NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 145 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 47.94 of 575.00 AH used of 24V (91.66% remains)
• Surface angle -55.6 deg, depth 1.07 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.97 (SM_CC=425)
• GPS1 time: 35 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.48 - - - 79.53 VBD -1.25 - - 176.62 - - - 2124.50 - -77.86 72.58 0.005 2462.00 - - - - - - - - - - 15.65
79.84 3.55 -3.97 14 111.78 -1.25 13.65 0.265 1836.38 121.6 4.15 0.165 663.25 -352.1 -77.86 8.55 0.007 2816.75 41.5 -3.488 - - - - - - 15.64 15.64 15.69
179.52 27.21 -25.07 34 185.27 roll -1.25 - - 1836.31 - 3.48 0.062 2120.75 418.8 -77.86 - - 2816.25 - - - - - - - - - 15.75 -
364.55 57.05 -16.73 71 370.29 roll -1.25 - - 1834.88 - 3.43 0.121 3474.38 394.6 -77.86 - - 2818.22 - - - - - - - - - 15.80 -
409.57 64.83 -16.96 80 415.36 roll -1.25 - - 1836.75 - 3.43 0.060 2082.25 -405.9 -77.86 - - 2817.31 - - - - - - - - - 15.83 -
594.72 89.59 -13.74 117 596.05 no move -1.25 - - 1836.75 - - - 2082.81 - -77.86 - - 2817.50 - - - - - - - - - - -
779.67 115.77 -13.54 143 785.20 roll -1.25 - - 1835.56 - 3.60 0.121 3472.62 386.1 -77.86 - - 2820.12 - - - - - - - - - 15.90 -
804.61 119.43 -13.88 148 809.17 roll -1.25 - - 1836.38 - 3.38 0.060 2080.81 -411.8 -77.86 - - 2820.69 - - - - - - - - - 15.90 -
1114.63 149.51 -8.22 180 1120.43 roll -1.25 - - 1836.81 - 3.87 0.162 661.94 -366.6 -77.86 - - 2821.09 - - - - - - - - - 15.93 -
1199.73 158.72 -12.04 197 1205.26 roll -1.25 - - 1836.38 - 3.48 0.059 2120.44 419.1 -77.86 - - 2819.88 - - - - - - - - - 15.96 -
1504.71 188.34 -9.47 228 1506.03 no move -1.25 - - 1836.50 - - - 2120.44 - -77.86 - - 2819.00 - - - - - - - - - - -
1804.75 220.82 -11.12 258 1810.56 roll -1.25 - - 1836.38 - 3.99 0.160 662.44 -365.4 -77.86 - - 2820.91 - - - - - - - - - 15.99 -
1929.80 238.43 -15.46 283 1934.38 roll -1.25 - - 1836.38 - 3.48 0.062 2118.62 418.4 -77.86 - - 2821.06 - - - - - - - - - 16.02 -
2239.85 273.41 -11.32 315 2245.67 roll -1.25 - - 1836.19 - 3.99 0.162 663.25 -364.8 -77.86 - - 2816.25 - - - - - - - - - 16.01 -
2298.80 280.92 -12.77 327 2305.61 roll -1.25 - - 1836.50 - 3.48 0.062 2120.56 418.8 -77.86 - - 2818.41 - - - - - - - - - 16.05 -
2604.92 314.43 -11.01 358 2610.75 roll -1.25 - - 1836.31 - 4.01 0.164 662.25 -363.7 -77.86 - - 2815.94 - - - - - - - - - 16.03 -
2729.97 330.90 -14.12 383 2734.62 roll -1.25 - - 1836.62 - 3.49 0.063 2119.62 417.6 -77.86 - - 2818.28 - - - - - - - - - 16.07 -
3040.02 364.28 -11.07 415 3041.34 no move -1.25 - - 1836.31 - - - 2120.38 - -77.86 - - 2817.53 - - - - - - - - - - -
3340.07 394.51 -10.65 445 3341.40 no move -1.25 - - 1836.69 - - - 2120.44 - -77.86 - - 2817.28 - - - - - - - - - - -
3640.11 423.03 -9.26 475 3645.95 roll -1.25 - - 1836.62 - 4.05 0.169 662.75 -359.9 -77.86 - - 2814.59 - - - - - - - - - 16.06 -
