NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 247 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 77.50 of 575.00 AH used of 24V (86.52% remains)
• Surface angle -57.0 deg, depth 0.64 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.96 (SM_CC=425)
• GPS1 time: 19 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
6.71 - - - 84.73 VBD -1.25 - - 176.56 - - - 2122.62 - -77.86 77.44 0.005 2470.56 - - - - - - - - - - 15.60
85.00 3.27 -3.58 15 116.85 -1.25 13.81 0.259 1835.81 120.1 4.16 0.161 663.75 -350.7 -77.86 9.00 0.007 2816.62 38.5 -3.028 - - - - - - 15.62 15.60 15.64
294.64 48.34 -20.29 57 300.42 roll -1.25 - - 1835.00 - 3.52 0.054 2119.75 413.6 -77.86 - - 2818.62 - - - - - - - - - 15.79 -
479.71 81.34 -15.49 94 485.56 roll -1.25 - - 1835.56 - 4.07 0.152 661.75 -358.2 -77.86 - - 2817.97 - - - - - - - - - 15.81 -
593.67 100.73 -14.86 117 600.50 roll -1.25 - - 1836.12 - 3.47 0.050 2121.75 420.7 -77.86 - - 2817.09 - - - - - - - - - 15.87 -
899.82 131.03 -8.96 148 905.42 roll -1.25 - - 1835.56 - 3.54 0.115 3475.62 382.4 -77.86 - - 2815.66 - - - - - - - - - 15.90 -
1108.76 154.91 -11.73 190 1115.62 roll -1.25 - - 1836.00 - 3.35 0.058 2081.75 -416.1 -77.86 - - 2817.56 - - - - - - - - - 15.92 -
1414.96 188.03 -11.64 221 1420.79 roll -1.25 - - 1835.50 - 3.91 0.158 662.00 -363.1 -77.86 - - 2816.59 - - - - - - - - - 15.94 -
1483.98 197.19 -13.45 235 1490.73 roll -1.25 - - 1834.81 - 3.44 0.054 2120.44 424.0 -77.86 - - 2820.62 - - - - - - - - - 15.97 -
1790.05 231.05 -10.46 266 1795.67 roll -1.25 - - 1835.31 - 3.51 0.117 3473.56 385.5 -77.86 - - 2818.94 - - - - - - - - - 15.98 -
1845.09 237.24 -11.48 277 1849.64 roll -1.25 - - 1835.81 - 3.31 0.057 2080.62 -420.8 -77.86 - - 2818.38 - - - - - - - - - 16.00 -
2155.12 268.14 -9.82 309 2160.75 roll -1.25 - - 1835.75 - 3.67 0.116 3472.94 379.4 -77.86 - - 2820.75 - - - - - - - - - 16.02 -
2214.00 274.79 -11.22 321 2220.87 roll -1.25 - - 1836.19 - 3.33 0.059 2083.12 -417.4 -77.86 - - 2818.78 - - - - - - - - - 16.01 -
2520.19 306.12 -10.16 352 2526.00 roll -1.25 - - 1835.12 - 3.93 0.160 663.19 -361.3 -77.86 - - 2818.50 - - - - - - - - - 16.00 -
2565.22 311.59 -12.54 361 2569.94 roll -1.25 - - 1836.12 - 3.44 0.053 2120.56 423.7 -77.86 - - 2817.91 - - - - - - - - - 16.03 -
2875.24 344.43 -10.41 393 2880.85 roll -1.25 - - 1835.62 - 3.53 0.118 3472.94 383.1 -77.86 - - 2817.12 - - - - - - - - - 16.02 -
