NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 123 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 41.06 of 575.00 AH used of 24V (92.86% remains)
• Surface angle -58.2 deg, depth 0.77 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 425.00 (SM_CC=425)
• GPS1 time: 47 s
• GPS2 time: 4 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
6.43 - - - 69.35 VBD -1.25 - - 176.44 - - - 2073.94 - -77.86 62.34 0.005 2219.91 - - - - - - - - - - 15.65
69.62 3.41 -4.68 12 106.80 -1.25 13.66 0.270 1836.00 121.5 3.90 0.167 662.38 -361.9 -77.86 15.40 0.006 2815.72 38.7 -3.674 - - - - - - 15.59 15.63 15.68
129.59 14.79 -21.25 24 135.30 roll -1.25 - - 1835.75 - 3.46 0.065 2119.56 421.2 -77.86 - - 2816.59 - - - - - - - - - 15.71 -
314.57 49.61 -14.71 61 320.39 roll -1.25 - - 1835.75 - 3.93 0.159 661.00 -371.1 -77.86 - - 2817.94 - - - - - - - - - 15.74 -
544.61 90.70 -19.11 107 550.34 roll -1.25 - - 1835.31 - 3.44 0.061 2120.88 424.4 -77.86 - - 2820.16 - - - - - - - - - 15.83 -
734.62 112.87 -10.18 133 740.37 roll -1.25 - - 1835.62 - 3.92 0.159 662.06 -372.1 -77.86 - - 2817.56 - - - - - - - - - 15.84 -
949.71 141.99 -14.71 176 954.29 roll -1.25 - - 1835.44 - 3.41 0.061 2120.75 427.8 -77.86 - - 2820.53 - - - - - - - - - 15.91 -
1259.76 176.71 -10.55 208 1261.08 no move -1.25 - - 1835.75 - - - 2121.38 - -77.86 - - 2818.88 - - - - - - - - - - -
1559.80 207.65 -10.31 238 1564.43 roll -1.25 - - 1835.62 - 3.40 0.127 3474.62 398.0 -77.86 - - 2819.28 - - - - - - - - - 15.96 -
1639.84 216.88 -11.84 254 1644.39 roll -1.25 - - 1835.62 - 3.36 0.065 2081.81 -414.5 -77.86 - - 2821.19 - - - - - - - - - 15.98 -
1949.89 247.90 -9.99 286 1955.59 roll -1.25 - - 1836.25 - 3.77 0.166 661.31 -376.8 -77.86 - - 2821.16 - - - - - - - - - 15.98 -
2035.12 257.86 -12.61 303 2040.50 roll -1.25 - - 1836.12 - 3.38 0.063 2122.38 432.3 -77.86 - - 2816.94 - - - - - - - - - 16.01 -
2339.96 288.73 -10.36 334 2341.29 no move -1.25 - - 1835.50 - - - 2122.62 - -77.86 - - 2819.06 - - - - - - - - - - -
2640.01 320.08 -10.28 364 2645.76 roll -1.25 - - 1836.31 - 3.91 0.165 663.56 -373.2 -77.86 - - 2817.06 - - - - - - - - - 16.01 -
2715.12 329.60 -12.48 379 2719.68 roll -1.25 - - 1836.00 - 3.39 0.066 2120.62 429.8 -77.86 - - 2820.94 - - - - - - - - - 16.04 -
3025.09 361.60 -10.03 411 3026.42 no move -1.25 - - 1836.00 - - - 2120.69 - -77.86 - - 2818.31 - - - - - - - - - - -
3325.13 393.95 -10.53 441 3326.46 no move -1.25 - - 1835.56 - - - 2120.56 - -77.86 - - 2817.81 - - - - - - - - - - -
3625.16 424.12 -9.98 471 3626.48 no move -1.25 - - 1835.81 - - - 2120.38 - -77.86 - - 2817.19 - - - - - - - - - - -
