NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 80 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 28.71 of 350.00 AH used of 24V (91.80% remains)
• Surface angle -66.2 deg, depth 1.14 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.03 (SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
6.40 - - - 74.73 VBD -1.25 - - 180.19 - - - 2117.06 - -77.86 67.83 0.005 2375.75 - - - - - - - - - - 15.67
75.00 3.25 -4.19 8 106.52 -1.25 13.55 0.274 1834.50 122.1 3.42 0.130 3475.75 397.3 -77.86 10.03 0.007 2817.16 44.0 -3.373 - - - - - - 15.60 15.65 15.69
284.27 51.89 -15.96 50 290.03 roll -1.25 - - 1835.19 - 3.48 0.070 2085.31 -399.6 -77.86 - - 2818.56 - - - - - - - - - 15.78 -
469.30 75.87 -9.70 87 470.63 no move -1.25 - - 1835.56 - - - 2085.88 - -77.86 - - 2817.62 - - - - - - - - - - -
649.33 93.57 -9.95 123 655.14 roll -1.25 - - 1835.81 - 3.97 0.172 663.31 -358.3 -77.86 - - 2820.25 - - - - - - - - - 15.84 -
699.35 99.49 -11.88 133 705.07 roll -1.25 - - 1836.19 - 3.41 0.066 2118.12 426.6 -77.86 - - 2817.88 - - - - - - - - - 15.87 -
884.41 120.08 -11.04 152 890.17 roll -1.25 - - 1835.88 - 4.06 0.167 662.38 -358.6 -77.86 - - 2817.34 - - - - - - - - - 15.87 -
923.29 125.08 -13.08 160 930.09 roll -1.25 - - 1835.75 - 3.44 0.065 2118.12 423.2 -77.86 - - 2819.53 - - - - - - - - - 15.91 -
1229.37 157.95 -9.89 191 1235.20 roll -1.25 - - 1835.44 - 4.06 0.169 663.50 -358.3 -77.86 - - 2816.84 - - - - - - - - - 15.92 -
1274.40 163.43 -12.54 200 1278.97 roll -1.25 - - 1835.12 - 3.41 0.066 2119.62 427.0 -77.86 - - 2818.97 - - - - - - - - - 15.95 -
1584.42 197.53 -11.15 232 1585.74 no move -1.25 - - 1835.50 - - - 2119.69 - -77.86 - - 2819.44 - - - - - - - - - - -
1884.41 230.37 -10.61 262 1890.25 roll -1.25 - - 1835.62 - 4.09 0.172 663.00 -356.2 -77.86 - - 2817.19 - - - - - - - - - 15.97 -
1939.44 237.19 -12.88 273 1944.29 roll -1.25 - - 1836.06 - 3.44 0.070 2119.94 423.5 -77.86 - - 2819.62 - - - - - - - - - 16.01 -
2249.45 272.12 -10.51 305 2250.78 no move -1.25 - - 1835.75 - - - 2120.38 - -77.86 - - 2819.16 - - - - - - - - - - -
2549.53 305.34 -11.69 335 2550.86 no move -1.25 - - 1835.50 - - - 2119.94 - -77.86 - - 2818.66 - - - - - - - - - - -
2849.49 339.41 -11.44 365 2855.33 roll -1.25 - - 1835.69 - 4.05 0.176 662.38 -359.9 -77.86 - - 2815.97 - - - - - - - - - 16.02 -
2904.52 346.45 -12.41 376 2909.09 roll -1.25 - - 1836.00 - 3.42 0.071 2119.81 426.1 -77.86 - - 2818.78 - - - - - - - - - 16.05 -
