NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 152 * Raw log
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• Previous call tries 1 • 41.48 of 350.00 AH used of 24V (88.15% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -77.0 deg, depth 0.89 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 580.13 (SM_CC=580)
• GPS1 time: 22 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
30 - - - 122 VBD -0.39 - - 82 - - - 1894 - -107.1 -87.62 - 2958 - - - - - - - - 14.52 - 14.53
129 3.1 -4.5 9 158 roll -0.39 13.62 0.358 3258 233.2 2.78 2.198 492 -504.3 -107.1 -6.95 - 3376 -60.1 - - - - - - - 14.07 13.45 14.35
398 54.7 -14.6 59 406 done -0.39 - - 3258 - 2.50 0.093 1896 561.6 -107.1 - - 3379 - - - - - - - - 14.43 14.33 14.45
597 79.0 -11.6 79 604 roll -0.39 - - 3258 - 2.55 0.109 476 -556.9 -107.1 - - 3379 - - - - - - - - 14.60 14.32 14.63
719 95.3 -12.7 101 727 done -0.39 - - 3258 - 2.53 0.092 1914 568.4 -107.1 - - 3380 - - - - - - - - 14.49 14.40 14.51
919 117.7 -10.9 121 926 roll -0.39 - - 3257 - 2.47 0.105 3305 563.2 -107.1 - - 3380 - - - - - - - - 14.64 14.40 14.64
957 121.8 -10.0 127 965 done -0.39 - - 3258 - 2.50 0.094 1902 -561.2 -107.1 - - 3380 - - - - - - - - 14.51 14.41 14.53
1156 140.6 -9.6 147 1164 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3380 - - - - - - - - 14.66 14.68 14.68
1346 157.8 -9.3 166 1354 roll -0.39 - - 3258 - 2.55 0.106 3315 553.7 -107.1 - - 3380 - - - - - - - - 14.66 14.42 14.69
1405 163.1 -9.1 176 1413 done -0.39 - - 3260 - 2.53 0.093 1898 -560.1 -107.1 - - 3380 - - - - - - - - 14.54 14.45 14.55
1604 182.0 -9.4 196 1613 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3379 - - - - - - - - 14.69 14.70 14.71
1795 198.9 -8.8 215 1803 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3379 - - - - - - - - 14.69 14.70 14.70
1984 215.5 -9.0 234 1992 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3378 - - - - - - - - 14.69 14.71 14.71
2175 232.9 -9.3 253 2183 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3378 - - - - - - - - 14.70 14.71 14.71
2364 250.5 -9.3 272 2367 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3380 - - - - - - - - 14.71 14.72 14.72
2665 278.0 -9.1 282 2668 done -0.39 - - 3258 - - - 1895 - -107.1 - - 3376 - - - - - - - - 14.72 14.74 14.74
2964 304.1 -8.6 292 2968 done -0.39 - - 3257 - - - 1898 - -107.1 - - 3376 - - - - - - - - 14.72 14.74 14.74
3265 329.9 -8.7 302 3268 done -0.39 - - 3257 - - - 1896 - -107.1 - - 3376 - - - - - - - - 14.73 14.76 14.75
3564 355.8 -8.5 312 3567 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3374 - - - - - - - - 14.73 14.76 14.75
3865 380.7 -8.3 322 3868 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3373 - - - - - - - - 14.73 14.76 14.76
4165 404.8 -8.0 332 4168 done -0.39 - - 3263 - - - 1897 - -107.1 - - 3372 - - - - - - - - 14.73 14.76 14.76
4465 429.5 -8.2 342 4472 roll -0.39 - - 3258 - 2.58 0.111 3316 550.0 -107.1 - - 3368 - - - - - - - - 14.73 14.46 14.75
4538 435.5 -8.0 355 4545 done -0.39 - - 3258 - 2.53 0.098 1902 -558.9 -107.1 - - 3371 - - - - - - - - 14.59 14.48 14.62
