NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 594 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 177.23 of 575.00 AH used of 24V (69.18% remains)
• Surface angle -62.6 deg, depth 0.81 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.68 (SM_CC=425)
• GPS1 time: 21 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
7.42 - - - 87.05 VBD -1.25 - - 175.44 - - - 2115.69 - -77.86 79.01 0.005 2496.47 - - - - - - - - - - 15.04
87.32 3.23 -3.62 15 119.28 -1.25 14.91 0.261 1836.81 111.4 3.98 0.117 3471.88 340.8 -77.86 8.03 0.008 2818.31 40.1 -2.837 - - - - - - 15.14 14.98 15.11
292.27 43.42 -19.45 56 297.92 roll -1.25 - - 1836.81 - 3.58 0.063 2084.12 -387.6 -77.86 - - 2816.69 - - - - - - - - - 15.50 -
477.20 72.95 -12.05 93 483.03 roll -1.25 - - 1836.62 - 3.96 0.108 3471.56 350.4 -77.86 - - 2816.81 - - - - - - - - - 15.45 -
547.28 82.04 -12.49 107 552.98 roll -1.25 - - 1837.12 - 3.52 0.059 2082.19 -394.7 -77.86 - - 2817.16 - - - - - - - - - 15.56 -
732.25 104.88 -11.82 140 737.99 roll -1.25 - - 1836.31 - 3.95 0.108 3474.75 352.5 -77.86 - - 2818.72 - - - - - - - - - 15.48 -
867.28 120.01 -10.21 167 871.95 roll -1.25 - - 1837.25 - 3.52 0.058 2083.38 -395.3 -77.86 - - 2817.00 - - - - - - - - - 15.59 -
1177.31 147.90 -7.77 199 1178.64 no move -1.25 - - 1836.75 - - - 2083.38 - -77.86 - - 2816.91 - - - - - - - - - - -
1477.34 174.17 -8.48 229 1478.67 no move -1.25 - - 1836.75 - - - 2083.38 - -77.86 - - 2816.12 - - - - - - - - - - -
1777.38 202.71 -9.38 259 1778.70 no move -1.25 - - 1836.62 - - - 2082.81 - -77.86 - - 2817.28 - - - - - - - - - - -
2077.41 232.90 -9.67 289 2078.74 no move -1.25 - - 1836.50 - - - 2083.31 - -77.86 - - 2816.94 - - - - - - - - - - -
2377.44 264.14 -10.44 319 2378.77 no move -1.25 - - 1836.38 - - - 2083.38 - -77.86 - - 2816.97 - - - - - - - - - - -
2677.62 293.55 -10.08 349 2683.24 roll -1.25 - - 1837.12 - 4.03 0.114 3472.62 344.7 -77.86 - - 2818.56 - - - - - - - - - 15.50 -
2736.47 299.56 -10.86 361 2743.26 roll -1.25 - - 1836.94 - 3.53 0.062 2085.00 -393.1 -77.86 - - 2817.06 - - - - - - - - - 15.61 -
3042.53 327.52 -9.34 392 3043.86 no move -1.25 - - 1836.00 - - - 2084.25 - -77.86 - - 2816.94 - - - - - - - - - - -
3342.55 356.51 -9.30 422 3343.88 no move -1.25 - - 1836.56 - - - 2084.56 - -77.86 - - 2816.84 - - - - - - - - - - -
3642.59 384.95 -9.35 452 3648.36 roll -1.25 - - 1836.94 - 4.02 0.116 3474.19 345.7 -77.86 - - 2815.47 - - - - - - - - - 15.48 -
3697.62 390.63 -10.26 463 3702.28 roll -1.25 - - 1837.19 - 3.54 0.062 2083.75 -392.8 -77.86 - - 2817.03 - - - - - - - - - 15.60 -
4007.64 418.53 -8.75 495 4013.39 roll -1.25 - - 1836.38 - 4.00 0.116 3471.69 347.0 -77.86 - - 2818.53 - - - - - - - - - 15.48 -
