NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 165 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 54.29 of 575.00 AH used of 24V (90.56% remains)
• Surface angle -62.8 deg, depth 0.46 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.79 (SM_CC=425)
• GPS1 time: 30 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.55 - - - 74.49 VBD -1.25 - - 175.25 - - - 2123.25 - -77.86 67.42 0.005 2315.31 - - - - - - - - - - 15.66
74.77 3.00 -4.06 13 111.80 -1.25 13.65 0.264 1836.44 121.7 3.67 0.126 3472.56 367.7 -77.86 13.15 0.006 2816.28 38.1 -3.192 - - - - - - 15.65 15.66 15.69
334.69 57.58 -15.86 65 340.34 roll -1.25 - - 1836.19 - 3.50 0.064 2082.75 -397.1 -77.86 - - 2816.97 - - - - - - - - - 15.82 -
519.63 82.27 -12.25 102 525.40 roll -1.25 - - 1836.06 - 3.67 0.119 3472.69 378.7 -77.86 - - 2816.97 - - - - - - - - - 15.86 -
594.66 93.53 -15.76 117 600.38 roll -1.25 - - 1836.62 - 3.47 0.063 2083.94 -400.2 -77.86 - - 2818.25 - - - - - - - - - 15.88 -
784.66 117.47 -11.76 141 785.99 no move -1.25 - - 1836.25 - - - 2084.00 - -77.86 - - 2817.59 - - - - - - - - - - -
1084.71 148.42 -10.60 171 1086.04 no move -1.25 - - 1836.31 - - - 2083.94 - -77.86 - - 2818.22 - - - - - - - - - - -
1384.76 175.83 -9.36 201 1390.39 roll -1.25 - - 1836.19 - 3.70 0.120 3473.81 375.6 -77.86 - - 2817.41 - - - - - - - - - 15.99 -
1419.80 179.65 -10.91 208 1424.37 roll -1.25 - - 1836.19 - 3.46 0.064 2082.50 -402.1 -77.86 - - 2818.72 - - - - - - - - - 15.99 -
1729.98 213.09 -10.99 240 1735.65 roll -1.25 - - 1836.12 - 3.99 0.168 664.12 -355.5 -77.86 - - 2816.34 - - - - - - - - - 15.99 -
1788.73 220.71 -13.22 252 1795.59 roll -1.25 - - 1835.88 - 3.48 0.061 2117.88 417.7 -77.86 - - 2818.66 - - - - - - - - - 16.02 -
2094.91 254.87 -10.44 283 2100.53 roll -1.25 - - 1836.44 - 3.62 0.124 3474.06 374.6 -77.86 - - 2816.00 - - - - - - - - - 16.02 -
2183.86 266.27 -13.02 301 2190.68 roll -1.25 - - 1836.62 - 3.40 0.065 2082.62 -409.2 -77.86 - - 2817.81 - - - - - - - - - 16.03 -
2490.05 298.46 -10.10 332 2495.80 roll -1.25 - - 1834.69 - 3.94 0.168 662.75 -360.4 -77.86 - - 2818.41 - - - - - - - - - 16.02 -
2638.97 317.00 -12.55 362 2645.81 roll -1.25 - - 1836.56 - 3.55 0.063 2117.62 409.8 -77.86 - - 2817.62 - - - - - - - - - 16.06 -
2945.10 347.87 -9.46 393 2950.93 roll -1.25 - - 1836.00 - 4.09 0.166 664.06 -355.4 -77.86 - - 2817.75 - - - - - - - - - 16.04 -
2980.12 351.84 -11.35 400 2984.79 roll -1.25 - - 1835.94 - 3.53 0.062 2117.25 411.7 -77.86 - - 2815.47 - - - - - - - - - 16.08 -
