NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 143 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 47.30 of 575.00 AH used of 24V (91.77% remains)
• Surface angle -60.4 deg, depth 0.67 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.02 (SM_CC=425)
• GPS1 time: 36 s
• GPS2 time: 3 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.46 - - - 79.51 VBD -1.25 - - 174.00 - - - 2118.44 - -77.86 72.47 0.005 2454.53 - - - - - - - - - - 15.64
79.83 3.90 -5.84 14 111.73 -1.25 13.61 0.265 1835.62 122.1 4.11 0.163 662.19 -354.3 -77.86 8.39 0.007 2817.47 43.3 -4.041 - - - - - - 15.63 15.63 15.68
334.60 62.10 -17.36 65 340.27 roll -1.25 - - 1835.50 - 3.56 0.059 2120.88 409.7 -77.86 - - 2818.03 - - - - - - - - - 15.81 -
519.54 89.95 -14.72 102 525.37 roll -1.25 - - 1835.62 - 4.07 0.156 661.94 -358.5 -77.86 - - 2818.69 - - - - - - - - - 15.82 -
574.56 99.09 -15.32 113 580.30 roll -1.25 - - 1835.75 - 3.53 0.056 2119.31 412.9 -77.86 - - 2819.41 - - - - - - - - - 15.85 -
764.63 123.67 -11.71 133 770.40 roll -1.25 - - 1835.56 - 4.05 0.156 663.50 -359.5 -77.86 - - 2816.91 - - - - - - - - - 15.87 -
969.60 149.96 -12.15 174 974.24 roll -1.25 - - 1835.19 - 3.46 0.058 2120.69 421.2 -77.86 - - 2821.12 - - - - - - - - - 15.93 -
1279.62 181.35 -10.20 206 1285.45 roll -1.25 - - 1836.06 - 4.05 0.158 663.62 -359.8 -77.86 - - 2817.28 - - - - - - - - - 15.94 -
1378.57 194.52 -13.26 226 1385.41 roll -1.25 - - 1835.50 - 3.53 0.058 2121.38 413.0 -77.86 - - 2819.94 - - - - - - - - - 15.98 -
1684.70 227.24 -11.14 257 1690.53 roll -1.25 - - 1835.56 - 4.03 0.159 662.12 -362.1 -77.86 - - 2818.22 - - - - - - - - - 15.98 -
1809.74 243.52 -13.59 282 1814.32 roll -1.25 - - 1835.94 - 3.48 0.058 2116.81 418.0 -77.86 - - 2818.00 - - - - - - - - - 16.01 -
2119.79 278.20 -10.96 314 2125.40 roll -1.25 - - 1835.69 - 3.54 0.125 3472.81 383.1 -77.86 - - 2816.72 - - - - - - - - - 16.02 -
2174.82 285.03 -12.34 325 2179.41 roll -1.25 - - 1835.25 - 3.41 0.061 2082.44 -407.7 -77.86 - - 2821.53 - - - - - - - - - 16.03 -
2484.86 320.59 -11.61 357 2490.67 roll -1.25 - - 1835.88 - 3.92 0.165 662.19 -362.3 -77.86 - - 2821.28 - - - - - - - - - 16.02 -
2559.96 330.35 -13.23 372 2565.47 roll -1.25 - - 1835.81 - 3.50 0.059 2119.25 416.3 -77.86 - - 2819.34 - - - - - - - - - 16.06 -
2864.93 362.83 -10.24 403 2866.26 no move -1.25 - - 1836.12 - - - 2119.50 - -77.86 - - 2818.59 - - - - - - - - - - -
3164.97 392.07 -9.10 433 3170.82 roll -1.25 - - 1834.88 - 4.04 0.165 663.31 -360.4 -77.86 - - 2820.41 - - - - - - - - - 16.05 -
3220.01 398.69 -12.28 444 3224.66 roll -1.25 - - 1835.44 - 3.49 0.061 2120.62 417.6 -77.86 - - 2819.31 - - - - - - - - - 16.08 -
