NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 72 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 26.17 of 350.00 AH used of 24V (92.52% remains)
• Surface angle -60.2 deg, depth 0.69 m • Intended pitch -20.5 deg, speed -8.049 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 30 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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 - - - 77.17 VBD -1.26 - - 181.38 - - - 2081.06 - -77.86 70.36 0.005 2403.50 - - - - - - - - - - 15.65
77.43 4.09 -5.00 9 109.42 -1.26 13.81 0.281 1835.00 119.7 4.06 0.186 662.44 -349.4 -77.86 9.23 0.007 2816.28 44.7 -4.363 - - - - - - 15.61 15.64 15.68
232.14 40.26 -18.59 40 237.88 roll -1.26 - - 1834.50 - 3.46 0.066 2120.38 421.4 -77.86 - - 2818.53 - - - - - - - - - 15.74 -
417.18 67.20 -13.73 77 422.99 roll -1.26 - - 1833.44 - 4.03 0.166 664.44 -361.3 -77.86 - - 2818.16 - - - - - - - - - 15.78 -
477.21 76.39 -15.46 89 482.91 roll -1.26 - - 1834.69 - 3.42 0.064 2119.56 425.5 -77.86 - - 2817.34 - - - - - - - - - 15.81 -
662.22 99.85 -12.33 126 668.04 roll -1.26 - - 1835.00 - 4.03 0.168 662.62 -361.5 -77.86 - - 2819.28 - - - - - - - - - 15.80 -
782.23 116.35 -12.38 150 786.87 roll -1.26 - - 1834.94 - 3.41 0.066 2119.12 427.1 -77.86 - - 2818.78 - - - - - - - - - 15.88 -
1092.25 150.61 -11.24 182 1098.05 roll -1.26 - - 1834.56 - 3.98 0.168 662.62 -366.0 -77.86 - - 2817.31 - - - - - - - - - 15.86 -
1201.19 164.05 -12.34 204 1207.98 roll -1.26 - - 1834.38 - 3.42 0.065 2121.31 426.5 -77.86 - - 2819.84 - - - - - - - - - 15.94 -
1507.29 195.81 -10.64 235 1511.86 roll -1.26 - - 1834.25 - 3.34 0.129 3474.19 405.1 -77.86 - - 2820.12 - - - - - - - - - 15.96 -
1561.16 202.49 -11.92 246 1568.00 roll -1.26 - - 1834.69 - 3.37 0.067 2083.69 -412.6 -77.86 - - 2820.44 - - - - - - - - - 15.98 -
1867.32 235.41 -10.69 277 1871.90 roll -1.26 - - 1834.06 - 3.43 0.131 3474.75 405.6 -77.86 - - 2820.91 - - - - - - - - - 15.99 -
1907.34 240.02 -11.53 285 1911.89 roll -1.26 - - 1834.50 - 3.34 0.069 2085.62 -415.9 -77.86 - - 2822.44 - - - - - - - - - 15.99 -
2217.35 275.10 -11.88 317 2218.68 no move -1.26 - - 1834.38 - - - 2085.94 - -77.86 - - 2819.75 - - - - - - - - - - -
2517.37 310.91 -12.04 347 2523.17 roll -1.26 - - 1834.44 - 3.95 0.180 662.88 -360.3 -77.86 - - 2817.12 - - - - - - - - - 16.01 -
2562.39 316.91 -13.27 356 2566.96 roll -1.26 - - 1834.56 - 3.40 0.071 2120.12 428.6 -77.86 - - 2818.91 - - - - - - - - - 16.04 -
2872.39 351.19 -10.34 388 2873.72 no move -1.26 - - 1834.56 - - - 2120.06 - -77.86 - - 2818.81 - - - - - - - - - - -
