NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 794 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 235.24 of 350.00 AH used of 24V (32.79% remains)
• Previous NAKs 1, Timeouts 0
• Surface angle -74.8 deg, depth 0.97 m • Intended pitch -14.8 deg, speed -7.333 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 37 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
24 end surface: CONTROL_FINISHED_OK
24 begin dive
31 - - - 108 done -0.39 - - 83 - - - 1961 - -107.1 -75.35 - 3379 - - - - - - - - 11.14 10.44 11.14
116 1.8 -2.2 2 146 roll -0.39 21.33 0.352 3240 148.0 3.50 0.097 547 -404.0 -107.1 - - 3381 - - - - - - - - 10.81 10.90 10.98
201 29.9 -11.7 18 208 done -0.39 - - 3240 - 3.42 0.084 1961 413.5 -107.1 - - 3384 - - - - - - - - 11.02 10.96 11.05
526 66.6 -11.4 29 532 roll -0.39 - - 3240 - 3.50 0.099 3388 407.7 -107.1 - - 3382 - - - - - - - - 11.15 10.95 11.17
557 70.4 -10.7 34 564 done -0.39 - - 3240 - 3.45 0.082 1959 -414.2 -107.1 - - 3383 - - - - - - - - 11.03 10.95 11.05
901 107.5 -10.4 46 907 roll -0.39 - - 3240 - 3.40 0.096 560 -411.5 -107.1 - - 3380 - - - - - - - - 11.16 10.97 11.17
946 111.9 -10.5 53 951 done -0.39 - - 3240 - 3.40 0.085 1981 417.9 -107.1 - - 3382 - - - - - - - - 11.04 10.94 11.05
1278 142.8 -9.1 63 1284 roll -0.39 - - 3240 - 3.42 0.100 3386 410.8 -107.1 - - 3382 - - - - - - - - 11.14 10.94 11.17
1319 146.6 -8.8 70 1326 done -0.39 - - 3239 - 3.40 0.082 1972 -415.9 -107.1 - - 3383 - - - - - - - - 11.05 10.98 11.06
1654 174.5 -8.3 80 1660 roll -0.39 - - 3235 - 3.42 0.093 545 -417.3 -107.1 - - 3382 - - - - - - - - 11.17 10.95 11.20
1670 176.0 -8.1 82 1676 done -0.39 - - 3239 - 3.40 0.083 1962 416.8 -107.1 - - 3383 - - - - - - - - 11.05 10.98 11.06
2028 206.7 -8.7 97 2029 done -0.39 - - 3239 - - - 1960 - -107.1 - - 3383 - - - - - - - - 11.17 11.18 11.18
2329 232.3 -8.5 102 2330 done -0.39 - - 3239 - - - 1961 - -107.1 - - 3381 - - - - - - - - 11.17 11.18 11.18
2628 256.7 -8.2 107 2629 done -0.39 - - 3239 - - - 1961 - -107.1 - - 3382 - - - - - - - - 11.17 11.19 11.18
2928 281.2 -8.2 112 2929 done -0.39 - - 3239 - - - 1961 - -107.1 - - 3382 - - - - - - - - 11.17 11.18 11.18
3229 305.2 -7.9 117 3230 done -0.39 - - 3239 - - - 1966 - -107.1 - - 3383 - - - - - - - - 11.17 11.18 11.16
3527 326.5 -7.1 122 3529 done -0.39 - - 3239 - - - 1961 - -107.1 - - 3382 - - - - - - - - 11.17 11.18 11.18
3828 348.8 -7.5 127 3834 roll -0.39 - - 3239 - 3.50 0.099 3388 407.7 -107.1 - - 3382 - - - - - - - - 11.17 10.96 11.18
3860 351.2 -7.3 132 3866 done -0.39 - - 3240 - 3.42 0.081 1970 -414.6 -107.1 - - 3381 - - - - - - - - 11.05 10.98 11.07
