NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 267 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 83.66 of 575.00 AH used of 24V (85.45% remains)
• Surface angle -61.7 deg, depth 0.78 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
6.78 - - - 84.95 VBD -1.25 - - 175.19 - - - 2123.19 - -77.86 77.54 0.005 2505.75 - - - - - - - - - - 15.58
85.22 3.77 -4.73 15 117.02 -1.25 13.76 0.262 1836.31 120.7 4.24 0.161 663.50 -344.3 -77.86 7.61 0.008 2815.59 40.7 -3.239 - - - - - - 15.60 15.58 15.62
269.83 47.15 -21.09 52 275.60 roll -1.25 - - 1835.19 - 3.57 0.056 2118.44 407.5 -77.86 - - 2817.25 - - - - - - - - - 15.76 -
454.89 78.90 -14.87 89 460.66 roll -1.25 - - 1835.94 - 3.64 0.117 3472.75 372.1 -77.86 - - 2816.75 - - - - - - - - - 15.80 -
504.92 86.83 -15.96 99 510.64 roll -1.25 - - 1834.69 - 3.41 0.058 2081.19 -408.1 -77.86 - - 2817.50 - - - - - - - - - 15.83 -
689.96 109.16 -13.13 129 695.78 roll -1.25 - - 1835.62 - 4.01 0.157 663.75 -353.5 -77.86 - - 2815.59 - - - - - - - - - 15.84 -
718.90 113.38 -14.09 135 725.73 roll -1.25 - - 1835.38 - 3.53 0.053 2119.38 412.4 -77.86 - - 2819.44 - - - - - - - - - 15.87 -
1025.01 147.32 -9.69 166 1030.85 roll -1.25 - - 1835.75 - 4.09 0.155 663.88 -355.9 -77.86 - - 2815.53 - - - - - - - - - 15.89 -
1130.06 160.75 -13.42 187 1134.81 roll -1.25 - - 1836.06 - 3.52 0.053 2119.75 413.6 -77.86 - - 2817.47 - - - - - - - - - 15.93 -
1440.10 192.78 -9.66 219 1445.73 roll -1.25 - - 1836.19 - 3.62 0.118 3474.06 374.1 -77.86 - - 2816.62 - - - - - - - - - 15.95 -
1485.16 198.00 -11.93 228 1489.69 roll -1.25 - - 1835.56 - 3.39 0.059 2082.19 -410.6 -77.86 - - 2817.44 - - - - - - - - - 15.96 -
1795.16 229.65 -10.53 260 1800.97 roll -1.25 - - 1835.38 - 3.97 0.160 663.00 -357.5 -77.86 - - 2816.78 - - - - - - - - - 15.96 -
1860.19 237.42 -12.11 273 1864.83 roll -1.25 - - 1835.88 - 3.48 0.056 2120.25 418.8 -77.86 - - 2817.53 - - - - - - - - - 15.98 -
2170.21 270.78 -11.26 305 2174.94 roll -1.25 - - 1835.69 - 3.59 0.120 3473.88 377.1 -77.86 - - 2818.00 - - - - - - - - - 15.99 -
2240.23 279.43 -12.07 319 2244.79 roll -1.25 - - 1835.75 - 3.38 0.061 2080.94 -412.1 -77.86 - - 2817.72 - - - - - - - - - 16.01 -
2550.24 310.99 -10.99 351 2551.57 no move -1.25 - - 1836.00 - - - 2080.69 - -77.86 - - 2817.72 - - - - - - - - - - -
2850.26 343.79 -11.05 381 2856.04 roll -1.25 - - 1835.25 - 3.72 0.120 3474.12 374.6 -77.86 - - 2815.66 - - - - - - - - - 16.03 -
2965.29 357.94 -11.82 404 2969.86 roll -1.25 - - 1835.62 - 3.38 0.064 2082.62 -411.7 -77.86 - - 2818.25 - - - - - - - - - 16.02 -
