NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 517 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 154.79 of 575.00 AH used of 24V (73.08% remains)
• Surface angle -63.1 deg, depth 0.88 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.84 (SM_CC=425)
• GPS1 time: 22 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
7.25 - - - 86.35 VBD -1.25 - - 173.88 - - - 2116.56 - -77.86 78.47 0.005 2512.34 - - - - - - - - - - 15.14
86.62 3.34 -3.71 15 118.53 -1.25 14.51 0.256 1834.75 114.5 4.14 0.153 664.12 -350.8 -77.86 7.66 0.008 2818.09 39.9 -2.897 - - - - - - 15.33 15.15 15.24
296.32 51.86 -23.89 57 302.11 roll -1.25 - - 1835.25 - 3.55 0.051 2119.62 410.0 -77.86 - - 2815.91 - - - - - - - - - 15.61 -
481.37 86.00 -13.42 94 487.15 roll -1.25 - - 1835.56 - 3.62 0.108 3474.38 374.2 -77.86 - - 2816.25 - - - - - - - - - 15.63 -
675.25 111.77 -11.20 133 682.12 roll -1.25 - - 1835.88 - 3.37 0.054 2080.38 -413.6 -77.86 - - 2816.94 - - - - - - - - - 15.72 -
981.43 141.66 -9.85 164 987.25 roll -1.25 - - 1835.81 - 3.94 0.149 662.19 -359.9 -77.86 - - 2815.03 - - - - - - - - - 15.64 -
1056.52 150.10 -11.55 179 1061.11 roll -1.25 - - 1834.88 - 3.48 0.048 2119.88 418.9 -77.86 - - 2819.09 - - - - - - - - - 15.75 -
1366.48 179.36 -9.44 211 1372.32 roll -1.25 - - 1835.62 - 4.02 0.145 663.12 -362.4 -77.86 - - 2815.78 - - - - - - - - - 15.66 -
1431.57 186.85 -11.90 224 1437.09 roll -1.25 - - 1834.94 - 3.46 0.048 2123.50 422.1 -77.86 - - 2818.81 - - - - - - - - - 15.79 -
1736.53 220.33 -11.09 255 1742.38 roll -1.25 - - 1835.81 - 4.05 0.148 662.12 -360.8 -77.86 - - 2815.22 - - - - - - - - - 15.67 -
1761.55 223.36 -11.69 260 1766.19 roll -1.25 - - 1836.12 - 3.46 0.049 2122.50 422.1 -77.86 - - 2817.44 - - - - - - - - - 15.80 -
2071.57 257.75 -10.29 292 2077.17 roll -1.25 - - 1835.62 - 3.56 0.111 3474.69 379.8 -77.86 - - 2816.44 - - - - - - - - - 15.75 -
2100.43 261.24 -10.85 298 2107.30 roll -1.25 - - 1836.12 - 3.33 0.055 2078.81 -419.2 -77.86 - - 2816.72 - - - - - - - - - 15.82 -
2406.60 291.54 -9.45 329 2412.43 roll -1.25 - - 1835.44 - 3.91 0.149 663.12 -362.1 -77.86 - - 2815.50 - - - - - - - - - 15.68 -
2495.53 301.89 -11.71 347 2502.37 roll -1.25 - - 1835.50 - 3.46 0.049 2122.44 421.8 -77.86 - - 2818.91 - - - - - - - - - 15.82 -
2801.67 329.96 -9.17 378 2806.42 roll -1.25 - - 1835.75 - 3.58 0.112 3473.94 377.5 -77.86 - - 2819.12 - - - - - - - - - 15.75 -
2855.54 335.44 -9.55 389 2862.42 roll -1.25 - - 1835.44 - 3.34 0.056 2081.56 -416.9 -77.86 - - 2816.78 - - - - - - - - - 15.82 -
3161.76 363.47 -9.04 420 3163.09 no move -1.25 - - 1835.69 - - - 2081.38 - -77.86 - - 2817.00 - - - - - - - - - - -
3461.84 391.28 -9.19 450 3463.16 no move -1.25 - - 1835.88 - - - 2081.62 - -77.86 - - 2815.81 - - - - - - - - - - -
