NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 583 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 173.81 of 575.00 AH used of 24V (69.77% remains)
• Surface angle -59.1 deg, depth 0.82 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.88 (SM_CC=425)
• GPS1 time: 39 s
• GPS2 time: 3 s • Transponder ping count: 4
• 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
7.35 - - - 86.92 VBD -1.25 - - 173.25 - - - 2121.19 - -77.86 78.96 0.005 2508.53 - - - - - - - - - - 13.82
87.19 3.14 -3.93 15 119.13 -1.25 14.90 0.261 1835.56 111.6 3.88 0.118 3474.88 348.9 -77.86 8.23 0.007 2816.97 37.5 -2.927 - - - - - - 15.19 15.00 15.14
236.93 30.48 -20.48 45 242.72 roll -1.25 - - 1835.88 - 3.55 0.060 2083.25 -392.0 -77.86 - - 2817.88 - - - - - - - - - 15.50 -
422.01 61.81 -11.75 82 427.87 roll -1.25 - - 1835.31 - 4.18 0.151 663.38 -339.7 -77.86 - - 2817.59 - - - - - - - - - 15.38 -
477.05 68.92 -12.96 93 482.82 roll -1.25 - - 1835.56 - 3.63 0.052 2118.12 400.8 -77.86 - - 2817.97 - - - - - - - - - 15.61 -
662.11 92.10 -11.22 130 667.90 roll -1.25 - - 1836.12 - 3.80 0.107 3474.81 357.0 -77.86 - - 2818.25 - - - - - - - - - 15.51 -
752.12 102.60 -11.73 148 756.78 roll -1.25 - - 1835.88 - 3.46 0.057 2081.94 -402.6 -77.86 - - 2816.66 - - - - - - - - - 15.61 -
1062.16 132.96 -10.28 180 1067.89 roll -1.25 - - 1834.56 - 3.89 0.109 3474.31 357.9 -77.86 - - 2817.72 - - - - - - - - - 15.54 -
1107.18 138.22 -11.35 189 1111.83 roll -1.25 - - 1835.12 - 3.47 0.056 2081.50 -401.4 -77.86 - - 2817.91 - - - - - - - - - 15.63 -
1417.21 169.72 -10.22 221 1423.01 roll -1.25 - - 1836.00 - 4.14 0.151 663.50 -342.5 -77.86 - - 2815.66 - - - - - - - - - 15.45 -
1486.22 177.66 -11.51 235 1493.01 roll -1.25 - - 1836.06 - 3.62 0.050 2121.00 402.6 -77.86 - - 2818.00 - - - - - - - - - 15.69 -
1792.26 207.91 -9.97 266 1797.98 roll -1.25 - - 1836.00 - 3.76 0.111 3474.75 360.0 -77.86 - - 2815.84 - - - - - - - - - 15.56 -
1877.36 217.12 -10.44 283 1881.92 roll -1.25 - - 1834.56 - 3.46 0.056 2082.19 -402.5 -77.86 - - 2819.66 - - - - - - - - - 15.66 -
2187.31 248.46 -9.57 315 2188.64 no move -1.25 - - 1835.88 - - - 2082.62 - -77.86 - - 2817.88 - - - - - - - - - - -
2487.35 276.95 -9.19 345 2488.68 no move -1.25 - - 1835.94 - - - 2082.56 - -77.86 - - 2817.09 - - - - - - - - - - -
2787.38 304.57 -9.24 375 2793.13 roll -1.25 - - 1835.88 - 3.92 0.111 3473.56 354.8 -77.86 - - 2815.69 - - - - - - - - - 15.55 -
2852.41 311.37 -10.84 388 2857.06 roll -1.25 - - 1835.75 - 3.45 0.059 2081.94 -403.4 -77.86 - - 2817.44 - - - - - - - - - 15.66 -
