NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 367 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 112.73 of 575.00 AH used of 24V (80.40% remains)
• Surface angle -56.8 deg, depth 0.62 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.75 (SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 2 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.96 - - - 85.00 VBD -1.25 - - 174.38 - - - 2119.88 - -77.86 77.51 0.005 2469.94 - - - - - - - - - - 15.52
85.27 3.09 -3.43 15 117.12 -1.25 13.89 0.256 1837.12 119.7 4.14 0.157 662.75 -352.0 -77.86 9.16 0.007 2816.12 37.8 -2.820 - - - - - - 15.59 15.53 15.56
194.89 25.51 -24.91 37 200.64 roll -1.25 - - 1837.12 - 3.53 0.053 2118.69 412.4 -77.86 - - 2816.47 - - - - - - - - - 15.66 -
379.99 65.90 -20.10 74 381.31 no move -1.25 - - 1837.12 - - - 2118.62 - -77.86 - - 2816.19 - - - - - - - - - - -
560.04 89.66 -11.00 110 561.36 no move -1.25 - - 1836.56 - - - 2118.19 - -77.86 - - 2816.72 - - - - - - - - - - -
740.15 111.00 -11.78 137 745.91 roll -1.25 - - 1835.12 - 4.07 0.150 662.56 -357.6 -77.86 - - 2816.97 - - - - - - - - - 15.77 -
815.19 121.21 -14.46 152 819.84 roll -1.25 - - 1837.44 - 3.49 0.050 2120.56 417.8 -77.86 - - 2816.91 - - - - - - - - - 15.82 -
1125.16 157.24 -11.15 184 1130.77 roll -1.25 - - 1836.88 - 3.55 0.114 3473.75 381.2 -77.86 - - 2816.09 - - - - - - - - - 15.90 -
1170.19 162.87 -12.88 193 1174.75 roll -1.25 - - 1836.62 - 3.33 0.056 2081.12 -418.2 -77.86 - - 2817.91 - - - - - - - - - 15.91 -
1480.22 197.11 -10.14 225 1486.03 roll -1.25 - - 1837.06 - 3.93 0.153 662.56 -361.0 -77.86 - - 2817.88 - - - - - - - - - 15.85 -
1535.25 204.13 -12.95 236 1539.96 roll -1.25 - - 1836.88 - 3.47 0.051 2119.81 420.0 -77.86 - - 2817.09 - - - - - - - - - 15.89 -
1845.27 237.68 -11.31 268 1851.10 roll -1.25 - - 1836.81 - 4.05 0.151 662.62 -359.8 -77.86 - - 2816.41 - - - - - - - - - 15.87 -
1884.20 242.41 -12.62 276 1891.01 roll -1.25 - - 1836.94 - 3.46 0.050 2120.38 421.3 -77.86 - - 2817.75 - - - - - - - - - 15.91 -
2190.31 276.71 -11.64 307 2191.64 no move -1.25 - - 1836.94 - - - 2119.81 - -77.86 - - 2817.34 - - - - - - - - - - -
2490.34 311.61 -11.46 337 2496.18 roll -1.25 - - 1837.06 - 4.06 0.153 662.62 -358.9 -77.86 - - 2815.50 - - - - - - - - - 15.90 -
2519.28 315.32 -12.35 343 2526.09 roll -1.25 - - 1836.88 - 3.46 0.051 2120.62 421.4 -77.86 - - 2818.62 - - - - - - - - - 15.94 -
2825.38 347.11 -9.79 374 2826.71 no move -1.25 - - 1836.75 - - - 2120.88 - -77.86 - - 2817.03 - - - - - - - - - - -
3125.41 377.24 -9.82 404 3131.26 roll -1.25 - - 1836.75 - 4.03 0.155 663.69 -361.6 -77.86 - - 2817.59 - - - - - - - - - 15.91 -
3220.44 388.78 -13.75 423 3225.15 roll -1.25 - - 1837.38 - 3.46 0.055 2119.69 420.8 -77.86 - - 2818.44 - - - - - - - - - 15.95 -
3530.49 420.69 -10.30 455 3536.08 roll -1.25 - - 1836.75 - 3.52 0.120 3475.50 385.2 -77.86 - - 2817.69 - - - - - - - - - 16.00 -
