NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 80 * Raw log
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• Previous call tries 1 • 21.79 of 350.00 AH used of 24V (93.78% remains)
• Previous NAKs 6, Timeouts 0
• Surface angle -77.8 deg, depth 1.04 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• No surface pump (final VBD was 397.39, SM_CC=375)
• GPS1 time: 71 s
• GPS2 time: 3 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
25 begin dive
30 - - - 101 VBD -0.45 - - 69 - - - 1894 - -107.1 -67.12 - 3258 - - - - - - - - 14.52 - 14.54
108 4.9 -8.7 7 133 roll -0.45 13.45 0.359 3236 235.5 2.78 2.207 475 -510.4 -107.1 -1.83 - 3382 -67.8 - - - - - - - 14.16 13.51 14.39
304 58.6 -18.9 43 311 done -0.45 - - 3237 - 2.53 0.093 1894 560.9 -107.1 - - 3385 - - - - - - - - 14.42 14.35 14.45
502 93.7 -16.7 63 510 done -0.45 - - 3237 - - - 1894 - -107.1 - - 3386 - - - - - - - - 14.60 14.62 14.62
692 120.6 -13.5 82 701 roll -0.45 - - 3237 - 2.53 0.104 3318 562.8 -107.1 - - 3386 - - - - - - - - 14.64 14.42 14.66
743 127.5 -13.9 90 752 done -0.45 - - 3236 - 2.50 0.092 1901 -566.8 -107.1 - - 3387 - - - - - - - - 14.53 14.45 14.55
943 153.4 -11.3 110 952 roll -0.45 - - 3237 - 2.53 0.108 475 -563.6 -107.1 - - 3387 - - - - - - - - 14.66 14.46 14.69
1041 165.1 -12.2 127 1049 done -0.45 - - 3235 - 2.50 0.092 1906 572.4 -107.1 - - 3387 - - - - - - - - 14.59 14.49 14.59
1230 188.2 -11.9 146 1238 roll -0.45 - - 3236 - 2.50 0.106 3315 563.6 -107.1 - - 3390 - - - - - - - - 14.69 14.48 14.70
1279 194.0 -11.6 154 1288 done -0.45 - - 3237 - 2.53 0.095 1885 -565.2 -107.1 - - 3386 - - - - - - - - 14.57 14.49 14.59
1479 216.7 -10.9 174 1487 roll -0.45 - - 3237 - 2.47 0.110 491 -564.4 -107.1 - - 3386 - - - - - - - - 14.70 14.50 14.72
1577 227.4 -11.6 191 1586 done -0.45 - - 3237 - 2.45 0.093 1895 573.1 -107.1 - - 3386 - - - - - - - - 14.59 14.50 14.61
1767 248.2 -10.5 210 1775 done -0.45 - - 3237 - - - 1895 - -107.1 - - 3386 - - - - - - - - 14.71 14.73 14.73
1967 270.2 -11.1 218 1976 roll -0.45 - - 3237 - 2.53 0.106 3321 563.6 -107.1 - - 3383 - - - - - - - - 14.73 14.50 14.74
2037 278.0 -11.1 230 2045 done -0.45 - - 3236 - 2.53 0.096 1902 -560.9 -107.1 - - 3384 - - - - - - - - 14.64 14.52 14.63
2381 314.7 -10.5 246 2389 roll -0.45 - - 3236 - 2.50 0.111 485 -566.8 -107.1 - - 3382 - - - - - - - - 14.74 14.54 14.76
2439 321.8 -11.3 256 2447 done -0.45 - - 3237 - 2.50 0.093 1907 568.8 -107.1 - - 3382 - - - - - - - - 14.62 14.57 14.64