3925.17 453.62 -9.51 501 3930.93 roll -1.25 - - 1835.25 - 3.92 0.173 663.44 -371.7 -77.86 - - 2819.06 - - - - - - - - - 16.05 -
4024.06 465.24 -11.78 521 4031.08 roll -1.25 - - 1835.31 - 3.41 0.072 2119.19 426.9 -77.86 - - 2817.31 - - - - - - - - - 16.07 -
4330.23 495.42 -9.47 552 4331.56 no move -1.25 - - 1835.62 - - - 2119.38 - -77.86 - - 2815.81 - - - - - - - - - - -
4630.25 524.91 -9.75 582 4634.89 roll -1.25 - - 1835.69 - 3.38 0.138 3474.12 400.8 -77.86 - - 2816.44 - - - - - - - - - 16.08 -
4690.28 531.29 -10.93 594 4694.91 roll -1.25 - - 1835.38 - 3.32 0.074 2083.50 -418.9 -77.86 - - 2814.75 - - - - - - - - - 16.09 -
5000.29 561.86 -10.01 626 5001.61 no move -1.25 - - 1835.69 - - - 2084.12 - -77.86 - - 2813.53 - - - - - - - - - - -
5300.31 591.90 -9.27 656 5301.64 no move -1.25 - - 1835.75 - - - 2084.31 - -77.86 - - 2812.19 - - - - - - - - - - -
5600.33 619.64 -8.77 686 5606.06 roll -1.25 - - 1835.69 - 3.81 0.185 662.00 -373.3 -77.86 - - 2811.47 - - - - - - - - - 16.07 -
5685.42 628.54 -10.50 703 5690.01 roll -1.25 - - 1835.75 - 3.44 0.075 2119.12 423.6 -77.86 - - 2811.12 - - - - - - - - - 16.10 -
5995.38 654.37 -8.65 735 6001.14 roll -1.25 - - 1835.19 - 3.94 0.180 663.31 -369.5 -77.86 - - 2815.25 - - - - - - - - - 16.07 -
6174.48 673.28 -10.14 771 6181.16 roll -1.25 - - 1835.62 - 3.43 0.076 2118.88 424.4 -77.86 - - 2814.56 - - - - - - - - - 16.10 -
6480.44 699.92 -8.72 802 6486.20 roll -1.25 - - 1835.06 - 3.96 0.180 662.12 -367.9 -77.86 - - 2809.78 - - - - - - - - - 16.07 -
6555.52 707.19 -8.84 817 6560.12 roll -1.25 - - 1835.25 - 3.41 0.075 2118.31 427.0 -77.86 - - 2811.31 - - - - - - - - - 16.10 -
6865.49 735.09 -9.31 849 6866.81 no move -1.25 - - 1835.12 - - - 2117.94 - -77.86 - - 2810.00 - - - - - - - - - - -
7165.50 762.91 -10.67 879 7171.25 roll -1.25 - - 1834.50 - 3.98 0.186 662.75 -365.6 -77.86 - - 2812.41 - - - - - - - - - 16.07 -
7240.60 771.22 -13.03 894 7245.17 roll -1.25 - - 1835.50 - 3.44 0.079 2119.75 423.5 -77.86 - - 2809.84 - - - - - - - - - 16.12 -
7550.55 798.83 -8.66 926 7551.88 no move -1.25 - - 1834.62 - - - 2120.19 - -77.86 - - 2811.91 - - - - - - - - - - -
7850.59 822.59 -6.92 956 7851.92 no move -1.25 - - 1835.56 - - - 2120.75 - -77.86 - - 2810.22 - - - - - - - - - - -
8150.59 844.85 -7.69 986 8151.92 no move -1.25 - - 1835.69 - - - 2120.56 - -77.86 - - 2808.28 - - - - - - - - - - -
8450.83 868.07 -7.30 1016 8456.36 roll -1.25 - - 1835.25 - 3.99 0.190 662.06 -365.5 -77.86 - - 2807.62 - - - - - - - - - 16.07 -
