NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1226 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 332.84 of 575.00 AH used of 24V (42.12% remains)
• Surface angle -61.9 deg, depth -1.67 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 475.03 (SM_CC=475)
• GPS1 time: 18 s
• GPS2 time: 2 s • Transponder ping count: 18
• 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
8.64 - - - 100.56 VBD -1.59 - - 171.44 - - - 2086.81 - -74.33 91.49 0.005 2685.59 - - - - - - - - - - 13.20
100.78 4.84 -10.16 9 126.83 -1.59 14.94 0.254 1753.44 105.9 3.85 0.109 3474.50 360.4 -74.33 2.39 0.013 2803.62 49.4 -3.283 - - - - - - 14.71 14.48 14.69
243.97 35.95 -15.98 38 250.79 roll -1.59 - - 1753.06 - 3.53 0.057 2081.44 -394.6 -74.33 - - 2803.72 - - - - - - - - - 15.10 -
310.06 45.82 -14.83 45 315.80 roll -1.59 - - 1752.12 - 4.18 0.146 661.88 -339.6 -74.33 - - 2803.22 - - - - - - - - - 14.90 -
325.56 48.09 -15.29 48 330.71 roll -1.59 - - 1752.06 - 3.61 0.049 2120.44 404.0 -74.33 - - 2802.84 - - - - - - - - - 15.21 -
390.07 56.20 -11.57 55 395.72 roll -1.59 - - 1752.12 - 3.68 0.100 3476.12 368.4 -74.33 - - 2803.78 - - - - - - - - - 15.01 -
408.99 58.35 -10.76 59 415.78 roll -1.59 - - 1753.44 - 3.46 0.052 2081.12 -403.2 -74.33 - - 2803.00 - - - - - - - - - 15.12 -
475.13 65.00 -10.01 66 480.81 roll -1.59 - - 1753.31 - 4.16 0.145 663.25 -340.8 -74.33 - - 2802.62 - - - - - - - - - 14.90 -
520.53 70.39 -12.03 75 525.74 roll -1.59 - - 1753.12 - 3.59 0.046 2123.25 406.7 -74.33 - - 2802.41 - - - - - - - - - 15.20 -
585.08 76.71 -9.56 82 590.74 roll -1.59 - - 1753.06 - 3.68 0.101 3476.19 367.6 -74.33 - - 2801.56 - - - - - - - - - 14.99 -
664.00 85.99 -11.90 98 670.80 roll -1.59 - - 1753.75 - 3.46 0.052 2080.56 -403.4 -74.33 - - 2804.16 - - - - - - - - - 15.09 -
730.15 92.34 -9.66 105 735.84 roll -1.59 - - 1752.81 - 4.13 0.144 663.19 -343.2 -74.33 - - 2803.00 - - - - - - - - - 14.88 -
765.55 96.15 -10.90 112 770.75 roll -1.59 - - 1753.75 - 3.55 0.046 2122.19 411.0 -74.33 - - 2801.75 - - - - - - - - - 15.21 -
830.10 102.98 -9.82 119 835.86 roll -1.59 - - 1753.06 - 4.22 0.141 661.69 -346.1 -74.33 - - 2803.06 - - - - - - - - - 14.90 -
865.56 106.89 -11.17 126 870.75 roll -1.59 - - 1753.56 - 3.57 0.045 2123.12 409.4 -74.33 - - 2801.88 - - - - - - - - - 15.21 -
930.11 113.10 -9.30 133 935.77 roll -1.59 - - 1753.56 - 3.66 0.102 3476.62 369.8 -74.33 - - 2804.19 - - - - - - - - - 14.99 -
1055.19 126.12 -10.77 158 1059.77 roll -1.59 - - 1753.50 - 3.46 0.050 2081.31 -403.3 -74.33 - - 2803.97 - - - - - - - - - 15.10 -
1125.16 132.15 -8.74 166 1131.91 done -1.66 - - 1751.94 - 4.08 0.145 661.94 -347.9 -97.92 0.57 0.039 2902.78 173.4 -104.867 - - - - - - - 14.66 14.65
1180.62 138.48 -11.97 177 1185.80 roll -1.66 - - 1753.62 - 3.55 0.044 2124.44 412.0 -97.92 - - 2903.91 - - - - - - - - - 15.23 -
