NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 262 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 71.44 of 350.00 AH used of 24V (79.59% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -76.1 deg, depth 1.00 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 49 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
26 end surface: CONTROL_FINISHED_OK
26 begin dive
31 - - - 108 done -0.39 - - 82 - - - 1885 - -107.1 -72.20 - 3379 - - - - - - - - 14.46 12.95 14.46
115 2.4 -3.8 2 136 roll -0.39 14.05 0.368 3259 226.1 2.55 0.098 490 -547.1 -107.1 - - 3381 - - - - - - - - 13.97 14.21 14.27
369 66.8 -14.9 51 377 done -0.39 - - 3258 - 2.53 0.091 1898 556.5 -107.1 - - 3388 - - - - - - - - 14.31 14.19 14.35
584 96.1 -13.0 62 592 roll -0.39 - - 3260 - 2.58 0.103 3319 550.8 -107.1 - - 3386 - - - - - - - - 14.56 14.21 14.57
683 108.4 -11.8 80 691 done -0.39 - - 3258 - 2.55 0.090 1903 -555.3 -107.1 - - 3386 - - - - - - - - 14.36 14.21 14.40
903 132.7 -10.9 92 906 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3387 - - - - - - - - 14.59 14.60 14.60
1082 152.2 -11.0 98 1085 done -0.39 - - 3259 - - - 1903 - -107.1 - - 3387 - - - - - - - - 14.59 14.61 14.62
1262 171.9 -10.9 104 1265 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3387 - - - - - - - - 14.61 14.62 14.62
1442 190.3 -9.9 110 1445 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3386 - - - - - - - - 14.62 14.64 14.64
1622 205.3 -8.1 116 1625 done -0.39 - - 3258 - - - 1903 - -107.1 - - 3385 - - - - - - - - 14.63 14.67 14.64
1802 218.7 -7.4 122 1811 roll -0.39 - - 3258 - 2.60 0.104 3323 546.2 -107.1 - - 3384 - - - - - - - - 14.63 14.25 14.65
1872 223.8 -7.3 134 1881 done -0.39 - - 3258 - 2.55 0.092 1903 -556.9 -107.1 - - 3384 - - - - - - - - 14.37 14.23 14.40
2092 241.1 -8.0 146 2101 roll -0.39 - - 3258 - 2.55 0.107 477 -559.2 -107.1 - - 3384 - - - - - - - - 14.64 14.24 14.66
2171 248.6 -9.5 160 2179 done -0.39 - - 3258 - 2.55 0.090 1916 564.3 -107.1 - - 3384 - - - - - - - - 14.42 14.31 14.46
2381 267.0 -8.8 167 2388 roll -0.39 - - 3262 - 2.53 0.106 3315 553.0 -107.1 - - 3383 - - - - - - - - 14.64 14.25 14.66
2454 273.5 -8.5 180 2462 done -0.39 - - 3258 - 2.58 0.093 1887 -553.5 -107.1 - - 3383 - - - - - - - - 14.40 14.27 14.45
2822 305.7 -8.9 196 2830 roll -0.39 - - 3258 - 2.53 0.107 493 -551.0 -107.1 - - 3381 - - - - - - - - 14.64 14.26 14.66
2875 311.5 -10.1 205 2883 done -0.39 - - 3258 - 2.50 0.090 1894 560.4 -107.1 - - 3381 - - - - - - - - 14.42 14.32 14.46
3199 339.8 -8.6 213 3207 roll -0.39 - - 3258 - 2.58 0.106 3321 553.1 -107.1 - - 3380 - - - - - - - - 14.64 14.24 14.66
