NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 61 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 22.65 of 350.00 AH used of 24V (93.53% remains)
• Surface angle -66.7 deg, depth 1.36 m • Intended pitch -20.5 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 34 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.34 - - - 74.42 VBD -1.26 - - 181.50 - - - 2083.31 - -77.86 67.56 0.005 2353.31 - - - - - - - - - - 15.67
74.66 3.71 -5.12 13 106.60 -1.26 13.81 0.279 1834.19 119.7 3.48 0.133 3474.38 399.7 -77.86 10.49 0.007 2818.19 44.3 -3.885 - - - - - - 15.62 15.65 15.69
289.32 48.91 -14.41 56 295.06 roll -1.26 - - 1834.12 - 3.40 0.068 2085.25 -408.6 -77.86 - - 2817.06 - - - - - - - - - 15.78 -
474.37 73.41 -12.15 93 480.07 roll -1.26 - - 1834.12 - 3.44 0.125 3476.25 404.4 -77.86 - - 2817.34 - - - - - - - - - 15.78 -
499.38 76.56 -12.75 98 505.06 roll -1.26 - - 1834.56 - 3.38 0.064 2083.88 -411.9 -77.86 - - 2817.94 - - - - - - - - - 15.83 -
684.42 99.81 -13.18 135 685.75 no move -1.26 - - 1834.38 - - - 2083.50 - -77.86 - - 2818.78 - - - - - - - - - - -
869.45 123.18 -12.12 154 875.22 roll -1.26 - - 1834.50 - 3.87 0.179 662.44 -367.2 -77.86 - - 2818.00 - - - - - - - - - 15.88 -
1098.43 151.53 -12.88 200 1105.19 roll -1.26 - - 1834.25 - 3.41 0.073 2121.00 427.7 -77.86 - - 2819.91 - - - - - - - - - 15.94 -
1404.52 183.60 -10.32 231 1409.07 roll -1.26 - - 1834.25 - 3.32 0.131 3477.00 408.4 -77.86 - - 2822.22 - - - - - - - - - 15.96 -
1434.53 186.93 -10.90 237 1439.08 roll -1.26 - - 1834.50 - 3.36 0.067 2084.44 -414.5 -77.86 - - 2819.47 - - - - - - - - - 15.97 -
1744.56 219.04 -10.66 269 1750.37 roll -1.26 - - 1834.75 - 3.91 0.185 661.38 -364.0 -77.86 - - 2820.06 - - - - - - - - - 15.95 -
1803.52 226.83 -13.44 281 1810.27 roll -1.26 - - 1834.31 - 3.43 0.076 2118.88 424.9 -77.86 - - 2821.81 - - - - - - - - - 15.98 -
2109.60 261.25 -11.38 312 2114.15 roll -1.26 - - 1834.12 - 3.33 0.133 3476.75 407.8 -77.86 - - 2818.88 - - - - - - - - - 16.01 -
2169.62 268.35 -12.43 324 2174.17 roll -1.26 - - 1834.38 - 3.34 0.071 2084.69 -416.8 -77.86 - - 2821.41 - - - - - - - - - 16.03 -
2479.66 303.38 -11.26 356 2485.44 roll -1.26 - - 1834.44 - 3.92 0.192 662.38 -362.8 -77.86 - - 2819.12 - - - - - - - - - 16.00 -
2568.53 314.91 -12.93 374 2575.38 roll -1.26 - - 1833.88 - 3.42 0.081 2118.81 425.9 -77.86 - - 2818.12 - - - - - - - - - 16.05 -
2874.73 347.16 -10.02 405 2880.54 roll -1.26 - - 1834.88 - 4.03 0.189 662.50 -361.4 -77.86 - - 2818.44 - - - - - - - - - 16.02 -
