NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 62 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 22.97 of 350.00 AH used of 24V (93.44% remains)
• Surface angle -62.9 deg, depth 0.58 m • Intended pitch -20.5 deg, speed -8.049 cm/s
VBD pumped to 424.60 (SM_CC=425)
• GPS1 time: 91 s
• GPS2 time: 2 s • Transponder ping count: 5
• 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
6.32 - - - 64.23 VBD -1.26 - - 179.06 - - - 2120.69 - -77.86 57.35 0.005 2124.16 - - - - - - - - - - 15.66
64.47 3.13 -4.61 11 106.29 -1.26 13.76 0.271 1834.81 120.3 4.11 0.177 663.25 -354.6 -77.86 17.59 0.006 2816.44 39.4 -3.417 - - - - - - 15.58 15.64 15.68
329.10 61.51 -16.72 64 334.84 roll -1.26 - - 1834.31 - 3.46 0.072 2120.38 421.1 -77.86 - - 2816.69 - - - - - - - - - 15.79 -
514.19 84.53 -11.76 101 520.00 roll -1.26 - - 1834.19 - 4.09 0.173 663.44 -356.2 -77.86 - - 2819.09 - - - - - - - - - 15.78 -
744.26 115.34 -12.41 147 748.95 roll -1.26 - - 1834.50 - 3.45 0.070 2119.88 422.2 -77.86 - - 2821.19 - - - - - - - - - 15.87 -
1054.28 145.26 -10.08 179 1055.61 no move -1.26 - - 1834.50 - - - 2119.50 - -77.86 - - 2818.56 - - - - - - - - - - -
1354.40 177.22 -10.46 209 1360.13 roll -1.26 - - 1834.00 - 4.07 0.175 662.44 -358.0 -77.86 - - 2819.22 - - - - - - - - - 15.93 -
1479.34 193.56 -13.27 234 1483.98 roll -1.26 - - 1833.25 - 3.44 0.073 2120.31 423.8 -77.86 - - 2819.88 - - - - - - - - - 15.97 -
1789.37 229.35 -11.51 266 1790.70 no move -1.26 - - 1834.56 - - - 2119.56 - -77.86 - - 2818.59 - - - - - - - - - - -
2089.40 264.09 -12.04 296 2093.95 roll -1.26 - - 1834.81 - 3.35 0.134 3475.12 404.6 -77.86 - - 2818.56 - - - - - - - - - 16.01 -
2129.42 268.99 -13.39 304 2134.00 roll -1.26 - - 1834.12 - 3.42 0.070 2085.56 -406.3 -77.86 - - 2819.81 - - - - - - - - - 16.03 -
2439.45 304.27 -11.21 336 2445.25 roll -1.26 - - 1834.19 - 3.99 0.189 663.31 -356.5 -77.86 - - 2817.03 - - - - - - - - - 16.01 -
2524.52 315.45 -13.20 353 2529.03 roll -1.26 - - 1833.19 - 3.42 0.077 2117.88 425.3 -77.86 - - 2818.69 - - - - - - - - - 16.06 -
2834.51 351.38 -11.32 385 2840.28 roll -1.26 - - 1834.44 - 3.86 0.189 662.06 -377.2 -77.86 - - 2815.66 - - - - - - - - - 16.02 -
2899.53 359.93 -13.87 398 2904.07 roll -1.26 - - 1834.50 - 3.40 0.080 2118.06 428.2 -77.86 - - 2819.75 - - - - - - - - - 16.06 -
3209.55 393.49 -10.92 430 3210.88 no move -1.26 - - 1834.00 - - - 2117.75 - -77.86 - - 2816.88 - - - - - - - - - - -
