NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 349 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 107.15 of 575.00 AH used of 24V (81.37% remains)
• Surface angle -54.5 deg, depth 1.11 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.81 (SM_CC=425)
• GPS1 time: 20 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
6.84 - - - 74.68 VBD -1.25 - - 172.75 - - - 2116.50 - -77.86 67.28 0.005 2319.38 - - - - - - - - - - 15.58
75.01 3.71 -5.99 13 106.29 -1.25 13.81 0.252 1837.06 120.5 - - 2115.62 - -77.86 13.01 0.007 2816.06 38.2 -3.423 - - - - - - 15.60 - 15.43
284.08 42.66 -19.71 55 285.41 no move -1.25 - - 1836.94 - - - 2116.12 - -77.86 - - 2816.59 - - - - - - - - - - -
464.11 74.85 -14.52 91 469.94 roll -1.25 - - 1836.56 - 3.78 0.117 3473.19 359.0 -77.86 - - 2817.66 - - - - - - - - - 15.78 -
599.15 92.89 -12.26 118 604.92 roll -1.25 - - 1836.38 - 3.57 0.061 2082.81 -389.5 -77.86 - - 2817.84 - - - - - - - - - 15.85 -
789.18 113.25 -10.64 144 790.51 no move -1.25 - - 1836.81 - - - 2083.00 - -77.86 - - 2816.53 - - - - - - - - - - -
1089.21 144.91 -10.17 174 1090.54 no move -1.25 - - 1836.94 - - - 2082.75 - -77.86 - - 2816.91 - - - - - - - - - - -
1389.24 177.98 -11.21 204 1390.57 no move -1.25 - - 1836.88 - - - 2083.12 - -77.86 - - 2816.88 - - - - - - - - - - -
1689.28 212.62 -11.87 234 1690.61 no move -1.25 - - 1836.81 - - - 2082.69 - -77.86 - - 2816.41 - - - - - - - - - - -
1989.32 246.06 -10.49 264 1990.65 no move -1.25 - - 1836.88 - - - 2082.56 - -77.86 - - 2816.84 - - - - - - - - - - -
2289.34 277.27 -10.17 294 2290.67 no move -1.25 - - 1836.19 - - - 2083.06 - -77.86 - - 2817.00 - - - - - - - - - - -
2589.38 308.72 -9.59 324 2590.71 no move -1.25 - - 1836.75 - - - 2083.12 - -77.86 - - 2817.00 - - - - - - - - - - -
2889.42 338.84 -9.90 354 2890.74 no move -1.25 - - 1836.94 - - - 2083.06 - -77.86 - - 2816.50 - - - - - - - - - - -
3189.45 368.85 -10.16 384 3190.78 no move -1.25 - - 1837.25 - - - 2082.38 - -77.86 - - 2816.56 - - - - - - - - - - -
3489.49 399.48 -9.57 414 3495.22 roll -1.25 - - 1837.00 - 3.89 0.123 3474.31 357.8 -77.86 - - 2815.00 - - - - - - - - - 16.03 -
3524.52 403.46 -11.54 421 3529.17 roll -1.25 - - 1837.00 - 3.53 0.067 2084.00 -393.9 -77.86 - - 2814.69 - - - - - - - - - 16.04 -
3834.53 433.49 -9.23 453 3835.86 no move -1.25 - - 1836.81 - - - 2083.56 - -77.86 - - 2816.03 - - - - - - - - - - -
4134.56 461.82 -9.64 483 4135.89 no move -1.25 - - 1836.50 - - - 2082.88 - -77.86 - - 2815.28 - - - - - - - - - - -
4434.62 489.49 -9.09 513 4435.95 no move -1.25 - - 1836.25 - - - 2083.69 - -77.86 - - 2815.25 - - - - - - - - - - -
4734.68 517.46 -9.63 543 4736.01 no move -1.25 - - 1837.31 - - - 2083.44 - -77.86 - - 2814.66 - - - - - - - - - - -
5034.75 543.64 -7.97 573 5040.48 roll -1.25 - - 1836.25 - 3.88 0.126 3473.25 358.2 -77.86 - - 2816.94 - - - - - - - - - 16.04 -
5113.76 551.76 -10.53 589 5120.54 roll -1.25 - - 1836.38 - 3.54 0.069 2085.75 -391.9 -77.86 - - 2815.06 - - - - - - - - - 16.05 -
5419.84 578.20 -8.57 620 5421.17 no move -1.25 - - 1836.75 - - - 2085.62 - -77.86 - - 2812.09 - - - - - - - - - - -
