NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 513 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 153.53 of 575.00 AH used of 24V (73.30% remains)
• Surface angle -60.6 deg, depth 0.76 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.98 (SM_CC=425)
• GPS1 time: 18 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
7.24 - - - 86.28 VBD -1.25 - - 175.44 - - - 2116.81 - -77.86 78.44 0.005 2486.91 - - - - - - - - - - 15.15
86.55 3.16 -3.37 15 118.53 -1.25 14.62 0.260 1835.69 113.6 4.17 0.152 662.25 -348.8 -77.86 8.36 0.007 2817.47 39.5 -3.108 - - - - - - 15.33 15.15 15.25
166.33 21.29 -23.60 31 172.10 roll -1.25 - - 1836.06 - 3.58 0.053 2120.25 407.3 -77.86 - - 2816.59 - - - - - - - - - 15.55 -
351.38 56.38 -18.51 68 357.16 roll -1.25 - - 1835.94 - 3.66 0.112 3474.06 369.9 -77.86 - - 2816.94 - - - - - - - - - 15.60 -
406.40 66.90 -18.30 79 412.12 roll -1.25 - - 1835.81 - 3.40 0.058 2080.50 -409.9 -77.86 - - 2816.81 - - - - - - - - - 15.64 -
591.43 91.62 -11.17 116 597.27 roll -1.25 - - 1836.06 - 3.96 0.148 662.19 -358.2 -77.86 - - 2816.66 - - - - - - - - - 15.59 -
636.46 97.03 -11.87 125 642.19 roll -1.25 - - 1835.94 - 3.48 0.049 2121.88 419.5 -77.86 - - 2819.31 - - - - - - - - - 15.69 -
826.47 116.80 -10.60 147 827.79 no move -1.25 - - 1835.88 - - - 2122.38 - -77.86 - - 2817.12 - - - - - - - - - - -
1126.50 148.86 -10.28 177 1131.27 roll -1.25 - - 1835.75 - 3.61 0.111 3473.31 374.2 -77.86 - - 2817.09 - - - - - - - - - 15.71 -
1170.37 153.88 -11.47 186 1177.25 roll -1.25 - - 1835.75 - 3.35 0.056 2079.44 -416.1 -77.86 - - 2817.12 - - - - - - - - - 15.77 -
1476.56 185.68 -11.49 217 1482.39 roll -1.25 - - 1835.75 - 3.92 0.150 663.00 -361.3 -77.86 - - 2817.53 - - - - - - - - - 15.67 -
1561.65 196.34 -13.32 234 1567.19 roll -1.25 - - 1835.44 - 3.51 0.052 2119.50 415.0 -77.86 - - 2816.38 - - - - - - - - - 15.79 -
1866.61 228.26 -10.95 265 1872.38 roll -1.25 - - 1836.06 - 3.62 0.112 3473.50 374.0 -77.86 - - 2816.38 - - - - - - - - - 15.75 -
1935.49 236.52 -11.96 279 1942.35 roll -1.25 - - 1835.12 - 3.35 0.057 2079.56 -416.1 -77.86 - - 2819.41 - - - - - - - - - 15.82 -
2241.69 267.52 -9.44 310 2243.01 no move -1.25 - - 1835.88 - - - 2079.31 - -77.86 - - 2816.94 - - - - - - - - - - -
2541.74 297.34 -9.68 340 2543.07 no move -1.25 - - 1835.62 - - - 2079.62 - -77.86 - - 2817.16 - - - - - - - - - - -
2841.81 327.74 -10.41 370 2847.60 roll -1.25 - - 1835.81 - 3.76 0.116 3475.50 371.2 -77.86 - - 2814.97 - - - - - - - - - 15.77 -
2876.84 331.43 -10.54 377 2881.40 roll -1.25 - - 1835.88 - 3.38 0.060 2080.38 -412.8 -77.86 - - 2817.41 - - - - - - - - - 15.84 -
