NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 161 * Raw log
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• Previous call tries 1 • 44.12 of 350.00 AH used of 24V (87.39% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -78.8 deg, depth 1.07 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 44 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
28 - - - 102 VBD -0.39 - - 88 - - - 1910 - -107.1 -66.22 - 3133 - - - - - - - - 14.53 - 14.55
108 4.0 -6.4 7 137 roll -0.39 13.60 0.356 3262 233.4 2.85 2.200 492 -497.5 -107.1 -3.70 - 3382 -67.3 - - - - - - - 14.08 13.23 14.37
342 55.5 -14.3 49 353 done -0.39 - - 3261 - 2.50 0.094 1897 562.0 -107.1 - - 3385 - - - - - - - - 14.42 14.31 14.46
543 83.9 -12.9 69 555 roll -0.39 - - 3267 - 2.55 0.106 3322 558.8 -107.1 - - 3385 - - - - - - - - 14.64 14.35 14.64
586 88.9 -11.2 75 597 done -0.39 - - 3262 - 2.55 0.093 1889 -562.0 -107.1 - - 3382 - - - - - - - - 14.46 14.37 14.49
789 109.9 -9.5 95 800 done -0.39 - - 3262 - - - 1889 - -107.1 - - 3386 - - - - - - - - 14.66 14.68 14.68
981 128.2 -9.1 114 992 roll -0.39 - - 3261 - 2.50 0.109 491 -559.2 -107.1 - - 3385 - - - - - - - - 14.66 14.40 14.68
1067 136.5 -10.0 128 1078 done -0.39 - - 3262 - 2.47 0.092 1898 569.6 -107.1 - - 3386 - - - - - - - - 14.54 14.43 14.57
1269 155.7 -9.6 148 1280 roll -0.39 - - 3260 - 2.53 0.105 3321 562.5 -107.1 - - 3386 - - - - - - - - 14.69 14.43 14.71
1389 166.3 -8.2 169 1401 done -0.39 - - 3262 - 2.50 0.093 1906 -566.0 -107.1 - - 3386 - - - - - - - - 14.56 14.45 14.59
1582 181.7 -7.6 188 1593 done -0.39 - - 3262 - - - 1906 - -107.1 - - 3386 - - - - - - - - 14.71 14.73 14.71
1774 195.8 -7.2 207 1785 done -0.39 - - 3262 - - - 1906 - -107.1 - - 3386 - - - - - - - - 14.71 14.73 14.73
1966 210.6 -8.0 226 1978 done -0.39 - - 3262 - - - 1906 - -107.1 - - 3385 - - - - - - - - 14.75 14.74 14.73
2159 225.6 -7.7 245 2170 done -0.39 - - 3262 - - - 1906 - -107.1 - - 3385 - - - - - - - - 14.71 14.75 14.74
2351 241.6 -8.6 264 2362 roll -0.39 - - 3262 - 2.53 0.109 481 -563.2 -107.1 - - 3388 - - - - - - - - 14.73 14.45 14.76
2393 245.6 -9.6 270 2405 done -0.39 - - 3262 - 2.53 0.094 1916 567.2 -107.1 - - 3384 - - - - - - - - 14.58 14.48 14.61
2600 262.6 -8.2 280 2611 roll -0.39 - - 3261 - 2.47 0.108 3309 564.0 -107.1 - - 3384 - - - - - - - - 14.74 14.48 14.75
2687 269.9 -7.7 295 2698 done -0.39 - - 3261 - 2.50 0.096 1903 -562.4 -107.1 - - 3384 - - - - - - - - 14.61 14.48 14.62
3014 297.3 -8.3 308 3025 roll -0.39 - - 3261 - 2.53 0.111 481 -562.1 -107.1 - - 3383 - - - - - - - - 14.73 14.47 14.78