3761.90 418.27 -8.36 480 3763.23 no move -1.25 - - 1835.81 - - - 2081.56 - -77.86 - - 2816.50 - - - - - - - - - - -
4061.98 443.21 -7.67 510 4067.80 roll -1.25 - - 1834.94 - 3.98 0.156 663.00 -356.4 -77.86 - - 2817.94 - - - - - - - - - 15.67 -
4117.01 448.59 -9.92 521 4122.59 roll -1.25 - - 1834.75 - 3.48 0.052 2118.69 418.3 -77.86 - - 2818.38 - - - - - - - - - 15.84 -
4422.06 476.93 -9.44 552 4427.82 roll -1.25 - - 1835.50 - 3.62 0.117 3476.12 375.0 -77.86 - - 2815.94 - - - - - - - - - 15.74 -
4470.94 481.88 -10.16 562 4477.82 roll -1.25 - - 1835.81 - 3.36 0.060 2080.75 -415.3 -77.86 - - 2816.22 - - - - - - - - - 15.82 -
4777.15 510.64 -8.73 593 4782.80 roll -1.25 - - 1835.62 - 3.70 0.115 3473.94 376.5 -77.86 - - 2814.03 - - - - - - - - - 15.73 -
4822.17 515.17 -10.46 602 4826.74 roll -1.25 - - 1835.94 - 3.37 0.062 2082.44 -412.9 -77.86 - - 2817.41 - - - - - - - - - 15.82 -
5132.20 541.42 -7.97 634 5133.53 no move -1.25 - - 1835.94 - - - 2082.50 - -77.86 - - 2814.72 - - - - - - - - - - -
5432.22 564.66 -6.89 664 5438.01 roll -1.25 - - 1835.62 - 3.76 0.117 3474.31 370.2 -77.86 - - 2812.38 - - - - - - - - - 15.73 -
5487.27 569.62 -8.80 675 5491.96 roll -1.25 - - 1835.69 - 3.38 0.060 2083.06 -411.6 -77.86 - - 2814.66 - - - - - - - - - 15.81 -
5797.28 594.85 -8.73 707 5798.61 no move -1.25 - - 1835.81 - - - 2082.88 - -77.86 - - 2814.50 - - - - - - - - - - -
6097.31 619.40 -7.96 737 6098.64 no move -1.25 - - 1835.88 - - - 2083.00 - -77.86 - - 2814.00 - - - - - - - - - - -
6397.35 644.96 -9.83 767 6398.68 no move -1.25 - - 1835.50 - - - 2082.62 - -77.86 - - 2813.59 - - - - - - - - - - -
6697.38 671.99 -8.76 797 6703.17 roll -1.25 - - 1835.88 - 3.77 0.119 3474.62 369.2 -77.86 - - 2814.66 - - - - - - - - - 15.71 -
6756.25 677.88 -9.45 809 6763.11 roll -1.25 - - 1835.38 - 3.39 0.063 2084.00 -410.2 -77.86 - - 2814.12 - - - - - - - - - 15.78 -
7062.50 703.72 -8.17 840 7063.83 no move -1.25 - - 1835.62 - - - 2084.50 - -77.86 - - 2812.84 - - - - - - - - - - -
7362.46 727.05 -7.47 870 7363.79 no move -1.25 - - 1835.94 - - - 2084.06 - -77.86 - - 2812.53 - - - - - - - - - - -
7662.49 749.27 -7.18 900 7668.33 roll -1.25 - - 1835.75 - 4.07 0.167 662.81 -349.2 -77.86 - - 2809.91 - - - - - - - - - 15.60 -
7747.50 757.14 -8.74 917 7753.12 roll -1.25 - - 1835.44 - 3.51 0.057 2118.19 414.6 -77.86 - - 2813.53 - - - - - - - - - 15.83 -
8052.54 779.55 -7.71 948 8058.31 roll -1.25 - - 1836.12 - 3.68 0.122 3473.44 368.3 -77.86 - - 2810.72 - - - - - - - - - 15.70 -
8137.70 785.70 -8.69 965 8143.14 roll -1.25 - - 1835.81 - 3.40 0.064 2084.19 -408.6 -77.86 - - 2813.28 - - - - - - - - - 15.77 -
