NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 540 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 160.01 of 575.00 AH used of 24V (72.17% remains)
• Surface angle -61.6 deg, depth 0.28 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.76 (SM_CC=425)
• GPS1 time: 20 s
• GPS2 time: 3 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
7.31 - - - 91.65 VBD -1.25 - - 172.88 - - - 2115.00 - -77.86 83.78 0.005 2601.56 - - - - - - - - - - 15.12
91.92 4.05 -8.32 16 119.75 -1.25 14.49 0.258 1835.75 114.8 4.22 0.147 663.00 -344.1 -77.86 5.03 0.009 2814.25 42.3 -3.313 - - - - - - 15.32 15.13 15.23
187.50 26.62 -22.63 35 193.29 roll -1.25 - - 1835.56 - 3.61 0.050 2119.31 403.4 -77.86 - - 2816.44 - - - - - - - - - 15.56 -
372.56 63.17 -19.65 72 373.89 no move -1.25 - - 1835.75 - - - 2119.19 - -77.86 - - 2814.78 - - - - - - - - - - -
552.59 90.68 -13.96 108 558.47 roll -1.25 - - 1835.69 - 4.16 0.143 662.25 -350.2 -77.86 - - 2818.25 - - - - - - - - - 15.56 -
642.62 103.33 -14.69 126 648.23 roll -1.25 - - 1835.81 - 3.58 0.047 2119.31 407.0 -77.86 - - 2815.12 - - - - - - - - - 15.70 -
947.65 135.19 -10.01 157 948.98 no move -1.25 - - 1835.62 - - - 2119.56 - -77.86 - - 2817.91 - - - - - - - - - - -
1247.70 163.49 -10.00 187 1249.03 no move -1.25 - - 1835.62 - - - 2119.56 - -77.86 - - 2817.94 - - - - - - - - - - -
1547.77 192.59 -10.59 217 1553.48 roll -1.25 - - 1836.31 - 3.77 0.111 3473.75 359.2 -77.86 - - 2819.84 - - - - - - - - - 15.72 -
1652.81 204.93 -11.85 238 1657.47 roll -1.25 - - 1835.75 - 3.42 0.056 2082.81 -406.7 -77.86 - - 2818.72 - - - - - - - - - 15.79 -
1962.88 240.48 -11.33 270 1968.66 roll -1.25 - - 1835.56 - 4.02 0.147 663.31 -353.1 -77.86 - - 2816.16 - - - - - - - - - 15.66 -
2017.93 247.75 -13.40 281 2022.58 roll -1.25 - - 1836.19 - 3.53 0.049 2118.19 412.1 -77.86 - - 2818.50 - - - - - - - - - 15.81 -
2327.97 282.56 -10.86 313 2333.68 roll -1.25 - - 1834.56 - 3.71 0.111 3474.25 365.5 -77.86 - - 2820.31 - - - - - - - - - 15.72 -
2376.91 288.40 -12.15 323 2383.73 roll -1.25 - - 1835.56 - 3.41 0.056 2082.12 -408.2 -77.86 - - 2818.25 - - - - - - - - - 15.80 -
2683.05 319.03 -9.49 354 2684.38 no move -1.25 - - 1835.69 - - - 2082.12 - -77.86 - - 2817.41 - - - - - - - - - - -
2983.11 346.62 -9.64 384 2984.43 no move -1.25 - - 1836.19 - - - 2082.19 - -77.86 - - 2817.88 - - - - - - - - - - -
3283.16 375.45 -9.24 414 3288.89 roll -1.25 - - 1835.69 - 3.87 0.114 3472.75 359.3 -77.86 - - 2815.94 - - - - - - - - - 15.73 -
3382.10 386.25 -10.83 434 3388.93 roll -1.25 - - 1835.25 - 3.43 0.060 2083.19 -405.1 -77.86 - - 2819.94 - - - - - - - - - 15.80 -
3688.22 413.81 -9.03 465 3689.54 no move -1.25 - - 1835.69 - - - 2082.81 - -77.86 - - 2817.78 - - - - - - - - - - -
