NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 276 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 86.44 of 575.00 AH used of 24V (84.97% remains)
• Surface angle -59.5 deg, depth 0.61 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.77 (SM_CC=425)
• GPS1 time: 26 s
• GPS2 time: 2 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.79 - - - 79.92 VBD -1.25 - - 172.69 - - - 2077.06 - -77.86 72.57 0.005 2406.34 - - - - - - - - - - 15.57
80.18 3.31 -3.87 14 113.12 -1.25 13.80 0.264 1835.06 120.5 4.07 0.163 664.75 -347.0 -77.86 10.76 0.007 2816.00 38.1 -3.037 - - - - - - 15.59 15.57 15.63
280.94 46.64 -22.91 54 286.85 roll -1.25 - - 1836.00 - 3.58 0.054 2120.44 406.6 -77.86 - - 2817.31 - - - - - - - - - 15.77 -
465.99 76.22 -14.78 91 471.84 roll -1.25 - - 1834.69 - 4.11 0.150 663.62 -354.5 -77.86 - - 2819.50 - - - - - - - - - 15.80 -
551.01 89.40 -15.70 108 556.77 roll -1.25 - - 1836.00 - 3.52 0.050 2119.94 413.7 -77.86 - - 2818.50 - - - - - - - - - 15.84 -
736.06 111.13 -10.01 135 737.39 no move -1.25 - - 1835.75 - - - 2120.12 - -77.86 - - 2818.09 - - - - - - - - - - -
1036.11 143.50 -10.70 165 1037.43 no move -1.25 - - 1835.56 - - - 2120.31 - -77.86 - - 2819.12 - - - - - - - - - - -
1336.16 174.84 -10.05 195 1340.92 roll -1.25 - - 1836.44 - 3.62 0.116 3473.56 373.8 -77.86 - - 2816.69 - - - - - - - - - 15.94 -
1476.20 191.48 -12.31 223 1480.77 roll -1.25 - - 1835.38 - 3.38 0.058 2083.62 -411.2 -77.86 - - 2820.16 - - - - - - - - - 15.97 -
1786.22 225.08 -10.86 255 1787.55 no move -1.25 - - 1836.25 - - - 2083.56 - -77.86 - - 2817.53 - - - - - - - - - - -
2086.25 258.77 -11.71 285 2092.04 roll -1.25 - - 1836.75 - 3.74 0.117 3473.38 371.6 -77.86 - - 2817.31 - - - - - - - - - 16.01 -
2245.13 279.57 -14.30 317 2252.00 roll -1.25 - - 1836.56 - 3.40 0.061 2082.12 -409.2 -77.86 - - 2818.38 - - - - - - - - - 16.01 -
2551.30 314.13 -10.96 348 2557.12 roll -1.25 - - 1835.94 - 3.98 0.160 663.62 -356.4 -77.86 - - 2816.69 - - - - - - - - - 16.00 -
2646.32 325.80 -11.92 367 2650.90 roll -1.25 - - 1836.06 - 3.46 0.054 2118.38 420.5 -77.86 - - 2819.53 - - - - - - - - - 16.02 -
2956.34 357.94 -10.49 399 2957.67 no move -1.25 - - 1836.50 - - - 2118.56 - -77.86 - - 2818.81 - - - - - - - - - - -
3256.37 387.35 -9.34 429 3261.98 roll -1.25 - - 1836.44 - 3.63 0.120 3473.50 373.3 -77.86 - - 2818.69 - - - - - - - - - 16.03 -
3281.38 389.83 -9.80 434 3285.94 roll -1.25 - - 1837.06 - 3.39 0.059 2082.94 -410.2 -77.86 - - 2818.28 - - - - - - - - - 16.04 -
