NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 114 * Raw log
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• Previous call tries 1 • 30.45 of 350.00 AH used of 24V (91.30% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -79.1 deg, depth 0.99 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 350.04 (SM_CC=350)
• 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
24 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 92 VBD -0.39 - - 90 - - - 1883 - -107.1 -57.22 - 3078 - - - - - - - - 14.54 - 14.56
98 3.7 -6.1 6 124 roll -0.39 13.45 0.355 3257 235.5 2.80 2.208 495 -495.7 -107.1 -4.78 - 3381 -63.4 - - - - - - - 14.12 13.35 14.38
244 44.8 -16.1 32 251 done -0.39 - - 3258 - 2.47 0.092 1896 567.2 -107.1 - - 3383 - - - - - - - - 14.42 14.32 14.44
443 72.6 -13.2 52 450 roll -0.39 - - 3258 - 2.53 0.108 492 -554.9 -107.1 - - 3384 - - - - - - - - 14.59 14.37 14.61
472 76.3 -13.1 56 479 done -0.39 - - 3258 - 2.50 0.093 1910 567.2 -107.1 - - 3385 - - - - - - - - 14.48 14.39 14.50
670 100.7 -11.5 76 678 done -0.39 - - 3258 - - - 1910 - -107.1 - - 3386 - - - - - - - - 14.64 14.65 14.65
860 123.5 -12.3 95 867 roll -0.39 - - 3258 - 2.55 0.109 494 -555.3 -107.1 - - 3386 - - - - - - - - 14.65 14.42 14.67
967 137.1 -12.4 114 976 done -0.39 - - 3258 - 2.47 0.091 1897 568.0 -107.1 - - 3386 - - - - - - - - 14.52 14.45 14.54
1157 157.6 -9.7 133 1166 roll -0.39 - - 3258 - 2.53 0.104 3319 562.1 -107.1 - - 3386 - - - - - - - - 14.66 14.42 14.69
1197 161.4 -9.7 139 1204 done -0.39 - - 3257 - 2.53 0.093 1894 -563.2 -107.1 - - 3384 - - - - - - - - 14.55 14.46 14.57
1395 180.3 -9.1 159 1402 roll -0.39 - - 3258 - 2.50 0.109 493 -560.4 -107.1 - - 3386 - - - - - - - - 14.69 14.45 14.70
1447 185.5 -10.2 168 1456 done -0.39 - - 3258 - 2.47 0.092 1913 574.9 -107.1 - - 3386 - - - - - - - - 14.54 14.45 14.57
1637 202.8 -9.0 187 1646 done -0.39 - - 3258 - - - 1910 - -107.1 - - 3388 - - - - - - - - 14.69 14.71 14.71
1828 219.8 -8.9 206 1835 roll -0.39 - - 3257 - 2.47 0.106 3300 562.8 -107.1 - - 3383 - - - - - - - - 14.70 14.47 14.72
1877 224.1 -8.8 214 1885 done -0.39 - - 3258 - 2.47 0.095 1903 -565.6 -107.1 - - 3385 - - - - - - - - 14.61 14.49 14.62
2076 241.4 -8.5 234 2084 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3385 - - - - - - - - 14.71 14.73 14.73
2280 258.5 -8.5 248 2283 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3385 - - - - - - - - 14.71 14.73 14.73
2577 283.7 -8.6 258 2580 done -0.39 - - 3258 - - - 1908 - -107.1 - - 3384 - - - - - - - - 14.73 14.75 14.74
2876 308.5 -8.3 268 2883 roll -0.39 - - 3258 - 2.53 0.110 478 -565.2 -107.1 - - 3383 - - - - - - - - 14.74 14.50 14.76
