NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 157 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 51.76 of 575.00 AH used of 24V (91.00% remains)
• Surface angle -61.6 deg, depth 0.80 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.43 (SM_CC=425)
• GPS1 time: 34 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 - - - 79.60 VBD -1.25 - - 174.19 - - - 2081.75 - -77.86 72.52 0.005 2425.78 - - - - - - - - - - 15.68
79.93 3.11 -3.56 14 111.80 -1.25 13.68 0.263 1835.56 121.4 3.78 0.130 3472.31 367.9 -77.86 9.70 0.007 2815.81 40.2 -2.997 - - - - - - 15.65 15.65 15.70
334.58 59.69 -17.31 65 340.30 roll -1.25 - - 1835.75 - 3.47 0.066 2084.06 -400.1 -77.86 - - 2818.62 - - - - - - - - - 15.82 -
519.58 83.27 -12.53 102 520.91 no move -1.25 - - 1835.12 - - - 2083.69 - -77.86 - - 2817.53 - - - - - - - - - - -
704.61 103.89 -11.43 136 705.94 no move -1.25 - - 1836.00 - - - 2083.69 - -77.86 - - 2817.38 - - - - - - - - - - -
1004.70 137.55 -11.47 166 1010.46 roll -1.25 - - 1835.81 - 4.01 0.165 662.06 -354.5 -77.86 - - 2816.69 - - - - - - - - - 15.92 -
1159.66 158.54 -13.85 197 1165.27 roll -1.25 - - 1835.75 - 3.53 0.063 2119.38 412.8 -77.86 - - 2816.41 - - - - - - - - - 15.96 -
1464.68 192.10 -10.99 228 1466.01 no move -1.25 - - 1835.62 - - - 2118.88 - -77.86 - - 2817.28 - - - - - - - - - - -
1764.73 226.86 -11.35 258 1766.06 no move -1.25 - - 1835.62 - - - 2118.88 - -77.86 - - 2817.25 - - - - - - - - - - -
2064.78 259.45 -11.00 288 2070.62 roll -1.25 - - 1835.44 - 4.07 0.165 663.19 -357.7 -77.86 - - 2818.00 - - - - - - - - - 16.01 -
2113.68 265.52 -12.43 298 2120.56 roll -1.25 - - 1836.12 - 3.52 0.064 2117.94 413.3 -77.86 - - 2817.31 - - - - - - - - - 16.03 -
2419.85 298.04 -10.30 329 2421.18 no move -1.25 - - 1835.94 - - - 2118.25 - -77.86 - - 2816.84 - - - - - - - - - - -
2719.89 328.29 -9.47 359 2725.73 roll -1.25 - - 1835.94 - 4.07 0.167 663.69 -357.4 -77.86 - - 2814.59 - - - - - - - - - 16.04 -
2744.92 331.13 -10.56 364 2749.57 roll -1.25 - - 1834.19 - 3.54 0.063 2120.12 411.4 -77.86 - - 2815.16 - - - - - - - - - 16.05 -
3054.95 360.36 -9.94 396 3056.28 no move -1.25 - - 1835.44 - - - 2120.06 - -77.86 - - 2816.72 - - - - - - - - - - -
3355.00 390.11 -10.13 426 3360.86 roll -1.25 - - 1836.00 - 4.12 0.170 664.19 -353.4 -77.86 - - 2817.66 - - - - - - - - - 16.04 -
3430.03 398.94 -11.84 441 3435.64 roll -1.25 - - 1835.62 - 3.55 0.066 2118.75 409.7 -77.86 - - 2813.75 - - - - - - - - - 16.08 -
3735.08 428.46 -9.21 472 3740.93 roll -1.25 - - 1835.75 - 4.12 0.171 663.00 -353.3 -77.86 - - 2816.12 - - - - - - - - - 16.05 -
3794.10 435.33 -11.38 484 3800.85 roll -1.25 - - 1835.81 - 3.51 0.066 2119.25 414.9 -77.86 - - 2815.28 - - - - - - - - - 16.09 -
4100.15 465.49 -10.56 515 4105.02 roll -1.25 - - 1835.12 - 3.59 0.134 3472.12 376.8 -77.86 - - 2814.06 - - - - - - - - - 16.08 -
