NANOOS Jun15 * SG187 * Dive index * Mission links * Dive 847 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 255.66 of 350.00 AH used of 24V (26.96% remains)
• Previous NAKs 2, Timeouts 0
• Surface angle -76.5 deg, depth 0.94 m • Intended pitch -14.5 deg, speed -7.185 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 42 s
• GPS2 time: 2 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 - - - 109 done -0.38 - - 85 - - - 1965 - -107.1 -74.28 - 3486 - - - - - - - - 11.16 10.41 11.17
117 2.1 -3.2 2 147 roll -0.38 22.52 0.372 3237 140.0 3.45 0.092 552 -409.6 -107.1 - - 3489 - - - - - - - - 10.81 10.93 10.93
327 47.8 -11.2 42 334 done -0.38 - - 3240 - 3.42 0.088 1964 412.9 -107.1 - - 3493 - - - - - - - - 11.05 10.98 11.07
675 86.8 -11.2 50 681 roll -0.38 - - 3241 - 3.50 0.100 3385 406.0 -107.1 - - 3492 - - - - - - - - 11.17 10.97 11.19
757 95.4 -10.2 65 762 done -0.38 - - 3240 - 3.40 0.080 1974 -415.0 -107.1 - - 3493 - - - - - - - - 11.05 10.98 11.07
1111 130.6 -9.6 79 1112 done -0.38 - - 3239 - - - 1974 - -107.1 - - 3492 - - - - - - - - 11.17 11.19 11.19
1409 154.8 -7.9 84 1414 roll -0.38 - - 3240 - 3.42 0.091 545 -417.8 -107.1 - - 3492 - - - - - - - - 11.17 10.96 11.19
1440 157.3 -7.9 89 1446 done -0.38 - - 3239 - 3.38 0.083 1976 423.4 -107.1 - - 3491 - - - - - - - - 11.03 10.98 11.07
1784 181.5 -7.1 101 1790 roll -0.38 - - 3238 - 3.47 0.102 3387 406.6 -107.1 - - 3493 - - - - - - - - 11.18 10.98 11.19
1861 187.1 -7.1 115 1866 done -0.38 - - 3239 - 3.40 0.079 1962 -419.1 -107.1 - - 3493 - - - - - - - - 11.05 10.98 11.07
2219 213.2 -7.3 130 2226 roll -0.38 - - 3240 - 3.38 0.094 563 -413.9 -107.1 - - 3496 - - - - - - - - 11.17 10.98 11.19
2266 216.8 -7.4 138 2273 done -0.38 - - 3240 - 3.38 0.083 1968 415.7 -107.1 - - 3491 - - - - - - - - 11.06 10.99 11.07
2594 238.4 -6.5 147 2600 roll -0.38 - - 3240 - 3.50 0.101 3389 406.0 -107.1 - - 3493 - - - - - - - - 11.18 10.99 11.19
2672 243.3 -6.4 161 2678 done -0.38 - - 3239 - 3.40 0.076 1972 -416.8 -107.1 - - 3493 - - - - - - - - 11.06 11.00 11.08
3029 267.5 -6.9 176 3035 roll -0.38 - - 3239 - 3.42 0.095 552 -415.2 -107.1 - - 3493 - - - - - - - - 11.18 10.97 11.19
3071 270.7 -7.8 183 3077 done -0.38 - - 3240 - 3.42 0.083 1983 418.4 -107.1 - - 3492 - - - - - - - - 11.06 10.97 11.07
3403 295.2 -7.5 193 3409 roll -0.38 - - 3240 - 3.45 0.102 3388 407.2 -107.1 - - 3490 - - - - - - - - 11.19 10.98 11.19
3474 300.3 -6.9 206 3481 done -0.38 - - 3236 - 3.40 0.077 1963 -419.1 -107.1 - - 3492 - - - - - - - - 11.06 10.99 11.07
