NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 491 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 146.54 of 575.00 AH used of 24V (74.51% remains)
• Surface angle -63.2 deg, depth 1.35 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.54 (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
7.07 - - - 86.10 VBD -1.25 - - 173.94 - - - 2117.75 - -77.86 78.45 0.005 2507.59 - - - - - - - - - - 15.19
86.37 3.60 -3.82 15 118.24 -1.25 14.48 0.260 1836.69 114.8 3.74 0.111 3472.88 362.3 -77.86 7.82 0.008 2817.34 39.6 -3.097 - - - - - - 15.38 15.19 15.28
281.03 44.97 -21.58 54 286.80 roll -1.25 - - 1836.38 - 3.41 0.059 2082.69 -407.7 -77.86 - - 2818.25 - - - - - - - - - 15.61 -
466.08 73.45 -12.10 91 471.87 roll -1.25 - - 1835.81 - 3.77 0.105 3474.44 369.2 -77.86 - - 2818.91 - - - - - - - - - 15.66 -
596.11 89.84 -12.56 117 601.83 roll -1.25 - - 1836.50 - 3.39 0.056 2080.62 -411.2 -77.86 - - 2819.28 - - - - - - - - - 15.70 -
781.13 110.86 -10.57 144 782.46 no move -1.25 - - 1836.56 - - - 2081.31 - -77.86 - - 2817.16 - - - - - - - - - - -
1081.17 141.08 -10.09 174 1082.50 no move -1.25 - - 1836.25 - - - 2081.19 - -77.86 - - 2817.19 - - - - - - - - - - -
1381.21 171.54 -10.32 204 1387.00 roll -1.25 - - 1836.50 - 3.75 0.110 3473.50 371.3 -77.86 - - 2815.72 - - - - - - - - - 15.78 -
1436.24 178.21 -12.28 215 1440.79 roll -1.25 - - 1836.75 - 3.36 0.057 2081.00 -414.4 -77.86 - - 2817.75 - - - - - - - - - 15.81 -
1746.27 210.49 -10.00 247 1752.09 roll -1.25 - - 1835.62 - 3.94 0.153 663.44 -359.8 -77.86 - - 2815.28 - - - - - - - - - 15.74 -
1785.13 215.24 -11.71 255 1792.02 roll -1.25 - - 1836.69 - 3.50 0.049 2122.38 416.8 -77.86 - - 2816.91 - - - - - - - - - 15.83 -
2091.31 246.21 -9.65 286 2097.06 roll -1.25 - - 1835.38 - 3.60 0.111 3473.88 375.4 -77.86 - - 2819.31 - - - - - - - - - 15.81 -
2126.33 250.38 -11.38 293 2131.16 roll -1.25 - - 1836.31 - 3.34 0.056 2081.31 -416.9 -77.86 - - 2817.28 - - - - - - - - - 15.84 -
2436.36 281.65 -9.92 325 2437.68 no move -1.25 - - 1836.19 - - - 2080.88 - -77.86 - - 2817.38 - - - - - - - - - - -
2736.39 309.43 -8.65 355 2742.22 roll -1.25 - - 1836.25 - 3.92 0.155 663.06 -361.7 -77.86 - - 2816.50 - - - - - - - - - 15.76 -
2781.42 314.28 -10.48 364 2787.01 roll -1.25 - - 1836.25 - 3.48 0.050 2120.56 418.8 -77.86 - - 2815.84 - - - - - - - - - 15.85 -
3086.45 341.69 -8.95 395 3092.20 roll -1.25 - - 1836.06 - 3.63 0.114 3474.38 373.0 -77.86 - - 2819.25 - - - - - - - - - 15.83 -
3145.31 347.68 -9.91 407 3152.17 roll -1.25 - - 1836.19 - 3.34 0.057 2081.44 -417.0 -77.86 - - 2819.41 - - - - - - - - - 15.85 -
