NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 576 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 171.57 of 575.00 AH used of 24V (70.16% remains)
• Surface angle -62.5 deg, depth 1.06 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.74 (SM_CC=425)
• GPS1 time: 28 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
7.33 - - - 86.84 VBD -1.25 - - 173.88 - - - 2081.19 - -77.86 78.90 0.005 2529.00 - - - - - - - - - - 15.05
87.09 3.84 -7.59 15 119.00 -1.25 14.69 0.256 1835.94 113.1 3.92 0.115 3472.69 355.0 -77.86 6.85 0.008 2817.09 42.1 -3.535 - - - - - - 15.20 15.01 15.16
236.80 36.32 -20.61 45 242.56 roll -1.25 - - 1835.44 - 3.46 0.058 2082.81 -401.7 -77.86 - - 2817.41 - - - - - - - - - 15.52 -
421.88 65.97 -11.38 82 427.75 roll -1.25 - - 1834.50 - 4.05 0.147 662.19 -350.8 -77.86 - - 2817.66 - - - - - - - - - 15.41 -
556.94 83.48 -13.49 109 562.70 roll -1.25 - - 1835.69 - 3.55 0.047 2121.19 411.0 -77.86 - - 2817.66 - - - - - - - - - 15.62 -
747.01 103.70 -10.28 144 748.34 no move -1.25 - - 1835.81 - - - 2121.44 - -77.86 - - 2816.94 - - - - - - - - - - -
1047.07 135.86 -10.74 174 1052.77 roll -1.25 - - 1836.12 - 3.70 0.108 3475.25 365.9 -77.86 - - 2817.09 - - - - - - - - - 15.56 -
1156.02 148.66 -10.87 196 1162.83 roll -1.25 - - 1836.06 - 3.38 0.054 2081.50 -412.4 -77.86 - - 2817.12 - - - - - - - - - 15.66 -
1462.14 179.50 -9.50 227 1463.47 no move -1.25 - - 1836.12 - - - 2081.19 - -77.86 - - 2817.59 - - - - - - - - - - -
1762.18 208.05 -8.98 257 1763.50 no move -1.25 - - 1835.94 - - - 2081.56 - -77.86 - - 2817.09 - - - - - - - - - - -
2062.21 238.43 -10.45 287 2067.96 roll -1.25 - - 1835.06 - 3.84 0.110 3473.69 362.5 -77.86 - - 2815.41 - - - - - - - - - 15.58 -
2101.17 243.00 -11.72 295 2107.95 roll -1.25 - - 1836.12 - 3.40 0.057 2081.94 -409.3 -77.86 - - 2818.62 - - - - - - - - - 15.67 -
2407.25 273.54 -10.30 326 2408.58 no move -1.25 - - 1835.62 - - - 2081.75 - -77.86 - - 2817.41 - - - - - - - - - - -
2707.28 304.06 -10.53 356 2708.61 no move -1.25 - - 1835.38 - - - 2082.06 - -77.86 - - 2817.06 - - - - - - - - - - -
3007.32 335.98 -10.93 386 3008.65 no move -1.25 - - 1836.06 - - - 2082.00 - -77.86 - - 2817.03 - - - - - - - - - - -
3307.35 367.30 -10.31 416 3313.12 roll -1.25 - - 1835.75 - 4.05 0.154 662.94 -350.4 -77.86 - - 2815.22 - - - - - - - - - 15.47 -
3356.30 373.04 -12.66 426 3363.13 roll -1.25 - - 1835.94 - 3.57 0.052 2119.81 408.1 -77.86 - - 2817.44 - - - - - - - - - 15.73 -
3662.40 403.02 -9.92 457 3663.73 no move -1.25 - - 1835.62 - - - 2120.12 - -77.86 - - 2817.66 - - - - - - - - - - -
3962.43 430.80 -9.16 487 3963.76 no move -1.25 - - 1835.88 - - - 2119.88 - -77.86 - - 2816.88 - - - - - - - - - - -
