NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 162 * Raw log
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• Previous call tries 1 • 44.42 of 350.00 AH used of 24V (87.31% remains)
• Previous NAKs 8, Timeouts 0
• Surface angle -75.3 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: 55 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
30 - - - 101 VBD -0.39 - - 88 - - - 1880 - -107.1 -67.55 - 3214 - - - - - - - - 14.52 - 14.53
108 4.8 -8.3 7 134 roll -0.39 13.68 0.359 3261 231.9 2.78 2.195 494 -498.6 -107.1 -2.53 - 3380 -65.6 - - - - - - - 14.05 13.23 14.35
372 61.3 -15.5 56 381 done -0.39 - - 3261 - 2.47 0.093 1897 568.0 -107.1 - - 3382 - - - - - - - - 14.40 14.30 14.42
562 87.5 -11.5 75 570 done -0.39 - - 3261 - - - 1897 - -107.1 - - 3384 - - - - - - - - 14.60 14.62 14.62
752 109.7 -10.5 94 760 done -0.39 - - 3261 - - - 1899 - -107.1 - - 3384 - - - - - - - - 14.62 14.64 14.64
942 128.0 -10.0 113 949 roll -0.39 - - 3261 - 2.53 0.103 3321 562.1 -107.1 - - 3385 - - - - - - - - 14.64 14.37 14.66
1058 138.8 -8.7 134 1067 done -0.39 - - 3261 - 2.53 0.091 1899 -562.1 -107.1 - - 3384 - - - - - - - - 14.51 14.41 14.53
1248 158.9 -11.2 153 1255 roll -0.39 - - 3261 - 2.53 0.109 476 -562.5 -107.1 - - 3384 - - - - - - - - 14.66 14.38 14.68
1297 164.7 -12.4 161 1305 done -0.39 - - 3261 - 2.50 0.093 1896 568.0 -107.1 - - 3384 - - - - - - - - 14.50 14.40 14.52
1495 188.0 -11.6 181 1503 roll -0.39 - - 3264 - 2.55 0.106 3323 559.6 -107.1 - - 3384 - - - - - - - - 14.67 14.38 14.69
1565 195.3 -10.4 193 1572 done -0.39 - - 3260 - 2.53 0.093 1908 -559.3 -107.1 - - 3382 - - - - - - - - 14.54 14.43 14.56
1764 214.9 -10.0 213 1771 done -0.39 - - 3260 - - - 1903 - -107.1 - - 3385 - - - - - - - - 14.69 14.71 14.70
1953 234.8 -10.6 232 1961 done -0.39 - - 3262 - - - 1904 - -107.1 - - 3383 - - - - - - - - 14.69 14.69 14.71
2143 253.5 -9.7 249 2147 done -0.39 - - 3260 - - - 1903 - -107.1 - - 3383 - - - - - - - - 14.70 14.71 14.71
2444 281.7 -9.3 259 2451 roll -0.39 - - 3260 - 2.58 0.109 3322 550.0 -107.1 - - 3382 - - - - - - - - 14.73 14.42 14.73
2502 286.6 -8.1 269 2509 done -0.39 - - 3260 - 2.55 0.095 1886 -563.1 -107.1 - - 3382 - - - - - - - - 14.55 14.43 14.57
2826 316.0 -9.7 281 2834 roll -0.39 - - 3260 - 2.47 0.109 493 -564.0 -107.1 - - 3384 - - - - - - - - 14.71 14.43 14.73
2926 326.9 -10.6 299 2933 done -0.39 - - 3260 - 2.47 0.093 1910 573.7 -107.1 - - 3380 - - - - - - - - 14.57 14.46 14.62
3270 358.6 -9.2 315 3278 roll -0.39 - - 3256 - 2.50 0.109 3307 558.8 -107.1 - - 3380 - - - - - - - - 14.72 14.45 14.73