3591.39 420.52 -10.26 466 3597.08 roll -1.25 - - 1836.38 - 4.01 0.163 664.19 -353.8 -77.86 - - 2817.78 - - - - - - - - - 16.02 -
3630.25 424.98 -11.64 474 3637.15 roll -1.25 - - 1837.38 - 3.48 0.055 2119.19 418.1 -77.86 - - 2818.53 - - - - - - - - - 16.05 -
3936.42 456.04 -10.17 505 3941.17 roll -1.25 - - 1835.88 - 3.62 0.120 3473.69 374.2 -77.86 - - 2818.19 - - - - - - - - - 16.04 -
4026.45 466.11 -11.29 523 4031.00 roll -1.25 - - 1836.06 - 3.38 0.061 2083.19 -411.4 -77.86 - - 2819.47 - - - - - - - - - 16.06 -
4336.45 496.16 -9.29 555 4342.23 roll -1.25 - - 1836.31 - 3.71 0.120 3472.94 374.6 -77.86 - - 2815.59 - - - - - - - - - 16.06 -
4371.47 500.04 -11.08 562 4376.03 roll -1.25 - - 1836.94 - 3.39 0.061 2084.31 -409.6 -77.86 - - 2817.41 - - - - - - - - - 16.06 -
4681.48 528.43 -9.29 594 4687.30 roll -1.25 - - 1837.38 - 4.01 0.166 662.88 -354.5 -77.86 - - 2816.12 - - - - - - - - - 16.03 -
4810.35 542.64 -11.70 620 4817.24 roll -1.25 - - 1836.44 - 3.46 0.057 2119.06 420.9 -77.86 - - 2816.91 - - - - - - - - - 16.06 -
5116.53 571.92 -9.23 651 5121.27 roll -1.25 - - 1836.81 - 3.58 0.123 3473.50 378.3 -77.86 - - 2814.66 - - - - - - - - - 16.05 -
5190.49 579.63 -10.29 666 5197.27 roll -1.25 - - 1836.88 - 3.37 0.063 2083.94 -412.3 -77.86 - - 2816.09 - - - - - - - - - 16.06 -
5496.57 608.41 -9.74 697 5502.39 roll -1.25 - - 1836.88 - 3.99 0.170 663.44 -356.0 -77.86 - - 2815.09 - - - - - - - - - 16.03 -
5551.59 614.73 -11.90 708 5556.16 roll -1.25 - - 1836.62 - 3.45 0.058 2116.50 421.2 -77.86 - - 2814.53 - - - - - - - - - 16.06 -
5861.60 644.54 -9.58 740 5867.43 roll -1.25 - - 1836.69 - 4.08 0.166 663.56 -356.1 -77.86 - - 2815.75 - - - - - - - - - 16.04 -
5950.59 654.60 -11.01 758 5957.35 roll -1.25 - - 1836.88 - 3.48 0.059 2118.56 418.1 -77.86 - - 2815.44 - - - - - - - - - 16.06 -
6256.64 681.19 -7.86 789 6262.40 roll -1.25 - - 1836.69 - 3.61 0.125 3471.75 374.8 -77.86 - - 2813.50 - - - - - - - - - 16.05 -
6305.50 686.15 -10.22 799 6312.37 roll -1.25 - - 1837.00 - 3.36 0.064 2085.75 -412.5 -77.86 - - 2816.53 - - - - - - - - - 16.06 -
6611.68 714.94 -10.16 830 6617.50 roll -1.25 - - 1836.69 - 4.03 0.172 663.75 -352.9 -77.86 - - 2813.06 - - - - - - - - - 16.03 -
6696.68 724.32 -11.90 847 6702.29 roll -1.25 - - 1836.69 - 3.51 0.062 2117.19 414.1 -77.86 - - 2813.16 - - - - - - - - - 16.07 -
7001.73 752.94 -9.67 878 7006.47 roll -1.25 - - 1835.56 - 3.60 0.129 3473.25 376.7 -77.86 - - 2816.03 - - - - - - - - - 16.05 -