2762 353.0 -9.4 268 2765 done -0.45 - - 3236 - - - 1903 - -107.1 - - 3381 - - - - - - - - 14.75 14.77 14.75
3058 382.1 -9.9 278 3061 done -0.45 - - 3237 - - - 1903 - -107.1 - - 3380 - - - - - - - - 14.76 14.78 14.78
3358 412.8 -10.3 288 3361 done -0.45 - - 3237 - - - 1903 - -107.1 - - 3381 - - - - - - - - 14.76 14.78 14.78
3658 442.7 -9.7 298 3666 roll -0.45 - - 3236 - 2.55 0.112 482 -557.3 -107.1 - - 3378 - - - - - - - - 14.76 14.55 14.78
3732 450.4 -10.2 311 3739 done -0.45 - - 3237 - 2.47 0.095 1897 572.9 -107.1 - - 3378 - - - - - - - - 14.64 14.54 14.66
4070 481.2 -9.1 326 4079 roll -0.45 - - 3237 - 2.55 0.109 3321 558.4 -107.1 - - 3377 - - - - - - - - 14.76 14.54 14.77
4115 485.6 -8.6 333 4123 done -0.45 - - 3237 - 2.53 0.099 1887 -566.8 -107.1 - - 3377 - - - - - - - - 14.64 14.56 14.66
4453 515.3 -8.8 348 4460 roll -0.45 - - 3237 - 2.47 0.116 494 -564.0 -107.1 - - 3375 - - - - - - - - 14.76 14.54 14.78
4501 520.1 -9.4 356 4508 done -0.45 - - 3237 - 2.47 0.095 1914 574.9 -107.1 - - 3375 - - - - - - - - 14.64 14.57 14.66
4833 548.6 -8.7 370 4837 done -0.45 - - 3237 - - - 1913 - -107.1 - - 3374 - - - - - - - - 14.76 14.78 14.78
5130 577.0 -9.7 380 5138 roll -0.45 - - 3236 - 2.47 0.109 3304 563.2 -107.1 - - 3374 - - - - - - - - 14.76 14.57 14.78
5203 584.0 -9.5 393 5211 done -0.45 - - 3237 - 2.50 0.103 1902 -560.8 -107.1 - - 3373 - - - - - - - - 14.64 14.56 14.66
5541 616.6 -9.7 408 5549 roll -0.45 - - 3236 - 2.53 0.116 474 -564.4 -107.1 - - 3372 - - - - - - - - 14.76 14.53 14.77
5594 622.6 -10.3 417 5601 done -0.45 - - 3237 - 2.50 0.097 1897 569.2 -107.1 - - 3372 - - - - - - - - 14.64 14.55 14.66
5922 651.4 -8.6 430 5931 roll -0.45 - - 3237 - 2.55 0.110 3320 558.0 -107.1 - - 3372 - - - - - - - - 14.76 14.54 14.80
5976 656.3 -8.2 439 5984 done -0.45 - - 3236 - 2.53 0.099 1896 -562.8 -107.1 - - 3372 - - - - - - - - 14.64 14.56 14.66
6304 682.9 -8.2 452 6308 done -0.45 - - 3236 - - - 1896 - -107.1 - - 3374 - - - - - - - - 14.76 14.78 14.77
6601 708.2 -8.3 462 6604 done -0.45 - - 3236 - - - 1896 - -107.1 - - 3371 - - - - - - - - 14.76 14.76 14.78
6900 733.2 -8.4 472 6908 roll -0.45 - - 3238 - 2.58 0.110 3320 551.9 -107.1 - - 3369 - - - - - - - - 14.76 14.54 14.78
6949 737.3 -8.4 480 6956 done -0.45 - - 3237 - 2.53 0.101 1902 -560.5 -107.1 - - 3369 - - - - - - - - 14.64 14.55 14.64
