NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 279 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 87.36 of 575.00 AH used of 24V (84.81% remains)
• Surface angle -60.0 deg, depth 0.68 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.73 (SM_CC=425)
• GPS1 time: 20 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
6.72 - - - 84.96 VBD -1.25 - - 174.19 - - - 2076.50 - -77.86 77.69 0.005 2509.06 - - - - - - - - - - 15.59
85.22 3.51 -3.60 15 117.01 -1.25 13.76 0.255 1837.19 120.9 4.10 0.163 663.06 -344.7 -77.86 7.72 0.008 2815.94 39.8 -2.946 - - - - - - 15.62 15.58 15.61
199.78 30.33 -23.87 38 205.54 roll -1.25 - - 1837.19 - 3.58 0.058 2117.62 406.3 -77.86 - - 2816.34 - - - - - - - - - 15.74 -
384.86 64.23 -13.92 75 386.19 no move -1.25 - - 1837.44 - - - 2117.81 - -77.86 - - 2817.03 - - - - - - - - - - -
564.92 87.48 -11.81 111 570.68 roll -1.25 - - 1837.00 - 3.63 0.118 3473.56 373.5 -77.86 - - 2816.88 - - - - - - - - - 15.83 -
768.86 116.41 -14.75 152 775.74 roll -1.25 - - 1837.19 - 3.45 0.060 2082.81 -403.1 -77.86 - - 2818.69 - - - - - - - - - 15.89 -
1075.05 150.06 -10.64 183 1076.38 no move -1.25 - - 1837.12 - - - 2082.12 - -77.86 - - 2817.94 - - - - - - - - - - -
1375.10 181.36 -10.12 213 1380.88 roll -1.25 - - 1837.00 - 3.72 0.118 3471.88 373.6 -77.86 - - 2818.41 - - - - - - - - - 15.95 -
1523.99 198.79 -12.01 243 1530.88 roll -1.25 - - 1836.88 - 3.44 0.061 2081.81 -404.1 -77.86 - - 2818.47 - - - - - - - - - 15.97 -
1830.30 231.88 -10.76 274 1835.98 roll -1.25 - - 1836.31 - 4.03 0.159 662.62 -352.2 -77.86 - - 2818.19 - - - - - - - - - 15.97 -
1905.25 241.19 -13.00 289 1909.91 roll -1.25 - - 1835.81 - 3.46 0.056 2119.25 421.0 -77.86 - - 2820.53 - - - - - - - - - 15.99 -
2215.20 275.02 -10.75 321 2220.81 roll -1.25 - - 1837.62 - 3.56 0.120 3473.75 380.5 -77.86 - - 2818.59 - - - - - - - - - 15.99 -
2270.23 281.93 -12.58 332 2274.93 roll -1.25 - - 1837.25 - 3.39 0.061 2083.31 -410.2 -77.86 - - 2818.59 - - - - - - - - - 16.02 -
2580.25 314.03 -10.54 364 2586.04 roll -1.25 - - 1836.56 - 3.99 0.161 663.50 -355.8 -77.86 - - 2817.38 - - - - - - - - - 15.99 -
2695.26 327.77 -12.68 387 2699.92 roll -1.25 - - 1837.56 - 3.46 0.057 2119.69 420.9 -77.86 - - 2817.97 - - - - - - - - - 16.03 -
3005.35 358.66 -9.36 419 3006.68 no move -1.25 - - 1837.06 - - - 2118.81 - -77.86 - - 2817.44 - - - - - - - - - - -
3305.30 387.95 -9.72 449 3310.90 roll -1.25 - - 1836.25 - 3.59 0.125 3473.69 377.4 -77.86 - - 2819.19 - - - - - - - - - 16.03 -
3354.17 393.89 -11.38 459 3361.03 roll -1.25 - - 1836.88 - 3.40 0.063 2081.81 -409.4 -77.86 - - 2817.56 - - - - - - - - - 16.06 -
