NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 376 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 115.57 of 575.00 AH used of 24V (79.90% remains)
• Surface angle -57.0 deg, depth 0.35 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.65 (SM_CC=425)
• GPS1 time: 24 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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
6.86 - - - 84.96 VBD -1.25 - - 172.75 - - - 2119.38 - -77.86 77.49 0.005 2480.09 - - - - - - - - - - 15.35
85.22 3.09 -2.94 15 117.04 -1.25 14.06 0.259 1835.94 118.3 3.79 0.116 3472.56 357.0 -77.86 8.69 0.007 2816.38 38.7 -2.966 - - - - - - 15.46 15.36 15.41
314.87 52.26 -23.02 61 320.62 roll -1.25 - - 1835.00 - 3.50 0.060 2082.69 -397.1 -77.86 - - 2817.56 - - - - - - - - - 15.67 -
499.93 81.47 -13.73 98 505.77 roll -1.25 - - 1835.75 - 4.01 0.151 663.56 -353.9 -77.86 - - 2816.31 - - - - - - - - - 15.71 -
529.96 85.81 -14.75 104 535.71 roll -1.25 - - 1835.81 - 3.53 0.048 2120.44 412.7 -77.86 - - 2816.72 - - - - - - - - - 15.75 -
720.00 108.03 -12.33 136 725.76 roll -1.25 - - 1834.56 - 3.65 0.110 3473.62 370.7 -77.86 - - 2816.44 - - - - - - - - - 15.77 -
868.96 126.69 -12.15 166 875.80 roll -1.25 - - 1834.75 - 3.42 0.056 2081.44 -407.1 -77.86 - - 2817.19 - - - - - - - - - 15.81 -
1175.08 158.63 -10.38 197 1180.72 roll -1.25 - - 1835.69 - 3.77 0.109 3475.12 369.7 -77.86 - - 2815.09 - - - - - - - - - 15.86 -
1200.10 161.32 -11.01 202 1204.66 roll -1.25 - - 1836.12 - 3.39 0.056 2082.00 -410.9 -77.86 - - 2817.12 - - - - - - - - - 15.85 -
1510.12 194.14 -10.64 234 1511.44 no move -1.25 - - 1835.75 - - - 2082.12 - -77.86 - - 2817.59 - - - - - - - - - - -
1810.14 225.04 -10.50 264 1811.46 no move -1.25 - - 1835.62 - - - 2082.19 - -77.86 - - 2817.25 - - - - - - - - - - -
2110.17 254.44 -9.66 294 2111.50 no move -1.25 - - 1835.94 - - - 2082.50 - -77.86 - - 2817.31 - - - - - - - - - - -
2410.20 285.17 -10.62 324 2411.53 no move -1.25 - - 1835.69 - - - 2082.12 - -77.86 - - 2817.56 - - - - - - - - - - -
2710.22 316.70 -10.12 354 2716.06 roll -1.25 - - 1835.56 - 4.04 0.157 663.56 -351.1 -77.86 - - 2815.66 - - - - - - - - - 15.91 -
2765.26 323.27 -11.44 365 2770.85 roll -1.25 - - 1835.75 - 3.53 0.055 2119.81 412.5 -77.86 - - 2816.28 - - - - - - - - - 15.94 -
3070.28 355.68 -10.33 396 3076.04 roll -1.25 - - 1835.56 - 3.66 0.117 3473.62 369.9 -77.86 - - 2814.78 - - - - - - - - - 15.94 -
3115.30 360.69 -12.03 405 3119.87 roll -1.25 - - 1835.38 - 3.41 0.061 2082.00 -408.1 -77.86 - - 2816.28 - - - - - - - - - 15.95 -
