NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 78 * Raw log
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• Previous call tries 2 • 21.16 of 350.00 AH used of 24V (93.96% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -75.2 deg, depth 1.05 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• No surface pump (final VBD was 375.06, SM_CC=375)
• GPS1 time: 24 s
• GPS2 time: 4 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
29 - - - 91 VBD -0.45 - - 69 - - - 1896 - -107.1 -57.70 - 2964 - - - - - - - - 14.53 - 14.56
98 3.0 -4.4 6 128 roll -0.45 13.52 0.363 3235 234.2 2.78 2.215 476 -510.8 -107.1 -7.10 - 3381 -58.7 - - - - - - - 14.16 13.52 14.40
368 69.4 -19.7 56 375 done -0.45 - - 3233 - 2.53 0.089 1907 565.6 -107.1 - - 3381 - - - - - - - - 14.47 14.41 14.48
567 101.8 -14.4 76 574 roll -0.45 - - 3235 - 2.55 0.108 477 -560.8 -107.1 - - 3384 - - - - - - - - 14.62 14.40 14.64
814 140.0 -14.3 122 822 done -0.45 - - 3235 - 2.50 0.091 1894 566.8 -107.1 - - 3387 - - - - - - - - 14.54 14.46 14.56
1013 166.9 -12.8 142 1020 roll -0.45 - - 3232 - 2.55 0.109 470 -558.4 -107.1 - - 3385 - - - - - - - - 14.67 14.45 14.69
1083 176.1 -13.9 154 1090 done -0.45 - - 3235 - 2.53 0.091 1913 570.4 -107.1 - - 3385 - - - - - - - - 14.57 14.48 14.59
1282 200.2 -11.1 174 1290 roll -0.45 - - 3235 - 2.55 0.106 485 -560.0 -107.1 - - 3384 - - - - - - - - 14.69 14.48 14.71
1388 212.4 -11.5 193 1398 done -0.45 - - 3235 - 2.47 0.090 1905 574.9 -107.1 - - 3385 - - - - - - - - 14.59 14.52 14.61
1579 231.4 -10.0 212 1586 roll -0.45 - - 3235 - 2.50 0.105 3319 565.6 -107.1 - - 3385 - - - - - - - - 14.71 14.49 14.72
1651 238.9 -9.9 225 1661 done -0.45 - - 3235 - 2.50 0.094 1902 -566.8 -107.1 - - 3384 - - - - - - - - 14.60 14.51 14.62
1857 260.1 -10.7 239 1860 done -0.45 - - 3235 - - - 1902 - -107.1 - - 3384 - - - - - - - - 14.71 14.73 14.73
2152 292.9 -10.5 249 2155 done -0.45 - - 3235 - - - 1902 - -107.1 - - 3383 - - - - - - - - 14.73 14.76 14.76
2452 323.7 -10.1 259 2460 roll -0.45 - - 3235 - 2.53 0.107 3316 558.9 -107.1 - - 3385 - - - - - - - - 14.75 14.54 14.76
2526 330.9 -9.7 272 2533 done -0.45 - - 3236 - 2.50 0.096 1901 -566.0 -107.1 - - 3381 - - - - - - - - 14.64 14.55 14.65
2864 364.1 -10.0 287 2871 roll -0.45 - - 3235 - 2.53 0.112 475 -563.6 -107.1 - - 3381 - - - - - - - - 14.74 14.53 14.77
2922 371.0 -11.1 297 2930 done -0.45 - - 3238 - 2.50 0.096 1899 569.6 -107.1 - - 3381 - - - - - - - - 14.64 14.56 14.66
3246 402.7 -9.7 309 3254 roll -0.45 - - 3235 - 2.53 0.109 3320 561.7 -107.1 - - 3378 - - - - - - - - 14.76 14.54 14.78
3300 408.0 -8.9 318 3308 done -0.45 - - 3235 - 2.53 0.098 1887 -566.4 -107.1 - - 3378 - - - - - - - - 14.64 14.55 14.68
3628 438.6 -9.3 331 3631 done -0.45 - - 3241 - - - 1886 - -107.1 - - 3381 - - - - - - - - 14.76 14.78 14.78
