NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 501 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 149.70 of 575.00 AH used of 24V (73.97% remains)
• Surface angle -62.5 deg, depth 1.09 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.78 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 5 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
7.23 - - - 86.27 VBD -1.25 - - 173.25 - - - 2082.25 - -77.86 78.43 0.005 2512.84 - - - - - - - - - - 15.17
86.54 3.31 -3.66 15 118.46 -1.25 14.61 0.261 1836.19 113.8 4.03 0.153 663.12 -352.1 -77.86 7.66 0.008 2817.19 39.7 -2.860 - - - - - - 15.36 15.16 15.26
306.30 52.06 -21.81 59 312.04 roll -1.25 - - 1836.06 - 3.59 0.054 2117.50 405.1 -77.86 - - 2817.84 - - - - - - - - - 15.63 -
491.29 76.86 -11.77 96 497.08 roll -1.25 - - 1835.88 - 3.70 0.111 3474.62 366.8 -77.86 - - 2817.41 - - - - - - - - - 15.66 -
546.31 83.59 -11.79 107 552.03 roll -1.25 - - 1836.25 - 3.38 0.056 2081.88 -412.1 -77.86 - - 2817.50 - - - - - - - - - 15.70 -
736.34 104.91 -11.02 141 742.13 roll -1.25 - - 1835.44 - 3.74 0.107 3473.38 372.1 -77.86 - - 2815.03 - - - - - - - - - 15.70 -
831.43 116.59 -12.47 160 836.07 roll -1.25 - - 1836.44 - 3.39 0.057 2079.00 -411.3 -77.86 - - 2817.41 - - - - - - - - - 15.74 -
1141.40 151.35 -10.33 192 1147.18 roll -1.25 - - 1835.69 - 3.79 0.109 3475.12 368.4 -77.86 - - 2815.47 - - - - - - - - - 15.75 -
1256.41 165.59 -12.92 215 1261.12 roll -1.25 - - 1835.62 - 3.38 0.058 2080.94 -412.5 -77.86 - - 2819.59 - - - - - - - - - 15.78 -
1566.46 199.56 -10.93 247 1567.79 no move -1.25 - - 1836.12 - - - 2081.38 - -77.86 - - 2817.59 - - - - - - - - - - -
1866.49 232.83 -11.21 277 1867.82 no move -1.25 - - 1835.56 - - - 2081.25 - -77.86 - - 2817.59 - - - - - - - - - - -
2166.52 264.41 -10.31 307 2172.31 roll -1.25 - - 1835.06 - 3.80 0.114 3475.12 366.8 -77.86 - - 2817.91 - - - - - - - - - 15.79 -
2315.52 281.68 -11.99 337 2322.27 roll -1.25 - - 1835.81 - 3.36 0.060 2082.19 -414.6 -77.86 - - 2816.78 - - - - - - - - - 15.83 -
2621.58 312.70 -9.84 368 2627.26 roll -1.25 - - 1833.88 - 3.93 0.156 663.25 -361.1 -77.86 - - 2818.53 - - - - - - - - - 15.73 -
2686.61 320.30 -11.66 381 2691.27 roll -1.25 - - 1836.12 - 3.53 0.053 2118.19 412.2 -77.86 - - 2819.75 - - - - - - - - - 15.84 -
2996.64 354.46 -10.88 413 3002.40 roll -1.25 - - 1835.62 - 3.66 0.115 3474.44 370.6 -77.86 - - 2816.12 - - - - - - - - - 15.79 -
3041.65 359.83 -12.89 422 3046.34 roll -1.25 - - 1835.88 - 3.37 0.059 2081.00 -413.5 -77.86 - - 2819.41 - - - - - - - - - 15.85 -
3351.69 393.50 -10.54 454 3357.39 roll -1.25 - - 1835.88 - 3.96 0.157 663.56 -357.9 -77.86 - - 2815.47 - - - - - - - - - 15.73 -
3446.72 404.82 -11.76 473 3451.47 roll -1.25 - - 1835.75 - 3.54 0.056 2119.12 411.2 -77.86 - - 2819.75 - - - - - - - - - 15.86 -
3756.79 437.38 -10.08 505 3758.12 no move -1.25 - - 1836.06 - - - 2119.25 - -77.86 - - 2816.72 - - - - - - - - - - -
