NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 509 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 152.25 of 575.00 AH used of 24V (73.52% remains)
• Surface angle -62.2 deg, depth 0.66 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 17 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 - - - 86.32 VBD -1.25 - - 173.94 - - - 2117.50 - -77.86 78.50 0.005 2495.97 - - - - - - - - - - 15.16
86.58 3.28 -3.57 15 118.54 -1.25 14.68 0.265 1836.19 113.2 4.15 0.149 662.12 -350.7 -77.86 7.97 0.008 2815.81 40.1 -2.860 - - - - - - 15.34 15.16 15.24
341.33 60.20 -21.48 66 347.40 roll -1.25 - - 1836.06 - 3.59 0.051 2121.44 406.5 -77.86 - - 2816.75 - - - - - - - - - 15.63 -
526.39 84.78 -11.60 103 532.15 roll -1.25 - - 1835.94 - 3.66 0.108 3474.56 369.7 -77.86 - - 2817.28 - - - - - - - - - 15.66 -
756.44 115.40 -12.26 149 761.00 roll -1.25 - - 1836.31 - 3.39 0.055 2082.75 -410.6 -77.86 - - 2817.59 - - - - - - - - - 15.72 -
1066.47 148.52 -10.62 181 1067.80 no move -1.25 - - 1836.88 - - - 2082.31 - -77.86 - - 2817.06 - - - - - - - - - - -
1366.50 181.98 -11.00 211 1367.83 no move -1.25 - - 1836.50 - - - 2081.94 - -77.86 - - 2817.06 - - - - - - - - - - -
1666.54 215.84 -11.09 241 1667.87 no move -1.25 - - 1836.62 - - - 2082.25 - -77.86 - - 2817.34 - - - - - - - - - - -
1966.59 248.63 -10.51 271 1972.24 roll -1.25 - - 1836.00 - 3.78 0.111 3474.38 368.3 -77.86 - - 2818.94 - - - - - - - - - 15.77 -
2015.46 254.70 -12.15 281 2022.33 roll -1.25 - - 1836.31 - 3.38 0.056 2081.50 -412.1 -77.86 - - 2817.44 - - - - - - - - - 15.83 -
2321.64 287.64 -10.65 312 2327.47 roll -1.25 - - 1836.25 - 3.97 0.152 663.12 -357.3 -77.86 - - 2815.34 - - - - - - - - - 15.71 -
2356.66 291.72 -12.58 319 2362.26 roll -1.25 - - 1836.69 - 3.51 0.049 2122.50 415.8 -77.86 - - 2815.66 - - - - - - - - - 15.83 -
2661.72 322.84 -9.93 350 2667.48 roll -1.25 - - 1836.62 - 3.64 0.112 3474.12 371.3 -77.86 - - 2817.19 - - - - - - - - - 15.78 -
2736.76 331.27 -11.32 365 2741.32 roll -1.25 - - 1836.88 - 3.37 0.056 2079.94 -413.7 -77.86 - - 2817.50 - - - - - - - - - 15.84 -
3046.81 361.65 -9.70 397 3052.46 roll -1.25 - - 1836.88 - 3.70 0.111 3475.06 377.1 -77.86 - - 2815.34 - - - - - - - - - 15.78 -
3071.83 364.15 -9.96 402 3076.39 roll -1.25 - - 1836.44 - 3.38 0.058 2081.88 -412.2 -77.86 - - 2817.00 - - - - - - - - - 15.84 -
3381.89 392.51 -9.32 434 3387.70 roll -1.25 - - 1837.06 - 3.97 0.152 662.88 -357.4 -77.86 - - 2818.53 - - - - - - - - - 15.71 -
