NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 469 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 139.62 of 575.00 AH used of 24V (75.72% remains)
• Surface angle -59.8 deg, depth 0.20 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 28 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
7.17 - - - 85.92 VBD -1.25 - - 173.88 - - - 2113.44 - -77.86 78.13 0.005 2451.53 - - - - - - - - - - 15.23
86.19 3.09 -3.63 15 119.17 -1.25 14.44 0.263 1835.19 115.0 4.30 0.152 662.31 -337.5 -77.86 9.64 0.007 2816.47 37.9 -2.875 - - - - - - 15.41 15.26 15.32
146.98 15.68 -20.34 27 152.77 roll -1.25 - - 1835.06 - 3.62 0.051 2116.19 401.6 -77.86 - - 2818.88 - - - - - - - - - 15.56 -
332.09 51.18 -19.64 64 337.87 roll -1.25 - - 1836.00 - 3.71 0.110 3473.00 365.7 -77.86 - - 2818.09 - - - - - - - - - 15.64 -
382.11 61.56 -20.87 74 387.85 roll -1.25 - - 1835.94 - 3.45 0.058 2082.12 -403.2 -77.86 - - 2817.22 - - - - - - - - - 15.66 -
567.17 89.18 -13.72 111 572.96 roll -1.25 - - 1836.06 - 3.76 0.107 3474.56 370.3 -77.86 - - 2817.50 - - - - - - - - - 15.72 -
667.18 103.85 -13.65 131 671.85 roll -1.25 - - 1835.94 - 3.42 0.057 2082.62 -407.0 -77.86 - - 2817.12 - - - - - - - - - 15.74 -
977.22 136.81 -10.54 163 978.55 no move -1.25 - - 1835.81 - - - 2082.62 - -77.86 - - 2815.06 - - - - - - - - - - -
1277.26 171.92 -11.69 193 1283.03 roll -1.25 - - 1835.75 - 4.05 0.152 663.38 -350.4 -77.86 - - 2816.66 - - - - - - - - - 15.76 -
1376.12 184.78 -12.82 213 1383.05 roll -1.25 - - 1836.38 - 3.53 0.051 2118.44 412.2 -77.86 - - 2817.72 - - - - - - - - - 15.83 -
1682.34 216.29 -10.39 244 1688.09 roll -1.25 - - 1836.00 - 4.10 0.148 662.56 -355.1 -77.86 - - 2815.38 - - - - - - - - - 15.78 -
1717.34 220.54 -13.12 251 1722.94 roll -1.25 - - 1836.38 - 3.51 0.048 2122.06 415.8 -77.86 - - 2818.19 - - - - - - - - - 15.85 -
2022.37 253.88 -10.40 282 2023.70 no move -1.25 - - 1835.94 - - - 2121.81 - -77.86 - - 2817.41 - - - - - - - - - - -
2322.39 285.61 -10.83 312 2323.72 no move -1.25 - - 1835.81 - - - 2121.94 - -77.86 - - 2817.25 - - - - - - - - - - -
2622.42 317.25 -10.11 342 2628.21 roll -1.25 - - 1834.38 - 4.17 0.153 662.56 -350.0 -77.86 - - 2818.00 - - - - - - - - - 15.82 -
2747.46 332.31 -12.38 367 2753.14 roll -1.25 - - 1836.31 - 3.56 0.053 2117.69 408.7 -77.86 - - 2816.59 - - - - - - - - - 15.89 -
3052.49 362.87 -9.63 398 3053.82 no move -1.25 - - 1835.94 - - - 2117.62 - -77.86 - - 2815.16 - - - - - - - - - - -
3352.52 393.28 -10.17 428 3353.85 no move -1.25 - - 1835.50 - - - 2117.31 - -77.86 - - 2817.50 - - - - - - - - - - -
3652.56 423.82 -10.38 458 3653.89 no move -1.25 - - 1835.81 - - - 2117.56 - -77.86 - - 2817.66 - - - - - - - - - - -
