NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 500 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 149.39 of 575.00 AH used of 24V (74.02% remains)
• Surface angle -64.1 deg, depth 0.85 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.72 (SM_CC=425)
• GPS1 time: 29 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
7.11 - - - 81.07 VBD -1.25 - - 174.00 - - - 2082.12 - -77.86 73.32 0.005 2412.81 - - - - - - - - - - 15.19
81.33 3.18 -3.61 14 114.37 -1.25 14.48 0.256 1835.12 114.7 3.98 0.151 662.25 -356.8 -77.86 10.66 0.007 2818.25 38.0 -3.008 - - - - - - 15.36 15.16 15.28
337.15 57.59 -19.68 65 342.95 roll -1.25 - - 1836.00 - 3.56 0.052 2119.38 409.3 -77.86 - - 2817.00 - - - - - - - - - 15.64 -
522.21 83.40 -12.33 102 528.05 roll -1.25 - - 1835.94 - 4.05 0.144 663.25 -359.5 -77.86 - - 2816.75 - - - - - - - - - 15.61 -
752.28 112.90 -13.35 148 757.88 roll -1.25 - - 1835.69 - 3.52 0.052 2119.69 413.8 -77.86 - - 2815.16 - - - - - - - - - 15.74 -
1057.30 147.29 -10.76 179 1063.00 roll -1.25 - - 1835.44 - 4.03 0.146 663.31 -361.4 -77.86 - - 2815.50 - - - - - - - - - 15.69 -
1096.31 151.88 -11.23 187 1103.06 roll -1.25 - - 1835.69 - 3.47 0.050 2120.56 420.0 -77.86 - - 2818.28 - - - - - - - - - 15.78 -
1402.35 185.13 -10.64 218 1408.04 roll -1.25 - - 1835.75 - 4.03 0.148 663.19 -361.6 -77.86 - - 2818.47 - - - - - - - - - 15.71 -
1467.43 193.17 -12.25 231 1472.02 roll -1.25 - - 1835.81 - 3.48 0.049 2117.25 417.8 -77.86 - - 2815.84 - - - - - - - - - 15.80 -
1777.41 224.64 -9.56 263 1782.13 roll -1.25 - - 1835.69 - 3.60 0.112 3475.06 377.2 -77.86 - - 2819.62 - - - - - - - - - 15.79 -
1841.26 231.49 -10.91 276 1848.13 roll -1.25 - - 1835.88 - 3.35 0.056 2081.38 -416.0 -77.86 - - 2818.50 - - - - - - - - - 15.82 -
2147.45 260.84 -10.19 307 2153.22 roll -1.25 - - 1836.00 - 3.71 0.108 3474.81 375.6 -77.86 - - 2819.94 - - - - - - - - - 15.80 -
2192.47 265.89 -11.84 316 2197.03 roll -1.25 - - 1835.50 - 3.34 0.056 2080.81 -417.4 -77.86 - - 2817.34 - - - - - - - - - 15.84 -
2502.49 297.03 -9.74 348 2508.30 roll -1.25 - - 1835.31 - 3.92 0.152 663.31 -361.6 -77.86 - - 2819.50 - - - - - - - - - 15.73 -
2627.52 312.34 -12.57 373 2632.24 roll -1.25 - - 1835.88 - 3.50 0.049 2121.12 416.5 -77.86 - - 2819.72 - - - - - - - - - 15.85 -
2937.57 342.16 -9.61 405 2942.33 roll -1.25 - - 1834.81 - 3.61 0.110 3475.75 375.2 -77.86 - - 2819.31 - - - - - - - - - 15.81 -
