NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1061 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 291.58 of 575.00 AH used of 24V (49.29% remains)
• Surface angle -65.4 deg, depth -1.45 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.78 (SM_CC=475)
• GPS1 time: 6 s
• GPS2 time: 2 s • Transponder ping count: 7
• 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
8.31 - - - 100.54 VBD -1.59 - - 166.44 - - - 2116.69 - -74.33 91.82 0.005 2727.47 - - - - - - - - - - 14.66
100.77 5.46 -11.51 9 126.62 -1.59 13.85 0.248 1753.06 114.6 4.19 0.144 662.69 -347.0 -74.33 1.47 0.018 2802.19 50.8 -2.777 - - - - - - 14.98 14.73 14.85
150.30 20.46 -24.95 19 155.47 roll -1.59 - - 1753.50 - 3.56 0.051 2120.12 409.4 -74.33 - - 2800.19 - - - - - - - - - 15.49 -
214.83 33.98 -20.16 26 216.16 no move -1.59 - - 1753.81 - - - 2120.06 - -74.33 - - 2802.47 - - - - - - - - - - -
274.85 45.57 -18.82 32 276.18 no move -1.59 - - 1753.56 - - - 2119.75 - -74.33 - - 2802.53 - - - - - - - - - - -
334.86 55.23 -15.84 38 340.60 roll -1.59 - - 1752.38 - 4.22 0.143 661.94 -345.5 -74.33 - - 2803.06 - - - - - - - - - 15.16 -
370.31 61.17 -17.65 45 375.49 roll -1.59 - - 1754.25 - 3.55 0.048 2123.00 411.6 -74.33 - - 2804.31 - - - - - - - - - 15.52 -
434.86 70.05 -13.60 52 440.51 roll -1.59 - - 1753.81 - 3.62 0.105 3476.00 373.8 -74.33 - - 2802.72 - - - - - - - - - 15.33 -
519.86 80.23 -11.21 69 524.46 roll -1.59 - - 1753.62 - 3.39 0.052 2079.94 -411.8 -74.33 - - 2803.19 - - - - - - - - - 15.49 -
589.87 87.58 -10.65 77 595.60 roll -1.59 - - 1753.56 - 4.08 0.146 662.88 -347.3 -74.33 - - 2802.88 - - - - - - - - - 15.17 -
675.33 98.64 -12.73 94 680.52 roll -1.59 - - 1751.50 - 3.51 0.046 2121.75 415.6 -74.33 - - 2801.78 - - - - - - - - - 15.55 -
739.89 105.16 -9.63 101 745.63 roll -1.59 - - 1753.88 - 4.16 0.143 662.00 -350.9 -74.33 - - 2804.69 - - - - - - - - - 15.16 -
768.81 108.58 -10.62 107 775.61 roll -1.59 - - 1753.25 - 3.49 0.047 2123.19 418.7 -74.33 - - 2803.50 - - - - - - - - - 15.54 -
834.96 115.34 -10.34 114 840.53 roll -1.59 - - 1752.75 - 3.58 0.102 3477.12 378.2 -74.33 - - 2801.62 - - - - - - - - - 15.35 -
893.82 122.28 -11.94 126 900.60 roll -1.59 - - 1753.19 - 3.38 0.051 2080.50 -413.2 -74.33 - - 2802.75 - - - - - - - - - 15.48 -
959.97 129.14 -10.67 133 965.63 roll -1.59 - - 1753.38 - 4.04 0.145 662.69 -350.9 -74.33 - - 2801.53 - - - - - - - - - 15.15 -
968.83 130.16 -11.12 135 975.65 roll -1.59 - - 1753.69 - 3.47 0.044 2124.50 421.3 -74.33 - - 2802.38 - - - - - - - - - 15.54 -
1034.97 136.99 -10.43 142 1040.55 roll -1.59 - - 1753.88 - 3.57 0.103 3475.81 378.5 -74.33 - - 2801.78 - - - - - - - - - 15.34 -
1093.84 143.94 -11.94 154 1100.62 roll -1.59 - - 1753.56 - 3.34 0.051 2079.75 -418.0 -74.33 - - 2802.50 - - - - - - - - - 15.47 -
