NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 657 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 189.59 of 350.00 AH used of 24V (45.83% remains)
• Previous NAKs 8, Timeouts 0
• Surface angle -74.6 deg, depth 0.79 m • Intended pitch -14.8 deg, speed -7.333 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 53 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 - - - 114 done -0.39 - - 77 - - - 1954 - -107.1 -75.95 - 3382 - - - - - - - - 14.45 12.47 14.35
122 1.7 -2.4 2 148 roll -0.39 14.38 0.358 3258 221.2 2.60 0.101 560 -536.2 -107.1 - - 3382 - - - - - - - - 13.69 14.00 14.06
199 31.4 -13.2 15 210 done -0.39 - - 3257 - 2.60 0.090 1968 541.5 -107.1 - - 3385 - - - - - - - - 14.10 13.95 14.14
570 72.2 -10.8 28 581 done -0.39 - - 3258 - - - 1971 - -107.1 - - 3384 - - - - - - - - 14.44 14.46 14.45
867 97.9 -8.4 33 878 done -0.39 - - 3258 - - - 1970 - -107.1 - - 3385 - - - - - - - - 14.47 14.49 14.50
1167 121.4 -7.9 38 1177 done -0.39 - - 3258 - - - 1970 - -107.1 - - 3385 - - - - - - - - 14.48 14.50 14.50
1466 142.7 -7.0 43 1477 roll -0.39 - - 3254 - 2.70 0.103 3391 526.3 -107.1 - - 3385 - - - - - - - - 14.47 13.74 14.48
1519 145.7 -5.9 51 1530 done -0.39 - - 3258 - 2.62 0.085 1973 -541.2 -107.1 - - 3385 - - - - - - - - 14.00 13.84 14.06
1851 166.0 -6.1 60 1862 roll -0.39 - - 3258 - 2.62 0.096 560 -539.3 -107.1 - - 3384 - - - - - - - - 14.46 13.73 14.50
1884 168.1 -6.7 64 1895 done -0.39 - - 3258 - 2.60 0.085 1976 544.6 -107.1 - - 3385 - - - - - - - - 13.96 13.81 14.02
2241 191.9 -6.8 77 2252 roll -0.39 - - 3258 - 2.65 0.103 3387 532.5 -107.1 - - 3384 - - - - - - - - 14.42 13.74 14.43
2334 198.4 -6.3 93 2346 done -0.39 - - 3258 - 2.62 0.083 1962 -543.9 -107.1 - - 3388 - - - - - - - - 13.96 13.81 14.01
2692 221.2 -6.4 106 2703 done -0.39 - - 3258 - - - 1962 - -107.1 - - 3384 - - - - - - - - 14.45 14.47 14.46
2989 239.6 -6.2 111 2999 done -0.39 - - 3254 - - - 1962 - -107.1 - - 3383 - - - - - - - - 14.47 14.50 14.50
3287 259.5 -6.6 116 3298 roll -0.39 - - 3258 - 2.72 0.103 3386 523.5 -107.1 - - 3383 - - - - - - - - 14.51 13.71 14.50
3330 262.2 -6.7 122 3341 done -0.39 - - 3257 - 2.65 0.085 1970 -534.3 -107.1 - - 3383 - - - - - - - - 13.93 13.77 14.02
3677 284.5 -6.5 133 3688 done -0.39 - - 3258 - - - 1970 - -107.1 - - 3382 - - - - - - - - 14.41 14.43 14.43
3972 303.2 -6.2 138 3983 done -0.39 - - 3257 - - - 1970 - -107.1 - - 3382 - - - - - - - - 14.49 14.50 14.50
4273 321.3 -6.0 143 4284 done -0.39 - - 3258 - - - 1970 - -107.1 - - 3381 - - - - - - - - 14.44 14.45 14.45
