NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 69 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 25.22 of 350.00 AH used of 24V (92.79% remains)
• Surface angle -65.3 deg, depth 1.02 m • Intended pitch -20.5 deg, speed -8.049 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 31 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
6.19 - - - 77.03 VBD -1.26 - - 179.12 - - - 2116.12 - -77.86 70.36 0.005 2154.22 - - - - - - - - - - 15.64
77.32 3.07 -3.71 9 115.29 -1.26 13.84 0.285 1833.00 119.5 3.39 0.129 3478.12 401.8 -77.86 16.66 0.006 2815.88 39.7 -3.364 - - - - - - 15.56 15.61 15.67
338.13 51.87 -14.44 61 343.76 roll -1.26 - - 1834.62 - 3.37 0.067 2081.25 -414.5 -77.86 - - 2818.72 - - - - - - - - - 15.78 -
523.10 76.46 -12.71 98 528.88 roll -1.26 - - 1834.19 - 3.84 0.173 661.75 -369.7 -77.86 - - 2818.44 - - - - - - - - - 15.78 -
663.11 96.22 -14.41 126 668.81 roll -1.26 - - 1834.06 - 3.39 0.065 2120.56 430.3 -77.86 - - 2818.41 - - - - - - - - - 15.85 -
848.19 116.06 -9.90 148 849.52 no move -1.26 - - 1834.38 - - - 2120.38 - -77.86 - - 2819.22 - - - - - - - - - - -
1148.31 147.59 -9.73 178 1153.97 roll -1.26 - - 1834.75 - 3.91 0.172 662.12 -373.0 -77.86 - - 2821.41 - - - - - - - - - 15.90 -
1273.18 163.21 -12.99 203 1277.88 roll -1.26 - - 1833.12 - 3.40 0.069 2122.38 429.5 -77.86 - - 2820.69 - - - - - - - - - 15.95 -
1583.22 195.20 -10.42 235 1587.78 roll -1.26 - - 1833.94 - 3.32 0.130 3477.25 408.1 -77.86 - - 2819.78 - - - - - - - - - 15.96 -
1647.11 202.96 -11.82 248 1653.95 roll -1.26 - - 1834.56 - 3.31 0.066 2083.88 -421.0 -77.86 - - 2820.22 - - - - - - - - - 15.98 -
1953.27 236.40 -11.34 279 1957.84 roll -1.26 - - 1834.56 - 3.44 0.129 3476.12 404.7 -77.86 - - 2822.03 - - - - - - - - - 15.98 -
1983.28 239.98 -11.93 285 1987.83 roll -1.26 - - 1833.56 - 3.31 0.068 2083.62 -420.7 -77.86 - - 2820.31 - - - - - - - - - 16.00 -
2293.31 275.72 -11.63 317 2294.64 no move -1.26 - - 1834.12 - - - 2083.81 - -77.86 - - 2819.41 - - - - - - - - - - -
2593.34 309.74 -11.17 347 2599.14 roll -1.26 - - 1834.00 - 3.86 0.182 663.00 -368.1 -77.86 - - 2816.62 - - - - - - - - - 16.00 -
2708.36 324.53 -13.36 370 2712.98 roll -1.26 - - 1833.12 - 3.40 0.074 2117.19 427.7 -77.86 - - 2819.75 - - - - - - - - - 16.05 -
3018.39 358.16 -10.64 402 3024.21 roll -1.26 - - 1834.44 - 3.94 0.179 662.88 -369.1 -77.86 - - 2816.66 - - - - - - - - - 16.02 -
3073.42 364.75 -12.99 413 3078.09 roll -1.26 - - 1834.81 - 3.40 0.073 2118.00 428.0 -77.86 - - 2818.41 - - - - - - - - - 16.06 -
