NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 241 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 75.67 of 575.00 AH used of 24V (86.84% remains)
• Surface angle -63.9 deg, depth 0.92 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.51 (SM_CC=425)
• GPS1 time: 25 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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 - - - 84.74 VBD -1.25 - - 172.88 - - - 2120.62 - -77.86 77.40 0.005 2521.28 - - - - - - - - - - 15.61
85.00 3.74 -4.22 15 116.25 -1.25 13.76 0.258 1836.69 120.9 3.66 0.118 3473.06 369.5 -77.86 7.14 0.008 2818.69 41.7 -3.283 - - - - - - 15.63 15.60 15.64
339.10 62.16 -22.65 66 344.89 roll -1.25 - - 1837.19 - 3.53 0.058 2083.94 -393.5 -77.86 - - 2819.53 - - - - - - - - - 15.81 -
524.17 94.64 -15.49 103 529.96 roll -1.25 - - 1836.75 - 3.71 0.112 3474.38 374.8 -77.86 - - 2817.22 - - - - - - - - - 15.85 -
754.25 129.46 -13.34 149 758.96 roll -1.25 - - 1836.62 - 3.49 0.057 2082.94 -398.7 -77.86 - - 2819.19 - - - - - - - - - 15.89 -
1064.27 161.98 -10.50 181 1070.03 roll -1.25 - - 1836.88 - 3.65 0.113 3474.88 381.4 -77.86 - - 2817.47 - - - - - - - - - 15.94 -
1293.23 188.61 -12.19 227 1300.06 roll -1.25 - - 1837.31 - 3.48 0.059 2081.81 -400.3 -77.86 - - 2818.56 - - - - - - - - - 15.96 -
1599.35 223.08 -11.54 258 1605.11 roll -1.25 - - 1837.12 - 3.66 0.115 3474.38 380.5 -77.86 - - 2818.84 - - - - - - - - - 15.99 -
1724.38 238.46 -12.45 283 1728.96 roll -1.25 - - 1837.19 - 3.49 0.059 2083.00 -398.7 -77.86 - - 2817.62 - - - - - - - - - 16.00 -
2034.42 273.05 -11.02 315 2040.04 roll -1.25 - - 1837.19 - 3.64 0.116 3474.38 382.2 -77.86 - - 2816.62 - - - - - - - - - 16.01 -
2069.43 277.24 -12.10 322 2074.01 roll -1.25 - - 1837.19 - 3.47 0.059 2083.25 -400.9 -77.86 - - 2817.44 - - - - - - - - - 16.01 -
2379.46 312.24 -11.34 354 2380.79 no move -1.25 - - 1836.88 - - - 2083.25 - -77.86 - - 2818.56 - - - - - - - - - - -
2679.49 346.40 -10.38 384 2685.14 roll -1.25 - - 1837.19 - 3.72 0.118 3473.62 373.8 -77.86 - - 2818.38 - - - - - - - - - 16.04 -
2758.43 356.30 -12.69 400 2765.27 roll -1.25 - - 1836.94 - 3.46 0.062 2084.19 -401.6 -77.86 - - 2818.31 - - - - - - - - - 16.04 -
3064.56 388.63 -10.53 431 3070.39 roll -1.25 - - 1836.81 - 4.05 0.164 664.12 -350.6 -77.86 - - 2816.91 - - - - - - - - - 16.02 -
3133.56 397.13 -12.16 445 3140.32 roll -1.25 - - 1836.31 - 3.46 0.053 2120.69 421.0 -77.86 - - 2817.44 - - - - - - - - - 16.04 -
