NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 244 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 76.58 of 575.00 AH used of 24V (86.68% remains)
• Surface angle -59.9 deg, depth 0.51 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 58 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
6.65 - - - 84.67 VBD -1.25 - - 174.00 - - - 2118.69 - -77.86 77.44 0.005 2479.78 - - - - - - - - - - 15.60
84.94 3.42 -4.19 15 116.77 -1.25 13.77 0.257 1836.62 120.7 4.20 0.159 662.94 -346.6 -77.86 8.39 0.008 2815.44 40.0 -2.883 - - - - - - 15.63 15.61 15.64
244.53 39.11 -23.24 47 250.29 roll -1.25 - - 1837.06 - 3.52 0.054 2120.88 414.2 -77.86 - - 2817.81 - - - - - - - - - 15.77 -
429.59 76.27 -18.90 84 435.34 roll -1.25 - - 1836.31 - 3.59 0.115 3472.62 376.5 -77.86 - - 2816.56 - - - - - - - - - 15.81 -
534.69 95.68 -16.70 105 540.37 roll -1.25 - - 1836.50 - 3.45 0.057 2083.31 -402.7 -77.86 - - 2816.22 - - - - - - - - - 15.85 -
724.65 120.35 -11.51 127 730.48 roll -1.25 - - 1836.62 - 4.02 0.157 663.81 -353.1 -77.86 - - 2816.22 - - - - - - - - - 15.86 -
793.67 130.06 -14.25 141 800.43 roll -1.25 - - 1836.81 - 3.48 0.051 2121.00 418.7 -77.86 - - 2817.53 - - - - - - - - - 15.90 -
1099.75 162.09 -10.05 172 1104.49 roll -1.25 - - 1836.81 - 3.58 0.115 3473.38 377.8 -77.86 - - 2818.06 - - - - - - - - - 15.93 -
1329.85 189.49 -12.46 218 1334.42 roll -1.25 - - 1837.12 - 3.41 0.057 2081.56 -408.2 -77.86 - - 2818.84 - - - - - - - - - 15.97 -
1639.96 221.40 -10.62 250 1645.55 roll -1.25 - - 1836.06 - 3.72 0.115 3474.19 374.4 -77.86 - - 2817.28 - - - - - - - - - 15.99 -
1735.00 232.65 -11.78 269 1740.51 roll -1.25 - - 1837.06 - 3.43 0.059 2082.12 -405.9 -77.86 - - 2819.22 - - - - - - - - - 15.99 -
2039.97 267.47 -11.23 300 2045.62 roll -1.25 - - 1836.62 - 3.71 0.116 3474.81 375.4 -77.86 - - 2816.34 - - - - - - - - - 16.01 -
2085.01 273.00 -12.27 309 2089.58 roll -1.25 - - 1836.44 - 3.41 0.060 2082.50 -408.3 -77.86 - - 2819.12 - - - - - - - - - 16.01 -
2395.04 307.46 -11.40 341 2400.85 roll -1.25 - - 1836.50 - 3.98 0.161 663.56 -356.5 -77.86 - - 2817.00 - - - - - - - - - 16.00 -
2474.06 318.24 -14.00 357 2480.83 roll -1.25 - - 1836.75 - 3.48 0.053 2120.06 418.5 -77.86 - - 2817.78 - - - - - - - - - 16.03 -
2780.11 353.54 -11.53 388 2781.44 no move -1.25 - - 1836.75 - - - 2120.62 - -77.86 - - 2817.75 - - - - - - - - - - -
3080.14 387.45 -10.38 418 3085.99 roll -1.25 - - 1836.75 - 4.11 0.159 663.88 -354.4 -77.86 - - 2820.00 - - - - - - - - - 16.02 -
