NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 589 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 175.68 of 575.00 AH used of 24V (69.45% remains)
• Surface angle -58.6 deg, depth 0.54 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 23 s
• GPS2 time: 2 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
7.32 - - - 86.89 VBD -1.25 - - 175.25 - - - 2118.81 - -77.86 78.96 0.005 2474.88 - - - - - - - - - - 14.99
87.16 3.10 -3.43 15 119.12 -1.25 14.80 0.257 1835.94 112.2 3.83 0.112 3474.38 353.9 -77.86 9.06 0.007 2818.03 37.9 -2.937 - - - - - - 15.16 14.97 15.12
291.99 43.11 -18.83 56 297.72 roll -1.25 - - 1836.44 - 3.56 0.059 2083.88 -390.6 -77.86 - - 2818.62 - - - - - - - - - 15.52 -
477.01 69.88 -11.59 93 478.34 no move -1.25 - - 1836.00 - - - 2084.00 - -77.86 - - 2816.72 - - - - - - - - - - -
657.08 90.58 -10.65 129 658.41 no move -1.25 - - 1836.00 - - - 2084.12 - -77.86 - - 2817.19 - - - - - - - - - - -
842.10 111.51 -10.64 156 847.86 roll -1.25 - - 1836.50 - 3.90 0.107 3474.31 356.5 -77.86 - - 2815.50 - - - - - - - - - 15.52 -
897.14 117.62 -10.71 167 901.86 roll -1.25 - - 1835.25 - 3.51 0.055 2080.56 -397.1 -77.86 - - 2819.31 - - - - - - - - - 15.62 -
1207.16 147.31 -9.70 199 1212.91 roll -1.25 - - 1836.00 - 3.90 0.107 3474.81 357.5 -77.86 - - 2816.78 - - - - - - - - - 15.54 -
1246.09 151.53 -11.00 207 1252.91 roll -1.25 - - 1835.88 - 3.49 0.055 2082.25 -399.0 -77.86 - - 2818.16 - - - - - - - - - 15.63 -
1552.20 182.29 -9.54 238 1553.53 no move -1.25 - - 1836.12 - - - 2082.56 - -77.86 - - 2817.16 - - - - - - - - - - -
1852.22 211.42 -9.49 268 1853.55 no move -1.25 - - 1835.94 - - - 2082.19 - -77.86 - - 2816.75 - - - - - - - - - - -
2152.27 241.39 -10.00 298 2153.59 no move -1.25 - - 1835.81 - - - 2082.12 - -77.86 - - 2817.25 - - - - - - - - - - -
2452.29 271.34 -10.19 328 2453.62 no move -1.25 - - 1836.38 - - - 2082.31 - -77.86 - - 2815.34 - - - - - - - - - - -
2752.32 298.98 -8.78 358 2753.65 no move -1.25 - - 1835.62 - - - 2082.44 - -77.86 - - 2817.00 - - - - - - - - - - -
3052.36 326.48 -9.74 388 3053.68 no move -1.25 - - 1836.19 - - - 2082.06 - -77.86 - - 2817.22 - - - - - - - - - - -
3352.39 354.43 -9.29 418 3353.72 no move -1.25 - - 1836.12 - - - 2082.56 - -77.86 - - 2815.59 - - - - - - - - - - -
3652.42 383.96 -9.47 448 3653.75 no move -1.25 - - 1835.56 - - - 2083.00 - -77.86 - - 2817.31 - - - - - - - - - - -
3952.45 412.84 -10.11 478 3953.78 no move -1.25 - - 1836.44 - - - 2082.88 - -77.86 - - 2815.47 - - - - - - - - - - -