3579.34 426.69 -12.94 465 3586.20 roll -1.25 - - 1836.75 - 3.34 0.061 2080.88 -417.6 -77.86 - - 2816.88 - - - - - - - - - 16.02 -
3885.51 459.18 -10.12 496 3886.84 no move -1.25 - - 1836.81 - - - 2081.06 - -77.86 - - 2816.50 - - - - - - - - - - -
4185.55 489.25 -9.59 526 4191.37 roll -1.25 - - 1837.12 - 3.91 0.160 663.56 -362.5 -77.86 - - 2814.34 - - - - - - - - - 15.93 -
4240.59 495.60 -11.91 537 4245.29 roll -1.25 - - 1836.88 - 3.45 0.055 2119.75 422.1 -77.86 - - 2816.12 - - - - - - - - - 15.97 -
4550.60 524.31 -8.70 569 4556.43 roll -1.25 - - 1836.75 - 4.05 0.159 662.50 -359.8 -77.86 - - 2814.47 - - - - - - - - - 15.92 -
4585.62 528.31 -11.42 576 4590.32 roll -1.25 - - 1836.12 - 3.46 0.053 2119.25 421.0 -77.86 - - 2816.41 - - - - - - - - - 15.97 -
4895.64 557.37 -9.63 608 4896.96 no move -1.25 - - 1836.88 - - - 2119.38 - -77.86 - - 2814.31 - - - - - - - - - - -
5195.68 583.79 -8.86 638 5197.01 no move -1.25 - - 1837.00 - - - 2119.56 - -77.86 - - 2813.19 - - - - - - - - - - -
5495.74 610.08 -8.57 668 5501.56 roll -1.25 - - 1836.94 - 4.06 0.164 663.62 -358.6 -77.86 - - 2816.03 - - - - - - - - - 15.92 -
5540.76 614.30 -10.49 677 5545.48 roll -1.25 - - 1837.25 - 3.48 0.058 2120.69 418.7 -77.86 - - 2815.53 - - - - - - - - - 15.98 -
5850.80 642.54 -9.13 709 5856.63 roll -1.25 - - 1835.44 - 4.09 0.165 663.50 -356.3 -77.86 - - 2816.06 - - - - - - - - - 15.92 -
5905.83 648.06 -10.61 720 5910.56 roll -1.25 - - 1836.94 - 3.51 0.057 2119.25 414.7 -77.86 - - 2814.38 - - - - - - - - - 15.98 -
6215.87 676.16 -9.15 752 6221.47 roll -1.25 - - 1837.38 - 3.56 0.125 3472.50 380.1 -77.86 - - 2813.38 - - - - - - - - - 16.02 -
6280.91 682.86 -9.80 765 6285.45 roll -1.25 - - 1836.69 - 3.34 0.065 2084.19 -415.7 -77.86 - - 2815.34 - - - - - - - - - 16.02 -
6590.95 708.92 -9.00 797 6596.76 roll -1.25 - - 1837.19 - 3.98 0.169 663.56 -356.9 -77.86 - - 2812.62 - - - - - - - - - 15.92 -
6655.98 715.24 -9.75 810 6660.71 roll -1.25 - - 1836.75 - 3.48 0.059 2118.12 418.0 -77.86 - - 2814.53 - - - - - - - - - 15.98 -
6966.03 739.36 -7.66 842 6967.35 no move -1.25 - - 1837.00 - - - 2118.62 - -77.86 - - 2812.97 - - - - - - - - - - -
7266.07 762.23 -6.78 872 7271.91 roll -1.25 - - 1835.31 - 4.09 0.168 662.62 -356.0 -77.86 - - 2813.69 - - - - - - - - - 15.92 -
7351.10 770.90 -10.51 889 7355.82 roll -1.25 - - 1837.44 - 3.49 0.060 2116.62 416.6 -77.86 - - 2812.56 - - - - - - - - - 15.98 -
7661.16 794.67 -6.72 921 7662.49 no move -1.25 - - 1836.75 - - - 2117.00 - -77.86 - - 2811.78 - - - - - - - - - - -
7961.19 817.40 -6.97 951 7967.03 roll -1.25 - - 1837.19 - 4.10 0.170 663.62 -354.5 -77.86 - - 2810.69 - - - - - - - - - 15.91 -
8000.21 820.50 -8.98 959 8006.95 roll -1.25 - - 1836.69 - 3.48 0.061 2116.69 417.5 -77.86 - - 2812.75 - - - - - - - - - 15.98 -
8306.24 843.41 -7.53 990 8311.86 roll -1.25 - - 1836.50 - 3.58 0.130 3474.44 379.3 -77.86 - - 2809.81 - - - - - - - - - 16.01 -
