NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 269 * Raw log
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• Previous call tries 1 • 73.46 of 350.00 AH used of 24V (79.01% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -78.7 deg, depth 1.00 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 35 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
29 - - - 108 done -0.39 - - 86 - - - 1896 - -107.1 -72.45 - 3378 - - - - - - - - 14.46 12.92 14.47
115 2.1 -2.5 2 144 roll -0.39 14.35 0.376 3251 220.6 2.60 0.096 3317 546.5 -107.1 - - 3381 - - - - - - - - 13.93 14.18 14.25
378 65.8 -14.6 52 390 done -0.39 - - 3252 - 2.58 0.095 1904 -547.7 -107.1 - - 3384 - - - - - - - - 14.33 14.22 14.37
591 98.3 -14.9 62 602 roll -0.39 - - 3255 - 2.58 0.103 3315 546.9 -107.1 - - 3385 - - - - - - - - 14.59 14.19 14.61
713 113.6 -12.8 83 724 done -0.39 - - 3250 - 2.58 0.093 1890 -552.3 -107.1 - - 3385 - - - - - - - - 14.38 14.24 14.41
921 135.9 -9.6 92 932 roll -0.39 - - 3251 - 2.53 0.105 491 -553.0 -107.1 - - 3385 - - - - - - - - 14.62 14.20 14.64
1022 146.6 -11.5 109 1033 done -0.39 - - 3251 - 2.50 0.090 1898 562.8 -107.1 - - 3384 - - - - - - - - 14.40 14.28 14.45
1203 166.4 -10.6 116 1214 roll -0.39 - - 3256 - 2.58 0.103 3322 551.9 -107.1 - - 3385 - - - - - - - - 14.64 14.25 14.65
1255 172.0 -10.2 124 1266 done -0.39 - - 3251 - 2.55 0.091 1906 -555.3 -107.1 - - 3383 - - - - - - - - 14.43 14.30 14.46
1471 194.2 -10.5 134 1482 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3382 - - - - - - - - 14.64 14.66 14.66
1647 212.7 -10.2 140 1658 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3384 - - - - - - - - 14.66 14.67 14.67
1827 230.8 -10.0 146 1837 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3383 - - - - - - - - 14.66 14.69 14.68
2008 248.1 -9.6 152 2018 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3382 - - - - - - - - 14.67 14.69 14.69
2217 266.8 -8.9 156 2227 done -0.39 - - 3251 - - - 1902 - -107.1 - - 3382 - - - - - - - - 14.71 14.71 14.71
2517 292.9 -8.6 161 2528 roll -0.39 - - 3250 - 2.60 0.106 3317 544.2 -107.1 - - 3379 - - - - - - - - 14.69 14.28 14.71
2579 298.1 -8.4 171 2590 done -0.39 - - 3251 - 2.58 0.094 1886 -554.7 -107.1 - - 3381 - - - - - - - - 14.45 14.31 14.49
2902 325.7 -8.6 178 2913 roll -0.39 - - 3251 - 2.53 0.109 481 -555.3 -107.1 - - 3379 - - - - - - - - 14.69 14.28 14.71
3008 335.5 -9.6 196 3019 done -0.39 - - 3251 - 2.53 0.092 1899 560.5 -107.1 - - 3379 - - - - - - - - 14.45 14.32 14.49
3351 366.0 -8.8 207 3362 roll -0.39 - - 3252 - 2.58 0.106 3321 551.2 -107.1 - - 3380 - - - - - - - - 14.71 14.28 14.72
3472 375.9 -8.3 228 3483 done -0.39 - - 3250 - 2.58 0.093 1892 -553.9 -107.1 - - 3378 - - - - - - - - 14.45 14.32 14.49
3799 404.4 -8.7 236 3809 done -0.39 - - 3251 - - - 1897 - -107.1 - - 3377 - - - - - - - - 14.70 14.72 14.72
