NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 138 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 45.73 of 575.00 AH used of 24V (92.05% remains)
• Surface angle -66.0 deg, depth 0.99 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.00 (SM_CC=425)
• GPS1 time: 53 s
• GPS2 time: 2 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
6.52 - - - 69.41 VBD -1.25 - - 179.00 - - - 2080.62 - -77.86 62.33 0.005 2234.47 - - - - - - - - - - 15.65
69.68 3.48 -4.64 12 106.82 -1.25 13.57 0.267 1835.50 122.1 3.79 0.167 662.62 -374.1 -77.86 14.45 0.006 2817.53 40.4 -3.905 - - - - - - 15.63 15.64 15.69
209.56 38.43 -27.90 40 215.32 roll -1.25 - - 1835.94 - 3.45 0.063 2120.50 422.6 -77.86 - - 2819.38 - - - - - - - - - 15.77 -
394.60 74.35 -14.40 77 400.31 roll -1.25 - - 1834.56 - 3.39 0.121 3476.12 399.9 -77.86 - - 2819.12 - - - - - - - - - 15.81 -
439.62 81.29 -15.91 86 445.31 roll -1.25 - - 1835.69 - 3.30 0.060 2079.75 -423.1 -77.86 - - 2818.69 - - - - - - - - - 15.83 -
624.63 109.10 -15.22 117 629.21 roll -1.25 - - 1835.94 - 3.47 0.118 3474.81 402.0 -77.86 - - 2820.91 - - - - - - - - - 15.87 -
684.65 118.61 -16.04 129 689.18 roll -1.25 - - 1835.44 - 3.28 0.061 2082.19 -424.6 -77.86 - - 2818.56 - - - - - - - - - 15.89 -
994.66 155.28 -11.34 161 1000.45 roll -1.25 - - 1835.81 - 3.77 0.163 661.12 -376.9 -77.86 - - 2817.50 - - - - - - - - - 15.91 -
1209.72 186.62 -14.89 204 1214.34 roll -1.25 - - 1835.56 - 3.39 0.060 2121.69 430.8 -77.86 - - 2820.81 - - - - - - - - - 15.97 -
1519.76 219.57 -9.38 236 1525.55 roll -1.25 - - 1834.88 - 3.80 0.158 661.06 -384.4 -77.86 - - 2821.81 - - - - - - - - - 15.97 -
1634.79 232.82 -11.98 259 1639.38 roll -1.25 - - 1835.75 - 3.38 0.060 2123.12 432.6 -77.86 - - 2819.38 - - - - - - - - - 16.01 -
1944.85 266.01 -11.26 291 1949.55 roll -1.25 - - 1835.81 - 3.31 0.127 3474.75 408.3 -77.86 - - 2819.03 - - - - - - - - - 16.00 -
2054.96 279.46 -12.69 313 2059.42 roll -1.25 - - 1835.69 - 3.20 0.064 2078.81 -436.2 -77.86 - - 2820.22 - - - - - - - - - 16.02 -
2364.94 313.80 -10.73 345 2369.68 roll -1.25 - - 1836.00 - 3.58 0.167 661.19 -396.0 -77.86 - - 2819.50 - - - - - - - - - 16.02 -
2494.98 329.78 -12.42 371 2499.62 roll -1.25 - - 1835.25 - 3.39 0.063 2122.12 431.0 -77.86 - - 2820.12 - - - - - - - - - 16.06 -
2805.04 361.54 -10.51 403 2806.37 no move -1.25 - - 1835.81 - - - 2122.06 - -77.86 - - 2818.56 - - - - - - - - - - -
3105.08 391.00 -9.82 433 3110.89 roll -1.25 - - 1834.88 - 3.84 0.166 663.38 -379.9 -77.86 - - 2820.62 - - - - - - - - - 16.04 -
3140.11 395.26 -11.79 440 3144.75 roll -1.25 - - 1834.50 - 3.37 0.062 2120.06 432.2 -77.86 - - 2818.94 - - - - - - - - - 16.08 -