4252.58 442.64 -9.67 508 4258.26 roll -1.25 - - 1836.56 - 3.98 0.117 3473.75 349.5 -77.86 - - 2815.38 - - - - - - - - - 15.50 -
4301.44 447.95 -10.33 518 4308.27 roll -1.25 - - 1836.12 - 3.54 0.060 2082.56 -393.0 -77.86 - - 2817.69 - - - - - - - - - 15.62 -
4607.54 477.11 -9.22 549 4608.87 no move -1.25 - - 1835.69 - - - 2082.44 - -77.86 - - 2816.72 - - - - - - - - - - -
4907.58 503.58 -8.80 579 4908.91 no move -1.25 - - 1836.75 - - - 2082.81 - -77.86 - - 2815.06 - - - - - - - - - - -
5207.64 528.85 -8.10 609 5208.97 no move -1.25 - - 1836.12 - - - 2082.75 - -77.86 - - 2816.47 - - - - - - - - - - -
5507.70 552.56 -8.28 639 5509.03 no move -1.25 - - 1836.19 - - - 2082.75 - -77.86 - - 2816.22 - - - - - - - - - - -
5807.77 575.64 -7.01 669 5809.09 no move -1.25 - - 1836.00 - - - 2081.94 - -77.86 - - 2815.72 - - - - - - - - - - -
6107.83 598.46 -7.23 699 6113.58 roll -1.25 - - 1836.06 - 3.99 0.118 3473.62 348.8 -77.86 - - 2815.12 - - - - - - - - - 15.45 -
6172.87 604.03 -8.43 712 6177.52 roll -1.25 - - 1836.12 - 3.52 0.063 2085.81 -394.3 -77.86 - - 2814.97 - - - - - - - - - 15.58 -
6482.92 628.96 -6.98 744 6484.25 no move -1.25 - - 1836.31 - - - 2085.19 - -77.86 - - 2814.59 - - - - - - - - - - -
6782.98 604.72 -9.33 774 6784.31 no move -1.25 - - 1836.06 - - - 2085.56 - -77.86 - - 2814.59 - - - - - - - - - - -
7083.04 629.19 -8.70 804 7084.37 no move -1.25 - - 1835.00 - - - 2085.31 - -77.86 - - 2816.72 - - - - - - - - - - -
7383.09 652.82 -7.61 834 7384.42 no move -1.25 - - 1836.19 - - - 2085.44 - -77.86 - - 2812.59 - - - - - - - - - - -
7683.12 674.88 -7.87 864 7684.45 no move -1.25 - - 1836.31 - - - 2085.44 - -77.86 - - 2813.09 - - - - - - - - - - -
7983.15 673.47 -6.80 894 7988.92 roll -1.25 - - 1834.94 - 4.04 0.123 3471.44 343.1 -77.86 - - 2815.91 - - - - - - - - - 15.40 -
8028.18 674.36 -6.26 903 8033.85 roll -1.25 - - 1836.56 - 3.58 0.065 2084.31 -387.5 -77.86 - - 2813.31 - - - - - - - - - 15.53 -
8333.21 701.93 -6.39 934 8334.53 no move -1.25 - - 1835.69 - - - 2084.94 - -77.86 - - 2813.56 - - - - - - - - - - -
8633.25 726.12 -5.95 964 8634.58 no move -1.25 - - 1835.38 - - - 2084.56 - -77.86 - - 2813.44 - - - - - - - - - - -
8933.27 745.76 -7.17 994 8934.60 no move -1.25 - - 1836.00 - - - 2084.81 - -77.86 - - 2812.53 - - - - - - - - - - -
9233.32 586.68 89.27 1024 9234.65 no move -1.25 - - 1835.62 - - - 2084.50 - -77.86 - - 2812.34 - - - - - - - - - - -
9533.36 644.19 -3.60 1054 9534.69 no move -1.25 - - 1836.62 - - - 2084.94 - -77.86 - - 2811.00 - - - - - - - - - - -
