NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 515 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 154.16 of 575.00 AH used of 24V (73.19% remains)
• Surface angle -61.2 deg, depth 0.97 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.77 (SM_CC=425)
• GPS1 time: 34 s
• GPS2 time: 2 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
7.14 - - - 86.22 VBD -1.25 - - 174.00 - - - 2115.50 - -77.86 78.48 0.005 2519.97 - - - - - - - - - - 15.15
86.49 3.48 -4.60 15 118.44 -1.25 14.53 0.260 1835.94 114.4 4.20 0.149 661.94 -346.1 -77.86 7.45 0.008 2817.66 40.0 -3.026 - - - - - - 15.33 15.13 15.25
171.19 22.31 -23.23 32 176.98 roll -1.25 - - 1835.56 - 3.59 0.050 2118.81 405.8 -77.86 - - 2818.97 - - - - - - - - - 15.55 -
356.23 57.78 -18.37 69 362.00 roll -1.25 - - 1835.69 - 3.69 0.109 3473.94 367.2 -77.86 - - 2816.69 - - - - - - - - - 15.60 -
411.26 68.55 -18.94 80 417.06 roll -1.25 - - 1835.25 - 3.44 0.056 2080.50 -405.1 -77.86 - - 2819.22 - - - - - - - - - 15.64 -
596.28 92.22 -11.53 117 602.24 roll -1.25 - - 1835.69 - 4.00 0.148 662.12 -354.6 -77.86 - - 2819.22 - - - - - - - - - 15.59 -
690.22 103.51 -11.71 136 697.05 roll -1.25 - - 1834.88 - 3.49 0.048 2122.12 418.3 -77.86 - - 2819.00 - - - - - - - - - 15.71 -
996.34 136.29 -10.31 167 1002.18 roll -1.25 - - 1836.12 - 4.05 0.145 663.31 -360.2 -77.86 - - 2815.19 - - - - - - - - - 15.64 -
1051.37 142.71 -11.52 178 1056.95 roll -1.25 - - 1836.38 - 3.48 0.047 2124.12 419.8 -77.86 - - 2815.34 - - - - - - - - - 15.76 -
1356.39 173.65 -9.89 209 1361.15 roll -1.25 - - 1835.56 - 3.58 0.109 3475.31 377.4 -77.86 - - 2818.09 - - - - - - - - - 15.74 -
1446.42 183.95 -11.46 227 1450.99 roll -1.25 - - 1836.19 - 3.34 0.056 2080.12 -417.7 -77.86 - - 2817.09 - - - - - - - - - 15.78 -
1756.45 216.88 -10.41 259 1762.27 roll -1.25 - - 1835.56 - 3.92 0.150 663.19 -361.5 -77.86 - - 2817.09 - - - - - - - - - 15.68 -
1871.48 231.98 -12.79 282 1876.21 roll -1.25 - - 1835.94 - 3.49 0.053 2122.44 418.1 -77.86 - - 2816.81 - - - - - - - - - 15.81 -
2181.52 263.96 -9.69 314 2182.85 no move -1.25 - - 1835.44 - - - 2122.19 - -77.86 - - 2816.75 - - - - - - - - - - -
2481.58 294.61 -9.90 344 2482.91 no move -1.25 - - 1835.75 - - - 2121.69 - -77.86 - - 2816.81 - - - - - - - - - - -
2781.64 323.10 -9.05 374 2787.47 roll -1.25 - - 1835.56 - 4.03 0.148 662.06 -362.2 -77.86 - - 2815.16 - - - - - - - - - 15.69 -
2870.52 334.03 -13.22 392 2877.42 roll -1.25 - - 1835.25 - 3.49 0.056 2118.62 417.4 -77.86 - - 2817.53 - - - - - - - - - 15.83 -
3176.74 365.09 -10.50 423 3182.37 roll -1.25 - - 1834.50 - 3.62 0.115 3473.56 374.3 -77.86 - - 2818.72 - - - - - - - - - 15.77 -