2934 314.0 -9.9 278 2942 done -0.39 - - 3258 - 2.47 0.093 1895 573.7 -107.1 - - 3380 - - - - - - - - 14.60 14.50 14.62
3258 342.2 -9.0 290 3265 roll -0.39 - - 3258 - 2.53 0.107 3321 563.6 -107.1 - - 3382 - - - - - - - - 14.73 14.49 14.75
3301 346.6 -8.9 297 3309 done -0.39 - - 3262 - 2.53 0.096 1888 -566.4 -107.1 - - 3381 - - - - - - - - 14.61 14.51 14.63
3639 375.5 -8.5 312 3643 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3380 - - - - - - - - 14.74 14.76 14.76
3936 400.3 -8.3 322 3939 done -0.39 - - 3258 - - - 1886 - -107.1 - - 3379 - - - - - - - - 14.74 14.76 14.76
4235 424.5 -8.0 332 4243 roll -0.39 - - 3263 - 2.58 0.109 3320 555.8 -107.1 - - 3378 - - - - - - - - 14.75 14.48 14.76
4269 427.2 -8.0 337 4279 done -0.39 - - 3258 - 2.53 0.097 1899 -561.7 -107.1 - - 3380 - - - - - - - - 14.62 14.52 14.64
4579 450.6 -7.7 348 4582 done -0.39 - - 3258 - - - 1899 - -107.1 - - 3376 - - - - - - - - 14.74 14.76 14.76
4875 475.2 -8.4 358 4878 done -0.39 - - 3257 - - - 1899 - -107.1 - - 3376 - - - - - - - - 14.74 14.76 14.76
5174 500.3 -8.4 368 5182 roll -0.39 - - 3258 - 2.55 0.114 474 -558.8 -107.1 - - 3377 - - - - - - - - 14.74 14.48 14.76
5222 504.8 -9.6 376 5231 done -0.39 - - 3258 - 2.47 0.093 1898 576.5 -107.1 - - 3375 - - - - - - - - 14.57 14.47 14.60
5557 530.2 -7.3 390 5561 done -0.39 - - 3254 - - - 1898 - -107.1 - - 3375 - - - - - - - - 14.74 14.76 14.78
5852 551.5 -7.0 400 5860 roll -0.39 - - 3258 - 2.53 0.108 3321 562.5 -107.1 - - 3374 - - - - - - - - 14.76 14.50 14.79
5892 554.2 -7.2 406 5899 done -0.39 - - 3258 - 2.53 0.098 1898 -562.5 -107.1 - - 3374 - - - - - - - - 14.62 14.52 14.64
6236 577.9 -6.8 422 6239 done -0.39 - - 3258 - - - 1905 - -107.1 - - 3373 - - - - - - - - 14.73 14.76 14.76
6530 597.7 -6.7 432 6534 done -0.39 - - 3258 - - - 1901 - -107.1 - - 3373 - - - - - - - - 14.74 14.76 14.76
6831 618.1 -6.7 442 6834 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3372 - - - - - - - - 14.73 14.75 14.76
7131 637.9 -6.6 452 7134 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3372 - - - - - - - - 14.74 14.76 14.79
7431 658.0 -6.8 462 7439 roll -0.39 - - 3258 - 2.58 0.111 3318 549.6 -107.1 - - 3371 - - - - - - - - 14.74 14.50 14.76
7490 662.0 -6.6 472 7498 done -0.39 - - 3257 - 2.53 0.100 1903 -559.3 -107.1 - - 3370 - - - - - - - - 14.62 14.51 14.63
7813 683.1 -6.5 484 7820 roll -0.39 - - 3258 - 2.55 0.109 3320 555.7 -107.1 - - 3370 - - - - - - - - 14.76 14.47 14.75
7896 688.8 -6.5 499 7903 done -0.39 - - 3257 - 2.55 0.100 1887 -562.0 -107.1 - - 3370 - - - - - - - - 14.59 14.49 14.62