2971.57 345.47 -9.87 412 2978.32 roll -1.25 - - 1835.94 - 3.32 0.056 2080.50 -420.3 -77.86 - - 2817.91 - - - - - - - - - 15.85 -
3277.63 377.25 -10.07 443 3278.96 no move -1.25 - - 1835.69 - - - 2081.12 - -77.86 - - 2817.66 - - - - - - - - - - -
3577.69 406.55 -9.98 473 3583.48 roll -1.25 - - 1835.50 - 3.73 0.114 3474.75 373.6 -77.86 - - 2816.00 - - - - - - - - - 15.80 -
3656.78 415.05 -11.10 489 3663.44 roll -1.25 - - 1835.81 - 3.36 0.060 2081.31 -414.7 -77.86 - - 2817.75 - - - - - - - - - 15.86 -
3962.78 443.96 -9.53 520 3968.46 roll -1.25 - - 1835.50 - 3.93 0.154 662.44 -361.0 -77.86 - - 2815.12 - - - - - - - - - 15.74 -
4021.73 450.88 -11.66 532 4028.54 roll -1.25 - - 1835.94 - 3.49 0.052 2120.44 417.8 -77.86 - - 2818.12 - - - - - - - - - 15.86 -
4327.87 480.17 -9.01 563 4333.56 roll -1.25 - - 1836.00 - 4.01 0.147 661.38 -363.9 -77.86 - - 2817.06 - - - - - - - - - 15.74 -
4386.82 486.38 -10.14 575 4393.63 roll -1.25 - - 1835.94 - 3.49 0.051 2121.19 418.3 -77.86 - - 2816.97 - - - - - - - - - 15.86 -
4692.95 514.68 -9.23 606 4697.72 roll -1.25 - - 1836.19 - 3.62 0.115 3474.75 373.9 -77.86 - - 2815.38 - - - - - - - - - 15.79 -
4762.99 522.11 -10.81 620 4767.68 roll -1.25 - - 1834.75 - 3.34 0.059 2081.56 -417.1 -77.86 - - 2817.69 - - - - - - - - - 15.86 -
5073.04 552.76 -9.47 652 5078.72 roll -1.25 - - 1835.75 - 3.96 0.159 662.19 -358.4 -77.86 - - 2815.81 - - - - - - - - - 15.71 -
5121.98 558.91 -11.93 662 5128.79 roll -1.25 - - 1835.62 - 3.48 0.052 2120.19 419.0 -77.86 - - 2817.38 - - - - - - - - - 15.86 -
5428.09 587.76 -9.33 693 5433.78 roll -1.25 - - 1835.75 - 4.06 0.157 663.69 -358.7 -77.86 - - 2815.91 - - - - - - - - - 15.71 -
5503.17 595.41 -10.49 708 5507.83 roll -1.25 - - 1835.81 - 3.49 0.053 2119.94 417.3 -77.86 - - 2815.38 - - - - - - - - - 15.85 -
5813.14 622.38 -8.06 740 5818.90 roll -1.25 - - 1833.88 - 3.61 0.116 3476.00 375.6 -77.86 - - 2815.94 - - - - - - - - - 15.79 -
5918.15 632.48 -8.92 761 5922.73 roll -1.25 - - 1836.06 - 3.36 0.060 2083.31 -414.5 -77.86 - - 2814.72 - - - - - - - - - 15.85 -
6228.20 660.26 -8.93 793 6234.01 roll -1.25 - - 1835.81 - 3.97 0.163 663.06 -357.7 -77.86 - - 2814.25 - - - - - - - - - 15.69 -
6363.22 673.57 -10.11 820 6367.97 roll -1.25 - - 1835.38 - 3.51 0.055 2119.62 415.0 -77.86 - - 2815.53 - - - - - - - - - 15.86 -
6673.26 699.63 -8.59 852 6679.08 roll -1.25 - - 1834.19 - 4.07 0.161 664.44 -357.5 -77.86 - - 2814.84 - - - - - - - - - 15.69 -