7045.59 757.75 -9.75 887 7052.47 roll -1.25 - - 1836.94 - 3.36 0.067 2085.75 -412.9 -77.86 - - 2814.41 - - - - - - - - - 16.07 -
7352.05 783.64 -8.01 918 7357.71 roll -1.25 - - 1836.81 - 3.71 0.127 3471.94 373.6 -77.86 - - 2812.00 - - - - - - - - - 16.07 -
7396.83 787.80 -8.90 927 7401.51 roll -1.25 - - 1836.38 - 3.38 0.066 2084.19 -410.6 -77.86 - - 2815.78 - - - - - - - - - 16.07 -
7706.86 812.81 -8.26 959 7708.19 no move -1.25 - - 1836.06 - - - 2084.38 - -77.86 - - 2813.59 - - - - - - - - - - -
8006.91 836.23 -6.74 989 8012.69 roll -1.25 - - 1835.94 - 3.72 0.131 3471.94 373.0 -77.86 - - 2815.66 - - - - - - - - - 16.07 -
8035.77 838.95 -7.53 995 8042.66 roll -1.25 - - 1836.94 - 3.39 0.070 2086.19 -408.8 -77.86 - - 2814.38 - - - - - - - - - 16.06 -
8341.96 864.67 -8.15 1026 8347.65 roll -1.25 - - 1836.50 - 4.03 0.179 663.81 -352.9 -77.86 - - 2812.66 - - - - - - - - - 16.03 -
8426.99 873.40 -10.51 1043 8431.58 roll -1.25 - - 1836.38 - 3.49 0.065 2116.81 416.3 -77.86 - - 2813.06 - - - - - - - - - 16.07 -
8737.04 900.24 -9.12 1075 8742.75 roll -1.25 - - 1837.00 - 4.11 0.177 663.81 -353.5 -77.86 - - 2811.78 - - - - - - - - - 16.03 -
8792.14 906.08 -12.13 1086 8797.74 roll -1.25 - - 1836.56 - 3.50 0.066 2114.94 414.6 -77.86 - - 2810.72 - - - - - - - - - 16.06 -
9097.12 931.83 -8.40 1117 9102.88 roll -1.25 - - 1836.88 - 3.62 0.132 3473.25 375.2 -77.86 - - 2810.69 - - - - - - - - - 16.05 -
9162.16 938.06 -10.11 1130 9166.71 roll -1.25 - - 1836.88 - 3.37 0.071 2085.69 -411.7 -77.86 - - 2811.50 - - - - - - - - - 16.07 -
9472.19 961.55 -7.03 1162 9473.51 no move -1.25 - - 1836.69 - - - 2085.56 - -77.86 - - 2809.94 - - - - - - - - - - -
9772.21 985.46 -7.82 1192 9778.04 roll -1.25 - - 1837.00 - 4.05 0.183 664.75 -350.8 -77.86 - - 2810.97 - - - - - - - - - 16.02 -
9832 end dive: TARGET_DEPTH_EXCEEDED
9832 begin apogee
9836.83 990.94 -10.15 1204 9905.23 -0.25 1.76 0.164 2079.44 137.8 0.07 0.312 2183.62 21698.1 - 65.08 2.287 2501.62 -4.8 0.347 - - - - - - 16.00 15.58 12.83
9907 end apogee: CONTROL_FINISHED_OK
9907 begin climb
9906.84 992.70 - 1211 9987.67 1.25 2.52 0.099 2446.75 145.8 4.22 0.156 737.12 -342.8 77.86 71.49 2.237 2180.75 -4.5 0.336 - - - - - - 15.60 15.23 12.85
10015.49 986.08 7.89 1231 10021.17 roll 1.25 - - 2447.00 - 3.68 0.057 2216.38 402.0 77.86 - - 2177.88 - - - - - - - - - 15.39 -
10320.47 958.15 9.41 1262 10325.03 done 1.25 - - 2448.12 - 3.45 0.133 3473.12 364.3 77.86 - - 2169.31 - - - - - - - - - 15.67 -
