NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1197 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 325.45 of 575.00 AH used of 24V (43.40% remains)
• Surface angle -59.3 deg, depth -1.51 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.92 (SM_CC=475)
• GPS1 time: 26 s
• GPS2 time: 2 s • Transponder ping count: 20
• 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
8.54 - - - 95.40 VBD -1.59 - - 170.38 - - - 2081.19 - -74.33 86.41 0.005 2563.78 - - - - - - - - - - 13.27
95.67 4.09 -8.92 9 128.32 -1.66 14.48 0.251 1738.19 108.3 4.09 0.144 662.12 -347.0 -96.11 7.07 0.008 2891.72 46.4 -4.185 - - - - - - 14.82 14.56 13.45
130.45 13.33 -22.83 16 137.27 roll -1.66 - - 1737.12 - 3.57 0.046 2122.12 409.0 -96.11 - - 2892.16 - - - - - - - - - 15.34 -
196.54 25.11 -18.51 23 202.19 roll -1.66 - - 1738.00 - 3.67 0.103 3472.94 368.1 -96.11 - - 2889.03 - - - - - - - - - 15.10 -
251.55 36.01 -20.78 34 256.16 roll -1.66 - - 1738.12 - 3.41 0.050 2081.81 -408.0 -96.11 - - 2893.69 - - - - - - - - - 15.21 -
321.55 47.55 -15.69 42 327.27 roll -1.66 - - 1737.69 - 4.05 0.139 661.81 -350.6 -96.11 - - 2890.41 - - - - - - - - - 14.95 -
367.01 55.08 -16.68 51 372.19 roll -1.66 - - 1737.31 - 3.54 0.042 2122.00 412.5 -96.11 - - 2893.62 - - - - - - - - - 15.30 -
431.57 64.08 -13.51 58 437.22 roll -1.66 - - 1738.19 - 3.66 0.099 3474.62 369.6 -96.11 - - 2890.19 - - - - - - - - - 15.05 -
570.50 82.21 -12.19 86 577.28 roll -1.66 - - 1738.12 - 3.37 0.047 2081.19 -413.5 -96.11 - - 2892.47 - - - - - - - - - 15.19 -
636.66 88.60 -9.63 93 642.32 roll -1.66 - - 1737.88 - 4.07 0.139 662.25 -348.6 -96.11 - - 2892.00 - - - - - - - - - 14.92 -
665.52 92.16 -10.13 99 672.33 roll -1.66 - - 1738.12 - 3.52 0.040 2123.94 415.3 -96.11 - - 2891.91 - - - - - - - - - 15.28 -
731.68 99.08 -10.73 106 737.27 roll -1.66 - - 1737.88 - 3.64 0.098 3474.38 371.0 -96.11 - - 2889.53 - - - - - - - - - 15.04 -
760.52 102.36 -10.66 112 767.31 roll -1.66 - - 1738.19 - 3.35 0.045 2080.25 -416.2 -96.11 - - 2893.91 - - - - - - - - - 15.20 -
826.67 109.32 -10.89 119 832.29 roll -1.66 - - 1738.19 - 3.78 0.097 3475.50 369.1 -96.11 - - 2890.53 - - - - - - - - - 15.04 -
861.62 113.44 -11.79 126 866.22 roll -1.66 - - 1737.75 - 3.35 0.046 2079.56 -416.7 -96.11 - - 2891.38 - - - - - - - - - 15.20 -
931.63 121.07 -10.75 134 932.96 no move -1.66 - - 1738.38 - - - 2079.19 - -96.11 - - 2892.16 - - - - - - - - - - -
991.65 127.88 -11.31 140 992.98 no move -1.66 - - 1738.19 - - - 2078.75 - -96.11 - - 2891.97 - - - - - - - - - - -
1051.66 134.37 -10.85 146 1052.98 no move -1.66 - - 1737.81 - - - 2079.31 - -96.11 - - 2892.06 - - - - - - - - - - -
1111.66 140.90 -10.82 152 1112.99 no move -1.66 - - 1737.56 - - - 2079.62 - -96.11 - - 2891.81 - - - - - - - - - - -