3162.50 338.35 -8.68 420 3163.83 no move -1.25 - - 1835.69 - - - 2082.75 - -77.86 - - 2817.50 - - - - - - - - - - -
3462.47 365.22 -9.28 450 3468.34 roll -1.25 - - 1835.25 - 3.88 0.111 3473.31 358.4 -77.86 - - 2817.81 - - - - - - - - - 15.54 -
3507.49 369.54 -9.93 459 3512.27 roll -1.25 - - 1835.00 - 3.47 0.059 2082.94 -400.7 -77.86 - - 2819.69 - - - - - - - - - 15.65 -
3817.51 397.33 -8.78 491 3818.84 no move -1.25 - - 1835.69 - - - 2083.12 - -77.86 - - 2816.88 - - - - - - - - - - -
4117.54 425.34 -8.54 521 4118.87 no move -1.25 - - 1835.56 - - - 2083.19 - -77.86 - - 2817.38 - - - - - - - - - - -
4417.57 454.36 -10.30 551 4418.90 no move -1.25 - - 1835.62 - - - 2083.12 - -77.86 - - 2817.19 - - - - - - - - - - -
4717.62 480.58 -7.97 581 4718.95 no move -1.25 - - 1835.75 - - - 2083.19 - -77.86 - - 2816.72 - - - - - - - - - - -
5017.68 505.89 -8.97 611 5023.44 roll -1.25 - - 1835.62 - 3.98 0.116 3472.69 349.1 -77.86 - - 2816.59 - - - - - - - - - 15.50 -
5112.71 514.70 -9.61 630 5117.39 roll -1.25 - - 1835.94 - 3.47 0.062 2084.50 -400.1 -77.86 - - 2816.56 - - - - - - - - - 15.62 -
5422.78 539.93 -7.76 662 5424.11 no move -1.25 - - 1835.56 - - - 2084.56 - -77.86 - - 2814.66 - - - - - - - - - - -
5722.84 564.76 -8.27 692 5724.17 no move -1.25 - - 1836.00 - - - 2084.50 - -77.86 - - 2814.16 - - - - - - - - - - -
6022.90 590.02 -8.87 722 6024.23 no move -1.25 - - 1835.56 - - - 2084.50 - -77.86 - - 2815.75 - - - - - - - - - - -
6322.96 614.58 -7.91 752 6324.29 no move -1.25 - - 1835.75 - - - 2084.50 - -77.86 - - 2815.44 - - - - - - - - - - -
6623.02 639.14 -8.31 782 6624.35 no move -1.25 - - 1836.12 - - - 2084.38 - -77.86 - - 2814.94 - - - - - - - - - - -
6923.10 663.45 -8.65 812 6924.42 no move -1.25 - - 1835.69 - - - 2084.62 - -77.86 - - 2814.78 - - - - - - - - - - -
7223.12 686.80 -7.70 842 7224.45 no move -1.25 - - 1835.88 - - - 2084.56 - -77.86 - - 2814.50 - - - - - - - - - - -
7523.16 709.71 -6.85 872 7524.49 no move -1.25 - - 1836.00 - - - 2085.00 - -77.86 - - 2812.34 - - - - - - - - - - -
7823.20 732.89 -7.44 902 7828.95 roll -1.25 - - 1835.38 - 4.00 0.122 3473.56 347.1 -77.86 - - 2811.78 - - - - - - - - - 15.43 -
7948.22 743.80 -7.95 927 7952.90 roll -1.25 - - 1835.62 - 3.55 0.067 2085.88 -390.9 -77.86 - - 2813.22 - - - - - - - - - 15.55 -
8258.26 765.50 -6.60 959 8259.58 no move -1.25 - - 1835.88 - - - 2085.75 - -77.86 - - 2813.81 - - - - - - - - - - -
8558.29 786.48 -6.71 989 8564.07 roll -1.25 - - 1835.56 - 4.03 0.122 3472.56 344.1 -77.86 - - 2811.69 - - - - - - - - - 15.41 -
