NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 471 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 130.36 of 350.00 AH used of 24V (62.75% remains)
• Previous NAKs 3, Timeouts 0
• Surface angle -78.8 deg, depth 1.04 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 27 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
24 begin dive
30 - - - 109 done -0.39 - - 82 - - - 1890 - -107.1 -71.45 - 3379 - - - - - - - - 14.51 12.40 14.50
117 2.4 -4.0 2 146 roll -0.39 14.32 0.363 3248 221.1 2.60 0.095 3318 549.2 -107.1 - - 3381 - - - - - - - - 13.76 14.13 14.14
365 57.2 -9.5 49 377 done -0.39 - - 3252 - 2.60 0.087 1889 -549.6 -107.1 - - 3384 - - - - - - - - 14.23 14.09 14.27
550 76.5 -10.9 56 561 roll -0.39 - - 3251 - 2.53 0.099 480 -556.9 -107.1 - - 3383 - - - - - - - - 14.60 14.09 14.62
602 82.7 -12.2 64 613 done -0.39 - - 3252 - 2.53 0.086 1897 560.1 -107.1 - - 3385 - - - - - - - - 14.26 14.12 14.31
815 105.1 -10.2 74 826 roll -0.39 - - 3248 - 2.55 0.098 3311 554.5 -107.1 - - 3386 - - - - - - - - 14.64 14.12 14.63
897 112.3 -8.0 88 909 done -0.39 - - 3257 - 2.53 0.083 1905 -555.7 -107.1 - - 3385 - - - - - - - - 14.28 14.16 14.33
1110 130.9 -8.8 98 1121 done -0.39 - - 3252 - - - 1904 - -107.1 - - 3386 - - - - - - - - 14.64 14.66 14.65
1291 145.8 -8.3 104 1301 done -0.39 - - 3247 - - - 1904 - -107.1 - - 3386 - - - - - - - - 14.64 14.66 14.69
1470 162.0 -9.1 110 1481 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3386 - - - - - - - - 14.65 14.66 14.66
1650 178.2 -8.9 116 1661 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3385 - - - - - - - - 14.64 14.68 14.65
1831 193.1 -8.1 122 1841 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3384 - - - - - - - - 14.64 14.66 14.66
2010 206.7 -7.4 128 2021 roll -0.39 - - 3252 - 2.58 0.102 482 -551.2 -107.1 - - 3383 - - - - - - - - 14.66 14.10 14.66
2047 209.6 -8.4 133 2060 done -0.39 - - 3251 - 2.53 0.087 1897 559.3 -107.1 - - 3383 - - - - - - - - 14.28 14.14 14.31
2232 223.5 -7.5 140 2243 roll -0.39 - - 3251 - 2.58 0.101 3319 551.2 -107.1 - - 3383 - - - - - - - - 14.66 14.10 14.67
2294 228.1 -7.5 150 2305 done -0.39 - - 3251 - 2.58 0.086 1891 -553.5 -107.1 - - 3383 - - - - - - - - 14.28 14.16 14.33
2497 243.4 -7.6 158 2509 roll -0.39 - - 3251 - 2.53 0.102 495 -551.8 -107.1 - - 3382 - - - - - - - - 14.66 14.08 14.67
2519 245.2 -7.5 160 2530 done -0.39 - - 3251 - 2.50 0.084 1899 561.6 -107.1 - - 3382 - - - - - - - - 14.29 14.15 14.33
2732 260.8 -7.3 168 2743 roll -0.39 - - 3251 - 2.58 0.100 3324 552.3 -107.1 - - 3381 - - - - - - - - 14.65 14.08 14.66
2789 264.9 -7.2 177 2800 done -0.39 - - 3251 - 2.55 0.086 1905 -556.5 -107.1 - - 3381 - - - - - - - - 14.30 14.16 14.34
