NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 71 * Raw log
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• Previous call tries 1 • 18.97 of 350.00 AH used of 24V (94.58% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -77.7 deg, depth 1.08 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 375.06 (SM_CC=375)
• GPS1 time: 28 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 100 VBD -0.45 - - 90 - - - 1896 - -107.1 -65.47 - 3221 - - - - - - - - 14.53 - 14.55
107 4.4 -7.1 7 136 roll -0.45 13.35 0.361 3243 236.2 2.75 2.215 475 -516.7 -107.1 -2.33 - 3380 -68.2 - - - - - - - 14.19 13.53 14.41
333 65.3 -18.9 48 345 done -0.45 - - 3237 - 2.53 0.091 1894 560.9 -107.1 - - 3383 - - - - - - - - 14.46 14.38 14.47
526 96.2 -15.2 67 537 roll -0.45 - - 3236 - 2.55 0.109 475 -556.5 -107.1 - - 3384 - - - - - - - - 14.62 14.38 14.64
656 115.9 -14.7 90 670 done -0.45 - - 3237 - 2.50 0.090 1906 572.4 -107.1 - - 3385 - - - - - - - - 14.53 14.45 14.54
851 140.7 -13.0 109 862 roll -0.45 - - 3238 - 2.50 0.107 3318 564.8 -107.1 - - 3384 - - - - - - - - 14.66 14.45 14.69
883 144.6 -12.2 113 894 done -0.45 - - 3238 - 2.50 0.094 1898 -568.0 -107.1 - - 3384 - - - - - - - - 14.56 14.47 14.57
1085 168.8 -11.9 133 1096 roll -0.45 - - 3238 - 2.53 0.105 3318 561.3 -107.1 - - 3384 - - - - - - - - 14.69 14.46 14.73
1172 178.3 -11.3 147 1183 done -0.45 - - 3237 - 2.50 0.093 1900 -567.2 -107.1 - - 3386 - - - - - - - - 14.59 14.50 14.60
1375 201.6 -10.9 167 1386 roll -0.45 - - 3237 - 2.50 0.108 486 -565.6 -107.1 - - 3384 - - - - - - - - 14.71 14.51 14.73
1489 215.1 -11.8 187 1501 done -0.45 - - 3237 - 2.47 0.092 1894 570.0 -107.1 - - 3384 - - - - - - - - 14.61 14.52 14.62
1692 235.6 -10.2 207 1703 done -0.45 - - 3234 - - - 1894 - -107.1 - - 3384 - - - - - - - - 14.72 14.75 14.74
1894 256.5 -10.3 223 1905 roll -0.45 - - 3237 - 2.53 0.112 474 -561.3 -107.1 - - 3384 - - - - - - - - 14.74 14.52 14.76
1961 264.4 -12.0 234 1973 done -0.45 - - 3237 - 2.53 0.093 1915 569.6 -107.1 - - 3387 - - - - - - - - 14.61 14.54 14.64
2272 295.8 -9.9 245 2283 roll -0.45 - - 3241 - 2.45 0.105 3316 571.8 -107.1 - - 3383 - - - - - - - - 14.75 14.55 14.78
2334 302.2 -9.3 255 2345 done -0.45 - - 3237 - 2.50 0.096 1901 -566.0 -107.1 - - 3382 - - - - - - - - 14.64 14.56 14.66
2661 333.0 -9.7 267 2672 roll -0.45 - - 3238 - 2.50 0.112 486 -566.0 -107.1 - - 3382 - - - - - - - - 14.77 14.57 14.78
2757 343.3 -10.7 283 2768 done -0.45 - - 3237 - 2.47 0.093 1901 572.9 -107.1 - - 3382 - - - - - - - - 14.66 14.58 14.66
3080 375.7 -10.0 295 3091 roll -0.45 - - 3237 - 2.50 0.108 3319 567.2 -107.1 - - 3380 - - - - - - - - 14.78 14.56 14.79
