NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 78 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 28.09 of 350.00 AH used of 24V (91.98% remains)
• Surface angle -66.2 deg, depth 0.87 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.60 (SM_CC=425)
• GPS1 time: 34 s
• GPS2 time: 4 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
6.38 - - - 74.73 VBD -1.25 - - 180.12 - - - 2119.12 - -77.86 67.81 0.005 2362.41 - - - - - - - - - - 15.64
75.02 3.17 -4.03 8 107.63 -1.25 13.48 0.269 1836.31 122.9 4.15 0.173 663.19 -350.8 -77.86 10.49 0.007 2818.72 43.5 -3.289 - - - - - - 15.57 15.63 15.67
195.36 38.03 -25.65 32 201.12 roll -1.25 - - 1836.81 - 3.49 0.066 2118.88 417.1 -77.86 - - 2817.81 - - - - - - - - - 15.74 -
380.40 66.56 -13.78 69 386.25 roll -1.25 - - 1836.81 - 4.11 0.167 663.69 -354.1 -77.86 - - 2816.81 - - - - - - - - - 15.77 -
475.41 81.29 -13.33 88 481.14 roll -1.25 - - 1836.94 - 3.46 0.066 2119.88 420.9 -77.86 - - 2818.56 - - - - - - - - - 15.81 -
660.45 99.65 -8.81 125 666.17 roll -1.25 - - 1836.94 - 3.42 0.126 3475.75 396.5 -77.86 - - 2817.94 - - - - - - - - - 15.84 -
710.46 105.02 -10.82 135 715.03 roll -1.25 - - 1836.94 - 3.43 0.066 2084.94 -405.5 -77.86 - - 2818.72 - - - - - - - - - 15.87 -
1020.47 134.12 -9.41 167 1026.35 roll -1.25 - - 1837.19 - 3.95 0.171 663.25 -359.9 -77.86 - - 2816.75 - - - - - - - - - 15.89 -
1149.41 148.26 -10.63 193 1156.22 roll -1.25 - - 1837.00 - 3.44 0.066 2119.94 423.5 -77.86 - - 2818.78 - - - - - - - - - 15.94 -
1455.51 178.62 -10.39 224 1461.36 roll -1.25 - - 1837.00 - 4.06 0.168 663.25 -358.8 -77.86 - - 2816.66 - - - - - - - - - 15.94 -
1500.53 183.86 -12.07 233 1505.10 roll -1.25 - - 1837.06 - 3.41 0.069 2117.69 426.5 -77.86 - - 2820.22 - - - - - - - - - 15.96 -
1810.53 216.74 -10.48 265 1811.86 no move -1.25 - - 1836.69 - - - 2118.19 - -77.86 - - 2819.12 - - - - - - - - - - -
2110.65 248.66 -10.82 295 2111.98 no move -1.25 - - 1837.19 - - - 2117.81 - -77.86 - - 2819.59 - - - - - - - - - - -
2410.57 281.90 -10.94 325 2415.27 roll -1.25 - - 1836.81 - 3.36 0.134 3475.75 404.1 -77.86 - - 2818.44 - - - - - - - - - 16.02 -
2460.59 287.85 -11.80 335 2465.37 roll -1.25 - - 1836.69 - 3.41 0.072 2084.50 -408.0 -77.86 - - 2818.44 - - - - - - - - - 16.03 -
2770.60 322.06 -10.74 367 2775.18 roll -1.25 - - 1837.00 - 3.48 0.133 3475.31 399.7 -77.86 - - 2818.47 - - - - - - - - - 16.03 -
2810.62 326.55 -11.90 375 2815.19 roll -1.25 - - 1836.94 - 3.44 0.072 2084.12 -404.4 -77.86 - - 2819.31 - - - - - - - - - 16.05 -