3436.92 398.71 -11.30 445 3442.50 roll -1.25 - - 1836.00 - 3.49 0.051 2120.12 417.5 -77.86 - - 2814.88 - - - - - - - - - 15.85 -
3741.99 426.65 -8.80 476 3743.32 no move -1.25 - - 1836.94 - - - 2120.19 - -77.86 - - 2815.91 - - - - - - - - - - -
4042.03 453.75 -9.46 506 4047.86 roll -1.25 - - 1836.19 - 4.07 0.153 662.19 -358.2 -77.86 - - 2817.31 - - - - - - - - - 15.70 -
4101.05 460.09 -11.83 518 4107.80 roll -1.25 - - 1836.25 - 3.50 0.051 2120.81 416.7 -77.86 - - 2816.75 - - - - - - - - - 15.85 -
4407.12 489.74 -9.87 549 4412.75 roll -1.25 - - 1836.75 - 3.66 0.116 3473.38 369.6 -77.86 - - 2814.31 - - - - - - - - - 15.77 -
4442.14 493.76 -11.47 556 4446.70 roll -1.25 - - 1836.06 - 3.37 0.060 2082.62 -412.7 -77.86 - - 2816.34 - - - - - - - - - 15.84 -
4752.18 524.91 -9.54 588 4757.99 roll -1.25 - - 1836.31 - 3.99 0.159 663.06 -355.8 -77.86 - - 2814.09 - - - - - - - - - 15.69 -
4841.17 535.10 -12.00 606 4847.93 roll -1.25 - - 1836.19 - 3.50 0.053 2120.62 416.4 -77.86 - - 2817.47 - - - - - - - - - 15.85 -
5147.23 564.28 -8.85 637 5148.56 no move -1.25 - - 1835.88 - - - 2120.19 - -77.86 - - 2816.09 - - - - - - - - - - -
5447.27 590.30 -8.23 667 5453.22 roll -1.25 - - 1836.19 - 4.11 0.159 663.25 -354.5 -77.86 - - 2813.47 - - - - - - - - - 15.68 -
5542.29 600.09 -9.79 686 5547.91 roll -1.25 - - 1835.06 - 3.51 0.056 2119.06 414.8 -77.86 - - 2815.25 - - - - - - - - - 15.85 -
5847.33 626.37 -7.57 717 5853.09 roll -1.25 - - 1836.44 - 3.65 0.120 3474.25 371.3 -77.86 - - 2813.78 - - - - - - - - - 15.75 -
5932.35 634.30 -8.84 734 5936.91 roll -1.25 - - 1836.62 - 3.35 0.062 2083.50 -415.1 -77.86 - - 2815.72 - - - - - - - - - 15.83 -
6242.38 658.98 -8.04 766 6248.16 roll -1.25 - - 1836.25 - 3.79 0.119 3474.00 366.9 -77.86 - - 2814.44 - - - - - - - - - 15.73 -
6291.25 663.47 -9.55 776 6298.11 roll -1.25 - - 1836.56 - 3.38 0.062 2083.38 -411.4 -77.86 - - 2814.09 - - - - - - - - - 15.81 -
6597.44 687.92 -8.48 807 6598.77 no move -1.25 - - 1836.12 - - - 2083.50 - -77.86 - - 2812.06 - - - - - - - - - - -
6897.55 712.24 -8.13 837 6903.17 roll -1.25 - - 1836.69 - 4.01 0.166 663.31 -354.2 -77.86 - - 2812.12 - - - - - - - - - 15.64 -
6952.52 717.44 -10.21 848 6958.10 roll -1.25 - - 1836.69 - 3.53 0.058 2118.81 412.3 -77.86 - - 2813.84 - - - - - - - - - 15.85 -
7257.52 743.01 -7.76 879 7263.28 roll -1.25 - - 1836.31 - 3.66 0.121 3474.62 370.4 -77.86 - - 2810.59 - - - - - - - - - 15.73 -
7316.39 748.77 -9.63 891 7323.25 roll -1.25 - - 1836.06 - 3.38 0.064 2083.50 -411.6 -77.86 - - 2813.59 - - - - - - - - - 15.79 -
