NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 647 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 186.17 of 350.00 AH used of 24V (46.81% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -70.8 deg, depth 0.83 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 51 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
31 - - - 115 done -0.39 - - 73 - - - 1963 - -107.1 -76.78 - 3379 - - - - - - - - 14.47 12.48 14.35
122 1.6 -2.0 2 151 roll -0.39 14.52 0.358 3258 219.4 2.60 0.096 557 -540.8 -107.1 - - 3387 - - - - - - - - 13.64 13.93 14.02
241 37.1 -12.0 23 252 done -0.39 - - 3257 - 2.60 0.089 1983 548.5 -107.1 - - 3382 - - - - - - - - 14.04 13.89 14.09
573 69.3 -10.0 33 585 roll -0.39 - - 3258 - 2.60 0.100 3380 537.3 -107.1 - - 3381 - - - - - - - - 14.42 13.76 14.43
689 80.3 -9.0 53 700 done -0.39 - - 3258 - 2.60 0.084 1977 -539.6 -107.1 - - 3383 - - - - - - - - 13.98 13.83 14.04
1023 107.3 -7.7 62 1033 done -0.39 - - 3258 - - - 1972 - -107.1 - - 3380 - - - - - - - - 14.47 14.48 14.48
1322 130.4 -7.7 67 1333 done -0.39 - - 3258 - - - 1976 - -107.1 - - 3384 - - - - - - - - 14.52 14.54 14.54
1621 154.9 -8.2 72 1632 done -0.39 - - 3254 - - - 1973 - -107.1 - - 3384 - - - - - - - - 14.46 14.50 14.52
1923 176.4 -7.1 77 1933 done -0.39 - - 3258 - - - 1972 - -107.1 - - 3384 - - - - - - - - 14.50 14.52 14.52
2221 197.2 -7.0 82 2233 roll -0.39 - - 3258 - 2.67 0.096 543 -535.2 -107.1 - - 3385 - - - - - - - - 14.51 13.64 14.52
2250 199.2 -6.9 85 2261 done -0.39 - - 3258 - 2.62 0.084 1965 542.7 -107.1 - - 3383 - - - - - - - - 13.93 13.77 13.99
2612 222.5 -6.3 99 2623 done -0.39 - - 3258 - - - 1965 - -107.1 - - 3383 - - - - - - - - 14.45 14.45 14.47
2908 240.4 -6.0 104 2919 done -0.39 - - 3257 - - - 1965 - -107.1 - - 3383 - - - - - - - - 14.50 14.52 14.52
3207 259.2 -6.3 109 3218 done -0.39 - - 3258 - - - 1965 - -107.1 - - 3382 - - - - - - - - 14.52 14.54 14.54
3507 278.3 -6.4 114 3519 roll -0.39 - - 3258 - 2.67 0.098 550 -530.0 -107.1 - - 3380 - - - - - - - - 14.47 13.69 14.50
3556 281.6 -7.2 121 3567 done -0.39 - - 3258 - 2.62 0.086 1969 541.6 -107.1 - - 3382 - - - - - - - - 13.91 13.76 13.97
3894 303.1 -6.4 131 3905 roll -0.39 - - 3258 - 2.70 0.101 3386 524.8 -107.1 - - 3381 - - - - - - - - 14.47 13.64 14.49
3941 306.2 -6.5 138 3953 done -0.39 - - 3258 - 2.65 0.083 1959 -538.5 -107.1 - - 3381 - - - - - - - - 13.90 13.76 13.97
4279 328.4 -6.6 148 4290 done -0.39 - - 3258 - - - 1954 - -107.1 - - 3380 - - - - - - - - 14.47 14.50 14.49
4580 347.2 -6.2 153 4591 roll -0.39 - - 3258 - 2.62 0.097 559 -532.4 -107.1 - - 3380 - - - - - - - - 14.47 13.70 14.49
