NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 227 * Raw log
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• Previous call tries 1 • 61.22 of 350.00 AH used of 24V (82.51% remains)
• Previous NAKs 8, Timeouts 0
• Surface angle -78.4 deg, depth 0.97 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 29 s
• GPS2 time: 2 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
29 - - - 110 done -0.39 - - 72 - - - 1882 - -107.1 -74.35 - 3380 - - - - - - - - 14.47 13.00 14.50
117 2.1 -2.9 2 141 roll -0.39 13.57 0.348 3250 234.2 2.58 0.095 3311 553.9 -107.1 - - 3382 - - - - - - - - 13.98 14.22 14.20
366 65.5 -13.2 49 377 done -0.39 - - 3251 - 2.53 0.094 1909 -554.2 -107.1 - - 3386 - - - - - - - - 14.33 14.20 14.37
551 88.3 -11.7 56 561 done -0.39 - - 3250 - - - 1908 - -107.1 - - 3387 - - - - - - - - 14.59 14.62 14.62
731 109.9 -12.2 62 743 roll -0.39 - - 3250 - 2.55 0.103 491 -555.7 -107.1 - - 3388 - - - - - - - - 14.62 14.28 14.62
774 115.4 -12.7 68 785 done -0.39 - - 3250 - 2.50 0.091 1898 562.8 -107.1 - - 3388 - - - - - - - - 14.45 14.31 14.48
1002 143.2 -12.5 80 1013 roll -0.39 - - 3251 - 2.55 0.101 3322 558.4 -107.1 - - 3388 - - - - - - - - 14.64 14.32 14.66
1029 147.2 -11.9 83 1041 done -0.39 - - 3250 - 2.53 0.089 1900 -562.1 -107.1 - - 3388 - - - - - - - - 14.47 14.36 14.51
1238 170.7 -11.3 92 1248 done -0.39 - - 3250 - - - 1899 - -107.1 - - 3387 - - - - - - - - 14.69 14.69 14.69
1417 189.1 -10.2 98 1428 done -0.39 - - 3250 - - - 1899 - -107.1 - - 3386 - - - - - - - - 14.69 14.70 14.70
1597 206.6 -9.6 104 1608 roll -0.39 - - 3250 - 2.53 0.107 477 -562.1 -107.1 - - 3385 - - - - - - - - 14.69 14.35 14.71
1628 210.0 -10.7 108 1639 done -0.39 - - 3250 - 2.55 0.092 1915 563.9 -107.1 - - 3386 - - - - - - - - 14.49 14.38 14.56
1830 229.4 -9.4 116 1841 done -0.39 - - 3250 - - - 1914 - -107.1 - - 3386 - - - - - - - - 14.70 14.70 14.71
2011 245.8 -9.1 122 2021 done -0.39 - - 3246 - - - 1914 - -107.1 - - 3384 - - - - - - - - 14.70 14.72 14.71
2190 263.0 -9.5 126 2201 done -0.39 - - 3250 - - - 1914 - -107.1 - - 3383 - - - - - - - - 14.71 14.73 14.74
2491 291.8 -9.5 131 2501 done -0.39 - - 3246 - - - 1914 - -107.1 - - 3382 - - - - - - - - 14.72 14.73 14.73
2791 319.0 -9.0 136 2802 done -0.39 - - 3250 - - - 1913 - -107.1 - - 3381 - - - - - - - - 14.73 14.75 14.75
3090 345.2 -8.7 141 3101 done -0.39 - - 3250 - - - 1916 - -107.1 - - 3378 - - - - - - - - 14.74 14.75 14.76
3390 369.9 -8.3 146 3401 done -0.39 - - 3250 - - - 1914 - -107.1 - - 3379 - - - - - - - - 14.73 14.76 14.75
3692 394.0 -8.1 151 3702 done -0.39 - - 3250 - - - 1915 - -107.1 - - 3378 - - - - - - - - 14.73 14.75 14.75
3991 418.9 -8.3 156 4002 roll -0.39 - - 3250 - 2.53 0.109 3320 555.3 -107.1 - - 3377 - - - - - - - - 14.74 14.37 14.76
