NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 580 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 172.88 of 575.00 AH used of 24V (69.93% remains)
• Surface angle -57.1 deg, depth 0.85 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.69 (SM_CC=425)
• GPS1 time: 50 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
7.39 - - - 86.85 VBD -1.25 - - 173.88 - - - 2120.94 - -77.86 78.86 0.005 2518.81 - - - - - - - - - - 15.04
87.12 3.52 -3.92 15 119.04 -1.25 14.85 0.262 1835.44 111.9 3.81 0.112 3473.75 355.1 -77.86 7.33 0.008 2816.81 40.7 -3.134 - - - - - - 15.15 15.01 15.15
296.92 46.13 -20.62 57 302.62 roll -1.25 - - 1834.75 - 3.49 0.059 2082.19 -398.7 -77.86 - - 2818.19 - - - - - - - - - 15.54 -
481.94 77.51 -11.96 94 487.78 roll -1.25 - - 1834.81 - 4.10 0.149 663.12 -346.1 -77.86 - - 2817.94 - - - - - - - - - 15.40 -
571.96 89.51 -13.62 112 577.75 roll -1.25 - - 1836.12 - 3.61 0.049 2121.19 403.9 -77.86 - - 2815.66 - - - - - - - - - 15.63 -
757.02 109.92 -10.54 140 762.81 roll -1.25 - - 1835.62 - 4.12 0.143 662.94 -353.9 -77.86 - - 2813.88 - - - - - - - - - 15.44 -
805.99 116.02 -12.56 150 812.80 roll -1.25 - - 1835.44 - 3.59 0.047 2121.19 406.2 -77.86 - - 2816.50 - - - - - - - - - 15.67 -
1112.10 148.71 -10.93 181 1117.83 roll -1.25 - - 1834.62 - 3.71 0.107 3473.88 364.6 -77.86 - - 2816.56 - - - - - - - - - 15.55 -
1241.13 162.56 -10.71 207 1247.90 roll -1.25 - - 1835.81 - 3.40 0.055 2082.75 -409.2 -77.86 - - 2816.69 - - - - - - - - - 15.64 -
1547.19 191.73 -8.57 238 1548.52 no move -1.25 - - 1835.75 - - - 2082.19 - -77.86 - - 2816.28 - - - - - - - - - - -
1847.22 218.38 -8.82 268 1848.55 no move -1.25 - - 1835.81 - - - 2083.12 - -77.86 - - 2816.38 - - - - - - - - - - -
2147.25 245.40 -9.13 298 2152.97 roll -1.25 - - 1835.31 - 3.88 0.111 3474.19 358.5 -77.86 - - 2816.81 - - - - - - - - - 15.57 -
2222.34 252.86 -9.50 313 2226.92 roll -1.25 - - 1835.25 - 3.43 0.058 2081.75 -406.0 -77.86 - - 2818.25 - - - - - - - - - 15.67 -
2532.30 280.99 -8.99 345 2533.63 no move -1.25 - - 1835.69 - - - 2082.81 - -77.86 - - 2816.81 - - - - - - - - - - -
2832.33 308.32 -9.43 375 2838.07 roll -1.25 - - 1835.56 - 3.89 0.112 3473.69 357.6 -77.86 - - 2814.59 - - - - - - - - - 15.56 -
2927.35 318.12 -11.15 394 2932.00 roll -1.25 - - 1835.88 - 3.45 0.058 2084.06 -402.8 -77.86 - - 2817.41 - - - - - - - - - 15.67 -
3237.39 347.46 -10.16 426 3238.72 no move -1.25 - - 1835.75 - - - 2084.06 - -77.86 - - 2816.28 - - - - - - - - - - -
3537.42 376.36 -9.22 456 3538.75 no move -1.25 - - 1835.38 - - - 2083.75 - -77.86 - - 2814.66 - - - - - - - - - - -
