NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 110 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 36.94 of 575.00 AH used of 24V (93.58% remains)
• Surface angle -62.6 deg, depth 1.04 m • Intended pitch -20.4 deg, speed -8.049 cm/s
• VBD pumped to 424.94 (SM_CC=425)
• GPS1 time: 60 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
6.40 - - - 76.83 VBD -1.25 - - 175.31 - - - 2080.25 - -77.86 69.93 0.005 2375.19 - - - - - - - - - - 15.65
77.11 3.53 -4.47 9 109.03 -1.25 13.54 0.262 1835.69 122.6 3.67 0.126 3473.25 379.6 -77.86 10.77 0.007 2815.75 40.9 -3.417 - - - - - - 15.61 15.64 15.68
271.82 47.41 -17.26 48 277.57 roll -1.25 - - 1835.94 - 3.48 0.066 2086.31 -398.5 -77.86 - - 2816.69 - - - - - - - - - 15.78 -
456.88 72.54 -13.47 85 462.73 roll -1.25 - - 1836.12 - 4.03 0.167 663.38 -353.1 -77.86 - - 2817.72 - - - - - - - - - 15.79 -
481.90 76.10 -14.21 90 487.64 roll -1.25 - - 1835.56 - 3.54 0.060 2119.25 411.3 -77.86 - - 2817.56 - - - - - - - - - 15.82 -
666.96 96.94 -9.72 127 668.28 no move -1.25 - - 1835.81 - - - 2119.38 - -77.86 - - 2818.28 - - - - - - - - - - -
852.00 114.56 -9.20 149 856.65 roll -1.25 - - 1836.25 - 3.51 0.124 3473.75 385.9 -77.86 - - 2818.34 - - - - - - - - - 15.88 -
912.02 120.75 -10.77 161 916.67 roll -1.25 - - 1835.94 - 3.43 0.063 2082.62 -405.6 -77.86 - - 2819.22 - - - - - - - - - 15.90 -
1222.06 151.49 -9.56 193 1226.74 roll -1.25 - - 1835.88 - 3.55 0.125 3474.12 392.0 -77.86 - - 2817.16 - - - - - - - - - 15.94 -
1282.10 158.41 -12.54 205 1286.74 roll -1.25 - - 1835.38 - 3.42 0.067 2083.69 -406.6 -77.86 - - 2819.44 - - - - - - - - - 15.94 -
1592.14 192.21 -10.25 237 1593.46 no move -1.25 - - 1835.88 - - - 2084.06 - -77.86 - - 2818.94 - - - - - - - - - - -
1892.15 225.23 -11.72 267 1893.48 no move -1.25 - - 1835.94 - - - 2084.06 - -77.86 - - 2818.66 - - - - - - - - - - -
2192.18 260.76 -11.85 297 2193.50 no move -1.25 - - 1835.62 - - - 2083.88 - -77.86 - - 2818.81 - - - - - - - - - - -
2492.20 294.60 -11.36 327 2497.95 roll -1.25 - - 1835.88 - 3.98 0.171 663.44 -356.9 -77.86 - - 2817.56 - - - - - - - - - 16.00 -
2647.25 315.20 -12.73 358 2651.93 roll -1.25 - - 1835.88 - 3.52 0.066 2118.56 413.4 -77.86 - - 2819.19 - - - - - - - - - 16.04 -
2957.27 347.87 -10.58 390 2963.04 roll -1.25 - - 1836.31 - 4.03 0.168 663.12 -361.2 -77.86 - - 2815.94 - - - - - - - - - 16.02 -
3022.36 356.14 -13.20 403 3026.95 roll -1.25 - - 1835.81 - 3.48 0.066 2118.06 418.1 -77.86 - - 2816.59 - - - - - - - - - 16.04 -
3332.31 390.03 -10.78 435 3336.96 roll -1.25 - - 1835.50 - 3.49 0.133 3471.50 387.8 -77.86 - - 2818.75 - - - - - - - - - 16.04 -
