NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 229 * Raw log
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• Previous call tries 1 • 61.77 of 350.00 AH used of 24V (82.35% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -78.1 deg, depth 1.05 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• No surface pump (final VBD was 400.08, SM_CC=400)
• GPS1 time: 30 s
• GPS2 time: 3 s • Transponder ping count: 1
• 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
23 begin dive
28 - - - 106 done -0.39 - - 81 - - - 1881 - -107.1 -71.35 - 3378 - - - - - - - - 14.47 12.97 14.50
113 2.5 -3.9 2 138 roll -0.39 13.68 0.353 3254 231.9 2.58 0.093 3313 555.0 -107.1 - - 3382 - - - - - - - - 13.97 14.24 14.17
297 53.6 -14.3 36 308 done -0.39 - - 3249 - 2.55 0.094 1906 -551.8 -107.1 - - 3384 - - - - - - - - 14.37 14.25 14.41
500 82.8 -14.1 44 510 done -0.39 - - 3249 - - - 1906 - -107.1 - - 3385 - - - - - - - - 14.59 14.62 14.61
680 107.1 -13.1 50 691 roll -0.39 - - 3250 - 2.55 0.105 476 -560.8 -107.1 - - 3386 - - - - - - - - 14.62 14.31 14.64
790 121.8 -14.6 69 801 done -0.39 - - 3250 - 2.53 0.091 1903 564.0 -107.1 - - 3386 - - - - - - - - 14.45 14.33 14.49
1008 149.1 -11.7 80 1018 done -0.39 - - 3250 - - - 1903 - -107.1 - - 3387 - - - - - - - - 14.65 14.66 14.66
1188 168.6 -10.6 86 1199 done -0.39 - - 3250 - - - 1903 - -107.1 - - 3389 - - - - - - - - 14.67 14.69 14.69
1368 187.2 -10.4 92 1378 done -0.39 - - 3250 - - - 1900 - -107.1 - - 3387 - - - - - - - - 14.68 14.69 14.69
1549 204.7 -9.6 98 1559 done -0.39 - - 3250 - - - 1903 - -107.1 - - 3385 - - - - - - - - 14.68 14.70 14.70
1727 220.8 -8.8 104 1738 roll -0.39 - - 3249 - 2.55 0.106 3322 556.5 -107.1 - - 3384 - - - - - - - - 14.70 14.34 14.71
1789 225.9 -8.1 114 1800 done -0.39 - - 3250 - 2.55 0.093 1888 -562.4 -107.1 - - 3384 - - - - - - - - 14.50 14.38 14.54
1992 243.7 -9.1 122 2003 done -0.39 - - 3250 - - - 1887 - -107.1 - - 3383 - - - - - - - - 14.70 14.71 14.69
2201 264.3 -9.8 127 2212 done -0.39 - - 3249 - - - 1888 - -107.1 - - 3383 - - - - - - - - 14.69 14.72 14.73
2502 294.2 -10.0 132 2513 roll -0.39 - - 3249 - 2.58 0.105 3317 553.9 -107.1 - - 3380 - - - - - - - - 14.73 14.38 14.74
2553 299.4 -9.7 140 2564 done -0.39 - - 3249 - 2.53 0.093 1904 -558.5 -107.1 - - 3381 - - - - - - - - 14.53 14.40 14.57
2886 333.4 -10.3 149 2896 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3379 - - - - - - - - 14.76 14.75 14.75
3186 363.1 -9.8 154 3196 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3379 - - - - - - - - 14.73 14.74 14.74
3485 390.6 -9.1 159 3496 done -0.39 - - 3250 - - - 1901 - -107.1 - - 3377 - - - - - - - - 14.74 14.76 14.76