3298 347.5 -7.7 231 3306 done -0.39 - - 3258 - 2.55 0.093 1906 -554.9 -107.1 - - 3379 - - - - - - - - 14.42 14.29 14.46
3637 374.3 -7.9 242 3646 roll -0.39 - - 3258 - 2.55 0.109 491 -554.9 -107.1 - - 3378 - - - - - - - - 14.64 14.25 14.66
3707 380.1 -8.4 254 3716 done -0.39 - - 3258 - 2.53 0.092 1914 562.5 -107.1 - - 3378 - - - - - - - - 14.42 14.29 14.47
4082 405.8 -6.9 271 4090 roll -0.39 - - 3264 - 2.55 0.107 3315 549.4 -107.1 - - 3379 - - - - - - - - 14.66 14.26 14.66
4156 411.1 -6.5 284 4163 done -0.39 - - 3258 - 2.55 0.095 1891 -558.4 -107.1 - - 3376 - - - - - - - - 14.42 14.30 14.48
4524 434.8 -6.5 300 4532 roll -0.39 - - 3258 - 2.55 0.109 486 -551.0 -107.1 - - 3376 - - - - - - - - 14.64 14.26 14.69
4582 439.4 -7.5 310 4591 done -0.39 - - 3258 - 2.53 0.093 1894 556.5 -107.1 - - 3376 - - - - - - - - 14.42 14.28 14.45
4902 461.7 -7.1 317 4910 roll -0.39 - - 3255 - 2.58 0.106 3323 553.9 -107.1 - - 3375 - - - - - - - - 14.64 14.23 14.66
5011 469.6 -7.1 337 5019 done -0.39 - - 3258 - 2.55 0.093 1907 -555.3 -107.1 - - 3375 - - - - - - - - 14.41 14.28 14.46
5340 495.2 -7.9 346 5343 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3374 - - - - - - - - 14.65 14.67 14.66
5641 520.6 -8.6 351 5644 done -0.39 - - 3264 - - - 1903 - -107.1 - - 3374 - - - - - - - - 14.64 14.66 14.66
5940 546.9 -8.7 356 5943 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3372 - - - - - - - - 14.66 14.68 14.66
6240 571.3 -8.0 361 6243 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3372 - - - - - - - - 14.66 14.68 14.68
6540 592.9 -7.1 366 6543 done -0.39 - - 3258 - - - 1911 - -107.1 - - 3372 - - - - - - - - 14.66 14.68 14.68
6841 612.6 -6.5 371 6849 roll -0.39 - - 3255 - 2.62 0.106 3324 539.3 -107.1 - - 3370 - - - - - - - - 14.64 14.23 14.66
6911 616.8 -5.8 383 6919 done -0.39 - - 3258 - 2.58 0.096 1897 -553.1 -107.1 - - 3371 - - - - - - - - 14.40 14.28 14.42
7285 637.5 -5.5 400 7292 roll -0.39 - - 3258 - 2.58 0.111 484 -547.7 -107.1 - - 3370 - - - - - - - - 14.63 14.21 14.64
7348 641.7 -6.2 411 7357 done -0.39 - - 3258 - 2.58 0.094 1920 556.6 -107.1 - - 3370 - - - - - - - - 14.38 14.23 14.44
7654 658.0 -5.3 417 7656 done -0.39 - - 3263 - - - 1920 - -107.1 - - 3369 - - - - - - - - 14.64 14.65 14.66
7954 674.7 -5.6 422 7957 done -0.39 - - 3259 - - - 1920 - -107.1 - - 3369 - - - - - - - - 14.65 14.67 14.66
8254 694.2 -6.6 427 8262 roll -0.39 - - 3258 - 2.53 0.106 3305 547.4 -107.1 - - 3369 - - - - - - - - 14.64 14.22 14.66
8337 700.1 -7.1 442 8345 done -0.39 - - 3258 - 2.58 0.098 1888 -549.2 -107.1 - - 3368 - - - - - - - - 14.38 14.23 14.42