2900.27 346.96 -10.07 398 2904.82 roll -1.25 - - 1836.25 - 3.31 0.058 2081.38 -420.4 -77.86 - - 2818.97 - - - - - - - - - 16.04 -
3210.29 377.91 -9.56 430 3211.62 no move -1.25 - - 1835.38 - - - 2081.00 - -77.86 - - 2816.88 - - - - - - - - - - -
3510.33 407.25 -9.00 460 3515.96 roll -1.25 - - 1836.31 - 3.69 0.122 3473.12 377.3 -77.86 - - 2815.62 - - - - - - - - - 16.06 -
3609.27 419.07 -11.30 480 3616.08 roll -1.25 - - 1836.50 - 3.36 0.063 2082.94 -413.7 -77.86 - - 2817.97 - - - - - - - - - 16.05 -
3915.40 449.76 -10.24 511 3921.22 roll -1.25 - - 1836.50 - 3.97 0.167 662.62 -357.8 -77.86 - - 2814.41 - - - - - - - - - 16.03 -
3984.40 458.60 -12.05 525 3991.15 roll -1.25 - - 1836.25 - 3.45 0.056 2118.94 422.1 -77.86 - - 2816.34 - - - - - - - - - 16.07 -
4290.45 490.16 -10.51 556 4296.29 roll -1.25 - - 1836.88 - 4.01 0.165 663.88 -362.9 -77.86 - - 2814.09 - - - - - - - - - 16.03 -
4345.49 496.91 -13.46 567 4350.18 roll -1.25 - - 1835.94 - 3.43 0.056 2121.44 424.9 -77.86 - - 2818.22 - - - - - - - - - 16.06 -
4655.51 529.99 -10.27 599 4661.13 roll -1.25 - - 1836.50 - 3.53 0.125 3473.75 383.1 -77.86 - - 2814.97 - - - - - - - - - 16.05 -
4710.53 536.56 -12.26 610 4715.10 roll -1.25 - - 1836.69 - 3.36 0.063 2084.00 -413.6 -77.86 - - 2816.56 - - - - - - - - - 16.07 -
5020.57 569.10 -10.17 642 5021.90 no move -1.25 - - 1836.25 - - - 2083.94 - -77.86 - - 2814.81 - - - - - - - - - - -
5320.60 601.51 -10.61 672 5321.93 no move -1.25 - - 1837.00 - - - 2083.62 - -77.86 - - 2814.19 - - - - - - - - - - -
5620.65 631.93 -10.02 702 5621.98 no move -1.25 - - 1836.50 - - - 2083.94 - -77.86 - - 2813.25 - - - - - - - - - - -
5920.70 660.38 -9.24 732 5926.48 roll -1.25 - - 1836.69 - 3.70 0.130 3474.44 375.8 -77.86 - - 2812.19 - - - - - - - - - 16.08 -
5995.75 667.86 -9.94 747 6000.31 roll -1.25 - - 1836.81 - 3.39 0.069 2084.88 -409.9 -77.86 - - 2814.59 - - - - - - - - - 16.08 -
6305.80 694.01 -8.30 779 6307.12 no move -1.25 - - 1836.19 - - - 2084.44 - -77.86 - - 2812.06 - - - - - - - - - - -
6605.84 718.98 -8.27 809 6611.48 roll -1.25 - - 1836.75 - 3.72 0.129 3472.12 373.0 -77.86 - - 2812.34 - - - - - - - - - 16.08 -
6680.89 726.20 -8.24 824 6685.44 roll -1.25 - - 1836.50 - 3.38 0.069 2085.38 -410.3 -77.86 - - 2814.28 - - - - - - - - - 16.10 -
6990.93 751.94 -8.46 856 6996.77 roll -1.25 - - 1836.56 - 4.03 0.178 665.06 -352.4 -77.86 - - 2813.19 - - - - - - - - - 16.05 -
7035.97 756.19 -9.15 865 7040.67 roll -1.25 - - 1836.38 - 3.48 0.062 2116.62 417.1 -77.86 - - 2812.66 - - - - - - - - - 16.08 -