3275.31 391.96 -10.24 436 3280.95 roll -1.25 - - 1835.44 - 3.72 0.122 3473.50 373.9 -77.86 - - 2818.81 - - - - - - - - - 16.04 -
3330.34 398.28 -11.06 447 3334.89 roll -1.25 - - 1835.88 - 3.39 0.064 2082.94 -410.2 -77.86 - - 2818.44 - - - - - - - - - 16.04 -
3640.34 430.58 -9.80 479 3646.12 roll -1.25 - - 1835.62 - 3.71 0.122 3472.00 374.4 -77.86 - - 2815.22 - - - - - - - - - 16.05 -
3695.37 437.08 -11.19 490 3699.92 roll -1.25 - - 1835.94 - 3.38 0.065 2082.88 -411.0 -77.86 - - 2817.75 - - - - - - - - - 16.04 -
4005.37 468.35 -10.60 522 4011.18 roll -1.25 - - 1835.19 - 3.98 0.168 663.69 -356.6 -77.86 - - 2817.03 - - - - - - - - - 16.02 -
4070.39 475.92 -10.80 535 4074.97 roll -1.25 - - 1835.62 - 3.47 0.060 2116.25 418.6 -77.86 - - 2818.66 - - - - - - - - - 16.05 -
4380.41 507.22 -10.03 567 4385.14 roll -1.25 - - 1836.00 - 3.58 0.125 3474.38 379.4 -77.86 - - 2818.06 - - - - - - - - - 16.04 -
4450.46 514.87 -11.19 581 4455.13 roll -1.25 - - 1835.69 - 3.38 0.065 2083.56 -411.5 -77.86 - - 2815.69 - - - - - - - - - 16.05 -
4760.45 545.42 -9.82 613 4766.26 roll -1.25 - - 1835.75 - 4.00 0.170 663.00 -355.1 -77.86 - - 2817.88 - - - - - - - - - 16.03 -
4825.47 552.54 -12.37 626 4830.05 roll -1.25 - - 1835.69 - 3.47 0.061 2116.00 418.7 -77.86 - - 2814.31 - - - - - - - - - 16.06 -
5135.49 581.93 -9.78 658 5140.23 roll -1.25 - - 1835.88 - 3.59 0.128 3472.75 377.9 -77.86 - - 2815.41 - - - - - - - - - 16.05 -
5215.52 589.86 -10.74 674 5220.07 roll -1.25 - - 1836.25 - 3.38 0.068 2084.44 -410.7 -77.86 - - 2816.00 - - - - - - - - - 16.06 -
5525.53 619.07 -9.17 706 5531.36 roll -1.25 - - 1835.94 - 3.98 0.174 663.81 -356.9 -77.86 - - 2812.72 - - - - - - - - - 16.03 -
5590.55 625.90 -11.28 719 5595.12 roll -1.25 - - 1836.00 - 3.47 0.062 2116.19 418.6 -77.86 - - 2815.09 - - - - - - - - - 16.07 -
5900.56 652.45 -7.72 751 5905.38 roll -1.25 - - 1835.56 - 3.60 0.129 3472.88 376.9 -77.86 - - 2816.66 - - - - - - - - - 16.05 -
5940.57 656.18 -9.33 759 5945.13 roll -1.25 - - 1835.75 - 3.37 0.067 2084.38 -412.0 -77.86 - - 2813.84 - - - - - - - - - 16.07 -
6250.58 681.38 -8.19 791 6256.39 roll -1.25 - - 1835.69 - 3.99 0.176 664.81 -355.8 -77.86 - - 2815.97 - - - - - - - - - 16.03 -
6335.67 689.81 -10.56 808 6341.19 roll -1.25 - - 1835.94 - 3.48 0.064 2115.75 416.9 -77.86 - - 2811.47 - - - - - - - - - 16.06 -
6640.61 716.07 -7.77 839 6641.94 no move -1.25 - - 1836.12 - - - 2116.56 - -77.86 - - 2813.47 - - - - - - - - - - -
