NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 15 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 7.14 of 350.00 AH used of 24V (97.96% remains)
• Surface angle -66.3 deg, depth 1.03 m • Intended pitch -16.7 deg, speed -8.684 cm/s
• No surface pump (final VBD was 547.6, SM_CC=525)
• GPS1 time: 22 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
6.14 - - - 74.31 VBD -0.82 - - 180.31 - - - 2051.94 - -126.52 67.71 0.005 2181.28 - - - - - - - - - - 15.66
74.56 3.78 -5.16 13 121.83 -0.82 14.02 0.280 1977.19 128.2 3.67 0.140 3473.38 387.3 -126.52 23.47 0.006 3266.19 46.2 -4.906 - - - - - - 15.62 15.65 15.69
309.57 39.78 -10.00 60 315.29 roll -0.87 - - 1978.50 - 3.42 0.078 2047.56 -416.9 -126.52 - - 3265.47 - - - - - - - - - 15.79 -
494.65 56.64 -8.84 97 500.45 roll back -0.95 0.29 0.088 1934.75 -150.9 3.67 0.136 3471.50 388.0 -126.52 - - 3265.88 - - - - - - - - 15.82 15.82 -
524.63 60.25 -12.03 103 530.33 roll -0.95 - - 1934.69 - 3.40 0.078 2050.88 -417.8 -126.52 - - 3265.88 - - - - - - - - - 15.84 -
709.71 82.54 -11.57 140 711.04 no move -0.95 - - 1934.94 - - - 2050.94 - -126.52 - - 3266.53 - - - - - - - - - - -
889.78 99.08 -9.60 176 891.11 no move -0.95 - - 1934.44 - - - 2050.75 - -126.52 - - 3266.75 - - - - - - - - - - -
1069.89 119.86 -11.13 195 1075.50 roll -0.99 - - 1934.62 - 3.65 0.142 3473.44 389.8 -126.52 - - 3265.12 - - - - - - - - - 15.91 -
1154.92 128.93 -10.32 212 1159.48 roll -1.03 - - 1934.06 - 3.39 0.083 2050.94 -419.6 -126.52 - - 3267.16 - - - - - - - - - 15.94 -
1464.93 157.06 -8.74 244 1466.26 no move -1.08 - - 1934.75 - - - 2051.12 - -126.52 - - 3267.09 - - - - - - - - - - -
1765.00 181.95 -9.14 274 1770.75 roll back -1.15 0.23 0.099 1887.44 -205.7 3.64 0.145 3474.56 391.1 -126.52 - - 3268.62 - - - - - - - - 15.98 15.98 -
1804.00 186.42 -11.76 282 1810.75 roll back -1.10 0.22 0.189 1913.00 116.2 3.40 0.087 2051.56 -418.5 -126.52 - - 3267.28 - - - - - - - - 15.94 15.99 -
2110.08 217.73 -10.25 313 2115.73 roll -1.15 - - 1912.94 - 3.62 0.148 3472.75 392.6 -126.52 - - 3265.59 - - - - - - - - - 16.00 -
2145.09 221.30 -10.20 320 2149.68 roll -1.19 - - 1912.81 - 3.38 0.086 2051.31 -420.5 -126.52 - - 3266.91 - - - - - - - - - 16.02 -
2455.13 252.58 -9.68 352 2456.60 pitch -1.25 0.31 0.091 1862.00 -163.9 - - 2051.31 - -126.52 - - 3264.94 - - - - - - - - 16.03 - -
2755.16 291.73 -13.16 382 2756.61 pitch -1.21 0.22 0.181 1888.25 119.3 - - 2051.12 - -126.52 - - 3265.12 - - - - - - - - 16.03 - -
3055.18 326.48 -11.24 412 3060.86 roll -1.21 - - 1886.69 - 3.63 0.153 3472.44 391.5 -126.52 - - 3265.16 - - - - - - - - - 16.05 -
3094.13 331.01 -12.36 420 3100.93 roll -1.21 - - 1889.44 - 3.37 0.092 2052.75 -421.3 -126.52 - - 3266.62 - - - - - - - - - 16.06 -
3400.25 363.26 -10.09 451 3401.58 no move -1.24 - - 1889.38 - - - 2052.62 - -126.52 - - 3265.31 - - - - - - - - - - -
