NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 150 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 49.52 of 575.00 AH used of 24V (91.39% remains)
• Surface angle -64.0 deg, depth 0.96 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 24 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
6.46 - - - 74.43 VBD -1.25 - - 174.06 - - - 2114.62 - -77.86 67.43 0.005 2313.91 - - - - - - - - - - 15.63
74.71 3.18 -4.02 13 111.85 -1.25 13.91 0.268 1836.31 119.5 4.15 0.167 664.06 -349.5 -77.86 12.77 0.007 2817.44 39.4 -2.971 - - - - - - 15.61 15.63 15.66
114.64 11.78 -20.98 21 120.38 roll -1.25 - - 1837.00 - 3.61 0.062 2119.06 403.0 -77.86 - - 2816.03 - - - - - - - - - 15.70 -
299.63 52.80 -18.32 58 305.38 roll -1.25 - - 1837.12 - 3.59 0.123 3472.38 377.0 -77.86 - - 2817.62 - - - - - - - - - 15.77 -
359.66 62.54 -16.11 70 365.39 roll -1.25 - - 1836.50 - 3.43 0.063 2083.88 -404.8 -77.86 - - 2816.38 - - - - - - - - - 15.81 -
544.70 89.89 -14.01 107 550.50 roll -1.25 - - 1835.81 - 3.71 0.120 3472.31 374.2 -77.86 - - 2818.66 - - - - - - - - - 15.84 -
599.74 97.49 -13.85 118 605.47 roll -1.25 - - 1836.62 - 3.41 0.062 2081.75 -407.8 -77.86 - - 2817.38 - - - - - - - - - 15.86 -
789.82 118.59 -11.21 139 795.55 roll -1.25 - - 1836.75 - 3.89 0.165 663.25 -364.7 -77.86 - - 2820.31 - - - - - - - - - 15.86 -
888.70 130.45 -11.42 159 895.54 roll -1.25 - - 1837.19 - 3.53 0.059 2119.81 412.6 -77.86 - - 2820.81 - - - - - - - - - 15.91 -
1194.84 160.93 -10.81 190 1196.16 no move -1.25 - - 1836.56 - - - 2120.06 - -77.86 - - 2818.69 - - - - - - - - - - -
1494.88 193.05 -10.46 220 1496.21 no move -1.25 - - 1837.19 - - - 2119.75 - -77.86 - - 2818.75 - - - - - - - - - - -
1795.01 225.82 -10.87 250 1800.75 roll -1.25 - - 1837.00 - 3.99 0.164 661.94 -365.4 -77.86 - - 2818.72 - - - - - - - - - 15.98 -
1853.89 233.23 -13.47 262 1860.72 roll -1.25 - - 1837.06 - 3.53 0.062 2119.56 412.9 -77.86 - - 2818.56 - - - - - - - - - 16.02 -
2160.01 266.47 -10.86 293 2165.61 roll -1.25 - - 1836.25 - 3.58 0.127 3472.25 377.8 -77.86 - - 2816.91 - - - - - - - - - 16.02 -
2238.90 276.36 -11.65 309 2245.77 roll -1.25 - - 1836.75 - 3.37 0.064 2082.94 -412.3 -77.86 - - 2818.72 - - - - - - - - - 16.04 -
2545.09 309.69 -11.59 340 2550.88 roll -1.25 - - 1837.06 - 3.87 0.170 662.69 -367.0 -77.86 - - 2817.59 - - - - - - - - - 16.01 -
2590.12 315.73 -14.71 349 2594.77 roll -1.25 - - 1835.50 - 3.51 0.063 2119.00 414.9 -77.86 - - 2819.59 - - - - - - - - - 16.04 -
