NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 77 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 27.77 of 350.00 AH used of 24V (92.07% remains)
• Surface angle -64.0 deg, depth 1.13 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.99 (SM_CC=425)
• GPS1 time: 35 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
6.39 - - - 74.49 VBD -1.25 - - 181.62 - - - 2115.38 - -77.86 67.57 0.005 2369.66 - - - - - - - - - - 15.67
74.75 3.79 -4.88 13 106.77 -1.25 13.31 0.273 1835.62 124.3 4.14 0.175 663.56 -350.7 -77.86 10.47 0.007 2816.97 42.7 -3.855 - - - - - - 15.62 15.66 15.70
329.56 60.08 -17.70 64 335.27 roll -1.25 - - 1835.88 - 3.45 0.066 2121.00 422.4 -77.86 - - 2816.78 - - - - - - - - - 15.79 -
514.56 83.65 -12.62 101 520.38 roll -1.25 - - 1834.12 - 4.03 0.167 662.44 -361.9 -77.86 - - 2817.94 - - - - - - - - - 15.80 -
744.60 117.22 -14.28 147 749.24 roll -1.25 - - 1835.50 - 3.43 0.067 2120.94 425.2 -77.86 - - 2818.50 - - - - - - - - - 15.88 -
1054.61 150.55 -9.82 179 1060.43 roll -1.25 - - 1835.88 - 4.05 0.167 663.44 -359.9 -77.86 - - 2818.84 - - - - - - - - - 15.87 -
1169.62 163.88 -11.97 202 1174.21 roll -1.25 - - 1835.56 - 3.42 0.067 2121.31 426.3 -77.86 - - 2818.50 - - - - - - - - - 15.94 -
1479.64 195.60 -10.84 234 1484.20 roll -1.25 - - 1835.56 - 3.36 0.130 3474.19 402.6 -77.86 - - 2818.81 - - - - - - - - - 15.96 -
1529.66 201.18 -11.23 244 1534.22 roll -1.25 - - 1835.56 - 3.39 0.069 2085.56 -409.6 -77.86 - - 2818.16 - - - - - - - - - 15.99 -
1839.67 234.67 -10.82 276 1841.00 no move -1.25 - - 1835.69 - - - 2085.31 - -77.86 - - 2818.59 - - - - - - - - - - -
2139.69 267.40 -10.39 306 2144.27 roll -1.25 - - 1835.81 - 3.46 0.133 3475.62 401.8 -77.86 - - 2818.28 - - - - - - - - - 16.01 -
2173.55 271.34 -11.26 313 2180.41 roll -1.25 - - 1834.44 - 3.40 0.071 2083.94 -409.3 -77.86 - - 2818.88 - - - - - - - - - 16.02 -
2479.75 304.07 -10.33 344 2485.56 roll -1.25 - - 1835.75 - 3.97 0.177 663.25 -357.9 -77.86 - - 2818.66 - - - - - - - - - 16.01 -
2524.78 309.66 -12.58 353 2529.36 roll -1.25 - - 1835.19 - 3.42 0.068 2116.44 424.9 -77.86 - - 2818.50 - - - - - - - - - 16.05 -
2834.82 342.70 -10.49 385 2839.52 roll -1.25 - - 1836.06 - 3.39 0.135 3475.31 400.8 -77.86 - - 2817.47 - - - - - - - - - 16.04 -
2914.86 351.94 -11.59 401 2919.43 roll -1.25 - - 1834.75 - 3.46 0.074 2084.19 -402.1 -77.86 - - 2818.34 - - - - - - - - - 16.05 -
