NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 639 * Raw log
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• Previous call tries 1 • 183.27 of 350.00 AH used of 24V (47.64% remains)
• Previous NAKs 11, Timeouts 0
• Surface angle -73.6 deg, depth 0.98 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.33 (SM_CC=400)
• GPS1 time: 57 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
31 - - - 113 done -0.39 - - 82 - - - 1949 - -107.1 -75.15 - 3379 - - - - - - - - 14.46 12.47 14.36
121 1.7 -1.9 2 147 roll -0.39 14.27 0.354 3252 222.1 2.67 0.099 3388 539.0 -107.1 - - 3382 - - - - - - - - 13.70 14.01 14.06
230 34.5 -9.9 21 241 done -0.39 - - 3252 - 2.58 0.088 1979 -546.1 -107.1 - - 3383 - - - - - - - - 14.08 13.94 14.13
603 74.3 -9.6 33 615 roll -0.39 - - 3252 - 2.62 0.099 563 -540.5 -107.1 - - 3384 - - - - - - - - 14.45 13.80 14.46
625 77.0 -9.0 35 636 done -0.39 - - 3252 - 2.55 0.088 1963 549.0 -107.1 - - 3384 - - - - - - - - 14.02 13.86 14.08
993 112.0 -9.8 50 1004 roll -0.39 - - 3252 - 2.67 0.103 3390 534.5 -107.1 - - 3380 - - - - - - - - 14.51 13.77 14.51
1055 117.5 -7.9 60 1066 done -0.39 - - 3252 - 2.60 0.083 1969 -546.5 -107.1 - - 3383 - - - - - - - - 14.02 13.87 14.07
1379 141.4 -7.3 67 1390 roll -0.39 - - 3252 - 2.62 0.097 545 -543.5 -107.1 - - 3388 - - - - - - - - 14.52 13.76 14.53
1430 145.6 -7.8 75 1441 done -0.39 - - 3251 - 2.62 0.086 1985 549.6 -107.1 - - 3384 - - - - - - - - 13.98 13.83 14.05
1763 169.5 -7.3 84 1774 roll -0.39 - - 3252 - 2.60 0.102 3376 535.0 -107.1 - - 3384 - - - - - - - - 14.50 13.72 14.52
1845 175.5 -7.3 98 1856 done -0.39 - - 3248 - 2.60 0.083 1955 -546.5 -107.1 - - 3383 - - - - - - - - 13.90 13.74 13.92
2213 201.8 -7.3 113 2224 done -0.39 - - 3251 - - - 1952 - -107.1 - - 3384 - - - - - - - - 14.51 14.53 14.53
2508 221.6 -6.5 118 2519 roll -0.39 - - 3252 - 2.72 0.102 3387 527.6 -107.1 - - 3384 - - - - - - - - 14.54 13.70 14.55
2560 224.7 -5.8 126 2571 done -0.39 - - 3258 - 2.60 0.083 1973 -543.8 -107.1 - - 3384 - - - - - - - - 13.97 13.82 14.02
2894 246.4 -6.7 135 2905 done -0.39 - - 3252 - - - 1970 - -107.1 - - 3385 - - - - - - - - 14.52 14.53 14.53
3193 268.4 -7.4 140 3203 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3383 - - - - - - - - 14.53 14.56 14.56
3494 291.6 -7.7 145 3505 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3383 - - - - - - - - 14.49 14.51 14.49
3793 315.0 -7.9 150 3804 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3382 - - - - - - - - 14.50 14.54 14.54
4093 339.0 -8.0 155 4103 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3384 - - - - - - - - 14.50 14.52 14.52
4394 360.4 -7.0 160 4405 done -0.39 - - 3257 - - - 1969 - -107.1 - - 3381 - - - - - - - - 14.50 14.52 14.52
4693 380.1 -6.5 165 4703 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3380 - - - - - - - - 14.52 14.54 14.53
4994 399.7 -6.6 170 5005 done -0.39 - - 3251 - - - 1969 - -107.1 - - 3383 - - - - - - - - 14.51 14.53 14.53