3660.36 426.55 -10.40 490 3666.15 roll -1.25 - - 1836.50 - 3.96 0.160 663.94 -358.0 -77.86 - - 2818.31 - - - - - - - - - 16.02 -
3745.42 436.95 -11.65 507 3750.07 roll -1.25 - - 1835.94 - 3.49 0.059 2118.00 416.6 -77.86 - - 2820.56 - - - - - - - - - 16.05 -
4055.38 469.06 -9.99 539 4060.12 roll -1.25 - - 1835.81 - 3.59 0.124 3474.75 377.9 -77.86 - - 2819.88 - - - - - - - - - 16.04 -
4125.40 476.49 -11.21 553 4129.98 roll -1.25 - - 1836.62 - 3.41 0.065 2082.62 -408.2 -77.86 - - 2819.12 - - - - - - - - - 16.05 -
4435.41 506.60 -8.92 585 4436.74 no move -1.25 - - 1837.50 - - - 2082.81 - -77.86 - - 2818.59 - - - - - - - - - - -
4735.43 537.36 -11.10 615 4741.08 roll -1.25 - - 1836.25 - 3.70 0.125 3474.69 376.2 -77.86 - - 2817.38 - - - - - - - - - 16.06 -
4764.30 540.08 -10.22 621 4771.18 roll -1.25 - - 1837.19 - 3.43 0.066 2083.56 -405.6 -77.86 - - 2818.41 - - - - - - - - - 16.06 -
5070.45 569.39 -9.50 652 5076.29 roll -1.25 - - 1836.81 - 4.01 0.165 662.88 -354.3 -77.86 - - 2815.12 - - - - - - - - - 16.04 -
5125.52 575.53 -11.17 663 5131.05 roll -1.25 - - 1835.94 - 3.47 0.062 2118.56 419.5 -77.86 - - 2819.25 - - - - - - - - - 16.06 -
5430.49 604.33 -8.44 694 5436.11 roll -1.25 - - 1836.88 - 3.53 0.127 3473.44 383.8 -77.86 - - 2817.16 - - - - - - - - - 16.05 -
5465.50 607.91 -10.21 701 5470.08 roll -1.25 - - 1837.12 - 3.41 0.066 2083.81 -407.5 -77.86 - - 2816.59 - - - - - - - - - 16.07 -
5775.52 634.49 -7.81 733 5781.19 roll -1.25 - - 1835.88 - 3.99 0.166 663.44 -356.0 -77.86 - - 2816.56 - - - - - - - - - 16.04 -
5824.52 639.07 -9.80 743 5831.26 roll -1.25 - - 1837.06 - 3.49 0.062 2118.31 416.9 -77.86 - - 2815.78 - - - - - - - - - 16.06 -
6130.56 663.28 -7.37 774 6135.29 roll -1.25 - - 1836.88 - 3.56 0.127 3474.81 381.0 -77.86 - - 2816.59 - - - - - - - - - 16.06 -
6230.64 672.73 -10.01 794 6235.15 roll -1.25 - - 1835.94 - 3.40 0.068 2084.50 -408.9 -77.86 - - 2817.34 - - - - - - - - - 16.06 -
6540.60 698.14 -9.18 826 6546.46 roll -1.25 - - 1836.12 - 4.03 0.169 662.88 -352.8 -77.86 - - 2815.72 - - - - - - - - - 16.04 -
6619.62 706.51 -11.76 842 6626.40 roll -1.25 - - 1836.50 - 3.51 0.065 2117.94 414.5 -77.86 - - 2814.72 - - - - - - - - - 16.08 -
6925.68 733.75 -8.45 873 6931.29 roll -1.25 - - 1837.19 - 3.57 0.130 3472.75 379.5 -77.86 - - 2813.72 - - - - - - - - - 16.05 -
6950.70 735.82 -8.88 878 6955.28 roll -1.25 - - 1836.88 - 3.40 0.068 2083.56 -408.6 -77.86 - - 2815.16 - - - - - - - - - 16.07 -
7260.74 765.88 -11.08 910 7266.43 roll -1.25 - - 1835.81 - 4.01 0.172 663.56 -354.1 -77.86 - - 2816.16 - - - - - - - - - 16.03 -
