NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 257 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 80.57 of 575.00 AH used of 24V (85.99% remains)
• Surface angle -61.6 deg, depth 1.23 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 24 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
6.74 - - - 79.72 VBD -1.25 - - 173.94 - - - 2116.31 - -77.86 72.39 0.005 2384.00 - - - - - - - - - - 15.59
79.98 3.31 -3.98 14 112.97 -1.25 13.85 0.257 1837.19 120.1 4.17 0.160 662.75 -348.6 -77.86 11.12 0.007 2815.00 38.8 -3.096 - - - - - - 15.62 15.59 15.63
205.74 31.10 -23.11 39 211.49 roll -1.25 - - 1836.94 - 3.58 0.058 2117.12 406.2 -77.86 - - 2816.44 - - - - - - - - - 15.75 -
390.81 67.97 -15.98 76 396.66 roll -1.25 - - 1837.06 - 4.09 0.156 664.12 -355.3 -77.86 - - 2816.25 - - - - - - - - - 15.78 -
400.82 69.56 -15.96 78 406.57 roll -1.25 - - 1836.88 - 3.51 0.053 2120.38 414.9 -77.86 - - 2817.66 - - - - - - - - - 15.81 -
585.88 98.13 -14.62 115 587.20 no move -1.25 - - 1837.38 - - - 2120.88 - -77.86 - - 2817.16 - - - - - - - - - - -
770.92 120.80 -11.98 135 776.74 roll -1.25 - - 1836.94 - 4.07 0.154 663.81 -358.0 -77.86 - - 2818.47 - - - - - - - - - 15.86 -
895.96 136.29 -11.56 160 900.70 roll -1.25 - - 1836.94 - 3.51 0.054 2121.31 415.2 -77.86 - - 2817.19 - - - - - - - - - 15.91 -
1206.01 168.76 -10.33 192 1207.34 no move -1.25 - - 1836.56 - - - 2121.19 - -77.86 - - 2817.38 - - - - - - - - - - -
1506.06 198.75 -10.83 222 1507.39 no move -1.25 - - 1837.06 - - - 2121.44 - -77.86 - - 2817.50 - - - - - - - - - - -
1806.11 230.07 -10.65 252 1811.75 roll -1.25 - - 1836.88 - 3.63 0.120 3473.62 372.5 -77.86 - - 2816.66 - - - - - - - - - 15.98 -
1834.98 233.54 -11.36 258 1841.86 roll -1.25 - - 1836.88 - 3.34 0.060 2082.25 -416.6 -77.86 - - 2816.97 - - - - - - - - - 16.00 -
2141.16 265.54 -10.69 289 2142.49 no move -1.25 - - 1837.50 - - - 2082.75 - -77.86 - - 2817.75 - - - - - - - - - - -
2441.18 296.86 -10.09 319 2442.50 no move -1.25 - - 1837.38 - - - 2082.69 - -77.86 - - 2817.34 - - - - - - - - - - -
2741.20 327.04 -9.00 349 2746.84 roll -1.25 - - 1835.44 - 3.75 0.121 3473.31 370.8 -77.86 - - 2817.56 - - - - - - - - - 16.04 -
2796.23 332.98 -11.17 360 2800.92 roll -1.25 - - 1837.12 - 3.35 0.062 2080.81 -415.7 -77.86 - - 2818.06 - - - - - - - - - 16.05 -
3106.24 362.78 -9.70 392 3112.06 roll -1.25 - - 1836.81 - 3.95 0.163 662.50 -359.1 -77.86 - - 2815.88 - - - - - - - - - 16.01 -
