NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 207 * Raw log
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• Previous call tries 2 • 55.55 of 350.00 AH used of 24V (84.13% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -74.9 deg, depth 0.92 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• No surface pump (final VBD was 405.97, SM_CC=400)
• GPS1 time: 35 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
28 - - - 137 done -0.39 - - 83 - - - 1901 - -107.1 -101.82 - 3381 - - - - - - - - 14.50 13.04 14.52
144 2.5 -2.3 3 173 roll -0.39 14.73 0.397 3250 215.0 2.53 0.087 3317 559.7 -107.1 - - 3383 - - - - - - - - 14.02 14.28 14.33
387 61.9 -13.1 49 398 done -0.39 - - 3250 - 2.55 0.091 1892 -558.8 -107.1 - - 3385 - - - - - - - - 14.41 14.31 14.44
590 87.7 -12.6 57 600 done -0.39 - - 3250 - - - 1891 - -107.1 - - 3386 - - - - - - - - 14.62 14.64 14.64
769 108.7 -11.5 63 781 roll -0.39 - - 3250 - 2.53 0.108 477 -558.9 -107.1 - - 3386 - - - - - - - - 14.65 14.33 14.69
867 121.4 -13.3 80 879 done -0.39 - - 3251 - 2.50 0.087 1897 568.0 -107.1 - - 3386 - - - - - - - - 14.49 14.37 14.52
1052 141.8 -10.7 87 1062 done -0.39 - - 3250 - - - 1901 - -107.1 - - 3386 - - - - - - - - 14.67 14.69 14.69
1232 159.6 -9.8 93 1243 done -0.39 - - 3251 - - - 1898 - -107.1 - - 3386 - - - - - - - - 14.69 14.71 14.71
1412 178.7 -10.7 99 1422 done -0.39 - - 3251 - - - 1898 - -107.1 - - 3384 - - - - - - - - 14.70 14.72 14.71
1592 198.4 -11.0 105 1603 done -0.39 - - 3250 - - - 1898 - -107.1 - - 3384 - - - - - - - - 14.71 14.73 14.73
1773 218.3 -11.0 111 1784 roll -0.39 - - 3251 - 2.53 0.103 3319 561.7 -107.1 - - 3383 - - - - - - - - 14.72 14.40 14.73
1810 222.3 -10.5 116 1822 done -0.39 - - 3248 - 2.53 0.092 1906 -558.5 -107.1 - - 3386 - - - - - - - - 14.54 14.42 14.57
1996 241.5 -10.3 123 2006 done -0.39 - - 3251 - - - 1906 - -107.1 - - 3382 - - - - - - - - 14.72 14.74 14.73
2206 262.6 -10.1 128 2217 roll -0.39 - - 3254 - 2.55 0.107 472 -562.4 -107.1 - - 3381 - - - - - - - - 14.74 14.39 14.76
2247 266.9 -10.6 134 2258 done -0.39 - - 3250 - 2.50 0.090 1899 570.8 -107.1 - - 3380 - - - - - - - - 14.58 14.44 14.59
2590 298.3 -9.1 145 2600 done -0.39 - - 3250 - - - 1899 - -107.1 - - 3379 - - - - - - - - 14.75 14.76 14.76
2889 325.1 -8.9 150 2899 done -0.39 - - 3251 - - - 1899 - -107.1 - - 3378 - - - - - - - - 14.75 14.77 14.76
3189 352.1 -9.0 155 3201 roll -0.39 - - 3251 - 2.58 0.111 475 -551.9 -107.1 - - 3376 - - - - - - - - 14.76 14.40 14.77
3281 361.2 -9.9 171 3293 done -0.39 - - 3250 - 2.53 0.092 1915 569.2 -107.1 - - 3376 - - - - - - - - 14.57 14.46 14.59
3640 390.8 -8.2 184 3651 done -0.39 - - 3250 - - - 1914 - -107.1 - - 3374 - - - - - - - - 14.76 14.77 14.77
3934 415.4 -8.1 189 3945 roll -0.39 - - 3250 - 2.58 0.109 476 -557.4 -107.1 - - 3373 - - - - - - - - 14.76 14.40 14.77
