NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 233 * Raw log
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• Previous call tries 1 • 62.88 of 350.00 AH used of 24V (82.04% remains)
• Previous NAKs 6, 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: 61 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 - - - 107 done -0.39 - - 82 - - - 1895 - -107.1 -71.35 - 3379 - - - - - - - - 14.50 12.99 14.50
114 2.5 -3.7 2 138 roll -0.39 13.65 0.353 3249 232.0 2.55 0.097 3309 554.5 -107.1 - - 3382 - - - - - - - - 13.98 14.26 14.19
333 58.2 -12.2 43 345 done -0.39 - - 3249 - 2.55 0.093 1889 -556.9 -107.1 - - 3385 - - - - - - - - 14.38 14.22 14.39
518 81.5 -12.5 50 528 done -0.39 - - 3249 - - - 1889 - -107.1 - - 3386 - - - - - - - - 14.59 14.63 14.61
698 104.0 -12.5 56 708 done -0.39 - - 3249 - - - 1889 - -107.1 - - 3387 - - - - - - - - 14.62 14.64 14.64
878 126.0 -12.0 62 889 done -0.39 - - 3250 - - - 1889 - -107.1 - - 3388 - - - - - - - - 14.64 14.66 14.68
1058 145.4 -10.9 68 1068 done -0.39 - - 3249 - - - 1889 - -107.1 - - 3387 - - - - - - - - 14.66 14.66 14.68
1238 165.7 -11.3 74 1249 done -0.39 - - 3250 - - - 1889 - -107.1 - - 3387 - - - - - - - - 14.68 14.68 14.70
1418 185.8 -11.0 80 1429 roll -0.39 - - 3249 - 2.58 0.103 3310 550.8 -107.1 - - 3386 - - - - - - - - 14.69 14.35 14.70
1454 189.6 -10.0 85 1466 done -0.39 - - 3249 - 2.53 0.092 1905 -555.3 -107.1 - - 3385 - - - - - - - - 14.49 14.36 14.52
1641 208.0 -9.8 92 1651 done -0.39 - - 3249 - - - 1906 - -107.1 - - 3385 - - - - - - - - 14.69 14.71 14.71
1820 224.5 -9.1 98 1831 done -0.39 - - 3249 - - - 1906 - -107.1 - - 3385 - - - - - - - - 14.71 14.72 14.72
2001 241.3 -9.5 104 2011 done -0.39 - - 3249 - - - 1906 - -107.1 - - 3383 - - - - - - - - 14.71 14.73 14.71
2210 262.6 -10.2 109 2221 done -0.39 - - 3249 - - - 1906 - -107.1 - - 3383 - - - - - - - - 14.71 14.73 14.73
2511 292.7 -10.0 114 2521 done -0.39 - - 3249 - - - 1906 - -107.1 - - 3381 - - - - - - - - 14.71 14.75 14.74
2811 323.3 -10.2 119 2822 roll -0.39 - - 3249 - 2.55 0.109 485 -557.3 -107.1 - - 3380 - - - - - - - - 14.74 14.34 14.76
2847 327.3 -11.0 124 2858 done -0.39 - - 3249 - 2.50 0.094 1897 564.8 -107.1 - - 3379 - - - - - - - - 14.52 14.39 14.56
3199 360.6 -9.5 136 3210 roll -0.39 - - 3251 - 2.55 0.106 3322 558.8 -107.1 - - 3378 - - - - - - - - 14.73 14.34 14.74
3255 366.1 -8.6 145 3266 done -0.39 - - 3246 - 2.55 0.093 1898 -558.4 -107.1 - - 3379 - - - - - - - - 14.52 14.40 14.56
3583 395.1 -8.9 153 3593 done -0.39 - - 3249 - - - 1897 - -107.1 - - 3377 - - - - - - - - 14.73 14.75 14.75
3883 422.4 -9.1 158 3893 done -0.39 - - 3249 - - - 1897 - -107.1 - - 3376 - - - - - - - - 14.75 14.75 14.74
