NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 153 * Raw log
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• Previous call tries 2 • 41.77 of 350.00 AH used of 24V (88.07% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -76.7 deg, depth 0.88 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 580.13 (SM_CC=580)
• GPS1 time: 26 s
• GPS2 time: 1 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
28 - - - 131 VBD -0.39 - - 86 - - - 1879 - -107.1 -95.30 - 3258 - - - - - - - - 14.51 - 14.53
138 5.1 -8.9 10 166 roll -0.39 13.70 0.362 3260 231.7 2.75 2.193 494 -503.6 -107.1 -1.73 - 3381 -71.1 - - - - - - - 14.07 13.45 14.39
404 64.0 -14.8 59 416 done -0.39 - - 3260 - 2.47 0.091 1898 568.4 -107.1 - - 3384 - - - - - - - - 14.47 14.34 14.46
598 84.9 -9.9 78 609 roll -0.39 - - 3260 - 2.53 0.106 491 -556.1 -107.1 - - 3384 - - - - - - - - 14.62 14.38 14.63
755 103.0 -11.5 106 766 done -0.39 - - 3260 - 2.47 0.091 1901 570.9 -107.1 - - 3385 - - - - - - - - 14.51 14.41 14.54
957 124.0 -9.6 126 968 done -0.39 - - 3260 - - - 1900 - -107.1 - - 3388 - - - - - - - - 14.66 14.69 14.68
1149 142.3 -9.6 145 1160 roll -0.39 - - 3261 - 2.53 0.106 3320 561.3 -107.1 - - 3383 - - - - - - - - 14.68 14.42 14.70
1212 148.3 -9.4 155 1223 done -0.39 - - 3260 - 2.53 0.094 1895 -563.2 -107.1 - - 3385 - - - - - - - - 14.55 14.45 14.56
1414 168.2 -10.1 175 1425 roll -0.39 - - 3260 - 2.53 0.111 479 -559.7 -107.1 - - 3384 - - - - - - - - 14.70 14.45 14.72
1471 174.4 -10.9 184 1483 done -0.39 - - 3260 - 2.50 0.093 1899 568.0 -107.1 - - 3384 - - - - - - - - 14.54 14.44 14.56
1664 193.3 -9.6 203 1675 roll -0.39 - - 3259 - 2.55 0.106 3323 558.4 -107.1 - - 3385 - - - - - - - - 14.71 14.45 14.71
1711 197.6 -9.1 210 1723 done -0.39 - - 3260 - 2.53 0.093 1894 -564.8 -107.1 - - 3383 - - - - - - - - 14.56 14.46 14.54
1904 214.1 -8.8 229 1916 done -0.39 - - 3260 - - - 1894 - -107.1 - - 3383 - - - - - - - - 14.71 14.73 14.73
2097 231.3 -8.9 248 2108 done -0.39 - - 3260 - - - 1894 - -107.1 - - 3382 - - - - - - - - 14.73 14.74 14.74
2289 248.4 -8.8 267 2299 done -0.39 - - 3260 - - - 1894 - -107.1 - - 3381 - - - - - - - - 14.73 14.76 14.75
2490 266.7 -9.2 275 2501 done -0.39 - - 3260 - - - 1894 - -107.1 - - 3381 - - - - - - - - 14.74 14.76 14.76
2791 294.2 -9.2 285 2801 done -0.39 - - 3256 - - - 1893 - -107.1 - - 3379 - - - - - - - - 14.76 14.78 14.78
3091 320.8 -8.6 295 3101 done -0.39 - - 3261 - - - 1893 - -107.1 - - 3379 - - - - - - - - 14.77 14.79 14.79
