NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 608 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 181.63 of 575.00 AH used of 24V (68.41% remains)
• Surface angle -62.9 deg, depth 0.93 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.03 (SM_CC=425)
• GPS1 time: 18 s
• GPS2 time: 3 s • Transponder ping count: 4
• 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
7.37 - - - 87.09 VBD -1.25 - - 175.06 - - - 2078.81 - -77.86 79.14 0.005 2477.59 - - - - - - - - - - 14.98
87.35 3.03 -3.29 15 119.31 -1.25 14.79 0.253 1835.81 112.3 3.84 0.114 3475.00 363.6 -77.86 8.89 0.007 2816.12 38.1 -2.905 - - - - - - 15.13 14.93 15.09
322.10 48.99 -20.79 62 327.88 roll -1.25 - - 1835.75 - 3.45 0.058 2082.00 -403.8 -77.86 - - 2817.19 - - - - - - - - - 15.50 -
507.17 78.05 -12.22 99 512.96 roll -1.25 - - 1835.94 - 3.77 0.107 3473.81 369.2 -77.86 - - 2816.25 - - - - - - - - - 15.44 -
731.08 105.65 -10.24 144 737.97 roll -1.25 - - 1835.69 - 3.41 0.055 2083.06 -407.8 -77.86 - - 2816.25 - - - - - - - - - 15.57 -
1037.25 135.83 -9.55 175 1042.90 roll -1.25 - - 1835.38 - 3.77 0.106 3474.12 369.0 -77.86 - - 2815.47 - - - - - - - - - 15.48 -
1062.27 138.12 -9.48 180 1066.84 roll -1.25 - - 1836.12 - 3.38 0.054 2080.88 -412.2 -77.86 - - 2816.31 - - - - - - - - - 15.59 -
1372.30 167.36 -9.14 212 1373.62 no move -1.25 - - 1835.81 - - - 2081.25 - -77.86 - - 2816.91 - - - - - - - - - - -
1672.33 196.18 -9.60 242 1673.65 no move -1.25 - - 1836.25 - - - 2081.19 - -77.86 - - 2816.88 - - - - - - - - - - -
1972.36 225.57 -9.79 272 1973.69 no move -1.25 - - 1835.56 - - - 2081.75 - -77.86 - - 2817.19 - - - - - - - - - - -
2272.40 255.50 -10.10 302 2278.22 roll -1.25 - - 1833.88 - 3.82 0.112 3473.44 364.3 -77.86 - - 2817.22 - - - - - - - - - 15.48 -
2377.41 267.56 -11.37 323 2382.00 roll -1.25 - - 1835.69 - 3.41 0.058 2082.12 -408.0 -77.86 - - 2816.72 - - - - - - - - - 15.59 -
2687.45 299.07 -9.40 355 2693.30 roll -1.25 - - 1835.88 - 4.09 0.152 663.25 -346.9 -77.86 - - 2814.53 - - - - - - - - - 15.35 -
2722.47 303.22 -11.59 362 2728.05 roll -1.25 - - 1834.25 - 3.50 0.049 2121.12 416.5 -77.86 - - 2817.66 - - - - - - - - - 15.66 -
3027.49 332.97 -9.65 393 3028.82 no move -1.25 - - 1836.19 - - - 2121.00 - -77.86 - - 2817.16 - - - - - - - - - - -
3327.53 361.70 -9.55 423 3333.29 roll -1.25 - - 1836.31 - 3.65 0.113 3475.25 371.0 -77.86 - - 2816.34 - - - - - - - - - 15.46 -
3366.39 365.83 -10.66 431 3373.26 roll -1.25 - - 1835.88 - 3.38 0.058 2081.12 -412.5 -77.86 - - 2818.56 - - - - - - - - - 15.58 -
