NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 266 * Raw log
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• Previous call tries 3 • 72.60 of 350.00 AH used of 24V (79.26% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -78.1 deg, depth 0.99 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 93 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
31 - - - 107 done -0.39 - - 78 - - - 1882 - -107.1 -71.85 - 3379 - - - - - - - - 14.45 12.91 14.45
114 2.6 -4.7 2 135 roll -0.39 13.77 0.355 3258 230.9 2.53 0.097 488 -551.0 -107.1 - - 3381 - - - - - - - - 13.95 14.18 14.15
278 47.4 -14.2 33 287 done -0.39 - - 3257 - 2.53 0.091 1898 557.3 -107.1 - - 3385 - - - - - - - - 14.29 14.17 14.33
493 76.6 -14.0 44 500 roll -0.39 - - 3258 - 2.55 0.103 493 -551.0 -107.1 - - 3385 - - - - - - - - 14.57 14.18 14.56
546 83.7 -12.9 53 555 done -0.39 - - 3259 - 2.50 0.088 1898 562.0 -107.1 - - 3385 - - - - - - - - 14.34 14.23 14.38
752 107.6 -11.1 62 759 roll -0.39 - - 3258 - 2.58 0.103 3322 551.9 -107.1 - - 3386 - - - - - - - - 14.57 14.19 14.57
886 121.5 -10.4 86 893 done -0.39 - - 3258 - 2.55 0.089 1898 -558.4 -107.1 - - 3386 - - - - - - - - 14.38 14.26 14.42
1105 143.8 -9.4 98 1113 roll -0.39 - - 3259 - 2.58 0.105 475 -551.6 -107.1 - - 3386 - - - - - - - - 14.61 14.21 14.62
1223 154.2 -9.0 119 1230 done -0.39 - - 3261 - 2.53 0.090 1902 564.0 -107.1 - - 3386 - - - - - - - - 14.36 14.23 14.40
1426 171.0 -7.9 128 1434 roll -0.39 - - 3258 - 2.58 0.106 3321 550.0 -107.1 - - 3384 - - - - - - - - 14.61 14.23 14.63
1520 178.4 -7.8 145 1529 done -0.39 - - 3258 - 2.55 0.091 1900 -557.3 -107.1 - - 3385 - - - - - - - - 14.40 14.28 14.43
1705 193.7 -8.4 152 1708 done -0.39 - - 3259 - - - 1904 - -107.1 - - 3385 - - - - - - - - 14.64 14.65 14.65
1886 210.0 -9.1 158 1894 roll -0.39 - - 3258 - 2.60 0.107 3321 545.0 -107.1 - - 3384 - - - - - - - - 14.63 14.23 14.65
1944 215.4 -9.0 168 1953 done -0.39 - - 3258 - 2.55 0.092 1902 -556.5 -107.1 - - 3383 - - - - - - - - 14.41 14.28 14.45
2144 233.9 -9.2 176 2152 roll -0.39 - - 3258 - 2.55 0.106 482 -556.9 -107.1 - - 3383 - - - - - - - - 14.64 14.25 14.66
2197 239.3 -10.0 185 2206 done -0.39 - - 3259 - 2.53 0.092 1901 560.9 -107.1 - - 3381 - - - - - - - - 14.42 14.29 14.45
2402 258.2 -9.3 193 2411 roll -0.39 - - 3258 - 2.58 0.107 3319 549.6 -107.1 - - 3381 - - - - - - - - 14.64 14.26 14.66
2491 266.7 -9.2 209 2500 done -0.39 - - 3264 - 2.58 0.094 1891 -553.5 -107.1 - - 3381 - - - - - - - - 14.41 14.27 14.45
2842 300.7 -9.9 222 2846 done -0.39 - - 3264 - - - 1888 - -107.1 - - 3379 - - - - - - - - 14.64 14.66 14.66
3141 330.4 -9.9 227 3149 roll -0.39 - - 3258 - 2.62 0.106 3323 547.7 -107.1 - - 3377 - - - - - - - - 14.66 14.24 14.67
3210 337.0 -9.5 239 3217 done -0.39 - - 3258 - 2.58 0.093 1890 -555.4 -107.1 - - 3378 - - - - - - - - 14.42 14.28 14.45
