NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 631 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 180.45 of 350.00 AH used of 24V (48.44% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -76.1 deg, depth 0.84 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 35 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
29 - - - 112 done -0.39 - - 83 - - - 1949 - -107.1 -75.78 - 3379 - - - - - - - - 14.47 12.47 14.38
120 1.7 -2.2 2 145 roll -0.39 14.43 0.361 3258 220.0 2.58 0.096 558 -539.1 -107.1 - - 3382 - - - - - - - - 13.69 14.09 14.07
309 44.5 -10.2 37 322 done -0.39 - - 3257 - 2.60 0.090 1984 548.5 -107.1 - - 3383 - - - - - - - - 14.06 13.91 14.11
616 75.2 -10.0 44 628 roll -0.39 - - 3257 - 2.60 0.103 3378 536.2 -107.1 - - 3383 - - - - - - - - 14.50 13.83 14.52
727 83.6 -7.2 63 738 done -0.39 - - 3258 - 2.58 0.084 1974 -544.2 -107.1 - - 3385 - - - - - - - - 14.07 13.90 14.10
1066 111.4 -8.1 73 1077 roll -0.39 - - 3254 - 2.65 0.101 3377 529.4 -107.1 - - 3382 - - - - - - - - 14.56 13.78 14.54
1108 114.6 -7.4 79 1119 done -0.39 - - 3258 - 2.58 0.083 1973 -544.2 -107.1 - - 3384 - - - - - - - - 14.04 13.88 14.09
1456 140.4 -7.6 90 1467 roll -0.39 - - 3258 - 2.62 0.095 559 -539.7 -107.1 - - 3382 - - - - - - - - 14.48 13.79 14.50
1508 145.3 -8.5 98 1519 done -0.39 - - 3258 - 2.58 0.086 1969 546.5 -107.1 - - 3384 - - - - - - - - 14.04 13.88 14.08
1842 172.1 -8.1 107 1853 roll -0.39 - - 3258 - 2.65 0.100 3389 535.8 -107.1 - - 3381 - - - - - - - - 14.53 13.73 14.54
1878 175.1 -8.4 112 1889 done -0.39 - - 3257 - 2.60 0.082 1969 -546.2 -107.1 - - 3386 - - - - - - - - 14.02 13.87 14.07
2230 201.0 -7.5 124 2240 done -0.39 - - 3258 - - - 1968 - -107.1 - - 3384 - - - - - - - - 14.51 14.52 14.52
2527 223.0 -7.3 129 2539 roll -0.39 - - 3254 - 2.65 0.096 544 -537.4 -107.1 - - 3383 - - - - - - - - 14.52 13.74 14.52
2589 228.4 -8.3 139 2600 done -0.39 - - 3257 - 2.62 0.086 1982 548.9 -107.1 - - 3383 - - - - - - - - 13.99 13.87 14.04
2913 251.5 -7.0 146 2925 roll -0.39 - - 3254 - 2.62 0.102 3376 532.1 -107.1 - - 3382 - - - - - - - - 14.51 13.71 14.54
2980 256.0 -6.5 157 2993 done -0.39 - - 3257 - 2.60 0.084 1970 -540.8 -107.1 - - 3382 - - - - - - - - 13.98 13.84 14.04
3287 274.8 -6.0 163 3298 done -0.39 - - 3257 - - - 1970 - -107.1 - - 3383 - - - - - - - - 14.56 14.55 14.55
3586 292.0 -5.7 168 3596 done -0.39 - - 3257 - - - 1971 - -107.1 - - 3381 - - - - - - - - 14.52 14.54 14.54
3886 309.7 -5.9 173 3896 done -0.39 - - 3257 - - - 1970 - -107.1 - - 3381 - - - - - - - - 14.54 14.57 14.59
4188 326.7 -5.6 178 4199 roll -0.39 - - 3258 - 2.67 0.100 545 -533.7 -107.1 - - 3380 - - - - - - - - 14.53 13.71 14.54
4234 329.7 -6.3 185 4246 done -0.39 - - 3258 - 2.62 0.087 1967 542.7 -107.1 - - 3381 - - - - - - - - 13.95 13.78 14.00
4573 348.9 -5.7 195 4584 roll -0.39 - - 3258 - 2.70 0.103 3390 527.0 -107.1 - - 3379 - - - - - - - - 14.51 13.64 14.52
