NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 75 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 27.13 of 350.00 AH used of 24V (92.25% remains)
• Surface angle -60.8 deg, depth 0.65 m • Intended pitch -20.5 deg, speed -8.049 cm/s
VBD pumped to 424.88 (SM_CC=425)
• GPS1 time: 14 s
• GPS2 time: 4 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
6.33 - - - 74.42 VBD -1.26 - - 179.06 - - - 2114.69 - -77.86 67.58 0.005 2320.16 - - - - - - - - - - 15.65
74.69 3.08 -3.79 13 111.26 -1.26 13.83 0.279 1834.50 119.7 4.06 0.170 663.56 -357.4 -77.86 12.45 0.007 2815.69 39.8 -2.924 - - - - - - 15.58 15.63 15.68
334.02 58.17 -18.62 65 339.78 roll -1.26 - - 1834.44 - 3.47 0.065 2118.94 419.4 -77.86 - - 2818.06 - - - - - - - - - 15.78 -
519.09 84.53 -13.09 102 524.91 roll -1.26 - - 1834.50 - 4.05 0.164 663.44 -359.4 -77.86 - - 2818.47 - - - - - - - - - 15.81 -
629.10 101.64 -16.35 124 633.82 roll -1.26 - - 1834.94 - 3.46 0.062 2118.62 420.6 -77.86 - - 2817.97 - - - - - - - - - 15.86 -
939.12 140.23 -11.65 156 940.44 no move -1.26 - - 1834.75 - - - 2118.44 - -77.86 - - 2818.75 - - - - - - - - - - -
1239.14 173.46 -10.44 186 1240.47 no move -1.26 - - 1834.31 - - - 2118.31 - -77.86 - - 2818.88 - - - - - - - - - - -
1539.16 205.54 -11.16 216 1540.49 no move -1.26 - - 1834.25 - - - 2118.88 - -77.86 - - 2818.91 - - - - - - - - - - -
1839.18 238.34 -11.05 246 1840.51 no move -1.26 - - 1834.12 - - - 2118.75 - -77.86 - - 2819.03 - - - - - - - - - - -
2139.21 270.59 -10.99 276 2145.04 roll -1.26 - - 1834.31 - 4.01 0.171 663.12 -363.0 -77.86 - - 2819.19 - - - - - - - - - 15.99 -
2204.28 278.96 -13.09 289 2208.87 roll -1.26 - - 1834.75 - 3.43 0.066 2118.25 424.2 -77.86 - - 2818.75 - - - - - - - - - 16.03 -
2514.26 312.72 -10.86 321 2515.58 no move -1.26 - - 1834.50 - - - 2117.88 - -77.86 - - 2819.03 - - - - - - - - - - -
2814.28 344.26 -10.08 351 2818.86 roll -1.26 - - 1833.56 - 3.45 0.133 3473.31 392.9 -77.86 - - 2819.84 - - - - - - - - - 16.03 -
2874.30 350.85 -10.58 363 2878.84 roll -1.26 - - 1834.31 - 3.39 0.070 2083.56 -410.0 -77.86 - - 2818.56 - - - - - - - - - 16.05 -
3184.31 382.75 -9.75 395 3190.12 roll -1.26 - - 1834.56 - 3.94 0.179 663.44 -360.4 -77.86 - - 2816.41 - - - - - - - - - 16.03 -
3329.34 400.53 -12.36 424 3333.99 roll -1.26 - - 1833.81 - 3.43 0.069 2117.31 423.9 -77.86 - - 2818.03 - - - - - - - - - 16.07 -
3639.36 430.90 -9.95 456 3645.18 roll -1.26 - - 1834.75 - 4.03 0.175 662.25 -361.1 -77.86 - - 2815.06 - - - - - - - - - 16.04 -