3391 345.4 -8.0 305 3402 roll -0.39 - - 3257 - 2.53 0.114 475 -560.5 -107.1 - - 3377 - - - - - - - - 14.77 14.46 14.80
3468 352.4 -9.1 318 3480 done -0.39 - - 3260 - 2.50 0.096 1899 569.6 -107.1 - - 3377 - - - - - - - - 14.61 14.52 14.65
3805 379.3 -7.8 333 3816 done -0.39 - - 3256 - - - 1899 - -107.1 - - 3375 - - - - - - - - 14.77 14.78 14.78
4106 402.8 -7.9 343 4117 done -0.39 - - 3259 - - - 1899 - -107.1 - - 3374 - - - - - - - - 14.78 14.79 14.80
4406 427.9 -8.5 353 4417 roll -0.39 - - 3260 - 2.53 0.113 493 -555.7 -107.1 - - 3374 - - - - - - - - 14.78 14.50 14.79
4483 434.9 -9.2 366 4494 done -0.39 - - 3260 - 2.47 0.096 1905 571.7 -107.1 - - 3373 - - - - - - - - 14.63 14.55 14.65
4820 463.3 -8.5 381 4832 roll -0.39 - - 3260 - 2.53 0.112 3316 557.7 -107.1 - - 3372 - - - - - - - - 14.77 14.50 14.78
4907 470.7 -8.4 396 4918 done -0.39 - - 3260 - 2.53 0.099 1904 -558.1 -107.1 - - 3372 - - - - - - - - 14.62 14.51 14.64
5234 498.3 -8.4 409 5245 done -0.39 - - 3265 - - - 1904 - -107.1 - - 3371 - - - - - - - - 14.76 14.78 14.78
5535 521.9 -7.5 419 5545 done -0.39 - - 3260 - - - 1904 - -107.1 - - 3370 - - - - - - - - 14.77 14.78 14.78
5834 543.0 -6.8 429 5846 roll -0.39 - - 3259 - 2.55 0.111 3316 553.7 -107.1 - - 3370 - - - - - - - - 14.77 14.49 14.78
5881 546.1 -6.7 436 5892 done -0.39 - - 3260 - 2.53 0.099 1902 -558.9 -107.1 - - 3368 - - - - - - - - 14.62 14.51 14.64
6218 570.3 -7.7 451 6229 done -0.39 - - 3260 - - - 1902 - -107.1 - - 3368 - - - - - - - - 14.77 14.78 14.78
6519 594.2 -8.0 461 6529 done -0.39 - - 3259 - - - 1902 - -107.1 - - 3367 - - - - - - - - 14.78 14.80 14.79
6820 618.5 -8.0 471 6831 roll -0.39 - - 3260 - 2.55 0.112 3316 554.5 -107.1 - - 3367 - - - - - - - - 14.77 14.49 14.78
6882 623.4 -7.6 481 6894 done -0.39 - - 3266 - 2.55 0.100 1888 -560.0 -107.1 - - 3367 - - - - - - - - 14.61 14.50 14.64
7209 646.8 -7.0 493 7220 roll -0.39 - - 3261 - 2.58 0.111 3317 553.9 -107.1 - - 3366 - - - - - - - - 14.75 14.49 14.78
7261 650.6 -6.7 501 7273 done -0.39 - - 3260 - 2.53 0.099 1904 -558.5 -107.1 - - 3366 - - - - - - - - 14.62 14.50 14.64
7593 672.7 -6.7 515 7604 done -0.39 - - 3260 - - - 1902 - -107.1 - - 3367 - - - - - - - - 14.78 14.78 14.78
7894 694.4 -7.4 525 7905 done -0.39 - - 3259 - - - 1902 - -107.1 - - 3365 - - - - - - - - 14.77 14.79 14.81
8194 716.7 -7.4 535 8204 done -0.39 - - 3260 - - - 1904 - -107.1 - - 3364 - - - - - - - - 14.77 14.78 14.78
8494 737.8 -6.9 545 8505 roll -0.39 - - 3260 - 2.55 0.114 3316 553.7 -107.1 - - 3364 - - - - - - - - 14.76 14.48 14.76
