NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 563 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 167.31 of 575.00 AH used of 24V (70.90% remains)
• Surface angle -62.5 deg, depth 0.77 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 18 s
• GPS2 time: 3 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
7.37 - - - 91.88 VBD -1.25 - - 174.06 - - - 2082.31 - -77.86 83.87 0.005 2610.22 - - - - - - - - - - 15.07
92.15 3.80 -5.86 16 119.97 -1.25 14.85 0.261 1835.75 111.9 3.95 0.111 3473.81 352.3 -77.86 4.86 0.009 2814.03 41.9 -3.083 - - - - - - 15.23 15.07 15.17
122.71 11.95 -24.82 22 128.47 roll -1.25 - - 1835.50 - 3.53 0.057 2081.12 -394.5 -77.86 - - 2816.28 - - - - - - - - - 15.49 -
307.78 46.45 -19.04 59 313.64 roll -1.25 - - 1835.38 - 4.12 0.150 663.31 -344.1 -77.86 - - 2817.16 - - - - - - - - - 15.41 -
537.89 87.71 -15.19 105 543.66 roll -1.25 - - 1835.31 - 3.61 0.049 2118.50 403.1 -77.86 - - 2817.72 - - - - - - - - - 15.65 -
727.94 107.50 -10.85 136 733.72 roll -1.25 - - 1835.56 - 4.19 0.142 663.06 -347.4 -77.86 - - 2815.72 - - - - - - - - - 15.50 -
926.95 134.08 -13.15 176 933.78 roll -1.25 - - 1836.25 - 3.60 0.049 2121.25 405.1 -77.86 - - 2816.56 - - - - - - - - - 15.70 -
1233.08 166.98 -10.65 207 1238.79 roll -1.25 - - 1835.38 - 3.74 0.109 3475.00 362.0 -77.86 - - 2818.75 - - - - - - - - - 15.61 -
1312.17 176.56 -11.92 223 1318.86 roll -1.25 - - 1835.81 - 3.41 0.055 2079.88 -409.1 -77.86 - - 2816.47 - - - - - - - - - 15.69 -
1618.18 208.77 -9.71 254 1619.51 no move -1.25 - - 1835.44 - - - 2079.88 - -77.86 - - 2815.53 - - - - - - - - - - -
1918.20 239.18 -9.88 284 1923.93 roll -1.25 - - 1835.56 - 3.86 0.109 3474.25 361.2 -77.86 - - 2815.47 - - - - - - - - - 15.63 -
1967.22 244.56 -11.58 294 1973.97 roll -1.25 - - 1836.00 - 3.41 0.057 2080.38 -408.8 -77.86 - - 2816.59 - - - - - - - - - 15.71 -
2273.25 274.31 -9.42 325 2274.58 no move -1.25 - - 1835.25 - - - 2080.12 - -77.86 - - 2816.50 - - - - - - - - - - -
2573.28 303.97 -10.24 355 2574.61 no move -1.25 - - 1835.44 - - - 2080.31 - -77.86 - - 2816.66 - - - - - - - - - - -
2873.33 330.75 -8.44 385 2874.65 no move -1.25 - - 1835.19 - - - 2079.69 - -77.86 - - 2816.34 - - - - - - - - - - -
3173.35 357.53 -9.04 415 3179.13 roll -1.25 - - 1834.94 - 4.06 0.151 663.06 -348.9 -77.86 - - 2817.09 - - - - - - - - - 15.53 -
3212.30 362.19 -12.05 423 3219.12 roll -1.25 - - 1834.75 - 3.57 0.051 2118.62 407.7 -77.86 - - 2818.72 - - - - - - - - - 15.77 -
3518.40 390.39 -9.37 454 3524.12 roll -1.25 - - 1835.44 - 3.77 0.114 3474.62 359.7 -77.86 - - 2815.25 - - - - - - - - - 15.62 -
3597.46 399.06 -10.80 470 3604.18 roll -1.25 - - 1835.69 - 3.42 0.059 2083.44 -406.8 -77.86 - - 2816.38 - - - - - - - - - 15.71 -