8627.29 792.64 -8.64 1003 8634.08 roll -1.25 - - 1835.38 - 3.54 0.066 2086.62 -391.5 -77.86 - - 2814.25 - - - - - - - - - 15.53 -
8933.34 814.95 -8.22 1034 8934.66 no move -1.25 - - 1835.75 - - - 2086.75 - -77.86 - - 2813.38 - - - - - - - - - - -
9233.37 837.64 -6.83 1064 9234.69 no move -1.25 - - 1836.12 - - - 2086.94 - -77.86 - - 2813.00 - - - - - - - - - - -
9533.41 861.12 -7.84 1094 9534.74 no move -1.25 - - 1835.50 - - - 2087.25 - -77.86 - - 2812.44 - - - - - - - - - - -
9833.44 884.97 -7.60 1124 9834.77 no move -1.25 - - 1835.94 - - - 2086.69 - -77.86 - - 2810.50 - - - - - - - - - - -
10133.48 908.61 -6.99 1154 10134.81 no move -1.25 - - 1835.50 - - - 2086.62 - -77.86 - - 2811.03 - - - - - - - - - - -
10433.51 931.14 -6.78 1184 10434.84 no move -1.25 - - 1836.06 - - - 2086.25 - -77.86 - - 2812.41 - - - - - - - - - - -
10733.55 952.77 -7.84 1214 10734.88 no move -1.25 - - 1835.50 - - - 2086.62 - -77.86 - - 2810.38 - - - - - - - - - - -
11033.58 973.51 -7.10 1244 11039.40 roll -1.25 - - 1835.75 - 4.38 0.175 664.94 -324.6 -77.86 - - 2810.50 - - - - - - - - - 15.23 -
11102.51 978.82 -7.72 1258 11109.39 roll -1.25 - - 1835.69 - 3.72 0.065 2114.06 389.5 -77.86 - - 2812.06 - - - - - - - - - 15.53 -
11268 end dive: TARGET_DEPTH_EXCEEDED
11268 begin apogee
11269.93 990.27 -6.70 1275 11342.25 -0.25 1.90 0.144 2079.69 128.4 0.07 0.295 2186.69 1037.6 - 68.43 2.280 2499.16 -4.6 0.346 - - - - - - 15.40 15.01 11.07
11344 end apogee: CONTROL_FINISHED_OK
11344 begin climb
11344.46 990.80 - 1282 11424.94 1.25 2.67 0.083 2446.81 137.5 - - 2186.56 - 77.86 75.93 2.225 2181.78 -4.2 0.324 - - - - - - 15.10 - 12.10
11718.69 959.31 9.37 1320 11720.02 VBD 1.25 - - 2448.06 - - - 2186.56 - 77.86 - - 2170.69 - - - - - - - - - - -
12018.75 930.88 9.94 1350 12024.61 done 1.25 - - 2447.56 - 4.26 0.147 738.38 -339.9 77.86 - - 2165.94 - - - - - - - - - 15.34 -
12093.78 922.14 11.82 1365 12099.42 done 1.25 - - 2447.62 - 3.79 0.059 2216.44 390.0 77.86 - - 2164.53 - - - - - - - - - 15.55 -
12398.85 892.71 9.03 1396 12404.72 done 1.25 - - 2447.69 - 4.31 0.146 736.06 -343.5 77.86 - - 2165.41 - - - - - - - - - 15.37 -
12463.86 886.59 8.69 1409 12469.66 done 1.25 - - 2447.31 - 3.79 0.059 2216.38 390.6 77.86 - - 2163.56 - - - - - - - - - 15.59 -
12768.93 858.79 7.94 1440 12770.27 VBD 1.25 - - 2447.75 - - - 2216.56 - 77.86 - - 2163.56 - - - - - - - - - - -
13068.99 833.49 8.10 1470 13074.88 done 1.25 - - 2447.81 - 4.33 0.146 738.00 -341.5 77.86 - - 2164.19 - - - - - - - - - 15.37 -
13164.03 824.68 9.85 1489 13169.81 done 1.25 - - 2447.25 - 3.79 0.060 2215.62 389.9 77.86 - - 2162.72 - - - - - - - - - 15.61 -