8355.11 847.23 -7.29 1000 8362.00 roll -1.25 - - 1837.25 - 3.36 0.068 2083.88 -413.9 -77.86 - - 2811.25 - - - - - - - - - 16.01 -
8661.30 868.44 -6.83 1031 8667.13 roll -1.25 - - 1836.44 - 4.01 0.176 664.50 -354.0 -77.86 - - 2810.12 - - - - - - - - - 15.90 -
8716.32 872.86 -7.84 1042 8721.02 roll -1.25 - - 1836.62 - 3.47 0.063 2116.25 418.4 -77.86 - - 2811.09 - - - - - - - - - 15.97 -
9026.35 895.11 -7.28 1074 9027.68 no move -1.25 - - 1837.06 - - - 2116.56 - -77.86 - - 2810.62 - - - - - - - - - - -
9326.39 916.16 -6.45 1104 9327.72 no move -1.25 - - 1836.81 - - - 2116.56 - -77.86 - - 2810.88 - - - - - - - - - - -
9626.43 939.82 -8.14 1134 9627.76 no move -1.25 - - 1836.44 - - - 2116.81 - -77.86 - - 2810.41 - - - - - - - - - - -
9926.47 961.23 -6.63 1164 9932.32 roll -1.25 - - 1836.31 - 4.14 0.175 663.69 -351.0 -77.86 - - 2809.78 - - - - - - - - - 15.90 -
10031.49 971.31 -10.45 1185 10036.23 roll -1.25 - - 1836.69 - 3.52 0.068 2114.19 412.1 -77.86 - - 2811.47 - - - - - - - - - 15.97 -
10301 end dive: TARGET_DEPTH_EXCEEDED
10301 begin apogee
10302.76 990.62 -7.79 1213 10372.65 -0.25 1.76 0.153 2080.25 138.4 0.08 0.296 2184.00 872.6 - 64.48 2.304 2499.16 -4.8 0.352 - - - - - - 15.97 15.57 12.58
10374 end apogee: CONTROL_FINISHED_OK
10374 begin climb
10374.43 991.36 - 1220 10449.36 1.25 2.52 0.093 2445.81 145.1 - - 2184.38 - 77.86 70.62 2.251 2181.19 -4.5 0.335 - - - - - - 15.61 - 12.79
10746.63 958.81 10.88 1259 10752.17 done 1.25 - - 2446.75 - 3.53 0.131 3474.06 365.3 77.86 - - 2169.53 - - - - - - - - - 15.65 -
10765.42 956.81 11.58 1263 10772.39 done 1.25 - - 2446.69 - 3.17 0.062 2182.62 -407.4 77.86 - - 2170.75 - - - - - - - - - 15.67 -
11071.60 927.55 9.40 1294 11072.93 VBD 1.25 - - 2447.94 - - - 2183.38 - 77.86 - - 2167.97 - - - - - - - - - - -
11371.63 899.06 8.71 1324 11376.21 done 1.25 - - 2448.38 - 3.49 0.130 3474.50 369.9 77.86 - - 2167.69 - - - - - - - - - 15.82 -
11451.66 890.09 11.14 1340 11456.18 done 1.25 - - 2447.81 - 3.13 0.062 2183.31 -412.5 77.86 - - 2167.81 - - - - - - - - - 15.85 -
11761.71 862.50 8.35 1372 11766.42 done 1.25 - - 2448.25 - 3.45 0.129 3473.69 374.0 77.86 - - 2165.41 - - - - - - - - - 15.87 -
11785.57 859.32 9.01 1377 11792.41 done 1.25 - - 2447.56 - 3.11 0.060 2182.69 -415.1 77.86 - - 2165.69 - - - - - - - - - 15.89 -
12091.78 832.38 7.62 1408 12093.11 VBD 1.25 - - 2446.94 - - - 2182.75 - 77.86 - - 2165.03 - - - - - - - - - - -
12391.85 807.84 7.46 1438 12397.43 done 1.27 - - 2447.69 - 3.45 0.129 3473.56 374.1 77.86 - - 2164.84 - - - - - - - - - 15.92 -
12440.73 803.23 7.52 1448 12447.55 done 1.29 - - 2447.94 - 3.11 0.060 2181.88 -415.3 77.86 - - 2164.91 - - - - - - - - - 15.95 -
12746.92 777.18 8.71 1479 12748.26 VBD 1.29 - - 2447.50 - - - 2181.81 - 77.86 - - 2164.09 - - - - - - - - - - -
13046.99 752.71 8.56 1509 13051.57 done 1.29 - - 2447.50 - 3.44 0.128 3473.38 375.5 77.86 - - 2164.09 - - - - - - - - - 15.96 -
13070.85 750.47 9.76 1514 13077.66 done 1.29 - - 2447.75 - 3.10 0.060 2180.75 -417.0 77.86 - - 2164.09 - - - - - - - - - 15.97 -
