NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 591 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 176.30 of 575.00 AH used of 24V (69.34% remains)
• Surface angle -62.1 deg, depth 0.29 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.72 (SM_CC=425)
• GPS1 time: 18 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
7.41 - - - 87.04 VBD -1.25 - - 174.00 - - - 2118.62 - -77.86 79.06 0.005 2490.19 - - - - - - - - - - 13.86
87.31 3.24 -3.68 15 119.27 -1.25 14.93 0.260 1835.56 111.3 3.94 0.115 3472.44 343.6 -77.86 8.26 0.007 2816.88 39.6 -3.208 - - - - - - 15.17 14.96 15.12
322.13 49.28 -20.01 62 327.97 roll -1.25 - - 1836.00 - 3.63 0.062 2084.88 -382.2 -77.86 - - 2816.09 - - - - - - - - - 15.51 -
507.19 74.03 -11.67 99 508.52 no move -1.25 - - 1835.25 - - - 2084.94 - -77.86 - - 2816.06 - - - - - - - - - - -
687.24 95.73 -11.20 135 688.56 no move -1.25 - - 1835.62 - - - 2085.25 - -77.86 - - 2816.03 - - - - - - - - - - -
867.28 115.62 -11.21 157 873.02 roll -1.25 - - 1835.69 - 4.02 0.111 3471.69 344.9 -77.86 - - 2814.75 - - - - - - - - - 15.51 -
992.28 129.69 -11.24 182 996.96 roll -1.25 - - 1836.19 - 3.56 0.058 2084.75 -389.6 -77.86 - - 2815.25 - - - - - - - - - 15.62 -
1302.32 160.74 -8.89 214 1303.65 no move -1.25 - - 1835.56 - - - 2085.38 - -77.86 - - 2816.75 - - - - - - - - - - -
1602.35 186.75 -8.98 244 1603.68 no move -1.25 - - 1835.31 - - - 2084.31 - -77.86 - - 2816.56 - - - - - - - - - - -
1902.38 214.71 -9.80 274 1903.71 no move -1.25 - - 1835.88 - - - 2085.12 - -77.86 - - 2816.03 - - - - - - - - - - -
2202.41 244.21 -9.97 304 2208.17 roll -1.25 - - 1836.00 - 3.98 0.113 3474.38 349.1 -77.86 - - 2815.09 - - - - - - - - - 15.53 -
2277.50 252.35 -11.29 319 2283.12 roll -1.25 - - 1835.56 - 3.59 0.060 2083.06 -387.6 -77.86 - - 2817.31 - - - - - - - - - 15.64 -
2582.47 281.81 -9.96 350 2583.80 no move -1.25 - - 1835.81 - - - 2082.88 - -77.86 - - 2815.59 - - - - - - - - - - -
2882.50 309.37 -9.10 380 2888.32 roll -1.25 - - 1836.19 - 4.32 0.156 663.25 -328.6 -77.86 - - 2815.22 - - - - - - - - - 15.41 -
2931.52 314.88 -10.79 390 2938.30 roll -1.25 - - 1835.31 - 3.69 0.054 2119.31 394.6 -77.86 - - 2817.47 - - - - - - - - - 15.69 -
3237.55 343.40 -9.62 421 3238.88 no move -1.25 - - 1835.62 - - - 2119.31 - -77.86 - - 2816.38 - - - - - - - - - - -
3537.58 370.86 -8.93 451 3538.91 no move -1.25 - - 1835.75 - - - 2119.81 - -77.86 - - 2816.50 - - - - - - - - - - -
3837.61 398.34 -9.27 481 3838.94 no move -1.25 - - 1835.06 - - - 2119.00 - -77.86 - - 2816.44 - - - - - - - - - - -
