NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 482 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 143.69 of 575.00 AH used of 24V (75.01% remains)
• Surface angle -61.6 deg, depth 0.93 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.83 (SM_CC=425)
• GPS1 time: 19 s
• GPS2 time: 5 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
7.11 - - - 85.94 VBD -1.25 - - 173.94 - - - 2114.06 - -77.86 78.17 0.005 2480.88 - - - - - - - - - - 15.21
86.21 3.38 -3.75 15 118.13 -1.25 14.39 0.256 1836.06 115.5 4.22 0.152 663.12 -343.8 -77.86 8.77 0.007 2818.03 38.4 -3.232 - - - - - - 15.40 15.22 15.28
120.92 10.39 -18.86 22 126.64 roll -1.25 - - 1836.44 - 3.63 0.053 2118.19 400.8 -77.86 - - 2815.75 - - - - - - - - - 15.54 -
305.96 46.14 -18.87 59 311.74 roll -1.25 - - 1837.12 - 3.73 0.111 3472.81 363.2 -77.86 - - 2816.06 - - - - - - - - - 15.63 -
536.06 92.52 -15.62 105 541.80 roll -1.25 - - 1836.69 - 3.42 0.058 2082.06 -406.7 -77.86 - - 2816.38 - - - - - - - - - 15.71 -
726.08 114.63 -10.69 130 731.79 roll -1.25 - - 1836.50 - 3.79 0.107 3473.44 367.1 -77.86 - - 2816.62 - - - - - - - - - 15.74 -
955.13 141.57 -11.17 176 961.89 roll -1.25 - - 1836.94 - 3.41 0.058 2080.94 -408.4 -77.86 - - 2817.06 - - - - - - - - - 15.78 -
1261.18 173.14 -10.36 207 1266.96 roll -1.25 - - 1836.38 - 3.80 0.109 3473.75 366.5 -77.86 - - 2815.94 - - - - - - - - - 15.80 -
1490.08 200.99 -11.75 253 1496.97 roll -1.25 - - 1836.69 - 3.41 0.058 2081.12 -408.4 -77.86 - - 2817.28 - - - - - - - - - 15.83 -
1796.26 232.20 -10.13 284 1797.59 no move -1.25 - - 1836.12 - - - 2081.00 - -77.86 - - 2817.31 - - - - - - - - - - -
2096.30 263.35 -9.73 314 2101.95 roll -1.25 - - 1836.50 - 3.81 0.113 3473.19 365.4 -77.86 - - 2818.09 - - - - - - - - - 15.84 -
2155.17 269.56 -10.79 326 2162.04 roll -1.25 - - 1836.81 - 3.39 0.059 2082.50 -410.2 -77.86 - - 2816.84 - - - - - - - - - 15.87 -
2461.34 301.11 -10.43 357 2467.17 roll -1.25 - - 1837.00 - 4.03 0.155 663.50 -352.1 -77.86 - - 2815.66 - - - - - - - - - 15.78 -
2580.28 315.53 -11.45 381 2587.14 roll -1.25 - - 1837.38 - 3.54 0.052 2120.75 411.7 -77.86 - - 2817.31 - - - - - - - - - 15.88 -
2886.40 346.34 -9.80 412 2892.17 roll -1.25 - - 1836.81 - 3.67 0.115 3474.38 368.8 -77.86 - - 2817.19 - - - - - - - - - 15.85 -
2985.48 357.99 -11.96 432 2992.17 roll -1.25 - - 1837.06 - 3.40 0.060 2081.19 -409.8 -77.86 - - 2817.16 - - - - - - - - - 15.88 -
3291.46 388.45 -10.15 463 3292.79 no move -1.25 - - 1836.50 - - - 2081.19 - -77.86 - - 2817.00 - - - - - - - - - - -
