NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 486 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 144.96 of 575.00 AH used of 24V (74.79% remains)
• Surface angle -55.8 deg, depth 0.86 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 31 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
7.20 - - - 86.16 VBD -1.25 - - 176.56 - - - 2114.12 - -77.86 78.40 0.005 2477.62 - - - - - - - - - - 15.19
86.42 3.38 -4.06 15 118.25 -1.25 14.35 0.256 1834.62 115.5 3.78 0.116 3472.56 359.4 -77.86 8.68 0.007 2818.91 39.3 -3.273 - - - - - - 15.39 15.19 15.28
306.08 50.14 -21.21 59 311.86 roll -1.25 - - 1835.62 - 3.42 0.059 2082.25 -406.5 -77.86 - - 2817.84 - - - - - - - - - 15.63 -
491.16 81.17 -13.96 96 496.94 roll -1.25 - - 1835.56 - 3.80 0.107 3472.31 365.8 -77.86 - - 2816.69 - - - - - - - - - 15.68 -
671.21 106.80 -14.61 132 675.76 roll -1.25 - - 1835.81 - 3.37 0.055 2081.56 -412.7 -77.86 - - 2817.16 - - - - - - - - - 15.72 -
981.31 140.87 -10.51 164 986.88 roll -1.25 - - 1836.06 - 3.76 0.107 3474.25 370.4 -77.86 - - 2814.91 - - - - - - - - - 15.77 -
1046.28 148.73 -12.12 177 1050.83 roll -1.25 - - 1835.62 - 3.36 0.055 2080.31 -414.9 -77.86 - - 2819.25 - - - - - - - - - 15.78 -
1356.30 183.73 -10.76 209 1357.63 no move -1.25 - - 1835.75 - - - 2080.00 - -77.86 - - 2817.03 - - - - - - - - - - -
1656.35 216.41 -11.13 239 1662.16 roll -1.25 - - 1835.81 - 3.95 0.153 663.06 -358.7 -77.86 - - 2814.81 - - - - - - - - - 15.75 -
1695.21 221.35 -13.12 247 1702.17 roll -1.25 - - 1835.56 - 3.49 0.049 2122.88 418.3 -77.86 - - 2816.75 - - - - - - - - - 15.84 -
2001.40 254.15 -9.81 278 2007.03 roll -1.25 - - 1835.44 - 3.62 0.112 3474.88 373.5 -77.86 - - 2817.06 - - - - - - - - - 15.82 -
2096.50 264.88 -11.40 297 2101.01 roll -1.25 - - 1835.81 - 3.34 0.057 2080.12 -417.6 -77.86 - - 2817.03 - - - - - - - - - 15.85 -
2406.48 294.66 -9.50 329 2407.81 no move -1.25 - - 1836.25 - - - 2080.00 - -77.86 - - 2817.50 - - - - - - - - - - -
2706.52 324.73 -10.36 359 2707.84 no move -1.25 - - 1836.19 - - - 2080.62 - -77.86 - - 2817.41 - - - - - - - - - - -
3006.56 354.59 -9.90 389 3012.20 roll -1.25 - - 1835.75 - 3.77 0.114 3474.06 369.6 -77.86 - - 2819.25 - - - - - - - - - 15.84 -
3071.59 362.09 -12.08 402 3076.15 roll -1.25 - - 1835.56 - 3.37 0.060 2080.94 -413.4 -77.86 - - 2817.53 - - - - - - - - - 15.87 -
3381.62 392.89 -9.82 434 3387.43 roll -1.25 - - 1835.62 - 3.96 0.157 663.62 -357.9 -77.86 - - 2817.44 - - - - - - - - - 15.76 -
3440.55 399.75 -11.63 446 3447.37 roll -1.25 - - 1835.94 - 3.47 0.051 2119.88 419.7 -77.86 - - 2817.25 - - - - - - - - - 15.87 -
3746.69 430.03 -9.98 477 3752.50 roll -1.25 - - 1836.12 - 4.03 0.154 663.50 -361.4 -77.86 - - 2817.84 - - - - - - - - - 15.77 -
3811.77 437.15 -11.38 490 3817.29 roll -1.25 - - 1835.88 - 3.49 0.053 2120.38 417.4 -77.86 - - 2815.00 - - - - - - - - - 15.87 -