4137.73 427.35 -9.92 511 4139.06 no move -1.25 - - 1836.31 - - - 2119.62 - -77.86 - - 2815.00 - - - - - - - - - - -
4437.72 457.80 -10.78 541 4439.05 no move -1.25 - - 1835.31 - - - 2119.12 - -77.86 - - 2816.44 - - - - - - - - - - -
4737.78 486.42 -10.04 571 4739.11 no move -1.25 - - 1835.88 - - - 2119.56 - -77.86 - - 2815.97 - - - - - - - - - - -
5037.86 507.18 5.42 601 5039.19 no move -1.25 - - 1835.81 - - - 2119.25 - -77.86 - - 2816.22 - - - - - - - - - - -
5337.91 533.77 -8.60 631 5343.77 roll -1.25 - - 1835.69 - 4.47 0.159 664.25 -325.5 -77.86 - - 2813.88 - - - - - - - - - 15.35 -
5373.14 537.07 -9.27 638 5378.62 roll -1.25 - - 1835.88 - 3.68 0.056 2117.62 394.9 -77.86 - - 2813.84 - - - - - - - - - 15.67 -
5677.99 563.35 -7.78 669 5679.31 no move -1.25 - - 1835.62 - - - 2117.88 - -77.86 - - 2814.00 - - - - - - - - - - -
5978.04 588.52 -8.07 699 5979.37 no move -1.25 - - 1836.25 - - - 2118.12 - -77.86 - - 2814.03 - - - - - - - - - - -
6278.10 613.61 -8.76 729 6279.44 no move -1.25 - - 1835.75 - - - 2118.00 - -77.86 - - 2812.75 - - - - - - - - - - -
6578.15 637.74 -8.50 759 6579.48 no move -1.25 - - 1835.38 - - - 2117.81 - -77.86 - - 2814.03 - - - - - - - - - - -
6878.18 662.46 -8.91 789 6879.51 no move -1.25 - - 1836.06 - - - 2117.62 - -77.86 - - 2812.16 - - - - - - - - - - -
7178.23 692.96 -7.30 819 7179.56 no move -1.25 - - 1835.75 - - - 2118.12 - -77.86 - - 2813.97 - - - - - - - - - - -
7478.25 715.56 -7.38 849 7484.02 roll -1.25 - - 1834.44 - 3.96 0.125 3472.75 342.1 -77.86 - - 2816.00 - - - - - - - - - 15.41 -
7533.28 720.71 -8.93 860 7538.96 roll -1.25 - - 1836.06 - 3.59 0.067 2086.12 -386.2 -77.86 - - 2811.53 - - - - - - - - - 15.54 -
7838.30 745.12 -8.25 891 7839.63 no move -1.25 - - 1835.00 - - - 2086.00 - -77.86 - - 2813.72 - - - - - - - - - - -
8138.33 768.43 -8.06 921 8139.66 no move -1.25 - - 1835.56 - - - 2086.06 - -77.86 - - 2813.00 - - - - - - - - - - -
8438.38 793.15 -8.87 951 8444.14 roll -1.25 - - 1834.12 - 4.05 0.124 3471.31 342.0 -77.86 - - 2815.28 - - - - - - - - - 15.38 -
8487.31 798.06 -11.67 961 8494.29 roll -1.25 - - 1835.25 - 3.62 0.067 2087.25 -382.3 -77.86 - - 2814.00 - - - - - - - - - 15.50 -
8793.42 823.70 -9.20 992 8794.75 no move -1.25 - - 1835.88 - - - 2086.25 - -77.86 - - 2812.59 - - - - - - - - - - -
9093.46 848.66 -8.27 1022 9099.22 roll -1.25 - - 1836.06 - 4.06 0.123 3474.81 342.0 -77.86 - - 2811.03 - - - - - - - - - 15.37 -
9132.39 852.22 -8.89 1030 9139.37 roll -1.25 - - 1835.94 - 3.61 0.064 2086.44 -384.6 -77.86 - - 2812.25 - - - - - - - - - 15.49 -
9438.50 874.76 -7.16 1061 9439.83 no move -1.25 - - 1835.69 - - - 2086.12 - -77.86 - - 2812.34 - - - - - - - - - - -