3425.32 392.90 -10.71 437 3431.14 roll -1.25 - - 1835.88 - 4.01 0.156 663.12 -353.8 -77.86 - - 2817.72 - - - - - - - - - 15.92 -
3524.25 405.08 -12.46 457 3531.10 roll -1.25 - - 1836.31 - 3.52 0.054 2119.88 413.9 -77.86 - - 2816.66 - - - - - - - - - 15.96 -
3830.39 436.32 -9.84 488 3836.16 roll -1.25 - - 1835.44 - 3.62 0.118 3473.44 373.9 -77.86 - - 2814.03 - - - - - - - - - 15.94 -
3875.41 440.81 -10.17 497 3879.97 roll -1.25 - - 1834.88 - 3.37 0.060 2080.62 -413.3 -77.86 - - 2817.69 - - - - - - - - - 15.96 -
4185.42 470.74 -9.39 529 4191.10 roll -1.25 - - 1835.75 - 3.99 0.159 663.56 -355.2 -77.86 - - 2815.66 - - - - - - - - - 15.92 -
4230.44 475.36 -10.81 538 4236.03 roll -1.25 - - 1835.44 - 3.48 0.053 2119.25 418.3 -77.86 - - 2816.25 - - - - - - - - - 15.96 -
4535.47 505.22 -9.79 569 4536.80 no move -1.25 - - 1835.81 - - - 2119.12 - -77.86 - - 2815.44 - - - - - - - - - - -
4835.49 534.03 -9.08 599 4841.34 roll -1.25 - - 1834.31 - 4.11 0.161 663.19 -354.2 -77.86 - - 2815.22 - - - - - - - - - 15.92 -
4860.52 536.83 -8.83 604 4866.10 roll -1.25 - - 1835.81 - 3.47 0.054 2119.06 419.6 -77.86 - - 2813.56 - - - - - - - - - 15.97 -
5165.54 565.80 -8.88 635 5170.30 roll -1.25 - - 1835.81 - 3.62 0.119 3473.31 374.1 -77.86 - - 2814.47 - - - - - - - - - 15.95 -
5205.60 570.01 -11.01 643 5210.12 roll -1.25 - - 1835.88 - 3.38 0.061 2083.12 -411.3 -77.86 - - 2815.75 - - - - - - - - - 15.96 -
5515.60 599.53 -8.83 675 5521.29 roll -1.25 - - 1834.31 - 4.02 0.164 662.44 -353.4 -77.86 - - 2814.09 - - - - - - - - - 15.92 -
5574.61 606.43 -10.78 687 5581.38 roll -1.25 - - 1835.44 - 3.51 0.056 2119.75 415.2 -77.86 - - 2813.66 - - - - - - - - - 15.95 -
5880.69 634.20 -9.10 718 5886.38 roll -1.25 - - 1835.88 - 3.65 0.122 3473.44 370.9 -77.86 - - 2813.75 - - - - - - - - - 15.94 -
5955.73 641.73 -10.40 733 5960.29 roll -1.25 - - 1835.62 - 3.39 0.064 2083.25 -410.1 -77.86 - - 2814.44 - - - - - - - - - 15.95 -
6265.77 671.41 -10.12 765 6271.56 roll -1.25 - - 1835.75 - 3.76 0.121 3474.19 369.9 -77.86 - - 2812.06 - - - - - - - - - 15.96 -
6310.80 676.02 -11.30 774 6315.35 roll -1.25 - - 1835.81 - 3.38 0.064 2084.06 -411.3 -77.86 - - 2813.25 - - - - - - - - - 15.96 -
6620.85 703.86 -8.26 806 6626.65 roll -1.25 - - 1835.44 - 3.74 0.121 3474.06 371.7 -77.86 - - 2810.78 - - - - - - - - - 15.96 -
6675.88 709.12 -9.89 817 6680.44 roll -1.25 - - 1835.75 - 3.38 0.065 2084.50 -411.1 -77.86 - - 2813.00 - - - - - - - - - 15.95 -
6985.93 734.97 -8.36 849 6991.64 roll -1.25 - - 1834.12 - 3.76 0.122 3472.38 369.1 -77.86 - - 2813.25 - - - - - - - - - 15.95 -
