NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 74 * Raw log
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• Previous call tries 2 • 19.92 of 350.00 AH used of 24V (94.31% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -75.8 deg, depth 1.10 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• No surface pump (final VBD was 386.59, SM_CC=375)
• GPS1 time: 49 s
• GPS2 time: 6 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
30 - - - 91 VBD -0.45 - - 72 - - - 1895 - -107.1 -57.80 - 2972 - - - - - - - - 14.49 - 14.52
98 3.1 -4.2 6 128 roll -0.45 13.82 0.373 3238 229.1 2.75 2.209 486 -512.4 -107.1 -7.00 - 3379 -58.1 - - - - - - - 14.16 13.51 14.38
367 66.7 -18.5 56 374 done -0.45 - - 3237 - 2.50 0.094 1894 563.2 -107.1 - - 3382 - - - - - - - - 14.44 14.35 14.45
565 100.2 -16.5 76 573 done -0.45 - - 3238 - - - 1892 - -107.1 - - 3386 - - - - - - - - 14.61 14.63 14.62
756 126.5 -13.2 95 764 roll -0.45 - - 3237 - 2.55 0.105 3320 560.0 -107.1 - - 3382 - - - - - - - - 14.64 14.43 14.66
852 138.8 -12.3 112 861 done -0.45 - - 3237 - 2.53 0.093 1901 -560.9 -107.1 - - 3383 - - - - - - - - 14.54 14.45 14.55
1043 163.3 -12.8 131 1050 roll -0.45 - - 3237 - 2.53 0.109 474 -564.0 -107.1 - - 3383 - - - - - - - - 14.66 14.45 14.69
1139 176.2 -13.8 148 1148 done -0.45 - - 3237 - 2.50 0.093 1908 573.6 -107.1 - - 3383 - - - - - - - - 14.57 14.48 14.58
1329 199.0 -11.4 167 1336 roll -0.45 - - 3237 - 2.50 0.106 3315 562.8 -107.1 - - 3383 - - - - - - - - 14.69 14.47 14.71
1398 206.9 -11.3 179 1406 done -0.45 - - 3237 - 2.53 0.096 1887 -564.4 -107.1 - - 3383 - - - - - - - - 14.57 14.50 14.59
1597 230.2 -11.6 199 1605 roll -0.45 - - 3233 - 2.47 0.112 494 -564.0 -107.1 - - 3382 - - - - - - - - 14.71 14.48 14.72
1680 240.3 -11.8 214 1689 done -0.45 - - 3237 - 2.47 0.094 1910 573.3 -107.1 - - 3383 - - - - - - - - 14.59 14.52 14.61
1895 262.8 -10.6 227 1903 roll -0.45 - - 3237 - 2.47 0.107 3312 567.6 -107.1 - - 3382 - - - - - - - - 14.73 14.51 14.73
1965 270.2 -9.9 239 1973 done -0.45 - - 3233 - 2.50 0.096 1901 -564.4 -107.1 - - 3381 - - - - - - - - 14.61 14.52 14.62
2308 306.2 -10.6 255 2311 done -0.45 - - 3237 - - - 1901 - -107.1 - - 3381 - - - - - - - - 14.72 14.76 14.76
2604 337.0 -10.0 265 2607 done -0.45 - - 3236 - - - 1901 - -107.1 - - 3379 - - - - - - - - 14.74 14.76 14.76
2904 367.1 -10.0 275 2907 done -0.45 - - 3241 - - - 1901 - -107.1 - - 3378 - - - - - - - - 14.75 14.77 14.77
3204 396.4 -9.5 285 3207 done -0.45 - - 3237 - - - 1901 - -107.1 - - 3377 - - - - - - - - 14.76 14.78 14.78
3505 424.7 -9.4 295 3508 done -0.45 - - 3237 - - - 1901 - -107.1 - - 3377 - - - - - - - - 14.76 14.78 14.78