13469.10 799.20 7.83 1520 13470.43 VBD 1.25 - - 2447.88 - - - 2214.88 - 77.86 - - 2164.06 - - - - - - - - - - -
13769.12 774.22 8.35 1550 13774.99 done 1.25 - - 2446.19 - 4.32 0.143 738.19 -341.8 77.86 - - 2163.12 - - - - - - - - - 15.37 -
13828.04 768.82 9.68 1562 13834.93 done 1.25 - - 2447.00 - 3.72 0.059 2216.69 397.4 77.86 - - 2164.03 - - - - - - - - - 15.62 -
14134.18 745.76 7.09 1593 14135.52 VBD 1.28 - - 2447.50 - - - 2216.62 - 77.86 - - 2163.28 - - - - - - - - - - -
14434.21 723.82 7.21 1623 14435.54 VBD 1.31 - - 2446.94 - - - 2216.44 - 77.86 - - 2161.81 - - - - - - - - - - -
14734.25 704.35 6.73 1653 14735.58 VBD 1.35 - - 2448.06 - - - 2216.81 - 77.86 - - 2162.28 - - - - - - - - - - -
15034.28 685.38 6.53 1683 15035.75 1.39 0.19 0.087 2484.75 193.1 - - 2216.69 - 77.86 - - 2161.62 - - - - - - - - 15.69 - -
15334.30 663.48 7.82 1713 15335.64 VBD 1.39 - - 2485.44 - - - 2217.25 - 77.86 - - 2160.94 - - - - - - - - - - -
15634.35 641.24 7.38 1743 15635.68 VBD 1.41 - - 2485.19 - - - 2216.88 - 77.86 - - 2160.31 - - - - - - - - - - -
15934.38 619.22 7.31 1773 15935.72 VBD 1.43 - - 2485.12 - - - 2216.38 - 77.86 - - 2160.31 - - - - - - - - - - -
16234.42 598.19 6.73 1803 16235.75 VBD 1.47 - - 2485.19 - - - 2217.19 - 77.86 - - 2160.16 - - - - - - - - - - -
16534.45 577.39 6.91 1833 16540.33 done 1.51 - - 2485.19 - 4.32 0.139 736.81 -342.7 77.86 - - 2160.22 - - - - - - - - - 15.32 -
16629.46 569.74 8.39 1852 16635.11 done 1.51 - - 2485.56 - 3.75 0.057 2219.31 395.3 77.86 - - 2159.06 - - - - - - - - - 15.62 -
16934.52 549.21 6.54 1883 16935.99 1.55 0.19 0.085 2524.19 203.3 - - 2218.44 - 77.86 - - 2160.66 - - - - - - - - 15.68 - -
17234.53 527.82 7.72 1913 17235.86 VBD 1.55 - - 2524.94 - - - 2218.75 - 77.86 - - 2159.69 - - - - - - - - - - -
17534.58 507.78 6.77 1943 17540.31 done 1.59 - - 2525.25 - 4.30 0.135 737.19 -344.5 77.86 - - 2159.12 - - - - - - - - - 15.31 -
17653.45 498.91 6.97 1967 17660.39 done 1.62 - - 2525.12 - 3.76 0.057 2219.12 394.1 77.86 - - 2159.53 - - - - - - - - - 15.59 -
17959.65 480.49 5.74 1998 17990.33 1.72 0.20 0.080 2567.62 212.5 - - 2219.25 - 110.84 28.21 1.643 2047.62 -4.0 0.202 - - - - - - 15.70 - 11.29
18289.70 450.05 9.64 2031 18291.03 no move 1.72 - - 2567.81 - - - 2219.50 - 110.84 - - 2042.31 - - - - - - - - - - -
18589.75 420.10 9.22 2061 18591.08 no move 1.72 - - 2567.75 - - - 2219.56 - 110.84 - - 2041.69 - - - - - - - - - - -
18889.81 391.28 9.53 2091 18891.14 no move 1.72 - - 2567.31 - - - 2219.19 - 110.84 - - 2040.31 - - - - - - - - - - -
