NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 148 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 48.89 of 575.00 AH used of 24V (91.50% remains)
• Surface angle -60.9 deg, depth 0.64 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 29 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.53 - - - 79.58 VBD -1.25 - - 174.00 - - - 2114.25 - -77.86 72.56 0.005 2434.03 - - - - - - - - - - 15.65
79.90 3.73 -4.27 14 111.87 -1.25 13.82 0.267 1835.62 120.2 4.16 0.169 663.25 -348.8 -77.86 9.17 0.007 2816.16 41.7 -3.726 - - - - - - 15.64 15.65 15.69
199.63 33.47 -23.66 38 205.39 roll -1.25 - - 1836.19 - 3.57 0.063 2116.75 407.1 -77.86 - - 2815.94 - - - - - - - - - 15.76 -
384.66 66.85 -16.88 75 390.42 roll -1.25 - - 1835.38 - 3.64 0.121 3473.56 372.8 -77.86 - - 2818.09 - - - - - - - - - 15.81 -
534.70 91.56 -15.38 105 540.44 roll -1.25 - - 1835.81 - 3.43 0.062 2083.50 -405.3 -77.86 - - 2817.09 - - - - - - - - - 15.85 -
724.74 115.45 -10.44 130 730.55 roll -1.25 - - 1835.56 - 3.98 0.163 662.88 -356.9 -77.86 - - 2815.50 - - - - - - - - - 15.87 -
799.83 124.31 -11.49 145 805.44 roll -1.25 - - 1836.00 - 3.55 0.059 2118.75 410.1 -77.86 - - 2816.25 - - - - - - - - - 15.91 -
1104.82 155.19 -10.05 176 1110.64 roll -1.25 - - 1835.62 - 4.06 0.161 664.12 -358.3 -77.86 - - 2816.25 - - - - - - - - - 15.92 -
1133.75 158.59 -11.11 182 1140.59 roll -1.25 - - 1835.88 - 3.51 0.059 2119.12 414.5 -77.86 - - 2818.25 - - - - - - - - - 15.95 -
1439.87 190.87 -10.85 213 1445.70 roll -1.25 - - 1835.50 - 4.06 0.163 663.38 -358.6 -77.86 - - 2817.47 - - - - - - - - - 15.95 -
1608.86 213.75 -13.10 247 1615.68 roll -1.25 - - 1836.25 - 3.55 0.061 2118.62 409.9 -77.86 - - 2817.94 - - - - - - - - - 16.00 -
1914.98 247.26 -11.53 278 1920.93 roll -1.25 - - 1835.44 - 3.95 0.163 662.00 -368.8 -77.86 - - 2817.69 - - - - - - - - - 15.99 -
1984.00 256.10 -12.54 292 1990.77 roll -1.25 - - 1835.75 - 3.55 0.062 2121.06 411.0 -77.86 - - 2818.69 - - - - - - - - - 16.02 -
2290.06 289.32 -10.80 323 2295.89 roll -1.25 - - 1835.62 - 4.04 0.164 663.19 -360.9 -77.86 - - 2817.38 - - - - - - - - - 16.01 -
2339.01 295.60 -12.79 333 2345.91 roll -1.25 - - 1835.81 - 3.54 0.062 2119.12 411.3 -77.86 - - 2817.94 - - - - - - - - - 16.04 -
2645.13 328.04 -10.40 364 2650.95 roll -1.25 - - 1835.56 - 3.98 0.164 664.19 -365.6 -77.86 - - 2816.66 - - - - - - - - - 16.02 -
2694.10 333.91 -12.58 374 2700.91 roll -1.25 - - 1835.44 - 3.53 0.063 2120.25 412.5 -77.86 - - 2817.62 - - - - - - - - - 16.05 -
