NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 162 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 53.32 of 575.00 AH used of 24V (90.73% remains)
• Surface angle -62.8 deg, depth 0.73 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.79 (SM_CC=425)
• GPS1 time: 44 s
• GPS2 time: 3 s • Transponder ping count: 1
• 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
6.56 - - - 79.60 VBD -1.25 - - 176.38 - - - 2124.44 - -77.86 72.51 0.005 2422.12 - - - - - - - - - - 15.65
79.93 3.69 -4.93 14 111.78 -1.25 13.81 0.265 1836.81 120.2 3.67 0.124 3473.50 367.6 -77.86 9.53 0.007 2816.88 41.4 -3.654 - - - - - - 15.64 15.63 15.67
334.58 60.04 -17.55 65 340.28 roll -1.25 - - 1837.00 - 3.48 0.065 2082.19 -399.8 -77.86 - - 2818.09 - - - - - - - - - 15.81 -
519.58 87.16 -14.06 102 520.91 no move -1.25 - - 1836.81 - - - 2082.56 - -77.86 - - 2818.09 - - - - - - - - - - -
704.59 108.59 -12.15 132 710.23 roll -1.25 - - 1836.94 - 3.72 0.120 3473.00 373.8 -77.86 - - 2817.25 - - - - - - - - - 15.89 -
729.61 111.60 -11.65 137 734.18 roll -1.25 - - 1836.38 - 3.43 0.063 2083.12 -405.2 -77.86 - - 2819.25 - - - - - - - - - 15.90 -
1039.62 144.28 -10.74 169 1045.44 roll -1.25 - - 1836.75 - 4.01 0.164 662.81 -354.2 -77.86 - - 2818.66 - - - - - - - - - 15.92 -
1098.56 151.78 -12.18 181 1105.39 roll -1.25 - - 1836.62 - 3.57 0.061 2118.81 407.8 -77.86 - - 2819.12 - - - - - - - - - 15.94 -
1404.65 184.06 -10.99 212 1410.28 roll -1.25 - - 1837.00 - 3.63 0.122 3474.25 373.4 -77.86 - - 2817.59 - - - - - - - - - 15.97 -
1463.52 190.92 -11.50 224 1470.40 roll -1.25 - - 1836.56 - 3.42 0.064 2083.88 -406.5 -77.86 - - 2819.59 - - - - - - - - - 15.99 -
1769.68 223.97 -10.81 255 1775.50 roll -1.25 - - 1836.44 - 3.92 0.165 662.12 -362.7 -77.86 - - 2817.84 - - - - - - - - - 15.98 -
1828.56 232.22 -14.27 267 1835.45 roll -1.25 - - 1837.12 - 3.56 0.062 2118.50 409.1 -77.86 - - 2819.56 - - - - - - - - - 16.01 -
2134.75 266.26 -11.42 298 2136.08 no move -1.25 - - 1836.75 - - - 2118.56 - -77.86 - - 2819.31 - - - - - - - - - - -
2434.79 299.69 -10.81 328 2436.12 no move -1.25 - - 1837.19 - - - 2118.19 - -77.86 - - 2819.50 - - - - - - - - - - -
2734.85 332.21 -10.93 358 2736.17 no move -1.25 - - 1837.12 - - - 2117.75 - -77.86 - - 2818.84 - - - - - - - - - - -
3034.89 363.88 -10.52 388 3036.22 no move -1.25 - - 1837.25 - - - 2118.12 - -77.86 - - 2818.19 - - - - - - - - - - -
3334.95 396.24 -10.59 418 3336.27 no move -1.25 - - 1836.56 - - - 2117.94 - -77.86 - - 2817.81 - - - - - - - - - - -
