NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 151 * Raw log
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• Previous call tries 1 • 41.18 of 350.00 AH used of 24V (88.24% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -76.7 deg, depth 0.89 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 580.13 (SM_CC=580)
• GPS1 time: 33 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
27 - - - 131 VBD -0.39 - - 79 - - - 1896 - -107.1 -96.03 - 3282 - - - - - - - - 14.52 - 14.53
137 5.2 -9.2 10 166 roll -0.39 13.73 0.364 3258 231.5 2.85 2.212 482 -496.1 -107.1 -1.35 - 3381 -73.3 - - - - - - - 14.07 13.45 14.38
404 62.1 -12.7 59 416 done -0.39 - - 3258 - 2.50 0.095 1897 566.0 -107.1 - - 3384 - - - - - - - - 14.45 14.34 14.47
598 85.0 -11.6 78 609 roll -0.39 - - 3258 - 2.55 0.107 476 -557.3 -107.1 - - 3385 - - - - - - - - 14.62 14.37 14.64
845 113.9 -11.4 124 856 done -0.39 - - 3258 - 2.53 0.091 1907 565.6 -107.1 - - 3385 - - - - - - - - 14.51 14.41 14.53
1047 135.4 -10.4 144 1058 done -0.39 - - 3263 - - - 1907 - -107.1 - - 3385 - - - - - - - - 14.71 14.69 14.69
1239 156.0 -11.4 163 1250 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3385 - - - - - - - - 14.69 14.71 14.71
1432 175.2 -9.6 182 1442 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3384 - - - - - - - - 14.71 14.72 14.72
1623 194.0 -9.7 201 1635 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3384 - - - - - - - - 14.72 14.73 14.73
1816 212.8 -10.0 220 1827 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3383 - - - - - - - - 14.72 14.74 14.74
2008 231.7 -9.7 239 2019 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3383 - - - - - - - - 14.73 14.75 14.75
2200 250.1 -9.4 258 2211 roll -0.39 - - 3258 - 2.50 0.110 3313 562.4 -107.1 - - 3382 - - - - - - - - 14.74 14.49 14.76
2247 254.6 -9.3 265 2258 done -0.39 - - 3257 - 2.53 0.098 1887 -563.6 -107.1 - - 3381 - - - - - - - - 14.59 14.48 14.62
2584 286.2 -9.4 280 2595 done -0.39 - - 3258 - - - 1887 - -107.1 - - 3381 - - - - - - - - 14.75 14.77 14.76
2885 315.3 -9.8 290 2895 done -0.39 - - 3258 - - - 1886 - -107.1 - - 3380 - - - - - - - - 14.76 14.78 14.78
3185 343.5 -9.4 300 3195 done -0.39 - - 3263 - - - 1886 - -107.1 - - 3379 - - - - - - - - 14.77 14.79 14.78
3485 370.5 -8.7 310 3496 roll -0.39 - - 3258 - 2.55 0.109 3310 558.4 -107.1 - - 3378 - - - - - - - - 14.77 14.52 14.78
3531 374.4 -8.1 317 3543 done -0.39 - - 3257 - 2.50 0.098 1900 -564.0 -107.1 - - 3378 - - - - - - - - 14.62 14.52 14.65
3869 401.1 -7.8 332 3879 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3377 - - - - - - - - 14.77 14.78 14.78
