NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 610 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 182.25 of 575.00 AH used of 24V (68.30% remains)
• Surface angle -61.2 deg, depth 0.45 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.99 (SM_CC=425)
• GPS1 time: 22 s
• GPS2 time: 2 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
7.45 - - - 92.35 VBD -1.25 - - 174.12 - - - 2114.88 - -77.86 84.35 0.005 2592.84 - - - - - - - - - - 13.81
92.61 3.90 -7.42 16 123.91 -1.25 14.95 0.261 1835.00 111.1 3.76 0.113 3474.00 361.5 -77.86 5.24 0.009 2816.25 42.6 -3.226 - - - - - - 15.12 14.94 15.09
346.74 54.02 -18.71 67 352.52 roll -1.25 - - 1835.62 - 3.45 0.059 2082.25 -403.4 -77.86 - - 2818.72 - - - - - - - - - 15.50 -
531.84 78.96 -12.06 104 537.65 roll -1.25 - - 1836.00 - 3.81 0.105 3475.06 365.6 -77.86 - - 2816.03 - - - - - - - - - 15.46 -
616.95 90.42 -12.76 121 622.61 roll -1.25 - - 1834.88 - 3.43 0.055 2081.19 -406.4 -77.86 - - 2818.16 - - - - - - - - - 15.57 -
801.91 111.28 -10.42 148 807.69 roll -1.25 - - 1835.69 - 3.76 0.104 3475.00 370.7 -77.86 - - 2817.62 - - - - - - - - - 15.48 -
880.80 120.67 -12.25 164 887.74 roll -1.25 - - 1835.50 - 3.39 0.055 2083.25 -410.5 -77.86 - - 2818.78 - - - - - - - - - 15.58 -
1187.01 151.03 -9.99 195 1188.33 no move -1.25 - - 1835.75 - - - 2083.50 - -77.86 - - 2816.97 - - - - - - - - - - -
1487.07 181.34 -9.98 225 1488.40 no move -1.25 - - 1835.31 - - - 2083.06 - -77.86 - - 2815.41 - - - - - - - - - - -
1787.13 210.89 -9.55 255 1792.93 roll -1.25 - - 1835.88 - 3.80 0.109 3473.62 365.9 -77.86 - - 2818.41 - - - - - - - - - 15.49 -
1886.01 221.73 -11.16 275 1892.93 roll -1.25 - - 1835.50 - 3.41 0.057 2082.12 -408.1 -77.86 - - 2817.62 - - - - - - - - - 15.60 -
2192.21 250.27 -9.21 306 2197.99 roll -1.25 - - 1835.69 - 3.77 0.109 3474.19 369.2 -77.86 - - 2816.03 - - - - - - - - - 15.49 -
2217.24 252.70 -9.47 311 2221.78 roll -1.25 - - 1836.00 - 3.39 0.056 2081.88 -410.7 -77.86 - - 2818.19 - - - - - - - - - 15.62 -
2527.26 282.89 -10.05 343 2533.04 roll -1.25 - - 1833.88 - 3.79 0.109 3474.75 367.5 -77.86 - - 2817.03 - - - - - - - - - 15.49 -
2596.14 290.45 -11.36 357 2603.02 roll -1.25 - - 1834.88 - 3.42 0.057 2081.75 -407.3 -77.86 - - 2818.44 - - - - - - - - - 15.60 -
2902.32 319.59 -9.40 388 2903.64 no move -1.25 - - 1835.88 - - - 2081.81 - -77.86 - - 2817.34 - - - - - - - - - - -
3202.35 348.64 -9.98 418 3208.08 roll -1.25 - - 1835.25 - 3.82 0.111 3474.06 364.5 -77.86 - - 2817.53 - - - - - - - - - 15.47 -
3257.37 354.27 -11.63 429 3261.95 roll -1.25 - - 1835.75 - 3.42 0.059 2081.25 -407.3 -77.86 - - 2816.75 - - - - - - - - - 15.59 -
