NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 149 * Raw log
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• Previous call tries 1 • 40.60 of 350.00 AH used of 24V (88.40% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -79.2 deg, depth 1.12 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 580.13 (SM_CC=580)
• GPS1 time: 66 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
27 - - - 91 VBD -0.39 - - 72 - - - 1895 - -107.1 -56.15 - 3077 - - - - - - - - 14.52 - 14.54
97 3.9 -6.3 6 130 roll -0.39 13.68 0.360 3257 232.8 2.75 2.190 493 -509.8 -107.1 -4.53 - 3383 -67.5 - - - - - - - 14.07 13.25 14.37
368 62.1 -12.9 56 379 done -0.39 - - 3257 - 2.47 0.093 1897 568.4 -107.1 - - 3387 - - - - - - - - 14.47 14.33 14.47
570 84.8 -11.7 76 581 roll -0.39 - - 3257 - 2.53 0.106 490 -556.1 -107.1 - - 3388 - - - - - - - - 14.60 14.35 14.64
721 103.3 -11.9 103 733 done -0.39 - - 3257 - 2.47 0.093 1898 570.0 -107.1 - - 3388 - - - - - - - - 14.52 14.41 14.52
914 124.0 -10.0 122 926 roll -0.39 - - 3257 - 2.53 0.105 3319 561.7 -107.1 - - 3388 - - - - - - - - 14.67 14.41 14.69
972 129.4 -9.1 131 984 done -0.39 - - 3261 - 2.53 0.093 1904 -559.3 -107.1 - - 3388 - - - - - - - - 14.54 14.45 14.57
1165 147.5 -10.2 150 1177 done -0.39 - - 3257 - - - 1903 - -107.1 - - 3388 - - - - - - - - 14.69 14.71 14.71
1358 166.7 -9.8 169 1369 roll -0.39 - - 3257 - 2.55 0.109 3320 555.7 -107.1 - - 3387 - - - - - - - - 14.70 14.44 14.72
1449 175.3 -9.2 184 1461 done -0.39 - - 3257 - 2.53 0.093 1888 -566.0 -107.1 - - 3388 - - - - - - - - 14.57 14.47 14.61
1643 194.3 -9.3 203 1654 roll -0.39 - - 3257 - 2.50 0.109 476 -564.8 -107.1 - - 3387 - - - - - - - - 14.71 14.45 14.73
1699 200.1 -9.9 212 1711 done -0.39 - - 3258 - 2.50 0.091 1901 570.0 -107.1 - - 3385 - - - - - - - - 14.58 14.48 14.60
1892 216.5 -8.2 231 1903 roll -0.39 - - 3257 - 2.53 0.106 3323 562.1 -107.1 - - 3386 - - - - - - - - 14.72 14.45 14.73
1972 222.6 -7.9 244 1984 done -0.39 - - 3257 - 2.53 0.093 1895 -564.4 -107.1 - - 3386 - - - - - - - - 14.59 14.50 14.62
2166 239.2 -8.7 263 2176 done -0.39 - - 3257 - - - 1895 - -107.1 - - 3389 - - - - - - - - 14.73 14.74 14.73
2377 258.6 -9.2 278 2389 roll -0.39 - - 3257 - 2.58 0.106 3325 554.3 -107.1 - - 3386 - - - - - - - - 14.74 14.47 14.76
2424 263.0 -9.1 285 2436 done -0.39 - - 3257 - 2.53 0.095 1890 -567.2 -107.1 - - 3388 - - - - - - - - 14.61 14.49 14.63
2762 294.3 -9.0 300 2773 roll -0.39 - - 3257 - 2.58 0.109 3322 555.0 -107.1 - - 3387 - - - - - - - - 14.76 14.48 14.76