6708.28 702.46 -8.11 859 6712.99 roll -1.25 - - 1835.62 - 3.50 0.055 2119.81 415.8 -77.86 - - 2814.31 - - - - - - - - - 15.85 -
7018.30 726.51 -7.80 891 7024.00 roll -1.25 - - 1836.19 - 3.63 0.120 3474.06 373.1 -77.86 - - 2813.16 - - - - - - - - - 15.77 -
7077.30 731.64 -9.10 903 7084.03 roll -1.25 - - 1835.31 - 3.36 0.062 2084.56 -413.5 -77.86 - - 2814.31 - - - - - - - - - 15.83 -
7383.34 755.02 -7.91 934 7384.67 no move -1.25 - - 1835.81 - - - 2084.25 - -77.86 - - 2813.41 - - - - - - - - - - -
7683.37 778.14 -7.33 964 7689.09 roll -1.25 - - 1835.44 - 4.03 0.168 663.38 -352.6 -77.86 - - 2815.31 - - - - - - - - - 15.67 -
7772.30 786.49 -9.42 982 7779.15 roll -1.25 - - 1836.06 - 3.55 0.059 2116.69 409.4 -77.86 - - 2812.94 - - - - - - - - - 15.85 -
8078.42 808.16 -7.13 1013 8084.12 roll -1.25 - - 1835.31 - 3.66 0.122 3474.06 370.9 -77.86 - - 2812.69 - - - - - - - - - 15.75 -
8117.42 811.21 -7.61 1021 8124.15 roll -1.25 - - 1835.56 - 3.38 0.064 2083.75 -411.3 -77.86 - - 2812.75 - - - - - - - - - 15.81 -
8423.46 832.16 -7.39 1052 8429.14 roll -1.25 - - 1835.81 - 3.99 0.169 663.56 -355.9 -77.86 - - 2810.72 - - - - - - - - - 15.65 -
8538.49 842.91 -8.89 1075 8543.23 roll -1.25 - - 1836.06 - 3.56 0.060 2116.56 408.1 -77.86 - - 2812.75 - - - - - - - - - 15.84 -
8848.52 865.05 -7.28 1107 8854.21 roll -1.25 - - 1835.75 - 4.10 0.166 663.38 -354.4 -77.86 - - 2811.22 - - - - - - - - - 15.65 -
8947.45 873.99 -8.30 1127 8954.33 roll -1.25 - - 1835.75 - 3.55 0.061 2115.56 409.1 -77.86 - - 2812.28 - - - - - - - - - 15.84 -
9253.60 897.54 -8.38 1158 9259.36 roll -1.25 - - 1835.56 - 3.65 0.125 3473.19 372.0 -77.86 - - 2811.94 - - - - - - - - - 15.73 -
9398.65 910.25 -9.97 1187 9403.35 roll -1.25 - - 1835.81 - 3.39 0.066 2084.31 -409.7 -77.86 - - 2812.47 - - - - - - - - - 15.80 -
9708.73 933.72 -6.99 1219 9710.06 no move -1.25 - - 1835.50 - - - 2083.75 - -77.86 - - 2811.25 - - - - - - - - - - -
10008.79 955.02 -6.21 1249 10014.57 roll -1.25 - - 1836.06 - 3.77 0.125 3473.94 368.8 -77.86 - - 2808.72 - - - - - - - - - 15.72 -
10067.89 960.14 -8.05 1261 10074.53 roll -1.25 - - 1835.50 - 3.39 0.067 2083.31 -410.2 -77.86 - - 2811.72 - - - - - - - - - 15.78 -
10373.87 981.65 -7.42 1292 10379.70 roll -1.25 - - 1835.25 - 4.05 0.173 664.62 -350.3 -77.86 - - 2812.16 - - - - - - - - - 15.62 -
10482 end dive: TARGET_DEPTH_EXCEEDED
10482 begin apogee