3903.45 427.48 -8.66 501 3904.77 no move -1.25 - - 1835.31 - - - 2082.81 - -77.86 - - 2816.06 - - - - - - - - - - -
4203.48 455.68 -9.71 531 4209.22 roll -1.25 - - 1835.81 - 3.88 0.114 3473.12 358.3 -77.86 - - 2814.53 - - - - - - - - - 15.60 -
4278.56 463.96 -10.69 546 4283.15 roll -1.25 - - 1836.56 - 3.45 0.061 2082.06 -403.2 -77.86 - - 2816.03 - - - - - - - - - 15.70 -
4588.53 494.39 -9.61 578 4594.26 roll -1.25 - - 1835.19 - 3.89 0.114 3472.50 357.4 -77.86 - - 2815.16 - - - - - - - - - 15.59 -
4627.53 498.32 -9.91 586 4634.28 roll -1.25 - - 1834.69 - 3.44 0.061 2082.50 -404.1 -77.86 - - 2818.31 - - - - - - - - - 15.70 -
4933.71 526.88 -8.79 617 4935.04 no move -1.25 - - 1835.31 - - - 2082.38 - -77.86 - - 2816.50 - - - - - - - - - - -
5233.60 554.70 -9.65 647 5234.92 no move -1.25 - - 1835.38 - - - 2082.31 - -77.86 - - 2815.44 - - - - - - - - - - -
5533.63 583.11 -9.32 677 5539.38 roll -1.25 - - 1835.12 - 3.93 0.118 3472.56 353.8 -77.86 - - 2815.03 - - - - - - - - - 15.57 -
5568.67 586.49 -8.97 684 5573.44 roll -1.25 - - 1835.44 - 3.44 0.061 2082.62 -404.1 -77.86 - - 2814.94 - - - - - - - - - 15.69 -
5878.69 614.50 -8.54 716 5880.02 no move -1.25 - - 1835.19 - - - 2082.25 - -77.86 - - 2814.25 - - - - - - - - - - -
6178.75 639.43 -8.44 746 6184.49 roll -1.25 - - 1835.00 - 3.90 0.117 3472.81 356.6 -77.86 - - 2816.31 - - - - - - - - - 15.56 -
6223.78 642.84 -7.57 755 6228.43 roll -1.25 - - 1836.00 - 3.43 0.061 2084.06 -404.9 -77.86 - - 2814.16 - - - - - - - - - 15.67 -
6533.83 668.39 -7.25 787 6535.16 no move -1.25 - - 1835.31 - - - 2084.25 - -77.86 - - 2813.56 - - - - - - - - - - -
6833.89 691.31 -7.98 817 6839.63 roll -1.25 - - 1835.31 - 3.95 0.121 3473.88 351.8 -77.86 - - 2812.28 - - - - - - - - - 15.54 -
6898.93 695.71 -7.11 830 6903.57 roll -1.25 - - 1836.12 - 3.44 0.063 2084.94 -403.8 -77.86 - - 2814.50 - - - - - - - - - 15.65 -
7208.98 717.88 -7.93 862 7214.72 roll -1.25 - - 1835.62 - 3.94 0.119 3474.12 352.6 -77.86 - - 2813.72 - - - - - - - - - 15.54 -
7274.01 723.13 -8.67 875 7278.67 roll -1.25 - - 1835.75 - 3.45 0.063 2082.12 -403.5 -77.86 - - 2813.91 - - - - - - - - - 15.64 -
7584.06 744.78 -6.61 907 7585.39 no move -1.25 - - 1836.00 - - - 2081.69 - -77.86 - - 2812.56 - - - - - - - - - - -
7884.13 763.95 -5.39 937 7885.46 no move -1.25 - - 1835.50 - - - 2081.88 - -77.86 - - 2812.50 - - - - - - - - - - -
8184.17 784.84 -7.31 967 8189.92 roll -1.25 - - 1835.75 - 3.99 0.124 3472.50 348.5 -77.86 - - 2811.19 - - - - - - - - - 15.51 -
8239.20 789.43 -9.15 978 8243.84 roll -1.25 - - 1835.75 - 3.45 0.066 2085.00 -402.2 -77.86 - - 2812.22 - - - - - - - - - 15.62 -
