NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 497 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 148.43 of 575.00 AH used of 24V (74.19% remains)
• Surface angle -59.8 deg, depth 0.65 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.01 (SM_CC=425)
• GPS1 time: 14 s
• GPS2 time: 26 s • Transponder ping count: 2
• 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
7.20 - - - 86.27 VBD -1.25 - - 172.88 - - - 2119.62 - -77.86 78.45 0.005 2546.25 - - - - - - - - - - 15.19
86.54 3.82 -5.36 15 117.89 -1.25 14.52 0.258 1836.19 114.6 3.75 0.112 3474.88 361.4 -77.86 6.57 0.008 2818.25 41.4 -3.408 - - - - - - 15.37 15.24 15.27
340.77 55.67 -15.63 66 346.49 roll -1.25 - - 1837.06 - 3.42 0.057 2082.38 -407.2 -77.86 - - 2817.06 - - - - - - - - - 15.63 -
525.80 76.65 -10.10 103 531.59 roll -1.25 - - 1835.56 - 3.79 0.105 3474.69 367.4 -77.86 - - 2818.38 - - - - - - - - - 15.68 -
755.91 103.59 -10.73 149 760.54 roll -1.25 - - 1836.69 - 3.39 0.056 2081.12 -411.1 -77.86 - - 2817.16 - - - - - - - - - 15.75 -
1065.96 134.33 -10.00 181 1071.67 roll -1.25 - - 1836.56 - 3.75 0.107 3475.44 371.8 -77.86 - - 2817.72 - - - - - - - - - 15.75 -
1231.03 154.38 -12.65 214 1235.73 roll -1.25 - - 1836.12 - 3.37 0.057 2080.69 -413.9 -77.86 - - 2818.94 - - - - - - - - - 15.79 -
1541.09 187.22 -10.13 246 1542.42 no move -1.25 - - 1837.06 - - - 2081.62 - -77.86 - - 2815.78 - - - - - - - - - - -
1841.13 218.28 -10.82 276 1842.46 no move -1.25 - - 1836.88 - - - 2081.81 - -77.86 - - 2817.59 - - - - - - - - - - -
2141.17 251.98 -11.14 306 2142.50 no move -1.25 - - 1837.31 - - - 2081.44 - -77.86 - - 2815.91 - - - - - - - - - - -
2441.28 284.07 -10.96 336 2446.98 roll -1.25 - - 1837.00 - 3.96 0.155 663.31 -358.1 -77.86 - - 2816.22 - - - - - - - - - 15.74 -
2516.30 293.05 -12.83 351 2521.91 roll -1.25 - - 1836.69 - 3.51 0.053 2121.75 415.5 -77.86 - - 2820.06 - - - - - - - - - 15.86 -
2821.26 323.50 -10.16 382 2822.59 no move -1.25 - - 1836.69 - - - 2121.44 - -77.86 - - 2817.84 - - - - - - - - - - -
3121.29 353.73 -9.66 412 3122.62 no move -1.25 - - 1837.38 - - - 2121.19 - -77.86 - - 2818.00 - - - - - - - - - - -
3421.32 384.66 -10.52 442 3422.65 no move -1.25 - - 1836.62 - - - 2121.50 - -77.86 - - 2815.97 - - - - - - - - - - -
3721.36 413.72 -9.11 472 3727.12 roll -1.25 - - 1836.88 - 3.67 0.117 3473.62 368.4 -77.86 - - 2815.97 - - - - - - - - - 15.81 -
3766.37 418.20 -9.83 481 3771.07 roll -1.25 - - 1836.94 - 3.37 0.060 2081.31 -413.1 -77.86 - - 2817.38 - - - - - - - - - 15.87 -
4076.40 446.81 -9.13 513 4077.72 no move -1.25 - - 1836.88 - - - 2081.62 - -77.86 - - 2817.47 - - - - - - - - - - -
4376.43 473.98 -9.22 543 4382.18 roll -1.25 - - 1837.19 - 3.99 0.158 663.12 -355.5 -77.86 - - 2819.56 - - - - - - - - - 15.74 -
