NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 167 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 54.93 of 575.00 AH used of 24V (90.45% remains)
• Surface angle -64.9 deg, depth 1.09 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 42 s
• GPS2 time: 4 s • Transponder ping count: 2
• 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
6.49 - - - 79.52 VBD -1.25 - - 175.38 - - - 2083.50 - -77.86 72.50 0.005 2407.38 - - - - - - - - - - 15.64
79.86 3.28 -4.08 14 111.69 -1.25 13.63 0.259 1836.62 121.9 3.76 0.124 3473.06 369.6 -77.86 9.93 0.007 2816.44 41.2 -3.239 - - - - - - 15.62 15.64 15.68
334.51 58.36 -17.95 65 340.22 roll -1.25 - - 1836.12 - 3.46 0.064 2082.88 -401.8 -77.86 - - 2817.78 - - - - - - - - - 15.81 -
519.52 85.55 -12.40 102 525.29 roll -1.25 - - 1836.56 - 3.69 0.118 3473.94 377.0 -77.86 - - 2817.81 - - - - - - - - - 15.85 -
749.57 116.90 -13.58 148 754.15 roll -1.25 - - 1836.44 - 3.46 0.064 2082.19 -402.2 -77.86 - - 2815.31 - - - - - - - - - 15.90 -
1059.59 151.57 -10.75 180 1060.91 no move -1.25 - - 1836.25 - - - 2082.81 - -77.86 - - 2818.62 - - - - - - - - - - -
1359.62 183.55 -10.36 210 1365.45 roll -1.25 - - 1836.69 - 4.01 0.167 663.06 -354.1 -77.86 - - 2819.12 - - - - - - - - - 15.95 -
1408.51 189.73 -12.84 220 1415.41 roll -1.25 - - 1836.19 - 3.55 0.062 2118.62 410.0 -77.86 - - 2818.56 - - - - - - - - - 15.98 -
1714.70 221.23 -10.64 251 1719.44 roll -1.25 - - 1836.62 - 3.60 0.124 3473.25 376.3 -77.86 - - 2818.00 - - - - - - - - - 15.99 -
1768.57 227.70 -12.09 262 1775.47 roll -1.25 - - 1836.38 - 3.42 0.064 2082.75 -406.6 -77.86 - - 2818.97 - - - - - - - - - 16.02 -
2074.77 260.55 -11.03 293 2080.57 roll -1.25 - - 1835.75 - 3.99 0.167 663.06 -355.8 -77.86 - - 2817.34 - - - - - - - - - 16.00 -
2153.78 270.17 -11.95 309 2160.55 roll -1.25 - - 1836.56 - 3.53 0.062 2118.69 412.4 -77.86 - - 2817.41 - - - - - - - - - 16.03 -
2459.85 301.08 -9.95 340 2465.69 roll -1.25 - - 1836.12 - 4.01 0.164 663.62 -362.9 -77.86 - - 2816.28 - - - - - - - - - 16.02 -
2518.72 308.85 -13.55 352 2525.61 roll -1.25 - - 1836.12 - 3.49 0.063 2118.75 416.9 -77.86 - - 2817.62 - - - - - - - - - 16.06 -
2824.92 341.04 -10.12 383 2829.66 roll -1.25 - - 1836.31 - 3.60 0.128 3473.25 376.2 -77.86 - - 2816.69 - - - - - - - - - 16.05 -
2878.79 347.27 -11.18 394 2885.66 roll -1.25 - - 1836.81 - 3.37 0.067 2083.44 -412.4 -77.86 - - 2817.69 - - - - - - - - - 16.06 -
3184.99 376.30 -9.47 425 3190.77 roll -1.25 - - 1836.25 - 3.69 0.127 3473.94 376.8 -77.86 - - 2816.47 - - - - - - - - - 16.05 -
3320.03 390.21 -10.10 452 3324.62 roll -1.25 - - 1835.88 - 3.40 0.070 2083.25 -409.0 -77.86 - - 2818.62 - - - - - - - - - 16.07 -
3630.09 418.91 -10.40 484 3635.86 roll -1.25 - - 1836.50 - 3.69 0.128 3472.81 376.6 -77.86 - - 2814.75 - - - - - - - - - 16.07 -
3725.19 429.52 -10.85 503 3730.71 roll -1.25 - - 1836.69 - 3.43 0.070 2084.50 -404.8 -77.86 - - 2815.28 - - - - - - - - - 16.07 -
