NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 267 * Raw log
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• Previous call tries 1 • 72.88 of 350.00 AH used of 24V (79.18% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -78.0 deg, depth 1.01 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 53 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 - - - 108 done -0.39 - - 78 - - - 1882 - -107.1 -72.35 - 3380 - - - - - - - - 14.47 12.93 14.48
115 2.3 -3.5 2 140 roll -0.39 13.88 0.359 3255 228.9 2.53 0.098 491 -549.8 -107.1 - - 3381 - - - - - - - - 13.95 14.21 14.15
279 51.1 -14.0 32 290 done -0.39 - - 3255 - 2.53 0.093 1899 556.5 -107.1 - - 3385 - - - - - - - - 14.32 14.19 14.35
506 76.6 -11.1 44 517 roll -0.39 - - 3255 - 2.58 0.106 3322 551.6 -107.1 - - 3386 - - - - - - - - 14.57 14.15 14.59
613 86.9 -8.8 62 624 done -0.39 - - 3256 - 2.55 0.088 1893 -560.4 -107.1 - - 3384 - - - - - - - - 14.38 14.26 14.42
835 112.3 -11.6 74 846 roll -0.39 - - 3255 - 2.53 0.106 493 -553.4 -107.1 - - 3387 - - - - - - - - 14.62 14.24 14.64
907 120.7 -12.0 86 919 done -0.39 - - 3255 - 2.53 0.089 1909 559.7 -107.1 - - 3387 - - - - - - - - 14.40 14.31 14.45
1135 143.6 -9.9 98 1146 roll -0.39 - - 3255 - 2.55 0.106 3317 552.2 -107.1 - - 3387 - - - - - - - - 14.64 14.28 14.66
1236 153.0 -8.8 115 1249 done -0.39 - - 3255 - 2.55 0.090 1903 -554.5 -107.1 - - 3386 - - - - - - - - 14.42 14.26 14.46
1418 169.8 -9.1 122 1429 done -0.39 - - 3255 - - - 1900 - -107.1 - - 3386 - - - - - - - - 14.67 14.66 14.66
1598 186.4 -9.4 128 1609 roll -0.39 - - 3255 - 2.58 0.106 477 -551.6 -107.1 - - 3385 - - - - - - - - 14.66 14.29 14.68
1665 193.6 -11.1 139 1677 done -0.39 - - 3255 - 2.53 0.089 1897 561.3 -107.1 - - 3385 - - - - - - - - 14.44 14.31 14.47
1850 212.2 -10.2 146 1861 roll -0.39 - - 3254 - 2.58 0.105 3323 552.7 -107.1 - - 3384 - - - - - - - - 14.66 14.27 14.68
1937 220.8 -9.5 161 1948 done -0.39 - - 3255 - 2.55 0.091 1905 -556.1 -107.1 - - 3387 - - - - - - - - 14.45 14.32 14.49
2144 241.0 -9.9 170 2156 roll -0.39 - - 3255 - 2.55 0.106 477 -560.0 -107.1 - - 3384 - - - - - - - - 14.67 14.26 14.69
2226 249.8 -11.0 184 2237 done -0.39 - - 3255 - 2.55 0.090 1919 565.5 -107.1 - - 3383 - - - - - - - - 14.45 14.32 14.49
2438 269.7 -9.3 191 2449 roll -0.39 - - 3255 - 2.50 0.103 3303 553.6 -107.1 - - 3382 - - - - - - - - 14.69 14.30 14.71
2515 276.9 -9.1 204 2526 done -0.39 - - 3255 - 2.53 0.094 1887 -559.7 -107.1 - - 3382 - - - - - - - - 14.45 14.33 14.50