3439.61 428.55 -9.77 476 3440.94 no move -1.25 - - 1837.31 - - - 2120.31 - -77.86 - - 2817.97 - - - - - - - - - - -
3739.66 457.90 -9.65 506 3740.99 no move -1.25 - - 1837.25 - - - 2120.31 - -77.86 - - 2817.50 - - - - - - - - - - -
4039.71 487.13 -9.92 536 4041.05 no move -1.25 - - 1836.62 - - - 2121.25 - -77.86 - - 2816.81 - - - - - - - - - - -
4339.77 514.78 -8.82 566 4345.62 roll -1.25 - - 1837.38 - 4.17 0.166 663.06 -349.7 -77.86 - - 2816.53 - - - - - - - - - 16.04 -
4384.81 519.86 -11.15 575 4389.44 roll -1.25 - - 1836.44 - 3.49 0.056 2119.12 417.2 -77.86 - - 2818.91 - - - - - - - - - 16.07 -
4694.85 549.42 -8.43 607 4696.18 no move -1.25 - - 1837.19 - - - 2119.50 - -77.86 - - 2816.69 - - - - - - - - - - -
4994.90 577.61 -9.48 637 5000.52 roll -1.25 - - 1836.62 - 3.56 0.124 3473.31 380.3 -77.86 - - 2818.41 - - - - - - - - - 16.06 -
5040.07 581.40 -8.41 646 5045.52 roll -1.25 - - 1836.88 - 3.42 0.064 2084.31 -406.1 -77.86 - - 2813.72 - - - - - - - - - 16.08 -
5344.99 607.67 -8.26 677 5350.77 roll -1.25 - - 1835.81 - 3.70 0.123 3473.81 375.5 -77.86 - - 2817.94 - - - - - - - - - 16.08 -
5510.06 624.74 -10.07 710 5514.65 roll -1.25 - - 1836.56 - 3.44 0.066 2085.19 -403.7 -77.86 - - 2818.31 - - - - - - - - - 16.08 -
5820.13 655.01 -9.90 742 5825.91 roll -1.25 - - 1837.00 - 3.73 0.124 3473.44 372.2 -77.86 - - 2813.12 - - - - - - - - - 16.08 -
5889.01 662.00 -9.80 756 5895.90 roll -1.25 - - 1836.25 - 3.45 0.066 2084.31 -402.6 -77.86 - - 2817.09 - - - - - - - - - 16.08 -
6195.19 689.65 -9.65 787 6201.04 roll -1.25 - - 1837.12 - 4.07 0.174 664.94 -348.7 -77.86 - - 2812.69 - - - - - - - - - 16.05 -
6250.22 694.83 -9.91 798 6254.95 roll -1.25 - - 1837.00 - 3.55 0.060 2118.88 409.6 -77.86 - - 2815.00 - - - - - - - - - 16.07 -
6560.25 720.49 -7.89 830 6566.08 roll -1.25 - - 1836.00 - 4.16 0.173 663.88 -349.8 -77.86 - - 2816.16 - - - - - - - - - 16.05 -
6639.17 728.15 -10.49 846 6646.03 roll -1.25 - - 1836.94 - 3.54 0.061 2117.25 410.6 -77.86 - - 2814.00 - - - - - - - - - 16.08 -
6945.31 753.47 -8.69 877 6951.08 roll -1.25 - - 1837.19 - 3.62 0.129 3473.19 374.6 -77.86 - - 2812.97 - - - - - - - - - 16.07 -
7024.20 760.81 -9.35 893 7031.07 roll -1.25 - - 1836.81 - 3.42 0.067 2084.50 -406.0 -77.86 - - 2813.03 - - - - - - - - - 16.08 -
7330.37 785.88 -7.87 924 7336.34 roll -1.25 - - 1836.88 - 4.08 0.179 663.88 -348.2 -77.86 - - 2814.28 - - - - - - - - - 16.04 -
