NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 699 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 203.93 of 350.00 AH used of 24V (41.74% remains)
• Previous NAKs 5, Timeouts 0
• Surface angle -76.8 deg, depth 0.76 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 18 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
32 - - - 117 done -0.39 - - 69 - - - 1947 - -107.1 -77.65 - 3379 - - - - - - - - 14.42 12.51 14.33
125 1.5 -1.8 2 154 roll -0.39 14.60 0.363 3258 218.4 2.55 0.098 560 -543.9 -107.1 - - 3381 - - - - - - - - 13.67 13.98 14.04
180 28.2 -25.3 11 191 done -0.39 - - 3259 - 2.55 0.088 1964 550.6 -107.1 - - 3383 - - - - - - - - 14.10 13.95 14.14
544 63.4 -9.7 23 555 roll -0.39 - - 3259 - 2.67 0.100 3389 533.7 -107.1 - - 3383 - - - - - - - - 14.40 13.77 14.42
620 71.1 -8.7 36 631 done -0.39 - - 3256 - 2.60 0.081 1973 -544.6 -107.1 - - 3382 - - - - - - - - 14.00 13.85 14.04
994 106.7 -9.9 52 1005 roll -0.39 - - 3259 - 2.62 0.095 550 -543.1 -107.1 - - 3384 - - - - - - - - 14.42 13.79 14.42
1041 111.7 -9.1 59 1052 done -0.39 - - 3258 - 2.60 0.084 1969 545.8 -107.1 - - 3383 - - - - - - - - 13.99 13.83 14.04
1380 140.5 -8.7 69 1391 roll -0.39 - - 3259 - 2.67 0.100 3390 532.2 -107.1 - - 3383 - - - - - - - - 14.43 13.74 14.45
1471 148.4 -8.2 85 1483 done -0.39 - - 3258 - 2.62 0.081 1954 -548.1 -107.1 - - 3383 - - - - - - - - 13.89 13.76 13.94
1829 176.2 -7.7 98 1841 roll -0.39 - - 3259 - 2.58 0.095 564 -538.8 -107.1 - - 3382 - - - - - - - - 14.38 13.78 14.39
1867 179.5 -7.6 103 1878 done -0.39 - - 3259 - 2.60 0.083 1980 544.6 -107.1 - - 3384 - - - - - - - - 13.97 13.79 14.02
2221 202.7 -6.5 115 2232 roll -0.39 - - 3259 - 2.62 0.099 3381 534.7 -107.1 - - 3383 - - - - - - - - 14.38 13.78 14.40
2321 209.3 -6.3 132 2332 done -0.39 - - 3260 - 2.58 0.081 1975 -545.0 -107.1 - - 3383 - - - - - - - - 13.94 13.80 14.00
2674 231.4 -6.3 144 2685 roll -0.39 - - 3258 - 2.62 0.095 561 -539.7 -107.1 - - 3385 - - - - - - - - 14.40 13.79 14.41
2710 234.3 -7.0 149 2722 done -0.39 - - 3257 - 2.60 0.084 1966 540.4 -107.1 - - 3383 - - - - - - - - 13.95 13.80 14.00
3064 257.0 -6.6 161 3075 roll -0.39 - - 3258 - 2.67 0.099 3388 532.6 -107.1 - - 3383 - - - - - - - - 14.39 13.80 14.40
3146 263.1 -7.0 175 3157 done -0.39 - - 3259 - 2.62 0.081 1962 -544.3 -107.1 - - 3380 - - - - - - - - 13.95 13.82 14.00
3516 287.9 -6.8 190 3527 done -0.39 - - 3258 - - - 1961 - -107.1 - - 3382 - - - - - - - - 14.38 14.40 14.40