6940.64 740.74 -8.31 869 6946.40 roll -1.25 - - 1835.56 - 3.62 0.133 3473.81 374.9 -77.86 - - 2815.09 - - - - - - - - - 16.05 -
7045.65 750.43 -9.48 890 7050.23 roll -1.25 - - 1836.19 - 3.39 0.072 2085.12 -409.6 -77.86 - - 2814.69 - - - - - - - - - 16.06 -
7355.72 776.53 -9.45 922 7361.69 roll -1.25 - - 1835.75 - 4.03 0.179 663.69 -352.7 -77.86 - - 2810.47 - - - - - - - - - 16.03 -
7500.78 791.14 -11.20 951 7506.37 roll -1.25 - - 1834.19 - 3.54 0.067 2117.50 410.7 -77.86 - - 2811.69 - - - - - - - - - 16.07 -
7805.81 817.89 -9.09 982 7807.14 no move -1.25 - - 1835.62 - - - 2117.56 - -77.86 - - 2812.19 - - - - - - - - - - -
8105.86 844.60 -8.31 1012 8111.57 roll -1.25 - - 1835.75 - 4.14 0.180 663.50 -351.2 -77.86 - - 2813.19 - - - - - - - - - 16.03 -
8160.95 850.46 -10.03 1023 8166.50 roll -1.25 - - 1835.94 - 3.53 0.069 2116.94 411.7 -77.86 - - 2814.25 - - - - - - - - - 16.06 -
8465.94 877.85 -9.16 1054 8470.68 roll -1.25 - - 1836.00 - 3.63 0.133 3473.31 373.7 -77.86 - - 2811.28 - - - - - - - - - 16.05 -
8599.82 890.71 -9.90 1081 8606.72 roll -1.25 - - 1836.00 - 3.41 0.073 2086.06 -406.8 -77.86 - - 2811.41 - - - - - - - - - 16.07 -
8906.03 916.27 -7.54 1112 8911.82 roll -1.25 - - 1835.69 - 3.75 0.132 3472.38 369.7 -77.86 - - 2810.47 - - - - - - - - - 16.06 -
8964.92 921.41 -7.28 1124 8971.77 roll -1.25 - - 1835.69 - 3.40 0.074 2086.50 -407.6 -77.86 - - 2813.31 - - - - - - - - - 16.07 -
9271.10 945.57 -8.06 1155 9272.43 no move -1.25 - - 1835.81 - - - 2087.12 - -77.86 - - 2811.09 - - - - - - - - - - -
9571.14 967.98 -6.41 1185 9576.97 roll -1.25 - - 1836.00 - 4.07 0.186 663.81 -349.7 -77.86 - - 2810.69 - - - - - - - - - 16.03 -
9656.17 976.42 -9.52 1202 9661.78 roll -1.25 - - 1835.75 - 3.53 0.072 2116.06 411.4 -77.86 - - 2809.12 - - - - - - - - - 16.06 -
9841 end dive: TARGET_DEPTH_EXCEEDED
9841 begin apogee
9842.49 990.62 -7.89 1221 9912.80 -0.25 1.74 0.157 2080.00 140.4 0.08 0.302 2183.81 846.9 - 64.96 2.278 2499.78 -4.8 0.350 - - - - - - 16.00 15.58 12.82
9914 end apogee: CONTROL_FINISHED_OK
9914 begin climb
9914.39 991.92 - 1228 9995.36 1.25 2.49 0.097 2448.25 147.9 4.26 0.158 737.06 -339.6 77.86 71.40 2.231 2182.12 -4.4 0.334 - - - - - - 15.61 15.23 12.89
10013.21 985.82 7.13 1247 10018.88 roll 1.28 - - 2446.31 - 3.74 0.060 2215.31 395.3 77.86 - - 2177.62 - - - - - - - - - 15.38 -
10318.17 954.81 11.79 1278 10324.01 done 1.28 - - 2448.06 - 4.20 0.156 738.62 -351.6 77.86 - - 2168.19 - - - - - - - - - 15.67 -