7622.57 775.39 -8.73 922 7628.41 roll -1.25 - - 1836.75 - 4.02 0.167 663.12 -353.3 -77.86 - - 2810.34 - - - - - - - - - 15.63 -
7677.60 781.06 -12.64 933 7683.32 roll -1.25 - - 1836.50 - 3.52 0.058 2119.12 413.6 -77.86 - - 2810.28 - - - - - - - - - 15.84 -
7982.62 807.07 -8.92 964 7988.38 roll -1.25 - - 1836.25 - 3.69 0.125 3474.75 367.4 -77.86 - - 2814.00 - - - - - - - - - 15.71 -
8147.64 822.45 -10.09 997 8152.21 roll -1.25 - - 1836.31 - 3.39 0.067 2085.50 -409.8 -77.86 - - 2812.09 - - - - - - - - - 15.78 -
8457.70 846.48 -7.65 1029 8463.43 roll -1.25 - - 1835.50 - 4.05 0.170 662.81 -351.3 -77.86 - - 2812.19 - - - - - - - - - 15.61 -
8526.92 853.50 -9.02 1043 8533.49 roll -1.25 - - 1835.94 - 3.54 0.061 2117.88 411.0 -77.86 - - 2813.84 - - - - - - - - - 15.81 -
8832.79 875.10 -6.57 1074 8838.56 roll -1.25 - - 1836.38 - 3.67 0.125 3473.31 369.3 -77.86 - - 2812.81 - - - - - - - - - 15.70 -
8877.82 878.42 -7.38 1083 8882.40 roll -1.25 - - 1835.94 - 3.38 0.065 2086.00 -410.4 -77.86 - - 2810.53 - - - - - - - - - 15.77 -
9187.88 898.46 -6.43 1115 9193.71 roll -1.25 - - 1835.69 - 4.06 0.171 663.06 -350.5 -77.86 - - 2812.56 - - - - - - - - - 15.59 -
9262.98 904.63 -8.65 1130 9268.51 roll -1.25 - - 1835.56 - 3.53 0.060 2117.81 412.1 -77.86 - - 2813.16 - - - - - - - - - 15.82 -
9567.97 924.37 -6.54 1161 9569.30 no move -1.25 - - 1836.94 - - - 2118.31 - -77.86 - - 2808.47 - - - - - - - - - - -
9868.05 943.65 -6.97 1191 9873.81 roll -1.25 - - 1834.56 - 3.69 0.129 3474.44 367.5 -77.86 - - 2810.34 - - - - - - - - - 15.68 -
9953.17 950.35 -7.69 1208 9957.77 roll -1.25 - - 1836.50 - 3.39 0.068 2084.31 -410.1 -77.86 - - 2809.84 - - - - - - - - - 15.76 -
10263.14 969.97 -6.77 1240 10268.97 roll -1.25 - - 1836.19 - 4.05 0.174 663.81 -350.7 -77.86 - - 2807.88 - - - - - - - - - 15.57 -
10378.16 978.99 -6.78 1263 10383.77 roll -1.25 - - 1835.12 - 3.54 0.064 2115.75 410.2 -77.86 - - 2809.94 - - - - - - - - - 15.79 -
10533 end dive: TARGET_DEPTH_EXCEEDED
10533 begin apogee
10534.50 990.28 -6.71 1279 10605.03 -0.25 1.84 0.150 2079.69 132.9 0.08 0.283 2185.50 871.9 - 67.67 2.279 2498.44 -4.6 0.348 - - - - - - 15.69 15.05 11.70
10606 end apogee: CONTROL_FINISHED_OK
10606 begin climb
10607.08 992.30 - 1286 10691.77 1.25 2.66 0.091 2445.75 137.6 4.32 0.148 737.31 -335.2 77.86 74.57 2.223 2180.59 -4.3 0.331 - - - - - - 15.14 14.74 12.26
10699.61 987.32 5.03 1300 10750.69 1.38 0.18 0.090 2484.69 216.3 3.81 0.053 2216.75 388.3 120.92 43.03 2.142 2005.38 -4.1 0.326 - - - - - - 14.95 14.95 12.12
