NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 209 * Raw log
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• Previous call tries 1 • 56.13 of 350.00 AH used of 24V (83.96% remains)
• Previous NAKs 4, Timeouts 0
• Surface angle -78.6 deg, depth 1.05 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 28 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
29 - - - 107 done -0.39 - - 83 - - - 1890 - -107.1 -71.55 - 3380 - - - - - - - - 14.50 13.03 14.50
114 2.4 -3.8 2 138 roll -0.39 14.07 0.373 3246 224.8 2.58 0.097 3318 553.5 -107.1 - - 3382 - - - - - - - - 14.01 14.24 14.19
372 70.1 -14.3 51 383 done -0.39 - - 3245 - 2.55 0.092 1894 -558.4 -107.1 - - 3386 - - - - - - - - 14.40 14.30 14.45
589 101.1 -13.6 62 601 roll -0.39 - - 3249 - 2.58 0.102 3320 552.7 -107.1 - - 3385 - - - - - - - - 14.62 14.31 14.64
696 113.9 -11.6 80 707 done -0.39 - - 3246 - 2.53 0.090 1905 -559.3 -107.1 - - 3387 - - - - - - - - 14.43 14.31 14.47
922 141.4 -12.2 92 933 roll -0.39 - - 3246 - 2.53 0.106 485 -561.3 -107.1 - - 3388 - - - - - - - - 14.66 14.35 14.67
974 148.4 -12.1 100 985 done -0.39 - - 3245 - 2.47 0.088 1899 572.5 -107.1 - - 3387 - - - - - - - - 14.49 14.37 14.52
1186 171.2 -10.3 110 1198 roll -0.39 - - 3246 - 2.53 0.103 3322 562.5 -107.1 - - 3387 - - - - - - - - 14.69 14.33 14.70
1208 173.4 -10.0 112 1219 done -0.39 - - 3246 - 2.55 0.090 1890 -561.6 -107.1 - - 3387 - - - - - - - - 14.51 14.40 14.54
1424 194.1 -9.7 122 1434 done -0.39 - - 3245 - - - 1889 - -107.1 - - 3386 - - - - - - - - 14.69 14.69 14.73
1600 212.2 -10.1 128 1610 done -0.39 - - 3246 - - - 1889 - -107.1 - - 3386 - - - - - - - - 14.71 14.72 14.70
1780 230.9 -10.3 134 1791 done -0.39 - - 3246 - - - 1889 - -107.1 - - 3386 - - - - - - - - 14.71 14.73 14.72
1960 249.9 -10.6 140 1970 done -0.39 - - 3246 - - - 1889 - -107.1 - - 3384 - - - - - - - - 14.73 14.74 14.75
2170 271.5 -10.3 144 2181 done -0.39 - - 3246 - - - 1889 - -107.1 - - 3383 - - - - - - - - 14.73 14.76 14.75
2470 301.7 -10.1 149 2480 done -0.39 - - 3246 - - - 1889 - -107.1 - - 3383 - - - - - - - - 14.74 14.76 14.76
2770 329.9 -9.3 154 2780 done -0.39 - - 3246 - - - 1889 - -107.1 - - 3379 - - - - - - - - 14.73 14.77 14.77
3071 357.1 -9.0 159 3082 roll -0.39 - - 3246 - 2.50 0.112 493 -558.4 -107.1 - - 3379 - - - - - - - - 14.76 14.38 14.77
3123 362.4 -10.3 167 3134 done -0.39 - - 3246 - 2.50 0.095 1913 568.0 -107.1 - - 3380 - - - - - - - - 14.57 14.45 14.60