4180.19 475.28 -11.86 531 4184.76 roll -1.25 - - 1836.00 - 3.38 0.071 2084.94 -410.4 -77.86 - - 2813.62 - - - - - - - - - 16.09 -
4490.19 509.50 -11.10 563 4496.01 roll -1.25 - - 1835.44 - 3.98 0.179 663.25 -357.2 -77.86 - - 2812.75 - - - - - - - - - 16.06 -
4565.28 518.32 -12.02 578 4570.82 roll -1.25 - - 1835.81 - 3.52 0.069 2118.06 413.3 -77.86 - - 2811.50 - - - - - - - - - 16.09 -
4870.24 547.90 -9.11 609 4875.85 roll -1.25 - - 1835.81 - 3.60 0.134 3472.75 376.3 -77.86 - - 2810.50 - - - - - - - - - 16.09 -
4915.26 552.53 -10.50 618 4919.95 roll -1.25 - - 1835.88 - 3.37 0.073 2084.00 -412.1 -77.86 - - 2813.41 - - - - - - - - - 16.09 -
5225.28 580.10 -8.99 650 5231.10 roll -1.25 - - 1835.75 - 3.99 0.182 662.56 -356.3 -77.86 - - 2810.25 - - - - - - - - - 16.07 -
5320.28 589.84 -9.82 669 5325.89 roll -1.25 - - 1835.62 - 3.54 0.072 2118.75 411.4 -77.86 - - 2812.16 - - - - - - - - - 16.11 -
5625.31 616.44 -8.09 700 5630.06 roll -1.25 - - 1835.44 - 3.63 0.135 3473.25 373.1 -77.86 - - 2811.69 - - - - - - - - - 16.10 -
5665.33 620.33 -9.73 708 5669.88 roll -1.25 - - 1835.75 - 3.38 0.074 2085.25 -410.7 -77.86 - - 2811.12 - - - - - - - - - 16.10 -
5975.34 648.60 -9.60 740 5980.96 roll -1.25 - - 1835.75 - 3.69 0.135 3471.38 375.6 -77.86 - - 2810.84 - - - - - - - - - 16.10 -
6014.21 652.33 -9.33 748 6021.08 roll -1.25 - - 1835.44 - 3.44 0.074 2085.81 -402.8 -77.86 - - 2810.62 - - - - - - - - - 16.11 -
6320.37 680.65 -9.94 779 6321.70 no move -1.25 - - 1835.62 - - - 2085.38 - -77.86 - - 2808.22 - - - - - - - - - - -
6620.39 706.18 -7.05 809 6621.72 no move -1.25 - - 1835.38 - - - 2085.75 - -77.86 - - 2809.66 - - - - - - - - - - -
6920.41 730.64 -8.00 839 6921.74 no move -1.25 - - 1835.38 - - - 2086.19 - -77.86 - - 2809.22 - - - - - - - - - - -
7220.43 753.15 -7.70 869 7226.23 roll -1.25 - - 1835.25 - 3.77 0.139 3472.19 367.6 -77.86 - - 2807.31 - - - - - - - - - 16.11 -
7285.46 758.75 -8.50 882 7291.05 roll -1.25 - - 1833.88 - 3.51 0.079 2087.06 -394.6 -77.86 - - 2807.88 - - - - - - - - - 16.11 -
7590.46 781.56 -7.57 913 7591.79 no move -1.25 - - 1835.19 - - - 2087.00 - -77.86 - - 2806.03 - - - - - - - - - - -
7890.48 804.37 -7.93 943 7896.26 roll -1.25 - - 1836.06 - 3.77 0.139 3472.38 367.5 -77.86 - - 2810.06 - - - - - - - - - 16.10 -
7935.50 808.78 -9.95 952 7940.21 roll -1.25 - - 1835.56 - 3.45 0.078 2087.12 -401.5 -77.86 - - 2808.19 - - - - - - - - - 16.11 -
8245.51 835.19 -9.12 984 8251.20 roll -1.25 - - 1835.75 - 4.04 0.191 664.00 -352.3 -77.86 - - 2805.22 - - - - - - - - - 16.07 -
8314.58 842.05 -9.72 998 8321.29 roll -1.25 - - 1835.44 - 3.62 0.078 2115.56 401.0 -77.86 - - 2807.47 - - - - - - - - - 16.11 -
8620.54 870.11 -9.14 1029 8621.87 no move -1.25 - - 1836.06 - - - 2116.00 - -77.86 - - 2804.59 - - - - - - - - - - -
