NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 116 * Raw log
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• Previous call tries 1 • 31.04 of 350.00 AH used of 24V (91.13% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -79.4 deg, depth 1.00 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 52 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 - - - 92 VBD -0.39 - - 92 - - - 1894 - -107.1 -57.17 - 3043 - - - - - - - - 14.53 - 14.55
99 3.1 -4.5 6 129 roll -0.39 13.45 0.355 3250 234.8 2.83 2.203 3317 502.8 -107.1 -5.62 - 3380 -60.0 - - - - - - - 14.12 13.34 14.38
184 31.2 -21.8 20 193 done -0.39 - - 3249 - 2.55 0.097 1905 -553.7 -107.1 - - 3385 - - - - - - - - 14.38 14.29 14.40
384 67.5 -16.5 40 391 roll -0.39 - - 3249 - 2.55 0.109 475 -560.8 -107.1 - - 3385 - - - - - - - - 14.59 14.33 14.58
423 74.0 -16.7 46 431 done -0.39 - - 3249 - 2.53 0.090 1913 568.4 -107.1 - - 3387 - - - - - - - - 14.45 14.37 14.46
622 102.5 -12.8 66 630 done -0.39 - - 3249 - - - 1916 - -107.1 - - 3386 - - - - - - - - 14.62 14.63 14.65
812 127.2 -12.9 85 821 roll -0.39 - - 3253 - 2.60 0.107 472 -555.4 -107.1 - - 3387 - - - - - - - - 14.64 14.38 14.66
916 139.6 -12.9 103 923 done -0.39 - - 3248 - 2.50 0.090 1897 570.0 -107.1 - - 3387 - - - - - - - - 14.52 14.42 14.55
1114 162.9 -11.1 123 1122 done -0.39 - - 3250 - - - 1898 - -107.1 - - 3387 - - - - - - - - 14.66 14.68 14.69
1305 183.2 -10.4 142 1312 done -0.39 - - 3249 - - - 1898 - -107.1 - - 3387 - - - - - - - - 14.68 14.70 14.69
1494 204.6 -11.8 161 1503 roll -0.39 - - 3245 - 2.53 0.106 3320 562.1 -107.1 - - 3387 - - - - - - - - 14.71 14.44 14.71
1538 209.8 -11.1 168 1547 done -0.39 - - 3252 - 2.53 0.094 1889 -565.6 -107.1 - - 3387 - - - - - - - - 14.56 14.47 14.57
1728 230.4 -10.7 187 1736 done -0.39 - - 3249 - - - 1887 - -107.1 - - 3387 - - - - - - - - 14.70 14.72 14.71
1938 254.1 -11.0 206 1946 roll -0.39 - - 3249 - 2.50 0.112 493 -557.6 -107.1 - - 3386 - - - - - - - - 14.69 14.47 14.72
1991 260.5 -12.0 215 2000 done -0.39 - - 3245 - 2.47 0.092 1907 572.5 -107.1 - - 3386 - - - - - - - - 14.58 14.49 14.62
2320 293.8 -9.7 228 2328 roll -0.39 - - 3250 - 2.50 0.106 3317 564.0 -107.1 - - 3388 - - - - - - - - 14.71 14.48 14.76
2363 298.3 -9.4 235 2370 done -0.39 - - 3249 - 2.50 0.096 1907 -564.0 -107.1 - - 3385 - - - - - - - - 14.59 14.48 14.61
2701 327.4 -8.2 250 2704 done -0.39 - - 3249 - - - 1907 - -107.1 - - 3384 - - - - - - - - 14.72 14.74 14.74
2996 352.2 -8.4 260 3003 roll -0.39 - - 3249 - 2.53 0.112 485 -562.1 -107.1 - - 3381 - - - - - - - - 14.73 14.50 14.75
3024 354.9 -9.6 264 3032 done -0.39 - - 3249 - 2.47 0.095 1896 571.3 -107.1 - - 3383 - - - - - - - - 14.60 14.51 14.62
3347 382.1 -8.4 276 3351 done -0.39 - - 3253 - - - 1895 - -107.1 - - 3383 - - - - - - - - 14.73 14.75 14.75
3643 407.0 -8.3 286 3651 roll -0.39 - - 3249 - 2.53 0.107 3320 563.2 -107.1 - - 3383 - - - - - - - - 14.74 14.49 14.75