4056.85 466.59 -9.44 535 4062.62 roll -1.25 - - 1835.88 - 3.66 0.117 3474.81 370.4 -77.86 - - 2816.59 - - - - - - - - - 15.79 -
4141.95 475.20 -9.87 552 4146.63 roll -1.25 - - 1835.44 - 3.38 0.061 2080.44 -412.5 -77.86 - - 2816.94 - - - - - - - - - 15.86 -
4451.95 503.80 -9.08 584 4457.63 roll -1.25 - - 1835.56 - 3.98 0.159 662.50 -356.3 -77.86 - - 2819.34 - - - - - - - - - 15.72 -
4537.06 513.10 -11.66 601 4542.67 roll -1.25 - - 1835.31 - 3.54 0.054 2119.81 411.7 -77.86 - - 2817.88 - - - - - - - - - 15.86 -
4842.05 540.35 -9.00 632 4847.75 roll -1.25 - - 1835.31 - 4.07 0.157 663.25 -357.9 -77.86 - - 2814.75 - - - - - - - - - 15.71 -
4921.01 547.96 -9.68 648 4927.84 roll -1.25 - - 1835.50 - 3.53 0.055 2117.75 412.0 -77.86 - - 2819.03 - - - - - - - - - 15.86 -
5227.14 575.74 -9.88 679 5232.90 roll -1.25 - - 1835.62 - 3.69 0.120 3474.94 367.8 -77.86 - - 2818.12 - - - - - - - - - 15.77 -
5352.17 588.69 -10.86 704 5356.88 roll -1.25 - - 1835.38 - 3.38 0.063 2082.75 -411.9 -77.86 - - 2817.62 - - - - - - - - - 15.85 -
5662.21 617.53 -8.39 736 5667.90 roll -1.25 - - 1836.06 - 4.01 0.164 662.12 -354.3 -77.86 - - 2815.56 - - - - - - - - - 15.69 -
5747.22 626.75 -10.79 753 5751.96 roll -1.25 - - 1835.69 - 3.55 0.058 2118.25 410.2 -77.86 - - 2817.78 - - - - - - - - - 15.85 -
6057.25 654.14 -8.58 785 6063.09 roll -1.25 - - 1835.38 - 4.09 0.161 663.50 -355.7 -77.86 - - 2815.19 - - - - - - - - - 15.69 -
6116.18 659.97 -10.75 797 6123.02 roll -1.25 - - 1836.00 - 3.53 0.057 2117.81 412.0 -77.86 - - 2814.81 - - - - - - - - - 15.85 -
6422.32 684.02 -7.19 828 6428.06 roll -1.25 - - 1835.00 - 3.67 0.122 3476.62 370.2 -77.86 - - 2816.94 - - - - - - - - - 15.76 -
6487.32 689.79 -9.50 841 6492.01 roll -1.25 - - 1836.12 - 3.38 0.063 2084.25 -411.9 -77.86 - - 2816.62 - - - - - - - - - 15.83 -
6797.34 712.48 -7.39 873 6803.16 roll -1.25 - - 1835.62 - 4.00 0.167 663.06 -355.3 -77.86 - - 2812.97 - - - - - - - - - 15.66 -
6886.27 720.12 -8.79 891 6893.11 roll -1.25 - - 1835.62 - 3.54 0.057 2117.81 410.9 -77.86 - - 2816.12 - - - - - - - - - 15.85 -
7192.39 743.78 -7.18 922 7198.15 roll -1.25 - - 1835.75 - 3.67 0.121 3472.44 369.1 -77.86 - - 2814.22 - - - - - - - - - 15.75 -
7277.61 751.50 -9.98 939 7282.11 roll -1.25 - - 1836.44 - 3.35 0.063 2084.56 -414.3 -77.86 - - 2814.75 - - - - - - - - - 15.82 -
7587.44 774.25 -6.97 971 7588.77 no move -1.25 - - 1835.81 - - - 2084.62 - -77.86 - - 2813.59 - - - - - - - - - - -
7887.47 795.91 -6.69 1001 7888.80 no move -1.25 - - 1836.06 - - - 2084.06 - -77.86 - - 2813.28 - - - - - - - - - - -
8187.50 817.43 -7.06 1031 8188.83 no move -1.25 - - 1835.75 - - - 2084.44 - -77.86 - - 2813.28 - - - - - - - - - - -
8487.54 840.57 -7.22 1061 8488.87 no move -1.25 - - 1835.62 - - - 2084.75 - -77.86 - - 2812.41 - - - - - - - - - - -
8787.57 862.87 -8.02 1091 8788.90 no move -1.25 - - 1835.81 - - - 2084.81 - -77.86 - - 2812.28 - - - - - - - - - - -