8224 709.3 -6.3 512 8227 done -0.39 - - 3258 - - - 1886 - -107.1 - - 3371 - - - - - - - - 14.73 14.75 14.75
8520 728.4 -6.4 522 8523 done -0.39 - - 3258 - - - 1886 - -107.1 - - 3371 - - - - - - - - 14.73 14.73 14.76
8819 747.8 -6.6 532 8823 done -0.39 - - 3258 - - - 1886 - -107.1 - - 3368 - - - - - - - - 14.73 14.76 14.76
9120 769.1 -7.2 542 9128 roll -0.39 - - 3258 - 2.60 0.110 3321 551.9 -107.1 - - 3368 - - - - - - - - 14.73 14.47 14.73
9172 772.9 -7.2 551 9180 done -0.39 - - 3258 - 2.53 0.099 1906 -559.3 -107.1 - - 3368 - - - - - - - - 14.59 14.48 14.62
9501 795.2 -6.8 564 9504 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3367 - - - - - - - - 14.72 14.74 14.74
9797 815.4 -6.8 574 9800 done -0.39 - - 3258 - - - 1905 - -107.1 - - 3367 - - - - - - - - 14.73 14.75 14.74
10097 835.8 -7.0 584 10105 roll -0.39 - - 3257 - 2.55 0.116 478 -559.6 -107.1 - - 3368 - - - - - - - - 14.76 14.45 14.73
10130 838.9 -10.0 589 10139 done -0.39 - - 3258 - 2.53 0.097 1913 567.2 -107.1 - - 3367 - - - - - - - - 14.59 14.50 14.61
10440 859.3 -6.8 600 10448 roll -0.39 - - 3257 - 2.50 0.111 3302 555.6 -107.1 - - 3366 - - - - - - - - 14.72 14.47 14.73
10499 863.7 -6.6 610 10507 done -0.39 - - 3263 - 2.55 0.104 1887 -554.9 -107.1 - - 3366 - - - - - - - - 14.57 14.46 14.59
10824 884.8 -6.5 622 10827 done -0.39 - - 3258 - - - 1887 - -107.1 - - 3366 - - - - - - - - 14.72 14.74 14.73
11118 904.2 -6.5 632 11126 roll -0.39 - - 3258 - 2.60 0.111 3317 550.0 -107.1 - - 3365 - - - - - - - - 14.72 14.47 14.73
11162 907.6 -6.1 639 11170 done -0.39 - - 3258 - 2.55 0.101 1888 -560.4 -107.1 - - 3365 - - - - - - - - 14.58 14.47 14.60
11501 927.0 -5.8 654 11504 done -0.39 - - 3256 - - - 1887 - -107.1 - - 3365 - - - - - - - - 14.71 14.73 14.73
11796 943.8 -5.6 664 11803 roll -0.39 - - 3258 - 2.58 0.112 3302 548.4 -107.1 - - 3365 - - - - - - - - 14.71 14.47 14.73
11849 947.6 -6.1 673 11857 done -0.39 - - 3258 - 2.50 0.102 1907 -558.0 -107.1 - - 3365 - - - - - - - - 14.57 14.46 14.59
12178 966.9 -6.3 686 12181 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3364 - - - - - - - - 14.71 14.73 14.73
12474 985.9 -6.4 696 12481 roll -0.39 - - 3258 - 2.55 0.113 3305 548.6 -107.1 - - 3364 - - - - - - - - 14.71 14.47 14.73
12526 989.9 -6.3 705 12535 done -0.39 - - 3258 - 2.53 0.103 1899 -555.7 -107.1 - - 3364 - - - - - - - - 14.57 14.47 14.59
12539 end dive: TARGET_DEPTH_EXCEEDED
12540 begin apogee
12551 991.1 -6.4 707 12642 done -0.16 0.25 0.168 3339 324.0 - - 2244 - - 84.85 1.903 2939 -5.0 0.487 - - - - - - 14.42 13.92 13.29
12645 end apogee: CONTROL_FINISHED_OK
