NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 260 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 70.84 of 350.00 AH used of 24V (79.76% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -78.1 deg, depth 1.03 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• No surface pump (final VBD was 402.54, SM_CC=400)
• GPS1 time: 38 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
25 end surface: CONTROL_FINISHED_OK
25 begin dive
30 - - - 107 done -0.39 - - 81 - - - 1882 - -107.1 -72.68 - 3379 - - - - - - - - 14.46 12.93 14.46
114 2.2 -3.2 2 135 roll -0.39 14.02 0.365 3257 226.5 2.53 0.098 489 -550.6 -107.1 - - 3382 - - - - - - - - 13.94 14.21 14.14
243 46.5 -15.5 26 252 done -0.39 - - 3258 - 2.55 0.093 1897 552.2 -107.1 - - 3382 - - - - - - - - 14.30 14.17 14.33
464 73.7 -11.1 38 473 roll -0.39 - - 3258 - 2.58 0.104 3321 551.9 -107.1 - - 3385 - - - - - - - - 14.54 14.18 14.54
573 85.0 -9.5 58 582 done -0.39 - - 3258 - 2.55 0.089 1905 -555.3 -107.1 - - 3385 - - - - - - - - 14.35 14.23 14.40
783 105.5 -9.6 68 791 roll -0.39 - - 3257 - 2.55 0.103 485 -556.9 -107.1 - - 3386 - - - - - - - - 14.57 14.22 14.59
861 113.8 -9.9 82 870 done -0.39 - - 3258 - 2.53 0.089 1913 564.4 -107.1 - - 3385 - - - - - - - - 14.38 14.27 14.42
1071 134.2 -9.9 92 1074 done -0.39 - - 3258 - - - 1912 - -107.1 - - 3387 - - - - - - - - 14.60 14.62 14.62
1251 151.9 -9.9 98 1254 done -0.39 - - 3258 - - - 1913 - -107.1 - - 3383 - - - - - - - - 14.61 14.62 14.62
1431 169.0 -9.4 104 1438 roll -0.39 - - 3258 - 2.53 0.105 3315 554.2 -107.1 - - 3385 - - - - - - - - 14.62 14.26 14.63
1509 176.4 -9.4 118 1517 done -0.39 - - 3257 - 2.55 0.092 1889 -559.2 -107.1 - - 3385 - - - - - - - - 14.40 14.28 14.45
1719 195.8 -9.4 128 1726 roll -0.39 - - 3257 - 2.50 0.106 492 -558.8 -107.1 - - 3384 - - - - - - - - 14.62 14.24 14.64
1771 201.3 -10.4 137 1779 done -0.39 - - 3257 - 2.47 0.090 1896 568.4 -107.1 - - 3384 - - - - - - - - 14.40 14.28 14.44
1976 221.0 -9.8 146 1984 roll -0.39 - - 3258 - 2.55 0.103 3310 554.5 -107.1 - - 3383 - - - - - - - - 14.63 14.27 14.64
2034 226.6 -9.2 156 2042 done -0.39 - - 3258 - 2.53 0.092 1910 -553.4 -107.1 - - 3383 - - - - - - - - 14.42 14.28 14.45
2233 245.1 -9.3 164 2241 roll -0.39 - - 3258 - 2.58 0.106 3318 545.7 -107.1 - - 3382 - - - - - - - - 14.63 14.23 14.65
2282 249.6 -9.1 172 2290 done -0.39 - - 3263 - 2.55 0.091 1888 -560.8 -107.1 - - 3382 - - - - - - - - 14.40 14.28 14.45