8442.59 806.03 -7.93 996 8448.42 roll -1.25 - - 1835.62 - 4.07 0.166 663.12 -349.2 -77.86 - - 2809.16 - - - - - - - - - 15.58 -
8547.61 814.29 -8.57 1017 8553.23 roll -1.25 - - 1835.62 - 3.54 0.058 2118.31 411.1 -77.86 - - 2809.22 - - - - - - - - - 15.81 -
8852.66 835.12 -7.88 1048 8858.35 roll -1.25 - - 1835.19 - 3.68 0.123 3472.44 368.0 -77.86 - - 2809.19 - - - - - - - - - 15.67 -
8931.56 841.45 -8.37 1064 8938.66 roll -1.25 - - 1835.69 - 3.39 0.064 2083.94 -409.6 -77.86 - - 2813.03 - - - - - - - - - 15.75 -
9237.75 864.06 -8.01 1095 9243.58 roll -1.25 - - 1835.44 - 4.09 0.169 662.88 -347.4 -77.86 - - 2808.75 - - - - - - - - - 15.56 -
9422.82 883.42 -11.18 1132 9428.43 roll -1.25 - - 1835.94 - 3.57 0.060 2115.00 406.8 -77.86 - - 2811.53 - - - - - - - - - 15.79 -
9727.89 909.14 -4.75 1163 9733.51 roll -1.25 - - 1835.69 - 3.71 0.124 3474.25 366.4 -77.86 - - 2810.38 - - - - - - - - - 15.66 -
9956.84 908.82 -0.21 1209 9963.70 roll -1.25 - - 1835.69 - 3.42 0.066 2084.88 -406.2 -77.86 - - 2810.62 - - - - - - - - - 15.75 -
10022 end dive: NO_VERTICAL_VELOCITY
10022 begin apogee
10024.26 908.78 - 1216 10094.81 -0.25 1.71 0.094 2083.75 145.1 0.09 0.262 2185.19 1114.6 - 67.63 2.161 2498.66 -4.6 0.337 - - - - - - 15.76 15.08 11.67
10096 end apogee: CONTROL_FINISHED_OK
10096 begin climb
10096.92 908.97 - 1223 10181.51 1.25 2.53 0.063 2450.94 145.1 4.31 0.145 737.31 -335.9 77.86 73.93 2.114 2180.84 -4.3 0.321 - - - - - - 15.18 14.78 12.24
10319.38 895.07 8.57 1267 10325.27 done 1.25 - - 2452.50 - 3.69 0.053 2218.38 401.4 77.86 - - 2172.81 - - - - - - - - - 15.31 -
10624.41 873.91 7.83 1298 10625.75 VBD 1.25 - - 2452.75 - - - 2218.12 - 77.86 - - 2168.16 - - - - - - - - - - -
10924.44 852.27 7.94 1328 10930.29 done 1.25 - - 2452.56 - 4.14 0.141 737.19 -357.7 77.86 - - 2169.47 - - - - - - - - - 15.56 -
11053.38 840.18 10.83 1354 11060.25 done 1.25 - - 2452.75 - 3.61 0.055 2219.00 410.5 77.86 - - 2166.22 - - - - - - - - - 15.69 -
11359.54 814.97 7.24 1385 11365.23 done 1.28 - - 2453.00 - 3.46 0.124 3472.94 362.4 77.86 - - 2165.75 - - - - - - - - - 15.64 -
11368.35 813.92 7.73 1387 11375.19 done 1.28 - - 2453.31 - 3.14 0.057 2181.38 -411.3 77.86 - - 2165.25 - - - - - - - - - 15.71 -
11674.53 790.16 8.53 1418 11675.86 VBD 1.28 - - 2452.06 - - - 2181.81 - 77.86 - - 2165.00 - - - - - - - - - - -
11974.56 766.15 8.24 1448 11975.89 VBD 1.28 - - 2452.94 - - - 2181.31 - 77.86 - - 2164.72 - - - - - - - - - - -
12274.59 741.49 7.63 1478 12280.21 done 1.28 - - 2452.75 - 3.57 0.126 3473.44 361.9 77.86 - - 2162.53 - - - - - - - - - 15.65 -
12409.70 728.99 9.90 1505 12414.16 done 1.28 - - 2453.19 - 3.15 0.059 2179.06 -410.9 77.86 - - 2163.75 - - - - - - - - - 15.77 -