9087.60 886.26 -7.63 1121 9093.30 roll -1.25 - - 1835.69 - 4.05 0.176 664.62 -350.7 -77.86 - - 2811.66 - - - - - - - - - 15.64 -
9196.54 897.67 -9.39 1143 9203.38 roll -1.25 - - 1835.88 - 3.57 0.064 2115.31 406.4 -77.86 - - 2811.81 - - - - - - - - - 15.83 -
9502.67 924.35 -9.02 1174 9508.45 roll -1.25 - - 1835.69 - 3.71 0.127 3473.62 366.1 -77.86 - - 2811.28 - - - - - - - - - 15.73 -
9551.67 929.27 -10.04 1184 9558.55 roll -1.25 - - 1835.69 - 3.38 0.067 2084.62 -410.9 -77.86 - - 2811.75 - - - - - - - - - 15.78 -
9857.75 954.71 -8.48 1215 9863.45 roll -1.25 - - 1835.69 - 4.05 0.174 664.31 -350.7 -77.86 - - 2811.38 - - - - - - - - - 15.62 -
10002.80 968.23 -9.88 1244 10008.48 roll -1.25 - - 1836.06 - 3.57 0.064 2115.81 406.6 -77.86 - - 2809.25 - - - - - - - - - 15.82 -
10297 end dive: TARGET_DEPTH_EXCEEDED
10297 begin apogee
10299.10 990.77 -8.80 1274 10369.84 -0.25 1.83 0.150 2079.62 133.1 0.08 0.294 2185.50 871.1 - 67.61 2.272 2501.38 -4.6 0.345 - - - - - - 15.72 15.07 11.76
10371 end apogee: CONTROL_FINISHED_OK
10371 begin climb
10371.90 991.06 - 1281 10456.48 1.25 2.64 0.092 2447.75 139.4 3.83 0.128 3474.50 336.6 77.86 74.73 2.213 2181.59 -4.3 0.333 - - - - - - 15.14 14.76 12.27
10498.08 984.02 7.87 1306 10504.95 roll 1.25 - - 2447.56 - 3.30 0.059 2183.69 -391.2 77.86 - - 2178.34 - - - - - - - - - 15.11 -
10804.28 958.75 8.46 1337 10809.97 done 1.25 - - 2448.19 - 4.07 0.147 736.12 -355.7 77.86 - - 2169.41 - - - - - - - - - 15.47 -
10919.32 947.47 10.50 1360 10925.20 done 1.25 - - 2444.88 - 3.65 0.056 2217.31 405.8 77.86 - - 2167.28 - - - - - - - - - 15.56 -
11224.33 921.89 7.63 1391 11230.16 done 1.25 - - 2447.88 - 4.10 0.146 737.50 -360.9 77.86 - - 2167.09 - - - - - - - - - 15.59 -
11303.24 914.17 10.06 1407 11310.11 done 1.25 - - 2448.31 - 3.61 0.055 2218.88 410.4 77.86 - - 2168.38 - - - - - - - - - 15.68 -
11609.38 890.09 7.91 1438 11614.97 done 1.25 - - 2448.62 - 3.45 0.127 3473.00 363.5 77.86 - - 2163.94 - - - - - - - - - 15.66 -
11668.24 885.20 8.69 1450 11675.08 done 1.25 - - 2447.50 - 3.13 0.060 2183.69 -411.9 77.86 - - 2165.09 - - - - - - - - - 15.73 -
11974.43 860.76 8.11 1481 11975.76 VBD 1.25 - - 2447.50 - - - 2183.25 - 77.86 - - 2163.78 - - - - - - - - - - -
12274.47 837.79 7.50 1511 12279.14 done 1.27 - - 2447.19 - 3.54 0.127 3472.12 364.1 77.86 - - 2163.59 - - - - - - - - - 15.70 -
12324.48 833.48 8.20 1521 12329.28 done 1.27 - - 2447.62 - 3.12 0.059 2180.56 -414.0 77.86 - - 2165.16 - - - - - - - - - 15.78 -
12634.50 809.45 8.11 1553 12640.31 done 1.27 - - 2447.12 - 3.94 0.144 736.12 -366.6 77.86 - - 2164.16 - - - - - - - - - 15.68 -
12669.53 807.06 6.51 1560 12674.24 done 1.32 - - 2448.44 - 3.58 0.055 2217.62 413.8 77.86 - - 2163.56 - - - - - - - - - 15.79 -
12979.56 783.18 6.54 1592 12984.11 done 1.36 - - 2448.00 - 3.42 0.126 3475.06 367.7 77.86 - - 2163.03 - - - - - - - - - 15.71 -