3672.57 393.73 -9.55 462 3678.35 roll -1.25 - - 1835.56 - 3.77 0.110 3473.94 369.4 -77.86 - - 2816.91 - - - - - - - - - 15.45 -
3711.44 397.84 -11.00 470 3718.32 roll -1.25 - - 1835.88 - 3.38 0.058 2082.50 -411.7 -77.86 - - 2817.34 - - - - - - - - - 15.57 -
4017.63 424.48 -8.91 501 4023.42 roll -1.25 - - 1835.69 - 3.80 0.111 3474.62 366.3 -77.86 - - 2817.75 - - - - - - - - - 15.45 -
4052.66 427.51 -9.00 508 4057.21 roll -1.25 - - 1835.88 - 3.39 0.058 2082.94 -410.5 -77.86 - - 2816.28 - - - - - - - - - 15.57 -
4362.71 453.22 -7.79 540 4364.04 no move -1.25 - - 1835.75 - - - 2082.19 - -77.86 - - 2814.66 - - - - - - - - - - -
4662.77 478.37 -8.27 570 4664.10 no move -1.25 - - 1836.06 - - - 2082.81 - -77.86 - - 2816.56 - - - - - - - - - - -
4962.85 506.48 -10.04 600 4968.63 roll -1.25 - - 1835.56 - 3.80 0.116 3473.31 365.9 -77.86 - - 2816.72 - - - - - - - - - 15.40 -
4997.87 509.90 -9.77 607 5002.45 roll -1.25 - - 1835.75 - 3.41 0.060 2082.56 -407.8 -77.86 - - 2816.41 - - - - - - - - - 15.54 -
5307.93 538.60 -9.00 639 5313.78 roll -1.25 - - 1835.56 - 4.16 0.159 664.06 -341.0 -77.86 - - 2813.59 - - - - - - - - - 15.26 -
5416.95 550.04 -9.84 661 5423.74 roll -1.25 - - 1835.75 - 3.53 0.051 2120.62 412.6 -77.86 - - 2814.84 - - - - - - - - - 15.61 -
5723.03 575.55 -8.37 692 5728.66 roll -1.25 - - 1835.75 - 3.70 0.117 3476.06 366.3 -77.86 - - 2816.69 - - - - - - - - - 15.39 -
5748.05 577.73 -9.09 697 5752.62 roll -1.25 - - 1834.50 - 3.41 0.060 2082.69 -408.6 -77.86 - - 2816.25 - - - - - - - - - 15.53 -
6058.10 604.17 -8.06 729 6063.95 roll -1.25 - - 1835.62 - 4.14 0.159 663.06 -342.9 -77.86 - - 2813.62 - - - - - - - - - 15.23 -
6153.12 612.98 -8.46 748 6158.73 roll -1.25 - - 1835.44 - 3.53 0.050 2121.81 413.2 -77.86 - - 2812.41 - - - - - - - - - 15.61 -
6458.15 638.43 -9.31 779 6463.95 roll -1.25 - - 1835.62 - 3.71 0.117 3473.81 364.4 -77.86 - - 2813.31 - - - - - - - - - 15.37 -
6537.08 645.32 -8.72 795 6543.91 roll -1.25 - - 1835.75 - 3.44 0.061 2083.25 -404.2 -77.86 - - 2814.97 - - - - - - - - - 15.49 -
6843.20 669.27 -8.20 826 6849.01 roll -1.25 - - 1835.50 - 3.85 0.118 3474.56 361.4 -77.86 - - 2811.50 - - - - - - - - - 15.35 -
6948.24 678.37 -8.28 847 6952.82 roll -1.25 - - 1836.31 - 3.44 0.061 2083.75 -404.3 -77.86 - - 2814.50 - - - - - - - - - 15.50 -
7258.27 703.12 -6.91 879 7263.99 roll -1.25 - - 1835.38 - 4.20 0.164 664.31 -338.0 -77.86 - - 2813.78 - - - - - - - - - 15.20 -
