NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 1103 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 301.82 of 575.00 AH used of 24V (47.51% remains)
• Surface angle -62.6 deg, depth -1.55 m • Intended pitch -27.4 deg, speed -11.111 cm/s
VBD pumped to 474.75 (SM_CC=475)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 10
• 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
8.37 - - - 100.55 VBD -1.59 - - 167.62 - - - 2079.75 - -74.33 91.69 0.005 2671.84 - - - - - - - - - - 14.68
100.78 4.73 -10.29 9 126.78 -1.59 14.32 0.251 1753.12 110.7 4.11 0.155 661.75 -345.0 -74.33 2.70 0.012 2803.19 48.6 -3.456 - - - - - - 14.93 14.67 14.86
143.93 17.56 -23.95 18 150.73 roll -1.59 - - 1752.88 - 3.56 0.055 2118.69 409.3 -74.33 - - 2803.69 - - - - - - - - - 15.43 -
210.00 30.33 -18.73 25 215.66 roll -1.59 - - 1752.50 - 3.63 0.107 3475.06 373.7 -74.33 - - 2801.72 - - - - - - - - - 15.24 -
245.00 36.97 -18.58 32 249.61 roll -1.59 - - 1753.31 - 3.38 0.056 2081.00 -412.4 -74.33 - - 2803.56 - - - - - - - - - 15.38 -
315.01 48.46 -15.76 40 320.68 roll -1.59 - - 1752.50 - 3.72 0.103 3474.94 374.7 -74.33 - - 2802.91 - - - - - - - - - 15.22 -
403.94 62.52 -14.91 58 410.72 roll -1.59 - - 1753.06 - 3.37 0.054 2079.75 -414.0 -74.33 - - 2802.41 - - - - - - - - - 15.38 -
470.09 70.77 -13.00 65 475.76 roll -1.59 - - 1752.75 - 4.05 0.148 661.00 -350.3 -74.33 - - 2800.47 - - - - - - - - - 15.06 -
485.49 72.74 -13.62 68 490.65 roll -1.59 - - 1753.25 - 3.49 0.047 2124.12 419.2 -74.33 - - 2801.12 - - - - - - - - - 15.47 -
550.11 80.97 -11.99 75 551.44 no move -1.59 - - 1752.75 - - - 2124.31 - -74.33 - - 2803.19 - - - - - - - - - - -
610.06 88.17 -11.77 81 615.68 roll -1.59 - - 1753.19 - 3.58 0.104 3475.81 377.5 -74.33 - - 2801.31 - - - - - - - - - 15.23 -
658.97 94.28 -12.29 91 665.75 roll -1.59 - - 1753.31 - 3.38 0.053 2079.12 -413.2 -74.33 - - 2804.03 - - - - - - - - - 15.38 -
725.11 101.10 -10.10 98 730.78 roll -1.59 - - 1753.94 - 4.02 0.147 662.19 -352.5 -74.33 - - 2802.22 - - - - - - - - - 15.04 -
740.52 102.74 -10.30 101 745.68 roll -1.59 - - 1752.81 - 3.46 0.047 2122.75 422.1 -74.33 - - 2802.41 - - - - - - - - - 15.48 -
805.12 109.49 -10.44 108 810.81 roll -1.59 - - 1753.00 - 4.11 0.144 661.56 -355.5 -74.33 - - 2802.84 - - - - - - - - - 15.04 -
850.52 114.89 -12.14 117 855.69 roll -1.59 - - 1753.00 - 3.45 0.048 2124.19 424.0 -74.33 - - 2803.09 - - - - - - - - - 15.47 -
915.13 122.17 -11.01 124 916.46 no move -1.59 - - 1753.56 - - - 2124.06 - -74.33 - - 2803.25 - - - - - - - - - - -
975.11 128.49 -10.74 130 976.44 no move -1.59 - - 1753.38 - - - 2123.94 - -74.33 - - 2803.22 - - - - - - - - - - -
1035.09 134.81 -10.50 136 1040.71 roll -1.59 - - 1752.00 - 3.56 0.105 3475.62 379.7 -74.33 - - 2803.81 - - - - - - - - - 15.22 -