3451.49 375.95 -9.29 438 3457.33 roll -1.25 - - 1835.69 - 3.94 0.156 663.31 -359.9 -77.86 - - 2819.09 - - - - - - - - - 15.75 -
3536.58 385.71 -11.24 455 3542.10 roll -1.25 - - 1836.00 - 3.49 0.050 2120.81 417.6 -77.86 - - 2817.06 - - - - - - - - - 15.87 -
3841.57 416.63 -9.54 486 3842.90 no move -1.25 - - 1836.12 - - - 2121.06 - -77.86 - - 2817.22 - - - - - - - - - - -
4141.62 445.70 -9.91 516 4147.47 roll -1.25 - - 1836.44 - 4.07 0.155 662.50 -358.4 -77.86 - - 2816.00 - - - - - - - - - 15.76 -
4210.71 453.76 -11.25 530 4217.40 roll -1.25 - - 1836.50 - 3.49 0.052 2117.25 416.8 -77.86 - - 2816.62 - - - - - - - - - 15.87 -
4516.72 481.86 -8.62 561 4521.48 roll -1.25 - - 1836.69 - 3.62 0.116 3473.81 374.7 -77.86 - - 2814.75 - - - - - - - - - 15.82 -
4570.59 487.31 -10.39 572 4577.46 roll -1.25 - - 1836.31 - 3.32 0.059 2082.38 -419.1 -77.86 - - 2816.94 - - - - - - - - - 15.88 -
4876.79 513.13 -7.83 603 4882.61 roll -1.25 - - 1836.25 - 3.94 0.159 664.25 -359.9 -77.86 - - 2814.50 - - - - - - - - - 15.74 -
4941.83 519.67 -9.84 616 4947.43 roll -1.25 - - 1836.44 - 3.49 0.053 2119.38 416.9 -77.86 - - 2814.72 - - - - - - - - - 15.87 -
5246.89 545.20 -8.10 647 5251.64 roll -1.25 - - 1836.44 - 3.63 0.117 3475.19 373.5 -77.86 - - 2816.78 - - - - - - - - - 15.82 -
5286.91 549.34 -10.16 655 5291.49 roll -1.25 - - 1836.69 - 3.33 0.060 2081.00 -418.7 -77.86 - - 2816.22 - - - - - - - - - 15.86 -
5596.95 576.10 -7.79 687 5602.63 roll -1.25 - - 1834.81 - 3.93 0.163 663.44 -360.7 -77.86 - - 2817.50 - - - - - - - - - 15.73 -
5631.98 579.52 -8.06 694 5636.56 roll -1.25 - - 1836.62 - 3.47 0.053 2114.81 418.3 -77.86 - - 2814.78 - - - - - - - - - 15.86 -
5942.02 604.89 -7.87 726 5947.71 roll -1.25 - - 1836.31 - 4.04 0.160 663.25 -359.3 -77.86 - - 2817.06 - - - - - - - - - 15.72 -
5981.02 608.73 -9.45 734 5987.76 roll -1.25 - - 1836.25 - 3.48 0.054 2119.56 418.5 -77.86 - - 2815.31 - - - - - - - - - 15.86 -
6287.06 633.09 -7.39 765 6292.82 roll -1.25 - - 1836.31 - 3.63 0.118 3474.44 373.2 -77.86 - - 2814.16 - - - - - - - - - 15.80 -
6322.10 636.60 -10.02 772 6326.65 roll -1.25 - - 1836.00 - 3.32 0.061 2082.12 -419.4 -77.86 - - 2815.22 - - - - - - - - - 15.85 -
6632.11 663.52 -9.07 804 6637.92 roll -1.25 - - 1836.12 - 3.95 0.164 663.94 -359.0 -77.86 - - 2816.59 - - - - - - - - - 15.72 -
6701.17 670.54 -11.33 818 6707.86 roll -1.25 - - 1836.00 - 3.46 0.055 2117.12 420.0 -77.86 - - 2813.94 - - - - - - - - - 15.86 -
7007.15 697.29 -8.24 849 7011.91 roll -1.25 - - 1835.75 - 3.62 0.120 3475.31 375.2 -77.86 - - 2815.03 - - - - - - - - - 15.79 -
