NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 135 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 36.44 of 350.00 AH used of 24V (89.59% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -75.9 deg, depth 1.09 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 66 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
28 - - - 92 VBD -0.39 - - 69 - - - 1885 - -107.1 -57.38 - 2997 - - - - - - - - 14.54 - 14.56
99 3.5 -5.2 6 132 roll -0.39 13.62 0.359 3252 233.7 2.80 2.204 3317 511.4 -107.1 -6.07 - 3382 -63.4 - - - - - - - 14.12 13.30 14.38
368 57.3 -14.5 56 379 done -0.39 - - 3252 - 2.53 0.096 1909 -556.5 -107.1 - - 3384 - - - - - - - - 14.46 14.35 14.49
570 85.7 -13.7 76 581 roll -0.39 - - 3251 - 2.53 0.104 3317 556.5 -107.1 - - 3385 - - - - - - - - 14.64 14.40 14.65
636 94.3 -13.0 87 648 done -0.39 - - 3252 - 2.53 0.093 1889 -564.4 -107.1 - - 3382 - - - - - - - - 14.50 14.40 14.52
829 117.6 -12.3 106 841 done -0.39 - - 3251 - - - 1889 - -107.1 - - 3386 - - - - - - - - 14.66 14.69 14.69
1021 142.0 -12.7 125 1033 done -0.39 - - 3252 - - - 1889 - -107.1 - - 3386 - - - - - - - - 14.69 14.72 14.71
1214 166.2 -11.9 144 1225 roll -0.39 - - 3251 - 2.58 0.103 3321 555.0 -107.1 - - 3386 - - - - - - - - 14.69 14.46 14.72
1301 175.0 -10.2 158 1313 done -0.39 - - 3256 - 2.50 0.093 1903 -567.2 -107.1 - - 3386 - - - - - - - - 14.58 14.48 14.61
1504 195.4 -9.4 178 1515 roll -0.39 - - 3251 - 2.53 0.108 475 -564.4 -107.1 - - 3386 - - - - - - - - 14.71 14.47 14.73
1566 201.7 -10.2 188 1578 done -0.39 - - 3251 - 2.47 0.089 1899 576.5 -107.1 - - 3384 - - - - - - - - 14.59 14.50 14.62
1769 220.6 -9.5 208 1780 roll -0.39 - - 3251 - 2.53 0.104 3323 562.8 -107.1 - - 3388 - - - - - - - - 14.73 14.48 14.75
1815 225.1 -9.6 215 1827 done -0.39 - - 3248 - 2.50 0.093 1905 -567.2 -107.1 - - 3385 - - - - - - - - 14.61 14.51 14.63
2008 244.6 -10.2 234 2019 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3385 - - - - - - - - 14.74 14.76 14.76
2221 265.8 -9.9 245 2231 done -0.39 - - 3247 - - - 1910 - -107.1 - - 3385 - - - - - - - - 14.75 14.77 14.77
2524 295.6 -10.0 255 2535 roll -0.39 - - 3251 - 2.50 0.110 481 -571.6 -107.1 - - 3384 - - - - - - - - 14.77 14.52 14.78
2586 302.7 -10.9 265 2598 done -0.39 - - 3251 - 2.50 0.094 1914 573.2 -107.1 - - 3384 - - - - - - - - 14.62 14.53 14.64
2913 334.8 -10.0 277 2926 roll -0.39 - - 3251 - 2.45 0.106 3304 567.3 -107.1 - - 3382 - - - - - - - - 14.77 14.54 14.79
2982 341.9 -9.6 288 2994 done -0.39 - - 3251 - 2.50 0.098 1894 -564.0 -107.1 - - 3382 - - - - - - - - 14.64 14.54 14.66
3293 371.5 -9.6 299 3303 done -0.39 - - 3251 - - - 1894 - -107.1 - - 3379 - - - - - - - - 14.78 14.79 14.79
3588 399.3 -9.2 309 3598 done -0.39 - - 3251 - - - 1894 - -107.1 - - 3380 - - - - - - - - 14.78 14.81 14.81
3887 426.0 -8.7 319 3898 done -0.39 - - 3251 - - - 1894 - -107.1 - - 3379 - - - - - - - - 14.78 14.81 14.80
4188 451.5 -8.4 329 4198 done -0.39 - - 3255 - - - 1895 - -107.1 - - 3378 - - - - - - - - 14.78 14.81 14.81
4491 477.6 -8.9 339 4502 done -0.39 - - 3252 - - - 1894 - -107.1 - - 3377 - - - - - - - - 14.78 14.81 14.81
4788 504.6 -9.0 349 4798 done -0.39 - - 3251 - - - 1894 - -107.1 - - 3376 - - - - - - - - 14.82 14.81 14.81