4099 431.7 -9.2 241 4111 roll -0.39 - - 3251 - 2.62 0.107 3317 542.0 -107.1 - - 3376 - - - - - - - - 14.71 14.29 14.72
4156 436.9 -8.8 250 4167 done -0.39 - - 3250 - 2.55 0.096 1906 -553.3 -107.1 - - 3375 - - - - - - - - 14.41 14.27 14.45
4483 466.9 -9.3 258 4495 roll -0.39 - - 3252 - 2.58 0.110 474 -555.0 -107.1 - - 3375 - - - - - - - - 14.71 14.26 14.73
4605 478.8 -10.3 279 4616 done -0.39 - - 3251 - 2.55 0.093 1899 558.8 -107.1 - - 3374 - - - - - - - - 14.46 14.32 14.48
4933 508.2 -8.7 287 4944 roll -0.39 - - 3251 - 2.60 0.108 3323 547.7 -107.1 - - 3374 - - - - - - - - 14.69 14.26 14.71
5117 522.8 -7.3 321 5128 done -0.39 - - 3251 - 2.58 0.094 1893 -554.3 -107.1 - - 3373 - - - - - - - - 14.44 14.31 14.50
5441 546.4 -7.3 328 5452 roll -0.39 - - 3251 - 2.55 0.110 484 -552.5 -107.1 - - 3372 - - - - - - - - 14.69 14.26 14.71
5513 552.2 -8.1 340 5524 done -0.39 - - 3252 - 2.55 0.094 1907 558.0 -107.1 - - 3372 - - - - - - - - 14.45 14.31 14.48
5885 576.7 -6.3 357 5896 roll -0.39 - - 3251 - 2.58 0.109 3321 548.1 -107.1 - - 3368 - - - - - - - - 14.70 14.25 14.71
5991 582.8 -6.0 375 6002 done -0.39 - - 3251 - 2.58 0.096 1907 -548.1 -107.1 - - 3371 - - - - - - - - 14.43 14.29 14.47
6338 602.9 -5.8 386 6350 roll -0.39 - - 3251 - 2.60 0.109 474 -551.2 -107.1 - - 3371 - - - - - - - - 14.69 14.23 14.70
6445 609.8 -6.6 404 6456 done -0.39 - - 3251 - 2.55 0.093 1898 558.4 -107.1 - - 3368 - - - - - - - - 14.43 14.29 14.48
6792 630.5 -6.0 415 6803 roll -0.39 - - 3251 - 2.60 0.108 3320 546.9 -107.1 - - 3369 - - - - - - - - 14.66 14.23 14.69
6917 638.8 -6.3 437 6928 done -0.39 - - 3251 - 2.60 0.096 1887 -551.2 -107.1 - - 3369 - - - - - - - - 14.42 14.27 14.47
7240 661.4 -7.1 444 7251 roll -0.39 - - 3251 - 2.55 0.110 481 -551.4 -107.1 - - 3368 - - - - - - - - 14.69 14.23 14.71
7326 668.8 -8.6 459 7337 done -0.39 - - 3251 - 2.58 0.095 1911 554.3 -107.1 - - 3368 - - - - - - - - 14.42 14.30 14.47
7689 696.3 -7.7 473 7700 roll -0.39 - - 3251 - 2.55 0.109 3308 547.8 -107.1 - - 3368 - - - - - - - - 14.68 14.26 14.70
7775 703.5 -7.0 488 7786 done -0.39 - - 3251 - 2.55 0.099 1905 -550.2 -107.1 - - 3368 - - - - - - - - 14.45 14.29 14.47
8137 732.5 -8.2 502 8148 roll -0.39 - - 3251 - 2.60 0.111 477 -549.2 -107.1 - - 3367 - - - - - - - - 14.68 14.22 14.69
8199 738.5 -9.3 512 8210 done -0.39 - - 3256 - 2.55 0.095 1898 557.3 -107.1 - - 3367 - - - - - - - - 14.40 14.27 14.47
8522 763.6 -7.7 519 8533 roll -0.39 - - 3251 - 2.58 0.108 3314 548.8 -107.1 - - 3366 - - - - - - - - 14.68 14.26 14.70
8633 771.6 -6.7 538 8644 done -0.39 - - 3251 - 2.60 0.098 1889 -548.1 -107.1 - - 3366 - - - - - - - - 14.41 14.27 14.46
8971 795.4 -7.0 548 8982 done -0.39 - - 3249 - - - 1890 - -107.1 - - 3365 - - - - - - - - 14.66 14.69 14.68
9270 815.7 -6.7 553 9281 done -0.39 - - 3251 - - - 1886 - -107.1 - - 3365 - - - - - - - - 14.68 14.69 14.69