3952.59 452.80 -9.07 488 3958.39 roll -1.25 - - 1835.69 - 4.18 0.157 662.50 -348.1 -77.86 - - 2817.03 - - - - - - - - - 15.81 -
4027.61 461.32 -12.11 503 4032.28 roll -1.25 - - 1834.94 - 3.54 0.055 2117.25 410.9 -77.86 - - 2819.06 - - - - - - - - - 15.90 -
4337.65 489.89 -9.58 535 4338.97 no move -1.25 - - 1835.69 - - - 2116.69 - -77.86 - - 2816.62 - - - - - - - - - - -
4637.69 517.25 -8.58 565 4643.48 roll -1.25 - - 1835.75 - 4.19 0.158 663.31 -346.9 -77.86 - - 2816.12 - - - - - - - - - 15.81 -
4692.79 523.11 -11.35 576 4698.41 roll -1.25 - - 1835.44 - 3.55 0.056 2117.31 409.6 -77.86 - - 2814.53 - - - - - - - - - 15.90 -
4997.78 551.31 -9.32 607 4999.10 no move -1.25 - - 1834.94 - - - 2117.06 - -77.86 - - 2815.50 - - - - - - - - - - -
5297.84 578.93 -9.75 637 5299.16 no move -1.25 - - 1834.31 - - - 2116.50 - -77.86 - - 2817.56 - - - - - - - - - - -
5597.90 606.70 -9.37 667 5599.23 no move -1.25 - - 1835.81 - - - 2117.00 - -77.86 - - 2815.16 - - - - - - - - - - -
5897.97 634.56 -8.87 697 5903.75 roll -1.25 - - 1835.75 - 4.18 0.163 663.19 -347.8 -77.86 - - 2814.66 - - - - - - - - - 15.80 -
5966.99 642.08 -11.41 711 5973.78 roll -1.25 - - 1835.88 - 3.57 0.057 2115.62 406.8 -77.86 - - 2814.06 - - - - - - - - - 15.91 -
6273.06 669.73 -9.53 742 6274.39 no move -1.25 - - 1836.06 - - - 2115.50 - -77.86 - - 2812.72 - - - - - - - - - - -
6573.12 695.84 -8.26 772 6574.44 no move -1.25 - - 1835.56 - - - 2115.44 - -77.86 - - 2813.94 - - - - - - - - - - -
6873.17 722.53 -8.51 802 6878.98 roll -1.25 - - 1835.44 - 4.22 0.165 664.69 -343.8 -77.86 - - 2813.69 - - - - - - - - - 15.79 -
6968.20 732.19 -10.56 821 6972.88 roll -1.25 - - 1835.62 - 3.52 0.059 2115.56 412.2 -77.86 - - 2813.91 - - - - - - - - - 15.89 -
7278.24 759.38 -8.05 853 7279.57 no move -1.25 - - 1835.62 - - - 2116.19 - -77.86 - - 2812.19 - - - - - - - - - - -
7578.27 784.36 -8.70 883 7579.60 no move -1.25 - - 1835.81 - - - 2116.06 - -77.86 - - 2810.94 - - - - - - - - - - -
7878.30 809.28 -8.17 913 7884.11 roll -1.25 - - 1834.69 - 4.22 0.168 663.38 -344.2 -77.86 - - 2813.28 - - - - - - - - - 15.78 -
7963.33 816.89 -8.10 930 7969.15 roll -1.25 - - 1835.75 - 3.55 0.063 2114.25 408.7 -77.86 - - 2811.59 - - - - - - - - - 15.89 -
8268.36 842.25 -8.45 961 8269.69 no move -1.25 - - 1835.81 - - - 2114.75 - -77.86 - - 2810.03 - - - - - - - - - - -
8568.40 867.83 -9.31 991 8569.73 no move -1.25 - - 1835.56 - - - 2114.62 - -77.86 - - 2810.16 - - - - - - - - - - -
8868.43 892.27 -8.58 1021 8869.75 no move -1.25 - - 1835.44 - - - 2114.50 - -77.86 - - 2810.50 - - - - - - - - - - -
9168.46 915.28 -7.47 1051 9169.79 no move -1.25 - - 1835.31 - - - 2115.00 - -77.86 - - 2810.66 - - - - - - - - - - -