3583 371.9 -9.3 256 3586 done -0.39 - - 3258 - - - 1889 - -107.1 - - 3377 - - - - - - - - 14.65 14.67 14.67
3878 398.7 -8.9 261 3887 roll -0.39 - - 3258 - 2.62 0.107 3319 545.8 -107.1 - - 3376 - - - - - - - - 14.65 14.24 14.67
3974 406.5 -7.9 278 3982 done -0.39 - - 3259 - 2.55 0.095 1909 -552.9 -107.1 - - 3374 - - - - - - - - 14.40 14.26 14.44
4319 433.7 -7.8 290 4327 roll -0.39 - - 3258 - 2.58 0.109 488 -550.8 -107.1 - - 3375 - - - - - - - - 14.66 14.24 14.68
4447 444.0 -8.3 313 4456 done -0.39 - - 3259 - 2.53 0.094 1899 557.7 -107.1 - - 3375 - - - - - - - - 14.40 14.26 14.44
4748 465.5 -7.0 319 4756 roll -0.39 - - 3258 - 2.60 0.108 3323 547.7 -107.1 - - 3374 - - - - - - - - 14.66 14.23 14.67
4895 475.3 -6.4 346 4903 done -0.39 - - 3259 - 2.58 0.093 1888 -556.2 -107.1 - - 3376 - - - - - - - - 14.40 14.27 14.44
5249 500.3 -7.3 360 5257 roll -0.39 - - 3261 - 2.53 0.109 496 -550.2 -107.1 - - 3372 - - - - - - - - 14.65 14.20 14.66
5339 507.5 -8.4 376 5346 done -0.39 - - 3258 - 2.50 0.092 1900 561.6 -107.1 - - 3372 - - - - - - - - 14.40 14.26 14.42
5687 533.9 -7.6 389 5696 roll -0.39 - - 3258 - 2.58 0.108 3318 549.6 -107.1 - - 3370 - - - - - - - - 14.64 14.23 14.65
5762 539.5 -7.4 402 5770 done -0.39 - - 3258 - 2.55 0.094 1911 -551.8 -107.1 - - 3370 - - - - - - - - 14.40 14.26 14.44
6127 564.7 -6.7 418 6130 done -0.39 - - 3258 - - - 1909 - -107.1 - - 3369 - - - - - - - - 14.63 14.65 14.65
6426 582.9 -6.0 423 6433 roll -0.39 - - 3255 - 2.58 0.109 486 -551.6 -107.1 - - 3369 - - - - - - - - 14.66 14.21 14.67
6499 587.9 -6.8 436 6507 done -0.39 - - 3258 - 2.53 0.093 1900 558.9 -107.1 - - 3369 - - - - - - - - 14.40 14.26 14.44
6863 608.0 -5.4 452 6871 roll -0.39 - - 3258 - 2.62 0.107 3324 543.5 -107.1 - - 3368 - - - - - - - - 14.64 14.21 14.64
6933 611.6 -5.1 464 6940 done -0.39 - - 3258 - 2.60 0.097 1890 -551.5 -107.1 - - 3368 - - - - - - - - 14.38 14.23 14.42
7306 632.3 -5.7 481 7315 roll -0.39 - - 3258 - 2.65 0.108 3324 541.1 -107.1 - - 3368 - - - - - - - - 14.62 14.21 14.64
7355 635.5 -6.0 489 7364 done -0.39 - - 3258 - 2.58 0.096 1905 -550.0 -107.1 - - 3367 - - - - - - - - 14.40 14.26 14.44
7686 657.1 -6.6 498 7689 done -0.39 - - 3258 - - - 1908 - -107.1 - - 3367 - - - - - - - - 14.63 14.65 14.64
7985 678.3 -7.2 503 7993 roll -0.39 - - 3259 - 2.62 0.108 3322 539.7 -107.1 - - 3367 - - - - - - - - 14.64 14.21 14.66
8043 682.8 -7.5 513 8051 done -0.39 - - 3258 - 2.60 0.096 1892 -550.0 -107.1 - - 3366 - - - - - - - - 14.39 14.26 14.43
8363 706.6 -7.5 520 8371 roll -0.39 - - 3258 - 2.55 0.111 493 -548.6 -107.1 - - 3366 - - - - - - - - 14.64 14.21 14.66
8432 712.5 -8.5 532 8440 done -0.39 - - 3258 - 2.55 0.094 1915 557.6 -107.1 - - 3366 - - - - - - - - 14.39 14.26 14.42
8806 738.7 -7.0 549 8809 done -0.39 - - 3258 - - - 1916 - -107.1 - - 3365 - - - - - - - - 14.62 14.64 14.63