3591.50 416.69 -8.29 493 3597.32 roll -1.25 - - 1835.50 - 4.02 0.158 663.12 -352.8 -77.86 - - 2819.06 - - - - - - - - - 15.78 -
3666.58 425.68 -11.82 508 3672.12 roll -1.25 - - 1836.12 - 3.55 0.056 2116.44 409.4 -77.86 - - 2818.38 - - - - - - - - - 15.88 -
3971.55 456.04 -10.41 539 3972.88 no move -1.25 - - 1836.94 - - - 2117.19 - -77.86 - - 2815.03 - - - - - - - - - - -
4271.59 484.70 -9.89 569 4277.24 roll -1.25 - - 1836.94 - 3.71 0.120 3473.50 365.6 -77.86 - - 2815.53 - - - - - - - - - 15.85 -
4326.77 490.55 -11.04 580 4332.21 roll -1.25 - - 1835.56 - 3.40 0.063 2081.94 -409.3 -77.86 - - 2818.19 - - - - - - - - - 15.89 -
4631.69 519.61 -10.13 611 4637.52 roll -1.25 - - 1836.56 - 4.03 0.160 663.25 -352.0 -77.86 - - 2813.72 - - - - - - - - - 15.78 -
4756.73 532.96 -10.61 636 4761.47 roll -1.25 - - 1837.19 - 3.54 0.056 2118.19 411.0 -77.86 - - 2815.75 - - - - - - - - - 15.88 -
5066.80 561.76 -8.71 668 5068.12 no move -1.25 - - 1836.81 - - - 2117.69 - -77.86 - - 2814.81 - - - - - - - - - - -
5366.85 588.79 -8.95 698 5368.18 no move -1.25 - - 1836.88 - - - 2118.88 - -77.86 - - 2815.06 - - - - - - - - - - -
5666.94 615.86 -8.84 728 5672.77 roll -1.25 - - 1836.25 - 4.14 0.162 663.00 -351.7 -77.86 - - 2815.22 - - - - - - - - - 15.77 -
5765.95 626.73 -11.83 748 5772.73 roll -1.25 - - 1837.44 - 3.58 0.057 2116.31 406.0 -77.86 - - 2814.88 - - - - - - - - - 15.89 -
6072.04 656.17 -9.34 779 6077.68 roll -1.25 - - 1836.19 - 3.70 0.121 3472.88 366.6 -77.86 - - 2813.28 - - - - - - - - - 15.83 -
6117.06 660.71 -10.22 788 6121.64 roll -1.25 - - 1837.00 - 3.42 0.062 2083.19 -406.3 -77.86 - - 2812.47 - - - - - - - - - 15.88 -
6427.09 689.23 -9.15 820 6432.91 roll -1.25 - - 1836.69 - 4.05 0.166 663.75 -350.5 -77.86 - - 2813.31 - - - - - - - - - 15.75 -
6512.10 697.94 -10.12 837 6517.71 roll -1.25 - - 1836.69 - 3.55 0.057 2116.00 409.1 -77.86 - - 2811.53 - - - - - - - - - 15.89 -
6817.13 724.40 -8.73 868 6822.80 roll -1.25 - - 1837.19 - 3.73 0.122 3473.12 363.8 -77.86 - - 2811.66 - - - - - - - - - 15.83 -
6872.16 729.54 -9.77 879 6876.87 roll -1.25 - - 1837.50 - 3.43 0.064 2083.12 -405.2 -77.86 - - 2812.78 - - - - - - - - - 15.88 -
7182.18 755.43 -8.46 911 7188.01 roll -1.25 - - 1836.75 - 4.04 0.168 663.25 -351.5 -77.86 - - 2811.88 - - - - - - - - - 15.74 -
7261.18 762.97 -9.20 927 7267.94 roll -1.25 - - 1836.56 - 3.49 0.057 2116.31 416.3 -77.86 - - 2812.59 - - - - - - - - - 15.87 -
7567.23 787.79 -7.42 958 7573.01 roll -1.25 - - 1836.88 - 3.72 0.122 3472.38 364.5 -77.86 - - 2810.19 - - - - - - - - - 15.82 -