3186.89 361.63 -9.31 409 3188.22 no move -1.25 - - 1835.69 - - - 2080.12 - -77.86 - - 2817.31 - - - - - - - - - - -
3486.95 391.07 -9.85 439 3492.75 roll -1.25 - - 1835.56 - 3.78 0.116 3474.81 369.0 -77.86 - - 2816.38 - - - - - - - - - 15.76 -
3591.99 402.33 -11.39 460 3596.57 roll -1.25 - - 1835.88 - 3.36 0.062 2081.25 -414.8 -77.86 - - 2816.69 - - - - - - - - - 15.83 -
3902.05 432.46 -9.43 492 3907.87 roll -1.25 - - 1835.88 - 3.91 0.156 663.25 -362.7 -77.86 - - 2817.12 - - - - - - - - - 15.68 -
4041.09 448.85 -12.36 520 4047.84 roll -1.25 - - 1835.12 - 3.48 0.054 2118.38 418.1 -77.86 - - 2818.81 - - - - - - - - - 15.85 -
4347.16 477.86 -10.22 551 4352.92 roll -1.25 - - 1835.75 - 3.64 0.119 3473.19 372.2 -77.86 - - 2814.78 - - - - - - - - - 15.75 -
4406.03 483.80 -10.31 563 4412.91 roll -1.25 - - 1835.75 - 3.36 0.061 2081.50 -414.2 -77.86 - - 2817.53 - - - - - - - - - 15.83 -
4712.21 511.40 -8.64 594 4717.99 roll -1.25 - - 1836.06 - 3.75 0.117 3473.88 371.3 -77.86 - - 2816.12 - - - - - - - - - 15.74 -
4771.09 517.88 -10.65 606 4777.97 roll -1.25 - - 1835.94 - 3.37 0.063 2081.56 -413.2 -77.86 - - 2817.09 - - - - - - - - - 15.81 -
5077.27 546.08 -9.97 637 5078.60 no move -1.25 - - 1836.06 - - - 2081.31 - -77.86 - - 2813.72 - - - - - - - - - - -
5377.31 575.19 -9.72 667 5383.10 roll -1.25 - - 1835.56 - 3.82 0.120 3473.88 364.5 -77.86 - - 2815.88 - - - - - - - - - 15.73 -
5412.32 579.19 -11.60 674 5416.90 roll -1.25 - - 1835.75 - 3.39 0.064 2082.31 -410.5 -77.86 - - 2814.38 - - - - - - - - - 15.82 -
5722.35 607.83 -9.55 706 5728.13 roll -1.25 - - 1836.25 - 3.78 0.120 3473.38 368.0 -77.86 - - 2812.59 - - - - - - - - - 15.72 -
5767.37 612.26 -9.81 715 5771.93 roll -1.25 - - 1836.06 - 3.37 0.064 2082.50 -412.7 -77.86 - - 2814.81 - - - - - - - - - 15.82 -
6077.40 641.66 -9.30 747 6083.09 roll -1.25 - - 1836.00 - 3.98 0.163 663.19 -356.6 -77.86 - - 2813.28 - - - - - - - - - 15.64 -
6112.42 645.03 -11.07 754 6118.01 roll -1.25 - - 1835.44 - 3.50 0.057 2119.94 416.2 -77.86 - - 2816.91 - - - - - - - - - 15.83 -
6417.44 673.30 -8.64 785 6418.77 no move -1.25 - - 1836.00 - - - 2120.06 - -77.86 - - 2814.94 - - - - - - - - - - -
6717.48 698.79 -8.28 815 6723.25 roll -1.25 - - 1835.62 - 3.66 0.125 3472.50 369.5 -77.86 - - 2814.03 - - - - - - - - - 15.71 -
6792.51 705.95 -8.42 830 6797.06 roll -1.25 - - 1836.44 - 3.38 0.067 2083.50 -410.9 -77.86 - - 2814.72 - - - - - - - - - 15.79 -
7102.53 732.17 -7.92 862 7103.86 no move -1.25 - - 1836.00 - - - 2083.62 - -77.86 - - 2813.59 - - - - - - - - - - -