7313.35 708.41 -10.08 890 7318.88 roll -1.25 - - 1833.88 - 3.57 0.055 2118.25 407.3 -77.86 - - 2813.44 - - - - - - - - - 15.57 -
7618.31 731.18 -7.87 921 7624.09 roll -1.25 - - 1835.81 - 3.75 0.120 3474.19 361.6 -77.86 - - 2811.28 - - - - - - - - - 15.33 -
7677.17 736.22 -8.77 933 7684.06 roll -1.25 - - 1835.69 - 3.43 0.062 2084.62 -405.1 -77.86 - - 2814.19 - - - - - - - - - 15.46 -
7983.35 760.56 -7.94 964 7989.21 roll -1.25 - - 1835.56 - 4.20 0.165 663.25 -338.4 -77.86 - - 2812.72 - - - - - - - - - 15.18 -
8062.34 768.42 -10.67 980 8069.12 roll -1.25 - - 1836.00 - 3.57 0.056 2116.88 407.2 -77.86 - - 2812.47 - - - - - - - - - 15.52 -
8368.40 792.10 -7.52 1011 8374.20 roll -1.25 - - 1835.69 - 3.76 0.121 3472.81 360.6 -77.86 - - 2810.66 - - - - - - - - - 15.31 -
8423.42 797.52 -10.15 1022 8427.99 roll -1.25 - - 1835.94 - 3.43 0.063 2085.38 -404.5 -77.86 - - 2812.56 - - - - - - - - - 15.44 -
8733.43 818.89 -7.18 1054 8739.24 roll -1.25 - - 1835.38 - 3.87 0.121 3475.06 359.1 -77.86 - - 2811.53 - - - - - - - - - 15.29 -
8768.59 822.24 -6.76 1061 8774.04 roll -1.25 - - 1833.81 - 3.45 0.064 2085.00 -402.9 -77.86 - - 2813.12 - - - - - - - - - 15.45 -
9073.47 844.40 -7.36 1092 9079.20 roll -1.25 - - 1835.69 - 4.22 0.168 663.19 -336.9 -77.86 - - 2810.47 - - - - - - - - - 15.15 -
9108.49 848.27 -11.07 1099 9114.09 roll -1.25 - - 1836.06 - 3.55 0.057 2116.50 409.4 -77.86 - - 2811.06 - - - - - - - - - 15.52 -
9413.51 871.60 -8.63 1130 9419.24 roll -1.25 - - 1835.50 - 4.27 0.166 664.25 -340.1 -77.86 - - 2810.16 - - - - - - - - - 15.15 -
9442.51 874.55 -7.93 1136 9449.29 roll -1.25 - - 1835.88 - 3.55 0.056 2117.50 409.4 -77.86 - - 2811.25 - - - - - - - - - 15.49 -
9748.55 898.84 -8.16 1167 9754.33 roll -1.25 - - 1835.19 - 3.76 0.124 3471.50 360.1 -77.86 - - 2811.69 - - - - - - - - - 15.28 -
9773.56 901.26 -9.19 1172 9778.14 roll -1.25 - - 1835.44 - 3.43 0.064 2084.69 -404.3 -77.86 - - 2809.84 - - - - - - - - - 15.42 -
10083.59 926.46 -7.96 1204 10084.92 no move -1.25 - - 1835.38 - - - 2084.25 - -77.86 - - 2811.03 - - - - - - - - - - -
10383.65 949.16 -6.84 1234 10389.46 roll -1.25 - - 1835.81 - 3.88 0.124 3473.31 358.0 -77.86 - - 2808.62 - - - - - - - - - 15.26 -
10438.68 953.97 -8.27 1245 10443.27 roll -1.25 - - 1835.75 - 3.46 0.067 2085.25 -401.2 -77.86 - - 2810.78 - - - - - - - - - 15.39 -
10748.74 975.96 -6.64 1277 10754.47 roll -1.25 - - 1836.25 - 4.26 0.170 664.25 -333.6 -77.86 - - 2808.25 - - - - - - - - - 15.13 -
10793.77 978.94 -7.08 1286 10799.38 roll -1.25 - - 1835.50 - 3.60 0.059 2116.44 403.4 -77.86 - - 2812.84 - - - - - - - - - 15.48 -