3684.38 435.64 -11.34 465 3688.94 roll -1.26 - - 1834.69 - 3.42 0.069 2116.88 425.3 -77.86 - - 2818.41 - - - - - - - - - 16.07 -
3994.39 464.42 -8.59 497 4000.21 roll -1.26 - - 1834.31 - 4.04 0.179 663.19 -359.8 -77.86 - - 2814.75 - - - - - - - - - 16.05 -
4079.39 474.13 -12.15 514 4084.04 roll -1.26 - - 1834.38 - 3.47 0.074 2117.38 419.1 -77.86 - - 2816.25 - - - - - - - - - 16.08 -
4389.41 504.03 -8.99 546 4393.99 roll -1.26 - - 1834.56 - 3.48 0.136 3474.00 389.8 -77.86 - - 2816.03 - - - - - - - - - 16.07 -
4449.43 510.96 -11.88 558 4454.11 roll -1.26 - - 1834.06 - 3.38 0.073 2086.19 -410.6 -77.86 - - 2816.28 - - - - - - - - - 16.09 -
4759.44 540.79 -10.08 590 4765.25 roll -1.26 - - 1834.44 - 3.97 0.185 663.44 -358.4 -77.86 - - 2814.16 - - - - - - - - - 16.06 -
4844.51 550.59 -11.72 607 4849.17 roll -1.26 - - 1834.31 - 3.47 0.075 2117.62 419.1 -77.86 - - 2816.31 - - - - - - - - - 16.09 -
5154.47 580.42 -9.66 639 5155.80 no move -1.26 - - 1834.62 - - - 2117.62 - -77.86 - - 2814.94 - - - - - - - - - - -
5454.55 608.55 -9.73 669 5460.08 roll -1.26 - - 1834.31 - 3.47 0.139 3473.56 390.8 -77.86 - - 2815.16 - - - - - - - - - 16.09 -
5509.52 613.82 -10.64 680 5514.07 roll -1.26 - - 1834.81 - 3.41 0.076 2085.75 -407.0 -77.86 - - 2814.25 - - - - - - - - - 16.11 -
5819.52 642.71 -8.28 712 5825.33 roll -1.26 - - 1834.62 - 4.00 0.189 663.31 -355.6 -77.86 - - 2815.59 - - - - - - - - - 16.07 -
5864.54 647.37 -10.30 721 5869.24 roll -1.26 - - 1834.44 - 3.47 0.077 2116.94 418.9 -77.86 - - 2814.56 - - - - - - - - - 16.10 -
6174.60 674.32 -7.67 753 6180.13 roll -1.26 - - 1835.19 - 3.47 0.142 3474.31 391.2 -77.86 - - 2812.84 - - - - - - - - - 16.09 -
6223.56 679.28 -9.18 763 6230.26 roll -1.26 - - 1834.81 - 3.38 0.077 2086.44 -410.6 -77.86 - - 2813.53 - - - - - - - - - 16.11 -
6529.61 706.85 -9.46 794 6530.94 no move -1.26 - - 1834.44 - - - 2086.56 - -77.86 - - 2810.81 - - - - - - - - - - -
6829.65 732.85 -8.32 824 6835.46 roll -1.26 - - 1834.06 - 3.98 0.194 664.44 -357.3 -77.86 - - 2812.50 - - - - - - - - - 16.08 -
6914.75 742.09 -11.23 841 6919.41 roll -1.26 - - 1834.38 - 3.53 0.082 2114.00 410.6 -77.86 - - 2813.22 - - - - - - - - - 16.12 -
7224.74 768.27 -7.66 873 7226.07 no move -1.26 - - 1834.56 - - - 2114.50 - -77.86 - - 2810.66 - - - - - - - - - - -
7524.78 794.33 -8.80 903 7530.62 roll -1.26 - - 1833.88 - 4.12 0.193 663.38 -352.2 -77.86 - - 2812.69 - - - - - - - - - 16.08 -