3191.32 372.64 -11.73 409 3195.98 roll -1.25 - - 1836.75 - 3.48 0.055 2119.00 418.5 -77.86 - - 2816.91 - - - - - - - - - 16.04 -
3501.28 405.00 -10.56 441 3506.91 roll -1.25 - - 1837.00 - 3.63 0.121 3474.06 373.3 -77.86 - - 2815.28 - - - - - - - - - 16.04 -
3596.38 416.12 -11.33 460 3600.88 roll -1.25 - - 1837.19 - 3.35 0.064 2081.50 -415.7 -77.86 - - 2819.22 - - - - - - - - - 16.05 -
3906.33 445.90 -9.05 492 3912.14 roll -1.25 - - 1837.25 - 3.92 0.168 664.69 -361.4 -77.86 - - 2819.09 - - - - - - - - - 16.03 -
3951.35 451.12 -11.88 501 3956.05 roll -1.25 - - 1835.75 - 3.48 0.058 2119.81 418.1 -77.86 - - 2817.50 - - - - - - - - - 16.06 -
4261.35 480.91 -9.20 533 4266.98 roll -1.25 - - 1837.06 - 3.63 0.125 3473.19 372.8 -77.86 - - 2813.84 - - - - - - - - - 16.05 -
4360.28 491.43 -10.62 553 4367.09 roll -1.25 - - 1836.62 - 3.33 0.065 2081.75 -417.8 -77.86 - - 2818.19 - - - - - - - - - 16.07 -
4666.39 519.56 -9.33 584 4672.21 roll -1.25 - - 1835.56 - 3.94 0.169 662.81 -360.1 -77.86 - - 2814.91 - - - - - - - - - 16.03 -
4691.41 521.91 -9.45 589 4696.12 roll -1.25 - - 1836.69 - 3.49 0.058 2119.06 417.3 -77.86 - - 2815.78 - - - - - - - - - 16.07 -
5001.42 551.90 -9.83 621 5007.04 roll -1.25 - - 1836.25 - 3.64 0.125 3473.19 372.0 -77.86 - - 2817.53 - - - - - - - - - 16.06 -
5030.28 554.81 -9.49 627 5037.16 roll -1.25 - - 1837.25 - 3.35 0.064 2084.75 -414.5 -77.86 - - 2816.31 - - - - - - - - - 16.07 -
5336.44 582.33 -8.15 658 5342.27 roll -1.25 - - 1836.81 - 4.01 0.173 664.19 -354.3 -77.86 - - 2813.75 - - - - - - - - - 16.03 -
5391.48 588.13 -9.95 669 5396.19 roll -1.25 - - 1836.81 - 3.52 0.059 2116.12 412.5 -77.86 - - 2815.28 - - - - - - - - - 16.07 -
5701.47 616.68 -7.88 701 5707.09 roll -1.25 - - 1836.50 - 3.67 0.128 3474.31 370.1 -77.86 - - 2812.50 - - - - - - - - - 16.06 -
5750.34 622.14 -10.90 711 5757.20 roll -1.25 - - 1836.12 - 3.35 0.066 2083.00 -415.3 -77.86 - - 2814.53 - - - - - - - - - 16.07 -
6056.49 649.72 -8.68 742 6062.14 roll -1.25 - - 1836.56 - 3.74 0.127 3473.38 371.8 -77.86 - - 2814.00 - - - - - - - - - 16.07 -
6111.52 654.96 -9.60 753 6116.07 roll -1.25 - - 1837.12 - 3.36 0.068 2081.88 -414.1 -77.86 - - 2814.09 - - - - - - - - - 16.07 -
6421.52 682.20 -7.78 785 6427.34 roll -1.25 - - 1836.44 - 3.94 0.176 663.75 -359.9 -77.86 - - 2815.81 - - - - - - - - - 16.04 -
6460.55 686.96 -11.26 793 6467.27 roll -1.25 - - 1837.19 - 3.49 0.059 2117.19 416.5 -77.86 - - 2813.16 - - - - - - - - - 16.08 -
