NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 389 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 119.71 of 575.00 AH used of 24V (79.18% remains)
• Surface angle -56.8 deg, depth 0.58 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.83 (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
7.00 - - - 85.28 VBD -1.25 - - 173.00 - - - 2082.44 - -77.86 77.71 0.005 2453.97 - - - - - - - - - - 15.35
85.54 3.27 -4.09 15 117.42 -1.25 14.23 0.263 1836.00 116.9 3.84 0.114 3472.94 362.1 -77.86 9.27 0.007 2817.56 39.2 -3.181 - - - - - - 15.45 15.36 15.39
210.17 29.30 -21.52 40 215.93 roll -1.25 - - 1835.88 - 3.53 0.061 2082.62 -393.9 -77.86 - - 2818.44 - - - - - - - - - 15.62 -
395.23 68.07 -16.78 77 401.07 roll -1.25 - - 1836.94 - 4.05 0.151 663.81 -350.3 -77.86 - - 2817.47 - - - - - - - - - 15.67 -
410.31 70.22 -15.36 80 415.99 roll -1.25 - - 1836.88 - 3.53 0.050 2120.00 412.5 -77.86 - - 2816.22 - - - - - - - - - 15.71 -
595.27 96.89 -12.93 117 601.04 roll -1.25 - - 1836.94 - 3.65 0.110 3474.00 371.0 -77.86 - - 2816.66 - - - - - - - - - 15.74 -
635.29 102.30 -13.53 125 639.87 roll -1.25 - - 1836.81 - 3.43 0.056 2081.88 -405.9 -77.86 - - 2818.28 - - - - - - - - - 15.76 -
945.31 139.54 -11.42 157 951.13 roll -1.25 - - 1836.94 - 3.98 0.151 661.69 -356.8 -77.86 - - 2815.59 - - - - - - - - - 15.80 -
1010.34 147.76 -13.58 170 1014.91 roll -1.25 - - 1836.75 - 3.47 0.052 2116.62 419.3 -77.86 - - 2819.12 - - - - - - - - - 15.83 -
1320.37 182.63 -11.01 202 1325.12 roll -1.25 - - 1836.81 - 3.61 0.113 3473.62 375.9 -77.86 - - 2816.91 - - - - - - - - - 15.85 -
1490.40 202.99 -12.37 236 1494.98 roll -1.25 - - 1835.75 - 3.40 0.059 2079.25 -410.1 -77.86 - - 2820.03 - - - - - - - - - 15.88 -
1800.43 236.07 -11.60 268 1801.76 no move -1.25 - - 1836.94 - - - 2079.38 - -77.86 - - 2818.25 - - - - - - - - - - -
2100.45 267.53 -10.43 298 2101.78 no move -1.25 - - 1836.81 - - - 2079.56 - -77.86 - - 2818.25 - - - - - - - - - - -
2400.49 298.78 -9.78 328 2406.26 roll -1.25 - - 1835.69 - 3.74 0.115 3474.75 373.0 -77.86 - - 2818.72 - - - - - - - - - 15.93 -
2445.51 303.75 -11.10 337 2450.08 roll -1.25 - - 1836.94 - 3.41 0.061 2083.12 -408.1 -77.86 - - 2819.16 - - - - - - - - - 15.93 -
2755.53 336.08 -10.62 369 2761.35 roll -1.25 - - 1836.38 - 3.99 0.155 662.44 -356.1 -77.86 - - 2815.62 - - - - - - - - - 15.91 -
2844.46 347.67 -12.53 387 2851.29 roll -1.25 - - 1837.44 - 3.46 0.054 2119.62 421.2 -77.86 - - 2818.56 - - - - - - - - - 15.94 -