3224.91 384.16 -10.16 433 3230.72 roll -1.25 - - 1836.06 - 4.01 0.179 663.44 -354.3 -77.86 - - 2815.28 - - - - - - - - - 16.03 -
3329.94 397.37 -13.18 454 3334.53 roll -1.25 - - 1835.56 - 3.44 0.072 2117.31 422.6 -77.86 - - 2816.97 - - - - - - - - - 16.06 -
3640.00 430.80 -10.95 486 3641.33 no move -1.25 - - 1836.31 - - - 2116.75 - -77.86 - - 2815.59 - - - - - - - - - - -
3940.04 461.36 -9.28 516 3941.37 no move -1.25 - - 1835.56 - - - 2117.69 - -77.86 - - 2815.97 - - - - - - - - - - -
4240.10 491.81 -10.25 546 4241.43 no move -1.25 - - 1835.56 - - - 2117.69 - -77.86 - - 2815.12 - - - - - - - - - - -
4540.14 521.01 -10.16 576 4546.12 roll -1.25 - - 1835.62 - 4.09 0.183 663.12 -355.6 -77.86 - - 2812.84 - - - - - - - - - 16.06 -
4605.23 528.19 -12.16 589 4609.88 roll -1.25 - - 1836.06 - 3.46 0.079 2117.81 420.4 -77.86 - - 2816.25 - - - - - - - - - 16.10 -
4915.20 558.64 -10.47 621 4916.53 no move -1.25 - - 1835.75 - - - 2117.88 - -77.86 - - 2814.25 - - - - - - - - - - -
5215.23 588.34 -9.09 651 5221.07 roll -1.25 - - 1835.69 - 4.11 0.186 663.31 -353.9 -77.86 - - 2813.34 - - - - - - - - - 16.07 -
5270.30 594.67 -11.51 662 5275.82 roll -1.25 - - 1835.50 - 3.46 0.080 2116.00 419.9 -77.86 - - 2814.69 - - - - - - - - - 16.10 -
5575.26 622.67 -9.25 693 5579.98 roll -1.25 - - 1835.00 - 3.45 0.144 3474.56 393.8 -77.86 - - 2811.94 - - - - - - - - - 16.10 -
5645.28 629.79 -10.93 707 5649.86 roll -1.25 - - 1836.06 - 3.45 0.080 2086.88 -402.2 -77.86 - - 2812.84 - - - - - - - - - 16.11 -
5955.29 659.01 -9.25 739 5961.12 roll -1.25 - - 1835.56 - 4.01 0.192 662.25 -355.3 -77.86 - - 2810.81 - - - - - - - - - 16.08 -
6044.30 668.54 -11.01 757 6051.04 roll -1.25 - - 1835.94 - 3.49 0.082 2113.81 415.9 -77.86 - - 2811.66 - - - - - - - - - 16.10 -
6350.33 694.54 -8.87 788 6354.91 roll -1.25 - - 1835.38 - 3.48 0.144 3474.50 391.0 -77.86 - - 2808.72 - - - - - - - - - 16.10 -
6384.19 697.89 -9.85 795 6391.07 roll -1.25 - - 1835.38 - 3.44 0.080 2088.31 -403.0 -77.86 - - 2813.25 - - - - - - - - - 16.12 -
6690.36 723.49 -7.23 826 6691.69 no move -1.25 - - 1836.06 - - - 2088.81 - -77.86 - - 2811.06 - - - - - - - - - - -
6990.38 748.74 -8.04 856 6995.11 roll -1.25 - - 1835.44 - 3.54 0.146 3472.25 390.8 -77.86 - - 2810.94 - - - - - - - - - 16.10 -
7054.30 755.04 -9.93 869 7061.11 roll -1.25 - - 1834.75 - 3.45 0.085 2087.19 -401.5 -77.86 - - 2810.59 - - - - - - - - - 16.12 -
7360.41 781.68 -8.23 900 7361.74 no move -1.25 - - 1835.69 - - - 2087.38 - -77.86 - - 2808.44 - - - - - - - - - - -