4072 425.6 -8.2 170 4084 done -0.39 - - 3249 - 2.58 0.096 1889 -554.7 -107.1 - - 3377 - - - - - - - - 14.52 14.38 14.56
4439 457.6 -8.9 185 4450 done -0.39 - - 3248 - - - 1888 - -107.1 - - 3379 - - - - - - - - 14.73 14.75 14.76
4736 485.2 -9.2 190 4747 roll -0.39 - - 3250 - 2.53 0.111 484 -554.9 -107.1 - - 3374 - - - - - - - - 14.73 14.36 14.75
4768 488.5 -9.9 194 4779 done -0.39 - - 3250 - 2.53 0.095 1896 558.1 -107.1 - - 3374 - - - - - - - - 14.52 14.38 14.57
5125 517.8 -8.1 207 5136 done -0.39 - - 3250 - - - 1897 - -107.1 - - 3373 - - - - - - - - 14.73 14.75 14.75
5421 541.3 -7.8 212 5432 roll -0.39 - - 3250 - 2.55 0.109 3320 558.0 -107.1 - - 3374 - - - - - - - - 14.74 14.35 14.76
5478 545.8 -7.6 221 5489 done -0.39 - - 3250 - 2.53 0.095 1906 -558.9 -107.1 - - 3372 - - - - - - - - 14.52 14.38 14.56
5806 570.4 -7.5 229 5817 roll -0.39 - - 3250 - 2.55 0.110 475 -561.2 -107.1 - - 3371 - - - - - - - - 14.73 14.33 14.75
5857 574.8 -8.7 237 5868 done -0.39 - - 3250 - 2.55 0.094 1917 565.5 -107.1 - - 3371 - - - - - - - - 14.52 14.39 14.56
6190 599.6 -7.4 246 6200 done -0.39 - - 3250 - - - 1916 - -107.1 - - 3370 - - - - - - - - 14.73 14.75 14.74
6490 622.8 -7.8 251 6501 roll -0.39 - - 3250 - 2.53 0.109 3306 549.4 -107.1 - - 3369 - - - - - - - - 14.73 14.35 14.74
6591 630.4 -8.1 268 6602 done -0.39 - - 3250 - 2.55 0.099 1888 -556.1 -107.1 - - 3369 - - - - - - - - 14.49 14.35 14.53
6943 659.8 -8.5 280 6953 done -0.39 - - 3250 - - - 1888 - -107.1 - - 3368 - - - - - - - - 14.72 14.74 14.74
7238 684.9 -8.3 285 7249 done -0.39 - - 3250 - - - 1888 - -107.1 - - 3368 - - - - - - - - 14.73 14.75 14.75
7539 708.5 -7.8 290 7549 done -0.39 - - 3250 - - - 1888 - -107.1 - - 3367 - - - - - - - - 14.71 14.74 14.73
7839 730.5 -7.3 295 7849 done -0.39 - - 3250 - - - 1888 - -107.1 - - 3364 - - - - - - - - 14.71 14.74 14.74
8139 751.7 -7.1 300 8149 done -0.39 - - 3250 - - - 1888 - -107.1 - - 3365 - - - - - - - - 14.72 14.73 14.73
8438 772.8 -7.1 305 8449 roll -0.39 - - 3250 - 2.60 0.109 3303 544.2 -107.1 - - 3365 - - - - - - - - 14.72 14.32 14.74
8521 778.6 -7.8 319 8532 done -0.39 - - 3250 - 2.53 0.097 1905 -552.6 -107.1 - - 3364 - - - - - - - - 14.50 14.35 14.53
8887 804.3 -7.2 334 8898 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3364 - - - - - - - - 14.71 14.73 14.73
9184 826.6 -7.4 339 9194 done -0.39 - - 3250 - - - 1905 - -107.1 - - 3364 - - - - - - - - 14.72 14.72 14.73
9484 847.6 -7.0 344 9494 done -0.39 - - 3250 - - - 1903 - -107.1 - - 3364 - - - - - - - - 14.71 14.71 14.72
9783 867.6 -6.6 349 9793 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3363 - - - - - - - - 14.71 14.73 14.73
10084 886.2 -6.2 354 10095 roll -0.39 - - 3250 - 2.58 0.109 3303 542.2 -107.1 - - 3360 - - - - - - - - 14.71 14.33 14.73