7626.24 793.05 -8.54 970 7632.97 roll -1.25 - - 1837.00 - 3.39 0.065 2083.25 -409.8 -77.86 - - 2812.78 - - - - - - - - - 15.87 -
7932.28 816.93 -7.68 1001 7938.10 roll -1.25 - - 1835.88 - 4.03 0.167 663.31 -352.3 -77.86 - - 2812.47 - - - - - - - - - 15.73 -
8031.20 825.90 -9.89 1021 8038.05 roll -1.25 - - 1836.50 - 3.53 0.059 2115.94 411.5 -77.86 - - 2812.25 - - - - - - - - - 15.87 -
8337.33 849.61 -8.01 1052 8343.25 roll -1.25 - - 1836.38 - 3.72 0.125 3474.31 365.2 -77.86 - - 2809.38 - - - - - - - - - 15.81 -
8392.35 855.08 -9.30 1063 8396.91 roll -1.25 - - 1836.94 - 3.40 0.066 2084.81 -408.7 -77.86 - - 2811.69 - - - - - - - - - 15.86 -
8702.39 878.93 -7.43 1095 8708.23 roll -1.25 - - 1836.38 - 4.11 0.171 663.25 -345.9 -77.86 - - 2812.06 - - - - - - - - - 15.72 -
8771.37 885.87 -9.30 1109 8778.15 roll -1.25 - - 1836.56 - 3.56 0.061 2114.00 407.5 -77.86 - - 2812.19 - - - - - - - - - 15.87 -
9077.42 910.10 -7.49 1140 9083.27 roll -1.25 - - 1836.94 - 4.18 0.169 663.56 -347.0 -77.86 - - 2809.09 - - - - - - - - - 15.71 -
9132.51 915.48 -8.47 1151 9138.05 roll -1.25 - - 1836.88 - 3.55 0.062 2114.00 408.6 -77.86 - - 2811.12 - - - - - - - - - 15.87 -
9437.48 939.46 -8.52 1182 9443.18 roll -1.25 - - 1837.06 - 4.16 0.171 664.56 -348.4 -77.86 - - 2808.66 - - - - - - - - - 15.70 -
9492.58 944.43 -9.36 1193 9498.23 roll -1.25 - - 1837.06 - 3.57 0.063 2115.75 406.5 -77.86 - - 2808.25 - - - - - - - - - 15.85 -
9797.52 967.51 -7.35 1224 9798.85 no move -1.25 - - 1836.38 - - - 2115.06 - -77.86 - - 2808.75 - - - - - - - - - - -
10097 end dive: TARGET_DEPTH_EXCEEDED
10097 begin apogee
10098.79 990.29 -8.22 1254 10169.37 -0.25 1.79 0.146 2079.69 135.9 0.08 0.280 2185.50 880.5 - 66.76 2.285 2499.22 -4.6 0.350 - - - - - - 15.76 15.08 11.98
10171 end apogee: CONTROL_FINISHED_OK
10171 begin climb
10171.38 991.12 - 1261 10256.27 1.25 2.62 0.086 2448.00 140.6 3.83 0.128 3472.00 335.9 77.86 74.19 2.229 2179.88 -4.3 0.333 - - - - - - 15.16 14.77 12.30
10314.06 981.92 10.24 1289 10318.61 roll 1.25 - - 2448.69 - 3.31 0.061 2182.25 -389.7 77.86 - - 2177.31 - - - - - - - - - 15.17 -
10624.09 952.96 9.67 1321 10629.94 done 1.25 - - 2448.44 - 4.11 0.146 738.06 -351.4 77.86 - - 2170.81 - - - - - - - - - 15.50 -
10653.03 949.80 10.52 1327 10659.88 done 1.25 - - 2448.69 - 3.66 0.053 2217.81 404.3 77.86 - - 2168.44 - - - - - - - - - 15.57 -
10959.14 921.15 9.27 1358 10964.73 done 1.25 - - 2448.31 - 3.48 0.126 3474.25 361.0 77.86 - - 2167.00 - - - - - - - - - 15.60 -
