NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 498 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 148.76 of 575.00 AH used of 24V (74.13% remains)
• Surface angle -61.3 deg, depth 1.09 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.97 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 3 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
7.16 - - - 86.24 VBD -1.25 - - 173.62 - - - 2078.19 - -77.86 78.50 0.005 2538.62 - - - - - - - - - - 15.20
86.49 3.82 -6.05 15 118.39 -1.25 14.51 0.257 1835.88 114.6 3.97 0.153 663.19 -356.4 -77.86 6.72 0.008 2817.25 41.5 -3.439 - - - - - - 15.36 15.18 15.27
341.17 58.69 -17.62 66 346.96 roll -1.25 - - 1836.00 - 3.56 0.053 2120.12 409.2 -77.86 - - 2817.66 - - - - - - - - - 15.65 -
526.22 80.72 -12.70 103 532.05 roll -1.25 - - 1835.75 - 4.03 0.146 663.19 -361.5 -77.86 - - 2818.44 - - - - - - - - - 15.61 -
576.24 87.71 -14.48 113 581.99 roll -1.25 - - 1836.25 - 3.51 0.049 2122.06 415.6 -77.86 - - 2816.22 - - - - - - - - - 15.70 -
766.25 110.86 -11.39 142 771.00 roll -1.25 - - 1835.50 - 3.62 0.111 3473.75 373.4 -77.86 - - 2818.91 - - - - - - - - - 15.71 -
886.33 125.14 -11.64 166 890.84 roll -1.25 - - 1835.50 - 3.37 0.056 2080.50 -413.4 -77.86 - - 2816.69 - - - - - - - - - 15.76 -
1196.31 158.11 -9.95 198 1197.64 no move -1.25 - - 1835.69 - - - 2080.81 - -77.86 - - 2817.19 - - - - - - - - - - -
1496.34 190.34 -10.39 228 1502.13 roll -1.25 - - 1836.19 - 3.76 0.110 3475.00 370.8 -77.86 - - 2816.50 - - - - - - - - - 15.78 -
1581.43 199.35 -10.88 245 1586.07 roll -1.25 - - 1834.81 - 3.38 0.058 2079.94 -412.7 -77.86 - - 2819.50 - - - - - - - - - 15.81 -
1891.40 230.87 -10.28 277 1897.21 roll -1.25 - - 1835.56 - 3.91 0.150 662.25 -362.6 -77.86 - - 2815.72 - - - - - - - - - 15.73 -
1946.43 237.05 -11.47 288 1952.02 roll -1.25 - - 1835.44 - 3.52 0.050 2121.19 414.5 -77.86 - - 2815.84 - - - - - - - - - 15.83 -
2251.45 267.08 -10.25 319 2257.23 roll -1.25 - - 1836.19 - 3.63 0.113 3475.00 373.0 -77.86 - - 2815.47 - - - - - - - - - 15.80 -
2280.31 270.36 -10.94 325 2287.18 roll -1.25 - - 1835.75 - 3.36 0.056 2080.94 -414.9 -77.86 - - 2819.16 - - - - - - - - - 15.84 -
2586.49 300.16 -9.66 356 2592.27 roll -1.25 - - 1835.62 - 3.78 0.111 3474.50 368.7 -77.86 - - 2817.53 - - - - - - - - - 15.80 -
2621.54 304.08 -11.18 363 2626.07 roll -1.25 - - 1835.56 - 3.34 0.057 2079.94 -417.5 -77.86 - - 2819.22 - - - - - - - - - 15.84 -
2931.54 334.06 -9.79 395 2932.86 no move -1.25 - - 1835.94 - - - 2080.12 - -77.86 - - 2817.12 - - - - - - - - - - -