7683.77 810.69 -9.76 935 7690.71 roll -1.26 - - 1834.50 - 3.54 0.086 2113.31 409.6 -77.86 - - 2810.53 - - - - - - - - - 16.12 -
7989.89 837.32 -7.79 966 7995.73 roll -1.26 - - 1834.00 - 4.12 0.195 662.38 -352.2 -77.86 - - 2809.25 - - - - - - - - - 16.08 -
8084.92 846.79 -9.22 985 8089.52 roll -1.26 - - 1834.50 - 3.51 0.087 2113.94 413.5 -77.86 - - 2809.31 - - - - - - - - - 16.12 -
8394.98 873.62 -8.42 1017 8396.31 no move -1.26 - - 1834.50 - - - 2113.56 - -77.86 - - 2808.28 - - - - - - - - - - -
8695.02 898.16 -7.11 1047 8696.35 no move -1.26 - - 1834.31 - - - 2113.38 - -77.86 - - 2808.03 - - - - - - - - - - -
8995.07 921.30 -7.08 1077 9000.92 roll -1.26 - - 1834.19 - 4.13 0.200 662.50 -351.3 -77.86 - - 2808.59 - - - - - - - - - 16.08 -
9034.09 924.72 -7.80 1085 9040.80 roll -1.26 - - 1832.56 - 3.48 0.089 2111.81 416.5 -77.86 - - 2810.00 - - - - - - - - - 16.12 -
9340.11 946.92 -6.92 1116 9344.95 roll -1.26 - - 1834.38 - 3.44 0.149 3474.25 396.1 -77.86 - - 2809.56 - - - - - - - - - 16.10 -
9393.99 951.66 -8.39 1127 9400.98 roll -1.26 - - 1833.19 - 3.41 0.085 2085.56 -407.2 -77.86 - - 2809.72 - - - - - - - - - 16.12 -
9700.14 971.98 -7.94 1158 9704.86 roll -1.26 - - 1834.12 - 3.54 0.148 3475.12 392.5 -77.86 - - 2808.81 - - - - - - - - - 16.10 -
9754.02 975.89 -7.45 1169 9760.87 roll -1.26 - - 1832.81 - 3.43 0.085 2086.06 -405.0 -77.86 - - 2809.50 - - - - - - - - - 16.12 -
9960 end dive: TARGET_DEPTH_EXCEEDED
9960 begin apogee
9961.42 991.24 -7.64 1190 10031.15 -0.25 1.75 0.163 2080.25 141.4 0.07 0.327 2187.81 1453.6 - 64.56 2.278 2498.59 -4.8 0.350 - - - - - - 16.07 15.59 13.23
10032 end apogee: CONTROL_FINISHED_OK
10032 begin climb
10032.28 991.75 - 1197 10116.82 1.26 2.53 0.103 2449.50 145.9 4.17 0.171 738.00 -347.7 77.86 72.60 2.225 2181.59 -4.4 0.325 - - - - - - 15.63 15.21 12.95
10138.52 984.27 8.03 1218 10145.29 roll 1.26 - - 2449.38 - 3.68 0.067 2214.94 401.3 77.86 - - 2176.34 - - - - - - - - - 15.36 -
10444.55 954.48 9.28 1249 10449.11 done 1.26 - - 2449.31 - 3.36 0.144 3472.19 374.2 77.86 - - 2168.69 - - - - - - - - - 15.67 -
10604.60 936.23 10.87 1281 10609.14 done 1.26 - - 2449.12 - 3.18 0.072 2184.25 -405.0 77.86 - - 2168.41 - - - - - - - - - 15.74 -
10914.66 907.37 9.19 1313 10919.21 done 1.26 - - 2448.81 - 3.34 0.142 3474.31 386.2 77.86 - - 2165.41 - - - - - - - - - 15.83 -
11044.70 894.27 8.74 1339 11049.23 done 1.26 - - 2448.94 - 3.18 0.071 2183.31 -406.0 77.86 - - 2167.47 - - - - - - - - - 15.87 -