3161 383.6 -9.2 309 3172 done -0.45 - - 3238 - 2.50 0.097 1902 -566.8 -107.1 - - 3381 - - - - - - - - 14.66 14.58 14.68
3493 415.4 -9.7 323 3504 roll -0.45 - - 3238 - 2.53 0.113 474 -564.4 -107.1 - - 3380 - - - - - - - - 14.78 14.55 14.80
3628 430.3 -11.0 347 3639 done -0.45 - - 3237 - 2.53 0.093 1912 568.4 -107.1 - - 3380 - - - - - - - - 14.66 14.59 14.69
3970 463.1 -9.1 363 3981 roll -0.45 - - 3238 - 2.47 0.109 3316 568.4 -107.1 - - 3378 - - - - - - - - 14.78 14.57 14.80
4037 469.0 -8.9 374 4050 done -0.45 - - 3237 - 2.53 0.097 1898 -560.5 -107.1 - - 3379 - - - - - - - - 14.67 14.59 14.69
4348 495.0 -8.5 385 4359 done -0.45 - - 3237 - - - 1897 - -107.1 - - 3378 - - - - - - - - 14.79 14.81 14.80
4644 520.9 -9.0 395 4655 done -0.45 - - 3238 - - - 1897 - -107.1 - - 3376 - - - - - - - - 14.79 14.81 14.81
4943 549.8 -9.8 405 4954 roll -0.45 - - 3238 - 2.50 0.114 482 -566.0 -107.1 - - 3377 - - - - - - - - 14.81 14.59 14.81
5010 557.3 -11.6 416 5022 done -0.45 - - 3237 - 2.47 0.095 1894 571.7 -107.1 - - 3375 - - - - - - - - 14.68 14.59 14.71
5322 589.1 -10.4 427 5333 roll -0.45 - - 3238 - 2.50 0.109 3318 569.6 -107.1 - - 3375 - - - - - - - - 14.79 14.57 14.79
5388 596.3 -10.0 438 5401 done -0.45 - - 3238 - 2.53 0.097 1886 -566.0 -107.1 - - 3374 - - - - - - - - 14.67 14.59 14.69
5700 625.7 -9.6 449 5711 roll -0.45 - - 3236 - 2.45 0.114 495 -567.8 -107.1 - - 3374 - - - - - - - - 14.79 14.57 14.81
5766 633.3 -10.9 460 5778 done -0.45 - - 3237 - 2.47 0.092 1911 573.3 -107.1 - - 3374 - - - - - - - - 14.68 14.60 14.69
6078 661.1 -8.8 471 6089 roll -0.45 - - 3237 - 2.47 0.110 3307 565.2 -107.1 - - 3373 - - - - - - - - 14.79 14.59 14.81
6174 669.3 -8.2 487 6185 done -0.45 - - 3238 - 2.47 0.101 1905 -567.6 -107.1 - - 3373 - - - - - - - - 14.66 14.57 14.69
6497 696.0 -8.0 499 6508 roll -0.45 - - 3237 - 2.53 0.114 475 -565.2 -107.1 - - 3372 - - - - - - - - 14.78 14.56 14.81
6626 708.2 -9.4 522 6639 done -0.45 - - 3238 - 2.47 0.093 1894 574.5 -107.1 - - 3372 - - - - - - - - 14.67 14.58 14.69
6936 732.7 -7.8 533 6947 roll -0.45 - - 3238 - 2.50 0.109 3318 569.6 -107.1 - - 3371 - - - - - - - - 14.78 14.57 14.80
7002 737.9 -7.4 544 7014 done -0.45 - - 3238 - 2.53 0.099 1892 -563.6 -107.1 - - 3371 - - - - - - - - 14.67 14.59 14.69
7314 759.1 -6.7 555 7325 done -0.45 - - 3237 - - - 1892 - -107.1 - - 3370 - - - - - - - - 14.78 14.78 14.80
7613 778.8 -6.6 565 7623 done -0.45 - - 3237 - - - 1892 - -107.1 - - 3368 - - - - - - - - 14.78 14.81 14.80
7913 799.7 -7.1 575 7924 roll -0.45 - - 3238 - 2.58 0.111 3320 553.5 -107.1 - - 3370 - - - - - - - - 14.78 14.55 14.81
7960 803.3 -7.1 582 7971 done -0.45 - - 3237 - 2.53 0.101 1901 -560.9 -107.1 - - 3369 - - - - - - - - 14.67 14.59 14.69
