NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 82 * Raw log
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• Previous call tries 1 • 22.39 of 350.00 AH used of 24V (93.60% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -76.5 deg, depth 1.03 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 375.06 (SM_CC=375)
• GPS1 time: 56 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 102 VBD -0.45 - - 76 - - - 1903 - -107.1 -66.95 - 3295 - - - - - - - - 14.54 - 14.56
108 4.9 -8.7 7 133 roll -0.45 13.90 0.379 3237 227.4 2.78 2.215 478 -512.6 -107.1 -1.25 - 3381 -68.8 - - - - - - - 14.18 13.51 14.40
371 74.6 -16.8 56 380 done -0.45 - - 3234 - 2.50 0.092 1897 567.6 -107.1 - - 3386 - - - - - - - - 14.47 14.38 14.47
562 102.6 -13.4 75 569 roll -0.45 - - 3238 - 2.53 0.109 492 -555.3 -107.1 - - 3383 - - - - - - - - 14.62 14.41 14.63
697 121.7 -14.3 100 706 done -0.45 - - 3237 - 2.47 0.090 1904 571.7 -107.1 - - 3384 - - - - - - - - 14.51 14.43 14.52
888 145.5 -12.7 119 896 roll -0.45 - - 3237 - 2.53 0.106 492 -558.1 -107.1 - - 3385 - - - - - - - - 14.66 14.45 14.67
920 149.8 -13.0 124 929 done -0.45 - - 3236 - 2.47 0.090 1913 575.3 -107.1 - - 3384 - - - - - - - - 14.54 14.47 14.54
1111 171.6 -11.3 143 1118 done -0.45 - - 3237 - - - 1912 - -107.1 - - 3385 - - - - - - - - 14.67 14.72 14.69
1300 193.7 -11.8 162 1308 done -0.45 - - 3236 - - - 1911 - -107.1 - - 3389 - - - - - - - - 14.67 14.71 14.71
1490 215.5 -11.0 181 1498 done -0.45 - - 3237 - - - 1912 - -107.1 - - 3384 - - - - - - - - 14.70 14.72 14.71
1680 235.9 -10.4 200 1688 done -0.45 - - 3238 - - - 1912 - -107.1 - - 3384 - - - - - - - - 14.71 14.73 14.73
1884 257.0 -10.5 216 1887 done -0.45 - - 3239 - - - 1912 - -107.1 - - 3384 - - - - - - - - 14.72 14.74 14.74
2180 287.6 -10.0 226 2183 done -0.45 - - 3237 - - - 1912 - -107.1 - - 3380 - - - - - - - - 14.73 14.76 14.75
2480 317.2 -9.7 236 2483 done -0.45 - - 3237 - - - 1912 - -107.1 - - 3382 - - - - - - - - 14.75 14.76 14.76
2780 346.5 -9.9 246 2789 roll -0.45 - - 3237 - 2.55 0.109 495 -555.7 -107.1 - - 3381 - - - - - - - - 14.75 14.54 14.76
2825 351.4 -11.0 253 2833 done -0.45 - - 3237 - 2.45 0.092 1895 571.4 -107.1 - - 3381 - - - - - - - - 14.63 14.54 14.65
3163 383.5 -9.5 268 3166 done -0.45 - - 3237 - - - 1895 - -107.1 - - 3379 - - - - - - - - 14.78 14.78 14.78
3460 410.4 -8.9 278 3463 done -0.45 - - 3237 - - - 1895 - -107.1 - - 3379 - - - - - - - - 14.76 14.78 14.78
3759 437.3 -8.9 288 3762 done -0.45 - - 3236 - - - 1895 - -107.1 - - 3381 - - - - - - - - 14.76 14.78 14.77
4059 466.1 -9.9 298 4062 done -0.45 - - 3237 - - - 1895 - -107.1 - - 3378 - - - - - - - - 14.76 14.78 14.77
4359 494.6 -9.4 308 4366 roll -0.45 - - 3237 - 2.53 0.112 475 -561.3 -107.1 - - 3376 - - - - - - - - 14.76 14.53 14.78
