NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 139 * Raw log
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• Previous call tries 1 • 37.60 of 350.00 AH used of 24V (89.26% remains)
• Previous NAKs 7, Timeouts 0
• Surface angle -68.4 deg, depth 1.13 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 62 s
• GPS2 time: 4 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
28 - - - 91 VBD -0.39 - - 69 - - - 1882 - -107.1 -55.53 - 2996 - - - - - - - - 14.53 - 14.54
97 3.7 -5.5 6 131 roll -0.39 13.55 0.354 3253 235.0 2.80 2.196 3315 511.8 -107.1 -6.28 - 3383 -61.6 - - - - - - - 14.10 13.29 14.38
323 52.5 -15.9 47 334 done -0.39 - - 3253 - 2.53 0.099 1910 -555.3 -107.1 - - 3385 - - - - - - - - 14.43 14.33 14.46
525 84.3 -15.9 67 536 done -0.39 - - 3253 - - - 1908 - -107.1 - - 3387 - - - - - - - - 14.62 14.64 14.63
718 111.0 -13.3 86 729 done -0.39 - - 3253 - - - 1908 - -107.1 - - 3387 - - - - - - - - 14.66 14.68 14.68
910 134.7 -11.7 105 921 done -0.39 - - 3253 - - - 1908 - -107.1 - - 3388 - - - - - - - - 14.68 14.70 14.69
1102 155.8 -11.3 124 1113 done -0.39 - - 3253 - - - 1908 - -107.1 - - 3388 - - - - - - - - 14.70 14.71 14.71
1294 178.3 -11.5 143 1305 done -0.39 - - 3253 - - - 1908 - -107.1 - - 3388 - - - - - - - - 14.71 14.73 14.73
1487 198.6 -10.1 162 1498 done -0.39 - - 3253 - - - 1908 - -107.1 - - 3388 - - - - - - - - 14.72 14.74 14.76
1678 217.0 -9.5 181 1690 done -0.39 - - 3249 - - - 1908 - -107.1 - - 3387 - - - - - - - - 14.73 14.73 14.75
1872 234.9 -9.3 200 1882 done -0.39 - - 3253 - - - 1908 - -107.1 - - 3387 - - - - - - - - 14.74 14.76 14.75
2063 254.0 -10.1 217 2075 roll -0.39 - - 3256 - 2.53 0.110 480 -564.4 -107.1 - - 3387 - - - - - - - - 14.75 14.52 14.76
2125 260.9 -11.3 227 2136 done -0.39 - - 3253 - 2.47 0.093 1899 574.5 -107.1 - - 3387 - - - - - - - - 14.60 14.52 14.64
2451 292.7 -9.8 239 2462 roll -0.39 - - 3253 - 2.50 0.106 3318 567.6 -107.1 - - 3386 - - - - - - - - 14.76 14.54 14.78
2528 300.6 -9.6 252 2539 done -0.39 - - 3253 - 2.53 0.096 1884 -566.8 -107.1 - - 3385 - - - - - - - - 14.62 14.51 14.64
2865 334.2 -9.8 267 2875 done -0.39 - - 3253 - - - 1886 - -107.1 - - 3384 - - - - - - - - 14.80 14.79 14.78
3169 362.5 -9.3 277 3180 done -0.39 - - 3253 - - - 1886 - -107.1 - - 3383 - - - - - - - - 14.77 14.79 14.79
3469 388.7 -8.6 287 3479 done -0.39 - - 3253 - - - 1886 - -107.1 - - 3382 - - - - - - - - 14.79 14.81 14.81
3765 414.5 -8.7 297 3776 done -0.39 - - 3253 - - - 1886 - -107.1 - - 3381 - - - - - - - - 14.78 14.81 14.81
4069 441.6 -9.2 307 4079 done -0.39 - - 3256 - - - 1886 - -107.1 - - 3380 - - - - - - - - 14.78 14.82 14.81
4369 468.6 -9.0 317 4380 done -0.39 - - 3253 - - - 1886 - -107.1 - - 3379 - - - - - - - - 14.79 14.81 14.81
4669 495.4 -8.9 327 4679 done -0.39 - - 3253 - - - 1886 - -107.1 - - 3377 - - - - - - - - 14.78 14.81 14.81
4969 520.9 -8.3 337 4980 roll -0.39 - - 3253 - 2.45 0.113 495 -567.8 -107.1 - - 3377 - - - - - - - - 14.79 14.52 14.81
5050 528.8 -9.1 351 5062 done -0.39 - - 3253 - 2.47 0.096 1913 574.1 -107.1 - - 3377 - - - - - - - - 14.65 14.56 14.67
