NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 278 * Raw log
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• Previous call tries 1 • 76.11 of 350.00 AH used of 24V (78.25% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -79.0 deg, depth 0.98 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 54 s
• GPS2 time: 1 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
31 - - - 108 done -0.39 - - 86 - - - 1896 - -107.1 -72.55 - 3380 - - - - - - - - 14.45 12.90 14.44
115 2.4 -3.9 2 136 roll -0.39 13.85 0.359 3254 228.7 2.55 0.087 473 -558.0 -107.1 - - 3382 - - - - - - - - 13.93 14.18 14.14
369 61.6 -12.6 51 376 done -0.39 - - 3254 - 2.55 0.090 1899 559.2 -107.1 - - 3385 - - - - - - - - 14.31 14.16 14.33
583 88.8 -12.9 62 592 roll -0.39 - - 3254 - 2.58 0.102 3314 548.4 -107.1 - - 3386 - - - - - - - - 14.53 14.18 14.57
607 92.3 -13.4 65 615 done -0.39 - - 3254 - 2.58 0.091 1889 -552.3 -107.1 - - 3386 - - - - - - - - 14.28 14.14 14.35
811 119.0 -13.2 74 820 roll -0.39 - - 3254 - 2.53 0.103 492 -552.2 -107.1 - - 3386 - - - - - - - - 14.57 14.20 14.58
881 128.4 -13.3 86 889 done -0.39 - - 3254 - 2.53 0.090 1899 556.1 -107.1 - - 3386 - - - - - - - - 14.35 14.22 14.39
1100 154.0 -11.2 98 1109 roll -0.39 - - 3251 - 2.58 0.100 3317 549.6 -107.1 - - 3386 - - - - - - - - 14.59 14.20 14.60
1243 169.4 -10.1 124 1251 done -0.39 - - 3254 - 2.58 0.090 1906 -546.9 -107.1 - - 3386 - - - - - - - - 14.36 14.24 14.41
1452 190.6 -10.1 134 1455 done -0.39 - - 3254 - - - 1905 - -107.1 - - 3385 - - - - - - - - 14.59 14.61 14.61
1632 209.4 -10.5 140 1636 done -0.39 - - 3254 - - - 1905 - -107.1 - - 3384 - - - - - - - - 14.62 14.63 14.63
1812 228.2 -10.5 146 1820 roll -0.39 - - 3254 - 2.60 0.105 3317 543.1 -107.1 - - 3383 - - - - - - - - 14.61 14.26 14.64
1896 236.9 -10.0 161 1904 done -0.39 - - 3254 - 2.58 0.092 1885 -555.0 -107.1 - - 3382 - - - - - - - - 14.37 14.22 14.40
2100 257.0 -9.8 169 2108 roll -0.39 - - 3254 - 2.53 0.104 492 -550.6 -107.1 - - 3383 - - - - - - - - 14.62 14.21 14.63
2143 261.8 -11.2 176 2151 done -0.39 - - 3257 - 2.53 0.090 1900 556.5 -107.1 - - 3383 - - - - - - - - 14.40 14.27 14.43
2477 294.1 -9.5 186 2486 roll -0.39 - - 3254 - 2.58 0.104 3317 549.2 -107.1 - - 3383 - - - - - - - - 14.62 14.23 14.64
2596 304.8 -8.8 208 2604 done -0.39 - - 3254 - 2.55 0.092 1907 -552.9 -107.1 - - 3384 - - - - - - - - 14.39 14.25 14.42
2916 332.1 -8.5 215 2919 done -0.39 - - 3253 - - - 1907 - -107.1 - - 3381 - - - - - - - - 14.64 14.65 14.66