9571 834.4 -6.2 558 9582 done -0.39 - - 3251 - - - 1890 - -107.1 - - 3364 - - - - - - - - 14.68 14.70 14.71
9871 853.2 -6.3 563 9882 roll -0.39 - - 3251 - 2.65 0.110 3322 540.4 -107.1 - - 3364 - - - - - - - - 14.69 14.23 14.71
9923 856.0 -5.8 571 9934 done -0.39 - - 3251 - 2.58 0.096 1907 -548.4 -107.1 - - 3364 - - - - - - - - 14.42 14.28 14.47
10256 875.3 -5.7 580 10267 roll -0.39 - - 3254 - 2.60 0.111 474 -551.2 -107.1 - - 3363 - - - - - - - - 14.66 14.19 14.71
10317 879.1 -6.8 590 10329 done -0.39 - - 3251 - 2.58 0.094 1898 551.9 -107.1 - - 3365 - - - - - - - - 14.42 14.28 14.46
10641 899.0 -6.1 597 10652 roll -0.39 - - 3251 - 2.60 0.107 3318 546.2 -107.1 - - 3367 - - - - - - - - 14.66 14.22 14.68
10751 905.6 -6.2 616 10763 done -0.39 - - 3251 - 2.60 0.097 1888 -550.0 -107.1 - - 3363 - - - - - - - - 14.40 14.23 14.44
11093 927.4 -6.4 626 11105 roll -0.39 - - 3251 - 2.55 0.111 487 -549.4 -107.1 - - 3363 - - - - - - - - 14.64 14.21 14.66
11175 934.1 -8.1 640 11186 done -0.39 - - 3250 - 2.55 0.095 1899 553.7 -107.1 - - 3362 - - - - - - - - 14.40 14.26 14.45
11543 959.0 -6.8 655 11554 roll -0.39 - - 3251 - 2.62 0.109 3323 543.5 -107.1 - - 3366 - - - - - - - - 14.65 14.19 14.67
11698 969.0 -6.4 683 11709 done -0.39 - - 3251 - 2.60 0.097 1890 -551.2 -107.1 - - 3364 - - - - - - - - 14.38 14.24 14.43
12050 end dive: TARGET_DEPTH_EXCEEDED
12050 begin apogee
12061 991.2 -6.2 696 12155 done -0.16 0.32 0.165 3344 290.6 - - 2262 - - 85.68 1.892 2940 -4.9 0.492 - - - - - - 14.16 13.92 13.19
12157 end apogee: CONTROL_FINISHED_OK
12157 begin climb
12163 994.0 - 697 12272 roll 0.39 0.47 0.103 3516 366.0 2.75 0.112 3642 501.8 107.1 89.18 1.858 2503 -4.9 0.498 - - - - - - 13.94 13.66 12.98
12287 990.3 8.6 720 12299 done 0.39 - - 3517 - 2.65 0.098 2253 -524.2 107.1 - - 2498 - - - - - - - - 13.86 13.76 13.88
12594 970.1 6.6 726 12606 roll 0.40 - - 3517 - 2.65 0.110 821 -540.4 107.1 - - 2498 - - - - - - - - 14.35 14.00 14.36
12636 967.3 10.1 732 12647 done 0.40 - - 3517 - 2.62 0.094 2246 543.9 107.1 - - 2498 - - - - - - - - 14.19 14.06 14.22
12984 948.4 5.4 743 12996 roll 0.44 - - 3517 - 2.62 0.112 3662 540.5 107.1 - - 2497 - - - - - - - - 14.51 14.10 14.53
13061 943.3 6.1 756 13073 done 0.47 - - 3517 - 2.62 0.097 2241 -542.4 107.1 - - 2497 - - - - - - - - 14.31 14.16 14.35
13429 924.9 4.9 772 13485 roll 0.49 0.08 0.158 3585 850.0 2.58 0.110 842 -542.2 160.0 42.83 1.773 2284 -5.0 0.493 - - - - - - 14.31 14.00 13.42
13560 913.7 8.8 796 13572 done 0.49 0.10 0.233 3558 -270.0 2.58 0.095 2253 546.9 160.0 - - 2284 - - - - - - - - 13.97 14.09 14.16
13934 879.4 9.1 813 13945 roll 0.49 - - 3558 - 2.62 0.110 3663 538.2 160.0 - - 2285 - - - - - - - - 14.52 14.16 14.55
13966 875.9 11.0 817 13977 done 0.49 - - 3558 - 2.60 0.099 2256 -541.2 160.0 - - 2285 - - - - - - - - 14.33 14.19 14.36