4612 349.3 -6.5 157 4624 done -0.39 - - 3258 - 2.65 0.086 1984 537.7 -107.1 - - 3380 - - - - - - - - 13.88 13.73 13.93
4969 371.7 -6.4 170 4981 roll -0.39 - - 3258 - 2.65 0.103 3377 525.7 -107.1 - - 3379 - - - - - - - - 14.47 13.69 14.49
5012 374.7 -6.5 176 5023 done -0.39 - - 3258 - 2.62 0.083 1957 -542.0 -107.1 - - 3380 - - - - - - - - 13.90 13.75 13.95
5360 396.5 -6.3 187 5370 done -0.39 - - 3258 - - - 1957 - -107.1 - - 3379 - - - - - - - - 14.45 14.47 14.47
5656 414.2 -5.9 192 5666 done -0.39 - - 3258 - - - 1957 - -107.1 - - 3379 - - - - - - - - 14.48 14.50 14.50
5955 431.2 -5.6 197 5965 done -0.39 - - 3258 - - - 1957 - -107.1 - - 3378 - - - - - - - - 14.46 14.48 14.48
6255 450.0 -6.4 202 6265 done -0.39 - - 3258 - - - 1957 - -107.1 - - 3378 - - - - - - - - 14.50 14.52 14.52
6557 470.5 -6.9 207 6567 done -0.39 - - 3258 - - - 1956 - -107.1 - - 3378 - - - - - - - - 14.48 14.50 14.50
6855 490.3 -6.6 212 6866 roll -0.39 - - 3258 - 2.75 0.105 3378 517.1 -107.1 - - 3378 - - - - - - - - 14.46 13.71 14.47
6886 492.3 -6.1 216 6897 done -0.39 - - 3258 - 2.62 0.086 1977 -534.7 -107.1 - - 3377 - - - - - - - - 13.88 13.71 13.93
7245 512.7 -5.7 229 7255 done -0.39 - - 3258 - - - 1971 - -107.1 - - 3377 - - - - - - - - 14.41 14.43 14.42
7539 528.3 -5.1 234 7551 roll -0.39 - - 3258 - 2.67 0.098 554 -530.7 -107.1 - - 3377 - - - - - - - - 14.49 13.73 14.50
7568 529.8 -5.0 237 7579 done -0.39 - - 3258 - 2.65 0.086 1967 533.2 -107.1 - - 3376 - - - - - - - - 13.90 13.74 13.95
7931 547.7 -5.0 251 7942 roll -0.39 - - 3258 - 2.70 0.104 3386 525.6 -107.1 - - 3376 - - - - - - - - 14.42 13.69 14.44
7989 550.9 -5.4 260 8000 done -0.39 - - 3258 - 2.67 0.083 1958 -534.8 -107.1 - - 3376 - - - - - - - - 13.90 13.76 13.96
8316 569.4 -5.7 268 8327 done -0.39 - - 3256 - - - 1957 - -107.1 - - 3376 - - - - - - - - 14.48 14.50 14.50
8617 587.6 -6.1 273 8628 done -0.39 - - 3255 - - - 1957 - -107.1 - - 3375 - - - - - - - - 14.46 14.48 14.48
8916 605.6 -6.0 278 8927 done -0.39 - - 3258 - - - 1957 - -107.1 - - 3374 - - - - - - - - 14.48 14.50 14.50
9217 622.6 -5.6 283 9227 done -0.39 - - 3262 - - - 1957 - -107.1 - - 3374 - - - - - - - - 14.47 14.50 14.47
9517 639.7 -5.7 288 9528 done -0.39 - - 3263 - - - 1957 - -107.1 - - 3374 - - - - - - - - 14.42 14.44 14.45
9816 656.1 -5.5 293 9827 roll -0.39 - - 3257 - 2.78 0.106 3387 514.4 -107.1 - - 3374 - - - - - - - - 14.44 13.62 14.45
9864 658.6 -5.3 300 9875 done -0.39 - - 3264 - 2.65 0.086 1972 -534.0 -107.1 - - 3373 - - - - - - - - 13.88 13.72 13.93