2491 268.7 -9.2 179 2495 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3381 - - - - - - - - 14.63 14.65 14.64
2791 296.0 -9.1 184 2798 roll -0.39 - - 3258 - 2.60 0.105 3312 547.7 -107.1 - - 3380 - - - - - - - - 14.64 14.27 14.66
2855 301.4 -8.2 195 2863 done -0.39 - - 3258 - 2.53 0.093 1905 -556.1 -107.1 - - 3380 - - - - - - - - 14.45 14.30 14.46
3159 326.8 -8.3 201 3162 done -0.39 - - 3258 - - - 1905 - -107.1 - - 3380 - - - - - - - - 14.64 14.67 14.67
3460 349.9 -7.6 206 3468 roll -0.39 - - 3258 - 2.58 0.106 3314 546.1 -107.1 - - 3378 - - - - - - - - 14.66 14.27 14.68
3503 353.1 -7.3 213 3511 done -0.39 - - 3258 - 2.55 0.095 1901 -554.1 -107.1 - - 3378 - - - - - - - - 14.44 14.31 14.47
3838 376.0 -6.8 223 3841 done -0.39 - - 3263 - - - 1904 - -107.1 - - 3377 - - - - - - - - 14.65 14.68 14.68
4138 394.4 -6.1 228 4141 done -0.39 - - 3258 - - - 1899 - -107.1 - - 3376 - - - - - - - - 14.66 14.68 14.68
4437 413.4 -6.4 233 4445 roll -0.39 - - 3258 - 2.60 0.106 3304 540.4 -107.1 - - 3375 - - - - - - - - 14.64 14.26 14.67
4540 420.3 -6.6 252 4548 done -0.39 - - 3258 - 2.55 0.097 1886 -556.1 -107.1 - - 3375 - - - - - - - - 14.40 14.28 14.45
4875 445.1 -7.6 262 4878 done -0.39 - - 3258 - - - 1889 - -107.1 - - 3375 - - - - - - - - 14.68 14.68 14.67
5175 470.0 -8.3 267 5178 done -0.39 - - 3257 - - - 1889 - -107.1 - - 3372 - - - - - - - - 14.65 14.66 14.66
5475 496.2 -8.8 272 5482 roll -0.39 - - 3257 - 2.60 0.106 3308 545.8 -107.1 - - 3376 - - - - - - - - 14.67 14.25 14.66
5528 501.0 -8.7 281 5535 done -0.39 - - 3258 - 2.53 0.096 1907 -553.8 -107.1 - - 3373 - - - - - - - - 14.41 14.26 14.44
5851 529.0 -8.6 289 5859 roll -0.39 - - 3258 - 2.58 0.109 477 -554.3 -107.1 - - 3372 - - - - - - - - 14.64 14.22 14.66
5910 534.2 -9.1 299 5918 done -0.39 - - 3258 - 2.55 0.093 1898 557.3 -107.1 - - 3372 - - - - - - - - 14.40 14.26 14.45
6229 558.6 -7.5 306 6237 roll -0.39 - - 3258 - 2.58 0.107 3321 551.6 -107.1 - - 3370 - - - - - - - - 14.66 14.23 14.67
6312 564.3 -6.7 321 6320 done -0.39 - - 3257 - 2.58 0.095 1891 -554.3 -107.1 - - 3371 - - - - - - - - 14.40 14.28 14.43
6667 589.1 -7.2 335 6674 roll -0.39 - - 3258 - 2.53 0.109 495 -551.8 -107.1 - - 3370 - - - - - - - - 14.64 14.20 14.65
6775 598.1 -8.1 355 6783 done -0.39 - - 3258 - 2.53 0.093 1906 557.7 -107.1 - - 3370 - - - - - - - - 14.40 14.30 14.43
7104 621.0 -6.9 364 7112 roll -0.39 - - 3258 - 2.58 0.107 3319 547.7 -107.1 - - 3371 - - - - - - - - 14.65 14.23 14.66
7182 626.3 -6.6 378 7190 done -0.39 - - 3254 - 2.58 0.098 1905 -548.1 -107.1 - - 3370 - - - - - - - - 14.40 14.26 14.44