4422 501.3 -10.8 319 4431 done -0.45 - - 3236 - 2.50 0.093 1898 569.2 -107.1 - - 3377 - - - - - - - - 14.64 14.57 14.66
4731 530.2 -9.3 330 4740 roll -0.45 - - 3237 - 2.53 0.109 3319 561.7 -107.1 - - 3376 - - - - - - - - 14.76 14.53 14.79
4795 536.6 -9.0 341 4804 done -0.45 - - 3237 - 2.53 0.099 1889 -565.2 -107.1 - - 3376 - - - - - - - - 14.64 14.56 14.66
5105 565.1 -9.5 352 5108 done -0.45 - - 3237 - - - 1889 - -107.1 - - 3373 - - - - - - - - 14.76 14.77 14.77
5401 592.7 -8.9 362 5404 done -0.45 - - 3235 - - - 1888 - -107.1 - - 3374 - - - - - - - - 14.76 14.78 14.76
5701 618.3 -8.5 372 5704 done -0.45 - - 3237 - - - 1888 - -107.1 - - 3374 - - - - - - - - 14.76 14.78 14.78
6001 644.0 -8.7 382 6004 done -0.45 - - 3237 - - - 1888 - -107.1 - - 3373 - - - - - - - - 14.76 14.78 14.78
6301 670.1 -8.5 392 6309 roll -0.45 - - 3242 - 2.50 0.117 492 -558.4 -107.1 - - 3373 - - - - - - - - 14.76 14.54 14.78
6339 673.6 -9.3 398 6348 done -0.45 - - 3237 - 2.47 0.096 1901 570.4 -107.1 - - 3372 - - - - - - - - 14.64 14.57 14.66
6685 700.1 -7.6 414 6693 roll -0.45 - - 3237 - 2.53 0.111 3319 560.5 -107.1 - - 3372 - - - - - - - - 14.76 14.53 14.77
6743 704.8 -7.2 424 6751 done -0.45 - - 3237 - 2.53 0.102 1903 -559.7 -107.1 - - 3375 - - - - - - - - 14.64 14.54 14.66
7067 728.4 -7.2 436 7074 roll -0.45 - - 3241 - 2.53 0.116 482 -561.7 -107.1 - - 3374 - - - - - - - - 14.76 14.53 14.77
7200 739.4 -8.6 460 7207 done -0.45 - - 3237 - 2.50 0.096 1899 566.8 -107.1 - - 3370 - - - - - - - - 14.63 14.57 14.65
7543 764.6 -7.2 476 7550 roll -0.45 - - 3237 - 2.55 0.111 3321 557.6 -107.1 - - 3370 - - - - - - - - 14.74 14.52 14.74
7626 770.8 -7.0 491 7634 done -0.45 - - 3237 - 2.53 0.101 1903 -560.5 -107.1 - - 3370 - - - - - - - - 14.63 14.54 14.64
7955 793.8 -7.2 504 7962 roll -0.45 - - 3237 - 2.55 0.117 475 -560.0 -107.1 - - 3370 - - - - - - - - 14.74 14.50 14.76
8032 800.8 -8.6 518 8041 done -0.45 - - 3237 - 2.53 0.096 1914 568.8 -107.1 - - 3370 - - - - - - - - 14.61 14.54 14.63
8366 826.9 -8.0 532 8370 done -0.45 - - 3237 - - - 1914 - -107.1 - - 3370 - - - - - - - - 14.73 14.76 14.76
8662 850.5 -8.1 542 8670 roll -0.45 - - 3237 - 2.50 0.112 3319 562.0 -107.1 - - 3369 - - - - - - - - 14.75 14.52 14.76
8731 856.5 -7.8 554 8740 done -0.45 - - 3237 - 2.55 0.103 1888 -561.2 -107.1 - - 3368 - - - - - - - - 14.62 14.54 14.64
9076 882.7 -7.8 570 9084 roll -0.45 - - 3238 - 2.50 0.118 490 -559.2 -107.1 - - 3368 - - - - - - - - 14.73 14.52 14.76
9140 888.8 -9.1 581 9149 done -0.45 - - 3237 - 2.47 0.097 1897 569.6 -107.1 - - 3370 - - - - - - - - 14.62 14.53 14.64
9450 912.7 -7.8 592 9458 roll -0.45 - - 3237 - 2.55 0.111 3319 557.6 -107.1 - - 3368 - - - - - - - - 14.73 14.49 14.75
9514 918.1 -7.6 603 9522 done -0.45 - - 3237 - 2.53 0.101 1904 -559.3 -107.1 - - 3367 - - - - - - - - 14.59 14.52 14.63
