NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 14 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 6.74 of 350.00 AH used of 24V (98.08% remains)
• Surface angle -63.8 deg, depth 1.04 m • Intended pitch -16.7 deg, speed -8.684 cm/s
VBD pumped to 524.63 (SM_CC=525)
• GPS1 time: 28 s
• GPS2 time: 3 s • Transponder ping count: 3
• 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
6.11 - - - 79.41 VBD -0.82 - - 181.44 - - - 2081.75 - -126.52 72.82 0.005 2161.91 - - - - - - - - - - 15.66
79.64 3.22 -3.78 14 127.82 -0.82 13.96 0.274 1979.56 128.8 3.50 0.143 3473.44 397.6 -126.52 26.28 0.006 3264.72 42.0 -3.818 - - - - - - 15.62 15.64 15.69
210.52 26.06 -15.44 40 216.25 roll -0.82 - - 1980.19 - 3.40 0.082 2050.44 -418.5 -126.52 - - 3265.53 - - - - - - - - - 15.75 -
395.62 48.13 -8.52 77 401.33 roll -0.90 - - 1979.94 - 3.63 0.188 663.50 -382.1 -126.52 - - 3265.62 - - - - - - - - - 15.76 -
510.64 60.83 -10.82 100 516.41 roll back -0.98 0.34 0.082 1927.75 -153.5 3.33 0.072 2084.00 426.6 -126.52 - - 3265.88 - - - - - - - - 15.81 15.83 -
695.72 83.05 -12.77 137 701.41 roll -0.98 - - 1927.75 - 3.43 0.138 3472.69 404.9 -126.52 - - 3266.47 - - - - - - - - - 15.83 -
735.73 87.96 -12.06 145 741.42 roll -0.98 - - 1927.06 - 3.35 0.074 2049.38 -424.9 -126.52 - - 3266.03 - - - - - - - - - 15.85 -
920.78 107.97 -11.12 175 926.45 roll -0.98 - - 1927.38 - 3.62 0.195 662.69 -383.1 -126.52 - - 3269.16 - - - - - - - - - 15.87 -
969.74 113.96 -12.19 185 976.49 roll -0.98 - - 1927.31 - 3.34 0.078 2083.25 425.3 -126.52 - - 3266.09 - - - - - - - - - 15.91 -
1275.88 141.86 -9.87 216 1277.21 no move -1.02 - - 1926.88 - - - 2082.56 - -126.52 - - 3267.44 - - - - - - - - - - -
1575.95 172.48 -9.11 246 1577.27 no move -1.07 - - 1927.19 - - - 2082.62 - -126.52 - - 3267.25 - - - - - - - - - - -
1876.01 201.23 -10.28 276 1877.34 no move -1.13 - - 1927.31 - - - 2082.75 - -126.52 - - 3267.31 - - - - - - - - - - -
2176.07 231.77 -10.21 306 2177.52 pitch -1.19 0.25 0.093 1875.00 -209.2 - - 2082.88 - -126.52 - - 3268.84 - - - - - - - - 16.01 - -
2476.15 268.94 -12.89 336 2477.48 no move -1.19 - - 1874.75 - - - 2082.81 - -126.52 - - 3266.41 - - - - - - - - - - -
2776.14 302.82 -10.80 366 2777.47 no move -1.19 - - 1874.31 - - - 2082.81 - -126.52 - - 3266.53 - - - - - - - - - - -
3076.17 337.10 -11.94 396 3077.50 no move -1.19 - - 1874.31 - - - 2083.06 - -126.52 - - 3265.66 - - - - - - - - - - -
3376.20 368.40 -10.23 426 3377.53 no move -1.19 - - 1874.69 - - - 2082.62 - -126.52 - - 3265.72 - - - - - - - - - - -
3676.24 399.08 -10.69 456 3680.88 roll -1.19 - - 1874.31 - 3.47 0.157 3473.06 400.7 -126.52 - - 3264.78 - - - - - - - - - 16.06 -
3716.26 403.74 -11.30 464 3720.87 roll -1.19 - - 1874.88 - 3.35 0.092 2050.56 -424.6 -126.52 - - 3265.31 - - - - - - - - - 16.09 -
4026.29 438.92 -11.85 496 4027.61 no move -1.19 - - 1874.44 - - - 2050.50 - -126.52 - - 3263.75 - - - - - - - - - - -
4326.32 474.29 -12.21 526 4327.65 no move -1.19 - - 1874.44 - - - 2050.44 - -126.52 - - 3263.84 - - - - - - - - - - -
