NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 494 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 147.49 of 575.00 AH used of 24V (74.35% remains)
• Surface angle -59.5 deg, depth 0.60 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.02 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 2 s • Transponder ping count: 2
• 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
7.22 - - - 86.17 VBD -1.25 - - 174.25 - - - 2114.19 - -77.86 78.36 0.005 2505.44 - - - - - - - - - - 15.18
86.44 3.44 -3.59 15 118.28 -1.25 14.40 0.256 1836.12 115.4 3.73 0.115 3472.62 364.2 -77.86 7.80 0.007 2816.28 39.9 -3.409 - - - - - - 15.38 15.18 15.27
241.07 37.35 -24.06 46 246.83 roll -1.25 - - 1835.69 - 3.45 0.058 2081.44 -403.2 -77.86 - - 2816.88 - - - - - - - - - 15.60 -
426.15 69.45 -11.54 83 431.93 roll -1.25 - - 1836.19 - 3.79 0.107 3473.50 367.3 -77.86 - - 2816.31 - - - - - - - - - 15.66 -
636.22 96.88 -13.93 125 641.92 roll -1.25 - - 1836.06 - 3.38 0.055 2080.31 -412.2 -77.86 - - 2818.97 - - - - - - - - - 15.72 -
826.30 118.40 -11.49 147 832.00 roll -1.25 - - 1835.69 - 3.75 0.107 3473.69 371.6 -77.86 - - 2815.75 - - - - - - - - - 15.74 -
891.25 126.09 -11.52 160 895.88 roll -1.25 - - 1835.81 - 3.36 0.055 2079.25 -415.0 -77.86 - - 2819.16 - - - - - - - - - 15.76 -
1201.28 159.17 -10.24 192 1202.61 no move -1.25 - - 1835.88 - - - 2079.12 - -77.86 - - 2815.25 - - - - - - - - - - -
1501.31 188.08 -9.16 222 1507.09 roll -1.25 - - 1835.56 - 3.73 0.109 3475.50 374.4 -77.86 - - 2815.09 - - - - - - - - - 15.79 -
1530.31 191.31 -9.28 228 1537.04 roll -1.25 - - 1835.88 - 3.35 0.056 2078.56 -417.0 -77.86 - - 2817.47 - - - - - - - - - 15.81 -
1836.36 221.17 -10.02 259 1842.17 roll -1.25 - - 1835.56 - 3.90 0.150 663.25 -362.9 -77.86 - - 2817.25 - - - - - - - - - 15.75 -
1871.38 225.10 -11.20 266 1876.02 roll -1.25 - - 1835.94 - 3.47 0.047 2122.25 420.5 -77.86 - - 2818.25 - - - - - - - - - 15.83 -
2181.40 257.13 -11.11 298 2187.16 roll -1.25 - - 1836.19 - 3.62 0.112 3474.50 373.5 -77.86 - - 2818.50 - - - - - - - - - 15.81 -
2250.40 264.90 -11.85 312 2257.13 roll -1.25 - - 1835.56 - 3.34 0.056 2080.44 -417.4 -77.86 - - 2817.78 - - - - - - - - - 15.85 -
2556.44 296.27 -10.43 343 2557.77 no move -1.25 - - 1835.81 - - - 2080.31 - -77.86 - - 2817.19 - - - - - - - - - - -
2856.47 326.38 -10.29 373 2857.80 no move -1.25 - - 1835.94 - - - 2080.69 - -77.86 - - 2816.41 - - - - - - - - - - -
3156.51 357.27 -10.88 403 3162.29 roll -1.25 - - 1835.25 - 3.76 0.114 3473.19 370.3 -77.86 - - 2815.06 - - - - - - - - - 15.82 -