3369 367.7 -8.6 333 3377 done -0.39 - - 3260 - 2.50 0.097 1906 -560.4 -107.1 - - 3379 - - - - - - - - 14.56 14.47 14.59
3712 399.2 -9.3 349 3719 roll -0.39 - - 3260 - 2.55 0.111 483 -558.0 -107.1 - - 3378 - - - - - - - - 14.72 14.42 14.73
3781 406.3 -10.0 361 3788 done -0.39 - - 3259 - 2.50 0.096 1900 566.8 -107.1 - - 3381 - - - - - - - - 14.57 14.47 14.59
4124 435.1 -8.2 377 4131 roll -0.39 - - 3260 - 2.53 0.109 3317 560.1 -107.1 - - 3377 - - - - - - - - 14.71 14.43 14.73
4197 441.4 -8.0 390 4205 done -0.39 - - 3260 - 2.55 0.099 1888 -560.4 -107.1 - - 3377 - - - - - - - - 14.56 14.44 14.59
4535 468.3 -8.0 405 4543 roll -0.39 - - 3260 - 2.50 0.112 491 -558.8 -107.1 - - 3376 - - - - - - - - 14.72 14.44 14.74
4588 473.2 -8.7 414 4597 done -0.39 - - 3260 - 2.50 0.096 1906 566.0 -107.1 - - 3374 - - - - - - - - 14.58 14.45 14.59
4917 498.2 -7.6 427 4920 done -0.39 - - 3265 - - - 1906 - -107.1 - - 3375 - - - - - - - - 14.71 14.73 14.73
5213 520.7 -7.5 437 5220 roll -0.39 - - 3260 - 2.55 0.111 3322 555.3 -107.1 - - 3374 - - - - - - - - 14.72 14.42 14.74
5315 527.7 -6.5 456 5323 done -0.39 - - 3260 - 2.53 0.098 1907 -559.3 -107.1 - - 3373 - - - - - - - - 14.56 14.44 14.59
5655 548.0 -5.9 471 5659 done -0.39 - - 3260 - - - 1906 - -107.1 - - 3373 - - - - - - - - 14.73 14.74 14.74
5950 569.0 -7.1 481 5957 roll -0.39 - - 3260 - 2.58 0.114 474 -555.0 -107.1 - - 3372 - - - - - - - - 14.72 14.40 14.73
6018 574.4 -8.2 493 6026 done -0.39 - - 3260 - 2.53 0.096 1902 564.4 -107.1 - - 3372 - - - - - - - - 14.56 14.45 14.59
6363 600.5 -7.8 509 6371 roll -0.39 - - 3260 - 2.55 0.111 3320 556.1 -107.1 - - 3375 - - - - - - - - 14.72 14.41 14.74
6422 605.6 -7.9 519 6429 done -0.39 - - 3260 - 2.55 0.099 1891 -560.4 -107.1 - - 3371 - - - - - - - - 14.56 14.43 14.58
6745 630.4 -7.7 531 6753 roll -0.39 - - 3260 - 2.50 0.113 495 -558.4 -107.1 - - 3370 - - - - - - - - 14.70 14.40 14.73
6844 638.9 -8.2 549 6851 done -0.39 - - 3260 - 2.50 0.096 1906 564.4 -107.1 - - 3370 - - - - - - - - 14.55 14.45 14.57
7188 661.8 -6.4 565 7195 roll -0.39 - - 3260 - 2.55 0.112 3321 554.9 -107.1 - - 3373 - - - - - - - - 14.71 14.40 14.73
7290 668.4 -6.1 584 7297 done -0.39 - - 3260 - 2.55 0.099 1904 -555.7 -107.1 - - 3370 - - - - - - - - 14.55 14.43 14.57
7629 689.4 -6.4 599 7637 roll -0.39 - - 3260 - 2.58 0.114 474 -554.3 -107.1 - - 3369 - - - - - - - - 14.71 14.39 14.76
7707 695.5 -7.1 613 7714 done -0.39 - - 3260 - 2.53 0.094 1904 565.2 -107.1 - - 3368 - - - - - - - - 14.53 14.42 14.55