4202 375.0 -6.8 144 4204 done -0.39 - - 3239 - - - 1970 - -107.1 - - 3381 - - - - - - - - 11.17 11.19 11.18
4502 396.1 -7.1 149 4503 done -0.39 - - 3239 - - - 1969 - -107.1 - - 3380 - - - - - - - - 11.17 11.19 11.19
4804 417.4 -7.0 154 4811 roll -0.39 - - 3239 - 3.45 0.098 553 -410.4 -107.1 - - 3380 - - - - - - - - 11.17 10.96 11.19
4826 419.2 -6.9 157 4832 done -0.39 - - 3239 - 3.45 0.090 1982 414.2 -107.1 - - 3382 - - - - - - - - 11.05 10.94 11.07
5179 442.6 -6.6 171 5184 roll -0.39 - - 3239 - 3.45 0.104 3385 406.7 -107.1 - - 3379 - - - - - - - - 11.18 10.95 11.19
5231 446.0 -6.4 180 5239 done -0.39 - - 3239 - 3.42 0.083 1956 -417.8 -107.1 - - 3379 - - - - - - - - 11.02 10.95 11.05
5556 466.6 -6.4 188 5557 done -0.39 - - 3239 - - - 1956 - -107.1 - - 3378 - - - - - - - - 11.17 11.19 11.19
5856 485.8 -6.4 193 5857 done -0.39 - - 3239 - - - 1955 - -107.1 - - 3380 - - - - - - - - 11.17 11.19 11.19
6157 504.9 -6.4 198 6158 done -0.39 - - 3239 - - - 1955 - -107.1 - - 3377 - - - - - - - - 11.16 11.19 11.19
6456 524.6 -6.6 203 6457 done -0.39 - - 3239 - - - 1955 - -107.1 - - 3377 - - - - - - - - 11.18 11.19 11.19
6756 544.2 -6.5 208 6757 done -0.39 - - 3239 - - - 1956 - -107.1 - - 3376 - - - - - - - - 11.17 11.21 11.19
7057 560.6 -5.4 213 7063 roll -0.39 - - 3239 - 3.55 0.104 3384 402.3 -107.1 - - 3376 - - - - - - - - 11.17 10.95 11.19
7095 562.5 -4.8 219 7101 done -0.39 - - 3235 - 3.42 0.085 1975 -412.0 -107.1 - - 3375 - - - - - - - - 11.06 10.99 11.07
7432 581.6 -5.8 230 7433 done -0.39 - - 3240 - - - 1973 - -107.1 - - 3375 - - - - - - - - 11.17 11.19 11.19
7734 600.6 -6.3 235 7735 done -0.39 - - 3239 - - - 1974 - -107.1 - - 3375 - - - - - - - - 11.17 11.19 11.19
8032 620.4 -6.7 240 8033 done -0.39 - - 3237 - - - 1974 - -107.1 - - 3378 - - - - - - - - 11.18 11.19 11.19
8332 640.9 -6.8 245 8333 done -0.39 - - 3239 - - - 1974 - -107.1 - - 3374 - - - - - - - - 11.17 11.19 11.19
8632 660.6 -6.5 250 8633 done -0.39 - - 3239 - - - 1979 - -107.1 - - 3374 - - - - - - - - 11.16 11.19 11.19
8934 681.7 -7.1 255 8935 done -0.39 - - 3239 - - - 1974 - -107.1 - - 3371 - - - - - - - - 11.17 11.19 11.18
9232 703.9 -7.5 260 9233 done -0.39 - - 3239 - - - 1974 - -107.1 - - 3373 - - - - - - - - 11.18 11.19 11.19
9532 725.8 -7.3 265 9538 roll -0.39 - - 3239 - 3.47 0.099 553 -409.5 -107.1 - - 3372 - - - - - - - - 11.17 10.96 11.19
9576 729.1 -8.1 272 9582 done -0.39 - - 3239 - 3.45 0.091 1965 409.3 -107.1 - - 3373 - - - - - - - - 11.06 10.99 11.07
