NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 145 * Raw log
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• Previous call tries 1 • 39.41 of 350.00 AH used of 24V (88.74% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -77.2 deg, depth 1.05 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• No surface pump (final VBD was 365.01, SM_CC=350)
• GPS1 time: 52 s
• GPS2 time: 3 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
28 - - - 101 VBD -0.39 - - 82 - - - 1886 - -107.1 -65.85 - 3183 - - - - - - - - 14.55 - 14.57
107 4.3 -6.9 7 136 roll -0.39 13.57 0.360 3255 233.8 2.80 2.206 495 -496.8 -107.1 -2.85 - 3383 -70.2 - - - - - - - 14.10 13.29 14.40
374 64.9 -15.5 56 386 done -0.39 - - 3257 - 2.47 0.092 1898 568.0 -107.1 - - 3388 - - - - - - - - 14.48 14.37 14.50
567 89.7 -12.8 75 578 roll -0.39 - - 3260 - 2.53 0.107 492 -555.7 -107.1 - - 3387 - - - - - - - - 14.64 14.40 14.64
705 107.7 -11.7 99 716 done -0.39 - - 3258 - 2.50 0.093 1919 570.8 -107.1 - - 3388 - - - - - - - - 14.52 14.42 14.55
908 130.3 -10.9 119 919 roll -0.39 - - 3257 - 2.55 0.104 492 -559.6 -107.1 - - 3388 - - - - - - - - 14.68 14.44 14.70
964 136.7 -11.2 128 976 done -0.39 - - 3258 - 2.47 0.091 1897 568.8 -107.1 - - 3388 - - - - - - - - 14.56 14.45 14.58
1158 155.7 -9.7 147 1169 roll -0.39 - - 3257 - 2.55 0.103 3321 558.4 -107.1 - - 3388 - - - - - - - - 14.70 14.45 14.71
1234 162.4 -8.9 159 1245 done -0.39 - - 3258 - 2.50 0.092 1905 -566.4 -107.1 - - 3388 - - - - - - - - 14.57 14.45 14.60
1437 181.3 -8.9 179 1448 done -0.39 - - 3257 - - - 1907 - -107.1 - - 3387 - - - - - - - - 14.71 14.73 14.73
1629 198.8 -9.1 198 1641 done -0.39 - - 3254 - - - 1907 - -107.1 - - 3387 - - - - - - - - 14.72 14.73 14.73
1822 216.8 -9.7 217 1833 roll -0.39 - - 3257 - 2.53 0.105 3321 558.9 -107.1 - - 3386 - - - - - - - - 14.73 14.45 14.74
1874 221.9 -9.8 225 1885 done -0.39 - - 3257 - 2.53 0.093 1887 -566.8 -107.1 - - 3384 - - - - - - - - 14.59 14.49 14.62
2076 242.3 -9.9 245 2087 done -0.39 - - 3257 - - - 1886 - -107.1 - - 3385 - - - - - - - - 14.73 14.74 14.78
2283 261.4 -9.3 257 2294 roll -0.39 - - 3257 - 2.55 0.106 3320 562.4 -107.1 - - 3384 - - - - - - - - 14.75 14.49 14.76
2345 267.2 -8.3 267 2356 done -0.39 - - 3257 - 2.53 0.094 1889 -565.6 -107.1 - - 3384 - - - - - - - - 14.61 14.52 14.65
2668 294.6 -8.2 279 2678 done -0.39 - - 3257 - - - 1888 - -107.1 - - 3383 - - - - - - - - 14.76 14.76 14.78
2967 318.7 -7.9 289 2978 done -0.39 - - 3257 - - - 1888 - -107.1 - - 3382 - - - - - - - - 14.75 14.79 14.78
