NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 574 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 170.93 of 575.00 AH used of 24V (70.27% remains)
• Surface angle -60.5 deg, depth 1.23 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.08 (SM_CC=425)
• GPS1 time: 21 s
• GPS2 time: 2 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
7.37 - - - 86.82 VBD -1.25 - - 173.94 - - - 2078.81 - -77.86 78.83 0.005 2522.88 - - - - - - - - - - 15.05
87.09 3.72 -5.07 15 119.06 -1.25 14.80 0.261 1835.50 112.3 4.03 0.116 3472.62 345.9 -77.86 7.20 0.008 2815.59 40.7 -3.300 - - - - - - 15.20 15.01 15.16
341.89 56.14 -18.23 66 347.69 roll -1.25 - - 1835.62 - 3.51 0.060 2081.94 -396.2 -77.86 - - 2815.75 - - - - - - - - - 15.55 -
526.98 80.18 -11.47 103 532.84 roll -1.25 - - 1835.25 - 4.14 0.149 663.94 -342.5 -77.86 - - 2816.94 - - - - - - - - - 15.43 -
572.01 86.25 -13.89 112 577.77 roll -1.25 - - 1835.94 - 3.61 0.049 2121.88 403.9 -77.86 - - 2817.00 - - - - - - - - - 15.64 -
762.06 106.29 -10.61 144 767.77 roll -1.25 - - 1835.50 - 3.77 0.109 3474.31 358.7 -77.86 - - 2814.22 - - - - - - - - - 15.54 -
881.07 121.01 -12.20 168 887.85 roll -1.25 - - 1836.06 - 3.42 0.056 2081.56 -407.2 -77.86 - - 2816.81 - - - - - - - - - 15.64 -
1187.15 150.38 -9.29 199 1188.48 no move -1.25 - - 1835.44 - - - 2081.19 - -77.86 - - 2816.34 - - - - - - - - - - -
1487.18 181.41 -10.56 229 1492.93 roll -1.25 - - 1835.62 - 3.90 0.111 3474.12 357.2 -77.86 - - 2816.97 - - - - - - - - - 15.58 -
1546.19 188.36 -12.71 241 1552.94 roll -1.25 - - 1836.12 - 3.43 0.058 2082.31 -405.8 -77.86 - - 2816.69 - - - - - - - - - 15.67 -
1852.23 219.22 -9.54 272 1853.56 no move -1.25 - - 1835.81 - - - 2082.06 - -77.86 - - 2817.06 - - - - - - - - - - -
2152.26 245.23 -8.14 302 2153.59 no move -1.25 - - 1835.75 - - - 2082.12 - -77.86 - - 2817.09 - - - - - - - - - - -
2452.29 270.70 -8.33 332 2458.08 roll -1.25 - - 1836.06 - 4.14 0.152 663.00 -342.8 -77.86 - - 2814.88 - - - - - - - - - 15.49 -
2517.38 277.16 -10.09 345 2523.00 roll -1.25 - - 1836.25 - 3.59 0.054 2120.25 405.9 -77.86 - - 2818.12 - - - - - - - - - 15.74 -
2822.34 302.94 -9.03 376 2828.05 roll -1.25 - - 1835.69 - 3.73 0.114 3472.81 362.6 -77.86 - - 2816.09 - - - - - - - - - 15.58 -
2921.33 312.71 -10.16 396 2928.10 roll -1.25 - - 1836.00 - 3.44 0.059 2083.00 -404.0 -77.86 - - 2818.31 - - - - - - - - - 15.68 -
3227.39 340.74 -9.16 427 3233.15 roll -1.25 - - 1836.00 - 4.09 0.151 663.12 -347.2 -77.86 - - 2814.78 - - - - - - - - - 15.48 -
3312.40 350.24 -11.28 444 3318.09 roll -1.25 - - 1835.88 - 3.59 0.054 2120.44 405.9 -77.86 - - 2818.97 - - - - - - - - - 15.74 -
3617.45 379.73 -10.14 475 3623.23 roll -1.25 - - 1835.44 - 3.77 0.115 3471.44 358.4 -77.86 - - 2814.81 - - - - - - - - - 15.57 -