3215 355.5 -7.7 220 3222 roll -0.39 - - 3254 - 2.58 0.106 477 -554.3 -107.1 - - 3379 - - - - - - - - 14.65 14.22 14.66
3288 361.6 -8.6 233 3296 done -0.39 - - 3254 - 2.55 0.090 1901 558.4 -107.1 - - 3380 - - - - - - - - 14.39 14.27 14.44
3657 389.0 -7.5 249 3665 roll -0.39 - - 3254 - 2.60 0.107 3321 546.2 -107.1 - - 3381 - - - - - - - - 14.64 14.21 14.65
3797 399.1 -6.8 275 3805 done -0.39 - - 3254 - 2.60 0.094 1891 -550.0 -107.1 - - 3378 - - - - - - - - 14.38 14.24 14.41
4157 426.5 -7.7 290 4160 done -0.39 - - 3254 - - - 1892 - -107.1 - - 3377 - - - - - - - - 14.64 14.66 14.66
4457 450.6 -8.1 295 4465 roll -0.39 - - 3257 - 2.62 0.106 3320 545.0 -107.1 - - 3376 - - - - - - - - 14.63 14.20 14.64
4530 456.4 -7.9 308 4538 done -0.39 - - 3254 - 2.58 0.094 1901 -550.0 -107.1 - - 3376 - - - - - - - - 14.39 14.26 14.41
4894 485.5 -7.9 324 4901 roll -0.39 - - 3254 - 2.58 0.110 477 -551.9 -107.1 - - 3376 - - - - - - - - 14.64 14.21 14.66
4958 491.2 -9.1 335 4967 done -0.39 - - 3254 - 2.58 0.093 1910 555.4 -107.1 - - 3375 - - - - - - - - 14.38 14.26 14.42
5263 515.5 -7.9 341 5270 roll -0.39 - - 3253 - 2.58 0.108 3318 545.7 -107.1 - - 3374 - - - - - - - - 14.64 14.21 14.68
5325 520.3 -7.5 352 5335 done -0.39 - - 3254 - 2.60 0.096 1894 -547.7 -107.1 - - 3375 - - - - - - - - 14.37 14.22 14.41
5632 543.5 -7.6 358 5635 done -0.39 - - 3254 - - - 1889 - -107.1 - - 3373 - - - - - - - - 14.62 14.64 14.64
5932 564.2 -6.8 363 5939 roll -0.39 - - 3253 - 2.62 0.106 3313 543.5 -107.1 - - 3372 - - - - - - - - 14.63 14.21 14.66
6025 570.2 -6.2 380 6033 done -0.39 - - 3254 - 2.60 0.096 1887 -548.5 -107.1 - - 3372 - - - - - - - - 14.36 14.21 14.40
6369 591.6 -6.2 392 6372 done -0.39 - - 3253 - - - 1887 - -107.1 - - 3371 - - - - - - - - 14.62 14.64 14.64
6669 610.4 -6.3 397 6672 done -0.39 - - 3254 - - - 1887 - -107.1 - - 3370 - - - - - - - - 14.63 14.65 14.65
6969 629.1 -6.2 402 6972 done -0.39 - - 3254 - - - 1887 - -107.1 - - 3370 - - - - - - - - 14.62 14.65 14.64
7269 648.2 -6.4 407 7277 roll -0.39 - - 3254 - 2.67 0.109 3317 535.6 -107.1 - - 3369 - - - - - - - - 14.62 14.18 14.64
7352 653.8 -6.7 422 7361 done -0.39 - - 3250 - 2.60 0.097 1890 -548.8 -107.1 - - 3369 - - - - - - - - 14.35 14.21 14.40
7707 678.5 -7.0 436 7715 roll -0.39 - - 3254 - 2.65 0.107 3321 540.0 -107.1 - - 3368 - - - - - - - - 14.62 14.19 14.64
