NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1045 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 287.68 of 575.00 AH used of 24V (49.97% remains)
• Surface angle -59.0 deg, depth -1.57 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 475.03 (SM_CC=475)
• GPS1 time: 23 s • bottom range 7.9 m at 257.8 m, depth 266 m (1000 m grid)
• GPS2 time: 2 s • Transponder ping count: 5
• 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
7.66 - - - 104.94 VBD -1.59 - - 166.62 - 0.07 0.283 2113.25 - -74.33 96.20 0.005 2800.88 - - - - - - - - - 14.34 14.64
105.17 5.60 -11.51 10 127.39 roll back -1.59 13.94 0.250 1753.81 113.9 3.69 0.106 3476.50 369.4 -74.33 - - 2801.62 - - - - - - - - 14.99 15.09 -
129.53 14.96 -33.46 15 136.31 roll -1.59 - - 1753.94 - 3.41 0.053 2081.12 -409.2 -74.33 - - 2804.09 - - - - - - - - - 15.45 -
195.66 29.13 -20.80 22 201.27 roll -1.59 - - 1753.94 - 3.74 0.103 3474.31 372.5 -74.33 - - 2802.34 - - - - - - - - - 15.33 -
204.52 30.99 -20.18 24 211.30 roll -1.59 - - 1754.38 - 3.40 0.052 2080.19 -410.0 -74.33 - - 2802.31 - - - - - - - - - 15.45 -
270.66 43.46 -18.79 31 276.27 roll -1.59 - - 1754.12 - 3.74 0.103 3476.38 373.3 -74.33 - - 2799.88 - - - - - - - - - 15.33 -
339.55 57.57 -20.55 45 346.35 roll -1.59 - - 1754.00 - 3.41 0.055 2082.62 -408.7 -74.33 - - 2802.19 - - - - - - - - - 15.45 -
405.69 68.54 -15.57 52 411.36 roll -1.59 - - 1754.50 - 4.05 0.148 663.12 -350.5 -74.33 - - 2802.00 - - - - - - - - - 15.18 -
451.09 75.12 -14.39 61 456.28 roll -1.59 - - 1754.19 - 3.51 0.046 2123.25 416.0 -74.33 - - 2800.59 - - - - - - - - - 15.56 -
515.64 83.82 -13.58 68 516.97 no move -1.59 - - 1753.94 - - - 2122.62 - -74.33 - - 2802.50 - - - - - - - - - - -
575.66 90.59 -11.30 74 581.28 roll -1.59 - - 1753.62 - 3.58 0.103 3475.12 377.8 -74.33 - - 2803.12 - - - - - - - - - 15.36 -
670.67 103.21 -13.59 93 675.27 roll -1.59 - - 1754.19 - 3.38 0.053 2080.12 -412.7 -74.33 - - 2803.03 - - - - - - - - - 15.51 -
740.68 111.71 -12.20 101 746.40 roll -1.59 - - 1754.00 - 4.01 0.146 662.88 -353.4 -74.33 - - 2802.50 - - - - - - - - - 15.18 -
796.15 118.44 -13.08 112 801.32 roll -1.59 - - 1753.69 - 3.50 0.046 2122.88 417.1 -74.33 - - 2802.41 - - - - - - - - - 15.58 -
860.76 125.81 -10.69 119 862.08 no move -1.59 - - 1754.19 - - - 2122.94 - -74.33 - - 2802.62 - - - - - - - - - - -
920.72 132.73 -11.80 125 922.04 no move -1.59 - - 1754.12 - - - 2123.19 - -74.33 - - 2802.81 - - - - - - - - - - -
980.72 139.42 -11.01 131 982.04 no move -1.59 - - 1754.31 - - - 2123.38 - -74.33 - - 2802.66 - - - - - - - - - - -
1040.72 146.31 -11.29 137 1042.05 no move -1.59 - - 1754.00 - - - 2122.81 - -74.33 - - 2802.78 - - - - - - - - - - -