1159.99 150.77 -10.63 161 1165.66 roll -1.59 - - 1753.44 - 4.03 0.147 661.75 -351.9 -74.33 - - 2801.69 - - - - - - - - - 15.15 -
1228.85 159.36 -13.25 175 1235.65 roll -1.59 - - 1753.62 - 3.46 0.046 2122.88 422.3 -74.33 - - 2804.31 - - - - - - - - - 15.54 -
1354.96 172.01 -9.55 188 1360.58 roll -1.59 - - 1753.25 - 3.56 0.104 3476.75 380.3 -74.33 - - 2802.19 - - - - - - - - - 15.33 -
1430.01 180.61 -12.49 203 1434.57 roll -1.59 - - 1752.75 - 3.35 0.052 2080.75 -416.7 -74.33 - - 2803.41 - - - - - - - - - 15.49 -
1559.98 193.50 -10.07 217 1565.69 roll -1.59 - - 1753.19 - 4.03 0.146 662.69 -351.9 -74.33 - - 2801.22 - - - - - - - - - 15.13 -
1585.41 196.64 -11.08 222 1590.59 roll -1.59 - - 1753.69 - 3.48 0.046 2127.31 420.9 -74.33 - - 2802.94 - - - - - - - - - 15.57 -
1709.99 210.13 -10.84 235 1715.61 roll -1.59 - - 1753.00 - 3.57 0.105 3477.12 378.1 -74.33 - - 2804.38 - - - - - - - - - 15.32 -
1838.90 226.18 -11.76 261 1845.69 roll -1.59 - - 1753.56 - 3.38 0.053 2080.88 -413.1 -74.33 - - 2802.69 - - - - - - - - - 15.46 -
1965.02 240.27 -10.49 274 1970.72 roll -1.59 - - 1753.75 - 4.07 0.148 662.69 -348.4 -74.33 - - 2803.22 - - - - - - - - - 15.11 -
1993.92 244.16 -12.95 280 2000.72 roll -1.59 - - 1753.31 - 3.46 0.047 2125.31 422.7 -74.33 - - 2804.75 - - - - - - - - - 15.54 -
2140.02 260.17 -10.86 289 2145.65 roll -1.59 - - 1753.38 - 3.58 0.106 3475.75 377.2 -74.33 - - 2800.69 - - - - - - - - - 15.30 -
2165.07 263.09 -10.79 294 2169.62 roll -1.59 - - 1753.75 - 3.37 0.053 2080.44 -414.0 -74.33 - - 2802.97 - - - - - - - - - 15.47 -
2495.09 297.99 -10.67 310 2500.70 roll -1.59 - - 1753.38 - 3.80 0.105 3476.44 367.4 -74.33 - - 2802.22 - - - - - - - - - 15.30 -
2588.96 310.31 -12.98 329 2594.69 roll -1.59 - - 1753.88 - 3.38 0.055 2082.19 -412.5 -74.33 - - 2803.66 - - - - - - - - - 15.43 -
2910.07 345.10 -10.49 343 2915.74 roll -1.59 - - 1753.62 - 3.79 0.106 3474.69 367.4 -74.33 - - 2801.47 - - - - - - - - - 15.27 -
2943.97 348.65 -10.78 350 2949.66 roll -1.59 - - 1753.50 - 3.38 0.054 2081.69 -412.1 -74.33 - - 2804.03 - - - - - - - - - 15.44 -
3265.09 379.81 -9.40 364 3270.81 roll -1.59 - - 1752.62 - 4.14 0.152 661.75 -343.0 -74.33 - - 2803.00 - - - - - - - - - 15.05 -
3294.00 383.75 -13.13 370 3299.70 roll -1.59 - - 1753.88 - 3.53 0.048 2122.50 413.8 -74.33 - - 2803.62 - - - - - - - - - 15.52 -
3620.10 417.44 -10.82 385 3621.43 no move -1.59 - - 1753.88 - - - 2121.81 - -74.33 - - 2802.41 - - - - - - - - - - -
3920.09 448.72 -10.31 395 3925.76 roll -1.59 - - 1753.56 - 3.70 0.113 3474.19 365.5 -74.33 - - 2800.47 - - - - - - - - - 15.24 -
3945.15 451.49 -10.77 400 3949.69 roll -1.59 - - 1753.75 - 3.39 0.056 2081.62 -410.8 -74.33 - - 2802.59 - - - - - - - - - 15.42 -