3000.19 365.82 -11.17 405 3001.52 no move -1.25 - - 1835.38 - - - 2119.94 - -77.86 - - 2817.72 - - - - - - - - - - -
3300.20 396.95 -10.00 435 3301.53 no move -1.25 - - 1836.06 - - - 2119.81 - -77.86 - - 2817.62 - - - - - - - - - - -
3600.22 426.66 -10.01 465 3606.03 roll -1.25 - - 1835.75 - 4.00 0.172 663.25 -364.1 -77.86 - - 2815.41 - - - - - - - - - 16.04 -
3635.24 430.40 -10.68 472 3639.98 roll -1.25 - - 1835.56 - 3.56 0.064 2117.25 408.4 -77.86 - - 2816.12 - - - - - - - - - 16.09 -
3945.25 461.08 -9.51 504 3951.08 roll -1.25 - - 1834.75 - 4.09 0.173 664.06 -355.3 -77.86 - - 2814.59 - - - - - - - - - 16.05 -
3980.28 465.21 -10.97 511 3984.93 roll -1.25 - - 1835.81 - 3.55 0.066 2116.38 409.1 -77.86 - - 2818.59 - - - - - - - - - 16.08 -
4290.28 493.23 -8.96 543 4291.60 no move -1.25 - - 1835.19 - - - 2118.25 - -77.86 - - 2813.97 - - - - - - - - - - -
4590.29 520.37 -9.17 573 4596.12 roll -1.25 - - 1835.56 - 4.09 0.176 664.25 -355.5 -77.86 - - 2817.03 - - - - - - - - - 16.06 -
4719.24 534.74 -10.57 599 4726.07 roll -1.25 - - 1835.62 - 3.56 0.070 2116.44 407.9 -77.86 - - 2817.38 - - - - - - - - - 16.10 -
5025.34 563.40 -9.19 630 5031.18 roll -1.25 - - 1835.75 - 4.03 0.179 663.31 -360.6 -77.86 - - 2812.81 - - - - - - - - - 16.06 -
5104.27 572.31 -12.20 646 5111.11 roll -1.25 - - 1835.12 - 3.56 0.070 2116.06 408.1 -77.86 - - 2813.84 - - - - - - - - - 16.10 -
5410.38 599.10 -8.56 677 5416.21 roll -1.25 - - 1835.56 - 4.09 0.179 664.19 -355.0 -77.86 - - 2812.84 - - - - - - - - - 16.06 -
5475.46 605.59 -11.20 690 5480.12 roll -1.25 - - 1834.50 - 3.54 0.072 2116.31 410.2 -77.86 - - 2813.75 - - - - - - - - - 16.10 -
5785.41 631.13 -7.89 722 5786.74 no move -1.25 - - 1835.50 - - - 2116.69 - -77.86 - - 2811.97 - - - - - - - - - - -
6085.43 655.11 -8.72 752 6091.27 roll -1.25 - - 1835.94 - 4.08 0.182 664.38 -356.0 -77.86 - - 2810.41 - - - - - - - - - 16.07 -
6180.45 664.67 -10.56 771 6185.22 roll -1.25 - - 1836.25 - 3.61 0.072 2115.75 402.0 -77.86 - - 2812.47 - - - - - - - - - 16.11 -
6490.48 691.55 -8.69 803 6496.09 roll -1.25 - - 1833.62 - 3.67 0.139 3473.62 370.0 -77.86 - - 2811.47 - - - - - - - - - 16.09 -
6569.35 698.99 -9.19 819 6576.22 roll -1.25 - - 1834.75 - 3.43 0.074 2086.19 -404.5 -77.86 - - 2812.25 - - - - - - - - - 16.11 -
6875.51 724.05 -8.18 850 6881.31 roll -1.25 - - 1835.25 - 3.99 0.186 664.00 -356.4 -77.86 - - 2813.72 - - - - - - - - - 16.07 -
6934.45 730.26 -8.96 862 6941.29 roll -1.25 - - 1834.56 - 3.61 0.074 2116.94 402.5 -77.86 - - 2812.31 - - - - - - - - - 16.12 -