7309.75 771.35 -12.67 920 7316.51 roll -1.25 - - 1837.06 - 3.51 0.066 2117.50 414.2 -77.86 - - 2814.66 - - - - - - - - - 16.06 -
7615.80 801.26 -9.76 951 7617.13 no move -1.25 - - 1836.81 - - - 2117.56 - -77.86 - - 2814.41 - - - - - - - - - - -
7915.85 828.91 -9.94 981 7921.54 roll -1.25 - - 1836.12 - 4.09 0.171 664.25 -355.3 -77.86 - - 2814.44 - - - - - - - - - 16.03 -
7954.87 832.96 -10.19 989 7961.80 roll -1.25 - - 1836.94 - 3.53 0.068 2116.38 411.4 -77.86 - - 2813.91 - - - - - - - - - 16.06 -
8260.92 859.52 -8.91 1020 8265.65 roll -1.25 - - 1835.62 - 3.60 0.134 3474.56 377.3 -77.86 - - 2814.75 - - - - - - - - - 16.05 -
8380.96 870.48 -9.68 1044 8385.55 roll -1.25 - - 1837.25 - 3.40 0.073 2084.81 -408.8 -77.86 - - 2814.88 - - - - - - - - - 16.07 -
8691.01 895.73 -8.17 1076 8696.71 roll -1.25 - - 1836.12 - 4.02 0.175 664.31 -353.4 -77.86 - - 2815.12 - - - - - - - - - 16.03 -
8756.20 901.29 -9.78 1089 8761.65 roll -1.25 - - 1836.19 - 3.51 0.068 2115.50 413.4 -77.86 - - 2812.94 - - - - - - - - - 16.06 -
9061.08 926.61 -7.80 1120 9065.83 roll -1.25 - - 1836.88 - 3.59 0.134 3473.44 378.3 -77.86 - - 2812.59 - - - - - - - - - 16.04 -
9131.12 932.54 -7.59 1134 9135.67 roll -1.25 - - 1836.62 - 3.39 0.073 2086.81 -409.0 -77.86 - - 2813.78 - - - - - - - - - 16.07 -
9441.13 957.92 -9.55 1166 9446.86 roll -1.25 - - 1836.88 - 4.06 0.178 664.94 -350.2 -77.86 - - 2810.53 - - - - - - - - - 16.02 -
9530.13 966.41 -9.38 1184 9536.91 roll -1.25 - - 1836.12 - 3.56 0.073 2114.88 407.3 -77.86 - - 2813.25 - - - - - - - - - 16.06 -
9836.19 989.19 -8.11 1215 9840.94 roll -1.25 - - 1837.44 - 3.62 0.136 3473.19 375.2 -77.86 - - 2810.59 - - - - - - - - - 16.05 -
9846 end dive: TARGET_DEPTH_EXCEEDED
9846 begin apogee
9851.03 990.71 -9.56 1217 9919.00 -0.25 1.75 0.159 2078.81 137.9 0.05 0.370 2213.44 -25195.0 - 65.17 2.279 2500.75 -4.8 0.349 - - - - - - 16.00 15.57 12.94
9920 end apogee: CONTROL_FINISHED_OK
9920 begin climb
9920.63 991.61 - 1224 10005.01 1.25 2.51 0.098 2447.06 146.7 4.34 0.155 737.50 -340.1 77.86 72.90 2.215 2179.69 -4.4 0.333 - - - - - - 15.61 15.24 12.89
10066.70 982.34 9.40 1253 10073.56 done 1.25 - - 2446.50 - 3.70 0.062 2216.69 399.8 77.86 - - 2174.66 - - - - - - - - - 15.47 -
10372.86 953.21 10.03 1284 10378.44 done 1.25 - - 2446.25 - 3.46 0.137 3471.75 362.7 77.86 - - 2168.03 - - - - - - - - - 15.70 -
10381.71 952.74 9.18 1286 10388.56 done 1.25 - - 2446.06 - 3.21 0.064 2183.31 -401.4 77.86 - - 2169.72 - - - - - - - - - 15.71 -