1171.66 146.79 -9.84 158 1172.99 no move -1.66 - - 1737.94 - - - 2080.00 - -96.11 - - 2892.12 - - - - - - - - - - -
1231.67 152.68 -9.58 164 1237.33 roll -1.66 - - 1737.81 - 3.80 0.099 3476.62 367.5 -96.11 - - 2890.66 - - - - - - - - - 14.99 -
1266.66 156.16 -9.35 171 1271.26 roll -1.66 - - 1738.31 - 3.38 0.047 2080.81 -413.0 -96.11 - - 2894.09 - - - - - - - - - 15.18 -
1396.69 168.98 -9.49 185 1402.40 roll -1.66 - - 1737.81 - 4.05 0.142 661.75 -350.4 -96.11 - - 2890.00 - - - - - - - - - 14.88 -
1432.12 172.71 -10.64 192 1437.31 roll -1.66 - - 1737.50 - 3.51 0.041 2123.00 416.3 -96.11 - - 2894.44 - - - - - - - - - 15.29 -
1556.70 185.04 -10.01 205 1562.35 roll -1.66 - - 1738.56 - 3.66 0.099 3475.44 369.5 -96.11 - - 2890.28 - - - - - - - - - 14.99 -
1585.60 187.91 -9.42 211 1592.38 roll -1.66 - - 1738.44 - 3.37 0.046 2079.31 -414.3 -96.11 - - 2892.34 - - - - - - - - - 15.15 -
1711.72 199.73 -9.25 224 1717.37 roll -1.66 - - 1737.44 - 3.77 0.097 3475.56 370.4 -96.11 - - 2893.28 - - - - - - - - - 14.98 -
1750.62 203.45 -9.92 232 1757.40 roll -1.66 - - 1737.88 - 3.40 0.047 2080.06 -410.4 -96.11 - - 2891.56 - - - - - - - - - 15.14 -
1876.78 215.34 -9.58 245 1878.11 no move -1.66 - - 1737.81 - - - 2080.56 - -96.11 - - 2892.16 - - - - - - - - - - -
1996.74 226.46 -9.39 257 1998.06 no move -1.66 - - 1737.88 - - - 2080.12 - -96.11 - - 2892.53 - - - - - - - - - - -
2116.76 237.28 -8.74 269 2122.43 roll -1.73 - - 1737.62 - 3.84 0.102 3475.62 363.4 -119.66 - - 2889.59 - - - - - - - - - 14.93 -
2171.77 242.86 -10.70 280 2176.36 roll -1.73 - - 1737.88 - 3.44 0.049 2080.25 -405.6 -119.66 - - 2893.72 - - - - - - - - - 15.13 -
2311.76 255.85 -9.62 291 2313.09 no move -1.73 - - 1737.31 - - - 2079.81 - -119.66 - - 2892.25 - - - - - - - - - - -
2611.77 284.31 -9.67 301 2613.10 no move -1.73 - - 1737.94 - - - 2080.06 - -119.66 - - 2892.12 - - - - - - - - - - -
2911.77 313.17 -9.87 311 2917.46 roll -1.73 - - 1737.75 - 3.90 0.105 3475.75 357.9 -119.66 - - 2894.12 - - - - - - - - - 14.90 -
3015.71 325.62 -12.72 332 3021.41 roll -1.73 - - 1738.31 - 3.47 0.053 2080.69 -402.0 -119.66 - - 2892.75 - - - - - - - - - 15.06 -
3326.81 355.58 -9.63 344 3328.14 no move -1.73 - - 1737.62 - - - 2080.94 - -119.66 - - 2891.69 - - - - - - - - - - -
3626.81 384.40 -9.90 354 3632.50 roll -1.73 - - 1738.19 - 3.92 0.106 3474.69 355.5 -119.66 - - 2893.75 - - - - - - - - - 14.87 -
3681.82 389.78 -9.44 365 3686.45 roll -1.73 - - 1738.12 - 3.49 0.054 2082.31 -399.0 -119.66 - - 2891.84 - - - - - - - - - 15.05 -
4011.89 422.37 -10.26 381 4017.53 roll -1.73 - - 1736.12 - 3.92 0.106 3475.31 355.4 -119.66 - - 2892.06 - - - - - - - - - 14.86 -
4036.88 425.18 -10.11 386 4041.44 roll -1.73 - - 1738.25 - 3.45 0.052 2080.75 -404.2 -119.66 - - 2892.06 - - - - - - - - - 15.06 -