10206 676.1 -5.1 310 10217 done -0.39 - - 3258 - - - 1972 - -107.1 - - 3371 - - - - - - - - 14.43 14.47 14.47
10503 691.9 -5.3 315 10513 done -0.39 - - 3260 - - - 1972 - -107.1 - - 3370 - - - - - - - - 14.47 14.48 14.47
10803 707.7 -5.3 320 10814 done -0.39 - - 3258 - - - 1972 - -107.1 - - 3372 - - - - - - - - 14.45 14.47 14.47
11102 722.2 -4.8 325 11113 done -0.39 - - 3258 - - - 1972 - -107.1 - - 3372 - - - - - - - - 14.48 14.50 14.49
11403 736.2 -4.7 330 11415 roll -0.39 - - 3258 - 2.75 0.106 3386 514.2 -107.1 - - 3372 - - - - - - - - 14.45 13.70 14.47
11436 737.9 -4.9 334 11449 done -0.39 - - 3258 - 2.67 0.086 1961 -533.7 -107.1 - - 3371 - - - - - - - - 13.77 13.65 13.82
11797 754.8 -4.8 347 11807 done -0.39 - - 3258 - - - 1961 - -107.1 - - 3371 - - - - - - - - 14.40 14.42 14.42
12091 770.1 -5.2 352 12102 roll -0.39 - - 3258 - 2.65 0.102 562 -527.9 -107.1 - - 3372 - - - - - - - - 14.45 13.71 14.47
12132 772.7 -6.2 358 12144 done -0.39 - - 3258 - 2.65 0.090 1976 533.6 -107.1 - - 3371 - - - - - - - - 13.86 13.71 13.94
12476 791.5 -5.5 369 12486 done -0.39 - - 3258 - - - 1979 - -107.1 - - 3370 - - - - - - - - 14.46 14.48 14.47
12775 807.7 -5.5 374 12786 done -0.39 - - 3258 - - - 1979 - -107.1 - - 3370 - - - - - - - - 14.47 14.48 14.48
13078 823.5 -5.1 379 13088 done -0.39 - - 3258 - - - 1979 - -107.1 - - 3373 - - - - - - - - 14.45 14.46 14.46
13375 840.3 -5.6 384 13387 roll -0.39 - - 3257 - 2.72 0.107 3390 518.8 -107.1 - - 3372 - - - - - - - - 14.42 13.69 14.42
13404 841.7 -5.7 387 13415 done -0.39 - - 3258 - 2.67 0.087 1975 -530.0 -107.1 - - 3370 - - - - - - - - 13.85 13.70 13.91
13767 859.6 -5.0 401 13777 done -0.39 - - 3258 - - - 1974 - -107.1 - - 3369 - - - - - - - - 14.38 14.39 14.39
14064 873.5 -4.5 406 14074 done -0.39 - - 3258 - - - 1974 - -107.1 - - 3369 - - - - - - - - 14.42 14.44 14.44
14363 887.4 -4.7 411 14373 done -0.39 - - 3259 - - - 1975 - -107.1 - - 3369 - - - - - - - - 14.45 14.47 14.45
14662 902.6 -5.1 416 14673 roll -0.39 - - 3258 - 2.75 0.106 3388 513.8 -107.1 - - 3369 - - - - - - - - 14.43 13.69 14.43
14707 904.8 -1.8 422 14718 done -0.39 - - 3258 - 2.67 0.086 1968 -531.8 -107.1 - - 3368 - - - - - - - - 13.86 13.72 13.92
15055 922.7 -5.1 433 15065 done -0.39 - - 3259 - - - 1968 - -107.1 - - 3374 - - - - - - - - 14.41 14.43 14.43
15352 935.8 -4.2 438 15364 roll -0.39 - - 3258 - 2.78 0.106 3390 511.5 -107.1 - - 3368 - - - - - - - - 14.38 13.69 14.40
15384 937.1 -4.1 442 15396 done -0.39 - - 3258 - 2.70 0.088 1961 -529.3 -107.1 - - 3368 - - - - - - - - 13.85 13.71 13.92
15744 952.0 -4.2 455 15756 roll -0.39 - - 3264 - 2.75 0.105 3383 517.1 -107.1 - - 3368 - - - - - - - - 14.39 13.68 14.41