3221.79 369.77 -10.71 432 3226.33 roll -1.25 - - 1835.62 - 3.36 0.059 2081.88 -414.2 -77.86 - - 2816.62 - - - - - - - - - 15.83 -
3531.83 400.61 -9.65 464 3537.64 roll -1.25 - - 1836.00 - 3.94 0.155 663.19 -360.1 -77.86 - - 2814.59 - - - - - - - - - 15.68 -
3576.85 405.55 -11.28 473 3581.43 roll -1.25 - - 1836.19 - 3.47 0.051 2116.75 418.9 -77.86 - - 2816.69 - - - - - - - - - 15.84 -
3886.92 432.71 -8.60 505 3891.66 roll -1.25 - - 1835.69 - 3.62 0.116 3473.06 374.7 -77.86 - - 2816.88 - - - - - - - - - 15.76 -
4016.96 445.17 -9.13 531 4021.53 roll -1.25 - - 1835.75 - 3.38 0.060 2081.00 -411.9 -77.86 - - 2817.84 - - - - - - - - - 15.83 -
4327.03 472.99 -9.50 563 4332.85 roll -1.25 - - 1834.94 - 3.97 0.156 663.38 -357.1 -77.86 - - 2814.78 - - - - - - - - - 15.68 -
4376.16 478.21 -11.94 573 4382.78 roll -1.25 - - 1835.00 - 3.46 0.051 2119.88 421.0 -77.86 - - 2818.66 - - - - - - - - - 15.85 -
4682.09 506.23 -8.26 604 4686.81 roll -1.25 - - 1835.25 - 3.60 0.115 3474.94 376.4 -77.86 - - 2816.28 - - - - - - - - - 15.75 -
4752.10 513.16 -9.69 618 4756.66 roll -1.25 - - 1835.88 - 3.34 0.059 2081.56 -417.2 -77.86 - - 2815.22 - - - - - - - - - 15.82 -
5062.13 539.84 -8.51 650 5067.81 roll -1.25 - - 1835.81 - 3.95 0.159 663.38 -359.0 -77.86 - - 2812.53 - - - - - - - - - 15.66 -
5107.15 544.91 -10.89 659 5111.86 roll -1.25 - - 1835.00 - 3.46 0.053 2120.62 421.2 -77.86 - - 2815.81 - - - - - - - - - 15.84 -
5417.18 571.88 -8.29 691 5422.79 roll -1.25 - - 1835.62 - 3.59 0.117 3472.50 376.6 -77.86 - - 2812.91 - - - - - - - - - 15.74 -
5452.20 574.95 -8.31 698 5456.76 roll -1.25 - - 1835.44 - 3.33 0.060 2081.81 -417.6 -77.86 - - 2814.69 - - - - - - - - - 15.82 -
5762.23 600.60 -8.67 730 5763.56 no move -1.25 - - 1836.12 - - - 2083.00 - -77.86 - - 2813.44 - - - - - - - - - - -
6062.27 626.24 -9.32 760 6068.05 roll -1.25 - - 1835.31 - 3.73 0.117 3474.56 373.1 -77.86 - - 2813.94 - - - - - - - - - 15.73 -
6147.39 634.04 -9.16 777 6151.86 roll -1.25 - - 1835.56 - 3.35 0.062 2082.69 -415.5 -77.86 - - 2816.38 - - - - - - - - - 15.80 -
6457.32 661.22 -8.88 809 6463.00 roll -1.25 - - 1835.88 - 3.96 0.164 663.50 -358.4 -77.86 - - 2815.19 - - - - - - - - - 15.63 -
6482.35 663.30 -9.16 814 6486.92 roll -1.25 - - 1835.75 - 3.45 0.053 2119.31 422.0 -77.86 - - 2811.81 - - - - - - - - - 15.84 -
6792.36 688.02 -7.73 846 6797.12 roll -1.25 - - 1835.88 - 3.61 0.120 3474.00 375.3 -77.86 - - 2812.88 - - - - - - - - - 15.72 -
6856.24 693.23 -8.75 859 6863.11 roll -1.25 - - 1834.81 - 3.34 0.062 2082.19 -416.7 -77.86 - - 2815.41 - - - - - - - - - 15.79 -