2919.89 352.70 -12.22 414 2925.32 roll -1.26 - - 1834.31 - 3.44 0.079 2118.81 423.3 -77.86 - - 2816.03 - - - - - - - - - 16.06 -
3224.80 385.46 -10.67 445 3230.61 roll -1.26 - - 1832.62 - 4.06 0.194 662.31 -358.7 -77.86 - - 2817.28 - - - - - - - - - 16.02 -
3269.83 390.83 -13.01 454 3274.39 roll -1.26 - - 1834.38 - 3.44 0.084 2118.75 423.4 -77.86 - - 2817.41 - - - - - - - - - 16.07 -
3579.88 423.03 -9.95 486 3581.21 no move -1.26 - - 1834.12 - - - 2118.12 - -77.86 - - 2816.66 - - - - - - - - - - -
3879.94 454.69 -10.80 516 3885.76 roll -1.26 - - 1834.19 - 4.01 0.199 662.38 -363.0 -77.86 - - 2818.66 - - - - - - - - - 16.04 -
3955.03 464.37 -13.21 531 3959.62 roll -1.26 - - 1834.25 - 3.44 0.089 2118.12 423.2 -77.86 - - 2816.84 - - - - - - - - - 16.08 -
4265.04 497.29 -10.58 563 4270.87 roll -1.26 - - 1834.12 - 4.03 0.198 663.06 -361.1 -77.86 - - 2815.53 - - - - - - - - - 16.04 -
4300.07 501.38 -11.69 570 4304.76 roll -1.26 - - 1834.75 - 3.43 0.088 2117.06 423.9 -77.86 - - 2816.91 - - - - - - - - - 16.08 -
4610.12 533.44 -10.49 602 4611.45 no move -1.26 - - 1834.31 - - - 2116.81 - -77.86 - - 2813.97 - - - - - - - - - - -
4910.18 563.10 -9.31 632 4911.51 no move -1.26 - - 1834.50 - - - 2116.44 - -77.86 - - 2813.69 - - - - - - - - - - -
5210.23 592.83 -9.48 662 5216.06 roll -1.26 - - 1834.62 - 4.11 0.205 662.75 -353.7 -77.86 - - 2815.09 - - - - - - - - - 16.06 -
5255.25 597.86 -11.40 671 5259.95 roll -1.26 - - 1834.69 - 3.48 0.095 2114.38 417.1 -77.86 - - 2813.59 - - - - - - - - - 16.11 -
5565.27 628.35 -10.04 703 5566.60 no move -1.26 - - 1834.31 - - - 2114.38 - -77.86 - - 2810.53 - - - - - - - - - - -
5865.31 656.67 -8.73 733 5869.86 roll -1.26 - - 1833.94 - 3.40 0.150 3473.88 399.9 -77.86 - - 2811.78 - - - - - - - - - 16.09 -
5909.33 660.98 -9.91 742 5916.02 roll -1.26 - - 1834.12 - 3.44 0.085 2088.31 -402.8 -77.86 - - 2811.12 - - - - - - - - - 16.12 -
6215.35 688.24 -8.60 773 6221.18 roll -1.26 - - 1832.75 - 4.03 0.210 662.50 -353.8 -77.86 - - 2810.69 - - - - - - - - - 16.07 -
6270.37 694.16 -10.89 784 6275.07 roll -1.26 - - 1834.44 - 3.49 0.097 2115.12 416.2 -77.86 - - 2809.88 - - - - - - - - - 16.12 -
6580.40 720.56 -8.18 816 6586.25 roll -1.26 - - 1833.94 - 4.12 0.207 662.56 -352.6 -77.86 - - 2812.59 - - - - - - - - - 16.07 -
6629.35 726.01 -11.15 826 6636.11 roll -1.26 - - 1833.69 - 3.49 0.098 2113.31 415.7 -77.86 - - 2812.00 - - - - - - - - - 16.12 -
6935.44 752.17 -8.31 857 6936.77 no move -1.26 - - 1834.31 - - - 2113.75 - -77.86 - - 2807.59 - - - - - - - - - - -