3115.16 392.11 -13.07 425 3119.81 roll -1.25 - - 1836.88 - 3.45 0.054 2120.56 422.2 -77.86 - - 2819.78 - - - - - - - - - 16.04 -
3425.17 426.39 -10.84 457 3426.50 no move -1.25 - - 1836.44 - - - 2120.19 - -77.86 - - 2817.12 - - - - - - - - - - -
3725.20 458.45 -10.08 487 3730.81 roll -1.25 - - 1837.38 - 3.52 0.122 3474.25 384.7 -77.86 - - 2815.94 - - - - - - - - - 16.05 -
3800.23 467.36 -12.13 502 3804.79 roll -1.25 - - 1837.44 - 3.38 0.062 2083.88 -411.4 -77.86 - - 2816.41 - - - - - - - - - 16.06 -
4110.26 498.30 -9.27 534 4116.05 roll -1.25 - - 1836.69 - 4.00 0.167 663.06 -355.2 -77.86 - - 2815.97 - - - - - - - - - 16.04 -
4185.34 506.23 -10.52 549 4190.02 roll -1.25 - - 1837.31 - 3.48 0.056 2119.62 418.6 -77.86 - - 2816.12 - - - - - - - - - 16.06 -
4495.29 532.49 -7.91 581 4501.12 roll -1.25 - - 1837.12 - 4.09 0.165 662.81 -356.2 -77.86 - - 2813.59 - - - - - - - - - 16.04 -
4520.31 534.59 -7.29 586 4525.02 roll -1.25 - - 1837.25 - 3.44 0.055 2120.06 423.6 -77.86 - - 2815.56 - - - - - - - - - 16.07 -
4830.32 559.00 -8.32 618 4836.17 roll -1.25 - - 1836.69 - 4.04 0.166 662.94 -360.7 -77.86 - - 2817.47 - - - - - - - - - 16.04 -
4875.34 562.84 -10.03 627 4880.05 roll -1.25 - - 1836.62 - 3.46 0.056 2120.88 421.4 -77.86 - - 2815.69 - - - - - - - - - 16.07 -
5185.35 589.20 -8.26 659 5190.97 roll -1.25 - - 1837.38 - 3.52 0.125 3473.12 384.2 -77.86 - - 2812.97 - - - - - - - - - 16.06 -
5234.29 594.03 -9.86 669 5241.08 roll -1.25 - - 1836.88 - 3.38 0.064 2082.56 -411.4 -77.86 - - 2815.16 - - - - - - - - - 16.07 -
5540.38 622.73 -10.30 700 5546.01 roll -1.25 - - 1835.81 - 3.68 0.124 3473.81 378.1 -77.86 - - 2816.84 - - - - - - - - - 16.08 -
5589.25 627.76 -11.17 710 5596.12 roll -1.25 - - 1836.88 - 3.39 0.065 2083.94 -410.0 -77.86 - - 2814.75 - - - - - - - - - 16.08 -
5895.42 657.08 -9.86 741 5901.04 roll -1.25 - - 1836.75 - 3.70 0.125 3474.38 375.8 -77.86 - - 2815.25 - - - - - - - - - 16.08 -
5960.45 663.58 -9.85 754 5965.02 roll -1.25 - - 1836.69 - 3.42 0.066 2083.69 -406.6 -77.86 - - 2814.00 - - - - - - - - - 16.08 -
6270.45 693.44 -10.38 786 6276.29 roll -1.25 - - 1837.12 - 4.01 0.177 663.00 -354.3 -77.86 - - 2811.56 - - - - - - - - - 16.04 -
6315.48 698.35 -11.49 795 6320.18 roll -1.25 - - 1837.00 - 3.47 0.061 2118.19 419.4 -77.86 - - 2813.34 - - - - - - - - - 16.08 -
6625.49 727.45 -9.21 827 6631.33 roll -1.25 - - 1836.88 - 4.11 0.174 663.00 -354.1 -77.86 - - 2813.31 - - - - - - - - - 16.04 -