8920.56 894.05 -7.83 1059 8921.89 no move -1.25 - - 1835.50 - - - 2115.94 - -77.86 - - 2807.00 - - - - - - - - - - -
9220.92 917.27 -7.75 1089 9226.43 roll -1.25 - - 1833.81 - 4.20 0.191 663.88 -345.7 -77.86 - - 2806.62 - - - - - - - - - 16.08 -
9325.60 926.63 -10.02 1110 9331.21 roll -1.25 - - 1834.81 - 3.59 0.083 2115.88 404.5 -77.86 - - 2808.44 - - - - - - - - - 16.11 -
9630.62 948.60 -6.87 1141 9636.48 roll -1.25 - - 1835.31 - 4.20 0.192 664.56 -345.6 -77.86 - - 2805.38 - - - - - - - - - 16.07 -
9709.61 955.35 -8.94 1157 9716.40 roll -1.25 - - 1835.75 - 3.61 0.083 2116.62 402.2 -77.86 - - 2808.47 - - - - - - - - - 16.12 -
10015.65 975.84 -6.35 1188 10021.37 roll -1.25 - - 1835.75 - 4.20 0.193 663.19 -346.1 -77.86 - - 2803.94 - - - - - - - - - 16.07 -
10060.66 979.11 -7.25 1197 10066.27 roll -1.25 - - 1835.56 - 3.56 0.085 2114.06 407.5 -77.86 - - 2805.66 - - - - - - - - - 16.10 -
10236 end dive: TARGET_DEPTH_EXCEEDED
10236 begin apogee
10236.95 991.16 -7.92 1215 10303.83 -0.25 1.74 0.158 2079.44 140.2 0.06 0.348 2187.00 1215.7 - 64.10 2.298 2497.38 -4.8 0.348 - - - - - - 16.06 15.59 13.17
10305 end apogee: CONTROL_FINISHED_OK
10306 begin climb
10305.23 991.66 - 1221 10386.94 1.25 2.52 0.098 2447.69 146.1 4.30 0.167 738.75 -336.8 77.86 72.29 2.246 2179.44 -4.4 0.326 - - - - - - 15.63 15.22 12.86
10398.67 984.04 10.48 1239 10405.47 roll 1.25 - - 2446.69 - 3.79 0.068 2215.88 389.7 77.86 - - 2178.38 - - - - - - - - - 15.35 -
10704.74 951.01 11.21 1270 10709.32 done 1.25 - - 2447.38 - 3.47 0.143 3472.81 362.2 77.86 - - 2169.44 - - - - - - - - - 15.67 -
10714.74 949.77 11.44 1272 10719.29 done 1.25 - - 2447.56 - 3.27 0.069 2183.44 -394.3 77.86 - - 2168.69 - - - - - - - - - 15.69 -
11024.78 916.05 10.12 1304 11030.62 done 1.25 - - 2447.75 - 4.06 0.165 737.81 -356.1 77.86 - - 2164.34 - - - - - - - - - 15.78 -
11103.73 906.01 11.96 1320 11110.72 done 1.25 - - 2447.25 - 3.67 0.073 2214.88 402.5 77.86 - - 2164.59 - - - - - - - - - 15.83 -
11409.89 875.69 9.66 1351 11415.72 done 1.25 - - 2447.44 - 4.16 0.162 736.50 -355.4 77.86 - - 2164.38 - - - - - - - - - 15.87 -
11454.90 870.23 11.64 1360 11460.57 done 1.25 - - 2448.31 - 3.65 0.072 2214.56 404.9 77.86 - - 2163.38 - - - - - - - - - 15.89 -
11759.94 839.06 10.08 1391 11765.77 done 1.25 - - 2447.25 - 4.15 0.162 736.44 -356.2 77.86 - - 2160.41 - - - - - - - - - 15.91 -
11804.96 833.99 11.42 1400 11810.69 done 1.25 - - 2447.00 - 3.60 0.071 2216.81 411.2 77.86 - - 2163.94 - - - - - - - - - 15.94 -
12110.00 804.16 9.34 1431 12115.84 done 1.25 - - 2447.44 - 4.12 0.161 736.38 -359.3 77.86 - - 2161.12 - - - - - - - - - 15.93 -
12145.02 800.57 10.24 1438 12149.75 done 1.25 - - 2447.94 - 3.58 0.068 2214.62 412.9 77.86 - - 2159.94 - - - - - - - - - 15.96 -
12455.07 771.39 9.41 1470 12459.78 done 1.25 - - 2447.88 - 3.40 0.138 3471.19 369.6 77.86 - - 2162.28 - - - - - - - - - 15.98 -