7791 684.2 -6.7 451 7799 done -0.39 - - 3254 - 2.58 0.096 1907 -548.1 -107.1 - - 3368 - - - - - - - - 14.36 14.21 14.40
8145 708.0 -6.7 465 8149 done -0.39 - - 3254 - - - 1908 - -107.1 - - 3368 - - - - - - - - 14.62 14.63 14.65
8445 728.7 -6.9 470 8448 done -0.39 - - 3259 - - - 1909 - -107.1 - - 3367 - - - - - - - - 14.62 14.64 14.64
8745 750.5 -7.2 475 8753 roll -0.39 - - 3254 - 2.62 0.109 3309 534.4 -107.1 - - 3367 - - - - - - - - 14.61 14.17 14.62
8849 758.0 -7.3 494 8858 done -0.39 - - 3254 - 2.58 0.098 1892 -549.2 -107.1 - - 3366 - - - - - - - - 14.35 14.21 14.38
9184 782.1 -7.3 504 9187 done -0.39 - - 3254 - - - 1897 - -107.1 - - 3365 - - - - - - - - 14.60 14.62 14.62
9485 802.6 -6.7 509 9488 done -0.39 - - 3254 - - - 1892 - -107.1 - - 3366 - - - - - - - - 14.60 14.62 14.60
9784 824.6 -7.4 514 9792 roll -0.39 - - 3253 - 2.67 0.109 3320 534.8 -107.1 - - 3364 - - - - - - - - 14.62 14.16 14.63
9878 831.8 -7.6 531 9886 done -0.39 - - 3254 - 2.62 0.097 1897 -543.1 -107.1 - - 3365 - - - - - - - - 14.34 14.19 14.38
10223 858.4 -7.8 543 10226 done -0.39 - - 3254 - - - 1897 - -107.1 - - 3363 - - - - - - - - 14.61 14.62 14.62
10522 880.3 -7.2 548 10525 done -0.39 - - 3253 - - - 1894 - -107.1 - - 3365 - - - - - - - - 14.61 14.63 14.62
10822 899.4 -6.3 553 10830 roll -0.39 - - 3254 - 2.67 0.109 3319 533.7 -107.1 - - 3364 - - - - - - - - 14.59 14.15 14.62
10891 903.5 -6.3 565 10899 done -0.39 - - 3254 - 2.60 0.099 1906 -543.5 -107.1 - - 3366 - - - - - - - - 14.35 14.18 14.39
11266 924.0 -5.4 582 11269 done -0.39 - - 3254 - - - 1906 - -107.1 - - 3362 - - - - - - - - 14.59 14.61 14.61
11562 939.8 -5.2 587 11569 roll -0.39 - - 3254 - 2.62 0.114 476 -545.8 -107.1 - - 3364 - - - - - - - - 14.59 14.07 14.61
11615 942.8 -5.6 596 11622 done -0.39 - - 3254 - 2.58 0.095 1900 551.9 -107.1 - - 3363 - - - - - - - - 14.33 14.19 14.38
11940 957.5 -4.4 604 11947 roll -0.39 - - 3254 - 2.60 0.109 3316 544.6 -107.1 - - 3364 - - - - - - - - 14.61 14.16 14.62
12073 962.5 -3.7 628 12081 done -0.39 - - 3254 - 2.62 0.099 1889 -544.7 -107.1 - - 3363 - - - - - - - - 14.31 14.15 14.35
12449 976.6 -3.8 645 12452 done -0.39 - - 3249 - - - 1888 - -107.1 - - 3360 - - - - - - - - 14.59 14.61 14.61
12743 988.6 -4.1 650 12751 roll -0.39 - - 3254 - 2.67 0.110 3320 536.3 -107.1 - - 3365 - - - - - - - - 14.58 14.12 14.60
12756 end dive: TARGET_DEPTH_EXCEEDED
12756 begin apogee
12770 990.1 -4.4 652 12861 done -0.16 0.30 0.164 3339 283.3 - - 2246 - - 85.88 1.886 2941 -4.9 0.493 - - - - - - 14.14 13.88 13.16
