NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 144 * Raw log
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• Previous call tries 3 • 39.13 of 350.00 AH used of 24V (88.82% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -77.7 deg, depth 1.03 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• No surface pump (final VBD was 390.27, SM_CC=350)
• GPS1 time: 41 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
31 - - - 102 VBD -0.39 - - 73 - - - 1888 - -107.1 -67.62 - 3265 - - - - - - - - 14.52 - 14.54
109 5.3 -9.8 7 134 roll -0.39 13.60 0.358 3258 234.2 2.75 2.195 487 -509.5 -107.1 -1.65 - 3380 -69.7 - - - - - - - 14.09 13.47 14.37
370 67.4 -16.2 55 377 done -0.39 - - 3258 - 2.50 0.093 1896 563.6 -107.1 - - 3384 - - - - - - - - 14.44 14.35 14.45
568 93.1 -11.5 75 576 done -0.39 - - 3257 - - - 1897 - -107.1 - - 3388 - - - - - - - - 14.62 14.63 14.63
758 115.4 -11.6 94 767 done -0.39 - - 3257 - - - 1897 - -107.1 - - 3386 - - - - - - - - 14.64 14.65 14.66
948 137.5 -11.4 113 955 roll -0.39 - - 3259 - 2.53 0.108 475 -562.1 -107.1 - - 3384 - - - - - - - - 14.66 14.39 14.68
1001 143.7 -11.5 122 1011 done -0.39 - - 3257 - 2.50 0.088 1906 572.4 -107.1 - - 3384 - - - - - - - - 14.52 14.44 14.56
1192 163.3 -10.6 141 1200 roll -0.39 - - 3257 - 2.50 0.106 3319 565.2 -107.1 - - 3385 - - - - - - - - 14.67 14.42 14.69
1234 167.8 -9.9 148 1243 done -0.39 - - 3257 - 2.53 0.093 1888 -565.6 -107.1 - - 3385 - - - - - - - - 14.52 14.44 14.57
1425 185.5 -9.3 167 1433 done -0.39 - - 3257 - - - 1888 - -107.1 - - 3385 - - - - - - - - 14.69 14.71 14.71
1614 202.5 -8.8 186 1624 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3383 - - - - - - - - 14.70 14.71 14.71
1805 218.2 -7.8 205 1813 done -0.39 - - 3257 - - - 1887 - -107.1 - - 3386 - - - - - - - - 14.71 14.72 14.72
1995 232.6 -7.5 224 2003 roll -0.39 - - 3258 - 2.47 0.108 475 -571.7 -107.1 - - 3382 - - - - - - - - 14.69 14.47 14.72
2075 239.5 -9.1 238 2083 done -0.39 - - 3257 - 2.47 0.091 1899 576.5 -107.1 - - 3382 - - - - - - - - 14.57 14.48 14.59
2274 255.1 -7.7 254 2283 roll -0.39 - - 3258 - 2.53 0.106 3316 560.1 -107.1 - - 3381 - - - - - - - - 14.71 14.47 14.73
2333 259.5 -7.3 264 2341 done -0.39 - - 3258 - 2.50 0.095 1906 -564.0 -107.1 - - 3381 - - - - - - - - 14.58 14.48 14.60
2656 281.3 -6.6 276 2664 roll -0.39 - - 3257 - 2.53 0.107 3321 559.3 -107.1 - - 3380 - - - - - - - - 14.72 14.46 14.76
2709 285.0 -6.5 285 2717 done -0.39 - - 3263 - 2.53 0.094 1889 -566.0 -107.1 - - 3380 - - - - - - - - 14.59 14.47 14.61