4572 338.9 -5.9 148 4583 roll -0.39 - - 3258 - 2.72 0.106 3387 521.0 -107.1 - - 3381 - - - - - - - - 14.47 13.70 14.49
4614 341.3 -5.9 154 4625 done -0.39 - - 3258 - 2.65 0.085 1971 -534.3 -107.1 - - 3381 - - - - - - - - 13.91 13.76 13.96
4958 362.1 -6.1 165 4968 done -0.39 - - 3258 - - - 1971 - -107.1 - - 3380 - - - - - - - - 14.47 14.47 14.48
5257 380.4 -6.1 170 5268 done -0.39 - - 3259 - - - 1971 - -107.1 - - 3380 - - - - - - - - 14.50 14.50 14.50
5558 398.4 -6.0 175 5569 roll -0.39 - - 3258 - 2.75 0.107 3386 514.5 -107.1 - - 3379 - - - - - - - - 14.43 13.73 14.43
5603 401.0 -5.9 181 5615 done -0.39 - - 3258 - 2.65 0.086 1972 -533.6 -107.1 - - 3379 - - - - - - - - 13.90 13.74 13.95
5946 422.6 -6.3 192 5957 roll -0.39 - - 3259 - 2.67 0.099 545 -534.5 -107.1 - - 3381 - - - - - - - - 14.47 13.69 14.47
5979 424.7 -6.6 196 5990 done -0.39 - - 3258 - 2.65 0.089 1967 536.6 -107.1 - - 3379 - - - - - - - - 13.90 13.74 13.96
6337 445.9 -6.0 209 6349 roll -0.39 - - 3257 - 2.72 0.106 3389 522.8 -107.1 - - 3378 - - - - - - - - 14.40 13.66 14.42
6411 450.5 -6.1 221 6423 done -0.39 - - 3258 - 2.65 0.085 1965 -537.4 -107.1 - - 3379 - - - - - - - - 13.90 13.76 13.95
6789 472.2 -5.7 238 6800 done -0.39 - - 3258 - - - 1964 - -107.1 - - 3378 - - - - - - - - 14.44 14.47 14.44
7086 488.8 -5.5 243 7097 roll -0.39 - - 3258 - 2.78 0.106 3390 512.9 -107.1 - - 3377 - - - - - - - - 14.45 13.73 14.47
7129 491.0 -5.0 249 7141 done -0.39 - - 3258 - 2.65 0.086 1973 -534.7 -107.1 - - 3378 - - - - - - - - 13.88 13.72 13.93
7478 509.2 -5.3 260 7488 done -0.39 - - 3258 - - - 1973 - -107.1 - - 3375 - - - - - - - - 14.38 14.40 14.40
7772 524.3 -5.0 265 7783 done -0.39 - - 3258 - - - 1973 - -107.1 - - 3376 - - - - - - - - 14.46 14.47 14.47
8074 539.0 -4.9 270 8085 roll -0.39 - - 3257 - 2.72 0.106 3388 520.2 -107.1 - - 3379 - - - - - - - - 14.45 13.71 14.47
8128 541.5 -4.4 278 8139 done -0.39 - - 3258 - 2.65 0.086 1970 -535.1 -107.1 - - 3376 - - - - - - - - 13.89 13.74 13.94
8461 556.8 -4.7 287 8471 done -0.39 - - 3259 - - - 1972 - -107.1 - - 3375 - - - - - - - - 14.45 14.47 14.47
8762 572.8 -5.4 292 8772 done -0.39 - - 3258 - - - 1973 - -107.1 - - 3375 - - - - - - - - 14.40 14.42 14.42
9060 589.1 -5.4 297 9071 done -0.39 - - 3259 - - - 1972 - -107.1 - - 3374 - - - - - - - - 14.42 14.43 14.42
9363 604.8 -5.2 302 9374 roll -0.39 - - 3258 - 2.75 0.105 3390 515.6 -107.1 - - 3374 - - - - - - - - 14.40 13.71 14.42
9399 606.8 -5.4 307 9410 done -0.39 - - 3258 - 2.67 0.085 1957 -536.7 -107.1 - - 3375 - - - - - - - - 13.90 13.76 13.95
9752 625.2 -5.3 319 9762 done -0.39 - - 3258 - - - 1957 - -107.1 - - 3374 - - - - - - - - 14.36 14.41 14.38