3924 467.4 -9.5 341 3932 roll -0.45 - - 3235 - 2.47 0.114 495 -563.2 -107.1 - - 3375 - - - - - - - - 14.76 14.54 14.78
3983 473.3 -10.3 351 3990 done -0.45 - - 3235 - 2.47 0.096 1907 571.7 -107.1 - - 3376 - - - - - - - - 14.64 14.59 14.66
4306 503.2 -9.3 363 4314 roll -0.45 - - 3235 - 2.50 0.109 3316 563.6 -107.1 - - 3375 - - - - - - - - 14.76 14.54 14.77
4390 511.4 -9.3 378 4398 done -0.45 - - 3236 - 2.50 0.101 1905 -564.4 -107.1 - - 3375 - - - - - - - - 14.64 14.54 14.66
4718 541.1 -9.3 391 4726 roll -0.45 - - 3234 - 2.53 0.113 493 -558.1 -107.1 - - 3374 - - - - - - - - 14.76 14.56 14.78
4766 546.5 -10.6 399 4774 done -0.45 - - 3235 - 2.47 0.096 1904 571.3 -107.1 - - 3373 - - - - - - - - 14.65 14.57 14.66
5099 578.6 -9.8 413 5107 roll -0.45 - - 3236 - 2.50 0.110 3315 564.4 -107.1 - - 3373 - - - - - - - - 14.76 14.54 14.77
5193 588.0 -9.5 430 5202 done -0.45 - - 3235 - 2.53 0.101 1887 -564.4 -107.1 - - 3372 - - - - - - - - 14.64 14.54 14.66
5503 617.5 -9.7 441 5505 done -0.45 - - 3235 - - - 1887 - -107.1 - - 3371 - - - - - - - - 14.75 14.77 14.77
5799 647.4 -9.8 451 5806 roll -0.45 - - 3238 - 2.50 0.117 482 -562.0 -107.1 - - 3370 - - - - - - - - 14.76 14.54 14.77
5856 653.5 -10.6 461 5865 done -0.45 - - 3235 - 2.50 0.098 1897 566.0 -107.1 - - 3370 - - - - - - - - 14.64 14.56 14.65
6180 681.9 -8.3 473 6183 done -0.45 - - 3235 - - - 1897 - -107.1 - - 3370 - - - - - - - - 14.76 14.77 14.76
6476 706.4 -8.3 483 6478 done -0.45 - - 3235 - - - 1897 - -107.1 - - 3369 - - - - - - - - 14.76 14.78 14.78
6776 731.7 -8.4 493 6784 roll -0.45 - - 3235 - 2.55 0.112 3322 558.8 -107.1 - - 3368 - - - - - - - - 14.76 14.55 14.78
6870 739.3 -7.8 510 6879 done -0.45 - - 3235 - 2.53 0.101 1903 -560.9 -107.1 - - 3368 - - - - - - - - 14.64 14.55 14.66
7180 763.3 -7.7 521 7188 roll -0.45 - - 3236 - 2.53 0.116 485 -560.5 -107.1 - - 3367 - - - - - - - - 14.76 14.54 14.76
7238 768.7 -8.5 531 7247 done -0.45 - - 3235 - 2.53 0.097 1913 564.4 -107.1 - - 3367 - - - - - - - - 14.64 14.54 14.65
7562 793.7 -7.9 543 7565 done -0.45 - - 3235 - - - 1912 - -107.1 - - 3367 - - - - - - - - 14.75 14.77 14.77
7858 817.2 -7.9 553 7860 done -0.45 - - 3236 - - - 1912 - -107.1 - - 3366 - - - - - - - - 14.76 14.77 14.77
8158 841.2 -8.2 563 8165 roll -0.45 - - 3235 - 2.47 0.111 3298 561.1 -107.1 - - 3366 - - - - - - - - 14.78 14.54 14.77
8246 848.9 -8.0 579 8253 done -0.45 - - 3235 - 2.50 0.103 1899 -559.6 -107.1 - - 3366 - - - - - - - - 14.63 14.55 14.65
8564 874.2 -8.2 591 8571 roll -0.45 - - 3235 - 2.55 0.112 3300 549.4 -107.1 - - 3365 - - - - - - - - 14.74 14.54 14.76
8627 879.8 -8.0 602 8637 done -0.45 - - 3237 - 2.53 0.103 1896 -554.9 -107.1 - - 3365 - - - - - - - - 14.63 14.54 14.64
8932 903.5 -7.9 613 8936 done -0.45 - - 3235 - - - 1896 - -107.1 - - 3364 - - - - - - - - 14.74 14.76 14.76