4183 448.8 -8.7 163 4194 done -0.39 - - 3249 - - - 1897 - -107.1 - - 3375 - - - - - - - - 14.73 14.75 14.75
4483 473.5 -8.2 168 4493 done -0.39 - - 3249 - - - 1897 - -107.1 - - 3373 - - - - - - - - 14.74 14.76 14.76
4783 498.1 -8.3 173 4793 done -0.39 - - 3249 - - - 1897 - -107.1 - - 3372 - - - - - - - - 14.73 14.75 14.75
5083 523.5 -8.6 178 5093 done -0.39 - - 3249 - - - 1891 - -107.1 - - 3371 - - - - - - - - 14.73 14.76 14.76
5384 547.3 -7.8 183 5395 done -0.39 - - 3249 - - - 1897 - -107.1 - - 3373 - - - - - - - - 14.73 14.75 14.74
5683 569.4 -7.2 188 5694 roll -0.39 - - 3254 - 2.55 0.112 492 -551.0 -107.1 - - 3369 - - - - - - - - 14.74 14.35 14.76
5720 572.3 -8.2 193 5731 done -0.39 - - 3249 - 2.53 0.096 1900 556.5 -107.1 - - 3369 - - - - - - - - 14.50 14.38 14.57
6071 597.7 -7.5 205 6082 done -0.39 - - 3248 - - - 1900 - -107.1 - - 3368 - - - - - - - - 14.71 14.73 14.73
6367 620.5 -7.6 210 6379 roll -0.39 - - 3249 - 2.58 0.110 3322 551.2 -107.1 - - 3370 - - - - - - - - 14.72 14.32 14.74
6415 624.1 -7.4 217 6426 done -0.39 - - 3249 - 2.55 0.096 1905 -555.7 -107.1 - - 3367 - - - - - - - - 14.50 14.37 14.54
6753 648.8 -7.3 227 6764 done -0.39 - - 3250 - - - 1905 - -107.1 - - 3367 - - - - - - - - 14.73 14.74 14.74
7052 669.7 -7.0 232 7063 roll -0.39 - - 3249 - 2.60 0.111 3322 545.0 -107.1 - - 3366 - - - - - - - - 14.71 14.31 14.73
7099 673.0 -6.8 239 7110 done -0.39 - - 3249 - 2.58 0.097 1890 -555.0 -107.1 - - 3365 - - - - - - - - 14.50 14.35 14.53
7437 694.6 -6.3 249 7448 done -0.39 - - 3249 - - - 1889 - -107.1 - - 3365 - - - - - - - - 14.72 14.74 14.73
7737 712.9 -6.1 254 7747 done -0.39 - - 3249 - - - 1889 - -107.1 - - 3364 - - - - - - - - 14.72 14.73 14.73
8038 731.8 -6.3 259 8048 done -0.39 - - 3249 - - - 1888 - -107.1 - - 3364 - - - - - - - - 14.72 14.74 14.73
8337 751.6 -6.7 264 8347 done -0.39 - - 3249 - - - 1889 - -107.1 - - 3363 - - - - - - - - 14.71 14.73 14.73
8637 773.3 -7.3 269 8647 done -0.39 - - 3249 - - - 1889 - -107.1 - - 3363 - - - - - - - - 14.72 14.73 14.73
8937 796.8 -7.9 274 8948 done -0.39 - - 3249 - - - 1889 - -107.1 - - 3366 - - - - - - - - 14.71 14.73 14.72
9237 820.3 -7.8 279 9248 roll -0.39 - - 3249 - 2.62 0.109 3319 545.8 -107.1 - - 3362 - - - - - - - - 14.71 14.31 14.73
9290 823.9 -8.4 287 9301 done -0.39 - - 3249 - 2.58 0.097 1890 -553.9 -107.1 - - 3362 - - - - - - - - 14.47 14.34 14.52
9622 847.1 -6.9 296 9632 done -0.39 - - 3249 - - - 1890 - -107.1 - - 3361 - - - - - - - - 14.71 14.73 14.76
9922 866.2 -6.3 301 9932 done -0.39 - - 3247 - - - 1890 - -107.1 - - 3361 - - - - - - - - 14.69 14.72 14.72
10222 884.2 -6.0 306 10233 done -0.39 - - 3250 - - - 1890 - -107.1 - - 3360 - - - - - - - - 14.73 14.73 14.73
