NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 190 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 50.66 of 350.00 AH used of 24V (85.53% remains)
• Previous NAKs 6, Timeouts 0
• Surface angle -77.8 deg, depth 1.05 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 47 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
30 - - - 105 done -0.39 - - 88 - - - 1882 - -107.1 -71.22 - 3379 - - - - - - - - 14.50 13.09 14.51
112 2.8 -4.8 2 133 roll -0.39 13.82 0.363 3246 228.5 2.58 0.094 3305 551.6 -107.1 - - 3382 - - - - - - - - 14.01 14.26 14.21
213 37.9 -16.8 20 221 done -0.39 - - 3246 - 2.55 0.097 1907 -548.2 -107.1 - - 3383 - - - - - - - - 14.39 14.26 14.39
432 69.6 -13.7 32 440 roll -0.39 - - 3246 - 2.55 0.105 3306 548.6 -107.1 - - 3385 - - - - - - - - 14.59 14.28 14.60
554 84.7 -13.1 54 563 done -0.39 - - 3246 - 2.55 0.095 1889 -555.7 -107.1 - - 3386 - - - - - - - - 14.45 14.31 14.47
754 111.4 -13.2 62 762 roll -0.39 - - 3246 - 2.50 0.107 489 -560.0 -107.1 - - 3384 - - - - - - - - 14.63 14.33 14.63
863 125.5 -12.2 82 871 done -0.39 - - 3246 - 2.47 0.093 1893 568.4 -107.1 - - 3386 - - - - - - - - 14.47 14.35 14.50
1074 149.7 -12.0 92 1077 done -0.39 - - 3252 - - - 1897 - -107.1 - - 3386 - - - - - - - - 14.65 14.67 14.66
1252 171.0 -11.7 98 1261 roll -0.39 - - 3246 - 2.55 0.105 3322 558.8 -107.1 - - 3386 - - - - - - - - 14.66 14.36 14.68
1292 175.5 -11.1 104 1300 done -0.39 - - 3244 - 2.53 0.092 1905 -560.1 -107.1 - - 3385 - - - - - - - - 14.48 14.37 14.50
1511 201.7 -12.0 116 1514 done -0.39 - - 3246 - - - 1905 - -107.1 - - 3385 - - - - - - - - 14.67 14.69 14.69
1691 223.3 -11.9 122 1694 done -0.39 - - 3246 - - - 1905 - -107.1 - - 3386 - - - - - - - - 14.69 14.71 14.71
1871 243.7 -11.2 128 1878 roll -0.39 - - 3246 - 2.55 0.109 474 -561.2 -107.1 - - 3383 - - - - - - - - 14.69 14.37 14.71
1934 251.4 -12.1 139 1943 done -0.39 - - 3246 - 2.53 0.092 1900 563.6 -107.1 - - 3383 - - - - - - - - 14.52 14.41 14.54
2120 270.9 -10.6 143 2123 done -0.39 - - 3246 - - - 1899 - -107.1 - - 3384 - - - - - - - - 14.70 14.72 14.72
2419 299.6 -9.4 148 2422 done -0.39 - - 3246 - - - 1904 - -107.1 - - 3382 - - - - - - - - 14.71 14.73 14.75
2720 326.6 -9.0 153 2727 roll -0.39 - - 3247 - 2.53 0.107 3317 558.5 -107.1 - - 3381 - - - - - - - - 14.71 14.40 14.73
2758 330.0 -8.2 159 2766 done -0.39 - - 3246 - 2.55 0.096 1887 -560.8 -107.1 - - 3381 - - - - - - - - 14.53 14.40 14.56
3097 359.3 -8.7 170 3100 done -0.39 - - 3239 - - - 1887 - -107.1 - - 3376 - - - - - - - - 14.72 14.73 14.73