3635.00 427.55 -11.12 448 3640.85 roll -1.25 - - 1837.00 - 4.11 0.170 662.94 -354.0 -77.86 - - 2817.47 - - - - - - - - - 16.06 -
3700.09 435.48 -13.54 461 3705.63 roll -1.25 - - 1836.88 - 3.52 0.065 2118.62 413.5 -77.86 - - 2815.72 - - - - - - - - - 16.08 -
4005.07 465.52 -9.92 492 4006.40 no move -1.25 - - 1836.88 - - - 2117.88 - -77.86 - - 2817.00 - - - - - - - - - - -
4305.11 495.78 -9.20 522 4310.96 roll -1.25 - - 1837.00 - 4.11 0.173 663.12 -354.0 -77.86 - - 2815.50 - - - - - - - - - 16.07 -
4380.14 504.05 -10.72 537 4385.76 roll -1.25 - - 1836.94 - 3.55 0.069 2116.25 409.3 -77.86 - - 2816.62 - - - - - - - - - 16.10 -
4685.19 532.07 -8.46 568 4690.82 roll -1.25 - - 1836.25 - 3.66 0.133 3471.44 370.3 -77.86 - - 2814.25 - - - - - - - - - 16.08 -
4714.05 535.15 -9.59 574 4720.93 roll -1.25 - - 1837.12 - 3.40 0.070 2082.94 -408.4 -77.86 - - 2815.34 - - - - - - - - - 16.10 -
5020.22 563.79 -9.96 605 5025.99 roll -1.25 - - 1837.00 - 3.70 0.132 3473.38 375.8 -77.86 - - 2813.16 - - - - - - - - - 16.09 -
5089.09 571.67 -12.34 619 5095.97 roll -1.25 - - 1836.81 - 3.42 0.073 2087.31 -405.3 -77.86 - - 2814.94 - - - - - - - - - 16.11 -
5395.25 603.86 -10.42 650 5401.03 roll -1.25 - - 1836.12 - 3.70 0.133 3473.75 374.7 -77.86 - - 2813.31 - - - - - - - - - 16.10 -
5450.28 610.58 -11.94 661 5454.86 roll -1.25 - - 1836.81 - 3.43 0.073 2084.25 -405.1 -77.86 - - 2813.59 - - - - - - - - - 16.10 -
5760.29 643.57 -11.07 693 5766.10 roll -1.25 - - 1836.81 - 3.91 0.182 662.88 -363.5 -77.86 - - 2811.62 - - - - - - - - - 16.07 -
5849.21 654.26 -14.18 711 5856.06 roll -1.25 - - 1836.75 - 3.57 0.073 2116.81 407.3 -77.86 - - 2812.62 - - - - - - - - - 16.11 -
6155.33 682.35 -8.52 742 6156.65 no move -1.25 - - 1836.81 - - - 2116.31 - -77.86 - - 2811.81 - - - - - - - - - - -
6455.34 705.60 -7.54 772 6461.11 roll -1.25 - - 1836.88 - 3.67 0.138 3472.62 369.6 -77.86 - - 2810.25 - - - - - - - - - 16.10 -
6514.21 710.95 -8.61 784 6521.09 roll -1.25 - - 1836.56 - 3.42 0.076 2085.00 -405.7 -77.86 - - 2812.09 - - - - - - - - - 16.10 -
6820.37 733.86 -7.72 815 6826.15 roll -1.25 - - 1836.88 - 3.73 0.136 3472.06 371.9 -77.86 - - 2811.91 - - - - - - - - - 16.10 -
6875.39 739.03 -9.25 826 6879.98 roll -1.25 - - 1836.56 - 3.43 0.075 2085.88 -404.1 -77.86 - - 2811.91 - - - - - - - - - 16.10 -
7185.40 761.95 -6.83 858 7191.20 roll -1.25 - - 1837.06 - 3.82 0.188 661.94 -372.8 -77.86 - - 2811.22 - - - - - - - - - 16.07 -