5719.90 605.24 -8.73 650 5721.23 no move -1.25 - - 1836.88 - - - 2086.25 - -77.86 - - 2811.38 - - - - - - - - - - -
6019.96 632.16 -8.38 680 6021.28 no move -1.25 - - 1837.06 - - - 2086.00 - -77.86 - - 2811.88 - - - - - - - - - - -
6320.02 657.54 -8.73 710 6321.35 no move -1.25 - - 1836.50 - - - 2085.44 - -77.86 - - 2812.59 - - - - - - - - - - -
6620.07 682.83 -8.30 740 6621.40 no move -1.25 - - 1836.88 - - - 2085.94 - -77.86 - - 2810.62 - - - - - - - - - - -
6920.10 707.10 -7.58 770 6921.43 no move -1.25 - - 1835.88 - - - 2085.94 - -77.86 - - 2811.59 - - - - - - - - - - -
7220.14 730.67 -8.38 800 7221.46 no move -1.25 - - 1836.31 - - - 2085.81 - -77.86 - - 2811.81 - - - - - - - - - - -
7520.17 755.74 -7.71 830 7521.50 no move -1.25 - - 1836.31 - - - 2085.94 - -77.86 - - 2809.66 - - - - - - - - - - -
7820.20 782.75 -9.04 860 7821.53 no move -1.25 - - 1836.62 - - - 2085.88 - -77.86 - - 2811.03 - - - - - - - - - - -
8120.24 808.63 -8.75 890 8121.57 no move -1.25 - - 1836.50 - - - 2085.62 - -77.86 - - 2810.44 - - - - - - - - - - -
8420.28 833.73 -7.41 920 8421.60 no move -1.25 - - 1836.88 - - - 2085.75 - -77.86 - - 2810.53 - - - - - - - - - - -
8720.31 858.26 -7.43 950 8721.64 no move -1.25 - - 1836.50 - - - 2085.81 - -77.86 - - 2810.50 - - - - - - - - - - -
9020.35 881.88 -7.41 980 9026.14 roll -1.25 - - 1836.94 - 4.26 0.181 663.88 -333.8 -77.86 - - 2809.28 - - - - - - - - - 15.92 -
9115.37 891.06 -11.05 999 9121.08 roll -1.25 - - 1836.69 - 3.66 0.072 2114.62 396.4 -77.86 - - 2810.44 - - - - - - - - - 15.99 -
9420.41 914.90 -8.30 1030 9421.73 no move -1.25 - - 1836.81 - - - 2114.56 - -77.86 - - 2809.59 - - - - - - - - - - -
9720.43 937.46 -6.16 1060 9726.39 roll -1.25 - - 1837.19 - 4.34 0.177 664.12 -334.2 -77.86 - - 2807.69 - - - - - - - - - 15.92 -
9755.51 941.10 -9.63 1067 9761.14 roll -1.25 - - 1837.38 - 3.65 0.071 2114.00 397.2 -77.86 - - 2807.44 - - - - - - - - - 15.99 -
10060.48 962.69 -6.89 1098 10061.81 no move -1.25 - - 1837.00 - - - 2114.25 - -77.86 - - 2809.34 - - - - - - - - - - -
10360.51 985.21 -8.25 1128 10361.84 no move -1.25 - - 1836.62 - - - 2114.12 - -77.86 - - 2809.00 - - - - - - - - - - -
10430 end dive: TARGET_DEPTH_EXCEEDED
10430 begin apogee
10431.77 990.14 -7.04 1135 10501.73 -0.25 1.75 0.151 2080.25 139.2 0.08 0.303 2185.44 891.5 - 64.71 2.314 2498.66 -4.8 0.347 - - - - - - 15.98 15.57 12.64
10503 end apogee: CONTROL_FINISHED_OK
10503 begin climb
10503.49 992.54 - 1142 10584.33 1.25 2.54 0.092 2448.25 144.9 4.46 0.154 738.31 -324.5 77.86 71.58 2.254 2181.22 -4.4 0.330 - - - - - - 15.60 15.19 12.77
10622.18 984.06 8.86 1165 10627.91 roll 1.25 - - 2448.25 - 3.84 0.062 2214.50 384.4 77.86 - - 2175.44 - - - - - - - - - 15.34 -
10927.22 953.94 10.13 1196 10932.84 done 1.25 - - 2448.75 - 3.62 0.135 3473.12 347.7 77.86 - - 2167.78 - - - - - - - - - 15.59 -
11056.15 939.87 11.79 1222 11062.97 done 1.25 - - 2448.38 - 3.34 0.067 2183.00 -386.3 77.86 - - 2168.38 - - - - - - - - - 15.69 -
11362.28 910.23 10.18 1253 11363.61 VBD 1.25 - - 2448.00 - - - 2183.12 - 77.86 - - 2167.34 - - - - - - - - - - -