2886 309.3 -8.8 220 2897 roll -0.39 - - 3255 - 2.50 0.109 496 -556.4 -107.1 - - 3380 - - - - - - - - 14.68 14.27 14.70
2938 314.5 -9.5 228 2949 done -0.39 - - 3255 - 2.47 0.090 1896 566.8 -107.1 - - 3381 - - - - - - - - 14.45 14.32 14.49
3270 342.4 -8.3 237 3281 roll -0.39 - - 3255 - 2.55 0.106 3317 557.3 -107.1 - - 3379 - - - - - - - - 14.70 14.30 14.72
3343 348.2 -7.9 249 3354 done -0.39 - - 3255 - 2.55 0.093 1907 -552.9 -107.1 - - 3378 - - - - - - - - 14.46 14.33 14.52
3715 380.5 -8.7 266 3726 roll -0.39 - - 3255 - 2.55 0.109 489 -556.1 -107.1 - - 3378 - - - - - - - - 14.69 14.28 14.71
3756 384.5 -10.3 272 3768 done -0.39 - - 3258 - 2.53 0.093 1908 560.9 -107.1 - - 3377 - - - - - - - - 14.47 14.33 14.50
4104 414.9 -8.8 283 4115 roll -0.39 - - 3255 - 2.55 0.106 3320 553.7 -107.1 - - 3377 - - - - - - - - 14.70 14.29 14.71
4205 423.2 -7.6 300 4216 done -0.39 - - 3252 - 2.55 0.095 1905 -554.9 -107.1 - - 3377 - - - - - - - - 14.47 14.33 14.50
4556 448.6 -7.1 312 4567 roll -0.39 - - 3255 - 2.58 0.109 474 -554.7 -107.1 - - 3374 - - - - - - - - 14.70 14.26 14.71
4639 455.1 -7.6 326 4650 done -0.39 - - 3255 - 2.55 0.092 1899 558.8 -107.1 - - 3375 - - - - - - - - 14.45 14.32 14.49
5006 477.4 -6.0 341 5017 roll -0.39 - - 3255 - 2.60 0.108 3323 547.7 -107.1 - - 3374 - - - - - - - - 14.69 14.27 14.70
5079 481.4 -4.9 353 5090 done -0.39 - - 3255 - 2.60 0.095 1885 -553.1 -107.1 - - 3374 - - - - - - - - 14.44 14.32 14.50
5452 502.3 -5.7 370 5462 done -0.39 - - 3255 - - - 1886 - -107.1 - - 3373 - - - - - - - - 14.70 14.71 14.71
5752 520.0 -6.0 375 5763 done -0.39 - - 3252 - - - 1885 - -107.1 - - 3370 - - - - - - - - 14.69 14.71 14.71
6051 539.2 -6.4 380 6062 roll -0.39 - - 3255 - 2.65 0.110 3322 542.3 -107.1 - - 3375 - - - - - - - - 14.70 14.27 14.72
6099 542.3 -6.5 387 6110 done -0.39 - - 3255 - 2.58 0.095 1889 -555.4 -107.1 - - 3369 - - - - - - - - 14.45 14.31 14.49
6437 565.2 -6.9 397 6448 roll -0.39 - - 3255 - 2.53 0.109 495 -551.0 -107.1 - - 3371 - - - - - - - - 14.68 14.26 14.70
6537 572.9 -7.8 414 6548 done -0.39 - - 3252 - 2.53 0.095 1901 555.7 -107.1 - - 3370 - - - - - - - - 14.45 14.31 14.48
6885 599.5 -7.7 426 6896 roll -0.39 - - 3255 - 2.58 0.109 3319 549.6 -107.1 - - 3370 - - - - - - - - 14.69 14.26 14.70
6977 606.6 -7.4 442 6988 done -0.39 - - 3252 - 2.58 0.096 1891 -553.5 -107.1 - - 3370 - - - - - - - - 14.42 14.29 14.47
