NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 603 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 180.08 of 575.00 AH used of 24V (68.68% remains)
• Surface angle -52.0 deg, depth 0.55 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.88 (SM_CC=425)
• GPS1 time: 50 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
7.16 - - - 87.39 VBD -1.25 - - 175.19 - - - 2116.38 - -77.86 79.68 0.005 2485.22 - - - - - - - - - - 14.96
87.66 3.34 -5.02 15 119.55 -1.25 14.61 0.251 1836.00 113.7 3.74 0.117 3473.81 362.9 -77.86 8.44 0.007 2816.41 39.2 -3.285 - - - - - - 15.14 14.93 15.07
342.36 51.24 -19.76 66 348.10 roll -1.25 - - 1835.31 - 3.48 0.060 2083.62 -399.5 -77.86 - - 2817.06 - - - - - - - - - 15.51 -
527.39 78.68 -11.73 103 533.20 roll -1.25 - - 1835.81 - 3.82 0.108 3474.12 364.0 -77.86 - - 2816.97 - - - - - - - - - 15.46 -
711.31 101.66 -12.49 140 718.20 roll -1.25 - - 1835.25 - 3.44 0.057 2081.94 -404.7 -77.86 - - 2818.78 - - - - - - - - - 15.57 -
1017.51 132.14 -9.54 171 1018.84 no move -1.25 - - 1835.69 - - - 2081.75 - -77.86 - - 2817.03 - - - - - - - - - - -
1317.57 163.16 -11.42 201 1318.90 no move -1.25 - - 1835.62 - - - 2081.69 - -77.86 - - 2816.88 - - - - - - - - - - -
1617.63 193.13 -9.07 231 1623.49 roll -1.25 - - 1836.31 - 4.11 0.152 663.12 -345.2 -77.86 - - 2816.41 - - - - - - - - - 15.40 -
1672.74 198.98 -11.16 242 1677.40 roll -1.25 - - 1835.12 - 3.55 0.051 2117.81 409.8 -77.86 - - 2817.69 - - - - - - - - - 15.68 -
1982.74 226.45 -8.99 274 1984.06 no move -1.25 - - 1835.44 - - - 2121.75 - -77.86 - - 2817.34 - - - - - - - - - - -
2282.79 253.44 -8.85 304 2288.65 roll -1.25 - - 1835.38 - 4.20 0.148 663.12 -347.3 -77.86 - - 2815.53 - - - - - - - - - 15.40 -
2337.89 259.79 -12.03 315 2342.55 roll -1.25 - - 1835.81 - 3.54 0.051 2118.62 411.2 -77.86 - - 2817.44 - - - - - - - - - 15.68 -
2647.87 290.53 -9.93 347 2653.64 roll -1.25 - - 1835.50 - 3.67 0.111 3475.06 369.6 -77.86 - - 2819.12 - - - - - - - - - 15.51 -
2716.76 298.38 -10.91 361 2723.65 roll -1.25 - - 1835.94 - 3.42 0.057 2080.94 -407.6 -77.86 - - 2816.53 - - - - - - - - - 15.61 -
3022.95 329.44 -9.94 392 3024.27 no move -1.25 - - 1835.88 - - - 2080.75 - -77.86 - - 2817.34 - - - - - - - - - - -
3322.97 359.73 -10.12 422 3328.64 roll -1.25 - - 1835.69 - 3.85 0.112 3473.38 361.7 -77.86 - - 2815.66 - - - - - - - - - 15.49 -
3378.01 365.71 -11.79 433 3382.59 roll -1.25 - - 1835.50 - 3.43 0.058 2084.06 -405.0 -77.86 - - 2816.38 - - - - - - - - - 15.61 -
