NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 571 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 169.96 of 575.00 AH used of 24V (70.44% remains)
• Surface angle -61.4 deg, depth 0.76 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.71 (SM_CC=425)
• GPS1 time: 14 s
• GPS2 time: 4 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
7.38 - - - 86.86 VBD -1.25 - - 175.25 - - - 2116.56 - -77.86 78.90 0.005 2511.41 - - - - - - - - - - 15.04
87.13 3.57 -4.60 15 119.02 -1.25 14.64 0.259 1835.38 113.4 3.86 0.113 3474.00 351.7 -77.86 7.59 0.008 2815.94 40.1 -3.128 - - - - - - 15.21 15.01 15.16
341.85 53.47 -15.34 66 347.63 roll -1.25 - - 1835.25 - 3.49 0.058 2081.75 -398.9 -77.86 - - 2815.56 - - - - - - - - - 15.57 -
526.95 75.70 -13.51 103 532.76 roll -1.25 - - 1835.94 - 3.90 0.104 3474.19 357.0 -77.86 - - 2817.03 - - - - - - - - - 15.53 -
662.00 93.44 -12.82 130 667.75 roll -1.25 - - 1836.06 - 3.45 0.055 2083.69 -403.0 -77.86 - - 2816.28 - - - - - - - - - 15.63 -
852.05 115.66 -11.39 155 857.77 roll -1.25 - - 1834.62 - 3.89 0.105 3474.44 357.5 -77.86 - - 2815.25 - - - - - - - - - 15.57 -
947.08 126.27 -10.06 174 951.82 roll -1.25 - - 1835.62 - 3.42 0.055 2081.88 -407.2 -77.86 - - 2815.75 - - - - - - - - - 15.66 -
1257.15 155.81 -9.86 206 1262.92 roll -1.25 - - 1836.38 - 4.06 0.149 664.06 -349.2 -77.86 - - 2818.53 - - - - - - - - - 15.49 -
1316.16 162.59 -11.80 218 1323.03 roll -1.25 - - 1836.00 - 3.56 0.047 2120.69 409.2 -77.86 - - 2818.41 - - - - - - - - - 15.72 -
1622.21 194.02 -10.58 249 1628.00 roll -1.25 - - 1836.00 - 3.74 0.108 3475.00 362.1 -77.86 - - 2818.59 - - - - - - - - - 15.59 -
1707.29 203.76 -11.36 266 1711.94 roll -1.25 - - 1835.94 - 3.40 0.055 2081.94 -409.7 -77.86 - - 2816.88 - - - - - - - - - 15.69 -
2017.26 235.79 -10.87 298 2018.59 no move -1.25 - - 1835.88 - - - 2081.81 - -77.86 - - 2816.47 - - - - - - - - - - -
2317.28 266.43 -10.32 328 2318.61 no move -1.25 - - 1835.88 - - - 2082.12 - -77.86 - - 2816.34 - - - - - - - - - - -
2617.32 297.60 -9.83 358 2618.65 no move -1.25 - - 1835.88 - - - 2081.88 - -77.86 - - 2816.62 - - - - - - - - - - -
2917.36 328.88 -9.81 388 2918.69 no move -1.25 - - 1835.75 - - - 2082.00 - -77.86 - - 2814.50 - - - - - - - - - - -
3217.39 359.24 -9.69 418 3223.24 roll -1.25 - - 1835.81 - 4.07 0.155 662.94 -348.7 -77.86 - - 2815.00 - - - - - - - - - 15.48 -
3262.42 364.45 -12.25 427 3268.09 roll -1.25 - - 1835.62 - 3.58 0.052 2118.88 406.7 -77.86 - - 2816.75 - - - - - - - - - 15.76 -
3567.44 393.89 -8.98 458 3573.15 roll -1.25 - - 1836.06 - 3.78 0.113 3475.44 358.9 -77.86 - - 2816.81 - - - - - - - - - 15.58 -
3682.46 405.82 -10.60 481 3687.28 roll -1.25 - - 1836.25 - 3.45 0.059 2084.25 -403.2 -77.86 - - 2817.31 - - - - - - - - - 15.69 -