7402.57 757.05 -8.19 892 7408.27 roll -1.25 - - 1835.94 - 4.06 0.168 663.94 -349.7 -77.86 - - 2811.19 - - - - - - - - - 15.61 -
7467.66 763.42 -9.66 905 7473.19 roll -1.25 - - 1835.81 - 3.54 0.061 2118.56 410.9 -77.86 - - 2812.03 - - - - - - - - - 15.83 -
7772.62 787.48 -6.32 936 7778.39 roll -1.25 - - 1836.38 - 3.67 0.124 3474.00 369.3 -77.86 - - 2811.16 - - - - - - - - - 15.70 -
7841.49 794.37 -8.73 950 7848.50 roll -1.25 - - 1836.25 - 3.39 0.064 2085.12 -409.7 -77.86 - - 2812.19 - - - - - - - - - 15.78 -
8147.69 819.61 -9.82 981 8153.39 roll -1.25 - - 1835.88 - 4.05 0.168 663.50 -351.0 -77.86 - - 2814.31 - - - - - - - - - 15.59 -
8212.82 825.06 -9.11 994 8218.33 roll -1.25 - - 1836.31 - 3.52 0.060 2116.81 412.9 -77.86 - - 2812.41 - - - - - - - - - 15.82 -
8517.78 850.71 -8.77 1025 8523.50 roll -1.25 - - 1836.19 - 4.11 0.168 663.44 -353.6 -77.86 - - 2809.50 - - - - - - - - - 15.59 -
8572.87 855.90 -10.51 1036 8578.40 roll -1.25 - - 1835.62 - 3.48 0.060 2118.81 418.2 -77.86 - - 2810.78 - - - - - - - - - 15.81 -
8877.86 880.04 -7.49 1067 8879.19 no move -1.25 - - 1835.62 - - - 2118.88 - -77.86 - - 2811.38 - - - - - - - - - - -
9177.92 906.40 -9.25 1097 9183.62 roll -1.25 - - 1834.88 - 4.09 0.169 663.00 -356.0 -77.86 - - 2813.16 - - - - - - - - - 15.58 -
9266.94 915.43 -10.36 1115 9273.72 roll -1.25 - - 1835.81 - 3.53 0.063 2115.88 411.6 -77.86 - - 2811.56 - - - - - - - - - 15.78 -
9573.02 941.10 -8.82 1146 9578.79 roll -1.25 - - 1836.00 - 3.66 0.127 3474.56 371.2 -77.86 - - 2811.81 - - - - - - - - - 15.67 -
9618.05 945.73 -10.43 1155 9622.63 roll -1.25 - - 1835.94 - 3.37 0.066 2084.75 -412.4 -77.86 - - 2812.78 - - - - - - - - - 15.74 -
9928.10 968.48 -7.56 1187 9933.88 roll -1.25 - - 1835.62 - 3.80 0.128 3475.25 365.9 -77.86 - - 2808.44 - - - - - - - - - 15.66 -
9986.98 973.91 -9.26 1199 9993.84 roll -1.25 - - 1836.19 - 3.38 0.068 2085.31 -411.2 -77.86 - - 2811.25 - - - - - - - - - 15.73 -
10223 end dive: TARGET_DEPTH_EXCEEDED
10223 begin apogee
10224.41 990.06 -6.74 1223 10296.03 -0.25 1.84 0.150 2080.06 132.5 0.08 0.299 2186.44 1264.1 - 68.05 2.259 2497.84 -4.6 0.351 - - - - - - 15.68 15.04 11.65
10297 end apogee: CONTROL_FINISHED_OK
10297 begin climb
10298.10 989.93 - 1230 10378.83 1.25 2.64 0.091 2448.06 139.4 - - 2186.56 - 77.86 75.44 2.202 2181.47 -4.2 0.328 - - - - - - 15.15 - 12.34
10683.20 961.52 7.98 1270 10688.82 done 1.25 - - 2447.94 - 3.61 0.128 3473.94 356.6 77.86 - - 2169.38 - - - - - - - - - 15.44 -
10762.30 953.01 10.79 1286 10769.17 done 1.25 - - 2447.81 - 3.16 0.062 2180.44 -409.3 77.86 - - 2171.25 - - - - - - - - - 15.52 -
