NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 104 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 35.04 of 350.00 AH used of 24V (89.99% remains)
• Surface angle -65.8 deg, depth 1.17 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.82 (SM_CC=425)
• GPS1 time: 31 s
• GPS2 time: 2 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
6.39 - - - 78.07 VBD -1.25 - - 177.75 - - - 2117.00 - -77.86 71.12 0.005 2415.19 - - - - - - - - - - 15.64
78.39 3.97 -5.65 9 110.21 -1.25 13.60 0.268 1836.62 122.0 3.48 0.130 3475.31 390.3 -77.86 9.33 0.007 2816.50 43.0 -4.076 - - - - - - 15.60 15.62 15.67
162.99 25.21 -23.42 26 168.70 roll -1.25 - - 1835.12 - 3.47 0.067 2084.69 -400.8 -77.86 - - 2817.88 - - - - - - - - - 15.72 -
348.03 60.71 -14.08 63 353.77 roll -1.25 - - 1835.81 - 3.56 0.123 3473.31 390.1 -77.86 - - 2817.81 - - - - - - - - - 15.78 -
453.12 76.69 -15.08 84 458.80 roll -1.25 - - 1836.44 - 3.45 0.065 2084.06 -402.7 -77.86 - - 2818.66 - - - - - - - - - 15.81 -
638.12 96.68 -9.25 121 643.96 roll -1.25 - - 1836.12 - 3.94 0.168 663.25 -360.6 -77.86 - - 2817.66 - - - - - - - - - 15.82 -
732.07 107.49 -11.87 140 738.88 roll -1.25 - - 1836.19 - 3.47 0.063 2120.38 419.9 -77.86 - - 2818.94 - - - - - - - - - 15.87 -
1038.17 137.33 -9.17 171 1043.93 roll -1.25 - - 1836.56 - 4.05 0.166 662.31 -360.0 -77.86 - - 2817.34 - - - - - - - - - 15.89 -
1243.25 161.98 -13.16 212 1247.81 roll -1.25 - - 1836.62 - 3.47 0.067 2116.38 419.0 -77.86 - - 2818.53 - - - - - - - - - 15.93 -
1553.26 195.79 -11.42 244 1559.02 roll -1.25 - - 1836.25 - 4.04 0.166 662.25 -359.9 -77.86 - - 2817.50 - - - - - - - - - 15.93 -
1648.28 208.68 -13.61 263 1652.86 roll -1.25 - - 1836.69 - 3.45 0.067 2121.31 422.9 -77.86 - - 2820.22 - - - - - - - - - 15.97 -
1958.31 242.32 -10.22 295 1964.07 roll -1.25 - - 1836.62 - 4.03 0.167 663.25 -361.8 -77.86 - - 2817.03 - - - - - - - - - 15.97 -
2013.33 249.51 -13.17 306 2017.90 roll -1.25 - - 1836.81 - 3.43 0.065 2121.56 425.2 -77.86 - - 2819.47 - - - - - - - - - 16.01 -
2323.34 283.78 -11.41 338 2329.10 roll -1.25 - - 1836.56 - 4.01 0.169 662.44 -363.9 -77.86 - - 2817.72 - - - - - - - - - 15.98 -
2378.36 290.95 -13.10 349 2382.92 roll -1.25 - - 1836.50 - 3.45 0.065 2120.31 422.6 -77.86 - - 2819.59 - - - - - - - - - 16.01 -
2688.37 326.33 -10.49 381 2694.13 roll -1.25 - - 1836.19 - 4.01 0.170 662.44 -363.6 -77.86 - - 2818.84 - - - - - - - - - 16.01 -
2773.37 337.25 -12.99 398 2777.96 roll -1.25 - - 1836.62 - 3.45 0.067 2120.88 422.7 -77.86 - - 2820.03 - - - - - - - - - 16.04 -
3083.40 369.76 -10.02 430 3084.73 no move -1.25 - - 1836.81 - - - 2120.94 - -77.86 - - 2818.78 - - - - - - - - - - -
3383.41 398.60 -8.74 460 3389.18 roll -1.25 - - 1836.25 - 4.03 0.173 663.31 -361.7 -77.86 - - 2816.06 - - - - - - - - - 16.03 -