3567.40 384.15 -9.24 461 3568.73 no move -1.25 - - 1836.19 - - - 2082.56 - -77.86 - - 2817.09 - - - - - - - - - - -
3867.45 411.20 -8.51 491 3873.25 roll -1.25 - - 1836.06 - 3.85 0.113 3473.88 361.4 -77.86 - - 2814.47 - - - - - - - - - 15.45 -
3902.46 414.93 -10.66 498 3907.04 roll -1.25 - - 1835.69 - 3.41 0.059 2083.19 -407.8 -77.86 - - 2817.06 - - - - - - - - - 15.58 -
4212.48 441.46 -7.94 530 4218.27 roll -1.25 - - 1835.25 - 3.78 0.113 3473.56 367.8 -77.86 - - 2817.34 - - - - - - - - - 15.44 -
4247.50 444.85 -9.69 537 4252.08 roll -1.25 - - 1835.81 - 3.42 0.059 2082.00 -406.9 -77.86 - - 2816.09 - - - - - - - - - 15.58 -
4557.53 472.76 -10.04 569 4563.33 roll -1.25 - - 1833.88 - 3.84 0.112 3474.00 362.5 -77.86 - - 2817.12 - - - - - - - - - 15.43 -
4622.56 479.03 -10.53 582 4627.14 roll -1.25 - - 1835.69 - 3.43 0.060 2084.00 -405.2 -77.86 - - 2815.06 - - - - - - - - - 15.56 -
4932.59 508.10 -9.30 614 4938.38 roll -1.25 - - 1835.50 - 3.85 0.114 3473.75 361.0 -77.86 - - 2817.47 - - - - - - - - - 15.42 -
5027.59 518.39 -11.93 633 5032.21 roll -1.25 - - 1835.31 - 3.41 0.061 2083.69 -407.6 -77.86 - - 2818.22 - - - - - - - - - 15.55 -
5337.64 547.69 -10.14 665 5343.44 roll -1.25 - - 1835.75 - 3.85 0.115 3472.94 360.8 -77.86 - - 2814.62 - - - - - - - - - 15.40 -
5372.65 551.35 -10.45 672 5377.23 roll -1.25 - - 1835.69 - 3.41 0.061 2082.00 -407.9 -77.86 - - 2817.78 - - - - - - - - - 15.55 -
5682.70 578.63 -8.42 704 5684.02 no move -1.25 - - 1835.69 - - - 2081.56 - -77.86 - - 2815.28 - - - - - - - - - - -
5982.76 604.48 -8.78 734 5988.49 roll -1.25 - - 1835.94 - 3.88 0.117 3473.88 358.8 -77.86 - - 2812.88 - - - - - - - - - 15.38 -
6047.80 610.87 -10.03 747 6052.37 roll -1.25 - - 1836.00 - 3.43 0.062 2083.38 -405.4 -77.86 - - 2814.62 - - - - - - - - - 15.53 -
6357.84 638.01 -9.29 779 6359.17 no move -1.25 - - 1836.12 - - - 2082.75 - -77.86 - - 2814.44 - - - - - - - - - - -
6657.90 663.45 -8.31 809 6659.23 no move -1.25 - - 1835.81 - - - 2083.00 - -77.86 - - 2813.16 - - - - - - - - - - -
6957.96 686.77 -6.78 839 6963.68 roll -1.25 - - 1835.75 - 4.17 0.166 664.12 -340.3 -77.86 - - 2813.09 - - - - - - - - - 15.22 -
7013.21 691.98 -9.46 850 7018.75 roll -1.25 - - 1835.56 - 3.55 0.055 2118.44 409.7 -77.86 - - 2811.41 - - - - - - - - - 15.58 -
7318.06 716.00 -7.62 881 7323.84 roll -1.25 - - 1835.38 - 3.78 0.120 3472.56 358.2 -77.86 - - 2811.38 - - - - - - - - - 15.35 -
7363.09 720.05 -8.85 890 7367.67 roll -1.25 - - 1835.75 - 3.45 0.063 2085.56 -402.0 -77.86 - - 2812.84 - - - - - - - - - 15.49 -
7673.15 743.16 -6.84 922 7674.48 no move -1.25 - - 1836.00 - - - 2085.31 - -77.86 - - 2813.66 - - - - - - - - - - -