11354.76 864.97 9.60 1371 11356.09 VBD 1.26 - - 2449.75 - - - 2184.25 - 77.86 - - 2162.47 - - - - - - - - - - -
11654.81 837.30 8.99 1401 11659.37 done 1.26 - - 2449.19 - 3.30 0.144 3473.00 390.5 77.86 - - 2163.06 - - - - - - - - - 15.94 -
11674.82 835.17 11.20 1405 11679.48 done 1.26 - - 2448.81 - 3.15 0.069 2183.75 -409.3 77.86 - - 2162.88 - - - - - - - - - 15.96 -
11984.87 807.19 8.92 1437 11990.68 done 1.26 - - 2449.00 - 3.96 0.164 736.69 -365.4 77.86 - - 2160.88 - - - - - - - - - 15.96 -
12063.81 798.99 11.57 1453 12070.63 done 1.26 - - 2448.88 - 3.53 0.067 2216.50 419.2 77.86 - - 2162.44 - - - - - - - - - 15.99 -
12369.95 771.65 8.37 1484 12375.77 done 1.26 - - 2448.94 - 4.03 0.161 736.69 -367.2 77.86 - - 2163.12 - - - - - - - - - 15.99 -
12444.97 763.99 8.01 1499 12450.55 done 1.26 - - 2448.94 - 3.49 0.068 2220.44 425.1 77.86 - - 2161.06 - - - - - - - - - 16.01 -
12750.04 737.96 7.35 1530 12755.84 done 1.28 - - 2449.00 - 4.03 0.159 736.56 -368.2 77.86 - - 2159.72 - - - - - - - - - 16.01 -
12888.99 725.08 8.07 1558 12895.82 done 1.28 - - 2449.31 - 3.49 0.067 2218.44 424.6 77.86 - - 2161.88 - - - - - - - - - 16.03 -
13195.09 699.39 7.65 1589 13199.60 done 1.28 - - 2448.75 - 3.20 0.142 3475.44 392.8 77.86 - - 2160.53 - - - - - - - - - 16.03 -
13278.98 692.08 8.19 1606 13285.76 done 1.28 - - 2449.00 - 3.08 0.068 2181.25 -420.2 77.86 - - 2159.50 - - - - - - - - - 16.05 -
13585.15 669.34 6.76 1637 13590.91 done 1.32 - - 2449.25 - 3.74 0.160 736.19 -386.4 77.86 - - 2157.53 - - - - - - - - - 16.03 -
13614.09 666.64 6.47 1643 13620.87 done 1.37 - - 2449.56 - 3.44 0.063 2220.94 431.6 77.86 - - 2158.94 - - - - - - - - - 16.06 -
13920.18 645.54 6.71 1674 13924.75 1.41 0.19 0.106 2489.75 211.5 3.17 0.139 3474.94 395.6 77.86 - - 2159.50 - - - - - - - - 16.05 16.05 -
13934.04 644.25 7.19 1677 13940.83 done 1.43 - - 2489.25 - 3.12 0.064 2178.88 -415.4 77.86 - - 2159.41 - - - - - - - - - 16.06 -
14240.20 622.21 8.12 1708 14244.75 done 1.43 - - 2490.00 - 3.29 0.136 3474.94 393.9 77.86 - - 2159.38 - - - - - - - - - 16.05 -
14350.41 613.14 7.99 1730 14354.73 done 1.43 - - 2490.31 - 3.10 0.067 2180.50 -417.6 77.86 - - 2159.53 - - - - - - - - - 16.07 -
14660.26 591.02 7.14 1762 14665.89 done 1.46 - - 2487.81 - 3.86 0.155 736.50 -374.1 77.86 - - 2159.72 - - - - - - - - - 16.05 -
14745.25 583.66 9.19 1779 14749.84 done 1.46 - - 2490.06 - 3.46 0.062 2220.56 428.9 77.86 - - 2156.53 - - - - - - - - - 16.08 -