3592.31 423.90 -11.64 502 3599.19 roll -1.25 - - 1836.25 - 3.46 0.071 2117.88 420.4 -77.86 - - 2818.03 - - - - - - - - - 16.06 -
3898.49 456.36 -10.78 533 3904.24 roll -1.25 - - 1836.50 - 4.02 0.175 663.50 -361.8 -77.86 - - 2816.03 - - - - - - - - - 16.04 -
4003.49 470.02 -13.22 554 4008.16 roll -1.25 - - 1837.12 - 3.47 0.070 2118.88 419.4 -77.86 - - 2817.59 - - - - - - - - - 16.07 -
4313.52 501.86 -9.16 586 4314.84 no move -1.25 - - 1836.50 - - - 2119.31 - -77.86 - - 2817.28 - - - - - - - - - - -
4613.54 528.53 -8.70 616 4619.32 roll -1.25 - - 1836.12 - 4.04 0.180 662.50 -360.6 -77.86 - - 2814.84 - - - - - - - - - 16.05 -
4752.41 544.20 -11.86 644 4759.31 roll -1.25 - - 1836.56 - 3.46 0.077 2119.31 421.0 -77.86 - - 2817.31 - - - - - - - - - 16.08 -
5058.60 573.35 -9.75 675 5064.35 roll -1.25 - - 1836.06 - 4.03 0.180 663.44 -361.3 -77.86 - - 2813.91 - - - - - - - - - 16.06 -
5107.46 578.50 -11.76 685 5114.33 roll -1.25 - - 1836.44 - 3.46 0.076 2116.00 419.8 -77.86 - - 2815.84 - - - - - - - - - 16.10 -
5413.61 605.18 -7.88 716 5419.38 roll -1.25 - - 1836.69 - 4.03 0.183 664.50 -360.2 -77.86 - - 2814.31 - - - - - - - - - 16.06 -
5508.63 615.19 -9.87 735 5513.29 roll -1.25 - - 1835.06 - 3.45 0.078 2117.88 421.3 -77.86 - - 2816.06 - - - - - - - - - 16.10 -
5818.69 641.48 -7.46 767 5824.45 roll -1.25 - - 1836.44 - 4.04 0.184 663.06 -360.1 -77.86 - - 2813.44 - - - - - - - - - 16.06 -
5887.70 648.19 -10.12 781 5894.46 roll -1.25 - - 1836.12 - 3.49 0.079 2118.94 417.2 -77.86 - - 2814.34 - - - - - - - - - 16.10 -
6193.76 674.14 -9.20 812 6199.52 roll -1.25 - - 1836.06 - 4.06 0.185 663.94 -358.4 -77.86 - - 2813.47 - - - - - - - - - 16.07 -
6302.64 686.10 -10.44 834 6309.53 roll -1.25 - - 1836.25 - 3.45 0.081 2117.38 421.3 -77.86 - - 2813.56 - - - - - - - - - 16.10 -
6608.85 714.88 -10.18 865 6610.18 no move -1.25 - - 1836.25 - - - 2118.06 - -77.86 - - 2813.25 - - - - - - - - - - -
6908.90 741.77 -8.76 895 6913.55 roll -1.25 - - 1835.50 - 3.42 0.146 3474.19 396.5 -77.86 - - 2814.16 - - - - - - - - - 16.09 -
6948.92 745.11 -9.35 903 6953.55 roll -1.25 - - 1835.69 - 3.39 0.080 2085.06 -409.8 -77.86 - - 2813.19 - - - - - - - - - 16.11 -
7258.97 769.04 -6.73 935 7260.30 no move -1.25 - - 1836.25 - - - 2085.19 - -77.86 - - 2812.47 - - - - - - - - - - -
7559.02 790.28 -6.04 965 7560.35 no move -1.25 - - 1836.00 - - - 2085.31 - -77.86 - - 2812.41 - - - - - - - - - - -
7859.05 811.52 -7.65 995 7864.82 roll -1.25 - - 1836.44 - 4.01 0.196 664.06 -354.4 -77.86 - - 2809.31 - - - - - - - - - 16.07 -
8088.10 833.56 -9.29 1041 8095.02 roll -1.25 - - 1835.88 - 3.47 0.088 2116.88 418.7 -77.86 - - 2810.69 - - - - - - - - - 16.11 -