3201.53 362.25 -10.54 412 3206.23 roll -1.25 - - 1835.69 - 3.35 0.059 2080.50 -415.7 -77.86 - - 2818.03 - - - - - - - - - 15.88 -
3511.56 394.56 -9.88 444 3512.88 no move -1.25 - - 1836.00 - - - 2080.62 - -77.86 - - 2816.84 - - - - - - - - - - -
3811.58 423.57 -9.31 474 3817.36 roll -1.25 - - 1834.94 - 3.77 0.115 3474.19 369.6 -77.86 - - 2817.19 - - - - - - - - - 15.82 -
3870.59 429.93 -10.66 486 3877.32 roll -1.25 - - 1835.69 - 3.36 0.060 2080.81 -414.7 -77.86 - - 2817.31 - - - - - - - - - 15.87 -
4176.63 458.69 -9.26 517 4177.96 no move -1.25 - - 1836.12 - - - 2080.31 - -77.86 - - 2816.78 - - - - - - - - - - -
4476.66 485.69 -9.30 547 4477.99 no move -1.25 - - 1835.38 - - - 2080.62 - -77.86 - - 2816.53 - - - - - - - - - - -
4776.73 514.24 -10.03 577 4778.06 no move -1.25 - - 1835.62 - - - 2079.88 - -77.86 - - 2816.03 - - - - - - - - - - -
5076.80 543.00 -8.92 607 5082.47 roll -1.25 - - 1836.00 - 3.97 0.159 663.19 -356.8 -77.86 - - 2813.72 - - - - - - - - - 15.74 -
5135.75 550.07 -11.13 619 5142.72 roll -1.25 - - 1835.31 - 3.51 0.053 2118.31 414.6 -77.86 - - 2817.59 - - - - - - - - - 15.88 -
5441.89 581.37 -10.35 650 5443.21 no move -1.25 - - 1835.62 - - - 2117.81 - -77.86 - - 2815.12 - - - - - - - - - - -
5741.95 611.28 -9.71 680 5743.27 no move -1.25 - - 1835.88 - - - 2118.56 - -77.86 - - 2814.81 - - - - - - - - - - -
6042.01 638.81 -8.99 710 6043.34 no move -1.25 - - 1835.56 - - - 2117.56 - -77.86 - - 2814.94 - - - - - - - - - - -
6342.08 666.06 -9.38 740 6347.95 roll -1.25 - - 1835.38 - 4.11 0.163 664.12 -353.6 -77.86 - - 2814.50 - - - - - - - - - 15.73 -
6387.11 670.94 -11.99 749 6391.84 roll -1.25 - - 1835.56 - 3.55 0.057 2118.44 409.7 -77.86 - - 2814.62 - - - - - - - - - 15.88 -
6697.16 697.94 -8.18 781 6702.93 roll -1.25 - - 1836.00 - 3.70 0.121 3474.62 366.5 -77.86 - - 2811.94 - - - - - - - - - 15.80 -
6772.19 705.24 -9.60 796 6776.89 roll -1.25 - - 1835.62 - 3.38 0.063 2081.50 -412.2 -77.86 - - 2813.78 - - - - - - - - - 15.86 -
7082.21 731.09 -8.07 828 7088.04 roll -1.25 - - 1835.88 - 4.02 0.166 663.19 -352.8 -77.86 - - 2811.50 - - - - - - - - - 15.71 -
7171.14 740.02 -10.77 846 7177.99 roll -1.25 - - 1834.44 - 3.54 0.058 2117.31 410.8 -77.86 - - 2815.38 - - - - - - - - - 15.87 -
7477.27 763.94 -7.65 877 7483.03 roll -1.25 - - 1836.12 - 3.67 0.122 3474.00 369.7 -77.86 - - 2811.75 - - - - - - - - - 15.78 -
