NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 155 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 51.10 of 575.00 AH used of 24V (91.11% remains)
• Surface angle -64.3 deg, depth 1.32 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 17 s
• GPS2 time: 2 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.56 - - - 74.50 VBD -1.25 - - 176.44 - - - 2115.75 - -77.86 67.38 0.005 2302.44 - - - - - - - - - - 15.63
74.78 3.28 -3.95 13 111.84 -1.25 13.76 0.269 1835.38 120.6 3.74 0.125 3472.06 362.6 -77.86 12.91 0.007 2816.22 39.8 -3.125 - - - - - - 15.63 15.62 15.67
299.65 51.76 -15.85 58 305.35 roll -1.25 - - 1835.69 - 3.53 0.063 2083.75 -393.3 -77.86 - - 2817.16 - - - - - - - - - 15.78 -
484.62 77.27 -13.93 95 485.95 no move -1.25 - - 1835.69 - - - 2084.06 - -77.86 - - 2817.69 - - - - - - - - - - -
664.65 101.35 -11.96 130 665.98 no move -1.25 - - 1835.38 - - - 2083.44 - -77.86 - - 2817.66 - - - - - - - - - - -
964.66 135.26 -10.78 160 970.50 roll -1.25 - - 1836.06 - 4.07 0.163 663.00 -349.0 -77.86 - - 2817.62 - - - - - - - - - 15.90 -
1063.60 148.58 -13.40 180 1070.46 roll -1.25 - - 1835.88 - 3.63 0.059 2117.88 400.8 -77.86 - - 2819.53 - - - - - - - - - 15.95 -
1369.74 182.57 -11.37 211 1371.07 no move -1.25 - - 1835.75 - - - 2118.31 - -77.86 - - 2819.06 - - - - - - - - - - -
1669.78 212.29 -9.80 241 1675.62 roll -1.25 - - 1835.69 - 4.16 0.161 663.31 -349.8 -77.86 - - 2816.97 - - - - - - - - - 15.97 -
1764.82 223.41 -12.89 260 1770.51 roll -1.25 - - 1835.81 - 3.58 0.060 2118.44 406.5 -77.86 - - 2819.19 - - - - - - - - - 16.01 -
2069.87 256.14 -10.75 291 2075.52 roll -1.25 - - 1836.06 - 3.68 0.123 3472.62 368.0 -77.86 - - 2817.00 - - - - - - - - - 16.01 -
2118.75 262.12 -12.45 301 2125.64 roll -1.25 - - 1835.88 - 3.46 0.062 2082.88 -401.7 -77.86 - - 2818.38 - - - - - - - - - 16.02 -
2424.94 295.02 -10.67 332 2430.77 roll -1.25 - - 1835.75 - 4.01 0.166 662.88 -354.1 -77.86 - - 2816.78 - - - - - - - - - 16.01 -
2483.89 302.54 -12.47 344 2490.71 roll -1.25 - - 1835.00 - 3.59 0.059 2116.94 405.0 -77.86 - - 2819.12 - - - - - - - - - 16.05 -
2790.02 336.69 -10.85 375 2795.86 roll -1.25 - - 1835.81 - 4.14 0.163 663.12 -351.2 -77.86 - - 2816.31 - - - - - - - - - 16.03 -
2828.95 341.94 -13.45 383 2835.77 roll -1.25 - - 1835.44 - 3.57 0.059 2117.38 407.4 -77.86 - - 2819.72 - - - - - - - - - 16.06 -
3135.07 376.30 -10.79 414 3136.40 no move -1.25 - - 1835.81 - - - 2117.56 - -77.86 - - 2818.03 - - - - - - - - - - -
3435.12 408.38 -10.57 444 3440.97 roll -1.25 - - 1835.44 - 4.15 0.167 663.38 -350.4 -77.86 - - 2818.47 - - - - - - - - - 16.04 -
3490.23 414.91 -11.85 455 3495.01 roll -1.25 - - 1835.81 - 3.54 0.060 2118.38 411.0 -77.86 - - 2818.50 - - - - - - - - - 16.08 -
3800.19 449.07 -11.08 487 3801.51 no move -1.25 - - 1835.31 - - - 2121.19 - -77.86 - - 2817.75 - - - - - - - - - - -
