NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 504 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 150.66 of 575.00 AH used of 24V (73.80% remains)
• Surface angle -66.3 deg, depth 0.80 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 2 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
7.17 - - - 86.21 VBD -1.25 - - 175.19 - - - 2116.81 - -77.86 78.44 0.005 2533.22 - - - - - - - - - - 15.18
86.48 3.58 -3.85 15 118.38 -1.25 14.47 0.255 1834.94 114.7 4.18 0.152 662.19 -348.0 -77.86 7.00 0.008 2816.69 40.5 -3.146 - - - - - - 15.35 15.18 15.28
126.18 12.38 -19.86 23 131.87 roll -1.25 - - 1834.81 - 3.60 0.050 2119.88 404.9 -77.86 - - 2818.88 - - - - - - - - - 15.53 -
311.18 48.92 -21.50 60 317.04 roll -1.25 - - 1835.00 - 4.11 0.148 663.44 -354.4 -77.86 - - 2816.72 - - - - - - - - - 15.54 -
456.21 77.45 -16.27 89 461.97 roll -1.25 - - 1835.12 - 3.53 0.049 2119.25 412.4 -77.86 - - 2816.22 - - - - - - - - - 15.67 -
641.25 97.70 -10.91 126 647.03 roll -1.25 - - 1834.94 - 3.62 0.107 3476.25 374.9 -77.86 - - 2817.19 - - - - - - - - - 15.69 -
871.32 124.74 -11.65 172 875.95 roll -1.25 - - 1834.75 - 3.38 0.055 2080.44 -413.0 -77.86 - - 2816.50 - - - - - - - - - 15.75 -
1181.34 155.74 -9.92 204 1187.04 roll -1.25 - - 1834.94 - 3.74 0.107 3474.31 372.7 -77.86 - - 2819.03 - - - - - - - - - 15.75 -
1410.37 182.80 -11.26 250 1417.10 roll -1.25 - - 1835.19 - 3.38 0.056 2082.12 -411.9 -77.86 - - 2819.53 - - - - - - - - - 15.79 -
1716.41 213.93 -9.80 281 1722.19 roll -1.25 - - 1834.19 - 3.72 0.106 3474.12 374.2 -77.86 - - 2819.12 - - - - - - - - - 15.78 -
1845.27 228.34 -10.71 307 1852.15 roll -1.25 - - 1835.12 - 3.39 0.057 2080.62 -411.1 -77.86 - - 2817.38 - - - - - - - - - 15.82 -
2151.45 258.25 -9.24 338 2152.78 no move -1.25 - - 1835.31 - - - 2080.94 - -77.86 - - 2817.50 - - - - - - - - - - -
2451.48 286.85 -9.40 368 2457.30 roll -1.25 - - 1834.25 - 3.98 0.152 662.38 -356.4 -77.86 - - 2819.09 - - - - - - - - - 15.73 -
2506.51 292.51 -10.45 379 2512.11 roll -1.25 - - 1834.50 - 3.53 0.051 2120.50 413.1 -77.86 - - 2817.59 - - - - - - - - - 15.85 -
2811.54 320.88 -9.48 410 2817.30 roll -1.25 - - 1835.31 - 3.65 0.113 3474.31 370.9 -77.86 - - 2814.91 - - - - - - - - - 15.80 -
2926.55 332.86 -10.70 433 2931.13 roll -1.25 - - 1835.19 - 3.40 0.058 2080.94 -409.8 -77.86 - - 2816.66 - - - - - - - - - 15.85 -
3236.59 362.78 -10.37 465 3242.42 roll -1.25 - - 1835.88 - 3.97 0.153 662.44 -357.3 -77.86 - - 2819.34 - - - - - - - - - 15.73 -