7532.29 768.98 -8.64 888 7537.02 roll -1.25 - - 1835.75 - 3.38 0.063 2083.19 -411.5 -77.86 - - 2813.91 - - - - - - - - - 15.85 -
7842.32 794.90 -8.44 920 7848.11 roll -1.25 - - 1836.38 - 3.80 0.123 3472.44 365.6 -77.86 - - 2812.50 - - - - - - - - - 15.77 -
7901.32 800.14 -8.23 932 7908.19 roll -1.25 - - 1836.06 - 3.38 0.064 2084.38 -410.7 -77.86 - - 2812.38 - - - - - - - - - 15.84 -
8207.36 825.74 -7.95 963 8208.69 no move -1.25 - - 1835.81 - - - 2083.88 - -77.86 - - 2812.12 - - - - - - - - - - -
8507.40 849.65 -7.59 993 8513.10 roll -1.25 - - 1835.19 - 4.05 0.170 664.56 -350.4 -77.86 - - 2809.81 - - - - - - - - - 15.68 -
8632.42 862.31 -10.36 1018 8637.09 roll -1.25 - - 1834.69 - 3.54 0.061 2114.62 409.6 -77.86 - - 2813.81 - - - - - - - - - 15.86 -
8942.47 886.24 -8.56 1050 8948.17 roll -1.25 - - 1834.81 - 4.11 0.168 664.25 -352.9 -77.86 - - 2813.34 - - - - - - - - - 15.67 -
9017.48 892.68 -10.74 1065 9022.15 roll -1.25 - - 1835.94 - 3.53 0.062 2114.31 410.8 -77.86 - - 2811.09 - - - - - - - - - 15.85 -
9327.54 915.15 -8.16 1097 9333.42 roll -1.25 - - 1835.38 - 3.68 0.125 3474.06 369.5 -77.86 - - 2809.38 - - - - - - - - - 15.75 -
9372.53 918.77 -8.03 1106 9377.36 roll -1.25 - - 1836.12 - 3.38 0.065 2083.19 -411.5 -77.86 - - 2811.28 - - - - - - - - - 15.82 -
9682.56 941.42 -6.92 1138 9683.89 no move -1.25 - - 1836.12 - - - 2084.00 - -77.86 - - 2809.75 - - - - - - - - - - -
9982.59 964.05 -7.78 1168 9983.92 no move -1.25 - - 1836.19 - - - 2083.19 - -77.86 - - 2809.47 - - - - - - - - - - -
10282.63 985.62 -6.47 1198 10283.96 no move -1.25 - - 1835.94 - - - 2083.12 - -77.86 - - 2810.47 - - - - - - - - - - -
10353 end dive: TARGET_DEPTH_EXCEEDED
10353 begin apogee
10353.90 990.64 -6.38 1205 10424.49 -0.25 1.83 0.151 2079.69 133.2 0.08 0.281 2185.75 1282.9 - 67.71 2.267 2498.47 -4.6 0.351 - - - - - - 15.75 15.07 11.80
10427 end apogee: CONTROL_FINISHED_OK
10427 begin climb
10426.52 991.77 - 1212 10511.17 1.25 2.63 0.088 2446.88 139.6 3.85 0.127 3470.38 333.7 77.86 75.46 2.204 2181.28 -4.2 0.329 - - - - - - 15.15 14.77 12.36
10528.95 986.03 6.95 1232 10533.49 roll 1.29 - - 2447.75 - 3.33 0.058 2182.94 -386.6 77.86 - - 2178.81 - - - - - - - - - 15.01 -
10838.99 958.96 8.68 1264 10840.32 VBD 1.29 - - 2447.44 - - - 2182.88 - 77.86 - - 2171.19 - - - - - - - - - - -
11139.07 934.78 7.43 1294 11144.68 done 1.30 - - 2446.19 - 3.62 0.126 3474.56 356.8 77.86 - - 2169.66 - - - - - - - - - 15.61 -
11187.92 930.60 8.60 1304 11194.76 done 1.30 - - 2447.12 - 3.18 0.059 2181.31 -406.7 77.86 - - 2169.09 - - - - - - - - - 15.65 -