9824 940.5 -7.2 614 9833 roll -0.45 - - 3237 - 2.55 0.117 474 -560.8 -107.1 - - 3366 - - - - - - - - 14.73 14.47 14.75
9947 950.8 -8.2 636 9955 done -0.45 - - 3237 - 2.53 0.098 1905 565.6 -107.1 - - 3366 - - - - - - - - 14.60 14.54 14.63
10272 973.7 -7.1 648 10275 done -0.45 - - 3237 - - - 1905 - -107.1 - - 3366 - - - - - - - - 14.73 14.75 14.74
10501 end dive: TARGET_DEPTH_EXCEEDED
10501 begin apogee
10513 990.2 -6.9 656 10603 done -0.16 0.32 0.184 3336 309.4 - - 2352 - - 85.12 1.906 2942 -5.0 0.484 - - - - - - 14.48 13.92 13.26
10607 end apogee: CONTROL_FINISHED_OK
10607 begin climb
10612 993.8 - 659 10709 done 0.45 0.62 0.123 3538 325.8 - - 2358 - 107.1 88.70 1.856 2503 -4.9 0.495 - - - - - - 13.96 13.74 13.12
10990 966.2 8.5 677 11001 done 0.45 - - 3537 - - - 2352 - 107.1 - - 2500 - - - - - - - - 14.42 14.44 14.43
11295 940.1 8.6 687 11306 roll 0.45 - - 3543 - 2.60 0.114 926 -548.5 107.1 - - 2499 - - - - - - - - 14.56 14.35 14.58
11337 936.1 8.8 693 11348 done 0.45 - - 3543 - 2.55 0.100 2355 560.4 107.1 - - 2499 - - - - - - - - 14.45 14.36 14.47
11680 907.2 8.2 709 11690 done 0.45 - - 3543 - - - 2356 - 107.1 - - 2498 - - - - - - - - 14.64 14.66 14.66
11985 883.3 8.0 719 11995 done 0.45 - - 3544 - - - 2354 - 107.1 - - 2498 - - - - - - - - 14.69 14.70 14.70
12284 859.4 8.1 729 12295 roll 0.45 - - 3544 - 2.55 0.117 3764 552.9 107.1 - - 2498 - - - - - - - - 14.71 14.50 14.73
12327 855.5 9.2 735 12338 done 0.45 - - 3544 - 2.55 0.106 2346 -556.1 107.1 - - 2498 - - - - - - - - 14.58 14.49 14.60
12669 827.6 8.3 751 12680 done 0.45 - - 3544 - - - 2346 - 107.1 - - 2498 - - - - - - - - 14.73 14.76 14.75
12973 802.4 8.5 761 12984 done 0.45 - - 3544 - - - 2346 - 107.1 - - 2498 - - - - - - - - 14.74 14.76 14.76
13274 777.1 8.5 771 13285 roll 0.45 - - 3544 - 2.50 0.115 938 -563.2 107.1 - - 2498 - - - - - - - - 14.74 14.53 14.77
13330 771.8 8.5 780 13341 done 0.45 - - 3544 - 2.50 0.097 2350 564.8 107.1 - - 2498 - - - - - - - - 14.62 14.55 14.66
13657 745.1 8.1 793 13668 done 0.45 - - 3544 - - - 2349 - 107.1 - - 2495 - - - - - - - - 14.74 14.76 14.78
13962 720.2 8.6 803 13973 roll 0.45 - - 3544 - 2.53 0.112 937 -558.1 107.1 - - 2497 - - - - - - - - 14.76 14.54 14.78
14014 715.3 8.5 811 14025 done 0.45 - - 3544 - 2.47 0.097 2349 571.7 107.1 - - 2498 - - - - - - - - 14.64 14.59 14.66
14346 687.5 8.5 825 14356 done 0.45 - - 3549 - - - 2348 - 107.1 - - 2496 - - - - - - - - 14.76 14.78 14.78
14651 662.9 8.3 835 14661 done 0.45 - - 3544 - - - 2346 - 107.1 - - 2498 - - - - - - - - 14.76 14.78 14.78
14951 638.0 8.2 845 14962 roll 0.45 - - 3544 - 2.53 0.115 3756 557.3 107.1 - - 2500 - - - - - - - - 14.77 14.55 14.79
15002 633.2 9.0 853 15013 done 0.45 - - 3544 - 2.50 0.102 2348 -563.2 107.1 - - 2499 - - - - - - - - 14.65 14.56 14.66