7235.48 779.25 -9.71 887 7241.31 roll -1.26 - - 1834.50 - 4.11 0.209 663.25 -352.9 -77.86 - - 2807.84 - - - - - - - - - 16.08 -
7294.47 785.39 -9.72 899 7301.19 roll -1.26 - - 1833.00 - 3.48 0.102 2113.06 416.6 -77.86 - - 2809.66 - - - - - - - - - 16.12 -
7600.53 814.14 -9.93 930 7606.50 roll -1.26 - - 1833.94 - 4.11 0.209 662.56 -352.9 -77.86 - - 2806.78 - - - - - - - - - 16.08 -
7695.54 824.58 -10.69 949 7701.12 roll -1.26 - - 1834.31 - 3.50 0.103 2112.94 414.4 -77.86 - - 2805.88 - - - - - - - - - 16.12 -
8000.57 852.59 -8.33 980 8005.14 roll -1.26 - - 1833.62 - 3.41 0.153 3476.12 399.8 -77.86 - - 2808.06 - - - - - - - - - 16.10 -
8044.59 857.79 -11.33 989 8051.30 roll -1.26 - - 1834.62 - 3.41 0.087 2088.44 -406.9 -77.86 - - 2807.62 - - - - - - - - - 16.12 -
8350.61 886.27 -8.82 1020 8356.43 roll -1.26 - - 1833.62 - 4.06 0.214 663.62 -350.9 -77.86 - - 2807.47 - - - - - - - - - 16.08 -
8385.63 889.98 -11.43 1027 8391.20 roll -1.26 - - 1834.75 - 3.49 0.102 2113.38 415.4 -77.86 - - 2804.84 - - - - - - - - - 16.12 -
8690.65 917.55 -8.71 1058 8695.37 roll -1.26 - - 1834.19 - 3.41 0.153 3476.75 399.8 -77.86 - - 2806.81 - - - - - - - - - 16.10 -
8750.67 922.66 -9.12 1070 8755.36 roll -1.26 - - 1834.25 - 3.46 0.090 2088.06 -401.4 -77.86 - - 2808.75 - - - - - - - - - 16.12 -
9060.72 948.55 -6.87 1102 9066.40 roll -1.26 - - 1834.31 - 4.10 0.220 663.75 -347.4 -77.86 - - 2806.03 - - - - - - - - - 16.07 -
9109.75 953.44 -9.42 1112 9116.45 roll -1.26 - - 1834.06 - 3.51 0.106 2114.31 413.3 -77.86 - - 2808.84 - - - - - - - - - 16.12 -
9415.80 978.13 -6.47 1143 9417.13 no move -1.26 - - 1834.19 - - - 2114.62 - -77.86 - - 2806.62 - - - - - - - - - - -
9566 end dive: TARGET_DEPTH_EXCEEDED
9566 begin apogee
9567.02 990.57 -7.64 1158 9634.08 -0.25 1.75 0.167 2079.69 140.3 0.06 0.347 2189.19 1242.8 - 63.96 2.291 2499.22 -4.8 0.344 - - - - - - 16.08 15.62 13.27
9635 end apogee: CONTROL_FINISHED_OK
9635 begin climb
9635.18 990.64 - 1164 9711.31 1.26 2.54 0.108 2449.44 145.6 - - 2189.38 - 77.86 72.57 2.226 2179.31 -4.4 0.325 - - - - - - 15.64 - 12.98
10008.31 960.56 8.83 1202 10013.94 done 1.26 - - 2449.75 - 4.17 0.179 737.88 -348.1 77.86 - - 2171.31 - - - - - - - - - 15.63 -
10033.12 957.94 9.03 1207 10037.99 done 1.26 - - 2449.69 - 3.60 0.075 2216.25 410.7 77.86 - - 2167.09 - - - - - - - - - 15.66 -
10343.19 928.07 9.17 1239 10347.72 done 1.26 - - 2448.88 - 3.24 0.149 3474.31 388.3 77.86 - - 2165.22 - - - - - - - - - 15.78 -
10393.21 923.08 9.15 1249 10397.74 done 1.26 - - 2449.38 - 3.16 0.075 2184.31 -408.2 77.86 - - 2167.50 - - - - - - - - - 15.80 -