13089.62 773.50 8.47 1614 13094.10 done 1.36 - - 2447.94 - 3.12 0.059 2180.06 -415.1 77.86 - - 2163.03 - - - - - - - - - 15.80 -
13399.61 750.31 6.61 1646 13405.25 1.40 0.20 0.106 2488.19 201.2 3.53 0.122 3472.75 366.2 77.86 - - 2162.03 - - - - - - - - 15.78 15.71 -
13438.46 746.86 8.63 1654 13445.28 done 1.40 - - 2487.25 - 3.11 0.057 2181.19 -415.3 77.86 - - 2162.84 - - - - - - - - - 15.80 -
13744.64 721.80 7.56 1685 13750.25 done 1.40 - - 2488.44 - 3.54 0.122 3472.50 364.8 77.86 - - 2163.28 - - - - - - - - - 15.72 -
13839.75 712.05 11.46 1704 13844.33 done 1.40 - - 2488.94 - 3.12 0.059 2180.88 -414.0 77.86 - - 2162.62 - - - - - - - - - 15.80 -
14149.72 686.08 8.47 1736 14155.53 done 1.40 - - 2488.69 - 3.88 0.140 735.19 -372.6 77.86 - - 2160.97 - - - - - - - - - 15.68 -
14218.66 680.20 8.64 1750 14225.51 done 1.40 - - 2489.56 - 3.55 0.052 2220.25 418.3 77.86 - - 2163.06 - - - - - - - - - 15.83 -
14524.83 657.09 6.64 1781 14529.40 done 1.45 - - 2489.69 - 3.42 0.123 3474.19 366.6 77.86 - - 2161.31 - - - - - - - - - 15.72 -
14574.85 653.18 7.23 1791 14579.49 done 1.47 - - 2489.31 - 3.11 0.057 2181.06 -415.8 77.86 - - 2163.75 - - - - - - - - - 15.80 -
14884.90 633.15 5.23 1823 14926.57 1.59 0.23 0.092 2533.81 193.5 3.98 0.142 736.25 -363.0 118.04 34.32 1.840 2017.25 -4.3 0.256 - - - - - - 15.78 15.45 11.97
15034.97 617.72 11.93 1853 15040.69 roll 1.59 - - 2533.56 - 3.62 0.054 2219.19 409.7 118.04 - - 2011.69 - - - - - - - - - 15.56 -
15340.00 585.33 9.85 1884 15344.57 roll 1.59 - - 2533.31 - 3.46 0.122 3475.56 363.1 118.04 - - 2011.53 - - - - - - - - - 15.60 -
15450.11 571.95 12.06 1906 15454.57 roll 1.59 - - 2533.50 - 3.16 0.057 2181.06 -409.7 118.04 - - 2010.97 - - - - - - - - - 15.60 -
15760.10 538.24 11.13 1938 15765.71 done 1.59 - - 2532.88 - 3.54 0.119 3473.50 365.1 118.04 - - 2012.56 - - - - - - - - - 15.66 -
15815.14 531.35 11.99 1949 15819.67 done 1.59 - - 2533.62 - 3.12 0.056 2180.12 -414.5 118.04 - - 2011.31 - - - - - - - - - 15.72 -
16125.17 499.79 9.49 1981 16130.76 done 1.59 - - 2533.25 - 3.50 0.116 3474.31 369.8 118.04 - - 2008.59 - - - - - - - - - 15.69 -
16190.20 492.12 12.88 1994 16194.73 done 1.59 - - 2534.19 - 3.12 0.056 2179.75 -414.9 118.04 - - 2009.97 - - - - - - - - - 15.75 -
16500.25 463.46 8.94 2026 16506.04 done 1.59 - - 2531.00 - 3.92 0.137 736.12 -368.3 118.04 - - 2008.34 - - - - - - - - - 15.65 -
16585.25 454.37 11.08 2043 16590.00 done 1.59 - - 2533.81 - 3.57 0.051 2220.25 415.7 118.04 - - 2009.00 - - - - - - - - - 15.77 -
16895.29 426.07 8.80 2075 16899.85 done 1.59 - - 2533.88 - 3.39 0.118 3473.62 369.7 118.04 - - 2008.25 - - - - - - - - - 15.70 -
17115.35 402.46 12.55 2119 17119.88 done 1.59 - - 2533.00 - 3.13 0.055 2179.75 -413.4 118.04 - - 2010.56 - - - - - - - - - 15.68 -
17425.38 374.61 8.13 2151 17431.19 done 1.59 - - 2533.81 - 3.93 0.135 735.56 -367.5 118.04 - - 2006.69 - - - - - - - - - 15.68 -