3398 386.3 -9.1 175 3401 done -0.39 - - 3246 - - - 1887 - -107.1 - - 3378 - - - - - - - - 14.72 14.74 14.73
3697 414.9 -9.6 180 3700 done -0.39 - - 3246 - - - 1887 - -107.1 - - 3377 - - - - - - - - 14.72 14.73 14.73
3998 443.8 -9.6 185 4001 done -0.39 - - 3246 - - - 1887 - -107.1 - - 3375 - - - - - - - - 14.72 14.74 14.73
4298 472.0 -9.4 190 4301 done -0.39 - - 3246 - - - 1887 - -107.1 - - 3377 - - - - - - - - 14.72 14.74 14.73
4597 498.8 -8.9 195 4600 done -0.39 - - 3246 - - - 1887 - -107.1 - - 3375 - - - - - - - - 14.72 14.74 14.73
4897 525.9 -9.1 200 4900 done -0.39 - - 3246 - - - 1887 - -107.1 - - 3374 - - - - - - - - 14.73 14.75 14.77
5198 552.7 -8.9 205 5205 roll -0.39 - - 3246 - 2.60 0.109 3317 550.0 -107.1 - - 3374 - - - - - - - - 14.73 14.40 14.74
5246 556.8 -8.4 213 5254 done -0.39 - - 3246 - 2.55 0.096 1895 -557.6 -107.1 - - 3375 - - - - - - - - 14.54 14.42 14.57
5575 584.8 -8.5 222 5578 done -0.39 - - 3246 - - - 1889 - -107.1 - - 3373 - - - - - - - - 14.73 14.74 14.73
5876 608.1 -7.7 227 5884 roll -0.39 - - 3246 - 2.53 0.115 490 -553.0 -107.1 - - 3372 - - - - - - - - 14.71 14.38 14.73
5934 613.2 -8.8 237 5942 done -0.39 - - 3246 - 2.53 0.097 1904 558.9 -107.1 - - 3372 - - - - - - - - 14.54 14.42 14.57
6253 637.2 -7.5 244 6257 done -0.39 - - 3246 - - - 1904 - -107.1 - - 3375 - - - - - - - - 14.71 14.73 14.73
6553 661.1 -8.0 249 6556 done -0.39 - - 3247 - - - 1904 - -107.1 - - 3372 - - - - - - - - 14.72 14.73 14.73
6853 686.1 -8.4 254 6861 roll -0.39 - - 3246 - 2.55 0.111 3319 554.9 -107.1 - - 3370 - - - - - - - - 14.72 14.38 14.73
6902 690.3 -8.5 262 6910 done -0.39 - - 3252 - 2.55 0.099 1893 -559.2 -107.1 - - 3369 - - - - - - - - 14.53 14.41 14.56
7232 721.3 -9.7 271 7235 done -0.39 - - 3246 - - - 1892 - -107.1 - - 3369 - - - - - - - - 14.71 14.71 14.71
7531 750.0 -9.5 276 7534 done -0.39 - - 3246 - - - 1897 - -107.1 - - 3368 - - - - - - - - 14.71 14.73 14.73
7831 777.1 -8.9 281 7834 done -0.39 - - 3246 - - - 1892 - -107.1 - - 3368 - - - - - - - - 14.71 14.73 14.73
8131 799.4 -7.2 286 8134 done -0.39 - - 3246 - - - 1892 - -107.1 - - 3368 - - - - - - - - 14.71 14.73 14.73
8432 818.4 -6.3 291 8435 done -0.39 - - 3246 - - - 1892 - -107.1 - - 3367 - - - - - - - - 14.71 14.73 14.73
8732 834.5 -5.3 296 8735 done -0.39 - - 3247 - - - 1892 - -107.1 - - 3365 - - - - - - - - 14.70 14.72 14.71
9031 848.8 -4.7 301 9039 roll -0.39 - - 3249 - 2.55 0.116 495 -547.8 -107.1 - - 3367 - - - - - - - - 14.71 14.35 14.73
9100 852.4 -5.4 313 9107 done -0.39 - - 3246 - 2.53 0.099 1905 557.3 -107.1 - - 3364 - - - - - - - - 14.52 14.40 14.56