2844 301.3 -8.2 314 2855 done -0.39 - - 3257 - 2.50 0.096 1906 -566.4 -107.1 - - 3383 - - - - - - - - 14.60 14.50 14.63
3176 328.3 -8.0 328 3187 roll -0.39 - - 3255 - 2.53 0.111 492 -558.9 -107.1 - - 3382 - - - - - - - - 14.75 14.50 14.77
3218 331.9 -8.7 334 3230 done -0.39 - - 3257 - 2.50 0.096 1914 568.8 -107.1 - - 3382 - - - - - - - - 14.62 14.52 14.64
3561 358.3 -7.9 350 3572 roll -0.39 - - 3257 - 2.47 0.109 3310 565.2 -107.1 - - 3381 - - - - - - - - 14.76 14.51 14.78
3690 368.6 -7.8 373 3702 done -0.39 - - 3257 - 2.50 0.099 1905 -562.0 -107.1 - - 3381 - - - - - - - - 14.62 14.51 14.64
4001 395.1 -8.9 384 4011 done -0.39 - - 3256 - - - 1905 - -107.1 - - 3380 - - - - - - - - 14.76 14.78 14.78
4296 420.9 -8.3 394 4307 roll -0.39 - - 3257 - 2.53 0.109 3304 553.0 -107.1 - - 3377 - - - - - - - - 14.77 14.51 14.78
4363 426.5 -8.2 405 4375 done -0.39 - - 3257 - 2.53 0.100 1889 -559.3 -107.1 - - 3378 - - - - - - - - 14.63 14.51 14.64
4674 451.3 -8.1 416 4685 done -0.39 - - 3262 - - - 1888 - -107.1 - - 3377 - - - - - - - - 14.77 14.79 14.78
4969 475.1 -7.5 426 4980 done -0.39 - - 3257 - - - 1888 - -107.1 - - 3377 - - - - - - - - 14.77 14.79 14.78
5269 496.1 -6.8 436 5280 roll -0.39 - - 3257 - 2.55 0.109 3308 556.9 -107.1 - - 3376 - - - - - - - - 14.78 14.52 14.80
5356 501.8 -6.4 451 5367 done -0.39 - - 3254 - 2.50 0.099 1904 -561.6 -107.1 - - 3376 - - - - - - - - 14.63 14.52 14.66
5683 523.4 -6.5 464 5695 roll -0.39 - - 3262 - 2.55 0.110 3313 552.5 -107.1 - - 3375 - - - - - - - - 14.78 14.51 14.81
5736 526.9 -6.5 472 5747 done -0.39 - - 3257 - 2.53 0.099 1892 -561.7 -107.1 - - 3375 - - - - - - - - 14.63 14.52 14.65
6068 550.8 -7.5 486 6078 done -0.39 - - 3257 - - - 1887 - -107.1 - - 3374 - - - - - - - - 14.77 14.78 14.78
6368 573.9 -7.9 496 6378 done -0.39 - - 3257 - - - 1891 - -107.1 - - 3374 - - - - - - - - 14.77 14.79 14.79
6668 598.2 -8.0 506 6679 roll -0.39 - - 3257 - 2.58 0.112 3316 552.3 -107.1 - - 3372 - - - - - - - - 14.77 14.50 14.79
6754 605.0 -7.7 521 6766 done -0.39 - - 3257 - 2.53 0.100 1904 -558.1 -107.1 - - 3373 - - - - - - - - 14.62 14.52 14.65
7081 630.3 -7.7 534 7092 done -0.39 - - 3257 - - - 1904 - -107.1 - - 3371 - - - - - - - - 14.76 14.78 14.77
7382 651.4 -6.8 544 7393 roll -0.39 - - 3257 - 2.55 0.111 3304 549.0 -107.1 - - 3372 - - - - - - - - 14.77 14.50 14.77
7463 656.8 -6.6 558 7475 done -0.39 - - 3257 - 2.53 0.102 1888 -559.7 -107.1 - - 3373 - - - - - - - - 14.61 14.49 14.64