10703.24 894.68 7.97 1281 10704.57 VBD 1.26 - - 2448.94 - - - 2185.25 - 77.86 - - 2162.22 - - - - - - - - - - -
11003.27 866.41 9.43 1311 11004.61 VBD 1.26 - - 2449.12 - - - 2184.81 - 77.86 - - 2161.59 - - - - - - - - - - -
11303.31 837.61 9.89 1341 11307.86 done 1.26 - - 2449.50 - 3.31 0.148 3473.94 389.5 77.86 - - 2163.66 - - - - - - - - - 15.95 -
11353.33 832.73 11.16 1351 11357.85 done 1.26 - - 2448.75 - 3.15 0.073 2182.69 -409.9 77.86 - - 2162.22 - - - - - - - - - 15.96 -
11663.36 805.95 8.20 1383 11664.70 VBD 1.26 - - 2449.00 - - - 2183.56 - 77.86 - - 2159.97 - - - - - - - - - - -
11963.39 781.83 8.29 1413 11969.19 done 1.26 - - 2446.75 - 3.98 0.174 736.94 -363.5 77.86 - - 2160.44 - - - - - - - - - 15.99 -
12012.35 777.59 9.13 1423 12019.12 done 1.26 - - 2449.31 - 3.53 0.072 2220.06 420.1 77.86 - - 2160.09 - - - - - - - - - 16.01 -
12318.44 754.50 8.13 1454 12319.77 VBD 1.26 - - 2449.00 - - - 2219.69 - 77.86 - - 2157.78 - - - - - - - - - - -
12618.47 732.74 7.66 1484 12623.01 done 1.26 - - 2449.25 - 3.14 0.147 3474.69 399.7 77.86 - - 2159.91 - - - - - - - - - 16.03 -
12702.36 726.01 8.05 1501 12709.29 done 1.26 - - 2448.94 - 3.15 0.072 2180.75 -410.8 77.86 - - 2159.31 - - - - - - - - - 16.04 -
13008.54 705.10 6.85 1532 13009.87 VBD 1.30 - - 2449.25 - - - 2181.69 - 77.86 - - 2159.59 - - - - - - - - - - -
13308.57 684.53 6.19 1562 13314.29 done 1.35 - - 2449.12 - 3.97 0.169 736.50 -364.0 77.86 - - 2160.59 - - - - - - - - - 16.04 -
13423.58 675.31 8.26 1585 13428.15 done 1.35 - - 2448.69 - 3.47 0.071 2218.56 427.1 77.86 - - 2158.81 - - - - - - - - - 16.07 -
13733.64 654.41 7.15 1617 13738.18 1.38 0.15 0.124 2483.00 228.7 3.15 0.144 3474.12 398.6 77.86 - - 2159.47 - - - - - - - - 16.06 16.06 -
13743.63 653.90 6.54 1619 13748.13 done 1.42 - - 2482.50 - 3.16 0.067 2179.75 -409.6 77.86 - - 2159.69 - - - - - - - - - 16.08 -
14053.65 630.61 7.69 1651 14058.18 done 1.42 - - 2482.88 - 3.25 0.141 3474.25 398.3 77.86 - - 2158.81 - - - - - - - - - 16.07 -
14133.67 624.13 7.73 1667 14138.19 done 1.42 - - 2482.44 - 3.08 0.070 2179.81 -420.3 77.86 - - 2158.22 - - - - - - - - - 16.08 -
14443.73 600.45 7.27 1699 14448.25 done 1.45 - - 2482.88 - 3.25 0.140 3473.25 398.0 77.86 - - 2159.16 - - - - - - - - - 16.07 -
14543.80 591.38 9.52 1719 14548.25 done 1.45 - - 2483.25 - 3.10 0.070 2179.62 -417.3 77.86 - - 2160.41 - - - - - - - - - 16.09 -
14853.82 565.55 8.49 1751 14859.12 done 1.45 - - 2482.44 - 3.82 0.162 736.06 -377.9 77.86 - - 2157.06 - - - - - - - - - 16.07 -