3679.05 427.74 -11.40 483 3685.86 roll -1.25 - - 1836.38 - 3.49 0.064 2119.44 417.4 -77.86 - - 2818.31 - - - - - - - - - 16.09 -
3985.16 455.70 -8.61 514 3990.99 roll -1.25 - - 1835.69 - 4.03 0.172 663.31 -361.3 -77.86 - - 2815.75 - - - - - - - - - 16.06 -
4020.17 459.32 -10.34 521 4024.89 roll -1.25 - - 1836.19 - 3.48 0.066 2119.06 418.3 -77.86 - - 2815.09 - - - - - - - - - 16.09 -
4330.19 488.14 -9.11 553 4331.51 no move -1.25 - - 1836.44 - - - 2119.44 - -77.86 - - 2815.03 - - - - - - - - - - -
4630.21 518.92 -10.84 583 4636.03 roll -1.25 - - 1836.31 - 4.03 0.173 663.88 -361.2 -77.86 - - 2811.97 - - - - - - - - - 16.07 -
4685.23 525.59 -12.35 594 4689.96 roll -1.25 - - 1836.06 - 3.51 0.069 2118.62 414.5 -77.86 - - 2814.91 - - - - - - - - - 16.10 -
4995.26 556.77 -9.89 626 5000.85 roll -1.25 - - 1836.00 - 3.55 0.134 3472.44 381.4 -77.86 - - 2811.28 - - - - - - - - - 16.09 -
5040.26 561.05 -9.75 635 5044.82 roll -1.25 - - 1836.25 - 3.38 0.070 2083.81 -410.8 -77.86 - - 2814.00 - - - - - - - - - 16.10 -
5350.27 591.42 -9.93 667 5356.07 roll -1.25 - - 1836.81 - 3.89 0.179 663.44 -365.1 -77.86 - - 2814.88 - - - - - - - - - 16.07 -
5465.29 604.88 -11.81 690 5470.03 roll -1.25 - - 1836.62 - 3.51 0.070 2117.31 414.2 -77.86 - - 2814.56 - - - - - - - - - 16.11 -
5775.31 634.95 -8.30 722 5781.14 roll -1.25 - - 1836.50 - 4.03 0.177 662.25 -361.1 -77.86 - - 2811.84 - - - - - - - - - 16.08 -
5850.40 643.19 -9.57 737 5855.08 roll -1.25 - - 1836.25 - 3.51 0.070 2117.44 414.6 -77.86 - - 2810.34 - - - - - - - - - 16.11 -
6160.35 671.64 -8.66 769 6161.68 no move -1.25 - - 1836.62 - - - 2117.31 - -77.86 - - 2810.31 - - - - - - - - - - -
6460.38 697.66 -9.19 799 6466.20 roll -1.25 - - 1836.25 - 4.03 0.181 663.25 -360.8 -77.86 - - 2808.50 - - - - - - - - - 16.08 -
6515.41 703.12 -10.48 810 6520.13 roll -1.25 - - 1836.81 - 3.56 0.073 2116.12 408.1 -77.86 - - 2809.50 - - - - - - - - - 16.12 -
6825.40 729.45 -8.46 842 6831.03 roll -1.25 - - 1835.88 - 3.63 0.139 3472.88 373.8 -77.86 - - 2807.66 - - - - - - - - - 16.09 -
6884.27 734.77 -9.30 854 6891.15 roll -1.25 - - 1836.12 - 3.41 0.075 2085.69 -406.8 -77.86 - - 2810.47 - - - - - - - - - 16.11 -
7190.43 760.49 -9.46 885 7196.25 roll -1.25 - - 1836.44 - 3.94 0.183 663.12 -361.1 -77.86 - - 2807.34 - - - - - - - - - 16.08 -
7269.50 768.37 -10.89 901 7276.20 roll -1.25 - - 1835.12 - 3.58 0.073 2117.25 406.2 -77.86 - - 2811.31 - - - - - - - - - 16.12 -
7575.46 794.70 -8.40 932 7576.79 no move -1.25 - - 1835.19 - - - 2117.06 - -77.86 - - 2811.00 - - - - - - - - - - -
7875.49 819.71 -8.07 962 7876.82 no move -1.25 - - 1836.25 - - - 2117.62 - -77.86 - - 2808.38 - - - - - - - - - - -
8175.51 843.34 -8.23 992 8181.13 roll -1.25 - - 1836.12 - 3.63 0.143 3474.00 373.7 -77.86 - - 2805.81 - - - - - - - - - 16.10 -
8220.56 847.26 -8.71 1001 8225.23 roll -1.25 - - 1836.62 - 3.42 0.078 2086.25 -405.8 -77.86 - - 2808.53 - - - - - - - - - 16.12 -