5087 531.3 -8.8 359 5098 done -0.39 - - 3251 - - - 1890 - -107.1 - - 3375 - - - - - - - - 14.79 14.81 14.81
5388 557.3 -8.6 369 5398 done -0.39 - - 3251 - - - 1894 - -107.1 - - 3374 - - - - - - - - 14.80 14.81 14.83
5687 582.9 -8.4 379 5698 roll -0.39 - - 3251 - 2.55 0.108 3314 556.9 -107.1 - - 3374 - - - - - - - - 14.78 14.54 14.82
5734 586.7 -7.7 386 5745 done -0.39 - - 3256 - 2.53 0.102 1889 -563.2 -107.1 - - 3374 - - - - - - - - 14.65 14.52 14.67
6071 612.4 -7.4 401 6082 done -0.39 - - 3251 - - - 1889 - -107.1 - - 3372 - - - - - - - - 14.78 14.81 14.81
6372 633.7 -7.1 411 6382 done -0.39 - - 3251 - - - 1889 - -107.1 - - 3371 - - - - - - - - 14.78 14.81 14.81
6672 655.4 -7.4 421 6682 done -0.39 - - 3251 - - - 1889 - -107.1 - - 3371 - - - - - - - - 14.80 14.81 14.81
6972 678.2 -7.6 431 6982 done -0.39 - - 3250 - - - 1889 - -107.1 - - 3371 - - - - - - - - 14.78 14.81 14.81
7275 701.3 -7.7 441 7287 roll -0.39 - - 3251 - 2.58 0.111 3321 555.0 -107.1 - - 3370 - - - - - - - - 14.79 14.52 14.81
7322 705.2 -7.6 448 7334 done -0.39 - - 3251 - 2.53 0.099 1904 -560.1 -107.1 - - 3370 - - - - - - - - 14.65 14.56 14.67
7660 732.2 -8.2 463 7670 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3369 - - - - - - - - 14.81 14.81 14.80
7960 756.8 -8.1 473 7970 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3369 - - - - - - - - 14.78 14.80 14.78
8260 781.3 -8.1 483 8270 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3368 - - - - - - - - 14.78 14.81 14.80
8564 805.1 -7.8 493 8575 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3367 - - - - - - - - 14.77 14.80 14.79
8864 827.8 -7.2 503 8874 done -0.39 - - 3251 - - - 1909 - -107.1 - - 3367 - - - - - - - - 14.78 14.79 14.79
9160 849.1 -7.0 513 9172 roll -0.39 - - 3251 - 2.55 0.110 3317 552.2 -107.1 - - 3365 - - - - - - - - 14.78 14.50 14.81
9222 853.8 -6.7 523 9233 done -0.39 - - 3251 - 2.55 0.101 1890 -559.6 -107.1 - - 3367 - - - - - - - - 14.63 14.52 14.65
9544 874.2 -6.4 535 9555 done -0.39 - - 3251 - - - 1890 - -107.1 - - 3366 - - - - - - - - 14.78 14.79 14.79
9844 892.7 -6.1 545 9855 done -0.39 - - 3251 - - - 1890 - -107.1 - - 3361 - - - - - - - - 14.76 14.79 14.79
10149 911.4 -6.2 555 10160 roll -0.39 - - 3251 - 2.58 0.111 3317 553.1 -107.1 - - 3366 - - - - - - - - 14.76 14.49 14.78
10216 916.1 -6.5 566 10228 done -0.39 - - 3253 - 2.55 0.102 1904 -554.1 -107.1 - - 3366 - - - - - - - - 14.62 14.51 14.64
10526 935.6 -6.5 577 10536 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3366 - - - - - - - - 14.76 14.78 14.78
10825 955.0 -6.4 587 10836 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3365 - - - - - - - - 14.76 14.78 14.78
11125 974.1 -6.3 597 11136 done -0.39 - - 3254 - - - 1904 - -107.1 - - 3365 - - - - - - - - 14.76 14.78 14.78
11387 end dive: TARGET_DEPTH_EXCEEDED
11387 begin apogee
11399 990.5 -6.0 606 11491 done -0.16 0.30 0.173 3339 283.3 - - 2247 - - 84.05 1.894 2943 -5.0 0.489 - - - - - - 14.47 13.98 13.34
11493 end apogee: CONTROL_FINISHED_OK
11493 begin climb
11498 993.5 - 609 11600 done 0.39 0.50 0.113 3513 348.0 - - 2247 - 107.1 88.30 1.867 2502 -5.0 0.495 - - - - - - 13.98 13.76 13.16