3786 417.4 -8.9 164 3796 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3376 - - - - - - - - 14.72 14.76 14.75
4085 445.1 -9.2 169 4096 done -0.39 - - 3246 - - - 1904 - -107.1 - - 3375 - - - - - - - - 14.73 14.76 14.76
4386 472.6 -9.2 174 4397 done -0.39 - - 3249 - - - 1904 - -107.1 - - 3375 - - - - - - - - 14.73 14.75 14.76
4685 499.9 -9.0 179 4696 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3374 - - - - - - - - 14.74 14.76 14.76
4985 526.1 -8.7 184 4996 done -0.39 - - 3253 - - - 1906 - -107.1 - - 3372 - - - - - - - - 14.74 14.76 14.76
5286 551.4 -8.4 189 5296 done -0.39 - - 3250 - - - 1909 - -107.1 - - 3372 - - - - - - - - 14.74 14.76 14.76
5586 575.6 -8.0 194 5596 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3373 - - - - - - - - 14.73 14.76 14.75
5885 598.9 -7.7 199 5896 done -0.39 - - 3249 - - - 1904 - -107.1 - - 3370 - - - - - - - - 14.73 14.75 14.76
6186 621.5 -7.5 204 6196 done -0.39 - - 3249 - - - 1904 - -107.1 - - 3369 - - - - - - - - 14.73 14.74 14.74
6485 644.7 -7.8 209 6496 done -0.39 - - 3250 - - - 1901 - -107.1 - - 3368 - - - - - - - - 14.74 14.76 14.76
6786 668.0 -7.8 214 6797 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3368 - - - - - - - - 14.73 14.74 14.74
7085 691.3 -7.7 219 7096 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3367 - - - - - - - - 14.73 14.76 14.76
7385 713.2 -7.2 224 7396 roll -0.39 - - 3250 - 2.60 0.110 3322 545.4 -107.1 - - 3365 - - - - - - - - 14.73 14.29 14.75
7437 716.8 -6.6 232 7448 done -0.39 - - 3250 - 2.58 0.097 1888 -555.8 -107.1 - - 3366 - - - - - - - - 14.50 14.36 14.54
7769 738.9 -6.7 241 7780 done -0.39 - - 3250 - - - 1884 - -107.1 - - 3366 - - - - - - - - 14.73 14.75 14.74
8070 759.6 -6.9 246 8081 done -0.39 - - 3250 - - - 1887 - -107.1 - - 3365 - - - - - - - - 14.73 14.75 14.74
8369 779.8 -6.7 251 8380 roll -0.39 - - 3250 - 2.62 0.109 3323 548.1 -107.1 - - 3364 - - - - - - - - 14.72 14.32 14.73
8470 786.2 -6.4 268 8481 done -0.39 - - 3249 - 2.58 0.096 1904 -550.0 -107.1 - - 3364 - - - - - - - - 14.49 14.35 14.52
8822 809.0 -6.5 280 8832 done -0.39 - - 3249 - - - 1904 - -107.1 - - 3364 - - - - - - - - 14.70 14.72 14.72
9118 829.3 -6.7 285 9128 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3363 - - - - - - - - 14.71 14.73 14.74
9419 849.9 -6.9 290 9429 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3363 - - - - - - - - 14.71 14.74 14.72
9718 870.4 -6.8 295 9728 done -0.39 - - 3250 - - - 1904 - -107.1 - - 3363 - - - - - - - - 14.71 14.73 14.73
10018 890.4 -6.7 300 10028 done -0.39 - - 3249 - - - 1904 - -107.1 - - 3362 - - - - - - - - 14.71 14.73 14.73