3214.53 381.14 -10.39 408 3219.23 roll -1.25 - - 1835.31 - 3.37 0.135 3475.75 402.4 -77.86 - - 2817.28 - - - - - - - - - 16.04 -
3294.55 390.66 -11.58 424 3299.12 roll -1.25 - - 1835.38 - 3.45 0.074 2086.25 -402.8 -77.86 - - 2818.62 - - - - - - - - - 16.06 -
3604.56 422.40 -10.68 456 3610.38 roll -1.25 - - 1835.81 - 4.02 0.180 663.25 -354.0 -77.86 - - 2816.62 - - - - - - - - - 16.04 -
3689.57 432.53 -12.68 473 3694.16 roll -1.25 - - 1835.88 - 3.47 0.073 2116.44 418.8 -77.86 - - 2819.72 - - - - - - - - - 16.07 -
3999.59 460.73 -8.43 505 4004.28 roll -1.25 - - 1835.62 - 3.40 0.138 3475.25 399.6 -77.86 - - 2817.88 - - - - - - - - - 16.07 -
4053.45 466.39 -10.73 516 4060.33 roll -1.25 - - 1835.50 - 3.46 0.075 2087.62 -401.0 -77.86 - - 2817.91 - - - - - - - - - 16.08 -
4359.63 497.73 -9.34 547 4365.43 roll -1.25 - - 1835.62 - 3.98 0.184 663.12 -357.9 -77.86 - - 2815.25 - - - - - - - - - 16.05 -
4434.69 506.38 -11.60 562 4440.22 roll -1.25 - - 1835.44 - 3.45 0.077 2115.44 421.0 -77.86 - - 2814.03 - - - - - - - - - 16.08 -
4739.65 536.42 -9.31 593 4744.37 roll -1.25 - - 1835.62 - 3.44 0.140 3474.25 395.0 -77.86 - - 2815.72 - - - - - - - - - 16.07 -
4799.67 543.04 -10.99 605 4804.30 roll -1.25 - - 1835.50 - 3.45 0.076 2088.06 -401.8 -77.86 - - 2815.47 - - - - - - - - - 16.09 -
5109.69 572.95 -9.84 637 5115.37 roll -1.25 - - 1834.94 - 3.95 0.187 663.06 -360.8 -77.86 - - 2813.25 - - - - - - - - - 16.06 -
5158.57 578.63 -12.36 647 5165.44 roll -1.25 - - 1834.44 - 3.45 0.077 2114.94 420.8 -77.86 - - 2815.97 - - - - - - - - - 16.10 -
5464.75 607.81 -8.98 678 5469.46 roll -1.25 - - 1835.69 - 3.40 0.141 3474.69 399.9 -77.86 - - 2814.44 - - - - - - - - - 16.08 -
5568.66 618.70 -10.04 699 5575.53 roll -1.25 - - 1835.19 - 3.46 0.081 2084.88 -401.7 -77.86 - - 2817.09 - - - - - - - - - 16.10 -
5874.85 646.50 -8.46 730 5880.65 roll -1.25 - - 1835.69 - 3.90 0.191 663.19 -364.5 -77.86 - - 2816.50 - - - - - - - - - 16.07 -
6063.77 668.20 -11.65 768 6070.65 roll -1.25 - - 1835.62 - 3.43 0.084 2115.44 423.4 -77.86 - - 2813.84 - - - - - - - - - 16.10 -
6369.96 697.42 -9.97 799 6374.68 roll -1.25 - - 1835.69 - 3.38 0.145 3474.62 402.1 -77.86 - - 2814.56 - - - - - - - - - 16.09 -
6423.84 702.69 -11.17 810 6430.71 roll -1.25 - - 1835.56 - 3.47 0.080 2086.75 -400.0 -77.86 - - 2813.22 - - - - - - - - - 16.11 -
6730.10 729.86 -8.51 841 6735.86 roll -1.25 - - 1835.25 - 4.03 0.193 663.50 -353.2 -77.86 - - 2815.12 - - - - - - - - - 16.07 -