3150 309.7 -8.8 332 3161 done -0.39 - - 3261 - 2.53 0.095 1899 560.5 -107.1 - - 3383 - - - - - - - - 14.59 14.49 14.62
3492 337.0 -7.9 348 3502 done -0.39 - - 3261 - - - 1899 - -107.1 - - 3382 - - - - - - - - 14.74 14.77 14.76
3792 364.1 -9.4 358 3803 roll -0.39 - - 3261 - 2.53 0.108 3318 560.9 -107.1 - - 3381 - - - - - - - - 14.76 14.47 14.79
3849 369.5 -9.2 367 3860 done -0.39 - - 3261 - 2.55 0.096 1886 -561.6 -107.1 - - 3380 - - - - - - - - 14.59 14.47 14.63
4176 399.7 -8.8 380 4186 done -0.39 - - 3261 - - - 1890 - -107.1 - - 3380 - - - - - - - - 14.76 14.78 14.78
4476 424.2 -7.9 390 4487 done -0.39 - - 3261 - - - 1885 - -107.1 - - 3379 - - - - - - - - 14.76 14.78 14.78
4776 448.2 -7.9 400 4787 roll -0.39 - - 3261 - 2.47 0.111 493 -563.6 -107.1 - - 3378 - - - - - - - - 14.78 14.49 14.79
4853 455.0 -9.3 413 4864 done -0.39 - - 3261 - 2.47 0.095 1899 569.2 -107.1 - - 3378 - - - - - - - - 14.62 14.50 14.64
5190 484.1 -9.0 428 5201 roll -0.39 - - 3261 - 2.55 0.109 3321 557.6 -107.1 - - 3377 - - - - - - - - 14.76 14.46 14.78
5286 491.8 -8.2 444 5297 done -0.39 - - 3260 - 2.53 0.096 1907 -558.9 -107.1 - - 3377 - - - - - - - - 14.59 14.47 14.62
5608 517.7 -7.7 456 5619 done -0.39 - - 3261 - - - 1907 - -107.1 - - 3375 - - - - - - - - 14.76 14.78 14.78
5909 539.6 -7.4 466 5920 roll -0.39 - - 3260 - 2.55 0.112 474 -562.0 -107.1 - - 3376 - - - - - - - - 14.77 14.45 14.78
5982 545.6 -8.3 478 5993 done -0.39 - - 3261 - 2.53 0.096 1906 566.0 -107.1 - - 3376 - - - - - - - - 14.61 14.50 14.63
6324 570.4 -7.3 494 6336 roll -0.39 - - 3261 - 2.53 0.109 3321 559.3 -107.1 - - 3376 - - - - - - - - 14.76 14.45 14.78
6386 575.1 -7.7 504 6397 done -0.39 - - 3261 - 2.55 0.099 1888 -562.0 -107.1 - - 3373 - - - - - - - - 14.59 14.47 14.62
6708 599.4 -7.4 516 6718 done -0.39 - - 3261 - - - 1888 - -107.1 - - 3374 - - - - - - - - 14.76 14.78 14.78
7008 621.9 -7.4 526 7019 done -0.39 - - 3261 - - - 1888 - -107.1 - - 3375 - - - - - - - - 14.76 14.78 14.78
7309 644.1 -7.4 536 7320 roll -0.39 - - 3261 - 2.58 0.109 3310 551.2 -107.1 - - 3375 - - - - - - - - 14.76 14.48 14.78
7375 649.0 -7.2 547 7388 done -0.39 - - 3261 - 2.53 0.099 1908 -554.2 -107.1 - - 3373 - - - - - - - - 14.60 14.48 14.63
7687 672.2 -7.7 558 7698 roll -0.39 - - 3261 - 2.55 0.113 474 -562.4 -107.1 - - 3373 - - - - - - - - 14.76 14.44 14.78
7788 681.0 -8.8 575 7800 done -0.39 - - 3261 - 2.53 0.096 1908 566.8 -107.1 - - 3375 - - - - - - - - 14.61 14.50 14.63
8094 704.0 -7.3 586 8105 roll -0.39 - - 3261 - 2.53 0.110 3317 556.9 -107.1 - - 3373 - - - - - - - - 14.77 14.46 14.78