8298 827.2 -7.0 597 8308 done -0.45 - - 3238 - - - 1898 - -107.1 - - 3367 - - - - - - - - 14.78 14.80 14.80
8603 847.4 -6.9 607 8614 roll -0.45 - - 3238 - 2.53 0.117 476 -562.1 -107.1 - - 3368 - - - - - - - - 14.78 14.56 14.80
8669 853.1 -8.0 618 8682 done -0.45 - - 3237 - 2.53 0.096 1918 570.0 -107.1 - - 3366 - - - - - - - - 14.66 14.59 14.68
8981 875.5 -7.4 629 8992 roll -0.45 - - 3238 - 2.47 0.111 3301 559.9 -107.1 - - 3368 - - - - - - - - 14.76 14.59 14.80
9047 881.1 -7.6 640 9059 done -0.45 - - 3238 - 2.53 0.103 1886 -559.3 -107.1 - - 3368 - - - - - - - - 14.66 14.57 14.69
9358 903.4 -7.4 651 9368 done -0.45 - - 3237 - - - 1890 - -107.1 - - 3368 - - - - - - - - 14.78 14.81 14.80
9653 926.2 -7.6 661 9664 done -0.45 - - 3237 - - - 1885 - -107.1 - - 3367 - - - - - - - - 14.78 14.80 14.78
9953 949.8 -8.0 671 9964 done -0.45 - - 3236 - - - 1884 - -107.1 - - 3367 - - - - - - - - 14.79 14.81 14.80
10257 974.2 -8.1 681 10267 done -0.45 - - 3238 - - - 1885 - -107.1 - - 3367 - - - - - - - - 14.78 14.80 14.80
10458 end dive: TARGET_DEPTH_EXCEEDED
10458 begin apogee
10469 990.4 -7.6 688 10562 done -0.16 0.32 0.187 3333 296.9 - - 2346 - - 84.32 1.897 2942 -5.0 0.492 - - - - - - 14.54 13.95 13.30
10564 end apogee: CONTROL_FINISHED_OK
10564 begin climb
10569 994.6 - 691 10674 roll 0.45 0.62 0.122 3539 332.3 2.80 0.116 3758 504.3 107.1 88.55 1.855 2499 -5.0 0.501 - - - - - - 13.95 13.70 13.13
10693 989.0 9.8 702 10705 done 0.45 - - 3543 - 2.65 0.103 2348 -532.1 107.1 - - 2500 - - - - - - - - 13.93 13.89 13.96
11026 960.0 8.6 716 11036 done 0.45 - - 3544 - - - 2347 - 107.1 - - 2501 - - - - - - - - 14.46 14.48 14.47
11330 933.3 9.0 726 11341 done 0.45 - - 3544 - - - 2347 - 107.1 - - 2500 - - - - - - - - 14.57 14.59 14.59
11630 904.7 9.7 736 11641 done 0.45 - - 3543 - - - 2347 - 107.1 - - 2502 - - - - - - - - 14.64 14.66 14.66
11930 876.4 9.3 746 11941 done 0.45 - - 3544 - - - 2347 - 107.1 - - 2499 - - - - - - - - 14.68 14.70 14.70
12230 848.4 9.3 756 12241 done 0.45 - - 3544 - - - 2347 - 107.1 - - 2496 - - - - - - - - 14.70 14.72 14.71
12530 821.3 8.8 766 12541 done 0.45 - - 3543 - - - 2347 - 107.1 - - 2498 - - - - - - - - 14.73 14.73 14.74
12830 794.8 9.0 776 12841 done 0.45 - - 3544 - - - 2348 - 107.1 - - 2501 - - - - - - - - 14.73 14.78 14.76
13130 768.5 8.7 786 13141 done 0.45 - - 3544 - - - 2347 - 107.1 - - 2498 - - - - - - - - 14.75 14.76 14.76
13430 743.1 8.4 796 13441 done 0.45 - - 3544 - - - 2348 - 107.1 - - 2498 - - - - - - - - 14.76 14.77 14.77
13730 718.9 8.0 806 13740 done 0.45 - - 3544 - - - 2346 - 107.1 - - 2499 - - - - - - - - 14.76 14.78 14.78