6766.54 714.99 -9.03 824 6772.17 roll -1.25 - - 1836.31 - 3.63 0.128 3472.62 373.4 -77.86 - - 2813.44 - - - - - - - - - 16.06 -
6825.42 721.40 -11.33 836 6832.28 roll -1.25 - - 1837.06 - 3.35 0.067 2085.06 -414.2 -77.86 - - 2813.25 - - - - - - - - - 16.07 -
7131.58 749.74 -8.46 867 7137.40 roll -1.25 - - 1837.12 - 3.97 0.177 664.62 -357.8 -77.86 - - 2812.38 - - - - - - - - - 16.03 -
7196.60 756.09 -10.06 880 7201.33 roll -1.25 - - 1836.25 - 3.51 0.061 2118.69 414.3 -77.86 - - 2814.62 - - - - - - - - - 16.08 -
7506.62 781.80 -6.86 912 7512.38 roll -1.25 - - 1836.38 - 3.63 0.126 3474.38 373.5 -77.86 - - 2810.97 - - - - - - - - - 16.06 -
7735.53 800.13 -8.23 958 7742.40 roll -1.25 - - 1836.88 - 3.39 0.071 2083.62 -410.3 -77.86 - - 2812.47 - - - - - - - - - 16.07 -
8041.75 822.15 -7.75 989 8047.52 roll -1.25 - - 1835.00 - 3.76 0.126 3473.88 369.8 -77.86 - - 2810.94 - - - - - - - - - 16.07 -
8270.82 841.72 -9.15 1035 8277.54 roll -1.25 - - 1836.69 - 3.38 0.072 2084.25 -411.1 -77.86 - - 2812.28 - - - - - - - - - 16.07 -
8576.89 863.83 -6.55 1066 8582.64 roll -1.25 - - 1837.25 - 3.98 0.181 664.19 -356.8 -77.86 - - 2808.75 - - - - - - - - - 16.03 -
8805.97 882.32 -8.15 1112 8812.73 roll -1.25 - - 1836.50 - 3.55 0.063 2117.12 409.3 -77.86 - - 2810.28 - - - - - - - - - 16.09 -
9112.04 901.60 -6.69 1143 9117.80 roll -1.25 - - 1836.88 - 3.65 0.128 3472.19 371.3 -77.86 - - 2808.56 - - - - - - - - - 16.06 -
9341.11 917.31 -6.69 1189 9347.84 roll -1.25 - - 1836.88 - 3.38 0.073 2084.75 -410.5 -77.86 - - 2810.47 - - - - - - - - - 16.07 -
9647.18 935.98 -6.72 1220 9653.06 roll -1.25 - - 1837.12 - 3.97 0.184 663.81 -357.9 -77.86 - - 2807.66 - - - - - - - - - 16.03 -
9876.18 956.24 -10.67 1266 9883.00 roll -1.25 - - 1836.69 - 3.57 0.068 2114.94 406.5 -77.86 - - 2810.69 - - - - - - - - - 16.08 -
10182.28 979.22 -8.81 1297 10188.04 roll -1.25 - - 1836.75 - 4.07 0.180 664.56 -356.4 -77.86 - - 2812.22 - - - - - - - - - 16.03 -
10311 end dive: TARGET_DEPTH_EXCEEDED
10311 begin apogee
10316.67 990.28 -7.93 1323 10384.36 -0.25 1.76 0.165 2080.44 138.5 0.06 0.335 2184.06 25325.0 - 64.86 2.287 2496.94 -4.9 0.356 - - - - - - 16.00 15.58 12.87
10385 end apogee: CONTROL_FINISHED_OK
10385 begin climb
10385.93 992.15 - 1330 10465.85 1.25 2.47 0.100 2447.75 148.7 3.73 0.134 3472.25 345.4 77.86 71.28 2.231 2178.66 -4.5 0.335 - - - - - - 15.61 15.23 12.92
10687.47 964.40 11.37 1390 10694.34 done 1.25 - - 2448.06 - 3.22 0.064 2185.12 -399.7 77.86 - - 2171.16 - - - - - - - - - 15.62 -