6654.48 730.86 -10.80 833 6661.23 roll -1.25 - - 1837.00 - 3.47 0.061 2118.88 419.6 -77.86 - - 2813.53 - - - - - - - - - 16.08 -
6960.51 758.48 -8.68 864 6966.35 roll -1.25 - - 1836.00 - 4.11 0.175 662.62 -354.3 -77.86 - - 2814.22 - - - - - - - - - 16.05 -
7069.52 769.97 -10.73 886 7076.28 roll -1.25 - - 1836.31 - 3.49 0.063 2118.69 417.2 -77.86 - - 2813.12 - - - - - - - - - 16.08 -
7375.56 795.47 -8.04 917 7376.88 no move -1.25 - - 1836.69 - - - 2118.75 - -77.86 - - 2810.84 - - - - - - - - - - -
7675.57 818.98 -7.71 947 7681.44 roll -1.25 - - 1836.56 - 4.13 0.177 664.06 -352.2 -77.86 - - 2810.03 - - - - - - - - - 16.05 -
7724.51 823.36 -8.83 957 7731.46 roll -1.25 - - 1836.81 - 3.49 0.065 2118.88 416.9 -77.86 - - 2811.78 - - - - - - - - - 16.08 -
8030.62 846.26 -7.67 988 8036.22 roll -1.25 - - 1835.69 - 3.56 0.131 3473.81 380.6 -77.86 - - 2813.41 - - - - - - - - - 16.07 -
8085.65 850.28 -8.62 999 8090.21 roll -1.25 - - 1836.88 - 3.39 0.069 2083.81 -410.0 -77.86 - - 2811.44 - - - - - - - - - 16.08 -
8395.69 872.76 -6.96 1031 8401.52 roll -1.25 - - 1836.31 - 4.05 0.182 663.25 -350.8 -77.86 - - 2812.81 - - - - - - - - - 16.04 -
8520.73 883.41 -8.56 1056 8525.46 roll -1.25 - - 1836.75 - 3.47 0.067 2116.88 418.9 -77.86 - - 2809.97 - - - - - - - - - 16.08 -
8830.79 907.18 -7.44 1088 8835.53 roll -1.25 - - 1836.25 - 3.57 0.133 3472.75 379.8 -77.86 - - 2808.53 - - - - - - - - - 16.06 -
8930.91 915.19 -8.20 1108 8936.43 roll -1.25 - - 1836.81 - 3.40 0.072 2084.69 -408.3 -77.86 - - 2807.88 - - - - - - - - - 16.08 -
9235.89 939.64 -9.60 1139 9237.22 no move -1.25 - - 1836.69 - - - 2084.62 - -77.86 - - 2808.84 - - - - - - - - - - -
9535.93 963.66 -8.16 1169 9541.76 roll -1.25 - - 1835.12 - 4.06 0.184 663.69 -350.0 -77.86 - - 2810.69 - - - - - - - - - 16.04 -
9704.99 979.33 -9.17 1203 9711.75 roll -1.25 - - 1836.62 - 3.52 0.069 2117.38 413.0 -77.86 - - 2808.81 - - - - - - - - - 16.08 -
9850 end dive: TARGET_DEPTH_EXCEEDED
9850 begin apogee
9852.27 990.57 -6.13 1218 9922.80 -0.25 1.74 0.155 2080.25 140.0 0.08 0.308 2186.81 867.9 - 64.67 2.292 2498.09 -4.8 0.350 - - - - - - 16.02 15.59 12.86
9924 end apogee: CONTROL_FINISHED_OK
9924 begin climb
9924.36 992.95 - 1225 10002.58 1.25 2.48 0.099 2447.06 147.9 - - 2185.69 - 77.86 71.64 2.233 2182.94 -4.4 0.330 - - - - - - 15.62 - 12.86
10301.10 961.10 9.77 1263 10306.95 done 1.25 - - 2447.69 - 4.11 0.157 738.19 -352.2 77.86 - - 2167.97 - - - - - - - - - 15.66 -
10376.11 952.84 10.96 1278 10380.85 done 1.25 - - 2447.81 - 3.59 0.059 2216.75 411.9 77.86 - - 2166.94 - - - - - - - - - 15.71 -
