.39 - - 3258 - 2.45 0.095 1906 -569.0 -107.1 - - 3385 - - - - - - - - 14.57 14.48 14.61
1759 209.9 -8.4 223 1770 done -0.39 - - 3255 - - - 1906 - -107.1 - - 3385 - - - - - - - - 14.71 14.75 14.75
1952 226.6 -8.7 242 1962 done -0.39 - - 3258 - - - 1904 - -107.1 - - 3384 - - - - - - - - 14.73 14.75 14.75
2143 243.6 -9.0 261 2155 roll -0.39 - - 3257 - 2.50 0.108 488 -566.4 -107.1 - - 3384 - - - - - - - - 14.73 14.50 14.76
2190 248.1 -10.4 268 2201 done -0.39 - - 3258 - 2.47 0.093 1907 574.5 -107.1 - - 3386 - - - - - - - - 14.62 14.52 14.64
2392 266.1 -8.7 276 2403 done -0.39 - - 3254 - - - 1906 - -107.1 - - 3383 - - - - - - - - 14.75 14.76 14.76
2698 290.9 -8.1 286 2709 done -0.39 - - 3261 - - - 1906 - -107.1 - - 3383 - - - - - - - - 14.76 14.77 14.79
2996 315.9 -8.1 296 3007 done -0.39 - - 3255 - - - 1906 - -107.1 - - 3382 - - - - - - - - 14.77 14.78 14.78
3297 339.8 -7.8 306 3308 done -0.39 - - 3256 - - - 1908 - -107.1 - - 3381 - - - - - - - - 14.76 14.79 14.78
3596 363.3 -7.8 316 3607 roll -0.39 - - 3258 - 2.53 0.112 492 -559.7 -107.1 - - 3379 - - - - - - - - 14.78 14.54 14.80
3639 367.2 -8.5 322 3650 done -0.39 - - 3258 - 2.47 0.096 1911 574.5 -107.1 - - 3379 - - - - - - - - 14.65 14.56 14.66
3982 393.3 -7.7 338 3993 done -0.39 - - 3258 - - - 1910 - -107.1 - - 3379 - - - - - - - - 14.78 14.80 14.80
4282 417.1 -8.3 348 4293 done -0.39 - - 3258 - - - 1910 - -107.1 - - 3377 - - - - - - - - 14.79 14.81 14.81
4586 442.4 -8.7 358 4597 done -0.39 - - 3254 - - - 1910 - -107.1 - - 3380 - - - - - - - - 14.78 14.81 14.81
4882 467.9 -8.3 368 4893 roll -0.39 - - 3258 - 2.50 0.110 3319 563.6 -107.1 - - 3376 - - - - - - - - 14.78 14.51 14.81
4925 471.2 -7.9 374 4936 done -0.39 - - 3257 - 2.53 0.099 1902 -560.1 -107.1 - - 3376 - - - - - - - - 14.65 14.55 14.67
5267 496.3 -7.1 390 5278 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3375 - - - - - - - - 14.78 14.81 14.81
5571 517.1 -7.0 400 5581 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3374 - - - - - - - - 14.78 14.80 14.80
5868 537.9 -6.8 410 5878 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3373 - - - - - - - - 14.78 14.80 14.80
6171 556.6 -6.2 420 6181 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3372 - - - - - - - - 14.76 14.80 14.80
6472 578.1 -7.5 430 6483 roll -0.39 - - 3258 - 2.53 0.116 475 -564.0 -107.1 - - 3373 - - - - - - - - 14.79 14.52 14.81
6514 582.2 -9.1 436 6525 done -0.39 - - 3258 - 2.50 0.096 1896 568.4 -107.1 - - 3372 - - - - - - - - 14.65 14.54 14.67
6856 610.4 -8.2 452 6866 done -0.39 - - 3257 - - - 1899 - -107.1 - - 3375 - - - - - - - - 14.76 14.83 14.80
7161 632.5 -7.0 462 7171 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3371 - - - - - - - - 14.78 14.80 14.80
7460 651.4 -6.4 472 7471 done -0.39 - - 3258 - - - 1896 - -107.1 - - 3370 - - - - - - - - 14.78 14.81 14.81
7756 672.1 -7.2 482 7767 roll -0.39 - - 3258 - 2.53 0.109 3322 563.6 -107.1 - - 3370 - - - - - - - - 14.76 14.51 14.81
7799 675.2 -7.1 488 7810 done -0.39 - - 3258 - 2.53 0.099 1900 -562.1 -107.1 - - 3369 - - - - - - - - 14.66 14.57 14.67
8141 698.6 -6.3 504 8151 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3369 - - - - - - - - 14.78 14.80 14.79
8446 717.2 -6.3 514 8456 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3366 - - - - - - - - 14.78 14.79 14.79
