NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 555 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 164.75 of 575.00 AH used of 24V (71.35% remains)
• Surface angle -60.7 deg, depth 0.96 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 3 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
7.27 - - - 91.72 VBD -1.25 - - 175.25 - - - 2115.69 - -77.86 83.89 0.005 2603.88 - - - - - - - - - - 15.09
91.99 3.58 -4.53 16 123.40 -1.25 14.79 0.257 1836.00 112.3 4.23 0.148 663.19 -343.4 -77.86 5.05 0.009 2815.88 42.0 -2.918 - - - - - - 15.24 15.08 15.19
216.17 32.54 -22.58 41 221.97 roll -1.25 - - 1835.75 - 3.63 0.052 2118.94 401.0 -77.86 - - 2817.41 - - - - - - - - - 15.55 -
401.23 66.65 -17.80 78 407.08 roll -1.25 - - 1836.06 - 4.18 0.145 662.19 -348.5 -77.86 - - 2817.28 - - - - - - - - - 15.46 -
471.30 77.66 -13.78 92 476.99 roll -1.25 - - 1835.88 - 3.55 0.047 2120.75 410.9 -77.86 - - 2817.38 - - - - - - - - - 15.63 -
656.29 99.82 -11.76 129 662.05 roll -1.25 - - 1835.62 - 3.70 0.108 3475.19 366.1 -77.86 - - 2816.75 - - - - - - - - - 15.59 -
796.30 117.39 -11.76 157 800.97 roll -1.25 - - 1836.06 - 3.40 0.053 2081.94 -409.8 -77.86 - - 2817.56 - - - - - - - - - 15.69 -
1106.34 151.67 -11.57 189 1107.67 no move -1.25 - - 1835.75 - - - 2082.44 - -77.86 - - 2816.84 - - - - - - - - - - -
1406.37 185.60 -11.10 219 1407.70 no move -1.25 - - 1835.75 - - - 2082.38 - -77.86 - - 2817.25 - - - - - - - - - - -
1706.41 217.52 -10.55 249 1712.36 roll -1.25 - - 1835.75 - 3.81 0.110 3472.88 365.0 -77.86 - - 2814.75 - - - - - - - - - 15.65 -
1751.43 222.73 -11.62 258 1756.08 roll -1.25 - - 1836.38 - 3.39 0.056 2082.19 -410.2 -77.86 - - 2816.56 - - - - - - - - - 15.75 -
2061.45 255.98 -10.66 290 2062.78 no move -1.25 - - 1835.81 - - - 2082.50 - -77.86 - - 2817.47 - - - - - - - - - - -
2361.49 288.91 -11.08 320 2362.81 no move -1.25 - - 1835.75 - - - 2082.50 - -77.86 - - 2817.00 - - - - - - - - - - -
2661.51 320.44 -10.92 350 2667.29 roll -1.25 - - 1835.69 - 4.07 0.151 663.06 -348.8 -77.86 - - 2815.16 - - - - - - - - - 15.57 -
2706.54 325.85 -12.17 359 2712.21 roll -1.25 - - 1836.19 - 3.57 0.052 2118.94 407.8 -77.86 - - 2815.22 - - - - - - - - - 15.79 -
3011.57 357.91 -10.08 390 3012.89 no move -1.25 - - 1835.88 - - - 2118.56 - -77.86 - - 2816.72 - - - - - - - - - - -
3311.61 388.22 -9.36 420 3317.40 roll -1.25 - - 1835.56 - 4.15 0.149 661.88 -351.0 -77.86 - - 2817.31 - - - - - - - - - 15.57 -
3426.65 401.44 -11.53 443 3431.33 roll -1.25 - - 1836.19 - 3.57 0.051 2117.75 407.8 -77.86 - - 2816.75 - - - - - - - - - 15.80 -
3736.72 430.87 -9.01 475 3738.05 no move -1.25 - - 1835.75 - - - 2119.81 - -77.86 - - 2815.09 - - - - - - - - - - -
