NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 224 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 70.52 of 575.00 AH used of 24V (87.74% remains)
• Surface angle -60.5 deg, depth 0.71 m • Intended pitch -20.4 deg, speed -8.049 cm/s
VBD pumped to 424.91 (SM_CC=425)
• GPS1 time: 16 s
• GPS2 time: 2 s • Transponder ping count: 0
• 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.68 - - - 77.84 VBD -1.25 - - 174.12 - - - 2117.31 - -77.86 70.64 0.005 2341.59 - - - - - - - - - - 15.62
78.17 3.51 -5.06 9 114.72 -1.25 13.62 0.251 1835.62 122.0 4.30 0.164 663.38 -338.1 -77.86 12.16 0.007 2817.16 39.1 -3.253 - - - - - - 15.62 15.61 15.66
237.49 39.78 -23.04 41 243.31 roll -1.25 - - 1835.81 - 3.73 0.059 2117.88 389.9 -77.86 - - 2817.69 - - - - - - - - - 15.77 -
422.55 68.21 -14.40 78 428.34 roll -1.25 - - 1836.12 - 3.78 0.117 3470.94 358.0 -77.86 - - 2816.59 - - - - - - - - - 15.82 -
517.63 81.12 -13.82 97 523.32 roll -1.25 - - 1836.00 - 3.51 0.058 2082.38 -395.6 -77.86 - - 2817.16 - - - - - - - - - 15.84 -
702.60 102.61 -11.72 132 708.38 roll -1.25 - - 1835.19 - 4.12 0.157 664.00 -344.3 -77.86 - - 2817.03 - - - - - - - - - 15.86 -
807.62 116.17 -13.51 153 813.33 roll -1.25 - - 1835.31 - 3.65 0.055 2118.62 398.5 -77.86 - - 2815.41 - - - - - - - - - 15.90 -
1112.65 151.42 -11.23 184 1113.98 no move -1.25 - - 1835.62 - - - 2118.88 - -77.86 - - 2817.56 - - - - - - - - - - -
1412.69 184.40 -10.64 214 1414.02 no move -1.25 - - 1835.88 - - - 2118.94 - -77.86 - - 2817.97 - - - - - - - - - - -
1712.75 217.21 -11.03 244 1718.47 roll -1.25 - - 1834.69 - 3.74 0.121 3471.62 361.7 -77.86 - - 2819.59 - - - - - - - - - 15.99 -
1791.79 227.17 -12.08 260 1798.53 roll -1.25 - - 1835.94 - 3.49 0.061 2083.50 -397.7 -77.86 - - 2817.94 - - - - - - - - - 16.00 -
2097.85 261.04 -10.96 291 2099.17 no move -1.25 - - 1835.75 - - - 2083.19 - -77.86 - - 2817.66 - - - - - - - - - - -
2397.91 291.87 -10.05 321 2403.68 roll -1.25 - - 1835.62 - 4.10 0.163 663.44 -346.3 -77.86 - - 2815.34 - - - - - - - - - 16.00 -
2466.92 299.94 -12.07 335 2473.72 roll -1.25 - - 1836.00 - 3.64 0.059 2116.62 399.2 -77.86 - - 2817.59 - - - - - - - - - 16.03 -
2773.00 330.30 -9.94 366 2774.33 no move -1.25 - - 1835.62 - - - 2116.00 - -77.86 - - 2817.72 - - - - - - - - - - -
3073.06 359.56 -9.30 396 3074.39 no move -1.25 - - 1835.75 - - - 2116.62 - -77.86 - - 2817.00 - - - - - - - - - - -
3373.12 389.12 -9.66 426 3374.45 no move -1.25 - - 1835.50 - - - 2116.44 - -77.86 - - 2816.72 - - - - - - - - - - -
3673.17 419.06 -10.19 456 3674.50 no move -1.25 - - 1835.75 - - - 2116.06 - -77.86 - - 2816.78 - - - - - - - - - - -
3973.21 450.42 -10.75 486 3978.99 roll -1.25 - - 1835.56 - 4.19 0.166 663.88 -346.6 -77.86 - - 2813.94 - - - - - - - - - 16.04 -
4038.30 458.52 -12.60 499 4043.93 roll -1.25 - - 1833.88 - 3.65 0.064 2115.56 397.7 -77.86 - - 2817.94 - - - - - - - - - 16.07 -