4052.66 423.08 -10.26 504 4057.34 roll -1.25 - - 1837.00 - 3.52 0.061 2084.25 -394.2 -77.86 - - 2816.53 - - - - - - - - - 15.60 -
4362.71 451.17 -9.48 536 4364.04 no move -1.25 - - 1837.00 - - - 2083.38 - -77.86 - - 2816.16 - - - - - - - - - - -
4662.78 479.67 -9.21 566 4664.10 no move -1.25 - - 1836.94 - - - 2084.12 - -77.86 - - 2815.53 - - - - - - - - - - -
4962.84 508.40 -9.93 596 4968.60 roll -1.25 - - 1836.50 - 4.02 0.117 3474.06 345.8 -77.86 - - 2815.53 - - - - - - - - - 15.45 -
5007.87 513.34 -10.88 605 5012.53 roll -1.25 - - 1836.00 - 3.51 0.062 2085.50 -395.6 -77.86 - - 2818.50 - - - - - - - - - 15.58 -
5317.93 541.70 -9.08 637 5319.26 no move -1.25 - - 1836.81 - - - 2085.56 - -77.86 - - 2813.78 - - - - - - - - - - -
5617.99 567.69 -8.53 667 5619.31 no move -1.25 - - 1836.75 - - - 2085.38 - -77.86 - - 2814.62 - - - - - - - - - - -
5918.05 592.06 -6.91 697 5919.38 no move -1.25 - - 1836.75 - - - 2085.38 - -77.86 - - 2814.06 - - - - - - - - - - -
6218.11 616.16 -7.91 727 6223.90 roll -1.25 - - 1836.25 - 4.05 0.119 3472.69 342.5 -77.86 - - 2814.22 - - - - - - - - - 15.42 -
6273.15 621.35 -9.66 738 6278.81 roll -1.25 - - 1836.50 - 3.55 0.064 2085.94 -390.6 -77.86 - - 2813.84 - - - - - - - - - 15.54 -
6578.19 647.97 -9.79 769 6583.94 roll -1.25 - - 1836.00 - 4.01 0.118 3473.50 346.0 -77.86 - - 2814.84 - - - - - - - - - 15.41 -
6647.19 654.70 -9.43 783 6653.96 roll -1.25 - - 1837.00 - 3.51 0.063 2085.56 -395.4 -77.86 - - 2815.91 - - - - - - - - - 15.53 -
6953.24 682.56 -9.59 814 6954.56 no move -1.25 - - 1836.81 - - - 2085.50 - -77.86 - - 2813.44 - - - - - - - - - - -
7253.27 705.25 -9.21 844 7259.03 roll -1.25 - - 1835.62 - 4.02 0.120 3472.75 345.1 -77.86 - - 2815.94 - - - - - - - - - 15.39 -
7302.21 710.05 -10.29 854 7309.02 roll -1.25 - - 1836.81 - 3.49 0.064 2084.94 -397.7 -77.86 - - 2814.00 - - - - - - - - - 15.50 -
7608.31 736.75 -8.84 885 7609.63 no move -1.25 - - 1836.62 - - - 2084.94 - -77.86 - - 2813.16 - - - - - - - - - - -
7908.34 750.70 -7.84 915 7909.67 no move -1.25 - - 1837.00 - - - 2085.19 - -77.86 - - 2812.97 - - - - - - - - - - -
8208.37 773.26 -7.10 945 8209.70 no move -1.25 - - 1836.88 - - - 2084.44 - -77.86 - - 2812.69 - - - - - - - - - - -
8508.41 796.59 -7.04 975 8514.18 roll -1.25 - - 1836.75 - 4.05 0.124 3472.75 342.8 -77.86 - - 2813.09 - - - - - - - - - 15.35 -
8597.36 804.84 -8.66 993 8604.19 roll -1.25 - - 1836.56 - 3.55 0.068 2086.06 -390.6 -77.86 - - 2813.00 - - - - - - - - - 15.46 -
8903.46 827.85 -7.89 1024 8904.79 no move -1.25 - - 1836.88 - - - 2086.44 - -77.86 - - 2811.44 - - - - - - - - - - -
9203.49 863.28 -7.55 1054 9204.82 no move -1.25 - - 1836.69 - - - 2086.69 - -77.86 - - 2810.19 - - - - - - - - - - -