7542 650.7 -6.8 393 7545 done -0.39 - - 3259 - - - 1910 - -107.1 - - 3370 - - - - - - - - 14.64 14.66 14.66
7841 671.5 -7.0 398 7845 done -0.39 - - 3257 - - - 1905 - -107.1 - - 3369 - - - - - - - - 14.63 14.66 14.65
8142 691.1 -6.5 403 8150 roll -0.39 - - 3258 - 2.62 0.110 3321 540.5 -107.1 - - 3368 - - - - - - - - 14.65 14.23 14.66
8221 696.0 -5.9 417 8228 done -0.39 - - 3258 - 2.58 0.096 1892 -553.9 -107.1 - - 3368 - - - - - - - - 14.41 14.25 14.42
8580 718.6 -6.5 432 8582 done -0.39 - - 3258 - - - 1891 - -107.1 - - 3368 - - - - - - - - 14.64 14.66 14.66
8880 739.6 -7.0 437 8883 done -0.39 - - 3258 - - - 1891 - -107.1 - - 3367 - - - - - - - - 14.66 14.66 14.66
9180 761.5 -7.3 442 9182 done -0.39 - - 3258 - - - 1891 - -107.1 - - 3367 - - - - - - - - 14.63 14.65 14.65
9480 785.4 -8.0 447 9488 roll -0.39 - - 3258 - 2.65 0.110 3317 538.1 -107.1 - - 3366 - - - - - - - - 14.64 14.21 14.66
9594 794.3 -7.8 468 9601 done -0.39 - - 3255 - 2.58 0.098 1905 -547.3 -107.1 - - 3368 - - - - - - - - 14.37 14.23 14.41
9918 819.2 -7.9 476 9921 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3365 - - - - - - - - 14.64 14.66 14.64
10218 842.1 -7.6 481 10221 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3366 - - - - - - - - 14.62 14.64 14.64
10518 863.8 -7.2 486 10522 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3366 - - - - - - - - 14.62 14.64 14.66
10818 884.1 -6.7 491 10826 roll -0.39 - - 3257 - 2.60 0.108 3316 541.9 -107.1 - - 3365 - - - - - - - - 14.62 14.21 14.64
10876 887.9 -6.2 501 10884 done -0.39 - - 3263 - 2.60 0.099 1890 -548.5 -107.1 - - 3364 - - - - - - - - 14.37 14.23 14.42
11196 907.3 -5.8 508 11203 roll -0.39 - - 3258 - 2.55 0.112 495 -547.1 -107.1 - - 3364 - - - - - - - - 14.62 14.18 14.62
11254 911.3 -6.9 518 11263 done -0.39 - - 3258 - 2.55 0.095 1901 551.4 -107.1 - - 3364 - - - - - - - - 14.37 14.24 14.41
11575 929.1 -5.4 525 11583 roll -0.39 - - 3258 - 2.62 0.110 3324 543.1 -107.1 - - 3364 - - - - - - - - 14.61 14.17 14.62
11712 935.6 -4.5 550 11721 done -0.39 - - 3258 - 2.60 0.096 1898 -548.5 -107.1 - - 3363 - - - - - - - - 14.36 14.25 14.40
12082 951.7 -4.3 566 12085 done -0.39 - - 3257 - - - 1898 - -107.1 - - 3363 - - - - - - - - 14.59 14.62 14.62
12378 965.7 -4.7 571 12386 roll -0.39 - - 3257 - 2.65 0.109 3325 538.5 -107.1 - - 3363 - - - - - - - - 14.62 14.17 14.63
12451 969.5 -5.1 584 12459 done -0.39 - - 3258 - 2.60 0.098 1896 -549.6 -107.1 - - 3363 - - - - - - - - 14.36 14.23 14.40