8040 718.1 -7.5 627 8048 roll -0.39 - - 3260 - 2.58 0.112 3322 549.6 -107.1 - - 3368 - - - - - - - - 14.70 14.38 14.71
8128 724.8 -6.9 643 8136 done -0.39 - - 3260 - 2.58 0.099 1891 -554.7 -107.1 - - 3368 - - - - - - - - 14.52 14.43 14.57
8455 745.7 -6.3 655 8463 roll -0.39 - - 3261 - 2.53 0.114 485 -555.7 -107.1 - - 3365 - - - - - - - - 14.70 14.40 14.71
8548 752.7 -6.6 672 8557 done -0.39 - - 3260 - 2.53 0.097 1914 564.8 -107.1 - - 3370 - - - - - - - - 14.54 14.43 14.56
8859 771.1 -5.8 683 8866 roll -0.39 - - 3260 - 2.53 0.112 3307 550.6 -107.1 - - 3367 - - - - - - - - 14.71 14.41 14.72
8922 774.9 -5.5 694 8931 done -0.39 - - 3261 - 2.55 0.101 1903 -550.6 -107.1 - - 3367 - - - - - - - - 14.54 14.42 14.56
9232 792.3 -5.7 705 9235 done -0.39 - - 3260 - - - 1903 - -107.1 - - 3366 - - - - - - - - 14.68 14.71 14.71
9528 810.4 -6.3 715 9531 done -0.39 - - 3260 - - - 1902 - -107.1 - - 3366 - - - - - - - - 14.71 14.76 14.73
9828 829.2 -6.4 725 9836 roll -0.39 - - 3260 - 2.58 0.112 3303 543.0 -107.1 - - 3365 - - - - - - - - 14.70 14.40 14.71
9936 836.2 -5.8 745 9943 done -0.39 - - 3260 - 2.55 0.103 1888 -554.9 -107.1 - - 3365 - - - - - - - - 14.52 14.39 14.55
10269 855.5 -6.1 759 10273 done -0.39 - - 3265 - - - 1888 - -107.1 - - 3365 - - - - - - - - 14.70 14.74 14.71
10564 876.0 -7.2 769 10572 roll -0.39 - - 3260 - 2.53 0.115 477 -557.7 -107.1 - - 3364 - - - - - - - - 14.69 14.37 14.71
10647 883.4 -8.4 784 10655 done -0.39 - - 3260 - 2.53 0.097 1899 562.1 -107.1 - - 3365 - - - - - - - - 14.53 14.40 14.58
10976 906.2 -7.3 797 10983 roll -0.39 - - 3260 - 2.55 0.110 3320 557.3 -107.1 - - 3367 - - - - - - - - 14.69 14.38 14.71
11064 913.2 -7.4 813 11071 done -0.39 - - 3260 - 2.55 0.100 1899 -557.3 -107.1 - - 3364 - - - - - - - - 14.52 14.41 14.55
11387 934.8 -6.6 825 11390 done -0.39 - - 3260 - - - 1899 - -107.1 - - 3362 - - - - - - - - 14.69 14.69 14.71
11683 952.4 -5.7 835 11690 roll -0.39 - - 3260 - 2.58 0.112 3320 550.8 -107.1 - - 3364 - - - - - - - - 14.72 14.38 14.71
11741 956.5 -5.6 845 11749 done -0.39 - - 3260 - 2.58 0.103 1890 -554.3 -107.1 - - 3364 - - - - - - - - 14.50 14.38 14.54
12066 973.9 -5.6 857 12069 done -0.39 - - 3260 - - - 1890 - -107.1 - - 3362 - - - - - - - - 14.69 14.70 14.70
12356 end dive: TARGET_DEPTH_EXCEEDED
12356 begin apogee
12368 990.6 -5.8 867 12458 done -0.16 0.28 0.171 3339 282.1 - - 2266 - - 84.38 1.892 2942 -5.0 0.487 - - - - - - 14.32 13.94 13.28
12461 end apogee: CONTROL_FINISHED_OK
12461 begin climb