7346.02 782.07 -7.74 897 7351.85 roll -1.25 - - 1836.75 - 4.07 0.175 663.12 -357.1 -77.86 - - 2812.16 - - - - - - - - - 16.04 -
7391.04 786.59 -9.72 906 7395.75 roll -1.25 - - 1836.25 - 3.45 0.063 2117.81 421.6 -77.86 - - 2813.41 - - - - - - - - - 16.08 -
7701.09 812.34 -8.30 938 7702.42 no move -1.25 - - 1836.75 - - - 2117.88 - -77.86 - - 2812.03 - - - - - - - - - - -
8001.14 837.63 -8.03 968 8006.75 roll -1.25 - - 1836.38 - 3.57 0.132 3473.31 379.7 -77.86 - - 2810.44 - - - - - - - - - 16.07 -
8080.03 845.11 -9.10 984 8086.89 roll -1.25 - - 1836.81 - 3.39 0.070 2085.50 -409.4 -77.86 - - 2811.53 - - - - - - - - - 16.07 -
8386.21 871.29 -8.26 1015 8387.54 no move -1.25 - - 1837.12 - - - 2085.69 - -77.86 - - 2809.88 - - - - - - - - - - -
8686.28 896.07 -8.11 1045 8692.03 roll -1.25 - - 1835.94 - 3.73 0.132 3471.88 371.6 -77.86 - - 2811.25 - - - - - - - - - 16.08 -
8751.29 901.31 -9.66 1058 8755.86 roll -1.25 - - 1837.00 - 3.42 0.071 2084.50 -405.7 -77.86 - - 2808.97 - - - - - - - - - 16.07 -
9061.32 925.86 -7.10 1090 9067.15 roll -1.25 - - 1836.94 - 4.02 0.183 664.69 -353.2 -77.86 - - 2809.62 - - - - - - - - - 16.04 -
9116.34 930.35 -8.51 1101 9121.06 roll -1.25 - - 1836.06 - 3.51 0.067 2116.38 413.6 -77.86 - - 2812.34 - - - - - - - - - 16.08 -
9426.36 955.08 -7.76 1133 9427.69 no move -1.25 - - 1836.88 - - - 2116.25 - -77.86 - - 2808.25 - - - - - - - - - - -
9726.40 977.55 -6.56 1163 9732.26 roll -1.25 - - 1836.75 - 4.11 0.180 664.19 -353.3 -77.86 - - 2809.31 - - - - - - - - - 16.04 -
9825.33 986.14 -8.95 1183 9832.19 roll -1.25 - - 1837.06 - 3.52 0.071 2116.00 412.4 -77.86 - - 2809.53 - - - - - - - - - 16.07 -
9881 end dive: TARGET_DEPTH_EXCEEDED
9881 begin apogee
9882.69 990.79 -7.94 1189 9953.40 -0.25 1.73 0.154 2080.31 140.6 0.08 0.306 2184.94 861.8 - 65.09 2.290 2498.28 -4.8 0.349 - - - - - - 16.02 15.58 12.94
9954 end apogee: CONTROL_FINISHED_OK
9954 begin climb
9954.96 992.11 - 1196 10033.47 1.25 2.52 0.097 2447.62 145.8 - - 2185.06 - 77.86 72.26 2.229 2180.97 -4.4 0.330 - - - - - - 15.62 - 12.91
10331.54 958.49 9.85 1235 10337.07 done 1.25 - - 2447.94 - 3.57 0.133 3472.38 360.6 77.86 - - 2169.09 - - - - - - - - - 15.67 -
10346.49 957.43 8.44 1238 10351.02 done 1.25 - - 2447.81 - 3.22 0.061 2183.12 -400.4 77.86 - - 2170.34 - - - - - - - - - 15.67 -
10656.51 926.30 9.48 1270 10657.84 VBD 1.25 - - 2448.12 - - - 2183.56 - 77.86 - - 2165.75 - - - - - - - - - - -