3383.44 395.51 -9.47 445 3384.76 no move -1.26 - - 1834.69 - - - 2117.81 - -77.86 - - 2817.78 - - - - - - - - - - -
3683.47 424.37 -9.33 475 3689.27 roll -1.26 - - 1832.81 - 3.97 0.186 662.62 -366.5 -77.86 - - 2817.44 - - - - - - - - - 16.04 -
3732.42 429.82 -11.32 485 3739.21 roll -1.26 - - 1834.06 - 3.40 0.077 2119.19 428.4 -77.86 - - 2817.44 - - - - - - - - - 16.07 -
4038.51 459.28 -10.19 516 4039.84 no move -1.26 - - 1834.44 - - - 2119.00 - -77.86 - - 2816.88 - - - - - - - - - - -
4338.58 488.83 -9.63 546 4344.38 roll -1.26 - - 1834.69 - 3.96 0.190 663.56 -367.5 -77.86 - - 2818.16 - - - - - - - - - 16.05 -
4393.60 495.36 -11.75 557 4398.30 roll -1.26 - - 1834.94 - 3.43 0.081 2116.75 423.7 -77.86 - - 2815.59 - - - - - - - - - 16.09 -
4703.65 526.37 -9.99 589 4704.98 no move -1.26 - - 1834.75 - - - 2117.25 - -77.86 - - 2813.62 - - - - - - - - - - -
5003.72 555.48 -10.52 619 5005.05 no move -1.26 - - 1834.31 - - - 2116.81 - -77.86 - - 2812.81 - - - - - - - - - - -
5303.78 584.44 -10.20 649 5308.33 roll -1.26 - - 1833.81 - 3.34 0.142 3475.00 406.6 -77.86 - - 2814.78 - - - - - - - - - 16.08 -
5343.80 588.32 -9.71 657 5348.35 roll -1.26 - - 1834.19 - 3.34 0.079 2086.38 -415.8 -77.86 - - 2814.91 - - - - - - - - - 16.11 -
5653.86 618.84 -10.08 689 5655.19 no move -1.26 - - 1834.75 - - - 2086.88 - -77.86 - - 2812.88 - - - - - - - - - - -
5953.92 646.01 -8.52 719 5959.71 roll -1.26 - - 1834.38 - 3.87 0.201 663.38 -367.8 -77.86 - - 2810.84 - - - - - - - - - 16.07 -
6022.95 654.14 -12.47 733 6029.66 roll -1.26 - - 1834.31 - 3.41 0.086 2116.12 426.0 -77.86 - - 2813.09 - - - - - - - - - 16.11 -
6329.01 681.92 -9.44 764 6330.33 no move -1.26 - - 1834.38 - - - 2116.25 - -77.86 - - 2812.47 - - - - - - - - - - -
6629.05 708.02 -7.47 794 6634.88 roll -1.26 - - 1834.38 - 4.03 0.199 663.62 -360.5 -77.86 - - 2809.94 - - - - - - - - - 16.07 -
6688.11 713.79 -9.46 806 6694.77 roll -1.26 - - 1834.38 - 3.44 0.089 2115.12 421.9 -77.86 - - 2810.69 - - - - - - - - - 16.12 -
6994.09 741.61 -10.10 837 6998.65 roll -1.26 - - 1834.38 - 3.36 0.144 3474.00 404.4 -77.86 - - 2813.62 - - - - - - - - - 16.10 -
7054.12 747.74 -11.73 849 7058.68 roll -1.26 - - 1834.38 - 3.38 0.083 2086.69 -410.4 -77.86 - - 2810.78 - - - - - - - - - 16.12 -
7364.15 774.98 -9.15 881 7365.48 no move -1.26 - - 1834.38 - - - 2086.75 - -77.86 - - 2808.44 - - - - - - - - - - -
7664.19 799.94 -8.98 911 7668.76 roll -1.26 - - 1834.25 - 3.46 0.148 3475.44 401.4 -77.86 - - 2807.81 - - - - - - - - - 16.11 -