3509.59 422.84 -10.20 460 3510.91 no move -1.26 - - 1834.56 - - - 2117.88 - -77.86 - - 2815.72 - - - - - - - - - - -
3809.62 451.92 -8.90 490 3815.44 roll -1.26 - - 1834.12 - 4.03 0.195 664.88 -360.5 -77.86 - - 2817.72 - - - - - - - - - 16.05 -
3868.55 458.90 -12.12 502 3875.37 roll -1.26 - - 1834.44 - 3.44 0.088 2117.31 422.2 -77.86 - - 2814.44 - - - - - - - - - 16.09 -
4174.67 487.66 -9.56 533 4176.00 no move -1.26 - - 1834.06 - - - 2116.38 - -77.86 - - 2814.69 - - - - - - - - - - -
4474.74 516.97 -10.49 563 4480.54 roll -1.26 - - 1834.81 - 4.00 0.200 664.69 -362.9 -77.86 - - 2813.31 - - - - - - - - - 16.06 -
4549.81 525.30 -11.23 578 4554.48 roll -1.26 - - 1834.88 - 3.44 0.091 2117.62 422.4 -77.86 - - 2813.53 - - - - - - - - - 16.11 -
4859.83 556.47 -9.63 610 4861.15 no move -1.26 - - 1833.88 - - - 2117.62 - -77.86 - - 2813.44 - - - - - - - - - - -
5159.89 587.07 -10.22 640 5165.71 roll -1.26 - - 1834.12 - 4.01 0.202 662.44 -362.9 -77.86 - - 2811.50 - - - - - - - - - 16.07 -
5208.86 592.50 -11.53 650 5215.60 roll -1.26 - - 1834.31 - 3.44 0.092 2116.56 422.7 -77.86 - - 2812.94 - - - - - - - - - 16.10 -
5514.97 622.57 -9.86 681 5520.77 roll -1.26 - - 1834.12 - 4.00 0.203 664.50 -363.0 -77.86 - - 2811.62 - - - - - - - - - 16.07 -
5559.99 627.13 -10.98 690 5564.69 roll -1.26 - - 1834.44 - 3.45 0.093 2115.81 420.7 -77.86 - - 2810.31 - - - - - - - - - 16.11 -
5870.05 657.48 -9.33 722 5871.38 no move -1.26 - - 1834.50 - - - 2116.31 - -77.86 - - 2809.50 - - - - - - - - - - -
6170.10 684.61 -8.42 752 6171.43 no move -1.26 - - 1834.06 - - - 2116.25 - -77.86 - - 2808.09 - - - - - - - - - - -
6470.31 710.98 -9.63 782 6476.01 roll -1.26 - - 1833.50 - 4.14 0.208 664.50 -350.7 -77.86 - - 2808.31 - - - - - - - - - 16.07 -
6539.18 718.22 -11.45 796 6545.90 roll -1.26 - - 1834.31 - 3.46 0.097 2115.00 419.2 -77.86 - - 2811.66 - - - - - - - - - 16.13 -
6845.23 744.08 -7.64 827 6849.77 roll -1.26 - - 1834.19 - 3.38 0.150 3477.19 403.0 -77.86 - - 2810.16 - - - - - - - - - 16.10 -
6879.24 747.45 -8.55 834 6885.94 roll -1.26 - - 1834.31 - 3.40 0.083 2088.19 -408.5 -77.86 - - 2808.97 - - - - - - - - - 16.12 -
7185.27 772.56 -8.18 865 7191.08 roll -1.26 - - 1834.19 - 4.03 0.212 664.31 -353.3 -77.86 - - 2806.00 - - - - - - - - - 16.08 -
7230.29 777.37 -10.02 874 7234.85 roll -1.26 - - 1834.19 - 3.45 0.098 2113.44 420.0 -77.86 - - 2809.09 - - - - - - - - - 16.12 -
7540.33 802.84 -7.96 906 7544.86 roll -1.26 - - 1834.00 - 3.38 0.150 3475.12 402.9 -77.86 - - 2808.91 - - - - - - - - - 16.10 -