7281 764.9 -8.3 494 7290 roll -0.45 - - 3236 - 2.53 0.116 484 -560.5 -107.1 - - 3369 - - - - - - - - 14.75 14.54 14.76
7351 771.4 -8.9 506 7359 done -0.45 - - 3242 - 2.53 0.097 1912 564.4 -107.1 - - 3368 - - - - - - - - 14.64 14.56 14.65
7695 796.4 -7.2 522 7703 roll -0.45 - - 3237 - 2.50 0.112 3319 562.8 -107.1 - - 3367 - - - - - - - - 14.75 14.52 14.76
7759 801.3 -6.7 533 7768 done -0.45 - - 3234 - 2.55 0.100 1892 -559.6 -107.1 - - 3367 - - - - - - - - 14.63 14.53 14.63
8069 822.6 -6.9 544 8072 done -0.45 - - 3242 - - - 1892 - -107.1 - - 3367 - - - - - - - - 14.75 14.77 14.76
8365 845.2 -7.5 554 8374 roll -0.45 - - 3237 - 2.47 0.118 496 -565.2 -107.1 - - 3367 - - - - - - - - 14.75 14.52 14.77
8424 850.8 -8.7 564 8432 done -0.45 - - 3236 - 2.47 0.097 1897 567.2 -107.1 - - 3365 - - - - - - - - 14.63 14.54 14.65
8748 874.7 -7.7 576 8756 roll -0.45 - - 3242 - 2.55 0.112 3319 557.6 -107.1 - - 3366 - - - - - - - - 14.74 14.52 14.76
8832 881.8 -7.6 591 8839 done -0.45 - - 3238 - 2.53 0.101 1904 -559.3 -107.1 - - 3366 - - - - - - - - 14.62 14.54 14.64
9160 907.5 -8.0 604 9163 done -0.45 - - 3237 - - - 1904 - -107.1 - - 3365 - - - - - - - - 14.74 14.76 14.76
9455 930.4 -7.5 614 9464 roll -0.45 - - 3236 - 2.53 0.117 486 -560.5 -107.1 - - 3364 - - - - - - - - 14.73 14.52 14.76
9520 936.3 -8.0 625 9528 done -0.45 - - 3238 - 2.50 0.099 1901 566.0 -107.1 - - 3365 - - - - - - - - 14.63 14.54 14.64
9830 956.9 -7.0 636 9833 done -0.45 - - 3236 - - - 1900 - -107.1 - - 3364 - - - - - - - - 14.73 14.76 14.75
10126 978.5 -7.3 646 10134 roll -0.45 - - 3237 - 2.55 0.112 3322 557.6 -107.1 - - 3364 - - - - - - - - 14.74 14.52 14.76
10170 982.6 -7.4 653 10177 done -0.45 - - 3236 - 2.55 0.103 1887 -562.7 -107.1 - - 3364 - - - - - - - - 14.62 14.52 14.64
10288 end dive: TARGET_DEPTH_EXCEEDED
10288 begin apogee
10300 991.2 -6.8 661 10391 done -0.16 0.35 0.182 3338 291.4 - - 2357 - - 84.68 1.896 2939 -5.0 0.491 - - - - - - 14.49 13.92 13.26
10394 end apogee: CONTROL_FINISHED_OK
10395 begin climb
10400 995.7 - 664 10507 roll 0.45 0.55 0.118 3530 349.1 2.70 0.113 3755 517.8 107.1 88.43 1.860 2500 -5.0 0.497 - - - - - - 13.93 13.72 13.12
10563 988.6 7.6 694 10575 done 0.45 - - 3535 - 2.62 0.102 2346 -537.8 107.1 - - 2499 - - - - - - - - 14.07 13.97 14.09
10906 963.2 7.7 710 10917 roll 0.45 - - 3530 - 2.55 0.114 940 -551.4 107.1 - - 2500 - - - - - - - - 14.50 14.28 14.52
10953 960.3 7.7 717 10964 done 0.45 - - 3531 - 2.53 0.096 2352 558.1 107.1 - - 2499 - - - - - - - - 14.40 14.32 14.42