10687.93 924.61 9.24 1317 10693.54 done 1.25 - - 2446.75 - 3.55 0.137 3472.00 363.0 77.86 - - 2164.97 - - - - - - - - - 15.80 -
10786.96 914.17 10.46 1337 10793.66 done 1.25 - - 2446.94 - 3.19 0.067 2184.25 -403.7 77.86 - - 2166.69 - - - - - - - - - 15.83 -
11093.04 887.33 9.15 1368 11098.86 done 1.25 - - 2446.19 - 4.06 0.154 736.38 -356.6 77.86 - - 2164.31 - - - - - - - - - 15.87 -
11141.98 882.53 10.46 1378 11148.82 done 1.25 - - 2446.25 - 3.61 0.063 2217.50 410.3 77.86 - - 2165.69 - - - - - - - - - 15.89 -
11448.13 856.73 7.11 1409 11452.83 done 1.28 - - 2445.62 - 3.41 0.137 3472.94 368.2 77.86 - - 2162.41 - - - - - - - - - 15.91 -
11488.13 853.37 8.40 1417 11492.87 done 1.28 - - 2446.81 - 3.18 0.065 2184.31 -405.2 77.86 - - 2163.59 - - - - - - - - - 15.91 -
11798.15 828.56 8.41 1449 11803.75 done 1.28 - - 2446.31 - 3.51 0.135 3473.38 367.3 77.86 - - 2163.34 - - - - - - - - - 15.95 -
11807.00 828.20 7.77 1451 11813.84 done 1.28 - - 2447.06 - 3.18 0.063 2182.50 -405.9 77.86 - - 2163.69 - - - - - - - - - 15.95 -
12113.20 806.53 6.52 1482 12119.02 done 1.33 - - 2446.94 - 4.03 0.152 735.44 -359.1 77.86 - - 2162.44 - - - - - - - - - 15.95 -
12128.21 805.17 7.28 1485 12132.92 done 1.35 - - 2446.81 - 3.56 0.060 2220.00 417.0 77.86 - - 2163.22 - - - - - - - - - 15.97 -
12438.24 782.26 7.48 1517 12442.78 done 1.37 - - 2446.62 - 3.37 0.137 3472.88 371.8 77.86 - - 2164.28 - - - - - - - - - 15.97 -
12512.09 775.23 11.31 1532 12518.96 done 1.37 - - 2447.44 - 3.19 0.065 2182.25 -404.6 77.86 - - 2161.75 - - - - - - - - - 15.98 -
12818.30 751.83 7.50 1563 12823.92 1.38 0.18 0.115 2486.88 219.1 3.48 0.134 3474.00 371.2 77.86 - - 2159.97 - - - - - - - - 15.98 15.99 -
12857.14 748.11 9.30 1571 12863.97 done 1.38 - - 2486.81 - 3.16 0.063 2181.62 -409.0 77.86 - - 2161.91 - - - - - - - - - 16.00 -
13163.32 721.31 8.11 1602 13169.15 done 1.38 - - 2486.38 - 4.01 0.149 735.62 -360.6 77.86 - - 2159.41 - - - - - - - - - 15.99 -
13258.34 711.76 8.92 1621 13263.95 done 1.38 - - 2485.94 - 3.51 0.062 2218.75 422.5 77.86 - - 2160.28 - - - - - - - - - 16.00 -
13563.41 688.47 7.19 1652 13567.94 done 1.41 - - 2486.56 - 3.32 0.133 3473.88 378.1 77.86 - - 2160.25 - - - - - - - - - 16.00 -
13573.39 687.51 6.67 1654 13577.91 done 1.45 - - 2486.88 - 3.16 0.061 2181.50 -409.0 77.86 - - 2160.41 - - - - - - - - - 16.02 -
13883.41 661.96 7.81 1686 13889.22 done 1.45 - - 2486.62 - 4.00 0.148 737.25 -361.1 77.86 - - 2158.94 - - - - - - - - - 16.01 -
13992.34 651.31 9.94 1708 13999.33 done 1.45 - - 2486.38 - 3.56 0.061 2218.25 416.0 77.86 - - 2159.72 - - - - - - - - - 16.03 -