10046 641.3 -5.3 324 10057 done -0.39 - - 3258 - - - 1957 - -107.1 - - 3373 - - - - - - - - 14.45 14.45 14.45
10346 656.7 -5.1 329 10358 roll -0.39 - - 3258 - 2.78 0.105 3389 515.1 -107.1 - - 3373 - - - - - - - - 14.44 13.73 14.45
10386 658.5 -5.0 334 10397 done -0.39 - - 3257 - 2.67 0.086 1974 -530.0 -107.1 - - 3374 - - - - - - - - 13.87 13.71 13.93
10739 674.0 -4.3 346 10749 done -0.39 - - 3258 - - - 1975 - -107.1 - - 3376 - - - - - - - - 14.41 14.42 14.42
11035 686.2 -4.1 351 11045 done -0.39 - - 3258 - - - 1974 - -107.1 - - 3375 - - - - - - - - 14.39 14.41 14.40
11334 699.5 -4.5 356 11344 done -0.39 - - 3257 - - - 1974 - -107.1 - - 3372 - - - - - - - - 14.44 14.45 14.45
11635 714.0 -4.9 361 11647 roll -0.39 - - 3258 - 2.75 0.106 3389 514.5 -107.1 - - 3373 - - - - - - - - 14.38 13.71 14.40
11673 716.0 -4.9 366 11687 done -0.39 - - 3258 - 2.65 0.086 1973 -534.3 -107.1 - - 3371 - - - - - - - - 13.76 13.69 13.81
12028 733.7 -5.1 378 12039 done -0.39 - - 3258 - - - 1978 - -107.1 - - 3371 - - - - - - - - 14.41 14.42 14.42
12325 748.5 -4.9 383 12335 done -0.39 - - 3258 - - - 1973 - -107.1 - - 3371 - - - - - - - - 14.38 14.40 14.39
12624 762.8 -4.8 388 12635 roll -0.39 - - 3258 - 2.72 0.106 3388 520.2 -107.1 - - 3368 - - - - - - - - 14.42 13.70 14.44
12662 764.7 -4.9 393 12674 done -0.39 - - 3254 - 2.67 0.086 1968 -531.8 -107.1 - - 3371 - - - - - - - - 13.88 13.72 13.93
13017 782.2 -5.0 405 13027 done -0.39 - - 3258 - - - 1968 - -107.1 - - 3370 - - - - - - - - 14.35 14.36 14.36
13314 795.9 -4.6 410 13325 done -0.39 - - 3259 - - - 1968 - -107.1 - - 3370 - - - - - - - - 14.42 14.44 14.44
13612 810.6 -5.0 415 13623 roll -0.39 - - 3258 - 2.75 0.107 3389 516.7 -107.1 - - 3367 - - - - - - - - 14.36 13.71 14.39
13662 813.1 -5.3 422 13673 done -0.39 - - 3258 - 2.67 0.087 1957 -536.3 -107.1 - - 3370 - - - - - - - - 13.86 13.71 13.91
14004 830.5 -5.0 432 14014 done -0.39 - - 3258 - - - 1956 - -107.1 - - 3370 - - - - - - - - 14.38 14.40 14.40
14299 847.2 -5.6 437 14311 roll -0.39 - - 3257 - 2.78 0.104 3390 515.8 -107.1 - - 3368 - - - - - - - - 14.38 13.69 14.39
14338 849.3 -5.4 442 14350 done -0.39 - - 3257 - 2.65 0.086 1974 -534.3 -107.1 - - 3370 - - - - - - - - 13.85 13.70 13.91
14691 869.7 -5.7 454 14701 done -0.39 - - 3258 - - - 1973 - -107.1 - - 3369 - - - - - - - - 14.40 14.40 14.43
14987 886.2 -5.6 459 14998 done -0.39 - - 3257 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.37 14.38 14.38
15286 902.1 -5.2 464 15297 done -0.39 - - 3255 - - - 1973 - -107.1 - - 3370 - - - - - - - - 14.41 14.43 14.43