1074.00 138.94 -10.80 144 1080.78 roll -1.59 - - 1753.31 - 3.36 0.052 2081.50 -414.9 -74.33 - - 2803.59 - - - - - - - - - 15.38 -
1140.15 145.80 -10.54 151 1141.47 no move -1.59 - - 1753.50 - - - 2080.81 - -74.33 - - 2802.97 - - - - - - - - - - -
1200.11 152.24 -11.03 157 1201.44 no move -1.59 - - 1753.12 - - - 2080.94 - -74.33 - - 2803.72 - - - - - - - - - - -
1320.11 165.46 -11.06 169 1321.44 no move -1.59 - - 1753.44 - - - 2081.31 - -74.33 - - 2803.53 - - - - - - - - - - -
1440.13 177.34 -9.97 181 1441.46 no move -1.59 - - 1753.50 - - - 2081.38 - -74.33 - - 2803.81 - - - - - - - - - - -
1560.14 189.98 -10.30 193 1561.47 no move -1.59 - - 1752.81 - - - 2081.44 - -74.33 - - 2803.31 - - - - - - - - - - -
1680.15 202.76 -10.70 205 1685.82 roll -1.59 - - 1753.62 - 3.74 0.106 3475.94 372.9 -74.33 - - 2803.53 - - - - - - - - - 15.19 -
1729.08 208.76 -12.50 215 1735.88 roll -1.59 - - 1753.31 - 3.38 0.054 2081.56 -412.5 -74.33 - - 2802.91 - - - - - - - - - 15.36 -
1855.18 222.10 -10.15 228 1856.51 no move -1.59 - - 1753.62 - - - 2081.44 - -74.33 - - 2803.47 - - - - - - - - - - -
1975.20 234.46 -9.66 240 1980.85 roll -1.59 - - 1753.56 - 3.76 0.104 3476.12 370.9 -74.33 - - 2801.50 - - - - - - - - - 15.18 -
2010.19 238.64 -11.95 247 2014.79 roll -1.59 - - 1753.12 - 3.38 0.053 2081.19 -412.7 -74.33 - - 2804.38 - - - - - - - - - 15.37 -
2160.23 254.06 -10.35 261 2165.94 roll -1.59 - - 1753.06 - 4.10 0.149 661.94 -346.2 -74.33 - - 2803.47 - - - - - - - - - 14.97 -
2204.14 258.90 -11.21 270 2209.86 roll -1.59 - - 1752.62 - 3.51 0.048 2123.56 416.4 -74.33 - - 2805.47 - - - - - - - - - 15.44 -
2515.25 287.68 -9.26 282 2520.89 roll -1.59 - - 1753.56 - 3.63 0.107 3476.38 372.7 -74.33 - - 2801.62 - - - - - - - - - 15.16 -
2529.17 288.83 -9.91 285 2534.83 roll -1.59 - - 1752.88 - 3.37 0.053 2081.88 -413.8 -74.33 - - 2804.69 - - - - - - - - - 15.34 -
2840.25 318.40 -9.64 297 2845.92 roll -1.59 - - 1753.69 - 3.78 0.107 3475.81 368.8 -74.33 - - 2801.75 - - - - - - - - - 15.14 -
2879.17 322.03 -9.06 305 2884.84 roll -1.65 - - 1753.25 - 3.40 0.055 2080.19 -410.5 -94.77 - - 2804.72 - - - - - - - - - 15.32 -
3195.27 353.56 -10.29 318 3200.93 roll -1.65 - - 1753.12 - 3.75 0.109 3476.19 372.3 -94.77 - - 2801.81 - - - - - - - - - 15.12 -
3280.27 363.10 -11.55 335 3284.87 roll -1.65 - - 1753.31 - 3.38 0.056 2081.56 -412.6 -94.77 - - 2803.97 - - - - - - - - - 15.32 -
3610.34 397.24 -9.86 351 3611.67 no move -1.65 - - 1753.12 - - - 2082.31 - -94.77 - - 2803.47 - - - - - - - - - - -
3910.29 429.08 -10.65 361 3915.97 roll -1.65 - - 1753.19 - 3.80 0.111 3475.44 366.6 -94.77 - - 2802.62 - - - - - - - - - 15.08 -
3935.35 432.07 -10.12 366 3939.91 roll -1.65 - - 1753.44 - 3.40 0.056 2081.75 -409.9 -94.77 - - 2803.50 - - - - - - - - - 15.30 -
