NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 546 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 161.88 of 575.00 AH used of 24V (71.85% remains)
• Surface angle -63.2 deg, depth 0.48 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.00 (SM_CC=425)
• GPS1 time: 24 s
• GPS2 time: 3 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
7.32 - - - 91.84 VBD -1.25 - - 172.94 - - - 2120.38 - -77.86 83.94 0.005 2613.09 - - - - - - - - - - 15.11
92.11 3.76 -6.45 16 119.85 -1.25 14.66 0.257 1834.31 113.3 3.79 0.113 3474.88 357.4 -77.86 4.81 0.009 2816.28 42.2 -3.055 - - - - - - 15.27 15.10 15.20
187.61 25.32 -20.55 35 193.36 roll -1.25 - - 1836.06 - 3.48 0.058 2081.88 -400.3 -77.86 - - 2815.84 - - - - - - - - - 15.53 -
372.68 61.12 -19.02 72 374.01 no move -1.25 - - 1836.25 - - - 2082.00 - -77.86 - - 2816.03 - - - - - - - - - - -
552.75 83.25 -12.85 108 558.56 roll -1.25 - - 1836.50 - 3.84 0.107 3474.12 362.5 -77.86 - - 2816.31 - - - - - - - - - 15.59 -
597.78 89.56 -13.52 117 603.52 roll -1.25 - - 1836.56 - 3.43 0.055 2082.56 -405.7 -77.86 - - 2815.31 - - - - - - - - - 15.66 -
787.83 111.77 -11.11 145 793.56 roll -1.25 - - 1836.00 - 3.81 0.105 3475.00 365.5 -77.86 - - 2816.44 - - - - - - - - - 15.63 -
876.78 123.10 -12.08 163 883.62 roll -1.25 - - 1836.50 - 3.41 0.054 2081.88 -408.5 -77.86 - - 2815.81 - - - - - - - - - 15.70 -
1182.93 157.37 -11.34 194 1188.66 roll -1.25 - - 1836.12 - 3.81 0.106 3474.31 365.5 -77.86 - - 2815.00 - - - - - - - - - 15.66 -
1237.96 164.38 -13.07 205 1242.60 roll -1.25 - - 1836.69 - 3.41 0.055 2081.75 -408.4 -77.86 - - 2816.66 - - - - - - - - - 15.74 -
1548.02 197.28 -10.17 237 1549.35 no move -1.25 - - 1836.56 - - - 2081.62 - -77.86 - - 2816.44 - - - - - - - - - - -
1848.08 226.87 -10.18 267 1853.81 roll -1.25 - - 1836.00 - 3.82 0.110 3473.62 364.4 -77.86 - - 2814.88 - - - - - - - - - 15.68 -
1877.02 229.95 -10.78 273 1883.84 roll -1.25 - - 1836.25 - 3.43 0.058 2082.69 -405.5 -77.86 - - 2816.31 - - - - - - - - - 15.76 -
2183.15 258.73 -9.45 304 2188.91 roll -1.25 - - 1836.19 - 4.07 0.153 663.12 -348.8 -77.86 - - 2815.44 - - - - - - - - - 15.59 -
2262.09 267.51 -11.28 320 2268.94 roll -1.25 - - 1836.88 - 3.53 0.052 2120.38 412.8 -77.86 - - 2816.19 - - - - - - - - - 15.79 -
2568.21 294.91 -7.86 351 2569.54 no move -1.25 - - 1836.50 - - - 2120.06 - -77.86 - - 2816.47 - - - - - - - - - - -
2868.24 318.29 -7.77 381 2874.03 roll -1.25 - - 1835.00 - 4.14 0.149 663.06 -351.9 -77.86 - - 2816.84 - - - - - - - - - 15.60 -
3097.24 340.02 -9.46 427 3104.08 roll -1.25 - - 1836.38 - 3.55 0.055 2119.56 410.3 -77.86 - - 2816.97 - - - - - - - - - 15.81 -
3403.36 364.68 -8.29 458 3409.19 roll -1.25 - - 1836.56 - 4.14 0.149 663.00 -351.8 -77.86 - - 2815.00 - - - - - - - - - 15.60 -