12820 988.5 -5.3 600 12823 done -0.39 - - 3263 - - - 1897 - -107.1 - - 3361 - - - - - - - - 14.59 14.64 14.61
12871 end dive: TARGET_DEPTH_EXCEEDED
12871 begin apogee
12882 991.9 -5.5 601 12973 done -0.16 0.25 0.162 3337 296.0 - - 2265 - - 85.70 1.899 2940 -4.9 0.487 - - - - - - 14.15 13.90 13.16
12976 end apogee: CONTROL_FINISHED_OK
12977 begin climb
12982 994.5 - 602 13085 roll 0.39 0.55 0.109 3524 340.0 2.70 0.110 3659 516.3 107.1 89.75 1.868 2500 -4.9 0.495 - - - - - - 13.92 13.55 12.97
13158 986.8 7.7 623 13170 done 0.39 - - 3527 - 2.67 0.099 2252 -527.0 107.1 - - 2498 - - - - - - - - 13.94 13.83 13.96
13496 963.1 7.0 633 13507 done 0.39 - - 3527 - - - 2255 - 107.1 - - 2496 - - - - - - - - 14.41 14.42 14.44
13796 941.9 7.1 638 13807 roll 0.39 - - 3527 - 2.65 0.110 3661 530.6 107.1 - - 2497 - - - - - - - - 14.51 14.11 14.52
13844 938.0 8.4 645 13855 done 0.39 - - 3527 - 2.60 0.098 2246 -544.2 107.1 - - 2497 - - - - - - - - 14.36 14.20 14.36
14185 913.8 7.1 655 14196 done 0.39 - - 3528 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.57 14.59 14.59
14482 891.1 7.7 660 14493 done 0.39 - - 3527 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.60 14.62 14.62
14781 867.8 7.8 665 14791 done 0.39 - - 3527 - - - 2246 - 107.1 - - 2497 - - - - - - - - 14.64 14.65 14.63
15081 844.4 7.9 670 15092 roll 0.39 - - 3527 - 2.62 0.112 3659 539.3 107.1 - - 2496 - - - - - - - - 14.65 14.24 14.67
15133 840.0 8.5 678 15144 done 0.39 - - 3527 - 2.58 0.099 2253 -545.0 107.1 - - 2496 - - - - - - - - 14.41 14.27 14.47
15465 814.2 7.7 687 15476 roll 0.39 - - 3527 - 2.60 0.110 823 -550.0 107.1 - - 2496 - - - - - - - - 14.65 14.21 14.67
15503 811.4 7.7 692 15514 done 0.39 - - 3527 - 2.55 0.097 2244 557.3 107.1 - - 2497 - - - - - - - - 14.40 14.26 14.45
15855 786.5 7.3 704 15866 roll 0.39 - - 3527 - 2.60 0.112 3661 545.0 107.1 - - 2496 - - - - - - - - 14.66 14.23 14.70
15912 781.4 8.3 713 15923 done 0.39 - - 3527 - 2.60 0.097 2238 -547.3 107.1 - - 2496 - - - - - - - - 14.41 14.28 14.47
16240 758.5 6.8 721 16251 roll 0.40 - - 3527 - 2.58 0.112 837 -543.0 107.1 - - 2499 - - - - - - - - 14.65 14.23 14.66
16277 756.2 6.0 726 16288 done 0.43 - - 3528 - 2.55 0.097 2246 552.5 107.1 - - 2495 - - - - - - - - 14.41 14.27 14.45
16629 737.7 5.0 738 16682 roll 0.45 - - 3527 - 2.62 0.108 3663 540.8 157.8 40.42 1.569 2293 -5.0 0.446 - - - - - - 14.68 14.12 13.58
16742 731.6 6.5 758 16753 done 0.47 - - 3527 - 2.60 0.096 2254 -541.9 157.8 - - 2292 - - - - - - - - 14.26 14.12 14.28