7047.17 701.14 -9.95 857 7051.74 roll -1.25 - - 1836.00 - 3.35 0.063 2079.81 -416.6 -77.86 - - 2814.50 - - - - - - - - - 15.85 -
7357.20 727.39 -9.09 889 7362.89 roll -1.25 - - 1836.00 - 3.98 0.166 663.12 -356.0 -77.86 - - 2812.53 - - - - - - - - - 15.70 -
7412.23 732.38 -9.82 900 7417.83 roll -1.25 - - 1835.62 - 3.51 0.056 2117.44 414.3 -77.86 - - 2816.22 - - - - - - - - - 15.86 -
7717.26 757.81 -8.37 931 7718.58 no move -1.25 - - 1836.31 - - - 2117.19 - -77.86 - - 2813.97 - - - - - - - - - - -
8017.29 780.95 -7.36 961 8023.03 roll -1.25 - - 1836.31 - 4.12 0.166 663.38 -352.9 -77.86 - - 2812.06 - - - - - - - - - 15.70 -
8082.38 786.49 -8.87 974 8087.92 roll -1.25 - - 1836.06 - 3.52 0.058 2116.56 412.8 -77.86 - - 2812.88 - - - - - - - - - 15.86 -
8387.34 810.74 -7.35 1005 8393.29 roll -1.25 - - 1836.19 - 4.09 0.166 663.12 -355.4 -77.86 - - 2811.81 - - - - - - - - - 15.69 -
8436.35 815.73 -10.20 1015 8443.11 roll -1.25 - - 1836.56 - 3.51 0.058 2117.38 414.3 -77.86 - - 2812.84 - - - - - - - - - 15.86 -
8742.39 840.17 -7.10 1046 8748.15 roll -1.25 - - 1836.25 - 3.64 0.124 3474.00 372.7 -77.86 - - 2811.81 - - - - - - - - - 15.77 -
8781.25 844.55 -10.93 1054 8788.11 roll -1.25 - - 1836.50 - 3.34 0.064 2082.56 -416.6 -77.86 - - 2813.91 - - - - - - - - - 15.83 -
9087.43 868.81 -9.81 1085 9088.76 no move -1.25 - - 1835.94 - - - 2082.25 - -77.86 - - 2812.84 - - - - - - - - - - -
9387.47 890.89 -7.63 1115 9388.80 no move -1.25 - - 1836.44 - - - 2082.12 - -77.86 - - 2812.03 - - - - - - - - - - -
9687.53 914.61 -8.11 1145 9693.35 roll -1.25 - - 1836.94 - 4.03 0.174 664.44 -351.8 -77.86 - - 2810.41 - - - - - - - - - 15.67 -
9712.53 916.63 -8.36 1150 9718.13 roll -1.25 - - 1836.69 - 3.51 0.061 2116.69 413.7 -77.86 - - 2810.94 - - - - - - - - - 15.85 -
10017.59 938.67 -6.94 1181 10018.92 no move -1.25 - - 1836.44 - - - 2117.38 - -77.86 - - 2812.22 - - - - - - - - - - -
10317.64 959.87 -6.41 1211 10323.50 roll -1.25 - - 1836.44 - 4.14 0.172 663.38 -351.2 -77.86 - - 2810.66 - - - - - - - - - 15.66 -
10422.68 968.76 -8.39 1232 10428.28 roll -1.25 - - 1836.88 - 3.56 0.064 2114.69 407.7 -77.86 - - 2813.28 - - - - - - - - - 15.85 -
10727.75 989.49 -6.44 1263 10729.08 no move -1.25 - - 1836.44 - - - 2115.12 - -77.86 - - 2809.88 - - - - - - - - - - -
10737 end dive: TARGET_DEPTH_EXCEEDED
10737 begin apogee
10738.99 990.49 -7.46 1264 10809.60 -0.25 1.83 0.151 2079.44 132.8 0.08 0.297 2186.00 886.0 - 67.40 2.271 2501.53 -4.6 0.347 - - - - - - 15.74 15.06 11.80
10811 end apogee: CONTROL_FINISHED_OK
10811 begin climb
10811.62 990.86 - 1271 10891.27 1.25 2.60 0.094 2446.62 141.2 - - 2186.44 - 77.86 75.65 2.200 2183.84 -4.2 0.329 - - - - - - 15.14 - 12.32