7698.06 802.55 -8.35 918 7704.89 roll -1.26 - - 1834.25 - 3.36 0.084 2087.62 -413.0 -77.86 - - 2810.09 - - - - - - - - - 16.12 -
8004.23 827.10 -8.40 949 8010.03 roll -1.26 - - 1833.94 - 3.94 0.205 663.75 -361.4 -77.86 - - 2807.72 - - - - - - - - - 16.08 -
8069.38 833.23 -9.60 962 8073.95 roll -1.26 - - 1834.69 - 3.46 0.092 2113.94 419.1 -77.86 - - 2810.38 - - - - - - - - - 16.12 -
8379.27 860.47 -9.52 994 8380.60 no move -1.26 - - 1834.44 - - - 2114.31 - -77.86 - - 2808.59 - - - - - - - - - - -
8679.30 887.17 -9.15 1024 8683.86 roll -1.26 - - 1834.25 - 3.40 0.151 3476.06 400.5 -77.86 - - 2809.50 - - - - - - - - - 16.10 -
8713.17 890.03 -8.62 1031 8720.00 roll -1.26 - - 1834.50 - 3.39 0.087 2087.06 -409.7 -77.86 - - 2809.41 - - - - - - - - - 16.11 -
9019.34 915.31 -7.17 1062 9025.16 roll -1.26 - - 1834.12 - 3.95 0.208 663.44 -360.4 -77.86 - - 2806.03 - - - - - - - - - 16.08 -
9108.28 924.35 -9.57 1080 9115.20 roll -1.26 - - 1833.81 - 3.46 0.095 2112.56 418.8 -77.86 - - 2809.00 - - - - - - - - - 16.12 -
9414.39 949.23 -6.86 1111 9415.72 no move -1.26 - - 1834.06 - - - 2112.94 - -77.86 - - 2805.81 - - - - - - - - - - -
9714.42 973.86 -9.29 1141 9720.26 roll -1.26 - - 1834.06 - 4.08 0.209 664.69 -355.0 -77.86 - - 2805.88 - - - - - - - - - 16.08 -
9763.36 977.90 -7.40 1151 9770.14 roll -1.26 - - 1834.56 - 3.44 0.096 2113.25 421.1 -77.86 - - 2806.50 - - - - - - - - - 16.12 -
9909 end dive: TARGET_DEPTH_EXCEEDED
9909 begin apogee
9910.63 990.25 -9.01 1166 9981.00 -0.25 1.74 0.165 2079.31 140.7 0.06 0.347 2187.94 1244.8 - 64.43 2.285 2498.81 -4.8 0.343 - - - - - - 16.07 15.60 13.25
9983 end apogee: CONTROL_FINISHED_OK
9984 begin climb
9984.10 992.26 - 1173 10061.52 1.26 2.53 0.104 2449.00 146.1 - - 2187.88 - 77.86 71.81 2.237 2182.06 -4.4 0.324 - - - - - - 15.64 - 12.99
10359.47 958.33 10.99 1211 10360.81 VBD 1.26 - - 2448.88 - - - 2187.81 - 77.86 - - 2167.25 - - - - - - - - - - -
10659.49 927.60 8.88 1241 10660.82 VBD 1.26 - - 2449.00 - - - 2187.62 - 77.86 - - 2166.56 - - - - - - - - - - -
10959.51 898.47 9.27 1271 10960.84 VBD 1.26 - - 2449.00 - - - 2187.62 - 77.86 - - 2164.00 - - - - - - - - - - -
11259.55 871.21 7.97 1301 11265.36 done 1.26 - - 2448.50 - 3.97 0.170 736.81 -365.4 77.86 - - 2161.84 - - - - - - - - - 15.89 -
11278.49 868.85 8.80 1305 11285.28 done 1.26 - - 2448.88 - 3.43 0.070 2217.12 431.6 77.86 - - 2164.12 - - - - - - - - - 15.91 -
