NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 506 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 151.30 of 575.00 AH used of 24V (73.69% remains)
• Surface angle -61.8 deg, depth 0.67 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.80 (SM_CC=425)
• GPS1 time: 16 s
• GPS2 time: 4 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7.24 - - - 86.33 VBD -1.25 - - 174.25 - - - 2079.25 - -77.86 78.51 0.005 2522.38 - - - - - - - - - - 15.18
86.60 3.82 -5.85 15 118.48 -1.25 14.46 0.257 1835.88 114.9 4.02 0.152 663.06 -352.3 -77.86 7.09 0.008 2818.00 41.7 -3.464 - - - - - - 15.35 15.15 15.27
286.27 49.43 -23.26 55 292.05 roll -1.25 - - 1834.81 - 3.59 0.051 2119.56 405.7 -77.86 - - 2816.25 - - - - - - - - - 15.61 -
471.31 77.07 -11.32 92 477.09 roll -1.25 - - 1835.81 - 3.67 0.109 3474.88 369.3 -77.86 - - 2816.75 - - - - - - - - - 15.64 -
601.33 92.63 -11.49 118 607.05 roll -1.25 - - 1835.81 - 3.38 0.055 2080.31 -412.6 -77.86 - - 2818.94 - - - - - - - - - 15.70 -
791.36 113.89 -10.78 144 797.01 roll -1.25 - - 1835.88 - 3.74 0.105 3474.56 372.8 -77.86 - - 2818.59 - - - - - - - - - 15.70 -
836.39 119.05 -11.60 153 840.95 roll -1.25 - - 1835.88 - 3.37 0.054 2079.88 -413.9 -77.86 - - 2817.78 - - - - - - - - - 15.74 -
1146.42 151.05 -10.89 185 1152.20 roll -1.25 - - 1835.62 - 3.74 0.106 3472.75 372.4 -77.86 - - 2816.34 - - - - - - - - - 15.73 -
1251.43 163.86 -12.64 206 1256.00 roll -1.25 - - 1835.81 - 3.37 0.056 2079.81 -413.3 -77.86 - - 2819.03 - - - - - - - - - 15.78 -
1561.47 195.77 -10.27 238 1567.30 roll -1.25 - - 1835.94 - 3.95 0.149 662.19 -358.9 -77.86 - - 2819.50 - - - - - - - - - 15.69 -
1660.41 207.94 -11.99 258 1667.24 roll -1.25 - - 1835.19 - 3.49 0.048 2122.12 418.3 -77.86 - - 2819.56 - - - - - - - - - 15.80 -
1966.53 240.00 -10.36 289 1972.17 roll -1.25 - - 1836.12 - 3.65 0.111 3473.94 370.4 -77.86 - - 2815.56 - - - - - - - - - 15.77 -
1995.39 243.42 -10.54 295 2002.26 roll -1.25 - - 1835.69 - 3.34 0.055 2079.62 -417.5 -77.86 - - 2817.28 - - - - - - - - - 15.82 -
2301.58 277.35 -11.51 326 2307.36 roll -1.25 - - 1835.69 - 3.74 0.109 3474.75 373.0 -77.86 - - 2818.81 - - - - - - - - - 15.78 -
2340.44 282.26 -12.82 334 2347.38 roll -1.25 - - 1835.00 - 3.35 0.056 2081.50 -415.9 -77.86 - - 2819.72 - - - - - - - - - 15.84 -
2646.62 317.27 -11.47 365 2647.95 no move -1.25 - - 1836.06 - - - 2081.31 - -77.86 - - 2817.44 - - - - - - - - - - -
2946.66 349.05 -10.10 395 2952.45 roll -1.25 - - 1835.69 - 3.75 0.112 3473.38 371.2 -77.86 - - 2816.41 - - - - - - - - - 15.78 -
2991.69 354.36 -11.57 404 2996.26 roll -1.25 - - 1836.00 - 3.37 0.058 2081.06 -413.2 -77.86 - - 2817.62 - - - - - - - - - 15.84 -