6805.12 737.25 -10.07 856 6809.65 roll -1.25 - - 1835.06 - 3.43 0.083 2114.06 422.9 -77.86 - - 2813.19 - - - - - - - - - 16.10 -
7115.11 766.92 -9.00 888 7119.81 roll -1.25 - - 1834.94 - 3.40 0.147 3474.62 400.2 -77.86 - - 2812.56 - - - - - - - - - 16.09 -
7165.13 771.93 -10.17 898 7170.71 roll -1.25 - - 1835.56 - 3.48 0.083 2087.06 -398.7 -77.86 - - 2811.50 - - - - - - - - - 16.11 -
7470.18 802.56 -10.03 929 7476.00 roll -1.25 - - 1835.94 - 4.03 0.196 663.19 -353.3 -77.86 - - 2809.91 - - - - - - - - - 16.08 -
7539.50 809.93 -10.69 943 7545.92 roll -1.25 - - 1835.75 - 3.48 0.086 2114.88 417.2 -77.86 - - 2812.25 - - - - - - - - - 16.11 -
7845.22 835.47 -8.68 974 7849.92 roll -1.25 - - 1835.50 - 3.39 0.147 3474.50 401.1 -77.86 - - 2811.12 - - - - - - - - - 16.10 -
7989.08 849.97 -10.85 1003 7995.97 roll -1.25 - - 1835.44 - 3.50 0.085 2087.88 -396.2 -77.86 - - 2812.06 - - - - - - - - - 16.11 -
8295.25 873.35 -7.85 1034 8296.58 no move -1.25 - - 1835.44 - - - 2087.88 - -77.86 - - 2808.81 - - - - - - - - - - -
8595.27 896.15 -7.83 1064 8601.10 roll -1.25 - - 1835.50 - 4.08 0.201 663.38 -349.1 -77.86 - - 2807.81 - - - - - - - - - 16.08 -
8710.29 907.51 -10.94 1087 8715.88 roll -1.25 - - 1835.62 - 3.50 0.091 2113.25 414.2 -77.86 - - 2808.12 - - - - - - - - - 16.12 -
9015.33 929.12 -5.52 1118 9020.02 roll -1.25 - - 1835.44 - 3.40 0.149 3474.75 400.4 -77.86 - - 2810.31 - - - - - - - - - 16.09 -
9039.32 928.78 -4.59 1123 9046.03 roll -1.25 - - 1835.44 - 3.46 0.079 2086.62 -401.2 -77.86 - - 2811.34 - - - - - - - - - 16.12 -
9345.35 928.51 0.11 1154 9351.18 roll -1.25 - - 1833.56 - 4.05 0.197 663.25 -351.4 -77.86 - - 2809.59 - - - - - - - - - 16.08 -
9395 end dive: NO_VERTICAL_VELOCITY
9395 begin apogee
9399.93 928.80 - 1164 9467.09 -0.25 1.66 0.128 2082.00 149.7 0.07 0.326 2187.88 21780.4 - 64.36 2.198 2496.34 -4.9 0.340 - - - - - - 16.09 15.61 13.28
9470 end apogee: CONTROL_FINISHED_OK
9471 begin climb
9470.25 928.24 - 1171 9549.16 1.25 2.45 0.095 2449.12 149.8 3.44 0.146 3473.38 373.7 77.86 71.17 2.152 2183.03 -4.4 0.313 - - - - - - 15.65 15.24 12.97
9712.46 909.54 9.62 1219 9717.02 done 1.25 - - 2449.31 - 3.35 0.073 2184.75 -384.7 77.86 - - 2172.91 - - - - - - - - - 15.58 -
10022.50 877.72 9.83 1251 10028.32 done 1.25 - - 2448.69 - 4.14 0.167 737.25 -349.6 77.86 - - 2166.81 - - - - - - - - - 15.73 -