12864 end apogee: CONTROL_FINISHED_OK
12864 begin climb
12870 991.2 - 653 12969 done 0.39 0.50 0.104 3516 354.0 - - 2249 - 107.1 90.75 1.841 2503 -4.8 0.494 - - - - - - 13.90 13.64 12.95
13248 966.2 7.8 660 13259 roll 0.39 - - 3517 - 2.65 0.109 821 -538.9 107.1 - - 2497 - - - - - - - - 14.29 13.93 14.30
13290 962.6 11.8 666 13302 done 0.39 - - 3517 - 2.62 0.096 2246 543.9 107.1 - - 2498 - - - - - - - - 14.14 14.00 14.14
13637 938.5 7.0 677 13647 done 0.39 - - 3517 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.47 14.49 14.48
13934 919.8 6.2 682 13944 done 0.41 - - 3517 - - - 2246 - 107.1 - - 2496 - - - - - - - - 14.54 14.57 14.56
14234 902.0 5.9 687 14245 roll 0.44 - - 3516 - 2.62 0.110 834 -538.9 107.1 - - 2495 - - - - - - - - 14.59 14.18 14.61
14266 900.5 4.7 691 14326 done 0.47 - - 3517 - 2.60 0.098 2265 550.4 165.5 46.67 1.763 2263 -5.0 0.483 - - - - - - 14.35 14.21 13.38
14676 872.7 6.8 716 14687 done 0.47 - - 3517 - - - 2265 - 165.5 - - 2264 - - - - - - - - 14.49 14.49 14.47
14977 851.9 7.0 721 14988 done 0.47 - - 3517 - - - 2265 - 165.5 - - 2264 - - - - - - - - 14.55 14.57 14.57
15276 828.8 7.8 726 15288 roll 0.47 - - 3517 - 2.65 0.110 837 -538.9 165.5 - - 2264 - - - - - - - - 14.59 14.19 14.61
15320 825.2 8.3 732 15331 done 0.47 - - 3517 - 2.55 0.099 2246 552.5 165.5 - - 2264 - - - - - - - - 14.35 14.21 14.40
15667 796.7 8.4 743 15677 done 0.47 - - 3517 - - - 2246 - 165.5 - - 2265 - - - - - - - - 14.60 14.64 14.62
15962 771.8 8.3 748 15972 done 0.47 - - 3517 - - - 2246 - 165.5 - - 2264 - - - - - - - - 14.63 14.65 14.65
16262 747.6 8.0 753 16273 done 0.47 - - 3523 - - - 2246 - 165.5 - - 2264 - - - - - - - - 14.62 14.64 14.64
16562 723.9 7.8 758 16573 roll 0.47 - - 3516 - 2.60 0.109 837 -541.9 165.5 - - 2265 - - - - - - - - 14.64 14.21 14.66
16599 721.1 6.9 763 16610 done 0.47 - - 3517 - 2.55 0.097 2247 552.9 165.5 - - 2265 - - - - - - - - 14.39 14.24 14.46
16952 692.8 8.4 775 16962 done 0.47 - - 3517 - - - 2246 - 165.5 - - 2265 - - - - - - - - 14.62 14.64 14.64
17246 667.1 8.6 780 17257 done 0.47 - - 3517 - - - 2246 - 165.5 - - 2260 - - - - - - - - 14.65 14.66 14.66
17547 642.0 8.3 785 17558 roll 0.47 - - 3517 - 2.60 0.110 837 -541.9 165.5 - - 2264 - - - - - - - - 14.64 14.20 14.66
17589 638.4 8.5 791 17600 done 0.47 - - 3517 - 2.58 0.098 2248 546.9 165.5 - - 2265 - - - - - - - - 14.40 14.23 14.43