3120.63 360.88 -11.68 407 3126.44 roll -1.25 - - 1837.06 - 3.97 0.179 662.44 -358.1 -77.86 - - 2817.41 - - - - - - - - - 16.03 -
3205.73 372.39 -13.59 424 3211.23 roll -1.25 - - 1835.81 - 3.43 0.070 2118.06 424.4 -77.86 - - 2816.84 - - - - - - - - - 16.06 -
3510.69 404.51 -10.29 455 3515.38 roll -1.25 - - 1836.38 - 3.36 0.136 3474.44 403.7 -77.86 - - 2818.34 - - - - - - - - - 16.06 -
3564.56 410.63 -11.32 466 3571.43 roll -1.25 - - 1836.69 - 3.42 0.072 2086.44 -405.8 -77.86 - - 2818.09 - - - - - - - - - 16.07 -
3870.75 441.17 -10.67 497 3876.57 roll -1.25 - - 1836.94 - 3.99 0.183 663.44 -356.6 -77.86 - - 2818.19 - - - - - - - - - 16.04 -
3995.79 456.72 -13.53 522 4000.38 roll -1.25 - - 1837.19 - 3.44 0.077 2116.25 422.3 -77.86 - - 2819.44 - - - - - - - - - 16.08 -
4305.84 488.92 -9.66 554 4310.40 roll -1.25 - - 1835.75 - 3.35 0.141 3476.38 406.0 -77.86 - - 2818.00 - - - - - - - - - 16.05 -
4345.86 493.93 -12.39 562 4350.44 roll -1.25 - - 1837.06 - 3.44 0.076 2085.56 -404.3 -77.86 - - 2817.75 - - - - - - - - - 16.09 -
4655.91 526.82 -10.82 594 4657.24 no move -1.25 - - 1836.69 - - - 2086.50 - -77.86 - - 2817.16 - - - - - - - - - - -
4955.96 555.62 -9.73 624 4960.67 roll -1.25 - - 1836.19 - 3.45 0.142 3475.19 402.5 -77.86 - - 2816.44 - - - - - - - - - 16.08 -
5025.99 563.22 -10.66 638 5030.56 roll -1.25 - - 1836.62 - 3.44 0.079 2085.94 -403.9 -77.86 - - 2816.22 - - - - - - - - - 16.10 -
5336.03 593.80 -10.45 670 5340.75 roll -1.25 - - 1836.88 - 3.45 0.142 3474.75 402.6 -77.86 - - 2816.19 - - - - - - - - - 16.09 -
5406.06 601.03 -11.45 684 5410.64 roll -1.25 - - 1836.69 - 3.43 0.082 2087.44 -404.5 -77.86 - - 2815.47 - - - - - - - - - 16.09 -
5716.11 629.46 -9.09 716 5721.93 roll -1.25 - - 1836.56 - 4.04 0.192 663.19 -352.5 -77.86 - - 2813.75 - - - - - - - - - 16.07 -
5845.07 643.98 -11.00 742 5851.89 roll -1.25 - - 1836.56 - 3.46 0.084 2115.56 419.8 -77.86 - - 2813.91 - - - - - - - - - 16.11 -
6151.18 672.16 -9.57 773 6155.88 roll -1.25 - - 1836.94 - 3.36 0.146 3475.31 404.7 -77.86 - - 2814.41 - - - - - - - - - 16.09 -
6205.06 677.52 -10.55 784 6211.94 roll -1.25 - - 1836.50 - 3.44 0.082 2087.62 -403.4 -77.86 - - 2814.09 - - - - - - - - - 16.11 -
6511.21 704.15 -9.18 815 6517.03 roll -1.25 - - 1836.56 - 4.03 0.194 663.31 -353.4 -77.86 - - 2814.38 - - - - - - - - - 16.07 -
6650.22 718.06 -9.73 843 6656.96 roll -1.25 - - 1837.19 - 3.48 0.085 2115.25 417.2 -77.86 - - 2813.44 - - - - - - - - - 16.12 -
6956.26 743.58 -8.72 874 6957.58 no move -1.25 - - 1837.00 - - - 2115.50 - -77.86 - - 2813.56 - - - - - - - - - - -