8692 726.9 -7.8 456 8695 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3368 - - - - - - - - 14.64 14.66 14.66
8991 752.2 -8.5 461 8994 done -0.39 - - 3258 - - - 1890 - -107.1 - - 3368 - - - - - - - - 14.64 14.66 14.66
9292 777.9 -8.6 466 9295 done -0.39 - - 3258 - - - 1888 - -107.1 - - 3368 - - - - - - - - 14.64 14.65 14.65
9592 802.3 -8.1 471 9599 roll -0.39 - - 3258 - 2.65 0.107 3321 540.8 -107.1 - - 3365 - - - - - - - - 14.64 14.20 14.66
9649 806.6 -7.3 481 9657 done -0.39 - - 3258 - 2.58 0.096 1906 -548.4 -107.1 - - 3370 - - - - - - - - 14.38 14.25 14.42
9969 828.3 -6.7 488 9972 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3365 - - - - - - - - 14.62 14.64 14.64
10268 845.8 -5.7 493 10271 done -0.39 - - 3258 - - - 1907 - -107.1 - - 3367 - - - - - - - - 14.64 14.65 14.65
10568 862.2 -5.4 498 10572 done -0.39 - - 3258 - - - 1906 - -107.1 - - 3366 - - - - - - - - 14.62 14.64 14.64
10870 877.4 -5.1 503 10878 roll -0.39 - - 3259 - 2.62 0.109 3320 539.7 -107.1 - - 3366 - - - - - - - - 14.62 14.19 14.63
10922 880.4 -5.5 512 10930 done -0.39 - - 3258 - 2.60 0.097 1890 -550.0 -107.1 - - 3366 - - - - - - - - 14.38 14.23 14.41
11247 898.0 -5.4 520 11254 roll -0.39 - - 3258 - 2.55 0.112 495 -547.1 -107.1 - - 3365 - - - - - - - - 14.62 14.17 14.63
11311 902.0 -6.5 531 11319 done -0.39 - - 3258 - 2.53 0.096 1898 554.5 -107.1 - - 3368 - - - - - - - - 14.35 14.22 14.40
11616 917.8 -4.9 537 11624 roll -0.39 - - 3260 - 2.60 0.109 3316 545.4 -107.1 - - 3366 - - - - - - - - 14.62 14.19 14.63
11745 923.5 -5.4 560 11755 done -0.39 - - 3256 - 2.58 0.099 1908 -545.7 -107.1 - - 3364 - - - - - - - - 14.35 14.20 14.38
12046 939.3 -5.2 566 12055 roll -0.39 - - 3258 - 2.60 0.112 484 -547.7 -107.1 - - 3363 - - - - - - - - 14.60 14.16 14.62
12111 943.3 -6.4 577 12120 done -0.39 - - 3258 - 2.55 0.096 1899 554.9 -107.1 - - 3364 - - - - - - - - 14.35 14.20 14.41
12417 961.3 -5.9 583 12424 roll -0.39 - - 3258 - 2.60 0.109 3321 546.9 -107.1 - - 3364 - - - - - - - - 14.60 14.16 14.62
12500 966.4 -5.2 598 12509 done -0.39 - - 3258 - 2.60 0.097 1891 -550.0 -107.1 - - 3363 - - - - - - - - 14.35 14.21 14.39
12856 988.0 -6.0 612 12863 roll -0.39 - - 3258 - 2.58 0.112 485 -545.0 -107.1 - - 3361 - - - - - - - - 14.59 14.19 14.63
12884 end dive: TARGET_DEPTH_EXCEEDED
12884 begin apogee
12898 990.2 -6.1 617 12989 done -0.16 0.25 0.168 3334 304.0 - - 2265 - - 85.65 1.931 2940 -4.9 0.477 - - - - - - 14.14 13.89 13.15
12992 end apogee: CONTROL_FINISHED_OK
12992 begin climb