10993.68 935.59 9.62 1421 10999.29 done 1.25 - - 2448.56 - 3.61 0.130 3472.25 356.5 77.86 - - 2168.31 - - - - - - - - - 15.75 -
11018.69 932.88 9.66 1426 11023.22 done 1.25 - - 2448.62 - 3.19 0.063 2182.62 -404.3 77.86 - - 2167.84 - - - - - - - - - 15.78 -
11328.75 903.63 8.28 1458 11334.35 done 1.25 - - 2445.44 - 3.56 0.131 3470.12 361.7 77.86 - - 2166.75 - - - - - - - - - 15.84 -
11383.78 897.49 11.01 1469 11388.30 done 1.25 - - 2448.25 - 3.18 0.062 2183.44 -404.6 77.86 - - 2168.78 - - - - - - - - - 15.83 -
11693.84 869.81 8.72 1501 11699.96 done 1.25 - - 2447.44 - 4.03 0.155 738.12 -358.6 77.86 - - 2163.25 - - - - - - - - - 15.88 -
11742.79 864.37 11.09 1511 11749.76 done 1.25 - - 2448.88 - 3.61 0.056 2217.94 409.9 77.86 - - 2165.34 - - - - - - - - - 15.92 -
12048.94 836.57 8.92 1542 12054.52 done 1.25 - - 2447.75 - 3.46 0.133 3471.75 362.4 77.86 - - 2161.31 - - - - - - - - - 15.92 -
12133.97 828.19 10.15 1559 12138.49 done 1.25 - - 2448.19 - 3.15 0.061 2180.88 -409.8 77.86 - - 2163.00 - - - - - - - - - 15.92 -
12444.04 801.17 8.78 1591 12449.84 done 1.25 - - 2448.19 - 3.99 0.152 737.00 -361.9 77.86 - - 2161.97 - - - - - - - - - 15.95 -
12552.99 789.83 11.48 1613 12559.83 done 1.25 - - 2446.44 - 3.59 0.056 2217.19 412.3 77.86 - - 2162.69 - - - - - - - - - 15.98 -
12859.16 763.94 8.78 1644 12864.98 done 1.25 - - 2447.75 - 4.08 0.149 737.25 -362.7 77.86 - - 2160.97 - - - - - - - - - 15.97 -
12884.17 762.05 8.77 1649 12889.79 done 1.25 - - 2448.75 - 3.56 0.055 2220.12 416.5 77.86 - - 2161.22 - - - - - - - - - 15.95 -
13189.20 736.92 8.63 1680 13195.02 done 1.25 - - 2448.25 - 4.07 0.149 736.19 -364.6 77.86 - - 2161.38 - - - - - - - - - 15.98 -
13248.19 730.90 10.13 1692 13254.97 done 1.25 - - 2447.94 - 3.58 0.056 2219.19 414.2 77.86 - - 2160.59 - - - - - - - - - 16.00 -
13554.25 706.99 7.61 1723 13560.07 done 1.25 - - 2445.69 - 4.07 0.149 736.44 -364.3 77.86 - - 2160.72 - - - - - - - - - 15.99 -
13599.27 702.55 9.06 1732 13604.86 done 1.25 - - 2448.56 - 3.56 0.054 2221.81 417.2 77.86 - - 2158.66 - - - - - - - - - 16.01 -
13904.32 680.35 7.41 1763 13908.99 done 1.27 - - 2448.31 - 3.38 0.128 3473.06 370.2 77.86 - - 2161.69 - - - - - - - - - 16.00 -
13924.32 678.43 6.98 1767 13928.94 done 1.30 - - 2447.88 - 3.10 0.057 2179.44 -417.3 77.86 - - 2162.56 - - - - - - - - - 16.02 -
14234.35 655.54 7.20 1799 14235.68 VBD 1.33 - - 2447.88 - - - 2180.06 - 77.86 - - 2159.75 - - - - - - - - - - -