4626.35 508.27 -10.83 556 4627.68 no move -1.19 - - 1874.25 - - - 2050.00 - -126.52 - - 3263.50 - - - - - - - - - - -
4926.38 540.14 -10.13 586 4931.03 roll -1.19 - - 1875.25 - 3.58 0.163 3474.81 398.0 -126.52 - - 3260.84 - - - - - - - - - 16.10 -
4956.39 543.31 -10.18 592 4961.01 roll -1.19 - - 1873.25 - 3.36 0.098 2053.44 -423.0 -126.52 - - 3262.88 - - - - - - - - - 16.11 -
5266.43 572.84 -9.27 624 5271.08 roll -1.19 - - 1872.75 - 3.56 0.165 3473.31 398.8 -126.52 - - 3260.97 - - - - - - - - - 16.10 -
5310.38 577.86 -10.89 633 5317.12 roll -1.19 - - 1874.00 - 3.36 0.099 2052.50 -422.9 -126.52 - - 3260.69 - - - - - - - - - 16.11 -
5616.47 609.07 -10.09 664 5617.80 no move -1.19 - - 1874.19 - - - 2052.94 - -126.52 - - 3261.03 - - - - - - - - - - -
5916.50 641.38 -11.25 694 5917.83 no move -1.19 - - 1874.69 - - - 2052.88 - -126.52 - - 3258.59 - - - - - - - - - - -
6216.53 673.92 -10.07 724 6217.86 no move -1.19 - - 1874.38 - - - 2052.88 - -126.52 - - 3258.84 - - - - - - - - - - -
6516.58 702.51 -9.72 754 6522.26 roll -1.19 - - 1872.38 - 3.70 0.234 664.06 -375.4 -126.52 - - 3259.12 - - - - - - - - - 16.07 -
6551.62 705.88 -9.62 761 6556.22 roll -1.19 - - 1874.81 - 3.40 0.116 2078.62 416.0 -126.52 - - 3259.88 - - - - - - - - - 16.12 -
6861.68 733.81 -9.16 793 6863.01 no move -1.23 - - 1874.12 - - - 2078.56 - -126.52 - - 3258.19 - - - - - - - - - - -
7161.74 760.96 -10.31 823 7163.07 no move -1.27 - - 1874.38 - - - 2078.44 - -126.52 - - 3257.31 - - - - - - - - - - -
7461.80 792.42 -10.64 853 7466.44 roll -1.31 - - 1874.44 - 3.51 0.171 3473.69 397.5 -126.52 - - 3260.84 - - - - - - - - - 16.11 -
7511.83 798.09 -11.17 863 7516.43 roll -1.34 - - 1874.19 - 3.40 0.103 2054.19 -417.5 -126.52 - - 3258.59 - - - - - - - - - 16.13 -
7821.91 828.98 -8.31 895 7823.36 pitch -1.38 0.20 0.105 1829.44 -223.8 - - 2053.94 - -126.52 - - 3258.66 - - - - - - - - 16.12 - -
8121.95 862.92 -11.50 925 8123.27 no move -1.38 - - 1830.44 - - - 2054.00 - -126.52 - - 3257.06 - - - - - - - - - - -
8422.00 893.92 -9.61 955 8423.33 no move -1.38 - - 1830.00 - - - 2053.75 - -126.52 - - 3255.84 - - - - - - - - - - -
8722.06 926.07 -10.88 985 8723.39 no move -1.38 - - 1830.31 - - - 2053.88 - -126.52 - - 3255.31 - - - - - - - - - - -
9022.10 958.37 -10.09 1015 9023.43 no move -1.38 - - 1830.38 - - - 2053.94 - -126.52 - - 3254.34 - - - - - - - - - - -
9322 end dive: TARGET_DEPTH_EXCEEDED
9322 begin apogee
9323.30 990.83 -11.05 1045 9434.79 -0.20 2.12 0.164 2132.81 142.7 0.05 0.406 2057.50 71.2 - 105.25 2.356 2750.69 -4.8 0.341 - - - - - - 16.11 15.35 13.16
9439 end apogee: CONTROL_FINISHED_OK
9439 begin climb
9439.14 991.18 - 1056 9564.91 0.82 1.65 0.091 2386.19 153.6 4.07 0.220 664.25 -342.3 126.52 115.40 2.289 2230.34 -4.5 0.331 - - - - - - 15.42 14.96 12.67
9602.65 989.52 4.30 1088 9694.94 done 0.85 - - 2385.44 - 3.60 0.096 2079.44 393.1 220.23 84.74 2.239 1850.84 -4.5 0.336 - - - - - - - 15.23 12.57