9908 751.4 -6.5 282 9915 roll -0.39 - - 3239 - 3.53 0.104 3389 403.4 -107.1 - - 3372 - - - - - - - - 11.18 10.98 11.19
9950 754.0 -6.1 289 9956 done -0.39 - - 3239 - 3.45 0.084 1962 -413.6 -107.1 - - 3372 - - - - - - - - 11.05 10.98 11.07
10285 774.5 -6.1 299 10290 roll -0.39 - - 3238 - 3.45 0.099 558 -407.0 -107.1 - - 3372 - - - - - - - - 11.17 10.96 11.19
10311 776.4 -6.5 303 10317 done -0.39 - - 3239 - 3.45 0.093 1980 412.2 -107.1 - - 3371 - - - - - - - - 11.05 10.96 11.07
10660 795.7 -5.4 316 10665 roll -0.39 - - 3239 - 3.47 0.106 3386 405.2 -107.1 - - 3371 - - - - - - - - 11.17 10.94 11.18
10716 799.3 -5.7 326 10722 done -0.39 - - 3241 - 3.42 0.086 1976 -412.3 -107.1 - - 3368 - - - - - - - - 11.06 10.99 11.07
11034 815.4 -5.0 333 11035 done -0.39 - - 3239 - - - 1976 - -107.1 - - 3370 - - - - - - - - 11.17 11.19 11.17
11336 829.2 -4.5 338 11337 done -0.39 - - 3235 - - - 1976 - -107.1 - - 3369 - - - - - - - - 11.17 11.19 11.19
11635 843.9 -5.0 343 11636 done -0.39 - - 3237 - - - 1973 - -107.1 - - 3369 - - - - - - - - 11.17 11.19 11.19
11934 860.2 -5.5 348 11935 done -0.39 - - 3239 - - - 1976 - -107.1 - - 3369 - - - - - - - - 11.17 11.19 11.17
12235 876.5 -5.5 353 12236 done -0.39 - - 3238 - - - 1976 - -107.1 - - 3370 - - - - - - - - 11.17 11.18 11.19
12534 892.1 -5.2 358 12535 done -0.39 - - 3239 - - - 1976 - -107.1 - - 3368 - - - - - - - - 11.17 11.19 11.18
12834 909.2 -5.8 363 12835 done -0.39 - - 3239 - - - 1972 - -107.1 - - 3372 - - - - - - - - 11.17 11.19 11.19
13134 927.7 -6.2 368 13135 done -0.39 - - 3240 - - - 1975 - -107.1 - - 3368 - - - - - - - - 11.17 11.18 11.18
13434 944.5 -5.5 373 13440 roll -0.39 - - 3239 - 3.50 0.101 553 -406.3 -107.1 - - 3368 - - - - - - - - 11.18 10.98 11.19
13460 946.7 -8.7 377 13466 done -0.39 - - 3239 - 3.45 0.091 1963 408.7 -107.1 - - 3367 - - - - - - - - 11.05 10.99 11.07
13809 963.2 -4.9 390 13816 roll -0.39 - - 3239 - 3.55 0.104 3390 402.0 -107.1 - - 3368 - - - - - - - - 11.18 10.98 11.19
13872 967.0 -4.8 401 13879 done -0.39 - - 3239 - 3.47 0.087 1958 -412.7 -107.1 - - 3367 - - - - - - - - 11.05 10.97 11.07
14178 981.7 -5.1 407 14179 done -0.39 - - 3239 - - - 1957 - -107.1 - - 3367 - - - - - - - - 11.17 11.19 11.18
14352 end dive: TARGET_DEPTH_EXCEEDED
14352 begin apogee
14366 990.6 -5.0 410 14502 done -0.16 0.35 0.132 3316 220.0 - - 2154 - - 133.73 1.810 2942 -3.2 0.415 - - - - - - 10.96 10.89 10.29
14505 end apogee: CONTROL_FINISHED_OK
14505 begin climb
14510 994.8 - 412 14661 roll 0.39 0.73 0.093 3496 246.6 3.60 0.106 3568 392.8 107.1 133.93 1.828 2500 -3.3 0.429 - - - - - - 10.91 10.87 10.27