7240.55 752.91 -7.14 893 7246.31 roll -1.25 - - 1835.25 - 3.69 0.139 3473.12 367.5 -77.86 - - 2811.25 - - - - - - - - - 16.10 -
7325.57 760.32 -9.04 910 7330.28 roll -1.25 - - 1835.00 - 3.46 0.077 2086.44 -400.8 -77.86 - - 2810.31 - - - - - - - - - 16.11 -
7635.57 782.37 -7.26 942 7636.90 no move -1.25 - - 1835.94 - - - 2086.12 - -77.86 - - 2809.28 - - - - - - - - - - -
7935.59 805.08 -7.86 972 7941.24 roll -1.25 - - 1835.56 - 3.79 0.139 3471.44 365.5 -77.86 - - 2809.19 - - - - - - - - - 16.10 -
7984.46 809.70 -11.05 982 7991.34 roll -1.25 - - 1835.50 - 3.42 0.078 2086.19 -405.0 -77.86 - - 2811.25 - - - - - - - - - 16.11 -
8290.63 833.79 -8.47 1013 8296.47 roll -1.25 - - 1835.69 - 4.03 0.191 665.06 -352.6 -77.86 - - 2808.03 - - - - - - - - - 16.07 -
8489.59 853.78 -10.16 1053 8496.44 roll -1.25 - - 1835.69 - 3.61 0.079 2113.19 401.1 -77.86 - - 2810.38 - - - - - - - - - 16.12 -
8795.71 878.83 -7.65 1084 8801.56 roll -1.25 - - 1836.19 - 4.14 0.189 663.94 -350.1 -77.86 - - 2806.94 - - - - - - - - - 16.07 -
8840.73 883.46 -9.85 1093 8845.54 roll -1.25 - - 1835.00 - 3.58 0.081 2113.69 405.0 -77.86 - - 2809.94 - - - - - - - - - 16.11 -
9150.77 909.22 -7.93 1125 9152.11 no move -1.25 - - 1835.12 - - - 2113.69 - -77.86 - - 2809.16 - - - - - - - - - - -
9450.81 932.40 -8.66 1155 9452.14 no move -1.25 - - 1835.62 - - - 2113.75 - -77.86 - - 2807.62 - - - - - - - - - - -
9750.86 955.03 -6.49 1185 9756.62 roll -1.25 - - 1835.44 - 3.67 0.144 3472.00 370.1 -77.86 - - 2808.38 - - - - - - - - - 16.10 -
9795.89 959.09 -9.03 1194 9801.61 roll -1.25 - - 1835.25 - 3.46 0.079 2085.50 -400.7 -77.86 - - 2808.22 - - - - - - - - - 16.11 -
10100.92 982.40 -7.45 1225 10106.75 roll -1.25 - - 1835.44 - 4.03 0.197 664.19 -352.7 -77.86 - - 2805.88 - - - - - - - - - 16.06 -
10196 end dive: TARGET_DEPTH_EXCEEDED
10196 begin apogee
10201.41 990.23 -9.80 1244 10269.73 -0.25 1.74 0.168 2080.38 140.8 0.06 0.332 2185.69 25358.3 - 64.91 2.280 2498.78 -4.7 0.345 - - - - - - 16.06 15.61 13.16
10271 end apogee: CONTROL_FINISHED_OK
10271 begin climb
10271.12 991.83 - 1251 10352.69 1.25 2.50 0.101 2447.94 147.0 3.74 0.140 3470.62 343.6 77.86 72.71 2.232 2179.72 -4.4 0.327 - - - - - - 15.62 15.22 12.87
10370.47 985.12 6.60 1270 10375.14 roll 1.30 - - 2447.56 - 3.32 0.068 2185.69 -387.0 77.86 - - 2178.81 - - - - - - - - - 15.35 -
10680.49 952.83 10.41 1302 10686.33 done 1.30 - - 2445.31 - 4.12 0.163 737.44 -351.5 77.86 - - 2168.31 - - - - - - - - - 15.66 -