4170 424.4 -7.8 342 4180 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3376 - - - - - - - - 14.77 14.79 14.79
4469 448.1 -7.9 352 4479 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3375 - - - - - - - - 14.78 14.80 14.79
4770 472.6 -8.3 362 4781 roll -0.39 - - 3258 - 2.53 0.114 487 -559.7 -107.1 - - 3372 - - - - - - - - 14.78 14.51 14.80
4822 477.6 -9.7 370 4833 done -0.39 - - 3257 - 2.50 0.097 1905 567.2 -107.1 - - 3374 - - - - - - - - 14.62 14.56 14.66
5154 507.1 -8.9 384 5165 roll -0.39 - - 3258 - 2.53 0.110 3317 558.1 -107.1 - - 3373 - - - - - - - - 14.77 14.50 14.78
5220 512.9 -8.8 395 5232 done -0.39 - - 3258 - 2.53 0.099 1903 -558.9 -107.1 - - 3372 - - - - - - - - 14.62 14.52 14.65
5531 538.3 -8.2 406 5541 done -0.39 - - 3258 - - - 1904 - -107.1 - - 3372 - - - - - - - - 14.77 14.78 14.79
5826 561.6 -7.5 416 5836 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3371 - - - - - - - - 14.77 14.79 14.81
6127 582.9 -6.9 426 6137 done -0.39 - - 3257 - - - 1903 - -107.1 - - 3371 - - - - - - - - 14.77 14.79 14.79
6426 602.2 -6.3 436 6436 done -0.39 - - 3258 - - - 1902 - -107.1 - - 3370 - - - - - - - - 14.78 14.79 14.79
6727 621.2 -6.4 446 6738 roll -0.39 - - 3258 - 2.58 0.114 3322 550.4 -107.1 - - 3370 - - - - - - - - 14.78 14.48 14.79
6793 625.6 -6.8 457 6806 done -0.39 - - 3258 - 2.55 0.099 1888 -562.4 -107.1 - - 3368 - - - - - - - - 14.62 14.50 14.64
7105 647.7 -7.5 468 7115 done -0.39 - - 3258 - - - 1889 - -107.1 - - 3368 - - - - - - - - 14.77 14.79 14.79
7400 670.2 -7.6 478 7411 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3366 - - - - - - - - 14.77 14.78 14.78
7699 693.1 -7.6 488 7710 done -0.39 - - 3255 - - - 1885 - -107.1 - - 3366 - - - - - - - - 14.78 14.79 14.79
8000 715.0 -7.2 498 8011 roll -0.39 - - 3263 - 2.60 0.113 3324 553.5 -107.1 - - 3366 - - - - - - - - 14.78 14.50 14.79
8047 718.3 -6.8 505 8058 done -0.39 - - 3258 - 2.53 0.099 1906 -560.5 -107.1 - - 3366 - - - - - - - - 14.62 14.50 14.64
8385 739.7 -6.4 520 8395 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3365 - - - - - - - - 14.77 14.78 14.77
8685 759.6 -6.7 530 8696 roll -0.39 - - 3254 - 2.55 0.112 3318 553.3 -107.1 - - 3365 - - - - - - - - 14.78 14.48 14.79
8737 763.3 -6.9 538 8748 done -0.39 - - 3258 - 2.53 0.099 1904 -558.9 -107.1 - - 3363 - - - - - - - - 14.62 14.50 14.64
9069 786.0 -6.8 552 9079 done -0.39 - - 3258 - - - 1909 - -107.1 - - 3365 - - - - - - - - 14.76 14.78 14.78
9370 805.0 -6.0 562 9380 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3365 - - - - - - - - 14.76 14.78 14.78