3301.74 385.30 -10.21 436 3303.07 no move -1.25 - - 1835.44 - - - 2081.25 - -77.86 - - 2817.75 - - - - - - - - - - -
3601.79 414.69 -9.99 466 3603.11 no move -1.25 - - 1835.75 - - - 2081.50 - -77.86 - - 2818.09 - - - - - - - - - - -
3901.84 444.30 -9.90 496 3907.66 roll -1.25 - - 1835.50 - 3.97 0.156 662.19 -357.5 -77.86 - - 2818.16 - - - - - - - - - 15.71 -
3976.94 452.43 -10.56 511 3982.47 roll -1.25 - - 1835.94 - 3.51 0.052 2121.06 415.6 -77.86 - - 2816.47 - - - - - - - - - 15.86 -
4281.95 482.81 -9.87 542 4287.71 roll -1.25 - - 1836.19 - 3.64 0.116 3474.12 371.7 -77.86 - - 2816.81 - - - - - - - - - 15.78 -
4326.97 487.36 -10.85 551 4331.53 roll -1.25 - - 1836.25 - 3.36 0.059 2081.50 -414.5 -77.86 - - 2817.84 - - - - - - - - - 15.85 -
4637.02 516.93 -9.53 583 4642.82 roll -1.25 - - 1836.12 - 3.97 0.157 663.19 -357.3 -77.86 - - 2819.03 - - - - - - - - - 15.69 -
4732.04 527.62 -10.81 602 4736.63 roll -1.25 - - 1835.50 - 3.48 0.053 2118.00 418.0 -77.86 - - 2816.19 - - - - - - - - - 15.85 -
5042.12 557.28 -8.94 634 5047.90 roll -1.25 - - 1835.75 - 3.64 0.118 3473.75 372.5 -77.86 - - 2814.97 - - - - - - - - - 15.77 -
5121.01 565.42 -10.22 650 5127.88 roll -1.25 - - 1835.88 - 3.36 0.061 2080.88 -414.5 -77.86 - - 2817.34 - - - - - - - - - 15.84 -
5427.19 590.99 -7.88 681 5433.00 roll -1.25 - - 1835.12 - 3.98 0.160 663.31 -356.2 -77.86 - - 2818.00 - - - - - - - - - 15.68 -
5576.20 605.11 -10.11 711 5582.98 roll -1.25 - - 1835.94 - 3.51 0.054 2118.38 414.5 -77.86 - - 2815.94 - - - - - - - - - 15.84 -
5882.26 628.63 -7.37 742 5883.58 no move -1.25 - - 1835.56 - - - 2118.00 - -77.86 - - 2815.34 - - - - - - - - - - -
6182.29 650.84 -7.27 772 6188.06 roll -1.25 - - 1835.88 - 3.66 0.122 3472.81 370.2 -77.86 - - 2816.00 - - - - - - - - - 15.75 -
6207.31 652.84 -7.11 777 6211.86 roll -1.25 - - 1835.38 - 3.38 0.061 2084.00 -410.9 -77.86 - - 2816.47 - - - - - - - - - 15.83 -
6517.35 678.08 -8.56 809 6523.07 roll -1.25 - - 1835.88 - 3.76 0.119 3474.88 369.9 -77.86 - - 2813.16 - - - - - - - - - 15.74 -
6582.37 684.30 -10.50 822 6586.92 roll -1.25 - - 1835.00 - 3.38 0.062 2083.62 -411.6 -77.86 - - 2817.19 - - - - - - - - - 15.82 -
6892.39 710.79 -9.40 854 6898.08 roll -1.25 - - 1835.81 - 4.02 0.166 663.12 -353.4 -77.86 - - 2812.66 - - - - - - - - - 15.64 -
6951.40 717.19 -11.37 866 6958.16 roll -1.25 - - 1835.69 - 3.53 0.056 2118.50 412.3 -77.86 - - 2814.25 - - - - - - - - - 15.85 -
7257.43 745.05 -8.80 897 7263.12 roll -1.25 - - 1835.38 - 3.65 0.121 3475.25 371.7 -77.86 - - 2812.06 - - - - - - - - - 15.73 -