9992.70 953.79 10.88 1136 9998.42 done 0.91 - - 2385.94 - 3.67 0.169 3471.75 379.4 220.23 - - 1839.22 - - - - - - - - - 15.56 -
10097.71 941.84 11.49 1157 10102.44 done 0.91 - - 2386.19 - 3.53 0.105 2054.19 -401.6 220.23 - - 1835.69 - - - - - - - - - 15.65 -
10407.80 912.07 9.50 1189 10409.23 0.96 0.17 0.125 2418.94 192.6 - - 2054.69 - 220.23 - - 1835.12 - - - - - - - - 15.77 - -
10707.85 881.20 11.21 1219 10713.58 done 0.96 - - 2418.56 - 3.68 0.168 3471.81 385.1 220.23 - - 1832.25 - - - - - - - - - 15.84 -
10766.89 873.58 13.79 1231 10773.57 done 0.91 - - 2419.06 - 3.46 0.107 2052.94 -410.1 220.23 - - 1833.72 - - - - - - - - - 15.87 -
11072.93 839.89 10.76 1262 11074.26 VBD 0.91 - - 2418.31 - - - 2053.25 - 220.23 - - 1833.12 - - - - - - - - - - -
11372.99 808.32 10.56 1292 11374.32 VBD 0.91 - - 2418.19 - - - 2053.62 - 220.23 - - 1831.75 - - - - - - - - - - -
11673.05 778.53 9.67 1322 11678.80 done 0.91 - - 2418.50 - 3.68 0.166 3472.38 385.5 220.23 - - 1830.59 - - - - - - - - - 15.97 -
11752.14 769.64 11.11 1338 11758.88 0.86 0.34 0.198 2382.44 -106.1 3.43 0.104 2051.75 -414.2 220.23 - - 1832.50 - - - - - - - - 15.93 15.99 -
12058.15 743.92 8.47 1369 12063.95 roll back 0.96 0.25 0.111 2418.69 145.0 3.72 0.165 3473.56 382.2 224.71 - - 1829.81 - - - - - - - - 16.00 16.00 -
12103.18 739.09 10.89 1378 12107.83 roll 0.92 - - 2418.56 - 3.44 0.103 2052.56 -413.1 224.71 - - 1831.53 - - - - - - - - - 16.01 -
12413.16 705.52 11.66 1410 12414.50 no move 0.92 - - 2418.25 - - - 2051.81 - 224.71 - - 1829.97 - - - - - - - - - - -
12713.19 673.95 9.50 1440 12714.52 no move 0.92 - - 2417.94 - - - 2051.88 - 224.71 - - 1830.38 - - - - - - - - - - -
13013.22 642.69 10.02 1470 13018.97 roll 0.92 - - 2417.69 - 3.67 0.163 3471.25 386.7 224.71 - - 1831.53 - - - - - - - - - 16.04 -
13072.24 636.42 11.70 1482 13078.97 roll 0.92 - - 2418.31 - 3.42 0.100 2051.62 -415.1 224.71 - - 1831.81 - - - - - - - - - 16.06 -
13378.27 604.49 11.15 1513 13379.60 no move 0.92 - - 2418.38 - - - 2052.38 - 224.71 - - 1831.03 - - - - - - - - - - -
13678.31 570.74 11.41 1543 13683.04 roll 0.92 - - 2418.19 - 3.62 0.159 3473.56 392.6 224.71 - - 1830.44 - - - - - - - - - 16.06 -
13722.25 565.38 11.83 1552 13729.02 roll 0.92 - - 2418.25 - 3.40 0.098 2051.50 -418.3 224.71 - - 1832.88 - - - - - - - - - 16.08 -
14028.35 534.42 9.31 1583 14029.68 no move 0.92 - - 2418.38 - - - 2051.81 - 224.71 - - 1828.84 - - - - - - - - - - -
14328.41 508.67 8.03 1613 14344.25 VBD 0.97 - - 2418.44 - - - 2051.38 - 238.72 14.43 1.645 1776.28 -3.6 0.191 - - - - - - - - 13.14
14638.46 484.51 7.68 1644 14664.55 done 1.04 - - 2418.25 - 3.74 0.159 3471.00 379.6 260.25 20.51 1.704 1688.66 -4.3 0.206 - - - - - - - 15.88 13.08
14707.43 478.14 9.40 1658 14714.14 roll 1.04 - - 2418.19 - 3.44 0.095 2051.94 -412.5 260.25 - - 1685.56 - - - - - - - - - 15.93 -
15013.48 450.45 9.36 1689 15014.92 pitch 1.11 0.19 0.121 2453.69 186.8 - - 2051.62 - 260.25 - - 1682.41 - - - - - - - - 15.96 - -
15313.50 417.29 11.13 1719 15319.24 roll 1.11 - - 2452.75 - 3.70 0.154 3472.56 384.0 260.25 - - 1682.28 - - - - - - - - - 15.99 -
