NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 45 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 17.92 of 350.00 AH used of 24V (94.88% remains)
• Surface angle -64.9 deg, depth 1.26 m • Intended pitch -17.6 deg, speed -7.674 cm/s
VBD pumped to 425.04 (SM_CC=425)
• GPS1 time: 113 s
• GPS2 time: 2 s • Transponder ping count: 1
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.32 - - - 64.27 VBD -1.17 - - 177.50 - - - 2123.19 - -97.32 57.44 0.005 2148.66 - - - - - - - - - - 15.68
64.51 3.62 -5.20 11 106.35 -1.17 13.85 0.282 1855.06 121.1 4.03 0.171 662.88 -362.4 -97.32 17.34 0.006 2896.22 43.1 -4.332 - - - - - - 15.62 15.66 15.70
269.09 55.40 -16.61 52 274.83 roll -1.17 - - 1855.38 - 3.44 0.063 2128.75 426.1 -97.32 - - 2897.03 - - - - - - - - - 15.79 -
454.18 80.99 -14.47 89 459.86 roll -1.17 - - 1855.56 - 3.32 0.127 3475.62 405.7 -97.32 - - 2897.34 - - - - - - - - - 15.82 -
624.23 109.80 -17.19 123 628.75 roll -1.17 - - 1854.88 - 3.30 0.066 2090.12 -419.8 -97.32 - - 2898.06 - - - - - - - - - 15.87 -
934.26 148.53 -9.58 155 938.83 roll -1.17 - - 1855.00 - 3.40 0.128 3476.25 407.7 -97.32 - - 2899.31 - - - - - - - - - 15.91 -
958.14 151.58 -10.49 160 964.94 roll -1.17 - - 1855.31 - 3.28 0.065 2088.88 -423.0 -97.32 - - 2898.06 - - - - - - - - - 15.93 -
1264.31 184.15 -10.20 191 1270.06 roll -1.17 - - 1853.69 - 3.76 0.171 662.69 -379.3 -97.32 - - 2899.09 - - - - - - - - - 15.92 -
1299.32 188.02 -11.03 198 1304.00 roll -1.17 - - 1853.69 - 3.38 0.062 2130.38 434.2 -97.32 - - 2899.81 - - - - - - - - - 15.97 -
1609.35 220.34 -10.75 230 1615.14 roll -1.17 - - 1855.25 - 3.96 0.172 662.75 -370.6 -97.32 - - 2896.31 - - - - - - - - - 15.96 -
1678.36 229.13 -13.35 244 1685.04 roll -1.17 - - 1854.06 - 3.39 0.063 2131.44 433.2 -97.32 - - 2899.84 - - - - - - - - - 16.00 -
1984.39 261.43 -10.25 275 1990.35 roll -1.17 - - 1855.38 - 4.01 0.173 662.81 -366.2 -97.32 - - 2895.66 - - - - - - - - - 15.98 -
2019.41 265.78 -12.72 282 2024.10 roll -1.17 - - 1855.69 - 3.42 0.064 2129.44 428.8 -97.32 - - 2897.62 - - - - - - - - - 16.03 -
2329.43 298.42 -10.14 314 2335.24 roll -1.17 - - 1855.12 - 4.03 0.177 663.81 -363.7 -97.32 - - 2896.41 - - - - - - - - - 16.01 -
2384.45 305.26 -12.70 325 2389.15 roll -1.17 - - 1855.50 - 3.43 0.067 2129.00 427.2 -97.32 - - 2897.19 - - - - - - - - - 16.05 -
2694.48 338.42 -10.15 357 2700.29 roll -1.17 - - 1855.56 - 4.01 0.178 663.75 -365.4 -97.32 - - 2895.84 - - - - - - - - - 16.02 -