2900.12 349.31 -11.15 381 2901.45 no move -1.25 - - 1836.56 - - - 2118.62 - -77.86 - - 2818.47 - - - - - - - - - - -
3200.14 379.70 -9.52 411 3205.99 roll -1.25 - - 1836.25 - 4.07 0.170 663.25 -357.6 -77.86 - - 2817.00 - - - - - - - - - 16.03 -
3269.15 388.04 -11.98 425 3275.91 roll -1.25 - - 1836.75 - 3.53 0.064 2120.38 412.8 -77.86 - - 2819.69 - - - - - - - - - 16.07 -
3575.18 416.97 -9.13 456 3581.01 roll -1.25 - - 1836.94 - 4.09 0.171 664.25 -356.0 -77.86 - - 2815.69 - - - - - - - - - 16.05 -
3620.21 421.86 -10.91 465 3624.93 roll -1.25 - - 1837.06 - 3.53 0.063 2118.06 411.8 -77.86 - - 2818.84 - - - - - - - - - 16.08 -
3930.21 449.99 -9.11 497 3931.54 no move -1.25 - - 1836.94 - - - 2118.69 - -77.86 - - 2816.69 - - - - - - - - - - -
4230.22 477.11 -9.00 527 4231.55 no move -1.25 - - 1836.94 - - - 2118.56 - -77.86 - - 2816.72 - - - - - - - - - - -
4530.25 505.03 -8.87 557 4531.58 no move -1.25 - - 1837.38 - - - 2118.31 - -77.86 - - 2816.19 - - - - - - - - - - -
4830.27 534.65 -9.92 587 4836.19 roll -1.25 - - 1836.88 - 4.11 0.179 663.81 -353.9 -77.86 - - 2817.28 - - - - - - - - - 16.07 -
4865.42 538.26 -10.32 594 4871.02 roll -1.25 - - 1837.69 - 3.53 0.069 2117.38 411.8 -77.86 - - 2813.78 - - - - - - - - - 16.09 -
5170.31 565.85 -8.75 625 5176.14 roll -1.25 - - 1836.88 - 4.11 0.179 664.19 -353.6 -77.86 - - 2814.88 - - - - - - - - - 16.07 -
5205.31 569.16 -9.47 632 5210.04 roll -1.25 - - 1836.19 - 3.53 0.069 2116.94 411.5 -77.86 - - 2815.62 - - - - - - - - - 16.10 -
5515.32 595.62 -8.20 664 5521.14 roll -1.25 - - 1837.19 - 4.07 0.180 663.25 -357.2 -77.86 - - 2814.47 - - - - - - - - - 16.07 -
5590.40 603.38 -11.35 679 5595.07 roll -1.25 - - 1836.88 - 3.53 0.071 2117.69 412.0 -77.86 - - 2814.50 - - - - - - - - - 16.11 -
5900.35 630.54 -8.48 711 5905.96 roll -1.25 - - 1836.44 - 3.60 0.136 3472.62 376.4 -77.86 - - 2811.50 - - - - - - - - - 16.09 -
5979.22 638.34 -9.05 727 5986.08 roll -1.25 - - 1836.69 - 3.39 0.074 2084.88 -409.4 -77.86 - - 2812.94 - - - - - - - - - 16.10 -
6285.38 664.95 -8.47 758 6291.20 roll -1.25 - - 1836.12 - 4.01 0.185 664.38 -354.2 -77.86 - - 2811.22 - - - - - - - - - 16.07 -
6454.35 683.44 -10.84 792 6461.16 roll -1.25 - - 1836.50 - 3.55 0.073 2115.38 408.7 -77.86 - - 2812.19 - - - - - - - - - 16.11 -
6760.43 709.50 -7.70 823 6766.26 roll -1.25 - - 1836.75 - 4.10 0.181 664.44 -353.9 -77.86 - - 2809.75 - - - - - - - - - 16.07 -
6829.43 716.50 -9.80 837 6836.20 roll -1.25 - - 1836.38 - 3.57 0.074 2115.88 406.6 -77.86 - - 2811.94 - - - - - - - - - 16.11 -