12646 begin climb
12651 994.2 - 710 12753 done 0.39 0.50 0.119 3514 350.0 - - 2244 - 107.1 88.15 1.874 2504 -4.9 0.489 - - - - - - 13.94 13.74 13.14
13035 974.1 6.2 738 13046 roll 0.41 - - 3514 - 2.65 0.113 3680 541.9 107.1 - - 2501 - - - - - - - - 14.41 14.21 14.43
13107 969.7 7.3 750 13119 done 0.41 - - 3514 - 2.62 0.101 2251 -545.4 107.1 - - 2500 - - - - - - - - 14.34 14.25 14.36
13450 948.0 6.0 766 13461 roll 0.44 - - 3514 - 2.58 0.114 820 -554.7 107.1 - - 2501 - - - - - - - - 14.57 14.33 14.59
13503 945.5 6.1 774 13514 done 0.46 - - 3514 - 2.55 0.097 2261 565.1 107.1 - - 2501 - - - - - - - - 14.46 14.38 14.48
13835 924.9 6.2 788 13847 roll 0.49 0.12 0.129 3584 583.3 2.55 0.112 3660 548.6 107.1 - - 2500 - - - - - - - - 14.47 14.40 14.53
13926 916.4 11.0 803 13938 done 0.49 0.12 0.255 3550 -283.3 2.55 0.103 2250 -552.9 107.1 - - 2503 - - - - - - - - 14.35 14.43 14.51
14254 885.9 9.1 816 14264 done 0.49 - - 3549 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.69 14.70 14.71
14559 859.5 8.7 826 14569 done 0.49 - - 3552 - - - 2250 - 107.1 - - 2500 - - - - - - - - 14.70 14.71 14.71
14858 833.6 9.1 836 14869 roll 0.49 - - 3560 - 2.53 0.113 841 -556.9 107.1 - - 2499 - - - - - - - - 14.71 14.47 14.73
14920 827.5 9.7 846 14931 done 0.49 - - 3560 - 2.50 0.099 2244 561.2 107.1 - - 2499 - - - - - - - - 14.59 14.48 14.61
15242 795.6 10.3 858 15253 roll 0.49 - - 3560 - 2.58 0.112 3665 550.8 107.1 - - 2499 - - - - - - - - 14.73 14.50 14.74
15333 785.8 11.4 873 15344 done 0.49 - - 3570 - 2.55 0.103 2250 -554.9 107.1 - - 2498 - - - - - - - - 14.60 14.50 14.62
15661 750.5 10.4 886 15671 done 0.49 - - 3570 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.73 14.75 14.75
15965 720.5 9.5 896 15976 roll 0.49 - - 3570 - 2.58 0.115 3658 545.7 107.1 - - 2499 - - - - - - - - 14.73 14.51 14.75
16135 702.5 10.5 927 16146 done 0.49 - - 3570 - 2.58 0.103 2234 -551.9 107.1 - - 2498 - - - - - - - - 14.59 14.49 14.64
16472 670.7 9.3 942 16483 roll 0.49 - - 3578 - 2.47 0.112 840 -564.4 107.1 - - 2499 - - - - - - - - 14.73 14.50 14.76
16539 664.1 9.9 953 16551 done 0.49 - - 3580 - 2.50 0.096 2250 564.0 107.1 - - 2499 - - - - - - - - 14.61 14.52 14.65
16850 634.8 9.6 964 16861 roll 0.49 - - 3580 - 2.55 0.114 3661 553.3 107.1 - - 2498 - - - - - - - - 14.75 14.50 14.76
16957 623.8 10.2 982 16969 done 0.49 0.15 0.243 3544 -240.0 2.53 0.101 2252 -556.9 107.1 - - 2498 - - - - - - - - 14.42 14.52 14.59
17300 596.8 7.4 998 17311 roll 0.49 - - 3556 - 2.53 0.111 825 -564.0 107.1 - - 2498 - - - - - - - - 14.74 14.50 14.76