7379.30 790.51 -8.78 934 7386.27 roll -1.25 - - 1836.81 - 3.55 0.063 2114.88 408.7 -77.86 - - 2812.16 - - - - - - - - - 16.08 -
7685.42 814.52 -7.89 965 7691.26 roll -1.25 - - 1837.06 - 4.15 0.175 664.69 -349.4 -77.86 - - 2810.47 - - - - - - - - - 16.04 -
7800.44 825.62 -9.61 988 7806.04 roll -1.25 - - 1837.00 - 3.55 0.065 2116.06 408.8 -77.86 - - 2811.25 - - - - - - - - - 16.08 -
8105.47 849.14 -7.05 1019 8111.09 roll -1.25 - - 1835.81 - 3.67 0.133 3471.88 369.4 -77.86 - - 2813.38 - - - - - - - - - 16.07 -
8174.34 855.34 -8.99 1033 8181.22 roll -1.25 - - 1836.56 - 3.43 0.070 2084.88 -404.4 -77.86 - - 2814.59 - - - - - - - - - 16.09 -
8480.55 878.22 -7.52 1064 8486.49 roll -1.25 - - 1836.81 - 4.09 0.182 664.19 -347.4 -77.86 - - 2811.84 - - - - - - - - - 16.04 -
8545.61 883.73 -9.31 1077 8551.15 roll -1.25 - - 1836.69 - 3.54 0.066 2115.62 410.0 -77.86 - - 2809.53 - - - - - - - - - 16.08 -
8850.58 906.70 -7.42 1108 8851.91 no move -1.25 - - 1836.62 - - - 2115.25 - -77.86 - - 2809.03 - - - - - - - - - - -
9150.62 928.91 -8.32 1138 9156.33 roll -1.25 - - 1837.31 - 4.15 0.178 664.81 -349.5 -77.86 - - 2811.06 - - - - - - - - - 16.04 -
9185.64 931.34 -7.67 1145 9191.23 roll -1.25 - - 1836.88 - 3.54 0.067 2115.81 409.9 -77.86 - - 2811.94 - - - - - - - - - 16.08 -
9490.75 954.03 -7.77 1176 9496.29 roll -1.25 - - 1836.69 - 3.62 0.134 3472.88 374.9 -77.86 - - 2812.88 - - - - - - - - - 16.07 -
9529.54 957.26 -7.41 1184 9536.42 roll -1.25 - - 1836.94 - 3.40 0.071 2086.88 -407.6 -77.86 - - 2811.62 - - - - - - - - - 16.08 -
9835.74 980.53 -7.59 1215 9837.07 no move -1.25 - - 1836.44 - - - 2086.81 - -77.86 - - 2808.72 - - - - - - - - - - -
9955 end dive: TARGET_DEPTH_EXCEEDED
9955 begin apogee
9957.04 990.50 -8.02 1227 10027.75 -0.25 1.74 0.156 2079.75 139.8 0.08 0.291 2186.38 1244.6 - 65.63 2.273 2498.62 -4.7 0.347 - - - - - - 16.02 15.59 12.91
10029 end apogee: CONTROL_FINISHED_OK
10029 begin climb
10029.32 991.73 - 1234 10107.80 1.25 2.52 0.097 2448.38 146.3 - - 2186.19 - 77.86 72.88 2.210 2183.78 -4.3 0.327 - - - - - - 15.62 - 12.93
10406.05 961.62 8.50 1275 10411.47 done 1.25 - - 2448.44 - 3.63 0.132 3471.69 354.1 77.86 - - 2171.19 - - - - - - - - - 15.67 -
10450.87 956.66 11.02 1284 10455.57 done 1.25 - - 2449.00 - 3.26 0.062 2183.81 -395.1 77.86 - - 2170.19 - - - - - - - - - 15.70 -
10760.93 928.37 7.75 1316 10766.53 done 1.25 - - 2448.69 - 3.57 0.132 3471.75 360.8 77.86 - - 2165.66 - - - - - - - - - 15.80 -