10488.34 990.59 -8.60 1314 10558.52 -0.25 1.87 0.161 2078.88 130.3 0.07 0.306 2186.25 21737.6 - 67.28 2.276 2501.28 -4.6 0.350 - - - - - - 15.70 15.08 11.78
10560 end apogee: CONTROL_FINISHED_OK
10560 begin climb
10560.57 990.66 - 1321 10640.34 1.25 2.67 0.092 2447.44 138.0 - - 2186.00 - 77.86 75.20 2.210 2180.91 -4.3 0.332 - - - - - - 15.14 - 12.27
10933.52 960.45 8.55 1359 10939.35 done 1.25 - - 2446.19 - 4.05 0.148 737.25 -357.7 77.86 - - 2172.88 - - - - - - - - - 15.43 -
10972.38 955.77 11.57 1367 10979.44 done 1.25 - - 2448.44 - 3.66 0.054 2217.81 404.5 77.86 - - 2169.34 - - - - - - - - - 15.51 -
11278.58 927.71 8.42 1398 11284.16 done 1.25 - - 2447.62 - 3.49 0.127 3475.06 360.2 77.86 - - 2167.16 - - - - - - - - - 15.59 -
11397.46 916.58 8.20 1422 11404.33 done 1.25 - - 2447.00 - 3.16 0.059 2181.94 -409.2 77.86 - - 2167.31 - - - - - - - - - 15.69 -
11703.68 892.14 8.37 1453 11709.29 done 1.25 - - 2447.69 - 3.57 0.124 3473.62 361.8 77.86 - - 2165.84 - - - - - - - - - 15.67 -
11798.80 883.43 8.91 1472 11803.25 done 1.25 - - 2447.12 - 3.14 0.059 2182.88 -411.1 77.86 - - 2169.03 - - - - - - - - - 15.64 -
12108.79 859.36 8.25 1504 12114.60 done 1.25 - - 2447.56 - 3.97 0.144 735.06 -364.7 77.86 - - 2163.34 - - - - - - - - - 15.66 -
12183.89 852.40 9.94 1519 12189.56 done 1.25 - - 2447.69 - 3.57 0.054 2219.06 415.7 77.86 - - 2162.72 - - - - - - - - - 15.77 -
12488.90 828.98 6.77 1550 12494.71 done 1.29 - - 2447.50 - 4.03 0.143 736.50 -367.9 77.86 - - 2161.69 - - - - - - - - - 15.67 -
12533.91 825.30 7.57 1559 12539.50 done 1.29 - - 2447.56 - 3.57 0.053 2218.50 415.1 77.86 - - 2161.31 - - - - - - - - - 15.78 -
12839.08 802.15 7.04 1590 12840.42 VBD 1.32 - - 2447.56 - - - 2218.25 - 77.86 - - 2163.56 - - - - - - - - - - -
13139.03 780.79 7.24 1620 13144.85 done 1.35 - - 2447.69 - 4.05 0.142 737.12 -365.7 77.86 - - 2160.78 - - - - - - - - - 15.68 -
13184.05 777.32 7.71 1629 13189.64 done 1.35 - - 2446.75 - 3.59 0.054 2220.62 413.2 77.86 - - 2162.91 - - - - - - - - - 15.78 -
13489.09 756.75 6.65 1660 13494.96 1.39 0.18 0.097 2485.81 217.0 4.04 0.140 735.06 -367.7 77.86 - - 2161.41 - - - - - - - - 15.78 15.69 -
13508.00 754.72 7.55 1664 13514.83 done 1.39 - - 2485.81 - 3.58 0.052 2220.69 415.0 77.86 - - 2164.41 - - - - - - - - - 15.77 -
13814.11 731.29 8.31 1695 13818.70 done 1.39 - - 2485.38 - 3.41 0.124 3473.12 367.3 77.86 - - 2164.53 - - - - - - - - - 15.72 -
13948.02 719.28 8.99 1722 13954.85 done 1.39 - - 2485.38 - 3.12 0.059 2179.62 -414.6 77.86 - - 2162.19 - - - - - - - - - 15.80 -