3839 325.8 -7.0 222 3840 done -0.38 - - 3241 - - - 1962 - -107.1 - - 3492 - - - - - - - - 11.19 11.21 11.19
4137 347.0 -7.1 227 4143 roll -0.38 - - 3239 - 3.53 0.102 3387 403.7 -107.1 - - 3494 - - - - - - - - 11.19 10.95 11.19
4173 349.5 -6.5 233 4179 done -0.38 - - 3239 - 3.40 0.080 1974 -415.6 -107.1 - - 3492 - - - - - - - - 11.07 11.00 11.09
4512 371.7 -6.5 244 4517 roll -0.38 - - 3239 - 3.42 0.092 549 -416.7 -107.1 - - 3491 - - - - - - - - 11.19 10.97 11.20
4543 374.0 -7.1 249 4548 done -0.38 - - 3239 - 3.42 0.084 1981 418.7 -107.1 - - 3491 - - - - - - - - 11.06 10.98 11.08
4886 396.1 -6.5 261 4892 roll -0.38 - - 3239 - 3.45 0.103 3377 404.6 -107.1 - - 3490 - - - - - - - - 11.18 10.97 11.17
4947 400.2 -6.5 272 4954 done -0.38 - - 3240 - 3.42 0.080 1956 -415.5 -107.1 - - 3493 - - - - - - - - 11.07 10.98 11.08
5253 420.5 -6.7 278 5260 roll -0.38 - - 3239 - 3.38 0.093 560 -413.0 -107.1 - - 3489 - - - - - - - - 11.18 10.98 11.19
5291 423.2 -7.2 284 5297 done -0.38 - - 3239 - 3.38 0.083 1964 415.4 -107.1 - - 3489 - - - - - - - - 11.07 11.02 11.08
5631 446.7 -6.9 295 5636 roll -0.38 - - 3240 - 3.50 0.099 3391 407.7 -107.1 - - 3489 - - - - - - - - 11.19 10.98 11.19
5717 452.4 -6.6 311 5723 done -0.38 - - 3240 - 3.40 0.080 1977 -415.9 -107.1 - - 3488 - - - - - - - - 11.07 11.00 11.09
6066 475.7 -6.8 324 6067 done -0.38 - - 3239 - - - 1977 - -107.1 - - 3488 - - - - - - - - 11.19 11.19 11.19
6364 494.3 -6.2 329 6365 done -0.38 - - 3240 - - - 1977 - -107.1 - - 3487 - - - - - - - - 11.19 11.20 11.20
6664 513.3 -6.3 334 6671 roll -0.38 - - 3239 - 3.50 0.099 3393 404.6 -107.1 - - 3487 - - - - - - - - 11.19 10.98 11.20
6733 517.5 -6.4 346 6740 done -0.38 - - 3244 - 3.42 0.082 1964 -417.8 -107.1 - - 3484 - - - - - - - - 11.07 11.00 11.11
7102 540.4 -6.2 363 7103 done -0.38 - - 3239 - - - 1964 - -107.1 - - 3486 - - - - - - - - 11.19 11.20 11.19
7401 559.7 -6.4 368 7407 roll -0.38 - - 3239 - 3.55 0.102 3388 401.1 -107.1 - - 3485 - - - - - - - - 11.18 10.97 11.19
7438 562.1 -6.5 374 7445 done -0.38 - - 3239 - 3.45 0.083 1967 -411.9 -107.1 - - 3485 - - - - - - - - 11.07 10.99 11.08
7776 585.2 -6.8 385 7782 roll -0.38 - - 3240 - 3.45 0.097 552 -410.1 -107.1 - - 3484 - - - - - - - - 11.19 10.97 11.19
7815 588.0 -7.3 391 7821 done -0.38 - - 3239 - 3.42 0.085 1966 413.5 -107.1 - - 3486 - - - - - - - - 11.07 11.00 11.08
8153 610.1 -6.5 402 8159 roll -0.38 - - 3240 - 3.53 0.099 3389 403.1 -107.1 - - 3484 - - - - - - - - 11.19 10.99 11.20
8267 617.4 -6.6 423 8273 done -0.38 - - 3239 - 3.42 0.081 1976 -413.2 -107.1 - - 3484 - - - - - - - - 11.07 11.00 11.09