15787 954.4 -2.5 461 15799 done -0.39 - - 3257 - 2.67 0.089 1975 -527.3 -107.1 - - 3367 - - - - - - - - 13.87 13.71 13.92
16136 972.1 -5.2 472 16147 done -0.39 - - 3258 - - - 1971 - -107.1 - - 3368 - - - - - - - - 14.35 14.37 14.36
16430 986.7 -4.8 477 16441 done -0.39 - - 3258 - - - 1971 - -107.1 - - 3365 - - - - - - - - 14.44 14.45 14.45
16545 end dive: TARGET_DEPTH_EXCEEDED
16546 begin apogee
16557 992.3 -4.7 479 16663 done -0.16 0.25 0.136 3338 320.0 - - 2259 - - 97.97 1.917 2943 -4.3 0.438 - - - - - - 13.55 13.69 12.70
16666 end apogee: CONTROL_FINISHED_OK
16666 begin climb
16672 994.7 - 480 16795 roll 0.39 0.50 0.086 3521 366.0 2.80 0.109 3664 501.8 107.1 101.25 1.906 2500 -4.4 0.449 - - - - - - 13.81 13.54 12.50
16843 991.2 5.8 511 16854 done 0.42 - - 3527 - 2.67 0.091 2235 -535.2 107.1 - - 2503 - - - - - - - - 13.95 13.83 14.00
17192 972.4 5.5 522 17203 roll 0.46 - - 3530 - 2.58 0.100 825 -546.5 107.1 - - 2498 - - - - - - - - 14.46 13.97 14.48
17255 968.5 5.6 532 17266 done 0.49 - - 3527 - 2.62 0.092 2258 546.9 107.1 - - 2499 - - - - - - - - 14.15 14.01 14.19
17578 950.6 5.6 539 17590 roll 0.53 0.08 0.152 3592 812.5 2.65 0.106 3664 530.6 107.1 - - 2499 - - - - - - - - 14.12 13.92 14.12
17673 942.7 9.5 554 17685 done 0.53 0.15 0.230 3562 -200.0 2.60 0.090 2255 -541.9 107.1 - - 2499 - - - - - - - - 13.77 13.98 14.03
18031 915.3 7.3 568 18043 roll 0.53 - - 3562 - 2.67 0.106 3664 527.7 107.1 - - 2499 - - - - - - - - 14.52 13.89 14.52
18109 908.7 8.7 581 18120 done 0.53 - - 3570 - 2.62 0.088 2236 -545.0 107.1 - - 2498 - - - - - - - - 14.12 13.96 14.18
18478 883.0 6.8 597 18488 done 0.53 - - 3570 - - - 2236 - 107.1 - - 2499 - - - - - - - - 14.50 14.52 14.52
18776 862.5 6.9 602 18788 roll 0.53 - - 3570 - 2.60 0.100 842 -536.2 107.1 - - 2501 - - - - - - - - 14.52 13.85 14.54
18843 857.4 7.1 613 18855 done 0.53 - - 3576 - 2.60 0.091 2252 542.3 107.1 - - 2497 - - - - - - - - 14.09 13.93 14.14
19151 835.0 7.4 619 19162 roll 0.53 - - 3570 - 2.70 0.106 3665 523.3 107.1 - - 2497 - - - - - - - - 14.47 13.81 14.49
19308 821.6 8.8 647 19320 done 0.53 - - 3577 - 2.62 0.090 2254 -538.5 107.1 - - 2498 - - - - - - - - 14.04 13.88 14.11
19667 795.2 7.4 660 19678 roll 0.53 - - 3582 - 2.65 0.100 840 -533.6 107.1 - - 2498 - - - - - - - - 14.44 13.80 14.45
19913 775.9 8.2 706 19925 done 0.53 - - 3582 - 2.65 0.092 2266 538.1 107.1 - - 2498 - - - - - - - - 14.00 13.85 14.04
20236 749.9 8.0 713 20248 roll 0.53 - - 3583 - 2.70 0.099 834 -530.4 107.1 - - 2497 - - - - - - - - 14.47 13.76 14.48