7584.20 806.89 -10.42 915 7591.02 roll -1.26 - - 1834.12 - 3.46 0.087 2087.88 -400.9 -77.86 - - 2809.94 - - - - - - - - - 16.11 -
7890.36 831.45 -8.37 946 7896.18 roll -1.26 - - 1834.12 - 4.13 0.214 663.69 -344.8 -77.86 - - 2807.44 - - - - - - - - - 16.08 -
7979.30 839.45 -9.13 964 7986.07 roll -1.26 - - 1834.38 - 3.49 0.101 2113.56 415.4 -77.86 - - 2807.16 - - - - - - - - - 16.12 -
8285.41 863.32 -7.43 995 8289.96 roll -1.26 - - 1834.19 - 3.40 0.152 3476.12 400.8 -77.86 - - 2806.38 - - - - - - - - - 16.10 -
8329.29 867.38 -10.02 1004 8336.12 roll -1.26 - - 1834.62 - 3.42 0.086 2087.50 -406.0 -77.86 - - 2806.81 - - - - - - - - - 16.11 -
8635.45 892.06 -8.30 1035 8641.25 roll -1.26 - - 1834.62 - 3.92 0.215 664.56 -363.0 -77.86 - - 2805.44 - - - - - - - - - 16.08 -
8724.47 900.55 -10.85 1053 8731.19 roll -1.26 - - 1834.25 - 3.48 0.104 2114.25 416.6 -77.86 - - 2806.03 - - - - - - - - - 16.12 -
9030.50 925.92 -8.13 1084 9031.83 no move -1.26 - - 1834.25 - - - 2114.25 - -77.86 - - 2805.19 - - - - - - - - - - -
9330.53 950.36 -8.16 1114 9336.36 roll -1.26 - - 1834.69 - 4.16 0.214 662.50 -349.0 -77.86 - - 2804.06 - - - - - - - - - 16.08 -
9379.48 955.16 -9.46 1124 9386.26 roll -1.26 - - 1833.56 - 3.54 0.105 2112.00 409.5 -77.86 - - 2806.66 - - - - - - - - - 16.12 -
9685.57 982.04 -8.37 1155 9686.90 no move -1.26 - - 1834.81 - - - 2112.75 - -77.86 - - 2806.12 - - - - - - - - - - -
9786 end dive: TARGET_DEPTH_EXCEEDED
9786 begin apogee
9786.79 990.25 -8.04 1165 9853.70 -0.25 1.74 0.165 2080.44 141.2 0.06 0.348 2186.25 1225.0 - 63.84 2.286 2496.78 -4.8 0.349 - - - - - - 16.08 15.61 13.22
9855 end apogee: CONTROL_FINISHED_OK
9855 begin climb
9854.80 991.25 - 1171 9930.82 1.26 2.54 0.108 2449.00 145.1 - - 2186.62 - 77.86 72.27 2.236 2180.34 -4.4 0.323 - - - - - - 15.63 - 12.95
10233.54 959.64 9.56 1216 10238.10 done 1.26 - - 2449.19 - 3.38 0.148 3474.88 381.1 77.86 - - 2168.66 - - - - - - - - - 15.65 -
10283.56 954.07 12.83 1226 10288.08 done 1.26 - - 2449.25 - 3.23 0.074 2184.81 -399.4 77.86 - - 2168.34 - - - - - - - - - 15.69 -
10593.80 922.99 10.11 1258 10599.39 done 1.26 - - 2449.00 - 3.94 0.176 736.75 -367.5 77.86 - - 2163.00 - - - - - - - - - 15.78 -
10618.60 920.12 10.88 1263 10623.24 done 1.26 - - 2449.88 - 3.55 0.072 2216.06 416.7 77.86 - - 2165.31 - - - - - - - - - 15.82 -
10928.63 890.47 8.81 1295 10929.96 VBD 1.26 - - 2449.00 - - - 2217.44 - 77.86 - - 2161.94 - - - - - - - - - - -