8530.53 871.16 -7.45 1033 8536.35 roll -1.25 - - 1836.00 - 3.98 0.189 665.25 -357.0 -77.86 - - 2805.06 - - - - - - - - - 16.08 -
8565.56 875.01 -8.50 1040 8570.28 roll -1.25 - - 1835.44 - 3.53 0.077 2114.56 410.6 -77.86 - - 2807.25 - - - - - - - - - 16.12 -
8875.56 900.05 -7.83 1072 8876.89 no move -1.25 - - 1835.94 - - - 2114.75 - -77.86 - - 2805.34 - - - - - - - - - - -
9175.59 925.04 -7.60 1102 9176.92 no move -1.25 - - 1836.19 - - - 2114.69 - -77.86 - - 2804.75 - - - - - - - - - - -
9475.60 950.28 -8.34 1132 9476.92 no move -1.25 - - 1836.19 - - - 2114.81 - -77.86 - - 2806.97 - - - - - - - - - - -
9775.61 971.93 -6.70 1162 9781.45 roll -1.25 - - 1835.81 - 4.07 0.192 664.06 -356.4 -77.86 - - 2806.62 - - - - - - - - - 16.08 -
9814.55 974.65 -6.89 1170 9821.38 roll -1.25 - - 1836.88 - 3.58 0.081 2115.94 405.6 -77.86 - - 2808.84 - - - - - - - - - 16.12 -
10030 end dive: TARGET_DEPTH_EXCEEDED
10030 begin apogee
10031.88 990.20 -8.44 1192 10102.11 -0.25 1.74 0.160 2080.19 139.8 0.07 0.326 2186.19 1003.6 - 64.50 2.277 2501.31 -4.8 0.344 - - - - - - 16.07 15.60 13.10
10103 end apogee: CONTROL_FINISHED_OK
10103 begin climb
10103.48 991.46 - 1199 10181.99 1.25 2.52 0.099 2447.75 145.9 - - 2186.75 - 77.86 71.61 2.242 2182.38 -4.5 0.326 - - - - - - 15.64 - 12.91
10480.74 957.00 10.62 1237 10486.31 done 1.25 - - 2447.50 - 3.44 0.142 3472.81 373.9 77.86 - - 2168.34 - - - - - - - - - 15.67 -
10499.58 955.10 10.08 1241 10506.43 done 1.25 - - 2447.88 - 3.26 0.067 2185.56 -394.9 77.86 - - 2169.06 - - - - - - - - - 15.68 -
10805.78 924.79 10.07 1272 10807.11 VBD 1.25 - - 2447.75 - - - 2185.50 - 77.86 - - 2165.47 - - - - - - - - - - -
11105.83 897.24 8.43 1302 11110.41 done 1.25 - - 2448.50 - 3.45 0.140 3473.00 373.2 77.86 - - 2167.38 - - - - - - - - - 15.86 -
11129.69 894.62 9.07 1307 11136.54 done 1.25 - - 2448.62 - 3.22 0.067 2183.44 -400.5 77.86 - - 2164.19 - - - - - - - - - 15.88 -
11435.89 865.29 8.55 1338 11437.22 VBD 1.25 - - 2448.12 - - - 2183.31 - 77.86 - - 2162.44 - - - - - - - - - - -
11735.94 836.88 8.78 1368 11740.53 done 1.25 - - 2447.81 - 3.42 0.140 3472.38 376.9 77.86 - - 2164.16 - - - - - - - - - 15.95 -
11775.97 833.21 8.26 1376 11780.49 done 1.25 - - 2448.00 - 3.18 0.068 2182.75 -405.5 77.86 - - 2163.00 - - - - - - - - - 15.95 -
12086.02 804.36 9.63 1408 12090.57 done 1.25 - - 2448.12 - 3.39 0.140 3473.00 380.6 77.86 - - 2162.81 - - - - - - - - - 15.97 -
12206.06 793.14 10.22 1432 12210.59 done 1.25 - - 2448.50 - 3.16 0.069 2183.44 -408.1 77.86 - - 2162.88 - - - - - - - - - 16.00 -
12516.12 765.48 7.87 1464 12521.92 done 1.25 - - 2448.31 - 3.89 0.158 735.00 -372.3 77.86 - - 2161.81 - - - - - - - - - 15.99 -
12615.06 755.80 9.48 1484 12621.90 done 1.25 - - 2448.31 - 3.53 0.064 2217.25 419.9 77.86 - - 2161.12 - - - - - - - - - 16.01 -
12921.19 730.76 8.80 1515 12925.76 done 1.25 - - 2447.88 - 3.30 0.142 3472.62 380.4 77.86 - - 2161.03 - - - - - - - - - 16.02 -