10686.15 924.55 9.21 1310 10687.49 VBD 1.25 - - 2447.62 - - - 2217.31 - 77.86 - - 2167.03 - - - - - - - - - - -
10986.19 898.84 7.31 1340 10990.74 done 1.27 - - 2446.31 - 3.37 0.134 3473.06 372.6 77.86 - - 2168.19 - - - - - - - - - 15.87 -
11086.28 888.32 9.76 1360 11090.75 done 1.27 - - 2448.00 - 3.19 0.063 2182.88 -404.4 77.86 - - 2165.72 - - - - - - - - - 15.89 -
11396.24 860.42 8.14 1392 11402.08 done 1.27 - - 2446.88 - 4.03 0.154 736.56 -358.9 77.86 - - 2161.94 - - - - - - - - - 15.91 -
11471.26 852.80 9.27 1407 11476.00 done 1.27 - - 2448.06 - 3.52 0.057 2218.44 421.0 77.86 - - 2162.19 - - - - - - - - - 15.94 -
11781.31 825.37 9.10 1439 11785.89 done 1.27 - - 2447.81 - 3.32 0.134 3472.19 377.6 77.86 - - 2164.31 - - - - - - - - - 15.95 -
11885.36 815.60 9.12 1460 11892.01 done 1.27 - - 2448.19 - 3.15 0.063 2182.31 -409.5 77.86 - - 2162.47 - - - - - - - - - 15.97 -
12191.36 789.34 8.01 1491 12195.94 done 1.27 - - 2447.25 - 3.43 0.130 3471.94 376.0 77.86 - - 2162.09 - - - - - - - - - 15.98 -
12225.22 785.97 9.61 1498 12232.05 done 1.27 - - 2447.44 - 3.16 0.060 2182.00 -408.2 77.86 - - 2163.31 - - - - - - - - - 15.98 -
12531.40 761.25 8.94 1529 12537.22 done 1.27 - - 2448.06 - 3.95 0.150 736.44 -366.0 77.86 - - 2160.78 - - - - - - - - - 15.98 -
12636.42 751.06 10.04 1550 12642.01 done 1.27 - - 2448.44 - 3.50 0.056 2220.44 424.0 77.86 - - 2160.25 - - - - - - - - - 16.00 -
12941.45 727.75 8.40 1581 12947.21 done 1.27 - - 2447.31 - 4.06 0.147 736.31 -365.5 77.86 - - 2161.19 - - - - - - - - - 16.00 -
13070.39 716.15 9.40 1607 13077.23 done 1.27 - - 2447.69 - 3.53 0.057 2219.69 420.2 77.86 - - 2162.31 - - - - - - - - - 16.02 -
13376.52 692.31 7.96 1638 13382.48 done 1.27 - - 2448.12 - 4.05 0.146 737.44 -366.0 77.86 - - 2158.44 - - - - - - - - - 16.01 -
13501.54 681.46 9.34 1663 13507.13 done 1.27 - - 2448.00 - 3.48 0.057 2219.56 425.9 77.86 - - 2158.97 - - - - - - - - - 16.03 -
13806.58 660.77 5.99 1694 13837.96 done 1.36 - - 2448.19 - 4.11 0.147 736.50 -360.8 107.19 24.17 1.847 2062.28 -4.0 0.241 - - - - - - - 15.84 12.83
13846.60 657.79 7.41 1702 13852.23 roll back 1.38 0.16 0.109 2484.00 223.8 3.54 0.055 2221.19 419.4 107.19 - - 2059.38 - - - - - - - - 15.87 15.90 -
14151.61 631.01 9.05 1733 14152.94 no move 1.38 - - 2484.50 - - - 2221.38 - 107.19 - - 2056.47 - - - - - - - - - - -
14451.66 603.49 9.12 1763 14456.20 roll 1.38 - - 2484.50 - 3.30 0.130 3472.81 379.2 107.19 - - 2057.06 - - - - - - - - - 15.96 -