3688.03 395.11 -8.45 465 3689.36 no move -1.25 - - 1835.88 - - - 2083.81 - -77.86 - - 2817.09 - - - - - - - - - - -
3988.07 422.56 -8.92 495 3989.40 no move -1.25 - - 1835.69 - - - 2083.38 - -77.86 - - 2816.97 - - - - - - - - - - -
4288.14 449.31 -8.87 525 4289.46 no move -1.25 - - 1835.69 - - - 2083.44 - -77.86 - - 2816.88 - - - - - - - - - - -
4588.16 477.63 -9.26 555 4593.96 roll -1.25 - - 1835.56 - 3.85 0.116 3473.75 361.1 -77.86 - - 2815.31 - - - - - - - - - 15.45 -
4653.19 484.48 -11.27 568 4657.77 roll -1.25 - - 1835.56 - 3.44 0.062 2082.62 -404.4 -77.86 - - 2816.12 - - - - - - - - - 15.57 -
4963.21 513.33 -9.05 600 4964.54 no move -1.25 - - 1835.62 - - - 2083.12 - -77.86 - - 2815.53 - - - - - - - - - - -
5263.26 538.98 -7.63 630 5268.92 roll -1.25 - - 1835.50 - 3.83 0.116 3474.38 363.3 -77.86 - - 2816.94 - - - - - - - - - 15.43 -
5318.28 544.23 -8.99 641 5322.85 roll -1.25 - - 1835.19 - 3.47 0.061 2083.75 -400.8 -77.86 - - 2816.84 - - - - - - - - - 15.57 -
5628.32 568.60 -7.84 673 5629.65 no move -1.25 - - 1835.75 - - - 2083.94 - -77.86 - - 2815.97 - - - - - - - - - - -
5928.35 590.55 -7.24 703 5934.16 roll -1.25 - - 1835.56 - 3.90 0.117 3471.94 355.9 -77.86 - - 2816.12 - - - - - - - - - 15.41 -
5997.28 597.30 -9.82 717 6004.11 roll -1.25 - - 1835.88 - 3.47 0.061 2082.94 -400.3 -77.86 - - 2815.03 - - - - - - - - - 15.54 -
6303.40 621.09 -8.80 748 6304.73 no move -1.25 - - 1835.50 - - - 2083.31 - -77.86 - - 2815.28 - - - - - - - - - - -
6603.47 645.26 -7.75 778 6609.29 roll -1.25 - - 1835.62 - 3.92 0.118 3473.94 354.8 -77.86 - - 2812.97 - - - - - - - - - 15.39 -
6682.55 652.76 -9.60 794 6689.25 roll -1.25 - - 1835.69 - 3.48 0.062 2084.81 -399.2 -77.86 - - 2815.16 - - - - - - - - - 15.52 -
6988.56 676.46 -7.29 825 6989.89 no move -1.25 - - 1835.94 - - - 2084.56 - -77.86 - - 2812.75 - - - - - - - - - - -
7288.61 699.23 -7.85 855 7289.94 no move -1.25 - - 1835.94 - - - 2084.12 - -77.86 - - 2814.22 - - - - - - - - - - -
7588.68 721.53 -7.57 885 7594.35 roll -1.25 - - 1835.81 - 3.95 0.121 3473.81 351.8 -77.86 - - 2816.47 - - - - - - - - - 15.37 -
7623.70 724.17 -7.26 892 7629.29 roll -1.25 - - 1834.88 - 3.46 0.064 2086.19 -401.0 -77.86 - - 2815.94 - - - - - - - - - 15.51 -
7928.76 745.16 -6.84 923 7930.08 no move -1.25 - - 1835.62 - - - 2085.94 - -77.86 - - 2813.72 - - - - - - - - - - -
8228.81 767.39 -7.66 953 8234.54 roll -1.25 - - 1835.31 - 4.28 0.167 665.31 -331.9 -77.86 - - 2815.69 - - - - - - - - - 15.21 -
8284.06 772.30 -9.31 964 8289.44 roll -1.25 - - 1835.25 - 3.60 0.056 2118.94 403.8 -77.86 - - 2812.25 - - - - - - - - - 15.58 -