4441.46 481.01 -11.32 556 4446.14 roll -1.25 - - 1837.06 - 3.50 0.053 2119.44 416.1 -77.86 - - 2817.09 - - - - - - - - - 15.86 -
4751.48 509.36 -9.44 588 4752.81 no move -1.25 - - 1836.88 - - - 2119.44 - -77.86 - - 2817.31 - - - - - - - - - - -
5051.52 538.50 -9.29 618 5057.29 roll -1.25 - - 1836.62 - 3.66 0.118 3473.94 370.1 -77.86 - - 2815.25 - - - - - - - - - 15.80 -
5156.53 550.10 -11.08 639 5161.24 roll -1.25 - - 1837.31 - 3.38 0.061 2081.31 -412.0 -77.86 - - 2816.53 - - - - - - - - - 15.87 -
5466.57 580.07 -9.47 671 5472.32 roll -1.25 - - 1836.88 - 3.99 0.160 663.25 -355.4 -77.86 - - 2816.81 - - - - - - - - - 15.72 -
5565.50 590.36 -9.65 691 5572.35 roll -1.25 - - 1837.19 - 3.52 0.053 2118.94 413.5 -77.86 - - 2816.16 - - - - - - - - - 15.87 -
5871.62 616.76 -8.14 722 5872.95 no move -1.25 - - 1837.06 - - - 2118.94 - -77.86 - - 2816.12 - - - - - - - - - - -
6171.68 641.78 -8.19 752 6173.00 no move -1.25 - - 1837.00 - - - 2118.75 - -77.86 - - 2815.66 - - - - - - - - - - -
6471.74 666.11 -7.52 782 6473.07 no move -1.25 - - 1837.00 - - - 2118.81 - -77.86 - - 2813.34 - - - - - - - - - - -
6771.81 689.78 -8.50 812 6777.61 roll -1.25 - - 1836.81 - 3.72 0.122 3474.56 364.4 -77.86 - - 2812.84 - - - - - - - - - 15.78 -
6826.84 694.45 -8.91 823 6831.53 roll -1.25 - - 1837.12 - 3.38 0.063 2085.00 -411.1 -77.86 - - 2815.34 - - - - - - - - - 15.85 -
7136.89 718.10 -7.11 855 7138.22 no move -1.25 - - 1837.00 - - - 2084.19 - -77.86 - - 2814.44 - - - - - - - - - - -
7436.95 741.56 -7.55 885 7438.27 no move -1.25 - - 1836.69 - - - 2084.25 - -77.86 - - 2814.16 - - - - - - - - - - -
7737.01 764.29 -7.20 915 7742.78 roll -1.25 - - 1837.19 - 4.05 0.168 663.50 -350.8 -77.86 - - 2812.03 - - - - - - - - - 15.68 -
7806.67 770.64 -10.06 929 7812.80 roll -1.25 - - 1836.50 - 3.55 0.058 2117.19 409.5 -77.86 - - 2815.06 - - - - - - - - - 15.86 -
8112.11 794.38 -8.45 960 8113.44 no move -1.25 - - 1837.00 - - - 2117.31 - -77.86 - - 2813.78 - - - - - - - - - - -
8412.14 818.72 -10.18 990 8417.92 roll -1.25 - - 1837.19 - 4.16 0.167 664.31 -349.3 -77.86 - - 2811.56 - - - - - - - - - 15.67 -
8491.08 826.04 -9.44 1006 8497.92 roll -1.25 - - 1837.25 - 3.56 0.059 2115.00 407.5 -77.86 - - 2814.91 - - - - - - - - - 15.86 -
8797.23 848.99 -7.19 1037 8803.12 roll -1.25 - - 1836.81 - 4.13 0.167 663.19 -351.5 -77.86 - - 2813.38 - - - - - - - - - 15.66 -
8846.27 853.72 -7.33 1047 8852.97 roll -1.25 - - 1836.94 - 3.55 0.060 2115.88 409.2 -77.86 - - 2815.44 - - - - - - - - - 15.85 -
9152.25 875.52 -7.13 1078 9153.58 no move -1.25 - - 1837.12 - - - 2116.31 - -77.86 - - 2810.72 - - - - - - - - - - -
9452.28 896.79 -7.80 1108 9458.07 roll -1.25 - - 1837.19 - 4.13 0.170 663.12 -351.9 -77.86 - - 2812.47 - - - - - - - - - 15.65 -