9233 927.2 -8.0 623 9240 roll -0.45 - - 3236 - 2.53 0.119 485 -557.7 -107.1 - - 3364 - - - - - - - - 14.74 14.52 14.76
9321 935.8 -9.0 639 9328 done -0.45 - - 3235 - 2.47 0.099 1894 570.4 -107.1 - - 3364 - - - - - - - - 14.62 14.52 14.64
9645 961.3 -8.3 651 9652 roll -0.45 - - 3235 - 2.53 0.111 3313 560.9 -107.1 - - 3363 - - - - - - - - 14.71 14.53 14.76
9773 971.9 -7.8 674 9782 done -0.45 - - 3235 - 2.53 0.104 1903 -557.3 -107.1 - - 3364 - - - - - - - - 14.62 14.53 14.64
10008 end dive: TARGET_DEPTH_EXCEEDED
10009 begin apogee
10020 991.0 -7.8 683 10110 done -0.16 0.32 0.178 3338 321.9 - - 2351 - - 84.20 1.898 2940 -5.0 0.492 - - - - - - 14.50 13.92 13.33
10114 end apogee: CONTROL_FINISHED_OK
10114 begin climb
10119 995.3 - 686 10225 roll 0.45 0.57 0.119 3536 347.4 2.72 0.113 3756 516.5 107.1 88.00 1.860 2505 -4.9 0.495 - - - - - - 13.94 13.64 13.12
10271 987.6 8.5 714 10282 done 0.45 - - 3544 - 2.65 0.103 2345 -532.5 107.1 - - 2502 - - - - - - - - 14.04 13.93 14.06
10594 959.9 8.7 726 10605 done 0.45 - - 3544 - - - 2344 - 107.1 - - 2501 - - - - - - - - 14.48 14.50 14.50
10898 933.9 8.5 736 10908 done 0.45 - - 3544 - - - 2344 - 107.1 - - 2500 - - - - - - - - 14.59 14.61 14.61
11198 906.9 8.9 746 11209 done 0.45 - - 3544 - - - 2344 - 107.1 - - 2500 - - - - - - - - 14.65 14.67 14.67
11497 879.2 9.3 756 11509 roll 0.45 - - 3544 - 2.53 0.115 936 -556.5 107.1 - - 2500 - - - - - - - - 14.69 14.48 14.71
11574 872.0 9.1 769 11586 done 0.45 - - 3543 - 2.50 0.099 2352 566.4 107.1 - - 2500 - - - - - - - - 14.59 14.50 14.60
11912 841.0 8.8 784 11922 done 0.45 - - 3543 - - - 2352 - 107.1 - - 2499 - - - - - - - - 14.72 14.73 14.73
12217 815.6 8.4 794 12227 done 0.45 - - 3544 - - - 2351 - 107.1 - - 2499 - - - - - - - - 14.73 14.76 14.76
12516 791.0 8.4 804 12527 roll 0.45 - - 3543 - 2.55 0.116 3771 556.9 107.1 - - 2499 - - - - - - - - 14.74 14.54 14.76
12567 785.7 9.8 812 12578 done 0.45 - - 3544 - 2.55 0.104 2345 -559.2 107.1 - - 2499 - - - - - - - - 14.63 14.53 14.65
12900 758.0 8.1 826 12911 roll 0.45 - - 3551 - 2.50 0.112 938 -562.8 107.1 - - 2497 - - - - - - - - 14.76 14.54 14.78
12946 754.2 8.2 833 12958 done 0.45 - - 3551 - 2.50 0.098 2357 567.6 107.1 - - 2499 - - - - - - - - 14.64 14.54 14.66
13284 726.6 8.3 848 13294 done 0.45 - - 3551 - - - 2356 - 107.1 - - 2498 - - - - - - - - 14.76 14.78 14.78
13588 701.2 8.7 858 13600 roll 0.45 - - 3551 - 2.53 0.114 3767 557.7 107.1 - - 2498 - - - - - - - - 14.76 14.56 14.78
13670 692.9 9.7 872 13681 done 0.45 - - 3557 - 2.53 0.103 2347 -561.3 107.1 - - 2498 - - - - - - - - 14.65 14.55 14.66
14002 662.5 9.4 886 14013 roll 0.45 - - 3568 - 2.53 0.112 936 -557.7 107.1 - - 2501 - - - - - - - - 14.76 14.55 14.78
14034 659.3 9.5 890 14045 done 0.45 - - 3568 - 2.50 0.099 2355 567.6 107.1 - - 2498 - - - - - - - - 14.65 14.55 14.67