4116.75 466.48 -9.43 521 4118.08 no move -1.25 - - 1835.56 - - - 2120.44 - -77.86 - - 2816.00 - - - - - - - - - - -
4416.80 493.94 -8.76 551 4418.12 no move -1.25 - - 1835.88 - - - 2119.75 - -77.86 - - 2816.47 - - - - - - - - - - -
4716.85 520.35 -9.73 581 4718.18 no move -1.25 - - 1835.69 - - - 2120.62 - -77.86 - - 2814.06 - - - - - - - - - - -
5016.90 546.09 -8.28 611 5022.75 roll -1.25 - - 1836.19 - 4.11 0.159 662.62 -354.7 -77.86 - - 2813.53 - - - - - - - - - 15.75 -
5065.85 551.59 -10.18 621 5072.68 roll -1.25 - - 1835.56 - 3.51 0.054 2116.44 414.2 -77.86 - - 2815.53 - - - - - - - - - 15.88 -
5371.98 579.87 -8.74 652 5373.31 no move -1.25 - - 1835.88 - - - 2117.31 - -77.86 - - 2815.44 - - - - - - - - - - -
5672.03 606.44 -7.84 682 5677.67 roll -1.25 - - 1835.75 - 3.67 0.120 3473.56 369.6 -77.86 - - 2812.44 - - - - - - - - - 15.82 -
5700.90 609.66 -9.42 688 5707.79 roll -1.25 - - 1835.62 - 3.38 0.062 2082.31 -411.6 -77.86 - - 2817.19 - - - - - - - - - 15.88 -
6007.11 633.92 -6.85 719 6008.44 no move -1.25 - - 1835.88 - - - 2081.44 - -77.86 - - 2815.12 - - - - - - - - - - -
6307.15 657.09 -8.48 749 6312.98 roll -1.25 - - 1835.25 - 4.02 0.165 662.31 -353.0 -77.86 - - 2813.22 - - - - - - - - - 15.74 -
6372.24 662.98 -9.82 762 6376.90 roll -1.25 - - 1835.44 - 3.52 0.056 2116.88 413.2 -77.86 - - 2815.09 - - - - - - - - - 15.87 -
6682.21 687.09 -7.68 794 6683.53 no move -1.25 - - 1835.88 - - - 2116.56 - -77.86 - - 2814.31 - - - - - - - - - - -
6982.24 711.54 -9.51 824 6988.08 roll -1.25 - - 1835.56 - 4.10 0.164 662.56 -354.6 -77.86 - - 2811.75 - - - - - - - - - 15.73 -
7057.33 718.93 -10.46 839 7062.87 roll -1.25 - - 1835.81 - 3.53 0.056 2117.56 412.2 -77.86 - - 2811.47 - - - - - - - - - 15.87 -
7362.30 745.55 -9.17 870 7367.93 roll -1.25 - - 1834.94 - 3.69 0.125 3473.62 367.5 -77.86 - - 2815.62 - - - - - - - - - 15.80 -
7407.32 749.23 -9.15 879 7411.88 roll -1.25 - - 1835.69 - 3.36 0.065 2083.06 -413.9 -77.86 - - 2813.78 - - - - - - - - - 15.86 -
7717.35 775.48 -9.00 911 7723.18 roll -1.25 - - 1835.75 - 4.05 0.168 663.56 -350.5 -77.86 - - 2810.88 - - - - - - - - - 15.72 -
7776.50 781.38 -10.92 923 7783.12 roll -1.25 - - 1835.81 - 3.54 0.058 2116.25 410.4 -77.86 - - 2813.81 - - - - - - - - - 15.86 -
8082.41 806.76 -8.54 954 8083.73 no move -1.25 - - 1835.75 - - - 2116.19 - -77.86 - - 2812.62 - - - - - - - - - - -
8382.44 830.83 -7.65 984 8388.30 roll -1.25 - - 1835.56 - 4.15 0.168 663.38 -350.1 -77.86 - - 2812.31 - - - - - - - - - 15.71 -
8437.53 835.30 -7.67 995 8443.07 roll -1.25 - - 1835.31 - 3.51 0.061 2115.62 413.7 -77.86 - - 2810.31 - - - - - - - - - 15.87 -
8742.50 858.76 -8.16 1026 8748.26 roll -1.25 - - 1835.69 - 3.66 0.124 3474.00 371.1 -77.86 - - 2811.19 - - - - - - - - - 15.79 -
8827.58 865.94 -7.96 1043 8832.08 roll -1.25 - - 1835.38 - 3.38 0.066 2084.12 -411.2 -77.86 - - 2812.47 - - - - - - - - - 15.84 -