10364.32 953.64 11.36 1271 10371.30 done 1.25 - - 2448.12 - 3.18 0.062 2183.50 -405.5 77.86 - - 2169.78 - - - - - - - - - 15.70 -
10670.54 925.46 8.36 1302 10676.11 done 1.25 - - 2446.25 - 3.51 0.131 3472.25 367.2 77.86 - - 2168.88 - - - - - - - - - 15.81 -
10705.52 921.75 10.38 1309 10710.04 done 1.25 - - 2447.81 - 3.16 0.062 2181.50 -408.5 77.86 - - 2167.97 - - - - - - - - - 15.81 -
11015.56 894.20 9.04 1341 11021.38 done 1.25 - - 2447.69 - 4.01 0.153 737.38 -360.1 77.86 - - 2164.44 - - - - - - - - - 15.86 -
11040.58 891.77 7.81 1346 11045.30 done 1.25 - - 2446.81 - 3.57 0.057 2216.75 414.4 77.86 - - 2165.22 - - - - - - - - - 15.88 -
11350.60 862.46 9.54 1378 11351.94 VBD 1.25 - - 2447.69 - - - 2217.69 - 77.86 - - 2163.25 - - - - - - - - - - -
11650.64 833.59 10.12 1408 11655.20 done 1.25 - - 2448.19 - 3.39 0.134 3474.12 370.6 77.86 - - 2163.34 - - - - - - - - - 15.94 -
11714.53 827.04 10.73 1421 11721.48 done 1.25 - - 2448.25 - 3.13 0.062 2182.00 -412.8 77.86 - - 2163.47 - - - - - - - - - 15.93 -
12020.69 799.74 8.77 1452 12026.49 done 1.25 - - 2447.81 - 3.99 0.151 736.62 -362.3 77.86 - - 2161.81 - - - - - - - - - 15.95 -
12045.72 797.19 7.54 1457 12051.30 done 1.27 - - 2448.44 - 3.54 0.055 2218.88 418.7 77.86 - - 2160.97 - - - - - - - - - 15.97 -
12350.76 770.97 8.76 1488 12356.59 done 1.27 - - 2448.31 - 4.07 0.148 736.56 -364.2 77.86 - - 2160.88 - - - - - - - - - 15.97 -
12375.78 768.23 9.01 1493 12381.38 done 1.27 - - 2448.81 - 3.55 0.057 2218.62 417.5 77.86 - - 2159.97 - - - - - - - - - 15.98 -
12680.85 744.21 7.33 1524 12682.18 VBD 1.29 - - 2447.88 - - - 2218.56 - 77.86 - - 2160.84 - - - - - - - - - - -
12980.92 720.85 7.45 1554 12986.74 done 1.31 - - 2448.56 - 4.09 0.148 736.31 -362.4 77.86 - - 2159.38 - - - - - - - - - 15.98 -
13005.92 718.63 8.26 1559 13011.54 done 1.31 - - 2448.88 - 3.54 0.055 2219.31 418.9 77.86 - - 2158.91 - - - - - - - - - 16.00 -
13310.98 694.48 7.79 1590 13315.54 done 1.31 - - 2448.19 - 3.38 0.131 3472.44 370.7 77.86 - - 2161.47 - - - - - - - - - 16.01 -
13351.00 690.96 8.39 1598 13355.53 done 1.31 - - 2448.88 - 3.11 0.060 2180.56 -415.4 77.86 - - 2161.41 - - - - - - - - - 15.99 -
13661.07 667.17 7.95 1630 13666.88 done 1.31 - - 2448.94 - 3.95 0.148 735.56 -365.8 77.86 - - 2159.69 - - - - - - - - - 15.97 -
13726.16 661.51 9.67 1643 13731.70 done 1.31 - - 2448.50 - 3.52 0.056 2221.25 422.1 77.86 - - 2159.00 - - - - - - - - - 16.02 -