4100.21 480.86 -10.15 517 4106.06 roll -1.25 - - 1835.81 - 4.14 0.170 663.00 -352.2 -77.86 - - 2816.28 - - - - - - - - - 16.05 -
4125.23 483.83 -10.66 522 4129.96 roll -1.25 - - 1835.69 - 3.58 0.060 2119.19 406.8 -77.86 - - 2818.94 - - - - - - - - - 16.09 -
4435.24 513.13 -8.42 554 4436.57 no move -1.25 - - 1835.25 - - - 2118.25 - -77.86 - - 2816.84 - - - - - - - - - - -
4735.26 540.58 -9.07 584 4736.59 no move -1.25 - - 1835.56 - - - 2118.25 - -77.86 - - 2814.59 - - - - - - - - - - -
5035.28 568.02 -8.77 614 5040.92 roll -1.25 - - 1836.00 - 3.71 0.131 3473.81 365.4 -77.86 - - 2814.06 - - - - - - - - - 16.09 -
5100.31 574.19 -10.08 627 5105.89 roll -1.25 - - 1835.56 - 3.46 0.069 2086.06 -401.1 -77.86 - - 2815.56 - - - - - - - - - 16.09 -
5405.32 602.07 -9.11 658 5411.12 roll -1.25 - - 1835.50 - 4.00 0.179 664.25 -355.5 -77.86 - - 2815.97 - - - - - - - - - 16.06 -
5490.42 611.14 -10.67 675 5496.08 roll -1.25 - - 1835.75 - 3.56 0.064 2118.00 408.4 -77.86 - - 2813.22 - - - - - - - - - 16.10 -
5795.35 636.68 -8.15 706 5796.68 no move -1.25 - - 1835.69 - - - 2118.25 - -77.86 - - 2813.06 - - - - - - - - - - -
6095.38 662.49 -8.71 736 6101.22 roll -1.25 - - 1834.88 - 4.12 0.179 664.19 -352.9 -77.86 - - 2812.75 - - - - - - - - - 16.07 -
6154.37 668.90 -10.63 748 6161.15 roll -1.25 - - 1835.19 - 3.58 0.067 2117.38 405.9 -77.86 - - 2813.62 - - - - - - - - - 16.10 -
6460.41 696.33 -8.64 779 6466.03 roll -1.25 - - 1835.56 - 3.65 0.134 3471.50 371.0 -77.86 - - 2813.28 - - - - - - - - - 16.10 -
6535.43 703.94 -9.86 794 6540.01 roll -1.25 - - 1835.44 - 3.41 0.071 2086.00 -406.3 -77.86 - - 2814.44 - - - - - - - - - 16.11 -
6845.44 731.03 -8.01 826 6851.27 roll -1.25 - - 1835.69 - 4.04 0.184 663.56 -352.1 -77.86 - - 2815.03 - - - - - - - - - 16.07 -
6900.46 736.61 -10.48 837 6905.20 roll -1.25 - - 1835.88 - 3.57 0.069 2116.06 406.9 -77.86 - - 2814.66 - - - - - - - - - 16.10 -
7210.47 762.18 -8.53 869 7216.09 roll -1.25 - - 1835.81 - 3.68 0.135 3473.50 368.9 -77.86 - - 2809.88 - - - - - - - - - 16.10 -
7255.49 765.80 -8.03 878 7260.04 roll -1.25 - - 1834.69 - 3.39 0.072 2085.50 -409.4 -77.86 - - 2812.84 - - - - - - - - - 16.11 -
7565.50 792.38 -9.37 910 7566.83 no move -1.25 - - 1835.88 - - - 2085.81 - -77.86 - - 2809.12 - - - - - - - - - - -
7865.51 817.42 -7.84 940 7866.84 no move -1.25 - - 1835.50 - - - 2085.62 - -77.86 - - 2809.25 - - - - - - - - - - -
8165.53 841.51 -7.95 970 8171.36 roll -1.25 - - 1835.88 - 4.09 0.190 664.50 -347.5 -77.86 - - 2809.59 - - - - - - - - - 16.07 -
8244.46 848.59 -8.44 986 8251.31 roll -1.25 - - 1835.56 - 3.59 0.077 2115.38 404.1 -77.86 - - 2810.03 - - - - - - - - - 16.11 -
8550.57 873.28 -7.67 1017 8556.20 roll -1.25 - - 1835.38 - 3.63 0.139 3473.44 374.1 -77.86 - - 2810.56 - - - - - - - - - 16.10 -
8599.43 877.34 -9.44 1027 8606.31 roll -1.25 - - 1835.50 - 3.42 0.075 2087.56 -405.2 -77.86 - - 2811.84 - - - - - - - - - 16.11 -