12998 992.9 - 618 13096 done 0.39 0.50 0.112 3514 360.0 - - 2264 - 107.1 89.70 1.879 2504 -4.9 0.487 - - - - - - 13.90 13.66 12.97
13375 971.4 7.1 625 13386 roll 0.39 - - 3514 - 2.62 0.112 3661 533.2 107.1 - - 2497 - - - - - - - - 14.31 13.97 14.33
13407 968.4 7.3 629 13418 done 0.39 - - 3513 - 2.62 0.099 2253 -537.4 107.1 - - 2502 - - - - - - - - 14.14 14.02 14.19
13764 941.3 7.7 642 13775 roll 0.39 - - 3514 - 2.62 0.110 820 -546.9 107.1 - - 2498 - - - - - - - - 14.49 14.12 14.50
13801 937.9 10.0 647 13812 done 0.39 - - 3514 - 2.58 0.094 2244 551.9 107.1 - - 2499 - - - - - - - - 14.30 14.18 14.33
14153 910.5 8.0 659 14164 done 0.39 - - 3514 - - - 2245 - 107.1 - - 2498 - - - - - - - - 14.57 14.59 14.59
14449 885.0 8.5 664 14460 roll 0.39 - - 3514 - 2.62 0.112 3660 540.1 107.1 - - 2498 - - - - - - - - 14.61 14.21 14.64
14491 880.8 13.5 670 14502 done 0.39 - - 3514 - 2.60 0.097 2238 -546.9 107.1 - - 2497 - - - - - - - - 14.39 14.26 14.43
14839 849.9 9.1 681 14850 roll 0.39 - - 3514 - 2.55 0.111 841 -547.8 107.1 - - 2497 - - - - - - - - 14.62 14.21 14.63
14896 843.8 9.3 690 14907 done 0.39 - - 3513 - 2.55 0.096 2264 558.0 107.1 - - 2500 - - - - - - - - 14.40 14.28 14.44
15224 814.8 8.8 698 15235 roll 0.39 - - 3514 - 2.58 0.112 3662 541.9 107.1 - - 2497 - - - - - - - - 14.63 14.21 14.65
15266 810.9 9.2 704 15277 done 0.39 - - 3510 - 2.58 0.098 2253 -546.1 107.1 - - 2497 - - - - - - - - 14.40 14.26 14.44
15613 784.6 7.5 715 15623 done 0.39 - - 3514 - - - 2253 - 107.1 - - 2497 - - - - - - - - 14.65 14.66 14.66
15910 764.4 6.6 720 15920 done 0.40 - - 3514 - - - 2253 - 107.1 - - 2497 - - - - - - - - 14.64 14.66 14.66
16209 747.0 5.8 725 16219 done 0.44 - - 3514 - - - 2253 - 107.1 - - 2499 - - - - - - - - 14.66 14.68 14.67
16509 731.4 5.1 730 16560 roll 0.46 - - 3514 - 2.62 0.112 3661 537.4 155.5 38.42 1.573 2304 -5.1 0.447 - - - - - - 14.66 14.20 13.57
16600 726.5 7.0 746 16611 done 0.46 - - 3514 - 2.62 0.099 2236 -543.9 155.5 - - 2303 - - - - - - - - 14.29 14.16 14.31
16957 704.6 6.2 759 16969 roll 0.48 0.08 0.150 3582 850.0 2.55 0.107 841 -547.1 155.5 - - 2304 - - - - - - - - 14.28 14.16 14.31
17015 699.2 9.9 768 17026 done 0.48 0.10 0.228 3554 -280.0 2.55 0.096 2245 550.6 155.5 - - 2305 - - - - - - - - 14.09 14.19 14.27
17349 670.8 8.6 776 17359 done 0.48 - - 3555 - - - 2245 - 155.5 - - 2308 - - - - - - - - 14.59 14.62 14.61
17643 644.8 8.7 781 17654 roll 0.48 - - 3554 - 2.62 0.110 3663 541.2 155.5 - - 2305 - - - - - - - - 14.62 14.20 14.62
17675 641.8 9.2 785 17686 done 0.48 - - 3557 - 2.58 0.096 2252 -546.9 155.5 - - 2305 - - - - - - - - 14.38 14.23 14.42