12555.17 761.71 9.40 1490 12559.63 done 1.25 - - 2445.94 - 3.14 0.071 2183.50 -410.1 77.86 - - 2162.97 - - - - - - - - - 15.99 -
12865.17 735.22 8.52 1522 12866.50 VBD 1.25 - - 2447.75 - - - 2183.31 - 77.86 - - 2160.38 - - - - - - - - - - -
13165.19 710.14 8.98 1552 13170.78 done 1.25 - - 2447.56 - 3.49 0.139 3472.38 369.4 77.86 - - 2159.50 - - - - - - - - - 16.01 -
13194.06 708.01 7.59 1558 13200.89 done 1.25 - - 2447.75 - 3.15 0.070 2184.06 -409.0 77.86 - - 2161.06 - - - - - - - - - 16.02 -
13500.22 683.10 7.61 1589 13501.56 VBD 1.25 - - 2448.06 - - - 2184.25 - 77.86 - - 2159.66 - - - - - - - - - - -
13800.27 661.68 6.97 1619 13805.83 done 1.28 - - 2447.81 - 3.48 0.138 3473.88 370.6 77.86 - - 2159.97 - - - - - - - - - 16.04 -
13839.11 658.42 7.80 1627 13845.95 done 1.28 - - 2448.00 - 3.17 0.069 2182.62 -407.3 77.86 - - 2160.25 - - - - - - - - - 16.04 -
14145.29 636.12 6.76 1658 14146.63 VBD 1.32 - - 2448.31 - - - 2182.69 - 77.86 - - 2160.31 - - - - - - - - - - -
14445.31 614.61 6.69 1688 14450.89 done 1.36 - - 2448.56 - 3.49 0.138 3472.38 369.5 77.86 - - 2160.56 - - - - - - - - - 16.05 -
14460.32 613.42 6.30 1691 14464.92 1.42 0.22 0.104 2490.88 192.4 3.13 0.067 2181.62 -412.4 77.86 - - 2162.22 - - - - - - - - 16.03 16.05 -
14770.34 587.80 9.16 1723 14775.92 done 1.42 - - 2491.06 - 3.49 0.138 3474.25 370.4 77.86 - - 2158.47 - - - - - - - - - 16.05 -
14849.21 579.82 9.31 1739 14856.04 done 1.42 - - 2491.38 - 3.18 0.068 2181.94 -406.4 77.86 - - 2160.28 - - - - - - - - - 16.06 -
15155.38 553.20 8.32 1770 15160.98 done 1.42 - - 2492.56 - 3.51 0.134 3473.50 368.0 77.86 - - 2158.03 - - - - - - - - - 16.06 -
15240.73 546.28 8.18 1787 15245.94 done 1.42 - - 2491.81 - 3.16 0.067 2181.19 -409.0 77.86 - - 2157.91 - - - - - - - - - 16.07 -
15545.43 523.05 6.85 1818 15546.76 VBD 1.45 - - 2491.56 - - - 2182.12 - 77.86 - - 2160.16 - - - - - - - - - - -
15845.48 504.11 5.44 1848 15882.10 1.56 0.16 0.112 2526.69 219.6 4.01 0.156 735.31 -360.8 115.16 30.42 1.702 2031.38 -4.2 0.210 - - - - - - 16.07 15.84 13.08
15979.97 490.53 13.07 1874 15985.86 roll 1.56 - - 2527.00 - 3.61 0.067 2216.00 410.2 115.16 - - 2023.94 - - - - - - - - - 15.93 -
16285.01 458.28 10.88 1905 16289.58 roll 1.56 - - 2524.44 - 3.41 0.135 3471.19 368.1 115.16 - - 2023.97 - - - - - - - - - 15.95 -
16385.26 445.96 12.93 1925 16389.58 roll 1.56 - - 2526.62 - 3.17 0.068 2180.69 -407.1 115.16 - - 2022.88 - - - - - - - - - 15.96 -
16695.11 411.69 11.19 1957 16700.70 done 1.56 - - 2527.06 - 3.50 0.130 3472.25 369.0 115.16 - - 2020.38 - - - - - - - - - 15.98 -
16750.13 405.07 12.72 1968 16754.66 done 1.56 - - 2526.38 - 3.19 0.065 2181.81 -404.5 115.16 - - 2022.25 - - - - - - - - - 15.99 -
17060.18 368.41 11.28 2000 17065.80 done 1.56 - - 2526.31 - 3.50 0.131 3472.00 368.6 115.16 - - 2021.81 - - - - - - - - - 15.98 -
