NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 573 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 170.60 of 575.00 AH used of 24V (70.33% remains)
• Surface angle -60.2 deg, depth 0.53 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.02 (SM_CC=425)
• GPS1 time: 23 s
• GPS2 time: 2 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
7.32 - - - 86.79 VBD -1.25 - - 172.75 - - - 2119.12 - -77.86 78.88 0.005 2500.12 - - - - - - - - - - 15.04
87.06 3.12 -2.84 15 119.02 -1.25 14.84 0.261 1836.12 112.1 3.83 0.114 3474.31 353.8 -77.86 8.18 0.008 2816.34 38.7 -2.621 - - - - - - 15.21 15.01 15.12
301.89 47.94 -20.48 58 307.61 roll -1.25 - - 1837.06 - 3.47 0.060 2083.88 -400.7 -77.86 - - 2817.50 - - - - - - - - - 15.55 -
486.92 77.55 -12.27 95 492.73 roll -1.25 - - 1836.25 - 3.87 0.106 3473.75 359.1 -77.86 - - 2816.78 - - - - - - - - - 15.52 -
546.96 85.47 -13.57 107 552.69 roll -1.25 - - 1836.12 - 3.41 0.056 2082.00 -408.1 -77.86 - - 2817.03 - - - - - - - - - 15.61 -
737.03 105.39 -10.53 140 738.35 no move -1.25 - - 1834.50 - - - 2081.50 - -77.86 - - 2816.97 - - - - - - - - - - -
1037.08 133.51 -9.12 170 1042.82 roll -1.25 - - 1836.19 - 3.87 0.107 3473.12 359.6 -77.86 - - 2814.81 - - - - - - - - - 15.58 -
1202.12 151.56 -11.30 203 1206.85 roll -1.25 - - 1836.12 - 3.42 0.057 2082.75 -406.5 -77.86 - - 2817.41 - - - - - - - - - 15.67 -
1512.16 182.13 -9.17 235 1517.95 roll -1.25 - - 1836.56 - 4.11 0.150 663.00 -345.4 -77.86 - - 2816.03 - - - - - - - - - 15.50 -
1561.11 187.29 -10.48 245 1567.93 roll -1.25 - - 1836.44 - 3.55 0.048 2122.69 411.2 -77.86 - - 2816.72 - - - - - - - - - 15.74 -
1867.21 215.81 -9.55 276 1868.54 no move -1.25 - - 1836.44 - - - 2123.12 - -77.86 - - 2816.88 - - - - - - - - - - -
2167.24 246.69 -10.84 306 2168.57 no move -1.25 - - 1836.44 - - - 2123.12 - -77.86 - - 2816.34 - - - - - - - - - - -
2467.28 277.76 -10.41 336 2468.61 no move -1.25 - - 1836.31 - - - 2123.00 - -77.86 - - 2816.69 - - - - - - - - - - -
2767.31 307.66 -9.76 366 2773.11 roll -1.25 - - 1836.75 - 4.22 0.152 663.38 -345.9 -77.86 - - 2816.22 - - - - - - - - - 15.50 -
2816.31 313.09 -10.63 376 2823.08 roll -1.25 - - 1836.81 - 3.58 0.052 2120.38 407.0 -77.86 - - 2817.59 - - - - - - - - - 15.74 -
3122.36 341.93 -8.83 407 3123.68 no move -1.25 - - 1835.88 - - - 2120.62 - -77.86 - - 2817.03 - - - - - - - - - - -
3422.38 367.40 -7.52 437 3423.71 no move -1.25 - - 1836.81 - - - 2120.31 - -77.86 - - 2815.84 - - - - - - - - - - -
3722.42 393.27 -8.65 467 3723.74 no move -1.25 - - 1836.44 - - - 2120.69 - -77.86 - - 2815.72 - - - - - - - - - - -