9738.53 895.26 -7.01 1091 9744.30 roll -1.25 - - 1835.94 - 4.08 0.125 3473.19 340.0 -77.86 - - 2809.72 - - - - - - - - - 15.35 -
9787.47 899.46 -8.40 1101 9794.32 roll -1.25 - - 1835.25 - 3.61 0.065 2088.19 -383.7 -77.86 - - 2812.41 - - - - - - - - - 15.46 -
10093.59 920.06 -6.85 1132 10094.92 no move -1.25 - - 1835.56 - - - 2087.69 - -77.86 - - 2810.00 - - - - - - - - - - -
10393.62 939.70 -6.00 1162 10394.95 no move -1.25 - - 1835.62 - - - 2088.19 - -77.86 - - 2811.47 - - - - - - - - - - -
10693.64 958.65 -6.14 1192 10694.98 no move -1.25 - - 1835.50 - - - 2088.38 - -77.86 - - 2809.56 - - - - - - - - - - -
10993.71 978.80 -7.96 1222 10995.04 no move -1.25 - - 1835.50 - - - 2088.25 - -77.86 - - 2810.03 - - - - - - - - - - -
11173 end dive: TARGET_DEPTH_EXCEEDED
11173 begin apogee
11175.03 991.04 -8.15 1240 11247.73 -0.25 1.91 0.145 2079.19 127.6 0.08 0.282 2189.00 1259.4 - 69.18 2.283 2497.72 -4.5 0.343 - - - - - - 15.37 14.98 10.99
11249 end apogee: CONTROL_FINISHED_OK
11249 begin climb
11249.95 991.50 - 1247 11331.11 1.25 2.67 0.086 2449.06 138.5 - - 2188.06 - 77.86 77.18 2.215 2181.72 -4.1 0.321 - - - - - - 15.08 - 11.99
11623.93 960.01 9.39 1285 11625.26 VBD 1.25 - - 2448.69 - - - 2187.88 - 77.86 - - 2170.66 - - - - - - - - - - -
11923.99 931.79 10.02 1315 11930.01 done 1.25 - - 2448.94 - 4.39 0.148 737.69 -330.3 77.86 - - 2167.56 - - - - - - - - - 15.33 -
11992.92 924.22 12.46 1329 11999.82 done 1.25 - - 2448.81 - 3.74 0.057 2216.69 395.5 77.86 - - 2166.31 - - - - - - - - - 15.54 -
12299.08 896.22 8.76 1360 12300.42 VBD 1.25 - - 2448.94 - - - 2216.44 - 77.86 - - 2166.28 - - - - - - - - - - -
12599.13 868.01 9.04 1390 12600.46 VBD 1.25 - - 2448.00 - - - 2217.38 - 77.86 - - 2165.75 - - - - - - - - - - -
12899.17 841.32 8.47 1420 12900.50 VBD 1.25 - - 2449.31 - - - 2216.88 - 77.86 - - 2163.50 - - - - - - - - - - -
13199.20 817.01 8.85 1450 13205.11 done 1.25 - - 2448.94 - 4.43 0.144 737.88 -333.9 77.86 - - 2162.66 - - - - - - - - - 15.36 -
13294.23 808.65 9.08 1469 13299.94 done 1.25 - - 2448.69 - 3.76 0.055 2215.88 393.1 77.86 - - 2161.66 - - - - - - - - - 15.63 -
13599.29 786.83 6.34 1500 13600.63 VBD 1.30 - - 2448.94 - - - 2215.50 - 77.86 - - 2163.72 - - - - - - - - - - -
13899.31 765.19 7.06 1530 13900.64 VBD 1.33 - - 2448.56 - - - 2215.31 - 77.86 - - 2163.47 - - - - - - - - - - -
14199.33 742.01 7.67 1560 14200.66 VBD 1.33 - - 2448.44 - - - 2215.56 - 77.86 - - 2162.97 - - - - - - - - - - -
14499.36 718.42 7.70 1590 14500.70 VBD 1.33 - - 2448.56 - - - 2215.81 - 77.86 - - 2161.66 - - - - - - - - - - -