14686 990.1 7.3 441 14692 done 0.39 - - 3500 - 3.47 0.087 2160 -405.8 107.1 - - 2496 - - - - - - - - 10.99 10.93 11.00
15034 972.6 5.1 454 15102 roll 0.41 - - 3505 - 3.55 0.103 729 -403.1 155.5 60.55 1.755 2305 -3.2 0.418 - - - - - - 11.14 10.86 10.31
15144 967.2 6.7 474 15150 done 0.43 - - 3505 - 3.50 0.091 2159 408.6 155.5 - - 2303 - - - - - - - - 11.00 10.91 11.01
15473 946.0 6.2 483 15478 roll 0.45 - - 3502 - 3.53 0.107 3566 398.6 155.5 - - 2302 - - - - - - - - 11.14 10.92 11.15
15541 941.8 7.4 495 15548 done 0.45 - - 3505 - 3.50 0.090 2143 -406.6 155.5 - - 2303 - - - - - - - - 11.04 10.94 11.04
15913 919.1 5.8 512 15919 roll 0.48 - - 3514 - 3.45 0.102 730 -409.6 155.5 - - 2303 - - - - - - - - 11.14 10.93 11.15
16006 913.4 6.3 529 16012 done 0.50 - - 3514 - 3.47 0.092 2149 408.9 155.5 - - 2303 - - - - - - - - 11.04 10.96 11.05
16349 892.6 5.9 541 16354 roll 0.53 - - 3514 - 3.55 0.106 3569 400.0 155.5 - - 2304 - - - - - - - - 11.15 10.95 11.17
16417 888.8 6.9 553 16423 done 0.53 - - 3514 - 3.53 0.090 2143 -404.0 155.5 - - 2302 - - - - - - - - 11.03 10.95 11.03
16789 866.6 5.8 570 16796 roll 0.56 0.12 0.100 3570 466.7 3.45 0.101 731 -409.3 155.5 - - 2302 - - - - - - - - 11.01 10.95 11.04
16859 861.3 8.1 582 16866 done 0.56 - - 3570 - 3.50 0.095 2149 405.1 155.5 - - 2302 - - - - - - - - 11.04 10.97 11.06
17228 831.6 8.1 599 17233 roll 0.56 - - 3570 - 3.53 0.105 3568 402.0 155.5 - - 2305 - - - - - - - - 11.17 10.95 11.17
17274 828.0 8.9 607 17280 done 0.56 - - 3579 - 3.47 0.088 2144 -410.4 155.5 - - 2302 - - - - - - - - 11.04 10.95 11.06
17603 801.8 7.8 616 17608 roll 0.56 - - 3582 - 3.45 0.103 732 -409.3 155.5 - - 2302 - - - - - - - - 11.16 10.95 11.17
17645 798.9 5.2 623 17713 done 0.58 - - 3582 - 3.47 0.093 2151 408.9 202.3 56.67 1.574 2114 -3.3 0.402 - - - - - - 11.05 10.98 10.36
18035 766.5 8.5 645 18040 roll 0.58 - - 3582 - 3.55 0.105 3571 400.0 202.3 - - 2110 - - - - - - - - 11.14 10.96 11.16
18106 759.7 9.4 658 18112 done 0.58 - - 3584 - 3.47 0.088 2150 -409.5 202.3 - - 2109 - - - - - - - - 11.06 10.95 11.05
18470 728.8 8.5 674 18476 roll 0.58 - - 3586 - 3.47 0.103 727 -410.1 202.3 - - 2112 - - - - - - - - 11.16 10.94 11.17
18544 722.2 8.7 687 18550 done 0.58 - - 3586 - 3.50 0.093 2159 409.1 202.3 - - 2109 - - - - - - - - 11.04 10.96 11.05
18908 690.6 8.7 703 18914 roll 0.58 - - 3586 - 3.53 0.107 3567 398.9 202.3 - - 2107 - - - - - - - - 11.17 10.95 11.17
18939 687.4 9.5 708 18945 done 0.58 - - 3586 - 3.47 0.089 2147 -409.2 202.3 - - 2109 - - - - - - - - 11.03 10.95 11.05
19281 658.1 8.6 720 19287 roll 0.58 - - 3586 - 3.45 0.104 741 -407.5 202.3 - - 2109 - - - - - - - - 11.17 10.95 11.17