7071.03 743.15 -8.71 866 7075.52 roll -1.25 - - 1835.38 - 3.38 0.066 2085.94 -410.2 -77.86 - - 2811.38 - - - - - - - - - 15.96 -
7381.00 767.69 -7.65 898 7386.69 roll -1.25 - - 1835.75 - 4.04 0.171 663.44 -352.1 -77.86 - - 2811.88 - - - - - - - - - 15.90 -
7466.03 775.62 -10.10 915 7471.65 roll -1.25 - - 1835.94 - 3.51 0.059 2118.94 414.7 -77.86 - - 2809.47 - - - - - - - - - 15.95 -
7771.08 800.30 -8.31 946 7776.84 roll -1.25 - - 1834.06 - 3.62 0.124 3474.25 374.4 -77.86 - - 2812.38 - - - - - - - - - 15.94 -
7816.10 804.45 -9.92 955 7820.81 roll -1.25 - - 1835.94 - 3.39 0.066 2084.06 -410.1 -77.86 - - 2813.19 - - - - - - - - - 15.95 -
8126.13 831.17 -8.38 987 8131.91 roll -1.25 - - 1835.56 - 3.75 0.126 3474.38 370.8 -77.86 - - 2809.50 - - - - - - - - - 15.95 -
8191.16 837.77 -10.40 1000 8195.73 roll -1.25 - - 1835.62 - 3.40 0.069 2085.94 -408.4 -77.86 - - 2810.94 - - - - - - - - - 15.95 -
8501.17 865.45 -9.50 1032 8506.87 roll -1.25 - - 1834.06 - 4.04 0.173 663.62 -352.1 -77.86 - - 2810.75 - - - - - - - - - 15.90 -
8560.24 870.98 -8.55 1044 8566.94 roll -1.25 - - 1835.69 - 3.54 0.061 2117.06 410.6 -77.86 - - 2809.97 - - - - - - - - - 15.96 -
8866.21 896.88 -8.40 1075 8871.98 roll -1.25 - - 1835.25 - 3.67 0.127 3472.44 369.3 -77.86 - - 2810.59 - - - - - - - - - 15.93 -
8995.08 908.17 -10.27 1101 9001.97 roll -1.25 - - 1835.56 - 3.41 0.070 2086.12 -406.5 -77.86 - - 2811.00 - - - - - - - - - 15.95 -
9301.27 930.13 -7.02 1132 9302.60 no move -1.25 - - 1835.94 - - - 2086.94 - -77.86 - - 2809.97 - - - - - - - - - - -
9601.33 952.35 -7.37 1162 9607.25 roll -1.25 - - 1835.50 - 3.81 0.128 3473.31 363.9 -77.86 - - 2810.41 - - - - - - - - - 15.94 -
9646.33 956.31 -8.79 1171 9650.90 roll -1.25 - - 1835.62 - 3.42 0.071 2085.50 -405.8 -77.86 - - 2811.09 - - - - - - - - - 15.94 -
9956.35 979.23 -7.61 1203 9957.68 no move -1.25 - - 1835.38 - - - 2085.50 - -77.86 - - 2809.69 - - - - - - - - - - -
10116 end dive: TARGET_DEPTH_EXCEEDED
10116 begin apogee
10117.65 990.71 -6.90 1219 10188.20 -0.25 1.75 0.155 2080.38 140.0 0.08 0.286 2187.25 1271.9 - 66.64 2.294 2499.12 -4.7 0.349 - - - - - - 15.87 15.10 12.39
10189 end apogee: CONTROL_FINISHED_OK
10189 begin climb
10190.00 992.63 - 1226 10274.86 1.25 2.61 0.092 2446.81 140.4 3.86 0.127 3471.50 332.7 77.86 75.28 2.213 2181.84 -4.2 0.328 - - - - - - 15.18 14.81 12.29
10276.65 986.75 7.42 1243 10283.38 roll 1.27 - - 2447.50 - 3.38 0.058 2182.88 -381.2 77.86 - - 2180.19 - - - - - - - - - 14.97 -
10582.69 957.71 10.34 1274 10588.30 done 1.27 - - 2447.38 - 3.65 0.126 3471.38 353.0 77.86 - - 2172.81 - - - - - - - - - 15.53 -