12466 994.3 - 870 12564 done 0.39 0.52 0.114 3516 340.4 - - 2266 - 107.1 89.35 1.860 2504 -4.9 0.490 - - - - - - 13.95 13.74 13.12
12845 972.6 6.9 883 12856 done 0.39 - - 3516 - - - 2266 - 107.1 - - 2500 - - - - - - - - 14.38 14.40 14.40
13150 951.7 6.8 893 13161 roll 0.40 - - 3516 - 2.55 0.114 3661 547.1 107.1 - - 2502 - - - - - - - - 14.52 14.26 14.54
13217 946.6 7.4 904 13229 done 0.40 - - 3517 - 2.58 0.101 2254 -545.3 107.1 - - 2498 - - - - - - - - 14.39 14.28 14.42
13527 926.5 6.6 915 13538 done 0.41 - - 3517 - - - 2254 - 107.1 - - 2498 - - - - - - - - 14.62 14.63 14.63
13827 906.4 6.7 925 13838 done 0.43 - - 3517 - - - 2252 - 107.1 - - 2498 - - - - - - - - 14.65 14.67 14.66
14127 886.6 6.7 935 14138 roll 0.44 - - 3517 - 2.58 0.114 821 -554.7 107.1 - - 2498 - - - - - - - - 14.68 14.38 14.69
14179 883.0 6.8 943 14191 done 0.45 - - 3517 - 2.53 0.098 2247 563.6 107.1 - - 2499 - - - - - - - - 14.53 14.41 14.56
14512 860.6 6.7 957 14522 done 0.46 - - 3517 - - - 2246 - 107.1 - - 2498 - - - - - - - - 14.69 14.72 14.71
14816 841.1 6.5 967 14827 roll 0.48 - - 3517 - 2.58 0.113 3663 549.2 107.1 - - 2497 - - - - - - - - 14.71 14.43 14.73
14878 836.3 7.8 977 14889 done 0.48 - - 3517 - 2.58 0.101 2235 -553.5 107.1 - - 2497 - - - - - - - - 14.55 14.43 14.58
15200 813.5 6.9 989 15211 roll 0.48 - - 3517 - 2.62 0.113 3671 548.1 107.1 - - 2497 - - - - - - - - 14.72 14.45 14.73
15243 810.3 9.4 995 15254 done 0.48 - - 3517 - 2.58 0.103 2253 -549.6 107.1 - - 2495 - - - - - - - - 14.56 14.44 14.59
15586 787.8 6.4 1011 15598 roll 0.50 0.08 0.161 3586 862.5 2.55 0.110 820 -562.0 107.1 - - 2497 - - - - - - - - 14.51 14.40 14.54
15609 786.1 6.6 1013 15621 done 0.51 - - 3584 - 2.53 0.097 2256 567.6 107.1 - - 2497 - - - - - - - - 14.57 14.45 14.59
15942 752.6 10.5 1027 15953 roll 0.51 - - 3596 - 2.58 0.112 839 -549.2 107.1 - - 2498 - - - - - - - - 14.71 14.43 14.73
15989 747.4 11.3 1034 16001 done 0.51 0.12 0.243 3562 -283.3 2.50 0.099 2257 567.2 107.1 - - 2497 - - - - - - - - 14.33 14.46 14.54
16327 717.0 8.4 1049 16338 done 0.51 - - 3562 - - - 2259 - 107.1 - - 2498 - - - - - - - - 14.72 14.74 14.73
16631 692.7 8.2 1059 16642 roll 0.51 - - 3562 - 2.55 0.115 3662 550.2 107.1 - - 2497 - - - - - - - - 14.73 14.43 14.74
16728 684.0 9.1 1075 16739 done 0.51 - - 3569 - 2.55 0.100 2240 -557.6 107.1 - - 2497 - - - - - - - - 14.57 14.45 14.59
17050 658.0 7.7 1087 17060 done 0.51 - - 3569 - - - 2239 - 107.1 - - 2497 - - - - - - - - 14.73 14.75 14.76