5293 420.1 -6.8 175 5303 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3381 - - - - - - - - 14.53 14.55 14.54
5593 441.3 -7.1 180 5603 done -0.39 - - 3252 - - - 1966 - -107.1 - - 3377 - - - - - - - - 14.49 14.50 14.50
5893 463.3 -7.3 185 5903 done -0.39 - - 3252 - - - 1970 - -107.1 - - 3379 - - - - - - - - 14.51 14.55 14.53
6193 486.1 -7.7 190 6204 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3379 - - - - - - - - 14.50 14.54 14.53
6494 508.7 -7.5 195 6505 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3378 - - - - - - - - 14.50 14.52 14.52
6793 528.9 -6.6 200 6803 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3377 - - - - - - - - 14.52 14.54 14.54
7093 547.1 -6.0 205 7103 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3377 - - - - - - - - 14.51 14.53 14.52
7395 563.9 -5.6 210 7405 done -0.39 - - 3257 - - - 1972 - -107.1 - - 3377 - - - - - - - - 14.50 14.51 14.51
7693 579.9 -5.3 215 7704 done -0.39 - - 3252 - - - 1969 - -107.1 - - 3376 - - - - - - - - 14.48 14.49 14.50
7994 596.6 -5.6 220 8005 roll -0.39 - - 3248 - 2.72 0.106 3383 519.9 -107.1 - - 3379 - - - - - - - - 14.49 13.67 14.50
8036 599.1 -5.9 226 8048 done -0.39 - - 3252 - 2.67 0.087 1966 -530.7 -107.1 - - 3376 - - - - - - - - 13.89 13.72 13.95
8379 619.3 -6.0 237 8390 done -0.39 - - 3252 - - - 1967 - -107.1 - - 3376 - - - - - - - - 14.47 14.48 14.48
8681 638.5 -6.4 242 8692 roll -0.39 - - 3252 - 2.75 0.106 3382 514.5 -107.1 - - 3375 - - - - - - - - 14.45 13.69 14.47
8728 641.7 -6.4 249 8740 done -0.39 - - 3252 - 2.65 0.089 1965 -534.7 -107.1 - - 3375 - - - - - - - - 13.89 13.73 13.95
9067 664.2 -6.6 259 9078 roll -0.39 - - 3252 - 2.72 0.105 3384 521.7 -107.1 - - 3373 - - - - - - - - 14.47 13.66 14.49
9115 667.3 -6.7 266 9126 done -0.39 - - 3252 - 2.65 0.089 1971 -533.2 -107.1 - - 3374 - - - - - - - - 13.88 13.71 13.94
9453 689.4 -6.6 276 9465 roll -0.39 - - 3252 - 2.67 0.102 556 -530.0 -107.1 - - 3374 - - - - - - - - 14.45 13.66 14.46
9490 692.0 -7.2 281 9502 done -0.39 - - 3252 - 2.62 0.092 1965 537.8 -107.1 - - 3374 - - - - - - - - 13.86 13.69 13.92
9842 712.6 -5.8 293 9854 roll -0.39 - - 3255 - 2.72 0.105 3389 523.5 -107.1 - - 3372 - - - - - - - - 14.49 13.64 14.47
9881 715.0 -6.1 298 9893 done -0.39 - - 3252 - 2.67 0.086 1954 -537.5 -107.1 - - 3374 - - - - - - - - 13.85 13.71 13.92
10234 733.6 -5.2 310 10245 done -0.39 - - 3251 - - - 1954 - -107.1 - - 3372 - - - - - - - - 14.45 14.45 14.45
10531 748.0 -4.7 315 10541 done -0.39 - - 3252 - - - 1952 - -107.1 - - 3372 - - - - - - - - 14.44 14.45 14.48
10829 761.5 -4.5 320 10840 roll -0.39 - - 3252 - 2.78 0.105 3389 516.9 -107.1 - - 3372 - - - - - - - - 14.47 13.67 14.49
10883 763.8 -4.6 328 10894 done -0.39 - - 3252 - 2.65 0.086 1973 -534.3 -107.1 - - 3372 - - - - - - - - 13.85 13.69 13.91
11220 778.6 -4.4 337 11230 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3374 - - - - - - - - 14.40 14.45 14.42
11518 791.9 -4.4 342 11528 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3371 - - - - - - - - 14.45 14.47 14.47