1245.17 145.23 -10.26 184 1250.83 roll -1.66 - - 1753.06 - 3.65 0.101 3476.94 370.5 -97.92 - - 2904.06 - - - - - - - - - 15.02 -
1280.17 149.34 -12.14 191 1284.80 roll -1.66 - - 1753.31 - 3.41 0.048 2079.94 -409.7 -97.92 - - 2904.22 - - - - - - - - - 15.13 -
1350.18 156.70 -10.11 199 1355.91 roll -1.66 - - 1753.31 - 4.09 0.142 661.94 -346.7 -97.92 - - 2902.91 - - - - - - - - - 14.90 -
1375.64 159.63 -10.76 204 1380.84 roll -1.66 - - 1753.56 - 3.52 0.043 2124.38 415.5 -97.92 - - 2904.00 - - - - - - - - - 15.23 -
1500.22 173.47 -10.82 217 1505.86 roll -1.66 - - 1753.06 - 3.65 0.101 3475.62 370.2 -97.92 - - 2902.12 - - - - - - - - - 14.99 -
1569.14 181.69 -11.40 231 1575.93 roll -1.66 - - 1753.19 - 3.43 0.050 2079.94 -406.9 -97.92 - - 2905.03 - - - - - - - - - 15.08 -
1695.24 194.76 -10.29 244 1700.96 roll -1.66 - - 1752.19 - 4.11 0.144 662.00 -345.0 -97.92 - - 2903.38 - - - - - - - - - 14.85 -
1750.69 201.21 -11.39 255 1755.90 roll -1.66 - - 1753.50 - 3.55 0.044 2122.25 411.3 -97.92 - - 2904.16 - - - - - - - - - 15.20 -
1875.26 213.74 -9.49 268 1880.91 roll -1.66 - - 1753.44 - 3.67 0.102 3474.88 368.6 -97.92 - - 2902.19 - - - - - - - - - 14.96 -
1954.18 222.65 -11.58 284 1960.98 roll -1.66 - - 1753.81 - 3.44 0.051 2080.50 -405.3 -97.92 - - 2905.75 - - - - - - - - - 15.05 -
2080.29 234.47 -9.45 297 2081.61 no move -1.66 - - 1753.31 - - - 2080.69 - -97.92 - - 2903.75 - - - - - - - - - - -
2200.29 246.01 -9.42 309 2201.62 no move -1.66 - - 1753.56 - - - 2080.88 - -97.92 - - 2904.03 - - - - - - - - - - -
2330.36 258.96 -9.83 316 2335.98 roll -1.66 - - 1753.31 - 3.84 0.102 3476.69 363.5 -97.92 - - 2903.59 - - - - - - - - - 14.93 -
2379.22 264.20 -10.98 326 2386.01 roll -1.66 - - 1753.62 - 3.46 0.052 2080.88 -403.4 -97.92 - - 2904.56 - - - - - - - - - 15.02 -
2685.33 293.79 -9.60 337 2686.66 no move -1.66 - - 1753.31 - - - 2081.19 - -97.92 - - 2904.12 - - - - - - - - - - -
2985.32 323.07 -9.80 347 2991.01 roll -1.66 - - 1752.50 - 3.88 0.106 3475.75 359.4 -97.92 - - 2903.94 - - - - - - - - - 14.90 -
3034.25 329.16 -11.60 357 3041.04 roll -1.66 - - 1752.69 - 3.47 0.054 2082.00 -401.7 -97.92 - - 2904.44 - - - - - - - - - 14.99 -
3340.34 359.08 -9.67 368 3346.03 roll -1.66 - - 1753.06 - 3.87 0.106 3473.75 359.6 -97.92 - - 2904.47 - - - - - - - - - 14.89 -
3384.26 364.20 -11.60 377 3389.97 roll -1.66 - - 1753.69 - 3.48 0.055 2080.25 -400.4 -97.92 - - 2903.50 - - - - - - - - - 14.98 -
3695.36 397.02 -9.90 389 3701.12 roll -1.66 - - 1752.69 - 4.21 0.151 661.75 -336.9 -97.92 - - 2903.53 - - - - - - - - - 14.78 -
3729.27 401.15 -13.55 396 3734.99 roll -1.66 - - 1753.31 - 3.59 0.047 2121.50 406.6 -97.92 - - 2903.06 - - - - - - - - - 15.10 -
4050.38 432.52 -10.24 410 4056.09 roll -1.66 - - 1753.00 - 3.80 0.111 3474.50 356.1 -97.92 - - 2901.53 - - - - - - - - - 14.89 -