7335 633.0 -7.5 455 7346 roll -0.39 - - 3255 - 2.55 0.110 494 -547.8 -107.1 - - 3370 - - - - - - - - 14.66 14.25 14.69
7408 639.3 -8.2 467 7419 done -0.39 - - 3255 - 2.53 0.096 1898 554.9 -107.1 - - 3369 - - - - - - - - 14.44 14.29 14.48
7780 665.9 -7.1 484 7791 roll -0.39 - - 3255 - 2.60 0.109 3323 548.1 -107.1 - - 3368 - - - - - - - - 14.69 14.24 14.73
7867 672.0 -6.8 499 7878 done -0.39 - - 3255 - 2.58 0.096 1901 -551.2 -107.1 - - 3369 - - - - - - - - 14.43 14.28 14.47
8229 696.3 -6.8 513 8240 roll -0.39 - - 3255 - 2.58 0.112 483 -549.6 -107.1 - - 3368 - - - - - - - - 14.68 14.25 14.69
8329 704.1 -7.8 530 8341 done -0.39 - - 3257 - 2.58 0.097 1914 554.7 -107.1 - - 3368 - - - - - - - - 14.42 14.29 14.45
8683 729.6 -7.3 542 8694 roll -0.39 - - 3251 - 2.55 0.109 3311 547.8 -107.1 - - 3367 - - - - - - - - 14.68 14.26 14.69
8794 738.3 -7.7 561 8805 done -0.39 - - 3255 - 2.58 0.098 1890 -550.8 -107.1 - - 3367 - - - - - - - - 14.42 14.26 14.46
9132 765.9 -8.3 571 9143 done -0.39 - - 3255 - - - 1890 - -107.1 - - 3366 - - - - - - - - 14.69 14.70 14.69
9431 790.5 -8.1 576 9441 done -0.39 - - 3255 - - - 1890 - -107.1 - - 3366 - - - - - - - - 14.69 14.71 14.71
9731 814.3 -8.0 581 9743 roll -0.39 - - 3256 - 2.62 0.109 3303 539.3 -107.1 - - 3366 - - - - - - - - 14.67 14.24 14.69
9798 819.5 -7.8 592 9810 done -0.39 - - 3255 - 2.55 0.098 1894 -552.5 -107.1 - - 3366 - - - - - - - - 14.41 14.28 14.46
10104 843.4 -7.7 598 10116 roll -0.39 - - 3255 - 2.58 0.112 497 -541.5 -107.1 - - 3366 - - - - - - - - 14.68 14.23 14.69
10177 849.7 -8.8 610 10189 done -0.39 - - 3255 - 2.53 0.096 1898 553.8 -107.1 - - 3365 - - - - - - - - 14.40 14.26 14.45
10551 879.7 -8.0 627 10562 roll -0.39 - - 3255 - 2.58 0.109 3316 549.6 -107.1 - - 3363 - - - - - - - - 14.68 14.24 14.69
10607 883.9 -7.9 636 10618 done -0.39 - - 3255 - 2.58 0.098 1900 -548.8 -107.1 - - 3365 - - - - - - - - 14.42 14.28 14.46
10935 909.5 -7.7 644 10946 roll -0.39 - - 3255 - 2.58 0.112 481 -550.0 -107.1 - - 3364 - - - - - - - - 14.68 14.22 14.69
11008 915.7 -8.9 656 11019 done -0.39 - - 3255 - 2.58 0.097 1914 555.4 -107.1 - - 3364 - - - - - - - - 14.41 14.28 14.45
11381 943.2 -7.2 673 11392 roll -0.39 - - 3256 - 2.55 0.110 3303 544.7 -107.1 - - 3365 - - - - - - - - 14.66 14.23 14.68
11482 950.1 -7.1 690 11493 done -0.39 - - 3256 - 2.58 0.100 1889 -548.1 -107.1 - - 3364 - - - - - - - - 14.39 14.23 14.43
11834 975.8 -7.3 702 11846 roll -0.39 - - 3255 - 2.55 0.111 476 -554.1 -107.1 - - 3365 - - - - - - - - 14.67 14.21 14.68