9669 823.8 -6.3 572 9679 done -0.39 - - 3258 - - - 1900 - -107.1 - - 3365 - - - - - - - - 14.76 14.78 14.78
9970 842.8 -6.5 582 9980 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3364 - - - - - - - - 14.76 14.78 14.78
10273 862.8 -6.8 592 10284 roll -0.39 - - 3258 - 2.58 0.112 3322 550.0 -107.1 - - 3363 - - - - - - - - 14.76 14.45 14.77
10346 868.1 -6.8 604 10357 done -0.39 - - 3259 - 2.58 0.100 1890 -555.0 -107.1 - - 3363 - - - - - - - - 14.60 14.49 14.62
10688 891.4 -7.0 620 10699 roll -0.39 - - 3260 - 2.53 0.116 482 -556.5 -107.1 - - 3362 - - - - - - - - 14.76 14.47 14.76
10750 896.8 -8.0 630 10761 done -0.39 - - 3258 - 2.53 0.099 1900 560.5 -107.1 - - 3362 - - - - - - - - 14.60 14.51 14.63
11073 918.0 -6.7 642 11084 roll -0.39 - - 3258 - 2.55 0.112 3321 557.3 -107.1 - - 3363 - - - - - - - - 14.75 14.44 14.76
11135 922.8 -6.6 652 11146 done -0.39 - - 3253 - 2.55 0.100 1906 -554.9 -107.1 - - 3362 - - - - - - - - 14.59 14.47 14.60
11457 942.0 -6.0 664 11468 roll -0.39 - - 3258 - 2.55 0.116 483 -558.0 -107.1 - - 3363 - - - - - - - - 14.73 14.45 14.76
11504 945.9 -7.3 671 11515 done -0.39 - - 3258 - 2.53 0.099 1907 562.8 -107.1 - - 3362 - - - - - - - - 14.59 14.48 14.62
11841 965.9 -6.0 686 11852 roll -0.39 - - 3258 - 2.55 0.112 3314 551.8 -107.1 - - 3361 - - - - - - - - 14.74 14.45 14.76
11908 970.5 -5.9 697 11921 done -0.39 - - 3258 - 2.55 0.103 1889 -558.8 -107.1 - - 3362 - - - - - - - - 14.58 14.46 14.61
12217 987.1 -5.8 708 12228 done -0.39 - - 3258 - - - 1889 - -107.1 - - 3361 - - - - - - - - 14.74 14.76 14.78
12269 end dive: TARGET_DEPTH_EXCEEDED
12269 begin apogee
12281 990.8 -6.2 710 12373 done -0.16 0.25 0.165 3337 316.0 - - 2264 - - 83.78 1.922 2941 -5.0 0.483 - - - - - - 14.41 13.95 13.30
12375 end apogee: CONTROL_FINISHED_OK
12375 begin climb
12380 993.6 - 713 12489 roll 0.39 0.50 0.118 3514 354.0 2.75 0.115 3660 507.6 107.1 87.78 1.864 2500 -5.0 0.500 - - - - - - 13.97 13.71 13.13
12534 987.3 7.7 741 12545 done 0.39 - - 3514 - 2.65 0.102 2254 -530.6 107.1 - - 2498 - - - - - - - - 14.03 13.93 14.03
12856 964.1 7.3 753 12867 roll 0.39 - - 3517 - 2.60 0.114 823 -550.4 107.1 - - 2497 - - - - - - - - 14.42 14.18 14.46
12899 961.7 7.8 759 12910 done 0.39 - - 3517 - 2.58 0.099 2244 550.8 107.1 - - 2498 - - - - - - - - 14.33 14.22 14.36
13241 935.1 7.6 775 13252 done 0.39 - - 3517 - - - 2243 - 107.1 - - 2496 - - - - - - - - 14.57 14.59 14.59
13545 913.6 6.9 785 13555 done 0.39 - - 3517 - - - 2243 - 107.1 - - 2496 - - - - - - - - 14.63 14.64 14.64