8590 637.5 -6.1 431 8595 roll -0.38 - - 3236 - 3.45 0.096 549 -413.6 -107.1 - - 3484 - - - - - - - - 11.19 10.97 11.21
8641 641.1 -7.1 440 8646 done -0.38 - - 3239 - 3.45 0.085 1984 415.9 -107.1 - - 3484 - - - - - - - - 11.06 10.98 11.08
8964 661.8 -6.5 448 8970 roll -0.38 - - 3240 - 3.42 0.103 3373 406.1 -107.1 - - 3483 - - - - - - - - 11.18 10.98 11.19
9051 667.8 -6.8 464 9057 done -0.38 - - 3240 - 3.40 0.084 1958 -416.2 -107.1 - - 3483 - - - - - - - - 11.06 10.98 11.08
9400 692.2 -7.1 477 9405 roll -0.38 - - 3240 - 3.40 0.097 563 -410.3 -107.1 - - 3482 - - - - - - - - 11.19 10.99 11.20
9446 695.9 -7.9 485 9451 done -0.38 - - 3240 - 3.38 0.086 1965 414.8 -107.1 - - 3482 - - - - - - - - 11.07 10.98 11.08
9773 717.4 -6.4 494 9779 roll -0.38 - - 3239 - 3.47 0.100 3388 410.1 -107.1 - - 3482 - - - - - - - - 11.19 10.96 11.20
9842 721.5 -6.2 506 9849 done -0.38 - - 3240 - 3.42 0.083 1977 -412.6 -107.1 - - 3481 - - - - - - - - 11.07 11.00 11.08
10215 743.2 -5.8 523 10221 roll -0.38 - - 3240 - 3.45 0.096 557 -411.6 -107.1 - - 3481 - - - - - - - - 11.20 10.98 11.19
10266 746.7 -6.6 532 10271 done -0.38 - - 3240 - 3.42 0.086 1976 414.9 -107.1 - - 3479 - - - - - - - - 11.07 10.99 11.08
10589 765.8 -6.0 540 10595 roll -0.38 - - 3240 - 3.47 0.104 3387 406.6 -107.1 - - 3481 - - - - - - - - 11.19 10.96 11.19
10656 770.1 -6.4 552 10662 done -0.38 - - 3240 - 3.45 0.084 1967 -411.6 -107.1 - - 3481 - - - - - - - - 11.05 10.99 11.08
11030 793.1 -6.2 569 11031 done -0.38 - - 3240 - - - 1967 - -107.1 - - 3479 - - - - - - - - 11.18 11.19 11.19
11384 814.0 -5.8 573 11390 roll -0.38 - - 3239 - 3.55 0.103 3388 400.3 -107.1 - - 3480 - - - - - - - - 11.19 10.98 11.20
11432 816.8 -5.9 581 11438 done -0.38 - - 3240 - 3.45 0.084 1959 -414.2 -107.1 - - 3480 - - - - - - - - 11.06 10.98 11.07
11885 845.6 -6.6 600 11891 roll -0.38 - - 3239 - 3.55 0.103 3392 403.7 -107.1 - - 3479 - - - - - - - - 11.19 10.96 11.19
11941 850.0 -6.9 610 11948 done -0.38 - - 3239 - 3.42 0.084 1978 -413.5 -107.1 - - 3482 - - - - - - - - 11.07 11.00 11.09
12382 877.8 -6.2 627 12383 done -0.38 - - 3239 - - - 1977 - -107.1 - - 3478 - - - - - - - - 11.18 11.20 11.19
12739 900.5 -6.3 630 12746 roll -0.38 - - 3239 - 3.53 0.101 3388 399.7 -107.1 - - 3479 - - - - - - - - 11.19 10.99 11.19
12781 903.8 -6.4 637 12787 done -0.38 - - 3240 - 3.45 0.084 1961 -413.6 -107.1 - - 3479 - - - - - - - - 11.07 10.98 11.08
13241 933.4 -6.5 657 13246 roll -0.38 - - 3239 - 3.58 0.101 3386 398.0 -107.1 - - 3478 - - - - - - - - 11.19 10.98 11.19