4646 353.3 -6.1 207 4657 done -0.39 - - 3257 - 2.67 0.083 1958 -536.3 -107.1 - - 3379 - - - - - - - - 13.94 13.79 13.99
5024 377.9 -6.8 224 5035 roll -0.39 - - 3258 - 2.65 0.101 559 -527.9 -107.1 - - 3379 - - - - - - - - 14.50 13.67 14.52
5075 382.4 -8.2 232 5086 done -0.39 - - 3257 - 2.62 0.088 1984 543.9 -107.1 - - 3378 - - - - - - - - 13.81 13.66 13.87
5409 406.0 -7.0 241 5420 roll -0.39 - - 3257 - 2.65 0.103 3387 529.4 -107.1 - - 3378 - - - - - - - - 14.52 13.64 14.54
5450 408.9 -6.5 247 5462 done -0.39 - - 3258 - 2.62 0.084 1974 -539.3 -107.1 - - 3378 - - - - - - - - 13.92 13.77 13.97
5799 429.8 -6.0 258 5810 roll -0.39 - - 3258 - 2.65 0.099 557 -534.7 -107.1 - - 3378 - - - - - - - - 14.52 13.69 14.53
5867 434.5 -6.8 269 5880 done -0.39 - - 3258 - 2.62 0.089 1966 537.8 -107.1 - - 3376 - - - - - - - - 13.88 13.74 13.94
6172 451.6 -5.5 275 6183 roll -0.39 - - 3257 - 2.70 0.104 3390 527.4 -107.1 - - 3377 - - - - - - - - 14.53 13.66 14.54
6224 454.4 -5.3 283 6236 done -0.39 - - 3257 - 2.65 0.085 1956 -541.1 -107.1 - - 3376 - - - - - - - - 13.92 13.78 13.97
6557 472.5 -5.4 292 6567 done -0.39 - - 3259 - - - 1953 - -107.1 - - 3376 - - - - - - - - 14.54 14.56 14.56
6859 488.4 -5.3 297 6869 done -0.39 - - 3257 - - - 1955 - -107.1 - - 3376 - - - - - - - - 14.54 14.55 14.55
7157 505.0 -5.5 302 7168 roll -0.39 - - 3257 - 2.65 0.099 554 -528.7 -107.1 - - 3376 - - - - - - - - 14.53 13.67 14.54
7199 507.6 -6.2 308 7210 done -0.39 - - 3258 - 2.65 0.088 1982 538.9 -107.1 - - 3375 - - - - - - - - 13.88 13.72 13.94
7547 527.0 -5.6 319 7558 roll -0.39 - - 3258 - 2.70 0.106 3388 520.7 -107.1 - - 3375 - - - - - - - - 14.46 13.69 14.47
7589 529.7 -5.7 325 7601 done -0.39 - - 3258 - 2.65 0.085 1974 -533.6 -107.1 - - 3373 - - - - - - - - 13.92 13.74 13.97
7933 548.9 -5.7 336 7944 done -0.39 - - 3258 - - - 1972 - -107.1 - - 3373 - - - - - - - - 14.56 14.53 14.53
8232 566.5 -5.9 341 8242 done -0.39 - - 3258 - - - 1973 - -107.1 - - 3374 - - - - - - - - 14.53 14.55 14.55
8534 584.1 -5.9 346 8545 roll -0.39 - - 3258 - 2.75 0.105 3388 514.5 -107.1 - - 3374 - - - - - - - - 14.52 13.59 14.54
8571 586.4 -6.1 351 8582 done -0.39 - - 3258 - 2.65 0.085 1965 -537.0 -107.1 - - 3370 - - - - - - - - 13.89 13.74 13.95
8923 607.5 -6.0 363 8933 done -0.39 - - 3258 - - - 1965 - -107.1 - - 3373 - - - - - - - - 14.45 14.47 14.47
9218 626.3 -6.3 368 9229 roll -0.39 - - 3258 - 2.67 0.102 561 -525.8 -107.1 - - 3373 - - - - - - - - 14.53 13.64 14.54
9250 628.5 -6.7 372 9261 done -0.39 - - 3258 - 2.65 0.091 1967 530.6 -107.1 - - 3372 - - - - - - - - 13.86 13.69 13.93
9608 650.8 -6.4 385 9619 roll -0.39 - - 3258 - 2.72 0.105 3390 523.2 -107.1 - - 3371 - - - - - - - - 14.44 13.61 14.45
9689 656.2 -6.2 399 9701 done -0.39 - - 3257 - 2.65 0.086 1974 -534.3 -107.1 - - 3372 - - - - - - - - 13.87 13.71 13.93