7312.45 750.71 -10.89 908 7317.01 roll -1.25 - - 1835.75 - 3.38 0.062 2084.25 -411.5 -77.86 - - 2813.75 - - - - - - - - - 15.81 -
7622.47 780.46 -9.02 940 7628.17 roll -1.25 - - 1834.62 - 4.02 0.167 664.12 -353.3 -77.86 - - 2816.00 - - - - - - - - - 15.64 -
7661.48 784.83 -11.34 948 7668.37 roll -1.25 - - 1835.62 - 3.52 0.058 2116.56 412.6 -77.86 - - 2812.81 - - - - - - - - - 15.83 -
7967.52 810.80 -6.67 979 7973.28 roll -1.25 - - 1836.12 - 3.66 0.124 3473.94 370.9 -77.86 - - 2815.34 - - - - - - - - - 15.72 -
8012.53 815.48 -9.65 988 8017.08 roll -1.25 - - 1834.56 - 3.40 0.064 2084.00 -408.8 -77.86 - - 2815.56 - - - - - - - - - 15.79 -
8322.56 841.26 -8.76 1020 8328.26 roll -1.25 - - 1835.94 - 4.08 0.171 663.81 -348.1 -77.86 - - 2811.12 - - - - - - - - - 15.61 -
8417.57 849.39 -9.33 1039 8423.19 roll -1.25 - - 1835.06 - 3.55 0.061 2116.06 409.1 -77.86 - - 2810.56 - - - - - - - - - 15.83 -
8722.61 870.41 -6.58 1070 8728.39 roll -1.25 - - 1835.12 - 3.71 0.124 3473.75 366.0 -77.86 - - 2814.62 - - - - - - - - - 15.71 -
8777.64 875.14 -8.90 1081 8782.21 roll -1.25 - - 1835.31 - 3.40 0.065 2084.62 -408.6 -77.86 - - 2812.94 - - - - - - - - - 15.78 -
9087.67 895.79 -6.81 1113 9093.44 roll -1.25 - - 1835.56 - 3.80 0.123 3474.38 365.7 -77.86 - - 2814.12 - - - - - - - - - 15.69 -
9126.54 898.94 -7.88 1121 9133.45 roll -1.25 - - 1835.44 - 3.41 0.065 2086.12 -407.1 -77.86 - - 2811.38 - - - - - - - - - 15.76 -
9432.75 917.77 -6.61 1152 9434.08 no move -1.25 - - 1835.56 - - - 2086.75 - -77.86 - - 2810.28 - - - - - - - - - - -
9732.82 936.28 -5.85 1182 9734.15 no move -1.25 - - 1835.62 - - - 2086.88 - -77.86 - - 2811.19 - - - - - - - - - - -
10032.86 954.06 -6.08 1212 10038.71 roll -1.25 - - 1835.81 - 4.12 0.175 664.38 -345.3 -77.86 - - 2809.19 - - - - - - - - - 15.59 -
10131.88 962.02 -7.85 1232 10138.65 roll -1.25 - - 1835.44 - 3.58 0.063 2115.94 405.5 -77.86 - - 2811.12 - - - - - - - - - 15.80 -
10437.98 981.89 -6.97 1263 10439.30 no move -1.25 - - 1835.94 - - - 2115.88 - -77.86 - - 2811.09 - - - - - - - - - - -
10567 end dive: TARGET_DEPTH_EXCEEDED
10567 begin apogee
10569.24 990.47 -6.54 1276 10639.85 -0.25 1.86 0.151 2081.19 131.9 0.08 0.289 2185.81 874.1 - 67.61 2.283 2498.66 -4.6 0.349 - - - - - - 15.70 15.06 11.65
10641 end apogee: CONTROL_FINISHED_OK
10641 begin climb
10641.91 990.44 - 1283 10726.49 1.25 2.66 0.093 2446.94 137.5 3.80 0.128 3472.31 338.6 77.86 74.86 2.219 2183.56 -4.2 0.327 - - - - - - 15.13 14.76 12.25
10754.24 984.13 8.27 1305 10758.80 roll 1.25 - - 2447.00 - 3.31 0.057 2183.25 -389.4 77.86 - - 2180.44 - - - - - - - - - 15.04 -