3267 343.3 -8.3 299 3278 roll -0.39 - - 3257 - 2.55 0.108 3320 561.6 -107.1 - - 3382 - - - - - - - - 14.78 14.53 14.80
3343 349.4 -7.8 312 3354 done -0.39 - - 3258 - 2.50 0.096 1906 -565.6 -107.1 - - 3381 - - - - - - - - 14.64 14.53 14.66
3681 374.2 -7.4 327 3692 roll -0.39 - - 3257 - 2.53 0.110 480 -563.6 -107.1 - - 3380 - - - - - - - - 14.78 14.51 14.79
3728 378.1 -8.4 334 3740 done -0.39 - - 3257 - 2.50 0.096 1911 572.4 -107.1 - - 3380 - - - - - - - - 14.64 14.54 14.66
4065 402.1 -7.1 349 4077 roll -0.39 - - 3258 - 2.50 0.110 3315 561.6 -107.1 - - 3379 - - - - - - - - 14.78 14.52 14.79
4166 408.6 -6.7 366 4179 done -0.39 - - 3257 - 2.53 0.099 1894 -561.7 -107.1 - - 3378 - - - - - - - - 14.64 14.54 14.66
4472 431.4 -7.8 377 4483 roll -0.39 - - 3257 - 2.50 0.113 484 -564.0 -107.1 - - 3377 - - - - - - - - 14.77 14.52 14.79
4529 436.6 -8.6 386 4541 done -0.39 - - 3257 - 2.47 0.098 1898 572.5 -107.1 - - 3377 - - - - - - - - 14.64 14.52 14.66
4857 461.1 -7.3 399 4868 roll -0.39 - - 3258 - 2.50 0.109 3315 566.8 -107.1 - - 3376 - - - - - - - - 14.78 14.52 14.79
5007 471.3 -6.7 426 5018 done -0.39 - - 3257 - 2.50 0.099 1907 -563.2 -107.1 - - 3375 - - - - - - - - 14.64 14.51 14.66
5334 494.5 -7.2 439 5345 done -0.39 - - 3254 - - - 1906 - -107.1 - - 3374 - - - - - - - - 14.77 14.80 14.79
5635 518.3 -8.1 449 5646 roll -0.39 - - 3257 - 2.53 0.114 475 -565.6 -107.1 - - 3374 - - - - - - - - 14.78 14.50 14.80
5707 524.8 -9.0 461 5718 done -0.39 - - 3257 - 2.53 0.095 1899 562.8 -107.1 - - 3373 - - - - - - - - 14.64 14.53 14.68
6049 553.7 -8.7 477 6060 roll -0.39 - - 3257 - 2.53 0.111 3321 562.1 -107.1 - - 3373 - - - - - - - - 14.78 14.50 14.80
6149 561.7 -8.2 494 6162 done -0.39 - - 3258 - 2.53 0.097 1891 -565.2 -107.1 - - 3372 - - - - - - - - 14.62 14.52 14.65
6455 585.9 -7.8 505 6465 done -0.39 - - 3260 - - - 1890 - -107.1 - - 3372 - - - - - - - - 14.78 14.80 14.80
6752 608.6 -7.4 515 6762 done -0.39 - - 3257 - - - 1890 - -107.1 - - 3371 - - - - - - - - 14.80 14.80 14.78
7051 629.3 -6.7 525 7061 done -0.39 - - 3258 - - - 1890 - -107.1 - - 3371 - - - - - - - - 14.78 14.79 14.79
7352 650.2 -6.9 535 7363 roll -0.39 - - 3258 - 2.58 0.112 3322 555.0 -107.1 - - 3370 - - - - - - - - 14.77 14.50 14.79
7433 655.8 -6.2 549 7444 done -0.39 - - 3257 - 2.53 0.097 1902 -561.3 -107.1 - - 3370 - - - - - - - - 14.64 14.53 14.66
7765 679.1 -7.1 563 7776 done -0.39 - - 3257 - - - 1903 - -107.1 - - 3369 - - - - - - - - 14.77 14.78 14.78
8065 699.8 -6.8 573 8076 roll -0.39 - - 3258 - 2.55 0.111 3321 556.1 -107.1 - - 3369 - - - - - - - - 14.77 14.49 14.78
