NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 572 * Raw log
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• Previous call tries 1 • 161.53 of 350.00 AH used of 24V (53.85% remains)
• Previous NAKs 7, Timeouts 0
• Surface angle -79.5 deg, depth 0.94 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 17 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
32 - - - 111 done -0.39 - - 84 - - - 1968 - -107.1 -75.12 - 3379 - - - - - - - - 14.46 12.43 14.37
118 1.9 -2.6 2 140 roll -0.39 14.25 0.353 3252 222.3 2.65 0.096 3390 536.6 -107.1 - - 3382 - - - - - - - - 13.68 14.04 14.05
325 46.6 -10.7 41 333 done -0.39 - - 3252 - 2.60 0.083 1975 -544.2 -107.1 - - 3383 - - - - - - - - 14.08 13.93 14.12
681 80.2 -9.5 50 689 roll -0.39 - - 3252 - 2.60 0.097 551 -547.7 -107.1 - - 3384 - - - - - - - - 14.48 13.89 14.50
804 91.5 -9.3 73 814 done -0.39 - - 3252 - 2.60 0.086 1969 545.4 -107.1 - - 3385 - - - - - - - - 14.07 13.92 14.09
1111 118.6 -8.9 79 1119 roll -0.39 - - 3252 - 2.65 0.102 3391 536.6 -107.1 - - 3385 - - - - - - - - 14.50 13.85 14.52
1164 123.4 -8.6 88 1172 done -0.39 - - 3252 - 2.60 0.083 1966 -548.1 -107.1 - - 3385 - - - - - - - - 14.09 13.94 14.15
1488 152.0 -8.9 96 1496 roll -0.39 - - 3252 - 2.60 0.098 561 -540.4 -107.1 - - 3385 - - - - - - - - 14.51 13.86 14.52
1522 155.1 -9.1 101 1531 done -0.39 - - 3252 - 2.58 0.086 1973 547.3 -107.1 - - 3385 - - - - - - - - 14.02 13.87 14.05
1867 183.3 -8.1 113 1875 roll -0.39 - - 3252 - 2.65 0.102 3389 534.3 -107.1 - - 3388 - - - - - - - - 14.52 13.73 14.50
1926 187.8 -7.3 123 1934 done -0.39 - - 3251 - 2.60 0.086 1972 -545.0 -107.1 - - 3384 - - - - - - - - 14.06 13.90 14.11
2247 210.8 -7.2 130 2250 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3384 - - - - - - - - 14.50 14.52 14.52
2545 232.3 -7.2 135 2548 done -0.39 - - 3252 - - - 1974 - -107.1 - - 3383 - - - - - - - - 14.52 14.54 14.54
2845 253.4 -7.0 140 2848 done -0.39 - - 3252 - - - 1974 - -107.1 - - 3383 - - - - - - - - 14.53 14.55 14.54
3146 273.8 -6.8 145 3154 roll -0.39 - - 3252 - 2.65 0.099 545 -539.2 -107.1 - - 3385 - - - - - - - - 14.51 13.81 14.54
3185 276.8 -7.7 151 3193 done -0.39 - - 3252 - 2.62 0.087 1975 545.8 -107.1 - - 3380 - - - - - - - - 14.03 13.88 14.08
3525 300.6 -7.0 162 3533 roll -0.39 - - 3252 - 2.65 0.103 3387 532.8 -107.1 - - 3382 - - - - - - - - 14.53 13.79 14.54
3588 305.0 -6.6 173 3598 done -0.39 - - 3252 - 2.62 0.086 1956 -546.2 -107.1 - - 3381 - - - - - - - - 14.02 13.88 14.07
3894 325.9 -6.9 179 3898 done -0.39 - - 3252 - - - 1956 - -107.1 - - 3380 - - - - - - - - 14.52 14.54 14.54