18032 609.8 9.1 798 18043 done 0.48 - - 3557 - - - 2255 - 155.5 - - 2306 - - - - - - - - 14.64 14.64 14.64
18327 581.4 9.5 803 18339 roll 0.48 - - 3557 - 2.62 0.109 3665 538.2 155.5 - - 2305 - - - - - - - - 14.64 14.22 14.66
18380 575.8 10.7 811 18391 done 0.48 - - 3560 - 2.58 0.096 2253 -547.3 155.5 - - 2308 - - - - - - - - 14.41 14.27 14.45
18713 543.4 9.7 820 18724 roll 0.48 - - 3560 - 2.62 0.109 3663 538.2 155.5 - - 2305 - - - - - - - - 14.64 14.23 14.66
18754 538.9 10.6 826 18765 done 0.48 - - 3570 - 2.58 0.096 2251 -547.3 155.5 - - 2305 - - - - - - - - 14.40 14.27 14.45
19101 503.6 10.3 837 19112 done 0.48 - - 3570 - - - 2251 - 155.5 - - 2308 - - - - - - - - 14.64 14.65 14.65
19397 474.8 9.5 842 19408 roll 0.48 - - 3570 - 2.65 0.109 3668 534.7 155.5 - - 2305 - - - - - - - - 14.66 14.25 14.67
19464 467.7 10.7 853 19475 done 0.48 - - 3571 - 2.60 0.098 2232 -552.3 155.5 - - 2305 - - - - - - - - 14.39 14.25 14.43
19769 439.7 9.1 859 19779 done 0.48 - - 3570 - - - 2235 - 155.5 - - 2306 - - - - - - - - 14.66 14.70 14.67
20070 413.1 8.9 864 20081 roll 0.48 - - 3566 - 2.67 0.108 3663 534.8 155.5 - - 2305 - - - - - - - - 14.65 14.27 14.66
20122 408.1 9.7 872 20133 done 0.48 - - 3580 - 2.55 0.095 2256 -551.8 155.5 - - 2309 - - - - - - - - 14.40 14.25 14.44
20455 378.4 8.8 881 20467 roll 0.48 0.08 0.266 3554 -325.0 2.62 0.105 3667 538.5 155.5 - - 2304 - - - - - - - - 14.14 14.25 14.24
20477 376.3 8.9 883 20488 done 0.48 - - 3561 - 2.58 0.095 2252 -548.4 155.5 - - 2306 - - - - - - - - 14.42 14.28 14.46
20844 346.9 8.1 898 20855 done 0.48 - - 3560 - - - 2251 - 155.5 - - 2304 - - - - - - - - 14.66 14.68 14.67
21140 322.0 8.3 903 21151 roll 0.48 - - 3569 - 2.58 0.107 838 -547.7 155.5 - - 2306 - - - - - - - - 14.66 14.23 14.67
21182 318.2 9.3 909 21193 done 0.48 - - 3570 - 2.55 0.093 2247 552.5 155.5 - - 2306 - - - - - - - - 14.41 14.27 14.45
21531 288.6 8.6 920 21542 roll 0.48 - - 3569 - 2.62 0.109 3663 540.5 155.5 - - 2306 - - - - - - - - 14.62 14.18 14.66
21567 284.4 9.8 925 21578 done 0.48 - - 3570 - 2.58 0.094 2252 -546.9 155.5 - - 2306 - - - - - - - - 14.40 14.27 14.43
21920 253.9 8.6 937 21931 roll 0.48 - - 3570 - 2.62 0.109 3663 538.5 155.5 - - 2306 - - - - - - - - 14.64 14.23 14.65
21956 250.0 9.6 942 21967 done 0.48 - - 3576 - 2.58 0.094 2244 -550.0 155.5 - - 2307 - - - - - - - - 14.41 14.28 14.45
22273 222.9 8.3 958 22284 done 0.48 - - 3573 - - - 2243 - 155.5 - - 2306 - - - - - - - - 14.65 14.67 14.66
22454 208.3 8.1 964 22465 roll 0.48 - - 3579 - 2.55 0.106 834 -552.5 155.5 - - 2307 - - - - - - - - 14.65 14.23 14.66