17937 609.9 8.4 802 17948 done 0.47 - - 3517 - - - 2248 - 165.5 - - 2263 - - - - - - - - 14.63 14.64 14.65
18232 585.1 8.3 807 18243 roll 0.47 - - 3517 - 2.62 0.112 820 -545.0 165.5 - - 2265 - - - - - - - - 14.65 14.20 14.66
18268 582.0 7.9 812 18279 done 0.47 - - 3523 - 2.60 0.095 2271 558.1 165.5 - - 2262 - - - - - - - - 14.38 14.23 14.42
18621 554.2 7.9 824 18631 done 0.47 - - 3517 - - - 2267 - 165.5 - - 2265 - - - - - - - - 14.62 14.64 14.64
18915 532.4 7.2 829 18926 done 0.47 - - 3517 - - - 2270 - 165.5 - - 2265 - - - - - - - - 14.65 14.66 14.66
19215 511.6 6.9 834 19226 done 0.47 - - 3518 - - - 2267 - 165.5 - - 2265 - - - - - - - - 14.65 14.66 14.66
19516 491.2 6.8 839 19527 roll 0.48 - - 3517 - 2.65 0.109 824 -544.5 165.5 - - 2265 - - - - - - - - 14.66 14.18 14.67
19553 488.7 6.6 844 19565 done 0.50 0.10 0.119 3588 710.0 2.58 0.096 2246 551.2 165.5 - - 2265 - - - - - - - - 14.33 14.23 14.42
19906 452.2 11.0 856 19917 done 0.50 0.12 0.221 3556 -266.7 - - 2245 - 165.5 - - 2267 - - - - - - - - 14.10 14.35 14.31
20201 427.5 8.0 861 20211 done 0.50 - - 3553 - - - 2246 - 165.5 - - 2265 - - - - - - - - 14.64 14.68 14.65
20501 403.9 7.8 866 20512 done 0.50 - - 3553 - - - 2246 - 165.5 - - 2265 - - - - - - - - 14.63 14.65 14.64
20801 379.4 8.2 871 20812 roll 0.50 - - 3553 - 2.62 0.109 3662 540.5 165.5 - - 2265 - - - - - - - - 14.65 14.18 14.66
20858 374.0 9.4 880 20869 done 0.50 - - 3551 - 2.60 0.096 2236 -548.5 165.5 - - 2265 - - - - - - - - 14.36 14.22 14.41
21186 346.5 8.4 888 21197 roll 0.50 - - 3560 - 2.55 0.109 838 -548.2 165.5 - - 2265 - - - - - - - - 14.64 14.19 14.66
21223 343.5 8.4 893 21234 done 0.50 - - 3559 - 2.55 0.096 2248 552.9 165.5 - - 2265 - - - - - - - - 14.32 14.17 14.37
21574 316.1 7.8 905 21585 roll 0.50 - - 3559 - 2.62 0.109 3665 540.8 165.5 - - 2263 - - - - - - - - 14.62 14.18 14.64
21611 312.7 8.4 910 21622 done 0.50 - - 3570 - 2.58 0.093 2254 -546.9 165.5 - - 2265 - - - - - - - - 14.36 14.21 14.40
21962 285.3 7.8 922 21974 roll 0.50 - - 3570 - 2.60 0.109 824 -550.0 165.5 - - 2265 - - - - - - - - 14.62 14.16 14.66
22010 281.2 8.1 929 22021 done 0.50 - - 3570 - 2.58 0.094 2252 553.5 165.5 - - 2265 - - - - - - - - 14.38 14.23 14.42
22352 253.1 8.4 939 22363 done 0.50 - - 3570 - - - 2252 - 165.5 - - 2266 - - - - - - - - 14.62 14.64 14.63
22647 226.6 8.8 948 22657 done 0.50 - - 3566 - - - 2251 - 165.5 - - 2266 - - - - - - - - 14.63 14.64 14.65
22827 211.0 8.7 954 22838 done 0.50 - - 3570 - - - 2252 - 165.5 - - 2267 - - - - - - - - 14.62 14.64 14.64