7796 678.3 -6.4 572 7807 roll -0.39 - - 3257 - 2.50 0.115 488 -560.0 -107.1 - - 3371 - - - - - - - - 14.76 14.49 14.78
7878 684.3 -7.3 586 7889 done -0.39 - - 3257 - 2.50 0.098 1899 564.4 -107.1 - - 3371 - - - - - - - - 14.61 14.50 14.64
8210 704.6 -6.1 600 8221 roll -0.39 - - 3257 - 2.58 0.112 3322 551.6 -107.1 - - 3371 - - - - - - - - 14.76 14.46 14.78
8354 713.2 -5.9 626 8366 done -0.39 - - 3257 - 2.55 0.099 1901 -557.3 -107.1 - - 3371 - - - - - - - - 14.61 14.50 14.63
8687 732.4 -5.7 640 8698 roll -0.39 - - 3257 - 2.55 0.115 474 -559.6 -107.1 - - 3370 - - - - - - - - 14.76 14.45 14.77
8749 736.5 -6.8 650 8760 done -0.39 - - 3257 - 2.53 0.096 1899 563.2 -107.1 - - 3370 - - - - - - - - 14.61 14.49 14.64
9076 756.1 -6.0 662 9087 roll -0.39 - - 3257 - 2.55 0.110 3323 558.4 -107.1 - - 3370 - - - - - - - - 14.76 14.47 14.78
9192 762.9 -5.8 682 9203 done -0.39 - - 3257 - 2.55 0.099 1902 -557.3 -107.1 - - 3369 - - - - - - - - 14.60 14.49 14.62
9524 782.0 -5.6 696 9535 done -0.39 - - 3257 - - - 1897 - -107.1 - - 3368 - - - - - - - - 14.76 14.77 14.77
9825 799.8 -6.0 706 9836 roll -0.39 - - 3257 - 2.60 0.112 3324 548.8 -107.1 - - 3368 - - - - - - - - 14.76 14.47 14.76
9912 804.8 -6.1 721 9923 done -0.39 - - 3257 - 2.55 0.100 1894 -560.8 -107.1 - - 3366 - - - - - - - - 14.59 14.49 14.62
10239 827.4 -7.0 734 10249 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3371 - - - - - - - - 14.73 14.76 14.77
10543 850.1 -7.6 744 10554 done -0.39 - - 3256 - - - 1890 - -107.1 - - 3367 - - - - - - - - 14.74 14.76 14.76
10843 872.2 -7.2 754 10853 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3367 - - - - - - - - 14.77 14.78 14.77
11143 891.8 -6.2 764 11154 roll -0.39 - - 3256 - 2.53 0.117 482 -556.5 -107.1 - - 3367 - - - - - - - - 14.76 14.45 14.77
11205 896.2 -7.0 774 11217 done -0.39 - - 3257 - 2.53 0.099 1907 563.2 -107.1 - - 3366 - - - - - - - - 14.60 14.50 14.63
11528 914.3 -5.4 786 11540 roll -0.39 - - 3257 - 2.53 0.112 3316 556.9 -107.1 - - 3366 - - - - - - - - 14.75 14.47 14.76
11585 917.9 -5.4 795 11596 done -0.39 - - 3257 - 2.53 0.100 1905 -557.7 -107.1 - - 3366 - - - - - - - - 14.59 14.47 14.62
11913 934.3 -5.2 808 11924 roll -0.39 - - 3258 - 2.58 0.116 479 -552.7 -107.1 - - 3366 - - - - - - - - 14.74 14.42 14.76
11984 939.1 -5.8 820 11995 done -0.39 - - 3257 - 2.53 0.096 1900 561.7 -107.1 - - 3366 - - - - - - - - 14.59 14.50 14.62
12327 956.4 -5.3 836 12337 done -0.39 - - 3257 - - - 1900 - -107.1 - - 3365 - - - - - - - - 14.74 14.76 14.76