14298.48 628.61 6.97 1739 14303.03 done 1.48 - - 2486.00 - 3.39 0.132 3474.25 370.5 77.86 - - 2160.94 - - - - - - - - - 16.01 -
14432.33 616.98 9.70 1766 14439.18 done 1.48 - - 2486.50 - 3.17 0.064 2181.25 -407.9 77.86 - - 2160.47 - - - - - - - - - 16.03 -
14738.54 595.28 6.77 1797 14744.11 done 1.52 - - 2486.38 - 3.46 0.129 3472.62 373.2 77.86 - - 2159.16 - - - - - - - - - 16.03 -
14783.54 591.64 8.09 1806 14788.07 done 1.52 - - 2485.88 - 3.17 0.062 2180.12 -407.7 77.86 - - 2161.03 - - - - - - - - - 16.04 -
15093.59 569.75 6.23 1838 15099.45 1.58 0.22 0.099 2530.81 204.2 3.97 0.147 736.50 -363.6 77.86 - - 2159.97 - - - - - - - - 16.02 16.00 -
15168.58 563.08 9.22 1853 15174.20 done 1.58 - - 2529.81 - 3.53 0.059 2221.38 420.6 77.86 - - 2160.94 - - - - - - - - - 16.03 -
15473.66 539.16 6.51 1884 15475.00 VBD 1.62 - - 2530.62 - - - 2221.88 - 77.86 - - 2157.72 - - - - - - - - - - -
15773.70 516.82 7.90 1914 15779.39 done 1.62 - - 2531.06 - 4.03 0.142 736.06 -368.7 77.86 - - 2158.19 - - - - - - - - - 16.03 -
15988.80 497.29 9.76 1957 15994.40 done 1.62 - - 2531.00 - 3.55 0.061 2221.88 418.5 77.86 - - 2156.25 - - - - - - - - - 16.02 -
16293.86 475.33 7.84 1988 16299.54 done 1.62 - - 2531.12 - 4.05 0.140 736.38 -366.8 77.86 - - 2156.19 - - - - - - - - - 16.00 -
16352.86 470.07 8.90 2000 16359.63 done 1.62 - - 2531.62 - 3.55 0.059 2221.38 418.3 77.86 - - 2158.16 - - - - - - - - - 16.04 -
16658.96 445.95 7.16 2031 16664.63 done 1.65 - - 2531.25 - 4.04 0.138 736.12 -367.6 77.86 - - 2157.00 - - - - - - - - - 16.02 -
16737.88 438.11 9.29 2047 16744.75 done 1.65 - - 2531.31 - 3.56 0.058 2223.31 417.8 77.86 - - 2157.88 - - - - - - - - - 16.03 -
17044.04 414.89 7.79 2078 17048.59 done 1.65 - - 2531.12 - 3.34 0.124 3474.12 374.5 77.86 - - 2158.31 - - - - - - - - - 16.03 -
17174.21 404.37 7.80 2104 17178.62 done 1.65 - - 2531.31 - 3.14 0.059 2178.50 -412.6 77.86 - - 2158.31 - - - - - - - - - 16.03 -
17484.14 383.34 6.19 2136 17488.71 done 1.70 - - 2531.31 - 3.45 0.120 3474.25 375.6 77.86 - - 2155.88 - - - - - - - - - 16.05 -
17574.24 376.86 7.19 2154 17578.74 1.73 0.17 0.106 2565.38 200.4 3.12 0.058 2179.75 -414.9 77.86 - - 2158.22 - - - - - - - - 16.01 16.03 -
17884.20 358.64 5.29 2186 17921.53 done 1.85 - - 2566.44 - 3.99 0.142 736.44 -361.7 117.24 32.07 1.519 2019.94 -4.3 0.172 - - - - - - - 15.83 12.85
18019.32 345.99 11.75 2213 18024.04 roll 1.85 - - 2566.06 - 3.59 0.057 2221.19 413.6 117.24 - - 2015.47 - - - - - - - - - 15.91 -
18329.35 313.36 11.09 2245 18333.91 roll 1.85 - - 2565.88 - 3.37 0.120 3474.75 372.0 117.24 - - 2015.84 - - - - - - - - - 15.93 -