7256.28 766.26 -7.24 904 7261.97 roll -1.25 - - 1836.50 - 4.07 0.189 663.31 -356.8 -77.86 - - 2811.88 - - - - - - - - - 16.08 -
7311.30 771.21 -9.34 915 7315.87 roll -1.25 - - 1836.88 - 3.44 0.085 2115.00 422.0 -77.86 - - 2810.59 - - - - - - - - - 16.12 -
7621.31 797.78 -7.61 947 7626.04 roll -1.25 - - 1837.12 - 3.38 0.148 3475.44 402.5 -77.86 - - 2811.78 - - - - - - - - - 16.10 -
7691.33 804.20 -9.05 961 7696.04 roll -1.25 - - 1837.12 - 3.41 0.083 2086.62 -407.3 -77.86 - - 2812.06 - - - - - - - - - 16.12 -
8001.34 830.24 -9.14 993 8007.01 roll -1.25 - - 1835.69 - 3.99 0.195 663.38 -356.7 -77.86 - - 2810.75 - - - - - - - - - 16.08 -
8036.36 833.21 -8.51 1000 8041.07 roll -1.25 - - 1836.69 - 3.43 0.085 2116.56 423.7 -77.86 - - 2810.47 - - - - - - - - - 16.12 -
8346.36 857.82 -7.56 1032 8351.06 roll -1.25 - - 1837.00 - 3.35 0.146 3475.88 405.8 -77.86 - - 2810.34 - - - - - - - - - 16.08 -
8386.37 862.11 -11.52 1040 8390.92 roll -1.25 - - 1836.94 - 3.39 0.084 2087.75 -409.5 -77.86 - - 2811.09 - - - - - - - - - 16.12 -
8696.38 887.78 -8.14 1072 8701.09 roll -1.25 - - 1837.12 - 3.47 0.148 3474.81 399.7 -77.86 - - 2810.47 - - - - - - - - - 16.10 -
8760.25 894.49 -10.24 1085 8767.11 roll -1.25 - - 1836.69 - 3.47 0.087 2089.50 -399.2 -77.86 - - 2810.66 - - - - - - - - - 16.11 -
9066.41 919.39 -8.52 1116 9072.24 roll -1.25 - - 1835.12 - 4.05 0.201 663.00 -352.2 -77.86 - - 2810.66 - - - - - - - - - 16.07 -
9155.40 928.05 -9.54 1134 9162.17 roll -1.25 - - 1835.94 - 3.48 0.091 2114.31 417.0 -77.86 - - 2810.34 - - - - - - - - - 16.11 -
9461.44 951.35 -8.37 1165 9466.16 roll -1.25 - - 1835.12 - 3.41 0.153 3473.69 398.6 -77.86 - - 2810.81 - - - - - - - - - 16.09 -
9501.67 954.69 -9.59 1173 9507.03 roll -1.25 - - 1836.38 - 3.49 0.087 2088.94 -396.8 -77.86 - - 2811.31 - - - - - - - - - 16.12 -
9806.47 976.16 -9.66 1204 9807.80 no move -1.25 - - 1836.88 - - - 2089.50 - -77.86 - - 2807.56 - - - - - - - - - - -
10017 end dive: TARGET_DEPTH_EXCEEDED
10017 begin apogee
10017.72 990.86 -5.86 1225 10088.24 -0.25 1.73 0.164 2079.44 140.2 0.06 0.342 2188.81 1655.2 - 64.72 2.280 2499.31 -4.8 0.346 - - - - - - 16.08 15.60 13.17
10092 end apogee: CONTROL_FINISHED_OK
10092 begin climb
10091.37 993.00 - 1232 10172.29 1.25 2.49 0.103 2447.69 147.9 3.47 0.149 3472.44 369.9 77.86 72.49 2.225 2178.66 -4.4 0.330 - - - - - - 15.63 15.22 12.99
10210.07 985.49 8.55 1255 10214.81 roll 1.25 - - 2447.69 - 3.38 0.072 2184.62 -381.0 77.86 - - 2176.62 - - - - - - - - - 15.39 -