12631 973.1 -5.7 846 12641 done -0.39 - - 3257 - - - 1899 - -107.1 - - 3365 - - - - - - - - 14.73 14.76 14.76
12926 end dive: TARGET_DEPTH_EXCEEDED
12926 begin apogee
12937 991.2 -6.0 856 13030 done -0.16 0.25 0.173 3338 324.0 - - 2260 - - 84.80 1.896 2940 -5.0 0.489 - - - - - - 14.41 13.95 13.31
13033 end apogee: CONTROL_FINISHED_OK
13033 begin climb
13038 995.0 - 859 13146 roll 0.39 0.52 0.121 3519 348.1 2.70 0.113 3661 518.9 107.1 88.00 1.852 2499 -5.0 0.503 - - - - - - 13.97 13.71 13.14
13233 985.4 7.2 895 13244 done 0.39 - - 3527 - 2.65 0.099 2240 -536.2 107.1 - - 2501 - - - - - - - - 14.11 14.02 14.12
13576 963.3 6.3 911 13587 roll 0.41 - - 3527 - 2.62 0.113 3659 541.6 107.1 - - 2500 - - - - - - - - 14.47 14.23 14.50
13753 950.7 7.0 943 13764 done 0.41 - - 3527 - 2.58 0.101 2253 -545.0 107.1 - - 2499 - - - - - - - - 14.42 14.28 14.42
14085 929.7 6.6 957 14096 roll 0.42 - - 3527 - 2.60 0.114 3661 541.5 107.1 - - 2499 - - - - - - - - 14.61 14.35 14.62
14192 922.6 7.6 975 14203 done 0.42 - - 3527 - 2.58 0.100 2251 -546.5 107.1 - - 2498 - - - - - - - - 14.49 14.38 14.51
14535 898.7 6.8 991 14546 roll 0.44 - - 3527 - 2.60 0.114 3660 541.9 107.1 - - 2499 - - - - - - - - 14.66 14.39 14.68
14665 888.7 7.5 1014 14678 done 0.44 - - 3527 - 2.58 0.100 2250 -546.5 107.1 - - 2498 - - - - - - - - 14.53 14.42 14.55
14977 868.6 6.5 1025 14988 roll 0.45 - - 3527 - 2.60 0.115 3662 543.1 107.1 - - 2498 - - - - - - - - 14.69 14.42 14.70
15104 859.1 7.4 1047 15115 done 0.45 - - 3527 - 2.55 0.100 2254 -552.2 107.1 - - 2498 - - - - - - - - 14.54 14.43 14.58
15428 838.3 6.2 1059 15439 roll 0.47 - - 3528 - 2.58 0.113 3660 545.0 107.1 - - 2498 - - - - - - - - 14.71 14.43 14.73
15567 828.7 6.7 1084 15578 done 0.49 - - 3527 - 2.55 0.100 2238 -557.6 107.1 - - 2495 - - - - - - - - 14.56 14.46 14.58
15905 810.9 5.2 1099 15957 roll 0.51 - - 3527 - 2.72 0.115 3661 523.2 153.2 37.40 1.644 2311 -4.9 0.453 - - - - - - 14.72 14.21 13.66
16001 804.5 7.2 1116 16013 done 0.51 - - 3527 - 2.60 0.101 2253 -541.5 153.2 - - 2311 - - - - - - - - 14.35 14.25 14.37
16313 785.5 6.4 1127 16324 roll 0.53 0.08 0.157 3590 787.5 2.58 0.110 3660 545.3 153.2 - - 2313 - - - - - - - - 14.38 14.34 14.42
16562 760.4 10.4 1173 16573 done 0.53 0.12 0.243 3564 -216.7 2.55 0.102 2252 -552.2 153.2 - - 2312 - - - - - - - - 14.31 14.39 14.47
16884 732.7 8.5 1185 16896 roll 0.53 - - 3571 - 2.55 0.112 826 -559.2 153.2 - - 2313 - - - - - - - - 14.66 14.41 14.68
17025 720.2 8.7 1210 17037 done 0.53 - - 3571 - 2.53 0.101 2241 559.3 153.2 - - 2314 - - - - - - - - 14.53 14.42 14.55