3632.25 388.35 -10.62 504 3639.16 roll -1.25 - - 1836.25 - 3.56 0.054 2120.06 409.3 -77.86 - - 2816.09 - - - - - - - - - 15.81 -
3938.57 414.98 -8.53 535 3944.22 roll -1.25 - - 1835.69 - 4.17 0.150 663.31 -349.3 -77.86 - - 2815.62 - - - - - - - - - 15.58 -
4167.34 439.91 -11.09 581 4174.25 roll -1.25 - - 1836.19 - 3.56 0.053 2118.69 408.8 -77.86 - - 2815.66 - - - - - - - - - 15.80 -
4473.52 465.50 -7.79 612 4479.30 roll -1.25 - - 1836.44 - 4.19 0.151 663.00 -347.4 -77.86 - - 2816.53 - - - - - - - - - 15.57 -
4702.43 487.60 -10.04 658 4709.34 roll -1.25 - - 1836.31 - 3.56 0.052 2120.00 409.3 -77.86 - - 2817.88 - - - - - - - - - 15.80 -
5008.64 510.37 -7.46 689 5014.32 roll -1.25 - - 1835.62 - 4.19 0.154 662.88 -347.8 -77.86 - - 2816.62 - - - - - - - - - 15.56 -
5237.51 530.29 -9.41 735 5244.42 roll -1.25 - - 1836.38 - 3.57 0.055 2118.25 407.7 -77.86 - - 2817.12 - - - - - - - - - 15.79 -
5543.72 551.51 -6.84 766 5549.59 roll -1.25 - - 1836.38 - 4.20 0.156 663.44 -346.4 -77.86 - - 2816.88 - - - - - - - - - 15.54 -
5772.67 571.28 -9.49 812 5779.58 roll -1.25 - - 1836.56 - 3.56 0.054 2119.31 409.0 -77.86 - - 2814.19 - - - - - - - - - 15.78 -
6078.89 593.60 -7.26 843 6084.59 roll -1.25 - - 1836.50 - 4.20 0.155 662.75 -346.8 -77.86 - - 2811.78 - - - - - - - - - 15.54 -
6307.90 615.06 -9.80 889 6314.73 roll -1.25 - - 1836.50 - 3.56 0.056 2117.81 408.7 -77.86 - - 2813.53 - - - - - - - - - 15.77 -
6614.04 638.88 -6.99 920 6619.91 roll -1.25 - - 1836.19 - 4.20 0.157 662.88 -346.4 -77.86 - - 2811.59 - - - - - - - - - 15.52 -
6843.05 660.13 -9.48 966 6850.03 roll -1.25 - - 1835.94 - 3.53 0.056 2118.31 412.3 -77.86 - - 2813.84 - - - - - - - - - 15.76 -
7149.19 679.99 -5.64 997 7154.79 roll -1.25 - - 1836.19 - 3.69 0.120 3473.69 367.3 -77.86 - - 2814.75 - - - - - - - - - 15.62 -
7378.16 699.13 -8.96 1043 7385.00 roll -1.25 - - 1836.25 - 3.43 0.065 2084.38 -405.0 -77.86 - - 2812.81 - - - - - - - - - 15.69 -
7684.27 723.16 -8.47 1074 7690.01 roll -1.25 - - 1836.44 - 3.84 0.120 3472.88 361.6 -77.86 - - 2813.81 - - - - - - - - - 15.60 -
7913.25 743.79 -8.37 1120 7920.07 roll -1.25 - - 1836.44 - 3.44 0.065 2084.25 -403.7 -77.86 - - 2811.72 - - - - - - - - - 15.68 -
8219.36 768.97 -8.14 1151 8225.23 roll -1.25 - - 1835.81 - 3.86 0.122 3474.44 360.2 -77.86 - - 2811.69 - - - - - - - - - 15.59 -
8264.38 772.79 -8.47 1160 8269.02 roll -1.25 - - 1835.06 - 3.42 0.065 2083.62 -406.7 -77.86 - - 2813.06 - - - - - - - - - 15.68 -
8574.40 799.48 -7.46 1192 8580.19 roll -1.25 - - 1836.38 - 4.11 0.167 664.25 -345.3 -77.86 - - 2808.50 - - - - - - - - - 15.47 -
8619.42 804.62 -10.31 1201 8624.08 roll -1.25 - - 1836.25 - 3.55 0.059 2116.25 409.0 -77.86 - - 2811.66 - - - - - - - - - 15.73 -