9468.50 937.91 -6.17 1081 9474.31 roll -1.25 - - 1835.62 - 4.29 0.172 663.56 -338.3 -77.86 - - 2810.72 - - - - - - - - - 15.76 -
9517.50 942.78 -8.02 1091 9524.28 roll -1.25 - - 1835.25 - 3.60 0.065 2116.38 403.6 -77.86 - - 2812.12 - - - - - - - - - 15.88 -
9823.56 964.93 -8.10 1122 9829.35 roll -1.25 - - 1834.69 - 4.26 0.171 663.44 -341.1 -77.86 - - 2811.03 - - - - - - - - - 15.75 -
9868.57 968.30 -7.50 1131 9874.26 roll -1.25 - - 1835.75 - 3.61 0.066 2114.56 402.0 -77.86 - - 2809.19 - - - - - - - - - 15.88 -
10173.59 989.53 -6.39 1162 10174.92 no move -1.25 - - 1835.75 - - - 2114.44 - -77.86 - - 2809.22 - - - - - - - - - - -
10183 end dive: TARGET_DEPTH_EXCEEDED
10183 begin apogee
10184.83 990.14 -6.42 1163 10255.57 -0.25 1.80 0.152 2080.56 136.0 0.08 0.297 2187.31 910.9 - 66.74 2.275 2499.59 -4.6 0.347 - - - - - - 15.78 15.09 12.04
10257 end apogee: CONTROL_FINISHED_OK
10257 begin climb
10257.57 991.54 - 1170 10335.67 1.25 2.62 0.093 2446.44 139.6 - - 2186.81 - 77.86 74.18 2.214 2182.38 -4.3 0.329 - - - - - - 15.17 - 12.32
10633.87 962.36 7.68 1208 10639.25 done 1.25 - - 2446.56 - 3.62 0.130 3474.00 355.6 77.86 - - 2171.34 - - - - - - - - - 15.49 -
10732.62 952.81 9.22 1228 10739.35 done 1.25 - - 2447.12 - 3.30 0.062 2183.75 -391.0 77.86 - - 2170.00 - - - - - - - - - 15.58 -
11038.70 926.96 6.90 1259 11040.04 VBD 1.29 - - 2446.56 - - - 2184.56 - 77.86 - - 2167.12 - - - - - - - - - - -
11338.75 902.83 8.93 1289 11340.08 VBD 1.29 - - 2446.19 - - - 2184.12 - 77.86 - - 2166.00 - - - - - - - - - - -
11638.81 880.06 7.96 1319 11644.43 done 1.29 - - 2446.06 - 3.56 0.128 3474.62 362.5 77.86 - - 2164.56 - - - - - - - - - 15.74 -
11697.83 875.05 9.42 1331 11704.57 done 1.29 - - 2446.12 - 3.26 0.061 2181.69 -396.6 77.86 - - 2167.50 - - - - - - - - - 15.78 -
12003.91 852.72 6.75 1362 12005.24 VBD 1.33 - - 2446.88 - - - 2182.19 - 77.86 - - 2165.41 - - - - - - - - - - -
12303.97 831.66 7.19 1392 12309.57 done 1.35 - - 2444.31 - 3.58 0.127 3472.75 360.5 77.86 - - 2166.38 - - - - - - - - - 15.76 -
12459.02 818.31 9.54 1423 12463.71 done 1.35 - - 2446.19 - 3.26 0.060 2180.50 -396.4 77.86 - - 2164.84 - - - - - - - - - 15.82 -
12769.08 794.92 8.04 1455 12770.42 VBD 1.35 - - 2446.12 - - - 2180.88 - 77.86 - - 2162.12 - - - - - - - - - - -
13069.15 771.98 7.81 1485 13070.48 VBD 1.35 - - 2445.88 - - - 2181.00 - 77.86 - - 2162.47 - - - - - - - - - - -
13369.20 748.86 6.88 1515 13370.67 1.39 0.19 0.113 2485.56 208.8 - - 2180.81 - 77.86 - - 2163.28 - - - - - - - - 15.82 - -
13669.24 724.02 7.38 1545 13674.83 done 1.41 - - 2484.56 - 3.58 0.125 3472.38 360.8 77.86 - - 2164.25 - - - - - - - - - 15.81 -