3231.58 361.96 -9.27 425 3237.35 roll -1.25 - - 1835.31 - 3.78 0.113 3473.56 368.6 -77.86 - - 2816.78 - - - - - - - - - 15.81 -
3276.62 366.78 -11.16 434 3281.16 roll -1.25 - - 1836.06 - 3.35 0.059 2079.88 -416.0 -77.86 - - 2819.19 - - - - - - - - - 15.86 -
3586.64 394.63 -9.26 466 3592.29 roll -1.25 - - 1835.56 - 3.89 0.155 662.38 -364.4 -77.86 - - 2817.31 - - - - - - - - - 15.74 -
3655.67 402.08 -11.85 480 3662.41 roll -1.25 - - 1835.62 - 3.49 0.051 2120.50 417.8 -77.86 - - 2817.38 - - - - - - - - - 15.86 -
3961.72 430.58 -9.96 511 3967.41 roll -1.25 - - 1835.69 - 4.00 0.153 663.12 -364.3 -77.86 - - 2818.50 - - - - - - - - - 15.74 -
4006.76 435.29 -10.84 520 4011.32 roll -1.25 - - 1836.12 - 3.45 0.051 2119.25 422.1 -77.86 - - 2818.94 - - - - - - - - - 15.87 -
4316.81 464.83 -9.57 552 4322.57 roll -1.25 - - 1835.12 - 3.63 0.117 3472.81 372.9 -77.86 - - 2816.88 - - - - - - - - - 15.80 -
4361.83 469.35 -10.27 561 4366.39 roll -1.25 - - 1835.62 - 3.33 0.059 2079.69 -418.4 -77.86 - - 2817.72 - - - - - - - - - 15.86 -
4671.87 498.19 -9.60 593 4677.71 roll -1.25 - - 1835.19 - 3.91 0.159 663.56 -362.2 -77.86 - - 2816.72 - - - - - - - - - 15.72 -
4770.89 508.75 -10.71 613 4777.65 roll -1.25 - - 1834.81 - 3.49 0.053 2116.19 416.2 -77.86 - - 2818.47 - - - - - - - - - 15.87 -
5076.98 535.36 -9.69 644 5081.74 roll -1.25 - - 1834.50 - 3.62 0.116 3473.31 374.9 -77.86 - - 2815.94 - - - - - - - - - 15.80 -
5197.09 547.17 -10.11 668 5201.59 roll -1.25 - - 1835.75 - 3.34 0.061 2082.31 -416.5 -77.86 - - 2816.16 - - - - - - - - - 15.86 -
5507.08 574.86 -8.27 700 5512.76 roll -1.25 - - 1835.62 - 3.95 0.162 662.44 -359.5 -77.86 - - 2812.94 - - - - - - - - - 15.71 -
5572.11 581.80 -12.01 713 5577.69 roll -1.25 - - 1835.81 - 3.48 0.053 2118.75 418.5 -77.86 - - 2812.69 - - - - - - - - - 15.86 -
5877.12 608.04 -8.87 744 5882.82 roll -1.25 - - 1835.81 - 4.03 0.158 662.31 -361.4 -77.86 - - 2813.41 - - - - - - - - - 15.71 -
5932.15 613.48 -10.54 755 5936.85 roll -1.25 - - 1834.88 - 3.48 0.053 2117.12 418.0 -77.86 - - 2817.09 - - - - - - - - - 15.86 -
6242.18 640.46 -8.19 787 6243.51 no move -1.25 - - 1835.69 - - - 2116.31 - -77.86 - - 2813.19 - - - - - - - - - - -
6542.21 667.86 -9.34 817 6547.90 roll -1.25 - - 1835.12 - 4.06 0.162 661.94 -358.2 -77.86 - - 2812.00 - - - - - - - - - 15.70 -
6621.20 676.07 -10.60 833 6627.99 roll -1.25 - - 1834.62 - 3.52 0.057 2116.31 413.2 -77.86 - - 2815.94 - - - - - - - - - 15.86 -