4875 462.4 -8.1 370 4879 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3370 - - - - - - - - 14.73 14.75 14.73
5171 486.7 -8.1 380 5174 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3372 - - - - - - - - 14.73 14.74 14.77
5472 512.2 -8.5 390 5475 done -0.39 - - 3255 - - - 1906 - -107.1 - - 3368 - - - - - - - - 14.73 14.75 14.75
5772 538.4 -8.8 400 5775 done -0.39 - - 3257 - - - 1903 - -107.1 - - 3368 - - - - - - - - 14.73 14.76 14.75
6071 564.3 -8.6 410 6079 roll -0.39 - - 3257 - 2.55 0.111 3311 552.2 -107.1 - - 3370 - - - - - - - - 14.73 14.46 14.74
6135 569.5 -8.2 421 6144 done -0.39 - - 3263 - 2.55 0.100 1889 -557.6 -107.1 - - 3367 - - - - - - - - 14.57 14.47 14.60
6444 593.7 -7.8 432 6447 done -0.39 - - 3258 - - - 1893 - -107.1 - - 3366 - - - - - - - - 14.72 14.74 14.73
6740 616.8 -7.7 442 6743 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3365 - - - - - - - - 14.72 14.74 14.74
7040 640.2 -7.7 452 7049 roll -0.39 - - 3258 - 2.58 0.112 3300 547.3 -107.1 - - 3365 - - - - - - - - 14.73 14.45 14.75
7114 645.8 -7.3 465 7122 done -0.39 - - 3258 - 2.53 0.101 1903 -552.2 -107.1 - - 3365 - - - - - - - - 14.57 14.46 14.61
7453 669.4 -7.0 480 7461 roll -0.39 - - 3258 - 2.55 0.111 3303 549.0 -107.1 - - 3364 - - - - - - - - 14.71 14.45 14.73
7516 674.0 -6.7 491 7525 done -0.39 - - 3258 - 2.53 0.102 1886 -560.1 -107.1 - - 3363 - - - - - - - - 14.56 14.45 14.59
7827 693.2 -6.1 502 7829 done -0.39 - - 3258 - - - 1889 - -107.1 - - 3361 - - - - - - - - 14.71 14.73 14.74
8122 710.5 -5.6 512 8130 roll -0.39 - - 3258 - 2.58 0.112 3301 547.3 -107.1 - - 3366 - - - - - - - - 14.71 14.44 14.73
8235 716.6 -5.6 532 8244 done -0.39 - - 3258 - 2.53 0.102 1905 -551.8 -107.1 - - 3362 - - - - - - - - 14.56 14.45 14.60
8569 735.6 -5.7 546 8572 done -0.39 - - 3258 - - - 1904 - -107.1 - - 3362 - - - - - - - - 14.71 14.72 14.73
8866 751.6 -5.2 556 8869 done -0.39 - - 3257 - - - 1904 - -107.1 - - 3362 - - - - - - - - 14.78 14.74 14.73
9165 767.9 -5.6 566 9172 roll -0.39 - - 3257 - 2.55 0.112 3302 548.2 -107.1 - - 3361 - - - - - - - - 14.71 14.43 14.73
9218 771.0 -5.6 575 9225 done -0.39 - - 3259 - 2.53 0.101 1899 -554.5 -107.1 - - 3361 - - - - - - - - 14.56 14.45 14.58
9546 788.9 -5.6 588 9549 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3361 - - - - - - - - 14.71 14.72 14.73
9842 805.7 -5.5 598 9845 done -0.39 - - 3258 - - - 1895 - -107.1 - - 3361 - - - - - - - - 14.71 14.73 14.73
10142 822.7 -5.9 608 10145 done -0.39 - - 3259 - - - 1899 - -107.1 - - 3361 - - - - - - - - 14.71 14.73 14.72
10441 840.2 -5.8 618 10450 roll -0.39 - - 3261 - 2.58 0.113 3302 543.8 -107.1 - - 3360 - - - - - - - - 14.71 14.42 14.73
10511 844.6 -5.8 630 10518 done -0.39 - - 3257 - 2.55 0.103 1886 -555.3 -107.1 - - 3360 - - - - - - - - 14.54 14.41 14.57
10854 864.2 -5.9 646 10857 done -0.39 - - 3258 - - - 1886 - -107.1 - - 3359 - - - - - - - - 14.70 14.72 14.72
11150 881.7 -5.7 656 11158 roll -0.39 - - 3258 - 2.60 0.111 3302 544.6 -107.1 - - 3359 - - - - - - - - 14.70 14.40 14.72
