NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 662 * Raw log
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• Previous call tries 1 • 191.31 of 350.00 AH used of 24V (45.34% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -73.0 deg, depth 0.79 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 45 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
28 end surface: CONTROL_FINISHED_OK
28 begin dive
35 - - - 117 done -0.39 - - 82 - - - 1949 - -107.1 -77.18 - 3380 - - - - - - - - 14.42 12.50 14.31
124 1.5 -2.3 2 147 roll -0.39 14.35 0.356 3247 220.6 2.65 0.090 3388 543.0 -107.1 - - 3382 - - - - - - - - 13.67 13.97 14.04
187 28.3 -11.0 13 197 done -0.39 - - 3249 - 2.60 0.087 1974 -543.8 -107.1 - - 3383 - - - - - - - - 14.07 13.93 14.12
495 66.8 -11.6 22 498 done -0.39 - - 3249 - - - 1974 - -107.1 - - 3384 - - - - - - - - 14.40 14.43 14.42
793 97.0 -9.6 27 796 done -0.39 - - 3250 - - - 1970 - -107.1 - - 3384 - - - - - - - - 14.39 14.40 14.40
1093 123.1 -9.1 32 1100 roll -0.39 - - 3250 - 2.67 0.100 3389 531.5 -107.1 - - 3385 - - - - - - - - 14.42 13.76 14.42
1167 128.8 -7.5 45 1176 done -0.39 - - 3249 - 2.62 0.082 1955 -547.3 -107.1 - - 3385 - - - - - - - - 13.98 13.84 14.03
1536 154.1 -6.9 61 1545 roll -0.39 - - 3250 - 2.58 0.095 564 -539.1 -107.1 - - 3385 - - - - - - - - 14.38 13.76 14.39
1612 160.5 -8.1 74 1620 done -0.39 - - 3255 - 2.58 0.083 1968 544.2 -107.1 - - 3385 - - - - - - - - 13.97 13.82 14.02
1977 187.5 -7.3 90 1985 roll -0.39 - - 3253 - 2.67 0.099 3387 531.5 -107.1 - - 3385 - - - - - - - - 14.42 13.74 14.44
2072 193.9 -6.7 107 2079 done -0.39 - - 3250 - 2.62 0.083 1973 -539.7 -107.1 - - 3391 - - - - - - - - 13.96 13.81 14.00
2416 220.6 -8.0 119 2423 roll -0.39 - - 3249 - 2.62 0.096 556 -540.8 -107.1 - - 3384 - - - - - - - - 14.44 13.74 14.44
2469 225.5 -9.1 128 2477 done -0.39 - - 3249 - 2.62 0.086 1984 545.0 -107.1 - - 3384 - - - - - - - - 13.84 13.71 13.89
2794 252.1 -8.1 136 2802 roll -0.39 - - 3255 - 2.62 0.102 3377 531.7 -107.1 - - 3386 - - - - - - - - 14.38 13.73 14.39
2866 257.5 -7.0 149 2875 done -0.39 - - 3249 - 2.60 0.083 1971 -540.8 -107.1 - - 3383 - - - - - - - - 13.93 13.78 13.98
3232 283.3 -7.0 165 3241 roll -0.39 - - 3249 - 2.65 0.096 554 -534.7 -107.1 - - 3383 - - - - - - - - 14.37 13.74 14.38
3311 289.6 -7.7 179 3319 done -0.39 - - 3247 - 2.62 0.086 1969 540.1 -107.1 - - 3383 - - - - - - - - 13.93 13.78 14.01
3673 316.3 -7.5 194 3681 roll -0.39 - - 3249 - 2.67 0.103 3388 531.5 -107.1 - - 3382 - - - - - - - - 14.38 13.70 14.40
3736 321.1 -7.3 205 3745 done -0.39 - - 3252 - 2.62 0.084 1968 -542.0 -107.1 - - 3382 - - - - - - - - 13.93 13.81 13.97