8394.17 857.21 -7.65 1072 8399.94 roll -1.25 - - 1836.38 - 4.07 0.193 663.31 -357.1 -77.86 - - 2811.03 - - - - - - - - - 16.07 -
8469.25 863.92 -9.54 1087 8473.84 roll -1.25 - - 1836.31 - 3.45 0.085 2115.75 421.0 -77.86 - - 2811.66 - - - - - - - - - 16.12 -
8779.21 887.49 -7.14 1119 8784.97 roll -1.25 - - 1834.75 - 4.07 0.194 664.31 -356.6 -77.86 - - 2810.62 - - - - - - - - - 16.07 -
8858.14 894.55 -8.51 1135 8864.96 roll -1.25 - - 1836.31 - 3.46 0.088 2115.69 419.5 -77.86 - - 2809.94 - - - - - - - - - 16.11 -
9164.24 918.02 -8.43 1166 9165.57 no move -1.25 - - 1835.81 - - - 2116.25 - -77.86 - - 2810.00 - - - - - - - - - - -
9464.27 941.15 -5.84 1196 9465.60 no move -1.25 - - 1836.56 - - - 2116.00 - -77.86 - - 2808.62 - - - - - - - - - - -
9764.28 963.98 -6.39 1226 9768.91 roll -1.25 - - 1835.88 - 3.40 0.152 3473.00 399.1 -77.86 - - 2809.34 - - - - - - - - - 16.09 -
9858.25 971.29 -7.51 1245 9865.16 roll -1.25 - - 1836.00 - 3.42 0.088 2088.75 -404.8 -77.86 - - 2809.00 - - - - - - - - - 16.11 -
10114 end dive: TARGET_DEPTH_EXCEEDED
10114 begin apogee
10115.54 990.23 -7.13 1271 10186.08 -0.25 1.72 0.163 2081.19 142.6 0.07 0.333 2186.19 1392.0 - 64.83 2.276 2497.97 -4.8 0.349 - - - - - - 16.06 15.59 13.16
10189 end apogee: CONTROL_FINISHED_OK
10189 begin climb
10189.27 991.18 - 1278 10266.48 1.25 2.51 0.104 2445.12 145.0 - - 2186.69 - 77.86 72.69 2.229 2182.00 -4.3 0.323 - - - - - - 15.63 - 12.94
10564.41 957.99 8.97 1316 10568.91 done 1.25 - - 2446.00 - 3.34 0.148 3473.31 385.2 77.86 - - 2170.28 - - - - - - - - - 15.65 -
10794.40 933.84 11.25 1362 10798.94 done 1.25 - - 2447.25 - 3.22 0.076 2184.25 -400.3 77.86 - - 2168.03 - - - - - - - - - 15.76 -
11104.42 906.13 8.25 1394 11109.09 done 1.25 - - 2446.81 - 3.30 0.145 3473.31 390.6 77.86 - - 2165.56 - - - - - - - - - 15.83 -
11304.47 884.42 10.50 1434 11308.99 done 1.25 - - 2446.50 - 3.19 0.074 2183.25 -404.4 77.86 - - 2165.47 - - - - - - - - - 15.89 -
11614.50 857.93 7.77 1466 11615.83 VBD 1.25 - - 2446.44 - - - 2183.25 - 77.86 - - 2163.62 - - - - - - - - - - -
11914.52 833.56 8.89 1496 11915.85 VBD 1.25 - - 2446.56 - - - 2182.88 - 77.86 - - 2161.94 - - - - - - - - - - -
12214.56 809.28 8.88 1526 12220.37 done 1.25 - - 2445.06 - 3.96 0.166 737.44 -365.0 77.86 - - 2161.88 - - - - - - - - - 15.96 -
12299.58 800.71 11.87 1543 12305.16 done 1.25 - - 2447.38 - 3.49 0.071 2217.25 424.0 77.86 - - 2158.69 - - - - - - - - - 16.00 -
12604.62 773.54 7.30 1574 12609.27 done 1.27 - - 2447.50 - 3.15 0.147 3474.06 399.0 77.86 - - 2161.88 - - - - - - - - - 15.99 -
12724.70 763.58 8.47 1598 12729.19 done 1.27 - - 2447.31 - 3.14 0.074 2180.81 -411.9 77.86 - - 2160.53 - - - - - - - - - 16.02 -
13034.70 740.83 7.22 1630 13039.38 done 1.30 - - 2447.94 - 3.23 0.146 3474.88 400.6 77.86 - - 2162.00 - - - - - - - - - 16.01 -