11936 983.8 -7.8 719 11947 done -0.39 - - 3255 - 2.55 0.097 1898 557.6 -107.1 - - 3363 - - - - - - - - 14.40 14.26 14.45
12039 end dive: TARGET_DEPTH_EXCEEDED
12039 begin apogee
12051 991.9 -7.2 727 12145 done -0.16 0.28 0.163 3344 317.9 - - 2251 - - 85.60 1.903 2941 -4.9 0.487 - - - - - - 14.19 13.92 13.18
12147 end apogee: CONTROL_FINISHED_OK
12147 begin climb
12152 995.2 - 728 12260 roll 0.39 0.47 0.104 3517 368.1 2.72 0.111 841 -518.4 107.1 88.97 1.869 2501 -4.9 0.500 - - - - - - 13.93 13.65 12.99
12287 993.0 6.7 752 12298 done 0.40 - - 3517 - 2.65 0.097 2247 530.6 107.1 - - 2499 - - - - - - - - 13.89 13.79 13.91
12660 970.0 6.4 769 12671 roll 0.42 - - 3523 - 2.67 0.112 3673 534.1 107.1 - - 2496 - - - - - - - - 14.41 14.07 14.42
12696 967.2 10.1 774 12708 done 0.42 - - 3517 - 2.65 0.099 2240 -540.8 107.1 - - 2497 - - - - - - - - 14.23 14.11 14.26
13048 942.8 7.0 786 13060 roll 0.42 - - 3516 - 2.58 0.112 837 -543.8 107.1 - - 2498 - - - - - - - - 14.52 14.15 14.54
13111 937.9 7.1 796 13122 done 0.42 - - 3517 - 2.58 0.099 2258 550.8 107.1 - - 2497 - - - - - - - - 14.33 14.21 14.37
13433 915.4 7.0 803 13444 roll 0.42 - - 3517 - 2.60 0.112 3662 540.0 107.1 - - 2497 - - - - - - - - 14.59 14.17 14.61
13486 911.1 8.5 811 13497 done 0.42 - - 3517 - 2.58 0.099 2254 -545.7 107.1 - - 2499 - - - - - - - - 14.35 14.21 14.40
13818 886.3 7.7 820 13829 roll 0.42 - - 3520 - 2.58 0.109 840 -548.1 107.1 - - 2496 - - - - - - - - 14.61 14.21 14.61
13891 879.8 8.0 832 13902 done 0.42 - - 3521 - 2.55 0.096 2247 551.8 107.1 - - 2497 - - - - - - - - 14.39 14.25 14.43
14263 851.4 7.7 849 14274 roll 0.42 - - 3527 - 2.60 0.109 824 -547.3 107.1 - - 2496 - - - - - - - - 14.63 14.24 14.64
14330 845.5 8.8 860 14342 done 0.42 - - 3527 - 2.58 0.096 2257 555.4 107.1 - - 2497 - - - - - - - - 14.39 14.26 14.43
14635 818.7 8.8 866 14646 done 0.42 - - 3527 - - - 2257 - 107.1 - - 2497 - - - - - - - - 14.65 14.66 14.67
14936 793.9 8.2 871 14948 roll 0.42 - - 3527 - 2.62 0.113 3662 536.3 107.1 - - 2496 - - - - - - - - 14.64 14.21 14.66
14993 789.1 9.6 880 15004 done 0.42 - - 3527 - 2.60 0.099 2235 -548.8 107.1 - - 2496 - - - - - - - - 14.39 14.25 14.44
15320 764.7 7.2 888 15330 done 0.42 - - 3527 - - - 2232 - 107.1 - - 2496 - - - - - - - - 14.64 14.66 14.66
15621 744.3 6.7 893 15631 done 0.43 - - 3526 - - - 2235 - 107.1 - - 2495 - - - - - - - - 14.66 14.68 14.68