15055.30 561.90 7.18 1811 15059.79 done 1.49 - - 2490.31 - 3.17 0.136 3474.69 395.6 77.86 - - 2158.66 - - - - - - - - - 16.07 -
15099.15 558.06 8.55 1820 15105.96 done 1.49 - - 2490.44 - 3.12 0.065 2178.38 -415.5 77.86 - - 2160.97 - - - - - - - - - 16.09 -
15405.32 535.10 7.32 1851 15409.84 done 1.51 - - 2489.94 - 3.23 0.135 3475.06 401.4 77.86 - - 2158.69 - - - - - - - - - 16.08 -
15465.33 530.14 8.36 1863 15469.82 done 1.51 - - 2489.69 - 3.10 0.065 2180.75 -417.5 77.86 - - 2158.28 - - - - - - - - - 16.09 -
15775.34 506.32 7.72 1895 15780.01 done 1.51 - - 2490.50 - 3.22 0.135 3475.25 402.0 77.86 - - 2159.56 - - - - - - - - - 16.08 -
15795.37 505.00 7.24 1899 15799.84 done 1.53 - - 2490.44 - 3.06 0.063 2178.62 -423.7 77.86 - - 2159.50 - - - - - - - - - 16.08 -
16105.37 482.52 8.02 1931 16111.02 done 1.53 - - 2489.69 - 3.83 0.153 736.50 -376.5 77.86 - - 2156.69 - - - - - - - - - 16.07 -
16304.34 465.04 9.03 1971 16311.12 done 1.53 - - 2490.50 - 3.48 0.064 2221.88 426.8 77.86 - - 2158.22 - - - - - - - - - 16.10 -
16610.44 444.56 6.84 2002 16615.00 1.57 0.19 0.110 2527.81 196.4 3.14 0.136 3475.94 399.4 77.86 - - 2157.38 - - - - - - - - 16.08 16.08 -
16670.45 440.25 6.93 2014 16674.95 done 1.60 - - 2528.38 - 3.06 0.064 2176.06 -424.8 77.86 - - 2157.81 - - - - - - - - - 16.09 -
16980.46 421.89 5.70 2046 17012.87 1.70 0.16 0.126 2558.00 185.1 3.74 0.152 735.88 -385.1 111.80 27.17 1.584 2043.41 -4.2 0.187 - - - - - - 16.08 15.89 13.21
17075.60 412.57 12.41 2065 17080.18 roll 1.70 - - 2560.38 - 3.42 0.060 2221.62 434.4 111.80 - - 2040.66 - - - - - - - - - 15.95 -
17385.66 380.74 10.29 2097 17390.18 roll 1.70 - - 2560.44 - 3.20 0.131 3473.81 391.3 111.80 - - 2037.28 - - - - - - - - - 15.98 -
17415.67 377.99 9.76 2103 17420.17 roll 1.70 - - 2559.31 - 3.08 0.061 2179.31 -420.3 111.80 - - 2037.78 - - - - - - - - - 16.00 -
17725.72 346.84 9.61 2135 17731.52 done 1.70 - - 2561.06 - 3.86 0.148 734.75 -374.2 111.80 - - 2036.47 - - - - - - - - - 16.00 -
17780.75 340.55 11.46 2146 17785.31 done 1.70 - - 2560.44 - 3.48 0.061 2219.38 426.6 111.80 - - 2037.50 - - - - - - - - - 16.02 -
18090.79 310.30 9.32 2178 18095.31 done 1.70 - - 2560.81 - 3.17 0.132 3474.88 396.1 111.80 - - 2035.59 - - - - - - - - - 16.02 -
18220.84 295.78 11.17 2204 18225.37 done 1.70 - - 2561.00 - 3.12 0.062 2179.56 -415.2 111.80 - - 2036.97 - - - - - - - - - 16.03 -
18530.90 268.12 8.75 2236 18535.57 done 1.70 - - 2561.12 - 3.23 0.129 3474.62 400.9 111.80 - - 2035.69 - - - - - - - - - 16.04 -