4262.47 459.12 -9.32 517 4268.20 roll -1.25 - - 1834.50 - 3.76 0.116 3474.75 360.3 -77.86 - - 2816.72 - - - - - - - - - 15.55 -
4331.41 466.52 -11.27 531 4338.25 roll -1.25 - - 1835.25 - 3.42 0.060 2081.94 -407.3 -77.86 - - 2816.94 - - - - - - - - - 15.65 -
4637.52 494.97 -9.26 562 4643.25 roll -1.25 - - 1835.81 - 3.89 0.114 3472.94 357.6 -77.86 - - 2814.75 - - - - - - - - - 15.54 -
4736.45 505.27 -10.26 582 4743.28 roll -1.25 - - 1836.00 - 3.44 0.060 2083.00 -404.1 -77.86 - - 2816.19 - - - - - - - - - 15.64 -
5042.58 531.85 -9.35 613 5048.31 roll -1.25 - - 1835.62 - 3.88 0.115 3473.56 358.4 -77.86 - - 2815.53 - - - - - - - - - 15.53 -
5151.51 542.19 -9.53 635 5158.34 roll -1.25 - - 1835.44 - 3.43 0.061 2082.00 -405.7 -77.86 - - 2816.22 - - - - - - - - - 15.63 -
5457.65 567.13 -7.96 666 5463.42 roll -1.25 - - 1835.88 - 4.07 0.156 662.88 -348.7 -77.86 - - 2813.84 - - - - - - - - - 15.41 -
5542.68 575.06 -9.47 683 5547.36 roll -1.25 - - 1835.75 - 3.57 0.051 2115.88 407.0 -77.86 - - 2815.72 - - - - - - - - - 15.70 -
5852.75 600.59 -7.89 715 5854.08 no move -1.25 - - 1836.12 - - - 2118.56 - -77.86 - - 2815.06 - - - - - - - - - - -
6152.81 623.06 -7.60 745 6154.14 no move -1.25 - - 1835.88 - - - 2118.75 - -77.86 - - 2813.19 - - - - - - - - - - -
6452.87 645.57 -7.66 775 6454.20 no move -1.25 - - 1835.81 - - - 2118.56 - -77.86 - - 2812.59 - - - - - - - - - - -
6752.93 667.61 -7.31 805 6758.74 roll -1.25 - - 1835.56 - 4.23 0.158 664.12 -343.8 -77.86 - - 2812.25 - - - - - - - - - 15.38 -
6841.88 675.96 -7.95 823 6848.73 roll -1.25 - - 1836.00 - 3.59 0.057 2117.31 404.8 -77.86 - - 2814.22 - - - - - - - - - 15.66 -
7148.04 700.65 -8.78 854 7153.75 roll -1.25 - - 1835.31 - 3.78 0.121 3475.31 359.3 -77.86 - - 2813.19 - - - - - - - - - 15.48 -
7216.99 706.34 -9.60 868 7223.81 roll -1.25 - - 1835.88 - 3.43 0.064 2083.62 -405.7 -77.86 - - 2815.09 - - - - - - - - - 15.59 -
7523.11 729.31 -6.56 899 7524.44 no move -1.25 - - 1835.62 - - - 2083.88 - -77.86 - - 2814.03 - - - - - - - - - - -
7823.15 751.55 -6.50 929 7828.88 roll -1.25 - - 1835.62 - 3.89 0.122 3473.00 357.1 -77.86 - - 2811.06 - - - - - - - - - 15.46 -
7898.38 758.65 -9.25 944 7903.85 roll -1.25 - - 1834.06 - 3.44 0.064 2084.56 -403.6 -77.86 - - 2814.66 - - - - - - - - - 15.58 -
8203.21 780.38 -6.88 975 8208.99 roll -1.25 - - 1834.50 - 4.16 0.165 664.00 -341.5 -77.86 - - 2812.56 - - - - - - - - - 15.33 -
8242.14 783.79 -8.53 983 8248.98 roll -1.25 - - 1835.31 - 3.57 0.056 2116.62 406.9 -77.86 - - 2813.97 - - - - - - - - - 15.63 -
8548.25 805.76 -8.06 1014 8549.58 no move -1.25 - - 1836.00 - - - 2117.31 - -77.86 - - 2811.00 - - - - - - - - - - -
