NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 158 * Raw log
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• Previous call tries 1 • 43.26 of 350.00 AH used of 24V (87.64% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -76.4 deg, depth 1.03 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 22 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
29 - - - 102 VBD -0.39 - - 85 - - - 1902 - -107.1 -67.88 - 3225 - - - - - - - - 14.52 - 14.54
108 4.8 -8.6 7 134 roll -0.39 13.70 0.361 3259 231.7 2.88 2.211 481 -493.4 -107.1 -2.35 - 3382 -66.8 - - - - - - - 14.06 13.24 14.35
372 64.1 -15.5 56 381 done -0.39 - - 3263 - 2.53 0.096 1896 559.3 -107.1 - - 3384 - - - - - - - - 14.42 14.33 14.45
563 88.5 -13.0 75 570 roll -0.39 - - 3258 - 2.58 0.111 475 -550.8 -107.1 - - 3386 - - - - - - - - 14.60 14.33 14.62
625 97.8 -14.7 86 636 done -0.39 - - 3258 - 2.55 0.093 1918 565.9 -107.1 - - 3385 - - - - - - - - 14.47 14.34 14.50
817 120.4 -10.7 105 824 done -0.39 - - 3258 - - - 1918 - -107.1 - - 3386 - - - - - - - - 14.63 14.65 14.65
1007 140.4 -10.4 124 1014 roll -0.39 - - 3258 - 2.47 0.104 3302 560.3 -107.1 - - 3387 - - - - - - - - 14.66 14.37 14.67
1046 144.4 -10.1 130 1054 done -0.39 - - 3258 - 2.53 0.096 1886 -559.7 -107.1 - - 3387 - - - - - - - - 14.51 14.37 14.53
1245 164.2 -10.0 150 1253 roll -0.39 - - 3258 - 2.58 0.106 3310 551.9 -107.1 - - 3386 - - - - - - - - 14.66 14.41 14.68
1289 168.6 -9.7 157 1298 done -0.39 - - 3258 - 2.50 0.093 1905 -562.0 -107.1 - - 3386 - - - - - - - - 14.52 14.45 14.57
1479 186.4 -9.1 176 1486 done -0.39 - - 3257 - - - 1902 - -107.1 - - 3386 - - - - - - - - 14.67 14.69 14.69
1669 203.4 -8.8 195 1677 done -0.39 - - 3258 - - - 1904 - -107.1 - - 3386 - - - - - - - - 14.68 14.70 14.70
1859 220.6 -9.3 214 1867 done -0.39 - - 3258 - - - 1904 - -107.1 - - 3385 - - - - - - - - 14.69 14.71 14.71
2049 238.2 -9.3 233 2057 done -0.39 - - 3258 - - - 1904 - -107.1 - - 3385 - - - - - - - - 14.70 14.71 14.71
2243 256.2 -9.6 248 2246 done -0.39 - - 3258 - - - 1904 - -107.1 - - 3385 - - - - - - - - 14.70 14.71 14.71
2539 285.0 -9.6 258 2542 done -0.39 - - 3258 - - - 1904 - -107.1 - - 3386 - - - - - - - - 14.71 14.73 14.73
2840 312.8 -9.2 268 2843 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3383 - - - - - - - - 14.71 14.74 14.73
3139 340.5 -9.5 278 3142 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3382 - - - - - - - - 14.73 14.74 14.74
3439 368.9 -9.4 288 3447 roll -0.39 - - 3258 - 2.55 0.108 3321 556.5 -107.1 - - 3381 - - - - - - - - 14.73 14.44 14.73