9833.39 655.03 -4.73 1084 9834.72 no move -1.25 - - 1836.88 - - - 2084.75 - -77.86 - - 2810.59 - - - - - - - - - - -
10133.42 906.95 -7.42 1114 10139.19 roll -1.25 - - 1836.12 - 4.07 0.126 3472.44 341.0 -77.86 - - 2811.56 - - - - - - - - - 15.35 -
10178.44 910.60 -6.76 1123 10184.13 roll -1.25 - - 1835.31 - 3.63 0.069 2085.94 -382.0 -77.86 - - 2811.81 - - - - - - - - - 15.47 -
10483.46 934.02 -6.68 1154 10484.79 no move -1.25 - - 1836.06 - - - 2086.00 - -77.86 - - 2810.03 - - - - - - - - - - -
10783.49 957.63 -7.09 1184 10784.82 no move -1.25 - - 1836.25 - - - 2085.88 - -77.86 - - 2809.94 - - - - - - - - - - -
11083.52 981.95 -9.47 1214 11084.86 no move -1.25 - - 1836.31 - - - 2086.00 - -77.86 - - 2809.75 - - - - - - - - - - -
11193 end dive: TARGET_DEPTH_EXCEEDED
11193 begin apogee
11194.81 990.34 -7.82 1225 11267.60 -0.25 1.88 0.145 2080.06 129.7 0.08 0.276 2187.12 1264.0 - 69.61 2.277 2496.81 -4.5 0.342 - - - - - - 15.38 14.98 10.97
11269 end apogee: CONTROL_FINISHED_OK
11269 begin climb
11269.81 990.97 - 1232 11350.73 1.25 2.68 0.087 2446.88 136.9 - - 2186.69 - 77.86 77.03 2.217 2180.19 -4.1 0.322 - - - - - - 15.08 - 12.08
11643.58 964.42 8.58 1270 11644.92 VBD 1.25 - - 2447.12 - - - 2186.69 - 77.86 - - 2170.16 - - - - - - - - - - -
11943.64 937.96 8.61 1300 11949.46 done 1.25 - - 2446.88 - 4.37 0.147 737.00 -331.7 77.86 - - 2167.69 - - - - - - - - - 15.33 -
12048.69 926.52 10.51 1321 12054.40 done 1.25 - - 2446.94 - 3.75 0.056 2215.50 394.3 77.86 - - 2166.50 - - - - - - - - - 15.56 -
12353.76 898.72 9.33 1352 12355.09 VBD 1.25 - - 2447.12 - - - 2216.38 - 77.86 - - 2165.44 - - - - - - - - - - -
12653.81 873.23 8.63 1382 12655.15 VBD 1.25 - - 2447.69 - - - 2216.69 - 77.86 - - 2164.56 - - - - - - - - - - -
12953.88 847.88 8.19 1412 12955.21 VBD 1.25 - - 2447.38 - - - 2216.81 - 77.86 - - 2164.31 - - - - - - - - - - -
13253.94 823.67 8.24 1442 13259.82 done 1.25 - - 2447.69 - 4.39 0.141 737.12 -337.1 77.86 - - 2162.47 - - - - - - - - - 15.37 -
13378.99 811.87 10.00 1467 13384.76 done 1.25 - - 2447.50 - 3.70 0.056 2218.12 400.3 77.86 - - 2164.72 - - - - - - - - - 15.61 -
13684.06 787.73 7.77 1498 13685.39 VBD 1.25 - - 2447.81 - - - 2218.81 - 77.86 - - 2161.91 - - - - - - - - - - -
13984.09 762.57 10.13 1528 13989.92 done 1.25 - - 2448.25 - 4.34 0.138 736.94 -341.4 77.86 - - 2162.00 - - - - - - - - - 15.36 -
14063.03 755.15 9.98 1544 14069.91 done 1.25 - - 2446.19 - 3.71 0.055 2218.88 399.4 77.86 - - 2164.47 - - - - - - - - - 15.63 -