4366.90 458.27 -9.96 402 4372.60 roll -1.73 - - 1737.81 - 4.22 0.150 662.50 -336.1 -119.66 - - 2889.72 - - - - - - - - - 14.75 -
4405.76 461.95 -9.20 410 4411.48 roll -1.73 - - 1738.31 - 3.56 0.045 2122.94 410.2 -119.66 - - 2891.00 - - - - - - - - - 15.16 -
4721.87 492.95 -9.39 423 4727.52 roll -1.73 - - 1737.81 - 3.79 0.109 3473.62 356.4 -119.66 - - 2888.94 - - - - - - - - - 14.85 -
4770.79 498.28 -11.53 433 4777.58 roll -1.73 - - 1737.88 - 3.45 0.051 2081.12 -403.6 -119.66 - - 2890.84 - - - - - - - - - 15.02 -
4806 end dive: TARGET_DEPTH_EXCEEDED
4806 begin apogee
4808.01 502.11 -9.88 435 4893.24 -0.25 2.88 0.157 2079.56 118.6 0.09 0.226 2083.75 29.2 - 81.11 1.640 2499.34 -4.8 0.261 - - - - - - 14.79 14.82 11.05
4896 end apogee: CONTROL_FINISHED_OK
4896 begin climb
4896.52 503.76 - 437 5018.70 1.73 3.57 0.078 2564.06 135.7 4.03 0.108 3475.19 345.3 119.66 110.31 1.583 2009.28 -4.4 0.249 - - - - - - 15.01 14.43 11.29
5040.85 496.46 7.67 466 5081.31 done 1.83 - - 2564.00 - 3.62 0.053 2081.06 -385.1 153.95 33.44 1.483 1871.16 -4.1 0.244 - - - - - - - 14.82 11.16
5406.99 455.13 11.50 489 5412.70 done 1.83 - - 2564.44 - 4.07 0.136 661.75 -348.7 153.95 - - 1860.91 - - - - - - - - - 15.11 -
5590.86 429.75 15.56 526 5596.58 done 1.83 - - 2563.88 - 3.56 0.045 2125.44 411.1 153.95 - - 1860.47 - - - - - - - - - 15.38 -
5911.99 395.63 10.60 540 5917.71 done 1.85 - - 2562.75 - 4.20 0.131 660.44 -348.8 153.95 - - 1857.84 - - - - - - - - - 15.08 -
6027.48 381.33 13.05 563 6032.61 done 1.85 - - 2563.69 - 3.56 0.045 2126.12 411.7 153.95 - - 1859.66 - - - - - - - - - 15.40 -
6352.06 348.00 10.31 578 6357.79 1.87 0.19 0.077 2605.44 219.7 4.24 0.130 662.25 -345.3 153.95 - - 1858.00 - - - - - - - - 15.53 15.04 -
6415.91 339.09 13.47 591 6421.64 done 1.87 - - 2605.38 - 3.56 0.044 2125.38 411.0 153.95 - - 1857.84 - - - - - - - - - 15.36 -
6737.02 301.81 11.52 605 6742.77 done 1.87 - - 2605.25 - 4.21 0.127 661.94 -347.6 153.95 - - 1856.47 - - - - - - - - - 14.99 -
6905.94 279.98 12.88 639 6912.76 done 1.87 - - 2606.06 - 3.57 0.045 2126.12 410.1 153.95 - - 1858.81 - - - - - - - - - 15.32 -
7212.06 249.13 10.16 650 7217.86 done 1.90 - - 2606.00 - 4.22 0.127 662.19 -346.9 153.95 - - 1855.22 - - - - - - - - - 14.96 -
7357.52 231.09 12.12 679 7362.70 done 1.90 - - 2606.00 - 3.57 0.047 2123.88 409.4 153.95 - - 1855.00 - - - - - - - - - 15.28 -
7482.11 217.77 10.19 692 7487.75 done 1.93 - - 2605.38 - 3.75 0.110 3473.81 360.0 153.95 - - 1854.81 - - - - - - - - - 15.02 -
7520.99 213.26 10.85 700 7527.80 done 1.93 - - 2605.69 - 3.45 0.051 2078.25 -404.5 153.95 - - 1856.62 - - - - - - - - - 15.22 -