11662.31 884.00 7.74 1283 11663.64 VBD 1.25 - - 2448.00 - - - 2183.25 - 77.86 - - 2164.47 - - - - - - - - - - -
11962.34 856.24 8.87 1313 11963.67 VBD 1.25 - - 2448.19 - - - 2183.69 - 77.86 - - 2165.53 - - - - - - - - - - -
12262.38 829.68 8.88 1343 12268.15 done 1.25 - - 2448.06 - 4.20 0.152 736.62 -344.5 77.86 - - 2166.41 - - - - - - - - - 15.81 -
12361.24 819.50 10.78 1363 12368.19 done 1.25 - - 2448.25 - 3.73 0.063 2215.88 396.6 77.86 - - 2163.59 - - - - - - - - - 15.86 -
12667.44 794.24 8.01 1394 12668.77 VBD 1.25 - - 2448.12 - - - 2216.25 - 77.86 - - 2162.78 - - - - - - - - - - -
12967.47 769.91 7.83 1424 12968.80 VBD 1.25 - - 2447.75 - - - 2217.06 - 77.86 - - 2163.06 - - - - - - - - - - -
13267.50 745.68 8.12 1454 13268.83 VBD 1.25 - - 2448.06 - - - 2216.50 - 77.86 - - 2162.53 - - - - - - - - - - -
13567.53 721.96 7.64 1484 13568.87 VBD 1.25 - - 2448.19 - - - 2217.06 - 77.86 - - 2162.34 - - - - - - - - - - -
13867.58 698.56 7.48 1514 13873.18 done 1.27 - - 2448.06 - 3.51 0.133 3471.31 357.3 77.86 - - 2162.34 - - - - - - - - - 15.88 -
13942.62 691.80 9.41 1529 13947.22 done 1.27 - - 2448.62 - 3.28 0.064 2180.88 -393.4 77.86 - - 2161.72 - - - - - - - - - 15.98 -
14252.66 667.02 8.91 1561 14254.00 VBD 1.27 - - 2448.44 - - - 2181.69 - 77.86 - - 2160.94 - - - - - - - - - - -
14552.73 643.85 7.77 1591 14554.06 VBD 1.27 - - 2447.12 - - - 2181.25 - 77.86 - - 2162.12 - - - - - - - - - - -
14852.79 621.07 8.51 1621 14858.57 done 1.27 - - 2447.88 - 4.18 0.146 736.00 -345.8 77.86 - - 2161.78 - - - - - - - - - 15.89 -
14931.66 614.20 8.86 1637 14938.63 done 1.27 - - 2447.12 - 3.64 0.062 2218.62 407.3 77.86 - - 2161.38 - - - - - - - - - 15.93 -
15237.89 591.08 7.80 1668 15243.75 done 1.27 - - 2446.50 - 4.22 0.142 737.44 -351.0 77.86 - - 2160.81 - - - - - - - - - 15.90 -
15376.86 578.94 9.74 1696 15383.72 done 1.27 - - 2448.69 - 3.62 0.060 2220.44 409.7 77.86 - - 2161.88 - - - - - - - - - 15.93 -
15683.02 557.30 6.44 1727 15684.36 VBD 1.32 - - 2447.81 - - - 2220.75 - 77.86 - - 2160.56 - - - - - - - - - - -
15983.08 537.04 6.05 1757 16007.28 1.40 0.19 0.096 2490.19 223.1 - - 2220.81 - 106.45 23.25 1.720 2065.62 -4.1 0.216 - - - - - - 16.00 - 12.59
16303.09 509.03 9.01 1789 16308.90 roll 1.40 - - 2491.38 - 4.25 0.142 737.19 -349.1 106.45 - - 2060.06 - - - - - - - - - 15.83 -
16368.11 502.43 10.83 1802 16373.88 roll 1.40 - - 2491.69 - 3.67 0.060 2219.44 403.9 106.45 - - 2058.31 - - - - - - - - - 15.87 -
16673.15 475.44 9.02 1833 16674.48 no move 1.40 - - 2491.56 - - - 2219.88 - 106.45 - - 2058.25 - - - - - - - - - - -
16973.18 449.00 8.29 1863 16974.51 no move 1.40 - - 2491.44 - - - 2219.56 - 106.45 - - 2059.12 - - - - - - - - - - -
17273.22 422.64 8.27 1893 17278.81 roll 1.40 - - 2490.25 - 3.49 0.127 3470.75 358.5 106.45 - - 2061.06 - - - - - - - - - 15.91 -
17378.32 412.17 10.49 1914 17382.78 roll 1.40 - - 2491.88 - 3.29 0.061 2179.50 -392.5 106.45 - - 2059.16 - - - - - - - - - 15.93 -
17688.28 385.07 8.17 1946 17693.91 roll 1.40 - - 2491.19 - 3.61 0.120 3472.12 358.1 106.45 - - 2059.97 - - - - - - - - - 15.91 -