15398.58 406.59 12.42 1736 15403.15 roll 1.06 - - 2454.25 - 3.40 0.093 2051.25 -418.0 260.25 - - 1682.16 - - - - - - - - - 16.01 -
15708.57 373.06 10.27 1768 15709.90 no move 1.06 - - 2454.31 - - - 2051.50 - 260.25 - - 1681.34 - - - - - - - - - - -
16008.61 340.77 11.25 1798 16014.35 roll 1.06 - - 2453.69 - 3.66 0.150 3470.75 387.8 260.25 - - 1682.34 - - - - - - - - - 16.03 -
16067.60 333.25 11.92 1810 16074.40 roll back 1.02 0.28 0.205 2419.44 -122.3 3.39 0.090 2049.25 -419.3 260.25 - - 1682.09 - - - - - - - - 15.99 16.05 -
16373.73 305.62 9.02 1841 16375.18 1.11 0.22 0.115 2450.62 141.7 - - 2048.94 - 260.25 - - 1681.44 - - - - - - - - 16.05 - -
16673.76 276.54 9.50 1871 16679.37 done 1.11 - - 2453.50 - 3.65 0.149 3474.62 390.6 260.25 - - 1681.34 - - - - - - - - - 16.05 -
16788.82 264.49 10.81 1894 16793.38 done 1.08 - - 2453.75 - 3.38 0.088 2049.31 -421.7 260.25 - - 1681.00 - - - - - - - - - 16.07 -
17098.87 233.79 9.57 1926 17100.20 no move 1.08 - - 2453.69 - - - 2049.19 - 260.25 - - 1679.81 - - - - - - - - - - -
17398.93 203.11 10.51 1956 17404.68 done 1.08 - - 2453.19 - 3.64 0.146 3472.81 391.1 260.25 - - 1679.25 - - - - - - - - - 16.06 -
17443.96 198.58 10.05 1965 17448.50 done 1.08 - - 2453.62 - 3.35 0.085 2047.44 -425.5 260.25 - - 1681.03 - - - - - - - - - 16.09 -
17754.03 166.58 10.54 1997 17759.62 done 1.11 - - 2453.62 - 3.64 0.144 3472.88 391.6 260.25 - - 1679.25 - - - - - - - - - 16.07 -
17829.06 158.15 11.30 2012 17833.59 done 1.11 - - 2452.06 - 3.35 0.084 2047.56 -425.5 260.25 - - 1681.38 - - - - - - - - - 16.08 -
18139.12 126.35 9.25 2044 18143.82 done 1.15 - - 2453.75 - 3.56 0.183 664.12 -388.6 260.25 - - 1681.00 - - - - - - - - - 16.05 -
18203.07 119.60 10.63 2057 18209.80 done 1.10 - - 2453.75 - 3.33 0.072 2087.19 427.3 260.25 - - 1680.69 - - - - - - - - - 16.09 -
18509.18 100.98 5.27 2088 18575.71 1.26 0.19 0.116 2492.00 201.3 3.60 0.145 3474.06 385.2 333.33 58.49 1.342 1389.69 -5.0 0.063 - - - - - - 16.08 15.77 13.18
18795.44 71.17 11.54 2145 18799.88 roll 1.26 - - 2492.81 - 3.38 0.080 2048.56 -421.7 333.33 - - 1383.66 - - - - - - - - - 15.89 -
18979.26 54.10 7.79 2182 18999.17 VBD 1.37 - - 2492.12 - - - 2049.00 - 352.55 16.33 1.164 1312.59 -4.4 0.034 - - - - - - - - 13.03
19179.29 39.40 7.31 2222 19210.62 1.52 0.35 0.098 2554.31 177.7 3.65 0.177 662.56 -379.8 382.01 25.36 1.202 1192.06 -4.8 0.026 - - - - - - 15.88 15.74 13.02
19264.29 29.93 13.39 2239 19270.05 roll back 1.43 0.29 0.194 2521.62 -112.7 3.36 0.069 2085.94 423.6 382.01 - - 1191.12 - - - - - - - - 15.76 15.81 -
19449.35 16.38 4.69 2276 19526.61 1.72 0.54 0.090 2604.50 153.5 3.79 0.171 662.50 -375.6 467.37 70.79 1.180 844.72 -4.9 0.012 - - - - - - 15.85 15.57 12.99
19654 end climb: SURFACE_DEPTH_REACHED
19654 begin surface coast
19679 end surface coast: CONTROL_FINISHED_OK
19679 begin surface
SM 1.20 - - - - 183.1 - 2.824 611.3 - 15.37 0.073 607.8 39.5 - 3.37 0.070 614.8 181.3 -0.318 - - 30.36 15.68 15.72 -