7135.47 742.01 -8.38 868 7141.30 roll -1.25 - - 1836.44 - 4.10 0.184 663.56 -354.2 -77.86 - - 2811.53 - - - - - - - - - 16.07 -
7180.49 746.28 -9.32 877 7186.08 roll -1.25 - - 1835.38 - 3.53 0.074 2115.69 411.4 -77.86 - - 2810.84 - - - - - - - - - 16.11 -
7485.50 770.49 -8.32 908 7486.82 no move -1.25 - - 1836.94 - - - 2116.50 - -77.86 - - 2810.88 - - - - - - - - - - -
7785.51 795.02 -8.56 938 7786.84 no move -1.25 - - 1836.62 - - - 2116.06 - -77.86 - - 2810.22 - - - - - - - - - - -
8085.53 819.81 -8.63 968 8091.38 roll -1.25 - - 1837.19 - 4.13 0.187 664.06 -351.6 -77.86 - - 2808.31 - - - - - - - - - 16.07 -
8124.48 823.04 -8.08 976 8131.32 roll -1.25 - - 1836.62 - 3.59 0.077 2117.38 404.8 -77.86 - - 2809.41 - - - - - - - - - 16.11 -
8430.56 847.81 -8.20 1007 8436.18 roll -1.25 - - 1835.75 - 3.62 0.142 3471.25 374.0 -77.86 - - 2808.56 - - - - - - - - - 16.10 -
8475.58 851.42 -8.02 1016 8480.15 roll -1.25 - - 1835.06 - 3.43 0.078 2087.81 -403.3 -77.86 - - 2809.38 - - - - - - - - - 16.10 -
8785.59 876.97 -6.60 1048 8791.41 roll -1.25 - - 1837.00 - 4.05 0.193 664.12 -351.5 -77.86 - - 2807.47 - - - - - - - - - 16.07 -
8884.52 887.19 -10.14 1068 8891.36 roll -1.25 - - 1836.56 - 3.57 0.079 2115.00 406.4 -77.86 - - 2809.28 - - - - - - - - - 16.11 -
9190.66 911.93 -7.76 1099 9191.99 no move -1.25 - - 1836.81 - - - 2115.50 - -77.86 - - 2808.94 - - - - - - - - - - -
9490.71 933.95 -7.45 1129 9496.48 roll -1.25 - - 1836.94 - 3.64 0.145 3471.31 372.5 -77.86 - - 2806.16 - - - - - - - - - 16.10 -
9559.59 940.03 -8.83 1143 9566.48 roll -1.25 - - 1836.19 - 3.44 0.081 2088.62 -401.9 -77.86 - - 2807.56 - - - - - - - - - 16.12 -
9865.80 959.58 -5.66 1174 9871.74 roll -1.25 - - 1834.75 - 4.03 0.197 663.44 -353.6 -77.86 - - 2807.97 - - - - - - - - - 16.07 -
9920.82 964.03 -7.75 1185 9925.54 roll -1.25 - - 1836.88 - 3.56 0.082 2114.19 407.5 -77.86 - - 2807.91 - - - - - - - - - 16.11 -
10230.85 983.93 -7.61 1217 10236.68 roll -1.25 - - 1837.00 - 4.03 0.192 662.94 -360.1 -77.86 - - 2807.16 - - - - - - - - - 16.07 -
10285.88 987.41 -7.20 1228 10290.61 roll -1.25 - - 1836.69 - 3.52 0.083 2115.31 412.6 -77.86 - - 2807.78 - - - - - - - - - 16.12 -
10325 end dive: TARGET_DEPTH_EXCEEDED
10325 begin apogee
10327.11 990.55 -5.68 1233 10393.64 -0.25 1.75 0.158 2080.12 139.1 0.07 0.324 2186.62 1018.7 - 63.87 2.303 2496.94 -4.9 0.347 - - - - - - 16.06 15.59 13.20
10394 end apogee: CONTROL_FINISHED_OK
10394 begin climb
10395.01 990.14 - 1239 10475.89 1.25 2.53 0.098 2447.44 145.2 4.20 0.164 737.50 -345.0 77.86 71.75 2.249 2178.53 -4.4 0.324 - - - - - - 15.63 15.21 12.90