14254.20 695.65 7.38 1753 14259.32 done 1.41 - - 2485.25 - 3.53 0.121 3473.25 366.5 77.86 - - 2162.28 - - - - - - - - - 15.71 -
14398.06 684.02 7.94 1782 14404.91 done 1.41 - - 2485.00 - 3.13 0.058 2181.19 -412.8 77.86 - - 2162.28 - - - - - - - - - 15.80 -
14704.27 662.41 7.30 1813 14710.07 done 1.43 - - 2485.19 - 3.94 0.140 736.19 -366.8 77.86 - - 2160.34 - - - - - - - - - 15.63 -
14843.12 650.45 8.94 1841 14850.04 done 1.43 - - 2485.44 - 3.60 0.054 2222.25 412.8 77.86 - - 2161.06 - - - - - - - - - 15.82 -
15149.34 630.69 6.09 1872 15150.67 VBD 1.49 - - 2485.31 - - - 2222.38 - 77.86 - - 2160.88 - - - - - - - - - - -
15449.37 610.35 7.02 1902 15453.93 done 1.52 - - 2485.31 - 3.42 0.122 3474.81 366.2 77.86 - - 2162.06 - - - - - - - - - 15.71 -
15493.23 607.04 7.02 1911 15500.10 1.55 0.19 0.096 2523.81 202.6 3.12 0.056 2180.94 -414.7 77.86 - - 2160.91 - - - - - - - - 15.67 15.79 -
15799.41 585.34 6.76 1942 15805.00 done 1.59 - - 2523.69 - 3.54 0.118 3473.38 365.1 77.86 - - 2159.00 - - - - - - - - - 15.71 -
15838.28 582.23 8.20 1950 15845.21 done 1.59 - - 2524.38 - 3.10 0.056 2179.31 -417.4 77.86 - - 2161.62 - - - - - - - - - 15.80 -
16144.44 560.77 7.14 1981 16150.05 done 1.62 - - 2523.31 - 3.52 0.117 3474.62 368.0 77.86 - - 2163.12 - - - - - - - - - 15.71 -
16249.45 552.44 8.54 2002 16254.19 done 1.62 - - 2524.12 - 3.10 0.055 2181.31 -417.2 77.86 - - 2162.25 - - - - - - - - - 15.80 -
16559.51 531.08 6.80 2034 16565.16 done 1.65 - - 2523.75 - 3.90 0.136 735.19 -370.8 77.86 - - 2159.88 - - - - - - - - - 15.67 -
16728.44 516.94 8.38 2068 16735.29 done 1.65 - - 2524.12 - 3.57 0.052 2224.12 417.1 77.86 - - 2160.41 - - - - - - - - - 15.82 -
17034.59 496.28 6.48 2099 17040.32 1.70 0.18 0.097 2562.38 212.6 4.02 0.132 735.06 -370.4 77.86 - - 2161.62 - - - - - - - - 15.80 15.68 -
17119.60 489.14 8.81 2116 17125.23 done 1.70 - - 2562.25 - 3.59 0.051 2223.50 414.6 77.86 - - 2159.38 - - - - - - - - - 15.81 -
17424.67 466.47 7.84 2147 17429.23 done 1.70 - - 2562.62 - 3.38 0.115 3473.38 369.8 77.86 - - 2161.00 - - - - - - - - - 15.72 -
17654.76 447.19 8.22 2193 17659.27 done 1.70 - - 2562.44 - 3.10 0.054 2178.06 -417.8 77.86 - - 2161.53 - - - - - - - - - 15.80 -
17964.82 425.72 7.85 2225 17970.43 done 1.70 - - 2562.75 - 3.52 0.113 3473.06 367.9 77.86 - - 2159.28 - - - - - - - - - 15.70 -
18193.78 409.49 7.31 2271 18200.60 done 1.72 - - 2562.25 - 3.11 0.055 2177.50 -416.6 77.86 - - 2160.19 - - - - - - - - - 15.78 -