4046 425.2 -9.1 208 4057 done -0.39 - - 3250 - 2.53 0.093 1899 562.5 -107.1 - - 3372 - - - - - - - - 14.58 14.45 14.60
4383 452.3 -7.9 218 4393 done -0.39 - - 3251 - - - 1899 - -107.1 - - 3371 - - - - - - - - 14.75 14.77 14.77
4683 476.3 -8.0 223 4694 done -0.39 - - 3250 - - - 1899 - -107.1 - - 3370 - - - - - - - - 14.76 14.78 14.77
4983 501.5 -8.4 228 4994 roll -0.39 - - 3250 - 2.55 0.108 3326 559.6 -107.1 - - 3369 - - - - - - - - 14.76 14.40 14.77
5010 503.9 -8.6 231 5021 done -0.39 - - 3251 - 2.55 0.095 1889 -563.5 -107.1 - - 3369 - - - - - - - - 14.55 14.42 14.59
5372 534.3 -8.5 245 5383 roll -0.39 - - 3250 - 2.50 0.110 492 -558.8 -107.1 - - 3367 - - - - - - - - 14.74 14.41 14.76
5459 542.8 -9.6 260 5470 done -0.39 - - 3250 - 2.50 0.095 1910 567.2 -107.1 - - 3367 - - - - - - - - 14.57 14.45 14.59
5821 573.4 -8.5 274 5831 done -0.39 - - 3251 - - - 1910 - -107.1 - - 3366 - - - - - - - - 14.74 14.76 14.76
6116 597.1 -7.8 279 6128 roll -0.39 - - 3250 - 2.58 0.111 494 -548.8 -107.1 - - 3365 - - - - - - - - 14.74 14.39 14.76
6190 603.1 -8.6 291 6201 done -0.39 - - 3251 - 2.50 0.097 1898 561.6 -107.1 - - 3365 - - - - - - - - 14.53 14.40 14.58
6567 629.5 -7.0 308 6577 done -0.39 - - 3250 - - - 1898 - -107.1 - - 3364 - - - - - - - - 14.73 14.76 14.76
6862 650.1 -6.8 313 6873 done -0.39 - - 3250 - - - 1898 - -107.1 - - 3363 - - - - - - - - 14.74 14.76 14.76
7162 670.7 -6.9 318 7173 roll -0.39 - - 3250 - 2.55 0.112 493 -551.0 -107.1 - - 3366 - - - - - - - - 14.74 14.36 14.76
7218 675.2 -7.6 327 7230 done -0.39 - - 3250 - 2.50 0.096 1902 563.6 -107.1 - - 3363 - - - - - - - - 14.55 14.42 14.59
7546 698.6 -7.2 335 7557 done -0.39 - - 3252 - - - 1900 - -107.1 - - 3362 - - - - - - - - 14.75 14.76 14.79
7846 721.0 -7.5 340 7857 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3361 - - - - - - - - 14.75 14.77 14.77
8146 744.9 -7.9 345 8157 done -0.39 - - 3250 - - - 1902 - -107.1 - - 3361 - - - - - - - - 14.73 14.76 14.76
8446 768.8 -8.0 350 8456 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3360 - - - - - - - - 14.74 14.76 14.76
8746 791.1 -7.4 355 8756 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3360 - - - - - - - - 14.75 14.77 14.76
9047 812.4 -7.1 360 9057 done -0.39 - - 3250 - - - 1902 - -107.1 - - 3359 - - - - - - - - 14.74 14.76 14.76
9346 832.7 -6.7 365 9356 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3359 - - - - - - - - 14.73 14.76 14.75
9646 852.9 -6.7 370 9657 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3359 - - - - - - - - 14.74 14.75 14.76
9946 872.2 -6.5 375 9956 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3358 - - - - - - - - 14.74 14.76 14.76
10246 891.6 -6.6 380 10257 done -0.39 - - 3250 - - - 1902 - -107.1 - - 3358 - - - - - - - - 14.73 14.75 14.76
10546 911.3 -6.6 385 10557 done -0.39 - - 3250 - - - 1902 - -107.1 - - 3358 - - - - - - - - 14.71 14.73 14.75