3700.28 394.03 -10.60 481 3701.60 no move -1.27 - - 1889.25 - - - 2052.50 - -126.52 - - 3264.44 - - - - - - - - - - -
4000.31 422.38 -9.11 511 4001.76 pitch -1.31 0.24 0.100 1848.88 -168.2 - - 2051.81 - -126.52 - - 3263.88 - - - - - - - - 16.08 - -
4300.35 455.95 -11.42 541 4306.08 roll back -1.27 0.21 0.188 1874.94 124.1 3.62 0.159 3473.31 392.7 -126.52 - - 3261.56 - - - - - - - - 16.07 16.08 -
4355.38 461.99 -10.58 552 4359.95 roll -1.27 - - 1874.56 - 3.40 0.097 2052.75 -417.8 -126.52 - - 3264.09 - - - - - - - - - 16.09 -
4665.38 492.95 -9.64 584 4671.06 roll -1.27 - - 1871.81 - 3.71 0.221 663.62 -374.4 -126.52 - - 3262.06 - - - - - - - - - 16.05 -
4680.38 494.45 -9.50 587 4684.99 roll -1.27 - - 1873.75 - 3.39 0.097 2081.38 418.2 -126.52 - - 3263.56 - - - - - - - - - 16.10 -
4990.40 525.30 -10.37 619 4995.05 roll -1.27 - - 1873.69 - 3.52 0.158 3472.38 395.2 -126.52 - - 3263.31 - - - - - - - - - 16.09 -
5014.34 527.82 -10.79 624 5021.09 roll -1.27 - - 1874.06 - 3.38 0.092 2052.81 -420.0 -126.52 - - 3261.62 - - - - - - - - - 16.11 -
5320.44 558.98 -10.12 655 5326.14 roll -1.27 - - 1873.81 - 3.71 0.220 663.69 -374.4 -126.52 - - 3259.25 - - - - - - - - - 16.06 -
5345.46 561.94 -11.63 660 5350.08 roll -1.27 - - 1873.81 - 3.40 0.102 2079.19 416.3 -126.52 - - 3262.59 - - - - - - - - - 16.11 -
5655.50 593.24 -10.00 692 5656.83 no move -1.30 - - 1873.75 - - - 2079.50 - -126.52 - - 3259.91 - - - - - - - - - - -
5955.53 621.79 -9.58 722 5960.16 roll -1.34 - - 1872.44 - 3.57 0.162 3472.75 390.3 -126.52 - - 3259.25 - - - - - - - - - 16.10 -
5985.54 624.57 -10.15 728 5990.14 roll -1.37 - - 1874.12 - 3.40 0.096 2052.38 -417.8 -126.52 - - 3260.62 - - - - - - - - - 16.12 -
6295.57 654.41 -10.02 760 6301.30 roll back -1.40 0.28 0.099 1824.44 -177.4 3.66 0.163 3471.75 387.8 -126.52 - - 3259.56 - - - - - - - - 16.10 16.10 -
6320.58 657.13 -10.80 765 6325.18 roll -1.40 - - 1827.12 - 3.38 0.098 2053.50 -419.6 -126.52 - - 3259.28 - - - - - - - - - 16.12 -
6630.62 696.51 -12.01 797 6636.35 roll back -1.35 0.24 0.194 1855.31 117.5 3.69 0.165 3471.62 384.3 -126.52 - - 3261.78 - - - - - - - - 16.08 16.11 -
6675.64 702.42 -12.96 806 6680.24 roll -1.35 - - 1855.06 - 3.39 0.099 2053.81 -418.2 -126.52 - - 3259.47 - - - - - - - - - 16.12 -
6985.68 733.76 -10.09 838 6991.36 roll -1.35 - - 1855.38 - 3.68 0.167 3472.88 385.6 -126.52 - - 3258.44 - - - - - - - - - 16.11 -
7004.67 735.76 -8.94 842 7011.38 roll -1.35 - - 1855.38 - 3.40 0.098 2053.00 -417.6 -126.52 - - 3260.97 - - - - - - - - - 16.12 -
7310.75 766.08 -10.04 873 7312.08 no move -1.35 - - 1855.31 - - - 2053.12 - -126.52 - - 3258.69 - - - - - - - - - - -
7610.81 795.88 -9.86 903 7616.49 roll -1.35 - - 1855.00 - 3.66 0.169 3472.12 387.7 -126.52 - - 3258.47 - - - - - - - - - 16.12 -