3530.05 430.50 -10.04 476 3531.38 no move -1.25 - - 1835.62 - - - 2120.25 - -77.86 - - 2817.06 - - - - - - - - - - -
3830.09 460.37 -10.15 506 3835.93 roll -1.25 - - 1835.88 - 4.04 0.168 662.19 -360.9 -77.86 - - 2814.16 - - - - - - - - - 16.06 -
3925.12 471.11 -10.44 525 3929.87 roll -1.25 - - 1835.38 - 3.51 0.063 2119.88 415.3 -77.86 - - 2817.22 - - - - - - - - - 16.09 -
4235.15 500.30 -8.60 557 4240.76 roll -1.25 - - 1835.12 - 3.56 0.129 3475.06 380.7 -77.86 - - 2815.94 - - - - - - - - - 16.08 -
4300.18 506.93 -10.24 570 4304.75 roll -1.25 - - 1836.06 - 3.43 0.068 2082.56 -406.0 -77.86 - - 2817.31 - - - - - - - - - 16.10 -
4610.18 536.76 -9.45 602 4616.00 roll -1.25 - - 1835.69 - 3.91 0.175 663.38 -363.0 -77.86 - - 2812.84 - - - - - - - - - 16.07 -
4739.13 551.18 -10.59 628 4745.96 roll -1.25 - - 1835.56 - 3.55 0.069 2119.06 410.1 -77.86 - - 2815.03 - - - - - - - - - 16.10 -
5045.22 580.65 -9.24 659 5050.83 roll -1.25 - - 1835.88 - 3.57 0.134 3473.00 379.3 -77.86 - - 2815.28 - - - - - - - - - 16.09 -
5104.10 586.49 -10.03 671 5111.05 roll -1.25 - - 1836.12 - 3.43 0.070 2084.69 -404.8 -77.86 - - 2813.22 - - - - - - - - - 16.11 -
5410.25 613.65 -9.58 702 5416.07 roll -1.25 - - 1833.75 - 3.92 0.178 663.44 -362.6 -77.86 - - 2812.84 - - - - - - - - - 16.07 -
5505.27 623.79 -11.66 721 5510.01 roll -1.25 - - 1835.44 - 3.52 0.069 2116.00 412.7 -77.86 - - 2814.12 - - - - - - - - - 16.10 -
5815.29 653.46 -11.21 753 5816.62 no move -1.25 - - 1835.50 - - - 2115.81 - -77.86 - - 2811.38 - - - - - - - - - - -
6115.31 684.25 -10.46 783 6116.64 no move -1.25 - - 1835.94 - - - 2116.50 - -77.86 - - 2811.50 - - - - - - - - - - -
6415.33 713.37 -10.19 813 6421.16 roll -1.25 - - 1835.44 - 4.02 0.180 664.12 -361.3 -77.86 - - 2808.91 - - - - - - - - - 16.08 -
6480.43 720.33 -10.69 826 6486.09 roll -1.25 - - 1835.81 - 3.54 0.073 2117.88 410.7 -77.86 - - 2808.94 - - - - - - - - - 16.11 -
6785.37 746.69 -8.21 857 6786.70 no move -1.25 - - 1835.31 - - - 2117.69 - -77.86 - - 2808.88 - - - - - - - - - - -
7085.39 771.11 -8.29 887 7086.71 no move -1.25 - - 1835.81 - - - 2117.56 - -77.86 - - 2810.34 - - - - - - - - - - -
7385.41 794.72 -7.54 917 7386.74 no move -1.25 - - 1836.31 - - - 2117.81 - -77.86 - - 2808.06 - - - - - - - - - - -
7685.43 818.49 -8.72 947 7686.76 no move -1.25 - - 1835.12 - - - 2118.00 - -77.86 - - 2807.59 - - - - - - - - - - -
7985.45 843.47 -7.60 977 7991.29 roll -1.25 - - 1835.19 - 4.02 0.187 663.44 -361.8 -77.86 - - 2806.69 - - - - - - - - - 16.08 -
8034.40 848.09 -9.58 987 8041.22 roll -1.25 - - 1835.19 - 3.60 0.077 2114.62 403.1 -77.86 - - 2808.25 - - - - - - - - - 16.13 -
8340.48 874.54 -8.24 1018 8346.09 roll -1.25 - - 1835.56 - 3.60 0.140 3471.62 376.9 -77.86 - - 2808.25 - - - - - - - - - 16.11 -