13846 894.0 6.6 795 13857 roll 0.41 - - 3517 - 2.60 0.113 3662 545.8 107.1 - - 2495 - - - - - - - - 14.67 14.42 14.67
13898 890.0 7.7 803 13909 done 0.41 - - 3517 - 2.55 0.101 2252 -552.9 107.1 - - 2495 - - - - - - - - 14.52 14.42 14.55
14230 868.4 6.4 817 14241 roll 0.42 - - 3520 - 2.58 0.113 830 -551.2 107.1 - - 2495 - - - - - - - - 14.69 14.43 14.71
14287 865.1 7.0 826 14298 done 0.42 - - 3520 - 2.53 0.099 2255 563.2 107.1 - - 2496 - - - - - - - - 14.55 14.45 14.58
14615 842.4 6.8 839 14626 roll 0.44 - - 3520 - 2.58 0.116 3661 545.0 107.1 - - 2495 - - - - - - - - 14.70 14.42 14.72
14667 838.8 8.0 847 14678 done 0.44 - - 3532 - 2.55 0.101 2251 -552.9 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.59
14999 814.8 7.1 861 15010 done 0.44 - - 3526 - - - 2250 - 107.1 - - 2495 - - - - - - - - 14.73 14.73 14.73
15304 794.2 6.9 871 15314 done 0.44 - - 3527 - - - 2250 - 107.1 - - 2493 - - - - - - - - 14.71 14.73 14.73
15604 774.1 6.5 881 15615 roll 0.45 - - 3527 - 2.55 0.114 837 -554.1 107.1 - - 2495 - - - - - - - - 14.73 14.46 14.75
15661 769.9 6.8 890 15673 done 0.46 - - 3527 - 2.50 0.099 2243 562.4 107.1 - - 2495 - - - - - - - - 14.57 14.47 14.62
15989 747.0 7.1 903 16000 done 0.46 - - 3527 - - - 2245 - 107.1 - - 2495 - - - - - - - - 14.73 14.76 14.74
16293 725.3 7.3 913 16304 roll 0.46 - - 3527 - 2.60 0.112 3676 550.4 107.1 - - 2496 - - - - - - - - 14.73 14.47 14.76
16365 719.1 8.3 925 16376 done 0.46 - - 3527 - 2.58 0.103 2247 -553.9 107.1 - - 2495 - - - - - - - - 14.59 14.47 14.59
16707 695.2 7.0 941 16719 roll 0.46 - - 3527 - 2.55 0.114 829 -556.1 107.1 - - 2495 - - - - - - - - 14.73 14.45 14.75
16789 689.3 7.1 955 16800 done 0.46 - - 3527 - 2.55 0.100 2267 563.9 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.61
17122 667.7 6.2 969 17132 done 0.48 - - 3527 - - - 2266 - 107.1 - - 2491 - - - - - - - - 14.73 14.75 14.75
17426 649.7 5.8 979 17437 done 0.51 - - 3527 - - - 2266 - 107.1 - - 2495 - - - - - - - - 14.73 14.75 14.74
17727 633.0 5.5 989 17738 roll 0.55 0.10 0.129 3614 870.0 2.58 0.107 838 -553.5 107.1 - - 2495 - - - - - - - - 14.53 14.46 14.59
17770 629.7 8.1 995 17782 done 0.55 0.12 0.244 3574 -333.3 2.50 0.099 2245 562.8 107.1 - - 2495 - - - - - - - - 14.35 14.46 14.57
18114 605.1 7.0 1011 18125 roll 0.55 - - 3574 - 2.60 0.112 3670 548.1 107.1 - - 2495 - - - - - - - - 14.74 14.47 14.76
18220 596.9 7.9 1029 18231 done 0.55 - - 3581 - 2.60 0.103 2238 -550.8 107.1 - - 2497 - - - - - - - - 14.57 14.47 14.61
18562 567.4 9.0 1045 18573 done 0.55 - - 3582 - - - 2239 - 107.1 - - 2495 - - - - - - - - 14.73 14.76 14.75