4036.78 458.71 -8.84 505 4038.11 no move -1.25 - - 1835.62 - - - 2120.38 - -77.86 - - 2816.69 - - - - - - - - - - -
4336.84 485.75 -8.86 535 4342.56 roll -1.25 - - 1835.06 - 3.78 0.118 3472.56 357.7 -77.86 - - 2816.59 - - - - - - - - - 15.63 -
4445.80 496.48 -8.95 557 4452.63 roll -1.25 - - 1835.69 - 3.41 0.061 2082.94 -407.5 -77.86 - - 2815.66 - - - - - - - - - 15.72 -
4752.02 523.90 -9.16 588 4753.35 no move -1.25 - - 1835.25 - - - 2082.31 - -77.86 - - 2815.59 - - - - - - - - - - -
5052.01 549.87 -8.15 618 5053.34 no move -1.25 - - 1835.56 - - - 2082.62 - -77.86 - - 2815.25 - - - - - - - - - - -
5352.07 577.82 -9.08 648 5357.80 roll -1.25 - - 1833.81 - 3.89 0.118 3473.19 357.5 -77.86 - - 2814.28 - - - - - - - - - 15.61 -
5381.01 580.39 -9.16 654 5387.82 roll -1.25 - - 1835.88 - 3.43 0.061 2082.25 -405.5 -77.86 - - 2815.72 - - - - - - - - - 15.71 -
5687.12 607.85 -8.90 685 5688.45 no move -1.25 - - 1835.75 - - - 2082.31 - -77.86 - - 2814.72 - - - - - - - - - - -
5987.15 634.65 -9.34 715 5992.89 roll -1.25 - - 1835.19 - 3.89 0.118 3473.50 357.6 -77.86 - - 2812.69 - - - - - - - - - 15.60 -
6046.09 640.43 -9.95 727 6052.93 roll -1.25 - - 1834.31 - 3.44 0.062 2083.50 -404.1 -77.86 - - 2814.91 - - - - - - - - - 15.69 -
6352.27 667.32 -8.33 758 6357.93 roll -1.25 - - 1834.81 - 3.89 0.120 3472.19 357.0 -77.86 - - 2812.75 - - - - - - - - - 15.59 -
6401.14 671.87 -9.16 768 6407.96 roll -1.25 - - 1834.75 - 3.43 0.063 2083.25 -404.9 -77.86 - - 2814.19 - - - - - - - - - 15.69 -
6707.24 697.66 -8.57 799 6708.56 no move -1.25 - - 1835.69 - - - 2083.19 - -77.86 - - 2813.31 - - - - - - - - - - -
7007.27 722.00 -8.45 829 7013.04 roll -1.25 - - 1835.44 - 3.92 0.122 3472.19 354.3 -77.86 - - 2811.97 - - - - - - - - - 15.57 -
7106.20 731.57 -9.94 849 7113.04 roll -1.25 - - 1835.88 - 3.45 0.065 2084.25 -402.3 -77.86 - - 2813.03 - - - - - - - - - 15.66 -
7412.32 756.19 -7.07 880 7413.65 no move -1.25 - - 1836.06 - - - 2084.44 - -77.86 - - 2811.28 - - - - - - - - - - -
7712.35 777.86 -8.78 910 7713.68 no move -1.25 - - 1835.81 - - - 2084.75 - -77.86 - - 2812.09 - - - - - - - - - - -
8012.39 799.69 -6.78 940 8018.14 roll -1.25 - - 1835.81 - 3.94 0.125 3471.88 352.1 -77.86 - - 2810.34 - - - - - - - - - 15.55 -
8087.64 805.96 -8.07 955 8093.07 roll -1.25 - - 1835.62 - 3.44 0.066 2083.56 -403.6 -77.86 - - 2809.91 - - - - - - - - - 15.65 -
8392.44 827.00 -6.90 986 8393.77 no move -1.25 - - 1836.06 - - - 2083.12 - -77.86 - - 2811.38 - - - - - - - - - - -
8692.70 846.74 -7.11 1016 8698.24 roll -1.25 - - 1835.38 - 3.92 0.124 3471.75 354.2 -77.86 - - 2809.69 - - - - - - - - - 15.54 -
8821.42 857.40 -8.24 1042 8828.26 roll -1.25 - - 1835.94 - 3.47 0.066 2085.56 -399.5 -77.86 - - 2813.12 - - - - - - - - - 15.63 -