4022.46 418.44 -8.06 497 4023.78 no move -1.25 - - 1836.19 - - - 2120.25 - -77.86 - - 2816.81 - - - - - - - - - - -
4322.49 444.26 -8.28 527 4328.21 roll -1.25 - - 1836.25 - 3.78 0.118 3474.25 358.2 -77.86 - - 2814.06 - - - - - - - - - 15.58 -
4431.43 455.52 -10.38 549 4438.25 roll -1.25 - - 1835.88 - 3.42 0.062 2083.94 -406.5 -77.86 - - 2817.34 - - - - - - - - - 15.67 -
4737.54 484.90 -9.69 580 4743.28 roll -1.25 - - 1836.00 - 3.86 0.114 3474.38 360.2 -77.86 - - 2815.16 - - - - - - - - - 15.57 -
4886.55 500.89 -11.04 610 4893.31 roll -1.25 - - 1836.25 - 3.42 0.062 2083.38 -406.7 -77.86 - - 2816.56 - - - - - - - - - 15.65 -
5192.60 529.69 -8.96 641 5193.93 no move -1.25 - - 1836.44 - - - 2083.81 - -77.86 - - 2816.44 - - - - - - - - - - -
5492.73 556.15 -9.00 671 5494.06 no move -1.25 - - 1835.88 - - - 2083.00 - -77.86 - - 2815.69 - - - - - - - - - - -
5792.72 582.84 -8.33 701 5794.05 no move -1.25 - - 1836.44 - - - 2083.12 - -77.86 - - 2815.88 - - - - - - - - - - -
6092.78 609.80 -9.36 731 6094.11 no move -1.25 - - 1836.19 - - - 2083.56 - -77.86 - - 2815.38 - - - - - - - - - - -
6392.85 638.34 -8.96 761 6394.18 no move -1.25 - - 1836.75 - - - 2083.75 - -77.86 - - 2814.62 - - - - - - - - - - -
6692.91 666.22 -9.84 791 6694.24 no move -1.25 - - 1836.50 - - - 2083.44 - -77.86 - - 2814.03 - - - - - - - - - - -
6992.96 689.62 -7.38 821 6998.75 roll -1.25 - - 1836.38 - 4.20 0.166 663.75 -338.0 -77.86 - - 2812.59 - - - - - - - - - 15.38 -
7058.09 695.70 -9.58 834 7063.68 roll -1.25 - - 1835.69 - 3.58 0.056 2118.62 406.4 -77.86 - - 2813.97 - - - - - - - - - 15.70 -
7363.06 719.76 -7.53 865 7364.38 no move -1.25 - - 1836.69 - - - 2118.38 - -77.86 - - 2812.88 - - - - - - - - - - -
7663.10 741.28 -6.31 895 7668.84 roll -1.25 - - 1836.44 - 3.83 0.120 3473.62 353.8 -77.86 - - 2814.25 - - - - - - - - - 15.50 -
7728.14 746.76 -8.14 908 7732.85 roll -1.25 - - 1836.19 - 3.44 0.063 2084.75 -403.7 -77.86 - - 2813.78 - - - - - - - - - 15.60 -
8038.16 768.20 -6.70 940 8043.95 roll -1.25 - - 1836.38 - 4.15 0.166 664.62 -342.2 -77.86 - - 2814.81 - - - - - - - - - 15.35 -
8113.18 774.76 -8.44 955 8118.86 roll -1.25 - - 1836.75 - 3.60 0.057 2117.00 403.4 -77.86 - - 2812.12 - - - - - - - - - 15.67 -
8418.21 796.40 -7.27 986 8419.54 no move -1.25 - - 1835.94 - - - 2117.31 - -77.86 - - 2813.12 - - - - - - - - - - -
8718.24 816.75 -6.31 1016 8724.07 roll -1.25 - - 1835.50 - 4.32 0.163 664.25 -336.4 -77.86 - - 2814.53 - - - - - - - - - 15.34 -
8863.28 829.41 -8.85 1045 8869.11 roll -1.25 - - 1834.25 - 3.63 0.060 2114.75 399.6 -77.86 - - 2813.12 - - - - - - - - - 15.65 -
9168.31 851.48 -6.70 1076 9169.64 no move -1.25 - - 1835.81 - - - 2115.31 - -77.86 - - 2812.16 - - - - - - - - - - -