3117 289.7 -7.7 185 3127 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3380 - - - - - - - - 14.66 14.66 14.66
3416 312.4 -7.6 190 3426 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3379 - - - - - - - - 14.68 14.72 14.69
3716 335.7 -7.8 195 3727 done -0.39 - - 3251 - - - 1904 - -107.1 - - 3378 - - - - - - - - 14.67 14.69 14.69
4017 357.3 -7.1 200 4028 roll -0.39 - - 3252 - 2.60 0.102 3315 542.7 -107.1 - - 3377 - - - - - - - - 14.67 14.09 14.69
4058 360.4 -6.9 206 4070 done -0.39 - - 3252 - 2.58 0.089 1892 -551.6 -107.1 - - 3377 - - - - - - - - 14.28 14.16 14.33
4403 383.7 -6.8 217 4413 done -0.39 - - 3251 - - - 1891 - -107.1 - - 3376 - - - - - - - - 14.66 14.69 14.68
4701 403.1 -6.4 222 4712 done -0.39 - - 3257 - - - 1891 - -107.1 - - 3376 - - - - - - - - 14.66 14.69 14.69
5002 421.4 -6.1 227 5013 done -0.39 - - 3252 - - - 1891 - -107.1 - - 3373 - - - - - - - - 14.67 14.69 14.69
5302 440.0 -6.2 232 5314 roll -0.39 - - 3251 - 2.65 0.104 3317 538.1 -107.1 - - 3375 - - - - - - - - 14.66 14.04 14.67
5350 442.8 -6.0 239 5361 done -0.39 - - 3251 - 2.58 0.091 1907 -546.5 -107.1 - - 3374 - - - - - - - - 14.24 14.08 14.29
5688 462.9 -6.0 249 5699 done -0.39 - - 3255 - - - 1911 - -107.1 - - 3377 - - - - - - - - 14.66 14.67 14.66
5987 480.5 -5.8 254 5998 done -0.39 - - 3251 - - - 1906 - -107.1 - - 3373 - - - - - - - - 14.68 14.70 14.69
6288 499.5 -6.4 259 6299 roll -0.39 - - 3251 - 2.62 0.103 3316 538.2 -107.1 - - 3369 - - - - - - - - 14.69 14.04 14.70
6341 502.9 -6.3 267 6352 done -0.39 - - 3251 - 2.60 0.091 1888 -549.2 -107.1 - - 3373 - - - - - - - - 14.22 14.06 14.28
6673 524.3 -6.4 276 6684 done -0.39 - - 3251 - - - 1888 - -107.1 - - 3371 - - - - - - - - 14.64 14.66 14.66
6974 542.8 -6.2 281 6986 roll -0.39 - - 3251 - 2.65 0.104 3314 538.1 -107.1 - - 3370 - - - - - - - - 14.66 14.01 14.68
7031 546.3 -5.9 290 7042 done -0.39 - - 3251 - 2.60 0.091 1888 -548.5 -107.1 - - 3371 - - - - - - - - 14.19 14.03 14.25
7360 565.2 -5.8 298 7370 done -0.39 - - 3251 - - - 1888 - -107.1 - - 3368 - - - - - - - - 14.64 14.66 14.65
7659 584.2 -6.4 303 7670 roll -0.39 - - 3252 - 2.67 0.104 3320 536.3 -107.1 - - 3369 - - - - - - - - 14.66 13.98 14.67
7701 587.0 -6.5 309 7712 done -0.39 - - 3251 - 2.60 0.090 1907 -543.5 -107.1 - - 3369 - - - - - - - - 14.19 14.04 14.24
7732 end dive: TARGET_DEPTH_EXCEEDED
7732 begin apogee
7745 589.3 -6.6 314 7837 done -0.16 0.28 0.151 3338 310.7 - - 2264 - - 83.35 1.420 2940 -5.1 0.423 - - - - - - 14.01 13.97 13.12
7839 end apogee: CONTROL_FINISHED_OK
7839 begin climb
7844 591.5 - 315 7942 roll 0.39 0.52 0.103 3520 350.0 2.65 0.106 3663 527.9 107.1 85.05 1.397 2498 -5.2 0.435 - - - - - - 14.02 13.80 13.00