15920 724.4 6.6 898 15931 done 0.45 - - 3525 - - - 2235 - 107.1 - - 2496 - - - - - - - - 14.65 14.67 14.66
16221 704.2 6.8 903 16233 roll 0.46 - - 3527 - 2.58 0.110 837 -541.9 107.1 - - 2496 - - - - - - - - 14.65 14.23 14.67
16323 697.4 6.7 920 16334 done 0.47 - - 3527 - 2.55 0.096 2246 552.5 107.1 - - 2496 - - - - - - - - 14.40 14.25 14.45
16676 674.4 6.6 932 16686 done 0.49 - - 3527 - - - 2246 - 107.1 - - 2496 - - - - - - - - 14.64 14.66 14.66
16970 653.8 6.9 937 16981 done 0.49 - - 3529 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.66 14.68 14.68
17271 632.4 7.1 942 17281 done 0.49 - - 3527 - - - 2246 - 107.1 - - 2496 - - - - - - - - 14.66 14.68 14.68
17571 609.1 7.8 947 17582 roll 0.49 - - 3533 - 2.60 0.109 841 -540.4 107.1 - - 2494 - - - - - - - - 14.69 14.21 14.67
17648 603.0 7.9 960 17659 done 0.49 - - 3527 - 2.55 0.096 2262 557.3 107.1 - - 2496 - - - - - - - - 14.40 14.24 14.45
18016 579.0 6.2 976 18027 roll 0.51 - - 3527 - 2.60 0.112 3662 538.5 107.1 - - 2496 - - - - - - - - 14.66 14.21 14.70
18058 576.2 6.5 982 18070 done 0.52 - - 3527 - 2.58 0.096 2253 -546.1 107.1 - - 2499 - - - - - - - - 14.40 14.26 14.43
18405 558.7 4.9 993 18454 done 0.55 0.15 0.118 3606 526.7 - - 2252 - 159.4 41.15 1.370 2289 -5.1 0.395 - - - - - - 14.36 14.27 13.64
18706 530.5 10.0 998 18717 done 0.55 0.12 0.228 3571 -291.7 - - 2253 - 159.4 - - 2289 - - - - - - - - 14.01 14.29 14.23
19006 507.2 7.6 1003 19017 roll 0.55 - - 3572 - 2.65 0.110 3662 531.7 159.4 - - 2292 - - - - - - - - 14.56 14.14 14.57
19043 504.0 8.6 1008 19054 done 0.55 - - 3571 - 2.60 0.096 2251 -542.7 159.4 - - 2289 - - - - - - - - 14.33 14.20 14.37
19395 477.3 7.6 1020 19405 done 0.55 - - 3577 - - - 2251 - 159.4 - - 2289 - - - - - - - - 14.60 14.62 14.61
19690 451.8 8.6 1025 19700 done 0.55 - - 3571 - - - 2250 - 159.4 - - 2289 - - - - - - - - 14.62 14.64 14.64
19990 423.0 9.8 1030 20002 roll 0.55 - - 3568 - 2.65 0.112 3661 532.5 159.4 - - 2289 - - - - - - - - 14.63 14.19 14.64
20092 411.3 11.9 1047 20103 done 0.55 - - 3571 - 2.60 0.096 2238 -547.3 159.4 - - 2289 - - - - - - - - 14.38 14.23 14.42
20445 372.8 11.0 1059 20456 roll 0.55 - - 3571 - 2.55 0.110 841 -547.8 159.4 - - 2292 - - - - - - - - 14.64 14.20 14.66
20477 368.6 11.1 1063 20488 done 0.55 - - 3571 - 2.53 0.096 2245 554.9 159.4 - - 2290 - - - - - - - - 14.39 14.24 14.44
20834 330.8 10.8 1076 20844 done 0.55 - - 3573 - - - 2250 - 159.4 - - 2290 - - - - - - - - 14.61 14.64 14.65