2749.49 344.67 -12.35 368 2754.20 roll -1.17 - - 1855.69 - 3.41 0.068 2129.69 429.9 -97.32 - - 2896.72 - - - - - - - - - 16.06 -
3059.53 375.81 -9.56 400 3060.85 no move -1.17 - - 1855.69 - - - 2130.06 - -97.32 - - 2896.78 - - - - - - - - - - -
3359.56 407.27 -10.69 430 3360.89 no move -1.17 - - 1855.81 - - - 2129.06 - -97.32 - - 2896.00 - - - - - - - - - - -
3659.59 438.21 -9.30 460 3665.39 roll -1.17 - - 1854.38 - 3.98 0.184 662.50 -368.5 -97.32 - - 2893.44 - - - - - - - - - 16.05 -
3718.62 445.27 -11.53 472 3725.29 roll -1.17 - - 1855.25 - 3.38 0.073 2126.62 433.2 -97.32 - - 2894.41 - - - - - - - - - 16.09 -
4024.64 474.78 -9.55 503 4029.20 roll -1.17 - - 1854.88 - 3.32 0.145 3475.31 406.2 -97.32 - - 2894.38 - - - - - - - - - 16.08 -
4064.66 479.27 -11.82 511 4069.21 roll -1.17 - - 1855.38 - 3.36 0.076 2093.81 -411.2 -97.32 - - 2892.78 - - - - - - - - - 16.10 -
4374.73 507.24 -8.69 543 4380.52 roll -1.17 - - 1855.06 - 3.91 0.191 663.88 -365.7 -97.32 - - 2891.91 - - - - - - - - - 16.06 -
4439.81 514.14 -10.94 556 4444.30 roll -1.17 - - 1855.56 - 3.40 0.077 2126.00 430.0 -97.32 - - 2892.44 - - - - - - - - - 16.11 -
4749.84 542.78 -9.04 588 4751.16 no move -1.17 - - 1855.50 - - - 2126.06 - -97.32 - - 2889.62 - - - - - - - - - - -
5049.88 571.13 -9.35 618 5055.67 roll -1.17 - - 1855.38 - 3.99 0.190 663.62 -366.5 -97.32 - - 2888.84 - - - - - - - - - 16.07 -
5084.90 574.86 -10.64 625 5089.46 roll -1.17 - - 1855.75 - 3.42 0.076 2125.88 427.6 -97.32 - - 2891.84 - - - - - - - - - 16.13 -
5394.96 603.52 -9.55 657 5396.29 no move -1.17 - - 1855.44 - - - 2126.00 - -97.32 - - 2889.09 - - - - - - - - - - -
5695.02 630.30 -8.99 687 5696.35 no move -1.17 - - 1855.75 - - - 2125.69 - -97.32 - - 2890.38 - - - - - - - - - - -
5995.08 656.85 -8.30 717 6000.89 roll -1.17 - - 1854.00 - 4.06 0.193 663.75 -360.1 -97.32 - - 2890.22 - - - - - - - - - 16.08 -
6094.12 667.86 -12.03 737 6100.82 roll -1.17 - - 1855.50 - 3.46 0.081 2126.69 422.8 -97.32 - - 2889.12 - - - - - - - - - 16.14 -
6400.22 695.93 -8.51 768 6401.54 no move -1.17 - - 1855.50 - - - 2126.06 - -97.32 - - 2888.84 - - - - - - - - - - -
6700.21 723.73 -9.02 798 6701.54 no move -1.17 - - 1855.38 - - - 2126.19 - -97.32 - - 2886.81 - - - - - - - - - - -
7000.24 751.08 -9.03 828 7005.94 roll -1.17 - - 1855.56 - 4.10 0.198 662.69 -357.0 -97.32 - - 2885.78 - - - - - - - - - 16.09 -
7065.31 757.58 -10.34 841 7069.82 roll -1.17 - - 1853.50 - 3.46 0.081 2124.62 422.5 -97.32 - - 2888.84 - - - - - - - - - 16.14 -