3988.25 439.73 -8.82 495 3994.02 roll -1.25 - - 1835.44 - 4.07 0.154 662.06 -349.1 -77.86 - - 2819.09 - - - - - - - - - 15.63 -
4033.29 444.14 -9.68 504 4038.01 roll -1.25 - - 1835.44 - 3.56 0.050 2117.75 408.9 -77.86 - - 2817.97 - - - - - - - - - 15.83 -
4343.30 471.20 -7.87 536 4349.02 roll -1.25 - - 1835.81 - 3.74 0.115 3473.81 362.6 -77.86 - - 2814.97 - - - - - - - - - 15.71 -
4388.31 476.06 -10.20 545 4392.97 roll -1.25 - - 1835.88 - 3.42 0.059 2082.88 -406.7 -77.86 - - 2818.53 - - - - - - - - - 15.80 -
4698.34 504.33 -9.42 577 4699.67 no move -1.25 - - 1836.19 - - - 2082.31 - -77.86 - - 2816.88 - - - - - - - - - - -
4998.36 532.51 -8.89 607 5004.11 roll -1.25 - - 1835.81 - 3.86 0.115 3470.81 359.7 -77.86 - - 2816.88 - - - - - - - - - 15.71 -
5093.39 542.08 -10.13 626 5098.04 roll -1.25 - - 1835.75 - 3.40 0.060 2082.81 -408.2 -77.86 - - 2817.94 - - - - - - - - - 15.78 -
5403.42 568.48 -8.80 658 5409.16 roll -1.25 - - 1835.62 - 3.86 0.114 3474.56 360.6 -77.86 - - 2818.62 - - - - - - - - - 15.70 -
5468.45 573.96 -8.56 671 5473.11 roll -1.25 - - 1835.81 - 3.42 0.061 2080.50 -407.6 -77.86 - - 2817.38 - - - - - - - - - 15.78 -
5778.47 599.52 -8.44 703 5779.80 no move -1.25 - - 1835.50 - - - 2080.50 - -77.86 - - 2816.03 - - - - - - - - - - -
6078.50 625.40 -8.90 733 6079.83 no move -1.25 - - 1835.62 - - - 2080.69 - -77.86 - - 2815.50 - - - - - - - - - - -
6378.53 651.75 -8.56 763 6379.86 no move -1.25 - - 1835.69 - - - 2080.19 - -77.86 - - 2814.56 - - - - - - - - - - -
6678.57 675.52 -7.77 793 6684.33 roll -1.25 - - 1835.75 - 3.90 0.120 3473.38 357.2 -77.86 - - 2812.75 - - - - - - - - - 15.67 -
6753.66 682.21 -8.47 808 6758.24 roll -1.25 - - 1834.81 - 3.45 0.063 2083.31 -402.9 -77.86 - - 2817.22 - - - - - - - - - 15.76 -
7063.62 708.75 -8.71 840 7069.36 roll -1.25 - - 1835.38 - 3.90 0.120 3474.50 356.7 -77.86 - - 2813.50 - - - - - - - - - 15.66 -
7158.64 717.14 -7.77 859 7163.30 roll -1.25 - - 1835.25 - 3.47 0.065 2084.00 -400.7 -77.86 - - 2814.69 - - - - - - - - - 15.74 -
7468.69 739.51 -6.23 891 7474.44 roll -1.25 - - 1835.94 - 3.89 0.121 3472.38 356.9 -77.86 - - 2812.09 - - - - - - - - - 15.65 -
7567.64 747.81 -8.74 911 7574.48 roll -1.25 - - 1835.56 - 3.45 0.065 2084.56 -402.3 -77.86 - - 2814.00 - - - - - - - - - 15.73 -
7873.81 762.10 -3.72 942 7875.14 no move -1.25 - - 1835.38 - - - 2084.56 - -77.86 - - 2813.28 - - - - - - - - - - -
8163 end dive: TARGET_DEPTH_EXCEEDED
8163 begin apogee
8165.11 772.08 -6.76 971 8235.66 -0.25 1.79 0.129 2080.31 136.8 0.08 0.260 2185.94 1267.3 - 65.72 1.967 2501.59 -4.7 0.324 - - - - - - 15.70 15.15 11.65
8237 end apogee: CONTROL_FINISHED_OK