21129 298.7 10.7 1081 21139 done 0.55 - - 3571 - - - 2245 - 159.4 - - 2288 - - - - - - - - 14.65 14.66 14.66
21429 268.0 10.2 1086 21441 roll 0.55 - - 3571 - 2.62 0.108 3663 541.2 159.4 - - 2287 - - - - - - - - 14.65 14.24 14.66
21496 260.9 10.6 1097 21508 done 0.55 - - 3571 - 2.58 0.096 2254 -546.1 159.4 - - 2289 - - - - - - - - 14.38 14.23 14.42
21806 233.7 8.6 1106 21816 done 0.55 - - 3568 - - - 2254 - 159.4 - - 2288 - - - - - - - - 14.64 14.64 14.65
21982 219.4 7.8 1112 21993 roll 0.55 - - 3570 - 2.62 0.109 3663 537.8 159.4 - - 2290 - - - - - - - - 14.64 14.21 14.66
22029 215.3 9.1 1119 22040 done 0.55 - - 3581 - 2.58 0.093 2247 -548.8 159.4 - - 2290 - - - - - - - - 14.40 14.26 14.44
22252 197.4 8.0 1130 22262 done 0.55 - - 3581 - - - 2246 - 159.4 - - 2290 - - - - - - - - 14.64 14.66 14.66
22426 182.1 8.5 1136 22437 done 0.55 - - 3581 - - - 2243 - 159.4 - - 2290 - - - - - - - - 14.64 14.66 14.65
22607 167.6 7.9 1142 22617 done 0.55 - - 3581 - - - 2246 - 159.4 - - 2288 - - - - - - - - 14.62 14.65 14.64
22786 152.7 8.4 1148 22797 done 0.55 - - 3581 - - - 2246 - 159.4 - - 2293 - - - - - - - - 14.64 14.65 14.65
22966 138.1 7.9 1154 22977 done 0.55 - - 3581 - - - 2246 - 159.4 - - 2290 - - - - - - - - 14.64 14.65 14.65
23147 124.9 7.1 1160 23157 done 0.55 - - 3581 - - - 2246 - 159.4 - - 2290 - - - - - - - - 14.63 14.65 14.64
23327 113.3 6.1 1166 23337 done 0.58 - - 3581 - - - 2246 - 159.4 - - 2291 - - - - - - - - 14.64 14.65 14.65
23507 103.2 5.6 1172 23519 roll 0.61 - - 3581 - 2.65 0.109 3663 534.7 159.4 - - 2291 - - - - - - - - 14.64 14.21 14.66
23749 89.8 5.0 1217 23802 done 0.64 - - 3581 - 2.58 0.093 2251 -547.3 210.8 39.22 0.837 2076 -5.5 0.112 - - - - - - 14.33 14.19 13.88
24014 71.6 7.0 1238 24025 roll 0.64 - - 3582 - 2.58 0.107 839 -547.3 210.8 - - 2077 - - - - - - - - 14.54 14.14 14.57
24204 59.8 4.8 1273 24258 done 0.66 - - 3582 - 2.55 0.093 2260 557.3 266.9 41.15 0.787 1847 -5.6 0.081 - - - - - - 14.28 14.16 13.83
24459 49.4 4.3 1292 24519 done 0.70 0.10 0.125 3651 690.0 - - 2260 - 333.4 48.47 0.756 1578 -5.5 0.069 - - - - - - 14.28 14.22 13.80
24703 23.6 12.5 1300 24715 roll 0.70 0.08 0.238 3624 -337.5 2.60 0.106 3661 538.8 333.4 - - 1575 - - - - - - - - 14.09 14.09 14.16
24899 end climb: SURFACE_DEPTH_REACHED
24900 begin surface coast
24936 end surface coast: CONTROL_FINISHED_OK
24936 begin surface
SM 0.79 - - - - -10.25 9.90 0.043 95 9.6 3.25 0.088 1890 -758.8 400.08 27.98 0.086 1309 46.8 -0.044 - - - - - -