3804 452.0 -9.0 305 3812 roll -0.45 - - 3237 - 2.55 0.111 3309 552.2 -107.1 - - 3377 - - - - - - - - 14.76 14.54 14.78
3863 457.1 -8.5 315 3871 done -0.45 - - 3237 - 2.50 0.100 1901 -563.2 -107.1 - - 3375 - - - - - - - - 14.63 14.59 14.66
4186 486.5 -9.2 327 4194 roll -0.45 - - 3237 - 2.53 0.115 475 -563.6 -107.1 - - 3374 - - - - - - - - 14.76 14.53 14.77
4289 497.3 -10.4 346 4297 done -0.45 - - 3237 - 2.50 0.096 1893 567.2 -107.1 - - 3374 - - - - - - - - 14.64 14.57 14.66
4627 527.0 -8.9 361 4635 roll -0.45 - - 3237 - 2.53 0.112 3318 563.2 -107.1 - - 3372 - - - - - - - - 14.76 14.54 14.77
4686 532.5 -8.8 371 4695 done -0.45 - - 3237 - 2.50 0.099 1902 -566.4 -107.1 - - 3372 - - - - - - - - 14.61 14.56 14.64
5010 560.1 -8.5 383 5014 done -0.45 - - 3237 - - - 1902 - -107.1 - - 3371 - - - - - - - - 14.76 14.77 14.77
5306 586.4 -9.0 393 5309 done -0.45 - - 3237 - - - 1902 - -107.1 - - 3371 - - - - - - - - 14.76 14.78 14.77
5607 613.8 -9.2 403 5614 roll -0.45 - - 3233 - 2.53 0.117 476 -563.6 -107.1 - - 3369 - - - - - - - - 14.76 14.53 14.78
5715 624.6 -9.8 423 5723 done -0.45 - - 3237 - 2.53 0.097 1915 568.8 -107.1 - - 3367 - - - - - - - - 14.64 14.55 14.66
6048 653.2 -8.6 437 6056 roll -0.45 - - 3239 - 2.47 0.110 3312 565.6 -107.1 - - 3368 - - - - - - - - 14.76 14.53 14.78
6111 658.8 -8.4 448 6120 done -0.45 - - 3237 - 2.53 0.104 1887 -563.2 -107.1 - - 3368 - - - - - - - - 14.64 14.55 14.64
6422 683.6 -7.9 459 6425 done -0.45 - - 3233 - - - 1887 - -107.1 - - 3368 - - - - - - - - 14.73 14.77 14.75
6717 706.9 -7.8 469 6724 roll -0.45 - - 3241 - 2.58 0.112 3318 554.7 -107.1 - - 3367 - - - - - - - - 14.76 14.52 14.77
6770 711.0 -7.5 478 6779 done -0.45 - - 3237 - 2.53 0.101 1902 -559.7 -107.1 - - 3367 - - - - - - - - 14.64 14.55 14.65
7099 735.1 -7.3 491 7102 done -0.45 - - 3236 - - - 1902 - -107.1 - - 3366 - - - - - - - - 14.75 14.77 14.76
7395 757.7 -7.6 501 7398 done -0.45 - - 3237 - - - 1902 - -107.1 - - 3366 - - - - - - - - 14.75 14.77 14.78
7695 780.8 -7.7 511 7703 roll -0.45 - - 3237 - 2.53 0.112 3311 556.9 -107.1 - - 3365 - - - - - - - - 14.76 14.57 14.77
7758 785.7 -7.4 522 7767 done -0.45 - - 3237 - 2.53 0.104 1888 -562.5 -107.1 - - 3365 - - - - - - - - 14.63 14.55 14.65
8068 809.1 -7.9 533 8071 done -0.45 - - 3237 - - - 1888 - -107.1 - - 3366 - - - - - - - - 14.75 14.77 14.76
8364 832.4 -7.7 543 8367 done -0.45 - - 3237 - - - 1888 - -107.1 - - 3364 - - - - - - - - 14.75 14.76 14.76
8664 856.2 -7.9 553 8672 roll -0.45 - - 3237 - 2.60 0.113 3318 550.0 -107.1 - - 3364 - - - - - - - - 14.75 14.53 14.76
8748 863.2 -7.5 568 8755 done -0.45 - - 3237 - 2.55 0.101 1902 -555.3 -107.1 - - 3364 - - - - - - - - 14.64 14.54 14.65