15334 607.5 7.6 867 15346 roll 0.45 - - 3544 - 2.53 0.115 938 -557.3 107.1 - - 2497 - - - - - - - - 14.77 14.54 14.76
15410 601.8 7.5 880 15421 done 0.45 - - 3544 - 2.47 0.097 2350 571.7 107.1 - - 2497 - - - - - - - - 14.65 14.57 14.66
15748 578.5 6.7 895 15773 roll 0.46 - - 3544 - 2.58 0.116 3770 550.4 120.8 11.32 1.343 2446 -4.5 0.363 - - - - - - 14.77 14.48 13.93
15813 573.6 7.8 906 15826 done 0.46 - - 3544 - 2.55 0.103 2347 -558.0 120.8 - - 2445 - - - - - - - - 14.57 14.47 14.59
16123 552.9 6.8 917 16142 done 0.48 - - 3544 - - - 2347 - 133.5 11.95 1.333 2395 -4.2 0.324 - - - - - - 14.72 14.47 13.90
16428 531.9 7.0 927 16448 roll 0.49 - - 3548 - 2.53 0.112 935 -558.1 141.2 7.62 1.252 2363 -4.2 0.334 - - - - - - 14.69 14.42 13.90
16521 524.6 7.7 943 16532 done 0.49 - - 3544 - 2.50 0.097 2350 566.0 141.2 - - 2364 - - - - - - - - 14.54 14.45 14.55
16844 499.3 8.0 955 16855 roll 0.49 - - 3544 - 2.55 0.113 3758 552.2 141.2 - - 2365 - - - - - - - - 14.69 14.49 14.71
16880 496.0 9.1 960 16892 done 0.49 - - 3544 - 2.53 0.103 2347 -557.7 141.2 - - 2363 - - - - - - - - 14.58 14.48 14.62
17191 470.2 8.5 971 17202 roll 0.49 - - 3544 - 2.50 0.113 939 -563.2 141.2 - - 2365 - - - - - - - - 14.72 14.49 14.71
17233 466.1 8.6 977 17244 done 0.49 - - 3544 - 2.50 0.096 2357 567.2 141.2 - - 2363 - - - - - - - - 14.60 14.50 14.62
17575 437.0 8.2 993 17586 done 0.49 - - 3544 - - - 2357 - 141.2 - - 2363 - - - - - - - - 14.73 14.75 14.75
17880 413.4 7.8 1003 17891 roll 0.49 - - 3544 - 2.55 0.111 934 -558.0 141.2 - - 2363 - - - - - - - - 14.74 14.53 14.76
17922 409.7 8.0 1009 17934 done 0.49 - - 3544 - 2.50 0.097 2357 569.2 141.2 - - 2363 - - - - - - - - 14.63 14.53 14.64
18265 382.8 8.0 1025 18275 done 0.49 - - 3544 - - - 2357 - 141.2 - - 2361 - - - - - - - - 14.75 14.77 14.77
18570 360.3 7.5 1035 18580 done 0.49 - - 3544 - - - 2356 - 141.2 - - 2363 - - - - - - - - 14.76 14.78 14.77
18869 338.5 7.1 1045 18889 roll 0.49 - - 3544 - 2.60 0.110 938 -545.4 147.2 6.60 1.077 2342 -3.2 0.187 - - - - - - 14.76 14.49 14.02
18905 335.6 7.0 1050 18923 done 0.50 - - 3544 - 2.47 0.096 2349 571.3 153.5 6.45 1.066 2314 -4.3 0.256 - - - - - - 14.60 14.52 14.00
19255 309.1 7.6 1067 19265 done 0.50 - - 3544 - - - 2349 - 153.5 - - 2314 - - - - - - - - 14.72 14.72 14.73
19558 286.5 7.7 1077 19569 roll 0.50 - - 3544 - 2.55 0.113 3767 556.1 153.5 - - 2314 - - - - - - - - 14.73 14.52 14.75
19615 281.3 8.9 1086 19627 done 0.50 - - 3544 - 2.55 0.100 2346 -557.3 153.5 - - 2314 - - - - - - - - 14.62 14.52 14.64
19944 256.8 7.1 1099 19959 roll 0.50 - - 3547 - 2.50 0.109 939 -562.8 157.5 4.30 0.890 2301 -3.0 0.163 - - - - - - 14.75 14.44 13.95
19995 253.1 7.0 1107 20015 done 0.51 - - 3550 - 2.47 0.095 2350 571.3 164.9 8.05 1.017 2265 -4.5 0.208 - - - - - - 14.61 14.52 14.04