13417 946.0 -7.0 690 13423 done -0.38 - - 3240 - 3.42 0.083 1978 -411.7 -107.1 - - 3478 - - - - - - - - 11.07 11.00 11.08
13855 end dive: TARGET_DEPTH_EXCEEDED
13861 begin apogee
13873 975.0 -6.5 708 14010 done -0.16 0.35 0.128 3319 225.7 - - 2152 - - 134.65 1.811 3050 -3.2 0.410 - - - - - - 10.98 10.90 10.24
14013 end apogee: CONTROL_FINISHED_OK
14013 begin climb
14018 982.2 - 709 14170 roll 0.38 0.68 0.090 3493 255.9 3.62 0.103 3564 390.1 107.1 133.65 1.815 2607 -3.3 0.430 - - - - - - 10.93 10.87 10.24
14406 974.9 4.3 785 14495 done 0.41 - - 3501 - 3.50 0.086 2141 -406.6 171.5 80.03 1.782 2350 -3.2 0.421 - - - - - - 11.02 10.95 10.25
14867 954.2 4.7 808 14939 done 0.44 - - 3500 - - - 2141 - 226.6 70.20 1.742 2126 -3.2 0.419 - - - - - - 11.14 10.88 10.29
15229 931.5 5.9 811 15235 roll 0.47 - - 3512 - 3.45 0.098 732 -408.4 226.6 - - 2120 - - - - - - - - 11.15 10.93 11.15
15291 926.8 7.5 822 15300 done 0.47 - - 3510 - 3.42 0.088 2149 414.3 226.6 - - 2121 - - - - - - - - 11.00 10.93 11.02
15728 896.9 7.0 838 15729 done 0.47 - - 3508 - - - 2149 - 226.6 - - 2121 - - - - - - - - 11.16 11.17 11.17
16087 873.3 6.6 841 16088 done 0.48 - - 3510 - - - 2149 - 226.6 - - 2122 - - - - - - - - 11.17 11.18 11.18
16447 851.3 6.1 844 16452 roll 0.50 - - 3510 - 3.53 0.105 3566 401.4 226.6 - - 2121 - - - - - - - - 11.17 10.94 11.18
16462 850.6 6.1 846 16469 done 0.52 - - 3512 - 3.47 0.088 2143 -410.1 226.6 - - 2121 - - - - - - - - 11.05 10.96 11.06
16941 818.1 6.8 871 16947 roll 0.52 - - 3513 - 3.45 0.102 730 -409.6 226.6 - - 2122 - - - - - - - - 11.17 10.95 11.19
16972 816.0 6.3 876 16978 done 0.54 - - 3513 - 3.45 0.087 2151 411.9 226.6 - - 2122 - - - - - - - - 11.05 10.98 11.07
17381 790.2 6.4 898 17388 roll 0.55 0.12 0.099 3566 441.7 3.53 0.101 3568 401.4 226.6 - - 2120 - - - - - - - - 11.02 10.96 11.05
17434 784.7 9.9 907 17440 done 0.55 - - 3575 - 3.45 0.086 2152 -410.4 226.6 - - 2121 - - - - - - - - 11.05 10.98 11.07
17759 755.7 9.1 915 17765 roll 0.55 - - 3582 - 3.45 0.099 731 -411.9 226.6 - - 2122 - - - - - - - - 11.17 10.95 11.18
17820 749.7 9.5 926 17828 done 0.55 - - 3582 - 3.47 0.091 2150 408.9 226.6 - - 2122 - - - - - - - - 11.05 10.98 11.07
18126 724.3 8.0 932 18127 done 0.55 - - 3582 - - - 2149 - 226.6 - - 2125 - - - - - - - - 11.17 11.21 11.19
18428 698.3 8.7 937 18429 done 0.55 - - 3582 - - - 2149 - 226.6 - - 2124 - - - - - - - - 11.19 11.18 11.19
18726 668.9 9.9 942 18732 roll 0.55 - - 3582 - 3.47 0.100 735 -407.5 226.6 - - 2121 - - - - - - - - 11.18 10.96 11.19
18753 666.0 10.4 946 18759 done 0.55 - - 3582 - 3.45 0.090 2151 410.4 226.6 - - 2123 - - - - - - - - 11.07 10.99 11.07