3311.69 371.63 -11.79 480 3317.22 roll -1.25 - - 1834.50 - 3.53 0.053 2120.38 413.0 -77.86 - - 2816.12 - - - - - - - - - 15.84 -
3616.80 402.46 -9.51 511 3622.37 roll -1.25 - - 1834.50 - 4.09 0.153 663.12 -356.3 -77.86 - - 2815.22 - - - - - - - - - 15.73 -
3641.68 405.03 -9.86 516 3647.27 roll -1.25 - - 1834.75 - 3.51 0.052 2119.12 414.8 -77.86 - - 2819.34 - - - - - - - - - 15.85 -
3946.72 434.44 -8.97 547 3952.41 roll -1.25 - - 1834.94 - 4.09 0.156 662.25 -356.2 -77.86 - - 2815.41 - - - - - - - - - 15.72 -
3991.74 439.76 -12.11 556 3997.33 roll -1.25 - - 1834.62 - 3.49 0.055 2118.88 417.4 -77.86 - - 2817.44 - - - - - - - - - 15.85 -
4296.78 467.80 -8.92 587 4301.61 roll -1.25 - - 1835.25 - 3.62 0.116 3474.12 374.4 -77.86 - - 2815.44 - - - - - - - - - 15.79 -
4356.82 474.17 -10.00 599 4361.38 roll -1.25 - - 1835.38 - 3.40 0.060 2083.50 -409.0 -77.86 - - 2816.56 - - - - - - - - - 15.85 -
4666.86 502.16 -9.29 631 4672.56 roll -1.25 - - 1835.62 - 4.02 0.160 662.19 -353.6 -77.86 - - 2815.81 - - - - - - - - - 15.71 -
4711.90 506.84 -11.57 640 4717.48 roll -1.25 - - 1835.00 - 3.50 0.054 2117.94 415.9 -77.86 - - 2815.19 - - - - - - - - - 15.85 -
5016.93 533.77 -8.58 671 5022.71 roll -1.25 - - 1835.12 - 4.11 0.159 663.25 -353.9 -77.86 - - 2816.09 - - - - - - - - - 15.70 -
5061.96 538.20 -10.34 680 5067.55 roll -1.25 - - 1835.06 - 3.52 0.055 2119.75 413.8 -77.86 - - 2817.75 - - - - - - - - - 15.85 -
5367.01 564.98 -8.72 711 5372.77 roll -1.25 - - 1835.25 - 3.62 0.118 3475.00 374.4 -77.86 - - 2813.62 - - - - - - - - - 15.78 -
5502.05 578.28 -9.96 738 5506.62 roll -1.25 - - 1835.12 - 3.39 0.062 2081.75 -411.0 -77.86 - - 2815.62 - - - - - - - - - 15.84 -
5812.10 606.45 -8.41 770 5817.80 roll -1.25 - - 1834.31 - 4.03 0.164 663.44 -351.9 -77.86 - - 2815.47 - - - - - - - - - 15.69 -
5847.12 610.12 -10.48 777 5852.73 roll -1.25 - - 1834.56 - 3.53 0.056 2119.38 412.4 -77.86 - - 2817.16 - - - - - - - - - 15.85 -
6152.14 638.31 -8.99 808 6157.90 roll -1.25 - - 1833.69 - 3.62 0.122 3475.12 374.5 -77.86 - - 2817.00 - - - - - - - - - 15.77 -
6197.16 642.84 -10.83 817 6201.74 roll -1.25 - - 1835.12 - 3.41 0.063 2084.25 -407.9 -77.86 - - 2815.22 - - - - - - - - - 15.83 -
6507.19 670.52 -9.14 849 6513.00 roll -1.25 - - 1834.38 - 4.07 0.165 663.06 -349.2 -77.86 - - 2816.06 - - - - - - - - - 15.67 -
6656.19 686.27 -11.27 879 6662.97 roll -1.25 - - 1834.75 - 3.55 0.059 2117.94 409.8 -77.86 - - 2813.72 - - - - - - - - - 15.85 -