3677 410.0 -8.9 291 3685 done -0.39 - - 3249 - 2.53 0.097 1897 -562.5 -107.1 - - 3381 - - - - - - - - 14.62 14.52 14.60
3983 436.7 -8.8 302 3986 done -0.39 - - 3250 - - - 1895 - -107.1 - - 3380 - - - - - - - - 14.73 14.76 14.75
4282 462.4 -8.5 312 4285 done -0.39 - - 3246 - - - 1895 - -107.1 - - 3382 - - - - - - - - 14.74 14.76 14.76
4583 489.7 -9.3 322 4586 done -0.39 - - 3249 - - - 1895 - -107.1 - - 3380 - - - - - - - - 14.75 14.76 14.76
4882 517.0 -9.1 332 4885 done -0.39 - - 3249 - - - 1895 - -107.1 - - 3379 - - - - - - - - 14.77 14.78 14.76
5183 543.2 -8.7 342 5191 roll -0.39 - - 3249 - 2.58 0.111 3320 552.3 -107.1 - - 3378 - - - - - - - - 14.76 14.48 14.76
5226 547.0 -8.4 349 5234 done -0.39 - - 3250 - 2.55 0.101 1886 -562.4 -107.1 - - 3378 - - - - - - - - 14.59 14.50 14.62
5565 574.9 -8.2 364 5573 roll -0.39 - - 3249 - 2.50 0.115 494 -556.8 -107.1 - - 3377 - - - - - - - - 14.73 14.49 14.76
5593 577.8 -8.6 368 5601 done -0.39 - - 3249 - 2.45 0.096 1897 572.7 -107.1 - - 3376 - - - - - - - - 14.57 14.47 14.59
5916 603.8 -8.0 380 5920 done -0.39 - - 3249 - - - 1901 - -107.1 - - 3376 - - - - - - - - 14.73 14.75 14.75
6213 628.1 -8.0 390 6221 roll -0.39 - - 3249 - 2.53 0.110 3318 560.1 -107.1 - - 3375 - - - - - - - - 14.74 14.47 14.76
6255 631.5 -8.0 397 6264 done -0.39 - - 3249 - 2.53 0.099 1905 -558.5 -107.1 - - 3375 - - - - - - - - 14.60 14.50 14.62
6594 657.9 -7.9 412 6597 done -0.39 - - 3253 - - - 1901 - -107.1 - - 3374 - - - - - - - - 14.73 14.75 14.73
6890 682.5 -8.3 422 6893 done -0.39 - - 3249 - - - 1905 - -107.1 - - 3374 - - - - - - - - 14.73 14.75 14.75
7190 706.2 -7.7 432 7197 roll -0.39 - - 3249 - 2.55 0.111 3317 553.7 -107.1 - - 3373 - - - - - - - - 14.73 14.48 14.75
7223 708.7 -7.1 437 7233 done -0.39 - - 3250 - 2.55 0.101 1887 -560.8 -107.1 - - 3373 - - - - - - - - 14.57 14.48 14.62
7533 730.6 -7.1 448 7536 done -0.39 - - 3249 - - - 1886 - -107.1 - - 3374 - - - - - - - - 14.73 14.74 14.74
7829 751.1 -6.7 458 7837 roll -0.39 - - 3251 - 2.58 0.111 3316 554.3 -107.1 - - 3372 - - - - - - - - 14.75 14.48 14.75
7882 754.5 -6.3 467 7889 done -0.39 - - 3249 - 2.53 0.101 1905 -557.7 -107.1 - - 3372 - - - - - - - - 14.59 14.48 14.61
8210 776.2 -6.9 480 8218 roll -0.39 - - 3249 - 2.58 0.111 3321 548.8 -107.1 - - 3372 - - - - - - - - 14.72 14.46 14.73
8249 779.3 -7.1 486 8257 done -0.39 - - 3249 - 2.55 0.100 1902 -556.5 -107.1 - - 3371 - - - - - - - - 14.59 14.49 14.61
8593 803.8 -7.0 502 8597 done -0.39 - - 3249 - - - 1902 - -107.1 - - 3371 - - - - - - - - 14.72 14.74 14.74
8888 823.9 -6.5 512 8891 done -0.39 - - 3249 - - - 1901 - -107.1 - - 3370 - - - - - - - - 14.73 14.77 14.77
9189 844.0 -6.7 522 9197 roll -0.39 - - 3249 - 2.60 0.114 3321 546.2 -107.1 - - 3373 - - - - - - - - 14.73 14.46 14.74
9222 846.8 -8.9 527 9231 done -0.39 - - 3249 - 2.58 0.101 1886 -556.2 -107.1 - - 3369 - - - - - - - - 14.57 14.50 14.60
9532 866.6 -6.5 538 9536 done -0.39 - - 3249 - - - 1886 - -107.1 - - 3369 - - - - - - - - 14.72 14.73 14.73