7973.19 765.96 -7.12 952 7978.92 roll -1.25 - - 1836.62 - 4.26 0.167 664.44 -333.5 -77.86 - - 2811.38 - - - - - - - - - 15.19 -
8038.27 771.89 -8.70 965 8043.95 roll -1.25 - - 1835.94 - 3.58 0.057 2116.75 405.7 -77.86 - - 2811.00 - - - - - - - - - 15.55 -
8343.25 796.01 -8.64 996 8349.02 roll -1.25 - - 1835.19 - 3.79 0.122 3474.50 358.2 -77.86 - - 2810.94 - - - - - - - - - 15.33 -
8462.10 807.31 -10.74 1020 8469.04 roll -1.25 - - 1835.50 - 3.45 0.065 2085.12 -402.7 -77.86 - - 2814.34 - - - - - - - - - 15.44 -
8768.30 832.72 -9.07 1051 8774.03 roll -1.25 - - 1835.56 - 4.24 0.168 664.19 -335.1 -77.86 - - 2811.47 - - - - - - - - - 15.16 -
8823.38 838.41 -11.05 1062 8829.06 roll -1.25 - - 1835.19 - 3.60 0.057 2116.12 403.3 -77.86 - - 2814.50 - - - - - - - - - 15.53 -
9128.35 862.53 -8.77 1093 9134.14 roll -1.25 - - 1835.25 - 3.83 0.122 3472.75 354.2 -77.86 - - 2814.34 - - - - - - - - - 15.30 -
9193.37 868.12 -8.45 1106 9197.95 roll -1.25 - - 1835.81 - 3.47 0.065 2085.50 -399.8 -77.86 - - 2812.56 - - - - - - - - - 15.44 -
9503.40 891.01 -6.96 1138 9504.73 no move -1.25 - - 1835.50 - - - 2085.44 - -77.86 - - 2810.78 - - - - - - - - - - -
9803.43 912.05 -7.42 1168 9804.76 no move -1.25 - - 1835.62 - - - 2084.75 - -77.86 - - 2810.28 - - - - - - - - - - -
10103.47 931.94 -6.39 1198 10104.79 no move -1.25 - - 1835.50 - - - 2085.31 - -77.86 - - 2811.25 - - - - - - - - - - -
10403.50 951.29 -7.17 1228 10409.32 roll -1.25 - - 1835.62 - 3.96 0.126 3473.19 350.5 -77.86 - - 2811.16 - - - - - - - - - 15.26 -
10442.37 954.17 -7.20 1236 10449.27 roll -1.25 - - 1835.75 - 3.49 0.068 2087.75 -397.0 -77.86 - - 2813.03 - - - - - - - - - 15.39 -
10748.54 974.43 -6.69 1267 10754.27 roll -1.25 - - 1835.56 - 4.30 0.170 665.12 -330.8 -77.86 - - 2810.72 - - - - - - - - - 15.13 -
10813.55 979.13 -8.23 1280 10818.32 roll -1.25 - - 1836.31 - 3.62 0.062 2112.94 400.0 -77.86 - - 2810.03 - - - - - - - - - 15.48 -
10984 end dive: TARGET_DEPTH_EXCEEDED
10984 begin apogee
10984.86 991.05 -6.61 1298 11056.44 -0.25 1.89 0.144 2079.31 128.6 0.06 0.335 2112.94 - - 68.75 2.286 2500.03 -4.5 0.341 - - - - - - 15.31 14.97 10.79
11059 end apogee: CONTROL_FINISHED_OK
11059 begin climb
11058.71 992.29 - 1305 11144.33 1.25 2.70 0.087 2447.25 136.3 4.45 0.150 664.31 -325.5 77.86 75.77 2.240 2181.00 -4.2 0.326 - - - - - - 15.07 14.62 12.03
11171.01 985.08 8.44 1327 11177.89 roll 1.25 - - 2448.12 - 3.70 0.049 2116.94 392.6 77.86 - - 2177.78 - - - - - - - - - 14.92 -
11477.15 959.08 8.65 1358 11478.49 VBD 1.25 - - 2447.88 - - - 2116.50 - 77.86 - - 2170.78 - - - - - - - - - - -