4105.39 438.41 -11.99 421 4109.99 roll -1.66 - - 1753.69 - 3.48 0.055 2083.62 -399.7 -97.92 - - 2903.66 - - - - - - - - - 14.99 -
4435.44 472.48 -10.27 437 4441.15 roll -1.66 - - 1752.88 - 4.23 0.152 662.06 -336.1 -97.92 - - 2903.56 - - - - - - - - - 14.77 -
4479.31 477.81 -12.36 446 4485.04 roll -1.66 - - 1753.25 - 3.61 0.049 2121.31 404.2 -97.92 - - 2903.66 - - - - - - - - - 15.08 -
4700 end dive: TARGET_DEPTH_EXCEEDED
4700 begin apogee
4701.54 500.85 -10.68 455 4792.72 -0.25 2.81 0.154 2079.25 116.0 0.07 0.246 2116.81 -64.3 - 84.61 1.633 2501.66 -4.8 0.260 - - - - - - 14.75 14.62 10.94
4795 end apogee: CONTROL_FINISHED_OK
4795 begin climb
4796.06 504.40 - 458 4898.85 1.66 3.51 0.079 2548.12 133.6 4.46 0.134 662.12 -326.2 97.92 92.09 1.576 2102.00 -4.3 0.248 - - - - - - 14.80 14.13 11.08
4956.00 494.67 9.75 490 4961.73 roll 1.70 - - 2548.56 - 3.74 0.043 2123.00 390.6 97.92 - - 2093.72 - - - - - - - - - 14.68 -
5272.10 467.78 8.59 503 5303.93 done 1.78 - - 2547.94 - 4.19 0.134 660.50 -349.0 122.98 23.15 1.461 1997.91 -4.1 0.237 - - - - - - - 14.88 11.34
5516.12 441.32 11.41 552 5521.83 roll 1.78 - - 2547.75 - 3.58 0.046 2123.50 408.7 122.98 - - 1991.84 - - - - - - - - - 15.30 -
5842.29 412.34 8.33 567 5876.69 1.86 0.28 0.066 2601.75 192.9 4.14 0.132 661.69 -353.1 150.65 26.24 1.453 1885.00 -4.1 0.206 - - - - - - 15.44 15.02 11.26
5962.68 398.74 12.84 591 5967.87 roll 1.86 - - 2599.31 - 3.57 0.044 2123.62 409.5 150.65 - - 1881.00 - - - - - - - - - 15.31 -
6287.33 362.98 10.78 606 6292.99 roll 1.86 - - 2601.75 - 4.16 0.130 661.88 -351.4 150.65 - - 1878.09 - - - - - - - - - 15.04 -
6516.19 332.96 13.08 652 6523.02 done 1.86 - - 2600.12 - 3.59 0.046 2122.44 406.8 150.65 - - 1878.00 - - - - - - - - - 15.27 -
6822.30 300.24 11.08 663 6828.03 done 1.86 - - 2601.75 - 4.20 0.128 660.75 -348.0 150.65 - - 1874.38 - - - - - - - - - 14.99 -
6986.28 277.95 12.44 696 6991.97 done 1.86 - - 2601.38 - 3.58 0.044 2125.69 409.2 150.65 - - 1875.81 - - - - - - - - - 15.26 -
7297.40 245.14 9.82 710 7303.09 done 1.90 - - 2601.38 - 4.20 0.126 662.00 -348.5 150.65 - - 1874.06 - - - - - - - - - 14.93 -
7456.30 227.01 11.41 742 7463.11 done 1.90 - - 2600.94 - 3.59 0.044 2125.44 407.6 150.65 - - 1875.31 - - - - - - - - - 15.22 -
7582.40 215.28 10.01 755 7588.11 done 1.93 - - 2601.56 - 4.16 0.124 661.62 -351.9 150.65 - - 1873.94 - - - - - - - - - 14.95 -
7601.29 212.66 10.41 759 7608.10 done 1.95 - - 2601.06 - 3.55 0.042 2125.38 412.3 150.65 - - 1876.06 - - - - - - - - - 15.28 -
7727.41 201.48 9.61 772 7733.14 done 2.00 - - 2598.88 - 4.14 0.124 661.75 -353.5 150.65 - - 1874.56 - - - - - - - - - 14.96 -
7802.84 193.61 10.62 787 7808.03 done 2.00 - - 2602.38 - 3.56 0.043 2125.88 411.3 150.65 - - 1875.03 - - - - - - - - - 15.27 -