10799.79 924.39 9.93 1324 10806.64 done 1.25 - - 2448.06 - 3.21 0.062 2183.06 -401.5 77.86 - - 2169.44 - - - - - - - - - 15.81 -
11106.00 895.63 8.13 1355 11107.33 VBD 1.25 - - 2448.62 - - - 2183.25 - 77.86 - - 2165.34 - - - - - - - - - - -
11406.06 868.91 7.92 1385 11411.67 done 1.25 - - 2448.56 - 3.54 0.132 3472.12 364.1 77.86 - - 2167.28 - - - - - - - - - 15.91 -
11421.07 867.74 7.84 1388 11425.60 done 1.25 - - 2448.44 - 3.18 0.061 2182.31 -405.6 77.86 - - 2166.38 - - - - - - - - - 15.92 -
11731.12 841.04 9.04 1420 11732.46 VBD 1.25 - - 2446.88 - - - 2182.69 - 77.86 - - 2166.22 - - - - - - - - - - -
12031.17 819.09 7.77 1450 12037.00 done 1.25 - - 2448.19 - 4.01 0.150 736.19 -360.7 77.86 - - 2161.31 - - - - - - - - - 15.96 -
12100.17 812.98 7.80 1464 12106.95 done 1.25 - - 2448.94 - 3.59 0.059 2217.69 412.7 77.86 - - 2161.53 - - - - - - - - - 15.97 -
12406.24 788.00 7.95 1495 12410.81 done 1.25 - - 2449.06 - 3.42 0.134 3471.19 366.5 77.86 - - 2161.81 - - - - - - - - - 15.98 -
12446.25 784.71 8.27 1503 12450.78 done 1.25 - - 2449.12 - 3.17 0.061 2182.19 -406.6 77.86 - - 2161.75 - - - - - - - - - 15.99 -
12756.30 760.02 7.84 1535 12762.23 done 1.25 - - 2448.69 - 3.99 0.149 736.56 -362.3 77.86 - - 2159.66 - - - - - - - - - 15.99 -
12795.22 756.70 7.77 1543 12802.18 done 1.25 - - 2448.69 - 3.58 0.055 2219.06 414.1 77.86 - - 2162.00 - - - - - - - - - 16.00 -
13101.32 732.70 8.28 1574 13105.89 done 1.25 - - 2448.75 - 3.38 0.131 3472.31 370.8 77.86 - - 2161.28 - - - - - - - - - 16.01 -
13141.33 729.28 8.55 1582 13145.86 done 1.25 - - 2448.19 - 3.15 0.059 2182.12 -409.6 77.86 - - 2163.44 - - - - - - - - - 16.01 -
13451.36 704.13 7.61 1614 13457.19 done 1.25 - - 2448.56 - 4.01 0.149 736.44 -360.5 77.86 - - 2161.41 - - - - - - - - - 16.00 -
13660.33 686.59 8.98 1656 13667.16 done 1.25 - - 2448.62 - 3.55 0.056 2219.06 417.6 77.86 - - 2162.50 - - - - - - - - - 16.03 -
13966.44 663.84 7.99 1687 13972.26 done 1.25 - - 2448.44 - 4.10 0.144 736.50 -361.6 77.86 - - 2159.06 - - - - - - - - - 16.02 -
13985.36 661.54 9.30 1691 13992.20 done 1.25 - - 2448.81 - 3.49 0.054 2222.00 425.6 77.86 - - 2162.28 - - - - - - - - - 16.04 -
14291.50 639.96 6.94 1722 14297.32 done 1.29 - - 2448.00 - 4.09 0.144 737.25 -363.0 77.86 - - 2160.69 - - - - - - - - - 16.03 -
14410.42 630.45 8.33 1746 14417.27 done 1.29 - - 2449.31 - 3.54 0.055 2221.94 419.4 77.86 - - 2159.69 - - - - - - - - - 16.04 -
14716.54 610.03 8.07 1777 14721.12 done 1.29 - - 2449.06 - 3.34 0.129 3472.81 374.5 77.86 - - 2159.78 - - - - - - - - - 16.04 -