11816 805.6 -4.6 347 11826 done -0.39 - - 3252 - - - 1973 - -107.1 - - 3371 - - - - - - - - 14.46 14.48 14.48
12116 819.4 -4.6 352 12126 done -0.39 - - 3252 - - - 1975 - -107.1 - - 3371 - - - - - - - - 14.44 14.45 14.45
12417 833.4 -4.7 357 12429 roll -0.39 - - 3252 - 2.75 0.106 3389 514.2 -107.1 - - 3370 - - - - - - - - 14.45 13.66 14.47
12461 835.3 -2.4 363 12472 done -0.39 - - 3252 - 2.67 0.087 1958 -536.0 -107.1 - - 3373 - - - - - - - - 13.85 13.70 13.91
12810 851.9 -4.7 374 12821 done -0.39 - - 3252 - - - 1958 - -107.1 - - 3370 - - - - - - - - 14.41 14.45 14.45
13104 865.9 -4.7 379 13115 roll -0.39 - - 3248 - 2.78 0.106 3388 514.4 -107.1 - - 3369 - - - - - - - - 14.43 13.69 14.45
13143 867.4 -5.3 384 13154 done -0.39 - - 3252 - 2.67 0.090 1976 -528.8 -107.1 - - 3369 - - - - - - - - 13.84 13.69 13.90
13495 885.1 -5.2 396 13506 done -0.39 - - 3252 - - - 1976 - -107.1 - - 3369 - - - - - - - - 14.39 14.41 14.40
13792 900.8 -5.2 401 13802 done -0.39 - - 3253 - - - 1976 - -107.1 - - 3369 - - - - - - - - 14.46 14.48 14.46
14091 917.6 -5.6 406 14101 done -0.39 - - 3253 - - - 1976 - -107.1 - - 3369 - - - - - - - - 14.46 14.50 14.47
14390 933.3 -5.2 411 14401 done -0.39 - - 3252 - - - 1981 - -107.1 - - 3367 - - - - - - - - 14.42 14.44 14.45
14692 946.5 -4.3 416 14702 done -0.39 - - 3252 - - - 1979 - -107.1 - - 3368 - - - - - - - - 14.46 14.47 14.47
14990 958.8 -4.1 421 15002 roll -0.39 - - 3252 - 2.75 0.106 3388 512.4 -107.1 - - 3368 - - - - - - - - 14.45 13.66 14.47
15040 960.7 -4.3 428 15051 done -0.39 - - 3252 - 2.67 0.088 1968 -531.8 -107.1 - - 3368 - - - - - - - - 13.85 13.69 13.89
15383 974.3 -3.9 438 15394 roll -0.39 - - 3249 - 2.70 0.102 542 -528.1 -107.1 - - 3371 - - - - - - - - 14.43 13.65 14.45
15410 976.5 -5.0 441 15422 done -0.39 - - 3252 - 2.67 0.090 1968 534.1 -107.1 - - 3368 - - - - - - - - 13.85 13.67 13.90
15769 end dive: TARGET_DEPTH_EXCEEDED
15769 begin apogee
15781 991.7 -4.4 455 15891 done -0.16 0.30 0.144 3339 290.0 - - 2261 - - 98.12 1.910 2939 -4.4 0.447 - - - - - - 13.59 13.45 12.67
15893 end apogee: CONTROL_FINISHED_OK
15893 begin climb
15898 995.0 - 457 16020 roll 0.39 0.50 0.089 3526 374.0 2.80 0.102 822 -513.9 107.1 100.82 1.905 2503 -4.3 0.444 - - - - - - 13.83 13.54 12.50
16045 990.3 7.0 484 16056 done 0.39 - - 3527 - 2.65 0.093 2249 538.5 107.1 - - 2503 - - - - - - - - 13.90 13.76 13.95
16408 971.7 5.1 498 16464 roll 0.41 - - 3527 - 2.67 0.106 3665 530.3 155.2 44.25 1.842 2306 -4.5 0.462 - - - - - - 14.47 13.64 12.86
16514 966.2 4.3 517 16588 done 0.45 - - 3527 - 2.62 0.091 2243 -542.7 221.0 60.45 1.847 2036 -4.5 0.460 - - - - - - 14.14 14.00 12.71
16909 938.6 7.1 539 16921 roll 0.45 - - 3527 - 2.58 0.105 843 -542.6 221.0 - - 2036 - - - - - - - - 14.45 13.93 14.47
16991 933.4 6.7 552 17003 done 0.46 - - 3527 - 2.58 0.093 2245 543.4 221.0 - - 2038 - - - - - - - - 14.12 13.97 14.17
17359 907.7 7.0 568 17370 roll 0.46 - - 3527 - 2.67 0.107 3662 530.7 221.0 - - 2038 - - - - - - - - 14.50 13.90 14.52