3492 373.9 -9.2 297 3500 done -0.39 - - 3257 - 2.55 0.096 1887 -562.4 -107.1 - - 3381 - - - - - - - - 14.54 14.45 14.57
3820 404.0 -9.5 310 3823 done -0.39 - - 3258 - - - 1887 - -107.1 - - 3381 - - - - - - - - 14.73 14.74 14.74
4115 433.0 -9.4 320 4119 done -0.39 - - 3257 - - - 1887 - -107.1 - - 3380 - - - - - - - - 14.71 14.75 14.73
4416 459.6 -8.5 330 4419 done -0.39 - - 3258 - - - 1887 - -107.1 - - 3379 - - - - - - - - 14.73 14.75 14.75
4716 484.0 -7.9 340 4719 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3378 - - - - - - - - 14.73 14.74 14.77
5016 508.2 -8.1 350 5018 done -0.39 - - 3257 - - - 1887 - -107.1 - - 3377 - - - - - - - - 14.72 14.76 14.75
5316 532.9 -8.5 360 5324 roll -0.39 - - 3258 - 2.58 0.108 3317 554.3 -107.1 - - 3380 - - - - - - - - 14.73 14.45 14.75
5359 536.6 -8.2 367 5366 done -0.39 - - 3258 - 2.53 0.098 1905 -558.1 -107.1 - - 3376 - - - - - - - - 14.57 14.46 14.59
5697 563.5 -7.7 382 5705 roll -0.39 - - 3258 - 2.55 0.112 477 -560.0 -107.1 - - 3376 - - - - - - - - 14.72 14.42 14.74
5746 567.8 -8.1 390 5755 done -0.39 - - 3258 - 2.50 0.096 1898 568.4 -107.1 - - 3376 - - - - - - - - 14.57 14.45 14.59
6080 589.3 -6.3 404 6087 roll -0.39 - - 3258 - 2.53 0.108 3318 561.3 -107.1 - - 3375 - - - - - - - - 14.73 14.44 14.74
6173 595.5 -6.1 421 6182 done -0.39 - - 3258 - 2.55 0.099 1889 -560.4 -107.1 - - 3374 - - - - - - - - 14.55 14.43 14.58
6482 615.0 -6.5 432 6486 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3373 - - - - - - - - 14.72 14.74 14.73
6779 636.2 -7.2 442 6787 roll -0.39 - - 3254 - 2.50 0.113 493 -558.0 -107.1 - - 3374 - - - - - - - - 14.71 14.42 14.74
6842 641.5 -8.5 453 6851 done -0.39 - - 3258 - 2.50 0.095 1904 564.4 -107.1 - - 3373 - - - - - - - - 14.56 14.45 14.58
7152 663.9 -7.3 464 7160 roll -0.39 - - 3258 - 2.55 0.110 3318 554.5 -107.1 - - 3375 - - - - - - - - 14.71 14.41 14.72
7256 671.4 -6.8 483 7263 done -0.39 - - 3257 - 2.53 0.100 1907 -557.7 -107.1 - - 3373 - - - - - - - - 14.55 14.43 14.57
7594 694.8 -7.0 498 7603 roll -0.39 - - 3258 - 2.55 0.110 3317 552.9 -107.1 - - 3373 - - - - - - - - 14.71 14.42 14.72
7628 697.4 -7.2 503 7637 done -0.39 - - 3258 - 2.55 0.099 1890 -559.6 -107.1 - - 3372 - - - - - - - - 14.54 14.42 14.57
7938 719.7 -7.5 514 7941 done -0.39 - - 3258 - - - 1889 - -107.1 - - 3372 - - - - - - - - 14.71 14.73 14.73
8234 742.4 -7.6 524 8237 done -0.39 - - 3258 - - - 1893 - -107.1 - - 3370 - - - - - - - - 14.71 14.73 14.73