11064.28 957.84 8.12 1337 11070.11 done 1.25 - - 2446.94 - 4.07 0.146 736.88 -355.4 77.86 - - 2169.66 - - - - - - - - - 15.45 -
11119.36 951.63 12.13 1348 11125.05 done 1.25 - - 2447.62 - 3.65 0.055 2216.50 405.4 77.86 - - 2171.62 - - - - - - - - - 15.55 -
11424.33 924.35 8.98 1379 11430.17 done 1.25 - - 2447.56 - 4.15 0.145 736.19 -356.7 77.86 - - 2166.75 - - - - - - - - - 15.57 -
11479.40 918.30 11.02 1390 11485.10 done 1.25 - - 2447.44 - 3.62 0.055 2218.19 409.4 77.86 - - 2165.75 - - - - - - - - - 15.66 -
11784.38 889.13 9.79 1421 11789.99 done 1.25 - - 2448.38 - 3.47 0.126 3473.62 361.8 77.86 - - 2164.59 - - - - - - - - - 15.65 -
11863.23 881.54 9.18 1437 11870.20 done 1.25 - - 2447.56 - 3.17 0.059 2180.44 -407.9 77.86 - - 2166.69 - - - - - - - - - 15.72 -
12169.42 855.77 8.49 1468 12175.02 done 1.25 - - 2446.75 - 3.53 0.124 3472.56 366.0 77.86 - - 2167.91 - - - - - - - - - 15.66 -
12318.29 842.24 9.84 1498 12325.15 done 1.25 - - 2447.00 - 3.15 0.059 2180.38 -410.2 77.86 - - 2166.47 - - - - - - - - - 15.76 -
12624.50 820.34 6.21 1529 12630.09 done 1.31 - - 2447.00 - 3.55 0.123 3471.75 363.8 77.86 - - 2162.91 - - - - - - - - - 15.68 -
12689.52 815.31 7.37 1542 12694.03 done 1.33 - - 2447.69 - 3.15 0.058 2180.19 -410.0 77.86 - - 2165.59 - - - - - - - - - 15.70 -
12999.54 792.87 6.87 1574 13005.35 done 1.36 - - 2447.25 - 3.97 0.144 736.19 -363.7 77.86 - - 2161.47 - - - - - - - - - 15.65 -
13074.62 786.90 8.58 1589 13080.32 done 1.36 - - 2447.12 - 3.56 0.055 2220.44 416.9 77.86 - - 2161.38 - - - - - - - - - 15.78 -
13379.60 767.61 5.57 1620 13415.90 1.47 0.31 0.079 2505.75 189.1 3.49 0.128 3472.75 358.8 113.22 31.23 1.986 2035.72 -4.0 0.271 - - - - - - 15.69 15.42 11.91
13494.60 756.43 12.10 1643 13499.15 roll 1.47 - - 2504.88 - 3.21 0.059 2182.56 -401.9 113.22 - - 2035.34 - - - - - - - - - 15.53 -
13804.64 726.56 9.62 1675 13810.39 roll 1.47 - - 2505.31 - 4.01 0.141 735.38 -360.9 113.22 - - 2031.59 - - - - - - - - - 15.57 -
13839.66 722.17 13.32 1682 13845.33 roll 1.47 - - 2505.69 - 3.61 0.054 2218.38 410.8 113.22 - - 2031.50 - - - - - - - - - 15.65 -
14144.69 693.50 10.74 1713 14150.52 done 1.47 - - 2505.06 - 4.06 0.139 736.00 -365.1 113.22 - - 2028.16 - - - - - - - - - 15.61 -
14173.55 690.15 11.16 1719 14180.45 done 1.47 - - 2504.81 - 3.60 0.053 2218.50 411.8 113.22 - - 2030.91 - - - - - - - - - 15.71 -
14479.77 661.30 10.23 1750 14484.85 done 1.47 - - 2505.56 - 3.46 0.124 3473.19 362.6 113.22 - - 2029.12 - - - - - - - - - 15.66 -
14529.78 656.08 10.67 1760 14534.44 done 1.47 - - 2504.94 - 3.13 0.056 2180.00 -413.2 113.22 - - 2029.66 - - - - - - - - - 15.73 -