9527.29 902.31 -7.85 1123 9531.98 roll -1.25 - - 1837.00 - 3.56 0.062 2114.25 407.6 -77.86 - - 2812.62 - - - - - - - - - 15.84 -
9837.33 922.64 -6.60 1155 9838.66 no move -1.25 - - 1836.50 - - - 2115.12 - -77.86 - - 2810.00 - - - - - - - - - - -
10137.37 942.15 -6.13 1185 10138.70 no move -1.25 - - 1836.81 - - - 2115.44 - -77.86 - - 2812.00 - - - - - - - - - - -
10437.40 963.17 -6.58 1215 10438.73 no move -1.25 - - 1837.00 - - - 2115.81 - -77.86 - - 2810.38 - - - - - - - - - - -
10737.43 983.81 -6.94 1245 10743.22 roll -1.25 - - 1836.62 - 4.20 0.175 663.25 -345.8 -77.86 - - 2812.56 - - - - - - - - - 15.63 -
10816 end dive: TARGET_DEPTH_EXCEEDED
10816 begin apogee
10822.10 990.16 -8.45 1261 10892.89 -0.25 1.84 0.157 2079.50 132.0 0.08 0.298 2184.69 19018.0 - 67.51 2.272 2499.56 -4.6 0.348 - - - - - - 15.72 15.06 11.82
10894 end apogee: CONTROL_FINISHED_OK
10894 begin climb
10894.93 992.48 - 1268 10974.99 1.25 2.65 0.092 2447.75 139.0 - - 2184.19 - 77.86 75.14 2.207 2180.59 -4.2 0.329 - - - - - - 15.14 - 12.28
11267.93 965.58 6.97 1306 11273.75 done 1.28 - - 2447.50 - 4.08 0.149 735.94 -355.0 77.86 - - 2170.75 - - - - - - - - - 15.43 -
11382.97 954.35 9.64 1329 11388.72 done 1.28 - - 2447.19 - 3.65 0.055 2220.62 406.8 77.86 - - 2167.56 - - - - - - - - - 15.50 -
11688.07 931.84 7.28 1360 11693.75 done 1.31 - - 2447.88 - 3.48 0.128 3473.31 360.0 77.86 - - 2165.69 - - - - - - - - - 15.62 -
11803.06 922.58 8.57 1383 11807.61 done 1.31 - - 2447.50 - 3.17 0.061 2181.25 -407.6 77.86 - - 2166.97 - - - - - - - - - 15.61 -
12113.13 899.11 8.48 1415 12114.46 VBD 1.31 - - 2447.62 - - - 2181.94 - 77.86 - - 2166.34 - - - - - - - - - - -
12413.17 877.40 8.00 1445 12414.50 VBD 1.31 - - 2447.38 - - - 2181.81 - 77.86 - - 2166.19 - - - - - - - - - - -
12713.19 853.84 8.82 1475 12718.80 done 1.31 - - 2447.31 - 3.58 0.125 3473.75 360.9 77.86 - - 2166.12 - - - - - - - - - 15.71 -
12848.23 841.45 9.46 1502 12852.76 done 1.31 - - 2447.88 - 3.14 0.060 2180.25 -411.9 77.86 - - 2165.44 - - - - - - - - - 15.78 -
13158.29 814.77 7.52 1534 13164.08 done 1.32 - - 2447.19 - 3.94 0.143 735.44 -366.7 77.86 - - 2161.62 - - - - - - - - - 15.69 -
13247.19 806.23 9.85 1552 13254.05 done 1.32 - - 2447.75 - 3.59 0.054 2220.94 413.8 77.86 - - 2163.09 - - - - - - - - - 15.80 -
13553.35 781.23 7.94 1583 13554.68 VBD 1.32 - - 2448.00 - - - 2221.38 - 77.86 - - 2162.59 - - - - - - - - - - -
13853.37 760.45 6.44 1613 13854.84 1.37 0.16 0.103 2480.62 203.9 - - 2220.44 - 77.86 - - 2162.72 - - - - - - - - 15.79 - -
14153.41 739.08 6.69 1643 14159.23 done 1.41 - - 2481.19 - 4.07 0.140 736.31 -364.7 77.86 - - 2160.47 - - - - - - - - - 15.70 -