14030 695.7 7.7 816 14041 done 0.45 - - 3544 - - - 2348 - 107.1 - - 2497 - - - - - - - - 14.76 14.78 14.78
14330 672.4 7.8 826 14340 done 0.45 - - 3544 - - - 2347 - 107.1 - - 2496 - - - - - - - - 14.74 14.79 14.78
14630 648.6 8.0 836 14641 done 0.45 - - 3543 - - - 2347 - 107.1 - - 2498 - - - - - - - - 14.77 14.79 14.78
14930 624.6 8.0 846 14941 done 0.45 - - 3543 - - - 2347 - 107.1 - - 2497 - - - - - - - - 14.77 14.81 14.79
15230 600.9 7.8 856 15241 done 0.45 - - 3543 - - - 2347 - 107.1 - - 2501 - - - - - - - - 14.77 14.78 14.78
15531 578.8 7.2 866 15541 done 0.45 - - 3544 - - - 2351 - 109.2 - - 2498 - - - - - - - - 14.78 14.80 14.79
15830 558.1 6.8 876 15855 roll 0.46 - - 3555 - 2.58 0.116 940 -546.9 119.9 10.98 1.317 2449 -4.5 0.353 - - - - - - 14.77 14.46 13.96
15910 552.4 7.5 889 15921 done 0.46 - - 3554 - 2.50 0.097 2353 565.2 119.9 - - 2449 - - - - - - - - 14.59 14.50 14.61
16247 525.7 7.9 904 16257 done 0.46 - - 3554 - - - 2352 - 119.9 - - 2448 - - - - - - - - 14.71 14.74 14.73
16551 501.3 8.1 914 16562 done 0.46 - - 3555 - - - 2352 - 119.9 - - 2448 - - - - - - - - 14.73 14.76 14.75
16851 477.4 8.0 924 16862 roll 0.46 - - 3554 - 2.53 0.114 3755 554.5 119.9 - - 2448 - - - - - - - - 14.74 14.52 14.76
16888 473.8 8.7 929 16899 done 0.46 - - 3559 - 2.50 0.101 2348 -562.8 119.9 - - 2448 - - - - - - - - 14.63 14.54 14.65
17197 449.7 7.7 940 17208 done 0.46 - - 3559 - - - 2348 - 119.9 - - 2448 - - - - - - - - 14.75 14.77 14.77
17498 426.5 7.6 950 17508 done 0.46 - - 3559 - - - 2348 - 119.9 - - 2448 - - - - - - - - 14.75 14.78 14.78
17798 404.6 7.3 960 17808 done 0.47 - - 3559 - - - 2348 - 121.5 - - 2448 - - - - - - - - 14.76 14.80 14.78
18098 382.2 7.6 970 18108 done 0.47 - - 3555 - - - 2344 - 121.5 - - 2447 - - - - - - - - 14.76 14.78 14.78
18398 360.1 7.1 980 18413 roll 0.47 - - 3570 - 2.50 0.111 940 -561.6 125.8 4.85 1.011 2428 -3.9 0.261 - - - - - - 14.76 14.46 13.95
18474 354.5 7.6 992 18485 done 0.47 - - 3575 - 2.50 0.096 2350 564.0 125.8 - - 2432 - - - - - - - - 14.60 14.53 14.64
18816 328.2 7.5 1008 18826 done 0.47 - - 3570 - - - 2350 - 125.8 - - 2430 - - - - - - - - 14.75 14.76 14.76
19120 305.9 7.5 1018 19130 done 0.47 - - 3570 - - - 2350 - 125.8 - - 2432 - - - - - - - - 14.76 14.78 14.78
19420 284.0 7.2 1028 19431 done 0.47 - - 3570 - - - 2350 - 128.2 3.78 0.836 2419 -3.4 0.218 - - - - - - 14.78 14.57 13.97
19720 262.1 7.4 1038 19731 roll 0.47 - - 3570 - 2.55 0.113 3773 558.0 128.2 - - 2421 - - - - - - - - 14.76 14.54 14.76
19771 257.5 8.3 1046 19783 done 0.47 0.12 0.231 3542 -233.3 2.53 0.097 2346 -564.0 128.2 - - 2421 - - - - - - - - 14.50 14.54 14.62
20095 239.7 5.4 1071 20136 done 0.51 - - 3542 - - - 2345 - 170.5 33.72 1.019 2246 -5.2 0.228 - - - - - - 14.75 14.42 13.98