3837.45 406.32 -10.13 486 3838.78 no move -1.25 - - 1835.75 - - - 2083.62 - -77.86 - - 2815.78 - - - - - - - - - - -
4137.48 436.59 -10.25 516 4138.81 no move -1.25 - - 1835.25 - - - 2083.81 - -77.86 - - 2815.78 - - - - - - - - - - -
4437.52 466.62 -9.58 546 4443.31 roll -1.25 - - 1835.12 - 4.16 0.157 663.06 -341.5 -77.86 - - 2816.12 - - - - - - - - - 15.41 -
4482.55 471.60 -11.78 555 4488.25 roll -1.25 - - 1835.62 - 3.63 0.054 2119.19 401.1 -77.86 - - 2815.12 - - - - - - - - - 15.70 -
4787.57 501.45 -9.34 586 4793.28 roll -1.25 - - 1834.81 - 3.79 0.117 3472.94 357.2 -77.86 - - 2815.94 - - - - - - - - - 15.51 -
4832.58 506.04 -10.87 595 4837.23 roll -1.25 - - 1835.06 - 3.45 0.060 2082.50 -403.0 -77.86 - - 2817.97 - - - - - - - - - 15.64 -
5142.60 535.96 -8.45 627 5148.34 roll -1.25 - - 1835.06 - 3.89 0.115 3473.75 357.6 -77.86 - - 2814.59 - - - - - - - - - 15.51 -
5217.69 543.89 -10.08 642 5222.28 roll -1.25 - - 1835.25 - 3.45 0.061 2083.06 -403.1 -77.86 - - 2816.53 - - - - - - - - - 15.62 -
5527.67 573.44 -9.13 674 5533.48 roll -1.25 - - 1835.12 - 3.91 0.117 3472.75 355.4 -77.86 - - 2812.41 - - - - - - - - - 15.49 -
5582.71 579.01 -10.67 685 5587.34 roll -1.25 - - 1835.75 - 3.45 0.061 2083.69 -402.6 -77.86 - - 2815.22 - - - - - - - - - 15.61 -
5892.74 606.63 -8.99 717 5894.07 no move -1.25 - - 1835.44 - - - 2083.81 - -77.86 - - 2814.50 - - - - - - - - - - -
6192.80 631.99 -8.00 747 6198.55 roll -1.25 - - 1835.69 - 3.94 0.119 3472.88 352.6 -77.86 - - 2813.34 - - - - - - - - - 15.48 -
6231.81 635.25 -8.46 755 6238.56 roll -1.25 - - 1835.50 - 3.44 0.062 2084.81 -403.5 -77.86 - - 2814.12 - - - - - - - - - 15.59 -
6537.88 661.55 -8.84 786 6543.61 roll -1.25 - - 1834.56 - 3.89 0.120 3473.50 357.0 -77.86 - - 2813.78 - - - - - - - - - 15.46 -
6596.90 666.94 -10.87 798 6603.65 roll -1.25 - - 1835.81 - 3.42 0.063 2083.62 -406.4 -77.86 - - 2813.56 - - - - - - - - - 15.58 -
6902.97 692.18 -8.68 829 6908.75 roll -1.25 - - 1835.94 - 4.11 0.162 664.69 -345.2 -77.86 - - 2811.09 - - - - - - - - - 15.34 -
6947.99 696.92 -9.56 838 6953.67 roll -1.25 - - 1835.88 - 3.60 0.054 2119.38 404.1 -77.86 - - 2811.75 - - - - - - - - - 15.66 -
7253.04 721.76 -7.84 869 7254.37 no move -1.25 - - 1835.75 - - - 2119.06 - -77.86 - - 2811.41 - - - - - - - - - - -
7553.10 743.99 -6.77 899 7554.43 no move -1.25 - - 1835.81 - - - 2119.38 - -77.86 - - 2812.75 - - - - - - - - - - -
7853.15 766.64 -7.90 929 7854.48 no move -1.25 - - 1835.69 - - - 2119.25 - -77.86 - - 2811.78 - - - - - - - - - - -
8153.18 788.41 -7.96 959 8154.51 no move -1.25 - - 1835.81 - - - 2119.50 - -77.86 - - 2811.81 - - - - - - - - - - -