17392 905.1 8.2 572 17403 done 0.46 - - 3527 - 2.62 0.091 2238 -543.5 221.0 - - 2038 - - - - - - - - 14.12 13.97 14.17
17749 878.0 8.0 585 17760 roll 0.46 - - 3527 - 2.60 0.106 844 -536.2 221.0 - - 2038 - - - - - - - - 14.52 13.85 14.54
17816 871.4 8.6 596 17828 done 0.46 - - 3527 - 2.60 0.093 2263 545.8 221.0 - - 2038 - - - - - - - - 14.08 13.93 14.14
18121 845.7 8.5 602 18132 done 0.46 - - 3528 - - - 2263 - 221.0 - - 2038 - - - - - - - - 14.54 14.57 14.57
18423 820.7 8.3 607 18433 done 0.46 - - 3527 - - - 2263 - 221.0 - - 2040 - - - - - - - - 14.52 14.57 14.53
18721 794.2 9.0 612 18732 roll 0.46 - - 3527 - 2.67 0.103 842 -532.2 221.0 - - 2038 - - - - - - - - 14.54 13.83 14.55
18763 790.5 9.6 618 18774 done 0.46 - - 3527 - 2.60 0.093 2250 541.5 221.0 - - 2038 - - - - - - - - 14.07 13.93 14.12
19111 758.5 9.4 629 19122 done 0.46 - - 3527 - - - 2248 - 221.0 - - 2040 - - - - - - - - 14.47 14.52 14.50
19405 731.2 9.1 634 19417 roll 0.46 - - 3527 - 2.67 0.103 841 -527.0 221.0 - - 2041 - - - - - - - - 14.53 13.81 14.54
19443 728.0 8.1 639 19454 done 0.46 - - 3527 - 2.62 0.095 2255 539.7 221.0 - - 2038 - - - - - - - - 14.05 13.89 14.10
19796 699.6 8.0 651 19806 done 0.46 - - 3527 - - - 2253 - 221.0 - - 2038 - - - - - - - - 14.48 14.50 14.50
20092 678.8 6.8 656 20103 done 0.47 - - 3528 - - - 2255 - 221.0 - - 2042 - - - - - - - - 14.51 14.54 14.52
20391 659.6 6.5 661 20402 roll 0.49 - - 3528 - 2.67 0.103 845 -528.1 221.0 - - 2038 - - - - - - - - 14.51 13.75 14.53
20455 655.5 6.6 671 20466 done 0.50 - - 3527 - 2.60 0.094 2244 538.1 221.0 - - 2038 - - - - - - - - 14.00 13.82 14.06
20778 635.7 6.1 678 20789 done 0.53 0.12 0.121 3597 583.3 - - 2244 - 221.0 - - 2038 - - - - - - - - 14.12 14.18 14.16
21078 606.0 10.2 683 21089 done 0.53 0.15 0.208 3562 -233.3 - - 2243 - 221.0 - - 2038 - - - - - - - - 13.75 13.97 13.88
21379 580.8 8.3 688 21389 done 0.53 - - 3562 - - - 2244 - 221.0 - - 2036 - - - - - - - - 14.49 14.51 14.50
21677 554.4 8.9 693 21688 done 0.53 - - 3562 - - - 2244 - 221.0 - - 2038 - - - - - - - - 14.48 14.50 14.50
21978 529.5 8.2 698 21989 done 0.53 - - 3566 - - - 2244 - 221.0 - - 2038 - - - - - - - - 14.49 14.50 14.51
22278 505.6 8.0 703 22289 roll 0.53 - - 3570 - 2.65 0.102 843 -528.7 221.0 - - 2038 - - - - - - - - 14.52 13.74 14.53
22310 502.8 8.3 707 22321 done 0.53 - - 3570 - 2.62 0.092 2258 540.1 221.0 - - 2038 - - - - - - - - 13.98 13.84 14.07
22668 472.4 8.6 720 22679 roll 0.53 - - 3569 - 2.67 0.109 3662 525.8 221.0 - - 2038 - - - - - - - - 14.47 13.69 14.48
22710 468.0 9.7 726 22721 done 0.53 - - 3570 - 2.62 0.090 2255 -537.0 221.0 - - 2038 - - - - - - - - 13.88 13.74 13.93
23058 440.1 8.0 737 23069 roll 0.53 - - 3570 - 2.67 0.103 824 -536.0 221.0 - - 2038 - - - - - - - - 14.45 13.69 14.46
23115 435.0 8.3 746 23126 done 0.53 - - 3570 - 2.65 0.093 2256 540.4 221.0 - - 2039 - - - - - - - - 13.96 13.81 14.02
23444 409.2 7.8 754 23454 done 0.53 - - 3570 - - - 2251 - 221.0 - - 2038 - - - - - - - - 14.49 14.50 14.50