13377.06 725.27 8.87 1545 13382.90 done 1.29 - - 2447.44 - 3.91 0.144 736.56 -369.4 77.86 - - 2161.09 - - - - - - - - - 15.89 -
13392.07 724.42 8.86 1548 13397.80 done 1.29 - - 2447.56 - 3.51 0.055 2221.00 422.9 77.86 - - 2162.56 - - - - - - - - - 15.92 -
13697.13 699.42 8.15 1579 13701.89 done 1.29 - - 2447.62 - 3.28 0.130 3474.12 382.0 77.86 - - 2162.75 - - - - - - - - - 15.97 -
13707.12 698.40 8.64 1581 13711.64 done 1.29 - - 2446.44 - 3.09 0.057 2177.44 -419.6 77.86 - - 2161.75 - - - - - - - - - 15.98 -
14017.18 672.49 7.80 1613 14022.99 done 1.29 - - 2447.38 - 3.93 0.144 736.31 -366.7 77.86 - - 2160.19 - - - - - - - - - 15.90 -
14026.10 671.70 8.15 1615 14032.91 done 1.29 - - 2448.00 - 3.50 0.054 2223.56 424.9 77.86 - - 2161.31 - - - - - - - - - 15.93 -
14332.22 647.49 7.73 1646 14336.76 done 1.29 - - 2448.12 - 3.23 0.127 3474.00 387.1 77.86 - - 2161.09 - - - - - - - - - 15.92 -
14366.07 644.98 7.80 1653 14372.89 done 1.29 - - 2446.00 - 3.10 0.058 2179.75 -417.5 77.86 - - 2161.38 - - - - - - - - - 15.98 -
14672.30 624.00 6.78 1684 14673.63 VBD 1.32 - - 2447.88 - - - 2180.94 - 77.86 - - 2161.09 - - - - - - - - - - -
14972.30 604.36 5.76 1714 15007.19 1.42 0.23 0.100 2494.31 201.9 3.96 0.145 737.31 -364.6 110.53 27.21 1.802 2048.31 -4.1 0.235 - - - - - - 15.98 15.79 12.56
15032.29 599.42 9.31 1726 15036.90 roll 1.42 - - 2494.12 - 3.53 0.054 2217.50 419.3 110.53 - - 2045.59 - - - - - - - - - 15.81 -
15342.34 569.73 10.07 1758 15346.91 roll 1.42 - - 2493.56 - 3.31 0.126 3474.06 379.6 110.53 - - 2043.44 - - - - - - - - - 15.89 -
15412.36 561.60 13.49 1772 15416.99 roll 1.42 - - 2493.00 - 3.10 0.058 2181.12 -417.1 110.53 - - 2044.06 - - - - - - - - - 15.91 -
15722.39 531.21 9.67 1804 15723.71 no move 1.42 - - 2494.31 - - - 2181.62 - 110.53 - - 2042.91 - - - - - - - - - - -
16022.42 501.18 10.00 1834 16027.00 roll 1.42 - - 2494.00 - 3.43 0.123 3473.56 376.7 110.53 - - 2042.97 - - - - - - - - - 15.95 -
16156.28 486.50 10.02 1861 16163.16 roll 1.42 - - 2493.62 - 3.11 0.059 2179.25 -416.2 110.53 - - 2042.03 - - - - - - - - - 15.95 -
16462.48 457.03 10.39 1892 16467.03 done 1.42 - - 2493.38 - 3.39 0.119 3474.75 382.2 110.53 - - 2041.66 - - - - - - - - - 15.97 -
16502.49 452.80 10.99 1900 16507.02 done 1.42 - - 2493.44 - 3.12 0.055 2179.75 -415.1 110.53 - - 2042.41 - - - - - - - - - 15.98 -
16812.52 425.15 8.49 1932 16818.31 done 1.42 - - 2494.38 - 3.90 0.138 735.38 -370.4 110.53 - - 2039.22 - - - - - - - - - 15.89 -
16827.53 423.75 8.52 1935 16833.12 done 1.42 - - 2494.25 - 3.49 0.051 2224.44 426.7 110.53 - - 2038.00 - - - - - - - - - 15.92 -
17132.58 400.31 7.29 1966 17138.52 done 1.45 - - 2491.25 - 4.01 0.137 735.38 -371.3 110.53 - - 2039.78 - - - - - - - - - 15.87 -
17207.56 392.98 9.83 1981 17213.14 done 1.45 - - 2492.38 - 3.50 0.053 2223.69 425.2 110.53 - - 2038.12 - - - - - - - - - 15.91 -