14863.83 564.88 8.58 1753 14868.53 done 1.45 - - 2482.62 - 3.45 0.064 2221.69 430.6 77.86 - - 2159.00 - - - - - - - - - 16.08 -
15173.89 537.77 8.22 1785 15179.56 done 1.45 - - 2481.94 - 4.01 0.158 736.56 -370.4 77.86 - - 2160.06 - - - - - - - - - 16.07 -
15232.89 532.12 9.79 1797 15239.60 done 1.45 - - 2481.88 - 3.50 0.066 2221.62 424.3 77.86 - - 2157.94 - - - - - - - - - 16.09 -
15538.98 508.91 7.31 1828 15543.49 done 1.47 - - 2482.81 - 3.15 0.140 3474.81 397.8 77.86 - - 2159.38 - - - - - - - - - 16.09 -
15569.18 506.57 7.82 1834 15573.63 done 1.47 - - 2482.19 - 3.11 0.065 2179.62 -416.5 77.86 - - 2157.19 - - - - - - - - - 16.11 -
15879.05 485.43 6.45 1866 15884.83 1.52 0.14 0.125 2515.00 234.4 3.91 0.158 737.12 -368.9 77.86 - - 2160.09 - - - - - - - - 16.09 16.06 -
15924.11 481.60 8.49 1875 15929.63 done 1.52 - - 2514.50 - 3.49 0.064 2224.38 426.1 77.86 - - 2156.59 - - - - - - - - - 16.10 -
16229.14 461.53 6.36 1906 16234.84 done 1.57 - - 2514.69 - 3.93 0.154 736.06 -378.7 77.86 - - 2156.06 - - - - - - - - - 16.07 -
16238.07 460.77 6.13 1908 16244.82 done 1.63 - - 2513.56 - 3.42 0.061 2222.19 434.5 77.86 - - 2157.72 - - - - - - - - - 16.10 -
16544.20 440.78 6.41 1939 16548.74 1.67 0.19 0.113 2552.31 203.9 3.10 0.135 3475.19 404.2 77.86 - - 2158.03 - - - - - - - - 16.09 16.08 -
16588.06 437.25 7.84 1948 16594.85 done 1.67 - - 2551.06 - 3.12 0.064 2179.00 -415.4 77.86 - - 2157.53 - - - - - - - - - 16.08 -
16894.24 416.62 6.56 1979 16895.58 VBD 1.72 - - 2551.88 - - - 2179.25 - 77.86 - - 2156.94 - - - - - - - - - - -
17194.28 396.73 6.20 2009 17198.79 done 1.77 - - 2552.38 - 3.22 0.134 3475.56 402.6 77.86 - - 2159.09 - - - - - - - - - 16.09 -
17324.31 386.62 8.01 2035 17328.82 done 1.77 - - 2551.81 - 3.14 0.068 2179.25 -412.8 77.86 - - 2158.38 - - - - - - - - - 16.10 -
17634.37 364.96 6.85 2067 17635.80 1.81 0.16 0.126 2583.50 198.1 - - 2179.19 - 77.86 - - 2156.44 - - - - - - - - 16.09 - -
17934.39 343.12 6.83 2097 17940.08 done 1.85 - - 2583.75 - 3.80 0.153 735.94 -379.8 77.86 - - 2154.59 - - - - - - - - - 16.06 -
17949.40 342.09 7.42 2100 17953.95 done 1.87 - - 2583.44 - 3.46 0.061 2218.50 428.5 77.86 - - 2155.31 - - - - - - - - - 16.11 -
18259.44 321.24 5.83 2132 18290.79 1.96 0.19 0.111 2621.38 199.7 3.98 0.149 736.19 -372.4 109.95 25.02 1.478 2049.56 -4.2 0.152 - - - - - - 16.10 15.94 13.19
18339.42 314.20 10.38 2148 18344.00 roll 1.96 - - 2621.31 - 3.48 0.063 2221.44 426.8 109.95 - - 2047.50 - - - - - - - - - 15.99 -
18649.46 281.92 11.35 2180 18655.18 roll 1.96 - - 2621.38 - 3.97 0.146 736.94 -373.9 109.95 - - 2043.59 - - - - - - - - - 15.99 -