10522 902.9 -6.3 311 10533 done -0.39 - - 3249 - - - 1890 - -107.1 - - 3361 - - - - - - - - 14.69 14.73 14.73
10822 921.6 -6.2 316 10834 roll -0.39 - - 3249 - 2.62 0.112 3319 545.4 -107.1 - - 3360 - - - - - - - - 14.71 14.30 14.72
10884 925.3 -5.6 326 10896 done -0.39 - - 3250 - 2.55 0.099 1908 -553.3 -107.1 - - 3359 - - - - - - - - 14.47 14.33 14.52
11207 944.3 -5.9 333 11218 done -0.39 - - 3249 - - - 1907 - -107.1 - - 3362 - - - - - - - - 14.70 14.71 14.71
11507 962.8 -6.2 338 11518 done -0.39 - - 3249 - - - 1907 - -107.1 - - 3359 - - - - - - - - 14.70 14.72 14.72
11807 981.4 -6.2 343 11818 done -0.39 - - 3249 - - - 1907 - -107.1 - - 3359 - - - - - - - - 14.70 14.71 14.71
11982 end dive: TARGET_DEPTH_EXCEEDED
11982 begin apogee
11994 992.4 -6.1 346 12087 done -0.16 0.32 0.167 3343 293.8 - - 2263 - - 84.65 1.903 2941 -4.9 0.486 - - - - - - 14.26 13.95 13.21
12089 end apogee: CONTROL_FINISHED_OK
12089 begin climb
12094 995.1 - 347 12192 done 0.39 0.50 0.105 3520 354.0 - - 2266 - 107.1 89.68 1.870 2504 -4.9 0.490 - - - - - - 13.95 13.71 13.01
12473 972.7 7.4 354 12483 done 0.39 - - 3520 - - - 2266 - 107.1 - - 2499 - - - - - - - - 14.33 14.35 14.35
12767 950.2 7.5 359 12778 done 0.39 - - 3523 - - - 2267 - 107.1 - - 2502 - - - - - - - - 14.50 14.52 14.51
13067 928.4 7.2 364 13077 done 0.39 - - 3520 - - - 2266 - 107.1 - - 2498 - - - - - - - - 14.56 14.57 14.57
13367 907.4 6.9 369 13377 done 0.39 - - 3522 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.60 14.62 14.62
13667 886.3 7.0 374 13677 done 0.39 - - 3520 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.64 14.66 14.65
13968 863.9 7.5 379 13978 done 0.39 - - 3517 - - - 2266 - 107.1 - - 2496 - - - - - - - - 14.64 14.66 14.66
14267 841.0 7.6 384 14277 done 0.39 - - 3520 - - - 2266 - 107.1 - - 2496 - - - - - - - - 14.66 14.67 14.67
14567 818.0 7.7 389 14578 roll 0.39 - - 3527 - 2.65 0.109 823 -544.5 107.1 - - 2496 - - - - - - - - 14.67 14.28 14.69
14619 813.6 8.2 397 14630 done 0.39 - - 3527 - 2.55 0.099 2245 557.6 107.1 - - 2496 - - - - - - - - 14.45 14.29 14.50
14951 788.2 7.6 406 14962 roll 0.39 - - 3527 - 2.62 0.110 3664 541.6 107.1 - - 2496 - - - - - - - - 14.67 14.28 14.69
15053 780.4 8.4 423 15064 done 0.39 - - 3527 - 2.60 0.099 2234 -550.0 107.1 - - 2494 - - - - - - - - 14.43 14.28 14.47
15405 754.2 7.4 435 15415 done 0.39 - - 3527 - - - 2234 - 107.1 - - 2495 - - - - - - - - 14.66 14.68 14.71
15701 731.6 7.6 440 15712 roll 0.39 - - 3527 - 2.55 0.110 838 -547.5 107.1 - - 2495 - - - - - - - - 14.66 14.29 14.70
15748 728.1 7.6 447 15759 done 0.39 - - 3524 - 2.53 0.098 2246 556.5 107.1 - - 2495 - - - - - - - - 14.45 14.31 14.50