7162.42 717.31 -8.13 890 7168.10 roll -1.25 - - 1835.81 - 3.93 0.164 663.31 -361.0 -77.86 - - 2811.19 - - - - - - - - - 15.61 -
7197.44 720.31 -9.39 897 7202.01 roll -1.25 - - 1834.69 - 3.46 0.055 2119.50 420.9 -77.86 - - 2815.09 - - - - - - - - - 15.83 -
7507.47 746.70 -7.84 929 7513.37 roll -1.25 - - 1835.44 - 3.59 0.122 3473.88 377.3 -77.86 - - 2811.56 - - - - - - - - - 15.70 -
7542.48 750.04 -7.65 936 7547.18 roll -1.25 - - 1835.62 - 3.32 0.063 2080.56 -419.7 -77.86 - - 2812.59 - - - - - - - - - 15.78 -
7852.51 776.99 -9.40 968 7858.33 roll -1.25 - - 1835.75 - 3.95 0.166 663.25 -358.8 -77.86 - - 2810.47 - - - - - - - - - 15.60 -
7961.52 787.27 -8.81 990 7968.29 roll -1.25 - - 1835.75 - 3.49 0.060 2117.25 416.6 -77.86 - - 2811.97 - - - - - - - - - 15.81 -
8267.61 810.18 -6.68 1021 8273.37 roll -1.25 - - 1834.31 - 3.62 0.124 3474.06 374.8 -77.86 - - 2811.59 - - - - - - - - - 15.69 -
8302.63 813.30 -8.57 1028 8307.20 roll -1.25 - - 1835.69 - 3.35 0.065 2082.75 -415.3 -77.86 - - 2811.12 - - - - - - - - - 15.76 -
8612.69 838.20 -8.51 1060 8618.50 roll -1.25 - - 1834.31 - 3.99 0.170 663.06 -355.8 -77.86 - - 2813.22 - - - - - - - - - 15.58 -
8737.73 851.12 -9.68 1085 8743.32 roll -1.25 - - 1835.75 - 3.49 0.060 2117.81 416.8 -77.86 - - 2810.00 - - - - - - - - - 15.81 -
9042.80 876.27 -6.28 1116 9044.12 no move -1.25 - - 1834.56 - - - 2117.69 - -77.86 - - 2812.81 - - - - - - - - - - -
9342.85 901.53 -8.47 1146 9344.18 no move -1.25 - - 1834.88 - - - 2117.56 - -77.86 - - 2810.47 - - - - - - - - - - -
9643.18 925.81 -8.05 1176 9644.51 no move -1.25 - - 1836.25 - - - 2117.62 - -77.86 - - 2809.66 - - - - - - - - - - -
9942.99 948.53 -7.93 1206 9944.32 no move -1.25 - - 1835.50 - - - 2117.19 - -77.86 - - 2810.00 - - - - - - - - - - -
10243.04 971.62 -7.36 1236 10244.37 no move -1.25 - - 1835.25 - - - 2117.19 - -77.86 - - 2809.62 - - - - - - - - - - -
10483 end dive: TARGET_DEPTH_EXCEEDED
10483 begin apogee
10484.37 990.13 -6.62 1260 10554.92 -0.25 1.86 0.151 2079.56 131.3 0.08 0.300 2185.69 856.2 - 67.57 2.268 2501.66 -4.6 0.346 - - - - - - 15.68 15.05 11.61
10556 end apogee: CONTROL_FINISHED_OK
10556 begin climb
10557.00 991.69 - 1267 10636.37 1.25 2.67 0.091 2448.75 138.3 - - 2186.25 - 77.86 74.64 2.216 2179.56 -4.3 0.336 - - - - - - 15.15 - 12.20
10933.10 963.53 9.25 1305 10938.75 done 1.25 - - 2446.94 - 3.63 0.128 3472.50 354.3 77.86 - - 2171.38 - - - - - - - - - 15.43 -
10978.13 959.36 8.73 1314 10982.66 done 1.25 - - 2447.62 - 3.19 0.061 2182.00 -404.5 77.86 - - 2171.00 - - - - - - - - - 15.50 -