9473 867.7 -4.0 330 9482 roll -0.39 - - 3246 - 2.58 0.112 3317 547.3 -107.1 - - 3364 - - - - - - - - 14.69 14.35 14.71
9544 870.6 -4.1 342 9552 done -0.39 - - 3246 - 2.55 0.100 1907 -552.9 -107.1 - - 3365 - - - - - - - - 14.50 14.37 14.53
9920 887.8 -4.7 359 9923 done -0.39 - - 3242 - - - 1907 - -107.1 - - 3363 - - - - - - - - 14.69 14.71 14.71
10213 904.5 -5.7 364 10217 done -0.39 - - 3248 - - - 1905 - -107.1 - - 3365 - - - - - - - - 14.72 14.71 14.71
10513 923.3 -6.3 369 10516 done -0.39 - - 3247 - - - 1907 - -107.1 - - 3363 - - - - - - - - 14.69 14.71 14.71
10813 944.4 -7.0 374 10816 done -0.39 - - 3246 - - - 1907 - -107.1 - - 3364 - - - - - - - - 14.69 14.71 14.71
11114 967.7 -7.9 379 11117 done -0.39 - - 3247 - - - 1907 - -107.1 - - 3364 - - - - - - - - 14.69 14.71 14.71
11408 end dive: TARGET_DEPTH_EXCEEDED
11408 begin apogee
11420 993.5 -8.7 384 11510 done -0.16 0.30 0.170 3339 306.7 - - 2248 - - 84.85 1.910 2942 -5.0 0.485 - - - - - - 14.30 13.95 13.26
11513 end apogee: CONTROL_FINISHED_OK
11513 begin climb
11518 997.5 - 385 11617 done 0.39 0.52 0.112 3516 340.4 - - 2248 - 107.1 90.12 1.884 2503 -4.9 0.484 - - - - - - 13.96 13.74 13.08
11899 982.5 5.7 392 11909 done 0.42 - - 3516 - - - 2248 - 107.1 - - 2498 - - - - - - - - 14.38 14.39 14.39
12194 963.6 6.4 397 12204 done 0.44 - - 3516 - - - 2247 - 107.1 - - 2498 - - - - - - - - 14.52 14.54 14.54
12494 945.0 6.1 402 12504 done 0.47 - - 3513 - - - 2252 - 107.1 - - 2499 - - - - - - - - 14.59 14.62 14.62
12794 926.1 6.2 407 12806 done 0.49 0.10 0.125 3582 690.0 - - 2247 - 107.1 - - 2498 - - - - - - - - 14.43 14.53 14.51
13093 898.7 9.3 412 13103 done 0.49 - - 3582 - - - 2247 - 107.1 - - 2498 - - - - - - - - 14.68 14.70 14.69
13394 870.6 9.3 417 13405 roll 0.49 - - 3582 - 2.58 0.116 3659 547.3 107.1 - - 2497 - - - - - - - - 14.69 14.38 14.71
13537 855.5 12.6 443 13549 done 0.49 0.12 0.246 3552 -250.0 2.58 0.101 2242 -549.2 107.1 - - 2496 - - - - - - - - 14.30 14.42 14.48
13900 826.4 8.1 458 13911 roll 0.49 - - 3560 - 2.50 0.113 842 -560.0 107.1 - - 2497 - - - - - - - - 14.71 14.38 14.71
13987 818.4 10.0 473 13998 done 0.49 - - 3565 - 2.50 0.099 2247 562.0 107.1 - - 2497 - - - - - - - - 14.52 14.40 14.55
14349 783.3 10.1 487 14360 done 0.49 - - 3560 - - - 2247 - 107.1 - - 2497 - - - - - - - - 14.69 14.72 14.72
14644 753.0 10.0 492 14655 roll 0.49 - - 3560 - 2.60 0.113 3680 551.2 107.1 - - 2497 - - - - - - - - 14.72 14.39 14.73