8905.60 901.48 -7.44 1058 8911.51 roll -1.25 - - 1834.81 - 3.74 0.138 3472.62 370.3 -77.86 - - 2808.84 - - - - - - - - - 16.10 -
9004.46 911.13 -9.85 1078 9011.35 roll -1.25 - - 1835.56 - 3.44 0.077 2085.62 -403.2 -77.86 - - 2809.91 - - - - - - - - - 16.11 -
9310.64 935.00 -6.93 1109 9316.47 roll -1.25 - - 1835.06 - 4.02 0.191 664.44 -353.5 -77.86 - - 2808.09 - - - - - - - - - 16.07 -
9365.66 939.96 -8.72 1120 9371.41 roll -1.25 - - 1835.25 - 3.62 0.076 2115.81 400.9 -77.86 - - 2807.66 - - - - - - - - - 16.11 -
9670.67 964.77 -7.89 1151 9675.42 roll -1.25 - - 1835.56 - 3.62 0.139 3474.88 375.4 -77.86 - - 2807.78 - - - - - - - - - 16.10 -
9780.68 974.10 -9.38 1173 9785.41 roll -1.25 - - 1835.44 - 3.43 0.078 2086.56 -404.8 -77.86 - - 2809.25 - - - - - - - - - 16.11 -
9991 end dive: TARGET_DEPTH_EXCEEDED
9991 begin apogee
9992.04 990.50 -6.70 1195 10062.67 -0.25 1.74 0.159 2081.00 141.1 0.07 0.324 2187.44 1441.1 - 65.04 2.286 2499.38 -4.8 0.346 - - - - - - 16.05 15.58 13.10
10064 end apogee: CONTROL_FINISHED_OK
10064 begin climb
10064.06 992.60 - 1202 10144.47 1.25 2.51 0.097 2448.00 146.2 3.70 0.137 3470.75 346.8 77.86 71.94 2.247 2181.12 -4.4 0.327 - - - - - - 15.63 15.23 12.95
10156.09 988.17 5.51 1220 10197.51 done 1.36 - - 2447.75 - 3.36 0.066 2186.00 -382.4 114.15 35.17 2.151 2033.16 -4.2 0.324 - - - - - - - 15.33 12.74
10502.25 950.85 11.21 1259 10507.86 done 1.36 - - 2447.38 - 3.66 0.140 3471.25 351.2 114.15 - - 2019.81 - - - - - - - - - 15.63 -
10557.27 943.73 13.32 1270 10561.84 done 1.36 - - 2447.19 - 3.32 0.070 2186.56 -387.0 114.15 - - 2020.25 - - - - - - - - - 15.67 -
10867.31 908.23 11.40 1302 10868.65 VBD 1.36 - - 2447.44 - - - 2186.50 - 114.15 - - 2016.94 - - - - - - - - - - -
11167.32 876.11 10.64 1332 11172.91 done 1.36 - - 2447.38 - 3.60 0.140 3470.94 356.8 114.15 - - 2016.84 - - - - - - - - - 15.86 -
11246.19 865.05 13.87 1348 11253.03 done 1.36 - - 2445.56 - 3.26 0.069 2186.38 -394.0 114.15 - - 2018.28 - - - - - - - - - 15.88 -
11552.35 828.09 12.58 1379 11553.68 VBD 1.36 - - 2447.69 - - - 2186.38 - 114.15 - - 2016.31 - - - - - - - - - - -
11852.37 792.30 12.46 1409 11853.71 VBD 1.36 - - 2447.25 - - - 2186.19 - 114.15 - - 2015.31 - - - - - - - - - - -
12152.40 757.71 12.50 1439 12153.73 VBD 1.36 - - 2448.25 - - - 2186.62 - 114.15 - - 2013.94 - - - - - - - - - - -
12452.41 724.98 10.98 1469 12453.75 VBD 1.36 - - 2447.44 - - - 2186.00 - 114.15 - - 2012.91 - - - - - - - - - - -
12752.44 692.58 11.27 1499 12758.05 done 1.36 - - 2447.81 - 3.55 0.137 3471.69 362.2 114.15 - - 2013.53 - - - - - - - - - 16.01 -
12827.47 684.27 12.18 1514 12832.00 done 1.36 - - 2448.12 - 3.21 0.067 2184.31 -401.1 114.15 - - 2013.78 - - - - - - - - - 16.02 -
13137.48 648.32 11.53 1546 13143.31 done 1.36 - - 2447.44 - 4.00 0.156 736.12 -362.0 114.15 - - 2011.88 - - - - - - - - - 16.01 -