17416 588.1 7.8 1018 17427 done 0.49 - - 3556 - 2.53 0.098 2249 562.8 107.1 - - 2498 - - - - - - - - 14.59 14.53 14.63
17748 564.5 7.0 1032 17759 roll 0.49 - - 3556 - 2.58 0.114 3674 552.3 107.1 - - 2498 - - - - - - - - 14.74 14.50 14.76
17855 556.1 8.5 1050 17866 done 0.49 - - 3557 - 2.58 0.103 2251 -551.6 107.1 - - 2498 - - - - - - - - 14.61 14.49 14.63
18197 531.7 7.0 1066 18208 roll 0.49 - - 3568 - 2.53 0.111 822 -564.8 107.1 - - 2498 - - - - - - - - 14.74 14.49 14.76
18273 526.2 7.3 1079 18284 done 0.49 - - 3568 - 2.53 0.097 2255 566.4 107.1 - - 2498 - - - - - - - - 14.60 14.51 14.62
18611 501.5 7.4 1094 18622 roll 0.49 - - 3568 - 2.55 0.114 3662 551.8 107.1 - - 2501 - - - - - - - - 14.76 14.50 14.76
18720 492.3 8.5 1113 18732 done 0.49 - - 3579 - 2.53 0.099 2250 -558.1 107.1 - - 2498 - - - - - - - - 14.61 14.50 14.63
19058 465.1 8.5 1128 19069 roll 0.49 - - 3582 - 2.53 0.112 828 -562.1 107.1 - - 2498 - - - - - - - - 14.74 14.49 14.76
19114 460.1 8.9 1137 19126 done 0.49 0.10 0.237 3560 -220.0 2.53 0.099 2258 565.2 107.1 - - 2496 - - - - - - - - 14.42 14.51 14.58
19443 436.5 6.9 1150 19454 roll 0.49 - - 3554 - 2.53 0.112 3662 554.9 107.1 - - 2499 - - - - - - - - 14.74 14.50 14.76
19505 431.6 8.3 1160 19516 done 0.49 - - 3553 - 2.55 0.100 2233 -560.4 107.1 - - 2498 - - - - - - - - 14.58 14.49 14.62
19827 409.8 6.8 1172 19837 done 0.50 - - 3550 - - - 2230 - 107.1 - - 2500 - - - - - - - - 14.74 14.76 14.76
20132 389.7 6.7 1182 20143 roll 0.51 - - 3557 - 2.47 0.112 841 -562.3 107.1 - - 2498 - - - - - - - - 14.74 14.49 14.76
20205 384.2 7.0 1194 20216 done 0.51 - - 3554 - 2.53 0.096 2263 562.1 107.1 - - 2499 - - - - - - - - 14.61 14.51 14.63
20549 360.7 6.7 1210 20559 done 0.52 - - 3557 - - - 2263 - 107.1 - - 2499 - - - - - - - - 14.75 14.76 14.76
20852 340.5 6.7 1220 20862 done 0.53 - - 3557 - - - 2263 - 107.1 - - 2498 - - - - - - - - 14.74 14.76 14.76
21152 320.9 6.4 1230 21162 done 0.55 - - 3557 - - - 2263 - 107.1 - - 2499 - - - - - - - - 14.73 14.76 14.76
21452 301.7 6.3 1240 21462 done 0.57 - - 3556 - - - 2263 - 107.1 - - 2499 - - - - - - - - 14.75 14.76 14.77
21752 284.0 5.6 1250 21762 done 0.60 - - 3557 - - - 2263 - 107.1 - - 2498 - - - - - - - - 14.74 14.77 14.76
22052 265.8 6.3 1260 22064 roll 0.63 0.12 0.132 3630 608.3 2.53 0.108 3662 553.0 107.1 - - 2498 - - - - - - - - 14.57 14.51 14.60
22114 259.8 9.7 1270 22126 done 0.63 0.17 0.258 3599 -182.4 2.53 0.098 2250 -558.1 107.1 - - 2499 - - - - - - - - 14.44 14.51 14.59
22438 234.8 7.3 1294 22449 done 0.63 - - 3598 - - - 2251 - 107.1 - - 2499 - - - - - - - - 14.74 14.78 14.76
22630 220.9 7.0 1313 22641 done 0.63 - - 3598 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.74 14.76 14.76