12981.22 724.90 9.24 1527 12985.88 done 1.25 - - 2448.38 - 3.12 0.067 2182.38 -413.5 77.86 - - 2160.25 - - - - - - - - - 16.03 -
13291.25 699.10 8.76 1559 13292.58 VBD 1.25 - - 2447.81 - - - 2182.31 - 77.86 - - 2158.88 - - - - - - - - - - -
13591.29 674.97 7.94 1589 13595.85 done 1.25 - - 2447.12 - 3.40 0.139 3473.75 379.8 77.86 - - 2161.47 - - - - - - - - - 16.04 -
13625.15 671.49 9.02 1596 13631.99 done 1.25 - - 2448.12 - 3.15 0.068 2182.56 -409.9 77.86 - - 2160.00 - - - - - - - - - 16.04 -
13931.33 647.16 8.48 1627 13935.92 done 1.25 - - 2448.06 - 3.41 0.139 3472.25 378.2 77.86 - - 2160.03 - - - - - - - - - 16.04 -
13951.35 645.37 8.12 1631 13955.87 done 1.25 - - 2448.25 - 3.15 0.065 2181.19 -409.9 77.86 - - 2161.16 - - - - - - - - - 16.05 -
14261.39 619.55 8.42 1663 14262.72 VBD 1.25 - - 2447.38 - - - 2181.62 - 77.86 - - 2162.31 - - - - - - - - - - -
14561.45 595.50 6.98 1693 14567.16 done 1.28 - - 2448.62 - 3.89 0.153 736.19 -371.6 77.86 - - 2157.50 - - - - - - - - - 16.05 -
14666.45 586.75 9.00 1714 14672.19 done 1.28 - - 2448.25 - 3.53 0.065 2218.56 419.9 77.86 - - 2159.38 - - - - - - - - - 16.07 -
14971.50 563.83 7.61 1745 14976.04 done 1.28 - - 2448.62 - 3.28 0.137 3472.69 382.4 77.86 - - 2158.69 - - - - - - - - - 16.06 -
15081.86 555.06 8.22 1767 15087.06 done 1.28 - - 2447.88 - 3.13 0.065 2180.12 -413.0 77.86 - - 2157.66 - - - - - - - - - 16.08 -
15386.59 534.98 6.48 1798 15392.38 done 1.33 - - 2447.44 - 3.91 0.151 736.00 -369.3 77.86 - - 2159.34 - - - - - - - - - 16.06 -
15415.51 533.03 6.13 1804 15422.38 1.39 0.17 0.110 2486.88 232.0 3.53 0.060 2221.88 420.9 77.86 - - 2158.81 - - - - - - - - 16.05 16.07 -
15721.63 512.64 7.43 1835 15727.35 done 1.41 - - 2487.00 - 3.92 0.146 734.75 -379.4 77.86 - - 2160.41 - - - - - - - - - 16.06 -
15896.68 498.72 7.49 1870 15902.29 done 1.42 - - 2486.50 - 3.53 0.064 2221.75 421.2 77.86 - - 2157.09 - - - - - - - - - 16.08 -
16201.74 478.18 7.04 1901 16207.55 done 1.45 - - 2486.38 - 4.01 0.146 735.00 -370.8 77.86 - - 2156.53 - - - - - - - - - 16.06 -
16216.74 477.08 7.40 1904 16222.33 done 1.47 - - 2486.38 - 3.52 0.059 2221.06 422.2 77.86 - - 2156.41 - - - - - - - - - 16.06 -
16521.80 454.74 6.80 1935 16526.33 done 1.51 - - 2486.88 - 3.31 0.131 3472.75 378.2 77.86 - - 2158.44 - - - - - - - - - 16.07 -
16671.83 441.79 8.11 1965 16676.37 done 1.51 - - 2486.62 - 3.13 0.062 2179.62 -413.1 77.86 - - 2158.56 - - - - - - - - - 16.07 -
16981.92 420.51 6.53 1997 16987.60 1.56 0.19 0.103 2525.81 206.3 3.38 0.129 3471.44 382.2 77.86 - - 2156.84 - - - - - - - - 16.07 16.06 -
17036.92 416.13 7.63 2008 17041.43 done 1.56 - - 2526.50 - 3.14 0.060 2179.56 -411.4 77.86 - - 2159.16 - - - - - - - - - 16.07 -
17347.00 396.56 6.48 2040 17352.81 done 1.60 - - 2526.50 - 3.84 0.146 736.19 -375.9 77.86 - - 2156.19 - - - - - - - - - 16.05 -