17119.05 360.97 11.68 2012 17126.03 done 1.56 - - 2526.94 - 3.19 0.065 2182.44 -404.3 115.16 - - 2021.31 - - - - - - - - - 15.99 -
17425.24 330.14 9.70 2043 17430.98 done 1.56 - - 2526.62 - 3.94 0.150 735.94 -367.1 115.16 - - 2019.53 - - - - - - - - - 15.96 -
17520.25 319.62 10.74 2062 17525.01 done 1.56 - - 2527.06 - 3.61 0.064 2214.50 409.6 115.16 - - 2021.50 - - - - - - - - - 16.00 -
17830.30 290.12 9.33 2094 17834.85 done 1.56 - - 2526.94 - 3.39 0.131 3472.56 371.1 115.16 - - 2022.44 - - - - - - - - - 16.02 -
17874.16 285.10 11.03 2103 17880.99 done 1.56 - - 2527.44 - 3.17 0.063 2181.88 -407.2 115.16 - - 2021.50 - - - - - - - - - 16.03 -
18180.35 254.70 9.93 2134 18181.68 VBD 1.56 - - 2527.06 - - - 2182.19 - 115.16 - - 2020.78 - - - - - - - - - - -
18480.37 227.57 8.91 2164 18486.04 done 1.56 - - 2526.75 - 3.97 0.147 736.31 -364.2 115.16 - - 2022.59 - - - - - - - - - 16.02 -
18609.34 213.53 11.01 2190 18616.28 done 1.56 - - 2527.00 - 3.58 0.064 2220.38 414.5 115.16 - - 2020.19 - - - - - - - - - 16.04 -
18915.45 186.53 7.53 2221 18921.10 done 1.58 - - 2524.44 - 3.99 0.142 737.38 -371.7 115.16 - - 2020.19 - - - - - - - - - 16.03 -
19120.48 166.36 9.03 2262 19126.08 done 1.58 - - 2527.19 - 3.59 0.063 2221.12 413.3 115.16 - - 2020.75 - - - - - - - - - 16.04 -
19425.51 147.01 6.29 2293 19430.03 done 1.63 - - 2527.94 - 3.24 0.130 3472.19 386.1 115.16 - - 2020.75 - - - - - - - - - 16.04 -
19655.58 129.58 7.46 2339 19660.06 done 1.65 - - 2527.44 - 3.15 0.060 2177.94 -410.9 115.16 - - 2021.06 - - - - - - - - - 16.05 -
19965.58 113.71 5.00 2371 20007.08 1.78 0.28 0.093 2579.50 185.9 3.48 0.122 3471.31 371.7 158.68 35.97 1.261 1852.19 -4.7 0.071 - - - - - - 16.04 15.85 13.06
20055.58 107.54 8.41 2389 20060.24 roll 1.78 - - 2580.25 - 3.17 0.059 2180.44 -407.2 158.68 - - 1850.88 - - - - - - - - - 15.90 -
20361.94 85.39 6.00 2441 20393.12 done 1.87 - - 2579.56 - 3.49 0.123 3471.94 370.1 187.97 24.71 1.182 1732.66 -4.8 0.058 - - - - - - - 15.80 13.04
20616.02 65.59 6.74 2492 20621.65 roll 1.91 - - 2579.12 - 3.22 0.059 2179.62 -401.3 187.97 - - 1727.91 - - - - - - - - - 15.89 -
20801.02 53.30 6.06 2529 20806.81 roll back 1.97 0.23 0.095 2623.31 192.1 3.45 0.119 3474.12 375.2 187.97 - - 1727.28 - - - - - - - - 15.90 15.91 -
21031.29 41.75 4.36 2575 21082.29 2.13 0.20 0.097 2662.75 197.2 3.19 0.060 2178.88 -406.0 240.67 43.24 1.158 1519.19 -4.8 0.029 - - - - - - 15.91 15.93 13.02
21261.16 33.23 2.96 2621 21328.35 2.34 0.29 0.085 2714.50 178.4 4.05 0.141 737.75 -355.8 313.32 58.49 1.125 1221.72 -5.1 0.025 - - - - - - 15.82 15.57 12.91
21537 end climb: SURFACE_DEPTH_REACHED
21537 begin surface coast
21547 end surface coast: CONTROL_FINISHED_OK
21547 begin surface
SM 0.47 - - - - 177.8 - 2.789 769.8 - 16.20 0.071 778.7 48.1 - 3.41 0.065 760.8 221.9 -0.164 - - 30.36 15.74 15.75 -