10967.99 919.92 9.59 1360 10974.83 done 1.25 - - 2449.12 - 3.16 0.058 2180.12 -409.5 77.86 - - 2167.06 - - - - - - - - - 15.68 -
11274.17 891.21 9.49 1391 11280.00 done 1.25 - - 2448.88 - 4.03 0.147 736.25 -358.3 77.86 - - 2164.12 - - - - - - - - - 15.67 -
11309.19 887.86 9.58 1398 11314.95 done 1.25 - - 2448.94 - 3.62 0.056 2219.75 409.8 77.86 - - 2164.03 - - - - - - - - - 15.75 -
11614.22 860.08 8.74 1429 11615.55 VBD 1.25 - - 2448.31 - - - 2219.62 - 77.86 - - 2164.72 - - - - - - - - - - -
11914.26 835.67 7.35 1459 11919.83 done 1.27 - - 2449.12 - 3.48 0.127 3474.00 360.5 77.86 - - 2163.97 - - - - - - - - - 15.76 -
11989.30 828.71 8.67 1474 11993.93 done 1.27 - - 2448.50 - 3.17 0.060 2180.94 -407.9 77.86 - - 2165.16 - - - - - - - - - 15.79 -
12299.30 804.15 8.18 1506 12305.38 done 1.27 - - 2447.19 - 4.02 0.144 736.06 -359.4 77.86 - - 2164.22 - - - - - - - - - 15.72 -
12328.22 801.73 7.79 1512 12335.06 done 1.27 - - 2448.50 - 3.60 0.054 2219.31 412.0 77.86 - - 2162.50 - - - - - - - - - 15.82 -
12634.34 777.50 7.60 1543 12638.92 done 1.27 - - 2449.50 - 3.46 0.125 3473.81 362.6 77.86 - - 2161.62 - - - - - - - - - 15.78 -
12724.37 769.40 8.97 1561 12728.89 done 1.27 - - 2449.25 - 3.14 0.059 2181.19 -411.7 77.86 - - 2163.62 - - - - - - - - - 15.82 -
13034.38 745.05 7.78 1593 13039.99 done 1.27 - - 2448.81 - 3.55 0.121 3473.31 364.0 77.86 - - 2160.41 - - - - - - - - - 15.78 -
13043.23 744.31 7.75 1595 13050.08 done 1.27 - - 2448.88 - 3.13 0.056 2178.62 -413.6 77.86 - - 2162.38 - - - - - - - - - 15.81 -
13349.46 719.81 7.03 1626 13355.17 done 1.30 - - 2449.38 - 3.58 0.122 3472.81 361.5 77.86 - - 2161.81 - - - - - - - - - 15.77 -
13398.28 715.45 7.90 1636 13405.12 done 1.30 - - 2448.44 - 3.14 0.058 2180.12 -411.7 77.86 - - 2161.16 - - - - - - - - - 15.85 -
13704.46 691.47 9.03 1667 13710.07 done 1.30 - - 2449.00 - 3.57 0.120 3472.50 362.0 77.86 - - 2160.47 - - - - - - - - - 15.78 -
13749.50 688.29 7.06 1676 13754.00 done 1.33 - - 2448.62 - 3.15 0.058 2178.94 -410.7 77.86 - - 2162.50 - - - - - - - - - 15.75 -
14059.52 663.68 7.18 1708 14060.86 VBD 1.36 - - 2448.38 - - - 2179.38 - 77.86 - - 2162.00 - - - - - - - - - - -
14359.54 640.24 7.81 1738 14360.88 VBD 1.36 - - 2449.12 - - - 2178.81 - 77.86 - - 2160.84 - - - - - - - - - - -
14659.60 618.61 6.48 1768 14665.25 1.41 0.20 0.095 2491.56 212.2 3.59 0.120 3473.25 360.6 77.86 - - 2160.16 - - - - - - - - 15.81 15.77 -
14708.46 613.68 10.28 1778 14715.44 done 1.41 - - 2491.44 - 3.15 0.057 2180.50 -410.4 77.86 - - 2161.31 - - - - - - - - - 15.84 -