3676.46 385.91 -11.24 487 3683.19 roll -1.25 - - 1836.12 - 3.42 0.059 2081.88 -406.3 -77.86 - - 2818.38 - - - - - - - - - 15.66 -
3982.48 413.77 -9.34 518 3983.81 no move -1.25 - - 1836.00 - - - 2081.81 - -77.86 - - 2816.47 - - - - - - - - - - -
4282.52 442.27 -9.89 548 4288.27 roll -1.25 - - 1834.12 - 3.91 0.115 3473.88 356.0 -77.86 - - 2816.06 - - - - - - - - - 15.56 -
4401.52 455.18 -11.71 572 4408.29 roll -1.25 - - 1836.19 - 3.46 0.062 2083.31 -401.9 -77.86 - - 2816.12 - - - - - - - - - 15.65 -
4707.57 486.86 -10.19 603 4713.36 roll -1.25 - - 1835.44 - 4.11 0.157 663.06 -345.6 -77.86 - - 2814.16 - - - - - - - - - 15.44 -
4822.59 500.27 -12.13 626 4827.28 roll -1.25 - - 1835.69 - 3.56 0.053 2115.69 408.0 -77.86 - - 2816.19 - - - - - - - - - 15.72 -
5132.63 528.33 -8.98 658 5138.50 roll -1.25 - - 1836.19 - 4.14 0.153 662.81 -350.9 -77.86 - - 2814.47 - - - - - - - - - 15.42 -
5277.66 542.52 -10.50 687 5282.34 roll -1.25 - - 1835.94 - 3.55 0.053 2118.19 410.0 -77.86 - - 2816.88 - - - - - - - - - 15.71 -
5587.73 566.81 -7.69 719 5589.06 no move -1.25 - - 1835.38 - - - 2120.62 - -77.86 - - 2815.25 - - - - - - - - - - -
5887.78 588.14 -6.95 749 5893.48 roll -1.25 - - 1835.56 - 3.70 0.118 3474.62 365.9 -77.86 - - 2813.06 - - - - - - - - - 15.52 -
6022.84 599.46 -7.43 776 6027.54 roll -1.25 - - 1835.50 - 3.39 0.061 2082.81 -410.6 -77.86 - - 2815.72 - - - - - - - - - 15.63 -
6332.89 622.95 -8.29 808 6334.22 no move -1.25 - - 1835.62 - - - 2082.62 - -77.86 - - 2814.22 - - - - - - - - - - -
6632.95 645.11 -7.20 838 6634.29 no move -1.25 - - 1836.12 - - - 2082.75 - -77.86 - - 2813.12 - - - - - - - - - - -
6933.01 667.90 -7.44 868 6938.74 roll -1.25 - - 1836.06 - 3.86 0.120 3475.19 360.7 -77.86 - - 2812.09 - - - - - - - - - 15.50 -
7042.03 677.57 -8.08 890 7048.82 roll -1.25 - - 1835.75 - 3.43 0.064 2084.06 -405.6 -77.86 - - 2813.97 - - - - - - - - - 15.60 -
7348.12 702.32 -7.31 921 7349.45 no move -1.25 - - 1836.12 - - - 2083.81 - -77.86 - - 2812.69 - - - - - - - - - - -
7648.16 728.65 -10.16 951 7649.49 no move -1.25 - - 1835.69 - - - 2083.88 - -77.86 - - 2813.16 - - - - - - - - - - -
7948.20 756.47 -10.16 981 7953.95 roll -1.25 - - 1835.44 - 3.94 0.123 3473.38 352.7 -77.86 - - 2811.75 - - - - - - - - - 15.47 -
8093.23 772.27 -11.44 1010 8097.95 roll -1.25 - - 1835.31 - 3.45 0.066 2085.12 -402.4 -77.86 - - 2813.84 - - - - - - - - - 15.57 -
8403.27 801.06 -8.64 1042 8404.60 no move -1.25 - - 1835.88 - - - 2085.06 - -77.86 - - 2813.19 - - - - - - - - - - -
8703.30 828.00 -8.00 1072 8709.04 roll -1.25 - - 1834.75 - 3.95 0.123 3473.12 351.4 -77.86 - - 2811.56 - - - - - - - - - 15.45 -
8812.29 837.88 -8.61 1094 8819.05 roll -1.25 - - 1835.62 - 3.44 0.067 2084.69 -403.6 -77.86 - - 2812.50 - - - - - - - - - 15.55 -