5382 554.4 -7.5 365 5394 roll -0.39 - - 3253 - 2.50 0.110 3317 561.6 -107.1 - - 3376 - - - - - - - - 14.81 14.52 14.80
5440 558.5 -6.8 374 5452 done -0.39 - - 3253 - 2.47 0.099 1909 -570.0 -107.1 - - 3376 - - - - - - - - 14.59 14.51 14.62
5768 581.9 -7.3 387 5779 roll -0.39 - - 3253 - 2.53 0.112 479 -565.2 -107.1 - - 3375 - - - - - - - - 14.78 14.52 14.80
5829 587.3 -8.8 397 5841 done -0.39 - - 3253 - 2.47 0.096 1897 574.1 -107.1 - - 3375 - - - - - - - - 14.64 14.53 14.66
6156 614.6 -8.8 409 6167 done -0.39 - - 3253 - - - 1898 - -107.1 - - 3372 - - - - - - - - 14.78 14.80 14.81
6456 641.0 -8.8 419 6466 done -0.39 - - 3253 - - - 1897 - -107.1 - - 3374 - - - - - - - - 14.78 14.81 14.80
6756 666.8 -8.4 429 6766 done -0.39 - - 3253 - - - 1897 - -107.1 - - 3373 - - - - - - - - 14.78 14.81 14.81
7052 691.0 -7.9 439 7063 roll -0.39 - - 3253 - 2.53 0.109 3321 562.8 -107.1 - - 3375 - - - - - - - - 14.79 14.50 14.81
7133 697.4 -7.7 453 7145 done -0.39 - - 3253 - 2.53 0.098 1900 -561.7 -107.1 - - 3372 - - - - - - - - 14.64 14.54 14.66
7466 723.4 -7.8 467 7476 done -0.39 - - 3253 - - - 1899 - -107.1 - - 3371 - - - - - - - - 14.78 14.81 14.80
7770 746.9 -7.9 477 7780 done -0.39 - - 3252 - - - 1904 - -107.1 - - 3371 - - - - - - - - 14.78 14.80 14.80
8070 769.9 -7.5 487 8081 done -0.39 - - 3253 - - - 1899 - -107.1 - - 3370 - - - - - - - - 14.78 14.80 14.79
8370 791.8 -7.3 497 8380 done -0.39 - - 3253 - - - 1899 - -107.1 - - 3367 - - - - - - - - 14.78 14.79 14.79
8666 812.8 -7.0 507 8677 done -0.39 - - 3258 - - - 1898 - -107.1 - - 3374 - - - - - - - - 14.78 14.80 14.79
8966 832.5 -6.6 517 8976 done -0.39 - - 3252 - - - 1899 - -107.1 - - 3369 - - - - - - - - 14.78 14.80 14.79
9270 852.0 -6.5 527 9281 done -0.39 - - 3249 - - - 1899 - -107.1 - - 3368 - - - - - - - - 14.77 14.79 14.78
9566 872.2 -6.9 537 9576 done -0.39 - - 3253 - - - 1899 - -107.1 - - 3368 - - - - - - - - 14.78 14.81 14.79
9870 893.1 -6.9 547 9881 done -0.39 - - 3253 - - - 1899 - -107.1 - - 3367 - - - - - - - - 14.78 14.80 14.79
10170 913.2 -6.7 557 10180 done -0.39 - - 3253 - - - 1895 - -107.1 - - 3367 - - - - - - - - 14.78 14.79 14.79
10470 933.3 -6.5 567 10481 done -0.39 - - 3252 - - - 1899 - -107.1 - - 3367 - - - - - - - - 14.77 14.79 14.79
10770 952.2 -6.2 577 10780 done -0.39 - - 3253 - - - 1899 - -107.1 - - 3367 - - - - - - - - 14.76 14.78 14.78
11070 971.3 -6.5 587 11081 done -0.39 - - 3253 - - - 1899 - -107.1 - - 3366 - - - - - - - - 14.76 14.78 14.78
11365 end dive: TARGET_DEPTH_EXCEEDED
11365 begin apogee
11377 991.5 -6.9 597 11470 done -0.16 0.28 0.164 3341 314.3 - - 2263 - - 84.45 1.897 2943 -5.0 0.488 - - - - - - 14.46 13.97 13.34
11472 end apogee: CONTROL_FINISHED_OK
11472 begin climb
11477 995.7 - 600 11576 done 0.39 0.50 0.114 3516 350.0 - - 2263 - 107.1 89.12 1.871 2502 -4.9 0.491 - - - - - - 13.99 13.76 13.15
11877 973.7 6.8 614 11888 done 0.40 - - 3518 - - - 2263 - 107.1 - - 2503 - - - - - - - - 14.43 14.45 14.45
12180 952.5 7.2 624 12190 done 0.40 - - 3516 - - - 2262 - 107.1 - - 2499 - - - - - - - - 14.55 14.57 14.57