10136 889.3 -3.8 362 10147 done -0.39 - - 3250 - 2.55 0.099 1888 -554.9 -107.1 - - 3363 - - - - - - - - 14.44 14.30 14.48
10470 909.9 -6.1 371 10480 done -0.39 - - 3250 - - - 1888 - -107.1 - - 3361 - - - - - - - - 14.72 14.73 14.73
10769 928.4 -6.2 376 10779 done -0.39 - - 3250 - - - 1888 - -107.1 - - 3362 - - - - - - - - 14.70 14.71 14.72
11069 948.0 -6.6 381 11079 done -0.39 - - 3251 - - - 1891 - -107.1 - - 3359 - - - - - - - - 14.71 14.73 14.71
11369 968.5 -6.8 386 11381 roll -0.39 - - 3250 - 2.60 0.110 3300 541.9 -107.1 - - 3361 - - - - - - - - 14.70 14.31 14.71
11436 973.0 -6.8 397 11448 done -0.39 - - 3250 - 2.53 0.098 1906 -551.0 -107.1 - - 3364 - - - - - - - - 14.47 14.33 14.51
11738 end dive: TARGET_DEPTH_EXCEEDED
11738 begin apogee
11750 994.1 -7.0 403 11844 done -0.16 0.32 0.167 3345 296.9 - - 2247 - - 85.55 1.922 2940 -5.0 0.484 - - - - - - 14.26 13.94 13.21
11846 end apogee: CONTROL_FINISHED_OK
11846 begin climb
11851 997.3 - 404 11949 done 0.39 0.47 0.106 3515 361.7 - - 2246 - 107.1 89.15 1.869 2503 -4.9 0.494 - - - - - - 13.95 13.71 13.04
12222 978.0 6.7 422 12233 done 0.40 - - 3515 - - - 2246 - 107.1 - - 2495 - - - - - - - - 14.34 14.36 14.36
12523 955.9 7.5 427 12533 done 0.40 - - 3516 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.50 14.51 14.50
12823 932.2 7.9 432 12833 done 0.40 - - 3515 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.57 14.59 14.58
13122 908.8 7.7 437 13132 done 0.40 - - 3515 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.61 14.62 14.62
13422 886.9 7.3 442 13432 done 0.40 - - 3516 - - - 2246 - 107.1 - - 2494 - - - - - - - - 14.64 14.66 14.66
13724 867.0 6.5 447 13735 roll 0.42 - - 3518 - 2.60 0.113 822 -547.7 107.1 - - 2496 - - - - - - - - 14.65 14.27 14.66
13770 863.8 9.6 454 13782 done 0.42 - - 3517 - 2.58 0.099 2256 555.8 107.1 - - 2496 - - - - - - - - 14.46 14.33 14.50
14114 843.8 6.0 464 14125 roll 0.44 - - 3517 - 2.60 0.115 3663 541.2 107.1 - - 2495 - - - - - - - - 14.63 14.28 14.66
14240 834.5 7.4 486 14251 done 0.44 - - 3517 - 2.58 0.099 2250 -547.7 107.1 - - 2495 - - - - - - - - 14.45 14.31 14.50
14563 813.8 6.5 493 14574 roll 0.46 - - 3518 - 2.58 0.113 831 -550.0 107.1 - - 2495 - - - - - - - - 14.66 14.29 14.69
14676 805.6 7.0 513 14688 done 0.46 - - 3518 - 2.58 0.101 2265 555.8 107.1 - - 2495 - - - - - - - - 14.45 14.33 14.50
15009 782.7 7.0 522 15021 roll 0.46 - - 3518 - 2.58 0.113 3663 541.9 107.1 - - 2495 - - - - - - - - 14.66 14.28 14.68
15091 776.1 8.3 536 15102 done 0.46 - - 3524 - 2.58 0.097 2244 -550.0 107.1 - - 2494 - - - - - - - - 14.45 14.33 14.50
15459 748.5 7.7 551 15470 roll 0.46 - - 3527 - 2.58 0.113 823 -550.8 107.1 - - 2495 - - - - - - - - 14.68 14.28 14.70