8588.89 796.15 -8.52 995 8594.68 roll -1.25 - - 1835.56 - 3.79 0.123 3473.44 357.4 -77.86 - - 2815.19 - - - - - - - - - 15.34 -
8653.92 801.96 -9.50 1008 8659.51 roll -1.25 - - 1835.88 - 3.48 0.064 2084.94 -399.0 -77.86 - - 2810.59 - - - - - - - - - 15.48 -
8958.96 826.38 -8.14 1039 8960.29 no move -1.25 - - 1835.88 - - - 2085.06 - -77.86 - - 2812.25 - - - - - - - - - - -
9259.00 849.83 -8.21 1069 9264.73 roll -1.25 - - 1835.31 - 4.24 0.167 664.31 -335.1 -77.86 - - 2811.12 - - - - - - - - - 15.19 -
9304.02 854.27 -9.39 1078 9309.62 roll -1.25 - - 1835.94 - 3.59 0.058 2116.44 404.5 -77.86 - - 2810.62 - - - - - - - - - 15.55 -
9609.04 878.48 -7.58 1109 9614.80 roll -1.25 - - 1835.88 - 4.34 0.165 664.12 -334.6 -77.86 - - 2810.94 - - - - - - - - - 15.18 -
9644.06 881.79 -7.79 1116 9649.67 roll -1.25 - - 1835.88 - 3.59 0.057 2118.31 405.1 -77.86 - - 2811.25 - - - - - - - - - 15.54 -
9949.08 905.68 -7.72 1147 9954.93 roll -1.25 - - 1835.56 - 3.80 0.124 3473.75 356.7 -77.86 - - 2810.97 - - - - - - - - - 15.31 -
10028.01 912.90 -8.68 1163 10034.85 roll -1.25 - - 1836.00 - 3.47 0.066 2084.62 -400.3 -77.86 - - 2812.50 - - - - - - - - - 15.42 -
10334.15 936.32 -6.51 1194 10339.95 roll -1.25 - - 1835.06 - 3.91 0.123 3474.50 355.5 -77.86 - - 2809.78 - - - - - - - - - 15.30 -
10399.22 941.87 -8.01 1207 10404.74 roll -1.25 - - 1835.69 - 3.48 0.065 2084.88 -399.3 -77.86 - - 2813.75 - - - - - - - - - 15.43 -
10704.20 961.62 -5.69 1238 10705.53 no move -1.25 - - 1835.38 - - - 2084.62 - -77.86 - - 2811.62 - - - - - - - - - - -
11004.22 979.69 -6.16 1268 11005.55 no move -1.25 - - 1835.69 - - - 2084.38 - -77.86 - - 2811.19 - - - - - - - - - - -
11184 end dive: TARGET_DEPTH_EXCEEDED
11184 begin apogee
11185.46 990.10 -6.42 1286 11258.13 -0.25 1.90 0.147 2079.81 128.5 0.08 0.302 2089.25 60.9 - 69.38 2.282 2497.00 -4.5 0.345 - - - - - - 15.32 14.96 10.80
11260 end apogee: CONTROL_FINISHED_OK
11260 begin climb
11260.40 990.73 - 1293 11347.00 1.25 2.70 0.089 2447.31 136.1 4.39 0.153 662.81 -324.9 77.86 76.84 2.216 2181.91 -4.1 0.322 - - - - - - 15.07 14.61 12.04
11348.77 983.91 7.32 1310 11355.53 roll 1.27 - - 2447.62 - 3.77 0.050 2119.12 386.3 77.86 - - 2178.94 - - - - - - - - - 14.80 -
11654.81 953.70 10.76 1341 11660.67 done 1.27 - - 2447.25 - 4.25 0.149 664.19 -342.3 77.86 - - 2172.47 - - - - - - - - - 15.23 -
11703.80 948.11 11.68 1351 11710.58 done 1.27 - - 2447.88 - 3.60 0.050 2120.69 404.6 77.86 - - 2168.38 - - - - - - - - - 15.45 -