3455 393.0 -9.2 176 3466 roll -0.39 - - 3246 - 2.50 0.108 3309 558.4 -107.1 - - 3379 - - - - - - - - 14.73 14.43 14.76
3487 396.0 -9.1 180 3498 done -0.39 - - 3243 - 2.50 0.095 1906 -561.2 -107.1 - - 3377 - - - - - - - - 14.56 14.42 14.59
3843 429.6 -9.6 193 3854 roll -0.39 - - 3246 - 2.53 0.111 491 -559.3 -107.1 - - 3377 - - - - - - - - 14.75 14.40 14.77
3880 433.8 -10.9 198 3891 done -0.39 - - 3246 - 2.50 0.095 1901 564.0 -107.1 - - 3378 - - - - - - - - 14.56 14.43 14.59
4232 466.2 -9.2 210 4243 roll -0.39 - - 3246 - 2.53 0.108 3316 559.3 -107.1 - - 3376 - - - - - - - - 14.75 14.42 14.79
4264 469.4 -8.7 214 4275 done -0.39 - - 3246 - 2.53 0.096 1902 -558.9 -107.1 - - 3376 - - - - - - - - 14.56 14.45 14.59
4621 498.4 -8.1 227 4632 done -0.39 - - 3246 - - - 1902 - -107.1 - - 3375 - - - - - - - - 14.75 14.77 14.77
4917 523.1 -8.3 232 4928 roll -0.39 - - 3246 - 2.55 0.112 480 -557.6 -107.1 - - 3373 - - - - - - - - 14.74 14.38 14.76
4948 526.0 -8.8 236 4959 done -0.39 - - 3246 - 2.55 0.095 1901 557.3 -107.1 - - 3373 - - - - - - - - 14.56 14.43 14.59
5305 554.8 -8.2 249 5316 done -0.39 - - 3246 - - - 1901 - -107.1 - - 3370 - - - - - - - - 14.74 14.78 14.75
5601 579.8 -8.3 254 5611 done -0.39 - - 3250 - - - 1902 - -107.1 - - 3371 - - - - - - - - 14.75 14.78 14.76
5901 603.9 -8.0 259 5912 roll -0.39 - - 3246 - 2.55 0.111 3321 556.5 -107.1 - - 3370 - - - - - - - - 14.76 14.38 14.77
5934 606.5 -7.9 263 5945 done -0.39 - - 3246 - 2.58 0.099 1889 -555.0 -107.1 - - 3369 - - - - - - - - 14.54 14.40 14.58
6291 634.8 -8.1 276 6302 done -0.39 - - 3245 - - - 1888 - -107.1 - - 3369 - - - - - - - - 14.73 14.76 14.76
6586 658.4 -7.9 281 6597 done -0.39 - - 3246 - - - 1888 - -107.1 - - 3368 - - - - - - - - 14.75 14.77 14.76
6886 681.2 -7.5 286 6896 done -0.39 - - 3243 - - - 1888 - -107.1 - - 3368 - - - - - - - - 14.74 14.76 14.76
7186 703.6 -7.5 291 7197 done -0.39 - - 3246 - - - 1888 - -107.1 - - 3367 - - - - - - - - 14.73 14.80 14.76
7486 726.2 -7.5 296 7497 roll -0.39 - - 3246 - 2.62 0.110 3324 548.1 -107.1 - - 3367 - - - - - - - - 14.74 14.36 14.76
7534 729.7 -7.2 303 7545 done -0.39 - - 3246 - 2.55 0.097 1905 -556.5 -107.1 - - 3367 - - - - - - - - 14.54 14.40 14.57
7871 754.5 -7.4 313 7882 done -0.39 - - 3246 - - - 1906 - -107.1 - - 3367 - - - - - - - - 14.73 14.76 14.78
8171 775.8 -7.0 318 8182 roll -0.39 - - 3246 - 2.58 0.115 477 -553.9 -107.1 - - 3369 - - - - - - - - 14.74 14.35 14.76