14717 745.3 11.0 504 14728 done 0.49 - - 3569 - 2.60 0.099 2236 -555.4 107.1 - - 2496 - - - - - - - - 14.53 14.41 14.61
15089 706.7 10.4 521 15100 done 0.49 - - 3570 - - - 2237 - 107.1 - - 2497 - - - - - - - - 14.73 14.74 14.74
15390 677.4 9.6 526 15401 roll 0.49 - - 3574 - 2.53 0.113 837 -553.4 107.1 - - 2496 - - - - - - - - 14.72 14.39 14.73
15456 671.1 9.2 537 15468 done 0.49 - - 3574 - 2.53 0.100 2268 565.6 107.1 - - 2497 - - - - - - - - 14.52 14.40 14.56
15763 645.0 8.4 543 15774 done 0.49 - - 3574 - - - 2267 - 107.1 - - 2496 - - - - - - - - 14.71 14.73 14.73
16062 620.9 8.0 548 16073 roll 0.49 - - 3573 - 2.55 0.112 3663 547.5 107.1 - - 2496 - - - - - - - - 14.73 14.40 14.75
16163 612.6 8.7 565 16175 done 0.49 0.10 0.261 3556 -170.0 2.55 0.098 2253 -552.9 107.1 - - 2496 - - - - - - - - 14.28 14.44 14.52
16515 586.2 7.7 577 16526 done 0.49 - - 3556 - - - 2253 - 107.1 - - 2495 - - - - - - - - 14.71 14.73 14.72
16811 562.0 8.1 582 16823 roll 0.49 - - 3556 - 2.58 0.112 3661 545.7 107.1 - - 2496 - - - - - - - - 14.71 14.40 14.75
16889 555.3 8.6 595 16900 done 0.49 - - 3558 - 2.55 0.098 2236 -558.8 107.1 - - 2496 - - - - - - - - 14.54 14.41 14.58
17257 526.0 8.0 611 17267 done 0.49 - - 3558 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.72 14.74 14.73
17556 502.2 7.9 616 17566 done 0.49 - - 3558 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.73 14.75 14.76
17856 478.4 7.9 621 17866 done 0.49 - - 3558 - - - 2237 - 107.1 - - 2494 - - - - - - - - 14.73 14.75 14.75
18156 456.0 7.4 626 18167 done 0.49 - - 3558 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.73 14.77 14.74
18457 435.5 6.8 631 18467 done 0.50 - - 3558 - - - 2236 - 107.1 - - 2498 - - - - - - - - 14.73 14.74 14.75
18757 415.5 6.6 636 18767 done 0.51 - - 3558 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.73 14.76 14.75
19056 397.4 6.0 641 19067 done 0.54 - - 3558 - - - 2236 - 107.1 - - 2494 - - - - - - - - 14.71 14.73 14.76
19358 380.5 5.6 646 19368 done 0.58 - - 3557 - - - 2236 - 107.1 - - 2494 - - - - - - - - 14.73 14.74 14.74
19657 363.4 5.8 651 19668 done 0.61 - - 3558 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.73 14.76 14.75
19956 346.0 5.8 656 19967 done 0.64 0.10 0.129 3626 680.0 - - 2236 - 107.1 - - 2496 - - - - - - - - 14.47 14.56 14.54
20256 320.4 8.8 661 20267 done 0.64 - - 3626 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.73 14.76 14.75
20556 293.0 9.2 666 20567 roll 0.64 - - 3626 - 2.62 0.110 3661 543.9 107.1 - - 2496 - - - - - - - - 14.73 14.38 14.75
