NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 166 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 54.61 of 575.00 AH used of 24V (90.50% remains)
• Surface angle -62.9 deg, depth 0.88 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.60 (SM_CC=425)
• GPS1 time: 43 s
• GPS2 time: 5 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
6.57 - - - 74.51 VBD -1.25 - - 176.50 - - - 2116.31 - -77.86 67.39 0.005 2318.72 - - - - - - - - - - 15.64
74.79 3.31 -4.07 13 111.34 -1.25 13.71 0.264 1836.12 121.1 3.71 0.127 3473.94 365.9 -77.86 12.59 0.007 2816.91 39.6 -3.135 - - - - - - 15.65 15.64 15.69
334.24 60.05 -17.08 65 339.89 roll -1.25 - - 1836.12 - 3.49 0.065 2084.31 -398.2 -77.86 - - 2817.25 - - - - - - - - - 15.81 -
519.20 86.58 -13.28 102 524.98 roll -1.25 - - 1836.56 - 3.72 0.118 3471.56 372.9 -77.86 - - 2816.66 - - - - - - - - - 15.85 -
589.23 96.37 -14.40 116 594.95 roll -1.25 - - 1836.12 - 3.43 0.062 2082.94 -404.8 -77.86 - - 2816.53 - - - - - - - - - 15.87 -
774.23 119.18 -11.22 138 779.88 roll -1.25 - - 1836.19 - 3.74 0.119 3472.19 371.5 -77.86 - - 2815.41 - - - - - - - - - 15.91 -
803.10 122.83 -10.74 144 809.98 roll -1.25 - - 1836.50 - 3.45 0.062 2083.12 -402.6 -77.86 - - 2817.97 - - - - - - - - - 15.92 -
1109.27 155.67 -10.39 175 1114.90 roll -1.25 - - 1836.50 - 3.71 0.119 3473.50 374.8 -77.86 - - 2817.44 - - - - - - - - - 15.95 -
1128.13 157.82 -10.85 179 1135.01 roll -1.25 - - 1836.44 - 3.41 0.062 2082.56 -407.9 -77.86 - - 2818.00 - - - - - - - - - 15.95 -
1434.29 190.78 -11.73 210 1440.14 roll -1.25 - - 1836.06 - 4.01 0.166 663.06 -354.0 -77.86 - - 2816.34 - - - - - - - - - 15.96 -
1463.23 194.54 -12.52 216 1470.05 roll -1.25 - - 1835.38 - 3.53 0.060 2119.50 412.6 -77.86 - - 2819.78 - - - - - - - - - 15.99 -
1769.39 229.63 -11.80 247 1775.14 roll -1.25 - - 1835.12 - 4.07 0.163 664.12 -357.6 -77.86 - - 2818.66 - - - - - - - - - 15.98 -
1804.33 234.15 -13.58 254 1808.98 roll -1.25 - - 1835.56 - 3.54 0.058 2119.25 411.1 -77.86 - - 2818.03 - - - - - - - - - 16.02 -
2114.34 267.62 -10.20 286 2119.96 roll -1.25 - - 1836.06 - 3.62 0.124 3474.62 374.4 -77.86 - - 2818.06 - - - - - - - - - 16.03 -
2169.36 274.07 -11.56 297 2173.94 roll -1.25 - - 1835.00 - 3.41 0.067 2082.62 -408.2 -77.86 - - 2818.72 - - - - - - - - - 16.03 -
2479.44 308.54 -10.77 329 2480.77 no move -1.25 - - 1836.38 - - - 2082.44 - -77.86 - - 2817.88 - - - - - - - - - - -
2779.39 340.51 -10.54 359 2785.15 roll -1.25 - - 1835.19 - 3.67 0.126 3473.00 378.9 -77.86 - - 2817.69 - - - - - - - - - 16.06 -
2834.41 346.83 -12.27 370 2838.99 roll -1.25 - - 1835.75 - 3.39 0.069 2082.62 -410.1 -77.86 - - 2817.34 - - - - - - - - - 16.06 -
3144.42 382.24 -11.63 402 3145.74 no move -1.25 - - 1836.31 - - - 2082.81 - -77.86 - - 2817.22 - - - - - - - - - - -