1100.74 153.05 -11.59 143 1106.39 roll -1.59 - - 1753.56 - 3.61 0.105 3475.81 374.8 -74.33 - - 2801.16 - - - - - - - - - 15.36 -
1149.65 158.93 -11.43 153 1156.43 roll -1.59 - - 1753.81 - 3.38 0.052 2079.75 -413.0 -74.33 - - 2802.84 - - - - - - - - - 15.50 -
1275.76 172.46 -10.18 166 1281.47 roll -1.59 - - 1754.19 - 4.03 0.146 661.62 -351.9 -74.33 - - 2803.28 - - - - - - - - - 15.18 -
1321.20 177.51 -11.21 175 1326.38 roll -1.59 - - 1753.81 - 3.48 0.047 2123.00 419.9 -74.33 - - 2801.84 - - - - - - - - - 15.59 -
1445.79 189.34 -8.72 188 1451.46 done -1.66 - - 1753.00 - 3.61 0.108 3476.25 374.9 -98.15 0.49 0.044 2903.47 207.4 -155.825 - - - - - - - 14.13 13.98
1524.68 198.98 -13.42 204 1531.47 roll -1.66 - - 1753.94 - 3.37 0.052 2080.31 -414.2 -98.15 - - 2905.38 - - - - - - - - - 15.50 -
1650.81 212.54 -10.20 217 1656.52 roll -1.66 - - 1754.19 - 4.01 0.147 662.50 -353.6 -98.15 - - 2902.47 - - - - - - - - - 15.16 -
1689.71 217.61 -13.36 225 1696.52 roll -1.66 - - 1753.88 - 3.47 0.047 2124.44 421.3 -98.15 - - 2905.12 - - - - - - - - - 15.56 -
1815.81 230.92 -10.16 238 1817.14 no move -1.66 - - 1754.00 - - - 2124.12 - -98.15 - - 2904.22 - - - - - - - - - - -
1935.82 243.89 -11.02 250 1941.46 roll -1.66 - - 1753.81 - 3.61 0.107 3475.69 374.4 -98.15 - - 2902.94 - - - - - - - - - 15.33 -
1990.83 250.95 -13.19 261 1995.42 roll -1.66 - - 1753.56 - 3.39 0.054 2080.62 -411.5 -98.15 - - 2904.12 - - - - - - - - - 15.50 -
2320.89 288.46 -11.42 277 2326.52 roll -1.66 - - 1753.50 - 3.79 0.107 3474.19 367.7 -98.15 - - 2905.66 - - - - - - - - - 15.32 -
2459.77 304.96 -11.52 305 2466.57 roll -1.66 - - 1754.00 - 3.41 0.056 2081.88 -408.3 -98.15 - - 2904.88 - - - - - - - - - 15.47 -
2765.87 336.99 -10.50 316 2771.61 roll -1.66 - - 1753.50 - 4.12 0.152 662.75 -344.4 -98.15 - - 2903.72 - - - - - - - - - 15.11 -
2774.79 337.82 -11.27 318 2780.48 roll -1.66 - - 1753.06 - 3.49 0.047 2123.06 418.4 -98.15 - - 2905.62 - - - - - - - - - 15.55 -
3090.89 369.49 -9.90 331 3092.22 no move -1.66 - - 1754.00 - - - 2123.06 - -98.15 - - 2904.94 - - - - - - - - - - -
3390.89 400.68 -9.99 341 3396.54 roll -1.66 - - 1753.06 - 3.67 0.114 3475.19 368.4 -98.15 - - 2903.72 - - - - - - - - - 15.29 -
3475.90 409.37 -10.05 358 3480.52 roll -1.66 - - 1754.06 - 3.41 0.057 2082.06 -408.5 -98.15 - - 2905.75 - - - - - - - - - 15.46 -
3805.98 441.39 -9.07 374 3811.67 roll back -1.72 0.31 0.069 1702.94 -164.9 3.79 0.111 3475.69 367.7 -118.49 - - 2903.78 - - - - - - - - 15.66 15.29 -
3861.39 447.71 -12.60 385 3866.55 roll -1.72 - - 1703.06 - 3.41 0.057 2082.94 -408.4 -118.49 - - 2903.12 - - - - - - - - - 15.45 -
4185.95 487.37 -12.54 400 4191.61 roll -1.72 - - 1703.75 - 3.79 0.111 3474.38 367.1 -118.49 - - 2904.41 - - - - - - - - - 15.26 -