3810 307.5 -6.6 195 3820 done -0.39 - - 3258 - - - 1960 - -107.1 - - 3381 - - - - - - - - 14.44 14.45 14.46
4109 327.0 -6.5 200 4120 roll -0.39 - - 3259 - 2.72 0.102 3388 525.0 -107.1 - - 3379 - - - - - - - - 14.44 13.80 14.45
4158 329.9 -6.2 207 4169 done -0.39 - - 3258 - 2.62 0.083 1973 -540.1 -107.1 - - 3384 - - - - - - - - 13.95 13.81 14.00
4496 350.4 -6.0 217 4507 roll -0.39 - - 3259 - 2.65 0.096 544 -539.2 -107.1 - - 3380 - - - - - - - - 14.40 13.80 14.41
4529 352.5 -6.5 221 4540 done -0.39 - - 3257 - 2.62 0.085 1967 543.1 -107.1 - - 3387 - - - - - - - - 13.93 13.79 14.00
4885 374.7 -6.2 234 4897 roll -0.39 - - 3259 - 2.70 0.102 3390 527.0 -107.1 - - 3380 - - - - - - - - 14.35 13.79 14.37
4964 379.8 -6.2 247 4976 done -0.39 - - 3256 - 2.62 0.082 1972 -541.2 -107.1 - - 3380 - - - - - - - - 13.93 13.81 14.00
5337 401.2 -5.7 263 5347 done -0.39 - - 3259 - - - 1970 - -107.1 - - 3379 - - - - - - - - 14.37 14.39 14.40
5633 417.3 -5.4 268 5644 done -0.39 - - 3258 - - - 1971 - -107.1 - - 3378 - - - - - - - - 14.42 14.43 14.42
5932 432.9 -5.2 273 5946 roll -0.39 - - 3259 - 2.70 0.105 3390 525.6 -107.1 - - 3377 - - - - - - - - 14.38 13.75 14.40
5966 434.8 -5.2 277 5977 done -0.39 - - 3259 - 2.65 0.082 1965 -537.7 -107.1 - - 3378 - - - - - - - - 13.96 13.82 14.01
6325 454.7 -5.8 290 6335 done -0.39 - - 3259 - - - 1964 - -107.1 - - 3378 - - - - - - - - 14.38 14.37 14.39
6619 471.7 -5.7 295 6630 done -0.39 - - 3259 - - - 1964 - -107.1 - - 3375 - - - - - - - - 14.42 14.44 14.44
6920 488.2 -5.4 300 6931 roll -0.39 - - 3258 - 2.75 0.103 3394 520.0 -107.1 - - 3377 - - - - - - - - 14.39 13.80 14.41
6972 491.0 -5.4 308 6983 done -0.39 - - 3259 - 2.65 0.084 1960 -541.1 -107.1 - - 3376 - - - - - - - - 13.95 13.81 14.00
7306 509.6 -5.7 317 7317 roll -0.39 - - 3259 - 2.62 0.100 562 -533.6 -107.1 - - 3376 - - - - - - - - 14.40 13.81 14.42
7348 512.5 -6.7 323 7359 done -0.39 - - 3259 - 2.62 0.089 1970 537.4 -107.1 - - 3380 - - - - - - - - 13.95 13.78 14.00
7690 532.3 -5.7 334 7702 roll -0.39 - - 3259 - 2.70 0.105 3387 524.8 -107.1 - - 3375 - - - - - - - - 14.40 13.80 14.41
7765 536.4 -5.7 346 7777 done -0.39 - - 3259 - 2.67 0.085 1971 -530.3 -107.1 - - 3378 - - - - - - - - 13.95 13.81 14.04
8143 556.3 -5.3 363 8154 roll -0.39 - - 3259 - 2.65 0.099 559 -532.8 -107.1 - - 3382 - - - - - - - - 14.37 13.83 14.39