16090 704.3 6.9 457 16101 done 0.39 - - 3533 - - - 2246 - 107.1 - - 2495 - - - - - - - - 14.67 14.69 14.69
16386 684.7 6.5 462 16398 roll 0.41 - - 3527 - 2.62 0.111 3664 541.2 107.1 - - 2495 - - - - - - - - 14.68 14.27 14.67
16469 678.8 7.3 476 16480 done 0.41 - - 3528 - 2.58 0.096 2254 -546.5 107.1 - - 2495 - - - - - - - - 14.44 14.30 14.47
16836 657.6 5.7 491 16847 roll 0.44 - - 3528 - 2.58 0.108 835 -550.0 107.1 - - 2495 - - - - - - - - 14.68 14.28 14.70
16883 654.6 5.7 498 16895 done 0.47 - - 3527 - 2.53 0.098 2253 560.5 107.1 - - 2495 - - - - - - - - 14.45 14.32 14.51
17226 636.4 5.4 508 17236 done 0.51 - - 3528 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.66 14.68 14.68
17522 617.4 6.5 513 17534 roll 0.53 0.08 0.156 3592 800.0 2.60 0.111 3664 542.7 107.1 - - 2496 - - - - - - - - 14.40 14.26 14.43
17574 612.4 10.3 521 17586 done 0.53 0.12 0.246 3562 -250.0 2.58 0.098 2252 -547.3 107.1 - - 2495 - - - - - - - - 14.14 14.31 14.41
17912 582.6 8.9 530 17923 roll 0.53 - - 3574 - 2.58 0.109 836 -548.8 107.1 - - 2495 - - - - - - - - 14.66 14.28 14.68
18031 571.1 9.1 551 18042 done 0.53 - - 3574 - 2.55 0.099 2248 553.7 107.1 - - 2495 - - - - - - - - 14.43 14.29 14.48
18359 542.0 8.9 559 18370 roll 0.53 - - 3574 - 2.62 0.112 3664 540.5 107.1 - - 2495 - - - - - - - - 14.67 14.24 14.66
18465 532.0 10.2 577 18476 done 0.53 - - 3582 - 2.58 0.096 2244 -550.4 107.1 - - 2495 - - - - - - - - 14.44 14.31 14.49
18812 500.9 8.9 588 18823 done 0.53 - - 3582 - - - 2244 - 107.1 - - 2494 - - - - - - - - 14.66 14.68 14.67
19108 475.7 8.4 593 19118 done 0.53 - - 3582 - - - 2245 - 107.1 - - 2494 - - - - - - - - 14.69 14.70 14.70
19408 451.2 8.1 598 19419 roll 0.53 - - 3582 - 2.67 0.112 3663 531.1 107.1 - - 2494 - - - - - - - - 14.66 14.28 14.72
19533 439.7 9.0 620 19544 done 0.53 - - 3590 - 2.58 0.099 2253 -546.5 107.1 - - 2493 - - - - - - - - 14.44 14.30 14.49
19857 413.3 8.1 627 19867 done 0.53 - - 3590 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.66 14.69 14.69
20155 388.5 8.3 632 20166 done 0.53 - - 3590 - - - 2251 - 107.1 - - 2495 - - - - - - - - 14.67 14.69 14.71
20455 364.4 7.9 637 20466 roll 0.53 - - 3586 - 2.65 0.110 3669 535.1 107.1 - - 2495 - - - - - - - - 14.68 14.28 14.70
20610 351.7 8.2 665 20622 done 0.53 0.15 0.252 3563 -153.3 2.60 0.097 2236 -551.2 107.1 - - 2495 - - - - - - - - 14.13 14.29 14.39
20963 328.3 6.6 678 20974 done 0.54 - - 3563 - - - 2235 - 107.1 - - 2495 - - - - - - - - 14.66 14.66 14.68
21264 308.6 6.6 683 21274 done 0.56 - - 3563 - - - 2233 - 107.1 - - 2495 - - - - - - - - 14.68 14.70 14.69
21563 287.9 6.9 688 21573 done 0.56 - - 3563 - - - 2236 - 107.1 - - 2495 - - - - - - - - 14.68 14.69 14.69