19103 628.3 10.9 959 19109 roll 0.55 - - 3582 - 3.47 0.099 735 -408.1 226.6 - - 2122 - - - - - - - - 11.19 10.95 11.19
19124 625.7 11.1 962 19131 done 0.55 - - 3582 - 3.45 0.089 2151 410.4 226.6 - - 2119 - - - - - - - - 11.06 10.99 11.07
19477 589.7 10.0 976 19482 roll 0.55 - - 3582 - 3.53 0.102 3571 402.3 226.6 - - 2121 - - - - - - - - 11.18 10.99 11.19
19505 586.9 10.2 980 19510 done 0.55 - - 3582 - 3.47 0.086 2144 -411.2 226.6 - - 2121 - - - - - - - - 11.07 10.97 11.07
19852 557.2 8.2 993 19857 roll 0.55 - - 3583 - 3.42 0.101 745 -409.1 226.6 - - 2121 - - - - - - - - 11.18 10.98 11.19
19878 555.1 7.8 997 19883 done 0.55 - - 3581 - 3.42 0.090 2151 411.1 226.6 - - 2122 - - - - - - - - 11.06 10.99 11.07
20226 530.3 7.0 1010 20233 roll 0.55 - - 3589 - 3.47 0.098 730 -409.5 226.6 - - 2122 - - - - - - - - 11.18 10.96 11.17
20253 528.2 7.0 1014 20260 done 0.55 0.17 0.182 3555 -200.0 3.45 0.088 2150 411.6 226.6 - - 2121 - - - - - - - - 10.94 10.99 11.05
20609 508.1 5.8 1027 20614 roll 0.58 - - 3555 - 3.53 0.101 3569 402.0 226.6 - - 2121 - - - - - - - - 11.18 10.98 11.21
20645 505.2 6.7 1033 20651 done 0.59 - - 3556 - 3.45 0.085 2152 -410.7 226.6 - - 2121 - - - - - - - - 11.05 10.98 11.08
20984 485.9 5.7 1044 20990 roll 0.62 - - 3557 - 3.45 0.100 733 -411.3 226.6 - - 2122 - - - - - - - - 11.18 10.95 11.19
21026 483.4 5.9 1051 21032 done 0.65 - - 3562 - 3.47 0.089 2169 413.8 226.6 - - 2122 - - - - - - - - 11.06 10.96 11.07
21359 465.5 5.3 1061 21364 roll 0.69 - - 3557 - 3.45 0.104 3558 402.6 226.6 - - 2121 - - - - - - - - 11.18 10.96 11.19
21392 463.6 6.0 1066 21399 done 0.71 0.17 0.078 3617 352.9 3.42 0.086 2146 -412.9 226.6 - - 2121 - - - - - - - - 11.04 10.98 11.07
21736 434.8 8.7 1078 21742 roll 0.71 - - 3626 - 3.42 0.100 740 -411.1 226.6 - - 2122 - - - - - - - - 11.21 10.95 11.19
21763 432.3 9.0 1082 21769 done 0.71 - - 3626 - 3.42 0.091 2149 412.0 226.6 - - 2122 - - - - - - - - 11.07 10.99 11.09
22111 400.5 9.1 1095 22117 roll 0.71 - - 3625 - 3.53 0.103 3567 401.7 226.6 - - 2121 - - - - - - - - 11.18 10.96 11.19
22142 397.3 10.0 1100 22147 done 0.71 - - 3626 - 3.45 0.086 2146 -411.9 226.6 - - 2122 - - - - - - - - 11.06 10.98 11.07
22485 365.9 9.1 1112 22491 roll 0.71 - - 3626 - 3.58 0.104 3568 397.2 226.6 - - 2122 - - - - - - - - 11.18 10.97 11.19
22507 363.6 9.4 1115 22513 done 0.71 - - 3626 - 3.45 0.086 2148 -411.6 226.6 - - 2122 - - - - - - - - 11.06 10.98 11.07
22859 330.9 9.3 1129 22865 roll 0.71 - - 3625 - 3.42 0.100 737 -412.6 226.6 - - 2122 - - - - - - - - 11.18 10.97 11.20