9828 885.1 -6.0 548 9836 roll -0.39 - - 3250 - 2.60 0.113 3320 551.5 -107.1 - - 3369 - - - - - - - - 14.72 14.45 14.73
9861 887.7 -8.0 553 9871 done -0.39 - - 3249 - 2.53 0.100 1907 -558.5 -107.1 - - 3368 - - - - - - - - 14.57 14.46 14.60
10171 905.0 -5.9 564 10174 done -0.39 - - 3249 - - - 1906 - -107.1 - - 3368 - - - - - - - - 14.71 14.73 14.73
10467 923.6 -6.3 574 10471 done -0.39 - - 3249 - - - 1907 - -107.1 - - 3368 - - - - - - - - 14.71 14.73 14.73
10767 942.5 -6.4 584 10771 done -0.39 - - 3249 - - - 1907 - -107.1 - - 3371 - - - - - - - - 14.71 14.73 14.73
11067 961.4 -6.3 594 11075 roll -0.39 - - 3249 - 2.55 0.112 3317 552.9 -107.1 - - 3367 - - - - - - - - 14.71 14.45 14.73
11116 965.1 -6.1 602 11124 done -0.39 - - 3249 - 2.55 0.101 1898 -556.5 -107.1 - - 3368 - - - - - - - - 14.57 14.47 14.59
11450 984.3 -6.1 616 11453 done -0.39 - - 3249 - - - 1893 - -107.1 - - 3367 - - - - - - - - 14.71 14.76 14.72
11560 end dive: TARGET_DEPTH_EXCEEDED
11560 begin apogee
11572 991.6 -6.1 620 11662 done -0.16 0.28 0.170 3337 314.3 - - 2247 - - 85.05 1.899 2942 -5.0 0.487 - - - - - - 14.42 13.93 13.27
11666 end apogee: CONTROL_FINISHED_OK
11666 begin climb
11671 994.9 - 623 11775 roll 0.39 0.55 0.116 3520 332.7 2.75 0.112 3662 514.5 107.1 89.45 1.873 2502 -4.9 0.488 - - - - - - 13.94 13.72 13.13
11810 988.0 8.2 637 11823 done 0.39 - - 3527 - 2.67 0.101 2234 -534.8 107.1 - - 2500 - - - - - - - - 14.00 13.91 14.02
12120 963.1 8.1 648 12132 roll 0.39 - - 3527 - 2.53 0.115 843 -549.8 107.1 - - 2501 - - - - - - - - 14.45 14.21 14.48
12187 957.0 8.5 659 12200 done 0.39 - - 3528 - 2.55 0.096 2261 556.1 107.1 - - 2501 - - - - - - - - 14.37 14.28 14.38
12499 933.5 7.3 670 12510 roll 0.39 - - 3528 - 2.55 0.112 3660 548.6 107.1 - - 2500 - - - - - - - - 14.57 14.34 14.59
12571 927.6 7.9 682 12582 done 0.39 - - 3528 - 2.58 0.102 2252 -545.7 107.1 - - 2500 - - - - - - - - 14.47 14.36 14.49
12914 901.8 7.8 698 12925 roll 0.39 - - 3530 - 2.55 0.114 829 -558.0 107.1 - - 2500 - - - - - - - - 14.64 14.42 14.66
12987 896.7 7.9 710 12998 done 0.39 - - 3530 - 2.53 0.098 2244 559.3 107.1 - - 2500 - - - - - - - - 14.53 14.42 14.55
13329 869.6 7.7 726 13340 done 0.39 - - 3530 - - - 2243 - 107.1 - - 2500 - - - - - - - - 14.68 14.70 14.70
13633 846.9 7.6 736 13645 roll 0.39 - - 3530 - 2.58 0.113 3664 550.8 107.1 - - 2499 - - - - - - - - 14.69 14.48 14.72
13759 836.2 8.1 758 13770 done 0.39 - - 3530 - 2.55 0.103 2250 -554.5 107.1 - - 2498 - - - - - - - - 14.58 14.47 14.60
14082 812.6 7.0 770 14092 done 0.39 - - 3530 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.71 14.73 14.74
14386 790.2 7.4 780 14397 roll 0.39 - - 3530 - 2.53 0.115 838 -558.1 107.1 - - 2499 - - - - - - - - 14.74 14.50 14.75
14486 782.7 7.2 797 14499 done 0.39 - - 3530 - 2.50 0.097 2259 568.4 107.1 - - 2498 - - - - - - - - 14.60 14.51 14.62
14792 761.1 6.9 808 14803 roll 0.39 - - 3530 - 2.53 0.114 3660 553.8 107.1 - - 2499 - - - - - - - - 14.73 14.48 14.75