6927.26 703.62 -9.24 864 6933.03 roll -1.25 - - 1835.62 - 3.65 0.120 3475.25 372.3 -77.86 - - 2811.75 - - - - - - - - - 15.78 -
6956.12 706.63 -9.89 870 6962.99 roll -1.25 - - 1836.00 - 3.35 0.061 2082.25 -415.8 -77.86 - - 2813.47 - - - - - - - - - 15.85 -
7262.29 732.09 -8.31 901 7267.97 roll -1.25 - - 1835.62 - 3.99 0.165 663.38 -355.6 -77.86 - - 2811.78 - - - - - - - - - 15.68 -
7341.28 740.11 -10.96 917 7348.06 roll -1.25 - - 1835.62 - 3.52 0.058 2117.75 413.2 -77.86 - - 2813.12 - - - - - - - - - 15.86 -
7647.34 767.18 -8.12 948 7653.12 roll -1.25 - - 1835.12 - 3.67 0.120 3474.06 369.6 -77.86 - - 2812.03 - - - - - - - - - 15.76 -
7696.20 771.80 -10.79 958 7703.22 roll -1.25 - - 1835.81 - 3.36 0.063 2084.31 -413.6 -77.86 - - 2813.59 - - - - - - - - - 15.83 -
8002.39 796.50 -9.72 989 8008.16 roll -1.25 - - 1836.00 - 3.78 0.121 3473.25 367.4 -77.86 - - 2810.62 - - - - - - - - - 15.75 -
8041.25 799.86 -9.50 997 8048.12 roll -1.25 - - 1835.94 - 3.37 0.063 2084.06 -412.2 -77.86 - - 2812.47 - - - - - - - - - 15.82 -
8347.43 823.53 -8.12 1028 8353.11 roll -1.25 - - 1835.94 - 4.00 0.168 662.12 -355.5 -77.86 - - 2810.41 - - - - - - - - - 15.66 -
8416.49 830.00 -10.04 1042 8423.20 roll -1.25 - - 1835.56 - 3.52 0.059 2118.19 413.7 -77.86 - - 2813.19 - - - - - - - - - 15.84 -
8722.48 852.12 -6.81 1073 8728.18 roll -1.25 - - 1836.06 - 4.09 0.166 663.31 -355.7 -77.86 - - 2813.91 - - - - - - - - - 15.66 -
8781.54 857.15 -9.03 1085 8788.25 roll -1.25 - - 1835.81 - 3.54 0.059 2115.94 410.3 -77.86 - - 2811.97 - - - - - - - - - 15.85 -
9087.53 879.59 -8.49 1116 9093.36 roll -1.25 - - 1835.88 - 4.09 0.167 663.94 -355.0 -77.86 - - 2808.94 - - - - - - - - - 15.65 -
9172.54 886.95 -8.47 1133 9177.29 roll -1.25 - - 1835.88 - 3.53 0.062 2115.44 411.2 -77.86 - - 2811.31 - - - - - - - - - 15.83 -
9482.58 910.83 -8.29 1165 9483.91 no move -1.25 - - 1835.88 - - - 2114.81 - -77.86 - - 2811.47 - - - - - - - - - - -
9782.62 934.58 -9.16 1195 9788.33 roll -1.25 - - 1835.75 - 4.14 0.170 663.00 -350.7 -77.86 - - 2812.47 - - - - - - - - - 15.64 -
9847.73 940.82 -10.98 1208 9853.40 roll -1.25 - - 1833.94 - 3.56 0.063 2113.19 407.4 -77.86 - - 2812.78 - - - - - - - - - 15.84 -
10152.72 964.04 -7.95 1239 10154.05 no move -1.25 - - 1836.00 - - - 2113.31 - -77.86 - - 2809.56 - - - - - - - - - - -
10452.76 986.01 -7.42 1269 10458.48 roll -1.25 - - 1835.69 - 4.15 0.173 662.12 -349.7 -77.86 - - 2808.09 - - - - - - - - - 15.63 -
10501 end dive: TARGET_DEPTH_EXCEEDED