10520.09 955.17 10.58 1287 10525.93 done 1.25 - - 2447.25 - 4.14 0.169 737.88 -349.5 77.86 - - 2170.53 - - - - - - - - - 15.67 -
10549.03 951.50 12.22 1293 10555.86 done 1.25 - - 2447.62 - 3.63 0.074 2215.12 407.0 77.86 - - 2167.84 - - - - - - - - - 15.69 -
10855.15 919.67 11.75 1324 10859.69 done 1.25 - - 2447.75 - 3.29 0.148 3474.62 382.8 77.86 - - 2166.16 - - - - - - - - - 15.80 -
10955.19 908.88 10.84 1344 10959.72 done 1.25 - - 2447.75 - 3.27 0.077 2184.38 -394.6 77.86 - - 2167.22 - - - - - - - - - 15.85 -
11265.20 877.59 9.59 1376 11266.54 VBD 1.25 - - 2447.00 - - - 2184.62 - 77.86 - - 2162.53 - - - - - - - - - - -
11565.21 851.62 8.62 1406 11569.78 done 1.25 - - 2447.50 - 3.34 0.148 3474.88 386.3 77.86 - - 2163.62 - - - - - - - - - 15.89 -
11635.24 844.87 11.78 1420 11639.81 done 1.25 - - 2447.94 - 3.27 0.075 2182.69 -395.2 77.86 - - 2163.66 - - - - - - - - - 15.95 -
11945.25 815.03 10.28 1452 11946.58 VBD 1.25 - - 2447.38 - - - 2183.69 - 77.86 - - 2162.03 - - - - - - - - - - -
12245.27 788.11 7.96 1482 12249.84 done 1.25 - - 2447.38 - 3.33 0.145 3474.19 387.5 77.86 - - 2161.81 - - - - - - - - - 15.98 -
12405.31 772.51 8.74 1514 12409.86 done 1.25 - - 2447.50 - 3.25 0.075 2182.62 -397.4 77.86 - - 2162.72 - - - - - - - - - 16.02 -
12715.34 749.15 7.83 1546 12721.16 done 1.25 - - 2447.88 - 4.03 0.166 737.56 -358.6 77.86 - - 2158.88 - - - - - - - - - 16.00 -
12744.28 746.39 8.97 1552 12751.09 done 1.25 - - 2447.81 - 3.51 0.070 2217.94 421.8 77.86 - - 2160.59 - - - - - - - - - 16.02 -
13050.37 722.04 7.75 1583 13054.99 done 1.25 - - 2447.94 - 3.20 0.147 3475.19 392.9 77.86 - - 2160.47 - - - - - - - - - 16.02 -
13104.23 717.34 8.95 1594 13111.08 done 1.25 - - 2448.31 - 3.22 0.074 2184.06 -401.0 77.86 - - 2160.16 - - - - - - - - - 16.04 -
13410.40 693.77 7.87 1625 13416.34 done 1.25 - - 2448.50 - 3.99 0.163 736.50 -362.8 77.86 - - 2160.78 - - - - - - - - - 16.03 -
13485.52 687.38 7.24 1640 13491.15 done 1.28 - - 2446.81 - 3.52 0.069 2220.06 421.5 77.86 - - 2160.41 - - - - - - - - - 16.05 -
13790.43 663.37 8.24 1671 13791.76 VBD 1.28 - - 2445.19 - - - 2219.69 - 77.86 - - 2159.31 - - - - - - - - - - -
14090.44 640.08 7.78 1701 14094.97 done 1.28 - - 2448.50 - 3.18 0.144 3474.25 394.5 77.86 - - 2160.25 - - - - - - - - - 16.05 -
14154.32 634.74 9.19 1714 14161.16 done 1.28 - - 2448.19 - 3.22 0.071 2182.44 -401.2 77.86 - - 2159.69 - - - - - - - - - 16.07 -
14460.49 613.33 6.38 1745 14466.29 done 1.33 - - 2446.50 - 3.98 0.160 736.25 -363.4 77.86 - - 2158.38 - - - - - - - - - 16.05 -