12009.88 918.72 8.53 1382 12015.55 done 1.27 - - 2447.06 - 3.81 0.126 3472.75 354.9 77.86 - - 2165.78 - - - - - - - - - 15.38 -
12058.75 913.72 8.80 1392 12065.67 done 1.27 - - 2447.69 - 3.47 0.064 2080.25 -401.3 77.86 - - 2168.16 - - - - - - - - - 15.48 -
12364.93 885.99 9.15 1423 12370.58 done 1.27 - - 2447.19 - 3.89 0.123 3472.38 357.9 77.86 - - 2165.72 - - - - - - - - - 15.39 -
12380.17 884.47 9.68 1426 12385.52 done 1.27 - - 2447.69 - 3.44 0.062 2081.19 -404.4 77.86 - - 2166.44 - - - - - - - - - 15.53 -
12684.97 856.73 8.73 1457 12690.62 done 1.27 - - 2447.50 - 3.88 0.123 3471.88 358.4 77.86 - - 2163.91 - - - - - - - - - 15.39 -
12693.82 855.81 9.71 1459 12700.71 done 1.27 - - 2447.94 - 3.44 0.061 2081.12 -404.3 77.86 - - 2165.91 - - - - - - - - - 15.53 -
13000.00 829.24 8.58 1490 13005.83 done 1.27 - - 2447.62 - 4.03 0.147 663.00 -351.9 77.86 - - 2165.19 - - - - - - - - - 15.33 -
13028.93 826.61 8.19 1496 13035.79 done 1.27 - - 2447.44 - 3.51 0.050 2122.00 415.7 77.86 - - 2165.72 - - - - - - - - - 15.60 -
13335.05 800.78 8.28 1527 13336.38 VBD 1.27 - - 2447.94 - - - 2122.25 - 77.86 - - 2162.59 - - - - - - - - - - -
13635.11 778.34 7.06 1557 13636.44 VBD 1.30 - - 2447.62 - - - 2122.19 - 77.86 - - 2164.12 - - - - - - - - - - -
13935.11 756.82 6.61 1587 13940.95 done 1.35 - - 2447.19 - 4.18 0.146 663.19 -349.0 77.86 - - 2162.50 - - - - - - - - - 15.30 -
14040.12 747.71 8.88 1608 14045.80 done 1.35 - - 2447.38 - 3.57 0.053 2123.75 409.1 77.86 - - 2161.59 - - - - - - - - - 15.62 -
14345.18 727.09 6.47 1639 14350.86 1.39 0.19 0.094 2486.62 206.5 3.73 0.122 3472.56 361.6 77.86 - - 2161.19 - - - - - - - - 15.70 15.38 -
14424.01 719.75 9.36 1655 14430.92 done 1.39 - - 2486.81 - 3.45 0.062 2082.31 -403.0 77.86 - - 2162.19 - - - - - - - - - 15.52 -
14730.23 696.62 7.45 1686 14735.98 done 1.41 - - 2486.88 - 4.05 0.144 663.12 -350.4 77.86 - - 2160.59 - - - - - - - - - 15.28 -
14799.21 689.97 9.56 1700 14806.00 done 1.41 - - 2486.94 - 3.56 0.051 2124.69 410.6 77.86 - - 2161.09 - - - - - - - - - 15.60 -
15105.31 666.20 7.11 1731 15106.64 VBD 1.44 - - 2486.81 - - - 2124.19 - 77.86 - - 2161.56 - - - - - - - - - - -
15405.29 643.06 7.81 1761 15406.62 VBD 1.44 - - 2485.94 - - - 2124.25 - 77.86 - - 2161.38 - - - - - - - - - - -
15705.32 619.70 7.85 1791 15706.65 VBD 1.44 - - 2486.94 - - - 2124.94 - 77.86 - - 2161.72 - - - - - - - - - - -
16005.35 597.56 8.54 1821 16006.69 VBD 1.44 - - 2486.75 - - - 2124.44 - 77.86 - - 2159.84 - - - - - - - - - - -