15014.67 590.39 8.01 1809 15020.29 done 1.41 - - 2490.94 - 3.58 0.118 3473.06 361.1 77.86 - - 2160.62 - - - - - - - - - 15.79 -
15123.55 580.47 9.07 1831 15130.41 done 1.41 - - 2491.94 - 3.15 0.056 2179.75 -410.6 77.86 - - 2161.31 - - - - - - - - - 15.85 -
15429.80 559.98 6.42 1862 15435.39 done 1.46 - - 2491.44 - 3.57 0.116 3473.38 362.4 77.86 - - 2161.34 - - - - - - - - - 15.76 -
15508.73 553.44 7.45 1878 15515.52 done 1.47 - - 2491.62 - 3.13 0.057 2178.94 -413.6 77.86 - - 2162.31 - - - - - - - - - 15.85 -
15814.89 532.55 6.26 1909 15816.22 VBD 1.53 - - 2492.19 - - - 2179.56 - 77.86 - - 2160.62 - - - - - - - - - - -
16114.95 512.75 6.68 1939 16120.80 1.57 0.17 0.097 2529.44 219.1 3.98 0.137 736.19 -362.7 77.86 - - 2162.44 - - - - - - - - 15.81 15.71 -
16183.87 507.14 7.90 1953 16190.72 done 1.57 - - 2529.50 - 3.57 0.051 2221.69 416.1 77.86 - - 2161.00 - - - - - - - - - 15.84 -
16490.05 486.35 6.83 1984 16495.77 done 1.60 - - 2529.19 - 3.45 0.118 3474.06 363.0 77.86 - - 2159.44 - - - - - - - - - 15.78 -
16528.89 483.06 8.21 1992 16535.87 done 1.60 - - 2530.06 - 3.12 0.055 2176.56 -415.9 77.86 - - 2160.75 - - - - - - - - - 15.76 -
16835.10 461.43 6.97 2023 16840.83 done 1.64 - - 2528.06 - 3.96 0.137 736.31 -363.7 77.86 - - 2162.31 - - - - - - - - - 15.70 -
16920.11 453.88 8.60 2040 16925.72 done 1.64 - - 2530.25 - 3.59 0.051 2223.25 414.2 77.86 - - 2157.19 - - - - - - - - - 15.76 -
17225.17 432.09 7.16 2071 17229.73 done 1.66 - - 2530.19 - 3.44 0.115 3473.50 363.4 77.86 - - 2156.91 - - - - - - - - - 15.78 -
17309.09 425.97 6.98 2088 17315.86 done 1.70 - - 2530.06 - 3.14 0.054 2176.06 -413.2 77.86 - - 2159.94 - - - - - - - - - 15.74 -
17615.22 404.92 6.62 2119 17620.87 1.74 0.20 0.092 2573.00 214.7 3.57 0.111 3473.31 363.4 77.86 - - 2158.00 - - - - - - - - 15.79 15.74 -
17730.24 395.80 7.58 2142 17734.77 done 1.74 - - 2573.94 - 3.14 0.054 2176.75 -412.9 77.86 - - 2159.50 - - - - - - - - - 15.74 -
18040.29 375.97 6.18 2174 18041.63 VBD 1.79 - - 2573.44 - - - 2177.31 - 77.86 - - 2157.59 - - - - - - - - - - -
18340.32 358.30 6.08 2204 18345.92 done 1.85 - - 2573.38 - 3.59 0.112 3473.75 361.1 77.86 - - 2157.75 - - - - - - - - - 15.77 -
18415.41 353.18 6.60 2219 18419.92 1.90 0.16 0.100 2604.94 197.2 3.14 0.054 2177.88 -412.7 77.86 - - 2161.47 - - - - - - - - 15.70 15.83 -
18725.47 334.23 6.16 2251 18731.04 done 1.95 - - 2606.56 - 3.93 0.131 735.44 -367.0 77.86 - - 2159.34 - - - - - - - - - 15.66 -
18840.40 326.40 7.27 2274 18845.99 done 1.98 - - 2606.88 - 3.59 0.049 2225.12 415.0 77.86 - - 2157.34 - - - - - - - - - 15.75 -