10846 930.4 -6.4 390 10856 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3357 - - - - - - - - 14.73 14.76 14.75
11146 949.5 -6.4 395 11157 done -0.39 - - 3255 - - - 1902 - -107.1 - - 3357 - - - - - - - - 14.73 14.75 14.74
11446 968.4 -6.3 400 11457 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3357 - - - - - - - - 14.73 14.73 14.76
11746 987.6 -6.4 405 11757 roll -0.39 - - 3250 - 2.58 0.111 3321 550.0 -107.1 - - 3356 - - - - - - - - 14.73 14.33 14.74
11783 989.9 -3.9 410 11794 done -0.39 - - 3250 - 2.58 0.101 1900 -550.8 -107.1 - - 3356 - - - - - - - - 14.52 14.38 14.55
11799 end dive: TARGET_DEPTH_EXCEEDED
11800 begin apogee
11811 991.3 -7.1 412 11903 done -0.16 0.32 0.183 3341 284.4 - - 2258 - - 84.18 1.908 2940 -4.9 0.483 - - - - - - 14.29 13.99 13.25
11906 end apogee: CONTROL_FINISHED_OK
11906 begin climb
11911 994.2 - 413 12017 roll 0.39 0.50 0.122 3515 348.0 2.67 0.110 3661 525.5 107.1 88.43 1.864 2501 -5.0 0.498 - - - - - - 13.96 13.63 13.08
12062 988.6 7.4 441 12073 done 0.39 - - 3517 - 2.65 0.098 2251 -532.1 107.1 - - 2498 - - - - - - - - 14.02 13.91 14.02
12419 963.6 7.1 454 12430 roll 0.39 - - 3517 - 2.62 0.111 3661 538.2 107.1 - - 2497 - - - - - - - - 14.44 14.14 14.46
12486 958.1 7.9 465 12498 done 0.39 - - 3518 - 2.60 0.097 2253 -541.5 107.1 - - 2497 - - - - - - - - 14.31 14.19 14.36
12792 937.2 6.8 471 12803 done 0.40 - - 3517 - - - 2254 - 107.1 - - 2499 - - - - - - - - 14.57 14.59 14.58
13092 916.0 7.1 476 13103 done 0.40 - - 3517 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.62 14.62 14.64
13392 894.9 7.0 481 13402 done 0.40 - - 3519 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.64 14.66 14.66
13692 873.4 7.2 486 13702 done 0.40 - - 3517 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.66 14.69 14.69
13992 851.6 7.3 491 14004 roll 0.40 - - 3518 - 2.60 0.112 3657 540.0 107.1 - - 2496 - - - - - - - - 14.68 14.36 14.71
14084 843.4 9.1 507 14096 done 0.40 - - 3518 - 2.58 0.098 2235 -551.2 107.1 - - 2497 - - - - - - - - 14.48 14.35 14.53
14442 815.1 8.1 520 14453 roll 0.40 - - 3517 - 2.62 0.109 3658 543.1 107.1 - - 2495 - - - - - - - - 14.69 14.35 14.71
14515 808.0 9.1 532 14526 done 0.40 - - 3528 - 2.58 0.096 2248 -546.5 107.1 - - 2495 - - - - - - - - 14.50 14.35 14.54
14887 777.9 8.0 549 14897 done 0.40 - - 3527 - - - 2249 - 107.1 - - 2495 - - - - - - - - 14.70 14.71 14.74
15188 756.1 7.2 554 15199 roll 0.40 - - 3526 - 2.60 0.112 3659 542.3 107.1 - - 2495 - - - - - - - - 14.71 14.35 14.76
15250 751.3 8.1 564 15261 done 0.40 - - 3527 - 2.55 0.098 2252 -551.8 107.1 - - 2495 - - - - - - - - 14.51 14.37 14.55
15573 729.9 6.5 571 15584 done 0.42 - - 3528 - - - 2252 - 107.1 - - 2495 - - - - - - - - 14.70 14.72 14.74
15873 710.5 6.5 576 15884 roll 0.43 - - 3527 - 2.62 0.111 3662 538.2 107.1 - - 2494 - - - - - - - - 14.71 14.30 14.72
15935 706.2 7.0 586 15946 done 0.43 - - 3528 - 2.58 0.097 2238 -551.9 107.1 - - 2494 - - - - - - - - 14.50 14.36 14.54