3150.59 379.75 -10.23 418 3156.42 roll -1.25 - - 1835.75 - 4.08 0.152 663.25 -357.0 -77.86 - - 2818.16 - - - - - - - - - 15.91 -
3235.60 390.35 -13.10 435 3241.20 roll -1.25 - - 1837.38 - 3.49 0.056 2118.31 416.9 -77.86 - - 2816.28 - - - - - - - - - 15.94 -
3540.64 421.78 -9.97 466 3546.42 roll -1.25 - - 1837.00 - 3.63 0.118 3473.50 373.3 -77.86 - - 2816.06 - - - - - - - - - 15.93 -
3635.74 432.43 -11.03 485 3640.26 roll -1.25 - - 1836.94 - 3.41 0.061 2082.31 -408.0 -77.86 - - 2818.66 - - - - - - - - - 15.96 -
3945.72 463.86 -9.97 517 3951.54 roll -1.25 - - 1836.94 - 3.99 0.159 663.62 -355.6 -77.86 - - 2816.09 - - - - - - - - - 15.91 -
4100.78 482.08 -12.39 548 4105.37 roll -1.25 - - 1837.06 - 3.47 0.056 2116.31 418.6 -77.86 - - 2816.09 - - - - - - - - - 15.95 -
4410.84 510.77 -9.08 580 4416.46 roll -1.25 - - 1836.56 - 3.62 0.119 3474.00 375.1 -77.86 - - 2816.09 - - - - - - - - - 15.95 -
4445.87 514.01 -9.35 587 4450.42 roll -1.25 - - 1837.00 - 3.40 0.061 2083.44 -409.0 -77.86 - - 2817.75 - - - - - - - - - 15.95 -
4755.92 541.63 -8.68 619 4761.71 roll -1.25 - - 1836.94 - 3.98 0.161 663.62 -356.7 -77.86 - - 2817.00 - - - - - - - - - 15.92 -
4814.92 547.74 -11.05 631 4821.66 roll -1.25 - - 1836.81 - 3.46 0.056 2120.31 421.0 -77.86 - - 2815.88 - - - - - - - - - 15.95 -
5121.00 573.40 -7.46 662 5125.73 roll -1.25 - - 1837.25 - 3.60 0.119 3473.81 376.0 -77.86 - - 2816.09 - - - - - - - - - 15.94 -
5224.95 583.26 -10.06 683 5231.76 roll -1.25 - - 1837.12 - 3.39 0.062 2082.38 -410.5 -77.86 - - 2816.31 - - - - - - - - - 15.95 -
5531.08 607.55 -8.71 714 5536.76 roll -1.25 - - 1837.12 - 3.96 0.162 662.62 -358.5 -77.86 - - 2813.56 - - - - - - - - - 15.91 -
5580.10 612.35 -9.92 724 5586.84 roll -1.25 - - 1837.06 - 3.46 0.054 2119.56 421.1 -77.86 - - 2814.91 - - - - - - - - - 15.95 -
5886.15 638.08 -7.35 755 5891.92 roll -1.25 - - 1837.12 - 3.61 0.122 3474.44 375.3 -77.86 - - 2813.25 - - - - - - - - - 15.94 -
5945.02 644.29 -10.69 767 5951.90 roll -1.25 - - 1835.56 - 3.37 0.063 2082.88 -412.9 -77.86 - - 2817.50 - - - - - - - - - 15.97 -
6251.21 668.81 -8.53 798 6256.88 roll -1.25 - - 1837.00 - 3.98 0.164 662.75 -356.8 -77.86 - - 2813.31 - - - - - - - - - 15.91 -
6300.20 673.63 -10.50 808 6306.95 roll -1.25 - - 1837.00 - 3.48 0.056 2119.50 418.6 -77.86 - - 2815.78 - - - - - - - - - 15.96 -
6606.25 698.97 -7.63 839 6612.01 roll -1.25 - - 1836.62 - 3.63 0.122 3471.62 372.5 -77.86 - - 2814.12 - - - - - - - - - 15.94 -