14031.17 639.20 7.25 1674 14032.51 VBD 1.33 - - 2448.75 - - - 2220.62 - 77.86 - - 2158.56 - - - - - - - - - - -
14331.20 614.81 9.01 1704 14332.53 VBD 1.33 - - 2447.81 - - - 2220.38 - 77.86 - - 2159.44 - - - - - - - - - - -
14631.38 592.11 7.48 1734 14636.81 done 1.35 - - 2448.69 - 3.35 0.129 3471.69 373.5 77.86 - - 2158.50 - - - - - - - - - 16.03 -
14680.11 588.33 7.56 1744 14687.56 done 1.35 - - 2449.00 - 3.12 0.058 2180.44 -413.9 77.86 - - 2159.78 - - - - - - - - - 16.03 -
14986.31 566.03 7.23 1775 14987.64 VBD 1.37 - - 2448.56 - - - 2180.31 - 77.86 - - 2160.41 - - - - - - - - - - -
15286.34 547.50 6.01 1805 15317.68 1.46 0.28 0.094 2503.56 196.4 3.49 0.127 3472.50 370.3 106.95 24.04 1.705 2063.41 -4.0 0.219 - - - - - - 16.02 15.87 12.92
15346.35 542.09 8.76 1817 15350.87 roll 1.46 - - 2503.12 - 3.16 0.058 2182.62 -408.2 106.95 - - 2061.03 - - - - - - - - - 15.93 -
15656.38 513.99 9.22 1849 15662.11 roll 1.46 - - 2503.50 - 3.98 0.145 736.69 -363.3 106.95 - - 2055.91 - - - - - - - - - 15.94 -
15781.41 499.55 12.09 1874 15786.14 roll 1.46 - - 2504.31 - 3.56 0.055 2219.38 416.5 106.95 - - 2056.56 - - - - - - - - - 15.97 -
16091.46 471.39 8.78 1906 16092.79 no move 1.46 - - 2503.25 - - - 2220.00 - 106.95 - - 2055.69 - - - - - - - - - - -
16391.49 446.88 8.50 1936 16392.82 no move 1.46 - - 2503.38 - - - 2220.00 - 106.95 - - 2055.22 - - - - - - - - - - -
16691.53 422.08 8.46 1966 16697.32 done 1.46 - - 2501.81 - 4.06 0.140 734.50 -365.9 106.95 - - 2057.34 - - - - - - - - - 15.97 -
16740.47 417.02 9.91 1976 16747.44 done 1.46 - - 2503.38 - 3.55 0.052 2221.25 418.8 106.95 - - 2055.88 - - - - - - - - - 15.98 -
17046.59 391.74 8.14 2007 17047.92 VBD 1.46 - - 2503.38 - - - 2221.69 - 106.95 - - 2054.59 - - - - - - - - - - -
17346.62 367.10 7.91 2037 17351.18 done 1.46 - - 2502.75 - 3.34 0.125 3473.88 374.9 106.95 - - 2057.09 - - - - - - - - - 16.00 -
17446.70 357.59 9.50 2057 17451.16 done 1.46 - - 2504.44 - 3.12 0.056 2179.50 -414.9 106.95 - - 2056.28 - - - - - - - - - 16.02 -
17756.68 331.92 8.56 2089 17761.25 done 1.46 - - 2503.94 - 3.42 0.118 3473.88 378.5 106.95 - - 2055.44 - - - - - - - - - 16.03 -
17786.69 329.14 8.76 2095 17791.35 done 1.46 - - 2503.69 - 3.11 0.054 2179.12 -416.3 106.95 - - 2055.66 - - - - - - - - - 16.02 -
18096.74 303.51 7.93 2127 18101.32 done 1.46 - - 2502.69 - 3.44 0.117 3473.38 376.2 106.95 - - 2057.16 - - - - - - - - - 16.03 -
18256.83 288.80 9.21 2159 18261.48 done 1.46 - - 2504.12 - 3.12 0.055 2180.31 -414.4 106.95 - - 2056.28 - - - - - - - - - 16.04 -