17079 714.4 5.1 767 17127 done 0.49 - - 3528 - - - 2253 - 207.1 40.55 1.529 2096 -4.8 0.428 - - - - - - 14.53 14.13 13.51
17379 696.9 6.1 772 17390 done 0.52 0.08 0.160 3583 687.5 - - 2252 - 207.1 - - 2093 - - - - - - - - 14.23 14.33 14.29
17678 665.8 10.8 777 17689 roll 0.52 - - 3584 - 2.65 0.110 3664 532.8 207.1 - - 2093 - - - - - - - - 14.55 14.19 14.57
17699 663.3 11.0 779 17711 done 0.52 - - 3587 - 2.60 0.099 2253 -542.7 207.1 - - 2092 - - - - - - - - 14.35 14.22 14.39
18066 622.6 11.2 794 18077 roll 0.52 - - 3587 - 2.65 0.109 3666 533.2 207.1 - - 2096 - - - - - - - - 14.60 14.23 14.62
18102 617.6 12.4 799 18115 done 0.52 0.12 0.237 3561 -216.7 2.62 0.099 2236 -545.8 207.1 - - 2092 - - - - - - - - 14.11 14.24 14.33
18456 583.7 9.6 811 18467 done 0.52 - - 3561 - - - 2235 - 207.1 - - 2096 - - - - - - - - 14.63 14.64 14.64
18752 552.9 10.2 816 18762 done 0.52 - - 3561 - - - 2236 - 207.1 - - 2093 - - - - - - - - 14.64 14.65 14.65
19052 520.5 10.9 821 19063 roll 0.52 - - 3564 - 2.67 0.109 3666 535.6 207.1 - - 2090 - - - - - - - - 14.65 14.26 14.66
19093 515.4 12.1 827 19107 done 0.52 - - 3569 - 2.58 0.096 2256 -546.5 207.1 - - 2092 - - - - - - - - 14.33 14.26 14.40
19444 476.4 11.2 838 19454 done 0.52 - - 3570 - - - 2254 - 207.1 - - 2092 - - - - - - - - 14.64 14.66 14.65
19738 444.9 10.4 843 19749 done 0.52 - - 3569 - - - 2255 - 207.1 - - 2092 - - - - - - - - 14.66 14.66 14.67
20039 414.3 10.2 848 20050 done 0.52 - - 3570 - - - 2253 - 207.1 - - 2095 - - - - - - - - 14.66 14.69 14.69
20338 384.9 9.8 853 20349 roll 0.52 - - 3569 - 2.62 0.108 3663 538.2 207.1 - - 2092 - - - - - - - - 14.66 14.23 14.68
20395 378.8 10.7 862 20406 done 0.52 - - 3570 - 2.58 0.096 2247 -548.8 207.1 - - 2092 - - - - - - - - 14.42 14.28 14.46
20723 347.6 9.5 870 20733 done 0.52 - - 3570 - - - 2248 - 207.1 - - 2092 - - - - - - - - 14.66 14.68 14.67
21022 318.5 9.7 875 21034 roll 0.52 - - 3570 - 2.65 0.109 3663 534.0 207.1 - - 2092 - - - - - - - - 14.65 14.25 14.68
21080 312.4 11.0 884 21091 done 0.52 - - 3570 - 2.58 0.095 2252 -546.9 207.1 - - 2092 - - - - - - - - 14.42 14.28 14.46
21408 279.0 10.2 892 21419 roll 0.52 - - 3580 - 2.58 0.108 820 -555.0 207.1 - - 2093 - - - - - - - - 14.66 14.22 14.68
21440 275.5 10.4 896 21451 done 0.52 - - 3580 - 2.58 0.094 2266 560.5 207.1 - - 2093 - - - - - - - - 14.41 14.31 14.45
21767 240.1 11.0 910 21778 roll 0.52 - - 3580 - 2.58 0.109 3667 543.0 207.1 - - 2091 - - - - - - - - 14.66 14.23 14.68