7635.83 798.68 -10.58 908 7640.45 roll -1.35 - - 1853.88 - 3.41 0.102 2053.12 -416.1 -126.52 - - 3259.50 - - - - - - - - - 16.13 -
7945.89 831.46 -10.47 940 7947.22 no move -1.35 - - 1855.44 - - - 2053.12 - -126.52 - - 3257.12 - - - - - - - - - - -
8245.95 861.57 -10.59 970 8251.65 roll -1.35 - - 1854.88 - 3.71 0.172 3471.38 382.3 -126.52 - - 3256.25 - - - - - - - - - 16.12 -
8270.96 863.78 -9.99 975 8275.59 roll -1.35 - - 1854.06 - 3.40 0.103 2053.25 -417.1 -126.52 - - 3258.62 - - - - - - - - - 16.13 -
8581.02 892.78 -9.13 1007 8582.35 no move -1.35 - - 1855.12 - - - 2053.06 - -126.52 - - 3256.38 - - - - - - - - - - -
8881.10 921.11 -9.89 1037 8886.78 roll -1.38 - - 1854.31 - 3.72 0.174 3471.06 381.2 -126.52 - - 3255.47 - - - - - - - - - 16.11 -
8926.12 925.66 -10.76 1046 8930.74 roll -1.41 - - 1855.38 - 3.41 0.106 2054.69 -415.4 -126.52 - - 3257.34 - - - - - - - - - 16.13 -
9236.17 953.68 -8.06 1078 9241.97 roll back -1.44 0.23 0.107 1814.62 -177.2 3.73 0.173 3470.25 379.5 -126.52 - - 3256.00 - - - - - - - - 16.11 16.11 -
9275.14 957.53 -9.63 1086 9281.93 roll back -1.39 0.23 0.204 1844.31 129.1 3.40 0.106 2053.25 -416.8 -126.52 - - 3256.16 - - - - - - - - 16.08 16.13 -
9581.18 985.89 -8.69 1117 9582.51 no move -1.39 - - 1843.81 - - - 2053.56 - -126.52 - - 3254.38 - - - - - - - - - - -
9631 end dive: TARGET_DEPTH_EXCEEDED
9631 begin apogee
9632.31 990.52 -9.27 1122 9743.33 -0.20 1.97 0.163 2133.25 146.9 0.05 0.412 2057.56 80.0 - 104.94 2.349 2748.66 -4.8 0.342 - - - - - - 16.10 15.35 13.20
9750 end apogee: CONTROL_FINISHED_OK
9750 begin climb
9750.52 991.22 - 1133 9869.94 0.82 1.63 0.086 2385.81 154.9 - - 2057.44 - 126.52 116.41 2.277 2232.56 -4.4 0.325 - - - - - - 15.42 - 12.74
10173.47 968.13 7.58 1185 10199.54 done 0.81 - - 2385.44 - 3.84 0.167 3472.62 368.5 150.06 21.06 2.061 2134.22 -4.7 0.370 - - - - - - - 15.42 12.79
10328.49 953.30 10.19 1216 10334.15 roll back 0.70 0.38 0.200 2344.50 -107.7 3.54 0.104 2053.12 -401.0 150.06 - - 2132.44 - - - - - - - - 15.54 15.58 -
10633.57 930.30 6.90 1247 10670.37 0.81 0.25 0.112 2380.50 144.0 - - 2054.06 - 188.23 35.31 2.164 1980.84 -4.3 0.311 - - - - - - 15.74 - 12.92
10968.55 899.44 9.78 1283 10974.31 done 0.81 - - 2380.62 - 3.79 0.165 3471.81 374.1 188.23 - - 1971.84 - - - - - - - - - 15.70 -
11017.43 895.04 9.93 1293 11024.39 done 0.76 - - 2380.38 - 3.50 0.104 2053.44 -405.2 188.23 - - 1973.25 - - - - - - - - - 15.74 -
11323.60 869.23 7.61 1324 11347.34 VBD 0.79 - - 2380.94 - - - 2053.88 - 211.11 21.14 2.053 1890.00 -3.9 0.281 - - - - - - - - 12.99
11653.65 836.79 9.45 1358 11659.41 roll 0.79 - - 2377.50 - 3.73 0.164 3471.88 380.2 211.11 - - 1882.38 - - - - - - - - - 15.79 -
11742.54 827.00 10.84 1376 11749.39 done 0.79 - - 2380.62 - 3.46 0.103 2053.75 -409.9 211.11 - - 1881.62 - - - - - - - - - 15.83 -
12048.75 795.60 11.58 1407 12050.08 VBD 0.79 - - 2380.62 - - - 2053.31 - 211.11 - - 1878.12 - - - - - - - - - - -