6655.11 703.14 -8.98 849 6661.98 roll -1.25 - - 1837.31 - 3.39 0.063 2084.25 -409.3 -77.86 - - 2815.66 - - - - - - - - - 15.96 -
6961.29 727.23 -8.32 880 6966.99 roll -1.25 - - 1837.44 - 4.03 0.167 663.56 -352.5 -77.86 - - 2813.09 - - - - - - - - - 15.91 -
7026.37 733.76 -9.74 893 7031.90 roll -1.25 - - 1835.75 - 3.51 0.057 2117.56 414.2 -77.86 - - 2812.81 - - - - - - - - - 15.95 -
7331.34 759.24 -7.58 924 7337.23 roll -1.25 - - 1836.75 - 3.65 0.122 3474.56 371.8 -77.86 - - 2813.12 - - - - - - - - - 15.94 -
7446.35 769.76 -9.62 947 7450.95 roll -1.25 - - 1837.19 - 3.41 0.066 2084.38 -407.7 -77.86 - - 2813.25 - - - - - - - - - 15.96 -
7756.40 792.57 -7.47 979 7762.22 roll -1.25 - - 1837.25 - 4.03 0.170 663.50 -352.6 -77.86 - - 2813.41 - - - - - - - - - 15.90 -
7921.42 808.42 -11.01 1012 7927.02 roll -1.25 - - 1837.06 - 3.51 0.060 2115.06 413.5 -77.86 - - 2813.47 - - - - - - - - - 15.95 -
8226.45 830.71 -7.74 1043 8232.16 roll -1.25 - - 1837.06 - 4.12 0.166 664.25 -352.1 -77.86 - - 2810.94 - - - - - - - - - 15.90 -
8265.45 834.31 -9.84 1051 8272.21 roll -1.25 - - 1836.62 - 3.51 0.059 2117.44 414.0 -77.86 - - 2812.25 - - - - - - - - - 15.95 -
8571.49 856.92 -7.52 1082 8577.18 roll -1.25 - - 1836.56 - 4.10 0.167 663.62 -354.6 -77.86 - - 2810.47 - - - - - - - - - 15.89 -
8646.57 863.61 -10.75 1097 8652.09 roll -1.25 - - 1837.06 - 3.47 0.061 2117.81 419.1 -77.86 - - 2810.44 - - - - - - - - - 15.94 -
8951.53 887.45 -6.42 1128 8957.50 roll -1.25 - - 1836.88 - 4.07 0.169 663.25 -357.4 -77.86 - - 2810.78 - - - - - - - - - 15.89 -
9110.55 903.45 -10.53 1160 9117.31 roll -1.25 - - 1837.25 - 3.43 0.064 2117.69 424.0 -77.86 - - 2812.06 - - - - - - - - - 15.94 -
9416.59 926.42 -8.10 1191 9422.27 roll -1.25 - - 1837.00 - 3.54 0.130 3474.75 383.4 -77.86 - - 2809.84 - - - - - - - - - 15.92 -
9491.62 933.02 -9.21 1206 9496.17 roll -1.25 - - 1835.75 - 3.38 0.068 2085.44 -411.0 -77.86 - - 2812.81 - - - - - - - - - 15.95 -
9801.66 954.90 -5.90 1238 9807.42 roll -1.25 - - 1835.31 - 3.72 0.126 3474.88 373.5 -77.86 - - 2810.72 - - - - - - - - - 15.93 -
9880.58 962.26 -9.07 1254 9887.42 roll -1.25 - - 1837.12 - 3.40 0.069 2084.38 -409.0 -77.86 - - 2811.09 - - - - - - - - - 15.93 -
10186.74 963.77 -0.22 1285 10192.47 roll -1.25 - - 1836.88 - 3.99 0.168 662.56 -356.3 -77.86 - - 2809.03 - - - - - - - - - 15.89 -
10325 end dive: NO_VERTICAL_VELOCITY
10325 begin apogee