14369.16 729.03 8.12 1575 14370.49 VBD 1.25 - - 2447.44 - - - 2218.06 - 77.86 - - 2160.25 - - - - - - - - - - -
14669.22 705.52 6.52 1605 14670.55 VBD 1.30 - - 2447.69 - - - 2218.38 - 77.86 - - 2160.81 - - - - - - - - - - -
14969.23 683.02 6.98 1635 14970.56 VBD 1.33 - - 2447.75 - - - 2218.19 - 77.86 - - 2161.81 - - - - - - - - - - -
15269.26 661.30 7.46 1665 15270.59 VBD 1.35 - - 2446.94 - - - 2218.38 - 77.86 - - 2160.34 - - - - - - - - - - -
15569.29 639.62 6.68 1695 15574.96 1.39 0.19 0.089 2484.88 199.7 3.68 0.123 3473.62 341.1 77.86 - - 2162.12 - - - - - - - - 15.68 15.38 -
15648.13 633.05 8.10 1711 15655.01 done 1.39 - - 2485.81 - 3.32 0.059 2182.81 -388.8 77.86 - - 2162.31 - - - - - - - - - 15.59 -
15954.34 610.62 6.19 1742 15955.68 VBD 1.45 - - 2486.06 - - - 2183.25 - 77.86 - - 2160.06 - - - - - - - - - - -
16254.37 589.10 7.20 1772 16255.70 VBD 1.47 - - 2485.81 - - - 2183.44 - 77.86 - - 2160.31 - - - - - - - - - - -
16554.41 569.31 6.44 1802 16560.19 done 1.52 - - 2486.94 - 4.28 0.136 737.88 -337.7 77.86 - - 2160.31 - - - - - - - - - 15.31 -
16653.32 561.25 7.88 1822 16660.20 done 1.52 - - 2486.19 - 3.72 0.053 2219.94 398.4 77.86 - - 2160.84 - - - - - - - - - 15.59 -
16959.51 540.98 6.45 1853 16965.58 1.57 0.21 0.081 2528.50 201.5 4.36 0.131 737.06 -340.1 77.86 - - 2158.72 - - - - - - - - 15.70 15.32 -
17068.39 531.63 8.20 1875 17075.26 done 1.57 - - 2528.56 - 3.72 0.052 2219.12 398.4 77.86 - - 2159.62 - - - - - - - - - 15.60 -
17374.53 511.40 6.79 1906 17375.86 VBD 1.60 - - 2529.44 - - - 2219.44 - 77.86 - - 2158.69 - - - - - - - - - - -
17674.55 493.71 6.20 1936 17680.36 done 1.66 - - 2529.44 - 4.32 0.129 737.94 -342.9 77.86 - - 2158.75 - - - - - - - - - 15.29 -
17783.41 486.16 6.78 1958 17790.34 done 1.70 - - 2528.25 - 3.70 0.051 2220.25 400.6 77.86 - - 2158.62 - - - - - - - - - 15.60 -
18089.65 468.17 5.76 1989 18120.32 1.80 0.30 0.073 2584.31 186.9 - - 2220.50 - 110.57 28.08 1.626 2047.25 -4.0 0.200 - - - - - - 15.69 - 11.42
18419.69 436.83 10.58 2023 18425.42 roll 1.80 - - 2583.38 - 4.36 0.130 737.12 -340.2 110.57 - - 2041.53 - - - - - - - - - 15.32 -
18518.62 424.94 11.85 2043 18525.65 roll 1.80 - - 2583.81 - 3.72 0.052 2219.88 398.6 110.57 - - 2042.22 - - - - - - - - - 15.55 -
18824.79 395.80 8.97 2074 18826.12 no move 1.80 - - 2583.94 - - - 2220.44 - 110.57 - - 2041.00 - - - - - - - - - - -
19124.84 367.89 9.26 2104 19130.56 roll 1.80 - - 2583.50 - 4.29 0.127 736.44 -345.9 110.57 - - 2041.25 - - - - - - - - - 15.34 -