11194.05 957.37 9.37 1315 11195.38 VBD 1.25 - - 2448.00 - - - 2186.12 - 77.86 - - 2169.84 - - - - - - - - - - -
11494.08 928.12 9.66 1345 11499.70 done 1.25 - - 2447.50 - 3.59 0.128 3473.94 358.7 77.86 - - 2168.75 - - - - - - - - - 15.61 -
11509.10 926.72 10.20 1348 11513.62 done 1.25 - - 2447.44 - 3.15 0.060 2180.94 -410.5 77.86 - - 2171.00 - - - - - - - - - 15.63 -
11819.13 898.62 8.55 1380 11820.46 VBD 1.25 - - 2447.62 - - - 2180.56 - 77.86 - - 2167.62 - - - - - - - - - - -
12119.16 875.19 7.30 1410 12124.76 done 1.28 - - 2447.31 - 3.58 0.125 3472.62 360.9 77.86 - - 2166.88 - - - - - - - - - 15.69 -
12144.18 872.72 7.27 1415 12148.70 done 1.30 - - 2447.50 - 3.12 0.059 2180.44 -414.2 77.86 - - 2166.56 - - - - - - - - - 15.73 -
12454.21 850.49 5.92 1447 12486.77 1.39 0.18 0.109 2486.44 216.3 3.62 0.126 3474.38 357.4 108.22 27.26 2.033 2055.50 -4.1 0.296 - - - - - - 15.73 15.45 12.10
12509.75 845.50 8.75 1458 12514.08 roll 1.39 - - 2485.75 - 3.17 0.058 2180.88 -408.0 108.22 - - 2056.34 - - - - - - - - - 15.53 -
12819.61 815.97 9.29 1490 12825.21 roll 1.39 - - 2485.50 - 3.57 0.123 3472.69 361.9 108.22 - - 2052.72 - - - - - - - - - 15.62 -
12894.92 808.21 10.69 1505 12899.16 roll 1.39 - - 2484.88 - 3.15 0.059 2181.00 -410.1 108.22 - - 2055.16 - - - - - - - - - 15.66 -
13204.70 777.53 10.12 1537 13210.51 done 1.39 - - 2484.38 - 3.94 0.140 735.50 -366.9 108.22 - - 2052.66 - - - - - - - - - 15.67 -
13253.64 771.70 11.81 1547 13260.47 done 1.39 - - 2484.50 - 3.60 0.055 2219.06 412.1 108.22 - - 2052.47 - - - - - - - - - 15.73 -
13559.78 742.94 9.74 1578 13564.36 done 1.39 - - 2484.81 - 3.42 0.124 3473.69 366.9 108.22 - - 2049.97 - - - - - - - - - 15.72 -
13589.80 740.37 8.85 1584 13594.35 done 1.39 - - 2485.25 - 3.12 0.057 2180.31 -414.5 108.22 - - 2050.03 - - - - - - - - - 15.77 -
13899.85 712.96 9.36 1616 13905.46 done 1.39 - - 2484.94 - 3.55 0.121 3472.75 364.1 108.22 - - 2048.16 - - - - - - - - - 15.73 -
13944.88 708.81 10.33 1625 13949.40 done 1.39 - - 2484.31 - 3.12 0.058 2179.69 -414.4 108.22 - - 2051.53 - - - - - - - - - 15.76 -
14254.94 682.75 7.94 1657 14260.75 done 1.39 - - 2485.00 - 3.90 0.139 735.12 -370.4 108.22 - - 2051.00 - - - - - - - - - 15.72 -
14299.97 678.27 10.23 1666 14304.70 done 1.39 - - 2485.31 - 3.57 0.053 2219.69 415.8 108.22 - - 2050.25 - - - - - - - - - 15.81 -
14610.02 650.30 9.33 1698 14614.59 done 1.39 - - 2485.06 - 3.41 0.124 3473.31 367.6 108.22 - - 2048.12 - - - - - - - - - 15.75 -
14683.90 642.26 10.89 1713 14690.73 done 1.39 - - 2485.25 - 3.12 0.058 2178.25 -415.1 108.22 - - 2048.72 - - - - - - - - - 15.80 -