8186 559.3 -6.6 369 8198 done -0.39 - - 3258 - 2.62 0.090 1972 539.3 -107.1 - - 3375 - - - - - - - - 13.95 13.78 13.99
8529 579.8 -6.0 380 8540 roll -0.39 - - 3259 - 2.70 0.106 3390 525.2 -107.1 - - 3372 - - - - - - - - 14.40 13.78 14.41
8598 583.9 -6.2 391 8610 done -0.39 - - 3260 - 2.67 0.086 1959 -536.0 -107.1 - - 3374 - - - - - - - - 13.95 13.81 14.00
8902 600.5 -5.3 397 8913 done -0.39 - - 3258 - - - 1959 - -107.1 - - 3374 - - - - - - - - 14.36 14.38 14.38
9203 616.1 -5.3 402 9214 done -0.39 - - 3258 - - - 1959 - -107.1 - - 3374 - - - - - - - - 14.36 14.40 14.39
9502 632.7 -5.6 407 9514 roll -0.39 - - 3259 - 2.78 0.107 3389 514.4 -107.1 - - 3373 - - - - - - - - 14.38 13.80 14.40
9555 635.7 -5.6 415 9566 done -0.39 - - 3259 - 2.65 0.086 1975 -533.6 -107.1 - - 3373 - - - - - - - - 13.94 13.79 13.99
9893 653.5 -5.3 424 9904 roll -0.39 - - 3259 - 2.72 0.106 3390 520.2 -107.1 - - 3372 - - - - - - - - 14.34 13.76 14.36
9930 655.8 -5.2 429 9941 done -0.39 - - 3258 - 2.67 0.086 1954 -537.8 -107.1 - - 3370 - - - - - - - - 13.90 13.77 13.97
10284 674.7 -5.5 441 10294 done -0.39 - - 3258 - - - 1954 - -107.1 - - 3371 - - - - - - - - 14.34 14.35 14.35
10578 691.3 -5.5 446 10590 roll -0.39 - - 3259 - 2.78 0.106 3390 516.5 -107.1 - - 3371 - - - - - - - - 14.38 13.79 14.40
10671 696.8 -6.0 462 10683 done -0.39 - - 3259 - 2.67 0.086 1968 -532.6 -107.1 - - 3371 - - - - - - - - 13.95 13.81 14.00
11030 712.2 -4.0 475 11042 roll -0.39 - - 3259 - 2.72 0.099 3391 523.2 -107.1 - - 3371 - - - - - - - - 14.34 13.78 14.35
11177 end dive: NO_VERTICAL_VELOCITY
11177 begin apogee
11190 712.3 - 502 11289 done -0.16 0.25 0.133 3339 320.0 - - 2251 - - 91.12 1.597 2942 -4.7 0.412 - - - - - - 13.64 13.85 13.06
11292 end apogee: CONTROL_FINISHED_OK
11292 begin climb
11298 712.3 - 503 11409 roll 0.39 0.50 0.111 3513 348.0 2.67 0.105 831 -531.8 107.1 93.40 1.586 2502 -4.7 0.415 - - - - - - 13.74 13.52 12.87
11648 705.3 3.8 569 11728 done 0.43 - - 3513 - 2.60 0.092 2257 548.5 184.3 66.00 1.569 2187 -4.8 0.421 - - - - - - 14.14 14.00 12.98
12050 682.8 5.9 592 12062 roll 0.46 - - 3513 - 2.65 0.102 830 -538.5 184.3 - - 2188 - - - - - - - - 14.42 13.89 14.46
12177 674.9 6.3 614 12189 done 0.48 0.08 0.152 3574 762.5 2.60 0.093 2246 544.6 184.3 - - 2187 - - - - - - - - 14.04 13.97 14.15
12508 646.5 9.0 621 12519 roll 0.48 - - 3574 - 2.67 0.105 3665 531.5 184.3 - - 2188 - - - - - - - - 14.48 13.94 14.50
12540 642.7 9.6 625 12552 done 0.48 0.10 0.233 3552 -220.0 2.62 0.090 2237 -545.0 184.3 - - 2188 - - - - - - - - 13.84 13.99 14.05