4042 344.2 -7.6 211 4050 roll -0.39 - - 3253 - 2.65 0.097 558 -532.1 -107.1 - - 3381 - - - - - - - - 14.39 13.74 14.41
4097 348.7 -8.1 220 4104 done -0.39 - - 3250 - 2.62 0.087 1977 541.6 -107.1 - - 3381 - - - - - - - - 13.92 13.79 13.97
4421 373.8 -7.8 228 4428 roll -0.39 - - 3250 - 2.65 0.103 3387 532.1 -107.1 - - 3381 - - - - - - - - 14.39 13.71 14.41
4484 379.0 -8.2 239 4493 done -0.39 - - 3249 - 2.62 0.084 1966 -542.4 -107.1 - - 3379 - - - - - - - - 13.91 13.77 13.96
4791 403.8 -8.1 245 4800 roll -0.39 - - 3249 - 2.65 0.099 552 -533.6 -107.1 - - 3380 - - - - - - - - 14.36 13.74 14.38
4830 407.1 -8.4 251 4837 done -0.39 - - 3249 - 2.62 0.090 1966 539.7 -107.1 - - 3382 - - - - - - - - 13.92 13.76 13.97
5170 432.1 -7.3 262 5178 roll -0.39 - - 3249 - 2.72 0.103 3390 523.5 -107.1 - - 3380 - - - - - - - - 14.40 13.74 14.44
5251 437.9 -6.9 276 5258 done -0.39 - - 3249 - 2.65 0.084 1958 -540.4 -107.1 - - 3377 - - - - - - - - 13.93 13.78 14.00
5611 460.9 -6.3 291 5614 done -0.39 - - 3250 - - - 1958 - -107.1 - - 3379 - - - - - - - - 14.35 14.38 14.38
5912 478.9 -6.0 296 5915 done -0.39 - - 3249 - - - 1957 - -107.1 - - 3382 - - - - - - - - 14.37 14.39 14.38
6211 494.6 -5.2 301 6215 done -0.39 - - 3250 - - - 1957 - -107.1 - - 3378 - - - - - - - - 14.39 14.41 14.41
6512 509.1 -4.8 306 6515 done -0.39 - - 3249 - - - 1957 - -107.1 - - 3378 - - - - - - - - 14.38 14.40 14.39
6813 524.3 -5.1 311 6816 done -0.39 - - 3249 - - - 1958 - -107.1 - - 3377 - - - - - - - - 14.38 14.40 14.39
7111 540.9 -5.6 316 7114 done -0.39 - - 3249 - - - 1958 - -107.1 - - 3374 - - - - - - - - 14.38 14.40 14.39
7411 560.4 -6.6 321 7414 done -0.39 - - 3249 - - - 1957 - -107.1 - - 3375 - - - - - - - - 14.35 14.38 14.38
7713 581.0 -6.9 326 7716 done -0.39 - - 3246 - - - 1958 - -107.1 - - 3376 - - - - - - - - 14.38 14.40 14.39
8011 601.5 -6.8 331 8019 roll -0.39 - - 3249 - 2.75 0.106 3388 520.0 -107.1 - - 3375 - - - - - - - - 14.38 13.72 14.39
8060 604.8 -6.7 339 8067 done -0.39 - - 3249 - 2.62 0.087 1974 -539.7 -107.1 - - 3375 - - - - - - - - 13.91 13.76 13.96
8390 625.8 -6.3 348 8397 roll -0.39 - - 3250 - 2.67 0.103 556 -531.1 -107.1 - - 3376 - - - - - - - - 14.34 13.74 14.35
8443 629.8 -7.5 357 8451 done -0.39 - - 3249 - 2.65 0.090 1985 539.2 -107.1 - - 3375 - - - - - - - - 13.90 13.76 13.95
8769 650.3 -6.3 365 8778 roll -0.39 - - 3250 - 2.67 0.106 3387 525.1 -107.1 - - 3372 - - - - - - - - 14.36 13.70 14.38
8844 655.1 -6.2 378 8852 done -0.39 - - 3253 - 2.65 0.084 1973 -533.6 -107.1 - - 3374 - - - - - - - - 13.90 13.75 13.93