11068.27 927.48 7.51 1317 11073.86 done 1.27 - - 2447.06 - 3.58 0.126 3473.25 361.1 77.86 - - 2170.44 - - - - - - - - - 15.57 -
11143.29 920.75 7.95 1332 11147.81 done 1.27 - - 2447.69 - 3.14 0.060 2181.56 -411.4 77.86 - - 2169.28 - - - - - - - - - 15.63 -
11453.33 895.53 8.81 1364 11459.14 done 1.27 - - 2447.81 - 3.97 0.145 736.50 -364.0 77.86 - - 2165.22 - - - - - - - - - 15.59 -
11512.18 890.22 10.59 1376 11519.11 done 1.27 - - 2447.31 - 3.58 0.055 2219.12 414.1 77.86 - - 2165.69 - - - - - - - - - 15.71 -
11818.38 864.63 9.37 1407 11823.96 done 1.27 - - 2445.69 - 3.46 0.128 3473.94 362.7 77.86 - - 2167.91 - - - - - - - - - 15.64 -
11877.23 859.50 8.63 1419 11884.08 done 1.27 - - 2447.81 - 3.16 0.060 2181.06 -409.1 77.86 - - 2164.97 - - - - - - - - - 15.73 -
12183.42 833.06 8.66 1450 12189.37 done 1.27 - - 2447.50 - 3.98 0.144 736.56 -362.9 77.86 - - 2163.09 - - - - - - - - - 15.62 -
12268.43 824.99 9.18 1467 12273.17 done 1.27 - - 2447.94 - 3.58 0.054 2219.88 414.3 77.86 - - 2164.19 - - - - - - - - - 15.76 -
12578.47 799.60 8.20 1499 12584.05 done 1.27 - - 2447.75 - 3.45 0.126 3472.12 363.0 77.86 - - 2161.78 - - - - - - - - - 15.66 -
12653.49 793.80 8.10 1514 12658.02 done 1.27 - - 2448.06 - 3.14 0.059 2180.56 -411.3 77.86 - - 2163.50 - - - - - - - - - 15.77 -
12963.54 772.51 6.65 1546 12964.87 VBD 1.31 - - 2447.69 - - - 2181.38 - 77.86 - - 2162.94 - - - - - - - - - - -
13263.56 754.48 6.20 1576 13269.30 done 1.37 - - 2448.00 - 3.97 0.143 736.38 -364.0 77.86 - - 2160.22 - - - - - - - - - 15.63 -
13328.64 749.79 6.77 1589 13334.38 1.40 0.20 0.095 2489.50 207.5 3.60 0.055 2221.44 412.5 77.86 - - 2162.53 - - - - - - - - 15.63 15.79 -
13633.64 728.16 6.23 1620 13639.32 done 1.46 - - 2489.75 - 3.46 0.124 3472.75 361.7 77.86 - - 2162.25 - - - - - - - - - 15.59 -
13658.62 726.37 7.25 1625 13663.12 done 1.48 - - 2488.81 - 3.13 0.057 2180.50 -412.9 77.86 - - 2164.28 - - - - - - - - - 15.77 -
13968.65 703.89 6.89 1657 13974.44 done 1.52 - - 2490.69 - 3.95 0.140 736.25 -365.6 77.86 - - 2161.09 - - - - - - - - - 15.63 -
14007.56 700.04 9.35 1665 14014.40 done 1.52 - - 2490.94 - 3.57 0.052 2221.81 416.1 77.86 - - 2161.53 - - - - - - - - - 15.80 -
14313.72 677.63 6.91 1696 14319.35 1.55 0.16 0.101 2523.50 203.5 3.45 0.123 3473.69 362.9 77.86 - - 2159.72 - - - - - - - - 15.78 15.66 -
14352.57 674.23 8.50 1704 14359.41 done 1.55 - - 2524.38 - 3.14 0.056 2177.81 -412.7 77.86 - - 2161.91 - - - - - - - - - 15.80 -