3037 308.8 -7.7 298 3040 done -0.39 - - 3257 - - - 1889 - -107.1 - - 3376 - - - - - - - - 14.73 14.73 14.76
3333 333.4 -8.3 308 3336 done -0.39 - - 3257 - - - 1889 - -107.1 - - 3378 - - - - - - - - 14.76 14.76 14.76
3633 358.6 -8.4 318 3636 done -0.39 - - 3258 - - - 1889 - -107.1 - - 3376 - - - - - - - - 14.74 14.76 14.76
3933 384.9 -8.9 328 3941 roll -0.39 - - 3257 - 2.47 0.112 495 -564.4 -107.1 - - 3375 - - - - - - - - 14.75 14.48 14.76
4026 394.1 -9.8 345 4034 done -0.39 - - 3258 - 2.47 0.093 1899 568.4 -107.1 - - 3375 - - - - - - - - 14.60 14.49 14.62
4332 420.7 -8.6 356 4340 roll -0.39 - - 3258 - 2.53 0.108 3316 560.1 -107.1 - - 3374 - - - - - - - - 14.73 14.49 14.75
4410 427.4 -8.5 370 4418 done -0.39 - - 3258 - 2.53 0.097 1890 -563.6 -107.1 - - 3373 - - - - - - - - 14.60 14.50 14.62
4743 454.5 -8.1 384 4746 done -0.39 - - 3258 - - - 1890 - -107.1 - - 3371 - - - - - - - - 14.73 14.76 14.75
5040 478.3 -7.9 394 5048 roll -0.39 - - 3257 - 2.47 0.112 496 -564.4 -107.1 - - 3371 - - - - - - - - 14.72 14.47 14.76
5104 484.0 -8.8 405 5113 done -0.39 - - 3258 - 2.47 0.093 1898 567.6 -107.1 - - 3371 - - - - - - - - 14.59 14.50 14.64
5414 508.2 -7.9 416 5422 roll -0.39 - - 3253 - 2.55 0.109 3322 558.4 -107.1 - - 3373 - - - - - - - - 14.74 14.47 14.76
5507 515.6 -7.4 433 5516 done -0.39 - - 3258 - 2.53 0.096 1908 -558.9 -107.1 - - 3371 - - - - - - - - 14.59 14.48 14.64
5817 539.6 -7.9 444 5825 roll -0.39 - - 3257 - 2.55 0.113 474 -562.4 -107.1 - - 3369 - - - - - - - - 14.73 14.45 14.76
5889 546.5 -9.1 457 5897 done -0.39 - - 3253 - 2.53 0.095 1916 570.0 -107.1 - - 3373 - - - - - - - - 14.59 14.50 14.62
6228 571.1 -7.1 472 6231 done -0.39 - - 3258 - - - 1918 - -107.1 - - 3372 - - - - - - - - 14.73 14.75 14.75
6523 592.6 -7.3 482 6531 roll -0.39 - - 3257 - 2.50 0.109 3316 559.2 -107.1 - - 3368 - - - - - - - - 14.73 14.47 14.78
6592 597.6 -7.4 494 6601 done -0.39 - - 3258 - 2.53 0.099 1897 -560.9 -107.1 - - 3368 - - - - - - - - 14.59 14.49 14.62
6937 623.9 -7.8 510 6945 roll -0.39 - - 3258 - 2.53 0.114 476 -561.7 -107.1 - - 3367 - - - - - - - - 14.73 14.45 14.75
7011 630.7 -8.7 523 7019 done -0.39 - - 3258 - 2.53 0.096 1897 561.7 -107.1 - - 3366 - - - - - - - - 14.58 14.47 14.61
7349 657.1 -8.0 538 7358 roll -0.39 - - 3257 - 2.53 0.110 3317 561.3 -107.1 - - 3365 - - - - - - - - 14.73 14.46 14.73
7434 664.0 -7.6 553 7442 done -0.39 - - 3258 - 2.53 0.099 1905 -558.1 -107.1 - - 3366 - - - - - - - - 14.58 14.46 14.60