9076 887.1 -7.6 581 9079 done -0.45 - - 3238 - - - 1902 - -107.1 - - 3362 - - - - - - - - 14.74 14.75 14.76
9372 910.5 -7.8 591 9375 done -0.45 - - 3237 - - - 1902 - -107.1 - - 3362 - - - - - - - - 14.74 14.77 14.78
9672 934.5 -7.9 601 9675 done -0.45 - - 3237 - - - 1902 - -107.1 - - 3362 - - - - - - - - 14.74 14.76 14.76
9973 956.7 -7.3 611 9976 done -0.45 - - 3237 - - - 1901 - -107.1 - - 3362 - - - - - - - - 14.74 14.76 14.76
10272 977.2 -6.5 621 10280 roll -0.45 - - 3232 - 2.58 0.112 3318 549.2 -107.1 - - 3362 - - - - - - - - 14.77 14.52 14.77
10351 982.7 -6.2 635 10358 done -0.45 - - 3234 - 2.55 0.103 1885 -562.0 -107.1 - - 3362 - - - - - - - - 14.62 14.52 14.64
10495 end dive: TARGET_DEPTH_EXCEEDED
10495 begin apogee
10507 990.9 -5.4 643 10596 done -0.16 0.35 0.187 3338 297.1 - - 2346 - - 83.72 1.900 2942 -5.0 0.490 - - - - - - 14.49 13.92 13.27
10599 end apogee: CONTROL_FINISHED_OK
10599 begin climb
10604 993.8 - 646 10713 roll 0.45 0.57 0.123 3535 345.6 2.80 0.116 3759 504.6 107.1 88.40 1.876 2500 -5.0 0.496 - - - - - - 13.93 13.70 13.10
10753 984.3 9.7 673 10764 done 0.45 - - 3543 - 2.65 0.106 2346 -533.2 107.1 - - 2499 - - - - - - - - 14.02 13.93 14.04
11080 953.5 9.0 686 11090 done 0.45 - - 3543 - - - 2343 - 107.1 - - 2497 - - - - - - - - 14.47 14.50 14.49
11385 927.8 8.4 696 11395 done 0.45 - - 3543 - - - 2346 - 107.1 - - 2499 - - - - - - - - 14.59 14.60 14.60
11684 902.8 8.2 706 11695 done 0.45 - - 3543 - - - 2346 - 107.1 - - 2499 - - - - - - - - 14.64 14.66 14.66
11985 878.6 8.0 716 11995 done 0.45 - - 3543 - - - 2346 - 107.1 - - 2498 - - - - - - - - 14.70 14.70 14.70
12284 854.1 8.4 726 12295 done 0.45 - - 3544 - - - 2346 - 107.1 - - 2498 - - - - - - - - 14.71 14.73 14.73
12584 828.7 8.7 736 12595 done 0.45 - - 3543 - - - 2342 - 107.1 - - 2498 - - - - - - - - 14.73 14.75 14.75
12884 804.0 8.2 746 12895 done 0.45 - - 3543 - - - 2346 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
13185 779.7 8.1 756 13196 roll 0.45 - - 3543 - 2.53 0.117 939 -556.1 107.1 - - 2498 - - - - - - - - 14.76 14.52 14.77
13237 775.4 7.7 764 13248 done 0.45 - - 3543 - 2.50 0.099 2355 566.4 107.1 - - 2495 - - - - - - - - 14.64 14.54 14.66
13569 750.3 7.5 778 13579 done 0.45 - - 3543 - - - 2355 - 107.1 - - 2500 - - - - - - - - 14.76 14.78 14.78
13874 727.8 7.4 788 13884 done 0.45 - - 3544 - - - 2360 - 107.1 - - 2497 - - - - - - - - 14.76 14.78 14.78
14173 705.4 7.6 798 14183 done 0.45 - - 3543 - - - 2355 - 107.1 - - 2497 - - - - - - - - 14.77 14.78 14.78
14474 682.0 8.0 808 14484 done 0.45 - - 3543 - - - 2355 - 107.1 - - 2498 - - - - - - - - 14.77 14.77 14.78
14773 658.0 8.0 818 14783 done 0.45 - - 3546 - - - 2355 - 107.1 - - 2497 - - - - - - - - 14.78 14.78 14.79