3172.42 382.38 -10.16 418 3178.24 roll -1.26 - - 1834.38 - 4.05 0.179 663.38 -359.7 -77.86 - - 2816.09 - - - - - - - - - 16.02 -
3281.37 394.99 -12.89 440 3288.15 roll -1.26 - - 1834.44 - 3.44 0.075 2117.94 422.8 -77.86 - - 2820.38 - - - - - - - - - 16.06 -
3587.46 425.50 -10.00 471 3593.29 roll -1.26 - - 1834.06 - 4.05 0.181 662.50 -359.4 -77.86 - - 2818.03 - - - - - - - - - 16.04 -
3632.48 430.75 -13.25 480 3637.11 roll -1.26 - - 1834.75 - 3.43 0.075 2118.12 424.4 -77.86 - - 2820.06 - - - - - - - - - 16.07 -
3942.50 463.82 -11.53 512 3943.83 no move -1.26 - - 1834.56 - - - 2118.19 - -77.86 - - 2817.34 - - - - - - - - - - -
4242.52 493.34 -9.61 542 4243.85 no move -1.26 - - 1834.62 - - - 2118.31 - -77.86 - - 2816.66 - - - - - - - - - - -
4542.55 522.74 -9.90 572 4543.88 no move -1.26 - - 1834.38 - - - 2118.44 - -77.86 - - 2815.31 - - - - - - - - - - -
4842.57 551.05 -9.38 602 4848.39 roll -1.26 - - 1832.94 - 4.07 0.191 662.25 -357.8 -77.86 - - 2815.91 - - - - - - - - - 16.06 -
4891.44 556.19 -10.85 612 4898.30 roll -1.26 - - 1833.44 - 3.42 0.080 2118.44 425.8 -77.86 - - 2815.59 - - - - - - - - - 16.10 -
5197.62 583.93 -9.27 643 5198.94 no move -1.26 - - 1834.38 - - - 2118.56 - -77.86 - - 2815.25 - - - - - - - - - - -
5497.64 612.34 -9.43 673 5502.33 roll -1.26 - - 1834.62 - 3.36 0.144 3472.94 403.1 -77.86 - - 2815.81 - - - - - - - - - 16.08 -
5597.68 623.32 -11.47 693 5602.23 roll -1.26 - - 1834.38 - 3.40 0.081 2086.75 -407.7 -77.86 - - 2815.12 - - - - - - - - - 16.11 -
5907.73 654.18 -10.92 725 5913.54 roll -1.26 - - 1834.56 - 3.98 0.195 664.62 -357.3 -77.86 - - 2811.84 - - - - - - - - - 16.07 -
6056.71 673.02 -11.71 755 6063.50 roll -1.26 - - 1835.06 - 3.43 0.085 2117.62 423.6 -77.86 - - 2814.59 - - - - - - - - - 16.11 -
6362.85 704.45 -9.49 786 6367.40 roll -1.26 - - 1834.44 - 3.37 0.145 3473.56 402.4 -77.86 - - 2814.81 - - - - - - - - - 16.09 -
6442.89 712.93 -10.80 802 6447.46 roll -1.26 - - 1834.19 - 3.41 0.081 2087.31 -406.5 -77.86 - - 2813.31 - - - - - - - - - 16.10 -
6752.93 741.59 -8.51 834 6758.75 roll -1.26 - - 1834.44 - 4.05 0.197 663.62 -351.5 -77.86 - - 2814.94 - - - - - - - - - 16.08 -
6837.98 750.14 -10.24 851 6842.67 roll -1.26 - - 1833.62 - 3.41 0.086 2115.75 425.8 -77.86 - - 2813.22 - - - - - - - - - 16.11 -
7148.02 775.61 -7.14 883 7152.71 roll -1.26 - - 1833.44 - 3.35 0.147 3475.62 405.9 -77.86 - - 2812.84 - - - - - - - - - 16.09 -
7261.98 786.65 -9.47 906 7268.78 roll -1.26 - - 1834.62 - 3.42 0.084 2087.56 -405.9 -77.86 - - 2811.75 - - - - - - - - - 16.11 -