8848.28 828.99 -7.78 1044 8854.09 roll -1.25 - - 1835.25 - 4.23 0.164 663.06 -343.8 -77.86 - - 2812.75 - - - - - - - - - 15.31 -
8927.21 835.90 -8.20 1060 8934.08 roll -1.25 - - 1835.50 - 3.61 0.059 2117.00 402.8 -77.86 - - 2812.84 - - - - - - - - - 15.61 -
9233.33 862.20 -8.85 1091 9234.66 no move -1.25 - - 1835.62 - - - 2117.38 - -77.86 - - 2811.84 - - - - - - - - - - -
9533.36 886.72 -7.37 1121 9539.09 roll -1.25 - - 1835.25 - 3.80 0.126 3474.19 357.1 -77.86 - - 2810.62 - - - - - - - - - 15.42 -
9608.40 894.21 -8.97 1136 9613.08 roll -1.25 - - 1835.62 - 3.46 0.066 2084.94 -401.5 -77.86 - - 2811.53 - - - - - - - - - 15.53 -
9918.42 918.92 -8.35 1168 9924.17 roll -1.25 - - 1835.56 - 3.91 0.124 3473.25 355.1 -77.86 - - 2810.91 - - - - - - - - - 15.41 -
9983.52 924.71 -7.85 1181 9988.10 roll -1.25 - - 1836.00 - 3.44 0.066 2085.94 -403.3 -77.86 - - 2812.06 - - - - - - - - - 15.53 -
10293.48 948.43 -7.96 1213 10299.21 roll -1.25 - - 1835.75 - 3.89 0.124 3474.31 356.9 -77.86 - - 2809.50 - - - - - - - - - 15.40 -
10368.56 954.80 -8.51 1228 10373.14 roll -1.25 - - 1835.44 - 3.45 0.066 2085.50 -402.6 -77.86 - - 2811.25 - - - - - - - - - 15.51 -
10678.53 979.01 -7.67 1260 10684.31 roll -1.25 - - 1836.19 - 4.16 0.170 663.19 -341.9 -77.86 - - 2809.31 - - - - - - - - - 15.26 -
10733.62 983.95 -8.93 1271 10739.24 roll -1.25 - - 1835.31 - 3.61 0.061 2113.94 401.9 -77.86 - - 2809.72 - - - - - - - - - 15.58 -
10818 end dive: TARGET_DEPTH_EXCEEDED
10818 begin apogee
10819.80 990.38 -8.11 1280 10891.69 -0.25 1.88 0.145 2080.56 130.5 0.08 0.298 2185.94 900.0 - 67.89 2.291 2498.94 -4.6 0.346 - - - - - - 15.43 14.99 11.27
10893 end apogee: CONTROL_FINISHED_OK
10893 begin climb
10893.89 991.09 - 1287 10974.74 1.25 2.67 0.085 2446.50 137.1 - - 2185.69 - 77.86 76.27 2.216 2180.62 -4.2 0.327 - - - - - - 15.10 - 12.01
11268.58 964.72 8.62 1325 11269.91 VBD 1.25 - - 2447.88 - - - 2185.94 - 77.86 - - 2169.19 - - - - - - - - - - -
11568.62 940.55 8.57 1355 11574.45 done 1.25 - - 2445.00 - 4.08 0.145 736.06 -355.4 77.86 - - 2169.00 - - - - - - - - - 15.36 -
11617.50 935.84 10.43 1365 11624.42 done 1.25 - - 2446.75 - 3.64 0.056 2217.19 406.9 77.86 - - 2166.56 - - - - - - - - - 15.55 -
11923.71 910.03 8.78 1396 11925.04 VBD 1.25 - - 2447.94 - - - 2216.62 - 77.86 - - 2166.22 - - - - - - - - - - -
12223.77 885.78 7.26 1426 12225.10 VBD 1.28 - - 2448.19 - - - 2216.69 - 77.86 - - 2164.19 - - - - - - - - - - -
12523.82 861.44 9.00 1456 12529.57 done 1.28 - - 2447.69 - 3.55 0.129 3474.19 354.2 77.86 - - 2164.72 - - - - - - - - - 15.46 -
12628.87 852.65 8.71 1477 12633.40 done 1.28 - - 2448.06 - 3.18 0.062 2181.00 -406.7 77.86 - - 2165.69 - - - - - - - - - 15.62 -