3450.14 427.82 -11.04 472 3454.72 roll -1.25 - - 1835.50 - 3.33 0.131 3474.50 406.7 -77.86 - - 2817.25 - - - - - - - - - 16.06 -
3530.19 437.55 -12.64 488 3534.73 roll -1.25 - - 1835.62 - 3.27 0.068 2081.12 -426.1 -77.86 - - 2817.12 - - - - - - - - - 16.08 -
3840.21 472.77 -11.37 520 3845.99 roll -1.25 - - 1834.44 - 3.77 0.176 662.75 -376.2 -77.86 - - 2819.12 - - - - - - - - - 16.06 -
4035.27 498.99 -13.01 559 4039.96 roll -1.25 - - 1835.25 - 3.37 0.069 2119.94 432.4 -77.86 - - 2816.44 - - - - - - - - - 16.09 -
4345.29 532.11 -9.89 591 4346.61 no move -1.25 - - 1835.62 - - - 2120.06 - -77.86 - - 2815.38 - - - - - - - - - - -
4645.43 561.39 -9.73 621 4646.76 no move -1.25 - - 1835.50 - - - 2120.25 - -77.86 - - 2815.34 - - - - - - - - - - -
4945.32 589.53 -9.91 651 4946.65 no move -1.25 - - 1835.75 - - - 2120.50 - -77.86 - - 2812.38 - - - - - - - - - - -
5245.34 617.39 -8.70 681 5251.16 roll -1.25 - - 1835.56 - 3.83 0.180 663.00 -380.5 -77.86 - - 2811.53 - - - - - - - - - 16.08 -
5344.27 628.25 -9.92 701 5351.07 roll -1.25 - - 1835.56 - 3.38 0.071 2120.94 431.3 -77.86 - - 2815.56 - - - - - - - - - 16.11 -
5650.39 656.04 -9.55 732 5654.95 roll -1.25 - - 1835.75 - 3.32 0.138 3475.12 407.9 -77.86 - - 2813.03 - - - - - - - - - 16.10 -
5704.39 661.87 -11.45 743 5711.09 roll -1.25 - - 1835.38 - 3.30 0.074 2083.56 -421.7 -77.86 - - 2814.38 - - - - - - - - - 16.10 -
6010.42 688.87 -9.01 774 6011.75 no move -1.25 - - 1835.31 - - - 2083.88 - -77.86 - - 2812.44 - - - - - - - - - - -
6310.44 714.78 -8.31 804 6315.02 roll -1.25 - - 1835.62 - 3.42 0.140 3474.25 406.5 -77.86 - - 2814.31 - - - - - - - - - 16.11 -
6364.31 720.24 -8.66 815 6371.17 roll -1.25 - - 1835.56 - 3.36 0.075 2083.75 -413.8 -77.86 - - 2813.34 - - - - - - - - - 16.12 -
6670.47 745.93 -7.69 846 6671.79 no move -1.25 - - 1835.38 - - - 2083.25 - -77.86 - - 2811.22 - - - - - - - - - - -
6970.48 771.33 -8.65 876 6976.28 roll -1.25 - - 1835.56 - 3.86 0.187 664.19 -367.6 -77.86 - - 2812.78 - - - - - - - - - 16.08 -
7015.51 775.72 -9.67 885 7020.08 roll -1.25 - - 1835.56 - 3.38 0.076 2118.06 430.1 -77.86 - - 2810.59 - - - - - - - - - 16.11 -
7325.51 802.16 -7.91 917 7326.85 no move -1.25 - - 1835.50 - - - 2118.12 - -77.86 - - 2809.81 - - - - - - - - - - -
7625.53 826.44 -7.76 947 7631.35 roll -1.25 - - 1835.81 - 3.90 0.187 662.25 -373.3 -77.86 - - 2810.00 - - - - - - - - - 16.08 -
7704.67 834.39 -8.52 963 7711.28 roll -1.25 - - 1835.56 - 3.42 0.078 2118.00 425.7 -77.86 - - 2810.12 - - - - - - - - - 16.11 -
8010.57 859.29 -7.84 994 8011.90 no move -1.25 - - 1835.56 - - - 2117.00 - -77.86 - - 2807.44 - - - - - - - - - - -
8310.59 882.95 -8.46 1024 8311.92 no move -1.25 - - 1835.50 - - - 2117.25 - -77.86 - - 2807.84 - - - - - - - - - - -