8385.50 878.72 -8.11 1027 8390.20 roll -1.25 - - 1835.44 - 3.44 0.077 2085.19 -403.0 -77.86 - - 2810.66 - - - - - - - - - 16.11 -
8695.51 906.35 -8.86 1059 8701.34 roll -1.25 - - 1835.00 - 3.98 0.188 663.44 -357.2 -77.86 - - 2805.28 - - - - - - - - - 16.08 -
8784.44 915.26 -9.33 1077 8791.28 roll -1.25 - - 1835.56 - 3.56 0.076 2115.69 407.9 -77.86 - - 2807.19 - - - - - - - - - 16.12 -
9090.55 942.10 -7.59 1108 9096.31 roll -1.25 - - 1835.62 - 3.63 0.140 3473.94 374.2 -77.86 - - 2809.72 - - - - - - - - - 16.10 -
9155.57 948.38 -9.79 1121 9160.30 roll -1.25 - - 1835.31 - 3.44 0.076 2088.88 -402.6 -77.86 - - 2807.38 - - - - - - - - - 16.12 -
9465.57 975.18 -9.09 1153 9471.39 roll -1.25 - - 1835.25 - 3.99 0.191 664.00 -357.1 -77.86 - - 2804.56 - - - - - - - - - 16.07 -
9584.59 987.08 -10.67 1177 9591.35 roll -1.25 - - 1835.19 - 3.54 0.077 2116.38 410.3 -77.86 - - 2809.06 - - - - - - - - - 16.12 -
9620 end dive: TARGET_DEPTH_EXCEEDED
9620 begin apogee
9621.83 990.16 -8.37 1181 9691.86 -0.25 1.75 0.161 2081.12 140.5 0.07 0.324 2187.12 1010.6 - 64.61 2.287 2498.25 -4.8 0.349 - - - - - - 16.06 15.60 13.10
9693 end apogee: CONTROL_FINISHED_OK
9693 begin climb
9693.21 992.70 - 1188 9775.50 1.25 2.50 0.099 2447.94 146.7 4.16 0.160 736.19 -348.8 77.86 72.33 2.241 2183.44 -4.4 0.323 - - - - - - 15.63 15.22 12.93
9777.27 988.62 5.18 1199 9824.94 1.38 0.16 0.110 2482.94 218.8 3.73 0.059 2214.88 396.4 118.89 39.78 2.155 2014.47 -4.2 0.327 - - - - - - 15.30 15.32 12.68
10123.27 946.37 13.64 1238 10124.60 VBD 1.38 - - 2482.69 - - - 2214.56 - 118.89 - - 2001.31 - - - - - - - - - - -
10423.29 907.32 11.81 1268 10427.87 done 1.38 - - 2482.31 - 3.43 0.139 3471.69 366.5 118.89 - - 2000.75 - - - - - - - - - 15.77 -
10467.15 900.88 13.75 1277 10474.00 done 1.38 - - 2483.00 - 3.21 0.067 2185.00 -400.8 118.89 - - 1999.12 - - - - - - - - - 15.79 -
10773.35 859.01 15.39 1308 10779.07 done 1.38 - - 2482.44 - 3.51 0.137 3472.75 366.9 118.89 - - 1996.38 - - - - - - - - - 15.85 -
10808.34 853.98 14.47 1315 10812.88 done 1.38 - - 2483.06 - 3.20 0.065 2184.38 -402.6 118.89 - - 2000.16 - - - - - - - - - 15.87 -
11118.35 812.29 13.76 1347 11123.94 done 1.38 - - 2482.88 - 3.49 0.136 3472.81 369.2 118.89 - - 1995.34 - - - - - - - - - 15.91 -
11147.21 808.45 14.11 1353 11154.06 done 1.38 - - 2481.56 - 3.22 0.066 2184.06 -400.2 118.89 - - 1996.66 - - - - - - - - - 15.92 -
11453.38 770.92 11.43 1384 11458.97 done 1.38 - - 2482.38 - 3.47 0.137 3471.25 370.9 118.89 - - 1994.66 - - - - - - - - - 15.94 -
11478.40 767.52 11.64 1389 11482.93 done 1.38 - - 2482.50 - 3.15 0.065 2183.75 -408.7 118.89 - - 1996.00 - - - - - - - - - 15.95 -