9101 758.6 -6.6 554 9109 roll -0.39 - - 3258 - 2.58 0.109 3317 543.0 -107.1 - - 3364 - - - - - - - - 14.62 14.20 14.64
9164 762.5 -5.8 565 9174 done -0.39 - - 3258 - 2.58 0.097 1906 -546.9 -107.1 - - 3365 - - - - - - - - 14.36 14.23 14.42
9471 781.5 -6.2 571 9474 done -0.39 - - 3258 - - - 1905 - -107.1 - - 3364 - - - - - - - - 14.62 14.63 14.64
9770 800.5 -6.3 576 9778 roll -0.39 - - 3258 - 2.60 0.109 3302 537.3 -107.1 - - 3364 - - - - - - - - 14.63 14.21 14.64
9859 805.9 -6.6 592 9867 done -0.39 - - 3254 - 2.58 0.098 1889 -547.7 -107.1 - - 3363 - - - - - - - - 14.36 14.22 14.40
10208 830.4 -7.1 605 10211 done -0.39 - - 3258 - - - 1890 - -107.1 - - 3363 - - - - - - - - 14.62 14.64 14.64
10508 854.2 -7.9 610 10511 done -0.39 - - 3258 - - - 1890 - -107.1 - - 3363 - - - - - - - - 14.62 14.63 14.63
10808 878.6 -8.1 615 10811 done -0.39 - - 3258 - - - 1890 - -107.1 - - 3363 - - - - - - - - 14.62 14.64 14.64
11108 902.4 -7.8 620 11111 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3362 - - - - - - - - 14.63 14.64 14.64
11408 925.0 -7.5 625 11411 done -0.39 - - 3255 - - - 1890 - -107.1 - - 3362 - - - - - - - - 14.62 14.63 14.62
11709 949.3 -8.3 630 11717 roll -0.39 - - 3258 - 2.58 0.112 485 -544.6 -107.1 - - 3361 - - - - - - - - 14.62 14.18 14.62
11782 955.9 -8.9 643 11789 done -0.39 - - 3258 - 2.55 0.096 1899 554.5 -107.1 - - 3361 - - - - - - - - 14.35 14.21 14.40
12150 982.3 -7.1 659 12158 roll -0.39 - - 3258 - 2.62 0.109 3322 543.1 -107.1 - - 3358 - - - - - - - - 14.60 14.16 14.62
12254 989.4 -6.4 678 12262 done -0.39 - - 3259 - 2.58 0.095 1908 -548.1 -107.1 - - 3360 - - - - - - - - 14.35 14.20 14.40
12266 end dive: TARGET_DEPTH_EXCEEDED
12266 begin apogee
12279 991.3 -8.7 680 12368 done -0.16 0.25 0.163 3338 316.0 - - 2247 - - 84.55 1.908 2942 -4.9 0.488 - - - - - - 14.15 13.90 13.16
12371 end apogee: CONTROL_FINISHED_OK
12371 begin climb
12376 993.6 - 681 12483 roll 0.39 0.50 0.110 3515 354.0 2.75 0.110 3663 514.9 107.1 89.03 1.867 2500 -5.0 0.502 - - - - - - 13.91 13.55 12.97
12523 989.5 6.6 708 12535 done 0.40 - - 3516 - 2.67 0.097 2251 -528.8 107.1 - - 2498 - - - - - - - - 13.90 13.81 13.93
12885 968.1 5.9 722 12896 done 0.43 - - 3517 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.39 14.41 14.41
13182 951.3 5.6 727 13193 roll 0.47 - - 3517 - 2.60 0.112 843 -541.5 107.1 - - 2497 - - - - - - - - 14.51 14.14 14.53
13234 948.6 5.3 735 13282 done 0.49 - - 3517 - 2.58 0.096 2267 551.9 150.8 35.53 1.801 2323 -4.9 0.490 - - - - - - 14.31 14.15 13.40
13623 926.4 5.8 756 13635 roll 0.52 0.08 0.152 3588 887.5 2.65 0.105 839 -538.9 150.8 - - 2322 - - - - - - - - 14.26 14.17 14.30
13655 923.4 8.5 760 13666 done 0.52 - - 3589 - 2.58 0.098 2252 547.7 150.8 - - 2322 - - - - - - - - 14.33 14.23 14.36