11584.69 841.62 8.72 1336 11590.43 done 1.26 - - 2448.50 - 4.03 0.166 737.94 -367.0 77.86 - - 2160.53 - - - - - - - - - 15.93 -
11619.63 837.47 11.91 1343 11624.19 done 1.26 - - 2446.69 - 3.46 0.069 2216.19 427.2 77.86 - - 2162.09 - - - - - - - - - 15.96 -
11929.67 809.48 9.73 1375 11931.01 VBD 1.26 - - 2449.38 - - - 2218.38 - 77.86 - - 2159.78 - - - - - - - - - - -
12229.73 782.63 8.10 1405 12234.26 done 1.26 - - 2447.62 - 3.14 0.144 3475.06 400.2 77.86 - - 2162.56 - - - - - - - - - 15.99 -
12299.75 775.65 10.45 1419 12304.42 done 1.26 - - 2449.19 - 3.14 0.072 2183.88 -411.2 77.86 - - 2163.44 - - - - - - - - - 16.03 -
12609.80 749.13 8.28 1451 12614.34 done 1.26 - - 2449.50 - 3.21 0.143 3474.94 402.2 77.86 - - 2160.66 - - - - - - - - - 16.02 -
12669.83 743.87 10.00 1463 12674.33 done 1.26 - - 2449.06 - 3.12 0.070 2182.44 -414.3 77.86 - - 2162.72 - - - - - - - - - 16.04 -
12979.87 717.91 9.28 1495 12984.41 done 1.26 - - 2449.12 - 3.21 0.142 3476.38 403.1 77.86 - - 2160.56 - - - - - - - - - 16.03 -
13019.89 714.56 9.52 1503 13024.39 done 1.26 - - 2449.06 - 3.07 0.069 2182.06 -421.6 77.86 - - 2159.72 - - - - - - - - - 16.04 -
13329.94 686.39 8.55 1535 13334.47 done 1.26 - - 2449.62 - 3.21 0.142 3475.75 403.0 77.86 - - 2159.75 - - - - - - - - - 16.04 -
13349.94 684.71 7.70 1539 13354.45 done 1.26 - - 2449.69 - 3.08 0.068 2181.38 -420.2 77.86 - - 2159.69 - - - - - - - - - 16.05 -
13660.00 660.62 8.11 1571 13661.33 VBD 1.26 - - 2449.31 - - - 2181.88 - 77.86 - - 2158.97 - - - - - - - - - - -
13960.05 637.31 7.42 1601 13964.70 done 1.28 - - 2449.25 - 3.21 0.142 3473.75 402.5 77.86 - - 2159.44 - - - - - - - - - 16.06 -
13993.91 634.61 8.39 1608 14000.82 done 1.28 - - 2448.75 - 3.10 0.069 2180.62 -417.1 77.86 - - 2160.62 - - - - - - - - - 16.07 -
14300.07 611.67 8.11 1639 14305.86 done 1.28 - - 2449.62 - 3.85 0.162 735.94 -375.2 77.86 - - 2157.38 - - - - - - - - - 16.05 -
14329.02 608.97 6.63 1645 14335.78 done 1.32 - - 2448.56 - 3.43 0.064 2222.88 433.5 77.86 - - 2158.34 - - - - - - - - - 16.08 -
14635.24 587.23 6.65 1676 14639.59 done 1.36 - - 2449.38 - 3.10 0.139 3477.25 404.6 77.86 - - 2159.78 - - - - - - - - - 16.07 -
14705.13 581.50 7.10 1690 14709.67 1.39 0.17 0.113 2485.94 215.1 3.09 0.065 2180.44 -419.7 77.86 - - 2158.38 - - - - - - - - 16.07 16.08 -
15015.15 559.59 7.15 1722 15020.78 done 1.42 - - 2485.31 - 3.84 0.158 736.12 -376.1 77.86 - - 2157.84 - - - - - - - - - 16.07 -
15110.14 551.35 9.38 1741 15114.73 done 1.42 - - 2485.31 - 3.41 0.067 2221.75 435.7 77.86 - - 2158.38 - - - - - - - - - 16.09 -