8549.23 813.08 -7.07 1010 8550.55 no move -1.25 - - 1835.44 - - - 2085.50 - -77.86 - - 2811.94 - - - - - - - - - - -
8849.26 837.76 -7.50 1040 8850.59 no move -1.25 - - 1835.75 - - - 2085.19 - -77.86 - - 2809.59 - - - - - - - - - - -
9149.29 863.34 -8.19 1070 9150.62 no move -1.25 - - 1835.81 - - - 2085.44 - -77.86 - - 2810.41 - - - - - - - - - - -
9449.33 888.10 -8.16 1100 9450.66 no move -1.25 - - 1835.19 - - - 2085.50 - -77.86 - - 2810.06 - - - - - - - - - - -
9749.36 911.64 -7.42 1130 9750.69 no move -1.25 - - 1835.69 - - - 2085.44 - -77.86 - - 2811.16 - - - - - - - - - - -
10049.40 933.37 -6.19 1160 10055.17 roll -1.25 - - 1835.88 - 4.01 0.129 3472.75 346.0 -77.86 - - 2808.72 - - - - - - - - - 15.47 -
10128.33 939.82 -8.23 1176 10135.30 roll -1.25 - - 1835.69 - 3.48 0.070 2086.44 -398.4 -77.86 - - 2810.72 - - - - - - - - - 15.57 -
10434.45 960.12 -6.63 1207 10435.78 no move -1.25 - - 1835.88 - - - 2086.38 - -77.86 - - 2810.75 - - - - - - - - - - -
10734.49 979.51 -6.54 1237 10740.29 roll -1.25 - - 1835.75 - 4.24 0.172 663.31 -335.6 -77.86 - - 2808.56 - - - - - - - - - 15.34 -
10819.51 986.37 -8.12 1254 10825.22 roll -1.25 - - 1835.75 - 3.65 0.062 2114.81 397.7 -77.86 - - 2808.28 - - - - - - - - - 15.63 -
10875 end dive: TARGET_DEPTH_EXCEEDED
10875 begin apogee
10875.77 990.29 -7.33 1260 10947.39 -0.25 1.87 0.145 2080.19 130.7 0.08 0.293 2186.62 897.6 - 68.59 2.283 2497.06 -4.5 0.343 - - - - - - 15.50 15.00 11.32
10950 end apogee: CONTROL_FINISHED_OK
10950 begin climb
10949.55 991.21 - 1267 11030.45 1.25 2.68 0.086 2446.12 136.5 - - 2186.25 - 77.86 76.22 2.215 2183.81 -4.1 0.320 - - - - - - 15.10 - 12.13
11324.55 958.89 8.86 1305 11330.40 done 1.25 - - 2446.88 - 4.18 0.144 737.19 -346.7 77.86 - - 2169.38 - - - - - - - - - 15.31 -
11433.48 945.64 12.04 1327 11440.37 done 1.25 - - 2447.69 - 3.73 0.056 2216.12 396.5 77.86 - - 2168.59 - - - - - - - - - 15.49 -
11739.84 915.89 8.83 1358 11741.17 VBD 1.25 - - 2447.62 - - - 2216.50 - 77.86 - - 2165.47 - - - - - - - - - - -
12039.64 888.55 9.73 1388 12040.98 VBD 1.25 - - 2448.12 - - - 2216.12 - 77.86 - - 2166.38 - - - - - - - - - - -
12339.67 863.73 7.59 1418 12341.01 VBD 1.25 - - 2447.81 - - - 2216.12 - 77.86 - - 2165.84 - - - - - - - - - - -
12639.74 839.59 8.04 1448 12645.62 done 1.25 - - 2447.19 - 4.24 0.145 737.12 -348.8 77.86 - - 2164.06 - - - - - - - - - 15.46 -
12794.81 825.36 8.05 1479 12800.45 done 1.25 - - 2447.62 - 3.71 0.060 2217.12 398.9 77.86 - - 2165.78 - - - - - - - - - 15.68 -
13099.91 801.78 7.23 1510 13101.25 VBD 1.28 - - 2447.75 - - - 2217.94 - 77.86 - - 2162.59 - - - - - - - - - - -
13399.94 780.03 6.98 1540 13405.79 done 1.31 - - 2446.00 - 4.24 0.143 737.19 -349.2 77.86 - - 2164.47 - - - - - - - - - 15.46 -