11288.16 932.50 7.91 1346 11293.77 done 1.25 - - 2448.12 - 3.58 0.124 3474.38 361.0 77.86 - - 2166.34 - - - - - - - - - 15.56 -
11327.02 928.16 11.03 1354 11333.86 done 1.25 - - 2448.19 - 3.14 0.059 2182.38 -411.5 77.86 - - 2167.31 - - - - - - - - - 15.63 -
11633.20 902.30 8.79 1385 11634.53 VBD 1.25 - - 2448.00 - - - 2182.50 - 77.86 - - 2165.44 - - - - - - - - - - -
11933.24 877.96 8.35 1415 11938.84 done 1.25 - - 2448.06 - 3.55 0.125 3472.88 363.5 77.86 - - 2167.62 - - - - - - - - - 15.64 -
12002.10 871.31 9.85 1429 12008.95 done 1.25 - - 2447.88 - 3.11 0.059 2180.00 -415.7 77.86 - - 2168.53 - - - - - - - - - 15.72 -
12308.29 845.74 7.05 1460 12313.89 done 1.28 - - 2448.50 - 3.53 0.124 3473.69 366.5 77.86 - - 2164.00 - - - - - - - - - 15.64 -
12323.30 844.21 6.65 1463 12327.82 done 1.32 - - 2448.06 - 3.08 0.057 2181.56 -419.5 77.86 - - 2165.22 - - - - - - - - - 15.75 -
12633.33 820.68 7.28 1495 12639.14 done 1.35 - - 2448.12 - 3.92 0.144 735.12 -369.0 77.86 - - 2162.09 - - - - - - - - - 15.55 -
12688.34 816.01 7.84 1506 12693.93 done 1.35 - - 2447.00 - 3.54 0.054 2219.75 419.4 77.86 - - 2164.59 - - - - - - - - - 15.77 -
12993.39 794.73 6.76 1537 12999.25 1.39 0.17 0.097 2485.25 225.0 4.01 0.140 735.31 -370.2 77.86 - - 2160.56 - - - - - - - - 15.76 15.57 -
13158.40 778.65 9.93 1570 13163.14 done 1.39 - - 2484.94 - 3.56 0.056 2219.38 416.9 77.86 - - 2162.88 - - - - - - - - - 15.78 -
13468.45 755.29 6.11 1602 13474.24 done 1.44 - - 2484.31 - 4.00 0.138 736.69 -370.7 77.86 - - 2162.09 - - - - - - - - - 15.63 -
13567.35 746.76 8.00 1622 13574.20 done 1.44 - - 2485.31 - 3.53 0.055 2220.50 420.3 77.86 - - 2161.78 - - - - - - - - - 15.77 -
13873.50 727.76 6.24 1653 13878.19 done 1.50 - - 2485.44 - 3.37 0.125 3473.19 371.7 77.86 - - 2161.56 - - - - - - - - - 15.66 -
13883.50 727.11 6.26 1655 13888.05 1.55 0.19 0.095 2522.94 197.4 3.10 0.056 2179.25 -417.4 77.86 - - 2164.06 - - - - - - - - 15.61 15.79 -
14193.54 703.88 7.42 1687 14199.23 done 1.57 - - 2524.19 - 3.88 0.138 735.56 -372.1 77.86 - - 2160.44 - - - - - - - - - 15.57 -
14312.43 691.82 10.06 1711 14319.28 done 1.57 - - 2523.25 - 3.56 0.055 2221.06 417.3 77.86 - - 2161.97 - - - - - - - - - 15.74 -
14618.61 667.10 7.01 1742 14623.15 done 1.60 - - 2523.50 - 3.38 0.123 3472.44 370.2 77.86 - - 2161.03 - - - - - - - - - 15.64 -
14658.61 663.36 9.34 1750 14663.64 done 1.60 - - 2524.50 - 3.10 0.057 2180.50 -416.8 77.86 - - 2161.41 - - - - - - - - - 15.78 -
14968.67 638.40 8.11 1782 14974.25 done 1.60 - - 2523.75 - 3.49 0.120 3472.50 370.2 77.86 - - 2159.84 - - - - - - - - - 15.64 -