17475.97 387.26 6.94 2066 17482.77 done 1.64 - - 2526.75 - 3.49 0.060 2221.19 425.5 77.86 - - 2158.28 - - - - - - - - - 16.05 -
17782.13 370.55 5.30 2097 17819.58 1.76 0.24 0.092 2575.00 201.0 3.99 0.142 736.12 -372.2 117.16 31.46 1.552 2018.34 -4.4 0.176 - - - - - - 16.06 15.86 13.13
17841.24 366.15 7.76 2109 17848.21 roll 1.76 - - 2575.19 - 3.55 0.058 2221.06 418.3 117.16 - - 2018.94 - - - - - - - - - 15.92 -
18147.36 334.60 10.72 2140 18153.10 done 1.76 - - 2574.81 - 3.96 0.140 735.00 -375.3 117.16 - - 2013.34 - - - - - - - - - 15.94 -
18206.29 327.28 12.27 2152 18213.13 done 1.76 - - 2574.75 - 3.54 0.058 2220.12 419.5 117.16 - - 2013.84 - - - - - - - - - 15.96 -
18512.40 296.28 9.05 2183 18517.10 done 1.76 - - 2574.50 - 3.37 0.130 3472.06 371.5 117.16 - - 2013.97 - - - - - - - - - 15.96 -
18696.27 275.67 11.94 2220 18703.25 done 1.76 - - 2575.25 - 3.15 0.062 2180.12 -410.1 117.16 - - 2013.25 - - - - - - - - - 15.99 -
19002.46 248.31 8.72 2251 19003.79 VBD 1.76 - - 2575.62 - - - 2181.00 - 117.16 - - 2011.19 - - - - - - - - - - -
19302.50 220.15 9.45 2281 19308.22 done 1.76 - - 2575.44 - 3.85 0.143 735.75 -375.4 117.16 - - 2013.66 - - - - - - - - - 15.99 -
19461.44 203.07 11.72 2313 19468.29 done 1.76 - - 2576.00 - 3.54 0.059 2223.62 420.3 117.16 - - 2011.22 - - - - - - - - - 16.03 -
19767.56 173.64 8.74 2344 19773.29 done 1.76 - - 2572.75 - 3.98 0.135 733.81 -374.3 117.16 - - 2010.84 - - - - - - - - - 16.02 -
19842.64 166.07 9.89 2359 19848.17 done 1.76 - - 2575.31 - 3.52 0.058 2223.12 423.1 117.16 - - 2009.81 - - - - - - - - - 16.02 -
20147.61 144.12 7.89 2390 20152.15 done 1.76 - - 2574.69 - 3.27 0.125 3472.38 382.0 117.16 - - 2011.31 - - - - - - - - - 16.03 -
20377.68 127.28 7.45 2436 20382.32 done 1.77 - - 2575.06 - 3.13 0.058 2177.12 -413.8 117.16 - - 2013.25 - - - - - - - - - 16.04 -
20687.75 112.63 3.80 2468 20743.40 1.96 0.23 0.095 2619.94 195.1 3.46 0.122 3473.81 374.8 177.76 48.99 1.257 1773.06 -4.9 0.073 - - - - - - 16.03 15.80 13.02
20747.76 109.94 3.56 2480 20804.62 2.15 0.25 0.088 2667.62 190.7 3.17 0.054 2177.88 -408.8 241.87 51.48 1.229 1514.03 -5.0 0.075 - - - - - - 15.83 15.84 12.98
21102.85 64.86 10.44 2547 21108.67 done 2.15 - - 2667.31 - 3.91 0.138 735.88 -368.8 241.87 - - 1506.28 - - - - - - - - - 15.77 -
21192.88 53.24 12.38 2565 21198.67 done 2.15 - - 2667.25 - 3.59 0.055 2222.81 414.2 241.87 - - 1503.88 - - - - - - - - - 15.80 -
21377.95 31.91 10.73 2602 21383.78 done 2.15 - - 2668.56 - 3.98 0.131 734.81 -373.9 241.87 - - 1502.84 - - - - - - - - - 15.84 -
21608.12 20.78 2.11 2648 21685.26 2.40 0.34 0.077 2730.94 183.5 3.55 0.054 2227.75 420.5 326.63 68.57 1.117 1169.53 -4.9 0.015 - - - - - - 15.87 15.89 12.95
21852 end climb: SURFACE_DEPTH_REACHED
21853 begin surface coast
21867 end surface coast: CONTROL_FINISHED_OK
21868 begin surface
SM 0.50 - - - - 180.2 - 0.016 767.5 - 16.42 0.076 771.1 46.9 - 0.34 0.086 764.0 2236.6 -1.329 - - 30.36 15.73 15.76 -