4194 346.6 -6.9 184 4197 done -0.39 - - 3252 - - - 1956 - -107.1 - - 3383 - - - - - - - - 14.52 14.54 14.53
4494 367.6 -7.0 189 4503 roll -0.39 - - 3252 - 2.60 0.101 560 -536.9 -107.1 - - 3380 - - - - - - - - 14.51 13.80 14.54
4538 371.0 -7.9 196 4546 done -0.39 - - 3252 - 2.62 0.086 1976 540.5 -107.1 - - 3380 - - - - - - - - 14.01 13.87 14.07
4874 394.9 -7.2 206 4881 roll -0.39 - - 3252 - 2.65 0.103 3390 533.6 -107.1 - - 3379 - - - - - - - - 14.50 13.73 14.54
4931 399.1 -7.0 216 4939 done -0.39 - - 3253 - 2.65 0.086 1974 -534.3 -107.1 - - 3381 - - - - - - - - 14.02 13.84 14.04
5250 421.4 -7.0 223 5253 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3378 - - - - - - - - 14.52 14.53 14.53
5552 442.1 -6.8 228 5555 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3378 - - - - - - - - 14.49 14.51 14.50
5850 461.5 -6.4 233 5859 roll -0.39 - - 3253 - 2.67 0.102 548 -533.7 -107.1 - - 3378 - - - - - - - - 14.48 13.74 14.51
5886 463.9 -7.1 238 5894 done -0.39 - - 3252 - 2.65 0.089 1976 538.9 -107.1 - - 3376 - - - - - - - - 13.97 13.83 14.03
6232 484.0 -5.7 250 6240 roll -0.39 - - 3252 - 2.67 0.105 3388 528.8 -107.1 - - 3376 - - - - - - - - 14.49 13.71 14.48
6290 487.5 -5.7 260 6298 done -0.39 - - 3252 - 2.65 0.088 1957 -540.0 -107.1 - - 3376 - - - - - - - - 13.97 13.83 14.03
6611 505.5 -5.7 267 6614 done -0.39 - - 3251 - - - 1956 - -107.1 - - 3376 - - - - - - - - 14.47 14.50 14.50
6909 522.2 -5.5 272 6918 roll -0.39 - - 3252 - 2.60 0.103 563 -535.8 -107.1 - - 3375 - - - - - - - - 14.50 13.70 14.51
6958 525.2 -6.4 280 6966 done -0.39 - - 3252 - 2.60 0.088 1968 540.4 -107.1 - - 3376 - - - - - - - - 13.95 13.79 14.01
7289 541.8 -5.0 289 7298 roll -0.39 - - 3252 - 2.70 0.104 3391 527.0 -107.1 - - 3375 - - - - - - - - 14.48 13.70 14.50
7348 544.7 -4.8 299 7356 done -0.39 - - 3252 - 2.65 0.086 1959 -540.4 -107.1 - - 3374 - - - - - - - - 13.97 13.83 14.02
7668 560.5 -5.0 306 7676 roll -0.39 - - 3252 - 2.62 0.103 564 -532.4 -107.1 - - 3374 - - - - - - - - 14.47 13.70 14.49
7699 562.3 -6.0 310 7707 done -0.39 - - 3252 - 2.60 0.088 1969 540.4 -107.1 - - 3377 - - - - - - - - 13.96 13.81 14.01
8048 582.9 -6.0 323 8051 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3371 - - - - - - - - 14.48 14.50 14.50
8350 601.7 -6.3 328 8357 roll -0.39 - - 3252 - 2.70 0.107 3390 526.3 -107.1 - - 3373 - - - - - - - - 14.45 13.66 14.50
8397 604.8 -6.2 336 8405 done -0.39 - - 3252 - 2.65 0.088 1974 -534.3 -107.1 - - 3371 - - - - - - - - 13.95 13.81 14.01
8726 625.2 -6.2 345 8730 done -0.39 - - 3249 - - - 1973 - -107.1 - - 3372 - - - - - - - - 14.47 14.50 14.49