10958 end dive: TARGET_DEPTH_EXCEEDED
10958 begin apogee
10960.07 990.37 -6.90 1303 11032.69 -0.25 1.92 0.147 2079.62 127.1 0.06 0.342 2114.44 - - 68.88 2.289 2501.81 -4.5 0.344 - - - - - - 15.30 14.96 10.89
11034 end apogee: CONTROL_FINISHED_OK
11034 begin climb
11034.95 992.05 - 1310 11120.35 1.25 2.71 0.088 2447.75 135.8 4.41 0.152 664.06 -328.9 77.86 75.72 2.240 2179.22 -4.3 0.332 - - - - - - 15.08 14.62 11.99
11122.19 986.82 4.88 1325 11173.86 1.39 0.19 0.084 2484.06 191.1 3.73 0.048 2121.69 390.8 123.05 46.10 2.164 1999.03 -3.9 0.314 - - - - - - 14.79 14.80 11.79
11478.22 947.40 11.82 1366 11479.55 VBD 1.39 - - 2484.19 - - - 2121.12 - 123.05 - - 1984.56 - - - - - - - - - - -
11778.24 912.77 12.19 1396 11783.90 done 1.39 - - 2483.94 - 3.75 0.125 3473.81 360.7 123.05 - - 1986.16 - - - - - - - - - 15.40 -
11837.11 905.01 14.40 1408 11844.01 done 1.39 - - 2484.50 - 3.44 0.065 2083.12 -404.3 123.05 - - 1983.31 - - - - - - - - - 15.50 -
12143.29 869.47 11.04 1439 12144.62 VBD 1.39 - - 2483.88 - - - 2082.75 - 123.05 - - 1982.00 - - - - - - - - - - -
12443.32 835.87 10.23 1469 12449.15 done 1.39 - - 2484.25 - 4.03 0.149 663.06 -352.3 123.05 - - 1981.41 - - - - - - - - - 15.35 -
12462.25 832.98 10.94 1473 12469.08 done 1.39 - - 2483.88 - 3.53 0.051 2120.81 413.0 123.05 - - 1983.09 - - - - - - - - - 15.61 -
12768.37 800.88 9.99 1504 12769.70 VBD 1.39 - - 2484.00 - - - 2120.38 - 123.05 - - 1980.22 - - - - - - - - - - -
13068.40 769.32 9.51 1534 13074.04 done 1.39 - - 2483.50 - 3.77 0.123 3474.75 359.2 123.05 - - 1978.72 - - - - - - - - - 15.42 -
13107.26 764.08 12.79 1542 13114.16 done 1.39 - - 2484.25 - 3.43 0.063 2081.38 -406.2 123.05 - - 1979.34 - - - - - - - - - 15.55 -
13413.44 731.10 10.13 1573 13414.77 VBD 1.39 - - 2484.25 - - - 2080.88 - 123.05 - - 1979.00 - - - - - - - - - - -
13713.47 699.75 10.92 1603 13719.13 done 1.39 - - 2484.38 - 3.86 0.121 3472.94 360.6 123.05 - - 1979.03 - - - - - - - - - 15.39 -
13768.50 693.52 11.52 1614 13773.08 done 1.39 - - 2484.50 - 3.40 0.062 2081.06 -409.4 123.05 - - 1980.50 - - - - - - - - - 15.56 -
14078.52 661.75 10.43 1646 14079.85 VBD 1.39 - - 2484.38 - - - 2081.38 - 123.05 - - 1977.19 - - - - - - - - - - -
14378.55 631.76 8.82 1676 14379.88 VBD 1.39 - - 2483.88 - - - 2081.50 - 123.05 - - 1976.69 - - - - - - - - - - -
14678.58 602.64 9.44 1706 14679.91 VBD 1.39 - - 2484.12 - - - 2081.19 - 123.05 - - 1976.84 - - - - - - - - - - -