4265.36 466.30 -9.99 382 4271.00 roll -1.65 - - 1753.06 - 3.82 0.111 3473.94 364.4 -94.77 - - 2801.25 - - - - - - - - - 15.07 -
4320.32 472.21 -13.11 393 4324.92 roll -1.65 - - 1752.88 - 3.42 0.056 2081.31 -407.2 -94.77 - - 2803.66 - - - - - - - - - 15.28 -
4620 end dive: TARGET_DEPTH_EXCEEDED
4620 begin apogee
4621.52 501.75 -9.74 408 4689.22 -0.25 2.62 0.153 2078.69 124.4 0.09 0.240 2084.50 35.4 - 64.12 1.637 2497.12 -4.8 0.264 - - - - - - 15.04 14.94 10.73
4692 end apogee: CONTROL_FINISHED_OK
4692 begin climb
4692.33 502.42 - 410 4784.77 1.65 3.32 0.077 2546.38 140.9 - - 2084.38 - 94.77 87.47 1.592 2112.47 -4.4 0.250 - - - - - - 15.22 - 11.46
5070.35 474.06 8.72 423 5101.99 done 1.72 - - 2546.00 - 4.03 0.140 661.50 -353.1 118.55 22.18 1.471 2014.34 -4.4 0.257 - - - - - - - 15.06 11.58
5194.33 460.60 10.58 448 5199.98 roll 1.74 - - 2546.62 - 3.52 0.046 2126.38 416.2 118.55 - - 2012.00 - - - - - - - - - 15.50 -
5520.44 430.55 9.19 463 5526.15 1.80 0.18 0.084 2591.44 249.0 4.13 0.133 662.81 -354.4 118.55 - - 2007.94 - - - - - - - - 15.60 15.21 -
5659.32 415.97 6.12 491 5710.90 done 1.95 - - 2591.81 - 3.51 0.046 2127.75 417.4 168.17 45.87 1.512 1814.53 -4.2 0.209 - - - - - - - 15.53 11.55
6025.42 378.10 10.38 514 6031.10 1.97 0.16 0.081 2629.56 235.9 3.65 0.111 3472.81 368.5 168.17 - - 1806.38 - - - - - - - - 15.57 15.29 -
6254.34 349.51 14.39 560 6261.15 done 1.97 - - 2631.31 - 3.41 0.056 2080.12 -408.4 168.17 - - 1805.19 - - - - - - - - - 15.43 -
6560.45 312.78 12.55 571 6566.14 done 1.97 - - 2630.25 - 3.99 0.133 660.31 -355.8 168.17 - - 1803.78 - - - - - - - - - 15.16 -
6585.89 310.07 12.48 576 6591.06 done 1.97 - - 2629.81 - 3.48 0.043 2128.12 421.8 168.17 - - 1802.59 - - - - - - - - - 15.56 -
6910.51 268.11 12.68 591 6916.19 done 1.97 - - 2630.81 - 4.12 0.129 661.81 -355.9 168.17 - - 1802.47 - - - - - - - - - 15.12 -
7095.93 241.15 14.92 628 7101.12 done 1.97 - - 2630.62 - 3.51 0.046 2126.44 417.3 168.17 - - 1800.84 - - - - - - - - - 15.52 -
7220.51 225.92 12.72 641 7221.84 VBD 1.97 - - 2631.25 - - - 2126.31 - 168.17 - - 1801.88 - - - - - - - - - - -
7340.53 210.90 12.74 653 7346.25 done 1.97 - - 2629.56 - 4.12 0.128 661.62 -355.5 168.17 - - 1801.75 - - - - - - - - - 15.09 -
7429.44 197.95 14.85 671 7436.25 done 1.97 - - 2631.75 - 3.49 0.044 2127.62 420.1 168.17 - - 1802.16 - - - - - - - - - 15.52 -
7555.55 182.13 12.76 684 7556.89 VBD 1.97 - - 2631.19 - - - 2128.50 - 168.17 - - 1801.25 - - - - - - - - - - -
7675.55 166.90 12.74 696 7681.28 done 1.97 - - 2630.50 - 4.12 0.127 661.62 -356.0 168.17 - - 1801.38 - - - - - - - - - 15.06 -
7801.02 148.45 15.66 721 7806.21 done 1.97 - - 2630.88 - 3.49 0.044 2126.56 419.8 168.17 - - 1800.91 - - - - - - - - - 15.53 -