14357 628.4 9.4 902 14368 roll 0.45 - - 3574 - 2.55 0.110 936 -556.5 107.1 - - 2498 - - - - - - - - 14.76 14.53 14.78
14430 621.4 9.6 914 14441 done 0.45 0.12 0.228 3539 -291.7 2.50 0.099 2352 566.4 107.1 - - 2498 - - - - - - - - 14.50 14.57 14.64
14773 593.9 7.8 930 14783 done 0.45 - - 3539 - - - 2350 - 107.1 - - 2498 - - - - - - - - 14.77 14.81 14.78
15077 571.8 7.5 940 15088 roll 0.45 - - 3543 - 2.53 0.114 3759 556.9 107.1 - - 2501 - - - - - - - - 14.77 14.57 14.78
15237 557.6 8.9 969 15250 done 0.45 - - 3542 - 2.50 0.103 2348 -564.4 107.1 - - 2500 - - - - - - - - 14.65 14.56 14.66
15547 534.7 7.5 980 15558 roll 0.45 - - 3543 - 2.50 0.115 941 -562.8 107.1 - - 2498 - - - - - - - - 14.76 14.54 14.78
15599 530.3 7.8 988 15610 done 0.45 - - 3544 - 2.50 0.099 2356 566.0 107.1 - - 2498 - - - - - - - - 14.64 14.55 14.66
15931 506.8 6.8 1002 15949 done 0.46 - - 3544 - - - 2358 - 119.6 11.05 1.275 2451 -4.3 0.316 - - - - - - 14.76 14.54 13.97
16236 485.2 7.2 1012 16246 done 0.47 - - 3546 - - - 2357 - 122.3 - - 2449 - - - - - - - - 14.73 14.74 14.74
16536 463.4 7.3 1022 16551 roll 0.47 - - 3541 - 2.55 0.112 3772 554.9 123.4 3.08 0.757 2439 -3.2 0.372 - - - - - - 14.73 14.52 13.88
16581 459.3 8.6 1029 16593 done 0.47 - - 3544 - 2.53 0.100 2354 -560.5 123.4 - - 2442 - - - - - - - - 14.62 14.53 14.63
16919 435.5 6.9 1044 16943 roll 0.48 - - 3541 - 2.62 0.113 3761 537.0 133.1 10.55 1.215 2395 -4.5 0.299 - - - - - - 14.74 14.47 13.97
17005 429.4 8.1 1058 17016 done 0.48 - - 3544 - 2.53 0.103 2348 -558.5 133.1 - - 2395 - - - - - - - - 14.56 14.47 14.58
17338 406.4 6.9 1072 17358 roll 0.49 - - 3544 - 2.55 0.116 936 -553.7 142.5 9.07 1.165 2357 -4.2 0.273 - - - - - - 14.71 14.43 13.97
17431 399.4 7.9 1088 17442 done 0.49 - - 3544 - 2.53 0.098 2358 562.1 142.5 - - 2358 - - - - - - - - 14.54 14.45 14.57
17753 374.2 7.8 1100 17764 done 0.49 - - 3544 - - - 2358 - 142.5 - - 2356 - - - - - - - - 14.70 14.72 14.71
18058 350.3 7.9 1110 18069 roll 0.49 - - 3544 - 2.55 0.112 937 -557.3 142.5 - - 2358 - - - - - - - - 14.75 14.51 14.74
18110 345.8 7.9 1118 18121 done 0.49 - - 3539 - 2.50 0.097 2356 567.6 142.5 - - 2358 - - - - - - - - 14.61 14.52 14.63
18442 321.7 7.1 1132 18454 done 0.49 - - 3544 - - - 2356 - 147.6 4.70 0.978 2339 -4.0 0.249 - - - - - - 14.73 14.54 13.93
18747 300.8 7.1 1142 18762 done 0.50 - - 3544 - - - 2355 - 153.5 7.47 1.056 2315 -3.2 0.171 - - - - - - 14.73 14.53 14.02
19047 279.6 6.9 1152 19063 done 0.51 - - 3543 - - - 2355 - 162.3 8.35 1.043 2279 -4.3 0.216 - - - - - - 14.71 14.52 14.02
19349 257.5 7.7 1162 19360 roll 0.51 - - 3544 - 2.53 0.112 3758 554.5 162.3 - - 2277 - - - - - - - - 14.71 14.50 14.72
19391 253.5 9.0 1168 19402 done 0.51 - - 3544 - 2.53 0.101 2347 -557.7 162.3 - - 2277 - - - - - - - - 14.57 14.49 14.61
19717 228.6 7.4 1200 19728 done 0.51 - - 3544 - - - 2347 - 162.3 - - 2278 - - - - - - - - 14.72 14.73 14.73