12897 614.1 7.9 638 12908 roll 0.48 - - 3557 - 2.58 0.102 843 -540.3 184.3 - - 2188 - - - - - - - - 14.50 13.93 14.51
12969 607.7 8.4 650 12981 done 0.48 - - 3559 - 2.62 0.092 2264 542.4 184.3 - - 2189 - - - - - - - - 14.13 14.00 14.18
13342 578.5 7.8 667 13353 roll 0.48 - - 3558 - 2.65 0.105 3664 528.3 184.3 - - 2188 - - - - - - - - 14.47 13.88 14.48
13368 576.3 7.9 670 13380 done 0.48 - - 3568 - 2.62 0.086 2241 -543.1 184.3 - - 2186 - - - - - - - - 14.13 13.99 14.17
13732 547.8 7.9 684 13743 roll 0.48 - - 3570 - 2.60 0.102 842 -538.1 184.3 - - 2188 - - - - - - - - 14.43 13.88 14.45
13824 539.8 8.5 700 13835 done 0.48 - - 3575 - 2.58 0.092 2244 543.4 184.3 - - 2188 - - - - - - - - 14.08 13.93 14.14
14183 512.1 7.9 713 14193 done 0.48 - - 3570 - - - 2244 - 184.3 - - 2192 - - - - - - - - 14.45 14.46 14.46
14477 486.9 8.4 718 14488 roll 0.48 - - 3574 - 2.62 0.099 843 -534.7 184.3 - - 2188 - - - - - - - - 14.45 13.83 14.46
14525 482.9 8.4 725 14537 done 0.48 - - 3570 - 2.58 0.090 2247 544.2 184.3 - - 2190 - - - - - - - - 14.09 13.93 14.14
14868 455.6 7.9 735 14879 roll 0.48 - - 3570 - 2.70 0.103 3667 525.9 184.3 - - 2188 - - - - - - - - 14.40 13.85 14.42
14926 450.3 9.1 744 14938 done 0.48 - - 3570 - 2.65 0.090 2240 -538.5 184.3 - - 2188 - - - - - - - - 14.07 13.93 14.11
15254 424.1 8.0 752 15266 roll 0.48 - - 3580 - 2.60 0.099 844 -536.9 184.3 - - 2188 - - - - - - - - 14.45 13.83 14.47
15367 415.2 8.2 771 15379 done 0.48 0.12 0.195 3545 -291.7 2.60 0.090 2254 542.3 184.3 - - 2187 - - - - - - - - 13.76 13.90 13.96
15710 391.7 6.8 781 15722 roll 0.49 - - 3545 - 2.67 0.104 3664 528.1 184.3 - - 2188 - - - - - - - - 14.42 13.78 14.44
15747 388.6 7.5 786 15758 done 0.49 - - 3545 - 2.62 0.089 2254 -538.2 184.3 - - 2188 - - - - - - - - 14.04 13.89 14.09
16101 365.9 6.5 798 16112 roll 0.50 - - 3545 - 2.65 0.100 838 -534.3 184.3 - - 2188 - - - - - - - - 14.40 13.82 14.40
16210 358.9 6.3 816 16222 done 0.53 - - 3545 - 2.62 0.093 2259 542.4 184.3 - - 2189 - - - - - - - - 14.03 13.88 14.08
16558 338.6 5.7 827 16569 roll 0.56 - - 3544 - 2.67 0.104 3664 526.2 184.3 - - 2188 - - - - - - - - 14.38 13.77 14.40
16586 336.7 5.7 830 16598 done 0.59 0.10 0.113 3615 710.0 2.62 0.088 2251 -539.3 184.3 - - 2194 - - - - - - - - 13.97 13.88 14.07
16945 306.1 8.7 844 16957 roll 0.59 0.08 0.256 3597 -225.0 2.65 0.096 822 -539.2 184.3 - - 2188 - - - - - - - - 13.71 13.78 13.78