15588 917.2 -5.0 469 15598 done -0.39 - - 3258 - - - 1974 - -107.1 - - 3370 - - - - - - - - 14.39 14.41 14.41
15887 931.7 -4.8 474 15898 roll -0.39 - - 3258 - 2.72 0.106 3388 519.9 -107.1 - - 3372 - - - - - - - - 14.40 13.73 14.42
15923 933.5 -3.0 479 15934 done -0.39 - - 3258 - 2.67 0.088 1973 -530.0 -107.1 - - 3372 - - - - - - - - 13.84 13.70 13.91
16277 949.9 -4.7 491 16287 done -0.39 - - 3258 - - - 1973 - -107.1 - - 3368 - - - - - - - - 14.33 14.34 14.34
16571 965.1 -5.1 496 16581 done -0.39 - - 3258 - - - 1974 - -107.1 - - 3370 - - - - - - - - 14.41 14.45 14.44
16872 980.8 -5.2 501 16883 done -0.39 - - 3262 - - - 1974 - -107.1 - - 3370 - - - - - - - - 14.35 14.38 14.39
17105 end dive: TARGET_DEPTH_EXCEEDED
17105 begin apogee
17117 992.7 -4.9 505 17223 done -0.16 0.25 0.137 3338 304.0 - - 2266 - - 97.45 1.924 2940 -4.4 0.448 - - - - - - 13.56 13.69 12.73
17225 end apogee: CONTROL_FINISHED_OK
17225 begin climb
17232 995.1 - 506 17350 roll 0.39 0.50 0.089 3520 364.0 2.70 0.105 3663 517.4 107.1 100.57 1.920 2500 -4.4 0.446 - - - - - - 13.78 13.26 12.49
17382 992.3 6.3 533 17394 done 0.41 - - 3527 - 2.67 0.090 2235 -534.8 107.1 - - 2499 - - - - - - - - 13.86 13.74 13.93
17750 968.7 6.6 548 17761 roll 0.42 - - 3527 - 2.58 0.101 843 -539.5 107.1 - - 2498 - - - - - - - - 14.44 13.96 14.46
17833 962.5 7.1 562 17845 done 0.42 - - 3527 - 2.58 0.093 2246 543.8 107.1 - - 2498 - - - - - - - - 14.14 13.98 14.18
18200 938.5 6.6 577 18211 done 0.44 - - 3526 - - - 2245 - 107.1 - - 2498 - - - - - - - - 14.51 14.53 14.52
18498 920.7 5.9 582 18509 roll 0.47 - - 3527 - 2.60 0.102 843 -539.2 107.1 - - 2498 - - - - - - - - 14.50 13.93 14.51
18550 917.6 5.6 590 18562 done 0.50 - - 3527 - 2.58 0.091 2244 543.0 107.1 - - 2498 - - - - - - - - 14.16 13.99 14.19
18889 900.5 5.2 599 18943 done 0.53 0.12 0.124 3592 541.7 - - 2248 - 154.6 42.20 1.812 2313 -4.4 0.429 - - - - - - 14.12 13.71 13.00
19243 869.3 9.1 605 19253 done 0.53 - - 3588 - - - 2247 - 154.6 - - 2307 - - - - - - - - 14.47 14.48 14.48
19544 841.9 9.1 610 19555 done 0.53 - - 3592 - - - 2247 - 154.6 - - 2306 - - - - - - - - 14.48 14.50 14.50
19843 814.2 9.2 615 19853 done 0.53 - - 3592 - - - 2249 - 154.6 - - 2307 - - - - - - - - 14.52 14.52 14.52
20143 786.0 9.4 620 20154 roll 0.53 - - 3591 - 2.67 0.107 3665 530.3 154.6 - - 2306 - - - - - - - - 14.53 13.92 14.54
20186 781.9 10.5 626 20198 done 0.53 0.15 0.236 3568 -153.3 2.62 0.091 2255 -538.2 154.6 - - 2306 - - - - - - - - 13.78 13.98 14.04
20535 752.8 8.4 637 20546 roll 0.53 - - 3574 - 2.62 0.102 831 -543.5 154.6 - - 2306 - - - - - - - - 14.49 13.84 14.50