11494.15 908.21 6.11 1335 11499.74 done 1.36 - - 2446.25 - 3.60 0.125 3473.81 359.0 77.86 - - 2168.16 - - - - - - - - - 15.67 -
11549.18 903.63 7.40 1346 11553.76 1.38 0.17 0.102 2483.50 219.1 3.16 0.060 2183.25 -408.4 77.86 - - 2167.66 - - - - - - - - 15.62 15.72 -
11859.22 878.60 6.83 1378 11865.01 done 1.42 - - 2484.31 - 3.96 0.144 736.25 -365.4 77.86 - - 2164.84 - - - - - - - - - 15.68 -
11934.32 870.92 13.29 1393 11939.96 done 1.42 - - 2483.44 - 3.60 0.054 2218.50 411.7 77.86 - - 2163.09 - - - - - - - - - 15.69 -
12239.25 845.92 8.78 1424 12244.94 done 1.42 - - 2483.44 - 4.05 0.143 737.19 -365.8 77.86 - - 2167.03 - - - - - - - - - 15.70 -
12374.28 833.06 11.27 1451 12379.88 done 1.42 - - 2484.44 - 3.59 0.054 2219.31 412.8 77.86 - - 2162.41 - - - - - - - - - 15.78 -
12679.32 809.55 8.06 1482 12683.90 done 1.42 - - 2484.56 - 3.47 0.127 3471.88 361.0 77.86 - - 2162.78 - - - - - - - - - 15.73 -
12743.18 803.83 8.77 1495 12750.02 done 1.42 - - 2483.06 - 3.15 0.058 2180.31 -410.0 77.86 - - 2165.12 - - - - - - - - - 15.81 -
13049.37 781.71 7.34 1526 13054.97 done 1.44 - - 2484.31 - 3.58 0.122 3472.50 360.9 77.86 - - 2162.25 - - - - - - - - - 15.74 -
13108.22 776.75 9.45 1538 13115.06 done 1.44 - - 2484.19 - 3.14 0.058 2182.06 -411.0 77.86 - - 2164.09 - - - - - - - - - 15.79 -
13414.42 753.55 6.81 1569 13420.15 done 1.48 - - 2483.94 - 3.55 0.122 3473.50 363.8 77.86 - - 2161.91 - - - - - - - - - 15.73 -
13453.26 749.89 9.15 1577 13460.10 done 1.48 - - 2484.00 - 3.13 0.057 2181.62 -412.7 77.86 - - 2164.41 - - - - - - - - - 15.82 -
13759.44 724.10 9.57 1608 13765.26 done 1.48 - - 2484.19 - 3.94 0.140 735.31 -367.1 77.86 - - 2160.53 - - - - - - - - - 15.71 -
13788.30 720.96 9.01 1614 13795.20 done 1.48 - - 2484.12 - 3.57 0.054 2221.12 416.2 77.86 - - 2162.81 - - - - - - - - - 15.81 -
14094.49 694.42 8.03 1645 14100.32 done 1.48 - - 2484.25 - 4.05 0.138 735.00 -366.9 77.86 - - 2160.06 - - - - - - - - - 15.70 -
14169.50 687.03 9.77 1660 14175.11 done 1.48 - - 2484.19 - 3.57 0.053 2219.50 415.8 77.86 - - 2163.03 - - - - - - - - - 15.82 -
14474.54 661.58 7.87 1691 14479.11 done 1.48 - - 2484.19 - 3.43 0.124 3472.69 365.4 77.86 - - 2162.91 - - - - - - - - - 15.73 -
14538.40 655.50 9.08 1704 14545.27 done 1.48 - - 2484.62 - 3.12 0.057 2179.19 -414.6 77.86 - - 2161.50 - - - - - - - - - 15.81 -
14844.58 630.89 7.93 1735 14845.91 VBD 1.48 - - 2485.06 - - - 2179.00 - 77.86 - - 2162.06 - - - - - - - - - - -