7660.43 807.98 -8.65 930 7666.25 roll -1.25 - - 1835.75 - 4.02 0.199 664.25 -354.0 -77.86 - - 2809.91 - - - - - - - - - 16.08 -
7839.45 826.02 -12.20 966 7846.19 roll -1.25 - - 1835.81 - 3.49 0.091 2112.62 415.0 -77.86 - - 2809.00 - - - - - - - - - 16.12 -
8145.47 848.71 -7.74 997 8151.18 roll -1.25 - - 1835.81 - 4.11 0.195 663.56 -352.6 -77.86 - - 2808.22 - - - - - - - - - 16.08 -
8194.48 853.74 -9.96 1007 8201.45 roll -1.25 - - 1835.62 - 3.53 0.086 2112.06 410.3 -77.86 - - 2808.56 - - - - - - - - - 16.12 -
8500.50 877.53 -7.39 1038 8505.24 roll -1.25 - - 1835.75 - 3.51 0.149 3473.56 387.9 -77.86 - - 2808.44 - - - - - - - - - 16.10 -
8550.52 882.91 -10.72 1048 8556.14 roll -1.25 - - 1835.50 - 3.45 0.086 2089.19 -401.3 -77.86 - - 2806.50 - - - - - - - - - 16.11 -
8855.54 907.54 -7.64 1079 8861.15 roll -1.25 - - 1835.81 - 3.53 0.148 3473.00 392.0 -77.86 - - 2805.94 - - - - - - - - - 16.11 -
8890.56 910.17 -6.92 1086 8896.14 roll -1.25 - - 1835.00 - 3.45 0.085 2087.62 -401.6 -77.86 - - 2809.84 - - - - - - - - - 16.12 -
9195.57 933.92 -7.17 1117 9201.39 roll -1.25 - - 1835.56 - 4.04 0.202 663.44 -352.5 -77.86 - - 2805.41 - - - - - - - - - 16.08 -
9290.58 942.88 -10.51 1136 9296.17 roll -1.25 - - 1835.50 - 3.48 0.092 2115.12 417.1 -77.86 - - 2806.47 - - - - - - - - - 16.12 -
9595.60 966.01 -7.92 1167 9600.32 roll -1.25 - - 1835.25 - 3.44 0.150 3472.56 394.6 -77.86 - - 2808.28 - - - - - - - - - 16.10 -
9675.63 972.71 -8.70 1183 9681.20 roll -1.25 - - 1835.19 - 3.46 0.088 2089.31 -399.8 -77.86 - - 2806.56 - - - - - - - - - 16.11 -
9921 end dive: TARGET_DEPTH_EXCEEDED
9921 begin apogee
9921.85 991.28 -8.69 1208 9992.06 -0.25 1.70 0.166 2080.00 144.0 0.07 0.327 2187.88 1408.1 - 64.39 2.274 2497.69 -4.8 0.348 - - - - - - 16.07 15.59 13.22
9993 end apogee: CONTROL_FINISHED_OK
9994 begin climb
9993.25 992.12 - 1215 10069.23 1.25 2.50 0.105 2447.06 146.8 - - 2189.12 - 77.86 72.19 2.222 2181.38 -4.4 0.326 - - - - - - 15.63 - 12.95
10365.66 958.70 10.29 1254 10370.21 done 1.25 - - 2447.19 - 3.37 0.150 3471.81 380.6 77.86 - - 2170.06 - - - - - - - - - 15.65 -
10445.67 949.01 11.97 1270 10450.21 done 1.25 - - 2447.62 - 3.27 0.076 2184.81 -393.6 77.86 - - 2169.09 - - - - - - - - - 15.70 -
10755.69 916.15 10.02 1302 10760.24 done 1.25 - - 2445.88 - 3.36 0.146 3471.69 383.0 77.86 - - 2166.94 - - - - - - - - - 15.80 -