11777.19 932.97 8.64 1388 11782.85 done 1.25 - - 2447.00 - 3.82 0.126 3473.62 355.3 77.86 - - 2168.84 - - - - - - - - - 15.37 -
11852.28 925.19 10.24 1403 11857.81 done 1.25 - - 2447.62 - 3.50 0.065 2082.19 -397.6 77.86 - - 2168.25 - - - - - - - - - 15.51 -
12157.24 896.21 9.91 1434 12158.58 VBD 1.25 - - 2448.31 - - - 2082.88 - 77.86 - - 2167.00 - - - - - - - - - - -
12457.27 869.11 9.63 1464 12462.95 done 1.25 - - 2447.69 - 3.90 0.122 3474.00 356.7 77.86 - - 2165.34 - - - - - - - - - 15.39 -
12486.13 866.27 9.56 1470 12493.05 done 1.25 - - 2447.12 - 3.45 0.062 2084.38 -402.8 77.86 - - 2166.56 - - - - - - - - - 15.51 -
12792.33 840.20 8.40 1501 12793.66 VBD 1.25 - - 2447.75 - - - 2084.12 - 77.86 - - 2164.66 - - - - - - - - - - -
13092.35 815.17 9.17 1531 13098.17 done 1.25 - - 2447.31 - 3.91 0.122 3473.38 355.3 77.86 - - 2164.22 - - - - - - - - - 15.39 -
13121.21 812.84 8.16 1537 13128.24 done 1.25 - - 2447.31 - 3.45 0.062 2083.50 -402.9 77.86 - - 2164.72 - - - - - - - - - 15.53 -
13427.39 788.19 7.66 1568 13433.22 done 1.25 - - 2447.69 - 4.07 0.145 663.12 -349.0 77.86 - - 2162.19 - - - - - - - - - 15.30 -
13466.25 784.45 9.34 1576 13473.16 done 1.25 - - 2447.81 - 3.54 0.050 2121.50 412.0 77.86 - - 2162.28 - - - - - - - - - 15.60 -
13772.47 761.33 7.23 1607 13778.08 done 1.28 - - 2447.38 - 3.78 0.122 3472.88 357.5 77.86 - - 2163.44 - - - - - - - - - 15.37 -
13807.46 758.24 7.43 1614 13812.03 done 1.30 - - 2448.12 - 3.44 0.060 2081.25 -404.5 77.86 - - 2162.88 - - - - - - - - - 15.53 -
14117.47 734.03 8.38 1646 14123.31 done 1.30 - - 2447.56 - 4.05 0.145 663.06 -350.2 77.86 - - 2160.59 - - - - - - - - - 15.28 -
14142.49 731.94 7.87 1651 14147.25 done 1.30 - - 2446.75 - 3.54 0.049 2122.06 412.1 77.86 - - 2164.28 - - - - - - - - - 15.63 -
14452.52 706.05 8.71 1683 14458.37 done 1.30 - - 2447.75 - 4.16 0.141 662.81 -350.8 77.86 - - 2161.00 - - - - - - - - - 15.27 -
14481.50 703.40 8.56 1689 14488.28 done 1.30 - - 2447.69 - 3.53 0.049 2124.12 414.0 77.86 - - 2161.97 - - - - - - - - - 15.61 -
14787.55 679.16 7.96 1720 14788.88 VBD 1.30 - - 2447.25 - - - 2123.56 - 77.86 - - 2162.12 - - - - - - - - - - -
15087.58 656.67 7.55 1750 15088.92 VBD 1.30 - - 2447.56 - - - 2123.56 - 77.86 - - 2161.88 - - - - - - - - - - -
15387.63 635.86 6.36 1780 15393.40 done 1.35 - - 2446.19 - 4.18 0.141 664.56 -349.0 77.86 - - 2163.91 - - - - - - - - - 15.25 -
15426.68 632.39 6.88 1788 15433.45 1.38 0.17 0.093 2484.31 224.2 3.55 0.050 2125.56 411.5 77.86 - - 2163.75 - - - - - - - - 15.35 15.59 -
15732.68 610.44 6.95 1819 15738.31 done 1.41 - - 2483.62 - 3.74 0.117 3474.50 360.7 77.86 - - 2162.84 - - - - - - - - - 15.34 -