20318 224.9 7.0 1093 20334 done 0.52 - - 3542 - - - 2345 - 177.5 7.82 0.965 2214 -4.1 0.178 - - - - - - 14.62 14.43 13.98
20526 210.6 6.7 1114 20548 roll 0.53 - - 3542 - 2.55 0.111 940 -551.0 190.6 11.55 0.984 2160 -4.7 0.187 - - - - - - 14.63 14.33 13.97
20564 208.1 6.4 1119 20591 done 0.55 - - 3542 - 2.50 0.093 2351 564.4 210.4 16.23 0.978 2079 -5.0 0.198 - - - - - - 14.46 14.38 13.91
20783 192.8 7.1 1142 20796 done 0.56 - - 3542 - - - 2351 - 215.7 4.25 0.819 2063 -3.8 0.166 - - - - - - 14.59 14.40 13.85
20977 178.3 7.4 1161 20988 done 0.56 - - 3546 - - - 2351 - 215.7 - - 2063 - - - - - - - - 14.60 14.60 14.62
21169 164.4 6.8 1180 21189 done 0.57 0.08 0.157 3605 737.5 - - 2351 - 227.1 11.10 0.943 2012 -4.6 0.150 - - - - - - 14.47 14.40 14.00
21371 144.6 10.0 1200 21382 roll 0.57 - - 3613 - 2.55 0.111 939 -553.7 227.1 - - 2010 - - - - - - - - 14.60 14.40 14.63
21438 137.3 10.9 1211 21450 done 0.57 0.12 0.219 3576 -308.3 2.50 0.095 2351 564.8 227.1 - - 2010 - - - - - - - - 14.36 14.43 14.50
21632 120.4 8.3 1230 21643 done 0.57 - - 3577 - - - 2350 - 227.1 - - 2010 - - - - - - - - 14.66 14.66 14.66
21824 104.8 8.4 1249 21835 done 0.57 - - 3577 - - - 2350 - 227.1 - - 2010 - - - - - - - - 14.66 14.69 14.69
22016 89.7 7.5 1268 22027 done 0.57 - - 3577 - - - 2348 - 227.1 - - 2011 - - - - - - - - 14.67 14.70 14.70
22209 75.2 6.8 1287 22230 done 0.58 - - 3577 - - - 2350 - 237.9 9.27 0.841 1968 -4.6 0.077 - - - - - - 14.69 14.50 14.11
22412 63.7 5.3 1308 22451 done 0.63 - - 3577 - - - 2350 - 281.6 32.10 0.805 1794 -5.4 0.080 - - - - - - 14.67 14.38 14.03
22633 48.2 7.3 1331 22644 roll 0.63 - - 3582 - 2.55 0.108 937 -554.1 283.0 - - 1790 - - - - - - - - 14.59 14.36 14.62
22675 45.1 7.2 1337 22693 done 0.63 - - 3582 - 2.50 0.093 2355 567.2 285.6 3.67 0.651 1776 -3.8 0.049 - - - - - - 14.51 14.43 13.95
22874 32.1 6.2 1357 22906 roll 0.65 - - 3582 - 2.58 0.110 3756 543.0 309.4 19.58 0.774 1675 -5.2 0.040 - - - - - - 14.62 14.35 14.05
22951 26.8 8.1 1369 22962 done 0.65 - - 3583 - 2.53 0.096 2350 -555.7 309.4 - - 1674 - - - - - - - - 14.45 14.37 14.47
23154 14.6 5.0 1389 23193 roll 0.70 0.08 0.155 3664 1012.5 2.58 0.109 940 -546.5 360.5 22.50 0.145 1472 -9.0 0.169 - - - - - - 14.46 14.37 14.37
23213 10.6 8.2 1397 23225 done 0.70 0.15 0.197 3616 -320.0 2.50 0.093 2357 566.8 360.5 - - 1472 - - - - - - - - 14.35 14.38 14.47
23296 end climb: SURFACE_DEPTH_REACHED
23296 begin surface coast
23343 end surface coast: CONTROL_FINISHED_OK
23343 begin surface
SM 1.89 - - - - -10.25 9.77 0.045 94 9.6 0.85 0.110 1901 -3794.1 375.06 6.20 0.086 1411 227.5 -0.511 - - - - - -