6962.25 712.10 -8.60 910 6968.02 roll -1.25 - - 1835.25 - 3.64 0.121 3473.75 372.5 -77.86 - - 2812.72 - - - - - - - - - 15.75 -
7061.33 721.89 -9.43 930 7067.99 roll -1.25 - - 1834.38 - 3.38 0.065 2083.06 -411.4 -77.86 - - 2816.00 - - - - - - - - - 15.81 -
7367.29 745.74 -7.68 961 7373.13 roll -1.25 - - 1835.00 - 4.05 0.168 664.38 -350.3 -77.86 - - 2812.53 - - - - - - - - - 15.66 -
7502.32 758.77 -9.87 988 7507.05 roll -1.25 - - 1835.06 - 3.56 0.059 2115.88 407.7 -77.86 - - 2814.03 - - - - - - - - - 15.84 -
7812.35 784.73 -7.86 1020 7818.11 roll -1.25 - - 1834.56 - 3.64 0.122 3474.62 373.3 -77.86 - - 2812.72 - - - - - - - - - 15.74 -
7967.38 799.41 -9.93 1051 7971.97 roll -1.25 - - 1835.00 - 3.43 0.066 2082.69 -405.8 -77.86 - - 2812.34 - - - - - - - - - 15.80 -
8277.40 825.45 -9.22 1083 8283.10 roll -1.25 - - 1835.06 - 4.07 0.170 662.94 -348.8 -77.86 - - 2810.22 - - - - - - - - - 15.64 -
8326.41 829.94 -11.31 1093 8333.17 roll -1.25 - - 1834.44 - 3.56 0.059 2116.31 408.2 -77.86 - - 2814.31 - - - - - - - - - 15.84 -
8632.45 854.75 -8.02 1124 8638.23 roll -1.25 - - 1834.88 - 3.71 0.123 3473.38 365.8 -77.86 - - 2809.72 - - - - - - - - - 15.73 -
8691.44 860.95 -10.30 1136 8698.21 roll -1.25 - - 1834.38 - 3.40 0.065 2084.88 -408.4 -77.86 - - 2814.09 - - - - - - - - - 15.78 -
8997.49 885.77 -7.93 1167 9003.18 roll -1.25 - - 1834.75 - 4.07 0.172 663.44 -349.2 -77.86 - - 2809.56 - - - - - - - - - 15.62 -
9026.49 888.79 -9.03 1173 9033.25 roll -1.25 - - 1835.25 - 3.57 0.061 2115.50 406.7 -77.86 - - 2811.56 - - - - - - - - - 15.82 -
9332.53 913.32 -7.21 1204 9338.31 roll -1.25 - - 1835.00 - 3.70 0.124 3473.12 366.9 -77.86 - - 2813.19 - - - - - - - - - 15.72 -
9371.40 917.10 -9.45 1212 9378.28 roll -1.25 - - 1835.25 - 3.41 0.066 2085.44 -406.9 -77.86 - - 2811.56 - - - - - - - - - 15.77 -
9677.57 939.10 -7.53 1243 9678.90 no move -1.25 - - 1834.94 - - - 2085.62 - -77.86 - - 2810.88 - - - - - - - - - - -
9977.61 959.87 -6.47 1273 9983.33 roll -1.25 - - 1834.12 - 4.11 0.175 663.25 -346.1 -77.86 - - 2812.41 - - - - - - - - - 15.60 -
10046.69 966.18 -7.95 1287 10053.40 roll -1.25 - - 1834.69 - 3.60 0.064 2114.31 403.1 -77.86 - - 2811.44 - - - - - - - - - 15.80 -
10352.72 987.84 -7.86 1318 10358.63 roll -1.25 - - 1834.69 - 3.74 0.126 3473.00 363.3 -77.86 - - 2810.88 - - - - - - - - - 15.71 -
10377 end dive: TARGET_DEPTH_EXCEEDED
10377 begin apogee
10382.55 990.03 -8.54 1323 10453.57 -0.25 1.85 0.156 2079.31 132.2 0.06 0.339 2212.25 -21012.5 - 67.29 2.289 2496.97 -4.7 0.350 - - - - - - 15.70 15.05 11.88