19910 214.9 6.9 1219 19928 done 0.52 - - 3544 - - - 2347 - 172.0 9.23 0.984 2241 -4.0 0.164 - - - - - - 14.73 14.52 14.06
20110 201.0 7.0 1239 20132 roll 0.52 - - 3547 - 2.58 0.112 939 -545.7 179.9 7.80 0.964 2204 -4.7 0.185 - - - - - - 14.69 14.42 14.04
20167 197.2 7.2 1247 20184 done 0.53 - - 3547 - 2.50 0.098 2352 565.2 183.4 3.45 0.723 2194 -2.9 0.148 - - - - - - 14.54 14.46 13.92
20365 181.7 7.4 1267 20376 done 0.53 - - 3547 - - - 2353 - 183.4 - - 2195 - - - - - - - - 14.67 14.69 14.68
20557 169.3 5.7 1286 20600 roll 0.56 - - 3547 - 2.62 0.112 3757 535.9 219.2 28.50 0.936 2042 -5.4 0.182 - - - - - - 14.71 14.34 13.98
20625 165.0 7.9 1296 20636 done 0.56 - - 3554 - 2.53 0.100 2348 -556.9 219.2 - - 2042 - - - - - - - - 14.42 14.34 14.45
20828 150.6 6.8 1316 20849 roll 0.57 - - 3556 - 2.60 0.114 940 -541.5 230.5 9.25 0.913 1998 -4.8 0.147 - - - - - - 14.59 14.34 14.02
20885 146.9 7.0 1324 20903 done 0.58 - - 3558 - 2.50 0.096 2349 563.6 237.4 6.80 0.892 1971 -4.0 0.122 - - - - - - 14.45 14.38 13.96
21085 132.5 6.8 1344 21106 roll 0.59 - - 3553 - 2.58 0.112 939 -546.5 249.6 10.23 0.895 1921 -4.9 0.135 - - - - - - 14.59 14.32 13.98
21156 127.7 7.1 1355 21172 done 0.60 - - 3553 - 2.53 0.097 2356 560.1 255.5 4.95 0.840 1899 -4.4 0.126 - - - - - - 14.45 14.35 13.87
21364 112.9 6.3 1376 21394 done 0.62 0.12 0.128 3640 725.0 - - 2355 - 277.0 18.17 0.869 1809 -5.0 0.120 - - - - - - 14.45 14.27 13.96
21575 88.0 12.0 1397 21587 done 0.62 0.12 0.214 3594 -383.3 - - 2356 - 277.0 - - 1808 - - - - - - - - 14.34 14.46 14.42
21769 71.6 6.9 1416 21791 roll 0.63 - - 3595 - 2.62 0.109 939 -540.8 286.7 8.35 0.827 1771 -4.4 0.072 - - - - - - 14.60 14.36 14.04
21826 67.3 7.6 1425 21839 done 0.63 - - 3595 - 2.50 0.096 2352 565.2 286.7 - - 1767 - - - - - - - - 14.48 14.40 14.50
22020 52.4 8.0 1444 22031 roll 0.63 - - 3595 - 2.55 0.111 3754 549.8 286.7 - - 1769 - - - - - - - - 14.64 14.41 14.65
22047 50.2 7.9 1447 22059 done 0.63 - - 3595 - 2.53 0.098 2347 -556.1 286.7 - - 1772 - - - - - - - - 14.52 14.42 14.54
22241 36.0 7.3 1466 22252 roll 0.63 - - 3596 - 2.53 0.112 937 -557.3 286.8 - - 1768 - - - - - - - - 14.65 14.44 14.67
22358 27.2 7.4 1486 22369 done 0.63 - - 3595 - 2.50 0.096 2354 566.8 286.8 - - 1768 - - - - - - - - 14.54 14.46 14.57
22561 15.0 5.0 1506 22595 roll 0.68 - - 3596 - 2.62 0.108 936 -541.2 336.7 22.05 0.147 1569 -9.0 0.172 - - - - - - 14.68 14.45 14.43
22636 11.5 5.7 1517 22663 done 0.72 - - 3593 - 2.50 0.095 2352 566.4 372.3 15.85 0.128 1423 -9.2 0.155 - - - - - - 14.55 14.47 14.46
22759 end climb: SURFACE_DEPTH_REACHED
22759 begin surface coast
22832 end surface coast: CONTROL_FINISHED_OK
22832 begin surface
SM 2.35 - - - - -10.25 9.73 0.050 94 9.6 0.82 0.110 1905 -8923.2 375.06 1.08 0.091 1411 1306.5 -3.448 - - - - - -