10318 910.5 -6.7 305 10328 done -0.39 - - 3249 - - - 1904 - -107.1 - - 3362 - - - - - - - - 14.71 14.72 14.73
10618 929.8 -6.4 310 10629 done -0.39 - - 3255 - - - 1904 - -107.1 - - 3361 - - - - - - - - 14.71 14.73 14.72
10918 948.5 -6.2 315 10929 done -0.39 - - 3249 - - - 1904 - -107.1 - - 3361 - - - - - - - - 14.71 14.73 14.73
11218 966.5 -6.0 320 11229 roll -0.39 - - 3245 - 2.60 0.110 3321 545.0 -107.1 - - 3360 - - - - - - - - 14.71 14.30 14.73
11261 968.9 -2.2 326 11272 done -0.39 - - 3250 - 2.60 0.099 1888 -551.2 -107.1 - - 3360 - - - - - - - - 14.47 14.33 14.52
11608 987.8 -5.5 337 11619 done -0.39 - - 3250 - - - 1886 - -107.1 - - 3360 - - - - - - - - 14.70 14.72 14.71
11658 end dive: TARGET_DEPTH_EXCEEDED
11658 begin apogee
11671 991.0 -5.4 338 11764 done -0.16 0.32 0.167 3343 290.6 - - 2264 - - 85.47 1.888 2938 -4.9 0.490 - - - - - - 14.26 13.94 13.21
11766 end apogee: CONTROL_FINISHED_OK
11766 begin climb
11771 993.2 - 339 11869 done 0.39 0.47 0.108 3512 359.6 - - 2264 - 107.1 89.68 1.867 2503 -4.9 0.488 - - - - - - 13.95 13.71 13.04
12150 970.0 7.3 346 12161 roll 0.39 - - 3514 - 2.65 0.110 837 -538.5 107.1 - - 2499 - - - - - - - - 14.34 14.03 14.35
12201 965.4 7.8 354 12213 done 0.39 - - 3514 - 2.58 0.096 2247 546.5 107.1 - - 2499 - - - - - - - - 14.21 14.09 14.23
12534 940.0 7.7 363 12545 roll 0.39 - - 3519 - 2.62 0.113 3664 540.8 107.1 - - 2497 - - - - - - - - 14.52 14.19 14.54
12616 932.7 8.9 377 12628 done 0.39 - - 3516 - 2.60 0.098 2251 -543.5 107.1 - - 2497 - - - - - - - - 14.35 14.20 14.38
12984 904.5 7.6 392 12995 roll 0.39 - - 3514 - 2.60 0.112 819 -550.8 107.1 - - 2497 - - - - - - - - 14.59 14.23 14.62
13031 900.5 11.2 399 13042 done 0.39 - - 3514 - 2.58 0.098 2258 557.8 107.1 - - 2497 - - - - - - - - 14.42 14.29 14.43
13372 877.9 6.6 409 13383 done 0.40 - - 3513 - - - 2258 - 107.1 - - 2498 - - - - - - - - 14.63 14.65 14.65
13669 859.2 6.2 414 13680 done 0.43 - - 3517 - - - 2258 - 107.1 - - 2494 - - - - - - - - 14.64 14.66 14.66
13968 840.7 6.2 419 13979 done 0.45 - - 3514 - - - 2258 - 107.1 - - 2497 - - - - - - - - 14.67 14.69 14.69
14269 820.5 6.8 424 14279 done 0.46 - - 3514 - - - 2259 - 107.1 - - 2496 - - - - - - - - 14.66 14.69 14.69
14568 799.2 7.1 429 14578 done 0.46 - - 3514 - - - 2258 - 107.1 - - 2496 - - - - - - - - 14.68 14.69 14.69
14869 777.3 7.3 434 14879 done 0.46 - - 3514 - - - 2258 - 107.1 - - 2495 - - - - - - - - 14.69 14.71 14.71
15168 755.9 7.1 439 15178 done 0.46 - - 3514 - - - 2258 - 107.1 - - 2496 - - - - - - - - 14.69 14.70 14.69
15468 735.5 6.7 444 15480 roll 0.47 0.08 0.155 3580 825.0 2.60 0.112 3664 540.8 107.1 - - 2493 - - - - - - - - 14.42 14.29 14.45