8929.45 829.60 -8.28 1233 8935.16 roll -1.25 - - 1836.94 - 3.72 0.124 3472.81 364.7 -77.86 - - 2808.59 - - - - - - - - - 15.57 -
8994.47 836.30 -10.04 1246 8999.12 roll -1.25 - - 1836.44 - 3.44 0.067 2084.69 -403.5 -77.86 - - 2813.00 - - - - - - - - - 15.66 -
9304.49 863.35 -9.27 1278 9305.82 no move -1.25 - - 1836.12 - - - 2084.56 - -77.86 - - 2810.78 - - - - - - - - - - -
9604.52 889.37 -9.73 1308 9605.85 no move -1.25 - - 1836.50 - - - 2085.25 - -77.86 - - 2809.16 - - - - - - - - - - -
9904.56 915.31 -8.05 1338 9905.89 no move -1.25 - - 1836.50 - - - 2085.31 - -77.86 - - 2810.25 - - - - - - - - - - -
10204.59 940.83 -8.75 1368 10210.47 roll -1.25 - - 1834.44 - 3.90 0.127 3472.19 355.6 -77.86 - - 2809.69 - - - - - - - - - 15.55 -
10243.52 944.83 -11.01 1376 10250.50 roll -1.25 - - 1836.19 - 3.47 0.069 2086.12 -399.4 -77.86 - - 2809.25 - - - - - - - - - 15.63 -
10549.64 967.44 -6.76 1407 10550.97 no move -1.25 - - 1836.19 - - - 2086.50 - -77.86 - - 2807.59 - - - - - - - - - - -
10849.68 988.43 -7.05 1437 10851.01 no move -1.25 - - 1836.44 - - - 2086.12 - -77.86 - - 2808.47 - - - - - - - - - - -
10879 end dive: TARGET_DEPTH_EXCEEDED
10879 begin apogee
10880.96 990.43 -6.89 1440 10951.55 -0.25 1.87 0.144 2081.00 130.8 0.07 0.307 2187.38 1446.6 - 67.44 2.270 2498.78 -4.6 0.347 - - - - - - 15.58 15.03 11.40
10953 end apogee: CONTROL_FINISHED_OK
10953 begin climb
10953.81 991.21 - 1447 11033.01 1.25 2.67 0.087 2447.69 137.3 - - 2187.31 - 77.86 74.96 2.215 2179.59 -4.3 0.330 - - - - - - 15.13 - 12.22
11335.82 960.88 8.00 1487 11341.69 done 1.25 - - 2447.38 - 4.22 0.146 737.06 -343.7 77.86 - - 2169.81 - - - - - - - - - 15.36 -
11414.68 953.40 9.99 1503 11421.62 done 1.25 - - 2448.12 - 3.70 0.055 2218.06 400.3 77.86 - - 2169.19 - - - - - - - - - 15.50 -
11720.92 927.96 8.20 1534 11722.25 VBD 1.25 - - 2448.06 - - - 2217.94 - 77.86 - - 2166.28 - - - - - - - - - - -
12020.98 902.94 8.28 1564 12025.72 done 1.25 - - 2447.38 - 3.54 0.129 3473.31 354.6 77.86 - - 2167.03 - - - - - - - - - 15.54 -
12111.09 894.63 8.75 1582 12115.57 done 1.25 - - 2447.44 - 3.20 0.061 2182.69 -403.3 77.86 - - 2166.28 - - - - - - - - - 15.68 -
12421.08 870.98 7.63 1614 12426.92 done 1.25 - - 2447.88 - 4.07 0.142 736.81 -355.3 77.86 - - 2165.53 - - - - - - - - - 15.53 -
12506.11 863.79 9.47 1631 12511.74 done 1.25 - - 2447.19 - 3.62 0.054 2218.50 409.3 77.86 - - 2166.38 - - - - - - - - - 15.71 -
12811.19 840.11 6.90 1662 12812.52 VBD 1.29 - - 2447.44 - - - 2219.12 - 77.86 - - 2162.72 - - - - - - - - - - -
13111.20 815.95 7.59 1692 13117.19 done 1.29 - - 2447.50 - 4.20 0.140 737.69 -352.7 77.86 - - 2165.06 - - - - - - - - - 15.53 -
13190.13 808.82 10.38 1708 13197.00 done 1.29 - - 2447.44 - 3.62 0.054 2219.06 409.2 77.86 - - 2162.91 - - - - - - - - - 15.73 -