4343.27 490.65 -10.33 530 4344.60 no move -1.25 - - 1835.62 - - - 2116.00 - -77.86 - - 2815.50 - - - - - - - - - - -
4643.30 519.74 -9.24 560 4644.63 no move -1.25 - - 1836.00 - - - 2116.56 - -77.86 - - 2813.81 - - - - - - - - - - -
4943.41 546.90 -8.93 590 4949.12 roll -1.25 - - 1835.44 - 4.19 0.170 664.00 -346.7 -77.86 - - 2813.69 - - - - - - - - - 16.05 -
4988.36 551.63 -10.22 599 4994.06 roll -1.25 - - 1835.62 - 3.65 0.063 2115.56 397.7 -77.86 - - 2814.41 - - - - - - - - - 16.07 -
5293.38 577.94 -8.55 630 5294.71 no move -1.25 - - 1835.56 - - - 2115.88 - -77.86 - - 2812.78 - - - - - - - - - - -
5593.41 602.61 -7.79 660 5594.74 no move -1.25 - - 1835.88 - - - 2115.50 - -77.86 - - 2812.19 - - - - - - - - - - -
5893.45 627.89 -7.73 690 5894.78 no move -1.25 - - 1835.50 - - - 2115.69 - -77.86 - - 2811.22 - - - - - - - - - - -
6193.48 653.52 -7.72 720 6194.81 no move -1.25 - - 1835.69 - - - 2115.75 - -77.86 - - 2812.69 - - - - - - - - - - -
6493.52 678.31 -8.26 750 6494.85 no move -1.25 - - 1835.94 - - - 2115.44 - -77.86 - - 2810.22 - - - - - - - - - - -
6793.56 703.52 -8.50 780 6794.89 no move -1.25 - - 1835.88 - - - 2115.75 - -77.86 - - 2812.16 - - - - - - - - - - -
7093.59 729.44 -8.33 810 7094.92 no move -1.25 - - 1835.12 - - - 2115.75 - -77.86 - - 2809.56 - - - - - - - - - - -
7393.62 754.62 -9.28 840 7394.95 no move -1.25 - - 1835.88 - - - 2115.69 - -77.86 - - 2809.28 - - - - - - - - - - -
7693.66 780.84 -9.45 870 7694.99 no move -1.25 - - 1835.44 - - - 2116.00 - -77.86 - - 2808.66 - - - - - - - - - - -
7993.71 807.01 -10.21 900 7999.51 roll -1.25 - - 1836.19 - 4.24 0.181 662.75 -342.7 -77.86 - - 2808.22 - - - - - - - - - 16.06 -
8072.66 814.87 -11.33 916 8079.52 roll -1.25 - - 1835.31 - 3.70 0.074 2112.50 391.8 -77.86 - - 2809.97 - - - - - - - - - 16.09 -
8378.80 840.18 -7.49 947 8380.13 no move -1.25 - - 1835.69 - - - 2113.00 - -77.86 - - 2808.78 - - - - - - - - - - -
8678.86 865.96 -8.84 977 8680.19 no move -1.25 - - 1835.62 - - - 2112.88 - -77.86 - - 2807.88 - - - - - - - - - - -
8978.92 889.94 -7.23 1007 8980.25 no move -1.25 - - 1835.88 - - - 2112.88 - -77.86 - - 2808.44 - - - - - - - - - - -
9278.98 915.12 -7.42 1037 9280.31 no move -1.25 - - 1835.69 - - - 2111.94 - -77.86 - - 2807.31 - - - - - - - - - - -
9579.04 938.68 -7.40 1067 9580.37 no move -1.25 - - 1835.44 - - - 2113.44 - -77.86 - - 2809.41 - - - - - - - - - - -
9879.10 961.66 -7.09 1097 9884.91 roll -1.25 - - 1834.94 - 4.26 0.186 663.88 -340.3 -77.86 - - 2807.09 - - - - - - - - - 16.05 -
9968.05 969.91 -10.03 1115 9974.97 roll -1.25 - - 1834.38 - 3.71 0.077 2113.50 390.7 -77.86 - - 2809.31 - - - - - - - - - 16.10 -
10255 end dive: TARGET_DEPTH_EXCEEDED
10255 begin apogee
10255.42 990.23 -6.22 1144 10325.45 -0.25 1.72 0.149 2080.25 142.9 0.07 0.324 2186.12 1037.4 - 64.15 2.285 2500.53 -4.8 0.346 - - - - - - 16.03 15.59 12.95
10329 end apogee: CONTROL_FINISHED_OK
10329 begin climb