14505.64 609.82 7.79 1754 14511.35 done 1.33 - - 2448.00 - 3.50 0.065 2220.25 424.0 77.86 - - 2157.00 - - - - - - - - - 16.08 -
14810.53 589.85 6.57 1785 14816.36 done 1.37 - - 2448.12 - 4.09 0.157 736.44 -362.8 77.86 - - 2157.06 - - - - - - - - - 16.06 -
14859.45 586.05 7.60 1795 14866.26 done 1.37 - - 2447.94 - 3.53 0.068 2222.31 420.9 77.86 - - 2159.75 - - - - - - - - - 16.08 -
15165.55 568.83 5.22 1826 15206.36 1.49 0.34 0.093 2508.56 178.3 3.28 0.144 3473.88 381.6 118.25 33.33 1.782 2017.91 -4.3 0.227 - - - - - - 16.07 15.83 13.15
15239.39 562.49 8.47 1841 15246.37 roll 1.49 - - 2508.38 - 3.24 0.070 2181.69 -398.8 118.25 - - 2015.16 - - - - - - - - - 15.90 -
15545.56 528.99 11.08 1872 15546.89 no move 1.49 - - 2508.62 - - - 2181.50 - 118.25 - - 2009.69 - - - - - - - - - - -
15845.58 495.37 10.44 1902 15850.14 done 1.49 - - 2509.31 - 3.35 0.139 3474.38 385.9 118.25 - - 2009.75 - - - - - - - - - 15.97 -
15969.45 479.48 11.78 1927 15976.34 done 1.49 - - 2509.31 - 3.24 0.070 2184.88 -398.0 118.25 - - 2010.44 - - - - - - - - - 16.00 -
16275.63 448.48 10.25 1958 16280.22 done 1.49 - - 2509.69 - 3.35 0.138 3473.38 384.6 118.25 - - 2011.03 - - - - - - - - - 15.98 -
16305.65 444.76 10.70 1964 16310.30 done 1.49 - - 2509.56 - 3.16 0.068 2181.75 -408.7 118.25 - - 2009.03 - - - - - - - - - 16.01 -
16615.65 412.04 10.37 1996 16620.22 done 1.49 - - 2507.88 - 3.31 0.138 3472.81 390.0 118.25 - - 2008.66 - - - - - - - - - 16.00 -
16745.68 398.10 10.66 2022 16750.22 done 1.49 - - 2509.44 - 3.14 0.070 2181.19 -411.3 118.25 - - 2007.97 - - - - - - - - - 16.03 -
17055.74 367.23 9.20 2054 17060.28 done 1.49 - - 2509.88 - 3.28 0.138 3475.12 394.5 118.25 - - 2009.84 - - - - - - - - - 16.02 -
17129.62 359.01 11.35 2069 17136.46 done 1.49 - - 2508.94 - 3.21 0.067 2181.94 -402.9 118.25 - - 2007.47 - - - - - - - - - 16.05 -
17435.82 331.17 8.40 2100 17437.15 VBD 1.49 - - 2509.44 - - - 2181.94 - 118.25 - - 2007.66 - - - - - - - - - - -
17735.86 305.46 8.83 2130 17740.41 done 1.49 - - 2509.62 - 3.30 0.137 3473.88 391.5 118.25 - - 2008.00 - - - - - - - - - 16.05 -
17805.90 298.26 10.21 2144 17810.45 done 1.49 - - 2509.31 - 3.20 0.067 2180.88 -404.1 118.25 - - 2007.53 - - - - - - - - - 16.06 -
18115.94 271.74 8.49 2176 18120.48 done 1.49 - - 2510.06 - 3.30 0.135 3474.31 391.9 118.25 - - 2007.09 - - - - - - - - - 16.05 -
18145.96 268.90 9.66 2182 18150.49 done 1.49 - - 2510.38 - 3.17 0.065 2178.25 -408.9 118.25 - - 2006.78 - - - - - - - - - 16.06 -
18456.00 242.64 8.18 2214 18461.81 done 1.49 - - 2510.00 - 3.93 0.149 736.69 -366.8 118.25 - - 2006.19 - - - - - - - - - 16.05 -