10805.70 910.76 9.98 1312 10810.25 done 1.25 - - 2447.94 - 3.26 0.073 2184.12 -395.0 77.86 - - 2165.81 - - - - - - - - - 15.82 -
11115.74 882.35 8.55 1344 11120.32 done 1.25 - - 2447.50 - 3.31 0.147 3473.00 389.4 77.86 - - 2165.59 - - - - - - - - - 15.88 -
11155.76 878.20 10.27 1352 11160.43 done 1.25 - - 2447.50 - 3.25 0.074 2184.19 -396.6 77.86 - - 2165.38 - - - - - - - - - 15.90 -
11465.80 851.24 8.73 1384 11467.13 VBD 1.25 - - 2447.31 - - - 2184.56 - 77.86 - - 2162.16 - - - - - - - - - - -
11765.84 825.94 7.65 1414 11770.41 done 1.25 - - 2445.94 - 3.31 0.146 3473.50 389.4 77.86 - - 2164.25 - - - - - - - - - 15.96 -
11845.88 817.51 9.86 1430 11850.40 done 1.25 - - 2446.38 - 3.20 0.073 2183.19 -403.2 77.86 - - 2163.91 - - - - - - - - - 15.98 -
12155.93 790.29 7.40 1462 12161.74 done 1.27 - - 2447.94 - 4.01 0.167 737.56 -360.5 77.86 - - 2160.91 - - - - - - - - - 15.98 -
12234.86 782.21 9.97 1478 12241.70 done 1.27 - - 2448.06 - 3.56 0.072 2217.19 415.6 77.86 - - 2160.09 - - - - - - - - - 16.00 -
12541.00 757.39 7.72 1509 12546.83 done 1.27 - - 2447.56 - 4.02 0.164 735.56 -368.6 77.86 - - 2158.75 - - - - - - - - - 16.00 -
12596.11 752.15 10.34 1520 12601.89 done 1.27 - - 2447.81 - 3.52 0.070 2218.31 421.2 77.86 - - 2159.44 - - - - - - - - - 16.02 -
12901.07 728.04 7.98 1551 12906.91 done 1.27 - - 2448.00 - 4.11 0.160 735.44 -360.8 77.86 - - 2158.19 - - - - - - - - - 16.01 -
12916.08 726.60 8.06 1554 12921.67 done 1.27 - - 2447.56 - 3.47 0.067 2219.38 427.6 77.86 - - 2158.16 - - - - - - - - - 16.03 -
13221.35 702.22 7.51 1585 13225.66 done 1.29 - - 2447.44 - 3.20 0.144 3472.88 391.7 77.86 - - 2160.81 - - - - - - - - - 16.03 -
13291.15 696.40 7.92 1599 13295.67 done 1.29 - - 2447.62 - 3.17 0.070 2183.38 -406.8 77.86 - - 2161.19 - - - - - - - - - 16.05 -
13601.22 672.84 7.27 1631 13602.55 VBD 1.31 - - 2447.94 - - - 2184.06 - 77.86 - - 2160.28 - - - - - - - - - - -
13901.24 653.26 6.14 1661 13905.78 done 1.37 - - 2447.81 - 3.34 0.142 3473.19 386.0 77.86 - - 2160.16 - - - - - - - - - 16.05 -
13971.25 647.60 8.30 1675 13975.78 done 1.37 - - 2448.38 - 3.19 0.071 2182.50 -404.6 77.86 - - 2160.03 - - - - - - - - - 16.07 -
14281.28 626.83 6.54 1707 14287.02 1.41 0.22 0.113 2491.38 195.5 3.27 0.141 3474.56 395.1 77.86 - - 2158.81 - - - - - - - - 16.06 16.06 -
14290.14 625.81 6.13 1709 14296.96 done 1.47 - - 2491.38 - 3.19 0.068 2181.56 -405.3 77.86 - - 2159.56 - - - - - - - - - 16.08 -