4030.14 461.91 -10.46 534 4035.90 roll -1.25 - - 1836.56 - 3.67 0.128 3472.12 378.1 -77.86 - - 2814.44 - - - - - - - - - 16.08 -
4095.17 469.85 -12.03 547 4099.73 roll -1.25 - - 1836.25 - 3.38 0.070 2084.44 -410.6 -77.86 - - 2816.94 - - - - - - - - - 16.08 -
4405.18 501.85 -10.12 579 4410.95 roll -1.25 - - 1835.81 - 3.68 0.130 3473.31 377.4 -77.86 - - 2814.75 - - - - - - - - - 16.08 -
4520.20 514.50 -11.45 602 4524.80 roll -1.25 - - 1837.19 - 3.43 0.071 2083.94 -405.1 -77.86 - - 2814.84 - - - - - - - - - 16.08 -
4830.24 542.50 -8.53 634 4836.01 roll -1.25 - - 1836.94 - 3.74 0.130 3472.50 371.3 -77.86 - - 2813.56 - - - - - - - - - 16.09 -
4945.26 554.66 -11.55 657 4949.98 roll -1.25 - - 1836.75 - 3.44 0.073 2084.88 -403.4 -77.86 - - 2813.94 - - - - - - - - - 16.10 -
5255.28 585.26 -9.66 689 5261.05 roll -1.25 - - 1836.69 - 3.69 0.132 3472.88 376.2 -77.86 - - 2812.81 - - - - - - - - - 16.09 -
5384.15 599.61 -11.34 715 5391.05 roll -1.25 - - 1836.62 - 3.43 0.073 2084.38 -404.8 -77.86 - - 2814.09 - - - - - - - - - 16.10 -
5690.35 625.65 -7.77 746 5696.11 roll -1.25 - - 1835.56 - 3.70 0.133 3471.94 375.0 -77.86 - - 2813.69 - - - - - - - - - 16.09 -
5889.24 644.20 -10.31 786 5896.12 roll -1.25 - - 1836.94 - 3.47 0.075 2084.44 -399.9 -77.86 - - 2812.56 - - - - - - - - - 16.10 -
6195.41 669.39 -8.59 817 6201.11 roll -1.25 - - 1835.75 - 3.70 0.134 3472.75 375.2 -77.86 - - 2811.75 - - - - - - - - - 16.09 -
6334.27 681.65 -8.25 845 6341.18 roll -1.25 - - 1836.69 - 3.49 0.076 2084.94 -397.7 -77.86 - - 2812.84 - - - - - - - - - 16.10 -
6640.46 705.71 -7.72 876 6646.17 roll -1.25 - - 1836.75 - 3.72 0.135 3472.75 373.1 -77.86 - - 2810.03 - - - - - - - - - 16.10 -
6755.47 716.47 -8.77 899 6761.07 roll -1.25 - - 1836.94 - 3.48 0.076 2085.69 -398.6 -77.86 - - 2809.91 - - - - - - - - - 16.10 -
7060.51 740.85 -7.34 930 7066.42 roll -1.25 - - 1836.81 - 3.75 0.136 3470.69 369.3 -77.86 - - 2809.16 - - - - - - - - - 16.09 -
7195.53 752.59 -8.60 957 7200.11 roll -1.25 - - 1836.00 - 3.46 0.077 2085.12 -400.5 -77.86 - - 2811.91 - - - - - - - - - 16.11 -
7505.57 775.23 -7.20 989 7511.38 roll -1.25 - - 1836.44 - 4.03 0.188 664.12 -352.6 -77.86 - - 2809.69 - - - - - - - - - 16.07 -
7620.57 784.78 -7.64 1012 7626.20 roll -1.25 - - 1836.81 - 3.60 0.076 2113.94 402.7 -77.86 - - 2808.47 - - - - - - - - - 16.11 -
7925.60 809.40 -7.52 1043 7931.36 roll -1.25 - - 1836.56 - 3.63 0.138 3471.44 374.0 -77.86 - - 2807.84 - - - - - - - - - 16.09 -
7964.47 812.87 -8.67 1051 7971.35 roll -1.25 - - 1836.94 - 3.44 0.076 2086.38 -402.6 -77.86 - - 2810.84 - - - - - - - - - 16.12 -
8270.66 834.90 -6.71 1082 8276.49 roll -1.25 - - 1836.12 - 4.05 0.186 664.19 -351.2 -77.86 - - 2808.25 - - - - - - - - - 16.07 -
8315.90 838.45 -8.70 1091 8321.29 roll -1.25 - - 1836.69 - 3.54 0.075 2116.38 410.2 -77.86 - - 2807.59 - - - - - - - - - 16.11 -