14534.39 633.54 7.52 1829 14535.72 VBD 1.35 - - 2448.19 - - - 2180.00 - 77.86 - - 2160.50 - - - - - - - - - - -
14834.42 611.68 7.40 1859 14839.99 done 1.36 - - 2448.06 - 3.50 0.127 3472.19 369.2 77.86 - - 2160.41 - - - - - - - - - 16.03 -
14859.44 609.97 6.95 1864 14863.98 1.40 0.19 0.108 2488.00 210.2 3.10 0.058 2179.75 -416.9 77.86 - - 2161.25 - - - - - - - - 15.99 16.03 -
15169.45 585.42 8.32 1896 15174.02 done 1.40 - - 2488.00 - 3.49 0.125 3472.69 370.5 77.86 - - 2161.19 - - - - - - - - - 16.03 -
15219.47 581.00 8.91 1906 15223.96 done 1.40 - - 2487.69 - 3.10 0.059 2179.81 -417.1 77.86 - - 2161.75 - - - - - - - - - 16.02 -
15529.51 557.26 7.51 1938 15530.84 VBD 1.41 - - 2488.00 - - - 2179.75 - 77.86 - - 2158.59 - - - - - - - - - - -
15829.55 537.19 6.49 1968 15835.15 done 1.46 - - 2487.56 - 3.51 0.126 3473.06 368.5 77.86 - - 2158.28 - - - - - - - - - 16.04 -
15928.48 530.23 7.49 1988 15935.22 done 1.48 - - 2487.62 - 3.10 0.058 2180.06 -417.1 77.86 - - 2160.53 - - - - - - - - - 16.04 -
16234.60 511.51 6.57 2019 16240.32 done 1.52 - - 2487.88 - 3.50 0.122 3473.50 369.6 77.86 - - 2158.56 - - - - - - - - - 16.05 -
16309.64 506.77 7.11 2034 16314.31 1.55 0.17 0.109 2524.25 213.9 3.10 0.058 2180.94 -417.0 77.86 - - 2160.50 - - - - - - - - 16.01 16.05 -
16619.65 485.49 7.65 2066 16625.31 done 1.55 - - 2521.31 - 3.91 0.143 736.25 -369.5 77.86 - - 2159.78 - - - - - - - - - 16.03 -
16754.68 472.69 10.02 2093 16760.29 done 1.55 - - 2523.25 - 3.56 0.054 2222.81 417.6 77.86 - - 2161.22 - - - - - - - - - 16.05 -
17059.76 449.77 7.52 2124 17065.51 done 1.57 - - 2523.75 - 4.03 0.139 736.38 -368.8 77.86 - - 2157.09 - - - - - - - - - 16.03 -
17124.84 444.14 7.84 2137 17130.38 done 1.57 - - 2524.06 - 3.55 0.054 2223.50 418.9 77.86 - - 2158.88 - - - - - - - - - 16.05 -
17429.86 422.59 7.24 2168 17435.52 done 1.59 - - 2523.69 - 4.01 0.138 736.44 -370.8 77.86 - - 2157.00 - - - - - - - - - 16.03 -
17659.06 403.46 7.33 2214 17665.68 done 1.61 - - 2523.75 - 3.56 0.054 2222.44 417.4 77.86 - - 2159.75 - - - - - - - - - 16.04 -
17965.01 386.26 5.48 2245 18000.33 1.72 0.20 0.097 2565.75 210.0 4.05 0.137 736.12 -367.0 114.48 29.73 1.540 2034.22 -4.2 0.179 - - - - - - 16.04 15.85 12.87
18205.07 359.93 13.00 2293 18209.79 roll 1.72 - - 2564.88 - 3.59 0.055 2216.31 412.3 114.48 - - 2026.72 - - - - - - - - - 15.93 -
18515.15 327.41 10.59 2325 18519.71 done 1.72 - - 2566.00 - 3.39 0.122 3473.88 371.0 114.48 - - 2025.34 - - - - - - - - - 15.91 -