7250.42 767.71 -9.33 871 7256.03 roll -1.25 - - 1836.31 - 3.58 0.074 2115.06 405.9 -77.86 - - 2811.81 - - - - - - - - - 16.11 -
7555.43 791.17 -7.54 902 7561.19 roll -1.25 - - 1836.75 - 3.65 0.138 3472.00 371.8 -77.86 - - 2810.81 - - - - - - - - - 16.10 -
7600.45 794.85 -8.18 911 7605.03 roll -1.25 - - 1835.69 - 3.40 0.075 2084.19 -408.2 -77.86 - - 2811.81 - - - - - - - - - 16.11 -
7910.46 816.67 -6.74 943 7916.29 roll -1.25 - - 1834.94 - 4.01 0.188 663.69 -354.2 -77.86 - - 2810.62 - - - - - - - - - 16.07 -
8009.46 825.12 -8.76 963 8016.23 roll -1.25 - - 1836.81 - 3.58 0.076 2116.31 405.8 -77.86 - - 2810.84 - - - - - - - - - 16.10 -
8315.51 844.17 -6.01 994 8321.20 roll -1.25 - - 1836.94 - 4.09 0.183 664.12 -355.1 -77.86 - - 2808.53 - - - - - - - - - 16.07 -
8364.51 848.43 -10.29 1004 8371.28 roll -1.25 - - 1836.88 - 3.60 0.076 2116.44 403.4 -77.86 - - 2809.62 - - - - - - - - - 16.11 -
8670.52 869.88 -7.07 1035 8676.22 roll -1.25 - - 1836.75 - 4.10 0.186 664.00 -354.3 -77.86 - - 2807.53 - - - - - - - - - 16.07 -
8715.54 874.17 -9.64 1044 8721.14 roll -1.25 - - 1835.00 - 3.58 0.077 2114.88 405.3 -77.86 - - 2810.00 - - - - - - - - - 16.11 -
9020.55 895.79 -6.93 1075 9026.31 roll -1.25 - - 1836.00 - 3.68 0.141 3473.75 369.3 -77.86 - - 2809.53 - - - - - - - - - 16.09 -
9085.57 901.14 -8.74 1088 9090.15 roll -1.25 - - 1836.88 - 3.43 0.079 2084.81 -404.9 -77.86 - - 2806.34 - - - - - - - - - 16.11 -
9395.58 924.42 -7.55 1120 9401.27 roll -1.25 - - 1836.94 - 4.05 0.192 664.00 -350.8 -77.86 - - 2806.44 - - - - - - - - - 16.07 -
9434.59 927.66 -8.11 1128 9441.36 roll -1.25 - - 1836.44 - 3.61 0.078 2115.19 402.0 -77.86 - - 2808.75 - - - - - - - - - 16.12 -
9740.61 953.58 -7.73 1159 9746.26 roll -1.25 - - 1836.69 - 3.67 0.143 3472.81 369.9 -77.86 - - 2806.12 - - - - - - - - - 16.09 -
9759.47 955.66 -10.01 1163 9766.49 roll -1.25 - - 1836.56 - 3.42 0.078 2085.94 -405.5 -77.86 - - 2808.47 - - - - - - - - - 16.10 -
10065.63 980.43 -8.04 1194 10066.96 no move -1.25 - - 1837.00 - - - 2085.75 - -77.86 - - 2806.72 - - - - - - - - - - -
10196 end dive: TARGET_DEPTH_EXCEEDED
10196 begin apogee
10196.89 991.28 -8.31 1207 10266.73 -0.25 1.75 0.159 2079.38 138.5 0.08 0.321 2184.31 1232.0 - 63.80 2.297 2499.91 -4.8 0.347 - - - - - - 16.06 15.59 13.08
10268 end apogee: CONTROL_FINISHED_OK
10268 begin climb
10268.12 993.09 - 1214 10348.03 1.25 2.52 0.098 2448.19 146.4 3.69 0.142 3471.56 348.8 77.86 71.54 2.249 2179.28 -4.5 0.331 - - - - - - 15.64 15.23 12.88