10477.67 985.19 6.95 1253 10484.41 roll 1.29 - - 2447.38 - 3.75 0.064 2215.75 394.2 77.86 - - 2179.47 - - - - - - - - - 15.31 -
10783.68 952.57 11.54 1284 10789.53 done 1.29 - - 2446.31 - 4.20 0.163 737.12 -352.1 77.86 - - 2167.53 - - - - - - - - - 15.65 -
10838.76 945.86 12.80 1295 10844.39 done 1.29 - - 2447.06 - 3.68 0.067 2216.94 402.1 77.86 - - 2168.38 - - - - - - - - - 15.70 -
11143.76 913.10 9.88 1326 11149.33 done 1.29 - - 2448.25 - 3.46 0.138 3472.19 362.8 77.86 - - 2163.69 - - - - - - - - - 15.80 -
11198.78 907.23 11.27 1337 11203.32 done 1.29 - - 2447.62 - 3.21 0.068 2182.75 -401.7 77.86 - - 2167.31 - - - - - - - - - 15.82 -
11508.83 874.17 10.96 1369 11514.42 done 1.29 - - 2448.12 - 3.57 0.139 3472.50 361.3 77.86 - - 2163.59 - - - - - - - - - 15.86 -
11553.85 869.10 11.99 1378 11558.41 done 1.29 - - 2447.88 - 3.20 0.068 2183.38 -402.8 77.86 - - 2164.62 - - - - - - - - - 15.89 -
11863.89 839.89 9.42 1410 11869.72 done 1.29 - - 2447.62 - 4.02 0.162 737.38 -359.7 77.86 - - 2163.66 - - - - - - - - - 15.91 -
11908.92 835.27 11.69 1419 11914.67 done 1.29 - - 2446.88 - 3.64 0.067 2214.88 405.9 77.86 - - 2162.59 - - - - - - - - - 15.94 -
12213.96 808.99 8.07 1450 12218.53 done 1.29 - - 2447.56 - 3.43 0.139 3471.31 366.3 77.86 - - 2162.19 - - - - - - - - - 15.95 -
12374.02 794.67 8.28 1482 12378.56 done 1.29 - - 2448.00 - 3.20 0.069 2183.00 -402.6 77.86 - - 2163.91 - - - - - - - - - 15.98 -
12684.09 769.72 7.40 1514 12685.42 VBD 1.31 - - 2447.38 - - - 2182.94 - 77.86 - - 2159.59 - - - - - - - - - - -
12984.11 744.21 9.61 1544 12989.71 done 1.31 - - 2447.88 - 3.53 0.138 3472.75 365.4 77.86 - - 2160.25 - - - - - - - - - 16.00 -
13069.23 736.23 10.26 1561 13073.70 done 1.31 - - 2448.44 - 3.14 0.068 2183.38 -410.6 77.86 - - 2160.69 - - - - - - - - - 16.02 -
13379.17 708.21 9.46 1593 13384.98 done 1.31 - - 2445.25 - 3.95 0.159 736.88 -366.2 77.86 - - 2161.22 - - - - - - - - - 16.01 -
13544.22 688.86 11.07 1626 13549.82 done 1.31 - - 2447.88 - 3.54 0.066 2218.69 418.6 77.86 - - 2157.84 - - - - - - - - - 16.04 -
13849.25 659.19 9.67 1657 13850.58 VBD 1.31 - - 2447.69 - - - 2218.19 - 77.86 - - 2158.66 - - - - - - - - - - -
14149.27 631.13 8.74 1687 14155.10 done 1.31 - - 2448.38 - 4.01 0.154 736.12 -369.6 77.86 - - 2159.94 - - - - - - - - - 16.01 -
14178.20 628.60 10.59 1693 14185.02 done 1.31 - - 2448.50 - 3.55 0.064 2219.62 417.9 77.86 - - 2159.03 - - - - - - - - - 16.04 -
14484.33 604.00 7.49 1724 14490.13 done 1.32 - - 2448.12 - 4.05 0.151 737.25 -366.0 77.86 - - 2157.47 - - - - - - - - - 16.03 -