22882 329.0 9.4 1132 22887 done 0.71 - - 3626 - 3.42 0.090 2149 412.9 226.6 - - 2122 - - - - - - - - 11.07 10.99 11.08
23234 295.5 9.5 1146 23240 roll 0.71 - - 3626 - 3.50 0.103 3566 404.9 226.6 - - 2122 - - - - - - - - 11.19 10.96 11.21
23271 291.8 10.2 1152 23276 done 0.71 - - 3626 - 3.45 0.085 2146 -411.6 226.6 - - 2122 - - - - - - - - 11.05 10.98 11.07
23612 263.7 8.0 1163 23613 done 0.71 - - 3626 - - - 2146 - 226.6 - - 2122 - - - - - - - - 11.18 11.19 11.19
23909 240.9 7.7 1168 23910 done 0.71 - - 3626 - - - 2151 - 226.6 - - 2122 - - - - - - - - 11.19 11.20 11.19
24209 218.0 7.6 1173 24210 done 0.71 - - 3626 - - - 2146 - 226.6 - - 2122 - - - - - - - - 11.18 11.19 11.19
24511 196.8 7.0 1178 24512 done 0.71 - - 3626 - - - 2146 - 226.6 - - 2123 - - - - - - - - 11.19 11.19 11.19
24811 175.7 7.1 1183 24812 done 0.71 - - 3626 - - - 2146 - 226.6 - - 2123 - - - - - - - - 11.17 11.19 11.19
25109 152.1 8.0 1188 25110 done 0.71 - - 3625 - - - 2146 - 226.6 - - 2123 - - - - - - - - 11.19 11.19 11.19
25411 129.6 7.5 1193 25417 roll 0.71 - - 3626 - 3.58 0.103 3569 397.5 226.6 - - 2124 - - - - - - - - 11.19 10.99 11.18
25448 126.5 8.3 1199 25453 done 0.71 - - 3626 - 3.42 0.083 2152 -414.3 226.6 - - 2123 - - - - - - - - 11.07 10.99 11.08
25785 106.5 5.6 1210 25791 roll 0.74 - - 3629 - 3.42 0.096 730 -415.8 226.6 - - 2128 - - - - - - - - 11.19 10.98 11.20
25824 104.4 5.7 1216 25830 done 0.77 - - 3629 - 3.42 0.086 2150 415.2 226.6 - - 2125 - - - - - - - - 11.07 11.00 11.09
26161 80.9 7.4 1227 26167 roll 0.77 - - 3629 - 3.50 0.099 3569 405.4 226.6 - - 2123 - - - - - - - - 11.17 10.99 11.20
26212 77.0 7.9 1236 26218 done 0.77 - - 3635 - 3.42 0.081 2144 -416.7 226.6 - - 2124 - - - - - - - - 11.06 10.98 11.08
26537 61.4 4.2 1244 26615 roll 0.80 - - 3635 - 3.40 0.096 741 -412.6 293.4 69.82 0.734 1847 -4.0 0.080 - - - - - - 11.18 10.91 10.64
26707 54.1 6.0 1277 26713 done 0.83 - - 3635 - 3.40 0.086 2150 414.4 293.4 - - 1846 - - - - - - - - 11.05 10.98 11.07
27029 32.5 7.3 1289 27035 roll 0.83 - - 3635 - 3.50 0.099 3569 405.4 293.4 - - 1846 - - - - - - - - 11.18 10.98 11.19
27066 29.5 8.7 1295 27072 done 0.83 - - 3636 - 3.42 0.081 2145 -416.4 293.4 - - 1846 - - - - - - - - 11.05 10.97 11.07
27412 4.0 7.8 1311 27413 done 0.83 - - 3636 - - - 2145 - 293.4 - - 1846 - - - - - - - - 11.18 11.19 11.19
27428 end climb: SURFACE_DEPTH_REACHED
27428 begin surface coast
27459 end surface coast: CONTROL_FINISHED_OK
27459 begin surface
SM 1.25 - - - - -10.20 13.52 0.060 97 7.2 0.43 0.110 1977 4583.7 400.08 58.00 0.068 1418 24.4 -0.046 - - - - - -