10455 end apogee: CONTROL_FINISHED_OK
10455 begin climb
10455.61 991.38 - 1330 10540.29 1.25 2.67 0.094 2446.50 137.5 4.43 0.149 737.31 -332.9 77.86 75.74 2.204 2178.78 -4.2 0.328 - - - - - - 15.14 14.75 12.26
10542.13 986.40 5.22 1344 10589.82 1.37 0.17 0.092 2482.12 209.5 3.84 0.052 2216.06 385.1 118.29 41.22 2.121 2016.19 -3.9 0.318 - - - - - - 14.91 14.92 12.04
10888.09 946.75 13.22 1383 10889.42 VBD 1.37 - - 2481.06 - - - 2215.50 - 118.29 - - 2005.41 - - - - - - - - - - -
11188.12 910.19 12.67 1413 11189.45 VBD 1.37 - - 2481.94 - - - 2216.00 - 118.29 - - 2002.69 - - - - - - - - - - -
11488.16 872.91 12.32 1443 11493.76 done 1.37 - - 2482.25 - 3.54 0.127 3472.94 355.1 118.29 - - 2000.41 - - - - - - - - - 15.65 -
11543.18 864.92 15.82 1454 11547.73 done 1.37 - - 2481.75 - 3.20 0.060 2183.12 -403.1 118.29 - - 2000.78 - - - - - - - - - 15.66 -
11853.22 828.47 11.68 1486 11854.55 VBD 1.37 - - 2481.94 - - - 2182.56 - 118.29 - - 1998.53 - - - - - - - - - - -
12153.24 793.84 11.69 1516 12159.07 done 1.37 - - 2481.38 - 4.03 0.145 737.25 -358.6 118.29 - - 2001.34 - - - - - - - - - 15.66 -
12172.17 791.46 11.60 1520 12179.02 done 1.37 - - 2481.56 - 3.62 0.053 2218.94 409.3 118.29 - - 2000.19 - - - - - - - - - 15.77 -
12478.29 758.16 11.00 1551 12479.62 VBD 1.37 - - 2482.75 - - - 2218.88 - 118.29 - - 1998.16 - - - - - - - - - - -
12778.32 723.27 10.55 1581 12784.19 done 1.37 - - 2481.50 - 4.12 0.143 737.00 -359.7 118.29 - - 1996.56 - - - - - - - - - 15.68 -
12813.33 718.67 13.50 1588 12819.02 done 1.37 - - 2481.94 - 3.62 0.053 2219.88 409.6 118.29 - - 1995.66 - - - - - - - - - 15.80 -
13118.36 686.05 11.34 1619 13124.20 done 1.37 - - 2482.31 - 4.12 0.141 735.00 -360.4 118.29 - - 1996.03 - - - - - - - - - 15.68 -
13223.38 673.85 12.76 1640 13229.07 done 1.37 - - 2482.12 - 3.61 0.055 2221.25 411.7 118.29 - - 1997.03 - - - - - - - - - 15.75 -
13528.49 643.57 8.91 1671 13534.24 done 1.37 - - 2482.50 - 4.09 0.140 737.25 -362.8 118.29 - - 1996.75 - - - - - - - - - 15.68 -
13563.43 639.66 11.16 1678 13568.16 done 1.37 - - 2482.56 - 3.59 0.052 2214.94 411.6 118.29 - - 1996.94 - - - - - - - - - 15.80 -
13873.45 609.96 9.49 1710 13879.20 done 1.37 - - 2482.88 - 4.09 0.139 736.06 -361.6 118.29 - - 1994.72 - - - - - - - - - 15.67 -
13888.46 608.50 9.10 1713 13893.21 done 1.37 - - 2482.94 - 3.58 0.053 2220.38 414.6 118.29 - - 1997.25 - - - - - - - - - 15.80 -
14198.49 578.99 9.11 1745 14203.07 done 1.37 - - 2482.88 - 3.43 0.122 3473.62 365.4 118.29 - - 1994.50 - - - - - - - - - 15.72 -