8138 704.7 -6.6 585 8149 done -0.39 - - 3259 - 2.55 0.099 1897 -558.4 -107.1 - - 3369 - - - - - - - - 14.62 14.52 14.65
8480 726.7 -6.3 601 8490 done -0.39 - - 3258 - - - 1897 - -107.1 - - 3368 - - - - - - - - 14.77 14.78 14.78
8781 745.8 -6.4 611 8791 done -0.39 - - 3257 - - - 1897 - -107.1 - - 3368 - - - - - - - - 14.78 14.78 14.79
9080 765.1 -6.4 621 9091 roll -0.39 - - 3263 - 2.58 0.111 3322 552.3 -107.1 - - 3367 - - - - - - - - 14.77 14.48 14.76
9146 769.4 -6.4 632 9158 done -0.39 - - 3258 - 2.55 0.100 1889 -562.0 -107.1 - - 3367 - - - - - - - - 14.62 14.50 14.64
9458 787.8 -5.9 643 9468 done -0.39 - - 3257 - - - 1886 - -107.1 - - 3368 - - - - - - - - 14.76 14.78 14.78
9753 804.5 -5.4 653 9765 roll -0.39 - - 3258 - 2.55 0.112 3315 560.4 -107.1 - - 3367 - - - - - - - - 14.77 14.48 14.78
9845 808.7 -4.9 668 9856 done -0.39 - - 3257 - 2.53 0.099 1907 -556.5 -107.1 - - 3367 - - - - - - - - 14.61 14.50 14.64
10172 825.8 -5.0 681 10183 roll -0.39 - - 3258 - 2.53 0.114 488 -560.9 -107.1 - - 3366 - - - - - - - - 14.76 14.48 14.77
10228 829.8 -6.3 690 10240 done -0.39 - - 3258 - 2.50 0.098 1899 564.4 -107.1 - - 3367 - - - - - - - - 14.61 14.50 14.63
10556 847.8 -5.7 703 10567 roll -0.39 - - 3257 - 2.58 0.112 3325 552.7 -107.1 - - 3367 - - - - - - - - 14.75 14.48 14.77
10633 852.7 -5.6 716 10644 done -0.39 - - 3255 - 2.55 0.102 1895 -560.8 -107.1 - - 3366 - - - - - - - - 14.60 14.50 14.64
10970 871.1 -5.6 731 10981 done -0.39 - - 3258 - - - 1894 - -107.1 - - 3363 - - - - - - - - 14.76 14.78 14.78
11274 889.8 -6.3 741 11285 done -0.39 - - 3263 - - - 1894 - -107.1 - - 3365 - - - - - - - - 14.75 14.77 14.76
11574 908.6 -6.2 751 11585 done -0.39 - - 3258 - - - 1894 - -107.1 - - 3364 - - - - - - - - 14.75 14.77 14.76
11874 927.6 -6.5 761 11885 roll -0.39 - - 3258 - 2.60 0.113 3325 550.4 -107.1 - - 3364 - - - - - - - - 14.78 14.47 14.77
11946 932.6 -6.4 773 11957 done -0.39 - - 3258 - 2.55 0.101 1905 -556.9 -107.1 - - 3364 - - - - - - - - 14.59 14.49 14.62
12288 954.2 -6.3 789 12300 roll -0.39 - - 3257 - 2.55 0.116 473 -561.6 -107.1 - - 3363 - - - - - - - - 14.75 14.44 14.76
12350 959.4 -7.5 799 12361 done -0.39 - - 3257 - 2.55 0.097 1920 567.5 -107.1 - - 3363 - - - - - - - - 14.57 14.46 14.59
12673 979.2 -6.2 811 12684 roll -0.39 - - 3258 - 2.50 0.111 3303 553.2 -107.1 - - 3363 - - - - - - - - 14.73 14.47 14.76
12750 984.7 -6.4 824 12761 done -0.39 - - 3257 - 2.53 0.101 1888 -559.3 -107.1 - - 3367 - - - - - - - - 14.59 14.46 14.61
12843 end dive: TARGET_DEPTH_EXCEEDED
12843 begin apogee
12855 990.2 -5.1 831 12947 done -0.16 0.25 0.165 3339 328.0 - - 2246 - - 84.32 1.896 2940 -5.1 0.494 - - - - - - 14.42 13.96 13.32