3992.49 434.50 -9.65 513 3998.22 roll -1.25 - - 1836.25 - 3.90 0.114 3473.75 356.3 -77.86 - - 2815.28 - - - - - - - - - 15.58 -
4081.56 443.74 -10.53 531 4088.25 roll -1.25 - - 1834.50 - 3.43 0.061 2083.88 -405.2 -77.86 - - 2816.91 - - - - - - - - - 15.67 -
4387.54 468.95 -8.10 562 4393.27 roll -1.25 - - 1834.00 - 3.88 0.113 3473.44 358.1 -77.86 - - 2816.22 - - - - - - - - - 15.57 -
4426.54 472.63 -9.18 570 4433.30 roll -1.25 - - 1835.75 - 3.43 0.059 2083.62 -405.2 -77.86 - - 2816.09 - - - - - - - - - 15.67 -
4732.58 497.18 -8.70 601 4738.32 roll -1.25 - - 1835.88 - 3.88 0.113 3474.25 358.4 -77.86 - - 2813.78 - - - - - - - - - 15.56 -
4777.60 501.24 -9.22 610 4782.24 roll -1.25 - - 1834.81 - 3.43 0.059 2083.44 -405.5 -77.86 - - 2815.88 - - - - - - - - - 15.67 -
5087.63 525.21 -7.59 642 5088.96 no move -1.25 - - 1835.62 - - - 2083.50 - -77.86 - - 2815.75 - - - - - - - - - - -
5387.66 547.29 -6.98 672 5393.45 roll -1.25 - - 1835.88 - 4.12 0.159 664.00 -344.5 -77.86 - - 2813.41 - - - - - - - - - 15.43 -
5432.69 551.00 -8.40 681 5438.36 roll -1.25 - - 1833.81 - 3.56 0.051 2119.12 408.7 -77.86 - - 2814.78 - - - - - - - - - 15.72 -
5737.75 573.48 -8.47 712 5739.07 no move -1.25 - - 1835.75 - - - 2119.12 - -77.86 - - 2813.34 - - - - - - - - - - -
6037.81 598.54 -8.41 742 6039.14 no move -1.25 - - 1835.56 - - - 2119.75 - -77.86 - - 2813.22 - - - - - - - - - - -
6337.86 624.33 -8.37 772 6339.19 no move -1.25 - - 1835.50 - - - 2119.75 - -77.86 - - 2812.91 - - - - - - - - - - -
6637.92 650.20 -8.09 802 6639.25 no move -1.25 - - 1836.06 - - - 2119.56 - -77.86 - - 2811.66 - - - - - - - - - - -
6937.99 677.33 -10.06 832 6939.32 no move -1.25 - - 1835.50 - - - 2119.50 - -77.86 - - 2813.00 - - - - - - - - - - -
7238.05 702.08 -7.27 862 7239.38 no move -1.25 - - 1836.06 - - - 2119.56 - -77.86 - - 2813.53 - - - - - - - - - - -
7538.11 727.56 -9.37 892 7539.43 no move -1.25 - - 1835.94 - - - 2119.12 - -77.86 - - 2813.16 - - - - - - - - - - -
7838.16 752.49 -7.50 922 7839.49 no move -1.25 - - 1836.06 - - - 2119.62 - -77.86 - - 2810.66 - - - - - - - - - - -
8138.20 777.21 -8.18 952 8139.53 no move -1.25 - - 1836.25 - - - 2119.19 - -77.86 - - 2810.41 - - - - - - - - - - -
8438.23 799.30 -6.84 982 8439.56 no move -1.25 - - 1836.25 - - - 2119.69 - -77.86 - - 2812.00 - - - - - - - - - - -
8738.27 821.06 -6.89 1012 8739.60 no move -1.25 - - 1835.75 - - - 2119.69 - -77.86 - - 2810.31 - - - - - - - - - - -
9038.31 840.17 -7.51 1042 9039.64 no move -1.25 - - 1835.38 - - - 2119.88 - -77.86 - - 2811.41 - - - - - - - - - - -
9338.34 859.97 -6.96 1072 9344.16 roll -1.25 - - 1835.69 - 4.34 0.169 664.06 -335.4 -77.86 - - 2812.44 - - - - - - - - - 15.32 -