12481 931.1 7.1 634 12492 roll 0.40 - - 3517 - 2.60 0.114 823 -553.5 107.1 - - 2499 - - - - - - - - 14.62 14.37 14.64
12542 926.3 7.4 644 12553 done 0.40 - - 3517 - 2.55 0.099 2244 557.3 107.1 - - 2499 - - - - - - - - 14.50 14.40 14.52
12864 901.5 7.9 656 12875 done 0.40 - - 3517 - - - 2244 - 107.1 - - 2499 - - - - - - - - 14.68 14.71 14.69
13169 878.2 7.6 666 13179 done 0.40 - - 3517 - - - 2244 - 107.1 - - 2499 - - - - - - - - 14.70 14.71 14.72
13469 855.6 7.5 676 13479 done 0.40 - - 3517 - - - 2244 - 107.1 - - 2498 - - - - - - - - 14.71 14.73 14.73
13769 833.6 7.1 686 13779 done 0.40 - - 3518 - - - 2240 - 107.1 - - 2498 - - - - - - - - 14.73 14.74 14.74
14069 812.5 7.0 696 14079 done 0.40 - - 3517 - - - 2244 - 107.1 - - 2498 - - - - - - - - 14.73 14.75 14.75
14369 791.2 6.9 706 14379 done 0.40 - - 3517 - - - 2240 - 107.1 - - 2497 - - - - - - - - 14.72 14.75 14.77
14669 769.8 7.3 716 14679 done 0.40 - - 3517 - - - 2244 - 107.1 - - 2497 - - - - - - - - 14.74 14.76 14.76
14969 748.3 7.0 726 14979 done 0.40 - - 3513 - - - 2243 - 107.1 - - 2496 - - - - - - - - 14.75 14.77 14.77
15269 728.4 6.4 736 15280 done 0.42 - - 3517 - - - 2244 - 107.1 - - 2495 - - - - - - - - 14.74 14.77 14.76
15569 711.3 5.5 746 15580 done 0.46 - - 3517 - - - 2244 - 107.1 - - 2499 - - - - - - - - 14.75 14.77 14.76
15869 695.5 5.2 756 15913 done 0.48 - - 3516 - - - 2248 - 154.0 37.28 1.519 2312 -5.0 0.428 - - - - - - 14.78 14.33 13.76
16195 674.6 6.6 767 16207 roll 0.49 0.08 0.156 3582 825.0 2.60 0.109 3663 544.2 154.0 - - 2313 - - - - - - - - 14.44 14.38 14.45
16257 668.2 11.3 777 16269 done 0.49 0.15 0.223 3550 -213.3 2.58 0.101 2251 -547.3 154.0 - - 2311 - - - - - - - - 14.31 14.38 14.47
16580 638.4 9.2 789 16592 roll 0.49 - - 3550 - 2.58 0.112 3662 546.9 154.0 - - 2312 - - - - - - - - 14.66 14.40 14.66
16632 633.0 10.6 797 16643 done 0.49 - - 3557 - 2.55 0.099 2246 -555.3 154.0 - - 2311 - - - - - - - - 14.54 14.44 14.56
16964 599.6 10.3 811 16975 roll 0.49 - - 3566 - 2.55 0.112 820 -559.2 154.0 - - 2315 - - - - - - - - 14.69 14.43 14.71
17006 595.2 11.0 817 17018 done 0.49 - - 3566 - 2.55 0.099 2246 559.2 154.0 - - 2312 - - - - - - - - 14.57 14.46 14.58
17349 558.4 10.9 833 17360 done 0.49 - - 3566 - - - 2246 - 154.0 - - 2312 - - - - - - - - 14.72 14.73 14.73
17653 526.9 10.4 843 17664 done 0.49 - - 3566 - - - 2246 - 154.0 - - 2312 - - - - - - - - 14.72 14.73 14.73
17954 497.0 9.8 853 17965 roll 0.49 - - 3566 - 2.58 0.112 3664 549.6 154.0 - - 2313 - - - - - - - - 14.73 14.50 14.74
18005 491.1 10.7 861 18017 done 0.49 - - 3570 - 2.55 0.102 2251 -554.1 154.0 - - 2309 - - - - - - - - 14.60 14.49 14.62
18338 458.3 9.8 875 18348 done 0.49 - - 3570 - - - 2251 - 154.0 - - 2312 - - - - - - - - 14.73 14.75 14.75
18642 429.5 9.5 885 18652 done 0.49 - - 3570 - - - 2256 - 154.0 - - 2312 - - - - - - - - 14.73 14.76 14.76
18942 401.0 9.6 895 18953 done 0.49 - - 3569 - - - 2251 - 154.0 - - 2312 - - - - - - - - 14.74 14.76 14.76