15891.58 597.87 8.35 1851 15898.60 done 1.41 - - 2484.19 - 3.44 0.058 2082.00 -404.8 77.86 - - 2163.75 - - - - - - - - - 15.53 -
16197.80 578.48 6.82 1882 16203.61 done 1.45 - - 2483.69 - 4.03 0.139 662.06 -352.3 77.86 - - 2159.06 - - - - - - - - - 15.24 -
16256.71 573.74 7.95 1894 16263.56 done 1.45 - - 2483.69 - 3.52 0.047 2125.94 415.9 77.86 - - 2161.44 - - - - - - - - - 15.59 -
16562.88 555.38 6.46 1925 16564.22 VBD 1.50 - - 2484.38 - - - 2125.38 - 77.86 - - 2160.22 - - - - - - - - - - -
16862.95 537.29 5.98 1955 16894.39 1.59 0.25 0.081 2532.62 193.0 4.09 0.139 661.19 -358.0 107.47 25.19 1.704 2060.25 -4.0 0.218 - - - - - - 15.70 15.48 11.12
16942.94 530.08 10.82 1971 16948.62 roll 1.59 - - 2533.12 - 3.56 0.046 2125.31 411.3 107.47 - - 2056.72 - - - - - - - - - 15.54 -
17248.02 502.50 9.38 2002 17253.78 roll 1.59 - - 2533.06 - 4.14 0.135 662.44 -353.4 107.47 - - 2054.81 - - - - - - - - - 15.29 -
17343.05 492.05 11.06 2021 17347.92 roll 1.59 - - 2533.25 - 3.55 0.049 2125.88 412.2 107.47 - - 2054.97 - - - - - - - - - 15.56 -
17653.12 463.23 9.28 2053 17654.45 no move 1.59 - - 2532.69 - - - 2126.12 - 107.47 - - 2053.56 - - - - - - - - - - -
17953.55 433.87 9.63 2083 17958.80 roll 1.59 - - 2532.62 - 3.72 0.114 3472.88 362.0 107.47 - - 2054.91 - - - - - - - - - 15.35 -
18018.20 426.74 10.75 2096 18022.77 roll 1.59 - - 2533.44 - 3.42 0.056 2081.56 -406.8 107.47 - - 2052.50 - - - - - - - - - 15.52 -
18328.22 396.92 8.99 2128 18333.88 done 1.59 - - 2533.69 - 3.86 0.111 3473.88 360.7 107.47 - - 2052.19 - - - - - - - - - 15.34 -
18373.25 392.36 10.15 2137 18377.82 roll 1.59 - - 2533.56 - 3.42 0.055 2080.62 -407.4 107.47 - - 2054.41 - - - - - - - - - 15.54 -
18683.27 365.94 8.09 2169 18689.08 done 1.59 - - 2532.50 - 3.86 0.110 3473.56 360.9 107.47 - - 2051.94 - - - - - - - - - 15.35 -
18758.54 359.49 8.11 2184 18764.03 done 1.59 - - 2533.38 - 3.42 0.056 2081.19 -407.1 107.47 - - 2053.84 - - - - - - - - - 15.54 -
19063.35 337.84 6.27 2215 19068.99 done 1.64 - - 2532.62 - 3.85 0.109 3473.81 361.7 107.47 - - 2053.78 - - - - - - - - - 15.34 -
19158.34 330.29 7.59 2234 19162.92 done 1.64 - - 2532.88 - 3.42 0.056 2079.12 -407.8 107.47 - - 2055.62 - - - - - - - - - 15.52 -
19468.40 309.73 6.64 2266 19474.04 done 1.68 - - 2533.00 - 3.86 0.109 3475.50 361.8 107.47 - - 2052.16 - - - - - - - - - 15.34 -
19557.24 302.38 8.39 2284 19564.16 done 1.68 - - 2532.81 - 3.43 0.055 2078.62 -407.3 107.47 - - 2053.88 - - - - - - - - - 15.52 -
19863.44 279.88 7.84 2315 19869.12 done 1.68 - - 2532.81 - 4.02 0.136 662.06 -352.4 107.47 - - 2052.75 - - - - - - - - - 15.25 -