12949 end apogee: CONTROL_FINISHED_OK
12950 begin climb
12954 994.2 - 834 13061 roll 0.39 0.50 0.115 3515 352.0 2.72 0.113 3666 522.1 107.1 87.60 1.855 2501 -5.0 0.502 - - - - - - 13.97 13.74 13.13
13095 988.7 7.1 859 13107 done 0.39 - - 3516 - 2.67 0.102 2243 -533.0 107.1 - - 2502 - - - - - - - - 14.01 13.93 14.03
13433 964.1 7.3 874 13444 roll 0.39 - - 3517 - 2.58 0.113 822 -550.8 107.1 - - 2499 - - - - - - - - 14.45 14.21 14.47
13469 962.1 7.0 879 13482 done 0.39 - - 3517 - 2.58 0.099 2247 552.3 107.1 - - 2499 - - - - - - - - 14.35 14.24 14.37
13780 939.5 7.1 890 13790 done 0.39 - - 3517 - - - 2247 - 107.1 - - 2499 - - - - - - - - 14.57 14.59 14.59
14080 919.0 6.8 900 14091 roll 0.40 - - 3517 - 2.55 0.113 841 -551.4 107.1 - - 2499 - - - - - - - - 14.63 14.38 14.64
14107 917.0 6.4 903 14119 done 0.42 - - 3517 - 2.53 0.099 2261 561.3 107.1 - - 2496 - - - - - - - - 14.50 14.40 14.52
14436 895.2 6.8 916 14446 done 0.43 - - 3517 - - - 2261 - 107.1 - - 2498 - - - - - - - - 14.67 14.67 14.69
14740 875.2 6.7 926 14751 roll 0.44 - - 3514 - 2.58 0.112 836 -552.3 107.1 - - 2498 - - - - - - - - 14.69 14.44 14.71
14802 870.7 7.1 936 14813 done 0.44 - - 3516 - 2.50 0.101 2244 563.2 107.1 - - 2498 - - - - - - - - 14.55 14.44 14.57
15124 846.5 7.8 948 15135 done 0.44 - - 3517 - - - 2243 - 107.1 - - 2498 - - - - - - - - 14.71 14.73 14.72
15428 821.6 8.2 958 15438 done 0.44 - - 3517 - - - 2243 - 107.1 - - 2500 - - - - - - - - 14.71 14.76 14.73
15729 799.3 7.3 968 15740 roll 0.44 - - 3517 - 2.55 0.112 831 -553.7 107.1 - - 2497 - - - - - - - - 14.72 14.47 14.74
15771 796.0 7.1 974 15782 done 0.44 - - 3516 - 2.53 0.099 2250 560.9 107.1 - - 2497 - - - - - - - - 14.59 14.49 14.64
16113 774.4 6.2 990 16124 done 0.46 - - 3513 - - - 2249 - 107.1 - - 2497 - - - - - - - - 14.73 14.75 14.75
16418 754.9 6.5 1000 16429 done 0.48 - - 3517 - - - 2249 - 107.1 - - 2498 - - - - - - - - 14.75 14.75 14.75
16717 735.5 6.4 1010 16729 roll 0.50 0.08 0.162 3585 850.0 2.55 0.112 838 -553.3 107.1 - - 2497 - - - - - - - - 14.53 14.47 14.56
16749 732.7 7.3 1014 16760 done 0.50 - - 3582 - 2.50 0.099 2251 565.2 107.1 - - 2497 - - - - - - - - 14.59 14.49 14.62
17071 703.2 9.0 1026 17082 done 0.50 - - 3582 - - - 2251 - 107.1 - - 2500 - - - - - - - - 14.73 14.73 14.75
17377 676.4 8.9 1036 17388 roll 0.50 - - 3578 - 2.55 0.113 840 -553.3 107.1 - - 2497 - - - - - - - - 14.73 14.46 14.76
17419 672.3 8.9 1042 17430 done 0.50 - - 3582 - 2.50 0.099 2251 564.4 107.1 - - 2497 - - - - - - - - 14.59 14.49 14.61