14978.63 574.33 9.89 1736 14979.97 VBD 1.39 - - 2484.00 - - - 2081.06 - 123.05 - - 1977.69 - - - - - - - - - - -
15278.69 548.10 9.04 1766 15284.53 done 1.39 - - 2484.38 - 4.05 0.145 663.06 -350.1 123.05 - - 1975.44 - - - - - - - - - 15.28 -
15377.65 537.01 12.90 1786 15384.50 done 1.39 - - 2484.12 - 3.55 0.051 2125.19 411.9 123.05 - - 1977.72 - - - - - - - - - 15.62 -
15683.80 509.11 8.79 1817 15685.13 VBD 1.39 - - 2484.31 - - - 2125.25 - 123.05 - - 1977.16 - - - - - - - - - - -
15983.88 481.37 8.37 1847 15989.71 done 1.39 - - 2483.62 - 4.12 0.139 663.19 -354.9 123.05 - - 1977.06 - - - - - - - - - 15.26 -
16002.80 479.00 8.11 1851 16009.64 done 1.39 - - 2484.00 - 3.51 0.049 2125.06 416.5 123.05 - - 1976.50 - - - - - - - - - 15.62 -
16308.94 451.48 8.64 1882 16310.27 VBD 1.39 - - 2483.75 - - - 2125.75 - 123.05 - - 1976.69 - - - - - - - - - - -
16609.00 426.79 8.39 1912 16610.34 VBD 1.39 - - 2484.56 - - - 2125.75 - 123.05 - - 1975.06 - - - - - - - - - - -
16909.05 402.52 8.39 1942 16914.90 done 1.39 - - 2483.75 - 4.14 0.139 663.12 -353.3 123.05 - - 1974.75 - - - - - - - - - 15.24 -
16948.00 398.58 9.84 1950 16954.83 done 1.39 - - 2484.12 - 3.52 0.049 2125.62 415.5 123.05 - - 1976.44 - - - - - - - - - 15.62 -
17254.14 375.16 6.91 1981 17259.76 done 1.42 - - 2483.38 - 3.71 0.115 3474.19 363.5 123.05 - - 1975.78 - - - - - - - - - 15.33 -
17309.15 370.26 8.73 1992 17313.80 done 1.42 - - 2484.25 - 3.40 0.056 2077.94 -410.7 123.05 - - 1977.31 - - - - - - - - - 15.53 -
17619.19 347.20 7.63 2024 17625.01 done 1.42 - - 2483.25 - 4.01 0.140 663.00 -352.9 123.05 - - 1975.62 - - - - - - - - - 15.23 -
17734.20 336.66 10.16 2047 17738.94 done 1.42 - - 2484.25 - 3.54 0.050 2125.56 413.2 123.05 - - 1976.94 - - - - - - - - - 15.61 -
18044.24 312.39 8.21 2079 18049.87 done 1.42 - - 2483.44 - 3.71 0.114 3474.12 363.5 123.05 - - 1976.31 - - - - - - - - - 15.31 -
18073.09 310.00 8.80 2085 18080.00 done 1.42 - - 2484.00 - 3.39 0.056 2077.56 -412.0 123.05 - - 1976.66 - - - - - - - - - 15.51 -
18379.29 286.13 7.44 2116 18384.94 done 1.44 - - 2483.69 - 3.87 0.112 3472.75 360.5 123.05 - - 1974.44 - - - - - - - - - 15.31 -
18434.29 281.56 8.16 2127 18438.87 done 1.44 - - 2483.69 - 3.40 0.056 2077.81 -410.3 123.05 - - 1976.91 - - - - - - - - - 15.51 -
18744.33 258.45 6.82 2159 18749.97 done 1.48 - - 2483.31 - 3.86 0.111 3473.69 361.6 123.05 - - 1977.75 - - - - - - - - - 15.31 -
18809.43 253.28 7.38 2172 18814.92 done 1.50 - - 2485.00 - 3.40 0.055 2079.38 -410.1 123.05 - - 1975.16 - - - - - - - - - 15.50 -