14529.32 600.45 8.33 1733 14534.92 done 1.32 - - 2448.50 - 3.57 0.062 2217.50 414.6 77.86 - - 2157.31 - - - - - - - - - 16.05 -
14834.37 577.76 7.46 1764 14840.30 done 1.34 - - 2446.25 - 4.05 0.151 735.75 -365.9 77.86 - - 2158.44 - - - - - - - - - 16.04 -
14893.46 572.80 7.73 1776 14900.12 done 1.34 - - 2448.44 - 3.59 0.063 2219.75 413.4 77.86 - - 2158.81 - - - - - - - - - 16.06 -
15199.40 550.96 7.39 1807 15203.93 done 1.36 - - 2448.81 - 3.38 0.135 3473.12 370.8 77.86 - - 2160.16 - - - - - - - - - 16.05 -
15279.41 544.33 8.36 1823 15283.93 done 1.36 - - 2448.81 - 3.17 0.065 2180.88 -407.6 77.86 - - 2158.59 - - - - - - - - - 16.07 -
15589.45 524.95 5.83 1855 15616.09 1.45 0.28 0.090 2502.31 191.1 - - 2181.31 - 109.48 25.72 1.707 2053.06 -4.1 0.209 - - - - - - 16.07 - 13.10
15909.46 497.03 8.75 1887 15910.79 no move 1.45 - - 2502.88 - - - 2181.12 - 109.48 - - 2045.66 - - - - - - - - - - -
16209.48 466.18 10.00 1917 16210.81 no move 1.45 - - 2502.00 - - - 2180.94 - 109.48 - - 2045.38 - - - - - - - - - - -
16509.51 435.52 9.00 1947 16515.14 roll 1.45 - - 2500.25 - 3.51 0.133 3474.12 368.4 109.48 - - 2045.69 - - - - - - - - - 15.99 -
16544.53 431.42 11.40 1954 16549.31 done 1.45 - - 2502.94 - 3.16 0.064 2181.00 -409.2 109.48 - - 2045.66 - - - - - - - - - 16.00 -
16854.56 400.16 10.05 1986 16855.90 VBD 1.45 - - 2502.88 - - - 2180.88 - 109.48 - - 2045.66 - - - - - - - - - - -
17154.57 372.14 9.23 2016 17160.31 done 1.45 - - 2502.69 - 3.94 0.149 735.69 -366.8 109.48 - - 2044.03 - - - - - - - - - 16.01 -
17229.65 363.94 11.21 2031 17235.35 done 1.45 - - 2502.62 - 3.63 0.063 2219.75 408.8 109.48 - - 2043.03 - - - - - - - - - 16.00 -
17534.62 337.19 9.07 2062 17539.19 done 1.45 - - 2502.31 - 3.40 0.131 3473.00 368.6 109.48 - - 2045.97 - - - - - - - - - 16.03 -
17578.49 333.03 9.56 2071 17585.32 done 1.45 - - 2502.12 - 3.17 0.062 2179.25 -408.1 109.48 - - 2043.31 - - - - - - - - - 16.03 -
17884.68 306.52 8.29 2102 17890.50 done 1.45 - - 2502.62 - 3.93 0.147 736.00 -367.2 109.48 - - 2042.78 - - - - - - - - - 15.98 -
17913.62 303.57 9.08 2108 17920.61 done 1.45 - - 2502.75 - 3.57 0.059 2222.00 416.2 109.48 - - 2044.28 - - - - - - - - - 16.03 -
18219.75 275.36 9.12 2139 18224.29 done 1.45 - - 2503.25 - 3.25 0.130 3474.00 385.2 109.48 - - 2045.75 - - - - - - - - - 16.02 -
18259.76 271.33 10.49 2147 18264.29 done 1.45 - - 2502.94 - 3.14 0.060 2180.38 -412.0 109.48 - - 2043.25 - - - - - - - - - 16.04 -