15521 730.8 10.1 452 15533 done 0.47 0.15 0.231 3547 -220.0 2.58 0.099 2247 -549.2 107.1 - - 2495 - - - - - - - - 14.18 14.33 14.43
15858 703.8 8.0 461 15868 done 0.47 - - 3547 - - - 2246 - 107.1 - - 2494 - - - - - - - - 14.67 14.69 14.69
16155 678.2 8.6 466 16165 done 0.47 - - 3547 - - - 2247 - 107.1 - - 2495 - - - - - - - - 14.71 14.71 14.71
16454 651.7 8.8 471 16464 done 0.47 - - 3547 - - - 2244 - 107.1 - - 2494 - - - - - - - - 14.68 14.70 14.70
16754 625.9 8.6 476 16765 done 0.47 - - 3546 - - - 2247 - 107.1 - - 2494 - - - - - - - - 14.69 14.72 14.71
17054 600.0 8.6 481 17064 done 0.47 - - 3547 - - - 2247 - 107.1 - - 2498 - - - - - - - - 14.69 14.72 14.71
17354 574.0 8.6 486 17365 done 0.47 - - 3547 - - - 2247 - 107.1 - - 2494 - - - - - - - - 14.70 14.72 14.71
17654 550.0 7.9 491 17665 roll 0.47 - - 3548 - 2.65 0.112 3664 534.7 107.1 - - 2495 - - - - - - - - 14.71 14.25 14.70
17793 538.4 8.2 516 17804 done 0.47 - - 3547 - 2.60 0.098 2235 -549.6 107.1 - - 2495 - - - - - - - - 14.45 14.32 14.51
18166 514.6 6.3 532 18176 done 0.49 - - 3546 - - - 2235 - 107.1 - - 2495 - - - - - - - - 14.66 14.70 14.69
18461 496.6 6.0 537 18473 roll 0.52 - - 3557 - 2.53 0.112 843 -550.2 107.1 - - 2497 - - - - - - - - 14.69 14.28 14.71
18504 493.9 6.3 543 18515 done 0.54 - - 3558 - 2.53 0.096 2246 554.5 107.1 - - 2495 - - - - - - - - 14.46 14.31 14.50
18853 471.4 6.6 554 18863 done 0.56 - - 3562 - - - 2246 - 107.1 - - 2495 - - - - - - - - 14.66 14.69 14.69
19147 451.3 6.7 559 19158 roll 0.57 - - 3558 - 2.62 0.109 3664 541.2 107.1 - - 2495 - - - - - - - - 14.69 14.29 14.72
19234 444.7 7.9 574 19245 done 0.57 - - 3568 - 2.58 0.094 2253 -546.9 107.1 - - 2494 - - - - - - - - 14.45 14.32 14.48
19596 418.2 7.5 588 19606 done 0.57 - - 3567 - - - 2253 - 107.1 - - 2496 - - - - - - - - 14.66 14.69 14.69
19891 395.3 7.7 593 19903 roll 0.57 - - 3564 - 2.62 0.110 3664 538.5 107.1 - - 2495 - - - - - - - - 14.69 14.28 14.70
19998 386.8 8.3 611 20009 done 0.57 - - 3576 - 2.58 0.094 2236 -553.5 107.1 - - 2495 - - - - - - - - 14.44 14.31 14.49
20345 362.1 6.9 622 20356 done 0.57 - - 3575 - - - 2236 - 107.1 - - 2495 - - - - - - - - 14.66 14.69 14.68
20641 343.7 6.0 627 20652 roll 0.59 - - 3582 - 2.53 0.110 842 -551.0 107.1 - - 2495 - - - - - - - - 14.68 14.27 14.70
20744 337.6 6.7 644 20755 done 0.61 - - 3582 - 2.53 0.095 2259 560.1 107.1 - - 2496 - - - - - - - - 14.40 14.28 14.45
21097 314.6 6.6 656 21108 roll 0.62 - - 3582 - 2.58 0.112 3663 544.2 107.1 - - 2495 - - - - - - - - 14.68 14.27 14.69
21169 308.6 8.0 668 21180 done 0.62 - - 3582 - 2.55 0.096 2255 -552.2 107.1 - - 2495 - - - - - - - - 14.43 14.28 14.49
21541 282.8 6.9 685 21551 done 0.62 - - 3582 - - - 2260 - 107.1 - - 2495 - - - - - - - - 14.67 14.69 14.69