13478.87 773.31 8.55 1556 13485.74 done 1.31 - - 2446.31 - 3.70 0.058 2219.06 400.5 77.86 - - 2165.66 - - - - - - - - - 15.67 -
13785.04 750.77 7.18 1587 13786.37 VBD 1.34 - - 2448.31 - - - 2219.56 - 77.86 - - 2163.34 - - - - - - - - - - -
14085.09 729.09 7.70 1617 14086.42 VBD 1.34 - - 2448.19 - - - 2219.62 - 77.86 - - 2163.12 - - - - - - - - - - -
14385.16 707.23 7.19 1647 14386.49 VBD 1.36 - - 2447.50 - - - 2219.50 - 77.86 - - 2162.53 - - - - - - - - - - -
14685.19 684.13 8.48 1677 14686.52 VBD 1.36 - - 2448.31 - - - 2219.62 - 77.86 - - 2160.75 - - - - - - - - - - -
14985.22 660.79 8.02 1707 14986.55 VBD 1.36 - - 2447.56 - - - 2219.56 - 77.86 - - 2162.41 - - - - - - - - - - -
15285.27 639.71 6.60 1737 15291.20 1.40 0.21 0.085 2489.31 198.8 4.24 0.138 736.19 -349.9 77.86 - - 2163.69 - - - - - - - - 15.75 15.44 -
15354.18 633.29 8.55 1751 15361.10 done 1.40 - - 2489.50 - 3.70 0.059 2219.12 400.8 77.86 - - 2163.59 - - - - - - - - - 15.68 -
15660.34 611.00 6.69 1782 15661.67 VBD 1.45 - - 2489.38 - - - 2218.56 - 77.86 - - 2159.41 - - - - - - - - - - -
15960.36 589.90 7.37 1812 15961.69 VBD 1.47 - - 2489.56 - - - 2218.50 - 77.86 - - 2161.38 - - - - - - - - - - -
16260.39 568.22 6.66 1842 16261.73 VBD 1.51 - - 2489.25 - - - 2218.81 - 77.86 - - 2159.50 - - - - - - - - - - -
16560.42 546.89 7.58 1872 16561.75 VBD 1.51 - - 2489.38 - - - 2218.44 - 77.86 - - 2159.50 - - - - - - - - - - -
16860.46 525.56 7.10 1902 16866.31 done 1.54 - - 2487.31 - 4.24 0.135 736.50 -349.5 77.86 - - 2161.66 - - - - - - - - - 15.43 -
17069.49 508.77 7.46 1944 17076.33 1.55 0.17 0.092 2525.75 226.1 3.69 0.058 2221.75 402.5 77.86 - - 2162.62 - - - - - - - - 15.46 15.67 -
17375.56 487.47 6.24 1975 17381.14 done 1.61 - - 2525.81 - 3.57 0.121 3472.75 350.4 77.86 - - 2159.75 - - - - - - - - - 15.36 -
17470.64 480.24 7.11 1994 17475.13 done 1.64 - - 2526.81 - 3.21 0.057 2179.69 -402.8 77.86 - - 2160.75 - - - - - - - - - 15.65 -
17780.60 460.34 6.38 2026 17786.29 done 1.69 - - 2526.19 - 4.08 0.136 737.38 -353.5 77.86 - - 2158.41 - - - - - - - - - 15.42 -
17889.54 452.22 7.44 2048 17896.45 1.70 0.17 0.090 2562.75 215.1 3.66 0.054 2221.94 405.6 77.86 - - 2161.09 - - - - - - - - 15.44 15.67 -
18195.68 433.48 6.41 2079 18197.01 VBD 1.75 - - 2563.06 - - - 2221.69 - 77.86 - - 2159.47 - - - - - - - - - - -
18495.69 416.66 5.11 2109 18532.81 1.88 0.20 0.082 2605.38 211.6 - - 2221.31 - 119.84 35.97 1.601 2008.97 -4.2 0.190 - - - - - - 15.73 - 11.47
18825.76 386.61 11.54 2142 18831.35 roll 1.88 - - 2604.81 - 3.57 0.118 3473.88 350.9 119.84 - - 2006.78 - - - - - - - - - 15.39 -
18910.85 376.55 11.94 2159 18915.33 roll 1.88 - - 2604.81 - 3.23 0.058 2180.50 -400.4 119.84 - - 2006.59 - - - - - - - - - 15.56 -