10647.72 950.30 12.04 1287 10652.25 done 1.27 - - 2446.19 - 3.24 0.061 2183.62 -397.5 77.86 - - 2170.94 - - - - - - - - - 15.54 -
10957.76 918.26 11.49 1319 10959.10 VBD 1.27 - - 2447.88 - - - 2184.31 - 77.86 - - 2168.34 - - - - - - - - - - -
11257.83 889.55 9.01 1349 11263.44 done 1.27 - - 2447.38 - 3.60 0.127 3475.06 358.5 77.86 - - 2165.44 - - - - - - - - - 15.77 -
11312.86 883.55 10.88 1360 11317.39 done 1.27 - - 2447.75 - 3.19 0.061 2182.25 -405.3 77.86 - - 2168.50 - - - - - - - - - 15.78 -
11622.92 857.14 7.71 1392 11628.52 done 1.27 - - 2447.62 - 3.56 0.126 3473.19 362.6 77.86 - - 2164.34 - - - - - - - - - 15.83 -
11641.77 855.12 8.56 1396 11648.60 done 1.27 - - 2448.25 - 3.15 0.059 2182.62 -409.7 77.86 - - 2167.12 - - - - - - - - - 15.83 -
11948.00 829.94 7.18 1427 11953.82 done 1.30 - - 2447.50 - 4.00 0.146 736.69 -361.5 77.86 - - 2163.84 - - - - - - - - - 15.84 -
11976.92 826.99 8.01 1433 11983.89 done 1.30 - - 2447.81 - 3.58 0.053 2220.12 414.4 77.86 - - 2163.72 - - - - - - - - - 15.86 -
12283.06 799.66 9.98 1464 12287.63 done 1.30 - - 2447.56 - 3.43 0.128 3472.38 365.1 77.86 - - 2164.03 - - - - - - - - - 15.86 -
12363.09 791.40 10.73 1480 12367.61 done 1.30 - - 2447.50 - 3.18 0.062 2182.06 -405.8 77.86 - - 2164.03 - - - - - - - - - 15.88 -
12673.11 762.90 8.73 1512 12678.93 done 1.30 - - 2446.88 - 3.99 0.146 735.94 -362.4 77.86 - - 2161.66 - - - - - - - - - 15.87 -
12718.14 758.61 10.35 1521 12723.74 done 1.30 - - 2447.44 - 3.60 0.056 2221.00 412.5 77.86 - - 2163.00 - - - - - - - - - 15.85 -
13023.17 733.62 7.64 1552 13028.99 done 1.30 - - 2447.38 - 4.10 0.143 735.44 -362.3 77.86 - - 2162.12 - - - - - - - - - 15.88 -
13088.26 727.61 9.72 1565 13093.82 done 1.30 - - 2447.62 - 3.59 0.056 2221.50 413.9 77.86 - - 2161.03 - - - - - - - - - 15.90 -
13393.24 706.14 6.56 1596 13397.80 done 1.34 - - 2445.75 - 3.42 0.126 3473.25 366.0 77.86 - - 2162.62 - - - - - - - - - 15.89 -
13423.25 704.08 6.89 1602 13427.81 1.38 0.16 0.114 2480.19 215.3 3.14 0.058 2179.88 -411.9 77.86 - - 2162.16 - - - - - - - - 15.85 15.90 -
13733.28 681.16 7.06 1634 13738.86 done 1.41 - - 2481.62 - 3.52 0.122 3474.88 367.9 77.86 - - 2162.78 - - - - - - - - - 15.90 -
13788.28 676.48 8.85 1645 13792.80 done 1.41 - - 2481.94 - 3.15 0.059 2180.56 -410.9 77.86 - - 2162.25 - - - - - - - - - 15.90 -
14098.32 653.95 6.85 1677 14104.12 done 1.44 - - 2481.38 - 3.97 0.141 736.56 -363.7 77.86 - - 2161.22 - - - - - - - - - 15.85 -
14137.16 650.80 7.78 1685 14144.08 done 1.44 - - 2481.50 - 3.56 0.053 2221.25 417.0 77.86 - - 2162.12 - - - - - - - - - 15.92 -