20594 747.3 8.5 646 20605 done 0.53 - - 3573 - 2.62 0.094 2263 546.6 154.6 - - 2306 - - - - - - - - 14.12 13.97 14.17
20922 720.0 8.2 654 20932 done 0.53 - - 3572 - - - 2267 - 154.6 - - 2306 - - - - - - - - 14.52 14.53 14.53
21222 695.0 8.4 659 21233 done 0.53 - - 3573 - - - 2266 - 154.6 - - 2305 - - - - - - - - 14.49 14.50 14.50
21521 668.6 8.8 664 21532 done 0.53 - - 3573 - - - 2263 - 154.6 - - 2306 - - - - - - - - 14.50 14.52 14.52
21821 641.9 8.9 669 21832 done 0.53 - - 3573 - - - 2263 - 154.6 - - 2305 - - - - - - - - 14.50 14.50 14.52
22123 616.4 8.5 674 22133 done 0.53 - - 3569 - - - 2263 - 154.6 - - 2306 - - - - - - - - 14.50 14.51 14.51
22421 592.2 8.1 679 22432 done 0.53 - - 3572 - - - 2263 - 154.6 - - 2306 - - - - - - - - 14.47 14.49 14.49
22722 567.2 8.3 684 22733 done 0.53 - - 3573 - - - 2263 - 154.6 - - 2306 - - - - - - - - 14.48 14.50 14.50
23021 542.3 8.2 689 23032 done 0.53 - - 3573 - - - 2263 - 154.6 - - 2306 - - - - - - - - 14.50 14.51 14.52
23322 519.8 7.5 694 23332 done 0.53 - - 3573 - - - 2263 - 154.6 - - 2306 - - - - - - - - 14.47 14.48 14.50
23622 498.6 7.0 699 23633 done 0.53 - - 3573 - - - 2268 - 154.6 - - 2306 - - - - - - - - 14.47 14.51 14.49
23921 479.4 6.3 704 23933 roll 0.55 - - 3573 - 2.67 0.102 832 -537.8 154.6 - - 2306 - - - - - - - - 14.49 13.85 14.50
23960 477.0 6.0 709 23972 done 0.57 - - 3574 - 2.60 0.092 2245 543.5 154.6 - - 2306 - - - - - - - - 14.06 13.89 14.12
24313 454.2 6.6 721 24324 roll 0.59 - - 3573 - 2.70 0.104 3666 526.3 154.6 - - 2306 - - - - - - - - 14.45 13.77 14.44
24365 449.8 8.2 729 24376 done 0.59 - - 3581 - 2.65 0.089 2236 -539.6 154.6 - - 2306 - - - - - - - - 13.97 13.83 14.02
24700 426.9 6.9 738 24712 roll 0.59 - - 3582 - 2.60 0.099 839 -537.3 154.6 - - 2306 - - - - - - - - 14.46 13.78 14.45
24752 422.8 7.6 746 24764 done 0.59 - - 3582 - 2.60 0.092 2249 542.3 154.6 - - 2306 - - - - - - - - 14.03 13.88 14.08
25086 399.8 6.9 755 25097 done 0.59 - - 3582 - - - 2246 - 154.6 - - 2306 - - - - - - - - 14.42 14.45 14.44
25385 377.8 7.4 760 25395 done 0.59 - - 3583 - - - 2246 - 154.6 - - 2303 - - - - - - - - 14.46 14.47 14.48
25686 354.8 7.7 765 25698 roll 0.59 - - 3582 - 2.70 0.105 3664 525.2 154.6 - - 2306 - - - - - - - - 14.45 13.74 14.49
25734 350.6 8.8 772 25745 done 0.59 - - 3582 - 2.62 0.088 2254 -538.2 154.6 - - 2306 - - - - - - - - 14.00 13.84 14.05
26079 325.3 7.4 782 26090 roll 0.59 - - 3586 - 2.65 0.099 827 -538.5 154.6 - - 2306 - - - - - - - - 14.39 13.75 14.40