14839.84 625.73 9.88 1792 14845.44 done 1.47 - - 2505.06 - 3.56 0.120 3472.94 363.2 113.22 - - 2027.66 - - - - - - - - - 15.67 -
14878.70 621.53 10.48 1800 14885.55 done 1.47 - - 2505.44 - 3.14 0.056 2182.25 -411.0 113.22 - - 2029.53 - - - - - - - - - 15.77 -
15184.92 593.30 8.27 1831 15189.72 done 1.47 - - 2505.38 - 3.55 0.120 3473.19 363.6 113.22 - - 2030.81 - - - - - - - - - 15.69 -
15304.96 580.75 10.19 1855 15309.73 done 1.47 - - 2504.75 - 3.12 0.057 2180.62 -414.3 113.22 - - 2029.75 - - - - - - - - - 15.76 -
15615.03 551.88 9.43 1887 15620.71 done 1.47 - - 2505.62 - 3.94 0.138 737.06 -366.4 113.22 - - 2026.69 - - - - - - - - - 15.67 -
15760.09 535.90 10.71 1916 15765.69 done 1.47 - - 2505.75 - 3.56 0.053 2221.56 417.0 113.22 - - 2027.78 - - - - - - - - - 15.78 -
16065.15 507.43 9.10 1947 16069.70 done 1.47 - - 2504.88 - 3.39 0.120 3473.38 369.3 113.22 - - 2028.66 - - - - - - - - - 15.70 -
16115.17 502.53 9.17 1957 16119.70 done 1.47 - - 2504.69 - 3.11 0.055 2178.31 -416.4 113.22 - - 2027.38 - - - - - - - - - 15.79 -
16425.20 473.64 9.00 1989 16431.01 done 1.47 - - 2505.06 - 3.93 0.137 736.00 -367.0 113.22 - - 2027.66 - - - - - - - - - 15.67 -
16460.31 470.53 9.61 1996 16465.96 done 1.47 - - 2505.00 - 3.54 0.050 2223.19 420.1 113.22 - - 2027.00 - - - - - - - - - 15.80 -
16765.26 444.29 9.16 2027 16769.82 done 1.47 - - 2504.88 - 3.36 0.117 3473.94 372.2 113.22 - - 2028.62 - - - - - - - - - 15.70 -
16789.11 441.86 9.56 2032 16795.95 done 1.47 - - 2505.62 - 3.11 0.053 2178.44 -416.6 113.22 - - 2026.56 - - - - - - - - - 15.79 -
17095.31 417.24 7.22 2063 17100.99 done 1.49 - - 2503.69 - 3.91 0.135 735.62 -369.0 113.22 - - 2028.59 - - - - - - - - - 15.66 -
17280.33 400.18 9.14 2100 17285.93 done 1.49 - - 2505.19 - 3.58 0.052 2223.56 415.6 113.22 - - 2027.25 - - - - - - - - - 15.68 -
17585.38 376.74 7.28 2131 17586.71 VBD 1.52 - - 2505.25 - - - 2223.50 - 113.22 - - 2026.41 - - - - - - - - - - -
17885.48 353.25 7.83 2161 17890.98 done 1.52 - - 2505.31 - 3.42 0.117 3474.56 365.8 113.22 - - 2026.91 - - - - - - - - - 15.67 -
18010.43 342.49 8.82 2186 18014.95 done 1.52 - - 2505.25 - 3.13 0.053 2176.31 -414.8 113.22 - - 2026.75 - - - - - - - - - 15.78 -
18320.48 319.20 7.25 2218 18326.19 done 1.54 - - 2505.31 - 3.89 0.132 736.25 -370.2 113.22 - - 2024.62 - - - - - - - - - 15.65 -
18379.33 313.59 9.07 2230 18386.22 done 1.54 - - 2504.94 - 3.55 0.049 2224.69 419.3 113.22 - - 2027.12 - - - - - - - - - 15.79 -
18685.53 291.00 7.50 2261 18690.09 done 1.56 - - 2504.88 - 3.35 0.114 3474.56 373.1 113.22 - - 2027.59 - - - - - - - - - 15.69 -
18729.37 287.33 8.15 2270 18736.31 done 1.56 - - 2504.75 - 3.10 0.051 2178.12 -418.2 113.22 - - 2026.84 - - - - - - - - - 15.78 -