7375.30 785.38 -9.00 873 7379.98 roll -1.17 - - 1855.50 - 3.34 0.152 3473.94 404.0 -97.32 - - 2889.22 - - - - - - - - - 16.12 -
7415.31 789.18 -10.12 881 7419.85 roll -1.17 - - 1855.38 - 3.37 0.084 2096.56 -408.7 -97.32 - - 2888.22 - - - - - - - - - 16.13 -
7725.34 816.62 -9.03 913 7731.02 roll -1.17 - - 1855.25 - 4.01 0.206 664.62 -357.1 -97.32 - - 2884.75 - - - - - - - - - 16.09 -
7780.74 822.46 -10.24 924 7785.92 roll -1.17 - - 1855.19 - 3.42 0.083 2124.44 426.8 -97.32 - - 2886.50 - - - - - - - - - 16.13 -
8085.39 849.95 -9.45 955 8090.07 roll -1.17 - - 1854.94 - 3.35 0.154 3473.81 402.8 -97.32 - - 2887.78 - - - - - - - - - 16.12 -
8169.27 858.06 -10.32 972 8176.09 roll -1.17 - - 1855.19 - 3.37 0.084 2095.31 -409.1 -97.32 - - 2887.47 - - - - - - - - - 16.14 -
8475.44 884.41 -7.54 1003 8481.11 roll -1.17 - - 1854.94 - 4.03 0.208 663.69 -355.2 -97.32 - - 2883.62 - - - - - - - - - 16.09 -
8534.50 891.08 -11.43 1015 8541.15 roll -1.17 - - 1854.56 - 3.48 0.086 2125.00 419.9 -97.32 - - 2886.62 - - - - - - - - - 16.14 -
8840.48 916.90 -8.76 1046 8841.81 no move -1.17 - - 1855.31 - - - 2124.75 - -97.32 - - 2885.84 - - - - - - - - - - -
9140.51 941.05 -7.77 1076 9145.20 roll -1.17 - - 1855.38 - 3.38 0.156 3474.19 399.2 -97.32 - - 2884.84 - - - - - - - - - 16.11 -
9180.53 944.58 -8.83 1084 9185.08 roll -1.17 - - 1855.12 - 3.39 0.087 2098.00 -406.0 -97.32 - - 2885.72 - - - - - - - - - 16.14 -
9490.55 968.75 -7.29 1116 9496.37 roll -1.17 - - 1855.19 - 4.01 0.212 663.94 -357.6 -97.32 - - 2882.69 - - - - - - - - - 16.09 -
9559.62 975.09 -8.24 1130 9566.27 roll -1.17 - - 1854.94 - 3.44 0.088 2124.69 424.6 -97.32 - - 2885.38 - - - - - - - - - 16.14 -
9756 end dive: TARGET_DEPTH_EXCEEDED
9756 begin apogee
9756.71 990.89 -7.07 1150 9838.67 -0.25 1.57 0.161 2079.88 143.3 0.06 0.349 2136.25 192.7 - 78.78 2.310 2496.66 -4.9 0.352 - - - - - - 16.09 15.52 13.29
9840 end apogee: CONTROL_FINISHED_OK
9840 begin climb
9839.75 992.30 - 1158 9931.70 1.17 2.36 0.107 2426.12 146.7 - - 2136.56 - 97.32 88.65 2.250 2103.03 -4.4 0.326 - - - - - - 15.55 - 12.93
10235.63 956.32 10.04 1200 10240.19 done 1.17 - - 2427.06 - 3.48 0.151 3472.06 383.8 97.32 - - 2087.72 - - - - - - - - - 15.62 -
10265.64 952.93 10.37 1206 10270.32 done 1.17 - - 2425.81 - 3.36 0.081 2134.75 -398.0 97.32 - - 2089.03 - - - - - - - - - 15.65 -
10575.68 919.94 10.53 1238 10577.01 VBD 1.17 - - 2425.94 - - - 2134.88 - 97.32 - - 2085.03 - - - - - - - - - - -