19145.44 308.90 5.86 2305 19176.88 2.07 0.22 0.090 2649.44 193.5 4.09 0.127 736.12 -364.1 109.10 25.44 1.431 2053.53 -4.1 0.153 - - - - - - 15.81 15.59 11.99
19179.59 306.36 6.25 2310 19186.21 roll 2.12 - - 2649.69 - 3.61 0.048 2224.69 412.3 109.10 - - 2052.84 - - - - - - - - - 15.67 -
19485.46 276.33 9.84 2341 19491.14 roll 2.12 - - 2648.69 - 4.06 0.126 736.25 -366.6 109.10 - - 2048.28 - - - - - - - - - 15.65 -
19640.48 258.36 12.35 2372 19646.10 roll 2.12 - - 2649.00 - 3.61 0.050 2223.62 412.0 109.10 - - 2047.28 - - - - - - - - - 15.73 -
19945.52 228.65 9.87 2403 19951.26 roll 2.12 - - 2647.56 - 4.05 0.124 734.38 -367.7 109.10 - - 2051.22 - - - - - - - - - 15.65 -
19980.53 224.95 10.57 2410 19986.13 roll 2.12 - - 2649.88 - 3.57 0.047 2225.12 417.6 109.10 - - 2048.38 - - - - - - - - - 15.69 -
20285.56 196.65 8.39 2441 20291.24 roll 2.12 - - 2649.19 - 4.07 0.125 734.06 -366.4 109.10 - - 2048.28 - - - - - - - - - 15.65 -
20400.58 185.38 10.49 2464 20406.18 roll 2.12 - - 2648.81 - 3.58 0.049 2225.38 416.6 109.10 - - 2049.28 - - - - - - - - - 15.71 -
20705.65 161.23 8.05 2495 20710.43 roll 2.12 - - 2650.31 - 3.38 0.111 3472.94 369.1 109.10 - - 2049.06 - - - - - - - - - 15.70 -
20735.66 158.70 9.08 2501 20740.32 roll 2.12 - - 2649.94 - 3.15 0.050 2173.75 -412.4 109.10 - - 2048.09 - - - - - - - - - 15.78 -
21045.74 135.66 6.78 2533 21047.06 no move 2.16 - - 2650.00 - - - 2174.00 - 109.10 - - 2047.47 - - - - - - - - - - -
21345.79 118.36 4.55 2563 21396.98 2.31 0.33 0.080 2707.25 173.5 3.98 0.128 735.75 -361.4 159.03 42.78 1.225 1850.31 -4.6 0.078 - - - - - - 15.77 15.48 12.08
21439.87 110.94 11.41 2582 21446.71 roll 2.31 - - 2706.19 - 3.65 0.050 2226.25 408.4 159.03 - - 1847.78 - - - - - - - - - 15.52 -
21745.90 75.14 9.20 2633 21751.76 roll 2.31 - - 2707.25 - 4.11 0.122 735.44 -362.7 159.03 - - 1844.66 - - - - - - - - - 15.53 -
21886.21 66.55 4.27 2661 21937.94 2.47 0.21 0.087 2745.69 183.0 3.64 0.047 2228.12 410.1 212.97 45.54 1.161 1630.97 -4.7 0.047 - - - - - - 15.50 15.67 12.24
22116.06 60.40 2.99 2707 22183.29 2.69 0.30 0.081 2797.12 171.4 4.22 0.121 735.44 -353.7 285.16 60.06 1.141 1336.50 -4.9 0.045 - - - - - - 15.54 15.20 12.19
22406.11 15.06 22.49 2765 22411.87 roll 2.69 - - 2797.25 - 3.67 0.049 2223.38 405.4 285.16 - - 1331.25 - - - - - - - - - 15.54 -
22481 end climb: SURFACE_DEPTH_REACHED
22481 begin surface coast
22491 end surface coast: CONTROL_FINISHED_OK
22491 begin surface
SM 0.58 - - - - 174.1 2.09 0.280 768.1 367.5 17.80 0.070 769.2 43.2 - 0.34 0.077 767.0 2245.1 -1.728 - - 12.20 15.53 15.59 -