19035.57 266.31 6.06 2301 19041.42 1.62 0.17 0.101 2541.44 215.8 3.91 0.131 735.06 -369.1 113.22 - - 2025.16 - - - - - - - - 15.75 15.65 -
19264.44 245.23 9.98 2347 19271.36 done 1.62 - - 2542.31 - 3.58 0.050 2224.44 416.0 113.22 - - 2026.00 - - - - - - - - - 15.69 -
19570.67 220.47 8.03 2378 19576.40 done 1.62 - - 2542.00 - 4.05 0.126 735.06 -367.7 113.22 - - 2024.31 - - - - - - - - - 15.64 -
19599.49 217.75 8.94 2384 19606.42 done 1.62 - - 2541.69 - 3.58 0.048 2227.44 416.9 113.22 - - 2025.97 - - - - - - - - - 15.78 -
19905.71 196.58 6.79 2415 19907.04 VBD 1.66 - - 2541.56 - - - 2226.94 - 113.22 - - 2026.22 - - - - - - - - - - -
20205.76 176.03 6.82 2445 20210.34 done 1.69 - - 2541.75 - 3.40 0.114 3473.75 366.7 113.22 - - 2025.62 - - - - - - - - - 15.67 -
20395.84 161.70 7.70 2483 20400.36 done 1.69 - - 2541.94 - 3.11 0.051 2177.06 -416.9 113.22 - - 2025.62 - - - - - - - - - 15.76 -
20705.91 144.56 6.26 2515 20711.71 done 1.75 - - 2542.25 - 3.90 0.127 735.25 -369.7 113.22 - - 2024.50 - - - - - - - - - 15.56 -
20864.89 133.08 7.17 2547 20871.78 1.77 0.17 0.096 2580.38 224.3 3.57 0.048 2226.88 417.8 113.22 - - 2025.84 - - - - - - - - 15.62 15.76 -
21171.04 114.35 5.61 2578 21206.53 done 1.88 - - 2580.06 - 4.05 0.125 735.19 -368.3 148.00 29.72 1.206 1895.03 -4.4 0.073 - - - - - - - 15.56 11.88
21251.03 107.96 9.43 2594 21256.66 roll 1.88 - - 2579.81 - 3.61 0.046 2224.69 412.6 148.00 - - 1892.69 - - - - - - - - - 15.62 -
21556.15 85.51 5.81 2645 21592.65 1.97 0.25 0.077 2626.50 186.8 4.09 0.123 735.31 -364.2 180.00 28.12 1.160 1764.72 -4.6 0.058 - - - - - - 15.65 15.48 12.12
21636.15 79.08 9.28 2661 21642.06 roll 1.97 - - 2626.75 - 3.62 0.045 2225.69 411.7 180.00 - - 1762.75 - - - - - - - - - 15.54 -
21821.22 67.37 4.74 2698 21867.88 2.11 0.17 0.092 2660.62 199.2 3.45 0.110 3474.81 362.1 227.25 40.33 1.149 1571.81 -4.7 0.048 - - - - - - 15.58 15.34 12.10
22046.28 55.53 6.38 2743 22051.96 roll 2.16 - - 2660.38 - 3.16 0.048 2175.75 -411.1 227.25 - - 1567.84 - - - - - - - - - 15.53 -
22231.30 44.69 5.97 2780 22262.63 2.25 0.17 0.098 2694.56 201.1 3.56 0.108 3471.94 364.1 256.87 25.94 1.082 1452.50 -4.4 0.032 - - - - - - 15.58 15.43 12.08
22486.33 18.46 11.58 2831 22492.02 roll 2.25 - - 2694.25 - 3.14 0.049 2178.38 -412.0 256.87 - - 1449.09 - - - - - - - - - 15.58 -
22636 end climb: SURFACE_DEPTH_REACHED
22636 begin surface coast
22651 end surface coast: CONTROL_FINISHED_OK
22651 begin surface
SM 0.55 - - - - 179.1 0.08 0.222 768.2 9602.5 17.42 0.083 767.0 44.0 - 0.22 0.106 769.5 3483.5 -1.847 - - 15.11 15.57 15.64 -