14322 841.4 9.9 830 14332 done 0.49 - - 3558 - - - 2254 - 160.0 - - 2286 - - - - - - - - 14.57 14.59 14.59
14620 811.1 10.2 835 14630 done 0.49 - - 3558 - - - 2254 - 160.0 - - 2285 - - - - - - - - 14.61 14.65 14.62
14918 779.2 10.7 840 14929 roll 0.49 - - 3568 - 2.58 0.108 838 -548.8 160.0 - - 2285 - - - - - - - - 14.64 14.23 14.65
14939 776.6 11.2 842 14950 done 0.49 - - 3568 - 2.55 0.096 2259 557.3 160.0 - - 2283 - - - - - - - - 14.44 14.28 14.45
15306 735.2 11.5 857 15316 done 0.49 - - 3568 - - - 2259 - 160.0 - - 2283 - - - - - - - - 14.64 14.66 14.66
15601 698.7 12.2 862 15612 done 0.49 - - 3568 - - - 2256 - 160.0 - - 2285 - - - - - - - - 14.64 14.66 14.66
15902 661.5 12.4 867 15913 done 0.49 - - 3568 - - - 2259 - 160.0 - - 2284 - - - - - - - - 14.65 14.66 14.66
16201 626.2 11.6 872 16212 roll 0.49 - - 3568 - 2.62 0.112 3663 535.9 160.0 - - 2285 - - - - - - - - 14.66 14.23 14.67
16248 620.4 12.6 879 16259 done 0.49 - - 3570 - 2.60 0.099 2237 -548.5 160.0 - - 2284 - - - - - - - - 14.41 14.27 14.45
16590 583.8 10.6 889 16601 done 0.49 - - 3574 - - - 2238 - 160.0 - - 2285 - - - - - - - - 14.64 14.66 14.68
16885 553.5 10.0 894 16896 done 0.49 - - 3570 - - - 2236 - 160.0 - - 2285 - - - - - - - - 14.66 14.68 14.68
17187 524.7 9.6 899 17197 done 0.49 - - 3570 - - - 2237 - 160.0 - - 2287 - - - - - - - - 14.66 14.69 14.68
17485 495.8 9.6 904 17497 roll 0.49 - - 3570 - 2.67 0.109 3661 533.3 160.0 - - 2284 - - - - - - - - 14.66 14.21 14.66
17517 492.6 10.1 908 17528 done 0.49 - - 3580 - 2.58 0.096 2254 -545.3 160.0 - - 2285 - - - - - - - - 14.40 14.26 14.45
17874 456.9 10.3 921 17884 done 0.49 - - 3579 - - - 2254 - 160.0 - - 2283 - - - - - - - - 14.64 14.66 14.66
18169 425.9 10.4 926 18180 done 0.49 0.10 0.244 3551 -280.0 - - 2254 - 160.0 - - 2289 - - - - - - - - 14.14 14.40 14.34
18470 400.3 8.4 931 18482 roll 0.49 - - 3558 - 2.60 0.109 822 -550.8 160.0 - - 2285 - - - - - - - - 14.66 14.23 14.68
18502 397.5 8.7 935 18520 done 0.49 - - 3558 - 2.58 0.093 2247 552.3 160.0 - - 2285 - - - - - - - - 14.41 14.27 14.45
18861 368.2 8.1 948 18872 roll 0.49 - - 3558 - 2.62 0.110 3663 540.5 160.0 - - 2283 - - - - - - - - 14.66 14.23 14.68
18948 360.4 9.0 963 18959 done 0.49 - - 3569 - 2.58 0.094 2252 -546.9 160.0 - - 2285 - - - - - - - - 14.40 14.26 14.45
19310 329.4 8.7 977 19321 roll 0.49 - - 3569 - 2.60 0.110 828 -547.7 160.0 - - 2285 - - - - - - - - 14.66 14.20 14.65
19382 322.5 9.0 989 19400 done 0.49 - - 3570 - 2.55 0.095 2254 559.2 160.0 - - 2286 - - - - - - - - 14.38 14.26 14.44
19765 288.6 8.9 1006 19775 done 0.49 - - 3570 - - - 2254 - 160.0 - - 2285 - - - - - - - - 14.65 14.66 14.65
20061 262.3 8.8 1011 20072 roll 0.49 - - 3569 - 2.62 0.109 3660 536.6 160.0 - - 2285 - - - - - - - - 14.65 14.20 14.66