19319 655.0 8.2 726 19326 done 0.58 - - 3587 - 3.45 0.094 2151 408.7 202.3 - - 2109 - - - - - - - - 11.05 10.98 11.06
19658 626.4 8.4 737 19659 done 0.58 - - 3586 - - - 2151 - 202.3 - - 2112 - - - - - - - - 11.17 11.18 11.19
19958 601.0 8.4 742 19964 roll 0.58 - - 3586 - 3.53 0.105 3569 401.7 202.3 - - 2109 - - - - - - - - 11.17 10.96 11.17
19996 597.7 9.0 748 20002 done 0.58 - - 3586 - 3.47 0.089 2144 -410.7 202.3 - - 2108 - - - - - - - - 11.05 10.95 11.06
20334 570.0 8.2 759 20339 roll 0.58 - - 3586 - 3.45 0.103 744 -405.8 202.3 - - 2109 - - - - - - - - 11.17 10.96 11.19
20385 565.7 8.3 768 20390 done 0.58 - - 3587 - 3.45 0.093 2165 411.9 202.3 - - 2108 - - - - - - - - 11.05 10.96 11.07
20708 538.9 8.4 776 20714 roll 0.58 - - 3586 - 3.47 0.106 3561 402.3 202.3 - - 2109 - - - - - - - - 11.15 10.95 11.17
20770 532.8 9.8 787 20777 done 0.58 - - 3586 - 3.47 0.090 2147 -407.5 202.3 - - 2108 - - - - - - - - 11.05 10.96 11.07
21077 506.3 8.7 793 21082 roll 0.58 - - 3596 - 3.45 0.102 730 -410.7 202.3 - - 2109 - - - - - - - - 11.17 10.95 11.18
21108 503.4 8.4 798 21115 done 0.58 0.17 0.178 3565 -182.4 3.45 0.092 2148 411.0 202.3 - - 2109 - - - - - - - - 10.93 10.96 11.04
21451 478.1 7.3 810 21458 roll 0.58 - - 3565 - 3.50 0.106 3564 404.6 202.3 - - 2109 - - - - - - - - 11.16 10.95 11.19
21536 471.4 8.0 825 21542 done 0.58 - - 3568 - 3.45 0.088 2159 -407.2 202.3 - - 2108 - - - - - - - - 11.05 10.98 11.07
21888 446.2 7.1 839 21889 done 0.58 - - 3568 - - - 2159 - 202.3 - - 2109 - - - - - - - - 11.17 11.18 11.18
22190 426.0 6.7 844 22196 roll 0.60 - - 3569 - 3.50 0.099 729 -408.6 202.3 - - 2109 - - - - - - - - 11.17 10.95 11.18
22241 422.3 6.9 853 22247 done 0.60 - - 3569 - 3.45 0.091 2148 411.3 202.3 - - 2109 - - - - - - - - 11.05 10.98 11.07
22563 400.6 6.8 861 22569 roll 0.61 - - 3570 - 3.53 0.103 3567 402.0 202.3 - - 2107 - - - - - - - - 11.17 10.95 11.18
22632 395.4 7.8 873 22638 done 0.61 - - 3569 - 3.47 0.086 2141 -411.0 202.3 - - 2109 - - - - - - - - 11.05 10.97 11.07
23004 370.4 6.8 890 23005 done 0.62 - - 3571 - - - 2141 - 202.3 - - 2111 - - - - - - - - 11.17 11.18 11.18
23302 351.3 6.4 895 23307 roll 0.64 - - 3570 - 3.45 0.099 729 -409.3 202.3 - - 2106 - - - - - - - - 11.17 10.96 11.18
23361 347.4 6.6 905 23366 done 0.65 - - 3570 - 3.45 0.090 2149 411.6 202.3 - - 2109 - - - - - - - - 11.05 10.98 11.07
23678 326.2 6.8 912 23684 roll 0.66 - - 3570 - 3.50 0.102 3564 404.3 202.3 - - 2109 - - - - - - - - 11.17 10.98 11.18