7988 589.0 5.4 329 7999 done 0.43 - - 3527 - 2.65 0.086 2236 -538.5 107.1 - - 2498 - - - - - - - - 14.04 13.93 14.07
8366 568.7 5.6 346 8377 roll 0.46 - - 3527 - 2.55 0.103 841 -547.1 107.1 - - 2498 - - - - - - - - 14.53 14.09 14.54
8444 564.0 6.0 359 8455 done 0.49 - - 3526 - 2.53 0.090 2245 554.9 107.1 - - 2501 - - - - - - - - 14.25 14.13 14.29
8818 541.3 6.2 375 8829 roll 0.51 - - 3527 - 2.60 0.105 3663 545.4 107.1 - - 2497 - - - - - - - - 14.62 14.09 14.64
8909 535.2 6.7 390 8921 done 0.53 0.12 0.120 3596 575.0 2.58 0.087 2243 -550.4 107.1 - - 2495 - - - - - - - - 14.24 14.16 14.36
9273 505.4 8.5 404 9284 roll 0.53 0.08 0.251 3569 -337.5 2.65 0.103 3663 535.8 107.1 - - 2496 - - - - - - - - 14.06 14.08 14.16
9321 500.9 8.2 411 9332 done 0.53 - - 3572 - 2.58 0.090 2259 -544.2 107.1 - - 2496 - - - - - - - - 14.27 14.12 14.33
9659 476.4 7.3 421 9670 roll 0.53 - - 3582 - 2.58 0.099 838 -550.8 107.1 - - 2497 - - - - - - - - 14.64 14.11 14.66
9731 470.5 8.2 433 9743 done 0.53 - - 3582 - 2.55 0.091 2246 552.2 107.1 - - 2495 - - - - - - - - 14.26 14.13 14.33
10104 441.8 7.5 450 10115 roll 0.53 - - 3582 - 2.62 0.105 3668 542.7 107.1 - - 2495 - - - - - - - - 14.64 14.06 14.65
10268 428.7 7.8 480 10280 done 0.53 - - 3580 - 2.62 0.090 2235 -546.9 107.1 - - 2494 - - - - - - - - 14.15 14.02 14.23
10619 405.8 6.6 491 10630 roll 0.54 - - 3586 - 2.55 0.101 842 -546.3 107.1 - - 2495 - - - - - - - - 14.62 14.04 14.64
10681 401.4 6.1 501 10692 done 0.57 - - 3589 - 2.55 0.089 2260 556.1 107.1 - - 2495 - - - - - - - - 14.23 14.11 14.31
11005 381.4 6.3 508 11016 done 0.59 - - 3586 - - - 2261 - 107.1 - - 2497 - - - - - - - - 14.64 14.65 14.65
11304 362.6 6.2 513 11315 roll 0.61 - - 3586 - 2.62 0.101 843 -541.2 107.1 - - 2494 - - - - - - - - 14.65 14.04 14.66
11378 358.0 6.2 525 11389 done 0.63 - - 3586 - 2.55 0.091 2245 549.8 107.1 - - 2494 - - - - - - - - 14.22 14.07 14.28
11751 337.1 5.6 542 11762 roll 0.67 - - 3586 - 2.65 0.103 3664 535.5 107.1 - - 2493 - - - - - - - - 14.62 14.00 14.63
11868 329.8 6.8 562 11880 done 0.68 - - 3586 - 2.60 0.088 2253 -542.7 107.1 - - 2493 - - - - - - - - 14.23 14.08 14.29
12207 310.0 5.8 571 12218 done 0.71 0.10 0.132 3650 640.0 - - 2253 - 107.1 - - 2494 - - - - - - - - 14.31 14.40 14.38
12501 286.5 8.0 576 12512 roll 0.71 - - 3659 - 2.60 0.099 839 -543.8 107.1 - - 2496 - - - - - - - - 14.62 14.02 14.64
12608 278.3 8.0 594 12620 done 0.71 0.12 0.233 3626 -275.0 2.58 0.091 2264 552.3 107.1 - - 2493 - - - - - - - - 13.76 14.07 14.05
12956 254.4 6.7 605 12967 roll 0.72 - - 3626 - 2.60 0.105 3662 537.7 107.1 - - 2493 - - - - - - - - 14.64 13.99 14.65