11209 885.6 -5.4 666 11216 done -0.39 - - 3261 - 2.53 0.103 1904 -552.6 -107.1 - - 3359 - - - - - - - - 14.54 14.42 14.57
11532 901.6 -5.0 678 11535 done -0.39 - - 3258 - - - 1904 - -107.1 - - 3358 - - - - - - - - 14.69 14.71 14.71
11828 916.4 -5.0 688 11836 roll -0.39 - - 3254 - 2.58 0.112 3304 542.6 -107.1 - - 3361 - - - - - - - - 14.71 14.42 14.72
11892 920.3 -5.1 699 11902 done -0.39 - - 3258 - 2.55 0.103 1889 -554.9 -107.1 - - 3358 - - - - - - - - 14.54 14.42 14.57
12202 935.9 -5.3 710 12205 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3358 - - - - - - - - 14.69 14.71 14.69
12498 952.5 -5.6 720 12506 roll -0.39 - - 3258 - 2.60 0.113 3314 548.5 -107.1 - - 3357 - - - - - - - - 14.70 14.41 14.71
12576 957.5 -5.6 734 12583 done -0.39 - - 3263 - 2.55 0.103 1903 -553.3 -107.1 - - 3358 - - - - - - - - 14.54 14.42 14.57
12909 975.1 -5.6 748 12912 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3357 - - - - - - - - 14.69 14.71 14.71
13170 end dive: TARGET_DEPTH_EXCEEDED
13170 begin apogee
13182 990.3 -5.5 757 13271 done -0.16 0.28 0.171 3339 289.3 - - 2245 - - 83.40 1.894 2942 -5.0 0.486 - - - - - - 14.37 13.94 13.28
13274 end apogee: CONTROL_FINISHED_OK
13274 begin climb
13280 993.3 - 760 13377 done 0.39 0.55 0.115 3524 336.4 - - 2243 - 107.1 88.68 1.870 2505 -4.9 0.489 - - - - - - 13.94 13.74 13.13
13659 967.2 8.2 778 13670 roll 0.39 - - 3524 - 2.65 0.113 3673 539.6 107.1 - - 2499 - - - - - - - - 14.38 14.16 14.40
13741 960.2 9.3 792 13752 done 0.39 - - 3527 - 2.62 0.103 2250 -543.1 107.1 - - 2499 - - - - - - - - 14.31 14.21 14.33
14074 931.5 8.4 806 14084 done 0.39 - - 3527 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.56 14.57 14.57
14377 907.9 7.6 816 14387 done 0.39 - - 3527 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.62 14.65 14.64
14678 885.9 7.2 826 14689 roll 0.39 - - 3527 - 2.60 0.114 3661 542.7 107.1 - - 2498 - - - - - - - - 14.65 14.40 14.67
14751 880.1 8.0 838 14762 done 0.39 - - 3526 - 2.58 0.102 2249 -547.3 107.1 - - 2497 - - - - - - - - 14.52 14.40 14.54
15094 856.6 6.7 854 15104 done 0.40 - - 3527 - - - 2254 - 107.1 - - 2498 - - - - - - - - 14.69 14.70 14.70
15397 836.1 7.0 864 15408 roll 0.40 - - 3526 - 2.60 0.113 3667 543.5 107.1 - - 2497 - - - - - - - - 14.69 14.47 14.71
15449 831.8 8.4 872 15460 done 0.40 - - 3527 - 2.58 0.103 2244 -551.6 107.1 - - 2497 - - - - - - - - 14.56 14.45 14.60
15781 807.9 6.9 886 15792 done 0.40 - - 3527 - - - 2244 - 107.1 - - 2497 - - - - - - - - 14.71 14.72 14.73
16085 785.9 7.6 896 16096 roll 0.40 - - 3527 - 2.53 0.114 841 -554.5 107.1 - - 2497 - - - - - - - - 14.72 14.45 14.73
16137 781.5 7.8 904 16148 done 0.40 - - 3527 - 2.50 0.098 2261 568.0 107.1 - - 2497 - - - - - - - - 14.57 14.47 14.59
16469 757.0 7.3 918 16480 roll 0.40 - - 3527 - 2.55 0.114 3661 549.0 107.1 - - 2497 - - - - - - - - 14.72 14.44 14.74
16521 752.6 8.6 926 16532 done 0.40 - - 3528 - 2.55 0.100 2247 -554.5 107.1 - - 2497 - - - - - - - - 14.57 14.47 14.59
16853 728.0 7.3 940 16864 done 0.40 - - 3528 - - - 2247 - 107.1 - - 2497 - - - - - - - - 14.72 14.74 14.74