8214 779.0 -8.1 324 8225 done -0.39 - - 3246 - 2.55 0.096 1917 564.7 -107.1 - - 3366 - - - - - - - - 14.53 14.40 14.57
8561 802.3 -6.7 335 8572 done -0.39 - - 3246 - - - 1922 - -107.1 - - 3363 - - - - - - - - 14.73 14.76 14.75
8856 823.6 -7.1 340 8866 done -0.39 - - 3246 - - - 1917 - -107.1 - - 3364 - - - - - - - - 14.72 14.74 14.74
9157 844.5 -7.0 345 9167 done -0.39 - - 3246 - - - 1917 - -107.1 - - 3364 - - - - - - - - 14.73 14.75 14.74
9456 865.4 -7.0 350 9468 roll -0.39 - - 3246 - 2.53 0.111 3302 547.4 -107.1 - - 3367 - - - - - - - - 14.73 14.36 14.74
9504 868.8 -4.7 357 9515 done -0.39 - - 3245 - 2.53 0.099 1892 -557.3 -107.1 - - 3364 - - - - - - - - 14.52 14.39 14.56
9842 892.0 -6.8 367 9853 roll -0.39 - - 3245 - 2.53 0.114 493 -553.0 -107.1 - - 3363 - - - - - - - - 14.72 14.35 14.73
9898 896.0 -7.8 376 9909 done -0.39 - - 3248 - 2.50 0.096 1898 562.0 -107.1 - - 3363 - - - - - - - - 14.51 14.38 14.55
10225 917.3 -6.4 384 10236 roll -0.39 - - 3246 - 2.58 0.109 3321 551.6 -107.1 - - 3363 - - - - - - - - 14.71 14.34 14.73
10277 920.5 -6.1 392 10288 done -0.39 - - 3246 - 2.55 0.097 1907 -554.5 -107.1 - - 3363 - - - - - - - - 14.52 14.38 14.55
10609 941.0 -6.1 401 10620 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3364 - - - - - - - - 14.72 14.73 14.73
10909 959.3 -6.1 406 10920 roll -0.39 - - 3246 - 2.58 0.109 3309 544.6 -107.1 - - 3362 - - - - - - - - 14.73 14.36 14.74
10961 962.3 -6.1 414 10973 done -0.39 - - 3246 - 2.55 0.099 1890 -556.5 -107.1 - - 3362 - - - - - - - - 14.50 14.37 14.54
11295 983.8 -6.5 423 11305 done -0.39 - - 3246 - - - 1890 - -107.1 - - 3360 - - - - - - - - 14.73 14.75 14.74
11409 end dive: TARGET_DEPTH_EXCEEDED
11409 begin apogee
11421 991.8 -6.6 425 11514 done -0.16 0.32 0.176 3338 287.5 - - 2246 - - 84.82 1.913 2942 -4.9 0.481 - - - - - - 14.30 13.95 13.24
11517 end apogee: CONTROL_FINISHED_OK
11517 begin climb
11522 994.8 - 426 11628 roll 0.39 0.50 0.113 3515 354.0 2.72 0.109 3663 521.0 107.1 88.10 1.880 2502 -5.0 0.498 - - - - - - 13.96 13.62 13.07
11654 990.7 8.7 450 11665 done 0.39 - - 3517 - 2.67 0.097 2250 -529.2 107.1 - - 2501 - - - - - - - - 13.94 13.87 13.97
12026 962.6 7.7 467 12038 roll 0.39 - - 3523 - 2.60 0.112 822 -549.2 107.1 - - 2501 - - - - - - - - 14.43 14.12 14.45
12088 957.8 7.9 477 12099 done 0.39 - - 3517 - 2.60 0.098 2249 548.8 107.1 - - 2500 - - - - - - - - 14.31 14.19 14.34