9028 643.8 -6.2 350 9031 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3372 - - - - - - - - 14.45 14.48 14.48
9326 663.0 -6.4 355 9329 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3372 - - - - - - - - 14.47 14.50 14.50
9626 682.6 -6.5 360 9629 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3371 - - - - - - - - 14.47 14.49 14.49
9927 700.4 -5.8 365 9931 done -0.39 - - 3251 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.44 14.44 14.45
10227 716.0 -5.2 370 10230 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3374 - - - - - - - - 14.47 14.49 14.49
10527 730.2 -4.6 375 10534 roll -0.39 - - 3252 - 2.70 0.103 546 -528.5 -107.1 - - 3368 - - - - - - - - 14.45 13.69 14.46
10581 733.0 -6.3 384 10588 done -0.39 - - 3248 - 2.67 0.091 1986 539.3 -107.1 - - 3370 - - - - - - - - 13.90 13.76 13.96
10905 747.1 -4.4 392 10912 roll -0.39 - - 3252 - 2.67 0.108 3376 520.6 -107.1 - - 3371 - - - - - - - - 14.45 13.66 14.46
10948 749.2 -4.7 399 10956 done -0.39 - - 3258 - 2.65 0.090 1963 -533.2 -107.1 - - 3370 - - - - - - - - 13.93 13.79 13.97
11284 765.1 -4.8 409 11287 done -0.39 - - 3253 - - - 1963 - -107.1 - - 3369 - - - - - - - - 14.42 14.44 14.45
11583 779.2 -4.7 414 11591 roll -0.39 - - 3252 - 2.65 0.104 562 -528.7 -107.1 - - 3369 - - - - - - - - 14.47 13.68 14.48
11633 781.8 -5.6 422 11641 done -0.39 - - 3252 - 2.62 0.092 1966 535.9 -107.1 - - 3369 - - - - - - - - 13.90 13.74 13.95
11962 797.2 -4.7 431 11970 roll -0.39 - - 3252 - 2.72 0.108 3390 523.5 -107.1 - - 3368 - - - - - - - - 14.45 13.62 14.47
12007 799.0 -4.7 438 12015 done -0.39 - - 3252 - 2.65 0.088 1975 -534.0 -107.1 - - 3367 - - - - - - - - 13.91 13.76 13.97
12343 815.6 -4.9 448 12350 roll -0.39 - - 3252 - 2.67 0.103 557 -531.1 -107.1 - - 3369 - - - - - - - - 14.45 13.70 14.47
12391 818.3 -6.2 456 12398 done -0.39 - - 3252 - 2.65 0.092 1976 535.5 -107.1 - - 3368 - - - - - - - - 13.91 13.76 13.97
12722 835.7 -5.3 465 12730 roll -0.39 - - 3252 - 2.70 0.108 3380 520.0 -107.1 - - 3368 - - - - - - - - 14.42 13.65 14.43
12776 838.9 -5.5 474 12784 done -0.39 - - 3252 - 2.67 0.093 1958 -532.6 -107.1 - - 3367 - - - - - - - - 13.90 13.75 13.97
13101 856.8 -5.5 482 13104 done -0.39 - - 3252 - - - 1957 - -107.1 - - 3367 - - - - - - - - 14.45 14.47 14.47
13402 873.1 -5.4 487 13405 done -0.39 - - 3252 - - - 1957 - -107.1 - - 3367 - - - - - - - - 14.43 14.45 14.45
13701 888.7 -5.2 492 13704 done -0.39 - - 3252 - - - 1957 - -107.1 - - 3367 - - - - - - - - 14.45 14.47 14.47
14001 903.2 -4.8 497 14004 done -0.39 - - 3252 - - - 1957 - -107.1 - - 3367 - - - - - - - - 14.46 14.47 14.50