10956.53 897.58 9.45 1300 10962.14 done 1.25 - - 2447.81 - 3.53 0.131 3472.44 365.1 77.86 - - 2166.38 - - - - - - - - - 15.86 -
10971.54 896.61 8.73 1303 10976.07 done 1.25 - - 2448.38 - 3.16 0.061 2183.00 -408.1 77.86 - - 2166.41 - - - - - - - - - 15.86 -
11281.57 868.72 9.36 1335 11287.31 done 1.25 - - 2447.94 - 3.54 0.131 3472.12 364.2 77.86 - - 2163.62 - - - - - - - - - 15.90 -
11326.59 865.54 8.32 1344 11331.12 done 1.25 - - 2448.62 - 3.17 0.061 2182.44 -406.8 77.86 - - 2165.03 - - - - - - - - - 15.91 -
11636.61 839.45 8.68 1376 11642.22 done 1.25 - - 2447.56 - 3.55 0.132 3471.94 363.2 77.86 - - 2164.19 - - - - - - - - - 15.94 -
11671.63 836.71 7.81 1383 11676.15 done 1.25 - - 2448.56 - 3.16 0.061 2181.56 -408.3 77.86 - - 2163.75 - - - - - - - - - 15.94 -
11981.67 811.69 9.00 1415 11986.41 done 1.25 - - 2448.12 - 3.53 0.131 3472.50 365.7 77.86 - - 2163.41 - - - - - - - - - 15.96 -
12135.57 796.87 10.06 1446 12142.41 done 1.25 - - 2447.69 - 3.16 0.062 2182.94 -408.1 77.86 - - 2164.16 - - - - - - - - - 15.97 -
12441.78 769.09 9.26 1477 12447.40 done 1.25 - - 2448.25 - 3.53 0.130 3471.88 365.1 77.86 - - 2165.16 - - - - - - - - - 15.99 -
12450.64 767.80 8.65 1479 12457.50 done 1.25 - - 2448.88 - 3.15 0.059 2181.50 -409.6 77.86 - - 2163.38 - - - - - - - - - 15.99 -
12756.85 741.02 8.68 1510 12758.18 VBD 1.25 - - 2448.81 - - - 2182.00 - 77.86 - - 2160.53 - - - - - - - - - - -
13056.91 714.03 8.72 1540 13058.24 VBD 1.25 - - 2448.31 - - - 2181.62 - 77.86 - - 2160.78 - - - - - - - - - - -
13356.98 690.42 7.38 1570 13362.78 done 1.27 - - 2448.06 - 3.97 0.151 737.19 -363.8 77.86 - - 2159.81 - - - - - - - - - 16.00 -
13402.00 686.54 8.61 1579 13407.59 done 1.27 - - 2448.81 - 3.53 0.057 2218.81 419.7 77.86 - - 2163.03 - - - - - - - - - 16.03 -
13707.07 661.53 8.11 1610 13711.63 done 1.27 - - 2448.75 - 3.41 0.133 3472.38 367.6 77.86 - - 2158.19 - - - - - - - - - 16.02 -
13757.08 657.19 8.63 1620 13761.61 done 1.27 - - 2448.94 - 3.15 0.061 2180.88 -410.0 77.86 - - 2160.09 - - - - - - - - - 16.03 -
14067.13 633.82 7.83 1652 14072.94 done 1.27 - - 2448.62 - 3.98 0.148 736.06 -363.0 77.86 - - 2159.25 - - - - - - - - - 16.02 -
14096.08 631.63 7.55 1658 14102.92 done 1.29 - - 2448.38 - 3.55 0.054 2219.94 418.0 77.86 - - 2160.62 - - - - - - - - - 16.03 -
14402.20 609.51 7.23 1689 14403.53 VBD 1.31 - - 2449.19 - - - 2220.94 - 77.86 - - 2158.81 - - - - - - - - - - -