22486 205.7 8.2 968 22497 done 0.48 - - 3578 - 2.55 0.093 2260 559.2 155.5 - - 2307 - - - - - - - - 14.42 14.29 14.47
22690 188.3 8.6 976 22701 roll 0.48 - - 3579 - 2.58 0.109 3663 543.8 155.5 - - 2307 - - - - - - - - 14.64 14.22 14.66
22732 184.2 9.8 982 22744 done 0.48 0.10 0.248 3554 -250.0 2.55 0.094 2257 -551.4 155.5 - - 2307 - - - - - - - - 14.12 14.27 14.34
22955 168.9 6.5 994 22966 done 0.50 - - 3554 - - - 2252 - 155.5 - - 2307 - - - - - - - - 14.65 14.66 14.66
23136 158.5 5.6 1000 23147 roll 0.53 - - 3557 - 2.60 0.108 820 -550.8 155.5 - - 2307 - - - - - - - - 14.64 14.18 14.66
23163 156.8 5.7 1003 23175 done 0.57 - - 3557 - 2.58 0.093 2247 553.1 155.5 - - 2307 - - - - - - - - 14.41 14.27 14.44
23376 144.9 5.7 1012 23388 roll 0.60 - - 3557 - 2.62 0.106 3671 543.5 155.5 - - 2307 - - - - - - - - 14.63 14.25 14.64
23439 140.9 6.0 1022 23451 done 0.63 0.12 0.124 3630 608.3 2.60 0.094 2234 -552.7 155.5 - - 2308 - - - - - - - - 14.33 14.25 14.42
23648 128.4 6.0 1030 23659 roll 0.65 - - 3631 - 2.65 0.105 3664 539.6 155.5 - - 2307 - - - - - - - - 14.63 14.23 14.66
23740 122.4 6.8 1045 23751 done 0.66 - - 3638 - 2.58 0.093 2237 -553.1 155.5 - - 2307 - - - - - - - - 14.40 14.27 14.44
23951 105.9 8.0 1054 23962 done 0.66 - - 3637 - - - 2237 - 155.5 - - 2307 - - - - - - - - 14.63 14.66 14.64
24128 90.5 7.9 1060 24139 roll 0.66 - - 3642 - 2.53 0.106 840 -552.2 155.5 - - 2308 - - - - - - - - 14.63 14.23 14.65
24149 88.8 7.4 1062 24160 done 0.66 0.15 0.239 3609 -220.0 2.53 0.092 2255 559.3 155.5 - - 2308 - - - - - - - - 14.13 14.26 14.33
24367 75.0 6.0 1072 24378 roll 0.69 - - 3609 - 2.58 0.106 3663 545.7 155.5 - - 2308 - - - - - - - - 14.63 14.23 14.63
24399 73.4 4.3 1076 24462 done 0.72 - - 3612 - 2.55 0.090 2252 -553.3 221.4 49.03 0.848 2035 -5.6 0.091 - - - - - - 14.40 14.26 13.85
24660 50.8 10.7 1096 24671 roll 0.72 - - 3622 - 2.58 0.104 824 -553.5 221.4 - - 2034 - - - - - - - - 14.54 14.15 14.53
24787 36.5 10.5 1118 24798 done 0.72 - - 3622 - 2.55 0.093 2246 557.6 221.4 - - 2035 - - - - - - - - 14.33 14.19 14.37
24994 21.1 6.7 1126 25005 roll 0.74 - - 3625 - 2.58 0.106 839 -545.3 221.4 - - 2035 - - - - - - - - 14.57 14.19 14.59
25192 23.7 -0.5 1162 25326 done 0.82 - - 3626 - 2.55 0.090 2267 560.0 392.0 117.75 0.724 1341 -5.9 0.037 - - - - - - 14.36 14.23 13.73
25437 end climb: SURFACE_DEPTH_REACHED
25437 begin surface coast
25469 end surface coast: CONTROL_FINISHED_OK
25469 begin surface
SM 2.27 - - - - -10.25 9.93 0.041 93 9.3 0.70 0.097 1890 -10474.3 400.08 2.22 0.083 1309 589.6 -1.648 - - - - - -