9118.34 860.32 -7.48 1125 9119.67 no move -1.25 - - 1836.12 - - - 2084.94 - -77.86 - - 2812.12 - - - - - - - - - - -
9418.39 879.51 -5.93 1155 9419.72 no move -1.25 - - 1835.75 - - - 2084.88 - -77.86 - - 2809.91 - - - - - - - - - - -
9718.43 898.59 -6.00 1185 9719.76 no move -1.25 - - 1836.12 - - - 2084.81 - -77.86 - - 2810.78 - - - - - - - - - - -
10018.45 920.66 -7.91 1215 10019.78 no move -1.25 - - 1835.38 - - - 2084.25 - -77.86 - - 2811.38 - - - - - - - - - - -
10318.48 944.54 -8.51 1245 10324.32 roll -1.25 - - 1834.50 - 4.01 0.127 3472.00 346.1 -77.86 - - 2809.81 - - - - - - - - - 15.41 -
10363.50 948.18 -8.09 1254 10368.21 roll -1.25 - - 1835.94 - 3.47 0.070 2087.50 -399.0 -77.86 - - 2810.62 - - - - - - - - - 15.51 -
10673.52 973.66 -8.80 1286 10679.34 roll -1.25 - - 1835.12 - 3.97 0.125 3472.00 348.7 -77.86 - - 2808.94 - - - - - - - - - 15.40 -
10728.54 978.52 -9.78 1297 10733.26 roll -1.25 - - 1836.12 - 3.46 0.068 2087.12 -400.3 -77.86 - - 2811.47 - - - - - - - - - 15.51 -
10898 end dive: TARGET_DEPTH_EXCEEDED
10898 begin apogee
10899.88 991.30 -7.33 1315 10971.42 -0.25 1.89 0.144 2080.88 129.5 0.08 0.292 2186.06 1236.8 - 68.18 2.276 2497.81 -4.6 0.350 - - - - - - 15.45 15.00 11.08
10973 end apogee: CONTROL_FINISHED_OK
10973 begin climb
10973.64 992.70 - 1322 11059.14 1.25 2.69 0.088 2447.81 136.4 3.92 0.129 3473.25 328.4 77.86 76.38 2.215 2180.28 -4.2 0.325 - - - - - - 15.10 14.68 12.09
11066.98 988.36 5.47 1335 11111.38 done 1.36 - - 2447.44 - 3.36 0.060 2183.88 -383.7 114.70 38.03 2.116 2032.34 -3.9 0.317 - - - - - - - 14.88 11.91
11416.96 950.16 11.48 1375 11418.29 VBD 1.36 - - 2447.69 - - - 2183.94 - 114.70 - - 2021.12 - - - - - - - - - - -
11717.02 916.15 11.23 1405 11722.86 done 1.36 - - 2447.38 - 4.07 0.145 737.19 -355.5 114.70 - - 2018.03 - - - - - - - - - 15.42 -
11772.11 909.29 12.87 1416 11777.74 done 1.36 - - 2444.81 - 3.66 0.056 2215.94 404.0 114.70 - - 2017.28 - - - - - - - - - 15.58 -
12077.14 873.98 11.30 1447 12083.10 done 1.36 - - 2447.50 - 4.17 0.146 736.06 -354.9 114.70 - - 2015.12 - - - - - - - - - 15.43 -
12172.15 861.90 13.47 1466 12177.84 done 1.36 - - 2448.00 - 3.67 0.059 2217.00 403.5 114.70 - - 2016.38 - - - - - - - - - 15.64 -
12477.19 829.18 10.29 1497 12478.52 VBD 1.36 - - 2447.25 - - - 2217.44 - 114.70 - - 2013.88 - - - - - - - - - - -
12777.21 802.26 8.64 1527 12782.82 done 1.36 - - 2447.81 - 3.58 0.131 3471.94 350.4 114.70 - - 2014.69 - - - - - - - - - 15.48 -
12852.25 794.34 11.16 1542 12856.90 done 1.36 - - 2447.94 - 3.20 0.063 2184.44 -402.3 114.70 - - 2014.94 - - - - - - - - - 15.64 -
13162.29 768.87 7.41 1574 13163.76 1.38 0.17 0.104 2483.00 206.2 - - 2184.25 - 114.70 - - 2013.91 - - - - - - - - 15.68 - -
13462.31 740.17 10.37 1604 13463.64 VBD 1.38 - - 2482.44 - - - 2184.69 - 114.70 - - 2013.97 - - - - - - - - - - -