13496.26 784.77 8.61 1739 13500.99 done 1.29 - - 2447.94 - 3.51 0.127 3473.56 357.4 77.86 - - 2163.09 - - - - - - - - - 15.57 -
13580.13 777.30 9.19 1756 13586.98 done 1.29 - - 2447.06 - 3.17 0.060 2182.62 -407.2 77.86 - - 2162.53 - - - - - - - - - 15.73 -
13886.32 750.78 9.02 1787 13887.65 VBD 1.29 - - 2447.38 - - - 2183.12 - 77.86 - - 2162.78 - - - - - - - - - - -
14186.34 724.73 8.32 1817 14187.67 VBD 1.29 - - 2447.56 - - - 2183.06 - 77.86 - - 2162.59 - - - - - - - - - - -
14486.38 699.60 7.91 1847 14487.71 VBD 1.29 - - 2447.38 - - - 2183.06 - 77.86 - - 2162.25 - - - - - - - - - - -
14786.43 678.12 6.35 1877 14787.76 VBD 1.34 - - 2447.62 - - - 2183.50 - 77.86 - - 2162.28 - - - - - - - - - - -
15086.47 658.39 6.21 1907 15087.94 1.39 0.19 0.104 2486.81 206.3 - - 2183.62 - 77.86 - - 2164.00 - - - - - - - - 15.73 - -
15386.50 636.61 7.71 1937 15387.83 VBD 1.39 - - 2486.81 - - - 2184.00 - 77.86 - - 2161.81 - - - - - - - - - - -
15686.53 616.24 6.88 1967 15687.87 VBD 1.43 - - 2486.50 - - - 2183.69 - 77.86 - - 2161.78 - - - - - - - - - - -
15986.57 596.16 5.82 1997 16018.92 done 1.52 - - 2486.62 - 3.62 0.127 3473.62 356.3 109.74 27.00 1.764 2050.66 -4.1 0.241 - - - - - - - 15.53 11.67
16081.70 588.94 7.99 2016 16086.25 roll 1.52 - - 2487.19 - 3.24 0.059 2181.94 -398.7 109.74 - - 2051.31 - - - - - - - - - 15.56 -
16391.77 560.85 9.76 2048 16397.59 roll 1.52 - - 2486.56 - 4.07 0.137 736.44 -355.2 109.74 - - 2045.34 - - - - - - - - - 15.46 -
16596.88 537.18 11.38 2089 16602.48 done 1.52 - - 2486.69 - 3.63 0.055 2221.19 409.0 109.74 - - 2046.62 - - - - - - - - - 15.67 -
16901.93 506.19 9.98 2120 16907.78 done 1.52 - - 2484.75 - 4.20 0.132 735.88 -353.6 109.74 - - 2043.84 - - - - - - - - - 15.50 -
17100.94 485.01 9.25 2160 17107.92 done 1.52 - - 2486.81 - 3.63 0.052 2220.56 409.0 109.74 - - 2043.41 - - - - - - - - - 15.71 -
17407.08 461.01 7.74 2191 17412.92 done 1.52 - - 2485.12 - 4.16 0.130 735.88 -356.9 109.74 - - 2042.84 - - - - - - - - - 15.53 -
17506.02 451.92 9.23 2211 17512.89 done 1.52 - - 2486.69 - 3.63 0.052 2221.56 409.3 109.74 - - 2044.31 - - - - - - - - - 15.60 -
17812.19 429.30 7.45 2242 17813.66 1.54 0.17 0.093 2521.56 205.1 - - 2221.06 - 109.74 - - 2042.03 - - - - - - - - 15.73 - -
18112.20 403.16 8.83 2272 18118.05 done 1.54 - - 2521.56 - 4.14 0.129 736.00 -358.7 109.74 - - 2042.59 - - - - - - - - - 15.52 -
18197.22 394.24 11.14 2289 18202.99 done 1.54 - - 2521.75 - 3.61 0.052 2222.69 411.8 109.74 - - 2041.19 - - - - - - - - - 15.61 -
18502.26 367.65 8.76 2320 18507.01 done 1.54 - - 2521.81 - 3.45 0.118 3473.38 362.5 109.74 - - 2043.91 - - - - - - - - - 15.54 -
18616.13 357.10 9.45 2343 18622.99 done 1.54 - - 2521.19 - 3.17 0.053 2178.12 -408.6 109.74 - - 2042.84 - - - - - - - - - 15.60 -