18569.83 244.65 7.54 2179 18575.62 done 1.47 - - 2503.19 - 3.93 0.146 737.06 -367.3 109.48 - - 2041.47 - - - - - - - - - 16.03 -
18644.91 237.78 8.83 2194 18650.59 done 1.47 - - 2502.62 - 3.60 0.061 2221.88 412.5 109.48 - - 2042.72 - - - - - - - - - 16.05 -
18949.89 214.99 7.83 2225 18954.45 done 1.47 - - 2503.19 - 3.34 0.127 3470.88 374.0 109.48 - - 2043.06 - - - - - - - - - 16.03 -
18983.75 212.17 8.30 2232 18990.58 done 1.47 - - 2502.81 - 3.15 0.058 2179.69 -409.9 109.48 - - 2045.31 - - - - - - - - - 16.06 -
19289.97 189.74 7.14 2263 19295.77 done 1.50 - - 2503.12 - 3.94 0.144 735.75 -366.5 109.48 - - 2042.16 - - - - - - - - - 16.03 -
19358.99 183.52 8.56 2277 19365.99 done 1.50 - - 2502.25 - 3.56 0.058 2223.00 417.8 109.48 - - 2043.50 - - - - - - - - - 16.04 -
19665.05 164.31 6.36 2308 19669.59 done 1.55 - - 2502.75 - 3.36 0.125 3474.31 372.4 109.48 - - 2043.78 - - - - - - - - - 16.05 -
19718.92 160.89 6.22 2319 19725.81 1.60 0.15 0.111 2535.50 218.3 3.14 0.059 2177.12 -413.1 109.48 - - 2043.69 - - - - - - - - 16.00 16.04 -
20025.13 141.81 4.61 2350 20071.72 1.75 0.17 0.103 2572.19 215.8 3.95 0.143 735.94 -364.9 158.57 40.66 1.302 1852.22 -4.7 0.085 - - - - - - 16.04 15.83 13.07
20174.06 127.90 11.92 2380 20180.91 roll 1.75 - - 2574.25 - 3.61 0.060 2221.19 411.4 158.57 - - 1847.47 - - - - - - - - - 15.90 -
20480.20 96.07 9.05 2415 20485.90 done 1.75 - - 2572.69 - 3.39 0.125 3472.81 369.2 158.57 - - 1845.34 - - - - - - - - - 15.92 -
20620.22 82.28 10.54 2443 20626.06 done 1.75 - - 2573.94 - 3.22 0.058 2178.25 -402.0 158.57 - - 1844.69 - - - - - - - - - 15.94 -
20806.42 71.38 4.52 2480 20850.88 1.90 0.17 0.106 2606.94 194.1 - - 2178.06 - 208.91 40.92 1.196 1647.75 -4.8 0.048 - - - - - - 15.94 - 13.12
21030.30 57.51 7.42 2525 21036.10 roll 1.92 - - 2608.62 - 4.00 0.140 735.81 -360.6 208.91 - - 1641.62 - - - - - - - - - 15.82 -
21145.31 48.06 8.41 2548 21151.08 done 1.92 - - 2608.31 - 3.66 0.057 2222.81 406.3 208.91 - - 1640.38 - - - - - - - - - 15.87 -
21330.37 38.44 4.60 2585 21377.27 2.07 0.19 0.091 2647.81 207.9 4.12 0.136 736.06 -360.9 258.16 40.42 1.132 1447.19 -4.8 0.027 - - - - - - 15.89 15.70 13.00
21600.48 24.85 2.67 2639 21668.58 2.30 0.29 0.077 2704.69 196.1 3.61 0.056 2225.12 412.5 334.93 62.31 1.108 1133.81 -5.0 0.019 - - - - - - 15.79 15.83 12.95
21836 end climb: SURFACE_DEPTH_REACHED
21836 begin surface coast
21851 end surface coast: CONTROL_FINISHED_OK
21851 begin surface
SM 0.71 - - - - 174.1 - - 767.4 - 16.24 0.068 779.1 48.0 - 0.34 0.090 755.7 2212.0 -1.784 - - 30.00 15.70 15.74 -