10058 678.6 -6.1 414 10069 done -0.39 - - 3258 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.45 14.48 14.45
10352 695.1 -5.4 419 10362 done -0.39 - - 3258 - - - 1970 - -107.1 - - 3370 - - - - - - - - 14.48 14.52 14.52
10654 710.7 -5.1 424 10664 done -0.39 - - 3258 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.46 14.48 14.48
10952 723.0 -4.1 429 10963 done -0.39 - - 3257 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.52 14.53 14.55
11253 737.4 -4.8 434 11264 roll -0.39 - - 3257 - 2.75 0.106 3389 514.9 -107.1 - - 3373 - - - - - - - - 14.49 13.63 14.50
11296 739.4 -5.1 440 11307 done -0.39 - - 3258 - 2.70 0.085 1958 -530.0 -107.1 - - 3370 - - - - - - - - 13.87 13.72 13.93
11643 756.8 -5.2 451 11655 roll -0.39 - - 3258 - 2.67 0.103 558 -524.3 -107.1 - - 3367 - - - - - - - - 14.46 13.67 14.47
11681 759.2 -6.6 456 11695 done -0.39 - - 3255 - 2.65 0.091 1967 531.7 -107.1 - - 3369 - - - - - - - - 13.71 13.62 13.78
12036 778.1 -5.5 468 12047 roll -0.39 - - 3258 - 2.72 0.106 3385 521.3 -107.1 - - 3369 - - - - - - - - 14.47 13.62 14.48
12089 781.2 -5.6 476 12100 done -0.39 - - 3255 - 2.65 0.086 1978 -530.9 -107.1 - - 3369 - - - - - - - - 13.85 13.69 13.90
12421 802.5 -6.3 485 12433 roll -0.39 - - 3258 - 2.70 0.102 545 -530.7 -107.1 - - 3368 - - - - - - - - 14.48 13.64 14.50
12465 804.6 -4.1 491 12476 done -0.39 - - 3257 - 2.67 0.090 1969 533.3 -107.1 - - 3368 - - - - - - - - 13.78 13.60 13.82
12812 821.3 -4.5 502 12824 roll -0.39 - - 3257 - 2.75 0.107 3390 516.7 -107.1 - - 3368 - - - - - - - - 14.45 13.63 14.46
12900 825.4 -4.9 516 12911 done -0.39 - - 3258 - 2.67 0.087 1964 -534.1 -107.1 - - 3368 - - - - - - - - 13.85 13.69 13.90
13018 end dive: TARGET_DEPTH_EXCEEDED
13018 begin apogee
13030 831.8 -4.7 527 13133 done -0.16 0.25 0.138 3339 324.0 - - 2258 - - 95.30 1.725 2940 -4.5 0.426 - - - - - - 13.66 13.74 12.77
13136 end apogee: CONTROL_FINISHED_OK
13136 begin climb
13142 833.4 - 528 13260 roll 0.39 0.50 0.095 3520 362.0 2.72 0.110 3664 516.9 107.1 97.43 1.719 2499 -4.5 0.432 - - - - - - 13.87 13.66 12.66
13281 831.5 5.2 553 13338 done 0.41 - - 3527 - 2.65 0.089 2241 -537.0 153.3 41.95 1.699 2314 -4.4 0.425 - - - - - - 13.94 13.87 12.68
13637 808.9 6.7 569 13649 roll 0.43 - - 3526 - 2.60 0.103 836 -540.4 153.3 - - 2312 - - - - - - - - 14.45 13.94 14.47
13689 804.8 7.5 577 13700 done 0.43 - - 3527 - 2.60 0.095 2242 540.8 153.3 - - 2311 - - - - - - - - 14.10 13.97 14.15
14028 782.5 6.4 586 14039 done 0.44 - - 3527 - - - 2247 - 153.3 - - 2310 - - - - - - - - 14.52 14.51 14.51
14322 760.9 7.3 591 14333 roll 0.44 - - 3526 - 2.70 0.107 3665 525.2 153.3 - - 2311 - - - - - - - - 14.54 13.88 14.56
14370 757.4 8.1 598 14381 done 0.44 - - 3527 - 2.62 0.090 2252 -539.3 153.3 - - 2309 - - - - - - - - 14.11 13.95 14.16
14712 734.4 6.6 608 14723 roll 0.46 - - 3525 - 2.65 0.103 823 -539.2 153.3 - - 2310 - - - - - - - - 14.51 13.83 14.51