4241.40 495.19 -15.93 411 4246.60 roll -1.72 - - 1703.25 - 3.40 0.058 2080.62 -409.9 -118.49 - - 2904.38 - - - - - - - - - 15.44 -
4296 end dive: TARGET_DEPTH_EXCEEDED
4296 begin apogee
4297.14 502.67 -13.97 417 4388.32 -0.25 3.08 0.162 2079.69 122.2 0.09 0.231 2085.19 50.8 - 84.71 1.635 2499.12 -4.8 0.257 - - - - - - 15.18 14.85 10.53
4391 end apogee: CONTROL_FINISHED_OK
4391 begin climb
4391.33 506.82 - 420 4508.73 1.72 3.41 0.076 2565.31 142.4 - - 2085.19 - 118.49 109.16 1.599 2015.25 -4.4 0.245 - - - - - - 15.19 - 11.60
4806.04 472.93 10.47 439 4807.38 VBD 1.74 - - 2565.06 - - - 2085.06 - 118.49 - - 2002.84 - - - - - - - - - - -
5105.97 442.26 11.08 449 5111.69 done 1.74 - - 2565.19 - 4.02 0.140 661.62 -354.1 118.49 - - 2001.84 - - - - - - - - - 15.25 -
5179.88 432.69 14.24 464 5185.59 done 1.74 - - 2565.62 - 3.49 0.047 2125.75 419.5 118.49 - - 2002.78 - - - - - - - - - 15.60 -
5491.01 399.01 9.97 476 5492.34 VBD 1.78 - - 2565.06 - - - 2125.62 - 118.49 - - 2001.12 - - - - - - - - - - -
5790.99 366.86 10.69 486 5796.64 done 1.78 - - 2565.12 - 3.64 0.113 3473.94 370.4 118.49 - - 1998.56 - - - - - - - - - 15.34 -
5809.92 364.33 11.48 490 5816.69 done 1.78 - - 2565.31 - 3.40 0.054 2079.00 -410.3 118.49 - - 2000.09 - - - - - - - - - 15.53 -
6116.02 333.94 9.92 501 6121.71 done 1.81 - - 2565.44 - 3.97 0.137 662.62 -356.8 118.49 - - 1997.28 - - - - - - - - - 15.21 -
6124.94 332.57 9.38 503 6130.67 1.86 0.16 0.076 2611.50 287.9 3.47 0.044 2128.19 422.4 118.49 - - 1999.44 - - - - - - - - 15.40 15.63 -
6441.03 301.60 9.49 516 6446.66 done 1.91 - - 2611.50 - 3.63 0.111 3475.19 371.1 118.49 - - 1998.69 - - - - - - - - - 15.32 -
6669.96 278.46 9.61 562 6676.75 done 1.96 - - 2611.38 - 3.41 0.054 2077.81 -409.8 118.49 - - 1998.44 - - - - - - - - - 15.49 -
6976.07 255.48 7.95 573 7010.83 2.05 0.16 0.089 2650.44 244.1 3.80 0.108 3474.81 367.6 149.90 26.86 1.361 1887.81 -4.1 0.135 - - - - - - 15.67 15.15 10.93
7090.03 242.93 11.91 596 7096.77 roll 2.05 - - 2650.00 - 3.40 0.053 2078.81 -410.6 149.90 - - 1885.88 - - - - - - - - - 15.55 -
7216.08 227.78 12.59 609 7221.77 roll 2.05 - - 2649.19 - 3.96 0.135 661.75 -357.8 149.90 - - 1882.47 - - - - - - - - - 15.29 -
7311.53 213.50 15.31 628 7316.74 roll 2.05 - - 2650.38 - 3.52 0.048 2127.06 416.3 149.90 - - 1882.97 - - - - - - - - - 15.61 -
7436.10 198.77 11.40 641 7441.81 roll 2.05 - - 2649.00 - 4.08 0.129 661.75 -359.1 149.90 - - 1882.16 - - - - - - - - - 15.26 -
7545.03 183.93 13.20 663 7551.84 roll 2.05 - - 2650.19 - 3.52 0.048 2127.25 416.3 149.90 - - 1882.88 - - - - - - - - - 15.59 -
7671.13 170.23 11.42 676 7672.46 no move 2.05 - - 2650.25 - - - 2127.19 - 149.90 - - 1880.53 - - - - - - - - - - -
7791.13 156.32 11.28 688 7792.46 no move 2.05 - - 2650.56 - - - 2126.62 - 149.90 - - 1881.97 - - - - - - - - - - -