19242 372.0 9.6 905 19252 done 0.49 - - 3570 - - - 2251 - 154.0 - - 2312 - - - - - - - - 14.74 14.76 14.76
19542 342.8 9.7 915 19553 roll 0.49 - - 3567 - 2.58 0.111 3664 547.7 154.0 - - 2313 - - - - - - - - 14.75 14.50 14.74
19593 337.1 10.3 923 19604 done 0.49 - - 3580 - 2.55 0.099 2234 -560.8 154.0 - - 2313 - - - - - - - - 14.59 14.49 14.62
19926 306.5 9.1 937 19937 done 0.49 - - 3581 - - - 2234 - 154.0 - - 2312 - - - - - - - - 14.74 14.76 14.78
20231 278.3 9.5 947 20241 done 0.49 - - 3580 - - - 2233 - 154.0 - - 2315 - - - - - - - - 14.76 14.77 14.77
20531 250.3 9.5 957 20541 done 0.49 - - 3580 - - - 2233 - 154.0 - - 2311 - - - - - - - - 14.75 14.78 14.75
20826 220.8 9.5 985 20838 done 0.49 - - 3580 - - - 2234 - 154.0 - - 2312 - - - - - - - - 14.75 14.76 14.76
21019 203.3 8.7 1004 21030 roll 0.49 - - 3583 - 2.50 0.112 834 -560.0 154.0 - - 2310 - - - - - - - - 14.74 14.48 14.76
21082 197.8 8.8 1014 21093 done 0.49 - - 3584 - 2.53 0.099 2266 566.0 154.0 - - 2313 - - - - - - - - 14.59 14.49 14.62
21285 180.5 8.5 1034 21296 roll 0.49 - - 3582 - 2.50 0.109 3660 557.6 154.0 - - 2313 - - - - - - - - 14.73 14.45 14.75
21391 170.2 9.5 1052 21403 done 0.49 0.12 0.231 3554 -233.3 2.53 0.096 2254 -555.7 154.0 - - 2313 - - - - - - - - 14.41 14.46 14.57
21594 157.5 5.8 1072 21605 done 0.53 - - 3550 - - - 2253 - 154.0 - - 2313 - - - - - - - - 14.72 14.74 14.73
21787 147.8 4.7 1091 21844 roll 0.55 - - 3547 - 2.60 0.110 3658 540.4 211.6 43.88 0.896 2073 -5.5 0.168 - - - - - - 14.71 14.31 13.96
21968 134.5 7.9 1124 21980 done 0.55 - - 3554 - 2.55 0.094 2235 -558.0 211.6 - - 2071 - - - - - - - - 14.45 14.38 14.47
22162 121.2 6.5 1143 22173 roll 0.57 - - 3556 - 2.50 0.109 839 -558.4 211.6 - - 2073 - - - - - - - - 14.62 14.36 14.66
22272 114.1 6.3 1162 22284 done 0.59 - - 3557 - 2.47 0.092 2245 569.2 211.6 - - 2073 - - - - - - - - 14.50 14.40 14.52
22466 104.2 4.3 1181 22529 roll 0.62 0.08 0.154 3628 887.5 2.65 0.106 3663 535.1 276.8 47.97 0.828 1806 -5.6 0.131 - - - - - - 14.46 14.25 13.91
22663 83.6 10.7 1216 22676 done 0.62 0.12 0.219 3599 -241.7 2.53 0.094 2256 -556.1 276.8 - - 1805 - - - - - - - - 14.26 14.31 14.40
22857 67.9 7.6 1235 22868 done 0.62 - - 3598 - - - 2256 - 276.8 - - 1805 - - - - - - - - 14.57 14.61 14.59
23049 53.9 7.3 1254 23060 done 0.62 - - 3599 - - - 2256 - 276.8 - - 1805 - - - - - - - - 14.62 14.64 14.64
23241 38.6 8.0 1273 23252 roll 0.62 - - 3607 - 2.53 0.106 832 -562.8 276.8 - - 1805 - - - - - - - - 14.65 14.40 14.66
23288 34.9 8.0 1280 23300 done 0.62 - - 3607 - 2.50 0.095 2252 568.0 276.8 - - 1805 - - - - - - - - 14.52 14.41 14.56
23481 21.8 4.6 1299 23533 roll 0.65 - - 3607 - 2.62 0.106 3663 538.5 336.5 39.20 0.722 1565 -6.1 0.034 - - - - - - 14.66 14.31 14.00
23623 14.5 6.8 1324 23635 done 0.66 - - 3608 - 2.55 0.093 2252 -553.3 336.5 - - 1560 - - - - - - - - 14.44 14.35 14.46
23802 end climb: SURFACE_DEPTH_REACHED
23802 begin surface coast
23863 end surface coast: CONTROL_FINISHED_OK
23863 begin surface
SM 2.75 - - - - -10.27 9.77 0.046 89 9.1 0.62 0.094 1896 1396.8 350.04 4.85 0.084 1513 312.0 -1.044 - - - - - -