10328.95 992.02 - 1151 10406.19 1.25 2.51 0.097 2448.31 146.6 - - 2186.00 - 77.86 71.69 2.228 2183.09 -4.4 0.327 - - - - - - 15.64 - 12.93
10704.29 958.87 8.21 1189 10705.62 VBD 1.25 - - 2448.06 - - - 2186.12 - 77.86 - - 2167.44 - - - - - - - - - - -
11004.25 930.46 9.33 1219 11005.58 VBD 1.25 - - 2448.25 - - - 2185.38 - 77.86 - - 2165.75 - - - - - - - - - - -
11304.29 903.25 8.36 1249 11305.62 VBD 1.25 - - 2448.06 - - - 2186.38 - 77.86 - - 2164.75 - - - - - - - - - - -
11604.32 877.02 8.13 1279 11605.65 VBD 1.25 - - 2447.75 - - - 2185.44 - 77.86 - - 2163.72 - - - - - - - - - - -
11904.39 852.53 7.43 1309 11910.11 done 1.27 - - 2447.75 - 3.67 0.138 3472.00 350.6 77.86 - - 2164.59 - - - - - - - - - 15.94 -
12013.21 842.11 9.47 1331 12020.08 done 1.27 - - 2447.56 - 3.27 0.070 2183.94 -393.9 77.86 - - 2163.72 - - - - - - - - - 15.95 -
12319.43 817.84 7.39 1362 12320.77 VBD 1.29 - - 2448.00 - - - 2184.31 - 77.86 - - 2161.84 - - - - - - - - - - -
12619.46 794.54 7.06 1392 12620.79 VBD 1.32 - - 2447.88 - - - 2183.88 - 77.86 - - 2163.31 - - - - - - - - - - -
12919.48 770.00 8.49 1422 12920.81 VBD 1.32 - - 2447.75 - - - 2184.25 - 77.86 - - 2161.03 - - - - - - - - - - -
13219.52 743.73 8.49 1452 13220.85 VBD 1.32 - - 2448.56 - - - 2184.81 - 77.86 - - 2160.50 - - - - - - - - - - -
13519.55 716.55 8.71 1482 13520.89 VBD 1.32 - - 2448.56 - - - 2184.50 - 77.86 - - 2162.19 - - - - - - - - - - -
13819.61 691.68 6.88 1512 13820.94 VBD 1.36 - - 2448.19 - - - 2184.94 - 77.86 - - 2160.06 - - - - - - - - - - -
14119.62 669.60 8.02 1542 14125.24 done 1.36 - - 2447.25 - 3.62 0.134 3469.56 354.9 77.86 - - 2161.09 - - - - - - - - - 16.04 -
14234.65 660.73 6.90 1565 14240.28 1.39 0.17 0.116 2483.56 213.6 3.28 0.067 2184.00 -391.9 77.86 - - 2159.59 - - - - - - - - 16.00 16.03 -
14539.69 636.89 8.15 1596 14541.02 VBD 1.39 - - 2483.69 - - - 2183.62 - 77.86 - - 2161.25 - - - - - - - - - - -
14839.73 613.37 8.17 1626 14841.06 VBD 1.39 - - 2484.31 - - - 2184.25 - 77.86 - - 2159.19 - - - - - - - - - - -
15139.79 589.55 8.46 1656 15145.42 done 1.39 - - 2484.12 - 3.61 0.132 3473.12 357.0 77.86 - - 2158.69 - - - - - - - - - 16.05 -
15264.84 578.17 10.05 1681 15269.40 done 1.39 - - 2484.69 - 3.27 0.065 2183.38 -394.4 77.86 - - 2160.59 - - - - - - - - - 16.06 -
15574.92 553.67 7.64 1713 15576.25 VBD 1.39 - - 2484.88 - - - 2183.00 - 77.86 - - 2158.81 - - - - - - - - - - -
15874.97 530.60 7.68 1743 15876.30 VBD 1.39 - - 2485.00 - - - 2183.06 - 77.86 - - 2159.47 - - - - - - - - - - -
16175.05 508.17 6.63 1773 16176.39 VBD 1.43 - - 2485.25 - - - 2183.44 - 77.86 - - 2160.38 - - - - - - - - - - -
16475.11 488.92 6.44 1803 16480.93 done 1.48 - - 2484.38 - 4.02 0.149 736.44 -360.0 77.86 - - 2158.53 - - - - - - - - - 16.05 -
16670.22 474.85 7.17 1842 16675.81 done 1.51 - - 2484.88 - 3.74 0.062 2218.06 396.2 77.86 - - 2158.72 - - - - - - - - - 16.06 -