3412.33 399.92 -13.09 451 3417.00 roll -1.25 - - 1835.38 - 3.42 0.069 2082.81 -406.0 -77.86 - - 2817.88 - - - - - - - - - 16.05 -
3722.34 434.32 -10.63 483 3728.09 roll -1.25 - - 1835.94 - 3.97 0.177 662.00 -357.9 -77.86 - - 2817.31 - - - - - - - - - 16.04 -
3801.27 444.77 -14.16 499 3808.11 roll -1.25 - - 1834.94 - 3.47 0.069 2117.75 419.5 -77.86 - - 2819.09 - - - - - - - - - 16.07 -
4107.38 478.27 -11.17 530 4113.15 roll -1.25 - - 1836.25 - 4.05 0.175 663.00 -359.2 -77.86 - - 2814.25 - - - - - - - - - 16.04 -
4196.24 489.03 -12.26 548 4203.16 roll -1.25 - - 1835.50 - 3.54 0.072 2119.06 411.3 -77.86 - - 2816.75 - - - - - - - - - 16.06 -
4502.42 517.88 -8.90 579 4503.75 no move -1.25 - - 1835.69 - - - 2119.06 - -77.86 - - 2815.88 - - - - - - - - - - -
4802.44 543.34 -8.79 609 4808.20 roll -1.25 - - 1835.06 - 4.06 0.179 663.19 -358.6 -77.86 - - 2815.31 - - - - - - - - - 16.06 -
4891.31 552.28 -10.51 627 4898.23 roll -1.25 - - 1836.12 - 3.51 0.074 2117.25 414.3 -77.86 - - 2814.72 - - - - - - - - - 16.09 -
5197.49 577.50 -8.11 658 5203.25 roll -1.25 - - 1834.88 - 4.07 0.181 663.19 -357.3 -77.86 - - 2815.38 - - - - - - - - - 16.06 -
5242.50 582.18 -10.84 667 5247.16 roll -1.25 - - 1835.12 - 3.49 0.074 2117.00 416.6 -77.86 - - 2814.75 - - - - - - - - - 16.09 -
5552.52 611.30 -9.31 699 5558.28 roll -1.25 - - 1836.31 - 4.07 0.180 663.06 -357.2 -77.86 - - 2813.41 - - - - - - - - - 16.06 -
5601.47 616.94 -10.73 709 5608.29 roll -1.25 - - 1835.38 - 3.53 0.074 2117.81 412.1 -77.86 - - 2814.34 - - - - - - - - - 16.09 -
5907.56 648.22 -10.51 740 5908.88 no move -1.25 - - 1835.69 - - - 2117.75 - -77.86 - - 2812.28 - - - - - - - - - - -
6207.57 681.28 -10.31 770 6208.90 no move -1.25 - - 1836.00 - - - 2117.38 - -77.86 - - 2814.22 - - - - - - - - - - -
6507.60 712.64 -10.04 800 6508.93 no move -1.25 - - 1835.69 - - - 2117.62 - -77.86 - - 2811.41 - - - - - - - - - - -
6807.62 738.87 -7.96 830 6808.95 no move -1.25 - - 1835.75 - - - 2117.75 - -77.86 - - 2812.47 - - - - - - - - - - -
7107.66 762.91 -7.90 860 7113.44 roll -1.25 - - 1834.88 - 4.09 0.189 664.25 -355.4 -77.86 - - 2811.72 - - - - - - - - - 16.07 -
7172.78 769.57 -11.79 873 7178.37 roll -1.25 - - 1835.25 - 3.54 0.083 2115.06 409.8 -77.86 - - 2811.56 - - - - - - - - - 16.11 -
7477.74 796.46 -10.26 904 7479.07 no move -1.25 - - 1835.56 - - - 2116.25 - -77.86 - - 2809.16 - - - - - - - - - - -
7777.79 823.43 -8.55 934 7783.56 roll -1.25 - - 1835.88 - 4.07 0.191 664.75 -356.6 -77.86 - - 2808.38 - - - - - - - - - 16.07 -