4275.18 484.38 -9.43 416 4280.80 roll -1.59 - - 1753.19 - 3.83 0.110 3475.69 364.0 -74.33 - - 2802.66 - - - - - - - - - 15.23 -
4319.03 489.47 -10.39 425 4324.73 roll -1.59 - - 1753.81 - 3.41 0.057 2082.62 -408.5 -74.33 - - 2801.97 - - - - - - - - - 15.38 -
4450 end dive: TARGET_DEPTH_EXCEEDED
4450 begin apogee
4451.31 501.83 -9.37 431 4518.89 -0.25 2.54 0.152 2080.12 128.5 0.09 0.234 2084.81 24.3 - 63.88 1.638 2499.03 -4.7 0.262 - - - - - - 15.19 14.93 10.61
4521 end apogee: CONTROL_FINISHED_OK
4521 begin climb
4521.92 503.62 - 433 4595.64 1.59 3.16 0.079 2531.38 142.8 - - 2084.81 - 74.33 69.06 1.585 2194.34 -4.4 0.252 - - - - - - 15.25 - 11.53
4870.21 481.80 7.60 445 4910.49 done 1.70 - - 2530.12 - 4.05 0.140 662.38 -351.2 109.27 32.33 1.518 2053.19 -4.4 0.250 - - - - - - - 15.00 11.57
4930.65 476.95 9.52 457 4935.83 roll back 1.74 0.19 0.078 2575.69 239.8 3.53 0.044 2124.94 414.3 109.27 - - 2050.34 - - - - - - - - 15.30 15.43 -
5255.17 443.29 10.53 472 5260.88 done 1.76 - - 2577.69 - 4.10 0.133 662.62 -356.7 109.27 - - 2043.69 - - - - - - - - - 15.27 -
5364.11 430.06 12.45 494 5370.96 done 1.76 - - 2577.38 - 3.50 0.046 2124.62 417.7 109.27 - - 2044.59 - - - - - - - - - 15.59 -
5670.20 396.94 11.37 505 5675.92 done 1.76 - - 2577.94 - 4.09 0.132 662.62 -357.5 109.27 - - 2041.97 - - - - - - - - - 15.24 -
5859.17 375.56 9.89 543 5864.85 done 1.80 - - 2578.75 - 3.48 0.046 2125.06 420.2 109.27 - - 2044.59 - - - - - - - - - 15.60 -
6175.28 345.76 9.09 556 6200.38 done 1.86 - - 2578.56 - 4.07 0.133 662.69 -359.3 129.35 18.61 1.373 1970.97 -4.0 0.179 - - - - - - - 15.21 11.27
6364.19 323.26 14.49 594 6369.92 roll 1.86 - - 2578.56 - 3.52 0.046 2125.88 415.7 129.35 - - 1967.81 - - - - - - - - - 15.61 -
6685.32 288.95 10.38 608 6691.01 roll 1.88 - - 2578.06 - 4.09 0.130 661.38 -358.1 129.35 - - 1966.22 - - - - - - - - - 15.26 -
6784.23 276.96 12.46 628 6789.92 roll 1.88 - - 2578.44 - 3.48 0.046 2128.56 421.6 129.35 - - 1966.16 - - - - - - - - - 15.60 -
7090.35 248.42 9.34 642 7096.11 roll back 1.93 0.19 0.079 2621.44 226.3 4.09 0.129 661.50 -358.7 129.35 - - 1963.91 - - - - - - - - 15.69 15.20 -
7099.30 247.06 9.31 644 7106.05 roll 1.99 - - 2620.75 - 3.48 0.043 2128.50 421.6 129.35 - - 1965.62 - - - - - - - - - 15.61 -
7225.41 234.78 8.63 657 7249.76 VBD 2.06 - - 2621.31 - - - 2128.62 - 154.03 23.50 1.303 1870.97 -4.0 0.131 - - - - - - - - 11.43
7375.36 219.03 10.72 674 7381.07 roll 2.06 - - 2621.00 - 4.06 0.130 662.81 -361.0 154.03 - - 1867.03 - - - - - - - - - 15.33 -
7450.82 210.24 11.35 689 7456.01 roll 2.06 - - 2621.50 - 3.53 0.050 2126.38 414.6 154.03 - - 1867.62 - - - - - - - - - 15.61 -
7575.41 198.26 9.73 702 7576.84 pitch 2.10 0.19 0.083 2661.75 211.8 - - 2126.50 - 154.03 - - 1865.50 - - - - - - - - 15.62 - -