13242.49 634.47 13.35 1567 13248.18 done 1.36 - - 2447.75 - 3.68 0.066 2215.31 402.0 114.15 - - 2010.12 - - - - - - - - - 16.03 -
13547.52 602.91 9.88 1598 13553.24 done 1.36 - - 2448.19 - 3.48 0.139 3471.75 361.0 114.15 - - 2012.09 - - - - - - - - - 16.03 -
13562.52 601.27 9.36 1601 13567.04 done 1.36 - - 2448.31 - 3.15 0.068 2181.12 -409.7 114.15 - - 2012.19 - - - - - - - - - 16.03 -
13872.54 570.73 9.46 1633 13878.35 done 1.36 - - 2447.75 - 3.96 0.157 737.56 -364.5 114.15 - - 2012.72 - - - - - - - - - 16.03 -
13887.55 569.01 9.17 1636 13893.30 done 1.36 - - 2447.94 - 3.61 0.065 2217.56 410.0 114.15 - - 2013.72 - - - - - - - - - 16.05 -
14192.78 539.68 10.23 1667 14198.13 done 1.36 - - 2447.00 - 3.38 0.138 3472.75 371.4 114.15 - - 2010.47 - - - - - - - - - 16.04 -
14227.57 536.03 10.41 1674 14232.09 done 1.36 - - 2447.94 - 3.19 0.067 2181.06 -404.9 114.15 - - 2012.44 - - - - - - - - - 16.05 -
14537.61 506.03 9.18 1706 14543.33 done 1.36 - - 2448.38 - 3.51 0.134 3472.00 367.8 114.15 - - 2010.19 - - - - - - - - - 16.05 -
14582.61 501.30 10.12 1715 14587.15 done 1.36 - - 2448.38 - 3.21 0.066 2183.25 -401.5 114.15 - - 2011.25 - - - - - - - - - 16.05 -
14892.62 473.14 8.53 1747 14898.23 done 1.36 - - 2447.75 - 3.53 0.135 3471.19 364.9 114.15 - - 2010.03 - - - - - - - - - 16.05 -
14931.63 468.94 10.51 1755 14938.45 done 1.36 - - 2448.00 - 3.20 0.065 2183.00 -402.6 114.15 - - 2011.47 - - - - - - - - - 16.03 -
15237.66 440.63 9.53 1786 15238.99 VBD 1.36 - - 2447.88 - - - 2182.94 - 114.15 - - 2010.12 - - - - - - - - - - -
15537.69 415.83 7.24 1816 15543.31 1.39 0.17 0.119 2486.50 227.2 3.49 0.135 3471.44 369.2 114.15 - - 2010.03 - - - - - - - - 16.05 16.05 -
15576.54 411.72 10.34 1824 15583.37 done 1.39 - - 2487.19 - 3.20 0.067 2183.00 -402.6 114.15 - - 2011.69 - - - - - - - - - 16.06 -
15882.73 384.16 9.71 1855 15888.34 done 1.39 - - 2487.50 - 3.46 0.132 3473.12 372.9 114.15 - - 2010.19 - - - - - - - - - 16.06 -
15927.76 379.85 10.50 1864 15932.42 done 1.39 - - 2488.19 - 3.19 0.065 2180.94 -405.1 114.15 - - 2010.75 - - - - - - - - - 16.07 -
16237.79 350.28 9.88 1896 16242.38 done 1.39 - - 2488.25 - 3.45 0.130 3472.69 374.4 114.15 - - 2011.66 - - - - - - - - - 16.05 -
16257.81 348.24 9.47 1900 16262.34 done 1.39 - - 2487.75 - 3.20 0.063 2183.06 -403.0 114.15 - - 2011.81 - - - - - - - - - 16.06 -
16567.85 320.23 8.57 1932 16569.19 VBD 1.39 - - 2487.56 - - - 2183.12 - 114.15 - - 2010.00 - - - - - - - - - - -
16867.90 295.84 8.15 1962 16873.71 done 1.39 - - 2486.81 - 4.00 0.150 736.00 -361.8 114.15 - - 2008.84 - - - - - - - - - 16.05 -
16902.93 292.55 9.41 1969 16908.52 done 1.39 - - 2485.12 - 3.58 0.064 2220.62 414.7 114.15 - - 2010.41 - - - - - - - - - 16.06 -
17207.98 264.90 8.15 2000 17212.53 done 1.39 - - 2487.88 - 3.38 0.132 3472.75 370.5 114.15 - - 2010.22 - - - - - - - - - 16.04 -