16257 686.5 6.1 593 16269 roll 0.46 - - 3527 - 2.53 0.111 842 -551.8 107.1 - - 2495 - - - - - - - - 14.71 14.33 14.72
16320 682.6 6.2 603 16331 done 0.48 - - 3528 - 2.50 0.096 2245 561.2 107.1 - - 2495 - - - - - - - - 14.49 14.35 14.53
16643 664.3 5.6 610 16655 roll 0.52 0.08 0.156 3591 787.5 2.58 0.106 3661 548.8 107.1 - - 2494 - - - - - - - - 14.44 14.33 14.48
16813 648.9 9.5 641 16825 done 0.52 0.17 0.246 3561 -176.5 2.55 0.096 2253 -552.2 107.1 - - 2494 - - - - - - - - 14.21 14.37 14.47
17156 624.4 7.1 651 17167 done 0.52 - - 3560 - - - 2253 - 107.1 - - 2494 - - - - - - - - 14.70 14.71 14.71
17452 602.6 7.3 656 17463 roll 0.52 - - 3560 - 2.62 0.109 3663 538.2 107.1 - - 2495 - - - - - - - - 14.71 14.35 14.74
17582 591.5 9.1 679 17595 done 0.52 - - 3568 - 2.58 0.096 2238 -552.3 107.1 - - 2495 - - - - - - - - 14.50 14.37 14.54
17887 567.4 7.8 685 17897 done 0.52 - - 3568 - - - 2238 - 107.1 - - 2494 - - - - - - - - 14.68 14.72 14.71
18187 544.9 7.5 690 18198 roll 0.52 - - 3568 - 2.62 0.109 3662 543.5 107.1 - - 2494 - - - - - - - - 14.71 14.33 14.73
18269 538.2 8.2 704 18280 done 0.52 - - 3570 - 2.55 0.096 2256 -551.4 107.1 - - 2492 - - - - - - - - 14.50 14.35 14.54
18637 512.5 7.1 719 18647 done 0.52 - - 3569 - - - 2256 - 107.1 - - 2494 - - - - - - - - 14.71 14.72 14.72
18933 492.2 6.7 724 18944 roll 0.53 - - 3570 - 2.60 0.109 3661 540.4 107.1 - - 2495 - - - - - - - - 14.70 14.29 14.72
19037 484.9 7.1 741 19048 done 0.53 - - 3572 - 2.55 0.094 2251 -552.9 107.1 - - 2494 - - - - - - - - 14.50 14.36 14.57
19388 460.4 7.0 753 19399 done 0.53 - - 3572 - - - 2251 - 107.1 - - 2494 - - - - - - - - 14.70 14.72 14.71
19684 439.6 6.9 758 19694 done 0.53 - - 3573 - - - 2251 - 107.1 - - 2494 - - - - - - - - 14.70 14.72 14.71
19984 416.3 7.8 763 19995 done 0.53 - - 3573 - - - 2251 - 107.1 - - 2494 - - - - - - - - 14.71 14.73 14.72
20284 393.5 7.5 768 20295 roll 0.53 - - 3572 - 2.62 0.110 3663 538.9 107.1 - - 2495 - - - - - - - - 14.72 14.33 14.71
20459 379.3 8.1 800 20470 done 0.53 - - 3582 - 2.55 0.093 2251 -553.7 107.1 - - 2495 - - - - - - - - 14.49 14.35 14.53
20791 354.2 7.6 809 20803 roll 0.53 - - 3592 - 2.55 0.107 839 -553.7 107.1 - - 2495 - - - - - - - - 14.70 14.33 14.71
20888 347.0 7.8 825 20899 done 0.53 - - 3592 - 2.50 0.095 2246 562.8 107.1 - - 2494 - - - - - - - - 14.48 14.33 14.52
21245 320.4 7.3 838 21256 roll 0.53 - - 3592 - 2.60 0.106 3663 545.0 107.1 - - 2495 - - - - - - - - 14.70 14.33 14.70
21489 300.7 7.6 884 21501 done 0.53 0.12 0.252 3564 -233.3 2.58 0.093 2235 -553.5 107.1 - - 2495 - - - - - - - - 14.19 14.34 14.45
21817 282.3 5.6 891 21829 roll 0.56 - - 3564 - 2.65 0.105 3665 539.6 107.1 - - 2495 - - - - - - - - 14.68 14.34 14.70
21990 270.6 6.5 922 22001 done 0.58 - - 3570 - 2.55 0.093 2258 -551.8 107.1 - - 2495 - - - - - - - - 14.48 14.34 14.52