11290 932.8 8.3 732 11300 done 0.45 - - 3531 - - - 2352 - 107.1 - - 2502 - - - - - - - - 14.60 14.63 14.63
11594 907.8 8.4 742 11605 roll 0.45 - - 3527 - 2.55 0.114 940 -553.7 107.1 - - 2499 - - - - - - - - 14.66 14.45 14.68
11636 904.1 8.7 748 11648 done 0.45 - - 3531 - 2.50 0.099 2351 564.4 107.1 - - 2499 - - - - - - - - 14.56 14.46 14.56
11979 876.7 8.0 764 11989 done 0.45 - - 3531 - - - 2351 - 107.1 - - 2498 - - - - - - - - 14.70 14.72 14.72
12283 851.9 8.1 774 12295 roll 0.45 - - 3530 - 2.55 0.116 3771 556.9 107.1 - - 2498 - - - - - - - - 14.74 14.52 14.74
12350 845.5 9.8 785 12362 done 0.45 - - 3531 - 2.55 0.103 2349 -557.6 107.1 - - 2496 - - - - - - - - 14.61 14.52 14.63
12661 820.3 8.1 796 12672 done 0.45 - - 3530 - - - 2349 - 107.1 - - 2498 - - - - - - - - 14.73 14.76 14.76
12960 797.0 7.8 806 12972 roll 0.45 - - 3531 - 2.53 0.116 938 -557.7 107.1 - - 2498 - - - - - - - - 14.75 14.52 14.77
13007 792.9 7.8 813 13018 done 0.45 - - 3531 - 2.50 0.099 2356 567.2 107.1 - - 2497 - - - - - - - - 14.64 14.54 14.65
13346 767.0 7.9 828 13356 done 0.45 - - 3532 - - - 2356 - 107.1 - - 2498 - - - - - - - - 14.76 14.78 14.79
13649 743.0 7.9 838 13659 done 0.45 - - 3531 - - - 2353 - 107.1 - - 2496 - - - - - - - - 14.76 14.78 14.78
13949 719.9 7.5 848 13959 done 0.45 - - 3531 - - - 2356 - 107.1 - - 2502 - - - - - - - - 14.76 14.78 14.78
14248 697.7 7.5 858 14260 roll 0.45 - - 3531 - 2.53 0.115 3765 556.9 107.1 - - 2497 - - - - - - - - 14.76 14.58 14.78
14300 693.0 8.6 866 14312 done 0.45 - - 3531 - 2.53 0.103 2346 -560.9 107.1 - - 2497 - - - - - - - - 14.65 14.56 14.67
14633 669.4 7.0 880 14653 roll 0.46 - - 3531 - 2.58 0.116 915 -554.7 115.1 7.32 1.344 2469 -3.8 0.356 - - - - - - 14.77 14.50 13.93
14713 664.1 7.1 893 14730 done 0.46 - - 3531 - 2.55 0.099 2354 564.3 120.3 3.85 1.049 2453 -4.2 0.492 - - - - - - 14.62 14.52 13.80
15051 639.7 6.8 908 15071 done 0.48 - - 3531 - - - 2349 - 131.1 12.05 1.423 2405 -4.0 0.335 - - - - - - 14.72 14.48 13.88
15356 618.3 7.1 918 15367 done 0.48 - - 3536 - - - 2349 - 135.4 4.00 1.057 2390 -3.8 0.410 - - - - - - 14.69 14.50 13.78
15656 596.3 7.3 928 15667 done 0.48 - - 3531 - - - 2349 - 135.8 - - 2395 - - - - - - - - 14.70 14.73 14.71
15956 573.5 7.5 938 15966 done 0.48 - - 3531 - - - 2349 - 135.8 - - 2393 - - - - - - - - 14.72 14.74 14.73
16256 549.8 8.0 948 16267 roll 0.48 - - 3531 - 2.55 0.115 3759 552.9 135.8 - - 2396 - - - - - - - - 14.73 14.53 14.78