12348.81 764.80 9.88 1437 12354.59 done 0.79 - - 2380.00 - 3.72 0.162 3472.69 381.6 211.11 - - 1879.19 - - - - - - - - - 15.92 -
12413.84 757.25 12.57 1450 12418.67 done 0.79 - - 2380.81 - 3.42 0.099 2051.00 -415.7 211.11 - - 1879.66 - - - - - - - - - 15.95 -
12723.91 728.05 8.97 1482 12729.57 done 0.82 - - 2380.81 - 3.67 0.210 664.50 -377.8 211.11 - - 1877.09 - - - - - - - - - 15.90 -
12788.98 720.40 12.35 1495 12793.60 done 0.76 - - 2380.75 - 3.40 0.084 2083.81 417.4 211.11 - - 1877.94 - - - - - - - - - 15.98 -
13099.00 690.33 10.13 1527 13103.70 done 0.79 - - 2380.62 - 3.56 0.158 3471.81 389.9 211.11 - - 1878.16 - - - - - - - - - 15.98 -
13189.07 680.70 10.57 1545 13193.59 done 0.79 - - 2380.31 - 3.41 0.099 2051.62 -416.5 211.11 - - 1877.56 - - - - - - - - - 16.00 -
13499.10 649.69 9.98 1577 13500.44 VBD 0.83 - - 2380.31 - - - 2051.50 - 211.11 - - 1876.84 - - - - - - - - - - -
13799.14 623.30 8.79 1607 13803.87 done 0.86 - - 2380.62 - 3.65 0.155 3474.06 389.7 211.11 - - 1876.06 - - - - - - - - - 16.02 -
13883.09 615.25 9.46 1624 13889.97 done 0.86 - - 2380.06 - 3.39 0.097 2051.88 -419.5 211.11 - - 1877.34 - - - - - - - - - 16.04 -
14189.20 589.94 8.72 1655 14194.94 done 0.91 - - 2380.19 - 3.66 0.155 3472.94 388.3 211.11 - - 1875.31 - - - - - - - - - 16.04 -
14254.21 583.95 9.23 1668 14258.89 done 0.91 - - 2380.19 - 3.39 0.096 2051.31 -419.4 211.11 - - 1877.91 - - - - - - - - - 16.04 -
14564.27 557.50 8.46 1700 14565.71 pitch 0.96 0.19 0.116 2418.31 200.6 - - 2051.25 - 215.82 - - 1877.50 - - - - - - - - 16.05 - -
14864.27 528.52 8.72 1730 14865.60 no move 0.96 - - 2418.44 - - - 2051.56 - 215.82 - - 1876.94 - - - - - - - - - - -
15164.31 500.71 9.62 1760 15169.05 roll 0.96 - - 2418.06 - 3.63 0.153 3472.75 391.5 215.82 - - 1877.62 - - - - - - - - - 16.06 -
15254.52 491.68 9.95 1778 15259.96 roll back 0.88 0.28 0.211 2387.06 -110.7 3.37 0.093 2048.38 -422.7 215.82 - - 1875.06 - - - - - - - - 16.02 16.08 -
15559.39 467.84 8.36 1809 15570.60 VBD 0.94 - - 2387.69 - - - 2048.69 - 222.66 10.56 1.490 1840.09 -3.3 0.175 - - - - - - - - 13.06
15869.41 441.41 8.80 1840 15870.86 pitch 1.00 0.28 0.110 2426.75 139.5 - - 2048.12 - 222.66 - - 1839.19 - - - - - - - - 16.03 - -
16169.43 412.22 10.40 1870 16175.17 roll 1.00 - - 2429.69 - 3.67 0.150 3473.12 388.3 222.66 - - 1839.16 - - - - - - - - - 16.04 -
16234.51 405.24 11.41 1883 16240.07 roll back 0.92 0.28 0.204 2397.44 -115.2 3.38 0.089 2048.50 -421.5 222.66 - - 1839.09 - - - - - - - - 16.00 16.06 -
16539.51 379.53 8.79 1914 16540.84 no move 0.97 - - 2396.81 - - - 2048.56 - 222.66 - - 1838.72 - - - - - - - - - - -
16839.54 354.84 8.46 1944 16849.23 1.03 0.26 0.111 2435.94 150.5 - - 2048.31 - 227.43 6.30 1.110 1822.91 -2.5 0.135 - - - - - - 16.06 - 13.21