20128 255.7 10.1 1022 20141 done 0.49 - - 3570 - 2.60 0.096 2238 -546.9 160.0 - - 2286 - - - - - - - - 14.38 14.22 14.42
20438 229.6 8.2 1032 20448 done 0.49 - - 3570 - - - 2234 - 160.0 - - 2285 - - - - - - - - 14.64 14.65 14.65
20614 214.6 8.4 1038 20625 done 0.49 - - 3570 - - - 2234 - 160.0 - - 2286 - - - - - - - - 14.64 14.66 14.66
20794 200.1 8.0 1044 20804 done 0.49 - - 3570 - - - 2234 - 160.0 - - 2286 - - - - - - - - 14.66 14.71 14.66
20974 186.5 7.6 1050 20985 done 0.49 - - 3570 - - - 2234 - 160.0 - - 2285 - - - - - - - - 14.64 14.66 14.66
21154 173.3 7.1 1056 21164 done 0.49 - - 3570 - - - 2234 - 160.0 - - 2286 - - - - - - - - 14.64 14.66 14.66
21334 160.4 7.2 1062 21346 roll 0.49 - - 3570 - 2.67 0.106 3664 535.6 160.0 - - 2286 - - - - - - - - 14.64 14.18 14.65
21355 158.6 7.4 1064 21367 done 0.49 - - 3570 - 2.58 0.094 2252 -547.3 160.0 - - 2286 - - - - - - - - 14.40 14.25 14.44
21572 143.5 6.8 1074 21584 roll 0.50 - - 3576 - 2.62 0.106 3664 538.9 160.0 - - 2286 - - - - - - - - 14.64 14.23 14.65
21625 139.0 8.3 1082 21636 done 0.50 - - 3575 - 2.60 0.094 2234 -550.0 160.0 - - 2286 - - - - - - - - 14.34 14.19 14.38
21842 126.5 5.4 1092 21853 roll 0.54 - - 3580 - 2.53 0.105 824 -557.3 160.0 - - 2287 - - - - - - - - 14.64 14.22 14.64
21900 123.5 5.1 1101 21950 done 0.57 - - 3581 - 2.55 0.091 2247 558.0 208.6 36.88 0.874 2087 -5.4 0.145 - - - - - - 14.34 14.20 13.87
22125 106.3 8.8 1116 22136 roll 0.57 - - 3580 - 2.62 0.106 3666 541.6 208.6 - - 2087 - - - - - - - - 14.52 14.14 14.54
22252 92.3 11.9 1138 22263 done 0.57 - - 3582 - 2.58 0.093 2254 -547.3 208.6 - - 2087 - - - - - - - - 14.32 14.18 14.35
22455 72.8 9.6 1146 22466 roll 0.57 - - 3582 - 2.58 0.105 839 -548.4 208.6 - - 2087 - - - - - - - - 14.60 14.14 14.59
22499 69.8 6.4 1152 22510 done 0.59 - - 3582 - 2.55 0.090 2268 560.4 208.6 - - 2087 - - - - - - - - 14.34 14.20 14.38
22726 59.2 4.1 1164 22791 roll 0.62 - - 3582 - 2.60 0.106 3662 536.2 278.5 51.45 0.782 1801 -5.6 0.080 - - - - - - 14.58 14.18 13.85
22816 54.1 7.5 1172 22827 done 0.62 - - 3582 - 2.58 0.092 2238 -551.9 278.5 - - 1799 - - - - - - - - 14.32 14.22 14.35
23043 35.6 8.7 1184 23054 roll 0.62 - - 3582 - 2.53 0.106 841 -552.2 278.5 - - 1799 - - - - - - - - 14.51 14.14 14.53
23140 28.6 6.7 1200 23151 done 0.64 - - 3582 - 2.53 0.089 2253 558.1 278.5 - - 1799 - - - - - - - - 14.28 14.16 14.34
23343 16.9 5.3 1208 23377 roll 0.66 - - 3581 - 2.58 0.105 3660 545.3 322.9 20.33 0.152 1622 -8.7 0.184 - - - - - - 14.56 14.19 14.14
23446 10.6 7.1 1226 23458 done 0.66 - - 3582 - 2.55 0.091 2254 -551.4 322.9 - - 1625 - - - - - - - - 14.33 14.19 14.37
23574 end climb: SURFACE_DEPTH_REACHED
23574 begin surface coast
23640 end surface coast: CONTROL_FINISHED_OK
23640 begin surface
SM 1.32 - - - - -10.27 9.75 0.041 85 8.7 0.65 0.099 1891 1324.6 400.08 33.35 0.085 1309 39.3 -0.062 - - - - - -