17833.31 370.76 9.93 1975 17837.85 roll 1.40 - - 2491.19 - 3.27 0.059 2180.19 -395.1 106.45 - - 2058.66 - - - - - - - - - 15.93 -
18143.37 346.93 7.37 2007 18144.69 no move 1.42 - - 2491.56 - - - 2180.50 - 106.45 - - 2057.94 - - - - - - - - - - -
18443.38 324.46 7.89 2037 18449.16 roll 1.42 - - 2491.88 - 4.13 0.140 737.12 -349.5 106.45 - - 2056.91 - - - - - - - - - 15.90 -
18572.32 312.56 9.55 2063 18579.21 roll 1.42 - - 2491.88 - 3.64 0.058 2222.06 408.0 106.45 - - 2058.72 - - - - - - - - - 15.93 -
18878.45 288.51 8.10 2094 18879.78 VBD 1.42 - - 2491.38 - - - 2222.44 - 106.45 - - 2058.03 - - - - - - - - - - -
19178.49 265.85 7.40 2124 19179.82 VBD 1.44 - - 2491.81 - - - 2222.62 - 106.45 - - 2058.56 - - - - - - - - - - -
19478.52 243.75 7.17 2154 19483.09 roll 1.47 - - 2491.25 - 3.46 0.121 3473.88 361.6 106.45 - - 2057.25 - - - - - - - - - 15.93 -
19638.54 230.25 8.01 2186 19643.09 done 1.47 - - 2491.50 - 3.22 0.057 2177.88 -402.5 106.45 - - 2060.44 - - - - - - - - - 16.00 -
19948.61 209.72 6.31 2218 19954.44 done 1.52 - - 2491.69 - 4.07 0.137 736.06 -354.3 106.45 - - 2056.56 - - - - - - - - - 15.91 -
20123.69 196.41 7.19 2253 20129.28 roll 1.55 - - 2491.88 - 3.62 0.056 2223.50 410.9 106.45 - - 2057.91 - - - - - - - - - 15.89 -
20428.75 179.34 5.16 2284 20470.52 1.67 0.34 0.077 2555.94 188.4 3.47 0.121 3472.38 359.9 147.65 35.21 1.352 1898.56 -4.5 0.102 - - - - - - 15.99 15.81 12.67
20572.69 165.19 11.72 2313 20579.63 roll 1.67 - - 2554.75 - 3.27 0.057 2178.88 -395.6 147.65 - - 1893.91 - - - - - - - - - 15.85 -
20878.83 133.28 9.12 2344 20880.16 no move 1.67 - - 2554.56 - - - 2179.19 - 147.65 - - 1890.44 - - - - - - - - - - -
21178.91 110.39 6.49 2374 21184.50 roll 1.72 - - 2554.75 - 3.60 0.116 3473.94 359.7 147.65 - - 1890.62 - - - - - - - - - 15.85 -
21353.99 100.51 4.89 2409 21396.81 1.85 0.21 0.094 2597.75 204.8 3.28 0.054 2177.44 -395.3 192.72 37.56 1.250 1713.38 -4.7 0.064 - - - - - - 15.82 15.92 12.41
21574.61 84.72 8.20 2453 21580.46 roll 1.85 - - 2597.19 - 4.16 0.134 737.25 -346.2 192.72 - - 1710.66 - - - - - - - - - 15.73 -
21649.63 76.73 11.70 2468 21655.54 roll 1.85 - - 2597.06 - 3.68 0.054 2222.81 403.7 192.72 - - 1708.69 - - - - - - - - - 15.76 -
21834.73 63.36 5.77 2505 21870.77 done 1.95 - - 2597.00 - 3.48 0.117 3472.50 359.1 225.32 27.71 1.169 1580.59 -4.6 0.042 - - - - - - - 15.68 12.71
21899.74 60.76 4.30 2518 21951.48 2.11 0.35 0.078 2661.50 184.3 3.30 0.051 2177.25 -392.5 278.86 44.76 1.177 1362.38 -4.9 0.043 - - - - - - 15.64 15.75 12.74
22129.80 40.80 11.98 2564 22135.64 roll 2.11 - - 2661.31 - 4.16 0.134 736.38 -346.4 278.86 - - 1358.19 - - - - - - - - - 15.61 -
22359.89 2.90 19.12 2610 22365.68 roll 2.11 - - 2660.12 - 3.71 0.055 2218.25 399.4 278.86 - - 1355.81 - - - - - - - - - 15.72 -
22369 end climb: SURFACE_DEPTH_REACHED
22369 begin surface coast
22379 end surface coast: CONTROL_FINISHED_OK
22379 begin surface
SM 0.50 - - - - 177.6 - 0.014 768.2 - 16.38 0.068 775.9 47.4 - 0.34 0.091 760.5 2225.9 -1.250 - - 30.36 15.75 15.80 -