19898.46 276.50 8.42 2322 19904.04 done 1.68 - - 2532.25 - 3.49 0.046 2130.31 420.7 107.47 - - 2053.31 - - - - - - - - - 15.62 -
20203.51 252.85 7.80 2353 20204.84 VBD 1.68 - - 2533.19 - - - 2130.50 - 107.47 - - 2053.00 - - - - - - - - - - -
20503.51 229.61 7.87 2383 20509.15 done 1.68 - - 2532.00 - 3.71 0.112 3473.75 362.1 107.47 - - 2055.12 - - - - - - - - - 15.32 -
20668.55 215.83 8.68 2416 20673.13 done 1.68 - - 2533.12 - 3.44 0.056 2081.12 -404.8 107.47 - - 2052.91 - - - - - - - - - 15.52 -
20978.60 194.79 6.61 2448 20984.33 1.73 0.16 0.112 2565.69 203.6 4.03 0.134 662.25 -352.1 107.47 - - 2051.59 - - - - - - - - 15.62 15.25 -
20997.58 193.37 6.52 2452 21004.35 done 1.77 - - 2565.31 - 3.51 0.045 2128.88 417.8 107.47 - - 2054.47 - - - - - - - - - 15.61 -
21303.64 175.23 5.46 2483 21344.62 1.88 0.19 0.091 2605.06 209.2 4.07 0.131 662.31 -360.3 144.42 32.66 1.315 1910.75 -4.4 0.102 - - - - - - 15.67 15.48 11.27
21493.72 154.46 12.44 2521 21499.35 roll 1.88 - - 2605.12 - 3.56 0.048 2127.88 411.7 144.42 - - 1905.53 - - - - - - - - - 15.54 -
21798.71 122.56 10.27 2552 21804.40 roll 1.88 - - 2605.19 - 4.09 0.127 663.06 -358.1 144.42 - - 1902.94 - - - - - - - - - 15.29 -
21998.79 98.87 11.49 2592 22004.67 roll 1.88 - - 2605.38 - 3.54 0.047 2128.44 413.9 144.42 - - 1905.16 - - - - - - - - - 15.58 -
22183.88 86.16 5.61 2629 22220.34 done 1.99 - - 2604.94 - 4.05 0.127 662.06 -362.1 179.21 30.74 1.203 1768.62 -4.4 0.056 - - - - - - - 15.45 11.70
22263.88 79.48 10.23 2645 22269.64 roll 1.99 - - 2605.94 - 3.55 0.043 2129.56 413.4 179.21 - - 1767.62 - - - - - - - - - 15.50 -
22448.97 64.06 7.10 2682 22450.30 no move 2.02 - - 2604.69 - - - 2130.12 - 179.21 - - 1763.34 - - - - - - - - - - -
22629.04 58.76 2.09 2718 22705.86 2.27 0.57 0.060 2698.75 165.0 - - 2130.00 - 264.22 72.62 1.172 1423.47 -4.7 0.041 - - - - - - 15.56 - 11.72
22884.12 41.89 9.60 2769 22889.97 roll 2.27 - - 2698.62 - 4.14 0.127 661.88 -354.6 264.22 - - 1417.88 - - - - - - - - - 15.26 -
22934.13 35.13 13.85 2779 22939.88 roll 2.27 - - 2698.38 - 3.57 0.047 2128.00 410.7 264.22 - - 1417.78 - - - - - - - - - 15.46 -
23119.19 14.00 11.51 2816 23124.97 roll 2.27 - - 2699.44 - 3.69 0.107 3474.38 364.9 264.22 - - 1415.34 - - - - - - - - - 15.38 -
23149.20 9.84 13.85 2822 23154.93 done 2.27 - - 2699.38 - 3.42 0.052 2078.62 -408.1 264.22 - - 1415.28 - - - - - - - - - 15.51 -
23215 end climb: SURFACE_DEPTH_REACHED
23215 begin surface coast
23230 end surface coast: CONTROL_FINISHED_OK
23230 begin surface
SM 0.66 - - - - 175.2 - 0.011 767.5 - 17.66 0.075 762.9 43.2 - 0.08 0.142 772.1 9608.5 -4.564 - - 30.36 15.32 15.60 -