13058 247.0 7.1 622 13071 done 0.72 - - 3626 - 2.60 0.088 2240 -546.9 107.1 - - 2493 - - - - - - - - 14.21 14.05 14.26
13238 233.6 7.5 629 13250 roll 0.72 - - 3626 - 2.60 0.102 827 -543.5 107.1 - - 2494 - - - - - - - - 14.64 14.01 14.64
13291 229.6 8.0 637 13302 done 0.72 - - 3626 - 2.58 0.090 2245 549.6 107.1 - - 2493 - - - - - - - - 14.20 14.05 14.27
13509 213.9 7.1 647 13520 roll 0.72 - - 3626 - 2.65 0.103 3661 534.3 107.1 - - 2494 - - - - - - - - 14.62 13.94 14.64
13625 204.2 8.2 667 13636 done 0.72 - - 3635 - 2.60 0.086 2250 -542.7 107.1 - - 2494 - - - - - - - - 14.19 14.04 14.25
13842 188.2 7.5 677 13853 roll 0.72 - - 3639 - 2.60 0.099 833 -545.0 107.1 - - 2494 - - - - - - - - 14.61 14.01 14.61
13934 180.9 7.9 692 13945 done 0.72 - - 3639 - 2.58 0.090 2251 549.6 107.1 - - 2494 - - - - - - - - 14.12 13.97 14.18
14141 165.6 7.2 701 14152 roll 0.72 - - 3639 - 2.62 0.102 3664 539.3 107.1 - - 2494 - - - - - - - - 14.61 13.99 14.63
14389 148.8 6.8 747 14400 done 0.73 - - 3648 - 2.60 0.086 2237 -548.8 107.1 - - 2493 - - - - - - - - 14.11 13.97 14.17
14597 138.0 5.4 755 14608 done 0.77 - - 3648 - - - 2236 - 107.1 - - 2492 - - - - - - - - 14.58 14.62 14.61
14771 128.8 5.1 761 14815 done 0.79 - - 3648 - - - 2241 - 156.5 36.90 0.877 2302 -5.1 0.150 - - - - - - 14.62 14.21 13.56
14982 113.2 8.2 768 14993 roll 0.79 - - 3648 - 2.67 0.103 3664 533.0 156.5 - - 2303 - - - - - - - - 14.54 14.06 14.56
15043 107.2 10.2 778 15055 done 0.79 - - 3653 - 2.58 0.086 2248 -548.8 156.5 - - 2302 - - - - - - - - 14.16 14.02 14.22
15247 92.0 7.5 786 15258 done 0.79 - - 3652 - - - 2252 - 156.5 - - 2300 - - - - - - - - 14.54 14.57 14.57
15426 80.1 6.1 792 15438 roll 0.82 - - 3664 - 2.58 0.096 840 -547.3 156.5 - - 2297 - - - - - - - - 14.58 14.03 14.58
15579 71.5 5.2 819 15630 done 0.84 - - 3664 - 2.55 0.088 2254 554.5 204.0 35.50 0.796 2106 -5.4 0.096 - - - - - - 14.20 14.04 13.63
15804 57.8 6.9 834 15816 roll 0.84 - - 3664 - 2.60 0.101 3663 541.9 204.0 - - 2104 - - - - - - - - 14.54 14.00 14.56
16050 41.2 6.0 880 16061 done 0.87 - - 3664 - 2.60 0.087 2248 -544.2 204.0 - - 2105 - - - - - - - - 14.22 14.08 14.27
16253 28.4 6.9 888 16264 roll 0.87 - - 3673 - 2.55 0.095 838 -552.9 204.0 - - 2106 - - - - - - - - 14.57 14.07 14.59
16500 23.2 1.3 934 16605 done 0.93 - - 3669 - 2.55 0.087 2254 555.3 336.1 89.45 0.711 1572 -6.0 0.039 - - - - - - 14.23 14.09 13.61
16775 end climb: SURFACE_DEPTH_REACHED
16775 begin surface coast
16806 end surface coast: CONTROL_FINISHED_OK
16806 begin surface
SM 1.62 - - - - -10.25 10.15 0.047 92 9.0 0.68 0.096 1892 -10779.4 400.08 26.80 0.081 1309 48.8 -0.100 - - - - - -