11049.56 949.31 10.14 1340 11055.66 done 1.38 - - 2483.31 - 4.18 0.147 737.44 -353.9 120.92 - - 1997.66 - - - - - - - - - 15.41 -
11104.63 942.01 12.75 1351 11110.25 done 1.38 - - 2484.00 - 3.65 0.056 2217.94 405.6 120.92 - - 1993.84 - - - - - - - - - 15.51 -
11409.61 908.57 10.96 1382 11415.19 done 1.38 - - 2483.88 - 3.49 0.128 3474.31 360.0 120.92 - - 1990.56 - - - - - - - - - 15.59 -
11424.61 907.24 11.80 1385 11429.13 done 1.38 - - 2484.06 - 3.17 0.059 2182.31 -407.6 120.92 - - 1992.09 - - - - - - - - - 15.60 -
11734.63 875.17 9.32 1417 11735.97 VBD 1.38 - - 2484.50 - - - 2182.25 - 120.92 - - 1988.91 - - - - - - - - - - -
12034.70 844.17 8.43 1447 12036.03 VBD 1.38 - - 2484.62 - - - 2182.62 - 120.92 - - 1990.72 - - - - - - - - - - -
12334.74 813.50 10.85 1477 12340.55 done 1.38 - - 2483.94 - 3.99 0.143 735.25 -362.7 120.92 - - 1989.72 - - - - - - - - - 15.65 -
12369.76 809.57 12.42 1484 12375.45 done 1.38 - - 2483.38 - 3.61 0.055 2220.12 411.3 120.92 - - 1990.91 - - - - - - - - - 15.76 -
12674.82 776.80 10.94 1515 12680.41 done 1.38 - - 2483.94 - 3.46 0.127 3474.44 362.5 120.92 - - 1987.25 - - - - - - - - - 15.68 -
12699.82 773.97 11.39 1520 12704.35 done 1.38 - - 2481.88 - 3.14 0.058 2181.19 -411.9 120.92 - - 1988.47 - - - - - - - - - 15.76 -
13009.88 738.98 10.09 1552 13015.49 done 1.38 - - 2484.00 - 3.58 0.123 3473.38 360.9 120.92 - - 1987.12 - - - - - - - - - 15.69 -
13038.74 734.94 13.45 1558 13045.58 done 1.38 - - 2484.19 - 3.14 0.058 2181.50 -411.4 120.92 - - 1988.06 - - - - - - - - - 15.78 -
13344.95 702.19 10.34 1589 13346.28 VBD 1.38 - - 2484.19 - - - 2181.56 - 120.92 - - 1987.62 - - - - - - - - - - -
13645.01 668.91 11.93 1619 13646.34 VBD 1.38 - - 2483.75 - - - 2181.69 - 120.92 - - 1987.75 - - - - - - - - - - -
13945.08 635.08 11.39 1649 13951.02 done 1.38 - - 2484.00 - 3.98 0.141 737.19 -362.9 120.92 - - 1989.44 - - - - - - - - - 15.66 -
13960.09 633.03 11.71 1652 13964.82 done 1.38 - - 2483.88 - 3.58 0.053 2218.88 413.9 120.92 - - 1986.16 - - - - - - - - - 15.80 -
14270.15 600.52 10.28 1684 14274.74 done 1.38 - - 2483.75 - 3.42 0.124 3471.31 366.2 120.92 - - 1987.31 - - - - - - - - - 15.70 -
14284.00 599.07 9.67 1687 14290.84 done 1.38 - - 2483.88 - 3.12 0.056 2179.75 -414.0 120.92 - - 1988.31 - - - - - - - - - 15.80 -
14590.18 566.87 10.15 1718 14596.00 done 1.38 - - 2484.06 - 3.95 0.140 737.06 -365.2 120.92 - - 1985.06 - - - - - - - - - 15.66 -