17355 634.1 8.1 1097 17366 roll 0.51 - - 3570 - 2.60 0.114 3661 546.9 107.1 - - 2496 - - - - - - - - 14.73 14.42 14.75
17376 631.9 8.1 1099 17387 done 0.51 - - 3570 - 2.55 0.101 2254 -551.8 107.1 - - 2497 - - - - - - - - 14.57 14.45 14.59
17708 604.0 8.6 1113 17719 roll 0.51 - - 3570 - 2.60 0.113 3662 541.5 107.1 - - 2497 - - - - - - - - 14.73 14.43 14.75
17751 600.1 9.5 1119 17762 done 0.51 - - 3581 - 2.55 0.099 2240 -557.6 107.1 - - 2496 - - - - - - - - 14.53 14.41 14.56
18093 570.3 8.7 1135 18104 done 0.51 - - 3581 - - - 2241 - 107.1 - - 2496 - - - - - - - - 14.73 14.75 14.75
18398 542.7 9.3 1145 18409 roll 0.51 - - 3581 - 2.60 0.112 3661 546.2 107.1 - - 2496 - - - - - - - - 14.73 14.42 14.74
18440 538.0 11.1 1151 18452 done 0.51 - - 3585 - 2.55 0.101 2252 -552.5 107.1 - - 2499 - - - - - - - - 14.57 14.45 14.59
18783 504.1 9.5 1167 18793 done 0.51 - - 3584 - - - 2252 - 107.1 - - 2497 - - - - - - - - 14.73 14.74 14.75
19088 477.0 9.0 1177 19099 roll 0.51 - - 3596 - 2.55 0.111 819 -562.0 107.1 - - 2497 - - - - - - - - 14.72 14.40 14.74
19149 470.9 9.3 1187 19161 done 0.51 0.12 0.234 3560 -300.0 2.55 0.097 2266 567.5 107.1 - - 2497 - - - - - - - - 14.32 14.44 14.52
19473 448.3 6.7 1199 19483 done 0.52 - - 3560 - - - 2265 - 107.1 - - 2497 - - - - - - - - 14.72 14.74 14.75
19777 426.4 7.4 1209 19787 done 0.52 - - 3560 - - - 2265 - 107.1 - - 2497 - - - - - - - - 14.72 14.74 14.74
20077 405.0 6.8 1219 20087 done 0.52 - - 3560 - - - 2265 - 107.1 - - 2497 - - - - - - - - 14.71 14.74 14.73
20377 385.4 6.1 1229 20387 done 0.55 - - 3560 - - - 2265 - 107.1 - - 2497 - - - - - - - - 14.71 14.73 14.74
20677 367.8 5.8 1239 20689 roll 0.58 - - 3560 - 2.53 0.112 3661 551.8 107.1 - - 2497 - - - - - - - - 14.72 14.42 14.74
20805 358.9 6.6 1261 20816 done 0.59 - - 3568 - 2.55 0.097 2237 -558.4 107.1 - - 2497 - - - - - - - - 14.55 14.44 14.58
21127 339.4 6.0 1273 21137 done 0.62 - - 3568 - - - 2236 - 107.1 - - 2498 - - - - - - - - 14.73 14.74 14.74
21432 321.5 5.7 1283 21444 roll 0.65 0.08 0.164 3637 862.5 2.50 0.108 839 -558.8 107.1 - - 2497 - - - - - - - - 14.49 14.42 14.53
21470 318.1 8.4 1288 21482 done 0.65 0.12 0.251 3604 -275.0 2.47 0.099 2246 569.6 107.1 - - 2498 - - - - - - - - 14.29 14.42 14.51
21775 294.8 7.6 1299 21785 done 0.65 - - 3604 - - - 2245 - 107.1 - - 2498 - - - - - - - - 14.71 14.74 14.74
22079 270.9 8.0 1309 22090 roll 0.65 - - 3604 - 2.58 0.109 3662 549.2 107.1 - - 2498 - - - - - - - - 14.72 14.40 14.74
22141 264.8 9.6 1319 22153 done 0.65 - - 3611 - 2.53 0.096 2255 -556.1 107.1 - - 2498 - - - - - - - - 14.54 14.42 14.56