14900.44 597.05 6.38 1814 14907.27 done 1.34 - - 2449.19 - 3.16 0.058 2180.06 -409.1 77.86 - - 2160.16 - - - - - - - - - 16.05 -
15206.63 576.04 6.71 1845 15212.27 1.38 0.14 0.122 2483.06 241.9 3.47 0.124 3472.31 372.4 77.86 - - 2160.31 - - - - - - - - 16.03 16.04 -
15415.52 558.87 8.18 1887 15422.39 done 1.38 - - 2483.19 - 3.17 0.058 2179.88 -407.7 77.86 - - 2160.06 - - - - - - - - - 16.05 -
15721.75 535.96 7.27 1918 15726.55 done 1.40 - - 2482.62 - 3.48 0.123 3472.00 371.3 77.86 - - 2158.75 - - - - - - - - - 16.06 -
15745.59 533.92 7.61 1923 15752.44 done 1.40 - - 2482.75 - 3.14 0.056 2180.06 -411.4 77.86 - - 2160.50 - - - - - - - - - 16.05 -
16051.83 513.75 6.25 1954 16057.62 done 1.45 - - 2483.12 - 3.96 0.142 736.31 -364.6 77.86 - - 2157.59 - - - - - - - - - 16.04 -
16280.90 497.13 6.67 2000 16287.67 done 1.49 - - 2482.44 - 3.58 0.052 2223.12 415.3 77.86 - - 2159.00 - - - - - - - - - 16.05 -
16586.99 479.68 6.06 2031 16592.79 1.55 0.20 0.100 2526.06 218.1 4.05 0.138 736.19 -367.1 77.86 - - 2158.62 - - - - - - - - 16.05 16.04 -
16775.97 464.76 8.49 2069 16782.81 done 1.55 - - 2526.06 - 3.56 0.053 2221.81 417.3 77.86 - - 2158.59 - - - - - - - - - 16.06 -
17082.13 444.09 7.17 2100 17088.00 done 1.58 - - 2525.62 - 4.05 0.136 736.38 -366.8 77.86 - - 2160.38 - - - - - - - - - 16.03 -
17157.13 437.77 8.56 2115 17162.74 done 1.58 - - 2525.06 - 3.55 0.053 2222.38 418.6 77.86 - - 2157.34 - - - - - - - - - 16.06 -
17462.20 417.12 6.97 2146 17468.01 done 1.61 - - 2524.62 - 4.06 0.135 736.56 -366.0 77.86 - - 2157.59 - - - - - - - - - 16.05 -
17517.27 412.52 8.14 2157 17522.81 done 1.61 - - 2524.62 - 3.55 0.051 2221.88 418.4 77.86 - - 2158.56 - - - - - - - - - 16.06 -
17822.26 394.65 5.80 2188 17853.68 1.71 0.17 0.106 2563.56 229.1 4.09 0.136 735.44 -363.4 109.92 25.66 1.538 2050.41 -4.2 0.182 - - - - - - 16.04 15.87 12.99
18026.20 372.07 13.10 2229 18033.04 roll 1.71 - - 2563.38 - 3.60 0.052 2222.75 413.1 109.92 - - 2046.06 - - - - - - - - - 15.96 -
18332.32 340.20 10.44 2260 18338.07 roll 1.71 - - 2563.00 - 4.07 0.133 735.50 -365.4 109.92 - - 2045.09 - - - - - - - - - 15.97 -
18391.45 332.72 12.52 2272 18398.08 roll 1.71 - - 2562.19 - 3.57 0.049 2222.88 416.6 109.92 - - 2046.97 - - - - - - - - - 15.98 -
18697.37 301.31 10.25 2303 18703.12 roll 1.71 - - 2563.25 - 4.07 0.132 735.50 -365.4 109.92 - - 2044.44 - - - - - - - - - 15.98 -