20711 277.3 10.3 694 20723 done 0.64 - - 3626 - 2.53 0.097 2255 -555.7 107.1 - - 2497 - - - - - - - - 14.52 14.38 14.56
21068 245.9 8.8 707 21079 roll 0.64 - - 3627 - 2.58 0.109 3663 545.7 107.1 - - 2500 - - - - - - - - 14.72 14.38 14.73
21194 234.4 8.9 729 21206 done 0.64 0.12 0.264 3604 -191.7 2.55 0.093 2235 -560.0 107.1 - - 2497 - - - - - - - - 14.24 14.36 14.47
21401 218.6 7.8 737 21412 done 0.64 - - 3604 - - - 2236 - 107.1 - - 2496 - - - - - - - - 14.71 14.72 14.72
21577 204.3 8.0 743 21588 done 0.64 - - 3604 - - - 2235 - 107.1 - - 2497 - - - - - - - - 14.71 14.73 14.73
21757 189.3 8.3 749 21767 done 0.64 - - 3604 - - - 2236 - 107.1 - - 2497 - - - - - - - - 14.71 14.73 14.72
21938 175.6 7.4 755 21948 done 0.64 - - 3604 - - - 2236 - 107.1 - - 2497 - - - - - - - - 14.71 14.73 14.72
22117 162.8 7.1 761 22128 roll 0.64 - - 3604 - 2.62 0.109 3663 544.7 107.1 - - 2497 - - - - - - - - 14.71 14.37 14.72
22314 146.4 8.2 797 22325 done 0.64 - - 3609 - 2.58 0.093 2241 -551.2 107.1 - - 2497 - - - - - - - - 14.50 14.35 14.51
22540 130.0 7.2 809 22551 roll 0.64 - - 3620 - 2.53 0.108 838 -554.5 107.1 - - 2498 - - - - - - - - 14.69 14.38 14.71
22572 127.3 7.2 813 22583 done 0.64 - - 3622 - 2.47 0.095 2247 570.4 107.1 - - 2498 - - - - - - - - 14.52 14.38 14.54
22774 111.5 7.7 821 22784 done 0.64 - - 3620 - - - 2246 - 107.1 - - 2498 - - - - - - - - 14.69 14.69 14.71
22955 100.0 5.9 827 22966 done 0.66 - - 3620 - - - 2246 - 107.1 - - 2498 - - - - - - - - 14.69 14.71 14.71
23134 91.0 5.0 833 23187 roll 0.69 - - 3620 - 2.60 0.108 3660 543.8 158.2 37.83 0.845 2289 -5.5 0.112 - - - - - - 14.71 14.33 13.96
23424 61.1 5.6 888 23435 done 0.72 - - 3626 - 2.55 0.094 2238 -557.6 158.2 - - 2292 - - - - - - - - 14.45 14.33 14.47
23646 52.0 4.1 899 23711 roll 0.76 - - 3626 - 2.67 0.107 3660 532.6 227.9 51.38 0.783 2005 -5.6 0.070 - - - - - - 14.63 14.22 13.90
23770 41.1 11.3 918 23782 done 0.76 - - 3635 - 2.55 0.093 2254 -551.4 227.9 - - 2004 - - - - - - - - 14.37 14.26 14.40
23997 22.9 6.9 930 24007 done 0.76 - - 3635 - - - 2254 - 227.9 - - 2005 - - - - - - - - 14.57 14.59 14.59
24174 17.3 2.4 936 24237 roll 0.81 - - 3635 - 2.55 0.104 822 -561.6 336.4 49.92 0.161 1569 -8.7 0.176 - - - - - - 14.61 14.30 14.23
24302 11.5 6.8 959 24314 done 0.82 - - 3636 - 2.53 0.093 2249 564.0 336.4 - - 1570 - - - - - - - - 14.42 14.31 14.45
24451 end climb: SURFACE_DEPTH_REACHED
24451 begin surface coast
24520 end surface coast: CONTROL_FINISHED_OK
24520 begin surface
SM 1.13 - - - - -10.25 9.95 0.052 95 9.5 0.65 0.100 1889 1321.5 400.08 26.95 0.086 1309 48.6 -0.065 - - - - - -