14983.68 636.82 8.28 1785 14988.48 done 1.60 - - 2523.69 - 3.08 0.056 2179.38 -419.8 77.86 - - 2161.31 - - - - - - - - - 15.79 -
15293.74 613.14 7.96 1817 15299.39 done 1.60 - - 2522.50 - 3.89 0.136 735.44 -371.2 77.86 - - 2163.19 - - - - - - - - - 15.62 -
15372.96 605.75 9.41 1833 15379.53 done 1.60 - - 2523.56 - 3.55 0.052 2221.56 418.6 77.86 - - 2162.09 - - - - - - - - - 15.80 -
15678.85 583.36 7.17 1864 15680.18 VBD 1.63 - - 2523.81 - - - 2222.12 - 77.86 - - 2158.88 - - - - - - - - - - -
15978.91 562.34 6.67 1894 15983.46 done 1.67 - - 2523.69 - 3.38 0.122 3473.62 370.3 77.86 - - 2160.06 - - - - - - - - - 15.64 -
16052.78 556.23 8.06 1909 16059.62 done 1.67 - - 2524.00 - 3.11 0.055 2179.12 -416.2 77.86 - - 2160.12 - - - - - - - - - 15.75 -
16359.00 536.89 6.69 1940 16364.64 1.71 0.19 0.103 2564.25 211.8 3.51 0.117 3474.81 369.1 77.86 - - 2160.12 - - - - - - - - 15.75 15.66 -
16424.08 531.92 7.99 1953 16428.52 done 1.71 - - 2563.62 - 3.09 0.055 2179.00 -419.4 77.86 - - 2162.19 - - - - - - - - - 15.79 -
16734.06 509.13 7.65 1985 16739.93 done 1.71 - - 2563.12 - 3.87 0.134 736.25 -372.8 77.86 - - 2160.72 - - - - - - - - - 15.62 -
16799.09 503.94 8.94 1998 16804.69 done 1.71 - - 2564.12 - 3.54 0.051 2224.00 420.3 77.86 - - 2156.94 - - - - - - - - - 15.78 -
17104.13 482.47 6.81 2029 17108.67 done 1.75 - - 2563.81 - 3.35 0.117 3473.62 373.0 77.86 - - 2160.94 - - - - - - - - - 15.57 -
17187.99 475.94 7.87 2046 17194.81 done 1.75 - - 2564.44 - 3.10 0.054 2177.62 -418.1 77.86 - - 2159.69 - - - - - - - - - 15.78 -
17494.18 455.09 6.76 2077 17499.97 done 1.79 - - 2563.31 - 3.89 0.132 735.31 -370.8 77.86 - - 2158.16 - - - - - - - - - 15.56 -
17533.12 452.34 6.74 2085 17539.94 done 1.83 - - 2564.75 - 3.54 0.051 2223.81 420.5 77.86 - - 2158.88 - - - - - - - - - 15.80 -
17839.24 431.48 6.95 2116 17844.85 1.86 0.17 0.101 2600.06 207.7 3.36 0.117 3474.19 372.1 77.86 - - 2158.16 - - - - - - - - 15.75 15.63 -
18048.11 414.84 8.52 2158 18055.09 done 1.86 - - 2599.69 - 3.12 0.055 2175.62 -416.2 77.86 - - 2159.00 - - - - - - - - - 15.77 -
18354.31 395.24 6.24 2189 18359.97 done 1.91 - - 2600.06 - 3.91 0.130 736.25 -368.1 77.86 - - 2158.09 - - - - - - - - - 15.61 -
18393.24 392.23 6.52 2197 18400.06 done 1.96 - - 2600.31 - 3.57 0.050 2224.81 417.0 77.86 - - 2160.72 - - - - - - - - - 15.68 -
18699.36 373.23 6.12 2228 18705.10 2.02 0.19 0.098 2636.81 192.1 4.03 0.126 736.00 -369.4 77.86 - - 2159.47 - - - - - - - - 15.74 15.61 -
18928.31 355.21 7.34 2274 18935.15 done 2.04 - - 2636.44 - 3.56 0.051 2224.31 418.1 77.86 - - 2159.09 - - - - - - - - - 15.77 -