14990.07 615.83 8.36 1744 14995.67 done 1.39 - - 2485.88 - 3.53 0.119 3473.06 366.8 108.22 - - 2045.91 - - - - - - - - - 15.75 -
15059.10 608.90 9.94 1758 15065.93 done 1.39 - - 2485.31 - 3.11 0.057 2180.19 -415.7 108.22 - - 2047.62 - - - - - - - - - 15.82 -
15365.12 584.45 8.63 1789 15366.46 VBD 1.39 - - 2485.81 - - - 2181.19 - 108.22 - - 2046.44 - - - - - - - - - - -
15665.16 559.13 8.16 1819 15670.98 done 1.39 - - 2484.75 - 3.91 0.139 735.50 -369.7 108.22 - - 2047.69 - - - - - - - - - 15.74 -
15690.18 556.54 8.89 1824 15694.91 done 1.39 - - 2485.31 - 3.57 0.053 2218.44 415.4 108.22 - - 2046.22 - - - - - - - - - 15.83 -
16000.21 530.37 8.41 1856 16004.78 done 1.39 - - 2485.75 - 3.40 0.121 3473.12 369.0 108.22 - - 2048.84 - - - - - - - - - 15.76 -
16060.22 524.58 9.61 1868 16064.75 done 1.39 - - 2485.50 - 3.11 0.056 2178.69 -416.2 108.22 - - 2048.00 - - - - - - - - - 15.82 -
16370.25 497.93 8.23 1900 16376.05 done 1.39 - - 2485.38 - 3.87 0.137 736.56 -372.6 108.22 - - 2045.00 - - - - - - - - - 15.72 -
16419.18 493.28 9.72 1910 16426.02 done 1.39 - - 2485.50 - 3.54 0.052 2222.25 419.7 108.22 - - 2046.75 - - - - - - - - - 15.84 -
16725.32 469.84 6.74 1941 16731.13 done 1.43 - - 2485.38 - 4.02 0.133 735.25 -369.9 108.22 - - 2044.91 - - - - - - - - - 15.73 -
16760.31 467.06 7.89 1948 16765.92 done 1.43 - - 2485.81 - 3.54 0.049 2223.44 420.4 108.22 - - 2044.66 - - - - - - - - - 15.79 -
17065.35 444.24 6.98 1979 17066.69 VBD 1.46 - - 2486.19 - - - 2224.25 - 108.22 - - 2045.25 - - - - - - - - - - -
17365.38 424.01 6.23 2009 17369.93 done 1.52 - - 2486.06 - 3.35 0.117 3473.12 372.8 108.22 - - 2047.38 - - - - - - - - - 15.76 -
17449.25 417.99 7.35 2026 17456.13 1.54 0.16 0.104 2521.00 218.4 3.11 0.053 2176.62 -416.9 108.22 - - 2048.47 - - - - - - - - 15.68 15.81 -
17755.43 396.86 7.81 2057 17761.24 done 1.54 - - 2520.06 - 3.90 0.135 735.31 -369.6 108.22 - - 2045.94 - - - - - - - - - 15.67 -
17864.35 386.56 10.12 2079 17871.20 done 1.54 - - 2520.38 - 3.57 0.050 2225.00 417.3 108.22 - - 2048.19 - - - - - - - - - 15.82 -
18170.48 362.47 7.68 2110 18175.17 done 1.54 - - 2520.50 - 3.38 0.115 3474.38 369.6 108.22 - - 2047.06 - - - - - - - - - 15.73 -
18330.51 349.06 8.70 2142 18335.05 done 1.54 - - 2520.12 - 3.11 0.054 2177.19 -417.1 108.22 - - 2046.28 - - - - - - - - - 15.73 -
18640.58 326.82 7.21 2174 18646.31 done 1.56 - - 2520.12 - 3.88 0.133 736.38 -371.3 108.22 - - 2044.59 - - - - - - - - - 15.71 -
18695.60 321.83 9.20 2185 18701.21 done 1.56 - - 2519.69 - 3.55 0.050 2223.88 419.0 108.22 - - 2046.47 - - - - - - - - - 15.82 -