12938.94 828.50 7.15 1509 12944.69 done 1.30 - - 2448.31 - 4.05 0.142 737.25 -356.5 77.86 - - 2164.06 - - - - - - - - - 15.34 -
13137.93 810.54 10.54 1549 13144.79 done 1.30 - - 2448.38 - 3.63 0.055 2220.25 408.5 77.86 - - 2163.94 - - - - - - - - - 15.64 -
13444.09 789.21 6.79 1580 13445.42 VBD 1.34 - - 2447.88 - - - 2220.00 - 77.86 - - 2163.47 - - - - - - - - - - -
13744.12 768.19 8.61 1610 13749.98 done 1.34 - - 2447.94 - 4.11 0.137 735.12 -361.3 77.86 - - 2161.66 - - - - - - - - - 15.41 -
13973.18 749.02 8.21 1656 13980.00 done 1.34 - - 2447.56 - 3.64 0.056 2218.62 407.6 77.86 - - 2162.69 - - - - - - - - - 15.64 -
14279.25 728.11 6.73 1687 14284.90 1.38 0.17 0.093 2483.62 212.1 3.51 0.125 3474.00 357.7 77.86 - - 2161.25 - - - - - - - - 15.72 15.44 -
14408.12 716.91 8.37 1713 14414.97 done 1.38 - - 2484.31 - 3.15 0.057 2181.19 -410.4 77.86 - - 2162.78 - - - - - - - - - 15.65 -
14714.30 693.68 8.67 1744 14720.07 done 1.38 - - 2484.25 - 4.02 0.136 736.25 -359.4 77.86 - - 2161.22 - - - - - - - - - 15.39 -
14789.33 686.87 10.26 1759 14794.93 done 1.38 - - 2483.81 - 3.60 0.054 2219.25 411.9 77.86 - - 2159.47 - - - - - - - - - 15.66 -
15094.37 662.30 7.20 1790 15100.10 done 1.41 - - 2484.25 - 3.51 0.123 3473.50 357.3 77.86 - - 2159.94 - - - - - - - - - 15.41 -
15169.38 655.45 8.47 1805 15174.04 done 1.41 - - 2484.38 - 3.16 0.058 2180.38 -409.2 77.86 - - 2161.66 - - - - - - - - - 15.62 -
15479.41 632.76 6.13 1837 15485.17 done 1.46 - - 2484.00 - 4.00 0.136 735.44 -361.2 77.86 - - 2158.94 - - - - - - - - - 15.39 -
15658.29 619.41 7.77 1873 15665.22 done 1.46 - - 2484.38 - 3.63 0.054 2221.12 409.3 77.86 - - 2160.56 - - - - - - - - - 15.63 -
15964.49 599.88 6.29 1904 15970.30 done 1.52 - - 2484.19 - 4.10 0.132 736.94 -362.0 77.86 - - 2158.91 - - - - - - - - - 15.39 -
16029.57 594.88 6.97 1917 16035.17 1.55 0.19 0.087 2524.06 209.8 3.63 0.051 2221.56 409.0 77.86 - - 2159.19 - - - - - - - - 15.42 15.54 -
16334.53 571.90 7.97 1948 16340.11 done 1.55 - - 2523.88 - 3.50 0.119 3474.00 357.8 77.86 - - 2159.12 - - - - - - - - - 15.38 -
16563.43 552.72 9.88 1994 16570.27 done 1.55 - - 2524.62 - 3.16 0.057 2180.62 -409.3 77.86 - - 2160.09 - - - - - - - - - 15.62 -
16869.62 529.42 6.71 2025 16875.40 done 1.59 - - 2525.00 - 4.00 0.135 735.12 -361.4 77.86 - - 2159.12 - - - - - - - - - 15.32 -
17098.62 508.27 9.75 2071 17105.48 done 1.59 - - 2525.12 - 3.65 0.052 2222.12 407.4 77.86 - - 2158.94 - - - - - - - - - 15.63 -
17404.79 485.43 7.03 2102 17406.12 VBD 1.62 - - 2525.00 - - - 2222.25 - 77.86 - - 2159.53 - - - - - - - - - - -
17704.84 465.70 6.26 2132 17706.17 VBD 1.67 - - 2524.88 - - - 2221.69 - 77.86 - - 2157.62 - - - - - - - - - - -