13174.75 729.37 8.41 1658 13179.28 done 1.30 - - 2447.25 - 3.16 0.073 2182.44 -409.0 77.86 - - 2161.25 - - - - - - - - - 16.03 -
13484.90 709.13 6.55 1690 13489.49 done 1.34 - - 2447.69 - 3.21 0.143 3475.56 402.8 77.86 - - 2161.28 - - - - - - - - - 16.03 -
13544.85 704.79 6.67 1702 13549.42 1.39 0.17 0.117 2482.69 205.9 3.19 0.070 2182.31 -405.4 77.86 - - 2160.25 - - - - - - - - 16.02 16.05 -
13854.90 679.40 8.77 1734 13860.64 done 1.39 - - 2482.12 - 3.91 0.159 736.62 -369.7 77.86 - - 2158.84 - - - - - - - - - 16.03 -
14033.82 660.58 10.66 1770 14040.70 done 1.39 - - 2484.12 - 3.43 0.070 2220.06 432.5 77.86 - - 2159.16 - - - - - - - - - 16.05 -
14340.04 635.98 7.54 1801 14344.54 done 1.40 - - 2483.50 - 3.13 0.144 3474.62 400.8 77.86 - - 2160.12 - - - - - - - - - 16.05 -
14570.11 616.11 8.18 1847 14574.63 done 1.40 - - 2484.19 - 3.12 0.072 2181.94 -414.3 77.86 - - 2159.66 - - - - - - - - - 16.07 -
14880.17 594.40 6.57 1879 14881.50 VBD 1.45 - - 2484.31 - - - 2182.25 - 77.86 - - 2157.34 - - - - - - - - - - -
15180.19 574.92 5.99 1909 15204.86 1.53 0.16 0.114 2516.44 200.8 - - 2182.44 - 107.21 23.86 1.744 2062.41 -4.0 0.219 - - - - - - 16.06 - 13.20
15505.22 544.32 10.84 1943 15510.96 roll 1.53 - - 2519.06 - 3.91 0.156 735.69 -370.0 107.21 - - 2056.31 - - - - - - - - - 15.96 -
15590.24 533.75 12.48 1960 15594.83 roll 1.53 - - 2519.38 - 3.46 0.068 2217.56 428.3 107.21 - - 2056.19 - - - - - - - - - 15.98 -
15900.29 502.77 10.19 1992 15904.81 roll 1.53 - - 2519.25 - 3.13 0.140 3474.69 401.6 107.21 - - 2055.56 - - - - - - - - - 16.00 -
16040.31 487.17 11.94 2020 16045.05 roll 1.53 - - 2519.06 - 3.18 0.070 2181.38 -406.7 107.21 - - 2056.88 - - - - - - - - - 16.02 -
16350.36 456.22 10.38 2052 16351.69 no move 1.53 - - 2518.81 - - - 2181.38 - 107.21 - - 2055.62 - - - - - - - - - - -
16650.38 428.24 9.14 2082 16651.71 no move 1.53 - - 2519.75 - - - 2181.75 - 107.21 - - 2054.44 - - - - - - - - - - -
16950.43 402.55 8.67 2112 16956.13 roll 1.53 - - 2518.81 - 3.79 0.154 736.56 -381.3 107.21 - - 2053.00 - - - - - - - - - 16.03 -
17079.29 389.14 10.57 2138 17086.19 done 1.53 - - 2519.75 - 3.45 0.067 2222.00 430.6 107.21 - - 2055.22 - - - - - - - - - 16.05 -
17385.49 365.14 7.75 2169 17390.01 done 1.53 - - 2518.00 - 3.12 0.138 3474.25 401.4 107.21 - - 2055.72 - - - - - - - - - 16.05 -
17615.56 345.85 7.57 2215 17620.08 done 1.53 - - 2519.50 - 3.16 0.067 2180.88 -409.3 107.21 - - 2054.50 - - - - - - - - - 16.07 -
17925.70 323.12 7.72 2247 17927.03 VBD 1.53 - - 2519.44 - - - 2180.94 - 107.21 - - 2055.09 - - - - - - - - - - -
18225.65 302.62 6.65 2277 18230.26 done 1.58 - - 2519.44 - 3.26 0.134 3474.62 396.8 107.21 - - 2055.16 - - - - - - - - - 16.06 -