18868 537.6 10.2 1055 18879 roll 0.55 - - 3582 - 2.62 0.113 3662 543.1 107.1 - - 2496 - - - - - - - - 14.73 14.45 14.74
18929 530.2 11.5 1065 18940 done 0.55 - - 3582 - 2.55 0.101 2252 -552.9 107.1 - - 2497 - - - - - - - - 14.57 14.45 14.61
19251 498.6 9.5 1077 19262 done 0.55 - - 3582 - - - 2252 - 107.1 - - 2495 - - - - - - - - 14.73 14.75 14.75
19556 471.9 8.8 1087 19567 roll 0.55 - - 3583 - 2.60 0.112 3663 542.7 107.1 - - 2494 - - - - - - - - 14.72 14.46 14.75
19647 463.2 9.8 1102 19658 done 0.55 - - 3586 - 2.55 0.101 2250 -554.1 107.1 - - 2494 - - - - - - - - 14.58 14.46 14.60
19975 434.9 8.4 1115 19985 done 0.55 - - 3586 - - - 2250 - 107.1 - - 2495 - - - - - - - - 14.73 14.75 14.75
20279 410.2 8.2 1125 20290 roll 0.55 - - 3588 - 2.60 0.113 3665 544.2 107.1 - - 2495 - - - - - - - - 14.73 14.47 14.76
20330 405.3 8.7 1133 20341 done 0.55 - - 3586 - 2.55 0.100 2250 -554.9 107.1 - - 2495 - - - - - - - - 14.58 14.46 14.62
20663 382.3 6.7 1147 20674 roll 0.56 - - 3586 - 2.60 0.112 3663 543.5 107.1 - - 2495 - - - - - - - - 14.73 14.49 14.76
20745 376.0 7.8 1161 20756 done 0.56 - - 3586 - 2.55 0.100 2250 -554.1 107.1 - - 2495 - - - - - - - - 14.57 14.45 14.60
21078 353.8 6.8 1175 21088 done 0.56 - - 3586 - - - 2250 - 107.1 - - 2495 - - - - - - - - 14.72 14.76 14.74
21382 332.5 7.3 1185 21392 done 0.56 - - 3586 - - - 2250 - 107.1 - - 2496 - - - - - - - - 14.73 14.74 14.74
21682 310.0 7.6 1195 21693 roll 0.56 - - 3587 - 2.58 0.112 3662 547.3 107.1 - - 2496 - - - - - - - - 14.73 14.43 14.74
21763 302.8 8.4 1209 21774 done 0.56 - - 3587 - 2.55 0.098 2235 -559.6 107.1 - - 2496 - - - - - - - - 14.57 14.46 14.61
22096 277.3 7.8 1223 22106 done 0.56 - - 3587 - - - 2235 - 107.1 - - 2495 - - - - - - - - 14.73 14.74 14.75
22400 254.4 7.5 1233 22411 roll 0.56 - - 3597 - 2.50 0.111 839 -558.4 107.1 - - 2496 - - - - - - - - 14.73 14.45 14.75
22472 248.8 7.6 1245 22483 done 0.56 - - 3597 - 2.53 0.097 2252 558.5 107.1 - - 2495 - - - - - - - - 14.55 14.44 14.59
22674 234.2 6.9 1265 22685 roll 0.56 - - 3598 - 2.58 0.112 3662 546.5 107.1 - - 2496 - - - - - - - - 14.72 14.43 14.73
22762 228.0 7.5 1279 22773 done 0.56 - - 3605 - 2.53 0.097 2253 -556.9 107.1 - - 2495 - - - - - - - - 14.55 14.42 14.59
22965 214.0 6.7 1299 22976 roll 0.58 - - 3612 - 2.53 0.107 840 -558.5 107.1 - - 2496 - - - - - - - - 14.73 14.42 14.74
23028 209.3 8.0 1309 23039 done 0.58 0.12 0.247 3581 -258.3 2.50 0.096 2250 564.0 107.1 - - 2496 - - - - - - - - 14.31 14.45 14.54
23231 196.2 6.3 1329 23243 done 0.60 - - 3582 - - - 2249 - 107.1 - - 2496 - - - - - - - - 14.71 14.73 14.72