16975.23 457.14 5.20 1873 17009.39 1.63 0.31 0.086 2542.25 185.1 - - 2218.94 - 118.55 33.17 1.648 2014.19 -4.4 0.200 - - - - - - 16.05 - 12.94
17305.26 425.02 11.07 1906 17306.59 no move 1.63 - - 2542.25 - - - 2218.00 - 118.55 - - 2008.47 - - - - - - - - - - -
17605.28 393.92 10.21 1936 17606.61 VBD 1.63 - - 2542.44 - - - 2218.44 - 118.55 - - 2008.75 - - - - - - - - - - -
17905.31 363.27 10.30 1966 17906.65 VBD 1.63 - - 2542.56 - - - 2218.44 - 118.55 - - 2007.41 - - - - - - - - - - -
18205.34 331.69 10.69 1996 18206.68 VBD 1.63 - - 2541.88 - - - 2218.19 - 118.55 - - 2007.22 - - - - - - - - - - -
18505.38 299.88 10.25 2026 18511.08 done 1.63 - - 2541.56 - 4.14 0.141 737.19 -357.7 118.55 - - 2009.81 - - - - - - - - - 16.00 -
18570.46 292.05 11.74 2039 18576.04 done 1.63 - - 2542.12 - 3.73 0.061 2220.12 397.6 118.55 - - 2006.28 - - - - - - - - - 16.01 -
18875.43 261.97 9.85 2070 18881.03 done 1.63 - - 2542.62 - 3.47 0.125 3471.56 360.6 118.55 - - 2006.16 - - - - - - - - - 16.01 -
18970.65 251.81 10.65 2089 18975.12 done 1.63 - - 2542.81 - 3.23 0.059 2180.50 -399.7 118.55 - - 2007.00 - - - - - - - - - 16.02 -
19280.48 221.82 9.67 2121 19286.17 done 1.63 - - 2542.31 - 4.05 0.139 735.50 -356.8 118.55 - - 2005.28 - - - - - - - - - 16.01 -
19389.33 209.06 11.84 2143 19396.27 done 1.63 - - 2542.88 - 3.68 0.056 2220.88 403.6 118.55 - - 2006.25 - - - - - - - - - 16.04 -
19695.55 180.36 9.04 2174 19696.88 VBD 1.63 - - 2542.44 - - - 2220.50 - 118.55 - - 2006.44 - - - - - - - - - - -
19995.57 155.38 7.90 2204 19996.90 VBD 1.63 - - 2541.50 - - - 2220.81 - 118.55 - - 2006.31 - - - - - - - - - - -
20295.60 130.22 8.74 2234 20301.31 done 1.63 - - 2542.94 - 4.11 0.135 737.38 -360.9 118.55 - - 2004.97 - - - - - - - - - 16.01 -
20500.67 111.67 7.44 2275 20506.27 done 1.65 - - 2541.44 - 3.65 0.058 2221.56 406.6 118.55 - - 2008.50 - - - - - - - - - 16.03 -
20805.71 99.45 3.15 2308 20866.61 1.86 0.28 0.085 2599.62 207.8 - - 2221.94 - 188.53 56.62 1.230 1731.94 -4.9 0.066 - - - - - - 16.00 - 12.99
21045.78 78.66 10.45 2356 21051.52 done 1.86 - - 2600.00 - 3.52 0.122 3471.62 355.0 188.53 - - 1723.66 - - - - - - - - - 15.83 -
21210.85 62.18 9.56 2389 21216.54 done 1.86 - - 2599.56 - 3.24 0.057 2179.75 -398.7 188.53 - - 1721.28 - - - - - - - - - 15.88 -
21395.94 52.86 4.47 2426 21442.65 2.01 0.17 0.107 2636.25 215.8 3.66 0.117 3471.25 352.9 239.63 41.58 1.139 1520.81 -4.8 0.037 - - - - - - 15.88 15.70 12.89
21480.95 45.68 9.98 2443 21486.78 roll 2.01 - - 2637.06 - 3.29 0.056 2180.44 -392.3 239.63 - - 1519.62 - - - - - - - - - 15.77 -
21666.03 36.53 3.84 2480 21723.12 2.19 0.21 0.092 2680.62 207.4 4.14 0.137 736.44 -348.8 299.74 49.19 1.108 1277.41 -4.9 0.027 - - - - - - 15.78 15.59 12.92
21931 end climb: SURFACE_DEPTH_REACHED
21932 begin surface coast
21941 end surface coast: CONTROL_FINISHED_OK
21942 begin surface
SM 0.94 - - - - 176.5 - 0.015 767.8 - 16.62 0.110 779.9 46.9 - 3.46 0.054 755.8 217.2 -0.387 - - 30.36 15.71 15.77 -