14702.23 588.95 6.58 1719 14708.05 done 1.36 - - 2448.44 - 4.07 0.145 737.25 -364.5 77.86 - - 2158.66 - - - - - - - - - 16.02 -
14747.24 584.81 8.47 1728 14752.83 done 1.36 - - 2447.94 - 3.52 0.056 2220.88 421.5 77.86 - - 2158.78 - - - - - - - - - 16.05 -
15052.30 564.19 6.31 1759 15058.29 1.41 0.20 0.100 2491.50 217.8 4.05 0.145 736.56 -366.5 77.86 - - 2159.84 - - - - - - - - 16.03 16.03 -
15081.40 561.46 6.52 1765 15088.03 done 1.45 - - 2491.69 - 3.52 0.055 2221.94 422.0 77.86 - - 2159.59 - - - - - - - - - 16.05 -
15387.32 541.02 6.73 1796 15393.05 done 1.49 - - 2491.75 - 4.05 0.143 736.19 -366.9 77.86 - - 2161.81 - - - - - - - - - 16.03 -
15402.33 539.98 7.15 1799 15407.91 done 1.52 - - 2491.69 - 3.51 0.053 2222.50 423.5 77.86 - - 2157.88 - - - - - - - - - 16.05 -
15707.36 518.47 7.19 1830 15713.17 done 1.55 - - 2490.50 - 4.05 0.143 736.25 -367.0 77.86 - - 2160.84 - - - - - - - - - 16.04 -
15822.37 508.35 9.20 1853 15827.97 done 1.55 - - 2491.31 - 3.52 0.056 2220.44 421.6 77.86 - - 2159.31 - - - - - - - - - 16.05 -
16127.42 485.15 7.19 1884 16133.02 1.57 0.17 0.102 2529.56 225.0 3.33 0.126 3473.44 376.3 77.86 - - 2159.41 - - - - - - - - 16.04 16.02 -
16172.42 481.14 8.82 1893 16176.94 done 1.57 - - 2529.56 - 3.13 0.057 2178.62 -413.7 77.86 - - 2158.94 - - - - - - - - - 16.05 -
16482.46 457.89 7.32 1925 16488.10 done 1.59 - - 2530.31 - 3.89 0.142 736.25 -370.8 77.86 - - 2158.12 - - - - - - - - - 16.03 -
16711.41 438.10 9.19 1971 16718.24 done 1.59 - - 2529.94 - 3.55 0.055 2221.81 418.5 77.86 - - 2158.81 - - - - - - - - - 16.06 -
17017.54 419.61 6.32 2002 17023.30 done 1.65 - - 2530.00 - 4.05 0.139 735.69 -366.9 77.86 - - 2157.28 - - - - - - - - - 16.03 -
17142.56 410.75 6.94 2027 17148.15 done 1.68 - - 2529.31 - 3.53 0.055 2223.44 421.5 77.86 - - 2156.16 - - - - - - - - - 16.05 -
17447.60 394.92 4.91 2058 17490.34 1.81 0.31 0.086 2589.00 192.5 4.08 0.139 735.94 -364.6 122.66 36.74 1.575 1997.12 -4.3 0.183 - - - - - - 16.03 15.82 12.80
17533.12 387.39 11.10 2075 17537.84 roll 1.81 - - 2588.38 - 3.58 0.053 2217.19 413.8 122.66 - - 1994.56 - - - - - - - - - 15.88 -
17843.17 353.29 11.34 2107 17844.50 no move 1.81 - - 2588.81 - - - 2221.12 - 122.66 - - 1991.31 - - - - - - - - - - -
18143.19 318.95 11.64 2137 18147.75 done 1.81 - - 2588.38 - 3.35 0.124 3473.00 373.7 122.66 - - 1993.50 - - - - - - - - - 15.94 -
18227.07 308.29 12.78 2154 18233.90 done 1.81 - - 2588.50 - 3.12 0.056 2178.56 -414.9 122.66 - - 1990.88 - - - - - - - - - 15.96 -