9468.34 872.39 -6.38 1106 9474.08 roll -1.25 - - 1836.31 - 3.84 0.125 3472.31 353.4 -77.86 - - 2810.25 - - - - - - - - - 15.46 -
9553.43 879.65 -7.79 1123 9558.08 roll -1.25 - - 1836.44 - 3.45 0.065 2086.38 -401.7 -77.86 - - 2813.31 - - - - - - - - - 15.57 -
9863.39 899.89 -6.96 1155 9864.72 no move -1.25 - - 1836.38 - - - 2086.88 - -77.86 - - 2809.56 - - - - - - - - - - -
10163.42 920.85 -7.49 1185 10164.75 no move -1.25 - - 1836.50 - - - 2086.75 - -77.86 - - 2811.59 - - - - - - - - - - -
10463.46 941.33 -6.54 1215 10464.79 no move -1.25 - - 1835.94 - - - 2086.69 - -77.86 - - 2810.09 - - - - - - - - - - -
10763.49 963.59 -7.93 1245 10764.82 no move -1.25 - - 1836.56 - - - 2086.81 - -77.86 - - 2810.81 - - - - - - - - - - -
11063.52 988.81 -7.91 1275 11064.85 no move -1.25 - - 1836.00 - - - 2086.88 - -77.86 - - 2808.94 - - - - - - - - - - -
11083 end dive: TARGET_DEPTH_EXCEEDED
11083 begin apogee
11084.79 991.26 -10.58 1277 11156.57 -0.25 1.88 0.144 2078.94 129.2 0.08 0.290 2185.75 1235.9 - 68.71 2.272 2499.25 -4.5 0.342 - - - - - - 15.46 15.00 11.11
11158 end apogee: CONTROL_FINISHED_OK
11158 begin climb
11158.75 992.19 - 1284 11238.51 1.25 2.70 0.085 2448.50 136.9 - - 2185.94 - 77.86 75.94 2.223 2179.88 -4.2 0.326 - - - - - - 15.11 - 12.04
11533.56 969.53 7.61 1322 11534.89 VBD 1.25 - - 2449.00 - - - 2184.81 - 77.86 - - 2169.09 - - - - - - - - - - -
11833.59 943.94 8.97 1352 11834.92 VBD 1.25 - - 2446.12 - - - 2185.31 - 77.86 - - 2168.28 - - - - - - - - - - -
12133.62 917.45 8.62 1382 12139.49 done 1.25 - - 2446.12 - 4.22 0.147 735.88 -343.5 77.86 - - 2166.84 - - - - - - - - - 15.41 -
12228.66 906.95 11.05 1401 12234.28 done 1.25 - - 2447.56 - 3.68 0.056 2216.81 402.4 77.86 - - 2164.69 - - - - - - - - - 15.63 -
12533.73 878.19 9.44 1432 12538.56 done 1.25 - - 2449.25 - 3.58 0.125 3472.56 350.8 77.86 - - 2163.19 - - - - - - - - - 15.47 -
12593.75 871.51 11.68 1444 12598.43 done 1.25 - - 2448.38 - 3.22 0.060 2182.69 -400.6 77.86 - - 2167.00 - - - - - - - - - 15.62 -
12903.80 843.19 9.80 1476 12909.43 done 1.25 - - 2449.31 - 3.67 0.123 3471.81 351.3 77.86 - - 2164.84 - - - - - - - - - 15.38 -
13002.68 833.33 9.78 1496 13009.55 done 1.25 - - 2448.75 - 3.22 0.059 2182.31 -400.5 77.86 - - 2165.31 - - - - - - - - - 15.66 -
13308.92 809.26 6.79 1527 13314.75 done 1.29 - - 2448.88 - 4.14 0.141 737.44 -349.0 77.86 - - 2161.78 - - - - - - - - - 15.43 -
13534.07 789.34 9.72 1572 13539.77 done 1.29 - - 2449.00 - 3.68 0.054 2219.50 402.7 77.86 - - 2161.06 - - - - - - - - - 15.56 -