13762.44 708.95 10.61 1634 13763.77 VBD 1.38 - - 2483.06 - - - 2185.31 - 114.70 - - 2012.25 - - - - - - - - - - -
14062.38 676.76 11.46 1664 14068.23 done 1.38 - - 2482.75 - 4.09 0.142 735.94 -354.4 114.70 - - 2011.78 - - - - - - - - - 15.44 -
14131.43 666.87 14.90 1678 14138.18 done 1.38 - - 2483.25 - 3.69 0.060 2217.12 401.4 114.70 - - 2011.75 - - - - - - - - - 15.60 -
14437.44 634.24 10.49 1709 14443.03 done 1.38 - - 2483.31 - 3.52 0.126 3472.50 356.6 114.70 - - 2013.31 - - - - - - - - - 15.48 -
14472.44 630.22 11.50 1716 14476.97 done 1.38 - - 2483.00 - 3.19 0.061 2182.38 -404.4 114.70 - - 2012.12 - - - - - - - - - 15.65 -
14782.47 597.64 9.59 1748 14788.29 done 1.38 - - 2483.25 - 4.06 0.139 737.00 -356.0 114.70 - - 2010.81 - - - - - - - - - 15.43 -
14877.49 586.61 12.49 1767 14883.25 done 1.38 - - 2483.12 - 3.62 0.056 2220.06 409.7 114.70 - - 2009.88 - - - - - - - - - 15.68 -
15182.53 557.65 8.99 1798 15188.11 done 1.38 - - 2483.12 - 3.50 0.122 3473.12 358.0 114.70 - - 2010.06 - - - - - - - - - 15.45 -
15257.55 549.77 11.58 1813 15262.07 done 1.38 - - 2482.69 - 3.16 0.059 2181.19 -408.8 114.70 - - 2010.34 - - - - - - - - - 15.66 -
15567.58 518.66 9.48 1845 15572.43 done 1.38 - - 2483.38 - 3.64 0.118 3473.19 354.9 114.70 - - 2009.12 - - - - - - - - - 15.39 -
15701.43 503.50 11.48 1872 15708.32 done 1.38 - - 2483.44 - 3.18 0.058 2182.50 -405.9 114.70 - - 2011.84 - - - - - - - - - 15.64 -
16007.64 473.47 9.01 1903 16013.46 done 1.38 - - 2481.19 - 4.05 0.136 736.75 -357.0 114.70 - - 2011.03 - - - - - - - - - 15.40 -
16236.61 448.30 10.96 1949 16243.48 done 1.38 - - 2482.88 - 3.62 0.053 2222.44 410.4 114.70 - - 2010.44 - - - - - - - - - 15.67 -
16542.76 420.64 8.93 1980 16548.61 done 1.38 - - 2483.25 - 4.14 0.130 735.75 -359.1 114.70 - - 2008.84 - - - - - - - - - 15.31 -
16701.75 404.23 9.91 2012 16708.61 done 1.38 - - 2483.00 - 3.66 0.054 2222.38 406.2 114.70 - - 2009.97 - - - - - - - - - 15.65 -
17007.90 379.62 7.95 2043 17013.88 done 1.38 - - 2483.19 - 4.12 0.130 734.69 -361.1 114.70 - - 2008.03 - - - - - - - - - 15.30 -
17076.75 372.96 9.64 2057 17083.68 done 1.38 - - 2483.12 - 3.59 0.051 2222.19 414.3 114.70 - - 2010.62 - - - - - - - - - 15.67 -
17382.98 348.41 7.74 2088 17388.81 done 1.38 - - 2483.62 - 4.09 0.129 735.06 -363.6 114.70 - - 2008.62 - - - - - - - - - 15.30 -
17488.02 338.51 9.82 2109 17493.63 done 1.38 - - 2482.25 - 3.59 0.052 2223.06 414.5 114.70 - - 2009.97 - - - - - - - - - 15.57 -
17793.09 314.03 8.23 2140 17797.67 done 1.38 - - 2483.81 - 3.45 0.117 3473.88 362.6 114.70 - - 2008.19 - - - - - - - - - 15.42 -
17843.11 309.69 8.85 2150 17847.63 done 1.38 - - 2483.81 - 3.12 0.053 2178.88 -415.1 114.70 - - 2010.31 - - - - - - - - - 15.65 -
18153.16 285.88 7.87 2182 18154.49 VBD 1.38 - - 2483.69 - - - 2179.00 - 114.70 - - 2009.28 - - - - - - - - - - -