18836.40 283.84 12.79 2331 18843.14 done 1.71 - - 2562.56 - 3.57 0.050 2223.56 416.8 109.92 - - 2045.53 - - - - - - - - - 16.00 -
19142.43 253.79 8.83 2362 19143.76 VBD 1.71 - - 2563.44 - - - 2223.44 - 109.92 - - 2043.34 - - - - - - - - - - -
19442.46 228.02 8.44 2392 19448.22 done 1.71 - - 2563.19 - 4.05 0.132 735.81 -367.3 109.92 - - 2041.53 - - - - - - - - - 16.01 -
19451.38 227.06 8.77 2394 19458.22 done 1.71 - - 2562.62 - 3.54 0.048 2226.12 421.0 109.92 - - 2045.47 - - - - - - - - - 16.01 -
19757.52 198.61 9.53 2425 19758.86 VBD 1.71 - - 2563.75 - - - 2226.69 - 109.92 - - 2043.34 - - - - - - - - - - -
20057.53 170.87 8.78 2455 20062.09 done 1.71 - - 2563.88 - 3.31 0.120 3473.06 376.5 109.92 - - 2043.19 - - - - - - - - - 15.99 -
20131.40 163.84 9.40 2470 20138.23 done 1.71 - - 2563.88 - 3.12 0.052 2177.31 -415.3 109.92 - - 2043.25 - - - - - - - - - 16.01 -
20437.59 142.41 6.46 2501 20443.33 done 1.76 - - 2563.50 - 3.92 0.133 735.25 -367.9 109.92 - - 2041.28 - - - - - - - - - 16.01 -
20466.52 140.33 6.74 2507 20473.35 done 1.80 - - 2563.94 - 3.53 0.048 2225.69 422.2 109.92 - - 2044.03 - - - - - - - - - 16.03 -
20772.64 126.61 3.84 2538 20828.31 1.98 0.34 0.081 2626.94 185.3 3.36 0.118 3471.62 370.8 170.01 49.35 1.250 1806.91 -4.8 0.082 - - - - - - 16.00 15.78 12.93
21053.01 98.62 9.22 2594 21058.38 roll 1.98 - - 2628.06 - 3.15 0.052 2178.31 -410.6 170.01 - - 1801.00 - - - - - - - - - 15.88 -
21237.78 89.47 3.30 2631 21299.71 2.18 0.25 0.087 2676.19 192.5 3.54 0.112 3472.06 365.5 237.86 54.15 1.187 1530.03 -5.0 0.064 - - - - - - 15.86 15.66 12.85
21462.85 69.38 11.67 2676 21468.51 roll 2.18 - - 2676.50 - 3.18 0.051 2180.44 -406.2 237.86 - - 1524.06 - - - - - - - - - 15.77 -
21647.92 55.19 5.46 2713 21684.38 done 2.29 - - 2677.00 - 4.03 0.132 735.50 -358.5 274.85 30.27 1.107 1378.44 -4.8 0.040 - - - - - - - 15.66 12.73
21907.99 26.22 12.15 2765 21913.77 roll 2.29 - - 2676.19 - 3.61 0.051 2223.31 412.1 274.85 - - 1375.22 - - - - - - - - - 15.78 -
22093.08 5.58 12.99 2802 22099.07 roll 2.29 - - 2677.25 - 4.11 0.128 735.44 -362.0 274.85 - - 1374.25 - - - - - - - - - 15.82 -
22108.10 3.79 12.31 2805 22113.84 roll 2.29 - - 2676.69 - 3.57 0.046 2226.94 417.8 274.85 - - 1374.00 - - - - - - - - - 15.82 -
22122 end climb: SURFACE_DEPTH_REACHED
22122 begin surface coast
22137 end surface coast: CONTROL_FINISHED_OK
22137 begin surface
SM 0.89 - - - - 175.2 - 2.776 769.4 - 16.29 0.087 770.4 47.3 - 0.34 0.076 768.4 2249.5 -2.692 - - 30.36 15.79 15.86 -