17512.60 368.98 7.82 2012 17517.14 done 1.45 - - 2494.00 - 3.23 0.121 3474.12 387.1 110.53 - - 2039.09 - - - - - - - - - 15.97 -
17732.66 347.20 9.81 2056 17737.31 done 1.45 - - 2494.00 - 3.11 0.055 2178.12 -416.7 110.53 - - 2039.22 - - - - - - - - - 15.99 -
18042.71 320.04 8.68 2088 18044.04 VBD 1.45 - - 2493.81 - - - 2179.31 - 110.53 - - 2039.16 - - - - - - - - - - -
18342.76 296.18 7.59 2118 18344.10 VBD 1.45 - - 2494.25 - - - 2179.00 - 110.53 - - 2039.62 - - - - - - - - - - -
18642.84 274.19 7.26 2148 18644.17 VBD 1.47 - - 2494.44 - - - 2179.38 - 110.53 - - 2037.84 - - - - - - - - - - -
18942.89 250.61 7.84 2178 18948.69 done 1.47 - - 2492.06 - 3.90 0.137 736.38 -370.0 110.53 - - 2039.56 - - - - - - - - - 15.92 -
18957.91 249.44 8.02 2181 18963.50 done 1.47 - - 2494.25 - 3.51 0.050 2225.44 424.2 110.53 - - 2037.41 - - - - - - - - - 15.94 -
19262.97 226.23 7.70 2212 19264.30 VBD 1.47 - - 2493.94 - - - 2225.75 - 110.53 - - 2038.06 - - - - - - - - - - -
19563.03 206.06 6.14 2242 19564.37 VBD 1.53 - - 2494.12 - - - 2226.31 - 110.53 - - 2039.56 - - - - - - - - - - -
19863.09 185.77 7.06 2272 19867.63 done 1.56 - - 2493.19 - 3.24 0.122 3474.69 385.3 110.53 - - 2039.41 - - - - - - - - - 15.90 -
19923.15 181.30 7.11 2284 19927.83 1.58 0.17 0.096 2530.62 220.2 3.12 0.058 2177.19 -415.9 110.53 - - 2040.09 - - - - - - - - 15.94 15.99 -
20233.19 160.37 6.18 2316 20237.74 done 1.64 - - 2532.38 - 3.41 0.118 3473.00 380.0 110.53 - - 2039.66 - - - - - - - - - 15.97 -
20317.05 153.81 7.57 2333 20323.87 done 1.64 - - 2532.06 - 3.10 0.056 2177.38 -417.9 110.53 - - 2039.06 - - - - - - - - - 15.98 -
20623.24 134.39 5.43 2364 20656.06 1.75 0.20 0.095 2574.44 211.9 - - 2178.19 - 147.90 31.72 1.270 1894.00 -4.6 0.082 - - - - - - 15.97 - 12.63
20953.27 106.53 8.48 2397 20959.08 roll 1.75 - - 2573.00 - 3.93 0.137 735.56 -367.1 147.90 - - 1891.12 - - - - - - - - - 15.82 -
21183.32 86.07 6.76 2443 21189.08 roll 1.79 - - 2574.38 - 3.59 0.054 2225.12 414.9 147.90 - - 1890.03 - - - - - - - - - 15.84 -
21368.41 78.62 3.47 2480 21430.37 1.99 0.30 0.078 2629.56 183.9 4.13 0.130 736.75 -360.4 213.25 53.42 1.223 1630.31 -4.9 0.053 - - - - - - 15.91 15.64 12.66
21433.47 75.42 4.92 2493 21476.00 done 2.12 - - 2630.25 - 3.59 0.051 2226.44 415.0 257.97 37.35 1.170 1447.03 -4.9 0.053 - - - - - - - 15.66 12.76
21653.90 52.11 10.05 2537 21659.61 roll 2.12 - - 2630.06 - 3.35 0.120 3473.75 372.3 257.97 - - 1440.94 - - - - - - - - - 15.67 -
21884.00 32.68 8.74 2583 21889.82 done 2.12 - - 2629.94 - 3.16 0.054 2178.62 -409.9 257.97 - - 1438.69 - - - - - - - - - 15.75 -
22069.08 17.47 6.59 2620 22070.57 2.16 0.22 0.084 2673.00 195.7 - - 2178.12 - 257.97 - - 1438.28 - - - - - - - - 15.81 - -
22248 end climb: SURFACE_DEPTH_REACHED
22249 begin surface coast
22268 end surface coast: CONTROL_FINISHED_OK
22269 begin surface
SM 0.65 - - - - 175.5 2.05 0.248 768.4 374.8 16.27 0.066 771.9 47.4 - 0.22 0.111 765.0 3477.3 -2.081 - - 12.57 15.82 15.85 -