18499.99 393.16 5.52 2302 18535.19 done 1.83 - - 2562.19 - 3.54 0.113 3474.06 366.3 113.94 29.94 1.545 2034.72 -4.2 0.186 - - - - - - - 15.55 11.84
18543.84 389.93 5.71 2311 18581.53 1.93 0.30 0.080 2615.69 178.3 3.14 0.052 2179.81 -412.2 147.32 31.97 1.514 1900.59 -4.2 0.188 - - - - - - 15.58 15.59 12.47
18880.06 345.25 14.90 2348 18881.40 VBD 1.93 - - 2614.56 - - - 2179.31 - 147.32 - - 1891.31 - - - - - - - - - - -
19180.08 303.12 14.02 2378 19181.41 VBD 1.93 - - 2614.94 - - - 2179.62 - 147.32 - - 1889.56 - - - - - - - - - - -
19480.11 261.39 13.11 2408 19485.71 done 1.93 - - 2614.75 - 3.54 0.112 3472.81 365.3 147.32 - - 1888.72 - - - - - - - - - 15.65 -
19535.14 253.46 13.74 2419 19539.66 done 1.93 - - 2615.69 - 3.12 0.054 2180.56 -414.2 147.32 - - 1888.12 - - - - - - - - - 15.63 -
19845.16 213.91 12.87 2451 19846.50 VBD 1.93 - - 2615.06 - - - 2180.62 - 147.32 - - 1886.66 - - - - - - - - - - -
20145.20 172.87 13.82 2481 20150.85 done 1.93 - - 2612.62 - 3.89 0.130 735.06 -371.6 147.32 - - 1887.09 - - - - - - - - - 15.60 -
20254.13 156.26 15.03 2503 20260.97 done 1.93 - - 2615.69 - 3.59 0.051 2224.31 414.8 147.32 - - 1887.00 - - - - - - - - - 15.69 -
20560.28 118.02 11.17 2534 20564.97 done 1.93 - - 2615.00 - 3.42 0.112 3474.19 365.5 147.32 - - 1886.94 - - - - - - - - - 15.69 -
20654.18 105.80 12.27 2553 20660.97 done 1.93 - - 2615.12 - 3.12 0.051 2177.56 -415.6 147.32 - - 1886.69 - - - - - - - - - 15.75 -
20960.56 78.75 6.93 2608 20966.09 done 1.97 - - 2615.12 - 3.52 0.109 3472.44 367.9 147.32 - - 1887.56 - - - - - - - - - 15.64 -
21190.41 67.38 3.39 2654 21252.26 2.16 0.33 0.078 2673.19 176.0 3.09 0.049 2176.56 -419.4 213.87 54.62 1.170 1629.03 -4.7 0.047 - - - - - - 15.58 15.74 12.10
21431.67 51.24 5.30 2702 21473.08 done 2.28 - - 2673.44 - 3.97 0.127 735.00 -363.1 253.09 33.97 1.113 1467.28 -4.8 0.038 - - - - - - - 15.31 12.14
21696.01 29.61 11.07 2755 21701.79 roll 2.28 - - 2673.06 - 3.64 0.048 2225.44 409.5 253.09 - - 1463.00 - - - - - - - - - 15.56 -
21881.08 10.04 11.01 2792 21886.91 roll 2.28 - - 2673.25 - 4.06 0.122 735.62 -367.0 253.09 - - 1461.69 - - - - - - - - - 15.52 -
21946 end climb: SURFACE_DEPTH_REACHED
21946 begin surface coast
21961 end surface coast: CONTROL_FINISHED_OK
21961 begin surface
SM 0.87 - - - - 173.9 - 0.011 768.6 - 17.08 0.072 768.8 45.0 - 3.35 0.046 768.3 228.1 -0.441 - - 30.36 15.60 15.67 -