16292 546.3 8.5 953 16304 done 0.48 - - 3536 - 2.53 0.103 2346 -558.5 135.8 - - 2393 - - - - - - - - 14.62 14.52 14.64
16603 523.5 7.4 964 16614 done 0.48 - - 3530 - - - 2346 - 135.8 2.33 0.477 2389 -1.7 0.352 - - - - - - 14.75 14.56 13.83
16903 502.0 7.2 974 16919 roll 0.48 - - 3531 - 2.53 0.115 937 -556.9 138.5 4.25 1.043 2377 -2.8 0.254 - - - - - - 14.75 14.51 13.87
16970 496.7 7.6 985 16982 done 0.48 - - 3530 - 2.50 0.099 2350 565.2 138.5 - - 2380 - - - - - - - - 14.61 14.53 14.63
17280 474.8 7.2 996 17295 roll 0.48 - - 3531 - 2.55 0.114 3756 551.4 140.4 3.28 0.826 2370 -3.0 0.328 - - - - - - 14.72 14.52 13.86
17336 470.0 8.1 1005 17347 done 0.48 - - 3530 - 2.53 0.101 2344 -558.1 140.4 - - 2372 - - - - - - - - 14.61 14.51 14.62
17663 448.1 6.7 1018 17688 roll 0.50 - - 3531 - 2.53 0.112 938 -555.7 153.8 13.65 1.243 2310 -4.5 0.306 - - - - - - 14.73 14.38 13.95
17739 443.3 6.8 1030 17759 done 0.51 - - 3530 - 2.53 0.098 2349 557.7 164.8 9.55 1.209 2268 -4.4 0.301 - - - - - - 14.54 14.46 13.90
18081 418.9 6.9 1046 18097 done 0.52 - - 3530 - - - 2349 - 173.8 8.55 1.167 2232 -4.2 0.283 - - - - - - 14.66 14.45 13.92
18385 398.4 6.8 1056 18406 roll 0.53 - - 3529 - 2.65 0.113 940 -531.7 185.4 10.80 1.168 2184 -4.4 0.283 - - - - - - 14.68 14.39 13.93
18447 393.7 7.2 1066 18458 done 0.53 - - 3531 - 2.53 0.099 2355 559.3 187.5 - - 2184 - - - - - - - - 14.50 14.40 14.51
18773 370.5 7.3 1078 18785 done 0.53 0.08 0.156 3586 687.5 - - 2355 - 188.0 3.45 0.813 2174 -2.9 0.247 - - - - - - 14.51 14.49 13.85
19069 336.9 11.7 1088 19080 roll 0.53 - - 3590 - 2.53 0.114 3756 553.8 188.0 - - 2176 - - - - - - - - 14.69 14.50 14.71
19116 330.9 13.2 1095 19128 done 0.53 0.12 0.240 3564 -216.7 2.53 0.100 2344 -558.1 188.0 - - 2173 - - - - - - - - 14.43 14.48 14.57
19454 300.0 8.5 1110 19465 roll 0.53 - - 3569 - 2.50 0.112 938 -562.4 188.0 - - 2175 - - - - - - - - 14.71 14.49 14.73
19496 296.1 9.2 1116 19507 done 0.53 - - 3570 - 2.47 0.096 2349 571.3 188.0 - - 2176 - - - - - - - - 14.60 14.52 14.62
19839 262.3 10.1 1132 19850 roll 0.53 - - 3570 - 2.55 0.112 3772 558.0 188.0 - - 2176 - - - - - - - - 14.73 14.52 14.75
19875 258.2 10.9 1137 19887 done 0.53 - - 3569 - 2.53 0.099 2347 -563.2 188.0 - - 2176 - - - - - - - - 14.62 14.52 14.66
20181 229.9 8.7 1162 20193 done 0.53 - - 3569 - - - 2346 - 188.0 - - 2176 - - - - - - - - 14.73 14.76 14.76