14303 917.7 -4.8 502 14306 done -0.39 - - 3252 - - - 1957 - -107.1 - - 3366 - - - - - - - - 14.45 14.47 14.47
14601 932.4 -4.9 507 14604 done -0.39 - - 3252 - - - 1958 - -107.1 - - 3369 - - - - - - - - 14.42 14.44 14.44
14902 947.7 -5.1 512 14905 done -0.39 - - 3252 - - - 1957 - -107.1 - - 3365 - - - - - - - - 14.43 14.45 14.45
15201 963.0 -5.1 517 15204 done -0.39 - - 3252 - - - 1960 - -107.1 - - 3365 - - - - - - - - 14.44 14.45 14.45
15502 977.4 -4.7 522 15505 done -0.39 - - 3252 - - - 1957 - -107.1 - - 3365 - - - - - - - - 14.47 14.47 14.46
15796 end dive: TARGET_DEPTH_EXCEEDED
15796 begin apogee
15809 991.2 -4.6 527 15910 done -0.16 0.28 0.138 3339 310.7 - - 2264 - - 96.00 1.923 2941 -4.4 0.449 - - - - - - 13.71 13.71 12.64
15913 end apogee: CONTROL_FINISHED_OK
15914 begin climb
15919 993.3 - 528 16028 done 0.39 0.50 0.087 3520 362.0 - - 2264 - 107.1 100.53 1.919 2503 -4.4 0.445 - - - - - - 13.85 13.48 12.45
16287 976.9 5.7 535 16297 done 0.42 - - 3526 - - - 2264 - 107.1 - - 2499 - - - - - - - - 14.40 14.42 14.41
16581 959.2 6.0 540 16592 roll 0.45 - - 3527 - 2.67 0.103 842 -532.6 107.1 - - 2499 - - - - - - - - 14.50 13.94 14.51
16634 955.8 6.4 548 16645 done 0.47 - - 3523 - 2.58 0.094 2249 545.3 107.1 - - 2499 - - - - - - - - 14.15 13.96 14.17
16971 935.4 6.1 557 16983 roll 0.49 - - 3527 - 2.67 0.107 3661 528.8 107.1 - - 2498 - - - - - - - - 14.50 13.89 14.52
17054 929.1 7.4 571 17066 done 0.49 - - 3527 - 2.62 0.093 2255 -536.6 107.1 - - 2498 - - - - - - - - 14.12 13.96 14.17
17422 907.5 5.8 586 17434 roll 0.52 0.12 0.125 3612 708.3 2.65 0.101 840 -534.0 107.1 - - 2498 - - - - - - - - 14.18 13.83 14.21
17485 902.2 8.9 596 17497 done 0.52 0.20 0.219 3565 -235.0 2.60 0.093 2248 541.5 107.1 - - 2498 - - - - - - - - 13.69 13.93 13.96
17813 878.8 7.3 603 17824 roll 0.52 - - 3565 - 2.70 0.109 3664 524.4 107.1 - - 2498 - - - - - - - - 14.53 13.82 14.54
17887 872.3 8.5 615 17898 done 0.52 - - 3569 - 2.67 0.093 2238 -534.1 107.1 - - 2497 - - - - - - - - 14.06 13.90 14.11
18260 843.2 7.9 632 18271 done 0.52 - - 3570 - - - 2238 - 107.1 - - 2497 - - - - - - - - 14.56 14.58 14.58
18561 819.8 7.8 637 18572 done 0.52 - - 3569 - - - 2235 - 107.1 - - 2497 - - - - - - - - 14.55 14.56 14.57
18863 796.5 7.8 642 18873 done 0.52 - - 3569 - - - 2238 - 107.1 - - 2497 - - - - - - - - 14.54 14.55 14.54
19160 773.9 7.5 647 19171 roll 0.52 - - 3570 - 2.62 0.106 842 -532.8 107.1 - - 2497 - - - - - - - - 14.56 13.80 14.59
19209 770.5 7.6 654 19220 done 0.52 - - 3570 - 2.62 0.094 2261 541.6 107.1 - - 2497 - - - - - - - - 14.04 13.88 14.09