10789.42 938.88 13.23 1324 10796.28 done 1.30 - - 2447.62 - 3.65 0.067 2215.75 405.0 77.86 - - 2169.28 - - - - - - - - - 15.73 -
11095.55 907.15 10.33 1355 11101.15 done 1.30 - - 2447.62 - 3.51 0.141 3471.44 357.7 77.86 - - 2163.84 - - - - - - - - - 15.82 -
11124.40 903.59 11.87 1361 11131.25 done 1.30 - - 2447.50 - 3.23 0.068 2183.25 -398.8 77.86 - - 2166.59 - - - - - - - - - 15.83 -
11430.58 871.17 10.39 1392 11436.18 done 1.30 - - 2447.69 - 3.56 0.140 3472.88 362.3 77.86 - - 2163.16 - - - - - - - - - 15.88 -
11485.89 865.02 10.79 1403 11491.28 done 1.30 - - 2447.56 - 3.23 0.068 2183.81 -399.1 77.86 - - 2163.19 - - - - - - - - - 15.90 -
11790.63 832.53 10.63 1434 11796.46 done 1.30 - - 2444.81 - 4.05 0.159 737.25 -357.2 77.86 - - 2163.50 - - - - - - - - - 15.91 -
11855.71 825.60 10.33 1447 11861.33 done 1.30 - - 2447.50 - 3.66 0.068 2215.25 403.8 77.86 - - 2160.28 - - - - - - - - - 15.95 -
12160.68 798.83 8.59 1478 12166.54 done 1.30 - - 2447.00 - 4.11 0.158 737.12 -359.6 77.86 - - 2162.50 - - - - - - - - - 15.95 -
12209.68 793.87 10.78 1488 12216.48 done 1.30 - - 2447.44 - 3.62 0.065 2216.75 408.7 77.86 - - 2161.34 - - - - - - - - - 15.97 -
12515.75 768.94 8.29 1519 12521.34 done 1.30 - - 2447.50 - 3.46 0.139 3472.12 362.8 77.86 - - 2163.09 - - - - - - - - - 15.98 -
12660.81 754.46 9.56 1548 12665.34 done 1.30 - - 2447.81 - 3.19 0.069 2182.19 -404.4 77.86 - - 2162.09 - - - - - - - - - 16.00 -
12970.86 727.89 8.10 1580 12976.61 done 1.30 - - 2448.06 - 3.52 0.137 3471.69 366.3 77.86 - - 2159.66 - - - - - - - - - 16.00 -
12989.72 726.32 8.07 1584 12996.55 done 1.30 - - 2447.81 - 3.18 0.065 2180.38 -406.1 77.86 - - 2161.00 - - - - - - - - - 16.01 -
13295.92 700.24 8.28 1615 13301.72 done 1.30 - - 2447.56 - 3.97 0.156 734.75 -364.1 77.86 - - 2159.78 - - - - - - - - - 16.00 -
13350.95 694.74 8.83 1626 13356.69 done 1.30 - - 2448.31 - 3.60 0.063 2219.12 412.3 77.86 - - 2158.44 - - - - - - - - - 16.04 -
13656.00 668.12 7.73 1657 13660.57 done 1.30 - - 2447.62 - 3.41 0.135 3472.38 367.5 77.86 - - 2161.03 - - - - - - - - - 16.03 -
13696.01 664.68 8.61 1665 13700.67 done 1.30 - - 2447.62 - 3.16 0.064 2180.38 -408.9 77.86 - - 2160.56 - - - - - - - - - 16.04 -
14006.07 639.11 8.26 1697 14011.88 done 1.30 - - 2447.50 - 3.95 0.154 735.69 -365.7 77.86 - - 2158.19 - - - - - - - - - 16.02 -
14081.16 632.04 8.71 1712 14086.86 done 1.30 - - 2447.25 - 3.56 0.061 2219.12 416.7 77.86 - - 2162.03 - - - - - - - - - 16.05 -