3290.18 384.05 -10.33 432 3295.03 roll -1.25 - - 1835.25 - 3.60 0.128 3471.75 376.2 -77.86 - - 2816.00 - - - - - - - - - 16.06 -
3374.05 394.15 -12.13 449 3381.05 roll -1.25 - - 1836.50 - 3.36 0.068 2083.38 -413.2 -77.86 - - 2817.97 - - - - - - - - - 16.08 -
3680.21 427.93 -11.44 480 3686.03 roll -1.25 - - 1836.38 - 3.96 0.173 664.12 -358.4 -77.86 - - 2813.78 - - - - - - - - - 16.05 -
3775.23 440.43 -13.30 499 3779.96 roll -1.25 - - 1836.25 - 3.47 0.066 2118.69 419.2 -77.86 - - 2815.62 - - - - - - - - - 16.08 -
4085.25 474.14 -9.68 531 4086.58 no move -1.25 - - 1836.69 - - - 2119.38 - -77.86 - - 2815.53 - - - - - - - - - - -
4385.27 501.95 -9.37 561 4390.88 roll -1.25 - - 1836.56 - 3.58 0.132 3472.44 377.9 -77.86 - - 2815.25 - - - - - - - - - 16.09 -
4414.14 504.89 -10.18 567 4421.02 roll -1.25 - - 1836.31 - 3.41 0.069 2082.75 -407.5 -77.86 - - 2815.50 - - - - - - - - - 16.09 -
4720.29 532.64 -9.00 598 4721.62 no move -1.25 - - 1836.31 - - - 2082.62 - -77.86 - - 2814.19 - - - - - - - - - - -
5020.32 559.73 -9.14 628 5026.14 roll -1.25 - - 1836.44 - 3.85 0.180 664.00 -368.5 -77.86 - - 2811.69 - - - - - - - - - 16.07 -
5075.34 566.03 -11.49 639 5080.93 roll -1.25 - - 1836.44 - 3.49 0.069 2118.12 416.7 -77.86 - - 2812.81 - - - - - - - - - 16.11 -
5380.35 594.03 -8.77 670 5386.11 roll -1.25 - - 1835.12 - 3.62 0.135 3472.69 374.2 -77.86 - - 2813.94 - - - - - - - - - 16.09 -
5475.44 603.16 -10.51 689 5480.96 roll -1.25 - - 1836.31 - 3.42 0.073 2084.12 -406.0 -77.86 - - 2812.56 - - - - - - - - - 16.10 -
5780.39 629.67 -8.89 720 5786.03 roll -1.25 - - 1835.75 - 3.72 0.133 3471.12 372.8 -77.86 - - 2812.41 - - - - - - - - - 16.10 -
5865.47 637.79 -9.87 737 5871.00 roll -1.25 - - 1835.69 - 3.40 0.073 2084.00 -408.0 -77.86 - - 2812.91 - - - - - - - - - 16.10 -
6170.42 665.06 -8.36 768 6171.75 no move -1.25 - - 1836.81 - - - 2084.56 - -77.86 - - 2812.56 - - - - - - - - - - -
6470.44 691.58 -9.35 798 6476.28 roll -1.25 - - 1836.50 - 4.01 0.185 664.00 -354.3 -77.86 - - 2809.72 - - - - - - - - - 16.07 -
6645.50 709.18 -10.21 833 6651.08 roll -1.25 - - 1836.06 - 3.53 0.073 2116.12 411.4 -77.86 - - 2809.59 - - - - - - - - - 16.11 -
6950.49 735.47 -8.30 864 6951.82 no move -1.25 - - 1836.81 - - - 2115.69 - -77.86 - - 2811.19 - - - - - - - - - - -
7250.52 761.07 -9.12 894 7256.28 roll -1.25 - - 1836.38 - 3.64 0.138 3471.25 372.4 -77.86 - - 2810.12 - - - - - - - - - 16.10 -
7319.39 767.75 -9.54 908 7326.25 roll -1.25 - - 1836.44 - 3.40 0.077 2085.19 -407.7 -77.86 - - 2810.56 - - - - - - - - - 16.11 -