22332 250.0 6.2 932 22343 roll 0.60 - - 3570 - 2.60 0.108 3663 540.4 107.1 - - 2494 - - - - - - - - 14.70 14.33 14.71
22448 240.7 7.7 952 22459 done 0.60 - - 3572 - 2.58 0.094 2236 -553.1 107.1 - - 2496 - - - - - - - - 14.47 14.35 14.52
22664 225.5 7.3 962 22675 done 0.60 - - 3578 - - - 2236 - 107.1 - - 2498 - - - - - - - - 14.68 14.70 14.70
22841 213.4 6.5 968 22852 done 0.62 - - 3572 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.70 14.72 14.71
23020 202.6 5.9 974 23031 done 0.65 - - 3573 - - - 2235 - 107.1 - - 2496 - - - - - - - - 14.69 14.71 14.72
23201 192.4 5.5 980 23212 done 0.69 0.12 0.133 3637 533.3 - - 2236 - 107.1 - - 2496 - - - - - - - - 14.45 14.55 14.53
23380 179.2 7.8 986 23391 roll 0.69 - - 3636 - 2.65 0.104 3667 540.0 107.1 - - 2497 - - - - - - - - 14.70 14.35 14.71
23432 174.7 8.6 994 23443 done 0.69 0.10 0.272 3621 -150.0 2.55 0.092 2249 -556.1 107.1 - - 2496 - - - - - - - - 14.18 14.37 14.42
23650 160.2 6.3 1004 23661 roll 0.71 - - 3621 - 2.60 0.107 3667 545.4 107.1 - - 2499 - - - - - - - - 14.69 14.35 14.70
23896 145.6 5.5 1050 23907 done 0.74 - - 3627 - 2.55 0.092 2248 -556.5 107.1 - - 2497 - - - - - - - - 14.47 14.37 14.51
24103 134.9 5.0 1058 24156 roll 0.77 - - 3627 - 2.67 0.106 3663 530.0 157.9 37.55 0.892 2289 -5.5 0.158 - - - - - - 14.67 14.33 13.91
24220 125.5 9.7 1079 24232 done 0.77 - - 3638 - 2.58 0.093 2236 -553.1 157.9 - - 2292 - - - - - - - - 14.39 14.28 14.42
24429 105.9 9.0 1088 24439 done 0.77 - - 3638 - - - 2235 - 157.9 - - 2293 - - - - - - - - 14.58 14.60 14.59
24608 94.2 5.9 1094 24619 done 0.80 - - 3643 - - - 2236 - 157.9 - - 2294 - - - - - - - - 14.60 14.63 14.62
24789 83.7 5.7 1100 24800 roll 0.83 - - 3638 - 2.62 0.104 3662 544.3 157.9 - - 2293 - - - - - - - - 14.64 14.30 14.65
24836 81.0 6.1 1107 24847 done 0.85 - - 3638 - 2.55 0.091 2245 -555.7 157.9 - - 2294 - - - - - - - - 14.45 14.33 14.47
25059 70.8 4.0 1118 25124 roll 0.89 0.12 0.131 3708 583.3 2.55 0.103 822 -558.0 230.6 53.05 0.801 1994 -5.7 0.094 - - - - - - 14.41 14.21 13.89
25213 58.3 10.5 1143 25224 done 0.89 - - 3708 - 2.55 0.093 2251 560.4 230.6 - - 1993 - - - - - - - - 14.34 14.23 14.36
25440 34.5 9.6 1155 25451 roll 0.89 - - 3707 - 2.58 0.103 3663 547.3 230.6 - - 1995 - - - - - - - - 14.57 14.26 14.59
25462 32.8 6.8 1157 25473 done 0.90 0.12 0.259 3687 -166.7 2.55 0.090 2247 -555.3 230.6 - - 1994 - - - - - - - - 14.12 14.29 14.35
25680 31.3 -0.6 1167 25817 roll 0.99 - - 3687 - 2.65 0.103 3665 535.1 403.3 120.60 0.713 1291 -5.8 0.048 - - - - - - 14.60 14.04 13.76
25899 12.6 13.6 1209 25910 done 0.99 - - 3691 - 2.60 0.095 2254 -542.7 403.3 - - 1287 - - - - - - - - 14.26 14.16 14.28
25967 end climb: SURFACE_DEPTH_REACHED
25967 begin surface coast
25997 end surface coast: CONTROL_FINISHED_OK
26002 begin surface
SM 0.94 - - - - -10.27 10.25 0.054 97 9.5 0.65 0.103 1890 1323.1 405.97 - - 1285 - - - - - - - -