10331.25 963.93 - 1313 10401.49 -0.25 1.71 0.118 2082.31 143.5 0.08 0.293 2185.88 19041.5 - 66.63 2.278 2498.78 -4.7 0.342 - - - - - - 15.88 15.10 12.40
10403 end apogee: CONTROL_FINISHED_OK
10403 begin climb
10403.32 963.59 - 1320 10487.92 1.25 2.60 0.086 2448.88 141.0 3.74 0.128 3472.62 344.0 77.86 73.90 2.217 2181.09 -4.3 0.324 - - - - - - 15.18 14.80 12.37
10709.61 940.68 10.45 1381 10716.47 done 1.25 - - 2448.94 - 3.25 0.060 2182.38 -397.0 77.86 - - 2171.91 - - - - - - - - - 15.46 -
11015.87 915.61 7.24 1412 11021.57 done 1.28 - - 2448.50 - 3.57 0.126 3473.25 361.6 77.86 - - 2167.94 - - - - - - - - - 15.66 -
11174.74 901.74 10.00 1444 11181.58 done 1.28 - - 2448.06 - 3.20 0.060 2182.12 -403.5 77.86 - - 2168.44 - - - - - - - - - 15.73 -
11480.96 878.27 7.67 1475 11486.79 done 1.28 - - 2449.19 - 4.01 0.144 736.06 -360.6 77.86 - - 2165.59 - - - - - - - - - 15.76 -
11586.00 868.51 9.08 1496 11590.74 done 1.28 - - 2448.88 - 3.57 0.055 2217.12 414.9 77.86 - - 2163.53 - - - - - - - - - 15.79 -
11896.09 844.02 6.68 1528 11901.89 done 1.32 - - 2448.62 - 4.07 0.144 736.19 -363.9 77.86 - - 2163.56 - - - - - - - - - 15.81 -
11995.01 834.30 9.62 1548 12001.87 done 1.32 - - 2448.69 - 3.55 0.056 2220.62 418.1 77.86 - - 2164.25 - - - - - - - - - 15.84 -
12301.19 811.15 6.87 1579 12305.75 done 1.35 - - 2448.88 - 3.40 0.128 3474.44 368.8 77.86 - - 2164.19 - - - - - - - - - 15.80 -
12365.03 805.42 8.45 1592 12372.01 done 1.35 - - 2448.06 - 3.14 0.059 2180.44 -412.1 77.86 - - 2164.62 - - - - - - - - - 15.87 -
12671.24 782.51 7.31 1623 12672.70 1.38 0.16 0.122 2482.56 215.6 - - 2180.75 - 77.86 - - 2162.31 - - - - - - - - 15.86 - -
12971.27 759.76 7.35 1653 12972.60 VBD 1.40 - - 2483.50 - - - 2181.06 - 77.86 - - 2163.03 - - - - - - - - - - -
13271.31 736.67 7.07 1683 13276.90 done 1.43 - - 2481.44 - 3.49 0.126 3473.44 370.3 77.86 - - 2161.47 - - - - - - - - - 15.89 -
13286.32 735.22 7.32 1686 13290.83 done 1.45 - - 2482.25 - 3.12 0.058 2181.00 -414.2 77.86 - - 2163.31 - - - - - - - - - 15.89 -
13596.33 709.22 9.44 1718 13600.92 done 1.45 - - 2483.06 - 3.48 0.125 3473.19 371.3 77.86 - - 2160.94 - - - - - - - - - 15.90 -
13656.36 704.09 10.13 1730 13660.88 done 1.45 - - 2481.50 - 3.12 0.059 2179.31 -414.7 77.86 - - 2162.84 - - - - - - - - - 15.91 -
13966.39 678.72 8.15 1762 13971.98 done 1.45 - - 2482.88 - 3.48 0.124 3473.62 371.9 77.86 - - 2161.16 - - - - - - - - - 15.90 -
14091.41 667.54 8.40 1787 14095.95 done 1.45 - - 2483.00 - 3.13 0.058 2180.81 -413.0 77.86 - - 2162.06 - - - - - - - - - 15.90 -