11788.41 728.81 12.33 1421 11792.99 done 1.38 - - 2482.88 - 3.46 0.136 3472.12 372.4 118.89 - - 1994.44 - - - - - - - - - 15.97 -
11812.26 725.59 12.61 1426 11819.25 done 1.38 - - 2482.44 - 3.17 0.063 2184.75 -406.1 118.89 - - 1994.22 - - - - - - - - - 15.98 -
12118.44 687.64 12.41 1457 12123.16 done 1.38 - - 2480.88 - 3.43 0.136 3472.94 375.6 118.89 - - 1996.12 - - - - - - - - - 15.99 -
12158.45 682.02 14.42 1465 12162.97 done 1.38 - - 2482.69 - 3.15 0.064 2183.81 -409.2 118.89 - - 1995.00 - - - - - - - - - 16.01 -
12468.46 645.09 11.29 1497 12473.05 done 1.38 - - 2482.56 - 3.42 0.135 3471.75 376.6 118.89 - - 1993.94 - - - - - - - - - 16.01 -
12512.32 639.32 13.06 1506 12519.17 done 1.38 - - 2482.62 - 3.13 0.063 2183.06 -411.7 118.89 - - 1993.62 - - - - - - - - - 16.02 -
12818.49 605.14 10.67 1537 12823.07 done 1.38 - - 2482.94 - 3.42 0.135 3472.25 377.0 118.89 - - 1994.00 - - - - - - - - - 16.02 -
12828.50 604.46 10.12 1539 12833.02 done 1.38 - - 2482.44 - 3.15 0.061 2183.12 -409.2 118.89 - - 1993.75 - - - - - - - - - 16.03 -
13138.52 570.92 10.60 1571 13143.09 done 1.38 - - 2482.19 - 3.41 0.134 3472.12 378.0 118.89 - - 1993.78 - - - - - - - - - 16.03 -
13168.53 567.57 10.75 1577 13173.06 done 1.38 - - 2481.62 - 3.13 0.062 2182.75 -411.9 118.89 - - 1995.16 - - - - - - - - - 16.04 -
13478.54 535.20 10.18 1609 13479.88 VBD 1.38 - - 2482.06 - - - 2183.38 - 118.89 - - 1991.75 - - - - - - - - - - -
13778.57 504.17 10.24 1639 13783.15 done 1.38 - - 2482.69 - 3.42 0.134 3473.25 377.2 118.89 - - 1993.22 - - - - - - - - - 16.05 -
13838.59 497.46 11.12 1651 13843.11 done 1.38 - - 2482.50 - 3.13 0.062 2181.69 -412.6 118.89 - - 1992.88 - - - - - - - - - 16.05 -
14148.60 467.43 10.22 1683 14149.93 VBD 1.38 - - 2483.25 - - - 2181.69 - 118.89 - - 1990.78 - - - - - - - - - - -
14449.78 439.50 9.46 1713 14455.29 done 1.38 - - 2482.81 - 3.87 0.150 736.12 -373.5 118.89 - - 1990.38 - - - - - - - - - 16.04 -
14463.65 437.80 10.46 1716 14468.39 done 1.38 - - 2483.25 - 3.51 0.058 2221.75 423.3 118.89 - - 1992.62 - - - - - - - - - 16.06 -
14773.71 407.66 9.38 1748 14778.40 done 1.38 - - 2482.56 - 3.32 0.132 3473.31 377.0 118.89 - - 1991.59 - - - - - - - - - 16.05 -
14797.55 404.94 10.18 1753 14804.53 done 1.38 - - 2483.06 - 3.14 0.060 2180.12 -411.8 118.89 - - 1991.78 - - - - - - - - - 16.06 -
15103.77 375.65 9.73 1784 15108.32 done 1.38 - - 2482.94 - 3.40 0.129 3472.44 380.1 118.89 - - 1991.50 - - - - - - - - - 16.06 -
15137.63 371.98 10.20 1791 15144.45 done 1.38 - - 2482.81 - 3.12 0.059 2179.19 -414.5 118.89 - - 1991.88 - - - - - - - - - 16.05 -
15443.82 342.03 9.86 1822 15445.15 VBD 1.38 - - 2483.06 - - - 2179.44 - 118.89 - - 1991.62 - - - - - - - - - - -
15743.87 315.39 8.29 1852 15748.43 done 1.38 - - 2482.56 - 3.35 0.127 3472.12 385.9 118.89 - - 1991.22 - - - - - - - - - 16.06 -