7695.41 185.97 10.36 714 7701.05 roll 2.13 - - 2662.44 - 3.64 0.110 3474.00 370.2 154.03 - - 1867.97 - - - - - - - - - 15.32 -
7704.31 184.70 10.74 716 7711.08 roll 2.13 - - 2662.94 - 3.37 0.053 2076.94 -414.6 154.03 - - 1866.31 - - - - - - - - - 15.52 -
7830.41 170.55 11.74 729 7836.10 roll 2.13 - - 2660.50 - 3.93 0.131 660.50 -360.4 154.03 - - 1865.78 - - - - - - - - - 15.24 -
7915.86 158.99 13.33 746 7921.06 roll 2.13 - - 2663.06 - 3.51 0.046 2126.88 417.8 154.03 - - 1866.03 - - - - - - - - - 15.59 -
8040.45 144.97 11.44 759 8046.16 roll 2.13 - - 2662.69 - 4.04 0.126 662.88 -362.4 154.03 - - 1864.03 - - - - - - - - - 15.23 -
8165.90 128.94 13.26 784 8171.10 roll 2.13 - - 2661.75 - 3.51 0.047 2129.12 417.7 154.03 - - 1865.50 - - - - - - - - - 15.60 -
8230.46 121.76 10.88 791 8236.09 roll 2.13 - - 2663.06 - 3.60 0.108 3475.12 373.9 154.03 - - 1863.44 - - - - - - - - - 15.30 -
8285.48 115.32 12.02 802 8290.06 roll 2.13 - - 2663.06 - 3.35 0.053 2076.12 -417.6 154.03 - - 1864.91 - - - - - - - - - 15.52 -
8355.49 107.54 10.92 810 8361.17 roll 2.13 - - 2662.25 - 3.89 0.129 661.75 -363.6 154.03 - - 1865.78 - - - - - - - - - 15.19 -
8370.94 105.65 10.77 813 8376.10 roll 2.13 - - 2662.88 - 3.46 0.045 2128.38 423.9 154.03 - - 1863.38 - - - - - - - - - 15.61 -
8435.50 98.92 10.22 820 8441.22 roll 2.15 - - 2662.88 - 3.98 0.124 660.69 -368.8 154.03 - - 1863.28 - - - - - - - - - 15.19 -
8564.44 85.87 9.46 846 8571.23 roll 2.20 - - 2662.50 - 3.46 0.045 2129.31 424.5 154.03 - - 1864.44 - - - - - - - - - 15.58 -
8630.60 80.91 7.12 853 8682.78 2.32 0.26 0.076 2710.44 184.4 4.01 0.124 661.56 -366.0 193.70 45.02 1.134 1710.09 -3.4 0.044 - - - - - - 15.69 15.11 11.45
8774.92 64.53 12.58 882 8781.73 roll 2.32 - - 2711.06 - 3.48 0.045 2129.75 421.9 193.70 - - 1707.50 - - - - - - - - - 15.54 -
8841.03 59.78 7.03 889 8893.24 done 2.44 - - 2712.06 - 3.60 0.109 3474.31 373.5 234.31 46.19 1.096 1544.09 -3.5 0.035 - - - - - - - 15.03 11.60
9115.49 36.78 5.45 944 9183.58 2.61 0.41 0.061 2782.38 171.5 3.38 0.052 2078.75 -412.9 290.63 61.62 1.065 1315.66 -3.7 0.023 - - - - - - 15.27 15.47 11.62
9241.59 27.21 9.85 963 9247.24 roll 2.65 - - 2783.06 - 3.74 0.103 3473.94 373.0 290.63 - - 1311.75 - - - - - - - - - 15.31 -
9350.53 15.02 10.36 985 9357.31 roll 2.67 - - 2782.62 - 3.40 0.052 2078.00 -410.6 290.63 - - 1311.25 - - - - - - - - - 15.45 -
9417.31 9.06 9.21 992 9422.27 roll 2.73 - - 2782.19 - 3.75 0.102 3473.75 372.2 290.63 - - 1310.50 - - - - - - - - - 15.30 -
9481 end climb: SURFACE_DEPTH_REACHED
9481 begin surface coast
9491 end surface coast: CONTROL_FINISHED_OK
9491 begin surface
SM -0.48 - - - - 167.8 0.01 0.260 564.5 56450.0 18.07 0.092 563.2 31.2 - 3.32 0.050 565.8 169.3 0.166 - - 30.36 15.21 15.54 -