12410 932.0 8.0 484 12421 roll 0.39 - - 3517 - 2.62 0.112 3666 540.8 107.1 - - 2500 - - - - - - - - 14.57 14.27 14.58
12507 923.7 7.7 500 12518 done 0.39 - - 3524 - 2.60 0.099 2249 -545.0 107.1 - - 2500 - - - - - - - - 14.40 14.28 14.43
12863 893.5 8.4 513 12874 roll 0.39 - - 3527 - 2.55 0.111 839 -552.9 107.1 - - 2500 - - - - - - - - 14.63 14.31 14.65
12978 883.9 7.7 533 12989 done 0.39 - - 3527 - 2.55 0.100 2248 552.5 107.1 - - 2500 - - - - - - - - 14.46 14.33 14.49
13310 859.0 7.5 542 13320 done 0.39 - - 3527 - - - 2248 - 107.1 - - 2500 - - - - - - - - 14.66 14.68 14.67
13610 837.5 7.1 547 13622 roll 0.39 - - 3528 - 2.62 0.114 3681 546.9 107.1 - - 2500 - - - - - - - - 14.68 14.33 14.70
13687 831.3 9.6 560 13698 done 0.39 - - 3527 - 2.60 0.100 2248 -551.2 107.1 - - 2499 - - - - - - - - 14.51 14.36 14.52
14055 805.5 7.1 576 14066 roll 0.39 - - 3524 - 2.55 0.111 837 -553.3 107.1 - - 2499 - - - - - - - - 14.68 14.35 14.72
14128 800.2 7.0 588 14139 done 0.39 - - 3527 - 2.58 0.101 2266 553.9 107.1 - - 2499 - - - - - - - - 14.47 14.36 14.52
14500 772.9 7.5 605 14511 roll 0.39 - - 3527 - 2.55 0.112 3660 546.7 107.1 - - 2499 - - - - - - - - 14.69 14.33 14.70
14614 763.2 8.6 625 14625 done 0.39 - - 3527 - 2.58 0.099 2236 -551.9 107.1 - - 2500 - - - - - - - - 14.45 14.31 14.49
14946 737.6 7.7 634 14958 roll 0.39 - - 3528 - 2.50 0.110 841 -558.0 107.1 - - 2499 - - - - - - - - 14.69 14.33 14.71
15023 731.9 7.4 647 15035 done 0.39 - - 3527 - 2.50 0.094 2246 562.0 107.1 - - 2499 - - - - - - - - 14.49 14.35 14.52
15396 705.1 7.1 663 15407 roll 0.39 - - 3529 - 2.58 0.109 3663 549.2 107.1 - - 2499 - - - - - - - - 14.70 14.34 14.72
15512 696.3 7.5 683 15524 done 0.39 - - 3533 - 2.58 0.097 2247 -548.8 107.1 - - 2499 - - - - - - - - 14.50 14.37 14.53
15850 674.5 6.3 692 15860 done 0.41 - - 3528 - - - 2247 - 107.1 - - 2498 - - - - - - - - 14.69 14.71 14.70
16146 655.9 6.2 697 16157 roll 0.43 - - 3528 - 2.58 0.112 819 -553.5 107.1 - - 2499 - - - - - - - - 14.71 14.32 14.72
16260 649.0 5.7 717 16271 done 0.46 - - 3528 - 2.55 0.096 2247 560.0 107.1 - - 2499 - - - - - - - - 14.50 14.36 14.52
16597 631.0 5.3 726 16608 roll 0.50 - - 3528 - 2.60 0.112 3671 547.7 107.1 - - 2499 - - - - - - - - 14.69 14.35 14.70
16752 620.5 6.6 754 16763 done 0.52 - - 3530 - 2.58 0.098 2247 -551.9 107.1 - - 2498 - - - - - - - - 14.49 14.35 14.52
17109 599.5 6.0 767 17120 done 0.55 0.10 0.134 3595 650.0 - - 2247 - 107.1 - - 2495 - - - - - - - - 14.45 14.55 14.52