20304 744.6 7.8 724 20316 done 0.53 - - 3582 - 2.62 0.092 2245 538.5 107.1 - - 2498 - - - - - - - - 14.02 13.86 14.08
20609 722.4 7.2 730 20621 roll 0.53 - - 3583 - 2.72 0.105 3665 522.1 107.1 - - 2496 - - - - - - - - 14.46 13.76 14.47
20658 718.9 7.8 737 20669 done 0.53 - - 3583 - 2.65 0.089 2237 -538.9 107.1 - - 2497 - - - - - - - - 14.02 13.87 14.07
21001 696.5 6.5 747 21012 roll 0.54 - - 3586 - 2.60 0.100 850 -533.5 107.1 - - 2497 - - - - - - - - 14.43 13.72 14.44
21117 688.4 6.7 767 21128 done 0.56 - - 3587 - 2.65 0.092 2262 532.8 107.1 - - 2499 - - - - - - - - 13.97 13.81 14.02
21454 666.2 6.7 776 21465 done 0.57 - - 3582 - - - 2266 - 107.1 - - 2501 - - - - - - - - 14.46 14.47 14.47
21751 646.4 6.6 781 21761 done 0.58 - - 3586 - - - 2265 - 107.1 - - 2497 - - - - - - - - 14.44 14.44 14.48
22049 625.3 7.0 786 22060 done 0.58 - - 3586 - - - 2266 - 107.1 - - 2497 - - - - - - - - 14.49 14.50 14.50
22351 606.5 6.1 791 22363 roll 0.61 - - 3587 - 2.70 0.105 3661 516.7 107.1 - - 2497 - - - - - - - - 14.48 13.73 14.47
22404 603.0 7.0 799 22415 done 0.61 - - 3595 - 2.62 0.086 2256 -536.3 107.1 - - 2498 - - - - - - - - 13.97 13.81 14.02
22742 581.0 6.7 808 22753 roll 0.62 - - 3595 - 2.65 0.099 842 -533.6 107.1 - - 2497 - - - - - - - - 14.44 13.71 14.45
22811 575.9 6.8 819 22823 done 0.63 - - 3596 - 2.62 0.090 2245 535.5 107.1 - - 2498 - - - - - - - - 13.95 13.80 14.01
23116 555.9 6.5 825 23127 roll 0.65 - - 3596 - 2.72 0.103 3665 522.1 107.1 - - 2501 - - - - - - - - 14.47 13.72 14.48
23184 550.9 7.5 836 23196 done 0.65 - - 3600 - 2.67 0.087 2254 -528.5 107.1 - - 2498 - - - - - - - - 13.95 13.81 14.00
23489 530.8 6.5 842 23501 roll 0.66 - - 3609 - 2.65 0.098 833 -536.2 107.1 - - 2495 - - - - - - - - 14.44 13.71 14.45
23557 526.1 7.1 853 23570 done 0.66 - - 3609 - 2.67 0.091 2269 537.8 107.1 - - 2498 - - - - - - - - 13.93 13.77 13.98
23863 505.4 6.8 859 23873 done 0.68 - - 3609 - - - 2265 - 107.1 - - 2501 - - - - - - - - 14.46 14.50 14.46
24164 485.5 6.7 864 24174 done 0.69 - - 3609 - - - 2265 - 107.1 - - 2498 - - - - - - - - 14.42 14.43 14.43
24462 465.1 6.8 869 24472 done 0.69 - - 3609 - - - 2265 - 107.1 - - 2498 - - - - - - - - 14.46 14.47 14.47
24763 444.1 7.0 874 24774 done 0.69 - - 3609 - - - 2265 - 107.1 - - 2498 - - - - - - - - 14.46 14.48 14.47
25063 424.8 6.4 879 25073 done 0.71 - - 3614 - - - 2267 - 107.1 - - 2498 - - - - - - - - 14.45 14.49 14.45
25362 408.4 5.4 884 25374 roll 0.75 - - 3620 - 2.70 0.096 831 -531.9 107.1 - - 2498 - - - - - - - - 14.46 13.74 14.47