18534.94 234.35 10.67 2230 18541.76 done 1.49 - - 2510.00 - 3.46 0.064 2222.38 429.4 118.25 - - 2006.59 - - - - - - - - - 16.06 -
18841.08 208.19 8.61 2261 18842.41 VBD 1.49 - - 2510.62 - - - 2222.50 - 118.25 - - 2006.31 - - - - - - - - - - -
19141.13 183.69 8.13 2291 19145.65 done 1.49 - - 2510.44 - 3.16 0.134 3475.56 396.5 118.25 - - 2006.19 - - - - - - - - - 16.07 -
19164.99 181.52 7.91 2296 19171.82 done 1.49 - - 2510.31 - 3.17 0.063 2180.00 -408.7 118.25 - - 2008.19 - - - - - - - - - 16.07 -
19471.18 157.04 8.03 2327 19472.51 VBD 1.49 - - 2509.88 - - - 2180.25 - 118.25 - - 2006.06 - - - - - - - - - - -
19771.21 134.38 7.46 2357 19775.87 done 1.51 - - 2508.81 - 3.29 0.131 3475.94 393.8 118.25 - - 2006.94 - - - - - - - - - 16.07 -
19815.07 130.84 7.79 2366 19821.89 done 1.51 - - 2510.00 - 3.18 0.062 2180.44 -407.4 118.25 - - 2007.53 - - - - - - - - - 16.08 -
20121.24 106.73 8.21 2397 20125.77 done 1.51 - - 2510.81 - 3.23 0.128 3475.38 400.9 118.25 - - 2006.62 - - - - - - - - - 16.03 -
20161.27 104.06 6.70 2405 20165.78 done 1.55 - - 2509.88 - 3.17 0.059 2178.88 -409.0 118.25 - - 2007.03 - - - - - - - - - 16.08 -
20466.30 87.24 5.14 2460 20507.74 1.68 0.22 0.103 2551.62 189.7 3.30 0.129 3475.44 392.9 159.83 34.07 1.211 1848.66 -4.6 0.056 - - - - - - 16.04 15.89 13.21
20526.30 83.69 6.23 2472 20531.99 roll 1.73 - - 2553.38 - 3.21 0.061 2178.12 -404.1 159.83 - - 1844.88 - - - - - - - - - 15.92 -
20711.36 72.47 4.70 2509 20758.19 1.87 0.26 0.102 2599.88 178.8 3.97 0.146 735.31 -363.4 207.68 39.03 1.181 1652.53 -4.9 0.050 - - - - - - 15.95 15.76 13.14
20981.36 42.69 12.81 2563 20987.11 roll 1.87 - - 2600.50 - 3.56 0.063 2223.44 418.0 207.68 - - 1646.31 - - - - - - - - - 15.87 -
21166.39 26.80 7.25 2600 21172.04 done 1.90 - - 2600.12 - 3.19 0.129 3474.81 392.3 207.68 - - 1645.84 - - - - - - - - - 15.88 -
21231.41 22.25 6.73 2613 21237.19 done 1.94 - - 2600.38 - 3.20 0.059 2177.88 -405.3 207.68 - - 1644.16 - - - - - - - - - 15.91 -
21416.43 22.52 -0.42 2650 21520.54 2.30 0.63 0.082 2702.31 161.8 4.06 0.142 737.00 -354.9 328.55 97.10 1.126 1159.25 -5.0 0.017 - - - - - - 15.91 15.55 13.11
21598.29 12.03 9.12 2686 21604.04 roll 2.30 - - 2702.25 - 3.59 0.060 2224.00 414.2 328.55 - - 1157.09 - - - - - - - - - 15.66 -
21699 end climb: SURFACE_DEPTH_REACHED
21699 begin surface coast
21719 end surface coast: CONTROL_FINISHED_OK
21719 begin surface
SM 0.58 - - - - 180.4 - 2.803 769.1 - 16.34 0.078 769.5 47.1 - 0.34 0.099 768.6 2250.0 -1.347 - - 30.36 15.69 15.74 -