8620.72 862.21 -8.33 1122 8626.48 roll -1.25 - - 1836.69 - 3.66 0.140 3472.75 370.6 -77.86 - - 2808.78 - - - - - - - - - 16.09 -
8705.82 870.24 -9.91 1139 8711.35 roll -1.25 - - 1837.19 - 3.44 0.078 2086.44 -403.0 -77.86 - - 2809.97 - - - - - - - - - 16.10 -
9010.81 894.10 -7.64 1170 9016.61 roll -1.25 - - 1836.81 - 3.74 0.137 3473.94 371.0 -77.86 - - 2807.38 - - - - - - - - - 16.10 -
9235.90 912.19 -8.81 1215 9241.48 roll -1.25 - - 1835.94 - 3.47 0.082 2087.25 -399.6 -77.86 - - 2809.03 - - - - - - - - - 16.11 -
9540.94 933.54 -7.35 1246 9546.63 roll -1.25 - - 1836.81 - 4.07 0.192 664.31 -349.6 -77.86 - - 2807.12 - - - - - - - - - 16.07 -
9600.02 938.75 -10.06 1258 9606.73 roll -1.25 - - 1837.00 - 3.59 0.078 2115.56 404.2 -77.86 - - 2807.75 - - - - - - - - - 16.11 -
9906.01 961.47 -7.73 1289 9911.78 roll -1.25 - - 1835.50 - 3.64 0.142 3471.19 372.4 -77.86 - - 2807.75 - - - - - - - - - 16.09 -
9971.05 967.31 -8.61 1302 9976.63 roll -1.25 - - 1837.19 - 3.45 0.081 2088.19 -400.9 -77.86 - - 2808.25 - - - - - - - - - 16.10 -
10276.11 973.28 -1.29 1333 10281.87 roll -1.25 - - 1835.81 - 3.71 0.139 3471.12 372.8 -77.86 - - 2806.62 - - - - - - - - - 16.10 -
10475 end dive: NO_VERTICAL_VELOCITY
10475 begin apogee
10480.09 972.94 - 1373 10546.76 -0.25 1.68 0.123 2081.56 146.3 0.05 0.376 2212.69 -25168.6 - 64.01 2.284 2498.75 -4.8 0.344 - - - - - - 16.07 15.59 13.05
10547 end apogee: CONTROL_FINISHED_OK
10548 begin climb
10548.17 972.05 - 1380 10629.05 1.25 2.47 0.088 2448.75 148.7 4.35 0.161 738.06 -339.0 77.86 71.81 2.219 2179.69 -4.4 0.327 - - - - - - 15.63 15.23 12.94
10686.81 964.09 10.30 1407 10692.60 done 1.25 - - 2449.06 - 3.73 0.064 2214.19 395.7 77.86 - - 2174.31 - - - - - - - - - 15.45 -
10991.89 934.36 10.40 1438 10997.47 done 1.25 - - 2447.56 - 3.50 0.141 3472.19 359.4 77.86 - - 2169.81 - - - - - - - - - 15.70 -
11020.74 931.72 8.67 1444 11027.62 done 1.25 - - 2449.31 - 3.24 0.070 2182.38 -398.1 77.86 - - 2167.91 - - - - - - - - - 15.71 -
11326.97 903.44 8.45 1475 11328.30 VBD 1.25 - - 2448.25 - - - 2183.12 - 77.86 - - 2164.81 - - - - - - - - - - -
11627.03 877.98 8.66 1505 11632.65 done 1.25 - - 2449.00 - 3.52 0.142 3472.38 366.3 77.86 - - 2165.09 - - - - - - - - - 15.87 -
11852.13 853.97 11.69 1550 11856.67 done 1.25 - - 2448.50 - 3.22 0.072 2185.12 -399.8 77.86 - - 2165.53 - - - - - - - - - 15.91 -
12162.15 822.38 10.10 1582 12167.75 done 1.25 - - 2449.00 - 3.54 0.138 3472.25 363.6 77.86 - - 2163.81 - - - - - - - - - 15.94 -
12287.18 808.42 10.96 1607 12291.72 done 1.25 - - 2449.31 - 3.19 0.070 2181.81 -404.5 77.86 - - 2163.62 - - - - - - - - - 15.95 -
12597.22 778.96 8.44 1639 12603.05 done 1.25 - - 2449.12 - 4.01 0.159 737.12 -360.3 77.86 - - 2162.75 - - - - - - - - - 15.96 -
12726.20 765.54 10.63 1665 12733.15 done 1.25 - - 2448.50 - 3.63 0.070 2215.94 407.4 77.86 - - 2161.81 - - - - - - - - - 16.00 -