10107.49 867.79 11.87 1268 10112.97 done 1.25 - - 2448.75 - 3.56 0.072 2218.25 416.0 77.86 - - 2167.28 - - - - - - - - - 15.77 -
10412.52 841.98 8.26 1299 10418.35 done 1.25 - - 2448.69 - 4.18 0.165 736.69 -354.4 77.86 - - 2164.09 - - - - - - - - - 15.84 -
10431.44 839.97 8.38 1303 10438.26 done 1.25 - - 2448.38 - 3.52 0.070 2219.44 421.2 77.86 - - 2166.66 - - - - - - - - - 15.86 -
10737.54 813.12 9.02 1334 10742.06 done 1.25 - - 2449.06 - 3.19 0.148 3473.75 393.2 77.86 - - 2164.78 - - - - - - - - - 15.89 -
10807.55 806.39 9.84 1348 10812.09 done 1.25 - - 2449.31 - 3.27 0.076 2184.38 -394.3 77.86 - - 2163.34 - - - - - - - - - 15.93 -
11117.56 778.98 9.23 1380 11123.39 done 1.25 - - 2448.12 - 4.05 0.167 736.38 -357.5 77.86 - - 2163.12 - - - - - - - - - 15.94 -
11216.50 767.64 12.44 1400 11223.33 done 1.25 - - 2448.75 - 3.50 0.072 2218.00 423.3 77.86 - - 2162.94 - - - - - - - - - 15.97 -
11522.60 741.22 7.90 1431 11527.13 done 1.25 - - 2448.88 - 3.15 0.147 3473.31 398.5 77.86 - - 2161.78 - - - - - - - - - 15.98 -
11566.46 737.26 8.75 1440 11573.31 done 1.25 - - 2447.31 - 3.25 0.074 2183.50 -396.9 77.86 - - 2162.34 - - - - - - - - - 15.99 -
11872.65 715.37 7.20 1471 11877.18 done 1.28 - - 2448.81 - 3.26 0.145 3473.00 395.6 77.86 - - 2163.50 - - - - - - - - - 16.00 -
11906.49 713.01 7.74 1478 11913.34 done 1.28 - - 2448.44 - 3.25 0.072 2183.00 -396.9 77.86 - - 2161.72 - - - - - - - - - 16.02 -
12212.67 691.62 6.33 1509 12217.19 done 1.33 - - 2448.62 - 3.26 0.145 3474.25 396.1 77.86 - - 2163.50 - - - - - - - - - 16.02 -
12356.53 680.53 7.65 1538 12363.40 done 1.33 - - 2448.69 - 3.23 0.073 2183.62 -399.6 77.86 - - 2162.47 - - - - - - - - - 16.04 -
12662.75 659.94 6.99 1569 12668.56 done 1.36 - - 2449.38 - 3.88 0.163 736.19 -373.0 77.86 - - 2158.28 - - - - - - - - - 16.03 -
12751.89 652.88 8.59 1587 12758.50 done 1.36 - - 2448.56 - 3.46 0.070 2223.00 429.7 77.86 - - 2159.91 - - - - - - - - - 16.05 -
13057.84 631.04 7.38 1618 13063.70 1.38 0.16 0.119 2482.56 212.5 4.09 0.158 735.69 -363.6 77.86 - - 2157.94 - - - - - - - - 16.06 16.04 -
13212.88 617.58 8.24 1649 13217.45 done 1.38 - - 2482.38 - 3.47 0.072 2218.88 427.4 77.86 - - 2162.00 - - - - - - - - - 16.07 -
13522.95 596.78 6.19 1681 13527.45 done 1.44 - - 2482.50 - 3.16 0.144 3472.75 396.8 77.86 - - 2160.53 - - - - - - - - - 16.06 -
13546.80 594.55 7.17 1686 13553.62 done 1.46 - - 2481.06 - 3.17 0.070 2182.62 -407.0 77.86 - - 2159.97 - - - - - - - - - 16.08 -