19189.88 363.63 8.89 2121 19195.60 roll 1.72 - - 2567.00 - 4.27 0.132 736.25 -347.3 110.84 - - 2040.28 - - - - - - - - - 15.35 -
19394.99 342.36 10.34 2162 19400.74 roll 1.72 - - 2566.88 - 3.79 0.059 2220.25 391.6 110.84 - - 2038.50 - - - - - - - - - 15.59 -
19700.03 316.04 8.23 2193 19701.36 no move 1.72 - - 2566.50 - - - 2220.50 - 110.84 - - 2039.34 - - - - - - - - - - -
20000.08 292.10 8.51 2223 20001.41 no move 1.72 - - 2566.81 - - - 2221.06 - 110.84 - - 2039.53 - - - - - - - - - - -
20300.12 268.15 7.99 2253 20305.73 roll 1.72 - - 2567.31 - 3.57 0.118 3474.56 351.1 110.84 - - 2038.94 - - - - - - - - - 15.39 -
20495.19 249.18 10.02 2292 20499.73 done 1.72 - - 2567.12 - 3.25 0.057 2179.44 -398.5 110.84 - - 2040.56 - - - - - - - - - 15.59 -
20805.24 224.70 7.53 2324 20811.00 done 1.74 - - 2566.81 - 4.14 0.131 736.06 -348.6 110.84 - - 2039.31 - - - - - - - - - 15.35 -
20940.25 213.45 9.09 2351 20945.89 done 1.74 - - 2567.31 - 3.73 0.055 2220.88 398.1 110.84 - - 2038.81 - - - - - - - - - 15.65 -
21245.33 189.59 7.89 2382 21251.15 done 1.74 - - 2568.06 - 4.23 0.126 736.06 -351.0 110.84 - - 2037.69 - - - - - - - - - 15.35 -
21400.33 175.25 9.33 2413 21405.97 done 1.74 - - 2567.12 - 3.72 0.054 2222.38 399.5 110.84 - - 2038.53 - - - - - - - - - 15.63 -
21705.38 152.82 6.99 2444 21706.71 VBD 1.77 - - 2567.50 - - - 2222.00 - 110.84 - - 2039.50 - - - - - - - - - - -
22005.40 131.23 6.50 2474 22006.74 VBD 1.82 - - 2567.31 - - - 2222.56 - 110.84 - - 2038.56 - - - - - - - - - - -
22305.44 113.77 5.29 2504 22347.14 1.93 0.27 0.073 2618.81 190.7 4.20 0.126 734.81 -354.2 150.26 34.21 1.222 1885.38 -4.5 0.073 - - - - - - 15.67 15.51 11.40
22349.28 111.09 5.55 2511 22386.85 done 2.04 - - 2617.69 - 3.70 0.051 2224.38 402.6 185.90 31.62 1.191 1743.06 -4.5 0.073 - - - - - - - 15.60 12.29
22685.51 73.28 9.46 2570 22686.84 no move 2.04 - - 2618.94 - - - 2224.06 - 185.90 - - 1733.06 - - - - - - - - - - -
22865.54 57.94 6.71 2606 22872.06 2.08 0.17 0.085 2654.75 210.6 3.58 0.113 3473.81 349.1 185.90 - - 1733.38 - - - - - - - - 15.55 15.40 -
23035.60 61.17 -3.69 2640 23179.21 2.58 0.77 0.064 2772.69 153.2 3.24 0.052 2174.88 -400.9 353.58 136.64 1.172 1058.47 -4.9 0.045 - - - - - - 15.38 15.59 11.83
23357.02 14.63 22.80 2704 23362.88 roll 2.58 - - 2772.75 - 4.19 0.128 736.00 -343.4 353.58 - - 1052.78 - - - - - - - - - 15.28 -
23407 end climb: SURFACE_DEPTH_REACHED
23407 begin surface coast
23411 end surface coast: CONTROL_FINISHED_OK
23412 begin surface
SM 0.92 - - - - 175.3 - 0.016 767.9 - 18.19 0.062 768.2 42.2 - 3.52 0.053 767.6 216.9 -0.385 - - 30.36 15.44 15.47 -