10875.75 887.55 11.45 1268 10880.29 done 1.17 - - 2425.81 - 3.39 0.149 3474.00 395.0 97.32 - - 2085.28 - - - - - - - - - 15.85 -
10915.79 882.96 13.68 1276 10920.43 done 1.17 - - 2425.94 - 3.30 0.083 2134.31 -406.0 97.32 - - 2084.62 - - - - - - - - - 15.88 -
11225.83 850.63 10.00 1308 11230.37 done 1.17 - - 2425.94 - 3.38 0.151 3473.94 396.3 97.32 - - 2082.78 - - - - - - - - - 15.91 -
11275.85 845.54 10.44 1318 11280.39 done 1.17 - - 2424.88 - 3.28 0.082 2137.19 -407.5 97.32 - - 2083.88 - - - - - - - - - 15.93 -
11585.91 813.58 10.73 1350 11590.45 done 1.17 - - 2425.81 - 3.38 0.150 3474.31 395.6 97.32 - - 2083.25 - - - - - - - - - 15.94 -
11615.92 810.14 10.46 1356 11620.46 done 1.17 - - 2426.31 - 3.29 0.079 2134.31 -407.3 97.32 - - 2082.00 - - - - - - - - - 15.97 -
11925.98 779.23 9.48 1388 11927.32 VBD 1.17 - - 2426.25 - - - 2134.50 - 97.32 - - 2080.53 - - - - - - - - - - -
12226.04 749.79 9.31 1418 12230.58 done 1.17 - - 2427.06 - 3.38 0.149 3474.44 396.4 97.32 - - 2081.28 - - - - - - - - - 16.00 -
12269.93 744.90 10.38 1427 12276.73 done 1.17 - - 2427.25 - 3.27 0.078 2133.69 -410.0 97.32 - - 2080.81 - - - - - - - - - 16.02 -
12576.13 715.85 9.16 1458 12580.80 done 1.17 - - 2426.38 - 3.37 0.146 3473.81 397.7 97.32 - - 2081.06 - - - - - - - - - 16.02 -
12656.16 707.56 11.03 1474 12660.68 done 1.17 - - 2427.44 - 3.27 0.080 2134.31 -409.6 97.32 - - 2081.19 - - - - - - - - - 16.04 -
12966.19 679.17 8.74 1506 12967.53 VBD 1.17 - - 2426.88 - - - 2135.12 - 97.32 - - 2078.75 - - - - - - - - - - -
13266.23 653.52 9.07 1536 13272.02 done 1.17 - - 2425.44 - 3.90 0.174 687.69 -371.1 97.32 - - 2080.53 - - - - - - - - - 16.02 -
13295.18 650.71 7.97 1542 13301.94 done 1.17 - - 2426.06 - 3.44 0.067 2171.75 431.4 97.32 - - 2079.19 - - - - - - - - - 16.06 -
13601.27 625.84 7.97 1573 13607.09 done 1.17 - - 2425.56 - 4.03 0.172 688.56 -368.0 97.32 - - 2078.44 - - - - - - - - - 16.04 -
13646.30 621.51 9.70 1582 13650.98 done 1.17 - - 2427.00 - 3.45 0.068 2170.69 429.6 97.32 - - 2077.34 - - - - - - - - - 16.07 -
13956.31 597.31 7.42 1614 13960.87 done 1.17 - - 2426.50 - 3.24 0.144 3473.88 402.2 97.32 - - 2078.72 - - - - - - - - - 16.06 -
14006.33 592.99 8.71 1624 14011.00 done 1.17 - - 2426.75 - 3.27 0.076 2134.62 -409.6 97.32 - - 2077.59 - - - - - - - - - 16.09 -
14316.36 569.67 7.83 1656 14317.69 VBD 1.17 - - 2427.31 - - - 2134.81 - 97.32 - - 2075.84 - - - - - - - - - - -
14616.41 548.41 6.80 1686 14620.95 done 1.19 - - 2427.06 - 3.32 0.144 3473.31 403.2 97.32 - - 2077.47 - - - - - - - - - 16.08 -