13839.08 768.76 7.02 1603 13844.92 done 1.32 - - 2448.94 - 4.22 0.136 736.75 -351.4 77.86 - - 2160.75 - - - - - - - - - 15.42 -
14018.06 753.63 8.76 1639 14025.04 done 1.32 - - 2448.19 - 3.66 0.053 2219.00 405.0 77.86 - - 2161.91 - - - - - - - - - 15.65 -
14324.17 733.71 6.36 1670 14329.77 done 1.37 - - 2449.19 - 3.56 0.124 3472.75 352.2 77.86 - - 2160.16 - - - - - - - - - 15.46 -
14503.05 719.30 8.37 1706 14509.90 done 1.37 - - 2448.88 - 3.19 0.059 2181.44 -404.8 77.86 - - 2162.19 - - - - - - - - - 15.66 -
14809.25 697.33 7.06 1737 14815.11 1.40 0.20 0.095 2486.50 188.1 4.07 0.138 736.75 -355.0 77.86 - - 2161.09 - - - - - - - - 15.69 15.42 -
14924.27 684.49 11.80 1760 14930.03 done 1.40 - - 2486.62 - 3.63 0.053 2219.12 408.4 77.86 - - 2159.59 - - - - - - - - - 15.66 -
15229.30 655.72 9.73 1791 15235.08 done 1.40 - - 2489.31 - 4.18 0.134 735.19 -355.0 77.86 - - 2159.91 - - - - - - - - - 15.41 -
15368.26 640.96 10.01 1819 15375.11 done 1.40 - - 2489.25 - 3.64 0.054 2219.25 407.7 77.86 - - 2162.12 - - - - - - - - - 15.64 -
15674.61 614.79 8.80 1850 15679.97 done 1.40 - - 2489.31 - 3.53 0.121 3474.06 355.5 77.86 - - 2158.53 - - - - - - - - - 15.45 -
15783.23 603.78 10.31 1872 15790.08 done 1.40 - - 2489.44 - 3.19 0.057 2180.62 -405.5 77.86 - - 2160.31 - - - - - - - - - 15.59 -
16089.43 579.78 6.95 1903 16095.25 done 1.43 - - 2488.50 - 4.09 0.135 737.06 -352.9 77.86 - - 2158.00 - - - - - - - - - 15.41 -
16254.46 565.80 8.36 1936 16260.08 done 1.43 - - 2488.69 - 3.63 0.053 2220.12 408.6 77.86 - - 2160.62 - - - - - - - - - 15.67 -
16559.50 546.81 5.78 1967 16590.09 VBD 1.53 - - 2487.44 - - - 2220.44 - 110.23 27.86 1.726 2050.03 -4.0 0.219 - - - - - - - - 11.36
16889.53 523.56 6.47 2000 16895.46 roll back 1.58 0.21 0.082 2530.56 205.3 4.20 0.133 737.06 -353.2 110.23 - - 2043.19 - - - - - - - - 15.57 15.37 -
17054.56 507.66 10.08 2033 17060.18 roll 1.58 - - 2530.50 - 3.66 0.051 2220.69 405.4 110.23 - - 2043.44 - - - - - - - - - 15.61 -
17359.59 484.33 7.70 2064 17365.37 roll 1.58 - - 2530.50 - 4.17 0.130 736.25 -356.0 110.23 - - 2040.91 - - - - - - - - - 15.40 -
17468.46 473.68 11.64 2086 17475.39 roll 1.58 - - 2530.94 - 3.66 0.051 2220.19 405.4 110.23 - - 2043.69 - - - - - - - - - 15.61 -
17774.68 446.05 9.41 2117 17780.28 done 1.58 - - 2530.25 - 3.53 0.117 3473.38 355.0 110.23 - - 2041.34 - - - - - - - - - 15.44 -
17913.56 430.26 12.27 2145 17920.41 done 1.58 - - 2530.50 - 3.18 0.055 2179.31 -406.9 110.23 - - 2042.62 - - - - - - - - - 15.53 -
18219.79 398.41 9.38 2176 18221.12 VBD 1.58 - - 2530.62 - - - 2179.62 - 110.23 - - 2042.22 - - - - - - - - - - -
18519.85 370.45 9.17 2206 18521.19 VBD 1.58 - - 2530.75 - - - 2179.50 - 110.23 - - 2040.56 - - - - - - - - - - -