8551 741.8 -6.8 554 8562 done -0.39 - - 3261 - 2.55 0.100 1890 -559.2 -107.1 - - 3364 - - - - - - - - 14.61 14.50 14.64
8878 762.8 -6.1 567 8889 done -0.39 - - 3260 - - - 1890 - -107.1 - - 3363 - - - - - - - - 14.76 14.78 14.78
9178 780.7 -5.7 577 9189 done -0.39 - - 3260 - - - 1895 - -107.1 - - 3363 - - - - - - - - 14.76 14.78 14.78
9479 797.7 -5.7 587 9490 roll -0.39 - - 3260 - 2.60 0.113 3322 548.8 -107.1 - - 3363 - - - - - - - - 14.78 14.45 14.78
9530 800.4 -5.6 595 9541 done -0.39 - - 3258 - 2.53 0.100 1907 -559.3 -107.1 - - 3363 - - - - - - - - 14.59 14.48 14.64
9862 820.4 -6.0 609 9873 done -0.39 - - 3260 - - - 1907 - -107.1 - - 3363 - - - - - - - - 14.76 14.78 14.78
10166 838.3 -6.1 619 10177 done -0.39 - - 3260 - - - 1906 - -107.1 - - 3363 - - - - - - - - 14.75 14.77 14.77
10467 856.3 -5.8 629 10477 done -0.39 - - 3260 - - - 1906 - -107.1 - - 3361 - - - - - - - - 14.76 14.78 14.78
10766 873.8 -5.8 639 10778 roll -0.39 - - 3257 - 2.55 0.112 3315 552.5 -107.1 - - 3361 - - - - - - - - 14.75 14.47 14.76
10814 877.0 -5.7 646 10825 done -0.39 - - 3260 - 2.55 0.101 1888 -559.6 -107.1 - - 3361 - - - - - - - - 14.59 14.47 14.62
11152 896.1 -5.8 661 11163 done -0.39 - - 3260 - - - 1886 - -107.1 - - 3361 - - - - - - - - 14.76 14.77 14.77
11456 913.4 -5.8 671 11466 done -0.39 - - 3256 - - - 1888 - -107.1 - - 3361 - - - - - - - - 14.74 14.76 14.76
11755 930.6 -5.7 681 11766 done -0.39 - - 3260 - - - 1888 - -107.1 - - 3361 - - - - - - - - 14.75 14.76 14.76
12056 947.6 -5.7 691 12067 roll -0.39 - - 3260 - 2.60 0.113 3322 551.5 -107.1 - - 3360 - - - - - - - - 14.75 14.44 14.77
12112 951.2 -5.6 700 12123 done -0.39 - - 3260 - 2.55 0.099 1905 -555.7 -107.1 - - 3362 - - - - - - - - 14.58 14.46 14.61
12439 970.7 -6.2 713 12450 done -0.39 - - 3260 - - - 1905 - -107.1 - - 3360 - - - - - - - - 14.74 14.76 14.76
12744 989.4 -6.1 723 12754 done -0.39 - - 3260 - - - 1905 - -107.1 - - 3359 - - - - - - - - 14.75 14.76 14.76
12765 end dive: TARGET_DEPTH_EXCEEDED
12765 begin apogee
12777 991.9 -6.5 724 12868 done -0.16 0.28 0.168 3340 285.7 - - 2246 - - 83.45 1.897 2943 -5.0 0.486 - - - - - - 14.42 13.97 13.31
12871 end apogee: CONTROL_FINISHED_OK
12871 begin climb
12876 994.6 - 727 12984 roll 0.39 0.50 0.117 3515 350.0 2.78 0.115 3660 508.6 107.1 87.62 1.870 2501 -5.0 0.500 - - - - - - 13.97 13.71 13.16
13020 987.8 7.8 753 13031 done 0.39 - - 3522 - 2.65 0.100 2249 -532.5 107.1 - - 2499 - - - - - - - - 14.02 13.93 14.04
13352 963.1 7.4 767 13364 roll 0.39 - - 3518 - 2.60 0.114 839 -542.3 107.1 - - 2498 - - - - - - - - 14.45 14.21 14.49