8453.22 810.74 -7.70 989 8458.95 roll -1.25 - - 1835.94 - 3.82 0.125 3472.94 354.3 -77.86 - - 2809.84 - - - - - - - - - 15.42 -
8562.22 820.82 -8.76 1011 8569.00 roll -1.25 - - 1835.50 - 3.44 0.066 2086.19 -403.1 -77.86 - - 2812.09 - - - - - - - - - 15.53 -
8868.28 845.30 -7.74 1042 8869.61 no move -1.25 - - 1835.81 - - - 2086.00 - -77.86 - - 2811.47 - - - - - - - - - - -
9168.31 869.00 -8.77 1072 9169.64 no move -1.25 - - 1835.69 - - - 2085.31 - -77.86 - - 2809.75 - - - - - - - - - - -
9468.43 891.04 -6.95 1102 9469.75 no move -1.25 - - 1835.88 - - - 2085.88 - -77.86 - - 2811.34 - - - - - - - - - - -
9768.38 912.16 -6.80 1132 9769.71 no move -1.25 - - 1834.44 - - - 2085.94 - -77.86 - - 2811.81 - - - - - - - - - - -
10068.42 933.92 -7.17 1162 10069.75 no move -1.25 - - 1835.69 - - - 2086.31 - -77.86 - - 2808.75 - - - - - - - - - - -
10368.45 956.03 -7.69 1192 10369.78 no move -1.25 - - 1835.94 - - - 2086.06 - -77.86 - - 2808.88 - - - - - - - - - - -
10668.49 977.93 -7.32 1222 10669.82 no move -1.25 - - 1835.75 - - - 2086.00 - -77.86 - - 2808.75 - - - - - - - - - - -
10848 end dive: TARGET_DEPTH_EXCEEDED
10848 begin apogee
10849.78 990.73 -7.67 1240 10922.52 -0.25 1.87 0.139 2080.56 130.9 0.08 0.291 2186.25 1253.1 - 68.93 2.276 2497.38 -4.5 0.345 - - - - - - 15.44 14.99 11.10
10924 end apogee: CONTROL_FINISHED_OK
10924 begin climb
10924.72 991.48 - 1247 11005.71 1.25 2.64 0.079 2448.50 139.4 - - 2185.69 - 77.86 76.86 2.211 2179.91 -4.1 0.325 - - - - - - 15.10 - 12.05
11298.58 966.59 7.42 1285 11299.91 VBD 1.27 - - 2448.00 - - - 2185.75 - 77.86 - - 2169.09 - - - - - - - - - - -
11598.58 941.94 8.33 1315 11604.42 done 1.27 - - 2447.56 - 4.18 0.148 737.06 -346.6 77.86 - - 2166.38 - - - - - - - - - 15.35 -
11657.50 936.53 11.19 1327 11664.42 done 1.27 - - 2448.06 - 3.71 0.057 2215.19 398.4 77.86 - - 2166.56 - - - - - - - - - 15.55 -
11963.63 911.86 8.01 1358 11964.96 VBD 1.27 - - 2447.81 - - - 2215.62 - 77.86 - - 2166.16 - - - - - - - - - - -
12263.66 889.01 7.74 1388 12269.53 done 1.27 - - 2447.81 - 4.26 0.147 736.06 -347.3 77.86 - - 2164.03 - - - - - - - - - 15.39 -
12348.69 881.75 8.55 1405 12354.47 done 1.27 - - 2447.56 - 3.73 0.059 2217.25 397.1 77.86 - - 2162.78 - - - - - - - - - 15.61 -
12653.78 858.26 7.17 1436 12655.11 VBD 1.30 - - 2448.44 - - - 2217.38 - 77.86 - - 2164.88 - - - - - - - - - - -
12953.83 837.31 7.15 1466 12959.68 done 1.32 - - 2447.62 - 4.24 0.144 737.12 -349.1 77.86 - - 2163.00 - - - - - - - - - 15.38 -
13082.78 826.81 7.58 1492 13089.67 done 1.32 - - 2448.06 - 3.72 0.058 2218.75 398.3 77.86 - - 2164.66 - - - - - - - - - 15.62 -
13389.04 805.75 6.37 1523 13390.51 1.38 0.16 0.094 2481.62 209.7 - - 2218.12 - 77.86 - - 2161.62 - - - - - - - - 15.70 - -