14786 730.0 5.5 620 14797 done 0.49 - - 3527 - 2.67 0.093 2252 535.2 153.3 - - 2309 - - - - - - - - 14.07 13.90 14.12
15159 708.2 5.9 637 15171 roll 0.52 0.12 0.125 3602 625.0 2.72 0.106 3665 519.5 153.3 - - 2309 - - - - - - - - 14.15 13.81 14.15
15243 700.7 10.7 650 15254 done 0.52 0.20 0.219 3565 -185.0 2.65 0.091 2248 -534.7 153.3 - - 2311 - - - - - - - - 13.65 13.89 13.91
15613 672.4 7.3 666 15624 roll 0.52 - - 3571 - 2.62 0.101 840 -537.4 153.3 - - 2312 - - - - - - - - 14.51 13.78 14.52
15674 667.7 7.7 676 15685 done 0.52 - - 3571 - 2.65 0.093 2266 538.1 153.3 - - 2309 - - - - - - - - 14.02 13.85 14.07
15996 643.4 7.6 683 16007 done 0.52 - - 3571 - - - 2265 - 153.3 - - 2308 - - - - - - - - 14.54 14.57 14.57
16298 620.0 7.8 688 16309 roll 0.52 - - 3578 - 2.70 0.099 827 -532.6 153.3 - - 2311 - - - - - - - - 14.50 13.76 14.52
16374 613.4 8.4 701 16385 done 0.52 - - 3581 - 2.62 0.093 2245 541.2 153.3 - - 2309 - - - - - - - - 14.00 13.83 14.06
16747 583.1 8.2 717 16759 roll 0.52 - - 3581 - 2.70 0.107 3664 525.6 153.3 - - 2311 - - - - - - - - 14.50 13.72 14.51
16840 574.9 8.3 733 16852 done 0.52 - - 3581 - 2.65 0.090 2242 -536.6 153.3 - - 2308 - - - - - - - - 13.98 13.83 14.04
17200 549.1 7.4 746 17211 roll 0.52 - - 3586 - 2.65 0.103 841 -528.7 153.3 - - 2310 - - - - - - - - 14.50 13.73 14.52
17312 540.3 7.8 765 17324 done 0.52 - - 3581 - 2.62 0.093 2251 538.2 153.3 - - 2308 - - - - - - - - 13.96 13.82 14.02
17650 512.5 8.1 775 17662 roll 0.52 - - 3582 - 2.70 0.106 3664 523.3 153.3 - - 2308 - - - - - - - - 14.49 13.70 14.51
17763 503.0 8.9 794 17774 done 0.52 - - 3582 - 2.67 0.090 2253 -528.5 153.3 - - 2307 - - - - - - - - 13.95 13.79 14.04
18105 476.2 7.9 804 18116 roll 0.52 - - 3578 - 2.70 0.102 822 -530.0 153.3 - - 2307 - - - - - - - - 14.48 13.70 14.50
18187 469.6 7.4 818 18198 done 0.52 - - 3582 - 2.67 0.092 2264 540.1 153.3 - - 2307 - - - - - - - - 13.94 13.79 14.00
18553 442.4 7.7 833 18565 roll 0.52 - - 3582 - 2.67 0.106 3663 524.0 153.3 - - 2307 - - - - - - - - 14.51 13.67 14.52
18596 438.7 8.6 839 18608 done 0.52 - - 3582 - 2.65 0.087 2242 -536.2 153.3 - - 2307 - - - - - - - - 13.97 13.81 14.02
18944 414.4 7.0 850 18955 roll 0.52 - - 3583 - 2.65 0.101 842 -528.3 153.3 - - 2307 - - - - - - - - 14.47 13.67 14.48
19046 407.5 7.0 867 19057 done 0.52 - - 3588 - 2.62 0.093 2246 535.9 153.3 - - 2306 - - - - - - - - 13.95 13.78 14.01
19397 383.4 7.0 879 19409 roll 0.52 - - 3582 - 2.72 0.105 3664 521.3 153.3 - - 2308 - - - - - - - - 14.47 13.66 14.47
19480 376.2 8.5 893 19492 done 0.52 - - 3582 - 2.65 0.088 2249 -534.0 153.3 - - 2308 - - - - - - - - 13.91 13.77 13.98
19847 349.3 7.4 908 19859 roll 0.52 - - 3582 - 2.67 0.100 837 -528.8 153.3 - - 2307 - - - - - - - - 14.50 13.68 14.50
19987 338.3 7.6 933 19999 done 0.52 - - 3582 - 2.67 0.092 2265 534.8 153.3 - - 2308 - - - - - - - - 13.90 13.75 13.94