14443.37 629.22 7.44 1716 14447.94 done 1.46 - - 2481.31 - 3.39 0.124 3473.00 369.2 77.86 - - 2161.31 - - - - - - - - - 15.89 -
14537.22 621.40 7.58 1735 14544.19 done 1.46 - - 2481.50 - 3.13 0.057 2180.12 -413.1 77.86 - - 2162.06 - - - - - - - - - 15.91 -
14843.42 598.83 6.98 1766 14849.03 done 1.49 - - 2481.50 - 3.51 0.120 3473.56 368.5 77.86 - - 2159.34 - - - - - - - - - 15.91 -
14902.26 593.58 8.35 1778 14909.24 done 1.49 - - 2481.25 - 3.12 0.056 2179.50 -414.8 77.86 - - 2160.75 - - - - - - - - - 15.91 -
15208.46 571.80 7.30 1809 15214.10 1.52 0.16 0.106 2515.19 212.1 3.51 0.118 3472.56 368.4 77.86 - - 2161.66 - - - - - - - - 15.88 15.90 -
15277.38 566.57 7.76 1823 15284.16 done 1.52 - - 2517.19 - 3.12 0.056 2178.06 -414.9 77.86 - - 2161.47 - - - - - - - - - 15.92 -
15583.51 545.16 6.66 1854 15589.09 done 1.56 - - 2516.44 - 3.49 0.119 3473.06 371.1 77.86 - - 2159.47 - - - - - - - - - 15.92 -
15602.36 543.32 6.78 1858 15609.18 done 1.59 - - 2516.19 - 3.11 0.055 2177.62 -416.5 77.86 - - 2161.75 - - - - - - - - - 15.92 -
15908.55 522.53 7.04 1889 15914.33 done 1.63 - - 2517.62 - 3.90 0.139 735.81 -369.7 77.86 - - 2161.28 - - - - - - - - - 15.90 -
16023.57 512.99 8.05 1912 16028.39 done 1.63 - - 2515.69 - 3.56 0.051 2221.94 417.5 77.86 - - 2159.53 - - - - - - - - - 15.92 -
16333.66 491.18 6.65 1944 16339.26 1.67 0.17 0.100 2552.94 219.1 3.38 0.119 3472.69 370.0 77.86 - - 2162.62 - - - - - - - - 15.87 15.86 -
16448.67 481.91 8.16 1967 16453.21 done 1.67 - - 2553.88 - 3.11 0.055 2177.56 -416.4 77.86 - - 2161.56 - - - - - - - - - 15.90 -
16758.74 459.83 7.70 1999 16760.07 VBD 1.67 - - 2553.88 - - - 2178.50 - 77.86 - - 2160.47 - - - - - - - - - - -
17058.82 439.70 6.49 2029 17060.15 VBD 1.71 - - 2553.62 - - - 2178.69 - 77.86 - - 2160.62 - - - - - - - - - - -
17358.88 422.86 5.01 2059 17400.53 1.84 0.20 0.099 2594.00 201.9 3.59 0.118 3472.75 360.5 121.25 36.24 1.626 2005.00 -4.3 0.194 - - - - - - 15.90 15.52 12.42
17468.95 412.79 12.58 2081 17473.69 roll 1.84 - - 2594.69 - 3.20 0.056 2180.19 -403.9 121.25 - - 2002.41 - - - - - - - - - 15.63 -
17778.96 378.80 10.96 2113 17784.56 roll 1.84 - - 2594.12 - 3.55 0.114 3475.00 364.7 121.25 - - 1998.84 - - - - - - - - - 15.74 -
17887.85 364.83 12.90 2135 17894.70 roll 1.84 - - 2593.56 - 3.19 0.054 2180.69 -405.7 121.25 - - 1999.47 - - - - - - - - - 15.78 -
18194.06 331.40 10.31 2166 18199.67 roll 1.84 - - 2594.69 - 3.52 0.112 3473.12 367.2 121.25 - - 1997.53 - - - - - - - - - 15.78 -
18269.10 321.92 12.30 2181 18273.62 roll 1.84 - - 2593.56 - 3.16 0.055 2179.50 -409.4 121.25 - - 1998.44 - - - - - - - - - 15.81 -