14012 886.2 10.5 773 14023 roll 0.52 - - 3589 - 2.60 0.112 3662 542.3 150.8 - - 2323 - - - - - - - - 14.57 14.21 14.59
14079 877.6 11.9 784 14091 done 0.52 0.12 0.245 3565 -200.0 2.60 0.099 2249 -543.5 150.8 - - 2324 - - - - - - - - 14.09 14.26 14.32
14385 850.9 8.6 790 14396 done 0.52 - - 3565 - - - 2249 - 150.8 - - 2321 - - - - - - - - 14.61 14.63 14.62
14685 823.9 9.1 795 14695 done 0.52 - - 3565 - - - 2249 - 150.8 - - 2322 - - - - - - - - 14.64 14.66 14.66
14985 796.9 9.0 800 14996 roll 0.52 - - 3565 - 2.65 0.112 3663 533.6 150.8 - - 2323 - - - - - - - - 14.64 14.23 14.65
15028 792.8 8.0 806 15040 done 0.52 - - 3571 - 2.60 0.099 2235 -549.2 150.8 - - 2321 - - - - - - - - 14.39 14.26 14.45
15375 758.4 10.1 817 15385 done 0.52 - - 3571 - - - 2235 - 150.8 - - 2322 - - - - - - - - 14.65 14.66 14.68
15671 726.4 10.6 822 15682 done 0.52 - - 3571 - - - 2235 - 150.8 - - 2323 - - - - - - - - 14.65 14.66 14.66
15971 695.6 10.3 827 15982 done 0.52 - - 3571 - - - 2235 - 150.8 - - 2322 - - - - - - - - 14.66 14.68 14.67
16271 666.3 9.7 832 16282 done 0.52 - - 3571 - - - 2235 - 150.8 - - 2322 - - - - - - - - 14.66 14.69 14.66
16571 637.9 9.5 837 16582 roll 0.52 - - 3571 - 2.67 0.110 3663 534.8 150.8 - - 2323 - - - - - - - - 14.66 14.24 14.68
16597 635.1 9.5 840 16608 done 0.52 - - 3581 - 2.58 0.096 2254 -546.1 150.8 - - 2320 - - - - - - - - 14.42 14.27 14.45
16959 600.2 9.7 854 16970 done 0.52 - - 3581 - - - 2254 - 150.8 - - 2321 - - - - - - - - 14.65 14.67 14.66
17255 570.8 9.8 859 17266 roll 0.52 - - 3580 - 2.65 0.111 3664 532.1 150.8 - - 2322 - - - - - - - - 14.66 14.25 14.68
17287 567.4 10.1 863 17298 done 0.52 - - 3582 - 2.60 0.098 2247 -545.0 150.8 - - 2322 - - - - - - - - 14.42 14.28 14.46
17644 530.9 10.5 876 17654 done 0.52 - - 3582 - - - 2250 - 150.8 - - 2322 - - - - - - - - 14.64 14.66 14.66
17940 499.2 10.6 881 17950 done 0.52 - - 3582 - - - 2252 - 150.8 - - 2321 - - - - - - - - 14.66 14.69 14.68
18239 467.3 10.6 886 18250 done 0.52 - - 3582 - - - 2247 - 150.8 - - 2322 - - - - - - - - 14.66 14.67 14.67
18540 434.6 11.0 891 18551 roll 0.52 - - 3582 - 2.58 0.111 837 -546.5 150.8 - - 2322 - - - - - - - - 14.67 14.24 14.69
18602 428.0 10.6 901 18613 done 0.52 - - 3582 - 2.55 0.097 2254 555.7 150.8 - - 2321 - - - - - - - - 14.43 14.28 14.46
18924 392.1 11.2 908 18936 roll 0.52 - - 3582 - 2.60 0.111 3663 541.9 150.8 - - 2323 - - - - - - - - 14.67 14.23 14.69
18972 386.4 12.4 915 18983 done 0.52 - - 3582 - 2.58 0.097 2253 -546.5 150.8 - - 2322 - - - - - - - - 14.42 14.27 14.45
19313 348.0 11.3 925 19324 done 0.52 - - 3582 - - - 2253 - 150.8 - - 2323 - - - - - - - - 14.64 14.66 14.64
19610 317.1 10.1 930 19620 done 0.52 - - 3582 - - - 2252 - 150.8 - - 2323 - - - - - - - - 14.66 14.68 14.67
19910 289.8 8.9 935 19920 done 0.52 - - 3582 - - - 2252 - 150.8 - - 2323 - - - - - - - - 14.70 14.71 14.69