15560 740.5 7.7 568 15571 done 0.46 - - 3527 - 2.58 0.097 2251 553.5 107.1 - - 2495 - - - - - - - - 14.46 14.33 14.49
15912 714.4 7.3 580 15922 done 0.46 - - 3526 - - - 2251 - 107.1 - - 2494 - - - - - - - - 14.68 14.69 14.71
16207 694.4 6.6 585 16218 roll 0.48 - - 3526 - 2.62 0.114 3664 539.3 107.1 - - 2494 - - - - - - - - 14.71 14.30 14.69
16318 686.8 7.1 604 16330 done 0.48 - - 3526 - 2.58 0.098 2246 -549.6 107.1 - - 2494 - - - - - - - - 14.45 14.33 14.49
16661 665.5 6.2 614 16671 done 0.50 - - 3527 - - - 2246 - 107.1 - - 2495 - - - - - - - - 14.66 14.69 14.68
16957 646.4 6.4 619 16968 done 0.52 0.08 0.163 3584 712.5 - - 2246 - 107.1 - - 2494 - - - - - - - - 14.40 14.48 14.45
17256 620.9 8.7 624 17267 roll 0.52 - - 3592 - 2.55 0.109 840 -551.4 107.1 - - 2494 - - - - - - - - 14.69 14.29 14.71
17298 617.2 8.9 630 17310 done 0.52 0.12 0.232 3560 -266.7 2.55 0.097 2263 558.0 107.1 - - 2494 - - - - - - - - 14.19 14.33 14.44
17646 589.9 7.7 641 17657 roll 0.52 - - 3560 - 2.55 0.112 3661 548.2 107.1 - - 2494 - - - - - - - - 14.69 14.28 14.70
17781 577.4 8.7 665 17793 done 0.52 - - 3568 - 2.58 0.096 2248 -547.7 107.1 - - 2494 - - - - - - - - 14.45 14.31 14.50
18154 547.1 8.0 682 18164 done 0.52 - - 3569 - - - 2248 - 107.1 - - 2494 - - - - - - - - 14.67 14.69 14.69
18454 523.5 7.9 687 18465 done 0.52 - - 3566 - - - 2248 - 107.1 - - 2494 - - - - - - - - 14.68 14.69 14.69
18754 499.7 7.9 692 18764 done 0.52 - - 3568 - - - 2248 - 107.1 - - 2493 - - - - - - - - 14.69 14.71 14.71
19054 475.7 8.0 697 19065 done 0.52 - - 3569 - - - 2248 - 107.1 - - 2494 - - - - - - - - 14.68 14.69 14.70
19354 452.4 7.7 702 19364 done 0.52 - - 3569 - - - 2248 - 107.1 - - 2494 - - - - - - - - 14.68 14.70 14.70
19655 429.8 7.5 707 19666 roll 0.52 - - 3569 - 2.62 0.112 3661 539.3 107.1 - - 2494 - - - - - - - - 14.69 14.28 14.71
19784 419.2 8.0 730 19797 done 0.52 - - 3569 - 2.58 0.097 2245 -548.8 107.1 - - 2494 - - - - - - - - 14.45 14.31 14.50
20090 397.6 7.0 736 20100 done 0.52 - - 3570 - - - 2245 - 107.1 - - 2495 - - - - - - - - 14.69 14.71 14.70
20390 377.2 6.7 741 20401 roll 0.53 - - 3570 - 2.65 0.111 3663 535.1 107.1 - - 2494 - - - - - - - - 14.66 14.27 14.69
20477 370.5 7.8 756 20488 done 0.53 - - 3569 - 2.58 0.096 2253 -546.5 107.1 - - 2494 - - - - - - - - 14.45 14.31 14.50
20839 348.0 6.2 770 20850 done 0.55 - - 3570 - - - 2253 - 107.1 - - 2495 - - - - - - - - 14.64 14.69 14.69
21136 327.7 6.8 775 21146 done 0.56 - - 3569 - - - 2253 - 107.1 - - 2494 - - - - - - - - 14.69 14.71 14.70
21435 306.4 7.1 780 21445 done 0.56 - - 3570 - - - 2253 - 107.1 - - 2494 - - - - - - - - 14.67 14.68 14.69
21735 285.4 7.0 785 21745 done 0.56 - - 3574 - - - 2250 - 107.1 - - 2494 - - - - - - - - 14.69 14.71 14.71