18004.90 447.13 5.28 2162 18039.77 1.79 0.32 0.072 2584.31 185.7 - - 2222.19 - 117.33 33.56 1.621 2021.03 -4.1 0.197 - - - - - - 15.69 - 11.29
18334.96 412.77 11.90 2195 18336.29 no move 1.79 - - 2583.94 - - - 2222.19 - 117.33 - - 2015.59 - - - - - - - - - - -
18635.01 379.73 10.63 2225 18636.34 no move 1.79 - - 2583.62 - - - 2222.31 - 117.33 - - 2014.78 - - - - - - - - - - -
18935.07 347.55 10.88 2255 18936.40 no move 1.79 - - 2583.25 - - - 2222.31 - 117.33 - - 2014.41 - - - - - - - - - - -
19235.12 315.99 9.99 2285 19240.72 roll 1.79 - - 2582.38 - 3.54 0.120 3471.50 352.9 117.33 - - 2014.22 - - - - - - - - - 15.42 -
19350.15 302.56 11.14 2308 19354.82 roll 1.79 - - 2582.50 - 3.16 0.056 2178.19 -409.3 117.33 - - 2014.44 - - - - - - - - - 15.60 -
19660.19 273.62 9.42 2340 19665.89 done 1.79 - - 2584.31 - 4.03 0.131 736.19 -357.8 117.33 - - 2011.69 - - - - - - - - - 15.32 -
19735.45 265.43 11.81 2355 19740.90 done 1.79 - - 2582.94 - 3.63 0.051 2222.50 409.5 117.33 - - 2013.06 - - - - - - - - - 15.52 -
20040.24 236.00 9.26 2386 20041.58 VBD 1.79 - - 2584.12 - - - 2223.12 - 117.33 - - 2012.75 - - - - - - - - - - -
20340.27 208.05 8.75 2416 20341.60 VBD 1.79 - - 2583.94 - - - 2222.88 - 117.33 - - 2011.50 - - - - - - - - - - -
20640.31 181.25 8.69 2446 20641.64 VBD 1.79 - - 2583.62 - - - 2223.12 - 117.33 - - 2012.62 - - - - - - - - - - -
20940.36 156.80 7.54 2476 20946.12 done 1.81 - - 2583.25 - 4.15 0.124 736.25 -358.3 117.33 - - 2012.75 - - - - - - - - - 15.32 -
21139.31 138.57 9.32 2516 21146.17 done 1.81 - - 2583.88 - 3.65 0.051 2224.88 407.8 117.33 - - 2011.88 - - - - - - - - - 15.50 -
21445.44 116.21 6.77 2547 21451.27 done 1.85 - - 2584.25 - 4.14 0.122 735.38 -359.8 117.33 - - 2010.75 - - - - - - - - - 15.39 -
21550.44 107.86 7.86 2568 21556.07 done 1.85 - - 2584.06 - 3.67 0.050 2225.19 405.9 117.33 - - 2011.66 - - - - - - - - - 15.60 -
21855.50 90.53 4.36 2617 21907.40 2.00 0.27 0.072 2634.06 185.2 4.12 0.123 736.19 -361.4 169.95 44.81 1.208 1805.66 -4.6 0.060 - - - - - - 15.50 15.40 11.53
22130.54 62.98 9.39 2672 22136.33 roll 2.00 - - 2633.38 - 3.70 0.050 2222.75 401.8 169.95 - - 1800.75 - - - - - - - - - 15.45 -
22315.61 58.99 0.86 2709 22408.44 2.31 0.44 0.062 2708.81 171.4 3.56 0.111 3474.31 351.6 272.59 85.97 1.165 1387.94 -4.8 0.043 - - - - - - 15.49 15.11 11.79
22631.26 26.09 15.39 2772 22636.97 roll 2.31 - - 2708.56 - 3.22 0.052 2181.12 -401.6 272.59 - - 1381.06 - - - - - - - - - 15.40 -
22816 end climb: SURFACE_DEPTH_REACHED
22816 begin surface coast
22826 end surface coast: CONTROL_FINISHED_OK
22826 begin surface
SM 0.52 - - - - 173.9 1.25 0.135 768.5 614.8 17.75 0.077 766.6 43.2 - 0.22 0.115 770.4 3487.2 -1.612 - - 15.06 15.36 15.49 -