17761 640.9 9.4 1058 17773 roll 0.50 0.08 0.280 3557 -312.5 2.55 0.113 3662 553.3 107.1 - - 2497 - - - - - - - - 14.38 14.47 14.50
17784 638.8 9.3 1060 17795 done 0.50 - - 3559 - 2.55 0.101 2235 -559.6 107.1 - - 2497 - - - - - - - - 14.59 14.49 14.62
18116 611.1 8.5 1074 18127 roll 0.50 - - 3569 - 2.50 0.112 841 -557.6 107.1 - - 2497 - - - - - - - - 14.73 14.41 14.75
18162 606.9 9.3 1081 18173 done 0.50 - - 3569 - 2.50 0.100 2252 564.4 107.1 - - 2497 - - - - - - - - 14.59 14.49 14.62
18500 575.5 9.5 1096 18511 roll 0.50 - - 3570 - 2.55 0.115 842 -552.9 107.1 - - 2497 - - - - - - - - 14.74 14.45 14.76
18536 571.9 9.8 1101 18548 done 0.50 - - 3570 - 2.50 0.100 2252 564.0 107.1 - - 2497 - - - - - - - - 14.59 14.49 14.62
18847 542.7 9.6 1112 18857 done 0.50 - - 3570 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.73 14.75 14.75
19146 514.1 9.4 1122 19156 done 0.50 - - 3570 - - - 2251 - 107.1 - - 2500 - - - - - - - - 14.73 14.76 14.75
19447 487.2 8.6 1132 19458 roll 0.50 - - 3570 - 2.55 0.113 837 -554.5 107.1 - - 2497 - - - - - - - - 14.73 14.46 14.75
19553 478.1 8.2 1150 19564 done 0.50 - - 3569 - 2.50 0.100 2243 562.4 107.1 - - 2497 - - - - - - - - 14.59 14.47 14.61
19895 452.6 7.0 1166 19905 done 0.50 - - 3575 - - - 2246 - 107.1 - - 2499 - - - - - - - - 14.73 14.76 14.75
20200 433.0 6.4 1176 20211 done 0.52 - - 3575 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.73 14.75 14.75
20500 415.1 5.9 1186 20510 done 0.55 - - 3570 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.73 14.75 14.75
20800 395.6 6.8 1196 20810 done 0.56 - - 3570 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.75 14.76 14.75
21099 373.3 7.8 1206 21110 done 0.56 - - 3570 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
21400 347.6 8.9 1216 21411 done 0.56 - - 3570 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.73 14.76 14.76
21699 320.3 8.8 1226 21709 done 0.56 - - 3571 - - - 2248 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
22000 297.5 7.0 1236 22010 done 0.56 - - 3570 - - - 2246 - 107.1 - - 2498 - - - - - - - - 14.73 14.76 14.75
22299 279.5 5.6 1246 22310 roll 0.59 - - 3577 - 2.53 0.112 842 -554.9 107.1 - - 2497 - - - - - - - - 14.73 14.45 14.76
22372 275.5 5.2 1258 22420 done 0.62 - - 3577 - 2.53 0.098 2261 560.9 154.4 36.08 1.053 2309 -5.2 0.255 - - - - - - 14.59 14.48 13.93
22741 250.0 7.3 1280 22752 done 0.62 - - 3577 - - - 2261 - 154.4 - - 2309 - - - - - - - - 14.63 14.65 14.65
23041 227.4 8.0 1308 23052 done 0.62 - - 3577 - - - 2261 - 154.4 - - 2309 - - - - - - - - 14.66 14.68 14.68
23233 211.9 8.0 1327 23245 roll 0.62 - - 3582 - 2.58 0.109 845 -548.8 154.4 - - 2309 - - - - - - - - 14.68 14.41 14.69