9137.55 889.15 -7.25 1075 9143.26 roll -1.25 - - 1835.75 - 4.05 0.172 664.38 -350.6 -77.86 - - 2813.94 - - - - - - - - - 15.69 -
9182.57 893.55 -8.85 1084 9188.30 roll -1.25 - - 1834.50 - 3.52 0.061 2116.12 412.4 -77.86 - - 2813.94 - - - - - - - - - 15.86 -
9487.60 918.51 -8.28 1115 9488.93 no move -1.25 - - 1835.44 - - - 2115.94 - -77.86 - - 2809.59 - - - - - - - - - - -
9787.63 942.02 -7.51 1145 9793.48 roll -1.25 - - 1835.81 - 4.14 0.171 664.31 -350.6 -77.86 - - 2808.78 - - - - - - - - - 15.68 -
9912.67 953.65 -8.25 1170 9918.28 roll -1.25 - - 1834.12 - 3.54 0.063 2115.06 409.8 -77.86 - - 2813.22 - - - - - - - - - 15.85 -
10217.74 975.67 -6.65 1201 10223.50 roll -1.25 - - 1835.56 - 3.68 0.127 3475.56 369.7 -77.86 - - 2810.22 - - - - - - - - - 15.77 -
10262.76 979.70 -8.96 1210 10267.32 roll -1.25 - - 1835.62 - 3.38 0.067 2084.31 -411.6 -77.86 - - 2813.19 - - - - - - - - - 15.82 -
10422 end dive: TARGET_DEPTH_EXCEEDED
10422 begin apogee
10424.05 990.26 -6.96 1227 10494.80 -0.25 1.82 0.151 2079.81 134.2 0.08 0.288 2184.81 1256.2 - 67.37 2.276 2500.75 -4.6 0.348 - - - - - - 15.75 15.06 11.82
10496 end apogee: CONTROL_FINISHED_OK
10496 begin climb
10496.82 990.80 - 1234 10581.28 1.25 2.62 0.093 2447.94 140.5 3.80 0.127 3474.38 339.4 77.86 75.05 2.219 2181.25 -4.3 0.328 - - - - - - 15.15 14.77 12.26
10639.05 981.24 10.52 1262 10643.60 roll 1.25 - - 2447.44 - 3.26 0.060 2183.88 -395.9 77.86 - - 2176.47 - - - - - - - - - 15.15 -
10949.12 951.81 8.99 1294 10950.45 VBD 1.25 - - 2447.19 - - - 2184.56 - 77.86 - - 2168.97 - - - - - - - - - - -
11249.16 923.60 9.64 1324 11254.97 done 1.25 - - 2447.12 - 3.97 0.145 736.00 -364.9 77.86 - - 2166.84 - - - - - - - - - 15.60 -
11284.19 919.85 10.71 1331 11288.93 done 1.25 - - 2446.81 - 3.61 0.056 2217.44 410.4 77.86 - - 2169.00 - - - - - - - - - 15.64 -
11594.24 890.55 9.28 1363 11600.17 done 1.25 - - 2447.50 - 4.07 0.143 737.50 -363.6 77.86 - - 2164.09 - - - - - - - - - 15.65 -
11623.14 887.12 9.47 1369 11630.12 done 1.25 - - 2446.81 - 3.60 0.055 2217.25 411.0 77.86 - - 2165.31 - - - - - - - - - 15.74 -
11929.25 857.83 9.46 1400 11933.83 done 1.25 - - 2447.12 - 3.45 0.127 3474.50 364.4 77.86 - - 2165.06 - - - - - - - - - 15.71 -
11949.26 855.77 8.99 1404 11953.79 done 1.25 - - 2447.12 - 3.12 0.059 2180.31 -414.8 77.86 - - 2164.66 - - - - - - - - - 15.74 -
12259.29 827.08 8.43 1436 12264.90 done 1.25 - - 2447.12 - 3.55 0.125 3473.19 364.2 77.86 - - 2164.09 - - - - - - - - - 15.73 -
12374.31 815.82 10.56 1459 12378.85 done 1.25 - - 2447.69 - 3.12 0.061 2181.25 -414.1 77.86 - - 2165.22 - - - - - - - - - 15.78 -
12684.35 789.09 8.04 1491 12689.96 done 1.25 - - 2447.19 - 3.54 0.125 3473.00 364.9 77.86 - - 2162.44 - - - - - - - - - 15.74 -
12719.36 785.71 9.12 1498 12723.92 done 1.25 - - 2447.00 - 3.11 0.059 2180.56 -415.6 77.86 - - 2165.53 - - - - - - - - - 15.79 -