9127.54 878.08 -7.34 1073 9128.87 no move -1.25 - - 1835.50 - - - 2085.31 - -77.86 - - 2810.81 - - - - - - - - - - -
9427.57 901.07 -8.49 1103 9433.33 roll -1.25 - - 1835.88 - 3.94 0.126 3473.50 352.3 -77.86 - - 2809.50 - - - - - - - - - 15.52 -
9496.58 907.75 -9.22 1117 9503.34 roll -1.25 - - 1835.88 - 3.46 0.067 2086.38 -400.9 -77.86 - - 2810.25 - - - - - - - - - 15.62 -
9802.66 932.53 -7.93 1148 9808.41 roll -1.25 - - 1835.81 - 3.91 0.124 3473.69 354.8 -77.86 - - 2810.38 - - - - - - - - - 15.52 -
9901.61 942.02 -8.97 1168 9908.57 roll -1.25 - - 1835.88 - 3.46 0.068 2085.56 -401.2 -77.86 - - 2809.91 - - - - - - - - - 15.61 -
10207.76 965.01 -7.79 1199 10213.51 roll -1.25 - - 1835.12 - 3.93 0.127 3472.31 352.9 -77.86 - - 2808.41 - - - - - - - - - 15.50 -
10256.71 969.26 -8.52 1209 10263.52 roll -1.25 - - 1835.94 - 3.46 0.068 2085.38 -400.8 -77.86 - - 2810.66 - - - - - - - - - 15.59 -
10562.84 989.83 -6.61 1240 10564.17 no move -1.25 - - 1835.69 - - - 2085.31 - -77.86 - - 2808.88 - - - - - - - - - - -
10572 end dive: TARGET_DEPTH_EXCEEDED
10572 begin apogee
10574.10 990.83 -6.21 1241 10645.70 -0.25 1.89 0.145 2079.94 129.2 0.07 0.315 2186.62 1447.3 - 67.87 2.303 2499.06 -4.6 0.343 - - - - - - 15.54 15.01 11.29
10647 end apogee: CONTROL_FINISHED_OK
10647 begin climb
10647.83 990.83 - 1248 10727.85 1.25 2.73 0.088 2447.56 134.7 - - 2186.62 - 77.86 75.43 2.232 2179.62 -4.2 0.328 - - - - - - 15.12 - 12.04
11022.90 959.86 9.72 1286 11028.70 done 1.25 - - 2447.06 - 4.23 0.147 736.88 -342.7 77.86 - - 2171.09 - - - - - - - - - 15.32 -
11111.85 949.75 12.65 1304 11118.72 done 1.25 - - 2447.44 - 3.69 0.055 2217.56 401.3 77.86 - - 2169.28 - - - - - - - - - 15.49 -
11418.01 921.55 9.67 1335 11419.34 VBD 1.25 - - 2447.31 - - - 2217.31 - 77.86 - - 2167.22 - - - - - - - - - - -
11718.08 897.99 7.00 1365 11719.41 VBD 1.28 - - 2447.62 - - - 2217.19 - 77.86 - - 2164.56 - - - - - - - - - - -
12018.10 875.06 7.72 1395 12019.44 VBD 1.28 - - 2447.94 - - - 2217.81 - 77.86 - - 2164.12 - - - - - - - - - - -
12318.15 851.41 7.16 1425 12323.75 done 1.31 - - 2447.50 - 3.58 0.128 3471.62 350.2 77.86 - - 2163.81 - - - - - - - - - 15.52 -
12377.15 846.35 8.98 1437 12383.87 done 1.31 - - 2447.06 - 3.20 0.061 2182.06 -403.0 77.86 - - 2165.88 - - - - - - - - - 15.68 -
12683.18 822.16 8.51 1468 12688.96 done 1.31 - - 2446.94 - 4.06 0.142 736.88 -356.0 77.86 - - 2164.47 - - - - - - - - - 15.51 -
12762.11 814.39 11.99 1484 12769.11 done 1.31 - - 2447.31 - 3.65 0.054 2217.69 405.7 77.86 - - 2163.47 - - - - - - - - - 15.70 -
13068.26 790.81 6.13 1515 13069.59 VBD 1.37 - - 2447.44 - - - 2218.31 - 77.86 - - 2163.50 - - - - - - - - - - -