3444.43 414.00 -10.27 432 3450.26 roll -1.25 - - 1835.44 - 4.01 0.174 662.88 -354.1 -77.86 - - 2816.66 - - - - - - - - - 16.05 -
3493.31 419.82 -11.58 442 3500.20 roll -1.25 - - 1836.25 - 3.54 0.065 2117.56 410.9 -77.86 - - 2816.25 - - - - - - - - - 16.08 -
3799.47 450.08 -10.26 473 3800.80 no move -1.25 - - 1836.25 - - - 2117.50 - -77.86 - - 2814.69 - - - - - - - - - - -
4099.48 479.73 -9.29 503 4105.11 roll -1.25 - - 1836.38 - 3.63 0.131 3473.56 373.6 -77.86 - - 2813.66 - - - - - - - - - 16.08 -
4158.35 486.54 -11.50 515 4165.23 roll -1.25 - - 1836.81 - 3.45 0.069 2085.44 -402.4 -77.86 - - 2815.56 - - - - - - - - - 16.10 -
4464.51 515.55 -9.51 546 4470.34 roll -1.25 - - 1836.00 - 4.03 0.177 663.31 -352.9 -77.86 - - 2812.50 - - - - - - - - - 16.06 -
4529.60 523.35 -12.66 559 4535.12 roll -1.25 - - 1836.38 - 3.50 0.065 2120.62 416.4 -77.86 - - 2813.72 - - - - - - - - - 16.09 -
4834.55 552.33 -8.59 590 4835.88 no move -1.25 - - 1836.62 - - - 2120.88 - -77.86 - - 2814.06 - - - - - - - - - - -
5134.57 580.27 -8.86 620 5135.89 no move -1.25 - - 1836.31 - - - 2120.62 - -77.86 - - 2813.53 - - - - - - - - - - -
5434.60 608.22 -9.62 650 5440.45 roll -1.25 - - 1836.25 - 4.11 0.178 663.75 -354.5 -77.86 - - 2811.19 - - - - - - - - - 16.07 -
5509.60 616.15 -10.44 665 5515.21 roll -1.25 - - 1835.69 - 3.52 0.070 2118.12 413.2 -77.86 - - 2812.59 - - - - - - - - - 16.10 -
5814.63 643.70 -8.85 696 5820.39 roll -1.25 - - 1835.12 - 3.62 0.136 3473.56 374.4 -77.86 - - 2813.81 - - - - - - - - - 16.09 -
5889.65 651.20 -10.92 711 5894.23 roll -1.25 - - 1836.44 - 3.42 0.074 2085.94 -405.7 -77.86 - - 2811.81 - - - - - - - - - 16.11 -
6199.67 677.29 -8.90 743 6205.36 roll -1.25 - - 1836.12 - 4.01 0.183 663.06 -354.8 -77.86 - - 2809.94 - - - - - - - - - 16.08 -
6234.69 680.79 -10.02 750 6240.29 roll -1.25 - - 1836.06 - 3.55 0.070 2115.62 409.2 -77.86 - - 2809.53 - - - - - - - - - 16.10 -
6539.72 706.07 -8.03 781 6541.05 no move -1.25 - - 1836.25 - - - 2115.88 - -77.86 - - 2810.03 - - - - - - - - - - -
6839.77 729.08 -6.88 811 6845.62 roll -1.25 - - 1836.31 - 4.14 0.181 664.06 -350.7 -77.86 - - 2809.28 - - - - - - - - - 16.08 -
6944.88 740.67 -11.71 832 6950.41 roll -1.25 - - 1836.38 - 3.58 0.073 2115.19 405.3 -77.86 - - 2810.56 - - - - - - - - - 16.11 -
7249.86 768.11 -8.42 863 7251.19 no move -1.25 - - 1836.38 - - - 2115.94 - -77.86 - - 2808.75 - - - - - - - - - - -
7549.90 795.88 -9.75 893 7555.75 roll -1.25 - - 1834.94 - 4.14 0.184 664.06 -350.7 -77.86 - - 2810.88 - - - - - - - - - 16.08 -
7608.98 801.82 -9.62 905 7615.68 roll -1.25 - - 1836.81 - 3.54 0.075 2116.25 410.2 -77.86 - - 2810.12 - - - - - - - - - 16.12 -
7914.98 829.02 -8.14 936 7919.72 roll -1.25 - - 1836.19 - 3.60 0.139 3473.56 377.0 -77.86 - - 2810.44 - - - - - - - - - 16.10 -