13029.40 760.43 8.27 1530 13030.73 VBD 1.25 - - 2447.50 - - - 2180.44 - 77.86 - - 2162.25 - - - - - - - - - - -
13329.42 736.27 7.99 1560 13335.03 done 1.25 - - 2447.44 - 3.54 0.125 3472.25 364.9 77.86 - - 2162.78 - - - - - - - - - 15.75 -
13394.45 731.10 8.47 1573 13398.97 done 1.25 - - 2446.19 - 3.12 0.059 2180.12 -414.1 77.86 - - 2164.28 - - - - - - - - - 15.81 -
13704.49 708.35 6.86 1605 13710.08 done 1.29 - - 2446.56 - 3.54 0.122 3472.81 365.2 77.86 - - 2164.97 - - - - - - - - - 15.75 -
13739.50 705.60 6.96 1612 13744.02 done 1.32 - - 2447.69 - 3.11 0.057 2178.12 -416.3 77.86 - - 2165.34 - - - - - - - - - 15.81 -
14049.53 682.94 7.13 1644 14055.33 done 1.35 - - 2447.56 - 3.91 0.141 736.56 -368.7 77.86 - - 2161.16 - - - - - - - - - 15.73 -
14118.51 676.53 9.43 1658 14125.29 done 1.35 - - 2447.88 - 3.57 0.055 2220.81 415.8 77.86 - - 2161.50 - - - - - - - - - 15.83 -
14424.61 654.54 7.35 1689 14429.28 done 1.37 - - 2447.56 - 3.41 0.124 3473.00 367.2 77.86 - - 2161.19 - - - - - - - - - 15.76 -
14478.44 650.54 7.19 1700 14485.44 1.40 0.19 0.108 2485.19 198.1 3.10 0.057 2178.88 -417.5 77.86 - - 2162.22 - - - - - - - - 15.70 15.82 -
14784.63 627.61 7.41 1731 14790.20 done 1.41 - - 2486.75 - 3.54 0.119 3474.12 365.9 77.86 - - 2161.81 - - - - - - - - - 15.76 -
14859.63 620.64 10.16 1746 14864.14 done 1.41 - - 2486.88 - 3.10 0.057 2179.81 -417.5 77.86 - - 2161.88 - - - - - - - - - 15.80 -
15169.67 598.74 6.66 1778 15175.27 done 1.46 - - 2485.75 - 3.52 0.117 3473.31 367.5 77.86 - - 2160.12 - - - - - - - - - 15.77 -
15194.69 597.17 6.89 1783 15199.33 done 1.49 - - 2486.56 - 3.09 0.055 2177.75 -419.3 77.86 - - 2161.94 - - - - - - - - - 15.83 -
15504.75 576.55 6.23 1815 15510.44 1.55 0.17 0.100 2520.94 202.2 3.88 0.138 735.38 -371.7 77.86 - - 2161.81 - - - - - - - - 15.81 15.72 -
15629.81 565.90 8.56 1840 15635.53 done 1.55 - - 2522.44 - 3.55 0.053 2222.38 418.9 77.86 - - 2159.69 - - - - - - - - - 15.83 -
15934.87 542.72 7.27 1871 15939.43 done 1.57 - - 2521.12 - 3.40 0.120 3473.19 367.9 77.86 - - 2160.19 - - - - - - - - - 15.74 -
15964.86 539.62 8.13 1877 15969.39 done 1.57 - - 2520.88 - 3.11 0.056 2176.75 -416.9 77.86 - - 2160.41 - - - - - - - - - 15.74 -
16274.92 515.99 8.32 1909 16280.65 done 1.57 - - 2521.12 - 3.89 0.137 736.31 -370.3 77.86 - - 2158.56 - - - - - - - - - 15.72 -
16313.85 512.49 8.75 1917 16320.68 done 1.57 - - 2521.62 - 3.57 0.052 2222.94 416.4 77.86 - - 2160.28 - - - - - - - - - 15.84 -
16620.00 489.07 7.79 1948 16621.33 VBD 1.57 - - 2521.75 - - - 2223.62 - 77.86 - - 2159.12 - - - - - - - - - - -
16920.08 466.36 6.86 1978 16924.62 done 1.60 - - 2521.50 - 3.38 0.117 3474.12 370.0 77.86 - - 2160.09 - - - - - - - - - 15.77 -
17050.11 455.82 8.25 2004 17054.64 done 1.60 - - 2521.38 - 3.12 0.055 2176.94 -415.8 77.86 - - 2161.00 - - - - - - - - - 15.73 -
17360.17 433.90 6.48 2036 17365.90 done 1.65 - - 2521.50 - 3.53 0.114 3474.12 367.5 77.86 - - 2160.00 - - - - - - - - - 15.76 -