14386.16 610.23 6.31 1743 14387.49 VBD 1.35 - - 2448.12 - - - 2219.88 - 77.86 - - 2159.72 - - - - - - - - - - -
14686.20 589.13 7.28 1773 14692.07 1.37 0.15 0.113 2482.50 229.2 4.04 0.151 736.94 -367.1 77.86 - - 2157.69 - - - - - - - - 16.05 16.04 -
14835.16 575.41 9.23 1803 14841.99 done 1.37 - - 2482.62 - 3.58 0.064 2220.25 414.3 77.86 - - 2160.69 - - - - - - - - - 16.07 -
15141.51 552.91 6.76 1834 15147.09 done 1.41 - - 2482.62 - 4.01 0.149 736.62 -370.0 77.86 - - 2157.38 - - - - - - - - - 16.05 -
15206.35 547.52 8.11 1847 15211.88 done 1.41 - - 2482.62 - 3.55 0.063 2220.12 417.9 77.86 - - 2158.03 - - - - - - - - - 16.07 -
15511.34 524.40 7.13 1878 15517.15 done 1.44 - - 2483.12 - 4.03 0.147 735.12 -368.5 77.86 - - 2158.94 - - - - - - - - - 16.06 -
15526.34 523.09 7.33 1881 15531.08 done 1.46 - - 2482.88 - 3.55 0.059 2219.69 418.2 77.86 - - 2158.91 - - - - - - - - - 16.07 -
15836.37 500.51 7.17 1913 15842.19 done 1.49 - - 2482.44 - 4.03 0.148 735.94 -368.2 77.86 - - 2160.81 - - - - - - - - - 16.05 -
15911.36 494.19 8.35 1928 15916.97 done 1.49 - - 2482.44 - 3.51 0.060 2219.75 422.7 77.86 - - 2157.25 - - - - - - - - - 16.06 -
16216.42 473.67 6.68 1959 16222.02 1.53 0.17 0.108 2520.06 221.3 3.35 0.133 3472.69 374.0 77.86 - - 2156.56 - - - - - - - - 16.06 16.06 -
16291.48 467.53 8.95 1974 16295.94 done 1.53 - - 2519.56 - 3.12 0.063 2180.50 -414.2 77.86 - - 2158.44 - - - - - - - - - 16.06 -
16601.47 445.11 6.93 2006 16606.03 done 1.56 - - 2519.88 - 3.42 0.130 3472.50 377.8 77.86 - - 2158.19 - - - - - - - - - 16.05 -
16615.31 443.59 7.35 2009 16622.15 done 1.58 - - 2520.00 - 3.12 0.060 2179.12 -414.5 77.86 - - 2158.94 - - - - - - - - - 16.07 -
16921.50 423.68 6.35 2040 16922.83 VBD 1.63 - - 2517.75 - - - 2179.12 - 77.86 - - 2158.09 - - - - - - - - - - -
17221.53 402.92 7.15 2070 17222.86 VBD 1.66 - - 2520.31 - - - 2179.19 - 77.86 - - 2156.94 - - - - - - - - - - -
17521.57 382.16 6.53 2100 17523.05 1.70 0.20 0.103 2560.12 199.0 - - 2179.38 - 77.86 - - 2157.62 - - - - - - - - 16.05 - -
17821.62 361.37 7.01 2130 17827.32 done 1.74 - - 2560.88 - 3.89 0.147 735.81 -371.1 77.86 - - 2158.91 - - - - - - - - - 16.06 -
17830.54 360.73 6.52 2132 17837.36 done 1.78 - - 2560.56 - 3.56 0.058 2223.50 417.9 77.86 - - 2158.00 - - - - - - - - - 16.05 -
18136.68 342.70 5.00 2163 18178.34 1.91 0.26 0.089 2610.88 193.5 4.07 0.143 736.06 -365.5 121.36 34.86 1.531 2006.62 -4.3 0.163 - - - - - - 16.06 15.85 13.06