8085.04 843.80 -7.93 970 8089.62 roll -1.25 - - 1836.56 - 3.43 0.077 2085.50 -404.7 -77.86 - - 2806.62 - - - - - - - - - 16.12 -
8395.08 864.67 -6.73 1002 8396.41 no move -1.25 - - 1836.12 - - - 2085.44 - -77.86 - - 2808.81 - - - - - - - - - - -
8695.13 886.59 -7.05 1032 8696.45 no move -1.25 - - 1836.25 - - - 2085.44 - -77.86 - - 2805.97 - - - - - - - - - - -
8995.18 909.28 -7.48 1062 9001.00 roll -1.25 - - 1836.44 - 4.08 0.192 664.06 -348.4 -77.86 - - 2805.19 - - - - - - - - - 16.08 -
9070.26 916.56 -9.99 1077 9075.81 roll -1.25 - - 1836.38 - 3.57 0.079 2113.25 405.9 -77.86 - - 2805.22 - - - - - - - - - 16.12 -
9375.22 941.48 -8.40 1108 9380.93 roll -1.25 - - 1836.44 - 4.17 0.188 663.06 -347.8 -77.86 - - 2806.31 - - - - - - - - - 16.07 -
9430.30 946.19 -10.09 1119 9435.84 roll -1.25 - - 1836.19 - 3.57 0.078 2115.31 406.8 -77.86 - - 2806.12 - - - - - - - - - 16.11 -
9735.26 969.15 -9.19 1150 9736.59 no move -1.25 - - 1836.62 - - - 2114.69 - -77.86 - - 2805.12 - - - - - - - - - - -
10035.28 989.46 -6.18 1180 10041.03 roll -1.25 - - 1836.44 - 3.65 0.142 3471.75 371.8 -77.86 - - 2804.41 - - - - - - - - - 16.10 -
10045 end dive: TARGET_DEPTH_EXCEEDED
10045 begin apogee
10049.10 990.70 -6.26 1182 10116.78 -0.25 1.75 0.161 2080.00 139.2 0.05 0.402 2212.31 -25188.8 - 64.00 2.291 2496.72 -4.8 0.348 - - - - - - 16.05 15.59 13.04
10118 end apogee: CONTROL_FINISHED_OK
10118 begin climb
10118.18 992.83 - 1189 10200.33 1.25 2.52 0.099 2447.44 145.8 4.34 0.163 737.12 -339.9 77.86 71.67 2.240 2181.47 -4.4 0.327 - - - - - - 15.63 15.23 12.91
10202.10 988.31 5.27 1199 10249.05 1.37 0.16 0.108 2481.50 212.9 3.76 0.062 2214.19 392.8 117.50 38.30 2.148 2018.81 -4.2 0.327 - - - - - - 15.31 15.33 12.67
10548.11 944.93 14.31 1238 10553.70 done 1.37 - - 2480.12 - 3.49 0.141 3472.75 360.6 117.50 - - 2007.25 - - - - - - - - - 15.64 -
10563.17 943.10 12.73 1241 10567.67 done 1.37 - - 2481.31 - 3.25 0.069 2185.94 -395.9 117.50 - - 2007.97 - - - - - - - - - 15.65 -
10873.18 902.59 12.68 1273 10879.00 done 1.37 - - 2481.50 - 4.02 0.164 737.38 -360.3 117.50 - - 2003.81 - - - - - - - - - 15.76 -
10918.20 895.75 14.07 1282 10923.88 done 1.37 - - 2481.38 - 3.65 0.071 2214.75 404.8 117.50 - - 2004.53 - - - - - - - - - 15.80 -
11223.22 855.59 13.01 1313 11224.56 VBD 1.37 - - 2481.12 - - - 2215.00 - 117.50 - - 2002.38 - - - - - - - - - - -
11523.23 815.34 13.30 1343 11528.82 done 1.37 - - 2479.69 - 3.46 0.144 3474.56 364.0 117.50 - - 2002.12 - - - - - - - - - 15.90 -
11678.28 793.36 13.22 1374 11682.81 done 1.37 - - 2481.31 - 3.19 0.072 2184.38 -404.4 117.50 - - 2001.06 - - - - - - - - - 15.93 -
11988.30 754.78 12.25 1406 11989.64 VBD 1.37 - - 2481.56 - - - 2184.94 - 117.50 - - 1998.88 - - - - - - - - - - -