19550 745.5 7.3 664 19562 roll 0.52 - - 3570 - 2.65 0.109 3656 526.4 107.1 - - 2497 - - - - - - - - 14.51 13.79 14.57
19614 740.0 8.6 674 19625 done 0.52 - - 3580 - 2.65 0.091 2256 -528.3 107.1 - - 2496 - - - - - - - - 14.02 13.87 14.09
19936 715.0 7.6 681 19947 done 0.52 - - 3580 - - - 2254 - 107.1 - - 2496 - - - - - - - - 14.56 14.57 14.57
20238 691.3 7.9 686 20249 roll 0.52 - - 3579 - 2.72 0.109 3659 516.5 107.1 - - 2494 - - - - - - - - 14.56 13.76 14.57
20285 687.1 9.0 693 20296 done 0.52 - - 3586 - 2.65 0.091 2243 -534.3 107.1 - - 2496 - - - - - - - - 14.00 13.85 14.06
20623 657.4 8.9 703 20633 done 0.52 - - 3586 - - - 2242 - 107.1 - - 2492 - - - - - - - - 14.54 14.55 14.56
20924 630.3 9.1 708 20935 roll 0.52 - - 3586 - 2.75 0.106 3653 513.1 107.1 - - 2498 - - - - - - - - 14.53 13.75 14.52
21010 621.8 9.6 723 21022 done 0.52 0.15 0.233 3563 -153.3 2.65 0.090 2245 -531.3 107.1 - - 2496 - - - - - - - - 13.59 13.84 13.84
21369 595.1 7.3 737 21380 roll 0.52 - - 3576 - 2.65 0.104 842 -529.4 107.1 - - 2497 - - - - - - - - 14.52 13.71 14.53
21481 587.2 7.0 756 21492 done 0.52 - - 3570 - 2.65 0.094 2247 530.2 107.1 - - 2497 - - - - - - - - 13.94 13.78 14.02
21824 564.5 6.4 766 21835 roll 0.54 - - 3571 - 2.75 0.106 3666 516.0 107.1 - - 2496 - - - - - - - - 14.50 13.71 14.51
21964 555.1 6.0 791 21975 done 0.57 - - 3580 - 2.67 0.090 2255 -528.5 107.1 - - 2496 - - - - - - - - 13.97 13.81 14.04
22336 536.6 5.0 807 22391 done 0.59 - - 3580 - - - 2255 - 158.9 42.22 1.391 2290 -4.9 0.371 - - - - - - 14.50 14.04 13.14
22705 507.8 8.4 824 22715 done 0.59 - - 3580 - - - 2255 - 158.9 - - 2290 - - - - - - - - 14.47 14.49 14.49
23002 481.1 8.9 829 23014 roll 0.59 - - 3580 - 2.70 0.107 3665 522.2 158.9 - - 2293 - - - - - - - - 14.54 13.85 14.55
23061 475.4 10.1 838 23072 done 0.59 - - 3583 - 2.65 0.092 2236 -539.2 158.9 - - 2291 - - - - - - - - 14.09 13.95 14.16
23389 445.4 9.1 846 23399 done 0.59 - - 3583 - - - 2237 - 158.9 - - 2290 - - - - - - - - 14.53 14.55 14.54
23689 418.2 9.0 851 23700 roll 0.59 - - 3591 - 2.60 0.103 842 -536.5 158.9 - - 2293 - - - - - - - - 14.54 13.88 14.57
23737 413.8 9.3 858 23748 done 0.59 - - 3591 - 2.60 0.093 2257 544.2 158.9 - - 2293 - - - - - - - - 14.10 13.95 14.16
24074 384.6 8.6 868 24086 roll 0.59 - - 3596 - 2.67 0.106 3666 527.7 158.9 - - 2293 - - - - - - - - 14.53 13.83 14.57
24152 377.3 9.3 881 24164 done 0.59 - - 3598 - 2.62 0.091 2256 -538.2 158.9 - - 2293 - - - - - - - - 14.07 13.91 14.13
24526 347.1 8.1 897 24536 done 0.59 - - 3598 - - - 2256 - 158.9 - - 2293 - - - - - - - - 14.52 14.53 14.54