15074 633.0 8.4 828 15084 done 0.45 - - 3540 - - - 2355 - 107.1 - - 2498 - - - - - - - - 14.78 14.80 14.79
15373 607.4 8.5 838 15384 roll 0.45 - - 3543 - 2.55 0.113 940 -554.9 107.1 - - 2498 - - - - - - - - 14.78 14.57 14.79
15439 601.5 8.7 849 15451 done 0.45 - - 3544 - 2.50 0.099 2351 564.4 107.1 - - 2498 - - - - - - - - 14.65 14.57 14.67
15751 576.7 7.9 860 15761 done 0.45 - - 3544 - - - 2351 - 107.1 - - 2497 - - - - - - - - 14.77 14.79 14.79
16050 554.2 7.4 870 16060 done 0.45 - - 3543 - - - 2350 - 107.1 - - 2497 - - - - - - - - 14.77 14.79 14.79
16350 532.3 7.3 880 16361 roll 0.45 - - 3543 - 2.53 0.113 939 -557.7 108.3 - - 2497 - - - - - - - - 14.77 14.55 14.79
16402 528.3 7.0 888 16422 done 0.46 - - 3546 - 2.47 0.097 2351 571.7 116.1 7.93 1.242 2465 -4.0 0.321 - - - - - - 14.66 14.58 13.98
16733 503.1 8.0 902 16744 roll 0.46 - - 3543 - 2.53 0.113 940 -557.7 116.1 - - 2464 - - - - - - - - 14.73 14.51 14.76
16784 499.0 8.3 910 16795 done 0.46 - - 3544 - 2.50 0.099 2357 566.8 116.1 - - 2465 - - - - - - - - 14.62 14.54 14.64
17118 472.8 7.8 924 17128 done 0.46 - - 3540 - - - 2359 - 116.1 - - 2464 - - - - - - - - 14.75 14.76 14.76
17421 450.2 7.4 934 17431 done 0.46 - - 3543 - - - 2356 - 116.1 - - 2464 - - - - - - - - 14.76 14.78 14.77
17721 429.1 6.9 944 17736 done 0.47 - - 3543 - - - 2356 - 124.6 7.82 1.176 2434 -3.8 0.262 - - - - - - 14.76 14.56 14.01
18022 408.8 6.5 954 18046 done 0.49 - - 3544 - - - 2358 - 142.2 15.25 1.205 2360 -4.9 0.308 - - - - - - 14.73 14.48 13.96
18352 386.0 7.0 965 18366 done 0.49 - - 3543 - - - 2356 - 148.4 7.20 1.123 2331 -4.0 0.259 - - - - - - 14.68 14.49 13.95
18651 364.2 7.6 975 18662 roll 0.49 - - 3544 - 2.55 0.112 939 -555.7 148.4 - - 2332 - - - - - - - - 14.69 14.47 14.69
18703 359.8 7.9 983 18715 done 0.49 - - 3542 - 2.50 0.099 2352 565.2 148.4 - - 2331 - - - - - - - - 14.56 14.52 14.59
19036 335.0 7.6 997 19046 done 0.49 - - 3544 - - - 2351 - 148.4 - - 2332 - - - - - - - - 14.71 14.73 14.73
19340 312.6 7.6 1007 19351 done 0.49 - - 3544 - - - 2351 - 148.4 - - 2332 - - - - - - - - 14.73 14.75 14.74
19640 289.5 7.6 1017 19651 roll 0.49 - - 3543 - 2.53 0.112 940 -557.7 148.4 - - 2332 - - - - - - - - 14.73 14.52 14.76
19731 283.0 6.8 1032 19753 done 0.50 - - 3549 - 2.47 0.099 2346 569.2 160.2 10.57 1.066 2286 -4.4 0.216 - - - - - - 14.63 14.54 14.06
20042 260.7 7.1 1045 20054 done 0.51 - - 3544 - - - 2348 - 165.1 4.43 0.902 2267 -4.3 0.232 - - - - - - 14.71 14.52 13.94
20342 239.2 7.1 1065 20361 done 0.51 - - 3544 - - - 2348 - 170.9 7.10 0.994 2241 -3.7 0.165 - - - - - - 14.73 14.52 14.04
20542 224.9 7.3 1085 20553 roll 0.52 - - 3542 - 2.55 0.112 937 -553.3 171.9 - - 2242 - - - - - - - - 14.69 14.47 14.71