22464 236.4 8.5 1341 22475 done 0.65 - - 3611 - - - 2254 - 107.1 - - 2498 - - - - - - - - 14.75 14.73 14.73
22656 219.5 8.9 1360 22668 done 0.65 - - 3607 - - - 2254 - 107.1 - - 2497 - - - - - - - - 14.71 14.73 14.73
22849 202.9 8.3 1379 22860 done 0.65 - - 3611 - - - 2255 - 107.1 - - 2497 - - - - - - - - 14.71 14.73 14.73
23042 185.9 9.1 1398 23053 done 0.65 - - 3617 - - - 2254 - 107.1 - - 2500 - - - - - - - - 14.69 14.71 14.72
23234 170.7 7.5 1417 23245 roll 0.65 - - 3622 - 2.53 0.107 838 -559.7 107.1 - - 2497 - - - - - - - - 14.71 14.41 14.71
23281 167.4 7.0 1424 23292 done 0.65 - - 3622 - 2.50 0.096 2254 566.4 107.1 - - 2498 - - - - - - - - 14.51 14.42 14.53
23475 155.4 6.2 1443 23486 roll 0.68 - - 3626 - 2.58 0.109 826 -553.5 107.1 - - 2498 - - - - - - - - 14.70 14.40 14.71
23522 152.4 6.4 1450 23533 done 0.69 - - 3626 - 2.53 0.097 2257 565.6 107.1 - - 2498 - - - - - - - - 14.53 14.42 14.56
23715 140.2 7.0 1469 23726 roll 0.69 - - 3626 - 2.58 0.109 3664 545.3 107.1 - - 2498 - - - - - - - - 14.70 14.41 14.71
23965 121.6 6.2 1515 23977 done 0.72 - - 3633 - 2.55 0.096 2236 -560.0 107.1 - - 2498 - - - - - - - - 14.52 14.41 14.54
24168 110.8 5.4 1535 24180 roll 0.76 - - 3636 - 2.60 0.109 3659 547.3 107.1 - - 2498 - - - - - - - - 14.69 14.40 14.71
24285 105.0 4.1 1555 24348 done 0.79 - - 3642 - 2.53 0.094 2254 -555.3 176.7 51.25 0.848 2217 -5.5 0.127 - - - - - - 14.52 14.40 13.93
24548 84.5 9.4 1585 24559 done 0.79 - - 3642 - - - 2254 - 176.7 - - 2216 - - - - - - - - 14.59 14.58 14.58
24741 66.4 8.3 1604 24752 roll 0.79 - - 3642 - 2.58 0.109 3662 545.7 176.7 - - 2219 - - - - - - - - 14.60 14.30 14.62
24897 51.1 9.5 1632 24908 done 0.79 - - 3651 - 2.55 0.093 2252 -552.9 176.7 - - 2217 - - - - - - - - 14.47 14.36 14.50
25100 36.7 5.1 1652 25148 roll 0.82 - - 3651 - 2.65 0.109 3661 531.7 225.1 36.00 0.763 2019 -5.5 0.049 - - - - - - 14.64 14.30 13.95
25171 33.4 5.8 1662 25182 done 0.85 - - 3652 - 2.55 0.096 2251 -552.9 225.1 - - 2017 - - - - - - - - 14.39 14.30 14.39
25373 18.2 7.6 1682 25384 done 0.85 - - 3651 - - - 2251 - 225.1 - - 2017 - - - - - - - - 14.59 14.60 14.60
25565 6.4 3.8 1701 25608 roll 0.89 - - 3652 - 2.62 0.109 822 -545.4 301.5 31.92 0.103 1711 -9.6 0.111 - - - - - - 14.63 14.35 14.35
25618 end climb: SURFACE_DEPTH_REACHED
25623 begin surface coast
25703 end surface coast: CONTROL_FINISHED_OK
25704 begin surface
SM 1.44 - - - - -10.25 9.93 0.046 96 9.7 1.95 0.093 1899 -3491.8 400.08 41.80 0.093 1309 31.3 -0.050 - - - - - -