14596.29 603.00 8.00 1740 14600.83 done 1.47 - - 2491.12 - 3.29 0.142 3473.75 392.8 77.86 - - 2160.94 - - - - - - - - - 16.07 -
14786.34 586.45 8.91 1778 14790.88 done 1.47 - - 2491.81 - 3.21 0.073 2181.56 -402.6 77.86 - - 2160.81 - - - - - - - - - 16.08 -
15096.38 562.16 7.38 1810 15102.11 done 1.49 - - 2491.38 - 3.94 0.158 736.75 -366.7 77.86 - - 2159.47 - - - - - - - - - 16.07 -
15181.37 555.12 8.34 1827 15186.98 done 1.49 - - 2491.19 - 3.54 0.070 2221.25 419.4 77.86 - - 2160.47 - - - - - - - - - 16.09 -
15486.41 533.68 7.66 1858 15490.95 done 1.49 - - 2491.50 - 3.19 0.140 3474.94 393.0 77.86 - - 2160.53 - - - - - - - - - 16.08 -
15506.40 531.88 8.88 1862 15511.07 done 1.49 - - 2491.25 - 3.17 0.067 2181.56 -408.0 77.86 - - 2158.41 - - - - - - - - - 16.09 -
15816.43 508.75 7.32 1894 15817.77 VBD 1.51 - - 2491.31 - - - 2181.94 - 77.86 - - 2156.88 - - - - - - - - - - -
16116.45 489.26 6.30 1924 16122.18 1.57 0.16 0.118 2526.56 220.3 3.95 0.155 736.69 -365.9 77.86 - - 2156.69 - - - - - - - - 16.08 16.08 -
16245.38 478.72 7.55 1950 16252.19 done 1.57 - - 2525.62 - 3.48 0.068 2221.50 426.7 77.86 - - 2158.41 - - - - - - - - - 16.08 -
16551.50 458.47 6.13 1981 16556.15 done 1.62 - - 2526.94 - 3.19 0.138 3475.00 392.9 77.86 - - 2157.66 - - - - - - - - - 16.08 -
16751.53 444.20 7.14 2021 16756.04 done 1.65 - - 2526.06 - 3.16 0.067 2179.44 -410.0 77.86 - - 2157.69 - - - - - - - - - 16.10 -
17061.56 425.85 6.42 2053 17063.01 1.70 0.15 0.128 2556.00 199.6 - - 2179.25 - 77.86 - - 2157.47 - - - - - - - - 16.08 - -
17361.59 404.84 7.96 2083 17367.38 done 1.70 - - 2558.50 - 3.90 0.153 735.44 -370.2 77.86 - - 2157.25 - - - - - - - - - 16.08 -
17536.59 389.93 8.96 2118 17542.19 done 1.70 - - 2558.81 - 3.51 0.069 2222.25 423.6 77.86 - - 2155.09 - - - - - - - - - 16.09 -
17841.62 368.87 6.64 2149 17847.35 done 1.74 - - 2559.56 - 3.99 0.147 736.62 -372.3 77.86 - - 2155.53 - - - - - - - - - 16.08 -
17940.55 361.51 6.96 2169 17947.35 done 1.77 - - 2558.88 - 3.50 0.064 2223.06 424.7 77.86 - - 2156.59 - - - - - - - - - 16.10 -
18246.65 344.75 5.12 2200 18287.44 1.90 0.26 0.101 2606.88 184.6 3.23 0.135 3474.44 387.4 119.71 33.36 1.529 2009.72 -4.4 0.165 - - - - - - 16.09 15.88 13.21
18320.49 339.06 8.75 2215 18327.33 roll 1.90 - - 2606.56 - 3.19 0.063 2180.69 -405.6 119.71 - - 2008.94 - - - - - - - - - 15.95 -
18626.69 306.42 11.13 2246 18632.53 roll 1.90 - - 2603.69 - 3.92 0.149 736.56 -368.4 119.71 - - 2005.53 - - - - - - - - - 15.96 -