7625.55 794.13 -7.47 939 7631.38 roll -1.25 - - 1836.69 - 4.05 0.187 663.81 -351.0 -77.86 - - 2810.50 - - - - - - - - - 16.08 -
7714.55 802.43 -8.97 957 7721.33 roll -1.25 - - 1836.44 - 3.58 0.077 2115.94 405.6 -77.86 - - 2809.94 - - - - - - - - - 16.12 -
8020.59 825.48 -7.02 988 8026.21 roll -1.25 - - 1836.31 - 3.67 0.139 3473.88 370.0 -77.86 - - 2808.94 - - - - - - - - - 16.10 -
8045.61 827.96 -7.26 993 8050.19 roll -1.25 - - 1836.25 - 3.41 0.076 2085.62 -407.1 -77.86 - - 2809.22 - - - - - - - - - 16.11 -
8355.62 851.52 -8.80 1025 8361.45 roll -1.25 - - 1835.00 - 4.03 0.188 664.00 -352.8 -77.86 - - 2810.88 - - - - - - - - - 16.07 -
8420.83 856.66 -9.19 1038 8426.24 roll -1.25 - - 1836.25 - 3.56 0.078 2115.19 407.6 -77.86 - - 2807.16 - - - - - - - - - 16.12 -
8725.66 880.57 -8.32 1069 8726.99 no move -1.25 - - 1836.25 - - - 2114.75 - -77.86 - - 2808.56 - - - - - - - - - - -
9025.68 903.04 -7.27 1099 9027.01 no move -1.25 - - 1836.44 - - - 2114.62 - -77.86 - - 2809.59 - - - - - - - - - - -
9325.73 926.13 -8.56 1129 9327.06 no move -1.25 - - 1836.31 - - - 2115.00 - -77.86 - - 2809.81 - - - - - - - - - - -
9625.78 948.15 -6.96 1159 9631.55 roll -1.25 - - 1836.69 - 3.65 0.144 3472.62 372.0 -77.86 - - 2807.00 - - - - - - - - - 16.10 -
9734.66 956.62 -6.70 1181 9741.55 roll -1.25 - - 1836.44 - 3.44 0.083 2086.06 -403.1 -77.86 - - 2809.53 - - - - - - - - - 16.11 -
10040.86 981.17 -7.26 1212 10046.64 roll -1.25 - - 1835.88 - 3.71 0.143 3473.12 373.9 -77.86 - - 2809.56 - - - - - - - - - 16.10 -
10095.90 986.91 -11.62 1223 10100.47 roll -1.25 - - 1836.25 - 3.40 0.081 2086.62 -407.8 -77.86 - - 2809.59 - - - - - - - - - 16.11 -
10146 end dive: TARGET_DEPTH_EXCEEDED
10146 begin apogee
10147.13 991.15 -8.77 1229 10217.01 -0.25 1.75 0.160 2081.06 139.9 0.07 0.324 2186.62 1428.6 - 64.34 2.302 2498.62 -4.8 0.349 - - - - - - 16.06 15.58 12.99
10219 end apogee: CONTROL_FINISHED_OK
10219 begin climb
10218.42 992.50 - 1236 10298.21 1.25 2.51 0.099 2447.81 146.1 3.70 0.140 3471.56 347.3 77.86 71.80 2.246 2180.16 -4.4 0.328 - - - - - - 15.64 15.23 12.83
10309.83 987.91 5.34 1254 10352.27 done 1.37 - - 2448.12 - 3.29 0.068 2185.69 -390.8 116.55 37.23 2.151 2022.34 -4.2 0.326 - - - - - - - 15.35 12.72
10651.02 948.65 12.67 1292 10656.66 done 1.37 - - 2448.12 - 3.62 0.141 3471.31 355.1 116.55 - - 2011.03 - - - - - - - - - 15.64 -
10699.89 942.15 13.20 1302 10706.88 done 1.37 - - 2448.50 - 3.25 0.071 2186.06 -395.5 116.55 - - 2012.44 - - - - - - - - - 15.67 -