23007 195.6 8.5 960 23018 roll 0.50 - - 3579 - 2.60 0.106 839 -543.5 165.5 - - 2266 - - - - - - - - 14.63 14.18 14.64
23028 193.7 8.6 962 23039 done 0.50 - - 3578 - 2.55 0.096 2253 554.5 165.5 - - 2266 - - - - - - - - 14.35 14.19 14.36
23241 175.5 8.6 972 23252 done 0.50 - - 3578 - - - 2253 - 165.5 - - 2266 - - - - - - - - 14.62 14.64 14.64
23420 162.1 7.2 978 23431 done 0.50 - - 3578 - - - 2253 - 165.5 - - 2266 - - - - - - - - 14.62 14.64 14.64
23601 148.4 7.4 984 23612 roll 0.50 - - 3578 - 2.62 0.109 3663 538.2 165.5 - - 2266 - - - - - - - - 14.63 14.19 14.64
23747 134.9 9.0 1010 23759 done 0.50 - - 3582 - 2.60 0.093 2252 -542.7 165.5 - - 2266 - - - - - - - - 14.35 14.21 14.40
23965 120.7 6.0 1020 23976 roll 0.52 - - 3582 - 2.60 0.108 821 -550.4 165.5 - - 2266 - - - - - - - - 14.60 14.16 14.62
24081 115.1 4.0 1040 24147 done 0.56 - - 3581 - 2.58 0.093 2250 553.9 237.5 54.00 0.855 1970 -5.5 0.140 - - - - - - 14.35 14.22 13.81
24349 97.0 7.6 1062 24360 roll 0.56 - - 3582 - 2.62 0.108 3668 541.2 237.5 - - 1969 - - - - - - - - 14.49 14.11 14.50
24376 94.6 8.2 1065 24387 done 0.56 - - 3582 - 2.60 0.093 2246 -546.9 237.5 - - 1969 - - - - - - - - 14.28 14.15 14.35
24588 76.0 9.0 1074 24599 roll 0.56 - - 3582 - 2.58 0.107 840 -545.0 237.5 - - 1968 - - - - - - - - 14.52 14.08 14.54
24631 71.9 8.4 1080 24642 done 0.56 - - 3582 - 2.55 0.094 2250 552.9 237.5 - - 1969 - - - - - - - - 14.31 14.16 14.34
24858 56.9 6.3 1092 24868 done 0.58 - - 3582 - - - 2250 - 237.5 - - 1968 - - - - - - - - 14.57 14.57 14.56
25034 47.6 5.2 1098 25080 roll 0.60 - - 3582 - 2.60 0.104 3663 543.5 284.2 34.53 0.776 1778 -5.5 0.064 - - - - - - 14.57 14.21 13.88
25154 40.1 7.0 1119 25165 done 0.60 - - 3582 - 2.60 0.094 2238 -548.1 284.2 - - 1776 - - - - - - - - 14.30 14.18 14.33
25366 27.2 6.3 1128 25378 roll 0.62 - - 3582 - 2.55 0.106 839 -548.6 284.2 - - 1775 - - - - - - - - 14.52 14.15 14.54
25448 21.8 6.5 1141 25459 done 0.64 - - 3583 - 2.55 0.093 2262 558.0 284.2 - - 1776 - - - - - - - - 14.29 14.16 14.33
25670 10.1 5.3 1152 25704 roll 0.66 - - 3582 - 2.60 0.103 3663 538.8 328.8 19.15 0.119 1600 -9.2 0.148 - - - - - - 14.56 14.16 14.19
25769 end climb: SURFACE_DEPTH_REACHED
25769 begin surface coast
25774 end surface coast: CONTROL_FINISHED_OK
25775 begin surface
SM 1.77 - - - - -10.25 10.02 0.063 91 9.1 3.25 0.091 1905 -2014.5 400.08 30.73 0.086 1309 42.6 -0.090 - - - - - -