7762 688.5 -7.4 566 7765 done -0.39 - - 3263 - - - 1905 - -107.1 - - 3365 - - - - - - - - 14.70 14.73 14.73
8058 710.9 -7.5 576 8066 roll -0.39 - - 3257 - 2.55 0.114 472 -562.0 -107.1 - - 3364 - - - - - - - - 14.73 14.43 14.74
8127 716.8 -8.8 588 8135 done -0.39 - - 3257 - 2.55 0.097 1911 564.3 -107.1 - - 3365 - - - - - - - - 14.60 14.48 14.60
8470 743.2 -7.7 604 8477 roll -0.39 - - 3257 - 2.50 0.112 3307 558.4 -107.1 - - 3366 - - - - - - - - 14.73 14.46 14.74
8528 748.0 -7.7 614 8536 done -0.39 - - 3258 - 2.55 0.101 1888 -556.5 -107.1 - - 3364 - - - - - - - - 14.57 14.45 14.59
8853 772.5 -7.8 626 8861 roll -0.39 - - 3258 - 2.50 0.113 476 -564.8 -107.1 - - 3362 - - - - - - - - 14.72 14.43 14.76
8917 778.3 -8.6 637 8926 done -0.39 - - 3258 - 2.50 0.097 1898 568.8 -107.1 - - 3363 - - - - - - - - 14.57 14.45 14.59
9226 799.2 -6.5 648 9234 roll -0.39 - - 3258 - 2.53 0.110 3313 559.3 -107.1 - - 3363 - - - - - - - - 14.73 14.48 14.74
9310 804.4 -6.4 663 9317 done -0.39 - - 3258 - 2.53 0.100 1905 -556.5 -107.1 - - 3362 - - - - - - - - 14.57 14.46 14.59
9638 824.0 -5.7 676 9645 roll -0.39 - - 3257 - 2.55 0.114 474 -561.2 -107.1 - - 3362 - - - - - - - - 14.71 14.41 14.73
9696 828.4 -6.9 686 9704 done -0.39 - - 3257 - 2.53 0.096 1902 564.4 -107.1 - - 3362 - - - - - - - - 14.57 14.47 14.60
10019 847.0 -5.9 698 10028 roll -0.39 - - 3263 - 2.55 0.112 3322 556.9 -107.1 - - 3362 - - - - - - - - 14.71 14.40 14.73
10103 852.4 -5.8 713 10111 done -0.39 - - 3258 - 2.55 0.099 1890 -561.6 -107.1 - - 3362 - - - - - - - - 14.57 14.45 14.58
10431 870.8 -5.8 726 10440 roll -0.39 - - 3257 - 2.50 0.114 494 -558.4 -107.1 - - 3361 - - - - - - - - 14.70 14.42 14.72
10506 876.2 -6.8 739 10513 done -0.39 - - 3258 - 2.50 0.096 1913 567.6 -107.1 - - 3361 - - - - - - - - 14.56 14.46 14.58
10844 895.2 -5.7 754 10852 roll -0.39 - - 3257 - 2.53 0.112 3326 558.5 -107.1 - - 3361 - - - - - - - - 14.71 14.41 14.73
10913 899.4 -5.6 766 10922 done -0.39 - - 3258 - 2.55 0.099 1907 -556.5 -107.1 - - 3361 - - - - - - - - 14.55 14.42 14.58
11253 918.2 -5.5 782 11261 roll -0.39 - - 3258 - 2.55 0.114 475 -561.6 -107.1 - - 3361 - - - - - - - - 14.71 14.40 14.72
11337 924.3 -6.6 797 11345 done -0.39 - - 3257 - 2.53 0.096 1900 563.2 -107.1 - - 3366 - - - - - - - - 14.55 14.45 14.58
11665 942.7 -6.1 810 11673 roll -0.39 - - 3258 - 2.55 0.111 3325 558.8 -107.1 - - 3360 - - - - - - - - 14.70 14.40 14.72