8237 begin climb
8237.77 770.85 - 978 8322.13 1.25 2.59 0.076 2450.00 142.7 3.86 0.123 3472.06 333.2 77.86 73.11 1.913 2179.88 -4.4 0.309 - - - - - - 15.24 14.87 12.28
8393.75 757.36 9.58 1009 8400.63 roll 1.25 - - 2450.56 - 3.31 0.057 2183.19 -389.4 77.86 - - 2175.59 - - - - - - - - - 15.25 -
8699.99 744.15 6.41 1040 8705.96 done 1.30 - - 2449.62 - 4.13 0.139 736.00 -350.4 77.86 - - 2171.78 - - - - - - - - - 15.46 -
8929.05 721.77 11.15 1086 8935.84 done 1.30 - - 2450.12 - 3.69 0.053 2219.12 401.9 77.86 - - 2169.09 - - - - - - - - - 15.63 -
9235.15 693.21 7.49 1117 9240.74 done 1.32 - - 2450.12 - 3.55 0.122 3475.06 353.8 77.86 - - 2165.62 - - - - - - - - - 15.57 -
9300.18 688.69 7.18 1130 9304.69 done 1.34 - - 2450.62 - 3.18 0.056 2181.31 -406.8 77.86 - - 2165.94 - - - - - - - - - 15.68 -
9610.21 669.09 5.48 1162 9644.81 1.45 0.27 0.089 2503.19 194.7 - - 2181.38 - 114.58 32.69 1.806 2034.12 -4.0 0.260 - - - - - - 15.69 - 11.95
9950.24 637.02 10.58 1197 9956.08 done 1.45 - - 2504.31 - 4.11 0.138 736.88 -351.5 114.58 - - 2025.19 - - - - - - - - - 15.52 -
10015.32 628.12 13.01 1210 10020.97 done 1.45 - - 2504.44 - 3.70 0.053 2218.62 400.5 114.58 - - 2022.56 - - - - - - - - - 15.57 -
10320.29 593.26 10.86 1241 10325.88 done 1.45 - - 2503.38 - 3.51 0.123 3471.88 357.1 114.58 - - 2024.00 - - - - - - - - - 15.60 -
10365.30 588.03 11.80 1250 10369.82 done 1.45 - - 2504.38 - 3.19 0.056 2182.88 -404.1 114.58 - - 2025.09 - - - - - - - - - 15.69 -
10675.33 554.99 10.33 1282 10676.67 VBD 1.45 - - 2503.56 - - - 2183.31 - 114.58 - - 2022.94 - - - - - - - - - - -
10975.36 524.35 10.97 1312 10981.33 done 1.45 - - 2503.56 - 4.07 0.136 736.38 -355.5 114.58 - - 2020.38 - - - - - - - - - 15.61 -
11034.36 517.42 12.02 1324 11041.15 done 1.45 - - 2504.06 - 3.65 0.053 2220.25 406.5 114.58 - - 2023.00 - - - - - - - - - 15.76 -
11340.42 488.14 8.56 1355 11341.75 VBD 1.45 - - 2503.69 - - - 2220.12 - 114.58 - - 2020.03 - - - - - - - - - - -
11640.44 463.00 8.53 1385 11641.77 VBD 1.45 - - 2504.69 - - - 2220.06 - 114.58 - - 2021.59 - - - - - - - - - - -
11940.48 435.12 9.49 1415 11946.29 done 1.45 - - 2504.06 - 4.17 0.134 736.81 -355.7 114.58 - - 2021.66 - - - - - - - - - 15.62 -
12145.54 413.03 10.54 1456 12151.15 done 1.45 - - 2503.44 - 3.65 0.053 2220.94 406.6 114.58 - - 2020.59 - - - - - - - - - 15.68 -
12450.57 385.84 8.63 1487 12451.90 VBD 1.45 - - 2503.75 - - - 2221.56 - 114.58 - - 2018.56 - - - - - - - - - - -
12750.59 360.31 7.70 1517 12751.92 VBD 1.45 - - 2503.88 - - - 2221.31 - 114.58 - - 2019.97 - - - - - - - - - - -
13050.64 336.90 7.51 1547 13051.97 VBD 1.47 - - 2504.12 - - - 2221.31 - 114.58 - - 2019.62 - - - - - - - - - - -