13368.29 769.17 6.97 1545 13369.78 1.40 0.20 0.085 2487.56 200.6 - - 2217.69 - 77.86 - - 2163.88 - - - - - - - - 15.72 - -
13668.32 746.16 8.04 1575 13674.10 done 1.40 - - 2488.12 - 4.22 0.139 736.19 -351.1 77.86 - - 2163.03 - - - - - - - - - 15.51 -
13763.34 737.32 8.37 1594 13768.95 done 1.40 - - 2489.31 - 3.66 0.055 2218.19 404.9 77.86 - - 2159.75 - - - - - - - - - 15.73 -
14068.38 712.63 7.28 1625 14069.71 VBD 1.42 - - 2488.81 - - - 2217.75 - 77.86 - - 2161.88 - - - - - - - - - - -
14368.41 690.11 7.25 1655 14369.73 VBD 1.45 - - 2487.19 - - - 2217.88 - 77.86 - - 2161.56 - - - - - - - - - - -
14668.44 667.73 7.07 1685 14674.12 done 1.48 - - 2486.62 - 3.55 0.125 3473.56 353.7 77.86 - - 2161.47 - - - - - - - - - 15.51 -
14727.29 662.16 9.47 1697 14734.15 done 1.48 - - 2488.56 - 3.19 0.058 2181.50 -405.0 77.86 - - 2161.72 - - - - - - - - - 15.71 -
15033.49 640.87 6.06 1728 15039.10 done 1.54 - - 2489.19 - 3.65 0.119 3471.94 353.5 77.86 - - 2160.34 - - - - - - - - - 15.45 -
15172.35 629.88 7.49 1756 15179.25 1.55 0.17 0.095 2523.19 200.0 3.19 0.057 2180.50 -404.8 77.86 - - 2163.75 - - - - - - - - 15.50 15.70 -
15478.54 607.91 7.86 1787 15479.88 VBD 1.55 - - 2522.81 - - - 2180.38 - 77.86 - - 2160.53 - - - - - - - - - - -
15778.57 586.62 8.08 1817 15784.26 done 1.55 - - 2522.81 - 4.07 0.135 736.12 -354.9 77.86 - - 2161.28 - - - - - - - - - 15.49 -
15857.49 579.77 9.07 1833 15864.36 done 1.55 - - 2522.69 - 3.63 0.052 2221.06 409.1 77.86 - - 2160.12 - - - - - - - - - 15.71 -
16163.67 557.58 6.87 1864 16169.36 done 1.59 - - 2522.25 - 4.17 0.132 735.75 -356.2 77.86 - - 2158.44 - - - - - - - - - 15.48 -
16232.58 551.54 8.16 1878 16239.45 done 1.59 - - 2523.38 - 3.63 0.052 2220.62 409.1 77.86 - - 2162.22 - - - - - - - - - 15.58 -
16538.75 530.38 7.80 1909 16544.58 done 1.59 - - 2522.31 - 4.16 0.131 737.00 -356.6 77.86 - - 2159.59 - - - - - - - - - 15.48 -
16613.76 524.13 9.16 1924 16619.40 done 1.59 - - 2521.75 - 3.63 0.051 2222.56 409.2 77.86 - - 2159.41 - - - - - - - - - 15.73 -
16918.86 502.75 6.92 1955 16924.42 done 1.62 - - 2522.62 - 3.47 0.120 3473.00 360.4 77.86 - - 2158.28 - - - - - - - - - 15.51 -
17013.96 495.56 7.55 1974 17018.40 done 1.64 - - 2522.31 - 3.19 0.055 2179.75 -405.4 77.86 - - 2162.28 - - - - - - - - - 15.61 -
17323.95 476.59 5.76 2006 17358.78 1.74 0.25 0.081 2571.44 196.5 4.01 0.134 736.06 -360.0 110.54 27.66 1.639 2047.41 -4.2 0.211 - - - - - - 15.57 15.49 11.56
17537.91 454.15 11.25 2049 17544.81 roll 1.74 - - 2570.00 - 3.67 0.051 2220.94 404.6 110.54 - - 2043.50 - - - - - - - - - 15.58 -
17844.07 426.82 8.89 2080 17845.40 no move 1.74 - - 2571.69 - - - 2221.25 - 110.54 - - 2040.62 - - - - - - - - - - -