9214 678.2 -6.4 394 9222 roll -0.39 - - 3249 - 2.65 0.099 558 -534.0 -107.1 - - 3373 - - - - - - - - 14.31 13.72 14.31
9278 683.3 -7.5 405 9288 done -0.39 - - 3249 - 2.62 0.089 1966 537.4 -107.1 - - 3373 - - - - - - - - 13.89 13.74 13.94
9583 703.4 -6.6 411 9591 roll -0.39 - - 3250 - 2.70 0.104 3387 526.3 -107.1 - - 3372 - - - - - - - - 14.37 13.70 14.39
9658 708.4 -7.3 424 9665 done -0.39 - - 3251 - 2.65 0.086 1965 -536.6 -107.1 - - 3373 - - - - - - - - 13.90 13.76 13.95
10026 732.9 -6.7 440 10034 roll -0.39 - - 3253 - 2.65 0.100 563 -529.1 -107.1 - - 3372 - - - - - - - - 14.33 13.71 14.34
10081 737.5 -7.8 449 10089 done -0.39 - - 3250 - 2.62 0.090 1966 535.5 -107.1 - - 3373 - - - - - - - - 13.89 13.76 13.95
10406 759.7 -6.8 457 10414 roll -0.39 - - 3254 - 2.70 0.105 3388 526.7 -107.1 - - 3372 - - - - - - - - 14.35 13.68 14.37
10461 763.7 -6.8 466 10469 done -0.39 - - 3250 - 2.65 0.086 1973 -534.0 -107.1 - - 3371 - - - - - - - - 13.89 13.74 13.95
10787 784.9 -6.5 474 10790 done -0.39 - - 3249 - - - 1973 - -107.1 - - 3371 - - - - - - - - 14.33 14.33 14.35
11085 803.7 -6.2 479 11089 done -0.39 - - 3254 - - - 1972 - -107.1 - - 3371 - - - - - - - - 14.35 14.37 14.37
11385 821.8 -6.0 484 11388 done -0.39 - - 3249 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.32 14.33 14.33
11687 838.9 -5.7 489 11695 roll -0.39 - - 3249 - 2.70 0.101 544 -529.3 -107.1 - - 3370 - - - - - - - - 14.35 13.71 14.35
11732 841.9 -5.9 496 11740 done -0.39 - - 3249 - 2.67 0.090 1973 535.2 -107.1 - - 3370 - - - - - - - - 13.91 13.74 13.95
12068 861.1 -5.6 506 12075 roll -0.39 - - 3250 - 2.72 0.106 3390 521.0 -107.1 - - 3368 - - - - - - - - 14.33 13.70 14.35
12139 864.9 -5.8 518 12147 done -0.39 - - 3249 - 2.70 0.088 1957 -530.7 -107.1 - - 3370 - - - - - - - - 13.89 13.75 13.93
12512 885.3 -5.4 535 12520 roll -0.39 - - 3249 - 2.65 0.103 561 -526.8 -107.1 - - 3370 - - - - - - - - 14.30 13.71 14.31
12567 888.7 -5.9 544 12574 done -0.39 - - 3249 - 2.65 0.091 1973 532.8 -107.1 - - 3365 - - - - - - - - 13.88 13.74 13.93
12890 906.3 -5.4 552 12898 roll -0.39 - - 3250 - 2.72 0.105 3390 521.0 -107.1 - - 3370 - - - - - - - - 14.31 13.69 14.33
12961 909.9 -5.5 564 12968 done -0.39 - - 3249 - 2.67 0.089 1975 -530.0 -107.1 - - 3370 - - - - - - - - 13.87 13.72 13.93
13334 928.1 -4.8 581 13343 roll -0.39 - - 3244 - 2.67 0.103 560 -530.0 -107.1 - - 3372 - - - - - - - - 14.28 13.72 14.30
13394 931.5 -5.6 591 13402 done -0.39 - - 3246 - 2.65 0.090 1984 537.4 -107.1 - - 3369 - - - - - - - - 13.88 13.73 13.93
13715 946.4 -4.5 598 13723 roll -0.39 - - 3249 - 2.67 0.105 3377 521.7 -107.1 - - 3369 - - - - - - - - 14.33 13.70 14.33