10501 begin apogee
10507.27 990.62 -9.11 1279 10577.69 -0.25 1.86 0.160 2079.44 131.0 0.07 0.314 2185.88 21768.0 - 67.34 2.272 2497.69 -4.6 0.349 - - - - - - 15.71 15.06 11.79
10579 end apogee: CONTROL_FINISHED_OK
10579 begin climb
10579.72 992.03 - 1286 10664.26 1.25 2.66 0.092 2447.94 138.5 4.26 0.149 737.19 -340.1 77.86 75.68 2.203 2181.81 -4.2 0.327 - - - - - - 15.14 14.75 12.26
10672.10 988.71 4.04 1300 10735.06 1.42 0.25 0.079 2492.62 178.7 3.79 0.053 2217.38 390.6 135.12 57.11 2.149 1949.09 -4.1 0.326 - - - - - - 14.95 14.95 12.16
11037.94 946.22 12.62 1343 11043.57 done 1.42 - - 2493.88 - 3.51 0.127 3473.50 357.9 135.12 - - 1936.19 - - - - - - - - - 15.38 -
11123.18 933.64 17.13 1360 11127.53 done 1.42 - - 2493.75 - 3.20 0.062 2184.00 -403.0 135.12 - - 1937.75 - - - - - - - - - 15.52 -
11433.04 893.35 13.00 1392 11434.37 VBD 1.42 - - 2494.12 - - - 2184.06 - 135.12 - - 1934.22 - - - - - - - - - - -
11733.10 857.66 11.99 1422 11738.91 done 1.42 - - 2494.31 - 3.99 0.146 736.25 -362.9 135.12 - - 1933.22 - - - - - - - - - 15.64 -
11761.96 853.41 13.65 1428 11768.88 done 1.42 - - 2494.12 - 3.62 0.055 2216.94 409.0 135.12 - - 1932.97 - - - - - - - - - 15.72 -
12068.15 816.72 11.40 1459 12069.48 VBD 1.42 - - 2493.69 - - - 2216.50 - 135.12 - - 1931.72 - - - - - - - - - - -
12368.17 782.76 10.83 1489 12373.75 done 1.42 - - 2493.88 - 3.50 0.126 3472.81 358.9 135.12 - - 1931.44 - - - - - - - - - 15.70 -
12473.28 769.13 14.40 1510 12477.74 done 1.42 - - 2494.44 - 3.14 0.060 2182.94 -410.8 135.12 - - 1930.66 - - - - - - - - - 15.76 -
12783.24 733.24 11.93 1542 12789.08 done 1.42 - - 2493.69 - 3.95 0.143 736.38 -366.2 135.12 - - 1932.28 - - - - - - - - - 15.69 -
12852.38 722.99 15.37 1556 12859.01 done 1.42 - - 2493.75 - 3.60 0.054 2219.38 411.9 135.12 - - 1929.81 - - - - - - - - - 15.80 -
13158.29 686.29 11.33 1587 13162.87 done 1.42 - - 2493.81 - 3.45 0.122 3473.81 363.6 135.12 - - 1927.91 - - - - - - - - - 15.73 -
13188.30 682.75 11.80 1593 13192.83 done 1.42 - - 2494.00 - 3.13 0.056 2182.12 -412.7 135.12 - - 1929.22 - - - - - - - - - 15.80 -
13498.33 647.72 10.20 1625 13503.94 done 1.42 - - 2492.44 - 3.54 0.119 3473.31 364.7 135.12 - - 1929.91 - - - - - - - - - 15.73 -
13523.35 644.87 11.91 1630 13527.88 done 1.42 - - 2493.88 - 3.12 0.057 2181.81 -413.9 135.12 - - 1929.00 - - - - - - - - - 15.78 -
13833.37 611.96 10.29 1662 13839.18 done 1.42 - - 2494.06 - 3.94 0.141 735.50 -367.1 135.12 - - 1927.06 - - - - - - - - - 15.70 -