12719.66 704.80 7.80 1537 12725.48 done 1.28 - - 2452.38 - 3.97 0.139 736.12 -363.5 77.86 - - 2165.00 - - - - - - - - - 15.64 -
12848.61 693.19 9.18 1563 12855.47 done 1.28 - - 2453.12 - 3.57 0.054 2220.31 415.7 77.86 - - 2164.53 - - - - - - - - - 15.79 -
13154.78 669.24 8.20 1594 13159.35 done 1.28 - - 2452.19 - 3.45 0.122 3474.12 363.4 77.86 - - 2163.22 - - - - - - - - - 15.66 -
13178.63 667.15 8.38 1599 13185.60 done 1.28 - - 2452.50 - 3.13 0.056 2179.50 -413.6 77.86 - - 2163.12 - - - - - - - - - 15.78 -
13484.86 645.29 6.95 1630 13486.19 VBD 1.31 - - 2453.12 - - - 2179.44 - 77.86 - - 2160.97 - - - - - - - - - - -
13784.92 625.36 6.84 1660 13786.25 VBD 1.35 - - 2452.75 - - - 2179.75 - 77.86 - - 2162.53 - - - - - - - - - - -
14084.99 604.87 6.81 1690 14086.32 VBD 1.38 - - 2452.69 - - - 2179.44 - 77.86 - - 2161.00 - - - - - - - - - - -
14385.05 583.68 6.49 1720 14390.92 1.43 0.22 0.101 2496.75 200.3 3.99 0.139 736.31 -361.7 77.86 - - 2160.72 - - - - - - - - 15.76 15.62 -
14463.98 576.58 9.71 1736 14470.83 done 1.43 - - 2496.31 - 3.59 0.053 2222.62 414.0 77.86 - - 2162.12 - - - - - - - - - 15.81 -
14770.15 554.97 6.30 1767 14774.72 done 1.48 - - 2496.94 - 3.41 0.120 3474.50 367.1 77.86 - - 2161.34 - - - - - - - - - 15.66 -
14850.18 549.16 7.17 1783 14854.84 done 1.51 - - 2496.62 - 3.13 0.055 2178.69 -414.0 77.86 - - 2161.41 - - - - - - - - - 15.77 -
15160.21 529.58 5.37 1815 15197.54 1.62 0.23 0.091 2541.81 196.5 3.58 0.119 3473.44 361.7 116.04 32.21 1.707 2027.44 -4.2 0.224 - - - - - - 15.76 15.51 11.83
15215.37 525.63 7.49 1826 15219.89 roll 1.64 - - 2542.00 - 3.15 0.055 2180.75 -410.4 116.04 - - 2026.66 - - - - - - - - - 15.57 -
15525.40 498.68 8.56 1858 15526.73 no move 1.64 - - 2541.62 - - - 2180.94 - 116.04 - - 2021.34 - - - - - - - - - - -
15825.43 473.04 9.52 1888 15831.25 roll 1.64 - - 2542.06 - 3.97 0.136 735.31 -364.1 116.04 - - 2018.66 - - - - - - - - - 15.56 -
15880.46 467.62 10.08 1899 15885.19 roll 1.64 - - 2542.12 - 3.59 0.053 2221.75 414.1 116.04 - - 2020.72 - - - - - - - - - 15.68 -
16190.49 440.73 8.62 1931 16196.32 done 1.64 - - 2541.94 - 4.06 0.131 735.00 -366.2 116.04 - - 2017.44 - - - - - - - - - 15.55 -
16345.53 424.07 11.49 1962 16351.26 done 1.64 - - 2541.12 - 3.58 0.052 2222.12 415.4 116.04 - - 2016.81 - - - - - - - - - 15.67 -
16650.55 396.31 9.52 1993 16655.10 done 1.64 - - 2542.12 - 3.39 0.118 3472.38 368.8 116.04 - - 2020.41 - - - - - - - - - 15.64 -
16744.42 387.14 9.06 2012 16751.26 done 1.64 - - 2541.38 - 3.12 0.054 2178.69 -414.6 116.04 - - 2017.69 - - - - - - - - - 15.64 -
17050.60 360.83 8.59 2043 17051.94 VBD 1.64 - - 2542.19 - - - 2178.88 - 116.04 - - 2017.81 - - - - - - - - - - -
17350.62 335.99 8.15 2073 17356.23 done 1.64 - - 2541.31 - 3.54 0.115 3474.19 365.9 116.04 - - 2016.53 - - - - - - - - - 15.65 -