17404 573.8 8.8 772 17415 roll 0.55 - - 3606 - 2.55 0.109 840 -551.8 107.1 - - 2498 - - - - - - - - 14.71 14.34 14.72
17519 562.8 9.8 792 17531 done 0.55 0.15 0.243 3572 -226.7 2.53 0.098 2261 561.7 107.1 - - 2502 - - - - - - - - 14.20 14.36 14.43
17857 535.0 8.2 801 17868 roll 0.55 - - 3572 - 2.58 0.114 3663 543.4 107.1 - - 2499 - - - - - - - - 14.69 14.32 14.71
18008 521.0 9.1 828 18019 done 0.55 - - 3580 - 2.58 0.096 2236 -553.1 107.1 - - 2496 - - - - - - - - 14.47 14.33 14.54
18370 491.4 8.1 842 18381 roll 0.55 - - 3582 - 2.53 0.109 840 -551.8 107.1 - - 2498 - - - - - - - - 14.68 14.30 14.70
18426 486.6 7.8 851 18438 done 0.55 - - 3583 - 2.50 0.096 2243 561.2 107.1 - - 2499 - - - - - - - - 14.48 14.35 14.52
18754 462.5 7.3 859 18766 roll 0.55 - - 3582 - 2.58 0.108 3664 550.8 107.1 - - 2498 - - - - - - - - 14.69 14.33 14.70
18831 456.2 8.4 872 18842 done 0.55 - - 3587 - 2.55 0.094 2247 -555.7 107.1 - - 2502 - - - - - - - - 14.48 14.34 14.52
19199 427.6 7.8 888 19210 roll 0.55 - - 3598 - 2.55 0.107 820 -559.6 107.1 - - 2498 - - - - - - - - 14.69 14.31 14.70
19272 421.5 8.4 900 19283 done 0.55 - - 3597 - 2.55 0.096 2253 562.0 107.1 - - 2499 - - - - - - - - 14.48 14.35 14.52
19644 391.9 7.8 917 19655 roll 0.55 - - 3597 - 2.58 0.110 3663 546.5 107.1 - - 2498 - - - - - - - - 14.69 14.31 14.70
19830 376.2 8.3 951 19843 done 0.55 0.15 0.252 3575 -146.7 2.58 0.095 2237 -552.7 107.1 - - 2499 - - - - - - - - 14.17 14.34 14.41
20158 354.8 6.5 958 20169 roll 0.56 - - 3582 - 2.50 0.109 841 -558.4 107.1 - - 2500 - - - - - - - - 14.71 14.31 14.70
20231 349.3 7.2 970 20242 done 0.56 - - 3582 - 2.53 0.094 2262 561.7 107.1 - - 2499 - - - - - - - - 14.48 14.35 14.51
20604 322.6 7.1 987 20615 roll 0.56 - - 3582 - 2.55 0.111 3665 550.2 107.1 - - 2499 - - - - - - - - 14.70 14.28 14.71
20849 302.8 8.1 1033 20860 done 0.56 - - 3585 - 2.55 0.095 2253 -553.7 107.1 - - 2499 - - - - - - - - 14.50 14.33 14.52
21172 279.6 7.2 1040 21183 roll 0.56 - - 3597 - 2.55 0.106 827 -559.2 107.1 - - 2499 - - - - - - - - 14.69 14.33 14.70
21291 270.6 7.5 1061 21302 done 0.56 - - 3597 - 2.53 0.096 2245 560.5 107.1 - - 2499 - - - - - - - - 14.47 14.33 14.50
21619 246.2 7.4 1069 21630 roll 0.56 - - 3597 - 2.58 0.108 3663 549.6 107.1 - - 2500 - - - - - - - - 14.70 14.32 14.71
21794 233.0 7.5 1101 21805 done 0.56 0.12 0.244 3575 -183.3 2.58 0.093 2235 -553.5 107.1 - - 2499 - - - - - - - - 14.19 14.35 14.41