8534 765.1 -7.6 534 8543 roll -0.39 - - 3260 - 2.60 0.112 3317 547.7 -107.1 - - 3371 - - - - - - - - 14.71 14.41 14.73
8583 768.8 -7.3 542 8592 done -0.39 - - 3258 - 2.55 0.100 1898 -556.5 -107.1 - - 3371 - - - - - - - - 14.54 14.43 14.57
8917 793.1 -7.5 556 8920 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3371 - - - - - - - - 14.69 14.72 14.73
9213 815.5 -7.3 566 9222 roll -0.39 - - 3255 - 2.60 0.111 3318 546.2 -107.1 - - 3370 - - - - - - - - 14.71 14.40 14.73
9292 820.7 -6.9 580 9300 done -0.39 - - 3258 - 2.55 0.101 1905 -554.1 -107.1 - - 3370 - - - - - - - - 14.54 14.42 14.57
9625 842.5 -6.4 594 9629 done -0.39 - - 3257 - - - 1905 - -107.1 - - 3369 - - - - - - - - 14.70 14.71 14.70
9921 860.1 -5.8 604 9924 done -0.39 - - 3255 - - - 1904 - -107.1 - - 3369 - - - - - - - - 14.70 14.72 14.72
10222 877.7 -5.9 614 10230 roll -0.39 - - 3258 - 2.58 0.116 483 -550.8 -107.1 - - 3369 - - - - - - - - 14.71 14.38 14.72
10271 881.7 -7.3 622 10279 done -0.39 - - 3257 - 2.53 0.096 1899 559.7 -107.1 - - 3369 - - - - - - - - 14.54 14.42 14.57
10604 902.0 -6.5 636 10612 roll -0.39 - - 3258 - 2.55 0.111 3317 556.1 -107.1 - - 3368 - - - - - - - - 14.69 14.40 14.69
10653 905.7 -6.5 644 10661 done -0.39 - - 3258 - 2.55 0.099 1890 -559.6 -107.1 - - 3368 - - - - - - - - 14.54 14.40 14.55
10986 926.4 -6.2 658 10994 roll -0.39 - - 3257 - 2.60 0.112 3318 549.2 -107.1 - - 3366 - - - - - - - - 14.67 14.39 14.73
11044 930.3 -6.1 668 11052 done -0.39 - - 3258 - 2.55 0.100 1906 -553.7 -107.1 - - 3368 - - - - - - - - 14.51 14.41 14.55
11369 948.3 -5.4 680 11376 roll -0.39 - - 3258 - 2.55 0.115 484 -557.6 -107.1 - - 3368 - - - - - - - - 14.70 14.38 14.71
11427 952.3 -6.5 690 11436 done -0.39 - - 3258 - 2.53 0.099 1903 560.9 -107.1 - - 3367 - - - - - - - - 14.52 14.41 14.55
11751 968.1 -4.8 702 11760 roll -0.39 - - 3258 - 2.55 0.113 3319 555.3 -107.1 - - 3367 - - - - - - - - 14.69 14.38 14.71
11796 970.3 -4.6 709 11804 done -0.39 - - 3258 - 2.55 0.101 1896 -558.0 -107.1 - - 3367 - - - - - - - - 14.52 14.41 14.54
12134 987.3 -5.5 724 12137 done -0.39 - - 3258 - - - 1896 - -107.1 - - 3367 - - - - - - - - 14.69 14.71 14.70
12185 end dive: TARGET_DEPTH_EXCEEDED
12185 begin apogee
12197 990.7 -5.7 726 12288 done -0.16 0.25 0.164 3339 324.0 - - 2255 - - 85.57 1.883 2944 -4.9 0.486 - - - - - - 14.35 13.93 13.29
12291 end apogee: CONTROL_FINISHED_OK
12291 begin climb
12296 994.1 - 729 12399 roll 0.39 0.50 0.116 3514 350.0 2.72 0.118 3662 517.3 107.1 88.05 1.855 2499 -5.1 0.506 - - - - - - 13.95 13.71 13.12