14799.41 695.13 7.03 1620 14805.30 done 1.36 - - 2448.88 - 4.37 0.140 738.25 -338.1 77.86 - - 2160.19 - - - - - - - - - 15.31 -
14888.33 686.75 8.92 1638 14895.23 done 1.36 - - 2448.56 - 3.76 0.056 2219.00 393.8 77.86 - - 2161.66 - - - - - - - - - 15.59 -
15195.62 664.23 7.08 1669 15197.09 1.39 0.19 0.087 2486.06 197.4 - - 2218.94 - 77.86 - - 2161.97 - - - - - - - - 15.70 - -
15494.50 641.98 7.39 1699 15495.84 VBD 1.41 - - 2486.62 - - - 2219.00 - 77.86 - - 2159.81 - - - - - - - - - - -
15794.54 621.15 6.96 1729 15800.42 done 1.45 - - 2486.31 - 4.32 0.136 737.25 -343.0 77.86 - - 2160.34 - - - - - - - - - 15.32 -
15889.56 613.47 7.31 1748 15895.19 done 1.47 - - 2486.56 - 3.72 0.054 2219.50 398.5 77.86 - - 2159.25 - - - - - - - - - 15.62 -
16194.63 591.96 6.75 1779 16195.96 VBD 1.51 - - 2486.12 - - - 2219.12 - 77.86 - - 2160.69 - - - - - - - - - - -
16494.65 570.80 7.15 1809 16496.12 1.53 0.16 0.093 2520.50 214.9 - - 2219.00 - 77.86 - - 2160.34 - - - - - - - - 15.70 - -
16794.64 549.15 8.08 1839 16800.27 done 1.53 - - 2521.31 - 3.60 0.120 3473.38 348.4 77.86 - - 2162.94 - - - - - - - - - 15.36 -
16863.52 542.69 8.71 1853 16870.38 done 1.53 - - 2520.44 - 3.23 0.057 2180.06 -400.4 77.86 - - 2161.53 - - - - - - - - - 15.60 -
17169.74 518.66 7.58 1884 17175.45 done 1.53 - - 2521.44 - 4.16 0.135 737.00 -346.9 77.86 - - 2158.66 - - - - - - - - - 15.29 -
17364.85 501.62 8.88 1923 17370.44 done 1.53 - - 2521.00 - 3.69 0.050 2220.62 402.1 77.86 - - 2157.59 - - - - - - - - - 15.63 -
17669.90 480.12 6.73 1954 17671.23 VBD 1.57 - - 2521.19 - - - 2220.50 - 77.86 - - 2158.41 - - - - - - - - - - -
17969.95 460.29 6.61 1984 17975.57 done 1.62 - - 2520.88 - 3.63 0.119 3472.69 345.0 77.86 - - 2159.75 - - - - - - - - - 15.34 -
18068.82 452.93 7.74 2004 18075.82 done 1.62 - - 2520.56 - 3.23 0.055 2179.50 -400.4 77.86 - - 2161.47 - - - - - - - - - 15.57 -
18375.06 435.50 5.33 2035 18409.98 1.73 0.25 0.085 2568.94 193.5 - - 2179.44 - 116.73 33.14 1.615 2021.81 -4.2 0.199 - - - - - - 15.67 - 11.33
18705.11 403.33 10.42 2068 18706.44 no move 1.73 - - 2567.94 - - - 2179.44 - 116.73 - - 2018.75 - - - - - - - - - - -
19005.14 371.32 10.68 2098 19006.47 no move 1.73 - - 2568.00 - - - 2179.12 - 116.73 - - 2017.38 - - - - - - - - - - -
19305.18 340.58 10.31 2128 19310.82 roll 1.73 - - 2568.44 - 3.77 0.115 3472.25 343.0 116.73 - - 2016.16 - - - - - - - - - 15.34 -
19380.29 332.03 12.69 2143 19384.76 roll 1.73 - - 2568.38 - 3.27 0.055 2180.31 -395.1 116.73 - - 2017.03 - - - - - - - - - 15.56 -