19000.68 301.79 6.47 2216 19002.01 VBD 1.61 - - 2520.81 - - - 2224.25 - 108.22 - - 2046.00 - - - - - - - - - - -
19300.73 282.19 6.26 2246 19305.28 done 1.66 - - 2520.88 - 3.39 0.114 3475.12 369.0 108.22 - - 2046.56 - - - - - - - - - 15.75 -
19334.60 279.52 6.98 2253 19341.49 1.69 0.18 0.105 2558.62 209.7 3.12 0.052 2176.00 -416.4 108.22 - - 2046.94 - - - - - - - - 15.69 15.81 -
19640.82 256.99 7.43 2284 19646.41 done 1.71 - - 2558.94 - 3.50 0.110 3473.00 370.6 108.22 - - 2047.84 - - - - - - - - - 15.74 -
19755.83 247.66 7.80 2307 19760.38 done 1.71 - - 2559.25 - 3.11 0.051 2176.12 -417.0 108.22 - - 2045.75 - - - - - - - - - 15.81 -
20065.92 225.33 7.42 2339 20067.25 VBD 1.73 - - 2558.69 - - - 2176.25 - 108.22 - - 2045.38 - - - - - - - - - - -
20365.98 204.18 7.19 2369 20371.56 done 1.76 - - 2558.81 - 3.53 0.110 3472.38 367.2 108.22 - - 2045.06 - - - - - - - - - 15.68 -
20424.83 199.61 7.95 2381 20431.67 done 1.76 - - 2558.81 - 3.11 0.051 2176.94 -416.5 108.22 - - 2046.88 - - - - - - - - - 15.79 -
20731.05 177.76 7.23 2412 20736.83 done 1.78 - - 2557.50 - 3.89 0.128 735.38 -370.6 108.22 - - 2048.28 - - - - - - - - - 15.64 -
20766.06 174.84 7.70 2419 20771.65 done 1.78 - - 2559.19 - 3.54 0.047 2226.81 421.3 108.22 - - 2044.34 - - - - - - - - - 15.80 -
21071.10 154.07 6.42 2450 21072.43 VBD 1.83 - - 2559.00 - - - 2227.12 - 108.22 - - 2046.50 - - - - - - - - - - -
21371.13 139.26 4.56 2480 21419.04 1.98 0.39 0.076 2627.94 176.8 4.07 0.126 735.19 -366.6 158.05 41.81 1.253 1852.84 -4.6 0.089 - - - - - - 15.68 15.50 11.95
21550.77 118.78 13.74 2516 21557.63 roll 1.98 - - 2627.75 - 3.63 0.049 2225.56 410.6 158.05 - - 1851.06 - - - - - - - - - 15.54 -
21857.03 85.46 9.35 2561 21862.71 done 1.98 - - 2627.44 - 3.42 0.111 3474.50 365.2 158.05 - - 1846.91 - - - - - - - - - 15.56 -
21876.97 83.64 9.33 2565 21882.65 done 1.98 - - 2628.00 - 3.14 0.049 2176.00 -413.5 158.05 - - 1846.94 - - - - - - - - - 15.66 -
22062.04 71.91 5.55 2602 22098.49 done 2.09 - - 2626.81 - 3.90 0.126 734.12 -369.7 193.67 30.47 1.149 1709.78 -4.5 0.049 - - - - - - - 15.48 12.24
22322.11 64.31 0.37 2654 22419.86 2.42 0.64 0.061 2733.06 166.0 3.58 0.044 2231.12 418.2 303.25 89.61 1.162 1263.44 -5.0 0.048 - - - - - - 15.53 15.62 12.19
22597.71 35.48 15.66 2709 22603.55 roll 2.42 - - 2733.69 - 4.11 0.122 735.12 -364.0 303.25 - - 1259.00 - - - - - - - - - 15.40 -
22772 end climb: SURFACE_DEPTH_REACHED
22772 begin surface coast
22777 end surface coast: CONTROL_FINISHED_OK
22777 begin surface
SM 0.73 - - - - 175.0 - 2.680 769.3 - 17.28 0.071 771.1 44.6 - 3.35 0.047 767.6 227.9 -0.362 - - 30.36 15.55 15.60 -