18922.34 331.79 7.52 2374 18928.16 done 1.56 - - 2521.50 - 4.01 0.131 736.12 -359.6 109.74 - - 2042.38 - - - - - - - - - 15.52 -
19097.38 316.12 8.50 2409 19102.97 done 1.56 - - 2521.00 - 3.60 0.052 2223.62 413.2 109.74 - - 2042.03 - - - - - - - - - 15.60 -
19402.42 294.47 6.82 2440 19407.12 done 1.59 - - 2521.81 - 3.44 0.116 3474.25 363.6 109.74 - - 2043.09 - - - - - - - - - 15.55 -
19552.44 281.75 7.97 2470 19556.97 done 1.59 - - 2521.38 - 3.15 0.053 2177.50 -411.7 109.74 - - 2042.72 - - - - - - - - - 15.73 -
19862.47 256.48 7.65 2502 19863.80 VBD 1.59 - - 2521.81 - - - 2178.50 - 109.74 - - 2042.66 - - - - - - - - - - -
20162.51 233.64 7.82 2532 20168.64 done 1.59 - - 2522.25 - 4.01 0.130 737.12 -359.4 109.74 - - 2042.91 - - - - - - - - - 15.51 -
20391.48 214.50 7.89 2578 20398.34 done 1.59 - - 2521.44 - 3.62 0.052 2224.50 410.9 109.74 - - 2042.28 - - - - - - - - - 15.74 -
20697.62 195.29 5.59 2609 20735.29 1.70 0.20 0.091 2563.50 210.3 4.11 0.126 736.12 -362.1 144.87 30.88 1.312 1907.44 -4.4 0.113 - - - - - - 15.69 15.53 11.61
20837.02 182.13 11.15 2637 20844.01 roll 1.70 - - 2563.94 - 3.65 0.050 2223.25 407.4 144.87 - - 1904.56 - - - - - - - - - 15.47 -
21143.17 154.34 9.02 2668 21144.49 no move 1.70 - - 2563.19 - - - 2223.44 - 144.87 - - 1902.84 - - - - - - - - - - -
21443.19 125.88 9.25 2698 21448.96 roll 1.70 - - 2563.31 - 4.10 0.123 736.00 -362.8 144.87 - - 1903.75 - - - - - - - - - 15.50 -
21538.22 115.93 10.08 2717 21543.87 roll 1.70 - - 2564.00 - 3.62 0.050 2224.12 411.1 144.87 - - 1901.41 - - - - - - - - - 15.67 -
21843.30 93.45 6.49 2757 21849.14 done 1.75 - - 2563.56 - 4.11 0.121 735.19 -362.3 144.87 - - 1902.72 - - - - - - - - - 15.44 -
21988.33 83.39 6.57 2786 21994.08 done 1.79 - - 2563.12 - 3.61 0.048 2226.44 413.1 144.87 - - 1902.31 - - - - - - - - - 15.69 -
22173.37 75.79 4.29 2823 22220.45 1.95 0.33 0.073 2621.44 176.7 - - 2226.25 - 198.59 45.44 1.168 1687.94 -4.7 0.053 - - - - - - 15.52 - 11.98
22398.41 60.78 4.69 2868 22440.31 2.10 0.17 0.089 2658.19 216.2 - - 2226.88 - 246.60 41.07 1.130 1495.97 -4.7 0.044 - - - - - - 15.50 - 11.98
22618.44 48.50 7.26 2912 22624.17 roll 2.12 - - 2657.69 - 3.42 0.111 3473.19 364.4 246.60 - - 1489.91 - - - - - - - - - 15.44 -
22808.47 28.53 10.70 2950 22814.15 roll 2.12 - - 2657.81 - 3.19 0.050 2179.56 -405.5 246.60 - - 1488.91 - - - - - - - - - 15.56 -
22993.51 9.29 10.43 2987 22994.84 VBD 2.12 - - 2657.25 - - - 2180.38 - 246.60 - - 1486.66 - - - - - - - - - - -
23058 end climb: SURFACE_DEPTH_REACHED
23058 begin surface coast
23073 end surface coast: CONTROL_FINISHED_OK
23073 begin surface
SM 0.40 - - - - 174.0 - 0.016 767.4 - 17.60 0.094 763.4 43.4 - 0.22 0.104 771.5 3506.8 -1.379 - - 30.36 15.50 15.63 -