18453.50 263.40 7.35 2212 18458.96 done 1.40 - - 2482.31 - 3.62 0.115 3472.50 357.3 114.70 - - 2011.25 - - - - - - - - - 15.42 -
18512.21 258.52 8.87 2224 18519.06 done 1.40 - - 2484.06 - 3.15 0.053 2178.56 -410.8 114.70 - - 2010.28 - - - - - - - - - 15.51 -
18818.26 236.64 7.01 2255 18824.06 done 1.43 - - 2484.50 - 3.98 0.131 736.25 -362.4 114.70 - - 2010.16 - - - - - - - - - 15.38 -
18883.33 230.62 9.79 2268 18888.94 done 1.43 - - 2483.94 - 3.60 0.052 2223.25 413.1 114.70 - - 2008.75 - - - - - - - - - 15.53 -
19188.30 206.65 7.74 2299 19194.12 done 1.43 - - 2484.31 - 4.09 0.127 736.12 -363.6 114.70 - - 2008.97 - - - - - - - - - 15.37 -
19263.30 200.60 8.48 2314 19268.92 done 1.43 - - 2484.38 - 3.59 0.049 2226.38 415.1 114.70 - - 2008.81 - - - - - - - - - 15.65 -
19568.35 177.38 7.71 2345 19574.19 done 1.43 - - 2484.19 - 4.11 0.126 735.44 -362.8 114.70 - - 2008.09 - - - - - - - - - 15.28 -
19683.39 167.91 8.55 2368 19689.13 done 1.43 - - 2484.25 - 3.61 0.050 2224.44 412.5 114.70 - - 2009.09 - - - - - - - - - 15.64 -
19988.43 149.16 5.44 2399 20023.91 1.55 0.20 0.083 2523.38 195.7 4.05 0.126 735.06 -367.7 151.92 29.80 1.267 1880.66 -4.3 0.089 - - - - - - 15.68 15.49 11.32
20138.44 136.28 10.63 2429 20144.05 roll 1.55 - - 2521.88 - 3.63 0.048 2222.75 409.8 151.92 - - 1874.94 - - - - - - - - - 15.48 -
20443.47 109.24 9.15 2460 20449.05 roll 1.55 - - 2523.31 - 3.49 0.113 3473.00 358.2 151.92 - - 1874.53 - - - - - - - - - 15.33 -
20673.53 88.81 7.85 2506 20680.45 roll 1.55 - - 2523.75 - 3.15 0.051 2178.81 -410.9 151.92 - - 1875.12 - - - - - - - - - 15.49 -
20859.72 78.65 5.10 2543 20901.38 done 1.67 - - 2523.81 - 3.63 0.111 3472.75 356.5 194.05 36.47 1.175 1707.34 -4.6 0.054 - - - - - - - 15.42 11.90
20979.24 69.45 9.27 2567 20984.92 roll 1.67 - - 2524.12 - 3.17 0.051 2179.81 -407.9 194.05 - - 1704.44 - - - - - - - - - 15.43 -
21164.29 59.54 4.15 2604 21220.81 1.84 0.41 0.066 2595.50 174.1 3.63 0.109 3472.50 356.1 249.73 47.71 1.144 1481.00 -4.7 0.043 - - - - - - 15.51 15.25 11.99
21445.54 39.46 8.38 2660 21450.01 roll 1.84 - - 2595.19 - 3.20 0.051 2178.25 -404.5 249.73 - - 1475.66 - - - - - - - - - 15.46 -
21629.38 25.01 7.39 2697 21636.28 roll 1.86 - - 2595.31 - 3.62 0.108 3472.88 357.6 249.73 - - 1474.31 - - - - - - - - - 15.38 -
21709.45 17.92 9.12 2713 21715.10 done 1.86 - - 2595.19 - 3.17 0.049 2178.62 -408.3 249.73 - - 1474.12 - - - - - - - - - 15.51 -
21894.42 3.80 8.32 2750 21895.75 VBD 1.86 - - 2595.06 - - - 2178.69 - 249.73 - - 1473.44 - - - - - - - - - - -
21919 end climb: SURFACE_DEPTH_REACHED
21919 begin surface coast
21949 end surface coast: CONTROL_FINISHED_OK
21949 begin surface
SM 0.87 - - - - 174.1 152.15 1.083 767.1 5.0 16.60 0.061 768.1 46.3 - 0.21 0.103 766.1 3648.1 -3.149 - - 11.87 15.60 15.60 -