11006.08 905.50 11.79 1333 11011.68 done 1.37 - - 2447.94 - 3.59 0.141 3470.69 357.8 116.55 - - 2009.44 - - - - - - - - - 15.78 -
11114.97 890.38 14.51 1355 11121.85 done 1.37 - - 2447.94 - 3.21 0.072 2185.88 -400.3 116.55 - - 2008.97 - - - - - - - - - 15.83 -
11421.18 852.34 12.38 1386 11422.52 VBD 1.37 - - 2447.81 - - - 2186.00 - 116.55 - - 2006.78 - - - - - - - - - - -
11721.23 816.08 12.36 1416 11726.83 done 1.37 - - 2447.31 - 3.54 0.142 3472.19 363.3 116.55 - - 2006.34 - - - - - - - - - 15.92 -
11736.24 814.22 11.57 1419 11740.76 done 1.37 - - 2448.25 - 3.19 0.069 2184.69 -403.6 116.55 - - 2006.00 - - - - - - - - - 15.93 -
12046.27 776.99 11.92 1451 12051.88 done 1.37 - - 2448.25 - 3.53 0.141 3471.25 364.5 116.55 - - 2004.75 - - - - - - - - - 15.94 -
12071.28 774.05 12.40 1456 12075.83 done 1.37 - - 2448.38 - 3.17 0.069 2183.88 -406.1 116.55 - - 2005.94 - - - - - - - - - 15.95 -
12381.32 736.36 11.31 1488 12387.14 done 1.37 - - 2448.81 - 3.99 0.161 738.25 -362.3 116.55 - - 2004.91 - - - - - - - - - 15.96 -
12466.33 725.42 12.67 1505 12471.08 done 1.37 - - 2448.88 - 3.57 0.067 2216.56 414.1 116.55 - - 2003.62 - - - - - - - - - 15.99 -
12776.38 692.02 9.88 1537 12781.17 done 1.37 - - 2449.31 - 3.39 0.140 3471.00 370.0 116.55 - - 2004.88 - - - - - - - - - 15.98 -
12810.23 688.24 11.99 1544 12817.07 done 1.37 - - 2448.75 - 3.13 0.069 2183.00 -411.5 116.55 - - 2003.84 - - - - - - - - - 16.00 -
13116.42 655.94 10.42 1575 13121.00 done 1.37 - - 2449.25 - 3.48 0.139 3473.38 370.8 116.55 - - 2002.44 - - - - - - - - - 16.01 -
13130.27 654.37 10.14 1578 13137.11 done 1.37 - - 2449.44 - 3.15 0.067 2184.19 -409.3 116.55 - - 2004.16 - - - - - - - - - 16.02 -
13436.46 625.24 10.03 1609 13437.80 VBD 1.37 - - 2448.75 - - - 2183.88 - 116.55 - - 2001.66 - - - - - - - - - - -
13736.50 595.35 10.53 1639 13741.11 done 1.37 - - 2448.62 - 3.46 0.138 3472.25 372.4 116.55 - - 2002.84 - - - - - - - - - 16.02 -
13770.36 591.74 10.19 1646 13777.33 done 1.37 - - 2448.44 - 3.14 0.066 2183.50 -410.4 116.55 - - 2003.16 - - - - - - - - - 16.04 -
14076.55 560.85 9.40 1677 14077.88 VBD 1.37 - - 2448.62 - - - 2183.75 - 116.55 - - 2002.31 - - - - - - - - - - -
14376.59 532.22 9.43 1707 14382.32 done 1.37 - - 2447.19 - 3.92 0.156 735.69 -369.4 116.55 - - 2002.91 - - - - - - - - - 16.04 -
14401.60 529.61 9.53 1712 14406.33 done 1.37 - - 2448.38 - 3.55 0.065 2220.06 418.1 116.55 - - 2002.41 - - - - - - - - - 16.04 -