17033 299.3 7.9 858 17044 done 0.59 - - 3597 - 2.65 0.090 2245 537.0 184.3 - - 2191 - - - - - - - - 14.00 13.84 14.05
17400 271.1 7.7 873 17412 roll 0.59 - - 3597 - 2.70 0.103 3664 525.6 184.3 - - 2187 - - - - - - - - 14.42 13.77 14.42
17450 266.0 10.1 880 17462 done 0.59 - - 3599 - 2.62 0.086 2250 -539.7 184.3 - - 2189 - - - - - - - - 14.00 13.85 14.05
17788 236.7 8.5 890 17799 roll 0.59 - - 3611 - 2.65 0.097 821 -539.2 184.3 - - 2192 - - - - - - - - 14.42 13.74 14.44
17831 233.0 9.2 896 17843 done 0.59 - - 3611 - 2.65 0.090 2252 540.0 184.3 - - 2187 - - - - - - - - 14.00 13.84 14.04
18178 205.1 8.0 907 18190 roll 0.59 - - 3610 - 2.70 0.103 3666 523.7 184.3 - - 2189 - - - - - - - - 14.37 13.76 14.38
18251 198.0 9.6 919 18262 done 0.59 - - 3612 - 2.65 0.087 2236 -539.6 184.3 - - 2188 - - - - - - - - 13.96 13.83 14.04
18624 167.1 8.3 936 18635 roll 0.59 - - 3623 - 2.58 0.097 843 -539.9 184.3 - - 2189 - - - - - - - - 14.40 13.77 14.42
18708 160.3 8.3 950 18719 done 0.59 0.12 0.209 3588 -291.7 2.60 0.087 2253 542.3 184.3 - - 2190 - - - - - - - - 13.67 13.85 13.90
19071 137.5 5.9 965 19083 roll 0.62 - - 3588 - 2.70 0.100 3666 523.3 184.3 - - 2190 - - - - - - - - 14.42 13.79 14.44
19135 133.8 6.7 975 19146 done 0.63 - - 3588 - 2.62 0.086 2255 -538.5 184.3 - - 2189 - - - - - - - - 13.93 13.77 13.97
19458 114.3 6.1 982 19470 roll 0.66 - - 3588 - 2.62 0.097 840 -540.1 184.3 - - 2190 - - - - - - - - 14.42 13.78 14.44
19585 106.5 4.9 1004 19642 done 0.68 - - 3590 - 2.62 0.088 2259 541.6 238.4 42.45 0.867 1967 -5.3 0.127 - - - - - - 13.98 13.79 13.51
19964 87.5 5.4 1023 19976 roll 0.72 0.08 0.149 3652 775.0 2.65 0.095 821 -542.6 238.4 - - 1961 - - - - - - - - 14.09 13.87 14.10
20043 81.9 8.1 1035 20054 done 0.72 - - 3652 - 2.60 0.089 2245 547.7 238.4 - - 1966 - - - - - - - - 14.07 13.93 14.12
20415 53.6 7.5 1052 20426 done 0.72 - - 3648 - - - 2244 - 238.4 - - 1964 - - - - - - - - 14.45 14.46 14.46
20716 31.3 7.7 1061 20726 done 0.72 - - 3652 - - - 2244 - 238.4 - - 1962 - - - - - - - - 14.43 14.45 14.45
21021 8.0 7.7 1071 21032 roll 0.72 - - 3657 - 2.60 0.093 832 -543.1 238.4 - - 1963 - - - - - - - - 14.39 13.88 14.42
21059 end climb: SURFACE_DEPTH_REACHED
21059 begin surface coast
21070 end surface coast: CONTROL_FINISHED_OK
21070 begin surface
SM 0.65 - - - - -10.27 10.70 0.081 90 8.4 2.12 0.083 1975 688.2 400.08 68.53 0.080 1309 19.1 -0.016 - - - - - -