11228.66 864.27 9.02 1325 11229.99 VBD 1.26 - - 2448.88 - - - 2217.38 - 77.86 - - 2161.62 - - - - - - - - - - -
11528.72 838.62 8.04 1355 11533.22 done 1.26 - - 2448.88 - 3.16 0.148 3474.25 397.7 77.86 - - 2165.38 - - - - - - - - - 15.95 -
11578.73 834.30 9.15 1365 11583.24 done 1.26 - - 2448.69 - 3.12 0.073 2182.69 -414.0 77.86 - - 2164.84 - - - - - - - - - 15.97 -
11888.83 807.57 8.90 1397 11894.71 done 1.26 - - 2449.19 - 3.88 0.171 736.38 -372.8 77.86 - - 2162.03 - - - - - - - - - 15.96 -
11917.75 805.40 8.70 1403 11924.52 done 1.26 - - 2449.06 - 3.47 0.070 2218.31 427.1 77.86 - - 2160.38 - - - - - - - - - 16.00 -
12223.87 779.62 8.04 1434 12228.38 done 1.26 - - 2449.62 - 3.17 0.146 3475.62 396.6 77.86 - - 2160.59 - - - - - - - - - 16.00 -
12273.89 775.19 8.83 1444 12278.41 done 1.26 - - 2449.19 - 3.12 0.071 2182.44 -414.5 77.86 - - 2161.75 - - - - - - - - - 16.02 -
12583.96 749.88 7.64 1476 12589.74 done 1.26 - - 2449.25 - 3.82 0.168 736.12 -378.6 77.86 - - 2158.31 - - - - - - - - - 16.01 -
12612.90 747.33 7.87 1482 12619.66 done 1.26 - - 2447.06 - 3.48 0.068 2220.31 426.5 77.86 - - 2160.75 - - - - - - - - - 16.03 -
12919.03 720.68 8.88 1513 12920.36 VBD 1.26 - - 2449.56 - - - 2220.12 - 77.86 - - 2157.91 - - - - - - - - - - -
13219.08 696.36 7.79 1543 13224.89 done 1.26 - - 2448.94 - 3.99 0.164 736.19 -371.9 77.86 - - 2157.59 - - - - - - - - - 16.02 -
13274.40 691.40 9.30 1554 13279.96 done 1.26 - - 2449.00 - 3.43 0.070 2220.00 432.6 77.86 - - 2161.34 - - - - - - - - - 16.06 -
13579.38 665.65 8.81 1585 13583.68 done 1.26 - - 2449.25 - 3.14 0.143 3475.12 399.7 77.86 - - 2159.34 - - - - - - - - - 16.03 -
13639.20 660.04 10.13 1597 13643.71 done 1.26 - - 2448.94 - 3.11 0.070 2180.75 -416.2 77.86 - - 2158.62 - - - - - - - - - 16.07 -
13949.23 634.09 8.79 1629 13955.01 done 1.26 - - 2449.12 - 3.87 0.166 736.88 -373.1 77.86 - - 2156.72 - - - - - - - - - 16.05 -
13964.24 632.45 8.86 1632 13968.81 done 1.26 - - 2449.12 - 3.47 0.065 2217.31 426.6 77.86 - - 2159.22 - - - - - - - - - 16.08 -
14274.27 608.66 7.56 1664 14280.08 done 1.26 - - 2449.25 - 4.07 0.161 737.56 -363.6 77.86 - - 2159.12 - - - - - - - - - 16.05 -
14319.28 604.84 9.42 1673 14323.84 done 1.26 - - 2449.88 - 3.42 0.066 2221.38 433.9 77.86 - - 2160.88 - - - - - - - - - 16.08 -
14629.33 584.15 6.78 1705 14635.15 done 1.30 - - 2447.19 - 4.06 0.159 736.94 -365.6 77.86 - - 2158.81 - - - - - - - - - 16.05 -
14708.26 578.39 7.62 1721 14715.05 done 1.30 - - 2449.62 - 3.52 0.065 2222.12 421.9 77.86 - - 2158.06 - - - - - - - - - 16.08 -