17415.65 330.17 9.43 2086 17420.17 done 1.64 - - 2541.56 - 3.12 0.054 2178.38 -415.3 116.04 - - 2017.31 - - - - - - - - - 15.75 -
17725.71 305.69 7.55 2118 17731.52 done 1.66 - - 2542.12 - 3.94 0.132 735.19 -366.3 116.04 - - 2015.69 - - - - - - - - - 15.61 -
17790.80 299.50 9.53 2131 17796.50 done 1.66 - - 2541.75 - 3.57 0.049 2223.31 416.8 116.04 - - 2015.53 - - - - - - - - - 15.75 -
18095.79 275.94 7.89 2162 18097.12 VBD 1.66 - - 2541.81 - - - 2223.56 - 116.04 - - 2017.03 - - - - - - - - - - -
18395.86 252.35 7.30 2192 18400.43 done 1.68 - - 2541.81 - 3.41 0.114 3474.00 366.7 116.04 - - 2017.31 - - - - - - - - - 15.65 -
18469.73 246.48 8.74 2207 18476.58 done 1.68 - - 2542.44 - 3.12 0.051 2178.62 -415.2 116.04 - - 2016.91 - - - - - - - - - 15.75 -
18775.97 223.27 7.02 2238 18781.62 done 1.71 - - 2539.56 - 3.94 0.129 734.56 -366.5 116.04 - - 2016.31 - - - - - - - - - 15.61 -
18984.95 205.49 8.39 2280 18991.79 done 1.71 - - 2540.94 - 3.57 0.048 2225.06 417.5 116.04 - - 2016.66 - - - - - - - - - 15.66 -
19291.11 185.72 6.17 2311 19296.72 1.76 0.16 0.095 2577.25 226.9 3.40 0.113 3472.81 367.0 116.04 - - 2018.16 - - - - - - - - 15.75 15.53 -
19356.18 180.72 8.02 2324 19360.73 done 1.76 - - 2576.75 - 3.12 0.051 2175.50 -415.8 116.04 - - 2018.69 - - - - - - - - - 15.66 -
19666.17 160.31 5.86 2356 19698.62 done 1.86 - - 2576.81 - 3.53 0.111 3472.75 367.5 147.31 27.47 1.264 1899.41 -4.3 0.096 - - - - - - - 15.58 11.85
19701.39 158.33 5.94 2362 19733.72 1.95 0.22 0.087 2617.75 186.1 3.12 0.049 2176.56 -415.4 177.47 27.57 1.218 1775.22 -4.5 0.102 - - - - - - 15.59 15.65 12.51
20036.51 120.50 11.68 2399 20042.11 roll 1.95 - - 2617.56 - 3.54 0.108 3472.38 366.1 177.47 - - 1769.22 - - - - - - - - - 15.52 -
20135.35 107.04 13.26 2419 20142.21 done 1.95 - - 2617.50 - 3.14 0.050 2178.50 -412.1 177.47 - - 1768.41 - - - - - - - - - 15.45 -
20441.59 77.86 9.27 2473 20447.42 done 1.95 - - 2618.00 - 3.97 0.127 734.25 -363.8 177.47 - - 1767.34 - - - - - - - - - 15.45 -
20671.76 71.49 -0.59 2519 20779.74 2.32 0.56 0.062 2709.50 163.4 3.60 0.046 2228.56 415.1 300.85 99.75 1.167 1272.84 -5.0 0.053 - - - - - - 15.43 15.62 11.99
20957.56 45.81 13.68 2576 20963.54 roll 2.32 - - 2709.38 - 4.14 0.124 734.31 -360.9 300.85 - - 1268.06 - - - - - - - - - 15.41 -
21187.58 6.63 17.37 2622 21193.37 roll 2.32 - - 2709.50 - 3.64 0.052 2222.19 408.8 300.85 - - 1266.12 - - - - - - - - - 15.58 -
21217 end climb: SURFACE_DEPTH_REACHED
21217 begin surface coast
21227 end surface coast: CONTROL_FINISHED_OK
21227 begin surface
SM 0.68 - - - - 174.6 0.87 0.139 768.1 882.9 17.51 0.081 767.9 43.9 - 0.34 0.090 768.2 2248.7 -1.737 - - 15.15 15.51 15.61 -