14561.91 591.71 10.51 1785 14566.26 roll 1.38 - - 2483.88 - 3.19 0.059 2180.88 -405.0 107.19 - - 2057.62 - - - - - - - - - 15.98 -
14871.77 561.88 8.94 1817 14876.34 roll 1.38 - - 2482.81 - 3.43 0.125 3472.38 376.5 107.19 - - 2056.28 - - - - - - - - - 15.99 -
15055.69 543.07 10.46 1854 15062.54 roll 1.38 - - 2484.88 - 3.17 0.058 2181.62 -407.2 107.19 - - 2055.31 - - - - - - - - - 16.00 -
15361.91 515.15 8.48 1885 15367.72 roll 1.38 - - 2483.88 - 3.96 0.143 737.19 -364.8 107.19 - - 2054.19 - - - - - - - - - 16.00 -
15500.88 501.24 10.11 1913 15507.71 done 1.38 - - 2484.50 - 3.50 0.056 2221.81 424.2 107.19 - - 2054.94 - - - - - - - - - 16.02 -
15807.04 474.68 7.87 1944 15812.86 done 1.38 - - 2483.44 - 4.03 0.141 736.25 -368.6 107.19 - - 2055.91 - - - - - - - - - 16.01 -
15932.08 461.82 10.36 1969 15937.67 done 1.38 - - 2484.38 - 3.48 0.055 2222.06 427.0 107.19 - - 2052.94 - - - - - - - - - 16.02 -
16237.12 434.57 8.88 2000 16243.18 done 1.38 - - 2482.81 - 4.06 0.139 735.25 -366.2 107.19 - - 2054.72 - - - - - - - - - 16.01 -
16292.35 429.24 9.64 2011 16297.88 done 1.38 - - 2483.50 - 3.47 0.052 2224.31 429.1 107.19 - - 2053.47 - - - - - - - - - 16.03 -
16597.18 402.49 8.90 2042 16598.51 VBD 1.38 - - 2483.50 - - - 2224.62 - 107.19 - - 2052.34 - - - - - - - - - - -
16897.20 378.48 8.14 2072 16903.03 done 1.38 - - 2483.25 - 4.05 0.139 735.50 -367.7 107.19 - - 2055.12 - - - - - - - - - 16.01 -
16926.14 375.78 8.59 2078 16933.08 done 1.38 - - 2484.06 - 3.49 0.052 2223.75 426.4 107.19 - - 2053.47 - - - - - - - - - 16.01 -
17232.26 352.61 7.20 2109 17233.59 VBD 1.41 - - 2483.75 - - - 2224.31 - 107.19 - - 2052.00 - - - - - - - - - - -
17532.29 332.24 6.68 2139 17538.10 done 1.45 - - 2484.31 - 4.05 0.138 737.12 -367.2 107.19 - - 2051.81 - - - - - - - - - 16.03 -
17607.29 326.25 8.40 2154 17611.87 done 1.45 - - 2484.25 - 3.48 0.053 2218.25 425.6 107.19 - - 2054.12 - - - - - - - - - 16.05 -
17917.35 305.08 6.88 2186 17923.29 done 1.48 - - 2484.50 - 4.05 0.138 736.56 -365.8 107.19 - - 2052.84 - - - - - - - - - 16.02 -
17966.26 301.05 8.10 2196 17973.22 done 1.48 - - 2484.06 - 3.48 0.054 2225.75 427.9 107.19 - - 2053.12 - - - - - - - - - 16.04 -
18272.38 279.82 6.78 2227 18278.24 1.52 0.14 0.112 2517.44 238.4 4.03 0.136 736.44 -369.6 107.19 - - 2052.88 - - - - - - - - 16.03 16.02 -
18337.38 274.37 8.48 2240 18342.98 done 1.52 - - 2518.62 - 3.51 0.053 2223.69 423.7 107.19 - - 2052.25 - - - - - - - - - 16.02 -