17268.00 259.54 9.86 2012 17272.52 done 1.39 - - 2488.19 - 3.17 0.062 2182.81 -406.9 114.15 - - 2010.31 - - - - - - - - - 16.07 -
17578.04 233.92 7.88 2044 17583.97 done 1.39 - - 2487.94 - 3.88 0.147 736.56 -372.7 114.15 - - 2008.41 - - - - - - - - - 16.05 -
17687.00 224.16 9.09 2066 17693.84 done 1.39 - - 2487.62 - 3.59 0.061 2222.00 413.8 114.15 - - 2011.69 - - - - - - - - - 16.07 -
17993.16 200.27 7.28 2097 17997.70 done 1.41 - - 2487.44 - 3.39 0.129 3474.12 369.4 114.15 - - 2010.09 - - - - - - - - - 16.04 -
18013.16 198.67 7.35 2101 18017.67 done 1.43 - - 2488.38 - 3.17 0.060 2178.50 -408.7 114.15 - - 2011.81 - - - - - - - - - 16.05 -
18323.21 176.65 7.03 2133 18329.00 done 1.46 - - 2487.50 - 3.94 0.145 736.19 -366.1 114.15 - - 2008.31 - - - - - - - - - 16.04 -
18408.22 169.33 8.86 2150 18413.83 done 1.46 - - 2488.25 - 3.52 0.060 2221.44 421.9 114.15 - - 2008.28 - - - - - - - - - 16.06 -
18713.26 145.84 6.59 2181 18717.83 done 1.50 - - 2488.00 - 3.37 0.130 3474.25 371.8 114.15 - - 2010.75 - - - - - - - - - 16.03 -
18803.49 139.98 6.39 2199 18808.87 1.55 0.17 0.105 2525.19 218.8 3.19 0.060 2178.88 -406.1 114.15 - - 2011.94 - - - - - - - - 16.04 16.06 -
19108.31 123.75 4.75 2230 19149.81 1.69 0.16 0.107 2559.44 214.1 3.49 0.125 3472.56 370.7 161.22 36.08 1.268 1840.97 -4.7 0.077 - - - - - - 16.06 15.87 13.12
19198.31 117.73 8.58 2248 19202.84 roll 1.69 - - 2559.50 - 3.19 0.059 2180.38 -405.1 161.22 - - 1839.62 - - - - - - - - - 15.91 -
19503.36 91.04 7.06 2291 19504.69 no move 1.72 - - 2560.12 - - - 2180.81 - 161.22 - - 1835.03 - - - - - - - - - - -
19683.38 80.21 6.21 2327 19689.11 done 1.78 - - 2559.88 - 3.51 0.121 3472.38 368.0 161.22 - - 1835.06 - - - - - - - - - 15.95 -
19698.38 79.05 6.63 2330 19704.04 done 1.82 - - 2559.88 - 3.17 0.058 2177.31 -408.5 161.22 - - 1834.12 - - - - - - - - - 15.97 -
19883.41 71.37 3.22 2367 19945.53 2.03 0.46 0.078 2640.00 174.2 3.49 0.121 3472.12 371.0 230.11 55.13 1.201 1561.06 -5.0 0.049 - - - - - - 15.95 15.72 13.03
19953.49 68.48 3.86 2381 20006.18 2.21 0.22 0.091 2683.31 196.9 3.22 0.057 2179.94 -401.3 289.96 47.79 1.156 1318.31 -5.1 0.050 - - - - - - 15.75 15.77 12.96
20184.00 35.11 13.74 2427 20189.82 roll 2.21 - - 2684.62 - 4.05 0.144 735.81 -356.6 289.96 - - 1310.62 - - - - - - - - - 15.71 -
20254.08 28.64 8.43 2441 20259.79 roll 2.21 - - 2684.44 - 3.66 0.059 2220.94 405.8 289.96 - - 1310.72 - - - - - - - - - 15.75 -
20439.09 18.14 6.05 2478 20444.92 done 2.27 - - 2684.56 - 4.16 0.136 736.12 -356.9 289.96 - - 1308.44 - - - - - - - - - 15.78 -
20479.10 14.87 8.17 2486 20484.87 done 2.27 - - 2683.19 - 3.62 0.057 2224.06 411.0 289.96 - - 1308.88 - - - - - - - - - 15.81 -
20629 end climb: SURFACE_DEPTH_REACHED
20630 begin surface coast
20649 end surface coast: CONTROL_FINISHED_OK
20650 begin surface
SM 0.99 - - - - 176.6 0.24 0.168 768.5 3202.1 16.58 0.106 766.8 46.2 - 0.34 0.094 770.1 2254.4 -2.427 - - 15.49 15.81 15.86 -