13788 949.6 -4.6 611 13796 done -0.39 - - 3251 - 2.65 0.088 1973 -529.8 -107.1 - - 3366 - - - - - - - - 13.88 13.73 13.93
14158 965.9 -4.5 627 14165 roll -0.39 - - 3250 - 2.70 0.103 542 -530.0 -107.1 - - 3368 - - - - - - - - 14.31 13.64 14.32
14216 969.2 -4.7 637 14226 done -0.39 - - 3249 - 2.67 0.090 1964 532.6 -107.1 - - 3367 - - - - - - - - 13.86 13.70 13.92
14539 983.4 -4.3 644 14546 roll -0.39 - - 3249 - 2.72 0.106 3394 525.7 -107.1 - - 3368 - - - - - - - - 14.32 13.66 14.34
14613 986.6 -4.4 657 14621 done -0.39 - - 3249 - 2.67 0.088 1961 -536.7 -107.1 - - 3367 - - - - - - - - 13.86 13.72 13.91
14732 end dive: TARGET_DEPTH_EXCEEDED
14733 begin apogee
14746 991.7 -4.0 669 14848 done -0.16 0.32 0.137 3344 296.9 - - 2246 - - 96.85 1.914 2942 -4.4 0.446 - - - - - - 13.62 13.71 12.78
14851 end apogee: CONTROL_FINISHED_OK
14852 begin climb
14857 993.5 - 670 14978 roll 0.39 0.47 0.083 3522 378.7 2.83 0.106 3665 501.4 107.1 99.82 1.910 2501 -4.4 0.451 - - - - - - 13.81 13.54 12.54
15023 988.0 4.8 701 15090 done 0.42 - - 3527 - 2.65 0.090 2254 -532.5 162.8 52.25 1.885 2274 -4.3 0.447 - - - - - - 13.95 13.81 12.64
15420 956.7 8.0 723 15431 roll 0.42 - - 3527 - 2.62 0.103 818 -548.1 162.8 - - 2273 - - - - - - - - 14.42 13.93 14.46
15482 951.8 7.8 733 15494 done 0.42 - - 3527 - 2.65 0.093 2266 546.4 162.8 - - 2273 - - - - - - - - 14.11 13.97 14.16
15805 927.3 7.6 740 15816 done 0.42 - - 3527 - - - 2266 - 162.8 - - 2272 - - - - - - - - 14.49 14.50 14.50
16105 905.9 7.1 745 16117 roll 0.42 - - 3527 - 2.70 0.102 820 -535.6 162.8 - - 2273 - - - - - - - - 14.51 13.90 14.54
16138 903.6 6.7 749 16150 done 0.43 - - 3528 - 2.62 0.093 2245 543.9 162.8 - - 2273 - - - - - - - - 14.12 13.96 14.16
16497 878.3 7.2 762 16508 done 0.43 - - 3527 - - - 2244 - 162.8 - - 2272 - - - - - - - - 14.51 14.51 14.50
16791 856.2 7.4 767 16802 done 0.43 - - 3527 - - - 2245 - 162.8 - - 2272 - - - - - - - - 14.50 14.52 14.52
17093 834.9 7.1 772 17103 done 0.43 - - 3528 - - - 2245 - 162.8 - - 2271 - - - - - - - - 14.49 14.51 14.50
17391 814.1 7.0 777 17403 roll 0.43 - - 3525 - 2.65 0.102 822 -537.0 162.8 - - 2271 - - - - - - - - 14.50 13.85 14.51
17445 810.0 7.3 785 17456 done 0.43 - - 3527 - 2.62 0.090 2247 543.9 162.8 - - 2272 - - - - - - - - 14.08 13.93 14.13
17783 788.8 6.3 794 17793 done 0.45 - - 3528 - - - 2249 - 162.8 - - 2271 - - - - - - - - 14.48 14.50 14.50
18078 770.0 6.2 799 18089 done 0.47 - - 3529 - - - 2246 - 162.8 - - 2271 - - - - - - - - 14.49 14.50 14.51
18379 751.5 6.2 804 18390 done 0.49 - - 3527 - - - 2247 - 162.8 - - 2271 - - - - - - - - 14.48 14.50 14.50