11901 965.9 7.9 628 11912 roll 0.39 - - 3519 - 2.62 0.114 3658 538.5 107.1 - - 2502 - - - - - - - - 14.42 14.22 14.45
11933 963.9 6.7 632 11944 done 0.40 - - 3514 - 2.60 0.103 2246 -543.1 107.1 - - 2500 - - - - - - - - 14.33 14.24 14.35
12255 937.1 8.1 644 12266 done 0.40 - - 3520 - - - 2246 - 107.1 - - 2501 - - - - - - - - 14.55 14.59 14.59
12559 914.1 7.5 654 12570 done 0.40 - - 3514 - - - 2246 - 107.1 - - 2500 - - - - - - - - 14.64 14.64 14.67
12860 892.5 7.1 664 12870 done 0.40 - - 3514 - - - 2247 - 107.1 - - 2499 - - - - - - - - 14.66 14.69 14.68
13160 871.6 6.8 674 13171 roll 0.41 - - 3514 - 2.60 0.114 3662 544.2 107.1 - - 2499 - - - - - - - - 14.69 14.45 14.71
13237 865.6 7.8 687 13248 done 0.41 - - 3514 - 2.55 0.103 2246 -555.3 107.1 - - 2499 - - - - - - - - 14.57 14.46 14.59
13575 842.6 6.7 702 13586 done 0.43 - - 3514 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.71 14.73 14.73
13879 822.2 6.8 712 13889 done 0.44 - - 3514 - - - 2250 - 107.1 - - 2499 - - - - - - - - 14.72 14.74 14.73
14179 802.5 6.6 722 14190 done 0.45 - - 3514 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.73 14.75 14.75
14479 782.6 6.7 732 14490 done 0.47 - - 3517 - - - 2250 - 107.1 - - 2498 - - - - - - - - 14.74 14.76 14.76
14779 763.3 6.2 742 14791 done 0.49 0.10 0.128 3582 650.0 - - 2250 - 107.1 - - 2498 - - - - - - - - 14.57 14.64 14.63
15079 736.1 9.4 752 15089 done 0.49 - - 3582 - - - 2250 - 107.1 - - 2498 - - - - - - - - 14.75 14.76 14.76
15379 707.9 9.5 762 15390 done 0.49 - - 3582 - - - 2250 - 107.1 - - 2498 - - - - - - - - 14.74 14.77 14.78
15679 679.9 9.3 772 15690 roll 0.49 0.08 0.262 3557 -312.5 2.58 0.111 3662 547.3 107.1 - - 2498 - - - - - - - - 14.42 14.48 14.52
15741 673.8 9.1 782 15753 done 0.49 - - 3563 - 2.55 0.100 2251 -553.3 107.1 - - 2496 - - - - - - - - 14.60 14.50 14.63
16064 646.9 8.5 794 16075 done 0.49 - - 3565 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.75 14.76 14.76
16369 620.7 9.0 804 16380 roll 0.49 - - 3563 - 2.58 0.112 3662 546.9 107.1 - - 2497 - - - - - - - - 14.73 14.50 14.76
16435 613.8 9.8 815 16448 done 0.49 - - 3571 - 2.55 0.099 2251 -553.3 107.1 - - 2497 - - - - - - - - 14.60 14.49 14.62
16747 586.4 8.8 826 16757 done 0.49 - - 3572 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.74
17047 561.0 8.2 836 17058 done 0.49 - - 3571 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.75 14.76 14.76
17345 537.5 7.7 846 17357 roll 0.49 - - 3571 - 2.58 0.111 3663 547.3 107.1 - - 2497 - - - - - - - - 14.76 14.51 14.77
17432 530.1 8.0 861 17443 done 0.49 - - 3580 - 2.55 0.099 2233 -560.8 107.1 - - 2497 - - - - - - - - 14.59 14.48 14.62
17759 506.3 7.4 874 17770 done 0.49 - - 3581 - - - 2233 - 107.1 - - 2496 - - - - - - - - 14.74 14.76 14.76
18064 481.4 8.4 884 18074 done 0.49 - - 3580 - - - 2234 - 107.1 - - 2497 - - - - - - - - 14.75 14.77 14.76
18363 454.8 8.9 894 18375 roll 0.49 - - 3584 - 2.60 0.110 3662 549.2 107.1 - - 2498 - - - - - - - - 14.75 14.49 14.76
18485 442.7 9.6 915 18496 done 0.49 0.12 0.243 3559 -208.3 2.55 0.098 2251 -553.3 107.1 - - 2497 - - - - - - - - 14.39 14.49 14.59
18812 417.9 7.2 928 18823 done 0.49 - - 3554 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.74 14.76 14.76