9503.52 885.13 -6.80 1084 9504.85 no move -1.25 - - 1836.12 - - - 2086.25 - -77.86 - - 2811.28 - - - - - - - - - - -
9803.56 897.94 -8.05 1114 9804.89 no move -1.25 - - 1837.00 - - - 2086.38 - -77.86 - - 2810.53 - - - - - - - - - - -
10103.59 919.33 -7.15 1144 10104.92 no move -1.25 - - 1836.62 - - - 2086.31 - -77.86 - - 2810.41 - - - - - - - - - - -
10403.62 940.91 -6.94 1174 10404.95 no move -1.25 - - 1836.19 - - - 2086.56 - -77.86 - - 2810.25 - - - - - - - - - - -
10703.67 962.38 -7.62 1204 10705.00 no move -1.25 - - 1836.44 - - - 2086.12 - -77.86 - - 2810.06 - - - - - - - - - - -
11003.74 984.35 -6.79 1234 11005.07 no move -1.25 - - 1836.38 - - - 2086.38 - -77.86 - - 2809.66 - - - - - - - - - - -
11083 end dive: TARGET_DEPTH_EXCEEDED
11083 begin apogee
11085.03 990.13 -5.89 1242 11157.65 -0.25 1.90 0.145 2078.12 127.2 0.08 0.298 2186.88 1256.2 - 69.21 2.295 2499.84 -4.5 0.339 - - - - - - 15.35 14.97 10.97
11159 end apogee: CONTROL_FINISHED_OK
11159 begin climb
11159.87 991.28 - 1249 11241.14 1.25 2.70 0.084 2447.00 136.6 - - 2186.00 - 77.86 77.07 2.236 2181.34 -4.1 0.321 - - - - - - 15.08 - 12.07
11533.95 964.59 8.07 1287 11535.28 VBD 1.25 - - 2448.06 - - - 2186.75 - 77.86 - - 2169.91 - - - - - - - - - - -
11834.01 939.31 8.70 1317 11839.82 done 1.25 - - 2447.50 - 4.32 0.151 737.12 -335.6 77.86 - - 2166.78 - - - - - - - - - 15.31 -
11959.06 927.40 9.23 1342 11964.83 done 1.25 - - 2445.94 - 3.77 0.057 2216.81 392.5 77.86 - - 2168.69 - - - - - - - - - 15.55 -
12264.13 900.70 8.92 1373 12269.94 done 1.25 - - 2448.25 - 4.38 0.145 738.38 -337.5 77.86 - - 2163.72 - - - - - - - - - 15.35 -
12339.15 893.46 10.65 1388 12344.91 done 1.25 - - 2447.25 - 3.69 0.056 2217.06 400.7 77.86 - - 2164.19 - - - - - - - - - 15.58 -
12644.21 867.06 8.73 1419 12649.95 done 1.25 - - 2447.75 - 3.64 0.131 3473.25 345.1 77.86 - - 2163.94 - - - - - - - - - 15.39 -
12719.21 859.81 9.32 1434 12723.76 done 1.25 - - 2447.94 - 3.27 0.065 2182.25 -394.8 77.86 - - 2165.25 - - - - - - - - - 15.57 -
13029.24 834.19 8.49 1466 13035.02 done 1.25 - - 2447.00 - 4.16 0.146 737.19 -347.4 77.86 - - 2163.41 - - - - - - - - - 15.35 -
13148.17 823.69 9.11 1490 13155.06 done 1.25 - - 2447.38 - 3.70 0.057 2216.75 399.9 77.86 - - 2164.28 - - - - - - - - - 15.58 -
13454.30 800.23 8.23 1521 13455.63 VBD 1.25 - - 2447.69 - - - 2216.62 - 77.86 - - 2163.25 - - - - - - - - - - -
13755.49 779.36 6.62 1551 13761.08 done 1.30 - - 2447.38 - 4.31 0.144 736.81 -343.3 77.86 - - 2161.19 - - - - - - - - - 15.33 -
13809.33 774.81 7.86 1562 13815.11 done 1.30 - - 2447.75 - 3.72 0.058 2218.31 398.3 77.86 - - 2161.66 - - - - - - - - - 15.60 -
14114.41 754.49 6.85 1593 14115.75 VBD 1.33 - - 2447.56 - - - 2217.88 - 77.86 - - 2160.88 - - - - - - - - - - -