7568.11 812.37 -8.04 937 7569.44 no move -1.26 - - 1834.94 - - - 2087.19 - -77.86 - - 2809.03 - - - - - - - - - - -
7868.15 838.01 -7.78 967 7873.97 roll -1.26 - - 1833.69 - 4.07 0.202 663.31 -349.8 -77.86 - - 2813.28 - - - - - - - - - 16.08 -
7993.17 850.29 -11.54 992 7997.89 roll -1.26 - - 1834.00 - 3.47 0.092 2116.06 418.7 -77.86 - - 2809.94 - - - - - - - - - 16.12 -
8303.19 873.59 -8.10 1024 8304.52 no move -1.26 - - 1834.12 - - - 2116.38 - -77.86 - - 2808.81 - - - - - - - - - - -
8603.23 896.45 -7.61 1054 8609.06 roll -1.26 - - 1833.50 - 4.16 0.200 662.62 -349.5 -77.86 - - 2812.22 - - - - - - - - - 16.07 -
8638.24 900.05 -10.28 1061 8642.97 roll -1.26 - - 1833.94 - 3.46 0.090 2115.75 420.0 -77.86 - - 2811.78 - - - - - - - - - 16.12 -
8948.25 925.31 -7.32 1093 8952.81 roll -1.26 - - 1834.31 - 3.38 0.151 3474.50 402.0 -77.86 - - 2809.34 - - - - - - - - - 16.10 -
8988.28 929.21 -9.75 1101 8992.83 roll -1.26 - - 1832.50 - 3.44 0.086 2088.62 -402.9 -77.86 - - 2809.66 - - - - - - - - - 16.11 -
9298.28 953.37 -7.50 1133 9304.10 roll -1.26 - - 1834.19 - 4.09 0.205 663.62 -348.4 -77.86 - - 2807.69 - - - - - - - - - 16.08 -
9397.30 962.69 -9.97 1153 9404.01 roll -1.26 - - 1834.06 - 3.49 0.095 2116.50 416.3 -77.86 - - 2808.66 - - - - - - - - - 16.12 -
9703.32 986.51 -8.19 1184 9709.16 roll -1.26 - - 1834.25 - 4.14 0.202 664.50 -350.7 -77.86 - - 2808.22 - - - - - - - - - 16.08 -
9742.27 989.34 -6.60 1192 9749.04 roll -1.26 - - 1834.19 - 3.45 0.094 2113.56 420.0 -77.86 - - 2809.53 - - - - - - - - - 16.11 -
9758 end dive: TARGET_DEPTH_EXCEEDED
9758 begin apogee
9759.52 991.04 -8.99 1194 9829.68 -0.25 1.74 0.162 2079.69 141.1 0.06 0.355 2189.56 1266.7 - 64.79 2.273 2497.78 -4.8 0.350 - - - - - - 16.07 15.59 13.21
9832 end apogee: CONTROL_FINISHED_OK
9832 begin climb
9832.78 992.15 - 1201 9913.67 1.26 2.54 0.104 2449.94 145.8 4.20 0.171 737.88 -345.6 77.86 72.47 2.219 2179.34 -4.4 0.328 - - - - - - 15.63 15.22 12.91
9915.47 986.79 6.14 1217 9922.13 roll 1.32 - - 2449.44 - 3.62 0.067 2216.25 408.4 77.86 - - 2179.12 - - - - - - - - - 15.30 -
10221.40 957.21 10.87 1248 10227.25 done 1.32 - - 2449.38 - 4.22 0.169 737.81 -350.3 77.86 - - 2166.91 - - - - - - - - - 15.64 -
10236.41 955.78 10.87 1251 10241.13 done 1.32 - - 2447.81 - 3.56 0.069 2217.75 415.7 77.86 - - 2169.00 - - - - - - - - - 15.67 -
10546.42 925.59 10.30 1283 10552.28 done 1.32 - - 2448.81 - 4.17 0.168 737.12 -355.1 77.86 - - 2164.66 - - - - - - - - - 15.78 -