15144.63 607.55 6.88 1765 15150.22 done 1.51 - - 2485.31 - 3.56 0.120 3474.31 363.9 77.86 - - 2160.81 - - - - - - - - - 15.73 -
15329.66 592.41 8.36 1802 15334.18 done 1.51 - - 2484.94 - 3.13 0.057 2179.44 -413.7 77.86 - - 2161.84 - - - - - - - - - 15.82 -
15639.72 570.82 7.52 1834 15645.36 1.53 0.16 0.105 2518.81 211.7 3.53 0.119 3472.81 366.4 77.86 - - 2161.12 - - - - - - - - 15.80 15.74 -
15744.74 562.13 7.99 1855 15749.28 done 1.53 - - 2519.38 - 3.12 0.056 2178.50 -414.8 77.86 - - 2161.50 - - - - - - - - - 15.71 -
16054.82 540.42 6.68 1887 16060.42 done 1.57 - - 2519.44 - 3.52 0.118 3473.62 367.9 77.86 - - 2159.28 - - - - - - - - - 15.73 -
16189.86 530.35 7.87 1914 16194.42 done 1.57 - - 2518.94 - 3.12 0.055 2179.62 -414.7 77.86 - - 2161.44 - - - - - - - - - 15.81 -
16499.94 511.63 5.73 1946 16534.67 1.67 0.17 0.106 2553.69 204.4 3.55 0.119 3473.50 364.5 111.04 27.83 1.676 2044.91 -4.2 0.223 - - - - - - 15.77 15.56 11.97
16593.79 503.28 9.47 1965 16600.65 roll 1.67 - - 2553.19 - 3.17 0.056 2177.81 -408.7 111.04 - - 2044.06 - - - - - - - - - 15.61 -
16900.02 476.15 8.87 1996 16901.35 no move 1.67 - - 2554.06 - - - 2177.94 - 111.04 - - 2040.25 - - - - - - - - - - -
17200.08 449.89 9.62 2026 17205.69 roll 1.67 - - 2553.62 - 3.54 0.118 3473.12 365.9 111.04 - - 2039.94 - - - - - - - - - 15.67 -
17248.95 445.10 8.73 2036 17255.79 roll 1.67 - - 2553.69 - 3.15 0.054 2177.62 -411.3 111.04 - - 2040.47 - - - - - - - - - 15.72 -
17555.17 416.42 10.08 2067 17560.76 roll 1.67 - - 2551.81 - 3.55 0.114 3474.94 365.4 111.04 - - 2040.59 - - - - - - - - - 15.70 -
17660.19 404.92 11.51 2088 17664.98 roll 1.67 - - 2553.62 - 3.12 0.054 2178.50 -415.5 111.04 - - 2039.47 - - - - - - - - - 15.66 -
17970.24 376.20 8.91 2120 17975.91 roll 1.67 - - 2553.69 - 3.90 0.133 735.31 -370.0 111.04 - - 2038.72 - - - - - - - - - 15.68 -
18105.27 361.60 10.14 2147 18110.88 done 1.67 - - 2553.50 - 3.56 0.051 2223.31 418.0 111.04 - - 2037.19 - - - - - - - - - 15.78 -
18410.31 332.46 9.73 2178 18411.64 VBD 1.67 - - 2552.94 - - - 2223.31 - 111.04 - - 2038.81 - - - - - - - - - - -
18710.33 305.12 8.98 2208 18714.92 done 1.67 - - 2553.31 - 3.40 0.115 3473.88 367.8 111.04 - - 2038.75 - - - - - - - - - 15.70 -
18754.20 300.65 9.63 2217 18761.04 done 1.67 - - 2553.75 - 3.11 0.052 2177.12 -417.0 111.04 - - 2039.25 - - - - - - - - - 15.80 -
19060.38 274.68 8.67 2248 19066.04 done 1.67 - - 2553.69 - 3.85 0.130 735.38 -374.5 111.04 - - 2039.03 - - - - - - - - - 15.70 -