19117 397.0 7.0 938 19127 done 0.49 - - 3556 - - - 2251 - 107.1 - - 2497 - - - - - - - - 14.75 14.76 14.76
19417 377.9 6.2 948 19427 done 0.51 - - 3554 - - - 2251 - 107.1 - - 2501 - - - - - - - - 14.75 14.76 14.76
19717 358.6 6.6 958 19728 done 0.52 - - 3554 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.74 14.76 14.76
20017 338.6 6.5 968 20028 done 0.54 - - 3554 - - - 2251 - 107.1 - - 2498 - - - - - - - - 14.75 14.77 14.76
20317 320.2 5.9 978 20327 done 0.57 - - 3553 - - - 2249 - 107.1 - - 2501 - - - - - - - - 14.75 14.77 14.79
20617 303.8 5.3 988 20660 done 0.59 - - 3554 - - - 2251 - 152.4 35.30 1.090 2318 -5.2 0.269 - - - - - - 14.73 14.40 13.94
20943 282.9 6.7 999 20954 done 0.60 0.10 0.124 3618 640.0 - - 2251 - 152.4 - - 2316 - - - - - - - - 14.48 14.54 14.53
21247 247.8 12.9 1009 21258 roll 0.60 - - 3620 - 2.58 0.109 3662 546.9 152.4 - - 2314 - - - - - - - - 14.67 14.43 14.69
21357 230.9 14.5 1028 21370 done 0.60 0.10 0.260 3594 -260.0 2.55 0.097 2243 -556.5 152.4 - - 2317 - - - - - - - - 14.35 14.45 14.52
21551 209.1 10.2 1047 21562 roll 0.60 - - 3593 - 2.62 0.109 3672 545.4 152.4 - - 2317 - - - - - - - - 14.69 14.45 14.71
21614 202.2 11.2 1057 21625 done 0.60 - - 3601 - 2.55 0.097 2250 -557.6 152.4 - - 2317 - - - - - - - - 14.55 14.45 14.61
21817 182.5 9.0 1077 21827 done 0.60 - - 3601 - - - 2250 - 152.4 - - 2317 - - - - - - - - 14.69 14.71 14.70
22008 166.3 8.8 1096 22020 roll 0.60 - - 3601 - 2.58 0.109 3662 547.3 152.4 - - 2318 - - - - - - - - 14.70 14.45 14.71
22085 159.3 10.4 1108 22097 done 0.60 - - 3609 - 2.53 0.096 2250 -558.1 152.4 - - 2317 - - - - - - - - 14.56 14.45 14.58
22288 140.5 8.8 1128 22299 done 0.60 - - 3609 - - - 2250 - 152.4 - - 2318 - - - - - - - - 14.69 14.71 14.72
22481 125.6 6.5 1147 22492 roll 0.62 - - 3609 - 2.58 0.109 3662 547.3 152.4 - - 2317 - - - - - - - - 14.70 14.45 14.71
22568 119.5 7.7 1161 22579 done 0.62 - - 3612 - 2.55 0.096 2235 -559.6 152.4 - - 2318 - - - - - - - - 14.57 14.47 14.59
22770 105.8 7.6 1181 22781 roll 0.62 - - 3613 - 2.60 0.107 3664 549.6 152.4 - - 2318 - - - - - - - - 14.71 14.46 14.72
23021 86.4 5.3 1227 23032 done 0.66 - - 3622 - 2.53 0.096 2252 -558.1 152.4 - - 2318 - - - - - - - - 14.54 14.42 14.55
23225 78.6 2.8 1247 23304 done 0.71 - - 3622 - - - 2252 - 250.9 71.85 0.806 1917 -5.6 0.101 - - - - - - 14.70 14.28 13.90
23486 62.3 8.4 1275 23497 roll 0.71 - - 3620 - 2.60 0.107 3668 544.6 250.9 - - 1914 - - - - - - - - 14.54 14.31 14.56
23592 50.3 11.5 1293 23604 done 0.71 - - 3625 - 2.58 0.096 2251 -549.2 250.9 - - 1913 - - - - - - - - 14.40 14.33 14.42
23796 34.4 6.0 1313 23807 roll 0.74 - - 3625 - 2.58 0.106 3662 546.9 250.9 - - 1914 - - - - - - - - 14.62 14.39 14.63
23943 25.2 7.6 1339 23954 done 0.74 - - 3626 - 2.53 0.095 2250 -558.1 250.9 - - 1914 - - - - - - - - 14.50 14.40 14.52
24146 15.4 3.6 1359 24195 done 0.78 - - 3626 - - - 2250 - 332.3 36.80 0.146 1585 -8.9 0.176 - - - - - - 14.65 14.44 14.34
24301 end climb: SURFACE_DEPTH_REACHED
24302 begin surface coast
24352 end surface coast: CONTROL_FINISHED_OK
24352 begin surface
SM 1.91 - - - - -10.27 9.88 0.051 87 8.8 0.62 0.096 1891 -10172.6 350.04 7.43 0.083 1514 203.8 -0.479 - - - - - -