19114.38 231.48 6.58 2203 19120.25 1.54 0.18 0.091 2521.12 200.7 4.01 0.137 661.75 -353.5 123.05 - - 1974.47 - - - - - - - - 15.67 15.22 -
19219.40 221.97 9.08 2224 19225.06 done 1.54 - - 2521.44 - 3.52 0.048 2129.44 417.0 123.05 - - 1976.06 - - - - - - - - - 15.58 -
19524.44 200.41 7.19 2255 19525.77 VBD 1.57 - - 2521.12 - - - 2129.62 - 123.05 - - 1974.53 - - - - - - - - - - -
19824.47 180.55 6.29 2285 19830.31 done 1.62 - - 2522.00 - 4.11 0.133 663.12 -356.8 123.05 - - 1974.38 - - - - - - - - - 15.22 -
19863.46 177.51 6.77 2293 19870.22 done 1.66 - - 2521.44 - 3.52 0.048 2128.38 416.3 123.05 - - 1975.47 - - - - - - - - - 15.58 -
20169.51 158.20 6.23 2324 20175.19 1.71 0.22 0.085 2564.38 195.2 3.69 0.112 3473.81 364.6 123.05 - - 1974.06 - - - - - - - - 15.66 15.31 -
20244.51 152.48 7.69 2339 20249.11 done 1.71 - - 2564.19 - 3.41 0.055 2079.88 -408.8 123.05 - - 1975.91 - - - - - - - - - 15.50 -
20554.57 130.11 7.19 2371 20560.21 done 1.74 - - 2564.44 - 3.82 0.107 3474.12 365.0 123.05 - - 1977.09 - - - - - - - - - 15.30 -
20599.57 126.33 8.49 2380 20604.12 done 1.74 - - 2564.38 - 3.40 0.054 2076.69 -411.0 123.05 - - 1976.16 - - - - - - - - - 15.49 -
20909.61 104.36 6.10 2412 20915.25 done 1.80 - - 2564.75 - 3.84 0.107 3474.00 363.9 123.05 - - 1974.69 - - - - - - - - - 15.30 -
21034.65 96.52 5.74 2437 21066.03 1.90 0.23 0.082 2607.06 184.0 3.40 0.052 2078.88 -410.3 155.95 26.31 1.194 1865.38 -4.2 0.059 - - - - - - 15.31 15.53 11.27
21244.80 82.77 7.23 2479 21250.53 roll 1.92 - - 2607.44 - 3.82 0.105 3474.25 365.3 155.95 - - 1857.84 - - - - - - - - - 15.38 -
21474.92 66.69 6.85 2525 21480.54 roll 1.96 - - 2608.31 - 3.41 0.052 2079.62 -409.0 155.95 - - 1859.38 - - - - - - - - - 15.54 -
21661.15 64.76 0.20 2562 21764.05 2.29 0.60 0.065 2702.50 157.0 3.88 0.106 3472.50 359.0 268.01 94.00 1.171 1405.75 -4.8 0.047 - - - - - - 15.61 15.13 11.81
21891.86 42.00 14.62 2608 21897.60 roll 2.29 - - 2702.38 - 3.46 0.054 2080.31 -402.4 268.01 - - 1401.62 - - - - - - - - - 15.37 -
22076.95 20.56 11.86 2645 22082.79 done 2.29 - - 2702.50 - 4.01 0.134 662.12 -353.7 268.01 - - 1399.22 - - - - - - - - - 15.28 -
22137.03 12.41 14.41 2657 22142.72 done 2.29 - - 2702.81 - 3.54 0.045 2127.00 413.8 268.01 - - 1400.12 - - - - - - - - - 15.51 -
22221 end climb: SURFACE_DEPTH_REACHED
22222 begin surface coast
22236 end surface coast: CONTROL_FINISHED_OK
22236 begin surface
SM 0.51 - - - - 175.4 - 0.010 767.3 - 17.82 0.081 769.3 43.2 - 0.09 0.141 765.3 8464.0 -3.129 - - 30.36 15.31 15.54 -