11735 947.3 -6.5 822 11743 done -0.39 - - 3257 - 2.58 0.099 1887 -557.4 -107.1 - - 3358 - - - - - - - - 14.54 14.42 14.57
12074 969.3 -6.5 838 12077 done -0.39 - - 3258 - - - 1887 - -107.1 - - 3362 - - - - - - - - 14.70 14.72 14.72
12375 988.9 -6.5 848 12378 done -0.39 - - 3258 - - - 1886 - -107.1 - - 3357 - - - - - - - - 14.71 14.73 14.73
12399 end dive: TARGET_DEPTH_EXCEEDED
12399 begin apogee
12411 990.9 -6.6 849 12501 done -0.16 0.25 0.164 3338 320.0 - - 2265 - - 84.10 1.880 2941 -4.9 0.487 - - - - - - 14.37 13.95 13.31
12504 end apogee: CONTROL_FINISHED_OK
12504 begin climb
12509 995.2 - 852 12606 done 0.39 0.52 0.114 3516 342.3 - - 2265 - 107.1 88.75 1.860 2503 -4.9 0.493 - - - - - - 13.96 13.75 13.14
12888 976.8 6.1 865 12898 done 0.41 - - 3516 - - - 2265 - 107.1 - - 2498 - - - - - - - - 14.40 14.42 14.41
13193 957.5 6.6 875 13204 roll 0.43 - - 3515 - 2.55 0.113 3661 547.5 107.1 - - 2498 - - - - - - - - 14.53 14.28 14.55
13254 952.5 7.9 885 13265 done 0.43 - - 3517 - 2.58 0.100 2254 -545.3 107.1 - - 2497 - - - - - - - - 14.42 14.31 14.45
13576 930.6 6.7 897 13587 roll 0.44 - - 3518 - 2.58 0.113 818 -556.6 107.1 - - 2497 - - - - - - - - 14.61 14.35 14.64
13619 928.3 6.8 903 13631 done 0.45 - - 3518 - 2.53 0.099 2244 563.6 107.1 - - 2497 - - - - - - - - 14.50 14.38 14.52
13962 905.0 6.6 919 13973 done 0.47 - - 3518 - - - 2244 - 107.1 - - 2494 - - - - - - - - 14.67 14.69 14.68
14266 885.2 6.6 929 14277 roll 0.48 - - 3518 - 2.58 0.112 3665 550.8 107.1 - - 2496 - - - - - - - - 14.69 14.45 14.71
14318 881.3 7.7 937 14329 done 0.48 - - 3518 - 2.55 0.101 2252 -554.1 107.1 - - 2496 - - - - - - - - 14.56 14.45 14.58
14650 857.6 7.2 951 14661 roll 0.48 - - 3518 - 2.55 0.114 838 -554.5 107.1 - - 2496 - - - - - - - - 14.71 14.47 14.72
14687 855.3 5.1 956 14737 done 0.51 0.10 0.132 3583 650.0 2.53 0.099 2248 557.3 156.2 38.58 1.698 2305 -5.0 0.466 - - - - - - 14.52 14.45 13.64
15068 807.7 13.4 979 15079 roll 0.51 - - 3583 - 2.60 0.112 3662 543.8 156.2 - - 2305 - - - - - - - - 14.57 14.35 14.59
15104 802.4 14.8 984 15116 done 0.51 - - 3586 - 2.58 0.100 2248 -548.1 156.2 - - 2306 - - - - - - - - 14.46 14.36 14.48
15416 762.4 13.3 995 15427 done 0.51 - - 3586 - - - 2248 - 156.2 - - 2304 - - - - - - - - 14.64 14.66 14.66
15715 722.5 13.4 1005 15726 roll 0.51 - - 3586 - 2.60 0.115 3663 544.2 156.2 - - 2304 - - - - - - - - 14.68 14.45 14.70
15771 713.9 14.2 1014 15784 done 0.51 0.15 0.256 3561 -166.7 2.58 0.101 2235 -553.5 156.2 - - 2305 - - - - - - - - 14.35 14.44 14.53