15420.18 529.90 6.85 1773 15424.66 done 1.46 - - 2485.25 - 3.10 0.138 3474.31 404.1 77.86 - - 2158.41 - - - - - - - - - 16.08 -
15430.19 528.85 7.17 1775 15434.80 done 1.48 - - 2484.75 - 3.08 0.064 2177.56 -421.0 77.86 - - 2159.09 - - - - - - - - - 16.09 -
15740.19 506.72 7.85 1807 15741.52 VBD 1.48 - - 2485.44 - - - 2178.12 - 77.86 - - 2157.41 - - - - - - - - - - -
16040.21 483.40 7.94 1837 16044.73 done 1.48 - - 2485.62 - 3.20 0.136 3474.25 405.0 77.86 - - 2157.97 - - - - - - - - - 16.08 -
16084.09 479.92 7.53 1846 16090.86 done 1.50 - - 2485.94 - 3.08 0.065 2179.75 -420.3 77.86 - - 2158.09 - - - - - - - - - 16.10 -
16390.25 457.56 6.97 1877 16395.99 1.53 0.14 0.127 2518.12 229.9 3.78 0.156 736.00 -381.9 77.86 - - 2158.62 - - - - - - - - 16.08 16.08 -
16499.18 448.19 8.17 1899 16505.96 done 1.53 - - 2517.94 - 3.42 0.064 2221.50 434.4 77.86 - - 2158.06 - - - - - - - - - 16.09 -
16805.30 427.60 6.38 1930 16811.15 done 1.58 - - 2515.50 - 3.93 0.151 735.94 -378.0 77.86 - - 2157.75 - - - - - - - - - 16.08 -
16814.23 427.04 6.16 1932 16821.13 done 1.64 - - 2518.25 - 3.41 0.058 2225.31 436.8 77.86 - - 2157.12 - - - - - - - - - 16.09 -
17120.32 407.60 6.12 1963 17124.85 1.69 0.20 0.110 2558.94 203.5 3.10 0.135 3474.19 402.9 77.86 - - 2157.09 - - - - - - - - 16.07 16.07 -
17264.38 396.37 7.83 1992 17270.97 done 1.69 - - 2559.12 - 3.08 0.065 2178.19 -420.8 77.86 - - 2157.50 - - - - - - - - - 16.10 -
17570.38 377.31 7.06 2023 17576.00 done 1.72 - - 2559.00 - 3.82 0.151 736.62 -377.4 77.86 - - 2158.06 - - - - - - - - - 16.07 -
17785.41 361.16 7.40 2066 17789.94 done 1.74 - - 2558.75 - 3.40 0.063 2224.62 437.6 77.86 - - 2156.59 - - - - - - - - - 16.10 -
18095.42 342.68 5.90 2098 18126.78 1.84 0.16 0.118 2592.69 212.1 3.09 0.134 3475.38 404.8 109.01 24.50 1.493 2053.88 -4.2 0.159 - - - - - - 16.08 15.92 13.30
18189.29 334.81 10.16 2117 18196.21 roll 1.84 - - 2592.38 - 3.12 0.063 2180.69 -415.0 109.01 - - 2051.81 - - - - - - - - - 15.98 -
18495.44 304.96 10.00 2148 18499.96 roll 1.84 - - 2591.81 - 3.19 0.127 3474.00 405.4 109.01 - - 2048.66 - - - - - - - - - 16.01 -
18505.44 303.68 10.97 2150 18509.94 roll 1.84 - - 2591.31 - 3.09 0.061 2179.50 -418.9 109.01 - - 2049.56 - - - - - - - - - 16.01 -
18815.46 273.32 10.14 2182 18819.97 roll 1.84 - - 2592.69 - 3.18 0.130 3474.62 407.3 109.01 - - 2049.09 - - - - - - - - - 16.02 -
18899.34 264.26 10.92 2199 18906.12 roll 1.84 - - 2592.00 - 3.10 0.063 2179.44 -417.8 109.01 - - 2048.97 - - - - - - - - - 16.04 -