18614.80 259.11 10.42 2253 18621.58 done 1.70 - - 2561.00 - 3.10 0.061 2180.62 -417.4 111.80 - - 2036.25 - - - - - - - - - 16.05 -
18920.98 231.54 9.14 2284 18925.52 done 1.70 - - 2561.19 - 3.25 0.126 3476.06 398.6 111.80 - - 2035.84 - - - - - - - - - 16.05 -
19001.01 223.84 9.84 2300 19005.51 done 1.70 - - 2561.12 - 3.08 0.059 2178.00 -421.4 111.80 - - 2035.19 - - - - - - - - - 16.05 -
19311.06 198.49 7.75 2332 19312.39 VBD 1.70 - - 2560.50 - - - 2178.62 - 111.80 - - 2034.03 - - - - - - - - - - -
19611.08 173.80 7.56 2362 19615.62 done 1.70 - - 2561.31 - 3.26 0.125 3474.62 397.5 111.80 - - 2035.41 - - - - - - - - - 16.06 -
19644.96 171.32 7.74 2369 19651.74 done 1.70 - - 2560.94 - 3.09 0.057 2178.50 -419.5 111.80 - - 2035.38 - - - - - - - - - 16.06 -
19951.13 151.25 6.85 2400 19955.65 done 1.74 - - 2561.31 - 3.23 0.124 3474.69 401.3 111.80 - - 2035.12 - - - - - - - - - 16.05 -
20181.21 136.50 6.23 2446 20185.82 done 1.79 - - 2559.50 - 3.09 0.058 2176.75 -420.0 111.80 - - 2035.41 - - - - - - - - - 16.07 -
20491.22 117.74 4.88 2478 20536.31 1.93 0.29 0.099 2615.56 193.3 3.84 0.141 736.88 -375.0 157.70 38.15 1.250 1855.19 -4.7 0.074 - - - - - - 16.05 15.86 13.29
20761.24 92.99 12.47 2532 20766.96 roll 1.93 - - 2615.75 - 3.46 0.057 2223.62 429.7 157.70 - - 1850.31 - - - - - - - - - 15.95 -
20946.29 79.13 5.33 2569 20982.08 VBD 2.05 - - 2615.38 - - - 2223.00 - 196.99 32.21 1.176 1698.09 -4.7 0.053 - - - - - - - - 13.10
21161.30 62.97 9.08 2612 21166.96 roll 2.05 - - 2616.31 - 3.18 0.124 3475.00 393.7 196.99 - - 1690.19 - - - - - - - - - 15.84 -
21391.34 44.89 5.91 2658 21422.60 2.14 0.28 0.096 2663.88 169.9 3.10 0.056 2176.88 -418.7 228.02 26.13 1.119 1569.53 -4.6 0.031 - - - - - - 15.88 15.91 13.15
21601.38 30.22 7.31 2700 21607.14 roll 2.17 - - 2665.38 - 3.83 0.141 735.62 -376.3 228.02 - - 1564.78 - - - - - - - - - 15.83 -
21671.43 29.16 3.52 2714 21732.73 2.36 0.30 0.088 2718.69 177.7 3.43 0.053 2228.75 435.3 293.60 53.58 1.119 1302.19 -4.9 0.021 - - - - - - 15.84 15.87 13.06
21911.46 21.74 6.38 2762 21917.05 roll 2.41 - - 2718.19 - 3.14 0.121 3473.31 396.4 293.60 - - 1296.66 - - - - - - - - - 15.75 -
22091 end climb: SURFACE_DEPTH_REACHED
22091 begin surface coast
22106 end surface coast: CONTROL_FINISHED_OK
22106 begin surface
SM 1.15 - - - - 176.7 1.68 0.142 767.9 457.1 16.28 0.073 767.1 47.1 - 3.37 0.062 768.8 227.2 -0.431 - - 15.47 15.80 15.83 -