7647.12 200.83 10.26 713 7652.81 done 1.95 - - 2605.31 - 4.06 0.131 663.25 -348.5 153.95 - - 1854.28 - - - - - - - - - 14.98 -
7756.05 188.17 11.58 735 7762.86 done 1.95 - - 2605.69 - 3.55 0.044 2127.50 412.5 153.95 - - 1857.09 - - - - - - - - - 15.30 -
7882.15 175.40 10.63 748 7887.80 done 1.95 - - 2604.88 - 3.73 0.108 3474.25 361.1 153.95 - - 1857.16 - - - - - - - - - 15.01 -
7921.05 171.01 10.76 756 7927.87 done 1.95 - - 2606.44 - 3.42 0.050 2077.31 -408.5 153.95 - - 1855.03 - - - - - - - - - 15.21 -
8047.18 158.86 9.81 769 8052.88 done 1.99 - - 2606.06 - 4.02 0.129 661.81 -352.1 153.95 - - 1854.44 - - - - - - - - - 14.97 -
8242.66 137.41 11.12 808 8247.84 done 1.99 - - 2606.00 - 3.54 0.044 2127.00 413.9 153.95 - - 1855.44 - - - - - - - - - 15.31 -
8307.24 131.21 9.14 815 8312.96 2.05 0.20 0.080 2644.56 192.8 3.73 0.107 3474.00 361.1 153.95 - - 1853.97 - - - - - - - - 15.49 15.00 -
8332.23 128.65 9.01 820 8359.32 done 2.11 - - 2645.00 - 3.43 0.049 2079.06 -406.7 174.90 22.25 1.145 1786.81 -3.0 0.060 - - - - - - - 15.20 11.45
8417.24 120.37 9.87 831 8422.93 roll 2.15 - - 2645.56 - 3.96 0.125 660.69 -358.2 174.90 - - 1782.84 - - - - - - - - - 15.19 -
8522.70 106.70 12.36 852 8527.91 roll 2.15 - - 2644.94 - 3.54 0.042 2127.69 414.4 174.90 - - 1785.28 - - - - - - - - - 15.45 -
8587.27 99.98 9.98 859 8592.98 roll 2.18 - - 2644.94 - 4.07 0.121 660.62 -360.5 174.90 - - 1782.94 - - - - - - - - - 15.15 -
8662.72 90.61 13.06 874 8667.92 roll 2.18 - - 2645.00 - 3.54 0.043 2128.94 414.8 174.90 - - 1782.19 - - - - - - - - - 15.41 -
8727.30 83.85 9.73 881 8733.07 roll back 2.22 0.23 0.073 2689.75 194.6 4.08 0.120 660.69 -359.9 174.90 - - 1784.06 - - - - - - - - 15.51 15.12 -
8826.25 72.77 10.47 901 8833.17 roll 2.24 - - 2689.44 - 3.53 0.042 2128.12 415.7 174.90 - - 1783.97 - - - - - - - - - 15.38 -
8892.32 67.39 7.94 908 8937.85 done 2.34 - - 2689.56 - 4.07 0.122 660.44 -360.6 206.41 37.63 1.113 1656.97 -3.4 0.036 - - - - - - - 15.14 11.47
9056.26 53.19 7.90 941 9098.85 2.43 0.28 0.064 2739.00 176.6 3.56 0.042 2129.75 412.7 238.37 37.30 1.079 1527.88 -3.5 0.030 - - - - - - 15.18 15.39 11.53
9157.36 45.04 8.81 955 9192.09 done 2.50 - - 2740.25 - 3.71 0.107 3474.88 362.6 261.30 27.15 1.037 1434.59 -3.4 0.026 - - - - - - - 15.00 11.49
9341.27 26.86 10.94 992 9348.10 roll 2.50 - - 2739.75 - 3.47 0.050 2077.75 -402.6 261.30 - - 1431.09 - - - - - - - - - 15.29 -
9407.38 21.57 7.84 999 9450.01 2.60 0.20 0.075 2780.12 201.8 3.98 0.125 660.69 -356.0 293.88 36.41 1.029 1302.28 -3.5 0.013 - - - - - - 15.42 15.09 11.49
9603 end climb: SURFACE_DEPTH_REACHED
9603 begin surface coast
9623 end surface coast: CONTROL_FINISHED_OK
9623 begin surface
SM -0.68 - - - - 170.1 - 0.010 563.9 - 19.12 0.083 555.9 29.1 - 3.53 0.041 572.0 160.9 0.273 - - 30.36 15.06 15.41 -