7911.15 142.61 11.69 700 7916.79 roll 2.05 - - 2649.94 - 3.65 0.110 3474.75 369.4 149.90 - - 1880.22 - - - - - - - - - 15.32 -
7966.60 136.14 11.35 711 7971.78 roll 2.05 - - 2649.31 - 3.40 0.054 2077.38 -411.0 149.90 - - 1883.06 - - - - - - - - - 15.55 -
8031.15 128.56 11.22 718 8036.85 roll 2.05 - - 2649.19 - 3.93 0.130 661.56 -360.3 149.90 - - 1882.00 - - - - - - - - - 15.22 -
8076.60 123.22 13.05 727 8081.78 roll 2.05 - - 2650.38 - 3.48 0.047 2128.06 421.4 149.90 - - 1879.56 - - - - - - - - - 15.63 -
8141.16 116.23 10.76 734 8145.85 done 2.05 - - 2650.00 - 3.60 0.108 3475.38 374.3 149.90 - - 1880.91 - - - - - - - - - 15.29 -
8165.14 113.45 10.25 739 8171.88 done 2.08 - - 2650.12 - 3.38 0.053 2076.12 -414.0 149.90 - - 1880.72 - - - - - - - - - 15.53 -
8231.24 107.57 9.06 746 8262.78 done 2.14 - - 2651.06 - 3.89 0.133 661.81 -363.6 170.29 22.64 1.145 1804.06 -3.4 0.056 - - - - - - - 15.15 11.39
8441.66 86.10 9.48 788 8446.81 roll 2.19 - - 2649.81 - 3.50 0.046 2128.62 419.1 170.29 - - 1801.31 - - - - - - - - - 15.61 -
8506.21 80.85 7.57 795 8549.17 2.29 0.29 0.069 2710.88 210.6 - - 2128.38 - 205.56 41.47 1.122 1659.91 -3.4 0.043 - - - - - - 15.59 - 11.57
8606.28 74.21 7.28 806 8658.28 done 2.41 - - 2711.00 - 3.66 0.110 3474.94 367.9 243.65 43.92 1.092 1505.34 -3.5 0.042 - - - - - - - 14.98 11.63
8700.53 63.58 13.04 825 8707.27 roll 2.41 - - 2711.19 - 3.43 0.053 2077.50 -407.4 243.65 - - 1503.84 - - - - - - - - - 15.41 -
8766.64 57.61 8.52 832 8802.02 2.49 0.20 0.081 2755.88 223.5 3.93 0.129 661.88 -360.2 269.42 29.92 1.049 1401.22 -3.4 0.033 - - - - - - 15.45 15.02 11.49
8837.03 52.42 8.67 846 8871.86 done 2.56 - - 2756.31 - 3.52 0.044 2129.38 416.9 293.73 28.14 1.025 1303.06 -3.5 0.031 - - - - - - - 15.45 11.55
8936.66 42.95 9.77 860 8942.25 roll 2.60 - - 2756.38 - 3.64 0.107 3475.56 369.8 293.73 - - 1299.81 - - - - - - - - - 15.30 -
8971.59 38.70 12.14 867 8976.22 roll 2.60 - - 2756.75 - 3.42 0.050 2075.19 -409.5 293.73 - - 1299.34 - - - - - - - - - 15.46 -
9041.60 30.38 11.99 875 9047.31 roll 2.60 - - 2756.81 - 3.93 0.129 660.00 -360.1 293.73 - - 1299.41 - - - - - - - - - 15.24 -
9077.05 25.56 14.31 882 9082.26 roll 2.60 - - 2756.50 - 3.52 0.043 2128.50 417.2 293.73 - - 1297.66 - - - - - - - - - 15.54 -
9141.63 17.76 11.66 889 9142.96 no move 2.60 - - 2756.00 - - - 2128.44 - 293.73 - - 1298.12 - - - - - - - - - - -
9201.64 10.68 12.13 895 9207.15 roll 2.60 - - 2756.38 - 3.61 0.106 3474.50 372.9 293.73 - - 1297.38 - - - - - - - - - 15.31 -
9276 end climb: SURFACE_DEPTH_REACHED
9276 begin surface coast
9286 end surface coast: CONTROL_FINISHED_OK
9286 begin surface
SM -0.78 - - - - 172.8 - 0.016 563.5 - 17.32 0.086 561.7 32.4 - 3.39 0.050 565.2 165.7 0.264 - - 30.36 15.25 15.55 -