10347.09 951.00 12.80 1284 10353.93 done 1.28 - - 2447.12 - 3.63 0.060 2218.31 407.6 77.86 - - 2168.84 - - - - - - - - - 15.70 -
10653.22 917.95 11.96 1315 10657.79 done 1.28 - - 2448.81 - 3.42 0.132 3472.75 366.8 77.86 - - 2167.06 - - - - - - - - - 15.79 -
10693.24 913.66 12.11 1323 10697.76 done 1.28 - - 2448.75 - 3.19 0.063 2183.81 -404.1 77.86 - - 2166.94 - - - - - - - - - 15.80 -
11003.27 881.73 10.92 1355 11008.88 done 1.28 - - 2448.06 - 3.53 0.130 3471.31 364.7 77.86 - - 2166.88 - - - - - - - - - 15.87 -
11098.37 871.24 12.72 1374 11102.83 done 1.28 - - 2448.62 - 3.17 0.065 2184.25 -406.0 77.86 - - 2165.75 - - - - - - - - - 15.87 -
11408.35 843.12 9.12 1406 11414.08 done 1.28 - - 2448.12 - 3.52 0.131 3473.00 366.1 77.86 - - 2167.00 - - - - - - - - - 15.92 -
11443.36 840.52 8.55 1413 11447.88 done 1.28 - - 2448.88 - 3.17 0.064 2183.25 -406.9 77.86 - - 2165.75 - - - - - - - - - 15.92 -
11753.39 813.97 8.65 1445 11759.22 done 1.28 - - 2448.56 - 4.02 0.154 736.81 -359.8 77.86 - - 2162.16 - - - - - - - - - 15.93 -
11832.25 805.97 8.86 1461 11839.16 done 1.28 - - 2447.19 - 3.56 0.061 2218.94 416.3 77.86 - - 2163.34 - - - - - - - - - 15.95 -
12138.45 778.96 8.51 1492 12143.04 done 1.28 - - 2448.19 - 3.41 0.134 3473.69 368.0 77.86 - - 2162.19 - - - - - - - - - 15.95 -
12202.31 772.97 9.89 1505 12209.16 done 1.28 - - 2449.00 - 3.17 0.064 2181.69 -407.6 77.86 - - 2162.25 - - - - - - - - - 15.94 -
12508.51 746.22 9.01 1536 12514.11 done 1.28 - - 2449.19 - 3.53 0.131 3473.44 365.9 77.86 - - 2161.12 - - - - - - - - - 15.99 -
12547.37 743.11 9.05 1544 12554.24 done 1.28 - - 2449.31 - 3.16 0.062 2181.81 -408.7 77.86 - - 2164.19 - - - - - - - - - 15.99 -
12853.56 717.53 8.71 1575 12854.89 VBD 1.28 - - 2448.50 - - - 2181.94 - 77.86 - - 2161.75 - - - - - - - - - - -
13153.59 690.51 9.07 1605 13154.93 VBD 1.28 - - 2448.81 - - - 2182.06 - 77.86 - - 2160.72 - - - - - - - - - - -
13453.63 665.63 8.43 1635 13459.45 done 1.28 - - 2448.44 - 3.99 0.150 736.38 -362.3 77.86 - - 2162.00 - - - - - - - - - 16.00 -
13588.68 651.39 11.86 1662 13594.27 done 1.28 - - 2448.81 - 3.57 0.059 2218.94 415.3 77.86 - - 2160.84 - - - - - - - - - 16.02 -
13893.73 624.59 8.61 1693 13895.06 VBD 1.28 - - 2448.81 - - - 2218.25 - 77.86 - - 2160.78 - - - - - - - - - - -
14193.77 601.10 7.56 1723 14195.11 VBD 1.28 - - 2448.25 - - - 2217.75 - 77.86 - - 2160.38 - - - - - - - - - - -
14493.84 578.74 6.77 1753 14498.41 done 1.32 - - 2448.38 - 3.41 0.131 3471.31 367.6 77.86 - - 2160.56 - - - - - - - - - 16.03 -