23424 184.0 6.3 1348 23435 done 0.62 - - 3582 - - - 2254 - 107.1 - - 2495 - - - - - - - - 14.71 14.72 14.73
23618 171.9 6.5 1367 23629 done 0.64 - - 3581 - - - 2250 - 107.1 - - 2498 - - - - - - - - 14.69 14.72 14.72
23810 158.9 7.0 1386 23821 roll 0.64 - - 3582 - 2.58 0.111 3662 547.3 107.1 - - 2496 - - - - - - - - 14.70 14.42 14.72
23888 153.1 8.1 1398 23899 done 0.64 - - 3583 - 2.55 0.096 2235 -559.6 107.1 - - 2494 - - - - - - - - 14.54 14.43 14.58
24091 139.7 5.7 1418 24102 roll 0.67 - - 3581 - 2.60 0.109 3662 548.8 107.1 - - 2496 - - - - - - - - 14.70 14.42 14.71
24247 130.5 5.3 1446 24295 done 0.69 - - 3586 - 2.55 0.096 2252 -552.9 151.0 32.75 0.893 2320 -5.4 0.147 - - - - - - 14.54 14.42 13.96
24476 115.9 7.1 1472 24487 roll 0.69 - - 3595 - 2.53 0.107 840 -558.1 151.0 - - 2318 - - - - - - - - 14.61 14.33 14.62
24499 114.3 7.3 1474 24510 done 0.69 - - 3595 - 2.50 0.093 2251 564.4 151.0 - - 2318 - - - - - - - - 14.47 14.38 14.50
24701 98.6 8.1 1494 24713 done 0.69 - - 3595 - - - 2251 - 151.0 - - 2318 - - - - - - - - 14.63 14.64 14.65
24895 84.2 5.9 1513 24906 roll 0.72 - - 3596 - 2.58 0.109 3663 547.3 151.0 - - 2318 - - - - - - - - 14.64 14.40 14.66
24972 79.6 6.3 1525 24984 done 0.74 0.10 0.125 3659 630.0 2.55 0.096 2239 -558.4 151.0 - - 2319 - - - - - - - - 14.46 14.41 14.52
25175 63.5 8.6 1545 25186 roll 0.74 - - 3668 - 2.50 0.107 840 -559.6 151.0 - - 2318 - - - - - - - - 14.66 14.40 14.68
25241 57.6 8.8 1556 25254 done 0.74 0.12 0.238 3634 -283.3 2.53 0.096 2265 563.2 151.0 - - 2318 - - - - - - - - 14.28 14.40 14.47
25437 46.4 4.9 1575 25488 roll 0.76 - - 3634 - 2.58 0.108 3660 540.7 204.4 38.62 0.782 2102 -5.6 0.062 - - - - - - 14.66 14.30 13.97
25517 41.2 8.0 1588 25529 done 0.76 - - 3634 - 2.55 0.095 2254 -551.4 204.4 - - 2105 - - - - - - - - 14.41 14.31 14.43
25711 27.2 6.6 1607 25722 roll 0.78 - - 3640 - 2.55 0.109 820 -562.4 204.4 - - 2102 - - - - - - - - 14.59 14.30 14.61
25799 22.3 4.8 1621 25846 done 0.81 - - 3640 - 2.53 0.094 2245 563.2 259.1 36.58 0.742 1880 -6.1 0.034 - - - - - - 14.47 14.39 13.94
26029 12.3 2.5 1647 26086 roll 0.86 - - 3640 - 2.58 0.104 3662 549.2 363.8 46.20 0.133 1456 -9.2 0.159 - - - - - - 14.56 14.29 14.25
26111 8.5 6.8 1660 26122 done 0.87 - - 3651 - 2.55 0.093 2242 -556.9 363.8 - - 1456 - - - - - - - - 14.41 14.33 14.42
26168 end climb: SURFACE_DEPTH_REACHED
26168 begin surface coast
26209 end surface coast: CONTROL_FINISHED_OK
26209 begin surface
SM 1.01 - - - - -10.26 9.93 0.044 87 8.8 0.62 0.109 1903 1408.1 580.13 91.25 0.087 576 6.3 -0.007 - - - - - -