14665.27 558.14 12.86 1733 14670.95 done 1.38 - - 2483.94 - 3.57 0.052 2221.44 415.8 120.92 - - 1987.59 - - - - - - - - - 15.69 -
14970.25 529.86 8.81 1764 14976.07 done 1.38 - - 2484.81 - 4.03 0.135 736.25 -368.5 120.92 - - 1984.41 - - - - - - - - - 15.66 -
15039.36 522.69 10.35 1778 15046.03 done 1.38 - - 2484.25 - 3.58 0.053 2221.50 414.9 120.92 - - 1986.59 - - - - - - - - - 15.81 -
15345.28 494.25 9.37 1809 15349.85 done 1.38 - - 2484.00 - 3.40 0.120 3472.81 368.0 120.92 - - 1987.34 - - - - - - - - - 15.68 -
15449.22 483.44 10.63 1830 15455.99 done 1.38 - - 2484.31 - 3.10 0.056 2179.69 -417.1 120.92 - - 1985.50 - - - - - - - - - 15.78 -
15755.34 455.08 8.91 1861 15761.16 done 1.38 - - 2484.19 - 3.93 0.138 736.25 -367.3 120.92 - - 1985.88 - - - - - - - - - 15.64 -
15784.27 452.21 9.66 1867 15791.11 done 1.38 - - 2484.00 - 3.55 0.050 2223.38 418.9 120.92 - - 1984.91 - - - - - - - - - 15.81 -
16090.40 425.10 8.70 1898 16096.16 done 1.38 - - 2483.69 - 4.03 0.133 736.38 -369.0 120.92 - - 1983.69 - - - - - - - - - 15.59 -
16119.31 421.92 10.38 1904 16126.15 done 1.38 - - 2484.31 - 3.57 0.051 2223.19 416.5 120.92 - - 1987.44 - - - - - - - - - 15.79 -
16425.42 397.76 7.71 1935 16430.01 done 1.38 - - 2484.38 - 3.38 0.117 3473.38 369.9 120.92 - - 1987.22 - - - - - - - - - 15.67 -
16455.44 395.01 8.73 1941 16460.10 done 1.38 - - 2484.56 - 3.11 0.053 2177.62 -416.6 120.92 - - 1985.81 - - - - - - - - - 15.67 -
16765.48 371.59 7.46 1973 16766.81 VBD 1.40 - - 2484.56 - - - 2177.62 - 120.92 - - 1985.06 - - - - - - - - - - -
17065.50 349.84 7.62 2003 17071.33 done 1.40 - - 2484.75 - 3.93 0.135 736.00 -366.8 120.92 - - 1983.97 - - - - - - - - - 15.63 -
17180.52 339.22 10.00 2026 17185.26 done 1.40 - - 2484.12 - 3.56 0.053 2225.06 418.3 120.92 - - 1985.88 - - - - - - - - - 15.79 -
17490.58 316.47 7.34 2058 17495.12 done 1.42 - - 2483.75 - 3.35 0.118 3473.94 372.8 120.92 - - 1986.31 - - - - - - - - - 15.67 -
17530.58 313.20 7.16 2066 17535.08 done 1.45 - - 2484.12 - 3.08 0.053 2175.88 -421.4 120.92 - - 1986.62 - - - - - - - - - 15.76 -
17840.61 290.92 7.07 2098 17841.94 VBD 1.48 - - 2482.94 - - - 2176.00 - 120.92 - - 1986.09 - - - - - - - - - - -
18140.65 269.18 7.31 2128 18146.46 done 1.50 - - 2483.62 - 3.89 0.132 735.12 -370.4 120.92 - - 1982.69 - - - - - - - - - 15.64 -
18265.67 258.46 9.39 2153 18271.28 done 1.50 - - 2484.19 - 3.55 0.050 2225.00 419.7 120.92 - - 1982.56 - - - - - - - - - 15.70 -