16101 677.6 10.9 1027 16112 roll 0.51 - - 3561 - 2.60 0.113 3662 548.8 156.2 - - 2305 - - - - - - - - 14.71 14.48 14.72
16163 670.3 12.2 1037 16174 done 0.51 - - 3565 - 2.55 0.099 2253 -552.5 156.2 - - 2307 - - - - - - - - 14.57 14.45 14.59
16485 635.1 10.9 1049 16495 done 0.51 - - 3569 - - - 2253 - 156.2 - - 2305 - - - - - - - - 14.70 14.73 14.73
16790 603.1 10.7 1059 16800 done 0.51 - - 3569 - - - 2253 - 156.2 - - 2305 - - - - - - - - 14.72 14.74 14.74
17089 571.6 10.2 1069 17099 done 0.51 - - 3569 - - - 2253 - 156.2 - - 2305 - - - - - - - - 14.73 14.75 14.75
17390 542.0 10.1 1079 17401 roll 0.51 - - 3568 - 2.58 0.112 3667 548.1 156.2 - - 2304 - - - - - - - - 14.73 14.50 14.73
17496 530.0 11.2 1097 17507 done 0.51 - - 3570 - 2.58 0.101 2240 -553.1 156.2 - - 2307 - - - - - - - - 14.62 14.49 14.63
17838 496.4 9.3 1113 17848 done 0.51 - - 3569 - - - 2235 - 156.2 - - 2305 - - - - - - - - 14.74 14.76 14.76
18143 468.7 9.3 1123 18154 roll 0.51 - - 3569 - 2.60 0.112 3662 548.8 156.2 - - 2305 - - - - - - - - 14.74 14.49 14.74
18189 463.6 10.5 1130 18200 done 0.51 - - 3572 - 2.53 0.099 2248 -558.9 156.2 - - 2305 - - - - - - - - 14.60 14.47 14.62
18527 432.2 9.5 1145 18538 roll 0.51 - - 3572 - 2.58 0.111 3666 549.6 156.2 - - 2305 - - - - - - - - 14.73 14.50 14.76
18573 427.4 10.8 1152 18584 done 0.51 - - 3576 - 2.55 0.099 2247 -556.5 156.2 - - 2304 - - - - - - - - 14.60 14.50 14.62
18911 396.3 9.0 1167 18921 done 0.51 - - 3576 - - - 2246 - 156.2 - - 2303 - - - - - - - - 14.73 14.76 14.76
19214 369.9 8.7 1177 19224 done 0.51 - - 3579 - - - 2247 - 156.2 - - 2304 - - - - - - - - 14.74 14.76 14.76
19515 343.5 8.9 1187 19525 done 0.51 - - 3576 - - - 2247 - 156.2 - - 2305 - - - - - - - - 14.74 14.75 14.78
19814 318.1 8.0 1197 19825 roll 0.51 - - 3576 - 2.58 0.112 3662 548.4 156.2 - - 2305 - - - - - - - - 14.74 14.49 14.76
19850 314.5 9.0 1202 19863 done 0.51 - - 3586 - 2.55 0.099 2233 -560.4 156.2 - - 2306 - - - - - - - - 14.59 14.47 14.62
20160 290.1 8.0 1213 20171 done 0.51 - - 3582 - - - 2233 - 156.2 - - 2305 - - - - - - - - 14.74 14.76 14.76
20461 265.1 8.4 1223 20471 done 0.51 - - 3582 - - - 2233 - 156.2 - - 2306 - - - - - - - - 14.74 14.76 14.76
20756 238.7 8.9 1241 20767 done 0.51 - - 3582 - - - 2234 - 156.2 - - 2305 - - - - - - - - 14.74 14.76 14.76
20948 221.0 9.7 1260 20959 roll 0.51 - - 3582 - 2.62 0.110 3678 551.1 156.2 - - 2305 - - - - - - - - 14.73 14.46 14.74