8185 710.9 -7.0 602 8197 done -0.39 - - 3261 - 2.55 0.099 1888 -560.4 -107.1 - - 3375 - - - - - - - - 14.59 14.46 14.62
8512 732.9 -6.6 614 8523 done -0.39 - - 3261 - - - 1888 - -107.1 - - 3372 - - - - - - - - 14.77 14.76 14.77
8808 751.6 -6.2 624 8819 roll -0.39 - - 3261 - 2.50 0.113 493 -558.0 -107.1 - - 3371 - - - - - - - - 14.76 14.45 14.77
8880 756.6 -7.1 636 8891 done -0.39 - - 3261 - 2.50 0.096 1898 562.0 -107.1 - - 3371 - - - - - - - - 14.59 14.47 14.62
9223 775.5 -5.5 652 9234 roll -0.39 - - 3261 - 2.53 0.110 3318 561.3 -107.1 - - 3368 - - - - - - - - 14.76 14.45 14.76
9295 779.5 -5.6 664 9306 done -0.39 - - 3261 - 2.55 0.099 1896 -557.6 -107.1 - - 3370 - - - - - - - - 14.59 14.45 14.62
9637 799.0 -5.8 680 9648 done -0.39 - - 3258 - - - 1896 - -107.1 - - 3368 - - - - - - - - 14.76 14.77 14.76
9937 817.6 -6.5 690 9948 done -0.39 - - 3261 - - - 1895 - -107.1 - - 3369 - - - - - - - - 14.76 14.78 14.78
10242 838.1 -6.8 700 10252 done -0.39 - - 3261 - - - 1895 - -107.1 - - 3370 - - - - - - - - 14.75 14.77 14.77
10541 858.3 -6.7 710 10552 done -0.39 - - 3261 - - - 1898 - -107.1 - - 3369 - - - - - - - - 14.76 14.78 14.77
10842 877.6 -6.3 720 10852 done -0.39 - - 3261 - - - 1897 - -107.1 - - 3370 - - - - - - - - 14.74 14.76 14.76
11141 894.7 -5.4 730 11152 done -0.39 - - 3261 - - - 1900 - -107.1 - - 3368 - - - - - - - - 14.75 14.77 14.76
11442 911.9 -6.0 740 11452 done -0.39 - - 3261 - - - 1895 - -107.1 - - 3368 - - - - - - - - 14.75 14.77 14.76
11743 930.8 -6.2 750 11753 done -0.39 - - 3261 - - - 1892 - -107.1 - - 3368 - - - - - - - - 14.75 14.78 14.78
12042 949.1 -6.1 760 12053 roll -0.39 - - 3260 - 2.55 0.117 475 -555.7 -107.1 - - 3367 - - - - - - - - 14.76 14.40 14.76
12109 954.1 -7.2 771 12121 done -0.39 - - 3261 - 2.55 0.097 1900 558.8 -107.1 - - 3367 - - - - - - - - 14.57 14.46 14.61
12419 973.6 -6.3 782 12430 roll -0.39 - - 3261 - 2.55 0.112 3317 555.7 -107.1 - - 3367 - - - - - - - - 14.74 14.42 14.76
12539 980.8 -5.7 803 12550 done -0.39 - - 3261 - 2.55 0.101 1891 -559.2 -107.1 - - 3365 - - - - - - - - 14.57 14.45 14.60
12711 end dive: TARGET_DEPTH_EXCEEDED
12711 begin apogee
12723 990.8 -5.6 811 12817 done -0.16 0.28 0.167 3347 307.1 - - 2270 - - 85.43 1.903 2941 -5.0 0.484 - - - - - - 14.38 13.96 13.29
12819 end apogee: CONTROL_FINISHED_OK
12819 begin climb
12824 994.0 - 814 12931 roll 0.39 0.50 0.114 3517 340.0 2.67 0.112 3659 520.2 107.1 88.03 1.867 2502 -5.0 0.497 - - - - - - 13.97 13.73 13.11