13888.39 604.77 14.09 1673 13894.06 done 1.42 - - 2493.31 - 3.58 0.053 2221.12 415.0 135.12 - - 1928.94 - - - - - - - - - 15.79 -
14193.42 572.00 9.74 1704 14199.39 done 1.42 - - 2494.00 - 4.03 0.138 736.25 -368.5 135.12 - - 1926.50 - - - - - - - - - 15.70 -
14228.44 567.66 12.42 1711 14234.03 done 1.42 - - 2494.12 - 3.57 0.052 2219.50 415.5 135.12 - - 1927.41 - - - - - - - - - 15.81 -
14533.46 535.22 10.61 1742 14538.04 done 1.42 - - 2493.88 - 3.41 0.119 3475.81 368.4 135.12 - - 1927.94 - - - - - - - - - 15.74 -
14587.46 528.67 13.66 1753 14594.30 done 1.42 - - 2493.94 - 3.14 0.056 2180.38 -412.6 135.12 - - 1928.69 - - - - - - - - - 15.81 -
14893.50 497.96 10.02 1784 14899.10 done 1.42 - - 2493.88 - 3.54 0.116 3473.44 365.3 135.12 - - 1926.34 - - - - - - - - - 15.74 -
14998.52 485.55 11.93 1805 15003.06 done 1.42 - - 2494.25 - 3.12 0.055 2181.88 -414.0 135.12 - - 1927.56 - - - - - - - - - 15.81 -
15308.56 454.42 9.75 1837 15314.23 done 1.42 - - 2493.75 - 3.96 0.138 736.75 -364.9 135.12 - - 1928.03 - - - - - - - - - 15.69 -
15423.61 440.76 12.50 1860 15428.45 done 1.42 - - 2493.94 - 3.58 0.050 2221.75 414.8 135.12 - - 1925.47 - - - - - - - - - 15.72 -
15733.68 410.91 10.27 1892 15738.23 done 1.42 - - 2493.88 - 3.41 0.116 3473.56 367.1 135.12 - - 1927.00 - - - - - - - - - 15.74 -
15787.51 405.03 11.78 1903 15794.35 done 1.42 - - 2494.62 - 3.12 0.054 2178.06 -415.2 135.12 - - 1928.66 - - - - - - - - - 15.82 -
16093.72 373.52 10.06 1934 16099.54 done 1.42 - - 2494.12 - 3.93 0.137 736.25 -366.9 135.12 - - 1925.72 - - - - - - - - - 15.69 -
16142.60 367.54 12.41 1944 16149.50 done 1.42 - - 2493.50 - 3.59 0.050 2221.88 413.8 135.12 - - 1926.88 - - - - - - - - - 15.73 -
16448.80 338.61 8.86 1975 16453.38 done 1.42 - - 2493.81 - 3.41 0.116 3473.31 367.0 135.12 - - 1928.47 - - - - - - - - - 15.73 -
16478.81 335.58 9.39 1981 16483.35 done 1.42 - - 2494.75 - 3.12 0.053 2178.50 -415.0 135.12 - - 1926.78 - - - - - - - - - 15.80 -
16788.88 307.20 8.44 2013 16794.64 done 1.42 - - 2493.69 - 3.91 0.134 735.06 -369.2 135.12 - - 1925.34 - - - - - - - - - 15.68 -
16813.89 304.92 8.90 2018 16818.75 done 1.42 - - 2494.12 - 3.55 0.049 2221.94 418.8 135.12 - - 1926.88 - - - - - - - - - 15.82 -
17124.09 277.16 8.22 2050 17129.52 done 1.42 - - 2494.44 - 3.38 0.114 3472.56 370.0 135.12 - - 1925.47 - - - - - - - - - 15.67 -
17172.82 272.04 10.22 2060 17179.64 done 1.42 - - 2494.50 - 3.09 0.051 2178.12 -418.9 135.12 - - 1926.88 - - - - - - - - - 15.80 -