20360 311.3 7.3 949 20371 roll 0.52 - - 3583 - 2.67 0.105 3662 523.2 153.3 - - 2312 - - - - - - - - 14.48 13.67 14.50
20428 305.6 8.2 960 20440 done 0.52 - - 3582 - 2.65 0.086 2246 -534.3 153.3 - - 2308 - - - - - - - - 13.92 13.79 13.99
20734 286.6 6.0 966 20745 roll 0.55 - - 3580 - 2.65 0.099 840 -530.6 153.3 - - 2308 - - - - - - - - 14.47 13.58 14.49
20802 282.7 5.7 977 20815 done 0.58 - - 3582 - 2.62 0.091 2251 538.5 153.3 - - 2309 - - - - - - - - 13.94 13.78 13.99
21106 265.0 5.9 983 21118 roll 0.61 - - 3584 - 2.70 0.099 823 -528.9 153.3 - - 2308 - - - - - - - - 14.46 13.64 14.48
21174 260.6 6.7 994 21187 done 0.62 - - 3582 - 2.67 0.091 2264 539.7 153.3 - - 2310 - - - - - - - - 13.90 13.75 13.96
21479 240.8 6.5 1000 21491 roll 0.64 - - 3582 - 2.67 0.104 3662 523.6 153.3 - - 2309 - - - - - - - - 14.50 13.66 14.50
21572 234.9 6.8 1015 21583 done 0.65 - - 3582 - 2.67 0.086 2238 -533.3 153.3 - - 2312 - - - - - - - - 13.91 13.76 13.97
21934 214.0 5.7 1029 21945 roll 0.68 - - 3583 - 2.62 0.100 843 -532.4 153.3 - - 2310 - - - - - - - - 14.44 13.58 14.47
22076 204.1 6.6 1054 22088 done 0.70 0.10 0.120 3646 630.0 2.62 0.090 2246 535.5 153.3 - - 2309 - - - - - - - - 13.84 13.75 13.96
22445 173.0 8.4 1070 22456 roll 0.70 - - 3646 - 2.72 0.103 3673 524.6 153.3 - - 2310 - - - - - - - - 14.48 13.71 14.50
22546 163.6 10.4 1087 22557 done 0.70 0.12 0.239 3625 -175.0 2.65 0.086 2255 -535.1 153.3 - - 2314 - - - - - - - - 13.51 13.76 13.78
22893 137.5 7.4 1099 22905 roll 0.70 - - 3625 - 2.65 0.097 840 -534.0 153.3 - - 2311 - - - - - - - - 14.47 13.57 14.48
22956 132.6 8.1 1109 22968 done 0.70 - - 3625 - 2.65 0.090 2268 538.9 153.3 - - 2311 - - - - - - - - 13.93 13.77 13.99
23281 111.4 6.3 1116 23292 roll 0.72 - - 3626 - 2.72 0.097 827 -529.8 153.3 - - 2311 - - - - - - - - 14.45 13.69 14.46
23508 98.2 5.5 1158 23519 done 0.76 - - 3625 - 2.65 0.090 2256 539.2 153.3 - - 2312 - - - - - - - - 13.91 13.76 13.97
23854 82.2 4.5 1169 23915 roll 0.79 - - 3625 - 2.62 0.104 3663 537.0 214.3 47.30 0.832 2063 -5.3 0.102 - - - - - - 14.45 14.08 13.40
23961 75.0 8.7 1179 23972 done 0.79 - - 3622 - 2.60 0.088 2254 -541.9 214.3 - - 2063 - - - - - - - - 14.17 14.02 14.21
24288 57.3 4.5 1187 24349 roll 0.82 - - 3625 - 2.58 0.099 823 -554.7 276.6 47.12 0.788 1810 -5.4 0.077 - - - - - - 14.48 14.09 13.44
24420 49.6 6.5 1211 24432 done 0.84 0.12 0.120 3695 583.3 2.60 0.086 2261 553.1 276.6 - - 1810 - - - - - - - - 14.09 14.02 14.19
24764 17.4 10.1 1227 24776 roll 0.84 0.08 0.259 3671 -300.0 2.62 0.100 3663 535.1 276.6 - - 1810 - - - - - - - - 13.83 13.86 13.89
24854 7.9 9.8 1242 24865 done 0.84 - - 3674 - 2.60 0.082 2238 -548.1 276.6 - - 1809 - - - - - - - - 14.01 13.87 14.07
24907 end climb: SURFACE_DEPTH_REACHED
24907 begin surface coast
24937 end surface coast: CONTROL_FINISHED_OK
24937 begin surface
SM 1.25 - - - - -10.26 10.12 0.037 86 8.5 0.47 0.099 1957 1972.3 400.08 52.35 0.078 1309 25.0 -0.041 - - - - - -