19220.85 342.16 11.26 2191 19226.50 roll 1.88 - - 2604.19 - 3.64 0.114 3473.19 355.1 119.84 - - 2004.31 - - - - - - - - - 15.45 -
19329.72 328.52 13.09 2213 19336.60 roll 1.88 - - 2605.56 - 3.22 0.057 2181.00 -401.3 119.84 - - 2004.53 - - - - - - - - - 15.60 -
19635.95 296.49 9.89 2244 19637.28 VBD 1.88 - - 2604.88 - - - 2180.69 - 119.84 - - 2003.31 - - - - - - - - - - -
19936.01 267.11 10.31 2274 19941.65 done 1.88 - - 2604.81 - 3.68 0.114 3473.00 351.2 119.84 - - 2005.09 - - - - - - - - - 15.46 -
20084.91 248.68 12.25 2304 20091.78 done 1.88 - - 2604.94 - 3.20 0.056 2179.56 -404.2 119.84 - - 2003.16 - - - - - - - - - 15.64 -
20391.14 218.17 9.51 2335 20396.90 done 1.88 - - 2605.31 - 4.05 0.131 737.19 -356.1 119.84 - - 2001.91 - - - - - - - - - 15.44 -
20456.23 211.07 11.58 2348 20461.93 done 1.88 - - 2604.88 - 3.66 0.052 2222.00 405.7 119.84 - - 2001.62 - - - - - - - - - 15.69 -
20761.21 180.44 10.17 2379 20766.83 done 1.88 - - 2605.19 - 3.53 0.116 3471.62 354.0 119.84 - - 2000.28 - - - - - - - - - 15.37 -
20966.27 157.33 11.95 2420 20970.81 done 1.88 - - 2604.94 - 3.22 0.054 2180.44 -401.0 119.84 - - 2001.53 - - - - - - - - - 15.61 -
21276.31 130.81 7.00 2452 21282.06 done 1.91 - - 2605.69 - 4.06 0.127 736.94 -355.5 119.84 - - 2003.94 - - - - - - - - - 15.38 -
21365.22 123.99 7.88 2470 21372.09 done 1.91 - - 2605.38 - 3.69 0.050 2224.38 403.1 119.84 - - 2002.69 - - - - - - - - - 15.55 -
21671.37 100.52 6.65 2501 21676.94 done 1.95 - - 2605.56 - 3.49 0.111 3472.50 357.6 119.84 - - 2001.12 - - - - - - - - - 15.47 -
21856.41 88.78 6.31 2538 21862.08 done 2.00 - - 2605.19 - 3.19 0.052 2177.62 -405.9 119.84 - - 2003.25 - - - - - - - - - 15.61 -
22041.45 79.72 4.07 2575 22098.01 2.18 0.41 0.071 2676.31 173.5 3.67 0.108 3472.88 352.9 176.65 48.34 1.211 1779.84 -4.6 0.053 - - - - - - 15.64 15.39 11.65
22221.47 62.62 13.02 2611 22227.30 roll 2.18 - - 2676.56 - 3.25 0.052 2179.31 -398.0 176.65 - - 1774.69 - - - - - - - - - 15.42 -
22406.52 55.46 2.44 2648 22479.83 2.42 0.33 0.073 2734.88 176.7 3.76 0.107 3472.50 343.9 256.69 67.57 1.165 1452.16 -4.8 0.040 - - - - - - 15.51 15.19 11.97
22482.70 53.34 1.49 2663 22565.98 2.70 0.40 0.075 2798.44 158.9 3.29 0.048 2177.69 -393.6 350.27 77.79 1.131 1072.12 -4.9 0.040 - - - - - - 15.22 15.28 12.20
22743.84 7.26 22.58 2715 22745.17 no move 2.70 - - 2798.75 - - - 2178.31 - 350.27 - - 1066.41 - - - - - - - - - - -
22769 end climb: SURFACE_DEPTH_REACHED
22769 begin surface coast
22774 end surface coast: CONTROL_FINISHED_OK
22774 begin surface
SM 0.25 - - - - 173.9 - 2.672 768.3 - 18.62 0.077 776.1 41.7 - 0.22 0.099 760.6 3457.3 -0.892 - - 30.36 15.29 15.43 -