18144.12 398.71 9.46 2110 18149.86 roll 1.74 - - 2569.00 - 3.53 0.117 3472.81 354.5 110.54 - - 2041.69 - - - - - - - - - 15.48 -
18373.03 372.57 12.21 2156 18379.88 roll 1.74 - - 2571.44 - 3.20 0.055 2180.50 -403.8 110.54 - - 2042.34 - - - - - - - - - 15.56 -
18679.22 342.70 9.40 2187 18685.04 roll 1.74 - - 2570.06 - 4.02 0.130 736.75 -359.1 110.54 - - 2040.84 - - - - - - - - - 15.48 -
18908.17 317.48 10.99 2233 18915.04 done 1.74 - - 2571.44 - 3.65 0.051 2223.25 407.3 110.54 - - 2041.06 - - - - - - - - - 15.67 -
19214.31 290.53 8.52 2264 19215.64 VBD 1.74 - - 2571.50 - - - 2223.31 - 110.54 - - 2041.44 - - - - - - - - - - -
19514.33 263.46 9.44 2294 19520.07 done 1.74 - - 2571.88 - 4.14 0.126 736.12 -359.2 110.54 - - 2040.25 - - - - - - - - - 15.48 -
19673.21 247.07 9.96 2326 19680.15 done 1.74 - - 2571.25 - 3.68 0.052 2223.44 404.2 110.54 - - 2041.38 - - - - - - - - - 15.70 -
19979.41 220.92 8.32 2357 19980.74 VBD 1.74 - - 2571.44 - - - 2223.31 - 110.54 - - 2039.06 - - - - - - - - - - -
20279.43 196.76 8.67 2387 20285.21 done 1.74 - - 2568.88 - 4.16 0.124 735.38 -357.7 110.54 - - 2040.81 - - - - - - - - - 15.48 -
20478.40 178.82 8.38 2427 20485.26 done 1.74 - - 2571.56 - 3.66 0.051 2223.19 406.5 110.54 - - 2040.78 - - - - - - - - - 15.70 -
20784.53 156.31 6.92 2458 20790.22 done 1.77 - - 2571.50 - 4.12 0.122 735.62 -361.1 110.54 - - 2039.84 - - - - - - - - - 15.42 -
20909.54 145.97 7.67 2483 20915.16 done 1.77 - - 2571.25 - 3.63 0.049 2224.62 410.2 110.54 - - 2038.81 - - - - - - - - - 15.70 -
21214.62 127.04 5.90 2514 21246.99 done 1.86 - - 2571.12 - 4.05 0.124 735.88 -367.6 141.21 26.98 1.230 1921.41 -4.4 0.079 - - - - - - - 15.53 11.71
21429.83 107.91 9.64 2557 21435.44 roll 1.86 - - 2571.12 - 3.67 0.049 2224.44 405.6 141.21 - - 1917.16 - - - - - - - - - 15.56 -
21734.95 85.82 5.95 2608 21767.42 1.95 0.28 0.074 2618.06 167.6 4.11 0.122 735.25 -362.3 171.11 26.59 1.172 1801.16 -4.4 0.056 - - - - - - 15.61 15.48 12.07
21985.47 66.14 7.15 2658 21991.22 roll 1.98 - - 2619.25 - 3.67 0.048 2224.50 405.8 171.11 - - 1797.88 - - - - - - - - - 15.51 -
22170.51 61.03 1.90 2695 22252.56 2.24 0.44 0.063 2693.19 168.0 3.53 0.110 3473.94 353.9 258.87 73.61 1.174 1443.41 -4.8 0.044 - - - - - - 15.57 15.17 12.02
22475.53 36.73 13.24 2756 22481.24 roll 2.24 - - 2693.50 - 3.22 0.051 2178.44 -402.3 258.87 - - 1437.66 - - - - - - - - - 15.41 -
22660.59 15.54 9.99 2793 22666.36 done 2.24 - - 2694.19 - 3.62 0.106 3474.12 357.9 258.87 - - 1436.31 - - - - - - - - - 15.40 -
22760 end climb: SURFACE_DEPTH_REACHED
22760 begin surface coast
22770 end surface coast: CONTROL_FINISHED_OK
22770 begin surface
SM 0.50 - - - - 174.0 0.38 0.147 768.5 2022.4 17.32 0.059 772.2 44.6 - 3.42 0.055 764.7 222.5 -0.207 - - 15.08 15.53 15.60 -