10359.64 988.16 5.83 1232 10397.15 done 1.35 - - 2447.12 - 3.32 0.067 2183.81 -387.9 109.52 31.14 2.123 2053.47 -4.0 0.315 - - - - - - - 15.34 12.69
10695.82 949.67 11.62 1269 10697.16 VBD 1.35 - - 2447.69 - - - 2184.25 - 109.52 - - 2038.69 - - - - - - - - - - -
10995.85 912.32 12.70 1299 11001.47 done 1.35 - - 2444.81 - 3.57 0.141 3472.94 361.0 109.52 - - 2037.78 - - - - - - - - - 15.78 -
11044.73 905.94 12.50 1309 11051.57 done 1.35 - - 2445.69 - 3.24 0.070 2185.88 -397.2 109.52 - - 2037.22 - - - - - - - - - 15.80 -
11350.92 870.18 12.60 1340 11356.53 done 1.35 - - 2445.25 - 3.55 0.140 3471.50 362.1 109.52 - - 2035.22 - - - - - - - - - 15.86 -
11385.95 865.20 14.01 1347 11390.48 done 1.35 - - 2447.69 - 3.23 0.069 2184.88 -398.3 109.52 - - 2034.72 - - - - - - - - - 15.87 -
11695.99 829.45 10.08 1379 11697.32 VBD 1.35 - - 2447.31 - - - 2185.50 - 109.52 - - 2033.53 - - - - - - - - - - -
11996.03 796.75 11.32 1409 12001.86 done 1.35 - - 2447.56 - 4.03 0.161 738.38 -359.1 109.52 - - 2033.47 - - - - - - - - - 15.93 -
12041.06 790.90 14.44 1418 12046.74 done 1.35 - - 2447.56 - 3.64 0.070 2215.56 405.8 109.52 - - 2033.03 - - - - - - - - - 15.97 -
12346.11 757.75 10.77 1449 12352.08 done 1.35 - - 2447.31 - 4.12 0.160 736.12 -359.1 109.52 - - 2031.22 - - - - - - - - - 15.96 -
12371.12 754.65 10.38 1454 12376.87 done 1.35 - - 2447.69 - 3.68 0.070 2214.88 401.8 109.52 - - 2031.34 - - - - - - - - - 15.98 -
12676.17 723.18 10.12 1485 12680.74 done 1.35 - - 2447.94 - 3.44 0.140 3473.94 366.0 109.52 - - 2030.41 - - - - - - - - - 15.99 -
12706.18 720.08 9.22 1491 12710.71 done 1.35 - - 2447.56 - 3.20 0.068 2183.06 -403.4 109.52 - - 2032.69 - - - - - - - - - 16.00 -
13016.21 689.87 9.10 1523 13022.01 done 1.35 - - 2447.81 - 4.00 0.160 735.75 -361.8 109.52 - - 2030.50 - - - - - - - - - 16.00 -
13055.14 685.18 11.68 1531 13061.97 done 1.35 - - 2448.19 - 3.56 0.065 2216.44 415.9 109.52 - - 2031.28 - - - - - - - - - 16.02 -
13361.23 655.36 10.13 1562 13365.80 done 1.35 - - 2448.06 - 3.41 0.137 3472.50 368.3 109.52 - - 2031.41 - - - - - - - - - 16.02 -
13471.36 643.58 10.99 1584 13475.93 done 1.35 - - 2446.94 - 3.16 0.068 2183.75 -407.8 109.52 - - 2031.47 - - - - - - - - - 16.03 -
13781.29 615.54 8.32 1616 13787.10 done 1.35 - - 2445.38 - 3.97 0.158 736.06 -364.7 109.52 - - 2030.56 - - - - - - - - - 16.02 -
13856.37 607.52 10.96 1631 13862.05 done 1.35 - - 2448.56 - 3.59 0.065 2218.38 412.9 109.52 - - 2028.69 - - - - - - - - - 16.04 -