9417.27 866.32 -8.70 1088 9424.15 roll -1.25 - - 1835.31 - 3.67 0.061 2115.06 395.4 -77.86 - - 2810.78 - - - - - - - - - 15.61 -
9723.42 883.45 -4.77 1119 9724.74 no move -1.25 - - 1835.62 - - - 2115.25 - -77.86 - - 2810.50 - - - - - - - - - - -
10023.44 899.64 -5.67 1149 10024.76 no move -1.25 - - 1835.81 - - - 2114.88 - -77.86 - - 2810.34 - - - - - - - - - - -
10323.46 916.74 -6.14 1179 10324.79 no move -1.25 - - 1836.00 - - - 2115.12 - -77.86 - - 2810.25 - - - - - - - - - - -
10623.51 933.49 -4.82 1209 10629.22 roll -1.25 - - 1833.81 - 3.89 0.127 3473.38 349.2 -77.86 - - 2809.97 - - - - - - - - - 15.43 -
10688.59 937.21 -5.72 1222 10694.19 roll -1.25 - - 1835.50 - 3.51 0.069 2087.69 -394.8 -77.86 - - 2808.41 - - - - - - - - - 15.54 -
10993.56 954.53 -5.62 1253 10994.89 no move -1.25 - - 1835.69 - - - 2087.38 - -77.86 - - 2808.16 - - - - - - - - - - -
11293.58 973.58 -8.27 1283 11299.47 roll -1.25 - - 1835.75 - 3.98 0.125 3471.19 347.7 -77.86 - - 2808.44 - - - - - - - - - 15.41 -
11362.78 978.79 -7.67 1297 11369.34 roll -1.25 - - 1835.50 - 3.50 0.068 2086.50 -395.6 -77.86 - - 2809.06 - - - - - - - - - 15.50 -
11548 end dive: TARGET_DEPTH_EXCEEDED
11548 begin apogee
11549.94 990.56 -5.41 1316 11621.49 -0.25 1.88 0.145 2081.00 130.6 0.07 0.308 2187.25 1439.3 - 68.47 2.275 2499.38 -4.5 0.344 - - - - - - 15.44 15.00 11.14
11623 end apogee: CONTROL_FINISHED_OK
11623 begin climb
11623.80 991.17 - 1323 11704.19 1.25 2.66 0.084 2448.06 138.0 - - 2186.75 - 77.86 76.69 2.215 2180.06 -4.2 0.326 - - - - - - 15.10 - 12.08
11998.65 962.16 7.99 1361 11999.98 VBD 1.25 - - 2447.94 - - - 2187.62 - 77.86 - - 2170.59 - - - - - - - - - - -
12298.71 934.33 9.90 1391 12300.04 VBD 1.25 - - 2447.94 - - - 2187.00 - 77.86 - - 2167.25 - - - - - - - - - - -
12598.77 908.09 8.00 1421 12604.69 done 1.25 - - 2447.94 - 3.72 0.127 3473.88 345.9 77.86 - - 2166.47 - - - - - - - - - 15.45 -
12657.65 902.02 10.02 1433 12664.51 done 1.25 - - 2447.44 - 3.23 0.061 2183.19 -399.6 77.86 - - 2169.12 - - - - - - - - - 15.59 -
12963.86 874.97 9.02 1464 12965.19 VBD 1.25 - - 2448.38 - - - 2183.25 - 77.86 - - 2165.91 - - - - - - - - - - -
13263.92 850.36 7.67 1494 13265.25 VBD 1.25 - - 2448.06 - - - 2183.50 - 77.86 - - 2164.69 - - - - - - - - - - -
13563.98 827.05 7.75 1524 13565.31 VBD 1.25 - - 2447.31 - - - 2183.62 - 77.86 - - 2165.06 - - - - - - - - - - -
13864.04 805.22 7.83 1554 13865.37 VBD 1.25 - - 2448.19 - - - 2183.69 - 77.86 - - 2164.69 - - - - - - - - - - -
14164.10 782.19 7.76 1584 14169.94 done 1.25 - - 2448.19 - 4.09 0.144 735.88 -354.0 77.86 - - 2161.59 - - - - - - - - - 15.42 -
14309.17 768.99 8.36 1613 14314.93 done 1.25 - - 2447.94 - 3.70 0.056 2219.38 400.9 77.86 - - 2164.41 - - - - - - - - - 15.67 -