8745 736.0 -6.3 524 8755 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3369 - - - - - - - - 14.78 14.80 14.78
9042 754.8 -6.2 534 9052 done -0.39 - - 3257 - - - 1900 - -107.1 - - 3368 - - - - - - - - 14.78 14.81 14.81
9341 772.9 -6.0 544 9351 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3368 - - - - - - - - 14.78 14.80 14.80
9646 788.8 -5.2 554 9656 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3367 - - - - - - - - 14.77 14.79 14.79
9946 804.7 -5.3 564 9957 roll -0.39 - - 3258 - 2.55 0.112 3317 555.7 -107.1 - - 3367 - - - - - - - - 14.77 14.51 14.78
10041 809.6 -5.5 580 10052 done -0.39 - - 3258 - 2.53 0.100 1901 -559.7 -107.1 - - 3370 - - - - - - - - 14.64 14.53 14.66
10363 827.0 -4.9 592 10374 roll -0.39 - - 3258 - 2.55 0.111 3324 558.0 -107.1 - - 3366 - - - - - - - - 14.77 14.50 14.78
10445 832.0 -5.6 606 10456 done -0.39 - - 3258 - 2.55 0.100 1885 -564.3 -107.1 - - 3365 - - - - - - - - 14.62 14.50 14.64
10777 851.0 -6.2 620 10788 roll -0.39 - - 3256 - 2.58 0.110 3319 555.8 -107.1 - - 3365 - - - - - - - - 14.77 14.50 14.78
10839 855.7 -6.8 630 10850 done -0.39 - - 3258 - 2.53 0.100 1900 -560.9 -107.1 - - 3369 - - - - - - - - 14.62 14.52 14.64
11162 877.3 -6.8 642 11173 roll -0.39 - - 3258 - 2.55 0.109 3320 556.9 -107.1 - - 3365 - - - - - - - - 14.76 14.47 14.77
11214 881.5 -7.1 650 11225 done -0.39 - - 3263 - 2.53 0.099 1902 -560.5 -107.1 - - 3365 - - - - - - - - 14.62 14.53 14.64
11546 902.2 -6.4 664 11556 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3365 - - - - - - - - 14.76 14.77 14.77
11850 919.3 -5.4 674 11861 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3365 - - - - - - - - 14.73 14.78 14.78
12151 934.6 -4.9 684 12161 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3365 - - - - - - - - 14.76 14.78 14.78
12451 948.2 -4.6 694 12461 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3365 - - - - - - - - 14.76 14.78 14.79
12750 962.4 -4.9 704 12761 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3365 - - - - - - - - 14.76 14.78 14.78
13051 978.4 -5.5 714 13061 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3365 - - - - - - - - 14.76 14.80 14.78
13251 end dive: TARGET_DEPTH_EXCEEDED
13251 begin apogee
13262 990.3 -5.7 721 13355 done -0.16 0.25 0.169 3339 324.0 - - 2259 - - 84.60 1.914 2941 -5.0 0.484 - - - - - - 14.46 13.96 13.31
13357 end apogee: CONTROL_FINISHED_OK
13357 begin climb
13363 993.8 - 724 13471 roll 0.39 0.55 0.118 3523 334.5 2.70 0.114 3660 518.9 107.1 88.25 1.867 2501 -5.0 0.495 - - - - - - 13.97 13.71 13.14
13527 985.4 8.2 748 13538 done 0.39 - - 3533 - 2.65 0.100 2250 -532.1 107.1 - - 2502 - - - - - - - - 14.07 13.98 14.08
13849 961.1 7.6 760 13859 done 0.39 - - 3527 - - - 2250 - 107.1 - - 2500 - - - - - - - - 14.46 14.48 14.47
14153 936.9 8.1 770 14164 done 0.39 - - 3527 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.57 14.62 14.58
14453 912.9 8.0 780 14463 done 0.39 - - 3527 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.62 14.64 14.64
14754 888.8 8.0 790 14765 roll 0.39 - - 3527 - 2.58 0.112 3660 546.5 107.1 - - 2499 - - - - - - - - 14.66 14.42 14.68
14826 882.2 9.0 802 14837 done 0.39 - - 3528 - 2.58 0.102 2243 -549.2 107.1 - - 2498 - - - - - - - - 14.54 14.44 14.57