7843.02 829.99 -9.97 947 7848.50 roll -1.25 - - 1835.56 - 3.56 0.083 2115.38 407.5 -77.86 - - 2808.97 - - - - - - - - - 16.11 -
8147.87 855.07 -8.30 978 8153.64 roll -1.25 - - 1835.88 - 4.05 0.192 663.25 -358.6 -77.86 - - 2808.44 - - - - - - - - - 16.07 -
8226.82 862.56 -9.31 994 8233.65 roll -1.25 - - 1835.06 - 3.55 0.083 2115.31 409.0 -77.86 - - 2811.69 - - - - - - - - - 16.10 -
8532.95 887.89 -7.89 1025 8534.27 no move -1.25 - - 1835.38 - - - 2114.75 - -77.86 - - 2808.28 - - - - - - - - - - -
8832.99 911.69 -7.79 1055 8838.76 roll -1.25 - - 1834.81 - 4.07 0.194 663.38 -356.6 -77.86 - - 2809.75 - - - - - - - - - 16.06 -
8898.11 918.07 -10.34 1068 8903.84 roll -1.25 - - 1836.06 - 3.51 0.086 2114.12 413.3 -77.86 - - 2809.62 - - - - - - - - - 16.11 -
9203.28 942.51 -6.65 1099 9204.61 no move -1.25 - - 1835.56 - - - 2114.19 - -77.86 - - 2809.50 - - - - - - - - - - -
9503.12 965.09 -7.55 1129 9507.79 roll -1.25 - - 1835.88 - 3.57 0.149 3473.81 380.8 -77.86 - - 2807.56 - - - - - - - - - 16.09 -
9567.07 970.04 -7.28 1142 9573.86 roll -1.25 - - 1835.88 - 3.38 0.085 2087.75 -410.1 -77.86 - - 2809.12 - - - - - - - - - 16.11 -
9863 end dive: TARGET_DEPTH_EXCEEDED
9863 begin apogee
9864.39 990.62 -6.90 1172 9934.94 -0.25 1.74 0.164 2080.38 140.5 0.06 0.339 2187.19 1657.3 - 64.56 2.276 2498.47 -4.8 0.347 - - - - - - 16.06 15.59 13.18
9937 end apogee: CONTROL_FINISHED_OK
9937 begin climb
9938.15 991.12 - 1179 10015.28 1.25 2.50 0.103 2447.25 146.7 - - 2187.94 - 77.86 72.00 2.230 2182.16 -4.4 0.323 - - - - - - 15.64 - 12.98
10313.22 955.52 10.43 1217 10314.55 VBD 1.25 - - 2447.75 - - - 2187.56 - 77.86 - - 2169.22 - - - - - - - - - - -
10613.25 925.31 9.42 1247 10618.84 done 1.25 - - 2447.00 - 3.47 0.146 3472.38 370.3 77.86 - - 2164.50 - - - - - - - - - 15.78 -
10758.29 908.55 13.44 1276 10762.91 done 1.25 - - 2446.44 - 3.22 0.074 2184.00 -400.1 77.86 - - 2167.91 - - - - - - - - - 15.83 -
11068.32 877.59 9.38 1308 11069.65 VBD 1.25 - - 2445.38 - - - 2184.69 - 77.86 - - 2165.53 - - - - - - - - - - -
11368.35 848.61 10.20 1338 11369.69 VBD 1.25 - - 2447.44 - - - 2184.75 - 77.86 - - 2163.59 - - - - - - - - - - -
11668.39 819.94 9.27 1368 11669.73 VBD 1.25 - - 2446.94 - - - 2184.50 - 77.86 - - 2161.97 - - - - - - - - - - -
11968.43 794.36 7.64 1398 11969.76 VBD 1.25 - - 2447.19 - - - 2184.25 - 77.86 - - 2161.25 - - - - - - - - - - -
12268.47 767.56 9.21 1428 12274.22 done 1.25 - - 2446.00 - 3.97 0.163 736.50 -364.7 77.86 - - 2163.19 - - - - - - - - - 15.99 -