19234.44 337.90 5.96 2305 19265.69 done 2.13 - - 2636.44 - 3.36 0.116 3474.00 371.9 107.65 24.42 1.461 2061.31 -4.0 0.161 - - - - - - - 15.58 11.75
19274.45 335.18 6.89 2312 19279.14 roll back 2.16 0.17 0.095 2671.38 205.5 3.12 0.051 2177.88 -415.4 107.65 - - 2059.41 - - - - - - - - 15.61 15.66 -
19584.47 302.09 11.06 2344 19590.13 roll 2.16 - - 2670.75 - 3.89 0.127 735.31 -370.8 107.65 - - 2055.03 - - - - - - - - - 15.56 -
19643.39 294.82 12.10 2356 19650.23 roll 2.16 - - 2671.56 - 3.58 0.050 2225.38 416.2 107.65 - - 2055.16 - - - - - - - - - 15.69 -
19949.51 265.83 8.78 2387 19954.07 roll 2.16 - - 2671.81 - 3.37 0.113 3474.44 370.6 107.65 - - 2054.66 - - - - - - - - - 15.62 -
20029.53 257.38 11.10 2403 20034.05 roll 2.16 - - 2670.88 - 3.12 0.052 2178.31 -415.4 107.65 - - 2056.91 - - - - - - - - - 15.70 -
20339.57 227.94 8.89 2435 20345.17 roll 2.16 - - 2671.88 - 3.52 0.110 3473.44 367.9 107.65 - - 2054.78 - - - - - - - - - 15.57 -
20538.50 207.58 9.79 2475 20545.37 roll 2.16 - - 2671.31 - 3.11 0.052 2177.44 -416.7 107.65 - - 2054.47 - - - - - - - - - 15.74 -
20844.71 180.45 8.76 2506 20850.30 roll 2.16 - - 2671.75 - 3.49 0.108 3473.94 371.5 107.65 - - 2052.66 - - - - - - - - - 15.61 -
21039.80 164.88 7.65 2545 21044.32 roll 2.16 - - 2671.69 - 3.12 0.050 2175.62 -416.1 107.65 - - 2055.38 - - - - - - - - - 15.73 -
21349.88 146.62 4.49 2577 21394.78 2.31 0.19 0.094 2707.06 186.2 - - 2176.44 - 158.45 43.88 1.263 1852.88 -4.6 0.093 - - - - - - 15.71 - 11.91
21699.92 104.65 13.14 2615 21704.66 done 2.31 - - 2707.62 - 3.56 0.108 3472.75 364.1 158.45 - - 1845.84 - - - - - - - - - 15.54 -
21930.02 77.52 7.58 2661 21935.70 done 2.31 - - 2706.94 - 3.15 0.050 2175.38 -411.9 158.45 - - 1846.22 - - - - - - - - - 15.63 -
22115.08 69.14 3.77 2698 22172.10 2.50 0.25 0.088 2750.31 173.5 3.58 0.105 3473.62 362.6 219.57 50.90 1.145 1605.47 -4.7 0.050 - - - - - - 15.63 15.36 12.14
22230.08 61.42 8.43 2721 22235.78 roll 2.50 - - 2750.56 - 3.17 0.049 2177.44 -408.9 219.57 - - 1600.38 - - - - - - - - - 15.44 -
22415.14 52.00 3.56 2758 22476.57 2.69 0.26 0.088 2796.81 177.9 3.60 0.105 3472.62 359.8 283.62 53.53 1.112 1343.47 -4.8 0.039 - - - - - - 15.53 15.24 12.03
22700.17 8.95 18.86 2815 22705.85 roll 2.69 - - 2797.31 - 3.19 0.052 2179.62 -405.3 283.62 - - 1338.31 - - - - - - - - - 15.51 -
22740 end climb: SURFACE_DEPTH_REACHED
22740 begin surface coast
22750 end surface coast: CONTROL_FINISHED_OK
22750 begin surface
SM 0.63 - - - - 174.1 0.43 0.147 768.4 1787.0 17.77 0.059 770.3 43.3 - 0.22 0.108 766.4 3469.1 -2.068 - - 15.11 15.45 15.55 -