15169 855.3 7.5 818 15179 done 0.39 - - 3527 - - - 2242 - 107.1 - - 2499 - - - - - - - - 14.71 14.73 14.71
15472 832.4 7.5 828 15483 roll 0.39 - - 3527 - 2.60 0.113 3662 546.2 107.1 - - 2498 - - - - - - - - 14.71 14.47 14.73
15529 827.5 8.4 837 15541 done 0.39 - - 3527 - 2.55 0.103 2251 -553.3 107.1 - - 2498 - - - - - - - - 14.57 14.47 14.59
15857 805.5 6.4 850 15868 done 0.41 - - 3527 - - - 2250 - 107.1 - - 2498 - - - - - - - - 14.72 14.73 14.73
16161 787.8 5.8 860 16172 done 0.44 - - 3525 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.73 14.75 14.75
16462 770.1 5.9 870 16472 done 0.47 - - 3528 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.73 14.76 14.75
16761 751.4 6.5 880 16772 done 0.48 - - 3528 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.73 14.78 14.75
17061 731.1 7.0 890 17072 done 0.48 - - 3527 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
17361 709.4 7.2 900 17372 roll 0.48 - - 3527 - 2.53 0.114 842 -556.9 107.1 - - 2497 - - - - - - - - 14.74 14.50 14.76
17423 704.3 7.8 910 17434 done 0.48 - - 3529 - 2.47 0.097 2244 567.6 107.1 - - 2500 - - - - - - - - 14.61 14.50 14.63
17745 679.4 7.8 922 17757 roll 0.48 - - 3528 - 2.58 0.112 3671 553.1 107.1 - - 2497 - - - - - - - - 14.75 14.50 14.76
17855 670.0 8.3 941 17867 done 0.48 - - 3527 - 2.58 0.103 2250 -550.8 107.1 - - 2497 - - - - - - - - 14.60 14.50 14.62
18193 647.4 6.6 956 18204 roll 0.50 - - 3528 - 2.53 0.114 838 -558.1 107.1 - - 2498 - - - - - - - - 14.74 14.48 14.78
18259 643.1 6.4 967 18272 done 0.52 0.08 0.158 3582 675.0 2.50 0.098 2247 563.6 107.1 - - 2497 - - - - - - - - 14.53 14.50 14.61
18565 617.0 8.7 978 18576 roll 0.52 - - 3582 - 2.58 0.113 3671 551.9 107.1 - - 2497 - - - - - - - - 14.74 14.50 14.76
18642 609.3 10.3 991 18653 done 0.52 - - 3586 - 2.58 0.104 2233 -557.4 107.1 - - 2497 - - - - - - - - 14.59 14.49 14.62
18980 579.8 8.6 1006 18991 roll 0.52 - - 3586 - 2.62 0.112 3677 551.1 107.1 - - 2500 - - - - - - - - 14.76 14.49 14.75
19185 558.0 10.9 1044 19197 done 0.52 0.12 0.259 3563 -191.7 2.55 0.102 2254 -558.0 107.1 - - 2497 - - - - - - - - 14.38 14.47 14.57
19518 527.4 9.2 1058 19529 roll 0.52 - - 3562 - 2.58 0.112 3663 546.1 107.1 - - 2499 - - - - - - - - 14.73 14.50 14.75
19604 519.3 10.0 1072 19615 done 0.52 - - 3569 - 2.55 0.100 2238 -558.8 107.1 - - 2497 - - - - - - - - 14.62 14.49 14.62
19937 488.5 9.0 1086 19948 roll 0.52 - - 3571 - 2.53 0.113 838 -553.4 107.1 - - 2498 - - - - - - - - 14.73 14.47 14.75
20046 478.4 8.6 1105 20058 done 0.52 - - 3570 - 2.50 0.096 2261 569.2 107.1 - - 2497 - - - - - - - - 14.59 14.49 14.62
20384 449.5 8.2 1120 20395 roll 0.52 - - 3572 - 2.53 0.112 3661 553.4 107.1 - - 2498 - - - - - - - - 14.71 14.47 14.73
20500 439.3 8.8 1140 20511 done 0.52 - - 3581 - 2.55 0.098 2245 -555.3 107.1 - - 2498 - - - - - - - - 14.59 14.50 14.60
20833 414.3 7.4 1154 20844 roll 0.52 - - 3585 - 2.58 0.112 3661 548.8 107.1 - - 2498 - - - - - - - - 14.73 14.47 14.76
20909 408.1 9.1 1167 20920 done 0.52 - - 3585 - 2.53 0.099 2251 -557.3 107.1 - - 2498 - - - - - - - - 14.59 14.48 14.64
21247 385.0 6.5 1182 21258 roll 0.53 - - 3595 - 2.53 0.110 838 -558.5 107.1 - - 2500 - - - - - - - - 14.73 14.47 14.75