13414 959.3 7.1 777 13425 done 0.39 - - 3517 - 2.55 0.097 2259 556.9 107.1 - - 2500 - - - - - - - - 14.34 14.25 14.36
13736 935.8 7.1 789 13747 done 0.39 - - 3517 - - - 2259 - 107.1 - - 2499 - - - - - - - - 14.57 14.59 14.59
14041 914.7 7.1 799 14051 done 0.39 - - 3517 - - - 2259 - 107.1 - - 2497 - - - - - - - - 14.64 14.66 14.65
14341 893.9 6.9 809 14352 roll 0.39 - - 3517 - 2.58 0.116 3659 542.6 107.1 - - 2498 - - - - - - - - 14.64 14.40 14.70
14393 889.6 8.4 817 14404 done 0.39 - - 3513 - 2.58 0.103 2234 -552.3 107.1 - - 2496 - - - - - - - - 14.51 14.40 14.55
14726 866.5 6.7 831 14737 roll 0.40 - - 3517 - 2.53 0.114 836 -552.6 107.1 - - 2496 - - - - - - - - 14.69 14.42 14.71
14786 862.7 7.4 841 14798 done 0.40 - - 3517 - 2.50 0.099 2245 563.6 107.1 - - 2497 - - - - - - - - 14.54 14.42 14.57
15109 838.9 7.4 853 15119 done 0.40 - - 3517 - - - 2244 - 107.1 - - 2496 - - - - - - - - 14.70 14.72 14.71
15413 816.8 7.3 863 15424 roll 0.40 - - 3517 - 2.58 0.113 3662 549.6 107.1 - - 2496 - - - - - - - - 14.71 14.43 14.73
15495 810.1 8.1 877 15506 done 0.40 - - 3518 - 2.55 0.101 2250 -553.7 107.1 - - 2496 - - - - - - - - 14.57 14.44 14.59
15828 786.2 7.3 891 15839 roll 0.40 - - 3527 - 2.55 0.113 831 -556.5 107.1 - - 2494 - - - - - - - - 14.72 14.45 14.74
15889 781.4 7.9 901 15901 done 0.40 - - 3527 - 2.53 0.099 2260 564.8 107.1 - - 2496 - - - - - - - - 14.57 14.47 14.60
16212 756.3 7.8 913 16223 roll 0.40 - - 3528 - 2.55 0.116 3661 549.4 107.1 - - 2496 - - - - - - - - 14.73 14.43 14.74
16279 750.6 8.6 924 16291 done 0.40 - - 3526 - 2.58 0.102 2233 -553.5 107.1 - - 2495 - - - - - - - - 14.56 14.44 14.59
16589 728.4 7.3 935 16600 done 0.40 - - 3526 - - - 2233 - 107.1 - - 2496 - - - - - - - - 14.73 14.75 14.75
16890 707.7 6.7 945 16900 done 0.41 - - 3526 - - - 2233 - 107.1 - - 2496 - - - - - - - - 14.73 14.73 14.74
17190 688.9 6.2 955 17200 done 0.44 - - 3532 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.74 14.75 14.75
17489 670.6 5.7 965 17501 roll 0.47 - - 3527 - 2.50 0.112 841 -558.0 107.1 - - 2496 - - - - - - - - 14.73 14.45 14.76
17600 664.1 5.8 984 17611 done 0.50 - - 3527 - 2.50 0.097 2245 561.6 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.61
17937 645.0 5.7 999 17949 roll 0.53 0.08 0.161 3599 900.0 2.53 0.107 841 -554.9 107.1 - - 2496 - - - - - - - - 14.52 14.44 14.56
18058 635.2 8.7 1020 18069 done 0.53 0.12 0.239 3565 -283.3 2.53 0.098 2264 562.5 107.1 - - 2496 - - - - - - - - 14.34 14.45 14.55