14414.40 736.35 5.92 1623 14444.90 1.42 0.24 0.080 2494.00 193.5 - - 2217.62 - 108.22 26.54 1.944 2058.19 -3.9 0.257 - - - - - - 15.69 - 11.42
14744.43 708.61 9.27 1656 14745.76 no move 1.42 - - 2494.25 - - - 2217.44 - 108.22 - - 2052.44 - - - - - - - - - - -
15044.46 681.36 8.85 1686 15050.27 roll 1.42 - - 2493.12 - 4.34 0.143 737.00 -341.1 108.22 - - 2053.72 - - - - - - - - - 15.32 -
15149.49 669.86 10.43 1707 15155.13 roll 1.42 - - 2493.19 - 3.72 0.058 2218.38 398.2 108.22 - - 2049.97 - - - - - - - - - 15.58 -
15454.54 641.15 9.55 1738 15455.87 VBD 1.42 - - 2494.38 - - - 2218.44 - 108.22 - - 2049.75 - - - - - - - - - - -
15754.55 614.44 9.01 1768 15760.35 done 1.42 - - 2494.44 - 4.30 0.139 737.69 -344.4 108.22 - - 2048.75 - - - - - - - - - 15.33 -
15819.56 608.13 10.26 1781 15825.25 done 1.42 - - 2494.31 - 3.69 0.056 2217.50 401.0 108.22 - - 2049.53 - - - - - - - - - 15.60 -
16124.62 581.78 9.11 1812 16125.95 VBD 1.42 - - 2493.69 - - - 2217.12 - 108.22 - - 2049.62 - - - - - - - - - - -
16424.63 557.39 7.90 1842 16430.46 done 1.42 - - 2494.00 - 4.30 0.138 737.00 -344.2 108.22 - - 2047.97 - - - - - - - - - 15.32 -
16473.63 552.56 10.25 1852 16480.43 done 1.42 - - 2494.00 - 3.69 0.056 2219.31 401.7 108.22 - - 2050.19 - - - - - - - - - 15.61 -
16779.71 527.47 8.71 1883 16781.04 VBD 1.42 - - 2493.38 - - - 2219.31 - 108.22 - - 2049.16 - - - - - - - - - - -
17079.76 502.42 8.07 1913 17085.56 done 1.42 - - 2493.88 - 4.27 0.137 737.12 -347.1 108.22 - - 2047.66 - - - - - - - - - 15.31 -
17208.73 490.22 10.49 1939 17215.60 done 1.42 - - 2494.62 - 3.67 0.055 2219.56 403.9 108.22 - - 2048.50 - - - - - - - - - 15.59 -
17514.89 466.46 7.77 1970 17516.22 VBD 1.42 - - 2494.19 - - - 2219.56 - 108.22 - - 2048.25 - - - - - - - - - - -
17814.96 445.72 7.09 2000 17816.29 VBD 1.45 - - 2494.19 - - - 2219.25 - 108.22 - - 2047.31 - - - - - - - - - - -
18115.03 425.47 6.96 2030 18120.86 done 1.48 - - 2493.94 - 4.30 0.135 736.56 -344.8 108.22 - - 2047.84 - - - - - - - - - 15.31 -
18290.10 410.13 8.99 2065 18295.85 done 1.48 - - 2492.62 - 3.67 0.056 2219.25 404.0 108.22 - - 2048.59 - - - - - - - - - 15.59 -
18595.17 386.96 7.24 2096 18600.94 done 1.51 - - 2493.69 - 4.26 0.134 737.00 -347.9 108.22 - - 2048.38 - - - - - - - - - 15.30 -
18684.08 379.26 9.18 2114 18690.95 done 1.51 - - 2493.94 - 3.68 0.054 2219.94 403.0 108.22 - - 2048.84 - - - - - - - - - 15.60 -
18990.23 358.76 6.08 2145 18996.06 1.57 0.16 0.091 2528.75 217.6 4.27 0.131 737.06 -347.3 108.22 - - 2046.72 - - - - - - - - 15.69 15.31 -
19069.14 351.92 8.54 2161 19076.01 done 1.57 - - 2528.75 - 3.65 0.053 2221.62 406.7 108.22 - - 2048.19 - - - - - - - - - 15.59 -
19375.29 330.38 6.96 2192 19376.62 VBD 1.60 - - 2528.56 - - - 2221.38 - 108.22 - - 2047.94 - - - - - - - - - - -