18503.22 292.26 12.58 2280 18510.08 done 1.85 - - 2566.12 - 3.16 0.058 2181.44 -409.3 117.24 - - 2014.47 - - - - - - - - - 15.96 -
18809.42 259.65 11.07 2311 18815.17 done 1.85 - - 2566.38 - 3.94 0.140 735.44 -367.0 117.24 - - 2012.16 - - - - - - - - - 15.95 -
18918.36 246.09 12.43 2333 18925.21 done 1.85 - - 2565.88 - 3.55 0.056 2224.88 419.6 117.24 - - 2012.25 - - - - - - - - - 15.97 -
19224.48 216.04 9.90 2364 19230.24 done 1.85 - - 2565.31 - 4.07 0.135 736.31 -365.7 117.24 - - 2012.56 - - - - - - - - - 15.96 -
19333.42 203.02 11.27 2386 19340.27 done 1.85 - - 2565.94 - 3.53 0.057 2222.50 421.0 117.24 - - 2012.03 - - - - - - - - - 16.00 -
19639.55 176.79 8.68 2417 19645.25 done 1.85 - - 2565.69 - 4.03 0.133 734.56 -369.2 117.24 - - 2010.38 - - - - - - - - - 15.99 -
19848.50 158.35 9.54 2459 19855.34 done 1.85 - - 2566.38 - 3.56 0.055 2225.00 418.7 117.24 - - 2012.91 - - - - - - - - - 15.98 -
20154.65 137.30 5.97 2490 20186.10 1.94 0.27 0.088 2617.38 188.9 4.07 0.132 735.25 -366.0 146.92 25.40 1.248 1899.56 -4.5 0.083 - - - - - - 15.99 15.86 12.79
20194.72 134.44 6.27 2498 20200.23 roll 1.99 - - 2617.94 - 3.55 0.052 2226.12 420.0 146.92 - - 1897.62 - - - - - - - - - 15.91 -
20499.70 103.45 11.97 2529 20505.44 roll 1.99 - - 2616.06 - 4.05 0.131 735.62 -368.0 146.92 - - 1897.19 - - - - - - - - - 15.93 -
20549.81 98.46 9.99 2539 20555.49 roll 1.99 - - 2617.50 - 3.54 0.053 2227.00 421.3 146.92 - - 1895.09 - - - - - - - - - 15.93 -
20734.83 91.49 2.93 2576 20802.16 2.21 0.37 0.075 2685.50 183.8 4.11 0.131 735.81 -362.8 220.08 59.20 1.216 1602.41 -4.9 0.063 - - - - - - 15.94 15.69 12.82
20874.96 78.78 14.83 2604 20880.84 roll 2.21 - - 2685.44 - 3.60 0.054 2224.62 413.6 220.08 - - 1599.25 - - - - - - - - - 15.77 -
21060.04 58.38 8.27 2641 21065.88 roll 2.21 - - 2684.62 - 3.33 0.118 3473.50 375.0 220.08 - - 1597.03 - - - - - - - - - 15.80 -
21290.13 38.51 5.97 2687 21321.34 done 2.30 - - 2685.75 - 3.13 0.054 2176.38 -414.4 249.81 25.07 1.088 1481.06 -4.6 0.028 - - - - - - - 15.85 12.82
21500.15 21.23 9.83 2729 21505.97 roll 2.30 - - 2686.25 - 3.47 0.112 3474.19 374.0 249.81 - - 1476.00 - - - - - - - - - 15.82 -
21630.19 4.83 12.91 2755 21636.00 roll 2.30 - - 2686.06 - 3.17 0.056 2178.62 -408.7 249.81 - - 1474.69 - - - - - - - - - 15.84 -
21655 end climb: SURFACE_DEPTH_REACHED
21655 begin surface coast
21670 end surface coast: CONTROL_FINISHED_OK
21670 begin surface
SM 0.79 - - - - 174.2 0.43 0.156 768.5 1787.2 16.17 0.076 766.4 47.4 - 0.22 0.106 770.6 3488.3 -2.657 - - 15.42 15.81 15.85 -