23771 318.7 8.3 929 23777 done 0.66 - - 3570 - 3.45 0.086 2154 -408.7 202.3 - - 2109 - - - - - - - - 11.05 10.97 11.07
24115 294.9 6.7 941 24121 roll 0.68 - - 3570 - 3.47 0.103 729 -410.7 202.3 - - 2109 - - - - - - - - 11.17 10.97 11.18
24158 292.0 7.0 948 24163 done 0.68 - - 3570 - 3.45 0.089 2149 411.6 202.3 - - 2109 - - - - - - - - 11.05 10.98 11.07
24490 268.9 7.0 958 24496 roll 0.68 - - 3570 - 3.50 0.101 3568 405.4 202.3 - - 2109 - - - - - - - - 11.17 10.97 11.19
24567 262.8 8.1 972 24572 done 0.68 - - 3570 - 3.47 0.086 2141 -411.2 202.3 - - 2109 - - - - - - - - 11.05 10.98 11.07
24926 238.1 6.9 987 24927 done 0.68 - - 3570 - - - 2141 - 202.3 - - 2109 - - - - - - - - 11.17 11.19 11.19
25224 218.6 6.5 992 25225 done 0.69 - - 3569 - - - 2140 - 202.3 - - 2109 - - - - - - - - 11.18 11.19 11.20
25526 198.8 6.6 997 25527 done 0.71 - - 3569 - - - 2140 - 202.3 - - 2110 - - - - - - - - 11.17 11.19 11.18
25824 179.8 6.3 1002 25831 roll 0.73 0.12 0.100 3626 475.0 3.58 0.099 3566 398.3 202.3 - - 2110 - - - - - - - - 11.03 10.98 11.05
25862 176.7 8.9 1008 25868 done 0.73 - - 3626 - 3.45 0.085 2142 -412.8 202.3 - - 2110 - - - - - - - - 11.07 10.97 11.07
26201 150.0 7.9 1019 26207 roll 0.73 - - 3626 - 3.42 0.099 740 -409.9 202.3 - - 2111 - - - - - - - - 11.17 10.97 11.19
26308 141.5 7.7 1039 26314 done 0.73 - - 3623 - 3.42 0.090 2151 412.6 202.3 - - 2111 - - - - - - - - 11.05 10.98 11.07
26637 117.4 7.3 1048 26643 roll 0.73 - - 3626 - 3.45 0.096 736 -410.1 202.3 - - 2111 - - - - - - - - 11.17 10.96 11.19
26770 109.3 5.7 1072 26776 done 0.76 - - 3626 - 3.42 0.089 2153 414.3 202.3 - - 2111 - - - - - - - - 11.05 10.98 11.07
27145 89.7 5.0 1089 27210 roll 0.78 - - 3626 - 3.50 0.098 3568 404.3 252.5 53.50 0.761 1903 -3.9 0.109 - - - - - - 11.17 10.88 10.62
27435 70.9 6.7 1145 27441 done 0.80 - - 3626 - 3.45 0.083 2144 -412.8 252.5 - - 1900 - - - - - - - - 11.05 10.96 11.06
27762 51.9 5.7 1154 27769 roll 0.83 - - 3626 - 3.42 0.099 740 -410.5 252.5 - - 1900 - - - - - - - - 11.18 10.95 11.18
27826 48.3 5.9 1165 27833 done 0.86 - - 3626 - 3.40 0.087 2149 414.4 252.5 - - 1900 - - - - - - - - 11.05 10.98 11.07
28135 30.5 5.8 1176 28142 roll 0.89 0.12 0.101 3677 425.0 3.47 0.099 3565 408.1 252.5 - - 1901 - - - - - - - - 11.02 10.95 11.04
28302 15.6 10.2 1207 28308 done 0.89 - - 3685 - 3.42 0.081 2144 -415.5 252.5 - - 1901 - - - - - - - - 11.05 10.96 11.07
28420 end climb: SURFACE_DEPTH_REACHED
28420 begin surface coast
28450 end surface coast: CONTROL_FINISHED_OK
28450 begin surface
SM 0.96 - - - - -10.20 14.07 0.078 95 6.8 0.43 0.104 1974 2195.3 400.08 80.65 0.069 1309 16.2 -0.023 - - - - - -