13350.66 313.88 8.16 1577 13351.99 VBD 1.47 - - 2504.50 - - - 2220.94 - 114.58 - - 2018.53 - - - - - - - - - - -
13650.72 289.32 8.00 1607 13652.05 VBD 1.47 - - 2504.44 - - - 2221.62 - 114.58 - - 2019.44 - - - - - - - - - - -
13950.80 266.72 6.99 1637 13952.13 VBD 1.50 - - 2502.88 - - - 2221.12 - 114.58 - - 2021.38 - - - - - - - - - - -
14250.86 244.47 7.19 1667 14252.19 VBD 1.53 - - 2504.19 - - - 2220.88 - 114.58 - - 2019.41 - - - - - - - - - - -
14550.93 222.47 7.25 1697 14556.78 done 1.55 - - 2504.00 - 4.17 0.128 735.75 -356.1 114.58 - - 2019.75 - - - - - - - - - 15.60 -
14606.03 217.62 9.02 1708 14611.71 done 1.55 - - 2504.31 - 3.66 0.051 2222.94 406.3 114.58 - - 2019.59 - - - - - - - - - 15.66 -
14911.03 197.28 6.64 1739 14912.36 VBD 1.59 - - 2503.88 - - - 2223.62 - 114.58 - - 2018.06 - - - - - - - - - - -
15211.08 177.08 7.02 1769 15212.55 1.63 0.19 0.089 2541.88 200.0 - - 2223.50 - 114.58 - - 2019.34 - - - - - - - - 15.74 - -
15511.14 156.40 6.65 1799 15516.91 done 1.67 - - 2542.69 - 4.16 0.125 735.19 -357.8 114.58 - - 2017.34 - - - - - - - - - 15.59 -
15656.18 144.33 8.35 1828 15661.81 done 1.67 - - 2542.06 - 3.65 0.050 2223.38 407.7 114.58 - - 2017.56 - - - - - - - - - 15.64 -
15961.23 126.65 5.43 1859 15998.79 1.78 0.19 0.088 2581.81 209.2 4.16 0.125 736.12 -357.5 151.92 31.10 1.212 1878.12 -4.5 0.082 - - - - - - 15.74 15.56 11.70
16006.63 123.67 6.09 1865 16012.25 roll 1.84 - - 2582.56 - 3.67 0.047 2224.94 405.7 151.92 - - 1878.12 - - - - - - - - - 15.63 -
16311.68 96.30 9.18 1899 16317.54 roll 1.84 - - 2582.44 - 3.49 0.111 3472.75 357.5 151.92 - - 1876.31 - - - - - - - - - 15.57 -
16351.69 92.39 9.77 1907 16357.37 roll 1.84 - - 2582.62 - 3.18 0.049 2176.81 -407.5 151.92 - - 1874.50 - - - - - - - - - 15.65 -
16536.77 80.79 4.86 1944 16583.52 1.97 0.23 0.082 2626.44 190.5 4.00 0.125 735.75 -360.3 197.48 38.85 1.143 1695.44 -4.6 0.057 - - - - - - 15.64 15.42 12.03
16806.88 62.53 4.63 1998 16853.58 2.12 0.18 0.085 2666.00 219.8 3.65 0.046 2228.75 409.0 246.32 41.48 1.110 1497.03 -4.8 0.047 - - - - - - 15.40 15.57 12.01
17031.96 50.77 7.42 2043 17037.79 roll 2.14 - - 2665.44 - 4.16 0.121 736.25 -358.8 246.32 - - 1490.66 - - - - - - - - - 15.40 -
17262.02 25.03 12.33 2089 17267.80 roll 2.14 - - 2665.06 - 3.65 0.047 2224.19 407.7 246.32 - - 1490.94 - - - - - - - - - 15.61 -
17447.11 5.87 8.19 2126 17452.96 roll 2.14 - - 2666.38 - 4.12 0.120 735.75 -361.3 246.32 - - 1487.97 - - - - - - - - - 15.51 -
17486 end climb: SURFACE_DEPTH_REACHED
17487 begin surface coast
17501 end surface coast: CONTROL_FINISHED_OK
17502 begin surface
SM 0.47 - - - - 176.4 - 0.014 768.4 - 17.00 0.078 763.7 44.9 - 3.33 0.043 773.1 230.9 -0.258 - - 30.36 15.57 15.67 -