17158 706.7 7.1 950 17168 done 0.40 - - 3527 - - - 2252 - 107.1 - - 2497 - - - - - - - - 14.72 14.74 14.74
17458 684.2 7.5 960 17468 done 0.40 - - 3527 - - - 2247 - 107.1 - - 2497 - - - - - - - - 14.73 14.73 14.77
17758 661.6 7.6 970 17768 done 0.40 - - 3527 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.74 14.75 14.74
18058 638.9 7.6 980 18069 roll 0.40 - - 3527 - 2.55 0.114 833 -554.1 107.1 - - 2497 - - - - - - - - 14.76 14.45 14.75
18104 635.0 7.6 987 18115 done 0.40 - - 3527 - 2.50 0.099 2245 564.8 107.1 - - 2499 - - - - - - - - 14.58 14.46 14.60
18441 610.2 7.3 1002 18452 roll 0.40 - - 3527 - 2.58 0.113 3661 548.8 107.1 - - 2497 - - - - - - - - 14.74 14.45 14.76
18503 605.3 8.1 1012 18514 done 0.40 - - 3527 - 2.55 0.099 2239 -557.6 107.1 - - 2496 - - - - - - - - 14.57 14.47 14.60
18825 583.6 6.7 1024 18837 roll 0.42 - - 3527 - 2.53 0.116 842 -552.2 107.1 - - 2497 - - - - - - - - 14.71 14.42 14.75
18883 579.7 6.8 1033 18895 done 0.43 - - 3527 - 2.50 0.097 2260 567.2 107.1 - - 2500 - - - - - - - - 14.59 14.47 14.60
19212 557.8 6.7 1046 19222 done 0.44 - - 3528 - - - 2258 - 107.1 - - 2497 - - - - - - - - 14.73 14.74 14.74
19516 538.5 6.4 1056 19526 done 0.46 - - 3527 - - - 2260 - 107.1 - - 2497 - - - - - - - - 14.73 14.75 14.74
19816 518.7 6.6 1066 19826 done 0.47 - - 3527 - - - 2260 - 107.1 - - 2497 - - - - - - - - 14.72 14.75 14.73
20116 498.8 6.6 1076 20127 roll 0.49 - - 3527 - 2.55 0.113 3662 549.8 107.1 - - 2495 - - - - - - - - 14.73 14.45 14.75
20211 491.7 7.5 1092 20222 done 0.49 - - 3527 - 2.55 0.099 2245 -555.7 107.1 - - 2496 - - - - - - - - 14.58 14.47 14.61
20534 470.0 6.6 1104 20544 done 0.50 - - 3527 - - - 2244 - 107.1 - - 2495 - - - - - - - - 14.73 14.75 14.73
20839 450.6 6.4 1114 20850 done 0.52 0.08 0.164 3584 712.5 - - 2245 - 107.1 - - 2500 - - - - - - - - 14.52 14.62 14.59
21138 426.4 8.2 1124 21149 roll 0.52 - - 3584 - 2.60 0.116 3661 544.6 107.1 - - 2497 - - - - - - - - 14.73 14.43 14.76
21314 409.8 9.1 1156 21325 done 0.52 - - 3586 - 2.55 0.099 2252 -552.5 107.1 - - 2496 - - - - - - - - 14.56 14.45 14.60
21646 383.1 7.9 1170 21657 roll 0.52 - - 3595 - 2.53 0.110 839 -558.5 107.1 - - 2497 - - - - - - - - 14.72 14.45 14.74
21693 379.3 8.1 1177 21705 done 0.52 0.12 0.235 3561 -283.3 2.50 0.096 2255 566.4 107.1 - - 2495 - - - - - - - - 14.37 14.46 14.54
22033 358.5 6.0 1192 22043 done 0.55 - - 3560 - - - 2255 - 107.1 - - 2495 - - - - - - - - 14.73 14.74 14.74
22337 340.1 6.1 1202 22348 roll 0.57 - - 3565 - 2.55 0.113 3661 551.4 107.1 - - 2497 - - - - - - - - 14.73 14.43 14.76
22447 331.9 7.5 1221 22459 done 0.57 - - 3560 - 2.55 0.097 2251 -552.9 107.1 - - 2497 - - - - - - - - 14.57 14.45 14.60
22785 310.3 6.3 1236 22796 roll 0.59 - - 3560 - 2.58 0.112 3661 546.5 107.1 - - 2497 - - - - - - - - 14.73 14.40 14.75
22867 304.2 7.5 1250 22878 done 0.59 - - 3568 - 2.55 0.096 2234 -559.6 107.1 - - 2497 - - - - - - - - 14.57 14.45 14.59
23199 280.2 7.2 1264 23211 roll 0.59 - - 3568 - 2.62 0.111 3663 545.4 107.1 - - 2497 - - - - - - - - 14.73 14.45 14.74