18819.92 343.71 8.86 2236 18821.25 VBD 1.58 - - 2530.62 - - - 2179.75 - 110.23 - - 2040.44 - - - - - - - - - - -
19119.98 318.71 7.99 2266 19121.31 VBD 1.58 - - 2530.50 - - - 2179.38 - 110.23 - - 2041.84 - - - - - - - - - - -
19420.04 293.99 8.28 2296 19425.81 done 1.58 - - 2530.25 - 3.67 0.115 3472.88 352.5 110.23 - - 2040.88 - - - - - - - - - 15.45 -
19538.92 282.27 9.84 2320 19545.77 done 1.58 - - 2529.44 - 3.17 0.054 2179.75 -407.9 110.23 - - 2042.34 - - - - - - - - - 15.65 -
19845.13 256.87 7.70 2351 19850.89 done 1.58 - - 2530.81 - 4.05 0.129 737.31 -356.2 110.23 - - 2041.94 - - - - - - - - - 15.40 -
20074.18 235.18 10.00 2397 20080.98 done 1.58 - - 2530.94 - 3.66 0.051 2223.38 406.0 110.23 - - 2042.31 - - - - - - - - - 15.53 -
20380.33 210.41 7.73 2428 20381.67 VBD 1.58 - - 2531.00 - - - 2223.56 - 110.23 - - 2041.47 - - - - - - - - - - -
20680.26 188.37 7.67 2458 20685.03 done 1.58 - - 2530.44 - 3.56 0.115 3473.31 351.1 110.23 - - 2042.16 - - - - - - - - - 15.42 -
20790.28 179.43 8.35 2480 20794.84 done 1.58 - - 2529.94 - 3.19 0.052 2175.88 -406.7 110.23 - - 2041.41 - - - - - - - - - 15.52 -
21100.34 156.51 7.18 2512 21106.09 done 1.60 - - 2530.75 - 4.05 0.128 734.88 -355.8 110.23 - - 2039.75 - - - - - - - - - 15.39 -
21239.28 143.67 9.48 2540 21246.13 done 1.60 - - 2530.75 - 3.66 0.049 2224.31 406.9 110.23 - - 2041.69 - - - - - - - - - 15.54 -
21545.41 122.84 6.61 2571 21546.75 VBD 1.65 - - 2531.69 - - - 2224.38 - 110.23 - - 2039.84 - - - - - - - - - - -
21845.44 105.01 5.91 2601 21876.08 1.74 0.20 0.081 2573.38 208.5 - - 2224.00 - 140.70 26.92 1.214 1925.69 -4.2 0.064 - - - - - - 15.68 - 11.50
22175.50 86.87 6.78 2657 22181.24 roll 1.78 - - 2573.12 - 3.57 0.113 3472.69 349.8 140.70 - - 1921.41 - - - - - - - - - 15.35 -
22405.58 73.33 4.65 2703 22453.38 1.92 0.22 0.080 2612.88 180.7 3.21 0.050 2176.75 -403.7 189.21 42.01 1.180 1726.00 -4.7 0.050 - - - - - - 15.30 15.50 11.95
22631.20 58.13 6.64 2748 22637.04 roll 1.97 - - 2612.88 - 4.09 0.125 735.12 -352.5 189.21 - - 1721.84 - - - - - - - - - 15.35 -
22861.31 56.21 -0.69 2794 22970.27 2.34 0.64 0.056 2714.69 159.1 3.66 0.046 2228.12 407.9 313.93 102.50 1.151 1220.34 -4.9 0.042 - - - - - - 15.39 15.54 11.85
23148.09 27.73 16.15 2851 23153.99 roll 2.34 - - 2715.44 - 4.26 0.122 736.19 -350.2 313.93 - - 1214.47 - - - - - - - - - 15.28 -
23278 end climb: SURFACE_DEPTH_REACHED
23278 begin surface coast
23288 end surface coast: CONTROL_FINISHED_OK
23288 begin surface
SM 0.67 - - - - 173.9 - 0.013 767.3 - 17.50 0.056 771.1 44.1 - 3.42 0.052 763.6 222.0 -0.292 - - 30.36 15.49 15.52 -