8610.61 906.23 -8.51 1054 8611.94 no move -1.25 - - 1835.69 - - - 2116.62 - -77.86 - - 2807.12 - - - - - - - - - - -
8910.63 930.78 -8.07 1084 8916.45 roll -1.25 - - 1835.44 - 3.93 0.191 663.06 -369.9 -77.86 - - 2805.91 - - - - - - - - - 16.09 -
8985.72 937.30 -8.82 1099 8991.24 roll -1.25 - - 1835.50 - 3.45 0.081 2116.06 421.2 -77.86 - - 2809.47 - - - - - - - - - 16.12 -
9290.67 961.19 -8.62 1130 9295.27 roll -1.25 - - 1835.56 - 3.41 0.144 3472.62 397.8 -77.86 - - 2808.31 - - - - - - - - - 16.10 -
9334.67 964.46 -7.00 1139 9341.51 roll -1.25 - - 1836.06 - 3.30 0.079 2084.50 -420.6 -77.86 - - 2806.88 - - - - - - - - - 16.11 -
9640.72 987.55 -8.87 1170 9646.33 roll -1.25 - - 1835.31 - 3.53 0.143 3474.38 393.7 -77.86 - - 2806.72 - - - - - - - - - 16.11 -
9676 end dive: TARGET_DEPTH_EXCEEDED
9676 begin apogee
9680.01 990.08 -7.93 1177 9748.51 -0.25 1.75 0.170 2079.31 139.4 0.05 0.286 2214.00 -25207.6 - 64.92 2.281 2500.88 -4.7 0.341 - - - - - - 16.07 15.60 13.14
9750 end apogee: CONTROL_FINISHED_OK
9750 begin climb
9749.87 991.74 - 1184 9827.89 1.25 2.53 0.102 2449.19 146.2 - - 2214.56 - 77.86 72.52 2.234 2181.19 -4.4 0.327 - - - - - - 15.63 - 12.94
10125.86 957.26 10.18 1227 10130.37 done 1.25 - - 2448.88 - 3.33 0.141 3473.81 378.2 77.86 - - 2169.34 - - - - - - - - - 15.66 -
10179.67 951.38 10.80 1238 10186.50 done 1.25 - - 2449.06 - 3.11 0.070 2182.81 -415.1 77.86 - - 2168.47 - - - - - - - - - 15.69 -
10485.86 919.49 10.27 1269 10490.43 done 1.25 - - 2448.56 - 3.39 0.140 3473.12 380.6 77.86 - - 2166.06 - - - - - - - - - 15.80 -
10509.72 917.54 9.13 1274 10516.54 done 1.25 - - 2448.88 - 3.09 0.067 2181.75 -417.9 77.86 - - 2166.50 - - - - - - - - - 15.82 -
10815.92 887.74 9.26 1305 10817.26 VBD 1.25 - - 2448.88 - - - 2181.56 - 77.86 - - 2164.66 - - - - - - - - - - -
11115.97 859.46 8.85 1335 11117.31 VBD 1.25 - - 2448.88 - - - 2182.19 - 77.86 - - 2163.03 - - - - - - - - - - -
11416.02 833.87 8.37 1365 11420.58 done 1.25 - - 2448.81 - 3.32 0.144 3473.75 389.0 77.86 - - 2163.22 - - - - - - - - - 15.95 -
11446.06 831.52 7.53 1371 11450.55 done 1.27 - - 2448.44 - 3.08 0.070 2181.06 -419.7 77.86 - - 2164.25 - - - - - - - - - 15.96 -
11756.08 804.09 8.74 1403 11761.86 done 1.27 - - 2448.38 - 3.77 0.160 735.19 -383.5 77.86 - - 2163.12 - - - - - - - - - 15.96 -
11831.20 795.52 12.20 1418 11835.96 done 1.27 - - 2447.81 - 3.45 0.066 2218.50 429.9 77.86 - - 2163.56 - - - - - - - - - 15.99 -
12141.17 767.42 8.35 1450 12142.50 VBD 1.27 - - 2448.56 - - - 2218.25 - 77.86 - - 2159.12 - - - - - - - - - - -
12441.20 741.47 8.26 1480 12446.99 done 1.27 - - 2448.81 - 3.88 0.157 736.12 -382.0 77.86 - - 2159.53 - - - - - - - - - 16.00 -
12486.22 737.17 9.50 1489 12490.79 done 1.27 - - 2447.75 - 3.43 0.064 2218.12 432.1 77.86 - - 2162.75 - - - - - - - - - 16.02 -