18385 611.5 7.1 1033 18397 roll 0.53 - - 3569 - 2.55 0.109 842 -557.6 107.1 - - 2493 - - - - - - - - 14.73 14.42 14.74
18512 602.2 7.8 1055 18523 done 0.53 - - 3570 - 2.50 0.096 2257 566.0 107.1 - - 2496 - - - - - - - - 14.57 14.46 14.60
18834 578.4 7.4 1067 18845 roll 0.53 - - 3577 - 2.58 0.110 838 -550.0 107.1 - - 2496 - - - - - - - - 14.72 14.45 14.74
19005 565.0 7.7 1098 19016 done 0.53 - - 3578 - 2.53 0.098 2261 562.5 107.1 - - 2496 - - - - - - - - 14.57 14.46 14.61
19342 539.9 7.4 1113 19355 roll 0.53 - - 3583 - 2.55 0.109 841 -556.9 107.1 - - 2496 - - - - - - - - 14.73 14.41 14.75
19589 520.5 8.0 1159 19600 done 0.53 - - 3582 - 2.50 0.098 2243 560.8 107.1 - - 2496 - - - - - - - - 14.56 14.45 14.59
19911 496.3 7.2 1171 19922 roll 0.53 - - 3590 - 2.55 0.111 841 -549.8 107.1 - - 2496 - - - - - - - - 14.72 14.43 14.73
20051 485.6 7.9 1196 20062 done 0.53 - - 3590 - 2.53 0.098 2261 561.3 107.1 - - 2496 - - - - - - - - 14.57 14.46 14.60
20388 459.3 7.6 1211 20399 roll 0.53 - - 3595 - 2.58 0.109 842 -550.0 107.1 - - 2496 - - - - - - - - 14.72 14.42 14.73
20633 439.9 8.1 1257 20645 done 0.53 - - 3595 - 2.50 0.098 2248 562.4 107.1 - - 2496 - - - - - - - - 14.57 14.45 14.59
20956 415.8 7.0 1269 20967 roll 0.53 - - 3595 - 2.55 0.115 842 -551.4 107.1 - - 2496 - - - - - - - - 14.73 14.41 14.74
21077 407.1 7.4 1290 21088 done 0.53 - - 3595 - 2.53 0.096 2266 562.8 107.1 - - 2496 - - - - - - - - 14.56 14.43 14.59
21404 385.5 6.5 1303 21415 roll 0.55 - - 3595 - 2.55 0.110 842 -558.4 107.1 - - 2496 - - - - - - - - 14.72 14.41 14.72
21649 368.2 7.4 1349 21661 done 0.55 - - 3595 - 2.50 0.097 2254 564.8 107.1 - - 2500 - - - - - - - - 14.56 14.45 14.59
21972 344.3 7.4 1361 21983 roll 0.55 - - 3596 - 2.55 0.112 842 -553.7 107.1 - - 2497 - - - - - - - - 14.72 14.40 14.73
22081 335.8 7.6 1380 22092 done 0.55 - - 3595 - 2.50 0.094 2242 560.0 107.1 - - 2496 - - - - - - - - 14.57 14.44 14.59
22418 309.6 7.9 1395 22429 done 0.55 - - 3600 - - - 2245 - 107.1 - - 2496 - - - - - - - - 14.73 14.74 14.77
22722 286.8 7.6 1405 22734 roll 0.55 - - 3595 - 2.60 0.110 3676 550.4 107.1 - - 2496 - - - - - - - - 14.71 14.44 14.73
22819 278.8 8.5 1421 22831 done 0.55 0.10 0.272 3576 -190.0 2.58 0.101 2249 -553.1 107.1 - - 2496 - - - - - - - - 14.31 14.45 14.52
23143 256.7 6.5 1433 23153 done 0.57 - - 3577 - - - 2252 - 107.1 - - 2497 - - - - - - - - 14.72 14.74 14.74
23442 238.1 6.0 1455 23453 roll 0.59 - - 3577 - 2.60 0.109 3680 549.2 107.1 - - 2496 - - - - - - - - 14.72 14.42 14.74