14658.79 649.11 7.38 1735 14664.45 done 1.57 - - 2524.38 - 3.95 0.138 735.25 -365.2 77.86 - - 2160.06 - - - - - - - - - 15.63 -
14734.26 641.36 9.60 1750 14739.64 done 1.57 - - 2524.00 - 3.58 0.053 2220.75 414.9 77.86 - - 2159.34 - - - - - - - - - 15.81 -
15038.89 616.87 8.11 1781 15043.45 done 1.57 - - 2523.94 - 3.42 0.121 3474.75 366.7 77.86 - - 2162.03 - - - - - - - - - 15.65 -
15118.92 609.68 8.67 1797 15123.44 done 1.57 - - 2523.62 - 3.12 0.056 2178.38 -415.5 77.86 - - 2160.84 - - - - - - - - - 15.78 -
15428.99 586.08 7.33 1829 15434.58 done 1.59 - - 2523.25 - 3.55 0.118 3473.00 364.7 77.86 - - 2163.34 - - - - - - - - - 15.66 -
15507.85 579.04 8.75 1845 15514.68 done 1.59 - - 2524.00 - 3.14 0.056 2180.12 -411.7 77.86 - - 2161.03 - - - - - - - - - 15.79 -
15814.07 555.01 7.78 1876 15819.81 done 1.59 - - 2524.38 - 3.97 0.137 735.00 -364.0 77.86 - - 2162.62 - - - - - - - - - 15.62 -
15832.99 552.92 8.21 1880 15839.83 done 1.59 - - 2523.81 - 3.60 0.052 2221.88 413.0 77.86 - - 2160.59 - - - - - - - - - 15.81 -
16139.15 531.23 5.96 1911 16170.58 done 1.68 - - 2524.06 - 3.43 0.122 3473.00 364.8 107.66 25.16 1.681 2059.12 -4.0 0.222 - - - - - - - 15.56 11.76
16199.15 526.16 8.92 1923 16203.81 roll 1.68 - - 2523.94 - 3.16 0.055 2178.50 -409.7 107.66 - - 2060.50 - - - - - - - - - 15.61 -
16509.18 498.79 7.91 1955 16514.78 roll 1.68 - - 2523.75 - 3.56 0.117 3472.81 363.6 107.66 - - 2057.34 - - - - - - - - - 15.60 -
16524.19 497.13 8.80 1958 16528.71 roll 1.68 - - 2523.69 - 3.15 0.055 2179.31 -410.6 107.66 - - 2056.62 - - - - - - - - - 15.67 -
16834.22 471.98 8.94 1990 16839.96 roll 1.68 - - 2523.69 - 3.96 0.136 735.25 -364.7 107.66 - - 2054.50 - - - - - - - - - 15.58 -
16889.24 466.10 10.26 2001 16894.83 roll 1.68 - - 2523.50 - 3.58 0.049 2223.44 415.7 107.66 - - 2053.78 - - - - - - - - - 15.62 -
17194.27 439.64 8.32 2032 17199.95 roll 1.68 - - 2524.00 - 4.03 0.130 736.12 -369.1 107.66 - - 2051.97 - - - - - - - - - 15.60 -
17423.27 417.64 8.97 2078 17430.16 done 1.68 - - 2523.75 - 3.57 0.052 2222.81 416.4 107.66 - - 2053.28 - - - - - - - - - 15.75 -
17729.35 395.43 7.27 2109 17735.15 roll back 1.71 0.19 0.093 2563.69 210.2 4.05 0.129 734.94 -367.4 107.66 - - 2054.16 - - - - - - - - 15.64 15.57 -
17958.21 371.46 11.15 2155 17965.13 done 1.71 - - 2563.62 - 3.59 0.052 2224.00 414.8 107.66 - - 2053.78 - - - - - - - - - 15.74 -
18264.41 342.83 9.47 2186 18270.10 done 1.71 - - 2563.12 - 4.04 0.127 736.44 -368.2 107.66 - - 2053.34 - - - - - - - - - 15.56 -
18309.43 337.92 11.00 2195 18315.02 done 1.71 - - 2563.25 - 3.56 0.050 2224.19 417.9 107.66 - - 2052.09 - - - - - - - - - 15.77 -