13758.23 715.31 9.27 1563 13764.97 done 1.41 - - 2485.44 - 3.24 0.060 2182.00 -398.3 77.86 - - 2163.03 - - - - - - - - - 15.84 -
14064.29 690.02 8.10 1594 14065.62 VBD 1.41 - - 2484.62 - - - 2182.44 - 77.86 - - 2161.78 - - - - - - - - - - -
14364.34 666.74 7.32 1624 14369.93 done 1.43 - - 2484.38 - 3.52 0.123 3471.75 366.3 77.86 - - 2161.94 - - - - - - - - - 15.81 -
14489.34 656.27 8.73 1649 14494.04 done 1.43 - - 2485.31 - 3.26 0.058 2181.00 -395.9 77.86 - - 2163.03 - - - - - - - - - 15.85 -
14799.40 634.32 6.50 1681 14800.73 VBD 1.47 - - 2484.69 - - - 2181.81 - 77.86 - - 2161.41 - - - - - - - - - - -
15099.43 616.12 5.47 1711 15136.77 1.59 0.25 0.090 2533.12 193.7 3.61 0.125 3472.44 357.5 114.66 31.50 1.814 2029.47 -4.2 0.245 - - - - - - 15.83 15.52 12.13
15278.48 599.03 11.94 1747 15285.34 roll 1.59 - - 2533.00 - 3.27 0.060 2182.62 -394.4 114.66 - - 2026.81 - - - - - - - - - 15.61 -
15584.68 568.27 10.71 1778 15590.44 roll 1.59 - - 2533.69 - 3.52 0.121 3472.50 366.4 114.66 - - 2024.56 - - - - - - - - - 15.69 -
15613.53 565.21 10.71 1784 15620.52 roll 1.59 - - 2531.69 - 3.27 0.057 2182.31 -394.6 114.66 - - 2027.28 - - - - - - - - - 15.72 -
15919.74 533.45 11.32 1815 15921.08 VBD 1.59 - - 2533.75 - - - 2182.50 - 114.66 - - 2022.72 - - - - - - - - - - -
16219.80 501.73 10.65 1845 16225.42 done 1.59 - - 2532.44 - 3.53 0.121 3472.50 365.4 114.66 - - 2024.19 - - - - - - - - - 15.76 -
16354.86 485.19 11.93 1872 16359.54 done 1.59 - - 2533.62 - 3.24 0.057 2182.44 -398.2 114.66 - - 2024.88 - - - - - - - - - 15.81 -
16664.92 451.77 10.56 1904 16670.54 done 1.59 - - 2533.25 - 3.61 0.116 3472.69 357.4 114.66 - - 2022.41 - - - - - - - - - 15.76 -
16739.97 442.78 13.04 1919 16744.58 done 1.59 - - 2533.62 - 3.21 0.056 2181.06 -402.4 114.66 - - 2023.53 - - - - - - - - - 15.80 -
17050.02 412.19 9.36 1951 17055.78 done 1.59 - - 2533.94 - 4.04 0.134 736.44 -357.6 114.66 - - 2023.12 - - - - - - - - - 15.72 -
17115.14 404.77 12.53 1964 17120.92 done 1.59 - - 2532.50 - 3.60 0.053 2222.56 412.8 114.66 - - 2022.78 - - - - - - - - - 15.77 -
17420.11 378.13 8.34 1995 17421.45 VBD 1.59 - - 2534.12 - - - 2223.06 - 114.66 - - 2021.88 - - - - - - - - - - -
17720.16 354.08 8.25 2025 17721.49 VBD 1.59 - - 2532.94 - - - 2222.25 - 114.66 - - 2021.88 - - - - - - - - - - -
18020.19 329.32 8.47 2055 18021.52 VBD 1.59 - - 2533.31 - - - 2222.25 - 114.66 - - 2021.50 - - - - - - - - - - -
18320.24 303.99 7.55 2085 18326.08 done 1.59 - - 2533.69 - 4.16 0.132 737.19 -357.0 114.66 - - 2021.66 - - - - - - - - - 15.78 -
18405.25 295.42 10.63 2102 18410.87 done 1.59 - - 2533.94 - 3.62 0.053 2223.25 410.5 114.66 - - 2021.41 - - - - - - - - - 15.79 -