12367.34 757.53 9.85 1448 12374.27 done 1.25 - - 2447.69 - 3.57 0.070 2218.06 415.0 77.86 - - 2160.41 - - - - - - - - - 16.02 -
12673.53 730.39 9.66 1479 12674.86 VBD 1.25 - - 2447.00 - - - 2218.44 - 77.86 - - 2159.31 - - - - - - - - - - -
12973.56 706.00 8.07 1509 12978.13 done 1.25 - - 2446.69 - 3.33 0.143 3471.88 376.4 77.86 - - 2160.72 - - - - - - - - - 16.02 -
13123.60 692.70 8.82 1539 13128.13 done 1.25 - - 2447.44 - 3.16 0.071 2182.56 -408.0 77.86 - - 2160.38 - - - - - - - - - 16.05 -
13433.66 668.78 6.48 1571 13434.99 VBD 1.30 - - 2447.50 - - - 2183.50 - 77.86 - - 2158.84 - - - - - - - - - - -
13733.72 647.25 6.54 1601 13735.05 VBD 1.34 - - 2446.81 - - - 2183.44 - 77.86 - - 2158.91 - - - - - - - - - - -
14033.77 624.63 7.68 1631 14035.10 VBD 1.34 - - 2446.19 - - - 2182.69 - 77.86 - - 2161.00 - - - - - - - - - - -
14333.85 602.45 7.03 1661 14335.32 1.38 0.16 0.122 2483.75 234.7 - - 2183.62 - 77.86 - - 2157.28 - - - - - - - - 16.07 - -
14633.91 580.49 7.63 1691 14635.24 VBD 1.38 - - 2484.06 - - - 2183.00 - 77.86 - - 2157.84 - - - - - - - - - - -
14934.01 559.67 6.77 1721 14935.34 VBD 1.41 - - 2483.44 - - - 2183.38 - 77.86 - - 2157.84 - - - - - - - - - - -
15234.05 538.19 7.69 1751 15235.38 VBD 1.41 - - 2483.56 - - - 2183.12 - 77.86 - - 2157.91 - - - - - - - - - - -
15534.13 518.03 6.26 1781 15539.94 done 1.47 - - 2483.81 - 3.92 0.154 735.44 -369.3 77.86 - - 2157.66 - - - - - - - - - 16.07 -
15763.12 501.05 7.07 1827 15769.96 done 1.50 - - 2484.69 - 3.57 0.066 2219.06 415.6 77.86 - - 2157.84 - - - - - - - - - 16.09 -
16069.25 483.39 5.99 1858 16100.65 1.58 0.25 0.093 2532.19 190.0 4.01 0.149 735.38 -370.0 107.28 23.56 1.635 2061.94 -4.1 0.199 - - - - - - 16.09 15.91 13.15
16253.20 463.62 12.62 1895 16260.03 roll 1.58 - - 2533.00 - 3.55 0.066 2218.62 417.8 107.28 - - 2057.75 - - - - - - - - - 15.98 -
16559.31 432.47 8.97 1926 16560.64 no move 1.58 - - 2533.50 - - - 2218.62 - 107.28 - - 2055.59 - - - - - - - - - - -
16859.34 403.58 9.21 1956 16863.88 roll 1.58 - - 2533.56 - 3.30 0.135 3473.31 380.2 107.28 - - 2056.12 - - - - - - - - - 16.01 -
16953.25 393.54 10.46 1975 16960.18 roll 1.58 - - 2533.19 - 3.12 0.067 2182.00 -413.9 107.28 - - 2056.78 - - - - - - - - - 16.03 -
17259.40 366.71 8.83 2006 17260.73 no move 1.58 - - 2533.38 - - - 2181.69 - 107.28 - - 2055.69 - - - - - - - - - - -
17559.44 339.49 8.90 2036 17560.77 no move 1.58 - - 2533.44 - - - 2182.06 - 107.28 - - 2055.41 - - - - - - - - - - -
17859.47 313.50 8.93 2066 17865.14 roll 1.58 - - 2533.12 - 3.86 0.148 736.62 -374.5 107.28 - - 2053.59 - - - - - - - - - 16.02 -