20585 221.8 7.0 1091 20607 done 0.52 - - 3544 - 2.50 0.099 2352 566.0 180.0 8.15 0.985 2207 -4.3 0.181 - - - - - - 14.57 14.50 14.03
20798 206.1 7.5 1113 20809 roll 0.52 - - 3544 - 2.55 0.112 3767 554.9 180.0 - - 2207 - - - - - - - - 14.67 14.47 14.69
20854 201.2 8.9 1122 20866 done 0.52 - - 3540 - 2.55 0.099 2345 -557.6 180.0 - - 2207 - - - - - - - - 14.54 14.47 14.58
21048 187.5 6.6 1141 21074 roll 0.54 - - 3544 - 2.58 0.115 941 -544.2 195.4 13.40 0.970 2142 -4.9 0.176 - - - - - - 14.69 14.38 14.06
21096 184.4 6.0 1148 21129 done 0.57 - - 3544 - 2.50 0.097 2351 564.0 224.3 22.50 0.950 2027 -5.1 0.186 - - - - - - 14.50 14.42 13.94
21310 170.4 6.7 1171 21330 done 0.58 0.08 0.152 3614 875.0 - - 2351 - 237.3 11.18 0.936 1971 -5.0 0.171 - - - - - - 14.42 14.38 13.95
21511 148.4 11.4 1191 21523 done 0.58 0.10 0.233 3580 -340.0 - - 2351 - 237.3 - - 1973 - - - - - - - - 14.34 14.46 14.42
21705 133.0 7.2 1210 21723 roll 0.59 - - 3579 - 2.60 0.112 3754 539.6 241.1 3.12 0.623 1959 -4.5 0.179 - - - - - - 14.63 14.41 13.93
21773 127.4 8.9 1220 21784 done 0.59 - - 3583 - 2.53 0.098 2358 -551.8 241.1 - - 1961 - - - - - - - - 14.52 14.42 14.53
21976 109.6 8.8 1240 21987 roll 0.59 - - 3582 - 2.58 0.111 935 -551.6 241.1 - - 1961 - - - - - - - - 14.65 14.43 14.69
22012 106.4 8.6 1245 22024 done 0.59 - - 3582 - 2.53 0.098 2354 560.9 241.1 - - 1961 - - - - - - - - 14.53 14.45 14.56
22205 90.9 7.6 1264 22216 done 0.59 - - 3582 - - - 2355 - 241.1 - - 1962 - - - - - - - - 14.67 14.69 14.71
22397 75.7 7.8 1283 22409 done 0.59 - - 3582 - - - 2354 - 241.1 - - 1961 - - - - - - - - 14.69 14.70 14.70
22590 63.5 5.4 1302 22634 roll 0.63 - - 3582 - 2.65 0.109 937 -534.7 282.7 32.20 0.805 1785 -5.5 0.081 - - - - - - 14.69 14.35 14.04
22667 59.8 5.1 1314 22715 done 0.68 - - 3585 - 2.53 0.096 2356 560.9 332.4 36.53 0.782 1583 -5.5 0.079 - - - - - - 14.45 14.36 13.93
22906 46.1 5.9 1341 22944 roll 0.71 0.12 0.125 3665 666.7 2.58 0.109 3764 545.7 364.0 23.45 0.773 1452 -5.6 0.062 - - - - - - 14.40 14.24 13.95
22972 39.4 12.6 1351 22985 done 0.71 0.17 0.225 3618 -276.5 2.55 0.098 2345 -556.5 364.0 - - 1450 - - - - - - - - 14.23 14.27 14.35
23176 21.7 8.3 1371 23187 roll 0.71 - - 3622 - 2.53 0.110 939 -555.7 364.0 - - 1450 - - - - - - - - 14.54 14.34 14.57
23276 14.4 6.3 1388 23298 done 0.73 - - 3623 - 2.50 0.093 2351 564.8 386.6 9.65 0.139 1365 -8.8 0.171 - - - - - - 14.47 14.40 14.35
23425 end climb: SURFACE_DEPTH_REACHED
23426 begin surface coast
23486 end surface coast: CONTROL_FINISHED_OK
23486 begin surface
SM 1.23 - - - - -10.27 9.80 0.045 88 9.0 0.82 0.109 1905 -8923.2 386.59 - - 1365 - - - - - - - -