20209 265.9 7.9 940 20220 done 0.52 - - 3584 - - - 2252 - 150.8 - - 2323 - - - - - - - - 14.66 14.68 14.67
20510 242.6 7.8 946 20520 done 0.52 - - 3582 - - - 2252 - 150.8 - - 2326 - - - - - - - - 14.65 14.69 14.69
20689 228.3 8.0 952 20700 done 0.52 - - 3583 - - - 2249 - 150.8 - - 2323 - - - - - - - - 14.67 14.69 14.69
20870 213.0 8.5 958 20881 roll 0.52 - - 3582 - 2.60 0.109 819 -550.0 150.8 - - 2325 - - - - - - - - 14.66 14.20 14.67
20896 210.6 8.6 961 20908 done 0.52 - - 3582 - 2.58 0.093 2249 554.3 150.8 - - 2323 - - - - - - - - 14.42 14.28 14.46
21104 194.2 7.8 970 21115 roll 0.52 - - 3582 - 2.60 0.110 3663 543.8 150.8 - - 2324 - - - - - - - - 14.65 14.21 14.66
21136 191.4 8.6 974 21148 done 0.52 - - 3583 - 2.58 0.094 2240 -551.6 150.8 - - 2325 - - - - - - - - 14.42 14.30 14.45
21339 176.1 7.4 982 21349 done 0.52 - - 3583 - - - 2237 - 150.8 - - 2326 - - - - - - - - 14.64 14.66 14.66
21519 161.3 8.4 988 21530 done 0.52 - - 3583 - - - 2237 - 150.8 - - 2323 - - - - - - - - 14.64 14.64 14.68
21699 144.0 9.8 994 21710 roll 0.52 - - 3580 - 2.65 0.109 3663 538.1 150.8 - - 2323 - - - - - - - - 14.65 14.22 14.69
21781 135.0 11.6 1008 21793 done 0.52 - - 3586 - 2.58 0.095 2252 -546.9 150.8 - - 2324 - - - - - - - - 14.39 14.26 14.43
21998 114.7 8.8 1018 22008 done 0.52 - - 3586 - - - 2253 - 150.8 - - 2324 - - - - - - - - 14.62 14.64 14.64
22175 101.9 6.5 1024 22186 roll 0.54 - - 3600 - 2.58 0.104 830 -551.6 150.8 - - 2324 - - - - - - - - 14.63 14.23 14.64
22211 99.9 5.2 1029 22260 done 0.56 - - 3595 - 2.55 0.093 2254 558.4 196.9 34.97 0.858 2133 -5.5 0.121 - - - - - - 14.40 14.27 13.89
22467 80.6 8.8 1048 22478 roll 0.56 - - 3595 - 2.60 0.106 3663 541.9 196.9 - - 2133 - - - - - - - - 14.56 14.19 14.57
22558 72.8 9.0 1063 22569 done 0.56 - - 3595 - 2.58 0.095 2253 -546.5 196.9 - - 2131 - - - - - - - - 14.28 14.15 14.33
22771 58.4 5.9 1072 22782 roll 0.59 - - 3595 - 2.58 0.106 822 -554.7 196.9 - - 2133 - - - - - - - - 14.57 14.18 14.58
22891 51.6 5.5 1093 22902 done 0.63 - - 3595 - 2.58 0.091 2249 553.1 196.9 - - 2131 - - - - - - - - 14.35 14.22 14.40
23103 43.7 3.6 1102 23174 roll 0.67 - - 3596 - 2.58 0.107 3663 548.1 279.3 59.38 0.763 1799 -5.6 0.061 - - - - - - 14.59 14.21 13.85
23293 30.3 9.1 1138 23305 done 0.67 - - 3595 - 2.60 0.096 2244 -545.8 279.3 - - 1796 - - - - - - - - 14.28 14.15 14.31
23521 18.2 4.1 1150 23565 roll 0.70 - - 3595 - 2.62 0.103 3663 541.6 349.2 32.78 0.161 1517 -8.5 0.183 - - - - - - 14.52 14.20 14.10
23643 10.0 8.3 1172 23654 done 0.70 - - 3595 - 2.58 0.093 2253 -546.5 349.2 - - 1518 - - - - - - - - 14.28 14.15 14.31
23750 end climb: SURFACE_DEPTH_REACHED
23750 begin surface coast
23817 end surface coast: CONTROL_FINISHED_OK
23817 begin surface
SM 0.71 - - - - -10.27 9.80 0.041 86 8.8 0.65 0.101 1891 1324.6 400.08 21.90 0.086 1309 59.8 -0.050 - - - - - -