17654.34 349.45 11.13 2197 17661.18 done 1.59 - - 2534.19 - 3.60 0.052 2224.00 413.5 118.04 - - 2008.16 - - - - - - - - - 15.71 -
17960.46 321.36 8.93 2228 17961.79 VBD 1.59 - - 2533.62 - - - 2224.94 - 118.04 - - 2008.00 - - - - - - - - - - -
18260.49 294.29 8.37 2258 18265.20 done 1.59 - - 2533.75 - 3.38 0.115 3473.12 369.3 118.04 - - 2007.38 - - - - - - - - - 15.72 -
18360.72 284.70 8.97 2278 18365.05 done 1.59 - - 2533.75 - 3.11 0.053 2178.81 -416.2 118.04 - - 2007.84 - - - - - - - - - 15.79 -
18670.55 258.23 8.73 2310 18676.21 done 1.59 - - 2533.12 - 3.90 0.132 734.38 -370.4 118.04 - - 2009.59 - - - - - - - - - 15.63 -
18815.58 242.92 10.18 2339 18821.18 done 1.59 - - 2533.62 - 3.56 0.049 2225.25 418.8 118.04 - - 2009.72 - - - - - - - - - 15.80 -
19120.65 214.70 9.12 2370 19121.98 VBD 1.59 - - 2534.25 - - - 2225.19 - 118.04 - - 2006.16 - - - - - - - - - - -
19420.64 188.51 8.92 2400 19425.21 done 1.59 - - 2533.44 - 3.37 0.114 3472.38 370.1 118.04 - - 2008.44 - - - - - - - - - 15.63 -
19514.51 179.36 9.64 2419 19521.35 done 1.59 - - 2533.94 - 3.11 0.051 2175.12 -417.1 118.04 - - 2009.09 - - - - - - - - - 15.69 -
19820.75 154.09 7.78 2450 19822.08 VBD 1.59 - - 2533.75 - - - 2175.75 - 118.04 - - 2007.56 - - - - - - - - - - -
20120.80 133.98 6.54 2480 20126.39 done 1.64 - - 2533.38 - 3.51 0.110 3472.12 369.3 118.04 - - 2005.88 - - - - - - - - - 15.70 -
20169.67 130.29 7.39 2490 20176.50 done 1.66 - - 2534.56 - 3.12 0.050 2178.31 -414.7 118.04 - - 2007.09 - - - - - - - - - 15.68 -
20475.88 109.78 7.15 2521 20481.54 done 1.68 - - 2533.75 - 3.90 0.128 735.25 -370.0 118.04 - - 2009.59 - - - - - - - - - 15.61 -
20530.97 105.49 7.54 2532 20536.49 done 1.70 - - 2534.00 - 3.58 0.046 2226.56 416.6 118.04 - - 2005.66 - - - - - - - - - 15.78 -
20836.03 88.80 4.45 2583 20887.49 1.85 0.35 0.073 2599.12 186.1 4.07 0.123 734.12 -366.7 169.42 42.97 1.197 1808.41 -4.6 0.059 - - - - - - 15.71 15.49 11.86
20986.02 74.99 12.60 2613 20991.82 roll 1.85 - - 2599.06 - 3.62 0.046 2223.69 411.5 169.42 - - 1803.38 - - - - - - - - - 15.53 -
21171.14 62.29 4.95 2650 21213.60 done 1.99 - - 2598.56 - 3.44 0.109 3474.88 363.7 213.67 37.72 1.136 1626.28 -4.7 0.045 - - - - - - - 15.37 12.13
21301.47 54.35 7.50 2676 21307.19 roll back 2.00 0.17 0.101 2631.38 193.1 3.17 0.047 2175.12 -410.0 213.67 - - 1624.28 - - - - - - - - 15.38 15.49 -
21486.51 44.90 3.59 2713 21548.45 2.19 0.26 0.079 2681.38 192.3 3.61 0.105 3474.81 360.0 277.39 53.90 1.109 1367.50 -4.8 0.034 - - - - - - 15.56 15.26 12.11
21771.54 13.02 15.47 2770 21777.23 roll 2.19 - - 2681.38 - 3.16 0.049 2180.31 -409.7 277.39 - - 1363.09 - - - - - - - - - 15.54 -
21851 end climb: SURFACE_DEPTH_REACHED
21851 begin surface coast
21866 end surface coast: CONTROL_FINISHED_OK
21866 begin surface
SM 0.98 - - - - 176.6 1.41 0.135 768.3 544.9 16.86 0.062 765.7 45.4 - 0.22 0.099 770.9 3489.7 -3.531 - - 15.12 15.54 15.59 -