16305.41 575.80 6.94 1851 16311.26 done 1.47 - - 2487.25 - 4.21 0.141 662.12 -347.3 77.86 - - 2160.16 - - - - - - - - - 15.26 -
16370.40 570.35 9.03 1864 16375.15 done 1.47 - - 2487.25 - 3.58 0.051 2125.31 408.7 77.86 - - 2161.09 - - - - - - - - - 15.61 -
16680.49 549.04 7.23 1896 16686.11 done 1.50 - - 2487.06 - 3.77 0.118 3473.75 357.7 77.86 - - 2163.12 - - - - - - - - - 15.32 -
16805.52 539.11 8.00 1921 16810.11 done 1.50 - - 2486.31 - 3.43 0.058 2082.56 -405.6 77.86 - - 2162.59 - - - - - - - - - 15.54 -
17115.61 517.98 6.56 1953 17121.29 1.54 0.17 0.096 2521.25 205.5 3.87 0.112 3471.06 358.8 77.86 - - 2160.06 - - - - - - - - 15.70 15.33 -
17200.62 511.30 8.81 1970 17205.34 done 1.54 - - 2521.06 - 3.44 0.059 2082.12 -403.8 77.86 - - 2163.00 - - - - - - - - - 15.50 -
17510.95 489.93 6.76 2002 17516.38 done 1.58 - - 2521.19 - 4.06 0.139 662.19 -349.7 77.86 - - 2163.31 - - - - - - - - - 15.26 -
17679.68 474.83 9.54 2036 17686.50 done 1.58 - - 2521.31 - 3.56 0.048 2127.25 411.5 77.86 - - 2161.12 - - - - - - - - - 15.59 -
17985.83 455.72 6.06 2067 17987.17 VBD 1.64 - - 2520.44 - - - 2126.81 - 77.86 - - 2161.34 - - - - - - - - - - -
18285.88 438.18 6.26 2097 18291.64 1.70 0.19 0.092 2560.88 212.8 4.17 0.135 662.06 -351.3 77.86 - - 2157.84 - - - - - - - - 15.70 15.24 -
18514.85 421.38 7.65 2143 18521.71 done 1.70 - - 2561.00 - 3.57 0.050 2126.38 410.2 77.86 - - 2159.31 - - - - - - - - - 15.58 -
18821.02 402.15 5.61 2174 18856.56 done 1.80 - - 2560.81 - 4.08 0.135 662.06 -358.9 112.68 29.42 1.573 2040.78 -4.0 0.181 - - - - - - - 15.46 11.21
19014.94 383.61 10.66 2213 19021.78 roll 1.80 - - 2561.25 - 3.58 0.049 2126.62 409.1 112.68 - - 2034.81 - - - - - - - - - 15.51 -
19321.06 356.89 8.54 2244 19326.83 roll 1.80 - - 2561.12 - 4.14 0.132 663.06 -353.5 112.68 - - 2031.88 - - - - - - - - - 15.29 -
19380.05 350.68 10.60 2256 19386.82 roll 1.80 - - 2561.00 - 3.56 0.048 2127.31 411.3 112.68 - - 2034.19 - - - - - - - - - 15.55 -
19686.10 323.58 8.82 2287 19691.81 done 1.80 - - 2560.44 - 4.14 0.132 662.06 -353.9 112.68 - - 2030.88 - - - - - - - - - 15.28 -
19731.12 319.15 10.05 2296 19736.78 done 1.80 - - 2561.00 - 3.55 0.048 2128.75 413.2 112.68 - - 2031.12 - - - - - - - - - 15.59 -
20036.15 290.73 9.07 2327 20041.80 done 1.80 - - 2560.50 - 3.71 0.111 3473.69 362.5 112.68 - - 2033.53 - - - - - - - - - 15.35 -
20071.16 286.88 11.00 2334 20075.87 done 1.80 - - 2561.75 - 3.44 0.055 2077.69 -405.8 112.68 - - 2032.28 - - - - - - - - - 15.52 -