12439 987.8 7.2 753 12450 done 0.39 - - 3514 - 2.67 0.101 2246 -530.3 107.1 - - 2498 - - - - - - - - 14.00 13.95 14.04
12782 964.8 6.5 769 12792 done 0.41 - - 3514 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.45 14.47 14.46
13086 945.6 6.5 779 13096 done 0.42 - - 3515 - - - 2246 - 107.1 - - 2495 - - - - - - - - 14.58 14.58 14.60
13386 926.8 6.1 789 13397 roll 0.45 - - 3514 - 2.58 0.115 821 -552.3 107.1 - - 2500 - - - - - - - - 14.62 14.34 14.64
13437 923.4 6.5 797 13449 done 0.47 - - 3514 - 2.55 0.099 2253 561.6 107.1 - - 2498 - - - - - - - - 14.49 14.38 14.52
13770 903.1 6.2 811 13782 roll 0.49 0.12 0.129 3587 608.3 2.58 0.115 3663 546.5 107.1 - - 2496 - - - - - - - - 14.47 14.38 14.50
13885 891.8 11.1 831 13897 done 0.49 0.17 0.246 3556 -182.4 2.55 0.101 2252 -553.3 107.1 - - 2495 - - - - - - - - 14.31 14.40 14.51
14218 861.8 8.6 845 14229 roll 0.49 - - 3560 - 2.55 0.112 840 -553.7 107.1 - - 2496 - - - - - - - - 14.69 14.40 14.73
14280 857.1 8.8 855 14291 done 0.49 - - 3560 - 2.53 0.100 2250 557.3 107.1 - - 2496 - - - - - - - - 14.54 14.44 14.57
14603 828.6 8.6 867 14613 done 0.49 - - 3560 - - - 2249 - 107.1 - - 2496 - - - - - - - - 14.70 14.72 14.72
14907 802.6 8.7 877 14918 roll 0.49 - - 3560 - 2.58 0.116 3663 548.1 107.1 - - 2496 - - - - - - - - 14.71 14.43 14.73
15073 786.8 9.5 907 15085 done 0.49 - - 3570 - 2.58 0.100 2251 -547.3 107.1 - - 2495 - - - - - - - - 14.56 14.45 14.59
15416 757.2 8.2 923 15427 roll 0.49 - - 3570 - 2.60 0.115 3663 543.1 107.1 - - 2495 - - - - - - - - 14.72 14.45 14.74
15592 741.1 8.9 955 15603 done 0.49 - - 3570 - 2.58 0.102 2234 -553.9 107.1 - - 2495 - - - - - - - - 14.55 14.42 14.59
15924 714.7 7.9 969 15934 done 0.49 - - 3570 - - - 2234 - 107.1 - - 2495 - - - - - - - - 14.72 14.74 14.74
16229 689.8 8.4 979 16239 done 0.49 - - 3570 - - - 2233 - 107.1 - - 2495 - - - - - - - - 14.73 14.74 14.74
16528 665.2 8.2 989 16539 roll 0.49 - - 3570 - 2.62 0.111 3663 545.8 107.1 - - 2496 - - - - - - - - 14.73 14.42 14.75
16654 653.2 9.5 1011 16665 done 0.49 - - 3580 - 2.55 0.099 2237 -559.2 107.1 - - 2495 - - - - - - - - 14.57 14.47 14.61
16977 625.7 8.4 1023 16988 roll 0.49 - - 3588 - 2.50 0.113 842 -558.0 107.1 - - 2495 - - - - - - - - 14.73 14.42 14.75
17049 619.7 8.5 1035 17061 done 0.49 0.12 0.233 3552 -300.0 2.50 0.098 2252 564.0 107.1 - - 2498 - - - - - - - - 14.35 14.46 14.55
17393 595.1 7.1 1051 17404 roll 0.49 - - 3553 - 2.58 0.113 3663 546.9 107.1 - - 2495 - - - - - - - - 14.73 14.43 14.74