12796.24 709.14 8.20 1521 12800.76 done 1.27 - - 2448.56 - 3.18 0.140 3472.44 394.4 77.86 - - 2161.31 - - - - - - - - - 16.02 -
12806.25 708.35 9.32 1523 12810.75 done 1.27 - - 2448.62 - 3.02 0.064 2177.94 -428.6 77.86 - - 2162.69 - - - - - - - - - 16.04 -
13116.26 681.44 9.21 1555 13120.82 done 1.27 - - 2448.69 - 3.31 0.137 3473.00 391.3 77.86 - - 2161.41 - - - - - - - - - 16.03 -
13160.12 677.35 8.44 1564 13166.94 done 1.27 - - 2448.81 - 3.03 0.065 2179.12 -427.0 77.86 - - 2161.44 - - - - - - - - - 16.04 -
13466.29 650.23 8.62 1595 13470.84 done 1.27 - - 2449.00 - 3.28 0.137 3475.06 395.1 77.86 - - 2160.56 - - - - - - - - - 16.04 -
13496.32 647.77 9.35 1601 13500.95 done 1.27 - - 2448.81 - 3.03 0.066 2180.69 -427.2 77.86 - - 2160.09 - - - - - - - - - 16.05 -
13806.33 621.30 8.52 1633 13807.66 VBD 1.27 - - 2448.00 - - - 2180.94 - 77.86 - - 2158.34 - - - - - - - - - - -
14106.34 596.54 7.69 1663 14110.90 done 1.27 - - 2448.50 - 3.34 0.139 3472.94 386.8 77.86 - - 2160.94 - - - - - - - - - 16.05 -
14170.21 590.81 8.92 1676 14177.02 done 1.27 - - 2447.94 - 3.04 0.065 2179.31 -425.5 77.86 - - 2161.00 - - - - - - - - - 16.06 -
14476.40 567.34 7.47 1707 14482.16 done 1.29 - - 2448.12 - 3.76 0.154 735.62 -384.0 77.86 - - 2158.16 - - - - - - - - - 16.05 -
14505.32 564.58 7.23 1713 14512.12 done 1.31 - - 2448.81 - 3.45 0.062 2221.81 430.8 77.86 - - 2161.22 - - - - - - - - - 16.07 -
14811.43 541.29 7.40 1744 14815.93 done 1.33 - - 2448.62 - 3.15 0.138 3476.00 398.2 77.86 - - 2158.47 - - - - - - - - - 16.07 -
14885.43 535.30 8.12 1759 14892.23 done 1.33 - - 2447.88 - 3.05 0.065 2178.56 -425.4 77.86 - - 2161.16 - - - - - - - - - 16.08 -
15191.46 515.35 6.82 1790 15195.98 done 1.37 - - 2448.69 - 3.24 0.133 3474.50 400.0 77.86 - - 2158.81 - - - - - - - - - 16.07 -
15291.54 507.90 7.48 1810 15296.04 1.38 0.16 0.115 2483.88 219.9 3.03 0.063 2180.19 -427.2 77.86 - - 2158.66 - - - - - - - - 16.05 16.08 -
15601.51 486.34 6.77 1842 15602.84 VBD 1.42 - - 2483.69 - - - 2180.31 - 77.86 - - 2157.50 - - - - - - - - - - -
15901.53 465.28 7.43 1872 15906.07 done 1.44 - - 2483.12 - 3.31 0.133 3475.62 391.3 77.86 - - 2158.97 - - - - - - - - - 16.07 -
15925.39 462.86 7.54 1877 15933.33 done 1.46 - - 2484.00 - 3.03 0.063 2177.62 -428.4 77.86 - - 2159.28 - - - - - - - - - 16.07 -
16231.56 440.39 7.09 1908 16236.09 done 1.48 - - 2484.19 - 3.30 0.133 3473.12 392.6 77.86 - - 2158.69 - - - - - - - - - 16.07 -
16265.40 437.54 7.59 1915 16272.22 done 1.48 - - 2482.56 - 3.05 0.062 2176.81 -425.0 77.86 - - 2158.84 - - - - - - - - - 16.07 -
16571.62 416.95 5.84 1946 16603.15 1.58 0.23 0.097 2531.06 210.9 3.76 0.149 735.75 -383.3 109.42 25.36 1.580 2052.50 -4.2 0.185 - - - - - - 16.07 15.87 13.18