23271 208.8 8.0 1332 23283 done 0.62 - - 3582 - 2.50 0.096 2246 560.4 154.4 - - 2310 - - - - - - - - 14.54 14.42 14.56
23464 191.8 8.8 1351 23476 done 0.62 - - 3583 - - - 2246 - 154.4 - - 2307 - - - - - - - - 14.68 14.69 14.69
23657 175.2 8.7 1370 23668 done 0.62 - - 3583 - - - 2246 - 154.4 - - 2309 - - - - - - - - 14.69 14.70 14.71
23850 158.7 8.6 1389 23861 roll 0.62 - - 3582 - 2.58 0.112 3670 551.9 154.4 - - 2310 - - - - - - - - 14.69 14.44 14.69
23871 156.7 8.6 1391 23883 done 0.62 - - 3583 - 2.55 0.098 2252 -556.1 154.4 - - 2310 - - - - - - - - 14.54 14.43 14.57
24075 139.3 8.6 1411 24086 roll 0.62 - - 3583 - 2.58 0.110 3663 546.9 154.4 - - 2310 - - - - - - - - 14.69 14.42 14.70
24132 133.8 9.7 1420 24144 done 0.62 - - 3582 - 2.55 0.096 2233 -560.8 154.4 - - 2310 - - - - - - - - 14.54 14.44 14.57
24325 117.8 8.9 1439 24336 roll 0.62 - - 3590 - 2.47 0.109 842 -563.2 154.4 - - 2310 - - - - - - - - 14.70 14.42 14.71
24407 111.5 8.0 1452 24419 done 0.62 - - 3590 - 2.50 0.093 2262 568.0 154.4 - - 2311 - - - - - - - - 14.55 14.45 14.57
24600 97.4 6.8 1471 24612 roll 0.63 - - 3595 - 2.55 0.106 842 -556.9 154.4 - - 2311 - - - - - - - - 14.69 14.42 14.71
24797 84.6 6.4 1507 24809 done 0.65 - - 3595 - 2.47 0.093 2246 568.4 154.4 - - 2311 - - - - - - - - 14.54 14.44 14.57
25000 74.9 3.8 1527 25073 roll 0.69 - - 3595 - 2.62 0.107 3662 540.5 232.1 57.55 0.806 1989 -5.6 0.097 - - - - - - 14.69 14.26 13.93
25129 66.7 9.1 1549 25140 done 0.69 - - 3596 - 2.55 0.096 2255 -551.8 232.1 - - 1989 - - - - - - - - 14.38 14.28 14.40
25331 49.7 8.5 1569 25342 roll 0.69 - - 3595 - 2.58 0.108 3662 545.3 232.1 - - 1989 - - - - - - - - 14.57 14.32 14.59
25364 46.6 9.4 1573 25375 done 0.69 - - 3595 - 2.55 0.093 2250 -553.7 232.1 - - 1989 - - - - - - - - 14.45 14.35 14.47
25566 32.8 5.1 1593 25614 roll 0.71 - - 3596 - 2.58 0.106 820 -554.3 280.3 35.55 0.761 1791 -5.6 0.045 - - - - - - 14.62 14.23 13.93
25658 27.5 7.5 1608 25670 done 0.71 - - 3595 - 2.55 0.093 2245 558.8 280.3 - - 1793 - - - - - - - - 14.39 14.30 14.40
25852 17.0 3.5 1627 25905 roll 0.75 0.08 0.152 3675 1000.0 2.60 0.108 840 -540.4 364.8 38.58 0.156 1453 -8.8 0.179 - - - - - - 14.40 14.28 14.26
25936 11.4 8.7 1640 25948 done 0.75 0.12 0.206 3638 -308.3 2.53 0.096 2265 563.2 364.8 - - 1453 - - - - - - - - 14.25 14.31 14.40
26029 end climb: SURFACE_DEPTH_REACHED
26029 begin surface coast
26066 end surface coast: CONTROL_FINISHED_OK
26066 begin surface
SM 1.37 - - - - -10.25 9.90 0.047 90 9.1 0.70 0.109 1888 -4625.7 365.01 - - 1453 - - - - - - - -