14401.46 644.25 6.75 1819 14402.79 VBD 1.49 - - 2482.50 - - - 2180.19 - 77.86 - - 2161.94 - - - - - - - - - - -
14701.49 625.42 5.52 1849 14738.96 1.59 0.28 0.089 2532.06 177.0 4.03 0.140 736.88 -358.1 113.96 30.98 1.849 2034.28 -4.1 0.242 - - - - - - 15.86 15.52 12.46
14816.74 614.19 12.15 1872 14821.47 roll 1.59 - - 2535.12 - 3.58 0.053 2217.81 413.7 113.96 - - 2028.72 - - - - - - - - - 15.65 -
15126.81 583.98 9.04 1904 15131.38 roll 1.59 - - 2535.12 - 3.41 0.121 3473.12 368.1 113.96 - - 2027.56 - - - - - - - - - 15.74 -
15226.90 573.49 11.03 1924 15231.37 roll 1.59 - - 2535.56 - 3.15 0.057 2181.19 -410.1 113.96 - - 2028.81 - - - - - - - - - 15.76 -
15536.90 542.35 10.83 1956 15542.52 done 1.59 - - 2532.88 - 3.49 0.118 3472.94 370.1 113.96 - - 2027.09 - - - - - - - - - 15.82 -
15661.95 527.90 11.21 1981 15666.49 done 1.59 - - 2535.50 - 3.13 0.056 2181.06 -412.7 113.96 - - 2027.94 - - - - - - - - - 15.82 -
15972.02 496.05 9.01 2013 15976.60 done 1.59 - - 2534.88 - 3.46 0.116 3472.38 373.2 113.96 - - 2025.66 - - - - - - - - - 15.86 -
16062.08 486.22 11.12 2031 16066.73 done 1.59 - - 2534.38 - 3.13 0.057 2181.38 -412.5 113.96 - - 2026.12 - - - - - - - - - 15.86 -
16372.13 455.33 10.03 2063 16377.88 done 1.59 - - 2534.62 - 3.91 0.136 736.38 -369.6 113.96 - - 2025.12 - - - - - - - - - 15.86 -
16417.17 449.70 12.86 2072 16421.87 done 1.59 - - 2535.88 - 3.54 0.052 2221.81 419.6 113.96 - - 2025.16 - - - - - - - - - 15.88 -
16727.17 418.41 10.49 2104 16731.87 done 1.59 - - 2535.44 - 3.35 0.119 3473.81 373.7 113.96 - - 2025.19 - - - - - - - - - 15.87 -
16871.04 401.76 12.21 2133 16877.92 done 1.59 - - 2536.06 - 3.12 0.055 2180.00 -414.7 113.96 - - 2025.00 - - - - - - - - - 15.88 -
17177.24 370.16 10.13 2164 17182.98 done 1.59 - - 2533.81 - 3.91 0.134 735.75 -369.4 113.96 - - 2023.72 - - - - - - - - - 15.88 -
17256.16 360.46 11.76 2180 17263.01 done 1.59 - - 2534.44 - 3.54 0.052 2222.81 420.1 113.96 - - 2025.81 - - - - - - - - - 15.89 -
17562.29 329.58 10.33 2211 17566.85 done 1.59 - - 2535.62 - 3.35 0.117 3472.94 373.2 113.96 - - 2025.66 - - - - - - - - - 15.89 -
17766.19 308.78 9.64 2252 17773.03 done 1.59 - - 2535.38 - 3.11 0.053 2179.00 -416.1 113.96 - - 2025.03 - - - - - - - - - 15.90 -
18072.38 283.17 7.89 2283 18078.04 done 1.59 - - 2535.50 - 3.88 0.131 734.88 -372.2 113.96 - - 2022.81 - - - - - - - - - 15.89 -
18137.40 276.58 10.29 2296 18143.00 done 1.59 - - 2534.44 - 3.52 0.049 2226.25 423.7 113.96 - - 2023.53 - - - - - - - - - 15.91 -