13032.31 741.13 7.43 1696 13033.64 VBD 1.27 - - 2448.44 - - - 2215.94 - 77.86 - - 2159.72 - - - - - - - - - - -
13332.34 717.69 7.78 1726 13338.15 done 1.27 - - 2448.81 - 4.07 0.157 738.00 -363.1 77.86 - - 2159.56 - - - - - - - - - 16.00 -
13501.29 702.78 7.83 1760 13508.25 done 1.27 - - 2448.75 - 3.60 0.069 2217.44 411.0 77.86 - - 2159.31 - - - - - - - - - 16.03 -
13807.41 681.48 5.89 1791 13833.46 VBD 1.36 - - 2446.69 - - - 2217.00 - 108.66 25.50 1.877 2057.34 -4.0 0.244 - - - - - - - - 13.05
14127.42 654.38 9.18 1823 14131.98 roll 1.36 - - 2448.25 - 3.40 0.138 3472.94 369.4 108.66 - - 2051.62 - - - - - - - - - 15.92 -
14177.44 649.58 10.26 1833 14181.96 roll 1.36 - - 2447.62 - 3.17 0.068 2181.12 -407.5 108.66 - - 2051.59 - - - - - - - - - 15.94 -
14487.48 622.96 8.18 1865 14493.09 roll 1.36 - - 2448.88 - 3.48 0.135 3473.12 371.3 108.66 - - 2047.91 - - - - - - - - - 15.96 -
14516.33 620.20 8.85 1871 14523.30 roll 1.36 - - 2448.50 - 3.15 0.066 2180.75 -410.3 108.66 - - 2049.88 - - - - - - - - - 15.95 -
14822.55 591.35 10.13 1902 14828.09 done 1.36 - - 2448.44 - 3.45 0.135 3471.12 374.0 108.66 - - 2049.28 - - - - - - - - - 15.98 -
14897.54 583.65 9.91 1917 14902.06 roll 1.36 - - 2449.25 - 3.13 0.067 2181.81 -411.9 108.66 - - 2048.94 - - - - - - - - - 15.99 -
15207.57 552.00 10.77 1949 15208.90 VBD 1.36 - - 2448.94 - - - 2182.25 - 108.66 - - 2048.41 - - - - - - - - - - -
15507.60 522.63 9.65 1979 15513.18 done 1.36 - - 2448.94 - 3.46 0.135 3472.69 373.0 108.66 - - 2048.16 - - - - - - - - - 16.02 -
15662.66 506.93 9.51 2010 15667.19 done 1.36 - - 2448.94 - 3.15 0.067 2182.00 -409.7 108.66 - - 2049.53 - - - - - - - - - 16.03 -
15972.75 480.73 7.51 2042 15978.53 1.38 0.15 0.127 2484.44 236.7 3.93 0.152 736.81 -367.7 108.66 - - 2046.34 - - - - - - - - 16.02 16.01 -
16021.67 475.49 10.63 2052 16028.66 done 1.38 - - 2483.94 - 3.54 0.064 2220.12 419.0 108.66 - - 2047.84 - - - - - - - - - 16.04 -
16328.05 449.32 8.84 2083 16333.39 done 1.38 - - 2484.06 - 3.34 0.133 3472.31 374.9 108.66 - - 2044.50 - - - - - - - - - 16.03 -
16432.93 439.43 9.63 2104 16437.39 done 1.38 - - 2484.00 - 3.13 0.065 2179.88 -412.9 108.66 - - 2047.31 - - - - - - - - - 16.02 -
16742.95 413.28 7.49 2136 16747.52 done 1.40 - - 2483.12 - 3.41 0.128 3471.88 378.9 108.66 - - 2046.00 - - - - - - - - - 16.04 -
16833.04 404.95 9.88 2154 16837.50 done 1.40 - - 2484.44 - 3.11 0.063 2179.50 -415.6 108.66 - - 2046.97 - - - - - - - - - 16.05 -
17143.05 377.89 9.40 2186 17144.38 VBD 1.40 - - 2484.38 - - - 2179.62 - 108.66 - - 2045.28 - - - - - - - - - - -
17443.10 351.77 9.90 2216 17447.68 done 1.40 - - 2483.38 - 3.41 0.128 3472.88 379.3 108.66 - - 2047.75 - - - - - - - - - 16.05 -
17556.98 340.99 8.73 2239 17563.83 done 1.40 - - 2484.31 - 3.10 0.063 2178.50 -417.5 108.66 - - 2046.50 - - - - - - - - - 16.05 -
17863.17 316.28 8.60 2270 17867.74 done 1.40 - - 2483.81 - 3.39 0.126 3472.12 381.6 108.66 - - 2046.16 - - - - - - - - - 16.05 -