14507.70 577.86 6.70 1756 14514.66 done 1.36 - - 2448.62 - 3.15 0.060 2181.00 -409.6 77.86 - - 2159.91 - - - - - - - - - 16.02 -
14813.93 558.18 5.85 1787 14845.36 1.45 0.27 0.095 2502.69 200.3 4.01 0.149 736.44 -360.2 109.32 25.68 1.729 2054.62 -4.1 0.223 - - - - - - 16.02 15.84 12.87
14907.84 548.64 12.23 1806 14914.69 roll 1.45 - - 2502.62 - 3.58 0.058 2219.38 414.2 109.32 - - 2049.28 - - - - - - - - - 15.91 -
15214.00 517.30 10.85 1837 15219.75 roll 1.45 - - 2499.75 - 4.09 0.143 735.50 -362.8 109.32 - - 2046.84 - - - - - - - - - 15.93 -
15252.95 512.54 12.97 1845 15259.77 done 1.45 - - 2502.38 - 3.55 0.057 2221.25 418.5 109.32 - - 2046.00 - - - - - - - - - 15.95 -
15559.08 482.79 9.68 1876 15563.64 done 1.45 - - 2502.38 - 3.36 0.127 3472.81 372.5 109.32 - - 2046.53 - - - - - - - - - 15.94 -
15612.95 476.16 12.37 1887 15619.79 done 1.45 - - 2502.81 - 3.15 0.059 2181.38 -410.0 109.32 - - 2046.91 - - - - - - - - - 15.97 -
15919.16 448.84 8.85 1918 15924.90 done 1.45 - - 2502.88 - 3.96 0.144 736.62 -364.8 109.32 - - 2044.88 - - - - - - - - - 15.95 -
15958.13 444.54 10.98 1926 15965.06 done 1.45 - - 2502.94 - 3.56 0.056 2222.56 417.4 109.32 - - 2045.41 - - - - - - - - - 15.97 -
16264.21 415.52 9.46 1957 16269.97 done 1.45 - - 2503.31 - 4.05 0.141 736.56 -366.9 109.32 - - 2044.66 - - - - - - - - - 15.98 -
16333.21 407.83 11.28 1971 16339.99 done 1.45 - - 2502.81 - 3.55 0.058 2220.25 417.9 109.32 - - 2047.16 - - - - - - - - - 16.00 -
16639.26 381.41 8.04 2002 16643.83 done 1.45 - - 2501.75 - 3.37 0.124 3474.69 372.2 109.32 - - 2045.56 - - - - - - - - - 15.99 -
16703.14 375.32 9.39 2015 16709.97 done 1.45 - - 2502.94 - 3.14 0.058 2181.62 -411.8 109.32 - - 2044.47 - - - - - - - - - 16.01 -
17009.42 351.31 7.71 2046 17015.27 done 1.45 - - 2502.81 - 3.97 0.142 735.69 -364.2 109.32 - - 2043.53 - - - - - - - - - 15.97 -
17038.25 348.54 7.69 2052 17045.08 done 1.45 - - 2502.94 - 3.52 0.054 2223.94 422.8 109.32 - - 2044.75 - - - - - - - - - 16.00 -
17344.40 324.76 7.95 2083 17349.07 done 1.45 - - 2502.38 - 3.34 0.122 3472.81 373.9 109.32 - - 2044.56 - - - - - - - - - 16.01 -
17414.39 318.88 8.27 2097 17419.04 done 1.45 - - 2503.06 - 3.13 0.056 2179.31 -413.3 109.32 - - 2044.47 - - - - - - - - - 16.02 -
17724.42 293.37 8.09 2129 17730.23 done 1.45 - - 2502.38 - 3.94 0.141 737.38 -366.0 109.32 - - 2043.06 - - - - - - - - - 15.98 -
17843.36 281.12 10.06 2153 17850.20 done 1.45 - - 2501.31 - 3.51 0.056 2223.50 423.4 109.32 - - 2045.31 - - - - - - - - - 16.02 -