13853.00 576.22 6.13 1717 13858.59 1.52 0.15 0.121 2516.62 237.1 3.29 0.142 3473.31 392.3 77.86 - - 2157.59 - - - - - - - - 16.06 16.07 -
13878.01 574.19 6.54 1722 13882.54 done 1.57 - - 2516.94 - 3.19 0.070 2180.19 -405.4 77.86 - - 2161.59 - - - - - - - - - 16.08 -
14188.05 549.47 7.88 1754 14193.91 done 1.57 - - 2516.88 - 3.95 0.157 736.44 -365.5 77.86 - - 2158.53 - - - - - - - - - 16.05 -
14247.12 543.99 9.04 1766 14253.81 done 1.57 - - 2517.12 - 3.47 0.068 2220.81 427.8 77.86 - - 2160.78 - - - - - - - - - 16.07 -
14553.11 520.16 7.69 1797 14558.87 done 1.57 - - 2517.50 - 4.05 0.153 736.50 -366.5 77.86 - - 2159.00 - - - - - - - - - 16.07 -
14762.11 502.00 8.80 1839 14768.92 done 1.57 - - 2516.75 - 3.50 0.068 2221.62 424.3 77.86 - - 2158.12 - - - - - - - - - 16.09 -
15068.22 482.48 6.11 1870 15072.73 done 1.62 - - 2516.94 - 3.14 0.138 3473.25 398.6 77.86 - - 2157.62 - - - - - - - - - 16.06 -
15142.08 476.36 7.72 1885 15148.91 done 1.62 - - 2516.62 - 3.20 0.069 2179.81 -404.2 77.86 - - 2158.66 - - - - - - - - - 16.09 -
15448.36 455.58 7.25 1916 15454.28 done 1.65 - - 2516.62 - 3.96 0.154 735.50 -364.7 77.86 - - 2156.41 - - - - - - - - - 16.07 -
15483.27 452.76 7.96 1923 15488.99 done 1.65 - - 2516.75 - 3.51 0.066 2223.06 423.8 77.86 - - 2160.03 - - - - - - - - - 16.09 -
15788.30 431.72 6.76 1954 15792.86 1.69 0.19 0.113 2557.69 215.5 3.18 0.137 3472.81 393.0 77.86 - - 2157.75 - - - - - - - - 16.06 16.07 -
15992.19 416.80 7.59 1995 15999.03 done 1.69 - - 2556.50 - 3.20 0.069 2182.12 -403.3 77.86 - - 2157.97 - - - - - - - - - 16.10 -
16298.37 396.73 6.26 2026 16304.02 done 1.74 - - 2557.62 - 3.94 0.151 735.62 -367.1 77.86 - - 2158.12 - - - - - - - - - 16.07 -
16453.39 386.57 6.51 2057 16458.96 done 1.79 - - 2556.50 - 3.48 0.066 2222.25 427.2 77.86 - - 2155.53 - - - - - - - - - 16.10 -
16758.41 368.90 5.10 2088 16800.23 1.91 0.28 0.097 2609.88 190.6 4.11 0.147 735.50 -361.7 120.02 33.72 1.545 2010.66 -4.3 0.169 - - - - - - 16.08 15.88 13.18
16882.33 357.35 11.64 2113 16889.29 roll 1.91 - - 2609.12 - 3.54 0.066 2222.25 420.0 120.02 - - 2005.88 - - - - - - - - - 15.94 -
17188.44 321.93 11.87 2144 17194.19 done 1.91 - - 2610.31 - 4.07 0.146 735.56 -365.3 120.02 - - 2001.09 - - - - - - - - - 15.96 -
17247.42 313.48 14.86 2156 17254.18 done 1.91 - - 2609.62 - 3.53 0.065 2221.69 421.0 120.02 - - 2002.72 - - - - - - - - - 15.98 -
17553.46 275.56 11.80 2187 17554.79 VBD 1.91 - - 2609.75 - - - 2221.88 - 120.02 - - 1999.75 - - - - - - - - - - -