19205.50 235.17 8.86 2230 19210.00 roll 1.84 - - 2592.94 - 3.16 0.128 3475.00 410.0 109.01 - - 2049.06 - - - - - - - - - 16.04 -
19215.49 234.12 9.15 2232 19219.99 roll 1.84 - - 2592.12 - 3.04 0.060 2177.81 -426.7 109.01 - - 2048.56 - - - - - - - - - 16.04 -
19525.51 205.83 8.14 2264 19530.17 roll 1.84 - - 2592.12 - 3.18 0.128 3475.56 408.1 109.01 - - 2047.72 - - - - - - - - - 16.05 -
19539.37 204.68 7.79 2267 19546.30 roll 1.84 - - 2592.62 - 3.08 0.059 2176.56 -421.8 109.01 - - 2047.66 - - - - - - - - - 16.05 -
19845.57 181.08 7.61 2298 19851.19 done 1.84 - - 2590.06 - 3.72 0.148 736.12 -387.2 109.01 - - 2047.66 - - - - - - - - - 16.00 -
19984.54 168.50 9.43 2326 19991.33 done 1.84 - - 2592.69 - 3.41 0.061 2223.88 436.3 109.01 - - 2049.44 - - - - - - - - - 16.06 -
20290.69 145.65 6.81 2357 20295.24 done 1.87 - - 2593.31 - 3.08 0.128 3476.00 406.5 109.01 - - 2046.78 - - - - - - - - - 16.06 -
20520.84 129.04 6.18 2403 20525.25 done 1.93 - - 2593.81 - 3.08 0.059 2176.12 -422.0 109.01 - - 2046.84 - - - - - - - - - 16.07 -
20830.80 116.17 3.59 2435 20888.64 2.12 0.38 0.093 2660.94 176.7 3.22 0.125 3477.50 404.2 173.57 52.40 1.273 1789.22 -4.9 0.074 - - - - - - 16.05 15.80 13.29
21111.37 82.73 10.81 2491 21117.02 done 2.12 - - 2660.56 - 3.07 0.059 2177.25 -423.5 173.57 - - 1784.78 - - - - - - - - - 15.90 -
21296.42 69.25 6.49 2528 21302.06 done 2.17 - - 2658.75 - 3.18 0.121 3476.19 408.5 173.57 - - 1783.03 - - - - - - - - - 15.91 -
21526.46 56.55 4.50 2574 21573.17 2.32 0.27 0.102 2706.94 178.5 3.07 0.057 2176.12 -423.5 224.93 41.15 1.163 1583.56 -4.8 0.039 - - - - - - 15.92 15.94 13.16
21751.46 39.35 9.34 2619 21757.14 roll 2.32 - - 2707.31 - 3.22 0.122 3475.44 403.5 224.93 - - 1575.81 - - - - - - - - - 15.83 -
21871.51 30.63 5.33 2643 21909.01 done 2.44 - - 2707.31 - 3.12 0.057 2175.50 -416.6 264.30 32.51 1.107 1420.94 -4.8 0.022 - - - - - - - 15.85 13.15
22086.85 29.97 0.32 2686 22180.50 2.78 0.68 0.085 2818.44 163.4 3.90 0.145 736.00 -369.1 376.11 87.69 1.114 965.94 -5.2 0.023 - - - - - - 15.80 15.49 13.05
22318.43 2.14 19.05 2732 22323.94 roll 2.78 - - 2818.38 - 3.49 0.057 2222.38 425.9 376.11 - - 961.72 - - - - - - - - - 15.66 -
22328 end climb: SURFACE_DEPTH_REACHED
22328 begin surface coast
22338 end surface coast: CONTROL_FINISHED_OK
22338 begin surface
SM 0.30 - - - - 180.3 - 0.013 768.2 - 17.14 0.077 781.2 45.6 - 0.32 0.086 755.1 2348.8 -0.837 - - 30.36 15.63 15.66 -