18149.48 256.33 7.72 2184 18154.17 done 1.45 - - 2503.44 - 3.33 0.121 3473.75 375.5 109.32 - - 2044.47 - - - - - - - - - 15.99 -
18379.52 235.32 9.74 2230 18384.04 done 1.45 - - 2502.75 - 3.14 0.056 2179.62 -412.1 109.32 - - 2046.34 - - - - - - - - - 16.04 -
18689.57 212.10 6.57 2262 18695.14 done 1.50 - - 2502.25 - 3.46 0.118 3474.06 374.1 109.32 - - 2044.41 - - - - - - - - - 16.01 -
18788.53 204.58 7.40 2282 18795.41 done 1.52 - - 2502.56 - 3.14 0.055 2178.88 -412.5 109.32 - - 2044.69 - - - - - - - - - 16.03 -
19094.64 185.26 6.44 2313 19099.20 done 1.57 - - 2503.06 - 3.46 0.118 3472.38 373.8 109.32 - - 2044.72 - - - - - - - - - 16.03 -
19224.65 175.33 8.33 2339 19229.18 done 1.57 - - 2502.62 - 3.15 0.057 2180.75 -410.0 109.32 - - 2044.59 - - - - - - - - - 16.02 -
19534.74 151.01 7.38 2371 19540.52 done 1.59 - - 2503.62 - 3.93 0.139 736.62 -367.5 109.32 - - 2042.91 - - - - - - - - - 16.01 -
19639.76 141.95 8.57 2392 19645.36 done 1.59 - - 2502.81 - 3.55 0.054 2224.25 419.1 109.32 - - 2043.53 - - - - - - - - - 16.03 -
19944.84 123.62 6.31 2423 19946.33 1.64 0.20 0.097 2545.62 214.0 - - 2224.44 - 109.32 - - 2042.72 - - - - - - - - 16.01 - -
20244.90 110.78 2.48 2453 20317.34 1.88 0.30 0.084 2603.25 192.1 4.12 0.134 736.44 -361.2 188.78 64.07 1.241 1728.09 -4.9 0.074 - - - - - - 16.00 15.72 12.85
20390.18 98.87 11.78 2482 20395.86 roll 1.88 - - 2603.00 - 3.60 0.054 2222.69 412.8 188.78 - - 1724.53 - - - - - - - - - 15.81 -
20575.18 80.65 8.07 2519 20580.89 done 1.88 - - 2603.56 - 3.38 0.117 3473.44 370.0 188.78 - - 1721.50 - - - - - - - - - 15.82 -
20685.19 70.58 8.75 2541 20690.88 done 1.88 - - 2603.62 - 3.14 0.052 2177.94 -412.6 188.78 - - 1719.69 - - - - - - - - - 15.87 -
20870.26 58.20 5.05 2578 20911.90 done 2.00 - - 2603.25 - 3.98 0.136 736.50 -362.2 231.66 34.56 1.133 1555.28 -4.8 0.041 - - - - - - - 15.70 12.74
21135.31 41.64 5.37 2631 21176.49 2.12 0.31 0.076 2663.88 195.6 3.59 0.053 2225.12 414.7 269.89 32.33 1.087 1398.66 -4.8 0.031 - - - - - - 15.78 15.83 12.77
21355.34 23.84 10.50 2675 21361.18 roll 2.12 - - 2665.00 - 4.09 0.131 736.56 -364.0 269.89 - - 1394.62 - - - - - - - - - 15.76 -
21420.42 15.86 13.23 2688 21426.12 roll 2.12 - - 2664.44 - 3.61 0.052 2224.81 412.3 269.89 - - 1394.31 - - - - - - - - - 15.81 -
21540 end climb: SURFACE_DEPTH_REACHED
21540 begin surface coast
21555 end surface coast: CONTROL_FINISHED_OK
21555 begin surface
SM 0.74 - - - - 179.0 0.07 0.240 768.6 10980.0 15.90 0.065 767.6 48.3 - 0.34 0.092 769.6 2252.9 -1.852 - - 15.44 15.78 15.84 -