16731.62 400.82 11.87 1978 16737.19 roll 1.58 - - 2531.00 - 3.44 0.059 2223.31 432.4 109.42 - - 2050.25 - - - - - - - - - 15.95 -
17036.65 372.98 8.75 2009 17037.98 no move 1.58 - - 2531.19 - - - 2223.12 - 109.42 - - 2046.78 - - - - - - - - - - -
17336.70 347.65 8.97 2039 17338.03 no move 1.58 - - 2530.94 - - - 2223.25 - 109.42 - - 2044.47 - - - - - - - - - - -
17636.75 321.93 8.76 2069 17641.28 done 1.58 - - 2531.44 - 3.11 0.132 3475.50 402.7 109.42 - - 2045.78 - - - - - - - - - 16.01 -
17840.69 301.71 10.22 2110 17847.51 done 1.58 - - 2531.25 - 3.06 0.062 2179.25 -423.6 109.42 - - 2046.09 - - - - - - - - - 16.01 -
18146.91 275.59 8.61 2141 18152.54 done 1.58 - - 2531.19 - 3.73 0.145 735.75 -387.0 109.42 - - 2045.28 - - - - - - - - - 16.02 -
18325.89 257.94 10.24 2177 18332.72 done 1.58 - - 2531.69 - 3.41 0.061 2224.69 436.6 109.42 - - 2044.19 - - - - - - - - - 16.03 -
18632.04 232.65 8.00 2208 18633.38 VBD 1.58 - - 2531.25 - - - 2224.50 - 109.42 - - 2044.47 - - - - - - - - - - -
18932.10 207.94 8.10 2238 18936.67 done 1.58 - - 2530.94 - 3.09 0.130 3474.12 404.4 109.42 - - 2046.72 - - - - - - - - - 16.04 -
19162.20 188.29 7.30 2284 19166.69 done 1.60 - - 2531.62 - 3.03 0.060 2177.19 -428.0 109.42 - - 2043.88 - - - - - - - - - 16.03 -
19472.23 170.38 5.76 2316 19506.84 done 1.70 - - 2531.31 - 3.27 0.126 3475.69 397.1 142.05 27.90 1.317 1918.50 -4.5 0.097 - - - - - - - 15.88 13.08
19732.29 145.36 9.35 2368 19736.93 roll 1.70 - - 2531.38 - 3.06 0.059 2177.94 -424.1 142.05 - - 1917.22 - - - - - - - - - 15.95 -
20042.32 122.36 5.86 2400 20074.78 1.79 0.28 0.096 2582.44 182.4 3.27 0.122 3476.19 397.0 173.35 26.65 1.241 1790.53 -4.8 0.078 - - - - - - 15.97 15.82 13.00
20297.65 103.30 6.25 2451 20302.08 roll 1.85 - - 2582.50 - 3.09 0.056 2175.50 -420.9 173.35 - - 1789.25 - - - - - - - - - 15.89 -
20602.71 96.03 1.23 2505 20685.04 2.14 0.49 0.078 2666.56 171.6 3.36 0.123 3474.50 386.6 270.77 77.06 1.232 1396.44 -5.1 0.066 - - - - - - 15.93 15.60 13.08
20907.85 55.54 17.44 2566 20913.52 roll 2.14 - - 2666.88 - 3.10 0.059 2181.06 -417.2 270.77 - - 1389.81 - - - - - - - - - 15.75 -
21092.94 46.23 2.59 2603 21160.12 2.37 0.31 0.082 2723.62 183.0 3.85 0.140 736.00 -375.3 348.75 60.63 1.147 1077.72 -5.1 0.035 - - - - - - 15.80 15.56 13.01
21282.97 28.65 15.32 2641 21288.72 roll 2.37 - - 2723.50 - 3.52 0.057 2224.50 422.9 348.75 - - 1075.78 - - - - - - - - - 15.70 -
21468 end climb: SURFACE_DEPTH_REACHED
21468 begin surface coast
21483 end surface coast: CONTROL_FINISHED_OK
21483 begin surface
SM 1.42 - - - - 175.2 2.08 0.283 767.4 368.9 16.32 0.069 768.2 47.1 - 0.32 0.095 766.6 2384.6 -3.643 - - 12.80 15.74 15.78 -