18678 732.3 6.4 809 18689 done 0.51 - - 3528 - - - 2246 - 162.8 - - 2271 - - - - - - - - 14.50 14.52 14.52
18980 712.5 6.6 814 18991 done 0.53 0.10 0.120 3596 680.0 - - 2247 - 162.8 - - 2273 - - - - - - - - 14.11 14.15 14.14
19278 684.1 9.6 819 19289 done 0.53 0.10 0.223 3568 -280.0 - - 2248 - 162.8 - - 2271 - - - - - - - - 13.81 14.01 13.95
19579 658.9 8.3 824 19590 done 0.53 - - 3568 - - - 2248 - 162.8 - - 2271 - - - - - - - - 14.44 14.46 14.46
19878 635.3 7.8 829 19890 roll 0.53 - - 3569 - 2.67 0.103 842 -526.6 162.8 - - 2271 - - - - - - - - 14.48 13.78 14.49
19920 632.0 8.0 835 19931 done 0.53 - - 3568 - 2.62 0.093 2254 538.9 162.8 - - 2271 - - - - - - - - 14.04 13.89 14.09
20268 606.0 7.6 846 20280 roll 0.53 - - 3569 - 2.72 0.106 3662 517.6 162.8 - - 2271 - - - - - - - - 14.40 13.78 14.42
20289 603.8 7.6 848 20301 done 0.53 - - 3570 - 2.65 0.090 2247 -534.0 162.8 - - 2271 - - - - - - - - 14.02 13.88 14.08
20657 574.5 8.2 863 20669 roll 0.53 - - 3575 - 2.67 0.101 841 -526.6 162.8 - - 2271 - - - - - - - - 14.42 13.76 14.44
20699 570.5 8.3 869 20711 done 0.53 - - 3580 - 2.65 0.093 2265 537.4 162.8 - - 2271 - - - - - - - - 14.00 13.85 14.07
21048 541.0 8.6 880 21059 roll 0.53 - - 3575 - 2.70 0.108 3662 517.4 162.8 - - 2270 - - - - - - - - 14.39 13.73 14.42
21069 538.4 8.8 882 21080 done 0.53 - - 3582 - 2.65 0.088 2242 -535.8 162.8 - - 2271 - - - - - - - - 13.97 13.84 14.04
21437 505.8 8.9 897 21448 done 0.53 - - 3582 - - - 2238 - 162.8 - - 2270 - - - - - - - - 14.45 14.47 14.48
21732 479.7 8.7 902 21743 roll 0.53 - - 3583 - 2.62 0.103 842 -532.8 162.8 - - 2271 - - - - - - - - 14.47 13.73 14.48
21759 477.2 8.6 905 21771 done 0.53 - - 3582 - 2.62 0.091 2247 536.3 162.8 - - 2271 - - - - - - - - 13.98 13.83 14.04
22123 446.6 8.6 919 22133 done 0.53 - - 3582 - - - 2246 - 162.8 - - 2271 - - - - - - - - 14.43 14.45 14.45
22417 421.7 8.3 924 22428 done 0.53 - - 3582 - - - 2246 - 162.8 - - 2271 - - - - - - - - 14.42 14.45 14.44
22718 398.2 7.8 929 22729 done 0.53 - - 3583 - - - 2246 - 162.8 - - 2271 - - - - - - - - 14.44 14.46 14.45
23018 374.7 7.8 934 23028 done 0.53 - - 3583 - - - 2246 - 162.8 - - 2270 - - - - - - - - 14.45 14.47 14.45
23317 350.7 8.1 939 23328 roll 0.53 - - 3586 - 2.67 0.101 841 -526.2 162.8 - - 2273 - - - - - - - - 14.45 13.74 14.47
23355 347.7 8.0 944 23366 done 0.53 - - 3586 - 2.65 0.093 2263 536.6 162.8 - - 2271 - - - - - - - - 13.98 13.83 14.04
23707 318.8 8.4 956 23718 roll 0.53 - - 3585 - 2.67 0.105 3664 524.7 162.8 - - 2275 - - - - - - - - 14.38 13.71 14.40