18659.03 310.75 11.68 2354 18665.89 done 1.72 - - 2566.94 - 3.12 0.056 2179.69 -414.8 114.48 - - 2026.09 - - - - - - - - - 15.97 -
18965.25 279.04 10.29 2385 18970.95 done 1.72 - - 2566.44 - 3.50 0.116 3472.94 369.5 114.48 - - 2024.53 - - - - - - - - - 15.97 -
19030.25 271.80 11.37 2398 19034.77 done 1.72 - - 2566.00 - 3.11 0.054 2179.62 -415.9 114.48 - - 2025.47 - - - - - - - - - 15.96 -
19340.28 241.73 9.42 2430 19346.09 done 1.72 - - 2566.19 - 3.91 0.138 735.31 -369.4 114.48 - - 2023.88 - - - - - - - - - 15.98 -
19509.24 221.82 10.97 2464 19516.06 done 1.72 - - 2567.12 - 3.56 0.052 2223.69 418.1 114.48 - - 2025.41 - - - - - - - - - 15.98 -
19815.35 193.63 8.34 2495 19821.08 done 1.72 - - 2566.50 - 3.99 0.132 735.25 -373.0 114.48 - - 2025.28 - - - - - - - - - 16.00 -
19894.27 185.90 10.39 2511 19901.12 done 1.72 - - 2566.88 - 3.54 0.053 2224.56 420.7 114.48 - - 2023.78 - - - - - - - - - 16.00 -
20200.40 160.37 8.13 2542 20201.73 VBD 1.72 - - 2566.38 - - - 2223.69 - 114.48 - - 2023.19 - - - - - - - - - - -
20500.45 137.81 7.06 2572 20505.02 done 1.75 - - 2566.31 - 3.35 0.118 3473.19 373.0 114.48 - - 2024.91 - - - - - - - - - 16.00 -
20614.29 128.96 7.71 2595 20621.12 done 1.75 - - 2567.19 - 3.10 0.053 2177.75 -417.9 114.48 - - 2024.06 - - - - - - - - - 16.00 -
20920.50 110.25 5.19 2626 20961.99 1.87 0.17 0.106 2601.19 200.0 3.51 0.113 3473.81 369.2 155.27 34.10 1.222 1865.72 -4.6 0.071 - - - - - - 16.00 15.82 12.90
21070.52 96.80 11.01 2656 21077.33 roll 1.87 - - 2602.88 - 3.13 0.052 2178.31 -413.9 155.27 - - 1862.66 - - - - - - - - - 15.90 -
21255.57 83.67 5.67 2693 21291.90 done 1.98 - - 2603.00 - 3.52 0.114 3473.56 368.0 189.26 28.71 1.161 1727.16 -4.7 0.057 - - - - - - - 15.76 12.79
21515.62 61.35 7.54 2745 21521.30 roll 1.99 - - 2602.31 - 3.12 0.051 2177.31 -415.5 189.26 - - 1721.78 - - - - - - - - - 15.86 -
21700.67 54.08 3.63 2782 21757.71 2.18 0.43 0.079 2677.31 174.4 3.54 0.112 3474.81 366.5 252.30 51.47 1.136 1470.00 -4.9 0.039 - - - - - - 15.87 15.66 12.85
21840.67 43.11 11.30 2810 21846.36 roll 2.18 - - 2677.75 - 3.18 0.056 2179.50 -407.3 252.30 - - 1466.94 - - - - - - - - - 15.75 -
22025.74 24.27 11.22 2847 22031.56 roll 2.18 - - 2676.94 - 3.97 0.136 736.12 -363.6 252.30 - - 1464.34 - - - - - - - - - 15.77 -
22215 end climb: SURFACE_DEPTH_REACHED
22215 begin surface coast
22235 end surface coast: CONTROL_FINISHED_OK
22235 begin surface
SM 0.48 - - - - 174.1 - 0.015 768.3 - 16.08 0.071 767.9 47.8 - 3.31 0.049 768.8 231.1 -0.231 - - 30.36 15.81 15.85 -