14918 750.8 7.9 830 14929 done 0.39 - - 3530 - 2.55 0.102 2235 -558.8 107.1 - - 2497 - - - - - - - - 14.59 14.49 14.62
15241 727.9 7.2 842 15252 roll 0.39 - - 3531 - 2.50 0.116 838 -558.8 107.1 - - 2498 - - - - - - - - 14.72 14.49 14.75
15297 723.6 7.7 851 15308 done 0.39 - - 3531 - 2.50 0.097 2256 567.2 107.1 - - 2499 - - - - - - - - 14.60 14.51 14.62
15624 700.2 7.3 864 15635 roll 0.39 - - 3530 - 2.53 0.114 3660 554.9 107.1 - - 2499 - - - - - - - - 14.73 14.49 14.75
15763 688.6 8.4 889 15775 done 0.39 - - 3531 - 2.53 0.102 2254 -555.7 107.1 - - 2497 - - - - - - - - 14.59 14.47 14.64
16101 663.3 7.6 904 16112 done 0.39 - - 3531 - - - 2254 - 107.1 - - 2496 - - - - - - - - 14.73 14.76 14.75
16406 640.9 7.5 914 16417 done 0.39 - - 3531 - - - 2254 - 107.1 - - 2498 - - - - - - - - 14.73 14.76 14.76
16706 618.9 7.2 924 16717 done 0.39 - - 3531 - - - 2254 - 107.1 - - 2498 - - - - - - - - 14.75 14.76 14.76
17006 597.3 7.0 934 17017 roll 0.39 - - 3530 - 2.55 0.114 831 -558.0 107.1 - - 2496 - - - - - - - - 14.75 14.52 14.78
17073 592.5 6.6 945 17085 done 0.41 - - 3531 - 2.50 0.098 2244 565.2 107.1 - - 2498 - - - - - - - - 14.61 14.50 14.63
17383 574.0 5.9 956 17394 roll 0.43 - - 3529 - 2.55 0.112 3662 556.1 107.1 - - 2498 - - - - - - - - 14.75 14.51 14.76
17474 567.9 6.8 971 17485 done 0.44 - - 3531 - 2.53 0.101 2252 -557.3 107.1 - - 2498 - - - - - - - - 14.61 14.48 14.63
17802 546.9 6.4 984 17812 done 0.46 - - 3530 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.73 14.76 14.74
18106 526.3 7.1 994 18117 roll 0.46 - - 3531 - 2.53 0.113 839 -558.1 107.1 - - 2498 - - - - - - - - 14.74 14.51 14.76
18163 522.0 7.2 1003 18174 done 0.46 - - 3531 - 2.50 0.096 2263 569.6 107.1 - - 2498 - - - - - - - - 14.61 14.51 14.63
18490 498.2 7.4 1016 18501 roll 0.46 - - 3532 - 2.53 0.112 3663 553.4 107.1 - - 2500 - - - - - - - - 14.74 14.50 14.74
18620 487.4 8.5 1039 18632 done 0.46 - - 3530 - 2.53 0.099 2251 -558.1 107.1 - - 2498 - - - - - - - - 14.60 14.49 14.62
18931 464.3 7.5 1050 18942 done 0.46 - - 3531 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.73 14.76 14.75
19230 442.0 7.3 1060 19241 roll 0.46 - - 3531 - 2.53 0.113 838 -558.5 107.1 - - 2498 - - - - - - - - 14.73 14.50 14.76
19303 436.8 6.9 1072 19314 done 0.46 - - 3531 - 2.50 0.097 2244 562.4 107.1 - - 2496 - - - - - - - - 14.61 14.50 14.66
19645 413.3 6.8 1088 19656 roll 0.47 - - 3531 - 2.55 0.111 3662 556.1 107.1 - - 2498 - - - - - - - - 14.74 14.48 14.75
19682 410.5 7.7 1093 19694 done 0.47 - - 3531 - 2.53 0.099 2251 -557.7 107.1 - - 2499 - - - - - - - - 14.60 14.50 14.62
19992 390.5 6.4 1104 20002 done 0.49 - - 3530 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.73 14.73 14.75
20293 372.3 6.0 1114 20304 roll 0.52 - - 3531 - 2.53 0.112 835 -559.7 107.1 - - 2498 - - - - - - - - 14.74 14.48 14.76
20389 366.5 5.8 1130 20401 done 0.55 0.10 0.129 3595 640.0 2.50 0.097 2253 567.2 107.1 - - 2498 - - - - - - - - 14.55 14.51 14.62