18315.69 295.68 8.34 2295 18320.35 done 1.58 - - 2520.06 - 3.14 0.066 2178.75 -412.7 107.21 - - 2055.00 - - - - - - - - - 16.08 -
18625.76 274.55 6.79 2327 18631.47 done 1.61 - - 2519.50 - 3.84 0.149 736.00 -375.7 107.21 - - 2054.81 - - - - - - - - - 16.03 -
18814.68 258.31 8.67 2365 18821.56 done 1.61 - - 2519.75 - 3.46 0.064 2222.50 429.6 107.21 - - 2053.75 - - - - - - - - - 16.08 -
19120.91 236.57 7.53 2396 19122.24 VBD 1.63 - - 2519.44 - - - 2222.50 - 107.21 - - 2053.94 - - - - - - - - - - -
19420.97 215.20 7.13 2426 19422.30 VBD 1.66 - - 2519.38 - - - 2222.56 - 107.21 - - 2054.06 - - - - - - - - - - -
19721.01 192.89 7.07 2456 19725.64 1.69 0.17 0.107 2559.19 234.2 3.12 0.133 3474.25 401.2 107.21 - - 2053.88 - - - - - - - - 16.07 16.07 -
19834.89 183.30 8.21 2479 19841.75 done 1.69 - - 2555.88 - 3.15 0.064 2178.44 -411.4 107.21 - - 2055.03 - - - - - - - - - 16.08 -
20141.13 162.43 6.83 2510 20142.46 VBD 1.72 - - 2557.75 - - - 2178.75 - 107.21 - - 2054.19 - - - - - - - - - - -
20441.16 138.20 8.92 2540 20445.72 done 1.72 - - 2557.56 - 3.24 0.129 3475.50 400.2 107.21 - - 2053.91 - - - - - - - - - 16.07 -
20671.24 119.87 7.78 2586 20675.76 done 1.72 - - 2558.56 - 3.14 0.062 2178.62 -413.0 107.21 - - 2053.53 - - - - - - - - - 16.08 -
20981.28 102.77 5.98 2618 21012.62 done 1.81 - - 2558.06 - 3.82 0.145 735.75 -377.7 136.71 25.22 1.209 1942.22 -4.4 0.063 - - - - - - - 15.92 13.22
21066.30 97.38 7.07 2635 21072.07 roll back 1.84 0.17 0.107 2595.44 219.9 3.49 0.060 2224.50 426.6 136.71 - - 1937.81 - - - - - - - - 15.95 15.97 -
21251.35 89.45 3.82 2672 21308.12 2.02 0.22 0.100 2636.94 188.6 3.19 0.129 3473.56 391.6 197.14 49.33 1.204 1695.09 -4.9 0.061 - - - - - - 15.98 15.75 13.20
21396.35 76.28 12.05 2701 21402.06 roll 2.02 - - 2636.88 - 3.20 0.061 2181.31 -403.8 197.14 - - 1690.28 - - - - - - - - - 15.83 -
21581.39 57.19 7.55 2738 21587.20 done 2.02 - - 2636.00 - 3.92 0.142 736.69 -368.5 197.14 - - 1688.38 - - - - - - - - - 15.86 -
21811.51 41.99 6.61 2784 21817.19 done 2.06 - - 2637.38 - 3.52 0.061 2225.19 422.9 197.14 - - 1687.72 - - - - - - - - - 15.91 -
21996.49 39.73 0.67 2821 22082.81 2.38 0.51 0.077 2723.50 168.9 - - 2225.50 - 302.43 82.57 1.139 1266.84 -5.1 0.030 - - - - - - 15.91 - 13.12
22261.59 22.61 8.78 2874 22267.34 roll 2.38 - - 2723.88 - 4.09 0.138 735.62 -364.3 302.43 - - 1260.47 - - - - - - - - - 15.73 -
22331.52 14.75 12.26 2888 22337.28 roll 2.38 - - 2723.00 - 3.52 0.057 2224.94 423.1 302.43 - - 1259.81 - - - - - - - - - 15.76 -
22456 end climb: SURFACE_DEPTH_REACHED
22456 begin surface coast
22476 end surface coast: CONTROL_FINISHED_OK
22476 begin surface
SM 1.12 - - - - 177.8 - 0.015 768.2 - 16.30 0.080 773.1 47.4 - 0.34 0.095 763.2 2234.4 -2.692 - - 30.36 15.78 15.82 -