23256 275.9 7.8 1273 23268 done 0.59 - - 3570 - 2.55 0.097 2244 -556.5 107.1 - - 2497 - - - - - - - - 14.57 14.46 14.60
23585 254.8 6.1 1286 23595 done 0.62 - - 3570 - - - 2239 - 107.1 - - 2497 - - - - - - - - 14.72 14.73 14.74
23885 236.6 6.2 1310 23896 done 0.64 - - 3570 - - - 2239 - 107.1 - - 2497 - - - - - - - - 14.72 14.74 14.73
24077 224.5 6.1 1329 24089 roll 0.67 0.08 0.164 3641 887.5 2.53 0.111 830 -556.9 107.1 - - 2497 - - - - - - - - 14.50 14.43 14.54
24116 221.7 7.8 1334 24127 done 0.67 - - 3636 - 2.53 0.099 2253 562.5 107.1 - - 2496 - - - - - - - - 14.56 14.45 14.59
24309 205.4 8.5 1353 24320 roll 0.67 - - 3636 - 2.58 0.111 3662 546.1 107.1 - - 2497 - - - - - - - - 14.71 14.42 14.73
24376 199.1 9.5 1364 24389 done 0.67 0.10 0.281 3613 -230.0 2.55 0.098 2251 -553.3 107.1 - - 2497 - - - - - - - - 14.30 14.43 14.51
24570 184.3 7.5 1383 24581 roll 0.67 - - 3613 - 2.58 0.110 3661 546.5 107.1 - - 2497 - - - - - - - - 14.70 14.38 14.71
24632 179.0 9.2 1393 24644 done 0.67 - - 3620 - 2.55 0.095 2244 -555.7 107.1 - - 2495 - - - - - - - - 14.54 14.45 14.58
24835 162.5 7.7 1413 24847 done 0.67 - - 3620 - - - 2244 - 107.1 - - 2497 - - - - - - - - 14.70 14.71 14.71
25029 148.9 6.8 1432 25039 done 0.68 - - 3620 - - - 2244 - 107.1 - - 2497 - - - - - - - - 14.69 14.71 14.71
25221 136.6 6.1 1451 25232 roll 0.70 - - 3620 - 2.60 0.109 3662 545.4 107.1 - - 2496 - - - - - - - - 14.71 14.42 14.70
25472 121.5 5.3 1497 25519 done 0.72 - - 3626 - 2.53 0.096 2252 -557.3 151.2 33.17 0.887 2319 -5.3 0.137 - - - - - - 14.52 14.42 13.96
25701 105.2 8.2 1523 25711 done 0.72 - - 3626 - - - 2252 - 151.2 - - 2318 - - - - - - - - 14.60 14.62 14.62
25893 89.9 8.1 1542 25904 done 0.72 - - 3626 - - - 2252 - 151.2 - - 2318 - - - - - - - - 14.62 14.64 14.65
26085 73.6 7.7 1561 26097 done 0.72 - - 3626 - - - 2252 - 151.2 - - 2317 - - - - - - - - 14.65 14.66 14.66
26280 59.4 6.0 1580 26291 roll 0.75 - - 3631 - 2.58 0.109 3662 546.5 151.2 - - 2319 - - - - - - - - 14.64 14.37 14.68
26336 56.4 4.9 1589 26390 done 0.78 - - 3626 - 2.55 0.093 2238 -558.4 204.6 38.97 0.798 2101 -5.6 0.074 - - - - - - 14.52 14.42 13.95
26571 40.1 7.8 1616 26582 roll 0.78 - - 3626 - 2.53 0.109 840 -552.6 204.6 - - 2101 - - - - - - - - 14.58 14.33 14.59
26659 34.3 6.5 1630 26670 done 0.79 - - 3626 - 2.50 0.094 2250 564.0 204.6 - - 2102 - - - - - - - - 14.46 14.36 14.48
26863 22.9 5.6 1650 26874 done 0.83 0.10 0.154 3682 560.0 - - 2250 - 204.6 - - 2101 - - - - - - - - 14.40 14.49 14.47
27056 15.5 2.8 1669 27111 roll 0.88 - - 3678 - 2.65 0.108 3666 534.3 303.0 44.50 0.154 1702 -9.0 0.169 - - - - - - 14.64 14.37 14.31
27137 12.8 4.9 1681 27175 done 0.90 - - 3690 - 2.55 0.096 2253 -554.1 355.1 23.50 0.135 1492 -8.9 0.158 - - - - - - 14.47 14.36 14.30
27231 end climb: SURFACE_DEPTH_REACHED
27231 begin surface coast
27263 end surface coast: CONTROL_FINISHED_OK
27263 begin surface
SM 0.76 - - - - -10.25 10.05 0.048 95 9.4 0.65 0.103 1887 -11284.6 580.13 95.18 0.090 575 6.0 -0.005 - - - - - -