22012 219.6 6.4 1111 22023 roll 0.58 - - 3582 - 2.50 0.105 841 -557.6 107.1 - - 2499 - - - - - - - - 14.69 14.31 14.71
22258 202.2 6.5 1157 22269 done 0.60 - - 3582 - 2.53 0.093 2260 560.9 107.1 - - 2500 - - - - - - - - 14.48 14.36 14.52
22465 190.9 5.4 1165 22477 roll 0.64 - - 3583 - 2.55 0.109 3662 549.8 107.1 - - 2500 - - - - - - - - 14.68 14.31 14.70
22597 182.6 6.4 1188 22608 done 0.66 - - 3587 - 2.53 0.093 2254 -556.5 107.1 - - 2500 - - - - - - - - 14.46 14.31 14.50
22787 172.3 5.6 1195 22797 done 0.69 - - 3586 - - - 2255 - 107.1 - - 2499 - - - - - - - - 14.66 14.69 14.68
22962 162.3 5.6 1201 22974 roll 0.72 0.08 0.161 3647 762.5 2.58 0.106 3662 545.3 107.1 - - 2499 - - - - - - - - 14.42 14.31 14.46
23030 157.4 7.2 1212 23042 done 0.72 - - 3656 - 2.55 0.090 2236 -559.2 107.1 - - 2500 - - - - - - - - 14.47 14.35 14.50
23215 144.0 7.4 1219 23227 roll 0.72 - - 3667 - 2.50 0.103 838 -559.2 107.1 - - 2500 - - - - - - - - 14.69 14.31 14.70
23382 132.5 6.2 1249 23394 done 0.75 0.10 0.260 3640 -270.0 2.50 0.094 2246 563.2 107.1 - - 2500 - - - - - - - - 14.16 14.32 14.40
23606 119.7 5.6 1261 23617 done 0.78 - - 3641 - - - 2246 - 107.1 - - 2500 - - - - - - - - 14.66 14.69 14.68
23786 112.4 3.7 1267 23854 roll 0.82 - - 3640 - 2.67 0.106 3674 534.8 185.4 57.25 0.861 2180 -5.6 0.137 - - - - - - 14.69 14.25 13.86
23988 95.5 10.7 1305 23999 done 0.82 - - 3646 - 2.58 0.095 2257 -549.2 185.4 - - 2179 - - - - - - - - 14.29 14.16 14.34
24205 80.7 6.3 1315 24217 roll 0.84 - - 3653 - 2.55 0.104 833 -558.4 185.4 - - 2180 - - - - - - - - 14.59 14.26 14.58
24272 76.3 7.2 1326 24284 done 0.84 - - 3650 - 2.55 0.093 2254 557.3 185.4 - - 2180 - - - - - - - - 14.40 14.28 14.42
24458 65.4 5.7 1333 24469 roll 0.88 - - 3650 - 2.58 0.107 3663 546.1 185.4 - - 2180 - - - - - - - - 14.60 14.24 14.62
24703 48.8 7.1 1379 24716 done 0.88 - - 3654 - 2.53 0.093 2253 -557.3 185.4 - - 2180 - - - - - - - - 14.31 14.21 14.36
24908 38.9 4.6 1387 24965 roll 0.91 - - 3654 - 2.62 0.106 3661 537.4 245.3 43.40 0.764 1939 -5.6 0.053 - - - - - - 14.64 14.26 13.93
25203 21.0 3.8 1443 25270 done 0.94 - - 3665 - 2.55 0.089 2236 -558.8 322.7 51.62 0.722 1620 -6.2 0.034 - - - - - - 14.40 14.29 13.86
25469 end climb: SURFACE_DEPTH_REACHED
25469 begin surface coast
25500 end surface coast: CONTROL_FINISHED_OK
25500 begin surface
SM 1.27 - - - - -10.26 10.07 0.050 92 9.1 0.60 0.111 1905 -12195.0 400.08 32.85 0.086 1309 39.8 -0.060 - - - - - -