20374 213.3 8.5 1181 20385 done 0.53 - - 3575 - - - 2347 - 188.0 - - 2176 - - - - - - - - 14.74 14.77 14.75
20566 197.5 7.9 1200 20577 roll 0.53 - - 3570 - 2.50 0.112 940 -562.8 188.0 - - 2176 - - - - - - - - 14.73 14.50 14.76
20598 194.9 7.8 1204 20609 done 0.53 - - 3570 - 2.47 0.096 2346 569.2 188.0 - - 2175 - - - - - - - - 14.62 14.54 14.64
20801 177.1 8.8 1224 20812 done 0.53 - - 3570 - - - 2349 - 188.0 - - 2176 - - - - - - - - 14.73 14.75 14.75
20993 160.0 8.6 1243 21004 done 0.53 - - 3570 - - - 2349 - 188.0 - - 2176 - - - - - - - - 14.76 14.75 14.75
21185 143.6 8.0 1262 21197 roll 0.53 - - 3570 - 2.55 0.112 3775 559.2 188.0 - - 2176 - - - - - - - - 14.76 14.52 14.75
21275 135.6 8.7 1277 21287 done 0.53 - - 3570 - 2.53 0.099 2349 -563.6 188.0 - - 2175 - - - - - - - - 14.62 14.52 14.63
21469 121.5 7.4 1296 21480 roll 0.53 - - 3570 - 2.50 0.112 940 -563.6 188.0 - - 2176 - - - - - - - - 14.73 14.50 14.74
21555 115.0 7.7 1310 21566 done 0.53 - - 3570 - 2.50 0.094 2360 568.0 188.0 - - 2178 - - - - - - - - 14.61 14.52 14.64
21758 101.1 6.5 1330 21785 roll 0.55 - - 3577 - 2.62 0.108 938 -542.7 206.6 16.23 0.881 2095 -5.1 0.110 - - - - - - 14.73 14.43 14.09
21826 96.5 7.9 1340 21837 done 0.55 - - 3578 - 2.50 0.093 2349 564.4 206.6 - - 2095 - - - - - - - - 14.53 14.45 14.55
22028 82.7 5.6 1360 22067 done 0.59 - - 3577 - - - 2349 - 245.1 28.88 0.833 1937 -5.5 0.102 - - - - - - 14.67 14.40 14.02
22249 69.6 5.3 1382 22296 roll 0.63 - - 3582 - 2.62 0.109 939 -538.2 289.9 32.67 0.798 1756 -5.5 0.090 - - - - - - 14.62 14.26 13.97
22357 63.0 6.6 1400 22384 done 0.65 - - 3580 - 2.50 0.094 2349 564.0 306.5 13.60 0.796 1688 -5.0 0.074 - - - - - - 14.41 14.33 13.95
22566 48.6 6.7 1422 22584 done 0.66 - - 3579 - - - 2348 - 319.3 10.88 0.798 1637 -4.7 0.053 - - - - - - 14.56 14.36 13.99
22766 35.7 6.9 1442 22788 roll 0.67 - - 3582 - 2.62 0.110 934 -539.7 329.7 8.75 0.781 1593 -5.0 0.043 - - - - - - 14.59 14.33 14.02
22828 31.8 6.6 1451 22851 done 0.69 - - 3582 - 2.50 0.093 2349 566.0 345.0 11.73 0.783 1534 -5.0 0.038 - - - - - - 14.45 14.37 14.00
23032 19.6 5.0 1472 23064 done 0.74 0.12 0.125 3668 716.7 - - 2349 - 396.8 24.10 0.168 1324 -8.7 0.190 - - - - - - 14.43 14.45 14.33
23181 end climb: SURFACE_DEPTH_REACHED
23181 begin surface coast
23212 end surface coast: CONTROL_FINISHED_OK
23212 begin surface
SM 1.51 - - - - -10.24 10.23 0.073 94 9.2 0.82 0.116 1905 -10172.0 397.39 - - 1321 - - - - - - - -