18442.43 251.27 7.97 2327 18447.02 done 1.59 - - 2535.62 - 3.34 0.116 3473.38 373.4 113.96 - - 2024.47 - - - - - - - - - 15.90 -
18552.65 241.89 8.32 2349 18556.98 done 1.59 - - 2536.25 - 3.12 0.052 2178.19 -415.1 113.96 - - 2024.41 - - - - - - - - - 15.90 -
18862.50 219.80 6.50 2381 18867.07 done 1.64 - - 2536.75 - 3.44 0.112 3474.50 376.8 113.96 - - 2024.12 - - - - - - - - - 15.90 -
18906.34 216.37 7.62 2390 18913.17 done 1.64 - - 2535.62 - 3.13 0.052 2177.81 -414.3 113.96 - - 2023.88 - - - - - - - - - 15.90 -
19212.54 196.22 7.05 2421 19217.11 done 1.67 - - 2536.12 - 3.46 0.111 3473.19 374.4 113.96 - - 2023.12 - - - - - - - - - 15.90 -
19246.39 193.31 7.14 2428 19253.21 done 1.70 - - 2536.12 - 3.12 0.051 2178.56 -414.9 113.96 - - 2025.38 - - - - - - - - - 15.91 -
19552.58 171.43 6.73 2459 19558.27 1.74 0.16 0.113 2570.31 213.7 3.88 0.130 735.12 -372.0 113.96 - - 2025.81 - - - - - - - - 15.87 15.86 -
19737.60 156.09 8.74 2496 19743.21 done 1.74 - - 2569.69 - 3.49 0.048 2225.81 427.1 113.96 - - 2022.53 - - - - - - - - - 15.88 -
20042.64 134.38 6.58 2527 20048.29 done 1.78 - - 2567.06 - 4.00 0.124 734.56 -372.8 113.96 - - 2024.41 - - - - - - - - - 15.85 -
20271.74 120.57 4.23 2573 20323.30 1.95 0.26 0.083 2620.81 206.7 3.48 0.047 2233.38 430.7 168.44 45.53 1.277 1813.00 -4.6 0.076 - - - - - - 15.83 15.84 12.35
20622.79 95.19 7.13 2620 20628.60 done 1.97 - - 2621.12 - 4.03 0.121 735.31 -371.7 168.44 - - 1804.94 - - - - - - - - - 15.67 -
20852.86 84.66 3.31 2666 20914.85 2.18 0.30 0.073 2677.75 188.8 3.53 0.048 2229.38 423.2 236.13 55.50 1.205 1536.34 -4.8 0.059 - - - - - - 15.71 15.74 12.39
21093.02 68.79 7.08 2714 21098.65 roll 2.21 - - 2677.62 - 3.34 0.111 3472.75 372.3 236.13 - - 1530.78 - - - - - - - - - 15.57 -
21324.18 48.25 9.01 2760 21329.85 done 2.21 - - 2677.25 - 3.19 0.050 2177.69 -406.0 236.13 - - 1529.22 - - - - - - - - - 15.69 -
21508.08 31.04 10.21 2797 21513.81 done 2.21 - - 2677.31 - 3.49 0.105 3474.44 371.6 236.13 - - 1528.41 - - - - - - - - - 15.69 -
21648.13 15.92 10.11 2825 21653.81 done 2.21 - - 2677.56 - 3.16 0.049 2178.81 -410.0 236.13 - - 1527.81 - - - - - - - - - 15.75 -
21778 end climb: SURFACE_DEPTH_REACHED
21778 begin surface coast
21793 end surface coast: CONTROL_FINISHED_OK
21793 begin surface
SM 0.69 - - - - 172.9 1.43 0.135 768.1 537.1 17.19 0.107 771.4 44.9 - 0.22 0.112 764.9 3462.5 -2.180 - - 15.11 15.70 15.77 -