7927.43 181.62 9.50 800 7933.15 2.05 0.24 0.077 2645.75 180.7 3.70 0.106 3474.25 364.4 150.65 - - 1873.25 - - - - - - - - 15.39 15.01 -
7992.47 174.55 11.25 813 7997.03 done 2.05 - - 2645.62 - 3.46 0.050 2077.50 -403.7 150.65 - - 1874.41 - - - - - - - - - 15.13 -
8122.46 161.84 9.53 827 8128.15 done 2.09 - - 2645.50 - 4.05 0.127 661.12 -349.7 150.65 - - 1875.78 - - - - - - - - - 14.91 -
8187.94 154.82 11.13 840 8193.11 done 2.09 - - 2645.38 - 3.54 0.041 2129.56 414.8 150.65 - - 1873.69 - - - - - - - - - 15.27 -
8312.49 142.81 9.69 853 8318.19 done 2.14 - - 2645.25 - 4.16 0.121 661.94 -352.8 150.65 - - 1874.53 - - - - - - - - - 14.91 -
8427.98 130.67 10.77 876 8433.12 done 2.14 - - 2645.62 - 3.55 0.041 2129.12 413.3 150.65 - - 1873.88 - - - - - - - - - 15.25 -
8492.50 125.36 7.98 883 8534.08 2.23 0.24 0.069 2690.00 184.9 3.62 0.105 3473.94 371.5 181.78 36.36 1.162 1758.84 -3.2 0.061 - - - - - - 15.43 15.06 11.15
8562.49 118.52 10.68 897 8568.09 roll 2.23 - - 2690.12 - 3.45 0.050 2075.50 -405.3 181.78 - - 1757.22 - - - - - - - - - 15.22 -
8632.51 111.29 10.27 905 8638.23 roll 2.26 - - 2689.44 - 3.94 0.125 662.12 -358.7 181.78 - - 1754.03 - - - - - - - - - 15.09 -
8838.00 84.95 12.58 946 8843.18 roll 2.26 - - 2689.94 - 3.54 0.042 2127.75 414.0 181.78 - - 1753.84 - - - - - - - - - 15.34 -
8902.55 77.78 11.07 953 8903.88 no move 2.26 - - 2690.19 - - - 2127.25 - 181.78 - - 1753.84 - - - - - - - - - - -
8962.59 71.60 10.24 959 8968.30 roll 2.28 - - 2689.62 - 4.11 0.119 660.69 -356.8 181.78 - - 1753.34 - - - - - - - - - 15.05 -
8998.02 68.23 9.12 966 9003.20 roll 2.34 - - 2689.62 - 3.54 0.040 2130.44 415.2 181.78 - - 1752.31 - - - - - - - - - 15.36 -
9062.58 63.58 7.34 973 9107.49 2.45 0.31 0.066 2744.56 177.2 - - 2130.19 - 219.28 43.92 1.098 1605.94 -3.3 0.034 - - - - - - 15.45 - 11.32
9172.58 52.99 10.90 988 9173.91 no move 2.45 - - 2744.62 - - - 2130.62 - 219.28 - - 1602.56 - - - - - - - - - - -
9232.61 47.77 8.61 994 9267.97 done 2.53 - - 2744.06 - 4.10 0.122 661.75 -358.3 244.13 29.17 1.047 1504.47 -3.4 0.027 - - - - - - - 14.99 11.29
9293.10 43.19 8.00 1006 9335.17 2.62 0.21 0.069 2785.38 196.8 3.57 0.040 2133.06 412.1 275.10 36.65 1.035 1377.94 -3.5 0.026 - - - - - - 15.06 15.27 11.40
9398.39 32.80 11.15 1021 9404.03 roll 2.62 - - 2786.44 - 3.65 0.105 3473.12 367.1 275.10 - - 1375.31 - - - - - - - - - 15.07 -
9507.33 20.97 10.19 1043 9514.11 roll 2.65 - - 2786.12 - 3.44 0.051 2078.81 -405.3 275.10 - - 1372.75 - - - - - - - - - 15.25 -
9573.49 15.10 8.98 1050 9604.70 done 2.71 - - 2785.50 - 3.95 0.126 660.56 -359.1 296.28 23.74 0.988 1291.75 -3.4 0.009 - - - - - - - 15.03 11.38
9707 end climb: SURFACE_DEPTH_REACHED
9707 begin surface coast
9727 end surface coast: CONTROL_FINISHED_OK
9727 begin surface
SM -0.85 - - - - 171.4 173.35 1.020 563.5 3.1 19.31 0.087 558.6 28.9 - 3.52 0.043 568.4 160.4 0.324 - - 11.38 14.99 15.35 -