20381.19 257.24 9.51 2366 20386.94 done 1.80 - - 2561.25 - 4.01 0.136 660.88 -353.3 112.68 - - 2030.16 - - - - - - - - - 15.29 -
20396.20 255.68 9.58 2369 20400.92 done 1.80 - - 2561.12 - 3.54 0.045 2126.69 414.1 112.68 - - 2031.44 - - - - - - - - - 15.62 -
20706.23 226.98 8.80 2401 20711.86 done 1.80 - - 2559.75 - 3.71 0.112 3472.94 362.9 112.68 - - 2032.22 - - - - - - - - - 15.35 -
20891.27 208.80 9.91 2438 20895.85 done 1.80 - - 2561.19 - 3.43 0.056 2078.56 -406.5 112.68 - - 2031.41 - - - - - - - - - 15.52 -
21201.30 184.18 7.68 2470 21202.63 VBD 1.80 - - 2560.81 - - - 2078.62 - 112.68 - - 2031.53 - - - - - - - - - - -
21501.32 163.18 7.81 2500 21507.11 done 1.80 - - 2561.62 - 3.99 0.134 663.00 -354.8 112.68 - - 2030.25 - - - - - - - - - 15.28 -
21556.35 158.43 8.66 2511 21561.22 done 1.80 - - 2560.94 - 3.54 0.049 2129.94 414.4 112.68 - - 2030.94 - - - - - - - - - 15.62 -
21866.39 136.26 6.26 2543 21872.03 1.85 0.18 0.093 2598.00 205.9 3.68 0.112 3474.69 365.4 112.68 - - 2029.44 - - - - - - - - 15.68 15.35 -
21971.41 128.12 7.46 2564 21975.98 done 1.87 - - 2597.19 - 3.43 0.055 2081.44 -406.2 112.68 - - 2030.38 - - - - - - - - - 15.56 -
22281.47 109.08 5.52 2596 22318.74 done 1.98 - - 2597.50 - 3.80 0.110 3473.81 366.4 148.72 31.40 1.225 1892.53 -4.4 0.069 - - - - - - - 15.50 11.40
22390.37 100.11 10.52 2618 22397.27 roll 1.98 - - 2599.25 - 3.46 0.056 2077.94 -403.4 148.72 - - 1889.91 - - - - - - - - - 15.50 -
22696.66 74.72 7.22 2679 22702.54 roll back 2.00 0.18 0.100 2632.62 185.4 3.86 0.109 3475.50 362.1 148.72 - - 1887.81 - - - - - - - - 15.56 15.36 -
22756.67 69.80 8.33 2691 22762.41 roll 2.00 - - 2632.88 - 3.45 0.055 2080.44 -404.4 148.72 - - 1888.09 - - - - - - - - - 15.54 -
22941.76 58.86 4.99 2728 22988.47 2.14 0.16 0.103 2664.19 195.7 3.96 0.134 661.81 -358.2 192.43 38.62 1.165 1716.09 -4.5 0.039 - - - - - - 15.59 15.39 11.79
23211.87 42.79 3.03 2782 23280.02 2.35 0.29 0.073 2717.06 182.3 3.57 0.049 2130.69 411.5 264.13 62.90 1.145 1423.16 -4.7 0.031 - - - - - - 15.33 15.52 11.76
23457.86 20.87 13.38 2831 23463.71 roll 2.35 - - 2716.38 - 4.14 0.128 661.88 -354.8 264.13 - - 1418.19 - - - - - - - - - 15.27 -
23562.89 2.44 20.88 2852 23568.79 roll 2.35 - - 2718.31 - 3.57 0.050 2125.44 410.0 264.13 - - 1415.81 - - - - - - - - - 15.50 -
23573 end climb: SURFACE_DEPTH_REACHED
23573 begin surface coast
23583 end surface coast: CONTROL_FINISHED_OK
23583 begin surface
SM -1.06 - - - - 177.8 2.06 0.249 767.9 372.8 17.92 0.078 769.1 42.9 - 0.09 0.135 766.8 8480.3 6.806 - - 12.10 15.34 15.53 -