8505.64 872.94 -11.57 1027 8510.29 roll -1.25 - - 1834.81 - 3.45 0.083 2116.94 421.7 -77.86 - - 2811.09 - - - - - - - - - 16.11 -
8815.68 898.17 -7.40 1059 8817.01 no move -1.25 - - 1835.31 - - - 2116.94 - -77.86 - - 2806.00 - - - - - - - - - - -
9115.72 923.52 -8.21 1089 9117.05 no move -1.25 - - 1835.38 - - - 2117.00 - -77.86 - - 2806.44 - - - - - - - - - - -
9415.77 949.10 -7.18 1119 9417.10 no move -1.25 - - 1836.12 - - - 2117.00 - -77.86 - - 2806.75 - - - - - - - - - - -
9715.82 976.38 -9.02 1149 9717.15 no move -1.25 - - 1835.19 - - - 2117.12 - -77.86 - - 2806.84 - - - - - - - - - - -
9865 end dive: TARGET_DEPTH_EXCEEDED
9865 begin apogee
9867.08 990.42 -11.52 1164 9937.62 -0.25 1.72 0.159 2079.00 141.7 0.07 0.335 2184.81 967.0 - 64.92 2.287 2498.41 -4.8 0.344 - - - - - - 16.06 15.58 13.18
9938 end apogee: CONTROL_FINISHED_OK
9938 begin climb
9938.90 993.22 - 1171 10018.03 1.25 2.48 0.099 2448.19 148.9 - - 2185.62 - 77.86 73.07 2.232 2180.94 -4.3 0.323 - - - - - - 15.63 - 12.94
10315.99 963.15 9.90 1209 10317.32 VBD 1.25 - - 2448.19 - - - 2184.44 - 77.86 - - 2168.53 - - - - - - - - - - -
10615.98 932.50 10.42 1239 10620.69 done 1.25 - - 2448.06 - 3.33 0.145 3472.50 386.8 77.86 - - 2166.88 - - - - - - - - - 15.78 -
10699.87 922.58 12.54 1256 10706.71 done 1.25 - - 2447.50 - 3.19 0.072 2183.62 -404.0 77.86 - - 2166.56 - - - - - - - - - 15.81 -
11006.08 888.77 10.92 1287 11007.41 VBD 1.25 - - 2448.50 - - - 2183.88 - 77.86 - - 2164.94 - - - - - - - - - - -
11306.14 855.15 11.05 1317 11311.95 done 1.25 - - 2448.06 - 3.92 0.164 736.88 -369.1 77.86 - - 2166.22 - - - - - - - - - 15.90 -
11371.23 847.11 14.00 1330 11376.75 done 1.25 - - 2446.56 - 3.48 0.068 2216.69 425.2 77.86 - - 2164.56 - - - - - - - - - 15.93 -
11676.19 815.75 10.52 1361 11677.53 VBD 1.25 - - 2448.44 - - - 2217.00 - 77.86 - - 2160.66 - - - - - - - - - - -
11976.23 784.89 9.27 1391 11981.03 done 1.25 - - 2447.81 - 3.16 0.143 3473.06 397.5 77.86 - - 2162.50 - - - - - - - - - 15.97 -
12046.26 776.59 12.43 1405 12050.85 done 1.25 - - 2447.25 - 3.12 0.070 2182.12 -413.8 77.86 - - 2163.22 - - - - - - - - - 15.98 -
12356.29 744.50 10.14 1437 12360.98 done 1.25 - - 2447.94 - 3.27 0.142 3472.62 394.6 77.86 - - 2161.69 - - - - - - - - - 16.00 -
12500.16 730.22 10.06 1466 12507.02 done 1.25 - - 2447.69 - 3.14 0.070 2182.75 -410.8 77.86 - - 2162.28 - - - - - - - - - 16.01 -
12806.36 705.45 8.85 1497 12811.05 done 1.25 - - 2447.69 - 3.30 0.141 3472.50 390.8 77.86 - - 2162.12 - - - - - - - - - 16.01 -
12860.22 699.77 10.84 1508 12867.04 done 1.25 - - 2447.75 - 3.08 0.069 2182.88 -418.7 77.86 - - 2160.78 - - - - - - - - - 16.02 -