23737 315.8 8.6 959 23748 done 0.53 - - 3586 - 2.65 0.086 2239 -537.7 162.8 - - 2271 - - - - - - - - 13.96 13.81 14.01
24098 285.3 8.6 973 24110 roll 0.53 - - 3595 - 2.60 0.098 844 -536.5 162.8 - - 2269 - - - - - - - - 14.40 13.70 14.42
24138 281.4 9.4 978 24149 done 0.53 0.10 0.216 3567 -280.0 2.62 0.090 2245 534.7 162.8 - - 2273 - - - - - - - - 13.64 13.76 13.89
24491 254.6 7.4 990 24502 roll 0.53 - - 3568 - 2.70 0.103 3664 525.6 162.8 - - 2272 - - - - - - - - 14.45 13.72 14.46
24544 250.2 7.8 998 24556 done 0.53 - - 3568 - 2.62 0.085 2254 -538.2 162.8 - - 2272 - - - - - - - - 13.94 13.79 14.00
24882 228.9 6.2 1007 24893 roll 0.55 - - 3569 - 2.65 0.097 843 -532.5 162.8 - - 2272 - - - - - - - - 14.38 13.71 14.39
24975 223.5 6.0 1022 24986 done 0.58 - - 3570 - 2.62 0.089 2253 538.2 162.8 - - 2273 - - - - - - - - 13.93 13.78 13.99
25337 203.4 5.5 1036 25348 done 0.61 - - 3569 - - - 2252 - 162.8 - - 2270 - - - - - - - - 14.40 14.42 14.42
25634 183.8 6.7 1041 25646 roll 0.63 - - 3569 - 2.70 0.098 835 -524.8 162.8 - - 2273 - - - - - - - - 14.43 13.75 14.44
25667 181.3 6.9 1045 25679 done 0.63 - - 3569 - 2.65 0.092 2246 532.5 162.8 - - 2272 - - - - - - - - 13.95 13.79 14.00
26027 156.9 6.7 1058 26038 roll 0.64 - - 3567 - 2.67 0.099 832 -529.6 162.8 - - 2275 - - - - - - - - 14.38 13.73 14.39
26064 154.4 5.6 1063 26075 done 0.67 0.10 0.119 3637 700.0 2.65 0.090 2263 540.0 162.8 - - 2273 - - - - - - - - 13.87 13.75 13.99
26413 128.9 7.3 1075 26424 roll 0.67 - - 3637 - 2.67 0.103 3664 524.7 162.8 - - 2272 - - - - - - - - 14.42 13.64 14.44
26534 120.2 6.2 1096 26545 done 0.69 - - 3639 - 2.65 0.085 2242 -536.6 162.8 - - 2273 - - - - - - - - 13.94 13.80 14.00
26863 97.3 7.4 1104 26874 roll 0.69 - - 3639 - 2.72 0.101 3662 522.1 162.8 - - 2273 - - - - - - - - 14.44 13.71 14.45
26884 95.5 7.6 1106 26896 done 0.69 - - 3647 - 2.62 0.083 2252 -538.2 162.8 - - 2273 - - - - - - - - 13.95 13.81 14.01
27253 72.6 5.9 1121 27265 roll 0.72 - - 3647 - 2.72 0.101 3661 518.0 162.8 - - 2274 - - - - - - - - 14.40 13.65 14.42
27500 66.4 1.3 1167 27615 done 0.79 - - 3652 - 2.65 0.083 2240 -536.2 294.7 98.53 0.808 1741 -5.4 0.087 - - - - - - 13.95 13.81 13.38
27941 35.7 9.9 1200 27952 roll 0.79 - - 3662 - 2.58 0.097 845 -540.7 294.7 - - 1734 - - - - - - - - 14.42 13.82 14.43
28069 22.0 7.6 1222 28080 done 0.79 - - 3662 - 2.58 0.089 2245 542.6 294.7 - - 1735 - - - - - - - - 14.02 13.87 14.07
28302 end climb: SURFACE_DEPTH_REACHED
28302 begin surface coast
28328 end surface coast: CONTROL_FINISHED_OK
28328 begin surface
SM 0.93 - - - - -10.26 10.25 0.047 93 9.1 0.52 0.099 1965 1798.1 400.08 44.72 0.077 1306 29.2 -0.036 - - - - - -