10591.43 921.21 12.77 1292 10596.28 done 1.32 - - 2449.06 - 3.55 0.069 2217.19 416.9 77.86 - - 2165.12 - - - - - - - - - 15.81 -
10901.45 892.78 8.84 1324 10905.98 done 1.32 - - 2449.19 - 3.22 0.147 3474.69 390.5 77.86 - - 2165.66 - - - - - - - - - 15.86 -
10955.31 887.54 9.83 1335 10962.13 done 1.32 - - 2449.50 - 3.21 0.072 2183.69 -402.2 77.86 - - 2164.50 - - - - - - - - - 15.89 -
11261.47 862.36 7.88 1366 11267.28 done 1.32 - - 2446.94 - 4.03 0.170 736.75 -359.0 77.86 - - 2162.44 - - - - - - - - - 15.91 -
11286.49 859.81 6.64 1371 11292.07 done 1.36 - - 2449.25 - 3.51 0.069 2218.62 422.2 77.86 - - 2160.25 - - - - - - - - - 15.93 -
11591.50 835.19 9.33 1402 11597.33 done 1.36 - - 2449.38 - 4.11 0.165 736.81 -360.5 77.86 - - 2159.88 - - - - - - - - - 15.94 -
11660.42 828.52 9.94 1416 11667.22 done 1.36 - - 2449.69 - 3.50 0.070 2217.44 423.0 77.86 - - 2163.72 - - - - - - - - - 15.98 -
11966.53 804.17 8.12 1447 11972.49 done 1.36 - - 2449.62 - 4.10 0.165 737.69 -360.9 77.86 - - 2159.25 - - - - - - - - - 15.96 -
11975.46 803.34 8.38 1449 11982.40 done 1.36 - - 2450.00 - 3.51 0.066 2219.88 422.3 77.86 - - 2160.69 - - - - - - - - - 15.99 -
12281.57 780.92 7.11 1480 12286.12 1.39 0.16 0.112 2486.88 230.5 3.18 0.146 3474.88 394.7 77.86 - - 2161.44 - - - - - - - - 16.00 16.00 -
12311.56 778.21 8.07 1486 12316.07 done 1.39 - - 2486.56 - 3.17 0.069 2181.19 -408.1 77.86 - - 2162.16 - - - - - - - - - 16.02 -
12621.57 750.56 8.80 1518 12626.11 done 1.39 - - 2486.50 - 3.29 0.144 3472.50 392.5 77.86 - - 2160.66 - - - - - - - - - 16.02 -
12691.59 742.86 12.20 1532 12696.10 done 1.39 - - 2486.69 - 3.18 0.069 2180.88 -406.2 77.86 - - 2162.59 - - - - - - - - - 16.04 -
13001.60 714.33 8.59 1564 13002.93 VBD 1.39 - - 2486.25 - - - 2181.25 - 77.86 - - 2158.81 - - - - - - - - - - -
13301.62 686.61 9.19 1594 13306.18 done 1.39 - - 2485.88 - 3.29 0.142 3472.12 392.4 77.86 - - 2159.66 - - - - - - - - - 16.04 -
13361.64 681.37 8.08 1606 13366.30 done 1.39 - - 2485.81 - 3.13 0.068 2179.94 -412.8 77.86 - - 2162.50 - - - - - - - - - 16.06 -
13671.68 652.80 9.41 1638 13676.22 done 1.39 - - 2486.12 - 3.25 0.141 3473.75 398.1 77.86 - - 2159.28 - - - - - - - - - 16.05 -
13701.70 649.78 9.27 1644 13706.21 done 1.39 - - 2486.19 - 3.12 0.070 2181.56 -414.2 77.86 - - 2161.72 - - - - - - - - - 16.07 -
14011.75 621.84 8.72 1676 14013.08 VBD 1.39 - - 2486.06 - - - 2181.19 - 77.86 - - 2158.78 - - - - - - - - - - -
14311.80 597.77 7.70 1706 14313.13 VBD 1.39 - - 2486.12 - - - 2181.69 - 77.86 - - 2157.62 - - - - - - - - - - -