23743 383.3 8.7 759 23754 done 0.53 - - 3570 - - - 2251 - 221.0 - - 2038 - - - - - - - - 14.45 14.47 14.47
24044 356.2 9.0 764 24054 done 0.53 - - 3570 - - - 2253 - 221.0 - - 2038 - - - - - - - - 14.47 14.49 14.48
24343 328.9 9.1 769 24354 roll 0.53 - - 3566 - 2.67 0.102 839 -529.6 221.0 - - 2038 - - - - - - - - 14.45 13.71 14.47
24369 326.5 9.0 772 24380 done 0.53 - - 3570 - 2.62 0.092 2244 536.3 221.0 - - 2042 - - - - - - - - 13.95 13.79 14.02
24732 295.3 8.7 786 24744 roll 0.53 - - 3570 - 2.72 0.106 3663 521.7 221.0 - - 2038 - - - - - - - - 14.47 13.71 14.49
24769 291.2 9.8 791 24781 done 0.53 - - 3570 - 2.65 0.089 2246 -534.7 221.0 - - 2036 - - - - - - - - 13.96 13.80 14.03
25123 261.1 8.6 803 25134 roll 0.53 - - 3577 - 2.67 0.099 827 -531.5 221.0 - - 2038 - - - - - - - - 14.45 13.70 14.46
25180 255.6 9.1 812 25193 done 0.53 - - 3576 - 2.65 0.093 2261 541.1 221.0 - - 2038 - - - - - - - - 13.79 13.71 13.88
25511 228.2 8.2 820 25521 done 0.53 - - 3577 - - - 2261 - 221.0 - - 2038 - - - - - - - - 14.44 14.46 14.49
25809 206.0 7.3 825 25820 done 0.53 - - 3577 - - - 2261 - 221.0 - - 2039 - - - - - - - - 14.48 14.50 14.50
26110 185.9 6.7 830 26121 roll 0.54 - - 3582 - 2.70 0.098 836 -527.8 221.0 - - 2039 - - - - - - - - 14.47 13.64 14.49
26149 183.1 6.7 835 26160 done 0.55 - - 3581 - 2.65 0.090 2258 536.6 221.0 - - 2039 - - - - - - - - 13.95 13.79 13.98
26502 159.9 6.5 847 26513 done 0.57 - - 3581 - - - 2254 - 221.0 - - 2040 - - - - - - - - 14.42 14.43 14.43
26798 137.5 7.5 852 26809 roll 0.57 - - 3582 - 2.70 0.099 841 -523.3 221.0 - - 2039 - - - - - - - - 14.46 13.69 14.47
26825 135.5 7.2 855 26836 done 0.57 - - 3581 - 2.65 0.090 2264 537.0 221.0 - - 2040 - - - - - - - - 13.85 13.71 13.91
27188 111.2 6.7 869 27200 roll 0.58 - - 3581 - 2.65 0.104 3662 527.5 221.0 - - 2040 - - - - - - - - 14.45 13.66 14.43
27225 107.9 8.0 874 27237 done 0.58 - - 3578 - 2.62 0.086 2252 -538.2 221.0 - - 2043 - - - - - - - - 13.85 13.71 13.93
27578 82.9 7.0 886 27590 roll 0.58 - - 3582 - 2.65 0.098 829 -537.0 221.0 - - 2043 - - - - - - - - 14.45 13.71 14.46
27686 76.7 6.0 904 27697 done 0.61 - - 3582 - 2.62 0.089 2244 540.1 221.0 - - 2041 - - - - - - - - 13.93 13.76 13.96
28035 54.9 6.4 915 28046 roll 0.62 - - 3579 - 2.67 0.098 840 -525.8 221.0 - - 2041 - - - - - - - - 14.40 13.71 14.42
28102 51.5 4.6 926 28159 done 0.65 - - 3582 - 2.62 0.088 2260 542.0 279.6 45.53 0.804 1797 -5.4 0.068 - - - - - - 13.93 13.78 13.43
28476 30.6 6.1 949 28487 done 0.68 - - 3588 - - - 2265 - 279.6 - - 1797 - - - - - - - - 14.46 14.47 14.47
28782 13.9 5.5 959 28794 roll 0.72 0.08 0.148 3652 800.0 2.65 0.095 837 -538.9 279.6 - - 1797 - - - - - - - - 14.07 13.87 14.06
28829 10.1 7.8 966 28841 done 0.72 - - 3651 - 2.58 0.090 2242 544.6 279.6 - - 1797 - - - - - - - - 14.04 13.89 14.09
28922 end climb: SURFACE_DEPTH_REACHED
28923 begin surface coast
28954 end surface coast: CONTROL_FINISHED_OK
28958 begin surface
SM 1.21 - - - - -10.26 10.23 0.047 94 9.2 0.52 0.098 1959 1786.5 400.33 51.10 0.080 1309 25.6 -0.040 - - - - - -