14711.64 502.21 8.09 1744 14712.97 VBD 1.37 - - 2448.88 - - - 2219.88 - 116.55 - - 2001.53 - - - - - - - - - - -
15011.67 475.20 8.51 1774 15017.51 done 1.37 - - 2448.38 - 4.01 0.152 735.44 -370.2 116.55 - - 2001.38 - - - - - - - - - 16.04 -
15070.82 468.58 11.43 1786 15077.45 done 1.37 - - 2448.56 - 3.58 0.065 2218.69 414.3 116.55 - - 2001.75 - - - - - - - - - 16.05 -
15376.78 440.97 9.03 1817 15381.34 done 1.37 - - 2448.81 - 3.37 0.136 3471.19 371.7 116.55 - - 2000.88 - - - - - - - - - 16.05 -
15410.61 437.83 8.64 1824 15417.46 done 1.37 - - 2448.50 - 3.12 0.064 2181.75 -413.3 116.55 - - 2001.47 - - - - - - - - - 16.06 -
15716.83 412.55 8.18 1855 15722.63 done 1.37 - - 2447.50 - 3.93 0.152 735.94 -367.9 116.55 - - 2002.31 - - - - - - - - - 16.05 -
15783.06 406.38 9.35 1868 15788.59 done 1.37 - - 2448.81 - 3.56 0.061 2219.00 416.6 116.55 - - 2000.78 - - - - - - - - - 16.06 -
16086.91 381.43 8.24 1899 16091.46 done 1.37 - - 2448.94 - 3.38 0.132 3471.75 370.6 116.55 - - 2001.34 - - - - - - - - - 16.05 -
16150.78 375.24 9.92 1912 16157.61 done 1.37 - - 2448.88 - 3.12 0.064 2179.81 -414.1 116.55 - - 2000.16 - - - - - - - - - 16.04 -
16457.00 349.19 8.34 1943 16462.79 done 1.37 - - 2448.88 - 3.83 0.152 735.56 -377.1 116.55 - - 1998.69 - - - - - - - - - 16.04 -
16472.00 347.77 8.57 1946 16476.72 done 1.37 - - 2447.81 - 3.55 0.060 2221.12 418.5 116.55 - - 2001.94 - - - - - - - - - 16.05 -
16782.10 324.80 7.35 1978 16788.06 1.39 0.17 0.107 2484.81 217.6 4.01 0.146 735.88 -370.4 116.55 - - 2001.59 - - - - - - - - 16.04 16.04 -
16790.99 324.04 7.10 1980 16797.80 done 1.42 - - 2485.88 - 3.55 0.058 2220.75 418.3 116.55 - - 2000.88 - - - - - - - - - 16.06 -
17097.11 299.39 8.06 2011 17101.67 done 1.42 - - 2485.50 - 3.36 0.128 3472.19 372.5 116.55 - - 2001.94 - - - - - - - - - 16.05 -
17120.97 296.89 8.98 2016 17127.81 done 1.42 - - 2486.81 - 3.11 0.061 2180.06 -415.5 116.55 - - 2000.50 - - - - - - - - - 16.07 -
17427.17 270.97 8.33 2047 17432.96 done 1.42 - - 2486.38 - 3.78 0.147 735.38 -382.2 116.55 - - 1999.91 - - - - - - - - - 16.05 -
17446.10 269.30 8.73 2051 17452.92 done 1.42 - - 2486.00 - 3.50 0.058 2224.44 425.4 116.55 - - 2000.09 - - - - - - - - - 16.06 -
17752.22 242.55 8.87 2082 17758.04 done 1.42 - - 2486.75 - 3.91 0.143 735.06 -380.9 116.55 - - 1999.19 - - - - - - - - - 16.04 -
17901.19 227.70 10.06 2112 17908.04 done 1.42 - - 2486.12 - 3.56 0.061 2222.44 417.8 116.55 - - 2000.47 - - - - - - - - - 16.07 -
18207.31 203.93 7.57 2143 18211.87 done 1.42 - - 2486.56 - 3.34 0.128 3474.12 374.8 116.55 - - 2000.59 - - - - - - - - - 16.06 -