21864 268.0 6.6 693 21874 done 0.57 - - 3565 - - - 2236 - 107.1 - - 2495 - - - - - - - - 14.67 14.69 14.69
22163 251.2 5.4 698 22175 roll 0.61 - - 3563 - 2.67 0.109 3665 535.2 107.1 - - 2495 - - - - - - - - 14.67 14.28 14.69
22231 247.4 5.8 709 22243 done 0.64 - - 3570 - 2.55 0.093 2255 -552.9 107.1 - - 2495 - - - - - - - - 14.43 14.28 14.48
22541 230.7 5.5 720 22552 done 0.68 0.10 0.129 3638 680.0 - - 2254 - 107.1 - - 2495 - - - - - - - - 14.40 14.51 14.48
22717 217.3 7.8 726 22729 roll 0.68 - - 3647 - 2.58 0.104 838 -548.8 107.1 - - 2496 - - - - - - - - 14.68 14.23 14.69
22769 212.9 8.5 734 22782 done 0.68 0.12 0.249 3614 -275.0 2.53 0.095 2253 559.3 107.1 - - 2496 - - - - - - - - 14.12 14.31 14.40
22988 197.7 6.9 744 22998 done 0.68 - - 3614 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.63 14.64 14.66
23163 185.4 6.8 750 23175 roll 0.69 - - 3613 - 2.60 0.109 3664 542.7 107.1 - - 2500 - - - - - - - - 14.65 14.26 14.66
23319 173.8 7.4 778 23330 done 0.69 - - 3618 - 2.58 0.093 2236 -553.5 107.1 - - 2496 - - - - - - - - 14.42 14.29 14.46
23526 161.0 6.4 786 23538 roll 0.71 - - 3622 - 2.65 0.107 3664 538.9 107.1 - - 2496 - - - - - - - - 14.66 14.26 14.67
23693 149.3 6.9 816 23704 done 0.71 - - 3627 - 2.55 0.093 2253 -553.3 107.1 - - 2496 - - - - - - - - 14.42 14.28 14.45
23920 137.3 5.0 828 23965 done 0.73 - - 3627 - - - 2254 - 157.4 37.83 0.909 2297 -5.3 0.150 - - - - - - 14.66 14.35 13.87
24127 120.6 8.9 835 24138 roll 0.73 - - 3627 - 2.62 0.106 3664 538.2 157.4 - - 2297 - - - - - - - - 14.55 14.16 14.57
24373 97.0 10.0 881 24384 done 0.73 - - 3636 - 2.58 0.092 2251 -547.7 157.4 - - 2299 - - - - - - - - 14.38 14.25 14.41
24580 86.1 3.9 889 24652 roll 0.77 - - 3636 - 2.70 0.106 3663 523.0 233.4 56.17 0.838 1982 -5.6 0.109 - - - - - - 14.59 14.18 13.83
24888 58.6 11.6 948 24900 done 0.77 - - 3638 - 2.60 0.093 2235 -549.2 233.4 - - 1980 - - - - - - - - 14.31 14.18 14.35
25075 43.1 8.1 955 25086 roll 0.77 - - 3638 - 2.65 0.103 3664 539.2 233.4 - - 1980 - - - - - - - - 14.56 14.21 14.57
25322 22.5 4.0 1001 25382 done 0.81 - - 3639 - 2.58 0.091 2246 -549.6 305.6 47.95 0.742 1691 -6.0 0.035 - - - - - - 14.38 14.26 13.88
25583 11.6 4.0 1021 25627 roll 0.84 - - 3636 - 2.62 0.103 3664 541.2 378.1 32.22 0.129 1398 -9.1 0.154 - - - - - - 14.53 14.21 14.15
25674 5.8 10.0 1037 25685 done 0.84 - - 3639 - 2.60 0.093 2235 -549.6 378.1 - - 1399 - - - - - - - - 14.34 14.21 14.37
25692 end climb: SURFACE_DEPTH_REACHED
25692 begin surface coast
25723 end surface coast: CONTROL_FINISHED_OK
25723 begin surface
SM 2.12 - - - - -10.26 10.02 0.051 91 9.1 0.60 0.107 1907 1461.7 400.08 9.40 0.086 1309 139.3 -0.351 - - - - - -