13689.00 781.42 8.87 1553 13690.33 VBD 1.38 - - 2481.31 - - - 2217.75 - 77.86 - - 2162.28 - - - - - - - - - - -
13989.06 756.62 8.81 1583 13990.39 VBD 1.38 - - 2480.25 - - - 2218.25 - 77.86 - - 2162.75 - - - - - - - - - - -
14289.14 732.38 7.34 1613 14290.47 VBD 1.40 - - 2481.25 - - - 2218.25 - 77.86 - - 2162.03 - - - - - - - - - - -
14589.17 708.76 7.49 1643 14590.50 VBD 1.41 - - 2481.75 - - - 2218.38 - 77.86 - - 2161.75 - - - - - - - - - - -
14889.19 685.82 7.84 1673 14895.06 done 1.41 - - 2482.31 - 4.24 0.140 737.19 -349.3 77.86 - - 2162.62 - - - - - - - - - 15.36 -
15008.14 675.83 8.36 1697 15015.02 done 1.41 - - 2481.00 - 3.74 0.059 2218.44 396.1 77.86 - - 2161.88 - - - - - - - - - 15.63 -
15314.29 653.82 7.17 1728 15320.13 done 1.44 - - 2483.00 - 4.22 0.138 736.06 -351.3 77.86 - - 2162.12 - - - - - - - - - 15.34 -
15463.24 641.69 7.22 1758 15470.11 done 1.46 - - 2482.00 - 3.74 0.058 2220.00 396.8 77.86 - - 2161.44 - - - - - - - - - 15.61 -
15769.35 621.24 6.63 1789 15775.12 done 1.51 - - 2481.38 - 3.61 0.124 3473.81 347.3 77.86 - - 2162.38 - - - - - - - - - 15.39 -
15854.56 614.68 7.93 1806 15858.90 done 1.51 - - 2482.00 - 3.21 0.060 2181.62 -402.6 77.86 - - 2160.09 - - - - - - - - - 15.59 -
16164.40 594.48 6.26 1838 16170.28 1.56 0.23 0.080 2527.56 198.1 4.09 0.139 736.94 -353.2 77.86 - - 2158.94 - - - - - - - - 15.68 15.33 -
16279.41 583.44 10.14 1861 16285.17 done 1.56 - - 2526.81 - 3.67 0.056 2219.25 403.9 77.86 - - 2158.81 - - - - - - - - - 15.61 -
16584.46 559.33 7.15 1892 16585.80 VBD 1.59 - - 2527.12 - - - 2218.81 - 77.86 - - 2158.47 - - - - - - - - - - -
16884.48 538.14 6.11 1922 16885.81 VBD 1.65 - - 2527.31 - - - 2218.94 - 77.86 - - 2159.19 - - - - - - - - - - -
17184.52 517.40 6.41 1952 17190.29 done 1.69 - - 2526.81 - 4.18 0.133 735.81 -354.8 77.86 - - 2158.84 - - - - - - - - - 15.33 -
17279.52 508.99 8.52 1971 17285.15 done 1.69 - - 2526.62 - 3.68 0.057 2220.06 403.3 77.86 - - 2158.72 - - - - - - - - - 15.63 -
17584.58 487.94 7.20 2002 17590.35 1.72 0.19 0.088 2565.12 202.6 3.53 0.120 3473.81 355.2 77.86 - - 2161.75 - - - - - - - - 15.70 15.38 -
17653.48 482.11 8.68 2016 17660.27 done 1.72 - - 2566.19 - 3.19 0.057 2180.69 -405.4 77.86 - - 2161.19 - - - - - - - - - 15.59 -
17959.60 457.59 8.03 2047 17960.93 VBD 1.72 - - 2566.56 - - - 2180.94 - 77.86 - - 2158.59 - - - - - - - - - - -
18259.65 433.94 7.21 2077 18265.26 done 1.75 - - 2565.50 - 3.66 0.117 3472.44 352.9 77.86 - - 2161.44 - - - - - - - - - 15.37 -
18488.56 413.49 9.05 2123 18495.41 done 1.75 - - 2566.44 - 3.20 0.058 2180.12 -403.9 77.86 - - 2160.44 - - - - - - - - - 15.61 -