20975 218.1 10.3 1263 20987 done 0.51 - - 3585 - 2.55 0.099 2254 -558.4 156.2 - - 2305 - - - - - - - - 14.58 14.46 14.61
21168 199.6 9.4 1282 21180 done 0.51 - - 3580 - - - 2254 - 156.2 - - 2306 - - - - - - - - 14.73 14.74 14.77
21361 181.4 9.5 1301 21372 roll 0.51 - - 3590 - 2.53 0.110 821 -566.4 156.2 - - 2306 - - - - - - - - 14.72 14.46 14.73
21406 177.0 9.6 1308 21419 done 0.51 0.12 0.222 3553 -308.3 2.53 0.096 2264 570.4 156.2 - - 2306 - - - - - - - - 14.39 14.48 14.56
21601 163.3 6.4 1327 21612 done 0.52 - - 3554 - - - 2264 - 156.2 - - 2306 - - - - - - - - 14.71 14.73 14.73
21793 151.4 5.8 1346 21805 done 0.55 - - 3553 - - - 2264 - 156.2 - - 2306 - - - - - - - - 14.72 14.76 14.73
21987 141.2 4.9 1365 22041 roll 0.58 - - 3553 - 2.58 0.109 3662 541.9 209.4 40.70 0.895 2083 -5.5 0.161 - - - - - - 14.71 14.31 13.97
22069 136.1 7.5 1377 22081 done 0.58 - - 3553 - 2.55 0.096 2255 -551.8 209.4 - - 2083 - - - - - - - - 14.43 14.34 14.45
22263 122.4 6.8 1396 22274 done 0.59 - - 3553 - - - 2251 - 209.4 - - 2084 - - - - - - - - 14.60 14.62 14.62
22456 107.4 8.4 1415 22467 roll 0.59 - - 3554 - 2.55 0.110 818 -562.0 209.4 - - 2083 - - - - - - - - 14.63 14.36 14.64
22592 96.4 7.3 1439 22603 done 0.59 - - 3554 - 2.53 0.093 2257 568.8 209.4 - - 2084 - - - - - - - - 14.52 14.42 14.52
22795 83.4 5.9 1459 22807 roll 0.62 0.12 0.131 3635 675.0 2.53 0.108 3661 554.9 209.4 - - 2084 - - - - - - - - 14.48 14.38 14.51
22896 73.5 10.2 1476 22908 done 0.62 0.17 0.236 3595 -235.3 2.55 0.096 2233 -560.0 209.4 - - 2084 - - - - - - - - 14.35 14.42 14.51
23091 61.1 5.2 1495 23139 roll 0.64 - - 3596 - 2.53 0.109 823 -557.3 256.5 35.17 0.799 1890 -5.5 0.079 - - - - - - 14.67 14.32 13.98
23239 51.8 6.9 1520 23250 done 0.64 - - 3595 - 2.55 0.096 2261 563.9 256.5 - - 1890 - - - - - - - - 14.43 14.34 14.45
23442 37.5 7.6 1540 23453 done 0.64 - - 3596 - - - 2260 - 256.5 - - 1890 - - - - - - - - 14.62 14.63 14.63
23634 24.1 7.6 1559 23645 roll 0.64 - - 3595 - 2.55 0.106 839 -557.3 256.5 - - 1890 - - - - - - - - 14.64 14.40 14.66
23860 18.3 1.2 1600 23934 done 0.71 - - 3595 - 2.47 0.093 2246 569.6 390.2 61.75 0.164 1348 -8.8 0.183 - - - - - - 14.51 14.42 14.31
24125 4.5 6.4 1631 24136 roll 0.73 - - 3595 - 2.55 0.105 3663 555.7 390.2 - - 1351 - - - - - - - - 14.64 14.38 14.65
24141 end climb: SURFACE_DEPTH_REACHED
24142 begin surface coast
24191 end surface coast: CONTROL_FINISHED_OK
24191 begin surface
SM 1.45 - - - - -10.25 9.62 0.038 84 8.7 3.22 0.096 1894 507.5 390.27 - - 1350 - - - - - - - -