12982 986.1 8.1 843 12995 done 0.39 - - 3517 - 2.65 0.100 2253 -530.6 107.1 - - 2500 - - - - - - - - 14.04 13.95 14.05
13292 964.0 7.1 854 13303 roll 0.39 - - 3520 - 2.62 0.112 3661 537.4 107.1 - - 2501 - - - - - - - - 14.44 14.18 14.45
13358 958.4 8.0 865 13371 done 0.39 - - 3517 - 2.60 0.099 2247 -543.8 107.1 - - 2499 - - - - - - - - 14.33 14.23 14.35
13670 937.6 6.7 876 13680 done 0.40 - - 3520 - - - 2247 - 107.1 - - 2499 - - - - - - - - 14.57 14.59 14.59
13969 915.6 7.7 886 13979 done 0.40 - - 3517 - - - 2247 - 107.1 - - 2499 - - - - - - - - 14.62 14.64 14.64
14269 893.1 7.5 896 14280 done 0.40 - - 3523 - - - 2247 - 107.1 - - 2498 - - - - - - - - 14.66 14.67 14.67
14569 870.4 7.7 906 14580 roll 0.40 - - 3523 - 2.55 0.113 824 -558.0 107.1 - - 2499 - - - - - - - - 14.68 14.40 14.70
14620 866.2 8.2 914 14631 done 0.40 - - 3523 - 2.53 0.099 2245 561.7 107.1 - - 2498 - - - - - - - - 14.53 14.40 14.55
14953 840.5 7.6 928 14964 roll 0.40 - - 3524 - 2.58 0.113 3662 549.2 107.1 - - 2497 - - - - - - - - 14.70 14.41 14.73
15029 834.4 8.6 941 15040 done 0.40 - - 3531 - 2.58 0.101 2239 -551.6 107.1 - - 2497 - - - - - - - - 14.54 14.42 14.57
15367 809.4 7.1 956 15377 done 0.40 - - 3527 - - - 2235 - 107.1 - - 2496 - - - - - - - - 14.71 14.73 14.75
15670 789.2 6.7 966 15681 roll 0.41 - - 3526 - 2.62 0.112 3663 545.0 107.1 - - 2497 - - - - - - - - 14.71 14.43 14.71
15707 786.2 7.5 971 15720 done 0.41 - - 3527 - 2.55 0.099 2251 -553.7 107.1 - - 2497 - - - - - - - - 14.56 14.44 14.59
16017 767.6 6.1 982 16028 done 0.44 - - 3527 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.74 14.73 14.73
16318 749.4 6.1 992 16328 done 0.46 - - 3527 - - - 2249 - 107.1 - - 2498 - - - - - - - - 14.72 14.73 14.73
16617 730.4 6.3 1002 16628 roll 0.49 - - 3526 - 2.55 0.115 823 -559.2 107.1 - - 2495 - - - - - - - - 14.72 14.42 14.74
16708 724.7 6.2 1017 16719 done 0.51 - - 3527 - 2.53 0.099 2247 562.8 107.1 - - 2497 - - - - - - - - 14.57 14.45 14.59
17036 704.2 6.4 1030 17047 done 0.52 0.10 0.129 3595 680.0 - - 2246 - 107.1 - - 2497 - - - - - - - - 14.52 14.61 14.59
17340 675.6 10.0 1040 17352 roll 0.52 0.08 0.266 3565 -375.0 2.60 0.111 3672 548.5 107.1 - - 2497 - - - - - - - - 14.33 14.45 14.45
17501 658.9 9.7 1069 17513 done 0.52 - - 3570 - 2.58 0.103 2248 -551.9 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.59
17811 634.1 7.8 1080 17821 done 0.52 - - 3570 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.75 14.75 14.73
18111 609.8 8.1 1090 18121 done 0.52 - - 3570 - - - 2249 - 107.1 - - 2495 - - - - - - - - 14.73 14.74 14.74