17508 585.5 8.3 1071 17519 done 0.49 - - 3554 - 2.55 0.100 2245 -556.1 107.1 - - 2496 - - - - - - - - 14.57 14.45 14.60
17844 559.9 7.7 1085 17854 done 0.49 - - 3554 - - - 2245 - 107.1 - - 2495 - - - - - - - - 14.73 14.75 14.73
18149 536.6 7.7 1095 18160 roll 0.49 - - 3554 - 2.62 0.115 3664 541.6 107.1 - - 2495 - - - - - - - - 14.73 14.45 14.73
18239 528.5 9.1 1110 18251 done 0.49 - - 3557 - 2.55 0.100 2251 -554.1 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.60
18567 502.3 7.5 1123 18578 done 0.49 - - 3557 - - - 2252 - 107.1 - - 2495 - - - - - - - - 14.73 14.76 14.76
18871 479.5 7.7 1133 18882 roll 0.49 - - 3568 - 2.55 0.109 816 -563.1 107.1 - - 2495 - - - - - - - - 14.73 14.42 14.74
18917 475.6 8.1 1140 18928 done 0.49 - - 3568 - 2.53 0.097 2249 566.4 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.60
19255 449.2 7.8 1155 19266 roll 0.49 - - 3569 - 2.58 0.113 3663 548.1 107.1 - - 2493 - - - - - - - - 14.73 14.44 14.76
19394 437.2 8.6 1180 19406 done 0.49 - - 3573 - 2.55 0.098 2248 -554.9 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.59
19732 412.4 7.2 1195 19743 roll 0.49 - - 3573 - 2.60 0.114 3663 544.2 107.1 - - 2495 - - - - - - - - 14.73 14.45 14.74
19833 404.4 8.3 1212 19846 done 0.49 0.10 0.261 3556 -170.0 2.55 0.097 2239 -558.4 107.1 - - 2495 - - - - - - - - 14.33 14.45 14.53
20136 382.4 7.3 1223 20146 done 0.49 - - 3561 - - - 2239 - 107.1 - - 2495 - - - - - - - - 14.73 14.73 14.74
20439 360.9 7.0 1233 20450 done 0.49 - - 3556 - - - 2239 - 107.1 - - 2495 - - - - - - - - 14.73 14.74 14.73
20740 339.7 7.2 1243 20751 done 0.49 - - 3556 - - - 2237 - 107.1 - - 2495 - - - - - - - - 14.73 14.75 14.74
21039 319.1 6.9 1253 21050 done 0.49 - - 3552 - - - 2239 - 107.1 - - 2496 - - - - - - - - 14.73 14.76 14.76
21340 298.0 7.1 1263 21351 done 0.49 - - 3556 - - - 2239 - 107.1 - - 2499 - - - - - - - - 14.73 14.74 14.75
21640 277.9 6.4 1273 21651 roll 0.51 - - 3552 - 2.62 0.112 3664 543.9 107.1 - - 2496 - - - - - - - - 14.73 14.45 14.75
21702 273.3 7.0 1283 21713 done 0.51 - - 3554 - 2.55 0.099 2251 -554.1 107.1 - - 2496 - - - - - - - - 14.57 14.45 14.60
22025 254.1 5.7 1295 22035 done 0.54 - - 3556 - - - 2251 - 107.1 - - 2496 - - - - - - - - 14.73 14.75 14.75
22325 235.8 6.1 1319 22336 done 0.56 - - 3557 - - - 2251 - 107.1 - - 2496 - - - - - - - - 14.73 14.75 14.76
22518 224.5 5.9 1338 22529 roll 0.59 - - 3562 - 2.55 0.110 820 -561.2 107.1 - - 2497 - - - - - - - - 14.73 14.42 14.74