14614.21 744.94 7.49 1644 14620.08 done 1.27 - - 2447.12 - 4.22 0.139 737.06 -351.3 77.86 - - 2163.66 - - - - - - - - - 15.42 -
14689.22 738.33 8.58 1659 14694.98 done 1.27 - - 2447.69 - 3.69 0.053 2217.50 401.2 77.86 - - 2162.34 - - - - - - - - - 15.55 -
14994.25 714.53 7.76 1690 14995.59 VBD 1.27 - - 2447.62 - - - 2218.69 - 77.86 - - 2161.97 - - - - - - - - - - -
15294.28 691.36 8.73 1720 15299.02 done 1.27 - - 2447.06 - 3.57 0.124 3474.12 351.7 77.86 - - 2161.09 - - - - - - - - - 15.42 -
15364.31 684.51 9.98 1734 15368.85 done 1.27 - - 2448.00 - 3.24 0.058 2182.12 -398.8 77.86 - - 2162.16 - - - - - - - - - 15.62 -
15674.35 658.85 7.20 1766 15675.68 VBD 1.29 - - 2447.31 - - - 2182.19 - 77.86 - - 2160.66 - - - - - - - - - - -
15974.38 635.94 6.91 1796 15980.22 done 1.33 - - 2447.19 - 4.14 0.138 736.19 -349.3 77.86 - - 2160.59 - - - - - - - - - 15.40 -
16103.31 624.32 8.82 1822 16110.17 done 1.33 - - 2447.81 - 3.68 0.053 2219.56 403.1 77.86 - - 2160.78 - - - - - - - - - 15.64 -
16409.45 604.64 5.55 1853 16445.88 1.44 0.26 0.080 2496.69 188.0 3.58 0.123 3472.62 350.0 113.58 30.51 1.802 2034.91 -4.1 0.242 - - - - - - 15.72 15.46 11.52
16514.44 595.67 8.38 1873 16518.99 roll 1.44 - - 2499.06 - 3.28 0.056 2181.19 -393.7 113.58 - - 2033.56 - - - - - - - - - 15.49 -
16824.48 567.90 8.01 1905 16825.81 no move 1.44 - - 2498.25 - - - 2181.62 - 113.58 - - 2029.66 - - - - - - - - - - -
17124.60 539.56 9.20 1935 17125.93 no move 1.44 - - 2498.62 - - - 2181.44 - 113.58 - - 2030.19 - - - - - - - - - - -
17424.55 511.31 9.38 1965 17425.88 no move 1.44 - - 2499.00 - - - 2181.25 - 113.58 - - 2029.66 - - - - - - - - - - -
17724.58 484.14 8.57 1995 17730.37 roll 1.44 - - 2498.44 - 4.16 0.135 737.12 -347.1 113.58 - - 2029.44 - - - - - - - - - 15.42 -
17953.62 461.49 10.48 2041 17960.43 done 1.44 - - 2498.06 - 3.69 0.053 2222.06 402.4 113.58 - - 2029.03 - - - - - - - - - 15.64 -
18259.72 436.87 8.38 2072 18265.56 done 1.44 - - 2498.31 - 4.24 0.130 736.19 -350.4 113.58 - - 2026.47 - - - - - - - - - 15.33 -
18394.76 423.52 10.42 2099 18400.38 done 1.44 - - 2498.25 - 3.67 0.052 2221.94 404.8 113.58 - - 2025.62 - - - - - - - - - 15.67 -
18699.83 401.14 6.64 2130 18704.55 done 1.48 - - 2498.75 - 3.56 0.116 3473.19 351.5 113.58 - - 2027.47 - - - - - - - - - 15.44 -
18793.77 393.87 8.14 2149 18800.54 done 1.48 - - 2497.31 - 3.19 0.054 2180.31 -405.3 113.58 - - 2027.78 - - - - - - - - - 15.65 -
19099.93 371.78 6.77 2180 19101.26 VBD 1.52 - - 2498.94 - - - 2180.62 - 113.58 - - 2027.47 - - - - - - - - - - -
19399.99 350.71 7.36 2210 19405.81 done 1.54 - - 2498.88 - 4.09 0.132 736.19 -353.2 113.58 - - 2025.78 - - - - - - - - - 15.33 -
19528.94 337.75 9.34 2236 19535.80 done 1.54 - - 2498.06 - 3.66 0.051 2221.94 405.9 113.58 - - 2027.50 - - - - - - - - - 15.65 -