18411 585.4 8.4 1100 18422 roll 0.52 - - 3570 - 2.60 0.112 3663 543.8 107.1 - - 2497 - - - - - - - - 14.71 14.44 14.74
18507 576.3 9.6 1116 18518 done 0.52 - - 3579 - 2.55 0.099 2252 -553.3 107.1 - - 2497 - - - - - - - - 14.57 14.45 14.60
18829 547.1 9.3 1128 18840 roll 0.52 - - 3582 - 2.55 0.113 838 -554.5 107.1 - - 2497 - - - - - - - - 14.73 14.43 14.74
18936 537.4 9.4 1146 18947 done 0.52 - - 3582 - 2.53 0.099 2261 562.5 107.1 - - 2497 - - - - - - - - 14.56 14.45 14.59
19278 508.6 7.5 1162 19289 done 0.52 - - 3583 - - - 2261 - 107.1 - - 2500 - - - - - - - - 14.72 14.74 14.73
19583 487.4 7.1 1172 19594 roll 0.52 - - 3582 - 2.55 0.113 3664 550.2 107.1 - - 2497 - - - - - - - - 14.73 14.42 14.74
19660 481.0 7.6 1185 19671 done 0.52 - - 3588 - 2.55 0.099 2247 -555.7 107.1 - - 2497 - - - - - - - - 14.57 14.45 14.59
19997 456.0 7.6 1200 20008 roll 0.52 - - 3597 - 2.58 0.110 819 -553.5 107.1 - - 2500 - - - - - - - - 14.73 14.40 14.75
20118 446.7 7.8 1221 20129 done 0.52 0.12 0.236 3562 -291.7 2.53 0.097 2246 564.0 107.1 - - 2497 - - - - - - - - 14.31 14.42 14.54
20446 427.3 5.9 1234 20457 roll 0.55 - - 3562 - 2.60 0.111 3666 546.2 107.1 - - 2497 - - - - - - - - 14.72 14.43 14.73
20523 422.5 6.8 1246 20534 done 0.57 - - 3569 - 2.58 0.100 2236 -554.3 107.1 - - 2497 - - - - - - - - 14.55 14.44 14.59
20865 401.5 6.1 1262 20876 done 0.59 - - 3570 - - - 2236 - 107.1 - - 2497 - - - - - - - - 14.72 14.73 14.73
21170 381.7 6.9 1272 21181 roll 0.59 - - 3570 - 2.62 0.112 3663 544.7 107.1 - - 2497 - - - - - - - - 14.72 14.43 14.73
21227 377.1 7.8 1281 21238 done 0.59 - - 3570 - 2.55 0.098 2258 -551.0 107.1 - - 2497 - - - - - - - - 14.55 14.42 14.61
21554 354.7 6.7 1294 21565 roll 0.60 - - 3573 - 2.58 0.111 3662 544.2 107.1 - - 2497 - - - - - - - - 14.73 14.41 14.74
21590 352.1 6.9 1299 21603 done 0.60 - - 3583 - 2.55 0.095 2234 -560.0 107.1 - - 2495 - - - - - - - - 14.54 14.42 14.59
21900 331.3 7.1 1310 21911 done 0.60 - - 3582 - - - 2234 - 107.1 - - 2498 - - - - - - - - 14.72 14.74 14.73
22201 309.0 7.6 1320 22212 roll 0.60 - - 3585 - 2.60 0.110 3663 549.6 107.1 - - 2500 - - - - - - - - 14.73 14.42 14.74
22228 306.2 8.3 1323 22239 done 0.60 - - 3593 - 2.53 0.095 2258 -555.3 107.1 - - 2497 - - - - - - - - 14.56 14.45 14.59
22556 278.8 8.3 1336 22566 done 0.60 - - 3593 - - - 2253 - 107.1 - - 2498 - - - - - - - - 14.73 14.74 14.74
22859 255.3 7.4 1346 22870 done 0.60 - - 3593 - - - 2252 - 107.1 - - 2497 - - - - - - - - 14.73 14.74 14.74
23156 235.1 6.4 1370 23167 roll 0.62 - - 3593 - 2.60 0.109 3663 542.7 107.1 - - 2498 - - - - - - - - 14.73 14.43 14.73