20326 228.9 7.0 1139 20345 done 0.52 - - 3541 - - - 2350 - 172.0 7.20 0.985 2237 -3.9 0.169 - - - - - - 14.71 14.40 14.02
20527 214.8 7.3 1159 20538 roll 0.52 - - 3544 - 2.55 0.111 939 -553.3 172.0 - - 2238 - - - - - - - - 14.69 14.46 14.71
20570 211.6 7.2 1165 20581 done 0.52 - - 3544 - 2.50 0.096 2357 567.2 174.6 - - 2236 - - - - - - - - 14.57 14.47 14.59
20773 196.4 7.4 1185 20784 roll 0.52 - - 3543 - 2.53 0.112 3760 554.5 174.6 - - 2236 - - - - - - - - 14.70 14.50 14.73
20815 193.0 8.1 1191 20826 done 0.52 - - 3544 - 2.53 0.099 2345 -559.3 174.6 - - 2234 - - - - - - - - 14.58 14.47 14.60
21018 179.0 6.6 1211 21045 roll 0.53 - - 3544 - 2.60 0.109 936 -541.9 190.2 14.73 0.959 2164 -4.8 0.166 - - - - - - 14.71 14.42 14.03
21130 171.5 6.8 1230 21153 done 0.55 - - 3541 - 2.53 0.096 2359 562.5 201.2 10.23 0.944 2117 -4.6 0.156 - - - - - - 14.53 14.43 14.00
21335 156.3 7.5 1251 21346 roll 0.55 - - 3545 - 2.53 0.110 3759 553.4 201.2 - - 2116 - - - - - - - - 14.64 14.43 14.65
21371 153.2 8.5 1256 21382 done 0.55 - - 3544 - 2.53 0.098 2346 -558.5 201.2 - - 2117 - - - - - - - - 14.54 14.42 14.54
21565 140.3 6.9 1275 21586 roll 0.55 - - 3544 - 2.53 0.112 939 -556.1 210.5 8.60 0.906 2080 -4.3 0.125 - - - - - - 14.66 14.40 14.02
21672 132.7 6.9 1293 21695 done 0.56 - - 3544 - 2.50 0.094 2357 567.2 220.4 8.75 0.901 2039 -4.7 0.129 - - - - - - 14.52 14.42 14.00
21886 118.6 6.7 1315 21906 done 0.58 0.08 0.155 3617 912.5 - - 2361 - 233.3 10.85 0.889 1987 -4.8 0.120 - - - - - - 14.47 14.43 14.01
22088 97.4 9.9 1335 22099 done 0.58 0.10 0.230 3582 -350.0 - - 2356 - 233.3 - - 1984 - - - - - - - - 14.38 14.49 14.46
22280 83.4 6.1 1354 22313 roll 0.60 - - 3582 - 2.58 0.109 939 -549.2 259.6 19.95 0.835 1879 -5.3 0.098 - - - - - - 14.65 14.33 14.03
22419 74.5 6.0 1378 22453 done 0.63 - - 3582 - 2.47 0.095 2346 569.6 288.4 21.65 0.816 1763 -5.4 0.091 - - - - - - 14.45 14.40 13.97
22645 59.9 6.4 1402 22673 done 0.65 - - 3581 - - - 2346 - 309.4 16.62 0.808 1675 -5.3 0.073 - - - - - - 14.58 14.35 14.00
22856 46.1 6.9 1423 22874 done 0.66 - - 3582 - - - 2346 - 318.3 7.80 0.795 1639 -4.6 0.050 - - - - - - 14.58 14.38 14.01
23055 32.8 6.3 1443 23087 roll 0.69 - - 3582 - 2.62 0.109 937 -537.8 341.6 17.67 0.770 1544 -5.4 0.043 - - - - - - 14.61 14.32 14.03
23153 26.9 6.3 1459 23181 done 0.71 0.10 0.122 3657 750.0 2.53 0.096 2354 560.1 364.7 14.43 0.757 1450 -6.5 0.043 - - - - - - 14.40 14.35 14.01
23363 5.1 11.6 1481 23375 roll 0.71 0.10 0.214 3619 -380.0 2.55 0.106 3769 554.9 364.7 - - 1449 - - - - - - - - 14.33 14.35 14.41
23382 end climb: SURFACE_DEPTH_REACHED
23382 begin surface coast
23417 end surface coast: CONTROL_FINISHED_OK
23417 begin surface
SM 2.54 - - - - -10.27 9.77 0.042 86 8.8 3.40 0.093 1904 -721.2 375.06 3.55 0.085 1411 397.4 -1.214 - - - - - -