19835.09 312.57 8.35 2267 19839.82 done 1.54 - - 2497.81 - 3.54 0.116 3471.75 353.1 113.58 - - 2027.53 - - - - - - - - - 15.44 -
19985.14 298.93 9.41 2297 19989.69 done 1.54 - - 2499.12 - 3.19 0.053 2178.88 -405.3 113.58 - - 2028.91 - - - - - - - - - 15.66 -
20295.18 273.25 7.90 2329 20296.51 VBD 1.54 - - 2499.12 - - - 2178.69 - 113.58 - - 2026.72 - - - - - - - - - - -
20595.23 250.78 6.93 2359 20600.85 done 1.57 - - 2499.25 - 3.66 0.113 3474.12 353.9 113.58 - - 2026.84 - - - - - - - - - 15.45 -
20814.13 231.49 8.72 2403 20820.98 done 1.57 - - 2497.81 - 3.23 0.054 2178.62 -401.1 113.58 - - 2027.66 - - - - - - - - - 15.55 -
21120.32 209.71 7.65 2434 21126.15 done 1.57 - - 2497.69 - 4.09 0.131 736.06 -352.7 113.58 - - 2026.78 - - - - - - - - - 15.39 -
21349.28 190.14 8.83 2480 21356.17 done 1.57 - - 2498.81 - 3.67 0.051 2223.38 405.3 113.58 - - 2026.41 - - - - - - - - - 15.53 -
21655.44 169.72 6.26 2511 21661.25 1.62 0.22 0.084 2543.38 202.6 4.18 0.124 735.25 -356.0 113.58 - - 2025.84 - - - - - - - - 15.60 15.39 -
21884.29 149.85 9.64 2557 21891.24 done 1.62 - - 2542.50 - 3.65 0.050 2224.69 408.1 113.58 - - 2026.44 - - - - - - - - - 15.65 -
22190.51 130.10 5.74 2588 22224.96 done 1.72 - - 2542.44 - 4.12 0.124 735.81 -361.4 146.58 28.67 1.231 1900.00 -4.4 0.081 - - - - - - - 15.52 11.52
22232.80 127.08 6.64 2594 22238.54 roll back 1.77 0.17 0.090 2578.62 212.8 3.63 0.047 2225.31 410.3 146.58 - - 1900.22 - - - - - - - - 15.52 15.59 -
22537.79 98.16 9.11 2626 22543.63 roll 1.77 - - 2579.12 - 4.16 0.122 735.25 -358.2 146.58 - - 1897.16 - - - - - - - - - 15.31 -
22727.89 81.34 8.39 2664 22733.63 roll 1.77 - - 2579.19 - 3.65 0.049 2222.94 407.6 146.58 - - 1896.12 - - - - - - - - - 15.56 -
22912.96 70.62 4.21 2701 22965.85 1.93 0.18 0.083 2617.81 214.6 4.11 0.121 735.12 -362.0 201.37 46.85 1.169 1677.25 -4.7 0.049 - - - - - - 15.59 15.35 11.93
23178.65 59.20 2.82 2754 23246.85 2.15 0.30 0.067 2671.50 179.0 3.64 0.048 2227.38 410.0 275.96 62.61 1.152 1374.56 -4.8 0.043 - - - - - - 15.26 15.46 11.90
23424.64 37.38 12.58 2803 23425.97 no move 2.15 - - 2671.56 - - - 2227.62 - 275.96 - - 1369.00 - - - - - - - - - - -
23604.71 15.92 11.63 2839 23610.60 roll 2.15 - - 2671.38 - 4.18 0.122 736.00 -356.8 275.96 - - 1367.81 - - - - - - - - - 15.40 -
23655.14 9.40 13.17 2849 23660.52 roll 2.15 - - 2671.50 - 3.66 0.049 2223.38 406.4 275.96 - - 1367.34 - - - - - - - - - 15.43 -
23724 end climb: SURFACE_DEPTH_REACHED
23724 begin surface coast
23739 end surface coast: CONTROL_FINISHED_OK
23739 begin surface
SM 0.72 - - - - 175.0 0.03 0.336 768.6 25620.0 17.20 0.065 767.8 44.6 - 0.34 0.079 769.5 2252.5 -2.098 - - 15.09 15.43 15.59 -