14161.33 579.02 9.70 1662 14165.88 done 1.35 - - 2448.00 - 3.38 0.136 3473.25 371.3 109.52 - - 2029.88 - - - - - - - - - 16.04 -
14261.42 569.33 10.19 1682 14265.89 done 1.35 - - 2448.25 - 3.15 0.067 2183.25 -409.5 109.52 - - 2030.06 - - - - - - - - - 16.05 -
14571.38 538.52 10.06 1714 14577.11 done 1.35 - - 2445.62 - 3.51 0.136 3472.62 367.3 109.52 - - 2029.69 - - - - - - - - - 16.06 -
14590.22 536.38 10.32 1718 14597.05 done 1.35 - - 2448.00 - 3.16 0.066 2182.88 -408.1 109.52 - - 2030.53 - - - - - - - - - 16.06 -
14896.41 508.34 9.08 1749 14897.74 VBD 1.35 - - 2445.81 - - - 2183.44 - 109.52 - - 2029.78 - - - - - - - - - - -
15196.41 479.37 9.55 1779 15202.22 done 1.35 - - 2448.06 - 3.97 0.155 737.06 -364.3 109.52 - - 2029.34 - - - - - - - - - 16.05 -
15261.49 472.28 11.17 1792 15267.18 done 1.35 - - 2448.56 - 3.64 0.065 2217.75 406.8 109.52 - - 2027.78 - - - - - - - - - 16.07 -
15566.80 444.69 9.55 1823 15572.27 done 1.35 - - 2448.38 - 4.07 0.150 738.06 -363.6 109.52 - - 2029.12 - - - - - - - - - 16.06 -
15615.38 439.55 11.31 1833 15622.22 done 1.35 - - 2448.19 - 3.64 0.064 2218.62 406.7 109.52 - - 2028.28 - - - - - - - - - 16.07 -
15921.48 413.78 8.13 1864 15926.05 done 1.35 - - 2448.19 - 3.42 0.133 3471.38 366.3 109.52 - - 2029.62 - - - - - - - - - 16.07 -
15981.50 408.06 9.94 1876 15986.01 done 1.35 - - 2448.44 - 3.14 0.064 2182.06 -410.6 109.52 - - 2028.28 - - - - - - - - - 16.07 -
16291.52 385.09 6.53 1908 16297.17 1.39 0.18 0.118 2485.38 205.2 3.49 0.132 3474.06 370.2 109.52 - - 2027.41 - - - - - - - - 16.07 16.07 -
16396.53 375.31 9.89 1929 16401.06 done 1.39 - - 2486.44 - 3.16 0.065 2182.50 -408.7 109.52 - - 2029.00 - - - - - - - - - 16.08 -
16706.54 348.68 7.95 1961 16712.13 done 1.39 - - 2486.19 - 3.46 0.130 3472.62 372.9 109.52 - - 2027.34 - - - - - - - - - 16.07 -
16801.63 340.02 9.17 1980 16806.09 done 1.39 - - 2486.75 - 3.14 0.063 2182.25 -410.9 109.52 - - 2028.41 - - - - - - - - - 16.08 -
17111.58 314.98 8.35 2012 17117.39 done 1.39 - - 2486.69 - 3.92 0.148 735.94 -369.0 109.52 - - 2029.16 - - - - - - - - - 16.07 -
17130.51 313.21 8.61 2016 17137.36 done 1.39 - - 2486.06 - 3.62 0.058 2220.56 410.1 109.52 - - 2028.72 - - - - - - - - - 16.08 -
17436.62 288.95 7.49 2047 17442.43 done 1.41 - - 2486.38 - 4.01 0.144 737.06 -370.0 109.52 - - 2026.38 - - - - - - - - - 16.07 -
17505.60 282.52 9.02 2061 17512.40 done 1.41 - - 2486.81 - 3.60 0.062 2221.38 412.3 109.52 - - 2027.91 - - - - - - - - - 16.08 -