12288.33 718.68 11.62 1436 12293.92 done 1.37 - - 2480.62 - 3.52 0.140 3473.12 366.0 117.50 - - 1999.84 - - - - - - - - - 15.98 -
12363.38 707.64 15.09 1451 12368.01 done 1.37 - - 2480.38 - 3.18 0.070 2184.38 -405.3 117.50 - - 2000.66 - - - - - - - - - 15.99 -
12673.37 667.88 13.07 1483 12674.70 VBD 1.37 - - 2481.31 - - - 2184.19 - 117.50 - - 1998.00 - - - - - - - - - - -
12973.39 628.83 12.76 1513 12978.99 done 1.37 - - 2480.38 - 3.52 0.139 3471.38 365.7 117.50 - - 1998.59 - - - - - - - - - 16.01 -
13002.25 624.44 14.62 1519 13009.08 done 1.37 - - 2481.44 - 3.20 0.069 2184.12 -402.3 117.50 - - 1999.81 - - - - - - - - - 16.03 -
13308.42 584.54 12.45 1550 13314.03 done 1.37 - - 2481.12 - 3.53 0.138 3472.25 364.9 117.50 - - 1998.59 - - - - - - - - - 16.02 -
13327.28 581.87 11.72 1554 13334.11 done 1.37 - - 2481.69 - 3.19 0.066 2183.44 -404.0 117.50 - - 1999.09 - - - - - - - - - 16.02 -
13633.45 544.36 11.14 1585 13639.05 done 1.37 - - 2481.75 - 3.51 0.138 3472.75 367.3 117.50 - - 1998.25 - - - - - - - - - 16.02 -
13708.48 535.14 11.73 1600 13713.00 done 1.37 - - 2482.12 - 3.19 0.066 2182.12 -404.6 117.50 - - 1998.19 - - - - - - - - - 16.04 -
14018.50 503.62 10.01 1632 14024.44 done 1.37 - - 2481.62 - 3.95 0.153 736.12 -366.1 117.50 - - 1998.44 - - - - - - - - - 16.03 -
14123.52 491.59 10.67 1653 14128.26 done 1.37 - - 2481.62 - 3.60 0.063 2215.38 410.9 117.50 - - 1997.62 - - - - - - - - - 16.05 -
14433.55 462.95 9.04 1685 14438.12 done 1.37 - - 2481.81 - 3.40 0.134 3471.12 369.3 117.50 - - 1996.28 - - - - - - - - - 16.05 -
14473.56 459.42 8.92 1693 14478.09 done 1.37 - - 2481.31 - 3.17 0.064 2180.81 -407.0 117.50 - - 1996.56 - - - - - - - - - 16.02 -
14783.59 429.92 9.83 1725 14789.39 done 1.37 - - 2481.88 - 3.85 0.150 735.12 -375.5 117.50 - - 1995.09 - - - - - - - - - 16.03 -
14862.86 421.49 10.72 1741 14869.36 done 1.37 - - 2482.06 - 3.58 0.062 2218.31 414.3 117.50 - - 1995.97 - - - - - - - - - 16.04 -
15168.63 391.19 9.88 1772 15173.19 done 1.37 - - 2481.56 - 3.38 0.133 3472.88 371.2 117.50 - - 1997.44 - - - - - - - - - 16.05 -
15218.66 385.65 12.22 1782 15223.17 done 1.37 - - 2482.25 - 3.18 0.062 2180.69 -406.3 117.50 - - 1997.06 - - - - - - - - - 16.05 -
15528.89 355.13 9.71 1814 15534.47 done 1.37 - - 2481.31 - 3.97 0.149 736.81 -363.7 117.50 - - 1994.91 - - - - - - - - - 16.04 -
15557.59 351.62 10.93 1820 15564.42 done 1.37 - - 2482.00 - 3.58 0.059 2220.12 414.3 117.50 - - 1996.69 - - - - - - - - - 16.06 -
15863.73 323.40 7.89 1851 15865.06 VBD 1.37 - - 2482.31 - - - 2219.94 - 117.50 - - 1995.78 - - - - - - - - - - -
16163.76 299.09 7.78 1881 16169.60 done 1.37 - - 2479.75 - 4.03 0.146 736.06 -368.2 117.50 - - 1996.59 - - - - - - - - - 16.04 -
16238.88 292.11 8.49 1896 16244.54 done 1.37 - - 2481.69 - 3.54 0.061 2221.50 419.6 117.50 - - 1995.25 - - - - - - - - - 16.06 -