21298 381.4 7.1 1190 21309 done 0.53 - - 3595 - 2.47 0.096 2243 568.8 107.1 - - 2501 - - - - - - - - 14.59 14.48 14.62
21630 356.7 8.0 1204 21641 roll 0.53 - - 3596 - 2.58 0.111 3661 549.6 107.1 - - 2498 - - - - - - - - 14.73 14.48 14.75
21817 339.2 9.5 1238 21828 done 0.53 - - 3595 - 2.53 0.099 2251 -557.3 107.1 - - 2498 - - - - - - - - 14.58 14.47 14.61
22139 312.9 8.3 1250 22150 done 0.53 - - 3593 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.73 14.75 14.73
22443 287.5 8.4 1260 22454 roll 0.53 - - 3596 - 2.58 0.110 3666 548.4 107.1 - - 2498 - - - - - - - - 14.74 14.50 14.76
22520 280.2 9.1 1273 22532 done 0.53 0.12 0.257 3565 -258.3 2.55 0.099 2241 -558.8 107.1 - - 2498 - - - - - - - - 14.38 14.50 14.57
22859 258.1 6.2 1288 22870 roll 0.55 - - 3565 - 2.60 0.110 3664 547.3 107.1 - - 2495 - - - - - - - - 14.74 14.50 14.77
22905 254.8 7.0 1295 22916 done 0.55 - - 3570 - 2.53 0.099 2252 -558.1 107.1 - - 2498 - - - - - - - - 14.59 14.47 14.62
23222 232.8 7.2 1324 23233 roll 0.55 - - 3581 - 2.53 0.110 821 -565.6 107.1 - - 2498 - - - - - - - - 14.73 14.47 14.75
23398 219.8 7.4 1356 23409 done 0.55 - - 3581 - 2.53 0.095 2246 563.2 107.1 - - 2500 - - - - - - - - 14.59 14.49 14.62
23601 205.4 7.0 1376 23612 roll 0.55 - - 3581 - 2.58 0.111 3673 553.1 107.1 - - 2498 - - - - - - - - 14.72 14.47 14.76
23772 191.7 8.0 1407 23783 done 0.55 - - 3584 - 2.55 0.100 2251 -557.6 107.1 - - 2499 - - - - - - - - 14.57 14.46 14.60
23966 178.7 6.0 1426 23977 roll 0.58 - - 3595 - 2.53 0.109 824 -564.0 107.1 - - 2498 - - - - - - - - 14.71 14.44 14.73
24123 168.6 6.2 1454 24134 done 0.60 - - 3595 - 2.55 0.096 2266 565.5 107.1 - - 2499 - - - - - - - - 14.57 14.45 14.59
24326 156.4 6.2 1474 24337 roll 0.63 - - 3596 - 2.53 0.109 3663 552.2 107.1 - - 2499 - - - - - - - - 14.71 14.45 14.73
24578 139.1 6.9 1520 24589 done 0.63 - - 3601 - 2.53 0.096 2251 -558.1 107.1 - - 2498 - - - - - - - - 14.57 14.45 14.59
24780 126.3 6.0 1540 24791 roll 0.65 - - 3602 - 2.58 0.108 3664 547.7 107.1 - - 2498 - - - - - - - - 14.70 14.47 14.72
25031 108.8 6.9 1586 25042 done 0.65 - - 3610 - 2.50 0.097 2253 -564.4 107.1 - - 2499 - - - - - - - - 14.47 14.40 14.52
25234 97.4 4.4 1606 25295 roll 0.69 - - 3610 - 2.65 0.109 3662 531.7 172.1 48.17 0.854 2235 -5.5 0.117 - - - - - - 14.70 14.29 13.95
25534 73.7 9.2 1662 25545 done 0.69 - - 3612 - 2.55 0.096 2249 -554.1 172.1 - - 2236 - - - - - - - - 14.46 14.37 14.48
25737 56.7 7.4 1682 25748 roll 0.69 - - 3622 - 2.53 0.106 837 -558.1 172.1 - - 2238 - - - - - - - - 14.62 14.38 14.64
25783 52.9 8.1 1689 25796 done 0.69 - - 3622 - 2.50 0.095 2250 565.2 172.1 - - 2237 - - - - - - - - 14.48 14.40 14.52
25978 41.8 3.8 1708 26046 roll 0.73 - - 3622 - 2.65 0.109 839 -532.5 250.1 56.92 0.766 1922 -5.5 0.056 - - - - - - 14.65 14.23 13.91
26279 20.0 6.7 1764 26290 done 0.74 - - 3622 - 2.50 0.095 2248 563.6 250.1 - - 1918 - - - - - - - - 14.43 14.34 14.45
26482 11.2 4.3 1784 26524 roll 0.77 - - 3622 - 2.62 0.107 3663 540.1 317.0 29.20 0.126 1648 -9.2 0.153 - - - - - - 14.60 14.33 14.33
26588 end climb: SURFACE_DEPTH_REACHED
26588 begin surface coast
26640 end surface coast: CONTROL_FINISHED_OK
26640 begin surface
SM 3.71 - - - - -10.25 9.82 0.045 94 9.6 3.22 0.092 1888 -2038.5 350.04 13.85 0.089 1513 109.2 -0.465 - - - - - -