23579 229.1 6.5 1479 23590 done 0.61 - - 3582 - 2.58 0.097 2251 -553.9 107.1 - - 2495 - - - - - - - - 14.56 14.42 14.59
23782 217.1 6.0 1499 23793 roll 0.64 - - 3587 - 2.55 0.112 820 -561.2 107.1 - - 2496 - - - - - - - - 14.72 14.39 14.73
23849 213.2 6.2 1509 23861 done 0.66 - - 3587 - 2.58 0.096 2266 560.5 107.1 - - 2496 - - - - - - - - 14.57 14.42 14.57
24052 201.6 5.7 1529 24065 done 0.69 - - 3586 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.71 14.73 14.73
24246 190.4 5.9 1548 24258 roll 0.72 0.08 0.164 3646 750.0 2.53 0.106 3662 551.8 107.1 - - 2496 - - - - - - - - 14.48 14.41 14.52
24283 187.5 8.1 1553 24296 done 0.72 - - 3655 - 2.55 0.096 2236 -559.2 107.1 - - 2496 - - - - - - - - 14.52 14.42 14.56
24477 171.7 8.4 1572 24488 done 0.72 0.08 0.298 3632 -287.5 - - 2236 - 107.1 - - 2496 - - - - - - - - 14.28 14.49 14.39
24670 156.4 8.2 1591 24680 done 0.72 - - 3631 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.71 14.72 14.71
24863 143.2 6.2 1610 24874 roll 0.74 - - 3639 - 2.50 0.111 842 -557.6 107.1 - - 2497 - - - - - - - - 14.68 14.37 14.71
24916 139.7 6.4 1618 24927 done 0.76 - - 3639 - 2.50 0.096 2260 567.2 107.1 - - 2497 - - - - - - - - 14.54 14.43 14.57
25119 128.9 5.4 1638 25130 roll 0.80 - - 3639 - 2.53 0.109 3661 553.8 107.1 - - 2498 - - - - - - - - 14.70 14.40 14.71
25371 114.2 5.0 1684 25423 done 0.83 - - 3649 - 2.53 0.095 2255 -555.7 158.8 38.30 0.868 2288 -5.5 0.134 - - - - - - 14.53 14.41 13.95
25614 94.5 8.8 1712 25625 roll 0.83 - - 3649 - 2.58 0.106 3662 545.3 158.8 - - 2287 - - - - - - - - 14.59 14.33 14.61
25786 77.8 8.7 1743 25797 done 0.83 - - 3656 - 2.55 0.095 2250 -553.7 158.8 - - 2287 - - - - - - - - 14.47 14.37 14.50
25979 65.6 6.6 1762 25991 roll 0.84 - - 3655 - 2.60 0.108 3662 543.1 158.8 - - 2287 - - - - - - - - 14.64 14.37 14.65
26230 49.4 3.9 1808 26297 done 0.88 - - 3664 - 2.53 0.093 2250 -558.1 232.7 53.15 0.770 1986 -5.7 0.068 - - - - - - 14.51 14.40 13.92
26483 28.4 8.8 1838 26494 roll 0.88 - - 3665 - 2.62 0.109 3665 540.1 232.7 - - 1984 - - - - - - - - 14.55 14.32 14.56
26620 17.9 5.3 1862 26652 done 0.90 - - 3675 - 2.58 0.094 2235 -554.3 277.0 19.92 0.162 1810 -8.7 0.180 - - - - - - 14.45 14.35 14.26
26844 7.5 5.5 1886 26856 roll 0.94 - - 3683 - 2.50 0.108 840 -558.0 277.0 - - 1816 - - - - - - - - 14.61 14.35 14.62
26895 end climb: SURFACE_DEPTH_REACHED
26895 begin surface coast
26961 end surface coast: CONTROL_FINISHED_OK
26962 begin surface
SM 0.82 - - - - -10.26 10.02 0.049 86 8.6 1.92 0.096 1898 719.8 580.13 127.75 0.088 576 4.5 -0.004 - - - - - -