17363 689.1 9.4 1225 17374 roll 0.53 - - 3581 - 2.55 0.112 820 -557.3 153.2 - - 2314 - - - - - - - - 14.69 14.44 14.71
17494 676.6 9.5 1248 17506 done 0.53 - - 3581 - 2.55 0.099 2263 565.9 153.2 - - 2314 - - - - - - - - 14.55 14.45 14.57
17804 647.0 9.5 1259 17815 roll 0.53 - - 3581 - 2.53 0.113 3661 552.6 153.2 - - 2314 - - - - - - - - 14.71 14.42 14.72
17826 644.5 9.5 1261 17837 done 0.53 - - 3582 - 2.55 0.101 2248 -554.1 153.2 - - 2313 - - - - - - - - 14.57 14.46 14.60
18158 609.8 11.4 1275 18169 roll 0.53 - - 3582 - 2.58 0.113 3660 547.3 153.2 - - 2314 - - - - - - - - 14.73 14.45 14.73
18404 580.7 11.6 1321 18416 done 0.53 - - 3592 - 2.55 0.100 2246 -554.5 153.2 - - 2313 - - - - - - - - 14.57 14.47 14.59
18727 545.6 10.9 1333 18738 roll 0.53 - - 3592 - 2.58 0.114 3660 548.1 153.2 - - 2314 - - - - - - - - 14.73 14.47 14.74
18927 521.9 12.0 1370 18939 done 0.53 0.12 0.252 3562 -250.0 2.55 0.102 2252 -552.2 153.2 - - 2313 - - - - - - - - 14.36 14.46 14.54
19266 490.5 9.0 1385 19277 roll 0.53 - - 3569 - 2.55 0.113 820 -561.6 153.2 - - 2313 - - - - - - - - 14.73 14.43 14.74
19302 487.1 9.4 1390 19315 done 0.53 - - 3570 - 2.53 0.097 2245 563.2 153.2 - - 2311 - - - - - - - - 14.58 14.45 14.61
19612 458.1 9.6 1401 19623 roll 0.53 - - 3570 - 2.58 0.112 3663 549.6 153.2 - - 2313 - - - - - - - - 14.72 14.46 14.73
19678 450.3 11.6 1412 19690 done 0.53 - - 3573 - 2.58 0.101 2235 -553.5 153.2 - - 2314 - - - - - - - - 14.57 14.45 14.59
19989 418.2 10.4 1423 20000 done 0.53 - - 3573 - - - 2237 - 153.2 - - 2311 - - - - - - - - 14.72 14.74 14.74
20289 388.2 9.7 1433 20299 done 0.53 - - 3573 - - - 2235 - 153.2 - - 2316 - - - - - - - - 14.73 14.75 14.75
20589 359.6 9.7 1443 20599 done 0.53 - - 3573 - - - 2235 - 153.2 - - 2314 - - - - - - - - 14.71 14.76 14.75
20889 329.5 10.1 1453 20900 roll 0.53 - - 3584 - 2.47 0.112 843 -563.6 153.2 - - 2313 - - - - - - - - 14.73 14.44 14.75
20920 325.7 10.8 1457 20931 done 0.53 - - 3582 - 2.50 0.096 2269 570.4 153.2 - - 2314 - - - - - - - - 14.59 14.48 14.61
21242 293.4 10.0 1469 21252 done 0.53 - - 3582 - - - 2264 - 153.2 - - 2312 - - - - - - - - 14.73 14.75 14.75
21547 265.2 9.1 1479 21557 done 0.53 - - 3582 - - - 2266 - 153.2 - - 2314 - - - - - - - - 14.73 14.75 14.78
21842 240.0 8.3 1497 21853 roll 0.53 - - 3582 - 2.50 0.111 3654 555.2 153.2 - - 2314 - - - - - - - - 14.73 14.47 14.75
21895 235.2 9.5 1505 21906 done 0.53 - - 3582 - 2.50 0.099 2256 -559.2 153.2 - - 2314 - - - - - - - - 14.57 14.44 14.60