18642.43 252.66 6.94 2271 18646.96 done 1.55 - - 2518.12 - 3.24 0.121 3472.88 385.6 107.19 - - 2055.59 - - - - - - - - - 16.04 -
18652.43 251.78 6.92 2273 18656.94 done 1.59 - - 2518.62 - 3.12 0.051 2176.56 -415.5 107.19 - - 2053.81 - - - - - - - - - 16.05 -
18962.46 230.51 6.91 2305 18963.79 VBD 1.62 - - 2518.50 - - - 2177.06 - 107.19 - - 2053.56 - - - - - - - - - - -
19262.49 210.46 6.71 2335 19268.29 done 1.66 - - 2517.94 - 3.88 0.138 736.19 -371.4 107.19 - - 2054.78 - - - - - - - - - 16.00 -
19301.42 207.57 7.02 2343 19308.44 1.69 0.19 0.097 2561.50 229.3 3.51 0.052 2225.31 424.3 107.19 - - 2053.44 - - - - - - - - 16.01 16.04 -
19607.55 185.36 7.52 2374 19613.28 done 1.71 - - 2560.44 - 4.01 0.131 736.62 -371.2 107.19 - - 2055.38 - - - - - - - - - 16.04 -
19642.54 182.14 8.43 2381 19648.12 done 1.71 - - 2560.94 - 3.48 0.051 2226.00 428.0 107.19 - - 2051.31 - - - - - - - - - 16.04 -
19947.58 159.36 6.54 2412 19953.24 done 1.75 - - 2562.06 - 4.00 0.130 736.19 -372.5 107.19 - - 2051.75 - - - - - - - - - 16.03 -
20072.60 150.26 6.71 2437 20078.18 done 1.79 - - 2561.06 - 3.49 0.050 2227.44 427.3 107.19 - - 2051.34 - - - - - - - - - 16.04 -
20377.67 135.46 3.59 2468 20435.67 1.99 0.37 0.077 2629.62 185.3 4.10 0.132 736.44 -363.7 170.91 51.94 1.281 1801.97 -4.8 0.086 - - - - - - 16.01 15.78 12.88
20503.65 126.08 10.78 2493 20509.10 roll 1.99 - - 2629.56 - 3.55 0.052 2226.06 419.6 170.91 - - 1796.56 - - - - - - - - - 15.83 -
20808.48 102.90 4.39 2524 20856.00 2.14 0.18 0.094 2667.12 208.7 3.34 0.120 3471.44 372.9 223.22 42.24 1.205 1587.22 -5.0 0.071 - - - - - - 15.89 15.69 12.89
21078.86 75.44 11.93 2578 21084.66 roll 2.14 - - 2667.69 - 3.18 0.055 2179.44 -406.3 223.22 - - 1584.00 - - - - - - - - - 15.82 -
21263.94 55.89 7.91 2615 21269.66 done 2.14 - - 2668.00 - 3.46 0.114 3473.38 374.0 223.22 - - 1581.16 - - - - - - - - - 15.84 -
21368.97 48.84 6.41 2636 21374.65 done 2.19 - - 2668.31 - 3.16 0.052 2176.62 -410.4 223.22 - - 1580.56 - - - - - - - - - 15.87 -
21554.05 40.32 4.64 2673 21600.94 2.34 0.24 0.094 2714.56 192.7 3.98 0.135 736.62 -361.8 271.86 39.87 1.109 1390.91 -4.8 0.029 - - - - - - 15.87 15.69 12.78
21739.09 18.14 15.17 2710 21744.86 roll 2.34 - - 2714.88 - 3.57 0.053 2225.12 416.9 271.86 - - 1387.38 - - - - - - - - - 15.80 -
21864 end climb: SURFACE_DEPTH_REACHED
21864 begin surface coast
21879 end surface coast: CONTROL_FINISHED_OK
21879 begin surface
SM 0.43 - - - - 174.0 0.67 0.149 768.2 1146.6 16.54 0.083 771.0 46.6 - 0.34 0.092 765.4 2240.7 -1.070 - - 15.44 15.77 15.84 -