14233.03 575.17 10.91 1752 14239.31 done 1.37 - - 2483.00 - 3.12 0.056 2180.88 -414.3 118.29 - - 1996.09 - - - - - - - - - 15.79 -
14538.52 548.63 8.08 1783 14544.13 done 1.37 - - 2482.69 - 3.53 0.118 3473.81 366.3 118.29 - - 1995.06 - - - - - - - - - 15.72 -
14663.54 536.10 10.84 1808 14668.08 done 1.37 - - 2482.56 - 3.14 0.057 2179.81 -412.1 118.29 - - 1996.16 - - - - - - - - - 15.72 -
14973.58 507.97 8.53 1840 14979.39 done 1.37 - - 2482.75 - 3.94 0.138 736.44 -366.3 118.29 - - 1997.19 - - - - - - - - - 15.67 -
15112.54 494.08 9.63 1868 15119.39 done 1.37 - - 2483.12 - 3.55 0.051 2221.19 418.2 118.29 - - 1995.34 - - - - - - - - - 15.82 -
15418.71 469.34 7.68 1899 15424.65 done 1.37 - - 2482.88 - 4.05 0.134 736.00 -366.7 118.29 - - 1993.47 - - - - - - - - - 15.67 -
15483.78 463.29 9.55 1912 15489.46 done 1.37 - - 2483.06 - 3.58 0.052 2221.19 414.9 118.29 - - 1993.81 - - - - - - - - - 15.80 -
15788.78 437.92 7.93 1943 15794.60 done 1.37 - - 2482.38 - 4.05 0.134 735.44 -366.9 118.29 - - 1995.59 - - - - - - - - - 15.67 -
15833.80 433.59 9.50 1952 15838.52 done 1.37 - - 2482.81 - 3.59 0.051 2220.56 413.7 118.29 - - 1997.09 - - - - - - - - - 15.70 -
16143.86 408.41 8.26 1984 16148.41 done 1.37 - - 2483.06 - 3.39 0.117 3474.25 369.8 118.29 - - 1995.25 - - - - - - - - - 15.70 -
16227.75 400.71 9.19 2001 16234.59 done 1.37 - - 2483.00 - 3.13 0.054 2179.62 -413.6 118.29 - - 1995.44 - - - - - - - - - 15.69 -
16533.96 375.75 8.24 2032 16539.77 done 1.37 - - 2483.31 - 3.91 0.136 735.38 -369.4 118.29 - - 1994.28 - - - - - - - - - 15.65 -
16558.98 373.42 8.32 2037 16564.59 done 1.37 - - 2483.25 - 3.55 0.048 2223.88 419.3 118.29 - - 1996.91 - - - - - - - - - 15.70 -
16864.03 350.90 8.15 2068 16868.59 done 1.37 - - 2482.75 - 3.39 0.114 3474.75 369.0 118.29 - - 1997.09 - - - - - - - - - 15.70 -
16887.88 348.87 8.78 2073 16894.73 done 1.37 - - 2482.75 - 3.12 0.051 2177.81 -415.7 118.29 - - 1996.84 - - - - - - - - - 15.69 -
17194.10 326.90 6.88 2104 17199.90 done 1.41 - - 2482.75 - 3.92 0.134 735.44 -368.0 118.29 - - 1994.22 - - - - - - - - - 15.65 -
17269.18 320.54 8.82 2119 17274.86 done 1.41 - - 2482.75 - 3.56 0.051 2222.88 417.8 118.29 - - 1992.84 - - - - - - - - - 15.79 -
17574.17 299.51 6.48 2150 17579.98 done 1.46 - - 2482.62 - 4.04 0.130 735.38 -368.2 118.29 - - 1993.31 - - - - - - - - - 15.60 -
17683.08 290.07 9.13 2172 17689.92 done 1.46 - - 2483.19 - 3.58 0.050 2224.94 416.1 118.29 - - 1994.44 - - - - - - - - - 15.80 -