13166.41 673.93 7.68 1539 13171.09 done 1.25 - - 2448.00 - 3.29 0.142 3474.94 392.7 77.86 - - 2160.72 - - - - - - - - - 16.03 -
13266.45 665.05 8.68 1559 13270.99 done 1.25 - - 2448.56 - 3.07 0.070 2181.25 -421.4 77.86 - - 2161.06 - - - - - - - - - 16.04 -
13576.46 638.99 8.58 1591 13582.26 done 1.25 - - 2448.19 - 3.81 0.159 736.44 -379.2 77.86 - - 2158.09 - - - - - - - - - 16.03 -
13691.48 626.93 11.62 1614 13696.07 done 1.25 - - 2448.81 - 3.45 0.067 2217.38 429.3 77.86 - - 2160.44 - - - - - - - - - 16.05 -
14001.52 601.38 8.07 1646 14002.85 VBD 1.25 - - 2446.81 - - - 2220.50 - 77.86 - - 2161.50 - - - - - - - - - - -
14301.56 579.25 7.94 1676 14307.34 done 1.25 - - 2448.31 - 3.88 0.153 735.12 -382.8 77.86 - - 2158.72 - - - - - - - - - 16.04 -
14530.45 558.94 9.66 1722 14537.34 done 1.25 - - 2448.75 - 3.48 0.068 2220.94 427.0 77.86 - - 2159.19 - - - - - - - - - 16.07 -
14836.66 536.08 6.82 1753 14841.18 done 1.29 - - 2448.69 - 3.17 0.138 3472.75 394.9 77.86 - - 2158.44 - - - - - - - - - 16.06 -
14960.53 526.38 7.73 1778 14967.37 done 1.29 - - 2449.19 - 3.10 0.066 2180.31 -416.9 77.86 - - 2159.22 - - - - - - - - - 16.07 -
15266.77 506.03 6.99 1809 15268.10 VBD 1.32 - - 2448.81 - - - 2180.25 - 77.86 - - 2159.16 - - - - - - - - - - -
15566.82 486.27 6.14 1839 15571.55 1.38 0.16 0.118 2486.75 237.1 3.29 0.136 3472.00 392.6 77.86 - - 2159.56 - - - - - - - - 16.07 16.07 -
15690.78 476.57 7.12 1864 15697.54 done 1.41 - - 2486.06 - 3.11 0.065 2180.12 -415.4 77.86 - - 2158.62 - - - - - - - - - 16.08 -
15996.94 453.75 7.38 1895 15998.27 VBD 1.43 - - 2486.31 - - - 2179.88 - 77.86 - - 2157.22 - - - - - - - - - - -
16296.99 432.50 6.71 1925 16301.67 done 1.47 - - 2486.38 - 3.23 0.134 3472.00 400.0 77.86 - - 2161.22 - - - - - - - - - 16.07 -
16377.03 426.27 8.09 1941 16381.54 done 1.47 - - 2486.56 - 3.11 0.063 2180.38 -415.3 77.86 - - 2160.00 - - - - - - - - - 16.09 -
16687.10 407.31 5.56 1973 16722.50 1.57 0.21 0.101 2528.50 199.7 3.88 0.149 735.38 -372.4 113.37 28.52 1.580 2036.59 -4.3 0.186 - - - - - - 16.06 15.87 13.09
16881.01 387.40 13.00 2012 16887.89 roll 1.57 - - 2528.88 - 3.49 0.064 2221.12 425.7 113.37 - - 2033.53 - - - - - - - - - 15.96 -
17187.19 357.43 10.35 2043 17188.52 VBD 1.57 - - 2528.81 - - - 2220.81 - 113.37 - - 2028.12 - - - - - - - - - - -
17487.22 326.54 9.28 2073 17491.82 done 1.57 - - 2528.38 - 3.17 0.134 3473.88 395.3 113.37 - - 2028.69 - - - - - - - - - 16.00 -
17627.49 312.05 9.51 2101 17631.80 done 1.57 - - 2528.88 - 3.11 0.064 2179.00 -416.4 113.37 - - 2029.22 - - - - - - - - - 16.00 -