18327.34 193.19 8.95 2167 18331.87 done 1.42 - - 2486.12 - 3.12 0.062 2180.25 -414.7 116.55 - - 1999.91 - - - - - - - - - 16.06 -
18637.39 170.78 6.67 2199 18641.95 done 1.46 - - 2486.31 - 3.42 0.126 3474.06 378.3 116.55 - - 2001.03 - - - - - - - - - 16.04 -
18737.46 163.25 7.60 2219 18741.92 done 1.46 - - 2486.81 - 3.12 0.060 2178.81 -415.1 116.55 - - 2000.12 - - - - - - - - - 16.05 -
19047.46 143.72 6.18 2251 19053.25 done 1.52 - - 2485.81 - 3.91 0.143 735.06 -369.2 116.55 - - 1999.56 - - - - - - - - - 16.04 -
19182.48 132.91 7.62 2278 19188.08 done 1.52 - - 2486.69 - 3.51 0.058 2223.25 424.0 116.55 - - 1999.38 - - - - - - - - - 16.05 -
19487.56 118.10 4.64 2309 19532.92 1.66 0.34 0.080 2552.25 192.8 4.05 0.138 736.00 -367.2 165.17 37.26 1.256 1824.50 -4.7 0.074 - - - - - - 16.05 15.86 13.07
19757.58 94.50 9.36 2363 19763.33 roll 1.66 - - 2551.38 - 3.56 0.059 2221.38 417.2 165.17 - - 1820.22 - - - - - - - - - 15.94 -
19942.86 82.57 5.58 2400 19979.08 done 1.77 - - 2551.06 - 4.09 0.137 737.06 -362.9 200.35 29.16 1.184 1682.16 -4.7 0.055 - - - - - - - 15.78 13.01
20117.67 69.41 7.35 2435 20123.40 roll 1.79 - - 2551.62 - 3.59 0.058 2222.56 413.8 200.35 - - 1677.44 - - - - - - - - - 15.88 -
20302.70 58.18 6.17 2472 20304.18 pitch 1.84 0.22 0.093 2594.44 194.6 - - 2222.19 - 200.35 - - 1676.06 - - - - - - - - 15.90 - -
20482.78 46.32 5.81 2508 20515.17 done 1.94 - - 2595.50 - 3.38 0.124 3471.88 369.7 232.28 26.83 1.122 1552.06 -4.6 0.032 - - - - - - - 15.78 13.04
20568.19 41.97 5.07 2525 20609.45 2.07 0.29 0.084 2648.88 184.1 3.19 0.055 2179.56 -405.1 274.86 35.84 1.120 1379.00 -4.8 0.030 - - - - - - 15.81 15.84 12.97
20788.03 28.31 6.71 2569 20793.88 roll 2.11 - - 2648.19 - 3.49 0.117 3471.44 370.2 274.86 - - 1373.72 - - - - - - - - - 15.78 -
20848.06 24.18 6.81 2581 20853.86 roll 2.14 - - 2648.44 - 3.18 0.057 2179.75 -406.2 274.86 - - 1372.31 - - - - - - - - - 15.81 -
21033.12 13.23 6.73 2618 21038.91 roll 2.18 - - 2648.94 - 4.00 0.141 735.00 -361.2 274.86 - - 1372.06 - - - - - - - - - 15.82 -
21108.21 7.88 6.89 2633 21113.94 roll back 2.22 0.18 0.097 2685.50 203.1 3.60 0.057 2223.44 413.5 274.86 - - 1372.25 - - - - - - - - 15.83 15.87 -
21204 end climb: SURFACE_DEPTH_REACHED
21204 begin surface coast
21234 end surface coast: CONTROL_FINISHED_OK
21234 begin surface
SM 0.50 - - - - 177.7 2.04 0.232 768.3 376.6 16.28 0.096 770.2 47.3 - 0.34 0.095 766.4 2243.5 -1.207 - - 12.74 15.84 15.88 -