22823 207.5 6.8 1332 22834 done 0.64 - - 3598 - - - 2250 - 107.1 - - 2502 - - - - - - - - 14.74 14.76 14.76
23016 194.7 6.7 1351 23027 roll 0.65 - - 3607 - 2.50 0.106 839 -564.4 107.1 - - 2499 - - - - - - - - 14.73 14.49 14.77
23155 184.9 7.1 1376 23167 done 0.65 - - 3607 - 2.47 0.094 2245 569.2 107.1 - - 2499 - - - - - - - - 14.59 14.51 14.62
23349 171.6 6.4 1395 23361 roll 0.67 - - 3607 - 2.55 0.110 3662 555.7 107.1 - - 2499 - - - - - - - - 14.71 14.47 14.73
23386 169.1 6.9 1400 23398 done 0.67 - - 3617 - 2.53 0.094 2250 -558.1 107.1 - - 2499 - - - - - - - - 14.59 14.48 14.59
23580 156.2 6.7 1419 23591 roll 0.68 - - 3626 - 2.50 0.106 839 -564.4 107.1 - - 2500 - - - - - - - - 14.72 14.47 14.73
23616 153.6 7.4 1424 23628 done 0.68 - - 3626 - 2.50 0.095 2263 569.6 107.1 - - 2500 - - - - - - - - 14.60 14.49 14.61
23810 140.4 6.2 1443 23821 roll 0.70 - - 3626 - 2.50 0.109 3659 558.4 107.1 - - 2500 - - - - - - - - 14.71 14.47 14.73
23897 135.3 5.9 1457 23908 done 0.73 - - 3626 - 2.55 0.096 2246 -554.1 107.1 - - 2499 - - - - - - - - 14.59 14.48 14.61
24100 126.8 3.3 1477 24180 roll 0.78 - - 3631 - 2.60 0.109 841 -540.4 195.6 64.90 0.868 2139 -5.5 0.151 - - - - - - 14.71 14.22 13.89
24417 99.3 8.2 1536 24429 done 0.78 - - 3633 - 2.50 0.095 2245 561.6 195.6 - - 2139 - - - - - - - - 14.42 14.33 14.45
24610 85.9 7.4 1555 24621 roll 0.78 - - 3632 - 2.58 0.109 3663 549.6 195.6 - - 2141 - - - - - - - - 14.60 14.38 14.62
24716 77.5 7.6 1573 24728 done 0.78 - - 3636 - 2.55 0.096 2235 -560.0 195.6 - - 2140 - - - - - - - - 14.52 14.41 14.52
24919 61.3 7.9 1593 24931 roll 0.78 - - 3638 - 2.47 0.109 843 -563.6 195.6 - - 2141 - - - - - - - - 14.64 14.40 14.64
25168 43.9 6.5 1639 25179 done 0.79 - - 3638 - 2.47 0.093 2254 571.3 195.6 - - 2143 - - - - - - - - 14.54 14.45 14.56
25371 32.5 5.2 1659 25412 done 0.82 - - 3639 - - - 2253 - 241.7 33.83 0.764 1956 -5.5 0.044 - - - - - - 14.68 14.40 14.01
25594 16.9 7.1 1682 25605 roll 0.82 - - 3638 - 2.55 0.107 3661 552.2 241.7 - - 1952 - - - - - - - - 14.60 14.38 14.62
25641 13.9 6.3 1689 25654 done 0.84 - - 3639 - 2.53 0.094 2250 -557.7 241.7 - - 1952 - - - - - - - - 14.48 14.38 14.50
25836 6.2 3.2 1708 25885 roll 0.88 0.12 0.128 3712 608.3 2.65 0.106 3663 533.2 331.8 37.62 0.099 1590 -9.6 0.112 - - - - - - 14.48 14.40 14.43
25895 end climb: SURFACE_DEPTH_REACHED
25895 begin surface coast
25944 end surface coast: CONTROL_FINISHED_OK
25944 begin surface
SM 2.73 - - - - -10.26 10.05 0.045 87 8.6 3.20 0.096 1906 -2685.6 350.04 7.45 0.083 1513 203.1 -0.683 - - - - - -