19675.60 309.43 7.11 2222 19681.30 done 1.63 - - 2528.69 - 4.24 0.130 736.25 -350.3 108.22 - - 2046.47 - - - - - - - - - 15.29 -
19780.32 300.77 8.23 2243 19785.95 done 1.63 - - 2528.75 - 3.67 0.052 2221.44 404.7 108.22 - - 2049.28 - - - - - - - - - 15.59 -
20085.38 282.12 5.59 2274 20118.24 1.73 0.20 0.083 2567.38 193.2 - - 2222.38 - 143.35 31.67 1.444 1913.12 -4.3 0.147 - - - - - - 15.69 - 11.38
20415.40 252.39 8.94 2307 20421.19 roll 1.73 - - 2568.19 - 4.26 0.129 735.88 -348.9 143.35 - - 1907.28 - - - - - - - - - 15.31 -
20514.25 241.47 11.04 2327 20521.21 roll 1.73 - - 2568.88 - 3.71 0.053 2222.75 400.8 143.35 - - 1908.66 - - - - - - - - - 15.53 -
20820.46 212.20 9.19 2358 20821.78 no move 1.73 - - 2568.12 - - - 2222.50 - 143.35 - - 1907.31 - - - - - - - - - - -
21120.48 185.45 8.98 2388 21126.09 done 1.73 - - 2568.19 - 3.54 0.116 3471.31 352.8 143.35 - - 1905.78 - - - - - - - - - 15.35 -
21189.37 178.65 9.81 2402 21196.33 done 1.73 - - 2568.38 - 3.19 0.053 2178.44 -405.3 143.35 - - 1907.88 - - - - - - - - - 15.55 -
21495.52 153.18 7.85 2433 21501.31 done 1.73 - - 2568.25 - 4.16 0.131 736.25 -346.7 143.35 - - 1905.41 - - - - - - - - - 15.32 -
21550.61 148.21 8.90 2444 21556.30 done 1.73 - - 2568.88 - 3.69 0.050 2222.75 402.8 143.35 - - 1905.34 - - - - - - - - - 15.61 -
21855.57 122.97 8.77 2475 21861.36 done 1.73 - - 2568.19 - 4.24 0.125 737.00 -350.4 143.35 - - 1905.94 - - - - - - - - - 15.33 -
22040.63 105.73 8.41 2512 22046.25 done 1.73 - - 2569.00 - 3.67 0.050 2224.19 405.2 143.35 - - 1905.66 - - - - - - - - - 15.63 -
22345.71 86.68 5.41 2565 22386.74 done 1.85 - - 2568.75 - 4.20 0.126 735.94 -354.3 181.08 32.64 1.201 1760.88 -4.4 0.056 - - - - - - - 15.49 11.62
22390.81 83.97 5.77 2574 22427.30 1.94 0.28 0.072 2618.81 178.8 3.67 0.047 2224.88 405.7 213.67 29.25 1.159 1628.38 -4.5 0.058 - - - - - - 15.51 15.58 12.44
22605.79 65.99 6.57 2617 22611.65 roll 1.99 - - 2619.44 - 4.28 0.123 736.31 -347.8 213.67 - - 1622.41 - - - - - - - - - 15.31 -
22835.88 55.52 4.31 2663 22887.69 2.15 0.28 0.070 2668.38 174.8 3.69 0.047 2225.88 403.7 267.09 45.88 1.148 1412.31 -4.6 0.039 - - - - - - 15.36 15.55 11.78
23065.95 35.24 11.48 2709 23071.82 roll 2.15 - - 2670.00 - 4.26 0.123 734.88 -350.0 267.09 - - 1406.34 - - - - - - - - - 15.32 -
23296.03 3.11 14.16 2755 23301.98 roll 2.15 - - 2670.00 - 3.71 0.052 2220.81 400.5 267.09 - - 1404.50 - - - - - - - - - 15.55 -
23305 end climb: SURFACE_DEPTH_REACHED
23305 begin surface coast
23320 end surface coast: CONTROL_FINISHED_OK
23320 begin surface
SM -0.16 - - - - 176.6 0.09 0.213 768.8 8542.2 17.89 0.090 766.8 42.9 - 0.34 0.085 770.8 2256.1 0.434 - - 15.05 15.39 15.58 -