18651.68 303.33 11.95 2251 18656.54 roll 1.90 - - 2607.19 - 3.54 0.062 2222.19 419.7 119.71 - - 2005.81 - - - - - - - - - 15.98 -
18961.70 268.34 11.42 2283 18966.23 done 1.90 - - 2607.00 - 3.26 0.135 3475.00 384.3 119.71 - - 2003.25 - - - - - - - - - 15.99 -
19151.74 245.71 10.66 2321 19156.27 done 1.90 - - 2605.75 - 3.18 0.066 2180.50 -407.1 119.71 - - 2003.53 - - - - - - - - - 16.01 -
19461.79 213.35 9.97 2353 19466.34 done 1.90 - - 2606.56 - 3.28 0.132 3476.75 395.2 119.71 - - 2003.03 - - - - - - - - - 16.02 -
19531.83 205.36 11.30 2367 19536.39 done 1.90 - - 2607.31 - 3.16 0.063 2180.06 -410.3 119.71 - - 2003.12 - - - - - - - - - 16.02 -
19841.87 173.81 10.58 2399 19846.41 done 1.90 - - 2607.81 - 3.24 0.127 3474.19 399.4 119.71 - - 2003.31 - - - - - - - - - 16.03 -
19911.91 165.55 12.24 2413 19916.45 done 1.90 - - 2606.75 - 3.18 0.062 2180.38 -406.9 119.71 - - 2002.84 - - - - - - - - - 16.04 -
20221.95 132.36 10.82 2445 20227.62 done 1.90 - - 2607.38 - 3.90 0.145 736.44 -370.2 119.71 - - 2001.97 - - - - - - - - - 16.03 -
20287.04 124.37 13.19 2458 20291.68 done 1.90 - - 2607.06 - 3.44 0.061 2223.62 432.3 119.71 - - 2002.62 - - - - - - - - - 16.05 -
20592.04 99.43 6.18 2490 20597.83 done 1.96 - - 2606.00 - 3.99 0.139 735.56 -372.9 119.71 - - 2004.00 - - - - - - - - - 16.03 -
20822.17 87.38 4.19 2536 20873.84 2.12 0.30 0.089 2662.06 186.9 3.41 0.062 2227.12 437.4 174.85 44.97 1.221 1785.69 -4.9 0.058 - - - - - - 16.01 16.04 13.23
21052.18 69.84 7.00 2582 21057.96 roll 2.15 - - 2661.62 - 3.14 0.130 3476.44 397.9 174.85 - - 1779.25 - - - - - - - - - 15.86 -
21282.24 54.20 5.10 2628 21323.67 2.28 0.19 0.107 2697.12 186.8 3.20 0.061 2179.00 -405.4 216.99 34.35 1.150 1614.22 -4.8 0.038 - - - - - - 15.90 15.92 13.18
21502.25 37.77 7.08 2672 21507.93 roll 2.31 - - 2697.06 - 3.24 0.124 3475.44 400.1 216.99 - - 1608.97 - - - - - - - - - 15.83 -
21687.29 37.25 -1.06 2709 21795.18 2.70 0.62 0.086 2797.94 162.7 3.16 0.058 2176.88 -410.9 347.01 100.98 1.136 1086.09 -5.2 0.028 - - - - - - 15.86 15.87 13.05
21972.99 11.24 14.82 2766 21978.68 roll 2.70 - - 2798.50 - 3.29 0.124 3475.12 394.6 347.01 - - 1080.12 - - - - - - - - - 15.67 -
22028 end climb: SURFACE_DEPTH_REACHED
22028 begin surface coast
22038 end surface coast: CONTROL_FINISHED_OK
22038 begin surface
SM 0.71 - - - - 180.3 2.07 0.269 767.5 370.8 16.90 0.069 766.4 45.3 - 3.46 0.063 768.6 221.2 -0.255 - - 12.86 15.70 15.72 -