7865.58 140.70 11.51 728 7871.32 done 1.97 - - 2629.75 - 4.07 0.123 660.88 -360.1 168.17 - - 1801.78 - - - - - - - - - 15.09 -
7894.49 137.00 12.36 734 7901.30 done 1.97 - - 2631.19 - 3.47 0.042 2129.25 423.2 168.17 - - 1800.84 - - - - - - - - - 15.50 -
7960.67 130.19 10.10 741 7966.31 done 2.00 - - 2631.56 - 4.03 0.123 661.94 -364.1 168.17 - - 1799.44 - - - - - - - - - 15.09 -
7979.58 127.58 10.33 745 7986.31 done 2.02 - - 2631.69 - 3.47 0.042 2130.50 423.2 168.17 - - 1801.03 - - - - - - - - - 15.52 -
8045.67 120.91 10.66 752 8051.24 done 2.02 - - 2630.25 - 3.60 0.109 3470.81 372.3 168.17 - - 1800.97 - - - - - - - - - 15.18 -
8064.52 118.75 11.12 756 8071.31 done 2.02 - - 2631.69 - 3.36 0.052 2073.38 -415.9 168.17 - - 1800.06 - - - - - - - - - 15.41 -
8130.69 112.56 9.66 763 8136.31 done 2.07 - - 2631.12 - 3.91 0.131 660.69 -361.3 168.17 - - 1799.94 - - - - - - - - - 15.08 -
8296.11 94.35 11.87 796 8301.26 done 2.07 - - 2631.62 - 3.48 0.046 2128.38 421.8 168.17 - - 1798.97 - - - - - - - - - 15.48 -
8360.67 88.27 9.06 803 8385.06 VBD 2.13 - - 2630.50 - - - 2128.56 - 188.60 22.68 1.128 1731.84 -3.0 0.042 - - - - - - - - 11.11
8450.73 80.15 8.59 813 8487.05 2.20 0.26 0.065 2684.50 207.7 3.57 0.109 3474.69 377.1 213.69 30.57 1.121 1626.84 -3.4 0.044 - - - - - - 15.60 15.06 11.75
8555.68 68.91 13.25 834 8560.27 roll 2.20 - - 2683.62 - 3.39 0.054 2076.88 -412.3 213.69 - - 1626.34 - - - - - - - - - 15.45 -
8625.69 61.76 9.33 842 8631.35 roll 2.26 - - 2683.88 - 3.90 0.130 661.69 -362.9 213.69 - - 1625.28 - - - - - - - - - 15.25 -
8741.21 49.25 10.10 865 8746.32 roll 2.29 - - 2684.38 - 3.49 0.046 2129.88 420.7 213.69 - - 1625.25 - - - - - - - - - 15.54 -
8805.71 45.71 5.32 872 8878.29 2.46 0.34 0.065 2749.69 192.1 3.59 0.108 3473.88 374.4 271.32 64.37 1.098 1392.81 -3.6 0.027 - - - - - - 15.57 15.00 11.59
8960.64 30.96 11.96 903 8967.21 roll 2.46 - - 2749.44 - 3.39 0.051 2076.25 -412.3 271.32 - - 1391.25 - - - - - - - - - 15.41 -
9027.24 24.57 9.89 910 9033.23 roll 2.50 - - 2749.69 - 3.91 0.131 661.00 -362.0 271.32 - - 1390.09 - - - - - - - - - 15.19 -
9112.00 16.13 9.29 927 9117.17 roll 2.55 - - 2749.62 - 3.49 0.045 2131.38 421.3 271.32 - - 1389.72 - - - - - - - - - 15.50 -
9176.56 11.60 7.09 934 9224.16 2.67 0.25 0.068 2797.56 191.8 3.58 0.109 3476.12 375.6 311.30 42.15 1.034 1230.53 -3.8 0.008 - - - - - - 15.52 15.06 11.42
9242.43 4.71 11.86 947 9247.03 roll 2.67 - - 2797.44 - 3.39 0.051 2076.31 -412.9 311.30 - - 1229.97 - - - - - - - - - 15.43 -
9272 end climb: SURFACE_DEPTH_REACHED
9272 begin surface coast
9282 end surface coast: CONTROL_FINISHED_OK
9282 begin surface
SM -0.69 - - - - 177.7 0.01 0.350 564.6 56460.0 17.74 0.050 564.8 31.8 - 0.09 0.133 564.4 6233.4 3.305 - - 30.36 15.42 15.50 -