17937.30 285.62 7.88 2133 17943.02 done 1.57 - - 2529.19 - 3.82 0.146 735.50 -377.9 113.37 - - 2028.38 - - - - - - - - - 16.01 -
18022.31 277.32 9.68 2150 18026.91 done 1.57 - - 2528.94 - 3.46 0.061 2216.62 428.1 113.37 - - 2028.62 - - - - - - - - - 16.03 -
18332.36 253.45 7.79 2182 18333.69 VBD 1.57 - - 2529.31 - - - 2223.00 - 113.37 - - 2026.59 - - - - - - - - - - -
18632.39 228.30 9.38 2212 18633.72 VBD 1.57 - - 2528.31 - - - 2222.50 - 113.37 - - 2026.78 - - - - - - - - - - -
18932.41 203.74 8.50 2242 18933.74 VBD 1.57 - - 2528.88 - - - 2222.44 - 113.37 - - 2028.00 - - - - - - - - - - -
19232.45 178.33 8.20 2272 19238.24 done 1.57 - - 2528.56 - 3.86 0.139 735.25 -385.3 113.37 - - 2029.66 - - - - - - - - - 16.02 -
19401.33 162.71 8.48 2306 19408.22 done 1.57 - - 2528.31 - 3.45 0.061 2224.25 431.6 113.37 - - 2027.44 - - - - - - - - - 16.05 -
19707.53 142.46 6.04 2337 19738.86 done 1.66 - - 2528.56 - 3.92 0.139 735.00 -379.9 142.08 24.62 1.273 1919.56 -4.4 0.082 - - - - - - - 15.91 13.15
19791.44 134.99 10.44 2354 19798.26 roll 1.66 - - 2528.81 - 3.46 0.060 2224.62 430.5 142.08 - - 1915.91 - - - - - - - - - 15.96 -
20097.58 106.72 8.52 2385 20098.90 no move 1.66 - - 2529.19 - - - 2224.75 - 142.08 - - 1913.69 - - - - - - - - - - -
20397.74 87.18 6.76 2435 20403.59 roll 1.70 - - 2529.00 - 3.90 0.138 735.81 -381.8 142.08 - - 1912.69 - - - - - - - - - 15.98 -
20432.66 84.68 6.70 2442 20438.58 1.74 0.20 0.097 2570.12 205.6 3.43 0.057 2226.25 434.5 142.08 - - 1913.66 - - - - - - - - 15.96 16.00 -
20617.74 80.65 1.65 2479 20696.01 2.01 0.36 0.082 2632.94 174.5 3.18 0.126 3472.38 391.9 233.45 73.11 1.223 1546.19 -5.0 0.055 - - - - - - 15.98 15.66 13.14
20773.78 67.74 14.04 2510 20779.47 roll 2.01 - - 2635.81 - 3.11 0.058 2178.38 -416.1 233.45 - - 1541.94 - - - - - - - - - 15.76 -
20958.85 45.91 10.13 2547 20960.18 VBD 2.01 - - 2635.25 - - - 2178.44 - 233.45 - - 1539.78 - - - - - - - - - - -
21138.92 33.12 4.84 2583 21181.65 2.15 0.16 0.108 2668.25 206.2 3.28 0.122 3473.62 394.9 279.20 37.49 1.117 1360.44 -4.8 0.024 - - - - - - 15.85 15.68 13.00
21214.41 31.50 2.76 2598 21281.51 2.38 0.30 0.091 2722.44 180.6 3.12 0.054 2177.44 -415.4 354.74 60.94 1.108 1053.69 -5.0 0.024 - - - - - - 15.70 15.74 12.95
21459.42 6.78 13.51 2647 21465.22 roll 2.38 - - 2721.81 - 3.85 0.140 735.44 -374.5 354.74 - - 1047.75 - - - - - - - - - 15.67 -
21494 end climb: SURFACE_DEPTH_REACHED
21494 begin surface coast
21504 end surface coast: CONTROL_FINISHED_OK
21504 begin surface
SM 0.60 - - - - 177.8 2.27 0.364 767.4 338.1 16.24 0.066 777.9 47.9 - 3.21 0.056 756.9 234.6 -0.257 - - 12.83 15.69 15.71 -