26136 320.7 7.4 791 26147 done 0.59 - - 3586 - 2.65 0.092 2264 542.3 154.6 - - 2309 - - - - - - - - 14.00 13.85 14.05
26463 296.9 7.3 799 26474 roll 0.59 - - 3586 - 2.67 0.105 3667 525.5 154.6 - - 2307 - - - - - - - - 14.45 13.69 14.47
26506 293.6 8.3 805 26518 done 0.59 - - 3592 - 2.65 0.086 2247 -535.8 154.6 - - 2307 - - - - - - - - 13.98 13.84 14.04
26854 270.6 6.6 816 26865 done 0.60 - - 3586 - - - 2251 - 154.6 - - 2308 - - - - - - - - 14.39 14.40 14.41
27155 250.6 6.7 821 27165 done 0.61 - - 3585 - - - 2247 - 154.6 - - 2308 - - - - - - - - 14.45 14.47 14.47
27450 229.7 7.0 826 27461 roll 0.61 - - 3596 - 2.62 0.099 839 -537.4 154.6 - - 2306 - - - - - - - - 14.42 13.73 14.44
27524 224.3 7.5 838 27536 done 0.61 - - 3595 - 2.60 0.092 2245 540.8 154.6 - - 2309 - - - - - - - - 13.89 13.73 13.95
27897 197.3 7.2 855 27908 done 0.61 - - 3596 - - - 2249 - 154.6 - - 2308 - - - - - - - - 14.42 14.43 14.45
28198 175.1 7.4 860 28209 roll 0.61 - - 3595 - 2.70 0.103 3663 523.7 154.6 - - 2308 - - - - - - - - 14.42 13.74 14.45
28250 170.5 8.7 868 28261 done 0.61 - - 3595 - 2.62 0.086 2253 -538.2 154.6 - - 2306 - - - - - - - - 13.95 13.77 14.01
28584 146.9 6.9 877 28595 roll 0.61 - - 3596 - 2.65 0.099 822 -540.0 154.6 - - 2309 - - - - - - - - 14.40 13.71 14.42
28641 143.3 6.1 886 28653 done 0.64 - - 3596 - 2.65 0.090 2254 540.4 154.6 - - 2309 - - - - - - - - 13.99 13.84 14.03
28970 123.6 6.1 894 28981 roll 0.67 - - 3595 - 2.67 0.098 840 -529.6 154.6 - - 2306 - - - - - - - - 14.42 13.74 14.45
29033 119.7 5.9 904 29044 done 0.69 - - 3595 - 2.62 0.091 2263 543.1 154.6 - - 2309 - - - - - - - - 13.97 13.83 14.03
29356 101.3 5.8 911 29368 roll 0.72 - - 3595 - 2.65 0.102 3662 527.9 154.6 - - 2313 - - - - - - - - 14.43 13.72 14.42
29603 85.4 5.8 957 29615 done 0.76 0.10 0.119 3660 650.0 2.62 0.085 2244 -541.2 154.6 - - 2309 - - - - - - - - 13.90 13.82 14.01
29933 65.9 5.8 964 29944 roll 0.79 - - 3668 - 2.60 0.096 842 -539.2 154.6 - - 2310 - - - - - - - - 14.38 13.72 14.40
29990 62.5 5.0 973 30043 done 0.81 - - 3668 - 2.62 0.089 2246 535.9 204.6 39.00 0.825 2102 -5.3 0.079 - - - - - - 13.97 13.82 13.43
30375 46.7 4.3 994 30438 roll 0.84 - - 3668 - 2.62 0.103 3664 541.2 270.6 48.95 0.788 1836 -5.4 0.063 - - - - - - 14.45 14.07 13.43
30539 34.9 9.7 1024 30550 done 0.84 - - 3678 - 2.60 0.083 2252 -543.1 270.6 - - 1834 - - - - - - - - 14.04 13.90 14.09
30876 end climb: SURFACE_DEPTH_REACHED
30877 begin surface coast
30907 end surface coast: CONTROL_FINISHED_OK
30908 begin surface
SM 0.98 - - - - -10.25 10.15 0.037 92 9.1 0.52 0.094 1959 1786.5 400.08 54.78 0.079 1309 23.9 -0.030 - - - - - -