17479.03 245.85 8.40 2091 17480.36 VBD 1.42 - - 2493.81 - - - 2178.12 - 135.12 - - 1926.94 - - - - - - - - - - -
17779.08 221.15 8.35 2121 17784.88 done 1.42 - - 2494.31 - 3.90 0.133 736.12 -369.7 135.12 - - 1924.81 - - - - - - - - - 15.68 -
17814.10 217.81 9.23 2128 17819.70 done 1.42 - - 2493.75 - 3.56 0.047 2226.00 418.5 135.12 - - 1926.09 - - - - - - - - - 15.80 -
18119.15 193.73 7.44 2159 18120.48 VBD 1.44 - - 2494.19 - - - 2225.56 - 135.12 - - 1926.59 - - - - - - - - - - -
18419.20 172.88 6.68 2189 18420.53 VBD 1.48 - - 2494.50 - - - 2225.75 - 135.12 - - 1926.72 - - - - - - - - - - -
18719.21 150.91 7.25 2219 18723.90 done 1.51 - - 2493.62 - 3.43 0.114 3475.31 364.3 135.12 - - 1926.91 - - - - - - - - - 15.64 -
18759.21 147.43 8.71 2227 18763.74 done 1.51 - - 2494.81 - 3.12 0.050 2177.44 -416.0 135.12 - - 1927.34 - - - - - - - - - 15.77 -
19069.25 124.22 7.30 2259 19074.91 done 1.53 - - 2494.31 - 3.93 0.130 735.88 -366.8 135.12 - - 1925.22 - - - - - - - - - 15.66 -
19174.25 115.97 7.68 2280 19179.87 done 1.53 - - 2494.44 - 3.59 0.048 2226.56 415.2 135.12 - - 1926.75 - - - - - - - - - 15.71 -
19479.31 100.38 4.00 2311 19531.19 1.70 0.38 0.076 2562.12 178.1 4.10 0.127 736.06 -363.5 192.93 45.51 1.189 1711.78 -4.7 0.069 - - - - - - 15.76 15.47 11.92
19609.31 89.90 11.18 2337 19615.08 roll 1.70 - - 2562.19 - 3.65 0.048 2224.38 407.8 192.93 - - 1708.59 - - - - - - - - - 15.56 -
19794.36 73.85 8.56 2374 19800.08 roll 1.70 - - 2561.56 - 3.45 0.111 3473.81 362.2 192.93 - - 1705.66 - - - - - - - - - 15.53 -
20024.42 55.30 6.25 2420 20030.08 done 1.76 - - 2562.25 - 3.14 0.048 2175.50 -413.5 192.93 - - 1704.81 - - - - - - - - - 15.66 -
20209.46 50.75 2.01 2457 20286.81 2.02 0.44 0.072 2636.69 169.2 3.64 0.106 3474.31 356.8 279.13 71.56 1.122 1361.44 -4.8 0.038 - - - - - - 15.66 15.28 12.10
20310.82 47.08 5.15 2477 20350.97 done 2.14 - - 2637.69 - 3.18 0.047 2176.94 -408.0 320.57 35.49 1.058 1192.91 -4.7 0.037 - - - - - - - 15.38 12.28
20530.93 23.30 11.25 2521 20536.60 roll 2.14 - - 2637.75 - 4.01 0.129 735.25 -359.5 320.57 - - 1188.38 - - - - - - - - - 15.42 -
20540.75 21.88 11.91 2523 20546.53 roll 2.14 - - 2637.06 - 3.61 0.043 2224.38 412.5 320.57 - - 1188.16 - - - - - - - - - 15.49 -
20694 end climb: SURFACE_DEPTH_REACHED
20694 begin surface coast
20709 end surface coast: CONTROL_FINISHED_OK
20709 begin surface
SM 0.80 - - - - 174.1 2.06 0.255 767.6 372.6 17.05 0.087 769.8 45.1 - 0.34 0.087 765.4 2240.6 -2.106 - - 12.22 15.51 15.60 -