21842 262.1 6.9 690 21853 roll 0.62 - - 3582 - 2.62 0.109 3664 535.9 107.1 - - 2495 - - - - - - - - 14.69 14.28 14.70
21938 255.0 8.2 706 21949 done 0.62 - - 3582 - 2.58 0.093 2252 -547.3 107.1 - - 2495 - - - - - - - - 14.45 14.31 14.50
22261 232.1 6.9 722 22271 done 0.62 - - 3582 - - - 2252 - 107.1 - - 2495 - - - - - - - - 14.68 14.71 14.69
22441 219.6 6.9 728 22451 done 0.62 - - 3582 - - - 2252 - 107.1 - - 2496 - - - - - - - - 14.68 14.69 14.69
22623 207.5 6.7 734 22633 done 0.63 - - 3583 - - - 2252 - 107.1 - - 2496 - - - - - - - - 14.67 14.69 14.69
22801 195.8 6.4 740 22812 roll 0.65 - - 3579 - 2.62 0.111 3662 538.2 107.1 - - 2496 - - - - - - - - 14.66 14.26 14.66
22928 187.4 5.8 762 22939 done 0.68 - - 3588 - 2.55 0.092 2252 -552.9 107.1 - - 2496 - - - - - - - - 14.45 14.31 14.50
23136 176.6 5.2 770 23184 roll 0.71 - - 3588 - 2.62 0.109 3658 536.6 152.8 34.05 0.950 2313 -5.4 0.189 - - - - - - 14.65 14.31 13.88
23223 170.6 8.3 785 23235 done 0.71 - - 3595 - 2.58 0.094 2233 -552.3 152.8 - - 2314 - - - - - - - - 14.37 14.27 14.41
23432 154.2 7.9 794 23443 done 0.71 - - 3595 - - - 2233 - 152.8 - - 2317 - - - - - - - - 14.56 14.58 14.57
23611 139.9 8.1 800 23622 roll 0.71 - - 3603 - 2.53 0.107 843 -549.4 152.8 - - 2316 - - - - - - - - 14.59 14.23 14.60
23707 132.4 8.2 816 23718 done 0.71 - - 3604 - 2.53 0.094 2247 554.9 152.8 - - 2317 - - - - - - - - 14.40 14.26 14.43
23917 117.7 6.6 824 23928 roll 0.72 - - 3603 - 2.60 0.107 3666 545.8 152.8 - - 2314 - - - - - - - - 14.61 14.27 14.63
24164 99.6 7.1 870 24175 done 0.72 - - 3610 - 2.58 0.093 2241 -552.3 152.8 - - 2319 - - - - - - - - 14.41 14.28 14.44
24367 85.1 7.1 878 24378 roll 0.72 - - 3610 - 2.62 0.106 3661 542.0 152.8 - - 2317 - - - - - - - - 14.63 14.26 14.65
24613 71.3 3.8 924 24685 done 0.76 - - 3610 - 2.58 0.090 2251 -546.5 229.3 56.28 0.812 2002 -5.6 0.093 - - - - - - 14.42 14.29 13.86
24864 56.9 6.7 944 24875 roll 0.77 - - 3610 - 2.62 0.107 3664 539.3 229.3 - - 2001 - - - - - - - - 14.51 14.14 14.52
25111 35.5 6.8 990 25123 done 0.78 0.12 0.125 3678 566.7 2.58 0.092 2252 -547.3 229.3 - - 2002 - - - - - - - - 14.32 14.25 14.40
25319 21.0 6.5 998 25331 roll 0.80 - - 3675 - 2.60 0.105 3664 543.1 229.3 - - 1998 - - - - - - - - 14.58 14.21 14.59
25501 13.4 -0.4 1031 25595 done 0.88 - - 3689 - 2.55 0.087 2237 -559.6 397.2 76.30 0.144 1322 -8.9 0.156 - - - - - - 14.44 14.31 14.16
25701 end climb: SURFACE_DEPTH_REACHED
25701 begin surface coast
25732 end surface coast: CONTROL_FINISHED_OK
25732 begin surface
SM 2.33 - - - - -10.27 10.20 0.054 90 8.8 0.60 0.105 1905 -12195.0 400.08 1.35 0.087 1309 969.6 -2.654 - - - - - -