18710.29 270.41 8.05 2133 18714.87 done 1.59 - - 2533.25 - 3.41 0.115 3473.94 366.8 114.66 - - 2023.25 - - - - - - - - - 15.82 -
18820.39 261.41 7.87 2155 18824.85 done 1.59 - - 2534.12 - 3.19 0.054 2176.81 -406.6 114.66 - - 2022.25 - - - - - - - - - 15.84 -
19130.38 237.10 7.77 2187 19136.10 done 1.59 - - 2533.50 - 3.52 0.113 3472.75 368.2 114.66 - - 2021.25 - - - - - - - - - 15.81 -
19245.38 227.16 8.54 2210 19249.92 done 1.59 - - 2533.75 - 3.19 0.053 2178.19 -405.8 114.66 - - 2022.56 - - - - - - - - - 15.76 -
19555.43 204.10 7.11 2242 19556.76 VBD 1.61 - - 2533.06 - - - 2177.81 - 114.66 - - 2021.72 - - - - - - - - - - -
19855.45 180.95 8.28 2272 19861.05 done 1.61 - - 2534.00 - 3.59 0.113 3472.69 360.7 114.66 - - 2022.28 - - - - - - - - - 15.79 -
19944.38 173.45 8.70 2290 19951.18 done 1.61 - - 2531.94 - 3.22 0.053 2179.00 -401.8 114.66 - - 2023.62 - - - - - - - - - 15.83 -
20250.50 150.79 7.77 2321 20256.33 done 1.61 - - 2533.50 - 4.01 0.129 735.62 -359.9 114.66 - - 2023.62 - - - - - - - - - 15.77 -
20319.42 145.01 8.36 2335 20326.29 done 1.61 - - 2534.31 - 3.62 0.052 2224.00 411.2 114.66 - - 2022.50 - - - - - - - - - 15.83 -
20625.57 126.66 5.94 2366 20658.13 done 1.70 - - 2533.81 - 4.18 0.127 736.38 -355.9 144.79 25.98 1.232 1907.50 -4.4 0.078 - - - - - - - 15.62 12.14
20864.97 105.42 8.85 2414 20871.76 roll 1.70 - - 2533.44 - 3.64 0.051 2223.62 408.6 144.79 - - 1903.78 - - - - - - - - - 15.66 -
21171.10 87.90 5.12 2467 21211.55 1.83 0.32 0.074 2593.00 186.1 - - 2224.19 - 186.66 36.25 1.189 1738.94 -4.5 0.058 - - - - - - 15.71 - 12.20
21391.16 69.31 9.16 2511 21396.91 roll 1.83 - - 2593.75 - 3.50 0.113 3473.69 357.0 186.66 - - 1733.16 - - - - - - - - - 15.57 -
21621.24 58.44 2.47 2557 21693.59 2.07 0.32 0.080 2650.94 178.7 3.24 0.050 2175.25 -400.8 266.35 66.49 1.159 1414.09 -4.8 0.042 - - - - - - 15.58 15.67 12.24
21871.40 43.82 9.21 2607 21877.39 roll 2.07 - - 2651.25 - 4.13 0.128 736.38 -348.4 266.35 - - 1407.97 - - - - - - - - - 15.47 -
21896.41 41.30 9.49 2612 21902.31 roll 2.07 - - 2650.75 - 3.67 0.048 2223.94 405.3 266.35 - - 1407.47 - - - - - - - - - 15.50 -
22081.48 23.91 9.88 2649 22087.34 done 2.07 - - 2651.56 - 4.21 0.124 737.25 -353.1 266.35 - - 1406.09 - - - - - - - - - 15.56 -
22156.46 14.53 12.84 2664 22162.24 done 2.07 - - 2651.94 - 3.62 0.048 2224.12 410.7 266.35 - - 1406.03 - - - - - - - - - 15.59 -
22276 end climb: SURFACE_DEPTH_REACHED
22276 begin surface coast
22296 end surface coast: CONTROL_FINISHED_OK
22296 begin surface
SM 0.71 - - - - 175.2 - 0.015 767.7 - 16.69 0.070 771.1 46.2 - 0.35 0.090 764.3 2173.4 -1.752 - - 30.36 15.63 15.70 -