15783.89 311.33 10.05 1860 15788.42 done 1.38 - - 2483.31 - 3.11 0.058 2178.62 -415.9 118.89 - - 1992.12 - - - - - - - - - 16.06 -
16093.94 285.39 8.75 1892 16098.53 done 1.38 - - 2483.25 - 3.42 0.123 3473.06 378.5 118.89 - - 1993.75 - - - - - - - - - 16.02 -
16237.84 271.03 9.54 1921 16244.69 done 1.38 - - 2483.06 - 3.16 0.062 2181.88 -408.6 118.89 - - 1991.47 - - - - - - - - - 16.07 -
16544.05 243.15 8.88 1952 16548.63 done 1.38 - - 2483.50 - 3.44 0.128 3473.44 375.5 118.89 - - 1992.47 - - - - - - - - - 16.04 -
16594.10 238.19 10.33 1962 16598.74 done 1.38 - - 2483.06 - 3.13 0.061 2179.88 -413.3 118.89 - - 1991.41 - - - - - - - - - 16.06 -
16904.12 210.68 9.02 1994 16905.45 VBD 1.38 - - 2482.62 - - - 2179.56 - 118.89 - - 1989.84 - - - - - - - - - - -
17204.16 186.51 7.96 2024 17208.72 done 1.38 - - 2483.50 - 3.42 0.125 3474.00 378.5 118.89 - - 1992.25 - - - - - - - - - 16.05 -
17244.18 183.58 7.51 2032 17248.67 done 1.39 - - 2483.75 - 3.09 0.060 2178.00 -419.4 118.89 - - 1991.72 - - - - - - - - - 16.07 -
17554.20 161.46 7.16 2064 17559.84 done 1.42 - - 2484.81 - 3.82 0.145 734.62 -377.8 118.89 - - 1989.31 - - - - - - - - - 16.05 -
17699.23 149.95 7.60 2093 17704.83 done 1.42 - - 2484.00 - 3.53 0.057 2223.88 421.9 118.89 - - 1989.69 - - - - - - - - - 16.07 -
18004.27 129.68 6.53 2124 18010.06 done 1.46 - - 2484.00 - 3.95 0.136 734.94 -376.9 118.89 - - 1990.47 - - - - - - - - - 16.05 -
18233.31 117.64 4.20 2170 18281.17 1.63 0.31 0.080 2543.94 193.4 3.52 0.056 2225.81 423.5 173.80 41.94 1.252 1790.59 -4.8 0.075 - - - - - - 16.05 16.07 13.21
18579.35 94.51 5.64 2218 18615.76 done 1.73 - - 2543.56 - 4.03 0.137 734.75 -370.0 208.16 28.45 1.186 1651.16 -4.9 0.065 - - - - - - - 15.79 13.08
18839.40 76.75 6.74 2270 18845.19 roll back 1.77 0.16 0.102 2578.69 219.6 3.57 0.056 2224.88 417.4 208.16 - - 1646.91 - - - - - - - - 15.86 15.87 -
19024.44 64.13 6.52 2307 19030.22 roll 1.82 - - 2578.88 - 3.99 0.133 736.56 -373.0 208.16 - - 1644.22 - - - - - - - - - 15.88 -
19254.54 48.86 6.97 2353 19260.23 roll 1.85 - - 2578.62 - 3.59 0.056 2224.25 414.4 208.16 - - 1644.00 - - - - - - - - - 15.92 -
19439.52 42.35 2.50 2390 19511.30 2.09 0.43 0.080 2653.88 175.0 4.08 0.132 734.75 -365.1 287.35 63.26 1.153 1328.91 -5.0 0.031 - - - - - - 15.94 15.67 13.02
19734.62 20.94 10.90 2449 19740.33 roll 2.09 - - 2654.81 - 3.62 0.056 2224.00 411.4 287.35 - - 1322.84 - - - - - - - - - 15.81 -
19909 end climb: SURFACE_DEPTH_REACHED
19909 begin surface coast
19929 end surface coast: CONTROL_FINISHED_OK
19929 begin surface
SM 0.55 - - - - 174.1 - - 767.3 - 16.19 0.099 772.6 47.7 - 0.32 0.087 762.1 2370.2 -1.532 - - 30.00 15.81 15.86 -