15014.38 557.67 7.26 1752 15019.00 done 1.32 - - 2449.88 - 3.18 0.138 3476.06 394.3 77.86 - - 2160.00 - - - - - - - - - 16.08 -
15088.25 552.04 7.75 1767 15095.17 done 1.32 - - 2449.62 - 3.12 0.066 2181.06 -415.1 77.86 - - 2159.25 - - - - - - - - - 16.09 -
15394.41 531.19 7.64 1798 15395.74 VBD 1.32 - - 2449.81 - - - 2180.75 - 77.86 - - 2157.09 - - - - - - - - - - -
15694.46 513.26 6.08 1828 15699.03 1.38 0.16 0.126 2483.81 212.5 3.23 0.139 3475.44 400.8 77.86 - - 2159.25 - - - - - - - - 16.08 16.08 -
15714.67 511.84 5.38 1832 15750.59 done 1.50 - - 2483.56 - 3.07 0.066 2177.88 -422.7 116.46 31.39 1.716 2022.06 -4.4 0.217 - - - - - - - 16.09 13.15
16049.49 480.25 9.52 1869 16055.27 roll 1.50 - - 2483.50 - 3.87 0.159 737.25 -372.3 116.46 - - 2019.91 - - - - - - - - - 15.94 -
16094.50 475.11 11.68 1878 16099.19 done 1.50 - - 2484.25 - 3.50 0.063 2221.44 424.1 116.46 - - 2017.28 - - - - - - - - - 15.97 -
16404.54 445.73 8.77 1910 16409.03 done 1.50 - - 2482.00 - 3.15 0.138 3474.88 397.9 116.46 - - 2017.44 - - - - - - - - - 15.98 -
16434.53 442.63 10.95 1916 16439.05 done 1.50 - - 2484.50 - 3.11 0.064 2181.38 -415.9 116.46 - - 2016.19 - - - - - - - - - 15.99 -
16744.57 413.84 9.49 1948 16750.37 done 1.50 - - 2483.88 - 3.98 0.157 736.00 -363.2 116.46 - - 2014.78 - - - - - - - - - 16.00 -
16819.63 405.95 10.73 1963 16824.31 done 1.50 - - 2484.06 - 3.52 0.064 2222.00 422.2 116.46 - - 2014.91 - - - - - - - - - 16.01 -
17129.62 379.39 7.70 1995 17134.19 done 1.50 - - 2483.94 - 3.11 0.136 3475.25 403.0 116.46 - - 2016.09 - - - - - - - - - 16.02 -
17153.48 376.99 8.28 2000 17160.27 done 1.50 - - 2484.19 - 3.11 0.062 2180.94 -416.2 116.46 - - 2014.44 - - - - - - - - - 16.04 -
17459.67 351.16 8.87 2031 17464.30 done 1.50 - - 2484.25 - 3.21 0.133 3475.81 403.4 116.46 - - 2015.12 - - - - - - - - - 16.04 -
17549.68 342.17 10.80 2049 17554.18 done 1.50 - - 2484.38 - 3.15 0.065 2180.56 -411.2 116.46 - - 2014.53 - - - - - - - - - 16.05 -
17859.72 314.11 9.10 2081 17865.50 done 1.50 - - 2484.19 - 3.89 0.153 735.88 -371.4 116.46 - - 2014.06 - - - - - - - - - 16.03 -
17918.69 308.08 9.83 2093 17925.44 done 1.50 - - 2483.56 - 3.44 0.062 2221.88 432.0 116.46 - - 2013.31 - - - - - - - - - 16.06 -
18224.81 280.98 8.12 2124 18226.14 VBD 1.50 - - 2484.19 - - - 2222.12 - 116.46 - - 2013.38 - - - - - - - - - - -
18524.87 256.16 8.48 2154 18526.20 VBD 1.50 - - 2484.31 - - - 2222.81 - 116.46 - - 2013.72 - - - - - - - - - - -