16543.85 268.21 8.00 1927 16548.40 done 1.37 - - 2481.94 - 3.35 0.130 3473.88 373.8 117.50 - - 1997.03 - - - - - - - - - 16.03 -
16617.73 261.73 8.77 1942 16624.56 done 1.37 - - 2481.19 - 3.17 0.063 2180.50 -408.0 117.50 - - 1996.75 - - - - - - - - - 16.06 -
16923.94 240.61 6.65 1973 16925.28 VBD 1.41 - - 2481.62 - - - 2181.50 - 117.50 - - 1995.78 - - - - - - - - - - -
17223.98 219.09 7.24 2003 17225.31 VBD 1.44 - - 2481.50 - - - 2181.00 - 117.50 - - 1996.38 - - - - - - - - - - -
17524.01 198.01 8.06 2033 17529.60 done 1.44 - - 2480.75 - 3.49 0.127 3472.88 370.2 117.50 - - 1996.19 - - - - - - - - - 16.06 -
17572.89 193.50 9.94 2043 17579.72 done 1.44 - - 2482.06 - 3.14 0.061 2180.56 -411.6 117.50 - - 1996.97 - - - - - - - - - 16.07 -
17879.08 168.78 7.77 2074 17884.89 done 1.44 - - 2481.88 - 3.93 0.144 736.19 -367.5 117.50 - - 1994.50 - - - - - - - - - 16.05 -
17974.12 160.43 8.34 2093 17979.72 done 1.44 - - 2480.06 - 3.56 0.059 2222.50 417.5 117.50 - - 1997.31 - - - - - - - - - 16.06 -
18279.20 139.53 6.82 2124 18283.73 done 1.47 - - 2481.50 - 3.35 0.126 3473.06 373.3 117.50 - - 1995.62 - - - - - - - - - 16.04 -
18339.22 135.35 6.78 2136 18343.78 1.51 0.15 0.111 2515.25 225.0 3.13 0.058 2177.12 -414.0 117.50 - - 1996.06 - - - - - - - - 16.03 16.06 -
18649.25 119.51 3.47 2168 18705.28 1.71 0.24 0.094 2562.00 194.8 3.97 0.143 735.81 -363.1 182.83 49.76 1.271 1753.31 -4.9 0.077 - - - - - - 16.05 15.80 13.11
18743.15 112.88 9.45 2187 18749.99 roll 1.71 - - 2561.19 - 3.58 0.057 2221.88 415.1 182.83 - - 1750.81 - - - - - - - - - 15.87 -
19049.34 85.46 8.22 2234 19054.99 done 1.71 - - 2561.31 - 3.39 0.124 3472.56 368.9 182.83 - - 1745.97 - - - - - - - - - 15.90 -
19084.28 82.43 8.16 2241 19089.96 done 1.71 - - 2561.12 - 3.14 0.056 2177.50 -412.4 182.83 - - 1745.53 - - - - - - - - - 15.91 -
19269.32 70.86 5.80 2278 19300.59 done 1.81 - - 2561.94 - 3.49 0.123 3472.75 371.1 214.98 26.51 1.158 1622.06 -4.7 0.048 - - - - - - - 15.79 12.95
19524.42 49.89 8.33 2329 19530.03 roll 1.81 - - 2561.75 - 3.14 0.057 2178.69 -412.1 214.98 - - 1617.94 - - - - - - - - - 15.88 -
19709.40 37.32 6.07 2366 19715.26 roll back 1.86 0.19 0.102 2600.56 204.3 3.93 0.141 736.19 -367.0 214.98 - - 1617.19 - - - - - - - - 15.89 15.88 -
19939.44 30.90 0.72 2412 20031.91 2.18 0.42 0.070 2678.88 186.5 3.57 0.057 2227.62 417.8 319.57 83.82 1.133 1196.88 -5.0 0.023 - - - - - - 15.90 15.93 12.95
20209.67 9.48 12.69 2466 20215.53 roll 2.18 - - 2678.56 - 4.15 0.138 737.12 -359.2 319.57 - - 1190.38 - - - - - - - - - 15.71 -
20265 end climb: SURFACE_DEPTH_REACHED
20265 begin surface coast
20275 end surface coast: CONTROL_FINISHED_OK
20275 begin surface
SM 0.57 - - - - 175.3 - 2.795 769.1 - 16.06 0.076 779.6 48.5 - 3.35 0.056 758.5 225.2 -0.234 - - 30.36 15.75 15.78 -