14636.40 547.02 7.76 1690 14640.94 done 1.19 - - 2427.44 - 3.22 0.073 2131.62 -416.7 97.32 - - 2077.31 - - - - - - - - - 16.09 -
14946.44 524.25 7.27 1722 14952.22 done 1.19 - - 2426.62 - 3.86 0.185 687.19 -374.2 97.32 - - 2077.97 - - - - - - - - - 16.06 -
15001.46 518.87 9.89 1733 15006.15 done 1.19 - - 2426.06 - 3.45 0.077 2171.31 430.2 97.32 - - 2078.50 - - - - - - - - - 16.09 -
15311.51 494.69 6.71 1765 15316.02 done 1.21 - - 2427.50 - 3.22 0.143 3475.50 405.0 97.32 - - 2076.56 - - - - - - - - - 16.09 -
15401.52 487.30 7.55 1783 15406.20 done 1.21 - - 2427.00 - 3.23 0.072 2131.31 -416.2 97.32 - - 2077.19 - - - - - - - - - 16.09 -
15711.57 464.22 6.75 1815 15716.08 done 1.23 - - 2426.06 - 3.32 0.141 3473.75 404.3 97.32 - - 2078.34 - - - - - - - - - 16.09 -
15721.55 463.25 7.50 1817 15726.08 done 1.23 - - 2427.12 - 3.22 0.070 2133.12 -416.3 97.32 - - 2076.44 - - - - - - - - - 16.08 -
16031.60 440.89 6.75 1849 16036.13 done 1.24 - - 2428.00 - 3.31 0.140 3473.62 405.0 97.32 - - 2076.16 - - - - - - - - - 16.09 -
16085.46 436.90 7.89 1860 16092.27 done 1.24 - - 2428.12 - 3.24 0.073 2131.69 -414.2 97.32 - - 2076.38 - - - - - - - - - 16.10 -
16391.65 416.45 7.11 1891 16396.18 done 1.26 - - 2427.50 - 3.31 0.139 3474.94 405.8 97.32 - - 2076.06 - - - - - - - - - 16.09 -
16481.67 409.55 8.07 1909 16486.17 done 1.26 - - 2427.56 - 3.19 0.072 2131.94 -421.0 97.32 - - 2076.88 - - - - - - - - - 16.10 -
16791.73 388.71 6.98 1941 16796.25 done 1.27 - - 2426.69 - 3.29 0.139 3474.69 408.1 97.32 - - 2077.44 - - - - - - - - - 16.09 -
16851.78 383.78 8.62 1953 16856.42 done 1.27 - - 2428.06 - 3.22 0.072 2131.88 -417.0 97.32 - - 2077.03 - - - - - - - - - 16.10 -
17161.83 362.65 6.47 1985 17163.26 1.29 0.16 0.116 2462.38 214.5 - - 2131.31 - 97.32 - - 2074.22 - - - - - - - - 16.08 - -
17461.89 342.52 6.76 2015 17466.41 done 1.31 - - 2461.31 - 3.30 0.138 3475.25 407.3 97.32 - - 2076.88 - - - - - - - - - 16.10 -
17481.88 341.34 7.25 2019 17486.41 done 1.31 - - 2460.81 - 3.21 0.069 2130.31 -419.0 97.32 - - 2076.47 - - - - - - - - - 16.11 -
17791.96 322.92 5.49 2051 17829.21 1.44 0.16 0.121 2494.38 209.8 3.33 0.138 3476.12 404.1 138.69 32.42 1.489 1931.91 -4.5 0.161 - - - - - - 16.07 15.90 13.26
17937.20 309.17 11.16 2080 17941.52 roll 1.44 - - 2494.62 - 3.24 0.073 2131.69 -414.9 138.69 - - 1929.84 - - - - - - - - - 15.96 -
18247.05 277.82 9.90 2112 18252.83 roll 1.44 - - 2494.56 - 3.84 0.169 687.06 -376.2 138.69 - - 1925.62 - - - - - - - - - 15.96 -