18794.79 391.81 6.63 2154 18800.41 done 1.79 - - 2566.50 - 3.67 0.115 3474.12 352.6 77.86 - - 2158.00 - - - - - - - - - 15.35 -
19023.73 375.33 6.28 2200 19030.59 done 1.84 - - 2566.88 - 3.20 0.057 2179.38 -404.6 77.86 - - 2160.75 - - - - - - - - - 15.60 -
19329.95 360.45 4.45 2231 19381.74 2.00 0.38 0.075 2628.62 162.5 3.65 0.118 3472.38 354.2 129.29 43.74 1.542 1972.62 -4.3 0.176 - - - - - - 15.71 15.37 11.22
19563.86 334.39 13.34 2278 19570.72 roll 2.00 - - 2630.81 - 3.26 0.058 2182.00 -395.8 129.29 - - 1967.03 - - - - - - - - - 15.48 -
19870.07 298.94 12.02 2309 19871.40 VBD 2.00 - - 2629.88 - - - 2182.19 - 129.29 - - 1964.69 - - - - - - - - - - -
20170.13 262.70 12.05 2339 20171.46 VBD 2.00 - - 2630.69 - - - 2182.44 - 129.29 - - 1963.59 - - - - - - - - - - -
20470.17 226.16 11.72 2369 20475.93 done 2.00 - - 2630.94 - 4.08 0.131 736.12 -354.5 129.29 - - 1962.19 - - - - - - - - - 15.36 -
20515.20 219.74 14.24 2378 20520.96 done 2.00 - - 2628.50 - 3.70 0.054 2222.25 401.7 129.29 - - 1964.84 - - - - - - - - - 15.62 -
20820.25 184.90 11.30 2409 20826.21 done 2.00 - - 2630.19 - 4.19 0.126 735.50 -354.8 129.29 - - 1962.00 - - - - - - - - - 15.37 -
20865.24 179.52 12.72 2418 20870.99 done 2.00 - - 2628.62 - 3.68 0.054 2221.56 403.8 129.29 - - 1964.84 - - - - - - - - - 15.62 -
21170.27 148.80 9.47 2449 21171.60 VBD 2.00 - - 2630.75 - - - 2221.50 - 129.29 - - 1962.66 - - - - - - - - - - -
21470.30 123.01 8.18 2479 21476.08 done 2.00 - - 2629.75 - 4.14 0.125 736.06 -358.8 129.29 - - 1962.34 - - - - - - - - - 15.37 -
21619.26 108.78 10.18 2509 21626.11 done 2.00 - - 2630.88 - 3.69 0.053 2222.56 402.8 129.29 - - 1962.81 - - - - - - - - - 15.61 -
21925.40 86.86 6.67 2559 21931.25 done 2.04 - - 2629.44 - 4.16 0.123 735.06 -357.6 129.29 - - 1963.59 - - - - - - - - - 15.37 -
22050.43 77.70 7.38 2584 22056.20 done 2.06 - - 2629.88 - 3.68 0.053 2224.06 404.6 129.29 - - 1962.31 - - - - - - - - - 15.65 -
22235.48 68.55 4.01 2621 22292.32 2.23 0.33 0.069 2690.19 182.8 3.46 0.114 3472.88 360.9 187.02 49.03 1.193 1735.38 -4.6 0.047 - - - - - - 15.67 15.40 11.64
22515.51 43.17 5.72 2677 22552.07 done 2.33 - - 2689.06 - 3.22 0.052 2173.44 -403.6 220.31 30.21 1.117 1602.69 -4.4 0.030 - - - - - - - 15.51 11.78
22730.57 35.31 5.25 2720 22773.28 2.45 0.29 0.076 2741.75 181.7 4.05 0.128 735.06 -355.2 260.31 36.40 1.105 1437.88 -4.5 0.025 - - - - - - 15.46 15.28 11.84
22980 end climb: SURFACE_DEPTH_REACHED
22981 begin surface coast
22990 end surface coast: CONTROL_FINISHED_OK
22991 begin surface
SM 0.57 - - - - 175.2 0.04 0.297 768.7 18307.5 17.79 0.063 765.4 43.0 - 3.45 0.049 772.0 222.6 -0.265 - - 15.05 15.47 15.53 -