17375.19 432.85 6.70 2039 17379.74 1.69 0.18 0.106 2558.62 206.2 3.10 0.053 2177.25 -418.3 77.86 - - 2160.06 - - - - - - - - 15.68 15.71 -
17685.22 413.71 5.84 2071 17716.58 done 1.79 - - 2558.56 - 3.92 0.135 734.81 -368.0 109.46 26.11 1.561 2052.59 -4.1 0.188 - - - - - - - 15.56 11.96
17719.13 411.71 5.93 2076 17756.65 1.88 0.23 0.088 2605.00 201.9 3.60 0.048 2225.75 414.1 139.72 29.21 1.529 1929.00 -4.2 0.196 - - - - - - 15.62 15.67 12.54
18055.26 368.05 14.59 2113 18056.59 VBD 1.88 - - 2605.12 - - - 2225.88 - 139.72 - - 1921.84 - - - - - - - - - - -
18355.27 329.46 13.14 2143 18356.60 VBD 1.88 - - 2605.25 - - - 2225.56 - 139.72 - - 1920.81 - - - - - - - - - - -
18655.31 290.49 13.29 2173 18659.87 done 1.88 - - 2604.88 - 3.38 0.116 3473.12 369.1 139.72 - - 1919.97 - - - - - - - - - 15.69 -
18695.61 284.85 13.89 2181 18699.99 done 1.88 - - 2605.44 - 3.13 0.054 2179.06 -413.4 139.72 - - 1919.66 - - - - - - - - - 15.71 -
19005.35 244.39 12.58 2213 19011.08 done 1.88 - - 2605.56 - 3.89 0.133 735.38 -371.1 139.72 - - 1918.28 - - - - - - - - - 15.69 -
19050.37 237.72 14.74 2222 19055.10 done 1.88 - - 2605.88 - 3.58 0.051 2222.94 415.5 139.72 - - 1919.44 - - - - - - - - - 15.77 -
19360.41 198.91 12.17 2254 19366.21 done 1.88 - - 2604.88 - 3.98 0.126 736.38 -373.5 139.72 - - 1918.53 - - - - - - - - - 15.66 -
19395.42 193.90 13.80 2261 19400.14 done 1.88 - - 2604.75 - 3.57 0.050 2223.44 416.5 139.72 - - 1920.03 - - - - - - - - - 15.71 -
19705.45 156.00 11.74 2293 19710.00 done 1.88 - - 2604.62 - 3.36 0.113 3472.94 371.9 139.72 - - 1919.03 - - - - - - - - - 15.71 -
19755.46 149.12 13.87 2303 19759.96 done 1.88 - - 2605.12 - 3.09 0.051 2176.81 -419.5 139.72 - - 1918.38 - - - - - - - - - 15.74 -
20065.49 113.18 11.16 2335 20066.82 VBD 1.88 - - 2605.31 - - - 2177.25 - 139.72 - - 1918.00 - - - - - - - - - - -
20365.58 88.88 6.73 2379 20366.91 VBD 1.92 - - 2604.75 - - - 2177.25 - 139.72 - - 1917.94 - - - - - - - - - - -
20545.58 79.14 4.72 2415 20592.32 2.06 0.22 0.102 2646.25 188.6 3.90 0.129 735.25 -369.7 187.31 39.73 1.187 1735.66 -4.6 0.053 - - - - - - 15.73 15.48 12.10
20815.64 57.22 4.82 2469 20862.28 2.20 0.17 0.096 2681.62 208.1 3.60 0.047 2229.75 415.1 233.43 39.65 1.132 1547.50 -4.7 0.041 - - - - - - 15.50 15.62 12.16
21040.69 51.71 4.41 2514 21092.55 2.35 0.19 0.091 2719.06 197.1 4.11 0.123 735.19 -363.6 285.40 44.22 1.107 1336.12 -4.8 0.038 - - - - - - 15.48 15.25 12.12
21310.97 10.28 17.98 2568 21316.54 roll 2.35 - - 2718.94 - 3.63 0.050 2222.94 409.8 285.40 - - 1331.59 - - - - - - - - - 15.55 -
21365 end climb: SURFACE_DEPTH_REACHED
21365 begin surface coast
21381 end surface coast: CONTROL_FINISHED_OK
21381 begin surface
SM 0.62 - - - - 174.0 121.19 1.053 767.4 6.3 17.15 0.069 764.6 44.6 - 0.34 0.082 770.2 2254.6 -1.742 - - 12.19 15.52 15.60 -