22608 219.1 6.0 1353 22620 done 0.62 - - 3561 - 2.53 0.096 2253 566.4 107.1 - - 2496 - - - - - - - - 14.55 14.42 14.56
22802 208.3 5.5 1372 22813 roll 0.66 0.12 0.135 3635 616.7 2.58 0.109 3663 546.5 107.1 - - 2497 - - - - - - - - 14.51 14.43 14.54
22869 203.3 8.8 1382 22880 done 0.66 - - 3639 - 2.55 0.096 2245 -556.1 107.1 - - 2496 - - - - - - - - 14.55 14.44 14.61
23071 186.7 8.4 1402 23083 roll 0.66 0.12 0.280 3606 -275.0 2.60 0.108 3664 545.8 107.1 - - 2497 - - - - - - - - 14.28 14.42 14.45
23183 177.5 8.3 1421 23195 done 0.66 - - 3614 - 2.55 0.096 2246 -556.1 107.1 - - 2494 - - - - - - - - 14.52 14.41 14.55
23376 162.0 7.9 1440 23387 roll 0.66 - - 3612 - 2.58 0.109 3663 549.2 107.1 - - 2497 - - - - - - - - 14.70 14.41 14.71
23457 155.1 8.8 1453 23468 done 0.66 - - 3623 - 2.53 0.094 2252 -557.7 107.1 - - 2497 - - - - - - - - 14.54 14.42 14.57
23650 141.0 6.1 1472 23662 done 0.68 - - 3622 - - - 2252 - 107.1 - - 2497 - - - - - - - - 14.70 14.71 14.71
23843 130.2 5.3 1491 23890 roll 0.70 - - 3626 - 2.55 0.109 839 -554.1 151.1 32.45 0.887 2322 -5.4 0.148 - - - - - - 14.70 14.35 13.98
23924 125.0 7.8 1504 23936 done 0.70 - - 3626 - 2.50 0.096 2247 563.2 151.1 - - 2322 - - - - - - - - 14.45 14.34 14.47
24118 108.4 9.5 1523 24130 done 0.70 - - 3631 - - - 2246 - 151.1 - - 2322 - - - - - - - - 14.62 14.63 14.62
24311 92.6 8.0 1542 24322 done 0.70 - - 3626 - - - 2246 - 151.1 - - 2322 - - - - - - - - 14.63 14.66 14.65
24504 80.9 5.4 1561 24515 roll 0.74 - - 3622 - 2.58 0.110 3665 550.0 151.1 - - 2322 - - - - - - - - 14.65 14.40 14.66
24756 66.8 4.8 1607 24808 done 0.77 - - 3626 - 2.55 0.096 2240 -558.8 206.5 40.80 0.799 2097 -5.5 0.086 - - - - - - 14.53 14.42 13.93
25000 48.6 7.5 1635 25011 roll 0.77 - - 3626 - 2.53 0.109 842 -552.6 206.5 - - 2095 - - - - - - - - 14.58 14.33 14.60
25097 42.5 6.2 1651 25108 done 0.79 - - 3626 - 2.50 0.096 2252 564.0 206.5 - - 2096 - - - - - - - - 14.47 14.37 14.49
25301 31.1 5.3 1671 25342 done 0.82 - - 3626 - - - 2256 - 251.3 33.35 0.757 1915 -5.4 0.042 - - - - - - 14.63 14.35 13.96
25523 16.3 6.7 1693 25535 roll 0.83 0.10 0.152 3693 670.0 2.55 0.106 840 -555.3 251.3 - - 1913 - - - - - - - - 14.39 14.33 14.45
25560 13.0 9.2 1698 25574 done 0.83 0.12 0.237 3659 -283.3 2.53 0.098 2266 563.6 251.3 - - 1911 - - - - - - - - 14.26 14.34 14.42
25740 end climb: SURFACE_DEPTH_REACHED
25740 begin surface coast
25921 end surface coast: CONTROL_FINISHED_OK
25922 begin surface
SM 2.00 - - - - -10.25 9.82 0.040 95 9.7 0.68 0.103 1905 -4736.8 400.08 62.00 0.091 1309 21.1 -0.047 - - - - - -