19195.40 261.67 9.36 2275 19201.03 done 1.67 - - 2553.00 - 3.57 0.049 2225.44 417.4 111.04 - - 2036.44 - - - - - - - - - 15.80 -
19500.45 238.55 7.47 2306 19505.00 done 1.69 - - 2554.00 - 3.38 0.113 3472.69 369.0 111.04 - - 2040.66 - - - - - - - - - 15.73 -
19624.30 227.62 9.20 2331 19631.15 done 1.69 - - 2553.62 - 3.11 0.051 2177.12 -416.6 111.04 - - 2039.22 - - - - - - - - - 15.77 -
19930.50 203.35 8.65 2362 19936.11 done 1.69 - - 2552.12 - 3.51 0.110 3473.62 369.4 111.04 - - 2040.47 - - - - - - - - - 15.72 -
19975.54 199.05 9.72 2371 19980.05 done 1.69 - - 2553.56 - 3.11 0.050 2175.75 -417.3 111.04 - - 2039.06 - - - - - - - - - 15.79 -
20285.55 171.12 9.13 2403 20291.21 done 1.69 - - 2552.50 - 3.88 0.127 735.25 -371.3 111.04 - - 2040.62 - - - - - - - - - 15.68 -
20444.43 157.00 8.18 2435 20451.34 done 1.69 - - 2553.62 - 3.56 0.049 2226.75 419.0 111.04 - - 2038.06 - - - - - - - - - 15.70 -
20750.63 137.31 6.41 2466 20755.20 done 1.74 - - 2554.00 - 3.39 0.113 3473.94 367.9 111.04 - - 2040.22 - - - - - - - - - 15.67 -
20794.49 134.09 7.15 2475 20801.44 done 1.76 - - 2554.38 - 3.13 0.049 2175.00 -415.0 111.04 - - 2038.00 - - - - - - - - - 15.69 -
21100.67 114.83 6.23 2506 21106.37 1.82 0.17 0.100 2588.62 201.4 3.87 0.126 735.12 -372.1 111.04 - - 2036.91 - - - - - - - - 15.77 15.62 -
21135.75 112.17 7.31 2513 21141.27 done 1.84 - - 2588.12 - 3.56 0.047 2226.62 419.0 111.04 - - 2038.09 - - - - - - - - - 15.78 -
21440.73 99.32 3.93 2545 21497.56 2.02 0.25 0.082 2639.25 204.5 3.43 0.112 3473.38 363.5 169.85 49.60 1.219 1805.31 -4.7 0.067 - - - - - - 15.69 15.43 12.02
21575.74 85.79 13.11 2572 21581.43 roll 2.02 - - 2639.12 - 3.16 0.049 2177.38 -410.1 169.85 - - 1801.62 - - - - - - - - - 15.53 -
21760.82 63.32 13.15 2609 21766.67 done 2.02 - - 2638.38 - 3.91 0.125 735.50 -368.8 169.85 - - 1800.06 - - - - - - - - - 15.51 -
21990.99 47.51 3.27 2655 22053.92 2.22 0.26 0.077 2687.50 188.9 3.60 0.046 2229.56 415.0 238.09 57.30 1.146 1528.41 -4.7 0.034 - - - - - - 15.51 15.67 12.18
22231.83 36.97 6.03 2703 22263.21 done 2.31 - - 2686.81 - 4.09 0.121 735.31 -365.3 266.99 25.76 1.064 1411.59 -4.5 0.027 - - - - - - - 15.35 12.12
22486.92 3.98 16.12 2754 22492.70 roll 2.31 - - 2687.69 - 3.62 0.049 2223.94 411.2 266.99 - - 1406.97 - - - - - - - - - 15.57 -
22502 end climb: SURFACE_DEPTH_REACHED
22502 begin surface coast
22512 end surface coast: CONTROL_FINISHED_OK
22512 begin surface
SM 0.84 - - - - 174.5 2.10 0.288 767.3 365.4 17.53 0.089 765.9 43.7 - 0.34 0.081 768.8 2250.5 -2.385 - - 12.16 15.51 15.60 -