14218.49 734.69 6.26 1656 14224.01 done 1.47 - - 2481.44 - 3.58 0.054 2220.31 414.5 77.86 - - 2160.75 - - - - - - - - - 15.80 -
14523.46 715.24 6.87 1687 14528.02 done 1.50 - - 2480.88 - 3.44 0.123 3475.44 364.9 77.86 - - 2160.09 - - - - - - - - - 15.73 -
14583.46 711.17 8.04 1699 14587.98 done 1.50 - - 2481.00 - 3.14 0.058 2179.38 -412.8 77.86 - - 2162.47 - - - - - - - - - 15.81 -
14893.50 690.97 6.25 1731 14899.15 1.56 0.23 0.089 2524.62 189.7 3.55 0.118 3472.50 364.3 77.86 - - 2163.00 - - - - - - - - 15.71 15.72 -
14948.57 686.47 8.55 1742 14953.06 done 1.56 - - 2523.75 - 3.11 0.058 2178.06 -416.2 77.86 - - 2164.12 - - - - - - - - - 15.81 -
15258.55 663.83 6.69 1774 15259.88 VBD 1.60 - - 2525.25 - - - 2179.50 - 77.86 - - 2161.88 - - - - - - - - - - -
15558.58 640.39 6.84 1804 15564.16 done 1.63 - - 2524.94 - 3.50 0.120 3474.62 370.0 77.86 - - 2163.72 - - - - - - - - - 15.73 -
15687.43 628.27 9.65 1830 15694.29 done 1.63 - - 2525.81 - 3.11 0.057 2179.25 -416.5 77.86 - - 2161.66 - - - - - - - - - 15.81 -
15993.65 605.92 7.17 1861 15999.30 done 1.66 - - 2525.56 - 3.92 0.138 735.12 -368.4 77.86 - - 2160.09 - - - - - - - - - 15.69 -
16042.56 601.02 9.90 1871 16049.40 done 1.66 - - 2524.88 - 3.55 0.051 2224.19 419.5 77.86 - - 2161.66 - - - - - - - - - 15.81 -
16348.71 577.93 7.68 1902 16353.27 done 1.66 - - 2525.31 - 3.37 0.118 3474.75 371.1 77.86 - - 2162.88 - - - - - - - - - 15.73 -
16482.69 566.75 7.93 1929 16489.43 done 1.66 - - 2526.38 - 3.10 0.056 2178.81 -418.0 77.86 - - 2163.12 - - - - - - - - - 15.74 -
16788.82 542.06 7.66 1960 16794.61 done 1.66 - - 2525.94 - 3.90 0.137 736.12 -369.9 77.86 - - 2162.78 - - - - - - - - - 15.69 -
17017.84 519.88 9.04 2006 17024.68 done 1.66 - - 2525.31 - 3.56 0.052 2223.38 417.8 77.86 - - 2161.44 - - - - - - - - - 15.81 -
17323.99 498.59 7.53 2037 17329.71 done 1.67 - - 2525.75 - 3.98 0.133 736.19 -373.7 77.86 - - 2158.84 - - - - - - - - - 15.68 -
17452.93 488.58 7.57 2063 17459.79 done 1.67 - - 2525.50 - 3.55 0.052 2223.56 419.0 77.86 - - 2161.66 - - - - - - - - - 15.74 -
17759.11 469.03 6.21 2094 17764.82 1.73 0.21 0.093 2567.50 200.0 3.38 0.117 3473.88 369.9 77.86 - - 2158.81 - - - - - - - - 15.80 15.71 -
17984.20 452.87 6.92 2139 17988.69 done 1.76 - - 2566.75 - 3.08 0.055 2177.06 -421.0 77.86 - - 2160.91 - - - - - - - - - 15.79 -
18294.22 435.27 5.14 2171 18335.72 1.89 0.19 0.097 2604.88 200.7 3.55 0.116 3472.69 365.0 119.42 34.75 1.597 2011.41 -4.3 0.202 - - - - - - 15.69 15.50 11.92
18404.24 425.92 10.37 2193 18408.89 roll 1.89 - - 2604.25 - 3.12 0.054 2180.12 -414.3 119.42 - - 2009.66 - - - - - - - - - 15.56 -
18714.25 393.37 11.18 2225 18719.98 roll 1.89 - - 2604.44 - 3.89 0.133 735.38 -371.4 119.42 - - 2006.03 - - - - - - - - - 15.55 -