18566.88 264.00 7.57 2191 18572.69 done 1.46 - - 2503.69 - 3.93 0.138 735.75 -367.6 106.95 - - 2055.50 - - - - - - - - - 15.97 -
18741.95 248.06 9.41 2226 18747.55 done 1.46 - - 2504.25 - 3.52 0.052 2223.25 422.6 106.95 - - 2054.56 - - - - - - - - - 16.03 -
19047.02 223.97 6.87 2257 19052.83 done 1.50 - - 2503.88 - 4.03 0.133 735.50 -369.2 106.95 - - 2054.31 - - - - - - - - - 16.01 -
19175.97 213.37 8.45 2283 19182.81 done 1.50 - - 2504.06 - 3.55 0.051 2225.62 419.8 106.95 - - 2055.38 - - - - - - - - - 16.04 -
19482.13 194.12 5.95 2314 19513.36 done 1.59 - - 2505.06 - 3.34 0.121 3473.75 373.7 136.95 25.97 1.311 1940.28 -4.4 0.111 - - - - - - - 15.87 12.79
19532.14 190.95 6.44 2323 19536.72 roll back 1.63 0.19 0.100 2542.81 198.7 3.16 0.052 2178.88 -409.8 136.95 - - 1939.34 - - - - - - - - 15.89 15.91 -
19842.19 159.79 10.25 2355 19843.51 no move 1.63 - - 2543.00 - - - 2178.06 - 136.95 - - 1935.12 - - - - - - - - - - -
20142.22 133.53 8.17 2385 20143.55 no move 1.63 - - 2543.88 - - - 2178.38 - 136.95 - - 1935.50 - - - - - - - - - - -
20442.27 111.71 6.85 2415 20446.83 roll 1.67 - - 2543.56 - 3.46 0.116 3473.50 374.3 136.95 - - 1934.47 - - - - - - - - - 15.98 -
20502.28 107.09 7.73 2427 20506.81 roll 1.67 - - 2544.50 - 3.14 0.053 2176.75 -413.0 136.95 - - 1934.84 - - - - - - - - - 16.00 -
20807.42 87.87 4.75 2479 20854.01 1.81 0.22 0.091 2587.69 196.3 3.48 0.115 3472.12 372.2 184.00 39.05 1.189 1747.59 -4.8 0.060 - - - - - - 15.98 15.79 12.88
21022.39 71.40 7.24 2522 21028.06 roll 1.84 - - 2587.00 - 3.16 0.051 2177.50 -409.7 184.00 - - 1745.66 - - - - - - - - - 15.87 -
21207.43 62.05 5.21 2559 21248.41 1.96 0.17 0.102 2621.62 203.6 3.52 0.113 3472.81 368.0 224.48 33.57 1.131 1583.31 -4.8 0.045 - - - - - - 15.89 15.73 12.77
21407.44 47.14 9.02 2599 21413.14 roll 1.96 - - 2621.12 - 3.19 0.050 2177.75 -406.0 224.48 - - 1579.66 - - - - - - - - - 15.83 -
21592.51 38.90 4.56 2636 21639.29 2.11 0.19 0.095 2658.81 198.4 4.03 0.134 736.25 -357.7 274.28 41.06 1.095 1381.06 -4.8 0.029 - - - - - - 15.85 15.66 12.83
21797.54 15.99 13.06 2677 21803.30 roll 2.11 - - 2658.38 - 3.61 0.051 2224.75 412.3 274.28 - - 1378.75 - - - - - - - - - 15.78 -
21928 end climb: SURFACE_DEPTH_REACHED
21928 begin surface coast
21948 end surface coast: CONTROL_FINISHED_OK
21948 begin surface
SM 0.75 - - - - 180.3 2.12 0.307 768.4 362.5 15.91 0.064 770.9 48.5 - 0.34 0.083 765.9 2242.0 -2.071 - - 12.71 15.81 15.83 -