18533.26 274.42 10.79 2185 18539.12 done 1.81 - - 2588.94 - 3.91 0.140 736.25 -368.9 122.66 - - 1992.31 - - - - - - - - - 15.96 -
18568.27 270.41 11.46 2192 18573.13 done 1.81 - - 2588.94 - 3.53 0.052 2223.25 421.2 122.66 - - 1990.62 - - - - - - - - - 15.98 -
18878.30 237.63 10.65 2224 18882.86 done 1.81 - - 2588.38 - 3.33 0.120 3472.75 375.2 122.66 - - 1989.88 - - - - - - - - - 15.98 -
18968.54 226.89 12.48 2242 18972.84 done 1.81 - - 2588.81 - 3.11 0.055 2179.19 -415.9 122.66 - - 1989.69 - - - - - - - - - 15.99 -
19278.35 194.20 10.86 2274 19284.07 done 1.81 - - 2587.69 - 3.90 0.137 736.44 -369.9 122.66 - - 1989.16 - - - - - - - - - 15.98 -
19307.27 190.92 11.47 2280 19314.12 done 1.81 - - 2588.88 - 3.51 0.051 2224.38 423.9 122.66 - - 1989.16 - - - - - - - - - 16.00 -
19613.38 160.82 10.38 2311 19618.01 done 1.81 - - 2587.69 - 3.31 0.120 3472.50 377.1 122.66 - - 1990.00 - - - - - - - - - 15.98 -
19733.40 148.25 9.79 2335 19738.05 done 1.81 - - 2589.06 - 3.10 0.054 2177.06 -417.9 122.66 - - 1989.47 - - - - - - - - - 15.98 -
20043.45 125.58 5.95 2367 20074.80 done 1.90 - - 2587.62 - 3.91 0.137 736.44 -368.4 152.61 25.39 1.240 1877.47 -4.4 0.075 - - - - - - - 15.84 12.94
20167.37 114.77 10.38 2392 20174.22 roll 1.90 - - 2587.81 - 3.55 0.052 2223.81 419.0 152.61 - - 1874.31 - - - - - - - - - 15.90 -
20473.53 94.83 6.70 2430 20474.86 no move 1.94 - - 2588.31 - - - 2224.50 - 152.61 - - 1871.41 - - - - - - - - - - -
20653.56 87.82 2.97 2466 20720.07 2.16 0.47 0.077 2673.50 181.3 3.38 0.120 3472.75 369.3 225.15 58.59 1.209 1580.19 -5.0 0.061 - - - - - - 15.92 15.69 12.83
20943.65 58.65 10.61 2524 20949.30 roll 2.16 - - 2672.44 - 3.15 0.054 2178.69 -410.8 225.15 - - 1575.94 - - - - - - - - - 15.79 -
21128.64 46.60 4.46 2561 21176.03 2.32 0.17 0.103 2708.69 213.2 3.51 0.114 3471.75 368.4 276.42 41.65 1.125 1372.16 -4.9 0.034 - - - - - - 15.83 15.66 12.83
21398.89 26.08 11.49 2615 21404.58 roll 2.32 - - 2708.25 - 3.14 0.053 2180.31 -411.3 276.42 - - 1367.12 - - - - - - - - - 15.79 -
21584.23 2.69 14.32 2652 21589.71 roll 2.32 - - 2707.50 - 3.51 0.115 3472.19 368.1 276.42 - - 1366.75 - - - - - - - - - 15.81 -
21593 end climb: SURFACE_DEPTH_REACHED
21593 begin surface coast
21603 end surface coast: CONTROL_FINISHED_OK
21603 begin surface
SM 0.79 - - - - 175.1 2.11 0.302 767.6 363.8 16.17 0.065 772.1 47.7 - 3.35 0.052 763.1 226.7 -0.352 - - 12.64 15.80 15.84 -