24821 323.8 7.7 902 24831 done 0.59 - - 3598 - - - 2256 - 158.9 - - 2293 - - - - - - - - 14.55 14.57 14.57
25120 300.6 7.7 907 25131 done 0.59 - - 3594 - - - 2256 - 158.9 - - 2293 - - - - - - - - 14.57 14.58 14.61
25422 276.8 7.9 912 25432 done 0.59 - - 3598 - - - 2253 - 158.9 - - 2294 - - - - - - - - 14.54 14.57 14.56
25720 252.5 8.1 917 25732 roll 0.59 - - 3598 - 2.72 0.105 3666 519.5 158.9 - - 2292 - - - - - - - - 14.58 13.83 14.57
25764 248.7 9.3 923 25775 done 0.59 - - 3606 - 2.65 0.089 2238 -538.9 158.9 - - 2294 - - - - - - - - 14.05 13.91 14.13
26113 220.8 8.1 934 26123 done 0.59 - - 3606 - - - 2238 - 158.9 - - 2294 - - - - - - - - 14.50 14.52 14.53
26406 197.2 7.8 939 26418 roll 0.59 - - 3607 - 2.75 0.105 3665 518.9 158.9 - - 2294 - - - - - - - - 14.53 13.69 14.54
26439 194.6 8.1 943 26450 done 0.59 - - 3614 - 2.62 0.087 2256 -537.8 158.9 - - 2292 - - - - - - - - 14.04 13.88 14.09
26796 167.8 7.5 956 26807 roll 0.59 - - 3626 - 2.62 0.099 840 -540.5 158.9 - - 2294 - - - - - - - - 14.52 13.75 14.53
26854 162.8 8.3 965 26867 done 0.59 0.15 0.216 3589 -246.7 2.60 0.089 2250 542.3 158.9 - - 2298 - - - - - - - - 13.69 13.91 13.93
27188 140.2 6.8 973 27200 roll 0.60 - - 3590 - 2.70 0.106 3665 524.1 158.9 - - 2295 - - - - - - - - 14.46 13.75 14.48
27306 131.1 8.1 993 27317 done 0.60 - - 3596 - 2.65 0.087 2236 -539.2 158.9 - - 2296 - - - - - - - - 14.00 13.85 14.05
27644 108.3 6.4 1002 27654 done 0.62 - - 3596 - - - 2237 - 158.9 - - 2296 - - - - - - - - 14.51 14.51 14.52
27940 92.2 5.3 1007 27987 roll 0.65 - - 3599 - 2.53 0.099 840 -552.2 203.0 35.28 0.862 2109 -5.3 0.112 - - - - - - 14.50 13.93 13.46
28032 86.7 6.6 1023 28043 done 0.66 - - 3599 - 2.58 0.090 2262 551.2 203.0 - - 2108 - - - - - - - - 14.15 14.00 14.19
28390 67.6 5.1 1036 28441 roll 0.68 - - 3600 - 2.62 0.106 3660 533.6 251.7 36.70 0.827 1911 -5.4 0.087 - - - - - - 14.52 14.12 13.50
28492 61.8 6.3 1054 28503 done 0.71 - - 3606 - 2.60 0.086 2252 -541.5 251.7 - - 1910 - - - - - - - - 14.14 14.00 14.17
28839 44.5 4.4 1067 28901 roll 0.74 - - 3600 - 2.62 0.101 839 -539.3 314.8 47.40 0.783 1654 -5.4 0.061 - - - - - - 14.51 14.10 13.50
28946 38.9 6.1 1086 28958 done 0.76 0.12 0.116 3673 608.3 2.55 0.089 2246 551.8 314.8 - - 1654 - - - - - - - - 14.09 13.96 14.14
29285 4.7 10.5 1101 29296 done 0.76 0.12 0.203 3637 -300.0 - - 2247 - 314.8 - - 1653 - - - - - - - - 13.89 14.14 14.07
29311 end climb: SURFACE_DEPTH_REACHED
29311 begin surface coast
29341 end surface coast: CONTROL_FINISHED_OK
29341 begin surface
SM 1.26 - - - - -10.27 9.98 0.039 85 8.5 0.52 0.093 1960 -4119.2 400.08 36.28 0.083 1309 36.1 -0.056 - - - - - -