21810 234.5 12.7 916 21822 done 0.52 - - 3582 - 2.58 0.094 2237 -554.3 207.1 - - 2091 - - - - - - - - 14.33 14.26 14.38
22040 210.2 10.6 928 22051 done 0.52 - - 3582 - - - 2237 - 207.1 - - 2096 - - - - - - - - 14.65 14.69 14.66
22214 192.6 9.6 934 22225 roll 0.52 - - 3582 - 2.62 0.108 3660 543.1 207.1 - - 2093 - - - - - - - - 14.65 14.23 14.66
22276 186.3 10.5 944 22287 done 0.52 - - 3582 - 2.58 0.095 2254 -545.0 207.1 - - 2093 - - - - - - - - 14.37 14.23 14.42
22479 167.5 9.3 952 22490 roll 0.52 - - 3582 - 2.58 0.108 821 -555.4 207.1 - - 2091 - - - - - - - - 14.66 14.23 14.70
22507 164.7 9.7 955 22518 done 0.52 - - 3582 - 2.55 0.093 2246 558.8 207.1 - - 2093 - - - - - - - - 14.42 14.28 14.46
22715 144.9 9.6 964 22727 roll 0.52 - - 3582 - 2.60 0.106 3663 545.0 207.1 - - 2094 - - - - - - - - 14.64 14.19 14.67
22778 139.1 9.6 974 22789 done 0.52 - - 3582 - 2.58 0.093 2250 -547.7 207.1 - - 2093 - - - - - - - - 14.41 14.27 14.45
22980 120.9 9.1 982 22991 roll 0.52 - - 3582 - 2.62 0.106 3664 539.7 207.1 - - 2094 - - - - - - - - 14.66 14.25 14.67
23043 113.9 11.4 992 23054 done 0.52 - - 3582 - 2.58 0.093 2253 -546.9 207.1 - - 2094 - - - - - - - - 14.41 14.27 14.45
23245 94.7 9.2 1000 23257 roll 0.52 - - 3582 - 2.58 0.107 823 -554.3 207.1 - - 2094 - - - - - - - - 14.62 14.16 14.65
23307 89.2 8.1 1010 23318 done 0.52 - - 3582 - 2.58 0.092 2262 557.8 207.1 - - 2095 - - - - - - - - 14.41 14.28 14.45
23514 75.4 6.5 1018 23525 roll 0.54 - - 3582 - 2.62 0.106 819 -550.8 207.1 - - 2094 - - - - - - - - 14.62 14.21 14.64
23617 69.5 5.3 1035 23662 done 0.56 - - 3582 - 2.55 0.093 2246 559.6 251.6 33.38 0.810 1914 -5.4 0.088 - - - - - - 14.40 14.26 13.90
23873 49.8 8.5 1054 23884 done 0.56 - - 3582 - - - 2245 - 251.6 - - 1912 - - - - - - - - 14.57 14.58 14.58
24055 38.3 5.4 1060 24066 roll 0.60 - - 3582 - 2.60 0.106 3663 545.4 251.6 - - 1912 - - - - - - - - 14.58 14.20 14.59
24117 36.3 2.7 1070 24202 done 0.65 - - 3582 - 2.58 0.091 2236 -553.1 351.8 72.10 0.745 1502 -5.7 0.053 - - - - - - 14.37 14.24 13.81
24409 22.7 6.3 1096 24420 done 0.67 - - 3582 - - - 2236 - 351.8 - - 1500 - - - - - - - - 14.49 14.51 14.50
24589 13.1 5.0 1102 24619 done 0.69 0.12 0.124 3658 633.3 - - 2236 - 402.8 22.83 0.135 1299 -8.8 0.162 - - - - - - 14.31 14.32 14.15
24703 end climb: SURFACE_DEPTH_REACHED
24703 begin surface coast
24739 end surface coast: CONTROL_FINISHED_OK
24740 begin surface
SM 0.96 - - - - -10.27 9.95 0.040 87 8.7 0.60 0.112 1905 -13901.7 402.54 - - 1300 - - - - - - - -