22035 263.5 7.3 790 22047 roll 0.56 - - 3570 - 2.62 0.109 3662 538.9 107.1 - - 2498 - - - - - - - - 14.68 14.28 14.70
22180 251.1 8.5 816 22191 done 0.56 - - 3574 - 2.58 0.093 2236 -552.7 107.1 - - 2495 - - - - - - - - 14.46 14.33 14.50
22513 229.5 5.7 835 22524 roll 0.60 - - 3581 - 2.53 0.107 842 -551.0 107.1 - - 2495 - - - - - - - - 14.67 14.26 14.69
22653 221.6 5.4 860 22664 done 0.64 - - 3582 - 2.53 0.094 2248 555.7 107.1 - - 2495 - - - - - - - - 14.45 14.31 14.49
22876 210.8 4.9 871 22923 done 0.66 - - 3581 - - - 2252 - 160.7 40.45 0.995 2286 -5.2 0.207 - - - - - - 14.66 14.35 13.84
23089 198.1 6.5 878 23101 roll 0.68 - - 3582 - 2.62 0.110 3668 540.5 160.7 - - 2287 - - - - - - - - 14.52 14.21 14.55
23172 191.0 8.7 892 23183 done 0.68 - - 3582 - 2.58 0.096 2257 -546.9 160.7 - - 2284 - - - - - - - - 14.35 14.20 14.38
23389 173.2 8.6 902 23399 done 0.68 - - 3581 - - - 2257 - 160.7 - - 2284 - - - - - - - - 14.57 14.59 14.61
23564 156.8 9.2 908 23574 done 0.68 - - 3580 - - - 2256 - 160.7 - - 2284 - - - - - - - - 14.61 14.62 14.62
23744 141.2 8.7 914 23755 done 0.68 - - 3581 - - - 2257 - 160.7 - - 2288 - - - - - - - - 14.62 14.62 14.62
23924 126.3 8.1 920 23934 done 0.68 - - 3582 - - - 2257 - 160.7 - - 2284 - - - - - - - - 14.62 14.64 14.64
24104 112.1 7.7 926 24115 done 0.68 - - 3582 - - - 2257 - 160.7 - - 2284 - - - - - - - - 14.64 14.65 14.64
24284 100.7 6.0 932 24295 done 0.71 0.12 0.132 3647 541.7 - - 2257 - 160.7 - - 2284 - - - - - - - - 14.39 14.49 14.46
24464 85.9 8.7 938 24476 roll 0.71 - - 3657 - 2.55 0.103 839 -556.1 160.7 - - 2285 - - - - - - - - 14.64 14.23 14.66
24497 83.1 8.6 942 24509 done 0.71 0.12 0.236 3623 -283.3 2.53 0.093 2251 558.1 160.7 - - 2285 - - - - - - - - 14.16 14.31 14.38
24705 69.7 6.3 950 24717 roll 0.73 - - 3623 - 2.58 0.106 3664 547.7 160.7 - - 2285 - - - - - - - - 14.66 14.28 14.66
24951 60.0 3.3 996 25029 done 0.77 - - 3626 - 2.55 0.091 2252 -553.7 248.9 64.60 0.790 1921 -5.6 0.081 - - - - - - 14.43 14.30 13.89
25246 37.8 7.7 1022 25257 roll 0.77 - - 3625 - 2.60 0.106 3663 542.7 248.9 - - 1922 - - - - - - - - 14.54 14.19 14.54
25356 28.0 10.3 1041 25367 done 0.77 - - 3626 - 2.58 0.091 2252 -546.9 248.9 - - 1921 - - - - - - - - 14.35 14.26 14.38
25577 15.0 4.8 1052 25617 roll 0.80 - - 3625 - 2.65 0.106 3663 532.5 304.6 25.27 0.148 1699 -8.8 0.168 - - - - - - 14.61 14.21 14.20
25668 11.2 5.5 1067 25680 done 0.84 0.10 0.122 3692 670.0 2.58 0.090 2235 -553.5 304.6 - - 1704 - - - - - - - - 14.33 14.26 14.40
25811 end climb: SURFACE_DEPTH_REACHED
25811 begin surface coast
25872 end surface coast: CONTROL_FINISHED_OK
25872 begin surface
SM 1.26 - - - - -10.25 10.12 0.048 86 8.5 0.60 0.102 1905 -1955.0 400.08 41.45 0.089 1309 31.6 -0.046 - - - - - -