19180.07 362.46 10.84 2115 19185.65 roll 1.80 - - 2584.31 - 3.72 0.051 2222.12 399.4 110.57 - - 2040.88 - - - - - - - - - 15.60 -
19484.94 335.38 8.11 2146 19490.72 roll 1.80 - - 2583.94 - 4.28 0.126 736.19 -347.2 110.57 - - 2040.12 - - - - - - - - - 15.35 -
19609.98 322.07 11.58 2171 19615.74 done 1.80 - - 2582.12 - 3.68 0.052 2220.62 403.4 110.57 - - 2043.50 - - - - - - - - - 15.62 -
19915.04 295.21 8.82 2202 19916.37 VBD 1.80 - - 2583.38 - - - 2220.38 - 110.57 - - 2041.28 - - - - - - - - - - -
20215.09 271.95 7.17 2232 20216.42 VBD 1.82 - - 2583.81 - - - 2220.56 - 110.57 - - 2039.78 - - - - - - - - - - -
20515.12 248.91 8.38 2262 20520.91 done 1.82 - - 2584.44 - 4.28 0.126 737.19 -346.6 110.57 - - 2040.84 - - - - - - - - - 15.32 -
20744.16 226.31 9.75 2308 20750.96 done 1.82 - - 2584.44 - 3.68 0.050 2222.62 403.6 110.57 - - 2041.12 - - - - - - - - - 15.60 -
21050.22 202.00 7.68 2339 21056.01 done 1.82 - - 2584.38 - 4.29 0.121 735.06 -346.8 110.57 - - 2039.84 - - - - - - - - - 15.35 -
21189.16 189.98 8.42 2367 21196.03 done 1.82 - - 2584.44 - 3.71 0.050 2220.94 400.5 110.57 - - 2040.94 - - - - - - - - - 15.59 -
21495.30 168.57 6.95 2398 21496.63 VBD 1.86 - - 2583.56 - - - 2220.50 - 110.57 - - 2040.78 - - - - - - - - - - -
21795.33 146.57 7.39 2428 21801.11 done 1.87 - - 2584.00 - 4.29 0.122 737.12 -345.8 110.57 - - 2039.31 - - - - - - - - - 15.33 -
22024.41 128.33 7.65 2474 22031.16 done 1.87 - - 2584.06 - 3.71 0.049 2221.81 400.2 110.57 - - 2041.34 - - - - - - - - - 15.60 -
22330.42 107.78 5.52 2505 22363.58 1.98 0.23 0.076 2628.81 194.6 - - 2222.00 - 146.67 31.61 1.212 1899.91 -4.5 0.070 - - - - - - 15.66 - 11.42
22660.47 83.15 6.00 2560 22692.91 done 2.07 - - 2629.06 - 4.26 0.123 735.75 -348.9 175.88 26.23 1.151 1781.12 -4.5 0.057 - - - - - - - 15.44 11.90
22880.76 63.36 7.50 2604 22886.67 roll 2.09 - - 2629.69 - 3.75 0.048 2224.12 396.9 175.88 - - 1778.50 - - - - - - - - - 15.54 -
23065.84 61.66 0.56 2641 23163.63 2.41 0.64 0.057 2731.56 159.2 3.66 0.111 3472.25 341.0 282.74 89.21 1.154 1346.62 -4.8 0.045 - - - - - - 15.55 15.12 11.79
23196.41 54.22 10.45 2667 23202.11 roll 2.41 - - 2731.62 - 3.32 0.049 2178.00 -389.8 282.74 - - 1343.47 - - - - - - - - - 15.27 -
23381.44 28.71 14.90 2704 23382.77 no move 2.41 - - 2732.12 - - - 2178.31 - 282.74 - - 1340.53 - - - - - - - - - - -
23556 end climb: SURFACE_DEPTH_REACHED
23556 begin surface coast
23566 end surface coast: CONTROL_FINISHED_OK
23566 begin surface
SM 0.40 - - - - 174.2 - 0.019 768.3 - 18.07 0.082 767.4 42.5 - 0.22 0.099 769.2 3496.4 -1.444 - - 30.36 15.32 15.55 -