18824.94 231.76 8.23 2184 18830.75 done 1.50 - - 2483.50 - 4.01 0.149 735.19 -371.0 116.46 - - 2014.09 - - - - - - - - - 16.04 -
18899.96 224.57 9.83 2199 18904.53 done 1.50 - - 2485.00 - 3.46 0.063 2224.19 430.3 116.46 - - 2013.47 - - - - - - - - - 16.08 -
19210.05 201.12 6.94 2231 19214.72 1.53 0.16 0.119 2518.81 211.3 3.07 0.133 3474.56 407.3 116.46 - - 2013.06 - - - - - - - - 16.07 16.06 -
19220.05 200.28 7.51 2233 19224.55 done 1.55 - - 2518.62 - 3.13 0.057 2177.88 -414.3 116.46 - - 2012.72 - - - - - - - - - 16.07 -
19530.10 176.43 7.69 2265 19535.88 done 1.55 - - 2517.81 - 3.89 0.148 736.06 -370.6 116.46 - - 2011.47 - - - - - - - - - 16.05 -
19545.11 175.28 7.58 2268 19549.67 done 1.55 - - 2518.38 - 3.44 0.056 2224.81 432.8 116.46 - - 2012.94 - - - - - - - - - 16.08 -
19855.18 151.95 7.22 2300 19860.98 done 1.57 - - 2518.06 - 4.02 0.144 736.31 -370.3 116.46 - - 2011.50 - - - - - - - - - 16.05 -
20084.24 132.78 7.45 2346 20090.93 done 1.59 - - 2518.12 - 3.41 0.060 2224.12 436.3 116.46 - - 2012.88 - - - - - - - - - 16.08 -
20390.29 116.51 4.93 2377 20431.08 1.72 0.25 0.099 2565.44 189.3 - - 2223.81 - 161.59 36.99 1.270 1839.09 -4.7 0.072 - - - - - - 16.05 - 13.23
20730.32 90.20 7.63 2425 20735.97 done 1.72 - - 2564.56 - 3.12 0.130 3474.94 401.0 161.59 - - 1833.19 - - - - - - - - - 15.95 -
20865.36 80.77 6.63 2452 20871.00 done 1.77 - - 2565.44 - 3.16 0.058 2176.94 -410.8 161.59 - - 1832.56 - - - - - - - - - 15.98 -
21050.42 73.33 4.04 2489 21103.22 1.94 0.28 0.102 2615.31 178.1 3.98 0.146 736.88 -361.8 219.55 46.33 1.196 1603.12 -5.0 0.051 - - - - - - 15.97 15.76 13.16
21260.99 52.24 12.68 2531 21266.68 roll 1.94 - - 2614.00 - 3.47 0.059 2223.00 428.3 219.55 - - 1600.06 - - - - - - - - - 15.85 -
21446.06 33.90 8.33 2568 21451.84 done 1.94 - - 2615.19 - 3.97 0.140 735.00 -374.8 219.55 - - 1596.56 - - - - - - - - - 15.85 -
21676.21 25.53 0.89 2614 21764.62 2.25 0.46 0.081 2691.50 165.9 3.45 0.056 2229.75 433.3 323.16 83.18 1.129 1183.56 -5.0 0.019 - - - - - - 15.88 15.92 13.10
21942.43 14.17 2.83 2667 22009.36 2.48 0.32 0.094 2745.88 169.9 3.16 0.129 3475.81 394.3 398.65 60.90 1.074 875.06 -5.1 0.011 - - - - - - 15.71 15.50 12.97
22063 end climb: SURFACE_DEPTH_REACHED
22063 begin surface coast
22073 end surface coast: CONTROL_FINISHED_OK
22073 begin surface
SM 1.54 - - - - 180.4 - 2.813 769.1 - 16.79 0.076 776.0 46.2 - 3.46 0.057 762.1 219.3 -0.606 - - 30.36 15.60 15.61 -