17989.22 268.93 6.78 2203 17995.32 done 1.49 - - 2482.69 - 4.03 0.129 736.19 -369.4 118.29 - - 1996.06 - - - - - - - - - 15.61 -
18088.12 260.20 9.56 2223 18094.98 done 1.49 - - 2483.06 - 3.58 0.050 2225.00 415.9 118.29 - - 1995.19 - - - - - - - - - 15.70 -
18394.27 238.18 7.82 2254 18395.60 VBD 1.49 - - 2482.94 - - - 2225.38 - 118.29 - - 1994.84 - - - - - - - - - - -
18694.30 216.91 6.84 2284 18695.77 1.53 0.17 0.095 2518.88 211.4 - - 2225.06 - 118.29 - - 1993.31 - - - - - - - - 15.78 - -
18994.32 193.24 8.04 2314 18995.65 VBD 1.53 - - 2519.00 - - - 2224.88 - 118.29 - - 1994.88 - - - - - - - - - - -
19294.38 170.11 7.50 2344 19295.71 VBD 1.55 - - 2519.12 - - - 2225.44 - 118.29 - - 1994.59 - - - - - - - - - - -
19594.39 150.49 5.98 2374 19624.99 done 1.64 - - 2519.06 - 3.42 0.116 3474.19 365.1 147.81 23.08 1.234 1895.53 -4.3 0.091 - - - - - - - 15.61 11.85
19728.24 139.26 9.07 2401 19735.09 roll 1.64 - - 2519.00 - 3.16 0.052 2180.25 -409.5 147.81 - - 1894.03 - - - - - - - - - 15.64 -
20034.44 115.22 8.13 2432 20040.28 roll 1.64 - - 2519.62 - 3.96 0.129 735.06 -364.9 147.81 - - 1891.22 - - - - - - - - - 15.56 -
20149.46 104.80 9.48 2455 20154.21 roll 1.64 - - 2519.25 - 3.61 0.048 2218.88 411.0 147.81 - - 1894.31 - - - - - - - - - 15.71 -
20454.54 83.54 4.89 2511 20501.31 1.77 0.32 0.074 2581.00 193.0 4.09 0.124 735.06 -362.8 192.95 38.69 1.175 1713.41 -4.7 0.058 - - - - - - 15.71 15.47 12.06
20679.58 65.69 7.79 2556 20685.35 roll 1.77 - - 2580.44 - 3.64 0.047 2225.44 409.4 192.95 - - 1707.88 - - - - - - - - - 15.59 -
20864.80 60.69 2.06 2593 20942.22 2.03 0.34 0.076 2640.62 177.0 4.20 0.122 735.06 -354.9 278.46 70.55 1.146 1364.25 -4.9 0.045 - - - - - - 15.62 15.23 12.10
21005.01 54.88 6.24 2621 21010.77 roll 2.08 - - 2641.00 - 3.69 0.045 2225.69 404.0 278.46 - - 1360.94 - - - - - - - - - 15.41 -
21190.09 38.35 9.35 2658 21196.03 roll 2.08 - - 2640.38 - 3.45 0.108 3473.75 361.8 278.46 - - 1358.75 - - - - - - - - - 15.48 -
21275.12 28.70 11.72 2675 21280.80 roll 2.08 - - 2640.31 - 3.18 0.047 2179.69 -406.9 278.46 - - 1357.69 - - - - - - - - - 15.57 -
21460.16 8.12 11.11 2712 21465.97 roll 2.08 - - 2640.38 - 3.95 0.127 735.19 -365.7 278.46 - - 1357.81 - - - - - - - - - 15.53 -
21510 end climb: SURFACE_DEPTH_REACHED
21510 begin surface coast
21515 end surface coast: CONTROL_FINISHED_OK
21515 begin surface
SM 0.76 - - - - 174.1 - 0.016 767.4 - 17.25 0.094 763.3 44.2 - 3.32 0.043 771.5 231.2 -0.418 - - 30.36 15.57 15.67 -