19690.24 302.91 9.31 2175 19691.57 no move 1.73 - - 2569.00 - - - 2180.62 - 116.73 - - 2015.69 - - - - - - - - - - -
19990.27 277.61 8.20 2205 19996.05 done 1.73 - - 2567.94 - 4.20 0.130 735.94 -344.0 116.73 - - 2016.91 - - - - - - - - - 15.33 -
20089.13 267.79 9.78 2225 20096.22 done 1.73 - - 2569.00 - 3.75 0.050 2220.50 395.9 116.73 - - 2015.69 - - - - - - - - - 15.60 -
20395.33 241.68 7.82 2256 20400.95 done 1.73 - - 2568.50 - 3.64 0.116 3472.50 344.0 116.73 - - 2013.69 - - - - - - - - - 15.37 -
20470.35 234.17 10.28 2271 20474.90 done 1.73 - - 2568.62 - 3.25 0.054 2178.88 -398.0 116.73 - - 2015.25 - - - - - - - - - 15.58 -
20780.38 208.08 8.23 2303 20786.09 done 1.73 - - 2568.44 - 4.15 0.129 735.62 -347.8 116.73 - - 2015.78 - - - - - - - - - 15.33 -
20935.42 193.09 9.32 2334 20941.05 done 1.73 - - 2568.81 - 3.69 0.050 2220.12 402.3 116.73 - - 2014.16 - - - - - - - - - 15.62 -
21240.47 168.57 7.41 2365 21246.27 done 1.75 - - 2569.25 - 4.25 0.123 735.69 -349.3 116.73 - - 2014.19 - - - - - - - - - 15.33 -
21409.36 153.21 9.22 2399 21416.40 done 1.75 - - 2569.56 - 3.70 0.048 2221.81 401.7 116.73 - - 2015.25 - - - - - - - - - 15.59 -
21715.55 130.56 6.70 2430 21716.88 VBD 1.79 - - 2568.81 - - - 2221.69 - 116.73 - - 2014.88 - - - - - - - - - - -
22015.57 112.73 5.91 2460 22047.94 1.88 0.17 0.086 2605.50 215.8 3.52 0.116 3471.56 355.1 147.33 27.00 1.221 1899.84 -4.3 0.069 - - - - - - 15.66 15.54 11.45
22170.75 99.86 8.78 2491 22176.45 roll 1.88 - - 2606.12 - 3.27 0.051 2177.69 -395.7 147.33 - - 1896.00 - - - - - - - - - 15.56 -
22355.85 88.05 6.18 2528 22361.62 roll 1.94 - - 2606.00 - 3.71 0.108 3471.38 348.7 147.33 - - 1894.12 - - - - - - - - - 15.38 -
22586.01 73.91 4.23 2574 22638.74 2.10 0.30 0.080 2659.19 177.3 3.23 0.050 2175.88 -401.1 201.86 46.99 1.171 1675.38 -4.7 0.051 - - - - - - 15.36 15.58 11.78
22816.56 59.49 4.41 2620 22868.56 2.26 0.19 0.086 2696.44 196.1 4.16 0.125 736.12 -346.1 253.75 44.76 1.129 1465.19 -4.7 0.043 - - - - - - 15.45 15.23 11.76
22961.55 50.27 10.97 2649 22967.34 roll 2.26 - - 2696.00 - 3.74 0.047 2221.81 397.2 253.75 - - 1461.47 - - - - - - - - - 15.40 -
23146.60 30.45 11.06 2686 23147.93 no move 2.26 - - 2695.81 - - - 2221.31 - 253.75 - - 1459.09 - - - - - - - - - - -
23326.64 10.51 10.81 2722 23327.97 no move 2.26 - - 2695.50 - - - 2221.50 - 253.75 - - 1458.41 - - - - - - - - - - -
23401 end climb: SURFACE_DEPTH_REACHED
23401 begin surface coast
23416 end surface coast: CONTROL_FINISHED_OK
23416 begin surface
SM 0.53 - - - - 179.0 - 0.017 768.6 - 17.94 0.088 765.0 42.6 - 0.34 0.085 772.1 2270.9 -1.447 - - 30.36 15.38 15.59 -