18614.45 310.86 8.73 2226 18615.78 VBD 1.71 - - 2563.50 - - - 2224.25 - 107.66 - - 2051.34 - - - - - - - - - - -
18914.48 286.29 7.75 2256 18920.17 done 1.71 - - 2563.81 - 4.05 0.127 734.88 -367.7 107.66 - - 2051.09 - - - - - - - - - 15.59 -
19029.50 275.11 10.84 2279 19035.24 done 1.71 - - 2563.56 - 3.58 0.049 2225.00 416.2 107.66 - - 2052.88 - - - - - - - - - 15.78 -
19334.56 251.44 7.49 2310 19339.10 done 1.72 - - 2563.94 - 3.39 0.113 3471.88 367.8 107.66 - - 2054.66 - - - - - - - - - 15.63 -
19414.57 244.80 8.67 2326 19419.08 done 1.72 - - 2563.88 - 3.12 0.050 2178.44 -414.6 107.66 - - 2054.56 - - - - - - - - - 15.79 -
19724.58 220.32 8.44 2358 19730.18 done 1.72 - - 2563.81 - 3.55 0.110 3472.38 364.5 107.66 - - 2054.44 - - - - - - - - - 15.63 -
19829.59 211.85 7.58 2379 19834.14 done 1.72 - - 2563.75 - 3.12 0.050 2175.00 -415.8 107.66 - - 2053.88 - - - - - - - - - 15.66 -
20139.66 190.62 7.39 2411 20145.25 done 1.74 - - 2562.00 - 3.55 0.110 3472.69 365.5 107.66 - - 2053.47 - - - - - - - - - 15.65 -
20228.59 182.66 8.91 2429 20235.36 done 1.74 - - 2564.19 - 3.12 0.050 2175.94 -415.6 107.66 - - 2053.12 - - - - - - - - - 15.76 -
20534.75 160.64 7.06 2460 20540.54 done 1.77 - - 2563.50 - 3.95 0.126 734.25 -365.0 107.66 - - 2054.88 - - - - - - - - - 15.58 -
20763.82 142.19 6.98 2506 20770.59 done 1.80 - - 2563.75 - 3.59 0.048 2227.25 415.9 107.66 - - 2052.88 - - - - - - - - - 15.74 -
21069.91 126.70 5.00 2537 21112.54 1.94 0.29 0.079 2617.44 185.1 3.40 0.113 3473.69 366.6 151.24 37.40 1.222 1881.81 -4.6 0.083 - - - - - - 15.73 15.49 11.89
21114.13 124.00 5.46 2544 21151.64 done 2.05 - - 2618.00 - 3.15 0.049 2174.88 -412.3 188.24 32.65 1.167 1731.88 -4.6 0.085 - - - - - - - 15.59 12.48
21450.33 83.74 10.99 2595 21456.09 done 2.05 - - 2617.75 - 3.54 0.109 3472.62 366.6 188.24 - - 1724.94 - - - - - - - - - 15.51 -
21680.42 63.74 5.69 2641 21716.75 2.15 0.28 0.081 2668.12 179.9 3.15 0.048 2176.31 -411.5 221.89 28.64 1.105 1595.28 -4.5 0.045 - - - - - - 15.51 15.62 12.04
21895.45 53.04 4.63 2684 21943.22 2.29 0.17 0.097 2702.81 204.1 3.99 0.124 736.25 -360.9 270.66 41.70 1.105 1394.66 -4.8 0.040 - - - - - - 15.54 15.29 12.10
22166.07 20.43 15.87 2738 22171.83 roll 2.29 - - 2702.81 - 3.62 0.048 2224.75 411.2 270.66 - - 1391.84 - - - - - - - - - 15.48 -
22295 end climb: SURFACE_DEPTH_REACHED
22296 begin surface coast
22310 end surface coast: CONTROL_FINISHED_OK
22311 begin surface
SM 0.84 - - - - 175.6 2.08 0.271 767.5 369.0 17.01 0.055 765.8 45.0 - 0.34 0.080 769.2 2251.7 -2.416 - - 12.29 15.57 15.62 -