17853.49 241.14 11.49 2217 17858.01 done 1.91 - - 2610.06 - 3.15 0.133 3473.94 397.5 120.02 - - 2001.22 - - - - - - - - - 16.01 -
17913.50 233.86 12.67 2229 17918.02 done 1.91 - - 2609.25 - 3.19 0.064 2180.31 -405.5 120.02 - - 2001.66 - - - - - - - - - 16.04 -
18223.51 198.76 11.13 2261 18228.07 done 1.91 - - 2609.81 - 3.28 0.131 3474.50 394.6 120.02 - - 2001.22 - - - - - - - - - 16.03 -
18233.51 197.44 12.03 2263 18238.18 done 1.91 - - 2609.69 - 3.17 0.061 2176.56 -409.4 120.02 - - 2000.78 - - - - - - - - - 16.04 -
18543.53 164.33 10.66 2295 18544.86 VBD 1.91 - - 2609.38 - - - 2176.38 - 120.02 - - 2000.78 - - - - - - - - - - -
18843.76 131.71 11.18 2325 18845.10 VBD 1.91 - - 2609.88 - - - 2176.25 - 120.02 - - 1999.38 - - - - - - - - - - -
19143.57 99.96 8.71 2355 19149.25 done 1.91 - - 2610.38 - 3.29 0.129 3475.06 394.8 120.02 - - 2001.38 - - - - - - - - - 16.05 -
19168.58 97.59 8.86 2360 19174.26 done 1.91 - - 2610.00 - 3.15 0.063 2179.19 -411.4 120.02 - - 2000.69 - - - - - - - - - 16.04 -
19353.62 85.73 4.95 2397 19396.28 2.05 0.17 0.118 2643.75 198.5 3.92 0.146 736.12 -368.1 164.25 36.39 1.207 1827.22 -4.8 0.056 - - - - - - 16.04 15.86 13.26
19434.03 80.07 9.25 2413 19439.77 roll 2.05 - - 2644.06 - 3.54 0.062 2223.88 420.3 164.25 - - 1828.12 - - - - - - - - - 15.92 -
19619.15 66.46 6.89 2450 19624.91 roll 2.08 - - 2644.06 - 3.20 0.128 3473.88 390.6 164.25 - - 1823.44 - - - - - - - - - 15.93 -
19849.22 53.69 4.74 2496 19895.75 2.22 0.22 0.104 2684.38 183.3 3.17 0.062 2179.38 -408.4 211.46 38.71 1.162 1637.12 -4.8 0.037 - - - - - - 15.93 15.96 13.15
20074.21 36.54 6.42 2541 20079.92 roll 2.27 - - 2685.00 - 3.31 0.124 3474.75 391.4 211.46 - - 1631.69 - - - - - - - - - 15.82 -
20094.22 35.58 5.69 2545 20130.03 2.37 0.19 0.115 2719.75 182.9 3.19 0.059 2178.19 -406.4 245.13 28.38 1.104 1499.94 -4.6 0.025 - - - - - - 15.82 15.86 13.10
20309.25 27.10 3.32 2588 20371.38 2.57 0.28 0.101 2771.00 183.0 3.99 0.142 737.44 -361.1 312.62 54.86 1.104 1225.72 -5.0 0.020 - - - - - - 15.81 15.60 13.10
20594.38 3.79 12.50 2645 20600.12 roll 2.57 - - 2771.75 - 3.58 0.061 2224.06 415.3 312.62 - - 1221.00 - - - - - - - - - 15.76 -
20615 end climb: SURFACE_DEPTH_REACHED
20615 begin surface coast
20630 end surface coast: CONTROL_FINISHED_OK
20630 begin surface
SM 1.09 - - - - 180.4 89.18 1.076 767.3 8.6 17.07 0.104 763.6 44.7 - 0.34 0.098 771.1 2257.4 -2.566 - - 13.04 15.72 15.79 -