14611.86 574.43 7.03 1736 14617.64 done 1.42 - - 2486.69 - 3.91 0.159 736.56 -369.6 77.86 - - 2161.16 - - - - - - - - - 16.06 -
14646.87 571.09 8.57 1743 14652.44 done 1.42 - - 2487.00 - 3.47 0.065 2221.88 428.0 77.86 - - 2157.09 - - - - - - - - - 16.09 -
14951.93 549.51 7.53 1774 14957.79 done 1.43 - - 2486.38 - 4.04 0.154 735.81 -367.8 77.86 - - 2157.28 - - - - - - - - - 16.07 -
14980.86 547.20 7.70 1780 14987.77 done 1.43 - - 2486.62 - 3.46 0.064 2222.38 429.6 77.86 - - 2160.44 - - - - - - - - - 16.08 -
15287.00 528.23 6.17 1811 15288.33 VBD 1.49 - - 2486.62 - - - 2221.75 - 77.86 - - 2156.62 - - - - - - - - - - -
15587.02 511.60 5.18 1841 15628.67 1.61 0.28 0.095 2538.38 184.9 4.11 0.156 736.12 -361.5 119.42 34.03 1.710 2012.28 -4.2 0.212 - - - - - - 16.09 15.86 13.19
15647.03 506.81 9.14 1853 15651.88 roll 1.61 - - 2539.12 - 3.53 0.064 2222.25 421.0 119.42 - - 2009.88 - - - - - - - - - 15.91 -
15957.08 473.98 10.83 1885 15961.61 roll 1.61 - - 2538.56 - 3.20 0.138 3474.50 391.3 119.42 - - 2006.72 - - - - - - - - - 15.93 -
16030.97 464.34 13.04 1900 16037.76 roll 1.61 - - 2539.12 - 3.14 0.069 2182.81 -411.4 119.42 - - 2006.19 - - - - - - - - - 15.97 -
16337.15 428.79 11.29 1931 16341.68 done 1.61 - - 2538.88 - 3.30 0.137 3472.38 390.8 119.42 - - 2005.38 - - - - - - - - - 15.98 -
16377.19 423.48 13.34 1939 16381.81 done 1.61 - - 2538.88 - 3.13 0.067 2181.12 -412.5 119.42 - - 2004.47 - - - - - - - - - 15.98 -
16687.18 388.09 10.68 1971 16691.72 done 1.61 - - 2539.38 - 3.27 0.135 3473.25 395.1 119.42 - - 2005.44 - - - - - - - - - 16.00 -
16721.05 383.88 12.47 1978 16727.85 done 1.61 - - 2539.00 - 3.11 0.066 2179.00 -416.2 119.42 - - 2004.81 - - - - - - - - - 16.01 -
17027.21 350.17 11.37 2009 17033.00 done 1.61 - - 2538.69 - 3.90 0.153 736.88 -369.8 119.42 - - 2001.88 - - - - - - - - - 16.01 -
17062.22 345.70 13.16 2016 17066.94 done 1.61 - - 2538.81 - 3.48 0.062 2220.81 426.4 119.42 - - 2003.81 - - - - - - - - - 16.04 -
17372.25 312.80 10.45 2048 17376.76 done 1.61 - - 2539.31 - 3.17 0.134 3475.19 395.7 119.42 - - 2002.53 - - - - - - - - - 16.03 -
17482.28 300.41 11.60 2070 17486.78 done 1.61 - - 2539.25 - 3.10 0.064 2180.81 -417.5 119.42 - - 2005.06 - - - - - - - - - 16.05 -
17792.30 270.83 9.18 2102 17793.63 VBD 1.61 - - 2538.81 - - - 2181.75 - 119.42 - - 2002.72 - - - - - - - - - - -
18092.31 241.87 8.84 2132 18096.99 done 1.61 - - 2539.12 - 3.29 0.132 3475.38 393.2 119.42 - - 2002.72 - - - - - - - - - 16.05 -