18262.08 276.20 10.42 2115 18266.89 done 1.44 - - 2494.31 - 3.45 0.062 2177.00 431.9 138.69 - - 1926.91 - - - - - - - - - 15.99 -
18572.12 246.12 9.75 2147 18576.63 done 1.44 - - 2493.88 - 3.18 0.138 3476.00 408.5 138.69 - - 1925.75 - - - - - - - - - 16.00 -
18616.13 241.28 10.88 2156 18622.84 done 1.44 - - 2495.25 - 3.25 0.069 2130.75 -413.9 138.69 - - 1925.44 - - - - - - - - - 16.02 -
18922.18 212.47 8.66 2187 18926.72 done 1.44 - - 2495.31 - 3.31 0.135 3474.62 406.0 138.69 - - 1924.62 - - - - - - - - - 16.02 -
18982.19 206.66 9.54 2199 18986.72 done 1.44 - - 2494.75 - 3.23 0.069 2130.19 -416.2 138.69 - - 1925.31 - - - - - - - - - 16.04 -
19292.22 177.26 8.41 2231 19293.55 VBD 1.44 - - 2494.94 - - - 2130.88 - 138.69 - - 1924.50 - - - - - - - - - - -
19592.27 153.78 6.88 2261 19596.80 done 1.45 - - 2495.75 - 3.31 0.135 3473.31 405.6 138.69 - - 1924.16 - - - - - - - - - 16.04 -
19666.15 148.06 7.86 2276 19672.93 done 1.45 - - 2494.81 - 3.19 0.069 2131.06 -420.8 138.69 - - 1924.75 - - - - - - - - - 16.06 -
19972.33 131.21 4.94 2307 20020.03 1.61 0.22 0.109 2537.69 194.9 3.82 0.162 687.75 -377.8 190.56 41.83 1.284 1721.25 -4.9 0.083 - - - - - - 16.05 15.83 13.28
20241.75 111.67 6.62 2361 20248.50 roll 1.63 - - 2537.38 - 3.43 0.064 2178.06 434.5 190.56 - - 1717.28 - - - - - - - - - 15.93 -
20547.89 97.16 4.70 2398 20599.66 1.80 0.23 0.100 2582.62 196.7 3.97 0.153 685.81 -375.9 246.88 44.87 1.223 1492.19 -5.0 0.066 - - - - - - 15.95 15.74 13.13
20823.03 70.80 11.11 2453 20828.67 roll 1.80 - - 2582.00 - 3.46 0.062 2176.50 430.8 246.88 - - 1487.53 - - - - - - - - - 15.85 -
21008.09 56.81 6.16 2490 21013.86 done 1.83 - - 2582.00 - 3.21 0.131 3473.38 404.0 246.88 - - 1485.28 - - - - - - - - - 15.86 -
21093.15 51.51 5.99 2507 21098.76 done 1.86 - - 2582.50 - 3.22 0.062 2128.00 -417.8 246.88 - - 1484.47 - - - - - - - - - 15.90 -
21278.18 48.87 0.83 2544 21380.29 2.25 0.67 0.084 2692.25 163.8 - - 2128.12 - 376.69 98.73 1.161 963.75 -5.3 0.037 - - - - - - 15.91 - 13.14
21558.21 27.99 10.70 2600 21563.88 roll 2.25 - - 2690.88 - 3.38 0.129 3474.88 398.4 376.69 - - 958.53 - - - - - - - - - 15.68 -
21678.27 13.95 12.97 2624 21683.90 roll 2.25 - - 2692.25 - 3.27 0.065 2130.38 -411.2 376.69 - - 957.53 - - - - - - - - - 15.75 -
21774 end climb: SURFACE_DEPTH_REACHED
21774 begin surface coast
21789 end surface coast: CONTROL_FINISHED_OK
21789 begin surface
SM 0.23 - - - - 181.3 - 0.011 767.3 - 16.15 0.083 771.7 47.8 - 0.07 0.195 762.9 10851.9 -1.308 - - 30.36 15.75 15.78 -