17811.81 258.13 7.47 2092 17817.46 done 1.43 - - 2485.44 - 4.03 0.144 736.12 -368.6 109.52 - - 2028.25 - - - - - - - - - 16.06 -
17866.86 253.32 9.53 2103 17872.31 done 1.43 - - 2486.94 - 3.60 0.061 2221.56 412.6 109.52 - - 2027.56 - - - - - - - - - 16.08 -
18171.68 229.85 7.73 2134 18176.23 done 1.43 - - 2486.12 - 3.38 0.127 3472.69 370.2 109.52 - - 2029.25 - - - - - - - - - 16.08 -
18195.53 227.92 7.57 2139 18202.36 done 1.43 - - 2486.50 - 3.12 0.059 2179.56 -414.5 109.52 - - 2028.81 - - - - - - - - - 16.08 -
18501.71 204.37 8.11 2170 18506.29 done 1.43 - - 2486.88 - 3.48 0.126 3472.56 371.6 109.52 - - 2028.38 - - - - - - - - - 16.08 -
18671.79 189.26 8.60 2204 18676.32 done 1.43 - - 2486.94 - 3.14 0.060 2179.81 -411.7 109.52 - - 2028.28 - - - - - - - - - 16.08 -
18981.85 167.49 6.29 2236 18983.19 VBD 1.48 - - 2486.56 - - - 2180.25 - 109.52 - - 2027.12 - - - - - - - - - - -
19281.92 147.06 7.00 2266 19283.26 VBD 1.51 - - 2486.81 - - - 2180.38 - 109.52 - - 2028.28 - - - - - - - - - - -
19581.95 128.45 4.81 2296 19623.65 1.65 0.32 0.085 2546.75 187.3 3.96 0.144 735.88 -364.8 155.77 35.37 1.265 1863.88 -4.6 0.079 - - - - - - 16.09 15.88 13.12
19735.97 113.37 13.35 2327 19742.75 roll 1.65 - - 2546.12 - 3.61 0.060 2221.19 411.4 155.77 - - 1860.00 - - - - - - - - - 15.97 -
20042.14 89.99 6.18 2372 20047.89 done 1.71 - - 2546.62 - 4.05 0.138 736.06 -366.7 155.77 - - 1857.38 - - - - - - - - - 15.98 -
20232.16 79.19 5.39 2410 20268.61 1.82 0.21 0.095 2588.69 200.3 3.57 0.057 2225.12 417.1 193.70 31.35 1.180 1710.84 -4.7 0.052 - - - - - - 15.99 16.01 13.08
20447.20 66.36 6.46 2453 20452.92 roll 1.87 - - 2588.88 - 3.38 0.123 3474.19 369.5 193.70 - - 1703.81 - - - - - - - - - 15.92 -
20677.26 51.94 5.71 2499 20713.06 1.97 0.17 0.100 2624.00 206.6 3.15 0.060 2177.88 -411.5 227.04 27.90 1.127 1573.19 -4.7 0.036 - - - - - - 15.94 15.95 13.05
20892.30 36.93 7.21 2542 20898.00 roll 1.99 - - 2623.94 - 3.49 0.121 3472.81 371.0 227.04 - - 1568.91 - - - - - - - - - 15.90 -
21122.34 29.77 2.12 2588 21195.64 2.25 0.40 0.075 2694.81 177.2 3.14 0.056 2175.94 -413.0 311.66 67.68 1.119 1228.34 -5.0 0.022 - - - - - - 15.91 15.93 12.98
21373.43 11.80 11.76 2638 21379.26 roll 2.25 - - 2694.88 - 3.95 0.139 735.69 -364.6 311.66 - - 1224.00 - - - - - - - - - 15.77 -
21449 end climb: SURFACE_DEPTH_REACHED
21449 begin surface coast
21464 end surface coast: CONTROL_FINISHED_OK
21464 begin surface
SM 0.56 - - - - 182.2 1.50 0.140 768.3 512.2 15.92 0.059 772.9 48.5 - 3.34 0.053 763.7 227.5 -0.246 - - 15.51 15.80 15.82 -