17958.33 303.41 9.88 2086 17965.25 done 1.58 - - 2533.12 - 3.54 0.065 2219.81 419.0 107.28 - - 2055.41 - - - - - - - - - 16.05 -
18264.52 277.32 8.33 2117 18265.85 VBD 1.58 - - 2533.06 - - - 2219.81 - 107.28 - - 2053.53 - - - - - - - - - - -
18564.56 252.53 8.51 2147 18570.23 done 1.58 - - 2533.19 - 3.95 0.141 736.50 -375.5 107.28 - - 2054.66 - - - - - - - - - 16.05 -
18653.16 243.68 9.77 2165 18660.34 done 1.58 - - 2533.69 - 3.51 0.062 2222.50 423.4 107.28 - - 2054.84 - - - - - - - - - 16.07 -
18959.78 219.56 7.41 2196 18961.11 VBD 1.60 - - 2533.62 - - - 2222.50 - 107.28 - - 2053.06 - - - - - - - - - - -
19259.65 196.82 7.99 2226 19260.98 VBD 1.60 - - 2534.19 - - - 2222.50 - 107.28 - - 2052.72 - - - - - - - - - - -
19559.73 175.65 6.32 2256 19561.06 VBD 1.66 - - 2532.88 - - - 2221.56 - 107.28 - - 2053.12 - - - - - - - - - - -
19859.80 155.75 7.31 2286 19861.13 VBD 1.68 - - 2533.19 - - - 2222.62 - 107.28 - - 2052.84 - - - - - - - - - - -
20159.85 134.63 6.17 2316 20165.57 1.73 0.17 0.105 2570.31 218.4 3.93 0.139 735.44 -378.4 107.28 - - 2052.38 - - - - - - - - 16.07 16.06 -
20294.90 124.01 7.91 2343 20300.50 done 1.73 - - 2568.94 - 3.53 0.063 2223.62 421.6 107.28 - - 2055.31 - - - - - - - - - 16.07 -
20599.97 107.61 4.06 2374 20651.70 1.91 0.19 0.100 2609.50 213.5 3.30 0.129 3474.12 378.9 164.25 46.80 1.238 1829.00 -4.8 0.070 - - - - - - 16.07 15.82 13.20
20755.00 96.81 8.47 2405 20760.70 roll 1.91 - - 2610.75 - 3.14 0.059 2178.38 -412.7 164.25 - - 1824.25 - - - - - - - - - 15.91 -
20940.08 82.43 7.98 2442 20945.80 done 1.91 - - 2609.00 - 3.37 0.122 3472.56 384.0 164.25 - - 1823.53 - - - - - - - - - 15.93 -
21170.18 64.99 6.11 2488 21175.83 done 1.96 - - 2609.25 - 3.13 0.059 2177.81 -413.7 164.25 - - 1823.31 - - - - - - - - - 15.95 -
21355.22 61.33 1.34 2525 21437.69 2.25 0.49 0.081 2693.44 171.8 3.94 0.140 735.69 -366.0 260.05 75.49 1.168 1438.34 -5.1 0.044 - - - - - - 15.95 15.63 13.18
21495.44 49.04 16.33 2553 21501.20 roll 2.25 - - 2694.00 - 3.59 0.059 2223.69 414.5 260.05 - - 1433.66 - - - - - - - - - 15.73 -
21680.49 25.90 9.71 2590 21686.19 done 2.25 - - 2693.69 - 3.22 0.123 3474.19 388.4 260.05 - - 1431.84 - - - - - - - - - 15.79 -
21875.54 20.46 1.92 2629 21952.77 2.51 0.36 0.086 2756.06 173.2 3.15 0.056 2177.62 -411.6 347.59 70.08 1.092 1082.59 -5.0 0.015 - - - - - - 15.81 15.84 13.03
22055 end climb: SURFACE_DEPTH_REACHED
22055 begin surface coast
22065 end surface coast: CONTROL_FINISHED_OK
22065 begin surface
SM 0.78 - - - - 179.1 - 0.015 767.7 - 16.67 0.080 773.9 46.4 - 0.20 0.109 761.4 3791.2 -2.773 - - 30.36 15.66 15.69 -