18579.12 287.10 10.38 2213 18583.70 done 1.84 - - 2593.62 - 3.47 0.113 3474.94 373.3 121.25 - - 1995.41 - - - - - - - - - 15.80 -
18683.08 274.70 11.47 2234 18689.85 done 1.84 - - 2593.81 - 3.14 0.055 2175.94 -413.7 121.25 - - 1997.38 - - - - - - - - - 15.84 -
18989.19 242.05 10.55 2265 18995.00 done 1.84 - - 2593.38 - 3.91 0.133 736.75 -368.1 121.25 - - 1997.50 - - - - - - - - - 15.85 -
19044.24 235.50 12.18 2276 19049.94 done 1.84 - - 2593.62 - 3.55 0.051 2226.44 419.6 121.25 - - 1996.84 - - - - - - - - - 15.87 -
19349.24 207.09 9.25 2307 19353.79 done 1.84 - - 2593.62 - 3.32 0.116 3474.12 375.8 121.25 - - 1996.97 - - - - - - - - - 15.86 -
19419.27 200.29 9.44 2321 19423.78 done 1.84 - - 2593.69 - 3.14 0.053 2178.25 -412.7 121.25 - - 1996.75 - - - - - - - - - 15.87 -
19729.29 172.02 8.36 2353 19733.87 done 1.84 - - 2593.56 - 3.46 0.111 3474.62 374.7 121.25 - - 1996.72 - - - - - - - - - 15.88 -
19743.14 170.59 8.25 2356 19749.98 done 1.84 - - 2593.69 - 3.12 0.051 2178.19 -415.5 121.25 - - 1997.69 - - - - - - - - - 15.86 -
20049.33 147.60 8.20 2387 20055.00 done 1.84 - - 2594.31 - 3.90 0.130 736.19 -369.7 121.25 - - 1994.28 - - - - - - - - - 15.83 -
20124.41 140.66 9.48 2402 20129.98 done 1.84 - - 2594.56 - 3.57 0.049 2225.62 417.2 121.25 - - 1993.81 - - - - - - - - - 15.88 -
20429.39 119.59 5.21 2433 20470.82 done 1.97 - - 2594.19 - 3.42 0.115 3473.00 364.7 161.71 34.17 1.264 1840.09 -4.5 0.074 - - - - - - - 15.55 12.43
20603.25 104.51 10.50 2468 20610.09 roll 1.97 - - 2594.25 - 3.17 0.052 2179.06 -408.2 161.71 - - 1836.88 - - - - - - - - - 15.68 -
20909.56 83.94 4.62 2523 20955.00 2.11 0.38 0.085 2659.56 171.9 - - 2178.94 - 210.73 41.12 1.210 1640.03 -4.8 0.058 - - - - - - 15.73 - 12.36
21134.51 67.35 8.87 2568 21140.26 roll 2.11 - - 2659.69 - 3.57 0.110 3472.31 362.3 210.73 - - 1634.94 - - - - - - - - - 15.60 -
21264.55 58.08 6.37 2594 21270.23 roll 2.16 - - 2660.25 - 3.17 0.050 2177.62 -408.4 210.73 - - 1633.53 - - - - - - - - - 15.67 -
21449.61 53.34 2.19 2631 21526.50 2.41 0.43 0.077 2733.12 169.5 4.10 0.128 736.81 -351.4 294.39 68.12 1.158 1299.53 -4.9 0.039 - - - - - - 15.70 15.23 12.40
21750.83 10.61 19.56 2691 21756.61 roll 2.41 - - 2734.00 - 3.65 0.049 2224.12 407.5 294.39 - - 1294.84 - - - - - - - - - 15.58 -
21805 end climb: SURFACE_DEPTH_REACHED
21805 begin surface coast
21815 end surface coast: CONTROL_FINISHED_OK
21815 begin surface
SM 0.47 - - - - 176.6 - 2.685 768.8 - 17.36 0.080 772.9 44.5 - 0.34 0.096 764.8 2238.7 -1.120 - - 30.36 15.56 15.62 -