25406 406.0 6.0 890 25418 done 0.77 - - 3620 - 2.65 0.090 2244 533.2 107.1 - - 2498 - - - - - - - - 13.95 13.79 14.00
25754 385.9 5.9 901 25765 roll 0.80 - - 3618 - 2.72 0.103 3664 522.1 107.1 - - 2501 - - - - - - - - 14.42 13.71 14.45
25843 380.1 6.5 915 25855 done 0.82 0.12 0.128 3682 533.3 2.70 0.087 2233 -530.0 107.1 - - 2498 - - - - - - - - 13.85 13.74 13.97
26206 352.8 7.5 930 26218 roll 0.82 - - 3682 - 2.78 0.102 3665 515.1 107.1 - - 2498 - - - - - - - - 14.44 13.71 14.47
26294 345.2 9.2 945 26306 done 0.82 0.12 0.263 3664 -150.0 2.65 0.084 2245 -535.8 107.1 - - 2499 - - - - - - - - 13.47 13.78 13.78
26654 319.4 7.1 959 26665 done 0.82 - - 3665 - - - 2244 - 107.1 - - 2497 - - - - - - - - 14.43 14.45 14.45
26953 297.6 7.3 964 26963 done 0.82 - - 3663 - - - 2245 - 107.1 - - 2498 - - - - - - - - 14.42 14.43 14.43
27253 275.1 7.5 969 27264 roll 0.82 - - 3664 - 2.75 0.103 3663 515.6 107.1 - - 2498 - - - - - - - - 14.45 13.70 14.47
27355 267.2 8.2 986 27367 done 0.82 - - 3668 - 2.67 0.086 2245 -531.1 107.1 - - 2499 - - - - - - - - 13.83 13.69 13.88
27708 241.5 7.2 998 27718 done 0.82 - - 3672 - - - 2246 - 107.1 - - 2498 - - - - - - - - 14.40 14.45 14.42
28005 220.4 6.8 1003 28017 roll 0.83 - - 3671 - 2.78 0.101 3668 511.5 107.1 - - 2500 - - - - - - - - 14.43 13.73 14.46
28081 214.9 7.3 1016 28093 done 0.83 - - 3680 - 2.67 0.087 2236 -536.3 107.1 - - 2500 - - - - - - - - 13.92 13.78 13.97
28450 190.4 6.7 1032 28461 roll 0.84 - - 3695 - 2.60 0.095 843 -535.8 107.1 - - 2500 - - - - - - - - 14.47 13.71 14.46
28566 183.1 6.0 1052 28577 done 0.87 - - 3690 - 2.65 0.089 2266 537.0 107.1 - - 2501 - - - - - - - - 13.85 13.70 13.93
28903 162.5 6.2 1061 28914 roll 0.89 - - 3691 - 2.67 0.101 3665 524.0 107.1 - - 2501 - - - - - - - - 14.40 13.71 14.42
29151 147.0 5.7 1107 29162 done 0.93 - - 3698 - 2.62 0.083 2254 -538.5 107.1 - - 2501 - - - - - - - - 13.85 13.71 13.95
29475 131.3 4.7 1114 29532 done 0.96 - - 3699 - - - 2254 - 163.6 44.50 0.903 2275 -5.1 0.145 - - - - - - 14.42 14.05 13.38
29833 97.3 10.6 1120 29844 done 0.96 - - 3698 - - - 2254 - 163.6 - - 2272 - - - - - - - - 14.46 14.48 14.47
30133 69.0 9.4 1125 30144 roll 0.96 - - 3699 - 2.67 0.100 3664 528.1 163.6 - - 2272 - - - - - - - - 14.51 13.87 14.50
30380 56.9 -1.1 1171 30535 done 1.05 - - 3705 - 2.60 0.082 2247 -545.0 348.3 137.38 0.785 1524 -5.4 0.078 - - - - - - 14.07 13.93 13.30
30847 end climb: SURFACE_DEPTH_REACHED
30847 begin surface coast
30878 end surface coast: CONTROL_FINISHED_OK
30878 begin surface
SM 1.09 - - - - -10.26 10.27 0.040 86 8.3 0.52 0.096 1960 -13965.4 400.08 21.27 0.080 1311 61.6 -0.086 - - - - - -