20712 340.4 8.3 1142 20724 roll 0.55 - - 3595 - 2.55 0.112 3661 552.2 107.1 - - 2496 - - - - - - - - 14.73 14.49 14.75
20958 318.7 8.5 1188 20969 done 0.55 0.12 0.250 3571 -200.0 2.53 0.098 2250 -557.7 107.1 - - 2495 - - - - - - - - 14.38 14.49 14.57
21281 298.7 5.9 1200 21291 done 0.58 - - 3571 - - - 2250 - 107.1 - - 2497 - - - - - - - - 14.73 14.76 14.76
21585 281.9 5.4 1210 21596 done 0.62 - - 3571 - - - 2250 - 107.1 - - 2497 - - - - - - - - 14.73 14.76 14.75
21885 264.9 5.9 1220 21896 done 0.64 0.08 0.160 3624 662.5 - - 2250 - 107.1 - - 2497 - - - - - - - - 14.55 14.64 14.62
22181 237.4 10.1 1238 22192 done 0.64 - - 3625 - - - 2250 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
22373 217.8 10.3 1257 22385 done 0.64 - - 3625 - - - 2250 - 107.1 - - 2500 - - - - - - - - 14.73 14.76 14.76
22566 200.1 8.2 1276 22577 roll 0.64 - - 3627 - 2.53 0.111 832 -560.5 107.1 - - 2497 - - - - - - - - 14.73 14.49 14.73
22623 195.0 8.9 1285 22635 done 0.64 - - 3626 - 2.53 0.096 2263 565.6 107.1 - - 2498 - - - - - - - - 14.59 14.50 14.62
22817 182.0 6.4 1304 22828 done 0.66 - - 3626 - - - 2263 - 107.1 - - 2497 - - - - - - - - 14.72 14.74 14.73
23010 171.5 5.2 1323 23057 roll 0.69 - - 3628 - 2.58 0.107 839 -551.9 154.0 35.58 0.951 2308 -5.3 0.179 - - - - - - 14.72 14.32 13.96
23131 161.7 10.0 1344 23143 done 0.69 - - 3628 - 2.50 0.095 2244 562.0 154.0 - - 2309 - - - - - - - - 14.46 14.36 14.48
23324 144.8 8.7 1363 23335 roll 0.69 - - 3625 - 2.58 0.109 3662 549.6 154.0 - - 2311 - - - - - - - - 14.62 14.39 14.64
23496 125.9 10.8 1394 23508 done 0.69 - - 3634 - 2.55 0.096 2251 -553.3 154.0 - - 2310 - - - - - - - - 14.52 14.40 14.53
23689 109.4 8.7 1413 23701 roll 0.69 - - 3636 - 2.58 0.107 3663 547.3 154.0 - - 2310 - - - - - - - - 14.65 14.42 14.67
23766 102.3 9.5 1425 23778 done 0.69 - - 3639 - 2.55 0.098 2250 -554.1 154.0 - - 2310 - - - - - - - - 14.53 14.43 14.55
23970 87.3 5.5 1445 23981 roll 0.72 - - 3640 - 2.53 0.108 827 -562.5 154.0 - - 2311 - - - - - - - - 14.67 14.44 14.69
24061 82.8 4.2 1460 24125 done 0.76 - - 3640 - 2.53 0.094 2265 568.4 223.3 51.15 0.828 2026 -5.6 0.104 - - - - - - 14.53 14.44 13.93
24311 65.8 9.1 1489 24322 roll 0.76 - - 3640 - 2.53 0.107 3660 551.4 223.3 - - 2025 - - - - - - - - 14.55 14.32 14.57
24560 39.1 10.9 1535 24571 done 0.76 - - 3651 - 2.53 0.094 2250 -557.3 223.3 - - 2025 - - - - - - - - 14.47 14.38 14.49
24763 23.9 5.9 1555 24774 roll 0.79 - - 3659 - 2.53 0.107 827 -562.5 223.3 - - 2025 - - - - - - - - 14.64 14.40 14.65
24860 19.4 4.1 1571 24908 done 0.82 - - 3660 - 2.53 0.094 2258 565.6 294.7 33.00 0.166 1739 -8.7 0.189 - - - - - - 14.51 14.44 14.32
25064 end climb: SURFACE_DEPTH_REACHED
25064 begin surface coast
25110 end surface coast: CONTROL_FINISHED_OK
25110 begin surface
SM 3.21 - - - - -10.25 9.95 0.049 93 9.3 0.68 0.106 1890 -10782.4 350.04 23.30 0.091 1514 65.0 -0.234 - - - - - -