22097 217.3 8.8 1525 22108 roll 0.53 - - 3586 - 2.53 0.111 840 -559.7 153.2 - - 2314 - - - - - - - - 14.72 14.45 14.74
22154 212.1 9.4 1534 22167 done 0.53 - - 3586 - 2.50 0.097 2244 561.6 153.2 - - 2314 - - - - - - - - 14.57 14.45 14.59
22348 193.1 10.0 1553 22359 done 0.53 - - 3586 - - - 2244 - 153.2 - - 2314 - - - - - - - - 14.72 14.73 14.73
22540 173.6 10.0 1572 22551 done 0.53 - - 3586 - - - 2244 - 153.2 - - 2314 - - - - - - - - 14.71 14.73 14.73
22733 155.1 9.4 1591 22744 roll 0.53 - - 3586 - 2.53 0.109 840 -554.9 153.2 - - 2315 - - - - - - - - 14.71 14.43 14.73
22760 152.6 9.1 1594 22772 done 0.53 - - 3586 - 2.50 0.095 2261 568.4 153.2 - - 2315 - - - - - - - - 14.54 14.43 14.59
22953 137.0 8.2 1613 22964 roll 0.53 - - 3586 - 2.55 0.110 3662 549.4 153.2 - - 2315 - - - - - - - - 14.70 14.42 14.72
23030 130.3 9.2 1625 23041 done 0.53 - - 3585 - 2.55 0.096 2249 -554.1 153.2 - - 2318 - - - - - - - - 14.56 14.45 14.58
23232 114.8 7.2 1645 23243 roll 0.53 - - 3601 - 2.53 0.108 835 -558.9 153.2 - - 2315 - - - - - - - - 14.70 14.43 14.71
23323 107.0 8.5 1660 23335 done 0.53 0.10 0.230 3567 -340.0 2.50 0.096 2246 564.4 153.2 - - 2315 - - - - - - - - 14.35 14.44 14.52
23517 94.6 6.1 1679 23528 done 0.55 - - 3566 - - - 2243 - 153.2 - - 2316 - - - - - - - - 14.69 14.71 14.71
23710 82.4 5.7 1698 23721 roll 0.59 - - 3567 - 2.58 0.109 3663 550.4 153.2 - - 2316 - - - - - - - - 14.70 14.41 14.71
23732 81.0 5.9 1700 23743 done 0.61 - - 3569 - 2.55 0.096 2233 -560.8 153.2 - - 2316 - - - - - - - - 14.57 14.43 14.57
23935 70.4 5.3 1720 23976 done 0.64 - - 3569 - - - 2234 - 197.0 33.38 0.828 2138 -5.3 0.085 - - - - - - 14.69 14.41 14.00
24158 55.3 7.3 1742 24169 done 0.64 - - 3566 - - - 2234 - 197.0 - - 2134 - - - - - - - - 14.61 14.62 14.62
24351 44.7 4.9 1761 24403 roll 0.66 0.08 0.161 3636 875.0 2.58 0.109 836 -541.9 250.3 39.75 0.785 1919 -5.4 0.057 - - - - - - 14.44 14.28 13.93
24468 35.1 9.4 1780 24480 done 0.66 - - 3637 - 2.53 0.096 2256 561.3 250.3 - - 1916 - - - - - - - - 14.40 14.31 14.42
24662 19.2 6.5 1799 24673 roll 0.68 - - 3638 - 2.58 0.108 841 -548.4 250.3 - - 1916 - - - - - - - - 14.57 14.33 14.61
24913 11.4 2.7 1845 24971 done 0.73 - - 3638 - 2.50 0.095 2254 565.2 351.6 44.38 0.129 1507 -9.2 0.152 - - - - - - 14.49 14.40 14.33
25037 end climb: SURFACE_DEPTH_REACHED
25037 begin surface coast
25079 end surface coast: CONTROL_FINISHED_OK
25079 begin surface
SM 0.97 - - - - -10.26 9.82 0.041 89 9.0 0.65 0.106 1906 -11255.4 580.13 96.20 0.090 575 6.0 -0.007 - - - - - -