18180.67 339.85 6.25 2171 18187.54 roll 1.97 - - 2611.38 - 3.56 0.056 2224.38 418.1 121.36 - - 2003.12 - - - - - - - - - 15.90 -
18486.67 305.68 11.98 2202 18491.22 roll 1.97 - - 2610.50 - 3.34 0.127 3473.69 374.0 121.36 - - 1999.28 - - - - - - - - - 15.93 -
18546.69 297.84 13.41 2214 18551.22 roll 1.97 - - 2611.44 - 3.15 0.061 2178.75 -411.1 121.36 - - 1998.53 - - - - - - - - - 15.94 -
18856.75 260.01 12.50 2246 18858.08 VBD 1.97 - - 2611.25 - - - 2178.81 - 121.36 - - 1996.25 - - - - - - - - - - -
19156.82 222.74 12.63 2276 19162.56 done 1.97 - - 2611.69 - 3.87 0.144 736.38 -372.7 121.36 - - 1995.25 - - - - - - - - - 15.97 -
19195.75 217.25 14.52 2284 19202.59 done 1.97 - - 2611.44 - 3.53 0.059 2222.12 420.9 121.36 - - 1997.62 - - - - - - - - - 15.99 -
19501.91 182.04 10.62 2315 19506.46 done 1.97 - - 2611.75 - 3.35 0.127 3472.50 373.2 121.36 - - 1996.47 - - - - - - - - - 16.00 -
19565.78 174.43 12.36 2328 19572.61 done 1.97 - - 2611.94 - 3.12 0.060 2180.00 -414.3 121.36 - - 1996.94 - - - - - - - - - 16.01 -
19872.00 144.64 10.34 2359 19876.58 done 1.97 - - 2611.69 - 3.42 0.123 3472.94 378.1 121.36 - - 1996.41 - - - - - - - - - 16.00 -
19945.88 137.26 9.85 2374 19952.71 done 1.97 - - 2611.94 - 3.12 0.058 2178.06 -415.0 121.36 - - 1997.28 - - - - - - - - - 16.02 -
20252.21 115.47 7.02 2405 20257.81 done 2.00 - - 2611.38 - 3.41 0.121 3473.38 379.9 121.36 - - 1995.59 - - - - - - - - - 16.02 -
20481.11 101.29 3.72 2451 20539.01 2.18 0.37 0.088 2676.44 175.8 3.13 0.058 2177.19 -414.1 183.11 50.49 1.249 1751.66 -4.8 0.066 - - - - - - 16.00 16.03 13.09
20837.27 74.65 8.78 2522 20842.97 done 2.18 - - 2676.00 - 3.45 0.120 3473.06 375.6 183.11 - - 1744.59 - - - - - - - - - 15.87 -
20857.27 72.71 8.76 2526 20862.92 done 2.18 - - 2675.62 - 3.17 0.056 2177.56 -408.7 183.11 - - 1745.84 - - - - - - - - - 15.89 -
21042.31 63.63 3.47 2563 21100.41 2.38 0.25 0.091 2723.44 191.3 3.89 0.139 735.69 -370.7 248.51 52.38 1.182 1484.84 -5.0 0.045 - - - - - - 15.90 15.65 13.08
21323.23 39.03 4.34 2619 21371.04 2.54 0.19 0.093 2760.56 195.4 3.59 0.054 2227.19 415.5 301.51 42.76 1.122 1270.25 -5.0 0.029 - - - - - - 15.78 15.80 13.04
21548.85 23.40 11.39 2664 21554.68 roll 2.54 - - 2760.44 - 4.07 0.133 734.94 -366.6 301.51 - - 1265.31 - - - - - - - - - 15.71 -
21689 end climb: SURFACE_DEPTH_REACHED
21689 begin surface coast
21699 end surface coast: CONTROL_FINISHED_OK
21699 begin surface
SM 0.68 - - - - 174.2 1.61 0.141 768.3 477.2 16.33 0.059 767.8 47.0 - 3.29 0.053 768.9 232.5 -0.305 - - 15.46 15.76 15.80 -