17983.21 305.88 8.58 2294 17987.75 done 1.40 - - 2484.44 - 3.11 0.063 2178.62 -415.9 108.66 - - 2046.66 - - - - - - - - - 16.04 -
18293.27 282.55 7.08 2326 18297.81 done 1.43 - - 2484.25 - 3.39 0.125 3473.44 382.0 108.66 - - 2046.25 - - - - - - - - - 16.04 -
18303.28 281.92 7.13 2328 18307.80 done 1.45 - - 2484.00 - 3.11 0.061 2179.62 -416.0 108.66 - - 2046.97 - - - - - - - - - 16.05 -
18613.31 261.87 6.27 2360 18619.09 done 1.51 - - 2484.38 - 3.90 0.146 735.94 -370.2 108.66 - - 2045.41 - - - - - - - - - 16.04 -
18762.23 248.89 8.80 2390 18769.08 done 1.51 - - 2483.88 - 3.51 0.061 2222.62 423.6 108.66 - - 2045.94 - - - - - - - - - 16.05 -
19068.37 226.98 6.61 2421 19074.14 1.55 0.19 0.100 2523.81 210.2 3.28 0.126 3473.06 381.2 108.66 - - 2046.28 - - - - - - - - 16.05 16.04 -
19257.25 209.82 9.36 2459 19264.08 done 1.55 - - 2525.06 - 3.12 0.061 2179.00 -414.8 108.66 - - 2046.81 - - - - - - - - - 16.05 -
19563.44 188.54 5.96 2490 19595.01 done 1.64 - - 2525.12 - 3.92 0.145 736.94 -367.9 138.49 25.38 1.321 1933.72 -4.5 0.107 - - - - - - - 15.88 13.05
19657.35 180.32 10.13 2509 19664.19 roll 1.64 - - 2524.94 - 3.55 0.061 2221.62 418.2 138.49 - - 1930.91 - - - - - - - - - 15.95 -
19963.48 152.01 9.62 2540 19968.03 roll 1.64 - - 2524.12 - 3.32 0.126 3471.50 376.5 138.49 - - 1930.09 - - - - - - - - - 15.97 -
20067.41 141.15 10.01 2561 20074.18 roll 1.64 - - 2525.38 - 3.12 0.060 2177.81 -414.6 138.49 - - 1929.62 - - - - - - - - - 15.98 -
20373.55 116.52 7.05 2592 20378.25 roll 1.67 - - 2525.94 - 3.39 0.121 3472.25 381.8 138.49 - - 1928.91 - - - - - - - - - 15.99 -
20543.58 101.57 7.68 2626 20548.08 roll 1.67 - - 2525.44 - 3.10 0.059 2178.94 -417.2 138.49 - - 1928.72 - - - - - - - - - 16.00 -
20848.68 88.16 3.84 2685 20905.64 1.85 0.40 0.082 2596.62 177.9 3.95 0.143 737.19 -365.0 198.54 49.21 1.231 1689.53 -4.9 0.058 - - - - - - 16.00 15.75 12.98
21128.77 60.35 7.85 2741 21134.52 roll 1.85 - - 2596.06 - 3.55 0.059 2223.50 418.7 198.54 - - 1683.12 - - - - - - - - - 15.87 -
21313.86 50.41 4.57 2778 21360.90 2.00 0.17 0.102 2631.38 207.8 3.96 0.136 736.81 -375.4 248.25 40.40 1.155 1487.69 -4.8 0.035 - - - - - - 15.89 15.70 12.96
21533.92 30.87 8.93 2822 21539.66 roll 2.00 - - 2630.94 - 3.60 0.059 2225.62 413.6 248.25 - - 1483.44 - - - - - - - - - 15.81 -
21719.01 24.59 2.94 2859 21785.50 2.22 0.29 0.081 2687.81 196.1 3.33 0.123 3471.69 374.2 321.25 59.20 1.114 1189.41 -5.0 0.018 - - - - - - 15.84 15.60 12.97
21864.03 12.35 12.87 2888 21869.84 roll 2.22 - - 2687.56 - 3.16 0.058 2182.06 -408.1 321.25 - - 1186.19 - - - - - - - - - 15.71 -
21943 end climb: SURFACE_DEPTH_REACHED
21944 begin surface coast
21959 end surface coast: CONTROL_FINISHED_OK
21959 begin surface
SM 0.90 - - - - 177.7 0.06 0.253 768.3 12805.0 16.25 0.081 765.6 47.1 - 0.22 0.107 771.1 3490.6 -3.001 - - 15.47 15.70 15.74 -