18749.28 389.22 12.12 2232 18754.00 roll 1.89 - - 2605.62 - 3.57 0.049 2223.94 417.0 119.42 - - 2005.34 - - - - - - - - - 15.68 -
19059.31 353.84 11.04 2264 19060.64 VBD 1.89 - - 2605.38 - - - 2224.56 - 119.42 - - 2003.19 - - - - - - - - - - -
19359.33 319.02 11.38 2294 19365.07 done 1.89 - - 2605.12 - 4.00 0.128 735.25 -372.3 119.42 - - 2004.53 - - - - - - - - - 15.59 -
19464.35 304.95 12.71 2315 19469.10 done 1.89 - - 2604.94 - 3.56 0.050 2224.94 418.5 119.42 - - 2005.06 - - - - - - - - - 15.67 -
19774.40 269.90 11.11 2347 19778.95 done 1.89 - - 2605.06 - 3.35 0.113 3472.00 372.3 119.42 - - 2003.31 - - - - - - - - - 15.70 -
19848.25 261.47 11.25 2362 19855.22 done 1.89 - - 2605.00 - 3.10 0.052 2177.50 -417.6 119.42 - - 2004.31 - - - - - - - - - 15.75 -
20154.43 230.92 9.49 2393 20155.76 VBD 1.89 - - 2604.56 - - - 2178.31 - 119.42 - - 2003.72 - - - - - - - - - - -
20454.55 203.79 8.80 2423 20455.88 VBD 1.89 - - 2605.19 - - - 2178.50 - 119.42 - - 2003.47 - - - - - - - - - - -
20754.50 177.72 8.68 2453 20760.23 done 1.89 - - 2605.25 - 3.88 0.130 734.88 -372.1 119.42 - - 2005.16 - - - - - - - - - 15.67 -
20983.48 153.18 10.35 2499 20990.31 done 1.89 - - 2605.69 - 3.56 0.051 2224.75 418.5 119.42 - - 2003.28 - - - - - - - - - 15.68 -
21289.61 128.83 6.95 2530 21294.15 done 1.92 - - 2605.38 - 3.37 0.112 3473.12 370.4 119.42 - - 2004.88 - - - - - - - - - 15.59 -
21359.63 123.94 6.94 2544 21364.29 done 1.95 - - 2604.38 - 3.11 0.050 2174.75 -417.5 119.42 - - 2003.00 - - - - - - - - - 15.78 -
21669.67 104.92 6.81 2576 21675.31 done 1.99 - - 2605.12 - 3.88 0.126 735.19 -371.0 119.42 - - 2004.81 - - - - - - - - - 15.61 -
21744.68 99.04 7.85 2591 21750.44 done 1.99 - - 2605.69 - 3.56 0.047 2228.12 419.4 119.42 - - 2003.38 - - - - - - - - - 15.69 -
21930.93 89.37 4.39 2628 21982.73 2.15 0.37 0.075 2670.50 175.2 3.39 0.110 3473.25 367.3 171.66 43.94 1.185 1800.19 -4.6 0.060 - - - - - - 15.76 15.46 12.04
22110.51 71.64 11.78 2664 22116.20 roll 2.15 - - 2670.31 - 3.15 0.050 2177.25 -411.4 171.66 - - 1793.78 - - - - - - - - - 15.55 -
22295.57 57.87 5.87 2701 22328.34 done 2.24 - - 2670.19 - 3.90 0.125 733.88 -370.1 202.71 27.10 1.105 1671.69 -4.5 0.041 - - - - - - - 15.43 12.08
22551.16 47.10 3.93 2752 22608.04 2.42 0.37 0.070 2733.06 169.9 3.61 0.045 2229.00 414.2 261.46 49.67 1.102 1434.69 -4.8 0.035 - - - - - - 15.47 15.61 12.09
22786.22 27.23 13.13 2799 22792.03 roll 2.42 - - 2733.81 - 4.07 0.122 734.12 -367.3 261.46 - - 1429.03 - - - - - - - - - 15.49 -
22946 end climb: SURFACE_DEPTH_REACHED
22946 begin surface coast
22956 end surface coast: CONTROL_FINISHED_OK
22956 begin surface
SM 0.62 - - - - 174.3 - - 767.4 - 17.28 0.059 763.7 44.2 - 3.31 0.046 771.1 231.7 -0.319 - - 30.00 15.58 15.61 -