18668.40 279.58 11.91 2184 18675.16 roll 1.96 - - 2621.44 - 3.44 0.060 2222.44 431.8 109.95 - - 2044.53 - - - - - - - - - 16.01 -
18975.74 247.90 9.45 2215 18981.16 roll 1.96 - - 2621.44 - 3.92 0.142 736.12 -379.2 109.95 - - 2042.28 - - - - - - - - - 16.01 -
19029.51 241.78 11.17 2226 19034.07 done 1.96 - - 2620.19 - 3.44 0.062 2222.50 432.1 109.95 - - 2044.62 - - - - - - - - - 16.03 -
19340.77 212.77 9.21 2258 19345.05 done 1.96 - - 2621.75 - 3.12 0.131 3477.31 402.2 109.95 - - 2042.12 - - - - - - - - - 16.03 -
19444.56 202.23 10.14 2279 19449.08 done 1.96 - - 2619.75 - 3.14 0.060 2177.81 -413.9 109.95 - - 2044.59 - - - - - - - - - 16.05 -
19754.60 175.19 8.08 2311 19759.41 done 1.96 - - 2621.69 - 3.24 0.128 3476.75 400.9 109.95 - - 2045.34 - - - - - - - - - 16.05 -
19858.62 165.02 9.13 2332 19865.27 done 1.96 - - 2621.62 - 3.14 0.062 2178.19 -413.6 109.95 - - 2043.44 - - - - - - - - - 16.04 -
20164.67 141.15 6.84 2363 20170.30 done 2.00 - - 2619.44 - 3.87 0.146 737.25 -372.3 109.95 - - 2042.91 - - - - - - - - - 16.04 -
20229.73 136.55 7.36 2376 20235.24 done 2.02 - - 2621.50 - 3.49 0.059 2225.69 426.5 109.95 - - 2041.19 - - - - - - - - - 16.07 -
20534.74 118.21 6.25 2407 20539.37 done 2.07 - - 2622.25 - 3.11 0.127 3476.25 402.1 109.95 - - 2043.59 - - - - - - - - - 16.05 -
20764.83 108.54 3.24 2453 20826.71 2.28 0.46 0.089 2698.44 165.6 3.11 0.058 2176.06 -418.1 179.58 56.21 1.265 1768.94 -4.9 0.069 - - - - - - 16.04 16.06 13.21
21124.92 74.73 9.04 2519 21130.74 done 2.28 - - 2698.31 - 3.23 0.124 3476.69 402.7 179.58 - - 1757.62 - - - - - - - - - 15.88 -
21355.04 56.30 6.40 2565 21360.66 done 2.33 - - 2698.19 - 3.15 0.057 2177.12 -412.6 179.58 - - 1755.91 - - - - - - - - - 15.93 -
21540.11 51.90 2.11 2602 21612.38 2.59 0.44 0.095 2773.38 170.9 3.28 0.122 3475.75 395.9 265.47 67.14 1.177 1416.72 -5.1 0.037 - - - - - - 15.93 15.66 13.20
21670.12 40.66 12.88 2628 21675.76 roll 2.59 - - 2774.06 - 3.18 0.061 2179.94 -407.5 265.47 - - 1412.78 - - - - - - - - - 15.73 -
21855.20 26.08 4.79 2665 21901.50 2.73 0.17 0.119 2807.50 196.7 3.96 0.143 736.56 -364.5 312.58 38.08 1.100 1225.56 -4.9 0.019 - - - - - - 15.78 15.61 13.07
22125.26 12.63 7.95 2719 22130.97 roll 2.73 - - 2807.12 - 3.51 0.058 2224.62 423.9 312.58 - - 1221.47 - - - - - - - - - 15.78 -
22241 end climb: SURFACE_DEPTH_REACHED
22241 begin surface coast
22261 end surface coast: CONTROL_FINISHED_OK
22261 begin surface
SM 1.42 - - - - 180.3 - 0.015 768.4 - 17.51 0.122 763.1 43.6 - 0.33 0.092 773.8 2334.2 -3.682 - - 30.36 15.76 15.81 -