18570.76 235.72 7.01 2184 18576.36 1.53 0.17 0.096 2520.31 212.5 3.38 0.115 3473.44 369.4 120.92 - - 1983.19 - - - - - - - - 15.77 15.66 -
18619.61 231.26 8.97 2194 18626.46 done 1.53 - - 2520.19 - 3.11 0.052 2176.19 -417.1 120.92 - - 1984.97 - - - - - - - - - 15.75 -
18925.84 206.55 7.60 2225 18931.63 done 1.53 - - 2518.31 - 3.91 0.129 736.25 -368.3 120.92 - - 1983.53 - - - - - - - - - 15.62 -
19084.80 191.53 9.29 2257 19091.64 done 1.53 - - 2520.38 - 3.59 0.048 2225.44 414.8 120.92 - - 1984.91 - - - - - - - - - 15.70 -
19390.94 167.56 7.86 2288 19395.50 done 1.53 - - 2519.81 - 3.39 0.114 3473.12 368.0 120.92 - - 1985.91 - - - - - - - - - 15.59 -
19450.98 162.92 8.04 2300 19455.52 done 1.53 - - 2520.19 - 3.11 0.050 2175.88 -417.1 120.92 - - 1985.03 - - - - - - - - - 15.75 -
19761.03 143.11 5.41 2332 19791.68 VBD 1.64 - - 2520.50 - - - 2175.31 - 158.59 30.14 1.236 1854.50 -4.3 0.087 - - - - - - - - 11.84
20091.10 120.47 6.46 2367 20092.57 pitch 1.69 0.19 0.099 2558.38 199.4 - - 2176.00 - 158.59 - - 1847.31 - - - - - - - - 15.63 - -
20391.18 96.65 7.44 2401 20396.90 roll 1.71 - - 2558.69 - 3.58 0.111 3471.12 361.8 158.59 - - 1847.00 - - - - - - - - - 15.53 -
20426.17 93.90 7.70 2408 20431.84 roll 1.71 - - 2558.50 - 3.13 0.051 2176.69 -413.6 158.59 - - 1846.91 - - - - - - - - - 15.67 -
20611.21 83.22 4.70 2445 20657.95 1.85 0.19 0.090 2596.25 198.7 3.95 0.127 735.75 -364.8 206.47 40.56 1.156 1657.38 -4.7 0.058 - - - - - - 15.69 15.43 12.03
20841.26 69.98 5.95 2491 20872.74 done 1.94 - - 2597.50 - 3.62 0.047 2226.38 411.8 236.48 26.34 1.099 1535.59 -4.6 0.051 - - - - - - - 15.57 12.18
21051.31 59.02 5.84 2533 21087.30 2.04 0.24 0.082 2642.56 187.7 4.11 0.123 736.44 -362.5 268.07 27.80 1.082 1406.66 -4.6 0.044 - - - - - - 15.54 15.36 12.07
21126.29 52.85 9.33 2548 21132.07 roll 2.04 - - 2643.19 - 3.64 0.047 2223.06 408.4 268.07 - - 1405.31 - - - - - - - - - 15.47 -
21311.35 35.29 10.07 2585 21317.31 roll 2.04 - - 2642.50 - 4.07 0.123 736.31 -365.3 268.07 - - 1403.09 - - - - - - - - - 15.43 -
21341.35 31.79 11.66 2591 21347.23 roll 2.04 - - 2642.50 - 3.60 0.045 2224.31 413.3 268.07 - - 1404.16 - - - - - - - - - 15.58 -
21526.39 12.06 10.95 2628 21527.72 no move 2.04 - - 2643.12 - - - 2224.62 - 268.07 - - 1402.41 - - - - - - - - - - -
21621 end climb: SURFACE_DEPTH_REACHED
21621 begin surface coast
21636 end surface coast: CONTROL_FINISHED_OK
21636 begin surface
SM 0.42 - - - - 175.6 2.10 0.290 768.6 366.0 17.35 0.092 765.5 44.1 - 0.34 0.093 771.8 2270.0 -1.048 - - 12.36 15.57 15.67 -