17149.55 325.15 9.38 1975 17155.29 roll 1.03 - - 2436.31 - 3.64 0.147 3473.19 391.5 227.43 - - 1819.62 - - - - - - - - - 16.03 -
17244.58 315.01 10.78 1994 17250.19 roll back 0.95 0.28 0.209 2403.50 -117.2 3.37 0.087 2047.12 -423.2 227.43 - - 1820.16 - - - - - - - - 16.01 16.05 -
17549.67 287.99 9.33 2025 17551.00 no move 1.00 - - 2403.69 - - - 2047.25 - 227.43 - - 1819.72 - - - - - - - - - - -
17849.69 261.92 8.82 2055 17851.14 pitch 1.05 0.25 0.111 2440.06 145.5 - - 2047.44 - 227.43 - - 1820.72 - - - - - - - - 16.07 - -
18149.74 232.33 8.98 2085 18154.60 roll 1.05 - - 2440.56 - 3.57 0.184 662.81 -387.9 227.43 - - 1819.06 - - - - - - - - - 16.05 -
18219.79 224.49 11.28 2099 18225.55 roll back 0.91 0.37 0.202 2395.38 -122.1 3.31 0.073 2088.00 430.6 227.43 - - 1818.91 - - - - - - - - 16.02 16.08 -
18524.87 202.27 6.92 2130 18559.31 1.03 0.28 0.108 2437.00 148.6 - - 2087.94 - 265.13 32.83 1.430 1668.91 -4.6 0.109 - - - - - - 16.07 - 13.18
18854.90 170.46 10.25 2163 18856.22 no move 1.03 - - 2437.19 - - - 2088.12 - 265.13 - - 1661.53 - - - - - - - - - - -
19154.95 142.52 8.76 2193 19156.28 VBD 1.03 - - 2437.19 - - - 2088.06 - 265.13 - - 1660.69 - - - - - - - - - - -
19455.04 116.42 8.57 2223 19459.71 roll 1.07 - - 2437.06 - 3.48 0.143 3472.19 397.7 267.61 - - 1660.06 - - - - - - - - - 15.99 -
19508.90 110.68 10.52 2234 19515.73 roll 1.07 - - 2435.75 - 3.37 0.081 2047.31 -422.8 267.61 - - 1660.00 - - - - - - - - - 16.02 -
19815.35 86.32 5.71 2284 19876.46 1.21 0.22 0.111 2480.25 202.3 3.62 0.179 663.31 -382.3 331.30 52.84 1.301 1398.97 -4.9 0.055 - - - - - - 16.01 15.75 13.12
19940.16 73.49 12.69 2309 19945.85 roll 1.14 - - 2480.06 - 3.37 0.069 2088.75 423.0 331.30 - - 1395.75 - - - - - - - - - 15.82 -
20125.23 58.43 7.30 2346 20156.42 done 1.24 - - 2480.12 - 3.52 0.141 3473.31 393.3 360.89 24.37 1.203 1278.16 -4.8 0.039 - - - - - - - 15.73 13.01
20180.23 53.84 8.57 2357 20185.90 roll 1.29 - - 2480.12 - 3.42 0.077 2049.00 -416.5 363.34 - - 1277.12 - - - - - - - - - 15.78 -
20365.26 36.95 9.24 2394 20371.05 roll back 1.38 0.21 0.109 2522.00 199.4 3.62 0.176 663.12 -382.8 363.34 - - 1275.44 - - - - - - - - 15.82 15.80 -
20460.29 28.57 8.36 2413 20476.35 1.29 0.29 0.186 2485.19 -126.9 3.34 0.068 2088.31 426.7 370.21 9.52 1.016 1241.03 -3.6 0.017 - - - - - - 15.79 15.85 13.00
20655.33 23.55 1.74 2452 20779.51 1.67 0.68 0.086 2592.56 157.9 3.57 0.138 3474.50 388.3 518.74 118.79 1.185 635.03 -5.1 0.017 - - - - - - 15.85 15.42 13.00
20832.42 13.91 8.02 2487 20852.65 done 1.73 - - 2592.19 - 3.46 0.076 2048.88 -412.0 532.92 13.23 1.000 578.22 -4.3 0.010 - - - - - - - 15.54 12.75
20957 end climb: SURFACE_DEPTH_REACHED
20957 begin surface coast
20977 end surface coast: CONTROL_FINISHED_OK
20977 begin surface
SM 1.27 - - - - 181.6 - - 574.6 - 15.43 0.071 601.5 39.0 - 0.06 0.177 547.6 9069.0 -6.651 - - 30.00 15.59 15.63 -