18112.32 239.93 9.10 2136 18116.82 done 1.61 - - 2539.00 - 3.07 0.062 2179.44 -422.1 119.42 - - 2004.75 - - - - - - - - - 16.06 -
18422.34 211.70 9.21 2168 18426.88 done 1.61 - - 2538.56 - 3.28 0.129 3473.69 394.6 119.42 - - 2002.59 - - - - - - - - - 16.06 -
18432.34 210.47 9.25 2170 18436.85 done 1.61 - - 2539.06 - 3.06 0.060 2179.31 -423.0 119.42 - - 2004.75 - - - - - - - - - 16.07 -
18742.37 182.99 8.35 2202 18748.09 done 1.61 - - 2538.81 - 3.84 0.149 735.75 -375.9 119.42 - - 2001.88 - - - - - - - - - 16.04 -
18771.30 179.93 9.44 2208 18778.09 done 1.61 - - 2539.56 - 3.47 0.060 2224.00 428.9 119.42 - - 2001.81 - - - - - - - - - 16.06 -
19077.42 156.55 6.92 2239 19081.91 done 1.65 - - 2539.50 - 3.18 0.130 3475.31 393.5 119.42 - - 2002.25 - - - - - - - - - 16.05 -
19117.40 153.43 7.72 2247 19121.92 done 1.65 - - 2539.75 - 3.07 0.059 2178.31 -422.5 119.42 - - 2001.22 - - - - - - - - - 16.06 -
19427.44 131.93 6.20 2279 19433.25 done 1.70 - - 2539.25 - 3.80 0.146 736.06 -379.5 119.42 - - 2000.06 - - - - - - - - - 16.04 -
19552.46 123.90 6.12 2304 19558.08 1.76 0.17 0.098 2576.19 217.3 3.45 0.060 2225.50 431.7 119.42 - - 1999.88 - - - - - - - - 16.05 16.06 -
19857.48 108.84 4.92 2335 19898.86 done 1.90 - - 2578.06 - 3.18 0.130 3474.69 392.8 164.68 37.10 1.240 1828.97 -4.6 0.068 - - - - - - - 15.87 13.20
19992.48 98.10 10.21 2362 19998.12 roll 1.90 - - 2576.94 - 3.08 0.060 2180.50 -420.2 164.68 - - 1822.88 - - - - - - - - - 15.94 -
20177.52 82.90 6.50 2399 20183.32 roll back 1.94 0.21 0.100 2617.56 193.4 3.30 0.123 3473.88 391.9 164.68 - - 1820.44 - - - - - - - - 15.92 15.93 -
20387.55 69.95 7.23 2441 20393.21 done 1.97 - - 2617.50 - 3.05 0.061 2177.69 -425.0 164.68 - - 1819.81 - - - - - - - - - 15.96 -
20572.57 62.99 2.88 2478 20639.53 2.19 0.34 0.087 2678.50 179.4 3.35 0.125 3472.81 386.6 239.53 59.55 1.181 1522.81 -5.0 0.044 - - - - - - 15.97 15.71 13.21
20642.65 59.60 4.89 2492 20684.14 2.33 0.17 0.113 2706.88 166.9 3.12 0.057 2179.38 -414.6 285.19 36.95 1.128 1337.81 -5.0 0.044 - - - - - - 15.73 15.76 13.03
20862.57 27.10 14.98 2536 20868.35 roll 2.33 - - 2709.06 - 3.87 0.144 736.50 -372.8 285.19 - - 1330.88 - - - - - - - - - 15.70 -
21092.82 8.99 6.51 2582 21098.34 done 2.38 - - 2709.19 - 3.52 0.059 2223.69 422.5 285.19 - - 1328.12 - - - - - - - - - 15.81 -
21237 end climb: SURFACE_DEPTH_REACHED
21237 begin surface coast
21272 end surface coast: CONTROL_FINISHED_OK
21272 begin surface
SM 0.92 - - - - 177.9 - 0.015 768.5 - 16.60 0.103 765.7 46.1 - 0.32 0.095 771.3 2399.3 -2.375 - - 30.36 15.81 15.85 -