23192 232.7 6.5 1375 23205 done 0.64 - - 3602 - 2.55 0.096 2243 -556.9 107.1 - - 2498 - - - - - - - - 14.56 14.45 14.59
23387 221.8 5.1 1394 23436 done 0.66 - - 3602 - - - 2242 - 156.3 37.12 0.991 2300 -5.3 0.223 - - - - - - 14.73 14.28 13.93
23617 203.3 10.0 1417 23628 done 0.66 - - 3602 - - - 2242 - 156.3 - - 2300 - - - - - - - - 14.60 14.62 14.62
23810 185.2 9.6 1436 23821 roll 0.66 - - 3602 - 2.62 0.110 3663 542.4 156.3 - - 2301 - - - - - - - - 14.63 14.36 14.64
23842 181.8 10.6 1440 23853 done 0.66 - - 3608 - 2.55 0.097 2253 -552.9 156.3 - - 2301 - - - - - - - - 14.48 14.36 14.51
24045 161.3 9.3 1460 24056 done 0.66 - - 3608 - - - 2253 - 156.3 - - 2301 - - - - - - - - 14.64 14.66 14.66
24237 142.2 9.8 1479 24248 roll 0.66 - - 3608 - 2.58 0.109 3663 546.5 156.3 - - 2302 - - - - - - - - 14.66 14.37 14.68
24353 130.4 9.8 1499 24365 done 0.66 - - 3610 - 2.55 0.095 2245 -556.1 156.3 - - 2302 - - - - - - - - 14.51 14.40 14.54
24556 113.5 8.6 1519 24567 roll 0.66 - - 3610 - 2.60 0.108 3660 544.2 156.3 - - 2303 - - - - - - - - 14.67 14.34 14.69
24717 97.2 10.1 1548 24729 done 0.66 - - 3609 - 2.55 0.096 2237 -558.0 156.3 - - 2303 - - - - - - - - 14.52 14.40 14.54
24910 84.1 6.2 1567 24922 roll 0.69 - - 3609 - 2.60 0.107 3662 548.1 156.3 - - 2304 - - - - - - - - 14.68 14.37 14.69
24933 82.5 6.9 1569 24944 done 0.69 - - 3616 - 2.53 0.094 2254 -556.5 156.3 - - 2303 - - - - - - - - 14.52 14.40 14.55
25135 70.2 4.7 1589 25192 roll 0.72 - - 3617 - 2.60 0.105 3665 542.7 214.8 43.65 0.804 2060 -5.6 0.091 - - - - - - 14.68 14.27 13.96
25207 67.1 5.3 1600 25254 done 0.74 - - 3621 - 2.55 0.094 2253 -553.7 259.9 32.97 0.791 1877 -5.6 0.088 - - - - - - 14.40 14.31 13.86
25446 46.4 8.6 1627 25457 roll 0.74 - - 3621 - 2.55 0.109 842 -553.3 259.9 - - 1878 - - - - - - - - 14.53 14.28 14.54
25581 34.4 10.2 1651 25592 done 0.74 - - 3622 - 2.50 0.093 2247 562.0 259.9 - - 1877 - - - - - - - - 14.40 14.31 14.42
25783 16.6 7.7 1671 25795 roll 0.74 - - 3622 - 2.55 0.109 838 -552.5 259.9 - - 1878 - - - - - - - - 14.60 14.34 14.62
25821 14.2 6.6 1676 25833 done 0.75 - - 3622 - 2.50 0.094 2255 566.8 259.9 - - 1877 - - - - - - - - 14.44 14.35 14.47
26014 4.6 3.2 1695 26036 VBD 0.80 - - 3622 - - - 2255 - 350.6 14.23 0.095 1742 -9.5 0.086 - - - - - - 14.64 - 14.64
26037 end climb: SURFACE_DEPTH_REACHED
26037 begin surface coast
26174 end surface coast: CONTROL_FINISHED_OK
26174 begin surface
SM 1.54 - - - - -10.25 9.80 0.044 96 9.8 0.68 0.103 1887 -10027.9 400.08 44.92 0.091 1309 29.1 -0.050 - - - - - -